PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
      • Tune/Sound Meanings
      • Preflight Checks
    • Payloads & Cameras
    • Flight Reporting
  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
    • Sensor Orientation
    • Compass
    • Gyroscope
    • Accelerometer
    • Airspeed
    • Level Horizon Calibration
    • Radio Setup
    • Joystick Setup
    • Flight Modes
    • Battery
    • Safety
      • Failsafe Simulation
    • ESC Calibration
    • Actuators
    • Autotune
  • Vehicle Types & Setup
    • Multicopters
      • Multicopter Config/Tuning
        • MC Filter/Control Latency Tuning
        • MC PID Tuning (Manual/Basic)
        • MC PID Tuning Guide (Manual/Advanced)
        • MC Setpoint Tuning (Trajectory Generator)
          • MC Jerk-limited Type Trajectory
        • Multicopter Racer Setup
      • X500 v2 (Pixhawk 6C)
      • X500 v2 (Pixhawk 5X)
      • X500 (Pixhawk 4)
      • S500 V2 (Pixhawk 4)
      • DJI F450 (CUAV v5+)
      • DJI F450 (CUAV v5 nano)
      • QAV250 (Pixhawk4 Mini) - Discontinued
      • DJI F450 + RTK (Pixhawk 3 Pro)
      • QAV250 (Pixhawk Mini)
      • QAV-R 5" Racer (Pixracer)
      • Omnicopter
    • Planes
      • Fixed Wing Config/Tuning
        • Fixedwing PID Tuning Guide
        • Fixedwing Advanced Tuning Guide
        • Fixedwing Trimming Guide
      • Reptile Dragon 2 (ARK6X)
      • Turbo Timber Evolution (Pixhawk 4 Mini)
      • Wing Wing Z84 (Pixracer)
    • VTOL
      • VTOL Config/Tuning
        • QuadPlane Configuration
        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
        • VTOL Weather Vane
      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
        • Ranger QuadPlane (Pixhawk)
        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
    • Autogyros (experimental)
      • ThunderFly Auto-G2 (Holybro pix32)
    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
    • Rovers (experimental)
      • Traxxas Stampede
    • Submarines (experimental)
      • BlueROV2
    • Airframes Reference
  • Flying
    • First Flight Guidelines
    • Flying 101
    • Missions
      • Package Delivery Mission
    • GeoFence
    • Safety Point Planning
    • Flight Modes
      • Position Mode (MC)
      • Altitude Mode (MC)
      • Manual/Stabilized Mode (MC)
      • Acro Mode (MC)
      • Orbit Mode (MC)
      • Position Mode (FW)
      • Altitude Mode (FW)
      • Stabilized Mode (FW)
      • Acro Mode (FW)
      • Manual Mode (FW)
      • Takeoff Mode
      • Land Mode
      • Return Mode
      • Hold Mode
      • Mission Mode
      • Follow Me Mode
      • Offboard Mode
    • Terrain Following/Holding
  • Flight Log Analysis
    • Log Analysis using Flight Review
    • Log Analysis using PlotJuggler
  • Advanced Configuration
    • Finding/Updating Parameters
    • Full Parameter Reference
    • ECL/EKF Overview & Tuning
    • Flight Termination Configuration
    • Bootloader Flashing onto Betaflight Systems
    • Land Detector Configuration
    • Prearm/Arm/Disarm Configuration
    • IMU Factory Calibration
    • Sensor Thermal Compensation
    • Compass Power Compensation
    • Advanced Controller Orientation
    • Static Pressure Buildup
    • Serial Port Configuration
    • MAVLink Telemetry (OSD/GCS)
    • PX4 Ethernet Setup
    • Bootloader Update
  • Hardware (Drones&Parts)
    • Complete Vehicles
      • ModalAI Starling
      • PX4 Vision Kit
      • MindRacer BNF & RTF
        • MindRacer 210
        • NanoMind 110
      • Holybro Kopis 2
      • Bitcraze Crazyflie 2.1
    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
      • Pixhawk Standard Autopilots
        • CUAV Pixhawk V6X (FMUv6X)
        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
        • Holybro Pixhawk 6C Mini(FMUv6C)
        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
        • mRo Pixracer (FMUv4)
        • Hex Cube Black (FMUv3)
        • mRo Pixhawk (FMUv3)
        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
        • AirMind MindRacer
        • ARK Electronics ARKV6X
        • CUAV X7
        • CUAV Nora
        • CUAV V5+ (FMUv5)
        • CUAV V5 nano (FMUv5)
        • CUAV Pixhack v3 (FMUv3)
        • CubePilot Cube Orange+ (CubePilot)
        • CubePilot Cube Orange (CubePilot)
        • CubePilot Cube Yellow (CubePilot)
        • Holybro Kakute H7v2
        • Holybro Kakute H7mini
        • Holybro Kakute H7
        • Holybro Durandal
        • Holybro Pix32 v5
        • ModalAI Flight Core v1
        • ModalAI VOXL Flight
        • ModalAI VOXL 2
        • mRobotics-X2.1 (FMUv2)
        • mRo Control Zero F7)
        • NXP RDDRONE-FMUK66 FMU
        • Sky-Drones AIRLink
        • SPRacing SPRacingH7EXTREME
        • ThePeach FCC-K1
        • ThePeach FCC-R1
      • Experimental Autopilots
        • BeagleBone Blue
        • Raspberry Pi 2/3 Navio2
        • Raspberry Pi 2/3/4 PilotPi
          • PilotPi with Raspberry Pi OS
          • PilotPi with Ubuntu Server
      • Discontinued Autopilots/Vehicles
        • Drotek Dropix (FMUv2)
        • Omnibus F4 SD
        • BetaFPV Beta75X 2S Brushless Whoop
        • Bitcraze Crazyflie 2.0
        • Aerotenna OcPoC-Zynq Mini
        • CUAV v5
        • Holybro Kakute F7 (Discontinued)
        • Holybro Pixfalcon
        • Holybro pix32 (FMUv2)
        • mRo AUAV-X2
        • 3DR Pixhawk 1
        • Snapdragon Flight
        • Intel® Aero RTF Drone (Discontinued)
      • Pixhawk Autopilot Bus (PAB) & Carriers
        • ARK Electronics Pixhawk Autopilot Bus Carrier
    • Flight Controller Peripherals
      • ADSB/FLARM (Traffic Avoidance)
      • Air Traffic Avoidance: ADSB/FLARM
      • Air Traffic Avoidance: UTM
      • Airspeed Sensors
        • TFSlot Airspeed Sensor
      • Barometers
      • Camera
      • Distance Sensors (Rangefinders)
        • Lightware SFxx Lidar
        • Ainstein US-D1 Standard Radar Altimeter
        • LeddarOne Lidar
        • Benewake TFmini Lidar
        • Lidar-Lite
        • TeraRanger
        • Lanbao PSK-CM8JL65-CC5
        • Avionics Anonymous Laser Altimeter UAVCAN Interface
      • ESCs & Motors
        • PWM ESCs and Servos
        • DShot ESCs
        • OneShot ESCs and Servos
        • DroneCAN ESCs
          • Zubax Telega
          • PX4 Sapog ESC Firmware
            • Holybro Kotleta
            • Zubax Orel
        • VESC
      • TBS Crossfire (CRSF) Telemetry
      • FrSky Telemetry
      • Gimbal (Mount) Configuration
      • GPS/Compass
        • ARK GPS
        • Holybro DroneCAN M8N GPS
        • LOCOSYS Hawk A1 GNSS
        • Hex Here2
        • Holybro M8N & M9N GPS
        • Sky-Drones SmartAP GPS
      • Grippers
        • Servo Gripper
      • Optical Flow
        • ARK Flow
        • PMW3901
        • PX4FLOW (Deprecated)
      • Precision Landing
      • Parachute
      • Power Modules/PDB
        • CUAV HV pm
        • CUAV CAN PMU
        • Holybro PM02
        • Holybro PM07
        • Holybro PM06 V2
        • Holybro PM02D (digital)
        • Holybro PM03D (digital)
        • Pomegranate Systems Power Module
        • Sky-Drones SmartAP PDB
      • Satellite Coms (Iridium/RockBlock)
      • Telemetry Radios
        • SiK Radio
          • RFD900 (SiK) Telemetry Radio
          • HolyBro (SIK) Telemetry Radio
        • Telemetry Wifi
          • ESP8266 WiFi Module
          • ESP32 WiFi Module
          • 3DR Telemetry Wifi (Discontinued)
        • Microhard Serial Telemetry Radio
          • ARK Electron Microhard Serial Telemetry Radio
          • Holybro Microhard P900 Telemetry Radio
        • CUAV P8 Telemetry Radio
        • HolyBro XBP9X - Discontinued
      • RTK GPS
        • ARK RTK GPS
        • RTK GPS Heading with Dual u-blox F9P
        • CUAV C-RTK
        • CUAV C-RTK2 PPK/RTK GNSS
        • CUAV C-RTK 9Ps
        • Femtones MINI2 Receiver
        • Freefly RTK GPS
        • Holybro H-RTK-F9P
        • Holybro H-RTK-M8P
        • Holybro H-RTK Unicore UM982 GPS
        • Locosys Hawk R1
        • Locosys Hawk R2
        • Septentrio AsteRx-RIB
        • Septentrio mosaic-go
        • Trimble MB-Two
        • CubePilot Here+ (Discontined)
      • Remote ID
      • Smart Batteries
        • Rotoye Batmon Battery Smartification Kit
      • Tachometers (Revolution Counters)
        • ThunderFly TFRPM01 Tachometer Sensor
      • I2C Peripherals
        • I2C bus accelerators
        • TFI2CADT01 I2C address translator
      • CAN Peripherals
      • DroneCAN Peripherals
        • PX4 DroneCAN Firmware
        • ARK CANnode
    • Companion Computers
      • Pixhawk + Companion Setup
        • RasPi Pixhawk Companion
      • Companion Computer Peripherals
      • Holybro Pixhawk RPI CM4 Baseboard
      • Auterion Skynode
      • Computer Vision
        • Obstacle Avoidance
        • Safe Landing
        • Collision Prevention
        • Path Planning Interface
        • Motion Capture (MoCap)
        • Visual Inertial Odometry (VIO)
          • Realsense T265 Tracking Camera (VIO)
      • Video Streaming
  • Development
    • Getting Started
      • Recommended Hardware/Setup
      • Toolchain Installation
        • MacOS Setup
        • Ubuntu Setup
        • Windows Setup
        • Visual Studio Code IDE
        • Other/Generic Tools
      • Building the Code
      • Writing your First Application
      • Application/Module Template
    • Concepts
      • PX4 Architecture
      • PX4 Flight Stack Architecture
        • Controller Diagrams
      • Events Interface
      • Flight Modes
      • Flight Tasks
      • Control Allocation
      • PWM limit state machine
      • System Startup
      • SD Card Layout
    • Simulation
      • jMAVSim Simulation
        • Multi-Vehicle Sim with JMAVSim
      • Gazebo Simulation
        • Vehicles
        • Multi-Vehicle Sim
      • Gazebo Classic Simulation
        • Vehicles
        • Worlds
        • Multi-Vehicle Sim
      • FlightGear Simulation
        • FlightGear Vehicles
        • Multi-Vehicle Sim with FlightGear
      • JSBSim Simulation
      • AirSim Simulation
      • Multi-Vehicle Simulation
      • Simulate Failsafes
      • HITL Simulation
      • Simulation-In-Hardware
    • Hardware
      • Flight Controller Reference Design
      • Manufacturer’s Board Support Guide
      • Flight Controller Porting Guide
        • PX4 Board Configuration (kconfig)
        • NuttX Board Porting Guide
      • Serial Port Mapping
      • Airframes
        • Adding a New Airframe
      • Device Drivers
      • Telemetry Radio
        • SiK Radio
      • Sensor and Actuator I/O
        • DroneCAN
        • I2C Bus
        • UART/Serial Ports
          • Port-Configurable Serial Drivers
      • RTK GPS (Integration)
    • Middleware
      • uORB Messaging
      • uORB Graph
      • uORB Message Reference
        • ActionRequest
        • ActuatorArmed
        • ActuatorControlsStatus
        • ActuatorMotors
        • ActuatorOutputs
        • ActuatorServos
        • ActuatorServosTrim
        • ActuatorTest
        • AdcReport
        • Airspeed
        • AirspeedValidated
        • AirspeedWind
        • AutotuneAttitudeControlStatus
        • BatteryStatus
        • ButtonEvent
        • CameraCapture
        • CameraStatus
        • CameraTrigger
        • CellularStatus
        • CollisionConstraints
        • CollisionReport
        • ControlAllocatorStatus
        • Cpuload
        • DebugArray
        • DebugKeyValue
        • DebugValue
        • DebugVect
        • DifferentialPressure
        • DistanceSensor
        • Ekf2Timestamps
        • EscReport
        • EscStatus
        • EstimatorAidSource1d
        • EstimatorAidSource2d
        • EstimatorAidSource3d
        • EstimatorBias
        • EstimatorBias3d
        • EstimatorEventFlags
        • EstimatorGpsStatus
        • EstimatorInnovations
        • EstimatorSelectorStatus
        • EstimatorSensorBias
        • EstimatorStates
        • EstimatorStatus
        • EstimatorStatusFlags
        • Event
        • FailsafeFlags
        • FailureDetectorStatus
        • FollowTarget
        • FollowTargetEstimator
        • FollowTargetStatus
        • GeneratorStatus
        • GeofenceResult
        • GimbalControls
        • GimbalDeviceAttitudeStatus
        • GimbalDeviceInformation
        • GimbalDeviceSetAttitude
        • GimbalManagerInformation
        • GimbalManagerSetAttitude
        • GimbalManagerSetManualControl
        • GimbalManagerStatus
        • GpioConfig
        • GpioIn
        • GpioOut
        • GpioRequest
        • GpsDump
        • GpsInjectData
        • Gripper
        • HealthReport
        • HeaterStatus
        • HomePosition
        • HoverThrustEstimate
        • InputRc
        • InternalCombustionEngineStatus
        • IridiumsbdStatus
        • IrlockReport
        • LandingGear
        • LandingGearWheel
        • LandingTargetInnovations
        • LandingTargetPose
        • LaunchDetectionStatus
        • LedControl
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        • MagWorkerData
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        • PositionSetpointTriplet
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        • RateCtrlStatus
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On this page
  • Quick Summary
  • Where to Buy
  • Connections (Wiring)
  • Pinouts
  • Voltage Ratings
  • Over Current Protection
  • Building Firmware
  • Debug Port
  • Serial Port Mapping
  • Peripherals
  • Supported Platforms / Airframes
  • Notes
  • Compatibility
  • Known Issues
  • Further Information
  1. Hardware (Drones&Parts)
  2. Flight Controllers (Autopilots)
  3. Manufacturer-Supported Autopilots

CUAV V5+ (FMUv5)

PreviousCUAV NoraNextCUAV V5 nano (FMUv5)

Last updated 1 year ago

:::warning PX4 does not manufacture this (or any) autopilot. Contact the for hardware support or compliance issues. :::

V5+® is an advanced autopilot manufactured by CUAV®. It was designed by CUAV® in collaboration with the PX4 team.

The autopilot is recommended for commercial systems integration, but is also suitable for academic research and any other use.

Some of its main features include:

  • More advanced processor, RAM and flash memory than FMU v3, along with more stable and reliable sensors.

  • Firmware-compatible with PX4.

  • Modular design allows users to customize their own carrier board.

  • Built-in vibration dampening system with high performance shock absorption system.

  • Multiple-redundant sensor and power systems for improved flight safety and stability.

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 Spektrum / DSM and S.Bus with analog / PWM RSSI input

    • 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

  • Weight and Dimensions:

    • Weight: 90g

    • Dimensions: 85.5*42*33mm

  • Other Characteristics:

    • Operating temperature: -20 ~ 80°c(Measured value)

Where to Buy

:::note Autopilot may be purchased with included Neo GPS module :::

Connections (Wiring)

Pinouts

Voltage Ratings

V5+ AutoPilot supports redundant power supplies - up to three sources may be used: Power1, Power2 and USB. You must supply power to at least one of these sources, or the flight controller will be unpowered.

:::note On FMUv5 based FMUs with PX4IO module (as is the case for the V5+), the Servo Power Rail is only monitored by the FMU. It is neither powered by, nor provides power to the FMU. However, the pins marked + are all common, and a BEC may be connected to any of the servo pin sets to power the servo power rail. :::

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)

Over Current Protection

The V5+ has over current protection on the 5 Volt Peripheral and 5 Volt high power, which limits the current to 2.5A. The V5+ has short circuit protection.

:::warning Up to 2.5 A can be delivered to the connectors listed as pin 1 (although these are only rated at 1 A). :::

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. :::

make px4_fmu-v5_default

Debug Port

Pin
Signal
Volt

1 (red)

5V+

+5V

2 (blk)

DEBUG TX (OUT)

+3.3V

3 (blk)

DEBUG RX (IN)

+3.3V

4 (blk)

FMU_SWDIO

+3.3V

5 (blk)

FMU_SWCLK

+3.3V

6 (blk)

GND

GND

:::warning The SWD Vref pin (1) uses 5V as Vref but the CPU is run at 3.3V!

Some JTAG adapters (SEGGER J-Link) will use the Vref voltage to set the voltage on the SWD lines. For direct connection to Segger Jlink we recommended you use the 3.3 Volts from pin 4 of the connector marked DSM/SBUS/RSSI to provide Vtref to the JTAG (i.e. providing 3.3V and NOT 5V).

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

Supported Platforms / Airframes

Notes

Do not plug Digital or Analog PM onto connectors configured for other type of PM

If you plug an Analog PM into a digital PM connector it will stop all the I2C devices on that bus. Specifically this will stop the GPS's compass due to contention, and may also damage the FMU (longer term).

Similarly, a digital PM plugged into a analog connector will not work, and may also damage/destroy the power module (longer term).

Compatibility

CUAV adopts some differentiated designs and is incompatible with some hardware, which will be described below.

GPS not compatible with other devices

The Neo v2.0 GPS recommended for use with CUAV V5+ and CUAV V5 nano is not fully compatible with other Pixhawk flight controllers (specifically, the buzzer part is not compatible and there may be issues with the safety switch).

Using JTAG for hardware debugging

DSU7 FMU Debug Pin 1 is 5 volts - not the 3.3 volts of the CPU.

Some JTAG use this voltage to set the IO levels when communicating to the target.

For direct connection to Segger Jlink we recommended you use the 3.3 Volts of DSM/SBUS/RSSI pin 4 as Pin 1 on the debug connector (Vtref).

Known Issues

The issues below refer to the batch number in which they first appear. The batch number is the four-digit production date behind V01 and is displayed on a sticker on the side of the flight controller. For example, the serial number Batch V011904((V01 is the number of V5, 1904 is the production date, that is, the batch number).

SBUS / DSM / RSSI interface Pin1 unfused

:::warning This is a safety issue. :::

Please do not connect other equipment (except RC receiver) on SBUS / DSM / RSSI interface - this may lead to equipment damage.

  • Found: Batches V01190904xxxx

  • Fixed: Batches later than V01190904xxxx

Further Information

Full compatibility with the FMUv5 design standard and uses the for all external interfaces.

:::note This flight controller is . :::

(International users)

(China Mainland users)

Download V5+ pinouts from .

To for this target:

The and operate on the FMU Debug port (DSU7). The board does not have an I/O debug interface.

The debug port (DSU7) uses a connector and has the following pinout:

The product package includes a convenient debug cable that can be connected to the DSU7 port. This splits out an FTDI cable for connecting the to a computer USB port, and SWD pins used for SWD/JTAG debugging. The provided debug cable does not connect to the SWD port Vref pin (1).

For more information see . :::

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 .

The UAVCAN can also be used, and is compatible with other flight controllers.

Pixhawk project
Pixhawk Connector Standard
manufacturer supported
CUAV Aliexpress
CUAV Taobao
CUAV V5+ Wiring Quickstart
here
build PX4
PX4 System Console
SWD interface
JST BM06B
PX4 System Console
Digital Airspeed Sensor
Telemetry Radio Modules
Rangefinders/Distance sensors
Airframes Reference
NEO V2 PRO GNSS receiver
CUAV V5+ Manual
CUAV V5+ docs
FMUv5 reference design pinout
CUAV Github
Base board design reference
CUAV V5+ Wiring Quickstart
Airframe build-log using CUAV v5+ on a DJI FlameWheel450
Using JTAG for hardware debugging
manufacturer
V5+ AutoPilot - hero image
Debug port (DSU7)
CUAV Debug cable