YS-S4 Multi-rotor Autopilot
Contents
1. Your Tx sticks should all be in the mid position When THR stick 1s around mid position craft will hover in current position craft does not drift because GPS has locked and may controlled manually Left right is controlled by AILERON Stick Up Down controlled by ELEVATOR stick direction controlled by RUDDER stick height controlled by THR stick 2 THR stick is 50 craft will auto hover THR stick is more than 50 craft will fly upward 31 YS S4 Multi rotor Autopilot User Manual V1 4 THR stick is less than 50 craft will fly downward Craft could fly to any altitude controlled by THR stick and fly to any position controlled by other sticks 4 With GPS locked above 5 satellites locks craft will record the home position a Push CH6 to position 2 to enter RTL ruturn and land mode In the Return and Land mode the craft will RTL and land automatically b After activation you can only change to Stabilization Mode if you want to take over the flight controls If you move from RTL to Auto Hover Mode the aircraft will continue with the Return and Land process c Onarrival at Home the YS S4 V2 will begin to descend At this time the autopilot will allow you to take over AIL and RUD controls to adjust the landing site but THR cannot be controlled THR control fully autonomous for decent and land d Altitude If the craft is beyond 25 meters away from home position and below 20 meters altitude the YS S4 V2 wil2. The Adjust Transmitter window will appear on PC GCS Click OK amp move your transmitter stick within 5 Seconds to their maximum positions as shown in the diagramme Adjust Transmitter Hint Circle the sticks to max radius after clicking OK button The AP will collect the necessary channel datas in 5 seconds Please check that the configuation software correctly display the movement of your radio sticks after that Do you want to calibrate it OK Cancel Step 3 Check that the GCS shows the sticks moving in the same direction as depicted on the screen Motor balance Rudder Aileron Elevator Throttle Check the display of special place when the Tx is calibrated well This screen displays the position of the sticks On the left is the Rudder and Throttle Mode 2 depicted On the right is the aileron and elevator stick Mode 2 depicted When both sticks are in the middle position they are shown as green any other position shows red except for when the throttle stick is at the bottom when it shows as yellow When the throttle is in hover position normally close to the middle position it shows green 15 YS S4 Multi rotor Autopilot User Manual V1 4 5 4 2 Phone Calibration Tx Select the correct stick layout Click the menu button on your phone then select Set see below FRE RE In the Set box which opens select the Hand Mode drop down menu The Hand Mode is you
3. cell 3S 6S LIPO battery The voltage range would therefore be 10 8V 25 5V Normally this would be your main flight battery C Motors and ESCs Especially when several ESCs are together can cause serious magnetic interference so the GPS module must be as far away from these as possible A non ferric bracket 5 YS S4 Multi rotor Autopilot User Manual V1 4 must be used with the arrow on the GPS facing forward Also the battery connection carries a high current and may result in a strong magnetic field Keep the battery wires as far away as possible from the GPS module otherwise your aircraft may fly in circles D Make sure power the servo of gimbal seperately when using servo gimbal E WHITE cable is signal cable RED cable is positive pole BLACK cable is ground F Only USB connector can be used for Parameter setting and firmware upgrade COM port is ectended connector to connect WIFI G S4 V2 does not support ESC calibration user need to calibrate the ESC by self please refer to the ESC manual 4 2 Real connection demo 1 connect the power supply module As shown below one 3 core cable to connect S4 V2 WHITE core is up RED core is middle black core is in bottom RED cable and BLACK cable need to be soldered to the positvie pole and negative pole of battery 3S 6S Lipo GPS module has red and balck ends red end is connected to GPS R port and black end to GPS B port The neck faces up YS S4 Multi rotor
4. keep the altitude limit amp distance limit short E g 30 meters altitude amp 50 meters distance upon reaching these limits the aircraft will automatically RTH amp land Set the Cell Num according to your flight lipo cell numbers amp Volt Alert Treshold to 3 65 Select a smaller value when using an old battery or select a bigger value when using new battery You may adjust the Roll Sensitivity amp Sway Compensation according to your aircraft behavior during test flights Range value is between 0 to maximum 255 Sway Compensation Hover amp observe aircraft attitude If it sways too much then increase the Sway Compensation till it is more stable If the value is too high you will observe oscillations Reduce the value accordingly Roll Sensitivity Fly it in a straight line if the flight is not so stable then increase the value If the value is too big the aircraft will oscillate on roll Reduce the value accordingly Press Send button to upload the newest parameters to the YS S4 To restore the default parameters press Default button YS S4 default parameters is as below 11 YS S4 Multi rotor Autopilot User Manual V1 4 PUES SS 2000 ERA EA 20 KASH 12 139 250Hz v las 0 a5 lo 000000 20 o 000000 RX TEE 14 BK SP y 1 9 BAT EE Ke y A sat a EX y eB He fp 5 Eao res anes me moo ERIR 300 KIRRI mie l Feti KITEN mit A Roll sensitivity and pitch sensitiv
5. push the left hand stick to the far left and extreme bottom the right stick to the far right and to the bottom This is for Japanese and American convention mode 1 and mode 2 and 1s called the toe out operation Namely type For Chinese and European operation Mode 3 and Mode 4 you need to apply the toe in operation to arm the motors Namely V type Enable Combined Stick Command CSC for ESC arming as shown below 21 YS S4 Multi rotor Autopilot User Manual V1 4 After the CSC operation push the THR stick slightly up The motors should begin to turn You need to apply more throttle to take off normally 6 3 Motor Mixer Checking Before take off you still need to check your motor mix control First let s take the quadcopter type as an example to simply describe how to check motor mix control Please refer to the illustration for other aircraft configurations You need to arm the motors and check what happens when you advance the throttle stick 1f the four motors rotate at the same speed this means the motor balance 1s good 1 To check the aileron channel slightly push the aileron stick to the left motor M4 should rotate immediately see 1 on the illustration below the other three motors should keep still Push the aileron stick to the right slightly motor M2 should rotate immediately see 2 on the illustration below the other three motors should keep still 2 Check the elevator channel According to the aircr
6. the position until the BLUE LED is back ON amp continue with the rotation 18 YS S4 Multi rotor Autopilot User Manual V1 4 Step 1 Move CH5 amp CH6 to Position 1 Step 2 Move switch CHS three times quickly between Position 1 amp Position 2 You have entered Vertical Calibration Carefully rotate the aircraft 3 times as shown below always keeping the head down Ensure the GREEN LED remains ON during the turn If the LED turns OFF adjust position until the GREEN LED 1s back ON amp continue with the rotation After completing above place the aircraft on the ground amp Move CH5 amp CH6 to Position 1 then move CH5 switch quickly 3 times The YS S4 V2 will enter the magnetic recording amp the LED will now flash GREEN Calibration 1s completed when the GREEN flash turns OFF 6 1 2 Compass alignment by Phone There are 3 steps to follow 1 Level calibration 2 Vertical calibration 3 Save GPS COMPASS data Click Compass button on Phone GCS Data Page 19 YS S4 Multi rotor Autopilot User Manual V1 4 ET ado Compass Select Horizontal Alignment in the dialog box and click OK button to start level calibration If you don t want to keep on calibrating select Cancel and confirm HITES SRB Magnetic Compass Cancel Honzontal Alignment Vertical Alignment Carefully rotate your aircraft horizontally three times ENSURE that the BLUE LED light remains ON during this procedur
7. Autopilot User Manual V1 4 5 WI FI Module connection The WI FI data cable is a 3 core cable connect the end which has the lock to the WI FI module and connect the other end to master controller 5 SOFTWARE 5 1 Install Phone GCS Download the YS GCS Android software from our official website http www zerouav com The App must be installed to the Mobile phone memory card It can be installed automatically by selecting INSTALL on the APK file once in the file manager SIV2 GCS YS S4 Multi rotor Autopilot User Manual V1 4 Open the GCS user need to purchase the optional WIFI module When the data has connected you will see the serial number and firmware version for the autopilot on the interface After connecting your WI FI to the GCS successfully you can also see the real time updated data on the Data Page 5 2 Tx setup Step 1 1 Select fixed wing model on your transmitter Remove any channel mixing 2 FUTABA Radio All channels should be Normal no reverse 3 JR JT amp WELY Radios Reverse all channels 4 Ensure your radio has two sets of two way switches Programme CH5 amp CH6 to these switches to control the flight modes CH6 Position1 Neutral CH6 i 1 CH5 Position1 Manual Mode y A CH5 Position2 Auto Mode CH6 Position2 Return amp Land Mode Adjust your two way switch end points to control the flight modes YS S4 Multi rotor Autopilot User Manual V1 4 CH5 CH6 GPS Lock Worki
8. Click the button to get the current parameters Click several times if it fails Normally the autopilot uses the default parameters After changing any parameter settings away from the current settings you must click the button click several times if it fails and this will upload the revised parameters to the autopilot If you want to recover the default parameters you need to switch to manual mode and pull the Default throttle stick to the bottom and then click the button HAG E FIDE l PARA E F iD laa 0 55 EEN j EEN j BRL Pees MS Fee or ua Te DRAE APES EMT MOE ia SoH REP mA KTERE 13 YS S4 Multi rotor Autopilot User Manual V1 4 5 4 Tx calibration The remote calibration of YS S4 is divided into two kinds mobile phone mobile phone calibration calibration must be connected to the W1F1 and the PC calibration 5 4 1 PC calibration transmitter channel Step 1 Select the correct stick layout Click the menu button of manual servo on your PC GCS In the PC GCS which opens select the Hand Mode drop down menu The Hand Mode is your transmitter mode Mode 1 Mode 2 Mode 3 etc Hiet AAS gt Select your own operation style in the manual mode menu The illustration shows American Hand which is Mode 2 Japan Hand American Hand Fiziet Eurape Hand Step2 Calibrate the sticks 14 YS S4 Multi rotor Autopilot User Manual V1 4 E Jl E E
9. YS S4 Multi rotor Autopilot User Manual V1 4 YS S4 Multi rotor Autopilot User Manual V1 4 ZERO TECH Zero UAV Beijing Intelligence Technology Co Ltd YS S4 Multi rotor Autopilot User Manual V1 4 l MBOX tarnus non A 3 Aa len 6 a ene e E A AT T E E E A 4 A A O 5 AAC ONE OASIS iia 6 AIN EMO tc 6 AD REAL COMME CONAM cia 1 IOF TWA RE A A A athens N AE A a O 8 Asta EBONE G OS a E T SA 8 NE AAA A A IA 9 A EE A EAEI E acetate E E E E EEE 10 SE parameter AC IUS UMC tac 11 2 Phone parameter s 14 ie non a E a O 15 5 4 1 PC calibration transmitter Aa linia id 15 542 Phone Calibrador 17 A CO 17 6 ACJUSUMENE outdoor AAA EE E E EE AR 19 1 GPS Compass CAIDO oia 19 6 1 1 Compass alignment DY Plana 19 6 1 2 Compass alioniment Dy PRONG i t38 isonet cael usec 20 02 MOA saiia ado 22 6 3 Motor Mixer Casco ais 23 PP a tah Sceaeatsatans eee asa E E A donde telnet N E babes 24 NO O a ba ed 24 Bs Firmware UIT ds 25 PRD CGI A O A 21 LED Indicator mean Sri iii 21 Fhent Mode Desciipio Miis E A pee 29 8 1 Phone Tablet COn 29 YS S4 Multi rotor Autopilot User Manual V1 4 1 1n Box The MC Main Controller with its integral Inertial Measurement Unit IMU combines and communicates with the other modules and external electronic devices to carry out its function as a complete autopilot system The GPS Compass module is for sensing the orientation of the aircraft by reading its position and direction The LED indic
10. aft symmetry it should be similar to checking the aileron channel Push the elevator stick up slightly motor M3 should start to rotate see 3 on the illustration below now slightly pull the elevator stick down and motor M1 should start to rotate immediately see 4 on the illustration below Quadcopter X type 22 YS S4 Multi rotor Autopilot User Manual V1 4 7 Task 7 1 Servo Gimbal Please power the servo if use S4 V2 and gimbal HOLAS BANAL Connect Y 1 to gimbal roll servo and Y2 to gimbal pitch and Pitch Sensitivity in the GCS is for adjusting the correction angle and direction of your gimbal servo Roll Sensitivity Parameter Sectionof the Gimbal Sensitivity ranges from 127 to 127 A negative number reverses the direction of travel and the size of the number affects the amount of correction 23 YS S4 Multi rotor Autopilot User Manual V1 4 Use channel 7 on your transmitter for gimbal control and assign it to a knob switch Channel 7 will now adjust your gimbal pitch location and will continue to stabilize the camera at all angles of pitch The spare channels may be used for other applications Normally roll servos will maintain gimbal stabilization in the middle position If your gimbal tilts to one side it can be adjusted it by clicking Enter Setup in the Setting section CH5 must in manual and the throttle set to minimum Now the CH7 knob can be used for controlling gimbal roll The
11. ates current flight status of the craft The light shows information such as flight mode number of satellites in view and battery used Supplies regulated power for the autopilot and the Wi fi module Input voltage is from 3S to 6S Lipo and output is 5 7v The GPS COMPASS is sensitive to magnetic interference This bracket is used to mount the GPS module where necessary and to keep it far away from EMI sources YS S4 Multi rotor Autopilot User Manual V1 4 2 Functions 1 Supported multirotor layouts Quad X4 Quad 4 Hexa X6 Hexa 6 2 Upgradable upload new flight firmware via mini USB cable 3 Four working modes 1 Stabilize flight 1 Altitude hold 111 Auto hover iv Return to home amp land 4 Control methods RC 5 Support parameter configuration via PC or Android mobile via WIFI 6 Reciver supported Common receiver PPM 7 Gimabl supported Servo gimbal 8 LED Light display s the mode GPS lock amp low power warning 9 Standard safety features include motor arming protection failsafe auto RTH amp auto landing 3 Installation 1 YS S4 V2 Module Installation a The YS S4 Module should be placed level on the main body of the aircraft b For best results install at the Center of Gravity CoG of the aircraft c The Front Arrow MUST point towards the head of the aircraft i Ml ue ms me vi v2 GPS B Note There is no need to add extra dumping the S4 V2 can adapt most
12. e parameter adjustment must be connected to the WiFi and the PC parameter adjustment 5 3 1 Pc parameter adjustment a Ensure that your GPS Module has been connected to the YS S4 module Configuration will not work if the GPS is not connected properly b Ensure your Tx radio is ON amp the THR stick is at bottom amp flight mode is in Stabilization mode c Check amp make sure the switch position 1s correct for Configuration amp Flight USB Interface tir ad o e 7 o A mo A soe SOO ld he Switch towards GPS interface d Connect your YS S4 module to your PC via the USB interface Power up your YS S4 with 3S 6S lipo battery e Your PC may show find a new hardware when using the USB cable for the first time Use driver program in the Driver folder in the root of the config software f Select the correct COM number amp begin configuration by clicking Open COM B Open COM la Parameters Adjust Transmitter Rall sensithvity Flight Status g Press Get button to download your YS S4 module current aircraft configuration 7 l Adjust Transmitter gt lt lt Default YS S4 Multi rotor Autopilot User Manual V1 4 h i J k I m n 0 p Change the Aircraft Type according to your model The factory default parameters are good for normal flying in most models During test flights it is recommended to
13. e If it turns OFF that means the aircraft is not horizontal Adjust the position until the BLUE LED is back ON amp continue with the rotation Carefully rotate the aircraft 3 times as shown below always keeping the head down Ensure the GREEN LED remains ON during the turn If the LED turns OFF adjust position until the GREEN LED is back ON amp continue with the rotation Click Save Alignment the dialog box and click OK Now the GCS software will automatically switch to the Control interface screen and it will display two circles a BLUE one and a RED one The YS S4 v2 will enter the magnetic 20 YS S4 Multi rotor Autopilot User Manual V1 4 recording amp the LED will now flash GREEN Calibration will be completed seconds later when the GREEN flash turns OFF The circles are shown in the picture If the circles are more or less round this means the calibration has been successful If not then you need to do the calibration again Compass calibration does not need to be done every time you fly but should be done when components are removed or reconstructed There is no need to recalibrate if only upgrade the firmware 6 2 Motor Arm For safety reasons the S4 V2 locks the motors on landing They can only be re armed to allow them to rotate and work after carrying out the arming procedure Note Motor arming will fail if GPS module is no connected How to Arm the motors and unlock To arm you
14. ght Status 2 seconds GREEN and RED Manual GPS NO LOCK Manual GPS LOCK Green light blinks once per loop Manual altitude hold E I I MX I I x 3 seconds GREEN 2 and RE YS S4 Multi rotor Autopilot User Manual V1 4 IS E o First stage low voltage alert 00 00 2 seconds RED Final stage urgent low voltage e e 3 seconds RED alert Return amp Landing 000000 Continuous RED flashing Magnetic compass calibration s 0009 Continuous GREEN flashing IMU Error Continuous YELLOW flashing The autopilot can calculate the low voltage alert according to the Cell Number filled in by the user Final stage low voltage alert single voltage alert No 0 05v X Cell No When it is final low voltage alert the craft will land originally user could adjust landing pisition during landing but make sure DO NOT push the THR stick 27 YS S4 Multi rotor Autopilot User Manual V1 4 Flight Mode Description Note a Make sure ON TX first and put THR stick in the bottom b DO NOT push THR stick to bottom position during flying C DO NOT switch to auto fly mode until the craft get stable in manual stabilization mode d Switch to manual stabilization mode if craft meet emergency in auto fly mode 8 1 i 1 Phone Tablet Control 1 Phone Remote Control Mode During flight when transmitter is switched to Auto hover in GPS mode the aircraft will enter auto hover mode Now you can activate control of you
15. gimbal roll s balance position may be fixed and saved by clicking Quit Setup Now CH7 will revert to controlling gimbal pitch 8 Firmware Upgrade Note 1 You may download the latest firmware and assistant tool from the ZeroUAV website before upgrading the firmware Connect the YS S4 to the computer with Mini USB cable Power S4 V2 and put THR stick in the bottom Open the firmware S4 GCS USB exe Click Open USB button in the YS S4 firmware upgrade window RESH PODEIS ZOMERE TN ZSMWETE TEBE ESE E Al SE EES Rate aye BK UTEE 3 67 y a BAPE 2 7 a aR Hat ERS 13 55 gt ALA eth Hath mere BE IRA lo KES FERIRA 0 Kisii BARES Feith RAT HA Daas 24 YS S4 Multi rotor Autopilot User Manual V1 4 Click OK TORA O sdv2 BiacZhun 20140115 v021 bin me wu fin 5 The program will auto upgrade when selected the upgrade produre 25 YS S4 Multi rotor Autopilot User Manual V1 4 ae EET 1 F To AJE IS Pe Bir phe Bie Fuse OSES Lik VERE A Banat Pant C Documents and Settings lyj S2M0 GCS S4 1SB s4v2 Bia Power off the autopilot when it says upgrade successfully Quit the firmware upgrade software and power off the autopilot EH q AER Ek PoE i a A na PT EF E B C Documents and Settings lyj Sel GCS S4 USB s4v2 Bia Free Ay ta Appendix LED Indicator meannings See below Fli
16. ilized in 3 axis 30 YS S4 Multi rotor Autopilot User Manual V1 4 The craft may be controlled by Tx but meanwhile it 1s controlled by stabilization signal of autopilot YS S4 The final flying state is determinde by both of manual control and autoplit control YS S4 flight characteristic is stable calm flights Do not fly fast violent flights with large stick inputs when using this controller 2 Manual Position Hold With GPS not located statellite lock less than 5 bring CH5 to position2 amp CH6 to position 1 to enter manual altitude hold mode In this mode craft will hold the altitude but not hold the position When THR stick in 50 the craft will hover in the current altitude but not in currrent position craft will drift when the GPS is not locked and meanwhile craft can be controlled manually Left right is controlled by AILERON Stick Up Down controlled by ELEVATOR stick direction controlled by RUDDER stick height controlled by THR stick THR stick is 50 craft will auto hover THR stick is more than 50 craft will fly upward THR stick is less than 50 craft will fly downward Craft could fly to any altitude controlled by THR stick and fly to any position controlled by other sticks 3 Auto hover With GPS located statellite lock more than 5 bring CH5 to position2 amp CH6 to position to enter auto hover mode 1 Auto Hover a In this mode the aircraft will hold the position and altitude b
17. ity would affect the degree of command response in flight Default value 1s 45 range 0 255 Motion Compensation can increase stability but would decrease the sensitivity Default value 1s 20 range0 255 ao M7 is the PTZ Gimbal roll output and M8 is the PTZ pitch output Roll Pitch sensitivity is used to adjust the compensation angle of the PTZ data for your Gimbal Your can compensate high or low for aircraft movement within a range from 127 to 127 Note You can enter a Eos 250 Control different frequency gimbal servo 50HZ 250HZ 333HZ 400HZ setup Max flight speed Setup maximum flight speed ME ATT 4 8 m s i i To setup the Max climb decent speed RANER AE Fill the voltage per cell required to activate a low voltage alert for a olt Alert Thres pe A 9 old Lipo battery this would be normally 3 65v The autopilot can calculate the low voltage alert according to the Cell Number filled in by the user If your phone vibrates once every 2 seconds it is a reminder that the power is getting low When it vibrates continuously it means the power is getting very low and you should land at once YS S4 Multi rotor Autopilot User Manual V1 4 Al 100 PES eal 300 User can setup the height or distance by self to limit the flying distance The maximum is 1500 meters min 10 meter a FS Quad Roto 4 Enter your aircraft type 5 3 2 Phone parameter setup 1 Getting the current parameter set up of the aircraft
18. kind of craft For some bigger frame it is hard to control sometimes the craft jump upward It is suggested to purchase the dumping structure as below encase 7 ccs E ME O o a A a a YS S4 Multi rotor Autopilot User Manual V1 4 S 4V2 dumping structure 2 GPS Module Installation The GPS module should be installed on a level GPS stand which 1s higher than the electrical components on the aircraft This ensures minimal magnetic field effect from the other component on board such as power cables transmitters camera etc Ensure that the sticker faces up and the arrow point towards the head of the aircraft 4 connections 4 1 Assembly FISK RICE CTH PORE ERI Front AMABA EEN a ER CERT Aim eB S BINA PEA PIPE TETHER ie UE BME AMET A ASE IZE MEYZ emzomeage MIES SEEM KIENS GPStRiz O GPSSHF Riah ARRERA McShea Tizs BRE HIGPS3z 22342 GPsiath O GPS FEM TFRS GPS REEF AFM IAEA AEHEEGPS E MAITE GPS IEA ZA TF Note A Make sure to use the factory originally power module manufacturer has no responsibility RAM OSAMA eRe A HAI MAA OZ IMA FAMA EAN AEREA RAN ORCL SIFPPMIENL REM IEEE ARNES AMARA RAR OSI REA RIA AI AE CHR HT EE PAR OR MAHA 35 65 EFE BLED TEA EME HITA GPS BRE Knip cae for the result if the autopilot is burnt by using other power module B The Power supply module and the WI FI module must have a 3 to 6
19. l ascend to 20 meters before initiating RTH when enter RTL mode If the height is higher than 20 meters the YS S4 V2 will maintain altitude during RTH If the distance from home position is more than 20 meters the YS S4 V2 will maintain previous altitude during RTH e Safety Since RTH is fully autonomous and you cannot alter the flight path during RTH to avoid accidents it is not advisable to activate RTH too close to you or spectators Also note to avoid sudden lost in altitude THR stick should be above mid point when you change the mode from RTH to Stabilized Mode Switch CH6 to position from position2 to quit RTL mode After landing the motors will stop Move your THR stick to bottom 5 seconds later motor will lock Arm the motor to restart flying 32
20. ng phone attitude mode the color of the cross will change from Green to Blue After exiting phone attitude mode control will automatically revert to phone control mode NB Please place your phone level before enabling phone attitude mode otherwise the aircraft will fly following your phone tilt direction after switching to attitude mode 29 YS S4 Multi rotor Autopilot User Manual V1 4 Controlling the aircraft using phone attitude control mode Enable User Interface Operations Aircraft Status Control Circle Red GPS not locked status Green GPS locked Position m No Operation Position hold Hold 1 moving Tilt the phone Level 1 up down Flight 2 left right 3 left right top left right bottom etc forward backward moving left right Moving left right top left right bottom etc l Press any available area on the screen and point the phone upwards 2 Press any available area on the screen and point the phone downwards 3 Press any available area on the Climb Climb screen and turn the phone left Descend Descend Tarn 4 Press any available area on the Rotate to left screen and turn the phone right Rotate to right NB Holding amp Moving distance Flying speed the greater the movement the higher the flying speed Holding time flying time 1 Manual Stabilization Mode a In Manual Stabilization Mode TX CH5 amp CH6 in position1 the aircraft will fly normally and stab
21. ngMode Position Position Position 2 Position 1 GPS No Lock Manual Altitude Hold l Auto Hover GPS Lock above 5 satellites X Position 2 l Return amp Land GPS Lock above 5 satellites Note Return amp Land mode is always first In any mode autopilit will return amp land if CH6 is switched to position2 Step2 Fail Safe setup There are 2 ways of F S default and optional mode 1 Default F S mode FAILSAFE Check with your Radio manual on how to set the Receiver failsafe Ensure that when you OFF your radio your failsafe settings are as follows e CHS setto position 2 e CH6 set to position 2 e THR set 50 mid point Default F S mode only has one Return amp Land mode namely S4 V2 will command craft return and land automatically if the communication between Tx and autopilot disconnected 2 Optional F S setup Note A Make sure the Tx is FUTABA transmitter B it is not commanede to use the optional F S setup for beginners because it is very complicated Ensure that when you OFF your radio your failsafe settings are as follows e CH5 set to position 2 e CH6 set 50 mid point e THR set 50 mid point Check with your Radio manual on how to set the Receiver failsafe Please refer to the video to setup Tx http www tudou com programs view e1ai526Mbt4 YS S4 Multi rotor Autopilot User Manual V1 4 5 3 Parameter Setup YS S4 Parameter setting can be divided into two kinds mobile phone mobile phone adjustabl
22. nsmitter whilst the autopilot is still powered the flight status should switch to display Go home and land On Pc GCS it displays as Landing or Auto hover the throttle stick indicator should be in the middle and display in green If not please setup the fail safe F S again 17 YS S4 Multi rotor Autopilot User Manual V1 4 6 Adjustment outdoors 6 1 GPS Compass Calibration When using the S4 V2 autopilot for the first time the GPS COMPASS must be calibrated before arming the motors Note 1 Compass calibration does not need to be done every time you fly but should be done when components are moved or if the aircraft flies in unexpected ways like in circles for example 2 a ALWAYS carry out this calibration outdoors far away from metallic objects cars radio towers power lines etc There are two way to calibrate the compass by Phone with WIFI module or by PC 6 1 1 Compass alignment by PC There are 3 steps to follow 1 Level calibration 2 Vertical calibration 3 Save GPS COMPASS data Step 1 Move CH5 amp CH6 to Position 1 Step 2 Move switch CHS three times quickly between Position 1 amp Position 2 The LED will flash BLUE for 2 second loops You have entered Horizontal Calibration Carefully rotate your aircraft horizontally three times ENSURE that the BLUE LED light remains ON during this procedure If it turns OFF that means the aircraft is not horizontal Adjust
23. r transmitter mode Mode 1 Mode 2 Mode 3 etc E 1 92 168 1 254 SERER E y FRA AA Select your own operation style in the manual mode menu The illustration shows American Hand which is Mode 2 Step 2 Calibrate the sticks Click the button Adjust Transmitter on GCS Data and click OK in the dialog box Move both sticks to their end points in a circular motion within the next 5 seconds The autopilot will store the maximum and minimum end points and also the mid points of both sticks 2 0 Failsafe Checking Step 1 Check the changing Flight Modes 16 YS S4 Multi rotor Autopilot User Manual V1 4 1 Check the changing Flight Modes via the Configuration software Flight Status Assuming your GPS module is ready now check whether switching between all working modes is working normally CATE Eg with CH5 at position 1 and CH6 at position 1 the PC GCS data page should show your TX status as Manual 1f not please check your hardware connection or RC Transmitter setup Step 2 Fail Safe F S checking 1 Default F S checking Switch off the RC Transmitter whilst the autopilot is still powered the flight status should switch to display Go home and land the throttle stick indicator should be in the middle and display in green If not please setup the fail safe F S again It is strongly recommended to use the Default F S Checking 2 Optional F S Checking Switch off the RC Tra
24. r aircraft via your cellphone by pressing Enable Control in the Control screen of your GCS NB In phone remote control mode transmitter control will not work Enable Control Enable Attitude Control Set Quit 28 YS S4 Multi rotor Autopilot User Manual V1 4 How to control your multi rotor by phone or tablet Enable l User Interface Operations Aircraft Status Control Circle Red GPS not locked status Green GPS locked Position gt No Operation Position hold Hold 4 move Drag finger over screen forward backward 5 move left right 6 Move left right top left right bottom etc Level 1 up down Flight 2 left right 3 left right top left right bottom etc Click below the area inside the cross l over circle 2 under circle 3 Left of circle 4 right of circle 1 Climb 2 Descend 3 Rotate to left 4 Rotate to right Climb 1 The distance between circle and Descend click point is proportional to flight Turn speed The further the distance the faster the flying speed 2 Time pressing control circle is proportional to Aircraft movement time If GPS is not located eg indoors Phone Tablet remote control function is not available The WIFI module must be connected when use Phone Tablet remote control mode 2 Phone attitude control mode Phone attitude mode can be enabled when in phone control mode Click Enable Attitude Control in the phone Control menu After enteri
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