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:

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  • I solved a problem with the channel mixer elevon. But still I can not find the file " # include  "APM_Config_EasyStar2.h " !!!  Help me, please !!!!

  • Hello Jean Louis and everybody!
    Help me please with my problem. I've got the flying wing and AIOP V2.I loaded firmware ArduPlaneNG V2.x R5, but my elevons works uncorrectly - one elevon works only as roll, another elevon as picth ( in mode "STABILIZE"). In "MANUAL" works well. All settings of the transmitter such as recommended by the Jean Louis.I'm trying to use " # include  "APM_Config_EasyStar2.h ", but I  got a wrong message - no such file... and I can't find this file anywhere... Where I can find this file? Or, am I doing something wrong?

  • Jean Louis,


    in fact my atmega seems to have its output connected to the pin5 dead.

    is it possible to choose (re adress) outputs to use functionnal outputs?

    Thanks a lot for your help

  • i ve modified that :

    #define APM1_MOTOR_TO_CHANNEL_MAP CH_10,CH_2,CH_3,CH_4,CH_7,CH_8,CH_1,CH_11

    but seems to be not sufficient...

    coult show mw where and how do?

    Thanks a lot

  • Developer

    Hello Mathieu,

    You may change the motors mapping in the library itself. Look at the file AP_Motors.h in the AP_Motors library.

    I hope this will help you.

    Regards, Jean-Louis

  • The pin 5 of my CRIUS AIOP V1.1 seems to be dead, i have 4.4volts (signal3ground vs 2.2volts for the other pin)

    How can i re allocate motor pin?

    the pin 5 is always used in different config (tri, quad, plane..) :'(

    thanks for your help

  • well with PID_MaxiSwift_APNG2xR6.param  :)

  • Developer

    Hello Ivan,

    You may use:

    #include "APM_Config_EasyStar2.h

    and then load the param file:


    look at this link for more infos:,-missio...


  • What to choose for flying wing in ArduPlaneNG2xR5.

    # include "APM_Config_Thp.h"

    / / # include "APM_Config_HILmode.h"
    / / # include "APM_Config_EasyStar2.h"
    / / # include "APM_Config_Cularis.h"
    / / # include "APM_Config_ASW27.h"
    / / # include "APM_Config_MAJA.h"

  • hello,

    i have the board from hobbyking flashed with ArduPlaneNG2x. and i have a few questions:

    1. there are two constant red leds in the center of the fc, what do they indicate?

    2. when i power it up, led a (the left one) blinks twice, and only after that i get the boot sequence leds. what does

    the blinking led tell me? 

    3. i got minimosd connected to the board (s03), but the board comunicates with it succesfullly only when its pwered by a ubec. when i power it using my speed controller - no telemetry feed.  what am i doing wrong?

    iv'e been looking everywhere for answers, with no luck so far:(

    please  help

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