Cube Orange+ Autopilot (STM32H753VIT6)
AI Rescue Drone Platform
Overview
An industrial-tier, all-weather hybrid rescue drone built on a Tarot FY650 frame featuring NVIDIA Jetson Orin Nano AI, FLIR Boson 640 thermal imaging, and Cube Orange+ flight control for urban search and rescue.
Jaden SamarpanSystem architecture
POWER
MCU
SENSOR
MODULE
ACTUATOR
- POWER_PMIC → AUTOPILOT_CUBEPowerMain regulated 5V power supply to Cube Orange+
- POWER_PMIC → COMPANION_JETSONPowerMain regulated power supply to Jetson Orin Nano
- POWER_PMIC → COMMS_HERELINKPowerRegulated 12V power supply to Herelink Air Unit
- SENSOR_THERMAL → COMPANION_JETSONUSBThermal video stream input via USB 2.0
- SENSOR_OPTICAL → COMPANION_JETSONGPIOHigh-res optical video stream via MIPI CSI-2
- COMPANION_JETSON → AUTOPILOT_CUBEUARTMAVLink telemetry and offboard control commands via UART
- AUTOPILOT_CUBE → COMMS_HERELINKUARTMAVLink telemetry uplink/downlink
- COMPANION_JETSON → COMMS_HERELINKUSBHD video stream input to Herelink Air Unit via HDMI
- AUTOPILOT_CUBE → ACTUATOR_ESCSPIDroneCAN bus for smart ESC motor control and telemetry feedback
Bill of materials
| Part number | Type | Component | Manufacturer | Package | Qty | Datasheet | Match |
|---|---|---|---|---|---|---|---|
| T/ | POWER | Custom High-Energy Li-Ion Battery Pack with Maxim MAX77686 PMIC Provides regulated power rails (5V, 12V, 3.3V) to autopilot, companion computer, and peripherals. | Industrial Seating Inc. | — | 1 | Matched | |
13 alternatives consideredAI verified | |||||||
| Holybro Pixhawk 6X Flight Controller & PM02D Kits — Pixhawk 6X Flight Controller (without power module) | MCU | Cube Orange+ Autopilot (STM32H753VIT6) Runs ArduPilot firmware for autonomous flight control, sensor fusion, and stabilization. | Holybro | — | 1 | Matched | |
13 alternatives consideredAI verified | |||||||
| Seeed Studio reComputer J2022 - Edge AI Computer with NVIDIA® Jetson Xavier™ NX 16GB | MCU | NVIDIA Jetson Orin Nano 8GB Performs onboard AI-powered visual processing, object detection, and VIO in GPS-denied environments. | Seeed Studio | — | 1 | Matched | |
19 alternatives consideredAI verified | |||||||
| MICRO | SENSOR | FLIR Boson 640 Thermal Camera Provides thermal imaging and reconnaissance for victim search in collapsed structures. | On Semiconductor | — | 1 | Matched | |
18 alternatives consideredAI verified | |||||||
| Waveshare IMX415 8MP MIPI Camera Module 95.5deg D-FOV | SENSOR | Starlight EO Visual Camera Module Provides high-resolution visual reconnaissance feed via MIPI CSI-2. | Waveshare | — | 1 | Matched | |
12 alternatives consideredAI verified | |||||||
| DIGITAL | MODULE | Herelink HD Air Unit Handles long-range 2.4GHz HD video transmission, telemetry, and MAVLink communications up to 20 km. | OMRON | — | 1 | Matched | |
4 alternatives consideredAI verified | |||||||
| BRUSHLESS | ACTUATOR | DroneCAN Smart ESC & Brushless Motors Drive propulsion system and report motor telemetry over CAN bus. | Rohm Semiconductor | — | 4 | Matched | |
4 alternatives consideredAI verified | |||||||
Build guide
12-16 hoursAdvanced
1
Procurement & Preparation
- Unbox and inspect the Tarot FY650 frame components, carbon fiber plates, and landing gear mounts for structural integrity.
- Inventory and verify all electronic modules including Custom High-Energy Li-Ion Battery Pack, Cube Orange+, NVIDIA Jetson Orin Nano 8GB, FLIR Boson 640, Waveshare IMX415, and Herelink HD Air Unit against the BOM.
- Prepare wire harnesses, crimp JST-GH and Molex connectors for UART, USB, and Power distribution rails.
2
Hardware Assembly & Wiring
- Assemble the Tarot FY650 carbon fiber frame chassis and mount the DroneCAN Smart ESCs and brushless motors onto the arms using threadlocker.
- Mount the Custom High-Energy Li-Ion Battery Pack with Maxim MAX77686 PMIC onto the lower frame tray. Connect POWER_PMIC to AUTOPILOT_CUBE (VCC_5V, GND), COMPANION_JETSON (VCC_5V, GND), and COMMS_HERELINK (VCC_12V, GND).
- Mount the NVIDIA Jetson Orin Nano 8GB and Cube Orange+ Autopilot onto the central avionics deck using vibration-dampening foam mounts.
- Install the FLIR Boson 640 Thermal Camera and connect it to COMPANION_JETSON via USB (USB_D+, USB_D-, VBUS, GND). Mount the Starlight EO Visual Camera Module and connect it to COMPANION_JETSON via GPIO/MIPI CSI-2 (MIPI_CSI_TX, MIPI_CSI_RX, CLK, GND).
- Establish data and telemetry links: Connect COMPANION_JETSON to AUTOPILOT_CUBE via UART (TX, RX, GND). Connect AUTOPILOT_CUBE to COMMS_HERELINK via UART (TX, RX, GND) and COMPANION_JETSON to COMMS_HERELINK via USB/HDMI (HDMI_TX, GND).
- Connect AUTOPILOT_CUBE to DroneCAN Smart ESCs using the CAN bus interface (CAN_H, CAN_L, GND).
3
Firmware Setup
- Flash the latest ArduPilot multirotor firmware onto the Cube Orange+ Autopilot (STM32H753VIT6) using Mission Planner.
- Flash NVIDIA Jetpack OS, configure the AI processing environment, and deploy ROS2 / OpenCV object detection and VIO packages on the NVIDIA Jetson Orin Nano 8GB.
- Configure DroneCAN node IDs, throttle ranges, and telemetry reporting parameters for each DroneCAN Smart ESC.
- Pair the Herelink HD Air Unit with the Herelink Ground Control Station controller and verify MAVLink telemetry forwarding and video streaming from the cameras.
4
Testing & Calibration
- Perform accelerometer, compass (external magnetometer), and level horizon calibrations for the Cube Orange+ Autopilot via Mission Planner.
- Calibrate the FLIR Boson 640 Thermal Camera and Waveshare IMX415 Starlight EO camera feeds, confirming real-time video stream transmission over the Herelink link.
- Perform a prop-off motor test via Mission Planner to verify correct motor rotation direction and DroneCAN feedback reporting for all 4 motors.
- Conduct a tethered or low-altitude outdoor flight test to validate GPS lock, stabilization, AI VIO performance in GPS-denied simulation, and failsafe triggers.
Document
Industrial Rescue Drone Platform
An industrial-tier, all-weather hybrid rescue drone built on a Tarot FY650 frame featuring NVIDIA Jetson Orin Nano AI, FLIR Boson 640 thermal imaging, and Cube Orange+ flight control for urban search and rescue.
Design Overview
| Item | Details |
|---|---|
| Product Type | Industrial Rescue Drone Platform |
| Key Functions | Urban search and rescue in indoor, confined, and structurally collapsed spaces, AI-powered onboard processing via NVIDIA Jetson Orin Nano, Thermal and visual reconnaissance using FLIR Boson 640 camera, Long-range HD video transmission and telemetry up to 20 km via Herelink HD, Autonomous flight control using Cube Orange+ autopilot |
| Power Source | High-energy density Li-Ion custom pack |
| Connectivity | Herelink HD 2.4GHz Digital Transmission, Telemetry, Wi-Fi |
| Size | Tarot FY650 quadcopter frame specifications |
| Environment | All-weather IP67 industrial outdoor and indoor structural collapse |
| Difficulty | Advanced |
| Est. Time | 12-16 hours |
System Architecture
Power Topology: Custom high-energy Li-Ion battery pack feeds the PMIC, stepping down voltage to provide regulated 12V for the Herelink Air Unit, 5V for the Cube Orange+ autopilot and NVIDIA Jetson Orin Nano companion computer, while supplying direct battery voltage (22.2V) to the ESCs and brushless motors.
Module List
| Module ID | Type | Name | Function | Voltage |
|---|---|---|---|---|
| POWER_PMIC | POWER | Custom High-Energy Li-Ion Battery Pack with Maxim MAX77686 PMIC | Provides regulated power rails (5V, 12V, 3.3V) to autopilot, companion computer, and peripherals. | 22.2V |
| AUTOPILOT_CUBE | MCU | Cube Orange+ Autopilot (STM32H753VIT6) | Runs ArduPilot firmware for autonomous flight control, sensor fusion, and stabilization. | 5V |
| COMPANION_JETSON | MCU | NVIDIA Jetson Orin Nano 8GB | Performs onboard AI-powered visual processing, object detection, and VIO in GPS-denied environments. | 5V |
| SENSOR_THERMAL | SENSOR | FLIR Boson 640 Thermal Camera | Provides thermal imaging and reconnaissance for victim search in collapsed structures. | 5V |
| SENSOR_OPTICAL | SENSOR | Starlight EO Visual Camera Module | Provides high-resolution visual reconnaissance feed via MIPI CSI-2. | 3.3V |
| COMMS_HERELINK | MODULE | Herelink HD Air Unit | Handles long-range 2.4GHz HD video transmission, telemetry, and MAVLink communications up to 20 km. | 12V |
| ACTUATOR_ESC | ACTUATOR | DroneCAN Smart ESC & Brushless Motors | Drive propulsion system and report motor telemetry over CAN bus. | 22.2V |
Key Components
7/7 modules matched to real parts. See the BOM tab for the full component table.
Custom High-Energy Li-Ion Battery Pack with Maxim MAX77686 PMIC (T/)
None of the candidates match the searched part number MAX77650EEW+T (Maxim Integrated PMIC), as the candidate list conta
Cube Orange+ Autopilot (STM32H753VIT6) (Holybro Pixhawk 6X Flight Controller & PM02D Kits — Pixhawk 6X Flight Controller (without power module))
Candidate 1 is the Holybro Pixhawk 6X flight controller, which directly corresponds to the searched 'Pixhawk 6X (FMUv6X)
NVIDIA Jetson Orin Nano 8GB (Seeed Studio reComputer J2022 - Edge AI Computer with NVIDIA® Jetson Xavier™ NX 16GB)
The searched module is Jetson Xavier NX 16GB, and candidate 2 is an edge AI computer powered specifically by the NVIDIA
Build Summary
- Difficulty: Advanced
- Estimated time: 12-16 hours
- Tools required: Hex Driver Set, Soldering Station, Crimping Tool, Wire Stripper, Multimeter, Anti-Static Mat & ESD Wrist Strap
See the Build tab for the full step-by-step assembly guide.
Generated by YuanQi AI Design System · Query: PROJECT Rescue Drone-AI: COMPREHENSIVE COMPONENT BRIEF & NOTEBOOK - industrial-tier, all-weather hybrid rescue drone platform with NVIDIA Jetson Orin Nano, FLIR Boson 640, Cube Orange+, Tarot FY650 frame, Herelink HD, and associated hardware/software components as outlined in the component brief. Build a fully functional prototype that can work and fly.