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2024-09-28 Autonomy Obstacle avoidance FT

2024-09-28 Autonomy Obstacle avoidance FT

Owned by Sam Zhang
Last updated: 2024-09-28 by Daniel Puratich
3 min read

Requesting team:

Sections for flight test coordinator to fill out:

  • Flightline team

  • Location

  • Status

  • Drone

Sections for flightline team to fill out:

 

Admin Preparation

Status: Waiting for sub-team review

Requested By

 

Sub-Team Review

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

Mechanical
Electrical
EFS
Autonomy
Operations

Date of Request

Sep 23, 2024

Goal Summary

 

Status?

status:Waiting for Sub-Team Review

Desired Airframe

Houston A (and Pegasus 2?)

Desired Date(s)

September 28th 2024

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”.

Test 1: Test Basic Obstacle Avoidance

Procedure

Goals / Objectives

Knockoff Criteria

  1. Set waypoints

  • Create a simple path for the drone to follow.

 

  1. Run main obstacle avoidance script

 

 

  1. Set up the obstacle in course

 

 

  1. Battery plugged in

  • Mission planner no pre-arm warning

  • make sure AUTO is in one of the flight mode

 

  1. Bring the drone to the flightline

  • toggle safety switch

 

  1. Enable logging

 

 

  1. Arm the drone in AUTO

 

 

  1. Let drone start flying through waypoints in AUTO

 

  • Drone unstable

  • unable to establish VLOS

  • Timer threshold:

    • flight time exceeded 5 min.

    VBatt below safety threshold: 10V

    • 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. Wait for drone to approach the obstacle

 

 

  1. Ensure that drone stops and enters LOITER mode when detect object

  • Ensure the drone stops ~10m away from obstacle.

  • Ensure drone switches to LOITER mode upon detecting obstacle.

If the drone does not stop within 10m of the person and obstacle:

  • The person holding the obstacle steps out of flight path immediately.

  • Pilot manually intervenes and skips to Step 13 (landing and disarming drone).

  1. Remove the obstacle from the flight path and ensure the drone reenters AUTO mode

  • Ensure the drone resumes its mission.

  • Ensure drone switches to AUTO mode upon obstacle removal.

If drone does not resume to landing waypoint

  • Pilot manually takes over and proceeds to Step 13 (landing and disarming drone).

  1. Drone hovers over the 2nd waypoint (the landing waypoint)

  •  Ensure drone completes the mission.

 

  1. Pilot manually lands drone

 

 

  1. Disarm the drone

  • disarm the drone, Toggle safety switch

 

Necessary Preparation

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

Necessary items:

  • Houston A

  • Pegasus 2

  • Batteries

  • Controller

  • Verify Houston flying on Friday

    • Electrical components connected

    • Configure RFD

    • Verify ELRS working

    • Connect and Calibrate ESC

    • Motor direction check

    • Propeller direction check

    • Compass calibration

    • Pixhawk configuration check

    • Check with Autonomy good to go on Friday

    • Compass calibration one more time after components mounted

    • Migrate power module

  • Large artificial obstacle (whiteboard or another other item)

 

Flight characteristics needed:

Comms / Support needed:

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

@Smile Khatri

807 632 0853

Mech

  • mech + driving

@Andrew Shum

6473836886

Autonomy

Obstacle avoidance

@Vyomm Khanna

 

Autonomy

Obstacle avoidance

@Maxwell Lou

613-878-7986

Autonomy

Obstacle avoidance

 

 

 

 

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

Flightline Team

Name

Phone #

Role

Reason

Name

Phone #

Role

Reason

 

 

 

 

Pre-Flight Preparation

Checklists

Incident Procedures

Flight Test Timeline

Related to 2024-09-28 Pegasus 2 Tuning/Range/Speed FT

DEBRIEF

  • Wanted to fly the drone and do obstacle avoidance

  • buck converter for RPi usb c port broke off

    • was untested

    • known issue with these board with respect to poor solder

  • Collected lidar data on the ground to develop path deflection algorithm

  • Moving the drone is on pace for two weeks from now

    • added deadlines into asana for some of this

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