Requesting team: Directors

Items TBD:

Test Procedures/Test Cards

Sections for flightline team to fill out:

Incident Procedures, communication preferences.
Test Cards

📋 Admin Preparation

Flight test approved

Requested By	Nathan Green
Sub-Team Review (To be checked once reviewed by sub-team representative)	Mechanical Electrical EFS Autonomy Operations
Date of Request	07 Sep 2024
Goal Summary	Successfully fly Pegasus 2 without major incidents Validate that all sensors and peripherals are working correctly Evaluate tune and potentially retune
Status?	IN PROGRESS
Desired Airframe	Pegasus 2
Desired Date(s)	September 28th 2024

🥅 Testplan - to be filled out by requesting team

Notes
- apply magfit (will do before leaving)
- motor direction and order check
- log raw IMU data before and after filter
- loiter takeoff
- make sure no EKF failures
- hover
- full stick deflection all axes
- land
- review filters https://firmware.ardupilot.org/Tools/WebTools/FilterReview/ , adjust if needed
- if the existing filters were not good, rerun autotune with updated filters

Create ONE table per test-item. Eg: “Landing pad images over asphalt”, “landing pad images over grass”, “landing pad images over grass, high” should all be unique tables.

Use each expand to capture one series of tests, eg “Landing pad detection” or “Auto-tuning”.

Card 1: Tuning and Tune Evaluation

https://ardupilot.github.io/MethodicConfigurator/TUNING_GUIDE_ArduCopter

Test 1 - Further Tuning
Procedure	Goals / Objectives	Knockoff criteria
Ensure raw IMU data is being logged
Set mode to Loiter, arm, hover ~10m above ground for 30 seconds
Ensure no errors or failsafes
Full stick deflection in each axis
Land
Evaluate filters using online tool, adjust if needed, repeat test
If filters are good and were not good originally, repeat autotune on each axis	high (> 4.5) value for `ATC_ANG_RLL_P, ATC_ANG_PIT_P, and ATC_ANG_YAW_P`
Disable raw IMU data logging

Card 2: Range and Speed

Test 1 - Range Test
Procedure	Goals / Objectives	knock-off criteria
Check failsafe behaviour, auto speed, RTL altitude
Set mode to loiter
Arm, takeoff to 50m		Any EKF issues
Use guided mode to set a waypoint on the other side of WRESTRC		Any EKF issues
While the drone is flying, keep an eye on the link quality, tx power, and number of dropped packets	No connection loss, no dropped packets	Drone loses connection, will RTL Any EKF issues
Once the drone reaches the waypoint, enable RTL	No connection loss, no dropped packets	Any EKF issues
Drone lands

Test 2 - Speed Test
Procedure	Goals / Objectives	knock-off criteria
Set mode to loiter	Determine maximum flight speed, efficiency at each speed from log analysis
Takeoff, climb to 50m		Any EKF issues
Set a guided waypoint ~400m from the current location and fly there		Any EKF issues
Increase the speed parameter by 2 m/s and fly another ~400m stretch		Any EKF issues
Continue until speed maxes out, check max tilt value and increase if reasonable, then increase speed again		Any EKF issues
If drone cannot reach max speed parameter after an increase, the old value can be said to be “max speed”		Any EKF issues
Land

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

Necessary items:

Pegasus 2
Controller
Video receiver monitor
Video ground station
Batteries

Flight characteristics needed:

Comms / Support needed:

🫂 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
Nathan Green			Pilot
Smile Khatri			Mech lead tingz
Evan Janakievski			Mech
Balaji Leninrajan			Auto
Ben Lovegrove
Camilo Artigas Alos			Mech
Jane Zeng			Auto
Daniel Puratich
Victor Sun			Mech
Vyomm Khanna

This section and remaining to be filled out by FTC and Flightline Team

Flightline Team

Name	Role	Reason
Nathan Green	Pilot	Fly the drone

Pre-Flight Preparation

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

Incident Procedures

⏲️ Flight Test Timeline

Date/Time	Action	Notes
10:00	Meet in bay	Tried to leave at 10 batteries were still charging daniel woke up late delegate someone to charge batteries autonomy system was not wired
10:30	Leave for WRESTRC
11:00	Flights started
12:20	Finished
12:40	Bay Arrival

Flight Test Debrief report

Card 1 Test 1: Tuning

What Happenned

Analyzed the initial tune, determined it was too aggressive
- did not feel very stable in flight
Checked notch filter frequencies
- took us a bit to setup parameters correctly
- compared to in-flight FFT
- Settled on using in-flight FFT as best outcome
Reset tune to default using initial tune config
Ran autotune again on all axes with aggressiveness of 0.07 (default is 0.1, range 0.05 to 0.1)
Evaluated new tune, new tune is felt less aggressive.
- Needs more testing and log analysis

Log Analysis

Stability
- How stable was the drone with the new tune?
Vibration
Packet Loss on Mavlink RC
- Did the

Card 2 Test 1: Range Test

NOT ATTEMPTED
It started to rain and we did not want to attempt this.

Card 2 Test 2: Speed Test

NOT ATTEMPTED

2024-09-28 Pegasus 2 Tuning/Range/Speed FT