Dualsky FC151 User manual

#21436
Made in China 41ZX15F0810
Shanghai Dualsky Models co.,Ltd.
Rm.1016,No.201,Xin Jin Qiao Rd.,Shanghai,China.
Tel: [phone] Fax: [phone]
FC151
http://www.dualsky.com
FC151 Flight Control System
Instruction Manual
ＦＣ１５１固定翼飞行控制器使用说明书

Packing List
● Mini dimension, MEMS gyroscope and accelerometer in one
chip, only 8 grams
● 32-bit high performance ARM MCU
● Original advanced attitude stabilization algorithm
● Support single/double aileron, fly wing and V-tail aircraft
● Support flaperon mixing
● Support aerobatic/3D airplanes
● Independent sensitivity adjustment of all 3 axes
● Support Futaba S. BUS protocol
● Support mode switch via extra channel, can be switched
between different modes
● Program via button and LEDs
● Support HV inputs
Caution: FC151 will take over all control channels
except throttle, if the setting of FC151 is
inappropriate, it might cause property damage or
personal injury. Please read the caution items and
the rest of this manual carefully before using FC151.
● It's recommended using this gyro on electric powered airplane
models or unpowered glider models
You need an at least 4-channel transmitter. If transmitter only has
4 channels, FC151 will work in auto-level mode by default and
can’t change modes during flight. We recommend you for 5
channel transmitter so that the 5th channel (usually the GEAR
channel) can be used for mode selection.
（c）
（a）
（d）
（b）
21021-1
Double
Side
Tape
（a）
FC151 Gyro x 1
（b）
Anti-shock double side tape x 1
（c）
3-signal wire (long) x 1
（d）
Single-signal wire (long) x 2
N RN RN R
FC151
6-axis Flight Control
MODE
Radio equipment
- 2 -- 1 -
Thank you for using Dualsky FC151 Flight Control
System. This gyro is equipped with latest MEMS
gyroscope & accelerometer chip, 32-bit MCU and
Dualsky original algorithm. It features at mini
dimensions, high sensitivity and friendly user
interface, more features are listed below:
● FC151 need 2~3 sec start-up time after powered on, please
keep the airplane still during the process
● Servos will only work after the FC151 start-up process ends,
this is normal.
● In auto-level mode, control surfaces of model which is still on
the ground may move to their maximum travel. This is Normal.

- 4 -- 3 -
Installation instruction
1. FC151 installation principle:
2. Connect the FC151 to receiver as shown below
Normal Receiver
MODE
AIL1
E/R/A2
CH5/GEAR
Rudder
Aileron1
Elevator
Reserved
N RN RN R
FC151
6-axis Flight Control
MODE
AIL
ELE
THR
RUD
CH5
Aileron2
AIL2
(Orange)
(Red)
(Brown)
● FC151’s heading direction must be the same as airplane
heading direction
● FC151 must be mounted parallel to flight path, otherwise
airplane will yaw.
● FC151 should be installed inside of the airplane, close to the
receiver and CG.
● Install platform must be parallel to horizontal tail, solid
(recommend to use plywood), but do not use servo mount
platform.
● Use accessary double side tape to fix FC151, do not use strap,
patch or 3M Dual-Lock
● Do not wrap FC151 in foam
● FC151 cannot be touched by servo horn, linkage or other
moveable parts
● FC151 must stay away from motor, engine, ESC and batteries
● FC151 cannot be installed outside the airplane, such as wings or
tail

- 6 -- 5 -
● Input/output signal wires are close to the top of FC151, middle
is VDD and bottom is GND.
● Input signal supports Futaba S.BUS and S.BUS2, only need
single-signal wire to connect SYS and receivers’ SBUS port.
SYS port has higher priority than other input ports. When using
SYS port, other input ports won’t work, transmitter channel
sequence must be the same as following chart:
Sequence
Channel
CH1
Aileron 1 Elevator
CH2
Throttle
CH3
Rudder
CH4
Mode Switch
CH5
Aileron 2
CH6
3. FC151 corresponding control surface
● Normal type airplane with single or double ailerons
* Diagram show double aileron airplane
● Fly-wing(delta-wing)
S.BUS Receiver
SBUS
N RN RN R
FC151
6-axis Flight Control
MODE
OUTPUTINPUT
N RN RN R
FC151
6-axis Flight Control
MODE
Normal Airplane PIN (Socket) Location
Aileron
Elevator
Rudder
Aileron2
TOP MIDDLE BOTTOM
VDD
VDD
VDD
VDD
GND
GND
GND
GND
VDD
VDD
VDD
GND
GND
GND
Switch
Aileron
Elevator
S.BUS
Rudder Aileron2
* VDD is positive lead. *GND is negative lead.
Rudder
Elevator
Aileron2
Aileron
Rudder
Aileron
Elevator

- 8 -- 7 -
4. FC151 Power Supply
● V-tail airplane
* V-TAIL
FC151 supports 4.8V-8.4V input voltage, share the same power
with receiver, input voltage should meet the requirements of
receiver, too. Power supply could be battery or ESC.
Set mode switch
Mode select switch is used for select
different flight modes. Please assign a
3-position switch to mode channel and
make sure that channel doesn’t have
other functions. Switch channel pulse
width range should be low
800~1340us, middle 1340~1700us,
high 1700~2200us. If the mode
channel is not connected, the FC151
will work in auto-level mode.
L2
Blue(0.5S)
LOW
L2
Middle Green(0.5S)
Gyro Off Mode: Position low, FC151 outputs receiver’s signal
directly
Aerobatic Mode: Position medium, only 3 axis gyroscope
working
OUTPUTINPUT
N RN RN R
FC151
6-axis Flight Control
MODE
V-tail Airplane PIN (Socket) Location
Aileron
Elevator
Rudder
Aileron2
TOP
Switch
Aileron
Elevator
S.BUS
MIDDLE
VDD
VDD
VDD
VDD
VDD
VDD
VDD
Rudder
BOTTOM
GND
GND
GND
GND
GND
GND
GND
Aileron2
* VDD is positive lead. *GND is negative lead.
OUTPUTINPUT
N RN RN R
FC151
6-axis Flight Control
MODE
Fly-wing/Delta-wing PIN (Socket) Location
Aileron
Elevator
Rudder
N/A
TOP
Switch
Aileron
Elevator
S.BUS
MIDDLE
VDD
VDD
VDD
VDD
VDD
VDD
VDD
Rudder
BOTTOM
GND
GND
GND
GND
GND
GND
GND
N/A
* VDD is positive lead. *GND is negative lead.
Elevator
Rudder
Aileron
Aileron2
High(+100)
Middle (0)
2200us
1700us
1340us
800us
Low(-100)

- 10 -- 9 -
L2
High Red(0.5S)
Auto Level Mode: Position high, limit angles of roll and pitch.
NOTE: You may need to reverse mode channel for
correct switch operation.
!
How to setup gains and correction directions?
There are 3 pots to adjust the correction directions and gains for
aileron (roll), elevator (pitch) and rudder (yaw) channel. please
see the sketch below.
AIL/ELE/RUD
High High
Low
OFF
NOR GAIN
Low
REV GAIN
N RN RN R
FC151
6-axis Flight Control
MODE
● It needs a few testing fly to determine appropriate gains, we
recommend starting from conservative gains (low) first.
● Fly in aerobatic mode at safety altitude, accelerate the airplane
to its maximum speed to see if there is oscillation in pitch, roll or
yaw axis. Oscillation indicates the gain is too high, please slow
down the airplane, decreasing the Gain after landing.
● Please don't change too much gain at one time, We
recommend adjusting 5-10 degrees once.
Ground Test
● Please do a ground test before first flight.
● Test if the mode switch is working properly. Do not turn on the
motor/engine, toggle the mode switch on the transmitter to middle
position, LED2 will turn GREEN for 0.5sec, now FC151 is in
Aerobatic mode.
● Test transmitter moving direction. Move the sticks (except the
throttle) to see if each control surface is working rightly.
● Test gyro correction direction. Rotate the model on each axis,
corresponding control surface should act to against that rotation
(see below). If the action is wrong, please reverse the pot of that
axis.

Trim system
● First please trim model directly on your transmitter in gyro off
mode (do not switch to other modes in trimming). But if
transmitter trim is too large, please zero the trim and adjust the
FC151 Setting
1.How to enter Setting Mode: Turn on the transmitter, move
the throttle to its minimum; power on the model, wait until the L1
green LED ends flashing; Long Press “SET” button (2sec) to
enter Setting Mode. After that, L1 displays the corresponding
SETTING ITEM and L2 shows the corresponding SETTING
VALUE.
Roll & Aileron Movement
Pitch & Elevator Movement
Yaw & Rudder Movement
● There is no need to trim in Aerobatic mode if the model had
been trimmed well in gyro off mode.
● Do not trim in auto level mode, if model attitude in auto level
mode deviate from horizon after series of aerobatic maneuvers,
please switch to aerobatic mode or gyro off mode.
● If model attitude isn't horizontal in auto level mode all the time,
please check and adjust the mounting angle of FC151.
model by changing the length of the linkage between the servo
arm and the control horn.
- 12 -- 11 -

2. “SET”Button usage:
● Long Press (more than 2 sec) : enter Setting Mode
● Single click in Setting Mode: switch between SETTING ITEM
● Double click (finish within 0.5sec) in Setting Mode: change
SETTING VALUE
● Long Press in Setting Mode: Save and quit to flight mode
LED Status
LED1 STATUS
Green flashing
Green solid
Red solid
FC151 STATUS
Initializing
Initialization
completed, signal OK
Initialization
completed, no signal
LED2 STATUS
Blue on for 0.5 second
Green on for 0.5 second
Red on for 0.5 second
FC151 STATUS
In gyro off mode
In aerobatic mode
In auto level mode
3. Please check the below chart for all settings
Item
Blue
(default)
Normal
Green
Delta
wing
Red
V-tail
Yellow
Blue Install direction
Face
down Face right Face left
L2(LED)
L1(LED)
Green Airplane type
Face up
- 14 -- 13 -

FC151固定翼飞行控制器使用说明书
FC151
上海双天模型有限公司
Tel: [phone] Fax: [phone]
#21436
- 16 -- 15 -

●超小尺寸设计，使用 MEMS 陀螺仪、加速度计合一芯片，
仅8克
●32 位高性能 ARM 内核处理器
●自主研发高级飞机姿态稳定算法
●支持单 / 双副翼，飞翼和 V 型尾翼飞行器
●支持襟副翼混控功能
●支持特技 3D 飞机
●可独立调整 3 轴的感度
●支持 Futaba S.BUS 单线输入
●支持模式切换通道，作为模式切换
●可通过按键和 LED 灯编程
●支持高电压 HV 输入
注意事项：FC151 会接管除油门外的主要控制通
道，如果设定不当会造成模型损失甚至人身伤害。
请在使用本产品前仔细阅读注意事项和余下章节。
●推荐在电动飞机或无动力滑翔机上使用此系统。
●陀螺仪每次上电都有2-3秒初始化过程，请避免这个过
程中模型的晃动。
●陀螺仪初始化结束后，舵机才会工作，这是正常情况。
●自稳模式下，地面上静止的模型的舵面会向某个方向偏
转到最大，这是正常现象。
遥控设备
你需要一套四通道或以上遥控设备，如果遥控器只有
4CH，FC151 默认工作在增稳模式，不具备模式切换功能。
物品清单
（c）
（a）
（d）
（b）
21021-1
Double
Side
Tape
双面胶
（a）FC151平衡仪 x 1
（b）减震双面胶 x 1
（c）三信号排线(长) x 1
（d）单信号排线(长）x 2
N RN RN R
FC151
6-axis Flight Control
MODE
感谢使用双天公司出品的 FC151 固定翼飞行控制
器。陀螺采用最新的 MEMS 陀螺仪，加速度传感
器，32 位高性能处理器和双天自主研发的姿态算
法。它具备体积小，灵敏度高和容易使用等特点，
更多特点见下表 :
- 18 -- 17 -

安装指南
1.FC151安装原则：
●FC151的头部方向必须与模型机头方向一致
●FC151必须被精确地安装在飞行航线上，否则飞机将会
偏航
●FC151应被安装在机身内部，接收机附近，靠近重心
●固定面要与水平尾翼平行，有刚性(推荐层板)，但不
要固定在舵机安装板上
●必须使用原厂提供的海绵双面胶固定，不能采用扎带，
魔术贴或3M Dual-Lock
●不要将陀螺仪整体包裹海绵后再固定
●陀螺仪不能被舵机摇臂、连杆以及其他活动装置触碰到
●远离电动机或发动机舱，远离电子调速器，尽量远离电池
●陀螺仪不能放置在机身外部，机翼或尾翼上
2.FC151与接收机的连接。如下图所示：
N RN RN R
FC151
6-axis Flight Control
MODE
AIL
ELE
THR
RUD
CH5
AIL2
普通接收机
MODE
AIL1
E/R/A2
CH5/GEAR
Rudder
Aileron1
Elevator
Reserved
Aileron2
(Orange)
(Red)
(Brown)
副翼1
升降舵(橙)
方向舵(红)
模式开关
副翼2(棕)
我们推荐您使用 5CH 遥控设备，这样可以利用 CH5( 通常
是 GEAR) 作为模式切换通道。
- 20 -- 19 -

顺序
通道
CH1
副翼1 升降
CH2
油门
CH3
方向
CH4
模式开关
CH5
副翼2
CH6
SBUS
N RN RN R
FC151
6-axis Flight Control
MODE
S.BUS接收机
●输入输出信号线靠近 FC151 顶部，中部插针处为电源正
极，底部对应电源地
●输入 (Input) 支持 Futaba S.Bus 和 S.Bus2，这时只需要
采用一根“单信号排线”连接 SYS 口和接收机 S.Bus 接口。
SYS 接口优先级高于其他输入口。当采用 SYS 输入时，
其他输入口不工作，遥控器通道顺序必须同下表：
3.FC151与舵面的连接
●常规布局固定翼飞机
输出输入
N RN RN R
FC151
6-axis Flight Control
MODE
常规布局固定翼飞机 接口（插针）位置
Aileron
Elevator
Rudder
Aileron2
高 中 低
VDD
VDD
VDD
VDD
GND
GND
GND
GND
VDD
VDD
VDD
GND
GND
GND
Switch
Aileron
Elevator
S.BUS
Rudder Aileron2
* VDD电源正极 *GND电源负极
●飞翼(三角翼)
* 图示为双副翼飞机
Rudder
Elevator
Aileron2
Aileron
Rudder
Aileron
Elevator
- 22 -- 21 -

●V尾模型
输出输入
N RN RN R
FC151
6-axis Flight Control
MODE
飞翼(三角翼) 接口（插针）位置
Aileron
Elevator
Rudder
N/A
高
Switch
Aileron
Elevator
S.BUS
中
VDD
VDD
VDD
VDD
VDD
VDD
VDD
Rudder
低
GND
GND
GND
GND
GND
GND
GND
N/A
* VDD电源正极 *GND电源负极
输出输入
N RN RN R
FC151
6-axis Flight Control
MODE
V尾模型 接口（插针）位置
Aileron
Elevator
Rudder
Aileron2
高
Switch
Aileron
Elevator
S.BUS
中
VDD
VDD
VDD
VDD
VDD
VDD
VDD
Rudder
低
GND
GND
GND
GND
GND
GND
GND
Aileron2
* VDD电源正极 *GND电源负极
4.FC151的供电方式
FC151支持4.8V-8.4V的电压输入，与接收机共用电源，输
入电压也要符合接收机的要求。电源可以是电池，也可以
是ESC。
* 图示为V尾
Elevator
Rudder
Aileron
Aileron2
关闭模式：开关位置低，飞控直接输出接收机信号
L2
蓝灯(0.5秒)
低
设置模式切换开关
模式开关用于在飞行中转换 3 种飞行
模式。请在遥控器上将 Mode 通道连
接到一个三段开关，并确保在遥控器
中该通道没有用作其他功能。开关通
道脉宽区间为：低 800~1340us，中
1340~1700us，高 1700~2200us。
如果没有连接模式通道 FC151 将工作
在“自稳模式”。
高(+100)
中 (0)
2200us
1700us
1340us
800us
低(-100)
- 24 -- 23 -

自稳模式：开关位置高，有角度限制
!注意：可能需要通过遥控器的REV功能改变模式
开关的拨动方向。
调节感度和方向
新飞机需要设置陀螺工作方向和感度。可以通过FC151正
面的旋钮调整各个轴的感度和正反。如下图：
AIL/ELE/RUD
正向感度 反向感度
低 低
关
高 高
N RN RN R
FC151
6-axis Flight Control
MODE
●感度是否合适需要通过试飞来确定 , 可以先采用较保守
( 较低 ) 的感度试飞
●在安全的高度将飞机加速到最大速度 , 观察俯仰轴 (Pitch)、
横滚轴 (Roll) 和航向轴 (Yaw) 是否有震荡现象。如果有
说明感度偏高 , 立即降低飞行速度或关闭陀螺仪 , 降落后
调低感度
●每次感度调节请勿过大 , 每次旋转电位器 5-10 度
地面测试
●飞行前，请进行地面测试
●测试模式开关是否正常工作。动力不要被开启，将遥控
器模式 SW 开关拨到中间，此时 L2 亮绿色 (0.5 秒 )，
FC151 处于特技模式
●测试遥控器动作方向。拨动遥控器各通道摇杆 ( 除油门
L2
高红灯(0.5秒)
特技模式：开关位置中，只用了3轴陀螺仪
L2
中绿灯(0.5秒)
- 26 -- 25 -

微调系统
●首先请先在关闭模式下调节微调，直接使用遥控器微调
调整，调节过程中不要切换飞行模式，但是如果遥控器
的微调过大，请将遥控器的微调 归零，通过调整舵机连
杆长度来调整模型
●关闭模式下微调调节正确后，特技模式无需调节
●自稳模式无需调节微调，如果在连续特技动作后自稳姿
态出现偏差，请切换到特技模式或陀螺关闭模式飞行
●如果自稳模式姿态一直有偏差，一般由于安装角度不对
造成，请调节安装角度
FC151 设定
●如何进入设定模式：打开遥控器，油门收至最低，接通飞
机的电源，等待飞控 L1 绿灯闪烁结束，长按飞控上的
“SET”按钮 (2 秒 ) 进入设定模式。此时，L1 的颜色指示
横滚 & 副翼动作
俯仰 & 升降舵动作
航向 & 方向舵动作
外 )，观察模型各通道舵面是否偏转正确
●测试陀螺修正方向。在各个轴向上转动模型，对应的
舵面会动作来反抗转动（见下图）。如果舵面动作错误，
需要反转对应的电位器
设定项目，L2 的颜色指示该设定项当前设定值。
- 28 -- 27 -

●如何进入设定模式：打开遥控器，油门收至最低，接通飞
机的电源，等待飞控 L1 绿灯闪烁结束，长按飞控上的
“SET”按钮 (2 秒 ) 进入设定模式。此时，L1 的颜色指示
●按键操作说明：
⑴. 长按 ( 大于两秒 )：进入设定模式
⑵. 设定状态下单击：改变设定项
⑶. 设定状态下双击 ( 双击有效间隔小于 0.5 秒 )：改变该项
设定值
⑷. 设定状态下长按：保存并退出
●具体设定项如下表所示：
绿色 红色 黄色
蓝色
(默认)
蓝色
选项 L2(LED)
L1(LED)
绿色
飞机
类型
安装
方向
正面
向上
普通
固定翼 飞翼 V型 尾翼
正面
向下
正面
向右
正面
向左
LED状态说明
LED2 状态
蓝灯亮起 0.5s 后熄灭
绿灯亮起 0.5s 后熄灭
红灯亮起 0.5s 后熄灭
FC151 状态
飞控初始化中
飞控初始化完成，
输入信号正常
飞控初始化完成，
输入信号有误
LED1 状态
绿灯闪
绿灯亮
红灯亮
FC151 状态
进入陀螺仪关闭模式
进入特技模式
进入自稳模式
设定项目，L2 的颜色指示该设定项当前设定值。
- 30 -- 29 -