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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:

• 30x30mm mounting grid for peripheral and accessory mounting

• 1.25mm thick mainplates

• 76.2mm distance between mainplates

• 422mm plate width (flat edge to flat edge)

• 1.19m distance motor to motor

• 1.80m tip-to-tip with props on

• 20mm high spacer for the autopilot

Top & Bottom Plates

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Featuring 30x30mm pattern of holes on the majority of the surface with rounded square lightening holes, these plates provide torsional rigidity and protection for batteries within the drone. They are approximately 1.25mm thick, but the thickness across the sheets varies due to manufacturing imperfections. The plates were first made with custom carbon fiber flat layups, and were then cut out on the CNC router.

Center Block & Inner area

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The center block is where all 4 arms connect, and how the arms remain rigid and centered on the drone frame. It consists or one aluminum square block in the middle with a large hole in the middle for wire routing and weight saving as well as 4 arm connector pieces. These bolt onto the center block using 4xM5 bolts and they have an OD that fits snugly in the ID of the carbon fiber arm tubes. The plates and standoffs are attached to the center block using M3 screws. It is designed for easy removal of the arms for transport, if necessary.

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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

Motors are mounted on 3d printed mounts with a 32mm M4 bolt circle pattern with 4 evenly spaced bolts. The motor mounts have an indent to relieve wire strain, and minimal material to save weight.

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Although not strictly airframe-related, avionics covers and cabin covers will be an integral part of the airframe design, and must be well-integrated. The end goal of the system is simple:

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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 components 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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The current propellers are T-Motor MF2211 props. These do not follow typical propeller naming convention. They are 22” in diameter, but 8” in pitch (not 11). The 11 at the end of the name refers to the maximum thrust which the prop may provide.

Mounting

These propellers do not need a prop-washer to be Propellers are mounted in an “X-IN” configuration. Refer to the ardupilot docs for more information: https://ardupilot.org/copter/docs/connect-escs-and-motors.html

Mounting

These propellers do not need a prop-washer to be mounted, the following infographic from the T-Motor website explains proper mounting solution:

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This is done so that there is a common ground reference point (star topology). There exist solder pads in between the voltage pads for ground, signal, and telemetry on all APD esc’s and PDB’s. These should be used, with M1-4 connections on the PDB being taken to the pixhawk.

ESC cases may be made of any material, but general guidelines are that they should be made of non-conductive and thermally resistant materials. 3D-printed TPU is often a good choice. The ESC cases must allow for the removal and replacement of ESC’s with only the disconnection of 3.5mm and xt60 connectors, and with no disruption to other parts of the drone. (I.e. ESC only replacement must be possible).

Heatsinks + Cases

ESC’s generate a lot of heat, and are prone to foreign objects shorting terminals or interfering with operation. ESC’s should be mounted in a way such that the possibility of foreign objects are minimized when in regular operations, and heatsinks shall be added as necessary to prevent thermal limiting or runaway.

Software Configuration

It is recommended to run the ESC’s using default firmware (BL_HELI, Bluejay, etc) at 48khz update loop. This offers the best blend of controllability and power efficiency.

Bidirectional dshot must be supported as this offers critical logging and flight performance data, as well as advanced filtering options for the autopilot. On Pegasus, it is recommended to run DShot 300, as 600 may introduce significant signal integrity issues, and DShot 150 may be too slow for accurate bidirectional data transfer.

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.

Connectors

Anti-spark XT90s need to be used for our battery connections. Anti-Spark Connector Standards

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:

• Power distribution boards for ESC voltage

• 12v and 5v LV supply for peripherals

• Power monitoring & Power backups for the flight control system

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

Battery voltage is around 50 volts for pegasus. All high voltage systems follow <EE to insert spec here>.

Interfacing

There exists 30x30mm mounting holes on the PDB. These may be used directly on the 30x30mm mounting holes on the drone. Electrical isolation must be provided between the contacts of the PDB and the carbon fiber, as voltage may arc across the carbon fiber starting (at worst) fires.

<photo>

A case shall be provided for the PDB that covers the terminals, but leaves sections exposed such that it is possible to attach wires to the LV and motor busses.

<EE to attach photo>

• XT90’s will be used between battery and PDB

• XT60’s will be used between PDB and ESC

Batteries & Harnessing

Pegasus officially supports 4, and 6 battery configurations. Physically 8 batteries will fit with a light enough payload.

These batteries are cross-connected from each other, meaning that the only difference between a 4 and 6 battery connection is the NC of one pair. These should be labelled or colour coded

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.

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XT90 standard across the board, but the maximum peak current draw from all 4 motors is anticipated to be around 90Amps. Any individual motor will not draw more than 23 amps at a time, not including the path.

Errata

On certain long voltage runs, it may be necessary to “double up” on decoupling capacitors. <ee to fill in more>.

Low Voltage

< Insert schematic here >

Low voltage systems on Pegasus run at either 5 or 12v. Below are the voltage and current draws of each (potential) Noteworthy peripheral. Please refer to individual documentation for more information

• Jetson: 12v 4A

• Raspberry Pi + LTE: 12V 2A

• RFD900: 5V 1.5A

• Pixhawk: 5V 3A

• 800mW vtx: 12V 1A

• 5W vtx: 12V 5A?

• Gemini: ???

• I may be missing multiple items. EE leads please double check from prev. years and compare

Power Monitoring

We use powering monitoring from a Holybro PM02D HV module. This uses I2C to communicate with our autopilot, meaning that we don’t need to do analog voltage or current calibration.

This is used in isolation, with no backup. There is only 1.5A continuous draw available ee leads fact check me, and this power monitor will continue to update current and voltage measurements even after LDO failure.

LDO failure should be mitigated by providing the pixhawk with a BEC that is capable of up to 5A continuous draw. fact check me 5 or 3a.

Pixhawk Errata

Note that the pixhawk telemetry ports only support 0.5A current; with the exception being “Telem1” which supports up to 1.5A.

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

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.

Software Configuration

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Heatsinks + Cases

Custom mounts will be provided for electrical components as deemed necessary. Heatsinks will be provided as deemed necessary.

Software Configuration

It is recommended to run the ESC’s using default firmware (BL_HELI, Bluejay, etc) at 48khz update loop. This offers the best blend of controllability and power efficiency.

Bidirectional dshot must be supported as this offers critical logging and flight performance data, as well as advanced filtering options for the autopilot. On Pegasus, it is recommended to run DShot 300, as 600 may introduce significant signal integrity issues, and DShot 150 may be too slow for accurate bidirectional data transfer.

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.

Connectors

Anti-spark XT90s need to be used for our battery connections. Anti-Spark Connector Standards

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:

• Power distribution boards for ESC voltage

• 12v and 5v LV supply for peripherals

• Power monitoring & Power backups for the flight control system

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

Battery voltage is around 50 volts for pegasus. All high voltage systems follow <EE to insert spec here>.

Interfacing

There exists 30x30mm mounting holes on the PDB. These may be used directly on the 30x30mm mounting holes on the drone. Electrical isolation must be provided between the contacts of the PDB and the carbon fiber, as voltage may arc across the carbon fiber starting (at worst) fires.

<photo>

A case shall be provided for the PDB that covers the terminals, but leaves sections exposed such that it is possible to attach wires to the LV and motor busses.

<EE to attach photo>

• XT90’s will be used between battery and PDB

• XT60’s will be used between PDB and ESC

Batteries & Harnessing

Pegasus officially supports 4, and 6 battery configurations. Physically 8 batteries will fit with a light enough payload.

These batteries are cross-connected from each other, meaning that the only difference between a 4 and 6 battery connection is the NC of one pair. These should be labelled or colour coded

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.

...

XT90 standard across the board, but the maximum peak current draw from all 4 motors is anticipated to be around 90Amps. Any individual motor will not draw more than 23 amps at a time, not including the path.

Errata

Low Voltage

< Insert schematic here >

Low voltage systems on Pegasus run at either 5 or 12v. Below are the voltage and current draws of each (potential) Noteworthy peripheral. Please refer to individual documentation for more information

• Raspberry Pi + LTE: 12V 2A

• Pixhawk: 5V 3A

• 800mW vtx: 12V 1A

• Gemini: ???

• I may be missing multiple items. EE leads please double check from prev. years and compare

Power Monitoring

We use powering monitoring from a Holybro PM02D HV module. This uses I2C to communicate with our autopilot, meaning that we don’t need to do analog voltage or current calibration.

This is used in isolation, with no backup. There is only 1.5A continuous draw available ee leads fact check me, and this power monitor will continue to update current and voltage measurements even after LDO failure.

LDO failure should be mitigated by providing the pixhawk with a BEC that is capable of up to 5A continuous draw. fact check me 5 or 3a.

Pixhawk Errata

Note that the pixhawk telemetry ports only support 0.5A current; with the exception being “Telem1” which supports up to 1.5A.

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

...

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.

Software Configuration

Wiring & Outputs

...

The airside compute system will consist of a pixhawk 5x or pixhawk 6x, augmented by an auxiliary compute unit handling LTE telemetry and video transfer.

This auxilliary compute unit will be a Raspberry Pi 4.

Bidirectional DShot will be used on the 6x. Functionality may not be available on the 5x due to the different MCU’s (H7 vs F7).

Wiring & Outputs

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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.

Pegasus will use the following external sensors:

• Two M9 or M10 sensors, using GPS blending for position; or 2 RTK sensors being blended.

  • one of these will be the “primary” gps, and must have an accessible safety switch.

• 1 Optical flow sensor, facing downwards and aligned with the drone

• 1 Lidar rangefinder, facing downwards

Anni to make mounting requirements pages for all of these (see sysint space most likely).

Particular Mounting constraints

When using blended GPS sensors, these shall be placed as far apart as possible, with no wiring nearby and with the sensors elevated above the plane of the drone.

A word about calibration

It is not necessary to re-calibrate the compass every time you fly, but it is strongly recommended to do so if you have moved more than 40km from your original location as you may have different magnetic interference.

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

Frequency Distribution

Pegasus will support 2.4+900+433 interchangeable control links, as well as LTE+piggybacked telemetry, and dedicated 2.4 or 900 telemetry systems.

Pegasus will use 1.3 ghz as the primary airside video frequency.

Antenna Choice

2.4ghz antennas will be regular dipoles, potentially folded dipoles. Refer to https://docs.google.com/spreadsheets/d/1G2Ue9xrBFwbJbkzpw3Gx3-eZ3x3dWSVjVrP4fPepvcg/edit#gid=0 for the best selection.

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.

Antenna Placement

< EE TO ENTER MORE INFORMATION ABOUT RF STUFF >

Control Link

GEMINI GO BRR

Telemetry Link

GEMINI GO BRRR LTE GO BRRR

Video System

1.3 go brrr. System unchanged from previous year: 1 forward facing camera and 1 downward facing camera

The entire video system uses Analog video, including:

• 2 Caddx baby Ratel 2 cameras (or cameras of similar size)

• 1 PWM-based video mux

• 1 OSD using ardupilot telemetry

• 1 1.3ghz video transmitter, either 5W or 800mW depending on application.

FPV/Pilot Cameras

One FPV camera shall be mounted pointing downwards, with no obstructions from landing gear or payload systems, allowing the pilot to view the landing zone and safely guide the drone to the ground. The orientation of the downward camera shall be as if a typical camera were pointed forwards, and then rotated 90 degrees to face downwards. The angle of this camera should tied to the angle of the drone.

A different FPV camera shall be mounted pointing forwards, with +/- 20 degrees of adjustment from being level while the drone is in forward flight. This adjustment allows the pilot to fine-tune the field of view for their flying style. For design purposes, level flight will put the drone at around 30-45 degrees pitch. There should be no obstructions in the field of view of this camera, with the exception of propellers which may be in the field of view provided they do not obstruct vision such that the pilot can not see past them.

Wiring from the FPV/Pilot cameras is a pure analog signal, and should be shielded and kept away from sources of high EMI as much as possible.

Video Mux

Connectors will not be used directly on the video mux, and all input/outputs should be soldered with pigtails or extension leads, with locking connectors. This is done since connectors are easy to bump and come loose, especially when non locking.

The video mux & the OSD may share a case.

OSD

Similar to the video mux, only locking connectors or soldered pigtails shall be used on the OSD. OSD & VMUX may share a case.

Video Transmitter

The video transmitter will generate a lot of heat, and consideration must be made such that there is adequate thermal capacity (i.e: heatsink) on the video transmitter, and there must be passive airflow over the VTX while in flight. This may be achieved through the use of NACA ducts, large surface area heatsinks, or open-air components.

Open Questions

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https://discord.com/channels/776618956638388305/776618957138034690/1154963561563553793

• Anni on stability of the drone

Telem 1,2,3

• Telem1 will be reserved for the RFD900

• Telem2 will be connected to the LTE system

• Telem3 will be connected to ELRS Gemini

GPS 1, 2

• GPS1 - GPS1 (front)

• GPS2 - GPS2 (back)

I2C

• I2C will be sent to the lidar

CAN1, 2

• CAN1 will be connected to the OFS

• CAN2 will be reserved for CAN interface boards (should they be required)

Serial/UART 4

• Reserved for Omnidirectional rangefinder

Power 1, 2

• Power1 will be connected to the Holybro PM02D

• Power2 will be connected to a BEC

Sensors

Please refer to each sensors page under our operating manuals space in sysint.

Pegasus will use the following external sensors:

• Two M9 or M10 sensors, using GPS blending for position; or 2 RTK sensors being blended.

  • one of these will be the “primary” gps, and must have an accessible safety switch.

• 1 Optical flow sensor, facing downwards and aligned with the drone

• 1 Lidar rangefinder, facing downwards

• 1 Omnidirectional rangefinder, mounted on-top of the drone.

Anni to make mounting requirements pages for all of these (see sysint space most likely).

GPS Sensors

The two GPS sensors will be placed inline with the roll axis of the drone, on posts to elevate them away from the rest of the wiring. One GPS will be facing forwards, while the other GPS will be facing backwards (in order to improve wire lengths). This GPS will be calibrated as “YAW180” within software.

Optical Flow Sensors

A single hereflow optical flow sensor will be mounted on the monster mount.

Lidar Rangefinder

A single lidar rangefinder will be mounted below the drone, facing downwards.

If deemed necessary through testing, a second lidar rangefinder may be mounted on top of the drone, facing upwards augmenting the omnidirectional lidar

Omnidirectional rangefinder

A lightware SF45/B provides obstacle avoidance through ardupilots in-built obstacle avoidance system. This rangefinder is not weather sealed. See documentation on choosing a lidar for more information on the final decision: Decision: Type of Rangefinder for Obstacle Detection - SysInt - WARG (atlassian.net)

A word about calibration

It is not necessary to re-calibrate the compass every time you fly, but it is strongly recommended to do so if you have moved more than 40km from your original location as you may have different magnetic interference.

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

Frequency Distribution

Pegasus will support 2.4+900+433 interchangeable control links, as well as LTE+piggybacked telemetry, and dedicated 2.4 or 900 telemetry systems.

Pegasus will use 1.3 ghz as the primary airside video frequency.

Antenna Choice

2.4ghz antennas will be regular dipoles, potentially folded dipoles. Refer to https://docs.google.com/spreadsheets/d/1G2Ue9xrBFwbJbkzpw3Gx3-eZ3x3dWSVjVrP4fPepvcg/edit#gid=0 for the best selection.

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.

Antenna Placement

< EE TO ENTER MORE INFORMATION ABOUT RF STUFF >

Control Link

GEMINI GO BRR

Telemetry Link

Telemetry will be provided through LTE, with ELRS gemini allowing MAVLink packets to be piggy-backed in between regular RC link packets. This gives us a second redundant option in case the LTE system loses power or is otherwise unusable, at least temporarily and for long enough to recover the drone.

Video System

1.3 go brrr. System unchanged from previous year: 1 forward facing camera and 1 downward facing camera

The entire pilot video system uses Analog video, including:

• 2 Caddx baby Ratel 2 cameras (or cameras of similar size)

• 1 PWM-based video mux

• 1 OSD using ardupilot telemetry

• 1 1.3ghz video transmitter, either 5W or 800mW depending on application.

FPV/Pilot Cameras

One FPV camera shall be mounted pointing downwards, with no obstructions from landing gear or payload systems, allowing the pilot to view the landing zone and safely guide the drone to the ground. The orientation of the downward camera shall be as if a typical camera were pointed forwards, and then rotated 90 degrees to face downwards. The angle of this camera should tied to the angle of the drone.

A different FPV camera shall be mounted pointing forwards, with +/- 20 degrees of adjustment from being level while the drone is in forward flight. This adjustment allows the pilot to fine-tune the field of view for their flying style. For design purposes, level flight will put the drone at around 30-45 degrees pitch. There should be no obstructions in the field of view of this camera, with the exception of propellers which may be in the field of view provided they do not obstruct vision such that the pilot can not see past them.

Wiring from the FPV/Pilot cameras is a pure analog signal, and should be shielded and kept away from sources of high EMI as much as possible.

Video Mux

Connectors will not be used directly on the video mux, and all input/outputs should be soldered with pigtails or extension leads, with locking connectors. This is done since connectors are easy to bump and come loose, especially when non locking.

The video mux & the OSD may share a case.

OSD

Similar to the video mux, only locking connectors or soldered pigtails shall be used on the OSD. OSD & VMUX may share a case.

Video Transmitter

The video transmitter will generate a lot of heat, and consideration must be made such that there is adequate thermal capacity (i.e: heatsink) on the video transmitter, and there must be passive airflow over the VTX while in flight. This may be achieved through the use of NACA ducts, large surface area heatsinks, or open-air components.

Autonomy Video System

Per a discussion in the 2023-10-03 AEAC Sync, the Jetson will not be mounted airside, and will not be able to provide airside object detection or auto-landing assistance. Instead, digital video will be transmitted from the airside system to the ground via LTE, where image processing will occur.

A digital global shutter USB Camera (200$ CV Camera) will be connected to the raspberry pi, and provide video via the raspberry pi.

Open Questions

PIKACHU OBLIGATORY PIKACHU

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ok thank you for listening

Change Log

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