Ardupilot User Guide

This chapter describes the points to be aware of when running ArduPilot on the CUAV X7 series. The ArduPilot wiki has the complete ArduPilot guide.

load firmware

[!TIP] ArduPilot firmware 4.1.0 and above is perfectly compatible with CUAV X7 Series.

Online burning firmware:

Connect the flight controller to the computer,
open the ground station
click the "SETUP" "install firmware" >select the Platform(X7+/X7+ Pro：CUAV X7; Nora+: CUAV-Nora）
wait for the burning to complete.

Load local firmware

Please download the firmware to the local first:

Nora/NORA+

X7/X7+/X7 Pro/X7+ Pro

Copter
HeilCopter
Plane（and VTOL）
Rower
Sub/Boat
Select to load custom firmware
select local firmware file

UART MAP

X7+/X7+ Pro

SERIAL0 = console = USB
SERIAL1 = Telemetry1 = USART2
SERIAL2 = Telemetry2 = USART6
SERIAL3 = GPS1 = USART1
SERIAL4 = USER = UART4
SERIAL5 = USER = UART8
SERIAL6 = USER = UART7
SERIAL7 = USER = OTG

[!COMMENT] UART3 is not connected.

NORA/NORA+:

SERIAL0 = console = USB
SERIAL1 = Telemetry1 = USART2
SERIAL2 = Telemetry2 = USART6
SERIAL3 = GPS1 = USART1
SERIAL4 = USER = UART4
SERIAL5 = USER = UART8
SERIAL6 = USER = UART7
SERIAL7 = USER = UART3
SERIAL8 = USER = OTG2

RC input

The RCIN interface supports all protocols (SBUS/PPM/DSM) except CRSF; for CRSF and receivers with bidirectional protocols with telemetry, it needs to be connected to a UART interface, such as Serial6 (UART4). Here is the setup tutorial:

SERIAL6_PROTOCOL set to 23;
FPort：SERIAL6_OPTIONS set to 15;
CRSF：SERIAL6_OPTIONS set to 0;
SRXL2：SERIAL6_OPTIONS set to 4,And only connect the TX pin.

[!TIP] Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.

Battery Monitoring

CUAV X7 Series ^® comes standard with CAN PMU lite ammeter (Dronecan),CAN PMU lite connect to Power C.

You need to set the following parameters:

BATT_MPNITOR=8
CAN_P1_DRIVER=1
CAN_P2_DRIVER=1

If you are using an analog battery monitor(such as HV_PM power module),connect to the Power A connector and set the following parameters:

BATT_MONITOR=4
BATT_VOLT_MULT=18
BATT_V0LT_PIN=16
BATT_CURR_PIN=17
BATT_AMP_PERVLT=24

Compass

Inside the ^® is an RM3100 magnetic compass. Generally, the flight control is located inside the drone, and the magnetic field environment is more complicated. It is reasonable to use an external compass (such as one on a GPS) as the primary compass; always ensure that the external compass is placed in preference to the internal compass.

If your compass is set up like this:

Please set the external compass as the first compass according to the following figure.

PWM Output

The CUAV X7+/X7+ Pro supports up to 14 PWM outputs. All 14 outputs support all normal PWM output formats.All outputs, except 13 and 14, also support DShot.

The 14 FMU PWM outputs are divided into 4 groups:

M1~M4 in group1
M5~M8 in group2
M9~M12 in group3
M13、M14 in group4

[!NOTE] All outputs within the same group need to use the same output rate and protocol. If any output in a group uses DShot then all channels in that group need to use DShot.

GPIOs

M1~M14 can be used as GPIO (relay, button, RPM, camera shutter trigger (level), etc.). To use them, you need to set the output SERVOx_FUNCTION to -1 (GPIO).

The numbering of the GPIOs for PIN variables in ArduPilot is:

PWM1(M1) 50
PWM2(M2) 51
PWM3(M3) 52
PWM4(M4) 53
PWM5(M5) 54
PWM6(M6) 55
PWM7（M7) 56
PWM8(M8) 57
PWM9(M9) 58
PWM10(M10) 59
PWM11(M11) 60
PWM12(M12) 61
PWM13(M13) 62
PWM14(M14) 63

Take X7+ M14 as the relay as an example, set Relay_PIN=63.

Analog inputs

CUAV X7 Series has 3 analog inputs (ADC6.6V、ADC3.3V、Rssi)

ADC Pin18 -> ADC 6.6V
ADC Pin4 -> ADC 3.3V
RSSI PIN=6

ArduPilot firmware Guide