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171 lines
6.4 KiB
Markdown
171 lines
6.4 KiB
Markdown
# Hex Cube Black Flight Controller
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:::warning
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PX4 does not manufacture this (or any) autopilot.
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Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.
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:::
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:::tip
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The [Cube Orange](cubepilot_cube_orange.md) is the successor to this product.
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We recommend however to consider products built on industry standards, such as the [Pixhawk Standards](autopilot_pixhawk_standard.md).
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This flight controller is not following the standard and uses a patented connector.
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:::
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The [Hex Cube Black](https://docs.cubepilot.org/user-guides/autopilot/the-cube) flight controller (previously known as Pixhawk 2.1) is a flexible autopilot intended primarily for manufacturers of commercial systems.
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It is based on the [Pixhawk-project](https://pixhawk.org/) **FMUv3** open hardware design and runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.
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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.
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For example, a carrier board for a commercial inspection vehicle might include connections for a companion computer,
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while a carrier board for a racer could includes ESCs form the frame of the vehicle.
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Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / Backup.
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::: info
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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).
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:::
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:::tip
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This autopilot is [supported](../flight_controller/autopilot_pixhawk_standard.md) by the PX4 maintenance and test teams.
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:::
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## Key Features
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- 32bit STM32F427 [Cortex-M4F](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4)<sup>®</sup> core with FPU
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- 168 MHz / 252 MIPS
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- 256 KB RAM
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- 2 MB Flash \(fully accessible\)
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- 32 bit STM32F103 failsafe co-processor
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- 14 PWM / Servo outputs (8 with failsafe and manual override, 6 auxiliary, high-power compatible)
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- Abundant connectivity options for additional peripherals (UART, I2C, CAN)
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- Integrated backup system for in-flight recovery and manual override with dedicated processor and stand-alone power supply (fixed-wing use)
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- Backup system integrates mixing, providing consistent autopilot and manual override mixing modes (fixed-wing use)
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- Redundant power supply inputs and automatic failover
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- External safety switch
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- Multicolor LED main visual indicator
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- High-power, multi-tone piezo audio indicator
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- microSD card for high-rate logging over extended periods of time
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<a id="stores"></a>
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## Where to Buy
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[Cube Black](https://www.cubepilot.com/#/reseller/list) (Reseller list)
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## Assembly
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[Cube Wiring Quickstart](../assembly/quick_start_cube.md)
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## Specifications
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### Processor
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- 32bit STM32F427 [Cortex M4](https://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
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- 168 MHz / 252 MIPS
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- 256 KB RAM
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- 2 MB Flash (fully accessible)
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- 32 bit STM32F103 failsafe co-processor
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### Sensors
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- TBA
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### Interfaces
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- 5x UART (serial ports), one high-power capable, 2x with HW flow control
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- 2x CAN (one with internal 3.3V transceiver, one on expansion connector)
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- Spektrum DSM / DSM2 / DSM-X® Satellite compatible input
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- Futaba S.BUS® compatible input and output
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- PPM sum signal input
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- RSSI (PWM or voltage) input
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- I2C
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- SPI
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- 3.3v ADC input
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- Internal microUSB port and external microUSB port extension
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### Power System and Protection
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- Ideal diode controller with automatic failover
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- Servo rail high-power (max. 10V) and high-current (10A+) ready
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- All peripheral outputs over-current protected, all inputs ESD protected
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### Voltage Ratings
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Pixhawk can be triple-redundant on the power supply if three power sources are supplied. The three rails are: Power module input, servo rail input, USB input.
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#### Normal Operation Maximum Ratings
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Under these conditions all power sources will be used in this order to power the system
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- Power module input (4.8V to 5.4V)
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- Servo rail input (4.8V to 5.4V) **UP TO 10V FOR MANUAL OVERRIDE, BUT AUTOPILOT PART WILL BE UNPOWERED ABOVE 5.7V IF POWER MODULE INPUT IS NOT PRESENT**
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- USB power input (4.8V to 5.4V)
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#### Absolute Maximum Ratings
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Under these conditions the system will not draw any power (will not be operational), but will remain intact.
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- Power module input (4.1V to 5.7V, 0V to 20V undamaged)
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- Servo rail input (4.1V to 5.7V, 0V to 20V)
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- USB power input (4.1V to 5.7V, 0V to 6V)
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## Pinouts and Schematics
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Board schematics and other documentation can be found here: [The Cube Project](https://github.com/proficnc/The-Cube).
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## Ports
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### Top-Side (GPS, TELEM etc)
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<a id="serial_ports"></a>
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### Serial Port Mapping
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| UART | Device | Port |
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| ------ | ---------- | --------------------- |
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| USART1 | /dev/ttyS0 | <!-- IO debug? --> |
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| USART2 | /dev/ttyS1 | TELEM1 (flow control) |
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| USART3 | /dev/ttyS2 | TELEM2 (flow control) |
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| UART4 | /dev/ttyS3 | GPS1 |
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| USART6 | /dev/ttyS4 | PX4IO |
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| UART7 | /dev/ttyS5 | CONSOLE |
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| UART8 | /dev/ttyS6 | <!-- unknown --> |
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<!-- Note: Got ports using https://github.com/PX4/PX4-user_guide/pull/672#issuecomment-598198434 -->
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<!-- This originally said " **TEL4:** /dev/ttyS6 (ttyS4 UART): **Note** `TEL4` is labeled as `GPS2` on Cube." -->
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### Debug Ports
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### USB/SDCard Ports
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## Building Firmware
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:::tip
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Most users will not need to build this firmware!
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It is pre-built and automatically installed by _QGroundControl_ when appropriate hardware is connected.
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:::
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To [build PX4](../dev_setup/building_px4.md) for this target:
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```
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make px4_fmu-v3_default
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```
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## Issues
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CAN1 and CAN2 silk screen on the Cube Black are flipped (CAN1 is CAN2 and vice versa).
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## Further Information/Documentation
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- [Cube Wiring Quickstart](../assembly/quick_start_cube.md)
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- Cube Docs (Manufacturer):
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- [Cube User Guide](https://docs.cubepilot.org/user-guides/autopilot/the-cube)
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- [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)
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