ArduPilot (also ArduPilotMega - APM) is an open source unmanned aerial vehicle (UAV) platform, able to control autonomous multicopters, fixed-wing aircraft, traditional helicopters, ground rovers and antenna trackers. Ardupilot is an award winning platform that won the 2012 and 2014 UAV Outback Challenge competitions . It was started in 2007 by members of the DIY Drones community. The first ArduPilot version supported only fixed wing aircraft and was based on a thermopile sensor, which relies on determining the location of the horizon relative to the aircraft by measuring the difference in temperature between the sky and the ground. Later, the system was improved to replace thermopiles with an Inertial Measurement Unit (IMU) using a combination of accelerometers, gyroscopes and magnetomet