Cubepilot Power Architecture explain

ArduCopter
1

Hi

Is there someone who can better explain the power architecture of CubePilot?

questions:

  1. Is Servo Power == Servo rail == Main out in the article context?
  2. Is Aux port power refering to Aux out in the diagram?
  3. I checked the Aux out middle pins (power) and the Main out middle pin (power) are connected. if question 1 is true, why can the Aux port supply to FMU and Peripherals but not from the Servo rail?

multiple power src
multiple power src1889×1300 313 KB

2

Servo Main and Aux are related to IOMCU (coprocessor that handles main outputs and in the early days of Ardupilot was used as an emergency stop/manual control system in case main processor stopped working). Main outputs are connected to IOMCU and Aux are connected directly to the main MCU, there are some limitations on Main pins, mostly related to use as input.
All servo V+ and GND are connected and form servo power bus. In Cube Black the flight controller could take power from the servo rail if it was at good voltage, AFAIK modern Cube carriers don’t have this feature as it is less needed with more reliable electronics. Higher end flight controllers can monitor this voltage.

Power 1 and Power 2 are connected through power ORing circuit and their respective voltage and current sense pins are connected to ADCs on the MCU to allow for monitoring voltage and current.