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# PSAS Launch-10 — June 30, 2013

[[!img LV2.3-October.png alt="L-10 Mission patch" class="picture"]]

[[!img casey_Jun2013_launch_01-cropped.jpg size="600x600" alt="Launch image by Casey Repp"]]

On June 30th 2013 PSAS conducted our tenth launch "L-10" with our LV2.3 launch vehicle.

[[!toc levels=3]]

[[!img LV2.3_diagram.png size="800x540" alt="LV2.3 Diagram"]]

## Goals for Launch

### Major Initiatives


#### Olimex STM32-E407 based IMU with Ethernet

We have an [[Analog Devices ADIS 6 axis + magnetometer IMU|avionics/av3-imu]] that needs integration into our flight computer. We have opted to use an STM32 ARM based microcontroller to handle low level communication with the sensor, while reporting it's values over Ethernet to the FC.

<div class="image_gallery">
[[!img e407_sense_1.jpg size="140x140"]]
[[!img e407_stacked.jpg size="140x140"]]
</div>


#### Olimex STM32-E407 based roll control with Ethernet

We want to use the same STM32 architecture to do other low level work, in this case send updates to the roll control servo. This board does also doubles as the hardware launch detect (using a shorted tether).

<div class="image_gallery">
[[!img e407_roll_1.jpg size="140x140"]]
</div>


#### LTC API

Over the last year we rebuilt our [[Launch Tower Computer (LTC)|GroundTeamHome/launch_tower_v3/]]. This computer serves as the link to the rocket when it's on the pad, providing power and communication as well as safely controlling the ignition. This also meant rebuilding the software to talk to it.


#### Roll Control on the main Flight Computer

We validated Roll Control on our October 2010 launch. But this was using a one-off, completely embedded solution. We very much would like to fly the same algorithm using our new flight computer framework, Ethernet communication, etc.

<div class="image_gallery">
[[!img LV2_3_june.png size="140x140" alt="AV3-L10 Diagram"]]
</div>


#### Flight Computer Framework

This winter/spring CS Capstone team built a [Flight Computer Framework](https://github.com/psas/elderberry). This allows us to write modules in c and then define the connections and program flow between them using simple configuration files. The framework then handles setting up the build targets, events and callbacks for the computer. This is the flight test using the new code.

<div class="image_gallery">
[[!img FCF.png size="140x140" alt="AV3-L10 Diagram"]]
</div>


#### FC Rocket Ready based on real constraints

The new LTC has an additional level of safety on the firing sequence. The flight computer _must_ assert a line high to let a relay close and allow the rocket to be fired. This lets us check for conditions on the rocket (GPS lock, sane sensors, etc.) and automatically safe the launch circuitry if something goes wrong.

#### Updated Camera

We have a new HD camera pointed out the side of the rocket, as well as a new 3D printed shroud for the downward facing camera.

<div class="image_gallery">
[[!img camera_34.jpg size="140x140"]]
[[!img camera_back.jpg size="140x140"]]
[[!img camera_top.jpg size="140x140"]]
[[!img camera_camera.jpg size="140x140"]]
[[!img payload_wcam.jpg size="140x140"]]
</div>


#### 360 Camera Module

A special payload is flying on this launch. A 360&deg; camera module made up of 5 GoPro's will sit just above the roll control module and will be stitched after flight into a singular, extreme HD full view of the flight!

<div class="image_gallery">
[[!img 360_front_1.jpg size="140x140"]]
[[!img 360_back_1.jpg size="140x140"]]
[[!img 360_top_1.jpg size="140x140"]]
[[!img 360_top34_1.jpg size="140x140"]]
[[!img 360_eye.jpg size="140x140"]]
</div>


#### 3D Printed Net Connectors

One of the small innovations on this launch are small, locking connectors for the ethernet and power that are partly COTS and partly 3D printed.

<div class="image_gallery">
[[!img rocketnet_conn.jpg size="140x140"]]
</div>


## Rocket Sections

### Nosecone And Recovery

The nosecone has the top half of the recovery system. A pusher presses against the recovery module below it while the two are held together by the nosecone separation ring (NSR). When the NSR is fired the nosecone separates and the pusher pushes it away from the rest of the rocket. This carries the drogue chute into the air-stream.

The rocket falls under drogue until about 300 meters altitude when the drogue and nosecone are cut away by a pyrotechnic line cutter. The action also pulls out the main chute.

<div class="image_gallery">
[[!img recover.jpg size="400x200"]]
</div>

### Payload Module

The payload module contains two commercial off the shelf 'flight computers' that are simple devices that track the height of the rocket and ignite the charges that open the parachutes at the right altitudes. The payload module also contains the downward facing camera and a side facing HD camera. The downward camera sends down a live image through an amateur TV band transmitter. All other cameras on the rocket record to SD cards.

<div class="image_gallery">
[[!img payload_34.jpg size="140x140"]]
[[!img payload_arts.jpg size="140x140"]]
[[!img payload_tm_1.jpg size="140x140"]]
[[!img payload_wcam.jpg size="140x140"]]
</div>


### 360&deg; Camera

The 360&deg; camera module houses 5 HD GoPro cameras that recorded a complete, overlapping cylindrical view from the rocket.

<div class="image_gallery">
[[!img 360_front_1.jpg size="140x140"]]
</div>

### Roll Control

The roll control module uses small canards to spin the rocket clockwise and counterclockwise as it flies. This is our test stabilization system.

<div class="image_gallery">
[[!img rc_front_1.jpg size="140x140"]]
[[!img rc_back_1.jpg size="140x140"]]
[[!img rc_top.jpg size="140x140"]]
</div>


### Avionics Module

The flight computer (FC). This is the main computer, Ethernet hardware battery and power supply, etc. It has a special shell it drops into that has 3 linealry polarized clydrical patch attennas. One for GPS, one for live video broadcast and one for WiFi.

<div class="image_gallery">
[[!img fc_34_1.jpg size="140x140"]]
[[!img fc_adis_1.jpg size="140x140"]]
[[!img fc_closeup.jpg size="140x140"]]
[[!img fc_buttoned.jpg size="140x140"]]
</div>

### Motor and 'Spin Can'

The motor casing also has a set of fins for stability. But ours are special The 3 fins are on a free-rotating bearing so rotational forces on the fins do not overpower the small roll control canards.

<div class="image_gallery">
[[!img motor_1.jpg size="200x400"]]
</div>

# Logistics

## Pre-launch Timeline

Here is the timeline circa May 21st, 2013:

[[!img calendar.png size="600x331" alt="Best guess timeline"]]

[[!table data="""
Date     | Activity
Sat 6/08 | Integration day 1 @ Dave's house Raise Tower
Sat 6/22 | Final prep and integration test day @ Dave's house / Final Checklist
Tue 6/25 | Go/No Go decision, final logistics, etc.
Thu 6/27 | Weather last call
Sat 6/29 | Drive to Brothers
Sun 6/30 | Launch!!
"""]]

We mostly stuck to this timeline, but the actual hardware button up didn't happen until Wednesday before the launch. The RocketHub was not finished in time to be meet the cutoff and was not flown this launch.


## Launch weekend timeline

[[!table data="""
Date     | Time        | Activity
Fri 6/28 | Evening     | Prep equipment and pack up toy hauler at Dave's house.
Sat 6/29 | Morning     | Depart from Dave's house for Brothers.
Sat      | Afternoon   | Arrive in Brothers, set up launch tower, prep rocket for flight, watch other people's rockets.
Sat      | Evening     | Final tower and LTC assembly and testing, final rocket assembly. Astronomy, after the moon goes down.
Sun 6/30 | Early       | Rocket to pad, final system testing before flight.
Sun      | **10:00am** | **Launch!**
Sun      | Afternoon   | Recovery, debrief, pack, drive back to PDX
Sun      | Evening     | Unload rocket stuff at Dave's house.
"""]]

Note, launch actually occurred at 12:30, an hour and a half late.

**See the [[Procedure Book for this launch|https://github.com/psas/procedure-book]]**


# Launch!

At aproximatly 12:30pm local time (19:30 UTC) we sent the ignite command to the rocket.

## Videos

#### High Speed Launch Footage

<iframe width="640" height="360" src="//www.youtube.com/embed/nVZJbFXYCFU?rel=0" frameborder="0" allowfullscreen></iframe>

#### Onboard Camera Looking Down

<iframe width="640" height="360" src="//www.youtube.com/embed/CG_K993psl0?rel=0" frameborder="0" allowfullscreen></iframe>

#### Onboard Camera Looking out

<iframe width="640" height="360" src="//www.youtube.com/embed/BPBurw51EZc" frameborder="0" allowfullscreen></iframe>


## Data

All recovered flight data can be found in this git repo:

<https://github.com/psas/flight_data-launch10>

Download all the data as a zipfile:

 - [flight_data-launch10.zip](https://github.com/psas/flight_data-launch10/archive/master.zip)

# Launch Analysis

## Flight Computer

No data was recovered from the rocket during the boost phase of the launch. The logs start again sometime after apogee when the rocket was already on parachutes.

## Launch Pad cameras

Here are screen shots of the launch pad cameras that recorded data. Unfortunately every camera ran out of battery before the vehicle launched. 
[[!img Screen_Shot_2013-07-03_at_11.45.40_PM.png size="800x600"]]
[[!img Screen_Shot_2013-07-03_at_11.41.18_PM.png size="800x600"]]
[[!img Screen_Shot_2013-07-03_at_11.44.06_PM.png size="800x600"]]
[[!img Screen_Shot_2013-07-03_at_11.39.38_PM.png size="800x600"]]
[[!img Screen_Shot_2013-07-03_at_11.49.30_PM.png size="800x600"]]