On nov 15,2009, this was a great day, my ASP XR-01 UAV fully equiped with the ArduPilot v2.4.6 has done successfully its first series of 10 full autonomous flights under the flight plan. The ASP XR-01 is a customized version of the Sonicliner from Multiplex, my model has already done a lot of flights since 2007 but only with a FMA thermopile based Copilot. Today, I have replaced the FMA Copilot by the full ArduPilot with 6 thermopiles, the shield v2 with its pressure sensors, a GPS and a full downlink telemetry system which communicates with my handheld ground station.

The weather was windy at the morning (7 m/s SW gusting 9 m/s).

I have conducted various tests flights :
- full autonomous tests flights with a regular pre-recorded flight plan with 3 waypoints,
- the self-learning mode of the v2.4.6: the 3D waypoints have been recorded in flight and then replayed again in full autonomous mode,
- the automatic RTH (Return To Home) when the R/C transmitter is switched Off...

All these tests flights have been done successfully.

You will find a photos album of this event at :

The ArduPilot firmware has been updated to the v2.4.6. This new personnal release includes a new parameter which is the GPS_MINIMUM ( this is the parameter 8-10 added in the header file). GPS_MINIMUM is the minimum ground speed required in case of strong front wind. In this case this was 3 m/s.

Below, onboard video of a full autonomous flight in windy conditions :

You will find this new firmware version at :

Best Regards,

Views: 1832

Comment by Robert Krogh (hooks) on November 15, 2009 at 11:40am
I understand that this plane are not in production from multiplex anymore. Thats bad..

It's a very nice looking plane you have there.
Comment by automatik on November 15, 2009 at 11:44am
Nice !

3D Robotics
Comment by Chris Anderson on November 15, 2009 at 12:30pm
Bravo! BTW, we'll be working with Jean-Louis to integrate his improvements into the main ArduPilot code.
Comment by Rana on November 15, 2009 at 12:48pm
Excellent !
Pl.post video if any.
Comment by Morli_ on November 15, 2009 at 3:41pm
Wow , gr8 looking canards , didn't know it would work. Now that I have seen urs working ,:))
BTW I was drooling over long Ez or Keecat 65
Worst case senario this will work ventus delux , haven;t found any cheaper than this , have to figure out power pylon
Comment by Morli_ on November 15, 2009 at 3:47pm
I think the video is here here too

@ Jean how are u controlling the dual propulsion,( electric ESC ?) I mean is 2 ESC connected using Y cable? thanks for sharing .
Comment by Morli_ on November 15, 2009 at 4:03pm
Here are few other UAVs from jean's collection :) , seems ASP XR01 has been flying since 2007 ! :) others since 1999 !!!

3D Robotics
Comment by Chris Anderson on November 15, 2009 at 4:15pm
There's a Sonicliner for sale in v. good condition here (you have to live near Oceanside CA, which is near LA)
Comment by Morli_ on November 15, 2009 at 5:11pm
Seems He had more than one , the other one is listed under sold. hope this bird finds a gr8 home.
Comment by Patrick Egan on November 15, 2009 at 7:06pm
I crashed mine :-(


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