Pixhawk V6X v2 Controller
CUAV 7-Nano v2 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.
Hardware Specifications
| 7-Nano v2 | Specifications |
|---|---|
| Main Processor | STM32H753 Arm® Cortex®-M7 480 MHz 2MB Flash |
| Accelerometer | IIM-42652 / IIM-42653 |
| Gyroscope | IIM-42652 / IIM-42653 |
| Magnetometer | IIS2MDCTR |
| Barometer | ICP-20100 / BMP581 |
| I2C | 3 channels |
| PWM Output | 14 channels |
| PWM Voltage Level | 3.3V / 5V (8CH) |
| RC Input | 1 channel, supporting PPM / SBUS / DSM, etc. |
| RSSI Input | PWM or 3.3V analog voltage |
| CAN Bus | 2 channels |
| Power Input | 1 channel (Terminal: Molex 50394-8052) |
| GPS & Safety Switch | 1 channel |
| GPS2 | 1 channel |
| ADC | 1 channel (integrated ADC3.3 and ADC6.6) |
| Debug | 1 channel |
| USB Interface | 1 channel (Type-C) |
| TELEM (Telemetry) | 2 channels |
| Ethernet | 1 channel |
| TF Card Slot | 1 channel |
| Operating Voltage (PM) | 4.5 ~ 5.5 V |
| USB Voltage | 4.75 ~ 5.25 V |
| Servo Input | 0 ~ 10V |
| Operating Temperature | -20 ~ 85 °C |
| Operating Humidity | 5% ~ 95% (non-condensing) |
| Weight | 33g |
| Dimensions | 30.5 × 25.5 × 31.8 mm |
| 7-Nano PDB Power Module | Specifications |
|---|---|
| Operating Voltage | 12–70V |
| Max Measured Current | 79.2A |
| BEC | 5.3V/4A |
| Measurement Accuracy | ±0.2V / 0.5A |
| Hub | 1-to-6 splitter |
| Interface | XT60 / GH1.25 6Pin |
| Weight | 17g |
size
7-Nano v2 size
PDB size
Pinouts
Firmware
You can choose to use ArduPilot (recommended)/PX4 firmware.
Version Differences
More info
Quick Wiring
This quick wiring guide describes how to power the 7‑Nano v2 and connect its most important peripherals.
Hardware Connection Overview
The diagram below shows the main peripheral connections for the 7‑Nano v2.
| Main Interface | Function & Purpose |
|---|---|
| POWER A | Connects to 7‑Nano PDB; supports power input and ADC voltage/current monitoring |
| M1~M14 | PWM signal outputs for motor or servo control; M1~M8 configurable for 5V PWM |
| RC IN | Connects remote receivers using unidirectional protocols such as SBUS / DSM / PPM (ELRS / CRSF receivers should be connected to any serial port, not RC IN) |
| RSSI | For connecting signal strength return modules |
| GPS&SAFETY | Connects to NEO series GPS or C‑RTK series RTK; integrates GPS, safety switch, and buzzer interfaces |
| GPS2 | Can be used to connect GPS / RTK |
| DEBUG | Used for FMU chip debugging and reading debug information; configurable as an extra serial port in ArduPilot |
| ADC | Includes ADC3.3 and ADC6.6 for analog voltage signal detection |
| TF CARD | Accepts SD card for flight log storage |
| ETH | Ethernet port for connecting to companion computers and other Ethernet devices |
| I2C | Connects external magnetometers and other I2C devices for communication between the controller and I2C peripherals |
| TELEM1/TELEM2 | Connects telemetry modules for MAVLink data communication |
| CAN1‑A/B | For communication between the controller and CAN devices (e.g. NEO3 pro GPS) |
| CAN2 | For communication between the controller and CAN devices (e.g. NEO3 pro GPS) |
| TYPE C | USB port for connecting to ground station, firmware flashing, etc. |
Forward Orientation
Note
By default, the arrow points to the front of the aircraft. Ensure the arrow faces forward during installation. If the controller cannot be installed in the recommended orientation (e.g. space constraints), configure the controller orientation in firmware (PX4 firmware here, ArduPilot firmware here).
GPS Positioning System
We recommend using a CAN GPS/RTK (such as NEO 4se), which can be connected directly to CAN1/CAN2. You may also use a standard GPS/RTK module connected to the GPS&SAFETY port. Most modern GPS modules integrate GPS, compass, safety switch, buzzer, and status LED. The GPS module should be mounted on a bracket, away from other electronic equipment, and oriented toward the front of the aircraft (NEO GPS arrow aligned with the controller arrow).
Safety Switch & Buzzer
Note
When using a NEO series GPS, no extra safety switch or buzzer is required.
If flying without a GPS module, you must connect the safety switch directly to the GPS&SAFETY port to arm and fly the drone. (For legacy 6‑pin GPS modules, refer to the pinout definition at the bottom for wiring modification.)
Remote Control Receiver
For flight safety, we recommend connecting a remote controller for both manual and autonomous flight (for emergency manual takeover). Wiring methods vary by receiver type:
Android Remote Controller (H16 as example)
- Connect 7‑Nano TELEM1/TELEM2 to H16 UART0, and H16 SBUS pin to the RC port on the side of the 7‑Nano.
SBUS/DSM/PPM Unidirectional Receivers
- Use jumper wires to connect the receiver to the side RC port.
ELRS/CRSF Receivers
- Connect ELRS/CRSF receiver to any UART serial port on the 7‑Nano (e.g. TELEM2) and configure parameters in ArduPilot or PX4.
Power Supply
PDB Kit
Standard Kit
Note
The standard kit includes a 7‑VDM power detection module and requires an additional 5V BEC to power the controller. The PDB kit includes a 7‑Nano PDB power module with integrated BEC, voltage/current monitoring, and power distribution.
Telemetry System
A telemetry system allows communication between the ground station software and the drone for real‑time monitoring and control. The airborne telemetry module should be connected to TELEM1/TELEM2.
SD Card
The 7‑Nano v2 comes pre‑installed with an SD card; no additional installation is needed.
Motors
Connect motors/servos to ports M1~M14 according to the recommended order for your aircraft frame.
Servo Power Supply
The servo ports on the 7‑Nano v2 are fully isolated from the controller’s internal power and do not supply power to servos. To power servos, connect a BEC to any positive/negative rail of M1~M14 (all channels share common power), then plug in the servos.
ArduPilot Firmware User Guide
This chapter describes key points to note when running ArduPilot firmware on the 7-Nano v2. In addition to this chapter, you may also need to refer to the following documents:
Loading Firmware
The 7-Nano v2® flight controller supports ArduPilot firmware. This section mainly explains how to load ArduPilot firmware.
Tip
The 7‑Nano V2 is an upgraded iteration of the 7‑Nano. Both models use the same CUAV‑7‑Nano firmware. ArduPilot firmware 4.6.3 and later supports both the 7‑Nano V2 and the original 7‑Nano. For the original 7‑Nano, the minimum supported firmware version is 4.5.6.
Online Firmware Flashing
Connect the 7-Nano to your computer, open the ground station software, go to Initial Setup > Install Firmware (CUAV-7-Nano), and wait for the flashing process to complete.
Offline Firmware Flashing
First, download the firmware files locally:
| Aircraft Type | Firmware Download Link | Application Description |
|---|---|---|
| Multicopter | arducopter.apj | Conventional multicopters such as quadcopters, hexacopters and octocopters. Supports hover, loiter, mission flight, return-to-home and other functions. |
| Conventional Helicopter | arducopter-heli.apj | Single main rotor helicopter with tail rotor. Optimized for variable-pitch propellers and dedicated helicopter control logic. |
| Fixed Wing & VTOL | arduplane.apj | Conventional fixed-wing aircraft, flying wings and VTOL vehicles. Designed for long-endurance and long-range mission flights. |
| Rover / Boat | ardurover.apj | Wheeled/tracked ground vehicles and surface watercraft. |
Select Load custom firmware, choose the downloaded firmware file, and wait for the flashing process to complete.
UART Mapping
| Serial Port | Hardware Interface | Function |
|---|---|---|
| SERIAL0 | USB | Onboard computer connection, firmware flashing |
| SERIAL1 | UART7 (TELEM1) | Data transmission / Radio link |
| SERIAL2 | UART5 (TELEM2) | Extended data link, peripheral communication |
| SERIAL3 | USART1(GPS&SAFETY) | Primary GPS & Safety switch |
| SERIAL4 | UART8 (GPS2) | Secondary GPS |
| SERIAL5 | USART3 (DEBUG) | Debug interface |
Note
TELEM1 and TELEM2 support flow control (RTS/CTS); other UARTs do not have RTS/CTS pins.
RC Input
The RCIN port supports all one-way RC protocols (SBUS/PPM/DSM).
DSM/PPM/SBUS Receivers Connect to the RCIN port using jumper wires; no additional parameter configuration is required.
For bi-directional receivers with telemetry such as CRSF/ELRS, connect to a UART port. The following is a configuration example using SERIAL2 (UART5/TELEM2) for bi-directional RC.
ELRS Receiver Connect the receiver to the TELEM2 port and set the following parameters:
Connect the receiver to TELEM2 port and set the parameters below:
- SERIAL2_PROTOCOL=23
- SERIAL2_OPTIONS=0
- RSSI_TYPE=3
- RC_OPTIONS=8192 (Use 420k baud for ELRS protocol)Write parameters and reboot.
CRSF Receiver
- SERIAL2_PROTOCOL=23
- SERIAL2_OPTIONS=0
- RSSI_TYPE=3FPort Receiver
- SERIAL2_PROTOCOL=23
- SERIAL2_OPTIONS=7
- RSSI_TYPE=3Tip
Any UART can be used for RC receivers in ArduPilot, supporting all protocols except PPM. For more details, refer to Radio Control Systems.
PWM Output
7-Nano supports 14 PWM output channels.
| Group | Motor Channels | Timer |
|---|---|---|
| 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 must use the same output rate and protocol. If any channel in a group uses DShot, all channels in that group must use DShot. M1-M8 support switching between 3.3V and 5V output, configurable via the BRD_PWM_VOLT_SEL parameter.
GPIO
All servo outputs can be used as GPIOs (for relays, camera shutter, RPM sensing, etc.). To use a pin as GPIO, set SERVOx_FUNCTION=-1 (where X is the pin number).
| No. | Interface | GPIO Pin Number |
|---|---|---|
| 1 | M1 | 50 |
| 2 | M2 | 51 |
| 3 | M3 | 52 |
| 4 | M4 | 53 |
| 5 | M5 | 54 |
| 6 | M6 | 55 |
| 7 | M7 | 56 |
| 8 | M8 | 57 |
| 9 | M9 | 58 |
| 10 | M10 | 59 |
| 11 | M11 | 60 |
| 12 | M12 | 61 |
| 13 | M13 | 62 |
| 14 | M14 | 63 |
Example: To configure M14 as a relay output, set Relay_pin = 63.
Analog Input
7-Nano V2 is equipped with 6 analog input channels.
| ADC Pin | Function Description |
|---|---|
| Pin9 | Battery voltage sensor |
| Pin8 | Battery current sensor |
| Pin5 | 5V VDD power monitoring |
| Pin13 | 3.3V voltage monitoring |
| Pin12 | 6.6V voltage monitoring |
| Pin10 | RSSI voltage monitoring |
Battery Monitor (Current Sensor Setup)
Note
The standard package includes a 7-VDM power detection module, supporting 10–100V battery input, but only measures voltage (not current). A separate BEC module is required to power the controller. The PDB package includes a 7-Nano PDB power monitoring module, integrating BEC, power detection, and power distribution functions.
7-Nano PDB
For ArduPilot 4.6 and above:
- BATT1_MONITOR=4
- BATT1_VOLT_MULT=31
- BATT1_VOLT_PIN=9
- BATT1_CURR_PIN=8
- BATT1_AMP_PERVLT=24
For ArduPilot below 4.6:
- BATT_MONITOR=4
- BATT_VOLT_MULT=31
- BATT_VOLT_PIN=9
- BATT_CURR_PIN=8
- BATT_AMP_PERVLT=24
VDM
For ArduPilot 4.6 and above:
- BATT1_MONITOR=3/4
- BATT1_VOLT_MULT=31
- BATT1_VOLT_PIN=9
For ArduPilot below 4.6:
- BATT_MONITOR=3/4
- BATT_VOLT_MULT=31
- BATT_VOLT_PIN=9Compass
7-Nano has a built-in IST8310 compass. However, due to electromagnetic interference, the board is typically used with an external I2C compass integrated with a GPS module. The external compass (e.g., GPS?integrated compass) should always be set as the primary compass, with a higher priority than the internal one.
Ethernet Configuration
7-Nano supports LAN connection via Ethernet. Devices on the LAN must be on the same subnet with unique IP addresses to communicate with each other.
Open Mission Planner > Configuration > Full Parameter List, set NET_ENABLED=1, reboot the flight controller, then modify the following parameters:
As shown above, set the controller IP to 192.168.10.14, and the router IP to 192.10.3 (adjust according to your actual router).
Set your computer IP to 192.168.10.15, and a network port to 15001 for UDP access with protocol type 2.
Note
Up to four ports can be configured.
Hardware Connection
- Connect the controller to your computer with an Ethernet cable, and power both the controller and the data link/router.
- Go to Windows Network Connections > Ethernet Properties > Internet Protocol Version 4 (TCP/IPv4), set a static IP (e.g., 192.168.0.1, subnet mask 255.255.255.0), then save.
Network Connectivity Test
- Open the Windows Command Prompt
- Run:
ping 192.168.10.4
Tip
Successful ping replies indicate a valid connection. “Request timed out” means incorrect IP settings or connection failure.
Connecting via Ground Station
- Launch Mission Planner
- Set connection type to UDP
- Enter port number 15001
Developer Guide
ArduPilot Firmware Build Commands
./waf configure --board CUAV-7-Nano
./waf copter --upload
Pre-built firmware binaries can be found under the “CUAV-7-Nano” subdirectory at https://firmware.ardupilot.org.
The board comes pre?flashed with an ArduPilot?compatible bootloader, allowing any ArduPilot?compatible ground station to load *.apj firmware files.
PX4 Firmware Guide
This chapter describes the points to be aware of when running PX4 firmware on the CUAV X7 series. The PX4 docs has the complete PX4 guide.
Loading firmware
CUAV 7-nano supports PX4. The following mainly explains how to load PX4 firmware.
Write firmware online:
Connect the controller to the computer, open the QGroundControl ground station, click the setting icon > click firmware.
Connect the controller to the computer through the usb cable, the following window will pop up on the right side of the ground station “Select PX4 Flight STACK required” OK
Write to local firmware：
- Connect the flight controller to the computer through the usb cable, the following window will pop up on the right side of the ground station “Select PX4 Flight STACK required” Check advanced settings>custon firmware file “Find the downloaded firmware” ok
Serial Port Mapping
| UART | Device | Port |
|---|---|---|
| USART1 | /dev/ttyS0 | GPS1 |
| USART2 | /dev/ttyS1 | TELEM1 |
| USART4 | /dev/ttyS2 | GPS2 |
| USART6 | /dev/ttyS3 | TELEM2 |
| UART7 | /dev/ttyS4 | Debug Console |
| UART8 | /dev/ttyS5 | RC |
Power module
Note
The Standard package includes a 7-VDM power monitoring module, which supports 10-100V battery input. However, it only detects voltage, not current, and requires a BEC module to power the controller. The PDB package includes a 7-Nano PDB power monitoring module, which includes BEC, power monitoring, and a power distribution board.
7-Nano PDB
- Number of Cells :According to your battery to settings.
- Full voltage：The voltage of each section, the lithium battery is generally 4.2v
- Empty voltage：LiPo batteries are generally 3.7v, depending on the battery.
- Voltage divider： 31
- A/V：24
VDM
Note
VDM only supports voltage monitoring, not current monitoring.
- Number of Cells :According to your battery to settings.
- Full voltage：The voltage of each section, the lithium battery is generally 4.2v
- Empty voltage：LiPo batteries are generally 3.7v, depending on the battery.
- Voltage divider： 31
- A/V：-
Building Firmware
Note
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 for this target:
make cuav_x7pro_default.
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.
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