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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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. <date to be decided during conops brief> Any changes after that point must follow the formal RFC process. Ping Anni for more details.
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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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Note that the pixhawk telemetry ports only support 0.5A current; with the exception being “Telem1” which supports up to 3A1.5A.
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.
DShot is only available on FMU out as of 4.4.0, but will be available (tentatively), on certain I/O FMU Outputs in the future.
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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You should always do a ground spinup before you fly, no matter how confident you are of the system. |
Sensors
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Wiring & Outputs
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FMU outputs must be used for DSHOT motors. |
We will follow the ardupilot “quad-X” configuration for Pegasus:
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Lift motor wires must be plugged into FMU output, with each output number corresponding with the motor number as shown in the configuration.
Relays may be used on FMU or I/O pins. Refer to ICARUS documentation tentatively.
All PWM outputs will be attached to the I/O pins.
Sensors
Please refer to each sensors page under our operating manuals space in sysint.
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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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