Versions Compared

Old Version 1

changes.mady.by.user Nathan Green

Saved on

compared with

New Version Current

changes.mady.by.user Megan Spee

Saved on

Key

  • This line was added.
  • This line was removed.
  • Formatting was changed.

...

Panel
panelIconId1f6d1
panelIcon:octagonal_sign:
panelIconText🛑
bgColor#FFFAE6

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: Tuning and Tune Evaluation

https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter

Test 1 - Further Tuning

Procedure

Goals / Objectives

Knockoff criteria

  1. Ensure raw IMU data is being logged

  1. Set mode to Loiter, arm, hover ~10m above ground for 30 seconds

  1. Ensure no errors or failsafes

  1. Full stick deflection in each axis

  1. Land

  1. Evaluate filters using online tool, adjust if needed, repeat test

  1. If filters are good and were not good originally, repeat autotune on each axis

high (> 4.5) value for ATC_ANG_RLL_P, ATC_ANG_PIT_P, and ATC_ANG_YAW_P

  1. Disable raw IMU data logging

Expand
titleCard 2: Range and Speed

Test 1 - Range Test

Procedure

Goals / Objectives

knock-off criteria

  1. Check failsafe behaviour, auto speed, RTL altitude

  1. Set mode to loiter

  1. Arm, takeoff to 50m

  • Any EKF issues

  1. Use guided mode to set a waypoint on the other side of WRESTRC

  • Any EKF issues

  1. While the drone is flying, keep an eye on the link quality, tx power, and number of dropped packets

  • No connection loss, no dropped packets

  • Drone loses connection, will RTL

  • Any EKF issues

  1. Once the drone reaches the waypoint, enable RTL

  • No connection loss, no dropped packets

  • Any EKF issues

  1. Drone lands

Test 2 - Speed Test

Procedure

Goals / Objectives

knock-off criteria

  1. Set mode to loiter

  • Determine maximum flight speed, efficiency at each speed from log analysis

  1. Takeoff, climb to 50m

  • Any EKF issues

  1. Set a guided waypoint ~400m from the current location and fly there

  • Any EKF issues

  1. Increase the speed parameter by 2 m/s and fly another ~400m stretch

  • Any EKF issues

  1. Continue until speed maxes out, check max tilt value and increase if reasonable, then increase speed again

  • Any EKF issues

  1. If drone cannot reach max speed parameter after an increase, the old value can be said to be “max speed”

  • Any EKF issues

  1. Land

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

...

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

Nathan Green

  • Pilot

Smile Khatri

  • Mech lead tingz

Evan Janakievski

  • Mech

Balaji Leninrajan

  • Auto

Ben Lovegrove

Camilo Artigas Alos

  • Mech

Jane Zeng

  • Auto

Daniel Puratich

Victor Sun

  • Mech

Vyomm Khanna

...

Note

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

Flightline Team

Name

Phone #

Role

Reason

Nathan Green

Pilot

Fly the drone

Daniel Puratich

Pre-Flight Preparation

Checklists

...

Incident Procedures

⏲️ Flight Test Timeline

Related to 2024-09-28 Autonomy Obstacle avoidance FT

Date/Time

Action

Notes

 

 

Flight test debrief report

Card 1 Test 1: Ground Setup

...

Flight planning

Flight test card requirements/objectives Performance

...

bgColor#E3FCEF

Control performance & payload situation

...

Identified issue

...

Issue need to be RCA

Card 2 Test 1: Takeoff in stabilize

...

Flight planning

Flight test card requirements/objectives Performance

...

bgColor#E3FCEF

Control performance & payload situation

...

Identified issue

...

Issue need to be RCA

Card 2 Test 2: Loiter for magfit

...

Flight planning

Flight test card requirements/objectives Performance

...

bgColor#E3FCEF

Control performance & payload situation

...

Identified issue

...

Issue need to be RCA

Card 2 Test 3: Autotune

...

Flight planning

Flight test card requirements/objectives Performance

...

bgColor#E3FCEF

Control performance & payload situation

...

Identified issue

...

10:00

Meet in bay

  • Tried to leave at 10

    • batteries were still charging

      • daniel woke up late

        • delegate someone to charge batteries

    • autonomy system was not wired

10:30

Leave for WRESTRC

11:00

Flights started

12:20

Finished

12:40

Bay Arrival

...

Flight Test Debrief report

Card 1 Test 1: Tuning

What Happened

  • Analyzed the initial tune, determined it was too aggressive

    • did not feel very stable in flight

  • Checked notch filter frequencies

    • took us a bit to setup parameters correctly

    • compared to in-flight FFT

    • Settled on using in-flight FFT as best outcome

  • Reset tune to default using initial tune config

  • Ran autotune again on all axes with aggressiveness of 0.07 (default is 0.1, range 0.05 to 0.1)

  • Evaluated new tune, new tune is felt less aggressive.

    • Needs more testing and log analysis

  • Ran all flights except final autotune with detailed IMU logging

Log Analysis

  • Stability

    • How stable was the drone with the new tune?

    • How good was the autotune solution according to the parameters?

    • We couldn't really fly it much because of the rain, but overshoots of a few degrees on all axies show up in the logs.

      • It felt much better than before to the pilot, but still doesn’t seem ideal when looking at the logs

      • Yaw looked good, but roll and pitch aren’t that great

    • Paths forward

      • run pitch and roll atune again → recommended

      • lower atune aggressiveness and run the full sequence again → maybe we get a better solution

      • learn to tune manually from this autotune solution → probably the best if we have skill or can learn

  • Vibration

    • Seemed okay in the flight

    • some clipping in VIBE reading above 30 m/s^2 but no problems with EKF, good most of the time

  • Packet Loss on Mavlink RC

    • Did the paccket

    • Have to check on mission planner laptop

    • zero damaged packet count

    • 100% link quality in mission planner

Action Items

  • Next week spend more time analyzing the tune and retune if needed.

  • Checking packet loss on laptop

Card 2 Test 1: Range Test

  • NOT ATTEMPTED

  • It started to rain and we did not want to attempt this.

Card 2 Test 2: Speed Test

  • NOT ATTEMPTED