ArduPilot is a trusted, versatile, and fully open source autopilot software platform that runs on a wide range of onboard hardware to control autonomous unmanned vehicles including multicopter drones, fixed-wing aircraft and VTOLs, helicopters, ground rovers, boats, submarines, antenna trackers and other robotic platforms; it provides flight control, stabilization, navigation, mission planning and failsafes for fully autonomous, semi-autonomous and manual operations. It is developed and maintained by a large global community and supports multiple vehicle types with dedicated firmware branches, customizable parameters, and broad sensor and hardware support to interpret GPS, IMU, barometer, magnetometer, and other telemetry inputs for precise control and mission execution. ...