2018-11-20 01:03:34 -04:00
|
|
|
# CUAVv5 Flight Controller
|
|
|
|
|
|
|
|
|
|
The CUAVv5 flight controller is sold by [CUAV](http://store.cuav.net/)
|
|
|
|
|
|
|
|
|
|
The full schematics of the board are available here:
|
|
|
|
|
|
|
|
|
|
https://github.com/ArduPilot/Schematics/tree/master/CUAV/CUAVv5
|
|
|
|
|
|
|
|
|
|
## Features
|
|
|
|
|
|
|
|
|
|
- STM32F765 microcontroller
|
|
|
|
|
- Three IMUs: ICM20689, MPU6000 and BMI055
|
|
|
|
|
- internal vibration isolation for IMUs
|
|
|
|
|
- MS5611 SPI barometer
|
2019-05-16 18:24:57 -03:00
|
|
|
- builtin I2C IST8310 magnetometer
|
2018-11-20 01:03:34 -04:00
|
|
|
- microSD card slot
|
|
|
|
|
- 6 UARTs plus USB
|
|
|
|
|
- 14 PWM outputs
|
|
|
|
|
- Four I2C and two CAN ports
|
|
|
|
|
- External Buzzer
|
|
|
|
|
- builtin RGB LED
|
|
|
|
|
- external safety Switch
|
|
|
|
|
- voltage monitoring for servo rail and Vcc
|
|
|
|
|
- two dedicated power input ports for external power bricks
|
|
|
|
|
|
|
|
|
|
## Pinout
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
## UART Mapping
|
|
|
|
|
|
|
|
|
|
- SERIAL0 -> USB
|
|
|
|
|
- SERIAL1 -> UART2 (Telem1)
|
|
|
|
|
- SERIAL2 -> UART3 (Telem2)
|
|
|
|
|
- SERIAL3 -> UART1 (GPS)
|
|
|
|
|
- SERIAL4 -> UART4 (GPS2)
|
|
|
|
|
- SERIAL5 -> UART6 (spare)
|
|
|
|
|
- SERIAL6 -> UART7 (spare, debug)
|
|
|
|
|
|
|
|
|
|
The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not
|
|
|
|
|
have RTS/CTS.
|
|
|
|
|
|
|
|
|
|
The UART7 connector is labelled debug, but is available as a general
|
|
|
|
|
purpose UART with ArduPilot.
|
|
|
|
|
|
|
|
|
|
## RC Input
|
|
|
|
|
|
|
|
|
|
RC input is configured on the RCIN pin, at one end of the servo rail,
|
|
|
|
|
marked RC in the above diagram. This pin supports all RC protocols.
|
|
|
|
|
|
|
|
|
|
## PWM Output
|
|
|
|
|
|
|
|
|
|
The CUAVv5 supports up to 14 PWM outputs. First first 8 outputs (labelled
|
|
|
|
|
"MAIN") are controlled by a dedicated STM32F100 IO controller. These 8
|
|
|
|
|
outputs support all PWM output formats, but not DShot.
|
|
|
|
|
|
2022-01-21 05:11:37 -04:00
|
|
|
The remaining 6 outputs (labelled AUX1 to AUX6) are the "auxiliary"
|
2018-11-20 01:19:00 -04:00
|
|
|
outputs. These are directly attached to the STM32F765 and support all
|
2018-11-20 01:03:34 -04:00
|
|
|
PWM protocols as well as DShot.
|
|
|
|
|
|
|
|
|
|
All 14 PWM outputs have GND on the top row, 5V on the middle row and
|
|
|
|
|
signal on the bottom row.
|
|
|
|
|
|
|
|
|
|
The 8 main PWM outputs are in 3 groups:
|
|
|
|
|
|
|
|
|
|
- PWM 1 and 2 in group1
|
|
|
|
|
- PWM 3 and 4 in group2
|
|
|
|
|
- PWM 5, 6, 7 and 8 in group3
|
|
|
|
|
|
2022-01-21 05:11:37 -04:00
|
|
|
The 6 auxiliary PWM outputs are in 2 groups:
|
2018-11-20 01:03:34 -04:00
|
|
|
|
|
|
|
|
- PWM 1, 2, 3 and 4 in group1
|
|
|
|
|
- PWM 5 and 6 in group2
|
|
|
|
|
|
|
|
|
|
Channels within the same group need to use the same output rate. If
|
|
|
|
|
any channel in a group uses DShot then all channels in the group need
|
|
|
|
|
to use DShot.
|
|
|
|
|
|
|
|
|
|
## Battery Monitoring
|
|
|
|
|
|
|
|
|
|
The board has two dedicated power monitor ports on 6 pin
|
|
|
|
|
connectors. The correct battery setting parameters are dependent on
|
|
|
|
|
the type of power brick which is connected.
|
|
|
|
|
|
|
|
|
|
## Compass
|
|
|
|
|
|
|
|
|
|
The CUAVv5 has a builtin IST8310 compass. Due to potential
|
|
|
|
|
interference the board is usually used with an external I2C compass as
|
|
|
|
|
part of a GPS/Compass combination.
|
|
|
|
|
|
|
|
|
|
## GPIOs
|
|
|
|
|
|
|
|
|
|
The 6 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To
|
|
|
|
|
use them you need to limit the number of these pins that is used for
|
|
|
|
|
PWM by setting the BRD_PWM_COUNT to a number less than 6. For example
|
|
|
|
|
if you set BRD_PWM_COUNT to 4 then PWM5 and PWM6 will be available for
|
|
|
|
|
use as GPIOs.
|
|
|
|
|
|
|
|
|
|
The numbering of the GPIOs for PIN variables in ArduPilot is:
|
|
|
|
|
|
|
|
|
|
- AUX1 50
|
|
|
|
|
- AUX2 51
|
|
|
|
|
- AUX3 52
|
|
|
|
|
- AUX4 53
|
|
|
|
|
- AUX5 54
|
|
|
|
|
- AUX6 55
|
|
|
|
|
|
|
|
|
|
## Analog inputs
|
|
|
|
|
|
|
|
|
|
The CUAVv5 has 7 analog inputs
|
|
|
|
|
|
|
|
|
|
- ADC Pin0 -> Battery Voltage
|
|
|
|
|
- ADC Pin1 -> Battery Current Sensor
|
|
|
|
|
- ADC Pin2 -> Battery Voltage 2
|
|
|
|
|
- ADC Pin3 -> Battery Current Sensor 2
|
|
|
|
|
- ADC Pin4 -> ADC port pin 2
|
|
|
|
|
- ADC Pin14 -> ADC port pin 3
|
|
|
|
|
- ADC Pin10 -> ADC 5V Sense
|
|
|
|
|
- ADC Pin11 -> ADC 3.3V Sense
|
|
|
|
|
- ADC Pin103 -> RSSI voltage monitoring
|
|
|
|
|
|
|
|
|
|
## Loading Firmware
|
|
|
|
|
|
|
|
|
|
The board comes pre-installed with an ArduPilot compatible bootloader,
|
|
|
|
|
allowing the loading of *.apj firmware files with any ArduPilot
|
|
|
|
|
compatible ground station.
|
|
|
|
|
|
|
|
|
|
## Acknowledgements
|
|
|
|
|
|
|
|
|
|
Thanks to [CUAV](http://cuav.net) for images
|
