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236 lines
8.9 KiB
Markdown
236 lines
8.9 KiB
Markdown
# CUAV V5 nano 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 nano**<sup>®</sup> is an autopilot for space-constrained applications, designed by CUAV<sup>®</sup> in collaboration with the PX4 team.
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The autopilot is small enough to use in 220mm racing drones, but remains powerful enough for most drone use.
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:::info
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The V5 nano is similar to the [CUAV V5+](../flight_controller/cuav_v5_plus.md), but has an all-in-one form factor, fewer PWM ports (can't be used for [airframes](../airframes/airframe_reference.md) that use AUX ports), and does not have internal damping.
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:::
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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://pixhawk.org/pixhawk-connector-standard/) 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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- Generous 2.6mm spacing for I/O pins, making it easier to use all the interfaces.
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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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### 总览
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Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
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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：ICM-20602
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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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- Interfaces: 8 PWM outputs
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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 Spektrum / DSM and S.Bus
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- 电平/PWM RSSI输入
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- 4个通用串行口
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- 3 个 I2C 接口
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- 4路SPI总线
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- 2 CAN Buses
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- 电池电压 / 电流模拟输入口
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- 2 additional analog inputs
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- Supports nARMED
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- Power System: Power Brick Input: 4.75~5.5V
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- USB 电源输入：4.75~5.25V
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- 重量和尺寸:
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- Dimensions: 60\*40\*14mm
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- 其它特性:
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- 工作温度：-20 ~ 85°C （实测值）
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## 购买渠道
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[CUAV Store](https://store.cuav.net/shop/v5-nano/)
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CUAV Aliexpress (international users)
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CUAV Taobao (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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[V5 nano Wiring Quickstart](../assembly/quick_start_cuav_v5_nano.md)
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## 针脚定义
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Download **V5 nano** pinouts from [here](http://manual.cuav.net/V5-Plus.pdf).
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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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<a id="debug_port"></a>
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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 (`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/product-detail/en/jst-sales-america-inc/BM06B-GHS-TBT-LF-SN-N/455-1582-1-ND/807850) connector and has the following pinout:
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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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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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## 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 (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 | Not connected (no PX4IO) |
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<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
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## 额定电压
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_V5 nano_ must be powered from the `Power` connector during flight, and may also/alternatively be powered from `USB` for bench testing.
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:::info
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The `PM2` connector cannot not be used for powering the _V5 nano_ (see [this issue](#compatibility_pm2)).
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:::
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:::info
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The Servo Power Rail 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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## Over Current Protection
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The _V5 nano_ has no over current protection.
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<a id="Optional-hardware"></a>
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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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## 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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#### Neo v2.0 GPS not compatible with other devices
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The _Neo v2.0 GPS_ that is 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](http://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 probes 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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<a id="compatibility_pm2"></a>
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#### PM2 cannot power the flight controller
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`PM2` can only measure battery voltage and current, but **not** power the flight controller.
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:::warning
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PX4 does not support this interface.
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:::
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## 已知的问题
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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 can lead to equipment damage!
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- _Found:_ Batches V01190904xxxx
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- _Fixed:_ Batches later than V01190904xxxx
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## 更多信息
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- [V5 nano manual](http://manual.cuav.net/V5-nano.pdf) (CUAV)
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- [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165) (CUAV)
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- [CUAV Github](https://github.com/cuav) (CUAV)
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- [Airframe build-log using CUAV v5 nano on a DJI FlameWheel450](../frames_multicopter/dji_f450_cuav_5nano.md)
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