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Emsis — Manual

5.4

Emsis Setup Screen

Figure 21:

Window for setting Emsis layout

push the

close

button to save and exit the window. Emsis will

restart.

AHRS Level

During the assembly of the AHRS unit into the Em-

sis unit and during the installation of the Emsis unit into the in-
strument panel, a small misalignment may appear. This means that
internal axes of the AHRS unit are not parallel to the airplane axes
– the AHRS unit is slightly rotated. Such misalignment can be per-
fectly adjusted without loss of precision using the procedure described
next.

Please make sure that airplane is level for both, roll and pitch. Make
also sure that Emsis unit is turned ON for at least five minutes – this
warms up the internal electronics and stabilizes numerical filters.

Once the airplane is level and steady, select the AHRS level option
to start the automatic calibration procedure. Window illustrated in
Figure 22 opens.

Figure 22:

Calibrating the AHRS level

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Kanardia

2021

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Содержание EMSIS

Страница 1: ...EMSIS Installation and User Manual Kanardia d o o November 2021 Manual Revision 3 1 ...

Страница 2: ......

Страница 3: ...ce The license is available on http creativecommons org licenses by sa 3 0 legalcode web page and a bit more human readable summary is given on http creativecommons org licenses by sa 3 0 In short the li cense gives you right to copy reproduce and modify this document if you cite Kanardia d o o as the author of the original work you distribute the resulting work only under the same or similar lice...

Страница 4: ...ase send requests to info kanardia eu Revision History The following table shows the revision history of this document Rev Date Description 1 0 November 2012 Initial release 2 0 February 2013 Added Installation 2 6 May 2013 Added Maps 2 12 June 2015 Added description of functions accu mulated in since v2 6 2 13 2 14 July 2016 Bug fixes red crosses on interactive parameters heading indicator Lo Hi ...

Страница 5: ...Emsis Manual 5 Kanardia 2021 ...

Страница 6: ... New Software to Emsis 12 2 3 3 Firmware Update 13 2 4 Installing New Layout 14 2 5 Technical Specifications 15 2 6 CAN Bus 15 3 Emsis PFD 18 4 Emsis EMS 19 4 1 Engine Sensors 20 5 Screens 21 5 1 Primary Flight Display Screen 23 5 2 Engine Monitoring Screen 24 5 3 Maps Screen 27 5 3 1 Zoom Level 28 5 3 2 Activation 28 5 3 3 Copying 28 5 3 4 Deleting 29 5 3 5 Information 30 6 Kanardia 2021 ...

Страница 7: ... 9 Maps 42 5 4 10 Service 42 5 4 11 About 50 6 Installation 51 6 1 Installation to the Instrument Panel 51 6 1 1 Emsis Back Panel Connectors and Cable Clear ance 52 6 2 Connection to the Electrical System 54 6 3 Pitot Static Connection 55 6 4 Outside Air Temperature Probe Installation 56 6 5 Connection to the CAN Network 57 6 6 Connection to the 485 Network 58 6 7 GPS Antenna Installation 58 7 Kan...

Страница 8: ...ftware Tank 59 7 2 Hardware Tank 60 7 2 1 Units 61 7 2 2 Setting up the Channel 61 7 2 3 Tank Calibration in Steps 62 7 2 4 Tank Calibration Using Known Shape 66 8 Limited Conditions 69 8 1 Warranty 69 8 2 TSO Information 72 8 Kanardia 2021 ...

Страница 9: ...h can be used as primary flight display PFD engine monitoring system EMS or both The introduction chapter contains some general information about the instrument and its operation Later chapters describe Emsis use and reveal the details CAUTION Emsis is not TSO approved as a flight instrument 2 General Information This chapter describes the organization of the Emsis instrument It teaches you about ...

Страница 10: ... Figure 1 It uses six 80 mm version or five 3 5 screen version small push buttons to manipulate the user interface Additionally it has SD card slot for software maps and data updates Figure 1 Organization of Emsis front panel Emsis 80 mm version left Emsis 3 5 screen version right Here is a brief description of individual items 1 O The up arrow button is used to move the menu selection to change a...

Страница 11: ...e avionics power bus therefore the instru ment normally turns on as soon as the avionics is switched on and a couple of seconds later it is ready for the operation This is the default behaviour However in some situations the behaviour mentioned above is not suitable In this case you can order a special version1 which can be switched on or off using the power button Please note that a minor hardwar...

Страница 12: ...ke sure to use safely remove option on the PC before you remove the card from PC Emsis software versions 2 4 and earlier support only micro SD cards with the capacity of 2GB or less Later versions also recognise HDSD cards with a higher capacity up to 32 GB Please make sure that SD card is formatted as FAT 32 or FAT 16 file system Other file systems will not be recognised by Emsis 2 3 2 Copying Ne...

Страница 13: ...ry first start after the update takes slightly longer The Start normally option is used if you changed your mind and you do not want to update the instrument while the System Reset option is used only in emergency and should never be used in normal operation This option asks for special password in order to protect it from accidental use 2 3 3 Firmware Update The procedure from previous section co...

Страница 14: ...ngine limits and screen organization are stored in a layout file Layouts are prepared by Kanardia and sent to users when requested Follow the steps below in order to copy a new layout to Emsis 1 A layout file is usually sent by e mail to the user Copy the file to the micro SD card Do not open or change the file on the PC 2 Make sure to use the Safe remove option on PC before remov ing the card fro...

Страница 15: ...form shown in Figure 3 We achieved this by introducing CAN bus for the communication between the units The CAN bus does the magic of the all possible known and unknown future extensions Figure 3 Illustration of Emsis configuration using CAN bus Imagine the CAN bus as a kind of computer network Just like new computers can be easily connected to the network we connect all new devices to CAN This all...

Страница 16: ...o 16 g typical resolution 0 12 mg Angular rate 16 bit 3D 250 s resolution 0 009 s Barometric sensor 24 bit 10 to 1200 hPa 20 cm resolution Airspeed sensor 12 bit 0 to 69 hPa 381 km h 205 kt resolution 0 1 km h units before Oct 19 0 to 50 hPa 325 km h 175 kt GPS 10 Hz 66 channel hot start 1 s cold 35 s sensitivity 165 dBm OAT 12 bit range 55 C to 125 C 0 5 C accuracy QNH range 590 hPa to 1080 hPa 1...

Страница 17: ...ange 0 to 16 g typical resolution 0 12 mg Angular rate 16 bit 3D 250 s resolution 0 009 s Barometric sensor 24 bit 10 to 1200 hPa 20 cm resolution Airspeed sensor 12 bit 0 to 69 hPa 381 km h 205 kt resolution 0 1 km h units before Oct 19 0 to 50 hPa 325 km h 175 kt GPS 10 Hz 66 channel hot start 1 s cold 35 s sensitivity 165 dBm OAT 12 bit range 55 C to 125 C 0 5 C accuracy QNH range 590 to 1080 h...

Страница 18: ...art MEMS2 sensors to read various physical quantities Since all sensors are solid state it has no moving parts This means it has fewer problems with fatigue and ageing The following MEMS sensors are used in the Emsis PFD system The angular rate sensors also known as gyros are used in the attitude calculation The angular rates are integrated in time in order to predict new attitude from the old one...

Страница 19: ...is what you see on the attitude indicator In a very similar way short term inertial position prediction is com pared with the GPS position Again Kalman filtering is used to obtain the final solution When engine monitoring unit Daqu is present on CAN bus Emsis PFD can also show relevant engine and fuel information When maps are enabled and licensed Emsis PFD can also show raster maps on graphical d...

Страница 20: ...uration When AHRS unit is present on CAN bus Emsis EMS can also show flight information on graphical display too When maps are enabled and licensed and AHRS unit is present on CAN bus Emsis EMS can also show raster maps on graphical display Further chapters reveal the details 4 1 Engine Sensors Engine related sensors are connected to the engine monitoring unit Daqu Daqu is designed to be installed...

Страница 21: ...st gas tempera ture EGT oil pressure oil temperature fuel pressure fuel flow fuel level manifold pressure carburettor air temperature voltage bat tery current alternator current coolant temperature and more We often add new functions on request of our customers E g lambda oil flow etc In the case of gyroplane or helicopter installation it also reads the rotor RPM sensor and sometimes pneumatic pre...

Страница 22: ...g and holding the up on 80mm or down on 3 5 button sets current pitch see Figure 5 It will take the current pitch and set it as zero pitch The change is not immediate and it takes ca 5 seconds for AHRS unit to accept it Once Emsis is switched off this setting is forgotten Figure 5 Setting pitch Up and down buttons modify either brightness or QNH depend ing on system settings see 5 4 10 Long pressi...

Страница 23: ...n consists of the following items 1 O Quality of the GPS fix Three green bars mean 3D fix two yellow bars are 2D fix and cross means no signal from GPS 2 O Ground speed from GPS 3 O Direction It can be GPS track active only when ground speed is over 20 km h In this case you will see g extension When Magu magnetic compass is present then it will show true heading with the t extension 4 O True air s...

Страница 24: ...required to see these values 13 O Artificial horizon with roll and pitch indications 14 O Turning rate scale Inner points indicate one minute turn 6 degrees per second while outer points indicate 30 seconds turn 12 degrees per second 5 2 Engine Monitoring Screen An example of engine monitoring screen is illustrated in Figure 7 It can be designed differently for each Emsis unit regarding to the wis...

Страница 25: ...O Fuel consumption fuel flow 6 O Engine total time 7 O Ampere meter electrical current meter 8 O System voltage 9 O Water temperature 10 O CHT with two sensors and the largest value of both 11 O EGT with several sensors and the largest value of them all 12 O Oil temperature 13 O Fuel pressure 14 O Oil pressure 25 Kanardia 2021 ...

Страница 26: ...altitude airspeed QNH etc as well Figure 8 Examples of Emsis engine monitoring screens Special values If you see red cross over some parameter it means that this pa rameter does not receive data from the CAN bus This usually means that parameter is not configured properly Text LO means that sensor has reached its low measuring point Text HI means that sensor has reached its high measuring point Te...

Страница 27: ...nnected to the CAN bus Nesis some other Emsis PFD Horis etc Figure 9 Emsis maps screen Maps are not enabled by default This option must be purchased preferably at the time of the order However this can be done later as well Emsis can show raster maps which must be copied to its internal memory first Currently we have limited raster maps support In future more countries will be supported Please vis...

Страница 28: ...edure is as follows Write down the serial number of your Emsis The serial number is displayed in the Setup About window Email this serial number to Kanardia or to our representative We will calculate the activation password and email it back to you either directly or over the representative Enter the password using the Setup screen Maps Enable Maps window The password usually consists of digits an...

Страница 29: ... commences Copying is very slow in Emsis A large file may take a few hours to copy Please make sure the batteries are full before you begin Copying is finished when the red progress bar turns into green Please note that it may take some time before the progress bar appears Some proprietary maps require a special license file for the final ac tivation The same copy principle is used for them too Fi...

Страница 30: ...ws if map is accessible or not Maps with a red Lic text are loaded but not accessible they are missing a valid license file Figure 10 shows a valid DFS map of Austria and a loaded but invalid map of Hungary for example 5 3 6 Settings The Maps screen can be additionally configured to show some navi gational information at the top and or the bottom of the screen One top line and two bottom lines can...

Страница 31: ... options as Emsis PFD version Figure 11 The Emsis setup screen Not all options are visible The following options are available Logbook is used to access the logbook entries Engine configures the engine related settings and sensors con nected to the engine monitoring unit Daqu 3 EMS unit only Tank opens menu for the fuel level measuring hardware and for the fuel tank shape calibration3 or shows the...

Страница 32: ...ly Service is a gateway to the service specific settings About displays information about software and hardware ver sion Some user options are not shown on secondary Emsis some options require password entry before proceeding and some options are avail able only when correct hardware is detected Figure 12 Emsis password is required in order to access certain op tions The factory password is 314 fi...

Страница 33: ... the KML format This format can be viewed in Google Earth for exam ple It will show you the flight path with the altitude Copy details creates a special log file where entries are sepa rated by tabulator character Each row in a such file represents one second of flight Almost all flight and engine parameters are included in the file This file can be then imported to Ex cel or Calc or some other sp...

Страница 34: ... engine type allows Emsis to calculate fuel consumption and has no other effect on the instrument Figure 13 Engine type selection window Available engines are Generic Rotax 912 80 four stroke 80 HP Rotax engine Rotax 912 100 four stroke 100 HP Rotax engine Rotax 912 iS iS or iS Sport Rotax 915 iS Rotax 914 115 HP turbocharged version of Rotax engine Rotax 912 80A an alternative model for four stro...

Страница 35: ...nsors The sensor menu is used to configure channels on Daqu For each channel we define its function sensor type and some specific parameters Sensor channels are illustrated in Figure 14 Through function we define what this channel is meant for e g Engine RPM Fuel flow Oil pressure EGT etc By sensor type we tell which sensor is connected to that chan nel Close to 100 different sensors are supported...

Страница 36: ...channel type while numbers enumerate channels of each type The following channel types are used in Daqu A analog channels with 2 5 V to 2 5 V input which are typically used to connect resistive sensors and thermocouples B analog channels with 0 to 5 V input used to read active sensors Active sensors require power in order to operate prop erly C analog channel with 0 to 30 V input used to read high...

Страница 37: ...Jabuiru 0 5V range Y digital channels used to measure time between pulses Pulses are expected to have a proper shape Please refer to Daqu Manual for more details After sensors are connected to the Daqu unit each sensor needs to be configured Select each channel from the list by using up and down buttons and confirm selection by pushing the OK button Window illustrated in Figure 15 opens To change ...

Страница 38: ...ensors require min max values trim sensors position indi cation sensors flap sensors In this case you have to tell Emsis the sensor reading at minimum position and the reading at maximum position Figure 16 Position sensor min max window In order to show the Min Max dialog on the screen select the channel 38 Kanardia 2021 ...

Страница 39: ...h maximal brightness 5 4 6 Airspeed The Airspeed configuration is accessible by selecting the Airspeed option4 from the Setup screen A window illustrated in Figure 17 opens Changes can be made for five scale limits as seen in Figure 18 1 Low is the beginning of the scale The scale shows nothing until the aircraft exceeds this speed limit only numerical value is seen 2 Yellow 1 to this limit the ra...

Страница 40: ...which the aircraft may be operated in smooth air and then only with caution to avoid abrupt control movement 5 Red to this limit the range is red also the end of the scale Beginning of the red range indicates the maximum demon strated safe airspeed that aircraft must not exceed under any circumstances VNE Figure 18 Example of an airspeed scale 40 Kanardia 2021 ...

Страница 41: ...able units 5 4 8 Pilots The Emsis PFD version allows you to enter several pilots who typi cally fly the aircraft You can create a new pilot edit an existing one or remove one Each pilot has a name and optional instructor rating A pilot who is also an instructor can have two roles It can be either a normal pilot when flying as PIC or an instructor when flying in this role On startup you will be ask...

Страница 42: ...t QNH pressure hPa inHg Mass kg lbs Temperature C F Pressure used in engine bar psi Volume l US gal Flow l h gal h RPM RPM percentage Table 3 Available units for individual physical quantity This information is then used in logbook 5 4 9 Maps Please refer to section 5 3 5 4 10 Service The Service menu opens a window illustrated in Figure 20 It always asks for password You have to enter standard pa...

Страница 43: ...s To activate this layout select it in the Layout menu option Import alarms This option lists all alarms available on the SD card By selecting an alarm it will be copied from the SD to Emsis and activated by default AHRS level Used to define the zero for the AHRS Turn Rate Sets turn rate sensitivity Compass calibration Used to calibrate the Magu magnetic compass Compass offset Used to make fine ad...

Страница 44: ...l flow factor for software tank con figurations Reset DAQU channels Resets the current Daqu configuration All channel settings will be deleted immediately without any confirmation prompt so use this option carefully Ask for fuel Toggles fuel level prompt on startup for software tank configurations Some of the service options are described in further detail below Layout In most cases the correct la...

Страница 45: ...arallel to the airplane axes the AHRS unit is slightly rotated Such misalignment can be per fectly adjusted without loss of precision using the procedure described next Please make sure that airplane is level for both roll and pitch Make also sure that Emsis unit is turned ON for at least five minutes this warms up the internal electronics and stabilizes numerical filters Once the airplane is leve...

Страница 46: ...ion from AHRS greatly increases the precision of compass Please also make sure that the system is running at least for 15 minutes This time is required to warm up the electronic and stabilize the numerical filters Figure 23 Calibrating Magu situation before rotating left and after full rotation right When ready you need to rotate the aircraft for ca 400 degrees Direction of rotation and start azim...

Страница 47: ...the results Closing with the close button does not save the results Compass Offset The procedure mentioned above removes most of the compass error and in most cases this is more than enough However some constant error in all direction remains You need to obtain this error by observing difference between known reference magnetic headings and by the headings shown on the window This error is more or...

Страница 48: ...use this function unless we advise you to do so Logger Settings Here we can tune some logger specific parame ters These parameters are used to identify conditions for the take off landing and engine start stop Figure 25 Logger settings window Take off threshold specifies IAS which must be exceeded for a few seconds for a logger to detect and record a take off event Landing threshold specifies IAS ...

Страница 49: ...figured Two options are available setting brightness setting QNH In this case a Brightness menu item becomes available from the Setup screen Set Alt IAS Offset Modern digital sensors that are used for the IAS and altitude measurements may drift a little bit over time especially after being exposed to a prolonged period of severe cold The window illustrated in Figure 26 allows appropriate adjustmen...

Страница 50: ...e software fuel flow correction model Setting value more than 1 increases indicated fuel consumption and vice versa If fuel flow sensor is installed this factor has no effect Figure 27 Fuel flow factor window 5 4 11 About The About window shows some relevant information about Emsis selected layout program version 50 Kanardia 2021 ...

Страница 51: ...tion The following system components are covered in next sections installation of Emsis unit all versions GPS antenna installation and outside air temperature OAT sensor installation 6 1 Installation to the Instrument Panel This section covers the installation of the Emsis unit Emsis 80 mm version is presented standard avionics unit dimension while the same principles apply for the Emsis 3 5 scree...

Страница 52: ...msis fits into the new opening You can powder paint the panel using non reflective dark paint This makes excellent results in practice The Emsis unit is mounted from the back Position Emsis unit in the instrument panel and use the screws to fix it in place 6 1 1 Emsis Back Panel Connectors and Cable Clearance Emsis units are divided into two main groups according to the back panel Emsis with AHRS ...

Страница 53: ...ith devices via 485 protocol such asindicators or LX Cluster 7 O Two CAN ports5 they are used to connect other CAN devices Connectors are equivalent so either one can be used to connect a CAN device Emsis unit requires about 6 cm additional clearance behind This clearance is needed for the connectors and cables Figure 29 shows the photo of Emsis 80 mm version taken from side together with all cabl...

Страница 54: ... 24 V system in your aircraft then you need a voltage adapter from 24 to 12 V The Emsis display consumes very little power less than 2 W which means about 0 15 A at 12 V We recommend connecting Emsis using appropriately rated breaker or replaceable fuse on the power input A 1 2 5 ampere fuse is appropriate Make sure that all units share the same common ground There should be none or minimal voltag...

Страница 55: ...dicator and altimeter Emsis PFD unit shares the same pitot static source with them Pitot static consists of static pressure tubing and total pressure tub ing In order to connect to the static source cut the static tube on an appropriate place and insert plastic T junction Cut some new tube to length and connect T junction with the Emsis PFD static port We recommend use of hose clamps on all juncti...

Страница 56: ...to provide accurate measurements the OAT probe must be installed on a proper place where the probe is not exposed to the disturbing sources of heat engine heat and exhaust heat direct sunlight heated air exited from cabin We also do not recommend installing the probe in the cabin area since the elevated temperature in the cabin may influence the back side of the probe though such influence is usua...

Страница 57: ...igure 30 Inserting the OAT probe left cap is in place tighten the internal nut slide the insulation tube right 6 5 Connection to the CAN Network Both CAN ports at the back of the Emsis unit are equivalent In most standard configurations with Emsis EMS one CAN port is used to connect with Daqu engine monitoring unit while the other is unused or connected to other Emsis unit In standard configuratio...

Страница 58: ... Mounting surface should be flat clean and rigid Avoid close proximity to any transmitting antennas like radio stations transponders or any other active GPS antennas GPS antennas may interfere each other Antenna must not be covered or obstructed by metals met als sheets rods or any other conductive material like carbon fibers The triangle GPS text must point upwards to the sky For the installation...

Страница 59: ...t applied then the fuel flow is approximately calculated based on the engine type As you can see the fuel level of software tank is highly subjective and depends on initial estimate of fuel quantity precision of the fuel flow sensor or precision of the fuel flow mathematical model Furthermore any error in fuel flow will sum up in time resulting in a significant error in fuel level indication This ...

Страница 60: ...ibration When selecting the Tank option a window illustrated in Figure 32 opens T2 options are shown only when the second fuel level channel is also active Figure 32 Tank options There are two ways to calibrate the tank Tank calibration in steps This involves pouring known quan tity of fuel and taking sensor readings in several steps Min max calibration This involves selecting some known tank shap...

Страница 61: ...annel settings The manuals are accessible from our web page First we will show a most typical channel configuration for a resistive type fuel level sensor which is connected to one of the E channels 1 Switch to the Emsis Setup screen 2 Select the Engine menu item and then Sensors subitem 3 Enter 314 password if necessary 4 Search for the E01 channel and open it 5 Change the values to match the fig...

Страница 62: ...s the best results as it takes into account tank shape sensor installation and sensor specific response at the same time Procedure given next shows principle for the tank 1 If you have two tanks the procedure must be repeated for the tank 2 1 Have a notebook and pencil at hand 2 Make sure you have enough fuel and enough cans ready 3 Make sure you have your cans calibrated and marked 10 liter marks...

Страница 63: ...T box on the page 65 6 Press and hold the OK button this opens Edit Tank window Figure 34b a A Tank window example Yours will be a bit different b An Edit Tank window exam ple Yours will differ Figure 34 Tank main window and tank edit window examples 7 The window may show a few measuring points volume sensor pairs Delete all of them Select a point press the OK button and then select Delete Repeat ...

Страница 64: ...e and it may be as small as 0 or as large as 15 liters or even more If sensor has reacted its value is different from the empty case and later on the value has stopped changing write down the total amount of fuel and sensor value to the notebook and then press OK and Add Adjust the volume to the amount of the fuel now in tank 10 l in our case and close it with the close button 11 Pour some more fu...

Страница 65: ...e Custom next to the shape label in the Tank window do not play and change the shape to anything else If you do you will lose your calibration without a warning and you will have to enter it once again It is important to take notes for each measuring point Figure 35 shows an example In the case that something went wrong and the tank calibration is not stored correctly you can restore it from the n...

Страница 66: ...oint and puts it at the end of the list Select volume and sensor and change their value to match the values from the notes 6 Use the close button to exit the Edit Tank window and to show the Tank window underneath You should see a valid tank shape curve 7 Use close again to exit the Tank window 7 2 4 Tank Calibration Using Known Shape Emsis has several build in tank shapes and new ones are being a...

Страница 67: ...elect the Tank option from the main menu This offers further selection according to the Figure 32 2 Select T1 Shape This opens a tank shape window Figure 36 Use up or down button to select the correct shape for your aircraft tank The graphics below shows the non linearity of the tank Straight diagonal line indicates that the tank is linear Please note that changing the shape deletes any existing t...

Страница 68: ...ith fuel Make sure that the tank of the aircraft is empty and the fuel level sensor is connected to Daqu unit In the Sens row you can observe the sensor value When tank is empty select the Min item and press and hold the OK button to copy the sensor value into min Fill the tank select the Max item and press and hold the OK button to copy the sensor value into max Then close all the windows This co...

Страница 69: ...ication when under normal use for a period of twenty four months 24 from the date of retail pur chase by the original end user purchaser Warranty Period If a hardware defect arises and a valid claim is received within the War ranty Period at its option and as the sole and exclusive remedy available to Purchaser Kanardia will either 1 repair the hardware defect at no charge using new or refurbished...

Страница 70: ... its use This warranty does not apply a to damage caused by use with non Kanardia products b to damage caused by accident abuse misuse flood fire earthquake or other external causes c to damage caused by operating the product outside the permitted or intended uses de scribed by Kanardia d to damage caused by service including upgrades and expansions performed by anyone who is not a repre sentative...

Страница 71: ...sponsi ble for indirect special incidental or consequential damages resulting from any breach of warranty or condition or under any other legal theory including but not limited to loss of use loss of revenue loss of actual or anticipated profits including loss of profits on contracts loss of the use of money loss of anticipated savings loss of busi ness loss of opportunity loss of goodwill loss of...

Страница 72: ...Information Limited Operation This product is not TSO approved as a flight instrument Therefore the manufacturer will not be held responsible for any damage caused by its use The Kanardia is not responsible for any possible damage or destruction of any part on the airplane caused by default operation of instrument 72 Kanardia 2021 ...

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