Attendance

Agenda

Propulsion + Control

• Pegasus 2

  • @Smile Khatri Mounting motors by end end of week

  • @Smile Khatri Frame wil be done by tommorow, adding in arms, landing gear is done, adding motors

  • motor mounts

• Pegasus 1

  • Good to fly

  • We should motor test before next flight test to be sure

• Mostly completed

Sensing

• Pegasus 2

  • Should test flight Pegasus 2 with minimum hardware then mount

  • we have spare opflow and gps

  • no spare range finder

  • technically a spare but it’s not great

• Pegasus 1

  • no changes needed

Video System

• Pegasus 1

  • Make camera mount more rigid

    • nathan added this requirement to reduce vibe

  • Replace downwards facing camera

    • current one has a green artifact

    • swap with a new one, coordinate with EE

    • mostly mounting it, @Smile Khatri

  • moving camera to new location so not blocked by cabin

    • right now it’s on left, we want on right (alongside with all the video stuff)

Command + Telem

Action items / blockers:

• Peggy 2

  • we have RFD, can do test flight with it

Updates:

• Autonomy Pathing

  • Task 2 is ready to be flight tested for next schedule flight test.

    • Just need to merge this PR and we are all set Discord - Group Chat That’s All Fun & Games

  • Task 1 code is complete.

    • Just need to test on Realflight Simulator

    • finalize wrestrc waypoints for flight test.

    • Task 1 is really long so we dont wanna do this this weekend?

    • what do we want deadlines to be for testing

Tracking Antenna - General

Action items / blockers:

• Tracking ant is just for control, not for video

  • Arduino tracking antenna is working and ready to be tested at a flight test

• Gemini stuff isn’t tested, but motion of antenna is

  • Hardy is working on code here

  • GPS is working

  • Possibly ready for this weekend, @Derek Tang @Hardy Yu to confirm

  • Would liek to test gemini this flight test this weekend

General Updates

• Everyone should read the CONOPS, especially competition goers to ensure we understand the objectives!

Flight test schedule

• This Weekend

  • Peggy 1 only

  • Simulate for different scenarios, more pilot testing

  • Flying near an airport is not legally viable …

  • Saturday return to service flight test

  • one set, check controls, auto-tune, new batteries

  • we could try flying faster to increase power consumption to match our task 1 speed

• Next Weekend

  • peggy 1

    • New antenna placement and RF filter testing (just prove system isn't terrible)

    • If anything isn't perfect this weekend, we use next weekend

  • Pegasus 2 flight test

    • We can use houston’s pixhawk

    • minimal hardware, prove functionality

    • nothing leaves peggy 1 for peggy 2, do not risk the comp intent system.

• Competition

General Questions

A big list of questions from @Daniel Puratich CONOPS review.

• When do we have the flight test grounds booked?

  • @Yuchen Lin booked!

  • we this weekend Saturday 11am to 6pm

  • we do not have it Sunday

  • this is true for this weekend and next weekend

• How fast we wanna fly?

  • 18km/hr is optimal for efficiency calculated

  • we found it to be a bit fast so we went down to 10km/hr

  • keeping it low is nice to avoid vibration issues

  • we could try new magfit parameters on a flight test to see if it fixed vibration

• Task 1 Laps

  • We are targetting three laps for competition

  • We’re limited by battery capacity and not time

  • 20 mins for three laps

  • gives us time to land safely

• What portions of task 1 and task 2 are we targeting to do autonomously?

  • All of task 1 can be theoretically done autonomously

  • We’ve done past three flight tests full autonomously

  • we need to set battery failsafe in ardupilot (and test this)

  • for task 2, everything except the landing portion, pilot will manually land.

  • What is autonomy’s role at competition? Answerred.

• Where do we plan on placing the task 1 tracking device?

  • its a couple centimeters we’ll figure it out

  • @Nathan Green

• Do we plan on covering the top of the drone to avoid exposed wires?

  • Waterproofing needs to be discussed

  • @Smile Khatri to make a meeting on this

  • Battery shrouds cover the main power leads

• Are we all onboard with Peggy 1 as competition aircraft with Peggy 2 as a backup?

  • no disagreement?

  • We could swap the landing gear, the peggy 2 gear is more rigid

• Will lighting be ready for this flight test? Realism points on the line here …

  • @Nolan Haines @Parker Lawrence-Valeriani please answer this stat ….

• Plan for completion of the pre-flight presentation? Due Thursday before comp.

  • May 23rd we need to submit, possibly @Emma Chan to lead this effort

• Does our GPS meet the Flight Readiness Button Requirement?

  • We’ve kept this on in software and will continue to do so.

• What is optimal altitude between 328 and 400 ft to fly at for task 1?

  • flying higher will take more power

  • 350 ft (106m or we round to 105m) target to give margin

• Task 2, how do we feel about landing pads? Which one do we want to aim for? General strategy here, I know we play it by ear.

  • B is beside the overhang

  • is there a passenger safety requirement here

    • Task 2 doesnt say anything about landing safely or in one piece, can we plan on possibility of crashing into lz c?

    • will look into safety requirements

  • the hard one is C with overhang

    • overhang will kill gps

    • Nathan’s more worried about gps denied than video link denied

  • Can we test gps denied to see if the op flow carries

  • we can play by ear based on RF signal strength

  • landing pad is where you need to decide

• Delegation of final report writing. 90 minute speed-run.

  • Last time people tried to prepare before then four or five worked on it until flight window. Then the remainning bit was filled in by all at the end.

• Does the cabin have “At least one clear and visible signage/instructions/placard for accessibility features”?

  • We don’t have this yet

  • The ramp meets this, add in a sign, target before next flight test @Evan Janakievski

• Can we add a kill switch test to this weekend’s flight test?

  • check for flight test

• Does Pegasus have a valid registration under Nathan’s name? If so, can we add it to the document we have to track numbers in confluence?

  • We have insurance

  • it’s approved for advanced use but

  • we need to get a registration number as well

  • Nathan has a number for a custom built drone, will go on confluence list

  • @Nathan Green

• What are we characterizing at the flight test?

  • How many laps are we targetting for competition task 1?

    • see above

• Review RFCs

  • 2024-04-22 Video System Power Changes

    • reason is for noise

      • happens when we throttle up

    • we need an EE solution, do what is best to do here

    • @Ishman Mann @Daniel Puratich

  • 2024-04-22 Phone vs. LTE

    • everyone agrees

    • @Nathan Green

  • Monster Mount

    • It has been abolished

    • no cv camera

    • opflow and rangefinder

    • new lidar mounted elsewhere

    • @Smile Khatri

    • 2024-04-19 Pegasus Rangefinder Change

      • we need to do some drilling for this flight test for this

    • 2024-04-22 Monster Mount Change

  • Cabin

    • https://uwarg-docs.atlassian.net/wiki/spaces/ARCHS22/pages/2506752020

      • already agreed on mech

    • 2024-04-22 Waterproofing

      • tbd EE @Nolan Haines @Jerry Tian @Neel Patel

    • Wire Covers

    • Label for accessibility

  • 2024-04-22 RF Electronics

    • @Daniel Puratich to do

  • 2024-04-22 Battery Information

    • four batteries

    • plus sign placement, that’s how we’ve done it

    • could other placements be more optimal? we have six turns total, it doesnt rlly matter