  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.
