# How connect to cube orange to raspberrypi 4 model b **URL:** \ **Category:** Uncategorized\ **Created:** [11 July 2021 02:18 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800 "2021-07-11T02:18:05Z")\ **Posts on this page:** 15\ **Page:** 1
**Author:** ![Bayram\_Sabanci](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/bayram_sabanci/32/4180_2.png) [@Bayram\_Sabanci](https://discuss.cubepilot.org/u/Bayram_Sabanci)\ **Post date:** [11 July 2021 02:18 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800/1 "2021-07-11T02:18:05Z")
hello everyone, I’m trying to run dronekit codes with raspberry pi, but I can’t connect cube orange, it says no heartbeat. What’s the solution? ---
**Author:** ![Alvin](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/alvin/32/1000_2.png) [@Alvin](https://discuss.cubepilot.org/u/Alvin)\ **Post date:** [12 July 2021 03:54 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800/2 "2021-07-12T03:54:56Z")
Are you using gpio uart or usb uart? ---
**Author:** ![RoboMotic](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/robomotic/32/947_2.png) [@RoboMotic](https://discuss.cubepilot.org/u/RoboMotic)\ **Post date:** [12 July 2021 16:13 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800/3 "2021-07-12T16:13:44Z")
Hi! This video is very straighforward of how to do it. [![](https://img.youtube.com/vi/kB9YyG2V-nA/maxresdefault.jpg "Make Your Own Pixhawk Raspberry Pi Drone in 36 Minutes (2020) | The Ultimate Project Drone") ](https://www.youtube.com/watch?v=kB9YyG2V-nA) Works for me. bye ---
**Author:** ![Bayram\_Sabanci](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/bayram_sabanci/32/4180_2.png) [@Bayram\_Sabanci](https://discuss.cubepilot.org/u/Bayram_Sabanci)\ **Post date:** [13 July 2021 10:10 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800/4 "2021-07-13T10:10:54Z")
I’m connecting to uart via telem2 ---
**Author:** ![Bayram\_Sabanci](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/bayram_sabanci/32/4180_2.png) [@Bayram\_Sabanci](https://discuss.cubepilot.org/u/Bayram_Sabanci)\ **Post date:** [13 July 2021 10:15 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800/5 "2021-07-13T10:15:54Z")
thanks for the feedback, i did the same but still getting the error so did you use cube orange ---
**Author:** ![Bayram\_Sabanci](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/bayram_sabanci/32/4180_2.png) [@Bayram\_Sabanci](https://discuss.cubepilot.org/u/Bayram_Sabanci)\ **Post date:** [13 July 2021 10:39 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800/6 "2021-07-13T10:39:54Z")
now i am getting this error ERROR:dronekit:Exception in message handler for HEARTBEAT Traceback (most recent call last): File “/usr/local/lib/python3.7/dist-packages/dronekit/ **init**.py”, line 1531, in notify\_message\_listeners fn(self, name, msg) File “/usr/local/lib/python3.7/dist-packages/dronekit/ **init**.py”, line 1223, in listener raise APIException(“mode (%s, %s) not available on mavlink definition” % (m.custom\_mode, m.base\_mode)) dronekit.APIException: mode (0, 4) not available on mavlink definition . I can give orders to cube via mavproxy. ---
**Author:** ![Alvin](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/alvin/32/1000_2.png) [@Alvin](https://discuss.cubepilot.org/u/Alvin)\ **Post date:** [14 July 2021 06:31 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800/7 "2021-07-14T06:31:58Z")
If you are using gpio for connection for 3b or newer, you have to disable the bluetooth because it occupies the gpio tx/rx. ---
**Author:** ![Bayram\_Sabanci](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/bayram_sabanci/32/4180_2.png) [@Bayram\_Sabanci](https://discuss.cubepilot.org/u/Bayram_Sabanci)\ **Post date:** [14 July 2021 15:17 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800/8 "2021-07-14T15:17:07Z")
this is my links. ![400206600620_265589](https://discuss.cubepilot.org/uploads/default/original/2X/3/3318eb752ad472362667ea7cdf215e20ea9e20df.jpeg) this is the code i use: { from dronekit import connect vehicle = connect(‘/dev/ttyAMA0’, baud=57600, wait\_ready=True) print(“I’m connected”) } I can connect with mavproxy. ![20210714_175406](https://discuss.cubepilot.org/uploads/default/original/2X/4/4d74eed84531dd141b7868cc0c6c4a8219030958.jpeg) the error i got: ![IMG-20210714-WA0005](https://discuss.cubepilot.org/uploads/default/original/2X/e/e548c23dace2d7db5ba68e5c9141b2d63ac20371.jpeg) my reference is [https://youtu.be/kB9YyG2V-nA](https://youtu.be/kB9YyG2V-nA) .Thank you for your interest ---
**Author:** ![Alvin](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/alvin/32/1000_2.png) [@Alvin](https://discuss.cubepilot.org/u/Alvin)\ **Post date:** [15 July 2021 02:58 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800/9 "2021-07-15T02:58:53Z")
Can you try on telem1 and see if you would get the same error? ---
**Author:** ![saumyaranjan\_mohanty](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/saumyaranjan_mohanty/32/2437_2.png) [@saumyaranjan\_mohanty](https://discuss.cubepilot.org/u/saumyaranjan_mohanty)\ **Post date:** [15 July 2021 09:19 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800/10 "2021-07-15T09:19:02Z")
> [@Bayram\_Sabanci](#): > > ? which firmware are you using? ardupilot or px4? ---
**Author:** ![Bayram\_Sabanci](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/bayram_sabanci/32/4180_2.png) [@Bayram\_Sabanci](https://discuss.cubepilot.org/u/Bayram_Sabanci)\ **Post date:** [15 July 2021 09:48 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800/11 "2021-07-15T09:48:14Z")
arducopter v 4.0.7 ---
**Author:** ![Bayram\_Sabanci](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/bayram_sabanci/32/4180_2.png) [@Bayram\_Sabanci](https://discuss.cubepilot.org/u/Bayram_Sabanci)\ **Post date:** [15 July 2021 09:52 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800/12 "2021-07-15T09:52:58Z")
unfortunately still same error, i will change another parameter from mission planner serial2. ---
**Author:** ![Alvin](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/alvin/32/1000_2.png) [@Alvin](https://discuss.cubepilot.org/u/Alvin)\ **Post date:** [19 July 2021 03:10 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800/13 "2021-07-19T03:10:40Z")
It’s weird that Cube Orange can be connected through mavlink but not dronekit. Can you confirm there’s no other problem/service occupying the connection? ---
**Author:** ![Bayram\_Sabanci](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/bayram_sabanci/32/4180_2.png) [@Bayram\_Sabanci](https://discuss.cubepilot.org/u/Bayram_Sabanci)\ **Post date:** [19 July 2021 09:28 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800/14 "2021-07-19T09:28:32Z")
we have some experience in these works. is there any resource you can recommend? We actually built everything from scratch. I used the [Communicating with Raspberry Pi via MAVLink — Dev documentation](https://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html) and [https://youtu.be/kB9YyG2V-nA](https://youtu.be/kB9YyG2V-nA) this link. thank you ---
**Author:** ![Alvin](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/alvin/32/1000_2.png) [@Alvin](https://discuss.cubepilot.org/u/Alvin)\ **Post date:** [20 July 2021 08:20 UTC](https://discuss.cubepilot.org/t/how-connect-to-cube-orange-to-raspberrypi-4-model-b/6800/15 "2021-07-20T08:20:01Z")
Yes. I made a few companion raspberry pi setups. > [@Indoor Autonomous Flight with Cube, ROS and Aruco Board (Ongoing)](https://discuss.cubepilot.org/t/indoor-autonomous-flight-with-cube-ros-and-aruco-board-ongoing/351/2): > > Install ROS on Raspberry Pi This tutorial is referenced to the [ardupilot.org](http://ardupilot.org/dev/docs/ros-install.html) Setup is as shown below: Components FMU The Cube Black Companion Computer Raspberry Pi 3B System Ubuntu Mate 16.04 Camera Pi Camera v2 SD card At least 8 GB Power Source for Companion Computer 5000mAh Portable USB Power Bank You will need a keyboard, a mouse, and a HDMI monitor to setup your pi. Prepare the Operation System on Pi You can find the detailed installation procedure [here](https://www.raspberrypi.org/forums/viewtopic.php?t=225763) but it is tr… And the same way works on my pi 4b.