[Tyler]

ArduPilot 2.0 Beta AUV Software Released
     

Our friends at DIY Drones have released
the first public beta version of ArduPilot 2.0. If you're
not familiar with ArduPilot, it's a free software / free hardware AUV
platform (or Open Source software / Open Source hardware if you prefer)
that includes AUV software, sensor stabilization, and GPS navigation. If
you don't want to build the controller board yourself, you can buy a preassembled
board from Sparkfun. All the software is licensed under the
GPL-compatible Apache 2.0 license. ArduPilot 1 included programmable 3D
waypoints, in-flight reset, and programmable actions. Version 2 includes
a Fly-by-wire mode that stabilizes the aircraft in RC mode, EEPROM
storage of waypoint and sensor calibration info, improved performance in
wind, support for thermopile XY sensors, and chained PID loops to
combined stabilization and navigation functions. With all this
available, you have no excuse for not getting started on the flying
robot you've always wanted to build.
   

http://robots.net/article/2780.html