Gluonpilot

Gluonpilot is a dsPIC-based, rather than Arduino (Atmel AVR)-based open source autopilot system. It uses a 6DOF IMU and an optional GPS connection, and can control planes & multirotors in stabilization or full autopilot mode. The Gluonpilot main module has advanced waypoint functionality and 2MB of flash. An extension board adds OSD, more versatile power management, and a slot for native control of an XBee.

• Gluonpilot First Impressions - Chris Anderson
• wiki