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Clayton BrownIsabella AvedicianKenzie FlorkiewiczDiego HernandezNico Jaekle
Power on DATX controller and move the sticks around.As we moved the sticks around we could confirm our controller was not calibrated and giving us incorrect readings.Navigate to the “HARDWARE” screen, follow, and perform a stick calibration. After completing this step our controller was calibrated. We were able to confirm this by moving the sticks and observing the onscreen position indicator. The DATX controller was giving us proper readings this time. Navigate to the LUA script and select “Tracer Nano RX.” At first, we did not see this option. To resolve this issue we needed to first bind our RX under “Tracer Micro TX.”Select Output Map and make sure Channel 1 is SBUS What is CRSF and SBUS? What are the differences?SBUS: Legacy system, one-way protocol that is still used for its widespread compatibility, especially when UART ports are limitedCRSF: Allows for 2 way communication, more robust, and used for modern operations. What is Multi-Bind on the TBS Tracer? Allows a single receiver to be bound to multiple transmitter modules simultaneously by eliminating the need to re-bind them. It also creates a shared unique “cloud ID” that allows the same module with the same ID to connect to it.
Connect all sensors to the cube and test that all systems are a go by viewing the Platform Health Status from the GCS.We used the GCS Ardupilot software.
With the FCU connected to the GCS, make a table for the GCS below.Connect your DATX and verify connectivity in the ribbon. 
View your servo outputs in the Live Data Tab.Create a table that links your DATX control input with the Servo Outputs below.
Obtain two ESCs, two motors, and four servos.Using the tables created above, connect one servo and one ESC to FlaperonRight and Throttle as appropriate.When my team and I tried to move our servo, it would not work. This is because our servo is not receiving power from the cube, but through the pin board bus. Next, connect your ESC to the trust stand and apply power.
We were operating off of an 6S LiPo battery with each cell having 3.7 V. We confirmed there was no potential difference by slowly turning the current up. Next, we put the ESC wires in the path to power the cube. Every system turned on, including the RC antenna, GPS system, and Pitot Tube. Using the calibration guide, , we performed an ESC Calibration which augmented the manufacturer’s instructions. Gently ramp up the throttle to 100% to verify that the motor works. The reason why the servo was not working when connecting the servo and ESC to the FlaperonRight and Throttle was to act as a failsafe. In case of an emergency, the cube will still be receiving power from the backup power source allowing the RPIC to control the aircraft manually. However, no other systems, including the GPS system, will work. This is due to diodes inside intended to divert power, which allows the aircraft to fly purely by wire in case of an emergency. What does the RCMAP_X parameter control?RCMAP is the controller inputs.What does the SERVO#_FUNCTION controlSERVO is the computer inputs. List all possible power sources for the following systems:Servo: external battery/LiPo, 5V BEC Convertor Motor: external battery/LiPo, 5V ESC Cube/FCU: external battery/LiPo, 5V regulator BEC
Motor and Control Pt. 2
Overview
In this lab, my team and I set up and calibrated our DATX controller, verified its inputs and outputs, and ensured proper parameter settings in the hardware and LUA script. In addition, we created a mock-up of the avionic systems, tested the systems health, mapped control inputs to servo outputs, and prepared tables for our parameters. Finally, we set up our motors and controls, calibrated our ESC, tested motor functions, and updated our wiring diagram for the Believer. Testing and calibrating an aircraft is crucial for ensuring safety, stability, and prevent issues like unstable flight and navigation errors. We simulated the avionics, controls, and motors used in the Believer aircraft.
Resources
Team
Group 6
DATX Setup
The first step in this process was that my team and I needed to calibrate our DATX controller and ensure our parameters are correctly set up. In order to calibrate our DATX controller, we followed the steps below.
Figure 1. Output Map SBUS
As we went through these steps we answered the following questions
Avionics Setup
The next task needed to be completed was setting up our avionic systems. In this section, we built a mock-up of the avionics that will be later installed in our Believer. To complete this task, we used as a guide and followed the steps below.
Figure 2. Platform Health Status
RCMAP_X
Name
Parameters
RCMAP_BRAKE
0
RCMAP_FLAP
5
RCMAP_PITCH
2
RCMAP_ROLL
1
RCMAP_THROTTLE
3
RCMAP_YAW
4
There are no rows in this table
Table 18
Name
Parametes
SERVO1
FlaperonRight
SERVO2
FlaperonLeft
SERVO3
Throttle
SERVO4
Throttle
SERVO5
VTailLeft
SERVO6
VTailRight
SERVO7
Rudder
There are no rows in this table
Figure 3. Connectivity in the Ribbon
Right Stick
Name
Flaperon on L and R
Vtail L and R
There are no rows in this table
Left Stick
Name
Rudder
Throttle input
There are no rows in this table
Motor and Control Setup
Next, my team and I set up our motors and controls, completed calibration, and finally tested motor function. In order to successfully complete this final setup, we followed the steps below.
Figure 4. ESC connected to trust stand
As we completed these steps, we answered the following questions.
Wiring Diagram
Summary
In this lab, my team and I focused on powering, arming, and ensuring proper connection and calibration of all the system components. We successfully calibrated our DATX controller, set up our avionic system, ensured connectivity, mapped our control input to our servo outputs, and tested motor function. Through these actions, we are improving the aircraft’s performance, accuracy, efficiency, stability, and ensuring safe operations. By doing this, we are one step closer to completing the set up of our Believer aircraft.
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