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.
Specifications
- Processor:
- STM32H753VI 32bit
- 400 MHz
- 1 MB RAM
- 2 MB Flash (fully accessible)
- Failsafe co-processor:
- STM32F103 (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
#Ports
#Top-Side (GPS, TELEM etc)
#Pinouts
#TELEM1, TELEM2 ports
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | TX (OUT) | +3.3V |
3 (blk) | RX (IN) | +3.3V |
4 (blk) | CTS (IN) | +3.3V |
5 (blk) | RTS (OUT) | +3.3V |
6 (blk) | GND | GND |
#GPS1 port
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | TX (OUT) | +3.3V |
3 (blk) | RX (IN) | +3.3V |
4 (blk) | SCL I2C2 | +3.3V |
5 (blk) | SDA I2C2 | +3.3V |
6 (blk) | Safety Button | GND |
7 (blk) | Button LED | GND |
8 (blk) | GND | GND |
#GPS2 port
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | TX (OUT) | +3.3V |
3 (blk) | RX (IN) | +3.3V |
4 (blk) | SCL I2C1 | +3.3V |
5 (blk) | SDA I2C1 | +3.3V |
6 (blk) | GND | GND |
#ADC
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | ADC IN | up to +6.6V |
3 (blk) | GND | GND |
#I2C
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | SCL | +3.3 (pullups) |
3 (blk) | SDA | +3.3 (pullups) |
4 (blk) | GND | GND |
#CAN1 & CAN2
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | CAN_H | +12V |
3 (blk) | CAN_L | +12V |
4 (blk) | GND | GND |
#POWER1 & POWER2
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (red) | VCC | +5V |
3 (blk) | CURRENT sensing | +3.3V |
4 (blk) | VOLTAGE sensing | +3.3V |
5 (blk) | GND | GND |
6 (blk) | GND | GND |
#USB
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | OTG_DP1 | +3.3V |
3 (blk) | OTG_DM1 | +3.3V |
4 (blk) | GND | GND |
5 (blk) | BUZZER | Battery voltage |
6 (blk) | FMU Error LED |
#SPKT
Pin | Signal | Volt |
---|---|---|
1 (blk) | IN | |
2 (blk) | GND | GND |
3 (red) | OUT | +3.3V |
#TELEM1, TELEM2
Pin | Signal | Volt |
---|---|---|
1 (red) | VCC | +5V |
2 (blk) | TX (OUT) | +3.3V to 5V |
3 (blk) | RX (IN) | +3.3V to 5V |
4 (blk) | CTS (OUT) | +3.3V to 5V |
5 (blk) | RTS (IN) | +3.3V to 5V |
6 (blk) | GND | GND |
#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 |