# Cube Yellow 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 Yellow (opens new window) flight controller is a flexible autopilot intended primarily for manufacturers of commercial systems.

Cube Yellow

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.

提示

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

提示

Note This flight controller is manufacturer supported.

# 主要特性

  • 32bit STM32F777VI (32bit ARM Cortex M7 (opens new window), 400 MHz, Flash 2MB, RAM 512 KB).
  • 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:
    • STM32F100 (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 (opens new window).

# Ports

# Top-Side (GPS, TELEM etc)

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

# 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

Cube Debug Ports

# USB/SDCard Ports

Cube USB/SDCard Ports

# 编译固件

Warning PX4 不生产这款且也不生产任何自动驾驶仪。 若需要硬件支持或咨询合规问题,请联系 制造商 (opens new window)

To build PX4 for this target:

make cubepilot_cubeyellow

# Issues

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

# Further Information/Documentation