Please take a look at ArduPilot documentation to get a deeper understanding what's going on inside. This is essential for every build. We present a couple of typical setup schemes below. Either way, you're encouraged to read through ArduPilot docs before proceeding further.

Quadcopter setup

typical-quadcopter-setup-frame typical-quadcopter-setup-scheme

Plane setup

typical-plane-setup-frame typical-plane-setup-scheme

Rover setup

typical-rover-setup-frame typical-rover-setup-scheme