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YS-S4 Multi-rotor Autopilot User Manual V1.4

5

■

Power

Module

x1

Supplies

regulated

power

for

the

autopilot

■

GPS

Bracket

x1

The

GPS

＋

COMPASS

is

sensitive

to

magnetic

interference.

This

bracket

is

used

to

mount

the

GPS

module

where

necessary

and

to

keep

it

far

away

from

EMI

sources.

■

Warranty

Information

Card

X1

This

provides

Product

Serial

No.,

Purchase

Date.

Please

fill

out

the

relevant

information

and

return

to

Zero

UAV

to

register

your

product

warranty.

Software

available

on

website

for

download:

□

GCS

So ware

for

Android

System

□

GS

Software

for

PC

Windows

XP/7/SP3

system

□

Firmware

Upgrade

So ware

on

PC.

□

Firmware

updating

assistant.

3.

Functions

1)

Supported

multirotor

layouts:

Quad

X4,

Quad

+4,

Hexa

X6,

Hexa

+6.

2)

Four

working

modes:

i.

Manual

flight

stabilisation

ii.

Manual

altitude

hold

iii.

Auto

hover

iv.

Return

home

and

land.

3)

Standard

safety

features

when

the

aircraft

loses

control

:

Fail

safe:

auto

return

‐

home

and

auto

‐

landing,

failsafe:

land,

failsafe:

auto

‐

hover

4)

The

LED

indicates

the

autopilot’s

current

status.

(GPS

lock,

low

voltage

alert,

Attitude

error,

etc.)

5)

Control

method:

RC

Transmitter

6)

Parameter

adjustment

by

Android

Phone,

Tablet

or

PC

7)

Firmware

upgrade

support:

Upgrade

firmware

via

USB

cable

to

COM

port.

8)

Receiver

support:

All

PPM

receivers

9)

Gimbal

support:

Servo

gimbal

«
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Содержание YS-S4

Страница 1: ...YS S4 Multi rotor Autopilot User Manual V1 4 1 YS S4 Multi rotor Autopilot User Manual V1 4 Zero UAV Beijing Intelligence Technology Co Ltd ...

Страница 2: ... 12 6 3 1 PC Parameter Adjustment 12 6 3 2 Phone Parameter Adjustment 14 6 4 Tx Calibration 14 6 4 1 Transmitter channel calibration by PC 14 6 4 2 Tx Calibration by Phone 16 6 5 Fail Safe Checking 17 7 Adjustment Outdoors 18 7 1 GPS Compass Calibration 18 7 1 1 Compass alignment by without Smartphone 19 7 1 2 Compass alignment using Smartphone 19 7 2 Motor Arming 21 7 3 Motor Mixer Checking 22 8 ...

Страница 3: ...ly in unfavorable conditions Please do NOT open or modify the autopilot there are no user serviceable parts inside Disclaimer a Zero UAV Beijing Intelligence Technology Co Ltd assumes no liability for damage s or injuries incurred directly or indirectly from the use of this product b The user is responsible for abiding with the law and not behaving contrary to public order or public safety by usin...

Страница 4: ...lanche debris flow landslide earthquake etc 14 Damage s or injuries caused by infringement such as litigation caused by any data audio or video material recorded by the use of aircraft 15 Damage s or injuries caused by the misuse of the battery protection circuit RC model and battery chargers 16 Other losses that are not covered by the scope of ZERO TECH liability 2 In the Box Hardware Software Ma...

Страница 5: ...re for PC Windows XP 7 SP3 system Firmware Upgrade So ware on PC Firmware updating assistant 3 Functions 1 Supported multirotor layouts Quad X4 Quad 4 Hexa X6 Hexa 6 2 Four working modes i Manual flight stabilisation ii Manual altitude hold iii Auto hover iv Return home and land 3 Standard safety features when the aircraft loses control Fail safe auto return home and auto landing failsafe land fai...

Страница 6: ... in which case the YS S4 should be mounted on the optional dampening structure shown below and available from ZeroUAV YS S4 dampening structure 4 2 GPS Module Installation 1 Ensure that the sticker faces up and the arrow points towards the head of the aircraft Otherwise the aircraft may fly in circles when in auto hover mode 2 The GPS module should be installed on a level GPS stand mounted higher ...

Страница 7: ...ower the receiver with any additional module or the YS S4 unit may be burnt out d Motors and ESCs Especially when several ESCs are together can cause serious magnetic interference so the GPS module must be as far away from these as possible A non ferric bracket must be used with the arrow on the GPS facing forward Also the battery connection carries a high current and may result in a strong magnet...

Страница 8: ...onnect the Modules 1 Connect the power supply module As shown below one 3 core cable is used to connect the S4 to the power unit the WHITE core is up the RED core is in the middle and the BLACK core is below The RED and BLACK bare wires should to be soldered to the Positive and Negative pole of the battery pack connector 3S 6S Lipo 2 Connect the LED module The LED module should be connected to the...

Страница 9: ... FI data cable is a 3 core cable connect the end which has the lock to the WI FI module and connect the other end to the COM interface on the YS S4 white wire is up red is in the middle black is below The WI FI module should be powered separately power supply range is 3s 6s Lipo 6 Configuration before Flying 6 1 Install Phone Ground Control Software GCS To use the Phone GCS you must purchase the o...

Страница 10: ... GCS successfully you can also see the real time updated data on the Data Page 6 2 TX Setup 1 Select fixed wing model on your transmitter Remove any channel mixing 2 FUTABA Radio All channels should be Normal not reversed 3 JR JTm Spektrum and WFLY Radios Reverse all channels Step 1 Select Two Switches Ensure your radio has two sets of two way switches Programme CH5 and CH6 to these switches to co...

Страница 11: ...ode Check with your Radio manual on how to set the Receiver failsafe Ensure that when you turn OFF your radio your failsafe settings are as follows CH5 set to position 2 CH6 set to position 2 THR set 50 mid point Default F S only has Return and Land mode which means the YS S4 will command the aircraft to Return and Land automatically if the communication between the TX and the autopilot is disconn...

Страница 12: ...odes if the sequence used in powering on is different If you power the S4 first and then connect the USB cable you will be in Parameter Setup Mode If you connect the USB cable first and then power on the S4 then you are in Firmware Upgrade Mode PLEASE NOTE THE FOLLOWING WHEN SETTING UP AND INSTALLING THE S4 When the craft is on the ground power the TX first and then power the S4 Please MAKE SURE p...

Страница 13: ...e normally be 3 65v Roll Pitch sensitivity is used to adjust the compensation angle of the PTZ data for your Gimbal Your can compensate high or low for aircraft movement within a range from 127 to 127 Note You can enter a negative value to reverse the direction of compensation The autopilot can calculate the low voltage alert according to the number of cells entered If your phone vibrates once eve...

Страница 14: ...urrent settings you must click the Save button click several times if it fails and the revised parameters to the autopilot will be saved 6 4 TX Calibration The remote calibration of the YS S4 can be achieved in two ways mobile phone must be connected to the WI FI or PC calibration 6 4 1 Transmitter channel calibration by PC Step 1 Select the correct stick layout Enter your aircraft type The maximu...

Страница 15: ...mode according to your preference and the stick layout of your TX Step2 Calibrate the sticks The Adjust Transmitter window will appear on the PC GCS Click OK and move your transmitter stick within 5 Seconds to their maximum positions as shown in the diagram Step 3 Check that the stick direction as depicted on the screen matches the actual direction of movement of your sticks ...

Страница 16: ...re shown as GREEN any other position shows RED except for when the throttle stick is at the bottom when it shows as YELLOW When the throttle is in hover position normally close to the middle position it shows GREEN other flying status shows RED 6 4 2 TX Calibration by Phone Step 1 Select the correct stick layout Mode 1 Mode 2 Mode 3 etc 1 Click the menu button on your phone then select Set see bel...

Страница 17: ...ing your GPS module is connected check whether switching between all working modes is working normally For example Place CH5 at position1 and CH6 at position1 the PC GCS data page should show your TX status as Manual Change CH5 to position 2 for Auto Hover and so on If flight mode does not change when you toggle the switches please check your hardware connections or RC Transmitter setup Step 2 Fai...

Страница 18: ...pass Calibration When using the S4 V2 autopilot for the first time the GPS COMPASS must be calibrated before arming the motors IMPORTANT 1 Compass calibration does not need to be done every time you fly but should be done when components are moved or if the aircraft flies in unexpected ways like in circles for example 2 ALWAYS carry out this calibration outdoors far away from metallic objects cars...

Страница 19: ...with the rotation and put the multicopter level again Step 3 Flip CH5 switch three times 1 2 1 2 1 2 1 and the LED turns off You have entered Vertical Calibration Hold the multicopter nose down and the LED turns green Rotate the multicopter 3 times counter clockwise as shown below always keeping the aircraft nose down Ensure the GREEN LED remains ON during the turn If the LED turns OFF adjust the ...

Страница 20: ... If it turns OFF that means the aircraft is not horizontal Adjust the position until the GREEN LED is back ON and continue with the rotation Step 4 Select Vertical Alignment in the dialog box and click OK button to start the vertical calibration If you don t want to keep on calibrating select Cancel and confirm OK Step 5 Carefully rotate the aircraft 3 times as shown below always keeping the aircr...

Страница 21: ...to do the Compass calibration every time you fly or upgrade the firmware once your flight controller component installation and compass calibration has been completed but it should be done when components are changed or if the GPS is removed 7 2 Motor Arming For safety reasons the S4 locks the motors on landing They can only be re armed to allow them to rotate and work after carrying out the armin...

Страница 22: ...tate at the same speed this means the motor balance is good 1 To check the aileron channel slightly push the aileron stick to the left motor M4 should rotate immediately see 1 on the illustration below the other three motors should keep still Push the aileron stick to the right slightly motor M2 should rotate immediately see 2 on the illustration below the other three motors should keep still 2 Ch...

Страница 23: ...servo and Y2 to the gimbal pitch servo Enter Roll Sensitivity and Pitch Sensitivity in the Parameter Section of the GCS to adjust the correction angle and direction of your gimbal Gimbal Sensitivity ranges from 127 to 127 A negative number reverses the direction of travel and the size of the number affects the amount of correction GND VCC Signal Servo Battery Gimbal Servo Y1 Y2 Connector ...

Страница 24: ... clicking Enter Setup in the Setting section CH5 must in manual and the throttle set to minimum Now the CH7 knob can be used for controlling gimbal roll The gimbal roll s balance position may be fixed and saved by clicking Quit Setup Now CH7 will revert to controlling gimbal pitch 9 Firmware Upgrade IMPORTANT For safety please remove all the propellers before upgrading firmware You may download th...

Страница 25: ...YS S4 Multi rotor Autopilot User Manual V1 4 25 3 Click OK 4 Click Select Firmware button ...

Страница 26: ... button select upgrade procedure file s4v2 BiaoZhun 20140115 v021 bin 6 The program will auto upgrade when the upgrade procedure is selected 7 Power off the autopilot when it says upgrade successful Quit the firmware upgrade software and power off the autopilot ...

Страница 27: ...D Final stage urgent low voltage alert 3 seconds RED Return and Land Continuous RED flashing Magnetic compass calibration Continuous GREEN flashing IMU Error Continuous YELLOW flashing The autopilot can calculate the low voltage alert according to the Cell Number filled in by the user Final stage low voltage alert Number Voltage per cell 0 05v Cell Number E g voltage per cell 3 7 0 05v 3 65 multip...

Страница 28: ... stabilization mode d Switch to manual stabilization mode if craft meets an emergency situation in auto fly mode 1 Phone Tablet Control 1 Phone Remote Control Mode During flight when the transmitter is switched to Auto hover in GPS mode the aircraft will enter auto hover mode Now you can activate control of your aircraft via your cellphone by pressing Enable Control in the Control screen of your G...

Страница 29: ...ck inputs when using this controller 3 Manual Altitude Hold When GPS is not located when satellites locked are less than 5 and when CH5 is in position2 and CH6 in position 1 the S4 will enter manual altitude hold mode Enable Control User Interface Operations Aircraft Status Circle status Red GPS not locked Green GPS locked Position Hold No Operation Position hold Level Flight Drag finger over scre...

Страница 30: ...own controlled by the ELEVATOR stick direction is controlled by the RUDDER stick and height controlled by THR stick If the THR stick is 50 craft will auto hover If THR stick is more than 50 craft will fly upward If THR stick is less than 50 craft will descend The Craft can fly to any altitude controlled by THR stick and fly to any position controlled by the other sticks 5 Return and Land RTL With ...

Страница 31: ...e RTH too close to you or spectators Also note to avoid sudden loss in altitude the THR stick should be above its mid point when you change the mode back from RTH to Stabilized Mode Switch CH6 to position1 from position2 to quit RTL mode After landing the motors will stop Move your THR stick to the bottom 5 seconds later the motors will lock Arm the motors to restart flying Support Website www zer...

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