PX4 自动驾驶用户指南 (v1.14)

# CubePilot Cube Yellow 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 Yellow 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).

# 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
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

# Debug Ports

Cube Debug Ports

# USB/SDCard Ports

Cube USB/SDCard Ports

# 编译固件

提示

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:

make cubepilot_cubeyellow

# Issues

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

# Further Information/Documentation

← Holybro Kakute H7v2 →