•  Raspberry Pi can collect images with the $200 CV Camera
•  Test the imaging repository with the Raspberry Pi and confirm images are taken and stored on the SD card
•  Edit the rc.local and ensure that image collection code runs on Raspberry Pi startup
•  Raspberry Pi can be powered onboard the drone. Need help from the Electrical team.
•  Raspberry Pi and $200 CV Camera are mounted onto Houston. The $200 CV Camera needs to be pointing in the downards direction.. Need help from the Mechanical team.
•  Flight test location booked
•  Drone Registration -
•  Houston
•  Tubie
•  Pegasus → flying on vanny registration
•  Ensure we have good props for Pegasus after last tests crash
•  Telemetry Verified Functional - Nathan Green to verify with new LTE connectors
•  Nolan Haines Schematic for and delegating manufacturing of anti-spark connector configuration
•  Daniel Puratich to update template with all the new things he added to this template this time
•  Nathan Green add to Onedrive logs from last time
•  Georgia Vachon Westerlund uploading past test images to onedrive media
•  Conall Kingshott potentially slop on landing gear
•  Hardy Yu purchase request for more crossfire Rxs
•  Pilot scheduled - Daniel Puratich
•  Test Plan - Daniel Puratich
•  Initial frame parameters set - Nathan Green
•  Verify we have wrestrc card
•  Systems test - Daniel Puratich
•  Check flight controller orientation - Nathan Green
•  Check motor spin & rotation direction - Nathan Green
•  Check DSHOT configuration (DS300, bidir?)
•  Motors plugged into correct pins on pixhawk
•  Verify motors 1,2,3,4 in motor test go in the correct order
•  Verify motors in a,b,c,d configuration is correct order
•  verify rotational response of motors is correct (with more than just audio), move the drone around and check each motors reponse individually
•  Check transmitter mappings
•  Verify communication links
•  VTX/RX - no video on any of these aircrafts
•  Controller
•  Groundstation
•  Ammeter working - Nathan Green
•  Verify data logging - Nathan Green checked SD card, its working
•  Transportation logistics finalized
•  Booking SDC vehicles - Hardy Yu to decide, Daniel Puratich
•  Assigning drivers - Daniel Puratich Done see above.
•  Renting any needed equipment (trailer? generator? etc.) - Daniel Puratich not needed.
•  Setting Failsafes, Nathan Green
•  normal failsafe set to land
•  disabled battery failsafe, dont want it to randomly land
•  GCS failsafe set to always land after 5 seconds of no GCS

•  Confirm the Raspberry Pi is securely attached to the drone.
•  Confirm the image collection software runs when the Raspberris powered on.
•  Nathan Green configuring the GPS so both GPS’s are used
•  Nathan Green Setting the controller profile on the radio master
•  SDC Vehicle key collected → machine shop is closed, we will not be able to grab the key Hardy Yu
•  Batteries Planned for (DON'T LEAVE CHARGING OVERNIGHT)
•  Drone batteries & spares - 2 sets for pegasus, 3 houston batteries
•  Transmitter batteries - 70% on transmitter
•  Battery tester/indicator
•  On-site kit together - Daniel Puratich announcing checklist
•  First Aid Kit
•  Ground station if applicable
•  Laptop
•  Antenna / Receivers
•  Transmitter
•  Extra Water
•  Power cords / Extension cables
•  Wrenches - none needed
•  Allen keys (metric ones) - three sets
•  Knives
•  Tape
•  Rope/string - not needed
•  Zip ties
•  Velcro
•  Radios
•  Safety goggles - not needed
•  Fire extinguisher - we dont have one, theyre out of our budget gg
•  Spare foam - not needed
•  hot glue gun w/ hot glue stick - not bringing that
•  harnesses
•  ratchet set
•  battery removed for velcro (thin 3d printed thing) for pegasus
•  Wrestrc
•  Airfame assembled
•  ESCs/flight controller wired
•  Radio equipment tested
•  Channel mappings
•  Flight modes
•  Motors tested
•  Check DSHOT configuration (DS300, bidir?)
•  Motors plugged into correct pins on pixhawk
•  Verify motors 1,2,3,4 in motor test go in the correct order
•  Verify motors in a,b,c,d configuration is correct order
•  verify rotational response of motors is correct (with more than just audio), move the drone around and check each motors response individually
•  Wiring secured (Harnessing)
•  End-to-end test (neglecting props)
•  Props require a little gold ring which we did not use during the strap down test, may have caused extra vibrations.
•  Check the center of gravity - CG is off quite a bit but because only running two batteries and much less hardware then anticipated it will be reasonable for this test
•  All components not on the airframe that are required should be in the flight box (e.g. props & prop nuts)
•  Airframe payload - Raspberry Pi + $200 Camera
•  Mount to airframe pointing downwards (exact angle doesn’t really matter)
•  Spare parts
•  Props
•  Houston props
•  Peggy props
•  Airframe components (landing struts, arms, etc)
•  wings nuts - n/a
•  prop nuts
•  any detached components such as angle mount - none needed
•  Hardware to assemble these components
•  Spare Electronics - we dont have much
•  ESCs
•  Motors
•  Flight controllers
•  Receiver
•  Ground station Software updated

•  Take the WREST RC entrance card - must do!!
•  Only attach props directly before flight (keep off at all other times)
•  Get snacks - na, short test
•  Mission Briefing - by Hardy Yu
•  Read the flight plan to the team (that was made a week ago)
•  Purpose of flight
•  Plan of action
•  Success criteria
•  Delegate and brief on flight line roles
•  Safety Briefing
•  Key flight characteristics to observe
•  Key system characteristics to observe
•  Measurements to be made
•  “Knock off” criteria (anyone can call)
•  Specify Pegasus Flight area planned, hard land and disarm boundaries set. Ensure visual observers are aware of this and can visually verify boundaries. - Hardy Yu

•  Air Frame
•  Check all antennas, ensuring they are secure and in good condition
•  Check the battery emplacement and secure attachment and ensure there are no cracks
•  Check that all lights are operating normally
•  Check that all sensors are secured and clear of any obstructions
•  Check that the GPS is receiving satellites and providing a navigation solution
•  Inspect top and bottom of air frame arms for cracks, loose parts, or signs of damage
•  Landing Gear
•  Check landing gear is secure
•  Inspect skids or wheels, especially attachment points
•  Motors
•  ensure all motors free-spin correctly
•  Ensure wires secured and not at risk of shorting
•  Ensure motor mounts secure.
•  Propellers / Rotors
•  Ensure propeller is secured
•  Check for nicks, chips or cracks
•  Ensure prop direction is correct
•  Ensure prop mounting is secure
•  Batteries
•  Inspect to ensure there is no signs of swelling, external leaking or other defects
•  Battery wiring and connectors from the battery are connected securely
•  Batteries (and spares) are adequately charged
•  Wires are not pinched
•  Control Station / Receivers / Transmitter
•  The battery and spare batteries if required are adequately charged
•  Control Station device and cables are properly connected and functioning
•  All flight interfaces are functioning normally
•  Safety
•  Good visibility and safe wind speed
•  Surrounding is free of obstacles
•  Crew far from drone
•  General Site Survey
•  Are there other people on the property
•  Ground Recording / drone footage on

•  Ensure pilot with Hardy Yu for support
•  Takeoff in stabilize
•  fly in stabilize
•  land
•  battery swap?
•  repeat

•  Upload Logs
•  Remove Props
•  Check SD card and view images taken from the Raspberry Pi
•  Ensure that pictures were taken during flight
•  Ensure camera quality is good
•  If the camera quality is not good then adjust camera settings and try again

•  Air Frame
•  Check all antennas, ensuring they are secure and in good condition
•  Check the battery emplacement and secure attachment and ensure there are no cracks
•  Check that all lights are operating normally
•  Check that all sensors are secured and clear of any obstructions
•  Check that the GPS is receiving satellites and providing a navigation solution
•  Inspect top and bottom of air frame arms for cracks, loose parts, or signs of damage
•  Landing Gear
•  Check landing gear is secure
•  Inspect skids or wheels, especially attachment points
•  Motors
•  ensure all motors free-spin correctly
•  Ensure wires secured and not at risk of shorting
•  Ensure motor mounts secure.
•  Motor test with props
•  Propellers / Rotors
•  Ensure propeller is secured
•  Check for nicks, chips or cracks
•  Ensure prop direction is correct
•  Ensure prop mounting is secure
•  gold rings to props
•  Batteries
•  Inspect to ensure there is no signs of swelling, external leaking or other defects
•  Battery wiring and connectors from the battery are connected securely
•  Batteries (and spares) are adequately charged
•  Wires are not pinched
•  Control Station / Receivers / Transmitter
•  The battery and spare batteries if required are adequately charged
•  Control Station device and cables are properly connected and functioning
•  All flight interfaces are functioning normally
•  Safety
•  Good visibility and safe wind speed
•  Surrounding is free of obstacles
•  Crew far from drone
•  General Site Survey
•  Are there other people on the property
•  Ground Recording / drone footage on

•  Takeoff in stab
•  Check mapping and orientation correct
•  hover ~30-50cm above ground briefly
•  go up and do half-deflection control checks
•  Takeoff in stabilize mode
•  Stabilize mode full stick deflection tests
•  switch to althold
•  full deflection control check
•  Switch to poshold/loiter if all ok.
•  land (can be done sooner if anything wack)

•  Upload Logs
•  Remove Props

•  Air Frame
•  Check all antennas, ensuring they are secure and in good condition
•  Check the battery emplacement and secure attachment and ensure there are no cracks
•  Check that all lights are operating normally
•  Check that all sensors are secured and clear of any obstructions
•  Check that the GPS is receiving satellites and providing a navigation solution
•  Inspect top and bottom of air frame arms for cracks, loose parts, or signs of damage
•  Landing Gear
•  Check landing gear is secure
•  Inspect skids or wheels, especially attachment points
•  Motors
•  ensure all motors free-spin correctly
•  Ensure wires secured and not at risk of shorting
•  Ensure motor mounts secure.
•  Propellers / Rotors
•  Ensure propeller is secured
•  Check for nicks, chips or cracks
•  Ensure prop direction is correct
•  Ensure prop mounting is secure
•  Batteries
•  Inspect to ensure there is no signs of swelling, external leaking or other defects
•  Battery wiring and connectors from the battery are connected securely
•  Batteries (and spares) are adequately charged
•  Wires are not pinched
•  Control Station / Receivers / Transmitter
•  The battery and spare batteries if required are adequately charged
•  Control Station device and cables are properly connected and functioning
•  All flight interfaces are functioning normally
•  Safety
•  Good visibility and safe wind speed
•  Surrounding is free of obstacles
•  Crew far from drone
•  General Site Survey
•  Are there other people on the property
•  Ground Recording / drone footage on
•  Autonomy Camera Mounted
•  Raspberry Pi is powered on the drone
•  Autonomy image collection code runs on RPi startup
•  Autonomy Tasks
•  Connect to Raspberry Pi + camera using Camlink
•  Verify camera is working (image is displaying)
•  Set up landing pad #1 on grass
•  Set up landing pad #2 on pavement
•  Ensure camera focus is set to 30m

•  2 landing pad (blue side facing up) are positioned on the ground
•  Hover over landing pad #1 at height of ~30m to allow camera to take photos
•  Hover over landing pad #2 at height of ~30m to allow camera to take photos

•  Upload Logs
•  Remove Props
•  Autonomy Tasks
•  Dismount Raspberry Pi + camera
•  Check SD card for saved images
•  Check saved images for purpling
•  If this is the case change camera settings and try again. Test different camera settings and see which one is the best.

•  Air Frame
•  Check all antennas, ensuring they are secure and in good condition
•  Check the battery emplacement and secure attachment and ensure there are no cracks
•  Inspect top and bottom of air frame arms for cracks, loose parts, or signs of damage
•  Inspect electronics for damage
•  Ensure wires are securely connected and boards are secured
•  Motors
•  Ensure all motors free-spin correctly & motor directions are correct
•  Verify control surfaces are secure, and deflect in the expected direction
•  Ensure wires secured and not at risk of shorting
•  Ensure motor mounts secure.
•  Propellers / Rotors
•  Ensure propeller is secured
•  Check for nicks, chips or cracks
•  Ensure prop direction is correct
•  Ensure prop mounting is secure
•  Batteries
•  Inspect to ensure there is no signs of swelling, external leaking or other defects
•  Battery wiring and connectors from the battery are connected securely
•  Batteries (and spares) are adequately charged
•  Wires are not pinched
•  Control Station / Receivers / Transmitter
•  The battery and spare batteries if required are adequately charged
•  Control Station device and cables are properly connected and functioning
•  All flight interfaces are functioning normally
•  Safety
•  Good visibility and safe wind speed
•  Surrounding is free of obstacles
•  Crew far from drone
•  General Site Survey
•  Are there other people on the property
•  Ground Recording / drone footage on

•  Test flight characteristics of aircraft
•  Perform standard, simple flight maneuvers: (Takeoff, figure of eight, circle, approach, landing)

•  Inspect aircraft & electronics for damage
•  Unplug and remove damage

•  drive back to bay
•  post mortem
•  Analytics added to this document
•  action items delegated
•  Autonomy Tasks
•  Dismount Raspberry Pi + camera
•  Check SD card for saved images
•  Check saved images for purpling and see which camera settings yield best results
•  Make note of the best camera settings.
•  batteries discharge is delegated -
•  batteries at storage voltage confirmed
•  Upload logs, Nathan Green
•  Confirm wrestrc card is back in the holder

If things go poorly, flight test director should command (this is stated to avoid bystander effect):

• Fire

  • Call 911

  • give location

• Property Damage

  • if in e7, email Graeme

  • if at WRESTRC, email them

• Fly away

  • call TC

• Injury

  • first aid

  • call 911

• houston cold battery endurance time: 8 min

• temp today: 3 degree outside

• good logsitic solid plan

• Houston still in one piece

• Battery got charged and discharged

• we figured out the cold battery is not enough to complete auto tune even with one axis

• pegasus is not ready in advance

  • sensor not plugged in

  • not knowing how to set up LTE

• Takeoff in stabilize once and pilot wasn’t aware

  • that leads to a crush- didn’t break anything tho

• Houston battery performance were greatly affected by cold temperature

• We lost the flight logs by accident

• Pegasus bullet connector fails

  • the insulation of the wire got rip off

All of these major issues should be addressed via Root Cause Analysis Forms:

Daniel Puratich Directing this section of flight test post mortem!

•  Nathan LTE lesson - teach more ppl how to set it up
•  consider battery heater
•  Fixing pegasus motor bullet connectors
•  reconsideration of wiring inside arm, it is ripping the insultaion
•  Daniel Puratich will make an example of good bullet connector
•  Daniel already emailed about the golden ring spacer for pegasus prop
•  labelling the rangfinder and ofs connector