FeiYu Tech Panda Autopilot User Manual

FEIYU
TECH

PANDA

GCS & AFSS AUTOPILOT SYSTEM

INSTALLATION & OPERATION 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]

Guilin Feiyu Electronic Technology Co., Ltd

Dear Pilot,

Thank you for purchasing the PANDA 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 PANDA 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.

PANDA Autopilot: User Agreement

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

c) PANDA 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 PANDA 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 PANDA 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]

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Panda Autopilot

Introduction: What it Does

PANDA 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 Home (RTH),
 Automated take-off according the route setting.

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 PANDA, 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. PANDA 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 Fixed circling mode and Auto Return to Home(RTH)mode,Panda has 50m altitude

protection limited,if the switch point altitude below 50m,Panda 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 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, 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.

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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

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

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.

Technical parameters

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

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RS-232 Baud Rate

19200

Bps

TTL Level

Operating Temperature

-20

25

60 ℃

Temperature

25 ℃

Controller Module dimension

60×3 1×20

mm

Panda autopilot
module

Weight

35

grams

Remote Adapter Module
Dimension

52×3 1×2 0

mm

Panda remote
adapter module

Weight

27

grams

GPS Module dimension

32×32×10

mm

GPS module
Weight

21

grams

PANDA INSTALATION

1. Before installation, please check and ensure your PANDA pack contains the following main

components:

a. Panda Autopilot module
b. Panda Remote adapter module
c. GPS module

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Panda AutoPilot Module

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Panda Remote Adapter Module

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

GPS Receiver Module

FY-602Data Radio (433MHz) FY-606 Data Radio (2.4GHz)

Note: Data Radio selection please refer page 7

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Four install directions of the Autopilot module

AutoPilot module the arrow forward（default direction）

AutoPilot module the arrow
towards to left

AutoPilot module the arrow
towards to right

AutoPilot module the arrow
towards to back

nose of the plane

FLIGHT CONTROLLER MODULE INSTALLATION
FLIGHT CONTROLLER MODULE

1. 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 (shown below) .

2. When installing the autopilot module please make use of the supplied damper mount.

Otherwise the vibrations will cause a large data inconsistencies which will adversely affect the
autopilot accuracy.

3. PANDA 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.

4. 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.

5. 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.

6. PANDA 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).

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7. 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
information back to the GCS. The asynchronous serial interface protocol between PANDA
autopilot and communications link is RS232-TTL level, the baud rate is 19200.

8. 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.

9. 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.

10. Also consider your Data Radio frequency selection based on your existing radio control

system, to avoid frequency interference.

11. Alternately, you can utilize your own full duplex data modem. The communication link used

by PANDA autopilot can be either a half-duplex or a full-duplex data modem.

12. 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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8 7 6 5 4 3 2 1 NO.

GND

VCC

TX1

RX1

Switch
input 1

Rudder
input

Throttle
input

Elevator
input

Ⅰ

GND

3.3V

TX2

RX2

GND

VCC

Aileron
input

Switch
input 2

Ⅱ

GND

5V

DL

DY Ⅲ

Signal

+5V

GND

P6

P5

P4

P3

P2

P1

AD

P7

Parachute open

OUT

External voltage

acquisition

AIL OUT

ELE OUT

THR OUT

RUD OUT

Take photo OUT
Output 1

UART port

GPS port

CS port

Receiver signal input port

Defined Interface of the PANDA Flight Controller Module

Autopilot module interface pins：

Front row pins defined:

NOTE: The pin “ Ⅱ-5,6,7,8”is for the GPS module, “Ⅱ-7”pin output +3.3V, “Ⅲ - 5，6，7，8”is

for the Current sensor , “Ⅲ - 7”pin is +5V output, please don’t supply to these pins, or will

burn the autopilot .

The output 1 is corresponding with the input of CH7 in the remote adapter.

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Name

function

UART port

Connect to the data radio

GPS port

Connect to the GPS module

CS port

Connect to the Current sensor

Receiver signal input port

Connect to channels of the receiver

AD

The external voltage acquisition port

P1

Connect to the aileron or mix-control servo 1

P2

Connect to the elevator or the mix-control servo 2

P3

Connect to the throttle or control wiring of the ESC

P4

Connect to the rudder

P5

Connect to the taking photo port of the camera

P6

Directly output the CH7 servo signal of the remote adapter module

P7

Output a servo signal which can be controlled directly by the GCS
software

Flight

mode

Auto balance

mode

Deactivated

mode

Path navigation

mode

Auto return to

home mode

(RTH)

Auto circling

mode(ACM)

LED light

indicator

Stay on solid

Continuous

flash

Continuous

flashing 3 times

each loop

Double flash

each loop

Single flash

Autopilot Module：
Serial port 1(UART port)

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

Serial port 2(GPS port)

Baud rate: 38400
Data bits: 8
Stop bits: 1
Parity: None
TX2 connected to the RX ‗s GPS module
RX2 connected to the TX ‗s GPS module

Autopilot module the interface defined and function:

Autopilot module taking photo port instruction:

The P5 port of the autopilot module output a camera shutter triggered signals, this signal is TTL
level(0-3V), you can set this signal to high level trigger or low level trigger via the GCS software.
The default is high level trigger, that is in normal this output signal is low level, but when taking
photo this port will output a high level signal last for 1 second.

Autopilot Module LED indicator instruction:

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GPS

Data radio

Task servo 2

Task servo

Rudder servo

Voltage detected
(current sensor)

Aileron servo

Elevator servo

Throttle servo

VCC

GND

Receiver

External voltage
collecte

Camera

Can power up via any

free vcc port

Connection Diagram

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Name

Function

RADIO

Connect to the data radio

PC

Connect to the PC serial port

AIL

Aileron input

ELE

Elevator input

THR

Throttle input

RUD

Rudder input

CH5

Channel 5 input

CH6

Channel 6 input

CH7

Channel 7 input

CH8

Channel 8 input

+5V

GND

TX2

RX2

+5V

GND

CH5

THR

+5V

GND

AIL

CH7

ELE

RUD

CH6

CH8

TX1

RX1

RADIO

PC

Panda Remote Adapter module interface:

The CH7 of the Remote Adapter module can adapt a receiver signal to the autopilot
module, and the autopilot module output it via its P6 port.

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PC serial port

RC Receiver

5V battery

GND

+

Balck - -GND

Red --- +3.3V

Green —signal

Data radio

Connection Diagram

The interface and features of the GPS module

TX: For Data transmission to the Autopilot module (RX2)
RX: For Receiving data transmitted from Autopilot module (TX2)(Can disconnected )
Interface Features: TTL level
Baud rate: 38400
Data bits: 8
Stop bits: 1
Parity: None
GPS Data refresh rate: 10Hz

电流传感器：

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Current Sensor:

PANDA 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 PANDA 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.

AUTOPILOT CONNECTION OPTIONS

There are three options when setting up your PANDA 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 Data Radio (Figure 2). With this

setup you do not have a RC receiver in the plane (Figure 1).

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Figure 1: On the aircraft, the radio
modem controls all flight parameters.
No RC receiver is installed in your
aircraft.

Figure 2: At your ground Station, the
signals from your RC Transmitter is
sent to the RC Receiver which is
connected to your computer via the
Remote Adapter.

a) Your RC Receiver is installed at your ground station. The Receiver servo signal output is

fed into the Remote Adapter.

b) 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.

c) 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.

d) Warning: In Option 1, 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. Refer page 7 on notes on data transfer frequency (Hz).

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GPS module

Data radio

AIL Servo

RUD Servo

THR Servo

ELE Servo

5V servo battery

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.
 Also at least two of the channels require a three-position switch.

OPTION 1: WARNING

 If you choose to use the 5.0 volt power from your ESC BEC, you can plug the throttle

OPTION 1: Activation and Deactivation of safety feature

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 +5V Pin of the P6 Port, and

the GND.

 When the plane is controlled by the remote adapter board, it contains a communication

interruption protection function.

 If the autopilot detects communication interruption lasting 10seconds 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

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RC Remote Receiver

AIL

USB—Serial TTL

THR

CH5

ELE

CH6

RUD

Data Radio

Receiver battery

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!

RTH DeActivated：choose ― Para Settings‖ —＞ ― Flight Para‖, click ― RTH Deactivated‖,
when the button turn green, meaning you have set successfully. Shown as above:

OPTION 1: GROUND STATION DIAGRAMME

OPTION 1: Ground Station Requirements:

a) You will need at least a 6 channels Receiver
b) You will also need at least two, 3-position switches on your Radio Transmitter.
c) If you wish to use a 5 volt Receiver battery to power the ground station system, please

disconnect the 5 volt power coming from the USB Interface cable (picture below):

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OPTION 2: RC RECEIVER ON-BOARD

a) In Option 2, both the RC receiver and Data Radio is installed onboard the aircraft.
b) In Option 2, you have direct RC Transmitter control of the aircraft, therefore avoiding the

data transfer delays of Option 1.

c) For Option 2, you will need at least a 6 channels Receiver.

d) Two of the channels require a three-position switch. (e.g. Channel 5 and 6).

OPTION 2: ON-BOARD AIRCRAFT SYSTEM DIAGRAMME

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AIL Servo

RUD Servo

THR Servo

ELE Servo

5Vservo battery

Data radio

RC Remote Receiver

AIL

THR

CH5

ELE

CH6

RUD

GPS module

OPTION 2: POWER WARNING

 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.

 However we highly recommend that you use an external BEC with 3.0 A current output.
 The 5.0 volt External BEC power input is connected to the +5V Pin of the P6 Port, and

the GND.

OPTION 2: GROUND STATION CONTROL DIAGRAMME

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USB—Serial TTL

Data radio

NOTE: If you wish to use a 5 volt

Receiver battery to power the ground
station system, please disconnect the 5
volt power coming from the USB
Interface cable.

OPTION 3: TWO RECEIVER SYSTEM

a) Option 3 is the combination of Option 1 and Option 2.
b) In Option 3, you will require two receivers of the same frequency.
c) Ensure that both receivers can be controlled by your RC transmitter.
d) One receiver is installed on board the aircraft (as per Option 2), while the other receiver

is installed at the Ground Station (as per Option 1).

e) The Channel utilization on both the on-board receiver and Ground Station receiver must

be the same.

f) The receivers must be at least 6 channels.
g) Two of the channels require a three-position switch (e.g. Channel 5 and 6).
h) Since both systems can be used to control your aircraft, the maximum flight range is

either your RC Transmitter or the Data Radio, whichever can reach further out.But it
depend on you activated which receiver via the GCS button(―Receiver control ‖ or
―DRRC‖)

i) e.g. If your RC Transmitter is out of range, while Data Radio is still within range, and

you select ―DRRC‖ then the Data Radio can still fly the plane via the planned GCS flight
route. But if you select ―Receiver control‖ then the distance due to the RC transmitter.

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AIL Servo

RUD Servo

THR Servo

ELE Servo

5Vservo battery

Data radio

RC Remote Receiver

AIL

THR

CH5

ELE

CH6

RUD

GPS module

OPTION 3: ON-BOARD AIRCRAFT DIAGRAMME

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WARNING: If you wish to use a 5 volt
Receiver battery to power the ground
station system, please disconnect the 5
volt power in-coming from the USB
Interface cable.

USB—Serial TTL

RC Remote Receiver

AIL

THR

CH5

ELE

CH6

RUD

Data radio

Receiver battery

OPTION 3: GROUND STATION CONTROL DIAGRAMME

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Autopilot Back-end Interface

GPS

FY602

Camera

Power

Main Battery
Pack

ESC

Motor

Current
Sensor

5V BEC supply β

Thr & 5V *

ELE

AIL

RUD

Video transmitter

Autopilot Front Interface

OSD & FY-602 DATA RADIO INSTALLATION (ON-BOARD AIRCRAFT),
use the Option 1 setting method.

*

Thr & 5 Volt –

β

5V BEC supply – We highly recommend using an external switching BEC instead of

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Throttle signal input and 5 volt power supply from ESC. Use the ESC
BEC input only if it can output stable 3A current.

powering via the ESC BEC. Disconnect the power supply (red wire)
from the ESC if you use an external BEC.

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FY602

data radio

RC receiver

5V supply batteries

GND

+

AIL

ELE

THR

RUD

CH5

CH6

CH7

CH8

USB -- TTL

Note: Please disconnect the 5 volt
power coming from the USB
interface cable when receiver‘s
battery is in used to power the
receiver and adapter board.

Remoter Adapter

FY-606 DATA RADIO INSTALLATION (GROUND CONTROL)

The connection diagram of the Data Radio and GCS is shown as below.

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FY-GCS: Ground Control Software

FY-GCS SOFTWARE END USER AGREEMENT

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

c) FY-GCS Software system is prohibited to be used for any illegal activity.
d) The Guilin Feiyu Electronic Technology Co. and our associates are not responsible for

any damages or liabilities caused by the use of this product.

e) The FY-GCS software 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 this product at any time.
g) Feiyu Tech reserves the right to amend this manual and the terms and conditions of use of

the FY-GCS Software at any time.

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

purchase.

i) Please read through the manual carefully and if there is any doubt or questions please do

not hesitate to contact us and our support team.

__________________________________________________________________________

Software Parameters

a) FY-GCS is the ground control software for the Panda autopilot system.
b) The main features include (but not limited to):

 Electronic mapping
 Telemetry data monitoring of flight parameters (airspeed, location, flight attitude)
 Route (mission) circle radius, flight speed, etc editing in real-time.
 Recording and playback of telemetry data into Ground Station Computer.
 Map loading, electronic conversion and management
 The GCS directly quote Google earth live map, support 3 D display, support in the

offline mode map shows.

c) The FY-GCS software interface consist of:

 Shortcut toolbar,
 Status display bar,
 Flight instrument display,
 Electronic map display area, and
 Air route and navigation parameter setting.

FY-GCS SOFTWARE OPERATING REQUIREMENTS

CPU frequency: 1GHz or more.
Memory capacity: 1G or more.
Hard disk space: At least 200MB free disk space.

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Operating System: Windows XP system, Vista, Win7system, etc
Monitor resolution: 1024x768 or above.
Port: Support 9-pin serial port or USB Serial converter
(Baud rate19200 or more)

Other Peripherals: Keyboard, Mouse.

The installation for the GCS software and the USB-TTL Serial cable

 First you have to download the GCS software and USB-TLL serial drive on our official website

http://www.feiyu-tech.com .

 After that, you can set up the software. You had better set the value as default, or select

suitable installation path, but the path should not be on desktop or too deep, and it shouldn‘t

include Chinese, space, or other strange characters.

 Before using the GCS, you have to install dotnetframework3.5 (It must be the Version 3.5,

not other versions!!) you can refer this link for it.

http://www.microsoft.com/downloads/zh-cn/details.aspx?FamilyID=333325fd-ae52-4e35-b5
31-508d977d32a

 Also have to set up this Google Earth plug-in, software download reference address:

http://www.google.com/earth/explore/products/plugin.html

 You had better uninstall the Google Earth soft which has been installed before.

FY-GCS MODULE INTRODUCTION

Open the GCS, you can see the following interface.

Step One: install the USB-TTL serial drive

1) Double-click the serial drive, installed by default.

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Note COM number.

2) Restart the computer and make the drive be activated.

3) If it can't be used, please uninstall the original drive and reinstall this one, or search its

PL2303 chip to the latest version on the Internet.

Step Two: confirm the USB-TTL Virtual serial number (take Win XP for example)

1) Insert the USB-TTL interface cable into computer USB COM port(don‘t connect TTL port

to any other wire ) , you will find there is more than one port(COM and LPT), the

port―COM2‖in the ―Prolific USB-to-Serial Com Port (COM2)‖ exactly is the Virtual serial

number.

If you do not know which COM port number, do the following:

Click your control panel: Click on system: Hardware, click Device Manager:

Check the COM Port number for Prolific USB-to-Serial Com Port:

2) inserter a few times for confirmation

3) Modify the serial number if necessary

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FY-GCS MODULE INTRODUCTION

Software interface

Menu bar and toolbar

FY-GCS Menu Bar

1. The ―File‖ menu includes:

A. Exit: close the window
B. Load Kml: Can select and load the KML file, after the load the KML file will be displayed in

the Map and can use for the path setting.

2. The ―View‖ menu includes:

A. Display icon text: for option display or not the text instruction beside the icon
B. Moving map display: option if move the map following the plane.

3. ―Tool‖ menu includes:

A. Com Ports Settings: for selecting the serial port number and the baud rate , the baud rate for

Panda autopilot is 19200bps

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B. Altitude Initialization: click to initialize the altitude, in order to pick up the altitude of your

position , and will be used in the 3D path setting, if not get the local altitude it may be
caused that the waypoint path or flight path won‘t be displayed(they are covered)

C. Downlink data rate: set the downlink data rate to the Autopilot.
D. Uplink data rate: set the uplink remote control data rate to the Autopilot.
E. Export Waypoints: export the waypoint path which you have set well in the GCS software to

your computer.

F. Import Waypoints: import the waypoints path which you have saved in your computer to the

GCS software.

4. ―Language‖ menu includes:

A. English: select the interface for the GCS is the English version.
B. Simplified Chinese：select the interface for the GCS is the Simplified Chinese version.
C. Traditional Chinese：select the interface for the GCS is the traditional Chinese.

FY-GCS Toolbar

1、

These three buttons display the current remote mode of the autopilot , if the button turn green
means the current state activated.

2、

These two buttons display the current flight mode of the autopilot. Button turns green means fly
in this mode.

3、

These four buttons display the current special flight mode of the autopilot. Button turns green
means fly in this mode.

4、
Connect the GCS software with the autopilot, have to select the correct serial port and the baud

rate

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5、
Replay the previous flight path record file.

6、

Select if move the map following the plane.

7、
Remove all flight path in the map.

8、
Click these buttons will enter relevant Settings interface .

FY-GCS Setting interface

1. Waypoint edit interface

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Click the ―edit waypoints‖ button enter the waypoints edit interface.

You can set the fly path, add or delete the waypoints, set the home point, take off point,

Import or download the Waypoints, or set the target point when fly in click flight mode, etc.

Parameters Setting interface

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Parameters setting interface includes ―PID parameters ‖,―Control parameters‖, ―Flight
parameters‖，―other‖.

Flight Parameter Setting:

1. Auto photo: Enable automatic photography function.(can set Equidistance or Timing taking

photo )

2. Photo: Captures a photo immediately.

3. AP working mode Switch: Select if Shield the operation of the remote control (the default is

operate by the remote controller, in normal you not need to switch).

4. Loop path: This will repeat the current waypoints path (only works in the path navigation

mode)

5. RC datalink Switch: Select to use the data radio control or the RC receiver remote

control(the default is data radio control).

6. Parachute: Opens aircraft parachute (if applicable).

7. RTH Activated: Set the autopilot auto enter the Auto Return To Home mode(RTH) when it

detects communication interruption lasting 10seconds or more.

8. RTH Deactivated: Set the autopilot DOES NOT enter the Auto Return To Home mode(RTH)

even it detects communication interruption.

9. Auto landing: Enter the auto land procedure.

10. Cancel auto landing: Cancel run the auto land procedure.

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Flight Parameter Setting:

1、TGT SPD: Target ground speed setting in kilometers per hour (km/h).
2、TGT ALT: Target altitude setting in meters (m).
3、Circle radius: Circling radius setting in meters (m).
4、Photo interval: Set automatic photography interval for photo‘s along flight path in meter

(m).or for photo‘s along time in second(s).

5、Throttle hold: Set throttle hold.
6、Photo taking: Set the time interval from active shutter to generate photos.

PID para:

1. Set: Sets the parameter of each flight control gain.

2. Save to AP: Save the setting parameters to Autopilot permanently.

3. Read: Read the parameter.

Flight para:

1. Set: Sets the parameter of each flight control gain.

2. Mix control: Sets up the mixed control mode of the autopilot. This adapts controls for

elevons, ailerons, rudder etc.

3. REV rudder settings: Set up the servo and throttle control direction.

4. Check Gyro: Gyro testing to see if it works OK.

5. Gyro init: Gyro initialization.

6. Servo neutral: Record servo neutral when in Level flight.

Other settings:

1. Installation Settings: set the install direction of the autopilot (relative to the nose of the

plane). There are four directions, forwards, back, left, right.

2. Time mode: Set the taking photo mode is time interal trigger. E.g. each 5second take one

photo.

3. Distance mode: Set the taking photo mode is distance interal trigger. E.g. each 100m take

one photo.

METER BAR DISPLAY

a) The meter bar provides a graphical aircraft instrument display area.
b) The instrument panel is divided into some sections as shown below:

At the top of the meter bar are the gradienter and course compass, can real-time display
the current attitude and the heading of the plane.
At the bottom of meter bar, there are GPS lock info, voltage, battery power consumed,
Pulse width time of the servo output, target point info, communication data info, and
other data info, etc.

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Operations of GCS

1) Connection to autopilot

a) Make sure the hardware connect correctly. Then open the GCS.

b) Click the connection button , chose the serial port. For example, the serial

Com port number here is ―COM1‖, the default Baud rate is ―19200‖.

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Click the ―OK‖ button to connect, then click to switch to instrumentation
interface. The changing information is shown on this interface.

2) Air route setting

a) Altitude Initialization

To get accurate altitude recording on the GCS, you need to initialize the altitude record. It is
important to enable 3D flight rendering on the GCS, otherwise it may result in rendering a flight

path outside the map layer.

The GCS can initialize altitude automatically when obtains GPS signal. But if no GPS
position or there is error when auto initialization, you should initialize by yourself.

Click ，The button background will turn green, Click ―tools‖ in the
menu bar and choose ―Altitude Initialization‖, then press the ―Ctrl‖ key, Move the cursor over

the take-off point position in the map and click the left button to confirm. (shown as below)

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b) Set the air route

Click ，The button background will turn green, then the waypoint
editing is activated and you can set the route.

The Waypoint setting window will be displayed. Enter the altitude you wish to maintain,
and press Set:

Then click the edit button ，after the background turn green, you can plan the air route
by clicking mouse. Depress the ―Ctrl‖ key, bring the cursor on the map and click where you

want to set the waypoint. The waypoint number and distance flown will be noted.

If you are not satisfied with the planning route, you can reedit it. If you want to change the
position or add the navigation point, simply bring the cursor over the Waypoint you want to edit.
Depress your mouse left button and move to the new waypoint location and let go. The new
location will automatically be updated on the Waypoint list.

You also can edit directly on the ―Edit Waypoint‖ window on the right. Selecting the route

that you want to modify and clicking the right mouse button, modifying the latitude and
longitude of the navigation point by choosing ―Edit‖. (shown as below)

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After setting the route, please click ―Upload Waypoints‖ ，to upload the waypoints to
panda autopilot.

You can remove all waypoints by clicking .

You can check the uploaded waypoints in the panda autopilot by pressing the waypoint

download button. Check that the uploaded waypoints are correct: .

c) Home point setting

Reset the home point location when fly in different area. On default, when it has picked up
5 satellite signals it automatically locks the GPS coordinates as the home point.

By using the GCS, you can change this Home location.

Firstly, click Edit waypoints button , than choose ―Edit home point‖

button and make it turn green . Depress the ―Ctrl‖ key and click the target point in the

Google Earth map when ready, then an icon will appear , that means

you have uploaded successfully. At the same time, a hint window will appear .

Note: only by correctly connection can you upload the home points successfully.

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d) Save the waypoints

At last, don‘t forget to click this button to save ，otherwise the setting waypoints will be
lost if power down.

Instant Waypoint flying setting

The aircraft can fly to other temporary waypoints, when carry out instant waypoint flying
operation. To enter instant waypoint flying, autopilot should work in stability, path navigation,
RTH or circling mode. When switch to instant waypoint flying mode, you should work in auto
mode (path navigation, RTH or auto circling), because this switch must be via GCS. After ending
instant waypoint flying, the autopilot will carry out those tasks which are interrupted before.

Click the waypoint editing button , when it turn green, meaning you can

edit the waypoint. Click , and make it turn green, it means you have
entered Mouse Click point mode. That is to say, switch the path navigation mode to instant

waypoint flying mode. Choose ―edit target waypoint‖ in .When this

button turn green, depress the ―Ctrl‖ key and click the target point in the map when ready, then

an icon will appear , it means you have uploaded successfully.

The ―Target Point‖ icon will appear , which gives your aircraft the point to fly to.

Instant Waypoint flying cancel: click the button , when it turns green,
meaning you have quitted the instant waypoint flying mode and performed other tasks.

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The setup of the Panda can be started once you have finished installing Panda and the

The pulse width of

CH 5

1000-1199μS

1200-1800μs

1801-2000μS

Function

Manual mode

Auto Balance mode

Automatic

Navigation mode

GCS software.

Autopilot Function
Flight Control Mode Description:

1. There are three flight control modes: Manual, Auto Balance and Automatic navigation

mode.

2. You can utilize Channel 5 to determine Flight Control Modes. Use a 3-position switch

on your radio transmitter.

3. Set CH5 to any 3-position switch on your transmitter.

4. Note: Do not set CH5 to Automatic Control Mode when the Autopilot is on.

 Manual mode: This is normal RC manual operation. You have full control over the

 Auto Balance mode: This provides stabilization only. The pilot still has full control

 Automatic navigation mode: In this mode, the autopilot will implement the

Automatic Navigation Mode Description

1. There are two types of Navigation modes:

 Path navigation
 Instant waypoint setting.

2. The operation of the autopilot is by default set to path navigation.

3. The ground station software is required to change the navigation mode.

4. Path Navigation Mode: The plane will fly according to the pre-set flight path. When it

has reached its final waypoint, it will circle that point.

5. Instant Waypoint Setting Mode: The plane will fly to that instant waypoint

immediately and wait for your next command by performing circling flight hold pattern.

Special Flight Mode Description

There are three types of special flight modes:

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Panda Debugging instructions

plane. The autopilot is DISABLED.

over the direction, altitude and throttle of the plane.

corresponding automatic control according to the navigation mode which has been set
in the GCS.

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Pulse width of CH6

1000-1199μS

1200-1800μS

1801-2000μS

Function

Return to Home

Idle

Auto Circling

 Return to Home (RTH);
 Automatic Take-off (Idle);
 Auto Circling ;

1. You can set Channel 6 to a 3-position switch to select the Special Flight Modes.

2. The middle position of your three position switch is ―idle mode‖ which means no special

flight modes are active:

3. Return to Home (RTH): No matter what mode your autopilot is in, once RTH mode is

enabled, the plane will initialize RTH (Return to Home). Upon reaching RTH, the
aircraft will initiate a circling holding pattern.(Panda has 50m altitude protection

limited,if the switch point altitude below 50m,Panda will automatic climb to 50m.)

4. Auto Circling: No matter in which mode, once Circling Mode is enabled, the plane will

perform flight holding pattern by circling the current waypoint immediately. The circle
radius is determined by the circle radius you have set. (The default value of the circle
radius is 80 meters when autopilot is enabled.)(Panda has 50m altitude protection

limited,if the switch point altitude below 50m,Panda will automatic climb to 50m.)

5. Automatic Take-off (Idle): In this mode the autopilot is deactivated. You have full

control over your aircraft.

Communication Debugging

1. Turn on your computer, and run the ground station software (GCS).

2. Turn on the adapter board power supply, the adapter plate light will flash slowly.

3. Select the correct communications port from GCS software. Baud Rate is19200.

4. Turn ON your RC Transmitter.

5. Turn ON the autopilot power.

6. If everything is connected correctly, you will see the received telemetry data through the

ground station software, the pressure altitude should be 0 meters (Note: Auto-Initialization
initial boot height is 0 meters).

7. Move your rudder control on the RC transmitter, you will see the rudder output through the

rudder display table. This means the ground station has connected properly with the
autopilot.

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8. The FY602 data radio has red and green status lights.

9. FY -602 Red light – Data Radio is ―transmitting‖.

10. FY-602 Green light – Data Radio is ―receiving‖.

11. If you find that transmission of the data radio causes the rudder to ―twitch‖ from interference,

please move the Data Radio transmitter away from the rudder or other effected servos.

Servo Control Direction and Debugging

ATTENTION! It is recommended that you remove your prop or disable your motor while
performing these setup procedures!

1. The Panda module has its own mixing function. Therefore the RC transmitter can be

programmed for a ―normal‖ layout aircraft.

2. Please choose the correct mixing mode in

―Mix control‖ to change the layout of the

aircraft. Following is a table describing the
possible layouts:

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Layout

Options

Normal layout plane

Normal& No AIL/Turn via AIL

Delta-winged plane with rudder

Elevons/ Turn via AIL

Delta-winged plane without rudder

Normal& No AIL/Turn via AIL& RUD

Plane without aileron but with elevator and rudder

Elevons/ Turn via AIL& RUD

Left wing aileron automatically
moves upwards.

Roll right

Right wing aileron automatically
moves downwards

Right wing automatically moves upwards

Roll left

Left wing aileron automatically

Pander IN AUTO BALANCE MODE

PRE-FLIGHT CHECK:

3. The following procedure explains how to correct servo control direction upon Panda

activation.

4. Control direction Check.
Switch to the "Auto Balance Mode" mode, check the control direction as explained below.

Aileron Check

1. Holding the plane in your hands roll the plane to the right. The ailerons should give a

signal to counter this roll direction as shown below.

2. If the ailerons move correctly, then you have the correct ―AIL REV‖ setting.

3. If the ailerons do not follow the correct

movement, please set ―AIL REV‖ in the

―REV rudder settings‖ box. You should

now see the correct servo movement after
‗checking‘ reverse.

Elevator check:

1. Holding the plane in your hands tilt the nose up and down. The elevator should give a

signal to counter this tilting motion as shown below:

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Rotate right

Rudder moves to the left

Rotate left

Rudder moves to the right

Pander IN AUTO BALANCE MODE

Nose UP

Elevator moves down

Elevator moves up

Nose DOWN

Pander IN AUTO BALANCE MODE

2. If the the elevator does not follow the correct movement, please set ―ELE REV‖ in the

―REV rudder settings‖ box. You should

now see the correct servo movement after
‗checking‘ the box.

Rudder Check:

1. Holding the plane in your hands ―yaw the plane‖ from left to right. The rudder should

give a signal to counter the yaw motion as shown bleow:

2. If the rudder does not follow the correct movement, please set ―RUD REV‖ in the ―REV

rudder settings‖ box. You should now see the correct servo movement after ‗checking‘
the box.

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Value set

Turning angle

30

50（default）

70

60° Corresponding angle

18°

30°

42°

Throttle Detection:

1. Warning: It is recommended that you remove your prop or disable your motor while

performing these setup procedure.

2. Pleases refer to the throttle output at the servo display as shown to the right.

3. With your throttle at the lowest setting the number should read 1000. As your throttle up

this number should get larger.

4. If instead the number reads 2000 and gets smaller as you increase the throttle then check

the ―THR REV‖ in the ―REV rudder settings‖ box:

Flight Parameter Setting

The following will explains the function of each flight
parameter setting:

Turn Control

1. Attitude Control: indicates the rate coefficient of

turning angle control.
The higher the value, the greater the turning angle in
degrees.
This Parameter can be set in range from 0-99 degrees.
The maximum attitude angle during the turning
procedure is 45 deg. The Matrix below shows the
relation between Parameter value and angle of the plane
during a turning procedure, with total heading changed
bigger than 60 degrees.

2. Attitude integ: Indicates the (side) angle correction between the designated Flight path

and the plane‘s current position. The higher the value, the faster the system will react to

match the actual flight path and the planned (designated) flight path. This Parameter will

be activated once the plane enters an area less than 30 meters from the planned flight

route.
Range from 0 to 9, default value is 5.

3. Hdg damping: This is to counter the heading change by controlling the gain for angle

control. The higher the value, the greater the angle movement. Range from 0-99. Default

value: 50.

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Altitude control

Value
set

Attitude up

30

50（default）

70

10 m

6°

10°

14°

1. Pitch control: The higher the value, the higher the pitch up or down of the aircraft

nose. Maximum pitch up setting is + 20 degrees.
Maximum pitch down setting: - 20 degrees.
Range is 0 to 99. Default value: 50.

The following table shows Pitch angle control when the plane reaches 10 meter altitude:

2. Alt Ofs integ: Also known as Attitude Deviation Integration. This setting controls the

gain to integrate the aircraft current altitude to the target altitude. The higher the value,

the greater the speed to match current and target altitude via pitch control.
Value Range: 0 to99, Default value: 10

3. Altitude damping: Pitch control gain to counter aircraft altitude change. The higher the

value, the greater the pitch action.
Value Range: 0 to 99. Default value: 50.

Throttle control

1. Spd control: This setting controls the aircraft speed in reference to the GPS speed

change. The higher the value, the greater the throttle control gain.
Value Range: 0 to 99. Default value: 50.

2. Spd damping: This setting controls the throttle control gain to counter changes in

airspeed.
The higher the value, the greater the control will gain.
Value Range: 0 to 99. Default value: 50.

Heading stabilization

1. Side Offset Damping:

Adjust gain to control the change in Side Offset damping.
The bigger the value, the bigger the control gain.
Range: 0-9. Default value: 5

2. Rud Turn Control:

When Selecting ―Normal&No AIL/Turn via AIL&RUD‖ or ―Elevons/ Turn via
AIL&RUD‖ in the Mix Control mode manual, the Parameter will be effected.

In these Two control mode, the turning of the plane is complete via both the Aileron and
Rudder.
The ‗Rud Turn Control‘ adjusts the gain of the rudder during automated aircraft turning.
This gain is linearly proportional. i,e, the value should be adjusted according to the Rudder

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sensitivity. If your Rudder control sensitivity is high this parameter value should be
reduced, and vice versa.
For all other mix-control modes, the turning is complete via aileron only. Therefore this
‗Rud Turn Control‘ parameter has no effect on the aircraft.
Range :0-99.Default value:60.

3. Rud stab: Control gain to counter the rotation of Z Axis (perpendicular to the body of

the plane).The higher the value, the greater the control gain would be.
Range: 0-99. Default value: 20.

Stability Control

1. Pitch Stability: The amendment control gain given by the change of the flight pitch

angle .The higher of the setting, the greater of the control gain. Setting Range: 0-99.

Default value: 40.

2. Roll Stability: The amendment control gain given by the change of the flight roll

angle .The higher of the setting, the greater of the control gain. Setting Range: 0-99.

Default value: 40.

Auto take-off

1. Attack angle: Use this to adjust the Auto take-off pitch setting.

Setting Value Range: 0 to 40 Degrees

2. Take-off Spd: Ground speed setting during

take-off.
Setting Range: 0 to 99 meters per second

Vibration Detection and Adjustment

1. It is critical that the installation of the autopilot meets the vibration damping

requirements.

2. If the installation does not meet the requirements, it will affect the accuracy of the

attitude stabilization greatly.

3. Excessive vibration can cause unpredictable flight characteristics.

Vibration Damping Test Procedure:

1. Connect the power to the system and switch ON the plane.

2. Move the Control Mode switch to Auto Balance Mode or

manual mode.

3. Observe the attitude of the autopilot screen and ensure that

the attitude shown is correct.

4. Slowly activate throttle and spin the motor / propeller. Do not take off!

5. Increase throttle and hold for 20 seconds at different increments.

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6. Ensure that the pitch and roll indicators are moving properly and do not deviate.

7. During this throttle increment tests, observe your GCS Screen (above).

8. If the ―Attitude error" sign is activated as shown above, that means the system is

experiencing excessive vibration and the autopilot cannot function properly.

9. Attitude error corresponds to 1000 attitude errors during the test process.

10. Check your installation. Provide additional vibration damping if necessary and restart the

test from the beginning.

The Functions Describe

Auto Photo: the button will turn green when turn on. Autopilot takes photos automatically

according to the setting distance or time interval.
Photo: it will take a picture when click the button. Photo interfaces are controlled by I/O level,
you can select high or low level by setting photo reverse. I/O level can be used to drive the relay,
or control the camera which supports level control directly.
Repeat Path: if setting the navigation path, the plane will not entrance circling mode, while
repeat flies according the setting waypoint. But if you carry out the repeat path after entrancing
circling mode, the plane will not enter repeat flies mode, so you have to switch to auto
navigation mode, then cut in airline operation. Only by this can you carry out this function.

Parachute: click the button to open the umbrella.

Parameter setting

Target Speed: Set the flight cruising speed.

Target Height: Set the current altitude when fixed high flight. You can change the altitude of

fixed high flight when real time set the value.
Circle Radius: Set the circling radius.

Photo Interval: Set the photo interval of auto photo time or distance.
Throttle Hold: Set the throttle control neutral value. This value will be got automatically when
enter automatic mode. You do not need to set.

Photo Taking: Set the time interval from press the camera shutter to make photographs.

Note : if it is the oil machine, you have to check the working stability of motor. Make sure that

the engine not shut down when fast control throttle servo. Here you should set the throttle hold
value.

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Flight Path Setting

1. After the autopilot has attained a lock on the home position, a little red plane will show

up on the map at your current position.

2. Set the current location as return point if you wish.

3. To familiarize yourself with flight path setting, try a very simple autopilot flight plan

first.

4. In this example, set a ―Box‖ pattern (above). Set the right height, such as, 200 meters.

5. Ensure that the first tests are done well within visual sight of the plane.

6. When you are more confident with the system is working properly, you can setup a more

complicated flight path.

7. Don‘t forget to click the button to save the path, otherwise the setting waypoints will be

lost if power down.

8. UPLD ROU – After setting the aircraft flight path, save the flight route to the RAM of

the Autopilot by clicking . This flight path will be lost when the autopilot is
powered off.

If you wish to save the flight path for a repeat flight, you can click .
This will save route even after you power OFF the autopilot.
Note that you can store only one route in the autopilot RAM at a time. When you save a
new flight route using ―Save to AP‖, the previous path will be replaced.

The Debugging of after Take- Off

1. This debugging procedure is carried out while the plane is in the air.

2. To carry out this procedure, your plane should be set up well enough to fly straight

without constant correction when in manual mode.

3. Always check the Servo Autopilot Control carefully. For more details, please refer to

Servo Direction Setting.

4. Switch to ―Stabilization Control‖ check to see if there is any unusual movement of the

control and that the auto-balance is functioning
properly.

5. Try rolling and ascending the plane, then let go

of the sticks. Ensure the plane recovers by

itself in both pitch and roll. If it doesn‘t, adjust

the ―pitching stability‖ and ―rolling stability‖ on the stability control and try again until

you feel that the auto balance function is working perfectly.

6. Pitch & Roll Stability: If the plane is pointed down and the sticks are released, and you

observe the plane returning to level too slowly, you need to increase the pitch stability
control. Alternately, if the plane pitches up quickly resulting in and up-down oscillation,

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A

B

C

C

A

B

Increase Roll angle control.

C

A

B

Decrease Roll angle control.

then you need to decrease the pitching stability control. The same is true for the roll, if
the plane returns to level flight too slowly then increase the roll stability control. If the
plane rocks back and forth then you need to decrease the roll stability control.

7. After you have finished adjusting in the Auto Balance Mode, adjust the remote control

trims to fly level without input from you.

8. If the Neutral position in this Manual Mode (flight stabilization de-activated) is different

from Auto-balance Mode, then please adjust the angle of installation for the AHRS
Module on the aircraft, so that the two are the same.

9. Alternately, you may use your transmitter trims to level the plane in Auto Balance Mode.

While flying in a straight line and having no input through
the transmitter sticks, click ―servo neutral”. This saves the
trim settings in Auto Balance Mode.

10. Note: If the plane attitude is level and straight while in the

Auto balance Mode, the Deviation of Neutral position between Manual Mode (Stabilizer
Off) and the Auto-Balance Mode won‘t affect the GCS Auto Navigation.
Next test is " Navigation Mode". Test this mode only after you have reached a safe flying
altitude. In this mode, observe the auto navigation flying condition from the ground
station software, and adjust the automatic navigation parameters such as:

 Turning Control Adjustment
 Route Stability Adjustment
 Throttle Control Adjustment and etc.

Turning control Adjustment. For Example:
From Point A to Point B and then to Point C.

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B

ABABA B

A

Increase ―Side Offset damping‖ if plane fly like a ―Big S‖ pattern.

Decrease ―Side Offset damping‖ if plane fly in a ―Tight S‖ pattern.

Increase ―Roll integrator‖ if the plane roll to one side only.

Reduce the ―Roll integrator‖ if the plane repeatedly and quickly roll on both sides.

C

A

B

Increase Course damping.

If the plane rolled from side to side during turning, reduce Course damping.

Heading Stabilization Adjustment

1. ―Rudder Stability‖ is useful. It‘s used to

improve the course stability during flying .

2. Notice: The plane will not fly in a straight

line if the settings are too high. For an
example, flight path from A to B.

Altitude Control Adjustment

For an example, Altitude from A to B.

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B

ABABA

B

ABABA

If the plane climbs too slowly, increase the ―pitch angle control.‖

If the plane climbs too fast, reduce the ―pitch angle control.‖

Increase ―Height damping‖ if your plane flies in this pattern.

Decrease ―Height damping‖ if your plane flies in this pattern.

Increase ―Pitch integrator‖ if the plane flies higher or lower from your fixed altitude

Decrease ―Pitch integrator‖ when your plane flies in this pattern.

Throttle Control Adjustment
Speed control: Sets the gain to maintain the actual

aircraft speed and the target speed. The higher the
gain, the faster the aircraft will react to changes in
actual aircraft speed.

Speed Offset Integral: an accumulation controlled quantity when deviate from target speed.
Speed damping: sets the amount of ‗buffer‘ for throttle change initiation. If there is a change in

flying speed, that change must exceed the damping value before throttle is reduced or increased.
Generally, you can change the above settings during cruise flight.
Warning: We suggest not increase the settings too high, it may cause very unusual flying
behavior and may result in damage of your aircraft due to excessive throttling.

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Auto Take Off

1. The auto take-off feature is designed mainly for hand launched planes.

2. Please select a fairly stable plane if auto take-off is to be used.

3. The Auto Take-off should not be attempted unless you have completed setting up Auto

Balance mode and fill in the Navigation
parameters.

4. Critical Parameter Examples:
 Set the climb pitching angle for auto

take-off.

 Set the climbing Groundspeed for auto

take-off

 Mission: Circle over home-point after

auto take-off.

Auto take off procedure

1. After located by the GPS, click ―Auto Launch‖ in the GCS.

2. When the menu button background color turn to green, set Channel 6 switch to the

position of ―Return to home‖

3. Set the throttle level to the position for taking off.

4. Throw out the plane in a level and straight way.

5. You will notice the plane will fly in a straight line first.

6. When the autopilot detects groundspeed has increased at a value needed for climbing, the

plane will climb up to approximately 50m altitude.

7. Upon reaching 50 meter altitude, the auto take off Procedure is over. Control is

automatically transferred back to your RC transmitter.

8. However, the plane will still continue flying autonomously, gradually circling and

increasing height to 100 meters over the home-point. At this height, the aircraft will hold
altitude.

9. Remember that if you had done any adjustments to the Flight Parameters (e.g. Pitch and

Roll stability), remember to click ―Save to AP‖ to store your settings in the Autopilot.
Failure to save these settings before powering off will result in lost of all adjustments

done.

This manual is just a guideline to help you set up your aircraft for autonomous flight.

As each aircraft is unique, you will need to fine tune the settings to suit your aircraft’s

flight characteristics.

---END---

Note: We reserve the right to change this manual at any time! And the newest edition will be

shown on our website www.feiyudz.cn .

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