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Requesting team: Directors

Items TBD:

  • Test Procedures/Test Cards

Sections for flightline team to fill out:

  • Incident Procedures, communication preferences.

  • Test Cards

đź“‹ Admin Preparation

Flight test approved

Requested By

Nathan Green

Sub-Team Review

(To be checked once reviewed by sub-team representative)

  • Mechanical
  • Electrical
  • EFS
  • Autonomy
  • Operations

Date of Request

Goal Summary

Successfully fly Pegasus 2 without major incidents

Validate that all sensors and peripherals are working correctly

Evaluate tune and potentially retune

Status?

IN PROGRESS

Desired Airframe

Pegasus 2

Desired Date(s)

September 28th 2024

🥅 Testplan - to be filled out by requesting team

  • Notes

    • apply magfit (will do before leaving)

    • motor direction and order check

    • log raw IMU data before and after filter

    • loiter takeoff

    • make sure no EKF failures

    • hover

    • full stick deflection all axes

    • land

    • review filters https://firmware.ardupilot.org/Tools/WebTools/FilterReview/ , adjust if needed

    • if the existing filters were not good, rerun autotune with updated filters

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”.

 Card 1: Tuning and Tune Evaluation

https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter

Test 1 - Further Tuning

Procedure

Goals / Objectives

Knockoff criteria

  1. Ensure raw IMU data is being logged

  1. Set mode to Loiter, arm, hover ~10m above ground for 30 seconds

  1. Ensure no errors or failsafes

  1. Full stick deflection in each axis

  1. Land

  1. Evaluate filters using online tool, adjust if needed, repeat test

  1. If filters are good and were not good originally, repeat autotune on each axis

high (> 4.5) value for ATC_ANG_RLL_P, ATC_ANG_PIT_P, and ATC_ANG_YAW_P

  1. Disable raw IMU data logging

 Card 2: Range and Speed

Test 1 - Range Test

Procedure

Goals / Objectives

knock-off criteria

  1. Check failsafe behaviour, auto speed, RTL altitude

  1. Set mode to loiter

  1. Arm, takeoff to 50m

  • Any EKF issues

  1. Use guided mode to set a waypoint on the other side of WRESTRC

  • Any EKF issues

  1. While the drone is flying, keep an eye on the link quality, tx power, and number of dropped packets

  • No connection loss, no dropped packets

  • Drone loses connection, will RTL

  • Any EKF issues

  1. Once the drone reaches the waypoint, enable RTL

  • No connection loss, no dropped packets

  • Any EKF issues

  1. Drone lands

Test 2 - Speed Test

Procedure

Goals / Objectives

knock-off criteria

  1. Set mode to loiter

  • Determine maximum flight speed, efficiency at each speed from log analysis

  1. Takeoff, climb to 50m

  • Any EKF issues

  1. Set a guided waypoint ~400m from the current location and fly there

  • Any EKF issues

  1. Increase the speed parameter by 2 m/s and fly another ~400m stretch

  • Any EKF issues

  1. Continue until speed maxes out, check max tilt value and increase if reasonable, then increase speed again

  • Any EKF issues

  1. If drone cannot reach max speed parameter after an increase, the old value can be said to be “max speed”

  • Any EKF issues

  1. Land

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

Necessary items:

  • Pegasus 2

  • Controller

  • Video receiver monitor

  • Video ground station

  • Batteries

Flight characteristics needed:

Comms / Support needed:

đź«‚ 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

Nathan Green

  • Pilot

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

Flightline Team

Name

Phone #

Role

Reason

Nathan Green

Pilot

Fly the drone

Pre-Flight Preparation

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

Incident Procedures

⏲️ Flight Test Timeline

Date/Time

Action

Notes

 

 

Flight test debrief report

Card 1 Test 1: Ground Setup

Flight planning

Flight test card requirements/objectives Performance

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

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

Control performance & payload situation

Identified issue

Issue need to be RCA

Card 2 Test 3: Autotune

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA

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