CUAV V5+ Autopilot

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.

V5 AutoPilot

Some of its main features include:

  • Full compatibility with the Pixhawk project(opens new window) FMUv5 design standard and uses the Pixhawk Connector Standard(opens new window) 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.

Quick Summary

  • Main FMU Processor: STM32F765

    • 32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
  • IO Processor: STM32F100

    • 32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM
  • On-board sensors:

    • Accelerometer/Gyroscope: ICM-20689
    • Accelerometer/Gyroscope: BMI055
    • Magnetometer: IST8310
    • Barometer: MS5611*2
  • Interfaces:

    • 8-14 PWM outputs (6 from IO, 8 from FMU)
    • 3 dedicated PWM/Capture inputs on FMU
    • Dedicated R/C input for CPPM
    • Dedicated R/C input for Spektrum / DSM and S.Bus with analog / PWM RSSI input
    • analog / PWM RSSI input
    • S.Bus servo output
    • 5 general purpose serial ports
    • 4 I2C ports
    • 4 SPI buses
    • 2 CANBuses with serial ESC
    • Analog inputs for voltage / current of 2 batteries
  • Power System:

    • Power: 4.3~5.4V
    • USB Input: 4.75~5.25V
  • Weight and Dimensions:

    • Weight: 90g
    • Dimensions: 85.5*42*33mm
  • Other Characteristics:

    • Operating temperature: -20 ~ 80°c(Measured value)


CUAV Store

CUAV Alibaba store

CUAV Aliexpress

Autopilot may be purchased with included Neo GPS module


CUAV V5+ Wiring Quickstart


V5+ AutoPilot

DUS 7 is the newly named interface of CUAV, which includes FMU SWD interface and UART7. When V5 runs PX4 firmware, UART7 is used as DEBUG interface, and when V5 runs ArduPilot firmware, UART7 is used as universal serial port. POWER2 is the I2C smart battery interface by default. The RCIN interface is only limited to supply power to the remote control, and cannot be connected to any power source/load.

Voltage Ratings

V5+ AutoPilot supports redundant power supplies - up to three sources may be used:Power1,Power2andUSB. You must supply power to at least one of these sources, or the flight controller will be unpowered.

On FMUv5 based FMUs with PX4IO module (as is the case for theV5+), the Servo Power Rail is only monitored by the FMU. It is neither powered by, nor provides power to the FMU. However, the pins marked+are all common, and a BEC may be connected to any of the servo pin sets to power the servo power rail.

Normal Operation Maximum Ratings

Under these conditions all power sources will be used in this order to power the system:

  1. Power1 and Power2 inputs (4.3V to 5.4V)
  2. USB input(4.75V to 5.25V)

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).

Building PX4 Firmware

make px4fmu-v5_default upload

Building ArduPilot Firmware

./waf configure --board CUAVv5Nano

./waf copter --upload

Serial Port Mapping(PX4)

UART Device 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

Optional hardware

Further Information

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