#11028 Kakute F4 All-In-One - · PDF filePage | 1 Kakute F4 AIO Overview The Holybro Kakute F4 All-In-One flight controller makes it easy to build your multirotor. It integrates flight

#11028

KakuteF4All-In-One

UserManual&InstallationGuidev1.8

P a g e |1 KakuteF4AIO

Contents

Overview......................................................................................................................1

Features

Specifications

WarrantyandReturnPolicy

PinoutDiagram..........................................................................................................3

InstallationGuide.....................................................................................................4

UpdatingBetaflightFirmware..........................................................................10

InstallingDrivers

InstallingBetaflightConfigurator

FlashingNewFirmware

InitialConfiguration..............................................................................................15

ConnecttoTheBoard

Ports

Configuration

Blackbox

OSD

UsingTheOSD..........................................................................................................19

SavingYourConfiguration..................................................................................21

AdditionalReference.............................................................................................23

AdjustPIDs/Rates/vTXfromTaranis.......................................................24


OverviewTheHolybroKakuteF4All-In-Oneflightcontrollermakesiteasytobuildyourmultirotor.Itintegratesflightcontroller(FC),powerdistributionboard(PDB),andon-screendisplay(OSD)inone.TheKakuteF4AIO’slayoutmakesiteasytowireuptheothercomponentsofthemultirotorwhilekeepingthebuildneatandtidy.

Features• SupportsBetaflightandCleanflight.• BetaflightOSD.ChangePIDs,adjustcommonconfigurationparameters,andchangevideo

transmitterchannelandpowerlevel,allusingyourtransmittersticksandgoggles.• Soft-mountingbuiltin.TheIMU(“gyro”)chiponthisboardismountedonvibration-isolating

foam.Thismeansthatthereisnoneedtosoft-mounttheboarditself.• New high-performance / low-noise / high sensitivity IMU. ICM20689 with 6-axis gyro and

accelerometer. Can run at up to 32 kHz.• 2oz.copperPCBallowsupto120Amaximumcontinuouscurrent.• Dedicatedbootloaderbuttonforeasyfirmwareflashing.• Low-profiledesignfitsintoevenverycompactframes.• Inputvoltage7vto42v.Powertheboarddirectlyfromtheflightpack,upto6S(on“BAT”pad

only).• Automaticvoltagemonitoring.NoneedtorunaseparatevBatwireforvoltagemonitoring;the

KakuteF4AIOmonitorsvoltagedirectlyfromthebatterypowerlead.• Filteredvoltageoutputforclean,noise-freevideo.On-boardregulatorsoutput5vatupto1.5

ampsand3.3vatupto200mAtopowerperipheralssuchasreceiver,videotransmitter,FPVcamera,orLEDstrip.

• SupportsBLHelipass-throughforeasyESCupgradeandconfiguration.

Specifications• MCU:STM32F405RGT632-bitprocessor• IMU:ICM20689(SPI)• USBVCPDriver(allUARTsusablesimultaneously;USBdoesnottakeupaUART)• 3hardwareUARTS(UART1,3,6)• 128MbitDataflashchipforBlackboxlogging• Dimensions:35x43x7mm(includesUSBinheight)• MountingHoles:Standard30.5mmsquaretocenterofholes• Weight:7g


WarrantyandReturnPolicyIfyoubelievethatyourKakuteF4AIOisdefective,pleasecontactus.Ifwedeterminethattheboardisdefective,itwillberepairedorreplacedatnochargetoyou.WemayaskyoutosendyourKakutetoourservicecenterforexaminationorrepair.Shippingcostsareyourresponsibility.Returneditemsshouldincludetheoriginalpackagingandallaccessories.

Ifproductisdamagedordefective,wewillrepairorreplaceit.Refundsareonlygivenwhenproductislostbytheshippingcompany.Therefundamountislimitedtothepriceoftheproduct.Shippingcostsareneverrefundable.

Contactusat:

• Email:[email protected]• FacebookPage:Holybro• FacebookGroup:HolybroShurikenOwnerGroup


PinoutDiagram

Topofboard

Bottomofboard

Pin FunctionBUZ- PiezobuzzernegativelegBUZ+ PiezobuzzerpositivelegLED WS2182addressableLEDsignalwireSmartPort FrSkySmartPortTelemetryR3,T3 UART3RXandTXR6,T6 UART6RXandTXRSSI Analog(0-3.3v)RSSIinput3V3 3.3voutput(200mAmax)5v 5voutput(1.5Amax)M1toM6 MotorsignaloutputsVO VideooutputtovideotransmitterVI VideoinputfromFPVcameraBoot BootloaderbuttonG GroundB+ Batterypositivevoltage(2S-6S)+ Mainbatteryleadpositive- Mainbatteryleadnegative

Pin FunctionCAN_L CANBUSlowCAN_H CANBUShighIO,3V3,CK DebugginginterfacefordevelopersGND Ground


InstallationGuideSolderthemainbatteryconnectortothelarge+and-padsontheboard.Thebatteryconnectorshoulduseeither12gaugeor14gauge,fine-strand,silicone-insulationwire.Thistypeofwireiscommonlyreferredtoas“siliconewire”.Donotuseregularstrandedcopperwireforthebatterylead.Itwillbecomebrittleovertimeandbreak.ThebatteryconnectorwillmostcommonlybeanXT60.

InstalltheKakuteF4AIOinyourquadcopterframe.Donotcompletelyreassembletheframe.LeavetheKakuteF4AIOaccessiblesothatyoucansolderwirestoit.Forexample,leavethetopplateofyourframeoff,orremovethecamerapodofanX-styleframesothatyouareworkingonlywiththebase-plate.HavingtheKakuteF4AIOmountedintheframewillallowyoutoensurethatwirelengthsarecorrectasyousolderaccessoriestotheboard.Whenindoubt,it’salwaysbettertoleavealittleextrawire.Be100%surethatthefront-facingarrowontheKakuteF4AIOfacesthefrontofthequadcopter!Ifforsomereasonthisisnotpossible,thenyoumustuseCleanflightorBetaflight’s“boardalign”featuretocompensate.

“BoardAlign”FeatureDocumentation

https://www.youtube.com/watch?v=jSzWRnAqsSY


SoldertheESCpowerwirestotheGandB+padsatthecornersoftheKakuteF4AIO.ESCpowerwiresaretypically18or20gauge.SomeESCsaresoldwithoutattachedwires,inwhichcaseyouwillneedtoprovideyourown.Werecommend20-gaugesiliconewireforthispurpose.EachESCshouldbesolderedtothepadsinthecornerclosesttoit.Cutthewiresshorttoeliminateexcesswirethatcangetcaughtupinprops,butbesuretoleaveyourselfalittleslack.Youcanalwaysshortenawirealittlemoreifyouneedto,butyoucan’teasilymakeitlongeragain.Beabsolutelysurethatyoudonotmistakenlyreversethewires.RedgoestoB+andblackgoestoG.Beabsolutelysurethatyoudonotmistakenlybridgethepadswithsolder.UseamultimetertotestforcontinuitybetweentheGandB+padsaftersolderingeachESC.Continuitymustnotexist,ortheKakuteF4AIOandESCwillbedamagedwhenyoupluginthebattery.Also,thebatterycanexplode.IfcontinuityexistsbetweentheGandB+pads,DONOTPLUGINYOURLIPO.

HowtoCheckforContinuitywithYourMultimeter

https://www.youtube.com/watch?v=MZ8YxBMQI5Q


SoldertheESCsignalwirestotheM1,M2,M3,andM4pads.Thesignalwireisathinwire,typicallyyelloworwhite.It’susuallyconnectedtothesamesideoftheESCasthepowerwires.EachESC’ssignalwireshouldbesolderedtothemotorpadthatisclosesttothecornerwheretheESCisinstalled.IfyourESCcame“naked”(withoutwiresattached)thenyoushoulduseapieceofsiliconewirebetween22and26gaugeforthesignalwire(s).SomeESCshaveasignalgroundwireandsomeESCsdon’t.IfyourESChasathinblackwirethatistwistedwiththesignalwire,thatisthesignalground.YoucansolderthesignalgroundtothesamepadastheESC’spowerground(fromthepreviousstep).Oryoucande-solderthesignalgroundwirefromtheESCandremoveit.It’sgenerallybestpracticetohaveasignalgroundwire,butonminiquadswithveryshortwires,it’softennotabsolutelynecessary.

SolderthereceiversignalwiretopadR3.Ifyouareusingaservocable,thesignalwirewillbewhiteoryellow.YoumustuseareceiverthatsupportsaserialprotocolsuchasSBUS,iBus,andSpektrumSatellite.YoucannotuseaPPMorPWMreceiverwiththeKakuteF4AIO.SolderthereceivergroundwiretotheGpadtotheleftofR3.Inastandardservocable,thegroundwirewillbeblackorbrown.Ifyourreceiverrequires5vpower(mostreceiversexceptforSpektrumSatellite),solderitspowerwiretothe5vpadtotheleftofR3.Inastandardservocable,thepowerwirewillberedororange.Thepowercableisalsoalwaysthemiddlewireoftheservocable.Ifyourreceiverrequires3.3vpower(mostSpektrumSatellitereceivers),solderitspowerwiretothe3v3padtotheleftofR3.Donotconnectareceiverthattakes3.3vpowertoa5vpadoryouwilldestroyit.Besuretoreferencethepinoutdiagramforyourreceiver,toensurethatyouareconnectingthecorrectpadstogether.


Beforewiringupyourcameraandvideotransmitter(vTX),youmustdeterminewhetheryouwillpowerthemby5vorbatteryvoltage(vBat).Manycamerasandvideotransmitterstodaycanrunoffupto4S(16.8volts)withoutissue.Somecamerasandvideotransmitterscanrunoffevenhighervoltage.Youmustrefertotheproductspecificationsforyourcameraandvideotransmittertodeterminewhatmaximumvoltagetheyallow.Thesecantypicallybefoundontheproductlistingpageofthevendorthatsellstheequipment.

Ifthevoltagethatyouwillusetopowerthecopter(suchas4Sor5S)istoohighforyourcameraorvTX,youmustpowerthemfromthe5vregulator.IfthevoltagethatyouwillusetopowerthecopterislessthanthemaximumratedvoltageofyourcameraandvTX,youmaypowerthemfromvBat.However,werecommendpoweringthecameraandvTXfrom5vifpossible,becausethe5vregulatorprovidesadditionalfiltering,whichhelpsensurecleanandnoise-freevideo.

Rememberthattheratedloadofthe5vregulatorontheKakuteF4AIOis1.5amps.Thismeansthatthesumoftheaccessoriesyourunfromtheregulatorcannotexceed1.5amps.Thisshouldbeenoughcurrenttorunacamera,receiver,andvideotransmitter(evenahigh-poweredvTXliketheUnifyPro).However,ifyouhaveother5vaccessories,suchas5vLEDs,youmightexceedtheratedcapacityofthe5vregulator.Inthatcase,youwouldhavetorunsomeoftheaccessoriesfromvBat,toremoveloadfromtheregulator.WhenaccessoriesarerundirectlyfromvBat,theydonotloadtheregulator.

Torecap:thesumofthecurrentdrawnbyallaccessoriesonthe5vpadsmustbelessthan1.5amps.


Solderthevideowirefromthevideotransmitter(vTX)totheVOpadontheKakuteF4AIO.SolderthevideowirefromthecameratotheVIpadontheKakuteF4AIO.DependingonwhetheryouintendtorunoffvBator5v,solderthepowerwireforthecameraandvTXtoeitherthe5vortheB+padnearesttowhereyousolderedthevideowire.SolderthegroundwirefromthecameraandthevTXtotheGpadnearesttowhereyousolderedthevideowire.

Somevideotransmittersallowthechannel,transmitpower,andothersuchparameterstobeconfiguredremotely,throughtheBetaflightOSD.Thismeansyoucanchangechannelandtransmitpowerusingyourgogglesandtransmittersticks,insteadofpushingabuttonorflippingDIPswitchesonthevTXitself.Thisisahugeconvenience!

TwomainvideotransmittersthatsupportthisfeaturearetheImmersionRCTrampandtheTBSUnify.Holybro’snewvTX,theAtlatl,alsousestheIRCTramptelemetryprotocoltoallowremoteconfiguration.

IfyouhaveavTXthatsupportsSmartAudioorImmersionRCTelemetry,then:ForSmartAudiovTXincludingTBSUnify,soldertheaudiowirefromthevTXtotheTX6padontheKakuteF4AIO.ForTrampTelemetryvTXincludingtheImmersionRCTrampandtheHolybroAtlatl,soldertheTwirefromthevTXtotheTX6padontheKakuteF4AIO.

TelemetryallowstheKakuteF4AIOtoreportvalues,suchasbatteryvoltage,backtoyourtransmitter.Thetransmittercanbeconfiguredtogiveaudiblealertsonlowbattery,andothersuchfunctions.IfyouintendtouseFrSkySmartPorttelemetry,soldertheS.PortwirefromyourreceivertotheSmartPortpadontheKakuteF4AIO.SincetheKakuteF4AIOhasabuilt-inOSDforbatteryvoltagemonitoring,manypeoplechoosetorunwithouttelemetry.However,somepeopleprefertohaveboththeOSDandtelemetry.


RSSImonitoringallowsyoutoviewthesignalstrengthofthecontrollinkbetweenyourtransmitterandyourreceiverintheOSD.Thiscangiveawarningwhenyouaregettingclosetotheedgeofyourrange,aswellasshowingyouifyouhavedamagedequipment,suchasanantennathathasbeencutbyaprop.IfyouintendtousetheRSSIinput,soldertheanalogRSSIoutputofyourreceivertotheRSSIpadontheKakuteF4AIO.ManyreceiversdonotsupportanalogRSSIoutput,soyoumaynotbeabletousethisfeature.


UpdatingBetaflightFirmwareLikeallsoftware,thesoftwarethatrunsyourflightcontrollerhasversions.JustlikeWindowsXPwasfollowedby2k,then7,8,and10.ThesoftwarethatrunsyourflightcontrolleriscalledBetaflight.PuttinganewversionofBetaflightonyourKakuteF4AIOiscalled“flashing”yourboard.

Evenifyoudecideyoudon'twanttoupdateyourfirmwarerightnow,youstillneedtoinstalltheVCPdrivertoconfiguretheboard.So,youmustatleastgothroughstep1belowtouseyourboard.

InstallingDriversBeforeyoucanflashyourboard,youmustgetthedriversinstalledonyourcomputer.IfyouareonMacOSorLinux,YourO/Scomeswiththedriversyouneedpre-installed.Youdonotneedtoperformthisstep.Youmayskipdirectlyto“InstallingBetaflightConfigurator”.

IfyouareonWindows,youmustinstallthedriversmanually.Thisisaplacewherebeginnersoftenstruggle.We’regoingtopresentthestepshere,andifyoucanfollowthem,thengreat,butmanypeoplewon’tbeabletofollowthem.Ifyouneedamorepersonalapproach,hereisalinktoavideothatwalksyouthroughtheprocessinmoredetail.

AllAboutBetaflightDrivers,IncludingHowtoInstallThem

https://www.youtube.com/watch?v=m4ygG6Y5zXI

Herearethestepsyouwillperform:

1. DownloadtheVirtualCOMPort(VCP)driverinstallerfromhere.Unfortunately,youmusteithercreatealoginorgivethemyouremailaddress,thenwaitforthemtoemailyoualink,todownloadtheactualinstaller.Werecommendthatyoucreateauserloginbecausethe“sendyoualinkinanemail”methodsometimestakesalongtimetogothrough.

a. TocreatealoginattheSTMsite,firstgotothisURL.b. Click“CreateanAccount”c. Enteryourinformationinthenextpageandclick“Register”d. Youwillreceiveaconfirmationemail.Completetheconfirmationprocess.e. LogintotheSTMsiteusingtheloginyoujustcreatedanddownloadtheVCPdriver

installerfromthelinkinstep3.2. RuntheVCPinstallerandletitfinish.3. DownloadtheImpulseRCDriverFixerfromhere.4. RuntheImpulseRCDriverFixer.Itwillinstructyoutopluginyourflightcontroller.5. WhileholdingdownthebootloaderbuttonontheKakuteF4AIO,plugitintoyourPCviaUSB.

TheImpulseRCDriverFixershouldcompletesuccessfully.


ThevideolinkedaboveshowsaprocessofusingZadigtoreplacetheVCPdriver.TheImpluseRCDriverFixerisaneasierwayofdoingthesamething.So,usetheImpulseRCDriverFixeranddon’tmessaroundwithZadiglikethevideoshows.

IsItOverYet?THATWASSUPERANNOYINGWASN’TIT.Yes…weknow.

Thegoodnewsis,youdonotneedtorepeatthisprocessagain.Sortof.Youneverneedtoinstallthedriversagainonthiscomputer,unlessyoureinstalltheoperatingsystemforsomereason.Ifyouuseanothercomputerforthefirsttime,youwillneedtoinstallthosedriversonit.Also,everytimeyougetanewflightcontroller,youmustruntheImpulseRCDriverFixeronetimeforthatboard,beforeyoucanflashtheboard.UnlesstheboardhasaCP210xinsteadofusingVCPliketheKakute.

Youknowwhat?Let’sjustmoveon...

InstallingBetaflightConfiguratorBetaflightismanagedusingtheBetaflightConfiguratorapplication,alsoknownforshortastheBetaflightGUI,orjust,“TheGUI”.(GUIispronounced“gooey”incaseyouwondered.Onlyweirdossay,“GeeYouEye”.)TheBetaflightGUIisaChromeapp.Torunit,firstyouneedtoinstallGoogleChromeonyourcomputer.

https://www.google.com/chrome/browser/desktop/index.html

SomepeopledislikeGoogleandobjecttoinstallingGoogleChromeontheircomputer.ThereareafewoptionsforconfiguringBetaflightwithoutChrome,butthey’remostlyintendedforquickchangesinthefield,notfull-timeuse.IfyouintendtouseBetaflightonyourmultirotor,you’reprobablygoingtohavetoinstallChromeanduseaChromeapp.Beforeyouthinkofjumpingship,almostallotherflightcontrolfirmwares(KISS,Cleanflight)useChromeappstoo.

Next,downloadtheBetaflightConfiguratorGUIfromtheChromeAppStore:

https://chrome.google.com/webstore/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao?hl=en


Finally,runtheBetaflightConfiguratorGUI:

1. EntertheURLchrome://apps/inChrome’saddressbar.2. ClicktheiconfortheBetaflightConfigurator

3. Theconfiguratorwillstart.

Tosavetimeinthefuture,youcanright-clicktheappiconinChromeandchoose“CreateShortcuts”.Thiswillcreateshortcutsinyourstartmenuandonyourdesktop,tolaunchtheappdirectly.

FlashingNewFirmwareAtthispoint,ifyouwanttoupdateyourfirmware,hereishowtodoit.Butifyouareannoyedandfrustratedatthispointandjustwanttogofly,please,goforit!Youdon’thavetoberunningtheabsolutelatestfirmwaretohaveagoodtime.Justforgetaboutthisnonsense!

Stillhere?

Toflashyourfirmware,youmustconnecttheboardin“bootloadermode”.Bootloadermodemeansthattheboardisreadytoacceptnewprogramming.Toputtheboardintobootloadermode,holddown


thebootloaderbuttonwhilepluggingintheUSBcable.LeavethebuttonpressedforamomentafterpluggingintheUSBcabletobesureit“takes”.

IfyourKakuteF4AIOisinbootloadermode,thenyouwillsee“DFU”inthepulldownmenuintheupper-rightoftheconfigurator,asshownhere:

Ifyoudon’tseeDFUinthepulldownmenu,theneithertheboarddidn’tdetectthatyouhadthebootloaderbuttonpressedoryourdriversarenotinstalledcorrectly.Ifyoudon’tseeDFUinthepulldownmenu,youcannotflashnewfirmwaretotheboard.Itwon’twork.

Fortheadvancedusers,asimplerwayofgettingintobootloadermodeistogototheCLIandtype“dfu”.Thiswillreboottheboardintobootloadermode.Thisisespeciallyusefuliftheboardisinstalledinacopterwhereitisn’tconvenienttopressthebootloaderbutton.

Herearetheremainingsteps:

1. Gotothe“FirmwareFlasher”tab.2. Select“KAKUTEF4”inthe“Chooseaboard”pulldownmenu.Ifyouflashanyotherboardtype,

theKakuteF4AIOwillnotfunction.Itwon’tbedamaged,itjustwon’tworkuntilyouflashKAKUTEF4totheboard.

3. SelectthelatestversionofBetaflightinthe“Chooseafirmwareversion”pulldownmenu.4. Clickthe“LoadFirmware(Online)”button.Thebuttonwillchangetoread“Downloading”.The

FlashFirmwarebuttonwillchangefromgraytoorange.


5. Clickthe“FlashFirmware”button.Thescreenshouldautomaticallyscrolldowntoshowthestatusbar,whichwillfillwithorangeastheflashingprocesscompletes.

6. Flashingwillbefollowedbyaprocesscalled“Verifying”.Verificationsometimesfails,butthisisn’taproblem.Iftheflashcompletes,everythingisusuallyfine.

7. Un-plugyourboardandthenplugitbackinagain,thistimewithoutholdingdownthebootloaderbutton.

8. ForWindowsusers,thepulldownmenuintheupperrightoftheconfiguratorwillreadCOM3(orsomeothernumber).ForMacOSandLinuxusers,thepulldownwillreadsomethingstartingwith/dev/tty.Thisisnormal.Ifthepulldownmenureads“ManualSelection”thenyourboardisnotbeingdetected.ThismayindicatethatyoudidnotusetheKakuteF4targetwhenyouflashedtheboard.OritmayindicatethatyourVirtualCOMPort(VCP)driverswerenotinstalledcorrectly.

Youarereadytoconfigureyourboard.


InitialConfigurationThefullconfigurationofBetaflightcouldtakehourstodocument.Inthissection,we’lldescribeafewthingsthatarespecifictothisboard.Thiswon’tbeenoughtogetyouintotheair,sowe’llalsopointyoutosomevideosyoucanwatchifyou’renotperfectlysurewhatelseyouneedtodo.Evenpeoplehaveafewbuildsundertheirbeltmaybeskippingsomeimportantstepswithoutrealizingit!

ConnecttoTheBoardPlugtheboardintoUSB.StartBetaflightConfigurator.Youshouldsee“COM3”(orsomeothernumber)intheupper-rightmenu.Click“Connect”.

TheGUIwillload.

PortsClickonthe“Ports”tabontheleftsideofthewindow.

• USBVCPistheportthatisusedtotalkbetweentheKakuteF4AIOandtheConfiguratorGUI.MSPistheprotocolthattheyusetotalktoeachother.IfyoueverturnoffMSPonUSBVCP,youwillnotbeabletocontacttheboardanymoreviatheConfigurator.Youwillhavetore-flashtheboardanderaseyourconfigurationtogetbackintoit.Sufficeittosay,thisisbad,andyoushouldn’tdoit.Don’teverturnoffMSPontheUSBVCPlineinthePortstab.

• IfyouareusingFrSkySmartPorttelemetry:ontheUART1line,intheTelemetryOutputcolumn,chooseSmartPortfromthepulldownmenu.

• OntheUART3line,enable“SerialRX”.


• IfyouareusingSmartAudioorImmersionRCTrampTelemetrytocontrolyourvideotransmitter:ontheUART6line,inthePeripheralscolumn,chooseeitherTBSSmartAudioorIRCTramp,dependingonwhichtypeoftransmitteryouareusing.

Configuration`Clickonthe“Configuration”tabontherightsideofthewindow.Scrolldowntothe“OtherFeatures”section.

• IfyouareusingSmartPorttelemetry,enableTELEMETRY.

• IfyouareusingaprogrammableLEDstrip,enableLED_STRIP.

• TheKakuteF4AIOhasabuilt-inDataflashchipforBlackboxlogging.Ifyouintendtousethisfeature,enableBLACKBOX.

• AirModeincreasesauthoritywhenthethrottleisallthewaydown.Werecommendleavingthisoptiononallthetime.

• TheKakuteF4AIOhasbuilt-inBetaflightOSD.TheOSDoptionshouldalwaysbeenabled,unlessyouwanttoturnofftheOSDforsomereason.

Next,gototheReceivesectionofthe“Configuration”tab.SincetheKakuteF4AIOonlysupportserial-typereceivers,configurationofthissectionissimple.

• SettheReceiverModeto“Serial-basedreceiver”.

• SettheSerialReceiverProvidertothetypethatmatcheswhatkindofreceiveryouhave.FrSkyandotherSBUSreceivershoulduseSBUS.SpektrumSatellitereceiversshoulduseSPEKTRUM2048orSPEKTRUM1024dependingonwhethertheyareDSM2orDSMX.FlySkyreceiversuseiBus.Thesearethemostcommonserialreceivertypesthatarelikelytobeencountered.

BlackboxIfyouhaveenabledtheBlackboxfeature,gototheBlackboxtabontheleft-handsideofthewindow.IntheBlackboxtab,atthetop,settheBlackboxLoggingRateto1kHz.


OSDIntheOSDtab,youcanchoosewhichvaluesyouwanttoseeonscreenwhileyouareflying.EnableanddisableindividualelementsusingtheElementstogglesontheleft.

TheVideoFormatsectionletsyouchoosewhetheryourcameraisNTSCorPAL.BetaflightdefaultsthisvaluetoAuto,butAutosometimespickswrong.Ifthishappens,youmightnotseeanyOSDtext,orthebottomoftheOSDtextmightbeoffthebottomofthescreen.Insomecases,youwon’tseeanyvideoatall—justtheOSD.Becauseofthis,werecommendmanuallysettingtheVideoFormattoNTSCorPALdependingonwhichtypeofFPVcamerayouhave.

YoucanrearrangetheindividualOSDelementsonscreenbydraggingthemwithyourmouse.

SomeindividualOSDElementsofnoteare:

MainBattVoltage:Thisisprobablythesinglemostimportantelementtouse.Yourbatterymustnevergobelow3.3voltspercellunderanycircumstances,oritwillsufferdamage.Fora3Sbattery,thiswouldbe3times3.3=9.9volts.Fora4Sbattery,itwouldbe13.2volts.Anytimethebatterygoesbelowthislevel,itislikelybeingdamaged,atleastalittle.Moreimportantly,youwillhaveverylittlepowerandmaycrashifyouaredoingaggressivemaneuvers.

Although3.3voltsistherecommendedabsoluteminimum,youwillgetthebestlifeoutofyourbatteriesifyoukeepthevoltageaboveabout3.5voltspercell—10.5voltsfor3Sand14.0voltsfor4S.Ifyouareflyingandyounoticethebatterygoingbelowthislevel,itmightbetimetoland,oratleastgoeasieronthethrottle.Ifyourbatteriesconsistentlydroptothislevelwhenyoutrytofly,itmightbetimetogetnewbatteries.

Whenyouareusingthebattery,itsvoltagewilldrop.Thisisreferredtoas“sag”.Afteryouland,thebatterywillrecoverasmallamountanditsvoltagewillrise.Ourrecommendationisthat,thebatteryshouldbeatnolessthan3.75voltspercell—11.25voltsfora3Sand15.0voltsfora4S—afterithasbeenallowedtorestattheendofaflight.Ifyourbatteriesareconsistentlyrestingatbelowthislevelattheendofadayofflying,thenyoumightbeshorteningtheirlifespanatleastalittle.


mAhDrawn:Althoughvoltageiswhatultimatelydetermineswhetherabatteryisbeingdamaged,mAhmaybeabetterwayofdecidingwhentoland.Becausevoltagesagswhenyouraisethethrottleandrecoverswhenyoulowerthethrottle,itcanbehardtotellexactlyhowused-upthebatteryis.mAhislikea“gasgauge”foryourbattery.Itshowshowmuchcapacityyouhaveconsumed,independentofotherfactors.

Agoodpracticeistodrawfromabatterynomorethanabout80%ofitsratedmAh.So,a1300mAhbatterywouldbeabletodeliverabout1000to1100mAh.Withahealthybatteryandanhonestbatteryrating,thiswillresultinthebatteryrestingatabout15.0voltsafterflying.Ifyoudraw80%ofabattery’sratedcapacityanditisrestingathigherthan15.0volts,themanufacturermighthaveunder-rateditscapacity.Ifthebatteryisrestingatlowerthan15.0volts,themanufacturermighthaveover-rateditscapacity.Also,rememberthatbatterieslosecapacityastheyage.Abatterythatconsistentlyfailstodeliver80%ofitsratedcapacitywithoutsaggingbelow14.0voltsmightneedretirement.

ThemAhreadoutisbasedonthecurrentsensoronyourKakuteF4AIOboard.Thecurrentsensorontheboardhasbeencalibratedfromthefactory,butperfectcalibrationisn’tpossible.WerecommendthatyourecordthemAhDrawnattheendofyourfirstfewflights,thencompareittothemAhthatyourbatterychargerputsbackintothebatteries.ThenadjusttheCurrentScaleintheConfigurationtabtocompensateforanydifference.

Hereisanexample:

• OSDshows1100mAhDrawnattheendoftheflight.• Chargershows1000mAhputbackintothebattery.• 1100/1000=1.10.TheOSDisreading10%high.• CurrentScaleworksbackwardsfromhowyoumightthink.TomaketheOSDreadlower,you

makeCurrentScalelarger.SincetheOSDisreading10%high,weneedtoINCREASECurrentScaleby10%.ThiswillcausetheOSDtoread10%lower.

• IftheCurrentScalewasat400,wewillmultiplyitby1.10toadd10%,meaningthenewvalueshouldbe440.

ThemAhputbackinbythebatterywillseldomperfectlymatchthemAhreportedbytheOSD,butbytakingseveralmeasurementsandaveragingtheresults,youcanusuallygetitreasonablyclose.


UsingTheOSDTheKakuteF4AIOincludesBetaflightOSD,whichdisplaysinformationlikebatteryvoltageandmAhconsumedwhileyoufly.Inaddition,theBetaflightOSDcanbeusedtoconfigurethequadcopter,makingin-fieldadjustmentsandtuningmoreconvenient.

ThegraphicsaboveshowthestickcommandtobringuptheOSDmenu.Thestickcommandis:throttlecentered,yawleft,pitchforward.Theexactstickcommandthereforedependsonwhichmodeyourtransmittersticksarein.

IntheOSDmenu,usepitchup/downtomovethecursorbetweenmenuitems.Whenamenuoptionhasa>symboltotherightofit,thisindicatesthatitcontainsasub-menu.Roll-rightwillenterthesub-menu.Forexample,inthescreentotheright,movingthecursorto“Features”andthenmovingtherollsticktotherightwillenterthe“Features”sub-menu.

Ifyouareusingavideotransmitterthatsupportsremoteconfiguration,enterthe“Features”menutoconfigurethevTX.Fromthere,entereither“VTXSA”ifyouareusingSmartAudio(TBSUnify)or“VTXTR”ifyouareusingIRCTrampTelemetry.

ToadjustPIDs,rates,andothertuning-relatedparameters,enterthe“Profile”sub-menu.

Inthe“ScrLayout”sub-menu,youcanmovetheOSDelements(likebatteryvoltage,mAh,andsoforth)aroundonthescreen.

The“Alarms”sub-menuletsyoucontrolwhentheOSDwilltrytoalertyouthatbatteryvoltageistoolowormAhconsumedistoohigh.

Mode2 Mode1


Whenaparametercanbemodified,theparameter’scurrentvaluewillbeshownontheright-handsideofthescreen.Inthiscase,rollleft/rightwilladjusttheparameterupanddown.

ThescreentotherightshowsthecurrentvTXsettings.Fromhere,youcanchangethefrequencyband,channel,andpowerlevelofthevideotransmitter.Aftermakingthechanges,movethecursorto“Set”andpressroll-righttoconfirmthesettings.


SavingYourConfigurationOnceyouhavefinishedbuilding,configuring,andtuningyourmultirotor,it’sagoodideatobackupyourconfigurationsothatyoucanrestoreitlater.Thisisusefulifyouloseyourquad,orifyoudamageyourflightcontroller,orifyouaccidentallylockyourselfoutofyourflightcontrollerandmustresetittogetbackin.

Beforeweshowyoutherightwaytosaveandrestoreyourconfiguration,letuswarnyouaboutthewrongway.BetaflightandCleanflighthavea“saveconfiguration”and“restoreconfiguration”button.Withoutgoingintotoomuchdetail,theyhavesomesignificantdrawbacksthatmeanwedon’trecommendthatyouusethem.

Thecorrectwaytosaveyourconfigurationisasfollows.

1. ConnectyourKakutetoyourPCbyplugginginUSB.2. StarttheBetaflightGUIapp.3. GototheCLItab.4. InthetextboxatthebottomoftheCLI,type“diff”andhitenter.Thiswillcausetheflight

controllertodisplayallconfigurationoptionsthatyouhavechangedfromthedefaultvalues.5. Scrollbacktothetopofthewindowtofindthelinewhereyoutyped“diff”.6. Clickyourmouseanddrag/scrolldowntoselectallofthetextbelowwhereyoutyped“diff”.

Thisisyourconfigurationdata.7. Right-clickandchoose“Copy”tocopythehighlightedtexttotheclipboard.8. Openanytexteditor,suchasWindowsNotepadorMacOSTextEdit.9. Right-clickinthetexteditorwindowandchoose“Paste”topastethehighlightedtextintothe

editor.10. Savethedocumentsomewhereyouwon’tloseit.

Torestoreyourconfiguration,dothis:

1. Openthetextfileinyourtexteditor.2. Highlighttheentirecontentsofthefile.3. Right-clickinthetexteditorwindowandchoose“Copy”.4. ConnectyourKakutetoyourPCbyplugginginUSB.5. StarttheBetaflightGUIapp.6. GototheCLItab.7. ClickthemouseonceinthetextboxatthebottomoftheCLItabtoplacethecursorthere.8. Insteadoftypinganycommands,right-clickinthetextboxandchoose“Paste”.9. PresstheEnterkeyonyourkeyboard.Thepasted-intextwillrapidlyscrollpast.10. Type“save”inthetextboxatthebottomofthescreen.11. PressEnter.Theflightcontrollerwillrebootandtheconfigurationwillberestored.


HowToSaveandRestoreYourConfiguration

https://www.youtube.com/watch?v=HsxTqp76Brs


AdditionalReferenceHerearesomelinkstoadditionalvideostohelpyoubuildyourquadcoptersuccessfully.

HolybroShurikenX1InitialConfiguration

https://www.youtube.com/watch?v=lNmEeCMryu4

ThisvideoisnotbasedonthelatestreleaseofBetaflight,butthebasicstepsofsettingupthequadcopter,suchascalibratingtheESCsandconfiguringfailsafe,arethesame.

HowtoCalibrateYourESCs

https://www.youtube.com/watch?v=o3Mg-9M0l24

IfyouareusingananalogprotocollikeOneshotorMultishot,calibratingyourESCsismandatory.IfyouarefortunateenoughtobeusingDshot,thenyoucanskipthisstep.

Failsafe

https://www.youtube.com/watch?v=dikr9oDzQqc

Failsafeiswhathappenswhenyouflytoofarawayoryourreceivergetsdisconnectedfromyourflightcontroller.Ifyoudon’tconfigurefailsafe,thequadcouldflyaway,oritcouldcrashintosomething…orsomeone.

DON’TFLYWITHOUTVERIFYINGTHATFAILSAFEWORKSCORRECTLY.

Toverifyfailsafe,removeyourprops,thenpluginyourbatteryandarmyourcopter.Thenturnoffyourtransmitter.Yourmotorsshouldstopwithin1to3secondsatmost.

Ifyourmotorsdon’tstopwhenyouturnoffyourtransmitter,DONOTFLYYOURMULTIROTORUNDERANYCIRCUMSTANCES.


AdjustPIDs/Rates/vTXfromTaranisIfyouhaveaFrSkyTaranisradioandifyouareusingSmartPorttelemetry,youcanuseyourTaranistochangeyourPIDsandrates.

ThisisdonebyinstallingapieceofprogrammingcodecalledaLuascriptonyourTaranis.IfyouarealsousingSmartAudio,youcanuseaLuascripttochangeyourvTXsettings.ThisisthesameasifyouwereusingtheBetaflightOSD,butitworkswithoutyouhavingtoputyourgoggleson.

Detailedinstructionsforhowtodothisarebeyondthescopeofthisdocument.OscarLianghasanarticlewithinstructions,here:

HowtoAdjustPIDs,Rates,andvTXSettingsviaLuaScript

https://oscarliang.com/betaflight-change-pid-vtx-settings-taranis/

Documents

#11028 Kakute F4 All-In-One - · PDF filePage | 1 Kakute F4 AIO Overview The Holybro Kakute F4 All-In-One flight controller makes it easy to build your multirotor. It integrates flight