Page Comparison

Card 2, Test #1: Houston Autotune, Pitch

Prerequisite

Objective

Knock off Criteria

• Autotune research done.

• Rpi, Camera removed.

• Aircraft solid, screws tightened, etc.

• ATUN_Axis set to pitch

• get pilots/GSO familiar with the procedure of how to autotune

• Autotune houston in pitch axis

• autotune complete

• Airframe unstable

• Battery < 10.1v overall, < 3.3v/cell

• Flight Time > 10 minutes

Procedure

Outcome

1. Switch into Loiter using FM3 button on tx16.

• Drone beep,

• Mission planner shows “LOIT” or “Loiter”

2. Takeoff in Loiter, fly to a safe distance and around 8-12 m altitude

• Watch for drone stability, ensure systems OK.

3. Switch into Autotune by using FM5 button on TX16.

• Drone beep

• Mission planner shows “ATUN” or “Autotune”

4. Wait for Autotune to complete

• Pilot: Watch for drone stability and clear of objects. Do not touch sticks unless necessary

• GSO: Watch for autotune messages, make sure no failures. Enusre order of messages correct.

5. Autotune complete message received

• Crosscheck atune complete

6. Switch into Loiter, fly back to a closer distance

• This will revert to old tune.

• Ensure system OK, sensors OK

7. Switch into autotune, land, disarm

• This will apply new tunes and then save them.

• We will do a 3-axis controls check once all autotune is complete.

Card 2, Test #2: Houston Autotune, Roll

Prerequisite

Objective

Knock off Criteria

• Autotune research done.

• Rpi, Camera removed.

• Aircraft solid, screws tightened, etc.

• ATUN_Axis set to roll

• get pilots/GSO familiar with the procedure of how to autotune

• Autotune houston in pitch axis

• autotune complete

• Airframe unstable

• Battery < 10.1v overall, < 3.3v/cell

• Flight Time > 10 minutes

Procedure

Outcome

1. Switch into Loiter using FM3 button on tx16.

• Drone beep,

• Mission planner shows “LOIT” or “Loiter”

2. Takeoff in Loiter, fly to a safe distance and around 8-12 m altitude

• Watch for drone stability, ensure systems OK.

3. Switch into Autotune by using FM5 button on TX16.

• Drone beep

• Mission planner shows “ATUN” or “Autotune”

4. Wait for Autotune to complete

• Pilot: Watch for drone stability and clear of objects. Do not touch sticks unless necessary

• GSO: Watch for autotune messages, make sure no failures. Enusre order of messages correct.

5. Autotune complete message received

• Crosscheck atune complete

6. Switch into Loiter, fly back to a closer distance

• This will revert to old tune.

• Ensure system OK, sensors OK

7. Switch into autotune, land, disarm.

• This will apply new tunes and then save them.

• We will do a 3-axis controls check once all autotune is complete.

Card 2, Test #1#3: Houston Autotune, YAW

Prerequisite

Objective

Knock off Criteria

• Autotune research done.

• Rpi, Camera removed.

• Aircraft solid, screws tightened, etc.

• ATUN_Axis set to YAW

• get pilots/GSO familiar with the procedure of how to autotune

• Autotune houston in pitch axis

• autotune complete

• Airframe unstable

• Battery < 10.1v overall, < 3.3v/cell

• Flight Time > 10 minutes

Procedure

Outcome

1. Switch into Loiter using FM3 button on tx16.

• Drone beep,

• Mission planner shows “LOIT” or “Loiter”

2. Takeoff in Loiter, fly to a safe distance and around 8-12 m altitude

• Watch for drone stability, ensure systems OK.

3. Switch into Autotune by using FM5 button on TX16.

• Drone beep

• Mission planner shows “ATUN” or “Autotune”

4. Wait for Autotune to complete

• Pilot: Watch for drone stability and clear of objects. Do not touch sticks unless necessary

• GSO: Watch for autotune messages, make sure no failures. Enusre order of messages correct.

5. Autotune complete message received

• Crosscheck atune complete

6. Switch into Loiter, fly back to a closer distance

• This will revert to old tune.

• Ensure system OK, sensors OK

7. Switch into autotune, land, disarm.

• This will apply new tunes and then save them.

• We will do a 3-axis controls check once all autotune is complete.

Card 2, Test #4: Houston tuned parameter check

Prerequisite

Objective

Knock off Criteria

• Autotune cards Test 1-3 complete.

• Characterize tuned system response

• Compare against un-tuned system response.

• Airframe unstable

• Battery < 10.1v overall, < 3.3v/cell

• Flight Time > 10 minutes

Procedure

Outcome

1. Switch into Attitude/Stabilize mode using FM1 button

• Drone beep,

• Mission planner shows “STAB” or “Stabilize”

2. Takeoff in Attitude mode, control check in each direction.

   1. Full stick deflection on each axis

   2. Full stick deflection “rocking” on each axis

• Watch for drone response, how “long” it takes to get to the setpoint.

3. Switch to Loiter mode, using FM3 button

• Drone beep

• Mission planner shows “LOIT” or “Loiter”

• Drone holds position

4. Full stick deflection, same as (2)

• Watch for drone response

• Watch for drone stability

5. Land

• Don't crash