ArduPilotMega is a low-cost autopilot system with software supporting both xed-wing and quadrotor unmanned aerial vehicles. This paper discusses the development of a new library for ArduPilotMega: ArduPilotOne, which uses object-oriented design to modularize the autopilot system. This object-oriented approach reduces code repetition, reduces code maintenance, and makes it simpler to support new vehicles and hardware. Rover support has been added to ArduPilotMega via the ArduPilotOne library. In addition, the ArduPilotOne library includes alternative quadrotor and xed-wing software. In this paper, we will present the test results of implementing ArduPilotOne for an unmanned ground vehicle.
['James Goppert', 'Nathanael Xie Wenyao', 'Inseok Hwang']
ArduPilotOne: Extending the Capabilities of the Open-Source ArduPilotMega Autopilot System