# CubePilot Cube Orange+ Flight Controller


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

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 (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

# Pinouts and Schematics

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

# Ports

# Top-Side (GPS, TELEM etc)

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

# 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
UART8 /dev/ttyS5 GPS2

# USB/SDCard Ports

Cube USB/SDCard Ports

# Building Firmware


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


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.

# Further Information/Documentation