Competition | 2023-2024 Aerial Evolution of Canada Student Competition | ||||||
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Team | Waterloo Aerial Robotics Group | ||||||
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📐 Architecture
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Scope
This
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is the top-level
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document for the 2023-2024
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Please make your RFC using the following link: tbd |
Supporting Documents
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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.
Ultimately, this document serves as a “reference manual” for Pegasus, and should contain necessary information for the usage and support/maintenance of Pegasus. Justifications for design decisions and background knowledge should be provided as references, external links, or as subpages. This document seeks to state how the Pegasus system works, and not necessarily why it was chosen to work in that way.
Updates
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.
This document will be considered controlled following October 1st. Any changes after that point must follow the formal RFC process. Ping Anthony Luo for more details.
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Please make your RFC using the following link: tbd |
Supporting Document
🗂 References and documentation
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🖇️ Standards
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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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Standards that are not internal to WARG. Our internally standards always take precedence over this list unless explicitly stated. These standards include:
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📐 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.
Ultimately, this document serves as a “reference manual” for Pegasus, and should contain necessary information for the usage and support/maintenance of Pegasus. Engineering decisions and background knowledge should be provided as references, external links, or as subpages. We want to know how this drone works, and not necessarily why that decision was made.
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stated. These standards include:
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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 be they are not strictly necessary for flight but may be useful in improving system performance.
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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.
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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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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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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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1.3ghz antennas will be circularly polarized antennas provided by TrueRC. Airside antennas will be Singularity 1280’s. Information regarding this antenna can be found in Singularity 1280 V2 .
900 MHz antennas tbd
433 MHz antennas tbd.
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ok thank you for listening
Change Log
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