# Hex Cube Black (FMUv3)

:::warning PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues. :::

:::tip The [Cube Orange](https://px4.gitbook.io/px4-user-guide/drone_parts/flight_controller/autopilot_manufacturer_supported/cubepilot_cube_orange) is the successor to this product. We recommend however to consider products built on industry standards, such as the [Pixhawk Standards](https://px4.gitbook.io/px4-user-guide/drone_parts/flight_controller/autopilot_pixhawk_standard). This flight controller is not following the standard and uses a patented connector. :::

The [Hex Cube Black](http://www.proficnc.com/61-system-kits2) 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](https://pixhawk.org/) **FMUv3** open hardware design and runs PX4 on the [NuttX](https://nuttx.apache.org/) OS.

![Cube Black](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-1f0d2269bd4ffa97b0a586d3fa22e657e9b9a7bd%2Fcube_black_hero.png?alt=media)

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](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview) contain detailed information, including an overview of the [Differences between Cube Colours](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours). :::

:::tip This autopilot is [supported](https://px4.gitbook.io/px4-user-guide/drone_parts/flight_controller/autopilot_pixhawk_standard) by the PX4 maintenance and test teams. :::

## Key Features

* 32bit STM32F427 [Cortex-M4F](http://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4)® 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

## Where to Buy

[Cube Black](http://www.proficnc.com/61-system-kits) (ProfiCNC)

## Assembly

[Cube Wiring Quickstart](https://px4.gitbook.io/px4-user-guide/assembly/quick_start_cube)

## Specifications

### Processor

* 32bit STM32F427 [Cortex M4](http://en.wikipedia.org/wiki/ARM_Cortex-M#Cortex-M4) core with FPU
* 168 MHz / 252 MIPS
* 256 KB RAM
* 2 MB Flash (fully accessible)
* 32 bit STM32F103 failsafe co-processor

### Sensors

* TBA

### Interfaces

* 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

### Power System and Protection

* 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

### Voltage Ratings

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.

#### Normal Operation Maximum Ratings

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)

#### Absolute Maximum Ratings

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)

## Pinouts and Schematics

Board schematics and other documentation can be found here: [The Cube Project](https://github.com/proficnc/The-Cube).

## Ports

### Top-Side (GPS, TELEM etc)

![Cube Ports - Top (GPS, TELEM etc) and Main/AUX](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-5c7c49999f2c4cf3142b1ca8257ac4bdc5a44002%2Fcube_ports_top_main.jpg?alt=media)

### Serial Port Mapping

| UART   | Device     | Port                  |
| ------ | ---------- | --------------------- |
| 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 |                       |

### Debug Ports

![Cube Debug Ports](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-6431b86ef6cbd611c8dbfde0c972282fe4270d13%2Fcube_ports_debug.jpg?alt=media)

### USB/SDCard Ports

![Cube USB/SDCard Ports](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-b34bf8e95a6a6493379e0ccc7e3ce0ba04d55929%2Fcube_ports_usb_sdcard.jpg?alt=media)

## 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](https://px4.gitbook.io/px4-user-guide/development/getting_started/building_px4) for this target:

```
make px4_fmu-v3_default
```

## Issues

CAN1 and CAN2 silk screen on the Cube Black are flipped (CAN1 is CAN2 and vice versa).

## Further Information/Documentation

* [Cube Wiring Quickstart](https://px4.gitbook.io/px4-user-guide/assembly/quick_start_cube)
* Cube Docs (Manufacturer):
  * [Cube Module Overview](https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview)
  * [Cube User Manual](https://docs.cubepilot.org/user-guides/autopilot/the-cube-user-manual)
  * [Mini Carrier Board](https://docs.cubepilot.org/user-guides/carrier-boards/mini-carrier-board)