Requesting team: Leads/Directors/Comp 24 team

Items TBD:

Test Procedures/Test Cards

Sections for flightline team to fill out:

Incident Procedures, communication preferences.
Test Cards

Admin Preparation

Requested By	@Megan Spee
Sub-Team Review (To be checked once reviewed by sub-team representative)	Mechanical Electrical EFS Autonomy Operations
Date of Request	Apr 4, 2024
Goal Summary	Test full pegasus system Test groundside tracking antenna software
Status?
Desired Airframe	Pegasus, Houston
Desired Date(s)	April 6

Testplan - to be filled out by requesting team

Test 1 - Calibrate Magnetometer
Procedure	Goals / Objectives	Knockoff criteria
Turn on the drone
Perform magnetometer calibration on the flightline	Recalibrate the Magnetometer onboard simulate magnetometer recalibration during competition.	Magnetometer calibration process incomplete

Test 2 - Manual Controls Checks
Procedure	Goals / Objectives	Knockoff criteria
Turn on the drone
Bring the drone to the flightline
Enable logging
Arm in loiter
Test Full stick deflection in all axises	Test the control of the drone Check if Yaw twitch issue still exist (observed at the previous flight test)	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
Check no telemetry link lost and OSD malfunction issue	Check telemetry link Check OSD quality during flight	OSD not displayed on the screen Good to continue the flight LTE lost link RTL the drone
Manually land the drone		Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.

Test 1 - Fly multiple laps
Procedure	Goals / Objectives	Knockoff criteria
Turn on the drone and load the passenger	simulate with payload situation
Execute the path_2024 to upload the mission 1 path	Make sure waypoint can be flashed onto the drone via dronekit	Waypoint flashing not successful Wrong waypoint is being flashed onto the drone
Bring the drone to the flightline
Enable logging
Arm in Auto
Wait for the drone to complete 2 laps and land.	Make sure drone is following the flight path as expected Check no LTE link lost during flight	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.

Test 1 - Spline path flight
Procedure	Goals / Objectives	knock-off criteria
Turn on the drone and load the passenger	simulate with payload situation
Execute the path_2024 to upload the mission 2 path	Make sure waypoint can be flashed onto the drone via dronekit	Waypoint flashing not successful Wrong waypoint is being flashed onto the drone
Bring the drone to the flightline
Enable logging
Arm in Auto
Wait for the drone to complete 2 laps and land.	Make sure drone is following the flight path as expected Check no LTE link lost during flight	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.

Test 1 - Pilot 1 control check
Procedure	Goals / Objectives	knock-off criteria
Turn on the drone and load the passenger	simulate with payload situation
Bring the drone to the flightline
Enable logging
Arm in loiter
Apply Full stick deflection in all axises	Pilot getting familiar with pegasus control	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
Move full speed in pitch and row	Pilot getting familiar with pegasus control Pilot getting familiar with loiter position hold behavior when no pitch or roll input is given	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
Centralize the stick	Pilot getting familiar with pegasus drifting behavior	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
Manually land the drone	Just below 50% throttle to achieve smooth landing	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.

Test 2 - Pilot 1 landing training
Procedure	Goals / Objectives	knock-off criteria
Turn on the drone and load the passenger	simulate with payload situation
Bring the drone to the flightline
Enable logging
Arm in loiter
Hover the drone above the landing position	Pilot getting familiar with FPV goggles and pilot camera set up GSO getting familiar with callout procedure(in case osd does not work or additional information)	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
land the drone as close to the landing pad	Pilot practice to land the drone in the landing spot	Drone hit the nearby obstacles Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.

Test 3 - Pilot 2 control check
Procedure	Goals / Objectives	knock-off criteria
Turn on the drone
Bring the drone to the flightline
Enable logging
Arm in loiter
Apply Full stick deflection in all axises	Pilot getting familiar with pegasus control	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
Move full speed in pitch and row	Pilot getting familiar with pegasus control Pilot getting familiar with loiter position hold behavior when no pitch or roll input is given	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
Centralize the stick	Pilot getting familiar with pegasus drifting behavior	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
Manually land the drone	Just below 50% throttle to achieve smooth landing	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.

Test 2 - Pilot 1 landing training
Procedure	Goals / Objectives	knock-off criteria
Turn on the drone
Bring the drone to the flightline
Enable logging
Arm in loiter
Hover the drone above the landing position	Pilot getting familiar with FPV goggles and pilot camera set up GSO getting familiar with callout procedure(in case osd does not work or additional information)	Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.
land the drone as close to the landing pad	Pilot practice to land the drone in the landing spot	Drone hit the nearby obstacles Drone unstable unable to establish VLOS Timer threshold: flight time exceeded 5 min. VBatt below safety threshold: 40V QLAND immediately, disarm when landed. Recover drone & gather state of batteries Lost link Follow lost link procedures. Maintain vlos if possible. Contact necessary local authorities.

Necessary items:

Pegasus
Houston

Flight characteristics needed:

Comms / Support needed:

Attendees

Name	Phone #	Sub-team	Role

Name	Phone #	Sub-team	Role
@Megan Spee			Media collection/ org / driver
@Smile Khatri			Hardware
@Yuchen Lin			flightline team
@Nathan Green			flightline team / Driver
@Tong Zhang			auto
@Balaji Leninrajan			auto-airside
@Georgia Vachon Westerlund			Media
@Amy Hu

Flightline Team

Name	Phone #	Role	Reason

Name	Role	Reason
@Yuchen Lin	PIC	Practicing for Comp
@Nathan Green	GSO

Pre-Flight Preparation

Checklists

Software configuration correct

Compare against latest baselines and verify no params changed, or changes approved by comp-ft-team
Autopilot Orientation checked
Motors tested
Sensors outputs healthy & within range
Controller input mappings correct
Controller input choices correct for pilot preferences
Wireless trainer tested & working per pilot preferences.

Hardware (wiring)

Wires are not too tight or too loose (comfortable, not strained, not flapping around)
- No cut/exposed wires
- Shrouding is neat + presentable
- Solder joints look good
  - no cracks
  - no corrossion
  - no exposed contacts (unless expected)
- Connectors fully plugged in
- Connectors in good health

Hardware (airframe)

Bolts secure (nothing loose)
- Carbon fiber not cracked
- 3D prints not failing / crushed / cracked
- No loose items

Hardware (groundstation)

ELRS Gemini tested & Working
- Logging correct
- Data looks correct
- Control tower tested & working
Tracking antenna x2 (control + video) (mechanical)
- Servos secure
- Hardware (antennas) secure
- No cracks/bends/chips in polycarb/aluminum
- Gears / shafts look healthy
- Grease if necessary
Tracking antenna x2 (control + video) (electrical)
- Electrical components secure
- Power delivery / signal wires secure, no cracks/corrosion/damage
Video System
- goggles(?)
- Monitors(?)
- Video tower tested & working
Laptop w/mission planner configured correctly.
- LTE Link tested working

Flightline Kit

Spare motors
Spare props
Spare tools
- Metric allen keys
- Socket set
- Pliers (flatnose + needle nose)
USB-C cable (short & long)
Soldering iron + heat shrink + spare cables
Power supplies for ground station computer
Ground station computer
Spare bolts
Radio Controllers

Incident Procedures

Flight Test Timeline

Date/Time	Action	Notes

Date/Time	Action	Notes
	Leave WARG bay
	Setup the drone
	Card 1 test 1
	Tried Card 1 test 2 (motor direction issue)
	replace the prop and tape the landing gear
	Card 1 test 2
	Card 2 test 1 (abort)
	Card 4 test 1
	Calc the magfit
	Card 2 test 1(1 lap only)
	Card 3 test 1
	Card 2 test 1 (adjusted laps)
	Crashed huston

DEBRIEF

Flight test debrief report

Card 1

No logged is analysed for this section

Card 2

flight 1

Aborted flight

EKF value with distance

flight 2

Card 3

Card 4

Test 5: long distance testing

(The following section will only emphasize the important item from the flight test)

Flight Tests

2024-04-06 Pegasus CS2