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
6©Kanardia 2021

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
7©Kanardia 2021

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