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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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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Two slots per arm have been left in the plate to accommodate payload mounting and any other necessary additions to the aircraft. The slots are designed to give sufficient clearance for members extruding downwards from the frame, and space to access any connectors on the top of the tubes to mount and dismount payloads.
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Cabin + Cargo
The initial plan for the Cabin and Cargo bay is a main skeleton of 10mm diameter carbon fiber tubes mounted to the 30mm x 30mm hole pattern on the bottom of the drone. Attached to this will be swappable “aero-panels” that can be iterated on according to simulations and the results of flight tests in order to optimize flight characteristics. We will have a passenger cabin portion at the front with 4 seats and a cargo bay in the back. Both will be accessible through doors of some kind and the passenger cabin will have windows.
Motor Mounting
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Mech should probably fill this out a bit more |
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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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