2024-06-11 Pegasus Arch Sync

Attendance

• @Nathan Green

• @Evan Janakievski

• @Nathaniel Li

• @Smile Khatri

• @Tong Zhang

• @Yash Gunturi Eshwara Vidya

• @Maxwell Lou

• @Derek Tang

• @Conall Kingshott

Align on Big Quad 2025

Create a new arch doc for this, cloned from 2023 arch document (90% is unchanged)

Objectives & Timelines

• Plans for peggy 2

  • Are we moving the electronics over or using all different ones?

    • If moving everything takes a long time we will have no working pegasus-sized drone

    • Buy parts to fill in the gaps on peggy 2, creating a second drone

    • Can compare pegasus 1 and 2 in real world performance

    • Could use peggy 1 as pilot training drone

    • Would need two more motors and a pixhawk 6X as major components

    • Mech make a new pixhawk mount for peggy 2

  • EE has to do wiring

    • Message on discord and coordiante time to complete this

  • Timeline for this, discuss in discord

  • Avionics cover still in R&D phase

    • Research by end of month, start construction end of July

• Any other major planned changes to the pegasus platform?

  • Angled landing gear? - gonna test out the new landing gear on Peggy 2 and then decide most likely

    • Not much of a benefit

  • Proper waterproofing - thermoforming might be possible

    • Built into avionics cover

    • No carbon fibre to avoid radio blockage

Discussion of airside vs groundside compute

• Compute

  • Raspi 5 8GB on airside

  • Powered via USB, EE needs to make harness/set up power source for 5V@5A

  • All airside compute

• Sensors

  • New angled downwards camera

  • Three or four rangefinders, one down (replace with TF03-I), one forwards, one (two) sideways (90 degrees yaw from forwards)

  • TF03-I needs configuring in Ardupilot https://discuss.ardupilot.org/t/application-of-tf03-can-in-pixhawk-ardupilot-firmware/97954

• Telemetry and control links

  • Try to get LTE working reliably on raspberry pi

  • Get a hat with a quectel modem

  • Phone is 210g, LTE hat is 70g

  • Could use phone just as internet connection, turn on USB/ethernet tethering and stop using AndrUAV

  • Streaming logs is possible over ELRS too

  • Test one ELRS link with mavlink-rc (SuperG and Iflight), add another Airport link (ranger and EP1) for logs and autonomy

• Autonomy goals and timelines, what support is required

  • Aiming for two weeks after midterms