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Motors and Controls continued - Lab 11

In this lab we simulated the avionics, controls, and motors used in the Believer aircraft, focusing on powering, arming, and ensuring proper connection and calibration of the system components. This 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 also created a mock-up of the Believer's avionics by connecting sensors to the Cube and testing system health, mapping control inputs to servo outputs, and preparing tables for RCMAP_X and SERVO#_FUNCTION parameters. Additionally, we set up the motors and controls by connecting servos and ESCs, calibrating the ESC according to the provided guide, and testing motor function with a throttle ramp-up. Finally lab we updated the team wiring diagram.

Resources

Ardupilot Parameters

Open Link

Servo

Open Link

ESC

Open Link

Motor

Open Link

RX/TX

Open Link

Cube Wiring Quick Start Guide

Open Link

Servo Functions

Open Link

ArduPilot Overview

Open Link

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Tables

Include your RCMAP_X, SERVO#_FUNCTION, and DATX input/Servo output tables here.

DATX Setup

Questions:

1. What is CRSF and SBUS? What are the differences?

An SBUS is a serial Bus and CRSF is crossfire. CRSF allows for better performance but is more complex whereas SBUS is more simplistic and compatible.

2. What is Multi-Bind on the TBS Tracer?

Multi-bind allows one transmitter to bind to multiple receivers at one time

Task

The following where done to ensure that the DATX had the proper parameters

Power on your DATX.

Move your sticks around and observe and note where your DATX believes your sticks are.

Navigate to the “HAREWARE” screen and perform a sticks calibration

Navigate back to your home screen and ensure that your controller is now calibrated by moving the sticks and observing the onscreen position indicator.

Navigate to your LUA Script and Click on the “Tracer Micro TX”

In Radio Setting, ensure that your Multi-Bind is enabled.

Connect your RX to the cube and power it on.

Navigate back to your LUA Script and Select “Tracer Nano RX”

(if you do not have this option please bind your RX under “Tracer Micro TX”)

Select Output Map and make sure that Channel 1 is SBUS. Do not modify any other channel.

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Avionics Setup

Task

In this section, we built a mock-up of the avionics as they will be installed in the Believer. These are the instructions we followed

Using the previous labs as a guide, connect all sensors to the Cube.

Test that all systems are a go.

Attach a screenshot of the Platform Health Status from GCS below.

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With your FCU connected to GCS, make a table for the following parameter sets

RCMAP_X

RCMAP_X

Name

Setting

RCMAP_BRAKE

RCMAP_FLAP

RCMAP_PITCH

RCMAP_ROLL

RCMAP_THROTTLE

RCMAP_YAW

There are no rows in this table

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SERVO#_FUNCTION

SERVO#_FUNCTION

Name

Setting

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

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Connect your DATX and verify connectivity in the ribbon.

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View your servo outputs in the Live Data tab (more on this in the next section)

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DATX Control Inputs and corresponding Servo Output

DATX Control Inputs and corresponding Servo Output

DATX Control Input Stick

Servo Output

Column 3

Column 5

Right Stick

FlaperonRight

FlaperonLeft

VTailLeft and VTailRight

Left Stick

Throttle (3 and 4)

VTailLeft and VTailRight

Rudder

There are no rows in this table

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Motor and Control Setup

Questions:

What does the RCMAP_X parameter control?

Which port on the bottom of the FCU that each RC control correlates to.

What does the SERVO#_FUNCTION control

Which flight parameter output correlates to each movement of the VTail, flaperons and throttle.

List all possible power sources for the following systems:

Servo: BECs to Battery

Motor: Directly from ESCs then into BECs then to Battery

Cube/FCU: Battery + BEC

Task

Obtain the remaining electronics to complete your set (two ESCs, two motors, and four servos)

Based on your tables above, connect one servo and one ESC to FlaperonRight and Throttle as appropriate.

Obtain instructor sign off: 👍

Before moving to the next step, try to move the connected servo. Does it work? No

Connect your ESC to the thrust stand and apply power.

Include a photo of your setup:

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Now try moving the servo again. Does it work now? Yes

Find the ESC Calibration Guide for your ESC in the

Resources Section⁠

Perform a ESC Calibration augmenting the manufacturer’s instructions with the following caveats:

The aircraft must in manual mode and be armed in GCS.

Note: with the aircraft armed, the motor can spin up.

Confirm with instructor that Calibration was performed correctly.

Gently ramp up the throttle to 100% to verify that the motor works

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