雷迅 V5 nano (FMUv5)
PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues.
V5 nano® is an autopilot for space-constrained applications, designed by CUAV® in collaboration with the PX4 team.
The autopilot is small enough to use in 220mm racing drones, but remains powerful enough for most drone 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.
Generous 2.6mm spacing for I/O pins, making it easier to use all the interfaces.
概览
Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
内置传感器:
加速度计 / 陀螺仪:ICM-20689
加速度计 / 陀螺仪:ICM-20602
加速度计 / 陀螺仪:BMI055
磁力计:IST8310
气压计:MS5611
Interfaces: 8 PWM outputs
FMU上有3个专用PWM/Capture输入
用于 CPPM 的专用遥控输入
Dedicated R/C input for Spektrum / DSM and S.Bus
电平/PWM RSSI输入
4个通用串行口
3 个 I2C 接口
4路SPI总线
2 CAN Buses
电池电压 / 电流模拟输入口
2 additional analog inputs
Supports nARMED
Power System: Power Brick Input: 4.75~5.5V
USB 电源输入:4.75~5.25V
重量和尺寸:
Dimensions: 604014mm
其它特性:
工作温度:-20 ~ 85°C (实测值)
购买
CUAV Aliexpress (international users)
CUAV Taobao (China Mainland users)
Connections (Wiring)
针脚定义
Download V5 nano pinouts from here.
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
The PX4 System Console and SWD interface operate on the FMU Debug port (DSU7
). The board does not have an I/O debug interface.
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 | Not connected (no PX4IO) |
额定电压
V5 nano must be powered from the Power
connector during flight, and may also/alternatively be powered from USB
for bench testing.
Over Current Protection
The V5 nano has no over current protection.
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.
Compatibility
CUAV adopts some differentiated designs and is incompatible with some hardware, which will be described below.
Neo v2.0 GPS not compatible with other devices
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).
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 probes 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
).
PM2 cannot power the flight controller
PM2
can only measure battery voltage and current, but not power the flight controller.
PX4 does not support this interface.
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 can lead to equipment damage!
Found: Batches V01190904xxxx
Fixed: Batches later than V01190904xxxx
更多信息
V5 nano manual (CUAV)
CUAV Github (CUAV)
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