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152 lines
5.5 KiB
Markdown
152 lines
5.5 KiB
Markdown
# CUAV v5 (단종)
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<Badge type="info" text="Discontinued" />
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:::warning
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This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
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:::
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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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_CUAV v5_<sup>®</sup> (previously "Pixhack v5") is an advanced autopilot designed and made by CUAV<sup>®</sup>.
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The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv5** open hardware design.
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It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS, and is fully compatible with PX4 firmware.
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It is intended primarily for academic and commercial developers.
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## 요약
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- 메인 FMU 프로세서: STM32F765
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- 32 비트 Arm® Cortex®-M7, 216MHz, 2MB 메모리, 512KB RAM
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- IO 프로세서: STM32F100
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- 32 비트 Arm® Cortex®-M3, 24MHz, 8KB SRAM
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- 내장 센서 :
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- 가속도계/자이로스코프 : ICM-20689
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- 가속도계/자이로스코프 : BMI055
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- 자력계 : IST8310
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- 기압계: MS5611
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- 인터페이스:
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- PWM 출력 8-14개(IO 6개, FMU 8개)
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- FMU의 전용 PWM/캡처 입력 3 개
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- CPPM 전용 RC 입력
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- PPM 및 S.Bus 전용 RC 입력
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- 아날로그/PWM RSSI 입력
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- PWM Servo 출력
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- 범용 시리얼 포트 5개
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- I2C 포트 4개
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- SPI 버스 4개
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- 2 CANBuses with serial ESC
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- 배터리 2 개의 전압 및 전류에 대한 아날로그 입력
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- 전원시스템
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- 전원: 4.3~5.4V
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- USB 입력: 4.75~5.25V
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- 서보 레일 입력: 0~36V
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- 중량과 크기
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- 중량: 90g
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- 크기: 44x84x12mm
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- 기타 특성:
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- 작동 온도: -20 ~ 80°c (측정치)
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## 구매처
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Order from [CUAV](https://cuav.taobao.com/index.htm?spm=2013.1.w5002-16371268426.2.411f26d9E18eAz).
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## 연결
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:::warning
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The RCIN interface is limited to powering the rc receiver and cannot be connected to any power/load.
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:::
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## 정격 전압
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_CUAV v5_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.
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:::info
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The output power rails **FMU PWM OUT** and **I/O PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it).
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You must supply power to one of **POWER1**, **POWER2** or **USB** or the board will be unpowered.
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:::
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**Normal Operation Maximum Ratings**
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이러한 조건에서 전원은 아래의 순서대로 시스템에 전원을 공급하여야합니다.
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1. **POWER1** and **POWER2** inputs (4.3V to 5.4V)
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2. **USB** input (4.75V to 5.25V)
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## 펌웨어 빌드
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:::tip
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Most users will not need to build this firmware!
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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:
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```
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make px4_fmu-v5_default
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```
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## 디버그 포트
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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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Simply connect the FTDI cable to the Debug & F7 SWD connector.
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To access the I/O Debug port, the user must remove the CUAV v5 shell.
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Both ports have standard serial pins and can be connected to a standard FTDI cable (3.3V, but 5V tolerant).
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The pinout is as shown.
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| 핀 | CUAV v5 디버그 |
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| - | ----------------------------- |
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| 1 | GND |
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| 2 | FMU-SWCLK |
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| 3 | FMU-SWDIO |
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| 4 | UART7_RX |
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| 5 | UART7_TX |
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| 6 | VCC |
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## 시리얼 포트 매핑
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| UART | 장치 | 포트 |
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| ------ | ---------- | --------------------------------------------------------------- |
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| UART1 | /dev/ttyS0 | GPS |
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| USART2 | /dev/ttyS1 | TELEM1 (흐름 제어) |
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| USART3 | /dev/ttyS2 | TELEM2 (흐름 제어) |
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| UART4 | /dev/ttyS3 | TELEM4 |
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| USART6 | /dev/ttyS4 | TX는 SBUS_RC 커넥터의 RC 입력입니다. |
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| UART7 | /dev/ttyS5 | 디버그 콘솔 |
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| UART8 | /dev/ttyS6 | PX4IO |
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<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
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## 주변 장치
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- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037)
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- [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq&search=y&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
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- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
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## 지원 플랫폼 및 기체
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일반 RC 서보 또는 Futaba S-Bus 서보로 제어 가능한 모든 멀티콥터/비행기/로버 또는 보트.
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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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## 추가 정보
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- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
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- [CUAV v5 docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5.html)
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- [CUAV Github](https://github.com/cuav)
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