# ArduPilot — Open-Source Autopilot for Drones, Rovers and Submarines

> ArduPilot is the leading open-source autopilot software suite supporting multicopters, fixed-wing aircraft, rovers, boats, and submarines. It provides GPS navigation, mission planning, and autonomous flight capabilities on affordable hardware.

## Install

Save as a script file and run:

# ArduPilot — Open-Source Autopilot for Drones, Rovers and Submarines

## Quick Use
```bash
git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git
cd ardupilot
Tools/environment_install/install-prereqs-ubuntu.sh -y
. ~/.profile
./waf configure --board sitl
./waf copter
sim_vehicle.py -v ArduCopter --console --map
```

## Introduction
ArduPilot is the most trusted open-source autopilot platform, powering everything from hobbyist quadcopters to commercial survey drones and research submarines. Its codebase has been in active development since 2010 and runs on a wide range of flight controllers.

## What ArduPilot Does
- Controls multirotor, fixed-wing, helicopter, rover, boat, and submarine vehicles
- Executes autonomous missions with GPS waypoints, geofences, and return-to-launch
- Streams real-time telemetry to ground control stations over radio, Wi-Fi, or cellular links
- Supports companion computers for onboard image processing and obstacle avoidance
- Integrates with MAVLink protocol for interoperability with ground stations and payloads

## Architecture Overview
ArduPilot runs a real-time control loop on STM32-based flight controllers (Pixhawk family and others). A hardware abstraction layer (AP_HAL) separates vehicle logic from board-specific drivers. The SITL (Software in the Loop) simulator lets developers test on a desktop without hardware. Vehicle types share common libraries for EKF navigation, PID control, and MAVLink communication.

## Self-Hosting & Configuration
- Flash firmware via Mission Planner (Windows), QGroundControl (cross-platform), or `waf` CLI build
- SITL simulator runs entirely on Linux or macOS for testing without hardware
- Parameters are tuned through ground station software or MAVLink commands
- Supports Lua scripting for custom on-board logic and automation
- Log files (.bin) can be analyzed with MAVExplorer or the web-based UAV Log Viewer

## Key Features
- Supports over 100 flight controller boards from various manufacturers
- Extended Kalman Filter (EKF3) fuses GPS, IMU, barometer, and compass data for accurate positioning
- Autonomous mission execution with conditional waypoints, do-commands, and spline paths
- Geofencing and failsafe actions (return to launch, land, continue mission)
- SITL and HITL simulation for safe development and regression testing

## Comparison with Similar Tools
- **PX4** — alternative open-source autopilot with Dronecode backing; ArduPilot supports more vehicle types and has a larger hobbyist community
- **Betaflight** — focused on FPV racing quads with low-latency control; ArduPilot targets autonomous missions and GPS navigation
- **DJI SDK** — proprietary; ArduPilot is fully open source and hardware-agnostic
- **iNav** — navigation firmware for fixed-wing and multirotor; ArduPilot offers richer mission planning and companion computer integration
- **Mission Planner / QGroundControl** — ground station software that pairs with ArduPilot firmware, not competitors

## FAQ
**Q: What hardware do I need to get started?**
A: A Pixhawk-compatible flight controller (starting around $50), a GPS module, and a radio telemetry link. For testing, SITL requires only a Linux or macOS machine.

**Q: Can ArduPilot be used commercially?**
A: Yes. ArduPilot is licensed under GPLv3. Many commercial drone companies build products on ArduPilot firmware.

**Q: How do I contribute code?**
A: Fork the repository, develop on a feature branch, test in SITL, and submit a pull request. The project has detailed developer documentation and an active Discord community.

**Q: Does ArduPilot support obstacle avoidance?**
A: Yes, via companion computers running ROS or simple rangefinder-based avoidance. The BendyRuler and Dijkstra path planners are built in.

## Sources
- https://github.com/ArduPilot/ardupilot
- https://ardupilot.org/dev/

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Source: https://tokrepo.com/en/workflows/asset-7dd9f4d8
Author: Script Depot