Table of Contents

• License (GPLv3)
• Downloading the code / Using Git
  • Installing Git
  • Fork the repository
  • Clone the repository
  • Branching and Committing
  • Rebasing: keeping your code up to date
  • Interactive Rebase: cleaning up commits
  • Git Submodules
• Building the code
  • Setup the Build Environment on Linux/Ubuntu
  • Setup the Build Environment on Windows
  • Setup the waf Build Environment on Windows10 using WSL
  • Setup the waf Build Environment on Windows using Cygwin
  • Setup Eclipse on Windows for building with waf
  • Setup the Build Environment on MacOSX
  • Building for NAVIO2 on RPi3
  • Building for Erle-Brain 2
  • Building for Erle-Brain
  • Building for Bebop 2
  • Building for Bebop on Linux
  • Building for BeagleBone Black
  • Building Mission Planner with Visual Studio
  • ArduPilot Pre-Built Binaries
• Editors & IDEs
  • Eclipse on Windows
  • NotePad++
  • VSCode
• Learning the code
  • Introduction
  • Library Description
  • Library Example Sketches
  • Sensor Drivers
  • Threading
  • UARTs and the Console
  • RC Input and Output
  • Storage and EEPROM management
  • EKF
    • Extended Kalman Filter Tuning
    • EKF2 Estimation System
  • Copter - Vehicle Code introduction
  • Copter - Attitude Control
  • Copter - Adding Parameters
  • Copter - Adding a new flight mode (ver 3.6 and higher)
  • Copter - Adding a new flight mode (ver 3.5 and lower)
  • Copter - Scheduling your new code to run intermittently
  • Copter - Motors Library
  • Copter - PosControl and Navigation
  • Copter - Object Avoidance
  • Rover - Adding a new drive mode
  • Rover - L1 navigation controller
  • Plane - Architecture overview
  • Adding a new Log message
  • Adding a new MAVLink message
  • Adding a new MAVLink Gimbal
• Simulation & Testing
  • SITL Simulator
    • SITL setup on Linux
    • SITL setup on Windows
    • SITL setup on Windows in a VM
    • SITL setup using Vagrant
    • Copter SITL/MAVProxy Tutorial
    • Plane SITL/MAVProxy Tutorial
    • Rover SITL/MAVProxy Tutorial
    • Balance Bot SITL/MAVProxy Tutorial
    • SITL Advanced Testing
    • Using Gazebo Simulator with SITL
    • Using Last_letter Simulator with SITL
    • Using the CRRCSim simulator
    • Using X-Plane 10 with SITL
    • Soaring SITL with X-Plane
    • Soaring SITL with Silent Wings
  • Gazebo
  • XPlane-10
  • RealFlight
  • Morse
  • Replay
  • JSBSim
  • AirSim
  • Last Letter
  • CRRCSim
  • HITL Simulators
    • X-Plane Hardware in the Loop Simulation
    • FlightGear Hardware-in-the-Loop Simulation
  • Autotest Framework
    • AutoTest Sample Output
  • SCRIMMAGE
• Debugging
  • Logs
    • Diagnosing problems using Logs
    • Dataflash Logs
    • Telemetry Logs
    • Measuring Vibration with "Batch Sampling"
    • MAVExplorer
    • MissionPLanner
    • QGroundControl
    • Dronee Plotter
  • Debugging with send_text
  • Using MAVExplorer for log analysis
  • Finding the Particular Commit which Introduced a Bug
  • Debugging with GDB
    • Debugging with SITL on Linux
    • Debugging with GDB on STM32
  • Interfacing with Pixhawk using the NSH
  • LTTng Tracing
• Contributing Code
  • Submitting Patches Back to Master
  • Style Guide
• MAVLink Interface
  • MAVLink Basics
  • Requesting Data From The AutoPilot
  • Getting and Setting Parameters
  • Copter Commands (Guided Mode)
  • Plane Commands (Guided Mode)
  • MAVLink Routing
  • Mission Command List
  • Mission Command Package Format
• CAN and UAVCAN
  • CAN bus driver implementation roadmap
• Companion Computers
  • APSync
  • Arduino family
  • BeaglePilot Project
    • Building ArduPilot for BeagleBone Black on Linux
  • DroneKit Tutorial
  • FlytOS
  • Intel Edison
  • LYCHEE - Carrier board for Cube flight controller with built in Raspberry Pi Compute Module 3+
  • Maverick
  • NVidia TX1
  • NVidia TX2
  • ODroid
    • ODroid Wifi Access Point for sharing files via Samba
  • Raspberry Pi
    • Making a Mavlink WiFi bridge using the Raspberry Pi
  • ROS
    • Installing ROS
    • Installing MAVROS
    • Connecting to ArduPilot from ROS
    • Hector SLAM for non-GPS navigation
    • Google Cartographer SLAM for non-GPS navigation
    • VIO tracking camera for non-GPS navigation
    • Sending Commands from rviz
    • Object Avoidance
    • Clock/Time syncronisation
    • Send data from AP to ROS/mavros
    • ROS with SITL
    • ROS with SITL in Gazebo
    • ROS with distance sensors
    • ROS with Aruco Boards detection
    • ROS with Apriltag Boards detection
  • Turnkey Companion Computer Solutions
• ROS
  • Installing ROS
  • Installing MAVROS
  • Connecting to ArduPilot from ROS
  • Hector SLAM for non-GPS navigation
  • Google Cartographer SLAM for non-GPS navigation
  • VIO tracking camera for non-GPS navigation
  • Sending Commands from rviz
  • Object Avoidance
  • Clock/Time syncronisation
  • Send data from AP to ROS/mavros
  • ROS with SITL
  • ROS with SITL in Gazebo
  • ROS with distance sensors
  • ROS with Aruco Boards detection
  • ROS with Apriltag Boards detection
• Lua Scripts
• Porting to a new Flight Controller
• Advanced Hardware Info
  • How to sign a Pixhawk with your Certificate of Authenticity
  • Loading a bootloader with DFU
  • ArduPilot Bootloader
  • Troubleshooting Pixhawk Boot
• MAVProxy Developer GCS
  • MAVProxy on Windows 7
• RTF Vehicle Developer Information
  • 3DR Solo
  • OpenSolo QuickStart
  • SkyRocket SkyViper V2450GPS
• How The Team Works
  • Communication Channels (aka Contact Us)
  • Copter Release Procedures
  • Developer Code of Conduct
  • Funding Committee
  • Job Openings
  • RoadMap for 2019/2020
  • Items completed in 2018
  • Top Contributors
  • Voting
  • Weekly meetings on Mumble Server
• Events
• Training Centers
• GSoC 2019 project ideas
• Wiki Editing Guide
  • Making a Quick Edit
  • Infrastructure Overview
  • Setting Up the Editing Environment
  • Submitting Changes
  • Style Guide
  • Archiving and Deleting pages
• Appendix
  • Acknowledgments
  • Advanced user tools (downloads)
  • Commercial Support
  • Contact Us
  • Developer tools (downloads)
  • Donating to ArduPilot
  • Firmware (downloads)
  • Glossary
  • History of ArduPilot
  • Partners
  • Partners Program
  • Ready-To-Use vehicles
  • Stores
  • Top Contributors
  • Wiki Editing Guide
    • Making a Quick Edit
    • Infrastructure Overview
    • Setting Up the Editing Environment
    • Submitting Changes
    • Style Guide
    • Archiving and Deleting pages
  • Trademark
  • Archived Topics
    • Building ArduPilot for APM2.x with Eclipse on Windows
    • Loading the code onto APM2.x
    • Advanced Configuration Settings
      • Extended Kalman Filter Tuning
      • EKF2 Estimation System
      • How to sign a Pixhawk with your Certificate of Authenticity
      • Forcing Pixhawk px4io flash
      • Troubleshooting Pixhawk Boot
    • Updating the APM2.x BootLoader
    • Mission Planner Terminal
      • Mission Planner CLI Setup Test modes
      • Mission Planner Command Line Interface (CLI)
      • Setting up flight modes with the CLI
      • Using the Command Line Interface
      • Using the Command Line Interface to Configure Copter
    • Debugging using JTAG
    • Building for Pixhawk on Windows with Make
    • Building ArduPilot with Arduino for Windows
    • Editing & Building with Atmel Studio or Visual Studio
    • Building for APM2.x with Make (Win, Mac, Linux)
      • Building for APM2.x on Linux with Make
      • Building ArduPilot for APM2.x on Windows with Make
    • APM2.x on MacOS with Arduino
    • APM2.x on Linux with Make
    • Building for Flymaple on Linux
    • Building for Pixhawk on Windows or Linux with QtCreator
    • Building for Qualcomm Snapdragon
    • Building for Erle-Brain 2
    • Building for Erle-Brain
    • Building for Navio on RPI 2
• Full Table of Contents