Hi, 

I have been playing with the APM 2 board together with mission planner and it works great. It is able to do altitude hold using only the baro and waypoints without any problem. 

I would like to program the APM board for an intermeshing UAV that i have been working on last year. The aim is to get the UAV to be autonomous and I feel that APM is the best choice but I have no idea where to insert the additonal program into the existing one. 

can someone help me out?

thanks