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Verify USB connection between the CubePilot and Mission Planner.Configure telemetry communication using RFD900x modules.Connect and calibrate the Holybro MS4525DO airspeed sensor.Connect and configure the Here 3+ GPS using DroneCAN protocol.
LAB 09- Installing Believer Avionics
Overview
The purpose of this lab was to integrate multiple subsystems with the CubePilot flight controller and establish communication between the aircraft and the Ground Control Station (GCS). The primary goals were to:
The completion of this lab enables a fully functioning system capable of telemetry data exchange and sensor feedback necessary for autonomous flight operations and future flights in AT21900.
Part 1 – GCS Connection
Using an AIDA3 PC, the CubePilot was connected to the GCS via USB. The connection was verified by observing aircraft movement in the GCS Heads-Up Display (HUD).
Questions
Table 2
Question
Answer
What does the GUID_THISMAV parameter control?
Assigns a unique identifier to each aircraft on the same network.
Under Platform Connection, what indicator confirms connectivity?
The heartbeat icon in the GCS top bar.
What is the difference between Manual and Stabilized flight modes?
Manual: pilot directly controls actuators. Stabilized: system smooths pitch and roll based on IMU feedback.
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Part 2 – Telemetry Setup
The telemetry connection allows the GCS to communicate wirelessly with the CubePilot. The RFD900x modules (Air and Ground) were linked using a JST-GH 6-pin connector to the TELEM1 port on the CubePilot.
Questions
Table 3
Question
Answer
What is MAVLink?
An open-source communication protocol used between GCS and UAVs.
What baud rate must TELEM1 be set to?
57,600 bps (57600).
What connector type links RFD900 to the CubePilot?
JST-GH 6-pin connector.
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Parameter Configuration
Table 4
Parameter/Conditoin
Personal Description
Speed (m/s)
Speed (mph)
AIRSPEED_CRUISE
This is the value of speed that the aircraft will cruise at while in level flight.
20 m/s
44.74 mph
AIRSPEED_APPR
This is the value of speed that the aircraft will be at while in approach to land.
15 m/s
33.55 mph
AIRSPEED_MAX
This is the maximum airspeed that the aircraft may achieve.
38 m/s
85.00 mph
AIRSPEED_MIN
This is the minimum speed that the aircraft may go.
16 m/s
35.79 mph
AIRSPEED_MIN_LAND
This is the minimum speed the aircraft is allowed to go when landing.
12 m/s
26.84 mph
AIRSPEED_TKOFF
This is the airspeed the aircraft will have during takeoff.
20 m/s
44.74 mph
Stall Speed
This is the speed that the aircraft will stall at.
20 kts (
23.02 mph
Max in-flight windspeed
The maximum windspeed that the aircraft may fly in.
40 kts (
46.03 mph
Max cross wind speed
The maximum cross wind speed allowed to take off.
5 kts (
5.75 mph
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Successful telemetry communication was verified through the wireless transfer of data between the GCS and CubePilot after switching from USB to RFD900 connection.
Part 3 – Airspeed Sensor Setup
The Holybro MS4525DO differential airspeed sensor was connected using provided silicone tubing and an I2C interface cable. The pitot tube is oriented to avoid the boundary layer effect by extending forward of the aircraft’s fuselage.
Questions
Table 5
Question
Answer
Is an airspeed sensor mandatory?
Yes, to prevent stalls and ensure safe operation during windy conditions.
What is open-loop throttle mapping?
Uses fixed throttle responses without sensor feedback.
Why is the pitot tube long?
To position the tip outside the boundary layer for accurate readings.
What protocol does it use?
I2C.
What is hexadecimal? Convert 0x28.
Base-16 numbering system; 0x28 = 40 in decimal.
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Parameter Configuration
Table 6
Name
Original
Modified
Notes
ARSPD1_TYPE
NONE
I2CMS4525D0
Airspeed sensor type.
ARSPD1_ADDR
40
0x28H
I2C address in hexadecimal.
ARSPD1_BUS
Bus1 (external)
Bus0 (internal)
Sensor bus configuration.
ARSPD1_TUBE_ORDR
Either
Port1
Differential pressure port order.
ARSPD1_USE
Use
Use
Enables airspeed reading.
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After rebooting the autopilot, airspeed data was visible in the GCS ASI readout, confirming successful installation.
Part 4 – GPS Setup
The Here 3+ GPS was connected to the CubePilot CAN port and configured using DroneCAN. Firmware flashing and parameter updates were completed in Mission Planner.
Questions
Table 7
Question
Answer
What protocol does Here3+ use?
DroneCAN (1 Mbps).
What additional sensors are included?
IMU, magnetometer, and barometer.
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Parameter Configuration
Table 8
Name
Original
Modified
Notes
CAN_P1_DRIVER
1
1
Enables CAN bus driver.
CAN_P1_BITRATE
1,000,000
1,000,000
Data transfer rate (1 Mbps).
CAN_D1_PROTOCOL
1
DRONECAN
Enables DroneCAN protocol.
GPS1_TYPE
1
UAVCAN
GPS communication protocol.
GPS1_ADDR
0
20
CAN node ID.
GPS1_DELAY
150
100
Adjusted sensor delay.
GPS1_POS_X/Y/Z
0
0
Position offsets relative to FCU.
GPS1_USE
UseForNavigation
UseForNavigation
Enables navigation data.
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After configuration, the GPS did not successfully acquire satellites and report position data. This was because the parameter AHRS_GPS_MINSATS was missing.
Part 5 – Parameter Comparison
The parameters were compared using Diffchecker to verify correct configuration against a known baseline.
Result:
47 parameters were added and 11 were removed. Most changes involved airspeed and gyro calibration parameters as a result of sensor setup and firmware updates.
Conclusion
This lab successfully demonstrated full system integration between CubePilot hardware and GCS software. Each subsystem (telemetry, airspeed, and GPS) was connected, configured, and verified through Mission Planner. The aircraft now supports complete communication with the ground station and accurate sensor feedback, laying the groundwork for flights in future labs to take place in AT21900
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