Requesting team: Directors

Items TBD:

Test Procedures/Test Cards

Sections for flightline team to fill out:

Incident Procedures, communication preferences.
Test Cards

📋 Admin Preparation

Flight test approved

Requested By	Nathan Green
Sub-Team Review (To be checked once reviewed by sub-team representative)	Mechanical Electrical EFS Autonomy Operations
Date of Request	07 Sep 2024
Goal Summary	Successfully fly Pegasus 2 without major incidents Validate that all sensors and peripherals are working correctly Evaluate tune and potentially retune
Status?	IN PROGRESS
Desired Airframe	Pegasus 2
Desired Date(s)	September 21st 2024

🥅 Testplan - to be filled out by requesting team

Notes
- motor direction and order check → good to do because maiden voyage
- stab hover
- tuning? → maybe not neccessary, will need to retune in the future anyways so …
- loiter, check all sensors worky, full throttle n pitch
- proof of flight cannot be done yet because needs to be comp configuration
- mavlink elrs range test?
- up the loiter max speed (so we dont have to do that first time at comp agqin)
- we should fly till we run outta batts, be nice to get flight time, we only have two sets, good to build flight hours on the frame

Create ONE table per test-item. Eg: “Landing pad images over asphalt”, “landing pad images over grass”, “landing pad images over grass, high” should all be unique tables.

Use each expand to capture one series of tests, eg “Landing pad detection” or “Auto-tuning”.

Card 1: Pegasus 2 systems check

Test 1 - Systems check on ground
Procedure	Goals / Objectives	Knockoff criteria
Visually inspect connections, measure main power input with multimeter to ensure no shorts	Verify drone is safe to plug in	Shorts found anywhere Airframe defects that will affect flight performance
Power up Pegasus 2 and TX16S. Power up video receiver station and monitor(s).
Verify connections (RC and Telem, same RX/TX)	RC and telemetry are working
Check compasses, motor directions, optical flow, lidar values, voltage and current readout, signal strength	Ensure all sensors and peripherals are working
Check cameras	Verify FPV working
Calibrate compass, accelerometer

Card 2: Maiden Flight

Test 1 - Pilot control check/in-air systems check
Procedure	Goals / Objectives	knock-off criteria
Set mode to Stabilize
Arm drone
Gradually increase throttle and watch for any oscillations	Ensure tune is good enough to fly	Severe oscillations Very poor flight performance
Hover in stabilize
Try all axes (pitch, roll, yaw) and ensure Pegasus 2 is relatively stable during these motions	Smooth movement in all axes No clipping, EKF stays below yellow threshold No compass errors	Severe oscillations Yellow/red EKF Compass errors (not including on takeoff) Any failsafes Gyro/accel drift Gyro/accel clipping
Full stick deflection test in each axis	Smooth movement Responsive control	Oscillations EKF issues Compass issues Any failsafes Gyro/accel drift Gyro/accel clipping
Fly for at least 3 minutes to generate sufficient data to run MAGFit	Fly around for 3+ minutes	Oscillations EKF issues Compass issues Any failsafes Gyro/accel drift Gyro/accel clipping
Land, run MAGFit, apply parameters

Test 2 - Loiter test
Procedure	Goals / Objectives	knock-off criteria
Set mode to Loiter
Arm drone
Gradually increase throttle and watch for any oscillations		Severe oscillations Very poor flight performance
Let the drone hover at ~5m altitude with no stick inputs	Position is stable No oscillations	Severe oscillations Yellow/red EKF Compass errors (not including on takeoff) Any failsafes Gyro/accel drift Gyro/accel clipping
Verify that all sensors are working	All installed sensors give reasonable outputs	A sensor isn’t working
Test each axis	Smooth movement Responsive control	Oscillations EKF issues Compass issues Any failsafes Gyro/accel drift Gyro/accel clipping
Full stick deflection	No oscillations No tune issues when braking	Oscillations EKF issues Compass issues Any failsafes Gyro/accel drift Gyro/accel clipping
Land

Test 3 - Autotune
Procedure	Goals / Objectives	knock-off criteria
Ensure autotune is configured on controller
Set mode to Loiter
Arm and take off
Hover

Explain what capacity you need, what needs to be mounted, etc.

Necessary items:

Pegasus 2
Controller
Video receiver monitor
Video ground station
Batteries

Flight characteristics needed:

Comms / Support needed:

🫂 Attendees

This is a section for all attendees from your subteam which will be present for this flight test. (because they are testing their products, or otherwise)

Name	Sub-team	Role
Nathan Green		Pilot
Daniel Puratich		vibes
Sam Zhang		FTC
Alison Thompson	Mechanical	Mech lead
Georgia Vachon Westerlund		Exec Director
Evan Janakievski	Mechanical	Attendee
Andrew Chai	Electrical	Attendee
Meghan Dang	EE	vibes

Megan Spee		CAR media and vibes

This section and remaining to be filled out by FTC and Flightline Team

Flightline Team

Name	Role	Reason
Nathan Green	Pilot	Fly the drone

Pre-Flight Preparation

Checklists

Week-Before checklist

Software configuration correct
Compare against latest baselines and verify no params changed, or changes approved by comp-ft-team
LTE tested
Autopilot Orientation checked
Motors tested
Prop direction check
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)
- Specific requirement from Daniel Puratich
  - no exposed pad without solder on ESC caps
    - i did this on peggy 2
    - someone will need to do with peggy 1
  - ESCs all have a touch of hot glue to secure cap to board
- 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

Day-before checklist

Mission plan clear
flightline roles assigned
Communication hierarchy established
Incident procedures & roles in-place & briefed to all flightline team members
Timeline for day-of clear
Battery charging plan, equipment management plan clear.
Transportation clear

Day-of checklist

Batteries in safety bag
Equipment
- Zip tie
- duck tape
- label maker
- Type c cable
- ELRS Gemini
- Saleae Logic Analyzer
- charged WARG laptop
- spare bag for small electronics
- controller box
  - two controller
  - battery tester
- VTX box
execute

Total 5 main system checked:

Power system(battery and connection)
Propulsion system(motor and propeller)
Controller system(Control links and ground station system)
Sensory system(sensors)
Video system (VTX)

Debrief
clean / store equipment if necessary

Incident Procedures

⏲️ Flight Test Timeline

Date/Time	Action	Notes

📋 Admin Preparation

🥅 Testplan - to be filled out by requesting team

🫂 Attendees

Flightline Team

Pre-Flight Preparation

Checklists

Total 5 main system checked:

Incident Procedures

⏲️ Flight Test Timeline

Flight test debrief report

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA

2024-09-21 Pegasus 2 Maiden Flight

📋 Admin Preparation

🥅 Testplan - to be filled out by requesting team

🫂 Attendees

Flightline Team

Pre-Flight Preparation

Checklists

Total 5 main system checked:

Incident Procedures

⏲️ Flight Test Timeline

Flight test debrief report

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA

Flight planning

Flight test card requirements/objectives Performance

Control performance & payload situation

Identified issue

Issue need to be RCA