uBlox LEA-6H module
| Accelerometer/Gyroscope | MPU-6000 |
uBlox LEA-6H module
| Accelerometer/Gyroscope | MPU-6000 |
MS5611-01BA03
HMC5883L
Serial ports (UART, USART, and SPI)
I2C and TWI buses
USB port for programming and debugging
Optional wireless telemetry modules (e.g., 3DR Radio, XBee)
Servo outputs (8 channels)
Relay outputs (2 channels)
Analog inputs (6 channels)
Digital inputs (12 channels)
Specifications
70mm x 45mm x 15mm
approximately 30 grams
-20C to 50C
4.5V to 12V
up to 2A
Serial, I2C, TWI, USB, and optional wireless telemetry
Applications
| The APM 2.6 Flight Controller Board is suitable for a wide range of applications, including |
APM 2.6 Flight Controller Board DocumentationOverviewThe APM 2.6 Flight Controller Board is a popular open-source autopilot system designed for drones and other unmanned aerial vehicles (UAVs). It is based on the Arduino Mega 2560 platform and features a range of sensors, interfaces, and expansion capabilities. This documentation provides an overview of the board's features, specifications, and examples of how to use it in various contexts.Features and SpecificationsMicrocontroller: ATmega2560
Sensors: 3-axis accelerometer, 3-axis gyroscope, 3-axis magnetometer, barometer, GPS
Interfaces: UART, I2C, SPI, ADC, PWM
Expansion capabilities: I2C, SPI, UART, ADC, PWM
Power supply: 5V to 12V
Dimensions: 70mm x 45mmCode Examples### Example 1: Basic Setup and Sensor ReadingThis example demonstrates how to initialize the APM 2.6 Flight Controller Board, read sensor data, and print it to the serial console.
```c
#include <AP_Common.h>
#include <AP_Progmem.h>
#include <AP_Mavlink.h>void setup() {
// Initialize the board
AP_HAL_BoardInit();// Initialize the serial console
Serial.begin(115200);// Initialize the sensors
init_sensors();
}void loop() {
// Read sensor data
sensorsoup_t sensors;
read_sensors(&sensors);// Print sensor data to the serial console
Serial.print("Accelerometer: ");
Serial.print(sensors.accel.x);
Serial.print(", ");
Serial.print(sensors.accel.y);
Serial.print(", ");
Serial.println(sensors.accel.z);// Wait for 10ms before reading sensors again
delay(10);
}
```
### Example 2: Motor Control and PID TuningThis example demonstrates how to control motors using the APM 2.6 Flight Controller Board and tune the PID controller for stabilization.
```c
#include <AP_Common.h>
#include <AP_Motor.h>
#include <AP_PID.h>// Define motor pin assignments
#define MOTOR1_PIN 3
#define MOTOR2_PIN 5
#define MOTOR3_PIN 6
#define MOTOR4_PIN 9// Define PID gains
#define P_GAIN 0.5
#define I_GAIN 0.2
#define D_GAIN 0.1void setup() {
// Initialize the board
AP_HAL_BoardInit();// Initialize the motors
init_motors();// Set motor pin assignments
motor_set_pin(MOTOR1_PIN, MOTOR2_PIN, MOTOR3_PIN, MOTOR4_PIN);// Initialize the PID controller
pid_init(P_GAIN, I_GAIN, D_GAIN);
}void loop() {
// Read sensor data
sensorsoup_t sensors;
read_sensors(&sensors);// Calculate PID output
float pid_output = pid_control(sensors);// Set motor speeds
motor_set_speed(pid_output, pid_output, pid_output, pid_output);// Wait for 10ms before updating motors again
delay(10);
}
```
### Example 3: GPS Navigation and Waypoint NavigationThis example demonstrates how to use the APM 2.6 Flight Controller Board with GPS navigation and waypoint navigation.
```c
#include <AP_Common.h>
#include <AP_GPS.h>
#include <AP_Navigator.h>// Define GPS serial port
#define GPS_SERIAL_PORT Serialvoid setup() {
// Initialize the board
AP_HAL_BoardInit();// Initialize the GPS module
gps_init(GPS_SERIAL_PORT);// Set home location
set_home_location(37.7749, -122.4194);// Set waypoint navigation
nav_set_waypoint(1, 37.7859, -122.4364);
nav_set_waypoint(2, 37.7969, -122.4574);
}void loop() {
// Read GPS data
gps_info_t gps_data;
gps_read(&gps_data);// Update navigation
nav_update(gps_data);// Check if at waypoint
if (nav_at_waypoint()) {
Serial.println("Reached waypoint!");
}// Wait for 10ms before updating navigation again
delay(10);
}
```
Note: These examples are for demonstration purposes only and may require modifications to work with your specific setup and requirements. Additionally, ensure that you have the necessary hardware and software setup, including the APM 2.6 Flight Controller Board, sensors, motors, and GPS module.