QUAD-ROTOR AUTOPILOT
Contents
1. STEP2 Command Sticks Calibration Slides Moving Definition siae left is craft down slide right is craft up Slide left is nose left slide right is nose right GLB siae left is craft back slide right is craft front Slide left is craft left slide right is craft right STEP1 Set endpoints of all channels to default values 100 and set all trims and sub trims of sticks to 0 on your transmitter first Keep all curves settings as default since the end point of transmitter sticks will be recorded here Uo Click START hutan and move all of the aia sticks throughout their complete range several o d times E E ak STEP3 After that click FINISH button when you finished above procedures STEP4 If the moving direction of the slide is opposite to the S oes Moving Definition click the reverse button beside Notices All slides should become when all the sticks are in the middle positions If slides cannot go back to center points become just click FINISH then slides will be at center automatically If still not please reboot MC and do not apply Tx command during the reboot STEP3 Sticks Monitor This step is optional X1 and X2 is for remote gain tuning X1 is also for gimbal pitch control Setup the channel on your RC correctly STEP4 Control Mode Switch Whichever 2 position s2. Mode after power on and before motors start if double blinks without move any stick that means you have moved any stick during system start up and check Now you should reboot MC Test Fly STEP1 Make sure your batteries are fully charged for your transmitter MC and all the devices on your multi rotor STEP2 Check all connections and wirings and make sure they are in good condition STEP3 Switch on the transmitter first then power on your multi rotor STEP4 Slide the control mode switch on your transmitter and make sure it is working properly Check it with LED indicator to specify the current working mode for MC See Appendix for details about LED indicator STEP5 Switch the system to Atti Use any safe method to do the following test Apply the throttle to 2096 slowly and make sure all the motors are working and then try to push your sticks lightly in Roll Pitch and Yaw to feel if your multi rotor moves to the corresponding direction If not go back to Configuration Procedure correct your settings STEP6 Push the throttle stick slowly in 3 seconds after executing until all the rotors are working and then take off your multi rotor gently Tips After a successful test fly the preparation before taking off can be simplified Put your multi rotor on the plane ground turn on the transmitter first power on multi rotor then you can take off in Atti Model
3. QUAD ROTOR AUTOPILOT Control Modes Atti Mode Manual Mode Command Stick Maximum rudder angular velocity is 200 s Multi attitude control Stick center position for 0 attitude its endpoint is 45 Has height lock option Maximum pitch and roll angular velocity is 150 s no angle limitation No height lock Command Linearity YES Stick Released No position holding only attitude stabilizing NOT Recommend Altitude Lock Maintain the altitude best above 1 meter from ground NO Safety Low voltage protection and auto level Fail safe Depends on experience Maneuverability High agility high stability High agility In Box Main Controller MC 1 The Main Controller MC is the brain of the system it communicates with ESC and RC transmitter to carry out autopilot functionality It has a built in Inertial Measurement Unit IMU consists of one 3 axis accelerometer one 3 axis gyroscope and a barometer for sensing the attitude and altitude Versatile Unit VU x1 Specially designed for QUAD ROTOR AUTOPILOT It solves the high power consumption problem of multi rotor system supply and monitor power for QUAD ROTOR AUTOPILOT and other electronic devices It also has a LED to indicate different states of QUAD ROTOR AUTOPILOT and a USB interface for configuration and firmware upgrade USB Cable x1 This cable is used to configure MC and u
4. Appendix Port Description Main Controller 2213301 For roll control left right For pitch control front back For throttle control For rudder control For Control Mode Switch For gimbal pitch control Or for gain tuning Or for gain tuning For voltage monitor Connect with VU V SEN port To 1 rotor To 2 rotor To 3 rotor To 4 rotor To 5 rotor To 6 rotor To gimbal roll servo To gimbal pitch servo LED port for LED wire connection from Versatile Unit mi m Expansion port for future upgrade and usage In three pin ports pins near the nicks are signal pins Versatile Unit V SEN V SEN port To MC port for monitoring battery voltage Orange wire signal wire output 3 3V LED LED wire to MC LED port Micro B USB port PC connection for configuration and firmware upgrades Light Description Main LED Manual Mode No light Atti Mode e e e e e e Q e Sparking indications of O is Before motors start Single blink all sticks except throttle stick return to center Double blinks stick s except throttle stick not at center After motors start and throttle stick is over 10 in 3 seconds Single blink all sticks return to center Double blinks stick s not at center Tx signal lost O0000000000000000000000 Low voltage Other errors 600000000000000000000000 Connect to PC correctly System start and self check 000000000000 Do NOT move any command sticks durin
5. QUAD ROTOR AUTOPILOT User Manual iT cu ca Ma v5 V6 23 Warning amp Disclaimer QUAD ROTOR AUTOPILOT is an excellent autopilot system offering tremendous flight features for low altitude multi rotor working in restricted space compared to normal helicopter It is not a toy when installed in multi rotors of any size Despite our efforts in making the controller to operate in the safest manner when the main power battery is connected such as disabling MC signal to ESCs when USB is connected disabling throttle input and stick command when throttle stick is not at the lowest position we strongly recommend customers to remove all propellers use power supply from R C system or flight pack battery and keep children away during system calibration and parameter setup We assume that no liability for damage s or injuries incurred directly or indirectly from the use of this product Please strictly follow these steps to mount and connect bumblebee on your multi rotor as well as to install the assistant software on your computer Product Profile QUAD ROTOR AUTOPILOT for multi motors is an autopilot system designed for serious multi rotor enthusiasts providing excellent self leveling and altitude holding which completely takes the stress out of flying RC multi rotors for both professional and hobby applications QUAD ROTOR AUTOPILOT can be installed in a variety of models from quad rotor to hex rotor
6. er manufacture You might be asking to fill in the new S N in the future if you brought new function upgrades Fill in the S N and then click Write button If you filled in an invalid your MC will be locked and you have to contact our customer support S N over 30 times Configuration 1 Motor Mixe 2 Motor Mixer DEFAULT 1 Mixer Type C Quad rotor C Quad rotor X STEP1 Mixer Type Set your transmitter into ACROBATIC mode first close any channel mix then choose your multi rotor type Following two types are supported M Mi M3 M QX Notices Do NOT follow instruction from 39 party multi rotor manufacturer Make sure the rotation direction of each motor is the same as the way up figure shows If not switch any of two wire connetcions of the incorrect motor to change its rotation direction Make sure the type of propeller matches the rotation direction of the motor 2 Tx Monitor TX MONITOR 1 Cut Off Type C Immediately Intelligent 2 Command Sticks Calibration Calibration START 3 Sticks Monitor ED 4 Control Mode Switch A Failsafe ME CDt STEP1 Cut Off Type Please read the introductions of start and stop motor in this step first and then choose a cut off type Start Motor Pushing throttle stick before takeoff will not start motors Combination Stick 1 You have to execute any one of following f
7. g this procedure Please contact us if the last three green blinks are abnormal Specifications General Built In Functions Two Modes Autopilot Auto Level Fail Safe Low Voltage Protection Peripheral Supported Multi rotor Quad rotor I X Supported ESC output Recommended Transmitter Assistant Software System Requirement 400Hz refresh frequency Only support fast ESC PCM or 2 4GHz with minimum 4 channels Windows XP SP3 Windows 7 Electrical amp Mechanical Working Voltage Range Power Consumption Operating Temperature Weight Dimensions Flight Performance can be effected by mechanical performance and payloads Height Lock Accuracy Max Yaw Angular Velocity Max Tilt Angle Max Ascent Descent Speed Height Lock MC 4 8V 5 5V VU 7 2V 26 0 V recommend 2S 6S LiPo MAX 1 5W 0 3A 5V Normal 0 6W 0 12A 5V 10 50 C 25g VU 10g 45 5mm x 31 5mm 18 5mm VU 30mm x 15mm 4 5mm 0 2m 200 s 45 6m s
8. he lowest one in the Loss e When you change the payload or multi rotor you have to get new line loss voltage e The line loss voltage will be bigger after many times use you should get new one after 30 times charging e sure your ESCs protection voltage is lower than 3 1V 15 otherwise low voltage protection will not work Acquire the line loss voltage by the method introduced before first and fill it in Loss Fill a reasonable warning voltage in the Load Notices When red light starts to blink you should land ASAP Flight Before First Flight Notices Make sure you have assembled your multi rotor correctly Make sure you have done the configuration procedure correctly Any of the following mistakes will leads to dangerous accident double check all these items W Rotation direction of motor is opposite B Propeller installation mistake m installation mistake Wrong connection between MC and ESC e In Atti Model if Enable the height lock throttle stick center position is for Om s along the vertical direction You d better keep throttle stick position higher than 10 from cut throttle during the flight Make sure switch on the transmitter first then power on multi rotor Power off multi rotor first then switch off the transmitter after landing Please do the test fly and gain tuning with Atti in the open air without heavy wind
9. icator light connector 4Pin wire X3 connector is 3Pin wire Assistant Software Software and Driver Installation Step 1 Open the USB_ Driver folder on the CD and install the driver step 2 Use the USB cable connect the MC and PC and power on the MC Step 3 If operating system tries to install driver automatically cancel it Step 4 Run the Setup exe in ST Installer 1 1 folder to installer software After successful installation run on the desktop ST Assistant GUI 1 Cut Off Type C Immediately C Intelligent Calibration START 4 Control Mode Switch BLS ee a he type of propeller ion dir ction of MC Output On Qo 15 TOOL Firmware upgrade update your firmware from server keep your autopilot system up to date Disable All Knob Check for Updates Check out the latest versions of assistant software and firmware If necessary you can follow the links displayed to find the download page ABOUT Info Information regarding your product Error Code 2 Chinese interface ENGLISH English interface EXPOR ji Export configure data IMPOR I Import vertion compatible configure data WRITE Write data of the current page to your MC The parameter or the title of which will turn red and bold when modified make sure you click the Write button or press Enter to update your system Optional parameters will be written to MC directly after modificat
10. ion READ read parameters from MC for current page Graphic guidance Text guidance CONTROL MODE Control mode indication MC Output Onj Indicates there are outputs to ESCs when communication is built up between MC and assistant software via USB cable Output Off appears it indicates no output to motors then you can configure your multi rotor with assistant software more safely Red light MCePC has been disconnected Green light MC PC has been connected Blue light MC ePC communication Here you can find all the configuration contents in Configuration chapter Configuration step 3 gt Notices Please power the MC first then connect your MC to a internet enabled computer by the USB cable before you open the assistant software You have to register at the first time you use the assistant software It will auto detect software version when you open the assistant software and prompt not the latest one Check for Updates window if your version is Do not disconnect MC and PC when you are using the assistant software Firmware Upgrade Please strictly follow the procedure for firmware upgrade otherwise autopilot might not work properly STEP1 Make sure your computer is connected to the Internet STEP2 Please close all the other applicat
11. ions during the firmware upgrade including anti virus software and firewall STEP3 Make sure the power supply is securely connected DO NOT un plug the power supply until firmware upgrade has finished STEP4 Connect MC to PC with micro USB cable DO NOT break connection until firmware upgrade is finished STEP5 Run Software and wait for connection STEP6 Select TOOL gt Firmware Upgradel STEP7 Server will check your current firmware version and get the latest firmware prepared for the unit STEP8 If there is a firmware version more up to date than your current version you will be able to click the Upgrade button STEP9 Wait until Assistant software reads finished STEP10 Click and power cycle the unit after at least 5 seconds Your unit is up to date now Notices e After firmware upgrade please re configure by Assistant software e If it is notified that the network or server is busy please try again later with above procedures e lf firmware upgrade failed MC will enter waiting for firmward upgrade status automatically please try again with the above procedures Product Info amp Upgrade You can check the MC product version via ABOUT gt Info e Software e Firmware e Loader e Hardware ID S N is a 32 digits authorization code for unit function activations We had already filled in the authorization code for your unit aft
12. ly experience We suggest you to change 10 to 15 of the parameter at a time To the gains of Pitch and Roll if you release the Pitch or Roll stick after command stick multi rotor should be back to hovering state If the reaction of multi rotor in this procedure is too soft large delay please increase the basic gain slowly 1096 1596 each time until vibration emerges after you release the stick Then decrease the gain a little until vibration just disappears Now the gain is perfect but the reaction of the attitude change is slow You can follow the way introduced at the end of this section to tune the attitude gains The way of tuning the Yaw gain is the same as the way of adjusting the Tail Gyro If you want fast stick reaction speed increase the gain otherwise decrease the gain However the spin of multi rotor is produced by the counter torque force and the magnitude of which is limited Therefore large gain will not produce tail vibration like helicopter but severe reaction at the start or stop of motors which will affect the stabilization of the other directions You use two methods to judge if the Vertical gain is good enough 1 The multi rotor can lock the altitude when the throttle stick is at center position 2 The change of altitude is small during the flight along a route You can increase the gain slowly 1096 each time until the vibration emerges along the vertical direction or the reaction of throttle stick is too se
13. n 3 seconds otherwise motors will stop after 3 seconds During normal flight only pull throttle stick under 10 will not stop motors in any control mode For safety reason when the slope angle of multi rotor is over 70 during the flight in Atti may be caused by collision motor and ESC error or propeller broken down and throttle stick is under 1096 motors will stop automatically You can stop motors by executing any control mode Notices 1 All these two cut off types will work properly only if Tx calibration is correct When Tx commands are valid under any control modes motors will start or stop immediately when you execute 5 It has nothing to do with current throttle stick position Please DO NOT executes during flight without any reason 3 f you choose Immediately mode you should not pull throttle stick under 10 during flight because that will stop motors If you do it accidentally you should push the throttle stick over 10 in 5 seconds to re start motors 4 f you choose Intelligent mode throttle stick under 10 will trigger landing judgment in any control mode In this judgment pitch roll and yaw controls are denied except throttle but multi rotor will still auto level 5 n any control mode DO NOT pull throttle stick under 10 during normal flight without any reason In failed safe CSC is denied by MC motors will hold state
14. not to use them however we strongly recommend to open the protections here Notices Make sure the connection between VU and MC V SEN to X3 is correct otherwise the low voltage protection will not work properly All two level protections will only have LED warning under Manual Mode no any automatic actions Low voltage protections are NOT fun You should land your multi rotor ASAP in any level of protection to prevent your multi rotor from crash or other harmful consequences STEP2 Battery Power the MC by a battery and connect the MC with PC current battery voltage will be displayed in this column If the battery voltage displayed here is different from the voltage you measure from a voltmeter you have to calibrate Click the Calibration fill the voltage you have just measured in the Calibration column of the dialogue box and then click Confirm Meanwhile we need you to choose the battery type you are using so that MC can provide default warning voltages and ranges of warning voltages for you STEP3 First Level Protection No Load No Load Voltage Self defining warning voltage Needs your input Loss Line Loss Voltage The battery voltage drop during the flight Needs your input Loaded Loaded Voltage The real time battery voltage during the flight This is the actual warning voltage monitored by MC No needs your in
15. nsitive then decrease 20 of the gain Now it is a suitable Vertical gain Attitude gains determine the reaction speed of attitude from command stick the bigger the value the quicker the reaction Increase it for sharper and quicker leveling action after command stick released Unstable shaking flying and the control feeling will be stiffness and rigid if the value is too high and sluggish leveling action and slow braking if too small Notices You must upgrade firmware first then click Default button in first setup parameter The vertical gain will NOT affect the manual mode The final flight performance is decided by the autopilot parameters and all parts of multi rotor includes mechanical structure motors ESCs propellers and battery If these parts are not compatible you cannot get good flight performance by adjusting the autopilot parameters Therefore if you have high requirement to flight performance you d better get a multi rotor with good integration test Tips lf you are a fresh player you can tune the basic parameters first as following 1 Increase the basic parameters 1096 at a time so as to make your multi rotor hover or light oscillate after small angular command input 2 Decrease the basic parameters until your multi rotor can just hover then decrease 1096 more Here you can make use of remote gain tuning channels to tune the gains during the flight 1 Followed the instruction
16. our to start motors Commands Immediately Stop Motor We provide two options to stop motors Intelligent Immediately Mode By using this mode in any control mode once motors start and throttle stick is over 10 motors wil stop immediately when throttle stick is back under 10 again In this case if you push the throttle stick over 10 in 5 seconds after motors stop motors will re start CSC is no need If you don t push throttle stick after motors start in three seconds motors will stop automatically Intelligent Mode By using this mode different control mode has different way of stopping motors In Manual Mode only executing CSC can stop motors In Atti Mode any one of following four cases will stop motors a You don t push throttle stick after motors start in three seconds b Executing CSC c Throttle stick under 10 and after landing seconds d The slope angle of multi rotor is over 70 and throttle stick under 10 Tips Intelligent Mode You have to execute CSC to start motors Push throttle stick only will not start motors e In Atti Mode it has landing judgment which will stop motors Start motors in Mode you have to execute CSC and then push throttle stick over 1096 i
17. pgrade firmware 3 PIN Servo Cable x7 Cables used to connect the MC and the receiver 3M Gummed Paper x6 For fixing QUAD ROTOR AUTOPILOT components on multi rotor s frame 89099999 E BE 8 m m 08 B Em Contents PRODUCT PROFILE SOFTWARE AND DRIVER 5 nne 8 TIMOTOR roast t dee second 11 2TX MONITOR 12 BSAUTOP LOR 16 A GIMBAL eee Hp RICH RD ERROR e RE o P 19 5 VOLTAGE eec H 21 PORT DESCRIPTION he od adm b t t f eire 26 LIGHT DESCRIPTION s C 27 SP CIFICATIONS ea eaa a sehen PRONTA ARES ERE Dre e AR EE ET NR eM EE PEINE e e UNE VR AR Exo ed CH HAE 28 Matters Need Attention For safety reasons please pay serious attention to all following items 1 Please disconnect ESC and battery or remove all propellers during configuration and system setup Do not mount the MC upside down You have to reboot MC and redo the Tx calibration after you change the RC system In Tx Calibration of assistant software Throttle Slide left is craft down slide right is craft up Rudder Slide left is nose left slide right is nose right Elevator Slide left is craft back slide right is c
18. put calculated by No Load and Loss Tips Voltages Magnitude Relation No Load First level gt Second level Loss First level Second level Loaded Calculated First level gt Second level Method of Acquiring Line Loss Voltage 1 Make sure you can fly your multi rotor normally with a fully charged battery Use a fully charged battery switch on the low voltage protections in assistant software and observe the current voltage Fill a reasonable warning voltage in the No Load of first protection We recommend to fill a voltage 1V lower than current voltage and higher than minimum battery voltage rating in Fill OV in Loss at the moment Fly the multi rotor until the first level protection is triggered and the is flashing Now land your multi rotor ASAP Connect the MC to PC open the assistant and acquire new current 1 2 voltage The Loss Line loss voltage is the difference between the new current voltage and the first level No Load voltage you filled in Notices lf the line loss voltage of a battery is over 0 3V per cell e g 3S battery over 0 9V it s because the internal resistance of battery is high or the battery is too old we suggest you to replace it e Generally the line loss voltage of different battery is different For the consideration of safety you d better acquire all the line loss voltages of all your battery you are using and fill t
19. raft front Aileron Slide left is craft left slide right is craft right Make sure switch on the transmitter first then power on multi rotor before takeoff Power off multi rotor first then switch off the transmitter after landing you open the gimbals control in assistant software during the configuration please note that there is output from F1 and F2 ports Now you should not connect these ports to ESC which is wired with propellers and motors Do NOT set the failed safe position of throttle under 10 of endpoint Throttle stick position should always be higher than 10 from cut throttle during the flight Low voltage protections are NOT fun You should land your multi rotor ASAP in any level of protection to prevent your multi rotor from crash or other harmful consequences By using Immediately mode to stop motors in any control mode once motors start and throttle stick is over 10 motors will stop immediately when throttle stick is back under 10 again In this case if you push the throttle stick over 10 in 5 seconds after motors stop motors will re start Combination Stick Command CSC is no need If you don t push throttle stick after motors start in three seconds motors will stop automatically By using Intelligent mode to stop motors motors will start or stop immediately when you execute 5 During normal flight only pull throttle stick under 10 will not stop motors in any con
20. s in Assemb y R C System section to connect and setup correctly 2 Choose the X1 or X2 channel in Remote Adjust for the gain you want to tune One channel to one gain range of remote tuning is from half current value to twice current value Usually the Pitch Roll Attitude Pitch and Attitude Roll Gains of hex rotor are high then quad rotor STEP2 Height Lock In f Enable height lock throttle stick center point means Om s on vertical direction max ascent descent speed is 6m s f Disable height lock the control of vertical direction is the same as Manual Model max ascent descent speed is decided by your multi rotor We strongly suggest to enable this function to simplify the flight control Notices If Disable height lock the control of vertical direction is still the same as Manual in fail safe Therefore please setup the throttle fail safe output on your transmitter before the flight 4 Voltage VOLTAGE MONITOR 1 Protection Switch C ON C OFF 2 Battery Current Voltage 89 Calibration Battery type ss LiPo 3 First Level Protection LED Warning 9 30 V STEP1 Protection Switch In order to prevent your multi rotor from crash or other harmful consequences caused by low battery voltage we have designed two levels of low voltage protection You can choose to
21. tle under 10 endpoint 2 MC would not execute Fail Safe protection if you don t set it properly You can verify the Fail Safe settings by shutting down your transmitter and then you can use the following method to check whether MC is already in Fail Safe mode e Check the Assistant Software status bar at the bottom side of the software interface Control mode will change to lFail Safe e Check the LED indicator Read the appendix in this manual for details LED will give fast orange blinking if 1 1 in fail safe mode 3 If your transmitter does not support Fail Safe the auto level Fail Safe function will not work when the communication between MC and transmitter is disconnected 3 Autopilot AUTOPILOT DEFAULT 1 Basic Parameters Pitch Roll Yaw Vertical Basic Gain N A RemoteAdjust INH v Attitude Gain 0 0 RemoteAdjust INH 7 2 Height Lock C Enable C Disable STEP1 Basic Parameters Usually the default parameters are ready to go However different multi rotors have different gains because of different size ESC motor and propeller If gain is too large you will find the multi rotor oscillating in the corresponding direction About 5 10Hz If too small the multi rotor will likely to be hard to control So you can still setup the basic Gain of Pitch Roll Yaw and Vertical manually according to your multi rotor to have a wonderful f
22. trol mode You have to execute CSC to re start motors if they stop during the flight 12 Red light blinking indicates battery voltage is low please land ASAP 13 Do NOT move any command sticks during system start and self check Please contact us if the last three green blinks are abnormal Assembly MC please use 3M gummed paper provided to mount MC The output ports of MC Direction of the arrow should point to the front of multi rotor You d better put MC at the gravity center of multi rotor Please make sure all ports are accessible when installing the MC so as facilitate wiring and software Brushless Motor and Brushless ESC configuration The main controller just support to high speed In three pin ports pins near the nicks are signal pins After choosing a location to mount the MC it is recomment that ESC 500Hz you DO NOT mount the MC until all wirings and software freshif configurations are completed retresn frequency FUTABAHITIC RECEIVER To ESC n JR RECEIVER To Gimbal 5 R C System These are example connections Please setup Aleron Elevator Throttle Rudder channels on your Tx first and chooseone 2 positions switch channel as control mode switch then connect your receiver to the right ports on MC VU Do not mount it on any other electronic devices Make sure you can see the LED light during the right LED ind
23. witch you have selected to use in the transmitter for control mode switching connect the right channel on receiver to U port on MC At each switch position use end point fine tuning on your transmitter move the slider of channel to Atti Model Manual Model to turn the corresponding area blue respectively Tips To move the slider is to adjust end points of the channel selected For 2 position switch you should assign Position 1 to Manual Position 2 to Atti Mode or reverse lt the assignment If your transmitter supports Fail Safe then move the slider to the range which reads Fail Safe Mode to turn 2 Position Switch 4 OF gt the area blue set Fail Safe output of receiver to input port U If you switch off your transmitter now the U channel slide should move to Fail Safej and turn the corresponding area to blue Otherwise please reset the fail safe MC has built in auto level Fail Safe function That means when the communication between MC and transmitter is disconnected the outputs of all command sticks from MC will go to center point If your transmitter has only 4 channels then MC will work in Mode by default without Fail Safe function Tips Please refer to your RC manual for the details of fail safe setup Notices 1 Do set the fail safe position of throt
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