Holybro Kakute H7mini
Last updated
Last updated
:::warning PX4 does not manufacture this (or any) autopilot. Contact the for hardware support or compliance issues. :::
The 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 , and the . The board also has an on-board barometer, LED & buzzer pad, and I2C pad (SDA & SCL) for external GPS/magnetometers.
:::note PX4 runs on the H7 mini v1.3 and later. :::
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
The board can be bought from one of the following shops (for example):
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
:::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 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:
:::note KakuteH7mini is supported with PX4 main and v1.14 or newer. :::
This should be disabled since the board does not have an internal mag. You can enable it if you attach an external mag.
USART1
/dev/ttyS0
TELEM1
USART3
/dev/ttyS2
Debug Console
UART4
/dev/ttyS3
GPS1
USART6
/dev/ttyS4
RC SBUS
UART7
/dev/ttyS5
ESC telemetry (DShot)
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
:::note This flight controller is . :::
The board comes pre-installed with . Before the PX4 firmware can be installed, the PX4 bootloader must be flashed. Download the bootloader binary and read for flashing instructions.
To for this target:
using QGroundControl. You can use either pre-built firmware or your own custom firmware.
In addition to the , the following parameters are important:
UART3 RX and TX are configured for use as the .
The (JTAG) pins are:
