Because I’m a fixed-wing rc-pilot with an addiction to sailplanes and soaring, I’m very interrested in the ArduSoar feature recently updated by Sam Tabor. In the tests therefor I missed the possibillity to place a typical soaring pattern like a lying eight or a meander against the wind - wherever I want to.
So, after looking and searching in the forum with no success, I decided to try the implementation by myself.
The result is a feature for translation, rotation and altitude-adaption of a mission for all vehicles. It’s working in my favourite minimalistic layout (for fixedwings just FC, GPS and receiver - no speed-sensor, no compass, no GCS, no SD-card necessary) https://github.com/ArduPilot/ardupilot/pull/14100
Here are some examples of cases to use:
A meander for pulling up sailplanes or rc-skydivers against the wind:
My first aim, a laying eight - looking for thermals:
Maybe the free positioning of a grit could be interresting for copters:
For my scope of rc-modelling that feature is very helpful, but because I never had an outdoor copter or a rover, I have not really an idea if and where that feature could be useful for other vehicles.
In the meantime I have further ideas that would be easy to realize, like rotation by heading or rotation by rc-channel(poti).
If you are interrested in that feature to be merged to ArduPilot - just leave a comment on GitHub here: