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Requesting team: Leads/Directors/Comp 24 team

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Items TBD:

Test Procedures/Test Cards

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Sections for flightline team to fill out:

Incident Procedures, communication preferences.
Test Cards

📋 Admin Preparation

Flight test approved

Requested By	Megan Spee
Sub-Team Review (To be checked once reviewed by sub-team representative)	Mechanical Electrical EFS Autonomy Operations
Date of Request	04 Apr 2024
Goal Summary	Test full pegasus system Test groundside tracking antenna software
Status?
Desired Airframe	Pegasus, Houston
Desired Date(s)	April 6

🥅 Testplan - to be filled out by requesting team

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Create ONE table per test-item. Eg: “Landing pad images over asphalt”, “landing pad images over grass”, “landing pad images over grass, high” should all be unique tables.

Use each expand to capture one series of tests, eg “Landing pad detection” or “Auto-tuning”.

Expand

title	Card 1: Manual flight performance check

Test 1 - Calibrate Magnetometer
Procedure	Goals / Objectives	Knockoff criteria
Turn on the drone
Perform magnetometer calibration on the flightline	Recalibrate the Magnetometer onboard simulate magnetometer recalibration during competition.	Magnetometer calibration process incomplete

Test 2 - Manual Controls Checks
Procedure	Goals / Objectives	Knockoff criteria
Turn on the drone
Bring the drone to the flightline
Enable logging
Arm in loiter
Test Full stick deflection in all axises	Test the control of the drone Check if Yaw twitch issue still exist (observed at the previous flight test)	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
Check no telemetry link lost and OSD malfunction issue	Check telemetry link Check OSD quality during flight	OSD not displayed on the screen Good to continue the flight LTE lost link RTL the drone
Manually land the drone		Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.

Expand

title	Card 2: Comp Sim of task 1

Test 1 - Fly multiple laps
Procedure	Goals / Objectives	Knockoff criteria
Turn on the drone and load the passenger	simulate with payload situation
Execute the path_2024 to upload the mission 1 path	Make sure waypoint can be flashed onto the drone via dronekit	Waypoint flashing not successful Wrong waypoint is being flashed onto the drone
Bring the drone to the flightline
Enable logging
Arm in Auto
Wait for the drone to complete 2 laps and land.	Make sure drone is following the flight path as expected Check no LTE link lost during flight	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.

Expand

title	Card 3: Comp Sim of Task 2

Test 1 - Spline path flight
Procedure	Goals / Objectives	knock-off criteria
Turn on the drone and load the passenger	simulate with payload situation
Execute the path_2024 to upload the mission 2 path	Make sure waypoint can be flashed onto the drone via dronekit	Waypoint flashing not successful Wrong waypoint is being flashed onto the drone
Bring the drone to the flightline
Enable logging
Arm in Auto
Wait for the drone to complete 2 laps and land.	Make sure drone is following the flight path as expected Check no LTE link lost during flight	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.

Expand

title	Card

...

#4: Pilot Landing practice

Test 1 -

...

Pilot 1 control check
Procedure	Goals / Objectives	knock-off criteria
Turn on the drone

...

Execute the path_2024 to upload the mission 2 path

...

Make sure waypoint can be flashed onto the drone via dronekit

...

Waypoint flashing not successful

...

and load the passenger	simulate with payload situation
Bring the drone to the flightline
Enable logging
Arm in loiter
Apply Full stick deflection in all axises	Pilot getting familiar with pegasus control	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
Move full speed in pitch and row	Pilot getting familiar with pegasus control Pilot getting familiar with loiter position hold behavior when no pitch or roll input is given	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
Centralize the stick	Pilot getting familiar with pegasus drifting behavior	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
Manually land the drone	Just below 50% throttle to achieve smooth landing	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.

Test 2 - Pilot 1 landing training
Procedure	Goals / Objectives	knock-off criteria
Turn on the drone and load the passenger	simulate with payload situation
Bring the drone to the flightline
Enable logging
Arm in

...

Wait for the drone to complete 2 laps and land.

...

Make sure drone is following the flight path as expected
Check no LTE link lost during flight

loiter
Hover the drone above the landing position	Pilot getting familiar with FPV goggles and pilot camera set up GSO getting familiar with callout procedure(in case osd does not work or additional information)	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
land the drone as close to the landing pad	Pilot practice to land the drone in the landing spot	Drone hit the nearby obstacles Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.

Test 3 - Pilot 2 control check
Procedure	Goals / Objectives	knock-off criteria
Turn on the drone
Bring the drone to the flightline
Enable logging
Arm in loiter
Apply Full stick deflection in all axises	Pilot getting familiar with pegasus control	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
Move full speed in pitch and row	Pilot getting familiar with pegasus control Pilot getting familiar with loiter position hold behavior when no pitch or roll input is given	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
Centralize the stick	Pilot getting familiar with pegasus drifting behavior	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
Manually land the drone	Just below 50% throttle to achieve smooth landing	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.

auto mission 1 -2 then manual flight check then land testing

...

Test 2 - Pilot 1 landing training
Procedure	Goals / Objectives	knock-off criteria
Turn on the drone
Bring the drone to the flightline
Enable logging
Arm in loiter
Hover the drone above the landing position	Pilot getting familiar with FPV goggles and pilot camera set up GSO getting familiar with callout procedure(in case osd does not work or additional information)	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
land the drone as close to the landing pad	Pilot practice to land the drone in the landing spot	Drone hit the nearby obstacles Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.

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

Necessary items:

Pegasus
Houston

Flight characteristics needed:

Comms / Support needed:

🫂 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)

Name	Phone #	Sub-team	Role
Megan Spee			Media collection/ org / driver
Smile Khatri			Hardware
Yuchen Lin			flightline team
Nathan Green			flightline team / Driver
Tong Zhang			auto
Balaji Leninrajan			auto-airside
Georgia Vachon Westerlund			Media
Amy Hu

Note
This section and remaining to be filled out by FTC and Flightline Team

Flightline Team

Name	Role	Reason
Yuchen Lin	PIC	Practicing for Comp
Nathan Green	GSO

Pre-Flight Preparation

Checklists

Expand

title	Week-Before checklist

Software configuration correct

Compare against latest baselines and verify no params changed, or changes approved by comp-ft-team
Autopilot Orientation checked
Motors tested
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)
- 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
- 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 Controllers

Expand

title	Day-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

title	Day-of checklist

Batteries in safety bag
Equipment
- Zip tie
- duck tape
- label maker
- Type c cable
- ELRS/gemini
- charged WARG laptop
- spare bag for small electronics
- controller box
  - two controller
  - battery tester
- VTX box
execute

Debrief
clean / store equipment if necessary

Incident Procedures

⏲️ Flight Test Timeline

Date/Time	Action	Notes
	Leave WARG bay
	Setup the drone
	Card 1 test 1
	Tried Card 1 test 2 (motor direction issue)
	replace the prop and tape the landing gear
	Card 1 test 2
	Card 2 test 1 (abort)
	Card 4 test 1

...

💻 DEBRIEF

...

Calc the magfit
	Card 2 test 1(1 lap only)
	Card 3 test 1
	Card 2 test 1 (adjusted laps)
	Crashed huston

💻 DEBRIEF

Tip

Note

Warning

Flight test debrief report

Card 1

Info

Flight planning

Take off and test the control of the drone

Flight test card requirements/objectives Performance

calibrate mag sensor

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Control performance & payload situation

Pilot does not observed noticable control issue

Note

Identified issue

Formalized the mag data

Warning

Issue need to be RCA

Motor direction → need to add to preflight checklist for every flight
One battery out of the four batteries are not plugged in → add to check list

No logged is analysed for this section

Card 2

flight 1

Info

Flight planning

Try to run the pull path but abort at the mid way

Flight test card requirements/objectives Performance

EKF warning during auto mission flight(abort the mission)

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Control performance & payload situation

NAV speed limit: 15m/s

Note

Identified issue

YAW twitch issue still being observed
maybe need to balance prop

Warning

Issue need to be RCA

Does MAgfit enough, or tie down do the actual calibration?

Image Added

EKF value with distance

flight 2

Info

Flight planning

After applying mag fit, Rerun the full lap

Flight test card requirements/objectives Performance

EKF failure during auto mission flight(abort the mission)

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Control performance & payload situation

Reduce the NAV speed limit: 10m/s
Gemini is working

Note

Identified issue

YAW twitch issue still being observed
VTX with lots of noise

Warning

Issue need to be RCA

NO full lap in WRESTRC → no VLOS

Image Added

Card 3

Info

Flight planning

Comp test 2

Flight test card requirements/objectives Performance

Run the spline waypoint

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Control performance & payload situation

Went well
NAV speedL 10m/s

Note

Identified issue

N/A

Warning

Issue need to be RCA

N/A

Card 4

Info

Flight planning

Nathan Green Try flying with pegasus and getting familiar with it

Flight test card requirements/objectives Performance

Nathan Green Try flying with pegasus and getting familiar with it

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Control performance & payload situation

High wind
Loiter
Control good

Note

Identified issue

OSD disappeared

Warning

Issue need to be RCA

Downward facing camera is broken
switch to downward facing camera will switch to front camera(suspect pwm range issue)
Tons of noise in VTX

Test 5: long distance testing

Info

Flight planning

To fly as long distance as possible

Flight test card requirements/objectives Performance

The drone flied around 3 laps at windy condition
12000 mah

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Control performance & payload situation

Have the payload installed(jacket)
Average current draw
- into the wind(40A)
- with the wind (25A)
- Max current at turning (70 A)
Flight time: around 20 min
GPS flight speed: 10 - 20 m/s depending on direction to travel

Note

Identified issue

LTE failure (5 sec) → suspect tower change [no follow up]
HIGH EKF and High Vibe Need investigation

Warning

Issue need to be RCA

OSD is being interfered(using external buck to power not using the PDB and don’t cross wire through ESC)
2 Capacitor are disappeared during flight(suspect vibe)

Image Added

pac 2.jpg Image Added

(The following section will only emphasize the important item from the flight test)

Page Comparison

Versions Compared

Old Version 8

New Version Current

Key

📋 Admin Preparation

🥅 Testplan - to be filled out by requesting team

🫂 Attendees

Flightline Team

Pre-Flight Preparation

Checklists

Incident Procedures

⏲️ Flight Test Timeline

💻 DEBRIEF

💻 DEBRIEF

Flight test debrief report

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA

Overall performance and Lessons learned