# CUAV v5 (Discontinued)
PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues.
注意
This flight controller has been discontinued and is no longer commercially available.
CUAV v5® (previously "Pixhack v5") is an advanced autopilot designed and made by CUAV®. The board is based on the Pixhawk-project (opens new window) FMUv5 open hardware design. It runs PX4 on the NuttX (opens new window) OS, and is fully compatible with PX4 firmware. It is intended primarily for academic and commercial developers.
# 快速预览
主处理器：STM32F765
- 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM
IO 处理器：STM32F100
- 32 位 Arm® Cortex®-M3，24MHz，8KB SRAM
内置传感器：
- 加速度计/陀螺仪：ICM-20689
- 加速度计/陀螺仪：BMI055
- 磁力计：IST8310
- 气压计：MS5611
接口：
- 14路PWM输出 (6路来自FMU, 8路来自 IO)
- FMU上有3个专用PWM/Capture输入
- CPPM专用的RC输入
- Dedicated R/C input for PPM and S.Bus
- 电平/PWM RSSI输入
- S.BUS伺服输出
- 5个通用串行口
- 4路I2C总线
- 4路SPI总线
- 2路CAN总线
- 2个电池电流/电压模拟输入口
电源系统：
- 输入电压：4.3~5.4V
- USB输入电压: 4.75~5.25V
- 伺服导轨输入电压：0~36V
重量和尺寸:
- 重量：99g
- 尺寸：448412mm
其它特性:
- 工作温度：-20 ~ 80°C （实测值）
# 采购
Order from CUAV (opens new window).
# 接口定义
注意
The RCIN interface is limited to powering the rc receiver and cannot be connected to any power/load.
# 额定电压
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.
注解
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:
- POWER1 和 POWER2 输入电压 (4.3 v 至 5.4 v)
- USB 输入电压 (4.75 v 至 5.25 v)
# 编译固件
提示
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 for this target:
make px4_fmu-v5_default
# Debug调试端口
The PX4 System Console and SWD interface 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.
| 针脚 | CUAV v5 debug |
|---|---|
| 1 | GND |
| 2 | FMU-swclk |
| 3 | FMU-SWDIO |
| 4 | UART7_RX |
| 5 | UART7_TX |
| 6 | VCC |
# Serial Port Mapping
| UART | 设备 | 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 |
# 外部设备
# 支持的平台/机身
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.
# 更多信息
FMUv5参考设计</0 >。