CUAV X7 Plus User manual

X7+ AutoPilot
Product manual
CUAV Tech Inc.,Ltd

www.cuav.net
Please read the manual carefully before using it to make sure that you can use it correctly and safely.You
need to install and use this product in strict accordance with the instructions. CUAV is not liable for any loss
due to improper use.This manual is only used as a user guide. The company reserves the right to modify and
improve the product details and instructions. The relevant data shall be subject to the data provided by our
staff. CUAV does not guarantee the accuracy and reliability of the contents of the document.
This product is only a pure hardware component of an experimental unmanned system, and the firmware
and software are provided by a third party. X7 + is only one of the components of unmanned system, and it
has high requirements for use mode and compatibility of various components of unmanned system; CUAV
only has the obligation to provide after-sales service within the product warranty period, and the company
does not guarantee the reliability for any purpose; The company shall not be responsible for the direct,
indirect, derivative, accidental injury and other losses or punishment caused by any reason or under any
circumstances.
Copyright©CUAV, Without permission, do not copy the contents or reprint.
NOTE
Please abide by local laws and regulations and do not fly in the no-fly zone.
It is forbidden to fly near the airport.
It is forbidden to fly in sensitive areas such as crowded places, military and administrative institutions,
traffic roads, etc.
Do not fly in rain, strong wind or fog.
Product version history
This product is a continuation version of CUAV X7 flight controller, compatible with all the expansion hardware
of the above products; except for the different compatible firmware, users can seamlessly replace it.
Online documentation
Please visit the CUAV docs for detailed tutorials and firmware downloads of this product：
Download ground control station
QGroundControl:
https://docs.qgroundcontrol.com/en/getting_started/download_and_install.html
Mission Planner：

www.cuav.net
https://firmware.ardupilot.org/Tools/MissionPlanner/MissionPlanner-stable.msi
Parts List
Hardware specifications
Item
Parameter
MCU
STM32H743
Sensor
ICM-42688-P/ICM-20689/ICM-20689/RM3100/MS5611/MS5611
UART
5
I2C
6(4 separate i2c interfaces,2 integrated in GPS / uart 4 interface)
PWM output
14（12 of which support dshot protocol）
RC in
1(Compatible with DSM / SBUS / PPM remote control signal protocol）
RSSI input
PWM or 3.3 analog voltage
CAN bus
2
Power input
2（Power A is the common ADC power detection interface; Power C is the CAN ammeter
interface)
Safety switch
1
GPS interface
2（UART4 can be used as GPS2 interface)
ADC
1
Debug
1
JATG
1
USB interface
1
Supported models
Ardupilot
Plane/Copter/helicopter /VTOL/unmanned vehicle/unmanned boat, etc.
PX4
All models supported by PX4 firmware
Flight controller Working environment and physical Spec
Number
Item
Amount
1
X7+ flight control
1
2
I2C/CAN cable
2
3
RSSI cable
1
4
CAN PMU Lite power management module
1
5
DuPont cable
1
6
Pw-Link module
1
7
Type-C cable
1
8
TF card
1
9
X7+ flight control
1
10
I2C/CAN cable
1

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PM operating voltage
4.5 ~ 5.5 V
USB input voltage
4.75 ~ 5.25 V
Servo input
0 ~ 10v
Operating
temperature
-20 ~ 85°c
Environment humidity
5%~95% (non-condensing)
Weight
101g
Support firmware
X7+ flight controller runs perfectly with ArduPliot 4.10/PX4 V1.12.3 and above firmware.
Firmware and source code
X7+ supports PX4 and ArduPilot firmware, the compiled firmware
Download and write firmware tutorial:
https:/doc.cuav.net/flight-controller/x7/en/firmware.html
If you want to modify the code; you can download the source code through the link below
ArduPilot Github ：
https://github.com/ArduPilot/ardupilot
PX4 Github ：
https://github.com/PX4/PX4-Autopilot
Compile firmware command(ArduPilot)：
./waf configure --board CUAV-x7 //Compile CUAV X7 branch firmware
./waf copter --upload //Write the firmware to the flight controller
Compile firmware command(PX4)：
make cuav_x7pro_default //Compile CUAV X7 Pro branch firmware
Note：
X7+ supports (ArduPilot) CUAV X7 branch firmware and (PX4) CUAV X7 pro branch firmware.
Pinouts
The design of the X7 interface uses Pixhawk standard pinouts. Please read the description of the interface
definition carefully and use the original wiring of the product. If the wiring is not used according to the
standard defined by the interface, the company will not compensate for the damage to the equipment.

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www.cuav.net

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Hardware connection diagram
Take the quadcopter drone as an example:
Interface
Connected accessories
M1-M14
PWM signal output port, They can be connected to ESC and servo
RCIN
Connect PPM / DSM / SBUS remote control receiver
Power A
Connect HV_PM or other analog ammeter
Power C
Connect to CAN protocol power management module such as CAN PMU Lite or
CAN PMU
GPS&SAFETY
Connect GPS and safety switch
TELEM1
Connect P9 or other data transmission

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TELEM2
Connect LTE LINK series or data transmission
I2C1/2/3/4
Connect IST8310 compass or other I2C devices
CAN1/CAN2
Connect to CAN GPS or other CAN devices (such as NEO V2 PRO/NEO 3 PRO)
UART4
Digital transmission or GPS2, etc.
RSSI
Telemetry signal strength input, receiver with RSSI output
Product has passed
CE certification
Product has passed
CE certification
CUAV has passed
ISO 9001 quality management
system certification
More information
CUAV official website：www.cuav.net
For more usage and assembly instructions, please visit the document center：doc.cuav.net