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GEMINI Multi-Rotor Autopilot

1. GEMINI User Manual V2 1 6 Magnetic declination 1 Option 1 Not available at the time of writing please choose option 2 if still not available Fill in the correct magnetic as an integer 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 GetMagnetic 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 Tips 0On the left google map Click the right mouse button to get magnetic declination Your position is East 116 680298 North 50 373497 Magnetic declination
2. If you have ESCs without a BEC and you need to power a servo gimbal you can connect a servo battery to any port from M1 M8 5 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 6 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 eee This means the system connection is correct and is starting normally For LED status please refer to appendix 8 Preparing to Install the Software 8 1 Installing Phone GCS Download the YS GCS Android software from our official website http www 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 in the file manager YS X6 YSE GCS Android App Icon 15 GEMINI User Manual V2 1 Open the GCS When the data has connected you will see the serial number and firmware
3. Make Safe cccccceeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 50 12 4 2 Return Home after loss of control ssssssssnsnsnnnnnnannnnsnnnnnunnnnnnnnnennnnano 50 12 4 5 Sarety Paracnute PrOteCtiOn sivessasawodaiers toca aaa canes ceeasanx mediate tmaavayaes 50 12 4 4 Data recording Black Box FUNCTION ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 51 toe Data LINK COMMECEOM sesine sarcerdemotatdol dase asudiaeter das bos dawenat nal dee a veuwenad ues 51 13 1 1 Installing the Data Link On the MUulti rOtor ccccccccc cece eect eee eeeeeeeeees 51 13 L2 Data Link Of Une GrOUN dimene e aa E a aO 52 14 Firmware Upgrade cira A E E A 52 ADPENOD erna e A a A E T A A O AA 55 1 LED Analysis 55 2 Introduction to the GCS Interface 56 3 Map 59 4 Editing Waypoints 60 5 Settings 61 6 Magnetic Declination 63 GEMINI User Manual V2 1 2 Description The GEMINI is an autopilot for multi rotor aircraft GEMINI has duplicated control units the Master Controller and a Slave Controller Each has its own IMU Inertial Measurement Unit which includes 2 separate sets of gyros accelerometers and barometric sensors There are also two GPS COMPASS units Having everything duplicated ensures maximum safety and reliability If any unit associated with flight control fails or loses control then the system automatically switches to a functioning unit The ground station continually monitors the status of two Controllers and warns the u
4. lt O lt mj O O nd oO c Cancel H i ki s Control Data Map Set p Parameter Definition In Detail 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 30 GEMINI User Manual V2 1 10 3 3Checking 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 Flight Mode Manual 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 Transmi
5. 12 2013 14 36 ARM File YS X6Professional fimware 20131001 Ene arm Step4 Power up the flight controller and the program will auto upgrade AP Firmware Upgrade Step1 Select COM Part com10 r Step2 Select Firmware C Users Chris Desktap Zeratech translation project YS 6 Firmwan Step3 Restart AP Transmit send 1312 Percentage 164 166 k Power off the autopilot when it says in red Please Restart AP and then close the program NB If the upgrade is completed but the software refuses to operate after repowering the autopilot you need to plug and unplug the COM cable once more after closing the software 54 GEMINI User Manual V2 1 Appendix 1 LED Analysis GPS not located red light blinks in cycles of 3 eee eee ooo ooo 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 o o o 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 Oreo or o Green light blinks once per loop means the normal operation 3 2 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 T Abnormal craft status is indicated by the white light blinking 00000000000 Whe
6. Feld sesesncvaceetuerceneemecgnesnenaeneaneenenesi oes onbatecagetreucanaeaweeagneay ANN 38 17 FUG SCAU Sana E Rhee meee A Mapa aera Caan eae Eagan irene 38 12 1 1 LED indicator status and difinition ssssssssssssssssrssrennrrsnrnnrrsnresnrrenae 38 1212 OsScilahHon and WODDIC tnsuxi do aaa aa a a E 39 12 1 3 Motor Balance and Real Throttle Stick Position ssssssssssssrssrrssressrssne 39 12 1 4 Power Calculation Module Option ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 40 12 2 FONE CONTO riren an aa A A N 40 t2 PRONE or Tablet CONT Olaine ane EEA AA 40 GEMINI User Manual V2 1 12 22 SEM AULO CAKEOM ireboot wes nae e ieee baa ee eek eerie ae eeee even 42 TZ Zo AULOHCAK COI oties ctacsndve a ease io lacaee we ttters Galasso aes oie casawe N Ea 43 12 2 4 Auto returning to home and land s sssssssssssnnnnannnnsnnnnnannnnnnnnnsnnnnann 43 122S CCK ANG FIY COP DOINE aranna A A 44 1722 6 Target EOCK eironi rnn NE TEE EN TAEAE 45 122 7 WAVIN FIV ING uaaa E E A AAA 46 12 226 Alf ROCker FUNGUO irsana a E EA 47 LZ AFO OW MEn a O N T A a A O 47 12 2 10 Intellligent Course Lock Care free sssssssssssssssssnesnesnrnnsnnrnnennrnnne 47 123 Other TISK Sna E A T 48 122091 SMUCLEr FUNCTION cerae E NE 48 t032 GINDAN A NEA E EE AAO 49 12 3 2 1 Common Servo Gimbal 49 12 3 2 2 Brushless Motor Direct Drive Gimbal 49 124 Emergency Protection xscssce iste rencreteatsessacunmee dieses aesecenitede eed 50 12 4 1 Disarming the Motors
7. correct aircraft type Aircraft Type Quad Rotor UNICOM e 0 G an 09 29 2 Quad Rotor X Hex Rotor Cross Hex Rotor X Octo Rotor Cross Octo Rotor X Hex Rotor Y reverse Hex Rotor Y Quad Rotor Octo motors D Select the correct aircraft type in aircraft types on the parameter page 3 Setting up defined parameters If you have one of the standard aircraft indicated above 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 29 GEMINI User Manual V2 1 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 Roll Right Roll Decrease to 100 or Increase to 100 For example an X configured Quadcopter would have parameter settings as below an 09 35 THR COURSE PITCH ROLL 100 UNICOM E 20 P ae E TE lt 2 O O sor ca O O l oe O 10 O O O Function Limit Unlock Motors Enable Course Locked Mixing Define Preset PTZLock Disable Course Locked Oo O lt A o z OO op MEE 100 lt 0X ma O O
8. display clockwise anti clockwise propellers are not level when the copter is hovering or maintaining course 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 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 39 GEMINI User Manual V2 1 12 1 4 Power Calculation Module Option When the GEMINI is connected with the optional power calculation module you can observe in the data screen in real time the discharge current and battery consumption of the GCS To use this function first connect the power management module to the Gemini AI1 plug Zero the throttle and power up the GEMINI After powering the FC will zero its sensor automatically and the current discharge Ampere A and battery consumption mAH will be displayed in the GCS NB This is an optional
9. is 9 17 degree West Please fill 9 in YSwifi GCS In YSwifi GCS West is positive East is negative 3 BSE O20 13 GS 2011 6020 AutoNavi GIS Innovatsia DATA Google FESZ 2 Option2 The Magnetic declination query software described above is not available for the time being because the server at magnetic declination com 63 GEMINI User Manual V2 1 has a problem Therefore we temporarily recommend you use the site below to check the magnetic declination at your location http www nddc noaa qgov qeomaqg web declination Declination US Historic Declination Magnetic Field 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 Location Result Lookup location lf 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 ee Choose a country The screen below will appear if you click Calculate i E Declination Here the declination is 0 23 t
10. 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 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 36 GEMINI User Manual V2 1 Thirdly multirotor symmetry has a vital effect in 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
11. 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 Phone 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 NB Please place your phone level before enabling phone attitude mode otherwise the aircraft will fly following your phone tilt direction after switching to attitude mode 41 GEMINI User Manual V2 1 Controlling the aircraft using phone attitude control mode Enable User Interface Operations Aircraft Status Control Circle Red GPS not locked status Green GPS locked Position No Operation Position hold Hold 1 moving Tilt the phone 1 up down l l Level l 2 moving left right l 2 left right l l Flight l l 3 Moving left right 3 left right top left right bottom l top left right etc bottom etc forward backward 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 Descend Rot
12. not using a Futaba transmitter Motor balance 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 28 GEMINI User Manual V2 1 10 3 2 Setting up Aircraft Types and Parameters Get Send Default 1 Getting the current parameter set up of the aircraft Click the button to get the current parameters Click several times if it fails Normally the autopilot uses the default parameters After changing any parameter settings away from the current settings you must click the Send 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
13. position 1 and position 2 on CH6 rapidly three times 1 gt 2 gt 1 gt 2 gt 1 gt 2 gt 1 do not switch to position3 which is invalid Now the auto pilot will enter target lock mode After locking the target with Method 1 or Method 2 you can control using transmitter or by RC mode on your phone You can fly around a target with the head of the aircraft always pointing towards the target if you take note of the following points 1 With left aileron output the aircraft will hover clockwise around the target point With right aileron output it will hover anti clockwise 2 Pushing or pulling the elevator stick will decrease or increase the hovering radius 3 The elevator and aileron controls will revert to normal by selecting Quit FlytoPP PTZ Lock in the map page or by switching back to manual mode Switch to manual mode and immediately back to GPS mode to continue the operation 45 GEMINI User Manual V2 1 12 2 7 Waypoint Flying Setting up Waypoints Step1 In the Map page of your GCS click tools then Design waypoints 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 Tips If your firmware version is later than Sept 15 2012 each waypoint contains Height Hovering time Speed and other key parameters so you must make sure that you select edit waypoint for each one and choose the correct pa
14. version for the autopilot on the interface UNICOM E i amp la 09 17 me GOOGIEMTap Ir management Users islash isask Garis Disable E ngine Ss so Control Data EY Settings Parameter fi S GCS Interface After connecting your WI FI to the GCS successfully you can also see the real time updated data on the Data Page Local Satellites 2131100018 Local Course Extern Course GPS Sel Local GPS Switch GPS Magnetic Sel Local Magnetic Switch Magnetic IMU Sel Local IMU Switch IMU GPS Fault No Fault Magnetic Fault No Fault IMU Fault No Fault Batt mAH 55 mAH Batt current 4A O Control Data Map Settings Parameter Real time updated data 16 GEMINI User Manual V2 1 8 2 WI FI Setup 8 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 XNTE2ZOTY4MjQO4 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 f
15. CH5 position 1 CH6 any position Manual stabilization CH5 position 2 CH6 position 2 Auto navigation CH5 position 2 CH6 position 3 Return home and land Step 2 Assign CH8 to a 2 position switch to activate the parachute Step 3 Setup F S Fail Safe protection Please refer to the user manual of your RC Transmitter to set up F S For the GEMINI autopilot set up the failsafe with CH5 on position 2 CH6 on position 3 and the throttle in the middle position 50 There is a video tutorial which refers to the T8FG at http www tudou com programs view elai526Mbt4 10 Ground Station Software Adjustment 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 21 GEMINI User Manual V2 1 If you are doing this for the first time it is suggested you use the 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 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 swi
16. E W lan EEEE UNICOM E 30 laa EE Get Send Default Get Send Default Roll Sensitivity EE Beets zapis Pitch Sensitivity 45 Cell Num PTZ Roll Sensiti 4g at vit O Altitude Limit y VASES S20 O Distance Limit Nees WOLFE 3 55 V hold Aircraft Type Quad Rotor w 2m s Altitude Limit VENIDA ERC 4 8 m s Distance Limit a O 5 A wx Control Data Map Settings Parameter Control Data WET 8 Settings Parameter A A D 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 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 switch to manual mode then select Default which will recover the default parameters For an explanation of the other parameters please see below The autopilot can calculate the low voltage alert according to the Cell Number filled in by the user If your cellphone vibrates once Cell Num every 2 seconds it is a reminder that the power is getting low When it vibrates continuously it means the power is getting very low and you should land at once 35 GEMINI User Manual V2 1 This shows the highest and f
17. GEMINI Multi Rotor Autopilot User Manual V 2 3 ZEROUAV Zero UAV Beijing Intelligence Technology Co Ltd http www zerouav com Chris Hornby GEMINI User Manual V2 1 Contents 2 DESODORANTE Meea accel aeania rests ES Bim KE MBS 3 Warning Disclaimer and Safety PreCautiOns cccceee cece cece sees esses eee sees ee eeeeeeeeeeeees 4 A IA ENG BOX esuseeastoseetesoaunaneteerneidecenenen stake stencassodsswendendewseiaos sens steamouanneny ecseudeweaseans 4s 7 5e LtPFOGUCTION LO TUNCLIONS orna 2s Gh pba et ate at entrant bod ce tad a bate eeh aaa a eles 8 6 INStallalion TN TROGUCEION wiivcetsensaveeanesninahedeiea E E 9 Gil AIC Fale YDES n ka aatinnana eunden asin iad ar wekoen akan A ae tku Raa EANA 9 6 2 TNStallavlON aucvecseseeecileahweede ose ein bce lr ee bre vans a se daan helo ead e al ea eueedee ese 10 HARE POLLS wisn swat nitente Galesawe tole O neat ocnanawe hinges deauas eat aialenaeentiiatenniascarelee 12 Za PO ASSIODMEM anna enis a iia eanauanted estes Meek peat ase nentoune meee ENA 12 AAWE COMMCCUONS arrea danin renion taxdanencian EE E A nny Tuk Ounce 13 8 Preparing to Install SOMWare rairrnirerit eiriaa a aa a aa 15 Gil NSAN PHONE GES arreman T EA E mreda Mena ee maa iG 15 S A WIFE SEUD e E E 17 6 241 WI FI Communication MOUE erae r a a O A A N a vas 17 8 22 WEFLCOnfIgUratioNM sinnini a A N TOT 17 8 22 HardWare CONMEGCUOM avs aE a E A E am 17 O2 2e DOWA SEUD a a E A a 18 Oe Transe r SEUD sreka a aa
18. GPS location low voltage alert attitude error etc Various safety precautions are supported such as motor protection Motors are prevented from rotating until armed Black box flight recording records etc Two types of parachute deployment are supported both manual and auto open parachute Two types of camera shutter release both manual shutter and auto shutter Fixed distance Zero Tech Z series brushless gimbal support with air rocker function GEMINI User Manual V2 1 6 Installation Introduction 6 1 Aircraft Types The Gemini 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 direct to the Parameters Setup section aircraft head 6 Hexa Y6 7 Hexa Rev YG 8 Octo X4 GEMINI User Manual V2 1 6 2 Installation 1 Controller Installation Aircraft Front Configure the master and slave controllers precisely parallel to the central axis of the aircraft It can be placed in any position on the central platform but the yellow arrow direction must be same as the aircraft heading direction and should be close to the center of gravity of the aircraft The main control
19. Select AP Access Point which is PTP mode SeanyContig Es j Wifi SSID ZERO TECH Fassphrase 12345 W No Fassphrase cons Open COM C Infra station Ap Step 5 Put in the SSID of WI FI module this must be ZERO TECH Step 6 Uncheck No Passphrase and then enter your WI FI password Password must be exactly 5 numbers Step 7 Click Apply SeanyContig J 2 cong Open COM C Infra station an Wifi SSID ZERO TECH Passphrase 12345 m i I E OO U yO Oaaaaa Step 8 Wait until configuration is completed After which a window showing AP mode OK will appear Now click Confirm and quit 19 GEMINI User Manual V2 1 woon setip 192 168 1 254 A SeanyContig Woon setmask 255 265 255 yeon setgateway 192 168 A AP mode OK woone setdns 168 956 1 1 yeon setdhcpery z f ycon dhcparw 192 166 1 24i fi 192 168 1 1 60 Now you will be able to find the SSID in the wireless network which you have just set up ZERO TECH 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 SeanyContig Cx E open con Infra station C ap Wifi SSID ZERO TECH Passphrase 82890430 a gt Setu
20. a el desde a Go dawerat tes 21 10 Ground Station Software adjustment s sssssssssssssssssssesnrnnsnnennennsenesnennesnennennne 24 10t Compass CallDhallOM aaria E A E eeauane he eaaaa re 22 10 2 Ground Station Software Settings Installation Guide cc cece cece eee e eee e ee ees 24 10735 ManUal Setup inci cvecaviarercecannvacntunnendetenaeananenkerarcennenatuerkene A T AAA 26 10 3 1 Calibrate Stick Travel on RC Transmiter ccc ccccceeee eee eee eeeeeeeeeee eee ees 26 10 3 2 Setting up Aircraft types and ParaMeters ccccccccceseeeeeeeeeeeeeeeeeenseeeeags 29 10 3 3 Checking channel CH5 channel CH6 and F S Failsafe cccceeeees 31 1053 A ESC Stroke CallOralOn staat fixhanccnitraenovges be vaaiseeieettaxhanemviiar ser a eevciouned 31 10 3 5 Checking the GEMINI autopilot and its Configuration cc cece eens 32 Dc FCN MOS CAG aie ceoetey tee ET aetna nema ee nae Geen Me ea RE aan 32 11 1 Open Close parachute we etaea senna eau ne ane a ne etna ean aaa neem eenane 32 LLZ ARMING the motor to allow FOLACION ruriini a oA A aE Veaneeeavas 32 11 3 Checking Motor Mix Control serie cbinvaiden aeeviae les a EE Na es 33 1 144 Paral e LemSelup wwivatidauetoiauhia vadtanr EE E adams Ve E A meee uae aun 35 t141 Parameter setup of aircraft wicsica insti dant aves teenie rine aeieainn a tweeted 35 11 4 2 Aircraft motion parameter AGJUSKMENL ccccceceee cece eect eee eeeeeeeeeeeeennes 36 12 FIVING IN Ne
21. arm motors if GPS is not configured Later when the GPS has locked in the light will flash red twice for 6 satellites and once for 7 For more than 7 satellites there is no red flash 11 GEMINI User Manual V2 1 7 The Ports 7 1 Port Assignment Master controller Port Assignation v1 M2 v3 vA Ms M6 M7 Ms RS232 COM for PC Firmware Upgrade or connecting WI FI POW Power Module 5 7V Data link module row Slave Controller Port assignation Q O lt GPS R to GPS red terminal GPS B to black terminal 12 GEMINI User Manual V2 1 7 2 Wire connections EXT1 EXT2 ESC M1 M8 S BUS Receiver Power Management Module Firmware Upgrade Battery 35 65 Power Module GEMINI standard wiring diagram Example connection routing 1 How to connect the power supply module 5 7v out As shown below two yellow connectors connect to the battery and to the power distribution board for the ESCs Electronic Speed Controllers for the flight motors In addition there is one 3 core cable and one 2 core cable The 2 core cable has a lock and connects to the WI FI module 3S 6S input The 3 core cable has a black power transmission module in the middle which is used to transform the input from the three to six cell 3S 6S main lipo batteries to a 5 7 Volt output The 3 core cable output 13 GEMINI User Manual V2 1 connects to the Master Controller of the GEMINI 5 7V input Power to ESCs T
22. ate to left Rotate to right Climb 3 Press any available area on the Descend screen and turn the phone left Turn 4 Press any available area on the screen and turn the phone right NB Holding amp Moving distance Flying speed the greater the movement the higher the flying speed Holding time flying time 12 2 2 Semi Auto takeoff When you have 7 or more satellites in view switch CH5 to position 2 and CH6 to position 42 GEMINI User Manual V2 1 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 12 2 3 Auto takeoff The aircraft can only do a fully automatic take off once it has completed a semi automatic take off and a successful flight Step 1 Wait until 5 or more GPS satellites are locked in put the throttle stick in the minimum position switch CH5 to GPS mode position 3 and CH6 to position 1 Step 2 Click on enable insurance or arm the motors and then continue to the next step within 5 seconds Step 3 Click on auto takeoff The aircraft will be powered on and take off slowly hovering at 2 3 meters from the ground Step 4 If the throttle is in the minimum position in auto takeoff mode and you want to control the flying altitude you must move the throttle to the neutral position NB If there are any unexpected accidents during take o
23. 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 11 Field Testing 11 1 Open Close parachute 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 Click Enter settings when the servo switch of parachute is open click Collect open parachute position When the servo switch of parachute is closed click Collect closed parachute position Now click Exit Settings The parachute will only open when CH8 is switched to the exact Open parachute position Any interference or servo malfunction may result in failure to open the parachute NB The deployment of the parachute has a strong catapulting force please be careful when configuring and please keep your head away from the unit 11 2 Arming the motor to allow rotation 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 32 GEMINI User Manual V2 1 Step 1 Check the fail saf
24. 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 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 Safety Precautions For safety reasons please pay serious attention to the following points 1 Make s
25. e 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 two may be interchanged 13 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 51 GEMINI User Manual V2 1 13 1 2 Data Link on the Ground Connect the WI FI module that you have removed from the GEMINI to another DataLink 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 DataLink the WI FI module and your Wireless Router YS X4 P ZERO UAV Illustration 22 Data Link Connection NB e There is no need to use a router if your WI FI is configured in PTP peer to peer mode e The Datalink and WI FI module are both powered by a3 S 6 S lipo battery Same as the MC The power line is red black red is positive and black is negative 14 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 F
26. e F S of the RC Transmitter Switch off the RC Transmitter and the ground station should display Go Home Landing then it is possible to arm the motors to unlock If any error is displayed the system cannot be armed which case you need to setup the F S correctly before the system can be armed The F S protection setup is checked so as to decrease the probability of an accident during the flight You need to check this every time you connect the power on if you are unable to arm the motors Step 2 How to Arm the motors and unlock 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 rotate 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 11 3 Checking Motor Mix control Before take off you still need to check your motor mix control you also need to check t
27. e two ways will not stop motors when in any other Flight Mode The low voltage alert is very important When this alert is activated you should land immediately to avoid a crash or any other harmful consequence Please do not take off when the Vibrate state in the GCS displays a high value You must check the Course Angle and Magnetic Declination value in the GCS are correct after compass magnetic calibration You must check that the Attitude Angle and Static Angle in the GCS are correct before takeoff Please pay special attention to the wiring connections of the GPS COMPASS and MC Mis connection may result in a short circuit and fry your components The anti reverse design of all plugs is there for an important purpose please do not try to force any connections In some strong magnetic fields the Course Angle value may be shown as different from the actual compass heading please recalibrate the magnetic compass before takeoff Make sure assembly and connections are correct and accurate any mis connection of the IMU or GPS may burn out the components GEMINI User Manual V2 1 4 In the Box a Hardware oSoftware Need Download m Master 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
28. fety 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 26 GEMINI User Manual V2 1 Enable Control Enable BlueTeeth Enable Attitude Control Set In the Set box which opens select the Hand Mode drop down menu The Hand Mode is your transmitter mode Mode 1 Mode 2 Mode 3 etc gt 4 all E 17 53 192 168 1 254 broadcast Japan Hand Default American Hand OK Cancel China Hand Europe Hand Select your own operation style in the manual mode menu The illustration shows American Hand which is Mode 2 27 GEMINI User Manual V2 1 Capture Zero Transmitter Gyro Centre point Adjust Magnetic Transmitter Compass Take Get Photo Photo BELG Zoom In Zoom Out Video Record Stop ka e amp Step2 Calibrate the sticks Control Data Map Set Return to the Set menu and scroll to the 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 screen You might need to reverse channels if you are
29. ff you can switch to manual mode on the transmitter to control the craft 12 2 4 Auto return to home and land The autopilot will set the return home position automatically when the GPS has locked or when the aircraft takes off in manual or auto mode In GPS mode when CH6 is switched to position 3 or auto return home amp landing is selected on your mobile phone the autopilot will start the auto return home and land operation after 5 seconds The aircraft will ascend to 20 meters if not already above that altitude While the aircraft is returning throttle control will not work When the aircraft reaches its start position it will descend and land automatically After enabling auto return you cannot prevent the autopilot from returning and landing by switching CH6 back to auto hover or auto navigation You must switch CH5 to manual position to cancel the auto return operation NB Click Motor off then OK to shut down the motor When auto landing the aircraft will return home at its current height if return home is activated within 25 metres from takeoff position rather than climb to 20 meters 43 GEMINI User Manual V2 1 12 2 5 Click and Fly to Point a ng UNICOM E 20 UNICOM E gt iLi Locate SWP Locate SWP 2KM bel Terms of Use Google gt amp ca gt amp Control Map Settings Parameter Control Data Map Settings Parameter ft D tf MODE GPS auto hover m
30. g gimbal pitch 12 3 2 2 Brushless Motor Direct Drive Gimbal www zerouav com DA aad www zerouav com D 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 parameters 49 GEMINI User Manual V2 1 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 12 4 Emergency Protection 12 4 1 Disarming the Motors Make Safe 1 Normal method to disarm motors In manual mode disarm 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 position Now the motors will stop and become locked 2 WARNING You must not pull the throttle stick to the bottom in manual mode when flying If you do so it is 100 certain that you will crash Please DO NOT try it 12 4 2 Returning Home After Loss of Co
31. g 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 12 4 4 Data Recording Black Box Function YS series flight controllers 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 YShj You can now send it back to us for analysis 13 Data Link Connection e The XB PRO900 Datalink is used to extend communication range beyond that of the WI FI distance limit e XB PRO9OO Data link Technical Specification Transmitted power 100 mW Frequency 900 MHZ Communication Distance not less than 2 3 km in unobstructed areas Comm Port RS232 Communication Baud Rat
32. gative 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 1 To double check that the direction of the units 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 2 Check the Attitude Angle shown below matches the actual attitude 3 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 1 Ensure you carry out the magnetic calibration dance outdoors clear of magnetic interference Large metallic objects like cars shipping containers etc 2 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 3 Test fly and carefully check on your GCS that the vibration and shaking coefficients are less than 10 4 Click Next to exit the installation guide and then in Settings click Quit Setup Click Next on Step 7 and you will exit from installation guide There is a tutorial video at http www tudou com programs view h6Umvfslmy8s 10 3 Manual Setup 10 3 1 Calibrate Stick Travel on the RC Transmitter NB For sa
33. hat your motors are spinning in the correct direction and the right motors are speeding up or slowing down when you move the sticks 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 33 GEMINI User Manual V2 1 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 checking the aileron channel Push the elevator stick up slightly motor M3 should start to rotate see 3 on the illustration below now slightly pull the elevator stick down and motor M1 should start to rotate immediately see 4 on the illustration below 1 2 3 4 Quadcopter X type 34 GEMINI User Manual V2 1 11 4 Parameter setup 11 4 1 Parameter setup of aircraft The default parameters are for the quadcopter X type the parameters are as below UNICOM
34. he 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 Take Photo Automatic Shutter Control The mapping and surveying version of the GEMINI has an auto trigger of shutter function The autopilot will automatically trigger the shutter according to designated distance and designated waypoints After completing the flight click Get Photo data in the Setting page Information on each photo is saved to a YShj file on your GCS which includes information such as the longitude latitude altitude course and attitude of each photo Get Photo Data The data format in the Photo data page is from left to right Photo number latitude longitude pressure altitude roll angle Left is positive right is negative pitch angle up is positive down is negative course angle North is O clockwise is positive GPS attitude 48 GEMINI User Manual V2 1 12 3 2 Gimbal 12 3 2 1 Common Servo Gimbal PTZ1 on the master controller is for gimbal roll control PTZ2 for pitch cont
35. herefore you must fill in the integer O in the GCS GEMINI User Manual V2 1 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 Office 0086 10 5725 0711 Email sales zerouav com 65
36. is Rudder Aileron 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 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 Modes 1 2 or 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 25 GEMINI User Manual V2 1 When the ESCs respond with a sound prompt return the throttle stick to minimum 5 Calibration is now completed and you can click Next Step 4 Set up craft parameters 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 ne
37. item purchased separately if needed 12 2 Flight Control 12 2 1 Phone or tablet Control 1 Phone Remote Control Mode During flight when transmitter is switched to Auto hover in GPS mode the aircraft will enter auto hover mode Now you can activate control of 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 Enable Control Enable Attitude Control Set Quit 40 GEMINI User Manual V2 1 How to control your multi rotor by phone or tablet Enable User Interface Operations Aircraft Status Control Circle Red GPS not locked status Green GPS locked Position No Operation Position hold Hold 1 move Drag finger over screen forward backward 1 up down l Level l move left right 2 left right Flight l l Move left right top 3 left right top left right bottom left right bottom etc etc Click below the area inside the cross 1 over circle 2 under circle 3 Left of circle 4 right of circle Climb Descend Rotate to left Rotate to right Climb 1 The distance between circle and Descend click point is proportional to flight Turn speed The further the distance the faster the flying speed 2 Time pressing control circle is proportional to Aircraft movement time If GPS is not located for example when flying indoors you can still switch to GPS
38. ler 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 2 GPS COMPASS configuration 1 GPS bracket configuration The standard GPS bracket parts and their assembly is shown below GPS mount assembly 10 GEMINI User Manual V2 1 2 GPS Module Configuration 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 at any electronic devices such as cables video transmitting devices and anything that is not electronically shielded 3 Important Please Note The side with the logo must face up the arrow must point directly to the aircraft head If this is not done the aircraft may fly in circles in GPS mode and would not be able to auto hover normally GPS Compass module If you need to use image transmission for your on board camera for FPV it is suggested you use 5 8GHz so as not to interfere with the 2 4GHz Wi fi downlink also put your video transmitter as far away as possible from the main controller to avoid serious interference 3 To check GPS operation power up the unit IF GPS is not located Or located but there are less than 5 satellites visible the LED indicator will flash red in cycles of three flashes If this is not the case please check your hardware connections For safty reason please do NOT
39. light Controller white cable up Step1 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 52 GEMINI User Manual V2 1 AP Firmware Upgrade Stepl Select COM Port Stepe Select Firmware Steps Restart AP Please config the COM port Step2 Enter the COM 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 LPT to check e9 mIDID SIF RS D R Mice and other pointing devices gt 4 Monitors 4 amp P Network adapters AP Bluetooth Device Personal Area Network Oy Bluetooth Device RFCOMM Protocol TDI lll Broadcom 802 11n Network Adapter mY Realtek PCIe GBE Family Controller 4 b Other devices a Bluetooth Peripheral Device 4 1 Ports COM amp LPT F Prolific USB to Serial Comm Port COM10 D 2 Processors D Sound video and game controllers D JE System devices P g Universal Serial Bus controllers Alcor Micro USB 2 0 Card Reader Generic USB Hub TT Press open COM and the Open button will become active change from grey to black 53 GEMINI User Manual V2 1 Step3 Press Open button and choose your downloaded arm firmware file as shown below gt Date modified 5 x6Professional firrmware 20151001 E 28
40. light and to analyze it 8 2 2 WI FI Configuration 8 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 3S 6S Lipo battery The Wi fi module does not take its supply from the USB cable C N es Figure 19 USB to Serial cable When connecting the Wi fi module to the Main Controller the black wire of the communication cable is located at the upper right corner of the WI FI module Black Wire Figure 20 WIFI module connection to autopilot 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 17 GEMINI User Manual V2 1 Figure 21 WIFI module connected to computer 8 2 2 2 Software Setup PTP mode In PTP mode Peer to Peer mode there is no need to use a wireless router and you can set 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 may be that
41. ll modes Blue LED stabilization mode or Green LED GPS mode and GPS not located GPS located LED eeeRed ee Red Red Red LED eBlue LED eeBlue LED eGreen LED eeGreen Status LED LED LED off flashes once flashes twice flashes LED flashes flashes flashes flashes once twice 3 times twice once Working GPS not GPS GPS GPS Normal Hover and Normal Hover and status located located located located operation altitude hold operation altitude hold with 5 with 6 with 7 or satellites satellites more satellites 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 2 The white LED The White LED is a warning signal When an attitude error is too large or the GPS connection is lost the LED will show continuous white How to respond to the White LED a Ifthe aircraft has flown an extreme maneuver but the white LED goes off after the aircraft becomes stable then you can keep on flying normally b 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
42. load 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 60 GEMINI User Manual V2 1 5 Settings gt Nia ara SF dl 17 19 lt m Init Setup Quit Setup Enable Disable Function Mixing Skyway Skyway Limit Define Auto Auto Unlock Preset Landing TakeOff Motors PTZLock Set Home Follow Me HEIA Disable Location Course Course Locked Locked 27 Control wr U fa RI AS F ual 17 35 P ee Da T Snapshot No 0 Installation 1 Minute Capture Zero Guide BELE Transmitter Gyro Centre point Adjust Magnetic Capture Capture Transmitter Compass Roll Pitch Take Get Photo Steadicam Alignment Photo BELG Zoom In Zoom Out Video Record Stop p F Control 5 Control BELE Make sure to setup each function carefully because all options are vitally important Initial setup is used to align channels or to change the parameters of the init Setup AP On clicking this button the settings status in the blue window will be displayed After entering settings the control channels for each motor on the aircraft are directly connected to the throttle channel of the RC Transmit
43. meters Cross General flight control Interface Round Circle in A button to control the flight by moving your finger Cross over the screen of the phone or tablet Enable Disable Used to Enter or Exit phone attitude control mode Attitude Control Exit Ground Control Software Enable Disable Enter or Exit phone control mode Remote Control Service setup IP Voice prompts TX mode settings 56 10 GEMINI User Manual V2 1 When data is connected serial number and firmware version will be displayed in the control screen The Data Screen Interface is shown below Touch the Data icon to enter the Data Screen Interface ml o anlanlelalierslalelamD iee alatseusem Will Show in the center of the screen if not connected via Wi fi to the autopilot iil UNICOM ee m Erim ww UNICOM E F 30 aa 09 54 S Hl UNICOM E 30 an 09 54 T Flight lime 00 00 Local Course 83 Extern Course 83 GPS Select Extern GPS Switch GPS 0 00000 Motor balance Magnetic Select Local Magnetic 0 00000 Manual Servo Data GPS velx cm 0 GPS vely cm 0 IMU Select Local IMU 11909 25027 30773 Switch Magnetic Course Angle 0 0D amag Aleron Switch IMU Attitude Angle R20 U21 Distance To Ho OM ters a GPS Fault Local GPS Fault h Craso pps Magnetic Fault Extern Magnetic Altitude 21 9 Fault Flight Mode Settings State Local Satellites IMU Fault No Fault Flight Time Extern Satellites AP Voltage Local Course 83 Vibrate state Extern Cour
44. motor balance is good or not Indicates vibration status of the IMU 1 10 means the craft is in good condition Above 10 means that vibration exceeds limits U D is vertical Vibrate and front back left right is horizontal Shake of IMU GPS satellites seen from Master Controller GPS Satellites seen from Slave Controller are 7 or more satellites locked by the GPS you can fly 58 GEMINI User Manual V2 1 3 MAP The first time you open the Map you must connect 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 aa gs NE 18 39 Locate FlyToPP PTZLock Tool gt i te Se FF Mer Satellite 4 t a A 1 a 00gle Terms of Use kal e Control Data ETS Set Param Zoom in Zoom out Map Map mode Satellite Satellite mode Locate Map location My location Aircraft location Location search Target Lock and fly to pointed place Used to control waypoint flying 59 GEMINI User Manual V2 1 The Map tool 4 Editing Waypoints UNICOM Soe mC an 1 0 24 T UNICOM E 30s an 10 24 T Edit Waypoint No Latitude Longitude Altitude Defa mOhicsiemeefault EEE Please Select Edit WayPoint Upload WayPoint Delete WayPoint Edit Waypoint Used to edit the properties of waypoints such as Longitude Latitude Speed Upload waypoint Up
45. n the difference between the GPS reading and the attitude is too large or the GPS connection is loose the LED blinks in white 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 White light on land urgently LI During flight First stage low voltage alert Red light blinks fast eeeceeceeeceeeeececcccce Final stage urgent low voltage alert Led solid red _ Whilst 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 Now 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 55 GEMINI User Manual V2 1 2 Introduction to the GCS Interface The GCS Control Screen interface is shown below UNICOM E F O u an 09 17 UNICOM E F iC g laa Ar 12 02 2 J DisableE 2 ngine Enable Control Enable Attitude Control vy e g ha i Set Quit Control Data Map Settings Parameter ft gt f Software Function List Remote Default interface Green Cross to control the aircraft Control Real time flight data Real time map or saved map Settings Setup craft status Adjust craft para
46. n to start level calibration If you don t want to keep on calibrating select Cancel and confirm 22 GEMINI User Manual V2 1 Magnetic Compass Cancel Horizontal Alignment Vertical Alignment Step 4 Level the aircraft and make sure the blue LED is on this indicates 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 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 dance Step 7 Click Save Alignment the dialog box and click OK Step 8 Now the GCS software will automatically switch
47. ntrol 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 switch then switch 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 will switch to auto hover It will keep waypoint 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 12 4 3 Safety Parachute Protection Option Auto open parachute When the deflection angle of the aircraft is more than 70 90 degrees the autopilot will read the aircraft attitude as abnormal and output a signal to open the parachute In GPS mode the autopilot will disarm and stop the motors automatically when the parachute is 50 GEMINI User Manual V2 1 triggered 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 connectin
48. o Wi Fi 38 68 Lipo To Gemini POW Power Module wiring diagram 2 WI FI Module connection The WI FI data cable is a 3 core cable connect the end which has the lock to the WI FI module and connect the other end to master controller ge WI FI data cable WI FI to GEMINI connection 3 GPS and LED connection Connect the red S connector from the GPS unit to the GPS R port and the black S connector of the GPS unit to the GPS B port Do this for both Master and Slave IMU Connect the LED S connector to the LED port on the GEMINI ZEROUAV GPS connection 14 GEMINI User Manual V2 1 4 Important NB 1 The Power supply module and the WI FI module must have a 3 to 6 cell 3S 6S LIPO battery The voltage range would therefore be 10 8V 25 5V Normally this would be your main flight battery 2 The RC Receiver gets its power directly from the autopilot Only use a Futaba or Futaba type receiver which has the S BUS function DO NOT power the receiver directly from a separate supply as this may destroy your GEMINI 3 XT60 or XT90 power connectors become dirty easily and may make a bad contact which could result in a high temperature after flight so they need frequent cleaning Power XT connectors 4 If your ESCs have a BEC output Battery Equivalence Circuit you need to remove all the RED power cables from the 3 pin S connectors You can keep one red power cable if you need to power a gimbal
49. ode Step1 Click any point on the map and a yellow smiley will appear there Step2 Click the FlyToPP button in the Map page the button will 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 NB If closer than 10 meters the craft travels without turning beyond 10 meters the head of craft faces the target point A WARNING 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 44 GEMINI User Manual V2 1 12 2 6 Target Lock MODE GPS auto hover mode Method 1 Step1 Click your target on the map and the yellow smiley will appear Step2 Click the PTZLock button in the map page After the smiley changes to a purple star smiley the aircraft will keep facing the target point wherever you fly Method 2 Step1 At any time including prior to takeoff or in manual or auto mode after takeoff fly or take the craft to the target point to be locked then within 3 seconds switch between position1 and position 3 on CH6 rapidly three times that is 1 gt 3 gt 1 gt 3 gt 1 gt 3 gt 1 the flight controller will record the longitude and latitude of GPS as the target point to be locked Step2 In GPS auto hover mode within 3 seconds switch between
50. p the SSID of your router to be the SSID of WI FI mode The default is ZERO TECH and 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 at http v youku com v_show id XNTE3NZE1NDcy htmIl for help in setting up router mode 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 20 GEMINI User Manual V2 1 9 RC Transmitter setup Set up your Transmitter FUTABA shown here S BUS system must be used to be in fixed wing mode Type AIRPLANE Clear everything for the model to factory default settings and make sure there is no mixing or channel reverse programmed Step 1 In the transmitter FUNCTION menu assign CH5 to a 2 position switch and CH6 to a 3 position switch For example on the T8FG illustrated CH5 may be assigned to switch SF and CH6 to switch SG CH6 Top Position Returning amp Landing CH5 Top Position GPS Mode st yia CH6 Middle Position Auto Navigation Ch5 Bottom Position Manual Mode CH6 Bottom Position Auto Hover The working modes are shown below CH5 Status CH6 Status Working mode
51. rameters Height indicates the altitude that the craft must attain at that waypoint It can be set to a negative value if the waypoint is lower than the take off position If the height between two waypoints is different the craft will fly between them whilst climbing or descending The default height is the current height in other words the craft will fly at the height at which it entered waypoint mode Hovering time means the time that the craft stays in position before going to the next waypoint The default hovering time in the first waypoint is 65535 seconds Speed means the flying speed that the craft flies to the next waypoint Step2 After setting up waypoints is completed these waypoints can be saved as a file which can be used next time You can also click on Upload Waypoints to upload the waypoints to the autopilot Please check whether each waypoint has been changed to blue to confirm a successful upload orange indicates the upload is not successful and then get into Target Point to check whether the number displayed there is the same as the number of uploaded waypoints If not you need to try to upload again If any waypoint 46 GEMINI User Manual V2 1 does not change to blue please upload the waypoints again Step3 Click Remove Waypoints to make the blue waypoints revert to red then select Verify Waypoints from Tools Now download your uploaded waypoints again for comparison If all
52. records real time flight state via WI FI m Slave controller X1 This is the backup for the master controller and duplicates everything exactly m GPS COMPASS GPS in short X2 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 shows information such as flight mode number of satellites in view and battery used Power Supply Module X1 Supplies regulated power for the autopilot and the Wi fi module mWI FI Module X1 The Data radio can be added to increase the range 1 Connected via cellphone or tablet hotspot function 2 The AP access point is connected to the Ground Station via WI FI Wireless Network GEMINI User Manual V2 1 5 Introduction to Functions There are 9 types of aircraft supported Quad Rotor 4 X4 X4 8 motors Hexa Rotor 6 X6 Y6 Reverse Y6 Octo Rotor 8 X8 V8 And customized types e Firmware upgrade supported Upgrade firmware via USB cable to COM port Control method Control by RC Transmitter or Control by Cellphone e Parameter adjustment by Android Phone Tablet or PC 4 working modes supported Manual stabilization Auto hover Semi auto takeoff Auto navigation single waypoint edit supported Return home with landing auto return home if the signal is lost The LED indicates the autopilot s current status
53. required 38 GEMINI User Manual V2 1 4 Compass calibration When you are calibrating the compass the blue LED will stay lit if the attitude error is less than 5 This means 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 flashing every 2 seconds When data calculation is completed the purple LED will go off 12 1 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 12 1 3 Motor Balance and Throttle Stick Position The display in the Data section of GCS includes the data listed below Motor balance If the clockwise and anti clockwise propellers lose balance as well as reverse torque the status bar may
54. rol There are different ways of setting this up for each type of gimbal You should power on the servo before using the gimbal If you have ESCs with a BEC function leave only one of these connected and remove the power output of the others red wire If you are using ESCs without a BEC function then you would need to power the gimbal independently or connect a servo battery usually 6v to any port from M1 to M8 Connect PTZ1 to gimbal roll servo and PTZ2 to gimbal pitch servo Roll Sensitivity and Pitch Sensitivity in the Parameter Sectionof the GCS is for adjusting the correction angle and direction of your gimbal Gimbal Sensitivity ranges from 127 to 127 A negative number reverses the direction of travel and the size of the number affects the amount of correction Use channel 7 on your transmitter for gimbal control and assign it to a knob switch Channel 7 will now adjust your gimbal pitch location and will continue to stabilize the camera at all angles of pitch The spare channels may be used for other applications Normally roll servos will maintain gimbal stabilization in the middle position If your gimbal tilts to one side it can be adjusted it by clicking Enter Setup in the Setting section CH5 must in manual and the throttle set to minimum Now the CH7 knob can be used for controlling gimbal roll The gimbal roll s balance position may be fixed and saved by clicking Quit Setup Now CH7 will revert to controllin
55. se 83 Batt mAH 889 mAH Shake state GPS Select Extern GPS Batt current A Ea y ee i an E i Control Data Settings Parameter Control Data Map Settings Parameter Control BEIC ET Settings Parameter D iW imn A Shows how many satellites are locked GPs velx cm GPS velocity displays a value below 10 when the S wely cm ry aircraft is static Velocity after Kalman filtering It displays a value between 0 20 and increases constantly If the velocity becomes excessive the LED will turn white and it is suggested you land the aircraft urgently Displays real time angle of attitude during Displays the craft status Manual Manual Altitude Hold ight Mode Settings State Auto Hover Auto Navigation Auto Go Home and Land titu d g Pressure altitude of aircraft units in meters 57 GEMINI User Manual V2 1 Course Angle 0 0D 0 00000 0 00000 Motor balance iprate state Shake state Local Satellites Extern Satellites You can monitor the situation of two independent GPS compasses and IMUs When there Course Angle means the direction of the craft s heading Due North is 0 clockwise is positive counterclockwise is negative For example Due East is 90 Due West is 90 Due South is 180 or 180 degree NB Only works in GPS mode or in Auto Modes It will not work in Manual mode or Attitude mode Autopilot Voltage GPS Longitude GPS Latitude Displays whether the
56. sent 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 1 Zero UAV Beijing Intelligence Technology Co Ltd assumes no liability for GEMINI User Manual V2 1 damage s or injuries incurred directly or indirectly from the use of this product 2 The user is responsible for abiding with the law and not behaving contrary to public order or public safety by using this product 3 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 when users are drunk taking drugs drug anesthesia dizziness fatigue nausea and any other conditions no matter physically or mentally that could impair their ability 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
57. ser whenever a unit has failed and the other has switched in This built in redundancy greatly increases safety stability and reliability and minimizes the likelihood of accidents 3 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 keep the product out of reach of children Make sure the aircraft is kept away from people and dangers such as buildings roads and property We suggest you fly your aircraft at specially designated areas Please do NOT fly this product when affected by drunkenness tiredness drugs dizziness fatigue nausea or any other condition that might impair your ability to control the aircraft Please strictly follow the user manual when operating the device Please make sure all components of the device are connected and work well otherwise your unit may be damaged destroyed or even buried Please power off and remove propellers before making any adjustments to the unit such as calibrating upgrading firmware or changing parameters There is an ever pre
58. 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 too 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 value The minimum value of this parameter is 0 maximum value is 255 Motion compensation corrects the aircraft motion and the default value is 80 normally the regular aircraft range is from 80 to 200 Without 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 37 GEMINI User Manual V2 1 12 Flying in the Field 12 1 Flight status 12 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 Red LED A
59. tch 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 10 1 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 Horizontal Alignment Mode 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 MERGO Compass Step 3 Select Horizontal Alignment in the dialog box and click OK butto
60. ter and there will not be any mixing of motor output 61 GEMINI User Manual V2 1 Quit Setup Function Limit Mixing DAE Adjust Transmitter WEAS Compass Capture Transmitter Centre point Installation Guide 1 Minute Data Zero Gyro Parachute Open Posit Kelp Parachute Close Posi tion After having completed throttle alignment and entered all parameters then click this to exit from the settings dialogue Click to check function limit details Define mixing of Throttle Course Angle Pitch and Roll Used to calibrate the transmitter Click to enter Magnetic Compass Calibration mode The blue status window shows the calibration status Do this prior to embarking on the Compass Dance With no wind in manual mode after flying and trimming activating this will define the neutral point NB Make sure your TX throttle stick is in the middle position it does not affect the actual throttle position Click Installation Guide to align your set up step by step following the guide Used to initiate reading the data saved in the FC within the last minute of flight Please refer to Chapter 10 4 4 Data Recording Blackbox function Zero the gyro Ensure that the aircraft is perfectly level and undisturbed whilst activating this process Capture the servo position to trigger opening the parachute Capture the servo position to trigger closing the parachute 62
61. 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 wait for a minute or so and the process is completed when the LED goes Off 23 GEMINI User Manual V2 1 The circles are shown in the picture If the circles are more or less round this means the calibration has been successful If not then you need to do the calibration again 10 2 Ground Station Software Settings Installation Guide 1 Open the phone YS GCS and click Set as shown below Pm fF amp Control Data NETS Scroll right to the page where the installation guide is shown Installation eee 2 Click Installation Guide in the setting page and follow the installation steps shown below 24 GEMINI User Manual V2 1 gt TEEL Start installation The data has been connected please click Next Start Installation Data connected click Next 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 down After 5 seconds the auto pilot will complete data collection Now make sure that the direction and movement of the sticks is reflected accurately in the diagram below You can only proceed to the next step after confirming th
62. tter 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 10 3 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 1 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 Flight Mode Settings State 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 calibration has succeeded Step 4 Click Exit from the Setting page and click OK to confirm 31 GEMINI User Manual V2 1 10 3 5 Checking the GEMINI autopilot and its Configuration 1 The arrow direction of GEMINI
63. ure that assembly and connections are correct and accurate any mis connection of the IMU or GPS may result in burning them out Please remove all propellers during configuration and setup The side marked MC and GPS faces up The arrow points to the aircraft head GEMINI User Manual V2 1 4 10 11 12 13 14 15 16 17 Make sure the RC transmitter is switched on before powering on the multi rotor prior to takeoff Power off the multi rotor first then switch off RC transmitter after landing Pay special attention to this when using the S BUS or self adaptive feature of the autopilot Throttle calibration manual rudder position real time rudder position channel setup must be accurate The GPS COMPASS unit is sensitive to magnetic interference it should be mounted as far away as possible from other electronic devices The arrowhead on the IMU and GPS points to the aircraft head Please enable the fail safe F S function of your RC transmitter before takeoff Do not fly in GPS mode when the signal is not good red light blinks or the GPS Velx cm or GPS Vely cm in GCS is more than 15cm s The Gimbal Servo can use power from any ESC but if the ESCs have no BEC output please power the gimbal from a different source to the autopilot In auto Go Home mode there are two ways to stop the motors 1 Reduce the throttle stick to below 10 2 Click Disable Engine in the Control screen of the GCS The abov
64. urthest distance which the aircraft can Ititude Limit fly The maximum height is 300 meters You can enter the value 0 for unlimited distance You can fill in your own distance limit value Enter your aircraft type 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 reversed the direction of compensation VEPAR 4 3 m s Setup maximum flight speed olt Alert Thres Fill the voltage per cell required to activate a low voltage alert for old a Lipo battery this would be normally 3 65v 11 4 2 Aircraft motion parameter adjustment If there is too much deviation either in vibration or motion from normal operation the IMU may no longer be able to check the aircraft status You must check 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
65. waypoints become blue it means that verification is successful Otherwise you need to upload waypoints once more 12 2 8 Air Rocker Function 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 different 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 Waypoints 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 12 2 9 Follow Me This function can only be used if the GPS function on
66. your phone is enabled and the GPS position of your phone is showing on the data page of the GCS In GPS hover mode after both sticks on the transmitter are set to the neutral position you can click enable follow in the setting page The craft will now fly following the mobile phone s GPS position and also lock the craft s nose to face towards your phone You can now move off in any direction and the aircraft will follow you To quit this function just click Disable follow on the same page 12 2 10 Intelligent Course Lock Care free NB This function will only work in GPS hover mode Method 1 Click the Intelligent course lock button in the Setting page The aircraft will record its direction After this you can fly as normal When you change direction the autopilot will keep its head locked into its initial direction 47 GEMINI User Manual V2 1 Method 2 Rapidly switch CH6 from position 1 to position 2 five times in less than 5 seconds 1 gt 2 gt 1 gt 2 gt 1 gt 2 gt 1 gt 2 gt 1 gt 2 gt 1 Do not switch to position 3 as this will make the operation invalid The autopilot will now enter into intelligent course lock mode If you need to exit from this function click Exit course lock in the Setting page or switch back to manual mode After switching to manual you can quickly revert to GPS mode and continue flying 12 3 Other Tasks 12 3 1 Shutter Function The output channel PHO of t
67. your phone tablet is not compatible with PTP mode In this case please refer to the WI FI configuration video tutorial and set it up in router mode http v youku com v_show id XNTE2OTY4MjQ4 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 TA SeanyConfig D mS Setting Step 2 Click Setting it will show the main configuration interface SeanyContig e E open con Intra 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 18 GEMINI User Manual V2 1 search for the Prolific USB to Serial Comm Port in your Windows Device Manager This will give you the port number File Action View Help e 9 6 u FRS b F Mice and other pointing devices l Monitors 4 amp Network adapters PE ay Bluetooth Device Personal Area Network i Bluetooth Device RFCOMM Protocol TDI 1 Broadcom 802 11n Network Adapter mY Realtek PCle GBE Family Controller 4 la Other devices jl Bluetooth Peripheral Device a I Ports COM amp LPT P Prolific USB to Serial Comm Port COM10 _ gt TE Processors gt 4 Sound video and game controllers gt el System devices re Universal Serial Bus controllers k Alcor Micro USB 2 0 Card Reader Generic USB Hub mm Step4

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