CubePilot Cube Yellow (CubePilot)
:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer 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 includes 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 Docs contain detailed information, including an overview of the Differences between Cube Colours. :::
Key Features
32bit STM32F777VI (32bit ARM Cortex M7, 400 MHz, Flash 2MB, RAM 512 KB).
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
Where to Buy
Assembly
Specifications
Processor:
STM32F777VI (32bit ARM Cortex M7)
400 MHz
512 KB MB RAM
2 MB Flash
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.
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 |
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 for this target:
Issues
CAN1 and CAN2 silk screen on the Cube are flipped (CAN1 is CAN2 and vice versa).
Further Information/Documentation
Cube Docs (Manufacturer):
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