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Using an AIDA3 PC, connect the Cubepilot to the GCS via USB as we did in . Verify the connection is live by monitoring movement in the HUDExplore the GCS Manual and answer the questions in this section
With the your cubepilot connected to the GCS, navigate to the Parameters tab.Download the parameters.Export the parameters and attach the .json file here:
Whenever you update a parameter, ensure that you click the “Submit” button to send the parameter to the FCU. The parameters are static, meaning that they do not update unless action is taken. To view the most up-to-date parameters, be sure to click the “Download” button.
Connect the air side RFD900 to the Cubepilot TELEM 1 port using the supplied cable. Be sure that the connector orientation is correct on the RDF900 end.With the Cubepilot still connected by USB and in the GCS parameters tab, modify or confirm the parameters match Be sure to complete the original column to save a record of original settings.Connect the ground side RFD900 to the PC and change the serial connection from USB to the RFD900.You will need device manager open to identify the new COM port.Keep the USB cable connected for power.Confirm that data is now being transmitted wirelessly.
Attach the provided silicone tubing to one end of the pitot tube and to the correct port on the airspeed sensor.Using the provided cable, connect the airspeed sensor to the Cubepilot in the appropriate port.Be sure to complete the original column to save a record of original settings.Note that some parameters are only visible upon reboot.From the Engineering tab, perform an Autopilot Reboot of the board.Remember to download the parameters again.Verify that the airpseed sensor works by monitoring changes on the ASI.
Plug the GPS unit into the appropriate ports on the Cubepilot board - be sure to review the doc linked above in Navigate to Setup > Optional Hardware > DroneCAN/UAVCAN and connect to MAVLinkCAN1Click “Menu” on the line named “com.cubepilot.here3+” and select ParametersDownload the original parameters and attach here:Click “Load from file” and upload this parameter file: Click “Write Params”Close Mission planner and reboot the FCU. Reload the Windracers firmware using Be sure to complete the original column to save a record of original settings.Verify that the GPS acquires satellites.
In Diffchecker, add the file you downloaded above in to the left side. Add the file attached here to the right side: Download your parameters again and attach here:Change the embedded link below to your own output using the share button.
Primarily what parameters changed?
Lab 09 - Believer Avionics
Overview
The focus of this lab was to get familiar with the believer avionics. The main goal of this lab was to set up flight parameters for the Believer. Along with that we also identified the pin layout of the BlueCube carrier board.
Resources
Assignment
GCS
Broken link
Questions
1. What does the GUID_THISMAV parameter control?
allows a vehicle to have a unique identifier when multiple drones are running on the same network
2. Under Ground Software > Platform Connection, what indicator can an operator look for to confirm connectivity?
A heartbeat icon in the top bar.
3. Under Flight Software > Flight Modes, what is the difference between manual and stabilized flight modes?
Pilot input directly manipulates all actuators.
Limits and smooths pitch and bank angles.
Parameters
Recall from lecture that parameters are the variables that we have access to that can be used to modify the behavior of the aircraft.
Tips
Telemetry
To communicate wirelessly with the flight controller, we will install the telemetry module that we set up in lab 8.
Questions
1. What is MAVLink?
Open source telemetry allowing communication between the GCS and the Aircraft
2. What baud rate must TELEM 1 be set to in order to communicate with the GCS?
57600
3. What type of connector links the RFD900 with the Cubepilot?
JST-GH 6-pin connector
Setup
SERIALX Parameters
Name
Original
Modified
Notes
SERIAL1_BAUD
115,200
115
Open
SERIAL1_PROTOCOL
MAVLink
MAVLink
Open
There are no rows in this table
Air Speed
Questions
1. According to the User Manual, under Flight Software > Sensor Input, is an airspeed sensor mandatory?
Yes it is, it ensures that the aircraft avoids stalls is a windy environment, safely takes off and lands, and completes flight tasks.
2. Briefly, what is open-loop throttle mapping? Comparing to closed-loop throttle mapping may help.
Open-loop throttle mapping uses a predetermined program based on inputs like throttle position without using sensor feedback to make adjustments.
3. For what aerodynamic reason is the pitot tube so long?
It is long in order to keep the tip of the sensor out of the boundary layer of air surrounding the aircraft.
4. What communication protocol does the airspeed sensor use?
I2C
5. What is hexadecimal? Convert 0x28 from hexadecimal to decimal.
A number expressed in base 16 numerical system. 10100
Setup
ARSPDX Parameters
Name
Original
Modified
Notes
ARSPD1_TYPE
None
I2CMS4525D0
Open
ARSPD1_ADDR
40
0x28H
Open
ARSPD1_BUS
Bus1(extenral)
Bus0(internal)
Open
ARSPD1_TUBE_ORDR
either port
Port1
Open
ARSPD1_USE
Use
Use
Open
There are no rows in this table
GPS
Questions
1. What communication protocol does the Here3+ GPS use?
DroneCAN 8Mbit/s
2. What additional sensors does the GPS unit include?
IMU Sensor
Setup Steps
WR_here3plus.param
Broken link
CAN Parameters
Name
Original
Modified
Notes
CAN_P1_DRIVER
1
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
GPSX Parameters
Name
Original
Modified
Notes
GPS1_TYPE
1
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
Now that you have modified the parameters, it’s helpful to compare your parameters with a known good parameter set.
Setup
Parameters.json
Parameters1.json
39.2 kB
Questions
47 additions and 11 removals. It changed airspeed parameters and gyro parameters.
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