Competition | 2023-2024 Aerial Evolution of Canada Student Competition | ||||||
|---|---|---|---|---|---|---|---|
Team | Waterloo Aerial Robotics Group | ||||||
Technical Director | |||||||
Version | Document Version
| ||||||
On this page |
|
...
Min | Recc/Avg | Max | |
|---|---|---|---|
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
...
Pegasus is an X-frame configuration and motor arms attached directly to a straight aluminum block. Here are some of the key notes:
...
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
...
| Panel | ||||||||
|---|---|---|---|---|---|---|---|---|
| ||||||||
Electrical, please insert a schematic & layout diagram with motors, connectors, esc’s with breaks to the rest of the HV distribution system |
...
Custom mounts will be provided for electrical components as deemed necessary. Heatsinks will be provided as deemed necessary.
...
| panelIconId | 1f527 |
|---|---|
| panelIcon | :wrench: |
| panelIconText | 🔧 |
| bgColor | #E3FCEF |
...
Cases for electronics are 3D printed in black PETG with the exception of cameras or other sensors where white will provide better sensor performance. Cases will mount to the 30mm x 30mm pattern on the top plate of the drone unless other mounting locations are deemed more appropriate. The monster mount is an example of this and will be located out on an arm. Mounting requirements for individual sensors and the decision process for their design is found in https://uwarg-docs.atlassian.net/l/cp/Y0pwRtx6 .
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.
...
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:
...
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.
...
Ground station is at the cruise scope, for multiple waypoints, and is responsible for guiding the drone along the most efficient waypoint to waypoint path. Control is handled by the pathing system and Mission Planner running on the ground station computer.
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
...