Re: [Paparazzi-devel] Flight Plan for Soaring

[Marc Schwarzbach]

Hi Reto,

I also thought about the idea of soaring with paparazzi.
The Papers mentioned are quite good.

The problem I ran into is that you have to keep the thermal field data 
somewhere in a memory to calculate the center of the thermal. On a desktop, it 
is not a problem. The limited memory onboard is not enough for this method.

So I see two solutions (for the current Tiny autopilots):
-Process the Information in the ground control PC (like it´s done with the wind 
estimation at the moment, which was probably done for the same reason).
-Develop a new algorythm which works on the limitied power and memory of the 
autopilot (would be cool and worth a publication :-)

Please keep us posted and ask if there are problems.
There seem to be some people interested...

Cheers

Marc


-------- Original-Nachricht --------
> Datum: Mon, 28 Feb 2011 09:24:53 +0100
> Von: "Reto Büttner" <address@hidden>
> An: address@hidden
> Betreff: Re: [Paparazzi-devel] Flight Plan for Soaring

> Hi Todd,
> 
> thanks for the hints.
> 
> I actually am a full scale glider pilot myself as well. So I
> understand the techniques of soaring thoroughly. The challenge is to
> get this into paparazzi as simple as possible.
> 
> Dan Edwards has done a brilliant job in autonomous soaring:
> http://goosetech.homelinux.com/soaring/index.php
> Unfortunately he used piccolo of cloudcap, not paparazzi :-(
> 
> I am still open to any paparazzi flight plan details!
> 
> Cheers, Reto
> 
> 2011/2/28 Todd Sandercock <address@hidden>:
> > As a glider pilot I will say now that there is a lot more to soaring
> than
> > just turning in an updraft.... You may want to do some research into
> thermal
> > centring techniques first. This link is a pretty good
> >
> start: 
> http://jesuscondorbase.blogspot.com/2010/11/thermaling-pt2-centering-techniques.html
> > Also there  is a couple of papers floating around the internet from
> NASA
> > where the experiment with autonomous soaring. Very good
> >
> reference: http://dtrs.dfrc.nasa.gov/archive/00001620/01/214611-REV1.pdf
> > This is just a start....
> > Todd
> > ________________________________
> > From: Reto Büttner <address@hidden>
> > To: address@hidden
> > Sent: Mon, 28 February, 2011 9:33:22 AM
> > Subject: [Paparazzi-devel] Flight Plan for Soaring
> >
> > Hi guys,
> >
> > for autonomous soaring I want the plane to circle, as long as it is in
> > an updraft. Will a statement similar to the following work?
> >
> > <circle radius="50" until="estimator_vz < 0.0" wp="WP" throttle="0.0"
> > pitch="-5" vmode="throttle"/>
> >
> > Does the variable estimator_vz exist?
> >
> > Has someone in the paparazzi community already programmed a flight
> > plan for autonomous soaring?
> >
> > Cheers,
> > Reto
> >
> > _______________________________________________
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> >
> >
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> >
> >
> 
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