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Motors and controls

Overview

This lab focused on pairing the DATX transmitter with the BlueCube flight controller, uploading firmware and parameters, and verifying sensor connectivity to ensure reliable aircraft operation.

Resources

GPS
Here 3 Manual | CubePilot Here 3/3+ GPS is a Cost-efficient GNSS system that supports RTK mode. Positioning accuracy down to centimetre-level in an ideal environment. Improved dust and water resistance over the Here+ (Not guaranteed to be water-proof).High data rate, upgradeability, noise immunity, and real-time features from the DroneCAN protocol, with Here3+ now moving to DroneCAN 8Mbit bus speed. Here 3 is Equipped with the STM32F302 processor while the Here3+ jumps to the Dual core STM32H757 running at 400MHz with 2MByte Flash, and 1MByte RAM. Supports future firmware updates. Support from ground control software. Future updates will be available from Mission Planner. Built-in Inertial Measurement Unit (compass, gyroscope, and accelerometer), for advanced navigation needs. docs.cubepilot.org⁠
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Servo
`EMAX EMAX ES3054 17g Metal Gear Digital Servo EMAX ES3054 (replaces ES3154) Excellent quality 17g Digital Servo with metal gears Package Contains: 1 x EMAX ES3054 17g Servo, of chosen cable length. www.3dxr.co.uk`⁠
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ESC
`AT 55A 2-6S BEC UAV ESC for Fixed-Wing Aircraft T-MOTOR AT55A is a fixed-wing aircraft ESC for up to 6S lithium batteries, supporting 75A peak current, weighing 63g, and recommended for AT28 series motors. store.tmotor.com`⁠
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Motor
`AT3520 Fixed-Wing UAV Motor -Efficient Cooling & Durability Powerful T-MOTOR AT3520 for 1.8-2.0kg fixed wing UAVs. Delivers 4.3kg thrust, supports 4-6S LiPos. Pairs perfectly with T13*6.5 prop & AT115A ESC. Weighs 221g store.tmotor.com`⁠
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TX/RX
`TBS Tracer Micro TX Starter Set | Team BlackSheep In a race, microseconds count. Goggles down, thumbs up - are you ready for a true 250Hz radio link? End to end latency: barely noticeable. Nothing else comes close! Thanks to 2.4GHz technology, we took the best from Crossfire and shrunk it down to speed it up. The end result: Smaller antennas, more speed, range for days. www.team-blacksheep.com`⁠
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DATX

Connecting to any aircraft require two things. A transmitter and receiver. On our aircraft we are using the controller as a User Interface for a third party transmitter rather than using the built in transmitter. The TBS Tracer Micro Starter set is what we are using.

Items in Tracer Micro Starter Set

Items in Tracer Micro Starter Set

Name

Purpose

Picture

Antenna

transmit and receive signals

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Reciever

receive signals from GCS or transmitter to allow for control of the aircraft, viewing of telemetry info, ect.

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Servo Pins

Providing physical connection which allows for signal transfer from receiver to servo.

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Then we soldered the servo pins to the receiver. This is a picture of the compete receiver:

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Pairing TX and RX

Then we used

diff-checker⁠

to upload model00 and model01 and compared the differences. There were 3 differences. We also changed “view: 1” to “view: 2” on models 01-06. This is the default view you see when piloting the aircraft and view 2 gives us more data.

What is a LUA Script? A set of written instructions written in the LUA programming language

Why are we using one in this lab. We are using it to adjust parameters on the TX module via the DATX (Transmitter)

The 3 Differences: a. Name was changed from: DAB010 to PUB01 b. Val changed from 10 to 1 c. View changed from 1 to 2

Then we plugged in out RX into the BlueCube. Then we Powered on your DATX and navigated to the LUA script and went through the binding process.

FCU and Parameters

Lab 09 - Believer Avionics · AT 209⁠

, we flashed the BlueCube with FCU Version 1.31. The FCU version and the parameters file we will be using do not align, so uploading causes an error.

Upload Firmware and Parameters

To upload the firmware and parameters we used the following steps

Following

Lab 09 - Believer Avionics · AT 209⁠

, upload the FCU version provided.

Connect the flight controller to Ground Control and navigate to the Parameters tab.

Download the parameters (this is always required to download the current parameters).

Export the parameters as a file named parameters_PUB## where ## corresponds with your two digit group number.

Add the parameter file to the

Broken link⁠

table above.

Import and upload the parameters file attached:

111025Dab10Parm - Modified.json

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From the Engineering windows, reboot the autopilot.

Export the parameters again as a file named parameters_PUB##

Add the parameter file to the

Broken link⁠

table above.

Test System Connectivity

With the new parameters uploaded, it’s important to test that all systems are green. These are the steps we used to do that

Connect the following sensors to the flight controller: GPS, airspeed sensor, telemetry, and DATX.

Verify that all systems are in the green and that the aircraft gets GPS signal. This is shown in the Platform Health Status window and the RC connection status in the top ribbon.

This may require setting the system near a window with a clear view of the sky.

Questions

What is the current FCU version? This information is available in the status text window of Ground Control.

Include a screenshot of your Platform Health Status.

Servos, ESC and Motors

Using the DAB010 model as a working guide, develop a wiring table and notes for all connections including, telemetry, sensors, flight controls, and motors. This should mirror DAB010 and be 100% complete and comprehensive. This is the only day that the sample platform will be available. All remaining work will be completed from your wiring notes.

Wire Diagram Rough Draft:

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