Nora+/Nora Autopilot

Nora+® is an advanced autopilot independently designed by CUAV®. It uses a higher-performance STM32H7 processor and integrates industrial-grade sensors. Compared with the previous flight controller,it has better performance and more reliability. This board can run ArduPilot firmware with PX4 firmware. Nora+ is ideal for academic research and commercial systems integration.


[!TIP] Nora+ autopilot is a derivative version of Nora. From January 1, 2022, Nora+ will replace Nora; Nora+ is perfectly compatible with ArduPilot 4.10/PX4 V1.12.3 and higher firmware.Nora+ supports monitoring Servo port voltage, the maximum input voltage of Servo port is 10V; other parts have no difference.

Other characteristics

  • Internal shock absorption
  • Ports on the side
  • Support more dshot output
  • Support IMU heating, make the sensor work better
  • Dedicated uavcan battery port
  • 3 sets of IMU sensors
  • High performance ICM-42688-P sensor

Quick Summary

  • Main FMU Processor: STM32H743/STM32H753
  • On-board sensors:

    • Accelerometer/Gyroscope: ICM42688-P(Nora:ICM-20689)
    • Accelerometer/Gyroscope: ICM20689(Nora:ICM-20649)
    • Accelerometer/Gyroscope: ICM20689(Nora:BMI088)
    • Magnetometer: RM3100
    • Barometer: MS5611*2
  • Interfaces:

    • 14 PWM outputs (12 supports Dshot)
    • Support multiple RC inputs (SBUs/CPPM/DSM)
    • SBUS Output
    • Analogue / PWM RSSI input
    • 2 GPS ports(GPS and UART4 ports)
    • 4 i2c buses(Two i2c dedicated ports)
    • 2 CAN bus ports
    • 2 Power ports(Power A is common adc interface, Power C is uavcan battery interface)
    • 2 ADC intput
    • 2 USB ports (Type C and gh 1.25)
  • Power System:
    • Power: 4.5~5.4V
    • USB Input: 4.75~5.25V
    • Servo Rail Input: 0~10V
  • Weight and Dimensions:
    • Weight: 50g
    • Size: 46*64*22mm
  • Other Characteristics:
    • Operating temperature: -20 ~ 85°c
    • Three imus
    • Supports temperature compensation
    • Internal shock absorption
    • integrated design


CUAV Store


nora pinouts

[!Warning] The RCIN port is limited to powering the rc receiver and cannot be connected to any power/load.

Voltage Ratings

  • Nora AutoPilot can be triple-redundant on the power supply if three power sources are supplied. The two power rails are: Power A, Power C and *USB.

[!NOTE] The output power rails PWM OUT (0V to 10V) do not power the flight controller board (and are not powered by it). You must supply power to one of Power A, Power C or USB or the board will be unpowered.

Normal Operation Maximum Ratings

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

  1. Power A and Power C inputs (4.5V to 5.4V)
  2. USB input (4.75V to 5.25V)

Building ArduPilot Firmware

./waf configure --board CUAV-Nora

./waf copter --upload

Debug Port

The system's serial console and SWD interface operate on the DSU7 port. Simply connect the FTDI cable to the DSU7 connector (the product list contains the CUAV FTDI cable).


  • Digital Airspeed Sensor
  • Telemetry Radio
  • Rangefinders/Distance sensors
  • others

Further info

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