Kanardia Amigo User manual

Amigo — Manual
Kanardia d.o.o.
July 2018
© Kanardia d.o.o.
Revision 1.0

Amigo — Manual
Contact Information
Publisher and producer:
Kanardia d.o.o.
Lopata 24a
SI-3000
Slovenia
Tel: [phone]
Email: [e-mail]
A lot of useful and recent information can be also found on the Internet. See
http://www.kanardia.eu for more details.
Copyright
This document is published under the Creative Commons, Attribution-Share-
Alike 3.0 Unported licence. Full license is available on http://creativecommons.
org/licenses/by-sa/3.0/legalcode web page and a bit more human read-
able summary is given on
http://creativecommons.org/licenses/by-sa/3.0/. In short, the license
gives you right to copy, reproduce and modify this document if:
 you cite Kanardia d.o.o. as the author of the original work,
 you distribute the resulting work only under the same or similar license
to this one.
Credits
This document was written using TeX Live (L
A
T
E
X) based document creation
system using Kile running on Linux operating system. Most of the figures were
drawn using Open Office Draw, Inkscape and QCad applications. Photos and
scanned material was processed using Gimp. All document sources are freely
available on request under the licence mentioned above and can be obtained
by email. Please send requests to [e-mail].
Revision History
The following table shows the revision history of this document.
2 © Kanardia 2018

Amigo — Manual
Rev. Date Description
1.0 Jane 2018 Initial release
3 © Kanardia 2018

Amigo — Manual CONTENTS
Contents
1 Introduction 5
1.1 General Description . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Technical Specification . . . . . . . . . . . . . . . . . . . . . . . 6
1.3 Icons Used Trough the Manual . . . . . . . . . . . . . . . . . . 7
2 Operation 8
2.1 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 UserInterface............................ 8
2.3 StatusLine ............................. 9
2.4 Autopilot Lateral Modes . . . . . . . . . . . . . . . . . . . . . . 10
2.4.1 Heading Hold Mode (HDG) . . . . . . . . . . . . . . . . 10
2.4.2 Horizontal Navigation (HNAV) . . . . . . . . . . . . . . 11
2.5 Autopilot Vertical Modes . . . . . . . . . . . . . . . . . . . . . 12
2.5.1 Altitude Hold (ALT) . . . . . . . . . . . . . . . . . . . . 12
2.6 Disengaging The Autopilot . . . . . . . . . . . . . . . . . . . . 14
2.7 UserSettings ............................ 14
2.7.1 Units ............................ 15
2.7.2 Security........................... 15
2.7.3 About............................ 15
3 Installation & Maintenance 17
3.1 Mounting Procedure . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2 Connections............................. 17
3.3 Maintenance ............................ 18
3.4 Repair................................ 19
4 Limited Conditions 20
4.1 Two Years Warranty . . . . . . . . . . . . . . . . . . . . . . . . 20
4.2 TSO Information — Limited Operation . . . . . . . . . . . . . 22
4 © Kanardia 2018

Amigo — Manual 1. Introduction
1 Introduction
First of all, we would like to thank you for purchasing our device. Amigo is an
electronic device, which enhances autopilot functionality. Amigo can not act
alone and it must be combined with some other Kanardia device. Typically
it is connected to Nesis or Aetos. In addition it must be connected with
autopilot servos.
This manual describes the technical description, operation, installation and
tuning.
1.1 General Description
Amigo is an electronical device which is used as a remote unit for Nesis or
Aetos autopilot system. It serves for easy changing of the autopilot parameters
and modes.
Amigo can not work standalone and it must be connected with other Kanardia
devices, to exchange information. You can not use third party devices. The
connection is made with a CAN bus. Typically, Amigo is connected with:
 Nesis or Aetos device. They are used for the autopilot handling and tun-
ing. In addition, they also host an AD-AHRS device internally, which
is essential for proper AP operation. The AD-AHRS device provides
attitude, altitude, airspeed, heading and GPS data.
 Two servomotors, which are connected to the command system in order
to steer an aircraft.
Amigo has a high-brightness IPS LCD display. The panel has two rotary-push
knobs and two simple buttons, which are used to operate Amigo.
On the back side, amigo has four CAN bus connectors, which allow simple
autopilot integration. Two are used for the primary CAN bus. The other two
are bridged and used to connect servo motors (SERU). A RS232 connector is
also provided for possible future extension of Amigo functions.
5 © Kanardia 2018

Amigo — Manual 1.2 Technical Specification
1.2 Technical Specification
Table 1 shows some basic technical specification of Amigo autopilot controler.
Description Value
Weight 170 g
Size 50 x 102 x 38 mm
Operational voltage 7 to 32 V
Power consumption 2.4 W
Current 200 mA at 12 V
100 mA at 24 V
Operating temperature -30 ◦Cto +85 ◦C
Humidity 30 % to 90 %, non condensing
Communication CAN bus, 29 bit header, 500 kbit,
Kanardia protocol
Table 1: Basic technical specifications.
50
102
31
7 18
Figure 1: Front and side view of the Amigo with its principal dimensions.
Dimesions are given in mm.
6 © Kanardia 2018

Amigo — Manual 1.3 Icons Used Trough the Manual
1.3 Icons Used Trough the Manual
A few icons appear on the side of the manual, which have special meanings:
This icon denotes information that needs to be taken with special
attention.
This icon denotes background information about the subject.
This icon denotes an installation tip.
7 © Kanardia 2018

Amigo — Manual 2. Operation
2 Operation
2.1 General Precautions
The approved Pilot’s Operating Handbook (POH) always supersedes the in-
formation in this manual.
Refer to the approved Pilot’s Operating Handbook (POH) for emergency pro-
cedures.
2.2 User Interface
Amigo user interface was carefully designed with an ease of operation in mind.
The result is a device with only two rotary knobs and two push-buttons which
provides the pilot easy access to most commonly used autopilot functions.
LCD display is divided in two screens: lateral modes (upper half) and verti-
cal modes (lower half). Each of the screen displays relevant information for
selected lateral/vertical mode.
Figure 2 illustrates knobs, push buttons and LCD screen division.
1. Lateral knob (HDG): Rotating the knob changes the reference value
of the selected lateral mode. Long press on a knob shows the lateral
modes menu.
2. Navigation mode (HNAV): Short press on the button activates Nav-
igation mode1.
3. Vertical knob (ALT): Rotating the knob changes the reference value
of the selected vertical mode. Long press on a knob shows the vertical
modes menu.
4. Option knob (VNAV): Short press on the key selects the optional
parameter for vertical mode.
5. Lateral info: Top half of the LCD display shows lateral mode infor-
mation.
6. Vertical info: Bottom half of the LCD display shows vertical mode
information.
7. Status line: Displays status of the autopilot limiting conditions.
1Only when connected to NESIS or AETOS device.
8 © Kanardia 2018

Amigo — Manual 2.3 Status Line
12
43
6
5
7
Figure 2: Amigo controls and screen division.
2.3 Status Line
Amigo LCD screen always displays status line on the middle. Status line tells
if conditions for the AP operations are met.
Figure 3: Amigo controls and screen division.
1. IAS shows a small slider. If indicated airspeed is within limits for the
AP operation, the slider will be green. When the airspeed is close to
the either limit, but still inside the valid range, the slider will become
yellow (amber) and when it is outside limits, it will be red.
2. V ... stands for vertical speed. Same logic as for IAS applies also here.
If current vertical speed is within limits, the light is green, close to limits
the light becomes yellow (amber) and outside limits the light is red.
9 © Kanardia 2018

Amigo — Manual 2.4 Autopilot Lateral Modes
3. R ... stands for roll angle. Again, green, yellow and red lights are shown.
4. P ... stands for pitch angle. It can be green, yellow or red.
In this case Amigo also refuses to engage any autopilot function. If any of
the four parameters becomes red, the autopilot will automatically disengage
both servo motors.
Please refer to the Autopilot manual for more details on how to set the pa-
rameter limits.
2.4 Autopilot Lateral Modes
Amigo consists of the following lateral modes: heading hold (HDG) and hor-
izontal navigation (HNAV). Default lateral mode is the heading hold mode,
which is displayed every time Amigo powers up. To change the lateral mode
follow the steps bellow:
 Press and hold the HDG knob for at least 1 second (long press). Amigo
will display lateral autopilot modes dialog.
 Rotate the HDG knob until the dialog of desired lateral mode appears.
 Short press on HDG knob to engage the selected lateral autopilot mode.
2.4.1 Heading Hold Mode (HDG)
In short, the Heading Hold mode (HDG) engages roll servo motor to maintain
selected reference heading.
If for any reason any of the limiting parameters is not withing valid limits,
Amigo will automatically disengage servo motors and it will display a warning.
When a HDG mode is inactive the first increment/decrement of the HDG
knob sets the current heading value as a reference heading hold value and
automatically engages roll servo motor. Any following rotation of the HDG
knob changes the reference heading value:
 Reference heading value can take values from 0 to 359 ° with 1 ° resolu-
tion.
 Rotating the HDG knob clockwise increments reference heading value.
 Rotating the HDG knob counterclockwise decrements the reference head-
ing value.
10 © Kanardia 2018

Amigo — Manual 2.4 Autopilot Lateral Modes
 Moderate rotation of the HDG knob gives 1 ° /step change.
 Rapid rotation of the HDG knob gives 10 ° /step change.
Short press on a HDG knob pauses heading mode (if HDG mode is engaged)
and disengages roll servo motor. Another short press on a HDG knob engages
back roll servo motor with previous reference heading value.
Figure 4 illustrates heading hold situation on the upper part of the LCD
display.
1. Target heading hold.
2. Current aircraft tracking.
3. Steering arrow. Right arrow appears on the right side and left arrow on
the left side.
1
2
3
Figure 4: Upper part of the LCD display in the Heading Hold mode.
HDG mode can be disengaged in several ways:
 Short press on a HDG knob while the heading hold mode is active
disengages the roll servo motor.
 Short press on AP button on Joyu control stick.
2.4.2 Horizontal Navigation (HNAV)
Short press on a HNAV key engages the Horizontal Navigation (HNAV) mode.
This selects NESIS or AETOS as a primary navigation source and follow pre-
planned route or fly direct-to waypoint. It also engages roll servomotor if it
is inactive. The HNAV mode is active only for direction flying. In order to
change an altitude use ALT or VS controls.
HNAV mode can be disengaged in several ways:
11 © Kanardia 2018

Amigo — Manual 2.5 Autopilot Vertical Modes
 Press on a NAV button while the horizontal navigation mode is active
disengages the roll servo motor.
 Short press on AP button on Joyu control stick.
If for any reason any of the limiting parameters is not withing valid limits,
Amigo will automatically disengage servo motors and it will display a warning.
2.5 Autopilot Vertical Modes
Default vertical mode is Altitude Hold mode, which will be displayed every
time Amigo powers up.
2.5.1 Altitude Hold (ALT)
Altitude Hold mode (ALT) engages pitch servo motor to maintain selected
reference altitude value.
If for any reason any of the limiting parameters is not withing valid limits,
Amigo will automatically disengage servo motors and it will display a warning.
When ALT mode is inactive the first increment/decrement of the ALT knob
sets current altitude value (it rounds it to nearest 10 ft) as a reference altitude
hold value and engages pitch servo motor. Any following rotation of the knob
changes the reference altitude value:
 Reference altitude value can take values from 0 to 20000 ft with 10 ft
resolution.
 Rotating the ALT knob clockwise increments reference altitude value.
 Rotating the ALT knob counterclockwise decrements reference altitude
value.
 Moderate rotation of the ALT knob gives 10 ft/step change.
 Rapid rotation of the ALT knob gives 100 ft/step change.
Short press on ALT knob pauses altitude hold mode (if altitude hold mode
is engaged) and disengages pitch servo motor. Another short press on ALT
knob reengages pitch servo motor with previous reference altitude value.
ALT mode has an additional parameter vertical speed (VS) which defines the
maximum vertical speed which Amigo will use to maintain or climb/descent
12 © Kanardia 2018

Amigo — Manual 2.5 Autopilot Vertical Modes
to reference altitude level. Default VS value is 500 ft/min. Short press on
OPT key displays VS parameter dialog. Rotate the ALT knob to change the
vertical speed value:
 Vertical speed parameter for altitude hold mode can take values from
100 ft/min to 1000 ft/min with 100 ft/min resolution.
 Rotating the ALT knob clockwise increments vertical speed parameter
value.
 Rotating the ALT knob counterclockwise decrements the vertical speed
parameter value.
 Rotation of the ALT knob gives 100 ft/min per step change.
Dialog will also close automatically about 7 seconds after the last change of
the parameter.
During the altitude transition Amigo will try to maintain the vertical speed
as close as possible to the defined vertical speed. Due to aircraft performance
limitations (engine power, trim position, flight configuration, altitude, etc.)
it might happen that the actual vertical speed will be significantly lower than
the maximal defined vertical speed.
Figure 5 illustrates the infomation of the Altitude Hold mode.
1. Target altitude hold.
2. Current altitude.
3. Climb, descent marker.
4. Current climb/descent rate.
5. Target climb/descent rate.
Altitude hold mode can be disengaged in several ways:
 Press on ALT knob while the altitude hold mode is active disengages
pitch servo motor.
 Short press on AP button on Joyu control stick.
13 © Kanardia 2018

Amigo — Manual 2.6 Disengaging The Autopilot
1
2
4
5
3
Figure 5: Lower part of the LCD display in the Altitude Hold mode.
2.6 Disengaging The Autopilot
Autopilot servo motors can be disengaged in several ways.
 A short press on HDG knob while the lateral hold mode is active disen-
gages roll servo motor.
 A short press on ALT knob while the altitude hold mode is active dis-
engages pitch servo motor.
 A short press on AP button on Joyu control stick disengages both servo
motors.
 An external button may be installed and connected with Nesis. It is
usually mounted on command stick or on steering wheel. A press on
this button will disengage both servo motors.
 Power line for both servo motors must be routed via a circuit breaker
switch. Turning off the circuit breaker switch will disengage both servo
motors.
2.7 User Settings
User settings window can be accessed by pressing and holding the ALT knob
for about 2 seconds to bring up the menu. From this menu the Settings option
brings up a window as shown of figure 6.
14 © Kanardia 2018

Amigo — Manual 2.7 User Settings
Figure 6: User settings window.
2.7.1 Units
User can select preferred units for following parameters:
 Direction: true or magnetic.
 Altitude: feet or meters.
 Vertical speed: feet/min or m/s.
 Airspeed: kts, km/h or mph.
Figure 7: Units window.
2.7.2 Security
This option is not in use at the moment.
2.7.3 About
The About window shows some information about Amigo. Its serial num-
ber, software version and software creation date, AD-AHRS (Airu) unit serial
number and electronic magnetic compass (Magu) serial number.
Airu unit must be present on the bus, while Magu is optional.
15 © Kanardia 2018

Amigo — Manual 2.7 User Settings
Figure 8: About window.
16 © Kanardia 2018

Amigo — Manual 3. Installation & Maintenance
3 Installation & Maintenance
Amigo requires 48 X 100 mm chamfered slot in the instrument panel, see
figure 9. Position of the slot must ensure good access for knob and button
operations and must always be visible from the pilot’s perspective.
Carefully cut the slot. The slot must be tight. There is only about 1 mm
margin between the slot edge and the Amigo panel end – there is almost no
room for an error.
3.1 Mounting Procedure
The mounting screw holes are located at all four corners of the Amigo front
panel. The device is mounted using four screws type M3. To prevent internal
stresses, please make sure that the instrument panel is flat. It is highly rec-
ommended that the instrument panel is mounted using rubber shocks, which
reduce the vibrations. Figure 9 illustrates the mounting hole.
Remove the mounting screws from the device. Insert the device from the front
side of the instrument panel and fix it with all four screws.
Due to better access it is normally more convenient to connect all cables at
the back of Amigo before fixing it into the instrument panel.
3.2 Connections
Figure 10 shows Amigo’s back side with all connection ports.
 POWER – this connection is seldom used. Amigo has a very modest
power consumption and thus it get power from the CAN bus. However,
it can be also powered from the power connector.
 SERVO – Secondary line of CAN bus. Not in the use for the moment.
Reserved for the future use.
 CAN – Standard CAN connector – use standard RJ45 ethernet cable.
Two CAN ports are provided, so that devices can be daisy-chained to
the CAN bus. Both of them are equivalent. This connector is typically
used to connect Amigo to main CAN bus Nesis, Aetos and servos.
 AUX – Not in the use for the moment. Reserved for the future use.
17 © Kanardia 2018

Amigo — Manual 3.3 Maintenance
48.4
100.4
15.14
3.2
44
96
10.7
10.7
Figure 9: Instrument panel cutout and mounting holes. Dimensions are in
milimeters. Some tolerance has been already incorporated. Warn-
ing: Figure may not be in scale.
3.3 Maintenance
No special maintenance is required.
18 © Kanardia 2018

Amigo — Manual 3.4 Repair
POWER
CAN CAN
SERVO SERVO
AUX
Figure 10: Instrument panel cutout and mounting holes. Some tolerance has
been incorporated.
3.4 Repair
Amigo has no serviceable parts inside. In the case of malfunction, it must be
sent to factory for a repair.
19 © Kanardia 2018

Amigo — Manual 4. Limited Conditions
4 Limited Conditions
Although a great care was taken during the design, production, storage and
handling, it may happen that the Product will be defective in some way.
Please read the following sections about the warranty and the limited opera-
tion to get more information about the subject.
4.1 Two Years Warranty
Kanardia d.o.o. warrants the Product manufactured by it against defects in
material and workmanship for a period of twenty-four (24) months from retail
purchase.
Warranty Coverage
Kanardia’s warranty obligations are limited to the terms set forth below:
Kanardia d.o.o. warrants the Kanardia-branded hardware product will con-
form to the published specification when under normal use for a period of
twenty-four months (24) from the date of retail purchase by the original end-
user purchaser (”Warranty Period”). If a hardware defect arises and a valid
claim is received within the Warranty Period, at its option and as the sole
and exclusive remedy available to Purchaser, Kanardia will either (1) repair
the hardware defect at no charge, using new or refurbished replacement parts,
or (2) exchange the product with a product that is new or which has been
manufactured from new or serviceable used parts and is at least functionally
equivalent to the original product, or, at its option, if (1) or (2) is not possible
(as determined by Kanarida in its sole discretion), (3) refund the purchase
price of the product. When a refund is given, the product for which the refund
is provided must be returned to Kanardia and becomes Kanardia’s property.
Exclusions and Limitations
This Limited Warranty applies only to hardware products manufactured by or
for Kanardia that have the ”Kanardia” trademark, trade name, or logo affixed
to them at the time of manufacture by Kanardia. The Limited Warranty
does not apply to any non-Kanardia hardware products or any software, even
if packaged or sold with Kanardia hardware. Manufacturers, suppliers, or
publishers, other than Kanardia, may provide their own warranties to the
Purchaser, but Kanarida and its distributors provide their products AS IS,
without warranty of any kind.
20 © Kanardia 2018