Skip to content
Using an AIDA3 PC, connect the Cubepilot to the GCS via USB as we did in . Verify the connection is live by monitoring movement in the HUDExplore the GCS Manual and answer the questions in this section
With the your cubepilot connected to the GCS, navigate to the Parameters tab.Download the parameters.Export the parameters and attach the .json file here:
Whenever you update a parameter, ensure that you click the “Submit” button to send the parameter to the FCU. The parameters are static, meaning that they do not update unless action is taken. To view the most up-to-date parameters, be sure to click the “Download” button.
Connect the air side RFD900 to the Cubepilot TELEM 1 port using the supplied cable. Be sure that the connector orientation is correct on the RDF900 end.With the Cubepilot still connected by USB and in the GCS parameters tab, modify or confirm the parameters match Be sure to complete the original column to save a record of original settings.Connect the ground side RFD900 to the PC and change the serial connection from USB to the RFD900.You will need device manager open to identify the new COM port.Keep the USB cable connected for power.Confirm that data is now being transmitted wirelessly.
Attach the provided silicone tubing to one end of the pitot tube and to the correct port on the airspeed sensor.Using the provided cable, connect the airspeed sensor to the Cubepilot in the appropriate port.Be sure to complete the original column to save a record of original settings.Note that some parameters are only visible upon reboot.From the Engineering tab, perform an Autopilot Reboot of the board.Remember to download the parameters again.Verify that the airpseed sensor works by monitoring changes on the ASI.
Plug the GPS unit into the appropriate ports on the Cubepilot board - be sure to review the doc linked above in Navigate to Setup > Optional Hardware > DroneCAN/UAVCAN and connect to MAVLinkCAN1Click “Menu” on the line named “com.cubepilot.here3+” and select ParametersDownload the original parameters and attach here:Click “Load from file” and upload this parameter file: Click “Write Params”Close Mission planner and reboot the FCU. Reload the Windracers firmware using Be sure to complete the original column to save a record of original settings.Verify that the GPS acquires satellites.
In Diffchecker, add the file you downloaded above in to the left side. Add the file attached here to the right side: Download your parameters again and attach here:Change the embedded link below to your own output using the share button.
Primarily what parameters changed?
connecting the Cube to the GCS and understanding key flight parameters,setting up the RFD900x telemetry link on TELEM1,enabling and calibrating the airspeed sensor, andconfiguring the Here3+ GPS over DroneCAN.
Lab 09 - Believer Avionics
Overview
The focus of this lab was to get familiar with the believer avionics. The main goal of this lab was to set up flight parameters for the believer. Along with that we also identifed the pin layout of the Blueube and Cubepilot.
Resources
Assignment
GCS
Broken link
Questions
1. What does the GUID_THISMAV parameter control?
allows a vehicle to have a unique identifier when multiple drones are running on the same network
2. Under Ground Software > Platform Connection, what indicator can an operator look for to confirm connectivity?
A heartbeat icon in the top bar.
3. Under Flight Software > Flight Modes, what is the difference between manual and stabilized flight modes?
Pilot input directly manipulates all actuators.
Limits and smooths pitch and bank angles.
Parameters
Recall from lecture that parameters are the variables that we have access to that can be used to modify the behavior of the aircraft.
Tips
Telemetry
To communicate wirelessly with the flight controller, we will install the telemetry module that we set up in .
Broken link
Questions
1. What is MAVLink?
Open source telemetry allowing communication between the GCS and the Aircraft
2. What baud rate must TELEM 1 be set to in order to communicate with the GCS?
57600
3. What type of connector links the RFD900 with the Cubepilot?
JST-GH 6-pin connector
Setup
SERIALX Parameters
Name
Original
Modified
Notes
SERIAL1_BAUD
115,200
115
Open
SERIAL1_PROTOCOL
MAVLink
MAVLink
Open
There are no rows in this table
Air Speed
Questions
1. According to the User Manual, under Flight Software > Sensor Input, is an airspeed sensor mandatory?
Yes it is, it ensures that the aircraft avoids stalls is a windy environment, safely takes off and lands, and completes flight tasks.
2. Briefly, what is open-loop throttle mapping? Comparing to closed-loop throttle mapping may help.
Open-loop throttle mapping uses a predetermined program based on inputs like throttle position without using sensor feedback to make adjustments.
3. For what aerodynamic reason is the pitot tube so long?
It is long in order to keep the tip of the sensor out of the boundary layer of air surrounding the aircraft.
4. What communication protocol does the airspeed sensor use?
I2C
5. What is hexadecimal? Convert 0x28 from hexadecimal to decimal.
A number expressed in base 16 numerical system. 10100
Setup
ARSPDX Parameters
Name
Original
Modified
Notes
ARSPD1_TYPE
None
I2CMS4525D0
Open
ARSPD1_ADDR
40
0x28H
Open
ARSPD1_BUS
Bus1(extenral)
Bus0(internal)
Open
ARSPD1_TUBE_ORDR
either port
Port1
Open
ARSPD1_USE
Use
Use
Open
There are no rows in this table
GPS
Questions
1. What communication protocol does the Here3+ GPS use?
DroneCAN 8Mbit/s
2. What additional sensors does the GPS unit include?
IMU Sensor
Setup Steps
WR_here3plus.param
Broken link
CAN Parameters
Name
Original
Modified
Notes
CAN_P1_DRIVER
1
1
Open
CAN_P1_BITRATE
1,000,000
1000000
Open
CAN_D1_PROTOCOL
1
DRONECAN
Open
CAN_D2_PROTOCOL
1
DRONECAN
Open
There are no rows in this table
GPSX Parameters
Name
Original
Modified
Notes
GPS1_TYPE
1
UAVCAN
Open
GPS1_ADDR
0
20
Open
GPS1_DELAY
150
100
Open
GPS1_POS_X
0
0
Open
GPS1_POS_Y
0
0
Open
GPS1_POS_Z
0
0
Open
GPS1_USE
UseForNavigation
UseForNavigation
Open
There are no rows in this table
Parameters Check
Now that you have modified the parameters, it’s helpful to compare your parameters with a known good parameter set.
Setup
Parameters.json
Parameters1.json
39.2 kB
Questions
47 additions and 11 removals. It changed airspeed parameters and gyro parameters
Individual Reflection
Overview of Lab
In this lab, our group configured the Believer avionics system so that the Blue Cube and CubePilot carrier board could communicate correctly with the ground control software and with the aircraft’s sensors. We focused on four main areas:
I was in Group 5 and worked mostly on the avionics configuration side, especially the airspeed and GPS parameter setup, while also helping check the GCS connection and telemetry behavior.
Procedures Completed
1. GCS Connection and Parameters
As a group, we first connected the CubePilot carrier board and Blue Cube to the AIDA3 ground station using a USB cable. We opened the ground control software and verified that the HUD responded when we moved and rotated the Cube, confirming that the basic USB connection and IMU data were working.
We then opened the Parameters tab and downloaded the full parameter set from the flight controller. I helped export these parameters to a .json file so we had a record of the current configuration before making changes. While doing this, we discussed parameters like flight modes and stabilization options, and how the difference between Manual and Stabilized modes affects how pilot inputs are translated into actuator commands.
2. Telemetry on TELEM1 (RFD900x)
Next, we configured the telemetry port so that the RFD900x air modem could use the TELEM1 port correctly. We physically connected the radio to TELEM1 using the JST-GH 6-pin connector, matching the pinout from the documentation.
On the GCS, we opened the SERIAL1_* (or equivalent) parameters and adjusted them to match the requirements for MAVLink telemetry. As a group, we set the telemetry baud rate to the required value and ensured that the protocol was set to MAVLink. After writing the parameters and rebooting, we connected the ground RFD900x to the PC and confirmed that the link came up and that the GCS could communicate with the flight controller over the radio link instead of just USB.
3. Airspeed Sensor Configuration
For the airspeed portion, I was directly involved in both the physical and software configuration. We attached the Pitot tube to the airspeed sensor using the silicone tubing and mounted the sensor so that it would be exposed to the airstream during flight.
In the parameters, we changed the airspeed sensor type from “None” to the correct model (e.g., an I²C MS4525 device) and set the I²C address according to the datasheet and lab instructions. We also configured the correct bus (internal vs external) and tube order so the sensor’s dynamic and static ports matched the Pitot plumbing. After writing these parameters and rebooting the Cube, we checked the indicated airspeed in the GCS. Even on the bench, small changes in pressure (e.g., gently blowing into the Pitot tube) produced changes in the airspeed reading, which confirmed that the sensor was recognized and working.
4. Here3+ GPS and DroneCAN
We then moved on to the Here3+ GPS. We connected the GPS to the CAN port on the CubePilot carrier board and enabled DroneCAN in the parameters. This involved setting the CAN driver, bitrate, and protocol (such as UAVCAN/DroneCAN) and ensuring that GPS_TYPE (or GPS1_TYPE) was set to use CAN rather than a serial port.
I helped compare our parameters to the provided reference file so that CAN and GPS settings matched the Windracers/Here3+ standard—things like CAN bitrate, node protocol, GPS type, address, and delay. After writing the parameters and rebooting, we checked the CAN/DroneCAN status screen to confirm that the Here3+ node was detected. Finally, we waited for GPS lock and verified that the GCS displayed a valid position and satellite count, confirming that the GPS and CAN configuration was correct.
Connection to Lab Questions and Objectives
The steps we followed in this lab aligned closely with the questions and objectives in the handout. For example, the questions about MAVLink, TELEM1 baud rate, and the RFD900x connector made more sense once we had to actually choose a baud rate, set the serial protocol, and plug in the JST-GH connector correctly. It became clear that a mismatch between serial settings on the flight controller and the radio can completely break the telemetry link.
The airspeed questions—such as why an airspeed sensor is important and what open-loop throttle mapping means—were directly connected to our configuration work. After enabling the sensor, I could see how having real airspeed data is essential for the autopilot to avoid stalls and manage climb and descent more safely, rather than relying only on throttle position or estimated groundspeed.
Similarly, the GPS questions about DroneCAN, bitrate, and additional sensors in the Here3+ were reinforced when we enabled CAN and saw the GPS and IMU data coming from the same device. This helped me understand why CAN-based sensors and standard parameter sets are so useful for simplifying wiring and configuration in a complex avionics stack.
Reflection on the Lab
Before this lab, I understood avionics mostly as a collection of “black boxes” connected by cables. Working through the GCS, telemetry, airspeed sensor, and GPS configuration made me realize how many details must align for the system to work: correct ports, correct connectors, correct protocols, and correct parameter values. A small mistake—like a wrong baud rate, an incorrect I²C address, or a mis-configured CAN protocol—can cause an entire subsystem to appear “dead,” even though the hardware is fine.
I also saw how important it is to have a systematic approach to configuration. For example, when something did not work immediately, our group went back step by step: check wiring → check connector orientation → check parameter values → reboot → verify again. This disciplined process is much more effective than randomly changing settings and hoping the problem disappears.
Overall, this lab gave me a much clearer picture of how the Believer’s avionics are structured and how the Cube, telemetry radios, airspeed sensor, and GPS work together. It also reinforced that good documentation and consistent parameter sets are critical for safety and maintainability. As we move toward actual flight operations, I want to keep practicing this careful, parameter-driven mindset so that I can configure and troubleshoot avionics systems with confidence rather than guesswork.
Want to print your doc?
This is not the way.
This is not the way.
Try clicking the ⋯ next to your doc name or using a keyboard shortcut (
CtrlP
) instead.