# Holybro Kakute F7
PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://shop.holybro.com/) for hardware support or compliance issues.
The Kakute F7 from Holybro is a flight controller board designed for racers.
This flight controller is manufacturer supported.
- Main System-on-Chip: STM32F745VGT6 (opens new window)
- CPU: 216 MHz ARM Cortex M7 with single-precision FPU
- RAM: 320 KB SRAM
- FLASH: 1 MB
- Standard racer form factor: 36x36 mm with standard 30.5 mm hole pattern
- ICM20689 Accel / Gyro (Soft-mounted)
- BMP280 Baro
- microSD (for logging)
- 6 UARTs
- 1 I2C bus
- 6 路 PWM 输出
- Built-in OSD chip (AB7456 via SPI)
The board can be bought from one of the following shops (for example):
The Kakute F7 is designed to work with the Tekko32 4-in-1 ESC and they can be bought in combination.
# Connectors and Pins
This is the silkscreen for the Kakute F7, showing the top of the board:
|B+||Battery positive voltage (2S-6S)|
|5V||5V output (2A max)|
|VO||Video output to video transmitter|
|VI||Video input from FPV camera|
|G or GND||Ground|
|SDA, SCL||I2C connection (for peripherals)|
|R1, T1||UART1 RX and TX||TELEM1|
|R2, T2||UART2 RX and TX||TELEM2|
|R3, T3||UART3 RX and TX||NuttX debug console|
|R4, T4||UART4 RX and TX||GPS1|
|R6, T6||UART6 RX and TX||RC port|
|R7, T7||UART7 RX and TX (RX is located in the plug for use with 4-in-1 ESCs)||DShot telemetry|
|LED||WS2182 addressable LED signal wire (not tested)|
|Buz-||Piezo buzzer negative leg (Connect buzzer positive leg to 5V pad)|
|3V3||3.3V output (200 mA max)|
|M1 to M4||Motor signal outputs (located in plug for use in 4-in-1 ESCs)|
|M5, M6||Additional motor signal outputs (located on side of board)|
|RSI||Analog RSSI (0-3.3V) input from receiver|
# PX4 Bootloader Update
The board comes pre-installed with Betaflight (opens new window). Before PX4 firmware can be installed, the PX4 bootloader must be flashed. Download the kakutef7_bl.hex (opens new window) bootloader binary and read this page for flashing instructions.
To build PX4 for this target:
# Installing PX4 Firmware
The firmware can be installed in any of the normal ways:
- Build and upload the source
make holybro_kakutef7_default upload
- Load the firmware using QGroundControl. You can use either pre-built firmware or your own custom firmware.
If you use a 4-in-1 ESC with Betaflight/Cleanflight motor assignment you can use the Actuator configuration UI to set the motor ordering appropriately.
In addition to the basic configuration, the following parameters are important:
|SYS_HAS_MAG||This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag.|
# Serial Port Mapping
|UART7||/dev/ttyS5||ESC telemetry (DShot)|
UART3 RX and TX are configured for use as the System Console.
The SWD interface (JTAG) pins are:
SWCLK: Test Point 2 (Pin 72 on the CPU)
SWDIO: Test Point 3 (Pin 76 on CPU)
GND: As marked on board
VDD_3V3: As marked on board
These are shown below.