How to Flash Ardupilot Firmware on Kakute F4 / F7 FC

The Holybro Kakute F4 and F7 flight controllers now support Ardupilot firmware for more advanced and reliable GPS capability. Features include Return to Home, GPS Way-Point and Position hold etc. In this tutorial I will show you how to flash Ardupilot firmware on the Kakute F4 and F7 FC.

Warning: I have been getting reportsfrom people that they couldn’t flash Betaflight back on the FC after they did with Ardupilot, although Holybro confirmed it was possible. Flash Ardupilot on the Kakute on your own risk.

Make sure to check out our reviews of the Kakute F4, and Kakute F7 FC.

Further Reading:

How to Flash Ardupilot on Kakute F4 / F7 FC

Download Ardupilot Firmware on this page:

The file you need is: arducopter_with_bl.hex

Open Betaflight Configurator, go to the firmware flash tab.

Enable “Full chip erase”.

Click on “Load Firmware [Local]” button, and choose the firmware hex file you just downloaded.

Hardware Connection

Kakute F4:

  • Connect GPS module to UART 4
  • Receiver to UART 3
  • Telemetry to UART 6

Kakute F7:

  • GPS module to UART 4
  • Receiver to UART 6
  • Telemetry to UART 1 or 2

Mission Planner Setup

Find “Full Parameter List” and set up as shown in the following. The only thing you need to confirm is the GPS module baud rate, and change “serial4_baud” to the same baud rate. For example, if your GPS baud rate is 38400, you should select 38.



After that’s done, setup your radio and sensors and it’s ready to go!

How to Revert Back to Betaflight?

Hold down the boot button while powering up, this will enter DFU mode, then flash the BF firmware for your particular FC.

Credit: Holybro

10 thoughts on “How to Flash Ardupilot Firmware on Kakute F4 / F7 FC

  1. Mike

    *** WARNING ***


    Please update your post to WARN people that it is a ONE-WAY street if you flash ChibiOS and Ardupilot onto the Kakute F7. Holybro’s comments are incorrect. YOU WILL NOT BE ABLE TO ENTER DFU IN BETAFLIGHT TO FLASH BACK TO BETAFLIGHT !!!!!! I now have a Kakute F7 running Ardupilot fine BUT it’s useless to me since I am wanting to revert to Betaflight. Sigh ….

  2. Gerry

    Oscar,i got the Kakute f7 running arducopter this weekend. I can’t get frsky telemetry working though. Any info on how to get it to work? Ardupilot docs have no info on the Kakute f7 for telemetry.

  3. Richard

    Hello Oscar, thanks for this article. Does this FC have an onboard compass and if not won’t I need to connect an external one to the I2C (SCA/SCL) ?

      1. Ricardo Maroquio

        I’m trying to use external GPS/Compass (mRo uGPS+Compass) and it is not being recognized in MissionPlanner. Did you do that or have some tip?

  4. Cristian Gutierrez

    Great information Oscar, thanks for your help! Can you proporcionate information about other fc, for example matek f405 y f722?. Thanku

  5. Thehamst0r

    Hi Oscar,

    A timely article, I was just planning to give this a shot as ardupilot is becoming more available on f4.

    Any particular reason for the uarts as they are suggested? I suppose they can be remapped in ardupilot?


      1. Steffen

        For me GPS only worked on UART 3 (F7 AIO). For current and voltage measurement, I just had to set “batt monitor = 4” (voltage pin 13, current pin 12). OSD workes as well. Thank you for your How-to!

Leave a Reply

Your email address will not be published. Required fields are marked *

Are you Robot? *

For prompt technical support, please use our forum I check blog comments weekly.