Foxtech AYK-250 VTOL User manual

User Manual
V1.0
FOXTECH AYK-250 VTOL
2021.11

FOXTECH AYK-250 User Manual
©2021 FOXTECH All Rights Reserved 1
Specications
BasicTheory
Calibration
Assembly
Check Radio Control
Download Mission Planner
Connect Great Shark to Computer
Connect the Datalink and Check Flight Controller
ChecklistbeforeEveryFlight
TestFlight
Autopilot
Applications
Appendix
ESC Calibration
Servo Checking and Required Mode Modication
Angle Deviation Compensation Checking
Default Setttings
Pixhawk Connections
2
3
4
4
5
5
5
8
12
13
15
16
17
17
19
22
23
24
Contents

FOXTECH AYK-250 User Manual
©2021 FOXTECH All Rights Reserved 2
Item Name
Version
Material
Shipping Dimension
Shipping Weight
Wingspan
Length
Max. Flying Height
Max. Cruising Speed
Frame Weight
Self Weight(No Payload, No Battery )
Max. Take-off Weight
Suggested Payload
Battery
Flight Controller
Radio Controller
FOXTECH AYK-250 VTOL
RTF Combo
Carbon Fiber
1300mm*530mm*470mm
64kg
2500mm
1260mm
4800m
26m/[email protected]
3.2kg
6.2kg
13.5kg(0-3000m)
1.2kg
6S 25000mAh Lipo Battery x2
Pixhawk 2.1 Standard Set with Here 3 GNSS
DA16S+ Radio Controller x1
Specifications
Optional
-SEEKER30-TR 30X Optical Zoom Camera with 3-Axis Gimbal
-MS600 Multispectral Camera

FOXTECH AYK-250 User Manual
©2021 FOXTECH All Rights Reserved 3
Basic Theory
Foxtech AYK-250 is a long-endurance tail-pushed VTOL with high efficiency specifically designed
for long-range inspection, surveillance and mapping jobs, which can realize 3.5H endurance with
1.2kg payload.
Foxtech AYK-250 adopts carbon fiber integrated molding process, which makes the whole body light
and durable, the aerodynamic design and smooth surface ensure a low air resistance.
The quick-detach design on both fuselage and cable connector makes it easy to assembly the drone
in a short time. In particular, the detachable tail design has the advantages of reducing the volume
and convenient transportation. The detachable payload compartment is also convenient for loading
different task equipment.
With long duration and stable flight performance AYK-250 VTOL can be applied in inspection and
surveillance,mapping and survey by loading different gimbal cameras or mapping cameras, such
as Foxtech 10x/30x zoom cameras, 3DM-V3, Argus V2 oblique camera and MS600 multispectral
camera etc.
In mapping combo AYK-250 VTOL is equipped with Foxtech MS600 multispectral
camera and DA16S+ radio controller featuring 8km rc/data transmission range, which can be used
for crop condition and water quality monitoring, resource investigation etc.
AYK-250 VTOL equipped with SEEKER-30 TR 30X zoom camera and T30S dual-screen ground
control station featuring 15km rc/data/video transmission range can be used for long range
inspection like public security, border defense and energy industries.

FOXTECH AYK-250 User Manual
©2021 FOXTECH All Rights Reserved 4
Check Radio Control
Download Mission Planner
Connect AYK-250 to Computer
Download the latest Mission planner online or copy it from the SD card. Download link:
Download link: http://firmware.ardupilot.org/Tools/MissionPlanner/
1.Check transmitter mode(left hand throttle or right hand throttle).
2.Check channels on the transmitter.
1.Connect DA16S+ transmitter and computer with bluetooth.
2.Find the corresponding device and enter password.
Calibration

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©2021 FOXTECH All Rights Reserved 5

FOXTECH AYK-250 User Manual
©2021 FOXTECH All Rights Reserved 6
3. Enter the "Device Manager" interface and find its COM.
4. Select correct Com port, and click CONNECT

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Connect the Datalink and Check Flight Controller
5. Connection completed.
Although the accelerometer was calibrated already for the PNP version before shipping, please
calibrate it again since it might be affected in the transportation.
Under Initial Setup, select Accel Calibration from the left-side menu. Mission Planner will prompt
you to place the vehicle each calibration position. Press any key to indicate that the autopilot is in
position and then proceed to the next orientation.
The calibration positions are: level, on right side, left side, nose down, nose up and on its back.
1..Calibrate the Accelerometer
Click this button to begin accelerometer
calibration.
This accelerometer trim can be used
to level the HUD horizon.
11.t is important that the vehicle is kept still immediately after pressing the key for each step.
2.The level position is the most important to get right as this will be the attitude that your
controller considers level while flying.

FOXTECH AYK-250 User Manual
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Onboard calibration produces better results.
2. Compass Calibration
AYK-250 VTOL uses high sensitivity compass and it has to be re-calibrated when fly in a new place.
Enter the compass setting page and click”start” , hold the plane and rotate it in order to hit all
directions on a sphere to calibrate the compass, when it’s done, a new offset would be given to the
flight controller, and a reboot is necessary.
3. Radio Control Calibration
Calibrating each of the transmitter controls/channels is a straightforward process - simply move
each of the enabled sticks/switches through their full range and record the maximum and minimum
positions.

FOXTECH AYK-250 User Manual
©2021 FOXTECH All Rights Reserved 9

FOXTECH AYK-250 User Manual
©2021 FOXTECH All Rights Reserved 10
4. Check Flight Modes. (Cruise, QHover, QLoiter)

FOXTECH AYK-250 User Manual
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5. Calibrate the Airspeed Sensor
It is critical that you calibrate airspeed meter to ensure that it is working correctly, and ensure that it
is correctly zeroed.
After you start up APM on your aircraft you should wait at least 1 minute for your electronics to
warm up, preferably longer, and then do a pre-flight calibration of your airspeed sensor. Your ground
station software should have a menu for doing this, usually called “Preflight Calibration”. You need
to loosely cover your airspeed sensor to stop wind from affecting the result, then press the button.
The calibration will take a couple of seconds.
Choosing that action will re-calibrate both your ground barometric pressure and your airspeed
sensor.
Next you should check that your airspeed sensor is working correctly before takeoff. To do that you
should blow into the airspeed sensor and make sure that the "AS" airspeed sensor value in your
HUD rises as you blow into it.
6. Check the Two Batteries Voltages
If you find the voltages are not correct, Enter the voltages according to the hand-held volt meter
in the “Measured Battery Voltage” field, Press tab or click out of the field and the “Voltage Divider
(Calced)” value will update and the “Battery voltage (Calced)” should now equal the measured
voltage.
7. Check Before Flight
(1)Connect the internet and load
the map.
(2)The plane direction should be
same with its direction in mission
planner, if not, please calibrate
again.
(3)Check plane status, altitude,
voltage airspeed meter working
fine.

FOXTECH AYK-250 User Manual
©2021 FOXTECH All Rights Reserved 12
Checklist before Every Flight
1.Make sure all items are checked before every flight.
2. The aircraft connection is stable and normal.
3. All screws and nuts are not loose.
4. The propeller is in the normal direction and is fastened.
5. All Rudders' direction-correction is correct.
6. The airspeed meter reads correctly.
7. Aircraft voltage is normal.
8. The compass is toward the right direction.
9. More than 15 GPS satellite, or displays GPS FIX.
10.No warning words on the ground station.
11.Device SD card is normal.
12.Recording device records normally.
13.Mapping camera photo test is normal.
14.Exposure check is normal.
15.The remote controller power is normal.
16.Ground station power is normal.
17.Data connection strength is normal.
18.Aircraft H point positioning is normal.
19.Upload and download to check the routes.
20. The antenna is placed in the normal direction, the antenna of the aircraft is facing down or up,
and the two antennas of the receiver are not in contact.
21.Ground device recording is on.
22.Aircraft onboard camera is turned on.
23.Height setting of Return Home Point is normal.
24.Out of control return-to-launch setting is normal.
25.Try to vertically take off and land, make sure the direction-correction and direction control are
normal.
26.Start flying.

FOXTECH AYK-250 User Manual
©2021 FOXTECH All Rights Reserved 13
Test Flight
Before the first flight, it’s suggest to check if every component is well connected, Servos working
properly, motors spinning to the correct direction and all control surfaces are moving to the desired
directions.
It’s suggested to use 3 modes, Cruise, Qhover and Qloiter as the labled modes on a three position
switch. It’s suggested to do the first flight in a very open area with no buildings or big trees around,
and a flat taking off area is necessary.
Use the Qhover(or Qloiter) mode, start the motors by pushing the rudder all to the right with the
throttle at the lowest position, the motors should start to spin, gradually increase the throttle until
the plane is ready to lift from the ground, move aileron, elevator and rudder stick gently to check if
the plane is moving as desired.
Continue to push the throttle until the plane is lifted from ground, it may swing a bit since there
should be big airflow hitting the wing, lift the plane to around 3 meters and try to fly it as a multi-
copter, it should not be a problem for anyone who can play a multi-copter.
When you are familiar with all controls, lift the plane to at least 50m from the ground and make sure
there is not obstacle in front of the plane.
Switch it to Cruise mode, the AYK-250 VTOL rear motor should work, once the speed is reaching at
least 16m/s, the multi-copter motors will stop spinning, then the AYK-250 is now transferred to fixed
wing.
It’s also suggested to active the short and long failsafe, the default action is respectively CIRCLE
and RTH. So in case the plane lose RC control, it will go back all by itself.
You can fly a while and see if the plane could go straight, if you find the plane is tilting left for
example, don’t try to trim the aileron with your radio, the trim to aileron(SERVO1) must be done in
parameter setting. (If the elevator trim is necessary, please trim the SERVO2 and SERVO4 at the
same time with the same trim amount.)
GCS FAILSAFE disabled as default setting for DA16(S+) radio or the control range will be greatly
affected.

FOXTECH AYK-250 User Manual
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If everything goes well, you can try to land. First, reduce the altitude by pushing forward the elevator and
when the altitude is around 50m above the ground, switch to Q-hover(or Q-loiter) Mode. Then become a
multi-copter again, then you can land it just as a normal multi-copter.

FOXTECH AYK-250 User Manual
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Autopilot
After the rst ight, you can try to do autopilot.
You can choose to take o and land either by manual control or automatically.
To use automatic taking o and landing, you can change the rst waypoint to VTOL_TAKE OFF, and set an
altitude like 50m for this action, then set the next waypoint a bit far (like 100m ) from the rst waypoint, the
AYK-250 will take o as a multi-copter, when it reaches the wanted altitude, it will switch to xed wing and
y waypoints or missions like a xed wing.
The VTOL landing is also the similar, you can set the last waypoint to VTOL_LAND, but it’s
suggested to set one waypoint which is around 100m from this one, since the plane will try to turn to
multi-copter before the last waypoint, if the waypoint before VTOL_LAND is too far, the AYK-250 will
finish the final distance all in multi-copter mode, the power consumption in multi-copter mode is 5
times more than in fixed wing mode.
Q_RTL is enabled as default, if the VTOL land command is not added, then the VTOL will go
back to HOME position and home altitude (default 50m) and performs automatical VTOL land.

FOXTECH AYK-250 User Manual
©2021 FOXTECH All Rights Reserved 16
Applications
-3D Survey and Mapping
-Surveillance and Inspection
More autopilot mode can be found in Mission planner manual, like circle survey, Grid, drop an object
with hook at desired waypoint

FOXTECH AYK-250 User Manual
©2021 FOXTECH All Rights Reserved 17
Appendix
ESC Calibration in Multirotor Mode
1.Cut off AYK-250 VTOL power supply and take off all propellers. Connect Pixhawk flight controller
with Mission planner with USB cable. Change “Q_ESC_CAL” value to 1 and write params.
The following calibrations are for Customers who bought AYK-250 VTOL Kit. For the customers
who bought AYK-250 RTF combo, the following calibrations are done before shipping. Please do
not change any settings. If the settings are changed by accident, please recover from the param.
document in the SD card.
2.Click Auto and chose Q-stabilize,then click Set mode, finally click Arm/Disarm, There will be a
sound “Du~”

FOXTECH AYK-250 User Manual
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5. Connect AYK-250 with power again. Long press GPS safety switch. Radio throttle push to Min,
direction stick push to right(Pic 5-1), disarm AYK-250, you can adjust “Q_M_SPIN_MIN”in mission
planner. The default value is 0.25. Write the value, it is complete.
4. In the following demonstration, Take Left hand throttle as an example. Push throttle to Max.(Pic
4-1), connect AYK-250 with power, when there is “di di ~ di” sound quickly push throttle to Min.(Pic
4-2) When there is “di di di di ~di” sound, ESC calibration is successful. Then cut off power.
Pic 4-1
Pic 5-1
Pic 4-2

FOXTECH AYK-250 User Manual
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Servo Checking and Required Mode Modification
Check the stick function of remote controller. (The follow example is demonstrated as transmitter
Mode2 which means left hand is throttle.)
1.Make sure the aircraft is in center position.
2.Push the throttle-stick the tail motor speed will increase, and pull back the throttle-stick, the motor
speed will decrease.
3. Push the pitch-stick the two V-type tail will go down.
Under Manual Mode :
Please take off all propellers before the following calibrations in case any danger occurs.
4. Pull back the pitch-stick the two V-type tail will go up.
5. Turn the aileron-stick to the left, the left aileron will go up, and the right one will go down.
6. Turn the aileron-stick to the right, the right aileron will go up, and the left one will go down.