The tractor pulling the grain cart in the video has no one in the cab.  It is controlled by an open source autopilot it can operate autonomously all day in the field without a driver. I can't take credit for every bit of hardware and software used but I did put it all together.

Thanks to everyone who has put time and energy into Pixhawk, Mavproxy, Mavlink, DroneAPI, MissionPlanner, APM Rover, and all the great documentation that goes along with those. I couldn't have done it without you! Sorry if I missed anything, or anyone.

In the video I mention that the tractor comes a little close to the combine and I attribute this to it being dusk (time of day when gps often does funny things) I am totally wrong about this being the cause of the problem, it is a thing though.  I swath my fields with autosteer and I always set the direction either EW or NS, East West in this case.  Then when I get to the field with the combine I can use the autosteer on the combine to follow the swath.  Because gps can vary a bit the…

Brief description showing arduinos being used to control a tractor while still being able to maintain normal operations.