Full autonomous slope soaring with the ThermoPilot v5.2

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.

More infos at:
http://diydrones.com/profiles/blogs/arduplane-v2-full-autonomous-fl...

and at: http://diydrones.com/profiles/blogs/thermopilot-project-a-thermal-h...

Regards, Jean-Louis

Views: 10611


Moderator
Comment by Gary Mortimer on February 12, 2012 at 10:18am
Amazing

Developer
Comment by Jean-Louis Naudin on February 12, 2012 at 11:19am

Thanks Gary, I don't know if you have already seen the video of real tests flights about the full autonomous slope soaring that I have done in July/August 2011 in high mountains (French Alps) with my Cularis glider. I have used my ThermoPilot v2.9 firmware (phase 2 of the project) and it has given me very encouraging results. Here the video, below:

Regards, Jean-Louis


Moderator
Comment by Gary Mortimer on February 12, 2012 at 11:26am

I'm sat in a round thatched house in Africa so I just don't have the connection speed to watch videos. When next I am in the city I will be sure to watch!

Comment by robert bouwens on February 12, 2012 at 1:26pm

well done!

next summer i hope to throw my glider in the air as well.

i am just jealous when i watch the videos.

you say that the simulation provides the propper information about wind and thermals.

would be interesting to test this in advance using the hil mode.

minus 13 degree celsius is way to cold to stay outside ;-)

at least for a longer period.

regards robert


Moderator
Comment by Michael Pursifull on February 12, 2012 at 2:21pm

Jean-Louis - I love you work


Moderator
Comment by Roberto Navoni on February 12, 2012 at 4:02pm

Great Work Jean-Louis ,

this is the reason because i would port the Arduplane on MP32 :) Work in Progress :)


Developer
Comment by Jean-Louis Naudin on February 13, 2012 at 12:30am

Hello to All,

Thanks for your comments,

Here a other feature of the ThermoPilot v5.2: this is the THERMAL mode, the glider hunt thermal upwards in a defined cylinder volume (ceiling and floor altitude and a max radius distance from a defined point), the flight is fully autonomous and stabilized.

Be patient, I shall soon release a beta version of the TP v5.2 for testing purpose in HIL mode under Xplane v9.70...

Regards,

Jean-Louis


Developer
Comment by Jean-Louis Naudin on February 13, 2012 at 4:54am

Here a new interesting feature of the ThermoPilot v5.2: This is the SARSEC mode (Search And Rescue SECtor pattern). When the SARSEC mode is activated in flight by the pilot above a point, this pattern below is automatically generated relative to the switching mode point. This can be useful to do a full scan of a specific area... The lenght of the SARSEC branch is a parameter in meters. No groundstation and/or a mission planned is required here, the SARSEC flight plan is automatically generated by the ThermoPilot itself...

Regards, Jean-Louis


Developer
Comment by Jean-Louis Naudin on February 13, 2012 at 5:32am

Here a new interesting feature of the ThermoPilot v5.2: This is the HEADALT mode. When the HEADALTmode is activated in flight by the pilot above a point, the model continu to lock the current heading and the current altitude in a full autonomous stabilized flight during a MAX_DIST (set as a parameter (in meters)) and then it turn back to home (RTL). This is very useful to "throw and forget" an UAV like for a photo-reco mission above a distance point in a specific direction. The SARSEC (above) and the HEADALT modes have been successfully already tested in flight on my Cularis electro-glider during the summer and the spring 2011.

Regards, Jean-Louis


Moderator
Comment by Michael Pursifull on February 13, 2012 at 5:35am

fantastic! might I ask what the pattern looks like if you let it continue for several more turns? And what it might look like with a longer length? Mainly I wonder if this pattern develops into a line, that is, if it shifts to the side with a constant width, or if it expands to cover an area, continuing to create the pattern to fill the area until it is switched off... and if the longer parameter created less of an overlap (or no overlap) or if the pattern continues, but at a larger scale...

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