2024-03-23 Comp Sim #1
Pegasus Ready. Comp Pilots secured.
Requesting team: Leads/Directors/Comp 24 team
Items TBD:
Location (need 1.5km stretch where we can maintain VLOS)
Communication protocol for maintaining VLOS
Batteries avail
Admin Preparation
Requested By | Anthony Luo |
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Sub-Team Review (To be checked once reviewed by sub-team representative) | Mechanical Electrical EFS Autonomy Operations |
Date of Request | Mar 17, 2024 |
Goal Summary | Full competition program w/competition operator + Any auxilliary data to be accumulated on Houston |
Status? | Approved |
Desired Airframe | Pegasus |
Desired Date(s) | March 23/24. |
Testplan - to be filled out by requesting team
Necessary items:
Pegasus w/competition kit
rpi + full camera suite + cabin + humans
cv camera + 3 fpv cameras. One forward (neutral, maybe slightly down), One forward (up), One down.
Flight characteristics needed:
Most efficient speed est. 18m/s
Comms / Support needed:
Visual observers + chase vehicle for the drone
Attendees
Name | Phone # | Sub-team | Role |
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@Megan Spee |
| Director | Media, transportation |
@Nathan Green |
| Tech Director | PIC |
@Yuchen Lin |
| EFS | PIC |
@Aidan Bowers (Deactivated) |
| Advisor | Observation/Support |
@Ayush Ganguly |
| EFS | Testing RTK GPS |
@Andy Meng |
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| Observer |
Flightline Team
Name | Phone # | Role | Reason |
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@Yuchen Lin |
| PIC |
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@Nathan Green |
| PIC |
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Pre-Flight Preparation
Checklists
Incident Procedures
Flight Test Timeline
Date/Time | Action | Notes |
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9:15 | Briefing @ WARG Bay |
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9:45 | Arrival at Flight Test Location | about 5 cm of snow on entire skid pad |
10:15 | Flight Test Card #1 - Efficiency/Endurance, 3 Waypoints
| Flight 0 - couple hundred meters. Used blue controller. Took off, LTE dropped out after 5 seconds. Ended up returning to home - first flew up to 100 meters ~ 200 meters away to hit the first waypoint, then the 45 second no-telemetry count down kicked in. waypointnavspeed set to 18m/s. Actually flew at ~ 30m/s. Switched to RFDs. Flight 1 - 1.2 km total flight. all fully autonomous through mission planner. Took turns a little hard. When returning, flew over the firefighter zone. Fixed this for the next flyover. |
10:25 |
| Flight 2 - 1.2 km total flight. same as previous. Did not fly over firefighters. |
10:45 |
| Flight 3 - 1.2 km total flight. Had to check battery health immediately following this. Battery failsafed about 10 meters off the ground, tried to land, Nathan took over on the blue TX manually. Had to hit full throttle immediately after taking control just to stop the drone from falling. Batteries visibly sagged very hard and drone had a slightly rough landing (not a free fall, just a slow drop) from about 2 meters. Can be seen in IMG_1496 March 23 - OneDrive (sharepoint.com) |
10:50 | Flight test card 3 - RTK GPS checks
| Took ~ 5-10 minutes. Got a hold. |
11:30 | Debrief | Below |
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DEBRIEF
Card #1 Debrief
Flew 4 flights total.
Flight #1
Took off in typical configuration, experienced GS Lost Link after ~ 5 seconds. Continued mission until first waypoint, and then failsafed into RTL.
LTE was swapped for RFD900’s.
Flight #2
1.2km total flight
<<< to be updated >>>>
Action items
Reset the LTE module because current settings made it worse
made a board that switches RFD to LTE
takes PWM input
Do we have GPIO? -@aidan
if so we can just use this to switch transmission
Can we just measure RSSI?
LTE doesn’t report a RSSI.
need a LUA script to say ‘if disconnected' check after 20 sec and if still disconnected, switch over.
This should be ok for comp because control is still connected. ELRS.
check ground speed when ardu is set to 10 m/s (this time, it was set to 18 - at another flight test, if we have time)
wire lengths helped with video but didn’t help OSD cutting out
either shield it more or use a capacitor.
Use coax? @Aidan Bowers (Deactivated)
OSD overlay disappears when the drone is armed? @Ayush Ganguly @Nathan Green
do the ESCs have something to do with this
check that OSD isn’t being disabled (channel 5 lmao) at the same time as the arm switch
this is probably the case
For next flight test:
set behavior of battery failsafe to land (second failsafe) @Nathan Green
@Nathan Green Replace the RPI with an old phone.
Actually decreases by 80 grams.
Change OSD switch from channel 5 to something else.
Figure out how to capture DVR from the cameras.
Mission planner graphs