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Requested By

Yuchen Lin Evan Janakievski Maxwell Lou

Goal Summary

test autonomy system, the cluster estimation

Status?

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

Desired Airframe

Houston

Date(s)

19th Jan 2025

🥅 Testplan

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Test plan

Flight Card 1

Cluster estimation test

Pilot: Yuchen Lin

GSO: Yuchen Lin

Note

What is being tested?

  •  Autonomy cluster estimation accuracy

Info

Hardware to be installed, items to bring, batteries, etc (change status to success when installed or plan for installing at flight test is done)

  • Houston Drone

  • 4 3s batteries

  • CV camera

  • Landing pad

  • Measuring tape

CLUSTER ESTIMATION TEST PROCEDURE (HOUSTON)

Procedure

Goals / Objectives

Knockoff criteria

  1. Setup

Get the script to run (either manually or auto start on bootup)

Script is not running

  1. Place and measure landing pad distance from drone power-on location

Know true value of the landing pad location and home location. Use phone GPS to determine landing pad locations as a backup.

 

  1. Hover above the landing pad and fly a few passes at 5, 10, 20m altitude

 

 

 

Necessary Preparation

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

Necessary items:

  • CV Camera on Houston

  • 4 3S batteries

  • 2 landing pads

  • measuring tape

Flight characteristics needed:

...

  • Autonomous/repeatable missions

  • ability to hold location within +/- X meters

  • FPV Video from the drone?

  • etc….

🫂 Mandatory Attendees

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)

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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 ControllersUAV ground testing

  • ground acceptance review system under test

Expand
titleDay-before checklist

  • Mission plan clear

  • flightline roles assigned

  • Communication hierarchy established

  • Incident procedures & roles in-place & briefed to all flightline team members

  • Timeline for day-of clear

  • Battery charging plan, equipment management plan clear.

  • Transportation clear

Expand
titleDay-of checklist

  • Batteries in safety bag

  • Equipment

    • Zip tie

    • duck tape

    • label maker

    • Type c cable

    • ELRS GeminiSaleae 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

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

Date/Time

Action

Notes

10:00 am

Briefing

10:10am

leaving bay

10:30am

reach CIF

Flight #1

Flight #2

Aborted Flight

RPI monitor debug

Telem debug

11:15am

Leaving Cif

11:40

Debrief

...

💻 DEBRIEF

Flight test debrief report

Cold 🥶

  • Houston flies well

  • Have two flight

    • collect data at 15m - data folder “2025-01-19_10-22-01”

    • collect data at 20m - data folder “2025-01-19_10-29-00”

    • [aborted] 50m data collection (lost link + bad battery 10.7)

  • Two issue need RCA

    • ELRS not working

      • device connected can view link status

      • Ranger show rssi 0

      • lost link during the last 50 meter data collection

      • Had to connect to telemetry

    • RPI monitor does not work Tong Zhang for more information