Repository for AMRC & Dassault Systemes collaboration around "Verification and Validation of a Systems Engineering Model against a real-world artifact" - exact title TBC
Arduino code for running physical system among other files.
- Main controller - Arduino UNO
- EDF fan -EDF Ducted Fan JP Hobby 120mm + 12s Motor 760KV (CCW) - TURBINES RC
- Servo - Lynxmotion Smart Servo High Speed (LSS-HT1)
- Servo controller - LSS-ADA
- ESC / Fan Controller - TURBINE RCJP Hobby 160A ESC 6-14S (OPTO) - TURBINES RC
- DC-DC converter (24V to 12V) - Matek Systems Matek Systems- Power Module PM12S-3
- Contactor -TE Connectivity LEV200 Contactor, 24 V Coil, 1-Pole, 500 A 2…
- 24V power supply
- Fuse
- Isolator
- E-stop
Sample Live data JSON object, sent at 10hz
{
"type": "live",
"fan": {
"pwm": 1100,
"rpm": 0
},
"servo": {
"pos": 89.8,
"rpm": 0,
"cur": 0,
"vol": 6291,
"tmp": 269,
"stat": 1
}
}Sample CFG JSON object, mostly static data sent at 1hz to confirm config changes:
{
"type": "cfg",
"fan": {
"min": 1125,
"max": 1300
},
"servo": {
"model": "LSS-HT1",
"fw": "370",
"stiff": -2,
"hStiff": 2,
"acc": 2000,
"dec": 200,
"maxSpd": 0,
"led": 0,
"gyre": 1
}
}The controller accepts a standardized, human-readable string protocol via the main USB Serial connection. This allows for direct manual control via a Serial Monitor or seamless integration with custom software (Python, MATLAB, etc.).
Connection Settings: 115200 Baud | Line Ending: Newline (\n)
| Command Type | Syntax | Description | Example |
|---|---|---|---|
| Fan Control | F:<PWM> |
Sets the EDF thrust using precise 16-bit hardware PWM pulse widths (in microseconds). Bound by the LAB_SAFE_MAX firmware governor (1300µs limit). |
F:1200 (Sets fan to 1200µs) |
| Servo Control | S:<Degrees>:<Time> |
Commands the LSS control surface to a specific angle over a defined duration (milliseconds). This built-in motion profiling prevents turbulent snapping. | S:45.0:1000 (Sweeps to 45° smoothly over 1 second) |
| Dynamic Config | C:<Type>:<Value> |
Adjusts LSS parameters on the fly without recompiling firmware. Types include AS (Angular Stiffness), AA (Accel), AD (Decel), etc. |
C:AS:2 (Sets Angular Stiffness to 2) |
| Emergency Stop | STOP |
Hardware Kill-Switch. Instantly bypasses all motion profiles, drops EDF signal to arming state (1100µs), and sets the servo to limp mode. | STOP |
The C: command allows you to tune the Lynxmotion Smart Servo (LSS) characteristics in real-time. This is particularly useful for adjusting how the control surface reacts to aerodynamic loads without needing to recompile or restart the flight controller.
Format: C:<Type>:<Value>
(Note: Any changes made here will be immediately reflected in the 1Hz cfg JSON output loop).
Parameter (<Type>) |
LSS Function | Description | Acceptable Range | Example |
|---|---|---|---|---|
AS |
Angular Stiffness | Controls how aggressively the servo tries to reach its moving target position. A higher value means a stiffer, punchier response. | -4 to 4 (Default: 0) |
C:AS:2 |
AH |
Holding Stiffness | Critical for aero loads. Controls how strongly the servo fights to hold its final position against the physical wind/thrust from the fan. | -4 to 4 (Default: 0) |
C:AH:3 |
AA |
Acceleration | The rate at which the servo ramps up to its maximum speed (Degrees/sec²). Lower values create a smoother, softer start. | 0 to 10000 |
C:AA:2000 |
AD |
Deceleration | The rate at which the servo ramps down as it approaches the target (Degrees/sec²). Lower values create a cushioned stop. | 0 to 10000 |
C:AD:200 |
SD |
Maximum Speed | Caps the absolute top speed of the servo in degrees per second. A value of 0 removes the cap. |
0 to 1800 |
C:SD:60 |
LED |
LED Color | Changes the physical LED color on the back of the LSS servo. Excellent for creating visual debug states during test routines. | 0 (Off) to 7 (White) |
C:LED:3 (Blue) |
GY |
Gyre | Sets the direction of rotation. Useful if you need to quickly invert the control surface logic (e.g., swapping from an elevator to an aileron setup). | 1 (CW) or -1 (CCW) |
C:GY:-1 |