text: (window.webpackJsonp=window.webpackJsonp||[]).push([[286],{2496:function(t,e,r){"use strict";r.r(e);var a=r(18),o=Object(a.a)({},(function(){var t=this,e=t.$createElement,a=t._self._c||e;return a("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[a("h1",{attrs:{id:"hex-cube-black-flight-controller"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#hex-cube-black-flight-controller"}},[t._v("#")]),t._v(" Hex Cube Black Flight Controller")]),t._v(" "),a("div",{staticClass:"custom-block warning"},[a("p",{staticClass:"custom-block-title"},[t._v("PX4 does not manufacture this (or any) autopilot. Contact the [manufacturer](https://cubepilot.org/#/home) for hardware support or compliance issues.")])]),t._v(" "),a("div",{staticClass:"custom-block tip"},[a("p",{staticClass:"custom-block-title"},[t._v("提示")]),t._v(" "),a("p",[t._v("The "),a("RouterLink",{attrs:{to:"/zh/cubepilot_cube_orange.html"}},[t._v("Cube Orange")]),t._v(" is the successor to this product. We recommend however to consider products built on industry standards, such as the "),a("RouterLink",{attrs:{to:"/zh/flight_controller/autopilot_pixhawk_standard.html"}},[t._v("Pixhawk Standards")]),t._v(". This flight controller is not following the standard and uses a patented connector.")],1)]),t._v(" "),a("p",[t._v("The "),a("a",{attrs:{href:"http://www.proficnc.com/61-system-kits2",target:"_blank",rel:"noopener noreferrer"}},[t._v("Hex Cube Black"),a("OutboundLink")],1),t._v(" flight controller (previously known as Pixhawk 2.1) is a flexible autopilot intended primarily for manufacturers of commercial systems. It is based on the "),a("a",{attrs:{href:"https://pixhawk.org/",target:"_blank",rel:"noopener noreferrer"}},[t._v("Pixhawk-project"),a("OutboundLink")],1),t._v(" "),a("strong",[t._v("FMUv3")]),t._v(" open hardware design and runs PX4 on the "),a("a",{attrs:{href:"http://nuttx.org",target:"_blank",rel:"noopener noreferrer"}},[t._v("NuttX"),a("OutboundLink")],1),t._v(" OS.")]),t._v(" "),a("p",[a("img",{attrs:{src:r(344),alt:"Cube Black"}})]),t._v(" "),a("p",[t._v("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.")]),t._v(" "),a("p",[t._v("Cube includes vibration isolation on two of the IMU's, with a third fixed IMU as a reference / Backup.")]),t._v(" "),a("div",{staticClass:"custom-block note"},[a("p",{staticClass:"custom-block-title"},[t._v("注解")]),t._v(" "),a("p",[t._v("The manufacturer "),a("a",{attrs:{href:"https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview",target:"_blank",rel:"noopener noreferrer"}},[t._v("Cube Docs"),a("OutboundLink")],1),t._v(" contain detailed information, including an overview of the "),a("a",{attrs:{href:"https://docs.cubepilot.org/user-guides/autopilot/the-cube-module-overview#differences-between-cube-colours",target:"_blank",rel:"noopener noreferrer"}},[t._v("Differences between Cube Colours"),a("OutboundLink")],1),t._v(".")])]),t._v(" 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high-power compatible)")]),t._v(" "),a("li",[t._v("Abundant connectivity options for additional peripherals (UART, I2C, CAN)")]),t._v(" "),a("li",[t._v("Integrated backup system for in-flight recovery and manual override with dedicated processor and stand-alone power supply (fixed-wing use)")]),t._v(" "),a("li",[t._v("Backup system integrates mixing, providing consistent autopilot and manual override mixing modes (fixed wing use)")]),t._v(" "),a("li",[t._v("Redundant power supply inputs and automatic failover")]),t._v(" "),a("li",[t._v("External safety switch")]),t._v(" "),a("li",[t._v("Multicolor LED main visual indicator")]),t._v(" "),a("li",[t._v("High-power, multi-tone piezo audio indicator")]),t._v(" "),a("li",[t._v("microSD card for high-rate logging over extended periods of time")])]),t._v(" "),a("p",[a("span",{attrs:{id:"stores"}})]),t._v(" "),a("h2",{attrs:{id:"在哪里买"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#在哪里买"}},[t._v("#")]),t._v(" 在哪里买")]),t._v(" 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The three rails are: Power module input, servo rail input, USB input.")]),t._v(" "),a("h4",{attrs:{id:"正常运行最大额定值"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#正常运行最大额定值"}},[t._v("#")]),t._v(" 正常运行最大额定值")]),t._v(" "),a("p",[t._v("Under these conditions all power sources will be used in this order to power the system")]),t._v(" "),a("ul",[a("li",[t._v("Power module input (4.8V to 5.4V)")]),t._v(" "),a("li",[t._v("Servo rail input (4.8V to 5.4V) "),a("strong",[t._v("UP TO 10V FOR MANUAL OVERRIDE, BUT AUTOPILOT PART WILL BE UNPOWERED ABOVE 5.7V IF POWER MODULE INPUT IS NOT PRESENT")])]),t._v(" "),a("li",[t._v("USB power input (4.8V to 5.4V)")])]),t._v(" "),a("h4",{attrs:{id:"绝对最大额定值"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#绝对最大额定值"}},[t._v("#")]),t._v(" 绝对最大额定值")]),t._v(" "),a("p",[t._v("Under these conditions the system will not draw any power (will not be operational), but will remain intact.")]),t._v(" "),a("ul",[a("li",[t._v("Power module input (4.1V to 5.7V, 0V to 20V undamaged)")]),t._v(" "),a("li",[t._v("Servo rail input (4.1V to 5.7V, 0V to 20V)")]),t._v(" "),a("li",[t._v("USB power input (4.1V to 5.7V, 0V to 6V)")])]),t._v(" "),a("h2",{attrs:{id:"引脚和原理图"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#引脚和原理图"}},[t._v("#")]),t._v(" 引脚和原理图")]),t._v(" "),a("p",[t._v("Board schematics and other documentation can be found here: "),a("a",{attrs:{href:"https://github.com/proficnc/The-Cube",target:"_blank",rel:"noopener noreferrer"}},[t._v("The Cube Project"),a("OutboundLink")],1),t._v(".")]),t._v(" "),a("h2",{attrs:{id:"ports"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#ports"}},[t._v("#")]),t._v(" Ports")]),t._v(" "),a("h3",{attrs:{id:"top-side-gps-telem-etc"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#top-side-gps-telem-etc"}},[t._v("#")]),t._v(" Top-Side (GPS, TELEM etc)")]),t._v(" "),a("p",[a("img",{attrs:{src:r(333),alt:"Cube Ports - Top (GPS, TELEM etc) and Main/AUX"}})]),t._v(" "),a("p",[a("span",{attrs:{id:"serial_ports"}})]),t._v(" "),a("h3",{attrs:{id:"serial-port-mapping"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#serial-port-mapping"}},[t._v("#")]),t._v(" Serial Port Mapping")]),t._v(" "),a("table",[a("thead",[a("tr",[a("th",[t._v("UART")]),t._v(" "),a("th",[t._v("设备")]),t._v(" "),a("th",[t._v("Port")])])]),t._v(" "),a("tbody",[a("tr",[a("td",[t._v("USART1")]),t._v(" "),a("td",[t._v("/dev/ttyS0")]),t._v(" "),a("td")]),t._v(" "),a("tr",[a("td",[t._v("USART2")]),t._v(" "),a("td",[t._v("/dev/ttyS1")]),t._v(" "),a("td",[t._v("TELEM1 (flow control)")])]),t._v(" "),a("tr",[a("td",[t._v("USART3")]),t._v(" "),a("td",[t._v("/dev/ttyS2")]),t._v(" "),a("td",[t._v("TELEM2 (flow control)")])]),t._v(" "),a("tr",[a("td",[t._v("UART4")]),t._v(" "),a("td",[t._v("/dev/ttyS3")]),t._v(" "),a("td",[t._v("GPS1")])]),t._v(" "),a("tr",[a("td",[t._v("USART6")]),t._v(" "),a("td",[t._v("/dev/ttyS4")]),t._v(" "),a("td",[t._v("PX4IO")])]),t._v(" "),a("tr",[a("td",[t._v("UART7")]),t._v(" "),a("td",[t._v("/dev/ttyS5")]),t._v(" "),a("td",[t._v("CONSOLE")])]),t._v(" "),a("tr",[a("td",[t._v("UART8")]),t._v(" "),a("td",[t._v("/dev/ttyS6")]),t._v(" "),a("td")])])]),t._v(" "),a("h3",{attrs:{id:"debug-ports"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#debug-ports"}},[t._v("#")]),t._v(" Debug Ports")]),t._v(" "),a("p",[a("img",{attrs:{src:r(334),alt:"Cube Debug Ports"}})]),t._v(" "),a("h3",{attrs:{id:"usb-sdcard-ports"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#usb-sdcard-ports"}},[t._v("#")]),t._v(" USB/SDCard Ports")]),t._v(" "),a("p",[a("img",{attrs:{src:r(335),alt:"Cube USB/SDCard Ports"}})]),t._v(" "),a("h2",{attrs:{id:"编译固件"}},[a("a",{staticClass:"header-anchor",attrs:{href:"#编译固件"}},[t._v("#")]),t._v(" 编译固件")]),t._v(" "),a("div",{staticClass:"custom-block tip"},[a("p",{staticClass:"custom-block-title"},[t._v("提示")]),t._v(" "),a("p",[t._v("Most users will not need to build this firmware! 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