YS-S4 Multi-rotor Autopilot User Manual
Contents
1. is your transmitter mode Mode 1 Mode 2 Mode 3 etc Set IP 192 168 1 254 Altitude br aEnH B NU Japan Hand OK Cancel M IQ 16 3 1 1 2 YS S4 Multi rotor Autopilot User Manual V1 4 Select your own operation style in the hand mode menu The illustration shows Japan Hand which is Mode 1 Japan Hand American Hand China Hand Europe Hand 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 5 Seconds The autopilot will store the maximum and minimum end points and also the mid points of both sticks 6 5 Fail Safe Checking Step 1 Check that Flight Modes change on TX command Check Flight Modes via the Configuration software Flight Mode Assuming your GPS module is connected check whether switching between all working modes is working normally Flight Mode For example Place CH5 at position1 and CH6 at position1 the PC GCS data page should show your TX status as Manual Change CH5 to position 2 for Auto Hover and so on If flight mode does not change when you toggle the switches please check your hardware connections or RC Transmitter setup Step 2 Fail Safe F S Checking How to check default F S SWITCH OFF the RC Transmitter whilst the autopilot is still powered on the Flight Mode should switch to display Return and Lan2. S4 will adapt to most aircraft types without inner dampening It may not adapt satisfactorily to larger aircraft in which case the YS S4 should be mounted on the optional dampening structure shown below and available from ZeroUAV YS S4 dampening structure 4 2 GPS Module Installation 1 Ensure that the sticker faces up and the arrow points towards the head of the aircraft Otherwise the aircraft may fly in circles when in auto hover mode 2 The GPS module should be installed on a level GPS stand mounted higher than the electrical components on the aircraft This ensures minimal magnetic field effect from the other on board components such as power cables transmitters motors ESCs and camera GENET o MM 3 Arrow toward o NON aircraft head YS S4 Multi rotor Autopilot User Manual V1 4 5 Connections 5 1 Assembly Radio System 9 Setup well the channel of aileron elevator THR and rudder on your Tx first Select two 2 way switches as the control switch and Main Controller The MC could be directly sticked on aircraft and should be placed level on the main body of the aircraft The Front arrow MUST point towards the head of the aircraft connect receiver to the MC connector in order RC receiver PPM supported is powered directly from MC no need any additional power otherwise the device may be burnt Make sure all connectors are clear which is convenient for connecting cables a
3. multicopter nose down and the LED turns green Rotate the multicopter 3 times counter clockwise as shown below always keeping the aircraft nose down Ensure the GREEN LED remains ON during the turn If the LED turns OFF adjust the attitude of the multicopter until the GREEN LED is back ON and continue with the rotation and put the multicopter level again when finished the rotation The LED turns off Step 4 Flip CH5 switch three times 1 gt 2 gt 1 gt 2 gt 1 gt 2 gt 1 quickly and the LED turns green Wait until the LED turns off That indicates the compass calibration is done 7 1 2 Compass alignment using Smartphone Step 1 Click the Magnetic Compass button on the Phone GCS Data Page 19 YS S4 Multi rotor Autopilot User Manual V1 4 WERE Compass Step 2 Select Horizontal Alignment in the dialog box and then click OK button to start level calibration If you don t want to keep calibrating select Cancel and confirm OK Magnetic Compass Cance Honzontal Alignment Vertical Alignment Step 3 Level your aircraft and carefully turn around horizontally three times ENSURE that the GREEN LED light remains ON during this procedure If it turns OFF that means the aircraft is not horizontal Adjust the position until the GREEN LED is back ON and continue with the rotation Step 4 Select Vertical Alignment in the dialog box and click OK button to start the vertical calibration I
4. press the Read button If this fails try several times to download your YS S4 module current aircraft configuration C Press Save button If this fails try several times to upload the newest parameters to the YS S4 if the parameters have been changed d To restore the default parameters push THR stick to bottom and press Default button e The S4 V2 default parameters are shown below 12 YS S4 Multi rotor Autopilot User Manual V1 4 Autopilot Configuation Parameter Settings Adjust Transmitter PTZ ROLL ST B P Version PTZ PITCH STAB P Volt PTZ Servos Frequency Roll STAB Satellites Pitch STAB Longtitude Shake COMPENS Lattitude WMax FlySPEED 4 8M S MaxLIFTspeed m s Course angle WARNING Cell volt 3 65Volt v LIPO Cell Num N ii Attitude Altitude Altitude Limit Flight Mode Distance Limit 300 F S Option Land Stick Layout MULTI CONFIG Quad 4 x 9 OM 4 Read Save Default Roll sensitivity and Pitch sensitivity would affect the degree of command response in flight Default value is 45 range 0 255 Motion Compensation can increase stability but would decrease the sensitivity Default value is 20 rangeO0 255 PTZ ROLL STAB 20 PTZ PITCH STAB 20 iaa Zi ooo B 00000B 0 000000 0 2 87 5 R 10 U 0 Model Roll Pitch sensitivity is used to adjust the compensation angle of the PTZ
5. the aircraft will enter auto hover mode Now you can activate control of your aircraft via your cellphone by pressing Enable Control in the Control screen of your GCS NB When in phone remote control mode your 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 Control User Interface Operations Aircraft Status Red GPS not locked Circle status Green GPS locked Position Hold No Operation Position hold Drag finger over screen 1 move forward backward 1 up down 2 move left right Level Flight 2 left right 3 Move left right top 3 left right top left right bottom etc left right bottom etc Click below the area inside the cross 1 over circle 2 under circle 3 Left of circle 4 right of circle NB Climb Descend Descend 1 The distance between circle and click point is Turn Rotate to left proportional to flight soeed The further the Climb Rotate to right distance the faster the flying speed 2 Time pressing control circle is proportional to Aircraft movement time IMPORTANT If GPS is not located eg indoors Phone Tablet remote control function is not available The WI FI module must be connected when using Phone Tablet remote control mode 2 Manual Stabilization Mode In Manual Stabilization Mode TX CH5 and CH6 in position1
6. the aircraft will fly normally and is stabilized in 3 axes The aircraft may be controlled by TX but is also controlled by the stabilization signal of the YS S4 autopilot The final flying state is determined by a combination of manual control and autopilot control YS S4 flight is characterized by stable calm flights Do not fly fast violent maneuvers with large stick inputs when using this controller 3 Manual Altitude Hold When GPS is not located when satellites locked are less than 5 and when CH5 is in position2 and CH6 in position 1 the S4 will enter manual altitude hold mode 29 a b c d YS S4 Multi rotor Autopilot User Manual V1 4 In this mode craft will hold the altitude but not hold the position When the THR stick is in its 5096 position the craft will hover in the current altitude but not at its current position the craft will drift when the GPS is not locked but the craft can still be controlled manually Left right is controlled by the AILERON Stick Up Down controlled by the ELEVATOR stick direction is controlled by the RUDDER stick and height controlled by THR stick If the THR stick is 5096 craft will auto hover If THR stick is more than 5096 craft will fly upward If THR stick is less than 5096 craft will descend The Craft can fly to any altitude controlled by THR stick and fly to any position controlled by the other sticks 4 Auto hover With GPS located when satellite
7. to Connect the Modules 1 Connect the power supply module As shown below one 3 core cable is used to connect the S4 to the power unit the WHITE core is up the RED core is in the middle and the BLACK core is below The RED and BLACK bare wires should to be soldered to the Positive and Negative pole of the battery pack connector 3S 6S Lipo 2 Connect the LED module The LED module should be connected to the LED interface of the S4 main controller as shown 3 Connect the GPS module The GPS module has red and black ends the RED end is connected to the S4 GPS R interface and the black end to the GPS B interface The side of the slot faces up 4 Connect the receiver YS S4 Multi rotor Autopilot User Manual V1 4 The receiver should be connected as follows the WHITE wire signal is up the RED wire positive is in the middle and the BLACK wire ground is at the bottom The ESC wires should be connected in the same way but NB If your ESCs have a BEC supply voltage via a battery equivalence circuit then you must remove the red wire from each If you are not sure about the BEC remove the red wire anyway 5 Connect the WI FI Module extended 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 the COM interface on the YS S4 white wire is up red is in the middle black is below The WI FI module should be powered separately p
8. to adjust the landing site but the THR cannot be controlled The THR control is fully autonomous for descent and landing Altitude If the craft is beyond 25 meters away from home position and below 20 meters altitude the YS S4 V2 will ascend to 20 meters before initiating RTH when it enters RTL mode If its height is more 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 30 e YS S4 Multi rotor Autopilot User Manual V1 4 V2 will maintain its previous altitude during RTH 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 loss in altitude the THR stick should be above its mid point when you change the mode back from RTH to Stabilized Mode Switch CH6 to position1 from position2 to quit RTL mode After landing the motors will stop Move your THR stick to the bottom 5 seconds later the motors will lock Arm the motors to restart flying Support Website www zerouav com Telephone 0086 10 57250711 31
9. Ds see below Manual GPS NOT LOCKED ee vov 00 1 second GREEN and 1 second RED Manual GPS LOCKED 2 seconds Green once per loop Manual altitude hold eee eee 2 seconds GREEN and 1 second RED First stage low voltage alert eeece ce 2 seconds RED Final stage urgent low voltage alert 3 seconds RED Return and Land Continuous RED flashing Magnetic compass calibration 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 Number Voltage per cell 0 05v Cell Number E g voltage per cell 3 7 0 05v 23 65 multiplied by cell number total voltage 14 6v for 4 cells When the final low voltage alert is indicated the craft will land You can adjust the landing position during landing but make sure you DO NOT push the THR stick during this operation 27 YS S4 Multi rotor Autopilot User Manual V1 4 Flight Mode Description IMPORTANT Make sure the TX is on first and the throttle stick is at the bottom DO NOT push the THR stick to the bottom during flying DO NOT switch to auto fly mode until the craft is stable in manual stabilization mode Switch to manual stabilization mode if craft meets an emergency situation in auto fly mode 1 Phone Tablet Control 1 Phone Remote Control Mode During flight when the transmitter is switched to Auto hover in GPS mode
10. RTANT Motor arming will fail if the GPS module is not connected Enable the Combined Stick Command CSC for motor arming as shown below To arm 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 is called type For Chinese and European operation Mode 3 and Mode 4 you need to apply the type to arm the motors 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 7 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 if the four motors rotate at the same speed this means the motor balance is 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 el
11. 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 1 YS S4 Multi rotor Autopilot User Manual V1 4 Table of Contents Japle OF Contents san ER UU Tt 2 bowWarnins and Disclalitel essi fasect o Deoa ei eoa Ec ER odi ce uec a E te Op se ansaeecuapesaSeieaanoss 3 ZN Cs Box s esci oto Roca nd Mt i e i Ld i uM E 4 E RUM CCIO IN RE M M ts 5 Mace ee vena cases asenadeaeviuese socom ane lawaseuaameestgeiay ccemesoeses Gceu sda avaue tar N N ES 6 Ds gus pt M M e 7 EA Rail PET TE DD E E 7 5 2 HOW TO connect the modules onrera e ut ua esa T matado i e piene aci OD uL mue 8 m Go nuire Asie umido A vavensosaedaneuteocdacatetatesanaesdsca uate anes 9 Gl Install PHONE GC Sie rM 9 EPA P eril oM PR 10 6 gt Parameter SOLU neaei E oet an eundo obe veut culis bestia T ens ote tecta dot eu eese Y vada prm e Rose MN vpn Cot td 12 5S IPCParameter Adus tne N see ncc ice er ec tei cat Rice o ecdesia Ucet doo eoo epa Ue Do e eb eps ei oUH 12 5 92 Phone Parameter Adjustment oi v dd videte vei iue Moped di en eX aima pU E Sd A E UU trETEE 14 6A PECADO Meenen OL DD LL 14 6 4 1 Traasmitter channel Calibration by PC iui d o e eek ob b a E CY EB os EE UE Eee e wt deb PE LEE RR dis 14 94 2 DxealiBration DV PION E dosis qe nea cu De REO
12. control the aircraft according the pre programmed F S mode if the aircraft loses the TX signal set this up on the PC software under Fail Safe options Please refer to this video for help setting up your TX http www tudou com programs view e1aib26Mbt 6 3 Parameter Setup YS S4 Parameter setting can be achieved using a mobile phone or tablet must be connected to WI FI or by using a PC to adjust the parameters 6 3 1 PC Parameter Adjustment Please download the special PC Parameter Setup Software from the Zero website before parameter configuration IMPORTANT 1 PC Parameter Setup Software is also the firmware upgrade tool 2 S4 will choose different working modes if the sequence used in powering on is different If you power the SA first and then connect the USB cable you will be in Parameter Setup Mode If you connect the USB cable first and then power on the S4 then you are in Firmware Upgrade Mode PLEASE NOTE THE FOLLOWING WHEN SETTING UP AND INSTALLING THE S4 When the craft is on the ground power the TX first and then power the S4 Please MAKE SURE propellers are removed before connecting the battery to prevent injury from the motors starting unexpectedly a Power the YS S4 first and then 2 seconds later connect the YS S4 module to your PC via the USB interface MAKE SURE the THR stick is at the bottom Connect the mini USB cable b Select and open software S4 GCS USB exe press Open USB and
13. d the throttle stick indicator should be in the middle and displayed in GREEN If it does not please setup the fail safe F S again It is strongly recommended to use the default F S How to check optional F S 17 YS S4 Multi rotor Autopilot User Manual V1 4 SWITCH OFF the RC Transmitter whilst the autopilot is still powered on the Flight Mode should switch to display Return and Land Land or Auto hover these options are the chosen F S settings from your PC GCS the throttle stick indicator should be in the middle and displayed in GREEN If not please setup the fail safe F S again Autopilot Configuation Parameter Settings PTI ROLL STAB 20 Adjust Transmitter AP Version 140033 PTI PITCH STAB 20 AP Volt 12 163 PTZ Servos Frequency o50Hz Roll STAB Im 1 Satellites I Pitch STAB 45 Longtitude Or 000000 s ONPE 20 Shake COMPENS 2 m E 0 000000 Max F lySPEED A 85 Y duco 0 2 WaxLIFTspeed 25 87 5 TIT Course angle R L J VARNING Cell volt J Od odt bd EREE A n e M Attitude R 10 0 0 Loan d ei SH fioo Ketura L Ari Altitude Linit 100 Flight Node T za x ar Distance Limit 300 INF IG n t h on 5 ut oanawer F S Option Land x Stick Layout WULTI COKFIG Quad 4 zi 9 Om EO o Read Save Default Adjust Transaitter 7 Adjustment Outdoors 7 1 GPS Compass Calibration When using the S4 V2 autopilot for the first t
14. 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 negative value to reverse the direction of compensation PTZ Servos Frequency 250H2 Enter this to match the frequency of your gimbal servos 50Hz 250Hz 333Hz and 400Hz servos are supported Max FlySPEED 4 SHS Set up the maximum flight speed WaxLIFTspeed 28 5 Set up the Maximum rate of climb and descent WARNING Cell volt 3 65 olt The autopilot can calculate the low voltage alert according to the number of LIPO Cell Num g that the power is getting low When it vibrates continuously it means the power is getting very low and you should land at once 13 Enter the voltage per cell required to activate a low voltage alert for a Lipo battery this would be normally be 3 65v cells entered If your phone vibrates once every 2 seconds it is a reminder YS S4 Multi rotor Autopilot User Manual V1 4 100 Altitude Limit The maximum height and distance allowed can be specified The mun DIDIT 300 maximum is 1500 meters min 10 meters Land Set up Fail Safe mode C Auto RTH and Land Auto Land and Auto Hover are the F 5 Option j 2n ions options Quad 4 MULTI CONFIG Enter your aircraft type 6 3 2 Phone Parameter Adjustment Press the Parameter option on the GCS when the WI FI module is connected and data is being communicated To get the current parameters of the aircraft click t
15. e please power down AP unplug the USB then to power on AP after two seconds plug in USB AP working in normal mode Restart software 25 YS S4 Multi rotor Autopilot User Manual V1 4 5 Click Open button select upgrade procedure file s4v2 BiaoZhun 20140115 v021 bin ocs s4 USB er E3 ol s4v2 BiaoZhun 20140310 033 bin s4v2 Bi aoZhun 20140310 v033 bin bin T PT 6 The program will auto upgrade when the upgrade procedure is selected Upgrade Firmware Tip AP work in upgrade firmware mode now If you do not need to upgrade please power down AP unplug the USB then to power on AP after two seconds plug in USB AP working in normal mode Restart software C Documents and Settings lyj 52 WH GCS S4 USB s4v2 Bia i 7 Power off the autopilot when it says upgrade successful Quit the firmware upgrade software and power off the autopilot Upgrade Firmware ip AP work in upgrade firmware mode now If you do ot need to upgrade please power down AP unplug the ob then to power on AP after two seconds plug in ob AP working in normal mode Restart software C Documents and Settingsilyj a Mm GCS S4 SB s4v2 Bia Select Firmware Download Successfully 26 YS S4 Multi rotor Autopilot User Manual V1 4 Appendix LED Indicator Interpretation The working status of the S4 is basically indicated by the GREEN RED LE
16. ed deis invo ads a in dad o Erud Ne na Pope reda Co dud Ud Vr tui ERN CB ck PNEU 16 OP SSIEC HB errata ceecstatsinttaccnnoinserssssteeaaneiaatascesteancasseaaee ees biaaatnsuaidana incunereneseacas teases au seee E eens 17 Pe POMS ie i CULO O Ol Ss n aieo eae O aera eae ace eee uL LM eee 18 Zu GPS COMPass CallDbFablOlTuseena sir pied o Gua tl E diet Gu T TEO N O N 18 7 1 1 Compass alignment by without Smartphones i o oe ree HEY CHE e HPI Ee ir Pe E ea Hb ae Pe CIE FE de AN UE E ERRARE ELA CURE ERA RS 19 7 1 2 COMPASS alignment usine SmartplOLie scc po Foro Ed Cb EVER EU tS BENE LEE ERE P p EPRU Sa RE CH E E ER E INN UR QUEE 19 TAMO AMIDE EE EL D LLL ILL T 21 7 3 Motor Mixer CBeckllg u ties o M e ERE RE Ua dO s EXE EAE P E C LA E UE E Vet oc ed ee 22 MILI cA a TT 23 s MIZ RICERCA I 23 PELNE Up Erd E edes ctos boob D MED ert ME epu eed uui quein inte ined 24 APPENA TOTO DT DOT Tr 27 LEDIGA VIG RII CREE T UESTRE NR 27 Flight Mode Descrip Onana been ote bob trate bup Cn Sed ra e Eb a HUE PI SEN 28 1 2 3 4 5 6 7 8 9 10 YS S4 Multi rotor Autopilot User Manual V1 4 1 Warning and Disclaimer Thank you for purchasing this ZERO UAV product The product is an advanced and specifically dedicated control item Any misuse may result in damage to property injury or eve
17. end points to control the flight modes Position 2 Position 1 GPS No Lock Manual Altitude Hold GPS Lock above 5 satellites Return and Land IMPORTANT Return and Land mode always takes priority In any mode the autopilot will perform the Return and Land operation if CH6 is switched to position2 Step 2 Fail Safe Setup F S There are 2 ways of setting up F S default mode and optional mode 1 Default F S mode Check with your Radio manual on how to set the Receiver failsafe Ensure that when you turn OFF your radio your failsafe settings are as follows e CH5 set to position 2 e CH6 set to position 2 e THRset 50 mid point Default F S only has Return and Land mode which means the YS S4 will command the aircraft to Return and Land automatically if the communication between the TX and the autopilot is disconnected 2 Optional F S Setup IMPORTANT 1 This only applies to FUTABA transmitters 2 Optional F S is not recommended for beginners because the setting procedure is very complicated Ensure that when you turn OFF your radio your failsafe settings are as follows e CHb5 is set to position 2 e CH6is set to 50 mid point 11 YS S4 Multi rotor Autopilot User Manual V1 4 e THRis set to 50 mid point Check with your Radio manual on how to set the Receiver failsafe Here you can choose any of the following F S modes Auto RTH and Land Auto Land and Auto Hover Now the YS S4 autopilot will
18. er 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 gimbal roll s balance position may be fixed and saved by clicking Quit Setup Now CH7 will revert to controlling gimbal pitch Firmware Upgrade IMPORTANT For safety please remove all the propellers before upgrading firmware You may download the latest firmware and assistant tool from the ZeroUAV website before upgrading the firmware 1 Connect the YS S4 to the computer with a Mini USB cable Power the S4 and put bring the throttle stick to the bottom 2 Open the S4 Setup Software S4 GCS USB exe Click Open USB button in the YS S4 firmware upgrade window 24 YS S4 Multi rotor Autopilot User Manual V1 4 Autopilot Configuation Parameter Settings Adjust Transmitter PTZ ROLL STAB P Version PTZ PITCH STAB P Volt PTZ Servos Frequency Roll STAB Satellites Pitch STAB Longtitude Shake COMPENS Lattitude Nax FlySPEED 3 6M5 d Altitude MaxLIFTspeed 2W 5 M Course angle WARNING Cell volt 3 55Volt v LIPO Cell Num Attitude Altitude Limit Flight Mode Distance Limit F S Option Return amp Land Stick Layout MULTI CONFIG Quad 4 9 E 9 3 s 9 Read Save Default Open USB Adjust Transmitter 3 4 Click Select Firmware button Upgrade Firmware Tip AP work in upgrade firmware mode now If you do nat need to upgrad
19. er stick within 5 Seconds to their maximum positions as shown in the diagram 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 o Cancel Step 3 Check that the stick uirecuuii as uepicceu uri uie su ee Nma actuadi uirecuun of movement of your sticks 15 1 2 YS S4 Multi rotor Autopilot User Manual V1 4 Stick Layout Model Check that the display of each stick shows that TX is calibrated well This screen displays the position of the sticks On the left is the Rudder and Elevator Mode 1 depicted On the right is the aileron and THR stick Mode 1 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 other flying status shows m 6 4 2 TX Calibration by Phone Step 1 Select the correct stick layout Mode 1 Mode 2 Mode 3 etc Click the menu button on your phone then select Set see below Enable Cantral Enable Attitude Control Set Qurt In the Set box which opens select the Hand Mode drop down menu The Hand Mode
20. evator channel According to the aircraft 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 Hexacopter type 8 Tasks 8 1 Servo Gimbal Powering the servos when using a gimbal with the S4 Gimbal Servo Y1 Y2 Connector Connect Y1 to the gimbal roll servo and Y2 to the gimbal pitch servo Enter Roll Sensitivity and Pitch Sensitivity in the Parameter Section of the GCS to adjust the correction angle and direction of your gimbal 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 You will need a TX with at least 7 channels to use the Gimbal function 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 Ent
21. f you don t want to keep on calibrating select Cancel and confirm OK Step 5 Carefully rotate the aircraft 3 times as shown below always keeping the aircraft nose down Ensure the GREEN LED remains ON throughout the turn If the LED turns OFF adjust position until the GREEN LED is back ON and continue with the rotation 20 YS S4 Multi rotor Autopilot User Manual V1 4 Step 6 Click Save Alignment the dialog box and click OK Step 7 Now the GCS software will automatically switch to the Control interface screen and after a period of calculation will display two circles a BLUE one and a RED one The YS S4 will enter the magnetic recording and the LED will now flash GREEN Calibration will be completed seconds later when the GREEN flash turns OFF vA Excellent v4 OK X Failure 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 IMPORTANT There is no need to do the Compass calibration every time you fly or upgrade the firmware once your flight controller component installation and compass calibration has been completed but it should be done when components are changed or if the GPS is removed 7 2 Motor Arming For safety reasons the S4 locks the motors on landing They can only be re armed to allow them to rotate and work after carrying out the arming procedure IMPO
22. he Get button to get the current parameters Click several times if it fails After changing any parameter settings away from the current settings you must click the Save button click several times if it fails and the revised parameters to the autopilot will be saved UNICOM E F O 6 S lan 11 20 UNICOM E F i G la 11 21 Get Send Default Get Send Default PTZ Roll Sensiti TJNNNN Cell Num Aum vity Altitude Limit 100 Distance Limit 300 Aire S Optio Roll Sensitivity 45 F ption Pitch Sensitivity g 4 y CNN PTZ Servos Frequency Sway Compens 220 tion Volt Alert Threshold Aircraft Type Quad Roto Altitude Limit 100 d Distance Limit 300 Vertical Max Speed F S Option Max Fly Speed Control Parameter Control Parameter m 5 m tt 5 6 4 TX Calibration The remote calibration of the YS S4 can be achieved in two ways mobile phone must be connected to the WI FI or PC calibration 6 4 1 Transmitter channel calibration by PC Step 1 Select the correct stick layout 14 YS S4 Multi rotor Autopilot User Manual V1 4 In the PC GCS select the Stick Layout drop down menu The Hand Mode is your transmitter mode Mode 1 Mode 2 Mode 3 etc Stick Layout Model Select the mode according to your preference and the stick layout of your TX Stick Layout Model Step2 Calibrate the sticks The Adjust Transmitter window will appear on the PC GCS Click OK and move your transmitt
23. hows information such as flight mode number of satellites in view and battery used 1 2 3 4 5 6 7 8 9 YS S4 Multi rotor Autopilot User Manual V1 4 Supplies regulated power for the autopilot 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 3 Functions Supported multirotor layouts Quad X4 Quad 4 Hexa X6 Hexa 6 Four working modes i Manual flight stabilisation li Manual altitude hold iii Auto hover iv Return home and land Standard safety features when the aircraft loses control Fail safe auto return home and auto landing failsafe land failsafe auto hover The LED indicates the autopilot s current status GPS lock low voltage alert Attitude error etc Control method RC Transmitter Parameter adjustment by Android Phone Tablet or PC Firmware upgrade support Upgrade firmware via USB cable to COM port Receiver support All PPM receivers Gimbal support Servo gimbal YS S4 Multi rotor Autopilot User Manual V1 4 4 Installation 4 1 YS S4 Module Installation 1 The YS S4 Module should be placed level on the main body of the aircraft 2 For best results install at the Center of Gravity CoG of the aircraft 3 The Front Arrow MUST point towards the head of the aircraft Towards aircraft nose IMPORTANT T D EN 4 T LJ ri ri The YS
24. ime the GPS COMPASS must be calibrated before arming the motors IMPORTANT 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 ALWAYS carry out this calibration outdoors far away from metallic objects cars radio towers power lines etc There are two ways to calibrate the compass by Smartphone with WI FI module or by PC There are 3 steps to follow 1 Level calibration 2 Vertical calibration 3 Save GPS COMPASS data 18 YS S4 Multi rotor Autopilot User Manual V1 4 7 1 1 Compass alignment without Smartphone Step 1 Move CH5 and CH6 on the transmitter to Position1 and make sure Channel 5 amp 6 switches are in position 1 Manual Mode Level your multicopter Flip CH5 switch three times quickly between Position 1 and Position 2 1 gt 2 gt 1 gt 2 gt 1 gt 2 gt 41 andthe LED turns green You have entered Horizontal Calibration Step 2 Rotate the multicopter counter clockwise or clockwise three times ENSURE that the GREEN LED remains ON during this procedure If it turns OFF it means the aircraft is not horizontal Adjust the position until the GREEN LED is back ON and continue with the rotation and put the multicopter level again Step 3 Flip CH5 switch three times 1 gt 2 gt 1 gt 2 gt 1 gt 2 gt 1 and the LED turns off You have entered Vertical Calibration Hold the
25. is burnt out by using any other power module The Power supply module and the WI FI module must connect to a 3S 6S LIPO battery The voltage range would therefore be 10 8V 25 5V Normally this would be your main flight battery The RC receiver PPM supported is powered directly from the MC DO NOT power the receiver with any additional module or the YS S4 unit may be burnt out 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 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 If using a servo gimbal make sure the SERVOs are powered separately WHITE core wire is always the signal line the RED core wire is positive the BLACK core wire is ground Ov 7 YS S4 Multi rotor Autopilot User Manual V1 4 Only the USB interface can be used for Parameter Setting and Firmware Upgrade The COM port is also an interface to connect to a WI FI module The YS S4 DOES NOT support ESC calibration The ESCs should be calibrated independently referring to the manufacturer supplied ESC manual It is a good idea to disable the ESC low voltage cut out With most ESCs all you need do is configure them to NiMH 5 2 How
26. juries caused by flying in the following situations Using the aircraft in a magnetic interference area radio interference area or government regulated no fly zones in bad light when the pilot has blocked fuzzy or poor eyesight or in any other conditions not suitable for operating 12 Damage s or injuries caused by using in bad weather including rain wind more than a moderate breeze snow hail lightning tornado hurricane etc 13 Damage s or injuries caused when the aircraft is in the following situations collision fire explosion flood tsunami subsidence ice trapped avalanche debris flow landslide earthquake etc 14 Damage s or injuries caused by infringement such as litigation caused by any data audio or video material recorded by the use of aircraft 15 Damage s or injuries caused by the misuse of the battery protection circuit RC model and battery chargers 16 Other losses that are not covered by the scope of ZERO TECH liability 2 Inthe Box m Hardware o Software m Main controller x1 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 SSESEEESE BGPS COMPASS x1 The GPS Compass module is for sensing the orientation of the aircraft by reading its position and direction mLED x1 The LED indicates the current flight status of the craft The light s
27. n death The user must conform to the law and use the equipment responsibly This product is not suitable for people under the age of 18 Please read this disclaimer carefully before using the product or visit the YS S4 web page at http www zerouav com to refer to relevant updates or information Warning Please keep the product out of reach of children Make sure the aircraft is kept away from people and dangers such as buildings roads and property We suggest you fly your aircraft at specially designated areas Please do NOT fly this product when affected by drunkenness tiredness drugs dizziness fatigue nausea or any other condition that might impair your ability to control the aircraft Please strictly follow the user manual when operating the device Please make sure all components of the device are connected and work well otherwise your unit may be damaged destroyed or even buried Please power off and remove propellers before making any adjustments to the unit such as calibrating upgrading firmware or changing parameters There is an ever present danger of the propellers starting unexpectedly and causing injury Please do NOT fly in unfavorable conditions Please do NOT open or modify the autopilot there are no user serviceable parts inside Disclaimer a Zero UAV Beijing Intelligence Technology Co Ltd assumes no liability for damage s or injuries incurred directly or indirectly from the use of thi
28. nd firmware upgrade It is suggested to connect cables and setup software before fixing the MC Servo M1 M6 Servo gimbal Servo gimbal must be Power Power module powered seperatly DO iB Make sure to use the factory NOT power servo gimbal Module originally power module from S4 manufacturer has no responsibility for the result if the autopilot is burnt by LED The GPS COMPASS is sensitive to Place Titian thie proper using other power module magnetic interference and should be far away position of aircraft and far i The Power supply module from the other eletronic device The bracket is used to mount the GPS module where necessary and to keep it far away from EMI sources The GPS is sensitive to shaking sources must have a 3S 6S LIPO away from GPS Make battery sure the LED is always visible during flying make sure the bracket is fixed well and GPS module faces up the side with sticker upward the Front arrow MUST point towards the head of the aircraft DO NOT extend GPS cable WIFI Module Optional Mini USB cable is used for S4 COM can be extended to connect Parameter Setup Firmware WIFL Upgrade Q The WIFI module must have a 38 65 little more LIPO battery Only the GPS module is connected can S4 start to work IMPORTANT Ensure the original factory supplied power module is used The manufacturer holds no responsibility if the S4
29. ower supply range is 3s 6s Lipo Configuration before Flying 6 1 Install Phone Ground Control Software GCS To use the Phone GCS you must purchase the optional WI Fl module Download the Phone GCS Software YS S4V2 from our official website http www zerouav com en service Download Software 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 YS S4 Multi rotor Autopilot User Manual V1 4 ZZ S4V2 GCS Start the GCS you will see the serial number and firmware version for the autopilot on the interface once the data has connected After connecting your WI FI to the GCS successfully you can also see the real time updated data on the Data Page UNICOM E ID 5 9 Carntrat Data Parameter zi gt 6 2 TX Setup 1 Select fixed wing model on your transmitter Remove any channel mixing 2 FUTABA Radio All channels should be Normal not reversed 3 JR JTm Spektrum and WFLY Radios Reverse all channels Step 1 Select Two Switches Ensure your radio has two sets of two way switches Programme CH5 and CH6 to these switches to control the flight modes 10 YS S4 Multi rotor Autopilot User Manual V1 4 CH5 Position1 Manual Stabilization Mode J CH5 Position2 Auto Mode CH6 Position1 Neutral JA CH6 Position2 Return and Land Adjust your two way switch
30. s locked are more than 5 and CH5 is in position2 and CH6 in position1 the S4 will enter auto hover mode In this mode the aircraft will hold its position and altitude Your TX sticks should all be in the mid position When THR stick is around the mid position the craft will hover in its current position The craft does not drift because GPS has locked and also may controlled manually Left right is controlled by the AILERON Stick Up Down controlled by the ELEVATOR stick direction is controlled by the RUDDER stick and height controlled by THR stick If the THR stick is 5096 craft will auto hover If THR stick is more than 5096 craft will fly upward If THR stick is less than 5096 craft will descend The Craft can fly to any altitude controlled by THR stick and fly to any position controlled by the other sticks 5 Return and Land RTL With GPS locked more than 5 satellites locked and Motor arming done the craft will record its home position Push CH6 to position 2 to enter RTL return and land mode In the Return and Land mode the craft will return home and land automatically 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 On arrival 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
31. s product b Theuseris responsible for abiding with the law and not behaving contrary to public order or public safety by using this product C ZERO TECH accepts no liability for damage s or injuries directly or indirectly from the use of this product in the following conditions Damage s or injuries incurred when users are drunk taking drugs drug anesthesia dizziness fatigue nausea and any other conditions no matter physically or mentally that could impair their ability Damage s or injuries caused by intentional operation or accident Any mental damage compensation caused by intentional operation or accident Failure to follow the guidance of the manual to assemble or operate Malfunctions caused by refit or replacement with non ZERO TECH accessories and parts Damage s or injuries caused by using third party products or fake ZERO TECH products Damage s or injuries caused by misuse or poor judgment Damage s or injuries caused by mechanical failure due to wear and tear Damage s or injuries caused by continued flying after low voltage protection alarm is triggered Damage s or injuries caused by knowingly flying the aircraft in an abnormal condition such as water oil soil sand and other unknown material ingression into the aircraft or if the assembly is not completed the main 3 YS S4 Multi rotor Autopilot User Manual V1 4 components have obvious faults obvious defects or missing accessories 11 Damage s or in
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