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Move PX4 Guide source into /docs (#24490)
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
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Hamish Willee
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Ramon Roche
Ramon Roche
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# CUAV Nora Flight Controller
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues.
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:::
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The [Nora](https://doc.cuav.net/flight-controller/x7/en/nora.html)<sup>®</sup> flight controller is a high-performance autopilot.
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It is an ideal choice for industrial drones and large-scale heavy-duty drones.
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It is mainly supplied to commercial manufacturers.
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Nora is a variant of the CUAV X7.
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It adopts an integrated motherboard (soft and hard board), which reduces flight controller's internal connectors, improves reliability, and places all the interfaces on the side (making the wiring more concise).
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:::info
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This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
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:::
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## 特性
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- Internal shock absorption
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- The integrated process reduces the failure caused by interface damage.
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- Support USB_HS, download logs faster (PX4 not yet supported)
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- Support more dshot output
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- Support IMU heating, make the sensor work better
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- Dedicated CAN battery port
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- 3 sets of IMU sensors
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- Car-grade RM3100 compass
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- High performance processor
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:::tip
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The manufacturer [CUAV Docs](https://doc.cuav.net/flight-controller/x7/en/nora.html) are the canonical reference for Nora.
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They should be used by preference as they contain the most complete and up to date information.
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:::
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## 总览
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- Main FMU Processor: STM32H743
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- 内置传感器：
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- 加速度计/陀螺仪：ICM-20689
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- 加速度计/陀螺仪：ICM-20649
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- Accelerometer/Gyroscope: BMI088
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- Magnetometer: RM3100
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- Barometer: MS5611\*2
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- 接口：
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- 14 PWM outputs （12 supports Dshot）
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- Support multiple RC inputs (SBUs / CPPM / DSM)
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- Analogue / PWM RSSI input
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- 2 GPS ports(GPS and UART4 ports)
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- 4 i2c buses(Two i2c dedicated ports)
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- 2 CAN bus ports
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- 2 Power ports(Power A is common adc interface, Power C is DroneCAN battery interface)
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- 2 ADC input
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- 1 USB ports
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- 电源系统
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- 输入电压：4.3~5.4V
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- USB输入电压: 4.75~5.25V
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- 伺服导轨输入电压：0~36V
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- 重量和尺寸:
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- Weight: 101 g
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- 其它特性:
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- Operating temperature: -20 ~ 80°c（Measured value）
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- Three imus
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- Supports temperature compensation
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- Internal shock absorption
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:::info
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When it runs PX4 firmware, only 8 PWM outputs work.
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The remaining 6 PWM ports are still being adapted (so it is not compatible with VOLT at time of writing).
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:::
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## 购买渠道
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- [CUAV Store](https://store.cuav.net)<\br>
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- [CUAV Aliexpress](https://www.aliexpress.com/item/4001042501927.html?gps-id=8041884\&scm=1007.14677.110221.0\&scm_id=1007.14677.110221.0\&scm-url=1007.14677.110221.0\&pvid=3dc0a3ba-fa82-43d2-b0b3-6280e4329cef\&spm=a2g0o.store_home.promoteRecommendProducts_7913969.58)
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## Connections (Wiring)
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[CUAV nora Wiring Quickstart](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html)
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## Size and Pinouts
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:::warning
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The `RCIN` port is limited to powering the rc receiver and cannot be connected to any power/load.
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:::
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## 额定电压
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Nora AutoPilot\* can be triple-redundant on the power supply if three power sources are supplied. The two power rails are: **POWERA**, **POWERC** and **USB**.
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:::info
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The output power rails **PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
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You must supply power to one of **POWERA**, **POWERC** or **USB** or the board will be unpowered.
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:::
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**Normal Operation Maximum Ratings**
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Under these conditions all power sources will be used in this order to power the system:
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1. **POWERA** and **POWERC** inputs (4.3V to 5.4V)
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2. **USB** input (4.75V to 5.25V)
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## 编译固件
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:::tip
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Most users will not need to build this firmware!
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It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
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:::
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To [build PX4](../dev_setup/building_px4.md) for this target:
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```
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make cuav_nora_default
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```
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## Over Current Protection
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The _Nora_ has over-current protection on the 5 Volt Peripheral and 5 Volt high power, which limits the current to 2.5A.
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The _Nora_ has short circuit protection.
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:::warning
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Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A).
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:::
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## 调试接口
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The system's serial console and SWD interface operate on the **DSU7** port.
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Simply connect the FTDI cable to the DSU7 connector (the product list contains the CUAV FTDI cable).
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The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`).
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The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout:
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| 针脚 | 信号 | 电压 |
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| ---- | --------------------------------- | --------------------- |
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| 1（红） | 5V+ | +5V |
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| 2 | DEBUG TX (OUT) | +3.3V |
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| 3 | DEBUG RX (IN) | +3.3V |
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| 4（黑） | FMU_SWDIO | +3.3V |
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| 6 | FMU_SWCLK | +3.3V |
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| 6 | GND | GND |
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CUAV provides a dedicated debugging cable, which can be connected to the `DSU7` port.
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This splits out an FTDI cable for connecting the [PX4 System Console](../debug/system_console.md) to a computer USB port, and SWD pins used for SWD/JTAG debugging.
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The provided debug cable does not connect to the SWD port `Vref` pin (1).
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:::warning
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The SWD Vref pin (1) uses 5V as Vref but the CPU is run at 3.3V!
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Some JTAG adapters (SEGGER J-Link) will use the Vref voltage to set the voltage on the SWD lines.
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For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts from pin 4 of the connector marked `DSM`/`SBUS`/`RSSI` to provide `Vtref` to the JTAG (i.e. providing 3.3V and _NOT_ 5V).
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:::
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## 支持的平台/机身
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Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
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The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
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## 更多信息
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- [Quick start](https://doc.cuav.net/flight-controller/x7/en/quick-start/quick-start-nora.html)
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- [CUAV docs](http://doc.cuav.net)
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- [nora schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
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