ArduPlane is the Arduino-compatible open source software used by the ArduPilot Mega (APM) autopilot to control fixed-wing aircraft. ArduPlane provides an entire UAV control system with sciptable missions, 3D waypoints, in-flight uploading of commands and powerful ground station software.

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
• Auto takeoff and landing
• Full datalogging on the ground and in the air. Replay missions, analyze every bit of data, or export them to Google Earth
• Run simulated missions on the ground with PC flight simulators
• 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!
• Voice feedback from the Ground Station reports data of your choice out loud
• Built-in failsafe will bring your aircraft home in the case of radio loss

ArduPlane's DIY Drones home page is here.

The manual is here.

APM Main Board:

Features:

• Designed to be used with autonomous aircraft, quadcopters and helis
• Based on a 16MHz Atmega1280 processor.
• Built-in hardware failsafe that uses a separate circuit (multiplexer chip and ATMega328 processor) to transfer control from the RC system to the autopilot and back again.
• Includes ability to reboot the main processor in mid-flight
• Dual-processor design with 32 MIPS of onboard power
• Supports 3D waypoints and mission commands (limited only by memory--approximately 600-700 waypoints with current code, but can be adapted for more)
• 128k Flash Program Memory, 8K SRAM, 4K EEPROM
• Comes with a 6-pin GPS connector (EM406 style).
• Has 16 spare analog inputs (with ADC on each) and 40 digital input/outputs to add additional sensors
• Four dedicated serial ports for two-way telemetry (using optional XBee modules) and expansion
• Can be powered by either the RC receiver or a separate battery
• Hardware-driven servo control, which means less processor overhead, tighter response and no jitters
• Eight RC channels (including the autopilot on/off channel) can be processed by the autopilot.
• LEDs for power, failsafe status, autopilot status

The IMU shield:

Features:

• Dual 3.3V Regulator!!! (One dedicated for analog sensors!)
• Relay switch for cameras, lights or payloads
• 12-bit ADC for better Gyro/Accel/AirSpeed resolution.
• Built-in 16MB Data Logger (The Black Box).
• Piano DIP switch for servo reverse or user customizable.
• Built-in FTDI, making the board native USB.
• Dedicated Modem/OSD port.
• I2C Port with incoming "Daisy Chain board" allowing you to build sensor arrays.
• Two user-programmable buttons (one momentary, the other slide).
• 10-Bit analog expansion ports.
• Reset button.
• Optional "Through Hole" voltage dividers (Easy to solder).
• Tons of Status LEDs.
• New vibration resistance Invensense Gyros (Triple Axis).
• Analog Devices ADX330 Accelerometer.
• Airspeed sensor port (optional, sold separately).
• Absolute Bosch pressure sensor and temp for accurate altitude (Yes, you can use your shield as a Weather Logger, too!).