Parameters for proper setting up an old Cube Orange

ArduCopter Copter 4.5
1

I pulled an old Cube Orange off my shelf to install in a new build.

I haven’t used one in quite a while - and I’m trying to remember all the details of setting it up properly.

I’ve done some basic research - but can’t seem to find the answers. And maybe some of these issues have been resolved in the current firmware.

The main issue as I recall is that you need to set a parameter to start with IMU1 instead of IMU0. Or maybe we omit using IMU0 all together on the Cube Orange. Can someone please remind me and maybe suggest a link to a reference?

I’m using BD-Shot - and plan to use RPM telemetry for the notch filter. I plan to use AUX 1, 2, 3 & 4 - and as I recall Aux 1 is “iffy” for pass-through. No problem - I just move everything to AUX 2 - 5 when configuring the ESC, and then move them back after the ESC configuration. Is there anything else to keep in mind using BD-Shot on a Cube Orange?

I’m aware of the power limitations on the telem-1 port - and the other power cautions for the Cube Orange.

Is there anything else I need to keep in mind?

Many thanks!

2

I’m not sure why this didn’t pop up in my search before starting this thread - an old post of mine about IMU issue: EK3_IMU_MASK - CubePilot caution to set to "7"

The value of EK3_IMU_MASK is indeed 7. There’s also an additional mavlink message at startup about changing the EKF primary to 1.

Maybe that’s how it’s suppose to work - or maybe there’s a parameter change that has the EKF primary start out at 1 so it doesn’t have to change.

ek3 primary changed
ek3 primary changed592×576 22.9 KB

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Yes, working as planned.
If you updated to latest stable firmware and reset all to default it should be good to go.
Update the bootloader too, for good measure.