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Introduction

  • Follow up to 2024-08-28 Houston Atrium Cleaning

    • Identical safety plan

    • Same flight time, 9pm to 10pm, but on 2024-08-30

  • Attendees

  • Online Support throughout the day

  • Improvements/Changes

    • Better Pixhawk Mount

      • Pixhawk is now solidly bolted to the frame on a 3d printed adapter instead of sticky taped

    • Optical Flow Sensor Mounted

      • Hoping this would improve GPS denied position hold stability

    • Notch Filter, Quicktune, & Autotune completed

      • Hoping this would improve stability

    • Attempted to mount Rangefinder

      • We did not succeed in this.

      • The rangefinder we have seems to be RS-485 only and doesn’t support CAN

      • We have a new one coming intended for another aircraft we may be able to use in the future once it arrives.

      • The rangefinder was not mounted for the indoor flights, we just played with in the bay for the past two days.

Debrief

Media

  • Videos and Photos: 2024-08-30 Houston Field & E7

  • Pixhawk Ardupilot Logs

  • Some smaller media and conversations were posted in discord thread here.

  • We took some more photos of our outdoor test on the nice camera which we didn’t upload yet. All indoor media was captured on cell phones.

Flights

  • Tuning Outdoor Flight

    • takeoff flight test with flying in stabilize, loiter mode

    • Proceed optical flow sensor calibration

    • Proceed quick tune, and succeed quickly

    • Did autotune, each axis at a time. Each axis cost us one battery

      • Autotune aggressiveness is set to 0.1 (strong)

      • The batteries we have right now are pretty old, new ones are coming in

    • Tried flying in FlowHold flight mode without GPS

  • Indoor Flight 1

    • notch filer set to in-flight FFT

    • all indoor flight test is done in flowHold

  • Indoor Flight 2

    • notch filer set to in-flight FFT

  • Indoor Flight 3

    • notch filter set to static

  • Indoor Flight 4

    • notch filter set to throttle

Wins

  • Started up top and was able to make some tangible progress at cleaning.

  • Got more pilot practice.

  • Did not crash.

Issues

Oscillation Issue

  • Drone oscillation was visually worse than the previous indoor test

    • See media videos as evidence

  • Possible Causes

    • Autotune aggressiveness being set too high resulted in a poor tune. We really just want a very stable tune (lots of phase margin in all axes) so low aggressiveness may be best.

IMU Drift

  • Same issue as last time

  • See videos to show how offset it was when pilot landed or let go of the sticks

  • Unsure if this is solvable without scanning Lidar

  • Flowhold flight mode seemingly did not help

Cornered & Large Paper Airplanes

  • We were not able to blow the larger airplanes

  • Videos show this but airplanes trapped in the corners were tough to get

  • A piece of debris has a heavy weight with a long streamer

    • there is a large concern of getting it in the propeller and we should continue to be careful

  • Possible solutions

    • Increase the weight of aircraft

      • increases the downforce the drone produces

      • would require retuning (though we probably need to do this anyways)

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