FOXEER H7 Reaper PX4 Port
Unofficial PX4 board-port package for the Foxeer H743 / H7 Reaper flight controller, adapted from the upstream holybro/kakuteh7 PX4 board target.
This repository is not a full PX4-Autopilot fork. It contains the modified board directory and notes needed to build PX4 for this hardware by replacing or merging the stock Kakute H7 board files.
Status
- Target hardware: Foxeer H743 / H7 Reaper style STM32H743 flight controller
- PX4 board target:
holybro_kakuteh7_default
- QGroundControl identity: Holybro Kakute H7
- Bootloader: Holybro Kakute H7 PX4 bootloader
- Board ID:
1048
- Status: experimental/community port
Use this at your own risk. Verify all pin mappings, sensor orientation, motor outputs, battery scaling, and failsafe behavior before flying.
Repository Layout
kakuteh7/ Modified PX4 board directory
sample_firmware/ Example bootloader and firmware binaries
FOXEER_H743_PORTING.md Detailed porting notes and validation commands
LICENSE Repository license notice
The kakuteh7/ folder is intended to be copied into a PX4-Autopilot source tree at:
PX4-Autopilot/boards/holybro/kakuteh7/
Build
Start from a working PX4-Autopilot checkout with the normal PX4 toolchain installed.
cp -r kakuteh7 PX4-Autopilot/boards/holybro/kakuteh7
cd PX4-Autopilot
make holybro_kakuteh7_default
The resulting firmware is built under:
build/holybro_kakuteh7_default/
Depending on your PX4 version, the QGroundControl firmware package may be named .px4 or .px4firmware.
Flashing
Foxeer H743 boards commonly ship with Betaflight or another firmware stack, not the PX4 bootloader. For QGroundControl upload support, first flash the Holybro Kakute H7 PX4 bootloader to internal flash address 0x08000000 using STM32CubeProgrammer or SWD.
After the PX4 bootloader is installed:
- Connect the board by USB.
- Open QGroundControl firmware setup.
- Choose custom firmware.
- Select the firmware built from
holybro_kakuteh7_default.
QGroundControl will identify the board as Kakute H7 because this port intentionally keeps the upstream Kakute H7 board identity.
Sample Firmware
The sample_firmware/ folder contains example binaries from this port:
sample_firmware/holybro_kakuteh7_bootloader.bin
sample_firmware/holybro_kakuteh7_default.px4
The included application firmware sample was built from PX4 v1.16.1.
Use these only as reference/sample builds. For a real aircraft, prefer building the firmware yourself from the matching PX4 source tree so you know the exact PX4 version, board files, parameters, and build configuration being flashed.
The bootloader binary is intended for the initial STM32CubeProgrammer/SWD flash step. The .px4 application firmware is intended for QGroundControl custom firmware upload after the PX4 bootloader is installed.
Main Port Changes
- Serial mapping for RC, telemetry, GPS, and ESC telemetry UARTs
- MPU6000 on SPI2
- DPS310 barometer on I2C1 at address
0x76
- SPI3 dataflash mapping
- USB VBUS handling for boards without a dedicated VBUS sense pin
- Foxeer-specific PWM/timer output mapping
- Battery voltage/current defaults
- Board rotation and no-SD-card defaults
See FOXEER_H743_PORTING.md for the full change list and validation commands.
Validation Checklist
After flashing, verify at minimum:
ver all
dmesg
mpu6000 status
dps310 status
listener sensor_baro 1
i2cdetect -b 1
dshot status
Also confirm motor order, motor direction, RC input, telemetry ports, battery voltage/current scaling, arming checks, and failsafe behavior with props removed.
Notes
- This port is unofficial and is not affiliated with Foxeer, Holybro, PX4, or QGroundControl.
- Keep generated PX4 build folders out of git. Publish prebuilt firmware through GitHub Releases if needed.
- Source files derived from PX4/NuttX keep their original copyright and license headers.
评论