Move PX4 Guide source into /docs (#24490)

* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
2026-10-21 05:53:34 +08:00 · 2025-03-13 16:08:27 +11:00
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+# CubePilot Cube Orange+ Flight Controller
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
+:::
+
+The [Cube Orange+](https://www.cubepilot.com/#/cube/features) 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](../../assets/flight_controller/cube/orangeplus/cubepilot_cube_orangeplus_standard_set.jpg)
+
+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.
+
+:::tip
+The manufacturer [Cube Docs](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours).
+:::
+
+## 主要特性
+
+- 32bit STM32H757ZI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 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
+
+<a id="stores"></a>
+
+## 购买渠道
+
+- [Reseller list](https://www.cubepilot.com/#/reseller/list)
+
+## 组装
+
+[Cube Wiring Quickstart](../assembly/quick_start_cube.md)
+
+## 产品规格
+
+- **Processor:**
+  - STM32H757 (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7))
+  - 400 MHz
+  - 1 MB RAM
+  - 2 MB Flash \(fully accessible\)
+- **Failsafe co-processor:** <!-- inconsistent info on failsafe processor: 32 bit STM32F103 failsafe co-processor http://www.proficnc.com/all-products/191-pixhawk2-suite.html -->
+  - 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](../../assets/flight_controller/cube/cube_ports_top_main.jpg)
+
+## 针脚定义
+
+#### TELEM1，TELEM2 接口
+
+| 针脚   | 信号                           | 电压                    |
+| ---- | ---------------------------- | --------------------- |
+| 1（红） | VCC                          | +5V                   |
+| 2    | TX (OUT)  | +3.3V |
+| 3    | RX (IN)   | +3.3V |
+| 4（黑） | CTS (IN)  | +3.3V |
+| 6    | RTS (OUT) | +3.3V |
+| 6    | GND                          | GND                   |
+
+#### GPS1 port
+
+| 针脚                         | 信号                          | 电压                    |
+| -------------------------- | --------------------------- | --------------------- |
+| 1（红）                       | VCC                         | +5V                   |
+| 2                          | TX (OUT) | +3.3V |
+| 3                          | RX (IN)  | +3.3V |
+| 4（黑）                       | SCL I2C2                    | +3.3V |
+| 6                          | SDA I2C2                    | +3.3V |
+| 6                          | Safety Button               | GND                   |
+| 7                          | Button LED                  | GND                   |
+| 8 (blk) | GND                         | GND                   |
+
+<!-- check is i2c2 -->
+
+#### GPS2 port
+
+| 针脚   | 信号                          | 电压                    |
+| ---- | --------------------------- | --------------------- |
+| 1（红） | VCC                         | +5V                   |
+| 2    | TX (OUT) | +3.3V |
+| 3    | RX (IN)  | +3.3V |
+| 4（黑） | SCL I2C1                    | +3.3V |
+| 6    | SDA I2C1                    | +3.3V |
+| 6    | GND                         | GND                   |
+
+#### ADC
+
+| 针脚   | 信号     | 电压                          |
+| ---- | ------ | --------------------------- |
+| 1（红） | VCC    | +5V                         |
+| 2    | ADC IN | up to +6.6V |
+| 3    | GND    | GND                         |
+
+#### I2C
+
+| 针脚   | 信号  | 电压                                                |
+| ---- | --- | ------------------------------------------------- |
+| 1（红） | VCC | +5V                                               |
+| 2    | SCL | +3.3 (pullups) |
+| 3    | SDA | +3.3 (pullups) |
+| 4（黑） | GND | GND                                               |
+
+#### CAN1 & CAN2
+
+| 针脚   | 信号                         | 电压   |
+| ---- | -------------------------- | ---- |
+| 1（红） | VCC                        | +5V  |
+| 2    | CAN_H | +12V |
+| 3    | CAN_L | +12V |
+| 4（黑） | GND                        | GND  |
+
+#### POWER1 & POWER2
+
+| 针脚                         | 信号              | 电压                    |
+| -------------------------- | --------------- | --------------------- |
+| 1（红）                       | VCC             | +5V                   |
+| 2 (red) | VCC             | +5V                   |
+| 3                          | CURRENT sensing | +3.3V |
+| 4（黑）                       | VOLTAGE sensing | +3.3V |
+| 6                          | GND             | GND                   |
+| 6                          | GND             | GND                   |
+
+#### USB
+
+| 针脚   | 信号                           | 电压                    |
+| ---- | ---------------------------- | --------------------- |
+| 1（红） | VCC                          | +5V                   |
+| 2    | OTG_DP1 | +3.3V |
+| 3    | OTG_DM1 | +3.3V |
+| 4（黑） | GND                          | GND                   |
+| 6    | BUZZER                       | Battery voltage       |
+| 6    | FMU Error LED                |                       |
+
+#### SPKT
+
+| 针脚                         | 信号  | 电压                    |
+| -------------------------- | --- | --------------------- |
+| 1 (blk) | IN  |                       |
+| 2                          | GND | GND                   |
+| 3 (red) | OUT | +3.3V |
+
+#### TELEM1, TELEM2
+
+| 针脚   | 信号                           | 电压                          |
+| ---- | ---------------------------- | --------------------------- |
+| 1（红） | VCC                          | +5V                         |
+| 2    | TX (OUT)  | +3.3V to 5V |
+| 3    | RX (IN)   | +3.3V to 5V |
+| 4（黑） | CTS (OUT) | +3.3V to 5V |
+| 6    | RTS (IN)  | +3.3V to 5V |
+| 6    | GND                          | GND                         |
+
+## 串口映射
+
+| 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                                     |
+
+<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
+
+<!-- https://github.com/PX4/PX4-Autopilot/blob/main/boards/cubepilot/cubeorange/default.px4board -->
+
+<!-- https://github.com/PX4/PX4-Autopilot/blob/main/boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig#L188-L197 -->
+
+### USB/SDCard Ports
+
+![Cube USB/SDCard Ports](../../assets/flight_controller/cube/cube_ports_usb_sdcard.jpg)
+
+## 编译固件
+
+:::warning
+The firmware for Orange+ will be present in releases from PX4 v1.14.
+:::
+
+To [build PX4](../dev_setup/building_px4.md) for this target, open up the terminal and enter:
+
+```
+make cubepilot_cubeorangeplus
+```
+
+:::info
+The firmware for Cube Orange+ and Cube Orange are not compatible.
+Due to a power feature of the STM32H757 it required [updates in NuttX](https://github.com/PX4/NuttX/pull/214) and therefore a new board config, bootloader, build target, etc.
+:::
+
+## 原理图
+
+Board schematics and other documentation can be found here: [The Cube Project](https://github.com/proficnc/The-Cube).
+
+## Further Information/Documentation
+
+- [Cube Wiring Quickstart](../assembly/quick_start_cube.md)
+- Cube Docs (Manufacturer):
+  - [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview)
+  - [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual)
+  - [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)