Supporting Documents

🗂 References and documentation

🖇️ WARG Standards

📐 Architecture

This is the top-level document for the 2023-2024 AEAC competition aircraft “Pegasus”. These documents describe the purpose, function, and decisions made relevant to the design and use of the remotely piloted aircraft. It has been divided into sub-sections (in no particular order) which hope to offer a global overview of the design and implementation of all systems, as well as how they interface with each other.

If you are editing this document, please do your best to add in the changes made into the changelog and ID the version that you are on.

BOM

This lists all of the components that constitute the configuration of a drone that we wish to fly at competition in May 2024. Some parts may be listed as “Optional” (🔍), in which case they will bethey are not strictly necessary for flight but may be useful in improving system performance.

Here, “Quantity” refers to the number which is needed for a functional drone.

List of user manuals & references

We maintain an active list of PDF revisions of user manuals, datasheets, and spec reference parts in the event that an externally hosted server goes down or a manufacturer discontinues a part.

etc….

Pegasus Overview

Pegasus is a “heavy-lift” quadcopter designed to serve as a generic quad-rotor platform for AEAC 2024 as well as future competitions. It features standard mounting grids across the entire frame, as well as modular landing gear and easy disassembly of all components for transport or repair.

Below is a summary of system characteristics which are expected of Pegasus

Airframe

Pegasus is an X-frame configuration and motor arms attached directly to a straight aluminum block. Here are some of the key notes:

• 30x30mm mounting grid for peripheral and accessory mounting

• Xmm thick mainplates

• Xmm distance between mainplates

• Xcm distance motor to motor

• Xcm dimensions with props on

• Xmm high spacer for the autopilot

<pegasus rendering>

< more information & dimensioning if necessary >

Top & Bottom Plates

Featuring 30x30 mm blocks, these plates provide torsional rigidity and protection for batteries within the drone. They are < more information here >. These are Xmm thick, and made with <material>. FILES.

Center Block & Inner area

The center block is where all 4 arms connect, and how the arms remain rigid and centered on the drone frame. It is made of <material> and uses <screws> to disconnect. Shoulder bolts are used <somewhere> to improve <something>. It is designed for easy removal of the arms for transport, if necessary.

< Link to supporting documentation/CAD>

Interfacing

The center block and arms are designed to allow 3-phase motor wires to run through the arms and exit out the cube below the pixhawk or otherwise <drawings here would help>.

MT30’s are designed to fit within the cube and arms for quick-disconnect of the 3-phase leads. See connector standardization for more information.

Removing the arms

Instructions for how to remove the arms, diagrams if possible.

Arms & Landing gear

The arms mount to the airframe at the center block, and also through the spacers located at each corner of the frame. The landing gear mounts directly to the arms.

Payload attachment points

Inofrmation about how exposed slots in the frame allows for payload attachment points and best practices for that

Motor Mounting

Motors are mounted on 3d printed mounts with a <pattern> (insert a photo if you can).

Propulsion

Pegasus uses 4 T-Motor Antigravity MN6007II kv160 motors. These motors are designed to run on 12s voltage and are wired to APD 120F3[x] v2 ESCs. The ESC’s are significantly overspecced and are designed to allow for continuous operation in high ambient heat environments and minimal passive cooling, although this is not a recommended mode of operation.

Motors

There are multiple alternative motors which we may use, and these interface to the carbon-fiber arms using 3d printed parts. The motor specifications change a bit depending on the propeller that we’re using. Review the following charts:

 MN6007II KV160 Charts

From that data, we can synthesize the fol

Interface

The motors mount to a 3d printed block which attaches to the ends of the arms. Multiple propeller mounting options are available!

Propellers

The current propellers are T-Motor MF2211 props. These do not follow typical propeller naming convention. They are 22” in diameter, but 8” in pitch (not 11). The 11 at the end of the name refers to the maximum thrust which the prop may provide.

Mounting

These propellers do not need a prop-washer to be mounted, the following infographic from the T-Motor website explains proper mounting solution:

Vibration

With folding props, it is possible to have vibrations and harmonics. It is important to look at motor data from telemetry logs, as well as listen to pilot and operator feedback gained from visual and audio cues, especially if there is significant turbulent air or pressure differentials across the path of the propeller.

Balancing

Our props come balanced from T-motor, and may need to be balanced if they acquire nicks, scratches, chips, or other deformities.

Safety & Storage

Polymer-carbon propellers are suspect to shattering under load, even with tiny surface scratches or nicks. Unless absolutely necessary it is not recommended to fly in marked or scuffed propellers.

Props should be stored in a low humidity and cool environment to prevent damage and aging to the propellers.

Electronic Speed Controllers

For the most part, the choice of electronic speed controllers is fairly relaxed as there are many commercial and off-the-shelf hobby components that may do the job. Keep in mind when choosing your speed controllers the software, protocols, and current/volage ratings that it may have.

Interfacing

Our speed controllers often have through-hole solder pads and castellated pads. Refer to EE guidelines on how these should be soldered. The holes are not mounting holes, and the ESC’s are interfaced to the 30x30 mounting grid through the use of 3D-printed cases.

The cases may be made of any material, but general guidelines are that they should be made of non-conductive and thermally resistant materials. 3D-printed TPU is often a good choice.

Heatsinks + Cases

ESC’s generate a lot of heat, and are prone to foreign objects shorting terminals or interfering with operation. ESC’s should be mounted in a way such that the possibility of foreign objects are minimized

Change Log