KakuteF4-Wing Flight Controller

The KakuteF4-Wing is a flight controller produced by Holybro.

Features

  • Processor

    • STM32F405 32-bit processor

    • AT7456E OSD

    • 16MB dataflash for logging

  • Sensors

    • ICM42688 Acc/Gyro

    • SLP06 barometer

  • Power

    • 2S - 8S Lipo input voltage with voltage monitoring

    • 9V/12V, 1.5A BEC for powering Video Transmitter

    • 6V/7.2V, ?A BEC for servos

    • 3.3V, 1A BEC

  • Interfaces

    • 7x PWM outputs DShot capable, 4 outputs BiDirDShot capable

    • 1x RC input

    • 5x UARTs/serial for GPS and other peripherals

    • 1x I2C ports for external compass, airspeed, etc.

    • USB-C port

Pinout

../_images/kakutef4-uart2.png

Top

../_images/kakutef4-uart.png

Top-underside

../_images/kakutef4-esc.png

Bottom

UART Mapping

The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the receive pin for UARTn. The Tn pin is the transmit pin for UARTn.

  • SERIAL0 -> USB

  • SERIAL1 -> UART1 (GPS) DMA-Enabled

  • SERIAL2 -> UART2 (Telem1) DMA Enabled

  • SERIAL3 -> UART3 (RX) DMA Enabled

  • SERIAL5 -> UART5 (User)

  • SERIAL6 -> USART6 (User)

RC Input

RC input is configured by default via the USART3 RX input. It supports all serial RC protocols except PPM.

Note: If the receiver is FPort the receiver must be tied to the USART3 TX pin , RSSI_TYPE set to 3, and SERIAL3_OPTIONS must be set to 7 (invert TX/RX, half duplex). For full duplex like CRSF/ELRS use both RX1 and TX1 and set RSSI_TYPE also to 3.

OSD Support

The KakuteF4-Wing supports OSD using OSD_TYPE 1 (MAX7456 driver).

PWM Output

The KakuteF4 supports up to 7 PWM outputs. All outputs support DShot. Outputs 1-4 support BiDirDshot.

The PWM is in 5 groups:

  • PWM 1-2 in group1

  • PWM 3-4 in group2

  • PWM 5-6 in group3

  • PWM 7 in group4

Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot.

Battery Monitoring

The board has a builting voltage and current sensor. The current sensor can read up to ?? Amps. The voltage sensor can handle up to 6S LiPo batteries.

The correct battery setting parameters are:

  • BATT_MONITOR 4

  • BATT_VOLT_PIN 10

  • BATT_CURR_PIN 11

  • BATT_VOLT_MULT 11

  • BATT_AMP_PERVLT 40

Compass

The KakuteF4-Wing does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL pads.

Loading Firmware

Firmware for these boards can be found at https://firmware.ardupilot.org in sub-folders labeled “KakuteF4-Wing”.

Initial firmware load can be done with DFU by plugging in USB with the boot button pressed. Then you should load the “KakuteF4-Wing_bl.hex” firmware, using your favourite DFU loading tool.

Subsequently, you can update firmware with Mission Planner.