YS-X4 Multi-Rotor Autopilot
Contents
1. Electronic Device Main Controller MC IMU X1 1The MC integrated with built in Inertial Measurement Unit IMU communicates with GPS Compass and other external electronic devices to carry out autopilot functionality 2 Update firmware via PC RS232 serial port 3 Display realtime flight status assistant with GCS via Bluetooth or WIFI MGPS Compass X1 It is for locating and sensing direction MLED Indicator X1 It is for indicating current flight states via blinking in different colours 1 It is for communicating with the hot spot of Phone Tablet 2 It is for data communication by building up AP Wireless Network 3 It is for communicating with the WIFI of Phone Tablet M Power Module X1 It is for connecting Battery and MC to provide power supply to YS X4 Input Voltage 3S 6S output voltage5 7v Accessory MGPS BracketX1 GPS Compass is sensitive to magnetic interference please use this bracket to mount GPS module E 3 PIN Servo Cable X8 Used to connect MC to RC Receiver E Sticker Paper X1 amp Cable Label Paper X1 Copyright C 2012ZeroUAV 5 All Rights Reserved It provides Product Serial No Purchase Date Please fill out related information and return back to Zero UAV for registering your product warranty Software Download on website eGS Software for Android System eGS Software for PC Windows XP 7 SP3 system eFirmware Program on PC eFirmware updating assistant Copyrigh2. the Tx stick display on GCS will chang following Tx mode changing If user have done the trim press Set gt Capture Tx Center Point to let autopilot record the correct stick center position if manual servo position is not in the middle position when releasing the stick Copyright C 2012ZeroUAV All Rights Reserved Rudder Aileron Elevator Throttle Control Data Map Set Motor balance If clockwise and anti clockwise propeller lose balance as well as revert torque it may display clockwise anti clock propellers are not level in the status bar when the copter hover from the ground and maintain the course Then keep the corresponding motor flat or change propellers to be better It is suggested to carefully check whether motor and propeller are balanced and symmetrical in level until the motor balance display as good when copter hover in level Throttle stick position It means the average throttle stick position when hover generally it s normal 40 65 display as green it indicates the copter is lighter and the ESC works in light load status if the value below 40 display as yellow it indicates the copter is heavy and ESC is working in heavy load status caused low battery voltage make sure to adjust the load otherwise it will lead motor speed regulation is not enough resulting in weaker steering and flying failure 9 4 Auto takeoff and Auto landing A Semi auto amp manual altitude hold mode takeo
3. 4 ZERO TECH YS X4 Multi Rotor Autopilot User Manual V 2 2 Revised on June 22th 2013 Y5 X4l ZERO UHV www zerouav net Copyright C 2012ZeroUAV l All Rights Reserved YS X4 Profile YS X4 Autopilot system for multi rotors continued the innovation Practicality Convenience style of Zero UAV s products applied to brand new design of integrating IMU into one unified box with MC possessing fashionable appearance with metal texture supports various ground station such as smart phone amp Tablet of Android system and PC system YS X4 autopilot is specially designed for hobby applications equipping with excellent features such as auto navigation target lock self leveling position altitude hold follow me click amp go etc It can be installed easily in various common aircraft types from Quad rotor to Octo rotor Including common Customize Motor Mixer and Supports most common third party commercial ESCs brings you extremely different flying experience Warning and Declaimer 1 The manual contains information about installation debugging and how to use the product Please read it thoroughly before using the product 2 Zero UAV Beijing Intelligence Technology Co Ltd assumes no liability for damage s or injuries incurred directly or indirectly from the use of it 3 Please keep far away from the crowd children and property when using the product 4 When any of the following events or incidents has taken placed we
4. Fly TO PP Fly to Point Fly Please check Fly To Point Fly page PTZ Lock Target Lock Fly Please check Target Lock Fly page Locate FlytoPP PTZLock Move Map center to operation area Exit FlytoPP PTZLock Remove the FlytoPP PTZLock mode Click it to enter editing waypoints please check Waypoints Fly Page Default Tool Restore the waypoint to be default Add Waypoints To add more waypoint to map Remove Waypoints To remove the waypoint colour make the blue waypoints recover to red Verify Waypoints To confirm whether the waypoints are uploaded successfully Upload Waypoints To upload the waypoints to Autopilot Copyright C 2012ZeroUAV 62 All Rights Reserved Delete Waypoints To delete the waypoint on map Load Waypoints To save the waypoints designed well to phone memory card for next time use Waypoint edition Click on waypoint there will be a text box display as below te P O 12 06 AA OU i206 Ae O 12506 Edit Waypoint Please Select pe ep Edit WayPoint tug Mihia Upload WayPoint Delete Wa y Point Edit WayPoint 0 Used to edit waypoint attribute longitude and latitude altitude and speed Upload WayP oint 0 To upload the waypoint Delete WayPoint 0 Copyright C 2012ZeroUAV 63 All Rights Reserved Current waypoint number The height of current waypoint unit meter Longtude BA atude jS
5. Power on the servo before using the gimbal For those servos with bec function leave any one of which powered on and others powered off For the servos without bec function connect servo battery to any one port of the Min M8 Connect EXT1 to gimbal roll servo and EXT2 to gimbal pitch servo Roll Sensitivity amp Pitch Sensitivity in the Parameter Section GCS is for adjusting the correction angle of gimbal The Gimbal Sensitivity range from 127 to 127 may be negative for reversion and modified higher lower if correction angle of gimbal is smaller bigger Power on Tx first before use of gimbal and use no less than 7 channels set CH7 to knob switch so that YS X6 can read the CH7 to export the gimbal pitch location When adjusting Ch7 gimbal pitch location will be adjusted and get Stabilization from new angle The spare channels may be used for other applications With gimbal roll unset roll servos will maintain stabilization in the middle position With gimbal roll tilt to one side adjust it by clicking Enter Setup in Setting section CH5 must in manual throttle stick in the min position after that CH7 s knob turns for controlling gimbal roll The gimbal roll s balance position may be fixed and saved by clicking Quit Setup when gimbal roll is adjusted to proper position after that CH7 turns for controlling gimbal pitch again 2 Power Calculation Module When YS X4 is connected with power calculation module
6. 2 Power Management MOdull cece eescesceseeeseseneceseeeseseeeeeenaes 47 i ae Bs c s len ee ere Pn EAE E A AA A E A 48 13 Gains configuration for Wobble FIX eee eee eeneeeeneeeteeeeeeeneees 50 14 Firmware UDG AGC sigacacssssccccrscrcctetuissca ON 52 Appendix 12 VED DES ChDUON 2aisicuxcecnescneeciiee E 55 Appendix 2 Porn Descriptio Dereser T 57 Appendix 3 GCS Interface Introduction ssesssseessssesrssesrsserrsssrersseresse 58 Appendix 4A Vidoe EINK Sig csr eather ceed ede eats 69 Copyright C 2012ZeroUAV 7 All Rights Reserved 1 Assembly Assembly with WIFI Module Futaba S Bus g EM Receiver Receiver 35 65 Battery OV Power Supply Module e The power supply range of MC Autopilot and WIFI both are 3s 6s lipo Power remains a little i e 10 8V 25 5V MC provides 5 7V power to RC receiver automatically no need to add any out built power module With proper assembly Never plug the power to any other channel otherwise the FC may be burnt out and powered on the autopilot will complete initialization in few seconds and LED light starts to blink in red for three times in cycle which indicating the assembly is proper and FC has been motivated successfully Refer to Appendix 1 for details of LED description eIf blue or green Led blinks after red LED blinks for 3 times it indicates FC is not in manual mode because the Tx is not configured or CH5 is not set to
7. E EAR Map Set Param Control PELE It shows how many satellites were locked Display real time craft altitude during flight Course Angle means the directions which the craft head points to Due North 0 degree clockwise direction is positive counterclockwise direction is negative For example Due East 90 degree Due West 90 degree Due South 180 degree or 180 degree Notice It works only when in GPS mode and flying in Auto Modes it will not work when in Manual mode or Attitude mode GPS velocity It displays a value below 10 when the aircraft is static Flight Data Copyright C 2012ZeroUAV 59 All Rights Reserved xeKT velx The velocity after Kalman filting It displays a value between 0 20 and increase xekf vely xekf veld constantly When the velocity exceeds normal range LED will be in solid white suggest you land the aircraft urgently Autopilot Voltage Battery consumption The current of battery Distance To Home 0M Distance from takeoff position to current position Flying time Fignt Time Target Point You can fill the waypoints number which you want the aircraft fly to Flight hlode It displays the craft states Manual Manual Altitude Hold Auto Hover Auto Navigation Auto Go Home and Land setup status Display realtime attitude angle during flight Vibrations from IMU 1 10 means your craft is in good condition Above 10 it means vibration exceeds limits Up amp down is
8. if not same please set Tx channel to be inverted On the left side of the diagram means sticks of Rudder amp Elevator on the right are Aileron amp Throttle A yellow mark may display there at the base if the throttle stick placed in the min position Copyright C 2012ZeroUAV 13 All Rights Reserved AP Voltage EENE Real Throttle Aileron Elevator Throttle p ee o Control Data Map Set 2 CH5 amp CH6 check Fail Safe Setup Set CH5 amp Ch6 to Position1l ensuring flight status is manual in Data section Setup the F S of Tx referring to the instructions from manufacturer making sure flight status is Returning amp Landing in Data section 3 ESC stroke calibration skip this section for some special ESCs with no need to calibrate Now take HobbyWing ESC for an example A only power on flight controller push throttle stick in the min Position CH5 to position1 click Enter setup in Setting section GCS keep motor armed over 0 1 sec when screen up Then push full throttle connect power battery remove the propellers B Push the throttle stick in the Min position if hearing the alert B B from ESC it indicates the ESC stroke is completed when hearing B B B B related to battery cell number C Click Quit Setup in Setting section GCS then OK when screen up Setup Aircraft type and parameter gains Fill in local magnetic declination to West is positive to East is negative
9. positionl Then adjusting CH5 to positionl can make the light blinks in red for three times e The above the light blinks in red for three times is a sign to check whether all hardware are working normally or not all data communication is based on this After powering if no the light blinks in red for three times please contact Zero UAV or local distributors Copyright C 2012ZeroUAV 8 All Rights Reserved A Please check out the assembly carefully referring to the figure above before powering on FC any wrong connection of IMU or GPS may result in burning out the devices e ESC and motors will produce serious magnetic interference during moving so make sure GPS amp magnetic sensor module are installed by nonferrous to keep them far away from motor and ESC especially there are multiple ESCs and the arrow is towards aircraft nose Otherwise the aircraft will fly circling around and incorrectly hover As there are rich eletric current in the batterywire which can produce magnetic field be sure place the batterywire far away from GPS and magnetic sensor module otherwise the craft will fly in circle in GPS mode e When using gimbal user need to power on the servo Just leave one ESC powered on if ESCs come with bec function and others powered off Connect servo power to any one port of the M1 M8 if ESCs come without bec function Copyright C 2012ZeroUAV 9 All Rights Reserved 2 WIFI Configuration STEP1 Download YS G
10. megatic sensor data shall display on the phone after waiting for dozens of seconds The purple LED keeps going on during data read And you should see 2 round circles are almost on top of each other which indicates a successful calibration and good data Successful Calibration Image Copyright C 2012ZeroUAV 19 All Rights Reserved Tips After correct assembly and successful magnetic compass calibration once no need to recalibrate without any constructional reconfiguration or only upgrade the firmware Copyright C 2012ZeroUAV 20 All Rights Reserved 5 Control Modes Notices e Choose two 3 position switches as control mode switch setup which to CH5 amp CH6 by Tx e CH5 is for switching among Manual Manual Altitude Hold GPS modes Note the flight status display as manual manual altitude hold auto hover on Data section GCS e CH6 does not work until switching CH5 to position 3 i e GPS mode CH6 is for switching among Auto hover Auto navigation Auto go home ch5 position 3 gps mode i T ch5 position 2 manual y S ees ch6 position 2 Auto Altitude Hold ON l S x AK navigation pe ch6 position 3 Auto home ch6 position 1 Auto hover ch5 position 1 manual The RC receiver on aircraft may be switched on off by the button Receiver on and Receiver off in Setting section GCS Tx operations do not work on aircraft with RC receiver switched off when the two button
11. mode when the signal is not good red light blinks or the GPS Velx cm amp GPS Vely cm in GCS is more than 15cm s The Gimbal Servo can be supplied power from any ESC but if ESC has no BEC output please add extra power but not use the power supplied from Autopilot In auto Go Home mode the two ways can stop motors Make throttle stick under 10 Click Diable Engine in Control of GCS The above two ways can not stop motors when in other Flight Mode The low voltage Alert is NOT fun You should land your multi rotor ASAP when the Alert remind you to prevent your multi rotor from crash or any other harmful consequences Please don t takeoff when the Vibrate state in GCS displays a high value Must check the Course Angle and Magnetic Declin value in GCS are correct after compass magnetic calibration Copyright C 2012ZeroUAV 3 All Rights Reserved 14 Must check the Attitude Angle and Static Angle in GCS are correct before takeoff 15 Please pay special attention to the wire connection of GPS COMPASS IMU and MC Wrong wire connection will result in short circuit and may smoke your devices 16 Anti plug Design is NOT fun please don t try 17 In some strong magnetic field if Course Angle value displays different from real rotational angle please recalibrate the compass magnetic before takeoff Copyright C 2012ZeroUAV 4 All Rights Reserved In Box MHardware eSoftware Download
12. CS It must be installed to the Mobile memory card Android system can be installed automatically via running file installation once in the file manager Apple system can be installed after APP jailbreak please refer to Apple Installation Instructions Se ull 11 24 STEP2 WIFI Communication Two communication modes lt Router Mode gt and lt PTP Point to Point Mode gt are available of WIFI module The default communication mode is lt Router Mode gt both the SSID and password of WIFI are marked on the back side of warranty card Users can configurate different modes by self referring to the Video and download the WIFI Configuration software http youtu be 9FGLOHFIkTk PTP Peer to Peer Mode Copyright C 2012ZeroUAV 10 All Rights Reserved a WIFI integrated with router A A A Multi Rotor with YS X6 installed j Mobile In PTP mode Mobile and WIFI communicates directly and no need to prepare extra router 1 After WIFI works search and communicate with the wireless network named ZERO TECH The LED on WIFI module blinks before data communicated but be solid when data communication 2 Enable GCS the data will display there if WIFI and network communicated But if your mobile is not compatible with PTP mode please configurate the WIFI module to lt Router Mode gt referring to regarding video http youtu be 9FGLQHFIkTk Router Mode Copyright C 2012ZeroUAV 11 All Rights Re
13. Latitude of current waypoint Time of hovering unit is second zero means no hover Disable Sna Optional of camera attribute ib Mis It means the flying speed of craft from present position to next waypoint Settings Interface oO a Save Alignment Successful Capture Zero Transmitter Gyro Centre point Init Setu i P WAELE 1 Minute Guide Data Enable Disable Function Mixing Adjust Magnetic Skyway Skyway Limit Define Transmitter Compass Roll Pitch Capture Capture Auto Auto Unlock Preset Take Get Photo 2 Steadicam Alignment Landing TakeOff Motors PTZLock Photo Data Set Home Follow Me Enable Disable Zoom In Zoom Out Location Course Course Locked Locked Video Record Stop Copyright C 2012ZeroUAV 64 All Rights Reserved Init Setup It s used to align channels or complete parameters of craft After clicking this button flight state will display Settings After getting into settings the control channels for each motor on craft is directly connecting to throttle channel of RC Transmitter and no any mix control output After completing Throttle Alignment and all parameters filled click this button to exit from settings Enable receiver Disable receiver Notice It is strongly recommended not to operate with receiver off for primary learners Enable disable waypoints flying when Tx switched to Auto navigation mode Back Lan ding Auto Go Home and Landing After the aircraft reaches h
14. Select correct type of craft referring to Chapter6 in this manual 4 Magnetic declination Option 1 not available currently please choose option2 directly Make sure to fill in the correct magnetic declination which only round number without decimals referring to the below website http magnetic declination com http www ngdc noaa gov geomagmodels struts calcDeclination Precaution For magnetic declination west is negative and east is positive on the magnetic declination website abroad however as for YS X6 it is positive to west and negative to east since the magnetic declination is to west in most regions of China Make sure to distinguish the difference Copyright C 2012ZeroUAV 14 All Rights Reserved Note Make sure to fill in round number on GCS positive number for the West declination and negative for East E g Please fill in number 7 if the declination is 7 23 degree West please fill in number 7 if the declination is 7 23 degree East Or click on the following link download declination query software http www zerouav net site_mag UpLoads GetMagnetic rar With PC connected to Internet open the software click on the Map or Satellite then operate according to the software tips Right click on the map area you can get the longitude and latitude in the size of the magnetic declination EA Get Magnetic Declinatio eee Tips On the left google map Click the right mouse button to get magnetic decli
15. ach motor s roll pitch and turning so that the parameters are available to the multi rotors in non conventional rotor arrangement e Customized Throttle all of them must be 100 e Customized Yaw to keep the aircraft right rotated rotation change speed of corresponding motor should be decreased to 100 and increase to 100 e Customized Pitch to keep the aircraft nose downward rotation change speed of corresponding motor should be decreased to 100 and increase to 100 Customized Roll to keep the aircraft roll to right rotation change speed of corresponding motor should be decreased to 100 and increase to 100 Now let s take Quad X as an example the gains may be setup as below lh 17 25 THR COURSE PITCH ROLL kn o 90 5 So C E C3 A O 100 wi i Copyright C 2012ZeroUAV 24 All Rights Reserved In GCS please click Setting Parameters Define to fill in the gains Confirm the parameters are proper then select customized as Aircraft Type Make sure the parameters are verified successfully by clicking button Parameters Define Get Repower YS X4 throttle up a little making the motor move in slow speed meanwhile check whether the mix control is the same with settings carefully flying may be started after confirming Copyright C 2012ZeroUAV 25 All Rights Reserved 7 motor start motor cut and Failsafe Enable Motor Protection Only if it is in
16. ation The screen below will appear by pressing the button Calculate i Declination x EDF i ERR i HERBIE 2013 GS 2011 6020 AutoNavi Google PAZ So the declination is 0 23 degree please fill in number O Copyright C 2012ZeroUAV 16 All Rights Reserved Note Make sure to fill in round number on GCS positive number for the West declination and negative for East E g Please fill in number 7 if the declination is 7 23 degree West please fill in number 7 if the declination is 7 23 degree East Copyright C 2012ZeroUAV 17 All Rights Reserved 4 Magnetic Course Calibration There is no need to calibrate the magnetic course in manual mode and the Course Angle in data page of GCS will keep displaying as 0 But in GPS mode the magnetic course calibration must be finished before take off Ferromagnetic Substances placed on multi rotor or around its working environment will affect the reading of earth magnetic for digital compass it also reduces the accuracy of the multi rotor control or even reads incorrect heading Calibration will eliminate such influences and ensure MC system performs well in a non ideal magnetic environment The magnetic data will display once after calibration and be saved to the autopilot STEP1 Calibration in horizontal 1 Click the button below in Setting section of GCS to get Compass Calibration screen up Magnetic Compass 2 Select Horizon calibration gt Ok the
17. axises 9 3 manual servo position The display in Data section of GCS include the data below manual servo position When Tx channels calibrated a Tx stick diagram will display as Manual Servo Position on GCS Data part if the Tx sticks are placed in the middle position the left of diagram means Elevator and Rudder and right means Aileron Throttle Stick in neutral position displays green in other position display red Throttle stick in the bottom displays yellow hovering display green other status display red Make sure to reverse the channels on transmitter if your actual Tx operation differ from the screen display Users can freely adjust Tx mode among Mode 1 Mode 2 Mode 3 Mode 4 as long as ensuring the Tx operation is the same as GCS display Enable Control Enable BlueTeeth Enable Attitude Control Copyright C 2012ZeroUAV 32 All Rights Reserved Japan Hand American Hand China Hand Europe Hand Press Phone or Tablet Menu gt Set the Tx mode can be available to setup and you can select the Tx mode according to your operation preference Then IF Altitude broadcast Hand Mode e G T Sa 15 00 192 168 1 254 Japan Hand cancel mode 1 gt Throttle Elevator Rudder Aileron Mode 2 Throttle Elevator Rudder Aileron Elevator Aileron Mode 3 rt Throttie Rudder Throttle Elevator Aileron Rudder
18. ay be started by pushing throttle stick within 5 seconds motor will be locked again if over 5 seconds Motor Arming operation push Rudder stick to the left most position elevator to the bottom position aileron to right most position throttle to bottom position keeping each stick still over 0 1 second For right left hand throttle user need to judge by self motor arming is V shaped or reversed V Motor may not auto start after motor arming push throttle stick a little to start the motor With motor started the copter does not fly by pushing throttle stick a little and certain motor may move slowly and even stop it is normal phenomenon caused by multi rotor integral for adjusting attitude Throttle up then can keep flying started immediately 9 2 Oscillate and Wobble During flight observe the Vibrate State amp Shake State in Data section to judge the oscillate status of IMU In stable flight it is normal when the Vibrate State amp Shake State range from O 9 display in green the value over 10 display in red The smaller the number the smaller the oscillate The number will directly affect flying performance Tips Copyright C 2012ZeroUAV 31 All Rights Reserved Vibrating coefficient the maximum acceleration of alternate motion oscillate in up down left right back forth three directions Shaking coefficients the maximum angular velocity of rotary movement wobble around X Y Z three
19. but real time data can be setup and changed Control interface O H BA Gib 11 56 w G 3 BA l 11 55 Settings Paramet Net Information User admin AP NO 1000 Domain IP 192 168 1 254 13 Default Enable Control Enable BlueTeeth Enable Al 12 Netinfo 10 a Round Circle in A button to control the flight by phone Enable Disable Used to Enter Exit phone control mode Remote Control Enable Disable Used to Enter Exit phone attitude control mode Attitude Control Net Information Used to set service information Enable Bluetooth Used to enable Bluetooth Copyright C 2012ZeroUAV 58 All Rights Reserved Data interface Get into the Data interface by touching the button Data shown as below It will display x GmiimuniGatonewisconmectea with data uncommunicated GG amp t OFA gE 15s GHG A gt 245B s h A oO E Longitude 0 00000 Altitude 3 2 iad 0 00000 Flight Mode Manual Course Angle 0 0D Satellites 0 GPS velx cm D Attitude Angle R1 DI GPS vely cm i Vibrate state xekf velx 2 Shake state xekf vely Z Flight Time 00 00 xekf veld 3 AP Voltage Local Satellites I Motor balance Not to take off Photo Nurm i Real Throttle T Distance To Home 0M Manual Servo Data The following data need current sensor Batt mAH 94 MAH Batt current AA AEE OE eee Rudder Aileron Elevator Throttle oes areas i es eer pees 2 pices r i t Coe ee AASS EARN SA s pa aen e pelea pray een i acc
20. et with solutionl or solution2 users can operate by transmitter or by RC mode on phone Remark1 When left aileron outputs the aircraft will hover clockwise around the target point When right aileron outputs it will hover anti clockwise Remark2 Pushing pull the stick means decrease increase the hovering radius Remark3 Elevator amp aileron will be normal if selecting Quit FlytoPP PTZ Lock in Tools page or switching back to manual mode Switch to manual mode and immediately back to GPS mode to continue the operation 9 7 Waypoints Flying Step1 In Map page of GCS click tools gt Design waypoints to make the waypoints One click on map once can get one waypoint get all waypoints one by one Click Default Tool to complete the waypoints design Tips Copyright C 2012ZeroUAV 37 All Rights Reserved If the firmware version is later than Sept 15th 2012 each waypoint contains Height Hovering time Speed and other key parameters so must make sure that click each waypoint with finger to select edit waypoint and correctly setup Height indicates the point where craft is staying which can be set as negative value below zero when the takeoff position is too high and the craft need to fly under the takeoff position If height between two waypoints are different craft will fly as climbing slop The default height is current height i e craft will fly according to the height when enter waypoint
21. facture for analysis Copyright C 2012ZeroUAV 4 All Rights Reserved 10 Parameter Setup Default Parameters The Factory Default Parameters are shown as below It is the Quad X flying mode and can be applied to most crafts for direct flying Qe ae r GF OG 14 58 OG OF i 1458 OG u G 139B S h 39K s gt s ae Defalut Defalut Defalut Roll Sensitivity PTZ Roll Sensitivity iii Pitch Sensitivity Ae i PTZ Pitch Sensitivity et Remote Controll Mode Sway Compensation fy Control Type Snot Adaptive Throttle Sensitivity 80 o Aircraft type Volt Alert Threshold Vertical Max Speed Quad Rotor X 265 y VENAE a S Max Flight Speed ESC Type NORMAL ESC 400HZ lt Cell Number 4 8m s Steerin ear Frequenc Acceleration Control g gee y Soft 250HZ ba e e ka Ss i ka S amp Control Data Map Set Param Control Data Map Set Param Control Data Map Set Param Notice Roll Sensitivity amp Pitch Sensitivity default 45 may directly affect the manual reaction Motion compensation default 80 can improve stabilization but reduce the reaction Throttle sensitivity default 80 may affect Altitude control sensitivity choose the max speed of copter climb or decline among 2m s 4m s and 5m s in Max Vertial Speed bar If the parameters are wrongly filled first please put the throttle stick in the bottom position and switch TX to manual mode then by pressing Default g
22. ff When get 5 or more GPS satellites locks switch CH5 to position 3 and CH6 to position 1 that is the flight status is auto hovering then push the throttle stick after moving rod in V shaped when throttle stick is more than half aircraft will take off automatically and auto hover about 3 meters from the ground and getting into auto hovering status Copyright C 2012ZeroUAV 34 All Rights Reserved Flight status display as manual altitude hold when CH5 is switched to position2 Push throttle stick after motor arming multi rotor will auto takeoff if the stick is more than 50 and Icok the height around 2 3m but users need to control the copter s attiude and location by manual i e FC only get the throttle channel command B Full auto takeoff Notice Aircraft can take off fully automatic only if the aircraft has completed semi automatic takeoff and the flying is successful Step 1 Wait until get 5 or more GPS satellites locked put the THR stick in the minimum position switch CH5 to GPS mode position 3 CH6 to position 1 Step 2 Click on enable insurance or move rods as V shaped to make the throttle unlocked then continue the next step within 5 seconds Step 3 Click on auto takeoff the aircraft will be powered on and take off Slowly hovering in the height of 2 3 meters from ground Step 4 If the THR sticks is in the minimum position in auto takeoff mode if you want to control the flying altitude must mo
23. ft will fly to waypoint 2 3 4 and fly back to waypoint 1 and hover there after finishing all waypoints Notice If waypoints incorrectly uploaded when switched to auto navigation mode the aircraft will fly far away automatically and out of control Free control of craft heading In normal condition when it s waypoints fly craft nose will face fly orientation in real time When user need to freely control the course of craft in waypoints fly mode can click on Intelligent course locked in Setting page of GCS At that time the Intelligent course locked doesn t present care free function it presents free course mode That is craft will fly according to waypoints fly however the craft nose will not face the fly orientation in real time but the course of craft can be freely controlled by rudder on RC transmitter Click on Disable intelligent course locked and confirm then the craft nose will face fly orientation again skyway Auto generation Click Map Tool Shyway design to draw four waypoints if skyway is necessary Choose the distance between point1 and point2 as the length distance between point2 and point3 as width shown as figure below Then select skyway Auto generation in Tool section the status bar will display as below Flying height and speed may determined by user s need Skyway s extend distance is for multi rotor turning when it reaches to the end of skyway Scanning skyway may be generated by clicking OK ad
24. g is showing when you choose firmware versions please redownload the upgrade firmware or update the computer date later than the date marked in current firmware version within 30days then upgrade once more Copyright C 2012ZeroUAV 54 All Rights Reserved Appendix 1 LED Description Flight States 1 GPS unlocated red light blinks for 3 times in cycle eee eee ooo ooo GPS satellites 5 red light blinks for 2 times in cycle ee ee ee ee ee GPS satellites 6 red light blinks for 1 time in cycle e e e o o o o GPS satellites gt 7 the Led doesn t blink 2 Abnormal craft status White light blinks When the difference of GPS and attitude is too big or GPS connection is loose Led blinks in white craft status is abnormal Please check out whether the GPS connection is loose if Led solid in white LED status when craft gets stable after big flying action If white light is off craft can continue to fly If white light keeps going on need to land craft urgently 3 Altitude hold in Manual Stabilization Mode GPS satellites Led status Blue light periodically blinks Blue light blinks for one time one loop means users is operating o o o o o o o o o o Blue light blinks for two times one loop means Altitude hold eo oo oo oo oo oo oo oo 4 GPS mode 6GPS satellites Led status Green light periodically blinks Green light blinks one time one loop means the user is operating e eee o o o o Green light blinks for two time one loop mea
25. h no wind and in manual mode To get neutral position after flying and trim Note make sure place Tx stick in the middle position it has nothing to do with throttle position To check out what functions are enabled already Click on Function Limit the dialog box will show as below click Get Users can observe the functions which have been opened or not in yourself FC Copyright C 2012ZeroUAV 67 All Rights Reserved Gi Function Limit cancel Used for read the data saved in FC within the last minute of flying Please refer to Chapter 9 10 for details To get the pitch calibration data steadicam Alenment To enable calibrating ZERO Steadi470 Copyright C 2012ZeroUAV 68 All Rights Reserved Appendix 4 Related thread and video links YS X6 amp YS X4 Thread You can find all of the videos and related files and information in the first page of this thread created by Zero UAV YS X6 http www rcgroups com forums showthread php t 169 7842 YS X4 http www rcgroups com forums showthread php t 1774340 Video links YS X4 Promo http www youtube com watch v 6sR8nU2ZIAKE amp hd 1 YS X4 Installation amp Commission https www youtube com watch v smij 7GuW_XE YS X6 Promo http www youtube com watch v 7P VEOF33Zw amp feature relmfu YS X6 Installation amp Commission http youtu be MqqpbhFZb7E YS X6 Installation Introduction Step by Step Step1 http youtu be j_Owj5STbUU Step 2 http yo
26. igation flying which will continue until completion and back to the first waypoint hovering Radio Signal Lost Be sure properly setup F S referring to Transmitter instructions from manufacturer set both CH5 and CH6 to position3 throttle stick to the middle position installation guide has tips If enable F S for any reason in receiver on status the autopilot will be switched to Auto hover mode continue to fly for 5 seconds in auto navigation mode enable RTH Auto return to home if there is no signal still after 5 seconds Copyright C 2012ZeroUAV 27 All Rights Reserved 8 Phone Control 1 Phone Remote Control Mode During flight when transmitter is switched to Auto hover of GPS mode the aircraft shall enter auto hover mode Meanwhile phone control may be enabled by pressing the menu of phone Enable Disable remote control RC button A A x Gal Y Ea g amp ntrol Data Map Settings Paramet How to control multi rotor by phone Notice Mobile control User Interface Operations Aircraft Status enable Circle status Red GPS un lock Green GPS locked Pressing and dragging the circle moving 1 up down forward backward 2 left right moving left right 3 left right top left right bottom etc 3 Moving left right top Moving Operation left right bottom etc Click below area inside the cross 1 over circle 2 under circle Climb 3 circle left side 4 circle right side Dec
27. ilable by clicking Enable Waypoints on Phone GCS make sure waypoints are uploaded successfully before Entering Auto navigation GPS auto hover mode Craft may drop fast if the throttle stick is in the min position it is strongly suggested to place the throttle stick in the middle position Enter Clicking Auto navigation Mode by Enable Waypoints on Phone GCS make sure waypoints are uploaded Entering successfully before Auto navigation CH Auto Go Home Mode position3 e X means irrelevant any kind of status is alright There is a circle showing on the cross if mobile remote control is enabled no circle means remote control disabled e Mobile RC status e Priority 1 means the highest Copyright C 2012ZeroUAV 22 means mobile remote control is enabled or disabled All Rights Reserved 6 Aircraft Type The blue arrows of each figure below point to the direction where propellers rotate For coaxial propellers Blue means propeller at Top Purple means propeller at Bottom The yellow arrow in the center of each figure points to aircraft nose Those numbers under the figures mean the Aircraft Type which may be filled in the Parameters Setup section direct to the aircraft head Copyright C 2012ZeroUAV 23 All Rights Reserved Customized Parameters Tips Users may assign the motor mix control and define the speed up down proportion coefficient of e
28. just the first and last waypoint by self the general skyway length will display on Map interface then save the skyway for next time use Copyright C 2012ZeroUAV 39 All Rights Reserved DOn F 22364 DGA B23 DGA gt l 22 39 gt 2576s F I5 T asis Locate FlyToPP P idLock Tool Locate FlyToPP PizL ck Tool Locate FlyToPP Pidbock too ine De i DE te TE m i 8 a 4 zg i a a y ma z at na Bias E cme ie Pag Delay m Interval m Altitude m Speed 20 Th he 000 sailor a U A E e m a m 6 Control Data Map 5 Pare Control Data Mae Sp Yarar Control Data Map waw Yi IAA z EA a Google Oogle i lef Er 9 8 Follow Me This function must be used in the condition that GPS on phone is enabled and meanwhile GPS of this phone has located showing on data page of GCS In GPS hover mode after all the sticks on transmitter are set in the neutral position user can click on enable follow in setting page the craft can fly following the mobile phone GPS and lock the craft nose orientation If to quit this function just click on Disable follow on setting page 9 9 Care free In GPS hover mode Carefree can be used Option 1 Click on enable course locked button in setting page autopilot can record the current orientation of craft nose Then users can adjust the orientation of craft nose with rudder when users operate the left right aileron and p
29. lead to high frequency wobble so please reduce sensitivity for multi rotor with high speed smaller propellers This parameter range from O0 to 255 2 Motion compensation is set for wobble correction of low speed milti rotor default is 80 generally it is 80 200 for multi rotor Without this compensation if steering is too small low speed craft or bigger propellers the craft may get stable after few jerking when sticks on transmitter back to neutral position Gradually increase the Motion Compensation to get the most stabilization when servo sticks back to neutral position but craft still wobble For those high speed craft smaller propellers decreased the compensation to prevent highly frequency wobble This parameter range from O min 255 max Copyright C 2012ZeroUAV 51 All Rights Reserved 14 Firmware Upgrade The upgrade of YS X4 firmware is simple Before firmware upgrade please download the special firmware upgrade tool on Zero UAV official website USB Cable Connection plug one end of USB cable in box to PC USB port and the other end to COM on MC white cable facing up Step1 Please make sure do not power on FC before upgrade and if FC is powered please cut off the power supply Enable the special programme YS X4 PC Firmware Upgrade for upgrade click on AP Firmware Upgrade the software will be enabled and shown as below AP Firmware Upgrade A kag m S Stepl Select COM Port Ste
30. lick on Set gt Quit setup the flying can be started Remote Controll Mode Adaptive v Adoptive Remote Control Mode User can select the options below according to yourself RC mode do not set up incorrectly Self adaptive Do not start FC until turn on Tx when using this function FC will auto judge the radio communicate way normal S BUS PPM when started Normal Ordinary FUTABA Receiver AP CH1 connect to Receiver CH1 AP CH2 connect to Receiver CH2 S BUS connect AP CH7 to the Receiver S BUS port with only one wire PPM connect AP CH8 to Receiver PPM with only one wire Volt Alert Threshold olt Alert Threshold Fill in the alert voltage of each battery which is been using need user to fill in after measuring by self Usually fill in 3 65 Copyright C 2012ZeroUAV 44 All Rights Reserved ESC Type Fill in the ESC type which is been using A Fault filling of ordinary ESC and narrow band e g XA will result that the propellers go out of control after power connected dangerous Steering gear Frequency Steering gear Frequency Input the correct value according to your servo type 50HZ for Analog Servo 250HZ for digital servo Copyright C 2012ZeroUAV 45 All Rights Reserved 11 Gimbal Control amp Power Calculation Module 1 Common Servo Driving Gimbal Control EXT1 on MC is for gimbal roll control EXT2 for pitch control There are different ways using different types of gimbal
31. line Note Decline Turning 1 The distance between circle and click point means the flight speed variation The further the distance the faster the flying speed Rotate to right 2 Control circle Pressing Time Aircraft moving time Climb Rotate to left Copyright C 2012ZeroUAV 28 All Rights Reserved Flying altitude may be changed in Altitude Change of Setting section GCS When in GPS hover mode and throttle stick placed in the middle position fill in the target altitude in the status bar then OK aircraft shall fly to the target altitude When using the firmware marked later than April 15th 2013 if GPS has no lock such as inside doors In manual mode you can use phone Tablet and phone Tablet s attitude control to handle the copter by switching transmitter to CH5 position3 when the copter get off the ground then the phone control or phone attitude control is corresponding with the sticks operation It is still controlled by transmitter instead of phone tablet when switching CH5 back to position 1 or position 2 2 Phone attitude control mode Phone attitude control means phone tilt direction determines the craft s direction Attitude control by phone also may be activated in remote control mode press enable attitude in Remote Control section a blue cross will display on user interface which indicates phone attitude control mode has been enabled Notice Remain the phone level before enabling at
32. logo marked om PS chow face the sky the arrow hrad i te Chet biii of erai Pipi Del aT cubed Widnis cabic ot all The AP con werk maby With oP meee on eee Copyright C 2012ZeroUAV 70 All Rights Reserved
33. manual mode and the throttle stick is at the min position the motors will be locked up completely 5 seconds later any time after landing or before take off if locked up motors won t rotate even pushing the throttle stick Pressing Enable insurance on phone GCS or Motor Arming please refer to Chapter9 for setup details is the only way to unlock the motors Motor cut Pushing throttle stick to the min position can make motors stop moving only when CH5 is placed in position1 i e in manual and altitude uncertain mode Other times copter just degrades height still with motors moving A During flying if there is no unexpected accidents please Do Not synchronously switch to manual mode and push the throttle stick to the min position otherwise motors cut will immediately occure craft will free fall to the ground and never be rebooted Tips Whenever need to stop the motors urgently only the ways below work 1 Switch CH5 to position 1 i e in Manual amp Altitude uncertain mode and push the throttle stick to the bottom 2 With multi rotor landing on the ground in altitude hold GPS mode and throttle stick placed in the min position all the time or landing in auto go home mode motors may stop rotating slowly until shut down and lock up WIFI Signal Lost Please control multi rotor by Tx if WIFI signal lose more than 1 second But Wifi Copyright C 2012ZeroUAV 26 All Rights Reserved signal loss do not affect nav
34. mode Hovering time means the time that craft stays in the present position before going to the next waypoint the default hovering time in first waypoint is 65535s Speed means the flying speed that craft flies to the next waypoint from present position Step2 After the waypoints design is completed it can be saved as file which can be used next time User can also click on Upload Waypoints to upload the waypoints to Autopilot Please check whether each waypoint has been changed to blue to confirm a successful upload orange indicates the upload is not successful and then get into Target Point to check whether the number displays there is the same as uploaded waypoints if not you need to upload once more If any waypoint is not changed to blue please also upload the waypoints once more Step3 Click Remove Waypoints to make the blue waypoints recover to red then Select Verify waypoint from Tool download uploaded waypoints to ground Station for comparing if all waypoints are blue it means the uploaded waypoints is the same with that in GCS and waypoints verification is successful Otherwise need to upload waypoints once more Step4 Copyright C 2012ZeroUAV 38 All Rights Reserved After switching CH5 to position 3 and CH6 to position 2 then click on enable skyway in setting page of GCS the craft will fly to the first waypoint and hover There Fill in Change Target with number 2 and upload it the cra
35. n start calibration if the Word succeful which indicates FC gets the calibration command displays in the text bar Redo the procedure if there is no word display there 3 Then hold Multirotor level and get the blue LED light on Now turn slowly clockwise 2 3 times in one spot ensuring the light remains on at all times Or you can ask a helper to monitor the data moving in Attitude Angle of GCS Data section to make sure the value of Pitch and Roll both maintain within 3 degree It indicates the attitude is good if LED remains on but oversize if LED off STEP2 Calibration in vertical Copyright C 2012ZeroUAV 18 All Rights Reserved Select Vert Calibration Then OK Observe text bar to confirm whether the command was successfully sent to AP The Attitude Angle will get close to zero slowly reference coordinate has been changed and craft nose downward is level i Magnetic Compass io Cancel Horizontal Alignment Point the front of the Multi down and get the blue LED light on Now turn slowly clockwise 2 3 times in one spot ensuring the light remains on at all times and the moving data of Attitude Angle remains within 3 deg It indicates the attitude is good if LED remains on but attitude oversize if LEDoff f STEP3 Calibration Saved Select save alignment Then OK Now The calibration is managed after the procedure above Then GCS screen will auto switch to user interface Remote Control the
36. nation Your position is East 116 680298 North 50 373497 Magnetic declination is 9 17 degree West Please fill 9 in YSwifi GCS In YSwifi GCS West is positive East is negative 3 Hi S73E O2013 GS 2011 6020 AutoNavi GIS Innovatsia DATA Google FERS Option2 Magnetic Declination Query Notice The Magnetic declination query software can not be available for the time being because the server http magnetic declination com has some problem So it is recommended to use the site below temporary to check the declination of corresponding latitude and longitude http www ngdc noaa gov geomag web declination Copyright C 2012ZeroUAV 15 All Rights Reserved Declination US Historic Declination Magnetic Field Magnetic Field Component Grid Instructions Estimated Value of Magnetic Declination Declination is calculated using the current International Geomagnetic Reference Field IGRF model While results are typically accurate to 30 minutes of arc users should be aware that several environmental factors can cause disturbances in the magnetic field Calculate Declination Lookup location Location If you are unsure about your city s latitude and longitude try entering your zip code or selecting your state below or visit the U S Gazetteer Outside the USA try the Getty Thesaurus Location longitude 180W to 180E latitude 90S to 90N choose a country choose a cty Get Loc
37. ns Auto hover and Altitude Hold eo oo oo oo oo oo oo oo Low voltage alert during flying Low voltage alert Red light blinks fast eeeeooococcococoooooooocoooooo Low voltage alert urgently Led solid in red BREE Compass Calibration Copyright C 2012ZeroUAV 55 All Rights Reserved Attitude error lt 3 light keeps going on it means can go around to calibrate Attitude error gt 3 light is off it means the craft is not placed in horizontal and need to be adjusted to be level After Magnetic data calibration the Led solid in Purple during data reading LED will get normal when data reading is finished Abnormal Electronic Device Led solid in red means Barometer initialization failure when aircraft is on the ground so need to repower on the flight controller Copyright C 2012ZeroUAV 56 All Rights Reserved MC E CH2 Elevator For pitch control front back R CH4 Rudder For rudder control Auto Hover Auto waypoints Returning amp Landing Switch For gimbal roll servo control Or for PPM receiver GPS R To GPS power GPS B To GPS data Motor 2 Motor 4 Motor 6 Motor 8 Gimbal Pitch Copyright C 2012ZeroUAV 37 All Rights Reserved Appendix 3 GCS Interface Introduction Note 1 When the data is connected the Serial No and firmware version will display on the Control interface 2 The Control interface is not available for YS X4 it means YX X4 can t be controlled by Phone
38. ome location the craft can be controlled manually At Taken Harme Location It s used to change home position or record new home position Enable This function can be used only when your phone has GPS hardware and got more than 5 satellites locked and in Auto hover mode After enabled Follow Me the aircraft will fly automatically following mobile GPS location Copyright C 2012ZeroUAV 65 All Rights Reserved Notice Generally phone position has error within 5 10 meters In Auto Navigation mode fill in the new waypoint number which you will fly to Le ee To set target altitude Preset PTZ lock To enable the intelligent course lock It can be used in GPS auto hover mode To quit intelligent course lock In auto navigation mode the target point may be changed where multi rotor will flying to In auto hover mode fill in the target altitude E g fill in 10 the target height is 10m Unlock Motors Copyright C 2012ZeroUAV 66 All Rights Reserved To unlock throttle Same as motor arming Interest pot lock Refer to Chapter 9 6 for details Magnetic Compass Click it enter into Magnetic Compass Calibration mode the status bar over it display the calibration status Balzak Click on installation Guide User can install the software following the guide step by step Mixing Define User define the motor output Capture Transmitter Centre point Wit
39. pi Restart AP Please config the COM port i Step2 Select COM port for upgrade if do not know which COM on PC please click with y right mouse my computer gt attribute gt device manager gt port COM LPT to have a check Press open com ge to enable it the button open will get to black from gray Copyright C 2012ZeroUAV 52 All Rights Reserved COM3 Ete ai E i mee izr P OB srda M Aratta OP bfi 5 Premise F Step3 Press open button and choice the FW shown as below diagram BPE T i rs xe Beat EE aaa _ myplane Fe 38400 Enc arm 2012 6 14 12 35 S 6 20120611 firmware Enc arm 2012 6 21 11 042 S X6 20120618 firmware Enc arm 2012 7 12 12 1 YS X6 20120618 firrmware EsHk Enc arm 2012 6 21 14 0 4 I 1 TAM fIS NS 20120618 firmware Enc am HRED n O d o Step4 Repower on FC and the programme will start to auto upgrade Power off the FC when it says in red words Please Restart AP Copyright C 2012ZeroUAV 53 All Rights Reserved 7 r AP Firmware Upgrade os Stepl Select COM Port coms Config COM Open COM Step2 Select Firmware D Program Files 2 YS X6 YS X6 20120618 firmwar Step3 Restart AP Please Restart AP Warning 1 When all settings are finished if repower FC the software may not auto upgrade please disable the software and replug the USB cable 2 If the below warnin
40. s Receiver on off shall get green i e There is no receiver installed on craft Currently this section is reserved only for customize manufacturing not common users Remote Control interface on Phone GCS is a cross interface by touching which the copter flying can be controlled by phone RC Status means whether the cross operation is enabled or not Press the menu button of phone click Enable RC button a circle will appear in on the cross which indicates Phone Remote Control has been enabled Choose Disable RC it indicates the Phone Remote Control has been disabled if the circle disappeared Copyright C 2012ZeroUAV 21 All Rights Reserved Mobile RC CH6 Status CH5 Status Receiver Status Status Currently Currentl Currentl Rc off y unavailabl y unavailable unavailable CH5 Manual X C position1 Mobile C Enable position2 control Rc on C CH5 Auto In position 3 C position1 C position2 Mobile Disable control Remark l H6 H6 3 H6 Auto Go Home Mode position3 H6 4 H6 6 Aircraft Status Currently unavailable Manual mode i e controlled by Tx Warning when flying in big actions or fast speed in Manual Mode Do not switch into GPS Mode until flying gets into stable There is a circle showing on the cross please check the mobile status This has nothing to do with the Tx Auto navigation Mode is ava
41. served SS Multi Rotor with YS X6 installed Wireless Router Mobile RC Tx 1 Please prepare extra wireless router to build up AP 2 Setup the router as below SSID ZERO TECH Note The letters must be in Capital Password 82890430 Encryption Method WPA2 PSK AES IP 192 168 1 1 3 Power on FC The LED on WIFI module blinks before data communicated but be solid when data communication 4 Enable the Wlan on Mobile phone Tablet to communicate with router Copyright C 2012ZeroUAV 12 All Rights Reserved 3 Installation Guide GCS Follow the steps below showing in Installation Guide of GCS Settings section to setup after data communication If the data is uncommunicated please read the above two chapter carefully Installation eT 1 Tx alignment Make sure to cut off power battery or remove the propellers before alignment Set your Tx into Aeroplane mode and Do not set any mix control Do not set any channel inverted for FUTABA transmitter but make sure set all channels inverted for Jr and WFLY transmitter Press button Channel Alignment then Ok Within 5 seconds push every sticks to the top bottom leftmost and rightmost YS X6 will complete reading the data automatically beyond 5 seconds Then observe the diagram of Manual Servo Position on GCS user interface to check whether it is the same as the real Tx operation if same the Tx operation is correct
42. t A i att Wi B B Aircraft typ Bo Aircraft Type Fill in mix control type please refer to Chapter 6 PTZ Roll 7 Bare zl Sensitivity PTZ Roll Sensitivity PTZ Pitch Sens PTZ Pitch Sensitivity EXT1 is the PTZ roll output and EXT2 is the PTZ pitch output Roll Pitch sensitivity is used to adjust the compensation angle of PTZ If user feel the compensation angle is small can fill in bigger number on the contrary fill in smaller number range from 127 to 127 Note negative value can be filled in to be reversed When using PTZ transmitter must be enabled and CH7 is properly set to one knob switch making autopilot read the CH7 to output the PTZ position Copyright C 2012ZeroUAV 43 All Rights Reserved Max Flight Speed Setup of maximum flying speed Max Speed Acceleration Control The acceleration of craft in GPS hover mode can be selected Acceleration control Soft common and hard are optional It will auto change to Hard if max speed is more than 6m s Notice The 4 parameters below need to be filled in when using flight controller for first time please make sure the THR stick is in the bottom position when filling in the values click on Set in menu gt Init setup when setting status displays in data interface you can update the parameters Then click on send to give the command to autopilot and click on get to confirm the update is correct After verifying c
43. t OK on GCS Parameter page the gains will get to be factory default setting The meaning of other parameters are as below Cell Num The autopilot can calculate the low voltage alert according to the Cell Number filled in by users When the mobile vibrates once each 2 seconds it means the power is getting low and remind user to note When the mobile keeps vibrating Copyright C 2012ZeroUAV 42 All Rights Reserved it means the power is getting very low and request the craft to land at once Ctri Type Complete default number 2 1 Attitude mode fit to adjust parameters dynamic flight 2 Acceleration mode fit to static flight autostability common mode Altitude Limit Distance Limit ie Two cool features are newly added on GCS Height Limit and Distance Limit With the two functions enabled in GCS Parameter Page no matter in manual or auto mode the multi rotor will come back to the pre set limited range or distance automatically provided it flies out of the limited height or distance range And the parameters are only can be multiple of 10 e g If you fill number 15 the autopilot will auto make it 20 multiple of 10 Parameters may range from 10 to 2550 Filling number O means not enable range limit or height limit function Magenetic Declin aMagnetic Declination Fill in local magnetic declination deflection to West is Positive to East is negative most regions in China are deflecting to Wes
44. t C 2012ZeroUAV 6 All Rights Reserved Table of Contents DPS SSI DV serccesserecp ss ast ee datscecul putes ect astapvne E A 8 2 WIFLCONNOUrS ON merrecrrere eereerereemecere tere re rereery etre eracee te er rrerrr yates errr tr 10 3 Installation Guides GCS Jrerrorane riranna a 13 A Magnetic Course CalDratio Messern re cecesrese cece orectces A 18 io ag 6 8 0 10 Bald 01 a 2 nee een er nr eee ser ee E 21 GACA Ol 4 8 lt tr mente enceers Cem enr atte it ener ne ean ete meee toes ne eee a eee rer ere ee ee 23 7 Motor Start Motor Cut and FailSafe eee seeneeeeneeeenenens 26 S PRONO COA CEO eaaa E A ahaa ncaa 28 FUMIE e E e A E E N AEE E A E A 31 9 T MOO AMIN O esn eee a verte series rere stray rece rere area eee secre re 31 9 2 Oscillate and WODDIe isiciiiwcicccceceridleci ecient 31 9 3 Manual SERVO POSICIOM eisen erenn e T 32 9 4 Auto takeoff and Auto landing e sesssessesssssesersersssseserseesesseseesees 34 OS CCK Gc FIY tO PONE esa a tsa een eee 36 96 Target LOCK preron a e T OAOT 36 XF Wayponts FIYIN Oarces t a ai E E E E ETA 37 O23 FOON MO earannan a AE S 40 Cre F OO nA ET NT ae Re en ee nT ee eT ee eee ne mE RT ET 40 9 10 Data R cord Blackbean 41 t0 Parameter 2S CUD xeseaie ns secccra dca t ra diene atcceeacdeeestaersscnsnadie eee etecaneainneaee 42 11 Gimbal amp Power Management MOdUule ccc ee ceeeseeeeteeeteeeeeenes 46 C1 Common Servo Driving GiMDal cee cece cece eeteeeeeenes 46
45. t can appear a yellow smile there Step2 Click BS Fly ToPP button in Map page the button will get gray if there is no click beyond a few seconds then need to click on the map again and the yellow smile will appear the yellow round smile will change to purple star smile The operation of flying to the next position is same as above Remark Within 10 meters craft moves in level and beyond 10 meters the head of craft faces the target point 9 6 Target Lock MODE in auto hover mode Solution1 Step1 It will appear a yellow smile while clicking any point on the map Copyright C 2012ZeroUAV 36 All Rights Reserved Step2 Click PTZLock button in map page After yellow round smile changing to purple star smile the aircraft head will keep facing the locked point Solution2 Step1 in any time including before takeoff or manual auto mode after takeoff fly take the craft to the target point to be the locked then within 3 seconds switch between positionl and position3 on CH6 for three times that is 1 gt 3 gt 1 gt 3 gt 1 gt 3 gt 1 FC will record the longitude amp latitude of GPS where the craft locates as the target point to be locked Step2 in GPS auto hover mode within 3 seconds switch between positionl and position2 on CH6 for three times do not switch to position3 which is invalid that is 1 gt 2 gt 1 gt 2 gt 1 gt 2 gt 1 then FC will enter target lock mode Tips After locking the targ
46. the vertical and front back left right is the horizon vibrate of IMU Wileitelm atl Elate motor balance capability display Copyright C 2012ZeroUAV 60 All Rights Reserved Map Interface ss 4 Ge 11 56 si B 2a 1 57 i Ge 11 57 FisToPP PTZ Lock Tom Select Map Tools Default Tool Locate Map Add Waypoints Lieate Flare Remove Waypoints hiy Lararian L Werity Waypoints Search Location pload Vilay pints Gave Location E Delete Waypoints E Load Location Load Waypoints _ SS ONNEEN E Save Waypoints a FH Data et Fa Locate Zoom in Zoom out Map map mode Satellite satellite mode Tips 1 The map which you used last time was saved in default when you open it next time it shows up the saved map 2 There is no network Enable WIFI cached data can be displayed Notices Cached map when network is on enable the software to download the map When finish download the cached map with WIFI enabled the cached map will display Locate Map Locate Plane After the GPS was located click this button can find where your aircraft locates Copyright C 2012ZeroUAV 61 All Rights Reserved My Location a Phone Tablet position The GPS of Phone Tablet need to be enabled Search Location Search the position where you want to check Save Location Save the current position on map Load Location Load the saved position on map
47. titude control mode otherwise the aircraft will fly to the direction which the phone tilt to A A y Map Settings Paramet Data Control Disable Disable Al Al Disable Engine How to control multi rotor in phone attitude control mode Copyright C 2012ZeroUAV 29 All Rights Reserved When RC Activation User Interface Operations Aircraft Status Circle status Red GPS un lock Green GPS locked pe Tilt the phone as below direction 1 Moving forward backward 1 up down 2 Moving left right Moving Operation 2 left right 3 Moving left right top 3 left right top left right bottom etc left right bottom etc 1 Press any available area on the screen and hold the point upward 2 Press any available area on the screen and hold the point downward 3 Press any available area on the Climb Decline Climb screen and hold the point left Turning Decline 4 Press any available area on the Rotate to left screen and hold the point right Rotate to right Notice 1 Point Holding amp Moving distance Copter flying speed the longer the distance the bigger the flying speed 2 Holding time flying time Notice Control mode may be switched automatically to Remote Control mode if quitting attitude mode Copyright C 2012ZeroUAV 30 All Rights Reserved 9 Flight 9 1 Motor Arming Throttle Unlock push throttle stick in the bottom position arm the motors keeping each stick still over 0 1 second then motor m
48. tor speed adjustment so servo sensitivity will directly affect the accuracy of Multi rotor attitude The weight and pitch of propeller need to be adjusted properly so that motors may remain in enough speed to generate enough sterring meanwhile choosing lighest properller is recommended to reduce inertia and improve sterring It is inevitable the flight Stability may reduce for the craft asking for high efficient configuration either flight efficiency or stability Step 3 The symmetry of Multi rotor has significant effect on flying stability In Chapter 9 3 Motor Balance user can estimate the symmetry of motor and propeller in level flight If fail to adjust the symmetry must spend more energy on frame and dynamic configuration Step 4 Copyright C 2012ZeroUAV 50 All Rights Reserved If there is no problem in above steps adjust Roll Sensitivity amp Pitch Sensitivity in Parameters Setting i e to set the multi rotor attitude correction level P controlled by Proportional And adjust Motion Compensation i e to set the multi rotor attitude correction damping D controlled by differential to realize a limited adjustment Note 1 Control correction with same angular velocity error has been setup in Toll sensitivity amp Pitch sensitivity 45 is default generally 45 60 for multi rotor the higher the sensitivity the quicker the correction i e control is more flexible by manual But higher sensitivity may
49. und That is there are three eletronics on ground Data Link WIFI module and Wireless Router Copyright C 2012ZeroUAV 48 All Rights Reserved 5 X4 Fah ZERO UAV Communication Data Links cP Link T Lipo battery E O DO t WIFI Multi rotor with YS X6 installed 5 17 aa ee router Mobile m RC Transmitter Communication Wifi Notice e No need to use router if WIFI is configurated in PTP point to point mode e Data link and WIFI module both are powered by 3 S 6 S lipo battery same as MC power line is in red black red is positive pole and black is negative Copyright C 2012ZeroUAV 49 All Rights Reserved 13 Multi rotor Wobble Fix Step 1 Deviation of installation vibration shaking will make the flying status test by IMU delayed So user need to check whether the installation direction of IMU is proper and try to install it in a stable place on craft where there is no resonance The vibration coefficient and shaking coefficient showing on GCS mean the wobble status of IMU Be sure to make balance test before configurating motors and propellers to reduce the vibration and shaking coefficient smaller than 10 in auto hover mode try to use the smaller propellers to reduce wobble otherwise no matter how to change parameters the flying will not get stable Softer frame can also result in extra wobble please use frame with good rigidity Step 2 The Multi rotor attitude is up to mo
50. user can directly Copyright C 2012ZeroUAV 46 All Rights Reserved observe the present discharge current and battery consumption in data page of GCS If to use this function user must first connect power management module with YS X4 connect to A1N1 plug on YS X4 push the throttle stick to the bottom then repower YS X6 on After powering FC will zero sensor automatically the current discharge ampere A and battery consumption MAH start to output according to the detection by power management module Copyright C 2012ZeroUAV 47 All Rights Reserved 12 Data Link Tips e XB PRO9OO Datalink is used to extend communication distance making the GCS control distance avoid from WIFI distance limit e XB PRO9OO Data link Technical Specifications Transmitted power 100 mW Frequency 900 MHZ Communication Distance not less than 2 3 km open areas Physical Port RS232 Communication Baud Rate 115200 BPS e A pair of XB PRO9OO datalink includes two data links one is installed on craft and another is connected to YS X6 The two may be interchanged 1 Data Link installed on Multi rotor Remove WIFI module from multi rotor install one data link on frame referring to the connection of WIFI module connect it to YS X6 COM port YS X MRES ZERO UAV 2 Data Link on ground Connect WIFI module with another data link using the wire coming with data link which can supply power together with wireless router on gro
51. ush pull sticks on transmitter the autopilot will fly to the orientation as the course was locked not the current orientation of craft nose Option 2 Within 5 seconds please switch between position1 and position2 on CH6 for five times do not switch to position3 which is invalid that is Copyright C 2012ZeroUAV 40 All Rights Reserved 1 gt 2 gt 1 gt 2 gt 1 gt 2 gt 1 gt 2 gt 1 gt 2 gt 1 then FC will enter intelligent course locked mode To exit carefree click on disable course locked button in setting page or switch to manual mode User can switch to manual mode and immediately back to GPS mode to continue the operation 9 10 Data record Blackbox YS series flight controller have data record function black box for analysis in unexpected accident The data may be recorded provided flying started without any external device but only one minute data may be recorded before crash Therefor please do not takeoff or push throttle after motor arming if you want to get the last one minute data How to get the record data Repower flight controller be sure WIFI and phone are communicated Then click button one min data in Setting section then the data sent from FC to phone Shall to be the data in last one minute and it will keep displaying for one minute Later on 1 minute data finished may display on GCS and suggest users outputting the T 1imin hj file under index YShj and sending it back to manu
52. utu be 11M94Z12CQ8 Step 3 http youtu be bkko431iziE Step 4 http youtu be RTRYOL1IOOI Features http www youtube com watch v bt35JsLYiuo http www youtube com watch v aHH8KfMGozw http youtu be SnEETKQheJE url Wifi Configuration Video https www youtube com watch v Mr wstSz3as Copyright C 2012ZeroUAV 69 All Rights Reserved Zero Steadi470 Promo http youtu be McSPalom2XU http youtu be SnEETKQheJE ZERO Steadi470 Installation Part 1 https www youtube com watch v 1sIM9b50k8w Part 2 https www youtube com watch v TfJU 2q7fz0 ZERO Steadi470 Gimbal Calibration https www youtube com watch v 39CgUdZNPPI Autopilot Box MU motule is integrated insite RC Transmitter and Antipi borite make dare Che Receiver lee arry polna top er amy Be reo Twa awin ca direction wlth orali head wie uk ibr swich of concradliog inwiulbaieon ndiles aed heen tonet Cle Waa macall the aotepilor in che receiver ta the righi contre of Frame chaaiels af AR Vehen che inscallazion pasidan is ca jeriji sugg yen be fin ihe Amb Bev alee conrad dae wifi aed weer deia LED Ehia A at dhe eight posldine mand fer aay Prien OS Mieke sure the fight can ber in wiphed Hiring Mache 35 65 5y GPS Compas L Bir nena ja enter in magri mborfieronce ahmii ier for eo linia my tbati gva Pipe ie iter iPS bracket te mirant S meluk irs is eeesitive bo vibration intoricronce plea irm ibr CPS braker The VS
53. ve the THR to the neutral position Notice If there are any unexpected accidents during take off you can switch to manual mode by Tx to control the craft C Auto returning home and Auto landing Autopilot will set the returning home position automatically when GPS has locked or aircraft takes off in manual auto mode In GPS mode when switch CH6 to position 3 or select auto return home amp landing in the mobile phone and meanwhile click on OK AP will enable auto returning home amp landing after 5 seconds and the motor will auto fly to 20 meters if the altitude is less than 20 meters when aircraft returns the throttle servo doesn t work the autopilot will descent to the ground automatically when reaching the start position and can interferes the landing position After enabling auto returning it can t prevent autopilot from returning and Copyright C 2012ZeroUAV 35 All Rights Reserved auto landing if switching CH6 back to auto hovering and auto navigation unless switch CH5 to manual position positionl 2 and then back to holding position to continue hovering Notices Click on motor off gt OK to shut down the motor By switching to auto landing the copter will return home remaining in current height rather than climb to 20 meters if the copter flies within 25m from takeoff position 9 5 Click amp Fly to point MODE in GPS auto hover mode Step1 Click any point on the map and i
54. will not offer any warranty and service 1 The product has been repaired modified or any parts of the product have been substituted or replaced by anyone not expressly authorized by Zero UAV 2 The warranty card the serial number of the hardware and the flight data or any of these items is lost 3 Damaged caused by use s faults such as attempting wiring not in accordance with the manual which may cause short circuit Copyright C 2012ZeroUAV 2 All Rights Reserved Safety Precautions For safety reason please pay serious attention to following items if 10 ii be 12 13 Make sure the assembling and connections are proper and accurate any wrong connection of IMU or GPS may result in burning out the devices Please remove all propellers during configuration and setup The side marked MC amp GPS faces up The arrow points to the aircraft head Make sure switch on the RC transmitter first then power on multi rotor before takeoff Power off multi rotor first then switch off RC transmitter after landing Pay special attention to it when using the S BUS or self adaptive feature of the autopilot Throttle calibration manual rudder position realtime rudder position channels setup must be accurate GPS COMPASS is sensitive to magnetic interference should be far away from any electronic devices The arrowhead points to the aircraft head Please enable F S function of RC transmitter before takeoff Do not fly in GPS
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