GAUI GU-INS User manual

User Manual 操作說明書
規格
1.Dimensions：Main controller: 53.5 x 38.5 x 12mm GPS system: 42 x 34 x 15mm
Weight：Main controller: 27g (w/o cables ), GPS system: 23g (with cable)
2.Frequency: 300Hz output to ESC
3.Operating temperature: -20~80°C
4.Operating modes: Rate (manual) mode, Auto balance mode, GPS positioning mode.
5.Rate (manual) mode: Max angular velocity: 300 degree/sec.
6.Auto balance mode: Max tilt angle: 60 degree.
7.GPS positioning mode:
a.Hovering accuracy: Horizontal: ±2m, Vertical: ±0.5m
b.Max yaw angular velocity: 250 degree/sec
c.Max tilt angle: 45 degree.
d.Max horizontal speed: 10 m/s，36 km/hr
e.Max vertical speed: 8 m/s (horizontal posture)
8.GU-INS provides pitch and rolls output signals, can work with different types of camera mounts.
9.Fail-safe functions: Automatic Go-Home, Signal lost Go-Home, Low voltage protection.
10.Suitable wind condition: < 10 m/s
Specifications
GAUI

User Manual 操作說明書
規格
1.Dimensions：Main controller: 53.5 x 38.5 x 12mm GPS antenna: 42 x 34 x 15mm
Weight：Main controller: 27g (w/o cables ), GPS antenna: 23g (with cable)
2.Frequency: 300Hz output to ESC
3.Operating temperature: -20~80°C
4.Operating modes: Rate (manual) mode, Auto balance mode, GPS positioning mode.
5.Rate (manual) mode: Max angular velocity: 300 degree/sec.
6.Auto balance mode: Max tilt angle: 60 degree.
7.GPS positioning mode:
a.Hovering accuracy: Horizontal: ±2m, Vertical: ±0.5m
b.Max yaw angular velocity: 250 degree/sec
c.Max tilt angle: 45 degree.
d.Max horizontal speed: 10 m/s，36 km/hr
e.Max vertical speed: 8 m/s (horizontal posture)
8.GU-INS provides pitch and rolls output signals, can work with different types of camera mounts.
9.Fail-safe functions: Automatic Go-Home, Signal lost Go-Home, Low voltage protection.
10.Suitable wind condition: < 10 m/s
●Specifications：
GAUI
GU-INS本體
防震泡棉
六通道連接線
二通道連接線
GPS系統
USB連接線
使用說明書
GU-INS main controller
Damper sponges
User manual Six channel connection cable
USB cable
GPS system
Two channel connection cable
索引
系統組立
系統設定
系統校正
定位飛行
回航點
低電壓保護
雲台校正
更新程式
數據顯示介面(選購品)
注意事項
內容物
Index
System Assembly
System Setting
System Tuning
Note
GPS Navigation
Go-Home Function
Low Voltage Protection
Camera Gimbal Calibration
Firmware Update
On Screen Display Interface(Option)
Content
燈號對照表
Index for LED Light Status P2
P3~5
P6~7
P8~10
P11~15
P16~17
P18~19
P20~23
P24~25
P26~27
P1

注意事項
本產品並非玩具，飛行時請遠離人群及公共設施。
請勿將本產品使用在不法用途，若觸犯法律須自行負責。
請勿在室內接上GPS系統，因為不良的訊號會造成機體無法控制。(只要不接GPS插頭，在室內仍可採用定位
模式來做定高度飛行。)
在GPS定位模式飛行時，所有的動作皆以GPS的速度訊號為基礎，因此若GPS訊號不良或受到干擾時會造成機。
體無法控制，若有此現象請切回自動平衡模式即可。
飛行時請在空曠場地，儘量避免接近建築物，因為GPS訊號有可能因為建築物的折射造成訊號偏移。
在GPS定位模式下請勿接近導磁物體，如在鐵板上空停懸，這會干擾系統裡的磁力計而造成頭向不穩。
GU-INS系統旁請勿靠近導磁物體(如鐵、螺絲、馬達及磁鐵)，這些都會干擾GU-INS系統(GU-INS上下蓋採用
銅螺絲固定)。
為了安全，在進行設定、校正時請移除螺旋槳。
最新資料請上泰世網站下載更新。
遙控器與GU-INS的訊號設定(P.6)非常重要，它除了設定電子變速器的高低訊號，同時也執行遙控器中立點
磁北與正北的校正(P.14)需確實執行，否則在定位模式下會造成修正偏差，造成繞圈現象。
校正，所以設定時除了移動油門桿外不要碰觸其它動作；若有更換遙控器請務必再次執行訊號設定動作。
風勢較大時，起飛及降落建議採用自動平衡模式，因為在定位模式下氣壓變化容易干擾高度指令，在接近
地面時比較危險。
若你的遙控器有失聯保護功能，你可以將AILE、ELEV、THRO、RUDD設為搖桿的中間值，並且啟動定位模式
及回航點功能來多一層保護。
13.You can activate the fail safe (F/S) function on your tansmitter, set AILE, ELEV, THRO, and RUDD stick to its
central position, and assign the F/S to activate “GPS positioning” and “HOME” function for further protection.
Note
1.This product is NOT a toy, please keep away from crowd and buildings while flying.
2.Do not use this product for illegal purposes, user is responsible for following the law in each country.
3.For your safety, please remove the propellers before setup and calibration procedures.
4.The throttle calibration procedure is very importnat (P.6), it calibrates not only the signals of ESC, but
also central position of the transmitter. Therefore, do not move other sticks or switches except throttle
stick; if you change the transmitter, make sure you execute the throttle calibration procedures.
5.The calibration of magnetic north and due north needs to be done throughly (P.14), or the 500X will slant or
circle under GPS positioning mode.
6.Under GPS positioning mode, all movements of the 500X are based on the speed signals of GPS.
Therefore, if the GPS signal is bad or interfered, the 500X will become uncontrollable. If so, please
switch back to auto-balance mode.
7.Do not insert the GPS system indoor, the 500X will become uncontrollable due to bad signal reception.
(You can still apply altitude maintaining function under GPS positioning mode as long as you unplug the
GPS system.)
8.Fly the 500X in an open area, and keep away from buildings. The GPS signal might be interfered due to
signal refraction from buildings.
10.Keep the GU-INS away from magnetic materials (irons, screws, motor and magnet), those will interfere
the GU-INS. (The screws of GU-INS are made of copper.)
在GPS定位模式若無法360度轉向，這代表磁力計受到干擾，請遠離干擾源或進行校正(請上泰世網站)。
11.If the 500X can not make a 360 degree turn, it means that the magnetometer of GU-INS is under
interference. Please keep away from sources of interference or execute the calibration process.
(Please visit GAUI official website for detail information.)
14.You can download the latest firmware from GAUI official website.
9.Under GPS positioning mode, please keep the 500X away from magnetic materials, such as hovering
above iron plate, the magnetometer inside the GU-INS will be interfered and result in instable heading.
12.When it is windy, we suggest to take off and land with auto-balance mode. Under GPS positioning mode,
altitude maintaining function is more subceptible to interference.Therefore, it would be more dangerous
while the 500X is close to the ground.
1

恆亮----表示要執行低電壓保護。
燈號對照表
閃爍三下後停止----表示設定確認。
不亮----表示沒接GPS系統。
快閃----表示執行回航點指令。
慢閃----表示正在收尋GPS訊號。
恆亮----表示GPS定位完成。
快閃----自動平衡模式。
慢閃----手動模式。
恆亮----定位模式。
恆亮紅燈----表示內部封包有失聯，請重新開機。
亮紅燈----表示內部感測器數值異常，請重新開機。
亮綠燈----表示內部感測器數值正常。
不亮----表示正常。
快閃紅燈----表示電壓過低啟動保護措施。
Solid---- Execute low voltage protection function.
Index for LED Light Status
1.SET:
2.GPS:
3.MODE:
4.SENSOR:
Off---- Normal
Flashes 3 times and turn off---- Setup is completed.
Off---- GPS system is not inserted.
Fast flash---- Execute “HOME” function.
Slow flash---- Searching for GPS signals.
Solid---- GPS signal searching procedure is completed.
Slow flash---- Manual mode.
Fast flash---- Auto-balance mode.
Solid---- GPS positioning mode.
Solid RED---- System error, please restart the system.
Green ---- System ok.
Red ---- System error, please restart the system.
Fast RED flash---- Battery voltage is too low, low voltage protection
function is activated.
2
1 sec

系統組立
將防震泡棉貼於GU-INS本體的四個角落。
將它置中貼於500X的平台上。
*GU-INS附近要遠離磁鐵或導磁材料，以避免干擾內部的感測器。
將四個電子變速器的電源線如圖纏繞約四圈後再插入四合一接頭。(這是為了減低電流所產生的磁場干擾)
磁力計位置
System Assembly
1.Install the damper sponges to the corners under GU-INS.
2.Install the GU-INS to the center of the platform.
Front
Back
*Please keep GU-INS away from magnetic material interference.
3.Entwine the power cable about 4 circles as illustrated, and then insert it to the 4-in-1 power connector.
(This is to reduce magnetic interference generated by the current.)
Magnetometer
3

將六通道及二通道連接線插入GU-INS本體
系統組立
將四個動力組的ESC接至GU-INS本體的四個插座裡。(注意位置及馬達旋轉方向)
*GU-INS本體具有方向性，
箭頭的方向代表前方。
System Assembly
4.Insert the 2 and 6 channel connection cables to the GU-INS main controller.
5.Insert ESC plugs (1~4) to the given sockets of GU-INS. (Notice the position and spinning
direction of the motors.)
*The main controller of GU-INS is aeolotropic.
The arrow on GU-INS represents the direction
of the main controller.
Nose Direction
4
White/Red/Black Red/Orange/Yellow
Green/Blue
(AIL) (E) (T) (R)
(H)
Red/ /Black
(B) (P CAM)
(MODE)

AILE
ELEV
THRO
RUDD
Futaba JR Hitech
Normal
Normal
Normal
Normal
Normal
Normal
Normal
Reverse
Reverse
Reverse
Reverse
Reverse
將綠線(MODE)接至遙控器的三段開關(如A)，藍線(H)接至兩段開關(如B)，黑線(P CAM)接至旋扭開關(如C)。
系統組立
如上圖依照順序將連接線接至接收機上。
將遙控器設為飛機模式，並確認各家遙控器的命令值正反向。
System Assembly
6.Insert the plugs of receiver to GU-INS as illustrated.
7.Create a model as “Airplane” in transmitter, confirm the “REV” setting as illustrated.
8.Assign “MODE” (green wire) to the 3-positions switch (A)
on the transmitter (as illustrated), “H” (blue wire) to the
2-positions switch (B) on the transmitter, and “P CAM” (black wire) to the side lever (C) of the transmitter.
A
B
C
5
White/Red/Black AILE
Red ELEV
Orange THRO
Yellow RUDD
Green FLAP(Mode)
Blue GEAR(Go Home)
Black AUX2(Camera Mount Pitch Axis)

系統設定
為了安全起見，請先將螺旋槳取下，並注意GU-INS的燈號變化。
將機體接上電源，此時馬達會有設定響聲，MODE燈號為
紅燈閃爍。
先將遙控器的電源打開，同時把油門桿
撥到最大。
接下來把油門桿放到最低。 此時馬達會有完成設定響聲，MODE燈號轉為綠燈，
接下來將機體電源移除，完成ESC指令校正。
System Setting
1.For your safety, before setup, please remove the propellers, and note the LED lights indications
2.Turn on the transmitter, and move the
throttle stick to its top position. 3.Connect the battery to the 500X, the motors will come up
with corresponding tones, and the LED light of “MODE”
lights “ Red flashing”.
4.Then move the throttle stick to its lowest
position. 5.The motors will come up with corresponding tones, LED light of “MODE” lights “Solid green”, and the calibration of ESCs
is completed.
on the GU-INS.
6
MODE 1
MODE 1

系統設定
手動模式
自動平衡模式
定位模式
關閉
啟動回航點
你也可以接一至兩組衛星天線來取代標準接收機，此時六通道連接線已不需使用。
遙控器的設定除了前四個為標準搖桿指令其它三組請設在開關或旋鈕，最後再以燈號確認指令是否正確。
*執行對頻前請先將對頻線插入GU-INS的AIL插槽。
若以JR遙控器DSX7、DSX9為例：
GEAR
FLAP
AUX2
回航點
模式切換
雲台上下軸
(為了安全，請先將螺旋槳移除)
接下來確認模式切換開關，請注意開關位置所代表的飛行模式(燈號如左上圖)及回航點的開關位置
(燈號如右上圖)
System Setting
Manual mode
Auto-balance mode
GPS positioning mode Off
“Home” function
6.Then confirm the LED light of “MODE” and “GPS” in each fly mode; pay attention to the functionality of each
switch position (as illustrated).
You can also connect 1~2 satellite receiver instead of standard receiver, 6 channel connection cable is
unnecessary while using satellite receiver. While setting the transmitter, please assign the functions
(Home, Mode, etc) to the 2 or 3 positions switch and levers, and confirm again how it works according
to the status of the LED lights.
Ex: channel assignment for
JR DSX7 and DSX9:
Home function
Fly mode
Camera gimbal
Insert the “Bind plug” to the “AIL” slot
before binding the transmitter
and GU-INS
(For your safety, please remove the propellers
before binding.)
7

系統校正
將機體裝上螺旋槳後開啟遙控器電源，並且切至手動模式。 將電源接上，等ESC聲響完成後即可起飛。
慢慢加大油門，讓機體稍為離地即可。
確認前進指令是否正確。
System Tuning
1.Install the propellers, turn on the transmitter, and switch to
“Manual” mode. 2.Connect the battery to the 500X, after the
corresponding tones of ESCs, you are ready
for test flight.
3.Move the throttle stick gradually until the 500X slightly lift off.
4.Move the “ELE” stick upward to check and make sure the 500X tilts forward as illustrated.
8
MODE 1
MODE 1

系統校正
確認滾轉指令是否正確。
確認轉向指令是否正確。
指令確認無誤後再將機體離地約1m測試GAIN值是否正確，若有抖動現象需將GAIN值調小。
對500X來說GAIN與Z GAUN大約在中間值(如圖)
System Tuning
5.Check and make sure the “AIL” movement follow your transmitter command.
6.Check and make sure the “RUD” movement follow your transmitter command.
7.After checking all movements of the 500X are correct, hover the 500X about 1m above the ground, if it
shakes or wags while hovering, decrease the “GAIN” value until it is stable.
The recommanded initial setting of GAIN and Z GAIN value
is about central position of the knob. (as illustrated)
9
MODE 1
MODE 1

系統校正
將機體停懸約1.5m高，以微調校正中立點。
完成校正後按下SET鍵。 此時SET燈號會閃三下完成
接下來將遙控器切換至自動平衡模式， 完成後按下SET鍵，等燈號閃爍確認後將微調回歸中立，
此時便完成自動平衡模式下的機體校正。(定位模式不需校正)
完成後將遙控器微調
手動模式下的校正。
回歸中立。
同時調整機體停懸時的微調。
System Tunning
8.Hover about 1.5m above the ground, calibrate the attitude of 500X with trimmers of the transmitter.
9.Press “SET” buttom when
calibration is completed.
10.“SET” LED light flashes three
times when calibration under
manual mode is completed.
11.Set all trims to neutral
after calibration.
12.Switch to “Auto-balance” mode, and
calibrate the attitude of 500X with
trimmers of the transmitter.
13.Press “SET” bottom when calibration is completed. Set
all trims to neutral after calibration. (GPS positioning mode
does not need to be calibrated.)
1.5m
10

定位飛行
用雙面膠將GPS系統貼於上蓋，並將插頭接至GU-INS的GPS插槽上。(GPS無方向性，只需將商標朝上即可。)
開啟遙控器電源。 將機體送電，此時GPS燈號開始閃爍進行搜尋。
GPS Navigation
2.Turn on the transmitter.
1.Install the GPS system on top of the canopy with double sided adhesive tape,
(The GPS system is not aeolotropic, affix with GAUI mark facing up will do.)
insert the plug to the GPS socket on the GU-INS.
3.Connect the battery of the 500X, “GPS” LED will start to
flash, and the GU-INS will start to search for GPS signal.
11

定位飛行
將遙控器切至定位模式，此時GU-INS的燈號為恆亮。
等機體爬升至你要的高度後再將油門桿推到中間。
定位模式的油門桿定義如上圖。
將油門桿慢慢推到中間值以上。
GPS燈號恆亮時，代表搜尋到五顆衛星以上，
我們建議多等待一分鐘以上。
你可以按左上方按鍵，此時SENSOR會顯示衛星數。
(如上圖顯示閃爍七次代表七顆衛星)
GPS Navigation
4.When the GU-INS has found more than
five satellites, the LED light of “GPS” will turn
solid green. We recommand to wait one more
minute to receive more satellite signals.
5.You can verify how many satellites are received by
pressing the buttom and count the number of LED
flashes (illustrated, 7 flashes=7 satellites received).
6.Switch to “GPS positioning” mode, the LED light will
turn solid green (as illustrated). 7.The definition of throttle stick under “GPS
positioning” mode is as illustrated above.
8.To lift up, move the throttle stick upward slowly
over its central position. 9.When the 500X has climbed to the altitude you want,
move the throttle stick back to central position.
Up
12
Down
Set
MODE 1
MODE 1

你也可以用自動平衡模式起飛，此時GU-INS的燈號為快閃。 爬升至你要的高度再切回定位模式。
定位飛行
將遙控器油門桿向上，機體開始往上爬升。
將遙控器油門桿回中間，機體執行定高度飛行。
GPS Navigation
10.You can also take off with “Auto-balance” mode (turn
switch as indicated above), the MODE LED light will
turn into fast green flash.
11.Climb to the altitude you want, and switch
back to “GPS positioning” mode.
12.Move the throttle stick upward, and the 500X will start to climb.
13.Move the throttle stick back to neutral position, the 500X will maintain its altitude.
13
MODE 1
MODE 1
MODE 1

檢測四個方向的定位效果，若在某一方向有繞圈現象則代表磁力計被干擾，請檢查GU-INS附近是否有導磁
定位飛行
指令向前，若機體如上圖偏左，請在HEAD旋鈕調右，這是在校正各地區磁北與GPS正北的關係。
注意：同一地區只需校正一次即可，但如果有加裝其它機構時請再校正一次，因為它有可能會影響磁場變化。
物體或有大電流通過，若有就必須隔離它或纏繞電線(如P3)。
GPS Navigation
14.If the 500X heads to the left while you move the “ELE” stick forward, please adjust the “HEAD” knob
to the right, this is the calibration of magnetic north and due north of different area.
NOTE: You only need to calibrate the magnetic north and due north once in the same area. But if you
install new devices on the 500X, you need to calibrate it again, because the new devices may influence
the magnetic field of the 500X.
15. Check the GPS positioning function from four directions, if it circles in one direction, it means the
magnetometer in GU-INS is interfered. Please check if there is any magnetic material around or
electric current goes through. if so, you need to quarantine the interference source or entwine the
power cable as illustrated in P.3.
14
MODE 1
ABCD

Z GAIN是在調整高度的增益值，由於可能受風及氣壓影響而有所變化，我們建議採用中間值(如上圖)。
定位飛行
在定位模式下機體可以緩降至地面。 此時必須切換至自動平衡或手動模式動力才會停止。
你也可以在空中切換成自動平衡或手動模式來執行降落。
GPS Navigation
16.Z gain is used for adjusting the gain value of altitude, it may be affected by wind or air pressure, thus
we recommand to adjust it to central position (as illustrated).
17.The 500X can decend slowly to the ground
under GPS positioning mode. 18.The propellers would not stop until switched back
to “Auto-balance” or “Manual” mode.
19.You can also land by switching to “Auto-balance” or “Manual” mode in the air.
15
MODE 1
MODE 1
MODE 1

剛開始啟動GPS時，建立原點的訊號位置可能在機體半徑5m內的任何一點。
回航點
經過衛星數的增加及訊號的收斂，
精確度可提高至2m內。
此時在定位模式下按SET鍵，可重新輸入更精確的
原點。(輸入時SET燈會閃爍)
所以當你移動機體要重設原點時，也是一樣在定位模式下按SET鍵即可。
Go-Home Function
1.While just starting the GPS system, the “Home” position range may be within a radius of 5m.
2.By increasing the numbers of satellites received
and wait for convergence of signal, the precision
may increase to be within a radius of 2m range.
3.Then press “SET” buttom under GPS positioning
mode will make the “Home” position setting to be
.
more accurate. (“SET” LED light flashes.)
4.When you move the 500X away to a new location, and would like to reset “Home” position,
just press “SET” button under GPS positioning mode to reset new “Home” position.
16

啟動回航點開關，此時機頭會轉向航點並朝航點前進(速度會隨距離縮短而
回航點
變慢)，若高度超過10m，它會到達航點後下降至10m；若高度在10m以下，則
保持原高度停懸。回航期間你依然可以下達操作指令，如轉向、下降等。
回航點後若要繼續操作，請記得要解除回航點功能。
Go-Home Function
5.When switching to “Home” function, the 500X will turn its head
toward “Home” location and start returning to “Home” position.
If its altitude is more than 10m, it will decend to 10m height after
arriving at “Home” position. If its altitude is below 10m, it will
maintain altitude and hover. You can still give orders like yaw or
decend while the 500X is returning to “Home” position.
6.If you would like to operate after returning to “Home” position,
remember to switch back to “Manual” or “Auto-balance” mode.
17
10m

當你先將探針插入電池的分壓頭(如圖在第二Cell的正極)，再插入主電源便執行低電壓保護功能。
低電壓保護
如果你先插入主電源再插入探針，此時沒有啟動低電壓保護，但OSD會顯示電池容量。
由於每種電池的表現不同，你可以微調啟動保護的電壓值。
不管你是採用二、三、四Cell電池
，探針都是插在第二Cell的正極上。
(SET燈恆亮)
Low Voltage Protection
2.If you connect the battery to the 500X first, THEN insert the plug, the low voltage protection
function will not be activated, but the voltage will be shown on the OSD.
3.No matter which kinds of batteries
you use (2~4S), insert the plug to
the second cell (positive pole) of
the balance plug.
4.Due to the variation in performance among different
batteries, you will be able to adjust the activated voltage
for low voltage protection function.
1.When you first insert the plug to the second cell (positive pole) of the balance plug of battery,
and then connect the battery to the 500X, the low voltage protection function will be activated.
(”SET” LED light turns solid.)
18
HV
LV