Competition | 2023-2024 Aerial Evolution of Canada Student Competition | ||||||
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Team | Waterloo Aerial Robotics Group | ||||||
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🗂 References and documentation
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Standards
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To future users: Standards section should only include standards that this system is abiding by and exclude other standards that aren’t relevant or necessary. |
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Please try and include a VERSION version of a document the standard you’re referencing (e.g. “CAD Guidelines V. 17”). |
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List of mechanical-maintained standards:
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List of electrical-maintained standards:
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List of embedded flight software and autonomy maintained standards: |
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Standards that are not internal to WARG. Our internally standards always take precedence over this list unless explicitly stated. These standards include: [Pixhawk Autopilot (v6x)] https://github.com/pixhawk/Pixhawk-Standards/blob/master/DS-012%20Pixhawk%20Autopilot%20v6X%20Standard.pdf [Pixhawk Connector (v6x)] https://github.com/pixhawk/Pixhawk-Standards/blob/v6xupdate/DS-009%20Pixhawk%20Connector%20Standard.pdf precedence over this list unless explicitly stated. These standards include:
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📐 Architecture
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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.
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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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Most components will run ~ 20-30 degrees hotter than ambient, and will thermal limit around 80 degrees celcius. This means that on an average “warm” day, our compoments have around 20-30 degrees of headroom. Think about how much hotter a cabin may cause components to be, especially if black carbon fiber and in the air (exposed, not under shade).
Propulsion
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Electrical, please insert a schematic & layout diagram with motors, connectors, esc’s with breaks to the rest of the HV distribution system |
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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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ok thank you for listening
Change Log
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