YS-S4 Multi Rotor Autopilot User Manual
Contents
1. Land Mode will be activated You will not have control over the aircraft c Once the aircraft returns within the range limit RC control will be returned d Note the altitude limit is relative Example if the craft was launched at 100 meters above sea level the range limit is another 100 meters above that point FIRMWARE UPGRADE PROCEDURE 1 Note Mini USB is not supplied This cable can be found in most computer stores 2 You may download the latest firmware from the ZeroUAV website la F D P wenece t Buia Ao 2 LED A Pa Interface DM gt 2 o 4 x T7 Hd r a 4 cw cw I F LED Interface 3 For firmware upgrade push the switch towards the LED interface 4 Power the YS S4 The LED will flash white light which then turns OFF indicating it is ready for firmware upgrade www zerouav com 25 YS S4 Multi Rotor Autopilot V1 Manual 5 Connect the YS S4 to the computer via the mini USB 6 Should your computer require the USB driver find the program in the Driver folder in the root of the configuration software SIM Device in DFU Mode Cy my STTub3u sys C windows System32 rivers 7 Your computer antivirus may interfere with the ZeroUAV EXE programme Temporarily disable this anti virus protection e g disable for 15 minutes 8 Find the upgrade S4 exe in the folder eg D YS S4 Upgrade S4 and open it Sper ode 34 n2. FUNCTION 1 Supported multirotor layouts Quad X4 Quad 4 Hexa X6 Hexa 6 2 YS S4 does not support baroque amp near baroque frames 3 Upgradable upload new flight firmware via mini USB or USB COM cable 4 Three working modes i Stabilize flight ii Auto hover iii Return to home amp land 5 2 control methods RC amp Android mobile via WIFI module sold separately 6 Support parameter configuration via PC or Android mobile via WIFI 7 LED Light display s the mode GPS lock amp low power warning 8 Standard safety features motor arming protection failsafe auto RTH amp landing PREREQUISITES www zerouav com 3 YS S4 Multi Rotor Autopilot V1 Manual a RC Transmitter Tx amp Receiver Rx 6 channels with two sets of 2 way switches b c supported d The Rx should support failsafe F S in all channels YS S4 supports PWM ESC Xaircraft XA ESC amp IC type ESCs are not The YS S4 supports small to medium sized multirotors The arm to arm frame distance less than 650mm amp propellers should be smaller than 14 inches e CONNECTION INTERFACE CHI CHI CH3 CHI CH3 CH6 POW GPSR GPSB WWw zerouav com GND GNI GNI GNI GND GND 35 65 GND FL JIL TL J d STL mgm TXD 33W RXD SCL GND SDA Use 3S 6S lipo battery as input power ae Sg A Ck oes BS intim fey azn PRSS T GND ESC OUTPUT GND ESC OUTPUT 1 8 GND Esc OUTPUT 9 G
3. mEn Too W SIDFW dl SIDFUFiles dll CJ Driver m Language A Di kan gt STOFUFET dl D STTubelevi ces dl Per i www zerouav com 26 YS S4 Multi Rotor Autopilot V1 Manual 9 Click select firmware file button in the YS S4 firmware upgrade window wh 5 5S4 Upgrade USE Device _ RNA 10 Select the needed firmware eg AP20130723 dfu iT Firmware G SCS S4 G Uperade S4 AP201 30723 dfu 11 Back to the main window of the Upgrade Software Note If there is no response try another USB port T5 54 Upgrade USB Device Upgrade Firmvare AP20130723 dfu Select we E554 Upgrade AF20130723 dfu Select Upgrade Upgrade Firmvare 13 Quit the firmware upgrade software after the system hints upgrade successfully Disconnect the USB cable and push the dial switch back to the www zerouav com 27 YS S4 Multi Rotor Autopilot V1 Manual side of the GPS interface Test fly the aircraft USB Device Upgrade Firmvyare AP20130723 dfu Select Uper ad es ie End of Manual Version 18 August 2013 WWw zerouav com 28
4. the aircraft 3 times as shown above always keeping the head down Ensure the BLUE LED remains ON during the tum If you tilt the aircraft beyond 3 degrees the LED will turn OFF Adjust position until the BLUE LED is back ON amp continue with the rotation Step 6 After completing above place the aircraft on the ground amp move CH5 switch quickly 3 times The YS S4 will enter the magnetic recording amp the LED will now flash PURPLE Calibration is complete when the PURPLE flash turns OFF ESC MOTOR ARMING PROCEDURE a FAILSAFE for safety the YS S4 will only arm the ESCs only AFTER you have tested the Failsafe function of your aircraft Procedure i Set your failsafe as previously explained see Radio Transmitter Setting li Test the failsafe function confirmed by observing PC software Flight Status display change to Return amp Land after you switch OFF your RC Tx iii Carry out the above at least once for YS S4 to allow ESC arming www zerouav com 19 YS S4 Multi Rotor Autopilot V1 Manual iv Enable Combined Stick Command CSC for ESC arming b To arm amp activate your multirotor ESCs you need to execute CSC as shown below c After the CSC operation push the THR stick slightly up The motors should begin to turn If you do not push the stick in 5 seconds after doing the CSC you need to redo the CSC to re arm the ESC Motors d During flight motors will not stop immediately if you land
5. your next input 3 RETURN amp LAND www zerouav com 23 YS S4 Multi Rotor Autopilot V1 Manual a In the Return and Land mode the craft will RTL and land automatically b You may take over the controls at anytime by changing to Stabilized Mode c IMPORTANT If you move from RTL to Auto Hover Mode the aircraft will continue with the RTL amp Land process d On arrival at Home the YS S4 will begin to descend At this time the autopilot will allow you to take control of AIL amp RUD to adjust the landing site But THR remains fully autonomous during this decent amp land e After landing the motors will stop Move your THR stick to bottom before changing back Stabilized Mode f Altitude If the craft is below 20m the YS S4 will ascend to 20m before initiating RTH If the height is higher than 20m altitude is maintained during RTH g Safety 1 Since RTH is fully autonomous and you cannot alter the flight path during RTH it is not advisable to activate RTH too close to you or spectators h Safety 2 To avoid sudden lost in altitude THR stick should be above mid point when you change from RTH to Stabilized Mode 4 Maximum Altitude and Distance Limit a The YS S4 allows a maximum flight altitude of 100 meters and a maximum flight distance radius of 300 meters b No matter what mode you fly in if the aircraft exceeds the maximum limits www zerouav com 24 YS S4 Multi Rotor Autopilot V1 Manual RTH amp
6. EEN Note that for THR the slider is YELLOW if the stick is at bottom amp BLUE at hover position normally near the middle position 12 Repeat Adjust Transmitter if the sliders fail to show GREEN at mid position 13 NOTE If your aircraft cannot hover well after trim adjustments repeat Adjust Transmitter procedure CALIBRATE THE MAGNETIC FIELD a For new setups amp every time a new hardware is installed onboard a magnetic calibration should be done www zerouav com 17 YS S4 Multi Rotor Autopilot V1 Manual b ALWAYS carry out this calibration outdoors far away from metallic objects cars radio towers power lines etc Step 1 Move CH5 amp CH6 to Position 1 Stabilization Mode Step 2 Move switch CH5 three times quickly between Position 1 amp Position 2 The LED will flash BLUE all the time You have entered Horizontal Calibration Step 3 Carefully rotate your aircraft horizontally three times ENSURE that the BLUE LED light remains ON during this procedure If it turns OFF that means the aircraft is not horizontal Adjust the position until the BLUE LED is back ON amp continue with the rotation Step 4 After completing Horizontal Calibration again move CH5 switch 3 times to enter Vertical Calibration Point the Aircraft head downwards amp observe the LED light It should be BLUE all the time www zerouav com 18 YS S4 Multi Rotor Autopilot V1 Manual Step 5 Carefully rotate
7. ND ESC OUTPUT GND ESC OUTPUT 7 O GND ESC OUTPUT t O s Vil TEE ETE SE i ii ae 16 ae CAN T com GND RXD GND R AIRCRAFT ww OOo amp o O GND LED YS S4 Multi Rotor Autopilot V1 Manual POWER SUPPLY POW input 3s 6s LIPO eco Me __Interface _ o CH _ CH2 _ THR of Rx _ CH4 CHS __CH6 __ POW Interface Connectto CH1 CH2 M2 __ ESCofMotor2 M3 ESCofMotor3 CH4 M4 __ ESCofMotor4 CH5 M5 ESCofMotor5 CH6 M6 __ ESCofMotor6 GPS Connection woe Ji m oe a a t gt S g Li Y Ri TTC Y ye x 3 T 7 s A 9 i 3 GPS porti A COM To RS232 COM port Red terminal of PC or WIFI module GPS port 2 O GSB Black terminal OBO LED signal Signal to LED module LED Module 4 Pins LED Red wire C LED To LED module outside Warning Your Rx is powered by YS S4 DO NOT power Rx by any other supply or www zerouav com 5 YS S4 Multi Rotor Autopilot V1 Manual YS S4 may be damaged If your ESC has a built in Internal BEC remove the red www zerouav com 6 YS S4 Multi Rotor Autopilot V1 Manual HARDWARE INSTALLATION 1 Motor Arrangement amp Propeller Direction a Select the multirotor type via the configuration software List supported Aircraft Head www zerouav com 7 YS S4 Multi Rotor Autopilot V1 Manual b Note the M1 to M6 positions amp propeller rotation direction 2 YS S4 Module Installa
8. YS S4 Multi Rotor Autopilot V1 Manual YS S4 MULTI ROTOR AUTOPILOT V1 USER MANUAL PRODUCT DISCLAIMER Multirotors may cause injury if used carelessly or improperly Make sure you fly your aircraft in a safe responsible manner ZeroUAV shall not be liable for any damage whether direct or indirect resulting from the use of the YS S4 SAFETY ALWAYS FIRST a Before your first flight please confirm your frame configuration is correct b Observe the LED 3 red flashing indicates normal working state If you do not see the 3 red flashing check your entire set up again c For the safety reasons the ESCs motors will NOT arm if GPS module is unplugged disconnected or was not plugged in correctly Check amp re plug the GPS module d Always power up your RC Transmitter Tx before powering YS S4 amp power down your aircraft before turning OFF the Tx e For parameter configuration amp firmware upgrades ALWAYS take off your propellers or disconnect your ESC power supply Technical Support if you have any questions related to this product please refer to the FAQ files downloaded from http www zerouav com or email us at support zerouav com www zerouav com 1 YS S4 Multi Rotor Autopilot V1 Manual Component List 1 YS S4 bare board 2 GPS module includes Compass 3 LED indicator 4 Related cables power cable amp receiver cables www zerouav com 2 YS S4 Multi Rotor Autopilot V1 Manual MULTIROTOR
9. below 2 a Ag 7 aaa EAE e lt Gat td Aien F oe GPS Interface LED Interface www zerouav com 10 YS S4 Multi Rotor Autopilot V1 Manual b Move the switch towards the GPS Interface to enable Flying amp Parameter Configuration c Move the switch towards the LED interface during firmware upgrade only Normal flight cannot be achieved when the switch is in the firmware upgrade position SETTING UP YOUR YS S4 PC CONFIGURATION a Ensure that your GPS Module has been connected to the YS S4 module Configuration will not work if the GPS is not connected properly b Ensure your Tx radio is ON amp the THR stick is at bottom amp flight mode is in Stabilization mode c Check amp make sure the switch position is correct for Configuration amp Flight USB Interface mn afi i f ta r gt w a oc A s x a A E O 2 oad i a 5 he a y ont Pee E S e m x x IHiLSen T 7 n 8 s PE h s GE Jm p n 5 y s a LS E ars TO io A uae E d eu aw r 3 r SJA amp r a wa e E Sz gt gt 5 4 gt gt a u g aTi K seh oI ka 5 YTS i A A cates n cs Seen C38 wet one a Switch towards GPS interface www zerouav com 11 YS S4 Multi Rotor Autopilot V1 Manual d Connect your YS S4 module to your PC via the USB interface Power up your YS S4 with 3S 6S lipo battery e Your PC may show find a new hardware when using t
10. dio your failsafe settings are as follows e CH5 set to position 2 e CH6 set to position 2 e THR set 50 mid point Confirm correct setting via the software display When you turn OFF your transmitter the display should read Return amp Land 8 Transmitter stick direction check your THR RUD AIL amp ELE stick movement are in the correct direction via the software display If the directly is wrong reverse the channel on your radio Tx www zerouav com 15 YS S4 Multi Rotor Autopilot V1 Manual 9 Neutral position calibration calibrate your Tx stick neutral position during new installation amp every time you change to a new Rx Press Adjust Transmitter Aircraft Type X 10 The Adjust Transmitter window will appear Click OK amp move your transmitter stick within 5 Seconds to their maximum positions as shown in the diagramme Adjust Transmitter Hint Circle the sticks to max radius after clicking OK button The AP will collect the necessary channel datas in 5 seconds Please check that the configuation software correctly display the movement of your radio sticks after that Do you want to calibrate it OK Cancel www zerouav com 16 YS S4 Multi Rotor Autopilot V1 Manual 11 The YS S4 will automatically record your maximum amp minimum stick position value of each channel Confirm this by observing the stick position at mid point shows a GR
11. he USB cable for the first time Use driver program in the Driver folder in the root of the config software f Select the correct COM number amp begin configuration by clicking Open COM i Open COM set Parameters Adjust Transmitter Roll Sensitivity PO Flight Status g Press Get button to download your YS S4 module current aircraft configuration 7 Adjust Transmitter z a lt lt Get send Default www zerouav com 12 YS S4 Multi Rotor Autopilot V1 Manual h Change the Aircraft Type according to your model i The factory default parameters are good for normal flying in most models j During test flights it is recommended to keep the altitude limit amp distance limit short E g 30 meters altitude amp 50 meters distance upon reaching these limits the aircraft will automatically RTH amp land k Set the Cell Num according to your flight lipo cell numbers amp Volt Alert Treshold to 3 65 Select a smaller value when using an old battery or select a bigger value when using new battery I You may adjust the Roll Sensitivity amp Sway Compensation according to your aircraft behavior during test flights Range value is between 0 to maximum 255 m Sway Compensation Hover amp observe aircraft attitude If it sways too much then increase the Sway Compensation till it is more stable If the value is too high you will observe oscillations Reduce the value accordingl
12. in Auto Hover GPS mode This is why it is best to return to Stabilization Mode for landing e WARNING While actively flying in Stabilization Mode NEVER move your THR stick to the bottom The aircraft will crash YS S4 LED FLASHING INDICATOR 1 The LED light will indicate the flight modes of the YS S4 amp other setting www zerouav com 20 YS S4 Multi Rotor Autopilot V1 Manual functions FUNCTION lt 5 satellites 5 satellites 6 satellites detected detected detected gt 7 Satellites a Stabilized Mode with stick input SabiizedMode GPS Mode GPS Mode with stick input Attitude deviation too ALLA big poor stabilization Continuous White flashino a Ab al GPS signal Continuous White flashing GD GED GED CD CD Gi Low battery warning 2 seconds RED M tic Calibrati 2 seconds BLUE Recording Magnetic GED GED CD GlD gt Gl Data 2 seconds PURPLE 2 WARNING Take off only after 7 GPS satellites are located Red LED flashing turns off This ensures Home point is recorded amp the aircraft can safely RTH 3 WHITE LIGHT FLASHING a The WHITE LED flash means there is severe attitude deviation during flight resulting in poor stability Stabilize the flight amp the white flash should disappear b If the WHITE LED flash continue even after stable flight is restored this indicates GPS signal abnormality Land the aircraft amp check your GPS connection inspect the wires p
13. lug condition looseness etc If the www zerouav com 21 YS S4 Multi Rotor Autopilot V1 Manual issue is solved the white LED will disappear 4 LOW BATTERY WARNING a The RED LED will flash in high frequency when the battery is low b The RED LED will flash longer 2 seconds ON amp 1 second OFF when the battery level is very low www zerouav com 22 YS S4 Multi Rotor Autopilot V1 Manual NOTE ON FLYING MODES 1 STABILIZED MODE a In this mode the aircraft will fly normally and stabilized in 3 axis b ad YS S4 flight characteristic is stable calm flights Do Not fly fast violent flights with large stick inputs when using this controller c When flying in Stabilized Mode never bring the THR stick to bottom Doing this will result in the motors stop spinning and you will crash 2 AUTO HOVER a In this mode the aircraft will hold the position and altitude b od Your Tx sticks should all be in mid position including your THR stick c You can still fly the aircraft as normally via stick input the moment the stick is released to mid position the Auto Hover will resume d wee SEMI AUTO LAUNCH using Auto Hover Mode you can Semi Auto Launch i While still on the ground and 7 satellites are confirmed activate Auto Hover ii Arm the motors and push the THR stick up around mid position iii The craft will automatically lift off and climb to 2 3 meter altitude and hold hover waiting for
14. tion a The YS S4 Module should be placed level on the main body of the aircraft b For best results install at the Center of Gravity CoG of the aircraft c The LED connector MUST point towards the head of the aircraft Aircraft Head LED interface d On small sized frames motor to motor distance 450mm or less the YS S4 can be installed with double sided foam tape on the bottom e For medium sized frames motor to motor 650mm extra vibration damping mount is needed amp reduce vibration as much as possible www zerouav com 8 YS S4 Multi Rotor Autopilot V1 Manual 3 GPS Module Installation a The GPS module should be installed on a level GPS stand 7 which is higher than the electrical components on the aircraft This ensures minimal p magnetic field effect from the other component on board such as power cables transmitters camera etc Ensure that the arrow point towards the head of the aircraft Arrow towards aircraft head www zerouav com 9 YS S4 Multi Rotor Autopilot V1 Manual 4 Barometer Bye S e Protective sponge a The YS S4 has a sensitive barometer covered with a protective sponge see above b This sponge is important to ensure normal autopilot function DO NOT remove it c Should the sponge fall off due to wear amp tear reinstall with similar material FIRMWARE FLIGHT SWITCH a Notice that there is a switch on the YS S4 module see
15. y n Roll pitch Sensitivity Fly it in a straight line if the flight is not so stable then increase the value If the value is too big the aircraft will oscillate on roll pitch Reduce the value accordingly o Press Send button to upload the newest parameters to the YS S4 p To restore the default parameters press Default button RADIO TRANSMITTER SETTING 1 Select fixed wing model on your transmitter Remove any channel mixing 2 FUTABA Radio All channels should be Normal no reverse 3 JR JT amp WELY Radios Reverse all channels 4 Ensure your radio has two sets of two way switches Programme CH5 amp www zerouav com 13 YS S4 Multi Rotor Autopilot V1 Manual CH6 to these switches to control the flight modes CHS Postton Stahilzaton Ho Position Auto Hover T t I i CHS Pusitiom2 GPS mude S i A j rOfoe CH6 Position RTL and Land 5 Adjust your two way switch end points to control the flight modes CH5 POSITION CH6 POSITION FLIGHT MODE CH5 Position 2 CH6 Position 2 Return amp Land 6 Check the changing Flight Modes via the Configuration software Flight Status O EEOC set Parameters Adjust Transmitter Roll Sensitivity PO Flight Status BESS oway Compensation Manual servo www zerouav com 14 YS S4 Multi Rotor Autopilot V1 Manual 7 FAILSAFE Check with your Radio manual on how to set the Receiver failsafe Ensure that when you OFF your ra
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