Cube Orange+ Mini Set

Cube Orange+ Mini Set is equipped with high-performance dual-core H7 processor, H7 uses Cortex M7 double-precision processor, 400MHz CPU, Cortex M4 operating frequency 200mhz, 2 MB Flash, 1 MB RAM, this dual-core architecture provides high-performance and stable for flight solution. Compatible with ArduCopter, ArduPlane and ArduRover flight control software. The Cube Orange Mini Set is an open source flight controller and an upgraded version of Pixhawk 2.1 Cube Black.

The new Cube Orange+ Flight Controller

Equipped with a high-performance dual-core H7 processor(STM32H757 Dual Core M7+M4).
Upgraded triple redundant IMU sensors for extra redundancy.
Two sets of IMU are vibration-isolated mechanically, reducing the effect of frame vibration to state estimation.
IMUs are temperature-controlled by onboard heating resistors, allowing optimum working temperature of IMUs.
The entire flight management unit(FMU) and inertial management unit(IMU) are housed in a relatively small form factor (a cube).
Fully CubePilot Carrier Board compatible, all inputs and outputs go through an 80-pin DF17 connector, allowing a plug-in solution for manufacturers of commercial systems.
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 orange cube plus are much better than those in Cube Black.
Cubepilot Cube orange+ can only be used with APM firmware, although the Cube black can be used with both APM and PX4 firmware.
Cube Orange is an open-source autopilot and an upgraded version of the Pixhawk 2.1 Cube Black.

The Cube Orange+ (IMU V8)

The Pixhawk 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+ (Mini Carrier Board)
Previously known as Pixhawk 2.1

Mini Carrier Board

The Mini Carrier Board for the CubePilot Cube Flight Controller open source autopilot allows the user to connect it to every version of the Cube Flight Controller. Smaller size with almost the same performance as standard carrier boards.

Functionality of Carrier Board Mini:

Dual power input (for redundant power, automatic switch to another power when one fails)
Power distribution (limit the current at each connector, avoiding overloading when one device draws too large current)
Voltage protection (over or under voltage protection, the circuit will be shut down if the voltage exceeds the limit)

PPM S.bus signal and SPKT signal switching

By default, the cube purple carrier board uses PPM and S.bus in RC IN. If you want to switch it to SPKT signals, you need to solder the carrier board as shown below:

The middle solder pad of the left-hand side is shorted with 5v pin. Therefore, you need to break their connection on PCB. The middle solder pad of the right-hand side is shorted with PPM/S.B, so break their connection on PCB as well.

Solder the 3v3 solder pad with the middle solder pad at left-hand side; and solder the SPKT solder pad with the middle solder pad at right-hand side. So that RC IN port is compatible with SPKT signal.

Cube Orange+ Flight Controller applies to Keel Quadcopter, HEQ Swan Drone, Skydroid Drone, NAGA Drone, Helio Hexacopter Drone, and so on.

For more details, please check the CubePilot official doc:
https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview

Weight	0.5 kg

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The Cube Orange+ (IMU V8) Mini Set

The Cube Orange+

Flash: 2 MB
RAM: 1 MB
On-board 16 KB SPI FRAM
ICM 20649 30G integrated accelerometer / gyro
MS5611 Barometer
Connected via SPI
Micro SD interfaces via SDIO

Pixhawk Cube Orange+ Standard Set the world’s most advanced autopilot for open autonomous unmanned vehicles.Redundant, temperature controlled, isolated.

The Cube Orange+ Standard Set (Mini Carrier Board)

Working Conditions and Performance

About	Description
POWER input voltage / rated input current	4-5.7V / 2.5A; 0-20V is safe for the system but it will not work
POWER rated output / input power	14 W
USB port input voltage / rated input current	4-5.7V / 250mA
Servo rail input voltage	4-10.5V
Waterproof	Not waterproof. External waterproof protection is needed
Working temperature	-10°C / 55°C

Size and Specifications

Type	Description
Mini Carrier Board Size / Chassis Material	47.5×38.5×17.8 (mm) / ABS Molding

Cube Mini Carrier Board Interface Model

Ports	Corresponding Connecter Model
GPS1	JST-GH 1.25 mm (8-pin)
GPS2	JST-GH 1.25 mm (6-pin)
TELEM1	JST-GH 1.25 mm (6-pin)
TELEM2	JST-GH 1.25 mm (6-pin)
I2C	JST-GH 1.25 mm (4-pin)
CAN2	JST-GH 1.25 mm (4-pin)
POWER1	Molex CLIK-Mate 2 mm (6-pin)
POWER2	Molex CLIK-Mate 2 mm (6-pin)
BUZZER	DF13 1.25 mm (2-pin)

Mini Cube 80-pin DF17 Connector Assignments (same as the Cube Black)

Pin #	Name	Direction	Description
1	FMU_SWDIO	I/O	FMU serial wire debug I/O
2	FMU_LED_AMBER	O	Boot error LED (drive only, controlled by FET)
3	FMU_SWCLK	O	FMU serial wire debug clock
4	I2C_2_SDA	I/O	I2C data I/O
5	EXTERN_CS	O	Chip select for external SPI (NC, just for debugging)
6	I2C_2_SCL	O	I2C clock
7	FMU_!RESET	I	Reset pin for the FMU
8	PROT_SPARE_1		Spare
9	VDD_SERVO_IN	I	Power for last resort I/O failsafe
10	PROT_SPARE_2		Spare
11	EXTERN_DRDY	I	Interrupt pin for external SPI (NC, just for debugging)
12	SERIAL_5_RX	I	UART 5 RX (Receive Data)
13	GND		System GND
14	SERIAL_5_TX	O	UART 5 TX (Transmit Data)
15	GND		System GND
16	SERIAL_4_RX	I	UART 4 RX (Receive Data)
17	SAFETY		Safety button input
18	SERIAL_4_TX	O	UART 4 TX (Transmit Data)
19	VDD_3V3_SPEKTRUM_EN	O	Enable for the spectrum voltage supply
20	SERIAL_3_RX	I	UART 3 RX (Receive Data)
21	PRESSURE_SENS_IN	AI	Analogue port, for pressure sensor, or Laser range finder, or Sonar
22	SERIAL_3_TX	O	UART 3 TX (Transmit Data)
23	AUX_BATT_VOLTAGE_SENS	AI	Voltage sense for Aux battery input
24	ALARM	O	Buzzer PWM signal
25	AUX_BATT_CURRENT_SENS	AI	Current sense for Aux battery input
26	IO_VDD_3V3	I	IO chip power, pinned through for debugging
27	VDD_5V_PERIPH_EN	O	Enable voltage supply for Peripherals
28	IO_LED_SAFET_PROT	O	IO-LED_SAFETY(safety LED) pinned out for IRIS
29	VBUS	I	USB VBus (VDD)
30	SERIAL_2_RTS		UART 2 RTS (Request To Send)
31	OTG_DP1	I/O	USB Data+
32	SERIAL_2_CTS		UART 2 CTS (Clear To Send)
33	OTG_DM1	I/O	USB Data-
34	SERIAL_2_RX	I	UART 2 RX (Receive Data)
35	I2C_1_SDA	I/O	I2C data I/O
36	SERIAL_2_TX	O	UART 2 TX (Transmit Data)
37	I2C_1_SCL	O	I2C clock
38	SERIAL_1_RX	I	UART 1 RX (Receive Data)
39	CAN_L_2	I/O	FMU CAN bus Low signal driver
40	SERIAL_1_TX	O	UART 1 TX (Transmit Data)
41	CAN_H_2	I/O	FMU CAN bus High signal driver
42	SERIAL_1_RTS		UART 1 RTS (Request To Send)
43	VDD_5V_PERIPH_OC	I	Error state message from peripheral power supply
44	SERIAL_1_CTS		UART 1 CTS (Clear To Send)
45	VDD_5V_HIPOWER_OC	I	Error state message from High power peripheral power supply
46	IO_USART_1_TX	O	I/O USART 1 TX
47	BATT_VOLTAGE_SENS_PROT	AI	Voltage sense from main battery
48	IO_USART1_RX_SPECTRUM_DSM	O	Signal from Spectrum receiver
49	BATT_CURRENT_SENS_PROT	AI	Current sense from main battery
50	FMU_CH1_PROT	O	FMU PWM output channel 1
51	SPI_EXT_MOSI	O	External SPI, for debug only
52	FMU_CH2_PROT	O	FMU PWM output channel 2
53	VDD_SERVO	I	VDD_Servo, for monitoring servo bus
54	FMU_CH3_PROT	O	FMU PWM output channel 3
55	VDD_BRICK_VALID	I	Main power valid signal
56	FMU_CH4_PROT	O	FMU PWM output channel 4
57	VDD_BACKUP_VALID	I	Backup power valid signal
58	FMU_CH5_PROT	O	FMU PWM output channel 5
59	VBUS_VALID	I	USB bus valid signal
60	FMU_CH6_PROT	O	FMU PWM output channel 6
61	VDD_5V_IN_PROT	I	Main power (5V) into FMU from power selection
62	PPM_SBUS_PROT	I	PPM / S.Bus signal input
63	VDD_5V_IN_PROT	I	Main power (5V) into FMU from power selection
64	S.BUS_OUT	O	S.Bus signal output
65	IO_VDD_5V5	O	IO VDD 5.5 V
66	IO_CH8_PROT	O	I/O PWM output channel 8
67	SPI_EXT_MISO	I	External SPI, for debug only
68	IO_CH7_PROT	O	I/O PWM output channel 7
69	IO_SWDIO	I/O	I/O serial wire debug
70	IO_CH6_PROT	O	I/O PWM output channel 6
71	IO_SWCLK	O	I/O serial wire debug clock
72	IO_CH5_PROT	O	I/O PWM output channel 5
73	SPI_EXT_SCK	O	External SPI, for debug only
74	IO_CH4_PROT	O	I/O PWM output channel 4
75	IO_!RESET	I	I/O reset pin
76	IO_CH3_PROT	O	I/O PWM output channel 3
77	CAN_L_1	I/O	FMU CAN bus Low signal driver
78	IO_CH2_PROT	O	I/O PWM output channel 2
79	CAN_H_1	I/O	FMU CAN bus High signal driver
80	IO_CH1_PROT	O	I/O PWM output channel 1

Serial Ports Parameter and power distribution

SERIAL 1 / UART 1 | Connector： TELEM1

Pin #	Name	Direction	Voltage	Wire Color	Caption
1	VCC_5V	OUT	5 V	RED/GRAY	VCC
2	SERIAL_1_TX	OUT	3.3 V – 5.0 V TTL	YELLOW/BLACK	UART 1 TX (Transmit Data)
3	SERIAL_1_RX	IN	3.3 V – 5.0 V TTL	GREEN/BLACK	UART 1 RX (Receive Data)
4	SERIAL_1_CTS (TX)	OUT	3.3 V – 5.0 V TTL	GRAY/BLACK	UART 1 CTS (Clear To Send)
5	SERIAL_1_RTS (RX)	IN	3.3 V – 5.0 V TTL	GRAY/BLACK	UART 1 RTS (Request To Send)
6	GND		GND	BLACK	GND

SERIAL 2 / UART 2 | Connector： TELEM2

Pin #	Name	Direction	Voltage	Wire Color	Caption
1	VCC_5V	OUT	5 V	RED/GRAY	VCC
2	SERIAL_2_TX	OUT	3.3 V – 5.0 V TTL	YELLOW/BLACK	UART 2 TX (Transmit Data)
3	SERIAL_2_RX	IN	3.3 V – 5.0 V TTL	GREEN/BLACK	UART 2 RX (Receive Data)
4	SERIAL_2_CTS (TX)	OUT	3.3 V – 5.0 V TTL	GRAY/BLACK	UART 2 CTS (Clear To Send)
5	SERIAL_2_RTS (RX)	IN	3.3 V – 5.0 V TTL	GRAY/BLACK	UART 2 RTS (Request To Send)
6	GND		GND	BLACK	GND

SERIAL 3 / UART 3 (GPS) / I2C 1 | Connector： GPS1

Pin #	Name	Direction	Voltage	Wire Color	Caption
1	VCC_5V	IN	5 V	RED	VCC Power Supply To GPS From AP
3	SERIAL_3_TX	OUT	3.3 V – 5.0 V TTL	BLACK	UART 3 TX (Transmit Data)
2	SERIAL_3_RX	IN	3.3 V – 5.0 V TTL	BLACK	UART 3 RX (Receive Data)
4	I2C_1_SCL	IN	3.3 V	BLACK	I2C 1 Clock Signal
5	I2C_1_SDA	IN/OUT	3.3 V	BLACK	I2C 1 Serial Data
6	BUTTON		GND	BLACK	Signal shorted to GND on press
7	IO_LED_SAFET_PROT		GND	BLACK	LED Driver For Safety Button
8	GND		GND	BLACK	GND Connection

SERIAL 4 / UART 4 / I2C 2 | Connector： GPS2

Pin	Name	Direction	Voltage	Wire Color	Caption
1	VCC_5V	OUT	5 V	RED/GRAY	VCC Power Supply To GPS From AP
2	SERIAL_4_TX	OUT	3.3 V – 5.0 V TTL	YELLOW/BLACK	UART 4 TX (Transmit Data)
3	SERIAL_4_RX	IN	3.3 V – 5.0 V TTL	GREEN/BLACK	UART 4 RX (Receive Data)
4	I2C_2_SCL	OUT	3.3 V – 5.0 V	GRAY/BLACK	I2C 2 Clock Signal
5	I2C_2_SDA	IN	3.3 V – 5.0 V	GRAY/BLACK	I2C 2 Serial Data
6	GND		GND	BLACK	GND

Buzzer | Connector： BUZZER

Pin #	Name	Direction	Voltage	Wire Color	Caption
1	BUZZER	OUT	Battery voltage	GRAY/BLACK	VBAT (8.4 – 42 V)
2	GND		GND	BLACK	GND Connection

I2C 2 | Connector： I2C 2

Pin	Name	Direction	Voltage	Wire Color	Caption
1	VCC_5V	OUT	+5 V	RED/GRAY	Power supply
2	SCL	IN/OUT	+3.3 V (PULLUPS)	BLUE/BLACK	SCL, 5 V level, pull-up on AP
3	SDA	IN/OUT	+3.3 V (PULLUPS)	GREEN/BLACK	SDA, 5 V level, pull-up on AP
4	GND		GND	BLACK	GND Connection

Main Power POWER 1 | Connector： POWER1

Pin #	Name	Direction	Voltage	Wire Color	Caption
1	VDD_5V_BRICK	IN	5 V	RED/GRAY	Supply To AP from Power Brick
2	VDD_5V_BRICK	IN	5 V	RED/GRAY	Supply To AP from Power Brick
3	BATT_CURRENT_SENS_PROT	IN	3.3 V	BLACK	Battery Current Connecter
4	BATT_VOLTAGE_SENS_PROT	IN	3.3 V	BLACK	Battery Voltage Connecter
5	GND		GND	BLACK	GND
6	GND		GND	BLACK	GND

Backup Power POWER 2 | Connector： POWER2

Pin #	Name	Direction	Voltage	Wire Color	Caption
1	VDD_5V_BRICK	IN	5 V	RED/GRAY	Supply To AP from Power Brick
2	VDD_5V_BRICK	IN	5 V	RED/GRAY	Supply To AP from Power Brick
3	AUX_BATT_CURRENT_SENS	IN	3.3 V	BLACK	Aux Battery Current Connecter
4	AUX_BATT_VOLTAGE_SENS	IN	3.3 V	BLACK	Aux Battery Voltage Connecter
5	GND		GND	BLACK	GND Connection
6	GND		GND	BLACK	GND

CAN | Connector： CAN2

Pin #	Name	Direction	Voltage	Wire Color	Caption
1	VCC_5V	OUT	5 V	RED/GRAY	VCC Power Supply
2	CAN_H_2	IN/OUT	12 V	YELLOW/BLACK	CAN High
3	CAN_L_2	IN/OUT	12 V	GREEN/BLACK	CAN Low
4	GND		GND	BLACK	GND

IO USART 1 / DSM | Connector： SPKT

Pin #	Name	Direction	Voltage	Caption
1	IO_USART1_RX_SPECTRUM_DSM	IN		IO USART 1 RX, DSM INPUT
2	GND		GND	GND
3	VDD_3V3_Spektrum	OUT	3.3 V	Independent Power Supply

CPPM / S.BUS / SERVO SYSTEM | Connector： RCIN MAIN OUT

Pin #	Name	Direction	Voltage	Caption
S – 1	IO_CH1_PROT	OUT	3.3 V Servo Signal, Servo Rail Power	PWM Signal
S – 2	IO_CH2_PROT	OUT	3.3 V Servo Signal, Servo Rail Power	PWM Signal
S – 3	IO_CH3_PROT	OUT	3.3 V Servo Signal, Servo Rail Power	PWM Signal
S – 4	IO_CH4_PROT	OUT	3.3 V Servo Signal, Servo Rail Power	PWM Signal
S – 5	IO_CH5_PROT	OUT	3.3 V Servo Signal, Servo Rail Power	PWM Signal
S – 6	IO_CH6_PROT	OUT	3.3 V Servo Signal, Servo Rail Power	PWM Signal
S – 7	IO_CH7_PROT	OUT	3.3 V Servo Signal, Servo Rail Power	PWM Signal
S – 8	IO_CH8_PROT	OUT	3.3 V Servo Signal, Servo Rail Power	PWM Signal
S – 9	PPM_SBUS_PROT	IN/OUT	3.3 V / 4.5 V Powered	PPM / S.Bus Signal

PPM S.bus signal and SPKT signal switching

By default, the cube purple carrier board uses PPM and S.bus in RC IN. If you want to switch it to SPKT signals, you need to solder the carrier board as shown below:

The middle solder pad of the left hand side is shorted with 5v pin. Therefore, you need to break their connection on PCB. The middle solder pad of the right hand side is shorted with PPM/S.B, so break their connection on PCB as well.

Solder the 3v3 solder pad with the middle solder pad at left hand side; and solder the SPKT solder pad with the middle solder pad at right hand side. So that RC IN port is compatible with SPKT signal.