This code should become an autopilot (waypoint-following or fly-by-wire with gust compensation) for an RC plane someday.

##Hardware used

• ATMEGA2560 microcontroller
• NMEA GPS (Adafruit ultimate GPS used)
• L3GD20 Gyro (Adafruit 10DOF imu board used)
• LSM303DLHC Magnetomenter/Accelerometer (also on adafruit 10dof)
• BMP180 barometer/altimeter (also on the 10DOF board)
• xBee-API compatible transceiver (xBee PRO 868 used)

• avr-gcc and avr-libc
• Google's protobuf (version 2.6.1 used)
• nanopb

This project contains code from the following sources:

• The FreeIMU project
• Madgwick's AHRS algorithm
• Procyon AVRlib
• Adafruit's various Arduino libraries for the 10DOF board