QUAD-ROTOR AUTOPILOT

QUAD-ROTOR AUTOPILOT
QUAD-ROTOR AUTOPILOT
User Manual
7 |
Warning & Disclaimer
QUAD-ROTOR AUTOPILOT is an excellent autopilot system offering tremendous flight features for low
altitude multi-rotor working in restricted space compared to normal helicopter. It is not a toy when installed in
multi-rotors of any size. Despite our efforts in making the controller to operate in the safest manner when the
main power battery is connected, such as: disabling MC signal to ESCs when USB is connected; disabling
throttle input and stick command when throttle stick is not at the lowest position, we strongly recommend
customers to remove all propellers, use power supply from R/C system or flight pack battery, and keep
children away during system calibration and parameter setup. We assume that no liability for damage(s) or
injuries incurred directly or indirectly from the use of this product. Please strictly follow these steps to mount
and connect bumblebee on your multi-rotor, as well as to install the assistant software on your computer.
Product Profile
QUAD-ROTOR AUTOPILOT for multi-motors is an autopilot system designed for serious multi-rotor
enthusiasts providing excellent self-leveling and altitude holding, which completely takes the stress out of
flying RC multi-rotors for both professional and hobby applications. QUAD-ROTOR AUTOPILOT can be
installed in a variety of models from quad-rotor to hex-rotor.
QUAD-ROTOR AUTOPILOT Control Modes
Atti. Mode
Manual Mode
Maximum rudder angular velocity is 200°/s
Command Stick
Multi attitude control; Stick center
Maximum pitch and roll angular
Meaning
position for 0˚ attitude, its endpoint is
velocity is 150°/s, no angle limitation.
45˚. Has height lock option.
No height lock.
Command Linearity
YES
No position holding, only attitude
Stick Released
NOT Recommend
stabilizing.
Maintain the altitude best above 1
Altitude Lock
NO
meter from ground.
Low voltage protection and auto level
Safety
Depends on experience.
Fail-safe
Maneuverability
High agility, high stability
High agility
In Box
Main Controller (MC) ×1
The Main Controller (MC) is the brain of the system, it communicates with ESC and RC transmitter to carry
out autopilot functionality. It has a built-in Inertial Measurement Unit (IMU) consists of one 3-axis
accelerometer, one 3-axis gyroscope and a barometer for sensing the attitude and altitude.
Versatile Unit (VU) ×1
Specially designed for QUAD-ROTOR AUTOPILOT. It solves the high power consumption problem of
multi-rotor system, supply and monitor power for QUAD-ROTOR AUTOPILOT and other electronic devices.
It also has a LED to indicate different states of QUAD-ROTOR AUTOPILOT and a USB interface for
configuration and firmware upgrade.
USB Cable ×1
This cable is used to configure MC and upgrade firmware.
3-PIN Servo Cable ×7
Cables used to connect the MC and the receiver.
3M Gummed Paper ×6
For fixing QUAD-ROTOR AUTOPILOT components on multi-rotor’s
frame.
Contents
...................................................................................................................
2
...................................................................................................................2
WARNING & DISCLAIMER
DISCLAIMER...................................................................................................................
.............................................................................................................................. 3
PRODUCT PROFILE
PROFILE..............................................................................................................................
.................................................................................................................................................
4
.................................................................................................................................................4
IN BOX
BOX.................................................................................................................................................
........................................................................................................................................... 5
CONTENTS
CONTENTS...........................................................................................................................................
................................................................................................................
6
................................................................................................................6
MATTERS NEED ATTENTION
ATTENTION................................................................................................................
........................................................................................................................................... 7
ASSEMBLY
ASSEMBLY...........................................................................................................................................
........................................................................................................................
8
........................................................................................................................8
ASSISTANT SOFTWARE
SOFTWARE........................................................................................................................
SOFTWARE AND DRIVER INSTALLATION..................................................................................................... 8
GUI.................................................................................................................................................. 8
FIRMWARE UPGRADE..........................................................................................................................10
PRODUCT INFO & UPGRADE................................................................................................................ 10
.............................................................................................................................. 11
CONFIGURATION
CONFIGURATION..............................................................................................................................
1 MOTOR MIXER............................................................................................................................... 11
2 TX MONITOR................................................................................................................................. 12
3 AUTOPILOT.....................................................................................................................................16
4 GIMBAL.........................................................................................................................................19
5 VOLTAGE MONITORING....................................................................................................................21
...............................................................................................................................................
24
...............................................................................................................................................24
FLIGHT
FLIGHT...............................................................................................................................................
..........................................................................................................................................
26
..........................................................................................................................................26
APPENDIX
APPENDIX..........................................................................................................................................
PORT DESCRIPTION.............................................................................................................................26
LIGHT DESCRIPTION............................................................................................................................ 27
SPECIFICATIONS................................................................................................................................. 28
Matters Need Attention
For safety reasons, please pay serious attention to all following items:
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
Please disconnect ESC and battery or remove all propellers
during configuration and system setup!
Do not mount the MC upside-down.
You have to reboot MC and redo the Tx calibration after you
change the RC system.
In Tx Calibration of assistant software:
� Throttle: Slide left is craft down, slide right is craft up;
� Rudder: Slide left is nose left, slide right is nose right;
� Elevator: Slide left is craft back, slide right is craft front;
� Aileron: Slide left is craft left, slide right is craft right.
Make sure switch on the transmitter first, then power on
multi-rotor before takeoff! Power off multi-rotor first, then switch
off the transmitter after landing!
als control in assistant software during the
If you open the gimb
gimba
configuration, please note that there is output from F1 and F2
ports. Now you should not connect these ports to ESC which is
wired with propellers and motors.
Do NOT set the failed-safe position of throttle under 10% of
endpoint.
Throttle stick position should always be higher than 10% from
cut-throttle during the flight!
Low voltage protections are NOT fun! You should land your
multi-rotor ASAP in any level of protection to prevent your
multi-rotor from crash or other harmful consequences!
By using Immediately mode to stop motors, in any control mode,
once motors start and throttle stick is over 10%, motors will stop
immediately when throttle stick is back under 10% again
again.. In this
case, if you push the throttle stick over 10% in 5 seconds after
motors stop, motors will re-start, Combination Stick Command
( CSC
CSC)) is no need. If you don
don’’t push throttle stick after motors
start in three seconds, motors will stop automatically.
By using Intelligent mode to stop motors, motors will start or
stop immediately when you execute CSC
CSC.. During normal flight,
only pull throttle stick under 10% will not stop motors in any
control mode. You have to execute CSC to re-start motors if they
stop during the flight.
12. Red light blinking indicates battery voltage is low, please land
ASAP.
13. Do NOT move any command sticks during system start and self-check!
Please contact us if the last three green blinks are abnormal.
11.
Assembly
Assistant Software
Software and Driver Installation
Step 1: Open the USB_Driver folder on the CD, and install the driver
step 2: Use the USB cable connect the MC and PC, and power on
the MC
Step 3: If operating system tries to install driver automatically,
cancel it.
Step 4: Run the Setup.exe in ST_Installer_1_1 folder to installer software. After successful installation, run
on the desktop "ST Assistant".
.
GUI
1
13
5
2
14 15
6
3
7
4
8
9
12
11
10
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
TOOL
� Firmware upgrade: update your firmware from server, keep your
autopilot system up-to-date.
� Disable All Knob
� Check for Updates: Check out the latest versions of assistant
software and firmware. If necessary, you can follow the links
displayed to find the download page.
ABOUT
� Info: Information regarding your product
� Error Code
中文: Chinese interface.
ENGLISH: English interface.
EXPORT: Export configure data.
IMPORT: Import vertion compatible configure data.
WRITE: Write data of the current page to your MC. The parameter or
the title of which will turn red and bold when modified, make sure you
click the Write button or press Enter to update your system. Optional
parameters will be written to MC directly after modification.
READ:: read parameters from MC for current page.
Graphic guidance
Text guidance
CONTROL MODE: Control mode indication.
MC Output On Indicates there are outputs to ESCs; when
communication is built up between MC and assistant software via
USB cable, MC Output Off appears, it indicates no output to motors,
then you can configure your multi-rotor with assistant software more
safely!
Red light: MC�PC has been disconnected.
Green light: MC�PC has been connected.
Blue light: MC�PC communication.
Here you can find all the configuration contents in Configuration
chapter
Configuration step.
Notices:
�
�
�
�
Please power the MC first, then connect your MC to a internet
enabled computer by the USB cable before you open the assistant
software.
You have to register at the first time you use the assistant software.
It will auto detect software version when you open the assistant
software and prompt Check for Updates window if your version is
not the latest one:
Do not disconnect MC and PC when you are using the assistant
software..
Firmware Upgrade
Please strictly follow the procedure for firmware upgrade, otherwise autopilot might not work properly:
STEP1: Make sure your computer is connected to the Internet.
STEP2: Please close all the other applications during the firmware
upgrade, including anti-virus software and firewall.
STEP3: Make sure the power supply is securely connected. DO NOT
un-plug the power supply until firmware upgrade has finished.
STEP4: Connect MC to PC with micro-USB cable, DO NOT break
connection until firmware upgrade is finished.
STEP5: Run Software and wait for connection.
STEP6: Select TOOL�Firmware Upgrade.
STEP7: Server will check your current firmware version, and get the
latest firmware prepared for the unit.
STEP8: If there is a firmware version more up-to-date than your current
version, you will be able to click the Upgrade button.
STEP9: Wait until Assistant software reads finished.
STEP10:
Click OK and power cycle the unit after at least 5 seconds.
Your unit is up-to-date now.
Notices:
�
�
�
After firmware upgrade, please re-configure by Assistant software.
If it is notified that the network or server is busy, please try again
later with above procedures.
If firmware upgrade failed, MC will enter waiting for firmware
upgrade status automatically, please try again with the above
procedures.
Product Info & Upgrade
You can check the MC product version via ABOUT � Info:
�Software
�Firmware
�Loader
�Hardware ID
S/N is a 32 digits authorization code for unit function activations. We had already filled in the authorization
code for your unit after manufacture. You might be asking to fill in the new S/N in the future if you brought new
function upgrades. Fill-in the S/N and then click Write button. If you filled in an invalid S/N over 30 times,
your MC will be locked and you have to contact our customer support.
Configuration
1 Motor Mixer
STEP1: Mixer Type
Set your transmitter into ACROBATIC mode first, close any channel mix, then choose your multi-rotor type.
Following two types are supported.
M1
M2
M2
M1
M3
M4
M4
M3
QI
QX
Notices:
�
�
Do NOT follow instruction from 3rd party multi-rotor manufacturer!
Make sure the rotation direction of each motor is the same as the
way up figure shows. If not, switch any of two wire connetcions of
the incorrect motor to change its rotation direction.
Make sure the type of propeller matches the rotation direction of the
motor.
2 Tx Monitor
STEP1: Cut Off Type
Please read the introductions of start and stop motor in this step first, and then choose a cut off type.
1
Start Motor
Motor: Pushing throttle stick before takeoff will not start motors.
You have to execute any one of following four Combination Stick
Commands (CSC) to start motors:
2
Stop Motor
Motor: We provide two options to stop motors: Immediately,
Intelligent.
� Immediately Mode: By using this mode, in any control mode,
once motors start and throttle stick is over 10%, motors will
stop immediately when throttle stick is back under 10% again.
�
In this case, if you push the throttle stick over 10% in 5 seconds
after motors stop, motors will re-start, CSC is no need. If you
don’t push throttle stick after motors start in three seconds,
motors will stop automatically.
Intelligent Mode: By using this mode, different control mode has
different way of stopping motors. In Manual Mode, only
executing CSC can stop motors. In Atti Mode, any one of
following four cases will stop motors:
a)
You don’t push throttle stick after motors start in three
seconds;
b)
Executing CSC;
c)
Throttle stick under 10%, and after landing 3 seconds.
d)
The slope angle of multi-rotor is over 70°, and throttle stick
under 10%.
Tips ( Intelligent Mode):
�
�
�
�
�
�
You have to execute CSC to start motors. Push throttle stick only
will not start motors.
In Atti. Mode, it has landing judgment, which will stop motors.
Start motors in Atti. Mode, you have to execute CSC and then push
throttle stick over 10% in 3 seconds, otherwise motors will stop after
3 seconds.
During normal flight, only pull throttle stick under 10% will not stop
motors in any control mode.
For safety reason, when the slope angle of multi-rotor is over 70°
during the flight in Atti. Mode (may be caused by collision, motor
and ESC error or propeller broken down), and throttle stick is under
10%, motors will stop automatically.
You can stop motors by executing CSC in any control mode.
Notices:
1.
2.
All these two cut off types will work properly only if Tx calibration is
correct.
When Tx commands are valid under any control modes, motors will
start or stop immediately when you execute CSC. It has nothing to
do with current throttle stick position. Please DO NOT executes
CSC during flight without any reason.
If you choose Immediately mode, you should not pull throttle
stick under 10% during flight, because that will stop motors.
If you do it accidentally, you should push the throttle stick
over 10% in 5 seconds to re-start motors.
If you choose Intelligent mode, throttle stick under 10% will trigger
landing judgment in any control mode. In this judgment, pitch, roll
and yaw controls are denied except throttle, but multi-rotor will still
auto level.
In any control mode, DO NOT pull throttle stick under 10% during
normal flight without any reason.
In failed-safe, CSC is denied by MC, motors will hold state.
3.
4.
5.
6.
STEP2: Command Sticks Calibration
:
Slides Moving Definition
Definition:
T
: Slide left is craft down, slide right is craft up
up;;
R
: Slide left is nose left, slide right is nose right
right;;
E
: Slide left is craft back, slide right is craft front
front;;
A
: Slide left is craft left, slide right is craft right
right..
STEP1: Set endpoints of all channels to default values (100%) and set
all trims and sub-trims of sticks to 0 on your transmitter first. Keep all
curves’ settings as default since the end-point of transmitter sticks
will be recorded here.
STEP2: Click START button, and move all of the
sticks throughout their complete range several
times.
STEP3: After that, click FINISH button when you finished above
procedures.
STEP4: If the moving direction of the slide is opposite to the Slides
Moving Definition, click the reverse button REV// NORM beside.
Notices:
All slides should become
when all the sticks are in the middle positions. If slides cannot go back to
center points (become ), just click FINISH, then slides will be at center automatically. If still not, please
reboot MC, and do not apply Tx command during the reboot.
STEP3: Sticks Monitor
This step is optional. X1 and X2 is for remote gain tuning; X1 is also for gimbal pitch control. Setup the
channel on your RC correctly.
STEP4: Control Mode Switch
Whichever 2-position switch you have selected to use in the transmitter for control mode switching, connect
the right channel on receiver to U port on MC. At each switch position, use end-point fine tuning on your
transmitter, move the slider of channel U to A (Atti. Mode), M (Manual Mode) to turn the corresponding area
blue respectively.
Tips:
�
�
To move the slider is to adjust end-points of the channel selected.
For 2-position switch, you should
1
2
assign: Position-1 to Manual Mode;
Tx
Position-2 to Atti. Mode; or reverse
the assignment.
2 Position
Sw itch
If your transmitter supports Fail-Safe, then move the slider to the range which reads Fail-Safe Mode to turn
the area blue, set Fail-Safe output of receiver to input port-U. If you switch off your transmitter now, the U
channel slide should move to Fail-Safe and turn the corresponding area to blue. Otherwise please reset the
fail-safe. MC has built-in auto level Fail-Safe function. That means when the communication between MC and
transmitter is disconnected, the outputs of all command sticks from MC will go to center point. If your
transmitter has only 4 channels, then MC will work in Atti. Mode by default without Fail-Safe function.
Tips:
Please refer to your RC manual for the details of fail-safe setup.
Notices:
1.
2.
Do NOT set the fail-safe position of throttle under 10% endpoint.
MC would not execute Fail-Safe protection if you don’t set it
properly. You can verify the Fail-Safe settings by shutting down your
transmitter, and then you can use the following method to check
whether MC is already in Fail-Safe mode.
�
Check the Assistant Software status bar at the bottom side of
the software interface. Control mode will change to Fail-Safe.
Check the LED indicator. Read the appendix in this
manual for details. LED will give fast orange blinking if
in fail-safe mode.
If your transmitter does not support Fail-Safe, the auto level
Fail-Safe function will not work when the communication between
MC and transmitter is disconnected.
�
3.
3 Autopilot
STEP1: Basic Parameters
Usually, the default parameters are ready to go. However, different multi-rotors have different gains because
of different size, ESC, motor and propeller. If gain is too large, you will find the multi-rotor oscillating in the
corresponding direction (About 5~10Hz). If too small, the multi-rotor will likely to be hard to control. So you
can still setup the basic Gain of Pitch, Roll, Yaw and Vertical manually according to your multi-rotor to have a
wonderful fly experience. We suggest you to change 10% to 15% of the parameter at a time.
To the gains of Pitch and Roll, if you release the Pitch or Roll stick after command stick, multi-rotor should be
back to hovering state. If the reaction of multi-rotor in this procedure is too soft (large delay), please increase
the basic gain slowly (10%-15% each time) until vibration emerges after you release the stick. Then decrease
the gain a little until vibration just disappears. Now the gain is perfect, but the reaction of the attitude change
is slow. You can follow the way introduced at the end of this section to tune the attitude gains.
The way of tuning the Yaw gain is the same as the way of adjusting the Tail Gyro. If you want fast stick
reaction speed, increase the gain, otherwise decrease the gain. However, the spin of multi-rotor is produced
by the counter torque force, and the magnitude of which is limited. Therefore, large gain will not produce tail
vibration like helicopter, but severe reaction at the start or stop of motors, which will affect the stabilization of
the other directions.
You use two methods to judge if the Vertical gain is good enough: 1) The multi-rotor can lock the altitude
when the throttle stick is at center position; 2) The change of altitude is small during the flight along a route.
You can increase the gain slowly (10% each time) until the vibration emerges along the vertical direction or
the reaction of throttle stick is too sensitive, then decrease 20% of the gain. Now it is a suitable Vertical gain.
Attitude gains determine the reaction speed of attitude from command stick, the bigger the value the quicker
the reaction. Increase it for sharper and quicker leveling action after command stick released. Unstable
shaking flying and the control feeling will be stiffness and rigid if the value is too high; and sluggish leveling
action and slow braking if too small.
Notices:
�
�
�
You must upgrade firmware first, then click Default button in first
setup parameter.
The vertical gain will NOT affect the manual mode.
The final flight performance is decided by the autopilot parameters
and all parts of multi-rotor (includes mechanical structure, motors,
ESCs, propellers and battery). If these parts are not compatible, you
cannot get good flight performance by adjusting the autopilot
parameters. Therefore, if you have high requirement to flight
performance, you’d better get a multi-rotor with good integration
test.
Tips:
�
�
�
If you are a fresh player, you can tune the basic parameters first as
following:
1
Increase the basic parameters 10% at a time so as to make
your multi-rotor hover or light oscillate after small angular
command input.
2
Decrease the basic parameters until your multi-rotor can just
hover, then decrease 10% more.
Here you can make use of remote gain-tuning channels to tune the
gains during the flight:
1
Followed the instructions in Assembly R/C System section to
connect and setup correctly;
2
Choose the X1 or X2 channel in Remote Adjust for the gain you
want to tune. One channel to one gain.
3
The range of remote tuning is from half current value to twice
current value.
Usually the Pitch, Roll, Attitude Pitch and Attitude Roll Gains of
hex-rotor are high then quad-rotor.
STEP2: Height Lock
In Atti. Mode:
If Enable height lock, throttle stick center point means 0m/s on vertical direction, max ascent / descent speed
is ±6m/s;
If Disable height lock, the control of vertical direction is the same as Manual Mode, max ascent / descent
speed is decided by your multi-rotor.
We strongly suggest to enable this function to simplify the flight control.
:
Notices
Notices:
If Disable height lock, the control of vertical direction is still the same as Manual Mode in fail-safe.
Therefore please setup the throttle fail-safe output on your transmitter before the flight!
4 Voltage Monitoring
STEP1: Protection Switch
In order to prevent your multi-rotor from crash or other harmful consequences caused by low battery voltage,
we have designed two levels of low voltage protection. You can choose to not to use them, however we
strongly recommend to open the protections here!
Notices:
�
�
�
Make sure the connection between VU and MC (V-SEN to X3) is
correct; otherwise the low voltage protection will not work properly.
All two level protections will only have LED warning under Manual
Mode, no any automatic actions.
Low voltage protections are NOT fun! You should land your
multi-rotor ASAP in any level of protection to prevent your multi-rotor
from crash or other harmful consequences!
STEP2: Battery
Power the MC by a battery and connect the MC with PC, current battery voltage will be displayed in this
column. If the battery voltage displayed here is different from the voltage you measure from a voltmeter, you
have to calibrate. Click the Calibration, fill the voltage you have just
measured in the Calibration column of the dialogue box, and then click
Confirm..
Meanwhile we need you to choose the battery type you are using, so
that MC can provide default warning voltages and ranges of warning
voltages for you.
STEP3: First Level Protection
�
�
�
No Load (No Load Voltage): Self-defining warning voltage. Needs
your input.
Loss (Line Loss Voltage): The battery voltage drop during the flight.
Needs your input.
Loaded (Loaded Voltage): The real-time battery voltage during the
flight. This is the actual warning voltage monitored by MC. No needs
your input, calculated by No Load and Loss.
Tips:
Voltages Magnitude Relation:
�
�
�
No Load: First level > Second level.
Loss: First level = Second level.
Loaded: Calculated, First level > Second level.
Method of Acquiring Line Loss Voltage:
1
2
3
4
Make sure you can fly your multi-rotor normally with a fully charged
battery.
Use a fully charged battery, switch on the low voltage protections in
assistant software, and observe the current voltage. Fill a
reasonable warning voltage in the No Load of first protection (We
recommend to fill a voltage 1V lower than current voltage and higher
than minimum battery voltage rating in). Fill 0V in Loss at the
moment.
Fly the multi-rotor until the first level protection is triggered, and the
is flashing. Now land your multi-rotor ASAP.
Connect the MC to PC, open the assistant and acquire new current
voltage. The Loss (Line loss voltage) is the difference between the
new current voltage and the first level No Load voltage you filled in.
Notices:
�
�
�
�
�
1
2
If the line loss voltage of a battery is over 0.3V per cell (e.g. 3S
battery over 0.9V), it’s because the internal resistance of battery is
high or the battery is too old, we suggest you to replace it!
Generally the line loss voltage of different battery is different. For the
consideration of safety, you’d better acquire all the line loss voltages
of all your battery you are using, and fill the lowest one in the Loss.
When you change the payload or multi-rotor, you have to get new
line loss voltage.
The line loss voltage will be bigger after many times use, you should
get new one after 30 times charging.
Make sure your ESCs protection voltage is lower than 3.1V (1S),
otherwise low voltage protection will not work.
Acquire the line loss voltage by the method introduced before first,
and fill it in Loss.
Fill a reasonable warning voltage in the No Load.
Notices:
When red light starts to blink, you should land ASAP!
Flight
Before First Flight
Notices:
�
�
�
�
�
�
�
Make sure you have assembled your multi-rotor correctly.
Make sure you have done the configuration procedure correctly.
Any of the following mistakes will leads to dangerous accident,
double check all these items:
� Rotation direction of motor is opposite;
� Propeller installation mistake;
� MC installation mistake;
� Wrong connection between MC and ESC;
In Atti Mode, if Enable the height lock, throttle stick center position
is for 0m/s along the vertical direction. You’d better keep throttle
stick position higher than 10% from cut-throttle during the flight!
Make sure switch on the transmitter first, then power on multi-rotor!
(Power off multi-rotor first, then switch off the transmitter after
landing!)
Please do the test fly and gain tuning with Atti. Mode in the open air
without heavy wind!
In Atti Mode, after power on and before motors start, if
double
blinks without move any stick, that means, you have moved any
stick during system start up and check. Now you should reboot MC.
Test Fly
STEP1: Make sure your batteries are fully charged for your transmitter,
MC and all the devices on your multi-rotor;
STEP2: Check all connections and wirings, and make sure they are in
good condition;
STEP3: Switch on the transmitter first, then power on your multi-rotor!
STEP4: Slide the control mode switch on your transmitter, and make
sure it is working properly. Check it with LED indicator to specify the
current working mode for MC. See Appendix for details about LED
indicator;
STEP5: Switch the system to Atti. Mode. Use any safe method to do
the following test: Apply the throttle to 20% slowly and make sure
all the motors are working, and then try to push your sticks lightly in
Roll, Pitch and Yaw to feel if your multi-rotor moves to the
corresponding direction. If not, go back to Configuration Procedure
correct your settings.
STEP6: Push the throttle stick slowly in 3 seconds after executing CSC
until all the rotors are working, and then take-off your multi-rotor
gently
Tips:
After a successful test fly, the preparation before taking off can be simplified: Put your multi-rotor on the
plane ground, turn on the transmitter first, power on multi-rotor, then you can take off in Atti. Mode.
Appendix
Port Description
Main Controller
A
For roll control (left/right)
E
For pitch control (front/back)
T
For throttle control
R
For rudder control
U
For Control Mode Switch
X1
For gimbal pitch control
X2
Or for gain tuning
X3
For voltage monitor (Connect with VU V-SEN port)
M1
To #1 rotor
M2
To #2 rotor
M3
To #3 rotor
M4
To #4 rotor
M5
To #5 rotor
M6
To #6 rotor
F1
To gimbal roll servo
F2
To gimbal pitch servo
Or for gain tuning
LED
LED port, for LED wire connection from Versatile Unit
EXP.
Expansion port, for future upgrade and usage.
(In three-pin ports, pins near the nicks are signal pins.)
Versatile Unit
V-SEN
V-SEN port: To MC X3 port, for monitoring battery voltage
�
LED
Orange wire (signal wire) output: ±3.3V
LED wire, to MC LED port.
Micro-B USB port: PC connection for configuration and firmware upgrades.
Light Description
Main LED
Manual Mode
No light
Atti. Mode
Sparking indications of
�
�
is:
Before motors start: Single blink
blink, all sticks (except throttle stick)
return to center; Double blinks
blinks, stick(s) (except throttle stick) not at
center.
After motors start and throttle stick is over 10% in 3 seconds: Single
blink
blink, all sticks return to center; Double blinks
blinks, stick(s) not at
center.
Tx signal lost
Low voltage / Other errors
Connect to PC correctly
System start and self-check
Do NOT move any command sticks during this procedure! Please contact us if the last three green blinks
are abnormal.
Specifications
General
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Two Modes Autopilot
Auto Level Fail-Safe
Low Voltage Protection
Supported Multi-rotor
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Quad-rotor I, X;
Supported ESC output
400Hz refresh frequency. (Only support fast ESC)
Recommended Transmitter
PCM or 2.4GHz with minimum 4 channels.
Assistant Software System Requirement
Windows XP SP3; Windows 7
Built-In Functions
Peripheral
Electrical & Mechanical
Working Voltage Range
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Power Consumption
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Operating Temperature
-10°C ~ 50°C
Weight
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Dimensions
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MC: 4.8V ~ 5.5 V
VU: 7.2V ~ 26.0 V (recommend
2S ~ 6S LiPo)
MAX: 1.5W([email protected])
Normal: 0.6W([email protected])
MC: 25g
VU: 10g
MC: 45.5mm × 31.5mm ×
18.5mm
VU: 30mm × 15mm × 4.5mm
Flight Performance (can be effected by mechanical performance and payloads)
Height Lock Accuracy
±0.2m
Max Yaw Angular Velocity
200°/s
Max Tilt Angle
45°
Max Ascent / Descent Speed (Height Lock)
±6m/s
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