# CubePilot Cube Orange Flight Controller

PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://cubepilot.org/#/home) 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.

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.


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

# 主要特性

  • 32bit STM32H753VI (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

# 在哪里买

# 组装

Cube Wiring Quickstart

# 产品规格

  • 处理器:
  • 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

# 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


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


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


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


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


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 设备 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

# 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:

make cubepilot_cubeorange

# Schematics

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

# Further Information/Documentation