PX4 自动驾驶用户指南 (main)

# CubePilot Cube Orange+ Flight Controller

注意

PX4 does not manufacture this (or any) autopilot. Contact the manufacturer (opens new window) for hardware support or compliance issues.

The Cube Orange+ (opens new window) flight controller is a flexible autopilot intended primarily for manufacturers of commercial systems. Cube Orange+ is similar to Cube Orange, but has a more powerful dual-core processor (STM32H757, and some different sensors parts.

Cube Orange

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.

The ADS-B carrier board includes a customized 1090MHz ADSB-In receiver from uAvionix. This provides attitude and location of commercial manned aircraft within the range of Cube. This is automatically configured and enabled in the default PX4 firmware.

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

提示

The manufacturer Cube Docs (opens new window) contain detailed information, including an overview of the Differences between Cube Colours (opens new window).

# Key Features

  • 32bit STM32H757ZI (32bit ARM Cortex M7 (opens new window), 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

# Where to Buy

# Assembly

Cube Wiring Quickstart

# Specifications

  • Processor:
  • Failsafe co-processor:
    • STM32F103 (32bit ARM Cortex-M3)
    • 24 MHz
    • 8 KB SRAM
  • Sensors: (all connected via SPI)
    • Accelerometer: (3) ICM42688p, ICM20948, ICM20649
    • Gyroscope: (3) ICM42688p, ICM20948, ICM20649
    • 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
  • Dimensions:
    • Cube: 38.25mm x 38.25mm x 22.3mm
    • Carrier: 94.5mm x 44.3mm x 17.3mm
  • Interfaces
    • 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

# Ports

# Top-Side (GPS, TELEM etc)

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

# Pinouts

# TELEM1, TELEM2 ports

Pin Signal Volt
1 (red) VCC +5V
2 (blk) TX (OUT) +3.3V
3 (blk) RX (IN) +3.3V
4 (blk) CTS (IN) +3.3V
5 (blk) RTS (OUT) +3.3V
6 (blk) GND GND

# GPS1 port

Pin Signal Volt
1 (red) VCC +5V
2 (blk) TX (OUT) +3.3V
3 (blk) RX (IN) +3.3V
4 (blk) SCL I2C2 +3.3V
5 (blk) SDA I2C2 +3.3V
6 (blk) Safety Button GND
7 (blk) Button LED GND
8 (blk) GND GND

# GPS2 port

Pin Signal Volt
1 (red) VCC +5V
2 (blk) TX (OUT) +3.3V
3 (blk) RX (IN) +3.3V
4 (blk) SCL I2C1 +3.3V
5 (blk) SDA I2C1 +3.3V
6 (blk) GND GND

# ADC

Pin Signal Volt
1 (red) VCC +5V
2 (blk) ADC IN up to +6.6V
3 (blk) GND GND

# I2C

Pin Signal Volt
1 (red) VCC +5V
2 (blk) SCL +3.3 (pullups)
3 (blk) SDA +3.3 (pullups)
4 (blk) GND GND

# CAN1 & CAN2

Pin Signal Volt
1 (red) VCC +5V
2 (blk) CAN_H +12V
3 (blk) CAN_L +12V
4 (blk) GND GND

# POWER1 & POWER2

Pin Signal Volt
1 (red) VCC +5V
2 (red) VCC +5V
3 (blk) CURRENT sensing +3.3V
4 (blk) VOLTAGE sensing +3.3V
5 (blk) GND GND
6 (blk) GND GND

# USB

Pin Signal Volt
1 (red) VCC +5V
2 (blk) OTG_DP1 +3.3V
3 (blk) OTG_DM1 +3.3V
4 (blk) GND GND
5 (blk) BUZZER Battery voltage
6 (blk) FMU Error LED

# SPKT

Pin Signal Volt
1 (blk) IN
2 (blk) GND GND
3 (red) OUT +3.3V

# TELEM1, TELEM2

Pin Signal Volt
1 (red) VCC +5V
2 (blk) TX (OUT) +3.3V to 5V
3 (blk) RX (IN) +3.3V to 5V
4 (blk) CTS (OUT) +3.3V to 5V
5 (blk) RTS (IN) +3.3V to 5V
6 (blk) GND GND

# Serial Port Mapping

UART Device Port
USART2 /dev/ttyS0 TELEM1 (flow control)
USART3 /dev/ttyS1 TELEM2 (flow control)
UART4 /dev/ttyS2 GPS1
USART6 /dev/ttyS3 PX4IO
UART7 /dev/ttyS4 CONSOLE/ADSB-IN
UART8 /dev/ttyS5 GPS2

# USB/SDCard Ports

Cube USB/SDCard Ports

# Building Firmware

注意

The firmware for Orange+ will be present in releases from PX4 v1.14.

To build PX4 for this target, open up the terminal and enter:

make cubepilot_cubeorangeplus

注解

The firmware for Cube Orange+ and Cube Orange are not compatible. Due to a power feature of the STM32H757 it required updates in NuttX (opens new window) and therefore a new board config, bootloader, build target, etc.

# Schematics

Board schematics and other documentation can be found here: The Cube Project (opens new window).

# Further Information/Documentation

← CubePilot Cube Orange (CubePilot) →