Big Quad 2025
- Daniel Puratich
- Smile Khatri
- Nolan Haines
- Nathan Green
Introduction
Starting from Project Pegasus described by 2024 System Architecture
Improving and maintaining the system in preparation for AEAC 2025
“Pegasus 2” is being built to this document’s specifications while Pegasus 1 will remain in it’s 2024 state mostly.
Table of Contents
- 1 Introduction
- 1.1 Table of Contents
- 1.2 Details
- 1.3 Electronics Summary
- 1.3.1 Desired System
- 1.3.2 Maiden Flight
- 2 BOM
- 2.1 Propulsion
- 2.2 Power
- 2.3 Controls
- 2.4 Peripherals
- 2.5 Groundside
Details
Improvements
Target additions before AEAC 2025 CONOPs
Pegasus 2 airframe is being built to this specifications. Once we get Pegasus 2 working we will retrofit some of the
Avionics cover
Harness optimizations
Wire AWG and length optimizations
Connector Optimizations
single MT30 for the phase leads instead of an extra connector as was done on peggy 1.
Landing gear changes
Gemini development
Ensure all components have non-scuffed (no tape/zip ties) to drone
Video System Cleanup
Video Antenna Mounting (without tape)
Maintaining
Improve system diagram and theory of operation document.
Targeting usage for next year’s competition
need to wait for CONOPs to lock it in though because it could be extremely biased toward fixed wing which is arguably more fun then quad?
Electronics Summary
Desired System
First high level summary of how we want the system to look for 2024!
Maiden Flight
Minimal setup of Pegasus 2 showing the maiden flight configuration of the system.
todo: draw
BOM
Propulsion
Propulsion | ||||
Part Function | Manufacturer | Part Name & Link | Qty | Notes |
Propellers | T-Motor | MF2211 | 4 Indiv 2 CW 2 CCW | May be reasonable replaced with other props of similar size/pitch |
Motors | T-Motor | Antigravity MN6007II | 4 Indiv | See Motor Selection Subpage |
ESC | Advanced Power Drives [APD] | 120F3[X]v2 | 4 | This can reasonably be replaced by any 12S capable ESC that is able to support BI-directional dshot and > 50A continuous |
Power
Power Distribution | ||||
Part Function | Manufacturer | Part Name & Link | Qty | Notes |
Batteries | Turnigy | Heavy Duty 6200mAh 6s 60C LiPo Pack w/XT90 | 4 | Investigate switching to custom Molicel P45B packs (4x 9000mAh) |
PDB | Advanced Power Drives [APD] | PDB500[X] | 1 | Could reasonably be replaced with any 12S capable PDB, or with a wire harness with external bucks. |
Power Monitor | Holybro | Holybro PM02D High Voltage | 1 |
|
BEC | Mateksys | BEC12s-Pro | 1-2 | The number of BEC uses depends on the number of subsystems that need voltage isolation which are present |
Controls
Flight Control System | ||||
Part Function | Manufacturer | Part Name & Link | Qty | Notes |
Autopilot | Holybro | Pixhawk 6x + SD Card (logging) | 1 | The autopilot standard gets revised every so often. The 6x is significantly improved from the 5x, and we recommend it for the competition drone. |
GPS | Holybro | Holybro M10 GPS | 1 Prim 1 Sec | |
Unknown | Future RTK system |
| ||
Rangefinder | Benewake | Benewake TF02-i LiDAR CAN | 1+ | |
Optical Flow Sensor (OFS) | CubePilot | HereFlow | 1 | |
Compass | Holybro | DroneCAN RM3100 Professional Grade Compass | 1 | Mount far from high current electronics Disable the Pixhawk’s internal compass |
Barometer | N/A | N/A |
| Inside pixhawk |
Autonomy computer | Raspberry Pi | Raspberry Pi 5 | 1 | Is mounted on the drone |
Peripherals
RF + Peripherals (grouped because it’s small bits of things) | ||||
Part Function | Manufacturer | Part Name & Link | Qty | Notes |
Control Link & Telemetry Link | HappyModel | EP1 TCXO Dual | 1 | 1 ELRS Diversity RX Airside run in gemini mode. Custom receiver will be nicer |
WARG | ELRS GemX Receiver | 1 | ||
iFlight | iFlight ELRS 2.4GHz True Diversity RX | 1 | ||
Video Transmitter | FlyWoo | VTX-1G3 | 1 | Test and choose one of these |
Aliexpress No-name | 1.3GHz 4W VTX | 1 | ||
FPV Cameras | Caddx | Baby Ratel 2 | 2 or 3 | Number dep. on pilot pref. TBD |
OSD | Holybro | Holybro Micro OSD V2 | 1 | |
Video Mux | Lumenier | 3-Way Multi Camera Video Switcher Board | 1 |
|
Lighting
| - |
|
| NAVLights |
- | - |
| Landing Lights | |
CV Camera | Hupuu | $200 CV Camera | 1 |
|
Groundside
Groundside | ||||
Part Function | Manufacturer | Part Name & Link | Qty | Notes |
Ground station computer | Lenovo | Thinkpad T490 | 1 | Alternatively: Any computer that can run Mission Planner. Will likely be changed for IMACS box when complete. |
1.3G Video RX | FlyWoo | DRX-12A | 1 | Prefer this |
ReadyMade RC | 900-1.3 GHz Receiver w/Tuner | 1 | Available as a backup. | |
5.8G Video relay (TX) | AKK | TS832 5.8 GHz VTX | 1 |
|
RC Control Link & Telemetry Link | WARG | ELRS Gemini / GemX | 1 | PREF GEMINI WHEN POSSIBLE SuperG is COTS Gemini Getting GemX working will be better |
RadioMaster | RadioMaster Ranger FCC | 1 | ||
BetaFPV | SuperG Nano Transmitter | 1 | ||
FPV Goggles | - | Pilot Preference |
|
|
RC Controller | RadioMaster | TX16s MkII ELRS Mode 2 HALL | 2 | |
Video Monitor | - | Generic 5.8 GHz Receiver |
|
|
Note: Add wifi router and IMACS when finalized | ||||