The ThermoPilot project, a development of a Thermal Hunter Glider Drone is under the phase 3 with the ArduPilot Mega 2560 on board. The firmware used here, Thermopilot v5.0 (JLN version), is an updated version of the APM firmware v2.23....

Here a video of the ThermoPilot v5 in action during a cross country soaring HIL test on the APM Planner with the APM2560. A flight plan (FPL) composed of 3 waypoints has been set in the APM2560 and the glider runs the FPL with the objective to hunt thermal upwards so as to keep the required altitude between the wp.

More infos at:

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