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ARMADILLO PIXEL - Flight tests, Development
courtesy of Armadillo AerospaceWe made several flight tests this month with Pixel. All of the things that I wanted toimprove with the software are now done. The roll control has been relaxed so tank slosh doesn’t cause the thrusters to fire nearlycontinuously, depleting the ullage pressure.I have added “discontinuity tracking” to the raw GPS position, since the integratedvelocity value that I was previously using did have a drift of six meters on the real flightswe did at the X-Prize Cup. The drift was always small when we were hanging at a hover, but when we did the up-50-meters-over-100-meters-down-50-meters flight the drift was alot higher. I still use the integrated position as the input to the flight control because it ismuch smoother than the raw GPS position, but I allow the integrated position to slowlydrift towards the corrected absolute position. Using differential GPS for the raw positionwould be even better, but I would prefer not to add another box, antenna, and cable to myground station equipment. Eventually, when we outfit a dedicated van for our operationswe will permanently mount everything and likely include DGPS. Speaking of GPS, I am seriously considering buying a multi-antenna attitude sensingGPS system. This product is still over $13k, but it is much cheaper than previous options:http://www.septentrio.com/products_polarx2at.htm The flight control system now has a good parameter file / command line override setup,rather than having some hard coded assumptions about the lunar lander challenge flight profiles. We will just walk the electronics box from the liftoff pad to the landing pad toget our exact coordinates, rather than relying on a pad survey. One of the test flights this month was done in absolutely crazy wind conditions. Wemeasured steady winds of 30 mph, with gusts significantly higher. The fire station hadseen gusts as high as 55 knots (63 mph) earlier in the day. Flights were being canceledout of DFW airport due to the wind. Pixel didn't care a bit. Almost two minutes of hovering there, completely unperturbed. As Neil put it, “Pixel laughs at 40 mph winds!”
 
 We planned to try for a 180 second flight, but we managed to put the engine back together with the o-ring pinched out of its groove, and the resulting fuel leak into thechamber messed up the mixture ratio badly and eroded the graphite chamber a fair amount. We should have a new chamber ready to go this week. We also made a newinjector that has more elements, because the current one was requiring nearly 100%throttle to stay aloft with the heavy propellant load during the blow down flight. I havealso added a guard lip that will hopefully protect the chamber o-ring. We still have themetal helicoflex seals coming, but if we can continue to use elastomer o-rings, life will be better. I don’t expect to make 180 seconds on the first try, I figure we will have to makesome adjustments to the propellant load and/or starting pressures and element hole sizesto guarantee simultaneous propellant depletion, and we may need to strip some weightout of the vehicle. It is interesting to note that we just don’t do short flight tests anymore, every flight is atleast a 90 second propellant load. That might be different if we could still do test flights behind our shop, but we have been testing at the Greyson County Airport, which is a littleover an hours drive from our shop, and the packing and unpacking add a couple hoursmore. We are paying $6.50 / gallon for our 90% ethanol, and $570 for a six-pack of helium. I don’t know our lox costs off hand, but it is the least expensive of the threeconsumables. Counting crane truck rental and facility fees, it winds up being about $3000to do a pair of flight tests. Full up 100 km space shots will not be much different, butoperating out of New Mexico will increase our costs. We are probably going to try usingE85 to save a few hundred dollars on fuel costs, but the gasoline content makes it more of an environmental issue for launch permits / licenses.We have FAA-AST experimental permit #003 in hand now for doing lunar lander challenge flight profiles at the Oklahoma Spaceport. There are still some issues to beresolved regarding some cross waivers between the FAA and Oklahoma (which came as asurprise to all involved!), and I still need to write the big check to start our insurancecoverage, but we should be good to go soon. We probably won’t do any operations therein March, but we will likely do an official level 2 qualification flight in April. We are going to have to make another permit application for the 2007 X-Prize Cupflights. The fact that we will have three separate permits for the same flight profile is pretty silly – a permit should allow just a single population exclusion zone to be specifiedfor a given flight profile. If we ever want to be able to fly, say, vertical dragsters atmultiple airshows, some arrangement like that will be necessary. FAA may need to issuea waiver instead of a permit/license for something like that, because there are issuesabout the show site being a “spaceport”.
 
  Neil is going to start working on the next experimental permit to allow us to do flights to4000’ in Oklahoma, and we are probably going to apply for a full launch license atSpaceport America in New Mexico for 100km flights. 
Modular Development
 Almost all of the pieces have been machined for our batch of modules, and everythingfits. http://media.armadilloaerospace.com/2007_03_05/testFit.jpghttp://media.armadilloaerospace.com/2007_03_05/modularParts.jpghttp://media.armadilloaerospace.com/2007_03_05/hemispheres.jpg I am really happy with how we are able to fit everything conveniently together at the baseof the vehicle, and we will be able to easily change to different tanks if desired. We will be able to fly the individual modules with the gimbaled engine, but if the four modulefixed engine / differentially throttled configuration works out, we will make a differentmodular design for the next rev that has the engine practically butted up against the tank,with no gimbals, flex lines, or connectors. We will probably save 30 pounds per module,a foot of height, and a fair amount of cost. We have added slosh baffles back to the modular vehicles. We had some in the originalVDR, but we removed them on the quads. We are pretty sure some of the oscillations wehave seen on quad flights are slosh related, so we decided to go back to them again. The baffles are 0.032” thick 5052 aluminum, 12” ID, and 30” / 35” OD. They were laser cutat Wooten Metals in Dallas. To give some expansion capability and make welding easier,each baffle is attached to the tank by 16 tabs of 1/8” thick aluminum, slightly bent up toallow them to flex. The slosh baffles leave an open ring at the edge to allow propellant todrain.
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