Our rover is based on a tank chassis kit, controlled by a Pixhawk flight controller, and uses an NVIDIA Jetson Nano SBC to make autonomous steering decisions. The software logic for this is discussed in the chapter about ROS.
We used a generic USB Wi-Fi adapter to connect our ground station (laptop) to the SBC and by extent, the flight controller.
The rover’s components are discussed in Components.
See Ardupilot Configuration for all the necessary ardupilot parameter tweaks.