FeiYu Tech FY-DOS User Manual
Guilin Feiyu Electronic Technology Co., Ltd
Feiyu Tech
FY-DoS for multi-rotors control manual
Installation & Operation Multi-rotor firmware above V2.10
Dear Customer:
Thank you for choosing DoS as your autopilot system. Please read this manual
carefully before using the system to ensure proper use and operation.
The installation and use of this device require some skill and knowledge in flying
remote controlled airplane model.
If you are a complete beginner and have never flown one before, we do not
recommend you install this device on your own.
Please find assistance from an experienced RC pilot who may provide you with the
basic knowledge required to use this device successfully.
If you are already an experienced flyer, you will find the DoS installation to be easy
and logical. Just follow this manual and you won’t go wrong.
If you need any technical support you can send e-mail directly to: service@feiyu-tech.com
DoS module
DoS is an Attitude Flight Stabilization System (AFSS) and autopilot system.Now can
be used for automated stabilization of fixed wing aircrafts,and after upgrade firmware can
be used for other aircraft and equipment control (For more details of DoS,please refer to
the latest firmware and the instructions).
DoS has integrated three-axis gyro ,three-axis accelerometer,three axis magnetometer
and barometric pressure sensor. DoS can accurately measure flight attitude, the earth
azimuth and through the barometer to measure relative altitude. This manual mainly
introduces DoS firmware for Multi-rotor flight system.
The firmware for Multi-rotor flight system above V2.10 can realize the following
functions:( We will continue updating new firmware to improve performance and update
functions, please pay attention to the latest news FeiYu official website (www.feiyudz.cn)
posted.)
Attitude Stabilized Mode
Dos can auto stabilize the aircraft flight attitude in this mode, pitch and roll stick
center position for 0 °attitude,its endpoint is 45 ° , pitch and roll stick can linear control the
flight attitude, maximum angular velocity is 150 ° / s. Yaw stick in the center position will
lock current course , its endpoint corresponding maximum rotation rate 135 ° per second,
yaw stick can linear control the aircraft rotation rate. Throttle stick direct control aircraft
climb and decline, climbing and declining rate is directly related to the throttle.
Hovering Mode
The GPS Module must be connected to the DoS with at least 5 GPS satellites
detected.In this Mode, pitch, roll, yaw control method is the same as Attitude Stabilized
Mode.DOS can auto control flight altitude.Climbing and descending rate is directly related
to the throttle, when the throttle stick is in the center position,DOS auto locks the altitude,
in maximum means climb rate is 3 m/s, in minimum means decline rate is 1.5 m/s.Throttle
stick can linear control the aircraft climb and decline rate.Pitch, roll sticks released will
lock the position when GPS signal is adequate,non-released will equivalent of Attitude
Stabilized Mode.
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Auto Return To Launch Mode(RTH)
The GPS Module must be connected to the DoS with at least 5 GPS satellites
detected.In this Mode, pitch, roll, yaw and altitude control method is the same as Hovering
Mode. Pitch, roll sticks released will automatically fly the aircraft back to the take-off
point, Maximum return to home point speed: 5.5m/s.
Camera Gimbal Stabilization
DoS multi-rotor firmware,when is used to control the aircraft under 6 axis, can
simultaneously control two axis Camera Gimbal Stabilization
DoS can connect with the Hornet-OSD and the Data Radio
DoS has one UART interface for connecting the FY-data radio and the OSD module.
It can realize the following function by combing them.
First Person View (FPV): Can be connected to the Hornet - OSD, the flight data
overlay to video output,and through the vodeo transmission system to send back, let you
enjoy the fun of FPV. And it will be easier to operate FPV with the functions of automatic
balance, Hovering and Auto Return To Launch.
Real time telemetry-real time monitor: Real time telemetry-real time monitor the
flying state, using the Data Radio to lengthen the remote control distance.
For more information, please refer to the FY-OSD and FY Data Radio manual.
1. DoS standard configuration：
Standard configuration
●DoS control module *1;
●RC receiver connecting wires * 1;
●USB cable *1;
●Velcro double sided tape * 2;
Optional accessory
●DoS vibration absorbing mount *1;
●GPS module *1;
●Hornet OSD module;
●Data Radio;
●Remote Adaptor;
2. Technical Specification:
DoS module
Input voltage : 4.0 ~ 6.0 Volt;
Current : 50mA (5V);
Size : 47 x 30 x 11 mm;
Weight (excluding wires) : 25g;
Temperature range : -25 ° C ~ +70 ° C;
Control frequency :400HZ ;
Maximum rate of rotation : ≤ 2000 °/s.
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No.
1 2 3
4
RC
receiver
interface
SW1
RUD
Servo
THR
Servo
ELE
Servo
GND
Power
+5V
AIL
Servo
SW2
position
1 2 3
servo signal
output
900～1200US
1200~1800US
1800~2100US
function
stabilized
mode
Hovering
Mode
Auto Return
To Launch
Mode
No. 1 2 3 4
GPS interface
GND
Power
+5V
TX0 RX
0
Data radio
interface/para
meter setting
interface
GND
Power
+5V
TX1 RX
1
3. Interface specifications:
Remote receiver input interface
SW1 default setting state
Attention: SW1 can be used to switch DoS flight modes by any 3-position switch.SW2 is
unnecessary in firmware V2.1.
GPS and UART interface
GPS module interface
The GPS pin interface consist of: GND, +5V , RX0. The characteristics are:
Baud rate: 38400
Data bits: 8
Stop Bits: 1
Parity: None
Interface Features: TTL level
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GPS module
Hornet OSD module
(V1.16)
OSD data line
This port is use for GPS Receiver. The GPS data protocol is standard NEMA0183.
Hornet - OSD (V1.6) and DoS connection graph:
You need a 4p Y line, the Hornet - OSD data line and GPS module connected to the
DoS’s GPS interface. Connection diagram is as follows:
Physical connection diagram:
Put the 4P Y line inserted into DoS’s GPS port
Data Radio interface
The UART pin interfaces consist of: GND, power 5V , TX1, RX1.
The characteristics as follows:
Baud Rate: 19200
Data bits: 8
Stop Bits: 1
Parity: None
Interface Features: TTL level
This pin interfaces connects to the Data Radio, PC computer serial port or OSD module.
You can set DoS control parameters and upgrade DoS firmware through this interface. For
the firmware upgrade,please refer to the firmware update operation manul.
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No.
S8
S7
S6
S5
S4
S3
S2
S1
Servo
Output
Interfa
ce
M8
M7
M6
M5
M4
M3
M2
M1
Power
+5V
Power
+5V
Power
+5V
Power
+5V
Power
+5V
Power
+5V
Power
+5V
Power
+5V
GND
GND
GND
GND
GND
GND
GND
GND
S2
S1
S3
S4
S5
S6
S7
S8
－
＋
ESC output interface
DoS’s S1 ~ S8 ports are connected separately to ESC M1 ~ M8.
Typically 1020us is lower limit, 1520us is neutral and 2020us is upper limit, frequency is
400Hz.
4. Camera Gimbal Stabilization
DoS multi-rotor firmware,when is used to control the aircraft under 6 axis, can
simultaneously control two axis Camera Gimbal Stabilization.S7 port is connected Camera
Gimbal’s roll servo,S8 port is connected Camera Gimbal’s pitch servo.
Attention:
(1) You must use 400Hz high-speed servos for Camera Gimbal, if you use normal
servos for a long time, will cause the Camera Gimbal servos overheat.
(2) If you use DoS to control Octocopter aircraft,S7 and S8 ports will not output
Camera Gimbal control signal any more.
5. Power Supply:
●DoS input voltage is 4.0 ~ 6.0 V, you can use a stabilized voltage supply ,or directly use
ESC’s +5 V power supply, most of the ESC power supply can meet the requirements;
●DoS and the RC receiver use the same power supply via the RC receiver connection
wiring.
●VERY IMPORTANT: Only one BEC power source should be used. If all four ESCs
have internal BEC, choose only one to supply power. Disconnect the red wire (positive)
of the other ESCs,but reserve the GND and Signal wirings.
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