• Software utilises an MPU, GPS, Servo, ESC, magnetometer and a remote control input, in an arduino leonardo.
• Sensors and accuators are all in classes
• Considers seven interval / frequencies of task execution
• Controls steering based on target
• Boots esc motor, and applies a non liner transfer function to the speed remote input
• Computes degrees heading at boot time, used as an offcet for the mpu degree heading
• Derives distance and degree from a target gps LAT LOT
• Return to home on signal loss
• pending-Detection of low battery and return to home

Sensors :

• Gps : M8n
• Magmetometer : M8n's HMC5883
• Receiver : flysky F9-ia10b
• MPU : MPU6050
• Voltage sensor 0-25v MH-electronic

Other:

• Transmitter : flysky FS-I6X
• Arduino Leonardo
• Sparkfun Logic Level Converter Bi-Directional