{"id":1094,"date":"2021-01-15T20:15:52","date_gmt":"2021-01-15T18:15:52","guid":{"rendered":"http:\/\/journals.khnu.km.ua\/vestnik\/?p=1094"},"modified":"2021-03-23T12:24:56","modified_gmt":"2021-03-23T10:24:56","slug":"%d0%bc%d0%be%d0%b6%d0%bb%d0%b8%d0%b2%d0%be%d1%81%d1%82%d1%96-%d0%bf%d0%be%d0%bb%d1%8c%d0%be%d1%82%d0%bd%d0%be%d0%b3%d0%be-%d0%ba%d0%be%d0%bd%d1%82%d1%80%d0%be%d0%bb%d0%bb%d0%b5%d1%80%d0%b0-cc3d-%d0%b7","status":"publish","type":"post","link":"https:\/\/journals.khnu.km.ua\/vestnik\/?p=1094","title":{"rendered":"\u041c\u043e\u0436\u043b\u0438\u0432\u043e\u0441\u0442\u0456 \u043f\u043e\u043b\u044c\u043e\u0442\u043d\u043e\u0433\u043e \u043a\u043e\u043d\u0442\u0440\u043e\u043b\u043b\u0435\u0440\u0430 CC3D \u0437 \u043f\u0440\u043e\u0448\u0438\u0432\u043a\u043e\u044e INAV"},"content":{"rendered":"

\u041c\u041e\u0416\u041b\u0418\u0412\u041e\u0421\u0422\u0406 \u041f\u041e\u041b\u042c\u041e\u0422\u041d\u041e\u0413\u041e \u041a\u041e\u041d\u0422\u0420\u041e\u041b\u041b\u0415\u0420\u0410 CC3D \u0417 \u041f\u0420\u041e\u0428\u0418\u0412\u041a\u041e\u042e INAV<\/p>\n

OPPORTUNITIES OF FLIGHT CONTROLLER CC3D WITH INAV FIRMWARE<\/p>\n

<\/a> \u0421\u0442\u043e\u0440\u0456\u043d\u043a\u0438: 171-179. \u041d\u043e\u043c\u0435\u0440: \u21161, 2020 (281)<\/strong>
\n\u0410\u0432\u0442\u043e\u0440\u0438:<\/strong>
\n\u041e.\u0410. \u041c\u042f\u0421\u0406\u0429\u0415\u0412
\n\u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0438\u0439 \u043d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0438\u0439 \u0443\u043d\u0456\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442
\nA.A. MYASISCHEV
\nKhmelnytskyi National University
\nDOI:<\/strong> https:\/\/www.doi.org\/10.31891\/2307-5732-2020-281-1-171-179<\/a>
\n\u0420\u0435\u0446\u0435\u043d\u0437\u0456\u044f\/Peer review :<\/strong> 09. 01.2020 \u0440.
\n\u041d\u0430\u0434\u0440\u0443\u043a\u043e\u0432\u0430\u043d\u0430\/Printed :<\/strong> 14.02.2020 \u0440.<\/p>\n

\u0410\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u043c\u043e\u0432\u043e\u044e \u043e\u0440\u0438\u0433\u0456\u043d\u0430\u043b\u0443<\/strong><\/p>\n

\u0420\u043e\u0437\u0440\u043e\u0431\u043b\u0435\u043d\u043e \u0431\u0435\u0437\u043f\u0456\u043b\u043e\u0442\u043d\u0438\u0439 \u043b\u0456\u0442\u0430\u043b\u044c\u043d\u0438\u0439 \u0430\u043f\u0430\u0440\u0430\u0442 (\u0411\u041b\u0410) \u043d\u0430 \u0431\u0430\u0437\u0456 \u043f\u043e\u043b\u044c\u043e\u0442\u043d\u043e\u0433\u043e \u043a\u043e\u043d\u0442\u0440\u043e\u043b\u0435\u0440\u0430 cc3d \u0437 \u0432\u0431\u0443\u0434\u043e\u0432\u0430\u043d\u0438\u043c \u0433\u0456\u0440\u043e\u0441\u043a\u043e\u043f\u043e\u043c \u0456 \u0430\u043a\u0441\u0435\u043b\u0435\u0440\u043e\u043c\u0435\u0442\u0440\u043e\u043c 3-\u043e\u0441\u044c\u043e\u0432\u043e\u0433\u043e \u043a\u043e\u043c\u043f\u0430\u0441\u0430 HMC5883L, \u0431\u0430\u0440\u043e\u043c\u0435\u0442\u0440\u0430\/\u0432\u0438\u0441\u043e\u0442\u043e\u043c\u0456\u0440\u0430 BMP180, GPS \u043f\u0440\u0438\u0439\u043c\u0430\u0447\u0430 u-blox NEO-6M. \u0412\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u0430\u043d\u0430 \u043f\u0440\u043e\u0448\u0438\u0432\u043a\u0430 INAV ver.1.7.2, \u0449\u043e \u043f\u0456\u0434\u0442\u0440\u0438\u043c\u0443\u0454 \u043d\u0430\u0432\u0456\u0433\u0430\u0446\u0456\u0439\u043d\u0456 \u0444\u0443\u043d\u043a\u0446\u0456\u0457. \u0412 \u044f\u043a\u043e\u0441\u0442\u0456 \u0440\u0430\u043c\u0438 \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u043e\u0432\u0443\u0454\u0442\u044c\u0441\u044f \u0447\u043e\u0442\u0438\u0440\u044c\u043e\u0445\u043c\u043e\u0442\u043e\u0440\u043d\u0438\u0439 \u043c\u0443\u043b\u044c\u0442\u0438\u0440\u043e\u0442\u043e\u0440 \u2013 \u043a\u0432\u0430\u0434\u0440\u043e\u043a\u043e\u043f\u0442\u0435\u0440. \u0421\u043f\u0440\u043e\u0435\u043a\u0442\u043e\u0432\u0430\u043d\u0438\u0439 \u043a\u0432\u0430\u0434\u0440\u043e\u043a\u043e\u043f\u0442\u0435\u0440 \u0437\u0434\u0430\u0442\u043d\u0438\u0439 \u0432\u0438\u043a\u043e\u043d\u0443\u0432\u0430\u0442\u0438 \u043d\u0430\u0441\u0442\u0443\u043f\u043d\u0456 \u043f\u043e\u043b\u044c\u043e\u0442\u043d\u0456 \u0440\u0435\u0436\u0438\u043c\u0438: ANGLE \u2013 \u0430\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u0447\u043d\u0435 \u0432\u0438\u0440\u0456\u0432\u043d\u044e\u0432\u0430\u043d\u043d\u044f \u043a\u0440\u0435\u043d\u0443 \u0456 \u0442\u0430\u043d\u0433\u0430\u0436\u0443 \u0437 \u043a\u043e\u043d\u0442\u0440\u043e\u043b\u0435\u043c \u043a\u0443\u0442\u0430 \u0433\u043e\u0440\u0438\u0437\u043e\u043d\u0442\u0443, \u0437\u0430\u0434\u0430\u043d\u0435 \u0437\u043d\u0430\u0447\u0435\u043d\u043d\u044f \u044f\u043a\u043e\u0433\u043e \u043d\u0435 \u043c\u043e\u0436\u0435 \u043f\u0435\u0440\u0435\u0432\u0438\u0449\u0443\u0432\u0430\u0442\u0438\u0441\u044f, \u0447\u0438\u043c \u0434\u043e\u0441\u044f\u0433\u0430\u0454\u0442\u044c\u0441\u044f \u0441\u0442\u0456\u0439\u043a\u0438\u0439 \u043f\u043e\u043b\u0456\u0442. \u0422\u0443\u0442 \u0437\u0430\u0434\u0456\u044f\u043d\u0456 \u0433\u0456\u0440\u043e\u0441\u043a\u043e\u043f \u0456 \u0430\u043a\u0441\u0435\u043b\u0435\u0440\u043e\u043c\u0435\u0442\u0440 \u0434\u043b\u044f \u0443\u0442\u0440\u0438\u043c\u0430\u043d\u043d\u044f \u0433\u043e\u0440\u0438\u0437\u043e\u043d\u0442\u0443. NAV ALTHOLD \u2013 \u0443\u0442\u0440\u0438\u043c\u0430\u043d\u043d\u044f \u0432\u0438\u0441\u043e\u0442\u0438. \u0422\u0443\u0442 \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u043e\u0432\u0443\u0454\u0442\u044c\u0441\u044f \u0431\u0430\u0440\u043e\u043c\u0435\u0442\u0440, \u044f\u043a\u0438\u0439 \u0441\u043f\u0440\u0438\u044f\u0454 \u0443\u0442\u0440\u0438\u043c\u0430\u043d\u043d\u044e \u0432\u0438\u0441\u043e\u0442\u0438 \u043f\u043e \u0442\u0438\u0441\u043a\u0443 \u043f\u043e\u0432\u0456\u0442\u0440\u044f. NAV POSHOLD \u2013 \u0432\u0438\u043a\u043e\u043d\u0443\u0454\u0442\u044c\u0441\u044f \u0443\u0442\u0440\u0438\u043c\u0430\u043d\u043d\u044f \u043f\u043e\u0437\u0438\u0446\u0456\u0457. GPS. NAV RTH (Return To Home) \u2013 \u043f\u043e\u0432\u0435\u0440\u043d\u0435\u043d\u043d\u044f \u0434\u043e\u0434\u043e\u043c\u0443, \u0432 \u0442\u043e\u0447\u043a\u0443 \u0437\u043b\u044c\u043e\u0442\u0443. \u041a\u043e\u043d\u0442\u0440\u043e\u043b\u0435\u0440 \u0437\u0430\u043f\u0430\u043c’\u044f\u0442\u043e\u0432\u0443\u0454 \u0442\u043e\u0447\u043a\u0443, \u0434\u0435 \u0437\u0440\u043e\u0431\u043b\u0435\u043d\u0438\u0439 Arming \u0456 \u0434\u043e\u0437\u0432\u043e\u043b\u044f\u0454 \u043f\u043e\u0432\u0435\u0440\u043d\u0443\u0442\u0438 \u0411\u041b\u0410 \u0432 \u0446\u044e \u0442\u043e\u0447\u043a\u0443. Failsafe RTH \u2013 \u0440\u0435\u0436\u0438\u043c \u043f\u043e\u0440\u044f\u0442\u0443\u043d\u043a\u0443, \u044f\u043a\u0438\u0439 \u0432\u0456\u0434\u043f\u0440\u0430\u0432\u043b\u044f\u0454 \u0411\u041b\u0410 \u0434\u043e\u0434\u043e\u043c\u0443 (\u0432 \u0442\u043e\u0447\u043a\u0443, \u0434\u0435 \u043f\u0440\u043e\u0432\u0435\u0434\u0435\u043d\u0438\u0439 \u0437\u0430\u043f\u0443\u0441\u043a \u0434\u0432\u0438\u0433\u0443\u043d\u0456\u0432 \u2013 Arming) \u0432 \u0440\u0430\u0437\u0456 \u0432\u0442\u0440\u0430\u0442\u0438 \u0437\u0432’\u044f\u0437\u043a\u0443 \u0437 \u043d\u0430\u0437\u0435\u043c\u043d\u043e\u044e \u0441\u0442\u0430\u043d\u0446\u0456\u0454\u044e. AIR MODE \u2013 \u0440\u0435\u0436\u0438\u043c \u0434\u0438\u043d\u0430\u043c\u0456\u0447\u043d\u043e\u0457 \u0440\u0435\u0433\u0443\u043b\u044f\u0446\u0456\u0457 PID \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0430, \u044f\u043a\u0438\u0439 \u0437\u0430\u0431\u0435\u0437\u043f\u0435\u0447\u0443\u0454 \u043f\u043e\u0432\u043d\u0443 \u043a\u043e\u0440\u0435\u043a\u0446\u0456\u044e PID \u043f\u0456\u0434 \u0447\u0430\u0441 \u043d\u0443\u043b\u044c\u043e\u0432\u043e\u0433\u043e \u0434\u0440\u043e\u0441\u0435\u043b\u044f \u0456 \u0434\u0430\u0454 \u043c\u043e\u0436\u043b\u0438\u0432\u0456\u0441\u0442\u044c \u043f\u043b\u0430\u0432\u043d\u043e\u0433\u043e \u043f\u043e\u043b\u044c\u043e\u0442\u0443 \u0456 \u0432\u0438\u043a\u043e\u043d\u0430\u043d\u043d\u044f \u0432\u0438\u0449\u043e\u0433\u043e \u043f\u0456\u043b\u043e\u0442\u0430\u0436\u0443. \u041f\u043e\u043a\u0430\u0437\u0430\u043d\u0430 \u043c\u043e\u0436\u043b\u0438\u0432\u0456\u0441\u0442\u044c \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u0430\u043d\u043d\u044f \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u0438 STM32 Flash loader demonstrator \u044f\u043a \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u0430\u0442\u043e\u0440\u0430 \u0434\u043b\u044f \u0437\u0430\u043c\u0456\u043d\u0438 \u043f\u0440\u043e\u0448\u0438\u0432\u043a\u0438 \u0432 cc3d \u0437 OpenPilot \u043d\u0430 INAV. \u0410 \u0442\u0430\u043a\u043e\u0436 \u043c\u043e\u0436\u043b\u0438\u0432\u0456\u0441\u0442\u044c \u0457\u0457 \u0432\u0438\u043a\u043e\u0440\u0438\u0441\u0442\u0430\u043d\u043d\u044f \u0434\u043b\u044f \u0437\u0432\u043e\u0440\u043e\u0442\u043d\u043e\u0433\u043e \u043f\u043e\u0432\u0435\u0440\u043d\u0435\u043d\u043d\u044f \u043d\u0430 \u043f\u0440\u043e\u0448\u0438\u0432\u043a\u0443 OpenPilot (LibrePilot) \u043f\u0440\u0438 \u043f\u0440\u043e\u0448\u0438\u0432\u0446\u0456 \u043f\u043e\u0447\u0430\u0442\u043a\u043e\u0432\u043e\u0433\u043e \u0437\u0430\u0432\u0430\u043d\u0442\u0430\u0436\u0443\u0432\u0430\u0447\u0430 OpenPilot (LibrePilot) \u0437 \u043f\u043e\u0434\u0430\u043b\u044c\u0448\u043e\u044e \u043f\u0440\u043e\u0448\u0438\u0432\u043a\u043e\u044e OpenPilot (LibrePilot) \u0437\u0430 \u0434\u043e\u043f\u043e\u043c\u043e\u0433\u043e\u044e LibrePilot GCS. \u0412\u0441\u0442\u0430\u043d\u043e\u0432\u043b\u0435\u043d\u043e \u0434\u043b\u044f \u043f\u0440\u043e\u0448\u0438\u0432\u043a\u0438 INAV, \u0449\u043e \u043f\u0440\u0438 \u0440\u0456\u0437\u043a\u043e\u043c\u0443 \u0437\u0431\u0456\u043b\u044c\u0448\u0435\u043d\u043d\u0456 \u0434\u0440\u043e\u0441\u0435\u043b\u044c\u043d\u043e\u0457 \u0437\u0430\u0441\u043b\u0456\u043d\u043a\u0438 \u043a\u043e\u043f\u0442\u0435\u0440, \u0437\u043b\u0456\u0442\u0430\u044e\u0447\u0438 \u0432\u0433\u043e\u0440\u0443, \u0432\u0442\u0440\u0430\u0447\u0430\u0454 \u0441\u0442\u0456\u0439\u043a\u0456\u0441\u0442\u044c \u0456 \u0437\u0430\u0432\u0430\u043b\u044e\u0454\u0442\u044c\u0441\u044f \u043d\u0430 \u043b\u0456\u0432\u0443 \u0447\u0438 \u043f\u0440\u0430\u0432\u0443 \u0441\u0442\u043e\u0440\u043e\u043d\u0443. \u042f\u043a\u0449\u043e \u043d\u0435 \u0437\u043c\u0435\u043d\u0448\u0438\u0442\u0438 \u0433\u0430\u0437 \u0456 \u043d\u0435 \u0440\u0435\u0433\u0443\u043b\u044e\u0432\u0430\u0442\u0438 \u0441\u0442\u0438\u043a\u0430\u043c\u0438 \u0432\u0438\u0440\u0456\u0432\u043d\u044e\u0432\u0430\u043d\u043d\u044f \u043f\u043e Roll, Pitch, \u043a\u043e\u043f\u0442\u0435\u0440 \u043f\u0430\u0434\u0430\u0454. \u041f\u0440\u0438 \u043f\u043b\u0430\u0432\u043d\u043e\u043c\u0443 \u0437\u0431\u0456\u043b\u044c\u0448\u0435\u043d\u043d\u0456 \u0434\u0440\u043e\u0441\u0435\u043b\u044c\u043d\u043e\u0457 \u0437\u0430\u0441\u043b\u0456\u043d\u043a\u0438 \u043a\u043e\u043f\u0442\u0435\u0440 \u0437\u0431\u0435\u0440\u0456\u0433\u0430\u0454 \u0441\u0442\u0456\u0439\u043a\u0456\u0441\u0442\u044c \u043f\u0440\u0438 \u043f\u0456\u0434\u0439\u043e\u043c\u0456 \u0432\u0433\u043e\u0440\u0443. \u0422\u0456\u043b\u044c\u043a\u0438 \u0440\u0435\u0442\u0435\u043b\u044c\u043d\u0438\u0439 \u043f\u0456\u0434\u0431\u0456\u0440 \u043c\u043e\u0442\u043e\u0440\u0456\u0432 \u0456 \u043f\u0440\u043e\u043f\u0435\u043b\u0435\u0440\u0456\u0432 \u0434\u043e\u0437\u0432\u043e\u043b\u044f\u0454 \u0441\u0442\u0456\u0439\u043a\u043e \u043a\u043e\u043f\u0442\u0435\u0440\u0443 \u043f\u0456\u0434\u043d\u0456\u043c\u0430\u0442\u0438\u0441\u044f \u0432\u0433\u043e\u0440\u0443 \u043f\u0440\u0438 \u0440\u0456\u0437\u043a\u043e\u043c\u0443 \u0437\u0431\u0456\u043b\u044c\u0448\u0435\u043d\u043d\u0456 \u0433\u0430\u0437\u0443. \u0422\u0430\u043a\u0438\u043c \u0447\u0438\u043d\u043e\u043c PID \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u0438 \u043f\u0440\u043e\u0448\u0438\u0432\u043a\u0438 INAV ver.1.7.2 \u043d\u0430 \u043a\u043e\u043d\u0442\u0440\u043e\u043b\u0435\u0440\u0456 cc3d \u043f\u043e\u0433\u0430\u043d\u043e \u043f\u0440\u0430\u0446\u044e\u044e\u0442\u044c \u0437 \u0440\u0456\u0437\u043a\u0438\u043c\u0438 \u0432\u0456\u0434\u0445\u0438\u043b\u0435\u043d\u043d\u044f\u043c\u0438 \u0441\u0442\u0456\u043a\u0456\u0432, \u0449\u043e \u043f\u0440\u0438\u0437\u0432\u043e\u0434\u0438\u0442\u044c \u0434\u043e \u0430\u0432\u0430\u0440\u0456\u0457 \u043a\u043e\u043f\u0442\u0435\u0440\u0430. \u041d\u0430 \u043f\u0440\u043e\u0448\u0438\u0432\u0446\u0456 OpenPilot (LibrePilot) \u0437 \u043a\u043e\u043d\u0442\u0440\u043e\u043b\u0435\u0440\u043e\u043c cc3d \u0446\u044c\u043e\u0433\u043e \u043d\u0435 \u0441\u043f\u043e\u0441\u0442\u0435\u0440\u0456\u0433\u0430\u0454\u0442\u044c\u0441\u044f.
\n\u041a\u043b\u044e\u0447\u043e\u0432\u0456 \u0441\u043b\u043e\u0432\u0430:<\/strong> cc3d, PID-\u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440, INAV, LibrePilot, GPS \u043f\u0440\u0438\u0439\u043c\u0430\u0447, AIR MODE, STM32F1, Throttle PID Attenuation.<\/p>\n

\u0420\u043e\u0437\u0448\u0438\u0440\u0435\u043d\u0430 \u0430\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u0430\u043d\u0433\u043b\u0456\u0439\u0441\u044c\u043a\u043e\u044e \u043c\u043e\u0432\u043e\u044e<\/strong><\/p>\n

An unmanned aerial vehicle (UAV) based on a flight controller cc3d with a built-in gyroscope and accelerometer, 3-axis compass HMC5883L, barometer \/ altimeter BMP180, GPS receiver u-blox NEO-6M was developed. The firmware used is INAV ver.1.7.2, which supports navigation functions. Four motorized multirotor – quadrocopter is used as a frame. The designed quadcopter is able to perform the following flight modes: ANGLE – automatic leveling of the pitch and pitch with control of the angle of the horizon, the set value of which cannot be exceeded, thus achieving stable flight. Here a gyroscope and an accelerometer are used to hold the horizon. NAV ALTHOLD – hold height. Here a barometer is used, which helps to maintain the height of the air pressure. NAV POSHOLD – position is held. Uses GPS. NAV RTH (Return To Home) – return home to the take-off point. The controller remembers the point where Arming is produced and allows you to return the UAV to this point. Failsafe RTH – rescue mode, which sends the UAV home (to the point where the engines were started – Arming) in case of loss of communication with the ground station. AIR MODE is a mode of dynamic regulation of the PID regulator, which provides full PID correction during zero throttle and enables smooth flight and aerobatic flying. The possibility of using the STM32 Flash loader demonstrator program as a programmer to replace the firmware in cc3d from OpenPilot to INAV is shown. And also the ability to use it to return to the OpenPilot (LibrePilot) firmware when flashing the OpenPilot (LibrePilot) bootloader with subsequent OpenPilot (LibrePilot) firmware using the LibrePilot GCS. It is established for INAV firmware, that with a sharp increase in the throttle, the rotor, soaring upwards, loses stability and falls to the left or right side. If you do not turn down the gas and do not adjust the alignment of Roll, Pitch, the copter drops. With a smooth increase in the throttle, the copter remains steady when it rises up. Only a careful selection of engines and propellers allows the steadily steaming upward with a sharp increase in gas. Thus, the PID regulators of the INAV ver.1.7.2 firmware on the cc3d controller do not work well with sharp deviations of sticks, which leads to a crash of the copter. This is not observed on the OpenPilot (LibrePilot) firmware with the cc3d controller.
\nKeywords:<\/strong> cc3d, PID controller, INAV, LibrePilot, GPS receiver, AIR MODE, STM32F1, Throttle PID Attenuation.<\/p>\n

References<\/strong><\/p>\n

    \n
  1. Miasishchev A.A. Postroenie BPLA na baze poletnoho kontrollera APM 2.6. \/ A.A. Miasyshchev \/\/ Herald of Khmelnytskyi National University. \u2013 2016. \u2013 \u21165.\u2013s. 225\u2013230.<\/li>\n
  2. 2015. URL: http:\/\/multicopterwiki.ru\/index.php\/CopterControl3D.<\/li>\n
  3. The LibrePilot open source project. 2017. URL: http:\/\/www.librepilot.org\/site\/index.html.<\/li>\n
  4. 2018. URL: https:\/\/github.com\/iNavFlight\/inav\/wiki.<\/li>\n
  5. Open-Source flight controller software for modern flight boards. 2018. URL: http:\/\/cleanflight.com\/.<\/li>\n
  6. F1, F3, F4 AND F7 FLIGHT CONTROLLER DIFFERENCES EXPLAINED. 2017. URL: https:\/\/oscarliang.com\/f1-f3-f4-flight-controller<\/li>\n
  7. FLASHER-STM32. 2016. URL: https:\/\/www.st.com\/en\/development-tools\/flasher-stm32.html.<\/li>\n
  8. Myasishev A.A. Kvadrokopter s proshivkoj INAV ver. 1.7.2 na poletnom kontrollere cc3d evo s rezhimami uderzhaniya vysoty, pozicii, vozvrata domoj. 2018. URL: https:\/\/sites.google.com\/site\/webstm32\/inav-cc3d<\/li>\n
  9. Command Line Interface (CLI). 2018. URL: https:\/\/github.com\/iNavFlight\/inav\/blob\/master\/docs\/Cli.md.<\/li>\n
  10. Myasishev A.A. Ispolzovanie platy ROBOTDYN MEGA2560 PRO dlya postroeniya poletnogo kontrollera geksakoptera \/ A.A. Myasishev \/\/ Herald of Khmelnytskyi National University.. \u2013 2018. \u2013 \u2116 3. \u2013 S. 171\u2013179.<\/li>\n
  11. Miasyshchev A.A. Rezhymy polotu kontroleriv polotu APM 2.6 I PIXHAWK BPLA \/ A.A. Miasyshchev, V.V. Shvets \/\/ Herald of Khmelnytskyi National University.. \u2013 2018. \u2013 \u2116 1. \u2013 S. 78\u201382.<\/li>\n
  12. Miasyshchev A.A. Systema navihatsii bezpilotnoho nazemnoho aparata na ARDUINO \/ A.A. Miasyshchev, A.P. Faryna \/\/ Herald of Khmelnytskyi National University. \u2013 2018. \u2013 \u2116 4. \u2013 S. 173\u2013177.<\/li>\n
  13. U-center Windows. GNSS evaluation software for Windows. 2018. URL: https:\/\/www.u-blox.com\/en\/product\/u-center-windows.<\/li>\n
  14. Flashing the OpenPilot bootloader on a CC3D or Flashing Beta\/Borisflight Hex on a CC3D. 2015. URL: http:\/\/www.southquay3d.com\/index.php?route=news\/article&news_id=9.<\/li>\n<\/ol>\n

     <\/p>\n","protected":false},"excerpt":{"rendered":"

    \u041c\u041e\u0416\u041b\u0418\u0412\u041e\u0421\u0422\u0406 \u041f\u041e\u041b\u042c\u041e\u0422\u041d\u041e\u0413\u041e \u041a\u041e\u041d\u0422\u0420\u041e\u041b\u041b\u0415\u0420\u0410 CC3D \u0417 \u041f\u0420\u041e\u0428\u0418\u0412\u041a\u041e\u042e INAV OPPORTUNITIES OF FLIGHT CONTROLLER CC3D WITH INAV FIRMWARE \u0421\u0442\u043e\u0440\u0456\u043d\u043a\u0438: 171-179. \u041d\u043e\u043c\u0435\u0440: \u21161, 2020 (281) \u0410\u0432\u0442\u043e\u0440\u0438: \u041e.\u0410. \u041c\u042f\u0421\u0406\u0429\u0415\u0412 \u0425\u043c\u0435\u043b\u044c\u043d\u0438\u0446\u044c\u043a\u0438\u0439 \u043d\u0430\u0446\u0456\u043e\u043d\u0430\u043b\u044c\u043d\u0438\u0439 \u0443\u043d\u0456\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 A.A. MYASISCHEV Khmelnytskyi National University DOI: https:\/\/www.doi.org\/10.31891\/2307-5732-2020-281-1-171-179 \u0420\u0435\u0446\u0435\u043d\u0437\u0456\u044f\/Peer review : 09. 01.2020 \u0440. \u041d\u0430\u0434\u0440\u0443\u043a\u043e\u0432\u0430\u043d\u0430\/Printed : 14.02.2020 \u0440. \u0410\u043d\u043e\u0442\u0430\u0446\u0456\u044f \u043c\u043e\u0432\u043e\u044e \u043e\u0440\u0438\u0433\u0456\u043d\u0430\u043b\u0443 \u0420\u043e\u0437\u0440\u043e\u0431\u043b\u0435\u043d\u043e \u0431\u0435\u0437\u043f\u0456\u043b\u043e\u0442\u043d\u0438\u0439 \u043b\u0456\u0442\u0430\u043b\u044c\u043d\u0438\u0439 \u0430\u043f\u0430\u0440\u0430\u0442 (\u0411\u041b\u0410) \u043d\u0430 \u0431\u0430\u0437\u0456 \u043f\u043e\u043b\u044c\u043e\u0442\u043d\u043e\u0433\u043e […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[13],"tags":[],"_links":{"self":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/1094"}],"collection":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1094"}],"version-history":[{"count":4,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/1094\/revisions"}],"predecessor-version":[{"id":5127,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=\/wp\/v2\/posts\/1094\/revisions\/5127"}],"wp:attachment":[{"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1094"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1094"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/journals.khnu.km.ua\/vestnik\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1094"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}