Admin Preparation

Requested By	@Evan Janakievski @Manasva Katyal
Goal Summary	Validate Peggy 2’s flight for the term and IR Cluster Estimation
Status?	DRAFT / SUBMITTED / WAITING FOR SUB-TEAM REVIEW / APPROVED
Desired Airframe	Peggy 2
Date(s)	March 2nd, 2025

Flight Test Sign Up

@Evan Janakievski
@Manasva Katyal
@Tochi Okoro

Test plan

Flight Card 1

Peggy 2 Validation Flight

Pilot: @Evan Janakievski @Manasva Katyal

GSO: @Evan Janakievski @Manasva Katyal

Airframe: Peggy 2

What is being tested?

Handling of airframe and ensuring all systems work

Hardware to be installed, items to bring, batteries, etc (change status to success when installed or plan for installing at flight test is done)

IR camera (picamera) with IR bandpass filter
4x 6s batteries

FLIGHT CARD 1 PROCEDURE
Procedure	Goals / Objectives	Knockoff criteria
Setup	Prove Peggy 2 continues to fly stable	Unstable flight, not responding to inputs, or other errors
Take off and check directions of flight and all camera systems.	Prove the VTX continues to work

Flight Card 2

CLUSTER ESTIMATION TEST PROCEDURE (Pegasus)
Procedure	Goals / Objectives	Knockoff criteria
Setup	Get the script to run (either manually or auto start on bootup)	Script is not running
Place and measure distance from drone power-on location to IR beacons	Know true value of the IR beacon location and home location. Use phone GPS to determine IR beacon locations as a backup.
Hover above the IR beacons and fly a few passes at 5, 10, 15m altitude. (we are not doing 20m or above, the accuracy seems too low from previous flight tests)

Flight Card 3

FLIGHT CARD 3 PROCEDURE
Procedure	Goals / Objectives	Knockoff criteria
Setup	Ensure proper telem link to GCS.	Cannot achieve telem link.
Hover in Stabilise, AltHold, Loiter	Test tune of drone in all flight modes listed.	Drone too unstable to fly.
Fly Figure 8 Pattern	Fly the pattern required for the MagFit post-flight analysis.
Land in Loiter	Self explanatory.
Fly another flight	Fly another flight with all sorts of movements for FFT data collection
Post Flight Test Actions	Analyse the data and perform the required MagFIt and FTT Notch filter calibrations.

Necessary Preparation

Necessary items:

Peggy 2
8x 6s batteries
IR camera (picamera) with IR bandpass filter
All IR Beacons and 3s batteries for each
2 3s batteries for VTX
Measuring Tape
EFS Tuning Airframe
4 x 3s batteries for tuning

Mandatory Attendees

Name	Phone #	Sub-team	Role

Name	Phone #	Sub-team	Role
@Evan Janakievski	206-247-2823	Mechanical	Pilot/GSO
@Manasva Katyal		EFS	Pilot/GSO

Flightline Team

Name	Phone #	Role	Reason

Name	Phone #	Role	Reason
@Evan Janakievski		pilot/GSO
@Manasva Katyal		pilot/GSO

Pre-Flight Checklists

Software configuration correct
UAV ground testing
ground acceptance review system under test
Book WRESTRC

Mission plan clear
flightline roles assigned
Communication hierarchy established
Incident procedures & roles in-place & briefed to all flightline team members
Timeline for day-of clear
Battery charging plan, equipment management plan clear.
Transportation clear

Batteries in safety bag
Equipment
- Zip tie
- duck tape
- label maker
- Type c cable
- ELRS Gemini
- charged WARG laptop
- controller box
  - two controller
  - battery tester

Debrief
clean / store equipment if necessary

Flight Test Timeline

Date/Time	Action	Notes

Date/Time	Action	Notes
10:30 am	Briefing
11:00 am	Departure
11:30 am	Peggy 2 Validation Flight
12:00 pm	Break for snow
12:30 pm	Tuning AIrfrime Flights
12:45 pm	Depart
1:00 pm	Arrived back at bay

DEBRIEF

Flight test debrief report

Flight Card #1 (Peggy 2 Validation)

Preflight:
- Base system deemed functional
- Missing forward facing cam on VTX
  - Will be investigated this coming week by @Manasva Katyal @Evan Janakievski @Yuchen Lin
Flight #1:
- @Manasva Katyal Pilot, @Yuchen Lin GSO
- Took off in Stabilize
- Checked all axes with max deflection
- Everything working as it should
- Landed in Stabilize
Flight #2:
- @Manasva Katyal Pilot, @Yuchen Lin GSO
- Took off in AltHold
- Hovered at 5m, noted it held altitude decently well (some minor deviations)
- Checked all axes with max deflection
- Everything working as it should
- Landed in AltHold
Flight #3:
- @Evan Janakievski Pilot, @Yuchen Lin GSO
- Took off in Loiter
- Checked all axes with max deflection
- Everything working as it should
- Landed in Loiter

VIDEO OF FLIGHT VALIDATION, FLIGHT #2:
- IMG_0290.mov

TAKEAWAY:
- Everything other than VTX operational
- Tune is a little aggressive, there is a decent amount of oscillation when braking in Loiter
  - Could benefit from some PID tuning, @Manasva Katyal will start Peggy 2 tuning cycle in the next couple of flight tests

Flight Card #2 (Peggy 2 IR Cam)

WAS NOT FLOWN AS IT WAS TOO COLD FOR RPI TO WORK PROPERLY

(were not able to get PI to connect)

Flight Card #3 (Tuning Airframe):

Flight #1:
- Goal of flight was to gather MagFit data
- @Manasva Katyal pilot, @Yuchen Lin GSO
- Took off in Loiter
- Climbed to ~15 meters
- Flew four figure 8 patterns (went until battery about to hit failsafe, which happened quite quickly… ~4 minutes)
- Landed in Loiter
- @Manasva Katyal will analyze MagFit data this week after his midterms and tune compass
Flight #2:
- Goal of flight was to gather logs to tune FFT filter
- @Manasva Katyal pilot, @Yuchen Lin GSO
- Took off in Loiter
- Flew a bunch of different movements in all axes to get data for all attitudes
- Went until battery just above failsafe threshold
- Landed in Loiter
- @Manasva Katyal will tune FFT filters this week after his midterms

Overall takeaway
- Drone is now very stable (check 1:50 of the video below)
- IMG_0292.mov

Flight Tests

2025-3-2 Pegasus 2 Validation Flight and IR Cluster Estimation

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