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Are there any programmable microcontrollers or add-on boards that contain an IMU, or ESCs? I've looked at the arducopter but this board's code is not open source, and I need something that can be programmed.

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closed as primarily opinion-based by Mark Booth Oct 2 '17 at 16:18

Many good questions generate some degree of opinion based on expert experience, but answers to this question will tend to be almost entirely based on opinions, rather than facts, references, or specific expertise. If this question can be reworded to fit the rules in the help center, please edit the question.

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For drones you may check out the PixHawk, whose schematics and software (ArduPilot) are open-source and expandable. If you prefer you can also connect a companion computer via MAVlink and perform heavy-duty tasks on it, such as computer vision or obstacle avoidance. Apart from that, there are countless IMU boards which can be easily interfaced with popular uC like Arduino simply using I²C or SPI, from Chinese low-cost modules to thousand dollars ones used for advanced INS and dead reckoning.

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