I would like to say a huge – HUGE – thanks to this project and MissionPlanner.
@Linus is correct – we have been using MissionPlanner, and our autopilot software is based on ArduPlane. In particular, we are using a heavily modified version of the soaring controller (of the AP_Soaring library, to be specific). Its smarts come from lean variants of AI techniques such as Bayesian reinforcement learning (BRL). More details will follow in conference publications. As we’ve come to realize though, even stripped-down versions of BRL are too resource-heavy for something like a Pixhawk, and ultimately don’t need to be run on dedicated AutoPilot hardware. The plan is to port the AI part of the controller to Raspberry Pi 3, but still rely on modified ArduPlane for other functionality.
Cheers,
Andrey