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Introduction

 Attendance

Please add your name here if you are present during the meeting! Feel free to add it in advance if you plan on attending.

 Summarizing Recent Flight Tests

  • Daniel Puratich

  • 2023-11-18 Flight Tests

    • Tuned Three Axies successfully on Houston!

  • 2023-11-19 Flight Tests

    • New camera mount pog

    • Flew drone manually

    • Collected images on first flight

    • RPi did not work after that

      • suspecting temperature?

        • if temp was around zero,

      • Low voltage on power

        • possible issue on buck converter or temperature

        • looking at RPi readout

        • should temperature test buck board

        • possibly wiring voltage drop is the issue as well?

      • Should check temperature operating range of all autonomy components as we get into winter

 Competition Admin

Systems

 Airframe Structure

  • Conall Kingshott Nathan Green Jonathan Di Giorgio

  • Frame is currently disassembled following the flight test

    • arms removed currently

      • nothing was noted wearing early

      • should inspect holes? Conall Kingshott will look tmrw, but should be goooooood

    • wear that happened to wires is most likely from monster mount install so not going to focus on correction to the rest of arm stuff

    • awaiting heatshrink for wires to reassemble

  • We considered options for removing thread-to-wire contact in the system

    • Conall Kingshott thinks this isn’t necessary. Do others disagree?

      • Bolts that aren’t threaded on the top in such a way that would address this are not easily available

    • Lots of effort, likely wasnt the problem

 Cabin
 Avionics & Battery Shrouds

  • Andy Zhang Conall Kingshott Alison Thompson

  • Shrouds are made and cut

    • done on bandsaw instead of waterjet bc pre thin

  • layups that were done last week are good

  • Gotta look at connecting them to clips.

    • Will use some sort of adhesive.

 Monster Mount (Sensors: Rangefinder, Optical Flow, & Autonomy Downward Camera)

  • Smile Khatri Mena Azab

  • Going to consider covering bolt threads.

    • Possibly heat shrink?

  • Flight test to test these!

    • see below!

 Aerodynamic Simulations
 Sensors (Non-monster mount)

  • 360 Lidar flight test with Houston!

  • Should consider a mount to get this on Houston?

    • Lidar is very expensive so should have a thought out about mount for this!

    • Anthony Luo to list constraints in a confluence document!

      • Preferably as a subpage to Sensors for generic information

      • Preferably mech requirements live as a subpage to F23 Mechanical Decisions Documentation this is a requirement for mech stuff

      • This process will help mech understand constraints! Process has been explained a lot in individual meetings, possible questions to be discussed later.

  • Compass calibration discussion

    • ICARUS required a lot of compass calibration, Pegaus doesn't need it anymore

 Custom PDB

  • Tom Chiu

  • From last weeks EE meeting:

    • Majority of technical details related to choosing voltage divider values into ADC figured out after taking into account the equivalent circuit in the ADC that contributes to the input impedance.

    • Finishing up LTspice simulation to try to validate proper equivalent input impedance after taking into account the shottky diode and low pass filter.

    • Still trying to figure out pros and cons in deciding to put RPP across the input voltage from the batteries or just the input into the 5V and 12V buck regulators.

  • Daniel Puratich to follow up!

 Aircraft Schematic
 Bulk Capacitance
 System Harnessing

  • Mena Azab

  • Bullet connectors soldered and frayed wire repaired.

    • Lessgooo!

    • Inspected by Daniel Puratich all solder joints on bullets look good!

    • Needs heatshrink before arms can be reinstalled

  • Will need to order more 16awg wire

    • unless we know where the remaining wire we ordered in the summer

    • we orderred a bunch, we need to order more!

 LEDs System

  • Neel Patel Parker Lawrence-Valeriani

  • Goal to have prototype on perf-board ready for end of term.

    • Working on schematic design and LED selection currently.

  • Path forward is to run LED part number idea by mechanical once we have them selected

    • This should hopefully be completed within a week or two, before end of term

  • the control circuit will be prototyped first on breadboard then on perf-board by end of term!

 Gemini Custom Hardware
 Gemini Hardware Programming

  • Derek Tang Anthony Luo

  • No test plan yet

  • One board is tested and ready at least

  • Derek was able to connect two gemini boards together and saw it was receiving some packets, but in mission planner it didn’t show up properly.

    • Derek looking into crossfire protocol, ardupilot integration painers.

      • CRSF is uart !

    • Anni able to provide guidance

    • Hardy somewhat on it as well

    • will need to connect to a telemetry port

  • May need to order more ELRS receivers

 Tracking Antenna Mechanical

  • Conall Kingshott Nathan Green

  • Paused, some chat

  • Potentially this isn’t happening for this competition cycle especially because we need to have time for testing

  • Will still be usable for manually pointing antennas toward drone

  • Maybe smaller antenna tracker for VRX only, using servos and 3d printing

  • Potentially use the mini-pix and a random GPS to try and make it work

  • We may not be line of sight when landing for task 2

  • Tall pole maybe nice? maybe doable? good to have! doesnt need to be too hard :d

 Tracking Antenna Electrical

  • Nolan Haines Hardy Yu Michael Botros

  • Stick with current architecture

  • Goal was have whole thing done end of term

  • Schematic is getting close!

  • overcurrent and input protection completed

  • connectors need cleanup

    • Hardy Yu has been busy on this

    • Hardy very busy

  • maybe add some bright LED for low batt?

    • currently it’s a smaller LED

  • features are implemented in schematic

  • review needs to happen as well

  • hopefully moving into placement end of this week

 Tracking Antenna Sensors & Firmware

  • sd card Yuchen Lin Stanley Tang

    • Working on pin conflict to support SD card for logging

    • trying to use sdmmc still

    • need to make some updates to make this work

  • Arduino Tracking Antenna EFS

    • Ayoung Eun Aryan Kashem

    • currently working on Arduino version of the tracking antenna

    • Idea is mostly off the shelf, quick iteration, and can test the tracking antenna algorithm

    • planning to port algorithm to arduino

    • in drafting stage of project

    • planning to use Arduino Mega that’s sitting in our bay

    • Implementing existing algorithm from STM32 version

    • NeoGPS, Curie IMU, XBee and Servos Libraries will be used

    • Ideally proof of concept with Houston flight test by end of term

    • if done and well tested before february it’s up for consideration to add in custom hardware

    • can whip stuff up with Ardu

    • Anthony Luo Nathan Green next term will be avail to help

    • Winter will be cold 🧊

 Object Detection Autonomy

  • Alex Yang Amy Hu

  • Collected some data in past flight

    • didn't get many images in some

    • low voltage warning, temp issue

 LTE RPi Setup (Airside Autonomy System) & Camera System
 Pathing Algorithms/Software
 Houston Camera Mount

Admin

 Upcoming Flight Test(s)

  • Hardy Yu Yuchen Lin Anthony Luo Daniel Puratich

  • Current 6S battery

    • We currently have four that are perfect (that we’ve been using this term)

    • we have other ones that are much worse performance and are labelled, Anni measured them to be sure.

  • Remaining Testing Goals before end of term

    • end to end sensors (all of which can be tested in ground)

      • Gemini

      • Video over LTE

      • Calibrate Optical Flow

      • Monster mount offsets

        • for rangefinder and Optical Flow

    • Four vs Six Batteries test (all require test flights)

      • Houston Autotune

        • completed last weekend, see links above

        • During roll autotune did not observe much circling

      • Pegasus Autotune

        • pay attention to weather conditions

      • Pegasus Four Battery Endurance

        • Autotune would be best but its too much time :d

        • Could do this before autotune just to get some values

      • Pegasus Six Battery Endurance

  • Nov 25th

    • Running a flight test will be challenging on this day due to the open house

      • bay will be full of people this day!

    • Should make sure either Conall Kingshott or Smile Khatri are avail to put it back together in addition to an EE lead/member for the heatshrink

    • Need to test controls and telemetry before then as well!

    • No flight test on Nov 25th

  • Nov 26th

    • more autonomy image collection flights

    • No pegasus flight

  • Dec 2nd

    • Ready to test Autonomy CSV for WRESTRC

      • must be on this day because WRESTRC required and this is only day we have it booked

    • Hover test on four good batteries

      • hoping for 30 mins flight time on this

  • Dec 3rd

    • pencil in for possible LIDAR flight depending on how things go!

  • No more available testing dates this term so gg team!

 Phase #1 Paper

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