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Stargate robotics platform uses

* Kalman filtering from Xbow
* Gyro Mnav integration
* Used by forum
* This requires something like a gumstix (linux/unix) to run. On top of that I've married a 15-state kalman filter (and a nice high end IMU -- Vectornav Kalman code is opensource.

For the ardupilot portion of the hardware, I severely hacked the ardupilot code and added some of my own code for packet IO on the serial port.

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