mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-27 17:23:33 +08:00
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>
This commit is contained in:
Hamish Willee
co-authored by
Ramon Roche
Ramon Roche
parent
8e6d2ebe4a
commit
88d623bedb
@@ -0,0 +1,151 @@
|
||||
# CUAV v5 (Discontinued)
|
||||
|
||||
<Badge type="info" text="Discontinued" />
|
||||
|
||||
:::warning
|
||||
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
|
||||
:::
|
||||
|
||||
:::warning
|
||||
PX4 does not manufacture this (or any) autopilot.
|
||||
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
|
||||
:::
|
||||
|
||||
_CUAV v5_<sup>®</sup> (previously "Pixhack v5") is an advanced autopilot designed and made by CUAV<sup>®</sup>.
|
||||
The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv5** open hardware design.
|
||||
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS, and is fully compatible with PX4 firmware.
|
||||
It is intended primarily for academic and commercial developers.
|
||||
|
||||
|
||||
|
||||
## 总览
|
||||
|
||||
- 主处理器：STM32F765
|
||||
- 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM
|
||||
|
||||
- IO 处理器：STM32F100
|
||||
- 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM
|
||||
|
||||
- 内置传感器：
|
||||
|
||||
- 加速度计/陀螺仪：ICM-20689
|
||||
- 加速度计/陀螺仪：BMI055
|
||||
- 磁力计：IST8310
|
||||
- 气压计：MS5611
|
||||
|
||||
- 接口：
|
||||
- 14路PWM输出 (6路来自FMU, 8路来自 IO)
|
||||
- FMU上有3个专用PWM/Capture输入
|
||||
- CPPM专用的RC输入
|
||||
- Dedicated R/C input for PPM and S.Bus
|
||||
- 电平/PWM RSSI输入
|
||||
- S.BUS伺服输出
|
||||
- 5个通用串行口
|
||||
- 4路I2C总线
|
||||
- 4路SPI总线
|
||||
- 2 CANBuses with serial ESC
|
||||
- 2个电池电流/电压模拟输入口
|
||||
|
||||
- 电源系统
|
||||
- 输入电压：4.3~5.4V
|
||||
- USB输入电压: 4.75~5.25V
|
||||
- 伺服导轨输入电压：0~36V
|
||||
|
||||
- 重量和尺寸:
|
||||
- 重量：99g
|
||||
- 尺寸：44_84_12mm
|
||||
|
||||
- 其它特性:
|
||||
- 工作温度：-20 ~ 80°C （实测值）
|
||||
|
||||
## 购买渠道
|
||||
|
||||
Order from [CUAV](https://cuav.taobao.com/index.htm?spm=2013.1.w5002-16371268426.2.411f26d9E18eAz).
|
||||
|
||||
## 接口定义
|
||||
|
||||
|
||||
|
||||
:::warning
|
||||
The RCIN interface is limited to powering the rc receiver and cannot be connected to any power/load.
|
||||
:::
|
||||
|
||||
## 额定电压
|
||||
|
||||
_CUAV v5_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
|
||||
|
||||
:::info
|
||||
The output power rails **FMU PWM OUT** and **I/O PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
|
||||
You must supply power to one of **POWER1**, **POWER2** or **USB** or the board will be unpowered.
|
||||
:::
|
||||
|
||||
**Normal Operation Maximum Ratings**
|
||||
|
||||
Under these conditions all power sources will be used in this order to power the system:
|
||||
|
||||
1. **POWER1** and **POWER2** inputs (4.3V to 5.4V)
|
||||
2. **USB** input (4.75V to 5.25V)
|
||||
|
||||
## 编译固件
|
||||
|
||||
:::tip
|
||||
Most users will not need to build this firmware!
|
||||
It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
|
||||
:::
|
||||
|
||||
To [build PX4](../dev_setup/building_px4.md) for this target:
|
||||
|
||||
```
|
||||
make px4_fmu-v5_default
|
||||
```
|
||||
|
||||
## 调试接口
|
||||
|
||||
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
|
||||
Simply connect the FTDI cable to the Debug & F7 SWD connector.
|
||||
To access the I/O Debug port, the user must remove the CUAV v5 shell.
|
||||
Both ports have standard serial pins and can be connected to a standard FTDI cable (3.3V, but 5V tolerant).
|
||||
|
||||
The pinout is as shown.
|
||||
|
||||
|
||||
|
||||
| 引脚 | CUAV v5 debug |
|
||||
| -- | ----------------------------- |
|
||||
| 1 | GND |
|
||||
| 2 | FMU-swclk |
|
||||
| 3 | FMU-SWDIO |
|
||||
| 4 | UART7_RX |
|
||||
| 5 | UART7_TX |
|
||||
| 6 | VCC |
|
||||
|
||||
## 串口映射
|
||||
|
||||
| UART | 设备 | Port |
|
||||
| ------ | ---------- | ---------------------------------------------------------- |
|
||||
| UART1 | /dev/ttyS0 | GPS |
|
||||
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
|
||||
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
|
||||
| UART4 | /dev/ttyS3 | TELEM4 |
|
||||
| USART6 | /dev/ttyS4 | TX is RC input from SBUS_RC connector |
|
||||
| UART7 | /dev/ttyS5 | Debug Console |
|
||||
| UART8 | /dev/ttyS6 | PX4IO |
|
||||
|
||||
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
|
||||
|
||||
## 外部设备
|
||||
|
||||
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI\&id=9512463037)
|
||||
- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq\&search=y\&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
|
||||
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
|
||||
|
||||
## 支持的平台/机身
|
||||
|
||||
Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
|
||||
The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
|
||||
|
||||
## 更多信息
|
||||
|
||||
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
|
||||
- [CUAV v5 docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5.html)
|
||||
- [CUAV Github](https://github.com/cuav)
|
||||
Reference in New Issue
Block a user