Here a video a the latest firmware of the ThermoPilot v5.2 (2012 version) which uses a new algorithm (MLA) tested in HIL mode on Xplane v9.70 during a full autonomous slope soaring flight in high mountains. The ThermoPilot is a full enhancement of the ArduPlane v2.28 which adds the Thermal Hunting capabilitie and some others features for the gliders pilots. The ThermoPilot v5.0 has been tested successfully in july-august 2011 on a Cularis electro-glider and on oct 2011 on a ASW-24 3m50 electro-glider with an ArduPilot Mega 2560 v1.4 IMU (phase 3). The phase 4, now uses an APM v2 with the v2.28ThP5 firmware. I am using Xplane v9.70 as a test plateform in HIL mode because, it is able to reproduce with accuracy various weather conditions (thermal upwards, dynamic soaring, slope and/or ridge soaring) in a real 3D mapped world...
The ThermoPilot is able to do a cross country soaring mission and it is also able to do a slope soaring pattern pointed by two GPS points. These two points are pointed in flight by the pilot along the slope and then the glider is able to flight itself as long as the dynamics upwards are still actives.