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Planning

Scope

  • Houston

    • Testing new camera

      • We have a non-global shutter RPi Camera we need to test on the drone

      • Autonomy should try geolocation as well, need to get script ready

      • Should acquire data of just images (with nothing overlayed) so we can test algorithms

      • Note: Geolocation with the CV camera will be tested FIRST as it requires more setup. Then the CV camera will be swapped out for the IR camera, and the IR camera will be used to capture images.

    • Tracking Antenna

      • Must be tested and verified before 2024-11-06 to include in this flight test Omer Sajid

      • Pre Flight Test validations

        • Test drone selected - Houston chosen

        • Determine and setup link OTA link on Houston, RFD or ELRS

        • E2E Mavlink connection established (drone → mavproxy → mission planner + tracking antenna)

        • Basic tracking works (tracking antenna follows drone being walked in a 180° arc around it)

      • If ready, can be tested alongside another Flight Card to decrease necessary flights

    • Testing object detection?

Flight Cards

Flight Card 1

Autonomy Geolocation

Pilot: Evan Janakievski

GSO: Sam Zhang

What is being tested? To be filled out by flight card requesters Ashish Agrahari

  • Geolocation + Cluster estimation accuracy

    • Have more precise measurements of the location of landing pad relative to the drone take-off position.

    • Have a marker for starting location so we can put drone back there every time

      • Preferably switch on drone at starting location, or ensure that starting location is logged

    • Test different heights (ie 3-5m, 10m, 15m, 20m), each should be its own independent flight

    • Test different speeds? (optional, just go approximately same speed/slow if not testing this)

  • Local logging should work

Hardware to be installed (change status to success when installed or plan for installing at flight test is done)

  • CV camera

  • RPi

THINGS TO BRING

  • Measuring tape

  • Marker/tape/box or something to mark drone take-off position

Geolocation + Cluster Estimation Accuracy Procedure (HOUSTON)

Procedure

What marks a success?

Knockoff criteria

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

Flight Card 2

IR Camera Test

Pilot: Evan Janakievski

GSO: Sam Zhang

What is being tested? To be filled out by flight card requesters Maxwell Lou Vibhinn Gautam

  • Collect test/training data using IR camera

  • Fly at different heights (ie 3-5m, 10m, 15m, 20m)

  • Fly at different speeds (ie for each height, do 3 slow passes and 3 fast passes)

    • These don’t need to be separate flights, can be done all in one go

Hardware to be installed (change status to success when installed or plan for installing at flight test is done)

  • IR Camera

  • RPi

Geolocation + Cluster Estimation Accuracy Procedure (HOUSTON)

Procedure

What marks a success?

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.

Sa

  1. Hover at 10m

Same as above

  1. Hover at 15m

Same as above

Flight Card 3 – Pending

Obstacle Detection - Testing GuidedMode.

Pilot: Evan Janakievski

GSO: Sam Zhang

What is being tested? To be filled out by flight card requesters Andrew Shum

  • Upload a default mission, and then use guided mode to interrupt that mission (ie after some time)

  • After Guided Mode instructs the drone to move somewhere else, it should switch back to AUTO Mode and continue its original mission.

Hardware to be installed (change status to success when installed or plan for installing at flight test is done)

  • Lidar

  • RPi

Geolocation + Cluster Estimation Accuracy Procedure (HOUSTON)

Procedure

What marks a success?

Knockoff criteria

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

Flight Card 4

Tracking Antenna Test

Pilot: Evan Janakievski

GSO: Sam Zhang

What is being tested? To be filled out by flight card requesters Omer Sajid Jeremy Zheng

  • Connection between TA and Mission Planner (MavProxy MavLink Forwarding)

  • Setup OTA link on Houston with RFD

  • Fly in 180° arc around TA (only testing yaw tracking capability)

  • If needed, possible Procedure is listed below (same as a past flight test)

Hardware to be installed (change status to success when installed or plan for installing at flight test is done)

  • Tracking Antenna

  • Tp-link Router

  • RFD

  • Houston Drone

  • WARG Laptop

TRACKING ANTENNA TEST PROCEDURE (HOUSTON)

Procedure

Goals / Objectives

Knockoff criteria

  1. Setup

LINK TO DOCUMENTATION FOR SETUP

  1. Hover altitude 5m in loiter.

  • Verify antenna is able to point towards the drone

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

  1. Translation motion:

Move in periodic squares moving away from the tracking antenna.

  • Ensure that the tracking antenna remains pointed at the drone

  • tracking antenna loses track on the drone

    • Hover in place and wait.

Timeline ~ needs adjusting

  • Batteries charging 9:30

  • Leave bay at 10:30

    • Drive or walk to CIF tbd

  • 10:50 begin Flight Card 1

  • 11:15 begin Flight Card 2

  • 11:40 begin Flight Card 3

    • Possible delay for installing IR camera for CV camera

  • 12:10 head back to bay

  • 12:30 debrief

  • 12:45 charge batteries to storage and unpack flight test box

Attendees

Evan Janakievski

Sam Zhang

Maxwell Lou

Omer Sajid

Tochi Okoro

Key People Not Attending

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

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