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This in an arduino based autopilot system that can pilot airplanes, quad rotors, boats, and ground vehicles.

ArduPilotOne is the underlying library employed for all the vehicles. Preconfigured gain files are provided for common vehicles in each category. The main sketch can be easily modified to allow a variety of sensor choices. Based on these sensors, advanced control and navigation modules can be developed that can be shared between vehicles or be unique to a given vehicle. The object-oriented design makes swapping control/ sensor/ navigation modules simple.