Hex Cube Black (FMUv3)
Last updated
Last updated
:::warning PX4 does not manufacture this (or any) autopilot. Contact the manufacturer for hardware support or compliance issues. :::
:::tip The Cube Orange is the successor to this product. We recommend however to consider products built on industry standards, such as the Pixhawk Standards. This flight controller is not following the standard and uses a patented connector. :::
The Hex Cube Black flight controller (previously known as Pixhawk 2.1) is a flexible autopilot intended primarily for manufacturers of commercial systems. It is based on the Pixhawk-project FMUv3 open hardware design and runs PX4 on the NuttX OS.
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 form the frame of the vehicle.
Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / Backup.
:::note The manufacturer Cube Docs contain detailed information, including an overview of the Differences between Cube Colours. :::
:::tip This autopilot is supported by the PX4 maintenance and test teams. :::
32bit STM32F427 Cortex-M4F® core with FPU
168 MHz / 252 MIPS
256 KB RAM
2 MB Flash (fully accessible)
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
Cube Black (ProfiCNC)
32bit STM32F427 Cortex M4 core with FPU
168 MHz / 252 MIPS
256 KB RAM
2 MB Flash (fully accessible)
32 bit STM32F103 failsafe co-processor
TBA
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)
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
Ideal diode controller with automatic failover
Servo rail high-power (max. 10V) and high-current (10A+) ready
All peripheral outputs over-current protected, all inputs ESD protected
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.
Under these conditions all power sources will be used in this order to power the system
Power module input (4.8V to 5.4V)
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
USB power input (4.8V to 5.4V)
Under these conditions the system will not draw any power (will not be operational), but will remain intact.
Power module input (4.1V to 5.7V, 0V to 20V undamaged)
Servo rail input (4.1V to 5.7V, 0V to 20V)
USB power input (4.1V to 5.7V, 0V to 6V)
Board schematics and other documentation can be found here: The Cube Project.
USART1
/dev/ttyS0
USART2
/dev/ttyS1
TELEM1 (flow control)
USART3
/dev/ttyS2
TELEM2 (flow control)
UART4
/dev/ttyS3
GPS1
USART6
/dev/ttyS4
PX4IO
UART7
/dev/ttyS5
CONSOLE
UART8
/dev/ttyS6
:::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:
CAN1 and CAN2 silk screen on the Cube Black are flipped (CAN1 is CAN2 and vice versa).
Cube Docs (Manufacturer):
