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.

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!

Credit: Holybro

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

  1. 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) ?

  2. Cristian Gutierrez

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

  3. 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?



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