FX-61 Phantom THERMAL SCAN test flight with the ThermoPilot v7.2

When the THERMAL SCAN mode is enabled, the FX-61 Phantom wing piloted by the ThermoPilot is able to do a full autonomous thermalling in a cylinder of specified radius delimited by a ceiling altitude and a floor altitude .
This e-glider can fly as long as the thermal updrafts exist in this area...

Here a video of real test flight of the THERMAL SCAN mode in action.
- APM v2.6
- Ublox Neo6-M GPS + HMC5883L magnetometer,
- Airspeed sensor, MPXV7002DP,
- Voltage/current 90A sensor,
- xponder telemetry with mavlink protocol,
- GoPro 2 camera,
- Lipo 3S 4000 mAh,
- ThermoPilot v7.2 (JLN' special improvement of the arduplane v2.73-xp1)
Ground station:
- Mission Planer v1.2.95

more infos at: http://diydrones.com/profile/JeanLouisNaudin
GitHub: https://github.com/jlnaudin/x-drone

Views: 255

Comment by Petrus Botha on March 3, 2014 at 4:33am


Do you have a PID params file for the FX-61 to share and have you maybe done an X-plane model for the FX-61?

Comment by Jean-Louis Naudin on March 3, 2014 at 8:33am

Dear Petrus,

You will find the full PID parameters and some technical infos about my FX-61 Phantom wing setup in my GitHub at:


You may use the ArduPlane v2.73-xp1 firmware (an improved version with some additional features) at:


Best Regards,


Comment by Rostislav Kolotov on March 5, 2014 at 10:30pm


Do you have Hex file to use with Thermopilot code?

It looks like ArduPlane v2.73-xp1 hex dosnt have it included? Am I missing some thing important?

I really like to try your Thermopilot!!!!! 


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