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Arduplane is an open source Autopilot. APM aims experimented users, who wish to use the Parrot Disco and C.H.U.C.K. for experimentation.   A Ardupilot version is integrated on the firmware 1.1.0 and above. To switch from Parrot Autopilot to APM, press shortly the ON/OFF buttons 3 times in a row. Then, you must use a RC control to pilot the Parrot Disco (compatibility is listed on Parrot Github) It is possible to switch between the use of Parrot Disco with Parrot Autopilot and Skycontroller 2 or Ardupilot combined with a RC controller.   You will find all ressources necessary to build you own version of Ardupilot and install it on the C.H.U.C.K. here : Github Parrot about APM 
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THE USE OF A RC CONTROLLER IS RECOMMENDED FOR EXPERIENCED RC PILOTS ONLY.   You can fly the Parrot Disco with a RC controller (not included); however, auto-assisted flying is not available in this mode.   *Note: in order to use a RC controller, you must first install a radio receiver (in Parrot Disco) specific to your controller.     Supported Protocols   Parrot Disco is compatible with most current RC controllers and handles the following protocols :   SBUS: Futaba T6K, T18SZ, T10J, FrSky Taranis X9D SUMD: Graupner MZ10, MX-16 CPPM     Install the receiver for your RC controller   1.   Open Parrot Disco’s cowling. 2.   Connect one of the cable to the C.H.U.C.K autopilot unit.    3.   Connect the other end to the receiver. 4.   Secure the receiver inside the cowling compartment. 5.   Close the cowling. Make sure the receiver's antenna is sticking out.     Connecting the RC controller to Parrot Disco   1.   Turn on the RC controller. 2.   Place Parrot Disco on a flat, dry surface. 3.   Turn on Parrot Disco. > When the on/off button is a steady green, Parrot Disco's GPS is connected.
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