# CUAV X7 飞行控制器
:::警告 PX4 没有制造这个(或任何)自动解压。 Contact the manufacturer (opens new window) for hardware support or compliance issues. :::
X7 (opens new window)® 飞行控制器是一个高性能的自动飞行器。 这是工业无人机和大规模重型无人机的理想选择。 It is mainly supplied to commercial manufacturers.
The flight controller adopts a modular design and can be matched with different base plates. You can design a dedicated carrier board for your UAV to improve the integration of commercial systems, reduce wiring, improve system reliability, and enhance your UAV competitiveness (for example, integrating airspeed sensors, telemetry or even a companion computer, in the carrier board). CUAV has also provided a variety of carrier boards for you to choose from.
注解
This flight controller is manufacturer supported.
# 特性
- Internal shock absorption
- Modular design, can be DIY carrier board
- Support USB_HS, download logs faster (PX4 not yet supported)
- Support more dshot output
- Support IMU heating, make the sensor work better
- Dedicated uavcan battery port
- 3 sets of IMU sensors
- Car-grade RM3100 compass
- High performance processor
提示
The manufacturer CUAV Docs (opens new window) are the canonical reference for the X7. They should be used by preference as they contain the most complete and up to date information.
# Quick Summary
Main FMU Processor: STM32H743
内置传感器：
- 加速度计/陀螺仪：ICM-20689
- 加速度计/陀螺仪：ICM-20649
- Accelerometer/Gyroscope: BMI088
- Magnetometer: RM3100
- Barometer: MS5611*2
接口：
- 14 PWM outputs （12 supports Dshot）
- Support multiple RC inputs (SBUs / CPPM / DSM)
- Analogue / PWM RSSI input
- 2 GPS ports(GPS and UART4 ports)
- 4 i2c buses(Two i2c dedicated ports)
- 2 CAN bus ports
- 2 Power ports(Power A is common adc interface, Power C is uavcan battery interface)
- 2 ADC input
- 1 USB ports
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:
- Weight: 101 g
其它特性:
- Operating temperature: -20 ~ 80°c（Measured value）
- Three imus
- Supports temperature compensation
- Internal shock absorption
注解
When it runs PX4 firmware, only 8 pwm works, the remaining 6 pwm are still being adapted, so it is not compatible with VOLT now.
# 采购
CUAV aliexpress (opens new window)
# Connections (Wiring)
CUAV X7 Wiring Quickstart (opens new window)
# Size and Pinouts
注意
The RCIN port is limited to powering the RC receiver and cannot be connected to any power/load.
# 额定电压
The X7 AutoPilot can be triple-redundant on the power supply if three power sources are supplied. The power rails are: POWERA, POWERC and USB.
注解
The output power rails 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 POWERA, POWERC 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:
- POWERA and POWERC inputs (4.3V to 5.4V)
- USB input (4.75V to 5.25V)
# 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 cuav_x7pro_default
# Over Current Protection
The X7 has over-current protection on the 5 Volt Peripheral and 5 Volt high power, which limits the current to 2.5A. The X7 has short circuit protection.
注意
Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A).
# 调试接口
The system's serial console and SWD interface operate on the DSU7 port. Simply connect the FTDI cable to the DSU7 connector (the product list contains the CUAV FTDI cable).
The PX4 System Console and SWD interface operate on the FMU Debug port (DSU7).
The debug port (DSU7) uses a JST BM06B (opens new window) connector and has the following pinout:
| 针脚 | 信号 | 电压 |
|---|---|---|
| 2 | 5V+ | +5V |
| 2 | DEBUG TX (OUT) | +3.3V |
| 3 | DEBUG RX (IN) | +3.3V |
| 4（黑） | FMU_SWDIO | +3.3V |
| 6 | FMU_SWCLK | +3.3V |
| 6 | GND | GND |
CUAV provides a dedicated debugging cable, which can be connected to the DSU7 port. This splits out an FTDI cable for connecting the PX4 System Console to a computer USB port, and SWD pins used for SWD/JTAG debugging. The provided debug cable does not connect to the SWD port Vref pin (1).
注意
The SWD Vref pin (1) uses 5V as Vref but the CPU is run at 3.3V!
Some JTAG adapters (SEGGER J-Link) will use the Vref voltage to set the voltage on the SWD lines. 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).
# 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.