B.T.A AS-07 Automatic Pilot
Contents
1. changes in yaw with rudder control input will result in the opposite roll compensantion in automatic mode This is mainly a concern when landing in crosswinds when yaw corrections are needed to touchdown in the proper location APPLICATIONS APPENDIX AND BACKGROUND APPLICATIONS Asaninitial training aid the model may be flown with the autopilot engaged throughout the flight after takeoff Advanced training the model is flown with the autopilot disengaged but can be engaged if the student experiences difficulties Scale flying the autopilot is engaged to give better scale flight characteristics by reducing sudden responses which spoil the look of scale flight Special applications the autopilot will control the model at the extremes of height and range in events such as cross country gliding where visual control can become difficult e Enhanced failsafe protection the autopilot will bring the model to a controlled touch down 72 7 3 74 7 5 WHAT IT DOES This is a true autopilot and its function should not be confused with that of a gyro or failsafe THE GYRO As used in model aircraft this is essentially a damping device for correcting unwanted changes in attitude or heading caused by external forces acting on the model A gyro will oppose a turbulence induced roll when fitted on the ailerons of a glider but it will not bring it back to level flight If the glider is banked using ailerons and the control stick is2. on the panel GPS Aircraft Retreiver interface connector Pitch Gain Adjustment Potentiometer Mode Indicator LED shows Automatic LED ON or Normal mode LED OFF selected from the radio through the mode input connector Calibration LED FLASHING during power up only NORM THIS REV SIDE ROLL PITCH UP AT AS 07 AUTOPILOT U S Pat 4964598 OFF TRANSPARENT ON AUTOMATIC MODE BLINK CALIBRATING 24 22 23 INTRODUCTION APPLICATIONS The B T A Automatic Pilot presents a new approach in flying and controlling radio controlled airplanes It was designed to enable beginners and unconfident flyers to fly safely It will also help the more experienced scale flyers by giving them absolute safety and immunity to radio interference and enable pleasant smooth flight In the field of special flying for target purposes filming advertisement and night flying B T A offers the tool that turns a normal model into a real drone The BTA Automatic Pilot combines the top in electronics and know how in model flying to give the best available performance from each model CONNECTIONS AND OPERATION The automatic pilot is connected in the model to the aileron and elevator channels and stabilizes pitch and roll angles or vertical speed and rate of turn The angles of the airplane relative to the horizon are dictated by stick position whenever engaged automatic pilot mode in air Centering the sticks will always return the plane t
3. B T A AS 07 Automatic Pilot User Manual 2005 2 for Flight Stabilization of Fixed Wing Model Aircraft B T A AS 07 B Basic AS 07 G GPS DI B TA AUTOMATIC PILOTING SYSTEMS LTD CONTENTS 1 AS 07 PANEL DESCRIPTION 4 2 INTRODUCTION i 6 2 1 APPLICATIONS 3 PRINCIPLE OF OPERATION 8 3 1 SPECIFICATIONS 4 CAUTIONS ree tae et ten 10 5 AS 07 INSTALLATION AND SETUP ss 11 6 AS 07 OPERATION ene 16 7 APPLICATIONS AND BACKGROUND 18 8 RETRIEVER PANEL DESCRIPTION 22 9 AS 07G WITH RETRIEVER INTRODUCTION 24 10 RETRIEVER PRINCIPLE OF OPERATION 24 11 RETRIEVER SPECIFICATIONS 24 12 RETRIEVER INSTALLATION AND SETUP 25 13 RETRIEVER OPERATION ee 27 AS 07 PANEL DESCRIPTION QUICK REFERENCE Radio system Input Output connector Roll Gain Adjustment Potentiometer TEST when pushed simulates autopilot feedback to a climb and right turn of the aircraft If led on you should see the right aileron going down and elevator going down as written on the panel This is a correct negative feedback reaction Determine feedback polarity of the autopilot Should be in the polarity causing the appropriate test reaction as written
4. D should be lit and the Data LED flashes indicating it is receiving data Initial cold start home point recognition may take up to five minutes while the GPS searches for available satellites Home location acquisition is indicated by the GPS Home Lock LED flashing 25 The green LED will flash very briefly and after one minute the flash duration will increase This will be readily apparent when observed The change in flash duration indicates the Home Location is locked and the model is ready to take off After initial power up locating home should occur approximately 10 seconds after AS 07 initializes The GPS satellites are recorded in memory after initial power up The information is valid for about one week After one week or if the model is transproted a great distance it may take up to five minutes to acquire home If the unit continually takes a long period of time to acquire home the memory backup battery has failed and must be replaced Switch the mode switch to navigation and verify the Nav On LED lights The model must be moving for navigation to function there will be no control deflection while stationary Calibrate the AS 07 without Switching on the navigation Do not attempt to adjust the navigation until the stabilization is adjusted and flies the model smoothly Ideal gains for the AS 07 will allow the model to complete a complete 360 degree turn in 36 seconds by pushing the aileron trim all the way to one side The Retriever is design
5. G 12 The autopilot is measuring changes in barometric pressure and is therefore sensitive to wind coming into the fuselage during flight It is essential to seal all holes and openings on the firewall that face the airflow of the propeller In scales the front of the aircraft must be inspected for unwanted holes facing the airstream in flight Sealing is best done with R T V sealant Operative check of the sealing is described in chapter 6 2 5 3 54 CONNECTORS The AS 07 includes a wiring harness to interface with the receiver and servos The radio connectors are universal and are compatible with all modern radio systems If in doubt verify polarity before making any connections Incorrect polarity will result in damage to the autopilot and or the radio system CONNECTION TO RECEIVER AND SERVOS The AS 07 can be used with several types of control configurations including standard elevon and flaperon installations The following diagrams show how the autopilot integrates into the system ELEVATOR ELEVATOR IN AILERON AILERON IN dei AUXILIARY MODE IN AILERON QUT Standard Installation For elevon installations the mixing of the control surfaces is done between the autopilot and the servos Transmitter elevon or delta mixing must be disabled Elevon Flying Wing Installation Flaperon systems are also an option Again transmitter mixing must be disabled Mixing of flaperon is done on the aircraft with a v ta
6. at which the maneuver commenced If the model is diving steeply and the autopilot is engaged and the sticks are released the autopilot will recover some of the height lost The amount of height recovered depends on the steepness of the dive the steeper the dive the more height recovered The autopilot will not stall the model if the throttle is closed With the controls centered the autopilot will allow a gradual descent Similarly if the throttle is fully opened the autopilot will allow a gradual climb This allows the model to be used in gliders without a power source USE OF THE AUTOPILOT WITH FAILSAFE The autopilot will operate in conjunction with a failsafe to provide much better protection from loss of transmitter signal When both are correctly set the combination will ensure that the model is actually controlled back onto the ground instead of merely being prevented from continuing to fly away The failsafe should be programmed to switch the autopilot on Modern transmitters allow all the channels to be programmed as well as setting the controls to the required position When used for this type of application the failsafe may be set to engage the autopilot give a small aileron deflection small up elevator deflection straight rudder and engine off When set in this manner if the radio signal is lost the failsafe will close the throttle and engage the autopilot which will then control the model in a shallow descending turn This will mi
7. centered a gyro will not roll the wings level but will try to keep the model in a bank THE FAILSAFE The purpose of a failsafe is to prevent the model from continuing to fly away following radio failure not to land the model safely What the failsafe does is to move the servos to pre programmed positions when the transmitter signal is lost What the model does next depends on the attitude of the model when the failsafe activated and the flying characteristics of the model as well as the failsafe control positions THE B T A AUTOPILOT The main function of the autopilot is to return the model to a pre programmed flight attitude normally straight and level flight when the control sticks are centered It does this regardless of the attitude of the model at that time The autopilot will even recover the model from an inverted dive or spin The autopilot operates via the aileron and elevator channels to control the model throttle and rudder are unaffected and is simply plugged in between the receiver and the servos A spare channel the gear channel is ideal is used for engaging and disengaging the autopilot from the transmitter 19 The autopilot is powered by the receiver battery and is switched on by the receiver switch there is no separate power switch It is engaged and disengaged from the transmitter at any time Autopilot Disengaged The model is flown normally and full control response is available The autopilot is transpare
8. directly is difficult and expensive the B T A autopilot measures airplane s dynamic movements which correspond to real roll and pitch In the roll axis ailerons the autopilot measures the change of heading of the airplane to indicate roll In the pitch axis elevator the autopilot measures the change of altitude height by means of a sensitive barometric sensor This signal represents pitch Since sensing is dynamic the autopilot will work only in flight Simulation on the ground is not possible VA mc er SIA WS P 3 1 SPECIFICATIONS AS 07 Weight 74 grams 2 5 oz with harness ccc aetate ds 126x48x21mm 5 0 x1 9 x 8 5 0 length includes mating connectors POW L idc tad ds 4 8 6 0V 20mA no additional battery required Input output Pulse width modulation 1 5 msec neutral position Compatibility All radio systems with 1 5 msec neutral Type of Stabilization 2 axis roll pitch Response time Roll 0 5 sec Pitch 0 3 sec depending on gain settings S ensOols sicilia 1 Roll rate of turn solid state gyro ond 2 Pitch rate of climb solid state absolute pressure sensor with hardware differentiation over time Connectors 20 Pin with Radio System Adapter dial ee delia 10 Pin GPS Plane Retriever Interface 10 CAUTIONS Never take off without knowing which mode it is set to a
9. ed to turn at a rate of 10 degrees per second When the AS 07 is adjusted to turn at this rate the navigation gain should be set at the center for proper operation The model should be trimmed to fly a straight path and have the same response right and left With the model several hundred feet away from the home location switch the navigation on The model should turn straight toward the home location and level If it over controls the nav gain must be reduced If it levels and corrects again gain must be increased Navigation gain that is set too low is desirable over excessive gain It will again sample the heading and correct toward home after the initial turn is completed Excessive gain can cause erratic behavior Once home location is reached it will begin to circle around home or fly a figure eight pattern through home There is no navigation within a 200 foot radius of the home location Changing autopilot gain settings will require adjustment of the Retriever gain 13 Retriever Operation NEVER take off with the Navigation on The unit can t determine where the flight line is and may fly well behind it for several reasons If it is critical this doesn t happen power up the aircraft on the runway or flying field rather than in the pit area The pilot can control the model while navigation is on but it will continue to correct toward home It is best to avoid inputting aileron or rudder commands but altitude may be adjusted with throttle and ele
10. f the corresponding axis must be reduced Decrease gain by turning the trimmers counter clockwise as illustrated Reduced gain results in less control surface travel when the autopilot is switched on If the model is slow to right itself when the sticks are released the gain can be increased to improve stability The ideal gain is slightly lower than the critical gain causing oscillations 17 6 7 18 LANDING Do not attempt landing in automatic mode until you understand how the unit works and have properly set up the model The model must be properly calibrated flying stable and smoothly in automatic mode without swinging from left to right When such calibration has been achieved automatic mode landings may be attempted Remember that when flying in the automatic mode the ailerons and elevator have smaller throw so landing should be planned carefully with moderate approach angles usually requiring a larger approach radius When done correctly landing in the automatic mode is smooth and easy Approach the runway as usual but faster with moderate descent rate The faster approach has to compensate for the limited full up elevator command in automatic mode and to prevent stalling before touchdown The AS 07 will not compensate for a drift due to crosswind It does stabilize the model but will not steer it to the landing strip Use a slip method to compensate for cross winds Experiment at higher altitudes prior to the landing attempt Sudden
11. il mixer Follow the diagram and mixer instructions to get proper surface throws V TAL MIXER FLAP IN Flaperon Installation 5 5 AUTOPILOT ON OFF Turn power on Verify that mode LED is turning on and off with the auxiliary channel switch On the transmitter mark the position of the switch that causes automatic mode LED on 5 6 CHECK Check that aileron stick moves ailerons and elevator stick moves elevator In automatic mode the swing of the ailerons and elevators will appear smaller like dual rate 14 5 7 TEST The test procedure is the most important part of the calibration Be sure it is done correctly Incorrect position of the autopilot norm rev switches will result in dangerous and unstable flight in automatic mode only of course It must be understood that there is no connection or influence of the autopilot s norm rev switch on the servo s norm rev switches in your radio While the system is fully connected including wing servo and operative switch the autopilot on LED on Then press the test switch with a screwdriver The elevator should go down and the right aileron should also go down as written on the front panel If not the elevator and aileron reversing switches should be adjusted 4 TEST ter Goan si dor LT 15 6 6 1 6 2 6 3 16 OPERATION PRE FLIGHT CHECKS Do not fly an autopilot on an airplane that has never flown before Test flight will be do
12. ircle or fly a figure eight pattern 11 Retriever Specifications 85 grams 3 0 oz Size 105x48x21mm 4 1 x1 9 x 8 Power 4 8 6 0V 50mA no additional connections required Connectors 10 Pin AS 07 Interface siae MCX for GPS antenna me Connector for NMEA output GPS Trimble Lassen SQ Backup Battery CR2032 Navigation Processor Motorola 68HC908GR8 24 12 Retriever Installation and Setup 121 Installation Mount the Retriever module in vibration isolating foam Install it so the LED s and gain potentiometer are visible Connect the interface lead to the AS 07 The antenna must be installed externally for best reception Use double sided foam tape to install the antenna with the plastic dome facing the sky Connect the antenna to the retriever lo 122 Setup Follow the previous instructions for setup of the AS 07 The main difference is that the input mode switch should be a three position switch This allows easy selection of the three operating modes It could also be assigned to a slider or potentiometer One extreme will be off center will be stabilization AS 07 on and the other extreme will be navigation Retriever on Mark the transmitter accordingly Take the system outside and turn the receiver on After the AS 07 initializes the Plane Retriever will begin acquiring the home location The Power LE
13. ne without an autopilot If the airplane is flight proven and the autopilot was installed and tested proceed CALIBRATION The AS 07 calibrates automatically during the first 30 seconds after the radio system is switched on During this period the model must not be moved and the transmitter should be 4 6 feet away with the antenna collapsed During calibration the aileron and elevator servos will not respond unless the mode switch is ON After calibration if the mode switch is on the unit will give the test reaction of down elevator and left roll for two seconds or indefinitely if the transmitter is off Verify calibration by switching between off and on modes while paying attention to the control surfaces Switch the AS 07 on with the mode switch on the transmitter Watch the aileron there should be no change in position when the switch is thrown The elevator engagement is delayed for three seconds after the switch is thrown If the center position of either surface changes the calibration should be repeated with the transmitter further away or switched off Significant trim or subtrim in the transmitter can cause a problem with calibration This can be remedied by removing the trim and or subtrim and adjusting the control linkages SEALING TEST Switch the autopilot on engine running Restrain the airplane Open and close the throttle in five second intervals Watch that elevator is not influenced by propeller speed If considerable deflection
14. nimize the damage to the model on landing and the turn will reduce the distance the model will travel particularly if the model was pointing away from the pilot when the failsafe activated 21 PLANE RETRIEVER PANEL DESCRIPTION QUICK REFERENCE NMEA Output connector Power LED red Data Indicator LED red GPS Home Lock LED green Navigation LED amber Navigation Gain Potentiometer GPS Antenna connector AS 07 Interface connector SAI GE ar Nw amp asor canti Cis B T A GPS Plane Retriever To AS 07 x WWW CELLRAD COM e 8 9 Introduction AS 07 with GPS Plane Retreiver The AS 07 with the optional GPS homing function provides the ultimate protection from flyaways and loss of visual contact The system includes a small antenna for GPS signal reception and navigation software which will guide the model back to the take off site when activated The unit has three modes of operation transparent off stabilization and homing navigation 10 Principle of Operation The Retriever samples the home coordinate after power up and stores it as the target When activated it compares bearing to target and current heading to determine how much the model must turn to head home The turn duration is based on a 10 degree per scond turn rate After the turn is complete it will resample target and heading initiating another turn if needed Once the model passes the home location it will begin to c
15. nt If the autopilot is now required perhaps because the pilot has become disorientated or has lost control of the model the control sticks are released and the autopilot switched on The autopilot will now return the model to straight and level flight This will give the pilot time to regain orientation and control of the model Autopilot Engaged The model is still controlled by the pilot The autopilot will level the model whenever the sticks are centered Depending on gain settings it will limit the amount of response similar to a dual rate The sticks now however dictate the roll and pitch angles When the stick is held it will cause the model to bank The model will not roll inverted when the autopilot is engaged The autopilot restricts the attitude of the model and the control inputs within adjustable limits Attitude The maximum bank and pitch angles may be limited by reducing gains Reducing gains will increase the time for recovery from unusual attitudes after engaging automatic mode While flying with the autopilot engaged it will prevent the model from becoming inverted and will also reduce the risk of inadvertent stalling Control Input The control movements are reduced depending on gain thus making the model less responsive and easier for the student to control 20 Height Control 7 6 The autopilot does not have a height lock It will not hold the model at any particular height It will return the model towards the height
16. o straight and level flight SO WHAT This represents a new mode of flying and is known as position flying It gives performance and possibilities that are impossible with any other radio controlled system Not to be confused with regular rate gyros this autopilot really feels the airplane s position Rate gyros only detect dynamic changes and are therefore unsuitable for position stabilization The B T A autopilot will save the model from almost any bad position such as spin and dive A rate gyro could never do that because it can t sense a dive or return to level flight For applications see chapter 13 24 GETTING STARTED The autopilot is intended for everyone Flyers can use it to gain confidence and experience In order to operate the unit safely and correctly the manual must be read and fully understood Initial calibration could be done by a more skilled flyer until proper operation is achieved The AS 07 maintains level flight without any control input Turning is accomplished by constantly holding the stick in the required angle angle climb pitch Climbing or descending is accomplished by constantly pressing the stick up or down PRINCIPLE OF OPERATION U S PAT 4964598 The B T A autopilot stabilizes the airplane in roll ailerons and pitch elevator Stabilizing a moving airplane is done by sensing the airplane s position or attitude relative to the horizon Sensing of roll and pitch
17. s are noted check and improve the sealing described previously in chapter 5 2 64 6 5 6 6 TAKE OFF Taking off must be done with the AS 07 off Failure to do so can cause unwanted roll corrections as the model is steered down the runway with the rudder Take of as usual and climb to comfortable altitude Trim the airplane for straight and level flight AUTOPILOT ON In level flight switch the autopilot on If anything strange happens quickly switch the autopilot off Review chapter 5 for installation or setup errors If installed correctly the modell will continue to fly straight and level Begin giving left right up and down commands Remember to hold the Stick constantly to maintain a bank or climb Notice the model rights itself as soon as the stick is centered If there is a change in aileron trim when the autopilot is engaged but passes the calibration procedure the model could be out of trim in yaw rudder trim This will cause the model to fly in a slightly curved path which the AS 07 attempts to compensate for with opposite roll input The roll can be trimmed out temporarily while AS 07 is in automatic mode or the trim can be corrected by adjusting the rudder trim to the same side as the roll If the rudder trim is adjusted the aileron trim will also need to be adjusted with the AS 07 off Once this is done it should eliminate the trim change when AS 07 is engaged RESPONSE AND GAIN If the model oscillates in flight the gain o
18. utomatic or normal Always take off with the autopilot disengaged Don t fly an autopilot in an airplane that has never flown before Test flight must be done prior to automatic flight Don t try to simulate flight on the ground The autopilot only works in flight Don t change the wires in the main connector incorrect polarity will cause damage Prevent dirt and oil from getting into the autopilot through the front panel holes Don t leave the autopilot in direct sunlight for long time as this will cause miscalibration due to temperature rise It is highly recommended not to open the autopilot s box In any case do not move the internal potentiometers because they are precisely factory calibrated 5 1 INSTALLATION AND SETUP INSTALLATION Install the autopilot wrapped with vibration isolating foam like a receiver Leave the front panel accessible The only requirement is that the autopilot should be level in the airplane and the arrows on the panel pointing toward the sky Verify orientation after any adjustments The usual place for the autopilot in high wing airplanes is under the wing somewhere in the fuselage arrows pointing up during flight It is sometimes necessary to move the servo tray towards the tail in order to clear space for the autopilot In some models the autopilot can be placed parallel to the wing if it is more convenient The images on this page show the mounting orientations 11 5 2 SEALIN
19. vator It is important to understand that the rate of turn response of the AS 07 and airplane is proportional to airspeed The gain can be adjsuted by 20 30 simply by changing speed through thottle setting Thank you for purchasing the B T A autopilot the world s first automatic pilot commercially available for model airplanes This instrument is elaborate enough to fit the most demanding applications and at the same time is ideal for beginners as a training aid Like all radio controlled equipment the AS 07 autopilot must be appropriately maintained and operated Responsibility of proper usage lies on the user and it is therefore essential to read and follow this manual step by step Good luck and joyful flights OTHER UAV SUBSYSTEMS AVAILABLE FROM WIRELESS AVIONICS B T A 1 Stabilized miniature camera gimbals for UAVs 2 UHF long range uplink retrofits for Futaba and JR 3 Custom multipoint GPS navigation softwares 4 Video and telemetry links for UAVs AUTOMATIC PILOTING SYSTEMS LTD www cellrad com btawire netvision net il
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