“…In relation to our problems and our constraints, we choose to focus on the solution which is the most open-source and our choice therefore fall on Ardupilot. This autopilot has also proven operational in different environments as we find it in application on, of course, aerial vehicles (UAV) (Wardihani et al, 2018, Fawcett et al, 2019, Melo et al, 2017, Carlson, Rysgaard, 2018, Cucho-Padin et al, 2019, Washburn et al, 2017, but also on ground vehicles (UGV) (Velaskar et al, 2014) or surface vehicles (USV) (Sinisterra et al, 2017, Moulton et al, 2018, Raber, Schill, 2019 and even on underwater vehicles (UUV) (Schillaci et al, 2017, Luo et al, 2019, Sani et al, 2019…”