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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