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Using an AIDA3 PC, connect the Cubepilot to the CGS via USB as we did in Verify the connection is live by monitoring movement in the HUDExplore the GCS Manual and answer the question in this section
What does the GUID_THISMAV parameter control?This map should specify the globally unique ID for the aircraft. Under Ground Software > Platform Connection, what indicator can an operator look for to confirm connectivity?Heartbeat Icon pulsing at the top.Under Flight Software > Flight Modes, what is the difference between manual and stabilized flight modes?Manual pilot inputs and directly manipulates all actuators. Stabilized flight mode is pilot input directly manipulates all actuators except for ailerons elevators rudders and ground steering.
To assess these parameters, we downloaded the parameters by connecting our Cubepilot to the GCS. The .json file below are the exported parameters. We learned that in order to update the parameters, you must click the “Submit” button. This is due to the parameters being static, meaning they do not update unless action is taken.
What is MAVLink?Most commonly used for communication between GCS and UAS. What baud rate must TELEM 1 be set to in order to communicate with the GCS?115200What type of connector links the RFD900 with the Cubepilot? JST-GH-6-pin connector
Connect the air side RFD900 to the Cubepilot TELEM 1 port with supplied cable. With the Cubepilot connected, go to the GCS parameters tab and modify/confirm the parameters match the following table.Then, connect the ground side of the RFD900 to the PC and change the serial connection from USB to the RFD900. Confirm the data is being transmitted wirelessly.
According to the User Manual, under Flight Software > Sensor Input, is an airspeed sensor mandatory? Optional but highly recommended Briefly, what is open-loop throttle mapping? Comparing to closed-loop throttle mapping may help.If airspeed isn’t there, open-loop throttle mapping will take over, Closed-loop means that it’ll measure input and adjust output accordinglyFor what aerodynamic reason is the pitot tube so long?so It sticks out away from the body of the aircraft What communication protocol does the airspeed sensor use?Serial CommunicationWhat is hexadecimal? Convert 0x28 from hexadecimal to decimal.Base 16 number system that is used in computing to represent long binary numbers40
Attach the silicone tubing to one end of the Pitot Tube and to the correct port on the Airspeed SensorConnect the Airspeed Sensor to the Cubepilot in the appropriate portUsing the table below, modify the parameters to matchIn the Engineering tab, perform an Autopilot Reboot of the boardVerify the sensor works by monitoring changes on the ASI
What communication protocol does the Here3+ GPS use?DroneCAN 8Mbit/sWhat additional sensors does the GPS unit include?Built-in Inertial Measurement Unit (compass, gyroscope, and accelerometer), for advanced navigation needs
Plug the GPS unit into the appropriate ports on the Cubepilot boardFlash the FCU with Arduplane Using MissionPlanner, connect to the board and verify that the following parameters matchConnect to the MAVLinkCAN1Original ParametersUploaded this parameter file click “Write Params”Close Mission Planner and reboot the FCUReload the Firmware from Lab 08Modify the parameters to match the table below and verify that the GPS acquires satellites.
Using Diffchecker, we added the parameter below to the left side Then we added the parameter below to the right sidePrimarily what parameters changed?AirspeedGPSGyro
Lab 09 - Believer Avionics
Overview
Avionics are a crucial tool for Unmanned Aerial Systems. Avionics not only provide the necessary flight controls for the aircraft to operate but also allow the aircraft to be embedded with functions like navigation and communication. These functions, among others, play a vital role in efficiency, safety, versatility, and reliability in the UAS industry. In this document, my team, worked on the Believer UAS Aircraft and installed it’s avionics to ensure that our future flight operations will be successful, effective, and most importantly safe.
Resources Used
GCS Objectives
Questions
Parameters
Parameters are variables that we are able to access to modify the behavior of the aircraft.
Parameters_110625_Group6 (1).json
38.6 kB
Telemetry
Telemetry is essential to a safe flight operation. Telemetry communicates with the Pilot with constant updates which allows for informed decisions, quicker response time, and improves the overall safety of the UAS. In order for my team and I to communicate wirelessly with the flight controller, we needed to install the telemetry module that we set up in Lab 8.
Setup
In order to install the telemetry module that we set up last week we followed the steps below.
Figure 1. RFD900 Connected with Antenna
SERIALX Parameters
Name
Original
Modified
Notes
SERIAL1_BAUD
115
115
Open
SERIAL1_PROTOCOL
MAVLink
MAVLink
Open
There are no rows in this table
Air Speed
Setup
Figure 2. Silicone Tube attached to Pitot Tube and Airspeed Sensor Port
Figure 3. Airspeed Sensor connected with Cubepilot
ARSPDX Parameters
Name
Original
Modified
Notes
ARSPD1_TYPE
none
I2CMS4525D0
Open
ARSPD1_ADDR
40
0x28H
Open
ARSPD1_BUS
Bus1(external)
Bus0(internal)
Open
ARSPD1_TUBE_ORDR
Either Port
Port1
Open
ARSPD1_USE
Use
Use
Open
There are no rows in this table
GPS
Setup
Figure 4. GPS unit attached with Cubepilot board
CAN Parameters 2
Name
Original
Modified
Notes
CAN_P1_DRIVER
0
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
GPS_Here3_Original_110625.param
1.3 kB
WR_here3plus.param
1.3 kB
GPSX Parameters 2
Name
Original
Modified
Notes
GPS1_TYPE
Auto
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
The next step is to compare our parameters with a known good parameter set.
Setup
Parameters_110625_Group6.json
38.6 kB
Parameters.json
38.6 kB
Final Parameters
Wiring Diagram
Figure 5. Wiring Diagram
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