Skookum Sk720 User manual

The SK-720 replaces the tail gyro, mechanical flybar, and

receiver on your R/ Helicopter. Other features include flight

logging with playback, optional-self leveling, and more to come!

This unit is ideal for pilots from beginner to 3D expert.

Go flybarless!

SK720

Flybarless

System

User Manual and Setup Guide

Rev 1.00

SK720 User Manual & Setup Guide

Table of Contents

1 Introduction ...........................................................................3

2 ackage Contents.................................................................4

3 Getting Started......................................................................5

4 Safety .....................................................................................6

5 Setup Overview.....................................................................7

6 Mounting the Gyro................................................................9

7 Helicopter Airframe Setup .................................................11

8 Connections ........................................................................13

9 Modes, Indicators, and ower-Up.....................................16

10 Installing the Windows Setup Software ...........................17

11 Gyro Setup Using the USB Interface ................................21

12 How to Check Cyclic itch & hasing..............................29

13 After Setup: Final Check!...................................................31

14 Flight with the SK720 Gyro ................................................32

15 Using the Self-Leveling / Bailout option...........................33

16 Basic Tuning .......................................................................35

17 Advanced Tuning for 3D ilots .........................................36

18 Replaying Flight Recorder Logs in the 3D Viewer ..........39

19 Setup Software & Advanced Features Guide ..................41

20 Trouble Shooting Guide.....................................................51

Appendix A: Specifications ......................................................54

Appendix B: Firmware Upgrades .............................................55

Appendix C: Warranty and Technical Support .......................56

1 Introduction

The SK720 Digital lybar is a high performance yet compact and lightweight

pitch, roll, and yaw stabilizer for radio controlled (R/C) helicopters. It replaces

the traditional flybar (stabilizer bar) mechanism and tail gyro while saving power,

increasing flight times and reducing repair costs. eatures include:

• Easy set up for first-time users, using Wizards to guide you

• ybarless stabilization with piro-compensation

• Supports most tail servos by name in the setup software

• Supports use as a 9-channel receiver core when used with 2.4 GHz

satellite receivers (two dedicated Sat-RX ports)

• Supports radios with either 1024 or 2048 servo steps, and 22ms or 11ms

frame rates

• Can also be used with traditional R/C receivers

• Works with Digital or Analog swash servos

• Internal swash mixing, for accurate control

• Suitable for 120, 135/140, and 90 degree eCCPM, as well as mCCPM

swashplates

• Works with 2,3,4 or 5 blades because phase is adjustable

• Swash Ring anti-binding algorithm

• Expansion port for future accessories such as GPS

• Optional 20 amp external power bus for over 50-size and nitro helis

• 3-axis accelerometer + 3 gyros, allowing self-levelling

• High-power 32 bit processor (for future upgradeability)

• Expansion port for GPS or a third sat-receiver

• Up to 10 servos (one tail servo, 4 digital or analog swash servos, and 5

other analog servos)

• Port for a remote LED, which can be mounted outside of the canopy

• Built in 2 GB USB mass storage device - Connect the unit to your

computer without having to install drivers

• light data logs can be played back on your PC with analysis of tuning

and heli health

• Compatible with the Skookum SK-LCD terminal

• Existing SK360 setup files can be easily up-converted for the new unit

2 ackage Contents

Your gyro package includes:

• SK720 Gyro unit

• Three vibration-damping mounting pads

• Metal anti-vibration mounting plate

• One USB cable

• our servo cable jumpers

• Warranty & Quick-Start Card

3 Getting Started

The SK720 has a standard mini USB port located on the back of the unit.

Connect your new SK720 to your PC using the included USB cable.

The PC setup software for the SK720 can be found on the unit’s built-in flash

drive. The SK720 will automatically be recognized as a new mass storage device

when you connect it to your PC; the files on it will be accessible a few seconds

after you first plug it in to your computer. Access files that are stored on the

SK720 just like you would any other file on your computer.

Look for a file on the SK720 drive labeled “SK720_setup.exe”. There is also a

pdf copy of this user manual (“SK720_manual.pdf”) and a configuration file

(“SK720.C G”) file stored on the SK720. The manual can be viewed with Adobe

Reader, and the configuration file should be ignored.

Install the setup software onto your computer by running the installation program

“SK720_Setup.exe”, which can be found on the SK720’s built-in flash drive.

• See Section 10 of this user’s manual for detailed instructions on how to

install the SK720’s Windows setup software.

• See Section 11 of this user’s manual for a detailed description of how to set

up your new SK720 gyro.

4 Safety

An R/C helicopter is not a toy and can cause serious injury to people or damage

to property. Use of this gyro places a flight control computer (the gyro unit)

between the radio receiver and the servos that position the helicopter’s controls.

Loss of control of the helicopter may result if the gyro unit is mistuned or set up

incorrectly. See Appendix C for warranty information.

WARNING: Stand clear! Always test fly in an area away from spectators and

keep yourself at a safe distance when flying the helicopter, especially after

any change in the gyro’s setup or tuning. DO NOT stand closer than 10m (30

feet) from the helicopter during test hovers or any other flying. Keep

bystanders clear of the flight area at all times.

WARNING: Always “safe” the motor before you use the PC setup software

or SK-LCD terminal to set up or tune your SK-720. Basic safety practice is to

kill the engine on a nitro RC helicopter, or disconnect the motor or main

battery on an electric RC helicopter, whenever the heli is behind the flight line

or it is being adjusted in any way.

5 Setup Overview

You will need to complete the following steps before you can fly your SK720

equipped helicopter.

1) Set up a new helicopter model on your transmitter.

a. Swash Type: 1 servo (Normal)

b. Set all servos to normal direction (i.e. not reversed)

c. Servo travel adjust: 100% to start

d. Travel adjust: 100% to start

e. Subtrims: 0

f. Expo: linear for now

2) Mount the gyro in your helicopter. See Chapters 6 through 8.

3) Connect the SK 720 to your computer

using the included USB Cable and

install the setup software. See Chapter 10 and Chapter 11 Step 1 for more

details.

4) Start the setup software and familiarize yourself with the steps in the “Initial

Configuration Wizard”. You can start this wizard by clicking on the “Initial

Configuration Wizard” under the “Wizards” menu in the setup software.

5) Configure your gyro for your servos with the help of the initial configuration

wizard. Also see Steps 2 and 3 in Chapter 11 of this manual.

6) Check for correct sensor readings with the help of the initial configuration

wizard. Also see Chapter 11 Step 4 in this manual.

7) Adjust swash servos for correct movement and trim them square. See the

Swash/Cyclic Setup wizard in the Setup software and Chapter 11 Step 5 in

this manual.

8) Set up the tail servo with the help of the Tail Setup wizard in the setup

software. Also see Step 6 in Chapter 11 of this manual.

When the gyro is connected via the USB cable, the LED light will slowly blink

green. See Chapter 14 for more information about the various LED states.

9) Configure the Cyclic and Tail Gain Input Banks

. Reference Step 7 in

Chapter 11 of this manual.

10) ly and trim.

Good starting points for the cyclic and tail gains can be found in the “Default”,

“Scale”, or “Basic_3D” setup files, all of which are included with the PC Setup

software. Modify these default setups to suit your own helicopter. See Chapter 15

for Basic Setup instructions.

6 Mounting the Gyro

The gyro unit can be mounted upside down, backwards or rotated 90 degrees, but

it must be level and have its sides aligned as accurately as possible with the

fore-aft axis of the helicopter as shown in igure 6.1.

By default, the servo-port end of the unit is the front end. It can be installed in

other orientations but the SK 20 label must always face up or down. Note that

misalignments of even a few degrees (2mm or 1/16” difference between the front

and back edges of the case) may cause problems with tuning the gyro. The gyro

should also be as far as possible from any heat sources, and at least 10cm from

Xtremelink

receivers.

igure 6.1 – SK720 Mounting Alignment

or vibration resistance, mounting tape with good damping must be used. The

gyro’s case should not directly contact any hard surfaces on the helicopter’s

frame. If a safety strap is used across the top of the gyro, it should be padded

slightly. Cables connected to the gyro should be flexible and should have some

slack near the unit (i.e. do not strap the cables together or to the airframe within 5

cm of the unit. Ideally, use a cable sleeve because this maintains a neat

appearance while allowing the cables to move relative to one another.)

We strongly recommend using the Skookum Robotics SK-PW7 power bus

accessory for helicopters with blades larger than 500mm. The power buss will

reduce transmission of vibration into the SK720 by heavy-duty servo cables and

will allow different voltages to be used for the tail and swash servos.

If your helicopter is a nitro-powered helicopter, use the included metal damping

plate to mount the SK720. Apply one vibration damping pad between the SK720

and the metal plate and a second pad between the metal plate and your helicopter.

Check that everything on your heli is secure, and the motor runs smoothly.

Details like a canopy that rattles against hard mount points can cause problems

with self-levelling and flight logs.

If you plan to use the SK720’s self-levelling / bailout feature, it’s better to mount

the unit close to your heli’s center of gravity. Also, the lower the vibration levels

on your heli are, the better self-levelling / bailout will work.

Be sure to clean the SK720’s base and the mounting site on the helicopter with

isopropyl alcohol before mounting the gyro. A loose-fitting padded safety strap

may be used to ensure the gyro is secure in flight.

7 Helicopter Airframe Setup

WARNING: Good mechanical setup is critical to the gyro performing

correctly. Please read this section fully.

CAUTION: The gyro should not be used in addition to a flybar as the results

could be unpredictable. It is intended for use where the swashplate alone

drives blade pitch.

CAUTION: Do not connect the swashplate or tail servos to the gyro until

after the SK 20 has been configured for your servos. Your servos could be

damaged by an incorrect configuration. See Section 10 of this manual for

information about how to configure the SK 20.

Main Rotor Blades:

Normal symmetrical rotor blades are recommended. lat-bottomed rotor blades

may be used but they have a nose-down moment about their pitch axis and so

require powerful swash plate servos. The ideal rotor blades will be torsionally

stiff but a bit flexible spanwise. Rotor blades must also be balanced both

spanwise and chordwise. Heavier blades will make it easier to tune the helicopter.

Servos:

The best performance will be achieved if the servo’s full normal range of

movement is used. You will need fast (and ideally digital) servos for good “3D”

performance. Stronger, faster servos will let you use higher damping gains (see

Section 19.1) which is important for maneuvers such as piro-flips and tic-tocks.

Be aware that the current draw on your cyclic servos will be higher than

with a flybar.

Try to have 90-degree angles between the servo arms, linkages, swashplate and

blade grip arms at zero degrees pitch ('mid stick') to ensure even movement. The

gyro’s USB setup interface will allow fine-tuning of servo centers to achieve this.

Rotorhead:

Removing the flybar while retaining normal servo arm length will likely give too

much blade pitch action when setting up a rotorhead mechanism originally

designed for helicopters with a flybar. Either servo travel or servo arm length will

also need to be reduced to allow normal gains and good performance. (See

Section 12 of this manual for a detailed description of how to check for correct

cyclic and collective pitch setup.)

Some kind of anti-rotation or “follower” mechanism will be needed to keep the

top of the swashplate from rotating relative to the blade grips. If the swashplate is

not held so the linkage to the blade grips is at 90 degrees to the blades (for 2-

bladed rotors), the phase angle will need to be adjusted. See the diagram below:

or initial flights, the phase angle should be adjusted so that when the blades are

lined up with the helicopter’s tail boom, they do not move with elevator input but

do move with aileron input (for 2-bladed rotors). This can be set either

mechanically or through the setup software.

It is important that the linkages and swash have minimal backlash and the lowest

friction possible. The stiffness of the rubber rotorhead dampers also affects

SK720 gyro tuning and flight performance. Performance will be better with the

teeter damping stiffer than normal, but excessive stiffness can cause vibration

that is hard on the airframe, gyros and servos.

Tail:

It is important that you minimize tail rotor vibration. Tail rotor vibrations affect

the helicopter’s elevator control because the axis of rotation of the tail rotor disk

is aligned with the elevator axis. Also, if you have a belt-driven tail, be sure that

your tail boom is electrically grounded to the heli’s frame or motor case to

prevent static electricity buildup.

Balance:

The gyro will perform best when the helicopter’s centre of gravity (CG) is

located directly under the mainshaft or very slightly forward (i.e. very slightly

nose heavy). This is especially important for maneuvers that use fast collective

pitch changes combined with yaw (i.e. piros).

8 Connections

The SK720 can accept control inputs over either traditional PWM signals from a

receiver’s servo outputs or directly from a satellite receiver. Either option can be

selected by using the setup software.

NOTE: The SK 20 needs to receive separate aileron, elevator and pitch

inputs so set the swash-type in your TRANSMITTER to “1-servo” for all

input types and swash setups.

If you will be using a “standard” 120 swash with three servos, you will connect

them to SW-C (elevator, or center), SW-R (right) and SW-L (left). The tail servo

is connected to TAIL. An External LED may be connected to Ex-LED. The

electronic speed control (ESC) or throttle

is connected to IO-A(T). External

power can be connected to IO-B and/or IO-C.

If your helicopter has blades 500 mm or larger, you should use the optional

SK-PW7 external power bus. See the Power Bus manual for more details on the

connections between the Power Bus and the Gyro.

Satellite Receivers:

The SK720 supports one or two satellite receivers. Either port A or port B can be

used if you are using only one satellite receiver. With the SK720’s power off,

connect satellite receivers to the ports marked “Sat A” or “Sat B” (or both if

using 2 satellite receivers) on the side of the unit. (Note: as far as we know, all

satellite receivers from the same manufacturer are identical).

Connected satellite receivers can be set to bind with a transmitter using the PC

setup software. Connect the SK720 to your computer using a USB cable and

select Bind Sat RX’s on Power Cycle from the Utility drop-down menu. (See

Sections 11 and 19 of this manual for detailed instructions on how to use the

setup software.) Both satellite receivers will then go into bind mode if the SK720

is unplugged from the USB and all power sources, then powered back up using a

battery or BEC.

In satellite receivers mode, the SK 20 also outputs the throttle channel on

port “IO-A(T)”, as well as up to three additional auxiliary outputs for such

things as a governor, landing gear, or light control (IO-B, IO-D, IO-E). The

endpoints and trims of these channels are adjusted in your radio.

NOTE: For safety, the throttle output is disabled while the SK 20 is in setup

mode. Be sure to set the fail-safe throttle level using the setup software.

ESC and throttle servo control are only available when using satellite receivers. Otherwise, these

devices must be connected directly to your external receiver.

owering the SK720:

The SK720 can accept power through any servo port except for the IO-D/E and

EXT-LED ports. All other ports make up a joined power bus. Just one port needs

to be connected to an external power supply. The allowed voltage range is 5v to

10v. or use with multiple voltages, consider using the SK-PW7 external power

bus.

Traditional Receivers:

It is important to turn the SK720’s satellite receiver option off using the PC setup

software before connecting a traditional stand-alone receiver.

or the inputs from the radio receiver, the connector mapping is:

Control Function SK720 ort

Aileron IO-A

Elevator IO-B

Rudder IO-

ollective Pitch IO-D

Gain / Bank Select EXT-LED

Note that only one port needs to supply power to the device, so only the signal

(top) pin needs to be connected to the receiver for all others.

Also note that there is no throttle input to the SK720 from an external receiver.

The throttle signal from an external receiver must bypass the SK720 and be

connected directly to the throttle servo or BEC.

Swash Outputs:

The swash servos are connected as per the following table and diagram:

Swash Setup Type SW-C SW-R SW-L SW-A

120, 135/140 deg e PM entre Right Left n/a

“1-servo” m PM Elev Aile Pitch n/a

90-deg e PM Fwd Right Left Aft

Left/Right means the heli’s left and right, looking from its tail to its nose.

Servo Output Layouts:

ower Bus:

or helis with blades longer than 500mm, we strongly recommend you use the

optional SK-PW7 power bus. This accessory isolates the SK720 from vibration

carried by heavier servo cables and is capable of handling 20 amps of continuous

current to eliminate brownouts.

Misc Outputs:

If it’s difficult to see the SK720’s status LED when it’s mounted on the

helicopter, you can use an external LED on an extension wire. Just connect it to

the port labelled “EX-LED” like a normal servo cable. or this port, the top pin is

for Green, the middle pin is for Red, and the bottom pin is Ground. Note that this

option cannot be used in combination with a traditional radio receiver.

There are also two additional ports on the side and back of the SK720 gyro. One

is for connecting the SK-LCD interface and the other is a GPS port. The GPS

port allows for optional expansion accessories to be connected.

9 Modes, Indicators, and ower-Up

The two primary modes are Setup mode and light mode. The SK720 will

automatically switch to setup mode whenever it is connected to a PC by a USB

cable or connected to an SK-LCD Terminal.

While the SK720 is in setup mode, it will do the control mixing for the helicopter

but it will not provide any stabilizing action. This enables mechanical setup and

servo trimming. While in this mode, the indicator LED will slowly flash green.

In light mode, the LED Indicator will show solid red while the SK720 initializes

and will turn solid green once the SK720 is ready to fly. The SK720 will also

pump the swashplate once after it initializes properly.

The gyro will not finish initializing until it is allowed to stand completely still for

several seconds. An uninitialized SK720 will be able to fly but the helicopter

might not be in trim. Always verify that the LED indicator is showing solid green

before taking off to avoid flying in an out of trim condition.

LED State Meaning

Slow Green Setup Mode

Fast Green USB File Transfer

Solid Red Flight Mode - Initializing

Solid Green Flight Mode – Ready to Fly

Green, with Red Flicker Flight Mode – High Vibration Warning

Flashing Red Error State

Alternating Red / Green Firmware Updating – Do Not Disturb

A rapidly flashing red LED indicator indicates an error. There are four possible

causes:

1) The cyclic stick wasn’t centered during gyro initialization in flight mode

2) The supply voltage fell below 3.6v at some point

3) It is too hot or too cold

4) The gyro has a systems fault

If the first three causes can be ruled out, please contact technical support.

NOTE: The setup software will display the error state that resulted in the

flashing red LED in the Live Data area. Connect the gyro to the setup software

using the USB cable to determine the specific type of error. Error states are also

recorded in the log file and will be displayed by the 3D viewer during playback.

Resetting the gyro will clear the error state.

10 Installing the Windows Setup Software

NOTE: or clarity, italics will be used throughout this manual whenever fields

and regions of the setup software are referred to by name.

The PC setup software for the SK720 can be found on the unit’s built-in flash

drive. Connect your new SK720 to your PC using the included USB cable. The

SK720 will automatically be recognized as a new mass storage device ( lash

drive). The files stored on it will be accessible a few seconds after you first plug

it in to your computer. Access files that are stored on the SK720 just like you

would any other file on your computer. Look for a file on the SK720 drive

labeled “SK720_setup”. (See igure 10.1, below.)

igure 10.1 – SK720 Built-in lash Drive

Install the SK720 setup software onto your computer by double-clicking on the

installation program name. You will then be presented with a window similar to

the one shown in igure 10.2, below.

igure 10.2 – SK720 Configuration Program Installation Options Screen

There are six check boxes available and all but the “SK720 Digital lybar – GUI”

checkbox can be selected on or off. It is recommended that you install all of the

available options unless you are sure that you won’t need them

. Click the Next

button to proceed to the screen shown in igure 10.3. Select a directory in which

you want to install the SK720 setup software (use the default directory if you are

unsure) and then click Install.

For reference only:

The latest version of Microsoft’s .NET runtime library must be installed on your computer for the SK720 configuration software to

work. Leaving the “Check for Microsoft .NET Runtime” option enabled will allow the installation program to test whether you have the

required runtime library installed on your computer. If the required libraries are not already installed on your computer, then the setup

software will direct you to a Microsoft website where you can download the required files.

The OpenAL virtual audio driver is used by the 3D light Data Playback utility to generate sound effects. It is not required if you have a

Creative Labs sound card installed on your computer but we recommend that you install it anyway.

igure 10.3 – SK720 Configuration Program Installation older Screen

After installing and starting the SK720 setup software on your computer, plug

your SK720 into any available USB port using the supplied USB cable. The setup

software will automatically detect the gyro. The Connected indicator in the setup

software should turn green, and the gyro’s serial number and firmware revision

should also be displayed. (See igure 10.4, below.)

igure 10.4 – SK720 Setup Software Main Window

If the software will not run on your computer, make sure that you have the latest

version of “Windows .NET Runtime” installed. Check the Microsoft website for

the most recent edition.

11 Gyro Setup Using the USB Interface

CAUTION: Do not connect the swashplate or tail servos to the gyro until

after the SK 20 has been configured for your servos. Your servos could be

damaged by an incorrect configuration.

Note: The PC Setup Software has built-in Wizards to guide you through

these set up steps as a first-time user. We suggest that you try out all

three Wizards before reading further.

Step 1: Connecting

• Start the SK720 setup software on your PC. See Section 10 of this

manual for instructions on how to install the setup software on your PC.

• Set your radio’s transmitter so Aileron, Elevator, and Pitch (Collective)

are output each on a separate channel (“Normal” or “1-Servo”

swashplate mode). Also center all the trims and subtrims.

• The initial setup will be easier if you use a straight-line pitch curve and

no expo or dual rates in your radio. These features can be set up later,

according to your usual preferences.

• Connect the SK720 to your PC using the included USB cable. The

SK720 setup software will automatically detect that the gyro is

connected to your computer. Check that the connection indicator in the

upper left is green and says Connected.

• Good starting points for the cyclic and tail gains can be found in the

“Default”, “Scale” or “Basic_3D” setup files, all of which are included

with the PC setup software. Use the Load Setup option under the SK720

setup software’s File menu to load a default file. Modify these default

setups to suit your own helicopter per steps 2 through 5 below.

WARNING: All the control input and sense directions set up in Steps 2

through 5 below must be correct or your helicopter will instantly crash if you

try to fly it. ollow these steps carefully and complete the pre-flight check

outlined in Section 13 of this manual before flying your helicopter.

WARNING: Do not use any of the “Default”, “Scale”, or “Basic_3D” setup

files mentioned above without first modifying them to suit your helicopter per

Section 11, Steps 2 through 5.

Step 2: Match the Gyro to Your Transmitter

• Click the Control tab in the O line Setup Values area in the lower half

of the setup software window (see igure 11.1 below). Select whether or

not you will be using satellite receivers.

igure 11.1 – Selecting Receiver Type

• Satellite receivers can be bound using the SK720’s bind mode. Enable

the bind mode from the Utility menu on the setup software by selecting

Bind Sat RX’s on Power Cycle. Selecting this option will cause all

connected satellite receivers to enter bind mode the next time that the

SK720 is power cycled (i.e. turned off and then on again).

• Click the Send Setup button, or press the 1 key to set the changes on

the gyro. You must SEND the setup whenever you want to test

changes.

• Cycle the SK720’s power and wait ten seconds. Check Inputs rom

Receiver again. The % values for Elevator, Aileron, and Pitch, and

Rudder should be close to zero.

• Try moving the elevator stick towards you (nose up) and look at the

Pilot Control field under Elevator. The number displayed should be

close to 100% and should be shown on a green background. If it is

negative and displayed on a red background, reverse that channel in

your radio. If it’s too low or reaches 100% much before the stick’s limit,

adjust the endpoints (ATV’s) for that channel in your transmitter.

Typical end point (ATV) values will be near 125% for JR/Spektrum

radios.

• Repeat for Aileron and Rudder inputs, but move the sticks right (green).

Then check the collective pitch input, moving the stick up (green).

Again reverse and/or alter the end point values as necessary.

Step 3: Set up the Throttle Servo or ESC

• If you are not using satellite receivers, you can skip to step 4. Otherwise,

disconnect the SK720 from the PC (for safety the throttle output is

disabled while connected to your PC).

• Connect the throttle output, port IO-A(T), to your ESC or throttle servo.

Then use the endpoints, trims, and reversing in your transmitter to set

the throttle channel to suit your heli.

• Now make sure the heli’s motor is off and then reconnect the SK720 to

your PC. On the Control tab, click Set Throttle Failsa e and follow the

instructions that appear.

Step 4: Check the Gyro’s Sense Directions

• Now look at the Gyro Motion fields in the Live Data area. Note that

these fields only sense movement, not angle.

• Pick up the helicopter and slowly tilt it nose-up. The Gyro Rate for

Elevator should be positive and show green. If not, select Flip Elevator

Axis on the Control tab (see igure 11.2 below). If the gyro rate for

Aileron is high instead, click Rotate 90 Degrees on the Control tab.

Confirm that the gyro rate for elevator goes green with nose up.

• Repeat for the Aileron (roll) axis but slowly tilt the helicopter to the

right. The Gyro Rate for Aileron should be positive and show green. If

not, select Flip Aileron Axis on the Control tab.

• Repeat for the Rudder (yaw) axis but slowly rotate the helicopter to the

right. The Gyro Rate for Rudder should be positive and show green. If

not, select Flip Rudder Axis on the Control.

igure 11.2 – Setting Gyro Mounting Orientation

Step 5: Swash Mixing / Servo Setup

NOTE: The SK 20 will not provide any stabilizing action while in set up

mode. This enables mechanical set up and servo trimming.

• Click the Swashplate tab in the O line Setup Values area in the lower

half of the setup software window (see igure 11.3 below). Set the

Swash Type and Swash Mixing values (“CCPM and Travel”) for your

helicopter, just as you normally would in your transmitter.

igure 11.3 – Offline Setup Values Swashplate Tab

• Go to the Swash Servos tab in the O line Setup Values area in the lower

half of the setup software window (see igure 11.4 below). Select the

servo type and speed according to the specifications of your servos.

igure 11.4 – Offline Setup Values Swash Servos Tab

• Make sure the control sticks are centered and then plug the servos into

the gyro. Check for good motion and no binding.

• it your servo arms so they are as close to 90 degrees to the linkage as

can be achieved. Next, adjust the servo trims in the setup software until

their arms are at exactly 90 degrees to their linkages, and then use the

linkages to level the swashplate.

NOTE: Trims and sub-trims on the transmitter should be set to neutral

for best results. Do not try to change cyclic throw or servo trims using

your radio.

• Use the collective stick to check that all swashplate servos are correctly

synchronized. (i.e. all swashplate servos move up and down together in

response to collective stick motion.) Do not worry if the direction of

motion is incorrect; this will be set next. If the swash plate servos are not

correctly synchronized, then you can reverse the individual servo

directions by clicking on the associated Rev checkbox in the Servo Trims

and Reversing area of the Swash Servos tab. (See igure 11.4 above.)

• Check aileron, elevator and collective swash motion for correct direction

of travel. If it isn’t right, you can reverse the individual channels by

clicking on the appropriate checkbox in the Swash Mixing area on the

Swashplate tab. (See igure 11.3 on the previous page.)

• Now check the blade pitch range in response to full max and min

collective, elevator and aileron. These can be adjusted using the swash

mixing values on the Swashplate tab. (See igure 11.3 on the previous

page.) Try to keep swash mixes to 60% or less. This prevents unwanted

interaction at max and min collective. Increase the servo travels instead

if you need more motion.

Step 6: Tail Setup

igure 11.5 – Offline Setup Values Tail Servo Tab

• Click the Tail Servo tab in the Offline Setup Values area of the

Windows SK720 setup software. Select “By Name” and find the model

of tail servo on your heli in the Servo Name drop-down list.

• If you can’t find your model of servo in the list, then select Custom and

look up the pulse type, max frame rate and speed for your tail servo.

(Most servos will work at 333 Hz but the pulse type is important.)

• Now, connect the tail servo to the gyro. irst check that the direction of

the servo is correct by moving the rudder stick on your radio as shown

in igure 11.6 below.

igure 11.6 – Check for Correct Tail Rotor Blade Movement

• If the tail blade pitch response is not correct, reverse it by clicking on the

Rev checkbox in the Servo Trims and Reversing area.

• Set the servo centering and endpoints by clicking “Setup Servo with

Rudder Stick” and follow the instructions in the popup window.

• The servo and tail should be set up so at center the servo arm is at 90

degrees to its pushrod, and the tail has about 5 degrees of nose-right

blade pitch.

Step 7: Cyclic and Tail Gain Input Banks

• If you are using satellite receivers, you should have separate control

over the Cyclic Gain and Tail Gain inputs. By default, the gear channel

will control the overall cyclic gain and the Aux channel will control the

overall tail gain. This can be modified on the Control tab if needed.

• With a traditional radio receiver (no satellites), both the cyclic and tail

gain functions will be controlled by one channel. To avoid both the

cyclic and tail banks having the same overall gain, you can lock the gain

% for any bank. The gain channel will then only select that bank, but

won’t affect the gains. or example:

Cyclic Banks Tail Banks With Only One Gain/Bank Ch:

Locked Locked Selects Tail and cyclic bank, gains fixed

Locked Not Locked Selects banks, and the overall tail gain

Not Locked Locked Selects banks, and the overall cyclic gain

Not Locked Not Locked Both scaled together (not recommended)

• or the gain inputs, the direction of the channel’s output will set which

bank is selected. The endpoint on the channel will set the gain for that

function. 50% is a safe starting point for both

. By default, for the tail

Bank 1 is “Heading Hold mode”, and Bank 2 is “Rate Mode”.

or users of JR / Spektrum radios having a gyro gain menu, tail gains of 50%

equal 0, 100% equal +100 and 0% equal –100. Use values greater than 50% for

one bank and less than 50% for the other. Alternatively, disable the gyro gain

menu and set the gain channel end points per the method described above.

• Check that your radio can select which tail and/or cyclic bank is

selected, as indicated by a small blue bar over each setup tab. The small

blue bar shows which switch position corresponds with each cyclic and

tail gain tab. (See igure 11.7, below.)

igure 11.7 – Offline Setup Values Cyclic Bank Tab

• See Section 16 of this user manual for detailed description of how to use

the features in the Cyclic and Tail gain banks to tune your helicopter.

Step 8: Ready for Flight

• Save your setup to your computer’s hard drive by selecting Save Setup

from the File menu, then go to Section 12 of this manual.

Final Setup Note: The expo, dual-rate, and pitch-curve features of your radio

can be used normally, as long as they do not exceed 100% travel.

12 How to Check Cyclic itch & hasing

NOTE: The gyro must be put into setup mode before the cyclic throws,

phasing and swash motion can be checked for correctness. Place the gyro

into setup mode by connecting it to an SK-LCD Terminal or to a computer

using a USB cable. A slowly flashing green LED on the SK 20 indicates that

the gyro is in setup mode.

The goal of mechanical and gyro swashplate setup is to retain your normal

collective blade pitch range while setting a cyclic range of about ±10 degrees.

This is important. (Cyclic pitch is the blade’s pitch due to aileron or elevator

input.)

The rotor blades must also have the correct phasing. This means that aileron and

elevator control inputs change each blade’s pitch at the correct time. However,

the phase angle will not need adjusting for most mechanical setups.

While in setup mode, control stick motions are sent directly to the swashplate and

tail rotor as if stability gains were zero (i.e. the gyro only does its mixing

function). The gyro’s gains will have no effect in this mode.

To check the cyclic range and phasing:

1) Set collective pitch to zero.

2) Align a blade along the fuselage, pointing over the nose of the helicopter as

in igure 12.1 below:

igure 12.1 – Cyclic Aileron (Roll) Phasing

3) Now try full nose-up elevator control with aileron centered. Measure the

pitch of the blade that extends over the nose.

4) The blade should not change pitch if the mechanical setup is ideal. If it does

then you will need to adjust the phase angle, either mechanically at the

swashplate or using the gyro’s USB interface. If the pitch becomes negative

adjust the phasing clockwise (+), if positive then adjust it anti-clockwise (-).

Note: this will give you normal phasing (90 degree lead); multi-bladed rotors

may fly better with some positive phase trim.

5) Try full right aileron control with elevator control centered. The blade’s pitch

should be about -10 degrees.

6) Try full left aileron control with elevator control centered. The blade’s pitch

should be about +10 degrees.

7) Next align a blade at 90 degrees to the fuselage, pointing over the right side

of the helicopter as in igure 12.2 below:

igure 12.2 – Cyclic Elevator (Pitch) Phasing

8) Try full nose-up elevator control with aileron control centered. Measure the

pitch of the blade that extends over the right side of the helicopter. It should

be about -10 degrees.

9) Try full left nose-down elevator control with aileron control centered. The

blade’s pitch should be about +10 degrees.

CAUTION: If the cyclic blade pitch range changes, the gyro’s cyclic gains

will need to be changed as well. For example, increasing cyclic pitch range

by 10% is the same as increasing the stability gains by 10%.

13 After Setup: Final Check!

Any time you change the gyro’s setup, always do these checks:

1) Power up the helicopter with the servos connected and the swashplate

mechanically set up. Leave it undisturbed and wait for the LED to turn

green.

2) Input full right aileron on your transmitter. Check that the swashplate

tilts to the right.

3) Input full up elevator (nose up). Check that the swashplate tilts back.

4) Input full right rudder on your transmitter. Check that the tail pitch

changes for right yaw.

5) Select throttle hold mode and then set zero collective pitch. Check that

the swashplate moves to give zero blade pitch.

6) Set full up collective pitch. Check that the swashplate moves to give

maximum blade pitch.

7) Pick up the helicopter, wait a few seconds, and then tilt it nose down and

to the right. The swashplate should tilt back and left.

8) Rotate the heli’s nose to the right 90 degrees. The tail blades should

move to counter-act the motion.

WARNING: Remember to return your throttle stick to the idle position

before releasing throttle hold.

NOTE: In flight mode, the swashplate will tilt slightly forward at full

positive collective to compensate for tail-drag. Likewise, it will tilt slightly

back at full negative collective.

14 Flight with the SK720 Gyro

In flight mode, the swashplate will not respond to the controls directly. Its action

will be similar to a heading-hold tail gyro. After it has been static for a few

seconds, it will level the swash during spool up to ensure a stable take off.

When you land your helicopter, always wait at least 5 seconds after the rotor

stops before spooling up again. This enables the gyro to detect that the helicopter

is spooling up. Don't move the cyclic stick until the heli is light on its skids to

prevent confusing the gyro before the helicopter can respond to the gyro’s control

inputs. If the Auto trim at Init feature is on, avoid using the transmitter trims for

elevator, aileron or rudder. If you do use trims (i.e. Auto trim at Init feature is

off), you’ll have to zero them before every flight.

Note: When you use “Auto-tune Bell Gains” or Log iles, the SK720 has to be

sure the helicopter is on the ground before saving to its memory. So if you’re

using those features, let the heli be still for 5 seconds after the blades have

stopped turning and the motor is off.

WARNING: Observe these precautions before every flight:

1) Check to ensure that the Indicator LED is solid green (not flashing).

2) Check that positive collective increases blade pitch.

Check that right aileron stick tilts the swash for a right roll.

Check that nose-up elevator stick tilts the swash for nose-up.

Always takeoff, land and fly at a safe distance from yourself and

bystanders.

15 Using the Self-Leveling / Bailout option

WARNING: Vibration levels must be low for this feature to work. View

several flight logs in the playback software before enabling self-leveling

to check that the red vibration error message does not appear. Ideally, the

vibration level should stay below 7 during playback.

If you use the SK720’s self-leveling / bailout option, there are a few things to be

aware of:

• The lower your helicopter’s vibration level, the better it will work. Tune

your helicopter to eliminate excessive vibration and mount your SK720

in a way that isolates it from excessive vibration for best results.

• Watch for vibration warnings where the LED is green but flickers red.

Self-leveling will be automatically turned off whenever the SK720

displays this LED warning.

• The maximum speed of recovery to level will only be as high as the

maximum control rate for cyclic.

• The self-leveling system is not an auto-hover feature. It doesn’t know

about wind or location so the helicopter will still drift if left on its own.

• The self-leveling feature will work from any orientation, including

upside down. But SK720 will not automatically adjust the collective.

You will need to manually adjust the collective during a recovery and

the helicopter may loose significant altitude in the process.

• If you fly extended periods of 3D stunts, the unit’s sense of “which way

is up” may not be perfect. Be prepared to switch back to normal mode

after the helicopter has mostly recovered.

• If you manually fly the helicopter in self-leveling mode it will feel like

you are flying a coaxial helicopter. To maneuver, you will have to

continuously hold elevator and aileron controls to overcome the

SK720’s desire to self-level the helicopter.

Self-leveling is enabled by setting a percentage in the sel -Leveling field on the

cyclic tabs (see igure 15.1, below). This value sets how strongly the helicopter

tends to pull itself towards level in elevator and aileron. Set the Self-Leveling

value to a higher value (i.e. 70%) in one of the two cyclic tabs to enable a

“bail-out” switch. Activate the bailout mode by switching to that bank.

igure 15.1 – SK720 Setup Software Cyclic Tabs

CAUTION: Ensure that the Hiller, Damping, and Tail drag component

values are identical between the self-level and normal banks if one bank is to

be used as a bailout mode.

16 Basic Tuning

Definitions:

• Tail gain adjusts the holding ability of the gyro in yaw (rudder).

• Cyclic gain adjusts the stability and holding ability of the gyro for

aileron (roll) / elevator (pitch).

Note: The Tail Gain and Cyclic Gain values are overall gains, which are

multiplied by the Base Gains which can be set by advanced users.

Follow these steps:

1) As a starting point, for most helis adjust the gains for the SK720 to about

50% for the Cyclic gain and 50% for the tail gain. But for very small

helis, start with 40% for the Cyclic gain, and 30% for the tail gain.

2) Lift the helicopter off into a hover and try some small elevator and aileron

motions. If it oscillates or does anything violent as you spool up, email

Skookum Robotics technical support for help before flying again.

3) Incrementally adjust the tail gain to the maximum value possible without

seeing any oscillation during hover or after sharp stick motions.

4) If the helicopter doesn’t hold well in pitch or roll or “slides” to the side, turn

the Cyclic gain up a small amount. If the helicopter oscillates while

hovering, turn the Cyclic gain down slightly. Repeat until you get the best

gain.

5) Try some forward flight. If the helicopter oscillates in roll at high speed, turn

the Cyclic gain down a small amount. If it doesn’t hold well, turn the Cyclic

gain up.

6) Turn on the Sel Tune Bell Gains option on one or both Cyclic tuning banks.

or each of those banks, fly the helicopter as you normally would for at least

four flights. Use the SK720 setup software to disable self tuning once the

gains stop changing significantly.

7) After tuning your SK720, use the PC setup software to save a copy of your

setup to your computer’s hard drive. Save your setup using the Save Setup

option in the File menu.

No further tuning should be required for most users. If the maximum aileron and

elevator motion of the helicopter is not fast enough for you however, or for other

advanced tuning, see Sections 17 and 19.1 of this manual.

17 Advanced Tuning for 3D ilots

If you are a 3D pilot, some extra tuning is required for good performance during

piros and fast collective changes.

1) The helicopter’s centre of gravity should be directly under the main shaft.

Check by putting the blades at right angles to the fuselage and pick the

helicopter up with your fingers under the blade-grips. The helicopter should

hang with the main shaft straight up and down.

2) Ensure that the swash motion is even throughout its range.

• Put the SK720 into setup mode and set collective pitch to zero. The

swash should be level. Adjust the individual servo centers or the

linkages as required.

• Set the collective pitch to maximum positive. The swash should still be

level. If not, adjust the servo travels for one or two of the swash servos

on the Swash Servos tab in the SK720’s setup software. (See igure 17.1

below)

• Do the same for max negative pitch, using servo travels for the other

direction.

igure 17.1 – Swash Servo Travel Adjustment Settings

3) Trim the swash for level hover. On a day with light wind, temporarily set the

Hiller Decay to 200%, and hover the helicopter hands-off, both nose-out and

nose-in. If it consistently drifts to its right, left, forward or back, adjust the

mechanical linkages to the swashplate to eliminate the drift. Note that the

swash will not be perfectly level as some sideways tilt is necessary to

counteract the sideways thrust of the tail rotor.

4) Adjust the Tail Drag Compensation on the Cyclic gain banks in the PC setup

software. (See igure 17.2 below) On a day with light wind, start from a

hover and then apply maximum positive collective. If the helicopter’s nose

goes up, lower the Tail Drag Comp number for Elevator by 1 or 2 steps. If

the nose goes down, increase the Elevator value by 1 or 2 steps. If the

helicopter banked the right or left, you may also have to adjust tail drag

compensation for Aileron. If it banked right, decrease the value.

NOTE: Tail Drag Compensation is only a coarse setting; it doesn’t need to be set

precisely.

igure 17.2 – Tail Drag Compensation setting

5) Adjust the collective-torque compensation for the tail. (See igure 17.3

below.) Start from a hover and then apply maximum positive collective. If

the tail goes right, increase the value for “Collective to Tail” on the Tail tab.

If it goes left, decrease that value.

igure 17.3 – Collective-Torque Compensation setting

6) Turn on the Sel Tune Bell Gains option on one or both Cyclic tuning banks.

or each of those banks, fly the helicopter as you normally would for at least

four flights. Use the SK720 setup software to disable self-tuning once the

gains stop changing much.

18 Replaying Flight Recorder Logs in the 3D Viewer

The SK720 is unique among flybarless systems in its ability to log and replay

flights in a 3D viewer. The logs stored on your SK720’s mass storage device are

used to mathematically reconstruct your flights, allowing you to improve your

maneuvers or just show your friends.

Start the 3D viewer by selecting Replay Flight Log in the File menu of the SK720

setup software. You will be shown a dialog box similar to that shown in igure

18.1 below.

igure 18.1 – Replay a light Log

Navigate to the directory where your flight logs are located and click the Open

button. (We recommend that flight logs be copied off your gyro and onto your

hard drive before replaying them.) The 3D-viewer window will then open and

begin playing back your flight. Note that only logs containing actual flight time

will be played back.

There are four buttons at the bottom of the 3D-viewer window that are used to

control playback. In order, they are Stop, Play/Pause, Fast Forward and Mute.

The Play button changes into a pause button while playback is in progress. The

white and gray progress bar may also be used to control playback. You can jump

forward or backwards in the playback sequence by clicking on the progress bar

with your mouse. igure 18.2 on the following page presents a screen shot of the

3D-viewer window.

igure 18.2 – 3D-Viewer Window

As with the self-leveling feature, accurate playback is dependent on good

mechanical setup of your helicopter. High vibration will negatively affect the

accuracy of the helicopter’s calculated motion, particularly the way in which it is

shown to maneuver around the 3D viewer’s virtual sky.

In cases of high and extreme vibration, the helicopter will not be shown to fly

around the sky at all. Instead, it will be displayed at a fixed location in front of

the viewer. Only the rotations (pitch, roll, and yaw) will be modeled in that event.

If your helicopter is experiencing high vibrations in flight, a warning will be

displayed on the playback screen in order to assist you in correcting those

vibration problems. High vibrations are identified with a yellow warning

message. Extreme vibrations are identified with a red error message. Extreme

vibrations also result in the “green with red flicker” LED state on your SK720.

(See Section 9 of this manual for more information about indicators and errors on

your SK720.)

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