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179 lines
6.0 KiB
Markdown
179 lines
6.0 KiB
Markdown
# CUAV X25-SUPER
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<Badge type="tip" text="PX4 v1.18" />
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
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:::
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The _X25-SUPER_ is an advanced autopilot manufactured by CUAV<sup>®</sup>.
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The autopilot is recommended for commercial system integration but is also suitable for academic research and any other applications.
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The X25-SUPER brings you ultimate performance, stability, and reliability in every aspect.
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:::info
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These flight controllers are [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
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:::
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### 特性
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- Arm® Cortex-M7® processor (STM32H743XI) with Floating-Point Unit (FPU), operating at 480MHz, and featuring 2MB Flash memory.
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Enables developers to enhance productivity and efficiency, allowing for more complex algorithms and models.
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- Automotive-grade RM3100 compass.
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Designed for better stability and anti-interference capability.
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- Triple-redundant IMUs and dual-redundant barometers located on separate buses.
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If the PX4 autopilot detects a sensor failure, the system seamlessly switches to another sensor to maintain flight control reliability.
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- Independent LDO power control supplies power to each sensor group.
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A vibration isolation system filters high-frequency vibrations and reduces noise to ensure accurate readings, enabling better overall flight performance for the vehicle.
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- Integrated Microchip Ethernet PHY for high-speed communication with onboard devices like mission computers via Ethernet.
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- Dual temperature compensation systems, located on the IMU board and FMU board respectively.
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Temperature is controlled by onboard heating resistors to achieve the optimal operating temperature for the IMUs.
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- PWM servo output voltage switchable between 3.3V or 5V.
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- Modular design for DIY carrier boards.
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### Processors & Sensors
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- Main Processor: STM32H743XI
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- 32-bit Arm® Cortex®-M7, 480MHz, 2MB Flash, 1MB RAM
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- Onboard Sensors:
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- Accel/Gyro: SCH16T
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- Accel/Gyro: IIM42652
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- Accel/Gyro: IIM42653
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- Magnetometer: RM3100
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- Barometer: BMP581
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- Barometer: ICP-20100
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### Electrical Data
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- Rated Voltage:
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- Input Voltage: 10~18V
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- USB 电源输入：4.75~5.25V
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- Servo Rail Input: 0~9.9V
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- Rated Current:
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- Total Output Max Current: 10A
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- `TELEM1` and `TELEM2` Output Current limiter: 4A
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- `CAN1` and `CAN2` Output Current limiter: 2.4A
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- Other Ports Output Current limiter: 1.5A
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### 接口
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- 16x PWM Servo Outputs
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- 1x Dedicated R/C Input(`RC IN`) for Spektrum / DSM and S.Bus
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- 1x Analog/PWM RSSI Input
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- 2x TELEM Ports (with full flow control)
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- 1x UART4 Port
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- 2x GPS Ports
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- 1x Full GPS plus Safety Switch Port (GPS1)
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- 1x Basic GPS Port (with I2C, GPS2)
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- 1x USB Port (TYPE-C)
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- 1x Ethernet Port
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- Transformerless application
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- 100Mbps
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- 3x I2C Bus Ports
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- 1x SPI Bus
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- 1x Chip Select Line
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- 1x Data Ready Line
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- 1x SPI Reset Line
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- 5x CAN Ports for CAN Peripherals
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- 3x CAN1 Bus Multiplexed Ports
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- 2x CAN2 Bus Multiplexed Ports
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- 2x Power Input Ports
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- DroneCAN/UAVCAN Power Input
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- 2x AD Ports
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- Analog Input (3.3V)
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- Analog Input (6.6V - not supported by PX4)
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- 1x Dedicated Debug Port
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- FMU Debug
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### Mechanical Data
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- Dimensions:
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## Purchase Channels {#store}
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Order from [CUAV](https://store.cuav.net/).
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## 组装 / 设置
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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.
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## 针脚定义
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## 串口映射
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| UART | 设备 | Port |
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| ------ | ---------- | ------ |
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| USART1 | /dev/ttyS0 | GPS1 |
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| USART2 | /dev/ttyS1 | GPS2 |
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| USART3 | /dev/ttyS2 | 调试控制台 |
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| UART4 | /dev/ttyS3 | UART4 |
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| UART5 | /dev/ttyS4 | TELEM2 |
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| USART6 | /dev/ttyS5 | RC IN |
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| UART7 | /dev/ttyS6 | TELEM1 |
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## RC Input
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The RC input pin is directly connected to the FMU UART6 TX.
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## 额定电压
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The _X25-SUPER_ achieves triple redundancy on power supplies if three power sources are provided.
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The three power rails are `POWERC1`, `POWERC2`, and `USB`.
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- **POWER C1** and **POWER C2** are DroneCAN/UAVCAN battery interfaces.
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**Normal Operation Maximum Ratings**
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Under these conditions, all power sources will be used to power the system in the following order:
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1. **POWER C1** and **POWER C2** Inputs (10V to 18V)
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2. USB Input (4.75V to 5.25V)
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**Voltage monitoring**
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Digital DroneCAN/UAVCAN battery monitoring is enabled by default.
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## 编译固件
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:::tip
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Most users will not need to build this firmware (from PX4 v1.18).
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It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
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:::
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To [build PX4](../dev_setup/building_px4.md) for this target, execute:
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```sh
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make cuav_x25-super_default
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```
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## Debug Port {#debug_port}
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The [PX4 System Console](../debug/system_console.md) and [SWD Interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
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| 针脚 | 信号 | 电压 |
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| ---- | --------------------------------- | --------------------- |
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| 1（红） | 5V+ | +5V |
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| 2 | DEBUG TX (OUT) | +3.3V |
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| 3 | DEBUG RX (IN) | +3.3V |
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| 4（黑） | FMU_SWDIO | +3.3V |
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| 6 | FMU_SWCLK | +3.3V |
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| 6 | GND | GND |
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## 支持的平台/机身
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Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos.
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The complete set of supported configurations can be seen in the [Airframes Reference](../airframes/airframe_reference.md).
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## 更多信息
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- [CUAV Docs](https://doc.cuav.net/)
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