# CUAV V5+ 快速接线指南

:::warning
PX4 does not manufacture this (or any) autopilot.
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
:::

This quick start guide shows how to power the [CUAV V5+](../flight_controller/cuav_v5_plus.md) flight controller and connect its most important peripherals.

![V5+ AutoPilot - Hero Image](../../assets/flight_controller/cuav_v5_plus/v5+_01.png)

## 接线图概述

下图展示了如何连接最重要的传感器和外围设备（电机和伺服舵机输出除外）。
我们将在下面各节中介绍它们的细节。

![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_01.png)

| 主要接口                           | 功能                                                                                                               |
| :----------------------------- | :--------------------------------------------------------------------------------------------------------------- |
| Power1                         | 连接到电源模块（电流计）。 Power input with _analog_ voltage and current detection. 请不要连接数字电源模块（比如UAVCAN电流计）！ |
| Power2                         | 连接I2C总线的智能电池                                                                                                     |
| TF CARD                        | 用于日志存储的SD卡（出厂时SD已经装配好）。                                                                                          |
| M1~M8          | PWM 输出接口。 可以使用它控制电机或舵机。                                                                                          |
| A1~A6          | PWM 输出接口。 可以使用它控制电机或舵机。                                                                                          |
| DSU7                           | 用于 FMU 调试，读取调试信息。                                                                                                |
| I2C1/I2C2                      | 连接I2C总线设备；比如外部的罗盘。                                                                                               |
| CAN1/CAN2                      | 用于连接 UAVCAN 设备，比如 CAN GPS。                                                                                       |
| TYPE-C(USB) | 用于连接计算机，建立飞行控制器和计算机之间的通信；比如刷写固件。                                                                                 |
| SBUS OUT                       | 连接SBUS总线控制的相机和云台                                                                                                 |
| GPS&SAFETY | 连接到 Neo GPS，其中包括GPS、安全开关、蜂鸣器接口。                                                                                  |
| TELEM1/TELEM2                  | 连接到数传电台                                                                                                          |
| DSM/SBUS/RSSI                  | 包含DSM、SBUS、RSSI信号输入接口；DSM接口可以连接DSM卫星接收机，SBUS接口可以连接SBUS总线的遥控器接收机，RSSI连接RSSI信号强度回传模块。                              |

:::info
For more interface information, please read [V5+ Manual](http://manual.cuav.net/V5-Plus.pdf).
:::

![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_02.png)

:::info
If the controller cannot be mounted in the recommended/default orientation (e.g. due to space constraints) you will need to configure the autopilot software with the orientation that you actually used: [Flight Controller Orientation](../gps_compass/rtk_gps.md).
:::

## GPS + 罗盘 + 安全开关 + LED

The recommended GPS module is the _Neo v2 GPS_, which contains GPS, compass, safety switch, buzzer, LED status light.

:::info
Other GPS modules may not work (see [this compatibility issue](../flight_controller/cuav_v5_nano.md#compatibility_gps)\)).
:::

The GPS/Compass module should be [mounted on the frame](../assembly/mount_gps_compass.md) as far away from other electronics as possible, with the direction marker towards the front of the vehicle (_Neo v2 GPS_ arrow is in the same direction as the flight control arrow).
Connect to the flight control GPS interface using a cable.

:::info
If you use the [NEO V2 PRO GNSS (CAN GPS)](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html), please use the cable to connect to the flight control CAN interface.
:::

![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_03.png)

## 安全开关

The dedicated safety switch that comes with the V5+ is only required if you are not using the recommended _Neo V2 GPS_ (which has an inbuilt safety switch).

If you are flying without the GPS you must attach the switch directly to the `GPS1` port in order to be able to arm the vehicle and fly (if you use the old 6-pin GPS, please read the definition of the bottom interface to change the line).

## 蜂鸣器

If you do not use the recommended GPS, the buzzer may not work.

## 遥控器

A remote control (RC) radio system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes).
将 <em>HW\\u PM</em> 模块的6针连接器连接到飞控的<code>电源</code>接口。

The figure below shows how you can access your remote receiver (please find the SBUS cable in the kit).

![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_04.png)

## Spektrum 卫星接收器

The V5+ has a dedicated DSM cable.
If using a Spektrum satellite receiver, this should be connected to the flight controller DSM/SBUS/RSSI interface.

## 电源

The V5+ kit includes the _HV_PM_ module, which supports 2~14S LiPo batteries.
Connect the 6pin connector of the _HW_PM_ module to the flight control `Power1` interface.

:::warning
The supplied power module is unfused.
Power **must** be turned off while connecting peripherals.
:::

![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_01.png)

:::info
The power module is not a power source for peripherals connected to the PWM outputs.
If you're connecting servos/actuators you will need to separately power them using a BEC.
:::

## 数传系统（可选）

A telemetry system allows you to communicate with, monitor, and control a vehicle in flight from a ground station (for example, you can direct the UAV to a particular position, or upload a new mission).

The communication channel is via Telemetry Radios.
The vehicle-based radio should be connected to either the `TELEM1` or `TELEM2` port (if connected to these ports, no further configuration is required).
The other radio is connected to your ground station computer or mobile device (usually via USB).

![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_06.png)

<a id="sd_card"></a>

## SD 卡

An [SD card](../getting_started/px4_basic_concepts.md#sd-cards-removable-memory) is inserted in the factory (you do not need to do anything).

## 电机

Motors/servos are connected to the MAIN and AUX ports in the order specified for your vehicle in the [Airframes Reference](../airframes/airframe_reference.md).

![V5+ AutoPilot](../../assets/flight_controller/cuav_v5_plus/connection/v5+_quickstart_07.png)

## 针脚定义

Download **V5+** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf).

## 更多信息

- [Airframe build-log using CUAV v5+ on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5plus.md)
- [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf) (CUAV)
- [CUAV V5+ docs](https://doc.cuav.net/controller/v5-autopilot/en/v5+.html) (CUAV)
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV)
- [CUAV Github](https://github.com/cuav) (CUAV)
- [Base board design reference](https://github.com/cuav/hardware/tree/master/V5_Autopilot/V5%2B/V5%2BBASE) (CUAV)
