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Competition

2023-2024 Aerial Evolution of Canada Student Competition

Team

Waterloo Aerial Robotics Group

Technical Director

Anthony Luo

Version

Document Version

Status
titleV. 026
created on . See changelog below for details.

On this page

Table of Contents
minLevel1
maxLevel5

Summary

This page describes the top-level view of the 2024 competition airframe, and contains references to sub-pages with implementation specific details. This page will be finalized as of Nov 6, 2024. Any changes after that point must follow the formal RFC process. Ping Anni for more details.

Note

Please make your RFC using the following link: tbd

🗂 References and documentation
Anchor
arch24_refs
arch24_refs

Expand
titleReferences

🖇️ WARG Standards

Info

To future users: Please try and include a VERSION of a document (e.g. “CAD Guidelines V. 17”)

Expand
titleMechanical Standards

List of mechanical-maintained standards:

Expand
titleElectrical Standards

List of electrical-maintained standards:

Expand
titleSoftware Standards

List of embedded flight software and autonomy maintained standards:

Expand
titleExternal Standards

Standards that are not internal to WARG. Our internally standards always take precedence over this list unless explicitly stated. These standards include:

📐 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.

Mechanical Bits

Part Function

Manufacturer

Part Name & Link

Qty

Notes

Propulsion

Part Function

Manufacturer

Part Name & Link

Qty

Notes

Propellers

T-Motor

MF2211

4 Indiv

2 CW

2 CCW

Expand
titleAlternatives

May be reasonable replaced with other props of similar size/pitch

Motors

T-Motor

Antigravity MN6007II

4 Indiv

See Motor Selection Subpage

ESC

Advanced Power Drives [APD]

120F3[X]v2

4

Expand
titleAlternatives

This can reasonably be replaced by any 12S capable ESC that is able to support BI-directional dshot and > 50A continuous

Power Distribution

Part Function

Manufacturer

Part Name & Link

Qty

Notes

Batteries

Turnigy

Heavy Duty 5000mAh 6s 60C LiPo Pack w/XT90

4-6

Expand
titleAlternatives

Could be reasonably replaced with Li-Ion packs which are properly specced or with similar sized Li-Po packs.

PDB

Advanced Power Drives [APD]

PDB500[X]

1

Expand
titleAlternatives

Could reasonably be replaced with any 12S capable PDB, or with a wire harness.

Power Monitor

Holybro

Holybro PM02D High Voltage

1

BEC

Mateksys

BEC12s-Pro

1-2

Expand
titleOptional

The number of BEC uses depends on the number of subsystems that need voltage isolation which are present

Flight Control System

Part Function

Manufacturer

Part Name & Link

Qty

Notes

Autopilot

Holybro

Pixhawk 5/6x + SD Card (logging)

1

Expand
titleWhich one?

The autopilot standard gets revised every so often. The 6x is significantly improved from the 5x, and we recommend it for the competition drone.

Expand
titleOnboard Sensors

Note that the “Cube” standard has multiple internal sensors, some of which we may list externally for redundancy or performance reasons!

GPS

Holybro

Holybro M9/10N GPS

1 Prim

1 Sec

Expand
titleWhich one?

The M10 is newer & cheaper. We have a lot of M9’s but again, newer GPS’s are better.

Expand
titlePrimary vs Secondary

You’ll notice that you have an option for “Primary” and “Secondary” on the GPS’s. This refers to the wiring of the “Switch” on the gps and the termination of the GPS. With the pixhawk baseboard standard, most systems accept 1 primary GPS and 1 secondary GPS.

Unknown

Future RTK system

Expand
titleHow does RTK Help?

RTK gives more precision, which is always useful when we’re trying to have very precise position hold

Rangefinder 🔍

Benewake

TFMINI-S Micro LIDAR Module I2C

1+

Expand
titleSemi-Optional

Using a rangefinder is not strictly necessary for any flight mode but greatly improves the accuracy of auto-landing and stability of the drone when hovering close to ground level.

Expand
titleQuantity

Using (1) rangefinder is the minimum for the system to function, but it is possible to use multiple rangefinders to get better data or to offer horizontal or vertical object detection.

Expand
titleAlternatives

There are many different rangefinders available. Lidar typically reports least noise and is more accurate over a wider range of circumstances

Optical Flow Sensor (OFS) 🔍

CubePilot

HereFlow

1

Expand
titleSemi-Optional

The drone will fly in all modes without the OFS, but it greatly improves position hold at altitude.

Expand
titleAlternatives

ATM, there are multiple supported alternatives but please ensure they function at the same range

Compass 📉

Barometer 📉

Jetson TX2

Raspberry Pi

RF + Peripherals (grouped because it’s small bits of things)

Part Function

Manufacturer

Part Name & Link

Qty

Notes

Control Link

TBD

ELRS Diversity RX

1

1 of either

WARG

ELRS Gemini

1

Telemetry Link

1

1 of Either

Potentially double up 4 redundancy

Abra Electronics

LTE Hat

RF Design

RFD900x

Video Transmitter

Mateksys

VTX 1G3SE

1 of

Expand
titleDISCONTINUED

Most 1.3GHz VTX’s are no longer available due to current political conflicts.

Foxeer

1.2G 5W (Enhanced) 4ch

FPV Cameras

Caddx

Baby Ratel 2

2

OSD

Holybro

Holybro Micro OSD V2

1

Expand
titleHARD TO FIND

Please be careful

Video Mux

Lumenier

3-Way Multi Camera Video Switcher Board

1

Lighting 🔍

-

-

NAVLights

-

-

Landing Lights

CV Camera

Hupuu

200$ CV Camera

$200 CV Camera

Groundside

Part Function

Manufacturer

Part Name & Link

Qty

Notes

Groundstation Laptop

Lenovo

Thinkpad T490?

1

1.3G Video RX

ReadyMade RC

900-1.3 GHz Receiver w/Tuner

1

5.8G Video TX

AKK

TS832 5.8 GHz VTX

1

RC Control Link

WARG

ELRS Gemini

1

PREF GEMINI WHEN POSSIBLE

RadioMaster

RadioMaster Ranger FCC

1

Telemetry Link

WARG

ELRS Gemini

1

RFDesign

RFD900x

1

❓

LTE Hotspot

1

No manufacturer

Telemetry Relay

Xbee

XBEE Pro 5.8

2

ELRS

ELRS Airport

FPV Goggles

-

Pilot Preference

RC Controller

RadioMaster

TX16s MkII ELRS Mode 2 HALL

2

Expand
titleModifications

The blue controller has an INTERNAL elrs rx hooked up to aux trainer so that wireless trainer may be used.

Video Monitor

-

Generic 5.8 GHz Receiver

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.

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Anni still needs to do this!

Expand
titlePropulsion System

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.

Change Log

Expand
titleV. 026 -- 2023-09-19 -- Daniel Puratich --

  • Updated Anthony’s role to be technical director to mitigate confusion of having a single position with multiple names. For details please see Technical Director .

  • Updated how we are tracking the changelog and version in the header

Expand
titleV. 024 -- 2023-09-18 -- Daniel Puratich --

  • Updating terminology section moving things to our glossary

  • Created new specification for electrical glossary

  • Updated the electrical standards with context

Expand
titleV. 022 --- 2023-09-17 --- Anthony (anni) Luo ---

  • Nuked entire previous/existing arch doc (copied from 2023 arch doc). Started (basically) from scratch.

  • Added section to store PDF files for spec parts.

    • PDF currently not filled in

  • Added in components table with links & more descriptions, as well an notes and extra information.

  • Re-organized document to include references and standards at the top of the page in “expands”

    • Hopefully this is a good idea.

Todo:

  • Flush out the rest of the document.

    • Pegasus overview, operating limits chart

    • Subsystems Explanations, Interfaces, Operation, etc.

Change History