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📋 Admin Preparation

Flight test approved as requested by power of Tech Director

Requested By

Megan Spee

Sub-Team Review

(To be checked once reviewed by sub-team representative)

  •  Mechanical
  •  Electrical
  •  EFS
  •  Autonomy
  •  Operations

Date of Request

17 Mar

Goal Summary

Test full pegasus system

Test groundside tracking antenna software

Status?

Desired Airframe

Pegasus, Houston

Desired Date(s)

March 30April 6

🥅 Testplan - to be filled out by requesting team

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Create ONE table per test-item. Eg: “Landing pad images over asphalt”, “landing pad images over grass”, “landing pad images over grass, high” should all be unique tables.

Use each expand to capture one series of tests, eg “Landing pad detection” or “Auto-tuning”.

Test 2
Expand
titleCard 1: Pilot TrainingComp Sim of task 1

Test 1 - Controls Checks

Procedure

Goals / Objectives

Knockoff criteria

  1. Turn on drone

  1. Bring the drone to the flightline

  1. Enable logging

  1. Arm in Loiter. (question)

  1. push Full stick deflection in all axises

Test

the control of the drone

See the drone is comfrotable to the drone

  • Drone unstable

  • unable to establish VLOS

    • Timer threshold:

    • flight time exceeded 8 min.

    VBatt below

    3

    .3v/cell (39.6V overall) safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

    1. Manually land the drone

    Flight time exceeds 8 mins

    • RTL and land. Evaluate battery condition.

    VBatt below 40V:

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

    -

    Circle Maneuver

    Procedure

    Goals / Objectives

    Knockoff criteria

    1. Turn on drone

    1. Bring the drone to the flightline

    1. Enable logging

    1. Arm in Loiter. (question)

    1. have pilot Fly in circle

    Get more experience flying Pegasus.

    Control the drone better

    • Drone unstable

    • unable to establish VLOS

    • Timer threshold:

      • flight time within 8 min.

      VBatt below 3.3v/cell (39.6V overall) safety threshold: 40V

      • QLAND immediately, disarm when landed.

      • Recover drone & gather state of batteries

      Lost link

      • Follow lost link procedures. Maintain vlos if possible.

      • Contact necessary local authorities.

    1. Have pilot Fly in cicle pointed at the center

    Get more experience flying Pegasus.

    • Drone unstable

    • unable to establish VLOS

    • Timer threshold:

      • flight time exceed 8 min.

      VBatt below 40V:

      • QLAND immediately, disarm when landed.

      • Recover drone & gather state of batteries

      Lost link

      • Follow lost link procedures. Maintain vlos if possible.

      • Contact necessary local authorities.

    1. Manually land the drone

    Flight time exceeds 8 mins

    • RTL and land. Evaluate battery condition.

    VBatt below 40V:

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

    Flight time exceeds 8 mins

    • RTL and land. Evaluate battery condition.

    VBatt below 40V:

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

  • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

    Test 3 - Full Speed Testing

    Procedure

    Goals / Objectives

    Knockoff criteria

    1. Turn on drone

    1. Bring the drone to the flightline

    1. Enable logging

    1. Arm in Loiter. (question)

    1. Full stick deflection until Full speed testing

    Get more experience flying Pegasus.

    Ensure the pilot understand the behavior of pegasus at full speed.

    • Drone unstable

    • unable to establish VLOS

    • Timer threshold:

      • flight time exceed 8 min.

      VBatt below 40V:

      • QLAND immediately, disarm when landed.

      • Recover drone & gather state of batteries

      Lost link

      • Follow lost link procedures. Maintain vlos if possible.

      • Contact necessary local authorities.

    1. Manually land the drone

    Expand
    titleCard #2: LTE

    Test 1 - Phone LTE, low alt

    Procedure

    Goals / Objectives

    knock-off criteria

    1. Turn on drone

    1. Bring drone to flightline

    1. Arm in Loiter (question)

    1. Test the LTE at 10m (low altitude)

    • Ensure the ground station does not loss connection during the flight

    • Ensure that flight line team is communicating with ATC properly.

    Telemtry failsafe:

    • RTL in 45 secs

    VBatt below 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

    1. Land

    Telemtry failsafe:

    • RTL in 45 secs

    VBatt below 40V:

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

    Test 2 - Phone LTE, high alt

    Procedure

    Goals / Objectives

    knock-off criteria

    1. Turn on drone

    1. Bring drone to flightline

    1. Arm in Loiter (question)

    1. Test the LTE at 100m (high altitude)

    • Ensure the ground station does not loss connection during the flight

    • Ensure that flight line team is communicating with ATC properly.

    Telemtry failsafe:

    • RTL in 45 secs

    VBatt below 40V:

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

    1. Land

    Telemtry failsafe:

    • RTL in 45 secs

    VBatt below 40V:

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

    Test 1 - Phone LTE, speed

    Comp Sim of Task 2

    Whoopity Doopity

    Procedure

    Goals / Objectives

    knock-off criteria

    1. Turn on drone

    1. Bring drone to flightline

    1. Arm in Loiter (question)

    1. Test the LTE at 18m/s (most efficient speed)

    • Ensure the ground station does not loss connection during the flight

    • Ensure that flight line team is communicating with ATC properly.

    Telemtry failsafe:

    • RTL in 45 secs

    VBatt below 40V:

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

    1. Land

    Telemtry failsafe:

    • RTL in 45 secs

    VBatt below 40V:

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

    Expand
    titleCard #3: Pathing

    Test #1 - Straight waypoints

    Procedure

    Goals / Objectives

    knock-off criteria

    1. Turn on drone

     

     

    1. Run the Path_2024 script

    •  Ensure the path is uploaded to Pegasus

    •  unable to load the waypoint to pegasus

    1. Bring drone to flightline

     

     

    1. Arm in auto (question)

     

     

    1. Run through waypoints in auto mission

    • Ensure that drone is following flight path

    • Ensure that flight line team is communicating with ATC properly.

    VBatt below 40V:

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

    1. Wait for drone to land!

    • Ensure this occurs within 60 seconds.

     

    Test #2 - Spline Waypoints

    Procedure

    Goals / Objectives

    knock-off criteria

    1. Turn on drone

     

     

    1. Upload the Spline mission to Pegasus

    •  Ensure the path is uploaded to Pegasus

    •  unable to load the waypoint to pegasus

    1. Bring drone to flightline

     

     

    1. Arm in auto (question)

     

     

    1. Run through waypoints in auto mission

    • Ensure that drone is following flight path

    • Ensure all the flight data are being logged

    • Ensure that flight line team is communicating with ATC properly.

    VBatt below 40V:

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

    1. Wait for drone to land!

    • Ensure this occurs within 60 seconds.

     

    Explain what capacity you need, what needs to be mounted, etc.

    Necessary items:

    • Pegasus w/andruav

    • Houston

    Flight characteristics needed:

    ...

    This is a section for all attendees from your subteam which will be present for this flight test. (because they are testing their products, or otherwise)

    Name

    Phone #

    Sub-team

    Role

    Yuchen Lin

    EFS

    ~~~~ (tongue) ~~~~

    Anthony Luo

    Director

    Media, truck!!! logisticsMegan Spee

    Organization/transportation/media collection

    ...

    Note

    This section and remaining to be filled out by FTC and Flightline Team

    ...

    Name

    Phone #

    Role

    Reason

    Yuchen Lin

    PIC

    Practicing for CompAnthony Luo

    GSO / Second Op

    vibes

    Pre-Flight Preparation

    Checklists

    ...

    Date/Time

    Action

    Notes

    1030

    Left Warg Bay

    Was happy

    11:08

    1-1

    11:10

    1-1.5
    Anni shows controlled descent

    11:12

    1-2, @ 20m

    11:17

    1-3

    11:20

    2-1

    11:27

    2-2

    Noticed drifting, position and yaw

     

     

     

     

    ...

    💻 DEBRIEF

    image-20240330-134345.pngImage Removed

    Tip

    ...

    • Flightline setup was smooth, one person handled most of it.

    • Communication process was smooth - briefing before every test, everyone is clear on test procedures and clarified coordinated flights.

    • Get good stick time on Loiter on pegasus.

    • LTE did not dropout at all!

    Note

    ...

    Gemini is still 3-wire SBUS (and not 4-wire CRSF). TBD on whether or not to change

    ...

    ...

    Arms not removed for transportation

    • Did not book SDC vehicle

    Warning

    ...

    • Orientation of drone was lost twice

      • Recovered by looking @ fpv screen, would have been undesirable otherwise

    • No full-time ground station operators

    • Noticed yaw “impulse” (jerking left/right ~ 30 degrees) on 1-1.5, 1-2, 1-3, 2-1, 2-2.

      • Theorized to have occurred on 1-1 as well, but was not noted by PIC

    • Antenna tracker firmware not ready, not tested

    • ELRS Gemini Debug Linkstats not ready, not tested

    • Had loss of yaw/position control during 2-2

    image-20240330-172337.pngImage Removed

    Noticing losing compass, and then position

    Card 1

    Success. Noticed yaw impulse on takeoff, and during some phases of flight. Looked like compass re-alignment, about 30-45 degrees jerk, no continual rotation noted.

    Had hard-ish landing on 1-1, PIC instructed to land softer in future.

    Card 1-1

    Only desired yaw (from pilot) logged.

    ...

    Card 1-1.5

    Yaw impulse shown on logger

    ...

    Event coincides with EKF_YAW_RESET.

    ...

    Card 1-2

    Also shows EKF_YAW_RESET on takeoff

    ...

    Card 1-3

    This is the first time PIC (yuchen) noticed yaw reset errors.

    “This is the first time I noticed yaw errors. You would go fast and then at the end of your motion you would have a small ‘twitch’, and that would cause you to lose orientation of the drone. Then you would have to check the FPV cameras for orientation” - PIC (Yuchen Lin )

    ...

    image-20240330-170021.pngImage Removed

    Noticing that after a high speed section (orange “crest”), yaw deviation tends to occur.

    Graphing motor outputs shows that multiple motors are hitting “minimum” control limits as the drone slows down.

    ...

    image-20240330-171558.pngImage Removed

    image-20240330-171806.pngImage Removed

    Card 2

    2-1 successful. Lost orientation. Recovered with FPV

    Card 2-1

    Flew around the forest, trying to detect LTE dropouts.

    “Noticed yaw inconsistency, lost orientation around intersection between dirt/grass patch, likely on dirt. Hard to tell” - PIC (Yuchen Lin )

    ...

    image-20240330-170901.pngImage Removed

    image-20240330-171131.pngImage Removed

    image-20240330-171947.pngImage Removed

    Card 2-2

    Noticed drone was losing position hold, drifting when off sticks. Noticed drone was yawing when off sticks.

    Same issue with vibe&speed correlation

    ...

    GPS data lines up, even when synthesized data jumps around:

    image-20240330-173356.pngImage Removedimage-20240330-173405.pngImage Removed

    Previous Flight test:

    image-20240330-170032.pngImage Removedimage-20240330-171340.pngImage Removed

    image-20240330-174228.pngImage Removed
    Expand
    titlePrevious flight test vibe data