{"id":662,"date":"2025-05-03T03:28:43","date_gmt":"2025-05-03T03:28:43","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamb\/?page_id=662"},"modified":"2025-05-03T03:39:26","modified_gmt":"2025-05-03T03:39:26","slug":"design-brainstorming","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamb\/documents\/design-brainstorming\/","title":{"rendered":"Design Brainstorming"},"content":{"rendered":"\n<h4 class=\"wp-block-heading\"><a href=\"https:\/\/drive.google.com\/drive\/folders\/15hhufEIObQS-Nz5VqGoz7iIHUvF14Jwf\"><strong>WhiteBoard Session<\/strong>: Code Review &amp; Design of Integrated Planner with Behavior Tree<\/a><\/h4>\n\n\n<h4><b>Building a Custom Drone for the DARPA Triage Challenge<\/b><\/h4>\n<p><span style=\"font-weight: 400\">The DARPA Triage Challenge requires UAVs capable of evaluating casualty vital signs in disaster scenarios while meeting specific technical constraints:<\/span><\/p>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Total weight under 5kg (including all components)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Flight duration exceeding 15 minutes (20 minutes optimal)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Maximum diameter of 1.5m with propellers<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Ability to carry approximately 1kg of mission-specific payload<\/span><\/li>\n<\/ul>\n<p>\u00a0<\/p>\n<h4><b>Part 1: Rapid Prototyping with DJI Matrice 100 + PX4<\/b><\/h4>\n<h5><b>1.1 System Architecture<\/b><\/h5>\n<p><span style=\"font-weight: 400\">The initial implementation leverages the DJI Matrice 100 airframe with a PX4 flight controller replacement. This hybrid approach provides:<\/span><\/p>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Validated airframe and motors from DJI<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Open-source flight control software via PX4<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Rapid deployment for algorithm testing<\/span><\/li>\n<\/ul>\n<h4><b>1.2 Integration Procedure<\/b><\/h4>\n<h5><b>1.2.1 Required Components<\/b><\/h5>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">DJI Matrice 100 platform<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Pixhawk flight controller (v1 or newer)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">GPS + Compass module<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Power module<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Safety switch and buzzer<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Telemetry radio (optional)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Appropriate cables and connectors<\/span><\/li>\n<\/ul>\n<h5><b>1.2.2 Flight Controller Installation<\/b><\/h5>\n<ol>\n<li style=\"font-weight: 400\"><b>Mount the Pixhawk<\/b><span style=\"font-weight: 400\"> securely to the center plate of the M100 using vibration-dampening foam to isolate it from motor vibrations.<\/span><\/li>\n<li style=\"font-weight: 400\"><b>Connect power<\/b>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">The 3DR Power Module connects between the battery and ESCs<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Wire the 6-pin connector from the power module to the &#8220;POWER&#8221; port on the Pixhawk<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">This enables both power delivery and battery voltage\/current monitoring<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Connect mandatory peripherals<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">GPS\/Compass \u2192 &#8220;GPS&#8221; port (provides positioning and heading data)<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Connect optional peripherals<\/b><span style=\"font-weight: 400\"> (as needed):<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">3DR Telemetry Radio \u2192 &#8220;TELEM1&#8221; port (for wireless ground station connectivity)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">I\u00b2C splitter \u2192 &#8220;I\u00b2C&#8221; port (for connecting multiple I\u00b2C peripherals)<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h5><b>1.2.3 Power System Configuration<\/b><\/h5>\n<p><span style=\"font-weight: 400\">The power module is critical for proper operation:<\/span><\/p>\n<ol>\n<li style=\"font-weight: 400\"><b>Physical installation<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Connect the XT60 connector labeled &#8220;From battery&#8221; to your battery output<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Connect the XT60 connector labeled &#8220;To ESC or PDB&#8221; to your power distribution board<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Wiring explanation<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">The red\/black wires carry high-current power to your motors<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">The 6-pin connector carries:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Regulated 5.3V power for the flight controller<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Analog voltage sensing signal<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Current sensing signal<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Pin 4 connects to an analog pin on the flight controller for monitoring<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Software configuration<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">In QGroundControl, navigate to Power Settings<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Set the correct voltage divider and amperage per volt values (typically found on the power module documentation)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Calibrate battery voltage by measuring with a multimeter and adjusting in software<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h4><b>1.3 Flight Testing and Validation<\/b><\/h4>\n<p><span style=\"font-weight: 400\">Before proceeding to autonomous operation:<\/span><\/p>\n<ol>\n<li style=\"font-weight: 400\"><b>Initial calibration<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Compass calibration: Perform rotation in all axes<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Accelerometer calibration: Place vehicle in all six orientations<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Radio calibration: Set endpoints and center positions for all channels<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Manual flight testing<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Begin with short hover tests in Position mode<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verify stability and control response<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Test return-to-home functionality<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Measure actual flight time with payload<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Software configuration<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Set appropriate battery failsafe levels (land at 10%)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Configure geofence boundaries if operating in restricted areas<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Set maximum altitude and distance limits<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h4><b>Part 2: Custom Drone Engineering from First Principles<\/b><\/h4>\n<p><span style=\"font-weight: 400\">For optimal performance and maximum control over the design, a fully custom drone allows precise optimization for the mission requirements.<\/span><\/p>\n<h4><b>2.1 Design Workflow<\/b><\/h4>\n<ol>\n<li style=\"font-weight: 400\"><b>Preliminary design<\/b><span style=\"font-weight: 400\"> with performance estimation tools<\/span><\/li>\n<li style=\"font-weight: 400\"><b>Component selection<\/b><span style=\"font-weight: 400\"> based on performance requirements<\/span><\/li>\n<li style=\"font-weight: 400\"><b>CAD modeling<\/b><span style=\"font-weight: 400\"> for mechanical integration<\/span><\/li>\n<li style=\"font-weight: 400\"><b>Electrical system design<\/b><span style=\"font-weight: 400\"> with proper power distribution<\/span><\/li>\n<li style=\"font-weight: 400\"><b>Assembly and integration<\/b><\/li>\n<li style=\"font-weight: 400\"><b>Testing and refinement<\/b><\/li>\n<\/ol>\n<h4><b>2.2 Performance Modeling and Component Selection<\/b><\/h4>\n<h5><b>2.2.1 Performance Calculation<\/b><\/h5>\n<p><span style=\"font-weight: 400\">Using eCalc (www.ecalc.ch\/xcoptercalc.php) allows simulation of flight performance before building:<\/span><\/p>\n<ol>\n<li style=\"font-weight: 400\"><b>Input parameters<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Aircraft type (Quadcopter)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Aircraft weight (target &lt;4kg without payload)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Battery configuration (cell count, capacity)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Motor specifications (KV rating, power)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Propeller dimensions<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">ESC specifications<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Analyze results<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Expected hover time<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Mixed flight time (more realistic than hover time)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Maximum thrust<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Motor temperature estimates<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Power system efficiency<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Iterative optimization<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Adjust component selection to achieve &gt;20 minute flight time<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Ensure thrust-to-weight ratio exceeds 2:1 for adequate control<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verify motor and ESC loading remains below 80% for thermal safety<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h5><b>2.2.2 Critical Component Selection<\/b><\/h5>\n<p><span style=\"font-weight: 400\">For a 5kg total weight target:<\/span><\/p>\n<ol>\n<li style=\"font-weight: 400\"><b>Frame<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Carbon fiber construction for maximum strength-to-weight ratio<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Approximately 450-550mm motor-to-motor distance depending on propeller size<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Motors<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">350-400KV brushless motors for 6S battery configuration<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">120-150W continuous power rating per motor<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">T-Motor MN4014 or similar quality recommended<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>ESCs<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">30-40A continuous rating<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">BLHeli_32 or KISS firmware for precise control<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Consider 4-in-1 ESC for cleaner wiring<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Propellers<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">15-18&#8243; diameter for efficiency<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Consider foldable propellers for transport<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Carbon fiber for rigidity and weight savings<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Battery<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">6S (22.2V) configuration for efficiency<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">10,000-12,000mAh capacity (split into two packs for weight distribution)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Minimum 15C discharge rating<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Flight Controller<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Pixhawk 4 or newer recommended<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Must support all required peripherals<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Position near center of gravity with vibration isolation<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h4><b>2.3 Structural Design and Fabrication<\/b><\/h4>\n<h5><b>2.3.1 Frame Configuration<\/b><\/h5>\n<p><span style=\"font-weight: 400\">A well-designed frame includes:<\/span><\/p>\n<ol>\n<li style=\"font-weight: 400\"><b>Central plates<\/b><span style=\"font-weight: 400\">:<\/span>\n<p>\u00a0<\/p>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Upper and lower carbon fiber plates (1-2mm thickness)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Separated by spacers to create electronics bay<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Vibration damping between layers for sensitive electronics<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Arms<\/b><span style=\"font-weight: 400\">:<\/span>\n<p>\u00a0<\/p>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Carbon fiber tube construction (16-20mm diameter, 1-2mm wall thickness)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Analyze inertia section properties to minimize vibration<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Securely attached to central plates with aluminum brackets and locking hardware<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Landing gear<\/b><span style=\"font-weight: 400\">:<\/span>\n<p>\u00a0<\/p>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Lightweight but sturdy design<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Consider shock-absorbing elements<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">3D printed from high-strength materials like nylon or carbon-filled filaments<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Motor mounts<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Aluminum for heat dissipation<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Secure attachment to carbon tube arms<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Designed for easy motor replacement<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h5><b>2.3.2 CAD Design Process<\/b><\/h5>\n<ol>\n<li style=\"font-weight: 400\"><b>Create 3D model<\/b><span style=\"font-weight: 400\"> of all components<\/span><\/li>\n<li style=\"font-weight: 400\"><b>Verify clearances<\/b><span style=\"font-weight: 400\"> between all moving parts<\/span><\/li>\n<li style=\"font-weight: 400\"><b>Analyze weight distribution<\/b><span style=\"font-weight: 400\"> for center of gravity<\/span><\/li>\n<li style=\"font-weight: 400\"><b>Design cable routing<\/b><span style=\"font-weight: 400\"> paths for clean installation<\/span><\/li>\n<li style=\"font-weight: 400\"><b>Validate structural integrity<\/b><span style=\"font-weight: 400\"> through FEA if available<\/span><\/li>\n<\/ol>\n<h4><b>2.4 Electrical System Integration<\/b><\/h4>\n<h5><b>2.4.1 Power Distribution<\/b><\/h5>\n<p><span style=\"font-weight: 400\">Following the wiring diagram<\/span><\/p>\n<ol>\n<li style=\"font-weight: 400\"><b>Power flow<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Battery \u2192 Power module \u2192 Power distribution board \u2192 ESCs \u2192 Motors<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Battery \u2192 Power module \u2192 5V regulator \u2192 Flight controller and accessories<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Current capacity planning<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Main power wires: 12AWG silicone-insulated<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Signal wires: 22-26AWG depending on current requirements<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">All connections soldered and heat-shrunk or using high-quality connectors<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Redundancy considerations<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Separate BECs (Battery Elimination Circuits) for critical systems<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Isolation of sensitive electronics from power system noise<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h5><b>2.4.2 Control System Wiring<\/b><\/h5>\n<ol>\n<li style=\"font-weight: 400\"><b>Motor signal routing<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Flight controller \u2192 ESC signal inputs<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Maintain equal wire lengths for timing consistency<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Sensor integration<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">GPS placed highest on frame with clear sky view<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Compass mounted away from power wires to avoid interference<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">External barometer if needed for altitude precision<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>RC receiver connection<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">PPM Sum connection simplifies wiring<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Receiver antenna positioned for optimal signal reception<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Telemetry system<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Positioned for line-of-sight to ground station<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Antenna orientation optimized for signal pattern<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h5><b>2.4.3 Control Board Pinout Mapping<\/b><\/h5>\n<p><span style=\"font-weight: 400\">To properly connect all components, refer to the detailed mapping:<\/span><\/p>\n<ol>\n<li style=\"font-weight: 400\"><b>Matrix 100 to PixHawk adaptation<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Follow the pin mapping diagrams precisely<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Motor numbering must match flight controller expectations<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Signal directions (RX\/TX) must be preserved<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Main connection groups<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Motor control signals (M1-M4)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Sensor inputs (GPS, compass)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Power connections<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Telemetry and control links<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h4><b>2.5 Software Configuration<\/b><\/h4>\n<h5><b>2.5.1 Flight Controller Setup<\/b><\/h5>\n<ol>\n<li style=\"font-weight: 400\"><b>Firmware installation<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Flash PX4 firmware using QGroundControl<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Select appropriate airframe configuration (Generic Quadcopter)<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Sensor calibration sequence<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Compass (rotate in all axes)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Accelerometer (six position calibration)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Gyroscope (keep still during calibration)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Level horizon<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">RC transmitter<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Motor configuration<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verify motor rotation directions match diagram<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Test motor response through the Motors tab in QGroundControl<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h5><b>2.5.2 Flight Parameters<\/b><\/h5>\n<ol>\n<li style=\"font-weight: 400\"><b>PID tuning<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Start with conservative default values<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Gradually increase P-gain until oscillation, then reduce by 25%<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Adjust I-gain to eliminate drift<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Add D-gain to dampen oscillations<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Safety parameters<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Configure battery failsafe levels<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Set return-to-home altitude<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Configure geofence boundaries<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h4><b>2.6 Assembly and Integration Procedure<\/b><\/h4>\n<ol>\n<li style=\"font-weight: 400\"><b>Frame assembly<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Construct central frame with all mounting hardware<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Attach arms securely with locking compound on bolts<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Install landing gear<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Power system installation<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Mount power distribution board<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Install ESCs with proper cooling consideration<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Connect power module<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Control system integration<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Mount flight controller with vibration isolation<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Install GPS mast oriented toward front of vehicle<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Connect all peripherals according to pinout diagrams<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Motor installation<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Mount motors to arms<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verify motor rotation directions<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Install propellers (proper orientation is critical)<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Final wiring and cleanup<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Secure all cables with zip ties or cable organizers<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Protect connections from vibration<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Ensure no wires can contact moving parts<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Center of gravity balancing<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Adjust component positions to center CG<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verify balance in all axes<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h4><b>2.7 Testing Protocol<\/b><\/h4>\n<h5><b>2.7.1 Pre-flight Checklist<\/b><\/h5>\n<ol>\n<li style=\"font-weight: 400\"><b>Visual inspection<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">All fasteners secure<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">No damaged components<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Propellers correctly mounted<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Wiring secure and protected<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Power system check<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Battery voltage verification<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Power connections secure<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">ESC initialization tones normal<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Control system check<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Transmitter control response<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Flight mode switching<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Fail-safe activation test<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h4><b>2.7.2 Incremental Flight Testing<\/b><\/h4>\n<ol>\n<li style=\"font-weight: 400\"><b>Maiden flight<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Open area with no obstacles<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Calm weather conditions<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Brief hover test at low altitude<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verify stability and control response<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Performance validation<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Test flight duration with payload<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Measure power consumption<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verify thermal performance of motors and ESCs<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Mission-specific testing<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Simulate actual mission profile<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Test all automated functions<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Verify payload operation during flight<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h4><b>Part 3: Advanced Customization for DARPA Triage Challenge<\/b><\/h4>\n<h5><b>3.1 Mission-Specific Modifications<\/b><\/h5>\n<ol>\n<li style=\"font-weight: 400\"><b>Payload integration<\/b><span style=\"font-weight: 400\">:<\/span>\n<p>\u00a0<\/p>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Custom mounting for sensors<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Vibration isolation for cameras<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Cable management for payload connections<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Computing hardware<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Companion computer (Jetson Orin or similar)<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Proper cooling for sustained operation<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Power management for extended flight time<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Sensor package<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Cameras positioned for maximum field of view<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Thermal sensors for casualty detection<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Obstacle avoidance sensors<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h4><b>3.2 Operational Considerations<\/b><\/h4>\n<ol>\n<li style=\"font-weight: 400\"><b>Field maintenance<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Carry spare propellers, fasteners, and cables<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Quick-swap battery system<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Field diagnostic procedures<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Environmental adaptations<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Dust\/moisture protection for electronics<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Operating temperature range considerations<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Wind resistance capability<\/span><\/li>\n<\/ul>\n<\/li>\n<li style=\"font-weight: 400\"><b>Regulatory compliance<\/b><span style=\"font-weight: 400\">:<\/span>\n<ul>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Remote ID transmitter<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Appropriate lighting<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">Registration markings<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ol>\n<h4><b>References<\/b><\/h4>\n<ol>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">&#8220;DJI Matrice 100 (Pixhawk 1),&#8221; PX4 User Guide (v1.12). [Online]. Available: https:\/\/docs.px4.io\/v1.12\/en\/frames_multicopter\/matrice100.html<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">&#8220;What are the parts of a drone &#8211; full list,&#8221; UMiles Group. [Online]. Available: https:\/\/umilesgroup.com\/en\/what-are-the-parts-of-a-drone-full-list\/<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">&#8220;eCalc &#8211; xcopterCalc &#8211; the most reliable Multicopter Calculator on the Web.&#8221; [Online]. Available: https:\/\/www.ecalc.ch\/xcoptercalc.php<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">&#8220;DJI M100 Matrice100,&#8221; GrabCAD Library. [Online]. Available: https:\/\/grabcad.com\/library\/dji-m100-matrice100-1<\/span><\/li>\n<li style=\"font-weight: 400\"><span style=\"font-weight: 400\">&#8220;Common 3DR Power Module,&#8221; Ardupilot Copter Documentation. [Online]. Available: https:\/\/ardupilot.org\/copter\/docs\/common-3dr-power-module.html<\/span>\n<p>\u00a0<\/p>\n<\/li>\n<\/ol>\n<p>\u00a0<\/p>","protected":false},"excerpt":{"rendered":"<p>WhiteBoard Session: Code Review &amp; Design of Integrated Planner with Behavior Tree Building a Custom Drone for the DARPA Triage Challenge The DARPA Triage Challenge requires UAVs capable of evaluating casualty vital signs in disaster scenarios while meeting specific technical constraints: Total weight under 5kg (including all components) Flight duration exceeding 15 minutes (20 minutes<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamb\/documents\/design-brainstorming\/\">+ Read More<\/a><\/p>\n","protected":false},"author":392,"featured_media":0,"parent":22,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-662","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamb\/wp-json\/wp\/v2\/pages\/662","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamb\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamb\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamb\/wp-json\/wp\/v2\/users\/392"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamb\/wp-json\/wp\/v2\/comments?post=662"}],"version-history":[{"count":2,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamb\/wp-json\/wp\/v2\/pages\/662\/revisions"}],"predecessor-version":[{"id":677,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamb\/wp-json\/wp\/v2\/pages\/662\/revisions\/677"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamb\/wp-json\/wp\/v2\/pages\/22"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teamb\/wp-json\/wp\/v2\/media?parent=662"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}