UAS/Design

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Revision as of 21:33, 17 August 2011 by en>ScottyB (→‎Communications (COMS))
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Return to Drone

Architecture

Maybe the following subsystems exist:?

Navigation (NAV)

This subsystem calculates location, orientation, and--maybe--HAGL.

Return to Service (RTS) and Preflight

This subsystem should perform RTS (return to service)/preflight testing of the craft. I suppose it will come with a checklist so the maintenance person knows when to invert it, etc, so it can test it's various sensors.

RTS should not pass if Maintenance has stored a fault. Until formally cleared.

Maintenance (MAINT) and Logger

This subsystem should capture and store faults (e.g. failure of a sensor).

Flight Plan (FP)

This subsystem should feed the flight plan to the Pilot.

This should interface w/ COMS to enable flight plan updating.

Pilot

This is the thing that takes inputs from NAV and FP and commands servos and throttles. This flys the craft.

Auto Land

The auto land subsystem takes over (when directed) to provide inputs to the Pilot to create a safe, clean landing.

Communications (COMS)

This is a 2 part subsystem: USB and RF. behavior shall be different in USB vs RF mode. Also will be different if we are on ground.

COMS should generally provide a way for the base station to talk to the various subsystems of the drone. This should allow for things like:

  • querying the DATALOG.
  • querying the FP.
  • Changing the FP
  • subscribing to data (e.g. telemetry information, %to next waypoint)
  • return to base
  • Take Off
  • Go Around

Random Thoughts

What do our emergency modes look like and where do they go?

How do we monitor the battery? (Shut the engine off and glide in for a landing?)