mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
145 lines
5.2 KiB
Markdown
145 lines
5.2 KiB
Markdown
# CUAV v5 (Discontinued)
|
||
|
||
<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->
|
||
|
||
:::warning
|
||
This flight controller has been [discontinued](../flight_controller/autopilot_experimental.md) and is no longer commercially available.
|
||
:::
|
||
|
||
:::warning
|
||
PX4 does not manufacture this (or any) autopilot.
|
||
Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
|
||
:::
|
||
|
||
_CUAV v5_<sup>®</sup> (previously "Pixhack v5") is an advanced autopilot designed and made by CUAV<sup>®</sup>.
|
||
The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv5** open hardware design.
|
||
It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS, and is fully compatible with PX4 firmware.
|
||
It is intended primarily for academic and commercial developers.
|
||
|
||
|
||
|
||
## Quick Summary
|
||
|
||
- Main FMU Processor: STM32F765
|
||
- 32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
|
||
- IO Processor: STM32F100
|
||
- 32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM
|
||
- On-board sensors:
|
||
- Accelerometer/Gyroscope: ICM-20689
|
||
- Accelerometer/Gyroscope: BMI055
|
||
- Magnetometer: IST8310
|
||
- Barometer: MS5611
|
||
|
||
- Interfaces:
|
||
- 8-14 PWM outputs (6 from IO, 8 from FMU)
|
||
- 3 dedicated PWM/Capture inputs on FMU
|
||
- Dedicated R/C input for CPPM
|
||
- Dedicated R/C input for PPM and S.Bus
|
||
- analog / PWM RSSI input
|
||
- S.Bus servo output
|
||
- 5 general purpose serial ports
|
||
- 4 I2C ports
|
||
- 4 SPI buses
|
||
- 2 CANBuses with serial ESC
|
||
- Analog inputs for voltage / current of 2 batteries
|
||
- Power System:
|
||
- Power: 4.3~5.4V
|
||
- USB Input: 4.75~5.25V
|
||
- Servo Rail Input: 0~36V
|
||
- Weight and Dimensions:
|
||
- Weight: 90g
|
||
- Dimensions: 44x84x12mm
|
||
- Other Characteristics:
|
||
- Operating temperature: -20 ~ 80°C （Measured value）
|
||
|
||
## Where to Buy
|
||
|
||
Order from [CUAV](https://cuav.taobao.com/index.htm?spm=2013.1.w5002-16371268426.2.411f26d9E18eAz).
|
||
|
||
## Connection
|
||
|
||
|
||
|
||
:::warning
|
||
The RCIN interface is limited to powering the rc receiver and cannot be connected to any power/load.
|
||
:::
|
||
|
||
## Voltage Ratings
|
||
|
||
_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**.
|
||
|
||
::: info
|
||
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).
|
||
You must supply power to one of **POWER1**, **POWER2** 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. **POWER1** and **POWER2** inputs (4.3V to 5.4V)
|
||
1. **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:
|
||
|
||
```
|
||
make px4_fmu-v5_default
|
||
```
|
||
|
||
## Debug Port
|
||
|
||
The [PX4 System Console](../debug/system_console.md) and [SWD interface](../debug/swd_debug.md) operate on the **FMU Debug** port.
|
||
Simply connect the FTDI cable to the Debug & F7 SWD connector.
|
||
To access the I/O Debug port, the user must remove the CUAV v5 shell.
|
||
Both ports have standard serial pins and can be connected to a standard FTDI cable (3.3V, but 5V tolerant).
|
||
|
||
The pinout is as shown.
|
||
|
||
|
||
|
||
| pin | CUAV v5 debug |
|
||
| --- | ------------- |
|
||
| 1 | GND |
|
||
| 2 | FMU-SWCLK |
|
||
| 3 | FMU-SWDIO |
|
||
| 4 | UART7_RX |
|
||
| 5 | UART7_TX |
|
||
| 6 | VCC |
|
||
|
||
## Serial Port Mapping
|
||
|
||
| UART | Device | Port |
|
||
| ------ | ---------- | ------------------------------------- |
|
||
| UART1 | /dev/ttyS0 | GPS |
|
||
| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
|
||
| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
|
||
| UART4 | /dev/ttyS3 | TELEM4 |
|
||
| USART6 | /dev/ttyS4 | TX is RC input from SBUS_RC connector |
|
||
| UART7 | /dev/ttyS5 | Debug Console |
|
||
| UART8 | /dev/ttyS6 | PX4IO |
|
||
|
||
<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
|
||
|
||
## Peripherals
|
||
|
||
- [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI&id=9512463037)
|
||
- [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)
|
||
- [Rangefinders/Distance sensors](../sensor/rangefinders.md)
|
||
|
||
## 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
|
||
|
||
- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
|
||
- [CUAV Github](https://github.com/cuav)
|