CubePilot-The Cube Autopilot, GNSS Module, HD Video Transmission System and Accessories for UAVs

Cubepilot Logo 2 - CubePilot-The Cube Autopilot, GNSS Module, HD Video Transmission System and Accessories for UAVs

CubePilot - The Cube Autopilot, GNSS Module, HD Video Transmission System and Accessories for UAVs

CubePilot Pty Ltd. is an Australian company jointly run by leading drone technology suppliers HexAero and ProfiCNC. (HexAero PTE. LTD. is Australian owned and headquartered in Singapore; ProfiCNC Pty Ltd. is Australian owned).

CubePilot is a pioneering hardware and software ecosystem for UAVs (Unmanned Aerial Vehicles) and other unmanned systems. Based on an open-source architecture, CubePilot’s evolving drone autopilot solutions and accessories offer a wide range of applications for the commercial and industrial drone markets.


Cube Orange – Open-Source Autopilot

Autopilot control system for drones and unmanned vehicles

Cube Orange is an advanced open source autopilot for drones and robotic vehicles. Based on an ARM Cortex M7 CPU and M3 coprocessor, the compact and lightweight unit features triple redundant temperature-stabilized and vibration-resistant IMUs (Inertial Measurement Units). It is ideal for a variety of unmanned systems, including fixed-wing and multi-rotor UAVs, UGVs (Unmanned Ground Vehicles), USVs (Unmanned Surface Vessels) and UUVs (Unmanned Underwater Vehicles).


The system includes an ADS-B carrier board with an integrated uAvionix 1090 MHz receiver for enhanced situational awareness. This ADS-B capability allows drones to receive information from commercial aircraft in the surrounding airspace, improving safety and providing effective detect and avoid (DAA) capabilities.


The Cube Orange autopilot can be easily connected to customised carrier boards, allowing it to support specific unmanned vehicle applications, and supports Ardupilot and PX4 open source flight controller firmware.

The unit’s PWM output supports switching between 3.3V and 5V signal levels for universal compatibility with external peripherals.


The Cube autopilot is also available in a range of variants – see below for the specifications.

 Cube OrangeCube Blue H7Cube Purple H7Cube Yellow
I/O PWM Voltage3.3V/5V software selectable
Temp. RegulationYESYESNOYES

The Cube Orange+ Standard Set(ADS-B Carrier Board)


Pixhawk orange cube plus the ADS-B carrier board equipped with a high performance dual-core H7 processor, the H7 uses Cortex M7 double precision processor, 400MHz CPU, Cortex M4 running at 200mhz, 2 MB Flash, 1 MB RAM, this dual-core architecture provides a high performance and stable solution for flight.Carrier Board integrated uAvionix 1090MHz ADS-B receiver, allowing the software to receive information about the location of manned aircraft in the area, that effectively improve the flight safety of UAV. Compatible with ArduCopter, ArduPlane and ArduRover flight control software. It is an open source flight controller which also is the upgraded version of Pixhawk 2.1 Cube Black.

The new Orange+ Flight controller

  1. Equipped with a high-performance dual-core H7 processor(STM32H757 Dual Core M7+M4).
  2. Upgraded triple redundant IMU sensors for extra redundancy.
  3. Two sets of IMU are vibration-isolated mechanically, reducing the effect of frame vibration to state estimation.
  4. IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs.
  5. The entire flight management unit(FMU) and inertial management unit(IMU) are housed in a relatively small form factor (a cube).
  6. Fully Cubepilot Carrier Board compatible, all inputs and outputs go through a 80-pin DF17 connector, allowing a plug-in solution for manufacturers of commercial systems.
  7. Manufacturers can design their own carrier boards to suit their specific needs now and in the future. It is an open source flight controller which also is the upgraded version of Pixhawk 2.1 Cube Black. It uses the new STM32H7 chip, which is 4 times faster than the SMT32F4 in the Black Cube. Also, some sensors in the Pixhawk Cube Orange+ are much better than those in Cube Black. Cube orange+ can only be used with APM firmware, although the Cube black can be used with both APM and PX4 firmware.

The Cube Orange+

  • The Cube Orange+ target to education, drones lovers and professional cost-effective drone hardware providers.
  • The new generation of more powerful H7 processor, stronger performance, faster, more secure,
  • triple-redundant sensors, temperature control shock absorption IMU.
  • With the help of flight software, The Cube Orange+ can completely fly any remotely controlled aircraft, helicopter or multi-rotor vehicle and turn it into a more professional UAV platform.
  • Pixhawk Cube Orange+ (ADS-B Carrier Board)
  • Features a 1090 MHz ADS-B receiver from uAvionix
  • Previously known as Pixhawk 2.1
  • Automatically avoids aircrafts
  • Is integrated into the new ADS-B carrier board
The ADS-B Carrier Board
  • A standard carrier board with an integrated 1090MHz ADS-B receiver allowing the software to receive information about the location of manned aircraft in the area.
  • Receives information such as position, altitude, speed, etc. which can all be viewed in Mission Planner.
  • Through settings, you can optionally set up your cube to allow the vehicle to automatically avoid aircraft that are within an exclusion zone set by you
Cube Orange+ main Features
  • Built-in IMU Heating system, allowing flights at extreme temperature (below freezing)
  • Robust DF17 Interface connectors give enhanced drop and shock resistance
  • Airframes: VTOL, Plane, Multi-copter, Traditional Heli, Rover, Boat, Sub, General Robotics
  • Single board, high performance integrated flight controller
  • Increased reliability and reduced integration complexity
  • Improved sensor performance
  • Best ease-of-use in open-source world
  • Enough I/O for any application
  • Improved microcontroller resources
Key Features
  • 32bit STM32H757 Dual Core M7+M4(Flash 2MB, RAM 1MB)
  • 32 bit STM32F100 failsafe coprocessor
  • 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)
  • High-powered piezo buzzer driver. (On expansion board)
  • High-power RGB LED. (I2C driver compatible Connected externally only)
  • Safety switch / LED.
  • microSD card for high-rate logging over extended periods of time


Open-source drone platform for research & education

The Ardubee is an open-source miniature drone development platform that is compatible with the CubePilot Ecosystem and incorporates the same H7 MCU flight controller as the Cube autopilot.

Based on the ArduPilot open–source drone autopilot firmware, the compact modular platform features a dual-core wifi module, IMU, compass, barometer, GPS and other high-quality electronic components. Ideal for STEM education, research, and swarming drone light shows, it can also be used to develop other unmanned vehicles including UGVs, USVs and UUVs.



ESC (electronic speed controller)AM32
IMUICM42688-P & ICM20948
Battery1 or 2 li-ion 18650
GPSu-blox M10
CameraOV2640 2 megapixel
External connectionsUSB, 3.3V and 5V power, 2x PWM/servo, 2x serial, 2x CAN, 1x SPI, 1x I2C

Here3 – RTK-enabled GNSS Module

RTK-GNSS positioning for UAVs and robotics


The Here3 is an RTK-enabled GNSS module providing high-precision positioning for drones and robotics down to centimetre-level. Based around the u-blox M8P GNSS chipset and an ARM Cortex CPU running a real-time operating system (RTOS), the lightweight module is enclosed in a dust-and water-resistant housing and features an integrated magnetometer and compass.

The compact drone GPS module has been designed around an in-house developed fully-supported software framework for enhanced reliability and extendability.

The system architecture uses CAN protocol for higher data rates, noise immunity and real-time capabilities.



Dimensions76 x 76 x 16.6 mm
Weight48.8 g
GNSS ConstellationsGPS L1C/A
BeiDou B1I
Max Update Rate8 Hz
Positioning Accuracy3D FIX: 2.5m
RTK: 0.025m

Hex and ProfiCNC are proud to introduce the Here 3 Precision GNSS solution into the CubePilot product line-up.The Here3 Brings the world of RTK to everyone.

Here 3 is our Base model GPS, it joins the HerePro which is our flagship GPS model,and replaces the Here, Here 2, Here +, and Here+ V2.

Featuring the M8P GNSS module from Ublox, along with a ProfiCNC designed RF
section, CANBUS Solution, and a new case, the next generation of the Here family steps up performance, slashes price, and sets a new baseline for GNSS solutions in the Robotics industry.

RTK Float mode is available as soon as it receives valid RTCM 3 messages, these can be provided by free NTRIP servers in many countries, or these can be supplied via mission planner and any RTK base station that is capable of producing these RTCM 3 messages. (Here+ Base, or HerePro are capable of this.)

With a standalone accuracy of 2.5m, RTK accuracy to 0.025m, precision is now in reach of everyone.Here 3 will function at 160,000Ft, and up to 1,800 kph with a velocity accuracy of 0.05m/s making it suitable for all UAS applications.

Applications include, UGV, USV, UAS, for all types of industrial uses as well as precision swarming activities.

Here 3+ with iStand CAN GNSS


The Here3+ jumps to the Dual core STM32H757 running at 400MHz with 2MByte Flash, and 1MByte RAM. Supports future firmware updates. Support from ground control software. Future updates will be available from Mission Planner. Built-in Inertial Measurement Unit (compass, gyroscope, and accelerometer), for advanced navigation needs.

A comprehensive solution, Built-in RM3100 magnetometer, ICM42688P 6DOF gyroscope and accelerometer, for enhanced navigation. Fully capable of running ArduPilot onboard.

Here 3+ GPS GNSS is a high precision GNSS system that supports RTK mode, built with DroneCAN protocol. It is also designed to be dust-proof and splash-proof up to a certain limit. Equipped with STM32H757 processor, it provides faster processing speed and better reliability GNSS receiver, and provides GPS position hold capability. Hex Here3 Plus GPS unit module (M8P) is an upgraded version of drone GPS based on Here 2 GNSS GPS (M8N) unit, Here3 Plus GPS is compatible with Pixhawk 2.1 and most of the other open-source flight controllers.

Here3+ is one of the smallest, lightest and most power efficient RTK module available on the market. In addition to the size and cost advantage, this module has an industry-leading navigation sensitivity of -167dBm. Using integrated real time kinematics (RTK) give you centimeter accurate positioning through concurrent reception of up to 3 GNSS at the same time (GPS, Galileo, GLONASS , BeiDou ).

  • Cost-efficient high precision and RTK supported GNSS chip (For using the GPS RTK function, base station is needed). Positioning accuracy down to centimeter-level in an ideal environment.
  • Brand new design with improved visibility on signal LEDs. Better dust and water resistance (Not guaranteed to be water-proof under any situation due to the complexity of the operating environment).
  • The high data rate, upgradeability , noise immunity, and real-time features benefited from CAN protocol
  • Equipped with STM32H757 high-performance processor in a real-time operating system. The framework developed by Hex provides additional stabilities . Supports future firmware updates.
  • Support from ground control software. Future updates will be available from Mission Planner.
  • Built-in a complete set of Inertial Measurement Unit (compass, gyroscope, and accelerometer), which satisfy advanced navigation needs.

For a complete RTK solution, you will need Here 3 RTK Base

Hardware Specifications Comparison
ModelHere 3Here3+
Receiver Typeu-blox high precision GNSS modules (M8P-2)u-blox high precision GNSS modules (M8P-2)
Satellite ConstellationGPS L1C/A, GLONASS L1OF, BeiDou B1IGPS L1C/A, GLONASS L1OF, BeiDou B1I
Positioning accuracy3D FIX: 2.5 m / RTK: 0.025 m3D FIX: 2.5 m / RTK: 0.025 m
IMU sensorICM20948ICM42688,RM3100
Navigation Update Rate8 Hz8 Hz
Communication ProtocolDroneCAN 1Mbit/sDroneCAN 8Mbit/s
Operating Temperature-40℃ to 85℃-40℃ to 85℃

More information: Here3+ – RTK-enabled GNSS Module

Here4 Multiband RTK GNSS

Cubepilot Here 4 RTK GNSS Integrates CubelD for DronelD compliance and provides additional features for those keen to experiment, like onboard PWM. Barometer, Space hardened Mag and a full IMU solution,Here4 redefines what to expect from a GPS.

Here4 Multiband RTK GNSS Features

  • Equipped with u-blox NEO-F9P L1/L5 RTK multi-constellation GNSS module
  • Built-in STM32H757 dual-core processor, combination of RM3100 magnetic compass and ICM42688 Accelerometer
  • With flight control and navigation functions.
  • DRONECAN FD communication protocol

More information: Cubepilot Here4 Multiband RTK GNSS

HerePro High Precision Multi-band RTK Navigation



HerePro is a professional High Precision Multi-band RTK Navigation module. It supports various GNSS options such as BeiDou, Galileo, GLONASS, GPS, QZSS. Connecting 2 HerePro modules, as base and rover respectively, can complete a precise Multi-band Multi-GNSS RTK system. The HerePro rover and base are identical in both software and hardware. Parameter setting is the only distinction.

HerePro uses multi-frequency DGNSS signals with advanced algorithms to converge on an RTK Fix in seconds, achieving more reliable centimeter level positioning.


1. Equipped with u-blox F9P, a professional high precision Multi-band RTK navigation module.

2. Powerful processing performance provided by built-in STM32H753 chip. It offers real-time processing and data optimization, and Unmanned Industry standard AP_Periph Firmware. Supports over CAN or USB firmware updates.

3. The tailor-made multi-band antenna from Taoglass supports L1, L2, and E5 frequencies. It features high gain, high sensitivity, and high stability.

4. HerePro base supports both fixed and moving base mode, selectable for different scenarios to maximize performance.

5. HerePro is a base and rover 2-in-1 Functionality switching can be easily done by parameter settings.

6. HerePro uses multi-frequency DGNSS signals with advanced algorithm allowing fast convergence to an RTK Fix, achieving more reliable and stable centimeter level positioning.

7. HerePro module is 15 x 78mm and 101g.

8. 6 – 40V dual and wide range input. Compatible with different voltage levels.Redundant power input for improved safety

9. Circular LED ring embedded with ProfiLEDs. Built-in multiple display modes for notification or navigation signals. Display modes can be selected according to specific scenarios via parameters or onboard Lua Scripting.

10. CAN FD, real time, and high transmission rate.

11. Built-in 9-axis IMU. Through future firmware updates, HerePro can achieve tightly coupled DGNSS-INS-fusing solutions.


Receiver type184-channel u-blox F9P
GNSS systemsBeiDou, Galileo, GLONASS, GPS, QZSS
Maximum GNSS systems4
Navigation update rateUp to 20 Hz for RTK
Horizontal and vertical accuracyRTK 0.01m +1ppm CEP
Heading accuracy0.4 degrees
PVT horizontal positioning accuracy1.5m CEP
Maximum altitude50,000 m
Maximum speed500 m/s
Convergence timeRTK < 10s
AcquisitionCold starts 24s
 Aided starts 2s
 Reacquisition 2s
SensitivityTracking & Navigation: –167 dBm
 Cold starts: –148 dBm
 Hot starts: –157 dBm
 Reacquisition: –160 dBm
AntennaMulti-band dual antenna
TimepulseConfigurable from 0.25hz to 10mhz
ProtocolsNMEA、UBX binary、RTCM 3.3
Anti-jammingActive CW detection and removal
 Onboard band pass filter
Anti-spoofingAdvanced anti-spoofing algorithms
Power (XT30)x2
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USB / GPIOx1 / x2
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SD card16G
Input voltage6 V – 40 V (maximum 60V)
Working Temperature-40 °C to +85 °C
Size15 x 78 mm
Weight101g(without cable)

More information: HerePro Multiband RTK GNSS

Herelink – HD Video Transmission System

UAV ground controller with HD video


The Herelink is a compact handheld drone ground controller providing smooth, low-latency HD video transmission over long distances. With a range of up to 20 km, it supports video formats of 720p at 30 fps and 1080p at 30 or 60 fps. The controller includes detachable directional and omnidirectional antennas, and both an integrated GPS antenna and an interface for external antennas.

The UAV flight controller integrates a data link unit, remote control link and video display unit into a single device. With an eight-core processor and powerful GPU, it features rapid image, video and data processing capabilities, as well as a MicroSD card slot for up to 64 GB of storage.
flight management unit - CubePilot-The Cube Autopilot, GNSS Module, HD Video Transmission System and Accessories for UAVs
The Herelink is built on customized Solex TX and QGC Ground Control Station software, with MAVlink support for the Ardupilot and PX4 open-source autopilot platforms. It supports installation of custom and OEM Android images, allowing users to customize a range of elements such as system configuration, Android applications and boot animations.
The ground controller can take advantage of Over the Air (OTA) updates via Wi-Fi, providing faster downloading and installation and reducing bandwidth usage.


Dimensions217 x 106.5 x 31 mm (controller, w/o antennas & joysticks)
78.5 x 30 x 15 mm (Air Unit, w/o antennas)
Weight516g (controller, w/ antennas)
95g (Air Unit, w/ antennas)
Power Consumption<4W average (controller)
<4W (Air Unit)
Transmission RangeFCC 20 km
CE/SRRC 12 km
LatencyMin 110ms
Frequency Band2.4GHz ISM
Signal Bandwidth20MHz/10MHz

HereLink V1.1 – HD Video Transmission System

UAV ground controller with HD video


Herelink HD Digital Video Transmission System V1.1 is one of the most accessible and simplest ways of integrating a HD video & data transmission and remote controller ground station into your drone. Brought to you by CubePilot Hex Technology and ProfiCNC, the team who brought you Pixhawk and The Cube GPS system.

The Herelink Air Unit 1.1 Integrates a data link unit, remote control link, and video display unit into a single device, making a complex device system integrated and miniaturized. 2.4GHz radio controller, data and control information, and the transmission range is up to 20km,  minimum latency of 110ms, two HDMI inputs, and supports 720p 30fps, 1080p 30fps / 60fps video format. The Air Unit uses between 7-12v input power and has a single UART for connection to the flight controller or other Mavlink accessories. Now updated with Sd Card Slot and Ethernet port. 

The Herelink Controller 1.1 is a  2.4GHz radio controller with a 5.5″ screen displays a multitude of control options that allows users to get long-range HD video, telemetry, and control link up to a whopping 20km. It uses the 2.4GHz band on LTE over WIFI. This allows maximum transmission distance. Purported to have a range of 20km in FCC and 12km in CE. The large 5.5″ screen displays a multitude of control options such as live images, autopilot configuration through the native QGround control, or other GCS applications based on the Mavlink system. Both the Air Unit and the Radio Controller are equipped with powerful Pinecone S1 processors with 4 cores at 2.2GHz and 4 more additional cores at 1.4GHz. This allows for tons of possibilities for app usage and future development. Now updated with a brighter screen at 1000 nit.


Herelink V1.1 updated points:

1. Screen brightness of controller is improved up from 600nit to 1,000nit.
2. Ethernet port added on the Herelink air unit
3. SD card slot added on the Herelink air unit
4. New Herelink v1.1 package separated into 2 boxes, 1 for air unit and 1 for control unit

Note: Please use the latest version of flasher_win to upgrade your HereLink1.1 controller and HereLink1.1 airunit firmware. (


  • Herelink HD Long Range Video Transmission & Controller System
  • Android based smart device with 5.46 inch 1080P capacitive touch screen.
  • PineSync Technology based on S1 Processor
  • Integrated digital transmission system simultaneously transmitting video, telemetry and control.
  • Custom Solex TX and QGC ground station software with MAVlink support for Ardupilot and PX4.
  • Dual hall effect self centering gimbals with removable sticks.
  • 1080P HD video with dual digital video inputs.
  • Dual S.bus signal output for simultaneous control of autopilot and pan/tilt cameras.
  • 6 customizable Mavlink buttons and Mavlink/Sbus hardware wheel.
  • RC gimbal control on dedicated service independent from Solex TX / QGC.
  • Tether and share video and telemetry via wifi ground station such as Mission Planner.
  • For developers: the possibility of installing custom applications and custom images and logos
  • OTA updates (Other The Air – wireless)


Air Unit and Controller hardware information:
  • Processor: SoC – Pinecone S1 AP: 4 * large core, Cortex A53, 2.2GHz 4 * small core, Cortex A53, 1.4GHz GPU: 4 core, Mali-T860 SDR: A7 + DSP Storage: Sky: LPDDR3: 1GB Ground: LPDDR3: 2GB Sky / Ground: EMMC: 4GB
  • Transmission Distance: FCC 20km CE / SRRC 12km Image transmission delay: ≤ 110ms Image transmission: 720p@30fps 1080p@30 / 60fps transmission
  • Frequency Band: 2.4GHz ISM Receive sensitivity: -99dBm@20MHz BW Interference recovery: < 1s
  • FCC ID: 2A596-HX406210
  • IC: 28413-HX406210
Air Unit v1.1
  • New Herelink HD Long Range Video Transmission & Controller System features a Mainboard + video daughterboard + RF daughterboard. The Video daughterboard is designed for bridging an HDMI signal input.
  • The RF daughterboard is designed for transceiver transmission RF signal. You can use the M2 (E) connector to connect the daughterboard with the main board.
  • Size: 78.5 * 30 * 13mm
  • Micro HDMI * 2: Input for external camera video signals
  • 2 Pin interface * 1:7V-12V power input interface.and avoid sharing BEC with servos.
  • 3 Pin interface * 1:3.3V level UART interface
  • 4 Pin interface * 1: Two 3.3V level RC output connectors (S.bus in phase, S.bus inverting or PPM signal output, ground terminal control)
  • Micro USB * 1: for debugging upgrades, support OTG mode
  • Button * 1: Used for pairing and state reset
  • Indicator * 2: used to indicate the frequency and picture status
  • ETH Interface * 1(only supported by Air unit 1.1: Network protocol device access
  • MMCX antenna jack * 2: used for signal transmission and ground communication
  • SD Slot(only supported by Air unit 1.1: For future usage
  • Signal bandwidth: 20MHz / 10MHz
  • Power consumption: the average power consumption of the single-sided module is less than 4W
  • Model: Herelink Air Unit 1.1
Controller v1.1
  • Housing: plastic
  • Dimensions: 217 * 106.5 * 31mm (the whole machine does not contain external antenna and rocker)
  • Screen: 5.46 inch, 1080P,  1000nit,16 million colors, capacitive touch screen
  • Audio: Built-in speaker * 1, built-in microphone * 2
  • Remote control: rocker * 2, scroll wheel * 1, bottom button * 6, with backlight, top button * 1 (right)
  • Communication : BT / WIFI / GPS 2.4G map transmission ground
  • Indicator light: Top tri-color lamp * 2 (left, right)
  • Interface: Micro USB * 1, Micro SD * 1 (supports maximum 64G expansion)
  • Antenna: Orientation (5dBi) * 1 detachable, omnidirectional (2dBi) * 1 detachable
  • Built-in Wi-Fi antenna, built-in GPS antenna, external GPS antenna interface
  • Power: Built-in 4950 mAh Lipo Battery
  • Charging: Support micro USB port 5v 2A current charging
  • Power consumption: The average power consumption does not exceed 4W (only picture transmission work, medium screen brightness, Wi-Fi off, GPS off)

HereFlow – Optical Flow Sensor

Optical flow sensor for UAV navigation

The HereFlow is a drone navigation solution incorporating a time-of-flight LiDAR sensor, an optical flow camera and a six-degree-of-freedom IMU. Weighing just 1 gram, the ultra-low-SWaP board is ideal for aiding UAV precision landing as well as navigation in GNSS-denied environments such as indoor facilities, tunnels and under bridges.

The HereFlow can be conveniently installed at any node in a CAN bus, providing protection against signal noise, superior anti-interference capabilities, real-time operations and high-performance error handling.


Dimensions28.8 x 9.5 mm
Optical Flow Sensor FOV42 degrees
Optical Flow Sensor Range80mm to infinity
Optical Flow Sensor Max Movement Speed7.4 rad/s
LiDAR Measuring FrequencyUp to 50 Hz
LiDAR FOV27 degrees
LiDAR Max Distance2 m


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