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240 lines
9.9 KiB
Markdown
240 lines
9.9 KiB
Markdown
# CUAV V5+ Autopilot
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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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_V5+_<sup>®</sup> is an advanced autopilot manufactured by CUAV<sup>®</sup>.
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It was designed by CUAV<sup>®</sup> in collaboration with the PX4 team.
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The autopilot is recommended for commercial systems integration, but is also suitable for academic research and any other use.
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Some of its main features include:
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- Full compatibility with the [Pixhawk project](https://pixhawk.org/) **FMUv5** design standard and uses the [Pixhawk Connector Standard](https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-009%20Pixhawk%20Connector%20Standard.pdf) for all external interfaces.
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- More advanced processor, RAM and flash memory than FMU v3, along with more stable and reliable sensors.
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- Firmware-compatible with PX4.
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- Modular design allows users to customize their own carrier board.
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- Built-in vibration dampening system with high performance shock absorption system.
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- Multiple-redundant sensor and power systems for improved flight safety and stability.
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::: info
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This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
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:::
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## Quick Summary
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- Main FMU Processor: STM32F765
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- 32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
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- IO Processor: STM32F100
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- 32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM
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- On-board sensors:
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- Accelerometer/Gyroscope: ICM-20689
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- Accelerometer/Gyroscope: BMI055
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- Magnetometer: IST8310
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- Barometer: MS5611
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- Interfaces:
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- 8-14 PWM outputs (6 from IO, 8 from FMU)
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- 3 dedicated PWM/Capture inputs on FMU
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- Dedicated R/C input for CPPM
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- Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input
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- analog / PWM RSSI input
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- S.Bus servo output
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- 5 general purpose serial ports
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- 4 I2C ports
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- 4 SPI buses
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- 2 CANBuses with serial ESC
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- Analog inputs for voltage / current of 2 batteries
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- Power System:
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- Power: 4.3~5.4V
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- USB Input: 4.75~5.25V
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- Weight and Dimensions:
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- Weight: 90g
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- Dimensions: 85.5\*42\*33mm
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- Other Characteristics:
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- Operating temperature: -20 ~ 80°c（Measured value）
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## Where to Buy
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[CUAV Aliexpress](https://www.aliexpress.com/item/32890380056.html?spm=a2g0o.detail.1000060.1.7a7233e7mLTlVl&gps-id=pcDetailBottomMoreThisSeller&scm=1007.13339.90158.0&scm_id=1007.13339.90158.0&scm-url=1007.13339.90158.0&pvid=d899bfab-a7ca-46e1-adf2-72ad1d649822) (International users)
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[CUAV Taobao](https://item.taobao.com/item.htm?spm=a1z10.5-c.w4002-21303114052.37.a28f697aeYzQx9&id=594262853015) (China Mainland users)
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::: info
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Autopilot may be purchased with included Neo GPS module
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:::
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<a id="connection"></a>
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## Connections (Wiring)
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[CUAV V5+ Wiring Quickstart](../assembly/quick_start_cuav_v5_plus.md)
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## Pinouts
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Download **V5+** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf).
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## Voltage Ratings
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_V5+ AutoPilot_ supports redundant power supplies - up to three sources may be used: `Power1`, `Power2` and `USB`.
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You must supply power to at least one of these sources, or the flight controller will be unpowered.
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::: info
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On FMUv5 based FMUs with PX4IO module (as is the case for the _V5+_), the Servo Power Rail is only monitored by the FMU.
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It is neither powered by, nor provides power to the FMU.
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However, the pins marked **+** are all common, and a BEC may be connected to any of the servo pin sets to power the servo power rail.
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:::
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**Normal Operation Maximum Ratings**
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Under these conditions all power sources will be used in this order to power the system:
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1. `Power1` and `Power2` inputs (4.3V to 5.4V)
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1. `USB` input (4.75V to 5.25V)
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## Over Current Protection
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The _V5+_ has over current protection on the 5 Volt Peripheral and 5 Volt high power, which limits the current to 2.5A.
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The _V5+_ has short circuit protection.
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:::warning
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Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A).
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:::
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## Building Firmware
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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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## 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 (`DSU7`).
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The board does not have an I/O debug interface.
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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:
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| Pin | Signal | Volt |
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| ------- | -------------- | ----- |
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| 1 (red) | 5V+ | +5V |
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| 2 (blk) | DEBUG TX (OUT) | +3.3V |
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| 3 (blk) | DEBUG RX (IN) | +3.3V |
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| 4 (blk) | FMU_SWDIO | +3.3V |
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| 5 (blk) | FMU_SWCLK | +3.3V |
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| 6 (blk) | GND | GND |
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The product package includes a convenient debug cable that can be connected to the `DSU7` port.
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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.
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The provided debug cable does not connect to the SWD port `Vref` pin (1).
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:::warning
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The SWD Vref pin (1) uses 5V as Vref but the CPU is run at 3.3V!
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Some JTAG adapters (SEGGER J-Link) will use the Vref voltage to set the voltage on the SWD lines.
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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).
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For more information see [Using JTAG for hardware debugging](#using-jtag-for-hardware-debugging).
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:::
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## Serial Port Mapping
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| UART | Device | Port |
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| ------ | ---------- | ------------------------------------- |
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| UART1 | /dev/ttyS0 | GPS |
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| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
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| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
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| UART4 | /dev/ttyS3 | TELEM4 |
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| USART6 | /dev/ttyS4 | TX is RC input from SBUS_RC connector |
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| UART7 | /dev/ttyS5 | Debug Console |
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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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<a id="optional-hardware"></a>
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## Peripherals
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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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## Supported Platforms / Airframes
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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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## Notes
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#### Do not plug Digital or Analog PM onto connectors configured for other type of PM
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If you plug an Analog PM into a digital PM connector it will stop all the I2C devices on that bus.
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Specifically this will stop the GPS's compass due to contention, and may also damage the FMU (longer term).
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Similarly, a digital PM plugged into a analog connector will not work, and may also damage/destroy the power module (longer term).
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## Compatibility
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CUAV adopts some differentiated designs and is incompatible with some hardware, which will be described below.
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<a id="compatibility_gps"></a>
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#### GPS not compatible with other devices
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The _Neo v2.0 GPS_ recommended for use with _CUAV V5+_ and _CUAV V5 nano_ is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch).
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The UAVCAN [NEO V2 PRO GNSS receiver](https://doc.cuav.net/gps/neo-series-gnss/en/neo-v2-pro.html) can also be used, and is compatible with other flight controllers.
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<a id="compatibility_jtag"></a>
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#### Using JTAG for hardware debugging
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`DSU7` FMU Debug Pin 1 is 5 volts - not the 3.3 volts of the CPU.
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Some JTAG use this voltage to set the IO levels when communicating to the target.
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For direct connection to _Segger Jlink_ we recommended you use the 3.3 Volts of DSM/SBUS/RSSI pin 4 as Pin 1 on the debug connector (`Vtref`).
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## Known Issues
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The issues below refer to the _batch number_ in which they first appear.
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The batch number is the four-digit production date behind V01 and is displayed on a sticker on the side of the flight controller.
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For example, the serial number Batch V011904((V01 is the number of V5, 1904 is the production date, that is, the batch number).
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<a id="pin1_unfused"></a>
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#### SBUS / DSM / RSSI interface Pin1 unfused
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:::warning
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This is a safety issue.
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:::
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Please do not connect other equipment (except RC receiver) on SBUS / DSM / RSSI interface - this may lead to equipment damage.
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- _Found:_ Batches V01190904xxxx
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- _Fixed:_ Batches later than V01190904xxxx
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## Further Information
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- [CUAV V5+ Manual](http://manual.cuav.net/V5-Plus.pdf)
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- [CUAV V5+ docs](https://doc.cuav.net/controller/v5-autopilot/en/v5+.html)
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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 Github](https://github.com/cuav)
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- [Base board design reference](https://github.com/cuav/hardware/tree/master/V5_Autopilot/V5%2B/V5%2BBASE)
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- [CUAV V5+ Wiring Quickstart](../assembly/quick_start_cuav_v5_plus.md)
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- [Airframe build-log using CUAV v5+ on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5plus.md)
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