I've been wanting to build a balance bot for ages and I finally have to time to make one. ArduBalance leverages the existing code base of ArduCopter to produce a simple autonomous balancing robot. Features include:
• GPS, opt_flow, and dead-reckoning
• Ardupilot mission scripting
• Full RC control
• Heading hold
• Position hold
• Stabilization, RTL, AUTO, GUIDED, FBW modes
• Mavlink 1.0 support
• APM1 and APM2 support
I'm still in the very early stages of development (this video is literally the first RC controlled run), but most of the feature have been ported from ArduCopter already. This project is closed source for now until development settles down.
The current version is an inverted foam core T, but this will evolve to something much more interesting.