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: 1804

Comment by Morli_ on November 15, 2009 at 8:35pm
oops, Sorry to hear that. how bad? By look of it , best case scenario would be fuselage will break into two some where in front of wing ,

Comment by Jean-Louis Naudin on November 15, 2009 at 10:57pm
Hello Morli, the two ESC are connected in parallel with a simple Y on the throttle channel and the power input are connected in parallel too on the Lipo battery.
BUT, WARNING, you need to disconnect one of the positive pole of the BEC, only one BEC provide the power supply to the radio and ardupilot.
Comment by Patrick Egan on November 15, 2009 at 11:03pm
It was ugly and took it apart a few years ago. Too bad as I really thought it a cool plane.
Comment by Morli_ on November 16, 2009 at 5:31pm
Thanks Jean , never tried multi EP motors , so had to ask ( cheaper that way , :)) )
@ Patrick, it does look cool. What can I say , I crashed a trainer few weeks back that is almost impossible to crash while training a beginner without trainer cord/slave setup, :() , only good news is I was able to repair the wings which I believe will make a great UAV wing , so have modified the original aileron to accommodate flaps , wing can be taken apart for transportation. working on fuselage now.

Comment by Mark Colwell on November 17, 2009 at 9:28am
Congrats Jean-L, I admire your work, Very nice wing designs. I hope to fly my ArduPilot soon.
I am building a Ventus 2HX, for FPV with ArduPilot used for assist / bailout, I added flaps and extended the wing chord out to wing tips. It is a lot of work, I also extended the rudder and elevator. I am designing the nose motor mount and electronics layout now but, I have not had much time lately. I will used fixed landing gear.
morli: The Ventus 2HX is a fast fragile plane that could be damaged from 1 hard landing, so I suggest a EPP platform, Placing the motor in the nose vs near CG saves weight for payloads..I have crashed my test UAV many times, but it's easy and cheap to repair. I will set up my Ventus with proven software... and full AHRS/IMU.
Comment by Dr Mike Black on November 18, 2009 at 1:51am
JLN,i keep coming back to this thread....

What a superb idea....wish we could still buy these aircraft....also i didnt say it, but you have done some really excellent work on the code.

Obviously we post all the problems we have, but its refreshing to see postings of success...
think we should all post more success stories, keep the new guys coming in inspired.....
keep up the great work.

Comment by Morli on November 18, 2009 at 10:42am
@ Mark. thanks for the tip. The Ventus 2HX is a fast fragile plane?!! The FG fuselege looked good and strong. sexy too . I am thinking of using the powerpod but first things first.
Doc, more success stories, infact all the build stories is the trick , even if they were not happy ending , U see it atleast helps next guy from making the same mistake, so I am for all the stories.
Comment by Dr Mike Black on November 18, 2009 at 12:49pm
Amen Morli!!!!


Comment by Jean-Louis Naudin on November 18, 2009 at 1:05pm
Here a video of a full autonomous flight of the ASP XR-01 under control by the Ardupilot v2.4.6.
This was a windy day with strong gusts. It is interesting to observe of the Ardupilot is able to steer the UAV successfully...

Comment by Morli on November 18, 2009 at 1:46pm
flight handling looks very good for the said wind conditions Jean. Did I notice your earlier videos had the camera on the left side where i saw the canard movements very clearly? Good job . will send u PM later regarding Y connection for dual BEC, i did not quiet get regarding disconnecting + pole.


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