CUAV Nora Aux GPIO Numbering

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.

RNGFND1_PIN:
|Value|Meaning|
|-1|Not Used|
|11|PX4-airspeed port|
|15|Pixhawk-airspeed port|
|50|Pixhawk AUXOUT1|
|51|Pixhawk AUXOUT2|
|52|Pixhawk AUXOUT3|
|53|Pixhawk AUXOUT4|
|54|Pixhawk AUXOUT5|
|55|Pixhawk AUXOUT6|

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.

RNGFND1_PIN:
|Value|Meaning|
|58|Pixhawk AUXOUT1|
|59|Pixhawk AUXOUT2|
|60|Pixhawk AUXOUT3|
|61|Pixhawk AUXOUT4|
|62|Pixhawk AUXOUT5|
|63|Pixhawk AUXOUT6|

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.

Crazy1

Thanks for sharing information. I just received CUAV X7 module (to swap with V5+ module) and will have to configure Range Finder (no PWM required) Benewake TF02-Pro or TFmini.