Cube Orange (CubePilot)
PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues.
The PX4 dev team supports this flight controller as a footprint compatible replacement for Cube Black. We recommend however to consider products built on industry standards, such as the Pixhawk Standards. This flight controller is not following the standard and uses a patented connector.
The Cube Orange flight controller is a flexible autopilot intended primarily for manufacturers of commercial systems.
The controller is designed to be used with a domain-specific carrier board in order to reduce the wiring, improve reliability, and ease of assembly. For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer, while a carrier board for a racer could includes ESCs for the frame of the vehicle.
Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / backup.
The manufacturer Cube Docs contain detailed information, including an overview of the Differences between Cube Colours.
主要特性
32bit STM32H743ZI (32bit ARM Cortex M7, 400 MHz, Flash 2MB, RAM 1MB).
32 bit STM32F103 failsafe co-processor
14 PWM / Servo outputs (8 with failsafe and manual override, 6 auxiliary, high-power compatible)
Abundant connectivity options for additional peripherals (UART, I2C, CAN)
Integrated backup system for in-flight recovery and manual override with dedicated processor and stand-alone power supply (fixed-wing use)
Backup system integrates mixing, providing consistent autopilot and manual override mixing modes (fixed wing use)
Redundant power supply inputs and automatic failover
External safety switch
Multicolor LED main visual indicator
High-power, multi-tone piezo audio indicator
microSD card for high-rate logging over extended periods of time
在哪里买
The Cube (ProfiCNC)
组装
产品规格
处理器:
STM32H743ZI (32bit ARM Cortex M7)
400 MHz
1 MB RAM
2 MB Flash (fully accessible)
Failsafe co-processor:
STM32F103 (32bit ARM Cortex-M3)
24 MHz
8 KB SRAM
Sensors: (all connected via SPI)
Accelerometer: (3) ICM20948, ICM20649, ICM20602
Gyroscope: (3) ICM20948, ICM20649, ICM20602
Compass: (1) ICM20948
Barometric Pressure Sensor: (2) MS5611
Operating Conditions:
Operating Temp: -10C to 55C
IP rating/Waterproofing: Not waterproof
Servo rail input voltage: 3.3V / 5V
USB port input:
Voltage: 4V - 5.7V
Rated current: 250 mA
POWER:
Input voltage: 4.1V - 5.7V
Rated input current: 2.5A
Rated input/output power: 14W
尺寸:
Cube: 38.25mm x 38.25mm x 22.3mm
Carrier: 94.5mm x 44.3mm x 17.3mm
接口
IO Ports: 14 PWM servo outputs (8 from IO, 6 from FMU)
5x UART (serial ports), one high-power capable, 2x with HW flow control
2x CAN (one with internal 3.3V transceiver, one on expansion connector)
R/C inputs:
Spektrum DSM / DSM2 / DSM-X® Satellite compatible input
Futaba S.BUS® compatible input and output
PPM-SUM signal input
RSSI (PWM or voltage) input
I2C
SPI
3.3v ADC input
Internal microUSB port and external microUSB port extension
引脚和原理图
Board schematics and other documentation can be found here: The Cube Project.
Ports
Top-Side (GPS, TELEM etc)
Serial Port Mapping
| UART | 设备 | Port |
|---|---|---|
USART1 | /dev/ttyS0 | |
USART2 | /dev/ttyS1 | TELEM1 (flow control) |
USART3 | /dev/ttyS2 | TELEM2 (flow control) |
UART4 | /dev/ttyS3 | GPS1 |
USART6 | /dev/ttyS4 | PX4IO |
UART7 | /dev/ttyS5 | CONSOLE |
UART8 | /dev/ttyS6 | GPS2 |
Debug Ports
USB/SDCard Ports
编译固件
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, open up the terminal and enter:
At time of writing (June 2021) you can't build this target in VSCode as it specifies an invalid target (cubepilot_cubeorange_test). For more information see PX4-Autopilot#17745.
Further Information/Documentation
Cube Docs (Manufacturer):
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