Zero YS-X6 Quick Start Manual

Multi-rotor autopilot

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YS-X6

Multi-Rotor

YS-X6

YS-X6 Multi-Rotor

Multi-Rotor Autopilot

Quick Start Guide

Revised on October 22th,, 2012

Autopilot

www.zerouav.net

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Page 1 YS-X6 YS-X6 Multi-Rotor Multi-Rotor Autopilot Autopilot YS-X6 YS-X6 Multi-Rotor Multi-Rotor Autopilot Autopilot Quick Start Guide Revised on October 22th,, 2012 www.zerouav.net Copyright(C)2012ZeroUAV All Rights Reserved...
Page 2 • The above "the light blinks in red for three times" is a sign to check whether all hardware are working normally or not, all data connection is based on this. After powering if no "the light blinks in red for three times", please contact Zero UAV (Beijing) Intelligence Technology Co. Ltd. or its distributors directly. Otherwise, please check the assembly carefully referring to the above illustration.
Page 3 • When ESC and motors working, they will produce serious magnetic interference, so GPS and magnetic sensor module must be installed by nonferrous to keep far away from motor and ESC (especially the Octo-rotor), and the arrow is towards aircraft nose. Otherwise, the aircraft will fly circling around and incorrectly hover.
Page 4 Communication: Wireless router is no need. After WIFI works, your Phone or Tablet will search for a wireless network whose name is YS-X6-Serial No.N (Example: YS-X6-10112N), then please put in the password:12345 and connect it. If the communication is successful, data will be displayed when GCS is enabled.
Page 5 “N”. • Serial number of YS-X6 without “N”, shown as below: Communication: Wireless router is needed to build AP. Set SSID of the router as”YS-X6-Serial No.” (Example: YS-X6-10112N) (Note: The letters must be in Capital), password is 82890430, use WPA2-PSK AES as encryption method and set Router IP as 192.168.1.1 (Phone with hot spot also can be used instead of...
Page 6 “ Installation Guide” of GCS “Settings” (If the data is not connected, please read the above two steps carefully). Please refer to the diagram as below: (1)Channel Calibration. (2)Check CH5 & CH6, set up F/S (Fails safe). (3)ESC stroke calibration (This step is no need for special ESCs such as XA).
Page 7 • About magnetic declination Please refer to the below website for magnetic declination http:// magnetic-declination.com/ http://www.ngdc.noaa.gov/geomagmodels/struts/calcDeclination • About RC transmitter： The RC transmitter must be set to fixed-wing mode and do not set any mix-control. Any channel can’t be inverted on FUTABA RC transmitter, but all of the channels on Jr and WFLY RC transmitters need to be inverted.
Page 8 Only changed to GPS mode, the actual course angle will display in Course angle in data page of GCS. S S S S TEP TEP1 1 1 1 Calibration Calibration Calibration Calibration in in in in horizontal: horizontal: horizontal: horizontal: Enter Calibration by elect “Horizontal Alignment”...
Page 9 S S S S TEP TEP3 3 3 3 After rotating, in settings page click on Magnetic Compass save Magnetic Compass---OK. After you finish the calibration, the GCS will go to "Control" interface automatically. After waiting for scores of seconds （ the purple light keeps going on during data reading）, mobile will display the magnetic sensor data of AP, only look the red and blue circle in the middle of cross coordinates, if they are close to standard round, then indicates a successful calibration and...
Page 10 5 5 5 5 Control Control Control Priority Priority Control Priority Priority Notices: • User must select two 3-position switches and set them to CH5 & CH6 by RC transmitter. • Three modes can be switched through CH5, Manual/Manual Altitude Holding /GPS.
Page 11 is useless for aircraft if receiver displays “RC off” , which equals there is no RC receiver on the craft. It is strongly not suggested to close the receiver ( RC off) if user doesn’t know well about the system! •...
Page 12 position into “Auto-navigation” mode. (Make sure the waypoints is uploaded) position “Auto-return home & landing” mode “GPS auto-hover” mode, throttle is in the minimum, craft may go position down fast, meanwhile the throttle should be maintained in middle-position. Mobile Enabling waypoints on mobile can get “Control”...
Page 13 Customized Customized Parameters Parameters Customized Customized Parameters Parameters Tips: Tips: Tips: Tips: Customized parameters can be setup by customers to allocate motor mix-control. And the proportion coefficient of pitch, toll and turning of each motor also can be customized for applying to the irregular Multi-rotor frame. •...
Page 14 • Customized Customized course angle parameters: Customized Customized course course course angle angle angle parameters: parameters: parameters: to make the aircraft rotate to right, the changing method of corresponding motor speed should be decreased to -100, and increase to 100. •...
Page 15 And then click on "Setting"--“Parameters Define”--"Get" to verify the changing is successful. Repower autopilot on after verification, push the throttle stick to the minimum position to make the motor rotate in slow speed and meanwhile carefully check whether the mix-control is consist with settings, after verification can start to fly .
Page 16 Disarm Disarm Disarm Disarm motor motor motor motor Only in manual mode and without holding altitude, the motors stop rotating with pulling the throttle stick back to the bottom. Other time, if pull back the throttle stick to the bottom, the motors won’t stop rotating but only decrease altitude. Attention: During flying, if there is no accidents please do not switch to manual mode and push the throttle to the minimum at the same time, otherwise the motors will...
Page 17: Mobile Remote Control
A. In " waypoints flight " mode, the flight will not be influenced if the WIFI signal loses, and aircraft will go back to the first waypoint to hover after finishing waypoints flight, then you need to judge whether WIFI signal has recovered, if the signal unrecoverable, then manage as following;...
Page 18 Mobile remote control operation ways as below: Transmitter Interface Operation Ways Craft Status RC ON Circle area Red: Not loacated; Green: located. Keep still Position Hold DO NOT touch any area Position hold. Press the circle and move up/down 1. Move back and front Press the circle and move left/right 2.
Page 19 （2 2 2 2 ）Phone Phone attitude mode Phone Phone attitude attitude attitude mode mode mode User can enable phone attitude control mode in phone remote control mode, click on “enable attitude” the transmitter interface will be changed to a blue cross, which indicates mobile attitude control mode has been enabled.
Page 20 1front/back 1 Mobile phone tilt to front/back 2left/right Flight 2 Mobile phone tilt to left/right 3upleft/downleft/ Operation 3Mobile phone tilt upright/downr upleft/downleft/upright/downright ight move 1 click on right above the circle (inside the cross) 2 click on under the circle (inside the cross) 3 click on the left of the circle (inside the cross)
Page 21 insurance will be locked up automatically exceeding 5 seconds. Notices: Rod moving: Rudder in the left- most position, elevator in the bottom, aileron in the right-most position,throttle in the bottom. For the right or left throttle, user need to judge by self that the motor arming direction is 八 or V shape. After moving rod as V shaped, motor will not be enabled automatically, user...
Page 22 “settings” to make the autopilot record the correct stick center position. Real servo position Real servo position is the relation of differential rotation speed outputted by motor to keep aircraft stable during flight. Tips: User can judge the balance of motors and propellers by observing the real servo position in level flying.
Page 23 B. Full Full Full Full-auto -auto -auto -auto takeoff takeoff takeoff takeoff Notice: Aircraft can take off fully-automatic only if the aircraft has completed semi-automatic takeoff and the flying is successful. Step Step 1 1 1 1 Wait until get 5 or more GPS satellites locked, put the THR stick in the Step Step minimum position,...
Page 24 Click on “motor off” -> “OK” to shut down the motor. (5)C (5)C (5)C (5)Click lick lick lick & & & & Fly Fly to to point point point point MODE MODE MODE : : : : in MODE GPS auto-hover mode Step1: Step1: Step1:...
Page 25 in any time (including before takeoff or manual/auto mode after takeoff) fly/take the craft to the target point to be the locked , then within 3 seconds switch between position1 and position3 on CH6 for three times(that is 1->3->1->3->1->3->1 ), FC will record the longitude&latitude of GPS where the craft locates as the target point to be locked.
Page 26 "Height" "Height" indicates the point where craft is staying, which can be set as negative value below zero(when the takeoff position is too high and the craft need to fly under the takeoff position). If height between two waypoints are different ,craft will fly as climbing slop.
Page 27 After switching CH5 to position 3 and CH6 to position 2, then click on "enable skyway" in setting page of GCS, the craft will fly to the first waypoint and hover There. Fill in "Change Target" with number 2 and upload it, the craft will fly to waypoint 2、3、4...and fly back to waypoint 1 and hover there after finishing all waypoints.
Page 28: Parameter Setup
Click on "enable course locked" button in "setting" page, autopilot can record the current orientation of craft nose. Then users can adjust the orientation of craft nose with rudder;when users operate the left/right aileron and push/pull sticks on transmitter, the autopilot will fly to the orientation as the course was locked, not the current orientation of craft nose.
Page 29 Notice: ”PTZ Roll Sensitivity” & “PTZ Pitch Sensitivity” can directly affect the touch sensitivity of transmitter. Please do NOT change the parameters of Roll/Pitch,THR P/I,Rotate P/D. If parameters are incorrectly changed, can push the THR to the minimum and switch to the manual mode, then click on Settings �...
Page 30 Magnetic Declin ation Magnetic Magnetic Magnetic Declin Declin Declination ation ation Fill in local magnetic declination, deflection to West is Positive/to East is negative ( most regions in China are deflecting to West). Example: Magnetic declination in Beijing is 6° 30’ to West, that is 6.5 degree, then fill in 6.5.
Page 31 Motion Compensation The default value is 80 fit to most crafts. When the sticks back to neutral position on transmitter, increase the value to get a more stable flying if the aircraft is shaking heavily. But it will result in high-frequency vibrating if the number is too big.
Page 32 Remote Control Mode User can select the options below according to yourself RC mode, do not set up incorrectly! Self-adaptive: AP select the options according to the using RC Tx.The RC Tx must be enabled first before autopilot enabled. Normal: Ordinary FUTABA Receiver, AP CH1 connect to Receiver CH1, AP CH2 connect to Receiver CH2.
Page 33 GCS. If to use this function, user must first connect power management module with YS-X6(connect to A1N1 plug on YS-X6), push the throttle stick to the bottom, then repower YS-X6 on. After powering, FC will zero sensor automatically, the current discharge (ampere A) and battery consumption(MAH) start to output according to the detection by power management module.
Page 34 Data link on Craft connection Take off WIFI module from craft and install data link on craft, connect the data link to YS-X6 COM3 referring to WIFI module connection. Data link on Craft （2 2 2 2 ）Data Data Data...
Page 35 Notice: • If WIFI module works in point-to-point, there is no need using router. • Data link and WIFI both are powered on by 3 S ~ 6 S lithium battery (same as AP MC), the power cable is in red-black two colours, red is positive pole and black is negative pole.
Page 36: Joystick Connection
13 Joystick Connection After purchasing the joystick, users can use it to control the craft in GPS mode. When data link is not connected, joystick control distance is up to WIFI communication distance. When using datalinkXB-PRO900, the control distance of joystick is up to communication distance of datalink . Joystick contains two parts: joystick and joystick WIFI.
Page 37 （2）Joystick Instructions 1. In GPS auto-hovering mode, joystick can be used to control the craft . After power on the joystick, joystick operation equals to the cross operation of RC interface on phone. To avoid conflicting with phone cross operation, please disable remote control on phone GCS to cancel the round circle on the cross.
Page 38 Notice: The IMU of YS-X6 has damper inside, so there is no need using extra damper. The vibration and shaking coefficient showing on GCS means the shaking status of IMU. Before allocating motors and propellers, users must make balance test reduce the vibration and shaking coefficient smaller than 10, the smaller the better(try to use the smaller propeller to reduce the shaking).
Page 39 quicker the correction, that is the manual control is more flexible. But too big sensitivity will lead to high-frequency vibrating, so need to decrease the sensitivity value for high-speed craft(smaller propellers). “ “ “ “ Motion Motion Motion compensation compensation compensation”...
Page 40: Firmware Upgrade
15 Firmware Upgrade The upgrade of YS-X6 firmware is simple. Before firmware upgrade, please download the special firmware upgrade tool on Zero UAV official website: http://www.zerouav.net/kefu.aspx USB Cable Connection: plug one end of USB cable in box to PC USB port , and the other end to FC COM1.
Page 41 Step3 Step3 Step3 Step3 Click on Open button, Select a “.arm” file offered by Zero UAV to upgrade(shown as below diagram). Step4 Step4 Step4 Step4 Repower on the FC and it will start to auto-upgrade. When it says in red words “Please Restart AP!”,...
Page 42 Warning: 1,When all settings are finished, if repower on AP the software doesn’t auto-upgrade, please disable the software and replug the USB cable. 2,If the below warning is showing when you choose firmware versions, Please redownload the upgrade firmware or update the date later than the present date(within 30days) , then upgrade once more.
Page 43: Low Voltage Alert
Appendix Appendix 1 1 1 1 : : : : L L L L ED ED D D D D escription escription Appendix Appendix escription escription Flight States ●●● ●●● ●●● GPS unlocated, red light blinks for 3 times one loop. ●●...
Page 44 Appendix2: Port Description Appendix2: Appendix2: Appendix2: Port Port Port Description Description Description A/CH1 Aileron-For roll control (left/right) E/CH2 Elevator-For pitch control (front/back) T/CH3 Throttle-For throttle control R/CH4 Rudder-For rudder control Manual/Auto Mode Switch Auto-Hover/Auto-waypoints/Returning&Landing Switch For gimbal pitch servo/ Or for S-BUS For gimbal roll servo/ Or for PPM COM1 Connect RS232 port and to PC for firmware upgrades.
Page 45: Buttons And Functions
Appendix Appendix Interface Interface Introduction Introduction Appendix Appendix 3: 3: GCS GCS Interface Interface Introduction Introduction The software software software software interface interface interface interface： Buttons and Functions Buttons Functions Remote Control Default interface (Cross interface) to control the aircraft Data Real time flight data Real time map or saved map...
Page 46 Note: When the data is connected, the Serial No. and firmware version will display on the “Control” interface. Data Data Data Data Get into the data interface by touching the button "Data", shown as below: It will display "Communication disconnected" on the interface if data is not connected.
Page 47 The velocity after Kalman filting. It displays a value between 0-20 and increase constantly. When the velocity exceeds normal range, LED will be in solid white, suggest you land the aircraft urgently. Display real time attitude duiring flight. Display real attitude of the static aircraft. Static Angle can work only with no any vibration, used to check whether the aircraft is in all good conditions before takeoff.
Page 48 Display of rudder, aileron, elevator, throttle and manual servo position. Please check more details in "RC Transmitter Settings". Vibrations from IMU. 1-10 means your aircraft is in good condition. 10 above , it means vibration exceeds limits. Up&down is the vertical vibrate and front/back/left/right is the horizon vibrate of IMU, Display of shaking state 1-10 means your aircraft is in good condition.
Page 49 Tips: 1 The map which you used last time was saved in default, when you open it next time, it shows up the saved map. 2 There is no network. Enable WIFI, cached data can be displayed. Nitices: Cached map: when network is on, enable the software to download the map. If finishing downloading the cached map, if enable WIFI, the cached map will be displayed.
Page 50 Fly to Point Fly. Please check "Fly To Point Fly" page. Target Lock Fly. Please check "Target Lock Fly" page. Click it to enter editing waypoints, please check " Waypoints Fly" Page. Locate FlytoPP/PTZLock: Move Map center to operation area. Exit FlytoPP/PTZLock: Remove the FlytoPP/PTZLock mode.
Page 51 Latitude Latitude of this waypoint. Hovering Hovering time time Hovering Hovering time time Time of hovering, unit is second, zero means no hover(the default hovering time is 65533 seconds of first waypoint). Camera Camera setting setting Camera Camera setting setting...
Page 52 Optional of camera attribute. Target Target speed speed Target Target speed speed It means the flying speed of craft from present position to next waypoint. Settings Settings Settings Settings Notice: All operations in settings are vitally important, please operate seriously. Click it enter into "Magnetic Compass"...
Page 53 Auto Go Home and Landing. After the aircraft reaches home location, the craft can be controlled manually. Take off fully automatically, please check Part 9 (3) “Auto Take Off". Enable receiver/ Disable receiver It is strongly suggested for new operator that do not disable receiver when flying.
Page 54 Please don't configure propeller when power first time, only power the autopilot and need to calibrate Channel Align first. Operation as blow: Select "Channel Align" in Settings, push/pull Elevator sticks of RC Transmitter to the Maximum/Minimum, move Aileron sticks of RC Transmitter to the leftmost/rightmost within 5 seconds.
Page 56: Mix-Control
Mix-control Mix-control Mix-control Mix-control The up/down,turning, pitch ,toll of multi-rotor is caused by mix-add of different output of motors, and the control process is called mix-control. The ratio of mix-output is up to the mechanical structure of craft. User can configurate the output coefficient of motors to make the fix-control realized.
Page 57 1 Login the webpage When WIFI module, whose serial No. comes with "N",is powered on and works, a AP with name of YS-X6-Serial No.N (Example:YS-X6-12345.N) will be builded. Users can connect net AP with PC, and type in password:12345. Then open the browser and type in the IP Add.192.168.1.254, the webpage will shown as...
Page 58: Router Connection
After modification, please click on Apply, and wait for 20seconds, so the IP address of WIFI will be locked as192.168.1.254. Then refresh the browser and relogin the module allocation page. 3、Click on WIFI interface Please change Network Mode to Infrastructure mode,Channel to AUTO, Service Area Name/SSID is the same as router SSID, the Security Mode to AES mode.
Page 59 Connect PC to the integrated router, example: if YS-X6-12345 router is connected, type in password 12345678. Type in 192.168.1.254 in the browser,it indicates the modification is successful if you can login the back interface of WIFI. After power on the AP, user can enable the phone GCS, after 5 seconds the GCS can receive the data of flight controller.