Zerotech YS-S4 User Manual page 30

YS-S4 Multi-rotor Autopilot User Manual V1.4
In this mode, craft will hold the altitude but not hold the position. When the THR stick is in its 50% position
the craft will hover in the current altitude but not at its current position (the craft will drift when the GPS is not
locked), but the craft can still be controlled manually. Left/right is controlled by the AILERON Stick, Up/Down
controlled by the ELEVATOR stick, direction is controlled by the RUDDER stick, and height controlled by THR stick.
If the THR stick is 50%, craft will auto‐hover;
If THR stick is more than 50%, craft will fly upward;
If THR stick is less than 50%, craft will descend.
The Craft can fly to any altitude controlled by THR stick, and fly to any position controlled by the other
sticks.
(4) Auto hover
With GPS located (when satellites locked are more than 5) and CH5 is in position2 and CH6 in position1, the
S4 will enter auto‐hover mode.
In this mode, the aircraft will hold its position and altitude. Your TX sticks should all be in the mid position. When
THR stick is around the mid position the craft will hover in its current position, (The craft does not drift because
GPS has locked) and also may controlled manually.
Left/right is controlled by the AILERON Stick, Up/Down controlled by the ELEVATOR stick, direction is
controlled by the RUDDER stick, and height controlled by THR stick.
If the THR stick is 50%, craft will auto‐hover;
If THR stick is more than 50%, craft will fly upward;
If THR stick is less than 50%, craft will descend.
The Craft can fly to any altitude controlled by THR stick, and fly to any position controlled by the other
sticks.
(5) Return and Land (RTL)
With GPS locked (more than 5 satellites locked) and Motor arming done, the craft will record its home position.
Push CH6 to position 2 to enter RTL (return and land) mode. In the Return and Land mode, the craft will return
a)
home and land automatically.
After activation, you can only change to Stabilization Mode if you want to take over the flight controls. If you
b)
move from RTL to Auto Hover Mode, the aircraft will continue with the Return and Land process.
On arrival at 'Home', the YS‐S4 V2 will begin to descend. At this time, the autopilot will allow you to take over AIL
c)
and RUD controls to adjust the landing site, but the THR cannot be controlled. The THR control is fully
autonomous for descent and landing.
Altitude: If the craft is beyond 25 meters away from home position and below 20 meters altitude, the YS‐S4 V2
d)
will ascend to 20 meters before initiating RTH when it enters RTL mode. If its height is more than 20 meters, the
YS‐S4 V2 will maintain altitude during RTH. If the distance from home position is more than 20 meters, the YS‐S4
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