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IR Camera Test (HOUSTON)

Procedure

Goals/Objectives

Knockoff criteria

  1. Setup (prepare drone)

  • A good outcome is if rc.local succesfully runs and images are auto captured and stored in a designated folder

< list of reasons why you would want to stop the test >

  1. Hover at 3-5.

  • Best outcome: Image output is desirable (high quality and emitter light is clear visible with no discernible issues in image quality) and are successfully stored in a logging folder.

  • Acceptable outcome: Images are successfully stored in a logging folder (we will see what why image quality is poor).

due to vibration on drone, images are very blurry.

Weather: cloudy

  1. Hover at 10m

Same as above

  1. Hover at 15m

Same as above

  1. Hover at 20m

Same as above

...

If you’re directly involved in this stuff and cannot make this test please note it here. All onsite FTCs and subteam leads should fill this out please.

Debrief

Flight Card 1

Recap

Photos below are also in onedrive

Takeoff location

Landing pad to detectlocation Flights 1-3

Landing pad to detect location Flight 4

TakeoffLocation_pic1.pngImage Added

LandingPadToDetectLocation_Flight4_Pic1.pngImage Added

LandingPadToDetectLocation_Flight1_to_3_Pic1.pngImage Added

TakeoffLocation_pic2.pngImage Added

LandingPadToDetectLocation_Flight4_Pic2.pngImage Added

LandingPadToDetectLocation_Flight1_to_3_Pic2.pngImage Added

Flight 1 - 5 m altitude

West

Flight 2 - 10 m altitude

West

Flight 3 - 20 m altitude

West

Flight 4 - 20 m altitude

315 deg (i.e. in NW direction)

Good

  • Geolocation logs worked, will update with photos after checking them

  • Auto starts with Houston when powered up

Bad

  • Camera direction needs to be labeled for installing

    • Distance/offset for camera location needs to be known at some point

Flight Card 2

Recap

Cloudy weather

Grass in the background

IR emitter set on top of controller box

Flight 1 - 5 m

Flight 2 - 10 m

Flight 3 - 15-20 m

Good

  • Lots of images

  • Different altitudes

Bad

  • Not great images

    • Need a better camera with global shutter due to vibe and drifting of drone

  • IR camera broke before flight test, glued back on (Nathan glued it)

  • Took a while prior to leaving for flight to get set up on Pi

Flight Card 3

Recap

Flight 1 - completed script

Flight 2 - tested canceling script switching to loiter

Good

Bad

Flight Card 4

Recap

Good

Bad

  • Script completed well, armed and took off drone in auto and successfully switched from Auto to Guided at flags

Bad

  • Could not switch from Auto/Guided to Loiter in the middle of the script

    • Was able to switch to RTL though

  • RTL switch to Loiter cut thrust and drone fell, caught with RTL but switch to loiter caused same issue

    • Hard landing, nothing was damaged

    • Thrust on controller was at 50% during this too

    • Test script on drone with lower altitude to problem solve switching to loiter issue

      • Simulation successfully switched from auto/guided to loiter, but did not translate to real flight

Action Items

  • Check photos for IR and Geolocation

  • Check path from guided mode and compare to simulation

  • Check RTL to loiter transition issues