Kakute F4 Flight Controller - · PDF file[Type here] [Type here] Page | 1 Kakute F4 Overview The Holybro Kakute F4 flight controller supports important features of Betaflight/Cleanflight,
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KakuteF4FlightControllerWithBetaflightOSD
UserManual&InstallationGuidev1.1
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Contents
Overview......................................................................................................................1
FeaturesSpecificationsWarrantyandReturnPolicy
PinoutDiagram..........................................................................................................3
InstallationGuide......................................................................................................4
UpdatingBetaflightFirmware............................................................................9
InstallingDriversInstallingBetaflightConfiguratorFlashingNewFirmware
InitialConfiguration..............................................................................................14
ConnecttoTheBoardPortsConfigurationBlackboxOSD
UsingTheOSD..........................................................................................................20
SavingYourConfiguration..................................................................................22
AdditionalReference.............................................................................................24
AdjustPIDs/Rates/vTXfromTaranis.......................................................25
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OverviewTheHolybroKakuteF4flightcontrollersupportsimportantfeaturesofBetaflight/Cleanflight,suchasOSDandDshot.ThefasterF4processorgivesroomforfuturefeaturedevelopment:runallfeaturesatthefast8kHzPIDlooprate,atsingle-digitCPUutilization!Becauseofissueswithserialinversion,otherF4boardsstruggletosupportprotocolssuchasFrSkySBUSandSmartPortatthesametime.TheKakuteF4isdesignedtosupportallserialprotocolsatonce.
Features• SupportsBetaflightandCleanflight.• BetaflightOSD.ChangePIDs,adjustcommonconfigurationparameters,andchangevideo
transmitterchannelandpowerlevel,allusingyourtransmittersticksandgoggles.• Soft-mountingbuiltin.TheIMU(“gyro”)chiponthisboardismountedonvibration-isolating
foam.Thismeansthatthereisnoneedtosoft-mounttheboarditself.• Newhigh-performance/low-noise/highsensitivityIMU.ICM20689with6-axisgyroand
accelerometer.Canrunatupto32kHz.• Dedicatedbootloaderbuttonforeasyfirmwareflashing.• Low-profiledesignfitsintoevenverycompactframes.• Inputvoltage7vto42v.Powertheboarddirectlyfromtheflightpack,upto6S(on“BAT”pad
only).• Automaticvoltagemonitoring.NoneedtorunaseparatevBatwireforvoltagemonitoring;the
KakuteF4monitorsvoltagedirectlyfromthebatterypowerlead.• Filteredvoltageoutputforclean,noise-freevideo.On-boardregulatorsoutput5vatupto1.5
ampsand3.3vatupto200mAtopowerperipheralssuchasreceiver,videotransmitter,FPVcamera,orLEDstrip.
• PPMinputissharedwithUART6RXpadforsimplereceiverinstallationregardlessoftype.• SupportsBLHelipass-throughforeasyESCupgradeandconfiguration.
Specifications• MCU:STM32F405RGT632-bitprocessor• IMU:ICM20689(SPI)• USBVCPDriver(allUARTsusablesimultaneously;USBdoesnottakeupaUART)• 3hardwareUARTS(UART1,3,6)• 128MbitDataflashchipforBlackboxlogging• 5vPowerOut:1.5Amax• 3.3vPowerOut:200mAmax• Dimensions:35x25x7mm(IncludesUSBheight)• MountingHoles:Standard30.5mmsquaretocenterofholes• Weight:5g
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WarrantyandReturnPolicyIfyoubelievethatyourKakuteF4isdefective,pleasecontactus.Ifwedeterminethattheboardisdefective,itwillberepairedorreplacedatnochargetoyou.WemayaskyoutosendyourKakutetoourservicecenterforexaminationorrepair.Shippingcostsareyourresponsibility.Returneditemsshouldincludetheoriginalpackagingandallaccessories.
Ifproductisdamagedordefective,wewillrepairorreplaceit.Refundsareonlygivenwhenproductislostbytheshippingcompany.Therefundamountislimitedtothepriceoftheproduct.Shippingcostsareneverrefundable.
Contactusat:
• Email:productservice@holybro.com• FacebookPage:Holybro• FacebookGroup:HolybroShurikenOwnerGroup
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PinoutDiagram
Topofboard
Bottomofboard
Pin FunctionBUZ- PiezobuzzernegativelegBUZ+ PiezobuzzerpositivelegLED WS2182addressableLEDsignalwireSP FrSkySmartPortTelemetryR3,T3 UART3RXandTXR6,T6 UART6RXandTXRSI Analog(0-3.3v)RSSIinputCurr Analog(0-3.3v)Currentsensorinput3V3 3.3voutput(200mAmax)5v 5voutput(1.5Amax)M1toM6 MotorsignaloutputsVO VideooutputtovideotransmitterVI VideoinputfromFPVcameraBoot BootloaderbuttonG GroundB+ Batterypositivevoltage(2S-6S)
Pin FunctionIO,3V3,CK DebugginginterfacefordevelopersGND Ground
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InstallationGuideBeforeyoubegintoinstalltheKakuteF4,youshouldusuallyhaveyourESCS,andPDBfullyinstalledinyourframeandsolderedup.TheKakuteF4willtypicallyinstallontopofthePDBora4-in-1ESC.IfyouinstalltheKakuteF4beforesolderingupthePDBandESCs,youmighthavetoremoveitafterwardstogetatthePDB.
InstalltheKakuteF4inyourquadcopterframe.Donotcompletelyreassembletheframe.LeavetheKakuteF4accessiblesothatyoucansolderwirestoit.Forexample,leavethetopplateofyourframeoff,orremovethecamerapodofanX-styleframesothatyouareworkingonlywiththebase-plate.
HavingtheKakuteF4mountedintheframewillallowyoutoensurethatwirelengthsarecorrectasyousolderaccessoriestotheboard.Whenindoubt,it’salwaysbettertoleavealittleextrawire.
Be100%surethatthefront-facingarrowontheKakuteF4facesthefrontofthequadcopter!Ifforsomereasonthisisnotpossible,thenyoumustuseCleanflightorBetaflight’s“boardalign”featuretocompensate.
“BoardAlign”FeatureDocumentation
https://www.youtube.com/watch?v=jSzWRnAqsSY
Solderawirefromabattery-voltagesourcetothe-BAT+padsontheKakuteF4.Thebattery-voltagesourcecouldbethemainbatterypadsonyourPDB,butthePDBmightalsohaveaseparatevBataccessorypadforthispurpose.BecausetheKakuteF4willonlydrawafewampsofcurrentatmost,thiswirecanberelativelythin:22to26gauge(thesameasisusedfortypicalservowires)isfine.Thewireshouldbefine-strand,silicone-insulationwire.Thistypeofwireiscommonlyreferredtoas“siliconewire”.Donotuseregularstrandedcopperwire.Itwillbecomebrittleovertimeandbreak.
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WhenyouroutethewirestotheKakuteF4,it’sagoodideatoroutetheminsuchawaythattheboardcanlaterbeliftedorfoldedoutoftheway.Thiswillallowforeasymaintenancelaterwhenit’srequired.Quadcopterscrash.Alot.Maketherepairsaseasyonyourselfaspossible.
“HingeYourStack”MethodofWireRouting
https://www.youtube.com/watch?v=lETmdCwcqHQ
SoldertheESCsignalwirestotheM1,M2,M3,andM4pads.Thesignalwireisathinwire,typicallyyelloworwhite.It’susuallyconnectedtothesamesideoftheESCasthepowerwires.EachESC’ssignalwireshouldbesolderedtothemotorpadthatisclosesttothecornerwheretheESCisinstalled.IfyourESCcame“naked”(withoutwiresattached)thenyoushoulduseapieceofsiliconewirebetween22and26gaugeforthesignalwire(s).SomeESCshaveasignalgroundwireandsomeESCsdon’t.IfyourESChasathinblackwirethatistwistedwiththesignalwire,thatisthesignalground.YoucansolderthesignalgroundtotheGroundpadthatisnexttoeachM1,M2,M3,andM4pad.
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SolderthereceiversignalwiretopadR3.Ifyouareusingaservocable,thesignalwirewillbewhiteoryellow.YoumustuseareceiverthatsupportsaserialprotocolsuchasSBUS,iBus,andSpektrumSatellite.YoucannotuseaPPMorPWMreceiverwiththeKakuteF4AIO.SolderthereceivergroundwiretotheGpadtotherightofR3.Inastandardservocable,thegroundwirewillbeblackorbrown.Ifyourreceiverrequires5vpower(mostreceiversexceptforSpektrumSatellite),solderitspowerwiretothe5vpadtotherightofR3.Inastandardservocable,thepowerwirewillberedororange.Thepowerwireisalsoalwaysthemiddlewireoftheservocable.Ifyourreceiverrequires3.3vpower(mostSpektrumSatellitereceivers),solderitspowerwiretothe3v3padtotherightofR3.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.
Rememberthattheratedloadofthe5vregulatorontheKakuteF4is1.5amps.Thismeansthatthesumoftheaccessoriesyourunfromtheregulatorcannotexceed1.5amps.Thisshouldbeenoughcurrenttorunacamera,receiver,andvideotransmitter(evenahigh-poweredvTXliketheUnifyPro).However,ifyouhaveother5vaccessories,suchas5vLEDs,youmightexceedtheratedcapacityofthe5vregulator.Inthatcase,youwouldhavetorunsomeoftheaccessoriesfromvBat,toremoveloadfromtheregulator.WhenaccessoriesarerundirectlyfromvBat,theydonotloadtheregulator.
Torecap:thesumofthecurrentdrawnbyallaccessoriesonthe5vpadsmustbelessthan1.5amps.
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Solderthevideowirefromthevideotransmitter(vTX)totheVOpadontheKakuteF4.SolderthevideowirefromthecameratotheVIpadontheKakuteF4.IfyouintendtorunyourvTXandcamerafrom5v,soldertheirpowerwirestothe5vpadthatisrightnexttotheVIpad.Twistthetwowirestogetherandtinthemwithsolderbeforesolderingthembothatthesametimetothe5vpad.IfyouintendtorunyourvTXandcamerafromvBat,soldertheirpowerwirestoanyvBatsource.OntheKakuteF4,youcanusetheBat+pad.Besuretoroutethewireneatlyandrememberthe“hingeyourstack”approach.Alternatively,youcanrunthewiretoanyvBatsourceonyourPDB.SolderthegroundwirefromthecameraandthevTXtotheGpadthatisrightnexttotheVIpad.TwistthetwogroundwirestogetherandtinthemwithsolderbeforesolderingbothatthesametimetotheGpad.IfyouareusingvBattopowerthecameraandvTX,youmayprefertosolderthegroundwiretoanygroundsourcethatisnearbytothevBatsource.Thiswillkeepthewiringneatandlogical.
Somevideotransmittersallowthechannel,transmitpower,andothersuchparameterstobeconfiguredremotely,throughtheBetaflightOSD.Thismeansyoucanchangechannelandtransmitpowerusingyourgogglesandtransmittersticks,insteadofpushingabuttonorflippingDIPswitchesonthevTXitself.Thisisahugeconvenience!
TwomainvideotransmittersthatsupportthisfeaturearetheImmersionRCTrampandtheTBSUnify.Holybro’snewvTX,theAtlatl,alsousestheIRCTramptelemetryprotocoltoallowremoteconfiguration.
IfyouhaveavTXthatsupportsSmartAudioorImpulseRCTelemetry,then:ForSmartAudiovTXincludingTBSUnify,soldertheaudiowirefromthevTXtotheT6padontheKakuteF4.ForTrampTelemetryvTXincludingtheImmersionRCTrampandtheHolybroAtlatl,soldertheTwirefromthevTXtotheT6padontheKakuteF4.
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TelemetryallowstheKakuteF4toreportvalues,suchasbatteryvoltage,backtoyourtransmitter.Thetransmittercanbeconfiguredtogiveaudiblealertsonlowbattery,andothersuchfunctions.Ifyouintendtousetelemetry,solderthetelemetrywirefromyourreceivertotheSPpadontheKakuteF4.OnaFrSkyreceiver,thetelemetrywirewillbelabeledasS.PortorSmartPort.SincetheKakuteF4hasabuilt-inOSDforbatteryvoltagemonitoring,manypeoplechoosetorunwithouttelemetry.However,somepeoplepreferboththeOSDandtelemetry.
RSSImonitoringallowsyoutoviewthesignalstrengthofthecontrollinkbetweenyourtransmitterandyourreceiverintheOSD.Thiscangiveawarningwhenyouaregettingclosetotheedgeofyourrange,aswellasshowingyouifyouhavedamagedequipment,suchasanantennathathasbeencutbyaprop.IfyouintendtousetheRSSIinput,soldertheanalogRSSIoutputofyourreceivertotheRSIpadontheKakuteF4.ManyreceiversdonotsupportanalogRSSIoutput,soyoumaynotbeabletousethisfeature.
CurrentmonitoringallowsyoutoviewhowmanyampsthequadcopterisdrawingintheOSD.Youcanalsoviewhowmuchofyourbattery’scapacity(mAh)youhaveused,kindoflikea“fuelgauge”foryourbattery.TousecurrentmonitoringwiththeKakuteF4,youmusthaveanexternalcurrentsensoronthecopter.Mostcommonly,thiswillbebuiltintoyourPDBoryour4-in-1ESC—butmanyPDB’sandESC’sdon’thaveacurrentsensoratall.Ifyoudon’thaveacurrentsensoronyourcopter,youcan’tviewampsandmAhintheOSD.Don’tworrytoomuchaboutthis.Pilotshavebeenflyingwithoutcurrentsensorsforalongtime.TheKakuteF4canalwaysshowbatteryvoltageintheOSD,andthisisenough,althoughmAhsensingisbetter.Ifyouhaveacurrentsensoronyourcopter,youcansolderitsoutputwiretotheCurrpadontheKakuteF4.ThiswillenabletheKakuteF4toreportampsandmAhintheOSD.
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UpdatingBetaflightFirmwareLikeallsoftware,thesoftwarethatrunsyourflightcontrollerhasversions.JustlikeWindowsXPwasfollowedby2k,then7,8,and10.ThesoftwarethatrunsyourflightcontrolleriscalledBetaflight.PuttinganewversionofBetaflightonyourKakuteF4iscalled“flashing”yourboard.
Evenifyoudecideyoudon’twanttoupdateyourfirmwarerightnow,youstillneedtoinstalltheCP210xdrivertoconfiguretheboard.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. WhileholdingdownthebootloaderbuttonontheKakuteF4,plugitintoyourPCviaUSB.The
ImpulseRCDriverFixershouldcompletesuccessfully.
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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
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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
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thebootloaderbuttonwhilepluggingintheUSBcable.LeavethebuttonpressedforamomentafterpluggingintheUSBcabletobesureit“takes”.
IfyourKakuteF4isinbootloadermode,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,
theKakuteF4willnotfunction.Itwon’tbedamaged,itjustwon’tworkuntilyouflashKAKUTEF4totheboard.
3. SelectthelatestversionofBetaflightinthe“Chooseafirmwareversion”pulldownmenu.4. Clickthe“LoadFirmware(Online)”button.Thebuttonwillchangetoread“Downloading”.The
FlashFirmwarebuttonwillchangefromgraytoorange.
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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.OritmayindicatethatyourCP210xdriverswerenotinstalledcorrectly.
Youarereadytoconfigureyourboard.
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InitialConfigurationThefullconfigurationofBetaflightcouldtakehourstodocument.Inthissection,we’lldescribeafewthingsthatarespecifictothisboard.Thiswon’tbeenoughtogetyouintotheair,sowe’llalsopointyoutosomevideosyoucanwatchifyou’renotperfectlysurewhatelseyouneedtodo.Evenpeoplehaveafewbuildsundertheirbeltmaybeskippingsomeimportantstepswithoutrealizingit!
ConnecttoTheBoardPlugtheboardintoUSB.StartBetaflightConfigurator.Youshouldsee“COM3”(orsomeothernumber)intheupper-rightmenu.Click“Connect”.
TheGUIwillload.
PortsClickonthe“Ports”tabontherightsideofthewindow.
• USBVCPistheportthatisusedtotalkbetweentheKakuteF4andtheConfiguratorGUI.MSPistheprotocolthattheyusetotalktoeachother.IfyoueverturnoffMSPonUSBVCP,youwillnotbeabletocontacttheboardanymoreviatheConfigurator.Youwillhavetore-flashtheboardanderaseyourconfigurationtogetbackintoit.Sufficeittosay,thisisbad,andyoushouldn’tdoit.Don’teverturnoffMSPontheUSBVCPlineinthePortstab.
• IfyouareusingFrSkySmartPorttelemetry:ontheUART1line,intheTelemetryOutputcolumn,chooseSmartPortfromthepulldownmenu.
• OntheUART3line,enable“SerialRX”.
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• IfyouareusingSmartAudioorImmersionRCTrampTelemetrytocontrolyourvideotransmitter:ontheUART6line,inthePeripheralscolumn,chooseeitherTBSSmartAudioorIRCTramp,dependingonwhichtypeoftransmitteryouareusing.
ConfigurationClickonthe“Configuration”tabontherightsideofthewindow.Scrolldowntothe“OtherFeatures”section.
• IfyouareusingSmartPorttelemetry,enableTELEMETRY.
• IfyouareusingaprogrammableLEDstrip,enableLED_STRIP.
• TheKakuteF4hasabuilt-inDataflashchipforblackboxlogging.Ifyouintendtousethisfeature,enableBLACKBOX.
• AirModeincreasesauthoritywhenthethrottleisallthewaydown.Werecommendleavingthisoptiononallthetime.
• TheKakuteF4hasbuilt-inBetaflightOSD.TheOSDoptionshouldalwaysbeenabled,unlessyouwanttoturnofftheOSDforsomereason.
Next,gototheReceivesectionofthe“Configuration”tab.SincetheKakuteF4onlysupportserial-typereceivers,configurationofthissectionissimple.
• SettheReceiverModeto“Serial-basedreceiver”.
• SetheSerialReceiverProvidertothetypethatmatcheswhatkindofreceiveryouhave.FrSkyandotherSBUSreceivershoulduseSBUS.SpektrumSatellitereceiversshoulduseSPEKTRUM2048orSPEKTRUM1024dependingonwhethertheyareDSM2orDSMX.FlySkyreceiversuseiBus.Thesearethemostcommonserialreceivertypesthatarelikelytobeencountered.
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BlackboxIfyouhaveenabledtheBlackboxfeature,gototheBlackboxtabontheleft-handsideofthewindow.IntheBlackboxtab,atthetop,settheloggingdeviceto“On-boarddataflashchip”andtheBlackboxloggingrateto1kHz.
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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.
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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.
TomeasurethemAhdrawn,thequadcoptermusthaveacurrentsensor.Manyquadcopterswon’thaveacurrentsensor,butsomePDB’sand4-in-1ESC’shaveacurrentsensorbuiltin.Ifyouhaveacurrentsensoronyourquad,andifyouwiredituptotheCurrpadontheKakuteF4,thenyouwillbeabletoseemAhdrawnintheOSD.
TheKakuteF4mustbecalibratedtomatchthereadingsputoutbyyourcurrentsensor.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.
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ThemAhputbackinbythebatterywillseldomperfectlymatchthemAhreportedbytheOSD,butbytakingseveralmeasurementsandaveragingtheresults,youcanusuallygetitreasonablyclose.
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UsingTheOSDTheKakuteF4includesBetaflightOSD,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
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Whenaparametercanbemodified,theparameter’scurrentvaluewillbeshownontheright-handsideofthescreen.Inthiscase,rollleft/rightwilladjusttheparameterupanddown.
ThescreentotherightshowsthecurrentvTXsettings.Fromhere,youcanchangethefrequencyband,channel,andpowerlevelofthevideotransmitter.Aftermakingthechanges,movethecursorto“Set”andpressroll-righttoconfirmthesettings.
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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.
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HowToSaveandRestoreYourConfiguration
https://www.youtube.com/watch?v=HsxTqp76Brs
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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.
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AdjustPIDs/Rates/vTXfromTaranisIfyouhaveaFrSkyTaranisradioandifyouareusingSmartPorttelemetry,youcanuseyourTaranistochangeyourPIDsandrates.
ThisisdonebyinstallingapieceofprogrammingcodecalledaLuascriptonyourTaranis.IfyouarealsousingSmartAudio,youcanuseaLuascripttochangeyourvTXsettings.ThisisthesameasifyouwereusingtheBetaflightOSD,butitworkswithoutyouhavingtoputyourgoggleson.
Detailedinstructionsforhowtodothisarebeyondthescopeofthisdocument.OscarLianghasanarticlewithinstructions,here:
HowtoAdjustPIDs,Rates,andvTXSettingsviaLuaScript
https://oscarliang.com/betaflight-change-pid-vtx-settings-taranis/
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