Key Features
| The Openpilot CC3D Flight Controller boasts an impressive array of features, including |
Technical Specifications
32-bit ARM Cortex-M3
72 MHz
128 KB Flash, 20 KB SRAM
UART, I2C, SPI, ADC, PWM
Approximately 12 grams
36 mm x 36 mm x 10 mm
Conclusion
The Openpilot CC3D Flight Controller is a powerful, flexible, and highly customizable component, ideal for developers, researchers, and enthusiasts building advanced UAV systems. Its open-source architecture, high-performance processing, and extensive feature set make it an attractive choice for a wide range of applications, from aerial photography to search and rescue operations.
Openpilot CC3D Flight Controller DocumentationOverviewThe Openpilot CC3D Flight Controller is a popular, open-source autopilot system designed for remote-controlled aircraft, drones, and other unmanned aerial vehicles (UAVs). The CC3D board is a compact, feature-rich flight controller that integrates a powerful microcontroller, sensors, and connectivity options to provide a robust and flexible platform for aerial robotics.Key Features32-bit STM32F103 microcontroller
3-axis accelerometer and 3-axis gyroscope
Barometer and temperature sensors
uBlox GPS module
Serial and I2C interfaces for sensor expansion
USB interface for configuration and firmware updates
Support for multiple flight modes, including stabilize, acro, and autopilotCode Examples### Example 1: Basic Flight Control using C++This example demonstrates how to use the CC3D Flight Controller to read sensor data and control the motors of a quadcopter.```c
#include <CC3D.h>// Define motor pin assignments
#define MOTOR_FRONT_LEFT 1
#define MOTOR_FRONT_RIGHT 2
#define MOTOR_BACK_LEFT 3
#define MOTOR_BACK_RIGHT 4void setup() {
// Initialize the CC3D board
CC3D.init();
// Set up motor pins as outputs
pinMode(MOTOR_FRONT_LEFT, OUTPUT);
pinMode(MOTOR_FRONT_RIGHT, OUTPUT);
pinMode(MOTOR_BACK_LEFT, OUTPUT);
pinMode(MOTOR_BACK_RIGHT, OUTPUT);
}void loop() {
// Read accelerometer and gyroscope data
int ax, ay, az, gx, gy, gz;
CC3D.readAccel(ax, ay, az);
CC3D.readGyro(gx, gy, gz);
// Calculate roll, pitch, and yaw angles from sensor data
float roll =atan2(ay, az);
float pitch = atan2(ax, sqrt(ayay + azaz));
float yaw = gx 0.01; // simple integration of gyroscope data
// Control motor speeds based on desired angles
int motor_speed_FL = map(roll + pitch, -1000, 1000, 1000, 2000);
int motor_speed_FR = map(roll - pitch, -1000, 1000, 1000, 2000);
int motor_speed_BL = map(-roll + pitch, -1000, 1000, 1000, 2000);
int motor_speed_BR = map(-roll - pitch, -1000, 1000, 1000, 2000);
// Update motor speeds
analogWrite(MOTOR_FRONT_LEFT, motor_speed_FL);
analogWrite(MOTOR_FRONT_RIGHT, motor_speed_FR);
analogWrite(MOTOR_BACK_LEFT, motor_speed_BL);
analogWrite(MOTOR_BACK_RIGHT, motor_speed_BR);
delay(20);
}
```### Example 2: GPS-based Autopilot using Python (with Openpilot-Python API)This example demonstrates how to use the CC3D Flight Controller with GPS data to follow a predefined waypoints using the Openpilot-Python API.```python
import openpilot# Initialize the CC3D board and GPS module
op = openpilot.Openpilot()
gps = op.get_gps()# Define waypoints
waypoints = [
{"lat": 37.7749, "lon": -122.4194, "alt": 10},
{"lat": 37.7859, "lon": -122.4364, "alt": 20},
{"lat": 37.7963, "lon": -122.4573, "alt": 30}
]while True:
# Read current GPS location
gps_data = gps.read()
lat, lon, alt = gps_data["lat"], gps_data["lon"], gps_data["alt"]
# Calculate distance to next waypoint
next_waypoint = waypoints[0]
distance_to_waypoint = openpilot.calculate_distance(lat, lon, next_waypoint["lat"], next_waypoint["lon"])
# If near waypoint, switch to next one
if distance_to_waypoint < 10:
waypoints.pop(0)
if not waypoints:
break
# Control aircraft to fly towards next waypoint
op.set_roll(openpilot.calculate_roll(lat, lon, next_waypoint["lat"], next_waypoint["lon"]))
op.set_pitch(openpilot.calculate_pitch(lat, lon, next_waypoint["lat"], next_waypoint["lon"], alt, next_waypoint["alt"]))
op.set_throttle(openpilot.calculate_throttle(alt, next_waypoint["alt"]))
# Wait for 1 second
time.sleep(1)
```Note: These code examples are simplified and intended to demonstrate the basic functionality of the Openpilot CC3D Flight Controller. In a real-world implementation, you should consider additional error handling, safety features, and tuning of the flight control parameters.