This is spring time and thus the ThermoPilot project is still under intensive development (now the v6.x version) and real tests flights can be conducted because the thermal upwards can be hunted above the fields... Below a sample log flight during a full autonomous thermal hunting in free mode.
Here a flight log during a 23 km of full autonomous cross country soaring mission in closed loops with 5 waypoints.
An ArduPilot Mega 2560 is installed on the Cularis e-Glider with the ThermoPilot v6.x firmware (an enhanced version of the ArduPlane v2.33). The ThermoPilot v6.0 includes a lot of improvements for the cross country soaring and the thermal hunting and some dedicated ML algorithms to do a close following of the thermal upwards.
Below the Cularis e-Glider and its big brother, the Fashionista: a 5 meters wingspan e-Glider (a very good thermal hunter)...
During the summer and the spring 2012, the ThermoPilot project will be very active in the air... Stay tuned...
Regards, Jean-Louis
Comments
I don't think that the code has been made available. I've had an older ardupilot board sitting around for almost 2 years waiting for this firmware, and there was talk of a limited beta, but I haven't heard much since.
I recently (as in today) decided to abandon the Ardupilot/APM platform for the uavdevboard and test out the code that Kees put out. It might not be as refined as APM, but at least it has a released thermal glider firmware.
Both boards support HIL simulation via XPlane, so at least I can blow up digital planes before trusting my woody to either solution.
Yeah, I would also like to experiment with the thermopilot on my newly aquired 4m ASM17. Can thermopilot be downloaded somewhere? I looked in different place to no avail...
Jean-Louis are you still there?
I'm very anxious to be able to test your Thermopilot software on the APM 2.5 hardware.
I'm still not quite clear how it uses the thermals because I dont see any circular thermaling patterns IN you flight logs when it hits some thermal lift. Also have you considered using heat sensors as well as the barometer to more accurately detect thermal lift and sink? Usually the thermal temperature will be higher correct?
Hello,
I have just received a new APM v2.0 dedicated to the ThermoPilot project. I have installed the ThermoPilot v6.4 firmware and it runs very well without any problem. I am very glad to see that there is a new Pitot tube with a static input included. it is very well manufactured like a real airplane Pitot probe. Some photos below of the new APM v2 and the new Pitot probe for the airspeed measurements.
Regards, Jean-Louis
Below some photos of the NEW PITOT tube for the APM v2, this is a great value added, here...
Here a video of the ThermoPilot v6.4 in action during a Ridge Soaring simulation in HIL mode. This is a true glider model without motor. There is a 20 knots wind from the south blowing on the ridge. The ThermoPilot is set in AUTO mode to hunt the dynamics upwards from the ridge.
Regards,
Jean-Louis
Impressive!
JL, if you think to release hex at the end of this summer I think I'll have to wait until the summer of 2013 to try it! :P
He has no intention to release the code, but only compiled?
Bests, Marco
Here a video of the ThermoPilot v6.4 in action during a Slope Soaring simulation in HIL mode. This is a true glider RC-model without motor. There is a 16 knots front wind on the slope, the glider is taking off from the ground in STABILIZE mode, then the ThermoPilot is set in AUTO mode to hunt the dynamics upwards from the slope.
This HIL simulation is done with X-Plane v9.70 and an APM v1.4 board.
Regards, Jean-Louis
Hello Gilbert,
To aswer to your questions: In the ThermoPilot, I am applying my back experience from many years of RC gliding/soaring and also as a true glider pilot. To understand better the cross country soaring methods, I recommend you to read carefully the "Training for Cross Country Soaring" from the Dr Helmut Reichmann.
The glider stop to turn when three events occurs:
- the lift begins null or negative,
- the current altitude begins greater than the ceiling altitude preset in the APM with the mission planner,
- the altitude is greater than the delta-altitude of the track between two waypoints.
When the glider leave the thermal it continu to follow its flight plan.
At this moment the ThermoPilot is still in alpha phase, but it will be soon beta and I shall release the ThermoPilot hex code at the end of summer for some testers and experienced pilots in gliding/soaring and which have a similar setup than the mine: a good RC e-glider and a fully installed APM 2560 on board with a airspeed probe.
Regards, Jean-Louis
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