This project provides guidance documents for using Large Language Models (LLMs) to generate and modify code for the ArduPilot autopilot platform.

Three usage modes are supported:

1. Claude Code - Anthropic's CLI tool for interactive development with Claude
2. Gemini CLI - Google's CLI tool for interactive development with Gemini
3. Chat-based LLMs - Traditional prompt-based code generation with any LLM

The playbooks contain rules and constraints that ensure generated code is safe, testable, and consistent with ArduPilot development standards.

Claude Code is Anthropic's official CLI tool that provides an interactive development experience. It can read your codebase, make edits, run commands, and understand project context.

1. Install the playbooks into your ArduPilot repository:

   cd /path/to/ardupilot
   curl -fsSL https://raw.githubusercontent.com/fossuav/aap/main/install-claude.sh | bash

2. Start Claude Code:

   claude

Claude Code will automatically read the CLAUDE.md files and use them to guide its responses.

The install script places the following files:

Skills are invoked as /command in Claude Code. They pre-authorize necessary tools so common operations run without repeated permission prompts.

Read-only skills (safe, no side effects):

Write skills (local only — compile, run tests, launch simulator):

Hooks automatically enforce key CLAUDE.md rules that Claude might otherwise ignore. They run as PreToolUse/PostToolUse checks configured in .claude/settings.json.

Hooks that block (exit code 2) provide feedback to Claude explaining the rule violation, so it can fix the issue and retry.

To remove the playbook files from ArduPilot:

cd /path/to/ardupilot
curl -fsSL https://raw.githubusercontent.com/fossuav/aap/main/uninstall-claude.sh | bash

The Gemini CLI provides a similar interactive development experience using Google's Gemini models.

1. Install the playbooks into your ArduPilot repository:

   cd /path/to/ardupilot
   curl -fsSL https://raw.githubusercontent.com/fossuav/aap/main/install-gemini.sh | bash

2. Start Gemini:

   gemini

Gemini will automatically read the GEMINI.md files and use them to guide its responses.

The install script places the following files:

To remove the playbook files from ArduPilot:

cd /path/to/ardupilot
curl -fsSL https://raw.githubusercontent.com/fossuav/aap/main/uninstall-gemini.sh | bash

For traditional chat-based LLMs (ChatGPT, Claude web, Gemini web, etc.), you can manually provide playbook context.

To generate code, the LLM requires the following context:

• API Documentation (docs.lua) This file is the definitive source for all ArduPilot-specific Lua function signatures and is the final authority on correct API usage.
• AI Playbook This file(s) is the rule definitions for code generation telling the LLM what it may and may not do. Without this the LLM will go easily off track
• Code Digest (digest.txt) This file contains a snapshot of existing code and tests within the ArduPilot repository. It provides the LLM with the necessary examples to create new code. Unfortunately this digest tends to be quite large and can easily overflow the LLM's context window so it is often necessary to abandon it in favour of merely the first two items.

1. Install gitingest
2. Run gitingest libraries/AP_Scripting -e '*.cpp' -e '*.c' -e '*.h' -e '*.txt'
3. A LUA digest will be generated in digest.txt
4. Run gitingest Tools/autotest -i arducopter.py -i vehicle_test_suite.py
5. An autotest digest will be generated in digest.txt

The process for generating code is as follows:

1. Write a Prompt: Clearly describe the required functionality. Focus on what the code should do, not the implementation details.
   • Example Prompt: "Create a script to control the brightness of my drone's NeoPixel LEDs using an RC switch. It should support three levels: off, medium, and high."
2. Provide Context: Give the LLM your prompt, AI playbook, API documentation and, optionally, the digest-lua.txt file.
3. Generate Artifacts: The LLM will generate a complete ArduPilot Applet (in the case of lua), which includes:
   • A .lua script file.
   • A .md documentation file explaining how to set up and use the script.
4. Generate Autotest: For every applet, the LLM should offer to generate a corresponding SITL autotest file. This allows you to verify the script's functionality in a safe, simulated environment.

aap/
├── claude/                          # Claude Code playbooks (CLAUDE.md files)
│   ├── CLAUDE.md                    # Root playbook (build, architecture, C++)
│   ├── ArduPlane/
│   │   └── CLAUDE.md                # Plane log analysis, flight modes, QuadPlane
│   ├── libraries/
│   │   ├── AP_Scripting/            # Lua scripting playbooks
│   │   │   ├── CLAUDE.md
│   │   │   ├── CLAUDE_CRSF_MENU.md
│   │   │   └── CLAUDE_VEHICLE_CONTROL.md
│   │   ├── AP_NavEKF3/              # EKF3 navigation filter
│   │   │   └── CLAUDE.md
│   │   └── AP_HAL_ChibiOS/hwdef/    # ChibiOS board porting
│   │       └── CLAUDE.md
│   ├── Tools/
│   │   └── autotest/                # Autotest authoring playbook
│   │       └── CLAUDE.md
│   ├── hooks/                       # Claude Code hooks (rule enforcement)
│   │   ├── pre_bash_check.py       # PreToolUse: git commit, safety checks
│   │   └── post_edit_check.py      # PostToolUse: C++ code quality checks
│   └── skills/                      # Claude Code skills (slash commands)
│       ├── boards/SKILL.md          # /boards - list/search board targets
│       ├── find-code/SKILL.md       # /find-code - find feature implementations
│       ├── find-param/SKILL.md      # /find-param - find parameter definitions
│       ├── build-options/SKILL.md   # /build-options - search feature flags
│       ├── style-check/SKILL.md     # /style-check - check code formatting
│       ├── hwdef-info/SKILL.md      # /hwdef-info - board hardware definitions
│       ├── explain/SKILL.md         # /explain - explain code/architecture
│       ├── lua/SKILL.md            # /lua - write/modify Lua applets
│       ├── lua-crsf/SKILL.md       # /lua-crsf - CRSF menu scripts
│       ├── lua-vehicle/SKILL.md    # /lua-vehicle - vehicle control from Lua
│       ├── build/SKILL.md           # /build - configure and compile
│       ├── check/SKILL.md           # /check - run unit tests
│       ├── autotest/SKILL.md        # /autotest - run SITL integration tests
│       ├── sitl/SKILL.md            # /sitl - launch SITL simulator
│       ├── hwdef-check/             # /hwdef-check - review an hwdef PR
│       │   ├── SKILL.md
│       │   └── hwdef_check.py
│       └── log-analyze/             # /log-analyze - analyze flight logs
│           ├── SKILL.md
│           └── log_extract.py
├── gemini/                          # Gemini CLI playbooks (GEMINI.md files)
│   ├── GEMINI.md                    # Root playbook (build, architecture, C++)
│   └── libraries/AP_Scripting/      # Lua scripting playbooks
│       ├── GEMINI.md
│       ├── GEMINI_CRSF_MENU.md
│       └── GEMINI_VEHICLE_CONTROL.md
├── cpp/                             # C++ playbooks for chat-based LLMs
│   └── AI_PAIR_PROGRAMMING_PLAYBOOK_CPP.md
├── lua/                             # Lua playbooks for chat-based LLMs
│   ├── AI_PAIR_PROGRAMMING_PLAYBOOK.md
│   ├── AI_CRSF_MENU_PLAYBOOK.md
│   ├── AI_VEHICLE_CONTROL_PLAYBOOK.md
│   ├── AI_GIT_FORMAT_PATCH_PLAYBOOK.md
│   └── docs.lua                     # Lua API documentation
├── install-claude.sh                # Install Claude playbooks to ArduPilot
├── uninstall-claude.sh              # Remove Claude playbooks from ArduPilot
├── install-gemini.sh                # Install Gemini playbooks to ArduPilot
├── uninstall-gemini.sh              # Remove Gemini playbooks from ArduPilot
└── README.md

This project is licensed under the GNU General Public License v3.0. See COPYING.txt for details.