Holybro Kakute F7


above image and some content courtesy of Holybro


Support for this board is available with Copter-3.6.0 (and higher)


  • Processor
    • STM32F745 32-bit processor
  • Sensors
    • InvenSense ICM20689 IMU (accel, gyro, compass) on vibration isolating foam
    • BMP280 barometers
  • Power
    • 7V ~ 42V input power directly from battery
    • Current Sensor up to 120A maximum continuous current on the All-in-One version
  • Interfaces
    • 6x PWM outputs
    • 1x RC input SBUS/PPM
    • 5x UARTs/serial for GPS and other peripherals
    • 1x I2C port for external compass
    • micro USB port
    • All UARTS support hardware inversion. SBUS, SmartPort, and other inverted protocols work on any UART without “uninvert hack”
    • microSD Card Slot for logging
    • AT7456E OSD
    • 2A 5v regulator


The KakuteF7 comes in two varients. One is an AIO (All-In-One) board with current sensor and power distribution. The other is a smaller board without the current sensor or PDB. Both variants include a 5-volt regulator rated for 2 amps.

Kakute F7 AIO


Kakute F7


UART Mapping

The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the receive pin for UARTn. The Tn pin is the transmit pin for UARTn.

  • SERIAL0 -> USB
  • SERIAL1 -> UART1 (Telem1)
  • SERIAL2 -> UART2 (Telem2)
  • SERIAL3 -> UART3 (GPS)
  • SERIAL4 -> UART4
  • SERIAL5 -> UART7
  • SERIAL6 -> UART6 (Transmit only, FrSky)

The SERIAL5 port (UART7) is for ESC telemetry, and has a R7 pad on each of the four corners of the KakuteF7 AIO board.

RC Input

RC input is configured on the R6 (UART6_RX) pin. It supports all RC protocols.

FrSky Telemetry

FrSky Telemetry is supported using the T6 pin (UART6 transmit). You need to set the following parameters to enable support for FrSky S.PORT


OSD Support

The KakuteF7 AIO supports OSD using OSD_TYPE 1 (MAX7456 driver).

PWM Output

The KakuteF7 supports up to 6 PWM outputs. The pads for motor output M1 to M6 on the above diagram are for the 6 outputs. All 6 outputs support DShot as well as all PWM types.

The PWM is in 3 groups:

  • PWM 1, 2 and 3 in group1
  • PWM 4 and 5 in group2
  • PWM 6 in group3

Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot.

Battery Monitoring

The AIO board has a built-in current sensor. The current sensor can read up to 130 Amps. The voltage sensor can handle up to 6S LiPo batteries.

The correct battery setting parameters are:



The KakuteF7 AIO does not have a built-in compass, however you can attach an external compass using I2C on the SDA and SCL pads.

Loading Firmware

Initial firmware load can be done with DFU by plugging in USB with the bootloader button pressed. Then you should load the “with_bl.hex” firmware, using your favourite DFU loading tool.

Once the initial firmware is loaded you can update the firmware using any ArduPilot ground station software. Updates should be done with the *.apj firmware files.

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