2024-09-18 Comp Arch Sync

Pegasus 2

Assembly
- Wiring harness is complete for high power system
- Smaller subsystems not yet wired or mounted (Raspberry Pi, Video)
- Sensors are mounted (optflow, rangefinder, compass)
- Assembly is in a state where the drone can be flown on Saturday
Mech updates (@Alison Thompson )
- Improving clamping blocks to have heatsets pulled out less - not critical, will update when these are done as we will have to slightly disassemble to install
- Working on new PDB case
- Waterproofing discussion → we have a design for a ~400g polycarb dome, I think this is not worth bc we can transport less water, looking at pursuing latex only when needed waterproofing for top electronics
Configuration
- Parameters are copied from Pegasus 1 completed
- Failsafes need checking
- opflow needs calibration
- Lidar needs setting up
- Controller may need configuration changes
- Need to run accel, gyro, compass calibrations before flight (can do this on Saturday)
Comms
- MAVLink over ELRS is working, but has a limited bitrate (~13kbit/s)
- Future of comms architecture discussion?

Updates
Mech (@Sohee Yoon / @Alison Thompson )
- Need to have a discussion abt what changes we want to make here
  - Last term, we updated the base plate (hole placement and inc. length on one side), shortened the spacer rod, and made the antenna holders fit better
  - Currently, working on the antenna angle limiter, and possibly placement of heat set inserts (push in from the inner face), and other updates (?)
- My (Alison) current thoughts is to get this version working and make a new one with whatever big improvements we want based on that
  - @Sohee Yoon do you know what needs to happen to have this version operational?
- Improvement ideas:
  - how it mounts to tripod
EFS
- firmware dev is all done by @Roni Kant
- Looking to delegate the firmware integration test to someone this week
EE
- Parts not here yet, if we cant assemble the Tracking Antenna Controller by this weekend it will be first priority for next.

IMACS
- Monitor mount in progress - aim to finish by end of next week
- Is all hardware finalized? Can we start manufacturing the bottom plate that holds the switches?

Conops is released! https://www.aerialevolution.ca/annual-student-competition/
Summary
- Phase 1 Proposal
  - Competition paper outlining our UAV’s capabilities and our approach; business focused
- Task 1
  - Detect a fire in the distance (red balloons up to 5m off the ground)
  - Identify hotspots (IR beacons) in the fire area and map their locations
  - Visually identify what started the fire
- Task 2
  - Transport water from a source tank to the locations of the fire hotspots and deposit
Approach Ideas
- Mech
  - discuss a rough outline for this
  - Will start on designs for comp once we scope out what we want to try - mech design sprint starting tomorrow, ideas presented at work session on Sat, decide general direction
  - Control the amount of water released at once? All water at once? → we’re going with all water at once for now
  - Mech will have ideas doc by next comp sync
  - Max take off weight → 12kg
  - Peggy 2 → 1.375kg no electrical Need to get pump into the barrel
- Autonomy
  - Task 1
    - New airside system to detect hotspots
    - Fly to balloon manually? then airside detect hotspots?
  - Task 2
    - Only need one autonomous run for points
Questions
- How much of task 1 can we do manually?
  - As it’s worded now, can you get fully autonomy points if the pilot flies the drone manually outside of takeoff and landing?
  - Does “detection” include flying around autonomously searching?