ArduPilot (legacy) User Group


ArduPilot (legacy) User Group

Group for users of the original ArduPilot, both thermopile and ArduIMU versions

Members: 145
Latest Activity: Feb 21

Discussion Forum

Ardupilot (Legacy) code?

Started by Kai. Last reply by Kai Jul 26, 2015. 5 Replies

Hi all,I found an original AurduPilot hardware I bought some years ago and never used and I would like to use it for a boat.Unfortunately all links to the manual and code are taken down :-((Could…Continue

ArduPilot w/ ATMega328 boards & ArduIMU+ V3 kit

Started by Simon Atkinson. Last reply by Harry May 11, 2014. 2 Replies

Hi there I bought a couple ArduPilot w/ ATMega328 boards a few years back, but didn't get to use them .... work got in the way! I'm still keen to do something with them -- using an IMU set-up - but…Continue

Arming Problem with Ardupilot Mega1.4

Started by GIREESH NARAYANAN NAIR. Last reply by Charles lakins Aug 15, 2013. 1 Reply

I am new to this group. I was using Ardupilot Mega 1.4 for my Quad and it was working reasonably well. I made some frame modification and programmed the board with APM Planner 1.2.67. Then the…Continue

Ardupilot and Arduimu+V3 compatibility

Started by Victor Toth. Last reply by kyle monroe Jul 25, 2013. 18 Replies

Hello everyone, I've been trying to find a definitive answer to a problem I've been having for several days and I'm really hoping this community can help.1. Is the arduimu+v3 a direct replacement for…Continue

Tags: v3, arduimu, legacy, ardupilot

Comment Wall


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Comment by Charles lakins on July 10, 2015 at 8:38am

I think thats what hes looking for

they are great you can use the open headtracker code on them too if I remember right

Comment by Thomas J Coyle III on July 10, 2015 at 7:54am


I have one of the V2 flat IMUs too.



Comment by Charles lakins on July 10, 2015 at 7:13am

the imu v2 flat is hard to find anymore if thats what hes asking

Comment by Charles lakins on July 10, 2015 at 7:11am

I still have my setup i was looking for info on perhaps turning into a tracker unit but firmware loading is not as simple as MP anymore

Comment by Thomas J Coyle III on July 10, 2015 at 6:40am


I have a number of the old ATMega 328 Ardupilots and their shields.

PM me and I will see what I can do for you.



3D Robotics
Comment by Chris Anderson on July 10, 2015 at 6:22am

The you mean the "shield" that was mentioned in the original post? If so, I'm afraid I don't even have one myself. That was a long time ago!

Comment by Coastwise on July 10, 2015 at 6:00am
Does anyone have or know of the whereabouts of an interface/adapter mentioned by Chris,above, for the Ublox Lea-5h GPS?

I have been looking to buy one, new or used, for a long while without any luck, hence this cry into the wild.


Joe Homer
Comment by Harry on January 24, 2015 at 8:35pm
I don't know why I still fool with this but I do. I'm running FreeIMU, outputting DIYd binary on a Flip1.5 instead of the ArduIMU. I added a I2C daughter board that sends the Ublox protocol to the Flip. It took me a while to figure out the binary enough to get the ArduIMU Test to read it. If that program will read it, then the Ardupilot will.

The only benefit is a $15.00 IMU, $5.00 I2C daughter board vs. $75.00 ArduIMU. That would bring the combination IMU/Autopilot to about $60.00 with GPS. The other benefit is I get to learn a few things.

It'd be nice to squeeze all the Ardupilot stuff onto the $15.00 Flip. That would take some rework and combining with Multiwii code. The Ardupilot does a good job of handling modes and navigation, but the multiwii does a good job of combining IMU with reading radio. Somewhere in there is a decent little autopilot.
Comment by Charles lakins on August 26, 2013 at 12:04am

its a MPU6050 6-axis gyro/accel sensor attached to a piggybacked brushless motor driver pcb on an arduino pro mini 328p

Just a shrunk down brushless gimbal controller

still deciding what version of the firmware is best

more info here:

Comment by Harry on August 25, 2013 at 9:23pm

6050?  I see an ArduSomethin attached to an I2C IMU. 

I made progress and added GPS to Martin's code and I've got it sending GPS and attitude to the Ardupilot in binary.  Ardupilot even shows a solid blue light now and is smoother with GPS added. 


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