# CUAV X25-SUPER

<Badge type="tip" text="PX4 v1.18" />

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

The _X25-SUPER_ is an advanced autopilot manufactured by CUAV<sup>&reg;</sup>.

The autopilot is recommended for commercial system integration but is also suitable for academic research and any other applications.

![X25-SUPER AutoPilot - hero image](../../assets/flight_controller/cuav_x25-super/x25-super.png)

The X25-SUPER 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: SCH16T
  - Accel/Gyro: IIM42652
  - 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

- Dimensions:

  ![CUAV X25-SUPER](../../assets/flight_controller/cuav_x25-super/x25-super_size.png)

## Purchase Channels {#store}

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

## 조립 및 설정

The [X25 SUPER 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-SUPER Pinout_01](../../assets/flight_controller/cuav_x25-super/x25-super_pinouts_01.png)
![CUAV X25-SUPER Pinout_02](../../assets/flight_controller/cuav_x25-super/x25-super_pinouts_02.png)

## 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 |

## RC Input

The RC input pin is directly connected to the FMU UART6 TX.

## 정격 전압

The _X25-SUPER_ 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 will not need to build this firmware (from PX4 v1.18).
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, execute:

```sh
make cuav_x25-super_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/)