"Simplest and easiest that I've discovered is Bigaole autopilot for fixed-wings.
It's does stabilize and RTL (return to launch)

https://alofthobbies.com/bigaole-6g-ap.html"

"Hey Nils, Just saw your post now.  I'm having same problem with my Ublox and APM2.5.2Wondering if I need a GPS also."

"Oh man, sorry to hear that Jeff.  You make my $300 flyaway like chump change."

"First FPV flight (using LCD monitor).It was 6am so the image quality (on LCD) from the Mobius was bad due to poor lighting but the recording was okay.
First FPV on LCD"

"You're right Nick. I was very surprised how steady the video was!I was only using a double-sided tape to mount the Mobius and expected crappy video.  Guess the acrylic-glass is rigid enough to remove most of the jello-effect.  Here's my latest test…"

"Second flight today, then forgot to put battery monitor. Had hard-land but still flyable.

https://www.youtube.com/watch?v=z-XXDx9AEGI&list=UUlL9q0seVNLoR..."

"Ha ha; RC dump truck, that's sounds cool!  Let me know how this build is going. Maybe I'll steal some ideas from you for my 7yr old. :) Are you planning on using APM for this RC dump-truck? Very interested.  
I have to say scratch-building my quad…"

"No prob.I found the 1/2" rod are most efficient weight and rigidity-wise. Thinking of trying smaller and smaller to almost 250 size and see how it compares to other FPV250 quads.  :)
What f/c do you use? I just tried Acro Naze32 today and WOW!…"

"Hi Nick,I got the parts here for cheap.  They have a local store near where I work.
S & W Plastics"