7.0 KiB
CORVON V5 Autopilot
:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues. :::
The CORVON V5 is based on the Pixhawk FMUv5 design standard and runs PX4 on NuttX.
:::info This flight controller is manufacturer supported. :::
Specifications
-
Main FMU Processor: STM32F765IIK
- 32 位 Arm® Cortex®-M7，216MHz，2MB 储存，512KB RAM
-
On-board sensors:
- 加速度计 / 陀螺仪：ICM-20689
- 加速度计 / 陀螺仪：ICM-20602
- Accel/Gyro: BMI088
- 磁力计：IST8310
- 气压计：MS5611
-
Interfaces:
- 8 PWM outputs
- FMU上有3个专用PWM/Capture输入
- CPPM专用的RC输入
- Dedicated R/C input for Spektrum / DSM and S.Bus
- 电平/PWM RSSI输入
- 4个通用串行口
- 3 个 I2C 接口
- 4路SPI总线
- 2 CAN Buses
- 电池电压 / 电流模拟输入口
- 2 additional analog inputs
- Supports nARMED
-
Power System:
- Power Brick Input: 4.75~5.5V
- USB-C Power Input: 4.75~5.25V
-
Weight and Dimensions:
- Weight: 42.1g
- Dimensions: 61.2 x 40 x 15.9mm
-
Other Characteristics:
- Operating temperature: -20 ~ 85°C (Measured value)
Where to Buy
Connectors and Interfaces
针脚定义
Download Corvon V5 pinouts from here: corvon_v5_pinout.xlsx
串口映射
| UART | 设备 | Port | Flow Control |
|---|---|---|---|
| USART1 | /dev/ttyS0 |
GPS | - |
| USART2 | /dev/ttyS1 |
TELEM1 | Yes |
| USART3 | /dev/ttyS2 |
TELEM2 | Yes |
| UART4 | /dev/ttyS3 |
TELEM4 | - |
| USART6 | /dev/ttyS4 |
RC | - |
| UART7 | /dev/ttyS5 |
调试控制台 | - |
| UART8 | /dev/ttyS6 |
Reserved for optional onboard RTK module | - |
:::info UART8 is reserved for an optional onboard UM982 module footprint and is not intended for general external use. :::
Radio Control
A remote control (RC) radio system is required if you want to manually control your vehicle (PX4 does not require a radio system for autonomous flight modes). You will need to select a compatible transmitter/receiver and then bind them so that they communicate (read the instructions that come with your specific transmitter/receiver).
The ports and supported protocols are:
DSM/SBUS/RSSI(FMU): SBUS, DSM/DSMX, ST24, SUMD, CRSF, and GHST receiversRC: PPM
For PPM and S.Bus receivers, a single signal wire carries all channels. If your receiver outputs individual PWM signals (one wire per channel) it must be connected via a PPM encoder.
GPS & Compass
PX4 supports GPS modules connected to the GPS port(s) listed below. The module should be mounted on the frame as far away from other electronics as possible, with the direction marker pointing towards the front of the vehicle.
The GPS ports are:
GPS&SAFETY(FMU): 10-pin JST GH (Pixhawk Connector Standard) — GPS, compass (I2C), safety switch, buzzer, LED.
The GPS module's integrated safety switch is enabled by default (when enabled, PX4 will not let you arm the vehicle). To disable the safety switch press and hold it for 1 second. You can press the safety switch again to enable safety and disarm the vehicle.
PWM Outputs
This flight controller supports up to 8 FMU PWM outputs (MAIN).
DShot is not supported.
The 8 outputs are in 3 groups:
- Outputs 1-4 in group1 (Timer1)
- Outputs 5-6 in group2 (Timer4)
- Outputs 7-8 in group3 (Timer12)
All outputs within the same group must use the same output protocol and rate.
Debug Port
The PX4 System Console and SWD interface operate on the FMU Debug port (DSU7).
The debug port (DSU7) has the following pinout:
| 针脚 | 信号 | 电压 |
|---|---|---|
| 1 | GND | GND |
| 2 | FMU_SWCLK | +3.3V |
| 3 | FMU_SWDIO | +3.3V |
| 4 | DEBUG RX | +3.3V |
| 5 | DEBUG TX | +3.3V |
| 6 | 5V+ | +5V |
:::warning The 5V+ pin (6) provides 5V, but the CPU logic runs at 3.3V!
Some JTAG/SWD adapters (like SEGGER J-Link) may use the Vref voltage pin to set the logic level on the SWD data lines. Connecting 5V to the adapter's Vtref can damage the CPU.
For a direct connection to a Segger Jlink, we recommend you use a 3.3V source to provide Vtref to the JTAG adapter (i.e. providing 3.3V and NOT 5V).
:::
额定电压
CORVON V5 must be powered from the POWER connector during flight, and may also be powered from USB for bench testing.
- POWER input: 4.75~5.5V
- USB input: 4.75~5.25V
The PM2 connector cannot power the flight controller. On PX4, do not use this interface.
编译固件
To build PX4 for this target:
make corvon_v5_default
Installing PX4 Firmware
The firmware can be installed in any of the normal ways:
-
Build and upload the source
make corvon_v5_default upload -
Load the firmware using QGroundControl. You can use either pre-built firmware or your own custom firmware.
:::info If this target is not listed in QGroundControl, build and upload from source or load a custom firmware file (see Installing PX4 Main, Beta or Custom Firmware). :::
支持的平台/机身
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.
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