I’m posting this to help anyone that is using the Nora autopilot from CUAV. I have found the Nora to be a good performer and great build quality. Definitely worth the money.
While setting it up I encountered one issue that took a bit of diving into in order to get it resolved. My current test platform is an X8 and I have it setup with their NEO V2 Pro GPS, PX4Flow using a Garmin V3 Lidar and two more Garmin V3 Lidars for Simple Object Avoidance
While configuring the Lidar I was unable to get it working. the Nora has 14 PWM ports and I made sure to configure the BRD_PWM_COUNT. After a bunch of testing and jumping between a Pixhawk 1 and Nora I assumed maybe the GPIO numbering was different on the Nora and was undocumented.
This is in fact wrong and the Nora does have different GPIO numbering.
(Look at line 158 from the link below)
# PWM AUX channels
PH10 TIM5_CH1 TIM5 PWM(1) GPIO(50)
PH11 TIM5_CH2 TIM5 PWM(2) GPIO(51)
PH12 TIM5_CH3 TIM5 PWM(3) GPIO(52)
PI0 TIM5_CH4 TIM5 PWM(4) GPIO(53)
PD12 TIM4_CH1 TIM4 PWM(5) GPIO(54)
PD13 TIM4_CH2 TIM4 PWM(6) GPIO(55)
PD14 TIM4_CH3 TIM4 PWM(7) GPIO(56)
PD15 TIM4_CH4 TIM4 PWM(8) GPIO(57)
PE9 TIM1_CH1 TIM1 PWM(9) GPIO(58)
PE11 TIM1_CH2 TIM1 PWM(10) GPIO(59)
PA10 TIM1_CH3 TIM1 PWM(11) GPIO(60)
PE14 TIM1_CH4 TIM1 PWM(12) GPIO(61)
PH6 TIM12_CH1 TIM12 PWM(13) GPIO(62) NODMA
PH9 TIM12_CH2 TIM12 PWM(14) GPIO(63) NODMA
This means if setting up a range finder on the Nora use the values below.
After configuring the ports to the values above the Lidar started working perfectly.
I hope this helps others save time if using the Nora autopilot from CUAV. I have not checked, but this may also be the case for the CUAV X7 and X7 Pro.