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Lab 11 - Motors and Controls
In this lab we simulated the avionics, controls, and motors used in the Believer aircraft, focusing on powering and ensuring proper connection and calibration of the system components. The lab involved setting up and calibrating the DATX, verifying its inputs and outputs, and ensuring proper parameter settings in the hardware and LUA script. We finalized setting up all the Believers avionics, ensuring and mapping the correct controls for each. We also calibrated the ESCs and ensured proper motor startup and function.
For the DATX calibration we had to understand where the DATX believed our sticks were. We made sure to then calibrate the sticks, and then proceeded to connect the DATX to the cube using the RX.h is entire process transitions the radio system from a generic uncalibrated state to a precisely calibrated, digitally configured system.
RC Map
Name
Channel Number
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
This RC Map essentially tells us which channel coordinates to which command. This is the language that the controller understands.
Servo Function
Name
Value
SERVO1_FUNCTION
FlaperonRight
SERVO2_FUNCTION
FlaperonLeft
SERVO3_FUNCTION
Throttle
SERVO4_FUNCTION
Throttle
SERVO5_FUNCTION
VTailLeft
SERVO6_FUNCTION
VTailRight
SERVO7_FUNCTION
Rudder
There are no rows in this table
This Servo Functions chart does the same, except tells us which servo controls what.
We then established connectivity by verifying that on our Ground Control the controller was connected.
We also ensured our servos were working properly by viewing their outputs in the live data tab.
Table
Channel
Column 2
Column 3
Text
1
Roll
FlaperonRight, FlaperonLeft
Right Stick Horizontal
2
Pitch
VTailRight, VTailLeft
Right Stick Horizontal
3
Throttle
Throttle
Left Stick Vertical
4
Rudder
VTailRight, VTailLeft
Left Stick Horizontal
5
Flap
FlaperonRight, FlaperonLeft
Switch
There are no rows in this table
This table above essentially links out DATX control inputs with the Servo outputs. This helps us understand what does what more effectively.
Motor and Control Setup was next:
We first learned what the RCMAP_X parameter controlled.
This enables us to assign channel outputs to flight controls (i.e. by moving the right control stick, we can control the roll of the aircraft). We are assigning channel outputs to the pre-determined flight parameters of brake, flap, pitch, roll, throttle, and yaw.
Next we learned what the SERVO#_FUNCTION controlled.
The same principle applies for the servo function, except rather than assigning controller functions, we’re assigning the applicable servo and servo output to specific aircraft component movements. We can also adjust those parameters to restrict that movement to what is desired.
Next we ensured proper control of the servo and ESC from the DATX. We essential made sure that the esc responded accordingly to our throttle input. All of this worked correctly the first time around and we had no issues with this section. Calibration was completed. We would be able to successfully control the motors and controls of the aircraft in flight.
Reflection: I was a big fan of this lab because we got to see all our work over the past several weeks in action and see it all working together. I am now able to understand each of the Believers avionics and how they communicated with one another. I am looking forward to incorporating all this into the actual frame of the believer and seeing it work further.
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