Lab-09 Believer Avionics

For this week’s lab, we worked on connecting the CubePilot to the GCS and modified the parameters, installing telemetry, and setting up the air sensors for the believer. We learned about how each system connects to the Cube and how GCS parameters control different parts of the aircraft. By the end of the lab, we were able to wire everything via our drawn out wiring diagram which points out the different components location and use

Step 1: We first used AIDA3 PC to connect to CubePilot via GCS and explored the GCS manual. After digging, we learned more about parameters and how it changes the behavior or the aircraft.

Step 2: Once connected, we downloaded the parameters off of the software and exported them as a .json file. This is important because parameters don’t update automatically, you must download them when you refresh the system.

Step 3: The next step is to install the RFD900 that was reconfigured in the previous lab to the CubePilot.

Table 2

Table 2

Column 1

Column 2

Column 3

Column 4

SERIAL1_BAUD

115,200

115

Baud rate

SERIAL1_PROTOCOL

MAVLink

MAVlink

Communication Protocol

There are no rows in this table

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Step 4: We used the designated airspeed sensor and connected the silicone tubing to the pitot tube and the correct pressure port. The airspeed sensor is important because it allows the use of throttle mapping which is highly recommended. We then started modifying the parameters for the airspeed sensors. We also tested the Pitot tube sensor.

Table 1

Table 1

Name

Original

Modified

Notes

ARSPD1_TYPE

None

I2CMS4525D0

Sensor type

ARSPD1_ADDR

0x28H (decimal 40)

I2C address

ARSPD1_BUS

Bus1

Bus0

Bus selection

ARSPD1_TUBE_ORDR

either

Port1

Differential port order

ARSPD1_USE

Use

Enabled

There are no rows in this table

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Step 5: After testing and modifying the airspeed sensors, we focused on the GPS connection via USB to the Cube Pilot. We then used the CAN ports on the Cube Pilot to determine which ports were the right ones for the right connection.

CAN Parameters 2

CAN Parameters 2

Name

Original

Modified

Notes

CAN_P1_DRIVER

Open

CAN_D1_PROTOCOL

DRONECAN

Open

CAN_D2_PROTOCOL

DRONECAN

Open

There are no rows in this table

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Step 6: Here are more of the type of CAN ports we found in order to sucessfully hook up our sensors

GPSX Parameters 2

GPSX Parameters 2

Name

Original

Modified

Notes

GPS1_TYPE

auto

UAVCAN

Open

GPS1_ADDR

Open

GPS1_DELAY

150

100

Open

GPS1_POS_X

Open

GPS1_POS_Y

Open

GPS1_POS_Z

Open

GPS1_USE

UseForNavigation

Open

There are no rows in this table

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Step 7: For the last step, we needed to check if our parameters worked and find which ones we had to get rid of or modify. We downloaded Diffchecker and changed the airspeed GPS paramete

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Parameters link⁠

Overall this lab helped me understand the the different systems used to connect to the CubePilot and modifying paramenter behavior. At first, the number of parameters felt overwhelming, especially when switching between USB and telemetry or rebooting the board. After wroking through each section, I finally understand how telemetry works and how always re downloading parameters is important.

Lab-10 Motors and Control

Parameters Version Control 2

Parameters Version Control 2

Date

FCU Version

File

Notes

11/11/2025

1.27.1

Parameters_PUB02.json

Open

11/11/2025

1.27.1

Parameters_PUB02.json

Open

There are no rows in this table

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Assignment

DATX

Connecting to any aircraft require two things. A transmitter and receiver. On our aircraft we are using the controller as a User Interface for a third party transmitter rather than using the built in transmitter. The TBS Tracer Micro Starter set is what we are using.

Obtain Starter Set

Identify the items

Solder appropriate parts (confirm with instructor)

Pairing TX and RX

When the TX and RX are properly setup we need to pair them together to make them work. You will be given a brand new SD Card to insert into your DATX.

When you power on the DATX you will see two models. “DAB10” and “PUB” Edit the PUB to be PUB## corresponding with your group number. To pair you will need to download a LUA Script. You will need the appropriate

TBS Agent LUA Script Zip Download⁠

. In the zip file you will have two versions to choose from. Research which version is the correct one. Power off your DATX and up the SD card in your computer. Insert the correct files into the “SCRIPT” folder.

Questions

What is a LUA Script?

An LUA script is a custom program written in lua that is made to interface with existing programs.

Which is the correct version for the Lua script? Why?

The correct version is tbs-agent-lite-099-etx-lua52 because we are on an earlier EDGETX version than 2.11.x

Plug your RX into your BlueCube correctly. Power on your DATX and navigate to the LUA script and go through the binding process. Ensure that TX and RX are in bind mode. Confirm that you have successfully bound the two together.

FCU and Parameters

Broken link⁠

, we flashed the BlueCube with FCU Version 1.31. The FCU version and the parameters file we will be using do not align, so uploading causes an error.

Task: Upload Firmware and Parameters

Following

Broken link⁠

, upload the FCU version provided.

Connect the flight controller to Ground Control and navigate to the Parameters tab.

Download the parameters (this is always required to download the current parameters).

Export the parameters as a file named parameters_PUB## where ## corresponds with your two digit group number.

Add the parameter file to the

Broken link⁠

table above.

Import and upload the parameters file attached:

111025Dab10Parm - Modified.json

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Export the parameters again as a file named parameters_PUB##

Add the parameter file to the

Broken link⁠

table above.

Reboot

Task: Test System Connectivity

With the new parameters uploaded, it’s important to test that all systems are green.

Connect the following sensors to the flight controller: GPS, airspeed sensor, telemetry, and DATX.

Verify that all systems are in the green and that the aircraft gets GPS signal. Take a screenshot of the Platform Health Status window and the RC connection status in the top ribbon.

This may require setting the system near a window with a clear view of the sky.

Questions

What is the current FCU version? This information is available in the status text window of Ground Control.

V1.27.1

Include a screenshot of your Platform Health Status.

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Servos, ESC and Motors

Using the DAB010 model as a working guide, develop a wiring table and notes for all connections including, telemetry, sensors, flight controls, and motors. This should mirror DAB010 and be 100% complete and comprehensive. This is the only day that the sample platform will be available. All remaining work will be completed from your wiring notes.

Deliverables

Modify the previous e-portfolio post to include this lab in your individual writeup. Using the tools in

Broken link⁠

to identify the parameter that was missing preventing the GPS from working.

Broken link⁠

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Export as PDF using /pdf and submit to Brightspace

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