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Introduction

 High Level Testing Objectives

  • Houston Pilot Training Flight:

    • Provide new pilot Hardy Yu with flight training time.

    • Houston for pilot training in stabilize mode

  • Pegasus Hover Test:

    • Ensure Pegasus flies without oscillations in stabilize, altitude hold, and position hold flight modes.

    • Pegasus successfully hover and under the control from pilot

  • Houston Autonomy Camera Payload Flight

    • Flight test $200 CV Camera Payload and confirm images look as expected

  • Tubie Pilot Trainning

 Planned Timeline

Flight Test was requested on October 15th as a part of AEAC runup plan by Daniel Puratich .

  • Approval from team

  • Week before checklist

  • Morning of checklist

  • Gather at the bay

  • pre-departure checklist

  • Pre flight briefing

  • Flight Test

  • debrief

Resources

 Humans

List contains all possible human resources available for flight test support! Please add yourself to this if you want to go to the flight test and follow the format!

  • Daniel Puratich

    • Role (what you will do at the flight test):

      • Flight Test Lead

      • Flight Test Director

      • Safety

      • Documentation Director

      • Electrical

    • Justification (why you’re qualified)

      • TC Basic

      • US HAM

      • Exec Director

      • Flight test Requestor

    • Availability (times on this date you can be at flight test)

      • All day

  • Amy Hu

    • Role

      • Autonomy representative

    • Justification

      • Autonomy Lead

    • Availability:

      • All day

  • Aidan Bowers (Deactivated)

    • Role:

      • Dualie Pilot

    • Justification:

      • pilot

      • tc basic

    • availability

      • morning until 11:30am.

  • Neel Patel

    • Role

      • Electrical representative

    • Justification

      • Electrical member

    • Availability

      • All day

  • Georgia Vachon Westerlund

    • Role

      • Photographer

  • Nathan Green

    • Role

      • Pilot

      • Mechanical

      • Telemetry testing

    • Justification

      • basic certificate

      • mechancial lead

 Automobiles

  • Conall and Alison will not be present (and will not have their vehicle).

  • Neel’s Car (6 passenger seats)

 Location

WRESTRC Booked, see Calendar , for Pegasus flight .

Worst case we do https://maps.app.goo.gl/XBr7u8oXZkMhzEAC8 as subject to weather constraints regarding timeline for Pegasus.

Logistic

 Schedule Overview

Trip 1:

Trip2:

 Missions

Task 1: Raspberry Pi/ Camera Testing w/ Houston

Objective: Verify the camera colour calibration and system integration

Task 2: Tubie Take off

Objective: Verify the reinforced airframe and try to fly longer this time

Takes 3: Pilot Training

Objective: Train new pilot Hardy Yu

Task 4: Pegasus hover

Objective: Verify the system integration by flying pegasus over the air

Procedure

 Week Before Checklist
  • Raspberry Pi can collect images with the $200 CV Camera
    • Test the imaging repository with the Raspberry Pi and confirm images are taken and stored on the SD card
    • Edit the rc.local and ensure that image collection code runs on Raspberry Pi startup
  • Raspberry Pi can be powered onboard the drone. Need help from the Electrical team.
  • Raspberry Pi and $200 CV Camera are mounted onto Houston. The $200 CV Camera needs to be pointing in the downards direction.. Need help from the Mechanical team.
  • Flight test location booked
  • Drone Registration -
    • Houston
    • Tubie
    • Pegasus → flying on vanny registration
  • Ensure we have good props for Pegasus after last tests crash
  • Telemetry Verified Functional - Nathan Green to verify with new LTE connectors
  • Nolan Haines Schematic for and delegating manufacturing of anti-spark connector configuration
  • Daniel Puratich to update template with all the new things he added to this template this time
  • Nathan Green add to Onedrive logs from last time
  • Georgia Vachon Westerlund uploading past test images to onedrive media
  • Conall Kingshott potentially slop on landing gear
  • Hardy Yu purchase request for more crossfire Rxs
  • Pilot scheduled - Daniel Puratich
  • Test Plan - Daniel Puratich
  • Initial frame parameters set - Nathan Green
  • Verify we have wrestrc card
  • Systems test - Daniel Puratich
    • Check flight controller orientation - Nathan Green
    • Check motor spin & rotation direction - Nathan Green
      • Check DSHOT configuration (DS300, bidir?)
      • Motors plugged into correct pins on pixhawk
      • Verify motors 1,2,3,4 in motor test go in the correct order
      • Verify motors in a,b,c,d configuration is correct order
      • verify rotational response of motors is correct (with more than just audio), move the drone around and check each motors reponse individually
    • Check transmitter mappings
    • Verify communication links
      • VTX/RX - no video on any of these aircrafts
      • Controller
      • Groundstation
    • Ammeter working - Nathan Green
    • Verify data logging - Nathan Green checked SD card, its working
  • Transportation logistics finalized
  • Setting Failsafes, Nathan Green
    • normal failsafe set to land
    • disabled battery failsafe, dont want it to randomly land
    • GCS failsafe set to always land after 5 seconds of no GCS
 Morning of Checklist
  • Confirm the Raspberry Pi is securely attached to the drone.
  • Confirm the image collection software runs when the Raspberris powered on.
  • Nathan Green configuring the GPS so both GPS’s are used
  • Nathan Green Setting the controller profile on the radio master
  • SDC Vehicle key collected → machine shop is closed, we will not be able to grab the key Hardy Yu
  • Batteries Planned for (DON'T LEAVE CHARGING OVERNIGHT)
    • Drone batteries & spares - 2 sets for pegasus, 3 houston batteries
    • Transmitter batteries - 70% on transmitter
    • Battery tester/indicator
  • On-site kit together - Daniel Puratich announcing checklist
    • First Aid Kit
    • Ground station if applicable
    • Laptop
    • Antenna / Receivers
    • Transmitter
    • Extra Water
    • Power cords / Extension cables
    • Wrenches - none needed
    • Allen keys (metric ones) - three sets
    • Knives
    • Tape
    • Rope/string - not needed
    • Zip ties
    • Velcro
    • Radios
    • Safety goggles - not needed
    • Fire extinguisher - we dont have one, theyre out of our budget gg
    • Spare foam - not needed
    • hot glue gun w/ hot glue stick - not bringing that
    • harnesses
    • ratchet set
    • battery removed for velcro (thin 3d printed thing) for pegasus
    • Wrestrc
  • Airfame assembled
  • ESCs/flight controller wired
  • Radio equipment tested
    • Channel mappings
    • Flight modes
  • Motors tested
    • Check DSHOT configuration (DS300, bidir?)
    • Motors plugged into correct pins on pixhawk
    • Verify motors 1,2,3,4 in motor test go in the correct order
    • Verify motors in a,b,c,d configuration is correct order
    • verify rotational response of motors is correct (with more than just audio), move the drone around and check each motors response individually
  • Wiring secured (Harnessing)
  • End-to-end test (neglecting props)
    • Props require a little gold ring which we did not use during the strap down test, may have caused extra vibrations.
  • Check the center of gravity - CG is off quite a bit but because only running two batteries and much less hardware then anticipated it will be reasonable for this test
  • All components not on the airframe that are required should be in the flight box (e.g. props & prop nuts)
  • Airframe payload - Raspberry Pi + $200 Camera
    • Mount to airframe pointing downwards (exact angle doesn’t really matter)
  • Spare parts
    • Props
      • Houston props
      • Peggy props
    • Airframe components (landing struts, arms, etc)
      • wings nuts - n/a
      • prop nuts
      • any detached components such as angle mount - none needed
  • Hardware to assemble these components
  • Spare Electronics - we dont have much
    • ESCs
    • Motors
    • Flight controllers
    • Receiver
  • Ground station Software updated
 Pre-Departure Checklist
  • Take the WREST RC entrance card - must do!!
  • Only attach props directly before flight (keep off at all other times)
  • Get snacks - na, short test
  • Mission Briefing - by Hardy Yu
    • Read the flight plan to the team (that was made a week ago)
    • Purpose of flight
    • Plan of action
    • Success criteria
    • Delegate and brief on flight line roles
    • Safety Briefing
    • Key flight characteristics to observe
    • Key system characteristics to observe
    • Measurements to be made
    • “Knock off” criteria (anyone can call)
    • Specify Pegasus Flight area planned, hard land and disarm boundaries set. Ensure visual observers are aware of this and can visually verify boundaries. - Hardy Yu
 Houston Trainning Pre-Flight Check
  • Air Frame
    • Check all antennas, ensuring they are secure and in good condition
    • Check the battery emplacement and secure attachment and ensure there are no cracks
    • Check that all lights are operating normally
    • Check that all sensors are secured and clear of any obstructions
    • Check that the GPS is receiving satellites and providing a navigation solution
    • Inspect top and bottom of air frame arms for cracks, loose parts, or signs of damage
  • Landing Gear
    • Check landing gear is secure
    • Inspect skids or wheels, especially attachment points
  • Motors
    • ensure all motors free-spin correctly
    • Ensure wires secured and not at risk of shorting
    • Ensure motor mounts secure.
  • Propellers / Rotors
    • Ensure propeller is secured
    • Check for nicks, chips or cracks
    • Ensure prop direction is correct
    • Ensure prop mounting is secure
  • Batteries
    • Inspect to ensure there is no signs of swelling, external leaking or other defects
    • Battery wiring and connectors from the battery are connected securely
    • Batteries (and spares) are adequately charged
    • Wires are not pinched
  • Control Station / Receivers / Transmitter
    • The battery and spare batteries if required are adequately charged
    • Control Station device and cables are properly connected and functioning
    • All flight interfaces are functioning normally
  • Safety
    • Good visibility and safe wind speed
    • Surrounding is free of obstacles
    • Crew far from drone
    • General Site Survey
      • Are there other people on the property
  • Ground Recording / drone footage on
 Houston Trainning In-Flight Checklist
  • Ensure pilot with Hardy Yu for support
  • Takeoff in stabilize
  • fly in stabilize
  • land
  • battery swap?
  • repeat
 Houston trainning Post-Flight Checklist
  • Upload Logs
  • Remove Props
  • Check SD card and view images taken from the Raspberry Pi
    • Ensure that pictures were taken during flight
    • Ensure camera quality is good
      • If the camera quality is not good then adjust camera settings and try again
 Pegasus Pre-Flight Check
  • Air Frame
    • Check all antennas, ensuring they are secure and in good condition
    • Check the battery emplacement and secure attachment and ensure there are no cracks
    • Check that all lights are operating normally
    • Check that all sensors are secured and clear of any obstructions
    • Check that the GPS is receiving satellites and providing a navigation solution
    • Inspect top and bottom of air frame arms for cracks, loose parts, or signs of damage
  • Landing Gear
    • Check landing gear is secure
    • Inspect skids or wheels, especially attachment points
  • Motors
    • ensure all motors free-spin correctly
    • Ensure wires secured and not at risk of shorting
    • Ensure motor mounts secure.
    • Motor test with props
  • Propellers / Rotors
    • Ensure propeller is secured
    • Check for nicks, chips or cracks
    • Ensure prop direction is correct
    • Ensure prop mounting is secure
    • gold rings to props
  • Batteries
    • Inspect to ensure there is no signs of swelling, external leaking or other defects
    • Battery wiring and connectors from the battery are connected securely
    • Batteries (and spares) are adequately charged
    • Wires are not pinched
  • Control Station / Receivers / Transmitter
    • The battery and spare batteries if required are adequately charged
    • Control Station device and cables are properly connected and functioning
    • All flight interfaces are functioning normally
  • Safety
    • Good visibility and safe wind speed
    • Surrounding is free of obstacles
    • Crew far from drone
    • General Site Survey
      • Are there other people on the property
  • Ground Recording / drone footage on
 Pegasus In-Flight Checklist
  • Takeoff in stab
  • Check mapping and orientation correct
  • hover ~30-50cm above ground briefly
  • go up and do half-deflection control checks
  • Takeoff in stabilize mode
  • Stabilize mode full stick deflection tests
  • switch to althold
  • full deflection control check
  • Switch to poshold/loiter if all ok.
  • land (can be done sooner if anything wack)
 Pegauss Post-Flight Checklist
  • Upload Logs
  • Remove Props
 Houston Autonomy Pre-Flight Check
  • Air Frame
    • Check all antennas, ensuring they are secure and in good condition
    • Check the battery emplacement and secure attachment and ensure there are no cracks
    • Check that all lights are operating normally
    • Check that all sensors are secured and clear of any obstructions
    • Check that the GPS is receiving satellites and providing a navigation solution
    • Inspect top and bottom of air frame arms for cracks, loose parts, or signs of damage
  • Landing Gear
    • Check landing gear is secure
    • Inspect skids or wheels, especially attachment points
  • Motors
    • ensure all motors free-spin correctly
    • Ensure wires secured and not at risk of shorting
    • Ensure motor mounts secure.
  • Propellers / Rotors
    • Ensure propeller is secured
    • Check for nicks, chips or cracks
    • Ensure prop direction is correct
    • Ensure prop mounting is secure
  • Batteries
    • Inspect to ensure there is no signs of swelling, external leaking or other defects
    • Battery wiring and connectors from the battery are connected securely
    • Batteries (and spares) are adequately charged
    • Wires are not pinched
  • Control Station / Receivers / Transmitter
    • The battery and spare batteries if required are adequately charged
    • Control Station device and cables are properly connected and functioning
    • All flight interfaces are functioning normally
  • Safety
    • Good visibility and safe wind speed
    • Surrounding is free of obstacles
    • Crew far from drone
    • General Site Survey
      • Are there other people on the property
  • Ground Recording / drone footage on
  • Autonomy Camera Mounted
  • Raspberry Pi is powered on the drone
  • Autonomy image collection code runs on RPi startup
  • Autonomy Tasks
    • Connect to Raspberry Pi + camera using Camlink
    • Verify camera is working (image is displaying)
    • Set up landing pad #1 on grass
    • Set up landing pad #2 on pavement
    • Ensure camera focus is set to 30m
 Houston Autonomy In-Flight Checklist
  • 2 landing pad (blue side facing up) are positioned on the ground
  • Hover over landing pad #1 at height of ~30m to allow camera to take photos
  • Hover over landing pad #2 at height of ~30m to allow camera to take photos
 Houston Autonomy Post-Flight Checklist
  • Upload Logs
  • Remove Props
  • Autonomy Tasks
    • Dismount Raspberry Pi + camera
    • Check SD card for saved images
    • Check saved images for purpling
      • If this is the case change camera settings and try again. Test different camera settings and see which one is the best.
 Dual-2 Trainning Pre-Flight Check
  • Air Frame
    • Check all antennas, ensuring they are secure and in good condition
    • Check the battery emplacement and secure attachment and ensure there are no cracks
    • Inspect top and bottom of air frame arms for cracks, loose parts, or signs of damage
    • Inspect electronics for damage
      • Ensure wires are securely connected and boards are secured
  • Motors
    • Ensure all motors free-spin correctly & motor directions are correct
    • Verify control surfaces are secure, and deflect in the expected direction
    • Ensure wires secured and not at risk of shorting
    • Ensure motor mounts secure.
  • Propellers / Rotors
    • Ensure propeller is secured
    • Check for nicks, chips or cracks
    • Ensure prop direction is correct
    • Ensure prop mounting is secure
  • Batteries
    • Inspect to ensure there is no signs of swelling, external leaking or other defects
    • Battery wiring and connectors from the battery are connected securely
    • Batteries (and spares) are adequately charged
    • Wires are not pinched
  • Control Station / Receivers / Transmitter
    • The battery and spare batteries if required are adequately charged
    • Control Station device and cables are properly connected and functioning
    • All flight interfaces are functioning normally
  • Safety
    • Good visibility and safe wind speed
    • Surrounding is free of obstacles
    • Crew far from drone
    • General Site Survey
      • Are there other people on the property
  • Ground Recording / drone footage on
 Dual-2 Trainning In-Flight Checklist
  • Test flight characteristics of aircraft
    • Perform standard, simple flight maneuvers: (Takeoff, figure of eight, circle, approach, landing)
 Houston trainning Post-Flight Checklist
  • Inspect aircraft & electronics for damage
  • Unplug and remove damage
 Post Flight Test Check-List
  • drive back to bay
  • post mortem
  • Analytics added to this document
  • action items delegated
  • Autonomy Tasks
    • Dismount Raspberry Pi + camera
    • Check SD card for saved images
    • Check saved images for purpling and see which camera settings yield best results
    • Make note of the best camera settings.
  • batteries discharge is delegated -
  • batteries at storage voltage confirmed
  • Upload logs, Nathan Green
  • Confirm wrestrc card is back in the holder
 Contingency Plans

If things go poorly, flight test director should command (this is stated to avoid bystander effect):

  • Fire

    • Call 911

    • give location

  • Property Damage

    • if in e7, email Graeme

    • if at WRESTRC, email them

  • Fly away

    • call TC

  • Injury

    • first aid

    • call 911

Debrief

 Timeline

After the flight test summarize the timeline of what happened. With timestamps if timestamps aren't given in checklist?

Tubie Flight Test

  • 10:15 got tubie fully setup and attempted to flight Tubie

  • @Aidan pilot, @Hardy threw the plane. we failed taking off the plane two times in a row. Both attempts, the plane lost power right after it is been thrown.

Pegasus Flight

  • Left around 12:45

  • takeoff in stab

  • Pitch was inverted

  • landed fixed on controller

  • took off stab

  • drone was backwards

  • barely took off

  • landed

  • rotated drone

  • tok off in stab

  • hovverred 10 sec

  • landed

  • took off in loiter

  • hoverred 20 secs

  • did full stick deflection every direction

  • full throttle

  • full yaw

  • landed

  • done

  • back at 1:43

 Data & Data Analysis

Nathan uploaded logs. Hover 11 A, 30% throttle.

 What Went Well?

Daniel Puratich Directing this section of flight test post mortem!

  • it worked

  • good photos

  • had all tools

  • ran into no issues with LTE to RFD switchover

    • ran RFDs bc LTE antenna adapters not in yet

  • good authority

  • hoverred at 30% throttle

 What was less than ideal but turned out okay?

Daniel Puratich Directing this section of flight test post mortem!

  • We need to decrease yaw rate in loiter bc we lose altitude, it is too fast.

  • drone was placed backwards initially

 What major issues occurred?

Daniel Puratich Directing this section of flight test post mortem!

Raspberry Pi Powered w/ 12V

What happened:

  • The autonomy houston flight test is scheduled on Oct 21st. The autonomy team got the software ready and installed in the Pi, mech ppl help mounting the camera and pi onto the drone, but the power to the Pi wasn’t done before Oct 21st

  • 8:30am Oct 21st, Hardy Yu Amy Hu who come to the flight test decided to solider the power for the Raspberry Pi themselves in a rush to meet the flight test timeline. Hardy Yu proposed the plan of splitting out the power from the xt60 output of the Holybro PM02D to power the PDB and Pi at the same time. The splited xt60 connect to a usb c breakout board and then power up the Pi. Daniel Puratich arrived around 9 and helped on the soldering process and reviewed solder joints. We powered the Pi without it ever been tested with multimeter and power supply. However, later on we found out the xt60 output from PM02D is the battery voltage (12V) and that fried the Pi (rated for 5V).

What we should do to avoid similiar triggic from happening in the future:

  • Any newly created electronics should be tested before used

  • Schematic makes things much easier to review

  • If flight tests prerequisite aren’t meet, we should really consider delay or cancel the flight test

All of these major issues should be addressed via Root Cause Analysis Forms:

 Action Items Following Test

Daniel Puratich Directing this section of flight test post mortem!

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