FeiYu Tech FY-3ZT User Manual

December 20, 2010

		FY-3ZT
FEIYU
		GCS & AFSS AUTOPILOT SYSTEM
TECH
		INSTALLATION & OPERATION MANUAL

GuiLin FeiYu Electronic Technology Co., Ltd.

Dear Pilot,

Thank you for purchasing the FY-3ZT 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).

If you are a complete beginner in autopilots, we do not recommend you install this system on your own.

Please find assistance from an experience flier who may provide you with the basic knowledge in autopilot systems to ensure successful installation and safe use of this device. Alternately, you may gain experience by using our FY-3ZT first.

If you are already an experienced pilot and have used autopilot systems before, you will find this step by step manual intuitive and logical. Just follow the instructions as stated very carefully and you won‘t go wrong.

FY-3ZT Autopilot: User Agreement

a)The FY-3ZT 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 FY-3ZT is used outside of the PRC.

c)FY-3ZT autopilot system is prohibited to be used for any illegal activity. It is the end user’s responsibility to take all safety measures in using this product.

d)The Guilin Feiyu Electronic Technology Co. (herewith known as Feiyu Tech) and our associates are not responsible for any damages or liabilities caused by the use of this product.

e)The FY-3ZT is internationally patented. It is unlawful to reverse engineer, copy or modify this product in any way.

f)Feiyu Tech reserves the right to update, upgrade or modify the product at any time as we see fit. We will to the best of our abilities inform existing users if such updates need to be carried out in units already in use.

g)Feiyu Tech reserves the right to amend this manual and the terms and conditions of use of the FY-3ZT at any time.

h)By using this product you agree to these terms and conditions effective on the date of purchase.

Please do not hesitate to e-mail us directly for assistance: [e-mail]

GuiLin FeiYu Electronic Technology Co., Ltd

http://www.feiyudz.cn

E-mail: [e-mail]

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Introduction: What it Does

FY-3ZT 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).

The parameters include (but are not limited to);

Waypoint setting while in flight,

Automated altitude control,

Ground speed control,

Activation of circling at given points,

Control of circling radius,

Automated Return to Base (RTB),

Automated take-off.

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 FY-3ZT, autopilot flight via the GCS has never been simpler.

Aircraft Suitability

1.Normal / Traditional fixed-wing planes

2.Delta-winged plane with rudder

3.Delta-winged plane without rudder

4.Plane without aileron

5.V –tail plane with and without aileron

6.Any other configuration, please e-mail us for enquiry: [e-mail]

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Major Auto Pilot Components

1.FY-3ZT provides high-precision flight attitude measurement and control through the utilization of an integrated 32 ARM7 microprocessor, GPS receiver, three-axis MEMS gyros, three-axis accelerometer, barometric pressure sensor, attitude algorithm, Kalman filtering and data fusion algorithms.

2.10Hz data rate GPS receiver, 35 seconds fast positioning time and accuracy of 2.5 meters CEP.

3.50HZ inner attitude control, 10HZ outer navigation control.

4.Multi-channel mixed-control output can be adjusted with ease. The control options include:

1.Elevator and rudder navigation

2.Elevator, aileron and rudder navigation

3.Elevator and aileron mixed-control (elevon) navigation

4.V-tail rudder may be used, however a third party mixer have to be supplied by the user.

5.Three control modes:

I.Manual Mode ;

II. AFSS activated (Active Stabilization) ; III. Automatic navigation control.

6.Two automated navigation control modes:

I.Air route navigation mode ;

II.Mouse controlled flight mode.

7.Three special flight modes:

I.Fixed circling mode;

II.Auto Return to Base (RTB) mode;

III.Auto take-off mode.

8.Any standard RC transmitter and receiver can be used with this system.

9.Automated RTB (Return to Base) protection when there is a break in GCS communication link via the data radios.This time the system is working in the dataradio control mode.

10.Integrated automatic and manual aerial photography triggering.

11.The GCS software helps integrate Automated and Manual flight control modes in an easy to use display interface.

12.The GCS software includes electronic map formatting. By using the electronic map, aircraft route and tasks can be modified in real-time via your GCS computer.

13.Real time display on the the GCS includes flight parameters such as main pack voltage, mAh consumed, Amp draw, GPS satellite strength and temperature of the autopilot unit.

14.All flight parameters are downloaded automatically by the GCS for instant playback.

15.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. The Data Radio will then upload the commands to your aircraft via the data radio.

The uploading of data to the aircraft does not involve the GCS. The GCS is only used to monitor telemetry and flight status of the aircraft. Transmission of commands is minimal. i.e. the aircraft is mainly controlled by your RC Transmitter.

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Technical parameters

Table 1: Unless specified, values are at operating temperature of 25 .

	Component	Min	Standard	Max	Units	Remark
		Value	Value	Value
	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	0		350	Meter/Sec
	Range
	GPS Horizontal Navigation		2.5		Meter	Repeat Precision
	accuracy
	Barometric Pressure Altitude		2		Meter	Repeat Precision
	accuracy
	Waypoints setting		98			98 point
						programmable
	Rudder Servo		3		Channel
	Throttle Channel		1		Channel
	Servo Output Frequency		1		µS
	Updated Servo Frequency		50		Hz
	Flight status PID Control Rate		50		Hz
	Navigation Control PID Rate		10		HZ
	Data Telemetry‘s Track Frequency		1		Hz
	Data Telemetry‘s Mission		1		Hz
	Frequency
	Data Telemetry ‗s Flight Status		1		Hz
	frequency
	RS-232 Baud Rate		19200		Bps	TTL Level
	Operating Temperature	-20	25	60
	Temperature		25
	Controller Module dimension	55×33×20			mm	Bare board weight
	Weight	19			grams
	AHRS&GPS Module Dimension	55×33×20			mm	Bare board weight
	Weight	19			grams
	Remote Adapter Module	55×33×20			mm
	Dimension					Bare board weight
	Weight	17			grams
	GPS Module dimension	37×29×8			mm
						Bare board weight
	Weight	17			grams

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FY-3ZT INSTALATION

1.Before installation, please check and ensure your FY-3ZT pack contains the following main components:

a.Flight controller module

b.AHRS & GPS module

c.Remote adapter module

d.GPS module

Flight Controller Module

AHRS & GPS Module

Remote Adapter Module

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GPS Module

2.Optional components:

a.OSD Video overlay modules

b.Current sensor

c.Data radio module

d.Other fittings

FY-605 Data Radio (433mhz)

FY-606 Data Radio (2.4ghz)

Note: Data Radio selection please refer page 8.

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FLIGHT CONTROLLER MODULE INSTALLATION

FLIGHT CONTROLLER MODULE

1.The flight Controller Module has no special requirements for installation. It can be placed anywhere in the airframe as you wish.

2.The Attitude and Heading Reference System (AHRS) & Global Positioning System (GPS) module must be placed horizontally and as close as possible to the plane‘s CG (Center of

Gravity). The arrow direction must be pointing towards the nose of the plane (i.e. direction of flight).

3.When installing please make use of the supplied damper mount (shown below). Otherwise the vibrations will cause a large data inconsistencies which will adversely affect the autopilot accuracy.

4.FY-3ZT autopilot integrates a GPS module including a flat-GPS passive antenna. This is a sensitive antenna for GPS signals, while false signals reflected from the ground is effectively filtered out. Install the GPS unit horizontally.

5.Keep metal objects and other conductive materials such as carbon fibre away from the GPS unit. Additionally no transmitting antenna should be around the GPS antenna. The communication link antenna (FY-606) or your video transmitter should be kept as far away from the GPS unit as possible.

6.Radio transmissions will increase the noise signals which lead to instability in the positioning data. The higher the radio noise, the more difficult for the GPS to lock in position.

7.FY-3ZT 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).

8.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

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information back to the GCS. The asynchronous serial interface protocol between FY-3ZT autopilot and communications link is RS232-TTL level, the baud rate is 19200.

9.Place the Data Radio module as far as possible away from the GPS module, AHRS, GPS and servos in order to avoid interference to these equipments. The Data Radio antennas should be installed vertically upward or downward.

10.The Data Radio communication link range depends on your specific application. If your aircraft will only be operated within a 5km radius then the FY-606 radio modem will be sufficient. If you wish longer range then the FY-605 radio modem should be selected.

11.Also consider your Data Radio frequency selection based on your existing radio control system, to avoid frequency interference.

12.Alternately, you can utilize your own full duplex data modem. The communication link used by FY-3ZT autopilot can be either a half-duplex or a full-duplex data modem.

13.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 transmitter close to sensitive components or use a magnetic core (as shown below) to reduce the interference.

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Defined Interface of the FY-3ZT Flight Controller Module

10	9	8	7	6	5	4	3	2	1
GND	+5V	TX0	RX0			GND	+5V	TX1	RX1

Signal

+5V

GND

PWM1	PWM2	PWM3	OUT AIL	OUT ELE		OUT THR	OUT RUD	I/O1	AD1	AD2
					+5V		IN AIL	IN THR	IN CH5	IN CH7

GND

IN ELE

IN RUD

IN CH6

FY-3ZT Controller Module

Serial port 0

Baud rate: 38400

Data bits: 8

Stop bits: 1

Parity: None

TX0 connected to the RX ‗s AHRS & GPS

RX0 connected to the TX ‗s AHRS & GPS

Serial port 1

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Baud rate: 19200

Data bits: 8

Stop bits: 1

Parity: None

TX1 connected to the RX ‗s data radio

RX1 connected to the TX ‗s data radio

Connection diagram

			Serial Port 0			Serial Port 1
AHSR&GPS								Data radio

	+
	GND
Camera	Voltage monitoring
	and Current Sensor
Servo 1	device.
Servo 2	Power supply
Aileron servo	Rudder servo
Elevator servo	Throttle servo

FY-3ZT AHRS & GPS Module Interface

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GND	+5V	TX1	RX1		GND	+5V	TX0	RX0

Connect to GPS module

Connect to controller module

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FY-3ZT Remote Adapter Module Interface

GND	+5V	TX1	RX1	GND	+5V	TX0	RX0
							Signal
							+5V
							GND

used Not	IN AIL	IN ELE	IN THR	IN RUD	IN CH5	IN CH6	IN CH7	use No

Functions	Description
UART0	Data radio module connection
UART1	Serial port connection to PC
AIL_IN	Aileron
ELE_IN	Elevator
THR_IN	Throttle
RUD_IN	Rudder
CH5_IN	Channel 5
CH6_IN	Channel 6
CH7_IN	Channel 7

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Connection diagram:

Data radio	Serial	port
	connection to
	PC
	+
	GND

5V Power battery

RC Receiver

The interface and features of the GPS circuit board

TX: For Data transmission to the AHRS&GPS Module (RX1)

RX:For Receiving data transmitted from AHRS&GPS module (TX1)

Interface Features: TTL level

Baud rate: 38400

Data bits: 8 GPS antenna Stop bits: 1 Parity: None

GPS Data refresh rate: 10Hz

Current sensor:

Power Current
	Green
signal
Voltage signal
	Red
5V Power
	Yellow
GND	Black

RX green

TX yellow

VCC red

GND black

Battery positive input

Battery negative input

Output negative to ESC

Output positive to ESC

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FY-3ZT Power Supply

1.To ensure uninterrupted autopilot function, it is critical that your power system outputs a stable and clean 5 volt power source to the FY-3ZT system.

2.To avoid current fluctuations, ideally the power source supply to the servos should be separate from the autopilot.

3.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. 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.

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AUTOPILOT CONNECTION OPTIONS

There are three options when setting up your FY-3ZT system. Please review them all and choose the one that best suits your needs.

Option 1: Ground Station Controlled Flight

a)In this option, your aircraft is controlled only by the GCS (Figure 1). With this setup you do not have a RC receiver in the plane (Figure 2).

Figure 1: At your ground Station, the signals from your RC Transmitter is sent to the RC Receiver which is connected to your computer via the FY-3ZT Remote Adapter.

Figure 2: On the aircraft, the radio modem controls all flight parameters. No RC receiver is installed in your aircraft.

b)Your RC Receiver is installed at your ground station. The Receiver servo signal output is fed into the Remote Adapter.

c)The signals received by the Remote Adapter will be converted to digital signals. The Data Radio system then up-loads these digital commands to your aircraft.

d)The uploading of data to the aircraft does not involve the GCS. The GCS is only used to monitor telemetry and flight status of the aircraft. GCS involvement in fight control is minimal.

e)Warning: In Option 1, the Data Radio range will dictate your flight range. Additionally, due

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to the digital signal conversion and processing, some delay in manual control transmission will occur. Refer page 13 on notes on data transfer frequency (Hz).

OPTION 1: ON BOARD AIRCRAFT DIAGRAMME

GPS Module

AIL Servo

ELE Servo

THR Servo

RUD Servo

5V battery

Data Radio

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.

OPTION 1: WARNING

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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. We highly recommend that you have an external BEC instead.

The 5.0 volt External BEC power input is connected to the I/O1 port.

OPTION 1: Activation and Deactivation of safety feature

When the plane is controlled by the remote adapter board, it contains a communication interruption protection function.

If the autopilot detects communication interruption lasting 20seconds or more, it will enter into auto return mode and come safely home. This is the Default setting.

You can however deactivate this Safety Feature if you so wish. One reason to for 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!

Safety Deactivation Procedure:

a)Shut down (close) the RC SW:

b)Change the Remote Control mode to ―RC remote control‖:

c)By doing the above, all control is transferred to the GCS. All RC Transmitter controls have been deactivated.

d)If during the flight mission the Data-link is lost, the plane will not activate RTH. It will continue the planned flight.

The Safety function can be restored at any time (even in flight):

a)Ensure the link of the Data Radio is OK (you can control the plane by the Data Radio.

b)Change the Remote control mode to "Data radio remote control"

c)Open ―RC SW‖ . The Safety function is now restored.

OPTION 1: GROUND STATION DIAGRAMME

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