FeiYu Tech FY-41AP Lite Original operating instructions

FEIYU
TECH
FY-41AP AUTOPILOT SYSTEM
Airplane flight stabilization & Autopilot System
Installation & Operation Guide
Guilin Feiyu Electronic Technology Co., Ltd
Rm. B305, Innovation Building, Information Industry Park, Chaoyang Road, Qixing District,
GuiLin, CN
www.fyetech.com
Email: [email protected]om
Rev: (0)April 16 2013

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FY41AP INSTALLATION AND OPERATION GUIDE
FY-41AP Flight Modes ..................................................................................... 5
FY-41AP Standard Configuration ...................................................................... 6
Optional Accessory ........................................................................................ 6
FY41AP Specification & Working Requirement .................................................... 7
The FY-41AP Aircraft Configuration Options ....................................................... 7
The FY-41AP RC System Compatibility .............................................................. 7
FY-41AP Connection Interface.......................................................................... 8
VIEW A Interface Diagram：............................................................................ 8
VIEW B Interface Diagram .............................................................................. 9
Connecting The FY41AP To The RC Receiver..................................................... 10
Plane Servo Connection (Refer VIEW A) .......................................................... 13
Integrated Current Sensor / Power Manager .................................................... 14
Gps Installation And Requirements................................................................. 16
FY41AP Connection Summary........................................................................ 17
FY-41AP LED Instruction ............................................................................... 18
Vibration Damping ....................................................................................... 19
Checking For Vibration Levels ........................................................................ 20
In-Flight Symptoms Of Too Much Vibration ...................................................... 20
Switch Channel Setting................................................................................. 21
SW2 Default Setting State ............................................................................ 21
FY-41AP Installation Orientation .................................................................... 22
FY-41AP Installation Position ......................................................................... 23
setting Correct Servo Direction ...................................................................... 24
auto Balance Mode (Abm) Servo Movement Check & Setting.............................. 24
Gyroscope Reset.......................................................................................... 27
FY-41AP SETTING SOFTWARE........................................................................ 28
Changing Stabilization Gain:....................................................................... 30
Configuration Function............................................................................... 30
Install Setting .......................................................................................... 32
Mix Setting .............................................................................................. 33
„Switch Mode‟ Sw-2 Function Setting ........................................................... 34
Reverse - Reversing Servo In Stabilized Mode ............................................... 35

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Circling Radius Setting............................................................................... 35
Dialog Box ............................................................................................... 35
Max Distance Setting................................................................................. 36
Cruising Speed Setting .............................................................................. 36
Air Speed Sensor ...................................................................................... 36
FY-41AP FIRST FLIGHT TEST CHECKLIST ........................................................ 39
Data Radio & Gcs Software ........................................................................... 40
Warning: Pilot Input And Autonomous Flight Interaction.................................... 42
Fail-Safe And Autonomous Return To Lauch ..................................................... 43
FY-41AP-OSD INSTRUCTIONS ....................................................................... 44
FY-41AP-OSD Display Interface...................................................................... 45
Adjusting FY41AP Setting Via OSD ................................................................. 46
OSD Menu Interface..................................................................................... 47
MANUAL REVISION SUMMARY
REVISION
Rev. Date
Update Note
0
16 April 2013
New Manual Release

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FY-41AP Flight Stabilization System
Installation & Operation Manual
Dear Customer：
Thank you for choosing FY-41AP as your autopilot system. Please read this
manual carefully to ensure correct installation & operation.
If you are a complete beginner & have never flown one before, we do not
recommend you install this device on your own. Please find an experienced RC
pilot who may provide you with the basic knowledge required to use this
device successfully.
If you are already an experienced flyer, you will find the FY-41AP installation to
be easy & logical. Follow this manual & you won‟t go wrong.
If you need further technical support, contact us at: [e-mail]
FY41AP - overview：
a) FY-41AP is an inertial attitude stabilizer for fixed-wing & multirotor aircraft.
b) The FY41AP has an on screen display (OSD) hardware already integrated
into the module, making installation for FPV simple, light and compact.
Critical flight information is displayed via your existing downlink system.
c) Flight stabilization is achieved via an integrated 3 axis gyro, 3 axis
accelerometer, 3 axis magnetometer and a barometric pressure sensor. This
enables the module to accurately measure flight attitude, earth azimuth &
relative altitude to achieve:
Extremely stable conventional flight pattern
Stabilized 3D flight
Automatically return to home (RTL)
Fixed altitude flight
Heading lock flight
GPS waypoint flight
Auto circling over a fixed GPS location.
Feiyu Tech

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d) GPS Data –enables the FY-41AP to calculate the flight course & sense the
exact location of the aircraft. GPS Data allows aircraft return to home (RTL),
Auto Circle, Fixed altitude, Heading lock flight and fully autonomous flight
via GPS waypoints setting.
e) Airspeed sensor –enables the system to automatically control airspeed
via throttle management, prevents aircraft stall and ensures flight
stabilization.
f) Integrated OSD with adjustable display - OSD hardware is integrated
into the module. Critical flight parameters are displayed via the video
downlink. The display parameter outlay can be changed via RC control.
g) Power Manager Module - FY-41AP is supplied with an integrated Power
Manager and Current Sensor module. This module provides +5v power to
the FY41AP, RC Receiver and +12V FPV video camera and transmitter. The
current sensor sends battery voltage, Amp draw and power consumption
data to the FY41AP integrated OSD.
h) Altitude control - is achieved using a high sensitivity barometric sensor
which measures relative height. Altitude is fixed via elevator servo control
and throttle management.
i) Heading control –is achieved by utilizing the three axis magnetometer,
which senses the aircraft heading angle. Both the aileron & rudder servo is
used to control flight heading. GPS data is used to automatically correct
heading even in windy conditions.

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FY-41AP FLIGHT MODES
With GPS data input, the following are the FY41AP selectable flight modes:
●Deactivated Mode - In this mode, the FY-41AP auto stabilization is turned off.
The aircraft is completely under pilot control.
●Stabilized Mode - level flight is automatically maintained, making flight simple,
especially for beginners. If a pilot feels the plane is out of control, simply reduce
input control and the plane will automatically recover level flight.
●3D Mode –if no input is given by the pilot (all sticks in the middle position), 3D
mode will lock the current aircraft attitude. Therefore the aircraft can be easily
maneuvered to complete a variety of 3D flight with added stability & smoothness.
●Fixed altitude & Heading lock Mode –this mode maintains aircraft flight
course & holds the altitude on activation. By using GPS data, the system
automatically corrects flight course deviation & maintains straight-line flight.
●Auto Circling Mode –On activation, the plane will maintain altitude and flight
speed, while initiating a counterclockwise circle. The centre of the circle is the point
of activation at a default radius of 80 meters (can be changed via FY GCS).
●Waypoint Navigation Flight Mode - enable you to fly fully autonomous, with
up to 20 waypoint settings via the FY Ground Control Station (GCS) software.
●Auto Return To Launch Mode (RTL) –Upon activation of this Mode, the
aircraft will automatically return to the Home point,maintaining is current altitude.
Upon reaching the Home point, it will initiate auto circling.
●GCS software –By using a field computer and connecting the FY41AP to an FY
Data Radio via the UART port, you can set the FY41AP flight parameters, monitor
the flight progress & record / reply the flight via the FYGCS programme. For more
information, please refer to the FY Data Radio manual.

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FY-41AP STANDARD CONFIGURATION
1
FY-41AP Control Module
2
Power Management Module
3
Airspeed Sensor
4
RC receiver connecting wires
5
USB cable
6
GPS module
7
4P Y cable
8
Velcro tape and damper pads
Optional accessory
1
Data Radio
2
Remote Adaptor

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FY41AP SPECIFICATION & WORKING REQUIREMENT
Input voltage: 4.0 ~ 6.0 V
Current draw:
Size:
Weight (excluding wires)：
Temperature range: -25 ° C ~ +70°C
Maximum rate of rotation: ≤ 2000 °/s
GPS module
Input voltage: 5 V
Current draw: 60mA (5V)
Size: 32 x32x 10 mm
Weight (excluding wires): 22g;
Temperature range: -25 ° C ~ +70°C
The FY-41AP can be installed in the following aircraft
a) Normal / Traditional fixed-wing planes
b) Delta-winged plane with rudder
c) Delta-winged plane without rudder
d) Plane without aileron
e) V-tail plane with aileron
f) V-tail plane without aileron
g) Any other configuration please consult us: [email protected]m
The FY-41AP has been tested to work with the following RC systems
●Robbe-Futaba PPM / PCM 1024 / PCM G3 mode, 2.4 GHz systems；
●Graupner/JR PPM 8, PPM 12, SPCM mode；
●MPX PPM8, PPM 12 with UNI mode
●Any remote control system using the standard 1.5 ms neutral value.

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FY-41AP CONNECTION INTERFACE
VIEW A Interface diagram：
No.
S8
S7
S6
S5
S4
S3
S2
S1
Servo
Output
Interface
P2
P1
N
AIL2
RUD
THR
ELE
AIL
Power
+5V
Power
+5V
Power
+5V
Power
+5V
Power
+5V
Power
+5V
Power
+5V
Power
+5V
GND
GND
GND
GND
GND
GND
GND
GND
A) The Yellow pins S1 ~ S8 are signal output to aircraft servos.
S1：connect to Aileron servo 1 (same signal as S5).
S2：connect to Elevator servo.
S3：connect to ESC or engine throttle servo.
S4：connect to Rudder servo.
S5：connect to Aileron servo 2 (same signal as S1)
S6：not used for Airplanes
LED Indicator
View A
View B

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S7：When use Remote Adaptor, this pin outputs RC receiver CH7 (refer
Remote Adaptor & Data Radio Manual)
S8：When use Remote Adaptor, this pin outputs RC receiver CH8 (refer
Remote Adaptor & Data Radio Manual)
B) The middle pins of View A are (+ve) power output to aircraft servos.
Important Note: Power is supplied from the RC Receiver. The power
Pins in View A is not connected to the Power supply Pins of View B. Do not
short circuit the two sides.
C) The bottom pins (black colour) are for GND (-ve).
D) AS –Airspeed Sensor connection port. Please note signal, +ve and GND
arrangement.
VIEW B Interface Diagram
a) GPS pins connection interface:
GND
VCC
GPS-TXD
GPS-RXD
GPS-TXD：Connect to GPS module RX port.
GPS-RXD：Connect to GPS module TX port.
VCC：+5V output port.
GND：GND output port.

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b) FUNCTION PINS connection interface：
SW1
RUD
THR
ELE
GND
VCC
AIL
SW2
i) The Function Pins connect the FY41AP to your RC Receiver via the
supplied plug and wires. Note the wires are colour coded:
ii) SW1 & SW2: Connect to your RC Receiver channels that will control
the FY41AP flight modes.
iii) RUD: Rudder RC Receiver port (Ch 4).
iv) THR: Throttle RC Receiver port (CH 3)
v) ELE: Elevator RC Receiver port (CH 2)
vi) AIL: Aileron RC Receiver port (CH 1)
vii) VCC: +5V power supplied from FY41AP to RC Receiver.
viii) GND: Connected to RC Receiver GND (–ve).
Connecting the FY41AP to the RC Receiver
(1) FY-41AP requires a minimum of 6-channel RC receiver.
(2) 4 Receiver channels are used for aileron (Ch 1), elevator (Ch 2),
throttle (Ch 3) & rudder (Ch 4).
(3) 2 free Receiver channels are required to control the FY-41AP Flight
Modes via SW1 & Navigation Mode via SW2.

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c) UART1 module interface：
GND
VCC
UART1-TXD
UART1-RXD
This port is used to:
Connect to your PC via supplied USB cable to update the FY41AP
autopilot firmware.
Connects to FY Data Radio for communication via FY-GCS
a) UART1-TXD ：TX port.
b) UART1-RXD ：RX port.
c) VCC ：+5V output port to power Data Radio or input
power via PC USB supply (during firmware
upgrading).
d) GND ：GND output port.
d) UART2 module interface：
GND
VCC
UART2-TXD
UART2-RXD
This port is used to:
Connect to your PC via supplied USB cable to update the FY41AP
OSD firmware.
a) UART2-TXD ：TX port.
b) UART2-RXD ：RX port.
c) VCC ：+5V input via USB supply
(during firmware upgrading).
d) GND ：GND output port.

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e) Video Signal In/Out interface：
V-out
V-in
12V
12V
GND
GND
a) V-out：connect to video transmitter
b) V-in：connect to FPV Camera video output
c) 12V：12 Volt output supply to video transmitter and camera
(make sure your equipment is rated 12 volts!)
d) GND：connect to video transmitter or camera –ve.
e) CS (Current Sensor) interface：
CS
12V
VCC
GND
a) CS : Two pin interface for Current Sensor Data.
b) 12V : Provides + 12V power to FPV Camera and video
Transmitter
c) VCC : Provide +5V power to FY41AP, RC Receiver, GPS
Module & Data Radio
d) GND : Connect to Ground (-ve)

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PLANE SERVO CONNECTION (Refer VIEW A)
1) Connection for traditional Aileron/Elevator/Rudder airplane layout：
S1
S2
S3
S4
S5
Aileron
servo 1
Elevator
servo
ESC/throttle
servo
Rudder
servo
Aileron
servo 2
2) Connection for flying wing aircraft (with or without Rudder)
S1
S2
S3
S4
Differential
Servo 1
Differential
Servo 2
ESC/throttle
servo
Rudder
servo
3) Connection for V tail aircraft with Aileron
S1
S2
S3
S4
S5
Aileron
servo 1
Differential
servo 1
ESC/throttle
servo
Differential
servo 2
Aileron
servo 2
4) Connection for V-tail aircraft without Ailerons：
S1
S2
S3
S4
Differential
Servo 1
Differential
Servo 2
ESC/throttle
servo
NULL

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INTEGRATED CURRENT SENSOR / POWER MANAGER
a) The FY-41AP is supplied with a Power Manager that is both a current sensor
& supply.
b) The module outputs +5v to supply to the FY41AP and RC Receiver. It also
supplies regulated +12v to power the video transmitter and FPV camera.
c) We DO NOT recommend using the internal BEC of your ESC to power the
FY41AP as this is unregulated power.
The 5-female plug from the Power
Manager sends +5V to power the
FY41AP & RC Receiver. It also powers
your +12v FPV Camera and Video
transmitter. The green & yellow plugs
send current sensor data.

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d) NOTE: The Power Manager is NOT rated to supply power to the airplane
servos. To power the servos, use your ESC BEC connected via VIEW A
interface of the FY41AP. We highly recommend to use a +5v to +6v
External BEC (rated for 3A output) plugged through VIEW A interface.
Remember to remove the red wire from your ESC plug if you use an External
BEC.
e) For Gas or Nitro powered planes, you will require a +5 volt battery
plugged into the RC Receiver. The connecting wire will send +5v power to
the FY41AP (Warning: remove the +5v wire from the Power Manager plug
if you use battery power).

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GPS INSTALLATION AND REQUIREMENTS
a) Install the GPS Module on the airplane with the antenna face up:
b) DO NOT install next to metal or carbon fiber & other shielding material,
which may block satellite signal reception.
c) Install the GPS Module away from electromagnetic sources such as ESC‟s,
power wires, servo wires & video transmitters which can interfere with GPS
signal.
d) Wire interface:
Color
Black
Red
White
Function
GND
+5v
GPS Data
e) Note that the FY41AP utilizes only the 5 volt version of the FY GPS Module.
Face Upwards

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FY41AP CONNECTION SUMMARY

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FY-41AP LED instruction
a) FY-41AP outputs 3 LED colors to indicate flight modes: red, blue and green.
b) It also outputs white for Gyro resetting.
c) Examples of LED flashing indication:
green LED flash means GPS location has been fixed (>4 satellites)
Red & blue flashes working modes.
While static and in any flight mode the LED flashes purple light, this
indicates the module needs a Gyro Reset.
Operating Mode
LED
Gyro Needs Reset
or module senses
movement
GPS lock
(>4 Satellites)
Manual Mode
Stabilized Mode
3D Mode
Return To Launch Mode
Fixed Altitude & Heading
Lock Flight Mode
Preset Path & Waypoint
Navigation Mode
Auto Circling Mode
During Gyro reset
Flash white light for one
second
Too much vibration
Red light Stay on solid

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VIBRATION DAMPING
a) FY-41AP is vibration-sensitive equipment. To optimize stabilization &
autopilot function, vibration reaching the unit must be kept at
minimum.
b) When installing the module, we highly recommend that you use the
supplied vibration absorbing pads as shown below.
These damper pads will greatly reduce vibration reaching the module
and provides adequate damping for most electric & gas/nitro
powered planes.
c) The algorithm in the FY-41AP compensates for normal levels of flight
vibration. However, if the vibration exceeds the acceptable level,
stabilization will not work normally or may even stop working
altogether.
d) Install the FY-41AP away from the engine or any other vibration
sources.
e) Balance your propeller to minimized on board vibration.