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đź“‹ Admin Preparation

Requested By

Yuchen Lin

Goal Summary

Houston 2 first-time Flight test

Status?

DRAFT / SUBMITTED / WAITING FOR SUB-TEAM REVIEW / APPROVED

Desired Airframe

Pegasus 1

Date(s)

18th May 2024

🥅 Testplan

 Card 1: Task 1

Test 1: Prove basic Flight performance

Procedure

Goals / Objectives

Knockoff Criteria

  1. Battery plugged in

  • Mission planner no pre-arm warning

  1. Bring the drone to the flightline

  • toggle safety switch

  1. Enable logging

  1. Take off the drone in Stablize

  • verify drone flight performance

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 10V

    • 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.

  1. Switch Flight mode to Alt Hold

  • verify drone flight performance

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 10V

    • 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.

  1. Switch Flight mode to Loiter

  • verify drone flight performance

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 10V

    • 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.

  1. land the drone

  • disarm the drone, Toggle safety switch

 Card 2: Task 2

Test 1: Tuning

Procedure

Goals / Objectives

Knockoff Criteria

  1. Battery plugged in

  • Mission planner no pre-arm warning

  • make sure autotune is in one of the flight mode

  1. Bring the drone to the flightline

  • toggle safety switch

  1. Enable logging

  1. Take off the drone in Loiter

  • verify drone flight performance

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 10V

    • 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.

  1. Engage Autotune

  • one axis at a time

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 10V

    • 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.

  1. Switch Flight mode to Loiter to back to landing area

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 10V

    • 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.

  1. Land the drone with autotune mode

  • to permanently save the PID value

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 10V

    • 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.

  1. Disarm the drone

  • disarm the drone, Toggle safety switch

 Card 3: Task 1

Test 1: Test Basic Obstacle Avoidance TODO

Procedure

Goals / Objectives

Knockoff Criteria

  1. Turn on drone

  1. Set waypoints

  • Create a simple path for the drone to follow.

  1. Run main obstacle avoidance script

  • Ensure no errors.

  1. Bring drone to the flightline

  1. Set up the obstacle in course

  1. Arm the drone and set mode to AUTO

  1. Let drone start flying through waypoints in AUTO

  1. Hold the obstacle in drone flight path

  • Ensure the drone stops ~10m away from obstacle.

Drone does not stop within 10m:

  • Person holding the obstacle steps out of flight path immediately.

  1. Remove the obstacle from flight path

  • Ensure the drone resumes its mission.

Drone does not resume:

  • Pilot manually takes over.

  1. Drone hovers over the last waypoint

  1. Land drone manually

Necessary Preparation

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

Necessary items:

  • Jetson

  • CV camera

  • < rfd900 >

  • etc

Flight characteristics needed:

  • Flight speed

  • flight distance

  • max altitude

  • < etc >

Comms / Support needed:

  • Autonomous/repeatable missions

  • ability to hold location within +/- X meters

  • FPV Video from the drone?

  • etc….

đź«‚ Mandatory 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

Smile Khatri

8076320853

Mech

Evan Janakievski

206-247-2823

Mech

Yuchen Lin

Hardy Yu

Ashish Agrahari

5195898378

Auto

Manasva Katyal

2896985018

EFS

Andrew Shum

6473836886

Auto

Testing obstacle avoidance

Tong Zhang

2897729826

Auto

Flightline Team

Name

Phone #

Role

Reason

 Smile Khatri

 

 

 

Yuchen Lin

Evan Janakievski

Hardy Yu

Smile Khatri

Manasva Katyal

Pre-Flight Checklists

 Week-Before checklist

  • Software configuration correct

  • Compare against latest baselines and verify no params changed, or changes approved by comp-ft-team

  • LTE tested

  • Autopilot Orientation checked

  • Motors tested

  • Prop direction check

  • 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)

    • Specific requirement from Daniel Puratich

      • no exposed pad without solder on ESC caps

        • i did this on peggy 2

        • someone will need to do with peggy 1

      • ESCs all have a touch of hot glue to secure cap to board

    • 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 (question)

    • 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

 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

 Day-of checklist

  • Batteries in safety bag

  • Equipment

    • Zip tie

    • duck tape

    • label maker

    • Type c cable

    • ELRS Gemini

    • Saleae Logic Analyzer

    • charged WARG laptop

    • spare bag for small electronics

    • controller box

      • two controller

      • battery tester

    • VTX box

  • execute

Total 5 main system checked:

  • Power system(battery and connection)

  • Propulsion system(motor and propeller)

  • Controller system(Control links and ground station system)

  • Sensory system(sensors)

  • Video system (VTX)

  • Debrief

  • clean / store equipment if necessary

⏲️ Flight Test Timeline

note test 1 is competition task 1 and test 2 is competition task 2

Date/Time

Action

Notes

lunch time ish

Briefing @ WARG Bay

 

Arrival at Flight Test Location

 

Experiment with tracking antenna

 

 

Bring equipment to flightline

 

Test1 card 1

Hardy Yu manually track the drone

RTL because RC failsafe

Configure direct binding phrase to use normal controller elrs instead of gemini

 

Test 1 card 1

 Nathan Green

Test 2 card 1 practice #1

 Nathan Green

 

 Test 2 card 1 practice #2

 Nathan Green

 

 switch battery

 

Test 2 card 1 practice #3

Nathan Green

Test 2 card 1 practice #4

Nathan Green

Test 2 card 1 practice #5

Yuchen Lin

Presentation Photos

Start 4:30pm

Debrief

đź’» DEBRIEF

Flight test debrief report

Before Card 1:

Before departure

Yuchen Lin didn’t logistic going to flight test → next time book the car beforehand + long weekend machine shop does not open

Yuchen Lin Hardy Yu Testing with huston → connected to mission planner and able to forward the message(test 2 times)

  • first one does not flash the latest code

  • second one see tracking antenna working as expected

After departure

pre-flight tracking antenna testing: (no code change)

Keep rotating without stop and does not work

After adjust to the north keep rotating clockwise

does not help after adding delay

 

Card 1 Test 1

Flight planning

  • conduct half task 1 goal (1.5 lap)

Flight test card requirements/objectives Performance

  • Comp sim

Control performance & payload situation

  • Four payload in the cabin + alien key

  • Hardy Yu manually track the drone

Identified issue

  • Compass variance issue

  • place the drone backward and cause sharp turning

Issue need to be RCA

  •  Gemini not working (performance worse than without gemini) → fully lost link

    • Link quality got worst after first lap

    • possible thermal issue

    • flew lost link 750 meter

    • previously tested with the same gemini board with smaller antenna with 3km

    • gemini is not hot at all

    • look at power used(power limit)

 

Card 1 Test 1 retry 1

Flight planning

  • conduct half task 1 goal (1.5 lap)

Flight test card requirements/objectives Performance

  • Check tuning in all three mode and compass variable at full throttle.

Control performance & payload situation

  • Four payload in the cabin

  • Current draw pretty good at calm weather

  • half of task 1 5000mah

Identified issue

  • aggressive takeoff

  • Almost all the time ekf yellow

Issue need to be RCA

  •  

 

Card 2 Test 1

Flight planning

  • Test the auto mission task 2 pathing and training pilot for landing

Flight test card requirements/objectives Performance

  • During flight time upload the mission to pixhawk

  • Arm in auto and complete the mission

  • Pilot navigate through and land on the pad with fpv goggle

Control performance & payload situation

  • Four payload in the cabin

  • GSO and pilot get familiar with callout (Better callout procedure for less than 1 meter → with range finder) practice next week

  • cannot really callout the height sub 1 meter

  • easy to land on the paved ground

  • all the landing are smooth and within timeframe

  • descent first

Identified issue

  • Daniel Puratich callout at last waypoint based on height not ardupilot

  • Full path does not show outside of planning window

Issue need to be RCA

  •  

 

Overall performance and Lessons learned

Outcomes

  • confident in flight characteristics of the drone and electrical robsutness

    • spline waypoints looked good during flight but looks poor on mission plannre

  • low confidence in custom rf links and tracking antenna

    • not using tracking antenna for comp → cc Daniel Puratich to bringup at AEAC

    • Gemini board was low link quality

      • try another gemini board and see if it works

  • Nathan Green apply new mag fit data based on today’s data

Check weather before comp.

Flightline tasks:
bring vtx tower, drone(path uploaded, battery in , shourds on), controller and the monitor

Before takeoff

Daniel Puratich conduct the pre takeoff checklist

manually toggle safety switch

confirm take off flight mode

arm in auto

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