I know this has been answered I just can't find it. I am assuming yes.
Also, how would I go about do this? I know I need a special programing board w/USB. Is the program in like C++ or anything similar?
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Yes, all the Ardu* projects are open source. They're all based on Arduino (which is C/C++). It's easy to use and free. Please go to arduino.cc to learn more about programming with it.
You don't need a special programming board. If you're using APM, it's USB native. If you're using the older ArduPilot, you just need a FTDI cable (connects USB to the ArduPilot board).