📋 Admin Preparation

Requested By	Yuchen Lin
Goal Summary	Houston 2 first-time Flight test
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
Battery plugged in	Mission planner no pre-arm warning
Bring the drone to the flightline	toggle safety switch
Enable logging
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.
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.
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.
land the drone	disarm the drone, Toggle safety switch

Card 2: Task 2

Test 1: Tuning
Procedure	Goals / Objectives	Knockoff Criteria
Battery plugged in	Mission planner no pre-arm warning make sure autotune is in one of the flight mode
Bring the drone to the flightline	toggle safety switch
Enable logging
Take off the drone in 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.
Engage Autotune	one axis at a time	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.
Switch Flight mode to Loiter to back to landing area		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.
Land the drone with autotune mode	to permanently save the PID value	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.
Disarm the drone	disarm the drone, Toggle safety switch

Card 3: Task 3

Test 1: Test Basic Obstacle Avoidance
Procedure	Goals / Objectives	Knockoff Criteria
Set waypoints	Create a simple path for the drone to follow.
Run main obstacle avoidance script	Ensure no errors.
Set up the obstacle in course
Battery plugged in	Mission planner no pre-arm warning make sure AUTO is in one of the flight mode
Bring the drone to the flightline	toggle safety switch
Enable logging
Arm the drone and set mode to AUTO
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.
Wait for drone to approach the obstacle
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).
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).
Drone hovers over the 2nd waypoint (the landing waypoint)	Ensure drone completes the mission.
Pilot manually intervenes and lands drone
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
Evan Janakievski	206-247-2823	Mech
Yuchen Lin	6474256385
Hardy Yu
Ashish Agrahari	5195898378	Auto
Manasva Katyal	2896985018	EFS
Andrew Shum	6473836886	Auto	Testing obstacle avoidance
Tong Zhang	2897729826	Auto
Ben Lovegrove	5195917981	Mech

Flightline Team

Name	Phone #	Role	Reason
Smile Khatri
Yuchen Lin
Evan Janakievski
Hardy Yu
Smile Khatri
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
- 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

Please upload the picture to media digest!!!
- updated thanks a lot
Weather is a huge thing
- Glad doesn’t risk and fly in heavy rain
- Next time plan ahead of time

A prop just break during transportation
- suspect overtighten issue
- replace one props

Card 1 Test 1

Flight planning

Take-off, full stick deflection, and engage autotune

Flight test card requirements/objectives Performance

Control performance & payload situation

Control feels OK to Yuchen Lin in althold and loiter

Identified issue

Autotune does not start (drifting)
wait for the weather to be clear
- next time need better planning

Issue need to be RCA

Card 1 Test 1 retry 2

Flight planning

Take-off, full stick deflection, and engage autotune

Flight test card requirements/objectives Performance

Control performance & payload situation

Control feels OK to Hardy Yu , report drifting a lot issue in loiter (maybe setting and stick center)

Identified issue

When attempted landing, one prop break and fly out
- result: instable in landing and crashed
- no damage to the system
The other two prop are having crack
Conclusion replace three props in total

Issue need to be RCA

return to service

Flight planning

gentle takeoff and control check

Flight test card requirements/objectives Performance

Control performance & payload situation

Control feels OK to Yuchen Lin in loiter

Identified issue

Two of the regular nuts for props are loosen in the flight are cause thrust lost
- result leads to crash

Issue need to be RCA

Did not risk any valuable component and don’t have any issue with the rest of the system

none of the other system got damaged

Haven’t finish any objective for the day

need seperate session for pilot training

flying props are dangerous

Need to respec the props

Evan Janakievski will be available on 27th → next pilot training session time

2024-06-29 Houston 2 First Time Flight Test

📋 Admin Preparation

🥅 Testplan

Necessary Preparation

🫂 Mandatory Attendees

Flightline Team

Pre-Flight Checklists

Total 5 main system checked:

⏲️ Flight Test Timeline

💻 DEBRIEF

Flight test debrief report

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA