2024-05-14 AEAC Sync
Attendance
Mechanical:
@Smile Khatri
@Alison Thompson
@Evan Janakievski
Electrical:
@Parker Lawrence-Valeriani
@Omar El-Sawy
@Jerry Tian
Embedded Flight Software:
@Aidan Bowers (Deactivated)
Autonomy:
@Mihir Gupta
@Tong Zhang
Operations:
@Emma Chan
Directors:
@Daniel Puratich
@Nathan Green
Agenda
Power System
Check all XT90 connectors and replace as needed by Saturday,
some have cut heatshrink on the edges.
replace heatshrink on these if possible
should have a solid pulltest on each
complete before this weekend, could see it here
possibly @Omar El-Sawy with guidance from @Jerry Tian
more of a session to get people up to speed on this
Pegasus 2
ESCs are on it, PDB is on as well
motors are in flight test box
we have enough spares, could take Houston’s avionics
Propellers
spares in the flight test box
double check count of these before, actual count should exist somewhere
@Nathan Green to log what we think we have
Perception
Operating tracking antenna and path at same time for task 1
hard code lap count 3 on autonomy side and then run the that for comp
there’s some ideas, but needs to be ready for this weekend
forwarding mavproxy could solve
tracking antenna never writes
@Mihir Gupta may try looking into this
Lap Timing stuff for pathing
works on realflight
some yaw error is solvable, make comp waypoints look like wrestrc waypoints
#auto-path-optimization for discussion here! trc
Video System
Mech | New camera mount |
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Electrical | Caps added, noise issues fixed |
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LTE | LTE for camera? |
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Avionics
Upload new Magfit params generated last weekend to the drone before Saturday the 18th.
First time we did full throttle without dropout!
No random EKF failures last test with older magfit data
Take a full parameter backup after uploading Magfit params.
Will we need to make new ones at comp
hopefully not, ardupilot can calibrate based on gps location
we only did compass calibration twice ever on peggy
Airframe - General
Action items / blockers:
Pegasus 2? I don’t think it is in a state where it will be comp ready -Nathan
Are both drones flying this weekend?
Pegasus 2 is not ready electrically to fly
Target wiring before competition
Someone on EE going to comp here
More people involved here!
Lighting needs to be installed and working by Saturday or it will not be run at comp. (Mech/EE)
Possibly all four boards are functioning, all four ready to mount
will need new firmware to make this solve
biggest risk is that the boards will get smashed on the motor mounts
electrically this is a safe system as far as preventing fault propagation to other electrical systems. switched off in flight normally.
could use peggy 2? don’t want to smash the boards from flight vibration
we wanted to test this sooner
could have an extra piece to support this without the motor mounts
could do it so extra mount for these so the extra mount comes off before flight
connector situation would be a risk bc onboard
lot of risk for style points
could we test this weekend?
if we take it off now system is untested
could do it for pre-comp photos?
completely remove it for comp
dark photo
must go before FT this weekend
would be fixed color from FW
dont wanna change anything after FT
another battery just for this system, make it completely drop in
points for judging and photography for presentation
photography last year was huge
next year we be more ready!!
@Parker Lawrence-Valeriani to relay this message to team to make this happen before this weekend!
Lighting FW updates
4 boards flashed successfully
4 LEDs (boards 1, 2, 4, 5) were successfully flashed with firmware to cycle through states of lighting up the navigation, beacon, and anti-collision lights. Current firmware sets these colours to a fixed position, lighting them on and off when needed.
Encountered issues trying to modify the firmware to keep all LEDs on at all times (to maximize brightness); light pattern seems to break after ~5 seconds of being powered. Currently being tested on board 5.
See above stuff for context
Repair landing gear
this was done by @Smile Khatri
if no time at comp we can duct tape landing gear @Alison Thompson just not at FT lol
comp is just two landings total, we should have plenty of time here
Changes to landing gear
make it a bit heavier to reduce the change of breaking on landing
switch them all out before this FT if there’s time, @Smile Khatri thinks leave the old slotted current ones on for this FT
time vs risk vs reward thing, dont wanna switch after last FT
at comp switch out as they break, ones without slits (new ones) should be better
balance change is negligible compared to unbalanced electronics
Crash Landing?
passengers have seatbelts
last time people who lost drones for safety completely crumpled their cabins with passengers inside
we’ll ask the judges and plan accordingly
we wont worry about the legs (especially on task 2)
Cabin signage
@Evan Janakievski looking into those
“At least one clear and visible signage/instructions/placard for accessibility features”
wheelchair thing?
“At least one non-functional label (company name/logo, badge, etc.)”
WARG sticker? registration number? smthing
we have some small WARG stickers that could be interesting
could hack together sticker paper? @Nathan Green
Tracking Antenna - General
Action items / blockers:
Add spacer so that the pitch axis can be used.
Implement method in software so that the tracker knows its starting bearing.
Remove debug code that requires a serial monitor connection to run antenna tracker.
Updates:
Tracking antenna yaw axis was tested and working at the flight test last Sunday.
Mech | Pitch |
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Electrical |
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EFS | North Bearing | The calibration to the magnetometer seems really doable, we could also add tile compensation so the compass will still be correct if the tower is not leveled. Encountered some soft/hard iron calibration issues today, when trying to rotate the tracking antenna for 360, the calibration progress struggles to go up. This is the only piece that we need to make this work. Roni is trying to figure out why.
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Autonomy | Pathing | Done
TODO
Summary of Issues Found
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General Updates
We leave for comp in just over one week.
Autonomy lap timing script must be tested in realflight with wind and gusts before Saturday, or it will not be used at comp.
mentionned above, on pace, @Mihir Gupta @Aidan Bowers (Deactivated)
Need to determine how the antenna tracker and the autonomy timing script can work at the same time, this must be implemented by Saturday or we are going to hard-code a number of laps.
pymavproxy @Mihir Gupta @Aidan Bowers (Deactivated) @Tong Zhang
Flight test schedule
Saturday May 18th, last flight test before comp.
What are we testing this system?
task 1 script with tracking antennas
task 2 approach
practice callouts for comp points
More pilot trainning for task 2?
Nathan has done it twice, Yuchen hasnt done it at all
@Alison Thompson yes, 3d prints are fixable, @Smile Khatri prepping extras
@Nathan Green is intended pilot at competition, @Yuchen Lin possibly up to try
@Nathan Green try and go slow for a few attempts, then if legs remain hand off to Yuchen for practice.
do this last
todos
video recordings
We need to be at this flight test with our final comp configuration. The antenna tracker must be working and finalized by Saturday. If something is not run/not working at this flight test it will be scrapped for comp.
Questions
2024-04-22 RF Electronics Filters
Testing equipment
Ask Joe what he has?
Ask HAMs what they have?
lab in university?
Out of time for long term orders right now!
Digikey shipping could clutch up, to someone’s house so it doesnt get lost
3 bandpass for 2.4 full band for elrs then one for 1.3ghz (23cm) fullbad for video patch receiver
Lighting system stats and plan?
run for comp?
firmware worky?
talked about above
pre competition logistics and roles sync
@Daniel Puratich can schedule, we wanna do!
do it before flight test so people can do their rolle
we leave on thursday.
are we having people record all flights and uploading them somewhere? I haven't seen any videos but we should be, it will help with RCA and looking back at how the drone flew (@Alison Thompson
last FT we accidentally failed to record DVR
Videos are uploaded to media ingest for some of last FT but not all angles of landing as we should’ve done
record ground station comms, makes it easy to figure out what happenned
Is the battery condition for task 1 set on mission planner
we need to go through fail safes
@Aidan Bowers (Deactivated) bigest in person candidate here
Nathan can do remote but needs someone onsite.
task 1 extra thing!
15 points for racing to task 1, can we do it
the code does fullspeed, does right triangle, kind of all that can be done on auto side
increase climb speed in params (do before FT)