Controller Board (APM1)
The controller board that we use to stabilize the quadcopter is this one.
The heart of Arduino Mega is the Atmega1280 microcontroller from Atmel, which has 128kB of flash memory.
More information about the hardware here.
The Atmega1280 is connected with APM IMU Shield using the four ports.
Port 0: USB
Port 1: GPS
Port 2: ADC
Port 3: Xbee/telemetry
The other part is the IMU Shield. More information about it, here.
