雷迅 V5+ (FMUv5)
PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues.
V5+® is an advanced autopilot manufactured by CUAV®. It was designed by CUAV® in collaboration with the PX4 team.
The autopilot is recommended for commercial systems integration, but is also suitable for academic research and any other use.
Some of its main features include:
Full compatibility with the Pixhawk project FMUv5 design standard and uses the Pixhawk Connector Standard for all external interfaces.
More advanced processor, RAM and flash memory than FMU v3, along with more stable and reliable sensors.
Firmware-compatible with PX4.
Modular design allows users to customize their own carrier board.
Built-in vibration dampening system with high performance shock absorption system.
Multiple-redundant sensor and power systems for improved flight safety and stability.
概览
主 FMU 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
用于 CPPM 的专用遥控输入
用于 Spektrum / DSM 与 有模拟 / PWM RSSI 的 S.Bus 的专用遥控输入
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
重量和尺寸:
重量：99g
Dimensions: 85.54233mm
其它特性:
Operating temperature: -20 ~ 80°c（Measured value）
采购
CUAV Aliexpress (International users)
CUAV Taobao (China Mainland users)
Connections (Wiring)
针脚定义
Download V5+ pinouts from here.
额定电压
V5+ AutoPilot supports redundant power supplies - up to three sources may be used: Power1, Power2 and USB. You must supply power to at least one of these sources, or the flight controller will be unpowered.
Normal Operation Maximum Ratings
Under these conditions all power sources will be used in this order to power the system:
Power1andPower2inputs (4.3V to 5.4V)USB输入电压（4.75 v 至 5.25 v）
Over Current Protection
The V5+ has over current protection on the 5 Volt Peripheral and 5 Volt high power, which limits the current to 2.5A. The V5+ has short circuit protection.
Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A).
编译固件
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:
Debug调试端口
任何可用普通RC伺服系统或Futaba S-Bus伺服系统控制的多旋翼、固定翼、无人机、无人船。 全部可支持的机型可见 机型参考。
The debug port (DSU7) uses a JST BM06B 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 |
The product package includes a convenient debug cable that 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).
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).
For more information see Using JTAG for hardware debugging.
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.
备注
Do not plug Digital or Analog PM onto connectors configured for other type of PM
If you plug an Analog PM into a digital PM connector it will stop all the I2C devices on that bus. Specifically this will stop the GPS's compass due to contention, and may also damage the FMU (longer term).
Similarly, a digital PM plugged into a analog connector will not work, and may also damage/destroy the power module (longer term).
Compatibility
CUAV adopts some differentiated designs and is incompatible with some hardware, which will be described below.
GPS not compatible with other devices
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).
The UAVCAN NEO V2 PRO GNSS receiver can also be used, and is compatible with other flight controllers.
Using JTAG for hardware debugging
DSU7 FMU Debug Pin 1 is 5 volts - not the 3.3 volts of the CPU.
Some JTAG use this voltage to set the IO levels when communicating to the target.
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).
已知的问题
The issues below refer to the batch number in which they first appear. The batch number is the four-digit production date behind V01 and is displayed on a sticker on the side of the flight controller. For example, the serial number Batch V011904((V01 is the number of V5, 1904 is the production date, that is, the batch number).
SBUS / DSM / RSSI interface Pin1 unfused
This is a safety issue.
Please do not connect other equipment (except RC receiver) on SBUS / DSM / RSSI interface - this may lead to equipment damage.
Found: Batches V01190904xxxx
Fixed: Batches later than V01190904xxxx
更多信息
Last updated
