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The planned approach was to use the received route information once the QR code is scanned to create a waypoint plan automatically, load it into Mission Planner, and flash it into the flight controller. Once flashed, the aircraft would be armed, take off, and begin the waypoint mission flight. As the drone flew and sent the diversion information, the chosen approach was to create a modified waypoint mission to avoid the exclusion zone and rejoin.
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Remove wings and mid-wing sections
Remove tail-section
Remove pusher motor and prop
Remove all mounting hardware and sensors that were not required for quadcopter flight
The datasheets for the quad motors were examined and it was seen that the motors were not optimized for continuous operation. Since they are VTOL motors, they are designed to be used at very high throttle for short periods of time before the aircraft transitions to fixed-wing operation, and not for continuous quad flight. This issues was further exacerbated by the lack of ventilation on the motors. Hence, it was determined that the motors would need to be changed to motors with lower power draw, increased efficiency and more appropriate duty cycle requirements. New motors, Titan T6015, were borrowed from another team and mounted on the aircraft. These motors are optimized for quadcopters, have sufficient ventilation, and are rated for the required thrust of our aircraft.
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Task 2 models a scenario where various transit routes are given, and need to be provided, paths between them a optimized while picking up and dropping off passengers at numerous given waypoints. With the same cabin and landing pad used in Task 1, the competitor must carry the passengers and land on the pad with rotors stopped for 15 seconds. A QR code was given that detailed the available routes, and specific routes were to be chosen to fly.
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