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This software is currently under development. The objective is to provide modular guidance/navigation/ and control algorithms for various autopilot boards and for various vehicle types. The planned list of supported platforms: px4 (arm) arduino JSBSim based hardware in the loop Vehicles to be supported: quadrotors ground vehicles airplanes helicopters The communication protocol will be mavlink. Notes: Development of JSBSim software in the loop. This will talk with mavlink to qgroundcontrol, and uses flightgear multiplayer packets to talk to a flightgear server (for visualization). The autopilot design will be thread safe and use mutex locks to accomplish this.