Competition | 2023-2024 Aerial Evolution of Canada Student Competition | ||||||
|---|---|---|---|---|---|---|---|
Team | Waterloo Aerial Robotics Group | ||||||
Technical Director | |||||||
Version | Document Version
| ||||||
On this page |
|
...
Min | Recc/Avg | Max | |
|---|---|---|---|
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
...
Pegasus is an X-frame configuration and motor arms attached directly to a straight aluminum block. Here are some of the key notes:
...
Motors are mounted on 3d printed mounts with a <pattern> (insert a photo if you can).
Propulsion
...
< insert schematic here >
...
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
...
On Pegasus, “power distribution” refers to all elements that affect and interact with power before it is distributed to individual components. Typically, this includes:
...
All power on pegasus runs to a common source (the PDB), with the exception of the pixhawk system power delivery which will be provided by the power monitor + BEC backup.
Battery Voltage
< Insert schematic here >Below shows the two different battery configurations we can fly. Pairs of 6S battery cells are connected in series and terminated with an XT90. The harnesses below show how the batteries are attached and how removing harness 3 and the cells with it bring the drone into its 4 cell configuration.
...
| Panel | ||||||||
|---|---|---|---|---|---|---|---|---|
| ||||||||
EE to fill in with more information |
Battery voltage is around 50 volts for pegasus. All high voltage systems follow <EE to insert spec here>.
...
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
...
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.
...
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
...
There are a number of external devices on the drone. Autonomy is largely responsible for additional compute, while Electrical is largely responsible for RF
...