Riccardo Balin Quinn Kostelecky Jas Min Ng Christian Ortiz-Torres Matthew Slavik Tyler Smith Jeffrey...

Riccardo BalinQuinn KosteleckyJas Min Ng

Christian Ortiz-TorresMatthew Slavik

Tyler Smith

Jeffrey SnivelyDavid ThomasHindrik Wolda

MODEFLIERMode-Demonstrating Flying Laboratory:Instruction and Experiment in Real-time

Test Readiness Review

University of Colorado Boulder

March 4th, 2015

2

Budget & SummaryGround Testing Flight TestingScheduleOverview

Develop a small, low-cost aircraft system to demonstrate the phugoid, Dutch roll, and spiral modes for future ASEN 3128 students.

3/4/2015

Problem Statement and Critical Project Elements

CPE1: Phugoid, Dutch roll, and spiral mode demonstration– Overarching purpose of project– Unusual task, as aircraft and control systems are typically designed to damp modes

CPE2: Control system– Means by which mode demonstrations are accomplished– Requires the most time and effort

CPE3: Ground station communication– Must reliably handle commanding of aircraft, RC manual override, and

telemetry downlink

CPE4: FAA Approval– COA Obtained February 12– Airframe: Techpod– Flight location: Boulder South Campus

University of Colorado BoulderAerospace Engineering Sciences

University of Colorado Boulder Aerospace Engineering Sciences

3


3/4/2015

Concept of Operations

Pilot Controlled

Pilot Controlled

4


3/4/2015University of Colorado Boulder

Aerospace Engineering Sciences

Functional Block Diagram

Mission Planner Flight Control

Visual Display

Data Processor

Physical Aircraft State

Aerodynamic Forces

Digital Data Storage

Video Camera

Audience

Pilot

PEOPLE

AIRCRAFT

GROUND STATION

KEY

Arrows BlocksBought

Modified

Designed

External

Radio signal

Electrical

Visual

Physical

Ground Station Power

Aircraft Battery

Power

Power conditioned from source

Internal power source

Ground Station Transceiver

GS Operator

Propulsive ForcesPropeller

Mode Excitation Functions

GS COMPUTER

AUTOPILOT

Autopilot Processor

Motor

Sensor Package(e.g. altimeter, rate gyro)

Electronic Speed Controller

Control Surfaces

Mode

Demo?

Yes

No

Multiplexer

LED Driver

LED Autopilot

Transceiver

RC Receiver

Servos

Control SwitchRC CONTROLLER

Mode

Demo?Yes

No

RC Control Sticks

PWM throttle/servo

settings

Override PWM (on/off)

Multiplexer switch control (RC override PWM)

Manual PWM throttle/servos

PWM throttle/servo settings

PWM throttle setting

PWM servos setting

Current Torque Thrust

Control surface deflections

Change in aero. forces

Physical dynamics

Aircraft State

Measured Aircraft State

Either mode demonstration PWM

commands or waypoint

Aircraft state variables

Aircraft state

variables

Turn on LED PWM

Mode demo PWM

Waypoint PWM

View of aircraft position, attitude, and speed

Current

Light

Plots of A/C state variables


Manual throttle/servo settings and RC override (on/off) PWM


Either mode demonstration PWM commands or waypoint

A/C state

variables

A/C state variables

Mode command

Mode demo PWM commands

Current waypoint

Current waypoint


Hand-operated control

Desired RC override setting

(on/off)

Steady flight command

A/C state variables

Steady flight or

mode command

Throttle/servo settings and RC override PWM


Aerodynamic Forces

Pilot

PEOPLE

AIRCRAFT

GROUND STATION

KEY

Arrows BlocksBought

Modified

Designed

External

Radio signal

Electrical

Visual

Physical


Aircraft Battery

Power



Propulsive ForcesPropellerMotorElectronic Speed

Controller

Control Surfaces

Multiplexer

RC Receiver

Servos


RC Control Sticks

PWM throttle/servo

settings






PWM servos setting




Physical dynamics





(on/off)




Aerodynamic Forces

PEOPLE

AIRCRAFT

GROUND STATION

KEY

Arrows BlocksBought

Modified

Designed

External

Radio signal

Electrical

Visual

Physical


Aircraft Battery

Power




GS Operator


GS COMPUTER

AUTOPILOT

Autopilot Processor

Motor



Control Surfaces

Mode

Demo?

Yes

No

Multiplexer

Autopilot Transceiver

Servos

Mode

Demo?Yes

No



PWM servos setting




Physical dynamics

Aircraft State


Current Waypoint

Waypoint PWM

Current waypoint

Current waypoint

Current waypoint

Current waypoint


Steady flight or

mode command



Aerodynamic Forces


PEOPLE

AIRCRAFT

GROUND STATION

KEY

Arrows BlocksBought

Modified

Designed

External

Radio signal

Electrical

Visual

Physical


Aircraft Battery

Power




GS Operator



GS COMPUTER

AUTOPILOT

Autopilot Processor

Motor



Control Surfaces

Mode

Demo?

Yes

No

Multiplexer

Autopilot Transceiver

Servos

Mode

Demo?Yes

No



PWM servos setting




Physical dynamics

Aircraft State



commands


Aircraft state

variables

Mode demo PWM


Either mode demonstration PWM commands

A/C state variables

Mode command


Either mode demonstration PWM commands

A/C state variables

Steady flight or

mode command


Visual Display

Data Processor


Aerodynamic Forces


Video Camera

Audience

Pilot

PEOPLE

AIRCRAFT

GROUND STATION

KEY

Arrows BlocksBought

Modified

Designed

External

Radio signal

Electrical

Visual

Physical


Aircraft Battery

Power




GS Operator



GS COMPUTER

AUTOPILOT

Autopilot Processor

Motor



Control Surfaces

Mode

Demo?

Yes

No

Multiplexer

LED Driver

LED Autopilot

Transceiver

RC Receiver

Servos


Mode

Demo?Yes

No

RC Control Sticks

PWM throttle/servo

settings






PWM servos setting




Physical dynamics

Aircraft State



commands or waypoint


Aircraft state

variables

Turn on LED PWM

Mode demo PWM

Waypoint PWM


Current

Light






A/C state

variables

A/C state variables

Mode command


Current waypoint

Current waypoint




(on/off)


A/C state variables

Steady flight or

mode command


Pilot Controlled RCAutonomous Waypoint TrackingMode Demonstrations


5


• Level 1– Record flight data– 2/3 modes demonstrated

– Autonomous mode demonstrations commanded by Ground Station

• Level 2– Live data downlink and

display– All 3 modes demonstrated– Record flight video

– 10 students can view ground station

– Perform demonstrations in 110 minutes (1 lab period)

3/4/2015

Levels of Success

• Level 3– Fit aircraft and ground

station in SUV cargo bay– Reproducibility

• Aircraft: $1,000• Ground Station: $2,000

Indicates Completed



Schedule


7


3/4/2015

Test Breakdown Structure

GPS Resolution

Airspeed Sensor

Camera LifeLatency Analysis

RC Override GS Power Life A/C Battery Life

Range Test

Data Display

Tip Test

Surface Deflection

SUV Space Test

CG Test

SITL Waypoint

SITL Mode Excitation

Ground Dry Run

RC Flight Test

Auto. Steady Flight Test

Mode Demo. Flight Test Completed by

TRRStarted by

TRRIncomplete

Communications

Avionics

Ground Station

PropulsionAerodynamics

Structures

Software

SystemsLED Sync

Ground TestingFlight Testing

69% of tests completed, 44% of estimated test time completed

8


2/19

2/26

3/4

4/10

15 16 17 18 19 20 21 22 23 24 25 26 27 28 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 1 2 3 4 5 6 7 8 9 10 11Feb 15, '15 Feb 22, '15 Mar 1, '15 Mar 8, '15 Mar 15, '15 Mar 22, '15 Mar 29, '15 Apr 5, '15

Spring Break

TRR

Test PlanGPS Test

Data Display

Latency Analysis

Airspeed Sensor

RC Override Test


Battery Life Test

Aircraft Assembled 2/19Aircraft Integrated w/ Avionics 2/26

CG Test

Tip Test

Control Surface Deflection

Ground Dry Run

RC Flight Test Autonomous Steady Flight (Waypoint Following)

Mode DemonstrationsSITL Required for Autonomous Steady Flight

SITL Required for Mode Demonstrations

SUV Space Test

Progress Contingency

Range Test

Camera Life Test

LED Sync Test

Subsystem TestingStatus: 97% CompleteTime Spent: ~19 hours pp.Time Remaining: ~6 hours total

Ground TestingStatus: 50% CompleteTime Spent: ~18 hours pp.Time Remaining: ~18 hours pp.Time Available: ~28 hours pp.

Flight TestingFirst Flight: ~March 9th Time Spent: N/ATime Remaining: ~27 hours pp.Time Available: ~49 hours pp.

2/15 2/22 3/1 3/8 3/15 3/22 3/29 4/5





Ground Testing

10




Aircraft Simulink Model

Wind Gust

Aerodynamics,Thrust, and Gravity

EquationsUsing Aircraft Parameters

Integration ofAircraft Equations

of Motion

Dynamics(Etkin[1])

Wind(MATLAB gust model[2] and NOAA wind data for Boulder[3])

SensorsControl Law

Servos

ModeExcitation

Latency

11





Wind Gust




of Motion

Dynamics(Etkin[1])


SensorsControl Law

Servos

ModeExcitation

Latency

ElevatorDeflection

Remove Longitudinal

Control

12




Software in the Loop

Wind Gust




of Motion

Dynamics(Etkin[1])


SensorsControl Law

Servos

ModeExcitation

Latency

Not modeled

JSBSim Aircraft Dynamic Simulator(Equations of Stevens and Lewis[4] and of Zipfel[5])

in Python functions

13


Start of mode demonstration



Software in the LoopPurpose: • Implementation of mode demonstration functions in Python• Verification of mode demonstration control law on alternate simulator

Completed:• Aircraft state data recorded

throughout simulation• Successfully ran mode

demonstration function• Aircraft successfully follows

waypointsRemaining:• Modifying aircraft parameters

in simulator to match Techpod

End of mode demonstration

180° designrequirement

Nominal exponential spiral response

SITL Spiral Response for Default Aircraft

SITL data

14




Latency Characterization

Total Latency 111 ms

Tolerance 200 ms

Safety Factor 1.8

1. Data Measurement (Autopilot State Estimation) (1-2 ms)

2. Aircraft to Ground Station Communication (9-41 ms)

3. Feedback Processing (Python Functions) (20-35 ms)

4. Ground Station to Aircraft Communication (5-33 ms)

Total Expected Latency: 111 ms

No Latency

Latency above Tolerance: 300 ms

Latency at Tolerance: 200 ms

Example Damping of Unwanted Dutch Roll

15




Ground Dry Run

Purpose: Verifies design requirements and reduces time that a pilot is needed

Ground Station

Test Area

Camera Line of Sight

• Performed at flight location: South Campus

• No power to motor – will walk aircraft

Range Test

RC Override

Data Display

Lost Link Protocol

Record State Variables

Data Transmission

Video/LED Sync

Ground Station Endurance Battery Swap Time

Servo Check-Out

Communication for full COA area

DR2.1: Aircraft state measured

DR3.3: Pilot can take full control

DR2.2 & 2.3: Real-time data at 10Hz

Proper avionics connections

DR1.5: All demos in 110 mins

Aircraft path is predictable

DR4.2: Video paired with data

DR2.2 & 2.3: Real-time data at 10Hz

DR1.5: Electronics run for 110 mins

Lost Link Protocol

• Verifies 7 design requirements• Completes flight-test-related objectives without

presence of pilot• Builds confidence in safety• Familiarizes team with flight test procedures

• Verifies aircraft follows pre-programmed flight maneuvers if communication is lost (design)

• Adds confidence that aircraft will not fly towards audience (safety)• Reduces likelihood of aircraft crashing and suffering significant

damage (risk mitigation)



Flight Testing

17





Wind Gust




of Motion

Dynamics(Etkin[1])


SensorsControl Law

Servos

ModeExcitation

Latency

in Python functions

Physical aircraft system and

environment

18




Flight Testing

Needed for all test flights:• Pilot

– James Mack (Primary)– Doug Weibel (Alternate)

• Observer– Quinn Kostelecky

• Acceptable weather conditions– Winds less than 11 m/s– No precipitation– Visibility greater than 2 miles

• Location availability– CU South Campus

RC Flight3/9 – 3/17

Autonomous Flight3/18 – 3/31

Mode Demonstration Flight

4/1 – 4/10FR5: Takeoff and

LandingFR1: Mode

DemonstrationsFR3: Autonomous

Flight

19





4/1 – 4/10



RC Flight

Improve:• Safety and Confidence

– FR5: Aircraft can take off and land safely

– Characterize battery life

• Visibility– Perform qualitative

visibility analysis

20





4/1 – 4/10



Autonomous Flight

• FR3: Aircraft can fly autonomously– Pixhawk capable of

controlling aircraft

• DR 3.1: Aircraft follows defined waypoint flight path– Characterize flight path

deviation from waypoints

21



Autonomous Flight Plan

Ground Station and RC Pilot

Waypoint R ≤ 10 m

Altitude = 15 m

Max Distance from GS = 220 m

South Campus Location

228 m visibility requirement

250 m autonomous flight limit based on RC pilot safety range

Waypoint320 m90 m

50 m

3/4/2015

22





4/1 – 4/10




• FR1: Perform each mode demonstration

• Measure aircraft state data– Phugoid:

• Pitch angle• DR1.2: 2 periods > 5°

amplitude

– DR: • Yaw angle• DR1.3: 1 period > 5°

amplitude

– Spiral: • Yaw angle• DR1.4: > 180° rotation

23



Phugoid and Dutch Roll Modes Demonstration

Mode Distance Travelled Duration Excitation Method

Phugoid 210 m 18 s 3.5 elevator step for 1 sᵒ

Dutch roll 90 m 6 s 25 rudder oscillation for 2.8 sᵒ

210 m

Enter steady level flight

Excite and demonstrate natural mode behavior

Return to Waypoint Flight Plan

3/4/2015

Estimated deviation during demonstration

24



Spiral Mode Demonstration

Mode Duration Excitation Method

Spiral 24 s 5 rudder step for 1 sᵒ

Enter steady level flight

Excite and demonstrate

natural behavior

Recover steady level flight and return to

waypoint

3/4/2015

25




Phugoid Mode Validation

5° Minimum Pitch Amplitude

End of Mode Demonstration

Start of Mode Demonstration2 Peaks Above 5°

FR1 Validated: Aircraft is capable of demonstrating flight modes.

Expected data from Phugoid mode demonstration



Budget & Summary

27


$940 spent on aircraft

$1,266 spent on ground station

Budget



$1,270 total margin

$734 ground station margin

$3,280 spent to date• $940 spent on aircraft• $1,266 spent on ground station• $1,074 spent on testing, manufacturing, printing, etc.

$5,000 Total Budget

$2,000 Ground Station Reproducibility

$1,000 Aircraft Reproducibility

$450 remaining expenditures-report printing-symposium poster-flight test equipment

$60 aircraft margin

DR1.6: aircraft reproducible for less than $1,000DR2.4: ground station reproducible for less than $2,000

Under total course budget

Spending estimate increased $48 since MSR

28




SummaryLevel of Success 1 Level of Success 2 Level of Success 3

RequirementValidated

by:Requirement Validated by: Requirement

Validated by:

Record flight data

Sensor Test10 students can

view ground stationData Display Test

Aircraft and ground station fit in SUV

SUV Cargo Test

2 of 3 modes demonstrated

Flight TestLive data downlink

and displayData Display Test

Reproducibility - Aircraft: $1,000

- Ground Station: $2,000

Finances

Autonomous commands from ground station

Flight Test Record flight videoVideo/LED Sync

Test

All demonstrations within 110 minutes

Endurance Test, Battery change-out, Flight Tests

All 3 modes demonstrated

Flight TestsIndicatesAchieved

All level of success requirements have tests planned for validation



Questions?


303/4/2015

References

[1] Etkin, B., and Reid, L. D., Dynamics of Flight: Stability and Control, 3rd ed., John Wiley & Sons, Inc., Hoboken, NJ, 1996.[2] “Discrete Wind Gust Model,” MathWorks, URL: http://www.mathworks.com/help/ aeroblks/discretewindgustmodel.html [cited 2 Mar. 2015].[3] “Boulder Wind Info,” Earth Science Research Laboratory, URL: http://www.esrl.noaa.gov/psd/boulder/wind.html [cited 2 Mar. 2015].[4] Stevens, B. L., and Lewis, F. L., Aircraft Control and Simulation, 2nd ed., John Wiley & Sons, Inc., Hoboken, NJ, 2003.[5] Zipfel, P., Modeling and Simulation of Aerospace Vehicle Dynamics, 2nd ed., American Institute of Aeronautics and Astronautics, Inc., Reston, VA, 2007.



Backup Slides: Dynamic Modes Natural Response

32University of Colorado Boulder


Phugoid Mode Response

End of mode excitation

Control re-established

5° amplitude requirement




DR1.2 Validated: Aircraft is capable of demonstrating phugoid mode.

3/4/2015



Dutch Roll Mode Response





DR1.3 Validated: Aircraft is capable of demonstrating Dutch roll mode.

3/4/2015



Spiral Mode Response




DR1.4 Validated: Aircraft is capable of demonstrating spiral modes

3/4/2015



Backup Slides: Individual Test Plans



Circuit Block Diagram

Rad

ioCo

mm

unic

atio

n

37




Video/LED Sync Test

Video Camera

VelcroLoopLED

Field of ViewBattery

Pixhawk LED Switch

LED

Video Camera

5V 4A5V

0.025A

5V

0.02AField of View

Verifies DR 4.1, 4.2 & Level of Success 2:Video recorded onboard and matched with mode demonstrations post-flight(LED setup uses 0.01% of battery life)

Test Procedure① LED lights up given PWM input: begin

mode excitation② LED blinks at 1Hz: mode demonstration

in-progress③ LED turns off: end of mode demonstration

Fiel

d o

f Vie

w

View from Camera



Airspeed Sensor Resolution

• Airspeed corrected for altitude:–

• Resolution:

𝜎 𝐴𝑆

𝜎𝑊𝑇 Ideal 1:1

Linear FitDR2.1 met: Velocity shall be measured with a resolution less than 1 m/s.

• Airspeed corrected for altitude:

• Resolution:



Battery Life Characterization

PWM (μs)Capacity Discharge

rate (A-hr/min)Approximate Battery

Life (min)

1220 0.0276 110

1324 0.0960 32

1357 0.1261 24.5

1418 0.1900 16

1500 0.3101 9.5

1569 0.4629 6.5



PWM Throttle Input vs. Discharge Rate

• Batteries discharge more quickly at higher throttle (higher speeds)

• This model allows us to predict battery endurance based on required throttle input– Cannot accurately

correlate throttle input to flight speed until speed data is collected in-flight



Battery Duration

• End-of-life defined as approximately 3.1Ahr discharged– LiPo manufactures

recommend never to discharge more than 80% of total capacity to preserve battery longevity

• RC flight test data will correlate throttle input to flight speed, and battery life can be estimated based on the necessary throttle input



Ground Station Power Test

• Purpose: Verify ground station has power for full two hour test (DR2.2)

• Test: Connected all externally powered ground station modules to power supply and tested longevity

• Results: Power supplied for 230 minutes

Power supply

Mission PlannerData Displays

Ground station with mobile power supply



SUV Cargo Test

• Procedure:– Gather all ground station,

aircraft, and flight testing components

– Position components within an SUV with cargo dimensions 1.5x1x0.9 m • If a larger SUV is used, the

proper dimensions will be marked with tape

– Photograph configuration that fits within the allotted space

• Purpose:– Verifies DR1.7 and DR2.5: The

aircraft and ground station can be transported in a cargo volume of 1.5x1x0.9 m

1m

1.5m



Ground Dry Run – Electronic Endurance

• Procedure:– Connect and power all ground station components– Start a timer once all units are turned on– Proceed to complete remaining ground dry run tasks– Continue use of ground station until timer reaches 110

minutes

• Purpose:– Necessary to verify DR1.5: The demonstrations shall be

performed within 110 minutes• Verifies the ground station can provide power for allotted

time

– Allows for flight tests to conclude before 110 minutes which reduces the amount of time a pilot is needed



Ground Dry Run – Proper Channel Communication

• Procedure:– Connect and power all avionics units (no motor)– Use RC transmitter to verify the servos are connected

to the right Pixhawk ports– Hold aircraft in a user safe position– Connect motor– Tap throttle to confirm motor responds correctly– Wait for propeller to stop moving, disconnect motor

from power

• Purpose:– Verifies the proper avionics connections are made– Also verifies that there are no faulty solder joints



Ground Dry Run – Taking Data

• Procedure:– Connect and power all avionics units (no motor)– Allow Pixhawk to gather data with all electronic

systems working– Download data onto computer for analysis

following ground dry run

• Purpose:– Verify DR2.1: Meet the required aircraft state

variable measurement accuracy



Ground Dry Run – Transmitting and Displaying Data

• Procedure:– Connect and power all avionics units (no motor) and ground

station components– Establish communication between ground station and aircraft– Carry aircraft to maximum flight distance from ground station– Allow Pixhawk to collect and transmit aircraft state variable

data to ground station– Use plotting script to display data on external monitors in real

time

• Purpose:– Verify DR2.1, DR2.2, DR2.3: Transmit data in real time, plot

data at 10 Hz rate, and data display must be observable by 10 people



Ground Dry Run – Range Test

• Ground Dry Run – Range• Procedure:

– Connect and power all avionics units (no motor) – Establish communication between ground station and

aircraft– Carry aircraft to maximum COA distance from ground

station (note: this is a larger distance than the maximum flight distance)

– Command surface deflections with RC transmitter– Command surface deflections with ground station functions

• Purpose:– Verifies the communications system has sufficient range

capabilities– Reduces likelihood of lost link risk



Ground Dry Run – Lost Link Protocol

• Procedure:– Connect and power all avionics units (no motor)– Establish communication between ground station and

aircraft– Verify connection with surface deflection commanded by

ground station– Disconnect communication system from aircraft avionics

suite– Observe surface deflections as per predefined lost link

commands

• Purpose:– Verifies that the lost link protocol has been properly

implemented– Reduces likelihood of the aircraft taking an unsafe flight

path in the event of lost communications and severity of losing communications



Ground Dry Run – RC Override

• Procedure:– Connect and power all avionics components (no motor)– Establish communication between ground station and

aircraft– Command surface deflections with ground station

commands– Use RC transmitter to command a different deflection – Observe which surface deflection is performed

• Purpose:– Verifies DR3.3: Pilot shall be able to take full control of

aircraft at any time– Reduces severity of aircraft entering an undesirable

attitude



Ground Dry Run – Video/LED Sync

• Procedure:– Connect and power all avionics components (no motor)– Establish communication between ground station and

aircraft– Ensure video camera is recording data– Command a function from ground station that drives the LED– Save data set from Pixhawk and video from camera– On computer, match function command time to LED light in

video

• Purpose:– Verifies DR4.2: Specific times in video can be correlated to the

correct data• Verifies the LED is visible in daylight• Proves that the sync procedure works



Ground Dry Run – Battery Swap Time

• Procedure:– Connect all avionics units– Have team member walk aircraft to simulate a landing in the proper

location– Start timer– Have an additional team member, originally stationed at ground station,

gather and return the aircraft– Open fuselage compartment, disconnect battery pack and replace with a

new battery pack– Walk aircraft to takeoff location– Stop timer

• Purpose:– Necessary to verify DR1.5: The demonstrations shall be performed

within 110 minutes• Provides time necessary to swap out battery (i.e. the time between flights)

which allows the total time of multiple flights to be determined with only one flight



Backup Slides: Requirements Satisfaction


54

FR1: A fixed-wing, conventional aircraft will individually demonstrate the phugoid, Dutch roll, and spiral modes in a manner visible to a ground observer.

Requirement ID

Description Verified by Test

DR1.1

The roll, pitch, and yaw angles of the aircraft will be distinguishable to a ground observer with 20/30 vision at a resolution of 5°. This defines the maximum range of demonstration as 200L for phugoid and spiral modes and 200b for Dutch roll mode, where L is the length of the aircraft from tip to tail and b is the wingspan of the aircraft.

Flight test

DR1.2The aircraft shall exhibit a phugoid mode with a pitch oscillation amplitude of at least 5 degrees, meeting minimum visibility requirement.

Flight Test

DR1.3The aircraft shall exhibit a Dutch roll mode with a roll oscillation amplitude of at least 5 degrees, meeting minimum visibility requirement.

Flight Test

DR1.4The aircraft shall exhibit a spiral mode with a yaw rotation of at least 180 degrees, or it shall reach a roll angle that approaches an unrecoverable attitude, within a safety factor. The roll angle that is defined as unrecoverable will be determined through simulations.

Flight Test

3/4/2015

Design Requirements from FR1


553/4/2015


FR1: A fixed-wing, conventional aircraft will individually demonstrate the phugoid, Dutch roll, and spiral modes in a manner visible to a ground observer.

Requirement ID


DR1.5The aircraft will be able to repeat the demonstration of all three modes in a period of 110 minutes (the duration of an ASEN 3128 lab) to at least 40 observers such that each observer has the opportunity to view the ground station display at least 1 time.

Ground station endurance test,

Battery change-out, Flight Tests

DR1.6 The aircraft shall not exceed a reproducibility cost of $1,000. N/A – Finances

DR1.7The aircraft shall be stored in a container to be placed in an SUV with a cargo space no greater than 150 cm x 100 cm x 90 cm.

SUV transport test


563/4/2015


FR2: A ground station shall communicate with aircraft at all times and display live flight data of the aircraft state variables.

Requirement ID


DR2.1

The aircraft will measure and transmit flight data of its aircraft state in real-time throughout its entire flight. The aircraft state measurements will abide to the following resolutions: 1 m for position components, 1 m/s for velocity components, 1° for Euler angles, and 1°/s for the angular rate components.

Sensor component test

DR2.2The ground station will process and output data of the aircraft state at a rate of at least 10 Hz.

Data display component test

DR2.3The ground station will produce a real-time, on-screen display of the aircraft state data that will be visible to at least 10 observers on the ground.

Data display component test


573/4/2015


FR2: A ground station shall communicate with aircraft at all times and display live flight data of the aircraft state variables.

Requirement ID


DR2.4 The ground station shall not exceed a reproducibility cost of $2,000. N/A – Finances

DR2.5The ground station must be stored in a conventional SUV with a cargo space no greater than 150 cm x 100 cm x 90 cm.

SUV transport test


583/4/2015


FR3: The aircraft will function autonomously, and commands from the ground station will trigger mode demonstrations and allow for a pilot to directly operate the aircraft via RC in the case of an anomaly.

Requirement ID


DR3.1The autopilot will allow the aircraft to fly in steady, level flight on a predetermined path until it is commanded otherwise.

Flight Tests

DR3.2The autopilot will return the aircraft to steady, level flight after the demonstration of each mode.

Flight Tests

DR3.3At any time during the flight, the RC pilot will be able to override the autopilot and give the pilot direct control of the aircraft in case of an anomaly.

RC override test


593/4/2015


FR4: An onboard camera will capture video of the flight of the aircraft.Requirement

IDDescription Verified by Test

DR4.1 The video will be stored onboard and downlinked after aircraft has landed.Video camera

component test

DR4.2The video will be able to be correlated with the mode demonstrations such that the recorded flight data can be matched to specific times in the video.

Video/LED sync test


603/4/2015


FR5: The aircraft shall be capable of takeoff and landing without requiring modifications to the flight environment and without suffering any damage that will impair operational capabilities.

Requirement ID


DR5.1

The launch method will be appropriate for the test environment. The three methods being considered are hand-launched, bungee-launched, and ground take-off with landing gear. This will be highly dependent on the selected airframe.

Flight test

DR5.2The landing method will also be appropriate for the test environment. Methods considered will include landing gear and controlled belly-landing. This will be highly dependent on the selected airframe.

Landing simulation tests,

Flight test



Level of Success 1

Success Requirement Validated ByAutonomous mode demonstrations commanded by ground station

Flight Test

2 of 3 modes demonstrated Flight Test

Record flight data Sensor Component Test



Level of Success 2

Success Requirement Validated ByAll 3 modes demonstrated Flight Tests

Live data downlink and display

Data Display Component Test

Record flight videoVideo Component and Video/LED Sync Tests

Perform demonstrations in 110 minutes (1 lab period)

Ground station endurance test, Battery change-out,

Flight Tests

10 students can view ground station

Data Display Component Test



Level of Success 3

Success Requirement Validated ByFit aircraft and ground station in SUV cargo bay

SUV Transport Test

ReproducibilityAircraft: $1,000Ground Station: $2,000

Finances



Backup Slides: Budget

65


Purchases Breakdown

Category Total

Aircraft $939.88

Ground Station $1265.61

Miscellaneous $965.00

Testing $109.78

Total $3280.27



66


Aircraft Breakdown

Major Component Total

Techpod $186.70

Battery $36.29

Servos $90.95

Pixhawk $383.90

Propulsion System $84.17

Camera $39.69

Small Components $118.18

Total $939.88



67


Ground Station Breakdown

Component Total

Monitors $395.16

Monitor Splitter $149.99

Power Supplies $324.23

RC Controller $319.99

3DR Radio $51.25

Cable $24.99

Total $1265.61



68


Miscellaneous Breakdown

Item Total

FFR Printing $154.92

Extra Batteries $181.47

Extra Techpod $186.70

NexSTAR $144.99

NexSTAR Servos $73.96

Manufacturing Needs $37.55

Observer Medical Exam $150.00

Other Items $35.41

Total $965.00



69


Test Breakdown

Category Total

Servo Protractor $17.99

Extra Propellers $13.46

Static Thrust Stand $78.33

Total $109.78



Riccardo Balin Quinn Kostelecky Jas Min Ng Christian Ortiz-Torres Matthew Slavik Tyler Smith Jeffrey...

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