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:
- Full AUTO TakeOff,
- Exec of the flight plan (8 Waypoints),
- 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...
More infos at: http://diydrones.com/profile/JeanLouisNaudin