2012-04-23 at 19PM GMT+1, FLEXIPILOT (my own closed-source development) with special Terrain Follower firmware, controlling EasyUAV, has made its first long duration loiter at 1.5-3m AGL above sloped terrain. Loiter diameter was around 110m.
10m Flight took place in steady weather, while norhtern part of the field was 4-5m higher than southern part of the loop.
The autopilot exploited 3.5m of this range, maintaining reliably airplane altitude above uneven field borders. The barometric pressure, exhibiting usual long-term drift during 8min loiter, has confirmed aggressive altitude changes spanning 4m once autopilot flew into ground proximity zone.
Sensors used is a mixture of specific optical and ultrasound sensor, modified by me.
The effect of brutal pitch changes has destabilised flight speed, slightly 'smearing' the flight track.
Comments
nice job KB!
At least it does not have far to fall, that's stunning alt hold Krzysztof