CubePilot Cube Orange Set Flight Controller

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

#USB/SDCard Ports