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Gemini（dual redundancy）Autopilot Manual V1.0

1. Download the uploaded waypoints to the GCS Check and verify that all waypoints are coloured blue which means the uploaded waypoints are the same as those in the GCS If all waypoints are blue this will indicate successful verification If any waypoint is red reload the waypoints once more Step 4 After switching CH5 to position 3 and CH6 to position 2 click on enable skyvvay in the setting page of the GCS The craft will fly to the first waypoint and hover there Enter Change Target to number 2 and upload it the craft will fly to waypoint 2 3 4 and fly back to waypoint 1 and hover there After finishing all waypoints it will be hovering at the first waypoint If waypoints are incorrectly uploaded as soon as auto navigation mode is selected the aircraft will automatically fly far away out of control 9 2 2 PROFESSIONAL FLYING OPERATIONS 9 2 2 1 Dual Transmitter Control Notice This function is used when flying the Z Series brushless gimbal Rocker Arm in the air The GEMINI dual redundancy flight controller combined with the Z Series Gimbal and your dual transmitter setup enables you to fly Rocker Arm in the air Mode When using a Z series gimbal waypoints can be designed on the map in advance and uploaded to the MC See 9 2 1 5 designing waypoints When in flight move CH6 from Position 1 to Position 2 After 5 seconds the Gemini will automatically activate High Stability FPV Mode The aircraft head will now automa
2. om LE 13 A us tace rl ae b l a 1 ac nz M a y E ye s 1 E AI Altitude Flight Mode Target Yuypoint Change Target Flight Altitude Change Altitude TTZLeck Qut FTZ IT Xet Nome Location Ante Landing kute Take Off um Tyan p Enable Skyray Disable Skyvay Init setup Qut Inst setup vis YER Y Enable Course Locked Disable Course Locked m s l sarve Z vas Real Thread Satelite MN sekt vay GI Tine Vibrate Bill sent vela Langti tude dake III ots vani Lattitude Gn Vely ca FlightData DiberData Mouse 1119 10045 36 71521 29 82857 2 Instrument Panel amp Function Key AI Altitude Flight Mode Target Waypoint Change Target Flight Altitude Change Alti tude FlyToPP PTZLock Quit PTZ PP Set Home Location kuto Landing Auto Take Off Enable Skyway Disable Skyway Init setup Quit Init setup Enable Course Locked Disable Course Locked 3 Status Bar of Flying Data tend servo I Note Sac O nf Real Throttle Satellites MEO self Vely GPS Time Vibrate sext vela Longtitude Shake SEE GPS Velx em Lattitude GPS Vely FlightData 70 Gemini dual redundancy Autopilot Manual V1 0 Course angle Dez Batt mAh AP Version AT angle Deg Batt Current Distance to
3. Defa Please Select Edit WayPoint Upload WayPoint o Delete WayPoint o Cancel Edit Waypoint Used to edit the properties of waypoints such as Longitude Latitude Speed Upload waypoint Upload this waypoint Delete waypoint Delete this waypoint Number The number of waypoints Height Waypoint altitude in meters Longitude Longitude of the waypoint Latitude Latitude of the waypoint Hovering time Hovering time in seconds A value of 0 will disable hover Snapshot Used to change the properties of the camera shutter Target speed Flight speed to the next waypoint 67 Gemini dual redundancy Autopilot Manual V1 0 Settings Interface Make sure to setup each function carefully because all options are vitally important UNICOM E Ii E faa 11 37 Weare i dad madi nsmitter Ce Compass ntre point Capture Nuetra 1 Minute Da Installatio ta n Guide Capture Tra Magnetic Init Setup Quit Setup nsmitter Ce Compass ntre point Zero Gyro Snapshot 1 Minute Da Installatio ta n Guide Mixing Defi ne Init Setup Quit Setup Zero Gyro Snapshot Parachute Parachute Close Posi Open Posit tion ion Mixina Defi m m s Control Data Map Settings Parameter Control Data Man Settings Parameter ft 5 A 5 With no wind in manual mode after flying and trimming activating this Capture Nuetra will define the neutral point NB Make sure your TX throttle stick is in the midd
4. Flight Mode MENTE For example with CH5 at position 1 and CH6 at any position the GCS data page should show your TX status as Manual if not please check your hardware connection or RC Transmitter setup Step 2 Fail Safe 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 29 Gemini dual redundancy Autopilot Manual V1 0 7 2 4 ESC Stroke Calibration Please remove your propellers before doing the following Notice Some ESCs which have been designed specifically for multi rotors do not need to be calibrated Here we take the Hobbywing ESC as example Step 1 Connect the autopilot power only pull the throttle to the bottom put CH5 to position TL Step 2 Click Init Setup in Setting page Init Setup Quit Setup Click Confirm button in the dialog box Now the Flight Mode should be displaying as Settings State in the Data screen of the GCS After arming the motors Refer to the relevant instructions push the throttle all the way to the top and then connect power on No propellers Step 3 After the ESC sounds its didi pull the throttle back to the bottom now the ESCs should sound didi three or four times according to the number of cells in the battery This means the calib
5. GPS locate d with 7 or more satellit es e Blue LED flashes once Normal operation 00 Blue LED flashes twice Hover and altitude hold located Green LED flashes once Normal operation 00 Green LED flashes twice Hover and altitude hold NB When flying outside please take off after the GPS has located 7 satellites or more When the GPS locks for the first time the autopilot will record the current position as Home position and will be used for the return home operation 39 Gemini dual redundancy Autopilot Manual V1 0 2 The white LED 1 The White LED 1 is a warning signal When an attitude error is too large or the GPS connection is lost the LED will show continuous white 2 How to respond to the White LED 1 i If the aircraft has flown an extreme maneuver but the white LED goes off after the aircraft becomes stable then you can keep on flying normally ii If the white LED stays on then you must land urgently to check the reason 3 Low voltage alert During flight when the voltage reaches the first warning level defined in the GCS the red LED will flash repeatedlyeeeeeeeeeeeeeee You should land as soon as you can The second level alert is a solid red LED This would indicate that an emergency landing is required 4 Compass calibration When you are calibrating the compass the blue LED will stay lit e if the attitude error is less than 5 This means
6. 1 244 Now you will be able to find the SSID in the wireless network which you have just set up ZERO TECH Q Router mode If you want to increase the communication range of your wireless set up you might want to use a router to boost communication Start in the same way as for PTP mode setup to configure Router mode but select Infra station not AP SeanyConfig EO open com 9 Infra station Wifi 5510 ZERO TECH Passphrase 82890430 Setup the SSID of your router to be the SSID of WI FI mode The default is ZERO TECH and 17 Gemini dual redundancy Autopilot Manual V1 0 please note the letters must be in capitals Set the password to be the WI FI module s password Default is 82890430 The encryption method must be WPA2 PSK AES and the IP is 192 168 1 1 Refer to the tutorial video for help in setting up router mode at http v youku com v show id XNTE3NZE1NDcy html To see the status of your wi fi communication look at the Blue LED on your wi fi module If there is no connection it will flash rapidly When there is a successful connection the LED will display a solid light Your GCS Ground Control Software will then be able to communicate 6 3 RC Transmitter setup Setup your Transmitter for fixed wing mode Type AIRPLANE or Acro Do not setup any mixes and if you are using FUTABA do not reverse any channels Set everything to default If you are not using FUTABA yo
7. 2 2 2 Single Transmitter Operation Notice 1 Power on the transmitter switch Ch7 of the TX from the top to the bottom position very quickly 3 times to enter single TX operation this means the gimbal will be controlled now by the aircraft transmitter Repeat this another three times to enter dual TX mode 2 To check whether you have entered into the single TX operation mode push the THR stick a little 5 is OK the gimbal will activate stabilization if you have succeeded entering single TX mode The roll and pitch of the gimbal will maintain the camera s balance and the pitch of the gimbal can be controlled by CH7 The working mode of the gimbal is set to be independent of the aircraft heading when in single TX operation 3 The Gimbal will stop stabilization when the THR stick is pushed to the bottom position Rocker Arm in the air a When using the optional Z serial gimbal the waypoints can be designed on the map in advance and uploaded to the autopilot Please refer to the previous paragraphs to learn how to set up waypoints In flight when in GPS mode if you switch CH6 from position 1 to position 2 and hold for 5 seconds the autopilot will automatically open the air rocker function Now the direction heading of the aircraft will automatically follow the direction of the gimbal in order to keep the landing gear out of sight of camera This means that when in air rocker mode the direction of the aircraft heading is differ
8. Modes 1 2 orA direction Modes 3 4 to Arm the ESCs As described in the manual in Section 11 2 4 Increase the throttle stick to maximum and within 5 seconds apply power to the ESCs When the ESCs respond with a sound prompt return the throttle stick to minimum 5 Calibration is now completed and you can click Next UNICOM E 1D 3 FAL DEL Step 4 Set craft styles and parameter S Please read the user manual carefull y fill in correct parameters and reche ck it Push the THR after breaking the pole check whether the mixing contr ol method is correct after starting the motors Craft Styles tips 0 Quad Rotor Cross 1 Quad Rotor X 2 Hex Rotor Cross 3 Hex Rotor X 4 Octo Rotor Cross 5 Octo Rotor X CHIDO A Step 4 Set up craft parameters 23 Gemini dual redundancy Autopilot Manual V1 0 Please read the user manual carefully and enter the correct parameters below Aircraft Types are 0 Quad Rotor Cross 1 Quad rotor X 2 Hex Rotor Cross 3 Hex Rotor X 4 Octo Rotor Cross 5 Octo Rotor X Enter the number of cells in your lipo flight battery and the magnetic declination for your location West is negative and east is positive Now click Send You should now arm your system and check that the correct motors start when you activate the sticks Mixing is correct Step 5 Check alignment and direction of IMU and GPS To double check that the direction of the un
9. Position Hold No Operation Position hold Drag finger over screen move forward backward up down Level Flight move left right left right Move left right top left right top left right bottom etc i P 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 1 Climb Climb NB 2 Descend Descend 1 The distance between circle and click 3 Rotate to left Turn point is proportional to flight speed The further the distance the faster the flying 4 Rotate to right speed 2 Time pressing control circle is proportional to Aircraft movement time If GPS is not located for example when flying indoors you can still switch to GPS mode to enable Phone Control Or Phone attitude control The output signal of phone control or phone attitude control directly corresponds to the relevant transmitter control When you switch back to manual mode the transmitter will take over controlling the autopilot again 2 Phone attitude control mode OPhone attitude mode can be enabled when in phone control mode Click Enable Attitude Control in the phone Control menu After entering 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 Please place your phone level before enabling phone attitude mode otherwise the aircraft will fly
10. Protection 57 11 3 1 Automatic Deployment of Parachute 57 11 4 Data Recording Black Box Fran HANN is 58 I2 Additional MOLE OP ONS aaa A aa aa da cus mt 58 12 1 Data Linie Cohihectioliu E NM Cd QE VUE 58 12 1 1 Installing the DataLink on the Multi rotor 59 12 1 2 Data kinicohthe GrOUn lira 59 12 2 Power Management Module Connection 59 12 3 On Screen Display OSD ConneculOn rs a 59 L5 Fre Parada iaa 60 ADENT oi 63 Phone SES TAFT it 63 PC 6065 TREO dUCHION aia 0000000 a 70 LED nal ee GN 73 Magnete DENNA ST n bi 75 Installatiion and Configuration Videos 77 ENN 77 Gemini dual redundancy Autopilot Manual V1 0 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 even 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 GEMINI web page at http www zerouav com to refer to relevant updates or information Warning Please kee
11. amp nc arm Upon Step Restan AP Tran amp mit send 1312 Percentage 164 1106 k AP Firmware Upgrade Stap1 Selact COM Pon A mmm Cocoa ope sold CAUsers Chris s Gemnin 20140210 Ene arm Sepa Restar Please Restart AP 00 00 00 C 00 00 00 00 FF F 08 88 l OG OO 00 OG OG a 00 96 956 9 53 DO 05 DO DO 00 EE 00 OD 12 SD 42 DO DO DO DO DO 00 d 00 00 OG 24 00 00 OG 00 00 tt 42 00 00 00 00 00 00 00 00 00 o 00 00 00 00 00 05 46 96 96 1 95 95 95 CI 00 OF 12 00 SF Cl 00 F FC FF OG OG OG CS 13 02 00 05 00 00 OG OG OG FF FF FF FF E4 08 SA l 00 00 00 00 00 95 FF 1E 00 04 53 00 02 00 00 00 ET 00 00 12 90 3D 00 Do 00 00 OG 00 00 24 53 54 50 00 00 00 00 00 00 42 OG OD OD 00 00 00 00 00 00 00 00 00 00 OO 00 DO 03 96 96 36 CI 36 95 95 Cl 00 05 36 58 JF Ci OG OG FC FF 00 00 00 t 13 02 00 05 00 00 00 00 00 FF FF FF FF B4 09 SE 01 00 00 00 OG 00 36 36 36 FF IE 00 04 53 00 08 DO DO DO E4 00 00 12 90 h 00 00 00 OG OO 00 00 00 00 00 24 53 54 50 00 00 00 00 00 00 42 00 00 00 00 00 O0 OU OG 00 DO 00 00 OG 00 00 00 00 03 96 95 S6 CI 96 95 95 Cl 00 03 36 56 3F CI OO b FB FF 00 00 00 00 00 00 13 O2 00 OG 00 00 00 00 OG FF FF FF FF B4 09 8B l 00 00 00 00 00 00 96 96 36 FF IE 00 04 53 00 05 00 00 00 E4 00 00 12 90 E8 OG OG 00 OG 00 00 00 00 00 00 3 If the upgrade is completed but the so
12. following your phone tilt direction after switching to attitude mode Controlling the aircraft using phone attitude control mode 42 Gemini dual redundancy Autopilot Manual V1 0 Enable User Interface Operations Control Red GPS not locked Circle status Green GPS locked Position No Operation Hold Tilt the phone 1 up down 2 left right 3 left right top left right bottom etc 1 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 Climb 3 Press any available area on the screen and turn the phone left Descend 4 Press any available area on the Turn screen and turn the phone right Holding amp Moving distance Flying speed the greater the movement the higher the flying speed Holding time flying time 43 Aircraft Status Position hold moving forward backward moving left right Moving left right top left right bottom etc 1 Climb 2 Descend 3 Rotate to left 4 Rotate to right Gemini dual redundancy Autopilot Manual V1 0 9 2 1 2 Semi Auto takeoff When you have 7 or more satellites in view switch CH5 to position 3 and CH6 to position 1 auto hover now arm the motors and advance the throttle to more than half The aircraft will take off automatically and auto hover about 3 meters from the ground and maintain auto hovering status 9 2 1 3 Return h
13. it up in router mode http v youku com v show id XNTE20TY4Mj04 html PTP configuration is shown below Step 1 Open the WI FI configuration software on your PC obtainable from zerouav com It will show a SeanyConfig window BA SeanyConfig XU Setting Step 2 Click Setting it will show the main configuration interface SeanyConfig R m Al open 9 Infra station C ap Wifi SSID ZERO TECH Passphrase 82890430 Step 3 Select the correct COM port If you are unsure which port this is you can search for the Prolific USB to Serial Comm Port in your Windows Device Manager This will give you the port number Step4 Select AP Access Point which is PTP mode SeanyConfig Dam imul COMA Step 5 Put in the SSID of WI FI module this must be ZERO TECH 16 Gemini dual redundancy Autopilot Manual V1 0 Step 6 Uncheck No Pass phrase and then enter your WI FI password Password must be exactly 5 numbers Step 7 Click Apply SeanyConfig o COME Open COM Infra station Wifi SSID TERO TECH Passphrase 12345 Passphrase Step 8 Wait until configuration is completed After which a window showing AP mode OK will appear Now click Confirm and quit voon gt setip 192 168 1 254 a Ok vocor setmask 255 255 255 cons setgatevay 192 163 1 con set dns 16 95 1 1 con zetdhcpzr 1 con dhcpzrw 192 16
14. module mWI FI Module X1 The Data Link can be added to increase the range of this unit Connects the Auto Pilot to the Ground Station via WI FI Wireless Network Supports 2 work modes Peer to Peer and Router m GPS Bracket x2 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 m RS232 COM port to 3 PIN Servo Cable X1 Gemini dual redundancy Autopilot Manual V1 0 Used to connect PC USB port to Master Controller to upgrade the firmware only m Warranty Information Card X1 This provides Product Serial No Purchase Date Please fill out the relevant information and return to Zero UAV to register your product warranty o GS Software for Android System o Firmware Upgrade Software on PC 4 Introduction Installation 4 1 Aircraft Types The Gemini dual redundancy Gemini dual redundancy called Gemini in this Manual supports the aircraft types shown below The blue arrows in each diagram give the direction of rotation of the rotors For coaxial propellers Blue means propeller at the top Purple means propeller at the bottom The yellow arrow in the center of each figure points to the aircraft nose The number under each diagram means the Aircraft Type which should be used in the Parameters Setup section O Quad Rotor 4 x4 Q Hexa Rotor 6 x6 Gemini dual redundancy Autopilot Ma
15. negative this is normal For example if the take off position is high and the craft needs to fly under the take off position If the altitude between two waypoints is different the aircraft will fly in a climbing slope The default height is the current height meaning the craft will maintain the height at which it entered waypoint mode Hovering time means the time that craft stays in its present position before flying to the next waypoint the default hovering time in first waypoint is 65535 seconds Speed means the flying speed that craft flies to the next waypoint from present position STEP2 After waypoint design is completed the design can be saved as a file which can be used at another time The user can also click on Upload Waypoints to upload the waypoints to Autopilot Check whether each waypoint has been changed to blue to confirm a successful upload orange indicates the upload is unsuccessful Go to Target Point to check whether the waypoint number display is the same as the uploaded waypoints If the value is different you would need to upload once more If any single waypoint is not changed to blue you must upload the waypoints again 46 Gemini dual redundancy Autopilot Manual V1 0 STEP3 To cancel the waypoint design press Remove Waypoints to make the blue waypoints return to red To confirm that the waypoint have been correctly uploaded select Verify waypoint from the Tool folder
16. pilot is controlling the gimbal rather than the aircraft The elevator and aileron respond relative to the video direction For example if you push the stick forward the aircraft will move in the direction that the gimbal is pointing rather than in the direction which the aircraft is pointing In another example when in target lock and flying around the target in a circle the pilot controls the camera to always shoot the target using the rudder flies in a circle by pushing the aileron stick and controls flying distance with the elevator To quit this mode switch aircraft transmitter CH5 to the top position manual mode or to the bottom position GPS Hover mode Flying mode High stability FPV mode Flying course Subject to gimbal course ca Head Aircraft head always track gimbal lens direction M Controlled Controlled Controlled Middle position 52 Gemini dual redundancy Autopilot Manual V1 0 mE Notice Gimbal pitch is controlled by Ch7 of aircraft TX 2 FPV in Manual Mode The aircraft will enter FPV manual mode 2 seconds after switching CH5 of Aircraft TX from top position to middle position while flying In this mode the direction of the aircraft will auto track the gimbal heading so as to dodge the landing gear The elevator and aileron response which is controlled by the aircraft pilot are relative to the gimbal course not the aircraft heading Therefore the aircraft pilot is directly controlling the gi
17. that the Attitude error is within 5 degrees from the horizontal and you need to try to keep the light on during calibration Keep the head of the aircraft pointing away from you You can see the attitude angle in the Data page Now rotate the aircraft 2 to 3 times in circles ensuring the blue LED is always on If the blue LED goes off this means the horizontal attitude is too great and you must first stop to adjust the aircraft until it comes on and then keep on rotating 32 Gemini dual redundancy Autopilot Manual V1 0 Step 5 Click Vertical Alignment in the dialog box and click OK or Cancel and confirm Step 6 Move the aircraft to the vertical position with the head pointing down and align it so the blue LED is always on Attitude error must be within 5 degrees again Now rotate the aircraft 2 to 3 times in circles ensuring the blue LED is always on If the blue LED goes off this means the vertical attitude is too great and you must first stop to adjust the aircraft until it comes on and then keep on rotating Steps 4 to 6 are known popularly as the calibration I dance Step 7 Click Save Alignment the dialog box and click OK Step 8 Now the GCS software will automatically switch to the Control interface screen and spend some time calculating the recorded magnetic data When it has finished it will display two circles a blue one and a red one During this process the purple LED is always on You need to wa
18. value is 80 The maximum ascend descend speed setup can be selected in the menu as 2m s 4m s or 5m s If you make an error entering parameters then decrease the throttle to zero and svvitch to 36 Gemini dual redundancy Autopilot Manual V1 0 manual mode then select Default which will recover the default parameters For an explanation of the other parameters please see below PTZ Roll Sensiti The PTZ Gimbal roll output and PTZ pitch output 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 negative value to reverse the direction of compensation The autopilot can calculate the low voltage alert according to the Cell Cell Num Number filled in by the user If your cellphone vibrates once every 2 seconds it is a reminder that the povver is getting lovv VVhen it vibrates continuously it means the power is getting very low and you should land at once This shovvs the highest and furthest distance vvhich the aircraft can fly The maximum height is 300 meters You can enter the value O for unlimited distance You can fill in your own distance limit value Volt Alert Threshol er Enter the voltage per cell required to activate a low voltage alert d for a Lipo battery this would be normally 3 65v Choose to open parachute plus shutter when using brushles
19. when users are drunk taking drugs drug anesthesia dizziness fatigue nausea and any other conditions no matter physically or mentally that 5 Gemini dual redundancy Autopilot Manual V1 0 could impair their ability 2 Damage s or injuries caused by intentional operation or accident 3 Any mental damage compensation caused by intentional operation or accident 4 Failure to follow the guidance of the manual to assemble or operate 5 Malfunctions caused by refit or replacement with non ZERO TECH accessories and parts 6 Damage s or injures caused by using third party products or fake ZERO TECH products 7 Damage s or injuries caused by misuse or poor judgment 8 Damage s or injuries caused by mechanical failure due to wear and tear 9 Damage s or injuries caused by continued flying after low voltage protection alarm is triggered 10 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 components have obvious faults obvious defects or missing accessories 11 Damage s or injuries 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
20. you can keep calibrating If the attitude error is more than 5 the blue light will go off and you should stop and realign until it comes on again After compass calibration is completed the purple LED should come on e flashing every 2 seconds When data calculation is completed the purple LED will go off 9 2 2 Oscillation and Wobble During the flight observe the Vibrate State amp Shake State in the Data section to judge stability status of the IMU In stable flight it is normal when the Vibrate State and Shake State is within the range from 0 9 display in green If the value is over 10 it will display in red You are aiming for the smallest number you can achieve The size of the number will directly affect flying performance Definitions Vibrating coefficient is the maximum acceleration of alternate motion oscillation in three directions Up down left right back forward Shaking coefficient is the maximum angular velocity of rotary movement wobble around three axes X Y Z 40 Gemini dual redundancy Autopilot Manual V1 0 9 1 3 Motor Balance and Throttle Stick Position The display in the Data section of GCS includes the data listed below 9 1 3 1 Motor balance If the clockwise and anti clockwise propellers lose balance as well as reverse torque the status bar may display clockwise anti clockwise propellers are not level when the copter is hovering or maintaining cours
21. 0 6 2 2 1 Hardware Connection Use the USB Serial COM cable to connect the USB port of the WI FI module to any USB port on your computer You must power the Wi fi module with your 35 65 Lipo battery The Wi fi module does not take its supply from the USB cable On Y When connecting the Wi fi module to the Gemini M the black wire of the communication cable is located at the upper right corner of the WI FI module Black Wire When connecting the Wi fi module to the computer the white wire of the communication cable is located at the upper right corner of the WI FI module White Wire In PTP mode Peer to Peer mode there is no need to use a wireless router and you can set 6 2 2 2 Software Setup O PTP mode up a password so that nobody else can connect to your WI FI during your flight or at any other time The autopilot will establish a wireless network named ZERO TECH and you may connect to this network using your Phone or tablet To see the status of your wi fi communication look at the Blue LED on your wi fi module If there is no connection it will flash rapidly When there is a successful connection the LED will display a solid light Your GCS Ground Control Station will then be able to communicate It 15 Gemini dual redundancy Autopilot Manual V1 0 may be that your phone tablet is not compatible with PTP mode In this case please refer to the WI FI configuration video tutorial and set
22. 100 mW Frequency 900 MHZ Communication Distance not less than 2 3 km in unobstructed areas Comm Port RS232 Communication Baud Rate 115200 BPS e The XB PRO900 Datalink must have two data links one is installed on the craft and the other is on the ground The tvvo may be interchanged 12 1 1 Installing the DataLink on the Multi rotor Remove the WI FI module from multi rotor install one data link on frame and connect it to the GEMINI COM port 12 1 2 Data Link on the Ground Connect the WI FI module that you have removed from the GEMINI to another Data Link 58 Gemini dual redundancy Autopilot Manual V1 0 using the wire that comes with the data link This will supply power together with the wireless router on ground Thus there are three electronic units on the ground The Data Link the WI FI module and your Wireless Router NB e There is no need to use a router if your WI FI is configured in PTP peer to peer mode e The Data link and WI FI module are both powered by a 3 S 6 S lipo battery same as the MC The power line is red black red is positive and black is negative 12 2 POWER MANAGEMENT MODULE CONNECTION The Data page of the GCS will display the current voltage and battery consumption when the Gemini dual redundancy is powered via the power management module The Power Module is connected via the AI1 port of the MC Push the throttle stick to the bottom and then repovver the autopilot on After po
23. Function Mixing Limit Define _ o E o O 10 G DE O olo O DE Unlock Preset Motors PTZLock Enable Disable Course Course Locked Locked 100 CN EH o o o o To J Control Data Se Param Parameter Definition In Detail 28 Gemini dual redundancy Autopilot Manual V1 0 Step 1 Click Mixing Define in the settings page to get the Customized Parameters dialogue Enter your user defined parameters and click the Send button This will upload your amended data to the autopilot Now as a double check click the get button to reload your values from the autopilot to the GCS Check that you still have your own values displayed and you are all set Step 2 After confirming this change the aircraft type in Parameter page to Customized Step 3 With the new parameters power on the autopilot arm the motors and push the throttle stick a little to make the motors rotate slowly check carefully whether the motors respond in the expected way according to your settings If all checks out then you can start your trial flight For safety reasons you should remove your propellers when testing your customized settings 7 2 3 Checking channel CH5 channel CH6 and F S Failsafe Step 1 Check your working modes Assuming your GPS module is ready now check whether switching between all working modes is working normally
24. Gemini dual redundancy Autopilot Manual V1 0 Gemini dual redundancy Autopilot Manual V1 0 ZERO TECH Zero UAV Beijing Intelligence Technology Co Ltd Gemini dual redundancy Autopilot Manual V1 0 Contents L Warning ANA DENNE Jar 5 ZAln roducuonr FUNCUONS SN 7 STA NE PX PG 7 4 Introdueton InstalldtlOD vaare 9 4 1 4iFchaTt WY DOS Sa NG 9 42 AULODIIOE NSB NN PANG 10 25 GPSTEOMPASS 11 SOUS ee 11 Sa PPO C DEION PN 11 5 2 COMNecton Diada EA 13 6 Preparing to Install the Softvvare yy hh nn nnnm 14 Gek Instala PRONE GES cda 14 5201 EE DE 14 6 2 1 WI Fl COMmMUnICAtION iode vers anota a Aa esas 14 62 2 WISE Conagua cOn a m a s a an 14 6 5 RE Transmitter SEN Pas 18 6 3 1 D ab transmitEter SebuD soisiussus rino ia duel os REA FG 18 63 2 SNE transmit Se tU 19 FOSS SME SUP HRS 20 7 0 1 Ground Station Software Settings Installation Guide 20 FMS ub e LEER 25 7 1 1 Calibrate Stick Travel on the RC 25 7 2 2 Setting up Aircraft Types and Parameters 27 Gemini dual redundancy Autopilot Manual V1 0 7 2 3 Checking channel CH5 channel CH6 and F S Failsafe 29 72 4 ESC SHO CAPET NN ae 30 7 2 5 Checking the GEMINI aut
25. Home Serial Humber AF Volt Flight Time FlightData menter p L 4 Brief introduction to menu 4 1 File File F View V Path Settings S Tools T Settings S t Flight playback T Open Com Data Connetion R Open Wifi Data Connetion W Close Data Connection C Goole Earth E Goole Maps M Quit X 4 2 View Y ToolBar T Status bar 5 Flight Data F Dashboard K NAV POS Bar P Focus Aircraft C 71 Gemini dual redundancy Autopilot Manual V1 0 4 3 Path Settings Load Path from File L Save Path to File L Edit Current Path E Upload Path to AP U Download and Check Path R Delete Path on the Map D 4 4 Tools 2 3 2 Options O 4 5 Settings Fle F View V Path Settings S jroo kN elt om pz m Fa 2 Parameters P Transmitter T Mangnetic Compass M 1 Minute Data D Other O Steadicam S 4 6 Help Brief introduction to Software Version 72 Gemini dual redundancy Autopilot Manual V1 0 LED Analysis GPS not located red light blinks in cycles of 3 eee eee eee eee 5 GPS satellites red light blinks in cycles of 2 ee ee ee ee ee 6 GPS satellites red light blinks in cycles of 1 e e e e e e e 7 or more GPS satellites the Led doesn t blink In GPS mode the satellite Led status blinks PLUS Green light periodically blinks For example eeee Or eee Or Ore Gr
26. M port if you do not know which COM port on your PC is being used right click My computer gt Properties gt Device manager gt port COM amp LPT to check 60 Gemini dual redundancy Autopilot Manual V1 0 File Action View Help b l ul H zl el iz RG b Mice and other pointing devices gt AM Monitors 4 amp Network adapters Bluetooth Device Personal Area Network amp Bluetooth Device RFCOMM Protocol TDI ay Broadcom 802 11n Network Adapter amp Realtek PCle GBE Family Controller PR Other devices jy Bluetooth Peripheral Device 4 YET Ports COM amp LPT JE Prolific USB to Serial Comm Port COM10 b a Processors b K Sound video and game controllers gt M System devices 4 9 Universal Serial Bus controllers M Alcor Micro USB 2 0 Card Reader Generic USB Hub mn Press open COM and the Open button will become active change from grey to black Step3 Press Open button and choose your downloaded arm firmware file as shown below File name T3 Gemi ni 20140210 Enc arm Files of Y canel 2 Step4 Power up the flight controller and the program will auto upgrade 61 Gemini dual redundancy Autopilot Manual V1 0 AP Firmware Upgrade slap Salect COM Port Coma Open Cl Slope Furnas EN sers Chrishy Semin 20140210
27. NICOM E 10 3 FAL DEL Start installation The data has been connected please click Next Start Installation Data connected click Next UNICOM E 37 S Fal A Step 1 Adjust Transmitter Please press the button Adjust Trans mitter and confirm it and then push p ull all pole positions of the RC Tx to th e maximum minimum or the leftmost rightmost within 5 seconds After 5 s econds the AP will finish the auto col lection Please confirm whether the m anual operation and real RC operatio n displayed in Data Interface keep coi ncidency when moving any operating level can operate next step only after confirming they are coincident Adjust Transmitter EE Step 1 Adjust Transmitter Press Adjust Transmitter then press OK to confirm Within 5 seconds move both transmitter sticks to their extreme limits both left right and up dovvn After 5 seconds the auto pilot vvill complete data collection Novv make sure that the direction and movement of the sticks is reflected accurately in the diagram belovv You can only proceed to the next step after confirming this 21 Gemini dual redundancy Autopilot Manual V1 0 Rudder Aileron UNICOM E F 3 3 aa DE Step 2 Check CH5 CH6 channel set F S Please carefully confirm whether the CH5 CH6 channel is correct check w hether the flight status bar on GCS da ta interface is switched to Manual Cir cle position Auto waypoint circling Ba ck Lan
28. Next Step and exit from installation guide There is a tutorial video at http www youtube com watch v EWcCqMgb9bU 7 2 Manual Setup UNICOM E Of 3 aa 09 22 Tips Still need to pay attention to the below items although have finished t he operations as the installation guid e 1 Push THR to the minimum before t akeoff move the elevator aileron and check whether the mixing control styl e is correct 2 Test fly by manual carefully obser ve whether the vibration coefficient a nd shaking coefficient are within 10 3 Complete magnetic calibration in outdoor space with no magnetic inter ference 7 2 1 Calibrate stick travel on the RC Transmitter NB For safety reasons please disconnect power from the motors and or remove propellers whilst performing the calibration Step 1 Select the correct stick layout Click the menu button on your phone then select Set see below Enable Control Enable Attitude Control set In the Set box select Hand mode menu Enable BlueTeeth 25 Gemini dual redundancy Autopilot Manual V1 0 192 168 1 254 broadcast OK Cancel Select your own operation style in the hand mode menu For example American Hand is Mode 2 Japan Hand American Hand China Hand Europe Hand Step2 Calibrate the stick travel Capture Zero Transmitter Gyro Centre point Adjust Magnetic Transmitter Compass Return to the Set menu and scroll to t
29. R AS BUSIENAN GPSI GARA KERKS 1424 dd rr s BUS EIA ODA KERNER NNE Bri BP Hira f AE MENA filt LE ERE GPSRASRGPSIRIR 2 GPSI FENFUS MEGPS PEETE ATH HALES RSL AULA GPS But PEE LGPSE E ERA 214 Ift IDETUTUTRCDEERS 1 The Power supply module and the WI FI module need to be powered from a 3S 6S LIPO battery from 10 8V 25 5V 2 The RC Receiver gets its power directly from the autopilot DO NOT power the receiver directly from a separate supply as this may destroy your GEMINI 3 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 4 The video transmitter must be located as far away as possible from the autopilot as it might cause serious interference 13 Gemini dual redundancy Autopilot Manual V1 0 1 5 If you have connected the autopilot correctly you can power it up by connecting the battery Do not connect the power to the ESCs at this stage and you should not have installed the propellers The Gemini should initialize in seconds and then the LED should begin flashing red in short bursts of 3 eee eee ee
30. a s A Control Data Settings Parameter Control Data Map Settings Parameter RA MODE GPS auto hover mode Step1 Click any point on the map and a yellow smiley will appear there Step2 Click the Fly to PP button in the Map page the button vvill become grey if nothing happens after a few seconds and you would need to click on the map again for the smiley to reappear the yellow smiley will change to a purple star smiley The operation of flying to the next position will start If closer than 10 meters the craft travels without turning beyond 10 meters the head of craft faces the target point NG If the way point selected is too far away the craft will fly out of sight so you need to be cautious when using the Fly to Point function 9 2 1 5 Waypoint Flying 45 Gemini dual redundancy Autopilot Manual V1 0 Single point editing manually generated routes Automatically generated routes STEP 1 There are 2 ways to generate waypoints manually and automatically Waypoints designed manually In the Map page of your GCS click tools then Design vvaypoints to set up waypoints Each click on the map will enter a waypoint Enter all your waypoints one by one Click Default Tool to complete setting up waypoints Each waypoint includes height hovering time speed etc Height is relative to the point where your aircraft is stationary before flight This value can be
31. aft head to the desired direction when the Gimbal Course Carefree is enabled switch CH5 of craft TX from position 3 to position 2 Two seconds later switch it back to the position 3 and then back to position 2 again Now the craft head will move in the same direction as the gimbal head and keep pace with the lens direction in order to dodge the landing gear This shows that the aircraft has successfully entered Gimbal Course Carefree mode In Gimbal Course Carefree mode the direction of flying does not change and the initial direction when it entered Carefree is always forward no matter what direction the aircraft nose is facing The elevator and aileron controlled by the aircraft pilot are relative to the gimbal course only The direction of the Gimbal Course is controlled by the gimbal TX the craft nose will auto track the gimbal and not be controlled by the pilot As the diagram below shows the yellow arrow faces the craft nose the black arrow is in the direction of the flying course Record Quit To exit Gimbal Course Carefree switch aircraft transmitter CH5 to the top position manual mode or CH5 to the bottom position GPS Hover mode Gimbal Course carefree Subject to gimbal course Aircraft head always track gimbal lens direction Gemini dual redundancy Autopilot Manual V1 0 Aircraft X Controlled Controlled Controlled Middle Top position position Notice Gimbal pitch is controlled by Ch7 of aircraft TX 9
32. cessfully entered Gimbal Course Carefree mode In Gimbal Course Carefree mode the direction of flying does not change and the initial direction when it entered Carefree is always forward no matter what direction the aircraft nose is facing The elevator and aileron controlled by the aircraft pilot are relative to the gimbal course only The direction of the Gimbal Course is controlled by the gimbal TX the craft nose will auto track the gimbal and not be controlled by the pilot As the diagram below shows the yellow arrow faces the craft nose the black arrow is in the direction of the flying course Record Enter Tx model 1 Quit To exit Gimbal Course Carefree switch aircraft transmitter CH5 to the top position manual mode or CH5 to the bottom position GPS Hover mode EEE Aircraft Controlled Controlled Controlled Middle position position Notice Gimbal pitch is controlled by Ch7 of aircraft TX 54 Gemini dual redundancy Autopilot Manual V1 0 10 Tasks 10 1 Gimbal 10 1 1 Servo Gimbal PAR PITCH on the MC is for the gimbal pitch servo and PHO ROLL for the roll servo Roll Sensitivity and Pitch Sensitivity in the Parameter Section of the GCS is for adjusting the magnitude of the correction angle of the gimbal The Gimbal Sensitivity range from 0 to 127 may be adjusted to make the correction smaller or larger Negative values O to 127 may be used to reverse the servo direction Use channel 7 on your transmitt
33. ding when moving CH5 CH6 Set the F S of RC Tx as CH5 positio n 3 CH6 position 3 THR is near the middle position and check whether t he flight status is Back Landing by po wering off the RC Tx RES Step 2 Check Channels CH5 and CH6 and set Fail Safe F S Confirm that CH5 and CH6 is setup correctly by observing the RED status indication below CH5 position 1 should indicate Manual Switch CH5 to position 2 and check CH6 position 1 Auto Hover CH6 position 2 Waypoint Navigation CH6 position 3 Return Home and Land Now set F S on your transmitter to CH5 in position 3 CH6 in position 3 and throttle in centre position Turn off your transmitter and check the status as Return Home and Land 22 Gemini dual redundancy Autopilot Manual V1 0 UNICOM E 10 3 an Dn Step 3 ESC stroke calibration Please get into the settings first Flig ht status displays Settings break the pole as V shaped to open THR insura nce and push the THR pole position t o the maximum within 5 seconds po wer on the ESC after completing abov e operation Pull the THR pole back to the Minimum after a prompt sound fr om ESC After completing teh ESC str oke calibration please exit the setting s and can get into next step Init Setup ETE Erm EE f Step 3 ESC Calibration Remove propellers 1 Power up the FC but do not power the ESCs yet then Click Init Setup below 3 Move the sticks in a V direction
34. e Installation Guide on the Phone GCS If you use auto setup the first time then steps may be missed out which could result in damage to your aircraft If you cannot connect to your GCS data please review the instructions above carefully before carrying on with configuration When configuring and installing the system please make careful note of the following 1 Itis suggested that you have a system where you can power the ESCs and motors separately from the rest of the system When starting the system on the ground please switch on the transmitter FIRST and then power up the autopilot When everything is configured and ready you can then power the motors When working on the system it is always a good idea to remove the propellers entirely to avoid the possibility of serious injury 2 Switch the transmitter to manual mode and pull the throttle lever to the bottom before entering setup Before clicking Enter Setup button 7 0 1 Ground Station software Settings Installation Guide a Open the YS GCS app on your phone or tablet Click Settings as shown below n 4 y Control Data Map settings Parameter b After clicking Settings you will see the settings page 1 Minute D Installatio ata n Guide 1 C Click Installation Guide in the Settings page and follow the installation steps shown below If your data is not connected you will not be able to proceed 20 Gemini dual redundancy Autopilot Manual V1 0 U
35. e This means the system connection is correct and is starting normally For LED status please refer to appendix 6 Debug Preparation The Gemini autopilot provides 2 different ground control softvvare GCS versions the PC version and the Android version VVe recommend that you use the Android version in preference as it is more convenient to use 6 1 Installing Phone GCS Dovvnload the YS GCS Android softvvare from our official vvebsite http vvvvvv zerouav com The App must be installed to the Mobile memory card It can be installed automatically by selecting INSTALL on the APK file once located in the file manager ZERO GCS 6 2 WI FI set up 6 2 1 WI FI Communication mode The GEMINI autopilot has two communication modes PTP Peer to Peer mode and Router mode PTP connects your phone or tablet directly to the Wi fi module on the Gemini In router mode your phone tablet connects to a router which is connected via Wi fi to the GEMINI Wi fi module The default mode is PTP mode its SSID and password is on the warranty card A video indicating WI FI configuration is at http v youku com v show id XNTE2OTYA4MjQ4 html After you have connected to the Gemini successfully all subsequent flight data is saved on your phone tablet in the folder Yshj in the root directory of your file manager This data can be used to review your flight and to analyze it 6 2 2 VVI FI Configuration 14 Gemini dual redundancy Autopilot Manual V1
36. e You should then make sure the motor is correctly aligned horizontally and also try changing the propellers You should carefully check whether motor and propeller are balanced and level until the motor balance displays good when hovering 9 1 3 2 Throttle stick position This indicates the average throttle stick position when hovering the normal range is 40 65 displayed in green If the position is less than 40 yellow this shows that the aircraft is lighter than normal for the motor power and the ESCs are working in light load status If the value is above 65 then the ESCs are working in high load status or the batteries have insufficient capacity or voltage If motor speed regulation is insufficient you may have unresponsive steering leading to possible flight failure 9 2 Flight 9 2 1 Basic flight control 9 2 1 1 Phone or tablet Control 1 Phone Remote Control Mode O During flight when the transmitter is switched to Auto hover in GPS mode 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 In phone remote control mode transmitter control will not work How to control your multi rotor by phone or tablet Enable User Interface Operations Aircraft Status Control Red GPS not locked Circle status Green GPS locked Gemini dual redundancy Autopilot Manual V1 0
37. e craft tilts to 70 degrees and trigger the parachute which will then greatly reduce the falling speed of the aircraft Notice 1 Interference rudder judder or low power will make parachute activation fail 57 Gemini dual redundancy Autopilot Manual V1 0 11 4 Data Recording Black Box Function YS series flight controllers including the GEMINI all have a data record function black box for analysis in the event of an unexpected accident Data will be recorded whenever flying starts without any intervention but only one minute s worth of data will be recorded before a crash Therefore if you have crashed please do not take off again or even activate the throttle after motor arming if you want to preserve the last one minute of data How to recover the recorded data Repower the flight controller and make sure WI FI and phone are connected Then click the one min data button in the settings section Now the data sent from the flight controller to the phone will be the last minute s worth of data and it will take one minute to display The data will display on the GCS and you will have the option to save the T 1min hj file in the folder YShi You can now send it back to us for analysis 12 Additional Module Options 12 1 Data Link Connection e The XB PRO900 Datalink is used to extend communication range beyond that of the WI FI distance limit e XB PRO900 Data link Technical Specification Transmitted power
38. een light blinks once per loop means the normal operation Green light blinks for two time one loop means Auto hover and Altitude Hold When the LED is solid red it indicates a Barometer initialization failure on the ground so you need to repower the flight controller HE 1 1 41 Abnormal craft status is indicated by the white light blinking 00000000000 VVhen the difference betvveen the GPS reading and the attitude is too large or the GPS connection is loose the LED blinks in vvhite craft status is abnormal You need to check the GPS connection LED status after recovering from an excessive maneuver White light off continue to fly X VVhite light on land urgently LI 73 Gemini dual redundancy Autopilot Manual V1 0 During flight First stage low voltage alert Red light blinks fast eooooco o Final stage urgent low voltage alert Led solid red 35 VVhilst calibrating compass Attitude error less than 3 the blue light stays on and you can continue the calibration dance Attitude error greater than 3 the blue light goes off and you must pause the dance and align the airframe until it comes on again Novv you can continue the calibration dance Magnetic Field After calibrating the compass the Led will go solid Purple until the GCS has finished calculating the data 74 Gemini dual redundancy Autopilot Manual V1 0 Magnetic declination Fill in the correct magnetic as an intege
39. ent from the course direction the aircraft head follows the gimbal yaw control The aircraft will remain stationary until a push of the throttle stick makes the aircraft continue flying to waypoints There is no need to click Enable VVaypoints to start waypoint flight The more the throttle is increased the faster the aircraft will fly If you release the throttle stick the aircraft will revert to auto hover After visiting all waypoints it will start again from the first waypoint Switching CH6 back to position 1 will make the autopilot exit from air rocker function and revert to auto hover mode Waypoint hovering time is canceled 51 Gemini dual redundancy Autopilot Manual V1 0 Flying Mode Rocker Arm in the Air presetting waypoint Flying Course Waypoint direction Aircraft Head Aircraft head always track gimbal lens direction n 17 Aircraft Only able to push stick Bottom Middle forvvard or back to Position Position middle position Notice Gimbal pitch is controlled by Ch7 of aircraft TX HIGH STABILITY FPV MODE 1 FPV in GPS Hover Mode When in GPS hover mode position FPV mode will be activated 2 seconds after switching CH5 of the aircraft TX from its bottom position to the middle position In this mode the craft nose will auto track the gimbal to dodge the landing gear the elevator and aileron normally controlled by the pilot obeys the direction of the gimbal rather than the direction of the aircraft The
40. er 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 gimbal roll s balance position may be fixed and saved by clicking Quit Setup Now CH7 will revert to controlling gimbal pitch 10 1 2 Brushless Motor Direct Drive Gimbal Brushless motor direct drive gimbals can reach a very high stabilization level right down to pixel level the GEMINI supports brushless motor direct drive serial gimbals produced by ZERO TECH They are simple to set up all you need do is connect ports PTZ1 PTZ2 and PTZ3 on the MC to ports PTZ1 PTZ2 and PTZ3 of the Z series gimbal controller without setting any 55 Gemini dual redundancy Autopilot Manual V1 0 parameters The brushless motor direct drive gimbal comes with its own Z series gimbal controller power and receiver and is controlled independently by one pilot For detailed instructions please refer to the ZERO TECH Z series gimbal manual which can be downloaded from the official website http www zerouav com 10 2 Shutter Func
41. ftware refuses to operate after repowering the autopilot you need to plug and unplug the COM cable once more after closing the software 62 Gemini dual redundancy Autopilot Manual V1 0 Appendix Phone GCS Introduction 1 The GCS Control Screen interface is shown below UNICOM E F iD E UNICOM E F C E blaa 1 16 7 6 4 Enable Control 11 3 10 2 Disable Disab Fnaine Engir Set y i d 5 e Quit 8 Control Data Settings Parameter Contro Software Function List Adjust craft parameters Cross Interface General flight control Round Circle in A button to control the flight by moving your finger over the Cross screen of the phone or tablet Enable Disable Used to Enter or Exit phone attitude control mode Gemini dual redundancy Autopilot Manual V1 0 Attitude Control Exit Ground Control Software Enable Disable Enter or Exit phone control mode Remote Control Service setup IP Voice prompts TX mode settings Notice When data is connected the serial number and firmware version will be displayed in the control screen Data Interface Get into the Data interface by touching the button Data shown as below It will display Communication Disconnected with data uncommunicated UNICOM E W 3 pe o9 54 UNICOM E OD G aa DET Flight lime 00 00 AP Voltage Vibrate state Shake state Real Throttle Motor balance Rudder Aileron UNICOM E 0 3 ra os 53 Local Cou
42. he screen to where you can see Adjust Transmitter Click the button 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 Step 3 Check that the GCS shows the sticks moving in the same direction as depicted on the 26 Gemini dual redundancy Autopilot Manual V1 0 screen You might need to reverse channels if you are not using a Futaba transmitter Motor balance FILII ea n x Rudder Aileron Elevator Throttle 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 If you have made any adjustment and the position is not shown in green when releasing the sticks you will need to click the Capture middle position button in the Set screen of the GCS allowing the autopilot to record the correct middle position of the sticks 7 2 2 Setting up Aircraft types and Parameters Send Default 1 Getting the current parameter set up of the aircraft Click the button to get the c
43. hecking 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 Hexacopter type 35 Gemini dual redundancy Autopilot Manual V1 0 Hexacopter X type 8 5 Parameter setup 8 5 1 Parameter setup of aircraft The default parameters are for the quadcopter X type the parameters are as below faa 11 05 SE UNICOM E Di 8 JP 11 05 Get Send Default Default ity Roll Sensitivity 45 eiiis Cell Num Pitch Sensitivity Altitude Limit 3 OO PTZ Roll Sensiti vity Distance Limit a PTZ Pitch Sens Volt Alert Threshol 3 55 v ivity d sway EGEO PAR PHO Multiplex Parachute Pho ion T T Aircraft Tvpe Quad Rotor X Ehrottle sensitiv og yp ity Cell Num M Altitude Limit OO Distance Limit DAN Max Fly Speed 4 8 m s Walt Alart Thrae hal Cor i E EZ gt Control Data Map Settings Parameter Control Data Map Settings Parameter 20 LI 5 pu ft 5 Vertical Max Speed 2m s Handle Mode Speed Mode Roll sensitivity and pitch sensitivity would affect the degree of command response in flight Default value is 45 Motion Compensation can increase stability but would decrease the sensitivity Default value is 80 Throttle sensitivity would affect the sensitivity of height response control Default
44. it for a minute or so and the process is completed when the LED goes off Excellent OK FAIL The circles are shown in the pictures 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 33 Gemini dual redundancy Autopilot Manual V1 0 8 3 Arming to unlock motors and allow rotation NB 1 Gemini dual redundancy motors cannot be unlocked and armed without connecting the GPS 2 Gemini motors cannot be unlocked and armed when CH5 is in position 2 3 When the difference between the aircraft s magnetic course and the external magnetic course is greater than 15 Gemini dual redundancy motors cannot be unlocked and armed 4 The motors cannot be unlocked and armed when there is a fault in any sensor For safety reasons the GEMINI first stops then locks the motors on landing They can only be re armed to allow them to rotate and work after carrying out the arming procedure To arm you 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 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 After arming the motors you still need to advance the throttle stick to make the motors ro
45. its are correct make sure the wiring of the IMU faces to the back and the cable of the GPS faces to the front of the aircraft Check that the arrows on both face the front Check the Attitude Angle shown below matches the actual attitude Click Checked only after you are certain of the above 2 very important items You have now finished the installation procedure but you still need to pay careful attention to the items listed below Ensure you carry out the magnetic calibration dance outdoors clear of magnetic interference Large metallic objects like cars shipping containers etc Arm and start your motors before take off and carefully check that your motor mixing is correct and the direction of rotation is also correct Test fly and carefully check on your GCS that the vibration and shaking coefficients are less than 10 Click Next to exit the installation guide and then in Settings click Quit Setup 24 Gemini dual redundancy Autopilot Manual V1 0 UNICOM E 10 3 09 22 Step 5 Check the installing directions of IMU GPS 1 Please check the installing directi ons of IMU GPS noted the wire conne ction direction of IMU is to back GPS is to front please check carefully the arrowhead of the glued paper is to th e head of craft 2 Please confirm whether the attitud e angle display and real attitude are k eeping coincident Checked Enter the final page to finish the software adjustment Click
46. itude error etc Multiple safety features supported including auto returning home when control is lost black box records safety parachute deployment etc Camera shutter support e Z series brushless gimbal and servo gimbal support RC receiver support with S BUS or S BUS converter module 3 In The Box mHardware o Software Download m Gemini M Master Controller x1 and Gemini S Slave Controller x1 The MC Master Controller combines and communicates with the other modules and external electronic devices to carry out its function as a complete autopilot system Firmware is updated in this unit via its RS232 COM port The YS GCS Ground control Station records real time flight state via WI FI The SC Slave Controller is the backup for the master controller and duplicates everything exactly m GPS COMPASS GPS for short x2 Gemini dual redundancy Autopilot Manual V1 0 The GPS Compass modules are for sensing the orientation of the aircraft by reading its position and direction m LED Indicator x1 The LED indicates current flight status of the craft The light shovvs information such as flight mode number of satellites in vievv and battery used m S BUS Converter module This unit is used if the RC receiver does not have SBUS support It connects between the RC receiver and the S BUS port on the MC m Power Supply Module x1 Supplies regulated power for the autopilot and the Wi fi
47. le FESZ 1 Option2 The Magnetic declination query software described above is not available for the time being because the server at magnetic declination com has a problem Therefore we temporarily recommend you use the site below to check the magnetic declination at your location 75 Gemini dual redundancy Autopilot Manual V1 0 http www ngdc noaa gov geomaq web Zdeclination Declination US Historic Declination Magnetic Field Component Grid Instructions Estimated Value of Magnetic Declination Declination is calculated using the current International Geomagnetic Reference Field IGRF model While results are typically accurate to 30 minutes of arc users should be aware that several environmental factors can cause disturbances in the magnetic field Calculate Declination Lookup location Location If you are unsure about your city s latitude and longitude try entering your zip code or selecting your state below or visit the U S Gazetteer Outside the USA try the Getty Thesaurus Location longitude 180W to 180E latitude 90S to 90N The screen below will appear if you click Calculate i Declination Declination 2013 04 09 0 23 E changing by 0 03 W per year El 2 WEE 2013 GS 2011 6020 AutoNavi Google AFR Here the declination is 0 23 therefore you must fill in the integer in the GCS 76 Gemini dual redundancy Autopilot Manual V1 0 Installation and configuratio
48. le position it does not affect the actual throttle position Capture Ir ansmitter Centre pol nt Used to calibrate the transmitter s joystick Click to enter into Magnetic Compass Calibration mode the Compass status bar above displays the calibration status Used to initiate reading the data saved in the FC within the last 1 Minute D ata minute of flight Please refer to Chapter 10 4 4 Data Recording Black box function 68 Gemini dual redundancy Autopilot Manual V1 0 Installatio n Guide Init Setup Quit Setup Zero Gyro snapshot Mixing Def ine PC GCS Introduction 1 Main Interface The Installation Guide will guide you through installation and alignment step by step Used to align channels or enter parameters of craft Flight status will display Settings after clicking this button Once in settings the control channels for each motor on the craft are directly connected to the throttle channel of the TX and there is no mix output After completing Throttle Alignment and when all parameters have been entered you may click this button to exit from settings Zero the gyro The aircraft should be perfectly level when you do this Manually triggers the camera shutter Defines custom mixing of throttle roll pitch and yaw 69 Gemini dual redundancy Autopilot Manual V1 0 Fief View Path Settings S Tools T SettingsiS
49. mbal rather than the aircraft The elevator and aileron are subject to the video that is pushing the stick makes the aircraft fly in the direction of the video rather than direction of the aircraft head For example when in target lock and flying around the target in a circle the pilot controls the camera to always shoot the target using the rudder flies in a circle by pushing the aileron stick and controls flying distance with the elevator To quit this mode switch CH5 to the top position manual mode Flying mode High stability FPV mode Flying course Subject to gimbal course Aircraft Head Aircraft head always track gimbal lens direction Aircraft Controlled Controlled Controlled Middle position Notice Gimbal pitch is controlled by Ch7 of aircraft TX B Gimbal Course Carefree Switch CH5 of the gimbal TX to the position 1 gimbal not tracking mode Switch craft TX to GPS mode so that the aircraft will hover when it starts flying and whenever there is no pilot input Adjust the craft head to the desired direction when the Gimbal Course Carefree is enabled switch CH5 of craft TX from position 3 to position 2 Two seconds later switch it back to the position 3 and then back to position 2 again Now the craft head will move in the same direction as the gimbal head and keep pace with the lens direction in order to 53 Gemini dual redundancy Autopilot Manual V1 0 dodge the landing gear This shows that the aircraft has suc
50. n videos Configuring WI FI module video https www youtube com watch v Mr wstSz3as Upgrading firmware video http www youtube com watch v wkj fBUik Contact Zero UAV Beijing Intelligence Technology Co Ltd Address Building 39 102 Block 2B Xi erqi Lingxiu New Silicon Valley Haidian District Beijing China 100085 Tech Support Information Office 0086 10 5725 0711 Email supportOzerouav com T
51. nual V1 0 Octo Rotor 8 x8 NI 4 2 Autopilot Installation Configure the Gemini M and Gemini S precisely parallel to the central axis of the aircraft It can be placed in any position on the central platform but the arrow direction must be same as the aircraft heading direction and should be close to the center of gravity of the aircraft The main controller has an internal shock absorbing structure there is no need to add extra shock absorbing devices such as gyro gel or sponge It should be hard mounted to the aircraft Arrow labelled Front must point to the aircraft head 21 21 PTZZ PTZ2 PTZ3 PTZ3 PAR I PITCH PAR PITCH PHO ROLL PHO ROLL EXT1 ZGEMINIM 55 AIl GPS B 10 Gemini dual redundancy Autopilot Manual V1 0 4 3 GPS COMPASS configuration The side with the logo must face upwards the arrow must point to the aircraft head If this is not done the aircraft may toilet bowl in GPS mode and might not be able to auto hover normally The GPS module must be mounted on the GPS bracket using the supplied double sided adhesive pad and placed in an elevated position to keep it away from any electronic devices such as cables video transmitting devices and anything that is not electronically shielded 5 Ports 5 1 Port definition Gemini M Port definition Yal wm LE BN coi MN er pel caer o DM B me RR d Connect to Parachute Servo ESC to motor 4 PAR PITCH o
52. of attitude adjustment You need to adjust the weight and distance between each propeller and gyro to make the motor keep an adequate rotation speed For an off the shelf multirotor this should already be incorporated into the design Light weight propellers should also be used to decrease inertia and improve stick sensitivity For aircraft already designed to have the highest efficiency you cannot avoid degradation in stability due to these factors You can only choose the right balance between flight efficiency and stability Thirdly multirotor symmetry has a vital effect on its flight stability Chapter 10 1 3 Motor balance evaluates the symmetry of motor and propeller If the symmetry is not adjusted well you would have to pay more attention to the aircraft body and power arrangements Fourthly If the previous three steps are dealt with well you can adjust the parameters in setting for the Roll sensitivity and the Pitch sensitivity You can also set up values for the power of aircraft attitude the P value of proportional control and adjust within some limits Motion compensation which sets up dampening of the aircraft attitude D value of differential control Roll sensitivity amp Pitch sensitivity illustrate an angle speed error for which the default value is 45 Normally aircraft are within the range of 45 60 if the sensitivity is bigger the correction is faster and control response is more flexible But if the sensitivity is t
53. ome amp Land Mode The autopilot will set the return home position automatically when the GPS has locked with 7 satellites or more In GPS mode when CH6 is moved to position 3 auto return home amp landing the GEMINI will auto return home and land after 5 seconds During return home and landing the aircraft will not accept any Manual intervention However during the slow descent during the landing phase of return home and landing the Gemini dual redundancy will allow you to provide flight input to adjust the landing area For safety reasons the minimum flying altitude for return home and landing is 20 meters If flying lower than this the craft will ascend to 20 meters If the current altitude is more than 20 meters the aircraft will keep the current altitude If you need to cancel the return home and landing procedure you can move CH5 to Position 1 Manual Mode Upon landing in this mode the motors will stop slowly until the aircraft has completed the landing operation After 5 seconds motor lock will take effect You will need to arm the motors to unlock for restarting NB Do not switch to return home and land mode when you are near the aircraft It is dangerous to adjust flight status for a short time period 44 Gemini dual redundancy Autopilot Manual V1 0 9 2 1 4 Click and Fly to Point UNICOM E a E 1 UNICOM E FU E Locate SVVP Locate SWP DEM ta remo ot Use Google TemisotUie ka s gt k
54. oo high this would result in high frequency vibration especially in an aircraft with high rpm high speed motor with small or fine pitch propeller and you would need to decrease the 38 Gemini dual redundancy Autopilot Manual V1 0 value The minimum value of this parameter is 0 maximum value is 255 Motion compensation corrects the aircraft motion I value of differential control and the default value is 80 normally the regular aircraft range is from 80 to 200 VVithout this compensation if the stick efficiency is low Low speed motor or big propeller the aircraft might wobble after a stick movement before gaining stability In this case the parameter should be increased until the aircraft rights itself without any back lash or wobble If the aircraft recovers from a control input with high frequency shaking then this parameter should be reduced The range is from O to 255 9 Flying in the Field 9 1 Flight status 9 1 1 LED indicator status and definition 1 GPS and Flight Mode status indication Shown as per table Red Blue Or Red Green will display the status of aircraft LED and Green Red LED All modes Blue LED stabilization mode or GPS not located mode LED Status Workin g status 000 Red LED flashe s3 times GPS not locate d 00 Red LED flashes twice GPS located with 5 satellit es Red LED flashes once GPS located vvith 6 satellit es Red LED off
55. 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 Gemini dual redundancy Autopilot Manual V1 0 2 Introduction Functions The autopilot supports 9 types of aircraft Quad Rotor 4 x4 x4 8 motors Hexa Rotor 6 x6 Y6 Rev Y6 Octo Rotor 8 x8 V8 It is also possible to add customized configuration types Supports firmware upgrade via USB cable to COM port The autopilot can be controlled either by RC Transmitter Smartphone or Tablet A smartphone Tablet or PC may be used to adjust the parameters 4 working modes supported Manual stabilization Auto hover Semi auto takeoff Auto navigation supports single waypoint edit and Return home landing auto return home if signal lost supported LED indication of Autopilot Status including GPS location low voltage alert att
56. opilot and its Configuration 30 SFTS NGT 30 8 1 Collection of parachute Open Close positions 30 9 2 Compass calib ANN PN 31 8 3 Arming to unlock motors and allow rotation 34 8 4 Checking Motor MIX CONO Lisa a 34 6 5 Pafametel Seki NN 36 I Parametersetup of AA Er 36 8 5 2 Aircraft motion parameter adjustment 38 TEN NE ENG 39 9 d HORSE en 39 9 1 1 LED indicator status and vinneren asas sasi 39 IK 2 OSU ON and WOIE KNE 40 9 1 3 Motor Balance and Throttle Stick Rada ada stie 41 LAMA PN 41 S NAM Basie ENE COMO 41 92 2 Professional FVNna Operation SAA 47 Lords A m Ne 55 INE CIS NEUE Vi o ba 55 TO SENG Cini ERR 55 10 1 2 Brushless Motor Direct Drive 1 ern rnm 55 10 2 Snutter FIRE AAA DC qd ab 56 L Emergency PFOEGCUODI Larnaka A AAA 56 11 1 Arm the Motors Disarm the Motors nic 56 Gemini dual redundancy Autopilot Manual V1 0 TL Ary TNC MOTOS AAA AAA AAA Ia fuera A 56 11 1 2 Disarming the motors make Safe 56 11 2 Returning Home After Loss of Control 8 57 11 3 Opening of Safety Parachute
57. ositive counterclockwise direction is negative For example Due East 90 degree Due West 90 degree Due South 180 Autopilot Voltage ongitude 0 00000 GPS Longitude and GPS Latitud atitude 0 00000 i E guns Displays motor balance status IMU vibration status 1 10 means your craft is in good condition Above 10 and vibration exceed its limits Up and down U DO is the vertical and Shake State is the horizontal vibration status of the IMU front back and left right 00 00 Flight Time Real position of Throttle 65 Gemini dual redundancy Autopilot Manual V1 0 MAP Interface The first time you open the Map you must connect to the internet to download the map of your area of interest Next time you open this map it will be shown as the default When there is no internet cached data will be displayed UNICOM E Di an TIE Locate SWP SPC Tool Map Satellite 45 Labels 2 km Terms of Use Control Data Map Settings Parameter A Zoom in Zoom out Map Map mode satellite Satellite mode Map location My location aircraft location location search Target Lock and fly to point 66 Gemini dual redundancy Autopilot Manual V1 0 Used to control waypoint flying Map Tools Editing Waypoints UNICOM E Of 3 Val ID UNICOM E 10 3 FAL 10 24 Edit Waypoint No Latitude Longitude Altitude Defa Hovering liDefault
58. p 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 Zero UAV Beijing Intelligence Technology Co Ltd assumes no liability for damage s or injuries incurred directly or indirectly from the use of this product The user is responsible for abiding with the law and not behaving contrary to public order or public safety by using this product ZERO TECH accepts no liability for damage s or injuries directly or indirectly from the use of this product in the following conditions 1 Damage s or injuries incurred
59. position hover mode with CH6 in top position FPV mode will be activated 2 seconds after switching CH5 of the aircraft TX from its bottom position to the middle position In this mode the craft nose will auto track the gimbal to dodge the landing gear the elevator and aileron normally controlled by the pilot obeys the direction of the gimbal rather than the direction of the aircraft The pilot is controlling the gimbal rather than the aircraft The elevator and aileron response is relative to the video direction For example if you push the stick forward the aircraft will move in the direction that the gimbal is pointing rather than in the direction which the aircraft is pointing In another example when in target lock and flying around the target in a circle the pilot controls the camera to always shoot the target using the rudder flies in a circle by pushing the aileron stick and controls flying distance with the elevator To quit this mode switch aircraft transmitter CH5 to the top position manual mode 48 Gemini dual redundancy Autopilot Manual V1 0 or to the bottom position GPS Hover mode Flying mode High stability FPV mode Flying course Subject to gimbal course id Head Aircraft head always track Free lens direction Middle Controlled Controlled Controlled position position Notice Gimbal pitch is controlled by Ch7 of aircraft TX 2 FPV in Manual Mode The aircraft will enter FPV manual mode 2 seconds af
60. r Gimbal Servo pitch channel Connect to shutter or ESC to motor 5 PHO ROLL Gimbal servo Roll channel NC ESC to motor 6 EXT1 EXT1 Gemini S ESC to motor 7 5 S BUS receiver ESC to motor 8 EXT2 EXT2 Gemini S 11 2 Gemini dual redundancy Autopilot Manual V1 0 RS232 COM for adjusting parameters on PC or connecting WI FI module and Data Link Connect to Power Management Module Connect to 5 7V output of Connect to LED indicator Power Module GPS RED End GPS Black End Gemini S Port Definition EN 77 p dl 0mm i m KENNEN MN PAR PITCH Iw a AAA ms m va mI lw We GPS R fil GPS R to GPS red terminal GPS B GPS B to black terminal 12 Gemini dual redundancy Autopilot Manual V1 0 5 2 Connection Diagram r 22 PTZ3 PAR I PITCH PHO ROLL 1 1 S BUS EXT2 EXTZ ari SPER tehtit FAA Front ana ESKE HEBER u s z 18 77 4 NCUL EP e ims Emir DS THES ARRE m HEM EIE ERN Heci EHE EH 3 ALL L LL ORS EZ DIUB G3 H REMATE FRASER Tea 248 EITT AAA PHO ROLL EXT1 A E 5 B05 GEMINI M EXT3 ATi 22 oe Bis EH MI M8 5 PAR PITCH F Mice SERE kin art BPO Tee BTM HP ih WIFE enin 35 65 MIA J 7155 BUS Eig A VERE AR LED DIELED FEE Miras PAR WIFHIR AGE Tin GPS WEG Underh Sgt f Tit _ SHB OM
61. r without decimals by referring to http magnetic declination com or http www ngdc noaa gov geomagmodels struts calcDeclination NB For magnetic declination conventionally West is negative and East positive However for the YS X4 P it is reversed West positive and East negative This is because declination is to the West in most regions of China NB Make sure you fill in a round number integer for declination in the GCS You MUST enter a positive number for West declination and negative for East For example Fill in the number 7 if the declination is 7 23 West please fill in the number 7 if the declination is 7 23 East You can also click on the following link to download declination query software http www zerouav net site mag UpLoads GetMaanetic rar With your PC connected to the Internet open the software then click on the Map or Satellite icon then operate guided by the software tips on the right If you right click on the map area you will see the longitude and latitude and the value of the magnetic declination A Get Magnetic Declinatio ME TE Tips n the left google map Click the risht mouse button to get magnetic declination Your position is East 116 680298 North 50 373497 Magnetic declination is 9 17 degree West Please fil1 9 in YSwifi GCS In YSwifi GCS West is positive East is negative it HE 22013 GS 2011 8020 AutoNavi GIS Innovatsia DATA Goog
62. ration has succeeded Step 4 Click Exit from the Setting page and click OK to confirm 7 2 5 Checking the Gemini autopilot and its GPS Configuration 1 The arrow direction of GEMINI autopilot and GPS COMPASS module should be pointing in the same direction as the aircraft head 2 Please make sure the GEMINI autopilot is configured whilst level and the GPS module is also leveled and is higher than everything else 3 Ensure both are firmly fixed 8 Field Testing 8 1 parachute open close testing Notice 1 Parachute is not supported if using servo gimbal 2 The deployment of the parachute has a strong catapulting force please 30 Gemini dual redundancy Autopilot Manual V1 0 be careful when configuring and please keep your head away from the unit The GEMINI autopilot PAR output channel outputs a PWM signal which can control a servo to open the parachute The parachute servo must have an independent power supply so that the parachute can still open if everything else has failed 6v supply Parachute Servo signal Gemini PAR port Detailed steps Enter settings page and on the bottom of the page you can see two boxes with Test Close Parachute and Test Open Parachute a diagram will pop up for your confirmation vvhen you click it Confirm it by clicking the OK and the servo of the parachute will be actived No channel on the Tx radio is for opening the parachute manually it s set to open automaticall
63. rse Extern Course GPS Select Extern GPS Switch GPS 11909 25027 30773 Satellites Longitude 0 00000 Latitude 0 00000 GPS velx cm 0 GPS vely cm 0 Course Angle 0 0D Attitude Angle R20 U21 OM Magnetic Select Local Magnetic Switch Magnetic IMU Select Local IMU Switch IMU GPS Fault Local GPS Fault Elevator Throttle Magnetic Fault Extern Magnetic Fault IMU Fault No Fault 21 9 Settings State 00 00 Local Satellites Extern Satellites Local Course Extern Course GPS Select Extern GPS AP Voltage Vibrate state Shake state m 9 Control Data Map Settings Parameter D Batt mAH 889 mAH Batt current TA m Q Control Data Map Settings Parameter 25 A 5 a o Control Data Settings Parameter A z Shovvs hovv many satellites are locked GPS velocity displays a value belovv 10 vvhen static 64 Gemini dual redundancy Autopilot Manual V1 0 Velocity after Kalman filtering A value between 0 20 is displayed and will increase constantly When the velocity exceeds its normal range the LED will be solid white and the aircraft should be landed urgently Displays real time attitude angle during flight Displays current craft state Manual Manual Altitude Hold Auto Hover light Mode Settings State Auto Navigation Auto Go Home and Land setup status Barometer altitude of aircraft units in metres Aircraft compass heading Due North 0 degree clockwise direction is p
64. s PAR PHO Multiplex Parachute Phc gimbal Aircraft Type Quad Rotor X Enter the aircraft type refer to chapter 3 1 Speed mode and optional attitude mode No need to enter max Handle Mode Speed Mode speed when choosing attitude mode Gemini dual redundancy Autopilot Manual V1 0 Max Fly Speed 48 m s Setup maximum flight speed 8 5 2 Aircraft motion parameter adjustment If there is too much deviation either in vibration or motion from its normal operation the IMU may no longer be able to check the aircraft status You must check that the configuration direction of the IMU is correct and it must be fixed firmly to the aircraft in a place where vibration is minimized The GEMINI autopilot has internal vibration dampening so you should not add any extra damper like gel or sponge Firstly the vibration coefficient and motion coefficient which is displayed on the ground station indicates the status of IMU vibration You must balance all the propellers so that the vibration coefficient and motion coefficient remains below 10 during hovering flight If this is not the case it is not possible to get ideal stabilization no matter how much you adjust the parameters A loose flexible or soft airframe will bring extra vibration so please use an airframe in good rigid condition Secondly the attitude adjustment of your multirotor depends on the motor rotation speed so the sensitivity of sticks will directly affect the accuracy
65. tate If it doesn t take off some motors might slowly decrease speed or even stop rotating this is normal You only need to apply more throttle to take off normally NB If after 5 seconds you have not applied any throttle then the motors will lock again automatically In this case you would need to repeat the arming procedure 8 4 Checking Motor Mix control Before take off you still need to check your motor mix control you also need to check that your motors are spinning in the correct direction and the right motors are speeding up or slowing down when you move the sticks 34 Gemini dual redundancy Autopilot Manual V1 0 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 switch to manual stabilization mode first 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 elevator channel According to the aircraft symmetry it should be similar to c
66. ter switching CH5 of Aircraft TX from top position to middle position whilst flying In this mode the direction of the aircraft will auto track the gimbal heading so as to dodge the landing gear The elevator and aileron response which is controlled by the aircraft pilot are relative to the gimbal course not the aircraft heading Therefore the aircraft pilot is directly controlling the gimbal rather than the aircraft The elevator and aileron response is relative to the video direction pushing the stick makes the aircraft fly in the direction of the video rather than direction of the aircraft head For example when in target lock and flying around the target in a circle the pilot controls the camera to always shoot the target using the rudder flies in a circle by pushing the aileron stick and controls flying distance with the elevator To quit this mode switch CH5 to the top position manual mode Flying mode High stability FPV mode Flying course Subject to gimbal course Head Aircraft head always track gimbal lens direction E Controlled Controlled Controlled Middle um 49 Gemini dual redundancy Autopilot Manual V1 0 5 m Notice Gimbal pitch is controlled by Ch7 of aircraft TX C Carefree Gimbal Course Switch CH5 of the gimbal TX to position 1 gimbal not tracking mode Switch craft TX to GPS mode so that the aircraft will hover when it starts flying and whenever there is no pilot input Adjust the cr
67. tically follow the direction of the gimbal This ensures the aircraft landing gear is never in the camera field of view Note that in this mode the aircraft heading is now fully controlled by the Gimbal transmitter The aircraft will remain in hover hold position until you move your throttle stick which will 47 Gemini dual redundancy Autopilot Manual V1 0 signal the GEMINI to fly following your designated waypoints You do not have to press Enable VVaypoints to start waypoint flying e IMPORTANT The higher the throttle input the faster the aircraft will fly from waypoint to waypoint Reducing throttle input will reduce flying speed until the aircraft returns to auto hover f After completing waypoint flying the Gemini will direct the aircraft to repeat the first waypoint g Move CH6 back to Position 1 to exit Rocker Arm in the air Mode and return to hover mode h Note that the Waypoint hovering time set up becomes invalid A ue AA Aircraft Controlled Controlled Controlled Middle position Notice Gimbal pitch is controlled by Ch7 of aircraft TX High Stability FPV mode FPV mode is first person view mode The aircraft s course will track the gimbal automatically to avoid the landing gear the elevator and aileron of the aircraft will obey the video direction Meanwhile the gimbal transmitter just controls the gimbal direction and the aircraft will follow it automatically 1 FPV in GPS Hover Mode When in the GPS
68. tion The output channel PHO of the autopilot provides a shutter function by outputting a high low electronic TTL output The top pin is signal middle pin has no connection and the lower pin is ground A high level signal output of 3 3V is activated when Take Photo is clicked in the Settings page of the GCS The signal then grounds at OV for a short period of about 400ms and then pulls up to 3 3V again This format of high low high level output supports Canon and similar cameras including 550D 600D 5D Mark II etc Shutter control Get Photo D ata 11 Emergency Protection 11 1 Arm and Disarm motor 11 1 1 Arm motor Arming can only be achieved in Manual Mode after pulling the throttle stick to the bottom before take off After landing the motors will lock after 5 seconds and the motors will not be able to rotate when the throttle is pushed The motors can rotate only after you have carried out the arm motor to unlock procedure referred to in chapter 7 3 11 1 2 Disarming the Motors Make Safe Normal method to disarm motors In manual mode disarm the motors by pulling the throttle back to the bottom In GPS mode pulling the throttle to the bottom will only reduce the height but not disarm the motors If you land in GPS mode you must switch to manual mode first and keep the throttle at the minimum 56 Gemini dual redundancy Autopilot Manual V1 0 position Now the motors will stop and become locked 11 2 Ret
69. up Fail Safe F S protection Please refer to the user manual of your RC Transmitter for instructions to set up Fail Safe For the GEMINI dual redundancy autopilot Failsafe settings should be as follows setup CH5 to position 3 CH6 to position 3 keep throttle in the middle 50 approx Video reference link http www tudou com programs view elai526Mbt4 Gimbal transmitter setup Step 1 setup CH5 to a 3 position switch CH6 to a 3 position switch Step 2 If carrying the 22000 gimbal set CH8 to a 2 position switch to control the camera shutter 6 3 2 Single Transmitter setup Step 1 setup CH5 to a 3 position switch CH6 to a 3 position switch Step 2 setup Ch7 to the RS or LS lever channel to control the pitch of gimbal Step 3 setup CH8 to a knob switch to control taking pictures Step 4 set up Fail Safe F S protection Set up F S first For the GEMINI autopilot setup CH5 to position 3 CH6 to position 3 keep throttle in the middle 50 approx 19 Gemini dual redundancy Autopilot Manual V1 0 7 GCS Software Setup After connecting the GEMINI data successfully you should calibrate your compass first If your compass is not calibrated correctly your phone will vibrate and you will not be able to arm the motors The next thing to do is to set up the whole aircraft system using the Installation guide in your phone tablet GCS or you can use auto setup If you are doing this for the first time it is suggested you use th
70. ur transmitter may vary for example JR and WFLY Transmitters need all channels reversed NB 1 You are provided with the option to fly with one transmitter controlling both aircraft and gimbal or two transmitters one for aircraft one for gimbal when using Zero TECH Z series gimbals If only one transmitter is used camera shutter control is disabled Shutter control can be used via the GCS manual shutter control which is available when carrying the 22000 gimbal 6 3 1 Dual transmitter setup Step 1 aircraft transmitter setup In the FUNCTION menu select a 3 way switch to control channel 5 CH5 and a 3 way switch to control channel 6 CH6 Channel 5 Position 1 Channel 6 Position 1 Manual Stabilisation R Au T r T Penannel 6 Position 2 PUN Auto Navigation Position 2 1 Channel 5 Position 3 GPS W Channel 6 Position 3 Return and Land Gemini dual redundancy Autopilot Manual V1 0 The working modes are shown below CH5 Status CH6 Status Working Mode CH5 position 1 X any position Manual stabilization CH5 position 3 CH6 position 2 Auto navigation CH5 position 3 CH6 position 3 Return home and land NB Priority is Manual mode In any mode flight status will revert to manual mode when CH5 is switched to position 1 the aircraft will come under the control of the operator Step 2 setup CH7 to a knob switch Step 3 setup CH8 to a knob switch to control taking pictures deployment Step 4 set
71. urning Home After Loss of Control 1 When the WI FI signal is lost If the WI FI signal is lost for more than 1 second control will be handed back to the RC transmitter If the autopilot is flying waypoints when the WI FI signal is lost then the aircraft will keep flying waypoints normally until it has completed the task and then return to waypoint 1 auto hover and wait for your command 2 When the transmitter signal is lost You must read your transmitter manual carefully and setup failsafe F S correctly If CH5 is a 2 position svvitch then svvitch CH5 to position 2 and CH6 to position 3 The throttle should be set to middle See installation guide If the transmitter is disconnected or F S is enabled for any reason the aircraft vvill svvitch to auto hover It will keep vvaypoint flying for 5 seconds if navigating It will then wait for 5 seconds if the signal still does not recover after 5 seconds it will activate the return home sequence 11 3 Opening of Safety Parachute Protection NB 1 The parachute power supply MUST be independent of the autopilot 2 Power on the autopilot first and check that it works normally BEFORE connecting the servo of the safety parachute 3 Payload weight must not exceed the safety protection range of the parachute The maximum battery payload would be 15000mah 11 3 1 Automatic Deployment of Safety Parachute In GPS mode the autopilot will regard the craft attitude to be abnormal if th
72. urrent 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 throttle stick to the bottom and then click the button 2 Select the correct aircraft types Aircraft Type Quad Rotor vw 27 Gemini dual redundancy Autopilot Manual V1 0 Select the correct aircraft types in aircraft types on the parameter page Setting up defined parameters If you have one of the standard aircraft indicated in the menu list you can skip this part If you have a customized or abnormal layout aircraft you can define how each motor is mixed and you can define the increase or decrease in the percentage coefficient on each of the roll pitch rotation channels of each motor Detail is shown below Range of values for manually entered parameters Throttle Climb up down All should be 100 Right rotation Decrease to 100 or Increase to 100 Decrease to 100 or Increase to 100 KL Right Roll Decrease to 100 or Increase to 100 For example an X configured Quadcopter would have parameter settings as seen below UNICOM E cun 3 an TIED THR COURSE PITCH ROLL 96 6 25 20 100 10 v mM T
73. vvering the autopilot vvill zero its povver sensor automatically the current discharge ampere A and battery consumption MAH vvill be detected by the povver management and displayed by the GCS 12 3 On screen display OSD Connection When the ZeroOSD module is connected to the Gemini a head up display HUD of flying parameters vvill be superimposed on the flight video considerably increasing the value of flight telemetry for the pilot Please check the ZeroOSD manual for more detail 59 Gemini dual redundancy Autopilot Manual V1 0 13 Firmware Upgrade Upgrading GEMINI firmware is simple Before upgrading firmware please download the special firmware upgrade tool on the Zero UAV official website http www zerouav com en service Download Firmware NB Upgrade the firmware on the Main Unit and the Slave Unit separately because the firmware is different Connection Plug the serial converter end of the USB cable into the PC USB port the other end to the COM port on the Flight Controller white cable up Stepl Make sure the Flight controller is not powered on Run the GEMINI PC Firmware Upgrade program and then click on AP Firmware Upgrade The dialogue shown below will open AP Firmware Upgrade TI 4 v ga Stepl Select COM Port Co Config com Opencom Step2 Select Firmware Step3 Restart Please config the COM port Step 2 Enter the CO
74. y when the attitude of the copter reaches 70 degree 8 2 Compass Calibration When using the GEMINI autopilot for the first time the GPS COMPASS must be calibrated before arming the motors 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 Calibration should not be done indoors or when there are large metallic objects nearby such as cars or shipping containers Always calibrate outdoors in the clear NB The Master Controller and Slave Controller can be calibrated at the same time there is no need to do them separately There are 3 steps to follow 1 Level calibration 2 Vertical calibration 3 Save GPS COMPASS data The status is displayed in the Set Page at the top as shown below 31 Gemini dual redundancy Autopilot Manual V1 0 Proceed as follows Step 1 Switch to manual mode and pull the throttle stick to the bottom Step 1 Click Magnetic Compass in the Set Page Capture Nuetra Capture Tr Magnetic ansmitter Compass Centre pol nt Step 3 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 Magnetic Compass J Cancel E p Horizontal Alignment Vertical Alignment Step 4 Level the aircraft and make sure the blue LED is on this indicates

Gemini（dual redundancy）Autopilot Manual V1.0

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