F4 vs F7 and Dshot

Hate to spam this channel for info, but I’m at the wiring stage of a pair of quads.

One is sporting a Pixhawk 4 - F7 FMU with F0 I/O. - and I want to Dhot the BlHeli32 ESCs installed. Do I have to remap the main outputs to the F0 I/O like witha a Pixhawk 1, and retain the regular PWM outputs of the FMU, or can I go straight Dshot on the FMU with PWM handled by the I/O ?

Second is sporting a Kakute F7. An F7 without the I/O, with separate timings on 1-2-3, 4-5 and 6. Can I wire a quad for Dshot on 1-2-3-6 and still get legacy-PWM on 4&5 ?


PWM Output

The KakuteF7 supports up to 6 PWM outputs. The pads for motor output M1 to M6 on the above diagram are for the 6 outputs. All 6 outputs support DShot as well as all PWM types.

The PWM is in 3 groups:

  • PWM 1, 2 and 3 in group1
  • PWM 4 and 5 in group2
  • PWM 6 in group3

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.