CubePilot The Blue Cube H7 is identical to the Orange Cube but is fully manufactured in the USA. It features a state of the art IMU and an STM32H753 processor (H7 Chip). It is a best flight controller for multi-rotor/quadcopter. Compatible with ArduCopter, ArduPlane and ArduRover flight control software is an upgraded version of Pixhawk 2.1 Cube Black.
The Cube pixhawk flight controller module continues with the FMU + IO architecture from the previous generation, incorporating the two functional blocks in a single physical module.
The Cube has eight PWM outputs that are connected to IO and can be controlled by IO directly via R/C input and on-board mixing even if FMU is not active (failsafe / manual mode). Multiple update rates can be supported on these outputs in three groups; one group of four and two groups of two. PWM signal rates up to 400Hz can be supported. These 8 PWM’s are output ONLY and are capable of driving up to 50mA each, but only a total of 100mA for the 8.
Six PWM outputs are connected to FMU and feature reduced update latency. These outputs cannot be controlled by IO in failsafe conditions. Multiple update rates can be supported on these outputs in two groups; one group of four and one group of two.
PWM signal rates up to 400Hz can be supported.
All PWM outputs are EDS-protected, and they are designed to survive accidental mis-connection of servos without being damaged. The servo drivers are specified to drive a 50pF servo input load over 2m of 26AWG servo cable.
the I/O PWM outputs can also be configured as individual GPIOs. Note that these are not high-power outputs – the PWM drivers are designed for driving servos and similar logic inputs only, not relays or LEDs.
All peripherals are connected through a single 80 pin connector, and the peripherals are connected via a baseboard that can be customized for each application
The initial base board features separate connectors for each of the peripheral ports (with a few exceptions.
Five serial ports are provided. Serial 1 and 2 feature full flow control. Serial 3 is recommended as the GPS port and has the safety button and (possibly the safety led) as well as I2C for the compass and RGB LED. Serial 4 also has I2C, but on the second bus, thus allowing two compass modules to be connected at the same time. Serial 5 is available as a header underneath the board. Serial ports are 3.3V CMOS logic level, 5V tolerant, buffered and ESD-protected.
The SPI port is not buffered; it should only be used with short cable runs. Signals are 3.3V CMOS logic level, but 5V tolerant. SPI is only available to test points on the first base board, along with a CS and INT pin.
Analogue 1-3 are protected against inputs up to 12V, but scaled for 0-3.3V inputs. The RSSI input supports either PWM or analogue RSSI. This input shares a pin with S.Bus output – only one may be connected at a time.
CPPM, S.Bus and DSM/Spektrum input are unchanged from previous versions.
The CAN ports are standard CAN-Bus; termination for one end of the bus is fixed on- board. Drivers are on-board the FMU
The piezo port will drive most piezo elements in the 5 – 300nF range at up to 35V. it is intended to be extremely loud, with the achievable sound pressure level limited by the sensitivity of the piezo element being driven.
I2C is direct driven, un-buffered, and pulled up to 3.3v on-board the FMU
Serial 5 is used for the on-board ADSB-IN receiver that is featured on newer carrier boards
The Cube removes the power management from the FMU, the Servo rail is no longer the primary source of backup power for the FMU, and it leaves it there for the IO last chance failsafe.
The supply of 3.3v
Split digital and analogue power domains for FMU and sensors.
Backup power for IO in the case of FMU power supply failure.
Power management module (separate from the FMU)
Key features of The Cube power architecture:
Single, independent 5V supply for the flight controller and peripherals.
Integration with 2 power bricks or compatible alternative, including current and voltage sensing.
Low power consumption and heat dissipation.
Power distribution and monitoring for peripheral devices.
Protection against common wiring faults; under/over-voltage protection, overcurrent protection, thermal protection.
Brown-out resilience and detection.
FMU and IO Power Supplies
Both FMU and IO operate at 3.3V, and each has its own private dual-channel regulator. As in The Cube (formerly known as Pixhawk), each regulator features a power-on reset output tied to the regulator’s internal power-up and drop-out sequencing.
Power may be supplied to The Cube via USB, via the power brick port, or the second brick port. Each power source is protected against reverse-polarity connections and back-powering from other sources.
The Cube H7 series FMU + IO power budget is 550mA, including all LEDs and the Piezo buzzer. Peripheral power is limited to 2.5A total.
The increase in power budget is due to the improved heater on the cube orange
USB IS NOT RECOMMENDED IN FLIGHT ON Nuttx code
Power Brick Port
The brick port is the preferred power source for Cube, and brick power will always be selected if it is available.
The Cube supports both standard (5V) and high-voltage (up to 10V) servo power with some restrictions.
IO will accept power from the servo connector up to 10V. This allows IO to failover to servo power in all cases if the main power supply is lost or interrupted.
FMU and peripherals will NOT accept power from the servo connector.
The Cube introduces a backup power port; this is set up the same as the primary power input.
At input voltages over 5.7V power is locked out.
The Cube and peripherals combined may draw up to 2.75A total when operating on Aux power, provided that the Brick or other power source can supply the required current.
Power is never supplied by The Cube to servos.
The I/O chip takes power up to 10.5v from the servo rail; this is used to revert to manual mode in the unfortunate event that the other two main sources of power fail. This is only useful for plane, and only useful if the I/O chip has been mapped correctly.
Power from USB is supported for software update, testing and development purposes. USB power is supplied to the peripheral ports for testing purposes, however total current consumption must typically be limited to 500mA, including peripherals, to avoid overloading the host USB port.
Multiple Power Sources
When more than one power source is connected, power will be drawn from the highest-priority source with a valid input voltage.
In most cases, FMU should be powered via the power brick or a compatible off board regulator via the brick port or auxiliary power rail.
In desktop testing scenarios, taking power from USB avoids the need for a BEC or similar servo power source (though servos themselves will still need external power).
List of features The Cube
Dual Power input
This removes the option of redundancy from the Servo rail and replaces it with a dedicated second power plug
A dedicated power protection Zener diode and Fet have been added to protect from voltages over 5.6v being applied to Aux input 2
This is only on the “PRO” carrier board mini carrier board still draws the backup from the servo rail.
Dual external I2C
This allows for connection of items to either I2C port, potentially allowing two GPS / Mag units to be plugged in without the Mags conflicting.
Power monitoring pins are now routed to the I/O chip, these will allow for the logging of power events during an inflight reboot.
Brick OK, Backup OK, and FMU 3.3V are all connected to a digital pin on the I/O via a 220Ohm resister.
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