36 Dossier | ACC Thunder Wasp UAV critical systems (particularly the servos, traditionally the first component to break on any aircraft). A second CANaerospace bus links the autopilot to the gas turbine. Most algos for automatic behaviours – including VTOL, hovering, GNSS waypoint following, and engine startup and shutdown – come pre-integrated in the Cube’s Ardupilot software. As of writing, other AI behaviours are being explored by Fireswarm Solutions, particularly in swarming up to five Thunder Wasps from one GCS and the use of real-time EO/IR data to define flight manoeuvres, as well as optimal locations to drop water for extinguishing wildfires. These will be implemented via an added algorithmic layer atop the present Ardupilot architecture, enabling fully autonomous aerial-firefighting. “The GoPro cameras we use for testing could theoretically provide a visual navigation system, with Ardupilot algorithms easily available for that sort of thing, but an Nvidia companion computer would probably be best to integrate for processing the camera data in real time,” Max adds. Navigation and data links Although ARK’s RTK GPS receiver is used, being compatible with DroneCAN and running on a Ublox F9P GPS chip, as well as a Bosch barometer and magnetometer, any navigation systems and communications links can theoretically be used. CubePilot’s Herelink is used during testing as a plug-and-play data link, although the company has also used comms systems from Radionor at the higher end and from RFDesign in more cost-optimised operations. For BVLOS, ACC expresses particular appreciation for Starlink’s consistent global coverage (versus VLOS links, which are more easily disrupted by occlusion from forests or mountains), as well as its 20 Mbit/s uplink and 50-100 ms latency. “The Cube has inbuilt ADS-B In for air-traffic awareness, but we can easily integrate transponders as needed. EASA mandates remote-ID in some instances and we’re potentially interested in some of the Ping products from uAvionix,” Max says. Ground control The UAV’s standard GCS is a custom system from Desert Rotor in the US, resemblant of its MIRA X HOTAS product by virtue of it being a case-integrated, ruggedised computer system. The case lid integrates the monitor, while the other half features a keyboard, joystick and numerous other toggles for flight modes, payload releases, throttle, optional gimbal controls and further functions. The PC hardware is enclosed below the user interface, accessible under the keyboard (which sits in a hinged hatch that snap-releases to swing open). “We also have several Ethernet and USB ports, as well as four data-link antenna connectors. The manual toggles are separated from the PC, going straight to a dedicated system and then the data links, so if the PC dies we can still have remote control over the UAV,” Max says. Any power supply of 230 V, 110 V or other voltages (mains or generators) can run into the GCS to power it, although an onboard battery is also integrated in case of external power failure. Payload Rather than using a winch for raising and lowering firefighting payloads, the entire Thunder Wasp lowers itself, avoiding the weight and potential mechanical failure of a winch. Thus, to lower a bucket closer to a fire, it lowers itself. December/January 2025 | Uncrewed Systems Technology The Thunder Wasp GT uses a Cube Blue for flight control, although ACC is considering the Cube Red for its redundancy and Ethernet compatibility (Image courtesy of CubePilot) The UAV can control a bambi bucket payload for firefighting via a relay, with opening of the bucket actuated via a solenoid
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