FeiYu Tech FY-Panda2 User Manual

Guilin Feiyu Electronic Technology Co., Ltd

Addr : 4th Floor,YuTaiJie Science Technology Building,Information Industry Park ,

ChaoYang Road ,Qi Xing District ,Gui Lin ,541004

Website: www.feiyu-tech.com

Email: [e-mail]

PandaⅡAutopilot System

Installation & Operation Manual

Apply To The Firmware V1.35 And Above Version

Guilin Feiyu Electronic Technology Co., Ltd.

Table Of Content

User Agreement ......................................................................................................................................1

1. PandaⅡAutopilot System Introduction ...........................................................................................2

2. Major Autopilot Components...........................................................................................................3

3. Technical Parameters .....................................................................................................................4

4. PandaⅡ Instructions .....................................................................................................................5

5. Connection Diagram .......................................................................................................................8

6. S1~S8 Servo Interface Connection Instructions ...........................................................................10

7. The Instructions Of Each Modules‘ Connection ............................................................................10

8. The Installation Of Main Module ...................................................................................................13

8.1 PandaⅡ Module Installation ................................................................................................13

8.2 GPS Module Installation .......................................................................................................14

8.3 Power Management Module Installation ...............................................................................14

8.4 Data Radio Module Installation .............................................................................................14

8.5 Airspeed Sensor Module Installation.....................................................................................15

9. PandaⅡ Indicator Light Instruction ..............................................................................................16

10. RC Unit Requires And Setting ......................................................................................................17

11. Parameter Setting Software (GCS)——USB Driver And GCS Software installation .....................18

12. Connection Between PandaⅡ And GCS Software ......................................................................19

12.1 Steps Of The Connection And Upload The Map ...................................................................19

12.2 Steps Of ID Number Reset ...................................................................................................21

13. Parameters Setting Process Of PandaⅡ Autopilot......................................................................23

14. PandaⅡAutopilot System Other Setting .......................................................................................31

14.1 Power Voltage Calibration ................................................................ ....................................31

14.2 Photograph Control ..............................................................................................................31

14.3 Automatic Take Off ................................................................................................ ...............32

14.3.1 Automatic Take Off Mode Setting .............................................................................32

14.3.2 Automatic Take Off Parameters Setting ....................................................................33

14.3.3 Process Of Automatic Take Off .................................................................................33

14.4 Automatic Landing................................................................................................................34

14.4.1 Automatic Landing Mode Setting ..............................................................................34

14.4.2 Automatic Landing Achieving ...................................................................................35

14.4.3 Automatic Landing Point Setting ..............................................................................36

14.5 RC Switch (SW2) Setting .....................................................................................................37

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14.6 Record Servo Neutral ...........................................................................................................38

14.7 POS Information Reading ....................................................................................................38

15. Route Planning .............................................................................................................................39

15.1 Route Planning In 2D View...................................................................................................39

15.1.1 Route Planning By Mouse Click ...............................................................................40

15.1.2 Regional Auto Route Planning..................................................................................41

15.2 Route Planning In 3D View...................................................................................................41

15.2.1 Route Planning In 3D View .......................................................................................42

15.2.2 Regional Auto Route Planning In 3D ........................................................................43

15.2.3 Route Planning By Mouse Click In 3D View .............................................................45

16. Checking And Suggestion For Fly ................................................................................................45

Appendix................................................................................................................................................48

Appendix A: Introduction For Other Functions And Settings .........................................................48

Appendix B: Adjust The Center Of Gravity....................................................................................52

Appendix C: Flight Area Map Making............................................................................................52

Appendix D: Voltage Calibration Operation...................................................................................55

Appendix E: Airspeed Sensor Installation And Calibration ............................................................56

Appendix F: POS Data Reading And Instructions .........................................................................57

Appendix G: Modify The COM Port Number .................................................................................59

Appendix H: Run The GCS As Administrator ................................................................................62

Appendix J: Fail Save Instructions ................................................................................................62

Appendix K: Photograph Caption Of The Camera Refit ................................................................63

Appendix L: PID Control----―Turn Ctrl‖ Parameter Adjustment. ..................................................... 64

Appendix M: Default Parameters Of PandaⅡ Autopilot...............................................................66

Appendix N: Firmware Upgrade....................................................................................................68

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Guilin Feiyu Electronic Technology Co., Ltd.

Dear Pilot

Thank you for purchasing the PandaⅡ 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.

This manual applies to PandaⅡ firmware V1.35 or above , GCS 5.23 or above

version .

User Agreement

a) The PandaⅡ 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 PandaⅡ is used outside of the PRC.

c) PandaⅡ 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 PandaⅡ 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 PandaⅡ at any time.

When purchase the product, this agreement automatically take effect.

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 PandaⅡ 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.

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

[e-mail]

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1. PandaⅡAutopilot System Introduction

PandaⅡ Autopilot system mainly include: PandaⅡ Autopilot module, GPS module,
Airspeed module, Power management module, Remote adapter module, communication
system, GCS. Through our GCS software you can set flight waypoint, flight altitude, flight
speed, Equidistance or Timing taking photo and so on. Also can control the aircraft to
Automated circling, Automated Return to Home (RTH), Automated take off and
Automated landing according the route setting. You can real-time change the flight task
during the flight, convenient and flexible operation, easy installation and debugging. In
addition there are many protected mode, can the greatest degree of guarantee reliable
and flight safety. Could be used for unmanned aerial vehicles (uavs) automatically
control or professional aerial photography.

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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2. Major Autopilot Components

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

2. Combined the attitude module and the control module, get more small volume and lighter
weight.

3. Realize auto take off and auto land, maximum reduce the operating pressure.

4. Can accord to the plane internal space to adjust the install direction , easier to complete
the connection.

5. 10Hz data rate GPS receiver, 35 seconds fast positioning time and accuracy of 2.5
meters CEP. The GPS can record the positional parameter with battery , the locating time
greatly improved.

6. 100HZ inner attitude control, 10HZ outer navigation control.

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

a) Elevator and rudder navigation
b) Elevator, aileron and rudder navigation
c) Elevator and aileron mixed-control (elevon) navigation
d) V-tail rudder 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.

(On Auto Return to Home(RTH) mode, PandaⅡ has 50m altitude protection limited, if
the switch point altitude below 50m, PandaⅡ will automatic climb to 50m.)

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

12. Automated RTH (Return to Home) protection when there is a break in GCS
communication link via the data radios. This time the system is working only in the data
radio control mode.

13. Panda Ⅱ can Integrated automatic and manual aerial photography triggering.
Equidistance or Timing taking photo. Combine with the POS data record module can
record the current flight attitude info of the taking photo point, for example the Longitude,

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Component

Min
Value

Standard
Value

Max
Value

Units

Remark

Main Supply Voltage

6.5 26

Volt

Main Supply Current

60 mA

At 5V supply
voltage

Altitude Measurement Range

-500

6000

Meter

GPS Ground Speed
Measurement Range

0 350

Meter/Se
c

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

latitude, altitude, speed, etc .

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

15. 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.

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

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

18. 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 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. The autopilot still can realize most of the functions (for example, air route
setting, RTH, circling) without the GCS.

19. Support the firmware update, can update by yourself.

3. Technical Parameters

Table 1.1: Unless specified, values are at operating temperature of 25 ℃.

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Flight status PID Control Rate

100 Hz Navigation Control PID Rate

10 HZ

Data Telemetry‘s Track

Frequency

1

Hz

Maximum 10Hz

Data Telemetry‘s Mission

Frequency

1

Hz

Maximum 10Hz

Data Telemetry ‗s Flight Status
frequency

1

Hz

Maximum 10Hz
RS-232 Baud Rate

19200

Bps

TTL Level

Operating Temperature

-20

25

60 ℃

Temperature

25 ℃

No.

Module

Instructions

1

PandaⅡ Control Module
Volume：57mm * 34mm * 19mm
Weight：34g

2

GPS Receiver Module
Volume：32mm * 32mm * 13.5mm
Weight：24g

3

Integrated current sensor, can power on PandaⅡcontrol
module
Volume：26mm * 39mm * 15mm

Weight：24g

4. PandaⅡ Instructions

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4

Use for measure the airspeed
volume：64.5mm * 13.5mm * 13.5mm
Weight：9g

5

Turning receiver signal to digital signal for data radio
Volume：52mm * 33.5mm * 14mm
Weight：26g

6

1.Connect Data Radio and PC

2.Connect Remote Adapter and PC

3.Use for PandaⅡ firmware upgrade

7

Used as the wireless data transmission between
PandaⅡ and GCS
Power：500WM
Frequency：433MHZ（default） / 915MHZ
Communication distance：10KM（unobstructed）
Volume：64*41*12mm
Weight：43g

8

Use for connect PandaⅡ and RC receiver

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9

Use for connect Remote Adaptor and RC receiver

10

Use for connect Data radio and USB data cable

11

GPS extension cord

12

Attention: If you do not use the ESC to power on the

servos, you can connect external power source to power
on the servos through P2 port.

13

Connect to the taking photo port of the camera.(Need to
do the camera shutter transformation)

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OPTION 1 (“RC” control mode): RC receiver directly connect to Panda Ⅱ. The maximum
flight range depend on your RC Transmitter. No delay, high real-time performance.

Aircraft

Ground Station

5. Connection Diagram

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OPTION 2 (“DDRC” control mode ): 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

Aircraft

Ground Station

Zz

z

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No.

Type

Traditional

Flying wing

V tail

Airship

S1

Aileron servo 1

Aileron &Elevator mix

control servo 1

Aileron servo 1

Not use

S2

Elevator servo

Aileron &Elevator mix

control servo 2

Elevator &Rudder

mix control servo 1

Elevator servo

S3

Throttle servo/ESC

Throttle servo/ESC

Throttle servo/ESC

Throttle

servo/ESC

S4

Rudder servo

Not use

Elevator &Rudder

mix control servo 1

Rudder Servo

S5

Aileron servo 2

Not use

Aileron servo 2

Not use

S6

Not use

Not use

Not use

Not use

S7

Not use

Not use

Not use

Not use

S8

Not use

Not use

Not use

Not use

Connection Diagram

Institutions

S1 ～ S8 servo connecting wires,
please pay attention to the direction
of signal line .

常规布局

6. S1~S8 Servo Interface Connection Instructions

7. The Instructions Of Each Modules’ Connection

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The wire connection about power
management module.

The wire connection about GPS
module.

2*4P RC receiver connecting wires,
use for connect the RC receiver and
PandaⅡ,the wires is arranged by
the colors.

Black Red White —— AIL
Orange —— ELE
Green —— THR

Yellow —— RUD

Brown —— CH5

Blue ——CH6

The FY-602 Data radio connecting
wires.

The Airspeed sensor connecting
wires.

The wire connection about camera
control port P1, white(signal),
black(GND).

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Vibration absorbing pads
(dampers),use for PandaⅡvibration

damping installation.

2*5P RC receiver connecting wires,
use for connect the RC receiver and
Remote Adaptor, the wires is
arranged by the colors.

Yellow —— AIL

Black Red White —— ELE
Orange —— THR
Green —— RUD

White —— CH5

Red —— CH6
Blue —— CH7
Brown —— CH8

The wire connection about Remote
Adaptor and FY-602 Data radio.

The wire connection about Remote
Adaptor and USB data cable.

Attention: You must use the 4P

crosswire like picture left shows,
when you connect the USB data
cable and FY-602 data radio.

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Nose of the plane

Arrow Forward (Default Direction)

Arrow Towards To Left

Arrow Towards To Right

Arrow Towards To Back

8. The Installation Of Main Module

8.1 PandaⅡ Module Installation

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 directions via the GCS software, i.e direction forward, back, left, right.

When installing the autopilot module please make use of the supplied damper mount
or other DIY vibration damping device, especially on gasoline aircraft. Otherwise the
vibrations will cause a large data inconsistencies which will adversely affect the autopilot
accuracy.

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8.2 GPS Module Installation

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. 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 (Data Radio) or your video
transmitter should be kept as far away from the GPS unit as possible.

8.3 Power Management Module Installation

The power management module is used to connect the power battery and ESC,
which integrates a current sensor, can measure the power current and voltage, the
internal integrated DC-DC module will output a stable voltage which about 5.3V to power
on PandaⅡ. The control part and the servos power port is isolated on the PandaⅡ

module, so the power management module can not power on the servos .The servos still
need to power on through the ESC from S3 port or external power source from P2 port.

8.4 Data Radio Module Installation

The Data Radio module should placed away from the GPS module , PandaⅡ
module and the servos as far as possible, in order to avoid the disruption of these
devices. The Data Radio antenna should be vertically up or down when you install it .

Certain frequency bands from the Data Radio 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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8.5 Airspeed Sensor Module Installation

The airspeed sensor need to pull ahead the front of the pneumatic opening and in
the line with the direction of flight. You can install the Airspeed sensor to the wing or in
the front of the nose, do not block the front of the air inlet, we can use the glue to fix the
airspeed sensor.

 Make sure that after installation, the fuselage in flight airflow can not interfere

with air intakes.
 Please calibrate the airspeed sensor in the first fly, skill of calibration please

refer to the Appendix E.

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Red

Manual Mode, GPS not lock

Red—Red—Green

Stabilized Mode, GPS lock

Purple—Purple—Green

Stabilized Mode, GPS lock,
If it stay static means need Gyro Reset.

Blue—Blue—Blue—Green

Waypoint Navigation Mode, GPS lock

9. PandaⅡ Indicator Light Instruction

LED on the PandaⅡ module can send out red, blue, green and purple light.The
working statue can be know via the different colors which the LED sends out and the
flash frequency. green light flash means GPS location fixed, red and blue light indicate
PandaⅡ working mode. Under manual mode, stabilization mode or 3D mode, keep
PandaⅡ in the static state and if the LED sends out purple light it means PandaⅡ
needs Gyro Reset.

e.g.

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SW1

SW2

Manual Mode

Waypoint Navigation Mode

Stabilized Mode

NULL

3D Mode

Return To Launch Mode

10. RC Unit Requires And Setting

PandaⅡ requires a minimum of 6-channel RC receiver.4 Receiver channels are
used for aileron (channel 1), elevator (channel 2) ，throttle (channel 3) and rudder
(channel 4) signal output. 2 free Receiver channels are required to control the PandaⅡ
Flight Modes (a 3-position switch or dial knob, ‖SW1‖) and Navigation Mode (a 3-position
switch or dial knob, ‖SW2‖).

RC mode setting of your controller has to be fixed wing mode and cancel all mix
control setting.

PandaⅡ need two 3-position-switch to control the flight mode. One SW1 used for
control manual mode, stabilized mode and 3D mode, this can not be set. Another one
SW2 used for setting Auto Return To Launch Mode and Waypoint Navigation Flight
Mode(default) or Auto Circling Mode and Fixed altitude & Heading lock Mode. If need to
set up please refer to the section 14.5 RC switch setting.

SW2 has priority over SW1. Only when SW2 is in the ‗Null‘ Mode can SW1 work.
Therefore ‗Null‘ should be one of the options for SW2, otherwise SW1 will not work.

After set up switch mode, you can switch to the corresponding position then observe
the LED flashing situation to confirm whether the setting is correct or not.The details
please refer to section "9 Pnada2 indicator light instruction"

 RTL mode、Line mode、Path Navigation mode、ACM mode are navigation

working modes, only when the GPS location fixed all of this navigation mode

can be activate effective.

SW1&SW2 default setting:

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11. Parameter Setting Software (GCS)——USB

Driver And GCS Software installation

Step A : Please visit the official website: www.feiyu-tech.com. Download the correct

USB driver, GCS installation program and the Google Earth plug-in 6.1 or
above version then unzip the RAR file.

Step B : Install the USB driver according to the guide.

Step C : After successfully install the USB driver, insert the USB-TTL interface cable

into computer USB COM port(don‘t connect TTL port to any other device ) , the system

will correctly identify the USB -TTL data cable, then you will find there is a new port
add(COM and LPT) .―Silicon Labs CP210x USB to UART Bridge (COM3)‖.The ―COM*‖ is
what the connection need (e.g. COM3).
If the COM number is more than COM10, please modify to the available port which
lees than COM10 (Skill of modification please refer to the Appendix F ).

Step D : Install the GCS software according to the guide (Please install with the default

path).

Step E : Install the Google Earth plug-in 6.1.

 The USB driver and the GCS software can be support the operation systems:

Windows XP, Windows 7, Windows 8, Windows 8.1, Windows Vista
 Please run the GCS software as administrator when work with the Windows 7,

Windows 8, Windows 8.1, Windows Vista operation system. Steps for how to

run the GCS as administrator please refer to the Appendix

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1. Select the Pre-made to the map

2. Click ―Open‖

12. Connection Between PandaⅡ And GCS

Software

12.1 Steps Of The Connection And Upload The Map

Step A : Assumption the Autopilot system have installed ,connect to the computer

and power on normally.

Step B : Double click the icon ― ‖ start the software.

Step C : Select the correct COM port (e.g. COM3),baud rate:19200,click on

―Connect‖ button.

Step D : Enter the ID number in the pop-up ID setting dialog box(The default number

of the PandaⅡ is ―00000‖ ),click on ―OK‖ button.

Step E : Choose the save path and rename the file in the pop-up dialog box then

click on ―Save‖ button to save the log file of flying. Connection between
PandaⅡ and GCS finish.

Step F : Click on ―Open‖ button on the GCS select the *. gst files, click on ―Open‖

button uploaded the map to the software(Skill of map making please refer to
the Appendix B ).

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Figure Load Interface

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Figure Map Information Interface

 After finish the Step E, if the current parameters of the autopilot can be display

on the GCS, it will indicate that the connection is successful.

 The ID number can be reset by users. The new number please select

from“00000” to “65535”.If the number of characters more than 5 ,the ID

number will invalid.

 The ID number reset operation support under the “OPTION1 (RC control

mode )” and “OPTION2 (DRRC control mode)”.

 Connection diagram.

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