# CUAV X25-EVO :::warning PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. ::: The _X25-EVO_ is an advanced autopilot manufactured by CUAV®. The autopilot is recommended for commercial system integration but is also suitable for academic research and any other applications. ![X25-EVO AutoPilot - hero image](../../assets/flight_controller/cuav_x25-evo/x25_evo.jpg) The X25-EVO brings you ultimate performance, stability, and reliability in every aspect. :::info 이 비행 컨트롤러는 [제조업체에서 지원](../flight_controller/autopilot_manufacturer_supported.md)합니다. ::: ### 특징 - Arm® Cortex-M7® processor (STM32H743XI) with Floating-Point Unit (FPU), operating at 480MHz, and featuring 2MB Flash memory. Enables developers to enhance productivity and efficiency, allowing for more complex algorithms and models. - Automotive-grade RM3100 compass. Designed for better stability and anti-interference capability. - Triple-redundant IMUs and dual-redundant barometers located on separate buses. If the PX4 autopilot detects a sensor failure, the system seamlessly switches to another sensor to maintain flight control reliability. - Independent LDO power control supplies power to each sensor group. A vibration isolation system filters high-frequency vibrations and reduces noise to ensure accurate readings, enabling better overall flight performance for the vehicle. - Integrated Microchip Ethernet PHY for high-speed communication with onboard devices like mission computers via Ethernet. - Dual temperature compensation systems, located on the IMU board and FMU board respectively. Temperature is controlled by onboard heating resistors to achieve the optimal operating temperature for the IMUs. - PWM servo output voltage switchable between 3.3V or 5V. - Modular design for DIY carrier boards. ### Processors & Sensors - Main Processor: STM32H743XI - 32-bit Arm® Cortex®-M7, 480MHz, 2MB Flash, 1MB RAM - Onboard Sensors: - Accel/Gyro: IIM42652 (x2) - Accel/Gyro: IIM42653 - 자력계 : RM3100 - Barometer: BMP581 - Barometer: ICP-20100 ### 전기 데이터 - Rated Voltage: - Input Voltage: 10~18V - USB 전원 입력: 4.75~5.25V - Servo Rail Input: 0~9.9V - Rated Current: - Total Output Max Current: 10A - `TELEM1` and `TELEM2` Output Current limiter: 4A - `CAN1` and `CAN2` Output Current limiter: 2.4A - Other Ports Output Current limiter: 1.5A ### 인터페이스 - 16x PWM Servo Outputs - 1x Dedicated R/C Input(`RC IN`) for Spektrum / DSM and S.Bus - 1x Analog/PWM RSSI Input - 2x TELEM Ports (with full flow control) - 1x UART4 Port - 2x GPS Ports - 1x Full GPS plus Safety Switch Port (GPS1) - 1x Basic GPS Port (with I2C, GPS2) - 1x USB Port (TYPE-C) - 1x Ethernet Port - Transformerless application - 100Mbps - 3x I2C Bus Ports - 1x SPI Bus - 1x Chip Select Line - 1x Data Ready Line - 1x SPI Reset Line - 5x CAN Ports for CAN Peripherals - 3x CAN1 Bus Multiplexed Ports - 2x CAN2 Bus Multiplexed Ports - 2x Power Input Ports - DroneCAN/UAVCAN Power Input - 2x AD Ports - Analog Input (3.3V) - Analog Input (6.6V - not supported by PX4) - 1x Dedicated Debug Port - FMU Debug ### 기계식 부품 - 중량 - Flight Controller Module: 110g - Operating & storage temperature: -20 ~ 85°C - Dimensions: ![CUAV X25 EVO](../../assets/flight_controller/cuav_x25-evo/x25_evo_size.png) ## Purchase Channels {#store} Order from [CUAV](https://store.cuav.net/). ## 조립 및 설정 The [X25 EVO Wiring Quick Start](../assembly/quick_start_cuav_x25_evo.md) provides instructions on how to assemble required/important peripherals including GPS, Power Module etc. ## 핀배열 ![CUAV X25 EVO Pinout](../../assets/flight_controller/cuav_x25-evo/x25_evo_pinouts.jpg) ## 시리얼 포트 매핑 | UART | 장치 | 포트 | | ------ | ---------- | ------ | | USART1 | /dev/ttyS0 | GPS1 | | USART2 | /dev/ttyS1 | GPS2 | | USART3 | /dev/ttyS2 | 디버그 콘솔 | | UART4 | /dev/ttyS3 | UART4 | | UART5 | /dev/ttyS4 | TELEM2 | | USART6 | /dev/ttyS5 | RC IN | | UART7 | /dev/ttyS6 | TELEM1 | ## PWM Outputs {#pwm_outputs} This flight controller supports up to 16 FMU PWM outputs (MAIN). Outputs: - Outputs 1-8 support [DShot](../peripherals/dshot.md). - Outputs 9-16 do not support DShot. - Outputs 1-7 support [Bidirectional DShot](../peripherals/dshot.md#bidirectional-dshot-telemetry). - Output 8 supports Bidirectional DShot output only (no eRPM capture). The 16 outputs are in 5 groups: - Outputs 1-4 in group1 (Timer5) - Outputs 5-8 in group2 (Timer4) - Outputs 9-11 in group3 (Timer1) - Outputs 12-14 in group4 (Timer8) - Outputs 15-16 in group5 (Timer12) All outputs within the same group must use the same output protocol and rate. ## 정격 전압 The _X25-EVO_ achieves triple redundancy on power supplies if three power sources are provided. The three power rails are `POWERC1`, `POWERC2`, and `USB`. - **POWER C1** and **POWER C2** are DroneCAN/UAVCAN battery interfaces. **Normal Operation Maximum Ratings** Under these conditions, all power sources will be used to power the system in the following order: 1. **POWER C1** and **POWER C2** Inputs (10V to 18V) 2. USB Input (4.75V to 5.25V) **Voltage monitoring** Digital DroneCAN/UAVCAN battery monitoring is enabled by default. ## 펌웨어 빌드 :::tip Most users do not need to build this firmware! It is pre-built and installed automatically by _QGroundControl_ when the appropriate hardware is connected. ::: To [build PX4](../dev_setup/building_px4.md) for this target, execute: ```sh make cuav_x25-evo_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. | 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 | ## 지원 플랫폼 및 기체 일반 RC 서보 또는 Futaba S-Bus 서보로 제어 가능한 모든 멀티콥터/비행기/로버 또는 보트. 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/)