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Requested By

Nathan Green Yuchen Lin Daniel Puratich

Goal Summary

Final test before competition.

Status?

Status
titleDRAFT
/
Status
colourPurple
titleSUBMITTED
/
Status
colourYellow
titleWAITING FOR SUB-TEAM REVIEW
/
Status
colourGreen
titleAPPROVED

Desired Airframe

Pegasus 1

Desired Date(s)

18th or 19thMay 2024

🥅 Testplan

...

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”.

Expand
titleCard 1: Task 1

Test 1: Task 1

Procedure

Goals / Objectives

Knockoff Criteria

  1. Turn on the drone and load the passenger

  • simulate with payload situation

  • Mechanical setup complete and tested(cabin off and payload in)

  1. Upload the mission 1 path

  • Make sure waypoint in mission planner

  • Waypoint flashing not successful

  • Wrong waypoint is being flashed onto the drone

  1. Battery plugged in

  • make sure all the control signal are updated and powered

  • VTX ready

  • No pre-arm warning

  • motor tested and props in right order

  • fail safe configured(battery with the correct operation, GSO failsafe 15 sec delay)

  • logging SD card installed

  1. Bring the drone to the flightline

  1. Conduct pre-takeoff checklist

  • sensor health

  • control link

  • vtx

  1. Enable logging

 

 

  1. Arm in auto

  1. Wait for the drone to complete 3 laps and land.

  • Make sure drone is following the flight path as expected

  • Check no LTE link lost during flight

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below 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. post landing checklist

  • disarm the drone, toggle safety switch before crew approach the drone, disconnect the battery

...

Name

Phone #

Sub-team

Role

 Smile Khatri

8076320853

Mech

  • Mech lead stuff

...

...

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

...

Flightline Team

Name

Phone #

Role

Reason

 Nathan Green

 

 

 

Yuchen Lin

Daniel Puratich

Amy Hu

Smile Khatri

Tong Zhang

Emma Chan

Hardy Yu

Pre-Flight

...

Checklists

Expand
titleWeek-Before checklist

  • Software configuration correct

  • Compare against latest baselines and verify no params changed, or changes approved by comp-ft-team

  • LTE tested

  • Autopilot Orientation checked

  • Motors tested

  • Prop direction check

  • Sensors outputs healthy & within range

  • Controller input mappings correct

  • Controller input choices correct for pilot preferences

  • Wireless trainer tested & working per pilot preferences.

Hardware (wiring)

  • Wires are not too tight or too loose (comfortable, not strained, not flapping around)

    • No cut/exposed wires

    • Shrouding is neat + presentable

    • Solder joints look good

      • no cracks

      • no corrossion

      • no exposed contacts (unless expected)

    • Specific requirement from Daniel Puratich

      • no exposed pad without solder on ESC caps

        • i did this on peggy 2

        • someone will need to do with peggy 1

      • ESCs all have a touch of hot glue to secure cap to board

    • Connectors fully plugged in

    • Connectors in good health

Hardware (airframe)

  • Bolts secure (nothing loose)

    • Carbon fiber not cracked

    • 3D prints not failing / crushed / cracked

    • No loose items

Hardware (groundstation)

  • ELRS Gemini tested & Working

    • Logging correct

    • Data looks correct

    • Control tower tested & working

  • Tracking antenna x2 (control + video) (mechanical)

    • Servos secure

    • Hardware (antennas) secure

    • No cracks/bends/chips in polycarb/aluminum

    • Gears / shafts look healthy

    • Grease if necessary

  • Tracking antenna x2 (control + video) (electrical)

    • Electrical components secure

    • Power delivery / signal wires secure, no cracks/corrosion/damage

  • Video System

    • goggles(?)

    • Monitors(?)

    • Video tower tested & working

  • Laptop w/mission planner configured correctly.

    • LTE Link tested working

Flightline Kit

  • Spare motors

  • Spare props

  • Spare tools

    • Metric allen keys

    • Socket set (question)

    • Pliers (flatnose + needle nose)

  • USB-C cable (short & long)

  • Soldering iron + heat shrink + spare cables

  • Power supplies for ground station computer

  • Ground station computer

  • Spare bolts

  • Radio Controllers

...

Expand
titleDay-of checklist

  • Batteries in safety bag

  • Equipment

    • Zip tie

    • duck tape

    • label maker

    • Type c cable

    • ELRS Gemini

    • Saleae Logic Analyzer

    • charged WARG laptop

    • spare bag for small electronics

    • controller box

      • two controller

      • battery tester

    • VTX box

  • execute

Total 5 main system checked:

  • Power system(battery and connection)

  • Propulsion system(motor and propeller)

  • Controller system(Control links and ground station system)

  • Sensory system(sensors)

  • Video system (VTX)

  • Debrief

  • clean / store equipment if necessary

...

⏲️ Flight Test Timeline

...

Date/Time

...

Action

...

note test 1 is competition task 1 and test 2 is competition task 2

Date/Time

Action

Notes

0X00lunch time ish

Briefing @ WARG Bay

 0X00

Arrival at Flight Test Location

 

Experiment with tracking antenna

 

 

Bring equipment to flightline

 

0X00

Flight Test Card #1…… (eg: Capturing data, tuning, etc)

 

 

Flight Test Card #2

 

 

Flight Test Card #…….N

 

0X00

Debrief

 

 

 

 

 

 

 

...

Test1 card 1

Hardy Yu manually track the drone

RTL because RC failsafe

Configure direct binding phrase to use normal controller elrs instead of gemini

 

Test 1 card 1

 Nathan Green

Test 2 card 1 practice #1

 Nathan Green

 

 Test 2 card 1 practice #2

 Nathan Green

 

 switch battery

 

Test 2 card 1 practice #3

Nathan Green

Test 2 card 1 practice #4

Nathan Green

Test 2 card 1 practice #5

Yuchen Lin

Presentation Photos

Start 4:30pm

Debrief

...

💻 DEBRIEF

Flight test debrief report

Before Card 1:

Before departure

Yuchen Lin didn’t logistic going to flight test → next time book the car beforehand + long weekend machine shop does not open

Yuchen Lin Hardy Yu Testing with huston → connected to mission planner and able to forward the message(test 2 times)

  • first one does not flash the latest code

  • second one see tracking antenna working as expected

After departure

pre-flight tracking antenna testing: (no code change)

Keep rotating without stop and does not work

After adjust to the north keep rotating clockwise

does not help after adding delay

 

Card 1 Test 1

Info

Flight planning

  • conduct half task 1 goal (1.5 lap)

Flight test card requirements/objectives Performance

  • Comp sim

Panel
bgColor#E3FCEF

Control performance & payload situation

  • Four payload in the cabin + alien key

  • Hardy Yu manually track the drone

Note

Identified issue

  • Compass variance issue

  • place the drone backward and cause sharp turning

Warning

Issue need to be RCA

  •  Gemini not working (performance worse than without gemini) → fully lost link

 

Card 1 Test 1 retry 1

Info

Flight planning

  • conduct half task 1 goal (1.5 lap)

Flight test card requirements/objectives Performance

  • Check tuning in all three mode and compass variable at full throttle.

Panel
bgColor#E3FCEF

Control performance & payload situation

  • Four payload in the cabin

  • Current draw pretty good at calm weather

  • half of task 1 5000mah

Note

Identified issue

  • aggressive takeoff

  • Almost all the time ekf yellow

Warning

Issue need to be RCA

  •  

 

Card 3 Test 1

Info

Flight planning

  • Test the auto mission task 2 pathing and training pilot for landing

Flight test card requirements/objectives Performance

  • During flight time upload the mission to pixhawk

  • Arm in auto and complete the mission

  • Pilot navigate through and land on the pad with fpv goggle

Panel
bgColor#E3FCEF

Control performance & payload situation

  • Four payload in the cabin

  • GSO and pilot get familiar with callout (Better callout procedure for less than 1 meter → with range finder) practice next week

Note

Identified issue

  • Need to document the process for uploading the mission during flight test

  • Video quality become bad when antenna not point at drone(comp → manually turn it)

  • Pilot navigation pattern (desend and find the pad)

  • Upload the mission will kill the tracking antenna → soln? hardcoded

  • Disarmed 6 inches above the ground reason hard to land exact

  • Gps to non-gps transition test!!!

  • SD card was installed in FPV goggles but automatic recording did not start

Warning

Issue need to be RCA

  •  

 

Card 3 Test 2

Info

Flight planning

  • More pilot training

Flight test card requirements/objectives Performance

  • pilot familiar landing in loiter

Panel
bgColor#E3FCEF

Control performance & payload situation

  • Four payload in the cabin → complete mission objective

  • GSO and pilot get familiar with callout

Note

Identified issue

  • 1 min landing window → need timing callout

  • Broke the 3d printed leg joint during landing

    • Descending faster

  • SD card was installed in FPV goggles but automatic recording did not start

Warning

Issue need to be RCA

  •  

 

 

 

Overall performance and Lessons learned

Outcomes

  • confident in flight characteristics of the drone and electrical robsutness

    • spline waypoints looked good during flight but looks poor on mission plannre

  • low confidence in custom rf links and tracking antenna

    • not using tracking antenna for comp → cc Daniel Puratich to bringup at AEAC

    • Gemini board was low link quality

      • try another gemini board and see if it works

  • Nathan Green apply new mag fit data based on today’s data