Freefly ALTA 8, Flight Manual

Page 1: ...AIRCRAFT FLIGHT MANUAL 770 00048 REVISION A 03 23 2016...

Page 2: ...REVISION HISTORY ALTA 8 AIRCRAFT FLIGHT MANUAL PART NUMBER 770 00048 REVISION DATE DESCRIPTION A March 2016 Initial Release...

Page 3: ...ons 24 System Diagrams 28 ALTA Mobile App 28 Additional Required Components not included 29 SETTING UP ALTA 8 30 Unfolding Folding ALTA 8 33 Radio Installation 38 Radio Mapping 43 Configuring for M VI...

Page 4: ...URES 92 Emergency Guidance 93 Status Light Warning Indicator Illuminates 94 Pilot Disorientation 95 Unexpected Flight Controller Behavior 96 Battery Exhaustion 97 Loss of Radio Control Signal 98 Loss...

Page 5: ...5 AIRCRAFT FLIGHT MANUAL 113 TROUBLESHOOTING 116 APPENDIX 117 Appendix A Default Tuning Values 118 Appendix B Data Logging Fields...

Page 6: ...6 AIRCRAFT FLIGHT MANUAL ALTA 8 OVERVIEW...

Page 7: ...and a flight simulator are no substitute for training with an experienced pilot particularly when it comes to learning how to safely operate ALTA 8 Novice pilots should never fly without the supervisi...

Page 8: ...onsibility to learn how to safely operate ALTA 8 and to adhere to all applicable rules and regulations Fly at your own risk ALTA 8 is a tuned system with custom components selected for each applicatio...

Page 9: ...MITED REMEDY Freefly shall not be liable for damages or injuries incurred directly or indirectly from the use of ALTA 8 including but not limited to the following situations Failure of operator to fol...

Page 10: ...10 AIRCRAFT FLIGHT MANUAL Infringement of third party data audio or video rights recorded when using ALTA 8...

Page 11: ...complete operation of airframe and flight control systems and the normal maintenance of those items Do not operate ALTA 8 without reading and understanding this manual This manual is not a substitute...

Page 12: ...hlight specific operating conditions or steps of a procedure METEOROLOGICAL TERMINOLOGY ISA International Standard Atmosphere in which The air is a dry perfect gas The temperature at sea level is 15 C...

Page 13: ...control For Mode 2 controllers this is the vertical movement of the left control stick For Mode 1 controllers this is the vertical movement of the right control stick Yaw Stick The radio controller s...

Page 14: ...ht Standard empty weight plus optional equipment Useful Load Difference between take off weight and basic empty weight Payload Useful load less battery weight GENERAL TERMINOLOGY sUAS Small Unmanned A...

Page 15: ...8 1325 52 1 1720 67 7 UNFOLDED PLAN VIEW WITH BOOM NUMBERING SCHEME MM INCH 457 18 0 220 8 6 1325 52 1 220 8 6 360 14 1 1 2 3 4 5 6 7 8 UNFOLDED SIDE VIEW WITH LANDING GEAR MM INCH 457 18 0 220 8 6 1...

Page 16: ...16 AIRCRAFT FLIGHT MANUAL 615 24 2 250 9 8 260 10 2 FOLDED SIDE VIEW MM INCH 660 25 9 615 24 2 FOLDED PLAN VIEW MM INCH 660 25 9 615 24 2 250 9 8 260 10 2 FOLDED FRONT VIEW MM INCH...

Page 17: ...Electronic Luggage Scale 7 USB Futaba Power Cable 8 Inverted Landing Gear 9 Antenna Tubes 10 FPV Cables a Skyzone BOSCAM b BOSCAM small connector c ImmersionRC Fat Shark d Ready Made RC 11 2 M3 6 Fla...

Page 18: ...eak Power Output 950 W Maximum RPM flat rated 6300 RPM Equivalent Kv 384 Electronic Speed Controller Freefly Silent Drive Sine Wave ESC PROPELLERS Make and Model Freefly ALTA Propeller Material Carbon...

Page 19: ...for complete information on allowable maximum gross weights at different altitudes and temperatures before any flight SPECIFIC LOADINGS Typical Specific Power4 145 W kg Thrust Ratio at MTOW1 1 85 1 1...

Page 20: ...ported SBAS QZSS WAAS EGNOS MSAS First Person View System Video Formats NTSC PAL Supported First Person View Transmitters Skyzone BOSCAM ImmersionRC Fat Shark Supported First Person View Cameras Ready...

Page 21: ...AIRCRAFT FLIGHT MANUAL PAYLOAD MOUNTING Mounting Locations Bottom and Top Mount Mounting System Freefly Toad In The Hole TITH Quick Release FPV Camera Mount Between Booms 8 1 FPV Transmitter Mount Boo...

Page 22: ...ties POWERPLANT LIMITATIONS Maximum RPM 6300 RPM Maximum Battery Voltage 25 2 Volts Minimum Average Battery Voltage 19 2 Volts ENVIRONMENTAL LIMITATIONS Do not fly ALTA 8 in temperatures exceeding 45...

Page 23: ...3 28 2 27 2 26 1 17 2 16 6 16 0 15 5 14 9 14 3 13 8 13 3 12 8 12 3 11 9 36 8 35 5 34 2 33 0 31 8 30 6 29 5 28 4 27 3 26 3 25 3 16 7 16 1 15 5 15 0 14 4 13 9 13 4 12 9 12 4 11 9 11 5 Maximum Gross Wei...

Page 24: ...24 AIRCRAFT FLIGHT MANUAL SYSTEM DIAGRAMS sUAS OVERVIEW ALTA App FPV Rx Preview Monitor NOT INCLUDED Radio Controller GPS Satellite 2 4GHz M VI Controller HD Video Link Preview Monitor...

Page 25: ...FLIGHT MANUAL FLIGHT CONTROL CAN PWM Status Light ESC ESC ESC ESC ESC ESC 8 Position Lights A B B Futaba Receiver or Generic Receiver S BUS S BUS 2 or PPM A Spektrum Receiver DSMX DSM 2 SYNAPSE Flight...

Page 26: ...ery Flight Battery SYNAPSE Flight Controller F u t a b a T e l Motor Lights Motor Lights Motor Lights Motor Lights Motor Lights Motor Lights Motor Lights Motor Lights F U S E F P V C A M F P V T x R E...

Page 27: ...MANUAL FPV EQUIPMENT FPV Camera Lead Pre installed FPV Camera not included FPV Camera Cable FPV Tx Lead Pre installed FPV Tx Cable Boscam Skyzone or Fat Shark ImmersionRC FPV Tx not included SYNAPSE...

Page 28: ...NTS NOT INCLUDED RADIO CONTROLLER ALTA 8 supports a variety of radio controllers as outlined in the Flight Controller Specifications A minimum of five 5 channels are required with four 4 used for flig...

Page 29: ...29 AIRCRAFT FLIGHT MANUAL SETTING UP ALTA 8...

Page 30: ...8 features swan neck booms that fold into a compact size for travel They are secured in an open position for flight using over center latches TO UNFOLD ALTA 8 1 Remove ALTA 8 from case 2 Fold down all...

Page 31: ...31 AIRCRAFT FLIGHT MANUAL 4 Snap shut all eight boom latches until they click 5 Visually confirm all latches are seated properly 6 Remove prop protectors...

Page 32: ...32 AIRCRAFT FLIGHT MANUAL TO FOLD ALTA 8 1 Secure props with prop protectors 2 Unlatch all eight booms 3 Close ALTA 8 booms 4 Fold up all eight boom retention clips to secure booms...

Page 33: ...er will automatically use the receiver with the best signal quality Using two receivers requires the radio controller to be bound to both receivers Refer to the instructions provided with your radio c...

Page 34: ...receiver 4 If using telemetry plug in telemetry wire refer to the Voltage Temeletry section 5 Feed receiver antenna into lower antenna tube 6 Secure receiver using the provided double sided tape to in...

Page 35: ...ssis 9 Repeat steps 1 8 for dual receivers only applies to Futaba receivers FOR SPEKTRUM JR 1 Locate the noted closeout panels used for Spektrum JR receiver installation between booms 3 4 and 7 8 2 Re...

Page 36: ...36 AIRCRAFT FLIGHT MANUAL 4 Reattach closeout panel 5 Plug in receiver satellite into signal cable 6 Attach receiver satellite to exterior using double sided tape 7 Repeat steps 1 6 for dual receivers...

Page 37: ...e telemetry for Futaba radios 1 Remove the closeout panel between booms 2 and 3 with a 2 0mm hex driver and locate the radio receiver wire bundle 2 Identify the voltage sense wire and connector in the...

Page 38: ...uncertain about your channel mapping obtain assistance from an experienced pilot or from Freefly Customer Support CONFIGURATION JUMPER A small jumper is used to prevent motor operation while configur...

Page 39: ...r to adjusting radio settings to prevent unintentional motor starts 2 Power ALTA 8 using a battery pack or by plugging in the included USB Futaba cable into an available port on a Futaba receiver 3 Op...

Page 40: ...puts are reversed PPM Graupner interprets Graupner radio PPM inputs PITCH ROLL YAW THROTTLE The Pitch Roll Yaw and Throttle controls are the basic flight controls and are mapped to the two radio contr...

Page 41: ...The top and right positions on the radio mapping indicators represent 2000 s and the bottom and left positions represent 1000 s and the middle position represents 1500 s FUNCTION IN APP INDICATOR POS...

Page 42: ...these settings are appropriate FUTABA 14SG 8FG FUNCTION CHANNEL NUMBER DIRECTION Pitch 2 Normal Roll 1 Normal Yaw 4 Normal Throttle 3 Reverse Mode 5 Normal Home Switch 6 Reverse Disarm Safety 9 Rever...

Page 43: ...for GroundView mounting a M VI GROUNDVIEW 1 Prepare your M VI for both GroundView and SKyView flight see M VI manual a Attach landing gear b Install TITH receiver on M VI 2 Connect M VI to bottom Toad...

Page 44: ...44 AIRCRAFT FLIGHT MANUAL 2 Connect and secure the supplied inverted landing gear to the bottom Toad 3 Remove Battery Mount Quick Release 4 Connect M VI to top Toad...

Page 45: ...hassis plate and the battery plate Ensure they are engaged in the track features and are parallel with the chassis and battery plate Push inwards fully until they click indicating the cartridges are l...

Page 46: ...5V prior to connecting them to ALTA 8 Plugging in two dissimilarly charged packs could cause one pack to rapidly discharge into the other and damage the batteries or cause a battery fire CAUTION Only...

Page 47: ...MANUAL GROUNDVIEW 1 Place battery retention strap studs at the appropriate height for battery packs 2 Adjust battery stops to fit battery packs 3 Attach the single hole end of the battery retention s...

Page 48: ...ttery tray CAUTION Do not install batteries on a tray with the Toad In The Hole adapter installed If installing batteries without the Battery Mount Quick Release for GroundView remove the Toad adapter...

Page 49: ...ck release lever Inverted landing gear that are not completely attached can rotate and unplug battery leads 1 Pinch the battery tray handles and slide to remove it from landing gear 2 Attach the singl...

Page 50: ...50 AIRCRAFT FLIGHT MANUAL 4 Tension and secure battery retention straps 5 Slide tray with battery packs back into landing gear 6 Ensure tray and battery packs are secure...

Page 51: ...s disarmed prior to performing a compass calibration To ensure ALTA 8 does not arm remove the Configuration Jumper set the mode switch to Height or Position or set the home switch to Set New Home Posi...

Page 52: ...battery 3 Open the ALTA App 4 Select Configurations More Compass 5 Under Calibration select Start Manual 6 Perform the following steps 1 Face North Pitch 180 2 Pitch 360 3 Pitch 180 4 Face East Yaw 9...

Page 53: ...readings over time to resolve an accurate compass calibration Manual calibration is recommended when moving to a new location and an accurate compass calibration is needed immediately for using Posit...

Page 54: ...s 1 3 5 and 7 spin clockwise when viewed from above ALTA 8 and the propellers installed on booms 2 4 6 and 8 spin counterclockwise when viewed from above For information on propeller installation and...

Page 55: ...ck prop bolt tightness twist the prop about its length If there is free play the prop bolt is too loose Use the provided 2 5mm hex driver and wrench to tighten the bolt and nut that secure the prop bl...

Page 56: ...run compact Boscam transmitters A single camera cable is provided and is configured to run a Ready Made RC camera Camera and transmitter cables follow this wiring scheme CABLE COLOR FUNCTION Red 12 VD...

Page 57: ...ut panel with a 2 0mm hex driver 2 Locate the FPV camera cable included in the ALTA 8 package 3 Pass the FPV cable through the closeout panel grommet and connect to the mating FPV camera lead inside A...

Page 58: ...on the provided carbon fiber accessory mount plate 2 Attach accessory mount to boom 2 with M3x6 flathead bolts 3 Locate the appropriate FPV transmitter cable The following cables are included a Immer...

Page 59: ...h the FPV transmitter lead using the 2 0mm hex driver 5 Pass transmitter cable through the underside of the hinge and connect to the FPV transmitter lead 6 Replace side closeout panel 7 Zip tie the FP...

Page 60: ...ms and can be configured to display as big or small letters or no letters effectively turning off the display NAME DESCRIPTION Height Displays the height of ALTA 8 from its starting point in meters or...

Page 61: ...ovements Pitch and Roll Scaling 10 20 30 40 Allows for scaling of the artificial horizon markings to compensate for FPV cameras of different field views Pitch and Intervals 10 20 30 40 Sets the number...

Page 62: ...LIGHT MANUAL Sideslip Displays a bar on the bottom of the screen that scales with the side to side velocity component The bar will extend left to indicate leftward velocity or right to indicate rightw...

Page 63: ...for best results To tune ALTA 8 open the ALTA App and select Configurations Aircraft Dynamics WARNING Tuning can change the fundamental flying characteristics of ALTA 8 It is possible for ALTA 8 to be...

Page 64: ...neously and yaw independently A higher Hold Strength setting will give a faster control response and a more responsive feel However values that are too high can cause ALTA 8 to overshoot pitch or roll...

Page 65: ...mb rate Higher values will result in a more direct feel between pilot climb or descent commands and ALTA 8 flying behavior However values that are too high may cause instability POSITION TUNING Tuning...

Page 66: ...ill be allowed to fly in all modes and in all flight conditions MAXIMUM YAW RATE This is the maximum rate ALTA 8 will yaw pan when at full stick deflection HEIGHT HOVER THROTTLE Hover Throttle is a pa...

Page 67: ...full throttle stick deflection in Height Mode or Position Mode If Climb Rate Clamp is mapped to a radio controller channel the parameter will adjust the fastest climb speed available to the Climb Rat...

Page 68: ...AIRCRAFT FLIGHT MANUAL RANGE Range sets the maximum distance ALTA 8 may fly away from the home point while in Position mode If the range is exceeded in Manual mode the status light will illuminate whi...

Page 69: ...ET THE WIFI PASSWORD 1 Simultaneously a Press and hold the square reset button on the GPS unit b Power on ALTA 8 2 Hold the reset button for 10 seconds 3 Power cycle ALTA 8 Once complete the WiFi pass...

Page 70: ...70 AIRCRAFT FLIGHT MANUAL OPERATING ALTA 8...

Page 71: ...ent rates The higher the throttle stick position the faster ALTA 8 will climb Conversely the lower the throttle stick position the faster ALTA 8 will descend When the throttle stick is centered ALTA 8...

Page 72: ...on setting up the Home Switch RTH can be initiated manually by the Home Switch or be initiated with an LOS event NOTE LOS features are only available on an S Bus S Bus2 or DSM2 DSMX receiver When init...

Page 73: ...If ALTA 8 is above the app configurable Safe Height setting ALTA 8 will first descend to it at the Maximum Descent Rate After reaching this height ALTA 8 s descent will slow to the Autoland Descent Ra...

Page 74: ...oint can only be set within 20 meters of ALTA 8 s starting point Momentarily moving the Home Switch to the Set Home position sets a new home point When a new home point is set the Status Light will tu...

Page 75: ...in manual mode It may be mapped to a two or three position switch To set up the Disarm Safety Switch refer to the Radio Mapping section of this manual 3 POSITION SWITCH FUNCTION 1 On Disarming is not...

Page 76: ...NG Booting Flashing Red White Flight controller is booting Standby Flashing White Flight controller is running and dis armed Flashing Red Flight controller is running and not ready to arm Solid Red Fl...

Page 77: ...ve Solid or Flashing Red Flight critical alarm Land immediately Flight Position Hold Off Nominal flight status Height hold inactive Position hold inactive Slow Flashing White Height Hold or Position H...

Page 78: ...These alarms indicate a serious issue has been observed in the behavior of the ALTA 8 that if not acted upon immediately can cause loss of control Never continue a flight when ALTA 8 indicates an ala...

Page 79: ...ronic Speed Controllers ESCs during other operational phases The following table shows the different meanings of the light colors in the various operational phases FLIGHT PHASE LIGHT COLOR MEANING Boo...

Page 80: ...ng received Lock displays whether a position lock is ready indicating a valid GPS fix and good heading This is required before the SYNAPSE will allow switching into Position Mode Height displays the c...

Page 81: ...8 automatically logs flight and control data when ALTA 8 is armed for flight Data is recorded as a csv file at a rate of 25 Hz on a microSD card installed on the top of the GPS Compass module A table...

Page 82: ...NORMAL PROCEDURES...

Page 83: ...y in open and closed detented positions Unfolding the booms is most easily accomplished by unfolding opposite pairs partially Then unfold the opposite boom pairs completely ALTA 8 can become unbalance...

Page 84: ...NINGS 20 Compass Calibration AS REQUIRED 21 Radio Control Range Check AS REQUIRED AMPLIFICATION Check that the payload is secure by checking that the Toad In The Hole quick release lever is pushed in...

Page 85: ...s during initialization it may not boot properly and will fail to start or not maintain heading When it is impossible to initialize ALTA 8 without movement such as booting on a boat Motion Booting can...

Page 86: ...etween the ALTA 8 s takeoff location and its intended flight path WARNING ALTA 8 s props spin at a high RPM and the ends of the blades move at high speeds ALTA 8 s props can cause severe injury or dea...

Page 87: ...n the correct orientation CAUTION Do not make large yaw commands while on the ground with the inverted landing gear installed Large yaw commands can cause instability After checking flight control dir...

Page 88: ...land in Height or Position Modes may cause ALTA 8 to tip over Upon landing disarm the motors by holding full low throttle and full left yaw This is typically done on the left radio control stick by mo...

Page 89: ...the motors still spin freely and quietly Take extra care when operating in areas with large amounts of debris such as in sand dirt or gravel After flight is also a good time to check a battery pack s...

Page 90: ...7 ALTA 8 INSERT into case AMPLIFICATION Packing ALTA 8 is similar to the unpacking process Keeping ALTA 8 on the payload or landing gear facilitates the process as ALTA 8 may be turned on the Toad In...

Page 91: ...EMERGENCY PROCEDURES...

Page 92: ...e procedures are not a substitute for a thorough understanding of aircraft systems and sound pilot judgment In general if an emergency occurs three basic actions can be applied to most situations Main...

Page 93: ...IFICATION Warnings are displayed if the flight controller determines there is a condition present that can adversely affect the safety of the flight They are indicated by the Status Light turning red...

Page 94: ...tial orientation as quickly as possible is most important In disorientation situations control inputs will not give the expected result so neutralize them If a good GPS signal is available enable Posi...

Page 95: ...ALTA 8 behaves unexpectedly neutralize control inputs and observe ALTA 8 If it is still flying in an uncommanded manner switch to Manual mode if it is in Height or Position modes In most cases unexpec...

Page 96: ...drops below the Alarm Voltage the Status Light will turn solid red in Manual Mode or turn blinking red if holding position or altitude Terminate the flight and land as soon as possible In the event t...

Page 97: ...However it is always recommended to attempt to regain signal link with ALTA 8 to keep the pilot in control of the aircraft Move the antenna orientation for best signal strength Ensure the transmitter...

Page 98: ...reestablish control of the aircraft either with the pilot seeing the aircraft or by the use of a second visual observer Yawing the aircraft can help signal reception if the body of the aircraft is bl...

Page 99: ...AIRCRAFT FLIGHT MANUAL PERFORMANCE...

Page 100: ...100 AIRCRAFT FLIGHT MANUAL PERFORMANCE WEIGHT ENDURANCE PERFORMANCE DATA Conditions Altitude Sea Level ISA Winds Zero...

Page 101: ...15 5 14 9 14 3 13 8 13 3 12 8 12 3 11 9 36 8 35 5 34 2 33 0 31 8 30 6 29 5 28 4 27 3 26 3 25 3 16 7 16 1 15 5 15 0 14 4 13 9 13 4 12 9 12 4 11 9 11 5 Maximum Gross Weight kg Maximum Gross Weight lb Ma...

Page 102: ...102 AIRCRAFT FLIGHT MANUAL MAINTAINING ALTA 8...

Page 103: ...pter In addition fasteners that attach to nuts with a nylon locking feature nylock nuts do not require threadlocker All structural fasteners require the use of threadlock This includes chassis screws...

Page 104: ...the leading edge that is large enough to catch a fingernail indicates that the prop should be replaced If the blade composite structure becomes delaminated the propeller blade should be replaced Freef...

Page 105: ...the correct prop rotation direction and correct propeller prior to flight Props that spin in the incorrect direction will cause ALTA 8 to be uncontrollable REPLACING PROPELLER BUMPERS Under normal use...

Page 106: ...is recommended to check ALTA 8 s fasteners regularly This check should occur roughly after every 15 flights dependent upon the level of vibration ALTA 8 experiences in flight or during handling To che...

Page 107: ...place if worn Propeller blades Prop bumpers HINGE LATCH TIGHTNESS Check hinge latching tightness by closing the hinge There should be a firm closing force and click Adjust the tension by using a 1 5mm...

Page 108: ...es may include new firmware installations To update firmware 1 Provide power to ALTA 8 a Install and plug in a fully charged flight pack or b Plug in the USB Futaba cable to an available receiver port...

Page 109: ...t procedure then verify realignment was successful using the ALTA Flight Data Viewer available at freeflysystems com To perform a realignment Freefly recommends using a small digital angle gauge with...

Page 110: ...OTE When rotating the motor do not pull outwards on it 6 Apply threadlock as required Loctite 222 recommended and tighten the motor mount bolts to 0 8 N m 7 in lbs Do not overtorque the bolts 7 Repeat...

Page 111: ...on to the ALTA Flight Data Viewer window 7 Under the Data Seeker section select Hover from the Seek Event drop down box 8 In the Flight Statistics section look at the Yaw CW Bias value It should be wi...

Page 112: ...abnormally stressing events Freefly recommends immediately contacting Customer Support for guidance in case of any of these events Typical guidelines for inspection after a strenuous event may include...

Page 113: ...TROUBLESHOOTING...

Page 114: ...me Switch not in middle position Move Home Switch to middle position Mode Switch not in Manual Move Mode Switch to manual Radio not bound Follow radio controller manufacturer s binding procedure Radio...

Page 115: ...ate the compass Position Hold tuning values too high Reduce Position Hold tuning values starting with Position Hold Strength ALTA 8 does not track straight in Position Mode Compass calibration invalid...

Page 116: ...116 AIRCRAFT FLIGHT MANUAL APPENDIX...

Page 117: ...Stiffness 140 Yaw Hold Strength 60 Roll Trim 0 Pitch Trim 0 Maximum Pitch Roll Angle 40 Maximum Yaw Rate 100 sec Height Vertical Stiffness 9 Hold Strength 80 Hover Throttle 14 0V Ceiling 118 meters Cl...

Page 118: ...track of ALTA in degrees from true north GPS Position North meters The distance ALTA traveled north from the starting point A negative number indicates southward travel GPS Position East meters The d...

Page 119: ...ters second 2 The IMU derived eastward acceleration IMU Acceleration Up meters second 2 The IMU derived upward acceleration without gravitational acceleration IMU Roll degrees The IMU derived roll ang...

Page 120: ...and East m The position control loop set point in an Easterly direction referenced to take off location Position Command Up m The position control loop set point in an Upwards direction referenced to...

Page 121: ...ch us RC pulse width 1000 2000us where increasing values are for pitch up Radio Yaw us RC pulse width 1000 2000us where increasing values are for yaw to the right Radio Throttle us RC pulse width 1000...

Page 122: ...6 a u High pass filtered RMS vibration level measured at ESC can be used to compare motor propeller imbalance Motor Temp 1 6 C ESC temperature measured from last telemetry update Motor Status 1 6 bit...

Page 123: ...hold Radio Loss of Signal binary Indicates complete radio controller loss of signal Radio A Loss of Signal binary Indicates loss of signal from radio A Radio B Loss of Signal binary Indicates loss of...

Page 124: ...of the number of failures of the entire CAN communication bus Gyro Bias R number Arbitrary number indicating roll gyro bias Gyro Bias P number Arbitrary number indicating pitch gyro bias Gyro Bias Y...