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Planning

Scope

  • Houston

    • Testing new camera

      • We have a non-global shutter RPi Camera we need to test on the drone

      • Autonomy should try geolocation as well, need to get script ready

      • Should acquire data of just images (with nothing overlayed) so we can test algorithms

      • Note: Geolocation with the CV camera will be tested FIRST as it requires more setup. Then the CV camera will be swapped out for the IR camera, and the IR camera will be used to capture images.

    • Tracking Antenna

      • Must be tested and verified before 2024-11-06 to include in this flight test Omer Sajid

      • Pre Flight Test validations

        • Test drone selected - Houston chosen

        • Determine and setup link OTA link on Houston, RFD or ELRS

        • E2E Mavlink connection established (drone → mavproxy → mission planner + tracking antenna)

        • Basic tracking works (tracking antenna follows drone being walked in a 180° arc around it)

      • If ready, can be tested alongside another Flight Card to decrease necessary flights

    • Testing object detection?

Flight Cards

Flight Card 1

Autonomy Geolocation

Pilot: Evan Janakievski

GSO: Sam Zhang

What is being tested? To be filled out by flight card requesters Ashish Agrahari Maxwell Lou

  • Geolocation + Cluster estimation accuracy

    • Have more precise measurements of the location of landing pad relative to the drone take-off position.

    • Have a marker for starting location so we can put drone back there every time

      • Preferably switch on drone at starting location, or ensure that starting location is logged

    • Test different heights (ie 3-5m, 10m, 15m, 20m), each should be its own independent flight

    • Test different speeds? (optional, just go approximately same speed/slow if not testing this)

  • Local logging should work

Hardware to be installed (change status to success when installed or plan for installing at flight test is done)

  • CV camera

  • RPi

THINGS TO BRING

  • Measuring tape

  • Marker/tape/box or something to mark drone take-off position

Geolocation + Cluster Estimation Accuracy Procedure (HOUSTON)

Procedure

Goals/Objectives

Knockoff criteria

  1. Setup drone: (can be done at or before going to testing location?)

    1. Switch on drone, ensure the GOOD cv camera is connected

    2. (at time of writing, it is unclear if rc.local autostarting will work). SSH into pi, start airside

    3. Read live log output, compare flight controller log home location coordinates to phone’s gps

    4. Point drone’s cv camera at landing pad (keep a couple meters distance), check if geolocation is logging and data merge logs timestamps of detections and odometry

  • A good outcome is if:

    • flight controller log has correct home location and altitude (compare with a phone’s GPS)

    • drone is able to detect landing pad and geolocation logs the coordinates (also ensure timestamps are logged in data merge logs)

< list of reasons why you would want to stop the test >

  • Geolocation Logs are not working

  • If data merge or flight controller logs not working, leave decision up to the tester present?

  1. Either

    1. Switch on drone at takeoff location (Start airside system when drone at takeoff location)

    2. Get coordinates of drones takeoff location

  2. Get distance from home location to landing pad (measure it)

    1. OR takeoff on landing pad

  • Good outcome: Flight controller log has the home coordinates

  • Able to manually measure relative distance from takeoff location to landing pad

  1. Flying back and forth over the landing pad at different heights (3-5m, 10m, 15m, 20m)

    1. Each time a height changes, airside system should be restarted (each test should be an independent flight)

  • Good outcome: images show bounding boxes over landing pads, geolocation logs are outputting detection coordinates

Flight Card 2

IR Camera Test

Pilot: Evan Janakievski

GSO: Sam Zhang

What is being tested? To be filled out by flight card requesters Maxwell Lou Vibhinn Gautam

  • Collect test/training data using IR camera

  • Fly at different heights (ie 3-5m, 10m, 15m, 20m)

  • Fly at different speeds (ie for each height, do 3 slow passes and 3 fast passes)

    • These don’t need to be separate flights, can be done all in one go

Hardware to be installed (change status to success when installed or plan for installing at flight test is done)

  • IR Camera

  • RPi

IR Camera Test (HOUSTON)

Procedure

Goals/Objectives

Knockoff criteria

  1. Setup (prepare drone)

  • A good outcome is if rc.local succesfully runs and images are auto captured and stored in a designated folder

< list of reasons why you would want to stop the test >

  1. Hover at 3-5.

  • Best outcome: Image output is desirable (high quality and emitter light is clear visible with no discernible issues in image quality) and are successfully stored in a logging folder.
    Acceptable outcome: Images are successfully stored in a logging folder (we will see what why image quality is poor).

  1. Hover at 10m

Same as above

  1. Hover at 15m

Same as above

  1. Hover at 20m

Same as above

Flight Card 3

Obstacle Detection - Testing GuidedMode.

Pilot: Evan Janakievski

GSO: Sam Zhang

What is being tested? To be filled out by flight card requesters Andrew Shum

  • Upload a default mission, and then use guided mode to interrupt that mission (ie after some time)

  • After Guided Mode instructs the drone to move somewhere else, it should switch back to AUTO Mode and continue its original mission.

Hardware to be installed (change status to success when installed or plan for installing at flight test is done)

  • Lidar

  • RPi

Obstacle Detection/Guided Mode (HOUSTON)

Procedure

Goals / Objectives

Knockoff criteria

< list of reasons why you would want to stop the test >

Flight Card 4

Tracking Antenna Test

Pilot: Evan Janakievski

GSO: Sam Zhang

What is being tested? To be filled out by flight card requesters Omer Sajid Jeremy Zheng

  • Connection between TA and Mission Planner (MavProxy MavLink Forwarding)

  • Setup OTA link on Houston with RFD

  • Fly in 180° arc around TA (only testing yaw tracking capability)

  • If needed, possible Procedure is listed below (same as a past flight test)

Hardware to be installed (change status to success when installed or plan for installing at flight test is done)

  • Tracking Antenna

  • Tp-link Router

  • RFD

  • Houston Drone

  • WARG Laptop

TRACKING ANTENNA TEST PROCEDURE (HOUSTON)

Procedure

Goals / Objectives

Knockoff criteria

  1. Setup

LINK TO DOCUMENTATION FOR SETUP

  1. Hover altitude 5m in loiter.

  • Verify antenna is able to point towards the drone

< list of reasons why you would want to stop the test >

  1. Translation motion:

Move in periodic squares moving away from the tracking antenna.

  • Ensure that the tracking antenna remains pointed at the drone

  • tracking antenna loses track on the drone

    • Hover in place and wait.

Timeline

  • Batteries charging 9:30

  • Leave bay at 10:30

    • Drive to CIF

  • 10:50 begin Flight Card 3

    • Uninstall Lidar at the end of flight

  • 11:15 begin Flight Card 1

    • Flight 1

    • Flight 2

    • Flight 3

    • Flight 4

  • 11:50 begin Flight Card 2

    • Possible delay for installing IR camera for CV camera

    • Flight 1

    • Flight 2

    • Flight 3

    • Flight 4

  • 12:25 begin Flight Card 4

  • 12:50 head back to bay

  • 1:10 charge batteries to storage

  • 1:15 debrief and unpack

Attendees

Evan Janakievski

Sam Zhang

Maxwell Lou

Omer Sajid

Tochi Okoro

Key People Not Attending

If you’re directly involved in this stuff and cannot make this test please note it here. All onsite FTCs and subteam leads should fill this out please.

Debrief

Flight Card 1

Recap

Good

Bad

Flight Card 2

Recap

Good

Bad

Flight Card 3

Recap

Good

Bad

Flight Card 4

Recap

Good

Bad

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