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# ArduPilot Project
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< a href = "https://ardupilot.org/discord" > < img src = "https://img.shields.io/discord/674039678562861068.svg" alt = "Discord" >
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[![Test Copter ](https://github.com/ArduPilot/ardupilot/workflows/test%20copter/badge.svg?branch=master )](https://github.com/ArduPilot/ardupilot/ardupilot/actions/workflows/test_sitl_copter.yml) [![Test Plane ](https://github.com/ArduPilot/ardupilot/workflows/test%20plane/badge.svg?branch=master )](https://github.com/ArduPilot/ardupilot/ardupilot/actions/workflows/test_sitl_plane.yml) [![Test Rover ](https://github.com/ArduPilot/ardupilot/workflows/test%20rover/badge.svg?branch=master )](https://github.com/ArduPilot/ardupilot/ardupilot/actions/workflows/test_sitl_rover.yml) [![Test Sub ](https://github.com/ArduPilot/ardupilot/workflows/test%20sub/badge.svg?branch=master )](https://github.com/ArduPilot/ardupilot/ardupilot/actions/workflows/test_sitl_sub.yml) [![Test Tracker ](https://github.com/ArduPilot/ardupilot/workflows/test%20tracker/badge.svg?branch=master )](https://github.com/ArduPilot/ardupilot/ardupilot/actions/workflows/test_sitl_tracker.yml)
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[![Test AP_Periph ](https://github.com/ArduPilot/ardupilot/workflows/test%20ap_periph/badge.svg?branch=master )](https://github.com/ArduPilot/ardupilot/ardupilot/actions/workflows/test_sitl_periph.yml) [![Test Chibios ](https://github.com/ArduPilot/ardupilot/workflows/test%20chibios/badge.svg?branch=master )](https://github.com/ArduPilot/ardupilot/ardupilot/actions/workflows/test_chibios.yml) [![Test Linux SBC ](https://github.com/ArduPilot/ardupilot/workflows/test%20Linux%20SBC/badge.svg?branch=master )](https://github.com/ArduPilot/ardupilot/ardupilot/actions/workflows/test_linux_sbc.yml) [![Test Replay ](https://github.com/ArduPilot/ardupilot/workflows/test%20replay/badge.svg?branch=master )](https://github.com/ArduPilot/ardupilot/ardupilot/actions/workflows/test_replay.yml)
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[![Test Unit Tests ](https://github.com/ArduPilot/ardupilot/workflows/test%20unit%20tests/badge.svg?branch=master )](https://github.com/ArduPilot/ardupilot/ardupilot/actions/workflows/test_unit_tests.yml) [![test size ](https://github.com/ArduPilot/ardupilot/actions/workflows/test_size.yml/badge.svg )](https://github.com/ArduPilot/ardupilot/actions/workflows/test_size.yml)
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[![Test Environment Setup ](https://github.com/ArduPilot/ardupilot/actions/workflows/test_environment.yml/badge.svg?branch=master )](https://github.com/ArduPilot/ardupilot/actions/workflows/test_environment.yml)
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[![Cygwin Build ](https://github.com/ArduPilot/ardupilot/actions/workflows/cygwin_build.yml/badge.svg )](https://github.com/ArduPilot/ardupilot/actions/workflows/cygwin_build.yml) [![Macos Build ](https://github.com/ArduPilot/ardupilot/actions/workflows/macos_build.yml/badge.svg )](https://github.com/ArduPilot/ardupilot/actions/workflows/macos_build.yml)
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[![Coverity Scan Build Status ](https://scan.coverity.com/projects/5331/badge.svg )](https://scan.coverity.com/projects/ardupilot-ardupilot)
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[![Test Coverage ](https://github.com/ArduPilot/ardupilot/actions/workflows/test_coverage.yml/badge.svg?branch=master )](https://github.com/ArduPilot/ardupilot/actions/workflows/test_coverage.yml)
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[![Autotest Status ](https://autotest.ardupilot.org/autotest-badge.svg )](https://autotest.ardupilot.org/)
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ArduPilot is the most advanced, full-featured and reliable open source autopilot software available.
It has been under development since 2010 by a diverse team of professional engineers, computer scientists and community contributors.
Our autopilot software is capable of controlling almost any vehicle system imaginable, from conventional airplanes, quad planes, multi-rotors, and helicopters to rovers, boats, balance bots and even submarines.
It is continually being expanded to provide support for new emerging vehicle types.
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## The ArduPilot project is made up of: ##
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- ArduCopter: [code ](https://github.com/ArduPilot/ardupilot/tree/master/ArduCopter ), [wiki ](https://ardupilot.org/copter/index.html )
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- ArduPlane: [code ](https://github.com/ArduPilot/ardupilot/tree/master/ArduPlane ), [wiki ](https://ardupilot.org/plane/index.html )
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- Rover: [code ](https://github.com/ArduPilot/ardupilot/tree/master/Rover ), [wiki ](https://ardupilot.org/rover/index.html )
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- ArduSub : [code ](https://github.com/ArduPilot/ardupilot/tree/master/ArduSub ), [wiki ](http://ardusub.com/ )
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- Antenna Tracker : [code ](https://github.com/ArduPilot/ardupilot/tree/master/AntennaTracker ), [wiki ](https://ardupilot.org/antennatracker/index.html )
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## User Support & Discussion Forums ##
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- Support Forum: < https: // discuss . ardupilot . org />
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- Community Site: < https: // ardupilot . org >
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## Developer Information ##
- Github repository: < https: // github . com / ArduPilot / ardupilot >
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- Main developer wiki: < https: // ardupilot . org / dev />
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- Developer discussion: < https: // discuss . ardupilot . org >
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- Developer chat: < https: // discord . com / channels / ardupilot >
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## Top Contributors ##
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- [Flight code contributors ](https://github.com/ArduPilot/ardupilot/graphs/contributors )
- [Wiki contributors ](https://github.com/ArduPilot/ardupilot_wiki/graphs/contributors )
- [Most active support forum users ](https://discuss.ardupilot.org/u?order=post_count&period=quarterly )
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- [Partners who contribute financially ](https://ardupilot.org/about/Partners )
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## How To Get Involved ##
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- The ArduPilot project is open source and we encourage participation and code contributions: [guidelines for contributors to the ardupilot codebase ](https://ardupilot.org/dev/docs/contributing.html )
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- We have an active group of Beta Testers to help us improve our code: [release procedures ](https://ardupilot.org/dev/docs/release-procedures.html )
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- Desired Enhancements and Bugs can be posted to the [issues list ](https://github.com/ArduPilot/ardupilot/issues ).
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- Help other users with log analysis in the [support forums ](https://discuss.ardupilot.org/ )
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- Improve the wiki and chat with other [wiki editors on Discord #documentation ](https://discord.com/channels/ardupilot )
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- Contact the developers on one of the [communication channels ](https://ardupilot.org/copter/docs/common-contact-us.html )
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## License ##
The ArduPilot project is licensed under the GNU General Public
License, version 3.
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- [Overview of license ](https://dev.ardupilot.com/wiki/license-gplv3 )
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- [Full Text ](https://github.com/ArduPilot/ardupilot/blob/master/COPYING.txt )
## Maintainers ##
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ArduPilot is comprised of several parts, vehicles and boards. The list below
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contains the people that regularly contribute to the project and are responsible
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for reviewing patches on their specific area.
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- [Andrew Tridgell ](https://github.com/tridge ):
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- ***Vehicle***: Plane, AntennaTracker
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- ***Board***: Pixhawk, Pixhawk2, PixRacer
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- [Francisco Ferreira ](https://github.com/oxinarf ):
- ***Bug Master***
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- [Grant Morphett ](https://github.com/gmorph ):
- ***Vehicle***: Rover
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- [Jacob Walser ](https://github.com/jaxxzer ):
- ***Vehicle***: Sub
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- [Lucas De Marchi ](https://github.com/lucasdemarchi ):
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- ***Subsystem***: Linux
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- [Michael du Breuil ](https://github.com/WickedShell ):
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- ***Subsystem***: Batteries
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- ***Subsystem***: GPS
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- ***Subsystem***: Scripting
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- [Peter Barker ](https://github.com/peterbarker ):
- ***Subsystem***: DataFlash, Tools
- [Randy Mackay ](https://github.com/rmackay9 ):
- ***Vehicle***: Copter, Rover, AntennaTracker
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- [Siddharth Purohit ](https://github.com/bugobliterator ):
- ***Subsystem***: CAN, Compass
- ***Board***: Cube*
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- [Tom Pittenger ](https://github.com/magicrub ):
- ***Vehicle***: Plane
- [Bill Geyer ](https://github.com/bnsgeyer ):
- ***Vehicle***: TradHeli
- [Chris Olson ](https://github.com/ChristopherOlson ):
- ***Vehicle***: TradHeli
- [Emile Castelnuovo ](https://github.com/emilecastelnuovo ):
- ***Board***: VRBrain
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- [Georgii Staroselskii ](https://github.com/staroselskii ):
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- ***Board***: NavIO
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- [Gustavo José de Sousa ](https://github.com/guludo ):
- ***Subsystem***: Build system
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- [Julien Beraud ](https://github.com/jberaud ):
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- ***Board***: Bebop & Bebop 2
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- [Leonard Hall ](https://github.com/lthall ):
- ***Subsystem***: Copter attitude control and navigation
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- [Matt Lawrence ](https://github.com/Pedals2Paddles ):
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- ***Vehicle***: 3DR Solo & Solo based vehicles
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- [Matthias Badaire ](https://github.com/badzz ):
- ***Subsystem***: FRSky
- [Mirko Denecke ](https://github.com/mirkix ):
- ***Board***: BBBmini, BeagleBone Blue, PocketPilot
- [Paul Riseborough ](https://github.com/priseborough ):
- ***Subsystem***: AP_NavEKF2
- ***Subsystem***: AP_NavEKF3
- [Víctor Mayoral Vilches ](https://github.com/vmayoral ):
- ***Board***: PXF, Erle-Brain 2, PXFmini
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- [Amilcar Lucas ](https://github.com/amilcarlucas ):
- ***Subsystem***: Marvelmind
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- [Samuel Tabor ](https://github.com/samuelctabor ):
- ***Subsystem***: Soaring/Gliding
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- [Henry Wurzburg ](https://github.com/Hwurzburg ):
- ***Subsystem***: OSD
- ***Site***: Wiki
- [Peter Hall ](https://github.com/IamPete1 ):
- ***Vehicle***: Tailsitters
- ***Vehicle***: Sailboat
- ***Subsystem***: Scripting
- [Andy Piper ](https://github.com/andyp1per ):
- ***Subsystem***: Crossfire
- ***Subsystem***: ESC
- ***Subsystem***: OSD
- ***Subsystem***: SmartAudio
- [Alessandro Apostoli ](https://github.com/yaapu ):
- ***Subsystem***: Telemetry
- ***Subsystem***: OSD
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- [Rishabh Singh ](https://github.com/rishabsingh3003 ):
- ***Subsystem***: Avoidance/Proximity