BLIMP is a project mainly written in JAVA and C++, it's free.
Control system for an autonomous blimp
School project using arduino. The ballon is 6" long, which we have fitted with a housing underneath containing an arduino, a digital compass and four ultrasound sensors for collision detection.
Two propellors are fitted on a crossbeam controlled by a servo. An additionol propeller is fitted on the tail of the blimp.
The control system includes two PIDs used to stabilize height and course.