...
Name | Phone # | Sub-team | Role |
|---|---|---|---|
| |||
| |||
| |||
| |||
| |||
| |||
| |||
...
| Note |
|---|
This section and remaining to be filled out by FTC and 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 |
| |
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