X7+ Autopilot

X7+® 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 perfectly, and it will also be compatible with PX4 firmware. X7+ is ideal for academic research and commercial systems integration.


[!NOTE] The X7+ autopilot is a derivative version of the X7 autopilot. Some sensors have been changed and the built-in shock absorption has been optimized; it is compatible with ArduPilot 4.1.0/PX4 v1.12.3 and above firmware.

Other characteristics

  • Internal shock absorption
  • Modular design, can be DIY carrier board
  • 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
  • On-board sensors:

    • Accelerometer/Gyroscope: ICM-42688-P(X7:BMI088)
    • Accelerometer/Gyroscope: ICM-20689
    • Accelerometer/Gyroscope: ICM-20689(X7:ICM-20649)
    • Magnetometer: RM3100
    • Barometer: MS5611*2
  • Interfaces:

    • 14 PWM outputs (12 supports Dshot)
    • Support multiple RC inputs (SBUs/CPPM/DSM)
    • Analogue/ PWM RSSI input
    • 2 GPS ports(GPS and UART4 ports)
    • 6 i2c buses(Four i2c dedicated ports)
    • 2 CAN bus ports
    • 2 Power ports(Power A is common adc interface, Power C is uavcan battery interface)
    • 1 ADC intput
    • 1 USB ports
  • Power System:
    • Power: 4.5~5.4V
    • USB Input: 4.75~5.25V
    • Servo Rail Input: 0~10V
  • Weight and Dimensions:
    • Weight: 101 g
  • Other Characteristics:

    • Operating temperature: -20 ~ 85°c
    • Three imus
    • Supports temperature compensation
    • Internal shock absorption

    x7 plus pinouts


CUAV Store

Size and Pinouts

x7 plus pinouts

x7 plus pinouts

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

Voltage Ratings

  • X7+ AutoPilot can be triple-redundant on the power supply if three power sources are supplied. The two power rails are: POWERA, POWERC and *USB.

[!Warning] 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 POWERA, POWERC 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. POWERA and POWERC inputs (4.5V to 5.4V)
  2. USB input (4.75V to 5.25V)

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


You can choose to use ArduPilot (recommended)/PX4 firmware.

Further info

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