# Holybro Kakute H7 :::warning PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://holybro.com/) for hardware support or compliance issues. ::: The [Holybro Kakute H7](https://holybro.com/products/kakute-h7) is full of features including dual plug-and-play 4in1 ESC ports, HD camera plug, barometer, OSD, 6x UARTs, full Blackbox MicroSD card slot, 5V and 9V BEC, easy soldering layout, and much more. The Kakute H7 builds upon the best features of its predecessor, the [Kakute F7](https://px4.gitbook.io/px4-user-guide/drone_parts/flight_controller/autopilot_discontinued/kakutef7), and further improves on hardware components and layout. Dual plug'n'play 4-in-1 ESC connectors simplify support for x8 and Octocopter configurations, keeping assembly simple and clean. The board also has an on-board barometer, LED & buzzer pad, and I2C pad (SDA & SCL) for external GPS/Magnetometers. ![Kakute h7](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-663a48c937492211a1f5a28246ac5662082bf018%2Fkakuteh7.png?alt=media) :::note This flight controller is [manufacturer supported](https://px4.gitbook.io/px4-user-guide/drone_parts/flight_controller/autopilot_manufacturer_supported). ::: ## Key Features * MCU: STM32H743 32-bit processor running at 480 MHz * IMU: MPU6000 * Barometer: BMP280 * OSD: AT7456E * Onboard Bluetooth chip: Disabled with PX4 * 2x JST-SH1.0\_8pin port (For Single or 4in1 ESCs, x8/Octocopter plug & play compatible) * 1x JST-GH1.25\_6pin port (For HD System like Caddx Vista & Air Unit) * Battery input voltage: 2S - 8S * BEC 5V 2A Cont. * BEC 9V 1.5A Cont. * Mounting: 30.5 x 30.5mm/Φ4mm hole with Φ3mm Grommets * Dimensions: 35x35mm * Weight: 8g ## Where to Buy The board can be bought from one of the following shops (for example): * [Holybro](https://holybro.com/products/kakute-h7) :::tip The *Kakute H7* 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 H7*, showing the top of the board: ![](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-2476aee9d8c816c1e17ced3dcab8033735415045%2Fkakuteh7_silk.png?alt=media) | Pin | Function | PX4 default | | -------- | ----------------------------------------------------------------- | ------------------- | | B+ | Battery positive voltage (2S-8S) | | | 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](https://github.com/betaflight/betaflight/wiki). Before PX4 firmware can be installed, the *PX4 bootloader* must be flashed. Download the [kakuteh7\_bl.hex](https://github.com/PX4/PX4-user_guide/raw/main/assets/flight_controller/kakuteh7/holybro_kakuteh7_bootloader.hex) bootloader binary and read [this page](https://px4.gitbook.io/px4-user-guide/advanced_config/bootloader_update_from_betaflight) for flashing instructions. ## Building Firmware To [build PX4](https://px4.gitbook.io/px4-user-guide/development/getting_started/building_px4) for this target: ``` make holybro_kakuteh7_default ``` ## Installing PX4 Firmware The firmware can be installed in any of the normal ways: * Build and upload the source ``` make holybro_kakuteh7_default upload ``` * [Load the firmware](https://px4.gitbook.io/px4-user-guide/config/firmware) using *QGroundControl*. You can use either pre-built firmware or your own custom firmware. :::note 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 verision newer than 4.1.7. ::: ## PX4 Configuration In addition to the [basic configuration](https://px4.gitbook.io/px4-user-guide/config), the following parameters are important: | Parameter | Setting | | ------------------------------------------------------------------------------------------------------ | ----------------------------------------------------------------------------------------------------------------------- | | [SYS\_HAS\_MAG](https://px4.gitbook.io/px4-user-guide/advanced_config/parameter_reference#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](https://px4.gitbook.io/px4-user-guide/development/debug/consoles/system_console). ### SWD The [SWD interface](https://px4.gitbook.io/px4-user-guide/development/debug/gdb_debugging/swd_debug) (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. ![SWD Pins on Kakute H7 - CLK SWO](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-cad039dfe4feb5f9e437f2987dd52700897dd20c%2Fkakuteh7_debug_swd_port.jpg?alt=media) --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://px4.gitbook.io/px4-user-guide/drone_parts/flight_controller/autopilot_manufacturer_supported/kakuteh7.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.