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150 lines
5.3 KiB
Markdown
150 lines
5.3 KiB
Markdown
# CUAV v5 (Discontinued)
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<Badge type="info" text="Discontinued" /> <!-- 202507 / PX4v1.16 -->
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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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## 总览
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- 主处理器：STM32F765
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- 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM
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- IO 处理器：STM32F100
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- 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM
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- 内置传感器：
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- 加速度计/陀螺仪：ICM-20689
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- 加速度计/陀螺仪：BMI055
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- 磁力计：IST8310
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- 气压计：MS5611
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- 接口：
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- 14路PWM输出 (6路来自FMU, 8路来自 IO)
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- FMU上有3个专用PWM/Capture输入
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- CPPM专用的RC输入
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- Dedicated R/C input for PPM and S.Bus
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- 电平/PWM RSSI输入
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- S.BUS伺服输出
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- 5个通用串行口
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- 4路I2C总线
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- 4路SPI总线
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- 2 CANBuses with serial ESC
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- 2个电池电流/电压模拟输入口
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- 电源系统
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- 输入电压：4.3~5.4V
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- USB输入电压: 4.75~5.25V
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- 伺服导轨输入电压：0~36V
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- 重量和尺寸:
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- 重量：99g
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- 尺寸：44_84_12mm
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- 其它特性:
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- 工作温度：-20 ~ 80°C （实测值）
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## 购买渠道
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Order from [CUAV](https://cuav.taobao.com/index.htm?spm=2013.1.w5002-16371268426.2.411f26d9E18eAz).
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## 接口定义
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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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## 额定电压
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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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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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2. **USB** input (4.75V to 5.25V)
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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!
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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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## 调试接口
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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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| 引脚 | CUAV v5 debug |
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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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## 串口映射
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| UART | 设备 | Port |
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| ------ | ---------- | ---------------------------------------------------------- |
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| UART1 | /dev/ttyS0 | GPS |
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| USART2 | /dev/ttyS1 | TELEM1 (流控) |
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| USART3 | /dev/ttyS2 | TELEM2 (流控) |
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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 | 调试控制台 |
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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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## 外部设备
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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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## 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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- [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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