Kanardia Horis User manual

Horis - Installation and User Manual
©Kanardia d.o.o.
August 2021
Manual Revision 1.16
Software Version 3.8

Horis User Manual
Contact Information
Publisher and producer:
Kanardia d.o.o.
Lopata 24 a
SI-3000
Slovenia
Tel: [phone]
Email: [e-mail]
A lot of useful and recent information can be also found on the In-
ternet. See http://www.kanardia.eu for more details.
Copyright
This document is published under the Creative Commons, Attribu-
tion - ShareAlike 3.0 Unported licence. The license is available on
creativecommons.org/licenses/by-sa/3.0/legalcode web page
and a bit more human readable 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 TeTeX (L
A
T
EX) based document
creation system using Kile running on Linux operating system. Most
3©Kanardia 2021

Horis User Manual
of figures were drawn using Libre Office Draw, Inkscape and Bric-
scad applications. Photos and scanned material was processed using
Gimp. Sam2p was used to convert pictures into eps format. All
document sources are freely available on request under the license
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.
Acknowledgement
We thank Mr. John Delafield from LX Avionics UK for revising
the manual. We also thank all users who pointed to the manual
shortcomings and helped us to improve the manual and the product.
4©Kanardia 2021

Horis User Manual CONTENTS
Rev. Date Description
1.0 Jul 2015 Initial release.
1.1 Nov 2015 RS-232 pin desciption and NMEA out.
1.2 Jun 2016 Horis 80 mm.
1.3 Jan 2017 Compass, direction indicator, white line.
1.4 May 2017 Minor corrections and clarifications.
1.5 Sep 2017 Added G-Meter screen and its settings.
RS232 pin 4 declared as not used.
1.6 Jan 2018 Adjustable turn rate bar on AHRS screen.
1.7 Jul 2018 Added SBAS GPS symbol and
a photo of broken LCD.
1.8 Sep 2018 Pinout description completed.
1.9 Mar 2019 Initial brightness and GNSS info.
1.10 Jul 2019 Roll, pitch and yaw section was added.
1.11 Dec 2019 Chrono screen was added.
1.12 May 2020 Support for special time zones and
TQ-KTX2 transponder.
1.13 Jul 2020 Instrument pictures updated.
1.14 Nov 2020 Autopilot support, minor corrections.
1.15 May 2021 Internal backup battery support in Horis 57.
1.16 Aug 2021 The max output current on RS-232
port changed to 50 mA.
Contents
1 Introduction 9
1.1 Latest Manual Version . . . . . . . . . . . . . . . . . 9
1.2 General Description . . . . . . . . . . . . . . . . . . . 9
1.3 Technical Specification . . . . . . . . . . . . . . . . . 10
1.4 Roll, Pitch and Yaw . . . . . . . . . . . . . . . . . . 10
5©Kanardia 2021

Horis User Manual CONTENTS
2 Installation & Maintenance 13
2.1 LCD Display Damage Warning . . . . . . . . . . . . 13
2.2 Mounting Procedure . . . . . . . . . . . . . . . . . . 14
2.3 Space Behind the Panel . . . . . . . . . . . . . . . . 16
2.4 Connections....................... 16
2.4.1 Static - Pst ................... 18
2.4.2 Total Pressure - Ptot .............. 18
2.4.3 CANBus .................... 18
2.4.4 Power - PWR ................... 20
2.4.5 GPS Antenna - GPS ............... 20
2.4.6 Outside Air Temperature - OAT ........ 21
2.4.7 RS-232 Port (NMEA Out) . . . . . . . . . . . 23
2.4.8 D-sub 9 Port . . . . . . . . . . . . . . . . . . 24
2.5 Levelling AHRS . . . . . . . . . . . . . . . . . . . . . 25
2.5.1 Yaw Misalignment . . . . . . . . . . . . . . . 26
2.5.2 Procedure .................... 27
2.6 Compass Calibration . . . . . . . . . . . . . . . . . . 27
2.7 Internal Backup Battery . . . . . . . . . . . . . . . . 28
2.7.1 Battery Module . . . . . . . . . . . . . . . . . 28
2.7.2 Operation .................... 29
2.7.3 Status icon . . . . . . . . . . . . . . . . . . . 30
2.8 Maintenance....................... 31
2.9 Repair .......................... 31
2.10 Horis Use in Gliders . . . . . . . . . . . . . . . . . . 31
2.11 Software Update . . . . . . . . . . . . . . . . . . . . 33
2.11.1 Update With a Blu Module . . . . . . . . . . 33
2.11.2 Update With Micro SD Card . . . . . . . . . 34
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Horis User Manual CONTENTS
3 Horis Screens 35
3.1 AD-AHRS........................ 35
3.2 Directional Indicator . . . . . . . . . . . . . . . . . . 38
3.3 G-Meter......................... 40
3.4 Chrono.......................... 41
4 Operations 42
4.1 AdjustingQNH..................... 43
4.2 Adjusting Direction Indicator . . . . . . . . . . . . . 44
4.3 Reseting G-Load . . . . . . . . . . . . . . . . . . . . 44
4.4 Setting the Neutral Pitch . . . . . . . . . . . . . . . . 44
4.5 Diminishing the Brightness . . . . . . . . . . . . . . . 44
4.6 Settings ......................... 45
4.6.1 Units....................... 45
4.6.2 Airspeed..................... 46
4.6.3 Response Time . . . . . . . . . . . . . . . . . 47
4.6.4 AHRS Level . . . . . . . . . . . . . . . . . . . 48
4.6.5 Screens...................... 49
4.6.6 Direction Indicator . . . . . . . . . . . . . . . 50
4.6.7 G-Meter..................... 50
4.6.8 Pitostatic Offset . . . . . . . . . . . . . . . . . 51
4.6.9 TurnRate.................... 52
4.6.10 TimeZone.................... 53
4.6.11 Compass Calibration . . . . . . . . . . . . . . 54
4.6.12 Compass Offset . . . . . . . . . . . . . . . . . 54
4.6.13 NMEA Out . . . . . . . . . . . . . . . . . . . 54
4.6.14 Initial Brightness . . . . . . . . . . . . . . . . 54
4.6.15 GNSSInfo.................... 55
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Horis User Manual CONTENTS
4.6.16 Security ..................... 57
4.6.17 About ...................... 57
5 Autopilot 58
5.1 IntendedUse ...................... 59
5.2 Operation Limitations . . . . . . . . . . . . . . . . . 59
6 Limited Conditions 60
6.1 Warranty ........................ 60
6.2 TSO Information . . . . . . . . . . . . . . . . . . . . 63
8©Kanardia 2021

Horis User Manual 1. Introduction
1 Introduction
First of all we would like to thank you for purchasing our Horis device.
Horis AD-AHRS is an electronic device, which includes several state
of the art sensors and combines them into a small PFD display. It
fits into a standard 57 mm (21
4”) / 80 mm (31 8”) panel hole. It can
serve as a standalone PFD display and it may be used as primary
instrument or as a perfect backup.
This manual describes the technical description of the unit, installa-
tion and operation.
CAUTION: Horis is not TSO approved as a flight instrument.
1.1 Latest Manual Version
The Horis manual changes with time. Your printed manual may be
out of date. Please check our web site https://www.kanardia.eu/
product/horis/ for the latest manual version.
1.2 General Description
Horis is an electronic device. It consists of a set of sensors and an LCD
display. Majority of sensors are built into its compact housing: static
pressure, dynamic pressure, 3 axis accelerometer, 3 axis angular rate
and GPS receiver. Only GPS antenna and OAT sensor are externally
mounted. All sensors are solid state - there are no moving parts,
which means less problems with fatigue and aging.
Horis has two processors: sensor processor and display processor.
The sensor processor reads sensors and calculates airdata, attitude,
9©Kanardia 2021

Horis User Manual 1.3 Technical Specification
GPS and other values using special sensor fusion algorithms. These
values are passed to CAN bus where other CAN devices may use also
them. The display processor monitors the CAN bus and it displays
the information on LCD display.
One push/rotate knob is used for the operations. User interface is
optimized so only minimal interaction is required to operate the in-
strument.
1.3 Technical Specification
Tables 1–3 starting on page 11 list basic technical specifications of
Horis.
1.4 Roll, Pitch and Yaw
The AD-AHRS-GPS module (a.k.a. AIRU), which is built-in Horis is
responsible for calculation of roll, pitch and yaw angles (a.k.a. Euler
angles).
The module holds several sensors, which readings are combined to-
gether using sophisticated algorithms. Our implementation follows
ideas of Extended Kalman filtering, which combines mathematical
model with measurements.
The mathematical model is based on gyroscope integration and it
gives short term response. MEMS gyroscopes sense angular velocity.
This angular velocity is integrated in time domain to obtain angles.
Numerical integration is performed about 100 times per second where
angular velocities are assumed to be constant between two integration
steps. All MEMS gyroscopes have same error, which integrated in
time quickly render angles (roll, pitch, yaw) unusable unless they are
corrected with some independent measurements.
Two measurements are used to stabilize the angles. One measure-
ment is apparent gravity. This is combination of measured values
10 ©Kanardia 2021

Horis User Manual 1.4 Roll, Pitch and Yaw
Description Value
Operational voltage 5 to 32 V
Operating temperature -30 ∼+85 ◦C
Humidity 30 ∼90 %, non condensing
Barometric sensor 24 bit, 10 to 1200 hPa, 20 cm resolution
QNH range 590 to 1080 hPa, (17.42 to 31.89 inHg)
Airspeed sensor 12 bit, 0 to 69 hPa, 381 km/h, 205 kt
resolution <0.1 km/h
(units before Oct 19) 0 to 50 hPa, 325 km/h, 175 kt
Acceleration 16 bit, 3D, dynamic range 0 to 16 g,
typical resolution 0.12 mg
Angular rate 16 bit, 3D, 250◦/s, resolution 0.009◦/s
GPS 10 Hz, 66 channel, hot start 1 s,
cold start 35 s, sensitivity -165 dBm
OAT 12 bit, range -55 to 125◦C, 0.5◦C accu-
racy
Communication CAN bus, 29 bit header, 500 kbit, Kanar-
dia protocol
RS 232, NMEA out, 9600 baud (default)
Sensor processor 32 bit, ARM Cortex M3, 80 Mhz
Display processor 32 bit, ARM Cortex M3 - LCD, 120 Mhz
Start-up time System less than 1 s, AHRS about 5 s.
Table 1: Technical specifications of Horis instrument.
from accelerometers, angular rates, true airspeed and airspeed accel-
eration. This apparent gravity is then used to stabilize roll and pitch
angles, but it can’t be used to stabilize yaw. The second measure-
ment is the direction measurement. GPS track is used to stabilize
yaw.
A combination of angular rate time integration and corrective mea-
surements are resulting in final solution. They are combined using
11 ©Kanardia 2021

Horis User Manual 1.4 Roll, Pitch and Yaw
Description Value
Weight 180 g (230 g with GPS antenna and OAT cable)
Size 62 x 62 x 45 (64 with connectors) mm
Power consumption 2.16 W
Current 180 mA at 12 V
Panel hole 57 mm (2.25 inch) diameter, standard fit
Display 320 x 240 pix, diagonal 2.55”,
16 bit full colour, super bright
SD card slot micro SD, since Jan 2020
Table 2: Additional specifications for 57 mm Horis version.
Description Value
Weight 250 g (300 g with GPS antenna and OAT cable)
Size 82 x 82 x 45 (64 with connectors) mm
Power consumption 3.2 W
Current 270 mA at 12 V
Panel hole 80 mm (2.25 inch) diameter, standard fit
Display 320 x 240 pix, diagonal 3.45”,
16 bit full colour, super bright
Table 3: Additional specifications for 80 mm Horis version.
Extended Kalman filtering technique.
Although we are talking about roll, pitch and yaw angles the mathe-
matical model does not use these angles and is using a more suitable
quaternion implementation instead.
CAUTION: A coordinated flight (no slip or skid) is essential. Preci-
sion of roll, pitch and yaw is very good if such flight is maintained.
Short deviations from the coordinated flight do not represent a prob-
lem.
A long time deviation from the coordinated flight yields to false roll
12 ©Kanardia 2021

Horis User Manual 2. Installation & Maintenance
and pitch. When a coordinated flight is resumed, the false roll and
pitch will vanish after some time (about 30 secs).
Sustained turns do not harm the indication as long the coordinated
flight is maintained. Some minor deviation is obtained in very steep
turns – steeper than 50◦. The main reason for this is that heading
rate is so fast that GPS track is lagging behind and corrective yaw
measurements are slightly incorrect. This effects all three angles.
Aerobatics will make roll, pitch and yaw useless pretty quickly as
they violate coordinated flight principle. Once coordinated flight
is resumed, the angles will stabilize around correct values. Typical
time required is 1-2 minutes, while almost correct angles shall be
established after 30 seconds.
2 Installation & Maintenance
Horis requires a standard size 57/80 mm hole in the instrument panel.
Position of the hole must ensure good access for knob operations and
it must be always visible from the pilot’s perspective.
2.1 LCD Display Damage Warning
LCD Display can be damaged during the installation. This happens
when mounting screw reaches the LCD display. We strongly advise
you to use only screws provided with the instrument. Also make sure
that there is at least 1.5 mm spacing between the screw head and Ho-
ris mask. This means that for screws provided with the instrument,
minimal instrument panel thickenss must be at least 1.5 mm. (This
also means that even when original screews are used, LCD can be
broken due to a too thin panel.) Figure 1 illustrates the danger and
Figure 2 shows an example.
13 ©Kanardia 2021

Horis User Manual 2.2 Mounting Procedure
Figure 1: Screw can damage LCD screen behind the mask.
When you use your own M4 screws, please make sure that screw will
never touch the LCD screen behind the front mask. Cut the screw
to proper length when necessary.
2.2 Mounting Procedure
The mounting screw holes are located on a circle of 66/89 mm diam-
eter. The instrument is mounted using three screws type M4 and one
M6 insert1. To prevent internal stresses, please make sure that the
instrument panel is flat. The fourth hole is used for the knob axle.
Figure 4 illustrates the mounting hole.
Remove the mounting screws from the instrument and then remove
1Only Horis 80 mm.
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Horis User Manual 2.2 Mounting Procedure
Notice LCD behind the bezel.
Too long screw will break it.
Figure 2: Example of broken LCD screen. Edge of the LCD display
is visible behind the bezel.
the knob. Use finger nail or sharp knife to remove the cap from
the knob, but be careful not to cut the cup away. Once the cap is
removed, use flat screwdriver and loosen the screw. Slide the knob
from its axle. Figure 3 shows an example of the knob with its cap
removed.
Figure 3: Photo of the knob with its cap removed.
Some older Horis 80 have an additional M6 nut that is used as an
axle guide. This nut must be also removed.
Insert the instrument from the back side of the instrument panel.
Fix three mounting screws. In the Horis 80 case, fix also the M6
nut (axle guide). Then insert the knob back to the axle, tighten the
knob. Please make sure it does not rub the panel and ensure that
15 ©Kanardia 2021

Horis User Manual 2.3 Space Behind the Panel
it can be pushed in and out for the system operation. Put the cap
back.
(a) 57 mm
(b) 80 mm
Figure 4: Instrument panel cutout and mounting holes. Some toler-
ance has been incorporated. Warning: Figures are not in
scale.
2.3 Space Behind the Panel
Horis requires only minimal space behind the instrument panel. Depth
of housing is 48 mm, connectors require additional 19 mm and cables
and tubing require about 20 mm as shown on Figure 5.
2.4 Connections
Figure 6 illustrates all connections at the back side of the instrument.
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Horis User Manual 2.4 Connections
Figure 5: Side view of Horis. Only minimal space is required behind
the panel. Figure shows 57 mm version, but side dimensions
for 80 mm Horis are even smaller (40 mm depth).
Figure 6: Back view of the instrument with connections. 57 mm ver-
sion is shown.
Horis must be connected to the pitostatic system.
AHRS will not work properly when pitostatic is not connected.
17 ©Kanardia 2021

Horis User Manual 2.4 Connections
2.4.1 Static - Pst
The instrument must be connected to the static pressure source.
Static source is usually obtained from pressure sources located on
fuselage side surfaces or from the static port on pitot tube.
For the connection, use a tube with 4 mm inner diameter and about 8
mm outer diameter. Locate the existing tube, cut it at an appropriate
place and insert a T junction. Install a new tube from junction to
the instrument.
It is highly recommended to keep the static tubing as short as pos-
sible. The tubing must avoid sharp bends and twists. The tubing
must be airtight. Water must not be allowed to enter the tubing.
We strongly recommend labelling each tube before connecting to Ho-
ris or any other instrument. If you ever have to remove Horis from
the instrument panel, this will help a lot during re-installation.
Two standard plastic T junctions are included in the Horis package.
2.4.2 Total Pressure - Ptot
Total pressure connection comes from the pitot tube. Same principles
as with static connection apply.
2.4.3 CAN Bus
Connection to the CAN bus is optional and is not required for normal
operation.
When Horis is not connected to the bus, a terminator plug (Figure
7) must be inserted into one CAN connector. The terminator plug
is a plain RJ45 plug with 120 Ω resistor connected across pins 4 and
5, while pins 1,2,3 and 6,7,8 are not connected.
Figure 8 and Table 4 defines the pin out of the CAN bus.
18 ©Kanardia 2021

Horis User Manual 2.4 Connections
Figure 7: Terminator plug is required if nothing else is connected to
Horis.
1 … 8 1 … 8
Figure 8: Illustration of the pin out of the CAN ports.
Pin Description
1 +12V out.
2 +12V out.
3 +12V out.
4 CAN low.
5 CAN high.
6 GND – ground.
7 GND – ground.
8 GND – ground.
Table 4: Description of pins for the CAN bus communication.
When connected to the bus, Horis will transmit a large amount of
information: attitude, altitude, position, temperature, baro-settings,
health status etc. Slave units connected on the bus (round altimeter,
airspeed indicator, etc.) are capable of using this information.
Use standard RJ45 Ethernet cable to connect Horis with other Ka-
nardia equipment. Both connectors are equivalent.
19 ©Kanardia 2021

Horis User Manual 2.4 Connections
2.4.4 Power - PWR
Connect supplied power cable at the back of the instrument. Power
connector has a notch on one side, which protects against wrong
polarity, see Figure 9.
+12 V … red
GND … blue
Figure 9: Pins of the power connector.
Connect blue lead to negative (ground) terminal and red lead to
positive (+12-24 V) terminal.
A 1 ampere slow fuse or a similar circuit breaker shall be used on the
positive lead.
2.4.5 GPS Antenna - GPS
Please consider mounting GPS antenna, as follows:
•Find a good spot in a cabin where the antenna is able to see
blue sky during most of the aircraft movement. Such a good
spot can be usually found on the top of the instrument panel
cover, just below the canopy.
•Mounting surface should be flat, clean and rigid.
•Avoid close proximity to any transmitting antennas like radio
stations, transponders or any other active GPS antennas (GPS
antennas may interfere each other).
20 ©Kanardia 2021