This is one of my earlier fully autonomous autopilots running linux and a 15-state EKF… picture was taken around 2010-ish I think. The APM1 simply handled Rc/Servos and manual/auto failsafe switching. All the heavy hitting code ran on the Gustix Verdex (600Mhz linux). The VectorNav is a fairly expensive temperature calibrated IMU so this system actually flew with really nice precision.
