This UAV controller runs on the xxx hardware controller board and supports GPS point to point flying with loiter circles as specified heights and RTH ( Return To Home ) which can be triggered by failsafe or TX command.

Real world positioning is controlled by a 10 sample per second GPS receiver which automatically captures the home position at power up in 30 seconds.

Bank and climb are captured by the IMU ( Inertial Management Unit ) which uses a combination of magnetometers and accelerometers to establish the straight and level reference.

The Barometer function is used to control height changes.

The Planner software allows you to interact with Google MAPS to find WRCS and then plot a mission from you chosen home.

http://diydrones.com/



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Open this file with NOTEPAD is you would like to see the "SKETCH" file which controls the mission

Been there, done that
That board controls my smaller FPV/UAV foamie. Great stuff and works well. Autopilot brought my plane back when I lost sight of it behind the ridge...