2025-03-10 Competition Architecture Sync
- Manasva Katyal
- Maxwell Lou
- Evan Janakievski
- Evan Zhao
Attendance
@Alison Thompson
@Balaji Leninrajan
@Daniel Puratich
@Derek Tang
@Evan Janakievski
@Evan Zhao
@Georgia Westerlund
@Maxwell Lou
@Nathan Green
@Roni Kant
@Smile Khatri
@Victoria Gee
@Manasva Katyal
@Emma Chan
@Ryan Scomazzon
@Tochi Okoro
@Derek Tang
@Nick Armstrong
Flight Test Updates
2025-03-07 Flight Test (2025-3-7 Pegasus 2 Task 1 Sim, KML messages over MAVLink, and foam plane pilot training )
Card #1 (Peggy IR Cam, Peggy 2)
KML not flown as Autonomy was unable to get it running
Flew Huston IR cam test, exact same process, but with Peggy
Noticed only different was more vibe, so will discuss ways to improve detection algorithm (likely will need some config tuning)
Mech solution most likely necessary to dampen the camera
Card #2 (Tuning, X500)
Flew a final performance eval flight
@Manasva Katyal analyzed logs, vibe and step response are within “very good” bounds as per Ardupilot docs
This marks the final official tuning related flight for the x500 airframe
Will come back to future of this airframe when discussing Task 1
next FT run tuning on peggy 2
Task 1
PLANNING: Drone Swarm??
As per AEAC response, we can bring multiple airframes and fly them simultaneously for Task 1
This is quite game-changing, and should be seriously considered
Does "Multiple UAVs are permitted for both tasks" mean that two separate vehicles can be flown during a single task simultaneously by a single team provided each individual aircraft meets the design and safety requirements and each aircraft has its own pilot holding an advanced license?
Your interpretation is correct. Any number of UAVs may be used for either task, as long as they all meet the operational requirements.
combining KML files might hurt autonomy points
flying multiple drones for task 1 seems ideal because we already have these platforms
five is flight line limit for people
two drones is kind of ideal for task 1 domain
do not crash into each other because then it’s joever
different flight altitudes for each drone?
don’t want to risk for task 2
Solution A
2 pilots
2 GSO
1 for battery swaps
Solution B
3 pilots → this seems like an upper bound
1 GSO
GSO runs strategy
GSO plays air traffic controller
determines which set of coordinates we will use
“drive coach” in FRC terms
GSO coordinates with competition organizers
practice coordinating in flight simulators
will be good way for the squad to practice together
will have all three ground stations at quick access
GSO also has to write down
1 person
batt swaps
running back and forth
getting tools n stuff
Legally advanced doesn’t need to be on the sticks
the number of advanced licenses is not a limiting factor
submitting task 1 kml after the flight window is a good plan b but throws away speed marks
following up offline, @Ryan Scomazzon to make thread.
STATUS: Autonomy Updates:
STATUS: MAVLink KML messages
At previous flight test, system was runtime erroring and thus was not flown
STATUS: Solutions to False Detections
operator and GSO inspection is the POR
STATUS: Geolocation of Beacons
Tested geolocation last term, which tells us that flying the drone really fast and really high make the geolocation worse (due to lag)
5-10m altitude has ok accuracy, 15m is worse (high probability of losing points), 20m is not comp viable
STATUS: Pathing
Currently working on searching for hotspots in concentric circles around the middle of the field – Evan Zhao
Not sure if we want to just do circles immediately. Signs of fire may be visible from flight line which would allow us to know there is a beacon close by and then we could begin search - @Evan Janakievski → answered by Balaji and this is what is being done
STATUS: EFS Tuning Airframe
Officially done the tuning cycle
Analyzed flight logs, step response and vibe are reduced and within “very good” thresholds according to Ardupilot docs
Will start process on Pegasus at the next flight test!
Thoughts on transitioning the airframe to a pilot training frame once pilot training program is started up?
Task 2
strategy wise
we have two peggy drones
two mins to fill and two mins to drain tank on a peggy drone so far in testing
there is a single source tank
alternate between each drone
packing both drones would be nice
how long it takes to align is a very important factor for strategy
onsite bandwidth to build up a second peggy payload is limited
mechanically not too bad
STATUS: Pump Ground Test
@Evan Janakievski @Ryan Scomazzon to update
Test was successful using power supply
About 2 minutes to fill and empty
Next test is to attempt it while using power from Pegasys
To be done Wednesday evening
STATUS: Flight Testing
Will be flown at the coming weekend’s FT
Other
Full Team Work Session
After discussion @Evan Janakievski , @Manasva Katyal deemed that full team worksession might not be the best for efficiency
Instead will run an auto bootcamp to bring up all onsite members in all aspects of operating the system (@Maxwell Lou )
Wednesday at 5 PM online and in person. E5 4106/4128. ALL AUTO MEMBERS INTERESTED IN GROUND TESTING ARE STRONGLY ENCOURAGED TO ATTEND OR WATCH RECORDING
Will right after that run a high level intro to the entire system we run on our drones (@Manasva Katyal + @Evan Janakievski )
Wednesday at 6 PM online and in person. E5 4106/4128. ALL MEMBERS INTERESTED IN DRONE-RELATED TASKS ARE STRONGLY ENCOURAGED TO ATTEND OR WATCH RECORDING
STATUS: EFS CAN Lighting Board
@Nick Armstrong to update
STATUS: Backup Airframe
Coming along, most stuff mounted, ardu setup
Waiting on some parts before it can fly
Will fly this weekend if parts arrive
video posted
needs a name
PLANNING: Transporting the drone
limit to bags will be determined once plane tickets are purchased
the limit will be fairly high so dont worry about it for now
PLANNING: Proof of flight video
we just do it
Flight Test Planning
Flight test scheduled for this coming weekend
2025-3-14 Pegasus 2 Task 1 Sim w/ KML messages over MAVLink, Peggy Tuning, Task 2 Practice
One set of batteries for tuning
One set of batteries for testing KML messages over MAVLink to help simulate
Remaining charge to be used for testing Task 2 payload
Proof of flight possibility
Ground Tests:
Autonomy ground test due Thursday EOD
Mech ground test due Thursday EOD
currently planning on wednesday evening
Asana
Look over asana dates and adjust/make updates