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Sections for requesting team to fill out:
Admin preparation
Test Cards / Test Plan
Mandatory Attendees
Sections for flight test coordinator to fill out:
Flightline team
Location
Status
Drone
Sections for flightline team to fill out:
EFS to fill out Card #1, #2, #3 (Opflow, Tracking Antenna, Obstacle Avoidance)
đ Admin Preparation
Your status should read âsubmittedâ when you submit the FTR to our Flight Test Coordinator.
Once the coordinator approves, and a date/location/drone has been assigned, the status will change to âwaiting for sub team reviewâ. Once all sub-teams have reviewed and signed off, the status will change to âapprovedâ
Requested By | Anthony Luo |
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Sub-Team Review (To be checked once reviewed by sub-team representative) | - Mechanical
- Electrical
- EFS
- Autonomy
- Operations
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Date of Request | Jan 16, 2024 |
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Goal Summary | Pegasus Opflow calibration Pegasus MAGFit check Tracking antenna algorithm check Houston Obstacle avoidance functionality check
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Status? | WAITING FOR SUB-TEAM REVIEW |
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Desired Airframe | Houston / Pegasus |
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Location + Time | WrestRC 1300-1800 |
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âď¸ Wx
https://www.windy.com/station/ad-cykf?42.541,-80.379,8 Waterloo Weather Station
đĽ
Testplan - to be filled out by requesting team
Create ONE table per test-item. Eg: âLanding pad images over asphaltâ, âlanding pad images over grassâ, âlanding pad images over grass, highâ should all be unique tables.
Use each expand to capture one series of tests, eg âLanding pad detectionâ or âAuto-tuningâ.
 Card 1: Pegasus OpFlow + Lidar Calibration
Test #1: Opflow calibration |
Procedure | Goals / Objectives | Knockoff criteria |
Inflow calibration setup Set = 158 (Optflow Calibration) EK3_SRC1_POSXY = 3 (GPS) EK3_SRC1_POSZ = 1 (Baro) EK3_SRC1_VELXY = 3 (GPS) EK3_SRC1_VELZ = 3 (GPS) EK3_SRC1_YAW = 1 (Compass) EK3_SRC_OPTIONS = 0 (Disable FuseAlIVelocities)
| | < list of reasons why you would want to stop the test > |
Setup GPS/Non-GPS transitions (to switch between GPS and Optical Flow inflight)
| SET UP AND PERFORM BENCH TEST BEFORE LEAVING BAY? Ensure EKF3 is being used EK3_ENABLE = 1 EK2_ENABLE = 0 AHRS_EKF_TYPE = 3
Ensure default setup EK3_SRC1_POSXY = 3 (Primary horizontal position from GPS) EK3_SRC1_VELXY = 3 (Primary horizontal velocity from GPS) EK3_SRC1_POSZ = 1 (Primary vertical position from barometer) EK3_SRC1_VELZ = 3 (Primary vertical velocity from GPS) EK3_SRC1_YAW = 1 (Primary yaw/heading from compass) SECONDARY SENSOR SOURCE???? EK3_SRC2_ POSXY = 6 (Secondary horizontal position from External Nav) EK3_SRC2_VELXY = 6 (Secondary horizontal velocity from External Nav) EK3_SRC2_POSZ = 1 (Secondary vertical position from barometer) EK3_SRC2_VELZ = 6 (Secondary vertical velocity from External Nav) EK3_SRC2_YAW = 6 (Secondary yaw/heading from External Nav) Ensure the fusing of all velocities are disabled by unchecking the EK3_SRC_OPTIONS parameter's "FuseAlIVelocities" bit:
BENCH TEST (use the auxiliary switch to manually switch between sources) Connect with a ground station After switching modes, confirm status via Data Screen messages tab â should be a message Wait 10 seconds to confirm that EKF stays healthy EKF label on the HUD should remain white in Mission Planner
Check the vehicle's horizontal position, altitude and heading using the ground station. (what to look for?)
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Hover in Loiter mode (>10m)
| | < etc > |
Begin opflow calibration Pull the auxiliary switch high to start the calibration Rock the vehicle back and forth in both roll and pitch
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Use Opflow (Land if GPS/Non-GPS transitions not set up)
| If GPS/Non-GPS transitions not set up: Land the vehicle and setup the EKF3 to use OpticalFlow EK3_SRC1_POSXY = 0 (None) EK3_SRC1_VELXY = 5 (Optical Flow) EK3_SRC1_POSZ = 1 (Baro) EK3_SRC1_VELZ = 0 (None) EK3_SRC1_YAW = 1 (Compass) EK3_SRC_OPTIONS = 0 (Disable FuseAlIVelocities)
Fly the vehicle again to check performance What are we looking for and what mode?
If GPS/Non-GPS transitions are set up: SET UP BELOW PARAMETERS PRIOR TO INITIAL TAKEOFF? RC6_OPTION = 158 (Optflow Calibration) RC7_OPTION = 90 (EKF Pos Source) low is GPS, middle is OpticalFlow, high is unused EK3_SRC1_POSXY = 3 (GPS) EK3_SRC1_POSZ = 1 (Baro) EK3_SRC1_VELXY = 3 (GPS) EK3_SRC1_VELZ = 3 (GPS) EK3_SRC1_YAW = 1 (Compass) EK3_SRC2_POSXY = 0 (None) EK3_SRC2_VELXY = 5 (Optical Flow) EK3_SRC2_POSZ = 1 (Baro) EK3_SRC2_VELZ = 0 (None) EK3_SRC2_YAW = 1 (Compass) EK3_SRC_OPTIONS = 0 (Disable FuseAlIVelocities)
Engage the calibration using and switch between GPS and Optical.
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Review test data?
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 Card 2: Tracking Antenna Validation
Test #1: straight passes. PEGASUS or HOUSTON |
Procedure | Goals / Objectives | Knockoff criteria |
Hover altitude 5m in loiter.
| | < list of reasons why you would want to stop the test > |
Translation motion:
Move in periodic squares moving away from the tracking antenna. | | |
Translation movement towards extremes of tracking antenna
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 Card 3: Houston obstacle avoidance
Test #1: Stab mode Lidar Verification |
Procedure | Goals / Objectives | Knockoff criteria |
Takeoff and hover in STAB 1.5-2m AGL. Verify controls.
| Verify pitch/roll/yaw directions are correct. Verify that Gemini functionality is retained. Verify that flight modes & flight time is correct.
| Pitch/Roll/Yaw incorrect Drone de-stabilizes.
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Translational movement @ slow speed towards vertical wall
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Maintain desired distance from the wall while spinning heading vector 360
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Approaches from front/side/rear ascending & descending.
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Test #2: Loit mode Obstacle Avoidance |
Procedure | Goals / Objectives | Knockoff criteria |
Takeoff and hover in Loit mode 1.5-2m AGL. Verify controls.
| Verify pitch/roll/yaw directions are correct. Verify that Gemini functionality is retained. Verify that flight modes & flight time is correct.
| Pitch/Roll/Yaw incorrect Drone de-stabilizes.
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Translational movement @ slow speed towards vertical wall
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Maintain desired distance from the wall while spinning heading vector 360
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Approaches from front/side/rear ascending & descending.
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Test #3: Auto Mission obstacle avoidance |
Procedure | Goals / Objectives | Knockoff criteria |
Setup an auto mission which passes through an âobstacleâ
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Set mission to AUTO, takeoff and fly!
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Upon reaching end waypoint, RTL
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Necessary Preparation
Explain what capacity you need, what needs to be mounted, etc.
Mechanical
- Pegasus cleared to fly (mechanically)
- sensor mount ready
- Motors + frame rigid
- Houston cleared to fly (mechanically)
- sensor mount attached
- arms + plates rigid
Electrical
- Pegasus cleared to fly (electrically)
- Houston cleared to fly
- Harnessing secure
- ELRS RXâs secure.
Embedded Flight Software
- Pegasus Ardupilot Configuration ready
- Opflow â Offsets correct, usage correct ? (EKF3?)
- Lidar â Offsets correct, usage correct? Height limits set?
- Houston Ardupilot Configuration ready
- Failsafes configured (Radio, GCS, Battery, ETC?)
- 360 Lidar â Configured, ground tested. Distances set properly?
- Test area SME available
- Test procedure is clear â Houston & Pegasus
- Possible deviations from test understood and considered â Houston & Pegasus
- Software ground tested
- Ground tests complete on all airframes (on battery over telemetry)
- Tracking Antenna
- ELRS / Radio management correct.
- ELRS rxâs on houston & pegasus. â Clear unique models.
- ELRS Airport on houston â Verify functioning.
- RFD900x on Pegasus â Verify functioning
- ELRS Trainer â Verify functioning
Autonomy
- LTE telemetry ready
đŤ 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)
Flightline Team
Pre-Flight Preparation
Checklists
Incident Procedures
â˛ď¸ Flight Test Timeline
Date/Time | Action | Notes |
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0700 | Start charging batteries 4x 6s 5000mah (pegasus) 3x 3s 4000mah (houston) | |
0800 | Begin checklists | |
0900 | Briefing @ WARG Bay | |
0930 | Begin loading vehicles | |
1000 | Arrival at Flight Test Location | |
1030 | Flight Test Card #1 + 2: Opflow calib. | |
1030 | Flight Test Card #3: Houston obstacle avoidance | |
1200 | Packup | |
1230 | Lunch | |
1300 | Debrief | |
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đť DEBRIEF