ArduPlane v2: Full autonomous flight HIL simulation of a Nimbus 4m electro-glider drone

Here a video of the test of a Nimbus 4 meters wingspan electro-glider piloted by the firmware ArduPlane 2.28xp1 (updated version with a JLN mod). Test done in HIL mode with the AeroSIM-RC v3.83 simulator connected through the AP Mission planner v1.1.30 on an ArduPilot Mega board v1.

Test Mission profile:

  1. Full AUTO TakeOff,
  2. Exec of the flight plan (8 Waypoints),
  3. Full AUTO Landing.

The original ArduPlane v2.28 firmware has been updated (xp1) with some improvements:

  • Tuning of the final slope for a smooth touchdown, tested with the Nimbus 4 on AeroSIM-RC 3.83 in HIL mode,
  • Auto calculation of the wp_radius Vs the ground_speed and the max turn angle in AUTO mode so as to get the best turning point at the Wp,
  • add the CLOSED_LOOP_NAV ENABLED switch to allow redoing the flight plan after the end of the exec,
  • add HIL mode test in GCS_Mavlink.pde for AeroSIM RC v3.83 (and also Xplane v9), the APMHill plugin tested with the Nimbus 4m electro-glider model,
  • the CLI switch can be disabled, this allows to use only a APM CPU board without a full IMU shield for HIL test.

 

This is a part of the project Thermopilot (a Thermal Hunter drone): The purpose is to build a full autonomous Thermal Hunter Glider which is able to fly for a long duration in an area defined by a radius, a ceiling and a minimal altitude. The glider uses thermal soaring and dynamic soaring methods commonly used by full scale gliders during cross country soaring competitions. The ThermoPilot has been tested successfuly in flight during the summer and spring 2011 on a Cularis and a ASW24 3.50m electro-glider (below). Lot of flights have been done in high mountains (slope/ridge soaring) and above the fields (thermal soaring).

The Thermopilot project will continue intensively during the spring 2012... Stay tuned...

Regards, Jean-Louis

More infos at: http://diydrones.com/profile/JeanLouisNaudin

Views: 12812


Developer
Comment by Marco Robustini on February 5, 2012 at 3:41am
I look forward to testing this summer on my ASW28 4.2 meters... :-)



Developer
Comment by Jean-Louis Naudin on February 5, 2012 at 4:30am

Hello Marco,

Glad to see that you have an ASW 28... Below my ASW 27, a 4m20 wingspan electro-glider ;-)

At this moment, I am building a 5 meters wingspan Fashionista electro-glider...

Regards, Jean-Louis


Developer
Comment by Marco Robustini on February 5, 2012 at 5:06am

Nice JL! Need more info about the "electrification", unfortunately for now mine is a realistic glider for towing.
As weight is about 6 pounds, it's all fiber, as you experience with electrification what do you recommend to send it up without too much trouble? Motors? Prop? Lipo?
My ASW28 is a great thermalling, the wing is gorgeous
, although it weighs quite a bit.
I have plenty of space inside the fuselage as I have not put the seat and the instruments panel.

Bests


Developer
Comment by Jean-Louis Naudin on February 5, 2012 at 7:55am

Hello Marco,

Here some spec about my ASW27 4m20 electro-glider: The fuselage of my ASW27 is made with glass fiber and carbon. The TOW is about 4.3 Kg. I use a brushless motor Cyclon 60 (660 Kv) with a Falco carbon propeller (13x8) and a 70 A ESC (Jeti Advance 70 Opto plus). I have about 160 W/Kg of Power/Weight ratio. The wing profile is a HQ 2.5/13. This is a very good thermal hunter.

I use an Ubec 5A with a 2200 mAh 2S Lipo for the avionics (full sensors telemetry Multiplex M-Link with a Royal Pro 9 M-Link transmitter) and 6S  (2x3S) Lipo battery 2650 mAh (Turnigy).

I use two means for the take off. With a small front wind, I launch the glider with my hands and I use also a carriage for a rolling takoff. In high mountains, I throw the glider with my hands without any problem...

I hope that I have answered to your questions. I have also an AirTech Shadow (3m65) wingspan electric-glider which is a very high performance F5J glider...

Regards,

Jean-Louis


Developer
Comment by Marco Robustini on February 5, 2012 at 1:00pm

Fantastic, now I seek the engine and propeller, already have esc 100A Caste Creations.
Thanks for all your info!

Marco

Comment by Pierre V on February 6, 2012 at 12:23am

Hello Jean-Louis,

Where did you buy the trolley seen on the last picture ?


Developer
Comment by Jean-Louis Naudin on February 6, 2012 at 7:10am

Hello Pierre,

This device is named "Easy Start" and I have purschased it HERE.

With this "Easy Start", my ASW 27 takeoff in about 15 meters at full power.

Regards,

Jean-Louis


Developer
Comment by Marco Robustini on February 6, 2012 at 8:05am

Hello JL, i tried to found another type of motors like your at low price, but is impossible (LOL).
Just only this one, but the shaft diameter is 8 mm (damn):

http://www.goodluckbuy.com/emax-bl4020-522kv-outrunner-brushless-mo...

See the specs and give me your impression.
Anyway is possible to find your Cyclon at an european store?

Bests


Developer
Comment by Jean-Louis Naudin on February 6, 2012 at 8:22am

Hello Marco,

The emax bl4020 seems a good motor with a low Kv (522 Kv) and a high torque and I think that it will be able to replace the cyclon 60 motor.

Here a link about the Cyclon 60 brushless motor. I don't know if this motor is still manufactured, because my ASW27 is a 6 years old glider with a lot of hours of fly and thermal hunting...

Regards, Jean-Louis

 

Comment by Pierre V on February 6, 2012 at 8:55am

Thanks Jean-Louis for the info.

Maybe you remember we were colleague in a famous company which was based in Les Ulis ;-)

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