PitLab Dedalus User manual

Dedalus autopilot– user's manual
Dedalus autopilot
User's manual
Introduction
Thank you for purchasing Dedalus Autopilot. We have put our many year
experience in electronics, automatics and control of model planes into this
device.
Dedalus was designed to stabilize the flight and save your model in case
you re out of your RC radio range, lose eye contact with the model or get
stuck in the thermals and is pulled into clouds. When you lose control over
the model, you can turn on automatic “return to base” function using spare
channel on your transmitter. It is also highly recommended to program Fail-
Safe mode in your receiver as to automatically switch to the return to base in
case the receiver loses signal.
In addition, Dedalus can stabilize the model s flight, which is helpful when
flying on the edge of visibility with the model becoming a small dot in the sky.
Small size (30 x 60 x 10mm) and less than 55g weight of the kit allows you to
place it in almost every model. All basic airframe systems with T-tail, V-tail
and tailless designs like delta or flying wing are supported. It may be useful for
flight stabilization during air tow operations, to secure glider against escape
into thermals or controlling fast flying models with a very short reaction time,
where short moment of inattention results in the loss of the model.
© PitLab 2015 http://www.pitlab.com/dedalus-autopilot.html page 1 of 20

Dedalus autopilot– user's manual
What you find in the box?
A complete kit of Dedalus autopilot consist of following components:
Main autopilot unit,
GPS-GLONASS receiver (GNSS) with external magnetometer,
Operator s panel with OLED display and keyboard,
Set of connection cables.
Figure 1 Dedalus Autopilot kit
The operator s panel can be connected and disconnected at any moment of
autopilot work. Using it is not necessary, but it is useful to check GPS status
and readiness to work. It also shows flight statistics and allows adjusting
parameters in the field, without connecting to PC application.
Electrical connection
Electrical connection to GNSS module and to operator s panel is done using
special polarized connectors, ensuring proper connection. Attention should
be paid to polarization tabs on plug and socket when connecting these
devices, particular attention to the 4-pin operator s panel connector.
Autopilot can be connected to a remote control receiver in two ways,
depending on the characteristics of the receiver and the autopilot settings:
Parallel connection where every channel is connected with separate
wire.
Serial connection (CPPM or SBus) where all channels are connected
using one wire.
NOTE: Improper connection of power or external devices may cause damages
that are not subject to warranty.
© PitLab 2015 http://www.pitlab.com/dedalus-autopilot.html page 2 of 20

Dedalus autopilot– user's manual
Parallel connection to receiver
Usual remote control receivers with separate outputs of all signals (parallel)
are connected with the autopilot in such a way that the outputs of
appropriate channels of the receiver are connected with the corresponding
input channels of the Autopilot.
NOTE: Only first row has pin layout compatible with standard pin connection
sequence in receivers (signal, power, ground). The remaining rows of
connector has 2 inputs and ground on the lower pin.
Figure 2 Autopilot inputs in parallel mode
The RC kits from different manufacturers may use different order of channels
used for functions like ailerons, throttle, elevator or rudder. Pay attention to
the order of receiver outputs and autopilot inputs while connecting channels.
Serial connection of the receiver
If you use a receiver equipped with serial PPM output (CPPM or SBus),
connection of all channels to the autopilot can be made by a single signal 3-
wire cable connecting grounds, +5V power and receiver output signal to
autopilot input.
Figure 3 Autopilot inputs in serial mode (CPPM, SBus)
If you connect Serial PPM signal (CPPM), it is necessary to set this option up
up with FPV_manager application on your PC. Please connect autopilot board
to the computer (via USB). Then, in configuration application, choose the
socket pin of the Serial Input PPM (CPPM) - Input 1, and assign channels of
CPPM signal to corresponding functions of the autopilot.
In serial mode you can configure the unused PPM inputs as outputs for
additional channels from CPPM signal (output Aux 2 to Aux 5, up to 11
channels total). This eliminates the need to purchase an additional CPPM
© PitLab 2015 http://www.pitlab.com/dedalus-autopilot.html page 3 of 20

Dedalus autopilot– user's manual
decoder. In this case it may be necessary to build suitable cable with +5V
power for powering the devices on these extra channels.
onnecting servos and motor controller
Autopilot directly controls servos and the electric motor speed controller
(ESC) in the model. These devices must be connected to the appropriate
terminals, according to their description.
Figure 4 Autopilot outputs
The autopilot in stabilization and AUTO mode actively stabilizes the position
of the model in response to external perturbations, like wind gusts or
turbulence. Thus, is moves servos much more actively than human pilot does.
This makes them consume significantly more power in flight. Thus, normally
used linear voltage regulators that built in motor speed controllers are often
unable to supply enough current to servos . This may cause brownouts or
even damage the ESC. For this reason, we recommend the use of external
switching controllers (UBEC) rated for 3A or more, depending on the size of
the model and amount of servos used, or motor controllers with built-in pulse
regulators. In the case of external UBEC please pull the red wire from the
plug of motor controller and insulate it.
GNSS receiver connection
The GNSS receiver (actually GPS+GLONASS) is connected using dedicated
cable to the blue 8-pin polarized connector on the front edge of autopilot.
The right connector profile protect it against reverse connection. The GNSS
receiver module should be mounted vertically with ceramic antenna pointing
up. Don t cover it with conductive materials like metal or carbon, as they
would block the signal reception. Non-conductive materials can be used to
protect it against dirt and humidity. It can also be placed inside the fuselage,
on account that it is not made of conductive materials, such as carbon fiber.
Sometimes external magnetometer built into GPS unit can be used instead of
the one in the autopilot itself. In this case, the module should be mounted
with X axis pointing in flight direction. The direction of the axis is marked on
the magnetometer upper side. When using GPS or internal magnetometer as
a source of heading info, mounting orientation has no meaning.
© PitLab 2015 http://www.pitlab.com/dedalus-autopilot.html page 4 of 20

Dedalus autopilot– user's manual
Figure Connection if the GNSS receiver module
Location of autopilot board inside a model
Autopilot has an integrated inertial measurement unit (IMU), which allows
determining the attitude of the autopilot board. By using this information the
autopilot can maintain the level flight of the model.
However, in order for this information to be correct about model s attitude
about the orientation of autopilot board in respect to the model must be
correct. The autopilot board should be mounted in such way that at the stable
level flight of the model, the autopilot board is horizontal and is facing the
direction of flight.
Figure 6 Correct locations of the autopilot inside the model
Figure 7 Impact of incorrect autopilot location on model flight
© PitLab 2015 http://www.pitlab.com/dedalus-autopilot.html page 5 of 20

Dedalus autopilot– user's manual
Figure 8 Impact of incorrect autopilot location on model flight
Small, on the order of few degrees autopilot orientation errors can be
compensated in menu settings, Settings->pitch cor. for pitch and settings-
>roll cor. for roll. Perfect location (or perfect compensation) is reached when
properly trimmed model flies straight and horizontal in autopilot OFF mode,
and the attitude stays same when you turn stabilization on.
Autopilot board does not have to be fixed exactly in the model’s center of
gravity, other convenient places inside the model can be used.
Vibration protection
Autopilot should be protected against vibrations (which affects the position
sensors: accelerometers and gyroscopes). If needed, you can use special
dampers, sponge, thick double-sided tape or other methods. Dampers should
dampen vibrations but still keep autopilot in correct orientation, and they
should not resonate (do not use springs ).
The vibration level can be checked with the engine running using
FPV_manager.exe PC application.
The sensors and algorithms of the autopilot are designed to operate in
presence of certain vibrations, but keep in mind that during the flight, there
are additional loads (turbulence, the centrifugal force, etc.). Generally, the
lower the vibration, the more accurate is the autopilot. You must therefore
strive to achieve a minimum level of vibrations from the engine.
NOTE: Too high level of vibrations can cause model flying tilted or not
straight in stabilization and autonomous flight modes.
Magnetic noise prevention
The autopilot and GNSS receiver board have magnetometers that used to
measure Earth magnetic field and determine the magnetic course. Every
magnetic field other than the Earth s can be an interference source. Try to
avoid putting permanent magnets, such as for holding the canopy, closer that
20cm from the autopilot.
Electric wires, especially the ones conducting high currents for the motor
should be arranged parallel to each other and tied together to prevent
making magnetic loop during current flow.
The magnetometer sensor is placed on the autopilot board near the „a”
character of the Dedalus logo. If you have to place wires near autopilot, place
them near opposite side like on picture below.
© PitLab 2015 http://www.pitlab.com/dedalus-autopilot.html page 6 of 20

Dedalus autopilot– user's manual
Figure 9 Way of placing current ires in the model: a) orst possible – big loop, b) better –
ithout a loop but still close to the sensor, c) optimal.
© PitLab 2015 http://www.pitlab.com/dedalus-autopilot.html page 7 of 20

Dedalus autopilot– user's manual
Reverses and alignment of servos
Adjusting RC apparatus for controlling a particular model means setting
correctly reverses and mixers so that the control stick movement causes
correct control surface deflection. In the same way it is necessary to set the
autopilot up for a specific model to ensure proper control of autonomous
model flight.
NOTE: Model configuration can be done using FPV_manager.exe application
on PC or with keyboard and display. Simplest way of configuration is to run
menu command Settings->Easy Setup.
The first step is to select the type of model tail.
When one stick is attached to two servos and two control surfaces (delta, V-
tail, flaperons), we can choose between two options of servos concurrency,
(aligned) and (opposite), depending on whether for the proper control the
opposite – or non-opposite movement of servos is required.
NOTE: Mixing for the selected tail type should be always turned on in your
radio. Autopilot will demix the inputs itself to get raw stick position needed
for stabilisation, then mix it back for servos.
In the second step set correct value of reverse for every control surface in the
Stabilization panel.
Check the proper servo alignment and reverse mode can be done after
turning on the STAB mode, observing the behavior of the control surfaces to
the movements of the model. When alignment and reverse mode are
positioned properly, the control surfaces must deflect in the direction needed
to return model to level flight.
© PitLab 2015 http://www.pitlab.com/dedalus-autopilot.html page 8 of 20

Dedalus autopilot– user's manual
Figure 10 The correct setting of concurrency and servos reverses
Figure 11 incorrectly set servos concurrency
Figure 12 Incorrect setting of the reverse (correct concurrency setting)
Since the rudder is not used for the stabilization of flight, it is not possible to
set its reverse on the basis of observation of the reaction of the model to
movements. Therefore, after any change to reverse of the rudder the
autopilot moves the rudder like to the right for about 1 second. If you see the
rudder turn left after the change of the reverse setting, it means that the
setting is incorrect.
© PitLab 2015 http://www.pitlab.com/dedalus-autopilot.html page 9 of 20

Dedalus autopilot– user's manual
Easy Setup
The simplest way of correct configure the model is use the menu command
Settings->Easy Setup. The wizard helps setting all parameters (servos
alignment, mixers, reverses) in 4 simple steps by asking for moving sticks in
your transmitter and confirming it by keyboard click.
The Easy setup should be run only after correct connection and configuration
of input RC channels.
NOTE: To avoid surprising deflections of the control surfaces during
calibration (if no mixers set yet), set the autopilot mode to OFF. Autopilot
mode does not affect the settings are correct, only to swing them when the
wizard is running.
On the every step of wizard you should move the correct transmitter s stick in
accordance with the information on the screen and confirm the position with
[Next] button while holding the stick in that position.
After completing all steps, the screen will display detected model
configuration.
In order to verify the settings, turn the STAB mode on and, while, leaving the
sticks in the neutral position, tilt the model with the right wing down. Right
aileron should deflect downward and left upward "preventing" this
movement of the model. Then lean model nose down, keeping the wings
horizontal. The elevator (or elevon for the delta) should deflect up, leveling
the model.
Autopilot modes
Autopilot mode control is done by a three-position RC channel connected to
the MODE input as follows:
Channel at minimum (PPM pulse duration less than 1.2 ms): OFF -
autopilot off (pass the signal through directly from receiver to servos
without any modifications).
The center-channel (pulse duration 1.3 ms to 1.7 ms): STAB -
stabilization mode
Channel for maximum (pulse duration more than 1.8 ms): AUTO -
autonomous flight
Actual autopilot mode is displayed on last line of OLED screen.
NOTE: To automatically return the model to the starting point in case of lost
RC signal, the fail-safe mode in the RC receiver should set correctly the MODE
control channel to maximum value (pulse > 1.8ms).
Turning the autopilot off
In the OFF mode, all RC input signals are transmitted to the output without
any interference (except for disregarding false PPM pulse outside the
acceptable range of 0.8 ms to 2.3 ms).
If the autopilot is connected to only one aileron signal (input # 1 "aileron 1"),
the autopilot transmits the same signal on both ailerons outputs - works as a
"Y" cable, making it easy to control two servos from one RC channel.
© PitLab 2015 http://www.pitlab.com/dedalus-autopilot.html page 10 of 20