ArduSoar: an Open-Source Thermalling Controller for Resource-Constrained Autopilots

TL;DR

ArduSoar is an open-source thermalling controller integrated into ArduPlane autopilot, enabling small UAVs to autonomously exploit thermals for extended flight times, demonstrated through real-world flight tests.

Contribution

It introduces ArduSoar, the first thermalling controller integrated into a major autopilot suite for small UAVs, with demonstrated robustness in real flights.

Findings

Successfully integrated into ArduPlane autopilot

Robust performance in non-ideal atmospheric conditions

Extended UAV flight times through autonomous thermalling

Abstract

Autonomous soaring capability has the potential to significantly increase time aloft for fixed-wing UAVs. In this paper, we introduce ArduSoar, the first soaring controller integrated into a major autopilot software suite for small UAVs. We describe ArduSoar from the algorithmic standpoint, outline its integration with the ArduPlane autopilot, discuss parameter tuning for it, and conduct a series of flight tests on real sUAVs that show ArduSoar's robustness even in highly non-ideal atmospheric conditions.