Cheapest arduino board/shield combo

Hello everyone,

I am already aware that the ardupilot mega kit includes the IMU oilpan shield and the ardupilot board for $250, but I am trying to make a basic UAV under $200(couting plane, radio, motor, etc.). Can I just use the ardupilot board with a "blank shield"? If so, which one? Would a cheaper option be to use the arduino mega board with a blank shield?

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