2024-04-06 Pegasus CS2

Owned by Megan Spee
Last updated: 2024-04-16 by Mena Azab
11 min read

 

Requesting team: Leads/Directors/Comp 24 team

Items TBD:

  • Test Procedures/Test Cards

Sections for flightline team to fill out:

  • Incident Procedures, communication preferences.

  • Test Cards

Admin Preparation

Requested By

@Megan Spee

Sub-Team Review

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

Mechanical
Electrical
EFS
Autonomy
Operations

Date of Request

Apr 4, 2024

Goal Summary

Test full pegasus system

Test groundside tracking antenna software

 

Status?

Desired Airframe

Pegasus, Houston

Desired Date(s)

April 6

Testplan - to be filled out by requesting team

Test 1 - Calibrate Magnetometer

Procedure

Goals / Objectives

Knockoff criteria

  1. Turn on the drone

 

 

  1. Perform magnetometer calibration on the flightline

  • Recalibrate the Magnetometer onboard

  • simulate magnetometer recalibration during competition.

  • Magnetometer calibration process incomplete

 

Test 2 - Manual Controls Checks

Procedure

Goals / Objectives

Knockoff criteria

  1. Turn on the drone

 

 

  1. Bring the drone to the flightline

 

 

  1. Enable logging

 

 

  1. Arm in loiter

 

 

  1. Test Full stick deflection in all axises

  • Test the control of the drone

  • Check if Yaw twitch issue still exist (observed at the previous flight test)

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

  1. Check no telemetry link lost and OSD malfunction issue

  • Check telemetry link

  • Check OSD quality during flight

  • OSD not displayed on the screen

    • Good to continue the flight

  • LTE lost link

    • RTL the drone

  1. Manually land the drone

 

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

Test 1 - Fly multiple laps

Procedure

Goals / Objectives

Knockoff criteria

  1. Turn on the drone and load the passenger

  • simulate with payload situation

 

  1. Execute the path_2024 to upload the mission 1 path

  • Make sure waypoint can be flashed onto the drone via dronekit

  • Waypoint flashing not successful

  • Wrong waypoint is being flashed onto the drone

  1. Bring the drone to the flightline

 

 

  1. Enable logging

 

 

  1. Arm in Auto

 

 

  1. Wait for the drone to complete 2 laps and land.

  • Make sure drone is following the flight path as expected

  • Check no LTE link lost during flight

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

Test 1 - Spline path flight

Procedure

Goals / Objectives

knock-off criteria

  1. Turn on the drone and load the passenger

  • simulate with payload situation

 

  1. Execute the path_2024 to upload the mission 2 path

  • Make sure waypoint can be flashed onto the drone via dronekit

  • Waypoint flashing not successful

  • Wrong waypoint is being flashed onto the drone

  1. Bring the drone to the flightline

 

 

  1. Enable logging

 

 

  1. Arm in Auto

 

 

  1. Wait for the drone to complete 2 laps and land.

  • Make sure drone is following the flight path as expected

  • Check no LTE link lost during flight

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

Test 1 - Pilot 1 control check

Procedure

Goals / Objectives

knock-off criteria

  1. Turn on the drone and load the passenger

  • simulate with payload situation

 

  1. Bring the drone to the flightline

 

 

  1. Enable logging

 

 

  1. Arm in loiter

 

 

  1. Apply Full stick deflection in all axises

  • Pilot getting familiar with pegasus control

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

  1. Move full speed in pitch and row

  • Pilot getting familiar with pegasus control

  • Pilot getting familiar with loiter position hold behavior when no pitch or roll input is given

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

  1. Centralize the stick

  • Pilot getting familiar with pegasus drifting behavior

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

  1. Manually land the drone

  • Just below 50% throttle to achieve smooth landing

 

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

Test 2 - Pilot 1 landing training

Procedure

Goals / Objectives

knock-off criteria

  1. Turn on the drone and load the passenger

  • simulate with payload situation

 

  1. Bring the drone to the flightline

 

 

  1. Enable logging

 

 

  1. Arm in loiter

 

 

  1. Hover the drone above the landing position

  • Pilot getting familiar with FPV goggles and pilot camera set up

  • GSO getting familiar with callout procedure(in case osd does not work or additional information)

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

  1. land the drone as close to the landing pad

  • Pilot practice to land the drone in the landing spot

  • Drone hit the nearby obstacles

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

Test 3 - Pilot 2 control check

Procedure

Goals / Objectives

knock-off criteria

  1. Turn on the drone

 

 

  1. Bring the drone to the flightline

 

 

  1. Enable logging

 

 

  1. Arm in loiter

 

 

  1. Apply Full stick deflection in all axises

  • Pilot getting familiar with pegasus control

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

  1. Move full speed in pitch and row

  • Pilot getting familiar with pegasus control

  • Pilot getting familiar with loiter position hold behavior when no pitch or roll input is given

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

  1. Centralize the stick

  • Pilot getting familiar with pegasus drifting behavior

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

  1. Manually land the drone

  • Just below 50% throttle to achieve smooth landing

 

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

Test 2 - Pilot 1 landing training

Procedure

Goals / Objectives

knock-off criteria

  1. Turn on the drone

 

 

  1. Bring the drone to the flightline

 

 

  1. Enable logging

 

 

  1. Arm in loiter

 

 

  1. Hover the drone above the landing position

  • Pilot getting familiar with FPV goggles and pilot camera set up

  • GSO getting familiar with callout procedure(in case osd does not work or additional information)

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

  1. land the drone as close to the landing pad

  • Pilot practice to land the drone in the landing spot

  • Drone hit the nearby obstacles

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 40V

    • QLAND immediately, disarm when landed.

    • Recover drone & gather state of batteries

    Lost link

    • Follow lost link procedures. Maintain vlos if possible.

    • Contact necessary local authorities.

Necessary items:

  • Pegasus

  • Houston

Flight characteristics needed:

Comms / Support needed:

Attendees

Name

Phone #

Sub-team

Role

Name

Phone #

Sub-team

Role

@Megan Spee

 

 

Media collection/ org / driver

@Smile Khatri

 

 

Hardware

@Yuchen Lin

 

 

flightline team

@Nathan Green

 

 

flightline team / Driver

@Tong Zhang

 

 

auto

@Balaji Leninrajan

 

 

auto-airside

@Georgia Vachon Westerlund

 

 

Media

@Amy Hu

 

 

 

 

 

 

 

Flightline Team

Name

Phone #

Role

Reason

Name

Phone #

Role

Reason

@Yuchen Lin

 

PIC

Practicing for Comp

@Nathan Green

 

GSO

 

 

 

 

 

Pre-Flight Preparation

Checklists

Software configuration correct

  • Compare against latest baselines and verify no params changed, or changes approved by comp-ft-team

  • Autopilot Orientation checked

  • Motors tested

  • 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)

    • 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

Date/Time

Action

Notes

Date/Time

Action

Notes

 

Leave WARG bay

 

 

Setup the drone

 

 

Card 1 test 1

 

 

Tried Card 1 test 2 (motor direction issue)

 

 

replace the prop and tape the landing gear

 

 

Card 1 test 2

 

 

Card 2 test 1 (abort)

 

 

Card 4 test 1 

 

 

 Calc the magfit

 

 

Card 2 test 1(1 lap only)

 

 

Card 3 test 1

 

 

Card 2 test 1 (adjusted laps)

 

 

Crashed huston

 

DEBRIEF

 

Flight test debrief report

Card 1

No logged is analysed for this section

 

Card 2

flight 1

 

image-20240406-183218.png
Aborted flight

 

image-20240406-183332.png

EKF value with distance

 

flight 2

 

 

Card 3

Card 4

 

Test 5: long distance testing

 

 

 

 

 

(The following section will only emphasize the important item from the flight test)