> For the complete documentation index, see [llms.txt](https://docs.cubepilot.org/user-guides/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.cubepilot.org/user-guides/autopilot/the-cube/introduction/flight-management-unit-fmu.md).

# Flight Management Unit (FMU)

The following introduces the FMU for each colored cube. 

| The Cube Type                                                                 | Specifications                                                                                                                                                                                                                                                                                                                                                                                                     |
| ----------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <p><strong>Cube Black</strong></p><p></p>                                     | <p><strong>Microcontroller</strong>: STM32F427</p><p><strong>Flash Memory</strong>: 2MB </p><p><strong>RAM</strong>: 256KB</p><p><strong>Inertial sensor</strong>: MPU9250 16G integrated accelerometer/gyroscope</p><p><strong>Barometer</strong>: MS5611 </p><p><strong>All sensors connected via SPI</strong></p><p><strong>Micro SD interfaces via SDIO</strong></p>                                           |
| <mark style="color:green;">**Cube Green**</mark>                              | <p><strong>Microcontroller</strong>: STM32F427</p><p><strong>Flash Memory</strong>: 2MB </p><p><strong>RAM</strong>: 256KB</p><p><strong>Inertial sensor</strong>: MPU9250 16G integrated accelerometer/gyroscope</p><p><strong>Barometer</strong>: MS5611 </p><p><strong>All sensors connected via SPI</strong></p><p><strong>Micro SD interfaces via SDIO</strong></p>                                           |
| <mark style="color:blue;">**Cube BlueF4**</mark>                              | <p><strong>Microcontroller</strong>: STM32F427</p><p><strong>Flash Memory</strong>: 2MB </p><p><strong>RAM</strong>: 256KB</p><p><strong>Inertial sensor</strong>: MPU9250 16G integrated accelerometer/gyroscope</p><p><strong>Barometer</strong>: MS5611 </p><p><strong>All sensors connected via SPI</strong></p><p><strong>Micro SD interfaces via SDIO</strong></p>                                           |
| <mark style="color:blue;">**Cube BlueH7**</mark>                              | <p><strong>Microcontroller</strong>: STM32H753</p><p><strong>Flash Memory</strong>: 2MB </p><p><strong>RAM</strong>: 1MB</p><p><strong>Inertial sensor</strong>: ICM-20649 30G integrated accelerometer/gyroscope.</p><p><strong>Barometer</strong>: MS5611 </p><p><strong>All sensors connected via SPI</strong> </p><p><strong>Micro SD interfaces via SDIO</strong></p>                                         |
| <mark style="color:purple;">**Cube PurpleF4**</mark>                          | <p><strong>Microcontroller</strong>: STM32F427</p><p><strong>Flash Memory</strong>: 2MB </p><p><strong>RAM</strong>: 256KB</p><p><strong>Barometer</strong>: MS5611 </p><p><strong>Inertial sensor</strong>: MPU9250 16G integrated accelerometer/gyroscope</p><p><strong>Barometer</strong>: MS5611 </p><p><strong>All sensors connected via SPI</strong></p><p><strong>Micro SD interfaces via SDIO</strong></p> |
| <mark style="color:purple;">**Cube PurpleH7**</mark>                          | <p><strong>Microcontroller</strong>: STM32H753</p><p><strong>Flash Memory</strong>: 2MB </p><p><strong>RAM</strong>: 1MB</p><p><strong>Inertial sensor</strong>: MPU9250 16G integrated accelerometer/gyroscope</p><p><strong>Barometer</strong>: MS5611 </p><p><strong>All sensors connected via SPI</strong></p><p><strong>Micro SD interfaces via SDIO</strong></p>                                             |
| <mark style="color:yellow;">**Cube Yellow**</mark>                            | <p><strong>Microcontroller</strong>: STM32F777</p><p><strong>Flash Memory</strong>: 2MB </p><p><strong>RAM</strong>: 512KB</p><p><strong>Barometer</strong>: MS5611 </p><p><strong>All sensors connected via SPI</strong> </p><p><strong>Micro SD interfaces via SDIO</strong></p>                                                                                                                                 |
| <p><mark style="color:orange;"><strong>Cube Orange</strong></mark></p><p></p> | <p><strong>Microcontroller</strong>: STM32H753</p><p><strong>Flash Memory</strong>: 2MB </p><p><strong>RAM</strong>: 1MB</p><p><strong>Inertial sensor</strong>: ICM-20649 30G integrated accelerometer/gyroscope</p><p><strong>Barometer</strong>: MS5611 </p><p><strong>All sensors connected via SPI</strong></p><p><strong>Micro SD interfaces via SDIO</strong></p>                                           |
| <mark style="color:orange;">**Cube Orange+**</mark>                           | <p><strong>Microcontroller</strong>: STM32H757</p><p><strong>Flash Memor</strong>y: 2 MB </p><p><strong>RAM</strong>: 1 MB</p><p><strong>Inertial sensor</strong>: ICM-20649 30G integrated accelerometer/gyroscope</p><p><strong>Baromete</strong>r: MS5611 </p><p><strong>All sensors connected via SPI</strong></p><p><strong>Micro SD interfaces via SDIO</strong></p>                                         |


---

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