Syzygyx Status Q2 2015

Syzygyx Contract Scope (3/1/15) Flight Control

Ground Control

Phase I

Phase II

2015 Q1 (Jan-Mar)

2015 Q2 (Apr-Jun)

PixHawk AutoPilot

Redundant AutoPilot Flight Management Computer

COTS ESC

Custom I2C ESC w/ Telemetry

Manual Parachute Control

Autonomous Parachute Control

Mission Planning

Trainer Functionality

H2 Widget Simulation

H2 Simulation

Validated H2 Simulation Training Capability

Test/Deliverable

H2 Test Flight 1 (Mar 31)

SOCOM Flight Demo (Florida, April 9) H2 Test Flight 2 (April) AUVSI Sim Demo (Atlanta, May 5) H2 Test Flight 3 (May) H2 Test Flight 4 (June) FCS (Mid June)

Travel

ALI Symposium (Mar 12-13)

AUVSI (Atlanta, May 4-7)

Staffing Status ● Budgeted 3 FTE for April - June ● Currently running about 2 FTE ○ ○ ○ ○

Justin Grinwis Dan McShan Dave Owens Mark Buckland

- Flight / Simulation - Avionics and Architecture - Original GCS Engineer (left company) - P/T Ground Control System on since March

Funding Status Syzygyx is under budget by $43k (373 Hours) Expect a $90k underrun. Invoice

FTE-M

Hours/FTE/M

Hours

Cost/Hour

Cost ($)

Actuals

Actual Hours

1/1/2015

2

152

304

115

34,960

$28,750

250

2/1/2015

2

152

304

115

34,960

$23,575

205

3/1/2015

3

152

456

115

52,440

$40,000

348

4/1/2015

3

152

456

115

52,440

$29,271

341

5/1/2015

3

152

456

115

52,440

6/1/2016

3

152

456

115

52,440

TOTAL

16

$121,596

1144

2,432

279,680

Materials

$11,000

Tasks Worked 1.

In Contract Scope a. H2 PixHawk Autopilot b. GCS Mission Planner c. GCS Gauges d. GCS H2 Widget e. H2 Basic Simulator f. H2 Certifiable Flight Software g. Avionics Architecture h. Avionics Design i. Site Support for ALI j. Site Support for AUVSI

2. Out of Contract Scope Support a. Program Planning / Schedule b. Systems Engineering c. Propulsion Testbed d. Propulsion Test e. Physics 101 Analysis f. Physics 201 Analysis g. Engine Test h. H1 PixHawk Integration i. Video for AUVSI j. Slides for AUVSI

System Scheduling

Physics 101/201 Analysis

Simulink 6DOF Controller and Simulator

FlightGear Visualizer Model is too complex to smoothly fly on 3YO laptop. But props spin!

PixHawk Autopilot PixHawk is modified to support center ducts PixHawk is modified to support ignition control Gains are tuned Out of scope effort invested to integrate with H1 Should be ready to hover...

GCS ● In general, we are 2 months behind on GCS due to staffing issues. ● But, we are equally underbudget. ● Path forward is clear... ● ...should be done in a few weeks.

Gauges are integrated, linkable to Telemetry apparently don’t yet scale, also not yet modular

● ● ● ● ● ●

Tach Temp Current Voltage Airspeed Flex

Colored limits

H2 Prop Widget - Concept - Gauges embedded in H2 Top View

Vehicle Base Weight Fuel Type

76 Gasoline

Fuel Quantity

6 gallons

Weight of Fuel

6.8 kg/gallon

Fuel Weight Fuel Density Fuel Efficiency Fuel Wh

40.8 kg 36,763 Wh/gallon 25% 55,145 Wh

Payload 1 Weight

5 kg

Payload 2 Weight

5 kg

Payload 3 Weight

2.5 kg

Total Vehicle Weight Hover Power/Weight Hover Power Hover Duration

129.3 kg 222 W/kg

Fuel Gauge

Weight Gauge

Distance/Duration Gauge (min)

28,704 W 1.28 h

Mission Planner - Concepts - Still Needs Definition Inputs: Fuel Type, Fuel Quantity, Payload Weight Outputs: Fuel Level, Weight Gauge, Flight Timer, Flight Distance

H2 Simulation ● NEED prop motor data for models ● measure kg/RPM curve data ● Torque/RPM curve

H2 Visualization NEED a better model. Has to be compatible with Flightgear and/or XPlane.

“Types” Of Simulators ● ● ● ● ●

MViz RViz 6DOF HIL Trainer

Mission Visualizer Replay Visualizer Dynamics Simulator (Pure Simulink) Hardware in the Loop Simulator Vehicle Trainer

MViz: Mission Visualizer ● ● ● ● ● ● ● ●

Fly through waypoints Update position, 6DOF, altitude, speed in GCS No physics. Everything computed from waypoints. Project Payload Drop Window visualized in visualizer (FlightGear) Video Style Controls Runs on pilot laptop Likely just use FlightGear - fidelity not essential

RViz: Replay Visualizer ● ● ● ●

Replay flight data in GCS Also replay telemetry data Similar video interface to MViz Runs on laptop

SIM: Dynamics Simulator ● ● ● ● ● ● ●

High fidelity 6DOF simulation Validated vs. Flight Data Models forces and power Primarily Simulink based Used to develop flight software Can, for instance, tune gains in SIM Runs on Justin’s laptop

HIL: Hardware In The Loop ● Realtime Simulator with Avionics in the Loop ● Used to develop the HW/SW integrated system ● Models of sensors feed avionics boards ● Variations of what is “In the Loop” ● Runs on a RealTime platform

Trainer ● Training simulator ● Allows for scenario deployment and controlled fault injection ● Runs on a separate computer to which pilot/mission manager laptops are connected. ● Consider using XPlane for rendering

Avionics Boards ● ● ● ● ● ● ● ● ● ● ●

RAP FMU BFC NAV PCU ESCi TLM RCI HPC ESC ECU

Redundant AutoPilot (x3) Flight Management Computer Backup Flight Computer & Chute Control Navigation Computer (x2) Power Conditioning Unit Electronic Speed Control Interface Command/Control/Telemetry RC Interface Hummingbird Payload Controller Electronic Speed Control (Use KDE COTS for now) Engine Control Unit (Pending engine selection)

ESC7

ESC8

ESC3 ESC4

FMC

CCT

ESC3

ESC5

AP3

NAV2

ESC2 ESC7 ESC7 ESC8 ESC8

ESC4 ESC6

AP2

NAV1

ESC1

HPC1

AP1

BFC

HPC3

HPC2

PDU

ECU

48V Supply

ESC2

ESC5

ESC1

ESC6

Going Forward ● Minimize out of scope prop/power support ● Minimal value in the PixHawk baseline ○ use DJI for Prop testing ○ focus on H2 Avionics

● Order H2 Avionics ASAP ● Hire more GCS support ● RT-RV

RefTek Reference Vehicle “Test Like You Fly”

The Problem How do we develop and test and validate our software and our avionics boards without an H2 to test on…? (and without getting distracted by prop/power concerns)

RefTek Reference Vehicle (RT-RV) Develop a small scale testbed for H2 avionics and software Use flight like avionics from Power Conditioning to ESC. Use 12S Electric Ducted Fan (EDF)s at 44.4V 10kg (22lb), 724mm (9in) across Even test indoors…

H2

8’

18”

Scaled Down!

1.8’

4”

Off The Shelf Frame, Center Ducts Offset.

Cost Link

/Unit

N

Cost

$3,100 90 mm 12 Blade 700kv 3800W 12S CW

HobbyKing

161

6

966

90 mm 12 Blade 700kv 3800W 12S CCW

HobbyKing

167

6

1002

Hex Frame

HobbyKing

100

1

100

PULSE LIPO 3000mAh 12S 44.4V 45C Stick Pack

Amazon

172

6

1032

RT-RV only uses 2 batteries, but it uses them very quickly, so we spec’d 6

2015Q3/4 Contract Extension ● Propose we extend POP by 3 months ● Roll over the $90k underrun to Q3 ● Add $15k value, and we have 2 FTE for 3 Months ● We do need contract guarantee to continue to support full time after June - have NASA Orion work if not...

Syzygyx Status - GitHub

Mar 1, 2015 - Flight Management Computer. Custom I2C ESC w/ Telemetry ... Model is too complex to smoothly fly on 3YO laptop. But props spin! Page 10 ...

4MB Sizes 10 Downloads 228 Views

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