Holybro Kakute H743 Wing Flight Controller Instruction Manual

Holybro Kakute H743 Wing Flight Controller

Product Information: Holybro Kakute H743 Wing Flight Controller
The Holybro Kakute H743 Wing is a full-featured flight controller designed specifically for fixed-wing and VTOL applications. It is equipped with the STM32 H743 Processor running at 480 MHz and offers CAN Bus support, dual camera support, switchable ON/OFF Pit Switch, multiple BEC options, and plug- and-play GPS, CAN, and I2C ports.

Features

• STM32 H743 Processor running at 480 MHz
• CAN Bus support
• Dual camera support
• Switchable ON/OFF Pit Switch
• 5V, 6V/8V, 9V/12V BEC options
• Plug-and-play GPS, CAN, I2C ports
• Switchable Dual Camera Inputs
• On-screen display with AT7456E OSD chip
• Default 9V, switchable to 12V via Jumper on Power Board
• High-performance low-noise TDK ICM42688 IMU
• Easy plug & play for CAN devices (JST-GH-4P)
• Hardware flow control CTS/RTS for reliable data connection (Ardupilot Telem)
• Cont. 2 Amps, 3A Burst 5V power
• Cont. 6 Amps, 8A Burst Servo Power
• Input Voltage: 2S – 8S
• Mounting: 25.5 x 25.5mm/ 2mm hole
• Weight: 28g with USB extender
• Full SD Card Slot for Blackbox data logging
• STM32H743 MCU running at 480 MHz

Product Usage Instructions

1. Power Supply: Connect the flight controller to a power source within the specified voltage range of 2S – 8S.
2. Camera Setup: Use the switchable dual camera inputs to connect your cameras to the flight controller.
3. On-Screen Display: Utilize the AT7456E OSD chip to enable a graphical on-screen display.
4. Voltage Selection: By default, the flight controller operates at 9V. To switch to 12V, bridge the jumper on the Power Board accordingly.
5. IMU Configuration: The flight controller is equipped with a high-performance low-noise TDK ICM42688 IMU for precise motion sensing.
6. CAN Devices: Easily connect CAN devices to the flight controller using the JST-GH-4P port.
7. Data Connection: For reliable data connection, use UART7 with CTS/RTS hardware flow control, especially when using Ardupilot Telemetry.
8. Power Outputs: The flight controller provides power outputs for various components. The 5V power output can sustain continuous 2 Amps with a peak of 3 Amps. The servo power output can sustain a continuous 6 Amps with a burst of 8 Amps.
9. Mounting: Mount the flight controller using the specified dimensions of 25.5 x 25.5mm with 2mm holes.
10. SD Card Slot: Utilize the full micro SD card slot for BlackBox data logging.
11. GPS and I2C Devices: The flight controller is equipped with plug-and-play ports for easy connection of GPS modules and I2C devices using JST-GH-6P connectors.
12. USB Extender Board: If required, use the USB extender board to extend the USB-C port and access the onboard DFU button.
13. Battery Monitoring: Configure the battery monitor and scale using the specified pins and values for accurate battery voltage and current readings.
14. Relay Control: The flight controller offers PINIO outputs for controlling various functions such as camera switch VTX power control, and general-purpose GPIOs.
15. Wiring Diagram: Refer to the provided sample wiring diagram for proper connections with analog FPV cameras, TBS Crossfire or Tracer, and FrSKY R-XSR receiver.

Overview

The Holybro Kakute H743 Wing is a full-featured flight controller with a layout specifically for fixed-wing & VTOL applications. It has the STM32 H743 Processor running at 480 MHz and CAN Bus support, along with dual camera support & switch, ON/OFF Pit Switch, 5V, 6V/8V, 9V/12 BEC, and plug-and-play GPS, CAN, I2C ports.

Features

• STM32H743 MCU running at 480 MHz
• High-precision / low-noise ICM-42688-P IMU
• CAN Bus Support
• Dual Camera Input switch
• 3 On-board BEC output 5V, 6V/8V and 9V/12V
• 9V/12V ON/OFF Pit Switch
• On-board voltage & current sensor
• Integrated BMP280 barometer
• Plug-and-play GPS, CAN, I2C ports
• Small & low-profile design fits into compact frames
• Supports INAV (6.1.1 & later), Ardupilot (4.4 & later)

Flight Control Board (Top View)

Power Board (Bottom View

INAV Camera Switch & ON/OFF Pit Switch

Default no USER1 & USER2 definition, CAM1 & 9V/12V is ON by default

INAV

Mode| Scale
PC13| USER1| CAM Switch|

Voltage Scale: 1800

Current Scale: 275

PE3| USER2| VTX Power Control
PD4| USER3| IO1 General GPIO1
PE4| USER4| IO2 General GPIO2
ArduPilot

Ba�ery Monitor & Scale
PC5| BATT_VOLT_PIN| 8
BATT_VOLT_MULT| 18.18
PC4| BATT_CURR_PIN| 4
BATT_AMP_PERVLT| 36.36
Relay (PINIO)
PC13| PINIO1 OUTPUT GPIO (81)| CAM Switch
PE3| PINIO2 OUTPUT GPIO (82)| VTX Power Control
PD4| PINIO3 OUTPUT GPIO (83)| IO1 General GPIO1
PE4| PINIO4 OUTPUT GPIO (84)| IO2 General GPIO2

FC Specifications

• MCU: STM32H 743VIT6, 480 MH z, 1MB RAM,2MB F las h
• IMU: ICM- 42688P (SPI3)
• Baro: BMP280 (I2C4)
• OSD: AT7456E (SPI2)
• Black box: MicroSD card slot on SDMMC2
• 7x Uarts (1,2,3,5, 6,7,8) with built-in inv ers ion.
• 14x PW M out uts , 1x CAN, 5x ADC (Bat1/ Curr1, Bat2/ Curr2 and RSSI)
• 3x I2C (I2C1 and I2C2 for external d ev ices , I2C4 front oard s ens ors )
• 3x LEDs f or F C STATUS (Blue, Red ) and 3.3V indicator (Green)
• USB/DF U K ey Ex tend er with USB Ty p e- C
• Dual Camera Inputs switch
• 5V/9 V(12V) f or Camera/ VTX power switch
• High- p precis ion Current Sens e (9 0A continuous, 220A peak )
• Battery Voltage Sensor: 1.5K :25.5K (Scale 1800 in INAV, BATT_VOLT_MULT 18.18 in Ard pilot)
• Static power 160m A@ 5V

FC Firmware

• Ard pilot: K AK UTEH 7- W ING (4.4 & later)
• INAV: K AK UTEH 7- W ING (6.1.1 & later)

PDB

• Inp ut voltage range: 10~ 36V (3~ 8S LiPo)
• 1x ESC p ower p ad s
• Current Sense: 9 0A continuous, 220A peak. (Scale 275 in INAV,36.36 A/V in Ard pilot)

BEC 5V output

• Des signed f or F C, Receiver, OSD, Camera, 2812 LED Strip, Buz z er, GPS, Air Speed Sensor, etc.
• Outp ut 5.15 + / – 0.1V DC
• Continuous current 2 Am p s , 3A Peak

BEC 9V /12V output

• Designed for Video Trans matter, Cam era, Gim b al, etc.
• Continuous current 2 Am p s, 3A Peak
• 12V option with Jum p er p ad

BEC Vx output

• Designed for Serv os
• Voltage ad j us tab le, 6V Default, 8V option with Jum p er p ad
• Continuous current 6 Am p s , 8A Peak

BEC 3.3V output

• Linear Regulator
• Continuous current: 200m A

Mechanical

• Mounting: 25 x 25m m , M2 hole
• Dim ens ions : 45x 30 x 13.5 m m
• Weight: 28g with USB extender

Kakute H743 Wing – Sample Wiring Diagram

Pinout Diagram
FC Board

Pin                             Function

9V| Video transmitter positive voltage –

9V/2A (Switchable to 12V by jumper)

Vx| Servo power output – 6V/6A (Switchable to 8V by jumper)
5v| 5v output (2A)
3v3| 3.3v output (0.25A)
IO1/IO2| PINIO1 and PINIO2
Vbat2| Battery 2 Voltage Sense input (10~ 36V)
Curr2| Battery 2 Current Sense input

(0~ 3.3V)

Vo| Video output to video transmitter
CAM1/CAM2| Video input from FPV camera1/2
G or GND| Ground
RSI| Analog RSSI (0-3.3v) input from receiver
R2, T2| UART2 RX and TX
R3, T3| UART3 RX and TX
R5, T5| UART5 RX and TX
R6, T6| UART6 RX and TX
R7, T7| UART7 RX and TX
CTS, RTS| CTS, RTS for UART7
R8, T8| UART8 RX and TX
Buz  +B/ uz-| Piez  obuz  z  er positiv/enegative leg
M1~M14| PWM1~ PWM14signal outputs
1| 5V| +5V voltage output (1A Max)
---|---|---
2| SCL| I2C2_SCL
3| SDA| I2C2_SDA
4| Gnd| Ground
Pin| Pin name               Function
---|---
1| 5V| +5V voltage output

(1A Max)

2| TXD| UART1_TXD
3| RXD| UART1_RXD
4| SCL| I2C1_SCL
5| SDA| I2C1_SDA
6| Gnd| Ground

Bottom of Board

Power Board

Pin                                                     Function

BAT-IN| Connect to Battery-positive
BAT-OUT| Connect to ESC-positive
GND| Ground
Servo Power jumper| Open =6V(Default) Shorted =8V
VTX Power jumper| Open =9V(Default) Shorted =12V

USB Extend Board

ArduPilot Mapping

PWM| M1| PA8| 5 V tolerant I/O| PWM1 GPIO50| TIM1_CH1| Group1
| M2| PE11| 5 V tolerant I/O| PWM2 GPIO51| TIM1_CH2| Group1
| M3| PE13| 5 V tolerant I/O| PWM3 GPIO52| TIM1_CH3| Group1
| M4| PE14| 5 V tolerant I/O| PWM4 GPIO53| TIM1_CH4| Group1
| M5| PD14| 5 V tolerant I/O| PWM5 GPIO54| TIM4_CH3| Group2
| M6| PD15| 5 V tolerant I/O| PWM6 GPIO55| TIM4_CH4| Group2
| M7| PA0| 5 V tolerant I/O| PWM7 GPIO56| TIM5_CH1| Group3
| M8| PA1| 5 V tolerant I/O| PWM8 GPIO57| TIM5_CH2| Group3
| M9| PE5| 5 V tolerant I/O| PWM9 GPIO58| TIM15_CH1| Group4
| M10| PE6| 5 V tolerant I/O| PWM10 GPIO59| TIM15_CH2| Group4
| M11| PB5| 5 V tolerant I/O| PWM11 GPIO60| TIM3_CH2| Group5
| M12| PB0| 5 V tolerant I/O| PWM12 GPIO61| TIM3_CH3| Group5
| M13| PB1| 3.3 V tolerant I/O| PWM13 GPIO62| TIM3_CH4| Group5
| M14| PA15| 5 V tolerant I/O| PWM14 GPIO63| TIM2_CH1| Group6
PWM1~PWM13 are Dshot and PWM capable. However, mixing Dshot and normal PWM operation for outputs is restricted into groups, ie. enabling Dshot for an output in a group requires that ALL outputs in that group be configured and used as Dshot, rather than PWM outputs.
If servo and motor are mixed in same group, make sure this group run lowest PWM frequency according to the servo specification. ie. Servo supports Max. 50Hz, ESC must run at 50Hz in this group.
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ADC

| Vbat1 Pad 1.5K:25.5K| __

PC5

| __

0~36V

| Vbat ADC

onboard battery voltage sense

| BATT_VOLT_PIN: BATT_VOLT_MULT:| 8

18.18

Current1

Pad

| PC4| 0~3.3V| Current ADC

onboard current sense

| BATT_CURR_PIN:

BATT_AMP_PERVLT:

| 4

36.36

RSSI Pad| PC0| 0~3.3V| RSSI ADC

Analog RSSI

| RSSI_ANA_PIN:

RSSI_TYPE:

| 10

1

Vbat2 Pad

1.5K:25.5K

| PA3| 0~36V| Vbat2 ADC| BATT2_VOLT_PIN:

BATT2_VOLT_MULT:

| 15

18.18

Current 2

Pad

| PA2| 0~3.3V| Current2 ADC| BATT2_CURR_PIN:

BATT2_AMP_PERVL:

| 14

N/A

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__

I2C

| I2C1 CL1/DA1

(GPS Port)

| __

PB8/PB7

| __

5 V tolerant I/O

| __

Compass

| QMC5883 / HMC5883 / MAG3110 / LIS3MDL/ etc| __

–

I2C2 CL2/DA2

(I2C Port)

| __

PB10/PB11

| __

5 V tolerant I/O

| __

Digital Airspeed sensor I2C

| __

ARSPD_BUS

| __

2

I2C4| PD12/13| 5 V tolerant I/O| Onboard Barometer| BMP280| –
__

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__

CAN

| __

__

__

CAN1

| __

__

__

PD0/PD1

| __

__

__

5 V tolerant I/O

| CAN Node| CAN_D1_PROTOCOL| 1
CAN Node| CAN_P1_DRIVER| 1
CAN GPS| GPS_TYPE| 9
CAN Compass| COMPASS_TYPEMASK| –
CAN Airspeed sensor| ARSPD_TYPE| 8
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UART

| USB| PA11/PA12| 5 V tolerant I/O| USB| console| SERIAL0
RX7 TX7

RTS7 CTS7

| PE7/8/9/10| 3.3 V tolerant I/O| UART7| telem1| SERIAL1
TX2 RX2| PD5/PD6| 5 V tolerant I/O| UART2| telem2| SERIAL2
TX1 RX1| PB6/PA10| 5 V tolerant I/O| UART1| GPS1| SERIAL3
TX3 RX3| PD8/PD9| 5 V tolerant I/O| UASRT3| GPS2| SERIAL4
TX5 RX5| PB13/PD2| 5 V tolerant I/O| USART5| USER| SERIAL5
__

TX6 TX6

| __

PC6/PC7

| __

5 V tolerant I/O

| __

USART6

| RC input/Receiver CRSF/SBUS/IBUS/DSM/P PM/FPORT/SRXL2/FPOR

T/SRXL2, etc

| __

SERIAL6

TX8 RX8| PE1/PE0| 5 V tolerant I/O| UART8| User| SERIAL8
INAV Mapping

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PWM

| M1| PA8| 5 V tolerant I/O| TIM1, CH1| __

Fixed Wing Motor

M2| PE11| 5 V tolerant I/O| TIM1, CH2
M3| PE13| 5 V tolerant I/O| TIM1, CH3| __

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Fixed Wing Servo

M4| PE14| 5 V tolerant I/O| TIM1, CH4
M5| PD14| 5 V tolerant I/O| TIM4, CH3
M6| PD15| 5 V tolerant I/O| TIM4, CH4
M7| PA0| 5 V tolerant I/O| TIM5, CH1
M8| PA1| 5 V tolerant I/O| TIM5, CH2
M9| PE5| 5 V tolerant I/O| TIM15,CH1
M10| PE6| 5 V tolerant I/O| TIM15,CH2
M11| PB5| 5 V tolerant I/O| TIM3, CH2
M12| PB0| 5 V tolerant I/O| TIM3, CH3
M13| PB1| 3.3 V tolerant I/O| TIM3, CH4
M14| PA15| 5 V tolerant I/O| TIM2, CH1| LED_2812

• M6 M10 Does not support Dshot
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ADC

| Vbat1

1.5K:25.5K

| PC5| 0~36V| Vbat ADC

ADC_CHANNEL_1

| scale 1800
Current1| PC4| 0~3.3V| Current ADC

ADC_CHANNEL_2

| scale 275
RSSI Pad| PC0| 0~3.3V| RSSI ADC

ADC_CHANNEL_3

| Analog RSSI
Vbat2 Pad

1.5K:25.5K

| PA3| 0~36V| Vbat2 ADC

ADC_CHANNEL_4

| scale 1800
Current 2 Pad| PA2| 0~3.3V| Current2 ADC

ADC_CHANNEL_5

| Spare
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I2C

| I2C1 – CL1/DA1

(GPS Port)

| PB8/PB7| 5 V tolerant I/O| Compass| QMC5883 / HMC5883 /

MAG3110 / LIS3MDL/ etc

I2C2 – CL2/DA2

(I2C Port)

| PB10/PB11| 5 V tolerant I/O| Digital Airspeed sensor/

Temperature sensor/ etc.

| –
I2C4| PD12/13| 5 V tolerant I/O| Onboard Barometer| BMP280
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UART

| USB| PA11/PA12| 5 V tolerant I/O| USB|
TX1 RX1| PB6/PA10| 5 V tolerant I/O| UART1| GPS1
TX2 RX2| PD5/PD6| 5 V tolerant I/O| UART2| –
TX3 RX3| PD8/PD9| 5 V tolerant I/O| USART3| –
TX5 RX5| PB13/PD2| 5 V tolerant I/O| UART5| –
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TX6 RX6

| __

PC6/PC7

| __

5 V tolerant I/O

| __

USART6

| RC input/Receiver

CRSF/SBUS/IBUS/DSM/PP M/FPORT/SRXL2 etc.

RX7 TX7| PE8/PE7| 3.3 V tolerant I/O| UART7| –
TX8 RX8| PE1/PE0| 5 V tolerant I/O| UART8| –

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