# Bench test

This section details how to validate that the Micro VPS is operational before executing test flights. We will initialize the VPS and expect the drone to be in a flight-ready state before 

At this stage of the integration process you have:

* Physically integrated the Micro VPS on your vehicle [Vehicle Integration](/micro-vps/vehicle-integration.md)
* Configured ArduPilot for the Micro VPS [Autopilot Integration](/micro-vps/autopilot-integration.md)

{% hint style="warning" %}
You will need a Windows/Linux laptop with the [Theseus GCS App](/gcs-software/legacy-software/theseus-gcs-app.md) installed in order to proceed. 
{% endhint %}

We recommend that you go through the operation guide [GCS Software](/gcs-software/getting-started.md) to familiarize yourself with using the Micro VPS before proceeding.

## Before Powering On

Ensure that the green Ethernet data cable connects the sensor to the compute. You may plug this cable into either Ethernet port available on the compute module.

<figure><img src="/files/Nx6VoIbSwBXCeU7seqKE" alt="" width="563"><figcaption></figcaption></figure>

Ensure that the flight controller is correctly linked to the compute module following [Flight Controller](/micro-vps/vehicle-integration/flight-controller.md).

## Booting the Vehicle

Power on your vehicle and the Micro VPS (separately if you chose to power the Micro VPS separately from your main vehicle power).

Verify that the two red LEDs on the Micro VPS compute module turn on as shown below. The sensor has no external indicator of power state, but will become warmer than room temperature after being powered for a few minutes.

<figure><img src="/files/GgY8uOAOkBPcyFVeRnEh" alt="" width="563"><figcaption></figcaption></figure>

## Initialize VPS

Connect your laptop to the compute module using the free Ethernet port. Open the Theseus GCS app on your laptop.

The first step will be to upload maps and set the home position on the Micro VPS. Refer to [Maps Management](/gcs-software/legacy-software/theseus-gcs-app/feature-list/maps-management.md) and [Home Position Setting](/gcs-software/legacy-software/theseus-gcs-app/feature-list/home-position-setting.md) for more information on how to conduct these operations.

### Verify Data Connectivity

Verify the MAVLink connection on the compute module by navigating to the "*System Health*" screen[System Health](/gcs-software/legacy-software/theseus-gcs-app/feature-list/system-health.md).

<figure><img src="/files/APNLTRtPxVYt4qCrkWms" alt=""><figcaption></figcaption></figure>

The "*MAVProxy Service*" indicator should show "*Healthy*" with a green dot. If that is the case, the Micro VPS is connected to the autopilot over MAVLink.

Also check the "*Sensor Connectivity*" indicator under the "*Hardware*" section. This displays the status of the connection to the sensor. It should also show "*Healthy*" with a green dot, indicating that the compute module is connected to the sensor.

### Update Active Maps

On the "*Map Uploads*" screen, ensure the correct map is selected.

<figure><img src="/files/2oBJnk7T3mRhPG27dz8v" alt=""><figcaption></figcaption></figure>

### Update Launch Location

Set the home position to the location where you will be launching your UAV.

<figure><img src="/files/99m3k3nPegafFH1vQ2r2" alt=""><figcaption></figcaption></figure>

### Restart VPS

Return to the main dashboard and restart the VPS by clicking the "*Restart*" button under VPS Control.

<figure><img src="/files/bmvj4YbdtE8TEKEQEHQX" alt=""><figcaption></figcaption></figure>

The dashboard should now show that the system is **Running**.

At this point you can expect:

* Micro VPS to be connected to the autopilot over MAVLink.
* Micro VPS sends GPS data to the autopilot over MAVLink.

{% hint style="success" %}
Micro VPS is running and all required systems are healthy on the Theseus GCS app.
{% endhint %}

## Open GCS

Now that the Micro VPS is properly setup and running, move to the GCS to confirm that ArduPilot is receiving GPS data over MAVLink.

### Set GPS 2 as Primary

The first step is to set GPS 2 as the primary GPS. Similar to the previous procedures[Autopilot Integration](/micro-vps/autopilot-integration.md), navigate to the "*Config*" tab, then "*Full Parameter List*" and search for \
**GPS\_PRIMARY**.&#x20;

Set **GPS\_PRIMARY to 1** (GPS1 is indexed as 0 and GPS2 is indexed as 1). Then, write the parameters by clicking the "*Write Params*" button.

<figure><img src="/files/CgCIPn6BCSRCkDn4k0dP" alt=""><figcaption></figcaption></figure>

{% hint style="success" %}
Micro VPS turns on and appears as a GPS source on the GCS. Moving the vehicle reflects as displacement on the GCS map.
{% endhint %}

Go back to the "*Data*" tab in the top menu on Mission Planner. You should see the VPS as **GPS 2 with a 3D fix on the bottom right corner of the HUD**. The aircraft should be located at the launch location you set above.

<figure><img src="/files/qfjJZr34HE8WZSqO0M8z" alt=""><figcaption></figcaption></figure>

Note that this bench test was performed indoors with no GPS fix. Pick up your UAV (if size permits) and walk around. Check that the track overlaid on the map on Mission Planner matches the movement you applied to the vehicle.

{% hint style="success" %}
GPS 2 shows a 3D fix on Mission Planner and aircraft position matches your displacement.
{% endhint %}


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