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1. R x BA SeanyConfig im Setting hj J Figure 8 SeonyConig sem mi ooo A Open COM Infra station C Ap Wifi SSID ZERO TECH Passphrase 82890430 Apply Figure 9 coma Open COM C Ap te ra station Wifi SSID ZERO TECH passphrase 82890430 Apply Figure 10 The SSID and password of the router must be consistent with those of the Wi Fi module TP LINK is taken as an example for the router configuration in the video 2 Double click SeanyConfig exe after decompression and a SeanyConfig window will pop up as shown in Figure 8 3 Click Setting and the main interface will pop up as shown in Figure 9 4 Select the correct port and check Infra station as shown in Figure 10 5 Setup the SSID of Wi Fi module default is ZERO TECH it is case sensitive and the default password is 82890430 6 Complete the configuration modification by clicking Apply 7 A video showing how to configure the route can be seen at http v youku com v_show id XNTES3Nz EiNDcy hitml 8 Connect your mobile device or PC GCS to the SSID via wireless after set up 9 The Wi Fi blue indicator changes from flashing to solid to indicate the GCS is connected and receiving data Note 7 3 Setting up the Transmitter s WPA2 PSK AES encryption method is used with an IP of 192 168 1 1 Fixed wi
2. AuoTakeot Enable Skyway Disable Skyway Local Satellites GPS Fault GPS Select Switch GPS Init setup Quit Init setup Extern Satellites Magnetic Fault Magnetic Select Switch Magnetic Enable Course Disable Course Locked Locked Local Course IMU Fault IMU Select l iho Ext c Top Reset Get Photo Data stem LOUISE 3 Take Photo D FiightData OtherD ata n Appendix 3 Installation and Configuration Videos 2 Setting up the Futaba T8FG transmitter radio http www tudou com programs view e1 aid26Mbt4 Wi Fi configuration http v youku com v_show id XNTE2OTY4MjQ4 html Upgrading firmware http v youku com v _show id_XNTE3NZEZOTky html Appendix 4 Technical Support Please contact ZERO UAV for technical support for any problems arising from actual operation Relevant technical documents can be downloaded in the download section in the official Appendix Zero UAV Beijing Intelligence Technology Co Ltd website of ZERO UAV ZERO UAV official website www zerouav com ZERO UAV Tel 8610 82825271 ZERO UAV QQ Group 168451730 Group1 228669705 Group2 242018689 Group3 53371874 Group4 Appendix 5 Reference Manual Update History To prepare first version Technical support 1 2014 9 1 English revision Chris Hornby 2014 12 25 1 Format Adjustments 2 added functions Technical support 1 2015 1 23 10 2 1 6 Way Point Flight 3 V1 1 Semi automatic fli
3. Control mode transmitter radio control mobile control Parameter adjustment mode PC tablet PC mobile ground station Operation mode manual stabilization automatic hover automatic navigation and return and land Status indication LED Security measures auto return on loss of control black box flight recorder PTZ servo PTZ Receiver Standard receiver S BUS receiver PPM receiver Functions Zero UAV Beijing Intelligence Technology Co Ltd 4 In the Box Controller X1 The MC communicates with the other modules and external Master Controller combines and electronic devices to carry out its function as a complete autopilot system Firmware is updated in this unit via its RS232 COM port The YS GCS Ground control Station records real time flight state via WI FI External LED indicator X1 The LED indicates current flight status of the craft The light shows information such as flight mode number of satellites in view and battery used mVVIFI module X1 Connects the Auto Pilot to the Ground Station via WI FI Wireless Network Supports 2 work modes Peer to Peer and Router GPS bracket X1 The GPS COMPASS is sensitive to magnetic interference This bracket is used to mount the GPS module where necessary and to keep it far away from EMI sources OGround station software OUpgrade software Key sHardware cSoftware download GPS COMPASS hereinafter referred t
4. Port Com and LPT as indicated in Figure 5 File m H a2 View Help ihe b D Processors i all ly Sound video and game controllers B Figure 5 Set up the SSID of Wi Fi module C default is ZERO TECH conma opm COME C Infra station Ap Uncheck No Passphrase the Wi Fi password must be five digits as shown in Figure 6 Click Apply and wait for completion of the software configuration click Yes to exit after the window Ap Figure 6 mode OK pops up as shown in Figure 7 coma gt Open COM C Infra station Ap Wifi SSID ZERO TECH Passphrase 4321 l No Passphrase setip 192 168 1 254 Connect your mobile device or PC Con sak 255 265 255l Seanvconfig GCS to the SSID via wireless after set po steaten TE TDA aP mode ox setdns 168 95 1 1 D 192 168 1 1 60 The Wi Fi blue indicator changes from solid to flashing to indicate the GCS is connected and receiving data Figure 7 7 2 2 2 2 Router Mode Set up Wi Fi router mode if your mobile device or PC is incompatible with P2P System Preparation and Debugging Zero UAV Beijing Intelligence Technology Co Ltd Configuration of router mode is similar to that of point to point mode and you should proceed as follows 1 Download Wi Fi configuration software from the ZERO official website to your PC
5. The Shake state and Vibrate state can be checked as follows Mobile ground station open the mobile ground station and click Data as shown In Figure 49 PC ground station Open Wi Fi and the Flight data section will open at the bottom or select View Flight data to check The parameters are indicated in Figure 50 Flying at the Field Zero UAV Beijing Intelligence Technology Co Ltd m mo eG yy File F View V Path Settings S Tools T Settings S Help H hu hh Pam GPS velx cm GPS vely cm Course Angle 0 0D Attitude Angle L156 U5 Distance To OM 0 3 Flight Mode Back Landing Flight Time 00 00 AP Voltage Vibrate state Locked Radius 11 m Target Waypoint AN Z N ee 1 3 Change Target Flight Altitude y E B Change Altitude e s Pes 2 2014 Google Ki i W at Image 2014 DigitalGlobe Ga wale cart FlyToPP PTZLock i STS A Pa Imagery Date 9 7 2012 50 31 42 79 N 2 27 09 92 W elev 66m eye alt Quit PTZ PP Set Home Location Mode2 X Haano Motor Balance a 2 ver ARE Auto Take Off Real Throttle C Satellites E xekf Vely Enable Skywa Disable Skywa GPS Time 2000 00 00 08 00 00 M Shake xf Veld abt ili Vibrate ae Ges velkem Quit Init setup PS Velyfcm Enable Course Disable Course Locked Locked Shake state eal Throttle Motor balance Lonatitude 99 0000000 aa attitude o 000
6. 6 0 03 2 450198 50 526450 Default Disable Snapshot 3 6 0 04 2 449885 50 528158 Default Disable Snapshot 3 6 D Longtitude 24543582 Altitude Default Snapshot Config Disable Snapshot v Circle Time 65535 Fe Use Same ALT Latitude 50 528061 Cie Target Speed 3 6m x 1 Setting up waypoints 2 Route edition window Pattern Waypoints ks 3 Latitude Parameter 01 2 454358 50 528062 AU 2 4940 DSe Pattern Delay m 2 450198 50 526450 2 449885 50 528158 Patern Intervalfm Patern Speed A Alkaa Fight Mode get Wayport iro B02r2454023 50 528460 SPT1 03 2 450198 50 526450 See man aa J 3 A o 303 2 609 SPT2 04 2 449885 50 528158 HS HINARI RINAL OM HZ me Paok p ae ree Conghi Qa PIZ PP Set Home Location LPT1 LPT2 SPT1 SPT2 Make Cancel Auto Landing Asdo Take Of _ _ EEE EE Eee rt 3 Setting of automatic generation of route parameters 3 Uploading the route to the aircraft right ath Settings S kHAAP Ham as Y aF click a waypoint and click Upload or select Path Settings Upload Path to AP after setting up the route The route can also be stored as a file for use in the future To examine whether each waypoint has been uploaded successfully the waypoint color will change to blue indicating success any Mouse 244
7. File gt Open Wi Fi a yellow smiley will display on the map as shown in Figure 55 a purple star is beneath GPS Tree SWOOD shake RN ct ints Lange be 33 0000020 Virata E vien the yellow smiley a nena Fight Dya Other Date Germs Oaa cuse 243137 50 4609 32 32233 3 Click a target point the yellow round smiling face will move to the point and the covered purple star will be exposed as shown in Figure 56 Memo Moe rn A i 0 Hed Te soe wry 8 GPsTem HDO shee Rt vets 1 Longihude sa oono Virata GRRE e o Latitudo 0n GPS Vetten a Fight Date Oha Data Gerri Date Mouse 243032 30 4167 7393650 4 Click Fly to PP the purple star will move to the position of the yellow smiley as shown in Figure 57 5 The aircraft will fly to this point and to tte next _ ste 2000 00 00 06 00 00 She Liongdsz A DDO target point if the same aam S procedure is followed Figure 57 10 2 6 Way Point Flight 10 2 6 1 Mobile Ground Station Waypoint Flight Waypoint flying is carried out as follows 1 Route design Click Map Tool Add Waypoints then OK to open the route design interface complete waypoint the design clicking each point on the route Zero UAV Beijing Intelligence Technology Co Ltd Flying at the Field Route design can be made by adding single points consecutively manual generation of route or automatic
8. File F View V Path Settings S Tools T _Settings S _ Help ToolBar T vV Status bar S Flight Data F v Dashboard K NAV POS Bar P Tools T Tab File F View V Path Settings S Setti h Options O Focus Aircraft C Fly to e g Hotels near JFK G Download Google Mapsi Com Port Settings ALT Settings The correct COM port must be selected when connecting to the flight controller with the USB serial port adaptor cable When the map is flat mode you can download offline maps The view tab includes the following sections lt Toolbar Zero UAV Beijing Intelligence Technology Co Ltd Appendix Measure Distance Edit Route Toggle Mode View from Top ts View Mode Design Route Flag Waypoint Move Route GCS Version lt Flight Data F lt Dashboard Real Throttle Es Satellites aes xekf Yelp 0 GPS Time 2000 00 00 08 00 00 Shake BOSO vert Vera 45 Longtitude 99 0000000 Vibrate D cPsvekicm o A a attitude 0 0000000 GPS Vely cm 0 AIR 10D 21 ALT Om Flight Data Dther Data Gemini Data Flight Mode Locked Radius 11 m Back Landing Course angle Deg 0 0 Batt m h 0 AP Version 140610 Target Waypoint 1 3 Change Target l angle Deg 11 20 Batt Current 0 ile to 0 Flight Altitude ome z i f 0 Change Altitude Serial Number 22898 AP Volt 11 42 Flight Time FlightData OtherData GeminiData holaning
9. GCS if there is a status error Low voltage alarm Flying at the Field Zero UAV Beijing Intelligence Technology Co Ltd The red light will flash quickly as a low battery voltage alarm It shows as a solid light in an emergency situation of extreme low voltage Barometer initialization failure A continuous red light showing when the aircraft is on the ground indicates the failure of the barometer to initialize You must restart the flight controller Magnetic field verification When calibrating a continuous blue light indicates a magnetic compass calibration error less than 5 and indicates a successful calibration However if the blue light goes off with a status error more than 5 this indicates that adjustment is needed The purple light will be on continuously when storing the data after calibration of the magnetic data The purple light will go out completely when data storage is complete 10 1 2 Motor Balance and Real Throttle Position The two parameters of motor balance and real throttle position are shown as follows in the ground station Mobile ground station open the mobile ground station and click Data as shown in Figure 47 PC ground station Open Wi Fi andthe Flight data section will open at the bottom or select View Flight data to check The parameters are indicated in Figure 48 mM 2 Sazi 20 TECH G 5 N ra File F View V Path Settings S Tools T Sett
10. GPS B Black terminal from GPS GPS B module 6 2 Wiring Diagram Notes a The power supply range for the power module and Wi Fi module should be a Lipo battery of between 3S and 6S namely 10 8v 25 5v b The RC receiver should be powered directly from the flight controller If an external power supply is used at the same time the equipment may be destroyed c The ESCs and motors can cause serious magnetic interference The GPS and magnetic sensor modules must be installed as far away as possible from motors and ESCs particularly where there are multiple ESCs The arrow on the GPS must be pointed at the aircraft nose The power lead from the battery will create a large magnetic field particularly when large currents are drawn Keep this as far away as possible from the GPS module to avoid flight artefacts such as toilet bowling Wiring Zero UAV Beijing Intelligence Technology Co Ltd d A servo driven gimbal should not be powered from the receiver but should be powered separately e The video transmitter VIX must be kept as far away from the aircraft electronics as possible to avoid serious interference f Make sure the full system power is not connected directly to the flight controller This will destroy the flight controller which should be powered by a 5 7 V output only The LED indicator will flash three times after the initialization of the flight controller indicating that correct correction has
11. Step 5 Unlock using the CSC operation and check channel mixing Sza n oere lt 7 E 1YS X4 can automatically identify the receiverTypes PMjgS BUS 2 But for the first open the remote control then to control power on From now on related settings on the remote control if the remote control does not work properly such as unable to switch mode please first open the remote control for electric control operation to perform 2 YS x4 has five kinds of working state or mode Manual CH5 first gear CH6 arbitrary Manual Set Altitude CH5 second gear CH6 arbitraryj Auto Hovering CH5 third gear CH6 first gearjz Auto Navigation CH5 third gearf CH6 second gearj Back Landing CH5 third gear CH6 third gearjz Please put the remote CH5 and CH6 respectively correspond to a three switch and w struck them one by one to verify can appear corresponding working state 3 F S Check Set the F S of RC Tx as CH5 position 3 CH6 position 3 THR is near the middle position and check whether the flight status is Back Landing by Flight Mode Manual Step 2 Check channel settings and failsafe setting F S Please get into the settings first Flight status displays Settings break the pole as V shaped to open THR insurance and push the THR pole position to the maximum within 5 seconds power on the ESC after completing above operation Pull the THR pole back to the Minimum after a prompt sound fro
12. along a route The initial point where the first photograph is taken should be set up according to f ww PA mwe pam z srasintcain Dhtesroha icine E5 Use Same ALT l to Al Latitude 50 546276 Target Speed 3 6m X the Start photograph routine j Route edition indo described below oute edition window Note Clicking the right button on a selected waypoint will give you the option of uploading editing or deleting Left click on the waypoint to display the waypoint properties Flying at the Field Zero UAV Beijing Intelligence Technology Co Ltd Automatic generation of route at least 4 waypoints should be set up with the same height and flight speed at each waypoint 1 Select Path Settings Edit Current Path after setting up route points and the Edit Waypoint window will pop up 2 Click Pattern Waypoints and the Pattern Waypoints window will pop up 3 Select a waypoint and click LPT1 and enter a setting for Pattern Delay Pattern Interval and Pattern Speed then click Make and the software will automatically generate a flight route for the aircraft FF a Cz Edit Waypoint a Delete MoveUp Move Down Load Save Upload OK _Wayp Longitude _ _Latitude Altitude _ Snapshot Config TargetSpeed Cycle Timefs 01 2 454358 50 528062 Default Disable Snapshot 3 6 65535 02 2 454023 50 526460 Default Disable Snapshot 3
13. locked Tracking mode is carried out as follows 1 Switch CH5 to position 3 GPS hover mode and move the transmitter sticks to as near neutral as possible 2 On the ground station click Enable Course Locked on the instrument panel to start 3 Click Disable Course Locked on the instrument panel to exit 10 2 8 Carefree Mode This mode must be used in GPS Hover Status In carefree mode the navigation direction of the aircraft is locked i e the direction the aircraft is heading when entering this mode Whatever direction faced by the nose of the aircraft the flight direction will remain unchanged The nose of the aircraft automatically keeps track of the gimbal so that the camera avoids the landing gear The elevator and aileron of the aircraft take the navigation direction of the aircraft as reference A schematic diagram of carefree mode is shown below aileron elevator elevator elevator D D O D A 4 aircraft heading aileron nose direction aileron aircraft heading Direction relationship when entering carefree mode Direction relationship when changing direction of aircraft nose Direction relationship after exiting Carefree Enter carefree mode as follows 1 Switch to GPS mode after take off the aircraft will hover as normal 2 After selecting the desired flight direction align the nose of the aircraft in this direction Switch CH5 from position 3 to positio
14. obtained from the mobile ground station as follows 1 Connect the power supply to the flight controller open the mobile ground station and connect via Wi Fi 2 Click One minute data in the Setting interface and a confirmation dialog box will pop up as shown in Figure 62 3 Click OK and the flight controller will upload to the mobile device the last minute of recorded flight data Read 1 minutes data 4 It will take 1 minute to obtain the data and then report oK Cancel that completion of 1 minute data reading 5 The file T 1min hj can be seen in the directory YShj in the root directory of the mobile device You can make your own analysis of this data or email it to the manufacturer for debugging Figure 62 12 3 1 2 Obtaining PC Ground Station Data Flight data can be obtained from the PC ground station as follows 1 Connect the power supply to the flight controller and to the PC via Wi Fi 2 Select Settings gt 1 Minute Data anda confirmation dialog box will pop up as shown in Figure 63 3 Click Yes and the flight controller will blow to the PC the last minute of flight Figure 63 data 4 After 1 minute to obtain the data the instruction of completion of 1 minute data reading will pop up on the ground station Safety Features Zero UAV Beijing Intelligence Technology Co Ltd 5 The file T 1min hj can be seen in the Hj dir
15. route generation Editing single points each waypoint contains the key parameters of Height Hovering time and Speed To edit waypoints click on the waypoint and then select Edit waypoint from the pop up window Height means the altitude of the aircraft relative to the takeoff point at that waypoint The aircraft will gain or lose altitude between waypoints if they are of different heights The default altitude of a waypoint is the current height of the aircraft when switching to navigation mode Hovering time is the time spent stationery at each waypoint The default setting for the first waypoint is 65535 Speed is the speed of the aircraft to the next waypoint Single point editing manual generation of route Photography setting sets up the ability to take a photograph at intervals or at each waypoint indicated along a route The initial point where the first photograph is taken should be set up according to the Start photograph routine described below Automatic generation of route at least 4 waypoints should be set up with the same height and flight soeed at each waypoint After setting up the waypoints click Tool Auto Make Waypoints and edit the correct settings for Delay Interval Altitude and Speed The software will now automatically generate a waypoint Automatic waypoint ro
16. should show is neutral green This is not the case you should reset F S protection 8 1 2 3 Setting up Aircraft Parameters The autopilot is set to 4 9xis X type UNICOM E F i a 11 05 5 UNICOM E D SP Get Send Default Default mode as default before delivery and arnai Roll Sensitivity 45 the parameters should be set up Pitch Sensitivity i PTZ Roll Sensiti 2 Altitude Limit according to the following procedure Fig ee Distance Limit SN PTZ Pitch JA20 Volt Alert Threshol 355v 1 Click the Parameter tab for the bee Sway Compensat iin PAR PHO Multiplex Parachute Pho 4 parameter interface as shown in Aircraft Type Quad Rotor X Figure 20 Photo spacing A Vertical Max Speed 2m s gt rae Handle Mode Speed Mode 2 Click Get to load the existing Altitude Limit SC SSN Distance Limit ay Max Fly Speed 4 8 m s parameters of the aircraft Malt Alart Thrachal a erv cal s 6 s Control Data Map Settings Parameter Control Data Map Settings Parameter A 5 G gt Figure 20 Ground Control Software setup and Debugging Zero UAV Beijing Intelligence Technology Co Ltd 3 Click Send after any alterations to send the modified parameters to the aircraft Please refer to the following table specific parameter descriptions Note Click Get or Send multiple times to avoid failure in obtaining or sending parameters Click Default to recover factory setting values Roll Sensitivi
17. the voltage is too low 8 1 Mobile Ground Station Debugging 8 1 1 Ground Station Software Auxiliary Setting Installation Guideline The ground station software auxiliary settings are as follows 1 Connect the ZERO GCS app on your android mobile device or tablet to the autopilot by Wi Fi to enter the initial interface screen as shown in Figure 11 2 Click Settings for the settings interface as shown in Figure 12 3 Click Installation Guide to start the installation as shown in Figure 13 Zero UAV Beijing Intelligence Technology Co Ltd Ground Control Software setup and Debugging China Mobile a CRE 15 34 Figure 11 A F af 6 33 PM Horizontal Alignment Mode Capture Transmitter Centre point Adjust Magnetic Transmitter Compass 1 Minute Installation Data Guide Init Setup Quit Setup Zero Gyro Snapshot Mixing Follow Me Define i Control Data Map Settings Parameter Figure 12 i UNICOM E 30 aa 009 2 Start installation The data has been connected please click Next Figure 13 4 Click Next to start setting up or debugging by following the on screen instructions Il UNICOM E oO m S Step 1 Adjust Transmitter Please press the button Adjust Trans mitter and confirm it and then push p ull all pole positions of the RC Tx to th e maximum minimum or the leftmost rightmost within 5 seconds After 5 s econds the AP will finish the auto col lection Ple
18. to the transmitter if the loss of Wi Fi signal exceeds 1 second when flying the aircraft with the Android mobile device If the aircraft is waypoint flying it will not be affected and will complete the route where it will hover awaiting further commands Loss of R C transmitter signal F S failsafe should be correctly set up Refer to the RC transmitter manual to set CH5 in position 3 CH6 in position 3 and throttle in neutral for correct operation of failsafe Failsafe will initialize when there is signal loss from the RC receiver The aircraft will switch to auto hover for 5 seconds and then return and land if the signal is not recovered within five seconds The aircraft will keep flying for 5 seconds in automatic waypoint mode and will return and land if the signal is not recovered within 5 seconds Zero UAV Beijing Intelligence Technology Co Ltd Safety Features 12 3 Data Record 12 3 1 Flight Data Record Black Box Function The X4V2 flight controller has a flight data record function for fault analysis It is not necessary to have any external memory or to initiate any application for this function to work A record is made automatically during every flight However only the data of the last one minute before landing is recorded Therefore if you need to examine this data please do not make another flight or unlock the motors again 12 3 1 1 Obtaining Mobile Ground Station Data The flight data can be
19. two confirmatory sound signals from the ESCs and the gimbal controller will also sound a number of beeps to indicate the number of cells in the battery This will complete ESC calibration 5 Click Quit Setup and confirm in the dialog box that pops up 6 To check whether verification is successful push the throttle after unlocking and all my motors should work simultaneously Zero UAV Beijing Intelligence Technology Co Ltd Ground Control Software setup and Debugging 8 1 2 5 Inspection of Flight Controller and GPS Installation The flight controller and GPS installation should be inspected as follows 1 Check that the arrows of X4V2 and GPS are all pointing to the aircraft nose 2 Check X4V2 is installed horizontally and GPS is elevated and installed horizontally 3 Check X4V2 and GPS are fixed firmly 8 2 PC Ground Station Setup and Debugging 8 2 1 Ground Station Software Auxiliary Setting Installation Guideline The ground station software should be set up as follows 1 Connect the PC to the Wi Fi Se he uha ude e module or directly to the COM1 on the auto pilot using the USB adaptor and run ZERO GCS rotor ground station exe to enter the initial interface as shown in Figure 24 o Figure 24 2 Select File Open Wi Fi the flight data information bar will pop up at the bottom of the ground station window indicating controller data as shown i
20. type Push aileron stick to left Push aileron stick to right Push elevator stick up Push elevator stick up 6 axis X type Push aileron stick to left Push aileron stick to right Push elevator stick up Push elevator stick up Zero UAV Beijing Intelligence Technology Co Ltd Pre Flight Inspection 10 Flying at the Field 10 1 Flight Status 10 1 1 LED Status Indications GPS The red light blue light and green light indicate the current operational state of the aircraft as indicated the table below Light colour Light status Operational status 3 flashes No GPS 2 flashes GPS 5 satellites Red light for all modes 1 flash e GPS 6 satellites Red light out GPS 7 or more satellites Blue light GPS mode non positioning Green light GPS mode in positioning Note Only take off after 7 or more GPS satellites are in view The flight controller will use the take off position as the home location when the GPS first locks in to seven satellites White LED 1 The LED white light indicates a large status error or a loose connection to the GPS module 2 Action required when the white light comes on Ifthe light comes on when the aircraft is suffering violent movement but goes out when it retains stability than you can continue the flight normally Land the aircraft as soon as possible if the white light shows continuously and check the GPS connection Zero the gyro in the
21. 0000 Flight Data Other Data Gemini Data Mouse 2 45275 50 52855 66 14895 Control Data Map Settings Parameter Figure 49 Figure 50 The orientation of multiple axis aircraft is adjusted by adjusting speed of the motors The sensitivity of the axis control will make a direct impact on the accuracy of the aircraft response Adjust the match between the aircraft weight and the screw pitch of the propeller to make sure the motor can generate an adequate rotation speed producing enough control response The lightest propeller possible should be selected to reduce inertia and to improve command response There should be a proper balance between flight efficiency and stability The symmetry of multiple axis aircraft has a vital influence on flight stability The symmetry of the motor and propeller can be evaluated in horizontal flight by referring to 10 1 2 1 Motor Balance Further improvements can be made to the stability of the aircraft by adjusting Roll sensitivity Pitch sensitivity and Sway Compensation after completing the above three steps Note Roll sensitivity Pitch sensitivity and Sway Compensation can be checked as follows Mobile ground station open the mobile ground station and click Parameter as shown in Figure 51 On the PC ground station select Settings Parameters to check as shown in Figure 52 Zero UAV Beijing I
22. 3 ange mar lle 4 _50 34 46 85 N 22301 41 W elev 2m _eye alt f ae ell position and so on as shown oe Moto Balance SRI ok Vets 5 m eae e SS Satellites es See xekf Yelp in Fi gure 31 If not examine a oe 2000 00 0006 0000 Shake M seks veld Uea PIEL tudder ileron i 99 0000000 Viae E PS veen Quit PTZ PP Set Home Location ottle evator il GPS Yel the firmware connection or n J eal Flight Data Other Data Gemini Data Auto Landing Auto Take Off Mouse 2 50873 50 57968 2 17939 your transmitter settings Figure 31 Check F S protection Switch off your transmitter flight state should display Back landing and the throttle slider should be near the neutral position in green in the Manual servo in the flight data interface This is not the case recheck your failsafe setup 8 2 2 3 Setting up Aircraft Parameters The steps of setting up aircraft parameters are as follows 1 Select Setting S Parameters P the parameter setting window will pop up as shown in Figure 32 2 Click Get to obtain the existing parameters of the aircraft Zero UAV Beijing Intelligence Technology Co Ltd Ground Control Software setup and Debugging 32 Click Send after RE E e E Kindiy reminder 1 Operation method click on the get button from the flight control download the current parameters change based on the completed then the arameter adjustment a O OA O
23. 6 95 n a 95 Ci 00 03 36 58 3F Ci 00 OB FB FF 00 00 00 00 00 00 C8 13 02 00 05 00 00 00 EEEE E AA E E E EEA 00 00 FF FF FF FF B4 09 SB 01 00 00 00 00 00 00 96 96 96 FF 1E 00 04 53 00 08 00 00 00 E4 00 00 12 9D 58 00 00 00 00 00 00 00 00 00 00 J Figure 69 Figure 70 Note Please close the software and unplug the USB serial port adapter if the upgrade operation fails Restart the operation from the beginning Zero UAV Beijing Intelligence Technology Co Ltd Upgrading the Firmware Appendix Appendix 1 Introduction to Mobile Ground Station Android 1 GCS Remote Control Interface mn on F al 3 36 PM Disable Control Enable Attitude Control 1 e k pa en eaa Set Quit 8 Control Data Map Settings Parameter The interface functions are introduced in the following table Remote control Default setting use the Green Cross to control flight Cached map or active real time map Google Earth Settings Set up aircraft status e Control interface Multiple control modes using mobile device Central button Directs the aircraft in simple control mode so Set Define system settings Click Enable Attitude control red button to start simple mobile device control mode Disable Attitude control green button Click Disable Attitude control to exit Click Enable control red button to start simple mobile K Enable attitude control Enable control device control m
24. 856 59 52435 6 03655 From Pre Point 0 056 Km Path Length 0 738Km other color would indicate failure as shown Figure 58 In Figure 58 4 Route verification select Path Settings Download and Check Path to download the waypoints from the aircraft to the ground station for comparison All route points will change into orange and then blue All route points in blue indicate that the route stored in Zero UAV Beijing Intelligence Technology Co Ltd Flying at the Field the flight controller is consistent with that in the ground station indicating no error in the route If not the route should be uploaded again 5 Waypoint flight 9 Automatic flight 1 2 Switch CH5 to position 3 and CH6 to position 2 Poep Wi te AAP Click Enable Skyway An e on the right hand panel and a confirmation will pop up as shown in Figure 59 click Enable and the aircraft will fly to the first waypoint and Figure 59 hover Enter 2 in the textbox Target Waypoint in the instrument panel and click Change Target Now push the elevator stick and the aircraft will fly between waypoints in the order 2 3 4 etc until the route is complete when it will hover at the first waypoint Semi automatic flight 1 2 Switch CH5 of the RC control TX to position 3 and CH6 to position 2 On the Android GCS select Map gt SPC Enable Skyway
25. ELG Map Settings Parameter Manual photography Show the number of photos The maximum number of pictures recorded is 250 The ground station will restart the count if this number is exceeded 4 Waypoint Editing The waypoint editing interface are as shown in Figure 71 and Figure 72 Appendix Zero UAV Beijing Intelligence Technology Co Ltd MAC eo F al 4 40 PM BACtea Lz A F a 6 33 PM Locate SWP Locate SWP ee 7 r TE Horizontal Alignment Mode SPC Capture Transmitter Centre point i Target Adjust Magnetic j Oo i Altitude Transmitter Compass 1 Minute aiciieles Auto Auto a Dat Landing TakeOff ata Guide Enable Disable Init Setup Quit Setup Skyway Skyway Enable Disable Zero Gyro pos info Course Course Locked Locked Mixing Follow Me Cancel Define A ke a 4 5 H o amp Control Data Map Settings Parameter Control Data Map Settings Parameter Control Data Map Settings Parameter Figure 71 Figure 72 Figure 73 Waypoint editing parameters are shown below Mame Desenpton O Edit longitude latitude height and speed between waypoints C mieten 5 Settings Interface Please take care with these settings as they are vitally important The settings interface is as shown in Figure 73 The parameters are shown below Parameter name Parameter description With no wind in manual mode after flying and trimming activating this Capture Transmitter will define the neut
26. Hold Auto Hover Auto state Speed of the aircraft after Kalman filtering A value of 0 10 is displayed when the aircraft is static on the ground Navigation Auto Go Home and Land setup status Altitude Barometer altitude of aircraft units in metres Aircraft compass heading Due North 0 clockwise direction is positive counterclockwise direction is negative For example Due East 90 Due West Course angle 90 Due South 180 Does not apply in manual mode AP voltage Power supply voltage GPS longitude bi GPS longitude and latitude GPS latitude Motor balance Motor balance performance Vibration State Displays the influence of shake and vibration on the IMU from different Zero UAV Beijing Intelligence Technology Co Ltd Appendix o e ee eee Shake State directions a parameter under 10 indicates normal larger than 10 indicates that shake and vibration exceeds the limit requiring adjustment to the airframe to reduce vibration Distance from home The distance of the aircraft from the starting point Flight time Flight time of the aircraft Real throttle Actual position of throttle 3 Map Interface A map must be downloaded from the Internet before the initial opening of the Map interface The map will return to its last closing position when reopening the map The map interface is shown on the right side Map parameters are shown in the following table oy ae e Control B
27. PS housing to a convenient install the GPS module position away from the GPS e The GPS is also sensitive to shaking Please secure the frame of the GPS firmly and install with the logo facing upwards and the arrow facing farwards expansion interface 5 7V com3 WiFi z Power p ver 4 35 pol ower Unit Option power EErEE Supply Unit Zero UAV Beijing Intelligence Technology Co Ltd Wiring 7 System Preparation and Debugging The X4V2 Aircraft system links to PC or Android ground station software As the Android is more convenient for debugging and flight monitoring at the field this is the recommended system 7 1 GCS Installation 7 1 1 Installation of Mobile GCS Android mobile GCS should be installed as follows 1 Download YS GCS Android mobile software from the download section in the support zone of the official website www zerouav com 2 Automatically install the software by clicking on the APK file in the i file manager The ground station App will appear on the mobile D ERO TECH device desktop after installation as shown in Figure 2 The GCS Figure 2 must be installed in the memory of the mobile 7 1 2 Installation of PC GCS Download the YS GCS PC software from the download section in the support zone of the official website www zerouav com After decompressing double click the ZERO GCS Rotor Ground Stati
28. Semi Auto Skyway and click OK the aircraft will stay in its current position Push the elevator stick on your TX and the aircraft will fly in the order 1 2 3 4 etc until completion of all waypoints Throttle and rudder can be used as normal during the flight 6 Exit Switch CH5 to position 1 in manual mode or switch CH6 to position 1 auto hover mode to exit the function Note If you have not set up a waypoint route the aircraft may fly away if you switch to auto navigation mode After starting the motors the flight status of the aircraft will change to automatic navigation 3 seconds after switching to automatic navigation mode The nose of the aircraft aligned to the next waypoint during waypoint route navigation If you want to control the direction of the nose click Map SPC Disable course locked during waypoint flight The aircraft will fly the route as normal but the nose will not Flying at the Field Zero UAV Beijing Intelligence Technology Co Ltd point to the flight direction It will be controlled by the rudder stick on the transmitter Click Enable course locked and the nose of the aircraft will point towards the flight direction again 10 2 7 Tracking Mode Heading Hold This function can only be used in GPS mode and when seven or more satellites are in view In tracking mode the aircraft flies along the waypoint route with the aircraft nose direction
29. X4V2 Flight Controller Manual V1 1 ZERO TECH Zero UAV Beijing Intelligence Technology Co Ltd Table of Contents 1 Warning and Disclaimer esesesessesesececscsesecsececscsesececececsesecececscsesececececsesesececscsesesecececsesesececsesesesecese 1 2 Terms ANG ADDIEVIAUIONS sicckcsesecnsesevesti cvs ceawes ueaetbabebecnmeseueedbccveceaweebpeetbatuiaveseierestbesveeemmeateeeinteeeeeees 3 3 FUNCUONS nesussiesreusasicnnecssecensesivenauneieierenasanoranieivaectiineadeondieainetieaauna enim N 4 Ain tne BOX sesdier sdecctiecetecsarccdeuacevadestncssdeestecsivccinccdvaatens S 5 5 MIVS CANON aaron a sxccuedecueuasusnesdewsansacsuse E a a 6 Sea il IS TYDES ansera eua EEROR EEEE OSAN ENEE OAE ERER ERREEN A NAARAS ERAEN 6 5 2 Installation of Flight Controller essssnnessseenesseeenssssrersssseresssreresssrerssserrrssserreessreresssreresssreresseerens 7 So Melno EC GP S nET E E EE E T 7 EDA E T E OE E E E E A A A T E A T N E E N E R 8 SLEPO DEMON eeen e E E E EEE E TEE ES 8 eana ADE E a EE ANE E E A E E E T E E A 8 7 System Preparation and Debugging sesessssesecececsesesecececsesesecececscsesesecececsesesececscsesesecececseseseseceee 10 7 MAGIC SWAG E e a A E E AT E E EAA AN E E E EE 10 Todd installation of Mobile GCS wissewsceneSavasaiausontonssncsdaasdiouecontAauebahaisusdnasaeecdoasseusdonCanubaiadenstantaes 10 AL NEONO PE OCS srren r E E EAE EE 10 FANN TE O E O aa E E E E 10 7 2 1 Wi Fi Communication Mode essss
30. and double click UpgradAP En TOOL exe and the window AP Firmware upgrade will pop up as shown in Figure 65 4 Click Upgrade and the window AP Firmware upgrade will pop up as shown in Figure 66 Select Firmware Figure 66 5 Select the appropriate COM port for upgrading if you do not know which COM port on your PC is being used right click My computer gt Properties gt Device manager gt port COM amp LPT to check as shown in Figure 67 gt ql System devices d a Universal Serial Bus controllers a Alcor Micro USB 2 0 Card Reader k Denan piin Fati Figure 67 Upgrading the Firmware Zero UAV Beijing Intelligence Technology Co Ltd 6 Click Open Com if successful the Open button will change from gray to black and become clickable 7 Click Open and to select the firmware file which will have a arm extension from its stored location on your PC as shown in Figure 68 8 Power up the flight controller and to wait for Look in YS Gemini 4 fa ee EJ the automatic upgrade process to activate aaa Seta ca YS Gemini 20140210 Enc arm as shown in Figure 69 9 Power off the autopilot when it says in red Please Restart AP and then close the Filename S Gemini 20140210 Enc arn SS open Files of Type arn Cancel window as shown in Figure 70 Figure 68 AP Firmware Upgrad
31. ase confirm whether the m anual operation and real RC operatio n displayed in Data Interface keep coi ncidency when moving any operating level can operate next step only after confirming they are coincident Adjust Transmitter all iil UNICOM E 30 aa 09 22 Step 4 Set craft styles and parameter S Please read the user manual carefull y fill in correct parameters and reche ck it Push the THR after breaking the pole check whether the mixing contr ol method is correct after starting the motors Craft Styles tips 0 Quad Rotor Cross 1 Quad Rotor X 2 Hex Rotor Cross 3 Hex Rotor X 4 Octo Rotor Cross 5 Octo Rotor X CellNum as Step 4 iil UNICOM E oO aa 09 22 Step 2 Check CH5 CH6 channel set F S Please carefully confirm whether the CH5 CH6 channel is correct check w hether the flight status bar on GCS da ta interface is switched to Manual Cir cle position Auto waypoint circling Ba ck Landing when moving CH5 CH6 Set the F S of RC Tx as CH5 positio n 3 CH6 position 3 THR is near the middle position and check whether t he flight status is Back Landing by po wering off the RC Tx iil UNICOM E 0 aa 09 22 Step 5 Check the installing directions of IMU GPS 1 Please check the installing directi ons of IMU GPS noted the wire conne ction direction of IMU is to back GPS is to front please check carefully the arrowhead of the glued paper is to th e head of craft 2 P
32. ate high or low for aircraft movement within a range from 127 to 127 Note You can enter a negative value to reverse the direction of compensation Cell Num Enter the cell number of your flight battery 4S shown The autopilot can calculate the low voltage alert according to the Cell Number filled in by the user If your cellphone vibrates once every 2 seconds it is a reminder that the power is getting low When it vibrates continuously it means the power is getting very low and you should land at once Altitude Limit This shows the highest and furthest distance which the aircraft can fly Distance Limit You can enter the value 0 for unlimited distance You can also fill in your own distance limit value Note The aircraft will automatically return to the starting position Zero UAV Beijing Intelligence Technology Co Ltd Ground Control Software setup and Debugging if the height or distance limit is exceeded after taking off in manual or GPS mode It is not possible to regain control of the aircraft until it is back within the permitted range Volt Alert Threshold Enter the voltage per cell required to activate a low voltage alert for a Lipo battery this would be normally 3 65v PAR PHO Multiplex If using a brushless gimbal select parachute opening ec 2 Servo Gimbal select 2 axis PTZ Aircraft Type Set according to the type of aircraft in use Handle Mode To select speed mode or status mode The speed mode
33. ation is successful push the throttle after unlocking and all motors should work simultaneously Zero UAV Beijing Intelligence Technology Co Ltd Ground Control Software setup and Debugging 8 2 2 5 Examination of flight controller and GPS installation The flight controller and GPS installation should be inspected as follows 1 Check that the arrows of X4V2 and GPS are all pointing to the aircraft nose 2 Check X4V2 is installed horizontally and GPS is elevated and installed horizontally 3 Check X4V2 and GPS are fixed firmly Ground Control Software setup and Debugging Zero UAV Beijing Intelligence Technology Co Ltd 9 Pre Flight Inspection 9 1 Calibrating the Magnetic Compass 9 1 1 Using the Android GCS Bye The magnetic compass must be calibrated before the first flight after installation of the X4V2 flight controller Calibration should be carried out in a clear space outside calibration should not be done Indoors or in an environment with strong magnetic fields such as in the presence of cars or shipping containers You should also calibrate after re arranging components in your aircraft or if you find it flies in circles Compass calibration does not need to be done every time you fly or if you upgrade firmware without changing hardware position However it should be done when components are moved or if the aircraft flies in unexpected ways Compass calibration is carried out i
34. been made and the system started normally Wiring diagram Main Controllers X4V2 fee eee PPM Receiver e The main controllers are horizontally mounted in the centre of the aircraft with the arrows marked front pointing forward The controllers may be mounted direct without damping e Ensure that all terminals of the flight controllers are uncovered this facilitates the wiring and makes it easier to connect to a PC for firmware upgrade e Finalize the position of all flight control components and complete the wiring before finally fixing them in position _ S BUS Receiver 1 2 Electronic Speed RC Recej Controllers 2 SSAA M1 M8 gt 7 e 8 J Servo Driven lt 7 i RC Receiver Gimbal e First set up the aileron elevator throttle and rudder on the remote controller RC transmitter Peor OD e The receiver support S BUS and PPM receiver is powered by the GPS Module controller an external power supply is not e The GPS and magnetic compass needed module is magnetically sensitive y e Connect the receiver to equipment which should be A LED kept away from other electronic Lie Coreeana ln LED Indicator Bi y channels on main board equipment e Install the LED in e Use the original G
35. ble Control Enable Control Enable Attitude Control Disable Control Enable Attitude Control Set Quit Set Quit Non remote control mode Remote control mode The transmitter sticks cannot be used in mobile remote control mode Remote control using your mobile device is explained in the following table Remote control interface operation Red non positioning Green positioning Do not touch any area of the screen Touch the central circle and drag up or 1 move forwards or and down backwards Touch the central circle and drag left or 2 move left or right right move forward left Touch the central circle and drag backward left Flying at the Field Zero UAV Beijing Intelligence Technology Co Ltd After Enable Control Remote control interface operation Aircraft status diagonally forward right or backward right Touch the area above the circle on the cross Touch the area under the circle on the cross Touch the left side of the circle on the cross Climb Touch the right side of the circle on the Climb descend cross Descend rotate Note Rotate left The distance between the click position 4 Rotate right and the center of a circle is equivalent to the change of speed of the aircraft meaning the farther from the center the higher speed of the aircraft The touch time is equivalent to the moving time of the aircraft Note Mobile remote control mode cannot be u
36. cceeeeeeeseeeceeeseseeeseeeeeeseeaaggeeeees 51 1O SCI OE MOOC e E 51 DD FASKS r tease sdesesdenasesauesds Suustmeseniceeas cuusususnoussveudeseurundeiteys 53 11 1 Servo Driven Gimbal ccccsecsceccccccceeeeseecccceesaeesseeccceesseeeseeeeceeessuauseeeceeeesauaaseeceeeessaaeaseeseeeeaas 53 12 Safety Feat ES eccsecacesasececscesesececaseseseceencaresstecasesesececnaatedececauagesscsensavesevedaenseseceuacanessceaaseteseeeeasertse 55 12 1 Starting and Stopping the MOtOSs ccccccsssccccessccccensccceeeeccsescecsenecessueeceseuseessansesseuesessenseees 55 2 Al OS CANCE MOTO annann aaea Ea O EE O 55 OO DUO VION OB AA A A A E T E EE A A E A A A 55 22r S Proce Oaar a E a a onncaaisatautuastasaaneneionanasvetneaaueaesanes 55 T Dalal RECO era E E E E E EEE EE 56 12 3 1 Flight Data Record Black Box Function ssesssenssseeressserresssreresssreressereresserrrssseereee 56 Tee DAT IOC O era E E E E A EEE 57 13 Extending the Range of Capabilities cccsscsscceccssccsccecccsccsccescesccnccescesccncceccesccnccescsccnccesees 58 T3 Radio MVS CEO teste eee psec el EAEE NEEE ENE NAERAA law ew maemo EERENS 58 13 1 1 Airborne Radio Connection lt csssassucasaieadtvagateddanadsatevosenandorndaatawedobadd eatdinloxesabaadacaneadtvaganndis 58 13 1 2 Ground Radio COMMECHON apeticnaccccuseasxctwnmuantetnannite traci ENER RNOR EREE Ra 58 13 2 Connecting the Power Management Module ccccccsssecccessceceesecccaeece
37. ce parameter displays Good when hovering the aircraft 10 1 2 2 Real Throttle Position The throttle position of the aircraft when hovering is usually at 40 65 which is considered normal in green Any position lower than 40 shown in yellow indicates the aircraft is maintaining a light load on the ESCs while higher than 65 in red indicates that the aircraft is heavy or the battery is delivering a low voltage This situation requires a load adjustment or battery replacement 10 1 3 Adjusting Aircraft Vibration Parameters The following factors affect the flight stability of the aircraft and corresponding adjustment measures need to be carried out 1 Shaking vibration or poor installation of the IMU will affect flight stability Therefore attention should be paid to the following Make sure the host and slave controllers are in the correction direction facing the aircraft nose and firmly fixed in a position of as little resonance as possible on the aircraft The coefficients of shake and vibrate on the ground station indicate the amount of vibration of the IMU Therefore when installing the flight controller make sure the motors and propellers are installed in balance to reduce the shake and vibration state to lower than 10 use smaller propellers to reduce the amount of vibration in the trial An airframe structure of higher rigidity is recommended as a softer frame will cause additional vibration Note
38. chnical support or security warranty for any of the following conditions Zero UAV Beijing Intelligence Technology Co Ltd Warning and Disclaimer Units or individuals obtaining the product from agents or channels not authorized by Zero UAV Beijing Intelligence Technology Co Ltd Products after modification debugging or replacing parts without authorization Products losing warranty card serial number or flight data Injuries and property losses due to mis operation or force majeure of natural disasters Warning and Disclaimer Zero UAV Beijing Intelligence Technology Co Ltd Name eseription SSID Service Set Identifier name of wireless network Aircraft radio control transmitter Gimbal radio control Dual controller operation transmitter To control the aircraft and gimbal with a single radio control Single controller operation RC transmitter Channel for example CH5 means channel 5 Channel switches assigned to different functions Fail Safe control Zero UAV Beijing Intelligence Technology Co Ltd Terms and Abbreviations The types and related functions of the aircraft are as follows Airframe type 4 axis X type 4 axis cross type 6 axis X type 6 axis cross type 8 axis X type 8 axis cross type 6 axis reverse Y type 6 axis Y type 4 axis X type with 8 motors and customized types irregular or quasi irregular Firmware upgrading PC upgrading standard USB serial port cable
39. cseeceesensecsseeesseeeeees 58 o D COMECON rrsan s E EE S E E E EES 59 14 Upgrading the Firmware esesesessssesececscsesesececscscsesecececsesesecececscsesesecececsesesecececsesesecececsesesececeesese 60 ADDE NO asesina EA E E E 62 Appendix 1 Introduction to Mobile Ground Station Android sssssesensesssssreenessssrrrereessserreresesssn 62 Appendix 2 Introduction to PC Ground Station cccccccssssccceseccccssecccensecseeeseeseuecesseuseesaaeseesaaees 66 Appendix 3 Installation and Configuration Videos ccssccccccssseeccccseseccecceeesceccceeueeeessaaaeeeessuensees 68 Appendix 4 Technical SUPpOTft sesesssseresssseressrecrsssrerosssrerosssreressseceessrecesssrerossseeresssreressrecosssreeesssrereee 68 Appendix 5 Reference Manual Update History ccccccssssccccceeseecceceeecccceeeesececseeeseessaeeeeeesaaaeess 69 Zero UAV Beijing Intelligence Technology Co Ltd 1 Warning and Disclaimer Danger Thank you for purchasing this ZERO UAV product The product is an advanced and specifically dedicated control item Any misuse may result in damage to property injury or even death The user must conform to the law and use the equipment responsibly This product is not suitable for people under the age of 18 Please read this disclaimer carefully before using the product or visit the X4V2 web page at http Awww zerouav com to refer to relevant updates or information A Caution Please ke
40. e Step Select COM Por com OpenCOM AP Firmware Upgrade Step Select COM Pon COM19 Open COM Step2 Select Firmware Step Select Firmware C Users Chris YS Gemini 20140210 Enc arm C Users Chns ys Gemin 20140210 Enc arm Step Restart AP Step Restart AP Transmit send 1312 Percentage 164 186 k Please Restart AP SEE EEE aD 00 00 00 C8 13 02 00 05 00 00 00 00 00 FF FF FF FF B4 09 8B 01 00 00 00 00 00 a ogee pola Feat epee ee ee eae a ee me 00 96 96 96 FF 1E 00 04 53 00 08 00 00 00 EB 00 00 12 9D 42 00 00 00 00 00 00 Ee ee 00 00 00 00 24 53 54 50 00 00 00 00 00 00 CB 42 00 00 00 00 00 00 00 00 00 00 Ren ee ee ee oe Set ee ee oe 00 00 00 00 00 00 00 00 00 03 96 96 96 C1 95 95 95 C1 00 02 12 00 SF C1 00 OB ER Ee SEE TT ey COC FC FF 00 00 00 00 00 00 C8 13 02 00 0S 00 00 00 00 00 FF FF FF FF B4 09 8A 01 Di a 00 00 00 00 00 00 96 96 95 FF 1E 00 04 53 00 08 00 00 00 E7 00 00 12 9D 3D 00 AAAS LR a a I a ee 00 00 00 00 00 00 00 00 00 24 53 54 50 00 00 00 00 00 00 C6 42 00 00 00 00 00 e 00 00 00 00 00 00 00 00 00 00 00 00 00 00 03 96 96 96 C1 96 95 95 C1 00 03 36 DE 58 3F Ci 00 OB FC FF 00 00 00 00 00 00 C8 13 02 00 OS 00 00 00 00 OO FF FF FF ae a ee a ee ee ae FF B4 09 8B 01 00 00 00 00 00 00 96 96 96 FF 1E 00 04 53 00 08 00 00 00 E4 00 a ee ey a a a 00 12 9D 59 00 00 00 00 00 00 00 00 00 00 24 53 54 50 00 00 00 00 00 00 C6 42 EAA e 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 03 96 36 36 Cl 9
41. e after re arranging components in your aircraft or if you find it flies in circles Compass calibration does not need to be done every time you fly or if you upgrade firmware without changing hardware position However it should be done when components are moved or if the aircraft flies in unexpected ways Compass calibration is carried out in three steps horizontal calibration vertical calibration and storage of magnetic compass data Instructions for each stage can be found in the status bar at the top Settings interface as follows 1 Switch the transmitter to manual mode and pull the throttle to minimum 2 Select Settings S Magnetic Compass M for the Magnetic Compass Alignment window as shown in Figure 39 3 Click Horizontal Alignment for horizontal calibration as shown in Figure 40 i Magnetic Compass Alig i Hori i 3 Pohl Vertical Alignment Save Alignment Vertical Alignment Save Alignment Figure 39 Figure 40 4 Hold the aircraft horizontally within a status error of 5 which can be maintained if you hold the aircraft with both hands as shown in Figure 41 turn around two or three times Zero UAV Beijing Intelligence Technology Co Ltd Pre Flight Inspection slowly making sure that the blue LED stays lit If the blue LED goes off stop and adjust the aircraft before continuing 5 Now select Vertical Alignme
42. e same way as the Wi Fi module connect to the COM port of the flight controller the radio should be powered by a 3S 6S lithium battery 13 1 2 Ground Radio Connection Connect the Wi Fi module to the other radio on the ground with the connection cable provided with the radio which is powered separately The unit on the ground consists of the radio and the Wi Fi module Note The radio and Wi Fi are powered with a 3S 6S lithium battery with the red black cable the red for anode and the black for cathode 13 2 Connecting the Power Management Module Real time current draw Amps and electricity consumption mAh can be observed in the Data interface of the ground station after connecting the optional Power Management Module to the X4V2 flight controller To use this function connect the power management module to the A1 port on the X4V2 reduce the throttle to minimum and then power the flight controller The current A and electricity consumption mAh will be displayed as shown in Figure 64 Extending the Range of Capabilities Zero UAV Beijing Intelligence Technology Co Ltd 13 3 OSD Connection After the OSD On Screen Display has been connected to dinis ELI the X4V2 flight controller flight parameters will be overlapped Aa ea A ro AP Voltage in real time on the video display This improves the quality of A E Shake state the flight experience because the pilot is constantly awa
43. ectory of the PC ground station software package You can make your own analysis of this data or email it to the manufacturer for debugging 12 3 2 GCS Data Record This function needn t any external device just keeping the flight controller powering on and WIFI connecting then all of the operation record will be saved by hj files in the related folder of GCS for analyzing One hj file will be created once closing the GCS and all of data will be in one hj file if not closing GCS saved file path mobile GCS root folder in cellohone YShj catalog PC GCS GCS Hj catalog document format time hj for example 20150506110410 hj 20150506 means date 110410 means recording begin time from 11 04 10 Zero UAV Beijing Intelligence Technology Co Ltd Safety Features 13 Extending the Range of Capabilities 13 1 Radio Connection The XB PRO9Q00 radio can be purchased as an option to extend the control distance overcoming the distance limit of Wi Fi for ground station and mobile device control This radio has an RF power of 100mW on a frequency of 900MHZ and its measured two way communication distance is 1 2 km in open ground The radio has a RS232 port and the communication Baud rate is 115200bps XB PRO900 consists of two interchangeable radios one on the aircraft and the other on the ground 13 1 1 Airborne Radio Connection Remove the Wi Fi module from the aircraft and install the radio in the aircraft in th
44. ep the product out of reach of children 2 Make sure the aircraft is kept away from people and dangers such as buildings roads and property We suggest you fly your aircraft at specially designated areas 3 Please do NOT fly this product when affected by drunkenness tiredness drugs dizziness fatigue nausea or any other condition that might impair your ability to control the aircraft 4 Please strictly follow the user manual when operating the device 5 Please make sure all components of the device are connected and work well otherwise your unit may be damaged destroyed or even buried 6 Please power off and remove propellers before making any adjustments to the unit such as calibrating upgrading firmware or changing parameters There is an ever present danger of the propellers starting unexpectedly and causing injury 7 Please do NOT fly in unfavorable conditions 8 Please do NOT open or modify the autopilot there are no user serviceable parts inside Disclaimer 1 Zero UAV Beijing Intelligence Technology Co Ltd products are specially controlled devices The user shall be responsible for any and all activities connected with the use of all their products The manufacturer shall not be reliable for any consequences directly or indirectly caused by all their products 2 The user is responsible for abiding with the law and not behaving contrary to public order or public safety by using this product 3 We shall not provide te
45. er Semi automatic flight 1 Switch CH5 of the RC control TX to position 3 and CH6 to position 2 2 On the Android GCS select Map SPC Enable Skyway gt Semi Auto Skyway and click OK the aircraft will stay in its current position 3 Push the elevator stick on your TX and the aircraft will fly in the order 1 2 3 4 etc until completion of all waypoints Throttle and rudder can be used as normal during the flight 2 Exit Switch CH5 to position 1 in manual mode or CH6 to position one auto hover mode to exit waypoint flying Note lf you have not set up a waypoint route the aircraft may fly away if you switch to auto navigation mode After starting the motors the flight status of the aircraft will change to automatic navigation 3 seconds after switching to automatic navigation mode The nose of the aircraft aligned to the next waypoint during waypoint route navigation If you want to control the direction of the nose click Map SPC Disable course locked during waypoint flight The aircraft will fly the route is normal but the nose will not point to the flight direction It will be controlled by the rudder stick on the transmitter Click Enable course locked and the nose of the aircraft will point towards the flight direction again Zero UAV Beijing Intelligence Technology Co Ltd Flying at the Field 10 2 6 2 PC Ground Station Waypoint Flight Waypoint
46. firmware upgrade the original parameters will remain the same no need to re set Roll Sensitivity Pitch Sensitivity PTZ Roll Sensitivity PTZ Pitch Sensitivity Altitude Limit Distance Limit Vertical Max Speed Volt Alert Threshold Handle Mode Mox Flight Speed dm s X 355V Speed Mode bd Isms Sway Compensation Snapshot Interval Cell Num PAR PHO Multiplex Parachute Photo Parachute Photo Aircraft Type Gimbal Detault Figure 61 Tasks Zero UAV Beijing Intelligence Technology Co Ltd 12 Safety Features 12 1 Starting and Stopping the Motors 12 1 1 To Start Motors The motors will be locked after 5 seconds if no throttle is applied before take off or after landing in manual mode with the pulled back to minimum The motor will not rotate after it has been locked even if throttle is applied Motors will rotate only after unlocking Reference can be made to 9 2 Unlocking and Arming the Motors 12 1 2 To Stop Motors The motors will stop when the throttle is pulled back to minimum in manual mode In GPS mode reducing the throttle to minimum will have the following differing results The aircraft will reduce altitude but the motors will not stop if the aircraft is in flight The motors will stop slowly until fully locked if the aircraft is on the ground 12 2 F S Protection Loss of Wi Fi signal Full control of the aircraft will be handed
47. ght 1 Format Adjustments Technical support 1 2015 5 4 2 Modify parameters diagram Added function GCS Data Record Technical support 1 2015 5 14 Zero UAV Beijing Intelligence Technology Co Ltd Appendix
48. gs 8 2 2 1 Calibration of Transmitter The power supply should be disconnected from the motors or propellers removed before continuing The transmitter is calibrated as follows BS ZERO TECH GCS Fief View Path Settings S Tools T Settings S Help H 1 Select correct stick mode ku KP HAm a Run ZERO GCS rotor ground station exe and open Wi Fi b Select your TX stick mode from the pull down menu as shown in Figure 27 Mode 2 a ooe ceo aten Shake M ees vets American standard is shown OS lt mm w nooo GPS Yebiom Mouse 2 50673 50 57968 2 17939 Figure 27 2 Calibrate Stick Movement a Click Setting S Transmitter T Adjust Transmitter C the calibration prompt dialogue will open as shown in Figure 28 b Click Yes within 5 seconds rotate the left and right transmitter sticks to their extremes in all directions as shown in Figure 29 The flight controller automatically record the maximum and minimum values for each control axis and also the neutral values Calibration prompt push pull all pole positions of the RC Tx to the maximum minimum or the leftmost rightmost within 5 seconds After 5 seconds the AP will finish the auto collection Please confirm whether the manual operation and real RC operation displayed in Data Interface keep coincidency when moving any operating level Adjust Transmitter Figure 28 Fig
49. he right Decrease to 100 or increase to 100 Pitching Pitch down Decrease to 100 or increase to 100 Rolling Roll to the right Decrease to 100 or increase to 100 An example of flight parameter set up is shown in Figure 33 using a 4 axis X type quad copter as an example Setting up procedure is as follows Mii 2 a Click Setting Other 0 a Mixing I iis sili a oes Define E in the GCS m2 ho o po fa00 fio 100 100 100 100 b Fill in required parameters and click ji m ho po ooo po Send to send these values to the flight uv fpf fo po controller click Get to download latest me f g i E parameters to the GCS to check O E z n whether parameters have been uploaded successfully sl Figure 33 Ground Control Software setup and Debugging Zero UAV Beijing Intelligence Technology Co Ltd c In the Parameters P dialogue enter your correct Aircraft Type for example Quad Rotor Cross d Power the flight controller after confirming successful modification of parameters and apply a small amount of throttle to check the motors are spinning in the correct directions If this is successful you are all set to make a trial flight Because the motors might immediately rotate at high speed after the aircraft type has been modified it is strongly recommended to remove propellers to make sure of safety 8 2 2 4 ESC Stroke Calibration Please re
50. ings S Help H GPS velx cm GPS vely cm Course Angle Attitude Angle Distance To Flight Mode Flight Time AP Voltage Vibrate state Shake state Real Throttle 0 0 D L156 U5 OM 0 3 Back Landing 00 00 hu KK rit dm gn fhe KIO w CIAN C B Target Waypoint N A 1 3 Change Target Flight Altitude N 3 Change Altitude M hal 2014 Google Viotor balance i image 2014 DigitalGlobe Gawale cart euler PTZLock 2 27 09 92 W elev 66m eye alt Quit PTZ PP Set Home Location otor Balance wekf Velx Auto Landing Auto Take Off eae Real Throttle a patelites xekt Vely a 7 Enable Sk Disable Sk 2000 00 00 08 00 00 Shake WOT cere vers iia isable Skyway 99 0000000 Vibrate B GPS veem Quit Init setup 0 000000 GPS Vellem E Tee Enable Course Disable Course ka Flight Data Other Data Gemini Data Locked Locked Control Data Map Settings Parameter Mouse 2 45275 50 52855 66 14895 r2 10 1 2 1 Motor Balance Motor balance will display an imbalance between the clockwise propellers or counter clockwise propellers when the aircraft is in a static hovering position The propellers need to be balanced or replaced with higher quality units Zero UAV Beijing Intelligence Technology Co Ltd Flying at the Field To ensure stable flight accurate examination must be made of the balance and horizontal symmetry of the motors and propellers until the motor balan
51. ion The knob currently assigned to CH7 is changed to control Gimbal roll c Click Quit Setup after adjusting the gimbal roll position the new central position will be fixed and stored CH7 will return to control Gimbal tilt Note Octocopter does NOT support servo gimbal PTZ Roll sensitivity and PTZ Pitch Sensitivity on the parameter interface are used to adjust the gimbal correction angle If the correction angle is too small that it should be increased and vice versa A negative value should be entered to indicate reverse PTZ sensitivity The range of PTZ sensitivity is 127 to 127 On the mobile ground station click Parameter as shown in Figure 60 On the PC ground station select Setting Parameter Setting as shown in Figure 61 Zero UAV Beijing Intelligence Technology Co Ltd Tasks Default Th i Nrottie itude Limit Volt Alert Threshold Control Data Map Settings Parameter Figure 60 0 ol stance Limit 66 Kindly reminder 1 Operation method click on the get button from the flight control dowmload the current parameters change based on the completed then the send button to upload to the fight control 2 The default parameters can meet the requirements for use in most of the cases if not necessary please do not arbitrarily change them 3 lf necessary you can click the Detault button to restore the default parameters A After the
52. is the speed in GPS mode while the status mode is the speed in manual mode It s necessary to fill in maximum flight speed when selecting status mode Max Fly Speed Flight speed is governed to the value selected 4 Customized parameter setup Users of common standard aircraft patterns may skip this bit If you are using a non standard multirotor with an irregular flight configuration you may set up the parameters according to your own requirements customizing the speed increase and decrease ratios of the roll pitch and yaw channels of each axis The specific definitions are as follows Flight parameters can be set up using 4 axis X type HR COURSE PITCH ROLL quadcopter as an example as shown in Figure 21 oO Set up as follows ee jan a Click Settings in the GCS b Click Mixing Define for the parameter setting interface c Fill in the necessary parameters and click Send to send your modified values to the flight controller 100 100 10 0 ok 10 0 0 click Get to download the parameters again from uploaded successfully Figure 21 the GCS to check whether parameters are Ground Control Software setup and Debugging Zero UAV Beijing Intelligence Technology Co Ltd d Click on the parameter interface and select aircraft type and select user define e After successful modification of pa
53. lease confirm whether the attitud e angle display and real attitude are k eeping coincident Checked D Step 5 ill UNICOM E 0 aa 09 22 Step 3 ESC stroke calibration Please get into the settings first Flig ht status displays Settings break the pole as V shaped to open THR insura nce and push the THR pole position t o the maximum within 5 seconds po wer on the ESC after completing abov e operation Pull the THR pole back to the Minimum after a prompt sound fr om ESC After completing teh ESC str oke calibration please exit the setting s and can get into next step Init Setup A pe Step 3 UNICOM E 30 aa 09 22 Tips Still need to pay attention to the below items although have finished t he operations as the installation guid e 1 Push THR to the minimum before t akeoff move the elevator aileron and check whether the mixing control styl e is correct 2 Test fly by manual carefully obser ve whether the vibration coefficient a nd shaking coefficient are within 10 3 Complete magnetic calibration in outdoor space with no magnetic inter ference Oone fO se fo oa A a Step 6 5 Click Next to exit the installation guidelines An instructional video can be found here http www tudou com programs view h6Umvfsimy8s Ground Control Software setup and Debugging Zero UAV Beijing Intelligence Technology Co Ltd 8 1 2 Manual Settings 8 1 2 1 Transmitte
54. m ESC After completing teh ESC stroke calibration please exit the settings and can get into next step Flight Mode anua Init Setup Manual THR Quit Init Setup Step 4 Calibrate ESCs a Step 6 Install check flight control and GPS manual test to see 1 Install check flight control and GPS Pay attention to whether the load flat not sure flight flying instability GPS away from the cable cable is energized the magnetic compass will affect the work Note that the arrow in flight control Whether forward outlet direction at M1 M6 and head instead note that the GPS arrow is forward outlet direction should be consistent with the GPS head a 2 Please confirm the attitude display and practical attitude is consistent If not please check whether the flat flight control 3 Then the manual test have a look seismic coefficient and shaking coefficient is less than 10 at If not please adjust the balance back motor and propeller E 4 Field calibration After the above steps the debugging work necessary can be fully completed in laboratory has been basically completed Then out into the field Attitude Vibrate Shake Step 6 Examination of flight controller and GPS installation 5 Click Finish to exit the installation guide after software debugging Zero UAV Beijing Intelligence Technology Co Ltd Ground Control Software setup and Debugging 8 2 2 Manual Settin
55. mmunication cable is located at the upper right hand corner of the Wi Fi module When connecting the Wi Fi module to the X4V2 the BLACK wire of the communication cable is located at the upper right hand corner of the Wi Fi module com3 com3 WiFi Connect with PC WiFi Connect with the flight Power Power controller 7 2 2 2 Software Set up 7 2 2 2 1 Point to point Mode It is possible to use the wireless router in the point to point mode and the password can be set up in this mode to make sure no other user can connect to the Wi Fi Setup procedure is as follows 1 Download Wi Fi configuration software from 8 seenyonfig the Zero UAV site 2 Double click SeanyConfig exe after decompression and a SeanyConfig Setting window will pop up as shown in Figure 3 3 Click Setting for the main interface as shown in Figure 4 a Figure 3 Zero UAV Beijing Intelligence Technology Co Ltd System Preparation and Debugging SeanyContig Coxe Ri open com Infra station Ap Wifi SSID ZERO TECH Passphrase 82890430 Figure 4 Select the correct COM port If you are unsure which port this is you can search for the Prolific USB to Serial Comm Port in your Windows Device Manager This will give you the port number Check AP Access Point which is PTP mode To check your port right click My computer Properties Device manager
56. move propellers before ESC stroke calibration Some ESCs which have been designed specifically for multi rotors do not need to be calibrated Here we take the Hobbywing ESC as an example 1 Connect the autopilot power only pull the throttle to the bottom and put CH5 to position 1 2 Click Init Setup in Setting page Click Change Altitude FlyToPP PTZok Confirm button in the Quit PTZ PP Set Homa Location dialog box Now the Flight Auto Landing Auto Take Ot Enable Skyway Disable Skyway 4 91 N 2026 54 75 W elev 56 m eye alt ees eS 5 Sabet woki Veb 5 Enable Course Deseble Course xe B ve Locked Locked l Vibrate az GPS Velxicm Top Reset Get Photo Date GPS Velyicm s 3 Flight Data Othe Data ee Take Photo wl shown in Figure 34 Figure 34 Mode should be displaying ee 2 as Settings in the Data Shake screen of the GCS as 3 After arming the motors with CSC Section 9 2 Unlocking and Arming the Motors push the throttle all the way to the top and then connect power on No propellers 4 Pull the throttle to its lowest position after two confirmatory sound signals from the ESCs and the gimbal controller will also sound a number of beeps to indicate the number of cells in the battery This will complete ESC calibration 5 Click Quit Setup and confirm in the dialog box that pops up 6 To check whether verific
57. n 2 switch back to position 3 then return to position 2 Zero UAV Beijing Intelligence Technology Co Ltd Flying at the Field You will now be in carefree mode After 2 seconds Aircraft TX CH5 position 2 Aircraft TX CH5 position 3 3 When you need to exit carefree mode switch channel 5 to position 1 or position 3 manual mode or GPS mode Flying at the Field Zero UAV Beijing Intelligence Technology Co Ltd 11 Tasks 11 1 Servo Driven Gimbal The Y2 and Y1 ports on the flight controller Gimbal Battery are connected respectively to the gimbal pitch servo and the roll servo You must GND power the servos separately from the flight VCC l Gimbal Servo controller when using a servo driven nA igna Gimbal When using a servo driven gimbal the Y1 Y2 Port transmitter should have at least seven channels Gimbal pitch control assign CH7 to a knob switch on the transmitter Any adjustment of the knob will produce a corresponding tilt on the pitch servo gt Gimbal roll control with no initial signal to the roll channel the roll servo will remain in the neutral position to stabilize the roll axis of the gimbal Adjust the roll channel according to the following procedure a Switch CH5 to position 1 and throttle back to minimum b Click Settings in the mobile ground station or the button Init Setup on the PC ground stat
58. n Figure 25 3 Now select Settings Installation guide to pop up the installation debugging window as shown in Figure 26 i Filet rent Path Settings Tools T Settings Help ii ku har nde Kindly reminder for your safety in ground test please disconnect the power or the propeller twist off Only when necessary to take back the power or the propeller back data has been disconnected Check whether the data has been connected j Cancel Figure 25 j Figure 26 4 Click Next for the installation operation stage Complete the required information as indicated below Ground Control Software setup and Debugging Zero UAV Beijing Intelligence Technology Co Ltd r Step1 Set craft styles and pare Prompt click Get button get parameters from AP then click send buttonj Aircraft Type Cell Num Quad Rotor Cross lt lt Please input Cell Num Volt Alert Threshold 3 55V Fill in according to the characteristics of battery General fill 3 65 Send Get Step 1 Set the aircraft type battery cell number and required alarm voltage from a single cell G win A FUTABA remote control do not reverse any channel reverse JR remote control is the need for all channels Please press the button Adjust Transmitter and confirm it and then push pull all pole positions of the RC Tx to the maximum minimum o
59. n three steps horizontal calibration vertical calibration and storage of magnetic compass data Instructions for each stage can be found in the status bar at the top Settings interface as follows 1 Switch the transmitter to manual mode 2 and pull the throttle to minimum A F a 6 33 PM 3 Horizontal Alignment Mode Capture Transmitter Centre point Adjust EINGO Transmitter Compass 1 Minute Installation Data Guide Init Setup Quit Setup Zero Gyro pos info Mixing Follow Me Define amp Control Data Map Settings Parameter Figure 35 Click Settings to enter the settings interface as shown in Figure 35 Click Magnetic compass to open the calibration dialog box as shown in Figure 36 Magnetic Compass Cancel Horizontal Alignment Cancel Figure 36 Zero UAV Beijing Intelligence Technology Co Ltd Pre Flight Inspection 10 Select Horizontal Alignment and to click OK to start horizontal calibration Hold the aircraft horizontally within a status error of 5 which can be maintained if you hold the aircraft with both hands as shown in Figure 37 turn around two or three times slowly making sure that the blue LED Stays lit If the blue LED goes off stop and adjust the aircraft before continuing Now select Vertical Alignment and click Figure 37 OK for vertical calibration Hold the aircraft with the nose vertically down
60. ng mode must be used in the RC transmitter without any mixes configured If you are using FUTABA none of the channels should be reversed All channels should be reversed for a JR or WELY transmitter Zero UAV Beijing Intelligence Technology Co Ltd System Preparation and Debugging The transmitter of the aircraft can be set up as follows 1 Set three position switches to CH5 and CH6 on the transmitter as indicated in the following diagram CHS CH6 Position 1 Manual Position 1 Auto Hover 4 gt a 4 ve i ia A as caL Position 2 Function shift Terg me Position 2 Auto navigation ls Position 3 GPS f I Position 3 Return to Land 2 To setup F S Fail safe protection set both CH5 and CH6 of the transmitter to Position 3 and the accelerator near central position 50 The relationship of four operation modes is indicated in the following table CH5 status CH6 status Operation mode Manual stabilisation If Channel 5 is switched to position1 then the aircraft will be in manual stability mode whatever the position of Channel 6 Position 1 X Any Position Note Position 2 of CH5 is a functional Position in which the Carefree mode can be selected Refer to 10 2 8 Carefree Mode for more information Refer to your transmitter manual for specific instructions to set up failsafe and take a look at this video http www tudou com programs view e1 aid26Mbt4 System P
61. nt and click OK for vertical calibration 6 Hold the aircraft with the nose vertically down within a status error of 5 as shown in Figure 42 turn around two or three times slowly making sure that the blue LED stays lit If the blue LED goes off stop and adjust the aircraft before continuing Direction of aircraft nose Figure 41 Figure 42 7 Select Save Alignment in the dialogue box and click OK 8 You will need to wait for the flight controller to process the recorded magnetic data A purple LED will show during the processing When the purple light goes out calibration is complete 9 The ground station will switch to the remote control interface automatically and spend a few seconds calculating Then it will display two circles one blue and the other red as indicated in the following figures The superposition of two circles red and blue indicates successful calibration If this is not the case you need to start again with a new calibration operation Calibration Excellent Calibration okay Calibration unsuccessful 9 2 Unlocking and Arming the Motors Be The controller cannot be unlocked and motors armed near large airports or within Beijing oth ring Pre Flight Inspection Zero UAV Beijing Intelligence Technology Co Ltd The controller cannot be unlocked without GPS Magnetic compass calibration must be carried out before the first time you unlock the moto
62. ntelligence Technology Co Ltd Flying at the Field T 7 92 DMA Parameter Kindly reminder Send Default 1 Operet on metho peters change based on the completed then the ion method cick on the get bution trom the flight control download the current parameters Change o the flight control can meet the re quirements for use in most of the cases if not necessary please do not arbitrarily change them can click the Deteult button to restore the default parameters 3 t neces zoll Sen S itivity 55 4 After the firmware upgrade the onginal parameters will remain the same no need to re set itch Sensitivity 55 ot Nu PTZ Pitch Sensitivity PAR PHDO Multiplex Parachute Phato Altitude Limit g J Aircraft Type Quact Rotor Cross m i f ae 2 Lim ompensation Vertical Max Speed ams amp Throttle sarc ican bt Sensitivity Volt Alert Threshold 355V x Cell N um Handle Mode Speed Mode j Mex Flight Speed 13 6m s hd Altitude Limit Distance Limit Volt Alert Threshold ahi ka Get Send Detault Control Data Map Settings Parameter Figure 51 Figure 52 10 2 Flight Functions 10 2 1 Using Your Mobile Device for Remote Control of the Aircraft In automatic hovering status click the menu key on the mobile ground station to select Enable Control to enter mobile remote control mode as shown in the figures on the right The button will change to Disa
63. o Ltd Ground Control Software setup and Debugging China Mobile When the sticks are in neutral position they will aaa ama Sop GAGES i GPS velx cm be shown as green The vertical will be shown GPS vely cm Course angle the yellow when fully extended and the sticks RE Home distance Q0 will be shown as red in any other position than Altitude Return to land neutral ne 00 00 d Itis necessary to select capture transmitter central Saye eal throttle Motor balance point in the settings interface to make the flight controller record the correct neutral position of the Sticks if for example if either stick is not in the central position after fine tuning Map Settings Param Figure 18 8 1 2 2 Check CH5 and CH6 for F S fail safe protection Check operation mode switching is correct You need to check with mode switching is normal each EET nan l 15 38 time you connect the GCS re a For example looking at the data interface on the GCS Misan 2 flight mode should display Manual when CH5 is at EE Flight Mode Manua Flight time 00 00 AP voltage position 1 and CH6 is at any position as shown in Figure 19 This is not the case you should look at the data link or the settings in your transmitter Vibrate state Shake state Real throttle Motor balance Check F S protection Turn off your transmitter the flight mode should display Returning to land and the throttle
64. o as GPS X1 The GPS Compass modules are for sensing the orientation of the aircraft by reading its position and direction Power module X1 Supplies regulated power for the autopilot and the Wi Fi module mR232 serial port to USB converter cable FTDI X1 Connects PC and autopilot via USB to update firmware aWarranty card X1 This provides Product Serial No Purchase Date Please fill out the relevant information UAV register your product and return to Zero Intelligence Technology Co to warranty Zero UAV Beijing Intelligence Technology Co Ltd In the Box 5 1 Airframe Types The X4V2 flight controller provides support for aircraft in a cross X and Y configurations of rotor arms and propellers In the figures below the yellow arrow at the position of the central plate indicates the direction of the aircraft nose the blue curved arrow indicates the direction of rotation of the upper propeller and the purple curved arrow the direction of rotation of the lower propeller Bye Install the motor and propellers according to the following modes Quad Rotor 4 Quad Rotor x4 Hexa Rotor 6 Hexa Rotor x6 Octo Rotor 8 Octo Rotor x8 Hex Rotor reverse Y6 Hex Rotor Y6 Quad Rotor X8 Installation Zero UAV Beijing Intelligence Technology Co Ltd 5 2 Installation of Flight Controller Install the X4V2 flight controller on the central deck of the aircraft horizontally with
65. o right Move forward left Tilt the mobile device from upper left to backward left bottom left or upper right to bottom right forward right and backward right Click any area on the screen and drag upwards Click any area on the screen and drag downwards Climb Descend Climb descend Click any area on the screen and drag to rotate the left Rotate left Click any area on the screen and drag to 4 Rotate right the right Note Dragging distance is proportional to the Flying at the Field Zero UAV Beijing Intelligence Technology Co Ltd After Enable Control Remote control interface operation Aircraft status speed of the aircraft meaning that the longer the dragging distance the higher the speed of the aircraft The time spent touching the screen is equivalent to the move duration of the aircraft 10 2 3 Semi automatic Take Off The flight status will display Auto hover when seven or more satellites are in view and CH5 is in position 3 and CH6 in position 1 Now push the throttle after arming and the aircraft will take off after the throttle is in mid position and will hover automatically at a height of approximately 2 3 metres 10 2 4 Return and Land Mv For safety reasons it is not recommended to switch to return and land mode if the aircraft is too near to people Return and land is achieved as follows 1 The aircraft will record automatically the sta
66. ode Disable control green button Click Disable control to exit Appendix Zero UAV Beijing Intelligence Technology Co Ltd Note The aircraft serial number and firmware version will display on the remote control interface after data connection 2 Data Interface Click the Data tab for the data interface to see the screens shown below the software will display efelaalantelallersiifelaWeltsfefe alat tey te in the center if there is no link with the aircraft ae EEE laa 09 54 UNICOM E iO UNICOM E W 00 00 11909 25027 30773 Flight time AP Voltage Vibrate state Shake state Real Throttle Motor balance 0 00000 Latitude 0 00000 E i GPS velx cm 0 GPS vely cm 0 Course Angle 0 0D Attitude Angle R20 U21 Distance To Ho OM Rudder Aileron Elevator Throttle 21 9 Settings State 00 00 Flight Mode Flight Time AP Voltage Vibrate state Batt mAH 889 mAH Shake state Batt current TA a E Data Map Settings Parameter Control Data Map Settings A Parameter D Control Descriptions of the parameters are as follows Name i eseription Shows number of GPS satellites in view and locked GPS velx cm a GPS velocity displays a value below 10 when static GPS velx cm Xekf velx Xekf vely xekf veld Attitude angle Displays real time attitude angle during flight Flight mode settings Displays current craft status Manual Manual Altitude
67. on exe file to install the program 7 2 Wi Fi Configuration 7 2 1 Wi Fi Communication Mode The X4V2 Wi Fi system can support two communication modes point to point P2P and router The delivery default setting is point to point mode with an SSID of ZERO TECH and no password After the link is completed all flight data will be recorded to the ground station The file with the extension of hj can be found in the directory YShj in the root directory of a mobile device or in the file folder Hj in the PC ground station software package This file can be replayed and analyzed in the PC GCS application A Wi Fi configuration tutorial can be found at http v youku com v_show id XNTE2OTY4MjQ4 html 7 2 2 Wi Fi Configuration 7 2 2 1 Firmware Connection The firmware can be updated using the following procedure System Preparation and Debugging Zero UAV Beijing Intelligence Technology Co Ltd 1 Download the USB driver from the ZERO official website and install it 2 Connect the Wi Fi module to a PC with the supplied USB serial port cable shown below Connect the USB terminal to any USB port on the PC and the serial terminal to the com port of the Wi Fi module l J 3 com3 Plug the lead reserved for the Wi Fi module ve from the power supply into the Power port of Power 3S 6S input of the Wi Fi module Note When connecting the Wi Fi module to the Computer the WHITE wire of the co
68. p J 2 The default parameters can meet the requirements for use in most of the cases if not necessary please do not arbitrarily change them 3 If necessary you can click the Default bution to restore the default parameters 4 Ader the firmware upgrade the original parameters will remain the same no need to re set to send the modified parameters to _ the Pich Sensi spiraia PTZ Roll Sensitivity Call Num alre raft PTZ Pitch Sensitivity PAR PHO Multiplex Parachute Phot Altitude Limit 50 Ancratt Type Quad Rotor Cross An explanation of Distance timi Vertical Max Speed lom s EO pa ra m ete rS ca n be Volt Alert Threshold 355V 2 fo u nd in g i 9 3 a Mode Setting up Aircraft Parameters Get Send Default Figure 32 Note Click Get or Send multiple times to avoid failure in obtaining or sending parameters Click Default to recover factory setting values 4 Customized parameter setup Users of common standard aircraft patterns may skip this bit If you are using a non standard multirotor with an irregular flight configuration you may set up the parameters according to your own requirements customizing the speed increase and decrease ratios of the roll pitch and yaw channels of each axis The specific definitions are as follows Channel Aircraft activity Required parameter values Throttle Climb or descent 100 for all Yaw Rotate to t
69. pecting Motor Rotational Direction You must inspect the direction of rotation of each motor before the aircraft takes off in the same way that you would inspect the control surfaces of a fixed wing aircraft before takeoff Zero UAV Beijing Intelligence Technology Co Ltd Pre Flight Inspection Switch to manual mode and check F S setting to allow unlocking Using a four axis cross type multirotor as an example rotor direction inspection is carried out as follows The diagrams that follow give the conditions required for other types of aircraft 1 Check motor balance by making sure that all four motors rotate at the same speed when gently applying throttle 2 Check the aileron channel Push the aileron stick slightly to the left and the M4 motor should run immediately Figure 43 while the other three motors remain static Push the aileron stick slightly to the right and the M2 motor should rotate immediately Figure 44 while the other three motors remain static Figure 43 Figure 44 3 Inspect the climb and descent channel Elevator in the same way as the aileron channel Push the elevator stick up and M3 should rotate Figure 45 Pull the stick down to make M1 rotate Figure 46 Figure 45 Figure 46 4 axis X type Push aileron stick to left Push aileron stick to right Push elevator stick up Push elevator stick up Pre Flight Inspection Zero UAV Beijing Intelligence Technology Co Ltd 6 axis cross
70. r Mode Set Up Powers to the motors should be off or propellers removed to guarantee safety 1 Select correct operational mode a Click menu on your android to open the dialogue as shown in Figure 14 b Click Set to open the setting window as shown in Figure 15 c Open the drop down menu next to Stick mode as shown in Figure 16 China Mobile China Mobile g t China Mobile amp 192 168 1 254 OK Cancel Enable remote control Enable attitude control Set Quit Figure 14 Figure 15 Figure 16 d Check next to your stick mode for example US would be mode two left hand throttle 2 Verify correct stick movement a Press Adjust Transmitter in the settings interface and then press OK to confirm b Within 5 seconds rotate the left and right transmitter sticks to their extremes in all directions as shown in Figure 17 The flight controller will automatically collect maximum minimum and Fi 17 neutral values for each channel igure 3 Now make sure that the direction of movement of the sticks is reflected accurately in the diagram below You can only proceed to the next step after confirming this c Howto check stick position Inthe diagram below showing Manual Servo Data in the data interface the left stick is rotor and elevator and the right is aileron and throttle as shown in Figure 18 Zero UAV Beijing Intelligence Technology C
71. r the leftmost rightmost within 5 seconds After 5 seconds the AP will finish the auto collection Please confirm whether the manual operation and real RC operation displayed in Data Interface keep coincidency when moving any operating level can operate next step only after confirming they are coincident Rocker layout Model Rocker layout please choose your familiar Select don t change Throttle Adjust Transmitter Step 3 Select transmitter Stick Mode and direction of stick movement Step 5 Break rod is unlocked and mixing tesi 1 Bye bar unlocking test Remove the throttle locking up to the situation in the next execute breaking bar action 5 seconds to throttle lever you can start the motor More than 5 seconds after the motor insurance automatic locking Breaking rod movement Most left rudder elevator pull through to the right aileron rudder throttle received the most bottom To the right or left users need to decide to break rod direction for the character type or V type as shown below the Japanese hand as the V shaped After breaking rod The motor does not start automatically and you need to push a little throttle in breaking rod the motor will start 2 Channel mixing test Push the throttle on the ground hit the aileron and elevator and watch the motor response is correct whether mixing is correct If you are unable to judge suggest you find near the experienced people to help you cael
72. ral point Centre point NB Make sure your TX throttle stick is in the middle position it does not affect the actual throttle position Adjust transmitter Used to calibrate the transmitter s joystick Zero UAV Beijing Intelligence Technology Co Ltd Appendix Parameter name Parameter description Click to enter Magnetic Compass Calibration mode the status bar above Magnetic compass displays the calibration status Used to initiate reading the data saved in the FC within the last minute of 1 Minute Data is ta ship flight Please refer to 12 3 1Flight Data Record Black Box Function The Installation Guide will guide you through installation and alignment Installation guide step by step Used to align channels or enter parameters of craft Flight status will reset display Settings after clicking this button Once in settings the control channels for each motor on the craft are directly connected to the throttle channel of the TX and there is no mix output entered you may click this button to exit from settings If the Android Ground Station has GPS enabled the aircraft will follow the Follow Me moving course of the Ground Station Test parachute open before flight hold down the container lid to prevent Test Open Parachute deployment Test Close Parachute Close parachute after testing Appendix 2 Introduction to PC Ground Station 1 Main Interface Fie View W Path Settings S Tool
73. rameters power up the aircraft throttle up gently and carefully note that the aircraft response is consistent with your settings now you can confirm this with a trial flight Because the motors might immediately rotate at high speed after the aircraft type has been modified it is strongly recommended to remove propellers to make sure of safety 8 1 2 4 ESC Stroke Calibration Please remove propellers before ESC stroke calibration Some ESCs which have been designed specifically for multi rotors do not need to be calibrated Here we take the Hobbywing did as yours ESC as example hi DDM goodtime 1 Connect the autopilot power B Bs Fi ee only pull the throttle to the 3PS velx cm GPS vely cm bottom and put CH5 to Capture Transmitter Centre point position 1 Adjust Magnetic ence aa a n Transmitter Compass 2 Click Init Setup in Setting i 1 Minute Installation page as shown in Figure 22 Data Guide Click Confirm button in the Init Setup Quit Setup dialog box Now the Flight Zero Gyro pos info Mode should be displaying Mixing Follow Me as Settings in the Data Define screen of the GCS as shown amp Control Data Map Settings Parameter In Figure 23 Figure 22 Figure 23 3 After arming the motors with CSC Section 9 2 Unlocking and Arming the Motors push the throttle all the way to the top and then connect power on No propellers 4 Pull the throttle to its lowest position after
74. re of SE vital flight parameters Connect the OSD COM port to the ENE COM port on the flight controller Full details are available in the ZerOSD manual Batt mAH 0 mAH Bat t gt OA Connected to Wi Fi network H w Control Data Map Settings Parameter Figure 64 Zero UAV Beijing Intelligence Technology Co Ltd Extending the Range of Capabilities Bye Make sure the flight controllers not powered if it is please disconnect Before upgrading the firmware please download the special firmware upgrade tool on the Zero UAV official website http www zerouav com en service Download Firmware Upgrading X4V2 firmware is simple Upgrade the firmware according to the following Plug the serial converter end of the USB cable into the PC USB port the other end to the B re I et Figure 65 File Action View i Help i AEN E A RS b gt A Mice and other pointing devices p il Monitors a EP Network adapters mH Bluetooth Device Personal Area Network E Bluetooth Device RFCOMM Protocol TOI Bee E Broadcom 802 11n Network Adapter ll Realtek PCIe GBE Family Controller 4 b0 Other devices p i Sound video and game controllers procedure 1 Download the USB driver from the ZERO official website and install it 2 COM port on the Flight Controller white cable upwards 3 Extract the YS X4 X4V2 X4P Gemini M S firmware upgrade archive
75. reparation and Debugging Zero UAV Beijing Intelligence Technology Co Ltd 8 Ground Control Software setup and Debugging The aircraft will be set up by following the GCS installation guide We can follow your own customized setup in the GCS app It is recommended that you follow the GCS installation guide because it is easy to miss out essential steps if you do it yourself and you may damage the equipment as a result You should pay attention to the following points during the installation Before turning on the transmitter or powering the flight controller when you are installing or debugging make sure the propellers are removed and it is recommended that you are able to power the motors separately from the controller Switch your transmitter to manual mode and advance the throttle before entering settings otherwise it will not be possible to make changes Note Carry out the following inspections if there is no data transmission during installation or debugging 1 Examine whether the wires are connected correctly 2 Examine whether there is any problem with the flight controller connect the flight controller to the PC and see whether there is any data transmission from the flight controller the flight controller can be considered faulty if there is no data transmission but the USB serial port lead is working okay 3 Check Wi Fi configuration An automatic alarm will be made by the mobile ground station if
76. route flying is carried out as follows 1 Connect the PC via Wi Fi and open the ground station Select File Open Wi Fi 2 Route design Click Dy k then click to exit waypoint generation to open waypoint route design click on each waypoint in turn Waypoint route design can be single point editing manual generation of route and automatic route generation Single point editing each waypoint contains key parameters of Height Cycle time and Speed Right click on the waypoint and select Edit to change these parameters Height is the altitude of the aircraft relative to the takeoff point at that waypoint The aircraft will gain or lose altitude between waypoints if they are of different heights The default altitude of a waypoint is the current height of the aircraft when switching to navigation mode BS TERO TECH G Adii PathSwtingel Teci SetingolSl Hulph rnam Cycle time is the BA f nr Bax gt time spent stationery at each waypoint The default setting for the first waypoint is 65535 Speed is the speed of the aircraft to the next waypoint Snapshot config sets up the ability to take a photograph Se 50 545162 Disable Snapshot at intervals or at each h SN S430 Disable Snapshot 3 50 546747 Disable Snapshot i 2 444513 50 546680 Default Disable Snapshot 3 waypoint indicated
77. rs The flight controller will lock the motor again if no throttle has been applied within five seconds In this instance you should perform the unlocking operation again Checking F S protection is intended to reduce the possibility of accidents in the flight Failsafe check should be made each time the system is powered The motor will run when applying throttle after unlocking It s normal for some motors to slow down or even stop if there has been no take off The aircraft will take off normally only by increasing the throttle Motors are locked by the X4V2 flight controller for the purpose of safety Motors will run normally only after unlocking The unlocking procedure also Known as arming or applying CSC is as follows using a FUTABA transmitter as an example in Japanese stick mode mode 1 1 Check F S protection by shutting off the transmitter the flight status bar on the ground station should display Returning and landing before attempting to unlock If it does not you should reset failsafe 2 Unlock by pushing the rudder stick to the extreme left and pull it fully down Now push the aileron stick to the extreme right and pull it down Note When unlocking the reverse V type A is required for the left hand pattern Japanese and American or Mode 1 and Mode 2 while the V type is required for the right hand pattern Chinese and European or Mode 3 and Mode 4 Reverse V type 9 3 Ins
78. rting position after having attained GPS lock with seven or more satellites 2 Carry out any of the following operations to hand over control to the aircraft to return and land The aircraft will not respond to the flight control sticks on the transmitter during this time Switch CH5 and CH6 to position 3 on the transmitter On the mobile ground station click Map gt SPC Auto Landing On the PC ground station select View gt Panel and open the instrument panel and click Auto landing 3 The aircraft will land slowly after reaching the take off point and at this stage you can adjust the position of the aircraft if you need to find a better landing position The flight controller automatically applies throttle at this time and the throttle stick of the transmitter is inactive Zero UAV Beijing Intelligence Technology Co Ltd Flying at the Field 4 The motors will gradually stop rotation when the aircraft is fully on the ground and the throttle stick reduced to minimum The motors will be locked after 5 seconds and a CSC operation is required before restarting Note If the aircraft is 25m or more away from the return point and less than 20m in height the aircraft will climb to 20m before returning when switched to auto land mode The Aircraft will return to its original height after switching to auto land mode if the aircraft is higher than 20m The aircraft will re
79. s Settings Helpt how KP nnam arget Waypoin Change Target Flight Altitude Change Altitude FlyT oPP PTZLock Quit PTZ PP Set Home Location Auto Landing Auto Take Off Enable Skyway Disable Skyway Init setup Quit Init setup Enable Course Disable Course Locked Locked Top Reset Get Photo Data mage aora e a Google earth r mage 2014 DigitalGlobe Imagery Date 4 6 2012 50 31 37 49 N 2 25 43 58 W elev Om _ eyealt Mouse 2 42877 50 52708 0 13504 2 Menu Bar Profile Appendix Zero UAV Beijing Intelligence Technology Co Ltd File F Tab Bb ZERO TECH GCS File F View V Path Settings S Tools T Settings S Help H Flight playback T Open Com Data Connetion R Open Wifi Data Connetion W Close Data Connection C Goole Earth E Goole Maps M Quit X Path Settings S Tab File F View Load Path from File L Save Path to File L Edit Current Pathi E Upload Path to AP UJ Download and Check PathiR Path Settings S Tools T Delete Path on the Map D Settings S Tab gt ZERO TECH GC File F View V Path Settings S Tools T Help H Ru A RQ Installation Guide l Parameters P Transmitter T gt Mangnetic Compass M 1 Minute Data D Other O Test Parachute S Help H Tab software version Tools T Settings S Help H Q About A Note View V Tab OTE
80. sed without GPS positioning Indoors for example 10 2 2 Mobile Attitude Control Mode Be Please keep the aircraft horizontal before starting attitude control mode Otherwise the aircraft will fly off in the direction that the mobile dips after switching to this mode Mobile attitude control mode can only be used in mobile remote control mode Control mode will automatically switch immediately to mobile remote control mode after exiting from the mobile attitude control mode However exiting mobile remote control mode will revert to transmitter control Click the mobile device menu key and click Enable Attitude Control to open the attitude option the remote control interface will switch to a blue cross indicating that mobile attitude Zero UAV Beijing Intelligence Technology Co Ltd Flying at the Field control mode is started as shown the figures on the right Disable Al Disable Engine koi Control Data Map Settings Parameter Non attitude control mode Attitude Control mode The status of attitude control mode can be seen in the following table After Enable Control Remote control interface operation Dot status Red non positioning Green positioning Hold the mobile device horizontally and do Hovering operation not touch the screen Move forwards Tilt the mobile device forwards and and backwards backwards Move left and right Advanced operation Tilt the mobile device from left t
81. sssccccsscccceesccceensccseeececseeceeaeecesaaeeceseueceeseseessauseesees 32 9 3 Inspecting Motor Rotational Direction ccccsccccsssscccseececeseccecescccseeceseaeseeseaecesseaseessaeeessees 33 1O Fiying at the Field erscirri AA 36 dl Get BBS fed gees t Se E AE EE E EEEE re 36 Zero UAV Beijing Intelligence Technology Co Ltd 10 1 1 LED Status INGICATIONS cece ccc ececcececsccccececscuceccecececucaeaececucutataececusasaeeecscusaeaeeecucueaeans 36 10 1 2 Motor Balance and Real Throttle POSition ccccccccssssecceceesseceeeseeeeeceesseeeeeeesseeseeees 37 10 1 3 Adjusting Aircraft Vibration Parameters cccccsssecccccsseceecseeseceeeeeesecessaeeseeessaeaeeeeees 38 TZ FNS Pe Ge OIC E E E ares onic nt AEA A AN EAE A EE 40 10 2 1 Using Your Mobile Device for Remote Control of the Aircraft cccccseeccesseeeeeeeeeees 40 10 2 2 Mobile Attitude Control Mode cccccccccsssssseeeccceceaeeseccccessueeseecceeessaeaasesceeesssaanseseess 41 10 2 3 SEMI AUTOMALIC Take ON neramina n E A EEO 43 10 2 4 Return and LANA cccccesseccccceessececcseesececeeeeseccceseusececsseuseeeesseuseesesseussesessenssesesuegseeseees 43 10 2 5 Fly to Point on the Map FIYTOPP c csssssecccceecceeeseeeccceeeeeeeeeeceeeeeeeeeseecceeeeaaaageeeess 44 10 2 6 Way P int Flight sessienurriiusinisnesreinsnni ae Na 45 10 2 7 Tracking Mode Heading Hold ccccccccsssssseeeccceceeeessecc
82. sssssseessssserrssssrresssrrresssrrresssrreesserresssereeesseereeseeeeesseeee 10 TAANI F COMEU O coercere een an a i aa Ta 10 7 3 Setting p the TrANSIMICEEIS ocdaesaiesesncoseaissndacsieoasabannesdiwsesaciaiinantoosuanaaubieammesuesrsansewsineaiiavsannstubetees 13 8 Ground Control Software setup and Debugging ccsccsccsscssccsccesccscceccesccscceccescscceccescesccecceses 15 8 1 Mobile Ground Station Debugging ccccsesscccccsseeecccceeseceeeeeeseceesseesececssaeseecessuaueeeessueaeeeseaees 15 8 1 1 Ground Station Software Auxiliary Setting Installation Guideline essssssceescresesrcees 15 SALAM MUN SU IG 5 earr aE A E E REE EEA 17 8 2 PC Ground Station Setup and Debugging ccccccsssscccesseccceecccssuscceseeceseaeceseascessaeeessanseesees 22 8 2 1 Ground Station Software Auxiliary Setting Installation Guideline ssssnssossserrenesssse 22 8 2 2 Manual Settings c cccccccssscccceseccceessecseeseccseecesseeeeseaeeeessueeceseuscesseusesseaesesseaseesseaeeeseas 24 9 Pre Fent 1S OSCE ON cana iccaneanatawusentuavevedessveiveteus viniatan E ihaamianuna eaves 29 9 1 Calibrating the Magnetic COMPASS cccccssssecccccessecceceeeseccceeeeeceesseeeceessaeueecesseaueeeesauaeeeessaees 29 g1 SINE NEAN GCS eera EE E AR E se eae eee 29 9 1 2 Compass Calibration Using a PC Ground Station ccccsssccccsssccceseseceeeececseeeesseeeeesees 31 9 2 Unlocking and Arming the Motors cccc
83. the arrow labelled Front pointing to the aircraft nose as indicated in the following diagrams YS SERIES Direction of aircraft nose 5 3 Installation of the GPS Install the GPS on the bracket with the GPS label facing upwards and the small arrow pointing to the aircraft nose The appearance of the bracket is as shown in Figure 1 Figure 1 Mn Make sure the small arrow points to the aircraft nose If not the aircraft will circle toilet bowl when in auto hover Place the GPS module in an elevated and horizontal position away from equipment which can produce magnetic fields such as cables transmitters and cameras without screening Zero UAV Beijing Intelligence Technology Co Ltd Installation 6 Wiring 6 1 Port Definitions Port Definitions X4V2 flight controller Port Port function w e ESC for Motor 5 Switching flight mode ESC for Motor 6 Switching flight mode 1 Connect NO 7 ESC or connect roll Control the gimbal pitch and roll Connect S BUS receiver for multiplex NOT support S BUS2 port of 7008SB of servo gimbal for multiplex Connect PPM receiver for multiplex Ma ESC for Motor 4 Y C M1 2 Connect NO 8 ESC or connect pitch of servo gimbal for multiplex Wi Fi data unit or to PC via USB OM oo Power management module option for updating firmware etc LED indicator 5 7V output from power module GPS R GPS R Red terminal from GPS module
84. turn at its current height if the aircraft is less than 25m away from the return point The aircraft will exit from return and land mode only after switching CH5 to position 1 10 2 5 Fly to Point on the Map FlyToPP 10 2 5 1 Mobile Ground Station Fly to Point Bx Take care when using FlyToPP that the aircraft does not fly out of sight FlyToPP can only be carried out in GPS automatic hover mode The procedure is as follows 1 Switch CH5 to position 3 and CH6 to position 1 on the transmitter 2 Select a point on the map Oee ABSA BAC ED interface a yellow smiley will appear at that point as shown in Figure 53 3 Click SWP then OK the smiley will change into a purple star as shown in Figure 54 4 Perform the same procedure to fly to the So a an E ka next target point Control Data Map Settings Parameter Control Data Map Settings Parameter Figure 53 Figure 54 Note The aircraft will fly without turning if the distance between two target points is less than 10m the nose of the aircraft will turn towards the next target point if the distance is larger than 10m Flying at the Field Zero UAV Beijing Intelligence Technology Co Ltd 10 2 5 2 PC Ground Station Fly to Point FlyToPP Fly to point can only be achieved in GPS automatic hovering mode The procedure is as follows 1 Switch CH5 to position 3 and CH6 to position 1 on the transmitter 2 Open the ground station and select
85. ty This is the sensitivity of roll and pitch of the aircraft The value will Pitch Sensitivity have a direct effect on the sensitivity of the controls too small or too large settings will make the aircraft unstable Settings represent the angle speed error and are in the range of 0 to 255 The larger the value of the sensitivity the more rapid the response of the aircraft but too much sensitivity will result in high frequency vibration Sensitivity needs to be reduced for aircraft with high speed smaller propellers Sway Compensation This sets up vibration dampening for aircraft with a lower propeller rotation speed this will improve the stability but reduce sensitivity The range is from 0 to 255 A value too high or too low will cause instability If there is no sway compensation the aircraft will rock backwards and forwards rather than snapping directly into its neutral position f your aircraft repeatedly rocks then the value needs to be increased to stop the aircraft rocking This value should be reduced when the high speed vibration appeared Photo spacing Sets up the distance interval in meters between two photograph captures within the range of 5m 255m This parameter is only available in automatic photography mode PTZ Roll Sensitivity The PTZ Gimbal roll output and PTZ pitch output sensitivity is PTZ Pitch Sensitivity used to adjust the compensation angle of the PTZ data for your Gimbal You can compens
86. ure 29 3 Check the stick movement is consistent with the directions indicated in the GCS a Check display positions In the flight data interface stick positions are shown as per the diagram below Mode 2 is indicated where the throttle and rudder are on the left stick the aileron and elevator are on the right stick as shown in Figure 30 Ground Control Software setup and Debugging Zero UAV Beijing Intelligence Technology Co Ltd When the sticks are in their Te EREA Mode2 t neutral position they are shown in green When moving they are shown in ee 77 Rudder Aileron red At their full extent they are shown in yellow Throttle Elevator Figure 30 b Select Setting gt Transmitter Capture Transmitter Centre point N to make sure the flight controller records the correct neutral position if this has not already been done in fine tuning 8 2 2 2 Checking CH5 and CH6 Switching and F S failsafe Check operation mode switching Check whether the switching of operation mode is correct after connecting GCS module For example the flight state i ll File F View V Path Settings S Tools T Settings S Help H how KF 1 dm on the Flight status interface on the right side of the GCS should display 19 7J s Manual when CH5 is at 14 z aie a Data SIO NOAA UTS NayyiNGAGGEECO Le ys 7 as re x z position 1 and CH6 in any me Conteh Sa
87. ute generation route Uploading a route after drawing a route it must be uploaded to the flight controller Click Upload Waypoints in the Tools menu The route can also be stored as a file for use in the future Click Save Waypoints To examine whether each waypoint has been uploaded successfully the color of the waypoint will change to blue indicating success or change to orange to indicate failure Uploading should be done again in case of failure Flying at the Field Zero UAV Beijing Intelligence Technology Co Ltd 3 Route verification Click remove route points to change blue points into orange points and click verify waypoints to download the currently uploaded waypoints into the ground station for comparison If all waypoints change to blue the route stored in the flight controller is consistent with that in the ground station indicating no errors If this is not the case the route should be uploaded again 4 Waypoint flight gt Automatic flight 1 Switch CH5 to position 3 and CH6 to the position 2 on the transmitter 2 Click Map gt SPC Enable Skyway the aircraft will fly automatically to the first waypoint and hover 3 Enter 2 inthe textbox Target in Map gt SPC and click Target now push the elevator stick up and the aircraft will fly to waypoints in the order 2 3 4 Until the route is complete when it will fly to the first waypoint and hov
88. within a status error of 5 as shown in Figure 38 turn around two or three times slowly making sure that the blue LED stays lit If the blue LED goes off stop and adjust the aircraft before continuing Direction of aircraft nose _ Select Save Alignment in the dialogue box and click OK Figure 38 You will need to wait for the flight controller to process the recorded magnetic data A purple LED will show during the processing When the purple light goes out calibration is complete The ground station will switch to the remote control interface automatically and spend a few seconds calculating Then it will display two circles one blue and the other red as indicated in the following figures The superposition of two circles red and blue indicates successful calibration If this is not the case you need to start again with a new calibration operation Calibration excellent Calibration okay Calibration unsuccessful Pre Flight Inspection Zero UAV Beijing Intelligence Technology Co Ltd 9 1 2 Compass Calibration Using a PC Ground Station Bx The magnetic compass must be calibrated before the first flight after installation of the X4V2 flight controller Calibration should be carried out in a clear space outside calibration should not be done indoors or in an environment with strong magnetic fields such as in the presence of cars or shipping containers You should also calibrat
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