FeiYu Tech PANDA, Installation & Operation Manual

Page 1: ...T SYSTEM INSTALLATION OPERATION MANUAL Guilin Feiyu Electronic Technology Co Ltd Addr Rm C407 Innovation Building Information Industry Park Chaoyang Road Qixing District GuiLin CN Website www feiyu tech com Email service feiyu tech com ...

Page 2: ...stated very carefully and you won t go wrong PANDA Autopilot User Agreement a The PANDA autopilot system 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 PANDA is used outside of the PRC c PANDA autopilot system is prohibited to be used for any illegal activity It is the end...

Page 3: ...ontrol Activation of circling at given points Control of circling radius Automated Return to Home RTH Automated take off according the route setting Real time telemetry data transmitted to the GCS include Main battery voltage and mAh consumed GPS signal strength Plane attitude flight stabilization system AFSS status All parameters as shown on the On Screen Display OSD With the PANDA autopilot flig...

Page 4: ...dder may be used however a third party mixer have to be supplied by the user 8 Three control modes a Manual Mode b AFSS activated Active Stabilization c Automatic navigation control 9 Two automated navigation control modes a Air route navigation mode b Mouse controlled flight mode 10 Three special flight modes a Fixed circling mode b Auto Return to Home RTH mode c Auto take off mode 11 Any standar...

Page 5: ...te by yourself Technical parameters Table 1 Unless specified values are at operating temperature of 25 Component Min Value Standard Value Max Value Units Remark Main Supply Voltage 4 0 5 6 5 Volt Main Supply Current 60 mA At 5V supply voltage Altitude Measurement Range 500 6000 Meter GPS Ground Speed Measurement Range 0 350 Meter Sec GPS Horizontal Navigation accuracy 2 5 Meter Repeat Precision Ba...

Page 6: ...ht 35 grams Remote Adapter Module Dimension 52 31 20 mm Panda remote adapter module Weight 27 grams GPS Module dimension 32 32 10 mm GPS module Weight 21 grams PANDA INSTALATION 1 Before installation please check and ensure your PANDA pack contains the following main components a Panda Autopilot module b Panda Remote adapter module c GPS module Panda AutoPilot Module Panda Remote Adapter Module ...

Page 7: ...Y 606 Data Radio 2 4GHz Note Data Radio selection please refer page 7 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 di...

Page 8: ... the radio noise the more difficult for the GPS to lock in position 6 PANDA can integrate with either one of Feiyu Tech s two Data Radio modules the FY 606 2 4 Ghz or the FY 602 433 mHz 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 asynchr...

Page 9: ...trol system to avoid frequency interference 11 Alternately you can utilize your own full duplex data modem The communication link used by PANDA autopilot can be either a half duplex or a full duplex data modem 12 Warning Certain frequency bands from the Data Radio e g 433 mHz can interfere with servos due to electromagnetic emission To resolve this issue either avoid placing the Data Radio transmi...

Page 10: ...nput Ⅰ GND 3 3V TX2 RX2 GND VCC Aileron input Switch input 2 Ⅱ GND 5V DL DY Ⅲ NOTE The pin Ⅱ 5 6 7 8 is for the GPS module Ⅱ 7 pin output 3 3V Ⅲ 5 6 7 8 is for the Current sensor Ⅲ 7 pin is 5V output please don t supply to these pins or will burn the autopilot The output 1 is corresponding with the input of CH7 in the remote adapter Signal 5V GND P6 P5 P4 P3 P2 P1 AD P7 Parachute open OUT External...

Page 11: ... or the mix control servo 2 P3 Connect to the throttle or control wiring of the ESC P4 Connect to the rudder P5 Connect to the taking photo port of the camera P6 Directly output the CH7 servo signal of the remote adapter module P7 Output a servo signal which can be controlled directly by the GCS software Autopilot module taking photo port instruction The P5 port of the autopilot module output a ca...

Page 12: ...Ltd http www feiyudz cn Email feiyudz yahoo cn 11 Connection Diagram GPS Data radio Task servo 2 Task servo Rudder servo Voltage detected current sensor Aileron servo Elevator servo Throttle servo VCC GND Receiver External voltage collecte Camera Can power up via any free vcc port ...

Page 13: ...radio PC Connect to the PC serial port AIL Aileron input ELE Elevator input THR Throttle input RUD Rudder input CH5 Channel 5 input CH6 Channel 6 input CH7 Channel 7 input CH8 Channel 8 input The CH7 of the Remote Adapter module can adapt a receiver signal to the autopilot module and the autopilot module output it via its P6 port 5V GND TX2 RX2 5V GND CH5 THR 5V GND AIL CH7 ELE RUD CH6 CH8 TX1 RX1...

Page 14: ...ce 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 电流传感器 PC serial port RC Receiver 5V battery GND Balck GND Red 3 3V Green signal Data radio ...

Page 15: ...ame then we highly recommend a battery or BEC supply with higher than 3 amps output Do check this rating especially if you are using your ESC s internal BEC supply as some ESC BECs are not rated for 3amp output 4 We highly recommend a separate power source for the autopilot system from the receiver and servos as this has shown to produce the best results AUTOPILOT CONNECTION OPTIONS There are thre...

Page 16: ...ot involve the GCS The GCS is only used to monitor telemetry and flight status of the aircraft GCS involvement in fight control is minimal d Warning In Option 1 the Data Radio range will dictate your flight range Additionally due to the digital signal conversion and processing some delay in manual control transmission will occur Refer page 7 on notes on data transfer frequency Hz Figure 1 On the a...

Page 17: ...om 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 We highly recommend that you have an external BEC instead The 5 0 volt External BEC power input is connected to the 5V Pin of the P6 Port and the GND OPTION 1 Activation and Deactivation of safety feature When the plane is controll...

Page 18: ...ane RTH DeActivated choose Para Settings Flight Para click RTH Deactivated when the button turn green meaning you have set successfully Shown as above OPTION 1 GROUND STATION DIAGRAMME OPTION 1 Ground Station Requirements a You will need at least a 6 channels Receiver b You will also need at least two 3 position switches on your Radio Transmitter c If you wish to use a 5 volt Receiver battery to p...

Page 19: ...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 OPTION 2 ON BOARD AIRCRAFT SYSTEM DIAGRAMME ...

Page 20: ...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 0 volt External BEC power input is connected to the 5V Pin of the P6 Port and the GND OPTION 2 GROUND STATION CONTROL DIAGRAMME AIL Servo RUD Servo THR Servo ELE Servo 5Vservo battery Data radio RC...

Page 21: ...l utilization on both the on board receiver and Ground Station receiver must be the same f The receivers must be at least 6 channels g Two of the channels require a three position switch e g Channel 5 and 6 h Since both systems can be used to control your aircraft the maximum flight range is either your RC Transmitter or the Data Radio whichever can reach further out i e g If your RC Transmitter i...

Page 22: ...uilin Feiyu Electronic Technology Co Ltd http www feiyudz cn Email feiyudz yahoo cn 21 OPTION 3 ON BOARD AIRCRAFT DIAGRAMME AIL Servo RUD Servo THR Servo ELE Servo 5Vservo battery Data radio RC Remote Receiver AIL THR CH5 ELE CH6 RUD GPS module ...

Page 23: ... feiyudz yahoo cn 22 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 USB Serial TTL RC Remote Receiver AIL THR CH5 ELE CH6 RUD Data radio Receiver battery ...

Page 24: ...and 5 volt power supply from ESC Use the ESC BEC input only if it can output stable 3A current β 5V BEC supply We highly recommend using an external switching BEC instead of powering via the ESC BEC Disconnect the power supply red wire from the ESC if you use an external BEC Autopilot Back end Interface GPS FY602 Camera Power Main Battery Pack ESC Motor Current Sensor 5V BEC supply β Thr 5V ELE AI...

Page 25: ...STALLATION GROUND CONTROL The connection diagram of the Data Radio and GCS is shown as below FY602 data radio RC receiver 5V supply batteries GND AIL ELE THR RUD CH5 CH6 CH7 CH8 USB TTL 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 Remoter Adapter ...

Page 26: ...ny time h By using this product you agree to these terms and conditions effective on the date of purchase i Please read through the manual carefully and if there is any doubt or questions please do not hesitate to contact us and our support team __________________________________________________________________________ Software Parameters a FY GCS is the ground control software for the Panda autop...

Page 27: ... as default or select suitable installation path but the path should not be on desktop or too deep and it shouldn t include Chinese space or other strange characters Before using the GCS you have to install dotnetframework3 5 It must be the Version 3 5 not other versions you can refer this link for it http www microsoft com downloads zh cn details aspx FamilyID 333325fd ae52 4e35 b5 31 508d977d32a...

Page 28: ...l number take Win XP for example 1 Insert the USB TTL interface cable into computer USB COM port don t connect TTL port to any other wire you will find there is more than one port COM and LPT the port COM2 in the Prolific USB to Serial Com Port COM2 exactly is the Virtual serial number If you do not know which COM port number do the following Click your control panel Click on system Hardware click...

Page 29: ... 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 Tool menu includes A Com Ports Settings for selecting the serial port number and the...

Page 30: ...er F Import Waypoints import the waypoints path which you have saved in your computer to the GCS software 4 Language menu includes A English select the interface for the GCS is the English version B Simplified Chinese select the interface for the GCS is the Simplified Chinese version C Traditional Chinese select the interface for the GCS is the traditional Chinese FY GCS Toolbar 1 These three butt...

Page 31: ... http www feiyudz cn Email feiyudz yahoo cn 30 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 ...

Page 32: ...cn Email feiyudz yahoo cn 31 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 ...

Page 33: ...ote controller in normal you not need to switch 4 Loop path This will repeat the current waypoints path only works in the path navigation mode 5 RC datalink Switch Select to use the data radio control or the RC receiver remote control the default is data radio control 6 Parachute Opens aircraft parachute if applicable 7 RTH Activated Set the autopilot auto enter the Auto Return To Home mode RTH wh...

Page 34: ...vons ailerons rudder etc 3 REV rudder settings Set up the servo and throttle control direction 4 Check Gyro Gyro testing to see if it works OK 5 Gyro init Gyro initialization 6 Servo neutral Record servo neutral when in Level flight Other settings 1 Installation Settings set the install direction of the autopilot relative to the nose of the plane There are four directions forwards back left right ...

Page 35: ...http www feiyudz cn Email feiyudz yahoo cn 34 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 ...

Page 36: ...itialize 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 The GCS can initialize altitude automatically when obtains GPS signal But if no GPS position or there is error when auto initialization you should initialize by yourself Click The button background will turn green Click tools in the menu bar...

Page 37: ... cursor on the map and click where you want to set the waypoint The waypoint number and distance flown will be noted If you are not satisfied with the planning route you can reedit it If you want to change the position or add the navigation point simply bring the cursor over the Waypoint you want to edit Depress your mouse left button and move to the new waypoint location and let go The new locati...

Page 38: ...rect c Home point setting Reset the home point location when fly in different area On default when it has picked up 5 satellite signals it automatically locks the GPS coordinates as the home point By using the GCS you can change this Home location Firstly click Edit waypoints button than choose Edit home point button and make it turn green Depress the Ctrl key and click the target point in the Goo...

Page 39: ...cause this switch must be via GCS After ending instant waypoint flying the autopilot will carry out those tasks which are interrupted before Click the waypoint editing button when it turn green meaning you can edit the waypoint Click and make it turn green it means you have entered Mouse Click point mode That is to say switch the path navigation mode to instant waypoint flying mode Choose edit tar...

Page 40: ...ou have full control over the plane The autopilot is DISABLED Auto Balance mode This provides stabilization only The pilot still has full control over the direction altitude and throttle of the plane Automatic navigation mode In this mode the autopilot will implement the corresponding automatic control according to the navigation mode which has been set in the GCS Automatic Navigation Mode Descrip...

Page 41: ... circling the current waypoint immediately The circle radius is determined by the circle radius you have set The default value of the circle radius is 80 meters when autopilot is enabled 5 Automatic Take off Idle In this mode the autopilot is deactivated You have full control over your aircraft Communication Debugging 1 Turn on your computer and run the ground station software GCS 2 Turn on the ad...

Page 42: ...rudder to twitch from interference please move the Data Radio transmitter away from the rudder or other effected servos Servo Control Direction and Debugging ATTENTION It is recommended that you remove your prop or disable your motor while performing these setup procedures 1 The Panda module has its own mixing function Therefore the RC transmitter can be programmed for a normal layout aircraft 2 P...

Page 43: ...ined below Aileron Check 1 Holding the plane in your hands roll the plane to the right The ailerons should give a signal to counter this roll direction as shown below 2 If the ailerons move correctly then you have the correct AIL REV setting 3 If the ailerons do not follow the correct movement please set AIL REV in the REV rudder settings box You should now see the correct servo movement after che...

Page 44: ...udder Check 1 Holding the plane in your hands yaw the plane from left to right The rudder should give a signal to counter the yaw motion as shown bleow 2 If the rudder does not follow the correct movement please set RUD REV in the REV rudder settings box You should now see the correct servo movement after checking the box Rotate right Rudder moves to the left Rotate left Rudder moves to the right ...

Page 45: ... The higher the value the greater the turning angle in degrees This Parameter can be set in range from 0 99 degrees The maximum attitude angle during the turning procedure is 45 deg The Matrix below shows the relation between Parameter value and angle of the plane during a turning procedure with total heading changed bigger than 60 degrees Value set Turning angle 30 50 default 70 60 Corresponding ...

Page 46: ...e value the greater the pitch action Value Range 0 to 99 Default value 50 Throttle control 1 Spd control This setting controls the aircraft speed in reference to the GPS speed change The higher the value the greater the throttle control gain Value Range 0 to 99 Default value 50 2 Spd damping This setting controls the throttle control gain to counter changes in airspeed The higher the value the gre...

Page 47: ...by the change of the flight roll angle The higher of the setting the greater of the control gain Setting Range 0 99 Default value 40 Auto take off 1 Attack angle Use this to adjust the Auto take off pitch setting Setting Value Range 0 to 40 Degrees 2 Take off Spd Ground speed setting during take off Setting Range 0 to 99 meters per second Vibration Detection and Adjustment 1 It is critical that th...

Page 48: ...ntrol the camera which supports level control directly Repeat Path if setting the navigation path the plane will not entrance circling mode while repeat flies according the setting waypoint But if you carry out the repeat path after entrancing circling mode the plane will not enter repeat flies mode so you have to switch to auto navigation mode then cut in airline operation Only by this can you ca...

Page 49: ...s will save route even after you power OFF the autopilot Note that you can store only one route in the autopilot RAM at a time When you save a new flight route using Save to AP the previous path will be replaced The Debugging of after Take Off 1 This debugging procedure is carried out while the plane is in the air 2 To carry out this procedure your plane should be set up well enough to fly straigh...

Page 50: ...lternately you may use your transmitter trims to level the plane in Auto Balance Mode While flying in a straight line and having no input through the transmitter sticks click servo neutral This saves the trim settings in Auto Balance Mode 10 Note If the plane attitude is level and straight while in the Auto balance Mode the Deviation of Neutral position between Manual Mode Stabilizer Off and the A...

Page 51: ... For an example flight path from A to B Altitude Control Adjustment For an example Altitude from A to B B C A A B A B C A A B A B C A A B A B C A A B A Increase Side Offset damping if plane fly like a Big S pattern Decrease Side Offset damping if plane fly in a Tight S pattern Increase Roll integrator if the plane roll to one side only Reduce the Roll integrator if the plane repeatedly and quickly...

Page 52: ...d the damping value before throttle is reduced or increased Generally you can change the above settings during cruise flight Warning We suggest not increase the settings too high it may cause very unusual flying behavior and may result in damage of your aircraft due to excessive throttling B C A A B A B C A A B A B C A A B A B C A A B A B C A A B A B C A A B A If the plane climbs too slowly increa...

Page 53: ...u will notice the plane will fly in a straight line first 6 When the autopilot detects groundspeed has increased at a value needed for climbing the plane will climb up to approximately 50m altitude 7 Upon reaching 50 meter altitude the auto take off Procedure is over Control is automatically transferred back to your RC transmitter 8 However the plane will still continue flying autonomously gradual...

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