CUAV V5+ User manual

产品说明书
User Manual

接口定义 Interface definition
欢迎使用V5+自动驾驶仪
PPM
M1
M2
M3
M4
M5
M6
M7
M8
A1
A2
A3
A4
A5
A6
Power1 Power2
GPS&SAFETY
UART4 TELEM2TELEM1
FRONT
机头方向 Head
01
02
01
04
05
06
07
08
09
10
03
5V+
TX
RX
CTS
RTS
GND
5V+
TX
RX
SCL2
SDA2
GND
TELEM 1
02
UART4
03
5V+
TX
RX
CTS
RTS
GND
TELEM 2
-1-
Thanks for using the V5+ autopilot
V5+ 硬件和接口的设计均采用PX4所制定的标准。可能存在与其它接口定
义或者线材不兼容的问题。请仔细阅读接口定义的描述并且使用产品的原
装配线（绿色端子接飞控）进行接线，如果不按照接口定义标定的接线方
式接线，因此造成的设备损坏，本公司不予赔偿。
The V5+ hardware and interfaces are designed to the PX4 standards.
Please read the description of the interface definition carefully and
use the provided cables. Use of other cables that are not compliant
with the FMUv5 standards may damage the unit or peripherals.
CUAV will not be responsible for damage caused by improper wiring.
Important: The green end of the supplied cables should be
connected to the V5+.
1
2
2
1

GND CAN_L CAN_H 5V+
04
CAN 2
GND CAN_L CAN_H 5V+
05
CAN 1
07
I2C 2
GND SDA2 SCL2 5V+
10
GND
GND
VOLTAGE
CURRENT
POWER_IN
POWER_IN
POWER 1
9
GND
GND
SDA1/VOLTAGE
SCL1/CURRENT
POWER_IN
POWER_IN
POWER 2
(default smart battery)
5V+
TX
RX
SCL1
SDA1
SAFETY_SW
SAFETY_SW_LED
SAFE_VCC
BUZZER
GND
06
GPS&SAFTETY
08
I2C 1
GND SDA1 SCL1 5V+
-2-
11 12 13
CAN1
CAN2
ADC SPI5
TF Card
DSM/SBUS/RSSI
内存卡槽
Memory
card slot
-
+
s1
2

USB
FMU I/O
BTO
I2C2
I2C1 SBUS OUT
I/O状态灯 I/O Status light
Boot_0
USB接口
USB interface
FMU状态灯
FMU Status
light
14
DSU7I2C3 I2C4
15 16 17
-3-
11 12 13
DSM/SUBS/RSSISPI 5
ADC
GND DSM_3V3 RSSI DSM/SBUS RC 5V+
GND CS2 CS1 MOSI MISO SCK 5V+
GND 6V6 ADC 3V3 ADC 5V+
2
1

+
s
-
地面站下载 Download Ground Control Station
-4-
PPM IN
AUX MAIN
M1 M2 M3 M4 M5 M6 M7 M8
A1 A2 A3 A4 A5 A6
https://docs.qgroundcontrol.com/en/getting_started/download_and
_install.html
QGROUNDCONTROL
Mission Planner
http://ardupilot.org/planner/docs/mission-planner-installation.html
GND NC SBUS_OUT
DEBUG&UART7I2C3SBUS OUT I2C4
GND SDA3 SCL3 5V+
GND SDA4 SCL4 5V+ FMU_SWCLK GND FMU_SWDIO DEBUG_RX DEBUG_TX 5V+
14 15 16 17

-5-
规格参数 Specifications
主处理器 Main Processor STM32F765 (32 Bit Arm® Cortex®-M7, 216MHz,2MBflash, 512KB RAM)
协处理器 Coprocessor STM32F100(32 Bit Arm® Cortex®-M3, 24MHz,8KB SRAM)
硬件参数 Hardware parameter
固件 Hardware PX4 / Ardupilot
电源 Power 三路电源输入冗余 Three-way power input redundancy
机型 Model 多旋翼/固定翼/直升机/VTOL垂直起降/无人船/无人车等 Copter/Plane/Helicopter/VTOL/unmanned vehicle/Rover, etc.
支持功能 Support function
加速计 Accelerometer ICM-20602 & ICM-20689 & BMI055
陀螺仪 Gyroscope ICM-20602 & ICM-20689 & BMI055
电子罗盘 Magnetometer IST8310
气压计 Barometer MS5611
外部接口 External interface
UART GPS / 数传 / 调试等
I2C 罗盘 / 空速计 / 超声波等
SPI 外接传感器
CAN GPS / 智能电池等
ADC 模拟信号检测
PWM out 舵机 / 电调 等信号输出
编码器 / 热靴反馈等信号输入
PWM in
PPM in 遥控器信号
DSM/SBUS/RSSI 遥控器信号/信号强度输入
电源输入&电压电流AD检测
电源 1 POWER MODEL 1
电源 2 POWER MODEL 2 电源输入&智能电池
安全开关 Safety switch 物理解锁允许开关
蜂鸣器 Buzzer 声音警告提示
USB-TYPE-C USB供电调试
TF卡槽 TF slot
5
4
1
2
2
14
6
1
1
1
1
1
1
1
1存储日志信息
传感器 Sensors
尺寸和重量 Size&Weight
尺寸 Size 85.5×42 ×33 mm

-6-
STM32F765 (32 Bit Arm® Cortex®-M7, 216MHz,2MBflash, 512KB RAM)
STM32F100(32 Bit Arm® Cortex®-M3, 24MHz,8KB SRAM)
三路电源输入冗余 Three-way power input redundancy
多旋翼/固定翼/直升机/VTOL垂直起降/无人船/无人车等 Copter/Plane/Helicopter/VTOL/unmanned vehicle/Rover, etc.
GPS / Radio/Debug, etc.
Compass / Airspeed meter / Ultrasonic, etc.
External sensor
GPS / Smart battery, etc.
AD signal detection
Signal output of Steering Gear / ESC
Signal input such as Encoder / Hot shoe feedback
Remote control signal
Remote control signal/Signal strength input
Power input&Voltage and electricity AD detection
Power input&
Smart battery
Unlock switch
Buzzer warning
USB power supply debugging
Store log information
4.5 ~ 5.5 V
5V +- 0.25v
0-36v
Working environment
PM工作电压 PM working voltage
USB工作电压 USB voltage
伺服输入电压 Servo Rail Input
工作温度 Operating temperature -40 ~ 85°c
重量 Weight 91g

The product has passed CE
safety certification
The product has passed ISO 9001
quality management system
certification
配件清单 Parts List
产品已通过
CE安全认证
产品已通过
ISO 9001质量管理体系认证
产品认证 Product certified
-7-
V5+ 飞控（V5+ Autopilot）
RSSI 线（RSSI cable）
ADC6.6线（ADC6.6 cable）
×1
×2
×1
ADC3.3线（ADC3.3 cable）
×1
I2C/CAN线（I2C/CAN cable）
×1
DSM信号线(DSM signal cable)
×1
SBUS信号线(SBUS signal cable)
×1
安全开关(Safety switch)
×1
杜邦线(DuPont cable)
×1
PW-LINK模块(PW-LINK module)
Debug线（Debug cable）
×1
电压电流线(Voltage and current cable)
×2
I2C扩展板(I2C expansion board)
×1
USB-TYPC线(USB-TYPC cable)
16G内存卡(16G memory card)
×1
×1
×1

产品使用注意事项
相关资料
Relevant information
Product use precautions
-8-
产品使用教程及固件下载请访问官方文档中心：
http://doc.cuav.net
*注：说明书如有更新，恕不另行通知。
Product tutorials and firmware downloads please visit the official
documentation center:
http://doc.cuav.net
*Note: The manual is subject to change without prior notice.
-请遵守当地法规，勿在禁飞区内飞行。
-飞行高度请低于120m。
-机场8km范围内禁止飞行。
-禁止在人、房屋或车辆上方飞行。
-禁止在雨、强风或雾中飞行。
-禁止在场馆上方飞行。
- Please comply with local regulations and do not fly in the
no-fly zone.
- Flight height should be less than 120m
- Flight is prohibited within 8km from the airport.
- It is forbidden to fly above people, houses or vehicles.
- Do not fly in rain, strong winds or fog.
- It is forbidden to fly above the venue.