# CUAV v5

:::warning This flight controller has been [discontinued](../autopilot_experimental) and is no longer commercially available. :::

:::warning PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://store.cuav.net/) for hardware support or compliance issues. :::

_CUAV v5_® (previously "Pixhack v5") is an advanced autopilot designed and made by CUAV®. The board is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv5** open hardware design. It runs PX4 on the [NuttX](https://nuttx.apache.org/) OS, and is fully compatible with PX4 firmware. It is intended primarily for academic and commercial developers.

![CUAV v5](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-bff7b3b4d67889f4a49055b9d884ca8f8f53191a%2Fpixhack_v5.jpg?alt=media)

## Quick Summary

* Main FMU Processor: STM32F765
  * 32 Bit Arm® Cortex®-M7, 216MHz, 2MB memory, 512KB RAM
* IO Processor: STM32F100
  * 32 Bit Arm® Cortex®-M3, 24MHz, 8KB SRAM
* On-board sensors:
  * Accelerometer/Gyroscope: ICM-20689
  * Accelerometer/Gyroscope: BMI055
  * Magnetometer: IST8310
  * Barometer: MS5611
* Interfaces:
  * 8-14 PWM outputs (6 from IO, 8 from FMU)
  * 3 dedicated PWM/Capture inputs on FMU
  * Dedicated R/C input for CPPM
  * Dedicated R/C input for PPM and S.Bus
  * analog / PWM RSSI input
  * S.Bus servo output
  * 5 general purpose serial ports
  * 4 I2C ports
  * 4 SPI buses
  * 2 CANBuses with serial ESC
  * Analog inputs for voltage / current of 2 batteries
* Power System:
  * Power: 4.3\~5.4V
  * USB Input: 4.75\~5.25V
  * Servo Rail Input: 0\~36V
* Weight and Dimensions:
  * Weight: 90g
  * Dimensions: 44x84x12mm
* Other Characteristics:
  * Operating temperature: -20 \~ 80°C （Measured value）

## Where to Buy

Order from [CUAV](https://cuav.taobao.com/index.htm?spm=2013.1.w5002-16371268426.2.411f26d9E18eAz).

## Connection

![CUAV v5](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-de1e9b676715eecccf11afbc4738b3b686efb4eb%2Fpixhack_v5_connector.jpg?alt=media)

:::warning The RCIN interface is limited to powering the rc receiver and cannot be connected to any power/load. :::

## Voltage Ratings

_CUAV v5_ can be triple-redundant on the power supply if three power sources are supplied. The three power rails are: **POWER1**, **POWER2** and **USB**.

:::note The output power rails **FMU PWM OUT** and **I/O PWM OUT** (0V to 36V) do not power the flight controller board (and are not powered by it). You must supply power to one of **POWER1**, **POWER2** 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. **POWER1** and **POWER2** inputs (4.3V to 5.4V)
2. **USB** input (4.75V to 5.25V)

## Building Firmware

:::tip Most users will not need to build this firmware! It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected. :::

To [build PX4](../../../development/getting_started/building_px4) for this target:

```
make px4_fmu-v5_default
```

## Debug Port

The [PX4 System Console](../../../development/debug/consoles/system_console) and [SWD interface](../../../development/debug/gdb_debugging/swd_debug) operate on the **FMU Debug** port. Simply connect the FTDI cable to the Debug & F7 SWD connector. To access the I/O Debug port, the user must remove the CUAV v5 shell. Both ports have standard serial pins and can be connected to a standard FTDI cable (3.3V, but 5V tolerant).

The pinout is as shown.

![CUAV v5 debug](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-5e5a937f7b4b7f4bf6eed4eb45dfd4034b2b6f8a%2Fpixhack_v5_debug.jpg?alt=media)

| pin | CUAV v5 debug |
| --- | ------------- |
| 1   | GND           |
| 2   | FMU-SWCLK     |
| 3   | FMU-SWDIO     |
| 4   | UART7\_RX     |
| 5   | UART7\_TX     |
| 6   | VCC           |

## Serial Port Mapping

| UART   | Device     | Port                                   |
| ------ | ---------- | -------------------------------------- |
| UART1  | /dev/ttyS0 | GPS                                    |
| USART2 | /dev/ttyS1 | TELEM1 (flow control)                  |
| USART3 | /dev/ttyS2 | TELEM2 (flow control)                  |
| UART4  | /dev/ttyS3 | TELEM4                                 |
| USART6 | /dev/ttyS4 | TX is RC input from SBUS\_RC connector |
| UART7  | /dev/ttyS5 | Debug Console                          |
| UART8  | /dev/ttyS6 | PX4IO                                  |

## Peripherals

* [Digital Airspeed Sensor](https://item.taobao.com/item.htm?spm=a1z10.3-c-s.w4002-16371268452.37.6d9f48afsFgGZI\&id=9512463037)
* [Telemetry Radio Modules](https://cuav.taobao.com/category-158480951.htm?spm=2013.1.w5002-16371268426.4.410b7a821qYbBq\&search=y\&catName=%CA%FD%B4%AB%B5%E7%CC%A8)
* [Rangefinders/Distance sensors](../../peripherals/rangefinders)

## Supported Platforms / Airframes

Any multicopter / airplane / rover or boat that can be controlled with normal RC servos or Futaba S-Bus servos. The complete set of supported configurations can be seen in the [Airframes Reference](../../../airframes/airframe_reference).

## Further info

* [FMUv5 reference design pinout](https://docs.google.com/spreadsheets/d/1-n0__BYDedQrc_2NHqBenG1DNepAgnHpSGglke-QQwY/edit#gid=912976165).
* [CUAV v5 docs](http://doc.cuav.net/flight-controller/v5-autopilot/en/v5.html)
* [CUAV Github](https://github.com/cuav)
