Tag: Ingenuity

Ingenuity gearing up for 30th flight

10:33 am

The engineering team for the Ingenuity helicopter on Mars announced yesterday that they have successfully completed two some spin-up tests and are preparing for the first short hop following the pause in flights during the height of the Martian winter dust season.

To confirm that she is still flightworthy, we performed a 50-rpm spin on Aug. 6, and on Aug. 15 we performed a high-speed spin, which spun up the rotor system to flight-like speeds of 2,573 rpm for several seconds. Telemetry downlinked after both tests indicates Ingenuity is a go for flight.

Our 30th flight will be similar to our second flight. On April 22, 2021, Flight 2 was the first to include sideways movement: We “translated” 13 feet (4 meters) and then returned before landing. Flight 30 will be shorter, translating sideways only 7 feet (2 meters) and then landing, but with the specific goal of providing a data point on Ingenuity’s ability to accurately approach a landing target. Our navigation system’s performance will be of value to the Sample Recovery Helicopter team (part of the Mars Sample Return Program) in their early design work for a next-generation Mars Helicopter navigation system.

The last sentence references the recent decision to use a helicopter on the future sample return mission to land near the cached Perseverance samples and grab them.

The 30th flight is supposed to occur sometime in the next few days.

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No more Ingenuity flights until August

9:08 am

Because it is now winter on Mars, with lots of seasonal dust in the atmosphere, the engineering team operating the helicopter Ingenuity have decided to suspend further flights until August.

Dust levels are expected to subside later in July, so the team has decided to give the helicopter’s batteries a break for a few weeks and build their daily state of charge back up. Weather permitting, Ingenuity is expected to be back in the air around the start of August.

This decision is not a surprise. When the team announced in May the plans for the helicopter’s most recent flight, completed in June, they suggested flights would pause for awhile thereafter. They have now made it official.

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Has work begun on a dedicated helicopter mission to Mars?

12:42 pm

Overview map

The easternmost point in the Mars Helicopter traverse
Click for full image.

In my routine searches through the image archive for the high resolution camera on Mars Reconnaissance Orbiter, I recently came upon several images labeled “Candidate Mars Science Helicopter Traverse” that I at first thought referred to Ingenuity’s extended mission in Jezero Crater.

A closer look however revealed these photos have nothing to do with Ingenuity or Jezero Crater. Taken in November ’21, January ’22, and March ’22, the images instead cover parts of the south rim of Valles Marineris, the solar system’s largest canyon, and appear to be research for a future dedicated Mars helicopter mission. The overview map above shows the location of these photos by the black dots. Three locations have each been imaged twice to produce a stereoscopic view that can precisely measure the topography.

The photo to the right, cropped and reduced to post here, shows the easternmost image, taken November 3, 2021. Not only does it show ample flat areas, the picture captures an impressive avalanche flow coming down from that southern interior canyon slope.

All the images were requested by planetary scientist Edwin Kite of the University of Chicago. Though I tried several times to contact Dr. Kite to get more information, he unfortunately did not respond. It could be this work is still too preliminary and thus he does not wish to comment.

Nonetheless, the extent of the three sets of images give us a fair idea of the kind of missions Kite and others might be considering. From east to west the distance between the images is about four hundred miles, and covers a traverse of the southern interior slopes of Valles Marineris along that entire length. The photos look mostly at the base of the canyon’s slope, each showing clearly that a helicopter flying there would have plenty of landing spots.

Obviously this first dedicated Mars helicopter mission might not cover this entire distance. Right now these images could simply be the first tentative research on choosing potential landing areas. Regardless, it appears that at least one scientist has already concluded that Ingenuity has proven such helicopter missions make sense, and is beginning to target one of Mars’s most spectacular locations, Valles Marineris, for that mission.

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Ingenuity successfully completes its 29th flight on Mars

3:51 pm

Ingenuity's 29th flight, estimated

Based on this tweet posted yesterday, Ingenuity has successfully completed its 29th flight on Mars, placing it in “a better communication position with the rover.”

According to the helicopter’s flight log, the flight lasted about 66 seconds, was about 587 feet long, and had a maximum altitude of 33 feet.

On the overview map to the right the green dot marks Ingenuity’s position before the flight. The yellow line is my guess as to the approximate flight path for this 29th flight. In this new position the helicopter is better aligned with the hollow that Perseverance will climb (as indicated by the red dotted line), and will therefore also have better line of sight communications with it.

The flight itself tells us that the engineers have not only gotten the helicopter recharged, they have developed new flight software to compensate for the loss of a sensor that was used to determine Ingenuity’s elevation.

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Engineers rethinking Ingenuity operations to keep it alive through the winter

9:07 am

The engineering team operating the Ingenuity helicopter on Mars have now determined that the cold oncoming winter temperatures on Mars are causing its systems to shut down during the night — at the edge of their designed temperature limits — and then reboot each morning, thus resetting its clock to the wrong time.

The result has been that the helicopter’s future is now definitely threatened. To address the cold winter temperatures and possibly keep Ingenuity alive, the engineers have come up with the following plan. First, they have focused on downloading from the helicopter all the remaining data still on-board, in case it shuts down permanently.

After all critical logs are transferred, the team will proceed with a recommissioning phase during which we will reestablish Ingenuity’s flight-readiness given our ongoing overnight cold-cycling. Like during the technology demonstration phase, we will perform a high-speed spin before proceeding to flight. Should Ingenuity receive a clean bill of health, we would be ready to execute a short sortie to the southwest in Flight 29. This flight will improve our radio link for approximately the next four to six months while Perseverance samples at the river delta.

In the meantime, the Ingenuity flight software team will be preparing a series of upgrades to enable advanced navigation features. These new capabilities will help Ingenuity ascend the river delta and continue its missions as a forward scout for Perseverance past winter.

All this effort will carry much greater risk, especially because Ingenuity is now operating far beyond its original planned capabilities, and the worst and coldest winter temperatures are yet to come. For the next three months or so the amount of sunlight available will be insufficient to power it as planned, and thus it will face a possibility of permanent failure almost every day. That 29th flight is thus likely critical to survival.

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Ingenuity in trouble

8:38 am

The engineering team yesterday revealed that several days earlier the Mars helicopter failed to communicate with the rover Perseverance as scheduled, now believed to have been caused by “a low-power state.”

Data downlinked indicates that the communications dropout on May 3, Sol 427 of the Perseverance rover’s mission at Mars, was a result of the solar-powered helicopter entering a low-power state, potentially due to the seasonal increase in the amount of dust in the Martian atmosphere and lower temperatures as winter approaches. The dust diminishes the amount of sunlight hitting the solar array, reducing Ingenuity’s ability to recharge its six lithium-ion batteries. When the battery pack’s state of charge dropped below a lower limit, the helicopter’s field-programmable gate array (FPGA) was powered down.

This state then caused the helicopter’s clock to get out of sync with the clock on Perseverance, so that when the rover tried to communicate the helicopter was not listening.

Engineers regained communications on May 5th, but the helicopter remains in trouble. Its batteries are no longer fully charged, which means it doesn’t have enough power to heat Ingenuity through the longer cold nights of winter that presently exist in Jezero crater.

The engineers have established a plan to get the batteries back up to full charge, but it means the heaters will no longer attempt to warm the helicopter as much. The result could be damaged parts not able to withstand those colder temperatures.

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Ingenuity photographs Perseverance’s abandoned parachute on 26th flight

10:05 am

Perseverance's parachute, as photographed by Ingenuity
Click for full image.

Overview map
Click for interactive map.

In the past week the Mars helicopter Ingenuity successfully completed its 26th and 27th flights, with the first specifically planned to fly over the parachute that had been used by Perseverance when it landed on Mars on February 18, 2021. The first photo to the right, enhanced, cropped, and reduced to post here, is the color photo of that parachute that Ingenuity took during that flight on April 20th. Near the top of the frame you can also see the equipment used to attach the chute to the rover. The photo looks to the southwest.

The map to the right indicates the flight paths for both hops, both slightly more than 1,000 feet total. The green dot marks Ingenuity’s position yesterday, the red dot Perseverance’s position. The small white dot indicates the parachute’s location.

On April 8th Perseverance had snapped a picture of the parachute, from the position indicated by the black dot. Since that photo was taken from a distance, it could not show much. Ingenuity’s more recent photo from overhead however captures the chute quite clearly, and suggests that in the year since landing the weak Martian wind has shifted its edges slightly while depositing some dust on its surface.

You can see the changes at the edges by comparing Ingenuity’s picture with a photo taken on February 19, 2021 by Mars Reconnaissance Orbiter (MRO). In Ingenuity’s picture the near edge of the parachute especially appears to have become bunched up over time, suggesting the prevailing and strongest winds have come from the south.

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Perseverance spots its parachute

11:50 am

Perseverance spots its parachute
Click for full resolution. Original images found here and here.

Overview map
Click for interactive map.

Cool image time! Today the Perseverance science team released two photos taken on April 6th that captured the parachute that the rover had used to land on Mars on February 18, 2021. The enhanced panorama above is from those images. The white feature near the center is the parachute. The mountains in the distance are the southern rim of Jezero Crater, about 40 miles away.

The overview map to the right gives the context. The red dot is Perserverance’s location as of yesterday, on sol 413. The black dot marks its location on April 6th, when it took the pictures. The green dot marks Ingenuity’s present position. The yellow lines indicate the approximate area covered by the panorama.

Ingenuity had not completed its 25th flight until April 8th, two days after these photos were taken, so it isn’t actually just off the edge of these photos, it is beyond the near ridgeline out of sight.

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Ingenuity completes 25th flight, the longest yet

10:51 am

Overview map
Click for interactive map.

On April 8th the Mars helicopter Ingenuity successfully completed its 25th flight on Mars, traveling 2,310 feet at 18 feet per second while flying for 161.3 seconds.

The long distance was designed to take it out from the rough region dubbed Seitah and near the delta that is the prime geological target of the rover Perseverance.

The overview map shows the location of both rover and helicopter as of today. The red dot is Perseverance, the green dot is Ingenuity. The rover has now completed its entire planned travels, as announced in June 2021. Where it goes next has not as yet not been announced. According to the team, they plan to use Ingenuity to scout out possibly routes up onto the delta. This likely means the rover will likely spend some time at the base of the delta, getting as much data as it can, while Ingenuity does this scouting work.

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Perseverance arrives at Three Forks at the base of Jezero Crater’s delta

12:01 pm

Panorama of delta in Jezero Crater
Original images found here, here, here, and here. Click for full resolution.

Overview map
Click for interactive map.

Cool image time! The panorama above was created from four navigation camera images taken by the Mars rover Perseverance on April 10th. Because the lens on Perseverance’s navigation cameras produce slightly curved images which are taken in pairs, the panorama is made of two parts, each a pair perfectly matched images looking from a different angle. I have overlapped the pairs but as you can see, the match at the center is imperfect. While this does not produce a single smooth image, the two paired panoramas show the foot of the entire delta that had flowed into Jezero crater in the past and is the prime geological target of the rover. What is it made of? What caused it to flow into the crater? When did it do it? How was Mars different when it did so? Was the crater wet? Was the delta mud when it flowed, or was it sediment under water, pushed out by that flowing water?

The location map to the right is taken from the “Where is Perseverance?” webpage but annotated to show the planned routes of both Perseverance and Ingenuity, as shown by the tan dashed lines. The red dot marks Perseverance present location, the green dot Ingenuty’s. The yellow lines the approximate area covered by the panorama.

What next? Expect Perseverance to move as close to the base of the delta’s cliff as possible and spend at least several months studying it. Ingenuity meanwhile will be flown to the west to scout the various hollows that are potential routes for Perseverance to climb up onto the delta.

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Ingenuity completes its 24th flight on Mars

9:14 pm

Overview map
Click for interactive map.

Ingenuity today completed its 24th flight on Mars, traveling a short 33 feet for 69.5 seconds in order to place it in a good position for an upcoming record-setting 25th flight.

With Flight 24 in our log book, it is now time to look forward to our upcoming effort that charts a course out of Séítah. Flight 25 – which was uplinked yesterday – will send Ingenuity 704 meters to the northwest (almost 80 meters longer than the current record – Flight 9). The helicopter’s ground speed will be about 5.5 meters per second (another record) and we expect to be in the rarefied Martian air for about 161.5 seconds.

The red dot on the map to the right indicates Perseverance’s present position. The green dot shows where Ingenuity landed today. The tan dashed lines indicate the planned routes for both. Ingenuity’s next flight will take it out of the rough terrain of Seitah and much closer to Three Forks.

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Ingenuity completes 23rd flight on Mars

11:05 pm

Overview map
Click for interactive map.

JPL announced tonight in a tweet that Ingenuity today completed its 23rd successful flight on Mars.

23 flights and counting! #MarsHelicopter successfully completed its 23rd excursion. It flew for 129.1 seconds over 358 meters [1,175 feet].

The overview map to the right was taken from the “Where is Perseverance?” webpage and annotated by me to show the planned future routes of both Perseverance and Ingenuity. The white dotted line shows Perseverance’s path, now having almost circled the rough ground on its way to the delta and Three Forks. The tan dotted line indicates Perseverance’s future route. The dashed pink and green lines indicate two possible future flight paths for Ingenuity.

The green dot marks the position the science team marked on the map for where Ingenuity landed after today’s flight. They have not yet calculated the actual flight path, which is why it is shown by the tan dashed line. This also means there is as yet some uncertainty about this landing spot.

Originally, the plan had been to get to this spot in one flight. For reasons not yet explained, when the helicopter took off on its 22nd flight during the March 19-20th weekend, it stopped after only about 100 feet. Today’s flight apparently completed the plan, putting the helicopter where it was supposed to be.

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Ingenuity completes 22nd flight; Perseverance on a roll

11:37 am

Overview map
Click for interactive map.

According to a tweet from JPL on March 21, 2021, Ingenuity successfully completed its 22nd flight on Mars during the March 19-20th weekend, flying for 101 seconds at a height of about 30 feet.

The tweet provided no other information, other than another flight might occur as early as later this week.

However, the most recent map update from the rover/helicopter science teams, shown to the right and annotated to post here, tells us what happened. The white dotted line indicates Perseverance’s travels. The tan dotted line indicated the flight path and landing spots for Ingenuity. The dashed tan lines indicate the planned routes for both. The red dot marks Perseverance’s present location. The green dot marks Ingenuity’s location, after its 22nd flight.

The announced flight plan for Ingenuity’s 22nd flight is shown by the two blue dots, heading north and then making a sharp left before landing. Apparently, the helicopter either did not complete that plan, landing earlier for some reason, or the flight team had decided before takeoff to shorten the flight plan significantly.

What we do know is that the helicopter landed safely, from images downloaded on March 20th [sol 384] and from the JPL tweet. The next flight, targeting later this week, could attempt to complete the previous flight plan, or instead continue to break it up into small sections.

Meanwhile, Perseverance has been racing across the Martian surface, traveling almost as much in the past week as it had for the past year. (See the map from March 16th to compare.) Moreover, the Perseverance team shortened its planned route, cutting to the west of that large crater rather than skirting it to the east. The route taken was probably slightly rougher, but nothing the rover couldn’t handle, and it saved travel time. Apparently, the scientists running the rover are now very eager to finally get to the delta, the mission’s primary geological target.

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NASA extends Ingenuity’s mission through September ’22

9:31 am

Overview map
Click for interactive map.

NASA yesterday officially extended Ingenuity’s flight operations on Mars at least through September 2022, outlining in detail the helicopter’s hoped-for flight targets.

The map to the right shows the helicopter’s present location with the green dot, with its two possible future routes proceeding from this location indicated by dashed lines. The red dot indicates Perseverance’s present location, with its planned route from this spot indicated by the dashed lines.

Scheduled for no earlier than March 19, Ingenuity’s next flight will be a complex journey, about 1,150 feet (350 meters) in length, that includes a sharp bend in its course to avoid a large hill. After that, the team will determine whether two or three more flights will be required to complete the crossing of northwest Séítah.

Once Ingenuity crosses the rough terrain and reaches the delta, it will then be used to do more route scouting for the rover.

Upon reaching the delta, Ingenuity’s first orders will be to help determine which of two dry river channels Perseverance should take when it’s time to climb to the top of the delta. Along with routing assistance, data provided by the helicopter will help the Perseverance team assess potential science targets. Ingenuity may even be called upon to image geologic features too far afield (or outside of the rover’s traversable zone), or perhaps scout landing zones and caching sites for the Mars Sample Return program.

This ambitious plan exists because both the helicopter and its engineering team have far exceeded expectations. At the moment, there is no obvious reason why Ingenuity cannot continue to operate for years, an expectation that no one predicted.

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Ingenuity completes 21st flight on Mars

3:54 pm

Overview map
Click for interactive map.

According to a tweet today from JPL, the Mars helicopter Ingenuity has successfully completed its 21st flight on Mars, traveling 1,214 feet in two minutes and nine seconds at an average speed of 12.6 feet per second.

The red dot on the map to the right shows Perseverance’s location as of today. The green dot indicates Ingenuity’s position before the 21st flight. Since neither the Perseverance nor the helicopter teams have posted any updates describing the 21st flight, it is difficult to indicate a precise location for its landing site. All we know is that the helicopter is supposed to fly to the northwest, cutting across the rougher region while the rover follows the tan dotted line around that rough region, with both targeting the delta to the northwest.

As a guess, I have placed a black dot about 1,200 feet to the northwest.

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Ingenuity’s 20th flight a success

7:59 pm

According to a tweet released tonight by JPL, the 20th flight of Ingenuity on Mars was a success, lasting 130 seconds and traveling about 1,283 feet.

The tweet includes a short video showing the helicopter taking off and then landing, at the same spot, which I am sure is not of this flight but from a previous test that simply went up and down. The flight just completed took off and headed mostly to the north, slightly west, and landed in a different spot entirely.

Expect more information to follow.

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Ingenuity update: Dust storm caused issues; 20th flight upcoming

9:43 am

Overview map
Click for interactive map.

According to the Ingenuity engineering team in an update today, the Mars helicopter is getting ready for its 20th flight, scheduled for no earlier than today, even as the team successfully dealt with dust that settled on the helicopter’s various parts prior to flight 19.

The dust storm did, however, leave the Ingenuity team with two additional challenges to deal with: a dirty navigation camera window and dust in the swashplate assemblies.

Comparing navigation camera images taken before and after the dust storm revealed that the storm deposited debris on the ground-facing navigation camera window, specifically around the periphery of the camera’s field of view. Debris on the navigation camera window is problematic because Ingenuity’s visual navigation software may confuse the debris with the actual ground features that it tries to track during flight, which can cause navigation errors. Fortunately, Ingenuity’s software provides a tool for dealing with this issue: The team can provide an updated image mask file that tells the visual navigation software to ignore certain regions of the image. The operations team made use of this feature and performed an image mask update late last month.

The dust storm also deposited dust and sand in Ingenuity’s swashplate assemblies. On Mars as well as on Earth, a helicopter’s swashplates are very important because they control the pitch (angle from horizontal) of the rotor blades, which is essential for stable and controlled flight. Ingenuity’s swashplate issue was first detected when the rotorcraft reported a failure during its first automated swashplate actuator self-test since the dust storm on Jan. 28, 2022 (Sol 335 of the Perseverance mission). Data revealed that all six swashplate servo actuators were experiencing unusual levels of unusual levels of resistance while moving the swashplates over their range of motion.

The engineers subsequently tested a procedure, planned before launch, for cleaning the swashplates, and found that it worked.

The data from that activity showed a significant improvement – a reduction in servo loading, so the team followed it up with seven back-to-back servo wiggles on Sol 341. Remarkably, by the end of that activity, Ingenuity’s servo loads appeared nearly identical to nominal loads seen prior to the dust storm.

After dealing with both dust issues, flight 19 proceeded successfully, as planned.

The overview map above shows the present location of Perseverance as the red dot, the present location of Ingenuity by the green dot, and the approximate landing site for the helicopter’s 20th flight by the black dot. The tan dotted line shows Perseverance’s planned route.

Perseverance itself has been traveling fast since Ingenuity’s last flight on February 9th, almost completely retracing its steps to return almost to its landing site.

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Ingenuity completes 19th flight

9:19 am

Perserverance and Ingenuity as of February 8, 2022
Click for interactive map.

The Mars helicopter Ingenuity yesterday successfully completed its 19th flight on the Martian surface, traveling for 99 seconds about 200 feet to the northeast, landing close to the landing site of its 8th flight back in June 2021.

The map to the right shows the helicopter’s overall travels in tan, with the 19th flight path in green. The white line marks Perseverance’s travels, with the red dot indicating its present location. The dashed yellow line indicates the rover’s planned route. To achieve that the rover team is retracing its steps along the path it had previously traveled, with Ingenuity flying in front, along that path.

The flight had been delayed more than a month while waiting for a dust storm to settle as well as making sure Perseverance was in a good position to maintain communications throughout the flight. With Perseverance finally on the move to the east and the dust storm subsiding, the Ingenuity flight was finally possible.

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Ingenuity’s 19th flight delayed due to Martian weather

9:10 am

Because of the early arrival of the fall dust storm season, the Ingenuity engineering team decided to delay the helicopter’s 19th flight on January 5th, rescheduling it to no earlier than January 23rd.

In the days following the flight delay, the dust storm moved over Jezero crater, and we were able to clearly see its effects in both MEDA data and from orbit (Figure 1). Most notable was a sharp drop in air density – about a 7% deviation below what was observed pre-dust storm. This observed decrease would have put density below the lower threshold of safe flight and would have imparted undue risk to the spacecraft. We also observed the effect of dust in the amount of sunlight absorbed by Ingenuity’s solar array, which fell well below normal “clear sky” levels, a drop of about 18%.

Apparently the storm has now dissipated, allowing the new flight date.

Though this flight postponement occurred two weeks ago, today’s update appears to be the first public announcement, which has been typical of the Ingenuity team. They generally announce planned flights just before take-off, but then provide no detailed update on what happened, sometimes for weeks.

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Ingenuity’s next flight and the plans beyond

1:19 pm

Overview map
Click for interactive map.

In an update posted today written by Ingenuity pilot Martin Cacan, he outlined the engineering team’s goal for the Mars’ helicopter’s next flight, its nineteenth.

This flight, which will take place no earlier than Friday, Jan. 7, takes the scout vehicle out of the South Séítah basin, across the dividing ridge, and up onto the main plateau. The precise landing target for Flight 19 is near the landing site of Flight 8. Images taken during Flight 9 by the rotorcraft’s high-resolution Return-To-Earth (RTE) camera were used to select a safe landing zone.

…Spanning 207 feet (63 meters), this flight will last about 100 seconds at a groundspeed of 2.2 mph (1 meter per second) and altitude of 33 feet (10 meters) while taking 9 new RTE images. The final act of the flight is to turn nearly 180 degrees to flip the RTE camera to a forward-facing orientation for future flights toward the river delta. [emphasis mine]

The green line in the map to the right indicates the exact path, going about 207 feet to the northeast. The red dot marks the location of Perseverance on December 8, 2021, the last time the Perseverance science team updated their map showing the rover’s travels.

The highlighted words are the most important. Cacan also said this in his update:

The current mission goal is to reach the Jezero river delta to aid the Perseverance rover in path planning and scientific discovery.

Assuming the helicopter continues to function correctly, their next flights will apparently be aimed towards the delta. Whether that path will follow the planned route marked by the dashed yellow line, or cut straight across, is not clear. If the latter, that implies they have revised Perseverance’s planned route so that it also cuts straight across from about the point of Ingenuity’s next landing site.

More likely Cacan was not speaking literally, and that the route Ingenuity will take to the delta will follow the planned route, around that crater to the northeast.

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Ingenuity successfully completes its 18th flight

1:26 pm

According to a JPL Twitter post today, on December 15th Ingenuity successfully completed its 18th flight, flying 754 feet for just over two minutes.

The plan had been to continue north to cross the rough Seitah region as the helicopter heads back to the spot where Perseverance initially dropped it. Though at this moment no specific information about the flight’s direction or landing place have been revealed, its success suggests it went exactly as planned.

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Where Ingenuity and Perseverance presently sit in Jezero Crater

9:15 am

Perseverance and Ingenuity, December 8, 2021
Click for interactive map.

The map to the right, annotated to post here, shows the present location of the rover Perseverance (the red dot) in relation to the 17th flight of the helicopter Ingenuity (indicated by the green line and dot) that successfully occurred on December 5, 2021.

Perseverance has been very very very very slowly retreating south, following the same route it took to move into the rough sand dune region the scientists have dubbed Seitah. Based on their long term plans, the rover will retrace its path (the white dotted line) to its landing site, and then continue along the yellow dashed line to eventually reach the base of the delta, dubbed Three Forks, that in the distant past poured through a gap in the rim of Jezero Crater.

The helicopter meanwhile is also retracing its flights, heading north to the spot where Perseverance first placed it on the ground. Because of the seasonally thinner atmosphere, the helicopter’s flights during that return journey must be shorter, which is why the 17th flight only traveled halfway across Seitah. In crossing it the first time it had done so in one flight. Now it will take two.

During that 17th flight it appears that the topography between the rover and the helicopter’s landing site caused a loss of communications as the helicopter was landing.

The Ingenuity team believes the 13-foot (4-meter) height difference between the Perseverance rover and the top of Bras [an outcrop] contributed to the loss of communications when the helicopter descended toward the surface at the end of its flight.

That loss of communications apparently caused no problems, but it will likely mean that Ingenuity will do no more flights until Perseverance can get closer and better positioned.

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Ingenuity’s images from 16th flight on November 21st

11:18 am

Ingenuity color image from 16th flight
Click for full image.

Cool image time! The photo to the right, reduced and enhanced to post here, was the first color image taken by Ingenuity during its 16th flight on Mars on November 21st. The picture was taken about fifteen seconds after take-off, and I think looks west toward the rim of Jezero Crater in the distance.

The flight itself was relatively short, essentially a quick hop about 380 feet to the north to land at the edge of the rough area dubbed Seitah. The team is going to slowly take the helicopter back to its initial landing field, Wright field, over several hops. This was the first.

If you want to peruse all 113 images from the flight, go here and set the sol range from 268 (November 20) to 274 (November 26). That will show all 113 images taken during the November 21st flight.

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Ingenuity completes 16th Mars flight

9:38 am

According to a tweet by the Ingenuity team, the Mars helicopter successfully completed its 16th flight on Mars on November 21st.

“#MarsHelicopter continues to thrive!” mission personnel wrote in a tweet posted Monday (Nov. 22). “The mighty rotorcraft completed its 16th flight on the Red Planet last weekend, traveling 116 meters northeast for 109 seconds. It captured color images during the short hop, but those will come down in a later downlink.”

No images have as yet been downloaded from the flight.

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Video of Ingenuity’s 13th flight

11:47 am

Using the high resolution camera on Perseverance, the science team has now released two videos taken of Ingenuity’s 13th flight on Mars, on September 4, 2021.

One is a very wide view, which makes it hard to see the helicopter. The closer view can be seen here.

At the beginning of the video, Ingenuity is near the lower left of frame, at a distance of about 980 feet (300 meters) from the rover. It climbs to an altitude of to 26 feet (8 meters) before beginning its sideways translation. The helicopter leaves the camera’s field of view on the right. Soon after, the helicopter returns into the field of view (the majority of frames that did not capture helicopter after it exited the camera’s field of view were purposely not downlinked from Mars by the team) and lands at a location near its takeoff point.

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Ingenuity’s 16th Martian flight is now scheduled for November 18

9:27 am

According to an update today from the Ingenuity science team, Ingenuity’s sixteenth flight on Mars is scheduled for no earlier than November 18th, and will be a relatively short hop of about 100+ meters to the north, compared to previous flights.

It appears the roughness of the terrain on this flight can cause an accumulating error in its flight software. Because the landing area is also rough, they want to bring the helicopter down sooner to make sure it lands close to where it should.

The present plan is to hop north to return to the location of Ingenuity’s first flight, at Wright Brothers Field. Along the way they will also consider installing an update in the flight software to improve the helicopter’s capabilities.

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Ingenuity completes 15th flight

9:04 am

Ingenuity landing on November 6th
Click for full image.

No details have been released, but based on the latest raw images downloaded from the Mars rover Perseverance today, the helicopter Ingenuity successfully completed its 15th flight in Jezero Crater yesterday.

The image to the right is the last of five released this morning, showing the helicopter’s shadow on the ground, just before Ingenuity touched down. Note how the shadow of Ingenuity’s four legs appear oriented level relative to the ground. While the first of the five images shows the shadow tilted, as if the helicopter is making a last turn, the last four photos all show the legs oriented properly.

We will have to wait now for official confirmation.

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Ingenuity next flight will begin route retracing its path

9:20 am

Overview map

The Ingenuity engineering team has revealed that the helicopter’s 15th flight on Mars will have it begin retracing its steps, following approximately the same flight route as it heads back towards Perseverance’s landing site in Jezero Crater.

Flight #15 is the start of our journey back to Wright Brothers Field [the helicopter’s initial flight test area just north of the landing site]. Taking place no earlier than Saturday, Nov. 6 at 9:22 a.m. PT, or 12:03 LMST (local Mars time), the 254th sol (Martian day) of the Perseverance mission, Flight #15 will return Ingenuity back to the Raised Ridges region, imaged in Flight #10. In this flight the helicopter will traverse 1,332 feet (406 meters) during 130 seconds of flight, travelling at 11.1 mph (5 mps) groundspeed. We’ll capture color return-to-earth (RTE) high resolution (13MP) images, one post-takeoff pointed to the SW, and nine pointed toward the NW along the flight-path. Nominal altitude for the flight is expected to be 39.3 feet (12 meters) above ground level.

This will be the second flight of Ingenuity during Mars’ summer low air-density, requiring that the rotor blades are spun at 2,700 RPM to compensate. This flight will generate critical high-RPM motor performance, which the team will use to design and tailor upcoming low-density flights in the months ahead.

Perseverance is presently sitting in an area they have dubbed Seitah, a region the rover skirted around to get to this point. I had hoped both the helicopter and rover would return to the north cutting across Seitah and thus scout out new terrain. Instead, it appears that both the rover and helicopter will return as initially planned, traveling over the same ground both took to get where they are today.

In other words, the teams have decided to take the safest route, though it will provide them much less new science data. While this might seem prudent, it really appears overly cautious, based on the capabilities of Perseverance and the roughness of the terrain in Seitah. Curiosity is presently traveling across far more difficult terrain in the mountains at the foot of Mt Sharp, and it is doing so with wheels that are damaged and not as well designed as Perseverance’s. Not roving in uncharted terrain seems a waste of Perseverance’s capabilities.

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Ingenuity completes 14th flight on Mars

11:31 pm

Ingenuity's shadow below it during 14th flight
Ingenuity’s shadow below it during 14th flight.
Click for full image.

On October 24th, Ingenuity successfully completed its 14th flight on Mars, a short test hop up and down to see if the helicopter could function properly as the air pressure in the Martian atmosphere drops due to seasonal variations.

As planned, the helicopter executed its first 2,700 rpm flight, proving that Ingenuity is capable of flying in the weeks and months ahead on Mars, during which seasonal changes on the surface will result in decreases in air density. The short 23-second flight included a peak altitude of 16 feet (5 meters) above ground level, with a small sideways translation of 7 feet (2 meters) to avoid a nearby sand ripple.

I predict the next flight will head north, leap-frogging past Perseverance to get a better view of the South Seitah area so that the rover team can decide whether they can continue north through that terrain or retreat backwards.

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Ingenuity’s 14th flight scrubbed by helicopter

10:22 am

Though Ingenuity successfully completed a preflight high speed test of its rotors on September 15th, when it came time to do its fourteenth flight two days later, intended as a short airborne test of that high speed, the helicopter’s computer sensed an issue prior to take-off and scrubbed the flight.

The goal of the high speed test and short flight were to see if Ingenuity could fly during the winter months when the atmosphere of Mars is thinner, thus requiring a higher rotor speed. Initially it was not expected the helicopter would still be operational at this point, so this is another example of it pushing its expected capabilities. The scrub however might be signalling the end date for Ingenuity, related to servo motors that help control the helicpoter:

Ingenuity performs an automated check on the servos before every flight. This self-test drives the six servos through a sequence of steps over their range of motion and verifies that they reach their commanded positions after each step. We affectionately refer to the Ingenuity servo self-test as the “servo wiggle.”

The data from the anomalous pre-flight servo wiggle shows that two of the upper rotor swashplate servos – servos 1 and 2 – began to oscillate with an amplitude of approximately 1 degree about their commanded positions just after the second step of the sequence. Ingenuity’s software detected this oscillation and promptly canceled the self-test and flight.

Our team is still looking into the anomaly. To gather more data, we had Ingenuity execute additional servo wiggle tests during the past week, with one wiggle test on Sept. 21, 2021 (Sol 209) and one on Sept. 23, 2021 (Sol 211). Both of the wiggle tests ran successfully, so the issue isn’t entirely repeatable.

One theory for what’s happening is that moving parts in the servo gearboxes and swashplate linkages are beginning to show some wear now that Ingenuity has flown well over twice as many flights as originally planned (13 completed versus five planned). Wear in these moving parts would cause increased clearances and increased looseness, and could explain servo oscillation. Another theory is that the high-speed spin test left the upper rotor at a position that loads servos 1 and 2 in a unique, oscillation-inducing way that we haven’t encountered before.

Because communications with Mars are now paused for two weeks because the Sun is in the way, the engineering team is holding off further tests until communications resume.

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