JIYI K++ User manual

K ++ Flight Controller User
Manual
K ++
Flight Control Manual
V1.0.6
11/24/2019
Thank you in advance for purchasing this product! Please install
this product on your aircraft in strict accordance with the
requirements of the instruction manual. I wish you a happy use.
Note: This manual needs to be used in conjunction with the corresponding
assistant software. If there is any discrepancy with the assistant software, please
refer to the assistant software.
If you encounter problems that cannot be solved during use, please contact Jiyi
Robotics (Shanghai) Co., Ltd. technical support or after-sales personnel. Contact
number: 18721548648; QQ group: 458942467.

Disclaimer
Warm reminder: Jiyi K ++ flight controller is not a toy, please
read this statement carefully before using it, it means that
you acknowledge and accept this statement, this product is
not suitable for users under 18 years old.
This product is a professional-grade flight control developed
by Jiyi and developed for industry applications. It meets the
needs of users such as plant protection, mapping, aerial
photography, etc. Jiyi integrates the pursuit of high-quality
products into the development of this flight control to make it
more stable and reliable, but for the safety of you and others,
it is strongly recommended that you remove the propeller
when using the assistant software, and during the flight
experience Make sure the wiring is correct, the power supply
is normal, and it is away from the crowd, vulnerable and
dangerous goods. When you use this product, due to any of
the following reasons (including but not limited to the
following reasons), you and others' property damage or
personal injury (including direct or indirect), Jiyi will only
assume the flight control loss caused by the problem 2, will
not be liable for any other liabilities and compensation:

1. The user did not follow the correct guidance of this manual when
using it;
2. The strength of the aircraft itself is too low and the structure is
damaged;
3. Problems with the third-party products used by the user caused poor
aircraft operation;
4. User's subjective judgment error or improper manipulation;
5. The user intentionally targets others;
6. The user still ventures to fly when he knows that this product is in an
abnormal working state;
7. The user is flying in a situation where strong magnetic interference,
radio interference and areas prohibited by the government or the line of
sight are blocked and the attitude of the aircraft cannot be determined;
8. The user flies in bad weather conditions that are not suitable for flight;
9. The user disassembles and modifies the products and accessories
produced by Jiyi Company without permission, which causes the aircraft
to malfunction.
10. The user flies under the condition of objective factors such as poor
mental state caused by subjective behaviors such as drinking and drug
use, or problems with his own health;
11. The loss caused by other non-polar wing products is not within the
scope of wing's liability.

Product List
1. Standard list
Before using this product, please carefully check whether the following items are
contained in the product package. If it is missing, please contact us.

2. Matching list

Flight control kit basic
parameters
Basic parameters

K ++ master control installation
1.1 K ++ main control wiring diagram
1.2 K ++ installation location requirements
1). It needs to face up, not upside down, and try to keep it parallel to
the fuselage;
2). In order to obtain the best flight effect, it is recommended to
install the flight control level at the center of gravity of the
aircraft. If the flight control installation position is not at the center
of gravity of the aircraft, please fill in the corresponding installation
distance in the Basic-> Installation-> Installation Position interface
in the K ++ Assistant Software;
3). The flight controller has done a good job of internal shock
absorption, and try to use hard 3M glue to fix the flight controller.
1.3 K ++ installation orientation requirements
As shown in the figure, select one of the installation directions, and
select the corresponding configuration in the Basic-> Installation->
IMU Direction interface in the K ++ Assistant Software. (The
direction of the red arrow represents the head direction)

3.2 Installation location requirements
1). It needs to face up, not upside down, and try to keep it parallel to
the fuselage;
2). In order to obtain the best flight effect, it is recommended to
install the flight control level at the center of gravity of the
aircraft. If the flight control installation position is not at the center
of gravity of the aircraft, please fill in the corresponding installation
distance in the Basic-> Installation-> Installation Position interface
in the K ++ Assistant Software;
3). The flight controller has done a good job of internal shock
absorption, and try to use hard 3M glue to fix the flight controller.

GPS module installation
4.1 Requirements for installation direction
As shown in the figure, select one of the installation directions, and
select the corresponding configuration in the Basic-> Installation->
GPS Direction interface in the K ++ Assistant Software. (The
direction of the red arrow represents the head direction)
4.2 Installation location requirements
1). Elevate the GPS module as far as possible, and keep away from
ESC, power wires, and motors;
2). Try to ensure flight in an open and unobstructed environment;

3). Try to avoid flying in a magnetic interference environment;
4). Do not place strong magnetic substances near the compass,
otherwise permanent damage to the compass may be caused
Software debugging
Jiyi K ++ Flight Control Assistant Software is a software specially
developed for K ++. Users can connect the flight controller and the
computer's USB port through a dedicated USB parameter
adjustment cable. It provides flight control and aircraft related
components (such as racks, remote controls, Expansion module,
etc.) to view, set and upgrade flight control firmware, download
flight logs, etc.
Assistant software download
Before using this product, you need to download and install Jiyi K
++ Flight Controller Assistant Software .
http://www.jiyiuav.com/download.html
Note: Jiyi K ++ Flight Control Assistant Software supports computers
with Windows versions above Win7 , and does not support mobile phone
installation.

Connect Assistant Software
After downloading the software to the computer, open the
Gyroscope K ++ flight control software exe file, and then connect
the flight control to the computer through a dedicated USB cable.
As shown in the figure, click the USB connection icon in the middle
of the interface to use it normally.
Assistant Software Introduction
Jiyi K ++ flight control software includes four functional interfaces:
viewing, basic, advanced and tools.
1. View interface
The viewing interface is mainly used for reading and viewing
parameters. It can detect the basic parameters of the flight control,
the installation data of the rack, the main parameters of the remote
control, the aircraft's sensitivity, the battery voltage protection
setting parameters, and the connection of the expansion module
Status or parameter.

2. Basic interface
Basic interface, including rack selection, installation direction
selection, power configuration settings, remote controller
parameter settings, sensor data reading and calibration, and flight
parameter setting functions.

3. Advanced function interface
The advanced function interface includes advanced sensitivity,
protection functions, pump settings, level gauges, plant protection
functions, fence modules and expansion modules.
4. Tool interface
The tool interface mainly includes the functions of upgrading flight
control firmware, restoring factory settings, importing and
exporting flight control parameters, downloading flight logs, and
registering flight control manufacturers and aircraft models. After
filling in the aircraft and manufacturer information, you need to
click the green + mark on the right to complete.

Basic function settings
The flight controller is installed on the aircraft for the first time, and
you can use the assistant software to perform the following basic
function setting steps before normal flight.
1. Rack selection
Click to enter the basic interface of the assistant software, select
the rack in the upper menu bar, as shown in the figure, and select
the correct rack according to the actual flight control aircraft. The
direction of the yellow arm in the picture is the head direction.

2. Installation settings
Click to enter the basic interface of the assistant software, select
installation from the upper menu bar, as shown in the figure,
choose the correct orientation according to the actual installation
direction of the flight controller and GPS.
1) .IMU orientation
The direction of the IMU is the installation direction of the flight
controller. The red arrow facing the IMU indicates the nose
direction, and the gray arrow on the flight controller indicates the
direction of the flight controller. The wrong choice can lead to
serious flight accidents.
2) .GPS orientation
The red arrow of the GPS direction indicates the nose direction,
and the black arrow of the GPS direction indicates the GPS
direction. Please ensure that the set GPS direction is consistent
with the actual GPS installation direction. If using dual GPS
modules, please ensure that the two GPS installation directions are
the same. The wrong choice can lead to serious flight accidents.

3) .IMU location
For users with high requirements for flight performance, ordinary
users can leave it alone. According to the distance between the
flight controller and the center of gravity of the aircraft, fill in the
IMU installation position correctly.
3. Power configuration
Click to enter the basic interface of the assistant software, select
the power configuration in the upper menu bar, as shown in the
figure, including basic sensitivity settings, motor idle speed
selection, motor sequence detection and motor serial number.

1). Basic sensitivity setting
Basic sensitivity includes roll correction, roll damping, pitch
correction, pitch damping, yaw, and vertical. It is mainly used to
adjust and adapt to the rack. The function definition of each
sensitivity is shown in the table.
Basic sensitivity debugging steps:
a. First adjust the vertical sensitivity, adjust it under no-load conditions, and slowly
increase the vertical sensitivity until the aircraft twitches up and down, and then
adjust the sensitivity back to no twitch.
b. Adjust the roll / pitch damping sensitivity again, and slowly adjust it from low to
high according to 10%, until the aircraft appears high frequency jitter or the motor

noise increases significantly, then fine-tune the sensitivity back to normal
conditions.
c. Then adjust the roll / pitch correction sensitivity, press 10% slowly from low to
high, until the aircraft shakes, the motor sound is abnormal or exaggerated, and
then adjust the sensitivity back to normal conditions.
d. Finally adjust the yaw sensitivity. In general, if the default parameters do not
appear to lock the head, you do not need to adjust it. If the head does not lock,
increase the sensitivity.
2). Motor idle speed selection
It is used to set the idle speed of the motor after the aircraft is
unlocked. Disabled means not to rotate. From very slow to fast, it
means that the speed that can be reached by clicking is faster.
3). Motor sequence detection
Used to test the rotation direction of the motor. When using this
function, connect the power battery and remove the propeller.
After clicking the circular buttons M1 ～M4, the corresponding
motor will rotate at idle speed. Please ensure that the motor serial
number, steering and diagram are consistent.
4 Remote control settings
Click to enter the basic interface of the assistant software, and
select the remote control in the upper menu bar. As shown in the
figure, you can select the remote control type, remote control flight
mode channel settings, and runaway protection settings according
to actual requirements.
1) .Remote control type
K ++ flight control currently supports SBUS type remote control.
2) .Remote control calibration

Note: The remote control must be calibrated when using or replacing the remote
control for the first time.
Click the "Joystick Calibration" button to start the joystick
calibration. Turn on the remote control at the same time, and move
all the joysticks of the remote control back and forth between the
maximum and minimum positions, and confirm that channels 1 to 4
of the remote control are roll, pitch, throttle, and yaw
respectively. After calibration, return 1 ~ 4 channels of the remote
control to the middle position, and then click the “Calibration End”
button.
3) .Flight mode setting
The 5 channels of the remote control are used to map the flight
mode. Three flight modes can be set in the K ++ assistant software:
ATT (attitude mode), manual operation (GPS mode), and AB
execution (AB operation mode). Subsequent chapters will explain
each flight mode in detail. By default, the three positions of the 5
channels are all ATT mode. The user can click the drop-down menu
to the right of the three positions to select another mode.
4). Runaway protection settings
Runaway protection is used to set the flight behavior of the remote
control when it is out of control, including automatic return,
automatic landing, automatic hovering and landing after hovering.
5). Run out of control to continue route setting
When the out-of-control continue operation option is enabled, the
out-of-control protection will not be performed after the remote
control is out of control in the operation mode (AB operation, route
operation), but the operation task will continue to be performed. It
is recommended to use this function with the radar.

5.Sensor
Click to enter the basic interface of the assistant software, select
the sensor in the upper menu bar, as shown in the figure, check the
flight control IMU and GPS sensor parameters, and perform
accelerometer calibration and magnetic compass calibration. When
you click calibration, the assistant software will prompt
Instructions, just follow the interface instructions.