Foxtech Nimbus VTOL V2 User manual

User Manual
V5.0
Foxtech Nimbus VTOL V2
for Mapping and Survey(DA16S Combo)
2019.05

FOXTECH Nimbus VTOL V2(DA16S Combo) User Manual
©2019 FOXTECH All Rights Reserved 1
Specications 2
BasicTheory 3
SetupandCalibration 4
Assembly 4
Check Radio Control 4
Download Mission Planner 4
Connect Baby Shark to Computer 4
Connect the Datalink and Check Flight Controller 7
ChecklistbeforeEveryFlight 13
TestFlight 14
Autopilot 16
Applications 17
Appendix 18
ESC Calibration 18
Servo Checking and Required Mode Modication 20
Angle Deviation Compensation Checking 23
Default Setttings 25
!Firmware Update Notice
Update Notice(Sep 6th, 2018)
Pixhawk Connections
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Contents

FOXTECH Nimbus VTOL V2(DA16S Combo) User Manual
©2019 FOXTECH All Rights Reserved 2
Aircraft
Structure
Item Name
Version
Material
Shipping Dimension
Shipping Weight
Wingspan
Length
Max Flying Height
Max Flying Speed
Self Weight
Max Take-off Weight
Max Payload
Suggested Battery
Tilting Servo
ESC
Motor
Propeller
Air Speedometer
UBEC
Flight Controller
Foxtech Nimbus VTOL V2 for Mapping and Survey
Tilt VTOL PNP Combo
EPO
1150x330x450mm
30kg
1800mm
1300mm
3500m
35m/s
2.85kg
4.8kg
800g
6S 10000-12000mah Lipo Battery x1
28kg Servo
50A ESC
3520 KV485 x2
X5008 KV330 x1
1380 Wooden Propeller(1 pair)
1755 MARKII Matte Propeller(CW)
Px4 Air Speedometer
8A UBEC
Pixhawk 2.1 Standard Set with Here GNSS
Specifications
Optional
-Foxtech Map-01 Mapping Camera
-Foxtech Map-A7R Full-Frame Mapping Camera with 35mm Lens

FOXTECH Nimbus VTOL V2(DA16S Combo) User Manual
©2019 FOXTECH All Rights Reserved 3
Basic Theory
Foxtech Nimbus V2 is a Vertical Take-off and Landing airplane. It is equipped with new landing gears. The
foldable tail landing gear and front landing gear. The front landing gear ensure enough space for mapping
cameras or zoom cameras, and will protect the task loads.
In this version, we equip 28kg high speed tilting servos, with the newly upgraded system, the plane can
hover like a multicopter more steadily and take off and land in very heavy wind. And the front motor is
Foxtech 3520 kv520, which is more powerful, the new power system has great power redundency, and
makes the mapping version more efficient, which can lift max 800g payload.
The highlight of Nimbus V2 is the wind resistant feature. It means that when the plane is in multicopter
positioning mode, or in Auto mode, during taking off and landing stage, the two tilting motors will tilt to a
certain level to compensate the wind, that keeps your plane much stable and also give you much better
safty during landing and taking off stage. With the newly upgraded motors, the max flying speed can reach
35m/s, the average speed is 15m/s to 16m/s, and the stall speed is 10m/s-11m/s.
Another new feature is the new radio control-DA16S, specially designed for VTOL like this Nimbus, and also
suitable for other Foxtech series drones. It is 16-channel radio which has datalink and radiolink built inside,
so both the datalink and radiolink can reach a range of 5km. You also could equipped the range booster
and high-quality antenna to increase the distance to 15km.
Nimbus VTOL V2 also has a big inner space, can put lots of batteries and other equipments. And the quick-
detached design makes Nimbus VTOL V2 easy to assembly and dissembly, and transport.
This Nimbus V2 can be equipped with Foxtech Map-01 and Map-A7R mapping cameras to do mapping and
survey, when you use this Nimbus to do mapping, also could equipped Nimbus with RTK, and PPK system
to increase the map precision.
Foxtech Nimbus VTOL V2 is a cost-effective plane compared with other expensive multicopters or
fixedwings, it is a good option for customers to do mapping jobs and long range inspection.
By using the very advanced flight controller Pixhawk 2.1, the plane can take off, fly waypoints and land all by
itself, in this case, doing long range FPV or survey can never been easier!
The image below shows two typical motor rotation directions.

FOXTECH Nimbus VTOL V2(DA16S Combo) User Manual
©2019 FOXTECH All Rights Reserved 4
Setup and Calibration
When you receive the Nimbus 1800 VTOL PNP combo, almost all components are installed, but there are
still a few connections to be done before flight.
- Connect the V tail.
- Connect the left and right wings.
- Connect the airspeed sensor.
- Connect the datalink antennas.
- Connect the receiver antennas.
- Connect the propellers.
- Place the battery on the board.
- Connect the nose.
Assembly
Check Radio Control
Download Mission Planner
1. Pay attention to the directions of propellers. (Refer to the above diagram)
2. If your purchase include a mapping camera, install the camera and power it on. If there is a
sound“crack”, It means the mapping camera works fine.
CCW CW
CW
Download the latest Mission planner online or copy it from the SD card.
Download link: http://firmware.ardupilot.org/Tools/MissionPlanner/
1.Install the extension antennas if your purchase include it.
2.Check channels on the transmitter.
(View From the Front) (View From the Front)
(Overlook)
Connect Baby Shark to Computer
1. Connect DA16S transmitter and computer with bluetooth.

FOXTECH Nimbus VTOL V2(DA16S Combo) User Manual
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2. Find the corresponding device and enter password.

FOXTECH Nimbus VTOL V2(DA16S Combo) User Manual
©2019 FOXTECH All Rights Reserved 6
3. Enter the "Device Manager" interface and find its COM.
4. Select correct Com port, and click CONNECT.

FOXTECH Nimbus VTOL V2(DA16S Combo) User Manual
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Connect the Datalink and Check Flight Controller
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.
5. Connection completed.
1.It 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 Nimbus VTOL V2(DA16S Combo) User Manual
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2. Calibration the Compass
Nimbus 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.
Onboard calibration produces better results.
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 Nimbus VTOL V2(DA16S Combo) User Manual
©2019 FOXTECH All Rights Reserved 9

FOXTECH Nimbus VTOL V2(DA16S Combo) User Manual
©2019 FOXTECH All Rights Reserved 10
4. Check Flight Modes(Cruise, QHover, QLoiter)

FOXTECH Nimbus VTOL V2(DA16S Combo) 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 Battery Voltage
If you find the voltage is not correct, Enter the voltage 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.

FOXTECH Nimbus VTOL V2(DA16S Combo) User Manual
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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 Nimbus VTOL V2(DA16S Combo) User Manual
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Checklist before Every Flight
Make sure all items are checked before every flight.
1. The aircraft connection is stable and normal.
2. All screws and nuts are not loose.
3. The propeller is in the normal direction and is fastened.
4. All the Rudders' direction-correction are correct.
5. The airspeed meter reads correctly.
6. Aircraft voltage is normal.
7. The compass is toward the right direction.
8. More than 15 GPS satellites, or displays GPS FIX.
9. No warning words on the ground station.
10. Device SD card is normal.
11. Recording device is recording normally.
12. Aerial survey camera photo test is normal.
13. Exposure check is normal.
14. The remote controller power is normal.
15. Ground station power is normal.
16. Data connection strength is normal.
17. Aircraft H point positioning is normal.
18. Upload and download to check the routes.
19. 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.
20. Ground device recording is on.
21. Aircraft onboard camera is turned on.
22. Height setting of Return Home Point is normal.
23. Out of control return-to-lanuch setting is normal.
24. Try to vertically take off and land, make sure the direction-correction and direction control are normal
Start flying.

FOXTECH Nimbus VTOL V2(DA16S Combo) User Manual
©2019 FOXTECH All Rights Reserved 14
Test Flight
Before the first flight, it’s suggest to check if every component is well connected, tilting 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 multicopter, it should not be a
problem for anyone who can play a multicopter.
When you are familiar with all controls, lift the plane to at least 30m from the ground and make sure there is
not obstacle in front of the plane.
Switch it to Cruise mode, the Nimbus should tilt the two front motors together to gather speed, once the
speed is reaching at least 12m/s, the front motors will tilt straight and rear motor stops spinning, then the
Nimbus 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.

FOXTECH Nimbus VTOL V2(DA16S Combo) User Manual
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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.)
If everything goes well, you can try to land. First, reduce the altitude by pushing forward the elevator and
when the altitude is around 30m above the ground, switch to Qhover(or Qloiter) Mode, two front motors
will tilt upwards to 60degrees, the plane will glide a while until the speed is lower than 12m/s, then the front
motors will tilt straight up and the plane is then become a multicopter again, then you can land it just as a
normal multicopter.

FOXTECH Nimbus VTOL V2(DA16S Combo) User Manual
©2019 FOXTECH All Rights Reserved 16
Autopilot
After the first flight, you can try to do autopilot.
You can choose to take off and land either by manual control or automatically.
To use automatic taking off and landing, you can change the first waypoint to VTOL_TAKE OFF, and set an
altitude like 30 or 50m for this action, then set the next waypoint a bit far (like 100m ) from the first waypoint,
the Nimbus will take off as a multicopter, when it reaches the wanted altitude, it will switch to fixed wing and
fly waypoints or missions like a fixed 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 multicopter before the
last waypoint, if the waypoint before VTOL_LAND is too far, the Nimbus VTOL will finish the final distance all
in multicopter mode, the power consumption in mutlicopter mode is 5 times more than in fixed wing mode.

FOXTECH Nimbus VTOL V2(DA16S Combo) User Manual
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Applications
- Survey
- 3D Survey
- Patrol
- FPV
- Air pollution detection
More autopilot mode can be found in Mission planner manual, like circle survey, Grid, drop an object with
hook at desired waypoint.

FOXTECH Nimbus VTOL V2(DA16S Combo) User Manual
©2019 FOXTECH All Rights Reserved 18
Appendix
ESC Calibration
1. Cut off Nimbus 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 Nimbus Kit. For the customers who bought Nimbus
PNP combo, the following calibrations are done before shipping. Please donot change any settings. If the
settings are changed by accident, please recover from the param. document in the SD card.
2. Long press GPS safety switch until the red light keeps on.
3. Click Arm/Disarm, There will be a sound “Du~”
Safety Switch

FOXTECH Nimbus VTOL V2(DA16S Combo) User Manual
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5. Connect Nimbus with power again. Long press GPS safety switch.Radio throttle push to Min, direction
stick push to right(Pic 5-1), disarm Nimbus, 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 Nimbus 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