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.
How to Flash Ardupilot on Kakute F4 / F7 FC
Simply flash the FC with the Ardupilot firmware using Betaflight Configurator. You can download the 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
Depending on what application, the firmware required is different – ArduXXX (Copter. Plane, etc.)_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
No need to press the boot button, just flash it. Then you can forget about Betaflight Configurator. In the future you flash the FC with the .apj files.
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.