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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On this page |
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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 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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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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Anti-spark XT90s need to be used for our battery connections. Anti-Spark Connector Standards
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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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
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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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It is possible to use other digital video transmission systems should the LTE system latency (~ 100ms) be too high. See Digital Video Transmission Systems - SysInt - WARG (atlassian.net) for more info.
Ground Systems
Our ground systems will consist of 2 primary tracking towers (Control + Video links), and one potential backup tower for Telemetry link.
All tracking antennas will consist of the same control scheme, using an arduino, neo m.8 gps, and bmx160 IMU. They will receive forwarded communication from the ground station computer, and will operate autonomously.
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Control Link
Control will feature a small relay to allow for a fully wireless tracking antenna. Wireless SBUS trainer will be provided to the groundside TX16s, meaning that there are the following links:
TX16 (secondary) → EP2 (inside controller primary)
TX16 (primary) EP2 -(wired)-> Serial port 1
TX16(primary) → EP2 (tracking antenna)
EP2 (tracking antenna) -(wired)-> Gemini (tracking antenna)
Gemini → Diversity RX (airside)
Diversity RX -(wired)-> Autopilot
Video Link
Video will be run on 1.3. A diversity (!!!) video receiver will be connected to an omnidirectional antenna as well as a patch antenna. The output will be wired to a 5.8GHz video transmitter, which will re-broadcast the analog video signal to further groundside devices (goggles, displays, etc).
Open Questions
PIKACHU OBLIGATORY PIKACHU
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