2024-09-28 Pegasus 2 Tuning/Range/Speed FT
- Nathan Green
- Megan Spee
- Vyomm Khanna
Requesting team: Directors
Items TBD:
Test Procedures/Test Cards
Sections for flightline team to fill out:
Incident Procedures, communication preferences.
Test Cards
Admin Preparation
Requested By | @Nathan Green |
|---|---|
Sub-Team Review (To be checked once reviewed by sub-team representative) | Mechanical Electrical EFS Autonomy Operations |
Date of Request | Sep 7, 2024 |
Goal Summary | Successfully fly Pegasus 2 without major incidents Validate that all sensors and peripherals are working correctly Evaluate tune and potentially retune |
Status? | In PROGRESS |
Desired Airframe | Pegasus 2 |
Desired Date(s) | September 28th 2024 |
Testplan - to be filled out by requesting team
Notes
apply magfit (will do before leaving)
motor direction and order check
log raw IMU data before and after filter
loiter takeoff
make sure no EKF failures
hover
full stick deflection all axes
land
review filters ArduPilot Filter Review , adjust if needed
if the existing filters were not good, rerun autotune with updated filters
Necessary items:
Pegasus 2
Controller
Video receiver monitor
Video ground station
Batteries
Flight characteristics needed:
Comms / Support needed:
Attendees
Name | Phone # | Sub-team | Role |
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@Nathan Green |
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@Smile Khatri |
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@Evan Janakievski |
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@Balaji Leninrajan |
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@Ben Lovegrove |
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@Camilo Artigas Alos |
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@Jane Zeng |
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@Daniel Puratich |
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@Victor Sun |
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@Vyomm Khanna |
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Flightline Team
Name | Phone # | Role | Reason |
|---|---|---|---|
Nathan Green |
| Pilot | Fly the drone |
Daniel Puratich |
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Pre-Flight Preparation
Checklists
Incident Procedures
Flight Test Timeline
Related to 2024-09-28 Autonomy Obstacle avoidance FT
Date/Time | Action | Notes |
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10:00 | Meet in bay |
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10:30 | Leave for WRESTRC |
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11:00 | Flights started |
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12:20 | Finished |
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12:40 | Bay Arrival |
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Flight Test Debrief report
Card 1 Test 1: Tuning
What Happened
Analyzed the initial tune, determined it was too aggressive
did not feel very stable in flight
Checked notch filter frequencies
took us a bit to setup parameters correctly
compared to in-flight FFT
Settled on using in-flight FFT as best outcome
Reset tune to default using initial tune config
Ran autotune again on all axes with aggressiveness of 0.07 (default is 0.1, range 0.05 to 0.1)
Evaluated new tune, new tune is felt less aggressive.
Needs more testing and log analysis
Ran all flights except final autotune with detailed IMU logging
Log Analysis
Stability
How stable was the drone with the new tune?
How good was the autotune solution according to the parameters?
We couldn't really fly it much because of the rain, but overshoots of a few degrees on all axies show up in the logs.
It felt much better than before to the pilot, but still doesn’t seem ideal when looking at the logs
Yaw looked good, but roll and pitch aren’t that great
Paths forward
run pitch and roll atune again → recommended
lower atune aggressiveness and run the full sequence again → maybe we get a better solution
learn to tune manually from this autotune solution → probably the best if we have skill or can learn
Vibration
Seemed okay in the flight
some clipping in VIBE reading above 30 m/s^2 but no problems with EKF, good most of the time
Packet Loss on Mavlink RC
Did the paccket
Have to check on mission planner laptop
zero damaged packet count
100% link quality in mission planner
Action Items
Next week spend more time analyzing the tune and retune if needed.
Checking packet loss on laptop
Card 2 Test 1: Range Test
NOT ATTEMPTED
It started to rain and we did not want to attempt this.
Card 2 Test 2: Speed Test
NOT ATTEMPTED