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Overview

This document contains a summary of different tests the Pathing team has conducted, how to run the tests, and the results of each test.

Summary of Tests

Mission Planner Simulator

Instructions on how to run

  1. Follow the steps to run the Mission Planner simulator which are explained in this document: https://uwarg-docs.atlassian.net/wiki/spaces/CV/pages/2240643073/Ardupilot+Simulation+with+Mission+Planner#MAVLink-Forwarding.

    1. Note: On step 2 you will be running another application so proceed to step 3.

  2. Once you finish step 3 in the document, you can run the pathing repository code with the command python -m path_2023.

  3. Scan the QR code. TODO: Link the QR code image here.

  4. The script should run successfully (The script should output “Done” to signify it has finished) and the waypoints should be loaded onto the simulator. The simulated drone will follow the route.

Testing Status

The code has been tested and the pathing repository works as expected.

Realflight Simulator

Instructions on how to run

1. Open RealFlight Evolution

2. Changing the Aircraft/Airport settings:

2a. Press Escape -> Free Play -> Aircraft -> Quadcopter X -> flightaxis (If you don't see this file go to step 3), press Select.

2b. Press Escape -> Free Play -> Airport -> Eli Field -> Select -> Fly.

3. If you completed step 2 successfully you can skip to step 4.

3a. Download the QuadcopterX model from here: https://github.com/ArduPilot/SITL_Models/blob/master/RealFlight/Released_Models/Multicopters/QuadCopterX/QuadcopterX-flightaxis_AV.RFX

3b. Once downloaded, press Escape -> My RealFlight -> Import -> RealFlight Archives -> select the file that you just downloaded and press Open.

3c. A message, “..was successfully imported” should be displayed. You can now complete step 2.

4. Press Escape -> Settings -> Physics -> Quality -> RealFlight Link Enabled and make sure it is enabled, and press Select.

5. In the same menu, go to "Pause Sim When In Background" and "Pause Sim When In Menu" and make sure they are both disabled.

6. In Settings, go to Graphics -> Quality -> Graphics Presets, move the slider to Low and Apply. Restart RealFlight Evolution if needed.

7. Open Mission Planner.

8. In the SIMULATION tab, change the Model to "flightaxis" from the drop-down menu and press Multirotor (with the Stable version). Make sure that Realflight is not in the pause menu when doing this, otherwise you will timeout without connecting.

9. Uploading waypoints/mission to Mission Planner:

9a. Press Ctrl+F -> Mavlink -> set the first drop-down to TCP Host - 14550, check the "Write access" checkbox and Connect. Set the port to 14550 and press OK.

9b. Run the pathing repository code with the command python -m path_2023.

9c. Scan the QR code.

10. The script should run successfully (The script should output “Done” to signify it has finished). Go to the PLAN tab and press Read.

11. Open the CONFIG tab, go to "Planner" and change the Layout to "Advanced"

12. Download this file (It is the parameter file for the Quadcopter-X model): https://github.com/ArduPilot/SITL_Models/blob/master/RealFlight/Released_Models/Multicopters/QuadCopterX/QuadCopterX.param

13. In the CONFIG tab, go to Full Parameter List -> Load from file -> select the parameter file that you just downloaded and press Open.

14. You may get a number of pop-ups saying the values are out of range/marked as read only. Select Yes/Ok to all of them, then press Write Params.

15. Go to the DATA Tab -> Actions and then press Arm/Disarm. Then select Auto, and make any input to the controller (e.g, moving the stick up and back down).

16. RealFlight should now execute the mission. You can press Arm/Disarm again if you want to force stop the mission, and spacebar to reset the vehicle's position.

Testing Status

The code has been tested and the pathing repository works as expected.

USB Communication

Instructions on how to run

  1. Find a USB-C to USB-A cable

  2. Connect the USB-C end to the Pixhawk. There is a USB-C port on the side of the Pixhawk.

  3. Connect the USB-A end to a USB port on the ground station computer.

  4. Power the Pixhawk.

  5. Determine the name of the COM port the Pixhawk is connected to on the ground station computer.

  6. Edit the CONNECTION_ADDRESS constant in the main_2023.py to be "comX" where X is the COM port number.

    1. For example, if the Pixhawk is connected to COM port 6 then the CONNECTION_ADDRESS would be "com6". The documentation for this can be found here: https://dronekit-python.readthedocs.io/en/latest/guide/connecting_vehicle.html#get-started-connecting under the “Connection string options” header.

  7. Run the pathing repository with the command python -m main_2023.

  8. Scan the QR Code.

  9. The script should run successfully (The script should output “Done” to signify it has finished).

  10. Remove the USB cable from the Pixhawk and place the UAV in position for takeoff.

  11. Open Mission Planner and connect Mission Planner to the drone.

  12. Press the “Plan” tab in the top left corner.

  13. Click on the “Read” button on the right-hand side.

  14. The waypoints from the script should appear on Mission Planner.

Testing Status

The code has been tested and the pathing repository works as expected.

LTE Communication

Instructions on how to run

  1. Find a USB-C to USB-A cable.

  2. Connect the USB-C end to the Pixhawk. There is a USB-C port on the side of the Pixhawk.

  3. Connect the USB-A end to a USB port on the Raspberry Pi.

  4. Power the Pixhawk.

  5. Power the Raspberry Pi using a USB-C charger that connects to the USB-C power port on the Raspberry Pi.

  6. Open Mission Planner and wait for around a minute to see if the UAV connects automatically to the ground station computer.

  7. If Mission Planner doesn’t connect after a minute, configure Mission Planner to connect to UDP port 14550 on the top right-hand corner and click connect.

  8. Run the pathing repository with the command python -m main_2023.

  9. Scan the QR code.

  10. The script should run successfully (The script should output “Done” to signify it has finished).

  11. Press the “Plan” tab in the top left corner.

  12. Click on the “Read” button on the right-hand side.

  13. The waypoints from the script should appear on Mission Planner.

Testing Status

The code has been tested and the pathing repository works as expected.

XBee’s Communication

Instructions on how to run

Testing Status

The code has not been tested yet.

RFD 900 Communication

Instructions on how to run

Testing Status

The code has not been tested yet.

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