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.
How to Flash Ardupilot on Kakute F4 / F7 FC
Download Ardupilot Firmware on this page:
- Kakute F4: http://firmware.ardupilot.org/Copter/latest/KakuteF4/
- Kakute F7: http://firmware.ardupilot.org/Copter/latest/KakuteF7/
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.
- Connect GPS module to UART 4
- Receiver to UART 3
- Telemetry to UART 6
- 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.