Frsky R9 Stab OTA User Manual

Instruction Manual for FrSky R9 STAB OTA

Version

1.0

Introduction

Thank you for purchasing FrSky R9 STAB OTA telemetry receiver.It is a 900MHz/868MHz long-range and stabilization receiver with a built-in 3-axis gyroscope and 3-axis accelerometer. In order to fully enjoy the benefits of this system, please read the instruction manual carefully and set up the device as described below.

Overview

S.PortSBUS out

SBUS out

Working State

Green LED

Flash

Off

Red LED

Flash

Off

Flash

Status

Bind

Work Normally

Failsafe

Yellow LED State (Calibration of Accelerometer)

OFF

Flashing

exceeding limits [0.9G, 1.1G]

within limits [0.9G, 1.1G]

completing

Blue LED

OFF

State (Self-check)

in process

completing

Specifications

•

Dimension: 45.7*26.3*16.2mm (L x W x H)

•

Weight: 18.6g

•

Number of channels: 8/16CH (CH16 outputs RSSI)

•

Operating Current: 140mA@7.4V

•

Operating Voltage Range: 3.5V~10V

•

Operating Range: Full Range

•

Measuring Range of Gyroscope: ±2000dps

•

Measuring Range of Accelerometer: ±4g

•

Firmware Upgradeable

•

Compatibility: ACCESS/*ACCST firmware

* Need to upgrade to the corresponding ACCST firmware

Features

•

ACCESS Protocol and supports OTA function

•

900MHz/868MHz long-range with low latency

•

Built-in 3-axis gyroscope and 3-axis accelerometer

•

Support S.Port (Configurable in OpenTX / FrOS)

•

Low Battery voltage detection supported

•

Detachable Ipex1 connector antenna

•

Multiple configuration methods (Lua script and FreeLink)

Channels

Number of

channel

CH1

CH2

CH3

CH4

CH5

CH6

Gyro gain adjustment of CH9: When the the value of CH9 is in the center, the gain is zero. The gain increases as the value gets bigger. Until the value is ±100%, the gain reaches maximum.

Note: CH9~CH12 are not marked on the diagram. CH9 Edit — Setting CH9 at Weight 50 and offsetting 50, the assigned pot/slider will work normally.

Attentions

CH1~CH8 should be connected to the corresponding servos. S.Port could be used to update, edit parameter settings via FrSky STK PC tool and connect with telemetry sensors.

Corresponding parts

on the model

AIL 1

ELE 1

THR

RUD

AIL 2

ELE 2

Full name

Aileron

Elevator

Throttle

Rudder

Aileron

Elevator

FrSky Electronic Co., Ltd. www.frsky-rc.com Contact us: frsky@frsky-rc.com Add: F-4,Building C, Zhongxiu Technology Park, No.3 Yuanxi Road, Wuxi, 214125, Jiangsu, China Technical Support: sales4tech@gmail.com

Number of

channel

CH7

CH8

CH9

CH10&CH11

CH12

Corresponding parts

on the model

User-defined

No mark

Full name

Gyro gain adjustment

Flight modes

Self-check activation switch

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Instruction Manual for FrSky R9 STAB OTA

Registration & Automatic binding (Smart Match )

With the FrSky ACCESS protocol, the transmitter/transmitter module can bind receiver without using the button. Follow the step below to finish the Registration & binding procedure:

1. Put the transmitter/transmitter module into [Reg] status.

1.1 For Taranis X-Lite Pro and R9M Lite Pro as an example, turn on the transmitter, go to the MENU-MODEL SETUP-PAGE 2, choose External RF-Mode R9MLP ACCESS, then select [Reg].

2. Connect the battery to the receiver while holding the button on the receiver. The RED LED and GREEN LED on the receiver will be on, indicating into the [Reg] status. Select [ENTER] on the transmitter, The RED LED and GREEN LED on the receiver will flash, and the transmitter displays [Registration ok].

3. Turn off the receiver.

4. Move the cursor to select the receiver 1 [Bind].

5. Connect the battery to the receiver, the GREEN LED on the receiver will be on, indicating into the [Bind] status. Select the RX, and the transmitter displays [Bind successful].

6. The transmitter exit [Bind], GREEN LED will flash, RED LED will be off, indicating working normally.

Version

1.0

Set up your model and receiver step by step

You need complete calibration of Accelerometer about the six positions via the R9 STAB OTA.Lua/FreeLink APP/FreeLink.exe firstly. Step1: Connect your servos follow the channel list according to your model. Step2: Set you radio follow the channel list. Step3: Choose the Wing Type via the configuration tool (R9 STAB OTA.Lua/FreeLink APP/FreeLink.exe). Step4: Choose the AUTO LEVEL mode, check the model servo feedback. Step5: Choose the manual mode, check servo feedback via transmitter.

Quick Mode

It supports stabilization mode and manual (six-axis off) mode and configured through CH10. What’s more, an urgent mode is added to configure automatic level mode default through CH12. The precise configuration is written below.

Channel Position Flight Mode

SW Down None

CH10

SW Mid Stabilization Mode

SW Up Automatical Level Mode

CH12 SW Down Urgent Mode (Automatic Level Mode)

Note: The default mode of R9 STAB OTA is Quick Mode.When re-flashing firmware of R9 STAB OTA or replacing with a new one, the preset mode will be cleared out.

- If Quick mode is applied, there is no Knife Edge or (3D) Hover mode.

- CH11 is not used when using Quick Mode.

Modes

Stabilization

Conventional Model

The model types could be enabled via R9 STAB OTA.Config or R9 STAB OTA.Lua. If required, R9 STAB OTA could be used as a standard 8 channel R9 series receiver.

Automatic level

Hover

Knife-edge

Delta Wing

Flying Wing

V-tail

stabilization

automatic level

Conventional model

Layout

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Instruction Manual for FrSky R9 STAB OTA

The available flight modes can be assigned to CH10 and CH11 with three-position switches.

Flight mode

CH10 (3 pos SW)

CH11(3 pos SW)

Stabilization

CH10>M+H

(CH10 SW Down)

M-H<CH11<M+H

(CH11 SW Mid)

Automatic level

CH10>M+H

(CH10 SW Down)

CH11>M+H

(CH11 SW Down)

Hover

CH10>M+H

(CH10 SW Down)

CH11<M-H

(CH11 SW Up)

Knife-Edge

CH10<M-H

(CH10 SW Up)

M-H<CH11<M+H

(CH11 SW Mid)

CH10 SW-mid

Version

1.0

Off

Delta wing & Flying wing & V-tail

Layout of Delta wing / Flying wing

The available flight modes can be assigned to CH10 with a three-position switch.

Flight mode Stabilization Auto Level Off

CH10

When Delta wing/Flying wing/V-tail is selected, the signal produced by the transmitter should be without active mixes on the channels related to AIL and ELE. R9 STAB OTA will mix the AIL(CH1) and ELE(CH2) input signal with a fixed mix percentage automatically. Signals on CH4~CH8 will behave as required by the user.

represents a neutral signal period (1500μs)

represents the time of required signal change to activate the mode (50μs). When the factory settings are selected, the switch position

shown above represents the required modes.

CH10>M+H

(CH10 SW Down)

CH10<M-H

(CH10 SW Up)

Layout of V-tail

CH10 SW-mid

Flight mode:

Off:

When the mode is activated, R9 STAB OTA will transmit the received commands produced by the transmitter to the model without

compensating.

Stabilization:

from the transmitter. This function is used to enhance the stability of the model on three axes (Pitch, Roll, Roll). CH9 could be used to adjust gyro gain by assigning a knob or a slider, changing the sensitivity of the counteracting signal produced by the internal three-asis gyroscope.

Automatic level:

accelerometer and three-axis gyroscope on AIL and ELE channels after the sticks being released to neutral. RUD channel works in stabilization mode only.

Hover:

and three-axis gyroscope on RUD and ELE channels (ELE and RUD inputs are not required). Under this mode, AIL is used to control the rotation of the model and THR adjust the altitude. AIL channel works in stabilization mode only.

Knife-egde mode:

three-axis accelerometer and three-axis gyroscope on RUD and AIL channels.Thus, AIL inputs are not required. While the mode steering is done with ELE, altitude will be maintained with THR/RUD. ELE channel operates in stabilization mode only.

When the model is activated, R9 STAB OTA will compensate with external forces (wind) as soon as receiving commands

When the mode is activated, R9 STAB OTA will make the model return to level orientation with internal three-axis

When the mode is activated, R9 STAB OTA will make the nose of the model straight up with internal three-axis accelerometer

When the mode is activated, R9 STAB OTA will roll the plane on a certain side (wing points up) with internal

Configuration

Methods: APP configuration FrSky radio configuration PC configuration software (FrSky STK usb updater) Configuration parameters: Wing type, mounting type, gain setting, offset angle setting, accelerometer calibration.

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Instruction Manual for FrSky R9 STAB OTA

APP(IOS/Android) configuration：

•

Connect the R9 STAB OTA to the App with AirLink S.

The menu screen on the home page is displayed below:

FrSky radio configuration:

•

Copy the R9 STAB OTA.Lua files on the SD card of the transmitter

•

Bind the R9 STAB OTA to the transmitter and run the files.

PC configuration software:

•

Connect R9 STAB OTA as shown below to the FrSky STK usb adapter, and plug it into PC

•

Run the R9 STAB OTA Freelink.exe and access the home page.

•

Press open to connect with R9 STAB OTA.

The menu screen on the home page is displayed below:

Open

1. Open: Gives the PC software access to R9 STAB OTA configuration data.

2. Read: Retrieves the stored R9 STAB OTA data to be edited in the PC software.

3. Write: Stores the setted data on R9 STAB OTA.

4. Load: restore the settings into the file you saved before.

5. Save: save all settings to one file.

6. Default: Returns all PC software settings to the factory defaults.

Configuration parameters

The configuration parameters are listed on the top of the interface: Wing type, Mounting Type, Gain Setting, Offset Angle Setting, Accelerometer Calibration

You can download the APP.

IOS FreeLink APP

Android FreeLink APP

S.PortSBUS out

Version

1.0

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Instruction Manual for FrSky R9 STAB OTA

Version

1.0

Instruction Manual for FrSky R9 STAB OTA

Version

1.0

Wing Type

Options of wing types: Wing_Rud_Ele_Ail——conventional model Wing_Delta_Ail/Wing_Flying—— Delta/Flying wing Wing_Vtail_Ail——V-Tail AUX1: If selected, AIL2 function will be disabled on CH5 AUX2: If selected, ELE2 function will be disabled on CH6

Mounting type

Level, Buttom, Right and Left up options are available.

Gain Setting

The first part

Compensation direction: selecting the travel direction of AIL, AIL2, ELE, ELE2 and RUD. “＋” means positive and “－” means negative.

The second part

Gyro gain: Stabilization Mode The gain setting under stabilization mode chould be set on the channels related to aileron, elevator and rudder. Angle Gain: Auto Level Mode The gain setting under automatic level mode could be set on the channels related to aileron and elevator. Angle Gain: Hover Mode The gain setting under hover mode could be set on the channels related to elevator and rudder. Angle Gain: Knife Edge Mode The gain setting under knife edge mode could be set on the channels related to aileron and rudder.

Note: Optional range is from 0 to 200%. 0, 1, 2 refers to 0%, 100% and 200% respectively.

Offset Angle Setting

Due to the possible errors in minor installation and calibration, the function is designed to adjust the attitude of the model. Thus, the user could achieve the best orientation when Auto Level, Hover mode and Knife-edge mode is activated.

Offset Angle of Auto Level

The angle of roll and pitch could be adjusted on the channels related to aileron and elevator. Straight and Level flight could be realized.

Offset Angle of Hover

The nose-up angle could be adjusted on the channels related to aileron and elevator. Stationary hover could be realized in calm weather.

Offset Angle of Knife Edge

The angle of aileron and rudder could be adjusted on the related channels. Straight and level knif-edge flight could be realized.

Note: Optional range is from -20° to 20°.

Accelerometer Calibration

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Instruction Manual for FrSky R9 STAB OTA

The positive and negative values related to three-axis gyroscope and accelerometer make a total of six values that need to be acquired. Please follow the on-screen instructions.

•

Click the “Calibration” button and wait until the YELLOW LED flashing, indicating the calibration on this orientation has been completed.

•

Repeat the above step five times (remaining 5 dimensions). Placing R9 STAB OTA in the required orientation, ensure all values (X, Y,

Z, Mod) are displaying 1.000 with the deviation of ±0.1.

•

Press “Write” to save the data on R9 STAB OTA when done.

Version

1.0

Inspection of flight attitude

To ensure flight safety, checking the compensation direction of the model is strongly recommended.

Activating auto level mode will produce a strong deflection on AIL and ELE, which is used to check the response of aileron and elevator. Also, activating Knife-edge and Hover mode will have the same reaction on the rudder.

When the plane is rotated left or right (Roll),

ailerons should have the correcting actions

as illustrated above.

When the plane is rotated up or down (Pitch),

elevators should have the correcting actions

as illustrated above.

When the plane is rotated to left or right

(Yaw), rudders should have the correcting

actions as illustrated above.

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Instruction Manual for FrSky R9 STAB OTA

Version

1.0

Self-check

Attentions

•

Before self-check, please place the model on the groud (level surface).

•

When the model is flying, aerodynamic balance is more important than level attitude, which results in that the model flys at a constant

altitude with the nose slightly pointing up at low speed. To avoid the nose-diving of the model at high air speed, the user must insure

that the model is placed at a level or slightly-nose-up attitude during self-check.

•

Always install R9 STAB OTA straight and level in the model. If required, PC software could be used to adjust the angle of attack with

the purpose of realizing the required setting. If the values set by the user is bigger than average ones, we advise to recheck the

installation orientation of R9 STAB OTA.

Steps

•

Turn on the transmitter and ensure that Ail (CH1), ELE (CH2), RUD (CH4), AIL 2(CH5) and ELE (CH6) are in the neutral position.

•

Power on the model and start R9 STAB OTA self-check. Ensure the auto level angle of the gyro and the neutral position of gimbal.

Please don’t touch/move the model until self-check finishes, or it may corrupt the calibration settings created during the procedure.

•

Press the button on R9 STAB OTA or move the three-position sticks bound to CH12 three times in 3 seconds (up, mid, down). Then

the BLUE LED will turn on, indicating self-check procedure is initiated. After that, the corresponding parts on the model will move. At

last, the BLUE LED will turn off, indicating self-check has completed.

•

Move the sticks bound to CH1~CH6 (except the stick related to Thr) and check the channel output limits, ensuring that the signal outputs of R9 STAB OTA will not damage the corresponding parts on the model. In the end, R9 STAB OTA will save the zero points of

the gyro, auto level angle, gimbal neutral position and servo channel limits.

•

Never operate the stick bound to CH12 during flight session. If so, it will trigger self-check and may cause the crash

of the model.

•

Cut off the power supply of R9 STAB OTA, or self-check will fail.

After changing the compensation direction, make sure to check it again on the actual model.

Note: If the compensation direction is incorrect, please reverse the corresponding channel as illustrated below.

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Setup

•

Calibrate R9 STAB OTA with the PC software and install it into the model. Insure the settings of wing type and mounting type are identical to the intended model installation.

•

Turn on the transmitter and reduce the value of servo endpoint setting. Ensure self-check mode will not damage the corresponding parts on the model.

•

Assign a knob/slider to CH9, then real-time gain adjustment capabilities of R9 STAB OTA will be activated.

•

Assign three-position switches to CH10 and CH11 with the purpose of switching available flight modes.

•

Power on the model and check the deflection direction of each related parts on the model. Make sure the switch assigned to flight modes is correct and the compensation direction of the gyro is set as intended on AIL, RUD and ELE.

•

Make a self-check for R9 STAB OTA if necessary. Disconnecting the power on R9 STAB OTA will not lose the set parameters.

Under identical operating conditions, the value of each channel produced by the assigned switch in FrOS are opposite

to that in OpenTX. For exmaple, SW Up in FrOS is equal to SW Down in OpenTX.

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Frsky R9 Stab OTA User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual