Effects of the storage conditions on the stability of natural and synthetic cannabis in biological matrices for forensic toxicology analysis: An update from the literature

Flight controllers for consumer use include closed and open-source hardware and software flight controllers available for use in consumer grade vehicles.

Flight Controller Name	Manufacturer	Supported Firmware	Hardware Standard	Main Processor	Main Processor Clock	Flash Memory	RAM	Failsafe Co-Processor	Price (USD) @ Supplier 2022/11/18	IMU / Sensors	Note
Autopilot 1x Veronte	Embention	Propietary (user-programmable) DO178C	DO254 / DO160	Texas Instruments Dual-Core	NA	NA	NA	Yes	6000	3x IMU 3x Magnetometer 2x Static 1x Pitot 2x GNSS receivers 1x Temperature	Posbibility to connect external sensors, ADS-B, and other pheripherals.
Autopilot 4x Veronte	Embention	Propietary (user-programmable) DO178C	DO254 / DO160	Texas Instruments Dual-Core	NA	NA	NA	Yes	22000	9x IMU 9x Magnetometer 6x Static 3x Pitot 6x GNSS receivers 3x Temperature	Embedded redundancy (3+1) Posbibility to connect external sensors, ADS-B, and other pheripherals.
Autopilot DRx Veronte	Embention	Propietary (user-programmable) DO178C	DO254 / DO160	Texas Instruments Dual-Core	NA	NA	NA	Yes	30000	9x IMU 9x Magnetometer 6x Static 3x Pitot 6x GNSS receivers 3x Temperature	Distributed redundancy Posbibility to connect external sensors, ADS-B, and other pheripherals.
CUAV Nora	CUAV	Ardupilot PX4	?	STM32H743	480 MHz	2 Mb	1028 Kb	N/A	N/A	ICM20689 acc/gyro ICM20649 acc/gyro BMI088 acc/gyro MS5611 x2 baro RM3100 mag	Discontinued - replaced by Nora Plus
CUAV Nora Plus	CUAV	Ardupilot PX4	?	STM32H743	480 MHz	2 Mb	1028 Kb	STM32F103	499	ICM42688P acc/gyro ICM20689 x2 acc/gyro RM3100 mag MS54611 x2 baro
CUAV Pixhack V3x	CUAV	Ardupilot PX4	FMUv3	STM32F427	168 MHz	2 Mb	256 Kb	STM32F100	N/A	MPU600 x2 acc/gyro L3GD20 gyro LS303D acc/mag MS5611 baro	Discontinued
CUAV Pixhawk V6X	CUAV	Ardupilot PX4	FMUv6X	STM32H753IIK6	480 MHz	2 Mb	1028 Kb	STM32F10X	TBD	ICM42688P acc/gyro ICM20649 acc/gyro BMI088 acc/gyro RM3100 mag ICP20100 x2 baro
CUAV V5	CUAV	Ardupilot PX4	FMUv5	STM32F765	216 MHz	2 Mb	512 Kb	STM32F100	N/A	ICM20689 acc/gyro ICM20602 acc/gyro BMI055 acc/gyro IST8310 mag MS5611 baro	Discontinues - replaced by CUAV V5 Plus
CUAV V5 Nano	CUAV	Ardupilot PX4	FMUv5	STM32F765	216 MHz	2 Mb	512 Kb	STM32F100	N/A	ICM20689 acc/gyro ICM20602 acc/gyro BMI055 acc/gyro IST8310 mag MS5611 baro
CUAV V5 Plus	CUAV	Ardupilot PX4	FMUv5	STM32F765	216 MHz	2 Mb	512 Kb	STM32F100	479	ICM20689 acc/gyro BMI055 acc/gyro IST8310 mag MS5611 x2 baro
CUAV X7 Plus	CUAV	Ardupilot PX4	?	STM32H743	480 MHz	2 Mb	1028 Kb	STM32F103	529	ICM42688P acc/gyro ICM20689 x2 acc/gyro RM3100 mag MS54611 x2 baro
CUAV X7 Plus Pro	CUAV	Ardupilot 4.10+ PX4 1.12.3+	?	STM32H743	480 MHz	2 Mb	1028 Kb	STM32F103	1180	ADIS16470 acc/gyro ICM42688P acc/gyro ICM20689 acc/gyro RM3100 mag MS5611 x2 baro
CUAV X7 Pro	CUAV	Ardupilot PX4	?	STM32H743	480 MHz	2 Mb	1028 Kb	STM32F103	N/A	ADIS16470 acc/gyro ISM20649 acc/gyro BMI088 acc/gryo RM3100 mag MS5611 x2 baro	Discontinued - replaced by X7+ Pro
Cube Black	Hex/Proficnc	Ardupilot PX4	CubePilot	STM32F427	168 MHz	2 Mb	256 Kb	STM32F100	N/A	LSM303D acc/mag L3GD20 gyro MS5611 baro
Cube Black (Pixhawk 2.1)	Hex/Proficnc	Ardupilot PX4	FMUv3	STM32F427	168 MHz	2 Mb	256 Kb	STM32F103	300	?
Cube Blue F4	Hex/Proficnc	Ardupilot PX4	CubePilot	STM32F427	168 MHz	2 Mb	256 Kb	STM32F100	N/A	LSM303D acc/mag L3GD20 gyro MS5611 baro	US component mfg.
Cube Blue H7	Hex/Proficnc	Ardupilot PX4	CubePilot	STM32H753	480 MHz	2 Mb	1028 Kb	STM32F103	650 (+105 carrier board)	ICM20602 ICM 20948 MS5611 baro
Cube Green	Hex/Proficnc	Ardupilot PX4	CubePilot	STM32F427	168 MHz	2 Mb	256 Kb	STM32F100	218 (+105 carrier board)	LSM303D acc/mag L3GD20 gyro MS5611 baro
Cube Orange	Hex/Proficnc	Ardupilot PX4	CubePilot	STM32H753	480 MHz	2 Mb	1028 Kb	STM32F103	350 (+105 carrier board)	ICM20602 ICM 20948 MS5611 baro
Cube Orange Plus	Hex/Proficnc	Ardupilot PX4	CubePilot	STM32H753	480 MHz	2 Mb	1028 Kb	STM32F103	215 (+105 carrier board)	ICM20948 ICM42688 MS5611 baro
Cube Purple F4	Hex/Proficnc	Ardupilot PX4	CubePilot	STM32F427	168 MHz	2 Mb	256 Kb	STM32F100	250 (+105 carrier board)	MPU9250 acc/gyro/mag MS5611 baro
Cube Purple H7	Hex/Proficnc	Ardupilot PX4	CubePilot	STM32H753	480 MHz	2 Mb	1028 Kb	STM32F103	N/A	?
Cube Yellow	Hex/Proficnc	Ardupilot PX4	CubePilot	STM32F777	216 MHz	2 Mb	512 Kb	-	N/A	ICM20602 ICM 20948 MS5611 baro	No co-processor?
Drotek Pixhawk3 Pro	Drotek	Ardupilot PX4	FMUv4pro	STM32F469	180 MHz	2 Mb	384 Kb	-	293	ICM20608G acc/gyro MPU9250 acc/gyro/mag LIS3MDL mag	No co-processor? No baro?
Holybro Durandal H7	HolyBro	Ardupilot PX4	?	STM32H743	480 MHz	2 Mb	1028 Kb	STM32F100	246	ICM20689 acc/gyro BMI055 or ICM20689 acc/gyro IST8310 mag MS5611mag
HolyBro Pix32 v6	HolyBro	Ardupilot PX4	FMUv6C	STM32H743	480 MHz	2 Mb	1028 Kb	STM32F103	195	ICM42688P acc/gyro BMI055 acc/gyro IST8310 mag MS5611 baro
HolyBro Pixhawk 4	HolyBro	Ardupilot PX4	FMUv5	STM32F765	216 MHz	2 Mb	512 Kb	STM32F100	190	ICM20689 acc/gyro BMI055 acc/gyro IST8310 mag MS5611mag
HolyBro Pixhawk 5X	HolyBro	Ardupilot PX4	FMUv5X	STM32F765	216 MHz	2 Mb	512 Kb	STM32F100	148	ICM20649 acc/gyro ICM42688P acc/gyro ICM20602 acc/gyro BMM150 mag BMP388 x2 baro
HolyBro Pixhawk 6C	HolyBro	Ardupilot PX4	FMUv6C	STM32H743	480 MHz	2 Mb	1028 Kb	STM32F103	223	ICM42688P acc/gyro BMI055 acc/gyro IST8310 mag MS5611 baro
HolyBro Pixhawk 6X	HolyBro	Ardupilot PX4	FMUv6	STM32H743	480 MHz	2 Mb	1028 Kb	STM32F103	279	ICM20649 acc/gyro ICM42688P acc/gyro ICM42670P acc/gyro BMM150 mag BMP388 x2 baro
mRO Control Zero H7	mRo	Ardupilot PX4	?	STM32H743	480 MHz	2 Mb	1024 Kb		393	ICM20602 ICM20948 BNI088 DPS310 baro
mRo Pixhawk (2.4.6)	mRo	Ardupilot PX4	FMUv3	STM32F427	168 MHz	2 Mb	256 Kb	STM32F100	290	L3GDD20 gyro LSM303D acc/mag MPU6000 acc/gyro MS5611 baro
mRo Pixhawk Control Zero Classic	mRo	Ardupilot PX4	FMUv6	STM32H743	480 MHz	2 Mb	1028 Kb	STM32F103	350	BMI088 ICM20602 ICM20948 DPS310 baro
mRo Pixracer	mRo	Ardupilot PX4	FMUv4	STM32F427	180 MHz	2 Mb	256 Kb	N/A	N/A	ICM20608 acc/gyro MPU9250 acc/gyro/mag HMC5983 mag MS5611 baro
mRo Pixracer Pro	mRo	Ardupilot PX4	?	STM32H743IIK6	480 MHz	2 Mb	1028 Kb	N/A	350	ICM20602 acc/gyro ICM20948 acc/gyro/mag BMI085 acc/gyro DPS310 baro
Pixhawk 1	3DRobotics / various	Ardupilot PX4	FMUv2	STM32F427	168 MHz	1 Mb	256 Kb	STM32F103	various	L3GD20 gyro LSM303D acc/mag MPU6000 acc/gyro MS5611 baro	Depreciated
Pixhawk 1 (including 2.4.8)	3DRobotics	Ardupilot PX4	FMUv3	STM32F427	168 MHz	2 Mb	256 Kb	STM32F103	various	L3GD20 gyro LSM303D acc/mag MPU6000 acc/gyro MS5611 baro

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