FY3-ZT Autopilot. User Agreement. Typical Applications. Macro Feathers

Transcription

1 User Agreement FY3-ZT Autopilot This product belongs to sensitive control items of PRC government regulation. Users have to pay all the responsibility for purchase and use of all the products. For this product, our company will not pay any responsible for the risk and obligation during debugging and uses. (For any direct, indirect or the third parties losses which caused by the fault diagnosis of the air and air crash). Please read this Instruction carefully before you use FY-3ZT Autopilot,if there is any problem you are not clear, please contact us,we will give you satisfactory reply at our first time. For any improperly obtained product or abnormal usage, our company will pay no responsibility and service. Our company reserves the right to modification the terms and conditions, change or terminate the offer without any prior notices. The Agreement will become effective automatically since users purchased this product. Typical Applications Automatic navigation and piloting of Regular, V end, elevator and aileron, without ailerons and other layout of small and medium size aircraft. Automatic navigation and driving of all kinds of airship. Macro Feathers FY3-ZT provide high-precision attitude through to use 32 ARM7microprocessors, integrate GPS receiver, three-axis MEMS gyro, three-axis accelerometers, pressure altimeter, inertial strapdown attitude algorithm and combined with Kalman digital filtering and data fusion algorithms. Integrated UBLOX 5th generation GPS receiver, 4Hz output, 35 seconds fast positioning time and accuracy of 2.5 meters CEP. 50HZ inner attitude control, 4HZ outer navigation control. Multi-channel mixed-control output can be easily adjusting the mixed-control. Including normal layout none mixed rudder control navigation, elevator and aileron rudder navigation, elevator and aileron mixed-control navigation, none ailerons rudder navigation. And can adjust the neutral position in real-time. Three kinds of control modes: Manual remote control, Auto balance remote control and Automatic navigation control. 1

2 Two kinds of automatic navigation control modes: Air route navigation mode and Mouse pointing flight mode. Integrate automatic and manual remote control, higher reliability and practicality, and is compatible with all common RC remote control facilities, and to provide Servo output checking. Auto-return protection of communication interruption. Distance Automatic photography. The ground station software contains electronic map that can change the route and tasks online, real-time semi-autonomous remote control, and can real-time record flight data and play back off-line. Adjust and save all the control parameters on line, with the convenience standalone parameter adjustment software. Contains the autopilot power supply voltage monitoring, electric aircraft power voltage monitoring, GPS accuracy of detection and autopilot temperature detection. Technical parameter Table 1.1(If there are no special notes, refers to the normal value of 25 ) Item Main Supply Voltage Main Supply Current Height Measurement Range GPS Ground Speed Measurement Range GPS Horizontally Navigation Precision Barometric Altitude Precision The Settable Way-Points Output Control Surface Servo Channels of Throttle Output Resolution of servo Output Servo Update Frequency Attitude PID Control Rate Navigation Control PID Rate Track Data Telemetry Frequency Min Value Standard Value Max Value V Units Remark Column 60 MA 5V supply voltage M M/S 2.5 M 2 M US 50 HZ 50 HZ 4 HZ 1 HZ Channel(s) Channel(s) Repeat Precision Repeat Precision 2

3 Mission Data Telemetry Frequency 1 HZ Attitude Data Telemetry Frequency 1 HZ RS-232 Baud Rate Bps TTL Level Working Temperature Storage Temperature 25 Volume Mm 3 Controller Module Weight 19 g Bare Board Volume Mm 3 AHRS&GPS Module Weight 19 g Bare Board Volume Mm 3 Remote Adapter Module Weight 17 g Bare Board Volume Mm 3 GPS Module Weight 17 g Bare Board FY3-ZT Installation Instructions Installation and Fixing Ⅰ. Component FY-3ZT mainly contains 7 parts. 1. Flight controller module 2. AHRS & GPS module 3. Remote adapter module 4. GPS module 5.Data radio module 6. Ground station software (including a simple map) 7. Matching lines Flight Controller Module 3

4 AHRS&GPS Module Remote Adapter Module GPS Module Data Radio Module(Users can configure according to demand) Ⅱ. Module fixed 1 The fixing of the flight controller module has no special requirements, just put on the proper location of the aircraft. 2 The AHRS & GPS module must be placed horizontally, the arrow direction of the shell must move forward (with the nose in the same direction). And you should take proper measures of reducing vibration when install it on the shock mount (as bellowing), and then install the shock mount on the aircraft. If the reducing vibration doesn t meet the requirements, the attitude 4

5 algorithm accuracy of FY-3ZT will be influenced, and may even lead to large errors attitude algorithm so that the FY-3ZT can not work properly. 3 FY3-ZT autopilot integrated flat-gps passive antenna. This antenna has very strong ability to receive signals, and can effectively overcome the false signal reflected from the ground. When installing the FY3-ZT, please place it horizontally, and keep the metal objects away. No transmitting antenna should be around the GPS antenna. Such as communication link antenna or image link transmitting antenna; if the transmitting antenna too close to the GPS antenna,it will increase the noise signals which led to instability in positioning,positioning error increased and so on, in more serious cases,it may couldn t positioning. 4 Place the data radio module as far as possible away from the GPS module, AHSR & GPS module and the servo, in order to avoid interference to the above equipment. Data radio antennas should be installed vertically upward or downward. Communications link is basically depends on the user's specific application, if the user s aircraft only can be operated within radius of 5 km, then a common data transmission module can be qualified; and if the user needs to monitor the aircraft's flight state or control the aircraft from a long distance, then you need an advanced data radio.the communication link used by FY3-ZT autopilot can be half-duplex or full-duplex data radio. The uplink is responsible for transmit the orders from the ground person, and transmit waypoint planning. The downlink is responsible for transmit the flight status and other remote sensing information. The asynchronous serial interface protocol between FY3-ZT autopilot and communications link is RS232-TTL level, the baud rate is The data radio module of some bands (eg 433M) is easily to interfere the servo when the electromagnetic emission. To solve these electromagnetic compatibility problems, you can through arrangement of wire and place the antenna away from the easy interfered equipments, you also can reduce the interference through rounds the magnetic core on the servo.as bellowing: Ⅲ. Interface Function Definition Interface of the FY-3ZT Flight Controller Module 5

6 Connect AHRS& GND +5V RX TX GND +5V RX TX Connect to the Data Radio GPS Module Signal +5V GND PWM1 PWM2(Directly out )I/O (NULL) PWM3 (parachute) AIL (Aileron output) ELE (elevator output) THR (Throttle output) RUD (rudder output) voltage monitor) AD1 (External AD2 (NULL) CH7 CH5 Throttle Aileron +5V CH6 Rudder Elevator GND 6

7 FY-3ZT AHRS&GPS Module Interface TX RX GND VCC TX RX GND VCC Connect to GPS module Connect to controller module FY-3ZT Remote Adapter Module Interface Connect to Data Radio GND +5V RX TX GND +5V RX TX Signal +5V Connect to PC COM Port GND CH8 (NULL) CH7 (Directly in )CH6 CH5 RUD (rudder input) THR (Throttle input) ELE (elevator input) AIL (Aileron input) NULL The CH7 channel of the adapter board can relay the first channel signal of the receiver to the autopilot, and output directly through the PWM2 of the autopilot. 7

8 Ⅳ Autopilot Connection Diagram Way 1. Place the RC receiver on the ground; control the aircraft through the data radio. In this way, the remote signal is transmitted by the data radio after switched; the remote distance is decided by the radio communication distance. But the manual remote control has a certain delay. GPS Module Note: If the electric airplane use servo-powered electric regulator, just plug the throttle control port THR directly. And then you can power the servo and the autopilot by the electric regulator, but the electric regulator should have certain load capacity. If you need to power the system and the servo separately, you can power through the unused port. Such as: plug the servo battery into +5 V of the AD2 and GND port. AIL Servo ELE Servo THR Servo RUD Servo 5V battery Note: When the plane is controlled by the remote adapter board, it contains communication interruption protection function.if the autopilot detects the communication has interrupted over 20seconds, it will enter into return mode, auto return. Data radio Diagram of airborne 8

9 Receiver Battery battery Data Radio Diagram of the Ground Part 地面部分框图 RC Remote Receiver AIL ELE THR RUD CH5 CH6 The receiver has to have at least 6-channel, two of the channels are three step switches. USB Serial TTL Note: Once use the receiver s battery to power the receiver and adapter board, please disconnect the 5V supply-side of the computer's USB port. Way 2. Place the RC remote control receiver on the plane and connect it to the autopilot directly. In this way, the remote control distance is depend on the remote control distance of the RC remote control device.for this way, the manual remote control signal is not delayed and with high real-time performance. 9

10 GPS Module Note: If the electric airplane use servo-powered electric regulator, just plug the throttle control port THR directly. And then you can power the servo and the autopilot by the electric regulator, but the electric regulator should have certain load capacity. If you need to power the system and the servo separately, you can power through the unused port. Such as: plug the servo battery into +5 V of the AD2 and GND port. AIL Servo ELE Servo THR Servo RUD Servo 5V battery Diagram of airborne The receiver has to have at least seven receiver channels; two of channels are three-step switches. One of channels is two-step switch.ch7 is used to switch autopilot to work when its in the open RC receiver mode. Data radio AIL ELE THR RUD CH5 CH6 CH7 RC Remote Receiver Diagram of the Ground Part USB Serial TTL Data radio Note: Once use the external battery to power the data radio, please disconnect the 5V supply-side of the computer's USB port. 10

11 Way3. Use two same frequency receivers, one installed on the ground adapter board, another one on the plane. The precondition is the remote control can operate two receivers at the same time, and the two receivers connecting channel must correspond with the autopilot and remote adapter. Switch CH7 of the receiver which is installed on the autopilot can operate the autopilot just receive one of the received signal. Connection of the airborne part as follows: GPS Module Note: If the electric airplane use servo-powered electric regulator, just plug the throttle control port THR directly. And then you can power the servo and the autopilot by the electric regulator, but the electric regulator should have certain load capacity. If you need to power the system and the servo separately, you can power through the unused port. Such as: plug the servo battery into +5 V of the AD2 and GND port. AIL Servo ELE Servo THR Servo RUD Servo 5V battery Diagram of the Ground Part The receiver has to have at least seven receiver channels; two of channels are three-step switches. One of channels is two-step switch.ch7 is used to switch autopilot to work when its in the open RC receiver mode. Data radio AIL ELE THR RUD CH5 CH6 CH7 6 RC Remote Receiver 11

12 Receiver battery Data Radio Diagram of the Ground Part AIL RC Remote Receiver ELE THR RUD CH5 CH6 The receiver has to have at least 6-channel, two of the channels are three step switches. USB Serial TTL Note: Once use the receiver s battery to power the receiver and adapter board, please disconnect the 5V supply-side of the computer's USB port. Photos of installation Examples Way 1 Way 2 12

13 Way 3 FY-3ZT Debugging instructions The debugging of the FY3-ZT can be started once you finished installed FY3-ZT and the GCS software of the ground control station. Ⅰ.Communication Debugging 1. Turn on your computer, and running the GCS ground station software. 2. Turn on the adapter board power supply, the adapter plate light will flash slowly, Select correct communications port connections from GCS software. Baud Rate Turn on the RC remote control. 4. Turn on the autopilot power. 5. If everything correctly, you will see the received telemetry data through the ground station software.when the pressure altitude is about 0 meters (Auto-Initialization initial boot height is 0 meters), control remote controller rudder, you will see the rudder output through the rudder display table. That means the ground station has already connected with the autopilot. When FY605 in data radio transmission status, the red light up and in receiving status, the green light up.if you find transmission of the data radio caused the rudder beating for each time, please placed the data radio away from the rudder. Ⅱ.Servo control direction setting and debugging 1. FY3-ZT own mixing function, all the remote controller are set to the control mode for the normal layout aircraft. Please choose the correct mixing mode in rudder control mode to change the layout of the aircraft. Please reference to the below table: 13

14 Layout Normal layout plane Delta-winged plane with rudder V end plane with aileron plane without aileron(but with elevator and rudder) V-end plane without aileron Options No mixing control. Elevator and Aileron mixed control. Elevator and rudder mixed control. No mixing control. Elevator and Aileron mixed control. 2. The Remote Control Rudder Checking: Please control the plane rudder with the remote controller to see weather the control surface and the control direction is the same, if not, please adjust the control direction of the rudder. 3. Rudder Control Direction Checking: Please set the P, I, D of the "steady course", "pitch stability and "roll stability" to one values,such as 50,in parameter 1. (Heading stability PID are: 40, 5, 90; Pitch stability PID are: 60, 0,60; Roll stability PID are: 60,0,60), and then switch to the "Masuda stable remote control" mode, check the direction of the rudder surface. Aileron Checking: Upward the plane in the rolling direction, if the fuselage right-leaning, the ailerons should automatically give a control gain to control the plane to the left. If fuselage left-leaning, the ailerons should automatically give a control gain to control the plane to the right. If the control gains on opposite, please set AIL Reverse in the rudder reverse settings". Elevator Checking: Upward the plane in the pitching direction, if the fuselage rise up, the elevator should be automatically given a control gain to heading down the plane. If fuselage head down, the elevator should be automatically given a control gains to rise up the plane. If the control gain on opposite, please set ELE Reverse in the rudder reverse settings". Rudder Checking: Shaking the aircraft in the course direction, if the nose turn right, the rudder should automatically given a control gain to control the head turn left. If the nose turn left, the rudder should automatically given a control gain to control the head turn right. If the control gain on opposite, please set RUD Reverse in the reverse rudder settings. Throttle Detection: When the throttle from small to large, please view the throttle output through the rudder display table if it is from small to large ( ),please set THR Reverses in the rudder reverse settings. No selects in the options. (No tick), if it is in descending ( ), please set THR Reverses in the " rudder reverse settings".select reverse in the options (tick). Ⅲ. Parameters Setting PID Explain in detail the function of each parameter 1. Turning Control Aileron Control Coefficient: The scale coefficient of the aileron when the plane turns. The larger of the setting value, the greater of the turning aileron. Setting Range: Vertical Distance Aileron Integrates: Aileron emendatory given by the autopilot according to the distance from the route in the air route fly mode. The larger of the Settings, the faster of the 14

15 control speed. Setting Range: 0-9. Change Course Damping: Aileron control gain given by the autopilot to prevent changes in course. Setting larger greater the aileron is when the plane change course prevent the greater the tilt angle. Setting Range: Altitude Control Pitching Angle Control Coefficient: The proportional action coefficient of the pitch angle when the flight climbs up or goes down. The greater of the setting, the larger of the climb up or go down angle. Altitude Deviation Integral : The pitching amendment quantity Altitude Change Damping :The pitching angle control gain given by the prevent of the altitude change.the larger of the setting,the faster of the control speed. Setting Range: Throttle Control Speed Control Coefficient: The throttle control gain given by the change of the flight speed. (FY-3ZT uses the speed of GPS). The larger of the setting, the greater of the control gain. Setting Range: Speed Change Damping: The throttle control gain of the prevent speed change which is given by the change of the flight speed changing.the larger of the setting, the greater of the control gain. Setting Range: Route Stability Vertical Distance Change Damping: The control gain to prevent the change of the vertical change during route flight. The larger of the setting, the greater of the control gain.setting Range: 0-9. Vertical Distance Rudder Integral: Rudder Stability :The control gain of prevent rotating which is given by the flight rotate around Z axis.the larger of the setting,the greater of the control gain.setting Range : Auto Balance control Pitch Stability: The amendment control gain given by the change of the flight pitch angle.the larger of the setting, the greater of the control gain.setting Range: Roll Stability: The amendment control gain given by the change of the flight roll angle.the larger of the setting, the greater of the control gain.setting Range: Automatic take-off Take -Off Angle of Attack: The climbing pitching angel when the flight automatically takes off.use for auto take off.setting Range: Take off Speed: The speed of the pull rod when the flight automatically takes off.when the flight reaches to the take off speed, its will start pull rod.use for auto take off. Setting Range: Ⅳ.Installation of Vibration Detection and Adjustment It s very important that the installation of the autopilot whether meet the vibration requirement. It will affect the accuracy of the attitude directly. Its may caused unpredictable consequences in flight if the attitude measurement is inaccuracy. Testing Process is as Follows: 15

16 1. Connect the power to the whole system and switch on the engine. Switch the control mode to Auto Balance control mode, then start to observe whether the attitude of the autopilot are work normally in every throttles through the ground station. 2."Attitude error" in the attitude table is one of the important reference to assess the impact of vibration on attitude computing, if the attitude error raised to 1000 during test process, and the attitude does not match the practical attitude,that s means the installation does not meet the vibration requirements, please re-install. The tests of each throttle are better more than 20 seconds. 3. You need to initialize the gyro, if the rolling of the altitude image module which in the state of rest is not matches with the actual attitude. Ⅴ.Autopilot Function Description Flight Control Mode Description: There are three kinds of control modes: Manual remote control, Auto Balance remote control and Automatic navigation control. The PWM pulse width time of the channel 5 determines the current flight mode. Correspond to the three gears of the three step switch on the remote control switch.note: Please don t switch CH5 to automatic control mode when the autopilot power on. Generally, when power on, switch the three-step switch to the middle and correspond to the auto Balance remote control mode. The PWM pulse μS μS μS width time of CH 5 Function Manual Remote Control Auto Balance Remote Control Automatic Navigation Control Manual Remote Control: Manual operation completely, the autopilot does not participate in control. Auto Balance remote control: The Autopilot only implements the Auto Balance functions, Auto-balance the airplane s attitude, manipulator can operate the plane, the control gain of the autopilot will be output by overlay on the manual control gain. Automatic navigation control: In this mode, the autopilot will implement the corresponding automatic control according to the navigation mode which has been set. Such as the air route fly mode or pointing flight mode. Navigation Mode Description: There are two kinds of Navigation model: Air route fly and pointing flight. The operation of the autopilot is default the Air route fly mode; you need the ground station software to change the navigation mode. Air route fly Mode: The plane will fly according to the settling route.when its get to the last point, its will circled around there. Pointing Flight Mode: In this mode, please click "pointing flight button first and then click the target point on the map. The plane will fly to this target point 16

17 immediately and circled over here. Special Flight Mode Description: There are three kinds of special flight modes: return, circle, automatic take-off. Both returning and circling function are determined by PWM pulse width time of CH6 s output. Corresponds to three gears of the three-step switch on the remote control.ch6 is preferably in idle mode when the autopilot s power on. That is switch the three-step switch to the middle, correspond to the Empty mode. PWM pulse width μS μS μS time of CH6 Function Return Empty Circle Return: No matter in what s mode, once switch it to return mode,the plane will immediately considering the home point as the target point, implementing the return process, and circling after reach the home points. Circle: No matter in which mode, once switch it to circle mode, the plane will immediately considering the current point as the central point, implement the circle process. The circle radius is determined by the circle radius you have set (The default value of the circle radius is 100 meters once the power on). Automatic Take-off: Please switch to this mode by use GCS software. The priority level of the auto take off task is higher than other tasks, press cancel button to cancel after switch to auto take off procedure. When its implement auto take off procedure, the plane will automatic climbs to 50 meters high, keep horizontally flying, and then decide the next task according to the current switch state of the CH5 and CH6. Automatic Photo: The default is off, once turn it on, it will turn to green. The autopilots will automatic control the camera interface and implement level action to take photos according to the setting photo distance. Photo: Click to take a picture immediately and the camera interface implement level action once.the camera interface is I/O level control, so through set camera reverse to decide the high level or low level when taking a photograph.i/o port can use to drive the relay,or control the camera directly which support by the level. RC Receiver: The default is turn on, when you turn off the RC receiver, the manual remote control will turn off.but you still can operate it by GCS software. Heading Cycle: The default is open, if you turn on it during air route flying, the plane will not circling when get to the last point, it will circled according to the ordered way point. If you turn on the air route circling after the fly start circling, the fly will not start circle flying, you have to exit automatic navigation mode, and switch it to air route flying,then it will start air route flying. Pointing Flight: After implement auto navigation,please click this button in mode pointing flight, you can implement it on the map. Parachute Opening: Click the parachute opening button once, the parachute opening servo will act once. 17

18 Ⅵ.Flight Parameters Setting Target Speed: Set to the aircraft cruise speed Target Altitude: Change the current aircraft s target altitude in real time. Circle Radius: Set all the aircraft circle radius. Photography Interval: Set the distance interval of automatic photography. Cruise Throttle: Set the throttle control neutral value of the autopilot when the plane is in automatic navigation fighting. This value can be manual scrap in flight. If your plane belongs to vibration ones, you have to check the stability of the engine, just make sure the engine will not be off, once you control the throttle rudder by the remote quickly. Cruise throttle must be set up. Ⅶ. The Setting of the Route After the autopilot positioned, a little red plane will show at the location, means the current location.you d better set the current location as the return point during debugging.and then set easy route around the flying area, such as square route, set the proper height, such as 200meters.It s better to keep the flight all in the monitor of sighting line during the whole flight. After setting the route, upload the route, and then click permanently preserve the route preserve.or once the autopilot powers off, the route will be lost. Ⅷ.The Debugging of after Take Off 1. First in the manual mode the plane can fly straight without the remote controller.also can take off in auto control mode (please checking the auto control servo carefully, for more detail, please check Servo Direction Setting and Debugging, under the circumstance of confidence of 18

19 the auto control servo, suggest to use this mode to take off). 2.Switch to Auto Balance Remote Control and check whether the flight unusual, operate the flight and feel whether the autopilot has the auto balance function of automatically correct the flight to horizontal.change the flight s status by manual, for example, rolling, pitching and so on to observe the flight automatically recovery condition.if it is not very good, just adjust the pitching stability and rolling stability coefficient of the auto balance control according to the circumstance. As Bellowing : For Example: If the amendment result of the flight pitching is not obvious, it need to increase pitching stability control coefficient.if the flight pitching amendment is over fast and vibrates, it need to decrease the pitching stability control coefficient. For Example: If the amendment result of the flight rolling is not obvious, its need to increase rolling stability control coefficient.if the flight rolling amendment is over fast and vibrates its need to decrease the rolling stability control coefficient. 3.After finish to adjust the auto balance control of the flight, under the auto balance control mode,adjust the remote controller fine tune to keep the flight horizontally flight when not operate the remote controller.(if the remote control neutral position of the flight straight flying is not same in manual mode and auto balance mode, then it can adjust the installation angel of the autopilot measurement module to solve.notice :just make sure the flight can straight flying in auto balance mode,the deviation of the neutral value will not influence the result of auto navigation in manual mode and auto balance mode.) 4.After straight flying in auto balance mode, keep cruise throttle. Do not operate the remote controller, acquisition servo neutral value. 5.After acquisition servo neutral value, observe the flight without unusual, help the flight climb to the altitude which as high as the setting route altitude. Then switch into "automatic navigation mode ",observing the auto navigation flying condition of the aircraft through the ground station software and visual,then adjustaccording to actual conditions. 6.Adjustment of the turning control.for Example: The flight fly from A point to B point and then to C point. B C B C Increase Aileron Control Coefficient Reduced Aileron control coefficient A A 19

20 B Increase heading change damp C If the plane rolled from side to side during turning process,you need to reduce heading change damp. A 7. Route Stability Adjustment Take the change of flight track from A to B on the route as example. Rudder Stability coefficient is useful to the fight with rudder. It s used to improve the external interfere (air current) to the circle of Z axis during flying, improve the course stability during flying.notice: If the setting is overlarge, it may caused course vibration. A B If it shows "big S" on the two side of the air route,increase heading change damp. A B If it shows "small S"on the two side of the air route,reduce heading change damp. A B If it always shows on the one side of the air route,incerease the integrate of the lateralodeviation distance. A B If it shows "disturbance "on the two side of the air route,reduce the heading change damp of the lateralodeviation distance. 8. Adjustment of Altitude Control Take the change of altitude from A to B of the flight track as example. 20

21 A B If the altitude rises up too slowly, increase the pitching control coefficent. A B If the altitude rises up too fast, reduce the pitching control coefficent. A B If it shows "big S" on the two side of the altitude,increase altitude change damp. A B If it shows "small S"on the two side of the altitude,decrease altitude change damp. A B If it always on the high side or the low side,increase altitude deviation integrate A B If it disturbance on the two side of the target altitude,decrease altitude deviation integrate. 9.Adjustment of Throttle Control The control gain of the throttle which given by the autopilot is connect with the speed of the flight and whether need to climb up or go down. Generally,the change of the throttle during cruise flight is not big.we suggest do not set overlarge parameters,incase to caused big disturbance to the flight.the normal setting is around The bigger of the speed control coefficient, the larger of the control gain when the speed deviate the target speed.on the contrary, smaller. The bigger of the speed change damping, the larger of the control gain when the speed change.on the contrary, smaller. Ⅸ. Debugging of Auto Take Off The auto take off program of autopilot is very fit hand launch plane and cataplane if it s running take off plane,you have to make sure the safety and stability during auto running process.the auto take off program not go with all the types.user have to estimate to use according to their own plane. 21

22 The debugging of auto take off can t continue until you finished the debugging of auto balance mode and navigation parameter. Set the climb pitching angle when the flight auto takes off.. Set the climbing speed. If a hand launch plane set a return point, the height of the return point is 200 meters.once it take off automatically, it will circled around the return point. The procession of auto take off is as bellowing: I. Once the GPS positioned, click Auto Take Off on the ground software. II. After turn to green color, switch CH6 switch to Return point. III. Push the throttle to the throttle location of take off and throw the flight horizontally. IV. The flight keep straight flight, when it s getting to the climb speed, it will climb to about 50 meters according to climb angle, the process of auto take off finished. (The operator can also remote control the aircraft through this process.) V. Carry out circle program around the return point and rise to 200 meters gradually. Notice: After adjust the parameters, click Permanently Preserve Parameter on time, or once the autopilot off power, all the adjust parameters will be lost. The above is belong to normal adjust method, may not go with all the flight types. Users have to do relevant debugging according to specific type. Ground Control Software FYGCS2.1 FYGCS2.1 is the ground control software of FY-3ZT, the main functions include electronic map, telemetry data monitoring, flight attitude instrument, speed, attitude instrument, location, and telemetry data recording and playback, air route editing, map loading management ect. The interface of FYGCS2.1 include shortcut toolbar, status displays bar, the flight instrument display, electronic map display area, air route and navigation parameter setting area. 1.Software Operating Environment CPU frequency: 1GHz or more. Memory capacity: 256MB or more. Hard disk space: At least 50MB free disk space. Operating System: Windows98, Windows2000, Windows XP system. Monitor: 1024x768 resolution or above. The computer Serial Port: Support 9-pin serial port or USB serial converter which baud rate is or more. Other Peripherals: Keyboard, Mouse. 2. End User License Agreement The "User License Agreement" ("Agreement") is a legal agreement between you- you means either a individual or a business organization and Guilin FeiYu Electronic Technology Co,Ltd. By installing,copying or otherwise using the software, you agree to be bound by the terms of this Agreement.If you do not agree to the teams of the Agreement,You are not permitted to use the software. User shall not delete any copyright imformation of this software and the other copies,and 22

23 shouldn t do any reverse engineering,like disassembling and decompilation. FYGCS2.1 software is developed by Guilin Feiyu Electronic Technology Co., Ltd. This software product is protected by copyright laws and international copyright treaties and other intellectual property laws and treaties. Users only have the right to use this software product. If you do not comply with any provision of this Agreement, Guilin Feiyu Electronic Technology Co., Ltd. has the right to immediately terminate this Agreement and reserve the right to hold the responsibilities according to law. Users has to be responsible for the risks of using this software products, in the application of the maximum extent permitted by law, for any special,accidental,non direct or indirect losses which caused by use or unable to use this software product, Guilin Feiyu Electronic Technology Co., Ltd. does not bear the responsibility of compensation. Even if the possibility of damage has already been told in advance. Guilin Feiyu Electronic Technology Co,Ltd specially remind the user,to ensure smooth development of the company business and the adjustment of autonomy,we reserve the right to amend any part of the terms or conditions and interrupt service without reference to the user and we reserve the right to amend or interrupt service without to responsible to the users or the third parties.we are not going to start any service to the user until the user agree with the terms of this Agreement. Guilin Feiyu Electronic Technology Co., Ltd. reserves the final interpretation right to the above terms and conditions. 3. Function module Introduction Software Interface 23

24 4. The Menu Bar: The Menu Bar and Tool Bar Ⅰ "Map" menu items are respectively : 1. Open the Map: Loaded the electronic atlas of the MapInfo format (*. gst files) into the map window of the software. 2. Load Layer: Add the new layer to the original atlas map (*. tab files). 3. Save as Map: Save the map contents inside the current electronic map window as a new atlas (*. gst file) 4. Save as Image: Save the map contents inside the current E-map window as images (BMP / JPG / GIF / PNG and other image format). Ⅱ "Communication" menu items are respectively: 1 Initialization: Open the "Initialization" dialog window, and start the relate operation of the flight control initialization. 2 Port: Select the port number by requested, the choosing range is from COM1 to COM16. 3 Baud rate: Select the communication baud rate used by the port, the choosing range is from 300 to Ⅲ "View" menu items are respectively: 1 Air Route Management: This is a complex option, can be used in hiding and displaying the flight management of the software which is on the right of the main interface. 2 Connect Switch: This is a complex option, can be used in hiding and displaying the master switch of the software which is on the bottom right of the main interface. 3 Screen Display: The map reduces to half size. 5. Toolbar: 1 Pointing tool: Used for pointing the element on the map. 2 Target center: Keep the target plane in the center of the map. 3 Roaming: For this tool, you can pan the map by drag the mouse. 4 Zoom in: Zoom in the map view. 5 Zoom out: Zoom out the map view. 6 Map Display: Please zooming the map view, in order to show all the elements on the map area. 7 Distance Measurement: Measure the distance on the map. 8 Area Measurement: Measure the area on the map. 9 Clear Track: Used to clear the track lines of the plane flew on the map window. 10 Layer Control: Manage the each layer of electronic map. 11 Add Place mark: Add a temporary mark points on the map. 6. Electronic Map Area: 24

25 Electronic map display the current location, flight course, the current target route, flight tracks, flight plan objectives and target destinations of the user s aircraft Red Plane Icon: The current aircraft s position and heading; Blue Dotted Line: Aircraft flew over the track. Virtual Red Line: The current target route. Hollow Double Green Line: The planned target route. Red Flag Icon: The planned target destination. 7. Meter Bar: Graphical instrument is divided into six meters; the topside is the map scale. The upper left is output meter to monitor the servo output; the lower left is the character display data sheet. Followed by the middle of the table are GPS speed, flight attitude instrument, and pressure altimeter. The above is the heading table. The green triangle indicates data on the speedometer, the altimeter, as well as the heading table is the current value, the orange hollow triangle indicates data is the target value. Flight Attitude Instrument: Displaying the pitch angle, roll angle, unit and degree of the current aircraft. GPS Speed:GPS measures the relative velocity, the unit and km/h between the aircraft and ground. Barometric altitude: Baroceptor measures the altitude difference between the aircraft and takeoff location.unit: meter. Heading Table: The figures inside the dial represent the tens digit, for example, dial "3" represents the 30 degrees, dial "33" represents 330 degrees. N for True North, S for true south, E for true east, W is true west. Solid triangle indicates data means the current course, orange hollow double-triangular data means the current goal course. 8. Air Route and Navigation Parameter Setting: Status and Control Display Columns: Green color means the current mode is open. Master switch: 25

26 1.Connection: Communication connection, the software start working. 2.Disconnect:Communication disconnect, the software will be closed. 3.Data playback:select when data playback. Air Route setting: 1. Returning Point setting: Click this button; you can set the returning point through use the mouse click on the target location on the electronic map. 2. Immediately Flying: After input the latitude, longitude and altitude of the target in the three input boxes on the left, set the return point. Click this button; the aircraft will fly to the target location immediately. (The navigation mode will take effect in the "pointing" mode.) 3. Add to the List: After input the latitude, longitude and altitude of the target in the three input boxes on the left, and then set the return point. Click this button; you can add flight point information to the following list of local destinations, in order to upload the air route together on the next step. 4. Mouse Planning: Click this button, you can add the navigation point through to use the mouse click the target location on the electronic map, then add the navigation information to the following list, in order to upload the air route together on the next step next 5.Upload selected point: Only upload the selected navigation point from the list box. 6.End of the plan: To make electronic map area out of the mouse planning status. 7.Undo: Delete the latest added navigation point from the local air route list. 8. Clear: Delete all the navigation points from the local air route list. 9.Download Air Routes: Download the air route from the electronic storage of the autopilot to the local air route list. 10.Upload Air Route: Uploaded the air route from local air route list to the electronic storage of the autopilot. 11. Open the Route File: Loaded the air route from the local routes file (*. wpt) to the local air route list. 12. Save Air Route File: Saved the air route of the local air routes list to local air route file (*. wpt). 13.Permanent Preservation of the Air Routes: Write the upload air route to FY-3ZT, and preserve it permanently. Button Switch: 1 Automatic photography button, turn on the automatic photography function. 2 Photo Button: Take a photo immediately. 3 RC Receiver Button: Close the remote control operation. 4 Air Route Circle Buttons: Circle flying according to the set route. (Work in the air route flight mode) 5 Switch Button: Switch between RC remote control receiver and data radio remote control. 26

27 Flight Parameter Setting: 1. Target Speed: Set the expectations value of the current speed, unit: km / h. 2. Target Height: Set the expectations value of the current altitude, unit: m. 3. Target Distance: Set the expectations value of the current distance, unit: m. 4. Circle Radius: Set the circling radius, unit: m. 5. Photographic Interval: Set the space distance between every automatic photography. Unit: m. Parameter Setting 1 and Parameter Setting 2 1. Setting: Set up the parameter of each flight control gain. 2. Mixed-Control Mode: Set up the mixed control mode of the autopilot, for adapt to different rudder surface layout aircraft. 3. Reverse Rudder Setting: Set up the pros and cons direction of rudder movement. 4.Permanently preserve the setting parameters: Preserve the setting parameters to FY-3ZT permanently. 9. Software Operation Process The Basic Operation Sequence 1. Please connect the computer serial port with the data radio correctly, keep the equipment connecting in normal working condition. 2. Please install the software correctly, if the map does not work properly, please install the MapInfo Map control. 3. Run this software. 4.Through the menu bar of the "map"-"open the map", choose a MapInfo Map Geoset atlas file whose suffix name is(.gst) from the computer, and then click "Open" to load it to the main map interface. 5. Through the menu bar of the "communication" - "port" and "baud rate", set it to the actually use port which connect the computer and the data radio. Make sure the baud rate is same with the port baud rate of the data radio. The baud rate of FY-3ZT is

28 6.Click the green connect button from the master switch which in the lower right corner of the software interface, the "Save track log" file dialog box will pop up, you must enter the location and file name where you want to save the flight track (recommended to use the current date and take-off movements times to name the track file names, such as the : txt), and then click "Save" will begin to communicate with the autopilot panel and began to record telemetry data to the track log file. If the port work normally, the first square indicating light inside the "master switch" box should turn from red to green which means the port open properly. 7. The biggest part of the center software interface is the map display section, if communicate with the autopilot successfully, and after the GPS has been 3D positioned, a red "aircraft" symbol will appear on the map, this point is the location and the movement direction of the aircraft on the map; moving the plane 10 meters, you can see the aircraft on the electronic map moves as well, blue tracks will be formed on the moved location. 28

29 8.When the GPS status shows the number of satellites is more than 4,check whether the control parameters of the autopilot working all right, the rudder of each servo working all right and the attitude is all right,if it necessary,it need gyro initialization operation. 9.Planning and design the route point and return point, please follow the practical situation, check the setting control parameter. 10.If everything goes well,the fly can prepare to take off. 10. Air Route Planning Ordinary Air Route Design First click Route Designing" button from the air route management page which inside the main interface. At this time, the electronic map will enter to the air route design mode,you can choose the navigation point by use the mouse click on the electronic map straightly, after click the mouse,the navigation point input information dialog box will be pop up. The main function is to enter the navigation point height (must enter!), you also can modify the latitude and longitude of the navigation point manually, confirmed the two nearby navigation point will formed air route automatically on the electronic map. The added navigation point will be add to the local air route automatically. 29

30 If you want to modify the location of some point in the air route, just double-click to change the navigation point in the list box, after the list box turns red, you can use your mouse to relocate this navigation point on the map. When you added enough navigation point, please click "Upload Air Route" button, Program will automatically send the navigation point which in the local air route list to the autopilot gradually. (Note: Please don t click any other button when the air route in uploading or downloading status and before the successful transmits of the entire navigation point, or the air route transmission will be interrupted.) Track Record Playback Choose the record playback option from the Master Switch which on the top right corner of the software interfaces. And then click the green Playback button from Master Switch which on the lower right corner of the software interfaces. The Open track log file dialog box will be pop-up. 30

31 Select the track file which you want to playback (*. txt), and then click "Open" will start to playback the record event in the track log file. If it works well, the first square indicating light should change to blue color which inside the "master switch" box that means is being play back track. After finished play back the tracks, the indicating light will turn to yellow color.in the process of track play back, you can drag the bottom drag to select playback speed. Note: All the "read out" and "Settings" button of this software will change color automatically according to the operating condition. When you click on the button, its will turn to yellow color immediately, which means is sending the button command. If the button command has been successfully implemented, its will turn to green color. Which means the button operation is successful. If the button always keep yellow color, which means the button command operate unsuccessful. this may caused by the errors of the communication data or other factors.at this time, the procedure will start to re-send automatically until the button turn to green color,so once you click on the command button,you don t need to repeat click until the button turn to green color. 31