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Lab 09 Believer UAS Avionics Configuration & Sensor Integration

Team Members: Kenzie, Niko, Bella, Diego, Clayton System Components: CubePilot, Here 3+ GPS, RFD900x Telemetry, MS4525DO Airspeed Sensor Aircraft Platform: Believer Fixed-Wing UAS

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Purpose of the Lab

The purpose of this lab was to configure and validate the communication links and essential navigation sensors required for autonomous flight operations on the Believer UAS. This included establishing a connection between the CubePilot flight controller and the Ground Control Station (GCS), integrating the wireless telemetry system, enabling airspeed measurement capability, and configuring the GPS unit using DroneCAN. Understanding how to configure and verify parameters within the GCS was a core focus, since parameters determine how each sensor and subsystem behaves during flight.

This configuration is critical before beginning hardware finalization, servo installation, or flight tests. Without correct communication and sensor data, the aircraft cannot be monitored or controlled safely.

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Procedures and Key Tasks Completed

1. GCS and Flight Controller Connection

Connected the CubePilot to the GCS using USB.

Verified communication by observing aircraft movement reflected in the Heads-Up Display (HUD).

Learned how to identify system status indicators such as Heartbeat, GPS lock status, and attitude data streaming.

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2. Parameter Management

Accessed parameters through the GCS interface.

Downloaded, exported, and saved the parameter file as a configuration record.

Learned that parameters do not update in real-time — users must download/upload to push changes.

3. Telemetry Integration (RFD900x)

Connected the air side radio to TELEM1 on the CubePilot using the JST-GH-6-pin connector.

Matched baud rate (115200) and protocol (MAVLink) for proper communication.

Verified wireless telemetry link by switching the COM port from USB to the RFD900 in GCS and observing live system data.

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4. Airspeed Sensor Setup (MS4525DO)

Attached pitot tube and silicone pressure tubing to the differential pressure ports.

Connected sensor via I2C, identified sensor address 0x28 (hex) → converted to 40 (decimal).

Updated airspeed-related parameters such as:

ARSPD1_TYPE = MS4525DO

ARSPD1_ADDR = 40

ARSPD1_BUS corrected to match I2C bus

Rebooted the autopilot and confirmed changes took effect.

Verified that blowing into the pitot tube produced live changes on the Airspeed Indicator.

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5. GPS Integration (Here3+)

Connected GPS to the CAN interface on the CubePilot.

Verified communication using DroneCAN protocol.

Downloaded original GPS parameter set and uploaded new WR_here3plus.param file.

Rebooted and confirmed satellite acquisition and stable position reporting.

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What I Learned

Through this lab, I gained hands-on experience in configuring avionics systems and learned how different hardware modules communicate through shared protocols. I learned how MAVLink works as the primary communication standard between the aircraft and GCS, and how critical proper baud rates and port assignments are.

I also developed a deeper understanding of why airspeed measurement is essential for fixed-wing aircraft: it allows the aircraft to avoid stalls, maintain lift, and improve throttle efficiency. Learning how hex-to-decimal conversion applies directly to sensor addressing showed how low-level hardware settings affect high-level system performance.

Additionally, configuring the GPS through DroneCAN helped me understand how multiple devices can share one CAN bus while maintaining unique node IDs. Overall, this lab strengthened my understanding of how hardware integration, wiring, and parameter configuration directly impact safe UAS operation.

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Why This Lab is Important

This lab ensures that:

The flight controller can communicate with the operator in real time.

The UAS has accurate navigation data (GPS + IMU).

The aircraft can sense airspeed instead of estimating it blindly, improving safety.

Wireless telemetry allows remote monitoring during flight, allowing the pilot to respond to system warnings or failures.

These steps are required before propulsion system setup, servo calibration, and flight testing. Without correct configuration here, the aircraft could behave unpredictably or fail in the air.

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Next Steps

Develop the complete wiring diagram for the Believer avionics layout.

Complete servo installation and verify correct control surface deflection.

Conduct safety checks and failsafe parameter testing.

Prepare for maiden flight testing and data logging.

WIRING DIAGRAM WILL NOT UPLOAD i am troubleshooting

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