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The KakuteF4 AIO is a flight controller produced by Holybro.
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.
The pin labelled Rx on each corner of the board is a common pin for ESC telemetry input.
RC input is configured on the R6 (UART3_RX) pin. It supports all RC protocols.
FrSky Telemetry is supported using the SmartPort pad (UART1). You need to set the following parameters to enable support for FrSky S.PORT. It has builtin inverters and a diode to allow for operation from a single pin with no special adapters.
The KakuteF4 supports OSD using OSD_TYPE 1 (MAX7456 driver).
The KakuteF4 supports up to 4 PWM outputs. The pads for motor output M1 to M4 on the above diagram are for the 4 outputs. All 4 outputs support DShot as well as all PWM types. The M5 and M6 outputs are not currently available with ArduPilot.
The PWM is in 2 groups:
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.
The board has a builting voltage and current sensor. The voltage sensor can handle up to 6S LiPo batteries.
The correct battery setting parameters are:
The KakuteF4 AIO does not have a builting compass, but you can attach an external compass using I2C on the SDA and SCL pads.
The KakuteF4 does not support on-board logging at this time.
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.