PX4 自动驾驶用户指南 (v1.14)

# Holybro Kakute H7 mini

注意

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

The Holybro Kakute H7 mini (opens new window) 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.

注解

This flight controller is manufacturer supported.

注解

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

Pin Function PX4 default
B+ Battery positive voltage (2S-6S)
VTX+ Battery positive voltage (2S-6S)
SDA, SCL I2C connection (for peripherals)
5V 5V output (2A max)
3V3 3.3V output (0.25A max)
VI Video input from FPV camera
VO Video output to video transmitter
CAM To camera OSD control
G or GND Ground
RSI Analog RSSI (0-3.3V) input from receiver
R1, T1 UART1 RX and TX TELEM1
R3, T3 UART3 RX and TX NuttX debug console
R4, T4 UART4 RX and TX GPS1
R6, T6 UART6 RX and TX (R6 also located in the GH plug) RC port
R7 UART7 RX (RX is located in the plugs for use with 4-in-1 ESCs) DShot telemetry
LED WS2182 addressable LED signal wire (not tested)
Z- Piezo buzzer negative leg (Connect buzzer positive leg to 5V pad)
M1 to M4 Motor signal outputs (located in plug for use in 4-in-1 ESCs)
M5 to M8 Motor signal outputs (located in plug for use in 4-in-1 ESCs)
Boot Bootloader button

# PX4 Bootloader Update

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

# Building Firmware

To build PX4 for this target:

make holybro_kakuteh7mini_default

# Installing PX4 Firmware

注解

KakuteH7 is supported with PX4 master & PX4 v1.13 or newer. 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.

注解

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

# PX4 Configuration

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

Parameter Setting
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

UART Device Port
USART1 /dev/ttyS0 TELEM1
USART3 /dev/ttyS2 Debug Console
UART4 /dev/ttyS3 GPS1
USART6 /dev/ttyS4 RC SBUS
UART7 /dev/ttyS5 ESC telemetry (DShot)

# Debug Port

# System Console

UART3 RX and TX are configured for use as the System Console.

# SWD

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

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