Overview

This document contains a summary of different tests the Pathing team has conducted, how to run the tests, and the results of each test.

Summary of Tests

Simulation

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Mission Planner Simulator

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Instructions on how to run

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1. Follow the steps to run the Mission Planner

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1. simulator which are explained in this document: https://uwarg-docs.atlassian.net/wiki/spaces/CV/pages/2240643073/Ardupilot+Simulation+with+Mission+Planner#MAVLink-Forwarding.

   1. Note: On step 2 you will be running another application so proceed to step 3.

2. Once you

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1. finish step 3 in the document, you can run the

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1. pathing repository code with the command python -m path_2023.

2. Scan the QR code. TODO: Link the QR code image here.

3. The script should run successfully (The script should output “Done” to signify it has finished) and the waypoints should be loaded onto the simulator

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1. . The simulated drone will follow the route.

Testing Status

The code has been tested and the pathing repository works as expected.

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Steps to run:

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Realflight Simulator

Instructions on how to run

1. Open RealFlight Evolution

2. Changing the Aircraft/Airport settings:

   1. Press Escape → Free Play → Aircraft → Quadcopter X - flightaxis (If you don't see this file go to step 3), press Select.

   2. Press Escape → Free Play → Airport → Eli Field → Select → Fly.

3. If you completed step 2 successfully you can skip to step 4.

   1. Download the QuadcopterX model from here: https://github.com/ArduPilot/SITL_Models/blob/master/RealFlight/Released_Models/Multicopters/QuadCopterX/QuadcopterX-flightaxis_AV.RFX

   2. Once downloaded, press Escape → My RealFlight → Import → RealFlight Archives → select the file that you just downloaded and press Open.

   3. A message, “..was successfully imported” should be displayed. You can now complete step 2.

4. Press Escape → Settings → Physics → Quality → RealFlight Link Enabled and make sure it is enabled, and press Select.

5. In the same menu, go to "Pause Sim When In Background" and "Pause Sim When In Menu" and make sure they are both disabled.

6. In Settings, go to Graphics → Quality → Graphics Presets, set it to Low and Apply. Restart RealFlight Evolution if needed.

7. Open Mission Planner.

8. In the SIMULATION tab, change the Model to "flightaxis" from the drop-down menu and press Multirotor (with the Stable version). Make sure that Realflight is not in the pause menu when doing this, otherwise you will time out without connecting.

9. Uploading waypoints/mission to Mission Planner:

   1. Press Ctrl+F → Mavlink → set the first drop-down to TCP Host - 14550, check the "Write access" checkbox and Connect. Set the port to 14550 and press OK.

   2. Run the pathing repository code with the command python -m path_2023.

   3. Scan the QR code.

10. The script should run successfully (The script should output “Done” to signify it has finished). Go to the PLAN tab and press Read.

11. Open the CONFIG tab, go to "Planner" and change the Layout to Advanced.

12. Download the parameter file for the Quadcopter-X model from here: https://github.com/ArduPilot/SITL_Models/blob/master/RealFlight/Released_Models/Multicopters/QuadCopterX/QuadCopterX.param

13. In the CONFIG tab, go to Full Parameter List → Load from file → select the parameter file that you just downloaded and press Open.

14. You may get a number of pop-ups saying the values are out of range/marked as read only. Select Yes/Ok to all of them, then press Write Params.

15. Go to the DATA Tab → Actions and then press Arm/Disarm. Then select Auto, and make any input to the controller (e.g, moving the stick up and back down).

16. RealFlight should now execute the mission. You can press Arm/Disarm again if you want to force stop the mission, and spacebar to reset the vehicle's position.

Testing Status

The code has been tested and the pathing repository works as expected.

USB Communication

Instructions on how to run

1. Find a USB-C to USB-A cable

2. Connect the USB-C end to the Pixhawk. There is a USB-C port on the side of the Pixhawk.

3. Connect the USB-A end to a USB port on the ground station computer.

4. Power the Pixhawk.

5. Determine the name of the COM port the Pixhawk is connected to on the ground station computer.

6. Edit the CONNECTION_ADDRESS constant in the main_2023.py to be "comX" where X is the COM port number.

   1. For example, if the Pixhawk is connected to COM port 6 then the CONNECTION_ADDRESS would be "com6". The documentation for this can be found here: https://dronekit-python.readthedocs.io/en/latest/guide/connecting_vehicle.html#get-started-connecting under the “Connection string options” header.

7. Run the pathing repository with the command python -m main_2023.

8. Scan the QR Code.

9. The script should run successfully (The script should output “Done” to signify it has finished).

10. Remove the USB cable from the Pixhawk

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1. and place the UAV in position for takeoff.

2. Open Mission Planner and connect Mission Planner to the drone.

3. Press the “Plan” tab in the top left corner.

4. Click on the “Read” button on the right-hand side.

5. The waypoints from the script should appear on Mission Planner.

Testing Status

The code has been tested and the pathing repository works as expected.

LTE Communication

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Instructions on how to run

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1. Find a USB-C to USB-A cable

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1. .

2. Connect the USB-C end to the Pixhawk

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1. . There is a USB-C port on the side of the Pixhawk

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1. .

2. Connect the USB-A end to

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1. a USB

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1. port on the Raspberry Pi.

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1. Confirm the Pixhawk

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1. is powered on.

2. Power the Raspberry Pi using a USB-C charger

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1. that connects to the USB-C power port on the Raspberry Pi.

2. Open

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1. Mission Planner and wait for around a minute to see if

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1. the

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1. UAV connects automatically to the ground station computer.

2. If Mission Planner doesn’t connect

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1. after a minute, configure Mission Planner to connect to UDP port 14550 on the top right-hand corner and click connect.

2. Run the pathing repository with the command python -m

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1. main_2023.

2. Scan the QR code.

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1. The script

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1. should run successfully

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1. (The script should

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1. output “Done”

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1. to signify it has finished).

2. Press the “Plan” tab in the top left corner.

3. Click on the “Read” button on the right-hand side.

4. The waypoints from the script should appear on Mission Planner.

Testing Status

The code has been tested and the pathing repository works as expected.

ELRS

Instructions on how to run

1. Find a USB-C to USB-A cable.

2. Connect the USB-C end to the Pixhawk. There is a USB-C port on the side of the Pixhawk.

3. Connect the USB-A end to a USB port on a Laptop.

4. Confirm the Pixhawk is powered on.

5. Connect the ELRS radio to a USB port on the Laptop and turn on the radio.

6. Open Mission Planner and press the “Connect” button in the top-right hand corner.

7. Follow the steps here to open up the TCP connection on Mission Planner: https://uwarg-docs.atlassian.net/wiki/spaces/CV/pages/2240643073/Mission+Planner+Simulated+Ardupilot#MAVLink-forwarding.

8. Run the pathing repository with the command python -m main_2024.

9. The script should output timeout error (this needs to be fixed).

10. Press the “Plan” tab in the top left corner

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1. .

2. Click on the “Read” button on the right-hand side.

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Mission Planner should output the waypoints.

1. The waypoints from the script should appear on Mission Planner.

Testing Status

The code has not been tested and needs to be changed in order for successful upload of waypoints. The issue stems from the wait_ready() function in the dronekit library. ELRS is not able to upload the waypoints within the timeout and the function throws an exception. Need to specify a larger timeout to all calls of wait_ready(). Need to create a configuration file to specify the timeout value.

XBee’s Communication

Instructions on how to run

Testing Status

The code has not been tested yet.

RFD 900 Communication

Instructions on how to run

Testing Status

The code has not been tested yet.