I'm an undergrad EE student at Georgia Tech and this summer I'm working in an aerospace research lab at Penn Sate University, headed by Dr. Jack Langelaan. My project is to outfit a Zagi THL glider with an autopilot system. The reaserch is being funded by the NSF, and the aim is to work on developing open-source autopilot hardware and software, with a goal of having the drones do useful work, such as monitoring meteorological conditionsWe want our autopilot to be based around an IMU. We're using an IMU because we need a system that is more robust than the IR sensors that the ArduPilot is based around. This system will need to be able to stabilize the aircraft in heavy clouds, near mountains, and in other conditions that are likely to fool the IR sensors.We were initially planning on using the Sparkfun 6DOF V4, but due to the availability of the Vectornav VN100, we have decided to use that instead. Connecting either module to the ArduPilot presents a challenge because of the limited IO ports on the ATMega microcontroller. However, while the Sparkfun module only has a UART interface, the VN100 also has SPI, which should make it relatively easy to interface with.The VN100 implements an extended Kalman filter onboard, so we will get an attitude solution from the module, which we will use on the ArduPilot to stabilize the aircraft.Navigation will be accomplished using a GPS, in our case the u-blox 5 module from Sparkfun. This seems to be one of the best chipsets available today, and unlike NMEA, the ubx protocol provides vertical velocity data, which is useful for aircraft navigation.Our airframe is a Zagi THL glider. This is a flying wing, with elevons as the only control srufaces. This makes control of the aircraft slightly more difficult than with an Easystar, as it requires mixing of the control surfaces to execute a level turn. I've attached a photo below.I'll keep this post updated with my progress throughout the summer, and add more details about some of the pieces I'm working on.