Cube Pilot Orange Cube - Weber-State-UAV-Program/Documentation-2024-2025 GitHub Wiki

The flight computer used for this project is the Cube Pilot Orange Cube Plus. The flight computer is responsible for all in flight stabilization, PWM motor outputs, and low level flight control. It houses the IMUs, Barometer, and Gyroscope, and Compass used to maintain level horizon and stable control of the drone.

It requires a 5V 2.5A power supplied via its POWER1 port.

Cube Interfaces

We are utilizing the following interfaces of the Orange Cube to facilitate flight.

Port	Purpose
CAN1	Used for the Here3 GPS interface. Configuration is done in the PX4 parameters as described here
I2C 2	Used for interfacing with the Garmin LidarLite v3 Rangefinder.
USB	Used for flashing, configuration and debugging with QGroundControl running on a computer
GPS 1	Used for the Crossfire radio telemetry and RC control over LoRa (single wire). Configuration done in PX4 parameters
GPS 2	Used for MAVLink bridge to obtain battery data from the PI. Configuration done in PX4 parameters
Telem 1	Used for the MAVLink stream TO the LoRa hardware. UART connection. Configuration done in PX4 parameters.
Telem 2	Used for the uXRCE-DDS Bridge between ROS2 on the PI and PX4. UART connection. Configuration done in PX4 parameters
Power 1	5V 2.5A Input coming from the Power Distribution Board.
MAIN OUT 1	ESC 1
MAIN OUT 2	ESC 2
MAIN OUT 3	ESC 3
MAIN OUT 4	ESC 4

INFO The pinouts for each individual port on the Orange Cube can be found here