FeiYu Tech FY-3ZT User Manual

December 20, 2010

FEIYU
TECH

FY-3ZT

GCS & AFSS AUTOPILOT SYSTEM

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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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

Barometric Pressure Altitude
accuracy

2

Meter

Repeat Precision

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

Frequency

1

Hz

Data Telemetry ‗s Flight Status

frequency

1

Hz
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
Dimension

55×33×20

mm

Bare board weight
Weight

17

grams

GPS Module dimension

37×29×8

mm

Bare board weight
Weight

17

grams

Technical parameters

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

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Flight Controller Module

AHRS & GPS Module

Remote Adapter Module

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

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2. Optional components:

FY-606 Data Radio (2.4ghz)

FY-605 Data Radio (433mhz)

GPS Module

a. OSD Video overlay modules
b. Current sensor
c. Data radio module
d. Other fittings

GuiLin FeiYu Electronic Technology Co., Ltd.

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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9 8 7 6 5 4 3 2 1

10

AIL_OUT

ELE_OUT

THR_OUT

RUD_OUT

Signal

+5V

GND

TX1

RX1

+5V

GND

RX0

TX0

+5V

GND

PWM1

PWM3

PWM2
I/O1

AD1

AD2

GND

ELE_IN

RUD_IN

CH6_IN
+5V

AIL_IN

THR_IN

CH5_IN

CH7_IN

Defined Interface of the FY-3ZT Flight Controller Module

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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AHSR&GPS

Data radio

Camera

Servo 1

Servo 2

Aileron servo

Elevator servo

Power supply

Rudder servo

Throttle servo

+

GND

Serial Port 0

Serial Port 1

Voltage monitoring

and Current Sensor

device.

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

FY-3ZT AHRS & GPS Module Interface

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+5V

GND

RX1

TX1

+5V

GND

RX0

TX0

Connect to controller module

Connect to GPS module

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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

AIL_IN

ELE_IN

THR_IN

RUD_IN

Signal

+5V

GND

TX0

RX0

+5V

GND

RX1

TX1

+5V

GND

Not used
CH5_IN

CH6_IN

CH7_IN

No use

FY-3ZT Remote Adapter Module Interface

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Connection diagram:

Battery positive input

Battery negative input

Output negative to ESC

Output positive to ESC

Yellow

Black

Green

Power Current
signal

Voltage signal

5V Power

GND

Red

Data radio

Serial port
connection to
PC

RC Receiver

5V Power battery

GND

+

GPS antenna

GND black

RX green

TX yellow

VCC red

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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
Stop bits: 1
Parity: None
GPS Data refresh rate: 10Hz

Current sensor:

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

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.

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).

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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AIL Servo

ELE Servo

GPS Module

Data Radio

RUD Servo

THR Servo

5V battery

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

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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