Cube Flight Controller

The Cube flight controller (previously known as Pixhawk 2.1) is a flexible autopilot intended primarily for manufacturers of commercial systems. It is based on the Pixhawk-project FMUv3 open hardware design and runs PX4 on the NuttX OS.

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 form the frame of the vehicle.

Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / Backup.

Key Features

  • 32bit STM32F427 Cortex-M4F® core with FPU
  • 168 MHz / 252 MIPS
  • 256 KB RAM
  • 2 MB Flash (fully accessible)
  • 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

Where to Buy

Assembly

Specifications

Processor

  • 32bit STM32F427 Cortex M4 core with FPU
  • 168 MHz / 252 MIPS
  • 256 KB RAM
  • 2 MB Flash (fully accessible)
  • 32 bit STM32F103 failsafe co-processor

Sensors

  • TBA

Interfaces

  • 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)
  • 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
  • 3.3 and 6.6V ADC inputs
  • Internal microUSB port and external microUSB port extension

Power System and Protection

  • Ideal diode controller with automatic failover
  • Servo rail high-power (max. 10V) and high-current (10A+) ready
  • All peripheral outputs over-current protected, all inputs ESD protected

Voltage Ratings

Pixhawk can be triple-redundant on the power supply if three power sources are supplied. The three rails are: Power module input, servo rail input, USB input.

Normal Operation Maximum Ratings

Under these conditions all power sources will be used in this order to power the system

  • Power module input (4.8V to 5.4V)
  • Servo rail input (4.8V to 5.4V) UP TO 10V FOR MANUAL OVERRIDE, BUT AUTOPILOT PART WILL BE UNPOWERED ABOVE 5.7V IF POWER MODULE INPUT IS NOT PRESENT
  • USB power input (4.8V to 5.4V)

Absolute Maximum Ratings

Under these conditions the system will not draw any power (will not be operational), but will remain intact.

  • Power module input (4.1V to 5.7V, 0V to 20V undamaged)
  • Servo rail input (4.1V to 5.7V, 0V to 20V)
  • USB power input (4.1V to 5.7V, 0V to 6V)

Pinouts and Schematics

Board schematics and other documentation can be found here: The Cube Project.

The datasheet from Hex manufacturing can be found here.

Ports

Top-Side (GPS, TELEM etc)

Cube Ports - Top (GPS, TELEM etc) and Main/AUX

Debug Ports

Cube Debug Ports

USB/SDCard Ports

Cube USB/SDCard Ports

Build Firmware

make px4fmu-v3_default upload

Issues

CAN1 and CAN2 silk screen on the Pixhawk 2.1 are flipped (CAN1 is CAN2 and vice versa).

© PX4 Dev Team. License: CC BY 4.0            Updated: 2018-09-21 03:49:11

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