Make sure to update the Title following the format “Jan 01, 2020 Flight Test”

Flight Preparation

Requested by:	@Anthony Luo
Required Sub-teams	Mech Electrical EFS CV Operation Sys-Int
Requested Date	Jan 25, 2023
Location and Time	Location: WREST RC, Time: June 25, 2023, 4:00 - 9:00pm
Summary & Goals	Position Accurarcy Testing with new setup & preliminary auto mission testing
Approved?	Yes / Pending / No

Required Persons During Test

Name	Phone #	Role	Reason

Name	Role	Reason
@Anthony Luo	Flight Test Lead	Creating documentation Booking the test flight Creating a thread in #flight-staging
@Anthony Luo @Megan Spee	Pilot in Command	Aircraft preparation Filling out documentation
@Andy Meng	Safety	Making sure everyone is safe Bringing Med kit

Other Attendees

Name	Role

Name	Role
@Nathan Green

Drivers & Seat Arrangement

Driver	Vehicle Type	Passenger

Driver	Vehicle Type	Passenger
@Anthony Luo	Dodge RAV	@Megan Spee
@Andy Meng	Personal Vehicle	@Nathan Green

Success criteria

Tests	Success Criteria	Requirements	Outcome

Tests	Success Criteria	Requirements	Outcome
Takeoff sanity check
Single GPS RTL	Setting a landing pad as the RTL position. Check to see how close the drone land to the landing pad therefore estimate the accuracy of the positioning.	Having sensors setup and configured beforehand, so by the time when testing, we can turn on/off, plug on/off to switch between the testing items.	Records:
Single GPS + Opflow RTL
Dual GPS RTL
Dual GPS _ Opflow RTL
Autotune!

Testing Timeline

Date/Time	Action

Date/Time	Action
6.24 Saturday	Aircraft Assembly
6.24 Saturday	Pre-flight Preparation
6.25 2:00 am	Required persons for preflight preparation show up at bay Flight test lead breifly assign task for preparation work
6.25 3:15 am	Flight brief from flight test lead
6.25 3:30 am	Loading onto the Car Take your water bottle with you. Go washroom before we leave!
6.25 3:35	Drive to the test ground
6.25 4:00 - 7:00 pm	Flight Testing
6.25 7:30 pm	Debrief

Aircraft Incident Procedures

Incident	Procedure

Incident	Procedure
Crash	Outline the procedure for who will go to handle the aircraft in the event of a crash, what should be done, were emergency equipment is, etc.
Flyaway	Outline the procedure for flyaways. List relevant contact information for local authorities and plans of action to recover control of the aircraft
Configuration Error	Outline steps to take in the event of a configuration issue with the aircraft
Injury
Property Damage

Week-Before To-Do List

Drone Registration

Drone Registration Number:

Flight test location booked

Pilot scheduled

Test Plan (What we are testing)

Subteam action items (for flight readiness)

Transportation logistics finalized

Booking SDC vehicles

Assigning drivers

Renting any needed equipment (trailer? generator? etc.)

Day-Before To-Do List

Pre-Departure Checklist

Pre-flight Safety Checklist

Post-Flight Checklist

Item	Owner

Item	Owner
	ALL MEMBERS PRESENT

Flight Test Debrief

Left E7 around 15:50
Arrived @ wrestrc around 16:20
props on & stabilized up down around 16:40
ran simple auto mission from one end of the field to the other.
ran autotune on yaw
- pilot error switched OUT of autotune before landing. will look at recovering values.
ran multiple longer auto missions
- need to enable takeoff in auto
- need to add takeoff & land points (can use @ current location)
- upped WPNAV_SPEED to 20000
- tried using splines (may be slower overall for a quadcopter).
- noted that GPS landing over multiple repeated missions is within +/-10cm. No RTK → just GPS blend.

Flight Test Post Mortem

Auto-tune works (very well)
spline generation works.
Auto-takeoff/landing missions work with incredibly accuracy (takeoff/land from same landing pad repeatably)
can use max WP_Nav Speed reliably (ardupilot will self limit itself).

Auto-tune procedure
Weather

Auto-tuning results

Auto-tune was run only on yaw, but yielded incredibly good results at eliminating overshoot and oscillation. Auto-tune was invoked in position hold mode with light (10-15km/h max) winds in variable direction, and was able to maintain position within 10m radius of position where autotune was invoked.

Yaw desired vs actual at end of autotune → note how closely desired tracks actual, and the minimization of oscillations.

Way-point navigation.

Waypoint missions were used to verify the functionality of GPS blending, where we would run an auto-mission and evaluate landing accuracy. Over 5 auto-missions, Vanny was able to reliably land on the same landing pad with at most +/-5 cm of variance.

Auto-missions were also tested with splined waypoints, and by changing WPNAV_SPEED from the default (10000) to (20000) [m/s], although it’s unclear whether or not that max speed was ever reached as ardupilot may have limited the system in order to maintain attitude authority.

Flight Tests

June 25, 2023 Flight Test