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+# Getting started with ArduPilot
+
+ArduPilot can be used with the ESCAPE board to take it to the next level for operating everything from multicopters to full size tractors. More details [here at ardudpilot.org] (http://ardupilot.org)
+
+The ESCAPE board will need to be combined with either a SOAR board  or 9DOF expansion board as well as a MS5611 High resolution atmospheric pressure module (barometer). You can optionally add a serial GPS.
+
+Ideally you will need a version of Raspbian that has been compiled with a Real-Time kernel. Available for download from here.
+
+(Note please don't run 'sudo apt-get update' as this will overwrite the kernel)
+
+## Using our downloaded image
+
+Download our pre-prepared image that already contains compiled programs for either a Quadcopter, Rover or Plane
+
+
+## Rolling your own
+
+Use an SSH program to log onto the Raspberry Pi.
+
+Clone the Ardupilot source.
+
+```
+git clone https://github.com/diydrones/ardupilot.git
+cd ardupilot
+git submodule update --init
+```
+
+Waf is the preferred method of building code
+
+!!! Note
+	Waf should always be called from the ardupilot root directory.
+
+To keep access to Waf convenient, use the following alias from the root ardupilot directory:
+
+```
+alias waf="$PWD/modules/waf/waf-light"
+```
+
+Choose the board to be used:
+
+```
+waf configure --board=dark
+```
+
+### Build
+
+Now you can build your preferred vehicle. For quadcopter use the following command:
+
+```
+waf --targets bin/arducopter-quad
+```
+
+To build for other frame types replace quad with one of the following options
+
+```
+coax heli hexa octa octa-quad single tri y6
+```
+
+At the end of compilation a binary file with the name arducopter-quad will be placed in the following directory
+
+```
+ardupilot/build/dark/bin/ 
+```
+
+Other vehicle types can be built:
+
+```
+waf --targets bin/ardurover  
+```
+
+or
+
+```
+waf --targets bin/arduplane
+```
+
+
+
+ 
+
+
+
+ 
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