libraries/AP_HAL_ChibiOS/hwdef/KT-FMU-F1/README.md
The KT-FMU-F1 is a flight controller manufactured by Coolfly.
| Serial | Port | Protocol | Notes |
|---|---|---|---|
| 0 | USB | MAVLink2 | |
| 1 | UART1 | MAVLink2 | DMA-enabled |
| 2 | UART2 | DisplayPort | DMA-enabled |
| 3 | UART3 | GPS | DMA-enabled |
| 4 | UART4 | MAVLink2 | DMA-enabled |
| 6 | UART6 | RCIN | DMA-enabled |
| 7 | UART7 | ESC Telem | RX only |
| 8 | UART8 | None |
There are a lot of interfaces on the board:
Connectors on the top layer:
Connectors on the bottom layer:
Pin definition:
| Pin Number | Function |
|---|---|
| 1 | Current Sensing |
| 2 | UART7_TX |
| 3 | PWM6 |
| 4 | PWM5 |
| 5 | PWM4 |
| 6 | PWM3 |
| 7 | PWM2 |
| 8 | PWM1 |
| 9 | VBAT_IN |
| 10 | GND |
| Pin Number | Function |
|---|---|
| 1 | GND |
| 2 | VBAT_IN |
| 3 | PWM1 |
| 4 | PWM2 |
| 5 | PWM3 |
| 6 | PWM4 |
| 7 | PWM5 |
| 8 | PWM6 |
| 9 | PWM7 |
| 10 | PWM8 |
| 11 | PWM9 |
| 12 | PWM10 |
| 13 | UART7_TX |
| 14 | Current Sensing |
[!WARNING] Only use one of J2 and J3 at a time!
| Pin Number | Function |
|---|---|
| 1 | 5V Out |
| 2 | TX |
| 3 | RX |
| 4 | GND |
| Pin Number | Function |
|---|---|
| 1 | 5V Out |
| 2 | I2C1_SDA |
| 3 | I2C1_SCL |
| 4 | GND |
| Pin Number | Function |
|---|---|
| 1 | 3V3 |
| 2 | SWCLK |
| 3 | SWDIO |
| 4 | GND |
| Pin Number | Function |
|---|---|
| 1 | 5V Out |
| 2 | CAN_H |
| 3 | CAN_L |
| 4 | GND |
| Pin Number | Function |
|---|---|
| 1 | GND |
| 2 | Video Out |
| 3 | 9V Out |
| Pin Number | Function |
|---|---|
| 1 | GND |
| 2 | Video In |
| 3 | 9V Out |
| Pin Number | Function |
|---|---|
| 1 | 5V Out |
| 2 | CS_BMI270 |
| 3 | SPI2_MISO |
| 4 | SPI2_MOSI |
| 5 | SPI2_SCK |
| 6 | I2C1_SCL |
| 7 | I2C1_SDA |
| 8 | CS_BMI088G |
| 9 | CS_BMI088A |
| 10 | GND |
| Pin Number | Function |
|---|---|
| 1 | 5V Out |
| 2 | UART6_TX |
| 3 | UART6_RX |
| 4 | GND |
| Pin Number | Function |
|---|---|
| 1 | 3V3 |
| 2 | GND |
| 3 | RCOUT |
| Pin Number | Function |
|---|---|
| 1 | 5V Out |
| 2 | UART3_TX |
| 3 | UART3_RX |
| 4 | I2C1_SCL |
| 5 | I2C1_SDA |
| 6 | Safety SW |
| 7 | Safety SW LED |
| 8 | 3V3 |
| 9 | Buzzer |
| 10 | GND |
KT-FMU-F1 supports up to 10 PWM outputs. The PWM channels are divided into 3 groups:
| PWM Channel | Group |
|---|---|
| 1 - 4 | TIM1 |
| 5 - 6 | TIM3 |
| 7 - 10 | TIM4 |
RC input is configured on the SERIAL6 by default. It supports all serial RC protocols. For protocols requiring half-duplex serial to transmit telemetry (such as FPort) you should set SERIAL6_OPTIONS to 4 (HalfDuplex).
Additionally, there's also a connector RCOUT outputing the RC signal from RCIN,
allowing another module to receive it.
Onboard OSD (using MAX7456 driver) is supported by default. DisplayPort OSD is also simultaneously available on any of the UART connectors (default is UART2).
The KT-FMU-F1 has a built-in compass on the IMU submodule. Due to potential interference, this compass is disabled, and the autopilot is usually used with an external I2C compass as part of a GPS/Compass combination.
The KT-FMU-F1 has a internal voltage sensor and connections on the
ESC connector for an external current sensor input.
The voltage sensor can handle up to 8S LiPo batteries.
The default battery parameters are:
Firmware for these boards can be found at the ArduPilot firmware server
in sub-folders labeled KT-FMU-F1.
To flah the initial firmware with DFU:
ardu*_with_bl.hex firmware with any DFU loading tool.
e.g. STM32CubeProgrammer and dfu-util.Subsequently, you can update the .apj firmware with Mission Planner and QGC.