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2023-12-02 Flight Tests

2023-12-02 Flight Tests

Owned by Yuchen Lin
Last updated: 2023-12-25 by Daniel Puratich
12 min read

 

Sections for requesting team to fill out:

  • Admin preparation

  • Test Cards / Test Plan

  • Mandatory Attendees

Sections for flight test coordinator to fill out:

  • Flightline team

  • Location

  • Status

  • Drone

Sections for flightline team to fill out:

 

Admin Preparation

Your status should read “submitted” when you submit the FTR to our Flight Test Coordinator.

Once the coordinator approves, and a date/location/drone has been assigned, the status will change to “waiting for sub team review”. Once all sub-teams have reviewed and signed off, the status will change to “approved”

Requested By

@Yuchen Lin

Sub-Team Review

(To be checked once reviewed by sub-team representative)

Mechanical
Electrical
EFS
Autonomy
Operations

Date of Request

Nov 28, 2023

Goal Summary

Pegasus AutoTune

Status?

APPROVED

Desired Airframe

Pegasus

Desired Date(s)

Dec 2nd in Cornfield

Testplan - to be filled out by requesting team

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, Test #1: Pegasus un-tuned parameter check

Prerequisite

Objective

Knock off Criteria

  • Initial Frame paramaters set on Pegasus

  • using Alt-A utility tool

  • Familiarize pilots with system response of untuned drone.

  • Airframe unstable

  • Battery < 19.8 v overall, < 3.3v/cell

  • Flight Time > 20 minutes

Procedure

Outcome

  1. Switch into Attitude/Stabilize mode using FM1 button

  • Drone beep,

  • Mission planner shows “STAB” or “Stabilize”

  1. Takeoff in Attitude mode, control check in each direction.

    1. Full stick deflection on each axis

    2. Full stick deflection “rocking” on each axis

  • Watch for drone response, how “long” it takes to get to the setpoint.

  1. Switch to Loiter mode, using FM3 button

  • Drone beep

  • Mission planner shows “LOIT” or “Loiter”

  • Drone holds position

  1. Full stick deflection, same as (2)

  • Watch for drone response

  • Watch for drone stability

  1. Land

  • Don't crash

Card 2, Test #1: Pegasus Autotune, Pitch

Prerequisite

Objective

Knock off Criteria

  • Autotune research done.

  • Aircraft solid, screws tightened, etc.

  • ATUN_Axis set to pitch

  • get pilots/GSO familiar with the procedure of how to autotune

  • Autotune houston in pitch axis

  • autotune complete

  • Airframe unstable

  • Battery < 19.8 v overall, < 3.3v/cell

  • Flight Time > 20 minutes

  • Nearby obstacles distance < 30m

Procedure

Outcome

  1. Switch into Loiter using FM3 button on tx16.

  • Drone beep,

  • Mission planner shows “LOIT” or “Loiter”

  1. Takeoff in Loiter, fly to a safe distance and around 8 -12 m altitude

  • Watch for drone stability, ensure systems OK.

  1. Switch into Autotune by using FM5 button on TX16.

  • Drone beep

  • Mission planner shows “ATUN” or “Autotune” in HUD

  1. Wait for Autotune to complete

  • Pilot: Watch for drone stability and clear of objects. Do not touch sticks unless necessary

    • (still have control ability when nearby object become close)

  • GSO: Watch for autotune messages, make sure no failures. Enusre order of messages correct.

  1. Autotune complete message received

  • Crosscheck atune complete

    • GSO:

       

    • Pilot: observe drone not significant movement

  1. Switch into Loiter, fly back to a closer distance

  • This will revert to old tune.

  • Ensure system OK, sensors OK

  1. Switch into autotune, land, disarm, power and power cycle + battery check

  • This will apply new tunes and then save them.

  • We will do a 3-axis controls check once all autotune is complete.

Card 2, Test #2: Pegasus Autotune, YAW

Prerequisite

Objective

Knock off Criteria

  • Autotune research done.

  • Aircraft solid, screws tightened, etc.

  • ATUN_Axis set to YAW

  • get pilots/GSO familiar with the procedure of how to autotune

  • Autotune houston in pitch axis

  • autotune complete

  • Airframe unstable

  • Battery < 19.8v overall, < 3.3v/cell

  • Flight Time > 20 minutes

  • Nearby obstacles distance < 30m

Procedure

Outcome

  1. Switch into Loiter using FM3 button on tx16.

  • Drone beep,

  • Mission planner shows “LOIT” or “Loiter”

  1. Takeoff in Loiter, fly to a safe distance and around 8-12 m altitude

  • Watch for drone stability, ensure systems OK.

  1. Switch into Autotune by using FM5 button on TX16.

  • Drone beep

  • Mission planner shows “ATUN” or “Autotune” In HUD

  1. Wait for Autotune to complete

  • Pilot: Watch for drone stability and clear of objects. Do not touch sticks unless necessary

  • GSO: Watch for autotune messages, make sure no failures. Enusre order of messages correct.

  1. Autotune complete message received

  • Crosscheck atune complete

    • GSO:

       

    • Pilot: observe drone not significant movement

  1. Switch into Loiter, fly back to a closer distance

  • This will revert to old tune.

  • Ensure system OK, sensors OK

  1. Switch into autotune, land, disarm.

  • This will apply new tunes and then save them.

  • We will do a 3-axis controls check once all autotune is complete.

Card 2, Test #3: Pegasus Autotune, Roll

Prerequisite

Objective

Knock off Criteria

  • Autotune research done.

  • Aircraft solid, screws tightened, etc.

  • ATUN_Axis set to roll

  • get pilots/GSO familiar with the procedure of how to autotune

  • Autotune houston in pitch axis

  • autotune complete

  • Airframe unstable

  • Battery < 19.8v overall, < 3.3v/cell

  • Flight Time > 20 minutes

Procedure

Outcome

  1. Switch into Loiter using FM3 button on tx16.

  • Drone beep,

  • Mission planner shows “LOIT” or “Loiter”

  1. Takeoff in Loiter, fly to a safe distance and around 8-12 m altitude

  • Watch for drone stability, ensure systems OK.

  1. Switch into Autotune by using FM5 button on TX16.

  • Drone beep

  • Mission planner shows “ATUN” or “Autotune” in HUD

  1. Wait for Autotune to complete

  • Pilot: Watch for drone stability and clear of objects. Do not touch sticks unless necessary

  • GSO: Watch for autotune messages, make sure no failures. Enusre order of messages correct.

  1. Autotune complete message received

  • Crosscheck atune complete

    • GSO:

       

    • Pilot: observe drone not significant movement

  1. Switch into Loiter, fly back to a closer distance

  • This will revert to old tune.

  • Ensure system OK, sensors OK

  1. Switch into autotune, land, disarm.

  • This will apply new tunes and then save them.

  • We will do a 3-axis controls check once all autotune is complete.

 

Card 3, Test #1: Pegasus tuned parameter check

Prerequisite

Objective

Knock off Criteria

  • Autotune card 2 Test 1-3 complete.

  • Characterize tuned system response

  • Compare against un-tuned system response.

  • Airframe unstable

  • Battery < 19.8v overall, < 3.3v/cell

  • Flight Time > 20 minutes

Procedure

Outcome

  1. Switch into Attitude/Stabilize mode using FM1 button

  • Drone beep,

  • Mission planner shows “STAB” or “Stabilize”

  1. Takeoff in Attitude mode, control check in each direction.

    1. Full stick deflection on each axis

    2. Full stick deflection “rocking” on each axis

  • Watch for drone response, how “long” it takes to get to the setpoint.

  1. Switch to Loiter mode, using FM3 button

  • Drone beep

  • Mission planner shows “LOIT” or “Loiter”

  • Drone holds position

  1. Full stick deflection, same as (2)

  • Watch for drone response

  • Watch for drone stability

  1. Land

  • Don't crash

Necessary Preparation

Necessary Preparation

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

Necessary items:

  • Ground test complete

  • LTE configured properly

Flight characteristics needed:

  • Require long flight endurance (needs more batteries)

Comms / Support needed:

  • TBD

Mandatory 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

Name

Phone #

Sub-team

Role

 @Hardy Yu

 

 

 GSO

@Nathan Green

 

 

PIC Driver

@Yuchen Lin

 

 

FTC

@Daniel Puratich

 

 

Director

@Georgia Westerlund

 

 

Media rep

@Conall Kingshott

 

 

Mech rep

@Alison Thompson

 

 

Mech rep

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

Flightline Team

Name

Phone #

Role

Reason

Name

Phone #

Role

Reason

  @Nathan Green @Alison Thompson

 

 Driver / Pilot

 

@Daniel Puratich

 

FTL

 

@Conall Kingshott

 

Mech rep

 

Pre-Flight Preparation

Checklists

Raspberry Pi can collect images with the $200 CV Camera
Test the imaging repository with the Raspberry Pi and confirm images are taken and stored on the SD card
Edit the rc.local and ensure that image collection code runs on Raspberry Pi startup
Raspberry Pi can be powered onboard the drone. Need help from the Electrical team.
Raspberry Pi and $200 CV Camera are mounted onto Houston. The $200 CV Camera needs to be pointing in the downards direction.. Need help from the Mechanical team.
Flight test location booked
Drone Registration -
Houston
Tubie
Pegasus → flying on vanny registration
Ensure we have good props for Pegasus after last tests crash
Telemetry Verified Functional - @Nathan Green to verify with new LTE connectors
@Nolan Haines Schematic for and delegating manufacturing of anti-spark connector configuration
@Daniel Puratich to update template with all the new things he added to this template this time
@Nathan Green add to Onedrive logs from last time
@Georgia Westerlund uploading past test images to onedrive media
@Conall Kingshott potentially slop on landing gear
@Hardy Yu purchase request for more crossfire Rxs
Pilot scheduled - @Daniel Puratich
Test Plan - @Daniel Puratich
Initial frame parameters set - @Nathan Green
Verify we have wrestrc card
Systems test - @Daniel Puratich
Check flight controller orientation - @Nathan Green
Check motor spin & rotation direction - @Nathan Green
Check DSHOT configuration (DS300, bidir?)
Motors plugged into correct pins on pixhawk
Verify motors 1,2,3,4 in motor test go in the correct order
Verify motors in a,b,c,d configuration is correct order
verify rotational response of motors is correct (with more than just audio), move the drone around and check each motors reponse individually
Check transmitter mappings
Verify communication links
VTX/RX - no video on any of these aircrafts
Controller
Groundstation
Ammeter working - @Nathan Green
Verify data logging - @Nathan Green checked SD card, its working
Transportation logistics finalized
Booking SDC vehicles - @Hardy Yu to decide, @Daniel Puratich
Assigning drivers - @Daniel Puratich Done see above.
Renting any needed equipment (trailer? generator? etc.) - @Daniel Puratich not needed.
Setting Failsafes, @Nathan Green
normal failsafe set to land
disabled battery failsafe, dont want it to randomly land
GCS failsafe set to always land after 5 seconds of no GCS
Confirm the Raspberry Pi is securely attached to the drone.
Confirm the image collection software runs when the Raspberris powered on.
@Nathan Green configuring the GPS so both GPS’s are used
@Nathan Green Setting the controller profile on the radio master
SDC Vehicle key collected → machine shop is closed, we will not be able to grab the key @Hardy Yu
Batteries Planned for (DON'T LEAVE CHARGING OVERNIGHT)
Drone batteries & spares - 2 sets for pegasus, 3 houston batteries
Transmitter batteries - 70% on transmitter
Battery tester/indicator
On-site kit together - @Daniel Puratich announcing checklist
First Aid Kit
Ground station if applicable
Laptop
Antenna / Receivers
Transmitter
Extra Water
Power cords / Extension cables
Wrenches - none needed
Allen keys (metric ones) - three sets
Knives
Tape
Rope/string - not needed
Zip ties
Velcro
Radios
Safety goggles - not needed
Fire extinguisher - we dont have one, theyre out of our budget gg
Spare foam - not needed
hot glue gun w/ hot glue stick - not bringing that
harnesses
ratchet set
battery removed for velcro (thin 3d printed thing) for pegasus
Wrestrc
Airfame assembled
ESCs/flight controller wired
Radio equipment tested
Channel mappings
Flight modes
Motors tested
Check DSHOT configuration (DS300, bidir?)
Motors plugged into correct pins on pixhawk
Verify motors 1,2,3,4 in motor test go in the correct order
Verify motors in a,b,c,d configuration is correct order
verify rotational response of motors is correct (with more than just audio), move the drone around and check each motors response individually
Wiring secured (Harnessing)
End-to-end test (neglecting props)
Props require a little gold ring which we did not use during the strap down test, may have caused extra vibrations.
Check the center of gravity - CG is off quite a bit but because only running two batteries and much less hardware then anticipated it will be reasonable for this test
All components not on the airframe that are required should be in the flight box (e.g. props & prop nuts)
Airframe payload - Raspberry Pi + $200 Camera
Mount to airframe pointing downwards (exact angle doesn’t really matter)
Spare parts
Props
Houston props
Peggy props
Airframe components (landing struts, arms, etc)
wings nuts - n/a
prop nuts
any detached components such as angle mount - none needed
Hardware to assemble these components
Spare Electronics - we dont have much
ESCs
Motors
Flight controllers
Receiver
Ground station Software updated
Take the WREST RC entrance card - must do!!
Only attach props directly before flight (keep off at all other times)
Get snacks - na, short test
Mission Briefing - by @Hardy Yu
Read the flight plan to the team (that was made a week ago)
Purpose of flight
Plan of action
Success criteria
Delegate and brief on flight line roles
Safety Briefing
Key flight characteristics to observe
Key system characteristics to observe
Measurements to be made
“Knock off” criteria (anyone can call)
Specify Pegasus Flight area planned, hard land and disarm boundaries set. Ensure visual observers are aware of this and can visually verify boundaries. - @Hardy Yu
Air Frame
Check all antennas, ensuring they are secure and in good condition
Check the battery emplacement and secure attachment and ensure there are no cracks
Check that all lights are operating normally
Check that all sensors are secured and clear of any obstructions
Check that the GPS is receiving satellites and providing a navigation solution
Inspect top and bottom of air frame arms for cracks, loose parts, or signs of damage
Landing Gear
Check landing gear is secure
Inspect skids or wheels, especially attachment points
Motors
ensure all motors free-spin correctly
Ensure wires secured and not at risk of shorting
Ensure motor mounts secure.
Propellers / Rotors
Ensure propeller is secured
Check for nicks, chips or cracks
Ensure prop direction is correct
Ensure prop mounting is secure
Batteries
Inspect to ensure there is no signs of swelling, external leaking or other defects
Battery wiring and connectors from the battery are connected securely
Batteries (and spares) are adequately charged
Wires are not pinched
Control Station / Receivers / Transmitter
The battery and spare batteries if required are adequately charged
Control Station device and cables are properly connected and functioning
All flight interfaces are functioning normally
Safety
Good visibility and safe wind speed
Surrounding is free of obstacles
Crew far from drone
General Site Survey
Are there other people on the property
Ground Recording / drone footage on
Ensure pilot with @Hardy Yu for support
Takeoff in stabilize
fly in stabilize
land
battery swap?
repeat
Upload Logs
Remove Props
Check SD card and view images taken from the Raspberry Pi
Ensure that pictures were taken during flight
Ensure camera quality is good
If the camera quality is not good then adjust camera settings and try again
Air Frame
Check all antennas, ensuring they are secure and in good condition
Check the battery emplacement and secure attachment and ensure there are no cracks
Check that all lights are operating normally
Check that all sensors are secured and clear of any obstructions
Check that the GPS is receiving satellites and providing a navigation solution
Inspect top and bottom of air frame arms for cracks, loose parts, or signs of damage
Landing Gear
Check landing gear is secure
Inspect skids or wheels, especially attachment points
Motors
ensure all motors free-spin correctly
Ensure wires secured and not at risk of shorting
Ensure motor mounts secure.
Motor test with props
Propellers / Rotors
Ensure propeller is secured
Check for nicks, chips or cracks
Ensure prop direction is correct
Ensure prop mounting is secure
gold rings to props
Batteries
Inspect to ensure there is no signs of swelling, external leaking or other defects
Battery wiring and connectors from the battery are connected securely
Batteries (and spares) are adequately charged
Wires are not pinched
Control Station / Receivers / Transmitter
The battery and spare batteries if required are adequately charged
Control Station device and cables are properly connected and functioning
All flight interfaces are functioning normally
Safety
Good visibility and safe wind speed
Surrounding is free of obstacles
Crew far from drone
General Site Survey
Are there other people on the property
Ground Recording / drone footage on
Takeoff in stab
Check mapping and orientation correct
hover ~30-50cm above ground briefly
go up and do half-deflection control checks
Takeoff in stabilize mode
Stabilize mode full stick deflection tests
switch to althold
full deflection control check
Switch to poshold/loiter if all ok.
land (can be done sooner if anything wack)
Upload Logs
Remove Props

Incident Procedures

Flight Test Timeline

Date/Time

Action

Notes

Date/Time

Action

Notes

 

Date/Time

Action

Notes

Date/Time

Action

Notes

1:00 pm

arrive bay and do pre-flight checklist

 

2:00 pm

Briefing @ WARG Bay

 

2:20 pm

Arrival at Flight Test Location

 

 

Flight Test Card #1…… (eg: Capturing data, tuning, etc)

 

 

Flight Test Card #2

 

 

Flight Test Card #…….N

 

 

 

 

 

 

 

DEBRIEF

To-do

 

Debrief

 

@Nathan Green will upload the flight log

Tune all 3 axis with one set of battery

no injuries

landing gear plugged into mud and turn over

controller need to be set before flight test

flight mode

disarm more accessible

turn over && on ground disarm

All of these major issues should be addressed via Root Cause Analysis Forms:

motor test

upload action

tune battery percent to be accurate

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