V5+® is an advanced autopilot designed by CUAV® and the PX4 team and manufactured by CUAV. It is based on the Pixhawk FMUv5 design standard and is perfectly compatible with PX4 and ArduPilot firmware.
Main FMU Processor: STM32F765◦32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM Coprocessor： STM32F100 (32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM)
- On-board sensors:
- Accel/Gyro: ICM-20689
- Accel/Gyro: ICM-20602
- Accel/Gyro: BMI055
- Magnetometer: IST8310
- Barometer: MS5611
- Up to 11 PWM outputs(8 standard pwm output +3 Optional pwm output )*
- 3 dedicated PWM/Capture inputs on FMU*
- 1 nARMED
- Dedicated R/C input for CPPM
- Dedicated R/C input for Spektrum / DSM and S.Bus
- analog / PWM RSSI input
- 4 general purpose serial ports
- 4 I2C ports
- 4 SPI buses
- 2 CANBuses
- Analog inputs for voltage / current of battery
- 2 additional analog input
- Power System:
- Power Brick Input: 4.75~5.5V
- USB Power Input: 4.75~5.25V
- Servo Rail Input: 0~36V
- Weight and Dimensions:
- Dimensions: 60*40*14mm
- Other Characteristics:
- Operating temperature: -20 ~ 85°c（Measured value）
Run Ardupilot firmware, A1~A3 can be used as PWM output interface. Run PX4 firmware, A1~A3 can be used as PWM/capture input. The nARMED interface only supports PX4 firmware.
DSU7 is a new interface for CUAV naming, including fmu swd and uart7 interfaces. When V5+ runs PX4 firmware, uart7 is used as the DEBUG interface, PM2 does not work; when running ArduPilot firmware; uart7 is used as the communication serial port and usb is Used to debug the output, PM2 works.
The PPMIN interface is limited to powering the rc receiver and cannot be connected to any power/load.
Building PX4 Firmware
make px4fmu-v5_default upload
Building ArduPilot Firmware
./waf configure --board CUAVv5Nano
./waf copter --upload
V5 can be Two-fold redundancy on the power supply if two power sources are supplied. The two power rails are: POWER1and USB.
The output power rails FMU PWM OUT and I/O PWM OUT (0V to 36V) do not power the flight controller board (and are not powered by it). You must supply power to one of POWER1or USB or the board will be unpowered. The PM2 connector only works with Ardupilot firmware and can only detect battery voltage and current, not powering V5 nano.
Supported Platforms / Airframes
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 (PX4 firmware click here, Ardupilot firmware click here).