How to integrate Arduino-based Ardupilot with Xbee

Hi there,

i am new to this forum and have started an autonomous blimp project based on an on board autopilot(ardupilot). I have a few concerns with regards to programming the ardupilot.

The board is based on the ATMEGA328 controller and ive got to use xbee wireless telemetry to send motor control commands to navigate the blimp in a enclosed hanger. We are using the vicon system for aerial navigation.

I have the Xbee shields meant for the arduino inventer,can i use them for wireless comms for the ardupilot?

Please help me out with this..thanks.

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