Ardupilot Autonomous Soaring - First Test - RCTESTFLIGHT -
Вставка
- Опубліковано 24 тра 2019
- Testing the autonomous soaring function in Ardupilot: ardupilot.org/plane/docs/soari...
Solar Plane T-Shirts: teespring.com/stores/rctestfl... - Наука та технологія
Lift in m/s, speed in m/s, alt in ft, current in A, wind speed in mph. You guys are driving me nuts.
Aside from that, awesome! Really interesting. The future is here :)
That's aviation world in 21th century.
@Harald Lindohf electrical current (A) should be the only unit (besides Volt and Watt) where America and Europe agree with the rest of the world, right?
It's even more chaos. Gliders in Germany fly by speed: km/h, lift: m/s, altitude: meters. But in navigation charts we have: elevation of airspaces in feet or flight levels, vertical distance from clouds in feet, horizontal distance from clouds in km. Then we fly together with motor airplanes that use speed in knots (nautical miles per hour) and feet for altitude. Magical it all works most of the time.
Statute miles or knots?
@@charleslambert3368 there are no statute miles in aviation. There are nautical miles for distance and knots (nautical miles per hour) for speed.
You have to set up a geofence, when the plane hits the boundary in loiter the flight mode changes to RTL. It flies home and then continues the mission
Put the same system on my 550 DJI a few years ago and setup geofencing to keep it from drifting away.
Hi, last summer our solar powered glider flew 14.30 hrs and 650km with this feature. We didn't use thermal hunting because it seems to fly away but the min and max altitude helps to save energy. Apparently, it's better to spend more power during a shorter time than a constant low current to maintain a constant altitude.
Love your videos! Great project. Thanks for the tip, I'll have to try that with my solar plane.
I remember being in primary school i used to spend all day after school watching your videos. I loved seeing you experiment with fpv and seeing you build your own planes. I just graduated high school and your channel is perhaps the only one i’ve stuck with for so long and that i still enjoy. You’ve come a long way and I hope i’ll get to witness your creations for many more years to come.
Your videos never fail to impress me, I can't wait for the next video every time one finishes. Please never stop making videos
SnewL have to agree with you. Many times I have no idea what he’s talking about but he makes it interesting!
Now, just make it with solar panels, for fully automatic flights, and way to much flite time
i_am_Terom just put the adrupilot on his solar plabe
@@jackjohnson7804 He needs to do this
Here you go. ua-cam.com/video/8m4_NpTQn0E/v-deo.html
@@TheZindarod Awesome!
Automate your hobbies so you don't have to go through the trouble of flying the plane yourself lmao.
damn robots. First they came for our jobs, now they want also our hobbies
China will eat us alive. Its called competition.
I will not fucking stand for this. Because I’m sitting.
If we could teach them to crash close to good looking girls.. Id be cool with it
XD XD yall are hilarious rofl
It's actually a hobby to make them :)
I can't wait to see how much you're going to improve this!
Rock-On Dude!
I think that the issue with the drifting down wind was that your loiter mode is just flying a turn rate, not tracking location. The elongated loops are because the change from upwind to downwind and back with no turn rate compensation to fly in an actual circle. I skydive and it's something we have to learn how to deal with to get where we want to go.
This is a great video. Awesome to see 3D positioning on a 3D landscape after the flight.
Amazing stuff Daniel. Glad you have the time to keep playing around with RC stuff and keep us entertained. Always enjoy your vids.
That's really an impressive test of the soaring system! He has collected and presented data in an excellent manner
Dude been amazing watching u through the years and see you not lose any enthusiasm for the Hobby. Thanks for inspiring me to start flying again.
Wow, can't believe the tech like this is at the hobby level now...amazing. Just getting back into RC after 10+ years, amazed at how cheap stuff has gotten, and how GOOD the expensive stuff is!
My very first experience with an electric was a buddy's hand-launch 3-ch glider with a Speed 400 direct drive motor (w. folding prop of course) and had JUST enough NiCD juice to climb ONE time and circle back down to Earth. We quickly realized without at least 2 or 3 batteries it took longer to ride bikes to the airfield than any actual enjoyment time!
Thanks for making this video! To prevent it from getting too far downwind you have two options 1) geofence, as some have mentioned 2) set up an RC channel using the SOAR_ENABLE_CH parameter, to inhibit thermalling when you want it to continue on mission. The feature is still under development and there are some improvements on the way.
Very cool! Love the efficiency of riding thermals vs. relying on the motor, just fascinating to watch. Looking forward to your next video 😊
It certainly did get the thermals and especially the second time, there was a clear gain in altitude. Thank you very much for recording this for us !
I think you know, but a trick to stay in the thermal is: if the lift increases turn less and if the lift decreases turn more. and the more it decreases more turns. in that way you are getting closer and closer to the center of the thermal. I love your videos, thanks for sharing.
This was a super cool look into what I think is one of the most interesting aspects of RC flight.
You definitely have the best ground station I've seen yet!
So great to see you utilising this tech. A good reference to the good egg that figured this out would be nice but I understand your focus. Ridge lift is always going to be lift so figuring out an algorithm to quantify that should take some effort. It warms my heart to watch this stuff.
Watvching this vid I am impressed with how much knoweledge there is ahead of me, as I am just making my first steps in RC motorised gliders. Fantastic, stimulating, educative content. Keep up the good work!
This is the one time I could have helped you lol LOVE THIS TY @3DR @aurdo and @apm for the Pixhawk and the devs I love this software for my filming rig!
Wow dude! That was so interesting. Maintaining its altitude with minimal power input was pretty impressive at any rate!
So cool! This has got me interested in autonomous again.
Love to watch these autonomous vehicles you make. It looks like the day you are flying, the atmosphere is very stable. Try it again on a day with a few cumulous clouds around, mid afternoon. I've caught great thermals during my hang gliding days. Cheers!
Very impressive ! And all that with over the shelf hardware and software hence with minimal cost !
super interesting i always wanted to have this set up, can't wait for the desert video !!
Lol, that little “communication lost” at the end was cute. :)
Love this channel
Really awesome stuff. Makes me want to dive in on it. Thanks for posting!
How you don't have more subscribers? Is just like free lessons. I love it!
WOW! This is interesting! Thanks for sharing, Daniel!
I've been flying RC since the late eighties and the technology keeps growing by leaps and bounds. I always like to do my aerobatics without gyros or mixing and my soaring on slope lift the same and search lift by eye. Occasionally a thermal drifts into the slope on light lift days and is usually evidenced by seagulls or pelicans. I once got in lift with a huge golden eagle. That was wind shear lift flying near Davenport CA across from big creek lumber. Unbelievably strong with an unlimited ceiling but a very turbulent bottom that was about 500 ft elevation and really difficult to get into. I was flying a Bob Martin sr7 that I had for twenty years and had an amazing amount of countless hours flying. That thing was and still is unbelievable IMHO
Wow, the low flying over the hill with trees was reeeeally sketchy imo, dude you're the king of RC for me. I wanna try everything you make but this is whole new league of wallet/time killer. Love it!
You should really try this again! I really want to see more autonomous flight episodes, and this one sure is special!
Just wonderful man, looking forward to watch your superb experiments, .... Start feeling I'll need to install Ardu on my Matek FC, moving from INAV, and realy get into Ardu and all theses beautifull fonctions. keep soaring and many thanks for sharing
One of my best learning opportunities....University of UA-cam does it again!
Impressive.
Your FPV gear setup will be used on my ASW from now on, just startet the change. Thanks
I am the reigning king of non-technical, so 99.9% of whatever you say goes in one ear and out the other. Still, I really enjoy watching your videos. Thanks for all your efforts.
Wow! Awesome stuff! thanks for making and showing this
This is amazing. I love your videos. Thanks for all your efforts...
I like his efforts, they are great, but.... .... author plays with minuscule amounts of drag on his tailplane yet there is more, MUCH more drag at wing/fuselage joint than the ENTIRE rest of his plane combined.... Its a giant diffuser nozzle...
Finally someone took the trouble to try it out. Thanks for the video.
Suggestion:
Wouldn't a geofence with a few rallies be helpful against the plane leaving?
Awesome video! Thanks for sharing and giving a great commentary.
Love your videos man! This should be your FPV/RC link relay plane that lets you fly behind and around mountains :)
There is a very simple algorithm for thermalling, and looking at your track, it seems to be what your flight controller is using (or, at least very similar).
1. When first encountering lift, wait some period (we use 3 seconds in paragliding), then initiate a turn (it seems your controller defaults left).
2. While lift increases, loosen the turn radius (up to some preset maximum).
3. While lift decreases, tighten the turn radius (down to some preset minimum).
4. If there is no lift, wait some period and then return to mission mode.
I'm not convinced any systemic thermal-finding was achieved here; If that was the algorithm, then this is just cutting wide circles relative to the wind, ignoring GPS location-holding, and turning when its momentum points it upwind (which induces lift). The planform is just so damn efficient (when it's free to cut wide aerodynamic ellipses instead of being brutally mishandled by manual controllers like you or I whose every input is enthusiastically aerobatic) that it loses almost no altitude anyway.
@@TrogdorBurnin8or Turning "upwind" with an un-powered glider is meaningless, apart from speed-over-ground and produces no additional lift. For a given attack angle, the glider will fly a constant speed through the air, regardless of whether that air is stationary, or blowing 20 miles per hour. What will change is the speed relative to the ground below. The glide slope will also be constantly pointing downward, unless rising air (a thermal) provides surplus lift.
@@CineSoar Do you think the figure we're seeing it trace, then, is just "Maintain roll angle at 10 degrees left of center", effectively?
@@TrogdorBurnin8or If you watch the path and climb rate (helps to run at 0.25 speed) from about 5:10 you can see that, when the climb rate is up around 4, or 5 m/s (over the road, buildings, parking lots, mown lawn, etc., which tend to be pretty good thermal triggers) the loops are more 'open' and when the climb drops near zero (over the trees, exactly where you would expect there to be less thermal activity), the loops tighten. This is why I commented that it appears that the algorithm is similar to what I outlined above (loosen turn radius in increasing lift and tighten turns in decreasing lift). I would assume there is some averaging, to smooth out some of the 'noise' in the altitude measurement, but generally when I see tighter turns, the climb rate is somewhere between 1 and -1 and when the climb rate goes above 4, the loops open up, as I would expect.
Excellent excellent video. I have two ASW 28s and they are fairly good soaring platforms for the price. Really excited about Ardupilot's thermal hunting feature. I'll squeeze a Matek 405 wing FC in mine in conjunction with a Taranis X9D transmitter and a R9 long range receiver.
Super cool concept! Thanks for the video!
your solar plane + ardu soaring
and a spare battery for return to home
autonomous solar drones incoming
@marthale7 Very unlikely. To heavy, to risky and to expensive. Satellites are way better (and possible with current technology)
I've been thermalling the same ASW-28 for years (by eye and with a vario). It works very well once you get the hang of it. From the KML file it looks like you were half in and half out of the thermal. On one side of the loops you were rising, and on the other side you were sinking. It's not enough just to circle when you detect a thermal, you've got to constantly adjust the turning radius to stay in it, otherwise it will just spit you out. Good idea to go to a large open area like a desert, a couple of days out there will really up your thermal skills, enough to let you tune the autonomous mode a fair bit better.
This is really cool stuff mate!
That is so cool. I would love to build a plane like this can can fly to a certain GPS location, circle around take pictures and return keeping at a certain altitude the whole time. I used to fly RC planes years ago but at that time it was all glow engines. With these Lithium batteries and awesome powerful energy efficient motors this hobby is very cool indeed. I look forward to getting back into it.
Looks like a hoot. I'm ancient enough to remember going from analog to digital (pcm) RC, not to mention the "galloping ghost". lol. Thermals are generated by heated ground, the darker the better, ridge lift is an uplifting from the wind caused by the ridge, it would need to fly parallel to the ridge. (used to hang glide too. lol). Need to look further into this. Thanks for the effort you took putting this together!
There is a setting called a geofence that is essentially a digital fence that doesn’t let your plane leave the area. Don’t know if it would work for this but I have used it for autonomous search missions and it works great!
An incredible implementation, congratulations. Please publish a complete tutorial that I want to do the same.
Great video! I had just ordered an ASW28 from HK, then I see this video on UA-cam! I think the Phoenix 2400 would work better. You can get a PNF version on banggood for $130. It is a great plane. I flew it for 4 hours and 44 minutes using lithium ion batteries. There is a video of it on my channel. Thanks for the awesome videos Daniel!
The P2K, would be a terrible glider for this kinda soaring, being that it's more of a hot-liner, than a floater.
That's amazing Matthew, did you lower the LVC in the ESC? Must have been mostly thermal flight. Don't know if I care to fly that long all at one sitting. LOL Unless of course in my hang glider.
Yeah, I used a BLheli esc that does not have a LVC. It was running arduplane on a F405 Wing flight controller. I was just there to monitor it. The motor was spinning the whole time. There might have been a little help from thermals, but the flight controller kept the altitude fixed.
Great video. With solar power for the servos there are places in Hawaii where this could potentially stay aloft for 3-4 months in the summer.
Highly recommend staying within FAA drone flight rules, especially when publishing. Absolutely loved this!
Man this is so awesome. I wish I could afford the gear to build this. Autonomous control is sick.
At 13:45 you see the air going down, even is ground level is going up (ridge). This seems to be caused by the cooler air over the trees. The air is going in up over the valley, which causes air to be drawn from the cooler places, in this case the hills with trees. I agree, no thermal bubbles here, just the general air over over the valley rising at the expense of the air over the forests.
Really neat, I might try to set up something like this, have a ton of little solar cells I can build into the top of a wing easily for forever flight.
I loved the ending! "communication lost!"
Very cool. I'll put that in my Radian and let it fly all day by itself hahaha
For the trailing edges, squared off is more efficient unless you make it perfectly straight, stiff, and razor-sharp.
Excellent! Very impressive!
Please combine with your solar plane!
Great work. :)
I'm a computer vision and machine learning researcher. If you can think of ways I can help, I'd love to. I think some very simple vision and reinforcement learning could allow it to actively look for likely locations for thermals. Rather than just accidental find them.
Very cool Videos !!!👍👍🚁
I am going to try this. I have the 2.4m Volantex Phoenix v2, I intended to set it up with iNav but I like this much better. Thanks
That was beautiful, buddy. I do think that the powered glider was catching thermals though! consider the black body radiation of the paved road where there was a clear spike in altitude. The road heats the air directly above it well. Also, the forest vs. field data makes sense in terms of thermals because trees transpire and are excellent at absorbing heat and killing thermals. The albedo effect off the fields is notably higher where the heat may be better reflected out.
Love the technical details. I’d be interested to see if you set your waypoint mission so that it takes you over some elements which are more likely to be generating thermals, like an asphalt flat roof, a road, or a car park.
Great info about your setup. I have the dragon link and similar video just haven’t had as much success.
Trully amazing so far 👏 👌
That was a really cool flight.
Would you, or have I missed it? Do a video on all your long range gear. You know, a "What's on my ground station" video. Thanks. Love watching
Wow amazing
now you need a few solar pannels !
Really interesting! I guess you've already thought about implementing this sistem into your solar plane, maybe with a big battery tossed in. Would be really cool to see if it could achieve enough energy to sustain a 24h flight, wandering in the desert on a sunny day!
You make such interesting videos, love to watch. I think it's not following the thermal but drifting away with the wind. Because it are not nice circles due headwind.
look at the horizontal-situation indicator during soar mode 5:50 and 11:00
negative AOA but still climbing with the motor off
Challenge. Fly from Chicago to Holland, MI. I think with a UHF you could get it all the way across Lake Michigan. Second, would love to see you get one of these in the jet stream. Nerding out over your videos. Thank you!
If you haven't already, look into the "forward slip" technique for slowing without flaps using the rudder and opposite aileron. Works really well once you get it down.
To me that looks similar to a paragliding track when in a thermal, you can actually tell if you are falling out of a thermal in paragliding so I'm guessing this does the same thing. Feeling which side of the wing has more life to find the middle of the thermal. Amazing tech
If you watch the video you can see that it is picking termals, every time it changes mode you can see the wings lift from the tips, a good sign that its it in a thermal.
As you said, a trip to desert will really show you what it does and you can expect to spend a day with it in the air, knowing the total amount of radio contact you have is very important if you want to stay in control as any thermal it finds will shift from one mode to the other and wwithout good radfio contact jit can overide homing programmes.
Too cool! Thanks for sharing!
Amazing. It found a way to climb with the motor off. I could not do that manually. Damn I love these times we are living in.
In the 80’s my grandfather and his friends started Soaring products a company that made the Thermic sniffler. The sniffler would send an audible signal to a radio that the pilot wore on his belt. You were able to hear the thermal. They later sold it to ACE RC. The soaring products snifflers are still highly sought after by glider pilots.
Remember Professor 3d from RcPowers???? Anyway your still doing a good job kid!!!.... Keep it up bro
Enabling geofence may work for catching thermals within a particular range.. nice work 👍👍👍
Very interesting and informative. Is the change in ground terrain height taken into account, or is it alll done by Baro/ GPS?
thats really really cool
Wonderful videos. Thank you.
Cool plane. I have one and I love it :-) Pretty cool setup :-)
Wow very very cool Stuff!
I would love to see the solar plane again.
Incredible.
and because you know how to paraglide, you know all about that stuff already. cool project
Super awesome!
Very cool man.
Tank you vidéo magnifique super
I really have to get into to gliding
And maybe autonomous gliding
I love autonomy
I want to get into glidint too, but both my efforts failed - first i got a multiplex easyglider, but i built it so heavy that it never gained altitude without motor, then i got a tiny glider "mini swift" from hobbyking, but it doesnt glide at all too, in fact its kind of a hotliner and it has a very high stall speed and is overall quite fast.
Perhaps give it a more aggressive autotune, it should have cored better. I always fly my mission upwind of me to allow my glider to do most of the climbing as it flies back overhead, until like you, I chicken out! Well done #ArdusoarFTW
Love the video! Especially since you are so local! I would love to meet up sometime! I currently go to University of Washington Bothell and head a quadcopter club there. Would love to learn some stuff form you.
Really cool!
Awesome. That looks like as much fun as trying to hunt down thermals with your thumbs.