X4V2 Flight Controller Manual
V1.1
Zero UAV (Beijing) Intelligence Technology Co., Ltd.
Table of Contents
1 Warning and Disclaimer .................................................................................................................. 1
2 Terms and Abbreviations ................................................................................................................ 3
3 Functions ........................................................................................................................................ 4
4 In the Box ........................................................................................................................................ 5
5 Installation ...................................................................................................................................... 6
5.1 Airframe Types.............................................................................................................................. 6
5.2 Installation of Flight Controller ..................................................................................................... 7
5.3 Installation of the GPS .................................................................................................................. 7
6 Wiring ............................................................................................................................................. 8
6.1 Port Definitions ............................................................................................................................. 8
6.2 Wiring Diagram ............................................................................................................................. 8
7 System Preparation and Debugging .............................................................................................. 10
7.1 GCS Installation ........................................................................................................................... 10
7.1.1 Installation of Mobile GCS ............................................................................................... 10
7.1.2 Installation of PC GCS ...................................................................................................... 10
7.2 Wi-Fi Configuration ..................................................................................................................... 10
7.2.1 Wi-Fi Communication Mode ............................................................................................ 10
7.2.2 Wi-Fi Configuration .......................................................................................................... 10
7.3 Setting up the Transmitter(s)...................................................................................................... 13
8 Ground Control Software setup and Debugging ............................................................................ 15
8.1 Mobile Ground Station Debugging ............................................................................................. 15
8.1.1 Ground Station Software Auxiliary Setting (Installation Guideline) ................................ 15
8.1.2 Manual Settings ............................................................................................................... 17
8.2 PC Ground Station Setup and Debugging ................................................................................... 22
8.2.1 Ground Station Software Auxiliary Setting (Installation Guideline) ................................ 22
8.2.2 Manual Settings ............................................................................................................... 24
9 Pre Flight Inspection...................................................................................................................... 29
9.1 Calibrating the Magnetic Compass ............................................................................................. 29
9.1.1 Using the Android GCS ..................................................................................................... 29
9.1.2 Compass Calibration Using a PC Ground Station ............................................................. 31
9.2 Unlocking and Arming the Motors ............................................................................................. 32
9.3 Inspecting Motor Rotational Direction ....................................................................................... 33
10 Flying at the Field ........................................................................................................................ 36
10.1 Flight Status .............................................................................................................................. 36
Zero UAV (Beijing) Intelligence Technology Co., Ltd. |
1
10.1.1 LED Status Indications.................................................................................................... 36
10.1.2 Motor Balance and Real Throttle Position ..................................................................... 37
10.1.3 Adjusting Aircraft Vibration Parameters ....................................................................... 38
10.2 Flight Functions......................................................................................................................... 40
10.2.1 Using Your Mobile Device for Remote Control of the Aircraft ...................................... 40
10.2.2 Mobile Attitude Control Mode ...................................................................................... 41
10.2.3 Semi-automatic Take Off ............................................................................................... 43
10.2.4 Return and Land ............................................................................................................ 43
10.2.5 Fly to Point on the Map (FlyToPP) ................................................................................. 44
10.2.6 Way Point Flight ............................................................................................................. 45
10.2.7 Tracking Mode (Heading Hold) ...................................................................................... 51
10.2.8 Carefree Mode ............................................................................................................... 51
11 Tasks ........................................................................................................................................... 53
11.1 Servo Driven Gimbal ................................................................................................................. 53
12 Safety Features ........................................................................................................................... 55
12.1 Starting and Stopping the Motors ............................................................................................ 55
12.1.1 To Start Motors.............................................................................................................. 55
12.1.2 To Stop Motors .............................................................................................................. 55
12.2 F/S Protection ........................................................................................................................... 55
12.3 Data Record .............................................................................................................................. 56
12.3.1 Flight Data Record - “Black Box Function” ..................................................................... 56
12.3.2 GCS Data Record ............................................................................................................ 57
13 Extending the Range of Capabilities ............................................................................................ 58
13.1 Radio Connection ..................................................................................................................... 58
13.1.1 Airborne Radio Connection ........................................................................................... 58
13.1.2 Ground Radio Connection ............................................................................................. 58
13.2 Connecting the Power Management Module .......................................................................... 58
13.3 OSD Connection ........................................................................................................................ 59
14 Upgrading the Firmware ............................................................................................................. 60
Appendix ......................................................................................................................................... 62
Appendix 1 Introduction to Mobile Ground Station (Android) ........................................................ 62
Appendix 2 Introduction to PC Ground Station ................................................................................ 66
Appendix 3 Installation and Configuration Videos ........................................................................... 68
Appendix 4 Technical Support .......................................................................................................... 68
Appendix 5 Reference Manual Update History ................................................................................ 69
2
| Zero UAV (Beijing) Intelligence Technology Co., Ltd.
1 Warning and Disclaimer
Danger
Thank you for purchasing this ZERO UAV product. The product is an advanced and specifically
dedicated control item.
Any misuse may result in damage to property, injury or even death. The user
must conform to the law and use the equipment responsibly. This product is not suitable for people under
the age of 18. Please read this disclaimer carefully before using the product, or visit the X4V2 web page
at http://www.zerouav.com to refer to relevant updates or information.
Caution
1.
Please keep the product out of reach of children.
2.
Make sure the aircraft is kept away from people and dangers such as buildings roads and property.
We suggest you fly your aircraft at specially designated areas.
3.
Please do NOT fly this product when affected by drunkenness, tiredness, drugs, dizziness fatigue,
nausea or any other condition that might impair your ability to control the aircraft.
4.
Please strictly follow the user manual when operating the device.
5.
Please make sure all components of the device are connected and work well, otherwise your unit
may be damaged, destroyed or even buried!
6.
Please power off and remove propellers before making any adjustments to the unit such as
calibrating, upgrading firmware or changing parameters. There is an ever present danger of the
propellers starting unexpectedly and causing injury.
7.
Please do NOT fly in unfavorable conditions.
8.
Please do NOT open or modify the autopilot, there are no user serviceable parts inside.
Disclaimer
1.
Zero UAV (Beijing) Intelligence Technology Co. Ltd. products are specially controlled devices.
The user shall be responsible for any and all activities connected with the use of all their
products. The manufacturer shall not be reliable for any consequences directly or
indirectly caused by all their products.
2.
The user is responsible for abiding with the law and not behaving contrary to public order
or public safety by using this product.
3.
We shall not provide technical support or security warranty for any of the following
conditions:
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Warning and Disclaimer
1
1) Units or individuals obtaining the product from agents or channels not authorized by
Zero UAV (Beijing) Intelligence Technology Co. Ltd.
2) Products after modification, debugging or replacing parts without authorization;
3) Products losing warranty card, serial number or flight data;
4) Injuries and property losses due to mis-operation or force majeure of natural
disasters.
2
Warning and Disclaimer | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
2 Terms and Abbreviations
Name
Description
GCS
Ground control station
SSID
Service Set Identifier, name of wireless network
Dual controller operation
Aircraft radio control transmitter +Gimbal radio control
transmitter
Single controller operation
To control the aircraft and gimbal with a single radio control
(RC) transmitter
Channel, for example CH5 means channel 5
CH
Channel switches assigned to different functions
F/S
Fail/Safe control
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Terms and Abbreviations
3
3 Functions
The types and related functions of the aircraft are as follows:
 Airframe type: 4-axis X-type, 4-axis cross type, 6-axis X-type, 6-axis cross type, 8-axis
X-type, 8-axis cross type, 6-axis reverse Y-type, 6-axis Y-type, 4-axis X-type with 8 motors
and customized types (irregular or quasi-irregular);

Firmware upgrading: PC upgrading (standard USB serial port cable);

Control mode: transmitter radio control/mobile control;

Parameter adjustment mode: PC/tablet PC/mobile ground station ;

Operation mode: manual stabilization, automatic hover, automatic navigation and return
and land;

Status indication: LED
 Security measures: auto return on loss of control, black box flight recorder;
 PTZ: servo PTZ;
 Receiver: Standard receiver, S-BUS receiver, PPM receiver
4
Functions | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
4 In the Box
Key:
■Controller X1
■Hardware □Software (download)
■GPS+COMPASS (hereinafter referred
to as GPS)X1
and
The GPS/Compass modules are for sensing
communicates with the other modules and external
the orientation of the aircraft by reading its
electronic devices to carry out its function as a
position and direction.
The
MC
(Master
Controller)
combines
complete autopilot system. Firmware is updated in
this unit via its RS232 COM port. The YS-GCS
(Ground control Station) records real time flight state
via WI-FI.
■External LED indicator X1
■Power module X1
The LED indicates current flight status of the craft.
Supplies regulated power for the autopilot and
The light shows information such as flight mode,
the Wi-Fi module.
number of satellites in view and battery used.
■WIFI module X1
■R232 serial port to USB converter cable
(FTDI) X1
Connects the Auto Pilot to the Ground Station via
Connects PC and autopilot via USB to
WI-FI (Wireless Network) Supports 2 work modes:
update firmware.
Peer to Peer and Router
■GPS bracket X1
■Warranty card X1
The GPS + COMPASS is sensitive to magnetic
This provides Product Serial No., Purchase
interference. This bracket is used to mount the GPS
Date. Please fill out the relevant information
module where necessary and to keep it far away
and
from EMI sources.
Technology Co. to register your product
return
to
Zero
UAV
Intelligence
warranty.
□Ground station software
□Upgrade software
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | In the Box
5
5 Installation
5.1 Airframe Types
The X4V2 flight controller provides support for aircraft in a cross (+), X and Y configurations of
rotor arms and propellers.
In the figures below, the yellow arrow at the position of the central plate indicates the direction
of the aircraft nose; the blue curved arrow indicates the direction of rotation of the upper
propeller and the purple curved arrow the direction of rotation of the lower propeller.
NB
Install the motor and propellers according to the following modes.
Quad-Rotor +4
Quad-Rotor x4
Hexa-Rotor +6
Hexa-Rotor x6
Octo-Rotor +8
Octo-Rotor x8
Hex-Rotor reverse Y6
6
Hex-Rotor Y6
Installation | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
Quad-Rotor X8
5.2 Installation of Flight Controller
Install the X4V2 flight controller on the central deck of the aircraft horizontally, with the arrow
labelled “Front” pointing to the aircraft nose, as indicated in the following diagrams:
Direction of
aircraft nose
5.3 Installation of the GPS
Install the GPS on the bracket with the GPS
label facing upwards and the small arrow
pointing to the aircraft nose.
The appearance of the bracket is as shown in
Figure 1
Figure 1.
NB
 Make sure the small arrow points to the aircraft nose. If not the aircraft will circle (toilet
bowl) when in auto-hover;
 Place the GPS module in an elevated and horizontal position, away from equipment
which can produce magnetic fields such as cables, transmitters and cameras without
screening.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Installation
7
6 Wiring
6.1 Port Definitions
Port Definitions: X4V2 flight controller
Port
Port function
Port
Port function
M1
ESC for Motor #1
AIL
Aileron
M2
ESC for Motor #2
ELE
Elevator
M3
ESC for Motor #3
THR
Throttle
M4
ESC for Motor #4
RUD
Rudder
M5
ESC for Motor #5
CH5
Switching flight mode
M6
ESC for Motor #6
CH6
Switching flight mode
Y1
Connect NO.7 ESC or connect roll
of servo gimbal for multiplex
CH7
Control the gimbal pitch and roll
Connect S-BUS receiver for multiplex
( NOT support S-BUS2 port of 7008SB)
CH8
Connect PPM receiver for multiplex
AI1
Power management module (option)
POW
5.7V output from power module
GPS-R
GPS-B
GPS-R: Red terminal from GPS module
GPS-B: Black terminal from GPS
module
Y2
Connect NO.8 ESC or connect
pitch of servo gimbal for
multiplex
Wi-Fi data unit or to PC via USB
for updating firmware etc.
COM
LED
LED indicator
6.2 Wiring Diagram
Notes:
a.
The power supply range for the power module and Wi-Fi module should be a Lipo battery
of between 3S and 6S, namely 10.8v-25.5v;
b.
The RC receiver should be powered directly from the flight controller. If an external power
supply is used at the same time the equipment may be destroyed.
c.
The ESCs and motors can cause serious magnetic interference. The GPS and magnetic
sensor modules must be installed as far away as possible from motors and ESCs
(particularly where there are multiple ESCs). The arrow on the GPS must be pointed at
the aircraft nose. The power lead from the battery will create a large magnetic field
particularly when large currents are drawn. Keep this as far away as possible from the
GPS module to avoid flight artefacts such as “toilet bowling”.
8
Wiring | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
d.
A servo driven gimbal should not be powered from the receiver but should be powered
separately.
e.
The video transmitter (VTX) must be kept as far away from the aircraft electronics as
possible to avoid serious interference.
f.
Make sure the full system power is not connected directly to the flight controller. This will
destroy the flight controller which should be powered by a 5.7 V output only. The LED
indicator will flash three times after the initialization of the flight controller, indicating that
correct correction has been made and the system started normally.
Wiring diagram
Main Controllers(X4V2 )
PPM Receiver
·
The main controllers are horizontally mounted in the centre of the aircraft
with the arrows marked “front” pointing forward. The controllers may
be mounted direct without damping.
·
Ensure that all terminals of the flight controllers are uncovered; this
facilitates the wiring and makes it easier to connect to a PC for firmware
upgrade.
·
S-BUS Receiver
Finalize the position of all flight control components and complete the
wiring before finally fixing them in position.
1
2
3
4
5
6
7
8
Electronic Speed
Controllers
(M1-M8)
Servo Driven
Gimbal
RC Receiver
PC or OSD
·
First set up the aileron,
elevator, throttle and
rudder on the remote
controller(RC transmitter).
·
The receiver (support SBUS and PPM receiver) is
powered by the
controller ; an external
power supply is not
needed.
·
Connect the receiver to
the corresponding
channels on main board.
GPS Module
·
LED
LED Indicator
·
RC Receiver
Install the LED in
a convenient
position, away
from the GPS
The GPS and magnetic compass
module is magnetically sensitive
equipment, which should be
kept away from other electronic
equipment.
·
Use the original GPS housing to
install the GPS module.
·
The GPS is also sensitive to
shaking. Please secure the frame
of the GPS firmly and install with
the logo facing upwards and the
arrow facing farwards.
expansion
interface
5.7V
com3
WiFi
+
Power
-
3S-6S Lipo
Power
Supply Unit
Power Unit Option
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Wiring
9
7 System Preparation and Debugging
The X4V2 Aircraft system links to PC or Android ground station software. As the Android is
more convenient for debugging and flight monitoring at the field, this is the recommended
system.
7.1 GCS Installation
7.1.1 Installation of Mobile GCS
Android mobile GCS should be installed as follows:
1.
Download YS-GCS Android mobile software from the download section in the support
zone of the official website (www.zerouav.com).
2.
Automatically install the software by clicking on the APK file in the
file manager. The ground station App will appear on the mobile
device desktop after installation as shown in Figure 2. The GCS
must be installed in the memory of the mobile.
Figure 2
7.1.2 Installation of PC GCS
Download the YS-GCS PC software from the download section in the support zone of the
official website (www.zerouav.com). After decompressing, double-click the ZERO-GCS Rotor
Ground Station.exe file to install the program.
7.2 Wi-Fi Configuration
7.2.1 Wi-Fi Communication Mode
The X4V2 Wi-Fi system can support two communication modes: point-to-point (P2P) and
router. The delivery default setting is point-to-point mode with an SSID of ZERO-TECH and no
password.
After the link is completed all flight data will be recorded to the ground station. The file with the
extension of “.hj” can be found in the directory “YShj” in the root directory of a mobile device or
in the file folder “Hj” in the PC ground station software package. This file can be replayed and
analyzed in the PC GCS application.
A Wi-Fi configuration tutorial can be found at:
http://v.youku.com/v_show/id_XNTE2OTY4MjQ4.html
7.2.2 Wi-Fi Configuration
7.2.2.1 Firmware Connection
The firmware can be updated using the following procedure:
10
System Preparation and Debugging | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
1.
Download the USB driver from the ZERO
official website and install it;
2.
Connect the Wi-Fi module to a PC with the
supplied USB serial port cable shown below.
Connect the USB terminal to any USB port
on the PC and the serial terminal to the com
port of the Wi-Fi module;
3.
com3
Plug the lead reserved for the Wi-Fi module
WiFi
from the power supply into the Power port of
+
Power
-
(3S-6S input) of the Wi-Fi module.
Note:

When connecting the Wi-Fi module to the Computer, the WHITE wire of the
communication cable is located at the upper right hand corner of the Wi-Fi module.

When connecting the Wi-Fi module to the X4V2, the BLACK wire of the communication
cable is located at the upper right hand corner of the Wi-Fi module.
com3
WiFi
+
Power
-
com3
Connect with PC
WiFi
+
Power
-
Connect with
the flight
controller
7.2.2.2 Software Set-up
7.2.2.2.1 Point-to-point Mode
It is possible to use the wireless router in the point-to-point mode and the password can be set
up in this mode to make sure no other user can connect to the Wi-Fi. Setup procedure is as
follows:
1.
Download Wi-Fi configuration software from
the Zero UAV site.
2.
Double-click
“SeanyConfig.exe”
decompression
and
a
after
“SeanyConfig”
window will pop up, as shown in Figure 3.
3.
Click “Setting” for the main interface, as
shown in Figure 4.
Figure 3
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | System Preparation and Debugging
11
Figure 4
4.
Select the correct COM port. If you are unsure which port this is you can search for the
“Prolific USB-to-Serial Comm Port” in your Windows Device Manager. This will give you
the port number. Check "AP" (Access Point) which is "PTP mode".
To check your port: right-click “My computer”→“Properties”→“Device manager”→“Port
(Com and LPT), as indicated in Figure 5.
Figure 5
5.
Set up the SSID of Wi-Fi module,
default is “ZERO-TECH”.
6.
Uncheck “No Passphrase”; the Wi-Fi
password must be five digits; as
shown in Figure 6.
7.
Click “Apply” and wait for completion
of the software configuration; click
“Yes” to exit after the window “Ap
Figure 6
mode OK” pops up, as shown in Figure
7.
8.
Connect your mobile device or PC
GCS to the SSID via wireless after set
up.
9.
The Wi-Fi blue indicator changes from
solid to flashing to indicate the GCS is
connected and receiving data.
Figure 7
7.2.2.2.2 Router Mode
Set up Wi-Fi router mode if your mobile device or PC is incompatible with P2P.
12
System Preparation and Debugging | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
Configuration of router mode is similar to that of point-to-point mode and you should proceed
as follows:
1.
Download Wi-Fi configuration software
from the ZERO official website to your
PC;
2.
Double-click
“SeanyConfig.exe”
after
decompression and a “SeanyConfig”
window will pop up, as shown in Figure 8.
3.
Click “Setting” and the main interface will
Figure 8
pop up, as shown in Figure 9.
4.
Select the correct port and check “Infra
station”, as shown in Figure 10.
5.
Set up the SSID of Wi-Fi module, default
is “ZERO-TECH” it is case-sensitive and
the default password is 82890430.
6.
Complete the configuration modification
by clicking “Apply”.
7.
A video showing how to configure the
route
can
be
seen
Figure 9
at:
http://v.youku.com/v_show/id_XNTE3Nz
E1NDcy.html/;
8.
Connect your mobile device or PC GCS
to the SSID via wireless after set up.
9.
The Wi-Fi blue indicator changes from
flashing to solid to indicate the GCS is
connected and receiving data.
Figure 10
Note:

The SSID and password of the router must be consistent with those of the Wi-Fi module;

TP-LINK is taken as an example for the router configuration in the video;

WPA2-PSK AES encryption method is used with an IP of 192.168.1.1.
7.3 Setting up the Transmitter(s)
Fixed wing mode must be used in the RC transmitter without any mixes configured. If you are
using FUTABA none of the channels should be reversed. All channels should be reversed for a
JR or WFLY transmitter.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | System Preparation and Debugging
13
The transmitter of the aircraft can be set up as follows:
1.
Set three-position switches to CH5 and CH6 on the transmitter as indicated in the
following diagram:
2.
To set up F/S (Fail safe) protection set both CH5 and CH6 of the transmitter to Position 3
and the accelerator near central position (50%).
The relationship of four operation modes is indicated in the following table:
CH5 status
CH6 status
Operation mode
Manual stabilisation
Position 1
X, (Any Position)
If Channel 5 is switched to position1 then the aircraft
will be in manual stability mode whatever the position
of Channel 6
Position 3
Position 1
Automatic hovering
Position 3
Position 2
Automatic navigation
Position 3
Position 3
Returning and landing
Note: Position 2 of CH5 is a functional Position in which the Carefree mode can be selected. Refer
to “10.2.8 Carefree Mode” for more information.
Refer to your transmitter manual for specific instructions to set up failsafe and take a look at
this video: http://www.tudou.com/programs/view/e1ai526Mbt4/.
14
System Preparation and Debugging | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
8 Ground Control Software setup and Debugging
The aircraft will be set up by following the GCS installation guide. We can follow your own
customized setup in the GCS app. It is recommended that you follow the GCS installation
guide because it is easy to miss out essential steps if you do it yourself and you may damage
the equipment as a result.
You should pay attention to the following points during the installation:

Before turning on the transmitter or powering the flight controller when you are installing
or debugging, make sure the propellers are removed, and it is recommended that you are
able to power the motors separately from the controller.

Switch your transmitter to manual mode and advance the throttle before entering settings,
otherwise it will not be possible to make changes.
Note:

Carry out the following inspections if there is no data transmission during installation or
debugging:
1. Examine whether the wires are connected correctly;
2. Examine whether there is any problem with the flight controller; connect the flight
controller to the PC and see whether there is any data transmission from the flight
controller; the flight controller can be considered faulty if there is no data transmission
but the USB serial port lead is working okay.
3. Check Wi-Fi configuration;

An automatic alarm will be made by the mobile ground station if the voltage is too low.
8.1 Mobile Ground Station Debugging
8.1.1 Ground Station Software Auxiliary Setting (Installation Guideline)
The ground station software auxiliary settings are as follows:
1.
Connect the ZERO-GCS app on your android mobile device or tablet to the autopilot by
Wi-Fi to enter the initial interface screen, as shown in Figure 11.
2.
Click “Settings ” for the settings interface, as shown in Figure 12.
3.
Click “Installation Guide” to start the installation, as shown in Figure 13.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Ground Control Software setup and
Debugging
15
Figure 11
4.
5.
Figure 12
Figure 13
Click “Next” to start setting up or debugging by following the on-screen instructions:
Step 1
Step 2
Step 3
Step 4
Step 5
Step 6
Click “Next” to exit the installation guidelines. An instructional video can be found here:
http://www.tudou.com/programs/view/h6Umvfs1my8/.
16
Ground Control Software setup and Debugging | Zero UAV (Beijing) Intelligence Technology
Co., Ltd.
8.1.2 Manual Settings
8.1.2.1 Transmitter Mode Set Up
Powers to the motors should be off or propellers removed to guarantee safety.
1.
Select correct operational mode;
a)
Click menu on your android to open the dialogue, as shown in Figure 14.
b)
Click “Set” to open the setting window, as shown in Figure 15.
c)
Open the drop-down menu next to “Stick mode”, as shown in Figure 16.
Figure 14
d)
Figure 15
Figure 16
Check next to your stick mode; for example “US” would be mode two (left-hand
throttle).
2.
Verify correct stick movement.
a)
Press “Adjust Transmitter” in the settings interface,
and then press “OK” to confirm.
b)
Within 5 seconds rotate the left and right transmitter
sticks to their extremes in all directions , as shown
in
Figure
17.
The
flight
controller
will
automatically collect maximum, minimum and
neutral values for each channel.
3.
Figure 17
Now make sure that the direction of movement of the sticks is reflected accurately in the
diagram below. You can only proceed to the next step after confirming this.
c)
How to check stick position:
–
In the diagram below showing “Manual Servo Data” in the data interface, the left
stick is rotor and elevator and the right is aileron and throttle, as shown in Figure
18.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Ground Control Software setup and
Debugging
17
–
When the sticks are in neutral position they will
be shown as green. The vertical will be shown
the yellow when fully extended and the sticks
will be shown as red in any other position than
neutral.
d)
It is necessary to select “capture transmitter central
point” in the settings interface to make the flight
controller record the correct neutral position of the
sticks if, for example, if either stick is not in the
central position after fine tuning.
Figure 18
8.1.2.2 Check CH5 and CH6 for F/S (fail/safe protection)

Check operation mode switching is correct:
You need to check with mode switching is normal each
time you connect the GCS.
For example, looking at the data interface on the GCS,
flight mode should display “Manual” when CH5 is at
position 1 and CH6 is at any position, as shown in Figure
19. This is not the case you should look at the data link
or the settings in your transmitter.

Check F/S protection
Turn off your transmitter, the flight mode should display
“Returning to land” and the throttle should show is
neutral (green). This is not the case you should reset
F/S protection.
Figure 19
8.1.2.3 Setting up Aircraft Parameters
The autopilot is set to 4-axis X-type
mode as default before delivery and
the parameters should be set up
according to the following procedure:
1.
Click the “Parameter” tab for the
parameter interface, as shown in
Figure 20.
2.
Click “Get” to load the existing
parameters of the aircraft;
Figure 20
18
Ground Control Software setup and Debugging | Zero UAV (Beijing) Intelligence Technology
Co., Ltd.
3.
Click “Send” after any alterations to send the modified parameters to the aircraft;
Please refer to the following table specific parameter descriptions:
Note:

Click Get or Send multiple times to avoid failure in obtaining or sending parameters;

Click “Default” to recover factory setting values.
Parameter name
Roll Sensitivity
Pitch Sensitivity
Setting description
This is the sensitivity of roll and pitch of the aircraft. The value will
have a direct effect on the sensitivity of the controls, too small or
too large settings will make the aircraft unstable.
Settings represent the angle speed error and are in the range of
0 to 255. The larger the value of the sensitivity, the more rapid
the response of the aircraft, but too much sensitivity will result in
high frequency vibration. Sensitivity needs to be reduced for
aircraft with high-speed, smaller propellers.
Sway Compensation
This sets up vibration dampening for aircraft with a lower
propeller rotation speed; this will improve the stability but reduce
sensitivity. The range is from 0 to 255. A value too high or too low
will cause instability.
If there is no sway compensation, the aircraft will rock backwards
and forwards rather than snapping directly into its neutral
position.
Photo spacing
–
If your aircraft repeatedly rocks, then the value needs to be
increased to stop the aircraft rocking.
–
This value should be reduced when the high-speed vibration
appeared.
Sets up the distance interval (in meters) between two photograph
captures within the range of 5m- 255m.
This parameter is only available in automatic photography mode.
PTZ Roll Sensitivity
PTZ Pitch Sensitivity
The PTZ (Gimbal) roll output and PTZ pitch output sensitivity is
used to adjust the compensation angle of the PTZ data for your
Gimbal.
You can compensate high or low for aircraft movement within a
range from -127 to 127.
Note: You can enter a negative value to reverse the direction of
compensation.
Cell Num
Enter the cell number of your flight battery (4S shown)
The autopilot can calculate the low voltage alert according to the
Cell Number filled in by the user. If your cellphone vibrates once
every 2 seconds it is a reminder that the power is getting low.
When it vibrates continuously it means the power is getting very
low and you should land at once.
Altitude Limit
This shows the highest and furthest distance which the aircraft can fly.
Distance Limit
You can enter the value 0 for unlimited distance. You can also fill in your
own distance limit value.
Note: The aircraft will automatically return to the starting position
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Ground Control Software setup and
Debugging
19
Parameter name
Setting description
if the height or distance limit is exceeded after taking off in
manual or GPS mode. It is not possible to regain control of the
aircraft until it is back within the permitted range.
Volt Alert Threshold
Enter the voltage per cell required to activate a low voltage alert,
for a Lipo battery this would be normally 3.65v.
PAR+PHO Multiplex
1. If using a brushless gimbal: select parachute-opening +
photograph
2. Servo Gimbal: select 2-axis PTZ
Aircraft Type
Set according to the type of aircraft in use.
Handle Mode
To select speed mode or status mode The speed mode is the
speed in GPS mode while the status mode is the speed in
manual mode. It’s necessary to fill in maximum flight speed when
selecting status mode.
Max Fly Speed
Flight speed is governed to the value selected.
4.
Customized parameter setup (Users of common standard aircraft patterns may skip
this bit)
If you are using a non-standard multirotor with an irregular flight configuration
you may set up the parameters according to your own requirements, customizing the
speed increase and decrease ratios of the roll, pitch and yaw channels of each axis.
The specific definitions are as follows:
Channel
Aircraft activity
Required parameter values
Throttle
Climb or descent
100 for all
Yaw
Rotate to the right
Decrease to -100 or increase to 100
Pitching
Pitch down
Decrease to -100 or increase to 100
Rolling
Roll to the right
Decrease to -100 or increase to 100
Flight parameters can be set up using 4-axis X-type
quadcopter as an example, as shown in Figure 21.
Set up as follows:
a)
Click “Settings” in the GCS;
b)
Click “Mixing Define” for the parameter setting
interface;
c)
Fill in the necessary parameters and click “Send” to
send your modified values to the flight controller;
click “Get” to download the parameters again from
the GCS to check whether parameters are
uploaded successfully.
20
Figure 21
Ground Control Software setup and Debugging | Zero UAV (Beijing) Intelligence Technology
Co., Ltd.
d)
Click on the “parameter” interface and select “aircraft type” and select “user-define”;
e)
After successful modification of parameters, power up the aircraft, throttle up gently
and carefully note that the aircraft response is consistent with your settings; now you
can confirm this with a trial flight.
NB
Because the motors might immediately rotate at high speed after the aircraft type has been
modified, it is strongly recommended to remove propellers to make sure of safety.
8.1.2.4 ESC Stroke Calibration
Please remove propellers before ESC stroke calibration.
Some ESCs which have been designed specifically for multi-rotors do not need to be
calibrated. Here we take the Hobbywing I did as yours ESC as example: hi DDM goodtime.
1.
Connect the autopilot power
only, pull the throttle to the
bottom
and put CH5
to
position 1.
2.
Click "Init Setup" in "Setting"
page, as shown in Figure 22.
Click "Confirm" button in the
dialog box. Now the "Flight
Mode" should be displaying
as "Settings" in the Data
screen of the GCS, as shown
in Figure 23.
3.
Figure 22
Figure 23
After arming the motors with CSC (Section 9.2 Unlocking and Arming the Motors), push the throttle
all the way to the top and then connect power on (No propellers!)
4.
Pull the throttle to its lowest position after two confirmatory sound signals from the ESCs
and the gimbal controller will also sound a number of beeps to indicate the number of
cells in the battery. This will complete ESC calibration.
5.
Click “Quit Setup” and confirm in the dialog box that pops up.
6.
To check whether verification is successful, push the throttle after unlocking and all my
motors should work simultaneously.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Ground Control Software setup and
Debugging
21
8.1.2.5 Inspection of Flight Controller and GPS Installation
The flight controller and GPS installation should be inspected as follows:
1.
Check that the arrows of X4V2 and GPS are all pointing to the aircraft nose.
2.
Check X4V2 is installed horizontally and GPS is elevated and installed horizontally;
3.
Check X4V2 and GPS are fixed firmly.
8.2 PC Ground Station Setup and Debugging
8.2.1 Ground Station Software Auxiliary Setting (Installation Guideline)
The ground station software should be set up as follows:
1.
Connect the PC to the Wi-Fi
module, or directly to the
COM1 on the auto pilot
using the USB adaptor, and
run
“ZERO-GCS
rotor
ground station.exe” to enter
the
initial
interface,
as
shown in Figure 24.
2.
Figure 24
Select “File”→ “Open Wi-Fi”, the flight data information bar will pop up at the bottom of
the ground station window, indicating controller data, as shown in Figure 25.
3.
Now select “Settings”→“Installation guide”, to pop up the installation debugging window,
as shown in Figure 26.
Figure 25
4.
Figure 26
Click “Next” for the installation operation stage. Complete the required information as
indicated below:
22
Ground Control Software setup and Debugging | Zero UAV (Beijing) Intelligence Technology
Co., Ltd.
Step 1 Set the aircraft type, battery cell number
Step 2 Check channel settings, and failsafe
and required alarm voltage from a single cell.
setting (F/S)
Step 3 Select transmitter Stick Mode and
Step 4 Calibrate ESCs
direction of stick movement.
Step 5 Unlock (using the CSC operation) and
Step 6 Examination of flight controller and GPS
check channel mixing.
installation
5.
Click “Finish” to exit the installation guide after software debugging.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Ground Control Software setup and
Debugging
23
8.2.2 Manual Settings
8.2.2.1 Calibration of Transmitter
The power supply should be disconnected from the motors or propellers removed before
continuing. The transmitter is calibrated as follows:
1.
Select correct stick mode;
a)
Run “ZERO-GCS rotor ground
station.exe” and open Wi-Fi;
b)
Select your TX stick mode from
the pull-down menu, as shown
in Figure 27. (Mode 2 –
American standard is shown)
Figure 27
2.
Calibrate Stick Movement
a)
Click “Setting(S)”→“Transmitter (T)”→“Adjust Transmitter (C)”, the calibration prompt
dialogue will open, as shown in Figure 28
b)
Click “Yes”, within 5 seconds rotate the left and right transmitter sticks to their
extremes in all directions, as shown in Figure 29. The flight controller automatically
record the maximum and minimum values for each control axis and also the neutral
values.
Figure 28
3.
Figure 29
Check the stick movement is consistent with the directions indicated in the GCS;
a)
Check display positions:
–
In the flight data interface, stick positions are shown as per the diagram below.
Mode 2 is indicated where the throttle and rudder are on the left stick, the aileron
and elevator are on the right stick, as shown in Figure 30.
24
Ground Control Software setup and Debugging | Zero UAV (Beijing) Intelligence Technology
Co., Ltd.
–
When the sticks are in their
neutral position they are
shown
in
green.
When
moving they are shown in
red. At their full extent they
are shown in yellow.
Figure 30
b)
Select “Setting”→ “Transmitter”→“Capture Transmitter Centre point (N)”, to
make sure the flight controller records the correct neutral position if this has not
already been done in fine tuning.
8.2.2.2 Checking CH5 and CH6 Switching and F/S (failsafe)

Check operation mode switching
Check whether the switching of operation mode is correct after connecting GCS module.
For example, the flight state
on
the
“Flight
status”
interface on the right side of
the
GCS
should
display
“Manual” when CH5 is at
position 1 and CH6 in any
position and so on, as shown
in Figure 31. If not, examine
the firmware connection or
your transmitter settings.

Figure 31
Check F/S protection
Switch off your transmitter, flight state should display “Back landing” and the throttle slider
should be near the neutral position in green in the “Manual servo” in the flight data
interface. This is not the case recheck your failsafe setup.
8.2.2.3 Setting up Aircraft Parameters
The steps of setting up aircraft parameters are as follows:
1.
Select “Setting(S)”→“ Parameters (P)”, the parameter setting window will pop up, as
shown in Figure 32.
2.
Click “Get” to obtain the existing parameters of the aircraft;
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Ground Control Software setup and
Debugging
25
3.
“Send”
Click
after
parameter adjustment
to send the modified
parameters
to
the
aircraft.
An
explanation
parameters
can
of
be
found
in
“8.1.2.3
Setting
up
Aircraft
Parameters”.
Figure 32
Note:

Click Get or Send multiple times to avoid failure in obtaining or sending parameters;

Click “Default” to recover factory setting values.
4.
Customized parameter setup (Users of common standard aircraft patterns may skip
this bit)
If you are using a non-standard multirotor with an irregular flight configuration
you may set up the parameters according to your own requirements, customizing the
speed increase and decrease ratios of the roll, pitch and yaw channels of each axis.
The specific definitions are as follows:
Channel
Throttle
Yaw
Pitching
Rolling
Aircraft activity
Climb or descent
Rotate to the right
Pitch down
Roll to the right
Required parameter values
100 for all
Decrease to -100 or increase to 100
Decrease to -100 or increase to 100
Decrease to -100 or increase to 100
An example of flight parameter set up is shown in Figure 33, using a 4-axis X-type quad
copter as an example.
Setting up procedure is as follows:
a)
Click “Setting ”→“Other (O) ”→“ Mixing
Define (E)” in the GCS.
b)
Fill in required parameters and click
“Send” to send these values to the flight
controller; click “Get” to download latest
parameters to the GCS to check
whether
parameters
have
been
uploaded successfully.
Figure 33
26
Ground Control Software setup and Debugging | Zero UAV (Beijing) Intelligence Technology
Co., Ltd.
c)
In the “Parameters(P)” dialogue enter your correct “Aircraft Type”, for example
“Quad-Rotor Cross”
d)
Power the flight controller after confirming successful modification of parameters and
apply a small amount of throttle to check the motors are spinning in the correct
directions. If this is successful you are all set to make a trial flight.
NB
Because the motors might immediately rotate at high speed after the aircraft type has been
modified, it is strongly recommended to remove propellers to make sure of safety.
8.2.2.4 ESC Stroke Calibration
Please remove propellers before ESC stroke calibration.
Some ESCs which have been designed specifically for multi-rotors do not need to be
calibrated. Here we take the Hobbywing ESC as an example.
1.
Connect the autopilot power
only, pull the throttle to the
bottom and put CH5 to
position 1.
2.
Click
"Init
"Setting"
"Confirm"
Setup"
page.
button
in
Click
in
the
dialog box. Now the "Flight
Mode" should be displaying
as "Settings" in the Data
screen of the GCS, as
shown in Figure 34.
3.
Figure 34
After arming the motors with CSC (Section 9.2 Unlocking and Arming the Motors), push the
throttle all the way to the top and then connect power on (No propellers!)
4.
Pull the throttle to its lowest position after two confirmatory sound signals from the ESCs
and the gimbal controller will also sound a number of beeps to indicate the number of
cells in the battery. This will complete ESC calibration.
5.
Click “Quit Setup” and confirm in the dialog box that pops up.
6.
To check whether verification is successful, push the throttle after unlocking and all
motors should work simultaneously.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Ground Control Software setup and
Debugging
27
8.2.2.5 Examination of flight controller and GPS installation
The flight controller and GPS installation should be inspected as follows:
1.
Check that the arrows of X4V2 and GPS are all pointing to the aircraft nose.
2.
Check X4V2 is installed horizontally and GPS is elevated and installed horizontally;
3.
Check X4V2 and GPS are fixed firmly.
28
Ground Control Software setup and Debugging | Zero UAV (Beijing) Intelligence Technology
Co., Ltd.
9 Pre Flight Inspection
9.1 Calibrating the Magnetic Compass
9.1.1 Using the Android GCS
NB
 The magnetic compass must be calibrated before the first flight after installation of the
X4V2 flight controller.
 Calibration should be carried out in a clear space outside; calibration should not be done
indoors or in an environment with strong magnetic fields, such as in the presence of cars
or shipping containers.
 You should also calibrate after re-arranging components in your aircraft or if you find it
flies in circles.
 Compass calibration does not need to be done every time you fly, or if you upgrade
firmware without changing hardware position. However it should be done when
components are moved or if the aircraft flies in unexpected ways.
Compass calibration is carried out in three steps: horizontal calibration, vertical calibration and
storage of magnetic compass data. Instructions for each stage can be found in the status bar
at the top “Settings” interface, as follows:
1.
Switch the transmitter to manual mode
2.
Click “Settings” to enter the settings
interface, as shown in Figure 35.
and pull the throttle to minimum.
3.
Click “Magnetic compass” to open the
calibration dialog box, as shown in
Figure 36.
Figure 35
Figure 36
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Pre Flight Inspection
29
4.
Select “Horizontal Alignment” and to click “OK” to start horizontal calibration.
5.
Hold the aircraft horizontally (within a
status error of 5°which can be maintained if
you hold the aircraft with both hands, as
shown in Figure 37),turn around two or three
times slowly making sure that the blue LED
stays lit. If the blue LED goes off, stop and
adjust the aircraft, before continuing.
6.
Now select “Vertical Alignment” and click
“OK” for vertical calibration.
7.
Figure 37
Hold the aircraft with the nose vertically
down(within a status error of 5°, as shown
in Figure 38) turn around two or three times
slowly making sure that the blue LED stays
lit. If the blue LED goes off, stop and adjust
Direction of
aircraft nose
the aircraft, before continuing.
8.
Select “Save Alignment” in the dialogue box
and click “OK”.
9.
Figure 38
You will need to wait for the flight controller to process the recorded magnetic data. A
purple LED will show during the processing. When the purple light goes out, calibration is
complete.
10. The ground station will switch to the remote control interface automatically and spend a
few seconds calculating. Then it will display two circles, one blue and the other red, as
indicated in the following figures: The superposition of two circles, red and blue indicates
successful calibration. If this is not the case you need to start again with a new calibration
operation.
Calibration excellent
30
Calibration okay
Calibration unsuccessful
Pre Flight Inspection | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
9.1.2 Compass Calibration Using a PC Ground Station
NB
 The magnetic compass must be calibrated before the first flight after installation of the
X4V2 flight controller.
 Calibration should be carried out in a clear space outside; calibration should not be done
indoors or in an environment with strong magnetic fields, such as in the presence of cars
or shipping containers.
 You should also calibrate after re-arranging components in your aircraft or if you find it
flies in circles.
 Compass calibration does not need to be done every time you fly, or if you upgrade
firmware without changing hardware position. However it should be done when
components are moved or if the aircraft flies in unexpected ways.
Compass calibration is carried out in three steps: horizontal calibration, vertical calibration and
storage of magnetic compass data. Instructions for each stage can be found in the status bar
at the top “Settings” interface, as follows:
1.
Switch the transmitter to manual mode and pull the throttle to minimum;
2.
Select “Settings(S)”→“Magnetic Compass (M)”for the “Magnetic Compass Alignment”
window as shown in Figure 39.
3.
Click “Horizontal Alignment” for horizontal calibration, as shown in Figure 40.
Figure 39
4.
Figure 40
Hold the aircraft horizontally (within a status error of 5°which can be maintained if you
hold the aircraft with both hands, as shown in Figure 41),turn around two or three times
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Pre Flight Inspection
31
slowly making sure that the blue LED stays lit. If the blue LED goes off, stop and adjust
the aircraft, before continuing.
5.
Now select “Vertical Alignment” and click “OK” for vertical calibration.
6.
Hold the aircraft with the nose vertically down(within a status error of 5°,as shown in
Figure 42) turn around two or three times slowly making sure that the blue LED stays lit. If
the blue LED goes off, stop and adjust the aircraft, before continuing.
Direction of
aircraft nose
Figure 42
Figure 41
7.
Select “Save Alignment” in the dialogue box and click “OK”;
8.
You will need to wait for the flight controller to process the recorded magnetic data. A
purple LED will show during the processing. When the purple light goes out, calibration is
complete.
9.
The ground station will switch to the remote control interface automatically and spend a
few seconds calculating. Then it will display two circles, one blue and the other red, as
indicated in the following figures: The superposition of two circles, red and blue indicates
successful calibration. If this is not the case you need to start again with a new calibration
operation.
Calibration Excellent
Calibration okay
Calibration unsuccessful
9.2 Unlocking and Arming the Motors
NB
 The controller cannot be unlocked and motors armed near large airports, or within Beijing
5th ring.
32
Pre Flight Inspection | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
 The controller cannot be unlocked without GPS.
 Magnetic compass calibration must be carried out before the first time you unlock the
motors.
 The flight controller will lock the motor again if no throttle has been applied within five
seconds. In this instance you should perform the unlocking operation again.
 Checking F/S protection is intended to reduce the possibility of accidents in the flight.
Failsafe check should be made each time the system is powered.
 The motor will run when applying throttle after unlocking. It’s normal for some motors to
slow down or even stop if there has been no take off. The aircraft will take off normally
only by increasing the throttle.
Motors are locked by the X4V2 flight controller for the purpose of safety. Motors will run
normally only after unlocking. The unlocking procedure, also known as arming or applying
CSC, is as follows: using a FUTABA transmitter as an example (in Japanese stick mode, mode
1).
1.
Check F/S protection by shutting off the transmitter, the flight status bar on the ground
station should display “Returning and landing”, before attempting to unlock. If it does not
you should reset failsafe.
2.
Unlock by pushing the rudder stick to the extreme left, and pull it fully down. Now push the
aileron stick to the extreme right and pull it down.
Note:
When unlocking, the reverse V-type ( /\ )
is required for the left-hand pattern (Japanese and
American, or Mode 1 and Mode 2) while the V-type
( /\ ) is required for the right-hand pattern
(Chinese and European, or Mode 3 and Mode 4).
9.3 Inspecting Motor Rotational Direction
You must inspect the direction of rotation of each motor before the aircraft takes off, in the
same way that you would inspect the control surfaces of a fixed wing aircraft before takeoff.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Pre Flight Inspection
33
Switch to manual mode and check F/S setting to allow unlocking;
Using a four axis cross- type multirotor as an example; rotor direction inspection is carried out
as follows. The diagrams that follow give the conditions required for other types of aircraft:
1.
Check motor balance by making sure that all four motors rotate at the same speed when
gently applying throttle.
2.
Check the aileron channel. Push the aileron stick slightly to the left and the M4 motor
should run immediately (Figure 43) while the other three motors remain static. Push the
aileron stick slightly to the right and the M2 motor should rotate immediately (Figure 44)
while the other three motors remain static.
Figure 43
3.
Figure 44
Inspect the climb and descent channel (Elevator) in the same way as the aileron channel.
Push the elevator stick up and M3 should rotate (Figure 45). Pull the stick down to make
M1 rotate (Figure 46).
Figure 46
Figure 45
4-axis X-type:
Push aileron stick to left
34
Push aileron stick to right
Push elevator stick up
Push elevator stick up
Pre Flight Inspection | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
6-axis cross type:
Push aileron stick to left
Push aileron stick to right
Push elevator stick up
Push elevator stick up
6-axis X- type:
Push aileron stick to left
Push aileron stick to right
Push elevator stick up
Push elevator stick up
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Pre Flight Inspection
35
10 Flying at the Field
10.1 Flight Status
10.1.1 LED Status Indications

GPS
The red light, blue light and green light indicate the current operational state of the aircraft
as indicated the table below:
Light colour
Light status
3 flashes
Red light (for all modes)
2 flashes
1 flash
•••
••
•
Red light out
1 flash
Blue light (GPS mode, non-positioning)
2 flashes
1 flash
Green light (GPS mode, in positioning)
2 flashes
•
••
•
••
Operational status
No GPS
GPS 5 satellites
GPS 6 satellites
GPS 7 or more satellites
User in operation
Hovering at fixed height
User in operation
Hovering at fixed point
Note:

Only take off after 7 or more GPS satellites are in view.

The flight controller will use the take-off position as the home location when the GPS
first locks in to seven satellites.

White LED
(1) The LED white light indicates a large status error or a loose connection to the GPS
module.
(2) Action required when the white light comes on:
– If the light comes on when the aircraft is suffering violent movement but goes out
when it retains stability than you can continue the flight normally.
– Land the aircraft as soon as possible if the white light shows continuously and
check the GPS connection. Zero the gyro in the GCS if there is a status error.

Low voltage alarm
36
Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
The red light will flash quickly as a low battery voltage alarm. It shows as a solid light in an
emergency situation of extreme low voltage.

Barometer initialization failure
A continuous red light showing when the aircraft is on the ground, indicates the failure of
the barometer to initialize. You must restart the flight controller.

Magnetic field verification
When calibrating, a continuous blue light indicates a magnetic compass calibration error
less than 5°and indicates a successful calibration. However, if the blue light goes off with
a status error more than 5°this indicates that adjustment is needed. The purple light will
be on continuously when storing the data after calibration of the magnetic data. The
purple light will go out completely when data storage is complete.
10.1.2 Motor Balance and Real Throttle Position
The two parameters of motor balance and real throttle position are shown as follows in the
ground station:

Mobile ground station: open the mobile ground station and click “Data”, as shown in
Figure 47.

PC ground station: Open Wi-Fi and the “Flight data” section will open at the bottom or
select “View”→“Flight data” to check. The parameters are indicated in Figure 48.
Figure 47
Figure 48
10.1.2.1 Motor Balance
"Motor balance” will display an imbalance between the clockwise propellers or counter
clockwise propellers when the aircraft is in a static hovering position. The propellers need to be
balanced or replaced with higher quality units.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field
37
To ensure stable flight, accurate examination must be made of the balance and horizontal
symmetry of the motors and propellers until the motor balance parameter displays “Good”
when hovering the aircraft.
10.1.2.2 Real Throttle Position
The throttle position of the aircraft when hovering is usually at 40-65, which is considered
normal (in green). Any position lower than 40 (shown in yellow) indicates the aircraft is
maintaining a light load on the ESCs while higher than 65 (in red) indicates that the aircraft is
heavy or the battery is delivering a low voltage. This situation requires a load adjustment or
battery replacement.
10.1.3 Adjusting Aircraft Vibration Parameters
The following factors affect the flight stability of the aircraft and corresponding adjustment
measures need to be carried out:
1.
Shaking, vibration or poor installation of the IMU will affect flight stability. Therefore
attention should be paid to the following:
–
Make sure the host and slave controllers are in the correction direction (facing the
aircraft nose) and firmly fixed in a position of as little resonance as possible on the
aircraft.
–
The coefficients of shake and vibrate on the ground station indicate the amount of
vibration of the IMU. Therefore, when installing the flight controller make sure the
motors and propellers are installed in balance to reduce the shake and vibration state
to lower than 10 (use smaller propellers to reduce the amount of vibration in the trial).
An airframe structure of higher rigidity is recommended as a softer frame will cause
additional vibration.
Note:
The Shake state and Vibrate state can be checked as follows:

Mobile ground station: open the mobile ground station and click “Data”, as shown
in Figure 49.

PC ground station: Open Wi-Fi and the “Flight data” section will open at the
bottom or select “View”→“Flight data” to check. The parameters are indicated in
Figure 50.
38
Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
Figure 49
2.
Figure 50
The orientation of multiple axis aircraft is adjusted by adjusting speed of the motors. The
sensitivity of the axis control will make a direct impact on the accuracy of the aircraft
response.
Adjust the match between the aircraft weight and the screw pitch of the
propeller to make sure the motor can generate an adequate rotation speed, producing
enough control response. The lightest propeller possible, should be selected to reduce
inertia and to improve command response. There should be a proper balance between
flight efficiency and stability.
3.
The symmetry of multiple axis aircraft has a vital influence on flight stability.
The symmetry of the motor and propeller can be evaluated in horizontal flight by referring
to “10.1.2.1 Motor Balance”.
4.
Further improvements can be made to the stability of the aircraft by adjusting “Roll
sensitivity”, “Pitch sensitivity” and “Sway Compensation” after completing the above three
steps.
Note:
“Roll sensitivity”, “Pitch sensitivity” and “Sway Compensation” can be checked as follows:

Mobile ground station: open the mobile ground station and click “Parameter”, as
shown in Figure 51.

On the PC ground station select “Settings” →“Parameters” to check, as shown in
Figure 52.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field
39
Figure 51
Figure 52
10.2 Flight Functions
10.2.1 Using Your Mobile Device for Remote Control of the Aircraft
In
automatic
hovering
status, click the menu key
on
the
mobile
ground
station to select “Enable
Control” to enter mobile
remote control mode, as
shown in the figures on the
right:
The
change
button
to
will
“Disable
Control”.
Non-remote control mode
Remote control mode
The transmitter sticks cannot be used in mobile remote control mode. Remote control
using your mobile device is explained in the following table:
After Enable Control
Remote control interface operation
Aircraft status
Dot status
Red: non-positioning Green: positioning
-
Hovering operation
Do not touch any area of the screen
Hovering
1. Touch the central circle and drag up or
1. move forwards or
and down
Advance operation
2. Touch the central circle and drag left or
right
3. Touch the central circle and drag
40
backwards
2. move left or right
3. move forward left,
backward
Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
left,
After Enable Control
Remote control interface operation
diagonally
Aircraft status
forward
right
or
backward right
1. Touch the area above the circle (on the
cross)
2. Touch the area under the circle (on the
cross)
3. Touch the left side of the circle (on the
cross)
4. Touch the right side of the circle (on the
cross)
Climb / descend /
rotate
Note:

The distance between the click position
1. Climb
2. Descend
3. Rotate left
4. Rotate right
and the center of a circle is equivalent
to the change of speed of the aircraft,
meaning the farther from the center, the
higher speed of the aircraft.

The touch time is equivalent to the
moving time of the aircraft.
Note:
Mobile remote control mode cannot be used without GPS positioning. (Indoors for example)
10.2.2 Mobile Attitude Control Mode
NB
 Please keep the aircraft horizontal before starting attitude control mode. Otherwise, the
aircraft will fly off in the direction that the mobile dips, after switching to this mode.
 Mobile attitude control mode can only be used in mobile remote control mode.
 Control mode will automatically switch immediately to mobile remote control mode after
exiting from the mobile attitude control mode. However exiting mobile remote control
mode will revert to transmitter control.
Click the mobile device menu key and click “Enable Attitude Control” to open the attitude
option, the remote control interface will switch to a blue cross, indicating that mobile attitude
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field
41
control mode is started as shown the figures on the right.
Non-attitude control mode
Attitude Control mode
The status of attitude control mode can be seen in the following table:
After Enable Control
Dot status
Hovering operation
Remote control interface operation
Red: non-positioning Green: positioning
Hold the mobile device horizontally and do
not touch the screen
Aircraft status
Hovering
1. Move
1. Tilt the mobile device forwards and
backwards
Advanced operation
2. Tilt the mobile device from left to right
3. Tilt the mobile device from upper left to
bottom left or upper right to bottom right
forwards
and backwards
2. Move left and right
3. Move forward left,
backward
forward right and
backward right
1. Click any area on the screen and drag
upwards
2. Click any area on the screen and drag
downwards
Climb / descend /
3. Click any area on the screen and drag to
the left
rotate
4. Click any area on the screen and drag to
1. Climb
2. Descend
3. Rotate left
4. Rotate right
the right
Note:

42
left,
Dragging distance is proportional to the
Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
After Enable Control
Remote control interface operation
Aircraft status
speed of the aircraft, meaning that the
longer the dragging distance, the higher
the speed of the aircraft.

The time spent touching the screen is
equivalent to the move duration of the
aircraft.
10.2.3 Semi-automatic Take Off
The flight status will display “Auto hover” when seven or more satellites are in view and CH5 is
in position 3 and CH6 in position 1. Now push the throttle after arming and the aircraft will take
off after the throttle is in mid position and will hover automatically at a height of approximately
2-3 metres.
10.2.4 Return and Land
NB
For safety reasons it is not recommended to switch to return and land mode if the aircraft is
too near to people.
Return and land is achieved as follows:
1.
The aircraft will record automatically the starting position, after having attained GPS lock
with seven or more satellites.
2.
Carry out any of the following operations to hand over control to the aircraft to return and
land. The aircraft will not respond to the flight control sticks on the transmitter during this
time:
–
Switch CH5 and CH6 to position 3 on the transmitter.
–
On the mobile ground station: click “Map”→“SPC”→“Auto Landing”;
–
On the PC ground station: select “View”→“Panel” and open the instrument panel and
click “Auto landing”.
3.
The aircraft will land slowly after reaching the take-off point and at this stage you can
adjust the position of the aircraft if you need to find a better landing position.
The flight controller automatically applies throttle at this time and the throttle stick of the
transmitter is inactive.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field
43
4.
The motors will gradually stop rotation when the aircraft is fully on the ground and the
throttle stick reduced to minimum. The motors will be locked after 5 seconds and a CSC
operation is required before restarting.
Note:
 If the aircraft is 25m or more away from the return point and less than 20m in height, the
aircraft will climb to 20m before returning when switched to auto land mode. The Aircraft will
return to its original height after switching to auto land mode if the aircraft is higher than
20m. The aircraft will return at its current height if the aircraft is less than 25m away from
the return point.
 The aircraft will exit from return and land mode only after switching CH5 to position 1.
10.2.5 Fly to Point on the Map (FlyToPP)
10.2.5.1 Mobile Ground Station Fly to Point
NB
Take care when using FlyToPP that the aircraft does not fly out of sight.
FlyToPP can only be carried out in GPS automatic hover mode. The procedure is as follows:
1.
Switch CH5 to position 3 and CH6 to position 1 on the transmitter.
2.
Select a point on the map
interface, a yellow smiley
will appear at that point,
as shown in Figure 53.
3.
Click "SWP” then “OK”
the smiley will change
into a purple star, as
shown in Figure 54.
4.
Perform
the
same
procedure to fly to the
next target point.
Figure 53
Figure 54
Note:
The aircraft will fly without turning if the distance between two target points is less than 10m;
the nose of the aircraft will turn towards the next target point if the distance is larger than 10m.
44
Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
10.2.5.2 PC Ground Station Fly to Point (FlyToPP)
Fly to point can only be achieved in GPS automatic hovering mode. The procedure is as
follows:
1.
Switch CH5 to position 3 and CH6 to position 1 on the transmitter.
2.
Open
the
station
and
ground
select
“File”→“Open Wi-Fi”,
a yellow smiley will
display on the map, as
shown in Figure 55: a
purple star is beneath
the yellow smiley.
Figure 55
3.
Click a target point, the
yellow round smiling
face will move to the
point and the covered
purple
star
will
be
exposed, as shown in
Figure 56.
Figure 56
4.
Click “Fly to PP”, the
purple star will move to
the position of the yellow
smiley,
as
shown
in
Figure 57.
5.
The aircraft will fly to this
point and to the next
target point if the same
procedure is followed.
Figure 57
10.2.6 Way Point Flight
10.2.6.1 Mobile Ground Station Waypoint Flight
Waypoint flying is carried out as follows:
1. Route design: Click “Map”→“Tool”→“Add Waypoints” then “OK” to open the route design
interface; complete waypoint the design clicking each point on the route.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field
45
Route design can be made by adding single points consecutively (manual generation of
route) or automatic route generation.

Editing single points: each waypoint contains the key parameters of “Height”,
“Hovering time” and “Speed”. To edit waypoints, click on the waypoint and then select
“Edit waypoint” from the pop-up window.
–
“Height”: means the altitude of the aircraft relative to the takeoff point at that
waypoint. The aircraft will gain or lose altitude between waypoints if they are of
different heights. The default altitude of a waypoint is the current height of the
aircraft when switching to navigation mode.
–
“Hovering time”: is the
time spent stationery at
each waypoint. The default
setting for the first waypoint
is 65535.
–
“Speed”: is the speed of
the aircraft to the next
waypoint.
Single point editing (manual generation of route)
–
“Photography setting”: sets up the ability to take a photograph at intervals or
at each waypoint indicated along a route. The initial point, where the first
photograph is taken should be set up according to the “Start photograph” routine
described below.

Automatic generation of route: at least 4
waypoints should be set up with the same
height and flight speed at each waypoint.
After setting up the waypoints, click “Tool”
→“Auto Make Waypoints” and edit the
correct settings for“Delay”, “Interval”,
“Altitude” and “Speed”. The software
will now automatically generate a waypoint
route.
Automatic waypoint route generation
2. Uploading a route: after drawing a route, it must be uploaded to the flight controller. Click
“Upload Waypoints” in the Tools menu. The route can also be stored as a file for use in the
future. Click “Save Waypoints”
To examine whether each waypoint has been uploaded successfully, the color of the
waypoint will change to blue indicating success or change to orange to indicate failure.
Uploading should be done again in case of failure.
46
Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
3. Route verification: Click “remove route points” to change blue points into orange points
and click “verify waypoints”, to download the currently uploaded waypoints into the ground
station for comparison. If all waypoints change to blue, the route stored in the flight
controller is consistent with that in the ground station, indicating no errors. If this is not the
case the route should be uploaded again.
4. Waypoint flight

Automatic flight
1)
Switch CH5 to position 3 and CH6 to the position 2 on the transmitter.
2)
Click “Map”→“SPC”→“Enable Skyway”, the aircraft will fly automatically
to the first waypoint and hover.
3)
Enter 2 in the text box “Target” in “Map”→“SPC”, and click “Target”
now push the elevator stick up and the aircraft will fly to waypoints in the order 2,
3, 4„ Until the route is complete when it will fly to the first waypoint and hover.
 Semi-automatic flight
1)
Switch CH5 of the RC control TX to position 3 and CH6 to position 2.
2)
On the Android GCS select “Map ”→“SPC ”→“Enable Skyway ”→“Semi-Auto
Skyway” and click “OK”, the aircraft will stay in its current position;
3)
Push the elevator stick on your TX and the aircraft will fly in the order 1, 2, 3,
4…etc. until completion of all waypoints.
Throttle and rudder can be used as normal during the flight.
2. Exit: Switch CH5 to position 1 (in manual mode) or CH6 to position one (auto hover mode)
to exit waypoint flying.
Note:
 If you have not set up a waypoint route the aircraft may fly away if you switch to auto
navigation mode. After starting the motors, the flight status of the aircraft will change
to automatic navigation 3 seconds after switching to automatic navigation mode.
 The nose of the aircraft aligned to the next waypoint during waypoint route navigation.
 If you want to control the direction of the nose, click “Map”→“SPC”→“Disable course
locked” during waypoint flight. The aircraft will fly the route is normal but the nose will not
point to the flight direction. It will be controlled by the rudder stick on the transmitter. Click
“Enable course locked”, and the nose of the aircraft will point towards the flight direction
again.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field
47
10.2.6.2 PC Ground Station Waypoint Flight
Waypoint route flying is carried out as follows:
1. Connect the PC via Wi-Fi and open the ground station. Select “File”→“Open Wi-Fi”;
2. Route design: Click “
then click “
” to open waypoint route design, click on each waypoint in turn,
” to exit waypoint generation.
Waypoint route design can be single point editing (manual generation of route) and
automatic route generation.

Single point editing: each waypoint contains key parameters of “Height”, “Cycle
time” and “Speed”. Right click on the waypoint and select “Edit” to change these
parameters.
–
“Height”: is the altitude of the aircraft relative to the takeoff point at that
waypoint. The aircraft will gain or lose altitude between waypoints if they are of
different heights. The default altitude of a waypoint is the current height of the
aircraft when switching to navigation mode.
–
“Cycle time”: is the
time spent stationery at
each
waypoint.
The
default setting for the
first waypoint is 65535.
–
“Speed”: is the speed
of the aircraft to the next
waypoint.
–
Single point edition (manual generation of route)
“Snapshot config”: sets up
the ability to take a photograph
at
intervals
or
at
each
waypoint indicated along a
route. The initial point, where
the first photograph is taken
should be set up according to
the “Start photograph” routine
described below.
Route edition window
Note:

Clicking the right button on a selected waypoint will give you the option of uploading
editing or deleting.

Left click on the waypoint to display the waypoint properties.
48
Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

Automatic generation of route: at least 4 waypoints should be set up with the same
height and flight speed at each waypoint.
1) Select “Path Settings” “Edit Current Path” after setting up route points and the
“Edit Waypoint” window will pop up.
2) Click “Pattern Waypoints” and the “Pattern Waypoints” window will pop up.
3) Select a waypoint and click LPT1 and enter a setting for “Pattern Delay”, “Pattern
Interval” and “Pattern Speed”, then click “Make” and the software will
automatically generate a flight route for the aircraft.
1. Setting up waypoints
2. Route edition window
3. Setting of automatic generation of route
parameters
4. Automatic generation of route
3. Uploading the route to the aircraft: right
click a waypoint and click“Upload” or select
“Path Settings”→“Upload Path to AP”
after setting up the route. The route can also
be stored as a file for use in the future. To
examine whether each waypoint has been
uploaded successfully, the waypoint color
will change to blue indicating success, any
other color would indicate failure, as shown
Figure 58
in Figure 58.
4. Route verification: select “Path Settings”→“Download and Check Path”, to download
the waypoints from the aircraft to the ground station for comparison. All route points will
change into orange and then blue. All route points in blue indicate that the route stored in
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field
49
the flight controller is consistent with that in the ground station, indicating no error in the
route. If not, the route should be uploaded again.
5. Waypoint flight

Automatic flight
1)
Switch CH5 to position 3 and CH6 to position 2.
2)
Click “Enable Skyway”
on the right hand panel
and a confirmation will
pop up, as shown in
Figure
59,
“Enable”
and
click
the
aircraft will fly to the
first
waypoint
and
hover.
3)
Figure 59
Enter 2 in the textbox “Target Waypoint” in the instrument panel and click
“Change Target” Now push the elevator stick and the aircraft will fly between
waypoints in the order 2, 3, 4…etc. until the route is complete when it will hover
at the first waypoint.

Semi-automatic flight
1)
Switch CH5 of the RC control TX to position 3 and CH6 to position 2.
2)
On the Android GCS select “Map ”→“SPC ”→“Enable Skyway ”→
“Semi-Auto Skyway” and click “OK”, the aircraft will stay in its current
position;
3)
Push the elevator stick on your TX and the aircraft will fly in the order 1, 2, 3,
4…etc. until completion of all waypoints.
Throttle and rudder can be used as normal during the flight.
6. Exit: Switch CH5 to position 1 (in manual mode) or switch CH6 to position 1 (auto hover
mode) to exit the function.
Note:
 If you have not set up a waypoint route the aircraft may fly away if you switch to auto
navigation mode. After starting the motors, the flight status of the aircraft will change
to automatic navigation 3 seconds after switching to automatic navigation mode.
 The nose of the aircraft aligned to the next waypoint during waypoint route navigation.
 If you want to control the direction of the nose, click “Map”→“SPC”→“Disable course
locked” during waypoint flight. The aircraft will fly the route as normal but the nose will not
50
Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
point to the flight direction. It will be controlled by the rudder stick on the transmitter. Click
“Enable course locked”, and the nose of the aircraft will point towards the flight direction
again.
10.2.7 Tracking Mode (Heading Hold)
This function can only be used in GPS mode and when seven or more satellites are in view.
In tracking mode the aircraft flies along the waypoint route with the aircraft nose direction
locked.
Tracking mode is carried out as follows:
1.
Switch CH5 to position 3 (GPS hover mode) and move the transmitter sticks to as near
neutral as possible.
2.
On the ground station, click “Enable Course Locked” on the instrument panel to start.
3.
Click “Disable Course Locked ” on the instrument panel to exit.
10.2.8 Carefree Mode
This mode must be used in GPS Hover Status.
In carefree mode, the navigation direction of the aircraft is locked (i.e. the direction the aircraft
is heading when entering this mode). Whatever direction faced by the nose of the aircraft, the
flight direction will remain unchanged. The nose of the aircraft automatically keeps track of the
gimbal so that the camera avoids the landing gear. The elevator and aileron of the aircraft take
the navigation direction of the aircraft as reference.
A schematic diagram of carefree mode is shown below:
Enter carefree mode as follows:
1. Switch to GPS mode after take-off, the aircraft will hover as normal.
2.
After selecting the desired flight direction align the nose of the aircraft in this direction.
Switch CH5 from position 3 to position 2, switch back to position 3 then return to position 2.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field
51
You will now be in carefree mode.
3. When you need to exit carefree mode, switch channel 5 to position 1 or position 3 (manual
mode or GPS mode).
52
Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
11 Tasks
11.1 Servo Driven Gimbal
The Y2 and Y1 ports on the flight controller
are connected respectively to the gimbal
Gimbal Battery
pitch servo and the roll servo. You must
GND
power the servos separately from the flight
VCC
controller when using a servo driven
Gimbal Servo
Signal
Gimbal.
When using a servo driven gimbal the
transmitter should have at least seven
Y1/Y2 Port
channels.

Gimbal pitch control: assign CH7 to a knob switch on the transmitter. Any adjustment of
the knob will produce a corresponding tilt on the pitch servo.

Gimbal roll control: with no initial signal to the roll channel, the roll servo will remain in
the neutral position to stabilize the roll axis of the gimbal. Adjust the roll channel according
to the following procedure:
a)
Switch CH5 to position 1 and throttle back to minimum.
b)
Click “Settings” in the mobile ground station or the button “Init Setup” on the PC
ground station. The knob currently assigned to CH7 is changed to control Gimbal roll.
c)
Click “Quit Setup” after adjusting the gimbal roll position, the new central position will
be fixed and stored. CH7 will return to control Gimbal tilt.
Note:
 Octocopter does NOT support servo gimbal.
 “PTZ Roll sensitivity” and “PTZ Pitch Sensitivity” on the parameter interface are used to
adjust the gimbal correction angle. If the correction angle is too small that it should be
increased and vice versa. A negative value should be entered to indicate reverse PTZ
sensitivity. The range of PTZ sensitivity is -127 to 127.
On the mobile ground station: click “Parameter”, as shown in Figure 60.
On the PC ground station: select “Setting”→“Parameter Setting”, as shown in Figure 61.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Tasks
53
Figure 60
54
Figure 61
Tasks | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
12 Safety Features
12.1 Starting and Stopping the Motors
12.1.1 To Start Motors
The motors will be locked after 5 seconds if no throttle is applied before take-off, or after
landing in manual mode with the pulled back to minimum. The motor will not rotate after it has
been locked even if throttle is applied. Motors will rotate only after unlocking. Reference can be
made to “9.2 Unlocking and Arming the Motors”.
12.1.2 To Stop Motors
The motors will stop when the throttle is pulled back to minimum in manual mode. In GPS
mode, reducing the throttle to minimum will have the following differing results:
–
The aircraft will reduce altitude but the motors will not stop if the aircraft is in flight;
–
The motors will stop slowly until fully locked if the aircraft is on the ground.
12.2 F/S Protection

Loss of Wi-Fi signal
Full control of the aircraft will be handed to the transmitter if the loss of Wi-Fi signal
exceeds 1 second when flying the aircraft with the Android mobile device. If the aircraft is
waypoint flying, it will not be affected and will complete the route where it will hover
awaiting further commands.

Loss of R/C transmitter signal
F/S (failsafe) should be correctly set up. Refer to the RC transmitter manual to set CH5 in
position 3, CH6 in position 3 and throttle in neutral for correct operation of failsafe.
Failsafe will initialize when there is signal loss from the RC (receiver).
–
The aircraft will switch to auto hover for 5 seconds and then return and land if the
signal is not recovered within five seconds.
–
The aircraft will keep flying for 5 seconds in automatic waypoint mode and will return
and land if the signal is not recovered within 5 seconds.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Safety Features
55
12.3 Data Record
12.3.1 Flight Data Record - “Black Box Function”
The X4V2 flight controller has a flight data record function for fault analysis. It is not necessary
to have any external memory or to initiate any application for this function to work. A record is
made automatically during every flight. However, only the data of the last one minute before
landing is recorded. Therefore if you need to examine this data, please do not make another
flight or unlock the motors again.
12.3.1.1 Obtaining Mobile Ground Station Data
The flight data can be obtained from the mobile ground station as follows:
1.
Connect the power supply to the flight controller, open the mobile ground station and
connect via Wi-Fi;
2.
Click “One minute data” in the “Setting” interface and a
confirmation dialog box will pop up, as shown in Figure
62.
3.
Click “OK” and the flight controller will upload to the
mobile device the last minute of recorded flight data.
4.
It will take 1 minute to obtain the data and then report
that completion of 1 minute data reading.
5.
The file “T-1min.hj” can be seen in the directory “YShj” in
the root directory of the mobile device. You can make
your own analysis of this data or email it to the
manufacturer for debugging.
Figure 62
12.3.1.2 Obtaining PC Ground Station Data
Flight data can be obtained from the PC ground station as follows:
1.
Connect the power supply to the flight
controller and to the PC via Wi-Fi.
2.
Select “Settings”→“1 Minute Data” and a
confirmation dialog box will pop up, as
shown in Figure 63.
3.
Click “Yes” and the flight controller will
blow to the PC the last minute of flight
data.
4.
Figure 63
After 1 minute to obtain the data, the instruction of completion of 1 minute data reading
will pop up on the ground station;
56
Safety Features | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
5.
The file “T-1min.hj” can be seen in the “Hj” directory of the PC ground station software
package. You can make your own analysis of this data or email it to the manufacturer for
debugging.
12.3.2 GCS Data Record
This function needn't any external device, just keeping the flight controller powering on and
WIFI connecting, then all of the operation record will be saved by hj files in the related folder of
GCS for analyzing.
One hj file will be created once closing the GCS and all of data will be in one hj file if not
closing GCS.


saved file path
–
mobile GCS: root folder in cellphone/YShj catalog
–
PC GCS: GCS/Hj catalog
document format: time.hj, for example, 20150506110410.hj,
20150506
means
date,110410 means recording begin time from 11:04:10
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Safety Features
57
13 Extending the Range of Capabilities
13.1 Radio Connection
The XB-PRO900 radio can be purchased as an option to extend the control distance,
overcoming the distance limit of Wi-Fi for ground station and mobile device control.
This radio has an RF power of 100mW on a frequency of 900MHZ and its measured two-way
communication distance is 1-2 km in open ground. The radio has a RS232 port and the
communication Baud rate is 115200bps.
XB-PRO900 consists of two interchangeable radios, one on the aircraft and the other on the
ground.
13.1.1 Airborne Radio Connection
Remove the Wi-Fi module from the aircraft and install the radio in the aircraft in the same way
as the Wi-Fi module; connect to the COM port of the flight controller; the radio should be
powered by a 3S-6S lithium battery.
13.1.2 Ground Radio Connection
Connect the Wi-Fi module to the other radio on
the ground with the connection cable provided
with the radio, which is powered separately. The
unit on the ground consists of the radio and the
Wi-Fi module.
Note:
The radio and Wi-Fi are powered with a 3S-6S lithium battery with the red/black cable, the red
for anode (+) and the black for cathode (-).
13.2 Connecting the Power Management Module
Real-time current draw (Amps) and electricity consumption (mAh) can be observed in the
“Data” interface of the ground station after connecting the optional Power Management
Module to the X4V2 flight controller.
To use this function connect the power management module (to the A1 port on the X4V2),
reduce the throttle to minimum and then power the flight controller. The current (A) and
electricity consumption (mAh) will be displayed, as shown in Figure 64.
58
Extending the Range of Capabilities | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
13.3 OSD Connection
After the OSD (On Screen Display) has been connected to
the X4V2 flight controller, flight parameters will be overlapped
in real time on the video display. This improves the quality of
the flight experience because the pilot is constantly aware of
vital flight parameters. Connect the OSD COM port to the
COM port on the flight controller. Full details are available in
the ZerOSD manual.
Figure 64
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Extending the Range of Capabilities
59
14 Upgrading the Firmware
NB
Make sure the flight controllers not powered, if it is please disconnect.
Before upgrading the firmware, please download the special firmware upgrade tool on the Zero
UAV official website.
http://www.zerouav.com/en/service/Download/Firmware/
Upgrading X4V2 firmware is simple! Upgrade the firmware according to the following
procedure:
1.
Download the USB driver from the ZERO official website and install it.
2.
Plug the serial converter end of the USB cable into the PC USB port, the other end to the
COM port on the Flight Controller, white cable upwards.
3.
Extract the “YS-X4-X4V2-X4P-Gemini-M-S”
firmware upgrade archive and double-click
“UpgradAP(En)-TOOL.exe” and the window
“AP Firmware upgrade” will pop up, as
shown in Figure 65.
4.
Click
“Upgrade”
and
the
window
“AP
Firmware upgrade” will pop up, as shown in
Figure 65
Figure 66.
Figure 66
5.
Select
the
appropriate
COM
port
for
upgrading; (if you do not know which COM
port on your PC is being used, right click “My
computer”->“Properties”->”Device manager”
->“port”(COM & LPT) to check, as shown in
Figure 67
Figure 67)
60
Upgrading the Firmware | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
6.
Click “Open Com”, if successful, the “Open” button will change from gray to black and
become clickable;
7.
Click “Open” and to select the firmware file which will have a “.arm” extension from its
stored location on your PC, as shown in Figure 68.
8.
Power up the flight controller and to wait for
the automatic upgrade process to activate,
as shown in Figure 69.
9.
Power-off the autopilot when it says in red,
“Please Restart AP!” and then close the
window, as shown in Figure 70.
Figure 68
Figure 69
Figure 70
Note:
Please close the software and unplug the USB/serial port adapter if the upgrade operation fails.
Restart the operation from the beginning.
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Upgrading the Firmware
61
Appendix
Appendix 1 Introduction to Mobile Ground Station (Android)
1.
GCS Remote Control Interface
The interface functions are introduced in the following table:
No.
Menu Item
Function
1
Remote control
Default setting: use the Green Cross to control flight
2
Data
Real time flight data
3
Map
Cached map or active real time map (Google Earth)
4
Settings
Set up aircraft status
5
Parameter
Adjust aircraft parameters
6
Control interface
Multiple control modes using mobile device
7
Central button
Directs the aircraft in simple control mode
8
Quit
Exit GCS software
9
Set
Define system settings
10
Enable attitude control
11
Enable control
62
Click “Enable Attitude control” (red button) to start simple
mobile device control mode. “Disable Attitude control”
(green button)
Click “Disable Attitude control” to exit.
Click “Enable control” (red button) to start simple mobile
device control mode. “Disable control” (green button)
Click “Disable control” to exit.
Appendix | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
Note:
The aircraft serial number and firmware version will display on the remote control interface
after data connection.
2.
Data Interface
Click the “Data” tab for the data interface to see the screens shown below: the software will
display communication disconnected in the center if there is no link with the aircraft.
Descriptions of the parameters are as follows:
Name
Satellites
GPS velx(cm)
GPS velx(cm)
Xekf velx
Xekf vely
xekf veld
Description
Shows number of GPS satellites in view and locked
GPS velocity displays a value below 10 when static
Speed of the aircraft after Kalman filtering
A value of 0-10 is displayed when the aircraft is static on the ground.
Attitude angle
Displays real-time attitude angle during flight
Flight mode settings
state
Displays current craft status: Manual, Manual Altitude Hold, Auto Hover, Auto
Navigation, Auto Go Home and Land; setup status.
Altitude
Barometer altitude of aircraft, units in metres
Course angle
Aircraft compass heading: Due North= 0°, clockwise direction is positive,
counterclockwise direction is negative. For example: Due East=+ 90°, Due West=90°, Due South=+ 180°. Does not apply in manual mode.
AP voltage
Power supply voltage
GPS longitude
GPS latitude
GPS longitude and latitude
Motor balance
Motor balance performance
Vibration State
Displays the influence of shake and vibration on the IMU from different
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Appendix
63
Name
Description
Shake State
directions: a parameter under 10 indicates normal, larger than 10 indicates
that shake and vibration exceeds the limit, requiring adjustment to the
airframe to reduce vibration.
Distance from home
The distance of the aircraft from the starting point
Flight time
Flight time of the aircraft
Real throttle
Actual position of throttle
3.
Map Interface
A map must be downloaded from
the Internet before the initial
opening of the “Map” interface.
The map will return to its last
closing position, when reopening
the map.
The map interface is shown on
the right side.
Map parameters are shown in the
following table:
Name
Snaps
Description
Manual photography
Show the number of photos.
The maximum number of pictures recorded is 250. The ground station will
restart the count if this number is exceeded.
Locate
My location, Plane location and Search location.
SWP
Fly to Point (FlyToPP)
SPC
Waypoint and Route flying
Tool
Map tools related to the defined waypoint route
4.
Waypoint Editing
The waypoint editing interface are as shown in Figure 71 and Figure 72.
64
Appendix | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
Figure 71
Figure 72
Figure 73
Waypoint editing parameters are shown below:
Name
Description
Single point edit
Edit longitude, latitude, height and speed between waypoints
Single point upload
Upload waypoint
Single point cancel
Cancel waypoint
No.
Number of waypoints
Height
Waypoint altitude in meters
Longitude
Longitude of single waypoint
Latitude
Latitude of single way point
Hovering time
Time spent at each waypoint. Zero means no delay at waypoint.
Photograph setting
Setup photographic task at waypoint
Target speed
Flight speed between waypoints
5.
Settings Interface
Please take care with these settings as they are vitally important.
The settings interface is as shown in Figure 73. The parameters are shown below.
Parameter name
Parameter description
Capture Transmitter
Centre point
With no wind, in manual mode, after flying and trimming, activating this
will define the neutral point.
NB: Make sure your TX throttle stick is in the middle position; it does not
affect the actual throttle position.
Adjust transmitter
Used to calibrate the transmitter’s joystick
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Appendix
65
Parameter name
Magnetic compass
1 Minute Data
Installation guide
Init Setup
Quit setup
Parameter description
Click to enter "Magnetic Compass" Calibration mode, the status bar above
displays the calibration status.
Used to initiate reading the data saved in the FC within the last minute of
flight. Please refer to “12.3.1Flight Data Record - “Black Box Function””.
The "Installation Guide" will guide you through installation and alignment
step by step
Used to align channels or enter parameters of craft. Flight status will
display "Settings" after clicking this button. Once in settings, the control
channels for each motor on the craft are directly connected to the throttle
channel of the TX and there is no mix output.
After completing Throttle Alignment and when all parameters have been
entered, you may click this button to exit from settings.
Zero Gyro
Zero the gyro. The aircraft should be perfectly level when you do this.
Snapshot
Trigger camera shutter manually
Mixing Define
Defines custom mixing of throttle, roll, pitch and yaw.
Follow Me
Test Open Parachute
Test Close Parachute
If the Android Ground Station has GPS enabled, the aircraft will follow the
moving course of the Ground Station.
Test parachute open before flight, hold down the container lid to prevent
deployment.
Close parachute after testing.
Appendix 2 Introduction to PC Ground Station
1.
Main Interface
2.
Menu Bar Profile
66
Appendix | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
 File(F) Tab
 View (V) Tab
 Path Settings (S) Tab
 Tools (T) Tab
 Settings (S) Tab
 Help(H) Tab: software version
Note:

The correct COM port must be selected when connecting to the flight controller with the
USB/serial port adaptor cable.

When the map is flat mode, you can download offline maps.
The view tab includes the following sections:

Toolbar
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Appendix
67
Measure Distance
View Mode

Edit Route
Design Route
View from Top
Toggle Mode
Flag Waypoint
Move Route
Flight Data (F)

GCS Version
Dashboard
Appendix 3 Installation and Configuration Videos
 Setting up the Futaba T8FG transmitter radio:
http://www.tudou.com/programs/view/e1ai526Mbt4/
 Wi-Fi configuration:
http://v.youku.com/v_show/id_XNTE2OTY4MjQ4.html/
 Upgrading firmware:
http://v.youku.com/v_show/id_XNTE3NzEzOTky.html/
Appendix 4 Technical Support
Please contact ZERO UAV for technical support for any problems arising from actual operation.
Relevant technical documents can be downloaded in the download section in the official
68
Appendix | Zero UAV (Beijing) Intelligence Technology Co., Ltd.
website of ZERO UAV.
 ZERO UAV official website: www.zerouav.com
 ZERO UAV Tel: +8610-82825271
 ZERO UAV QQ Group: 168451730(Group1), 228669705(Group2), 242018689(Group3),
53371874(Group4)
Appendix 5 Reference Manual Update History
No.
Version
1
V1.0
To prepare first version
Technical support 1
2014.9.1
2
V1.0
English revision
Chris Hornby
2014.12.25
Technical support 1
2015.1.23
Technical support 1
2015.5.4
Technical support 1
2015.5.14
3
V1.1
Modification
1. Format Adjustments
2. added functions:
10.2.1.6 Way Point Flight:
Semi-automatic flight
1. Format Adjustments
2. Modify parameters, diagram
Added function: GCS Data Record
Modifier
Date
Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Appendix
69
Download PDF