Guilin Feiyu Technology FY3-ZT User manual

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
1
FY3-ZTAutopilot
User Agreement
This product belongs to sensitive control items of PRC government regulation. Users have to
pay all the responsibility for purchase and use of all the products. For this product, our company
will not pay any responsible for the risk and obligation during debugging and uses. (For any direct,
indirect or the third parties losses which caused by the fault diagnosis of the air and air crash).
Please read this Instruction carefully before you use FY-3ZT Autopilot ,if there is any
problem you are not clear , please contact us ,we will give you satisfactory reply at our first time .
For any improperly obtained product or abnormal usage, our company will pay no responsibility
and service.
Our company reserves the right to modification the terms and conditions, change or terminate
the offer without any prior notices.
The Agreement will become effective automatically since users purchased this product.
Typical Applications
 Automatic navigation and piloting of Regular, V end, elevator and aileron, without ailerons and
other layout of small and medium size aircraft.
 Automatic navigation and driving of all kinds of airship.
Macro Feathers
FY3-ZT provide high-precision attitude through to use 32 ARM7microprocessors, integrate
GPS receiver, three-axis MEMS gyro, three-axis accelerometers, pressure altimeter, inertial
strapdown attitude algorithm and combined with Kalman digital filtering and data fusion
algorithms .
Integrated UBLOX 5th generation GPS receiver, 4Hz output, 35 seconds fast positioning time
and accuracy of 2.5 meters CEP.
50HZ inner attitude control, 4HZ outer navigation control.
Multi-channel mixed-control output can be easily adjusting the mixed-control. Including
normal layout none mixed rudder control navigation, elevator and aileron rudder navigation,
elevator and aileron mixed-control navigation, none ailerons rudder navigation. And can
adjust the neutral position in real-time.
Three kinds of control modes: Manual remote control, Auto balance remote control and
Automatic navigation control.

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
2
Two kinds of automatic navigation control modes: Air route navigation mode and Mouse
pointing flight mode.
Integrate automatic and manual remote control, higher reliability and practicality, and is
compatible with all common RC remote control facilities, and to provide Servo output
checking.
Auto-return protection of communication interruption.
Distance Automatic photography.
The ground station software contains electronic map that can change the route and tasks online,
real-time semi-autonomous remote control, and can real-time record flight data and play back
off-line.
Adjust and save all the control parameters on line, with the convenience standalone parameter
adjustment software.
Contains the autopilot power supply voltage monitoring, electric aircraft power voltage
monitoring, GPS accuracy of detection and autopilot temperature detection.
Technical parameter
Table 1.1（If there are no special notes, refers to the normal value of 25 ℃）
Item Min
Value Standard Value Max Value Units Remark Column
Main Supply Voltage 4.0 5 6.5 V
Main Supply Current 60 MA 5V supply voltage
Height Measurement
Range -500 6000 M
GPS Ground Speed
Measurement Range 0 350 M/S
GPS Horizontally
Navigation Precision
2.5 M Repeat Precision
Barometric Altitude
Precision
2 M Repeat Precision
The Settable
Way-Points
98
Output Control
Surface Servo
3 Channel(s)
Channels of Throttle
Output 1 Channel(s)
Resolution of servo
Output 1 US
Servo Update
Frequency 50 HZ
Attitude PID Control
Rate 50 HZ
Navigation Control
PID Rate 4 HZ
Track Data Telemetry
Frequency 1 HZ

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
3
Mission Data
Telemetry Frequency 1 HZ
Attitude Data
Telemetry Frequency 1 HZ
RS-232 Baud Rate 19200 Bps TTL Level
Working Temperature -20 25 60 ℃
Storage Temperature 25 ℃
Volume 55×33×20 Mm3Controller Module
Weight 19 g Bare Board
Volume 55×33×20 Mm3AHRS&GPS Module
Weight 19 g Bare Board
Volume 55×33×20 Mm3Remote Adapter
Module
Weight 17 g Bare Board
Volume 37×29×8 Mm3GPS Module
Weight 17 g Bare Board
FY3-ZT Installation Instructions
zInstallation and Fixing
Ⅰ. Component
FY-3ZT mainly contains 7 parts.
1. Flight controller module
2. AHRS & GPS module
3. Remote adapter module
4. GPS module
5.Data radio module
6. Ground station software (including a simple map)
7. Matching lines
Flight Controller Module

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
4
AHRS&GPS Module
Remote Adapter Module
GPS Module
Data Radio Module（Users can configure according to demand）
Ⅱ. Module fixed
1、The fixing of the flight controller module has no special requirements, just put on the proper
location of the aircraft.
2、The AHRS & GPS module must be placed horizontally, the arrow direction of the shell must
move forward (with the nose in the same direction). And you should take proper measures of
reducing vibration when install it on the shock mount (as bellowing), and then install the shock
mount on the aircraft. If the reducing vibration doesn’t meet the requirements, the attitude

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
5
algorithm accuracy of FY-3ZT will be influenced, and may even lead to large errors attitude
algorithm so that the FY-3ZT can not work properly.
3、FY3-ZT autopilot integrated flat-GPS passive antenna. This antenna has very strong ability to
receive signals, and can effectively overcome the false signal reflected from the ground. When
installing the FY3-ZT, please place it horizontally, and keep the metal objects away. No
transmitting antenna should be around the GPS antenna. Such as communication link antenna
or image link transmitting antenna; if the transmitting antenna too close to the GPS antenna ,it
will increase the noise signals which led to instability in positioning ,positioning error
increased and so on, in more serious cases ,it may couldn’t positioning .
4、Place the data radio module as far as possible away from the GPS module, AHSR & GPS
module and the servo, in order to avoid interference to the above equipment. Data radio
antennas should be installed vertically upward or downward. Communications link is basically
depends on the user's specific application, if the user’s aircraft only can be operated within
radius of 5 km, then a common data transmission module can be qualified; and if the user
needs to monitor the aircraft's flight state or control the aircraft from a long distance, then you
need an advanced data radio .The communication link used by FY3-ZT autopilot can be
half-duplex or full-duplex data radio. The uplink is responsible for transmit the orders from the
ground person, and transmit waypoint planning. The downlink is responsible for transmit the
flight status and other remote sensing information. The asynchronous serial interface protocol
between FY3-ZT autopilot and communications link is RS232-TTL level, the baud rate is
19200.
The data radio module of some bands (eg 433M) is easily to interfere the servo when the
electromagnetic emission. To solve these electromagnetic compatibility problems, you can through
arrangement of wire and place the antenna away from the easy interfered equipments, you also can
reduce the interference through rounds the magnetic core on the servo .As bellowing:
Ⅲ. Interface Function Definition
Interface of the FY-3ZT Flight Controller Module

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
6
987654321
10
AIL (Aileron
output)
ELE (elevator
output)
THR (Throttle
output)
RUD (rudder
output)
Signal
+5V
GND
TXRX+5VGND Connect to the
Data Radio
RX TX+5VGND
PWM1
PWM3 (parachute)
PWM2
（
Directly out
）
I/O (NULL)
AD1 (External
voltage monitor)
AD2 (NULL)
GND
Elevator
Rudder
CH6
+5V
Aileron
Throttle
CH5 CH7
Connect
AHRS&
GPS
Module

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
7
FY-3ZTAHRS&GPS Module Interface
FY-3ZT Remote Adapter Module Interface
The CH7 channel of the adapter board can relay the first channel signal of the receiver to the
autopilot, and output directly through the PWM2 of the autopilot.
AIL (Aileron input)
ELE (elevator input)
THR (Throttle input)
RUD (rudder input)
Signal
+5V
GND
TXRX+5VGND
Connect to
PC COM
Port
RX TX+5VGND
Connect to Data Radio
NULL
CH5 CH6
CH7
（
Directly in
）
CH8 (NULL)
VCC
GND
RX
TX
VCC
GND
RX
TX
Connect to controller moduleConnect to GPS module

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
8
Ⅳ、Autopilot Connection Diagram
Way 1. Place the RC receiver on the ground; control the aircraft through the data radio. In this way,
the remote signal is transmitted by the data radio after switched; the remote distance is decided by
the radio communication distance. But the manual remote control has a certain delay.
GPS
Module
Data radio
AIL Servo
RUD Servo
THR Servo
ELE Servo
5V battery
Note: If the electric airplane use servo-powered
electric regulator, just plug the throttle control
port “THR” directly. And then you can power the
servo and the autopilot by the electric regulator,
but the electric regulator should have certain load
capacity. If you need to power the system and the
servo separately, you can power through the
unused port. Such as: plug the servo battery into
+5 V of the AD2 and GND port.
Diagra
m
of airborne
Note: When the plane is controlled by the
remote adapter board, it contains
communication interruption protection
function .If the autopilot detects the
communication has interrupted over
20seconds, it will enter into return mode, auto
return.

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
9
Way 2. Place the RC remote control receiver on the plane and connect it to the autopilot directly.
In this way, the remote control distance is depend on the remote control distance of the RC remote
control device .For this way , the manual remote control signal is not delayed and with high
real-time performance.
USB—Serial TTL
RC Remote Receiver
AIL
THR
CH5
ELE
CH6
RUD
Data Radio
Receive
r
b
atter
y
Note: Once use the receiver’s
battery to power the receiver
and adapter board, please
disconnect the 5V supply-side
of the computer's USB port.
地面部分框图
T
h
e rece
i
ver
h
as to
h
ave
at least 6-channel, two of
the channels are three
–step switches.
Receive
r
Battery Diagram of the
Ground Part

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
10
GPS
Module
Data radio
AIL Servo
RUD Servo
THR Servo
ELE Servo
5V battery
Note: If the electric airplane use servo-powered
electric regulator, just plug the throttle control port
“THR” directly. And then you can power the servo
and the autopilot by the electric regulator, but the
electric regulator should have certain load
capacity. If you need to power the system and the
servo separately, you can power through the
unused port. Such as: plug the servo battery into
+5 V of the AD2 and GND port.
Diagra
m
of
airborne
RC Remote Receiver
AIL
THR
CH5
ELE
CH6
RUD
CH7
T
h
e rece
i
ver
h
as to
h
ave at
l
east seven
receiver channels; two of channels are
three-step switches. One of channels is
two-step switch .CH7 is used to switch
autopilot to work when its in the open RC
receiver mode.
USB—Serial TTL
Data radio
Note: Once use the external
battery to power the data radio,
please disconnect the 5V
supply-side of the computer's
USB port.
Diagra
m
of the
Ground Part

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
11
Way3. Use two same frequency receivers, one installed on the ground adapter board, another one
on the plane. The precondition is the remote control can operate two receivers at the same time,
and the two receivers connecting channel must correspond with the autopilot and remote adapter.
Switch CH7 of the receiver which is installed on the autopilot can operate the autopilot just receive
one of the received signal. Connection of the airborne part as follows:
GPS
Module
Data radio
AIL Servo
RUD Servo
THR Servo
ELE Servo
5V battery
Note: If the electric airplane use servo-powered
electric regulator, just plug the throttle control
port “THR” directly. And then you can power the
servo and the autopilot by the electric regulator,
but the electric regulator should have certain load
capacity. If you need to power the system and the
servo separately, you can power through the
unused port. Such as: plug the servo battery into
+5 V of the AD2 and GND port.
Diagra
m
of the
G
round
P
art
RC Remote Receiver
AIL
THR
CH5
ELE
CH6
RUD
CH7
6
The receiver has to have at least seven
receiver channels; two of channels are
three-step switches. One of channels is
two-step switch .CH7 is used to switch
autopilot to work when its in the open RC
receiver mode.

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
12
Photos of installation Examples
Way 1
Way 2
USB—Serial TTL
RC Remote Receiver AIL
THR
CH5
ELE
CH6
RUD
Data Radio
Receiver battery
Note: Once use the receiver’s
battery to power the receiver
and adapter board, please
disconnect the 5V supply-side
of the com
p
uter's USB
p
ort.
Diagra
m
of the
Ground Part
T
h
e rece
i
ver
h
as to
h
ave at
least 6-channel, two of the
channels are three –step
switches.

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
13
Way 3
FY-3ZT Debugging instructions
The debugging of the FY3-ZT can be started once you finished installed FY3-ZT and the
GCS software of the ground control station.
Ⅰ.Communication Debugging
1. Turn on your computer, and running the GCS ground station software.
2. Turn on the adapter board power supply, the adapter plate light will flash slowly, Select correct
communications port connections from GCS software. Baud Rate 19200.
3. Turn on the RC remote control.
4. Turn on the autopilot power.
5. If everything correctly, you will see the received telemetry data through the ground station
software .when the pressure altitude is about 0 meters (Auto-Initialization initial boot height is
0 meters), control remote controller rudder, you will see the rudder output through the rudder
display table. That means the ground station has already connected with the autopilot.
When FY605 in data radio transmission status, the red light up and in receiving status, the
green light up .if you find transmission of the data radio caused the rudder beating for each time,
please placed the data radio away from the rudder.
Ⅱ.Servo control direction setting and debugging
1. FY3-ZT own mixing function, all the remote controller are set to
the control mode for the normal layout aircraft. Please choose
the correct mixing mode in “rudder control mode” to change the
layout of the aircraft. Please reference to the below table:

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
14
Layout Options
Normal layout plane No mixing control.
Delta-winged plane with rudder Elevator andAileron mixed control.
V –end plane with aileron Elevator and rudder mixed control.
plane without aileron(but with
elevator and rudder) No mixing control.
V-end plane without aileron Elevator and Aileron mixed control.
2. The Remote Control Rudder Checking: Please control the plane rudder with the remote
controller to see weather the control surface and the control direction is the same, if not, please
adjust the control direction of the rudder.
3. Rudder Control Direction Checking: Please set the P, I, D of the "steady course", "pitch
stability” and "roll stability" to one values ,such as 50,in “parameter 1”. (Heading stability PID
are: 40, 5, 90; Pitch stability PID are: 60, 0,60; Roll stability PID are: 60,0,60), and then switch
to the "Masuda stable remote control" mode, check the direction of the rudder surface.
Aileron Checking:
Upward the plane in the rolling direction, if the fuselage
right-leaning, the ailerons should automatically give a control
gain to control the plane to the left. If fuselage left-leaning, the
ailerons should automatically give a control gain to control the plane to the right. If the control
gains on opposite, please set “AIL Reverse” in the “rudder reverse settings" .
Elevator Checking:
Upward the plane in the pitching direction, if the fuselage
rise up, the elevator should be automatically given a control gain
to heading down the plane. If fuselage head down, the elevator should be automatically given a
control gains to rise up the plane. If the control gain on opposite, please set “ELE Reverse” in the
“rudder reverse settings".
Rudder Checking:
Shaking the aircraft in the course direction, if the nose turn right, the rudder should
automatically given a control gain to control the head turn left. If the nose turn left, the rudder
should automatically given a control gain to control the head turn right. If the control gain on
opposite, please set “RUD Reverse” in the “reverse rudder settings”.
Throttle Detection:
When the throttle from small to large, please view the throttle output through the rudder
display table if it is from small to large (1000-2000),please set “THR Reverses” in the “rudder
reverse settings” . No selects in the options. (No tick), if it is in descending (2000-1000), please set
“THR Reverses” in the " rudder reverse settings" .Select reverse in the options (tick).
Ⅲ. Parameters Setting PID
Explain in detail the function of each parameter
1. Turning Control
Aileron Control Coefficient: The scale coefficient of the aileron when the plane turns. The
larger of the setting value, the greater of the turning aileron. Setting Range: 0-99.
Vertical Distance Aileron Integrates: Aileron emendatory given by the autopilot according to
the distance from the route in the air route fly mode. The larger of the Settings, the faster of the

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
15
control speed. Setting Range: 0-9.
Change Course Damping: Aileron control gain given by the
autopilot to prevent changes in course. Setting larger greater
the aileron is when the plane change course prevent the greater
the tilt angle. Setting Range: 0-99.
2. Altitude Control
Pitching Angle Control Coefficient: The proportional action
coefficient of the pitch angle when the flight climbs up or
goes down. The greater of the setting, the larger of the
climb up or go down angle.
Altitude Deviation Integral : The pitching amendment
quantity
Altitude Change Damping :The pitching angle control gain
given by the prevent of the altitude change .The larger of the
setting ,the faster of the control speed . Setting Range: 0-9.
3. Throttle Control
Speed Control Coefficient: The throttle control gain given by
the change of the flight speed. (FY-3ZT uses the speed of GPS).
The larger of the setting, the greater of the control gain. Setting
Range: 0-99.
Speed Change Damping: The throttle control gain of the prevent speed change which is given
by the change of the flight speed changing .The larger of the setting, the greater of the control
gain. Setting Range: 0-99.
4．Route Stability
Vertical Distance Change Damping: The control gain to prevent the change of the vertical
change during route flight. The larger of the setting, the greater of the control gain .Setting
Range: 0-9.
Vertical Distance Rudder Integral:
Rudder Stability :The control gain of prevent rotating which is given by the flight rotate
around Z axis .The larger of the setting ,the greater of the control gain .Setting Range :0-99.
5. Auto Balance control
Pitch Stability: The amendment control gain given by the change of the flight pitch angle .the
larger of the setting, the greater of the control gain .Setting Range: 0-99.
Roll Stability: The amendment control gain given by the change of the flight roll angle .The
larger of the setting, the greater of the control gain .Setting Range: 0-99.
6. Automatic take-off
Take -Off Angle of Attack: The climbing pitching angel
when the flight automatically takes off .use for auto take
off .Setting Range: 0-99.
Take off Speed: The speed of the pull rod when the flight
automatically takes off .when the flight reaches to the take off speed, its will start pull rod .use for
auto take off. Setting Range: 0-99.
Ⅳ.Installation of Vibration Detection and Adjustment
It’s very important that the installation of the autopilot whether meet the vibration
requirement. It will affect the accuracy of the attitude directly. Its may caused unpredictable
consequences in flight if the attitude measurement is inaccuracy.
Testing Process is as Follows:

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
16
1. Connect the power to the whole system and switch on the engine. Switch the control mode
to Auto Balance control mode, then start to observe whether the attitude of the autopilot are work
normally in every throttles through the ground station.
2."Attitude error" in the attitude
table is one of the important
reference to assess the impact of
vibration on attitude computing, if
the attitude error raised to 1000
during test process, and the attitude
does not match the practical
attitude ,that’s means the installation
does not meet the vibration
requirements, please re-install. The
tests of each throttle are better more
than 20 seconds.
3. You need to initialize the gyro, if the rolling of the altitude image module which in the state
of rest is not matches with the actual attitude.
Ⅴ.Autopilot Function Description
Flight Control Mode Description:
There are three kinds of control modes: Manual remote control, Auto Balance remote control
and Automatic navigation control. The PWM pulse width time of the channel 5 determines the
current flight mode. Correspond to the three gears of the three –step switch on the remote control
switch .Note: Please don’t switch CH5 to automatic control mode when the autopilot power on.
Generally, when power on, switch the three-step switch to the middle and correspond to the auto
Balance remote control mode.
The PWM pulse
width time of CH 5 1000-1199μS 1200-1800μS 1801-2000μS
Function Manual Remote
Control Auto Balance Remote Control Automatic Navigation Control
Manual Remote Control: Manual operation completely, the autopilot does not participate in
control.
Auto Balance remote control: The Autopilot only implements the Auto Balance functions,
Auto-balance the airplane’s attitude, manipulator can operate the plane, the control gain of the
autopilot will be output by overlay on the manual control gain.
Automatic navigation control: In this mode, the autopilot will implement the corresponding
automatic control according to the navigation mode which has been set. Such as the air route fly
mode or pointing flight mode.
Navigation Mode Description:
There are two kinds of Navigation model: Air route fly and pointing flight. The operation of the
autopilot is default the Air route fly mode; you need the ground station software to change the
navigation mode.
Air route fly Mode: The plane will fly according to the settling route .When its get to the last
point, its will circled around there.
Pointing Flight Mode: In this mode, please click "pointing flight” button first and
then click the target point on the map. The plane will fly to this target point

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
17
immediately and circled over here.
Special Flight Mode Description:
There are three kinds of special flight modes: return, circle, automatic take-off.
Both returning and circling function are determined by PWM pulse width time of CH6’s
output. Corresponds to three gears of the three-step switch on the remote control.CH6 is preferably
in idle mode when the autopilot’s power on. That is switch the three-step switch to the middle ，
correspond to the “Empty” mode.
PWM pulse width
time of CH6 1000-1199μS 1200-1800μS 1801-2000μS
Function Return Empty Circle
Return: No matter in what’s mode , once switch it to return mode ,the plane will immediately
considering the home point as the target point, implementing the return process, and circling after
reach the home points.
Circle: No matter in which mode, once switch it to circle mode, the plane will immediately
considering the current point as the central point, implement the circle process. The circle radius is
determined by the circle radius you have set (The default value of the circle radius is 100 meters
once the power on).
Automatic Take-off: Please switch to this mode by use GCS software. The priority level of the
auto take off task is higher than other tasks, press “cancel” button to cancel after switch
to auto take off procedure. When its implement auto take off procedure, the plane will automatic
climbs to 50 meters high, keep horizontally flying, and then decide the next task according to the
current switch state of the CH5 and CH6.
Automatic Photo: The default is off, once turn it on, it will turn to green. The autopilots will
automatic control the camera interface and implement level action to take photos according to the
setting photo distance.
Photo: Click to take a picture immediately and the camera
interface implement level action once .The camera interface is I/O
level control, so through set camera reverse to decide the high level
or low level when taking a photograph .I/O port can use to drive
the relay ,or control the camera directly which support by the level.
RC Receiver: The default is turn on, when you turn off the RC
receiver, the manual remote control will turn off .But you still can
operate it by GCS software.
Heading Cycle: The default is open, if you turn on it during air
route flying, the plane will not circling when get to the last point, it
will circled according to the ordered way point. If you turn on the
air route circling after the fly start circling, the fly will not start circle flying, you have to exit
automatic navigation mode, and switch it to air route flying ,then
it will start air route flying .
Pointing Flight: After implement auto navigation ,please click
this button in mode “pointing flight”, you can implement it on
the map.
Parachute Opening: Click the parachute opening button once,
the parachute opening servo will act once .

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
18
Ⅵ.Flight Parameters Setting
Target Speed: Set to the aircraft cruise speed
Target Altitude: Change the current aircraft’s target altitude in real time.
Circle Radius: Set all the aircraft circle radius.
Photography Interval: Set the distance interval of automatic photography.
Cruise Throttle: Set the throttle control neutral value of the autopilot when the plane is in
automatic navigation fighting. This value can be manual scrap in flight.
If your plane belongs to vibration ones, you have to check the stability of the engine, just
make sure the engine will not be off, once you control the throttle rudder by the remote
quickly. Cruise throttle must be set up.
.ⅦThe Setting of the Route
After the autopilot positioned, a little red plane will show at the location, means the current
location .you’d better set the current location as the return point during debugging .And then set
300-600 easy route around the flying area, such as square route, set the proper height, such as
200meters .It’s better to keep the flight all in the monitor of sighting line during the whole flight .
After setting the route, upload the route, and then click “permanently preserve the route”
preserve .or once the autopilot powers off, the route will be lost.
Ⅷ.The Debugging of after Take Off
1. First in the manual mode the plane can fly straight without the remote controller.Also can
take off in auto control mode (please checking the auto control servo carefully, for more detail,
please check “Servo Direction Setting and Debugging”, under the circumstance of confidence of

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
19
the auto control servo, suggest to use this mode to take off) .
2.Switch to “Auto Balance Remote Control” and check whether the flight unusual, operate the
flight and feel whether the autopilot has the auto balance function of automatically correct the
flight to horizontal .Change the flight’s status by manual, for example, rolling, pitching and so on
to observe the flight automatically recovery condition .If it is not very good, just adjust the
“pitching stability” and “rolling stability” coefficient of the auto balance control according to the
circumstance .
As Bellowing :
For Example: If the amendment result of the flight pitching is not obvious, it need to
increase pitching stability control coefficient .If the flight pitching amendment is over fast and
vibrates, it need to decrease the pitching stability control coefficient.
For Example: If the amendment result of the flight rolling is not obvious, its need to
increase rolling stability control coefficient .If the flight rolling amendment is over fast and
vibrates its need to decrease the rolling stability control coefficient.
3.After finish to adjust the auto balance control of the flight,
under the auto balance control mode ,adjust the remote controller
fine tune to keep the flight horizontally flight when not operate the
remote controller .(If the remote control neutral position of the
flight straight flying is not same in manual mode and auto balance
mode, then it can adjust the installation angel of the autopilot
measurement module to solve .Notice :just make sure the flight can
straight flying in auto balance mode ,the deviation of the neutral
value will not influence the result of auto navigation in manual
mode and auto balance mode.)
4.After straight flying in auto balance mode, keep cruise throttle. Do not operate the remote
controller, acquisition servo neutral value.
5.After acquisition servo neutral value, observe the flight without unusual, help the flight
climb to the altitude which as high as the setting route altitude. Then switch into "automatic
navigation mode ",observing the auto navigation flying condition of the aircraft through the ground
station software and visual ,then adjustaccording to actual
conditions.
6.Adjustment of the turning control .For Example: The flight
fly from A point to B point and then to C point.
A
BC C
A
B
Increase Aileron Control
Coefficient
C
A
B
Reduced Aileron
control coefficient

Guilin Feiyu Electronic Technology Co.,Ltd
Guilin Feiyu Electronic Technology Co.,Ltd http://www.feiyudz.cn Tel:[phone]
20
7. Route Stability Adjustment
Take the change of flight track from A to B on the route as
example.
“Rudder Stability” coefficient is useful to the fight with
rudder. It’s used to improve the external interfere (air current) to the circle of Z axis during flying,
improve the course stability during flying .Notice: If the setting is overlarge, it may caused course
vibration.
8. Adjustment of Altitude Control
Take the change of altitude from A to B of the flight track as
example .
BA
BA
If it shows "big S" on the two side of the air route ,increase heading change damp.
If it shows "small S"on the two side of the air route ,reduce heading change damp.
BA
If it always shows on the one side of the air route ,incerease the integrate of the
lateralodeviation distance.
BA
If it shows "disturbance "on the two side of the air route ,reduce the heading
change damp of the lateralodeviation distance .
C
A
B
Increase heading
change damp
If the plane rolled from side
to side during turning
process ,you need to reduce
heading change damp .