FY-91Q DREAMCATCHER
Contents
1. UART port Please ensure the polarity of your wires is correct The RED wire is Wrongly connecting the polarity will damage your FV91Q 9 After plugging in the FY91Q you will see Connect success After about 5 seconds this note will disappear THIS IS NORMAL If connection is not successful go to step no 1 repeat FY Firmware Upgrade ti azoo Select Firmware Start Upgrade Page 39 Guilin Feiyu Electronics Co Ltd 10 Select the firmware to be uploaded ban Bka CE a My Documents T My Computer Close Port My Network Places Fie rame sO Open Fieselups bin fe fbn 5 Cancel FY Firmware Upgrade p Port COMI v Close Port 19200 gt l The firmware will be noted on Select Firmware the screen This note will disappear after 5 seconds file name C4Documents and Settings FYETECH Desktop FY 910 V1 1 bin length B1768 1 Press the Start Upgrade button EE FV Firmware Upgrade Close Port Select Firmware Start Upgrade 12 Immediately after pressing Start Upgrade the software will show blocks of firmware being sent to the FY910 A total of 61 blocks will be sent Page 40 Guilin Feiyu Electronics Co Ltd DO NOT DISRUPT THIS PROCES DOING O WILL DAMAGE YOUR FV91Q FY Firmware Upgrade Close Port Select Firmware Start Up2. ON SCREEN DISPLAY and DATA RADIO a The FV91Q supports OSD data output via the UART interface b By connecting this interface to the AP117 OSD telemetric data such as GPS flight navigation AHI and autopilot modes can be displayed on your downlink video c The UART Interface can also be connected to the FY 606 digital data radio system which establishes a bi direction radio communication between the FV91Q and your portable computer d By uploading our Ground Control Software GCS free from our website you can monitor your flight on the GCS map display on board telemetry data and control the aircraft flight path via the click of your mouse Page 5 Guilin Feiyu Electronics Co Ltd FV91Q Navigation Edition Package Content FY 910 Navigation Edition contains the following hardware e FV 91Q control module x 1 e FV91Q RC receiver connection cable pack x 1 e GPS amp COMPASS Interface module x 1 e FY GPS Receiver x 1 e Double sided adhesive Damper pad x 1 e Self adhesive Velcro sponge x 2 e GPS connecting wires x 1 e Jumper for gyro resetting x1 SYSTEM SPECIFICATIONS FV 91Q Module Operating voltage 4 0 6 O Volt Current consumption 5OmA 5V input Dimensions 55x33x20mm Weight not including wires 20g Operating Temperature z 25 C 70 C The maximum allowable rotation rate 3 rotations per minute GP amp COMPASS INTERFACE MODULE Operating voltage 1 4 0 6 0 Volt Current consumption 6
3. 1 2 3 4 Ai 4 1234 Type Quad Layout 1 ESC1 CCW 2 ESC2 CW 3 CCW 4 ESC4 CW ew clock wise cew counter clockwise Page 17 Guilin Feiyu Electronics Co Ltd QUADCOPTER FY919 CONNECTION CHEMATIC GPS GSP amp CPMPASS PC setting AP117 OSD Data Radio RC Receiver Miimm5 Chamel Recever poa ra Page 18 Guilin Feiyu Electronics Co Ltd Y6 FY919 CONNECTION SCHEMATICS AARG 1 2 3 4 1234 Y6 SCORPION FLYER 1 tep ESCI CW 2 top ESC2 CW 3 top ESC3 CW 4 bottom ESC4 CCW 5 bottom ESC5 CCW 6 bottom ESC6 CCW ew clock wise ecw counter clockwise Y Cable included ESC 6 P2 SES ESC 5 P1 GSP amp CPMPASS PC setting AP117 OSD Data Radio RC Receiver Mirimm5 Chamel Receiver Page 19 Guilin Feiyu Electronics Co Ltd FY91Q Hexa Copter Setup E S C 6 P2 ESC5 P1 GPS z GSP amp CPMPASS PC setting AP117 OSD Data Radio X Type Hexa Layout 1 ESC1 CW 2 ESC2
4. Electronics Co Ltd 6 Setting adjustment procedure a Connect USB TTL cable to the computer b Connect the USB TTL cable to the FV91Q UART data port as shown below FY91Q Software FV 91Q Module c Note the range of values that you can put inside the boxes is 0 6 x to 1 8 x the default value Example for the first box the default value is 35 The minimum value for this parameter is 35 x 0 6 21 Maximum value is 35 x 1 8 63 Feiyu Tech Guilin Feiyu Electronic Technology Co Ltd FeiyuTech ES Rey Write tora te T ch Contr Mia level p o subiliy po gay RE Ets the P inthe PO 21 63 Control kulmi p siy p sumy Es Coaffiereat Continue Coefficient d Open the FV91Q Parameters adjustment software Select the appropriate USB port number check via your computer Device Manager and set the baud rate to 19200 Feiyu Tech Soa Guilin Feiyu Electronic Technology Co Ltd FeiyuTec Port com gt 3 Open Ras t n ng Write to FY 919 1200 Paraneters Page 32 Guilin Feiyu Electronics Co Ltd Click Open to connect to your FV 91Q Feiyu Tech Guilin Feiyu Electronic Technology Co Ltd Restore Default e Click Read to see the existing parameters Port m Restore D rite to F91 Pitch Control Ceettic
5. blue LED will light up again indicating Field Calibration is complete f Proceed to into GPS Detection ii GP DETECTION HOME LOCK a GPS is required to enable autopilot flight positioning b Ensure you are outdoors to maximize GPS satellite detection minimum 5 required c Upon power up the FV91Q will automatically search for GPS satellites d Upon detecting 5 satellites the red LED will begin flashing twice continuously indicating GPS Home Position has been locked e You can safely fly the FV91Q system without GPS locking home position red LED flashing twice However both Hover Hold and RTH autonomous flight cannot function f Without GPS lock the FV91Q can only hold altitude if Hover Hold is activated Position hold cannot be activated and therefore the aircraft will drift randomly If during the RTH function GPS lock is lost the aircraft will stop moving and g begin to drift randomly However it can still fly while maintaining altitude Page 29 Guilin Feiyu Electronics Co Ltd FLIGHT PARAMETER ADJUSTMENT SOFTWARE The FY Tech FV91Q Parameter settings interface is as show below amp Feiyu Tech Guilin Feiyu Electronic Technology Co Lid uTech Teng B Soni tented TP F 11 1 Flight Parameter Adjustment Software SAFETY FIRST 1 The default FV91Q settings have been adjuste
6. CW 3 ESC3 CW 4 ESC4 CCW 5 ESCS CCW 6 ESC6 CCW CW clock wise CCW counter clockwise Guilin Feiyu Electronics Co Ltd FV91Q Module Installation FV9IQ has an arrow indicator on top Please ensure this arrow is pointed towards the direction of flight Installed the module horizontally and as close as possible to the aircraft center A more centered installation will result in more stable drift free hover The FY910 sets its own benchmark of what is horizontal Install the module based on the hover characteristics of the aircraft in Mode 1 Stabilized Mode Shimming the module may be required to get the aircraft to hover perfectly FY91 Preflight Inspection and Initial Testing Pre flight testing for aircraft control 1 2 Remove all propellers Activate throttle to start up the motors Check the rotation direction of each motor and make sure it is turning in the right direction Re Install propellers Check again that the rotation is correct Check the FV91Q sensitivity control knobs Please ensure the dials are beyond 12 o clock Anything less than that may result in no flight stability for this first flight Page 21 Guilin Feiyu Electronics Co Ltd 6 Tie down test Before proceeding we highly advise that you tie down the aircraft to the ground to prevent any possibility it going out of control during this initial flight tests Safety first 7 First test lift off Advance
7. Cs Page 22 Guilin Feiyu Electronics Co Ltd FY91 FIRMWARE 1 1 SETTING UP HOVER HOLD AND AUTOMATIC RETURN TO HOME a Note commissioning the Hover Hold and RTH Mode require a certain degree of flying skill You may need a friend s assistance to carry out the entire procedure b Setting up involves i Understand the 4 Principles of FV91Q Autonomous Flight i GPS amp Compass Set Up Field Calibration iii GPS Satellite Detection i The 3 Principles of FV91Q Autonomous Flight The FY919 has three unique autonomous flight principles which is different from any other multirotor system Failure to understand these 3 Principles will result in failure to achieve autonomous flight 1 PRINCIPLE HOVER USING YOUR TRANSMITTER TRIMS 1 The FY91Q is a 3 gyro 3 accelerometer stabilizer system mounted on a flat platform board This platform is mounted in an aluminum box 2 The positioning of these 6 sensors varies from one FV91Q module to another no two modules are exactly the same Furthermore mounting of the module on the aircraft may result in tilting to one side 3 Therefore a less than leveled Axis will always occur Example Aircraft will drift to the right FY91Q Axis not leveled Aircraft will drift to the left Page 23 Guilin Feiyu Electronics Co Ltd 4 To solve this install your FV91Q as leveled as possible on your aircraft Then hover your aircraft in Stab
8. OmA 5V input Dimensions 55x33x20mm Weight not including wire 1 20g Temperature range lo 25 C 70 C Page 6 Guilin Feiyu Electronics Co Ltd APPLICABLE AIRCRAFT MODELS The FY91 can be installed and flown it the following multi rotor aircraft 4 motored Quadcopters de Tri axial rotory aircraft with 6 motors V6 de Tri axial rotory aircraft with 4 motors V4 Six axial multi rotor aircraft Hexacopters Any other configuration please contact us for confirmation feiyudz hotmail com REMOTE CONTROL SYSTEM COMPATIBILITY FY 910 have been tested to work with the following RC systems e Robbe Futaba PPM PCM 1024 PCM G3 mode 2 4 GHz systems e Graupner JR PPM 8 PPM 12 SPCM mode e MPX PPM8 PPM 12 with UNI mode e Any remote control system using the standard of 1 5 ms neutral position Page 7 Guilin Feiyu Electronics Co Ltd FY 919 FLIGHT MODES 1 FV 91Q has three operating Flight Modes which is selected by using any free channel on your RC receiver 2 You can set the 3 modes via a 3 way switch or use a dial knob Example f 3 However since switch flight modes is required during the setting for autonomous flight we highly recommend that you use the 3 way switch Receiser PPM 900 1200 1200 1800 1800 2100 signal level H k g Mode 3 Mode 1 Mode 2 FLIGHT MODES Return to Home Stabilizer Mode Automa
9. Q you must minimize the amount of vibration on the aircraft as best you can Examples of vibration reduction steps that can be taken i Ensure your motors are mounted properly and squarely ii Balance your propellers regardless of the manufacturer s claim of perfect balance out of the factory iii Balance your motor bell housing if possible iv Ensure rigidity of your frame will not flex with motor rotation v Use appropriate propeller length and pitch for the weight of your aircraft Page 15 Guilin Feiyu Electronics Co Ltd d The FY 910 is supplied with the shock absorbing mount and double sided foam padding dampers Please use them as shown below CHECKING FOR VIBRATION a Install the FV91Q as per the recommendations of this manual including directions of propeller rotation b Remove the connection to the GPS amp Compass Module c Throttle up in Mode 1 Stabilized Mode but e not take off d Observe the red LED on the FV91Q module e If the red LED light remains OFF this indicates your aircraft vibration level is acceptable f If instead the red LED light goes ON and remains lighted your aircraft does not meet the vibration level requirement Please reduce the onboard vibration level Page 16 Guilin Feiyu Electronics Co Ltd QUADCOPTER SET UP X Type Layout ccw cw ccw cw ew clock wise cew counter clockwise Cross Type Layou ANAN
10. Rev 10 4 Sept 2011 FY 91Q DREAMCATCHER FIRMWARE 1 1 Multi rotor flight stabilization amp Autopilot System Installation amp Operation Guide Guilin Feiyu Electronic Technology Co Ltd Rm B305 Innovation Building Information Industry Park Chaoyang Road Qixing District ney os GuiLin CN k www feiyu tech com FeiyuTech Email feiyutech yahoo cn Guilin Feiyu Electronics Co Ltd Revision Date Updated Topic updated Page Rev 8 Lai July 2011 N A Completion of Manual Rev 9 30 August 2011 Page 10 e Red LED Flashing Page 22 to 28 e 3 principles of autonomous flight Firmware 1 1 Page 29 30 e Flight parameter range Rev 10 4 September 2011 Page 37 e Firmware update procedure incorporated Page 43 e ESC Throttle Range setting procedural correction Page 1 Guilin Feiyu Electronics Co Ltd Table of Contents Manual Update list Basics How the system works Barometer and GPS amp COMPASS module Autopilot Function amp Auto Hover Automated Return to Home On Screen Display And Data Radio FY91Q Navigation Edition Package Content System Specifications FY 91Q Flight Modes Flight Modes and LED Indicator Red LED GPS Status amp Vibration Indicator GPS amp COMPASS Module Interface amp Function Gyro Resetting FY91Q Connection Interface Diagram DIP Switch Setting FY 91Q Power Supply Recommen
11. ame time as noted by the ESC simultaneous arming beep h Proceed with flight tests as per this manual Carry out a tie down test if you are not sure of your aircraft flight characteristics Page 43 Guilin Feiyu Electronics Co Ltd ESCs Not Arming 1 Many types of ESCs have an arming protection set up where they expect to see an incoming signal as soon as they are powered up If the ESC do not see this input signal it will automatically inhibit the arming process 2 Upon powering up the FY91Q takes about to 2 seconds to initialize During this time signal is not immediately sent to the ESCs Due to 1 above the ESC will not arm even after the FY91Q begins sending signal to the ESC 3 As a result the ESC refuses to arm 4 To confirm this carry out the following a Remove all your ESC red wire positive connection to the FY91Q b Install an external BEC at least 3A output c Turn ON your Radio Transmitter and set the minimum to 30 d Power up the FY91Q and your RC receiver via the external BEC but NOT the ESCs e After the FY91Q initializes power up your ESCs f Decrease your throttle to 100 until the ESC arms g This proves your ESC has the delayed activation protection 5 An easy set up to solve this is to have a two plug power up system i e power up your BEC first before powering up your ESCs END OF MANUAL Page 44
12. challenging but logical Just follow the instructions as stated in this manual and you won t go wrong e Remember SAFETY ALWAYS FIRST If you need any technical support you know where to find us Page 3 Guilin Feiyu Electronics Co Ltd FY91Q MULTI ROTOR SYSTEM Basics on how the system works e Inertial Stabilizers The FY91 utilizes an attitude flight stabilization system AFSS which is inertial sensing based The system also incorporates an autonomous flight control system e The FV91Q AFSS integrates a three axis gyroscope combined with tri axial accelerometers to sense and create a drift free 3 dimensional stabilization system e The FV9IQ also utilizes GPS and barometric pressure sensing to obtain accurate aircraft positioning and altitude e By combining sensor data from the gyros and accelerometers together with altitude and GPS positioning an accurate inertial navigation and autopilot system is formed Fixed positioned and altitude hover and return to home is just a switch away e This product is still under intense Research and Development FeiYu Tech has enabled firmware upgrading via a USB TTL Connector As new algorithms are developed for the autopilot system you can download the upgraded firmware from FY website Barometer and GP amp COMPASS module de FV 91Q control module incorporates an accurate barometric pressure sensor At start up the take off air pressure is measured providing the autopilot
13. connect the FV91Q to the AP117 OSD module to display the telemetry data onto your On Screen Display 2 Connection is as shown below FY 910 Module Data port to connect to the APII7 Refer to AP117 Manual on more details of the display http shop fyetech com di apii7 pdf Mode 1 Mode 2 Mode 3 Flight Modes Stabilized Mode Hover Hold RTH Mode AP117 Display ABM FAF RTL UPGRADING THE FY91Q FIRMWARE WARNING Please read the following before doing any firmware upgrading A Remove the FV91Q from all connections Remove ESC RC wires B Ensure that during the Firmware upgrading process is not disrupted e g moving your USB cable around resulting is lost connection Disruption during the upgrading process can damage your FV91Q processor C If you are using a portable computer make sure you have enough power to carry through the upgrade process This is to prevent B above D Follow the steps below EXACTLY CHRONOLOGICALLY If you skip any step firmware upgrade will fail THE PROCEDURE 1 Download the software from FY websites Install it onto your desktop or a designated folder You will also require to download both the firmware upgrade program and the require firmware bin file Page 37 Guilin Feiyu Electronics Co Ltd DO NOT OPEN THE FIRMWARE PROGRAMM YET 2 If you have not done so please install the USB TTL Cable driver from FY websites The computer will met rec
14. d for optimal stability and flight performance The flight parameter adjustments provided via the FV Tech Flight Parameters Setting software should only be done by very experienced multirotor pilots who need to further fine tune the aircraft characteristics 2 We do not recommend adjusting the flight parameters without a specific fine tuning target 3 Safety Warning 1 A Wrongly Adjusted Flight Parameter Setting may result in extreme aircraft instability and crash Do a tie down test when adjusting Flight Parameters for the first time Page 30 Guilin Feiyu Electronics Co Ltd 4 Safety Warning 2 If you are powering the FV91Q via your onboard BEC make sure you take off the red wire as shown below Failure to do so may result in damage to both your computer and FY91Q Additionally if you are powering the FY910 via your ESC BEC make sure you tie down your aircraft or take off the propellers to prevent possible accidental injuries Remove Red wire if using the on board ESC BEC to power up the Remove Red wire FY91Q Failure to do this can result in damage of your PC and FY91Q 5 Hardware requirements a Portable PC Laptop with USB port b USB TTL Cable Download and install the USB TTL Drive Download site http shop fyetech com dl ttidriver rar d Download and install the FV91Q Parameters Setting Software Download site Link to be released later Page 31 Guilin Feiyu
15. dations 1 The FV91Q input power supply can range from 4 to 6 volts 2 More importantly the current input and voltage must be stable You may use an external BEC with 3A output or use ESC with good quality 3A BEC 3 We recommend that power is supplied via the ESC 1 power input pin 4 Your radio receiver power supply is via the FV91Q Aileron cable channel 1 FY910 Connection to the Receiver 1 The FY91Q is connected to the receiver via this cable bundle f 4 d Page 14 Guilin Feiyu Electronics Co Ltd 2 The wire colors will help you trace the connection to your Receiver Wire Colour Receive Channel White bundled with red Aileron Channel 1 and black Orange Elevator Channel 2 Green Throttle Channel 3 Yellow Rudder Channel 4 Brown Any free channel controlled by Channel 5 3 way switch or dial refer page 6 example 3 Note that the open channel for Switch 1 SW 1 must be controlled by either a 3 way switch or a dial on your radio transmitter SW1 controls the Flight Modes of the FV IQ VIBRATION DAMPING a b 9 The FV91Q flight controller algorithms can filter and operate under normal vibration levels however if the vibration and shock experienced by the onboard sensors is too extreme stabilization can fail and the system can shut down altogether Because of this to achieve the best stabilization and flight performance out of the FV91
16. dations FY91Q Connection to the Receiver Vibration Damping Quadcopter Set Up Quadcopter FY91Q Connection Schematics Y6 FY91Q Connection Schematics FY91Q Module Installation FY91Q Preflight Inspection and Initial Testing SETTING UP HOVER HOLD AND AUTOMATIC RETURN TO HOME 1 Principle Hover Using Your Transmitter Trims 2 Principle The Flight Neutral Gain 3 Principle Fy91q Learns On The Fly For Hover Hold Flight Parameter Adjustment Software FY91Q Ground Control Station Function FY91Q Connection to AP117 ON SCREEN DISPLAY Upgrading the FY91Q Firmware FY91Q FY90Q Basic System Requirements Electronic Speed Control ESC Requirements Pre Flight Check amp Sensitivity Exponential Adjustments ESCs Not Arming Guilin Feiyu Electronics Co Ltd Dear Pilot Thank you for purchasing the FV91Q multirotor flight control system from Feiyu Tech In order to achieve full potential and safe operation of this product please carefully read this manual prior to installation ATTENTION e Set up and use of the FV91Q requires a high degree of multi rotor flight and RC experience e If you have never flown a multi rotor aircraft before we highly recommend that you don t install this equipment on your own Please seek assistance from an experienced multirotor pilot e If you are already an experienced multirotor pilot you will find the installation mildly
17. e level to compensate for altitude loss during aircraft tilt recovery Example If you observe the aircraft lose altitude during tilt recovery increase the value of this parameter b Speed controls Increase or decrease this value to adjust the sensitivity to forward flight speed of the PID Settings FC x Control the amount of lateral deviation Integral control the amount of lateral deviation Control the amount of lateral deviation change Y Control the amount of vertical deviation Integral control the amount of vertical Control the amount of vertical deviation variation deviation change Height Control the amount of Integral control the Height deviation control height variation amount of height change degree of control Page 34 Guilin Feiyu Electronics Co Ltd h After setting adjustment confirm the new parameters by clicking the Set button Clicking the Set button will send the new setting to the FV91Q i Click to Read button to confirm the changes have been saved j Finally click the Write to FV 91Q button to permanently save the new settings in the FY 910 If this button is not pressed the new parameters will be lost when you power down the FV91Q R Return to Default etting If you feel at any time you vvish to return to the factory settings simply click on Restore Default Parameters The factory default set
18. gra 3 block send OK Total 61 block 13 After completion of the firmware upgrade the software will show successful upgrade About Port COMI Close Port 19200 gt Select Firmware rade l Firmware upgrade success 14 Unplug the FV91Q Label the Version that you have uploaded and test fly the new firmware emana A Page 41 Guilin Feiyu Electronics Co Ltd FV91 Q FYooQ BASIC SYSTEM REQUIREMENTS Electronic peed Control ESC Requirements 1 ESCs that can handle an input signal pulse frequency over 400Hz is a must 2 Use only ESCs that has a manually settable throttle end points All endpoints MUST be manually matched 3 ESCs with Fast response rates are recommended high and mid timing settable Too slow response will result in failure to maintain Quad flight stabilization and control 4 Do not use ESCs that lose their throttle endpoint settings at each power off e g Castle Thunderbird series 5 Do not use ESCs that must be armed before you can set the throttle endpoints Castle Thunderbirds Hobby King SS ESCs etc With this ESC type you must power up all motors and go to full throttle to set the endpoints making it impossible to use on multirotors Pre Flight Check amp Sensitivity Exponential Adjustments STEP 1 Radio Transmitter Settings I Select the Model for Traditional Airplane where there is no mixing of the throttle elevator a
19. ileron or rudder controls II For transmitters with helicopter settings only choose mCCPM model setup where throttle pitch elevator aileron and rudder are not mixed III For a start we recommend you use your Transmitter EXPO to reduce control responsiveness by 50 percent for Aileron and Elevator IV If the throttle responsiveness is too high use EXPO to reduce this too V For rudder we recommend no EXPO setting keep at normal Page 42 Guilin Feiyu Electronics Co Ltd STEP 2 Matching ESC End Points Throttle Range a The FV91Q controls your aircraft by sending controlling signals to your ESCs b For the FV91Q to be able control your aircraft stability and flight a throttle base point must be established This base point is your ESC throttle minimum point c Therefore only use ESCs that you can manually set the throttle endpoints minimum and maximum throttle range All endpoints MUST be manually matched d To manually match your ESC endpoints refer to your ESC Manual e As a general rule the setting of your ESC throttle range should be done individually i e connect every single ESC directly to your RC Receiver channel 3 and set the minimum and maximum throttle range as noted in your ESC Manual f After setting the minimum and maximum throttle range install the ESCs to the FY910 as noted in this manual g On Powering up your aircraft you should observe that ALL your ESCs must arm at the s
20. ilized Mode Mode 1 and use your transmitter trims Aileron and Elevator only to get it to hover almost hands free 5 If you note too much trim is used reinstall your module by shimming the mounting Hover again and you should note a reduction in trimming used Example Aircraft will drift to the right Add shimming to level the module FY91Q leveled ss 6 By the same principle if there is a directional wind which is causing drift to the aircraft use your transmitter Aileron and Elevator trims to counter this wind drift 7 Note that every flight will require some trimming adjustment 8 Important Note As much as possible do not use your Rudder trims Keep your rudder trims in the middle position If rudder trim is not in the middle RTH flight direction may not be straight line flight 9 Reminder Other than the throttle stick to maintain altitude you do not use your sticks to hover the aircraft Use only your Aileron and Elevator trims This is the First Principle Page 24 Guilin Feiyu Electronics Co Ltd 2 PRINCIPLE THE FLIGHT NEUTRAL GAIN 1 The 2nd principle does not require you to do anything other than to fully understand it 2 Every time an FY91Q is airborne there are two controlling gains that is interdependent and yet opposing to each other Controller Gain 1 The automated FY91 flight controller gain produced by the 6 sens
21. ish to move Hover Hold to another location disengage the Hover Hold switch move to the new location attain good hover and re activated the Hover Hold switch 6 You can also change the altitude of the aircraft in Hover Hold by moving your throttle stick up or down But you will need to bring it back to the hovering throttle position to re engage Hover Hold If you cannot remember this position carry out no 5 above Return to Home RTH Mode 3 1 If you wish to engage RTH at any time during your flight you must carry out Hover Hold for at least 2 seconds so that your FY91Q learns your hovering trims for level flight 2 Before engaging RTH as much as possible bring the aircraft to a stable hover before engaging the RTH switch 3 After engaging RTH the aircraft will immediately begin flying back to the home point 4 You can change the altitude up or down at any time during the RTH procedure by increasing or decreasing your throttle level 5 Upon reaching Home position location where GPS lock occurred the aircraft will automatically engage Hover Hold Bring your throttle stick to the hovering level to maintain Altitude and Position hold Page 27 Guilin Feiyu Electronics Co Ltd GP amp COMPASS MODULE SET UP MANGETOMETER CALIBRATION 1 TheGPS amp COMPASS Module contains an internal three axis magnetometer This module senses the earth s magnetic field and uses this reading to accurately meas
22. ognize the USB TTL Cable if the proper driver is not installed 3 Connect the USB TTL cable to the computer Note do not connect the IQ yet 4 Open the FY Firmware program FY Firavare Upgrade EY Eir me ha 5 Select the right Com port number and select 19200 as the 6m xi baud rate Open Port Select Firmware Start Upgrade 6 If you do not know which COM port number do the following Click your control panel Click on system Hardware click Device Manager 3 My Music poner tomatic Updates Remote Es kennar 48 Hardware Avance l System O32 on ts all the hardware devices installed he Device Manager to change the e Connect To gt Check the COM Port number for Prolific USB to Serial Comm Port Network adapters NVIDIA Network Bus Enumerator Note COM number 7 Prolific USB to Serial Comm Ap R Processors l 40 Sound video and game controllers Page 38 See Storage volumes Guilin Feiyu Electronics Co Ltd Select the above COM number onto your Firmware upgrade cow program Select Firmware Start Upgrade 7 Click Open port button If the COM port is right the word Open Port will change to Close Port Check your COM port number again if this fails El FV Firmware Upgrade or for gt 5 am gt Select Firmware Start Upgrade Start Upgrade 8 Plug the Serial connector to the FV91Q
23. ors to maintain the aircraft in a leveled state Controller Gain 2 The user manual gain that s you which controls the aircraft in manual flight via your transmitter sticks 3 After you have implemented Principle 1 hover by transmitter trims then in Principle 2 the two gains function purely to oppose each other the controller will try to oppose any instability of the aircraft while the pilot you via the transmitter stick will make the aircraft unstable so that it can be moved to any position in the sky 4 If you have fulfilled the 1 Principle letting go of the transmitter sticks Aileron Elevator Rudder will return the aircraft to a leveled flight state 5 This leveled flight state with no input from the pilot is called the Flight Neutral Gain or Neutral Value 6 MOST IMPORTANTLY note that other than your throttle stick when in Flight Neutral Gain your transmitter sticks are ALL in the middle position 7 Pause here and think about it 8 Note that Throttle control is fully manual at all times Flight Neutral Gain does not involve the throttle channel Page 25 Guilin Feiyu Electronics Co Ltd 3 Principle FV91Q LEARNS ON THE FLY FOR HOVER HOLD 1 A quick Recap Principle 1 FV91Q can hover using only trims Throttle maintains altitude Principle 2 Hovering Hands free is the point of Flight Neutral Gain 3 Principle the FY91Q will learn your Flight Neutral Gain every
24. ounting Page 9 Guilin Feiyu Electronics Co Ltd GP amp COMPASS Module Interface amp Function 1 To enable the autopilot options you must have the GPS amp COMPASS module connected to the FV 91Q Direction of flight 8 a G El Connected to the FV 91Q 2 IMPORTANT The GPS amp COMPASS Module is sensitive to vibration Please use the included damper sponge when mounting this module 3 WARNING Wrong installation of the GPS amp COMPASS Module will result in inconsistent performance and even autopilot malfunction 4 GPS amp COMPASS module is utilizes a ceramic passive GPS Receiver This FY GPS Receiver must be installed face up as indicated on the sticker 5 Do not allow any metal or carbon fiber material to block or shield the FY GPS from detecting GPS satellite signal 6 WARNING The GPS amp COMPASS Module is very sensitive to metal magnets electromagnetic fields and radiation Keep such materials as far away from the Module as possible Example main power cables servo and servo wires video transmitters ESCs motors etc all can affect the GPS amp Compass Module Page 10 Guilin Feiyu Electronics Co Ltd GYRO RESETTING de Out of the box the FV 91Q has already been initialized and is ready to use Generally the FV91Q gyros do not need to be re set but under certain conditions initializing the gyros does become necessary a The unit has not be used for a long
25. ted Hover Hold Mode 1 Stabilized Mode In this mode the FY 91 will stabilize the multi rotor aircraft for normal flight Full flight direction control is given to the pilot Mode 2 Automated Hover Hold In Hover Hold the aircraft will maintain hover altitude and position The GPS and Compass Module must be connected to the FY91 with at least 5 GPS satellites detected Mode 3 Automated Return to Home Mode Activating this mode will automatically initiate the aircraft to fly back to the Home point Requires the GPS and Compass Module to be connected to the FV91Q with at least 5 GPS satellites detected Page 8 Guilin Feiyu Electronics Co Ltd Flight Modes and LED Indicator 1 To indicate the flight modes of the FY91Q the Blue LED light will flash Flight Modes Mode 1 Mode 2 Mode 3 Stabilized Mode Hover Hold RTH Mode Blue LED LED Always On Continuous flashing Three intermittent Flashing flashing GP Status amp Vibration LED Indicator The GPS connection status amp vibration level is indicated by the Red LED Flashing GP amp Vibration Severe GPS amp COMPASS 5 GPS Satellite detected Status vibration module not connected Home position Locked Red LED Continuous None Double Intermittent flashing flashing LED light OFF Flashing In case severe vibration is detected reduce your aircraft vibration levels or improve vibration damping for the FV91Q m
26. tent P Em DO ae P Set Roll Control cret P a mm Set Heading Control ES P ta POOO em 5 se Other Control ion l Speed Control D P Set gea f Flight parameter settings Pitch level tability Continue tability coefficient coefficient Pitch This setting controls the Stability level A higher value makes the control amount of pitch adjustments Reduce respond stronger to prevent automatic recovery until oscillations pitch angle changes stops Generally larger heavier aircraft require higher value Roll This setting controls the Stability level A higher value makes the control amount of roll adjustments Reduce respond stronger to prevent automatic recovery until oscillations roll angle changes stops Generally larger heavier aircraft require higher value Heading This setting controls the Controls the amount A higher value makes the control amount of heading of integral yaw respond stronger to prevent yaw lock stability control Too high will heading yaw changes lead to oscillations Page 33 Guilin Feiyu Electronics Co Ltd g Additional setting adjustments Other Control Altitude o Set Compensation Speed Control 0 p et Read X P 0 I 0 D 6 Set 1t P 0 I a D Set Height Control F 0 I J D Set a Altitude compensation This parameter controls the sensitivity of the FC to automatically increase or decrease throttl
27. time b Extreme change in environmental temperature in excess of 30 F FV9IQ fails to start the motors d The Red LED light of the FY91Q is blinking continuously If any of the above has occurred please proceed with the initialization process Note that routine gyro resetting is not necessary Gyro Resetting Process The FV91Q does not have to be leveled however please ensure it is not moved shaken or experience any kind of vibration during the initialization process If movement vibration did occur please repeat the procedure Install the gyro initialization jumper as shown below FY 910 Module o o EI 0000 S6e Supply power to the module and ensure it remains stationary for at least 2O seconds The red LED light will flash followed by OFF after approximately 20 seconds The initialization process is complete Disconnect the power supply and unplug the jumper please keep in a safe place for future use Page 11 Guilin Fei iyu Electronics Co Ltd FY91 Connection Interface Diagram Roll sensitivity knob Arrow must point towards aircraft direction of flight Flight Course Yaw sensitivity knob Pitch sensitivity knob Flight mode LED indicator Blue ESC 5 and ESC 6 Connection See page 18 Interface Pin Panel see below DIP switchs mode selection GPS status and Vibra
28. time you activate Hover Hold Mode 2 However this learning process can only occur if you release all control sticks Aileron Elevator Rudder and leave them in the middle position The Flight Neutral Gain hands free hover must be achieved before the FV91Q can learn the hover setting and engage Hover Hold The learning process and engaging Hover Hold takes about 1 to 2 seconds The moment you input any control movement via Aileron Elevator or Rudder FY910 will disengage Hover Hold and the aircraft is in your manual control again Please also note that when you engage the Hover Hold Switch F 919 also acknowledges your throttle level Therefore it is critical that you engage Hover Hold only after you have set the throttle level for hovering If you engage Hover Hold while the aircraft is descending throttle too low or ascending throttle to high FY91Q will set that throttle level as the hover throttle level This will result in your aircraft continuing its descent or ascent movement in Hover Hold Page 26 Guilin Feiyu Electronics Co Ltd Summary Hover Hold Procedure Mode 2 1 Hover your aircraft for hands free flight Use trims to bring the aircraft into a good hovering attitude 2 Adjust your throttle so that the aircraft maintains altitude 3 After the aircraft attains hands free hover activate Hover Hold 4 The aircraft will maintain altitude and hold position 5 If you w
29. tings will be displayed Click on all the Set buttons before pressing Write to FV 91Q FV91Q Ground Control Station Function 1 The FV91Q the UART interface can be connected to the FY digital Data Radio such as FV606 2 4 Ghz and FY602 433 MHz for bidirectional communication between your field PC GCS and the FV91Q autopilot 2 You will require to download the latest FY GCS software to utilize the GCS function of the FV91Q 3 FV GCS enables you can display the onboard autopilot telemetry data on to your GCS display including the GPS position of the aircraft on Google Map 4 You can remotely adjust the flight parameters of the FV91Q via the GCS software We will release more information about this feature in future FV91Q manual updates Page 35 Guilin Feiyu Electronics Co Ltd 5 Data radio Parameters FV9IQ interface panel have 4 Pin for UART GND Power TX1 RX1 Baud rate 19200 Interface characteristic TTL TT ON BOARD AIRCRAFT FY 91Q Module coo el 9 909 ds FY606 Data Radio JHE GROUND CONTROL STATION Two Way Communicatio FYGCS FY606 Data radio 6 Refer to FV606 Manual on more details on the FV606 to be updated 7 Refer to FVGCS Manual on more details of the FYGCS to be updated Page 36 Guilin Feiyu Electronics Co Ltd FY919 Connection to AP117 ON SCREEN DISPLAY 1 You can
30. tion level LED light indicator Red Jumper installed during gyro initialization Do not insert jum during normal use Interface Pin Panel Connection 8 7 GND Null ESC4 ESC3 Rx free Rx Throttle Null Null channel p Ch 3 Switch 1 Rx AIL GND GND Ch1 Null Do not connect anything on these pins leave open Page 12 Guilin Feiyu Electronics Co Ltd DIP SWITCH SETTING The FV91Q utilizes a Dip Switch system for model selection via Dip switch No 2 to 4 ENH 2 2 FY 91Q que ba Switch Position 1 2 3 4 Factory use Flight mode Y6 flight ON x 2 i X format 2 only debugging mode Normal flight Cross X4 flight OFF Always OFF mode format mode Switch Diagram Reference the switches below are in the OFF POSITION Example 1 OFF 2 OFF 3 ON 4 OFF 1234 a Dip Switch position for X TYPE QUADCOPTER AAG 1 N w a b Dip Switch position for CROSS TYPE QUADCOPTER ABAG 123 4 1 OFF 2 OFF 3 OFF 4 OFF Page 13 Guilin Feiyu Electronics Co Ltd c Dip Switch position for CROSS TYPE V6 1 OFF 2 OFF MAI ON 3 OFF OFF 4 ON 1 2 3 4 1234 d Dip Switch position for Hexa Copter 1 OFF 2 OFF ON 3 OFF A A A I 4 ON OFF m u 1234 FY 919 Power Supply Recommen
31. ure the aircraft direction of flight The magnetometer sensor is very sensitive to metallic objects and electric fields Keep such objects as far away from the module as possible Before each flight it is best to do a field calibration With practice it is very easy to do takes only 20 seconds Field calibration enables the GPS amp Compass Module to calibrate for the environment in which it is installed Field calibration should also be done if new equipment is installed which may affect the magnetic field around the aircraft Field calibration process a Place the aircraft on flat ground b Continuously change toggle the flight modes between Mode 1 Stabilized Mode to Mode 2 Hover Hold six times 1 balance mode gt Hover Hold 2 balance mode gt Hover Hold 3 balance mode gt Hover Hold 4 balance mode gt Hover Hold 5 balance mode gt Hover Hold 6 balance mode c Observe the blue LED go OFF after you toggle 6 times This indicates the FV91Q has entered the Field Calibration Mode d After the Blue LED goes OFF move the aircraft slow and steady in a clockwise rotation one and a half times The rotation should be done slowly taking Page 28 Guilin Feiyu Electronics Co Ltd approximately 15 seconds to complete If you do it too fast calibration will fail Blue LED will not light up and you have to do it all over again e After this rotation the
32. with an accurate relative height data de The GPS amp COMPASS module provided with the FV91Q Navigation Edition consist of a three axis magnetic sensor and high sensitivity GPS receiver This module enables the autopilot to sense the flight course and exact location of the aircraft s Note that if the FY910 is not connected GPS amp COMPASS module it will function as purely as a flight stabilizer for multi rotor aircraft The autonomous flight system cannot be engaged de For the autopilot to function the GPS Receiver must detect at least 5 satellites Autopilot Function The current FY91Q firmware supports two autopilot functions fixed altitude Auto Hover and automated Return to Home To enable autonomous flight the GPS amp Page 4 Guilin Feiyu Electronics Co Ltd Compass module must be connected to the FY910 FelyuTech GPS amp Compass Auto Hover o 3 dimensional GPS positioning is used to automatically maintain aircraft hover position and altitude o Accuracy of hover position range depends on wind conditions and speed Automated Return to Home o By utilizing GPS positioning the autopilot will return the aircraft to the starting point upon activation of the RTH Mode o Upon reaching the starting point home the autopilot will activate Hover Hold maintaining position and altitude while waiting for your further instructions o To establish the Home point a minimum of 5 GPS satellites must be detected
33. your throttle stick but do not take off usually around 30 throttle Let the aircraft float just enough so that you can see the aircraft reaction as you move your Aileron Elevator and Rudder sticks 8 If the control movement is reversed just reverse the channel on your RC transmitter 9 After step 8 you can take off higher If the aircraft hovers well you can proceed to remove the aircraft from the tie down test 10 Observe the flight for stability and oscillations as the aircraft hovers higher 1 If you feel there is not enough stability e g excessive drifting you can increase the sensitivity of the three dials 12 If there are rapid oscillations reduce the corresponding sensitivity knob 13 More fine tuning adjustment can be done via the FeiYu software you will need the TTL USB cable for this Pre flight Debugging 1 If your aircraft fails to lift off and hover for the initial pre fight tests please check the following a Check the ESC connections are all correctly plugged in Take time to check and re check that each ESC has been plugged in and that the plugs are correctly placed b Please ensure there is no short circuit of the power positive and GND wires Short circuits can damage the internal processor chip beyond repair voiding all warranty Check that all motors are rotating in the direction noted in this manual d Ensure you have selected mid or high timing for your ESC if you are not using FY ES
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