Test Plan Template

Document Revision No.: 2 Revised: 05/18/18 RIT KGCOE MSD Program

P13231 UAV Ground Station Test Plans & Test Results Table of contents Note: Once you complete each of the three sections, right click on the table below and select Update Field to update the Table of Contents.)

1. MSD I: WKS 8-10 PRELIMINARY TEST PLAN – “WHAT”...... 2 1.1. Overview...... 2 1.2. Sub-Systems/ Functions/ Features...... 2

2. MSD II WKS 2-3 TEST PLAN – “HOW, WHO, WHEN”...... 4 2.1. Data Collection...... 4 2.2. Test Procedure, timeline...... 4

3. MSD II – WKS 3-10 DESIGN VERIFICATION...... 6 3.1. Logistics...... 6 3.2. Analysis of Data – Design Summary...... 6 3.3. Conclusion or Design Summary...... 6

RIT KGCOE MSD Program Page 1 Revision: Document Revision No.: 2 Revised: 05/18/18 RIT KGCOE MSD Program

P13231 Your Project Name Preliminary Test Plan

1. MSD I: WKS 8-10 PRELIMINARY TEST PLAN – “WHAT”

1.1. Overview 1.1.1 The goal of this project is to utilize Ardupilot’s capabilities to autonomously and/or remotely fly a UAV. Flight data will be sent from the plane and gathered by the computer to be used for updating flight commands and logging data for later analysis. The ability to simulate aircraft damage through the use of seeded faults will also be implemented in this project.

1.2. Sub-Systems/ Functions/ Features

The subsystems include Ardupilot, the fault seeding and detection system, the camera system, a wireless communication system, a ground station, and a power system.

Major Sub-Systems/ Features/ Function

1 Ardupilot

2 Fault Seeding/Detection System

3 Camera System

4 Telemetry/Wireless Communication System

5 Ground Station

6 Power System

1.2.1. Ardupilot is an open source family of autopilots based on the Arduino family of microprocessors. APM 2.5 (the architecture we will use) is equipped with an IMU, barometer, magnetometer, GPS, and 4MB of datalogging memory. Ardupilot is powered by the battery from the aircraft. The Ardupilot base code is coded in C++ whereas the Ardupilot ground station GUI, called Mission Planner, is coded in C#.

1.2.2. The fault detection system is designed to detect damage on an aircraft, such as being struck by a projectile. To detect faults we decided to place 4 accelerometers on different parts of the plane. These accelerometers will log acceleration data at a rate to be determined later and store the resulting data in memory. If a certain amplitude/frequency of acceleration is detected that is classified as a “fault,” a Boolean signal will be sent to the ground station informing the operator of said fault. The fault seeding system is required in order to test the fault detection system. Since using live ammunition to shoot at the aircraft is not allowed, mechanical systems are designed to initiate various faults. The faults that are chosen are a hole in the lifting surface (the wing), removing/dangling of a portion of the rudder, and physically cutting power to an aileron servo.

1.2.3. The camera system encompasses two different subsystems: video imagery and still imagery. The video system chosen is the CN/P 26 camera. The still imagery camera chosen is the mp3 hidden camera, which requires dismantling the picture button and sending 2 or 3 pulses through a CMOS transmission gate to take a picture when requested by the ground station.

1.2.4. The telemetry system used is the 3DR 9-Channel Radio. The video transmitter chosen is the 5.8GHz 500mW wireless video transmitter-receiver kit.

1.2.5. The ground station will consist of a laptop and a remote controller. When the plane is in manual mode the signals from the remote control will be sent to the UAV and passed straight through the Ardupilot. When automatic mode is enabled, Ardupilot will control at least the ailerons, elevator, and rudder and will only control the throttle if we change it from Fly-By-Wire A mode to Fly-By-Wire B Mode.

1.2.6. An electric motor will power all the components on the plane. Four AA batteries will power the remote controller at the ground station.

2. MSD II WKS 2-3 TEST PLAN – “HOW, WHO, WHEN”

2.1. Data Collection

2.1.1. Data Collection Structure

Ardupilot- Ground test to ensure signals sent from remote controller pass through Ardupilot to servos. Insert waypoints onto Mission Planner, manually fly the plane up to some altitude, switch the mode to fly-by-wire A. ***See aviation club’s test plans for more detailed testing guide*** Fault Seeding- Test on ground before testing in air, ensure all faults can be triggered and occur as expected. Fault Detection- Shake the plane on the ground using a shaker table to trick system into detecting a false positive, record Boolean detection system or check the log to see what the output(s) of the accelerometer looks like when plane is shaken. Verify a message appears on Mission Planner that an error occurred. Compare log data to known frequency and amplitude of vibration. Camera System- Ensure that the pictures and videos can be remotely taken and saved to the ground station through either the video transmitter or the telemetry system. Ensure that the video feed is sent back to the ground station. Telemetry/Wireless Communication Systems- Broadcast on the transmitter and move the receiver away until the BER becomes too high for the system to function. Ideally, one antenna is at a higher altitude than the other to ensure that the antennas are truly isotropic. Ground Station- Ensure the ground station can send, receive, and log information to and from the UAV. Check that all servos can be controlled from the laptop and/or remote controller ***See aviation club’s test plans for more detailed list*** Power Subsystems- Consult the datasheets to confirm that all parts are operating in the specified voltage/current range. Tests can be done using a multimeter.

2.1.2. Sampling Techniques “How” to measure and any setup needed?

2.1.3. Sample Size Do you have tolerances on your specifications?

2.1.4. Reporting Problems; Corrective Action

2.2. Test Procedure, timeline Who is testing what and when? Are there interdependencies between subsystems (Block Diagram)? Can test equipment enable preliminary simulation of needed signals prior to integrating into the next level of completion?

3. MSD II – WKS 3-10 DESIGN VERIFICATION

3.1. Logistics

The testing will take place either in the aero labs, the fourth floor of the engineering building, or outside in a large open area. The only testing that needs to be done outside is the telemetry/wireless communication subsystems, whereas testing the fault systems, Ardupilot functionality, etc. can all be tested indoors either on the fourth floor of the engineering building, or in one of the aero labs.

3.2. Analysis of Data – Design Summary

3.3. Conclusion or Design Summary Can you explain why a particular function doesn’t work? Conclusions are reported or summarized (i.e. significance with confidence, pass/fail, etc.) as applicable.

3.3.1. Lab Demo with your Guide and Faculty Consultants

Perform each of the specifications and features.

3.3.2. Meeting with Sponsor

See Customer Acceptance above. Field Demonstration. Deliver the project. Demonstrate to the Sponsor. Customer needs met / not met.

RIT KGCOE MSD Program Page 6 Revision: