We are testing a variety of airframes, but they are approximately 6 ft wingspan aircraft powered by a gas engine. The aircraft are simple ARF RC models that we modify to server our purpose. We have chosen to utilize all off the shelf components in order to facilitate a rapid development process as well as to insure reliability amongst the components. Our computer is a PC/104 Crusoe. For Orientation we use a Gyro Box with a Digital Compass to compensate for the gyro drift. And we use a GPS unit capable of receiving DGPS information from our ground station. The aircraft can accept control either from a typical handheld RC Aircraft transmitter, or it accepts control based on the autonomous guidance package. The plane contains a failsafe mode that will bring it to the ground if it goes beyond the range of our kill switch radio as a security precaution.