Zero Ys-x6 User manual

YS-X6

YS-X6 Multi-Rotor

Multi-Rotor

Multi-Rotor Autopilot

Autopilot

Quick Start Guide

Revised on October 22th,, 2012

www.zerouav.net

1 Assembly

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 ！

•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

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

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 .

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

“ 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:

•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:

Only change d to GPS mode, the actual course angle will display in C ourse angle

in data page of GCS .

S TEP

TEP

TEP 1

1 Calibration

Calibration

Calibration in

in 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 TEP

TEP

TEP 2

2 Calibration

Calibration

Calibration in

in 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 .

S TEP

TEP

TEP 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.

5 Control

Control

Control 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

is useless for aircraft if receiver displays “ RC off ” , which equals there is no RC

receiver on the craft.

It is strongly not suggested to close the receiver ( RC off) if user doesn ’ t know

well about the system !

•Mobile RC Status means whether the cross operation is enabled or not in the

mobile RC interface, enable the GC software and click on “ RC on

”

, there is a

“ round circle ” showing on the “ cross ” ,indicating “ Mobile RC status ” has been

enabled “ .Select “ RC off ” ,there is no round circle on the cross ,indicating

“ Mobile RC status ” has been off.

Stat u s

CH5

Stat u s

Mobile RC

Status

CH6

Status

Craft Status Priority

RC off X

Auto - Ena

ble X

When controlling by mobile, there is a

“ round circle ” showing on the “ cross

”

When losing WIFI or signal exceeding

10s, auto-returning home and landing.

(This mode is not commanded to

hobbyists.)

RC on

CH5

Manual X X

In full manual mode, it

’

s controlled by

RC transmitter only.

Note: No strong actions/ No high

speed when flying in manual mode.

CH5

Auto

( In

position

3）

Mobile

“ Control

on ”

CH6

position

When controlling by mobile, there is a

“ round circle ” showing on the “ cross

”

please check the mobile status, it has

nothing to do with the RC Transmitter.

CH6 Enabling waypoints on mobile can get

position

into

“

Auto-navigation ” mode. (Make sure

the waypoints is uploaded)

CH6

position

“

Auto-return home & landing ” mode

Mobile

“ Control ”

off

CH6

position

“ GPS auto-hover ” mode, if the

throttle is in the minimum, craft may go

down fast, meanwhile the throttle should

be maintained in middle-position.

4CH6

position

Enabling waypoints on mobile can get

into

“

Auto-navigation ” mode. (Make sure

the waypoints is uploaded) ）

CH6

position

“

Auto-return home & landing ” mode

Remark:

•“

“

“ X

X ”

”

” :

:means irrelevant, any kind of status. When mobile remote control is

enabled, there is a round circle showing on the cross. When Mobile transmitter

is disabled, there is no round circle showing on the cross.

•“

“

“ RC

RC status

status

status ”

”

” :

:means “ receiver on ” and “ receiver off ” status in GCS 。

•“

“

“ Priority

Priority

Priority ”

”

”: 1 means the highest.

6 Aircraft Type

coaxial propellers: Blue propeller is at Top; Purple propeller is at Bottom.

Otherwise all propellers are at top. The arrow means the orientation aircraft

head should point to . Fill in

“

Aircraft Type ” in the parameter settings with below

numbers.

Customized

Customized Parameters

Parameters

Tips:

Customized parameters can be setup by customers to allocate motor

mix-control. And the proportion coefficient of pitch, toll and turning of each

motor also can be customized for applying to the irregular Multi-rotor frame.

•Customized

Customized

Customized throttle

throttle

throttle parameters:

parameters:

parameters: all of them must be 100.

•Customized

Customized

Customized course

course

course angle

angle

angle parameters:

parameters:

parameters: to make the aircraft rotate to right,

the changing method of correspond ing motor speed should be decreased to

-100, and increase to 100.

•Customized

Customized

Customized pitch

pitch

pitch parameters:

parameters:

parameters: to make the aircraft head be downward , the

changing method of correspond ing motor speed should be decreased to -100,

and increase to 100.

•Customized

Customized

Customized toll

toll

toll parameters

parameters

parameters ：to make the aircraft roll to right , the changing

method of correspond ing motor speed should be decreased to -100, and

increase to 100.

Now let

’

s take the Quad-X parameters setting for an example:

I n GCS , please click on "Setting" -- “ Parameters Define ” to fill in the parameters,

after verification change the parameter of aircraft type to 10 .

Warning :

if the parameters are incorrectly setup, after powering autopilot on or the

" aircraft type " is changed to 10, the motors will immediat ely rotat e with high

speed , so it's strongly suggested that take off all of the propellers before fill ing

in the defined parameters to ensure your absolute safety!)

A nd then click on "Setting" -- “ Parameters Define ” -- "Get" to verify the changing

is successful. Repower autopilot on after verification, push the throttle stick to

the minimum position to make the motor rotate in slow speed and meanwhile

carefully check whether the mix-control is consist with settings, after

verification can start to fly .

7 Arm/Disarm motors and Failsafe

Enable

Enable Motors

Motors

Motors Protection

Protection

Any time after landing or before take-off, only if it is in manual mode and the

throttle stick is at the bottom position, the motors can be locked up completely

after 5 seconds; After locked up, motors won't rotate even if push the throttle

stick. Only through “ enable insurance ” on phone or through motor arming

（please refer to the tips of Motor

Motor

Motor Arming

Arming

Arming in part 9 Flight

Flight

Flight ）the motors can be

unlocked.

Disarm

Disarm motor

motor

Only in manual mode and without holding altitude, the motors stop rotating with

pulling the throttle stick back to the bottom. Other time, if pull back the throttle

stick to the bottom, the motors won ’ t stop rotating but only decrease altitude.

Attention:

During flying, if there is no accidents please do not switch to manual mode and

push the throttle to the minimum at the same time, otherwise the motors will

immediately stop rotating, craft will free-fall to the ground and never be

rebooted !

Tips:

Whenever need to stop the motors urgently, below ways can help:

(1) Switch CH5 to position 1, namely in manual mode but without holding

altitude, what

’

s more the throttle stick must be in the minimum.

(2) when mobile selects "RC off", click on "motor off " on mobile RC interface; Or

enable the receiver "RC on", according to the method (1);

(3) After auto-returning home and landing on the ground, click on "motor off"

on mobile RC cross interface and confirm; Or enable the transmitter, according

to method (1);

(4) After landing on the ground in holding altitude or GPS mode, press the cross

downward continuously, namely the throttle stick or RC throttle stick controlling

landing is on the bottom position all the time, motor will stop rotating slowly till

shut down completely and locked up.

W IFI

IFI

IFI Signal

Signal

Signal Lost

Lost

(1) When receiver enabled (RC on) , if the W IFI signal loses more than 1 second,

then control the aircraft by RC transmitter;

(2) When user select "receiver off " ( RC off), all of the operations by transmitter

are unavailable, craft control is managed as follows:

A. In " waypoints flight " mode, the flight will not be influenced if the WIFI signal

loses, and aircraft will go back to the first waypoint to hover after finishing

waypoints flight, then you need to judge whether WIFI signal has recovered, if

the signal unrecoverable, then manage as following;

B. When it ’ s not “ waypoints flight ” mode or aircraft hovers in the first waypoint

after finishing waypoints flight, please wait 10 seconds if the WIFI signal loses,

and continue to operate if signal can recover; If there is no signal 10 seconds

later, then enable the returning & landing function; if the signal recovers again

during returning , then stop returning home instead of hovering. Continue to

return home and land if the signal is not recovered again.

RC (receiver)

(receiver)

(receiver) Signal

Signal

Signal Lost

Lost

Users must refer to the instruction of RC transmitter to correctly set up F/S,

set CH5 to position 3,CH6 to position 1, throttle stick to the middle position

(installation guide has tips). If enable F/S for any reason in “ RC on ” status, the

autopilot will be switched to auto- hovering status （continue flight path for 5

seconds in auto-waypoints mode, wait for 5 seconds and start to return home if

the signal can ’ t recover after 5 seconds.

8 Mobile Remote Control

(1) Phone Cross Control

During flight, when remote control is switched to

“

Auto-hover ” of “ GPS mode

”

the craft shall get into auto-hover. Meanwhile click GCS on mobile →“ enable

control/disable control ” to enable or disable the control operation.

Mobile remote control operation ways as below:

Notice ：

In “ Settings ” of GCS , there is “ change altitude ” there, when in automatic mode

and the throttle stick is in the middle position, you can put in target altitude

directly (unit: meter) and verify, then the craft will go up or down to the preset

altitude.

RC ON

Transmitter Interface Operation Ways Craft Status

Circle area Red: Not loacated; Green: located. Keep still

Position Hold DO NOT touch any area Position hold.

Operation

1. Press the circle and move up/down

2. Press the circle and move left/right

3. Press the circle and move left top, left

bottom, right tip, etc.

1. Move back and front

2. Move left and right

3. Move

lefttop,leftbottom,etc

Climb/

Decline/Rota

Click the circle and move in the range of the

red cross:

1.Top

2.Bottom

3.Left

4.Right

Note

(1) The distance to the red dot means the

flight speed. The farther ,the faster.

(2) Press=moving,release=stop moving

(3) Release=position hold immediately

(4) The Maximum speed is 2.5 m/s

1、Climb

2、Decline

3、Rotate to the left

4、Rotate to the right

（2

2）Phone

Phone

Phone attitude

attitude

attitude mode

mode

User can enable phone attitude control mode in phone remote control mode,

click on “ enable attitude ” the transmitter interface will be changed to a blue

cross, which indicates mobile attitude control mode has been enabled.

Notice:

K eep the phone in horizon before enabling attitude mode, otherwise the craft

will lean to the direction where the phone tilt to.

Phone attitude operation is shown as the form below :

Enable

attitude

Transmitter Interface Operation Ways Craft Status

Circle

Status

Red:unlock

Green:lock

- ---

Hover

Operation

Keep the mobile phone flat and no click Hover

Not ice :

The control mode can be switched between phone cross control and phone

attitude control.

9 Flight

（1

1）Motor

Motor

Motor Arming

Arming

Unlock throttle: Move rod as V shaped when the throttle is in the bottom. After

that push throttle stick to enable the motor in 5 seconds, and the motor

Flight

Operation

1 Mobile phone tilt to front/back

2 Mobile phone tilt to left/right

3Mobile phone tilt to

upleft/downleft/upright/downright

1front/back

2left/right

3upleft/downleft/

upright/downr

ight move

Climb/Desc

end/Auto-ro

tate

1 click on right above the circle (inside the

cross)

2 click on under the circle (inside the cross)

3 click on the left of the circle (inside the

cross)

4 click on the right of the circle (inside the

cross)

Note:

(1)The further click point from the circle the

quicker craft moves

(2)Pressing time equals craft moving time.

1 Climb

2 Descend

3 Left rotation

4 Right rotation

Table of contents

Popular Autopilot System manuals by other brands

AUTOHELM

AUTOHELM Autohelm ST1000 Operating and installation

CHCNAV

CHCNAV NX510 Commissioning Guide

Raven

Raven SC1 installation manual

Simrad

Simrad AP70 MK2 quick start guide

Navicontrol

Navicontrol AP3003 gold Instruction manual for installation and use

Raven

Raven SmarTrax MD installation manual

Meggitt

Meggitt S-TEC Fifty Five X Pilot operating handbook

PitLab

PitLab Dedalus user manual

Raymarine

Raymarine Evolution EV-1 installation instructions

Raymarine

Raymarine Autohelm ST6000 Service manual

$Sitex SP-110C user manual$

Sitex

Sitex SP-110C user manual

Base Line

Base Line ParaDrone Operation manual

Embention

Embention Veronte 4 Hardware user manual

Furuno

Furuno NAVpilot-700 user manual

Zero YS-X6 User manual

Popular Autopilot System manuals by other brands