He’s using two Arduino Megas. One is solely for the ... which he controls with a Polulu Qik serial DC motor controller. In compass steering mode, a Pololu IMU locks in the heading to steer ...

Brushless DC (BLDC) motors are standard ... and encapsulated it into a compact Arduino library, added a host of examples, and minted a stackable BLDC motor control shield to boot.

On the Arduino side, I have the bones of an idea ... For those interested, someone called H Holden has published a detailed analysis of a mosfet chopper style dc motor controller.