mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
147 lines
5.6 KiB
Markdown
147 lines
5.6 KiB
Markdown
# CubePilot Cube Yellow 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 Yellow flight controller is a flexible autopilot intended primarily for manufacturers of commercial systems.
|
|
|
|
|
|
|
|
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 include 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.
|
|
|
|
::: tip
|
|
The manufacturer [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube) contains detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/specifications).
|
|
:::
|
|
|
|
::: info
|
|
This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
|
|
:::
|
|
|
|
## Key Features
|
|
|
|
- 32bit STM32F777VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7), 400 MHz, Flash 2MB, RAM 512 KB).
|
|
- 32 bit STM32F103 failsafe co-processor <!-- check -->
|
|
- 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 {#store}
|
|
|
|
- [Reseller list](https://www.cubepilot.com/#/reseller/list)
|
|
|
|
## Assembly
|
|
|
|
[Cube Wiring Quickstart](../assembly/quick_start_cube.md)
|
|
|
|
## Specifications
|
|
|
|
- **Processor:**
|
|
- STM32F777VI (32bit [ARM Cortex M7](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M7))
|
|
- 400 MHz
|
|
- 512 KB RAM
|
|
- 2 MB Flash
|
|
- **Failsafe co-processor:** <!-- inconsistent info on failsafe processor: 32 bit STM32F103 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
|
|
- **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](https://github.com/proficnc/The-Cube).
|
|
|
|
## Ports
|
|
|
|
### Top-Side (GPS, TELEM etc)
|
|
|
|
|
|
|
|
## 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 |
|
|
| 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/hex/cube-orange/default.px4board -->
|
|
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/boards/hex/cube-orange/nuttx-config/nsh/defconfig#L194-L200 -->
|
|
|
|
### Debug Ports
|
|
|
|
|
|
|
|
### USB/SDCard Ports
|
|
|
|
|
|
|
|
## Building Firmware
|
|
|
|
::: tip
|
|
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](../dev_setup/building_px4.md) for this target:
|
|
|
|
```sh
|
|
make cubepilot_cubeyellow
|
|
```
|
|
|
|
## Issues
|
|
|
|
CAN1 and CAN2 silk screen on the Cube are flipped (CAN1 is CAN2 and vice versa).
|
|
|
|
## Further Information/Documentation
|
|
|
|
- [Cube Wiring Quickstart](../assembly/quick_start_cube.md)
|
|
- Cube Docs (Manufacturer):
|
|
- [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube)
|
|
- [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)
|