mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
164 lines
5.4 KiB
Markdown
164 lines
5.4 KiB
Markdown
# 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<sup>®</sup>.
|
||
|
||
The autopilot is recommended for commercial system integration but is also suitable for academic research and any other applications.
|
||
|
||
|
||
|
||
The X25-EVO brings you ultimate performance, stability, and reliability in every aspect.
|
||
|
||
:::info
|
||
These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||
:::
|
||
|
||
### 特性
|
||
|
||
- 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\*2
|
||
- Accel/Gyro: IIM42653
|
||
- Magnetometer: RM3100
|
||
- Barometer: BMP581
|
||
- Barometer: ICP-20100
|
||
|
||
### Electrical Data
|
||
|
||
- Rated Voltage:
|
||
- Input Voltage: 10~18V
|
||
- USB 电源输入：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
|
||
|
||
### 接口
|
||
|
||
- 16x PWM Servo Outputs
|
||
- 1x Dedicated R/C Input 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
|
||
|
||
### Mechanical Data
|
||
|
||
- Not provided.
|
||
|
||
## Purchase Channels
|
||
|
||
Order from [CUAV](https://store.cuav.net/).
|
||
|
||
## 组装 / 设置
|
||
|
||
- Not provided.
|
||
|
||
## Pin Definitions
|
||
|
||
- Not provided.
|
||
|
||
## 串口映射
|
||
|
||
| UART | 设备 | Port |
|
||
| ------ | ---------- | ------ |
|
||
| USART1 | UART | GPS1 |
|
||
| USART2 | /dev/ttyS1 | GPS2 |
|
||
| USART3 | /dev/ttyS2 | 调试控制台 |
|
||
| UART4 | /dev/ttyS3 | UART4 |
|
||
| UART5 | /dev/ttyS4 | TELEM2 |
|
||
| USART6 | /dev/ttyS5 | RC |
|
||
| UART7 | /dev/ttyS6 | TELEM1 |
|
||
|
||
## 额定电压
|
||
|
||
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.
|
||
|
||
## 编译固件
|
||
|
||
:::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:
|
||
|
||
```
|
||
make cuav_x25-evo_default
|
||
```
|
||
|
||
<a id="debug_port"></a>
|
||
|
||
## 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.
|
||
|
||
| 针脚 | 信号 | 电压 |
|
||
| ---- | --------------------------------- | --------------------- |
|
||
| 1（红） | 5V+ | +5V |
|
||
| 2 | DEBUG TX (OUT) | +3.3V |
|
||
| 3 | DEBUG RX (IN) | +3.3V |
|
||
| 4（黑） | FMU_SWDIO | +3.3V |
|
||
| 6 | FMU_SWCLK | +3.3V |
|
||
| 6 | GND | GND |
|
||
|
||
## 支持的平台/机身
|
||
|
||
Any multirotor/airplane/rover or boat that can be controlled using normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be found in the [Airframe Reference](../airframes/airframe_reference.md).
|
||
|
||
## 更多信息
|
||
|
||
- [CUAV Docs](https://doc.cuav.net/)
|