3D Robotics

ArduPlane home page




Convert any RC airplane into a fully-autonomous UAV!
Just add the APM 2 autopilot to any RC aircraft and it becomes a fully-programmable flying robot with a powerful ground station and Mission Planner.  


Features include:

  • Return to Launch with a flick of your RC toggle switch or a mouse click in the graphical Ground Station
  • Unlimited 3D GPS waypoints
  • Built-in camera control
  • Fully-scriptable missions
  • One-click software load, and easy point-and-click configuration in the powerful Mission Planner. NO programming required!
  • Replay recorded missions and analyze all the data with a graphing interface
  • Supports two-way telemetry with Xbee wireless modules. 
  • Point-and-click waypoint entry or real-time mission commands while the UAV is in the air
  • Fly with a joystick or gamepad via your PC--no need for RC control!
  • Built-in failsafe will bring your aircraft home in the case of radio loss


All instructions and software are here.






APM 2 is an open source, Arduino-compatible, pro-quality autopilot. It is the most advanced IMU-based open source autopilot available today, and provides an entire UAV control system with scriptable missions with 3D waypoints, in-flight uploading of commands and powerful ground station software. 


APM 2 supports any kind of of vehicle with a one-click change of code. Available code include ArduPlane (fixed wing), ArduCopter (rotary wing), ArduRover (ground vehicles) and more.


Everything you need to create an ArduPlane UAV:


APM 2.5 autopilot with GPS ($179)

[Optional] Telemetry kit ($75).



You'll also need a at least a five-channel RC radio setup, a soldering iron, a mini USB cable and of course something that flies!3689354440?profile=original (We're partial to the SkyFun delta wing (right) and
Bixlee 2   powered glider (left) or its equivalents ourselves).






Source code/firmware

Note: ArduPilot Mega requires no programming, but it's open source and you're welcome to modify it if you'd like. If you are going to play with the code, you can use the free Arduino IDE to edit and upload the code to the ArduPilot board.



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  • Thanks Thomas!
  • Admin

    It should be in your arduino-0018 folder where the arduino.exe application program is located. The folder just says "libraries" and not "IDE libraries" folder.

    Hope this helps.

  • Final (for now) comment!
    I said above that my Ublox wasn't working yet with APM_1_0 not-ready-for-prime-time code but after testing for an hour or so, it seems to be working. Once you get a lock, you can keep it for retest - don't know how that works. Seemed to take many minutes the first time and the code just acts like it is hung up - no "Waiting for fix...". Anyway, I see a few small changes between the ArduPilot2.5 code and the APM version in the ublox area but I don't know if it matters. I feel like I have come quite a ways and the system is basically working - hardware wise. Still more testing coming, I am sure.
  • ok I give up where is the "IDE libraries folder" ? I must be thick.
  • @TCIII

    I ordered the GS407 U-Blox5 GPS, and the EM-406/uBlox Adaptor Cable as recommended. Today I found out that the uBlox Adapter is a must, because of the special connector the GS407 has. This connector is not shown on a foto or described elsewhere. For me as a foreigner living in Europe a expensive experience because I have to order again and pay shipping and fees for around $60 per order. Please put his information on the shop.

  • Developer
    Hey all,
    Just wanted to make sure you knew..... Don't want any extra broken planes ;)

    @space_nut - Yes, I am doing aileron to rudder mixing, AND (even better) rudder PID control based on the accelerometers to truly coordinate turns.
  • @TCIII,
    Well, I had to use u-center to reload the correct config into the UBLOX - had to make the 4 pin cable which can be used again. The GPS was set for 9600 and a lot of other wrong things. BUT I'm still not done, I tried the ublox with Ardupilot 2.5 and it locked up and gave good data - YEA! But when I try it with the megastack and the "not-ready-for-flying" APM_1_0, it won't lock up. I am digging in the code to see if I can find any differences between Ardupilot2.5 and this new "test-only" code. Do you have any ublox with Megastack test code?

    Thanks much

  • Not sure if it's in the TO DO but are you providing support for mixing the Aileron and Rudder signals for tighter control and turns?
  • Admin

    I think that most members are just interested in checking out the functionality, no matter how limited, of their new ArduPilot Mega/IMU Mega boards. I think that most members are aware of the fact that the ArduPilotMega_1_0 code is not flyable just by reading the "To Do" list.

    Also, the original APM_ADC library does not reflect the as shipped IMU Mega pin outs which makes the processed IMU data worthless for flying.

    Just a thought.

  • Developer
    Hey everybody - I noticed that people are starting to download the ArduPilotMega_1_0 code. IT IS NOT IN A FLYABLE STATE YET!!!

    I hope to have an update this week that should be flyable for Stabilize and Fly By Wire modes. I will post here when that is ready. The current revision is just about guaranteed to crash your plane in Fly By Wire, and probably in Stabilize too. Please be patient.
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