mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
209c971c1b
* Redirect 301/308 HTTP link fixes * Easy 404 fixes - easy * Add internal anchor fixes and generate msg docs fix
173 lines
6.5 KiB
Markdown
173 lines
6.5 KiB
Markdown
# CUAV Nora Flight Controller
|
||
|
||
::: warning
|
||
PX4 does not manufacture this (or any) autopilot.
|
||
Contact the [manufacturer](https://www.cuav.net) for hardware support or compliance issues.
|
||
:::
|
||
|
||
The [Nora](https://doc.cuav.net/controller/x7/en/nora-plus.html)<sup>®</sup> flight controller is a high-performance autopilot.
|
||
It is an ideal choice for industrial drones and large-scale heavy-duty drones.
|
||
It is mainly supplied to commercial manufacturers.
|
||
|
||
|
||
|
||
Nora is a variant of the CUAV X7.
|
||
It adopts an integrated motherboard (soft and hard board), which reduces flight controller's internal connectors, improves reliability, and places all the interfaces on the side (making the wiring more concise).
|
||
|
||
::: info
|
||
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
||
:::
|
||
|
||
## Features
|
||
|
||
- Internal shock absorption
|
||
- The integrated process reduces the failure caused by interface damage.
|
||
- Support USB_HS, download logs faster (PX4 not yet supported)
|
||
- Support more dshot output
|
||
- Support IMU heating, make the sensor work better
|
||
- Dedicated CAN battery port
|
||
- 3 sets of IMU sensors
|
||
- Car-grade RM3100 compass
|
||
- High performance processor
|
||
|
||
::: tip
|
||
The manufacturer [CUAV Docs](https://doc.cuav.net/controller/x7/en/nora-plus.html) are the canonical reference for Nora.
|
||
They should be used by preference as they contain the most complete and up to date information.
|
||
:::
|
||
|
||
## Quick Summary
|
||
|
||
- Main FMU Processor: STM32H743
|
||
- On-board sensors:
|
||
- Accelerometer/Gyroscope: ICM-20689
|
||
- Accelerometer/Gyroscope: ICM-20649
|
||
- Accelerometer/Gyroscope: BMI088
|
||
- Magnetometer: RM3100
|
||
- Barometer: MS5611\*2
|
||
|
||
- Interfaces:
|
||
- 14 PWM outputs （12 supports Dshot）
|
||
- Support multiple RC inputs (SBUs / CPPM / DSM)
|
||
- Analogue / PWM RSSI input
|
||
- 2 GPS ports(GPS and UART4 ports)
|
||
- 4 i2c buses(Two i2c dedicated ports)
|
||
- 2 CAN bus ports
|
||
- 2 Power ports(Power A is common adc interface, Power C is DroneCAN battery interface)
|
||
- 2 ADC input
|
||
- 1 USB ports
|
||
- Power System:
|
||
- Power: 4.3~5.4V
|
||
- USB Input: 4.75~5.25V
|
||
- Servo Rail Input: 0~36V
|
||
- Weight and Dimensions:
|
||
- Weight: 101 g
|
||
- Other Characteristics:
|
||
- Operating temperature: -20 ~ 80°c（Measured value）
|
||
- Three imus
|
||
- Supports temperature compensation
|
||
- Internal shock absorption
|
||
|
||
::: info
|
||
When it runs PX4 firmware, only 8 PWM outputs work.
|
||
The remaining 6 PWM ports are still being adapted (so it is not compatible with VOLT at time of writing).
|
||
:::
|
||
|
||
## Where to Buy {#store}
|
||
|
||
- [CUAV Store](https://store.cuav.net)<\br>
|
||
- [CUAV Aliexpress](https://www.aliexpress.com/item/4001042501927.html?gps-id=8041884&scm=1007.14677.110221.0&scm_id=1007.14677.110221.0&scm-url=1007.14677.110221.0&pvid=3dc0a3ba-fa82-43d2-b0b3-6280e4329cef&spm=a2g0o.store_home.promoteRecommendProducts_7913969.58)
|
||
|
||
## Connections (Wiring)
|
||
|
||
[CUAV nora Wiring Quickstart](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-nora.html)
|
||
|
||
## Size and Pinouts
|
||
|
||
|
||
|
||
|
||
|
||
::: warning
|
||
The `RCIN` port is limited to powering the rc receiver and cannot be connected to any power/load.
|
||
:::
|
||
|
||
## Voltage Ratings
|
||
|
||
Nora AutoPilot\* can be triple-redundant on the power supply if three power sources are supplied. The two 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**
|
||
|
||
Under these conditions all power sources will be used in this order to power the system:
|
||
|
||
1. **POWERA** and **POWERC** inputs (4.3V to 5.4V)
|
||
2. **USB** input (4.75V to 5.25V)
|
||
|
||
## 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 cuav_nora_default
|
||
```
|
||
|
||
## Over Current Protection
|
||
|
||
The _Nora_ has over-current protection on the 5 Volt Peripheral and 5 Volt high power, which limits the current to 2.5A.
|
||
The _Nora_ 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).
|
||
:::
|
||
|
||
## Debug Port
|
||
|
||
The system's serial console and SWD interface operate on the **DSU7** port.
|
||
Simply connect the FTDI cable to the DSU7 connector (the product list contains the CUAV FTDI cable).
|
||
|
||
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:
|
||
|
||
| 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 |
|
||
|
||
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).
|
||
|
||
|
||
|
||
::: 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).
|
||
:::
|
||
|
||
## 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).
|
||
|
||
## Further info
|
||
|
||
- [Quick start](https://doc.cuav.net/controller/x7/en/quick-start/quick-start-nora.html)
|
||
- [CUAV docs](https://doc.cuav.net/)
|
||
- [nora schematic](https://github.com/cuav/hardware/tree/master/X7_Autopilot)
|