YS-X6 User Manual V2..
Contents
1. ZERO TECH YS X6 Multi Rotor Autopilot User Manual V 2 0 Revised on May 20th 2013 www zerouav net Copyright C 2012ZeroUAV 1 All Rights Reserved YS X6 Profile YS X6 autopilot is a tremendous flight system for multi rotors Supporting Android Apple IOS and PC system and providing excellent auto navigation target lock self leveling and position altitude holding It is designed for both professional and hobby applications in commercial and industrial platform can be installed easily in various common aircraft types from Quad rotor to Octo rotor Including common Customize Motor Mixer and supports most common third party commercial ESCs YS X6 adopts ARM FPGA classic structure integrates high precision sensor elements applys advanced temperature compensation arithmetic and industrial attitude arithmetic 400MHz refresh frequency as well to make the system more stable efficient and realiable 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 it 3 Please keep far away from the crowd children and property when using the product 4 When any of the following events or incidents has taken placed we will not offer any warranty and service 1 The product has2. Copyright C 2012ZeroUAV 68 All Rights Reserved Function Limit cancel Used for read the data saved in FC within the last minute of flying Please refer to Chapter 9 10 for details To get the pitch calibration data steadicam Alenment To enable calibrating ZERO Steadi470 Copyright C 2012ZeroUAV 69 All Rights Reserved Appendix 4 Related thread and video links YS X6 amp YS X4 Thread You can find all of the videos and related files and information in the first page of this thread created by Zero UAV YS X6 http www rcgroups com forums showthread php t 1697842 YS X4 http www rcgroups com forums showthread php t 1774340 Video links YS X4 Promo http www youtube com watch v 6sR8nU2ZIAKE amp hd 1 YS X4 Installation amp Commission https www youtube com watch v smij 7GuW_XE YS X6 Promo http www youtube com watch v 7P VEOF33Zw amp feature relmfu YS X6 Installation amp Commission http youtu be MqqpbhFZb7E YS X6 Installation Introduction Step by Step Step1 http youtu be j_Owj5STbUU Step 2 http youtu be 11M94Z12CQ8 Step 3 http youtu be bkko431iziE Step 4 http youtu be RTRYO1IOOI Demonstrations http www youtube com watch v bt35JsLYiuo http www youtube com watch v aHH8KfMGozw http youtu be SnEETKQheJE url Wifi Configuration Video https www youtube com watch v Mr wstSz3as Copyright C 2012ZeroUAV 70 All Rights Reserved Zero Steadi470 Promo http y
3. at will aa i K 34 4 4 2 8 JE E B Firmware update Autopilot Box E 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 Power Calculation WIFI Please keep far away from GPS COMPASS while mounting mi Once the position of AP is confirmed Recommend to firm AP after completing wiring and software settings RC Receiver This is only connection example RC Receiver Futaba LED please set aileron elevator throttle m Mount LED at the right position direction actuator control channel and far away from GPS on your RC Tx ready first multiplexing m Make sure the light can be in E Selecttwo 3 way switches as the Futaba S Bus sight during flight switch of controlling modes and then connect the receivers to the right channels of AP Please carefully preserve All Rights Reserved e The power supply range of MC Autopilot and WIFI both are 3s 6s lipo Power remains a little i e 10 8V 25 5V MC provides 5 7V power to RC receiver automatically no need to add any out built power module With proper assembly and powered on the autopilot will complete initialization in few seconds and LED light starts to blink in red for three times in cycle which indicating the assembly is proper and FC has been motivated successfully Refer
4. 180 degree or 180 degree Notice It works only when in GPS mode and flying in Auto Modes it will not work when in Manual mode or Attitude mode GPS velocity It displays a value below 10 when the aircraft is static Copyright C 2012ZeroUAV 60 All Rights Reserved Flight Data xekf velx The velocity after Kalman filting It displays a value between 0 20 and increase xekf vely xekf veld constantly When the velocity exceeds normal range LED will be in solid white suggest you land the aircraft urgently Autopilot Voltage Battery consumption The current of battery Distance from takeoff position to current position Flying time You can fill the waypoints number which you want the aircraft fly to It displays the craft states Manual Manual Altitude Hold Auto Hover Auto Navigation Auto Go Home and Land setup status Display realtime attitude angle during flight Vibrations from IMU 1 10 means your craft is in good condition Above 10 it means vibration exceeds limits Up amp down is the vertical and front back left right is the horizon vibrate of IMU Motor balance motor balance capability display Copyright C 2012ZeroUAV 61 All Rights Reserved Map Interface ss d 5 P d 11 56 si B 2a 11 57 13 P Ge 11 57 FisToPP PTZ Lock Tom Select Map Tools Default Tool Locate Map Add Waypoints Locate Flare Remove Waypoints L hiy Lararian verity Waypo
5. connect to Receiver CH2 S BUS connect AP CH7 to the Receiver S BUS port with only one wire PPM connect AP CH8 to Receiver PPM with only one wire Volt Alert Threshold 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 toC Iype NORMAL ESC 400HZ BESC Type Fill in the ESC type which is been using A Fault filling of ordinary ESC and narrow band e g XA will result that the Copyright C 2012ZeroUAV 42 All Rights Reserved propellers go out of control after power connected dangerous Steering gear Frequency 250HZ Input the correct value according to your servo type 50HZ for Analog Servo Steering gear Frequency 250HZ for digital servo Copyright C 2012ZeroUAV 43 All Rights Reserved 11 Gimbal amp Camera Control EXT1 on MC is for gimbal roll control EXT2 for pitch control There are different ways using different types of gimbal 1 Common servo driving gimbal Power on the servo before using the gimbal For those servos with bec function leave any one of which powered on and others powered off For the servos without bec function connect servo battery to any one port of the M1 M8 Connect EXT1 to gimbal roll servo and EXT2 to gimbal pitch servo Roll Sensitivity amp Pitch Sensitivity in the Parameter Section GCS is for adjusting the correction angle of gimbal The Gimba
6. to Appendix 1 for details of LED description eIf blue or green Led blinks after red LED blinks for 3 times it indicates FC is not in manual mode because the Tx is not configured or CH5 is not set to positionl Then adjusting CH5 to positionl can make the light blinks in red for three times e The above the light blinks in red for three times is a sign to check whether all hardware are working normally or not all data communication is based on this After powering if no the light blinks in red for three times please contact Zero UAV or local distributors Please check out the assembly carefully referring to the figure above before powering on FC any wrong connection of IMU or GPS may result in burning out the devices e ESC and motors will produce serious magnetic interference during moving so make sure GPS amp magnetic sensor module are installed by nonferrous to keep them far away from motor and ESC especially there are multiple ESCs and the arrow is towards aircraft nose Otherwise the aircraft will fly circling around and incorrectly hover As there are rich eletric current in the batterywire which can produce magnetic field be sure place the batterywire far away from GPS and magnetic sensor module otherwise the craft will fly in circle in GPS mode e When using gimbal user need to power on the servo Just leave one ESC powered on if ESCs come with bec function and others powered off Connect servo po
7. Then observe the diagram of Manual Servo Position on GCS user interface to check whether it is the same as the real Tx operation if same the Tx operation is correct if not same please set Tx channel to be inverted On the left side of the diagram means sticks of Rudder amp Elevator on the right are Aileron amp Throttle A yellow mark may display there at the base if the throttle stick placed in the min position Copyright C 2012ZeroUAV 13 All Rights Reserved AP Voltage Motor balance Real Throttle Aileron Elevator Throttle p B T Control Data Map Set 2 CH5 amp CH6 check Fail Safe Setup Set CH5 amp Ch6 to Position1l ensuring flight status is manual in Data section Setup the F S of Tx referring to the instructions from manufacturer making sure flight status is Returning amp Landing in Data section 3 ESC stroke calibration skip this section for some special ESCs with no need to calibrate Now take HobbyWing ESC for an example A only power on flight controller push throttle stick in the min Position CH5 to position1 click Enter setup in Setting section GCS keep motor armed over 0 1 sec when screen up Then push full throttle connect power battery remove the propellers B Push the throttle stick in the Min position if hearing the alert B B from ESC it indicates the ESC stroke is completed when hearing B B B B related to battery cell number C Click Quit Se
8. 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 Copyright C 2012ZeroUAV 2 All Rights Reserved Safety Precautions For safety reason please pay serious attention to following items L 2 10 11 12 13 Please remove all propellers during configuration and setup The side marked IMU of the IMU faces up The arrow points to the aircraft head Make sure switch on the RC transmitter first then power on multi rotor before takeoff Power off multi rotor first then switch off RC transmitter after landing Pay special attention to it when using the S BUS or self adaptive feature of the autopilot Throttle calibration manual rudder position realtime rudder position channels setup must be accurate GPS COMPASS is sensitive to magnetic interference should be far away from any electronic devices The arrowhead points to the aircraft head Please enable F S function of RC transmitter before takeoff Do not fly in GPS mode when the signal is not good red light blinks or the GPS Velx cm amp GPS Vely cm in GCS is more than 15cm s The Gimbal Servo can be supplied power from any ESC but if ESC has
9. before enabling attitude control mode otherwise the aircraft will fly to the direction which the phone tilt to 8 a R x Map SettingsParamet Data Control Disable Disable Al Al Disable Engine How to control multi rotor in phone attitude control mode Copyright C 2012ZeroUAV 27 All Rights Reserved When RC Activation User Interface Operations Aircraft Status Circle status Red GPS un lock Green GPS locked r Tilt the phone as below direction 1 Moving forward backward 1 up down 2 Moving left right Moving Operation 2 left right 3 Moving left right top 3 left right top left right bottom etc left right bottom etc 1 Press any available area on the screen and hold the point upward 2 Press any available area on the screen and hold the point downward 3 Press any available area on the Climb Decline Climb screen and hold the point left Turning Decline 4 Press any available area on the Rotate to left screen and hold the point right Rotate to right Notice 1 Point Holding amp Moving distance Copter flying speed the longer the distance the bigger the flying speed 2 Holding time flying time Notice Control mode may be switched automatically to Remote Control mode if quitting attitude mode Copyright C 2012ZeroUAV 28 All Rights Reserved 9 Flight 9 1 Motor Arming Throttle Unlock push throttle stick in the bottom position arm the motors keeping each stick still over 0 1 s
10. positive East is negative Ha 013 GS 2011 6020 AutoNavi GIS Innovatsia DATA Google FEE Make sure not only the arrow marked on the printed surface of the IMU amp GPS faces the sky and points directly forward also the GPS module is firmly fixed to the plate Push throttle up to check out ensuring mix control and motor spin are correct Then start to fly manually You can switch to GPS mode If the copter managed to fly in manual Do not enable GPS mode before the magnetic compass calibration outdoors Copyright C 2012ZeroUAV 15 All Rights Reserved 4 Magnetic Course Calibration There is no need to calibrate the magnetic course in manual mode and the Course Angle in data page of GCS will keep displaying as O But in GPS mode the magnetic course calibration must be finished before take off Ferromagnetic substances placed on multi rotor or around its working environment will affect the reading of earth magnetic for digital compass it also reduces the accuracy of the multi rotor control or even reads incorrect heading Calibration will eliminate such influences and ensure MC system performs well in a non ideal magnetic environment The magnetic data will display once after calibration and be saved to the autopilot STEP1 Calibration in horizontal 1 Click the button below in Setting section of GCS to get Compass Calibration screen up Magnetic Compass 2 Select Horizon calibration gt Ok
11. preference Then the Tx stick display on GCS will chang following Tx mode changing If user have done the trim press Set gt Capture Tx Center Point to let autopilot record the correct stick center position if manual servo position is not in the middle position when releasing the stick Copyright C 2012ZeroUAV 31 All Rights Reserved Aileron Elevator Throttle G F g amp Control Motor balance If clockwise and anti clockwise propeller lose balance as well as revert torque it may display clockwise anti clock propellers are not level in the status bar when the copter hover from the ground and maintain the course Then keep the corresponding motor flat or change propellers to be better It is suggested to carefully check whether motor and propeller are balanced and symmetrical in level until the motor balance display as good when copter hover in level Throttle stick position It means the average throttle stick position when hover generally it s normal 40 65 display as green it indicates the copter is lighter and the ESC works in light load status if the value below 40 display as yellow it indicates the copter is heavy and ESC is working in heavy load status caused low battery voltage make sure to adjust the load otherwise it will lead motor speed regulation is not enough resulting in weaker steering and flying failure 9 4 Auto takeoff and Auto landing A Semi auto amp manual altitude hold mod
12. Only if it is in manual mode and the throttle stick is at the min position the motors will be locked up completely 5 seconds later any time after landing or before take off if locked up motors won t rotate even pushing the throttle stick Pressing Enable insurance on phone GCS or Motor Arming please refer to Chapter9 for setup details is the only way to unlock the motors Motor cut Pushing throttle stick to the min position can make motors stop moving only when CH5 is placed in position1 i e in manual and altitude uncertain mode Other times copter just degrades height still with motors moving A During flying if there is no unexpected accidents please Do Not synchronously switch to manual mode and push the throttle stick to the min position otherwise motors cut will immediately occure craft will free fall to the ground and never be rebooted Tips Whenever need to stop the motors urgently only the ways below work 1 Switch CH5 to position 1 i e in Manual amp Altitude uncertain mode and push the throttle stick to the bottom 2 With multi rotor landing on the ground in altitude hold GPS mode and throttle stick placed in the min position all the time or landing in auto go home mode motors may stop rotating slowly until shut down and lock up WIFI Signal Lost Please control multi rotor by Tx if WIFI signal lose more than 1 second But Wifi Copyright C 2012ZeroUAV 24 All Rights Reserved signal loss
13. S location Copyright C 2012ZeroUAV 66 All Rights Reserved Notice Generally phone position has error within 5 10 meters In Auto Navigation mode fill in the new waypoint number which you will fly to Ea ee To set target altitude Preset PTZ lock To enable the intelligent course lock It can be used in GPS auto hover mode To quit intelligent course lock In auto navigation mode the target point may be changed where multi rotor will flying to In auto hover mode fill in the target altitude E g fill in 10 the target height is 10m Unlock Motors Copyright C 2012ZeroUAV 67 All Rights Reserved To unlock throttle Same as motor arming Interest pot lock Refer to Chapter 9 6 for details Magnetic Compass Click it enter into Magnetic Compass Calibration mode the status bar over it display the calibration status Balzak Click on installation Guide User can install the software following the guide step by step Mixing Define User define the motor output Capture Transmitter Centre point With no wind and in manual mode To get neutral position after flying and trim Note make sure place Tx stick in the middle position it has nothing to do with throttle position To check out what functions are enabled already Click on Function Limit the dialog box will show as below click Get Users can observe the functions which have been opened or not in yourself FC
14. XP 7 SP3 system eFirmware Program on PC eFirmware updating assistant Copyright C 2012ZeroUAV 6 All Rights Reserved Table of contents 1 TT 1119 cia a AE ERE A R ee ae 8 2 WIFI Configurationh 0cc202021499200459024449 sissen sesoses aseeseen Eesaia asa 10 3 Installation Guide GCS sessecsecceccecceccecceccecceccecoecoeccecoecoecoeccecoecoecoecoecoecoecoecsee 13 4 Magnetic Course Calibration ccc0c0000000000000000000000000000000000000000000000000000000 16 5 Control ModeSs 4ancnumnomu505506925 EEOSE aas EENES de 19 6 AIrcraft TVG ivisetssisccssicatecntostecscicsteicantosttcastcussicantosccastsssdisascstucsavcsavcsevasucsanssacoeesaucsansatcsuse 21 7 motor start motor cut and Failsafe cecccoccco000000000000000000000000000000 24 8 Phone COMER ais secs Sascesscccuccec ann Sacsinea aceiaueceackaccesesetsteansneceesecaustesstueceesesustenneneies 26 2 H 2 4141 2202220202402992 RE EEE EE ECO E arenas GA CLE t 29 9 1 M tor ArmING cats 9044066 eiaeaen aaeei eaaa REE 29 9 2 Oscillate and W obble secsesseccescescecceccecceccecoeccecoecoecoeccecoecceccecoecoecoecoecsecoecse 29 9 3 manual servo position coccocco00000000000000000000000000000000000000000000000000000000 30 9 4 Auto takeoff and Auto landing cccccoccoseo0e0000000000000000000000000000 30 9 5 CCK amp Fly tO DOINT scs scd ases CCA Cnc anat
15. aat deter 32 9 6 Target LOCK isinisi earan aaa aasan e aaaea aeara 32 9 7 Waypoints FYING ccccccccssscsssscssccsssccssccsscccssccsscccssccsscscssccsscscssccsscscssssossscess 33 9 8 FOMNOW Me NP2022020 2002 20220 2 ee kanui A AT 36 9 9 C re fre anaue raaa keee eaa aaa oaae Aaea E EROE Ee EEEE 36 9 10 Data record BlackboX sessescescesscccccccccccceccecoecoecoecoecoecoccoecceccecoecoeceecee 37 10 Parameter Setub ccoccco00000000000000000000000000000000000000000000000000000000000000000000000000000 37 11 Gimbal amp Camera Control ccccccc00000000000000000000000000000000000000000000000000000 40 CL Common servo driving gimbal c ccccccccc00e000000000000000000000000000000000 41 2 Zero SteadI470 422005u09084609209u00605809904404902uu099909649969009u26094uu6u 41 3 Brushless Motor driving gimbal ccccoccc0c00000000000000000000000000000 42 4 Camera and Shutter control cccccc0000000000000000000000000000000000 42 12 Power Management module cccccco0c0000000000000000000000000000000000000000000 43 13 DATA LINK sacssectecdss cacnes crests cccscisscczectzsssasdesscczectsscassdasssvavaessivesseusssveasssivastedisusieisivssistente 43 14 DOV SU GU E E ES A EE EE A T IOE OEA EE 45 15 Multi rotor Wobble FiX ssessessessesseccecceccecceccecoecoecoecoecoecoccoecoccoecoecoccoc
16. aft will fly to waypoint 2 3 4 and fly back to waypoint 1 and hover there after finishing all waypoints Notice If waypoints incorrectly uploaded when switched to auto navigation mode the aircraft will fly far away automatically and out of control Free control of craft heading In normal condition when it s waypoints fly craft nose will face fly orientation in real time When user need to freely control the course of craft in waypoints fly mode can click on Intelligent course locked in Setting page of GCS At that time the Intelligent course locked doesn t present care free function it presents free course mode That is craft will fly according to waypoints fly however the craft nose will not face the fly orientation in real time but the course of craft can be freely controlled by rudder on RC transmitter Click on Disable intelligent course locked and confirm then the craft nose will face fly orientation again skyway Auto generation Click Map Tool Shyway design to draw four waypoints if skyway is necessary Choose the distance between point1 and point2 as the length distance between point2 and point3 as width shown as figure below Then select skyway Auto generation in Tool section the status bar will display as below Flying height and speed may determined by user s need Skyway s extend distance is for multi rotor turning when it reaches to the end of skyway Scanning skyway may be generated by clicking OK a
17. and it can appear a yellow smile there Step2 Click o Fly ToPP button in Map page the button will get gray if there is no click beyond a few seconds then need to click on the map again and the yellow smile will appear the yellow round smile will change to purple star smile The operation of flying to the next position is same as above Remark Within 10 meters craft moves in level and beyond 10 meters the head of craft faces the target point 9 6 Target Lock MODE in auto hover mode Solution1 Step1 It will appear a yellow smile while clicking any point on the map Copyright C 2012ZeroUAV 34 All Rights Reserved Step2 Click PTZLock button in map page After yellow round smile changing to purple star smile the aircraft head will keep facing the locked point Solution2 Step1 in any time including before takeoff or manual auto mode after takeoff fly take the craft to the target point to be the locked then within 3 seconds switch between positionl and position3 on CH6 for three times that is 1 gt 3 gt 1 gt 3 gt 1 gt 3 gt 1 FC will record the longitude amp latitude of GPS where the craft locates as the target point to be locked Step2 in GPS auto hover mode within 3 seconds switch between positionl and position2 on CH6 for three times do not switch to position3 which is invalid that is 1 gt 2 gt 1 gt 2 gt 1 gt 2 gt 1 then FC will enter target lock mode Tips After locking the
18. around X Y Z three axises 9 3 manual servo position The display in Data section of GCS include the data below manual servo position When Tx channels calibrated a Tx stick diagram will display as Manual Servo Position on GCS Data part if the Tx sticks are placed in the middle position the left of diagram means Elevator and Rudder and right means Aileron Throttle Stick in neutral position displays green in other position display red Throttle stick in the bottom displays yellow hovering display green other status display red Make sure to reverse the channels on transmitter if your actual Tx operation differ from the screen display Users can freely adjust Tx mode among Mode 1 Mode 2 Mode 3 Mode 4 as long as ensuring the Tx operation is the same as GCS display Enable Control Enable Blue Teeth Enable Attitude Control Set Copyright C 2012ZeroUAV 30 All Rights Reserved gt Sal ji Z 15 00 IP 192 168 1 254 broadcast Hand Mlode Japan Hand Cancel Mode 1 Elevator w Throttle Rudder Aileron Japan Hand Mode 2 Throttle Elevator American Hand kuader Aileron China Hand i pene 2 Elevator Throttle Aileron 4 Rudder Europe Hand Mode 4 Throttle Elevator Aileron Rudder Press Phone or Tablet Menu gt Set the Tx mode can be available to setup and you can select the Tx mode according to your operation
19. calibrate Attitude error gt 3 light will be off it means the craft is not placed in horizontal and need to be adjusted to be level Copyright C 2012ZeroUAV 55 All Rights Reserved After Magnetic data calibration the Purple light keeps going on during data reading LED will get normal when data reading is finished Abnormal Electronic Device Barometer IMU and GPS abnormal white light keeps going on Copyright C 2012ZeroUAV 56 All Rights Reserved N E CH2 Elevator For pitch control front back R CH4 Rudder For rudder control CH6 Auto Hover Auto Navigation Go home amp Landing mode Switch CH8 No use currently Or for PPM COM2 Extended port AIO LED Connect LED Indicator IMU2 To data M2 Rotor 2 M4 Rotor4 M6 Rotor6 M8 Rotor 8 Copyright C 2012ZeroUAV of All Rights Reserved EXT2 Gimbal pitch servo GPS1 To GPS power Copyright C 2012ZeroUAV 58 All Rights Reserved Appendix 3 GCS Interface Introduction User interface Settings Paramet Enable Control Enable BlueTeeth EEEN 12 Netlinfo 10 Buttons and Functions 1 Default interface Cross interface to control the aircraft Real time fight dat Real time map or cached map Setup various states of multi rotor 5 Parameters gt gt gt gt Adjust multi rotor parameters General control the flight A track to control the craft to Climb up Go down Rotate A button to control the flight by phone e Enable Disable Cont
20. cks on transmitter the autopilot will fly to the orientation as the course was locked not the current orientation of craft nose Option 2 Within 5 seconds please switch between position1 and position2 on CH6 for five times do not switch to position3 which is invalid that is Copyright C 2012ZeroUAV 38 All Rights Reserved 1 gt 2 gt 1 gt 2 gt 1 gt 2 gt 1 gt 2 gt 1 gt 2 gt 1 then FC will enter intelligent course locked mode To exit carefree click on disable course locked button in setting page or switch to manual mode User can switch to manual mode and immediately back to GPS mode to continue the operation 9 10 Data record Blackbox YS series flight controller have data record function black box for analysis in unexpected accident The data may be recorded provided flying started without any external device but only one minute data may be recorded before crash Therefor please do not takeoff or push throttle after motor arming if you want to get the last one minute data How to get the record data Repower flight controller be sure WIFI and phone are communicated Then click button one min data in Setting section then the data sent from FC to phone shall to be the data in last one minute and it will keep displaying for one minute Later on 1 minute data finished may display on GCS and suggest users outputting the T 1imin hj file under index YShj and sending it back to manufacture for analysi
21. cle right side Decline Note Decline Turning 1 The distance between circle and click point means the flight speed variation The further the distance the faster the flying speed Rotate to right 2 Control circle Pressing Time Aircraft moving time Climb Rotate to left Copyright C 2012ZeroUAV 26 All Rights Reserved Flying altitude may be changed in Altitude Change of Setting section GCS When in GPS hover mode and throttle stick placed in the middle position fill in the target altitude in the status bar then OK aircraft shall fly to the target altitude When using the firmware marked later than April 15th 2013 if GPS has no lock such as inside doors In manual mode you can use phone Tablet and phone Tablet s attitude control to handle the copter by switching transmitter to CH5 position3 when the copter get off the ground then the phone control or phone attitude control is corresponding with the sticks operation It is still controlled by transmitter instead of phone tablet when switching CH5 back to position 1 or position 2 2 Phone attitude control mode Phone attitude control means phone tilt direction determines the craft s direction Attitude control by phone also may be activated in remote control mode press enable attitude in Remote Control section a blue cross will display on user interface which indicates phone attitude control mode has been enabled Notice Remain the phone level
22. coeceececcoeceecee 47 LG Firmware UW DOPAC Ci sisisisisdessccsiccticcssicetscsisctiachalotesstesteceascastenseccsevassassavsnceavsverssauvenearsans 49 Appendix 1 LED Description occocc00000000000000000000000000000000000000000000000000000000000 52 Appendix2 Port Description 0ccocco0000000000000000000000000000000000000000000000000000000000 54 Appendix 3 GCS Interface Introduction cccocc000000000000000000000000 56 Copyright C 2012ZeroUAV 7 All Rights Reserved 1 Assembly Copyright C 2012ZeroUAV IMU GPS Compass m The IMU is best positioned near the Multi Rotor s E GPS Compass is sensitive to magnetic interference should be centerof gravity where vibrationis relatively low far away from any electronic devices Please use our GPS Orient the IMU such that the arrowmarked bracket to mount GPS module WE 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 on the printed surface of the IMU faces the sky the arrowhead is to the head of craft The sides of the IMU should be precisely parallel to the multi rotor body Use double data cable at all sided foam tape for secured installation Mm The AP can work only with GPS Compass connected EEMU Module is precise please carefully preserved DO not extend the data cable
23. djust the first and last waypoint by self the general skyway length will display on Map interface then save the skyway for next time use Copyright C 2012ZeroUAV 37 All Rights Reserved 26 oe 2234 eo wl 22 35 Q GA G F ull 22 39 J87hls F 2567815 ASTR Locate FlyToPP Fizcock Tool Locate FlyToPP Pleco ck Tool Locate FlyTOPP gt gt Fiziock Toot m i _ 3 1 i a a A mi lira Se ee 4 v p Delay m Te pita eli Interval m Altitude m Speed ri Z u P 1 J Dran alls ae oe 000 BAe J O A m A 6 Google m Control Data Map Se arai Control Data Map Set Param Control Data Map Se Param 9 8 Follow Me This function must be used in the condition that GPS on phone is enabled and meanwhile GPS of this phone has located showing on data page of GCS In GPS hover mode after all the sticks on transmitter are set in the neutral position user can click on enable follow in setting page the craft can fly following the mobile phone GPS and lock the craft nose orientation If to quit this function just click on Disable follow on setting page 9 9 Care free In GPS hover mode Carefree can be used Option 1 Click on enable course locked button in setting page autopilot can record the current orientation of craft nose Then users can adjust the orientation of craft nose with rudder when users operate the left right aileron and push pull sti
24. do not affect navigation flying which will continue until completion and back to the first waypoint hovering Radio Signal Lost Be sure properly setup F S referring to Transmitter instructions from manufacturer set both CH5 and CH6 to position3 throttle stick to the middle position installation guide has tips If enable F S for any reason in receiver on status the autopilot will be switched to Auto hover mode continue to fly for 5 seconds in auto navigation mode enable RTH Auto return to home if there is no signal still after 5 seconds Copyright C 2012ZeroUAV 25 All Rights Reserved 8 Phone Control 1 Phone Remote Control Mode During flight when transmitter is switched to Auto hover of GPS mode the aircraft shall enter auto hover mode Meanwhile phone control may be enabled by pressing the menu of phone Enable Disable remote control RC button a x Gal Y EZ g amp ntrol Data Map Settings Paramet How to control multi rotor by phone Notice Mobile control User Interface Operations Aircraft Status enable Circle status Red GPS un lock Green GPS locked rers Pressing and dragging the circle moving 1 up down forward backward 2 left right moving left right 3 left right top left right bottom etc 3 Moving left right top Moving Operation left right bottom etc Click below area inside the cross 1 over circle 2 under circle Climb 3 circle left side 4 cir
25. e power is getting very low and request the craft to land at once Ctri Type Complete default number 2 Copyright C 2012ZeroUAV 40 All Rights Reserved 1 Attitude mode fit to adjust parameters dynamic flight 2 Acceleration mode fit to static flight autostability common mode Altitude Limit Distance Limit Two cool features are newly added on GCS Height Limit and Distance Limit With the two functions enabled in GCS Parameter Page no matter in manual or auto mode the multi rotor will come back to the pre set limited range or distance automatically provided it flies out of the limited height or distance range And the parameters are only can be multiple of 10 e g If you fill number 15 the autopilot will auto make it 20 multiple of 10 Parameters may range from 10 to 2550 Filling number O means not enable range limit or height limit function Magenetic Declin Magnetic Declination Fill in local magnetic declination deflection to West is Positive to East is negative most regions in China are deflecting to West Aircraft tvoe B ircraft typ i Aircraft Type Fill in mix control type please refer to Chapter 6 PTZ Roll Sensitivity PTZ Pitch Sensi PTZ Pitch Sensitivity EXT1 is the PTZ roll output and EXT2 is the PTZ pitch output Roll Pitch sensitivity is used to adjust the compensation angle of PTZ If user feel the compensation angle is small can fill in bigger number on the c
26. e takeoff When get 5 or more GPS satellites locks switch CH5 to position 3 and CH6 to position 1 that is the flight status is auto hovering then push the throttle stick after moving rod in V shaped when throttle stick is more than half aircraft will take off automatically and auto hover about 3 meters from the ground and getting into auto hovering status Copyright C 2012ZeroUAV 32 All Rights Reserved Flight status display as manual altitude hold when CH5 is switched to position2 Push throttle stick after motor arming multi rotor will auto takeoff if the stick is more than 50 and Icok the height around 2 3m but users need to control the copter s attiude and location by manual i e FC only get the throttle channel command B Full auto takeoff Notice Aircraft can take off fully automatic only if the aircraft has completed semi automatic takeoff and the flying is successful Step 1 Wait until get 5 or more GPS satellites locked put the THR stick in the minimum position switch CH5 to GPS mode position 3 CH6 to position 1 Step 2 Click on enable insurance or move rods as V shaped to make the throttle unlocked then continue the next step within 5 seconds Step 3 Click on auto takeoff the aircraft will be powered on and take off Slowly hovering in the height of 2 3 meters from ground Step 4 If the THR sticks is in the minimum position in auto takeoff mode if you want to control the flying altitude mu
27. econd then motor may be started by pushing throttle stick within 5 seconds motor will be locked again if over 5 seconds Motor Arming operation push Rudder stick to the left most position elevator to the bottom position aileron to right most position throttle to bottom position keeping each stick still over 0 1 second For right left hand throttle user need to judge by self motor arming is V shaped or reversed V Motor may not auto start after motor arming push throttle stick a little to start the motor With motor started the copter does not fly by pushing throttle stick a little and certain motor may move slowly and even stop it is normal phenomenon caused by multi rotor integral for adjusting attitude Throttle up then can keep flying started immediately 9 2 Oscillate and Wobble During flight observe the Vibrate State amp Shake State in Data section to judge the oscillate status of IMU In stable flight it is normal when the Vibrate State amp Shake State range from O 9 display in green the value over 10 display in red The smaller the number the smaller the oscillate The number will directly affect flying performance Tips Copyright C 2012ZeroUAV 29 All Rights Reserved Vibrating coefficient the maximum acceleration of alternate motion oscillate in up down left right back forth three directions Shaking coefficients the maximum angular velocity of rotary movement wobble
28. ent of each motor s roll pitch and turning so that the parameters are available to the multi rotors in non conventional rotor arrangement e Customized Throttle all of tham must be 100 e Customized Yaw to keep the aircraft right rotated rotation change speed of corresponding motor should be decreased to 100 and increase to 100 e Customized Pitch to keep the aircraft nose downward rotation change speed of corresponding motor should be decreased to 100 and increase to 100 e Customized Roll to keep the aircraft roll to right rotation change speed of corresponding motor should be decreased to 100 and increase to 100 Now let s take Quad X as an example the gains may be setup as below 8 17 25 THR COURSE PITCH ROLL 6 o 9 9 _ gt So C gt C A O 100 Toa l Copyright C 2012ZeroUAV 22 All Rights Reserved In GCS please click Setting Parameters Define to fill in the gains Confirm the parameters are proper then select customized as Aircraft Type Make sure the parameters are verified successfully by clicking button Parameters Define Get Repower YS X6 throttle up a little making the motor move in slow speed meanwhile check whether the mix control is the same with settings carefully flying may be started after confirming Copyright C 2012ZeroUAV 23 All Rights Reserved 7 motor start motor cut and Failsafe Enable Motor Protection
29. fect the accuracy of Multi rotor attitude The weight and pitch of propeller need to be adjusted properly so that motors may remain in enough speed to generate enough sterring meanwhile choosing lighest properller is recommended to reduce inertia and improve sterring It is inevitable the flight stability may reduce for the craft asking for high efficient configuration either flight efficiency or stability Step 3 The symmetry of Multi rotor has significant effect on flying stability In Chapter 9 3 Motor Balance user can estimate the symmetry of motor and propeller in level flight If fail to adjust the symmetry must spend more energy on frame and dynamic configuration Step 4 Copyright C 2012ZeroUAV 50 All Rights Reserved If there is no problem in above steps adjust Roll Sensitivity amp Pitch Sensitivity in Parameters Setting i e to set the multi rotor attitude correction level P controlled by Proportional And adjust Motion Compensation i e to set the multi rotor attitude correction damping D controlled by differential to realize a limited adjustment Note 1 Control correction with same angular velocity error has been setup in Toll sensitivity amp Pitch sensitivity 45 is default generally 45 60 for multi rotor the higher the sensitivity the quicker the correction i e control is more flexible by manual But higher sensitivity may lead to high frequency wobble so please reduce sensitivity fo
30. he megatic sensor data Shall display on the phone after waiting for dozens of seconds The purple LED keeps going on during data read And you should see 2 round circles are almost on top of each other which indicates a successful calibration and good data Successful Calibration Image Copyright C 2012ZeroUAV 17 All Rights Reserved Tips After correct assembly and successful magnetic compass calibration once no need to recalibrate without any constructional reconfiguration or only upgrade the firmware Copyright C 2012ZeroUAV 18 All Rights Reserved 5 Control Modes Notices e Choose two 3 position switches as control mode switch setup which to CH5 amp CH6 by Tx e CH5 is for switching among Manual Manual Altitude Hold GPS modes Note the flight status display as manual manual altitude hold auto hover on Data section GCS e CH6 does not work until switching CH5 to position 3 i e GPS mode CH6 is for switching among Auto hover Auto navigation Auto go home ch5 position 3 gps mode ch5 position 2 manual 45i S ees ch6 position 2 Auto Altitude Hold ON S x AK navigation pe ch6 position 3 Auto home ch6 position l Auto hover ch5 position 1 manual The RC receiver on aircraft may be switched on off by the button Receiver on and Receiver off in Setting section GCS Tx operations do not work on aircraft with RC receiver switched off when the two but
31. ints Search Location pload Vilay pints Gave Location D Delete Waypoints WW Load Location Load Waypoints _ SS ONNEEN WW Save Waypoints 5 mmo FH uca et Fa Locate 4 Zoom in Zoom out Map map mode Satellite satellite mode Tips 1 The map which you used last time was saved in default when you open it next time it shows up the saved map 2 There is no network Enable WIFI cached data can be displayed Notices Cached map when network is on enable the software to download the map When finish download the cached map with WIFI enabled the cached map will display Locate Map Locate Plane After the GPS was located click this button can find where your aircraft locates Copyright C 2012ZeroUAV 62 All Rights Reserved My Location a Phone Tablet position The GPS of Phone Tablet need to be enabled Search Location Search the position where you want to check Save Location Save the current position on map Load Location Load the saved position on map Fly TO PP Fly to Point Fly Please check Fly To Point Fly page PTZ Lock Target Lock Fly Please check Target Lock Fly page Locate FlytoPP PTZLock Move Map center to operation area Exit FlytoPP PTZLock Remove the FlytoPP PTZLock mode Click it to enter editing waypoints please check Waypoints Fly Page Default Tool Restore the waypoint to be default Add Waypoint
32. it communicates with the IMU GPS Compass ESC s and RC transmitter to carry out autopilot functionality The Main Controller has a USB interface for configuration and firmware updates via a PC ez H IMU X1 Inertial measurement unit The Inertial Measurement Unit IMU consists of one 3 axis accelerometer one 3 axis gyroscope and a barometer It is used P for sensing the attitude MGPS Compass X1 It is for locating and sensing direction WELED Indicator X1 It is for indicating current flight states via blinking in different colours E RE M WIFI X1 Data link can be added to extent range 1 It is for communicating with the hot spot of Phone Tablet 2 It is for data communication by building up AP Wireless Network Accessory Copyright C 2012ZeroUAV 5 All Rights Reserved MGPS BracketX1 GPS Compass is sensitive to magnetic interference please use this bracket to mount GPS module H 3 PIN Servo Cable X8 Used to connect MC to RC Receiver H Sticker Paper X1 amp Cable Label Paper X1 Used to mark different electronic devices and cables M USB Cable X1 Used for connecting PC to MC and firmware upgrade H Warranty Information Card X1 It provides Product Serial No Purchase Date Please fill out related information and return back to Zero UAV for registering your product warranty Software Download on website eGS Software for Android System eGS Software for PC Windows
33. l Sensitivity range from 127 to 127 may be negative for reversion and modified higher lower if correction angle of gimbal is smaller bigger Power on Tx first before use of gimbal and use no less than 7 channels set CH7 to knob switch so that YS X6 can read the CH7 to export the gimbal pitch location When adjusting Ch7 gimbal pitch location will be adjusted and get Stabilization from new angle The spare channels may be used for other applications With gimbal roll unset roll servos will maintain stabilization in the middle position With gimbal roll tilt to one side adjust it by clicking Enter Setup in Setting section CH5 must in manual throttle stick in the min position after that CH7 s knob turns for controlling gimbal roll The gimbal roll s balance position may be fixed and saved by clicking Quit Setup when gimbal roll is adjusted to proper position after that CH7 turns for controlling gimbal pitch again 2 Zero Steadi470 YS X6 Steadi470 flight controller supports Steadi470 gimbal but asking for Copyright C 2012ZeroUAV 44 All Rights Reserved special firmware gimbal and IMU 3 Brushless Motor driving gimbal Brushless motor driving gimbal may reach a superior stabilization level pixel level YS X6 with special firmware built in supports Brushless motor driving gimbal series produced by Zero UAV Separately connect EXT1 EXT2 to INi IN2 channel without any parameter setup Brushless motor driving gimba
34. l comes with YS gimbal controller power and receiver and is controlled by single operator Please refer to Zero UAV brushless motor driving gimbal control instruction 4 Camera and shutter control EXT3 output channel of YS X6 have a function of high low level eletronic shutter FC have eletronic shutter function provided using the firmware released later than 20130201 Upper pin of EXT3 is signal cable middle pin no plug lower pin is ground cable Signal cable outputs 3 3V high level in general and outputs 3 3V after shortly outputting OV low level about 400ms if click manual photos in Setting section This high low level output format supports the camera control such as Canon series 550D 600D 5D mark II etc The FC firmware of surveying edition supports skyway auto generation on GCS flight controller taking photos in fixed position according to the interval and photos covering one certain area Furthermore when the flying completed flight controller will record the data of each photo such as longitude amp latitude height course attitude which may be found in the YShj file manager in the format of TXT by clicking Photo Data in Setting section Copyright C 2012ZeroUAV 45 All Rights Reserved 12 Power Management module When YS X6 is connected with power management module user can directly observe the present discharge current and battery consumption in data page of GCS If to use this function Use
35. mmunication Wifi Copyright C 2012ZeroUAV 47 All Rights Reserved Notice e No need to use router if WIFI is configurated in PTP point to point mode e Data link and WIFI module both are powered by 3 S 6 S lipo battery same as MC power line is in red black red is positive pole and black is negative 14 Joystick Joystick is a optiona hardware Control the multi rotor in GPS mode with joystick With data link not connected control distance by joystick is up to WIFI communication distance With XB PRO9O0O datalink connected the control distance is up to communication distance of datalink Joystick contains two parts joystick and joystick WIFI Notice The WIFI here coming with joystick is different from the WIFI above they can not be exchanged 1 Joystick Connection Joystick The joystick connection is quite simple just connect joystick WIFI to joystick according to the figure above then power it on in a convenient place joystick can work automatically Note Joystick and WIFi both are powered by 3 S lipo battery same as AP MC power Copyright C 2012ZeroUAV 48 All Rights Reserved cable is in red black red is positive pole and black is negative The cable connecting joystick and joystick WIFI is Dupont cable in three colour 2 Joystick Instructions 1 In GPS auto hovering mode joystick can be used to control the craft After power on the joystick joystick operation equals to the cross operati
36. no BEC output please add extra power but not use the power supplied from Autopilot In auto Go Home mode the two ways can stop motors Make throttle stick under 10 Click Diable Engine in Control of GCS The above two ways can not stop motors when in other Flight Mode The low voltage Alert is NOT fun You should land your multi rotor ASAP when the Alert remind you to prevent your multi rotor from crash or any other harmful consequences Please don t takeoff when the Vibrate state in GCS displays a high value Must check the Course Angle and Magnetic Declin value in GCS are correct after compass magnetic calibration Must check the Attitude Angle and Static Angle in GCS are correct before Copyright C 2012ZeroUAV 3 All Rights Reserved takeoff 14 Please pay special attention to the wire connection of GPS COMPASS IMU and MC Wrong wire connection will result in short circuit and may smoke your devices 15 Anti plug Design is NOT fun please don t try 16 In some strong magnetic field if Course Angle value displays different from real rotational angle please recalibrate the compass magnetic before takeoff 17 The RC receiver is enabled in default please check your RC transmitter before takeoff Copyright C 2012ZeroUAV 4 All Rights Reserved In Box WHardware eSoftware Download Electronic Device H Main Controller MC X1 The Main Controller MC is the brain of the system
37. on of RC interface on phone To avoid conflicting with phone cross operation please disable remote control on phone GCS to cancel the round circle on the cross 2 When RC is off the round circles on remote control cross interface of phone GCS will display once automatically At this time the joystick can t be used otherwise there will be two cross operations at the same time If need to use joystick at that time please select menu and click on RC off in phone GCS to cancel the round circle on RC cross interface then the joystick can be used Copyright C 2012ZeroUAV 49 All Rights Reserved 15 Multi rotor Wobble Fix Step 1 Deviation of installation vibration shaking will make the flying status test by IMU delayed So user need to check whether the installation direction of IMU is proper and try to install it in a stable place on craft where there is no resonance The vibration coefficient and shaking coefficient showing on GCS mean the wobble status of IMU Be sure to make balance test before configurating motors and propellers to reduce the vibration and shaking coefficient smaller than 10 in auto hover mode try to use the smaller properllers to reduce wobble otherwise no matter how to change parameters the flying will not get stable Softer frame can also result in extra wobble please use frame with good rigidity Step 2 The Multi rotor attitude is up to motor speed adjustment so servo sensitivity will directly af
38. ontrary fill in smaller number range from 127 to 127 Note negative value can be filled in to be reversed When using PTZ transmitter must be enabled and CH7 is properly set to one knob switch making autopilot read the CH7 to output the PTZ position Max Flight Speed Setup of maximum flying speed Max Speed Copyright C 2012ZeroUAV 41 All Rights Reserved Acceleration Control The acceleration of craft in GPS hover mode can be selected Acceleration control Soft common and hard are optional It will auto change to Hard if max speed is more than 6m s Notice The 4 parameters below need to be filled in when use flight controller for first time when filling in the values must make sure the THR stick is in the bottom click on Settings gt Enter setting when setting status displays in data interface you can update the parameters Then click on send to give the command to autopilot and click on get to confirm the update is correct After verifying click on Settings gt Exit setting the flying can be started Remote Controll Mode User can select the options below according to yourself RC mode do not set up Remote Control Mode incorrectly Self adaptive Do not start FC until turn on Tx when using this function FC will auto judge the radio communicate way normal S BUS PPM when started Normal Ordinary FUTABA Receiver AP CH1 connect to Receiver CH1 AP CH2
39. outu be McSPalom2XU http youtu be SnEETKQheJE ZERO Steadi470 Installation Part 1 https www youtube com watch v 1sIM9b50k8w Part 2 https www youtube com watch v TfJU 2q7fz0 ZERO Steadi470 Gimbal Calibration https www youtube com watch v 39CgUdZNPPI Copyright C 2012ZeroUAV 71 All Rights Reserved
40. pl Select COM Port A _ Open COM Step2 Select Firmware Step3 Restart AP Please config the COM port Step2 Select COM port for upgrade if do not know which COM on PC please click with Ww right mouse my computer gt attribute gt device manager gt port COM LPT to have a check Copyright C 2012ZeroUAV 52 All Rights Reserved Press open com ge to enable it the button open will get to black from gray Step3 Press open button and choice the FW shown as below diagram EHRE T Ys c ET ps E EREN l 2012 6 14 12 373 YS X6 20120611 firmware Enc arm 2012 6 21 11 04 _ X6 20120618 firmware Enc arm 2012 7 12 12 1 S 6 20120618 firmware fishe Enc arm 2012 6 21 14 0 4 T j R TS X6 20120618 firmware Enmarm gt Sete T arn BIS Step4 Repower on FC and the programme will start to auto upgrade Power off the FC when it says in red words Please Restart AP AP Finer Upgrade Sennen a aad yeh an enna a Gene ee een E E T ce aoc an ote ee One ak eo eae ee gt Xx Stepl Select COM Port cong Open COM Stepe Select Firmware E pzhang QQ 270101761 FileRecv YS X6 firmware 201 Stepa Restart AP Please Restart AP Warning 1 When all settings are finished if repower FC the software may not auto upgrade please disable the software and replug the USB cable Copyrigh
41. r Mode gt referring to regarding video http youtu be 9FGLQHFIkTk Router Mode gt ace Multi Rotor with N Z gt gt ra YS X6 installed O Wireless Router Mobile RC Tx 1 Please prepare extra wireless router to build up AP Copyright C 2012ZeroUAV 11 All Rights Reserved 2 Setup the router as below SSID ZERO TECH Note The letters must be in Capital Password 82890430 Encryption Method WPA2 PSK AES IP 192 168 1 1 3 Power on FC The LED on WIFI module blinks before data communicated but be solid when data communication 4 Enable the Wlan on Mobile phone Tablet to communicate with router Copyright C 2012ZeroUAV 12 All Rights Reserved 3 Installation Guide GCS Follow the steps below showing in Installation Guide of GCS Settings section to setup after data communication If the data is uncommunicated please read the above two chapter carefully Installation Guide 1 Tx alignment Make sure to cut off power battery or remove the propellers before alignment Set your Tx into Aeroplane mode and Do not set any mix control Do not set any channel inverted for FUTABA transmitter but make sure set all channels inverted for Jr and WFLY transmitter Press button Channel Alignment then Ok Within 5 seconds push every sticks to the top bottom leftmost and rightmost YS X6 will complete reading the data automatically beyond 5 seconds
42. r multi rotor with high speed smaller propellers This parameter range from O to 255 2 Motion compensation is set for wobble correction of low speed milti rotor default is 80 generally it is 80 200 for multi rotor Without this compensation if steering is too small low speed craft or bigger propellers the craft may get stable after few jerking when sticks on transmitter back to neutral position Gradually increase the Motion Compensation to get the most stabilization when servo sticks back to neutral position but craft still wobble For those high speed craft smaller propellers decreased the compensation to prevent highly frequency wobble This parameter range from O min 255 max Copyright C 2012ZeroUAV 51 All Rights Reserved 16 Firmware Upgrade The upgrade of YS X6 firmware is simple Before firmware upgrade please download the special firmware upgrade tool on Zero UAV official website USB Cable Connection plug one end of USB cable in box to PC USB port and the other end to COM1 on MC Warning COM3 is used for connecting to Data link or WIFI and COM1 for upgrade Wrong connection will lead to upgrade failure Step1 Please make sure do not power on FC before upgrade and if FC is powered please cut off the power supply Enable the special programme YS X6 PC Firmware Upgrade for upgrade click on AP Firmware Upgrade the software will be enabled and shown as below AP Firmware Upgrade ts Ste
43. r must first connect power management module with YS X6 connect to A1N1 plug on YS X6 push the throttle stick to the bottom then repower YS X6 on After powering FC will zero sensor automatically the current discharge ampere A and battery consumption MAH start to output according to the detection by power management module 13 Data Link Tips e XB PRO900 Datalink is Used to extend communication distance making the GCS control distance avoid from WIFI distance limit e XB PRO900 Data link Technical Specifications Transmitted power 100 mW Frequency 900 MHZ Communication Distance not less than 2 3 km open areas Physical Port RS232 Copyright C 2012ZeroUAV 46 All Rights Reserved Communication Baud Rate 115200 BPS e A pair of XB PRO900 datalink includes two data links one is installed on craft and another is connected to YS X6 The two may be interchanged 1 Data Link installed on Multi rotor Remove WIFI module from multi rotor install one data link on frame referring to the connection of WIFI module connect it to YS X6 COM port Data Link BS ZERO UNY 2 Data Link on ground Connect WIFI module with another data link using the wire coming with data link which can supply power together with wireless router on ground That is there are three eletronics on ground Data Link WIFI module and Wireless Router Communication Data Links ee Mobile m M kE ai Co
44. rol Used to Enter Exit phone control mode 11 Enable Disable Attitude Used to Enter Exit phone attitude control mode 12 Net Information Used to set service information 13 Enable Bluetooth Used to enable bluetooth Note ith data communicated the Serial No and Firmware Version will display on the Remote Control interface Copyright C 2012ZeroUAV 59 All Rights Reserved Data Get into the Data interface by touching the button Data shown as below It will displa yIHCo0mmuncationDisconmmeetrteee with data uncommunicated Ei G ial w G bD gt C C 14 57 Su PE Ie Cie 5 lt 14 5 4 245B s h 7 315B s h Longitude 0 00000 Altitude 3 2 Latitude 0 00000 Flight Mode Manual Course Angle 0 0 D Satellites GPS velx cm 0 Attitude Angle R1 D GPS vely cm 0 Vibrate state xekf velx 2 Shake state xekf vely 2 Flight Time 00 00 xekf veld 3 AP Voltage Local Satellites 0 Motor balance Not to take off Photo Num 0 Real Throttle 7 Distance To Home 0M Manual Servo Data The following data need current sensor Batt mAH 54 mAH Batt current AA P R Rudder Aileron Elevator Throttle Param Control Display real time craft altitude during flight Cine 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
45. s To add more waypoint to map Remove Waypoints To remove the waypoint colour make the blue waypoints recover to red Verify Waypoints To confirm whether the waypoints are uploaded successfully Upload Waypoints To upload the waypoints to Autopilot Copyright C 2012ZeroUAV 63 All Rights Reserved Delete Waypoints To delete the waypoint on map Load Waypoints To save the waypoints designed well to phone memory card for next time use Waypoint edition Click on waypoint there will be a text box display as below 3 P O m 12 06 34 P Z de 12 06 oe DE 12 06 o Edit Waypoint Please Select pe gt F Edit WayPoint tug Mihia Upload WayPoint Delete Wa y Point Edit WayPoint 0 Used to edit waypoint attribute longitude and latitude altitude and speed Upload WayP oint 0 To upload the waypoint Delete WayPoint 0 Copyright C 2012ZeroUAV 64 All Rights Reserved Current waypoint number L V The height of current waypoint unit meter Longtude BA FUIT 39 063 Latitude of current waypoint Time of hovering unit is second zero means no hover Disable Sna Optional of camera attribute ib Mis It means the flying speed of craft from present position to next waypoint Settings Interface oO a Save Alignment Successful Capture Zero Transmitter Gyro Centre point Init Setu i P Installation 1 Minute Guide Data Enable Disable F
46. s Copyright C 2012ZeroUAV 39 All Rights Reserved 10 Parameter Setup Default Parameters The Factory Default Parameters are shown as below It is the Quad X flying mode and can be applied to most crafts for direct flying Roll Sensitivity Pitch Sensitivity Remote Controll Mode Sway Compensation Hi Adaptive Throttle Sensitivity Biba aaa Volt Alert Threshold 2m s 3 65 VY Cell Number Max Flight Speed ESC Type Control Type r Ad A ONTTO Type ABE NORMAL ESC 400HZ PTZ Roll Sensitivity Acceleration Control A E TENE Steering gear Frequency PTZ Pitch Sensitivity Soft 250HZ Altitude Limit Distance Limit A a 3 q jA fa c 7 k EEES i Control Data Map Set Param Control Data Map Set Param Control Data Map Set Param Notice Roll Sensitivity amp Pitch Sensitivity default 45 may directly affect the manual reaction Motion compension default 80 can improve stabilization but reduce the reaction Throttle sensotivity default 80 may affect Altitude control sensitivity choose the max speed of copter climb or decline among 2m s 4m s and 5m s in Max Vertial Speed bar The meaning of other parameters are as below Cell Num 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 keeps vibrating it means th
47. s available by clicking Enable Waypoints on Phone GCS make sure waypoints are uploaded successfully before Entering Auto navigation GPS auto hover mode Craft may drop fast if the throttle stick is in the min position it is strongly suggested to place the throttle stick in the middle position Enter Clicking Auto navigation Mode by Enable Waypoints on Phone GCS make sure waypoints are uploaded before successfully Auto navigation Entering CH Auto Go Home Mode position3 e X means irrelevant any kind of status is alright There is a circle showing on the cross if mobile remote control is enabled no circle means remote control disabled e Mobile RC status e Priority 1 means the highest Copyright C 2012ZeroUAV 20 means mobile remote control is enabled or disabled All Rights Reserved 6 Aircraft Type The blue arrows of each figure below point to the direction where propellers rotate For coaxial propellers Blue means propeller at Top Purple means propeller at Bottom The yellow arrow in the center of each figure points to aircraft nose Those numbers under the figures mean the Aircraft Type which may be filled in the Parameters Setup section direct to the aircraft head Copyright C 2012ZeroUAV 21 All Rights Reserved Customized Parameters Tips Users may assign the motor mix control and define the speed up down proportion coeffici
48. st move the THR to the neutral position Notice If there are any unexpected accidents during take off you can switch to manual mode by Tx to control the craft C Auto returning home and Auto landing Autopilot will set the returning home position automatically when GPS has locked or aircraft takes off in manual auto mode In GPS mode when switch CH6 to position 3 or select auto return home amp landing in the mobile phone and meanwhile click on OK AP will enable auto returning home amp landing after 5 seconds and the motor will auto fly to 20 meters if the altitude is less than 20 meters when aircraft returns the throttle servo doesn t work the autopilot will descent to the ground automatically when reaching the start position and can interferes the landing position After enabling auto returning it can t prevent autopilot from returning and Copyright C 2012ZeroUAV 33 All Rights Reserved auto landing if switching CH6 back to auto hovering and auto navigation unless switch CH5 to manual position position1 2 and then back to holding position to continue hovering Notices Click on motor off gt OK to shut down the motor By switching to auto landing the copter will return home remaining in current height rather than climb to 20 meters if the copter flies within 25m from takeoff position 9 5 Click amp Fly to point MODE in GPS auto hover mode Step1 Click any point on the map
49. t C 2012ZeroUAV 53 All Rights Reserved A Authorized Fadel Copyright C 2012ZeroUAV 54 All Rights Reserved Appendix 1 LED Description Flight States 1 GPS unlocated red light blinks for 3 times in cycle eee eee eee ooo GPS satellites 5 red light blinks for 2 times in cycle ee ee ee ee ee GPS satellites 6 red light blinks for 1 time in cycle e e e e e e o GPS satellites gt 7 the Led doesn t blink 2 Abnormal craft status White light blinks When the difference of GPS and attitude is too big Led blinks in white craft status is abnormal When craft gets stable after big flying action If white light is off craft can continue to fly If white light keeps going on need to land craft urgently 3 Altitude hold in the Manual Stabilization Mode Blue light periodically blinks Blue light blinks for one time one loop means users is operating e e e e e e e e o o Blue light blinks for two times one loop means Altitude hold eo oo oo oo oo eo oo oo 4 GPS mode Green light periodically blinks Green light blinks one time one loop means the user is operating e e o e e e o e o o Green light blinks for two time one loop means Auto hover and Altitude Holding eo oo oo oo oo oo oo oo Low voltage alert Low voltage alert Red light blinks fast ceoccccccccccccc0000000000000 Low voltage alert urgently Red light keeps going on BRIERE Compass Calibration Attitude error lt 3 light keeps going on it means can go around to
50. t mode Hovering time means the time that craft stays in the present position before going to the next waypoint the default hovering time in first waypoint is 65535s Speed means the flying speed that craft flies to the next waypoint from present position Step2 After the waypoints design is completed it can be saved as file which can be used next time User can also click on Upload Waypoints to upload the waypoints to Autopilot Please check whether each waypoint has been changed to blue to confirm a successful upload orange indicates the upload is not successful and then get into Target Point to check whether the number displays there is the same as uploaded waypoints if not you need to upload once more If any waypoint is not changed to blue please also upload the waypoints once more Step3 Click Remove Waypoints to make the blue waypoints recover to red then Select Verify waypoint from Tool download uploaded waypoints to ground Station for comparing if all waypoints are blue it means the uploaded waypoints is the same with that in GCS and waypoints verification is successful Otherwise need to upload waypoints once more Step4 Copyright C 2012ZeroUAV 36 All Rights Reserved After switching CH5 to position 3 and CH6 to position 2 then click on enable skyway in setting page of GCS the craft will fly to the first waypoint and hover There Fill in Change Target with number 2 and upload it the cr
51. target with solutionl or solution2 users can operate by transmitter or by RC mode on phone Remark1 When left aileron outputs the aircraft will hover clockwise around the target point When right aileron outputs it will hover anti clockwise Remark2 Pushing pull the stick means decrease increase the hovering radius Remark3 Elevator amp aileron will be normal if selecting Quit FlytoPP PTZ Lock in Tools page or switching back to manual mode Switch to manual mode and immediately back to GPS mode to continue the operation 9 7 Waypoints Flying Step1 In Map page of GCS click tools gt Design waypoints to make the waypoints One click on map once can get one waypoint get all waypoints one by one Click Default Tool to complete the waypoints design Tips Copyright C 2012ZeroUAV 35 All Rights Reserved If the firmware version is later than Sept 15th 2012 each waypoint contains Height Hovering time Speed and other key parameters so must make sure that click each waypoint with finger to select edit waypoint and correctly setup Height indicates the point where craft is staying which can be set as negative value below zero when the takeoff position is too high and the craft need to fly under the takeoff position If height between two waypoints are different craft will fly as climbing slop The default height is current height i e craft will fly according to the height when enter waypoin
52. then start calibration if the Word succeful which indicates FC gets the calibration command displays in the text bar Redo the procedure if there is no word display there 3 then hold Multirotor level and get the blue LED light on Now turn slowly clockwise 2 3 times in one spot ensuring the light remains on at all times Or you can ask a helper to monitor the data moving in Attitude Angle of GCS Data section to make sure the value of Pitch and Roll both maintain within 3 degree It indicates the attitude is good if LED remains on but oversize if LED off STEP2 Calibration in vertical Copyright C 2012ZeroUAV 16 All Rights Reserved Select Vert Calibration Then OK Observe text bar to confirm whether the command was successfully sent to AP The Attitude Angle will get close to zero slowly reference coordinate has been changed and craft nose downward is level G Magnetic Compass Cancel e Horizontal Alignment Point the front of the Multi down and get the blue LED light on Now turn slowly clockwise 2 3 times in one spot ensuring the light remains on at all times and the moving data of Attitude Angle remains within 3 deg It indicates the attitude is good if LED remains on but attitude oversize if LEDoff f STEP3 Calibration Saved Select save alignment Then OK Now The calibration is managed after the procedure above Then GCS screen will auto switch to user interface Remote Control t
53. tons Receiver on off shall get green i e There is no receiver installed on craft Currently this section is reserved only for customize manufacturing not common users Remote Control interface on Phone GCS is a cross interface by touching which the copter flying can be controlled by phone RC Status means whether the cross operation is enabled or not Press the menu button of phone click Enable RC button a circle will appear in on the cross which indicates Phone Remote Control has been enabled Choose Disable RC it indicates the Phone Remote Control has been disabled if the circle disappeared Copyright C 2012ZeroUAV 19 All Rights Reserved Mobile RC CH6 Status CH5 Status Receiver Status Status Currently Currentl Currentl Rc off Uunavailabl Y Y unavailable unavailable CH5 Manual X C position1 Mobile C Enable position2 control Rc on C CH5 Auto In position 3 Mobile Disable control C position2 Remark C position1l H6 H6 3 H6 Auto Go Home Mode position3 H6 A H6 6 Aircraft Status Currently unavailable Manual mode i e controlled by Tx Warning when flying in big actions or fast speed in Manual Mode Do not switch into GPS Mode until flying gets into stable There is a circle showing on the cross please check the mobile status This has nothing to do with the Tx Auto navigation Mode i
54. tup in Setting section GCS then OK when screen up Setup Aircraft type and parameter gains Fill in local magnetic declination to West is positive to East is negative Select correct type of craft referring to Chapter6 in this manual 4 Magnetic declination Make sure to fill in the correct magnetic declination which only remains integer without decimals referring to the below website http magnetic declination com http www ngdc noaa gov geomagmodels struts calcDeclination Precaution For magnetic declination west is negative and east is positive on the magnetic declination website abroad however as for YS X6 it is positive to west and negative to east since the magnetic declination is to west in most regions of China Make sure to distinguish the difference Or click on the following link software of download declination query http www zerouav net site_mag UpLoads GetMagnetic rar Copyright C 2012ZeroUAV 14 All Rights Reserved User in the case of the PC connected to the Internet open the software click on the Map or Satellite then press The software prompts Right click on the map area you can get the longitude and latitude in the size of the magnetic declination Tips On the left google map Click the right mouse button to get magnetic declination Your position is East 116 680298 North 50 373497 Magnetic declination is 9 17 degree West Please fill 9 in YSwifi GCS In YSwifi GCS West is
55. unction Mixing Adjust Magnetic Skyway Skyway Limit Define Transmitter Compass Roll Pitch Capture Capture Auto Auto Unlock Preset Take Get Photo a Steadicam Alignment Landing TakeOff Motors PTZLock Photo Data Set Home Follow Me Enable Disable Zoom In Zoom Out Location Course Course Locked Locked Video Record Stop Copyright C 2012ZeroUAV 65 All Rights Reserved Init Setup It s 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 After completing Throttle Alignment and all parameters filled click this button to exit from settings Enable receiver Disable receiver Notice It is strongly recommended not to operate with receiver off for primary learners Enable disable waypoints flying when Tx switched to Auto navigation mode Back Lan ding Auto Go Home and Landing After the aircraft reaches home location the craft can be controlled manually Auto LEE S i Sone Location It s used to change home position or record new home position Enable This function can be used only when your phone has GPS hardware and got more than 5 satellites locked and in Auto hover mode After enabled Follow Me the aircraft will fly automatically following mobile GP
56. wer to any one port of the M1 M8 if ESCs come without bec function Copyright C 2012ZeroUAV 9 All Rights Reserved 2 WIFI Configuration It must be installed to the Mobile memory card Android system can be installed automatically via running file installation once in the file manager Apple system can be installed after APP jailbreak please refer to Apple Installation Instructions 25 Lb 11 24 Two communication modes lt Router Mode gt and lt PTP Point to Point Mode gt are available of WIFI module The default communication mode is lt Router Mode gt both the SSID and password of WIFI are marked on the back side of warranty card Users can configurate different modes by self referring to the Video and download the WIFI Configuration software http youtu be 9FgLQhFIKkTK PTP Point to Point Mode Copyright C 2012ZeroUAV 10 All Rights Reserved a WIFI integrated with router E gt Multi Rotor with YS X6 installed RC Tx Mobile In PTP mode Mobile and WIFI communicates directly and no need to prepare extra router 1 2 After WIFI works search and communicate with the wireless network named ZERO TECH The LED on WIFI module blinks before data communicated but be solid when data communication Enable GCS the data will display there if WIFI and network communicated But if your mobile is not compatible with PTP mode please configurate the WIFI module to lt Route
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