Skip to content

Holybro Kakute H7 mini

PX4 v1.13


PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues.

The Holybro Kakute H7 mini flight controller is intended for lightweight frame builds (such as racers, etc.).

This flight controller is full of features including HD camera plug, dual plug-and-play 4in1 ESC ports, VTX ON/OFF Pit Switch (Battery Voltage), barometer, OSD, 6x UARTs, 128MB Flash for logging (not supported with PX4 yet), 5V BEC, and bigger soldering pad with easy layout and much more.

The Kakute H7 mini builds upon the best features of its predecessor, the Kakute F7, and the Kakute H7. The board also has an on-board barometer, LED & buzzer pad, and I2C pad (SDA & SCL) for external GPS/magnetometers.


This flight controller is manufacturer supported.


PX4 runs on the H7 mini v1.3 and later.

Key Features

  • MCU: STM32H743 32-bit processor running at 480 MHz
  • IMU: BMI270
  • Barometer: BMP280
  • OSD: AT7456E
  • 6x UARTs (1,2,3,4,6,7)
  • VTX On/Off Pit Switch: Not used with PX4
  • 9x PWM Outputs (8 Motor Outputs, 1 LED)
  • 2x JST-SH1.0_8pin port (For Single or 4in1 ESCs, x8/Octocopter plug & play compatible)
  • 1x JST-GH1.5_6pin port (For HD System like Caddx Vista & Air Unit)
  • Battery input voltage: 2S-6S
  • BEC 5V 2A Cont.
  • Mounting: 20 x 20mm/Φ3.6mm hole with M3 & M2 Grommets
  • Dimensions: 30x31x6mm
  • Weight: 5.5g

Where to Buy

The board can be bought from one of the following shops (for example):

Connectors and Pins

PinFunctionPX4 default
B+Battery positive voltage (2S-6S)
VTX+Battery positive voltage (2S-6S)
SDA, SCLI2C connection (for peripherals)
5V5V output (2A max)
3V33.3V output (0.25A max)
VIVideo input from FPV camera
VOVideo output to video transmitter
CAMTo camera OSD control
G or GNDGround
RSIAnalog RSSI (0-3.3V) input from receiver
R3, T3UART3 RX and TXNuttX debug console
R6, T6UART6 RX and TX (R6 also located in the GH plug)RC port
R7UART7 RX (RX is located in the plugs for use with 4-in-1 ESCs)DShot telemetry
LEDWS2182 addressable LED signal wire (not tested)
Z-Piezo buzzer negative leg (Connect buzzer positive leg to 5V pad)
M1 to M4Motor signal outputs (located in plug for use in 4-in-1 ESCs)
M5 to M8Motor signal outputs (located in plug for use in 4-in-1 ESCs)
BootBootloader button

PX4 Bootloader Update

The board comes pre-installed with Betaflight. Before the PX4 firmware can be installed, the PX4 bootloader must be flashed. Download the holybro_kakuteh7mini_bootloader.hex bootloader binary and read this page for flashing instructions.

Building Firmware

To build PX4 for this target:

make holybro_kakuteh7mini_default

Installing PX4 Firmware


If you are loading the pre-built firmware via QGroundcontrol, you must use QGC Daily or QGC version newer than 4.1.7. Prior to that release you will need to manually build and install the firmware.

Firmware can be manually installed in any of the normal ways:

  • Build and upload the source:

    make holybro_kakuteh7mini_default upload
  • Load the firmware using QGroundControl. You can use either pre-built firmware or your own custom firmware.


KakuteH7mini is supported with PX4 main and v1.14 or newer.

PX4 Configuration

In addition to the basic configuration, the following parameters are important:

SYS_HAS_MAGThis 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

USART3/dev/ttyS2Debug Console
UART7/dev/ttyS5ESC telemetry (DShot)

Debug Port

System Console

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