libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/README.md
The KakuteH7 is a flight controller produced by Holybro. This is the V1 version. Also called -BT for some time.
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.
RC input is configured on the R6 (UART6_RX) pin. It supports all RC protocols. For protocols requiring half-duplex serial to transmit telemetry (such as FPort) you should set BRD_ALT_CONFIG=1 and setup SERIAL6 as an RC input serial port, with half-duplex, pin-swap and inversion enabled.
FrSky Telemetry is supported using the Tx pin of any UART including SERIAL6/UART6 . You need to set the following parameters to enable support for FrSky S.PORT (example shows SERIAL6). Note this assumes the RC input is using default (ALT_BRD_CONFIG =0). Obviously, if using ALT_BRD_CONFIG = 1 for full duplex RC prtocols, you must a different UART for FrSky Telemetry.
The KakuteH7 supports OSD using OSD_TYPE 1 (MAX7456 driver).
The KakuteH7 supports up to 9 PWM outputs. The pads for motor output M1 to M8 on the two motor connectors, plus M9 for LED strip or another PWM output.
The PWM is in 5 groups:
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.
The board has a built-in voltage and current sensor. The current sensor can read up to 130 Amps. The voltage sensor can handle up to 6S LiPo batteries.
The correct battery setting parameters are:
The KakuteH7 does not have a built-in compass, but you can attach an external compass using I2C on the SDA and SCL pads.
Initial firmware load can be done with DFU by plugging in USB with the bootloader button pressed. Then you should load the "with_bl.hex" firmware, using your favourite DFU loading tool.
Once the initial firmware is loaded you can update the firmware using any ArduPilot ground station software. Updates should be done with the *.apj firmware files.