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Toolchain Long-Term Support for Flight Controller Introduction

1. CubepPilot Cube Orange

This controller is designed to be used with domain-specific carrier boards to reduce wiring, improve reliability, and simplify assembly. For example, a carrier board for commercial inspection vehicles may include connections for companion computers, while a carrier board for racing vehicles may include ESCs for the vehicle frame. The ADS-B carrier board includes a custom 1090 MHz ADSB-In receiver from uAvionix. This provides attitude and position information for commercial manned aircraft within the Cube range. For more information, see: https://docs.px4.io/main/zh/flight_controller/cubepilot_cube_orange.html.

Cube Orange

2. RflySim Configuration

Use the software installation configuration shown in the figure below, and the hardware connection configuration shown in the lower-right figure.

Pixhawk1

  • Use the cubepilot_cubeorange_default compilation command.
  • Use "7": PX4 1.13.2 firmware.
  • Use "1": WinWSL compiler.

3. Official Firmware and Restoration

Open the QGC ground station and navigate to the following interface.

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Connect the flight controller to the computer. In the pop-up interface, select the following option to flash the firmware: cubepilot_cubeorange_default.px4

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Wait for the flashing process to complete.

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Restore the flight controller parameters to the firmware default values.

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Set the airframe to HIL Quadcopter X, scroll to the very top, and click "Apply and Restart". Wait for the restart to complete.

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Connect the remote control receiver (pay attention to the wiring sequence) and turn on the remote control. Calibrate the remote control as shown in the figure.

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Set the flight modes as shown in the figure below.

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Under Safety, enable only Hardware-in-the-Loop simulation.

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4. Launch Hardware-in-the-Loop (HIL) Simulation

After completing the above setup, close QGC. Run the "[安装目录]\桌面\RflyTools\HITLRun.lnk" script as Administrator. In the pop-up cmd dialog box, enter the flight controller's port number (e.g., 4).

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Wait until the bottom-left corner of CopterSim displays: PX4: GPS 3D fixed & EKF initialization finished.

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Unlock via channel CH5 on the remote control, then take off and control the aircraft flight.

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