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APM Plane, APM Copter, APM Rover source
PX4 Firmware for PX4FMU autopilot and PX4IO servo / failsafe board
INAV: Navigation-enabled flight control software
Standard NuttX (http://nuttx.org) with current PX4 WIP patches
UAVCAN is a lightweight protocol designed for reliable communication in aerospace and robotic applications via CAN bus.
Firmware flashing tool