Requesting team: Directors
Items TBD:
Test Procedures/Test Cards
Sections for flightline team to fill out:
Incident Procedures, communication preferences.
Test Cards
đź“‹ Admin Preparation
Flight test approved
Requested By | |
|---|---|
Sub-Team Review (To be checked once reviewed by sub-team representative) |
|
Date of Request |
|
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”.
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:
đź«‚ 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 |
|---|---|---|---|
| |||
| |||
| |||
| |||
| |||
| |||
| |||
This section and remaining to be filled out by FTC and Flightline Team
Flightline Team
Name | Phone # | Role | Reason |
|---|---|---|---|
Nathan Green | Pilot | Fly the drone | |
Daniel Puratich | |||
Pre-Flight Preparation
Checklists
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
Incident Procedures
⏲️ Flight Test Timeline
Related to 2024-09-28 Autonomy Obstacle avoidance FT
Date/Time | Action | Notes | |
|---|---|---|---|
10:00 | Meet in bay |
| |
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 Happened
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
Ran all flights except final autotune with detailed IMU logging
Log Analysis
Stability
How stable was the drone with the new tune?
How good was the autotune solution according to the parameters?
We couldn't really fly it much because of the rain, but overshoots of a few degrees on all axies show up in the logs.
It felt much better than before to the pilot, but still doesn’t seem ideal when looking at the logs
Yaw looked good, but roll and pitch aren’t that great
Paths forward
run pitch and roll atune again → recommended
lower atune aggressiveness and run the full sequence again → maybe we get a better solution
learn to tune manually from this autotune solution → probably the best if we have skill or can learn
Vibration
Seemed okay in the flight
some clipping in VIBE reading above 30 m/s^2 but no problems with EKF, good most of the time
Packet Loss on Mavlink RC
Did the paccket
Have to check on mission planner laptop
zero damaged packet count
100% link quality in mission planner
Action Items
Next week spend more time analyzing the tune and retune if needed.
Checking packet loss on laptop
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