# CUAV X7 Flight Controller (Discontinued)

<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->

:::warning
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
It has been superseded by the [CUAV X7+](https://doc.cuav.net/controller/x7/en/).
:::

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

The [X7](https://doc.cuav.net/controller/x7/en/)<sup>&reg;</sup> flight controller is a high-performance autopilot.
산업용 드론과 대형 대형 드론에 적합합니다.
주로 상용 제조업체에 공급됩니다.

![CUAV x7](../../assets/flight_controller/cuav_x7/x7.jpg)

모듈식 설계를 채택하였고, 다른베이스 플레이트와 일치시킬 수 있습니다.
상용 시스템의 통합을 개선하고, 배선을 줄이며, 시스템 안정성을 개선하고, UAV 경쟁력을 향상시키기 위해 UAV용 전용 캐리어 보드를 설계할 수 있습니다 (예 : 캐리어 보드에 대기 속도 센서, 원격 측정 또는 보조 컴퓨터 통합).
CUAV는 선택할 수있는 다양한 캐리어 보드를 제공합니다.

:::info
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
:::

## 특징

- 내부 충격 흡수
- 모듈식 설계, DIY 캐리어 보드 가능
- USB_HS 지원, 로그 다운로드 속도 향상(PX4는 아직 지원되지 않음)
- Support more DShot output
- IMU 가열 지원, 센서 작동 개선
- Dedicated CAN battery port
- IMU 센서 3 세트
- 자동차 등급 RM3100 나침반
- 고성능 프로세서

:::tip
The manufacturer [CUAV Docs](https://doc.cuav.net/flight-controller/x7/en/) are the canonical reference for the X7.
가장 정확한 최신 정보를 포함하고 있습니다.
:::

## 요약

- 메인 FMU 프로세서: STM32H743

- 내장 센서 :
  - 가속도계/자이로스코프 : ICM-20689
  - 가속도계/자이로스코프 : ICM-20649
  - 가속도계/자이로스코프 : BMI088
  - 자력계 : RM3100
  - Barometer: MS5611\*2

- 인터페이스:
  - PWM 출력 14개 (12개 Dshot 지원)
  - 다중 RC 입력 지원(SBU/CPPM/DSM)
  - 아날로그/PWM RSSI 입력
  - 2 개의 GPS 포트(GPS 및 UART4 포트)
  - i2c 버스 4 개(i2c 전용 포트 2 개)
  - CAN 버스 포트 2 개
  - 2 Power ports(Power A is common adc interface, Power C is DroneCAN battery interface)
  - 2 ADC input
  - USB 포트 1 개

- 전원시스템
  - 전원: 4.3~5.4V
  - USB 입력: 4.75~5.25V
  - 서보 레일 입력: 0~36V

- 중량과 크기
  - 무게 : 101g

- 기타 특성:
  - 작동 온도: -20 ~ 80°c (측정 값)
  - 3개의 imus
  - 온도 보상 지원
  - 내부 충격 흡수

:::info
When it runs PX4 firmware, only 8 pwm works, the remaining 6 pwm are still being adapted, so it is not compatible with VOLT now.
:::

## 구매처

[CUAV Store](https://store.cuav.net)

[CUAV aliexpress](https://www.aliexpress.com/item/4001042683738.html?spm=a2g0o.detail.1000060.2.1ebb2a9d3WDryi&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.169870.0&scm_id=1007.13339.169870.0&scm-url=1007.13339.169870.0&pvid=f0df2481-1c0a-44eb-92a4-9c11c6cb3d06&_t=gps-id:pcDetailBottomMoreThisSeller,scm-url:1007.13339.169870.0,pvid:f0df2481-1c0a-44eb-92a4-9c11c6cb3d06,tpp_buckets:668%230%23131923%2320_668%23808%234094%23518_668%23888%233325%2319_668%234328%2319934%23630_668%232846%238115%23807_668%232717%237566%23827_668%231000022185%231000066058%230_668%233468%2315607%2376)

## 배선

[CUAV X7 Wiring Quickstart](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-x7-plus.html)

## 크기와 핀배열

![CUAV x7](../../assets/flight_controller/cuav_x7/x7-size.jpg)

![X7 pinouts](../../assets/flight_controller/cuav_x7/x7-pinouts.jpg)

:::warning
The `RCIN` port is limited to powering the RC receiver and cannot be connected to any power/load.
:::

## 정격 전압

The _X7 AutoPilot_ can be triple-redundant on the power supply if three power sources are supplied.
The power rails are: **POWERA**, **POWERC** and **USB**.

:::info
The output power rails **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 **POWERA**, **POWERC** or **USB** or the board will be unpowered.
:::

**Normal Operation Maximum Ratings**

이러한 조건에서 전원은 아래의 순서대로 시스템에 전원을 공급하여야합니다.

1. **POWERA** and **POWERC** inputs (4.3V to 5.4V)
2. **USB** input (4.75V to 5.25V)

## 펌웨어 빌드

:::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 cuav_x7pro_default
```

## 과전류 보호

The _X7_ has over-current protection on the 5 Volt Peripheral and 5 Volt high power, which limits the current to 2.5A.
The _X7_ has short circuit protection.

:::warning
Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A).
:::

## 디버그 포트

The system's serial console and SWD interface operate on the **DSU7** port.
FTDI 케이블을 DSU7 커넥터에 연결하기만 하면됩니다. 제품 목록에는 CUAV FTDI 케이블이 포함되어 있습니다.

![Debug port (DSU7)](../../assets/flight_controller/cuav_v5_plus/debug_port_dsu7.jpg)

The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port (`DSU7`).

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:

| 핀                         | 신호                              | 전압                    |
| ------------------------- | ------------------------------- | --------------------- |
| 1(red) | 5V+                             | +5V                   |
| 2 (흑)  | DEBUG TX(출력) | +3.3V |
| 3 (흑)  | DEBUG TX(입력) | +3.3V |
| 4 (흑)  | FMU_SWDIO  | +3.3V |
| 5 (흑)  | FMU_SWCLK  | +3.3V |
| 6 (흑)  | GND                             | GND                   |

CUAV provides a dedicated debugging cable, which 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_plus/cuav_v5_debug_cable.jpg)

:::warning
The SWD Vref pin (1) uses 5V as Vref but the CPU is run at 3.3V!

일부 JTAG 어댑터 (SEGGER J-Link)는 Vref 전압을 사용하여 SWD 라인의 전압을 설정합니다.
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).
:::

## 지원 플랫폼 및 기체

Any multicopter / plane / 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).

## 추가 정보

- [CUAV docs](https://doc.cuav.net/)
- [x7 schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)