YS-X6 Multi-Rotor Autopilot
Contents
1. 2 Data Realtime flight data of the aircraft 3 Map Saved map or realtime map 4 Settings Set various states of the aircraft 5 Parameters Adjust parameters of the aircraft Control 6 Mix Control via Mobile Interface 7 Center Button Control the aircraft via mobile 8 Control Cross Climb Decline rotate 9 RC on off Get into mobile control mode while powered on Magnetic field 10 Show the Magnetic field calibration results data 11 IP Searching Reserved 12 Exit Exit from the software Remote Control When the RC Tx set to GPS position hold mode click the menus in the mobile if the it is the RC mode then you can use the Mobile to operate the aircraft Listed as below 1 DO NOT touch any area then the aircraft will be GPS position hold with ALT hold 2 Press down the middle circle and do not release it move your finger to left right front back or any direction the the effect is the same to move the AIL and ELE sticks combined 3 Do not touch the middle circle but click the different position of the red cross up down is for altitude adjustment the more higher position means the faster climbing speed the more lower position means the lower Declining speed Release your finger and the aircraft will hold the last altitude Left right is for heading almost the same operation as the altitude one 4 When the aircraft is out of the communication range the autopilot can not re2. Quick Start Guide Assembly esee Elec If GS software Installation Firmware Flight GS Software Interface Remote Controll Magnetic compass Calibration Waypoints 9 Brief Troubleshooting Appendix Port Definition Illustration of supported LED Description Safety Instructions For safety reason please adhere to the below procedures 1 10 11 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
3. magnetic compass to read the Earth Magnetic Field thus may reduce controlling 34 precision of Multi Rotor aircraft even effect obstacles Calibrations can reduce these effects to make sure the MC work normally in defective magnetic environment Calibration for first use When the machinery installations of Multi Rotor Aircraft are changing Change the position of GPS magnetic compass module Add remove displace the electronic devices such as MC fi l battery etc Calibration Steps Step1 Select level calibration after clicking magnetic compass calibration After confirmation it will display whether AP received the order of level calibration on magnetic compass in the middle status bar If there is a successful display there you can start the level calibration level rotate the aircraft 2 3 laps slowly can ask you assistant to monitor the attitude angle in Data window please try best to make sure pitch and toll is within 3digree when rotating example left 2 lift 2 is OK but left 3 lift 2 is not good It s ok to exceed 3 occasionally AP shall stop collecting data while exceeding 3 degree and continue to collect data when recover 3degree less also can look the blinking light which connecting with AP blinking light meet attitude requirements off light means the attitude is too big Step2 After completing level rotation of 2 3 laps make the craft head face the ground vertically then select Magnetic compass Vertic
4. gov geomagmodels struts calcDeclinat M Aircraft Type Fill in flight mix control type please refer to Appendix 2 It s used to adjust the correction angle of gymbal If user feel correction angle is small can fill in bigger number on the contrary fill in smaller number note can fill in ZERE Ae E 4 Maximum Speed Set flight speed below 4 parameters need to be filled in when use first time when filling please enter setting interface firstly after completing then click uploading to AP it only can fly after getting confirmation of parameters RC Method User select the options according to current RC mode Self adaptive AP select the options according to the using RC Tx Normal Normal FUTABA Receiver AP CH1 connect Receiver CH1 AP CH2 connect Receiver CH2 32 S BUS Only connect AP CH7 to the Receiver S BUS port FBI TS ER IB Voltage initial warning number Fill in the warning voltage which each battery is been using user can fill after measuring by self Usually fill in 3 65 B i ESC Type Filling according to the ESC type which user is using Note Wrong filling between Normal ESC and XA ESC will lead to the propeller go out of control after being powered on BEL dn Rudder output Frequency Filling according to the Rudder which is being using 5OHZ is i 250HZ is digital rudder 5 Trial Fly Checking before the flight Please make
5. if not re upload it one more time Any waypoint that is not changed to blue can be re uploaded with all the other waypoints or re uploaded for itself Click remove waypoints to recover the blue waypoint to Red then 36 select Verify waypoint from Tool download waypoints to ground station for comparing if all waypoints are blue that indicates the saved waypoints in RC are coincident with GS waypoints and waypoints checking succeed Otherwise need to upload waypoints again Step4 AP shall get into auto waypoints mode while putting Channel5 of RC to auto positions Channel6 to auto navigation bar Arriving first point 17 set number2 in change goal of setting interface and upload then beginning waypoints flying according to the order of 2 even finish all waypoints and back to first point to hover KKK K K OK OK K K K Simple problem solving 1 Aircraft rotates Check the Magnetic heading calibration Check the vibration staes Try to reduce the 2 Altitude changes vibration of the motors and do the prop balance operation Aircraft rolls at once after 1 Check the connection of ESC cable and launch in the stablization the MC ones mode 2 Check IMU setup direction 1 Check if any interface loosen 2 Out of the communication range 4 No WIFI signal on the 3 Power not enough on the laptop mobile laptop mobile side side 37 4 DO Not power the motors but try
6. 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 Attention Set F S of RC Transmitter as Auto returning home throttle should be kept at the range of 10 even more above to avoid motor power off when throttle range is reaching 10 less Recommend users to set 30 as the throttle range when returning home and landing 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 Data Link setup Way1 Set AP via WIFI Router then connect it Recommended Way2 Build Hotpoint via Mobile Tablet As WIFI Module set default search and connect wireless network named YS X6 AP serial no password is 82890430 example YS X6 10200 MUST use WPA2 PSK AES encryption After opening WLAN and connecting to the router via Mobile the communication can be established with AP amp WIFI powered on meanwhile it can indicate realtime data in Mobile GS In the situation that Mobile is using Hotpoint function it can not be connected if IP Address is not 192 168 1 X Thus pl
7. to control the aircraft via RC Tx Check if the WIFI LED can match the rules If not check the mobile AP WIFI data link 5 Was the Network ID of the router set to YS X6 X Serial number 6 Router IP is 192 168 1 1 Altitude changes too much when the movement is bigger Check the vibration damping The aircraft is not stable in the position hold X z 8 BR Sorry I do not catch this word yet Check if the LED flash one time on loop Did you capture the neutral position after 7 Much drift in the position adjusting the trims in the stabilization hold flight Can not control the Not located still not start to calculate the 8 aircraft in the stabilization formal attitude data mode Appendix Appendix1 the each port definition AP box CH1 AIL CH2 ELE CH3 THR CH4 YAW CH5 Working modes manual stabilization GPS 38 CH6 Sub working modes of GPS mode CH8 COM2 AIO LED LED lights IMU2 IMU module data interface M2 motor 2 MA motor 4 M6 motor 6 M8 motor 8 EXT2 Gimbal Pan GPS1 GPS module power interface Appendix 2 the supported Multi rotor helis For those with props on both top side and bottom side blue means the props on the top purple means those on the bottom In the other situations all the props are on the top The arrow in the figures means the head of the aircraft the aircraft type item 39 in the parameter settings ca
8. 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 magnetic field and recalibrate the compass magnetic Please KENESE 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 CETT YS X6 offers GPS Stabilization functions from quad rotor to octo rotor In Box mHardware oSoftware Need Download mMain Controller MC X1 The MC combines with other modules communicates with 2 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 X1 Inertial measurement unit mGPS COMPASS X1 The GPS Compass module is for sensing the position and direction mLED Indicator X1 The LED indicates current flight states of the craft via light E mWIFI X1 The Data radio can be added to spread range based on this 7 1 Connect it via Mobile Tablet hotspot function 2 Connect AP to Ground Station via WIFI Used to connect MC to RC Receiver Used to fix components on multi rotor frame Quick Installing Guide Step 1 C
9. YS X6 Multi Rotor Autopi lot User Manual V1 2 ZERO TECH WWW Zerouav com Warning and Declaimer 1 The manual contains information about installation debugging and how to use the product Please read it thoroughly before using the product 2 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 3 Please keep far away from the crowd children and property when using the product 4 Install propeller after completing all the debugging and checking to avoid damage s or injuries 5 When any of the fol lowing events or incidents has taken placed we wi 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 6 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 Instructions YS X6
10. ad 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 MUbe 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 CH5 CH6 Position 1 Red light blinks for 3 x times Manual Position 2 Stabilization um blinks twice Position 3 1 Auto hovering 2 Auto Navigation Waypoint 3 Auto returning home Green light tere Moug blinks twice Remark1 1 After switching to GPS Mode CH6 is available 2 Disengage any flight mode in GPS mode need to disengage the GPS mode 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 Remark2 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 2 Auto returning home for Enterprise version aircraft can land automatically when reaching returning position meanwhile 11 95 9096 THR can not work 0 10 THR mak
11. al calibration in GS after sending out please confirm whether it s successful in the status bar and then the roll and pitch will change close to O degree slowly via checking the attitude angle in Data namely changed reference coordinate system it s level when the craft head face the ground Then take the craft head as Axis and keep attitude angle within 3 degree level rotate 2 3laps You can also check the blinking lights which are connecting with AP blinking 35 Step 3 Path Flight Steps lights meet attitude requirements off lights indicate a too big attitude Get through above operation finished magnetic compass calibration the GS can switch to RC Interface automatically after waiting for tens of seconds mobile will display the magnetic sensor data of AP only look the red and blue circle in the middle of cross coordinates if they are close to standard round then indicates a successful calibration and data in good condition Step1 click tools gt path settings to generate the waypoints one click on the map can get one waypoint get all the waypoints one by one Click restore default to finish the path generating Step2 After generating the path click upload path to send the path data to the Step3 AP Check if every waypoint change to blue to confirm the uploading states and check the QTY of the waypoints in the target number item see if it is matched with the QTY of the set ones
12. bat will come back automatically and land slowly If the above conditions cannot be met the aerobat will not accept the order and only if you push the button on the remote control the aerobat can return and land When the aerobat returns to the place of coming back home it begins to land During the process of landing its position can be controlled by 26 aileron aileron of the remote control and its up and down just like automatic hover Meanwhile the aerobat will stop completely when the accelerator pole of height channels is pulled to the end If the accelerator channel is in other positions it will not influence landing Sz ic Auto takeoff The aircraft will get into slow speed state after user powering off the receiver then open RC in RC interface at last the aircraft can fly automatically by clicking this button After takeoff if get into RC interface late may lead to crash etc serious consequence FE waji Xi UAL Power on off Receiver Control the switch of Receiver when receiver is in a opening state aircraft can be controlled by RC Tx When receiver is in a closing state aircraft will be in the state of auto flying RC Tx get into GPS mode Open RC Tx Close Receiver After closing receiver aircraft will not be controlled by RC Tx 27 AR IRER Open Tracking The function is useful only when the ground station has GPS with 4 stars and the remote control is under the condition of spot hover and height se
13. cieve the mobile single then it will change to that of the RC Tx When it fly back to the WIFI range then the control right will be returned to the mobile by the autopilot itself The Remote control functions shown as below RC ON Operation method Aircraft states Red Un loacated Green located Keep still Position hold DO NOT touch any area Position hold 1 Press the circle and move up down 1 move back and front 2 Press the circle and move left right 2 move left and right 3 Press the circle move left top left 3 Move Operation bottom right tip etc lefttop leftbottom etc click the circle and move in the range of the red cross 1 top 2 bottom 3 left 1 Climb 4 Right 2 Decline Note 3 rotate to the left 1 The distance to the red dot means the 4 rotate to the right flight speed The farther the faster 2 Press moving release stop moving 3 Release position hold immediately 4 The Maximum speed is 2 5 m s Climb Decline rotat e The bottom of the red For close motors in the RTH only take care cross WIFI data Change to Position hold by itself controlled lost when right back to RC Tx flying Get WIFI signal one more time Shut down the motors at once Position hold automatically Open Remote control by itself when starting According to the current the system mobile operation state Data Click data button will change to
14. data interface seen as below ull 8 21 33 cu i SUE thE GPS E GPS velx cm GPS vely cm xekf velx xekf vely xekf veld ES LEES ECTS SE ALIA FA CE ABER mI 21 33 of GPS Located satellites Atti tude em Static angler angle target waypoint r flight mode Altitude GPS long GPS lat GPS Altitude Manual FIF Fig f Manual THR Realtime Yaw X Ra 9C f Realtime AT Realtime EL ST Pc ltirme THR GPS located satellites QTY GPS velx cm The formal speed data after Kalman filting GES veiy em The AP LED will be white is this value has a xekf velx error that is too big You need to land the aircraft at once this time The values should be lower than 20 on the ground xekf vely xekf veld 19 The formal attitude data after Kalman filting Attitude Angle Status Angle The real attitude data when the aircraft is on the ground It is effective without any vibration When it has great difference with the formal attitude data on the ground then you need to zero the gryo zl Target number The waypoint number that you want the aircraft to fly to The value can not be 0 and can not be bigger than the QTY of the total waypoints Flight mode Flight modes zero the gyro manual path flight auto navigation Auto landing with RTH setting mode m Altitude the baro altitude unit is meter 20 Heading yaw BS AG is AP voltag
15. e GPS z amp GPSHE The heading means whitch direction the head of the aircraft is pointin to North 0 deg CW is positive CCW is Negative eg East 90 deg West 90 deg South 180 deg 180 deg Note this value has no any meaning when the GPS is not located and the working mode is not auto mode AP volt with payload Longtitude and lattitude data of the GPS data GPS long and GPS lat Manual YAW Manual ELE Manual AIL Manual THR 75 5 fe heading AIL ELE THR in the manual control Eg when the THR stick is in the middle position manual THR Middle When the THR is the minimum one the manual THR 7 If the difference is bigger than 2 then you need to capture the neutral position data again 21 Seip 134 86 SERRA C Realtime YAW the real servo output of the AP When in manual mode the values are the same with the manual THR ELE AIL Heading Realtime ELE Realtime AIL Realtime THR Vibration parameter Showing the vibration state of the IMU bigger than 10 means not good eg up down 15 means the vibration in the Vertical direction is too big Map Zoom in Zoom out Map map mode Satellite satellite mode select arrcoding to the real situations Tips 1 The map will be the same when the GCS is close down 2 Will use the cache map when networl can not work 22 Et T Aircraft position Use this button to locate the aircraft in the map a
16. ease add router Example If Mobile IP is 192 168 0 1 the Hotpoint function can not work Default User Name YS X6 Serial No password 82890430 Firmware Upgrade Step1 Power off AP Connect 3 pin connector to the COM1 port of the AP 9 pin connector DB9 to PC COM port Step3 Run firmware upgrade program can be downloaded in the quad webpage from Zero UAV official website Select configure COM port In the device manager of the OS 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 Step4 Select the firmware file please choose a arm file offered by Zero UAV 15 Step5 Power the AP Upgrade can be completed automatically Please shut down AP while it indicates Upgraded please close the window in red words Flight data All the realtime fight data will be saved automatically to a local mobile file named T runtime under the hj folder while flying The tracking file for Apple Users is saved in folder private var mobile documents yswifi Sending the file to factory when flight obstacles happen meanwhile this file is also one of the necessary documents for warranty please preserve carefully GS Software Interface ull 89 17 47 1 e AEE 1 1 Software Functions No Content Functions 1 Remote Default interface mobile flight Control
17. es the motors power off immediately 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 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 Pt fe eee 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 been uploaded successfully before switching to this
18. ft is static on the ground go this operation 2 Flight state will change to be please waiting for gyro reset after confirming this operation wait the flight state back to manual patiently 3 After finishing reset if attitude angle and static angle are coincident in static condition then reset succeed Key tips forbid resetting during flight it must be kept no any vibration when operating gyro reset 5 8 Magnetic Compass Click into magnetic compass calibration mode the below grey position indicates calibration state please refer to Page XX regarding the calibration methods 25 MEETS rtu Capture center position After channel calibration releasing operation rod if manual router position is not in the center from data interface or when tuning RC Tx slightly need to capture the center position of aircraft TER wa Return home Position The aircraft will record a returning position when takeoff If get into auto returning amp landing via RC Tx the aircraft will fly to the recorded returning position automatically and then landing slowly But if need to change the returning position using this function can record the plane coordinates of aircraft at any time any position then get into auto returning amp landing and back to new returning position B 7i Ree Returning amp Landing It is useful only when the CH5 remote control is in the 3 grade or the receiver is closed After the order is sent the aero
19. fter GPS Is located gt Me LIT search gt save position data gt LZ oad position data m Click amp Go This mode work only under 751 click any point on the map and it can appear a yellow smile there The aircraft will fly to the position where has been clicked and 813 while yellow round smile change to purple star smile Stabilization Lock This mode work only under auto hover It will appear a yellow smile while clicking any point on the map then click stabilization lock button After yellow round smile changing 23 to purple star smile the head of aircraft will face the locking point meanwhile user can operate in RC interface When output left aileron in RC interface the aircraft will hover clockwise around the locked point When output right aileron it will hover anti clockwise IR m TOO Waypoint design Please refer to page XX waypoint flight regarding the operation ways Settings 0 F 19 18 NM Ert Hh Re 1 Bi ai H3 EET o sr fai Im PE x T JAHI zg BS ji 8 zs Si Bese ae fug f Buni RE Bx mE 24 Notice All the operations options in settings are vitally important please operate seriously Gyro reset 1 Checking data state when existing difference between attitude angle and static angle in the situation that aircra
20. g into setting state channel output of each motor on the aircraft is RC Tx THR direct channel no mixing control is equal to Y line of one many it s convenient for users to set for all motors at the same time IR RE Exit Settings After general THR calibration or completing parameters need to exit settings When CH6 switch into auto navigation only open waypoints the aircraft can switch into auto navigation mode n I Parameters 30 Key operations user only can change several parameters among them ull 18 01 Sx IRD ia P a 2m AX D s Bae zal RS 7 8 Battery quantity Battery quantity AP will calculate the battery power according to the battery quantity which is filled by users When the mobile vibrates once each 2s it indicates low power warn user s attention When the mobile vibrates once each 1s it indicates very low power and the aircraft must land at once ji 5 Hu Control Method Default completing box2 1 aitittude mode fit to adjust parameters dynamic flight 2 acceleration mode fit to static flight oo Oe fA 10 Magnetic declination Fill in local magnetic declination deflection to West is Positive pole to East is negative pole most regions in China are deflecting to West Example Magnetic declination is 6degree 30 West namely 6 5 degree then fill in 6 5 31 Please refer to website about magnetic declination http www ngdc noaa
21. n be filled with the number on the left bottom of the aircrafts below M2 MI M2 M4 M3 M4 M3 0 1 MI M2 MI M2 M6 M3 M6 M3 5 5 M4 M4 2 3 40 Appendix 3 LED description GPS unlocated red LED blinks for 3 times a loop GPS located 5 satellites red light blinks for 2 times a loop GPS located 6 satellites red LED flashes for one time one loop When the QTY of 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 White LED will be solid need to land the aircraft at once 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 baro altitude hold 41 ZERO TECH Zero UAV Beijing Intelligence Technology Co Ltd Add Rm 106 Building 64 Block2B Xi erqi Lingxiu New Silicon Valley Haidian District Beijing China 100085 Tel 86 10 8289 0430 Fax 86 10 82890430 808 42 Web www zerouav com 43
22. onfigure 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 ce tare enced Revere usd for other RC Transmitters when necessary Example JR WFLY need to reverse all channels and ETATEM Q Set CH5 amp CH6 E N on RC Transmitter Step 4 Power YS X6 aopo GESItnrOuaAIWIEL 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 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 after twice sound Gi push THR stick to the position meanwhile ESC will report the cell number of battery one di sound means one battery Exit from the Settings 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 pull back ELE stick to the bottom and the rear mo
23. put of the manual aileron rudder displays left40 right 40 When changing directions left output of the manual aileron rudder displays maximum left 40 right 40 When push it up and down the manual elevator displays maximum 40push maximum 40pull then calibrations are completed When all sticks are still it displays in the middle position Must confirm CH5 amp CH6 are correct before power on the multi rotor And confirm whether the flight status bar in GS data interface can switch to Manual Auto hover Auto waypoints Auto return when checking CH5 amp CH6 Must confirm THR stick is at the minimum THR position before takeoff take FUTABA unsetting any anti direction as standards need totally reverse directions when using WFLY you can find the bottom manual directions aileron elevator in the data window about the details The corresponding THR stick of manual THR 29 position the number is from the small to big amp from bottom to top need to confirm your operation and displays are coincident otherwise need to reverse the directions of RC Tx And set flight mode as manual set position channel as manual control namely position channel is put at manual control position otherwise it s extremely possible to make injure s when rotors rotate after powering on RE Enter Settings It s used to calibrating channel or completing flight parameters After clicking this button flight state will display settings after gettin
24. sure you have assembled your Multi Rotor Please make sure you have set all parameters correctly Any one of the situations as below may lead to serious accident 33 gt The motors rotate reversely gt The propellers are assembled in wrong way gt The IMU is assembled in wrong way gt The connection between instruments is wrong Must open the RC Tx first and then the receiver Power on AP first then motive power Please use auto hover mode to do the fly test and attitude sensitivity adjustment in empty amp weak wind space Please check whether the hj file can be saved to the mobile successfully Only if power on the AP It can be formed after connecting the data Fly Test Step1 Make sure the adequate power to the RC Tx AP and all components Step2 Check all the connections to make sure everything is in good condition Step3 Open RC Tx then start the Multi Rotor aircraft Step4 Switch control mode of RC Tx and change over the switch to make sure it works successfully Step5 Get into Auto hover mode Check the moving trend of AP whether is correct via pushing joystick along 1 5 f directions of AP If it s not correct please get back to parameter settings to revise your settings Step6 Push THR stick slowly to make all motors work then make your Multi rotor aircraft take off slowly Fly Magnetic Compass Calibration The magnet on aircraft or neighboring magnetic filed can affect the
25. t or the receiver is closed When the following me is open the aerobat will follow th e GPS of mobile phone to fly automatically and complete follow me automati c flight Change target In waypoints flying mode it requests aircraft to change current waypoints and fly as current uploaded waypoints Note fill in a number which can not exceed uploaded waypoints number Change Height In waypoints flying mode set flight height input needed height to this box example filling in 10 means setting height as 10 meters Channel Calibration 28 Please confirm that channel doesn t connect any electric power when calibrating Example THR from the minimum maximum minimum GS data displays manual THR is 7 at minimum position 90 at maximum position the calibration is completed Special Attention When power on first time please don t configure propeller and only power on the AP and need to do calibration for the channels Select calibration channel in settings interface push all sticks on RC Tx to the maximum and minimum after 5s the leftmost and rightmost AP auto collection will finish after 5s User can observe whether the manual control and real RC Tx control are coincident in the data interface while moving any stick position Example When moving THR stick to the minimum the manual THR rudder will display 7 in data interface to the maximum it displays 90 When moving aileron maximum left out
26. to head of aircraft while installing Please set F S function of RC transmitter before the flight Do not fly in GPS mode 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 10 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 please about your flight time try best avoid using low voltage protection Please don t launch your craft if the GCS displays very high vibrate state 12 13 14 15 16 17 Must check whether the aNd Manene correct after compass magnetic calibration Must check whether Attitude angle and Static angle are maintaining ERR 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 PreventAnti plug Design The mechanisms to protect fron short circuitry is
27. tor 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 The IMU is best positioned near the Multi Rotor s centerof gravity where vibrationis relatively low BllOrient the IMU such that the arrowmarked on the printed surface of the IMU faces the sky the arrowhead is to the head of craft sides of the IMU should be precisely parallel to the multi rotor body Use double sided foam tape for secured installation EMU Module is precise please carefully preserved DO not extend the data cable at will Autopilot Box E No direction request on AP mounting but right position to avoid using ESC extending cables E Make sure all interfaces are expose to help connecting easily and upgrading firmware E Once the position of AP is confirmed Recommend to firm AP after completing wiring and software settings RC Receiver E This is only connection example RC Receiver please set aileron elevator throttle Futaba direction actuator control channel on your RC Tx ready first Bi Selecttwo 3 way switches as the Futaba S Bus switch of controlling modes and then connect the receivers to the right channels of AP 4 multiplexing GPS Compass MIGPS Compass is sensitive to magnetic interference should be far away from any electronic devices Please use our GPS bracket to mount GPS mod
28. ule E GPS is sensitive to vibration interference please firm the GPS bracket The YS X6 logo marked on GPS should face the sky the arrowhead is to the head of craft Please DO NOT extend data cable at all E The AP can work only with GPS Compass connected u cumszpornr2 r Power Calculation WIFI Please keep far away from GPS COMPASS while mounting LED E Mount LED at the right position and far away from GPS Make sure the light can be in sight during flight 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 x onnectionTiabels are facing you XThe numbers of the connectors match those marked in the diagram E a a Ja 1 GPS module Black 16 CH1 2 GPS module 889 Red 17 CH2 3 Camera 18 CH3 4 Gimbal Pitch 19 CH4 5 Gimbal BAN Roll 20 CH5 6 Motor8 21 CH6 7 Motor7 22 CH7 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 Motori 28 Current sensor 14 IMU module plug Black 29 LED indicator 15 IMU module plug Red 30 Battery Power RC Transmitter Settings Please re
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