Competition | 2023-2024 Aerial Evolution of Canada Student Competition | ||||||
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Team | Waterloo Aerial Robotics Group | ||||||
Technical Director | |||||||
Version | Document Version
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On this page |
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Airframe | |||||||||||||||||||
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 |
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Motors | T-Motor | Antigravity MN6007II | 4 Indiv | See Motor Selection Subpage | |||||||||||||||
ESC | Advanced Power Drives [APD] | 120F3[X]v2 | 4 |
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Power Distribution | |||||||||||||||||||
Part Function | Manufacturer | Part Name & Link | Qty | Notes | |||||||||||||||
Batteries | Turnigy | Heavy Duty 5000mAh 6s 60C LiPo Pack w/XT90 | 4-6 |
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PDB | Advanced Power Drives [APD] | PDB500[X] | 1 |
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Power Monitor | Holybro | Holybro PM02D High Voltage | 1 | ||||||||||||||||
BEC | Mateksys | BEC12s-Pro | 1-2 |
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Flight Control System | |||||||||||||||||||
Part Function | Manufacturer | Part Name & Link | Qty | Notes | |||||||||||||||
Autopilot | Holybro | Pixhawk 5/6x + SD Card (logging) | 1 |
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GPS | Holybro | Holybro M9/10N GPS | 1 Prim 1 Sec |
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Unknown | Future RTK system |
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Rangefinder 🔍 | Benewake | TFMINI-S Micro LIDAR Module I2C | 1+ |
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Optical Flow Sensor (OFS) 🔍 | CubePilot | HereFlow | 1 |
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Compass 📉 | |||||||||||||||||||
Barometer 📉 | |||||||||||||||||||
Jetson TX2 | Fully documented with system requirements in Jetson | ||||||||||||||||||
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 either |
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Foxeer | 1.2G 5W (Enhanced) 4ch | ||||||||||||||||||
FPV Cameras | Caddx | Baby Ratel 2 | 2 | ||||||||||||||||
OSD | Holybro | Holybro Micro OSD V2 | 1 |
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Video Mux | Lumenier | 3-Way Multi Camera Video Switcher Board | 1 | ||||||||||||||||
Lighting 🔍 | - | - | NAVLights | ||||||||||||||||
- | - | Landing Lights | |||||||||||||||||
CV Camera | Hupuu | 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 |
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Video Monitor | - | Generic 5.8 GHz Receiver | |||||||||||||||||
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Min | Recc/Avg | Max | |
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Propeller Diameter (in) | 20 | 22 | 24 |
Battery Voltage (v) | 36 | - | 50.4 |
Takeoff Weight | 4.5 | < | 8 |
Thrust (kg) | ~16 | ||
Flight time (min) | 30 | TBD (40?) | |
Wind Lim. (kt) | < 20 | TBD (< 60) | |
Altitude (m) | < 120 | 200 | |
Horizontal Pos Accuracy (cm) | +/- 2 | +/-30 | +/- 200 |
Vertical Pos Accuracy (cm) | +/- 2 | +/- 15 | +/- 30 |
Usable Range (km) | 1 | 10 | inf w/LTE |
Airframe
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Pegasus is an X-frame configuration and motor arms attached directly to a straight aluminum block. Here are some of the key notes:
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Motors are mounted on 3d printed mounts with a <pattern> (insert a photo if you can).
Propulsion
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< insert schematic here >
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Telemetry wires shall be connected to a uart port, in the case of a bidirectional dshot failure. This is significantly slower than bidirectional dshot but offers us a failsafe and backup.
Power Distribution
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On Pegasus, “power distribution” refers to all elements that affect and interact with power before it is distributed to individual components. Typically, this includes:
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The pixhawk also supports two concurrent power monitors. We are using 1 power monitor and 1 BEC with NC’s on the remaining pins for better redundancy under thermal limit.
Flight Control System
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Pegasus will operate using an ardupilot software stack. As of Fall 2023 Pegasus runs software revision 4.4.0, as this brings necessary changes for digital power monitoring and bidirectional dshot.
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Accelerometer calibration does not need to be done more than the first time you did setup, or if there is significant concern about the health of the system.
RF + Peripherals
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There are a number of external devices on the drone. Autonomy is largely responsible for additional compute, while Electrical is largely responsible for RF
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