CUAV CU08 Nano flight controller- 7 nano pdp (CU08)

UART Mapping¶

• SERIAL0 -> USB

• SERIAL1 -> UART7 (TELEM1)

• SERIAL2 -> UART5 (TELEM2)

• SERIAL3 -> USART1 (GPS&SAFETY)

• SERIAL4 -> UART8 (GPS2)

• SERIAL5 -> USART3 (FMU DEBUG)

The TELEM1 and TELEM2 ports have RTS/CTS pins, the other UARTs do not have RTS/CTS. All have full DMA capability.

RC Input¶

RC input is configured on the RCIN pin, at one end of the servo rail, marked RCIN in the above diagram. All ArduPilot supported unidirectional RC protocols can be input here including PPM. For bi-directional or half-duplex protocols, such as CRSF/ELRS a full UART will have to be used. For example if SERIAL2 (UART5) is used for bi-directional RC, then:

• SERIAL2_PROTOCOL must be set to “23”, and:

• PPM is not supported.

• SBUS/DSM/SRXL connects to the R6 pin.

• FPort requires connection to Tx and SERIAL2_OPTIONS be set to “7”.

• CRSF/ELRS also requires a Tx connection, in addition to Rx, and automatically provides telemetry. Set SERIAL2_OPTIONS to “0”.

• SRXL2 requires a connection to Tx and automatically provides telemetry. Set SERIAL2_OPTIONS to “4”.

Any UART can be used for RC system connections in ArduPilot also, and is compatible with all protocols except PPM. See Radio Control Systems for details.

PWM Output¶

The CUAV-7-Nano flight controller supports up to 14 PWM outputs.

The 14 PWM outputs are in 6 groups:

• PWM 1-4 in group1 (TIM5)

• PWM 5 and 6 in group2 (TIM4)

• PWM 7 and 8 in group3 (TIM1)

• PWM 9, 10 and 11 in group4 (TIM8)

• PWM 12 in group5 (TIM15)

• PWM 13 and 14 in group6 (TIM12)

Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use DShot. Outputs 1-4 support BDShot.

First first 8 PWM outputs of CUAV-7-Nano flight controller support switching between 3.3V voltage and 5V voltage output. It can be switched to 5V by setting GPIO 80 high by setting up a Relay (see Relay Switch) to control it.