Autonomous flight mission with the ArduPlaneNG v2.x R5 and AIOP IMU board on Maxi Swift flying wing

Here a video of an autonomous flight with a Maxi Swift flying wing fully piloted by the firmware ArduPlaneNG v2.x R5 with an All In One Pro (AIOP) full IMU board.This is a porting of the ArduPlane v2 (v2.4+v2.5) firmware and special addons and improvements for the AIOP board that I have added.
The wind was 15 km/h gusting 22 km/h. The flight was very stable in spite of the gusty wind conditions.


  • IMU board: All In One Pro (AIOP) v1.0 from CRIUS,
  • GPS: Crius CN-06 (Ublox NEO-6)
  • AirSpeed sensor: MPXV5004DP (from a old ardupilot one shield)
  • firmware ArduPlaneNG V2.x R5, porting of the ArduPlane v2 + special addons for the AIOP v1 IMU board by JLN

Flying Wing: Maxi Swift from MS Composite (1m40 wingspan)

  • brushless motor Spitz 30 850 kV, 360W with a propeller GWS 10x4.5
  • Lipo: 3S EVO25 2650 mAh
  • Receiver: Turnigy 9X8C v2
  • Transmitter: Turnigy 9x with Er9x firmware

More infos at:

Views: 57600

Comment by YureZzZ on August 15, 2012 at 4:21pm

Great as always! Thanks a lot, Jean!

Comment by Rui Manuel Cravo Marques on August 15, 2012 at 4:44pm

Excellent flight Jean Louis :) Bravo !

Comment by on August 16, 2012 at 12:07am

As always Great stuff!

For anyone who is interested We are selling the all in one pro flight controllers at our shop.  We will soon also have an extension board that includes the LEA-6H GPS module, and Xbee Telemetry so keep an eye out for it.  But for now you can still use the Ublox NEO-6M unit.

Comment by Manu on August 16, 2012 at 1:44am

Looks like a nice and rather cheap config JL, so does it mean you can use Mission planner with this ? If not what tool would you use to plan/setup a mission (way points)?

Bravo dans tous les cas, tjrs un plaisir de lire tes posts!

Comment by Jean-Louis Naudin on August 16, 2012 at 2:14am

Hello Manu,

Thanks for your comments, of course this version of the fimware works fully with the latest version of the Mission Planner 1.2.5 with mavlink 1.0. All the setup, mission planning and PID parameters file are fully compatible with the official Arduplane version. The only difference with the APM (1 or 2) and the AIOP is in the data logging. There is no data logging feature with the AIOP v1.0 IMU board.

Comment by Manu on August 16, 2012 at 2:57am

Tx Jean Louis. Did you possibly have achance to compare, on the same plane, using APM/arduplane and AIOP/arduplane, in terms of stability or general behavior? Maybe it's all driven by the arduplane code so possibly the exact same behavior?

I like your thermo stuff too!

Comment by Grizouille on August 16, 2012 at 3:02am

Beau boulot !! Bravo !!

Comment by Rana on August 16, 2012 at 8:29am

JLN, that's really great !, Since "All In One Pro (AIOP) v1.0 from CRIUS" has MPU6050, are you able to use MPU6050 full digital motion sensing capabilities  of this great chip or you have confined yourself up the preliminary code in APM library for MPU6000 ?

You seems to have been quite inspired by

Comment by Jean-Louis Naudin on August 16, 2012 at 1:00pm

Here a video of Closed Loop Flight PLan mission at low altitude (30 m AGL) with the Maxi Swift flying wing piloted by the ArduPlaneNG v2x R5 and the All In One Pro (AIOP)


Comment by Rana on August 16, 2012 at 4:38pm

Very very nice  JLN !

You have done really a great job for the benefit of the entire community here, you know why......

APM2.5 + uBlox GPS from DIY Drones store is costing 250US$ and "All In One Pro (AIOP) v1.0 from CRIUS" + uBlox GPS is costing only 110US$, huge difference :-()


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