FEIYU PANDA GCS & AFSS AUTOPILOT SYSTEM TECH INSTALLATION & OPERATION MANUAL Guilin Feiyu Electronic Technology Co., Ltd Addr : 4th Floor,YuTaiJie Science Technology Building,Information Industry Park , ChaoYang Road ,Qi Xing District ,Gui Lin ,541004 Website: www.feiyu-tech.com Email: service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd Dear Pilot, Thank you for purchasing the PANDA Full Function Autopilot with GCS & AFSS from FeiYu Tech. In order to achieve full potential and safe operation of this product, please carefully read this manual prior to installation. Attention: The installation and use of this autopilot require advance skill and knowledge in flying remote controlled fixed wing aircraft, the operations of amateur autopilot system and ground control station (GCS).
Guilin Feiyu Electronic Technology Co., Ltd Panda Autopilot Introduction: What it Does PANDA is an advanced autopilot with patented Attitude Flight Stabilization System AFSS™ that allows you to view and change in real time the flight parameters of your flying aircraft via your Ground Control Station (GCS).
Guilin Feiyu Electronic Technology Co., Ltd Major Auto Pilot Components 1. PANDA provides high-precision flight attitude measurement and control through the utilization of an integrated 32 bits microprocessor, GPS receiver, three-axis MEMS gyros, three-axis accelerometer, three-axis magnetic sensor, accurate barometric pressure sensor, attitude algorithm, Kalman filtering and data fusion algorithms. 2. Combined the attitude module and the control module, get more small volume and lighter weight. 3.
Guilin Feiyu Electronic Technology Co., Ltd 16. Real time display on the GCS includes flight parameters such as main pack voltage, mAh consumed, Amp draw, GPS satellite strength and temperature of the autopilot unit. 17. All flight parameters are downloaded automatically by the GCS for instant playback. 18. IMPORTANT: GCS Function When using the Data Radio to control the aircraft, the controlling signals from the RC Receiver is directly sent to the Remote Adapter and converted to digital signals.
Guilin Feiyu Electronic Technology Co., Ltd RS-232 Baud Rate Operating Temperature 19200 -20 25 Temperature Bps 60 25 TTL Level ℃ ℃ Controller Module dimension 60×31×20 mm Panda autopilot Weight 35 grams module 52×31×20 mm Panda remote Weight 27 grams GPS Module dimension 32×32×10 mm Weight 21 grams Remote Adapter Module Dimension adapter module GPS module PANDA INSTALATION 1.
Guilin Feiyu Electronic Technology Co., Ltd Panda Remote Adapter Module GPS Receiver Module 2. Optional components: a. OSD Video overlay modules b. Current sensor c. Data radio module d. Other fittings FY-606 Data Radio (2.4GHz) FY-602Data Radio (433MHz) Note: Data Radio selection please refer page 7 Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyudz.cn Page 6 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd FLIGHT CONTROLLER MODULE INSTALLATION FLIGHT CONTROLLER MODULE 1. The Autopilot module must be placed horizontally and as close as possible to the plane‘s CG (Center of Gravity). The default direction is the arrow direction must be pointing towards the nose of the plane (i.e. direction of flight). You can change the direction to four directions via the GCS software, i.e direction forward, back, left, right (shown below) .
Guilin Feiyu Electronic Technology Co., Ltd 7. The Data Radio uplink is responsible for receiving flight navigation data from the GCS. At the same time, the Data Radio also transmits flight status and other remote sensing information back to the GCS. The asynchronous serial interface protocol between PANDA autopilot and communications link is RS232-TTL level, the baud rate is 19200. 8.
Guilin Feiyu Electronic Technology Co.
Guilin Feiyu Electronic Technology Co.
Guilin Feiyu Electronic Technology Co., Ltd Connection Diagram Can power up via any free vcc port VCC GND External collecte Task servo 2 voltage Aileron servo Task servo Elevator servo Camera Throttle servo Rudder servo Data radio Receiver GPS Voltage detected (current sensor) Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyudz.cn Page 11 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co.
Guilin Feiyu Electronic Technology Co., Ltd Connection Diagram Data radio GND + PC serial port RC Receiver 5V battery The interface and features of the GPS module TX: For Data transmission to the Autopilot module (RX2) RX: For Receiving data transmitted from Autopilot module (TX2)(Can disconnected ) Interface Features: TTL level Baud rate: 38400 Data bits: 8 Stop bits: 1 Parity: None GPS Data refresh rate: 10Hz Balck - -GND Red --- +3.3V 电流传感器： Green —signal Guilin Feiyu Electronic Technology Co.
Guilin Feiyu Electronic Technology Co., Ltd Current Sensor: PANDA Power Supply 1. 2. 3. 4. To ensure uninterrupted autopilot function, it is critical that your power system outputs a stable and clean 5 volt power source to the PANDA system. To avoid current fluctuations, ideally the power source supply to the servos should be separate from the autopilot. If the power source for the Autopilot system and servos are the same, then we highly recommend a battery or BEC supply with higher than 3 amps output.
Guilin Feiyu Electronic Technology Co., Ltd Figure 1: On the aircraft, the radio modem controls all flight parameters. No RC receiver is installed in your aircraft. Figure 2: At your ground Station, the signals from your RC Transmitter is sent to the RC Receiver which is connected to your computer via the Remote Adapter. a) Your RC Receiver is installed at your ground station. The Receiver servo signal output is fed into the Remote Adapter.
Guilin Feiyu Electronic Technology Co., Ltd OPTION 1: ON BOARD AIRCRAFT DIAGRAMME 5V servo battery RUD Servo THR Servo ELE Servo AIL Servo Data radio GPS module OPTION 1: ADVANTAGE Option 1 will make on board installation easier since the RC Receiver does not need to be installed on board. You save on weight and installation area. The entire radio and autopilot settings can be carried out at the Ground Station without involving the aircraft. Only a 6 channel receiver is required.
Guilin Feiyu Electronic Technology Co., Ltd deactivation is that the aircraft will continue flying the set route even without Data Radio communication. This way, it can complete its flight mission fully autonomously. Of course it would make sense to have the mission end at the base station so you won‘t lose your plane! RTH DeActivated：choose ― Para Settings‖ —＞ ― Flight Para‖, click ― RTH Deactivated‖, when the button turn green, meaning you have set successfully.
Guilin Feiyu Electronic Technology Co., Ltd OPTION 2: RC RECEIVER ON-BOARD a) In Option 2, both the RC receiver and Data Radio is installed onboard the aircraft. b) In Option 2, you have direct RC Transmitter control of the aircraft, therefore avoiding the data transfer delays of Option 1. c) For Option 2, you will need at least a 6 channels Receiver. d) Two of the channels require a three-position switch. (e.g. Channel 5 and 6).
Guilin Feiyu Electronic Technology Co., Ltd AIL ELE THR RUD RC Remote Receiver CH5 CH6 5Vservo battery RUD Servo THR Servo ELE Servo AIL Servo Data radio GPS module OPTION 2: POWER WARNING If you choose to use the 5.0 volt power from your ESC BEC, you can plug the throttle control wire directly into the ―THR‖ port. However please ensure that your ESC internal BEC can supply a minimum of 3.0 A current. However we highly recommend that you use an external BEC with 3.0 A current output. The 5.
Guilin Feiyu Electronic Technology Co., Ltd USB—Serial TTL Data radio NOTE: If you wish to use a 5 volt Receiver battery to power the ground station system, please disconnect the 5 volt power coming from the USB Interface cable. OPTION 3: TWO RECEIVER SYSTEM a) b) c) d) e) f) g) h) i) Option 3 is the combination of Option 1 and Option 2. In Option 3, you will require two receivers of the same frequency. Ensure that both receivers can be controlled by your RC transmitter.
Guilin Feiyu Electronic Technology Co., Ltd OPTION 3: ON-BOARD AIRCRAFT DIAGRAMME AIL ELE THR RUD RC Remote Receiver CH5 CH6 5Vservo battery RUD Servo THR Servo ELE Servo AIL Servo Data radio Guilin Feiyu Electronic Technology Co., Ltd GPS module http://www.feiyudz.cn Page 21 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd OPTION 3: GROUND STATION CONTROL DIAGRAMME WARNING: If you wish to use a 5 volt Receiver battery to power the ground station system, please disconnect the 5 volt power in-coming from the USB Interface cable. Receiver battery RC Remote Receiver AIL ELE THR RUD CH5 CH6 USB—Serial TTL Data radio Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyudz.cn Page 22 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd OSD & FY-602 DATA RADIO INSTALLATION (ON-BOARD AIRCRAFT), use the Option 1 setting method. Autopilot Front Interface FY602 GPS Video transmitter Camera Autopilot Back-end Interface Power Current Main Battery Pack Sensor ESC Thr & 5V * 5V BEC supply β Motor RUD * Thr & 5 Volt – ELE AIL Throttle signal input and 5 volt power supply from ESC. Use the ESC BEC input only if it can output stable 3A current.
Guilin Feiyu Electronic Technology Co., Ltd FY-606 DATA RADIO INSTALLATION (GROUND CONTROL) The connection diagram of the Data Radio and GCS is shown as below. Remoter Adapter FY602 data radio GND + RC receiver AIL ELE THR RUD CH5 CH6 CH7 CH8 Guilin Feiyu Electronic Technology Co., Ltd USB -- TTL 5V supply batteries Note: Please disconnect the 5 volt power coming from the USB interface cable when receiver‘s battery is in used to power the receiver and adapter board. http://www.feiyudz.
Guilin Feiyu Electronic Technology Co., Ltd FY-GCS: Ground Control Software FY-GCS SOFTWARE END USER AGREEMENT a) The FY-GCS complies with all regulations within the People’s Republic of China (PRC). b) It is the end user’s responsibility to ensure compliance to regulations in their own country if the FY-GCS is used outside of the PRC. c) FY-GCS Software system is prohibited to be used for any illegal activity. d) The Guilin Feiyu Electronic Technology Co.
Guilin Feiyu Electronic Technology Co., Ltd Operating System: Windows XP system, Vista, Win7system, etc Monitor resolution: 1024x768 or above. Port: Support 9-pin serial port or USB Serial converter (Baud rate19200 or more) Other Peripherals: Keyboard, Mouse. The installation for the GCS software and the USB-TTL Serial cable First you have to download the GCS software and USB-TLL serial drive on our official website http://www.feiyu-tech.com . After that, you can set up the software.
Guilin Feiyu Electronic Technology Co., Ltd 2) Restart the computer and make the drive be activated. 3) If it can't be used, please uninstall the original drive and reinstall this one, or search its PL2303 chip to the latest version on the Internet.
Guilin Feiyu Electronic Technology Co., Ltd FY-GCS MODULE INTRODUCTION Software interface Menu bar and toolbar FY-GCS Menu Bar 1. The ―File‖ menu includes: A. Exit: close the window B. Load Kml: Can select and load the KML file, after the load the KML file will be displayed in the Map and can use for the path setting. 2. The ―View‖ menu includes: A. Display icon text: for option display or not the text instruction beside the icon B. Moving map display: option if move the map following the plane. 3.
Guilin Feiyu Electronic Technology Co., Ltd B. Altitude Initialization: click to initialize the altitude, in order to pick up the altitude of your position , and will be used in the 3D path setting, if not get the local altitude it may be caused that the waypoint path or flight path won‘t be displayed(they are covered) C. Downlink data rate: set the downlink data rate to the Autopilot. D. Uplink data rate: set the uplink remote control data rate to the Autopilot. E.
Guilin Feiyu Electronic Technology Co., Ltd 5、 Replay the previous flight path record file. 6、 Select if move the map following the plane. 7、 Remove all flight path in the map. 8、 Click these buttons will enter relevant Settings interface . FY-GCS Setting interface 1. Waypoint edit interface Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyudz.cn Page 30 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd Click the ―edit waypoints‖ button enter the waypoints edit interface. You can set the fly path, add or delete the waypoints, set the home point, take off point, Import or download the Waypoints, or set the target point when fly in click flight mode, etc. Parameters Setting interface Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyudz.cn Page 31 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd Parameters setting interface includes parameters‖，―other‖. ―PID parameters ‖,―Control parameters‖, ―Flight Flight Parameter Setting: 1. Auto photo: Enable automatic photography function.(can set Equidistance or Timing taking photo ) 2. Photo: Captures a photo immediately. 3. AP working mode Switch: Select if Shield the operation of the remote control (the default is operate by the remote controller, in normal you not need to switch). 4.
Guilin Feiyu Electronic Technology Co., Ltd Flight Parameter Setting: 1、TGT SPD: Target ground speed setting in kilometers per hour (km/h). 2、TGT ALT: Target altitude setting in meters (m). 3、Circle radius: Circling radius setting in meters (m). 4、Photo interval: Set automatic photography interval for photo‘s along flight path in meter (m).or for photo‘s along time in second(s). 5、Throttle hold: Set throttle hold. 6、Photo taking: Set the time interval from active shutter to generate photos. PID para: 1.
Guilin Feiyu Electronic Technology Co., Ltd Operations of GCS 1) Connection to autopilot a) Make sure the hardware connect correctly. Then open the GCS. b) Click the connection button , chose the serial port. For example, the serial Com port number here is ―COM1‖, the default Baud rate is ―19200‖. Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyudz.cn Page 34 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd Click the ―OK‖ button to connect, then click to switch to instrumentation interface. The changing information is shown on this interface. 2) Air route setting a) Altitude Initialization To get accurate altitude recording on the GCS, you need to initialize the altitude record. It is important to enable 3D flight rendering on the GCS, otherwise it may result in rendering a flight path outside the map layer.
Guilin Feiyu Electronic Technology Co., Ltd b) Set the air route Click ，The button background will turn green, then the waypoint editing is activated and you can set the route. The Waypoint setting window will be displayed. Enter the altitude you wish to maintain, and press Set: Then click the edit button ，after the background turn green, you can plan the air route by clicking mouse. Depress the ―Ctrl‖ key, bring the cursor on the map and click where you want to set the waypoint.
Guilin Feiyu Electronic Technology Co., Ltd After setting the route, please click ―Upload Waypoints‖ ，to upload the waypoints to panda autopilot. You can remove all waypoints by clicking . You can check the uploaded waypoints in the panda autopilot by pressing the waypoint download button. Check that the uploaded waypoints are correct: . c) Home point setting Reset the home point location when fly in different area.
Guilin Feiyu Electronic Technology Co., Ltd d) Save the waypoints At last, don‘t forget to click this button to save lost if power down. ，otherwise the setting waypoints will be Instant Waypoint flying setting The aircraft can fly to other temporary waypoints, when carry out instant waypoint flying operation. To enter instant waypoint flying, autopilot should work in stability, path navigation, RTH or circling mode.
Guilin Feiyu Electronic Technology Co., Ltd Panda Debugging instructions The setup of the Panda can be started once you have finished installing Panda and the GCS software. Autopilot Function Flight Control Mode Description: 1. There are three flight control modes: Manual, Auto Balance and Automatic navigation mode. 2. You can utilize Channel 5 to determine Flight Control Modes. Use a 3-position switch on your radio transmitter. 3. Set CH5 to any 3-position switch on your transmitter.
Guilin Feiyu Electronic Technology Co., Ltd Return to Home (RTH); Automatic Take-off (Idle); Auto Circling ; 1. You can set Channel 6 to a 3-position switch to select the Special Flight Modes. 2. The middle position of your three position switch is ―idle mode‖ which means no special flight modes are active: Pulse width of CH6 1000-1199μS 1200-1800μS 1801-2000μS Function Return to Home Idle Auto Circling 3.
Guilin Feiyu Electronic Technology Co., Ltd 8. 9. 10. 11. The FY602 data radio has red and green status lights. FY-602 Red light – Data Radio is ―transmitting‖. FY-602 Green light – Data Radio is ―receiving‖. If you find that transmission of the data radio causes the rudder to ―twitch‖ from interference, please move the Data Radio transmitter away from the rudder or other effected servos.
Guilin Feiyu Electronic Technology Co., Ltd Layout Options Normal layout plane Normal& No AIL/Turn via AIL Delta-winged plane with rudder Elevons/ Turn via AIL Delta-winged plane without rudder Normal& No AIL/Turn via AIL& RUD Plane without aileron but with elevator and rudder Elevons/ Turn via AIL& RUD PRE-FLIGHT CHECK: 3. The following procedure explains how to correct servo control direction upon Panda activation. 4. Control direction Check.
Guilin Feiyu Electronic Technology Co., Ltd Pander IN AUTO BALANCE MODE Nose UP Elevator moves up Elevator moves down 2. Nose DOWN If the the elevator does not follow the correct movement, please set ―ELE REV‖ in the ―REV rudder settings‖ box. You should now see the correct servo movement after ‗checking‘ the box. Rudder Check: 1. Holding the plane in your hands ―yaw the plane‖ from left to right.
Guilin Feiyu Electronic Technology Co., Ltd Throttle Detection: 1. 2. 3. 4. Warning: It is recommended that you remove your prop or disable your motor while performing these setup procedure. Pleases refer to the throttle output at the servo display as shown to the right. With your throttle at the lowest setting the number should read 1000. As your throttle up this number should get larger.
Guilin Feiyu Electronic Technology Co., Ltd Altitude control 1. Pitch control: The higher the value, the higher the pitch up or down of the aircraft nose. Maximum pitch up setting is + 20 degrees. Maximum pitch down setting: - 20 degrees. Range is 0 to 99. Default value: 50. The following table shows Pitch angle control when the plane reaches 10 meter altitude: Value set 30 50（default） 70 6° 10° 14° Attitude up 10 m 2. Alt Ofs integ: Also known as Attitude Deviation Integration.
Guilin Feiyu Electronic Technology Co., Ltd sensitivity. If your Rudder control sensitivity is high this parameter value should be reduced, and vice versa. For all other mix-control modes, the turning is complete via aileron only. Therefore this ‗Rud Turn Control‘ parameter has no effect on the aircraft. Range :0-99.Default value:60. 3. Rud stab: Control gain to counter the rotation of Z Axis (perpendicular to the body of the plane).The higher the value, the greater the control gain would be. Range: 0-99.
Guilin Feiyu Electronic Technology Co., Ltd 6. 7. 8. Ensure that the pitch and roll indicators are moving properly and do not deviate. During this throttle increment tests, observe your GCS Screen (above). If the ―Attitude error" sign is activated as shown above, that means the system is experiencing excessive vibration and the autopilot cannot function properly. 9. Attitude error corresponds to 1000 attitude errors during the test process. 10. Check your installation.
Guilin Feiyu Electronic Technology Co., Ltd Flight Path Setting 1. After the autopilot has attained a lock on the home position, a little red plane will show up on the map at your current position. 2. Set the current location as return point if you wish. 3. To familiarize yourself with flight path setting, try a very simple autopilot flight plan first. 4. In this example, set a ―Box‖ pattern (above). Set the right height, such as, 200 meters. 5.
Guilin Feiyu Electronic Technology Co., Ltd then you need to decrease the pitching stability control. The same is true for the roll, if the plane returns to level flight too slowly then increase the roll stability control. If the plane rocks back and forth then you need to decrease the roll stability control. 7. After you have finished adjusting in the Auto Balance Mode, adjust the remote control trims to fly level without input from you. 8.
Guilin Feiyu Electronic Technology Co., Ltd B A C A Increase Course damping. If the plane rolled from side to side during turning, reduce Course damping. A Heading Stabilization Adjustment 1. ―Rudder Stability‖ is useful. It‘s used to improve the course stability during flying . 2. Notice: The plane will not fly in a straight line if the settings are too high. For an example, flight path from A to B. A B A B C A Increase ―Side Offset damping‖ if plane fly like a ―Big S‖ pattern.
Guilin Feiyu Electronic Technology Co., Ltd A B A B C A If the plane climbs too slowly, increase the ―pitch angle control.‖ A B A If the plane climbs too fast, reduce the ―pitch angle control.‖ B C A A B A B C Increase ―Height damping‖ if your plane flies in this pattern. A A B A B C A A B A A B A Decrease ―Height damping‖ if your plane flies in this pattern.
Guilin Feiyu Electronic Technology Co., Ltd Auto Take Off 1. The auto take-off feature is designed mainly for hand launched planes. 2. Please select a fairly stable plane if auto take-off is to be used. 3. The Auto Take-off should not be attempted unless you have completed setting up Auto Balance mode and fill in the Navigation parameters. 4. Critical Parameter Examples: Set the climb pitching angle for auto take-off.
