# CUAV V5 nano Autopilot ::: warning PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. ::: **V5 nano**® is an autopilot for space-constrained applications, designed by CUAV® in collaboration with the PX4 team. The autopilot is small enough to use in 220mm racing drones, but remains powerful enough for most drone use. ![V5 nano - Hero image](../../assets/flight_controller/cuav_v5_nano/v5_nano_01.png) ::: info The V5 nano is similar to the [CUAV V5+](../flight_controller/cuav_v5_plus.md), but has an all-in-one form factor, fewer PWM ports (can't be used for [airframes](../airframes/airframe_reference.md) that use AUX ports), and does not have internal damping. ::: Some of its main features include: - Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) for all external interfaces. - More advanced processor, RAM and flash memory than FMU v3, along with more stable and reliable sensors. - Firmware-compatible with PX4. - Generous 2.6mm spacing for I/O pins, making it easier to use all the interfaces. ::: info This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md). ::: ### Quick Summary Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM - On-board sensors: - Accel/Gyro: ICM-20689 - Accel/Gyro: ICM-20602 - Accel/Gyro: BMI055 - Magnetometer: IST8310 - Barometer: MS5611 - Interfaces: 8 PWM outputs - 3 dedicated PWM/Capture inputs on FMU - Dedicated R/C input for CPPM - Dedicated R/C input for Spektrum / DSM and S.Bus - Analog / PWM RSSI input - 4 general purpose serial ports - 3 I2C ports - 4 SPI buses - 2 CAN Buses - Analog inputs for voltage / current of battery - 2 additional analog inputs - Supports nARMED - Power System: Power Brick Input: 4.75~5.5V - USB Power Input: 4.75~5.25V - Weight and Dimensions: - Dimensions: 60\*40\*14mm - Other Characteristics: - Operating temperature: -20 ~ 85°C （Measured value） ## Where to Buy {#store} [CUAV Store](https://store.cuav.net/shop/v5-nano/) [CUAV Aliexpress](https://www.aliexpress.com/item/33050770314.html?storeId=3257035&spm=2114.12010612.8148356.9.dbe6790bjW2hpH) (international users) [CUAV Taobao](https://item.taobao.com/item.htm?spm=a230r.1.14.8.26ab5258veQJRu&id=569404317857&ns=1&abbucket=13#detail) (China Mainland users) ::: info Autopilot may be purchased with included Neo GPS module ::: ## Connections (Wiring) [V5 nano Wiring Quickstart](../assembly/quick_start_cuav_v5_nano.md) ## Pinouts Download **V5 nano** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf). ## Building Firmware ::: 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: ```sh make px4_fmu-v5_default ``` ## Debug Port {#debug_port} The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`). The board does not have an I/O debug interface. ![Debug port (DSU7)](../../assets/flight_controller/cuav_v5_nano/debug_port_dsu7.jpg) The debug port (`DSU7`) uses a [JST BM06B](https://www.digikey.com.au/en/products/detail/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/807850) connector and has the following pinout: | Pin | Signal | Volt | | ------- | -------------- | ----- | | 1 (red) | 5V+ | +5V | | 2 (blk) | DEBUG TX (OUT) | +3.3V | | 3 (blk) | DEBUG RX (IN) | +3.3V | | 4 (blk) | FMU_SWDIO | +3.3V | | 5 (blk) | FMU_SWCLK | +3.3V | | 6 (blk) | GND | GND | The product package includes a convenient debug cable that can be connected to the `DSU7` port. 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. The provided debug cable does not connect to the SWD port `Vref` pin (1). ![CUAV Debug cable](../../assets/flight_controller/cuav_v5_nano/cuav_nano_debug_cable.jpg) ::: warning The SWD Vref pin (1) uses 5V as Vref but the CPU is run at 3.3V! Some JTAG adapters (SEGGER J-Link) will use the Vref voltage to set the voltage on the SWD lines. 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). For more information see [Using JTAG for hardware debugging](#using-jtag-for-hardware-debugging). ::: ## Serial Port Mapping | UART | Device | 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 | Not connected (no PX4IO) | ## Voltage Ratings _V5 nano_ must be powered from the `Power` connector during flight, and may also/alternatively be powered from `USB` for bench testing. ::: info The `PM2` connector cannot not be used for powering the _V5 nano_ (see [this issue](#compatibility_pm2)). ::: ::: info The Servo Power Rail is neither powered by, nor provides power to the FMU. However, the pins marked **+** are all common, and a BEC may be connected to any of the servo pin sets to power the servo power rail. ::: ## Over Current Protection The _V5 nano_ has no over current protection. ## Peripherals - [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) ## Supported Platforms / Airframes 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). ## Compatibility CUAV adopts some differentiated designs and is incompatible with some hardware, which will be described below. #### Neo v2.0 GPS not compatible with other devices The _Neo v2.0 GPS_ that is recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch). The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers. #### Using JTAG for hardware debugging `DSU7` FMU Debug Pin 1 is 5 volts - not the 3.3 volts of the CPU. Some JTAG probes use this voltage to set the IO levels when communicating to the target. For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts of DSM/SBUS/RSSI pin 4 as Pin 1 on the debug connector (`Vtref`). #### PM2 cannot power the flight controller `PM2` can only measure battery voltage and current, but **not** power the flight controller. ::: warning PX4 does not support this interface. ::: ## Known Issues The issues below refer to the _batch number_ in which they first appear. The batch number is the four-digit production date behind V01 and is displayed on a sticker on the side of the flight controller. For example, the serial number Batch V011904((V01 is the number of V5, 1904 is the production date, that is, the batch number). #### SBUS / DSM / RSSI interface Pin1 unfused ::: warning This is a safety issue. ::: Please do not connect other equipment (except RC receiver) on SBUS / DSM / RSSI interface - this can lead to equipment damage! - _Found:_ Batches V01190904xxxx - _Fixed:_ Batches later than V01190904xxxx ## Further Information - [V5 nano manual](http://manual.cuav.net/V5-nano.pdf) (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) - [Airframe build-log using CUAV v5 nano on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5nano.md)