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CUAV Nora
by CUAV
Community
Closed Hardware
PX4 currently exposes only eight PWM outputs on Nora while remaining channels await upstream support.
Key Specifications
Mounting Pattern
Custom
Connectivity
7 UARTs ā¢ 2 IĀ²C ā¢ 2 CAN
Power
4.3ā5.4 V ā¢ Power Module
Onboard Sensors
3Ć IMU ā¢ 2Ć Barometer ā¢ 1Ć Magnetometer
Firmware Support
Reference Docs
Detailed Specifications
Core Specifications
Quick reference for the primary hardware capabilities.
| MCU | Mounting | Custom | |
| Power | 4.3ā5.4 V ā¢ Power Module | I/O Overview | 7 UARTs ā¢ 2 IĀ²C ā¢ 2 CAN |
| PWM & Storage | 14 PWM outputs ā¢ microSD logging | Sensors | 3Ć IMU ā¢ 2Ć Barometer ā¢ 1Ć Magnetometer |
Hardware Overview
Core MCU, mounting, and mechanical data.
Base hardware specification
Default
| MCU | Mounting | Custom | |
| Dimensions | 46 Ć 64 Ć 22 mm | Weight | 75g |
Power Supply
Input rails, regulators, and redundancy.
Voltage ā
Inputs 4
Redundancy Redundant
Power Inputs
POWER1 Power Module
Connector:
6-pin power monitor
Voltage:
4.3ā5.4 V
POWER2 Power Module
Connector:
6-pin power monitor
Voltage:
4.3ā5.4 V
USB USB
Connector:
Micro-USB
Voltage:
4.75ā5.25 V
SERVO_RAIL Servo Rail
Voltage:
0ā36 V
Passthrough servo rail with high-voltage tolerance
| Input Voltage | ā | Redundancy | ā Yes |
Dual power module inputs with DroneCAN battery interface allow triple-redundant supply paths.
Connectivity & I/O
Port availability, buses, and expansion options.
| UARTs | 7 | CAN Bus | 2 |
| PWM Outputs | 14 | SD Card | ā Yes |
| Ethernet | ā No | ||
Peripheral Ports
| Port | Type | Default Function | Voltage / Level | Connector | Notes |
|---|---|---|---|---|---|
| TELEM1 | UART | Primary MAVLink telemetry | 3.3 V signal / 5 V supply | JST-GH 6-pin | High-current regulator powers telemetry radios with hardware flow control. |
| TELEM2 | UART | Secondary telemetry link | 3.3 V signal / 5 V supply | JST-GH 6-pin | Full RTS/CTS UART suitable for RTK corrections or redundant radios. |
| TELEM3 / UART4 | UART | Configurable payload UART | 3.3 V signal | JST-GH 6-pin | Additional serial port routed to expansion header for companion sensors or scripting engines. |
| Debug UART | UART | Console / SLCAN | 3.3 V signal | JST-GH 6-pin | Can be reassigned between console access, SLCAN, or serial RC via parameter mapping. |
| GPS1 | GPS | Primary GPS/compass/safety harness | 3.3 V signal / 5 V supply | JST-GH 10-pin | Integrates safety switch, buzzer, and I2C compass wiring for the first GNSS unit. |
| GPS2 | GPS | Secondary GPS | 3.3 V signal / 5 V supply | JST-GH 6-pin | Provides redundant GNSS interface or alternate UART/I2C combination. |
| CAN1 | CAN | DroneCAN peripheral bus | Differential CAN / 5 V supply | JST-GH 4-pin | Powered CAN-FD port for smart power modules or payloads. |
| CAN2 | CAN | Redundant DroneCAN bus | Differential CAN / 5 V supply | JST-GH 4-pin | Second CAN channel for ESC networks or redundant sensors. |
| I2C1 | I2C | External sensor bus | 3.3 V | JST-GH 4-pin | Dedicated I2C breakout for airspeed sensors or digital payloads. |
| I2C2 (GPS shared) | I2C | Compass via GPS harness | 3.3 V | JST-GH 10-pin/6-pin | SDA/SCL lines shared with GPS connectors for external magnetometers. |
| RCIN | RC | Serial RC input | 3.3 V signal / 5 V supply | JST-GH 6-pin | Supports SBUS, DSM, FPort, CRSF, and PPM receivers with RSSI breakout. |
| PWM OUT (1-14) | PWM | Motor and servo outputs | Servo rail (0-36 V tolerant) | Servo breakout | Fourteen PWM outputs with DShot capability on FMU-driven groups. |
| POWER1 | Power | Primary power module input | 4.3-5.4 V | 6-pin power monitor | Provides analog voltage/current telemetry and regulated 5 V supply. |
| POWER2 | Power | Secondary power module input | 4.3-5.4 V | 6-pin power monitor | Redundant power module input supporting DroneCAN smart batteries. |
| SERVO RAIL | Power | PWM servo supply | 0-36 V tolerant | Servo rail bus | High-voltage tolerant rail powering actuators independent of FMU logic. |
| Micro-USB | USB | Console and firmware updates | 5 V | Micro-USB | Provides SERIAL0 console, log access, and firmware flashing. |
| Buzzer/Safety | Other | External safety switch and buzzer | 5 V supply | JST harness | Combined harness powering the illuminated safety switch and high-output buzzer. |
Onboard Sensors
IMU, barometer, and magnetometer load-outs per revision.
| IMU | |||
| Barometer | |||
| Magnetometer | |||
Additional Features
Value-add capabilities bundled with the controller.
- ā Built-in vibration isolation with temperature-compensated IMU platform
- ā Dual CAN buses supporting DroneCAN peripherals
- ā Triple IMU architecture for industrial reliability
Known Issues & Advisories
BMI088 IĀ²C driver produces unstable gyro data
PX4's bmi088_i2c driver reports severe gyro jitter and unusable orientation on Crazyflie and other IĀ²C-based boards.
Medium
Reported
Affects Bosch Sensortec BMI088
Onboard IMU
ICM-20689 integral timing spikes under PX4
PX4 v1.12 builds show random accelerometer_integral_dt and gyro_integral_dt spikes on the ICM-20689, destabilising EKF attitude estimates.
Medium
Reported
Affects TDK InvenSense ICM-20689
Onboard IMU
Documentation & Vendor Resources
Contributors: Jairus
Last updated:
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