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📋 Admin Preparation

Requested By

Yuchen Lin

Goal Summary

Test specific requirement for autonomy geolocation and object avoidance and potentially EFS objective

Status?

DRAFT / SUBMITTED / WAITING FOR SUB-TEAM REVIEW / APPROVED

Desired Airframe

Pegasus 1

Date(s)

18th May 2024

🥅 Testplan

 Card 1: Task 1

Test 1: Prove basic Flight performance

Procedure

Goals / Objectives

Knockoff Criteria

  1. Battery plugged in

  • Mission planner no pre-arm warning

  1. Bring the drone to the flightline

  • toggle safety switch

  1. Enable logging

  1. Take off the drone in Stablize

  • verify drone flight performance

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 10V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

  1. Switch Flight mode to Alt Hold

  • verify drone flight performance

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 10V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

  1. Switch Flight mode to Loiter

  • verify drone flight performance

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 10V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

  1. land the drone

  • disarm the drone, Toggle safety switch

 Card 2: Obstacle Avoidance

Test 1: Test Basic Obstacle Avoidance

Procedure

Goals / Objectives

Knockoff Criteria

  1. Set waypoints

  • Create a simple path for the drone to follow.

 

  1. Run main obstacle avoidance script

  • Ensure no errors.

 

  1. Set up the obstacle in course

 

 

  1. Battery plugged in

  • Mission planner no pre-arm warning

  • make sure AUTO is in one of the flight mode

  1. Bring the drone to the flightline

  • toggle safety switch

  1. Enable logging

  1. Arm the drone and set mode to AUTO

 

 

  1. Let drone start flying through waypoints in AUTO

 

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 10V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

  1. Wait for drone to approach the obstacle

  1. Ensure that drone stops and enters LOITER mode

  • Ensure the drone stops ~10m away from obstacle.

  • Ensure drone switches to LOITER mode upon detecting obstacle.

If the drone does not stop within 10m of the person and obstacle:

  • The person holding the obstacle steps out of flight path immediately.

  • Pilot manually intervenes and skips to Step 13 (landing and disarming drone).

  1. Remove the obstacle from the flight path and ensure the drone reenters AUTO mode

  • Ensure the drone resumes its mission.

  • Ensure drone switches to AUTO mode upon obstacle removal.

If drone does not resume to landing waypoint

  • Pilot manually takes over and proceeds to Step 13 (landing and disarming drone).

  1. Drone hovers over the 2nd waypoint (the landing waypoint)

  •  Ensure drone completes the mission.

 

  1. Pilot manually intervenes and lands drone

 

 

  1. Disarm the drone

  • disarm the drone, Toggle safety switch

 Card 3: Geolocation

Test 1: Test Basic Obstacle Avoidance

Procedure

Goals / Objectives

Knockoff Criteria

  1. Place blue landing pad on ground

 

  1. Set up waypoints

  • Create path that flies over the landing pad

 

  1. Run airside

  • SSH into the raspberry pi to check logs

  • Ensure no errors

  •  System crashes

  1. Battery plugged in

  • Mission planner no pre-arm warning

  • make sure AUTO is in one of the flight mode

  1. Bring the drone to the flightline

  • toggle safety switch

  1. Enable logging

  1. Arm the drone and set mode to AUTO

 

 

  1. Let drone start flying through waypoints in AUTO

 

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 10V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

  1. Wait for drone to complete path and hover over the 2nd waypoint (the landing waypoint)

  •  Ensure drone completes the mission.

 

  1. Pilot manually intervenes and lands drone

 

 

  1. Disarm the drone

  • disarm the drone, Toggle safety switch

Necessary Preparation

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

Necessary items:

  • RPI

  • Lidar

Flight characteristics needed:

  • Flight stability

Comms / Support needed:

🫂 Mandatory 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

Smile Khatri

8076320853

Mech

Yuchen Lin

6474256385

Hardy Yu

Manasva Katyal

2896985018

Andrew Shum

6473836886

Auto

Flightline Team

Name

Phone #

Role

Reason

 Smile Khatri

 

 

 

Yuchen Lin

Manasva Katyal

Pre-Flight 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

⏲️ Flight Test Timeline

Date/Time

Action

Notes

10:00

arrive bay

12:30

setup test and get ready to go

12:40 ~1:10

wait for the weather

1:10

first take off

1:20

second takeoff

1:30

Fixed the prop

1:40

return to service flight

💻 DEBRIEF

Flight test debrief report

Card 1 Test 1

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA

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