Zero YS-X6 User manual

Copyright(C)2012ZeroUAV All Rights Reserved1
YS-X6
YS-X6
YS-X6
YS-X6 Multi-Rotor
Multi-Rotor
Multi-Rotor
Multi-Rotor Autopilot
Autopilot
Autopilot
Autopilot
Quick Start Guide
Revised on October 22th,, 2012
www.zerouav.net

Copyright(C)2012ZeroUAV All Rights Reserved2
1 Assembly
Notices:
Notices:
Notices:
Notices:
•The power supply range of MC (Autopilot) and WIFI is 3s~6s(Power remains a
little), namely 10.8V~25.5V, MC provides 5.7V power to RC receiver
automatically, no need to add any out-built power module. After correct
connection and powering it, the autopilot will complete initialization in few
seconds and LED light starts to blink in red for three times continuously,
indicating the connection is correct and motivated successfully.
•The above "the light blinks in red for three times" is a sign to check whether all
hardware are working normally or not, all data connection is based on this. After
powering if no "the light blinks in red for three times", please contact Zero UAV
(Beijing) Intelligence Technology Co. Ltd. or its distributors directly. Otherwise,
please check the assembly carefully referring to the above illustration.
Attention:
Any wrong connection of IMU or GPS may result in burning out the devices ！

Copyright(C)2012ZeroUAV All Rights Reserved3
•When ESC and motor s work ing , they will produce serious magnetic
interference, so GPS and magnetic sensor module must be installed by
nonferrous to keep far away from motor and ESC (especially the Octo-rotor ),
and the arrow is towards aircraft nose. Otherwise, the aircraft will fly circling
around and in correctly hover. As there are rich eletric current in the batterywire
which can produc e magnetic field, users must place the batterywire far away
from GPS and magnetic sensor module, otherwise the craft will fly in circle in
GPS mode.
•When using gimbal, user need to power on the servo . Just leave one ESC
powered on if ESCs come with bec function and dump others ’ power. Plug the
battery of one servo to any of the M1~M8 if ESCs come without bec function .
Warning :
W hen using image transmission, users must make the image transmission far
away from IMU to avoid the interference.
2 Debugging and WIFI Set

Copyright(C)2012ZeroUAV All Rights Reserved4
S TEP 1: Download YS-GCS.
It must be installed to the Mobile memory card. Android system can be installed
automatically via running file installation once in the file manager. Apple system
can be installed after APP jailbreak, please refer to ” Apple Installation
Instructions ”
S TEP2 : WIFI Connection.
Tips:
If the serial number of YS-X6 is ：YS-X6-Serial No. N(Example: YS-X6-10112N) ，
It ind i cates that the W IFI module is integrated with router function and works in
point-to – point.If the serial number has no “ N ” , then the W IFI module is
ordinary without router function.
•Serial number of YS-X6 with “ N ” (work in point-to-point ), shown as
below:
Communication: Wireless router is no need. After WIFI works, your Phone or
Tablet will search for a wireless network whose name is YS-X6-Serial No.N
(Example: YS-X6-10112N), then please put in the password:12345 and connect
it. If the communication is successful, data will be displayed when GCS is
enabled. Please refer to the appendix4 to configurate the Wifi to be ordinary if
your phone can ’ t be compatible with Wifi module whose serial number comes

Copyright(C)2012ZeroUAV All Rights Reserved5
with “ N ” .
•Serial number of YS-X6 without “ N ” , shown as below:
Communication: Wireless router is needed to build AP. Set SSID of the router
as ” YS-X6-Serial No. ” (Example: YS-X6-10112N) (Note: The letters must be in
Capital) , password is 82890430, use WPA2-PSK AES as encryption method and
set Router IP as 192.168.1.1 ( Phone with hot spot also can be used instead of
router, but must make sure SSID and password can be set up on the phone , in
same way IP should be: 192.168.1.1) The indicator light on WIFI will be going
on in blue if the WIFI module successfully connected to AP.
Then enable the WLAN on Phone/Tablet to connect to router.
Tips:
•All the flight data can be saved to the files as following after W IFI data
connected .
To Android: the file with name of “ T+runtime ” saved in folder “ Yshj ” under root
directory of Phone/Tablet ；
TO Apple (IOS 5.0/5.0.1/5.1/5.1.1 ): the folder:
/private/var/mobile/documents/yswifi
•The file can be used for data analysis through the Replay Tool on PC.
3. Installation Guide
After connecting all data, you can set up the below options as showing in

Copyright(C)2012ZeroUAV All Rights Reserved6
“ Installation Guide ” of GCS “ Settings ” (If the data is not connected, please read
the above two steps carefully) .
Please refer to the diagram as below:
(1)Channel Calibration .
(2)Check CH5 & CH6, set up F/S (Fails safe) .
(3)ESC stroke calibration (This step is no need for special ESCs such as XA) .
(4)Set up aircraft type and parameters. Fill in local magnetic declination ( to
West is positive, to East is negative) .
(5)Check the configuration direction of IMU & GPS.
After completing the installation guide, can start to fly manually to have a test.
Tips:

Copyright(C)2012ZeroUAV All Rights Reserved7
•About magnetic declination
Please refer to the below website for magnetic declination
http:// magnetic-declination.com/
http://www.ngdc.noaa.gov/geomagmodels/struts/calcDeclination
•About RC transmitter ：
The RC transmitter must be set to fix ed -wing mode and do not set any
mix-control. Any channel can ’ t be inverted on FUTABA RC t ransmitter, but all of
the channels on Jr and WFLY RC transmitters need to be inverted.
For the RC transmitters of other branch, after channel calibration , check
whether the actual servo operation is the same as “ M anual servo position ”
showing on GCS , orientation/aileron/elevator display as left/right and push/pull,
hands off RC transmitter control displys as Neutral position, the max servo
position is 40, example: the max left servo displays as left40; the mini throttle
displays as 7 and the max as 90. It's correct if the actual servo operation is the
same as “ M anual servo position ” showing on GCS and if not same need to reset
channel to be reverse on transmitter.
4 Magnetic Course Calibration
There is no need to calibrate the magnetic course in manual mode, and the
“ Course angle ” in data page of GCS will keep displaying as 0 . But in GPS mode ,
the magnetic course calibration must be finished before take-off . Ferromagnetic
substances placed on multi-rotor or around its working environment will affect
the reading of earth magnetic for digital compass, it also reduces the accuracy
of the multi-rotor control, or even reads incorrect heading. Calibration will
eliminate such influences, and ensure MC system performs well in a non-ideal
magnetic environment. The magnetic data will display once after calibration and
be saved to the autopilot.
Notice:

Copyright(C)2012ZeroUAV All Rights Reserved8
Only change d to GPS mode, the actual course angle will display in C ourse angle
in data page of GCS .
S
S
S
S TEP
TEP
TEP
TEP 1
1
1
1 Calibration
Calibration
Calibration
Calibration in
in
in
in horizontal:
horizontal:
horizontal:
horizontal:
Enter Calibration by elect “ Horizontal Alignment ” from “ Magnetic Compas s ”in
“ Setting ” page of GCS and click OK to send the command to autopilot. After
confirmation ，the status bar in the middle will display "Success" meaning the
autopilot received the command of Horizontal Alignment, can start the
Calibration : Rotate your aircraft 2~3 laps along with the horizontal surface, ask
a helper to monitor the A ttitude angle changing in Data and try best to keep
Pitch and Roll value smaller than 3 (you can also check the blinking light which
is connecting with autopilot, if the light is keeping on it means attitude is good,
if the light is off it means the attitude is too big). After completing 2-3 laps
horizontal rotation, then go to the next step;
S
S
S
S TEP
TEP
TEP
TEP 2
2
2
2 Calibration
Calibration
Calibration
Calibration in
in
in
in vertical:
vertical:
vertical:
vertical:
Rotate the craft nose vertically facing the ground, select
“ Vertical Alignment ” from "Magnetic Compass" in GCS and click "OK" to send
the command to autopilot. After it says "Success" meaning the autopilot
received the command of Vertical Alignment and then the roll and pitch
will change close to 0 degree slowly via checking the attitude angle in
“ Data ” (namely changed reference coordinate system, it ’ s level when
the craft head face the ground).Then hold your Multi-rotor vertically and
rotate it along with its vertical axis keeping the attitude angle smaller than 3,
after completing 2-3 laps vertical rotation,then go to the next step; you can
also check the blinking light which is connecting with autopilot, constantly
light on means attitude is good, if attitude is too big the light will turn off .

Copyright(C)2012ZeroUAV All Rights Reserved9
S
S
S
S TEP
TEP
TEP
TEP 3
3
3
3
After rotating, in settings page click on Magnetic Compass --- save Magneti c
Compass -- -OK. After you finish the calibration, the GCS will go to "Control"
interface automatically. After waiting for scores of seconds （the purple light
keeps going on during data reading ）, mobile will display the magnetic sensor
data of AP, only look the red and blue circle in the middle of cross coordinates,
if they are close to standard round, then indicates a successful calibration and
data in good condition.
Two round circles will show whether the calibration was successful or not:
If two round circles show up in the "Control" interface (one blue circle one red
circle), calibration succeeds, can exit ;
If no circle or only one circle shows up in the "Control" interface, the calibration
has failed. Enter calibration by selecting " Horizontal Asignment" and then
re-start from step 1for re-calibration.
Successful Calibration Image:
Tips ：
After correct assembly and successful magnetic compass calibration once, no
need to recalibrate without any constructional reconfiguration or only upgrade
the firmware.

Copyright(C)2012ZeroUAV All Rights Reserved10
5
5
5
5 Control
Control
Control
Control Priority
Priority
Priority
Priority
Notices:
•User must select two 3-position switches and set them to CH5 & CH6 by RC
transmitter.
•Three modes can be switched through CH5, Manual/ M anual A ltitude H olding
/GPS. ( N ote:the flight status on “ data ” page in GCS display “ manual ” ” manual ”
“ auto-hover ” )
•CH6 can work only when CH5 stays at position 3 ( namely GPS mode ) . CH6 is
for switching modes among Auto-hovering/ Auto-navigation /Auto-returning
home & landing.
•The switch of RC receiver is button which showing “ Receiver off ” or “ Receiver
on ” in GCS, used to turn off/on the RC receiver on craft ,namely any operation