雷迅 Nora
PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues.
The Nora® flight controller is a high-performance autopilot. It is an ideal choice for industrial drones and large-scale heavy-duty drones. It is mainly supplied to commercial manufacturers.
Nora is a variant of the CUAV X7. It adopts an integrated motherboard (soft and hard board), which reduces flight controller's internal connectors, improves reliability, and places all the interfaces on the side (making the wiring more concise).
特性
Internal shock absorption
The integrated process reduces the failure caused by interface damage.
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
The manufacturer CUAV Docs are the canonical reference for Nora. 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 intput
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
采购
CUAV Store<\br>
Connections (Wiring)
Size and Pinouts
The RCIN
port is limited to powering the rc receiver and cannot be connected to any power/load.
额定电压
Nora AutoPilot* can be triple-redundant on the power supply if three power sources are supplied. The two power rails are: POWERA, POWERC and USB.
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 输入电压(4.75 v 至 5.25 v)
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:
Over Current Protection
The Nora has over-current protection on the 5 Volt Peripheral and 5 Volt high power, which limits the current to 2.5A. The Nora 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).
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 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).
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.
更多信息
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