Build & Test Prep

Andy Meyer

• R&D on TinyXPC communications and message routing

• Build a simulator for our control system around Flight Gear

• Research quaternion based orientation models

• Develop more message request-response pairs

• Develop the Message Queue system

• Develop the Debugging Subsystem

• Work with the mechanical team on manufacturing frame
  components and nailing down any remaining fuzzy data

• R&D on TinyXPC communications and message routing
• Research quaternion based orientation models
• Develop the Debugging Subsystem

The work on TinyXPC took far longer than expected due to
learning a whole new field of programming.

This list copied from Detailed Design Review.

• Create a simulation model for the aircraft control systems.
• Work on the development infrastructure for the embedded software team.
• Research flight control schemes/quaternions.
• Research optimal methods to tune and configure PID controllers.

• An idea for a simulation model around data analysis was theorized.
  Missing the data to actually fabricate this model.
• Worked with Andy to create a template for K64 development on GitHub.
• Researched and tested quaternion models and rotations.
  Created a quaternion visualizer that can be used to assist controls development.
• Deferring the research on controls tuning for when we have more data
  on the response of the control surfaces of the aircraft.
• Developed an initial I2C driver for the K64.

Sabrina Ly

• Update Purchasing plan to keep track of materials purchased and to be purchased
• Work with team to nail down which exact components need to be purchased
• Begin purchasing materials for build phases
• Work on testing schemes and plans

• Purchasing record created to keep track of purchases made and budget remaining
• First round of materials all set up to be purchased (pending approval)
• Worked with Andy to ensure that necessary drivers and files were installed to interface with the k64 microcontroller upon personal computer
• Testing phase held off until some code can be developed to test
  
  

• Work with Mutahir to ensuring pieces fit together and plan build.
• Work with Andy to develop a model for simulation flights.
• Continue to iterate design, including:
  
  • Redesign tip to be as light as possible, more easily conform to the trailing edge curve of the wing, set the rangefinder at an angle so it points down at 270* (measured from horizontal) during hover, and add a better Hoerner undercut to minimize spillover.
  • Potentially extend nacelle forward.
  • Check design for elevon hinge motion interferences due to shell.
  • Try to minimize shell weight while maximizing shell thickness.

• Build plan is mostly in place - final tweaks necessary to ensure fuselage fits wings and vice versa, but no major changes expected
• Nacelle has been extended
• Elevon interferences not an issue
• Individual ribs prepared for CNC or laser cutting
• Necessary torque analysis of elevons performed
• Additional planning and modeling for Versa Wing test bed completed with Mutahir
  • Launcher spring analysis completed
  • Landing legs design and analysis completed

Mutahir Mustahsan

This list is copied from Detailed Design Review.

• Work with Ben to make sure our wing design and body design mesh perfectly
• Work with Ben on planning the build.
• Work on prototyping parachute 
• Work with team on component placement and wiring to make it easy to work on

• Parachute canister was redesigned
  • Added electronics holder for independent testing off the drone and back-up/primary power to ensure it works
    • Battery Holder
    • Micro Controller slot
  • Added Spring Cap
  • New Shape and Top design
  • Added 2nd spring to handle shock absorption
• Build plan is mostly in place regarding versa wing retrofit and general idea of theoretical build plan.
  • i.e. what will be made where: construct/machine shop
• Designed new motor mounts for versa wing retrofit to emulate theoretical design

This list copied from Detailed Design Review.

• Get familiar with the PDB from Matek.
• Develop test plans for the ERs that are "tricky" to test.
• Figure out how to do subsystem build and test prep if we are still going through the pandemic in the fall.
• Research risks involved in the building and testing of drone power subsytems and how to mitigate those risks.

• Power calculations were redone to match the specifications of the versa wing.
• Familiarized myself with the schematics provided on the matek datasheet.
• Issues w.r.t. PDB purchase were sorted out.
  • Decided to purchase it ourselves.
• Test plans for almost all engineering requirements have been developed.

Andy Meyer

MSD2-35, MSD2-36, MSD2-42

These are the XPC-related tasks.  Completion of these implies that inter-board and interprocess communications (meaning ground control as well) will be complete.

MSD2-37, MSD2-13, MSD2-14

These are the debugging-related tasks.  Completion of these implies low-overhead, low-latency debug and logging for the aircraft and all subsystems.  This will enable subsystem testing and will also enable black box support, in-air debug logging, and will reduce the processor effort of debugging significantly.

MSD2-9

This task describes the completion of the I2C driver with interrupt and DMA capabilities. This will be the foundation of the entire sensor subsystem for the K64.

MSD2-62, MSD2-63

Using the I2C driver from MSD2-9, these tasks involve the integration of the IMU and distance sensors over I2C. Each device will have to be initialized over I2C.

MSD2-11

In this task, the quaternion interpolation system is prototyped in python. This will be a modified version of SLERP and will be visualized using the existing quaternion visualizer.

Sabrina Ly

MSD 2-25

This task corresponds to completing a timing analysis on the k64 to check whether float operations separate from integer operations.

MSD2-38, MSD2-39, MSD2-40

These tasks are the driver related tasks. Completion of these include create the PWM drivers for the different servos and ESCs.

MSD2-65

This task falls under the sensor subsystem category and includes interfacing with the GPS.

MSD2-43

This task involves sourcing balsa wood for the wing ribs, converting CAD files into gcode, and laser cutting the wing ribs to prepare for assembly.

Once the spars and elevon axles have arrived, I will work with Mutahir to assemble the ribs and nacelles onto the spars and glue them in place.

MSD2-44

This task involves machine elevon brackets from aluminum and fitting them with appropriate bearings.

MSD2-48

This task involves the successful printing and implementation of the Versa Wing landing legs

Mutahir Mustahsan

MSD2-46, MSD2-49

These tasks are related to 3D printing the motor nacelles and making sure they securely fit to the Versa wing and can be adapted to the theoretical design as well

MSD2-54

This task involves fully assembling the fuselage and the parachute canister. Realistically only the parachute canister will be done first as it is needed for the versa wing retro fit.

MSD2-47

This task involves 3D printing the electronics holder. This will be submitted to print when revisions to the design have been made due to the PCB changes

MSD 2-18, MSD 2-76

These tasks correspond to wiring and interconnects. I will be researching and developing a solution for wiring and interconnections (power and signal distribution). I will work with Andy to figure out the most feasible interconnect solution.

MSD 2-77, MSD 2-79, MSD 2-75

These tasks are related to the testing of the power distribution board. They involve researching and familiarizing myself with the PDB and then testing the PDB.

MSD 2-78

This is an easy one. It relates to purchasing the PDB. It is in progress and I will be placing the order in the next few days.