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Geolocation + Cluster Estimation Accuracy Procedure (HOUSTON)

Procedure

Goals/Objectives

Knockoff criteria

  1. Setup drone: (can be done at or before going to testing location?)

    1. Switch on drone, ensure the GOOD cv camera is connected

    2. (at time of writing, it is unclear if rc.local autostarting will work). SSH into pi, start airside

    3. Read live log output, compare flight controller log home location coordinates to phone’s gps

    4. Point drone’s cv camera at landing pad (keep a couple meters distance), check if geolocation is logging and data merge logs timestamps of detections and odometry

  • A good outcome is if:

    • flight controller log has correct home location and altitude (compare with a phone’s GPS)

    • drone is able to detect landing pad and geolocation logs the coordinates (also ensure timestamps are logged in data merge logs)

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

  • Geolocation Logs are not working

  • If data merge or flight controller logs not working, leave decision up to the tester present?

  1. Either

    1. Switch on drone at takeoff location (Start airside system when drone at takeoff location)

    2. Get coordinates of drones takeoff location

  2. Get distance from home location to landing pad (measure it)

    1. OR takeoff on landing pad

  • Good outcome: Flight controller log has the home coordinates

  • Able to manually measure relative distance from takeoff location to landing pad

  1. Flying back and forth over the landing pad at different heights (3-5m, 10m, 15m, 20m)

    1. Each time a height changes, airside system should be restarted (each test should be an independent flight)

  • Good outcome: images show bounding boxes over landing pads, geolocation logs are outputting detection coordinates

For all flights, takeoff location of drone is:

in image

for flights 1-3, landing pad to detect location is 21m away:

insert image

for flight 4, landing pad to detect is 30m away

in image

Flight 1 - 5m

flight 2 - 10m

flight 3 - 20m

flight 4 - 20m

Flight Card 2

IR Camera Test

Pilot: Evan Janakievski

GSO: Yuchen Lin

...

Debrief

Flight Card 1

Recap

Good

Bad

Flight 1 - 5 m WFlight 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 Waltitude

West

Flight 2 - 10 m Waltitude

West

Flight 3 - 20 m Waltitude

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

Good

Bad

Flight 1 - 5 mFlight 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

Good

Bad

Flight 1 - completed script

Flight 2 - tested canceling script switching to loiter

Good

  • 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