YS-X6 Multi-Rotor Autopilot
Contents
1. LAMAR GC SONWI GC S0ftWware Installation r Firmware UDO de Leo DAU ordre Ede UGE cc GC Sofltwate Interfatee Remote Waypoints Brief Troubleshootindg 02220 Mete Appendix Port Prsidigi ido MEN AREE supported Multi ROLOE ED D ESEFIP UON j Safety Instructions For safety reason please adhere to the below procedures L 10 11 12 Please install propeller only after everything has been properly and ensure that the setup and installation has been completed The side marked IMU of the IMU faces up The arrow points to the front of the aircraft Make sure power on the RC transmitter first then power on YS X6 autopilot before takeoff Power off YS X6 autopilot first then power off RC transmitter after landing Pay serious attention when using the S BUS or self adaptive feature of the autopilot Throttle calibration manual servo position realtime servo position channel settings must be accurate GPS COMPASS is sensitive to magnetic interference should be far away from any electronic devices The arrowhead points to head of aircraft while installing Please set F S function of RC transmitter before the flight Do not fly in GPS mode2. RC Receiver W This is only connection example RC Receiver Futaba direction actuator control channel EE mc LED please set aileron elevator throttle m Mount LED at the right position and far away from GPS on your RC Tx ready first multiplexing 1 Make sure the light can be in Futaba S Bus sight during flight Selecttwo 3 way switches as the switch of controlling modes and WIFI Please keep far away from GPS COMPASS while mounting then connect the receivers to the right channels of AP Please carefully preserve Firmware update d Notice Except particular notice on wires connection the black one of all wires should be connected to the bottom of the pin While connecting all wirings with color should match the same color like showing as below diagram Connection labels are facing you The numbers of the connectors match those marked in the diagram H 1 GPS module plug Black 16 CH1 2 GPS module plug Red 17 CH2 3 Camera 18 CH3 4 Gimbal Tilt Pitch 19 CH4 5 Gimbal PAN Roll 20 CH5 6 Motor8 21 CH6 7 Motor7 22 CH7 shared with S BUS 8 Motor6 23 CH8 9 Motor5 24 Link to PC Firmware Upgrade 10 Motor4 25 NOT USED 11 Motor3 26 WIFI Module output 12 Motor2 27 Power voltage above 4S 13 Motor1 28 Current sensor 14 IMU module plug Black 29 LED indicator 15 IMU module plug Red 30 Battery P
3. Attention It will result in crashes if operate to take off first and not switch to Control interface timely Enable RC Disable RC It s used to control the receiver on off When the receiver is on the craft can be controlled by RC Transmitter When the receiver is off the craft is in independent flying Switch from RC Transmitter to independent flying switch to GPS Mode by RC Transmitter fist then get into Control interface in GCS click the button Disable RC After disabling the receiver craft will not be controlled by RC Transmitter Whenever want to enable the receiver please noted to check the current state of RC Transmitter first 29 Enable Follow This function can be used only with the below conditions at the same time 1 There is GPS hardware in ground station 2 GPS satellites are more than 4 3 RC Transmitter has been switched to Auto hovering and altitude hold position hold 4 The receiver is off After enabling Follow Me the craft will fly automatically following mobile GPS position fly Follow Me Change Target In waypoints mode if want to fly a new waypoint can change it here to fly new current waypoints which has been uploaded Attention Fill in a number which can not exceed uploaded waypoints number Change Altitude In waypoints mode it s used to set flight altitude put in altitude needed here Example filling in 10 means setting flight altitude as 10 meters Channel Align
4. Please confirm to align the channel without any electric power connected Example When moving Throttle stick as Minimum Maximum Minimum if GCS data displays as below Manual Throttle is 7 when Throttle stick is at the Minimum position and 9 when at the Maximum position that means Channel Align is completed successfully Special Attention Please don t configure propeller when power first time only power the autopilot and need to calibrate Channel Align first 30 Operation as blow Select Channel Align in Settings push pull Elevator sticks of RC Transmitter to the Maximum Minimum move Aileron sticks of RC Transmitter to the leftmost rightmost within 5 seconds After 5 seconds autopilot will complete collecting data automatically User can observe whether the data shown in GCS can match with real manual operation when was moving the sticks Example 1 When pulling Throttle stick to the Minimum the Throttle showing in GCS displays 7 Pushing to the Maximum it displays 90 2 When moving Aileron stick to the leftmost the Aileron showing in GCS displays 40 to the rightmost it displays 40 3 When moving Rudder stick to the leftmost the Rudder showing in GCS displays 40 to the rightmost it displays 40 4 When pushing Elevator stick to the Maximum the Elevator showing in GCS displays 40 pulling to the Minimum it displays 40 They displays Neutral Position without any movement Please make sure the Throttle
5. Guide Step 1 Configure Hardware reference to Assembly Please check Page XX Step 2 Install Software reference to GS Software Installation Please check Page XX Step 3 Setup RC Transmitter please check Page XX FUTABA RC Transmitter needs to make a fresh new model memory Reverse channels for other RC Transmitters when necessary Example JR WFLY need to reverse all channels and calibrate frequency Q Set CH5 amp CH6 to two 3 position switch on RC Transmitter Step 4 Power YS X6 connecting autopilot to GCS through WIFI then check whether GCS Interface displays fresh data which are keeping walking Step 5 Calibrate Channels reference to Channels Calibration please check Page XX Step 6 Fill in parameters please check PageXX Step 7 Set ESC Stroke endpoint Ways Get into the Settings on GCS without any power connected push THR stick to the maximum position and then power the craft after twice sound di push THR stick to the bottom position meanwhile ESC will report the cell number of battery one di sound means one battery Exit from the Settings 8 after completing setup Step 8 Check the mixing mode with propeller taken out for safety reason Ways Stand at the tail of the craft and watch the front Move the Aileron stick to the left and the left motor should stop running do the same to the right motor Push the ELE stick to the top and the front motor stop running pu
6. Transmitter When the craft flies back to the WIFI range mobile can be automatically recovered to control the craft again The Remote control functions shown as below Control Operation method on Control interface Aircraft states Circle area area Red unlocated Green located Keep still Hover Altitude hold and Position Do NOT touch any area Operation hold Press hold the center circle and move move to front or back up down l l Move to left or right j Press hold the center circle and move Level flying left right Move to left top left bottom right top right bottom Operation Press hold the center circle and move left top left bottom right top right bottom 19 Climb Go down Rotate Operation The bottom of the green cross WIFI data lost when flying Reget WIFI signal 1 Skip touching any position to right top from the circle Within the green cross area 2 Skip touching any position to right bottom from the circle Within the green cross area 3 Skip touching any position to left from the circle Within the green cross area 4 Skip touching any position to right from the circle Within the green cross area Attention 1 The distance to the red dot is the flight speed The further the faster 2 Press holding time is flight time 3 The craft will auto hover when releasing your finger 4 The Maximum speed is 2 5 m s Climb Go down Rotate to the left Rotate to th
7. the locked point Tool To design waypoints Please check Page XX Fly Waypoints about the operation steps 26 Settings all E24 11 30 o gt gt gt Magnetic Neutral Compass Position ma Change Back Auto Location Landing Take Off Altitude Enable Disable Enable RC RC Follow Channel Align Enable Insurance Note All operations in settings are vitally important please operate seriously Zero Gyro 1 Check the data state when the craft is static on the ground and the val Zero Gyro 1 Check the data state when the craft is static on the ground and the value between Attitude Angle and Static Angle is difference please go this Operation 2 After confirming this operation the flight state will change to Please waiting for Zero Gyro wait patiently till the flight state changes back to Manual 3 After Zero Gyro if the Attitude Angle and Static Angle is same means operate Successfully 27 Key tips Absolutely prohibit to Zero Gyro when flying it can be operated only with no any vibration Magnetic Compass Click into magnetic compass calibration mode the below area in grey is displaying calibration state Please check Page XX about the calibration steps Neutral Position After channel calibration release operation sticks if Rudder in GCS displays not Middle or when tuning RC Transmitter slightly that needs to ca
8. up down direction is relatively great 23 UL 8 11 29 Zoom in Zoom out Map map mode Satellite satellite mode select according to the real situations Tips 1 The will stay back to the last one by default when get into it next time 2 When network is not connected click to open WIFI it will display cache data 24 Locate Map Locate Plane Craft position Click this button to find the craft position after GPS located My Location My position Search Location Search Position Save Location Save Position Load Location Load position alle 11 28 gt Locate Map Locate Plane My Location search Location Save Location Load Location Fly ToPP It only can be used Auto hovering state Click any position on the map and a yellow smile will show up there then click the button Fly ToPP the yellow smile shall change to purple smile after that the craft will fly to the position and hover there 25 PTZ Lock It only can be used in Auto hovering state Click any position you want on the map and a yellow smile will show up there click the button PTZ Lock and yellow smile will chang to purple smile after that the craft head will point to this position at this time user can operate on Control interface when move aileron to left the craft will hover clockwise around the locked point when move aileron to right the craft will hover counterclockwise around
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10. HR makes the motors power off immediately 12 CH5 position Position 1 Manual Mode all flight characteristics can be controlled manually Position 2 Stabilization Mode Manual and realize altitude hold through barometer sensor User can control the aircraft manually but altitude is controlled by the autopilot We recommend to set CH5 to position 2 before takeoff the motors may roll slightly and then push ELE stick to launch the craft In position 2 the middle THR position is for altitude hold push THR stick up to make the craft climb up push THR stick down to make the craft go down Position 3 GPS Mode Auto Mode please check the instruction of CH6 position showing as blow to activate the sub modes in GPS Mode Also can operate this way after capturing the middle position of the craft before takeoff set CH5 to position 3 and CH6 to position 1 then push THR stick and the craft can take off automatically immediately CH6 Position Notice it can work only with setting CH5 to position 3 first Position 1 Auto hovering in GPS Mode the craft will hold its position with releasing the sticks Pushing Pulling Elevator stick or moving the Aileron stick left right to make the craft move After releasing the sticks the craft will recover to auto hovering state Position 2 Auto navigation waypoint The craft will fly away without uploading the waypoints before switching to this position So please make sure the waypoints have be
11. YS X6 Multi Rotor Autopilot User Manual V1 2 D ZERO TECH WWW Zerouav com 1 Warning and Declaimer 1 The manual contains information about installation debugging and how to 6 use the product Please read it thoroughly before using the product Zero UAV Beijing Intelligence Technology Co Ltd assumes no liability for damage s or injuries incurred directly or indirectly from the use of this product Please keep far away from the crowd children and property when using the product Install propeller after completing all the debugging and checking to avoid damage s or injuries When any of the following events or incidents has taken placed we will not offer any warranty and service 1 The product has been repaired modified or any parts of the product have been substituted or replaced by anyone not expressly authorized by Zero UAV 2 The warranty card the serial number of the hardware and the flight data or any of these items is lost 3 Damaged caused by use s faults such as attempting wiring not in accordance with the manual which may cause short circuit The user manual would be modified when the firmware and specifications are changed Please visit the official website of Zero UAV http www zerouav com for the updates or contact directly the factory and authorized distributors Contents Safety LEE TNR Fedtuf eS QUICK
12. ase preserve carefully 17 GCS I nterface 1169 17 47 X AE fu 12 Software Functions De eem Anos Control Mix Control by Mobile Interface Show the Magnetic field calibration results Quit from the software 18 Control After switching the RC Transmitter to Auto hovering mode in GPS mode click mobile menu if mobile has got into the Control then you can use the Mobile to control the craft Operation Listed as below 1 The craft will Auto hover with altitude hold and position hold when no touching the GCS control cross 2 Press down the middle circle and keep it moving your finger to left right front back or to any direction the craft will move same like when using the aileron and elevator sticks of RC Transmitter In order to classify the difference from adjusting flight direction altitude mobile will vibrate once when start to operate 3 When moving your figure on the green cross no pressing the middle circle up down is for adjusting altitude the more higher position means the faster climbing speed the more lower position means the lower declining speed The craft will hold its position and altitude when releasing your finger Left right is for for changing the flight direction the same operation as up down 4 When the craft flies out of WIFI communication range and the autopilot can not receive mobile signal it will be automatically switched to accept signal from RC
13. e Max Speed Set flight speed The four parameters shown as below need to be filled in when use first time Please get into the settings to put in the four parameters and upload it to the Autopilot first it can be allowed to fly only after getting the parameters by clicking the button Get Adaptive Controll Mode 3 55V Threshold ESC Type NORMAL ES v Steering gear Frequency Remote Control Mode Can select the options according to the RC Transmitter which is been using Adaptive the autopilot can select the remote control mode automatically according to the RC Transmitter which is been using Normal Normal FUTABA Receiver autopilot CH1 connects to receiver CH1 34 autopilot CH2 connects to receiver CH2 S BUS Only connect autopilot CH7 to the receiver S BUS port JR Satellites the current firmware does not support JR Satellites temporarily but later firmware will support Volt Alert Threshold Fill in the alert voltage of each battery which is been using need user to fill in after measuring by self Usually fill in 3 65 ESC Type Fill in the ESC type which is been using Note Fault filling of Normal ESC and XA ESC will result that the propellers go out of control after power connected Steering gear Frequency Input the correct value according to your servo type 50HZ for Analog Servo 250HZ and 330HZ for Digital Servo 35 Trial Fly Check before Takeoff Please make sure your Mul
14. e right Activate Disable motors only when in Shut down the rotors auto returning home please use carefully immediately The craft will auto hover with exceeding WIFI range and switch to be controlled by RC Auto hover Transmitter Depend on current mobile Automatically Start Enable control 20 Data Get into the data interface by touching the button Data shown as below alle 11 28 5 settings Paramete GPS Satellites GPS Velx cm Flight Altitude GPS Vely cm Course Angle AP Volt Batt mAH GPS Lat GPS Lng Attitude Angle DTB Xekf Velx Xekf Vely Xekf Veld C c r d u m D d m E Static Angle Manual Servo Position ane Target Point Rudder Aileron Flight Mode Elevator Throttle T Vibrate state Flight Altitude ibrate state Chala ctate Course Angle shake state GPS Satellites Locate GPS Satellites Quantity GPS Velx cm GPS Vely cm GPS speed Position hold is better when the value is below 10 Xekf Velx Xekf Vely Xekf Veld The speed after Kalman filting When the flight speed exceed normal range the LED of autopilot will indicate solid white means obstacle happened and need to land urgently Value below 20 is normal when the craft is static on ground Attitude Angle Real time attitude when flying Static Angle 21 Real Attitude data when the craft is static Static Angle can work only wit
15. eanwhile realtime data can be displayed in Mobile GCS Namely data in GCS keep walking means WIFI was connected successfully When using Hotspot by Mobile it can be connected only with IP Address 192 168 1 X otherwise please add a router to connect For example If Mobile IP is 192 168 0 1 the Hotpoint function can not work Default User Name YS X6 Serial No password 82890430 15 Firmware Upgrade Step1 Autopilot can not be powered Connect 3 pin connector to the COM1 port of the autopilot and 9 pin connector DB9 to PC COM port Step2 Run firmware upgrade program download from Zero UAV official website then select configure COM port on PC In the device manager of operation system you can see which COM port is being used then set its property to be Baud rate 115200 Data bite 8 Parity None Stop bit 1 Step3 Select a arm file offered by Zero UAV to upgrade Step4 Power the autopilot Upgrade can be completed automatically When it says in red words Upgraded please close the window can shut up the autopilot 16 Flight data All the realtime flight data will be saved automatically to a hj folder under the local file named T runtime in mobile when flying The flight tracking file for Apple is saved to the folder private var mobile documents yswifi When users meet a flight problem can send it back to the factory if need This file is also one of the necessary documents for warranty ple
16. en uploaded successfully before switching to this position Please check Page XX for waypoint design and upload Position 3 Auto returning home For setting returning home position please check Page XX Returning home position When any accident unexpected happen please switch back to manual mode in case the craft flies away 13 Attention Set F S of RC Transmitter as Auto returning home throttle should be kept at the range of 10 above even more to avoid motor power off when throttle range is reaching 10 or less Recommend users to set 30 as the throttle range when returning home and landing 14 Ground Control Software GCS Installation Step1 Download YS GCS installing it according to operation system tips YS GCS can be installed easily for Android Installation can be completed only need to download the GCS to mobile and run it once in file manager Apple installation please check Page XX Step 2 Connection between Autopilot and GCS Way1 Connect Autopilot to GCS through WIFI Router Recommendation Way2 Build Hotspot through Mobile Tablet As WIFI Module was set to default search and connect wireless network named YS X6 Serial no example YS X6 10200 and password is 82890430 MUST use WPA2 PSK AES encryption method After the above wireless network was built successfully open WLAN and connect it to the router by mobile tablet the communication can be established with Autopilot amp Router powered on m
17. ghboring magnetic filed will affect the performance of the Magnetic Compass and reducing the precision of the sensor it could even cause serious problems You can reduce this risk by performing compass calibration to make sure the autopilot can work properly When to perform Magnetic Compass Calibration 1 When use for first time 2 When machinery assembly of Multi Rotor craft is changed 3 When the mounting position of GPS module is changed 4 When the mounting position of electronic devices are changed such as adding removing moving the Main Controller Servo Battery etc 5 When the machinery structure of Multi Rotor is changed 6 When there is some drift For example the craft can not move forward in a straight flight path 38 Calibration Steps TIL 14 31 gt Magnetic Compass Cancel Horizontal Alignment save Ali Step1 Select Horizontal Alignment after clicking Magnetic Compass After confirmation it will display whether autopilot received the command of Horizontal Alignment from GCS if it says Success then start to horizontally rotate the craft 2 3 laps slowly ask a helper to monitor the attitude angle changing in Data and try best to keep Pitch and Roll value smaller than 3 when rotating Example L2 D2 is OK but L3 D2 is not good It does not matter to exceed 3 occasionally autopilot will stop collecting data while exceeding 3 and go on collecting when recover to be within 3 y
18. h no any vibration When existing different value with checking on ground need to operate Zero Gyro in GCS Target Point Waypoints number upload the waypoints number to the craft which will fly it can not exceed the total waypoints or keep as O Flight Mode Craft states Zero Gyro Manual Auto waypoints Auto navigation Return home and land settings Flight Altitude Barometer altitude of the craft unit is meter Course Angle Course Angle means the directions which the craft head points to Due North 0 degree clockwise direction is positive counterclockwise direction is negative For example Due East 90 degree Due West 90 degree Due South 180 degree or 180 degree Note The Course Angle can mean real flight direction only with GPS was located and switched to Auto Mode It has no physical meaning in other circumstances AP Volt Autopilot voltage has loaded GPS Lat GPS Lng GPS longitude and latitude 22 Manual Servo Position Rudder Elevator Aileron Throttle For example When RC Transmitter is in the center position and throttle is the minimum it displays rudder Middle throttle 7 if deviation value is more than 2 need to capture center position Vibrate State It displays the influence of vibration from different directions on IMU Shock absorption effect is not good when vibration value is more than 10 For example up down 15 means the vibration influence on IMU from
19. ix 2 Supported Multi Rotor On the Multi Rotor with coaxial double propellers blue stands for the propellers configured on the top side purple stands for propellers configured at the bottom side In the other situations all the propellers are on the top The arrow in the figures means the head of aircraft Aircraft Type in the parameter settings can be filled with the number at the right bottom of the aircraft illustration below 47 MI M2 MI M2 M4 M3 M4 M3 0 1 MI M2 MI M2 M6 MB M6 M3 M5 M5 m M4 2 3 MA 8 48 Appendix 3 LED description GPS unlocated red LED blinks for 3 times one loop GPS located 5 satellites red light blinks for 2 times one loop GPS located 6 satellites red LED flashes for one time one loop When located GPS satellites is more than 7 the Red light be solid all the time When the Speed data got from the Kalman filtering data fusion using the GPS data is too large the LED will be solid white need to land the aircraft urgently Altitude hold in the Stabilization mode Blue light flashes in loops one time one loop means the users is controlling manually two times one loop means Altitude hold In the GPS mode green LED flashes in loops One time one loop means the user is controlling manually two times one loop means GPS position hold with altitude hold and auto hover 49 ZERO TECH Zero UAV Beijing Intelligence Technology Co Ltd Add Rm
20. king off in stabilization mode No WIFI signal on the Tablet Mobile Altitude changes too much when the movement is bigger Craft is not stable after position hold Drifting much in the position hol Check whether the Magnetic Compass Calibration is correct Vibration exceed limit please try to reduce the vibration from rotors and balance the propellers 1 Check whether ESC wire connection and MC wire connection are correct 2 Check whether IMU is mounted at right position and direction is correct or not 1 Check any wires get loosen 2 Exceed WIFI communication range 3 Tablet Mobile is in low power 4 Enable Control and try to analog control the craft check whether LED light blinks regularly if not please check autopilot mobile WIFI data connection 5 Whether set the SSID as YS X6 X Serial number 6 Whether router IP is 192 168 1 1 Vibration exceed limit Shake exceed limit Not located still not start to calculate the formal attitude data 8 Can not control the craft in Did not locate position and calculate 44 stabilization mode attitude Appendix Appendix1 Each port definition MC CH2 Elevator CH4 Rudder CH6 Auto mode CH8 COM2 AIO LED Connect LED Indicator IMU2 IMU module data interface M2 Motor 2 M4 Motor 4 M6 Motor 6 45 M8 Motor 8 EXT2 Gimbal Pan GPS1 GPS module power interface 46 Append
21. ll back ELE stick to the bottom and the rear motor stop running Step 9 Calibrate the compass request to perform this in flying field Please check Page XX Step10 Test fly please check Page XX IMU GPS Compass m The IMU is best positioned near the Multi Rotor s H GPS Compass is sensitive to magnetic interference should centerof gravity where vibrationis relatively low far away from any electronic devices Please use our GPS the IMU such that the arrowmarked bracket to mount GPS module H GPS is sensitive to vibration interference please firm the GPS bracket The YS X6 logo marked on GPS should face the sky on the printed surface of the IMU faces the sky the arrowhead is to the head of craft MT he sides of the IMU should be precisely the arrowhead is to the head of craft Please DO NOT extend parallel to the multi rotor body Use double data cable at all sided foam tape for secured installation E The AP can work only with GPS Compass connected Module is precise please carefully preserved DO not extend the data cable at will Autopilot Box No direction request on AP mounting but right position to avoid using ESC extending cables Make sure all interfaces are expose to help connecting easily and upgrading firmware ae Power Calculation Once the position of AP is confirmed Recommend to firm AP after completing wiring and software settings
22. netic field and recalibrate the compass magnetic The system is in default when RC Receiver is on and it is in auto flight mode when RC Receiver is off Please note the state of RC Transmitter when powering on the RC Receiver YS X6 Features Introduction YS Series YS X6 is an excellent Multi Rotor Heli autopilot it supports common third party commercial ESC and quad rotor Hex rotor octo rotor with common custom mixed control YS X6 offers GPS Stabilization and Auto hover functions from quad rotor to octo rotor I n Box llHardware n Software Need Download llMain Controller MC X1 The MC combines with other modules communicates with external electronic devices to carry out autopilot functionality Update firmware combining with PC R232 COM port YS GCS software record real time flight state via WIFI MIMU 1 Inertial measurement unit Contains sensors to measure the attitude of the craft 5 55 X1 The GPS Compass module is for sensing the position direction The LED indicates current flight states of the craft via light X1 The Data radio be added to spread range based on this 1 Connect it via Mobile Tablet hotspot function X 2 Connect AP to Ground Station via WIFI H3 PIN Servo Cable X8 Used to connect MC to RC Receiver B 5M Gummed Paper Double side adhesive tape Used to fix components on multi rotor frame Quick Installing
23. ntrol Data Roll 60 Pitch 60 PTZ Roll Sensiti Sensiti sensitivity BE Pitch Pu PTZ Pitch Sensitivity Attitude Sensitivity Motion Compensation Vertical Stable Max Speed Aircraft type PTZ Roll Sensitivity Dreatarctiar PTZ Pitch al Protection Cell Num Broken rod The autopilot can calculate the low voltage alert according to the Cell Number filled in by users When the mobile vibrates once each 2 seconds it means the power is getting low and remind user to note When the mobile vibrates once each 1 second it means the power is getting very low and request the craft to land at once Ctrl Type Complete default number 2 1 Attitude mode fit to adjust parameters dynamic flight 2 Acceleration mode fit to static flight Magnetic Declin Fill in local magnetic declination deflection to West is Positive to East is negative most regions in China are deflecting to West 33 Example Magnetic declination is 6 degree 30 West namely 6 5 degree then fill in 6 5 Please refer to the below website about magnetic declination http www ngdc noaa gov geomagmodels struts calcDeclinat Aircraft Type Fill in mix control type please refer to Appendix 2 PTZ Roll Sensitivity PTZ Pitch Sensitivity It s used to adjust the compensation angle of PTZ If user feel the compensation angle is small can fill in bigger number on the contrary fill in smaller number Note can fill in negative valu
24. ou can also check the blinking light which is connecting with autopilot blinking light means attitude is good if attitude is too big the light will turn off Step2 After completing 2 3 laps horizontal rotation please let the craft head face to 39 the ground vertically then select Vertical Alignment from Magnetic Compass in GCS and click OK to send the command to autopilot After it says Success go to check the Attitude Angle in Data L D will be changed close to O slowly namely changed the coordinate reference it s horizontal when craft head faces to the ground Then take the craft head as Axis and keep attitude angle less than 3 degree rotate 2 3laps horizontally You can also check the blinking light which is connecting with autopilot blinking light means attitude is good if attitude is too big the light will turn off Step 3 Magnetic Compass calibration is completed with performing the above operations and the GCS will switch to Control Cross interface automatically after a few seconds it will display the magnetic sensor data of autopilot only look the red and blue circle in the middle of cross coordinates if they are close to standard round that means calibrate successfully and data is in good condition 40 F 14 03 zn i HERE 19 Waypoints Fly gt Select Tools Default Add Tool Waypoints Remove Verify Waypoints Waypoints Upload Dele
25. ower 11 RC Transmitter Settings Please read this introduction thoroughly Because all flying mode is based on using Channel 5 and Channel 6 of the RC Transmitter Both channels must be set to 3 position switches which is for switching Manual Auto Altitude hold 3 modes Users can check the working state of the switches in the Flight Mode on GCS Interface Please familiarize with the following switch position Red light Position 1 Manual blinks for 3 times Stabilization u Blue light Position 2 Mode and j j blinks twice Altitude Hold 1 Auto hovering Green light 2 Auto Position 3 GPS Mode g blinks twice Navigation waypoint 3 Auto returning home After switching to GPS Mode CH6 is available Disengage any flight mode in GPS mode need to disengage the GPS mode Remark1 Example If you want to fly in Auto navigation waypoint mode set CH5 to GPS mode first then set CH6 to Auto navigation mode If need to disengage the Auto navigation waypoint mode please set CH5 to Manual mode or Stabilization Altitude Hold mode 1 Auto returning home for standard version altitude can be controlled after reaching returning home position After landing the craft manually the motors can be shut down only upon switching to stabilization mode Remark2 l l l 2 Auto returning home for Enterprise version aircraft can land automatically when reaching returning position meanwhile 11 90 THR can not work 0 10 T
26. pture the Neutral Position Home Location It records a returning position when takeoff If switch to Auto returning amp landing by RC Transmitter the craft will fly to the recorded returning position automatically and then land slowly But if need to change the returning position Please record the plane coordinates of aircraft at any time any position you want by using this function then switch to auto returning amp landing mode it can get back to the new returning position Back Landing This function can be activated only by switching CH5 to position 3 or by powering off the receiver After sending out this command the craft will return back to home location automatically and then land slowly If the above conditions cannot be met the craft will not response to the command at this time you can only operate by switching the sticks on RC Transmitter to let it 28 return and land The craft can land only after it reaches home location during the landing can also control the location by moving Aileron and Elevator sticks of RC Transmitter it s same as Auto hovering operation But if the Elevator and Throttle stick have been pulled to the bottom the craft will stop immediately If Throttle stick is at other position except at the bottom it won t influence to land Auto Take Off Power off the receiver first and then click Enable Control in GCS at last click this button Auto Take Off the craft can take off automatically
27. stick is at the Minimum position before take off and flight mode CH5 must be in Manual Otherwise it s extremely possible to result in Injures or Damages caused by rotors rotates suddenly after connecting power Ittakes FUTABA as standard example with no any reversed directions set If use WFLY RC Transmitter it requests to reverse directions please make sure the value displays in Data of Rudder Aileron Elevator Throttle in GCS can match with real operation when moving each stick from the Minimum to Maximum otherwise need to reverse directions of RC Transmitter channel Init Setup Its used to align channels or complete parameters of craft After clicking this button flight state will display Settings After getting into settings the control channels for each motor on craft is directly connecting to throttle channel of RC Transmitter and no any mix control output it is equal to like a Y line of one to many it s convenient for users to set strikes for all rotors at the same time 3 Quit Setup After completing Throttle channel calibration and all parameters filled click this button to exit from settings Enable Skyway The craft can be switched to Auto navigation mode only after set CH6 to Auto navigation and then click this button Enable Skyway to open the waypoints first 32 Parameters Please do NOT change the parameters of Roll Pitch THR Rotate PID 1071137 Ed Control Data Settings Co
28. te Waypoints Waypoints Load Save Waypoints Waypoints Locate FlytoPP PTZLock Quit FlytoPP PTZLock Stepi Click tools gt Design waypoints One click on the map can get one waypoint get all waypoints one by one Click Default Tool to complete the waypoints design Step2 After the waypoints drawing is completed click Upload Waypoints to the Autopilot To confirm a successful upload by checking whether each waypoint has been changed to blue or get into Target Point and check whether the number displays there is same with uploaded waypoints if not you need to upload again If any waypoint is not changed to blue please also upload again Step3 Click Remove Waypoints to recover the blue waypoints to red then select Verify waypoint from Tool download uploaded waypoints to ground station for comparing if all waypoints are blue that means the uploaded waypoints is 42 same with that in GCS and waypoints checking succeed Otherwise need to upload waypoints again Step4 After switching CH5 to position 3 and CH6 to Auto navigation autopilot will get into Auto waypoints Mode and go to waypoint 1 amp hold position Fill in Change Target with number 2 and upload it the autopilot will fly to waypoint 2 4 and fly back to waypoint 1 and hover there after finished all waypoints 43 Troubleshooting Craft is rotating Altitude is changed Craft rolls when ta
29. ti rotor has been assembled correctly Please make sure you have set all parameters correctly Any one of the situations as below may result in serious accidents The motors rotate reversely The propellers are assembled in wrong way The IMU is assembled in wrong way The components are assembled in wrong way Special attention Switch on the RC Transmitter first and then the receiver Power on AP first then connect motive power for Multi rotor Please adjust the attitude sensibility and trial fly in Auto hovering mode in empty amp weak wind space Please check whether the hj file has been saved to the mobile successfully Only if power the autopilot hi file can be formed after the data connected 36 Fly Test Step1 Make sure adequate power to the RC Transmitter Autopilot and all components Step2 Check all the connections to make sure everything is in good condition Step3 Turn on RC Transmitter first then start the Multi Rotor craft Step4 Make sure that the flight mode can be changed normally through flipping the transmitter switches and checking it Step5 Get into Auto hovering mode Move the sticks to check the movements of Elevator Roll Course Angle whether are all correct If not please get back to parameter settings to revise it Step6 Move the Throttle stick slowly to make all motors start work then make your Multi rotor aircraft take off slowly 37 Fly Magnetic Compass Calibration Onboard magnet or nei
30. when the signal is not good red light blinks or the static GPS speed is more than 15cm s The Gimbal Servo can be supplied power from output of any ESC but when ESC has no BEC output please add extra power not use the power supplied from Autopilot When returning home in Auto returning home Mode the two ways can shut down motors When THR of RC Transmitter is maintained at the range of 0 109060 When staying at the bottom of cross operation interface click Control in GCS These two above ways can not work to shut down motors when in other Flight Mode The low voltage protection function is NOT for experimenting please care about your flight time and try best to avoid using low voltage protection Please don t launch your craft if the GCS displays very high vibrate state Must check whether the course angle and magnetic declin data are 4 13 14 15 16 17 correct after compass magnetic calibration Must check whether Attitude angle and Static angle are maintaining consistency before takeoff When connecting the wires of GPS COMPASS IMU and MC please pay attention to keep the color of the connectors and the labeling on the Unit body consistent Wrong connection may result in device short circuit Prevent Anti plug Design The mechanisms to protect from short circuitry is NOT for fun please don t try Please don t fly in GPS mode when course angle and real rotational angle loss consistency in some strong mag
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