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.
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