About one month ago, i see an ArduPilot banlance bot project. I tried and succeeded.
Here are some information for my work.
Well, I know it use APM2.6 hardware, and the author uses ardupiot code base about five vyears ago, and he joined the arduroller section.
Now our hardware update to pixhawk or even better. I hope now ardupilot can support it.
I would be happy to help (if possible).
Welcome to discuss together.