7-Nano

7-Nano is a micro autopilot developed for miniaturized unmanned system equipment. It is independently developed and produced by CUAV. It innovatively adopts a stacked design and integrates a high-performance STM32H7 processor, dual redundant industrial-grade IMU and rich and complete expansion interfaces in a very small space; it supports Ethernet communication The interface can realize the low-latency and large-bandwidth real-time communication requirements of various components of the autopilot and unmanned system equipment.

Feature

7-Nano

STM32H753 microcontroller
2 IMUs: IIM42652 and BMI088
builtin IST8310 magnetometer
2 barometers: BMP581 and ICP20100
microSD card slot
USB-TypeC port
1 ETH network interface
5 UARTs plus USB
14 PWM outputs
3 I2C ports
2 CAN ports (two of which share a CAN bus and one is an independent CAN bus)
Analog RSSI input
3.3V/5V configurable PWM ouput voltage
Power System:
- Power: 4.5~5.4V
- USB Input: 4.75~5.25V
- Servo Rail Input: 0~10V
- 4.5 ~ 5.5V Operating Voltage
Weight and Dimensions:
- Weight: 33.8g
Operating temperature
- -20 ~ 85°c

7-Nano PDB

Operating Voltage：12-70V
Detection current(MAX):79.2A
Bec out:5.3V/4A
Voltage and current accuracy:±0.2V/0.5A
Splitter:Divided into six
Sport:XT60/GH1.25 6Pin
Weight：17g

7-Nano size

PDB size

Pinouts

Wiring Quick Start

This quick start guide shows how to power the 7-Nano flight controller and connect its most important peripherals.

Wiring Chart Overview

The image below shows how to connect the most important sensors and peripherals (except the motor and servo outputs). We’ll go through each of these in detail in the following sections.

The image below shows the most important peripheral connections of the 7-Nano.

Main interface	Function and purpose
POWER A	Connects to 7-Nano PDB; has power input & AD voltage and current detection function
M1~M14	PWM signal output port, which can be used to control motors or servos; and M1~M8 can be configured as 5V PWM
RC IN	Connect remote control receivers with one-way protocols such as SBUS/DSM/PPMD (ELRS/CRSF receivers should be connected to any serial port, not RCIN)
RSSI	Used to connect signal strength backhaul module
GPS&SAFETY	Connect to Neo series GPS or C-RTK series RTK,(it includes GPS, safety switch, and buzzer interfaces)
GPS2	Can be used to connect to GPS/RTK
DEBUG	Used for FMU chip debugging, reading DEBUG device information, and can be configured for other serial port purposes for Ardupilot
ADC	Contains ADC3.3 and ADC6.6, which can be used for analog level signal detection
TF CARD	Insert SD card to realize log storage function
ETH	Ethernet interface can be used to connect Ethernet devices such as accompanying computers
I2C	Connect to I2C devices such as external compasses for communication between flight control and I2C devices
TELEM1/TELME2	Connect data transmission, etc., used for MAVLINK interactive data
CAN1-A/B	CAN1 port, connected to UAVCAN equipment such as CAN GPS, used for communication between the flight control and UAVCAN equipment (such as connecting NEO3 pro uavcan GPS)
CAN2	Connect to UAVCAN devices such as CAN GPS for communication between flight control and UAVCAN devices (such as connecting NEO3 pro uavcan GPS)
TYPE C	Flight controller USB interface, can connect to ground station, burn firmware and other operations

Vehicle Front

Note

The default arrow points to the front of the aircraft. Make sure the arrow points to the front of the frame during installation. If the flight controller is not installed in the recommended/default orientation (e.g. space constraints), you need to configure the flight controller orientation (PX4 firmware click here, Ardupilot firmware click here).

GPS

If you use Drone GPS; you should connect to CAN1/CAN interface; and modify flight controller parameters; for NEO 3GPS. If you are using it on an aircraft over 10kg, it is recommended that you use C-RTK 2HP or C-RTK 9Ps with heading message (using haeding instead of compass); to solve compass interference and avoid complicated calibration procedures, it is plug and play use.

Vehicle Front

Note

When you use NEO series GPS, there is no need to install additional safety switches and buzzers.

If you are flying without GPS, you connect the switch directly to the GPS1 port to be able to unlock and fly the drone. (If you use the old 6-pin GPS, please check the interface definition at the bottom to change the wiring).

Remote control receiver

For your flight safety, it is recommended that you connect the handheld remote control whether flying manually or automatically (it can be used as an emergency rescue aircraft, unless you are not proficient in operating the handheld remote control). Different remote controls and receivers have different connection methods:

Android remote control Take H16 as an example:

Connect 7-Nano TELEM1/TELEM2 to the H16 remote control UART0 port and connect the H16 SBUS pin to the RC pin on the side of the 7-Nano.

unidirectional RC protocols(SUBS/DSM/PPM)

Use Dupont cable to connect to the RCIN interface; no additional parameter settings are required.

ELRS/CRSF Receiver

Connect the ELRS/CRSF receiver to any UART serial port of 7-Nano (such as TELEM2); and modify ArduPilot (or PX4 parameters

Note

Only one remote control receiver needs to be connected, multiple receivers are not supported.

Power

7-Nona is equipped with a 7-Nano PDB module, which supports 12~70V input. Please connect the 6pin connector of the module to the flight control Power A interface.

Note

ArduPilot firmware has configured parameters by default, and you do not need to configure the battery detector on the software.

Telemetry (data transmission) system

Using the telemetry system you can communicate with the drone through the ground station software. Monitor and control drones in flight. The airborne end of the telemetry system should be connected to the TELEM1/TELEM2 interface.

SD

The SD card is already installed when 7-Nona leaves the factory, you do not need to install it.

Motor

The motor/servo system is connected to the M1~M14 interface in the order specified for your carrier aircraft in the airframe reference.

Servo power supply

The 7-Nano servo interface is completely isolated from the internal power supply of the flight control. The flight control will not power the servo. If you need to power the servo, please connect the BEC to any positive and negative stage of M1~M14 (M1~ The positive and negative of M14 are connected); then connect the servo.

7-Nano compared with other models

Projects	7-Nano	V5 Nano	Pixhawk V6X	X7+
Main processor	STM32H753	STM32F765	STM32H753	STM32H743
Number of sensors	Dual redundant IMU	Triple redundant IMU	Triple redundant IMU	Triple redundant IMU
Compass	IST8310	IST8310	RM3100	RM3100
Barometer	BMP581 ICP20100	MS5611	ICP-20100 ICP-20100	MS5611 MS5611
PWM output	14	11	16	14
Built-in shock absorption	–	–	Patented shock absorption	Patented shock absorption
Ethernet	Supported	Not supported	Supported	Not supported
Power port	1	1	4	2
Size	30.75×31.8×25.75mm	60x40x14mm	90.13×44.95×29.24mm	77×45.539mm
Weight	33.8g	50g	99g	101g
Design Features	Laminated Design Mini Size	Integrated Mini Size	Pixhawk Standard High Performance	Modular Design High Performance

7-Nano user guide(ArduPilot)

This chapter will introduce key points to pay attention to when running ArduPilot firmware on the 7-Nano.

Load firmware

7-Nano^®The flight controller supports ArduPilot. The following mainly explains how to load ArduPilot firmware.

Tip

7-Nano supports ArduPilot4.5.6 and above firmware.

Load firmware online：

Connect 7-Nano to the computer, open the ground station, click on the initial setting interface “Install firmware (CUAV-7-Nano)” and wait for the burning to complete.

Load firmware locally:

Download the firmware to computer:

Copter
Helicopter
Plane and VTOL
Rover
Sub

Select ‘Load custom firmware’>Select the downloaded firmware>Wait for burning to complete

UART map

SERIAL0 -> USB
SERIAL1 -> UART7 (TELEM1)
SERIAL2 -> UART5 (TELEM2)
SERIAL3 -> USART1 (GPS&SAFETY)
SERIAL4 -> UART8 (GPS2)
SERIAL7 -> USART3 (FMU DEBUG)

Note

TELEM1 and TELEM2 interfaces have flow control (RTS/CTS), other UARTs do not have RTS/CTS pins

RC in

Hardware connection

The RCIN interface supports all unidirectional RC protocols (SBUS/PPM/DSM);

DSM/PPM/SBUS

Use Dupont cable to connect to the RCIN interface; no additional parameter settings are required.

For receivers with telemetry bidirectional protocols such as CRSF/ELRS, it needs to be connected to a UART interface.Here is the setup tutorial: For example, if SERIAL2 (UART5/TELEM2) is used for bidirectional RC.

ELRS

Connect the receiver to the TELME2 interface and set the following parameters:

				
					 - SERIAL2_PROTOCOL=23&#65307;
 - SERIAL2_OPTIONS=0&#65307;
 - RSSI_TYPE=3;
 - RC_OPTIONS=8192(Use 420kbaud for ELRS protool);

Restart after writing parameters.

CRSF

				
					- SERIAL2_PROTOCOL=23&#65307;
- SERIAL2_OPTIONS=0&#65307;
- RSSI_TYPE=3;

FPort

				
					- SERIAL2_PROTOCOL=23&#65307;
- SERIAL2_OPTIONS=7&#65307;
- RSSI_TYPE=3;

Tip

Any UART can be used to connect the RC receiver in ArduPilot and is compatible with all protocols except PPM. For more information, see Radio Control Systems.

PWM outs

7-Nano supports 14 PWM outputs

PWM output grouping：

group 1：M1~M4(TIM5)
group 2：M5~M6(TIM4)
group 3：M7~M8(TIM1)
group 4：M9-M11(TIM8)
group 5：M12(TIM15)
group 6：M13-M14(TIM12)

Note

PWM outputs in the same group need to use the same output rate and protocol. If any output in the group uses DShot, all channels in the group need to use DShot. M1-M8 supports switching between 3.3V voltage and 5V voltage output. It can be switched through the BRD_PWM_VOLT_SEL parameter configuration.

GPIO

All Servo outputs can be used as GPIOs (relays, camera shutters, RPM, etc.). To be used as GPIO you need to set SERVOx_FUNCTION=-1 (X is the pin number).

GPIO MAP：

PWM1(M1) 50
PWM2(M2) 51
PWM3(M3) 52
PWM4(M4) 53
PWM5(M5) 54
PWM6(M6) 55
PWM7（M7) 56
PWM8(M8) 57
PWM9(M9) 58
PWM10(M10) 59
PWM11(M11) 60
PWM12(M12) 61
PWM13(M13) 62
PWM14(M14) 63

Take M14 as a relay as an example; set Relay_pin=63.

Analog voltage input

7-Nano has 6 analog input interfaces.

ADC Pin9 -> battery voltage sensor
ADC Pin8 -> Battery current sensor
ADC Pin5 -> VDD 5V sense
ADC Pin13 -> ADC 3.3V sense
ADC Pin12 -> ADC 6.6V sense
ADC Pin10 -> RSSI sense

Battery Monitor

Note

By default, the power module is plug-and-play and does not require any settings. Do not use the Ground Station Battery Monitor tab to set up the flight controller’s power monitor. If you changed it, please put the following parameters in Mission planner→All parameters table:

BATT_MONITOR=4
BATT_VOLT_MULT=31
BATT_V0LT_PIN=9
BATT_CURR_PIN=8
BATT_AMP_PERVLT=24

Compass

The 7-Nano has an IST8310 built-in compass, but due to interference the board is usually used with an external I2C compass as part of a GPS/compass combo. An external compass (such as the one on a GPS) should be used in preference to the primary guide; always be sure to prioritize the external compass over the internal compass.

Ethernet Setup

Tip

ArduPilot 4.5 and above supports 7-Nano Ethernet.

Open Mission planner>Config>Full parameters list, set NET_ENABLED=1, restart the autopilot and modify the following parameters:

As shown above, set the autopilot IP to 192.168.10.14 and the gateway IP to 192.10.3

Set the computer IP to 192.168.10.15, set a network port to 15001 to access the network device through UDP, and the port protocol is 2.

Note

Up to four ports can be configured.

Hardware connection

Use a network cable to connect the autopilot to the computer and power the autopilot and AG router.
Enter the computer [Change Network Adapter Options]>Ethernet Properties [Internet Protocol Version 4 (TCP/IPV4]]> Manually configure the network (local IP, configured as 192.168.0.1, subnet mask 255.255.255.0)> click OK to apply Configuration

Network Connectivity Test

Enter the Windows command window
ping 192.168.10.4

Tip

If there is a network delay data reply, the communication is established. If the communication timeout is displayed, the IP may be incorrect or the communication failed.

ArduPilot Compilation command

				
					./waf configure --board CUAV-7-Nano

./waf copter --upload

The compiled firmware can be found in a subfolder called “CUAV-7-Nano” at https://firmware.ardupilot.org.

The board comes pre-installed with an ArduPilot compatible bootloader, allowing the *.apj firmware files to be loaded using any ArduPilot compatible ground station.

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Table of Contents

7-Nano

Feature

7-Nano

7-Nano PDB

7-Nano size

PDB size

Pinouts

Wiring Quick Start

Wiring Chart Overview

Vehicle Front

Note

GPS

Vehicle Front

Note

Remote control receiver

Android remote control Take H16 as an example:

unidirectional RC protocols(SUBS/DSM/PPM)

ELRS/CRSF Receiver

Note

Power

Note

Telemetry (data transmission) system

SD

Motor

Servo power supply

7-Nano compared with other models

7-Nano user guide(ArduPilot)

Load firmware

Tip

Load firmware online：

Load firmware locally:

UART map

Note

RC in

DSM/PPM/SBUS

ELRS

CRSF

FPort

Tip

PWM outs

PWM output grouping：

Note

GPIO

GPIO MAP：

Analog voltage input

Battery Monitor

Note

Compass

Ethernet Setup

Tip

Note

Hardware connection

Network Connectivity Test

Tip

ArduPilot Compilation command

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