FEIYU TECH FY-91Q DREAM CATCHER Multi-rotor flight stabilization & Autopilot System Installation & Operation Guide Guilin Feiyu Electronic Technology Co., Ltd 4th Floor,Yu Tai Jie Science&technology Building, Information Industry Park, ChaoYang Road ,Qi Xing District , Guilin 541004, China. http://www.feiyudz.cn E-mail: service@feiyu-tech.
GuiLin FeiYu Electronic Technology Co., Ltd Dear Pilot, Thank you for purchasing the FY-91Q multi-rotor flight control system from Feiyu Tech. In order to achieve full potential and safe operation of this product, please carefully read this manual prior to installation. ATTENTION: Set up and use of the FY-91Q requires a high degree of multi-rotor flight and RC experience. If you have never flown a multi rotor aircraft before, we highly recommend that you don’t install this equipment on your own.
GuiLin FeiYu Electronic Technology Co., Ltd FY-91Q Multi-rotor System Basics on how the system works: Inertial Stabilizer: The FY-91Q utilizes an attitude flight stabilization system (AFSS) which is inertial sensing based. The system also incorporates an autonomous flight control system. The FY-91Q AFSS integrates a three-axis gyroscope combined with tri-axial accelerometers to sense and create a drift-free 3 dimensional stabilization system.
GuiLin FeiYu Electronic Technology Co., Ltd Autopilot Function The current FY-91Q firmware supports two autopilot functions; fixed altitude Auto Hover and automated Return to Home. To enable autonomous flight, the GPS & Compass module must be connected to the FY-91Q: Auto Hover 1. 3 dimensional GPS positioning is used to automatically maintain aircraft hover position and altitude. 2. Accuracy of hover position (range) depends on wind conditions and speed. Automated Return to Home 1.
GuiLin FeiYu Electronic Technology Co., Ltd FY GPS module x 1 Double-sided adhesive Damper pad x 1; Self-adhesive Velcro sponge x 2; GPS connecting wires x 1 Jumper for gyro resetting x 1 System Specifications FY-91Q Module Operating voltage ： 4.0~6.
GuiLin FeiYu Electronic Technology Co., Ltd Graupner/JR PPM 8, PPM 12, SPCM mode; MPX PPM8, PPM 12 with UNI mode ; Any remote control system using the standard of 1.5 ms neutral position.; FY-91Q Flight Modes 1. FY-91Q has three operating Flight Modes, which is selected by using any free channel on your RC receiver. 2. You can set the 3 modes via a 3 way switch or use a dial knob. Example: 1 2 3 3.
GuiLin FeiYu Electronic Technology Co., Ltd Activating this mode will automatically initiate the aircraft to fly back to the Home point. Requires the GPS and Compass Module to be connected to the FY-91Q with at least 5 GPS satellites detected. Flight Modes and LED Indicator 1.
GuiLin FeiYu Electronic Technology Co.
GuiLin FeiYu Electronic Technology Co., Ltd performance and even autopilot malfunction. 4. GPS & COMPASS module is utilizes a ceramic passive GPS Receiver. This FY-GPS Receiver must be installed face up as indicated on the sticker. 5. Do not allow any metal or carbon fiber material to block or shield the FY-GPS from detecting GPS satellite signal. 6. WARNING: The GPS & COMPASS Module is very sensitive to metal, magnets, electromagnetic fields and radiation.
GuiLin FeiYu Electronic Technology Co., Ltd d. The red LED light will flash in two different rates. e. After approximately 20 seconds, the initialization process is complete. f. Disconnect the power supply and unplug the jumper (please keep in a safe place for future use). FY-91Q Connection Interface Diagram Arrow must point towards aircraft direction of flight.
GuiLin FeiYu Electronic Technology Co., Ltd GND Null P1 P2 GND Power TX0 RX0 I ESC4 ESC3 ESC2 ESC1 GND Power TX1 TX1 II Rx Throttle (Ch 3) Rx Ele (Ch 2) III Rx AIL (Ch 1) No Pin IV Null Null Null Power Input Rx free channel (Switch 1) GND GND GND GND GND Null : Rx Rud (Ch 4) Power Do not connect anything on these pins (leave open). Dip Switch Setting The FY-91Q utilizes a Dip Switch system for model selection, via Dip switch No. 2 to No.
GuiLin FeiYu Electronic Technology Co., Ltd a. Dip Switch position for X-TYPE QUADCOPTER: 1 = OFF ON 2 = OFF 3 = ON OFF 4 = OFF 1 2 3 4 b. Dip Switch position for CROSS-TYPE QUADCOPTER: 1 = OFF 2 = OFF ON 3 = OFF OFF 4 = OFF 1 2 3 4 c. Dip Switch position for CROSS-TYPE Y6: 1 = OFF ON 2 = OFF OFF 3 = OFF 1 2 3 4 4 = ON d. Dip Switch position for Hexa-Copter: 1 = OFF 2 = OFF 3 = OFF 4 = ON 1 2 3 ON OFF 4 FY-91Q Power Supply Recommendations 1.
GuiLin FeiYu Electronic Technology Co., Ltd 1. The FY-91Q is connected to the receiver via this cable bundle: 2. The wire colors will help you trace the connection to your Receiver: Wire Color White (bundled with red and black) Orange Green Yellow Brown Receive Channel Aileron Channel 1 Elevator Throttle Rudder Any free channel controlled by 3-way switch or dial (refer page 6) Channel 2 Channel 3 Channel 4 Channel 5 (example) 3.
GuiLin FeiYu Electronic Technology Co., Ltd iv) Ensure rigidity of your frame (will not flex with motor rotation). v) Use appropriate propeller length and pitch for the weight of your aircraft. d) The FY-91Q is supplied with the shock absorbing mount and double-sided foam padding dampers. Please use them as shown below: Checking for Vibration a) Install the FY-91Q as per the recommendations of this manual, including directions of propeller rotation. b) Remove the connection to the GPS & Compass Module.
GuiLin FeiYu Electronic Technology Co., Ltd Quadcopter Set Up X-Type Layout 1 4 1 2 4 3 X-Type QuadCopter Layout: 1 = ESC 1 2 = ESC 2 3 = ESC 3 4 = ESC 4 2 CCW CW CCW CW cw = clock wise ccw = counter clockwise 3 Cross Type Layout 1 1 2 3 4 2 4 十 - Type Quad Layout: 1 = ESC 1 CCW 2 = ESC 2 CW 3 = ESC 3 CCW 4 = ESC 4 CW cw = clock wise ccw = counter clockwise 3 GuiLin FeiYu Electronic Technology Co., Ltd www.feiyudz.cn Page 14 E-mail: service@feiyu-tech.
GuiLin FeiYu Electronic Technology Co., Ltd Quadcopter FY-91Q Connection Schematics GPS GSP&CPMPASS PC setting AP117 OSD Data Radio CH5 RUD E S C 4 E S C 3 E S C 2 E S C 1 THR ELE AIL GuiLin FeiYu Electronic Technology Co., Ltd www.feiyudz.cn Page 15 E-mail: service@feiyu-tech.
GuiLin FeiYu Electronic Technology Co., Ltd Y6 FY-91Q CONNECTION SCHEMATICS 2 3 6 1 5 2 3 4 Y6 SCORPION FLYER 1 (top) = ESC 1 CW 2 (top) = ESC 2 CW 3 (top) = ESC 3 CW 4 (bottom) = ESC 4 CCW 5 (bottom) = ESC 5 CCW 6 (bottom) = ESC 6 CCW 4 cw = clock wise ccw = counter clockwise 1 Y-Cable (included) GPS E S C 6(P2) GSP&CPMPASS E S C 5(P1) PC setting AP117 OSD Data Radio CH5 RUD E S C 4 E S C 2 E S C 2 E S C 1 THR ELE AIL GuiLin FeiYu Electronic Technology Co., Ltd www.feiyudz.
GuiLin FeiYu Electronic Technology Co., Ltd FY-91Q Hexa Copter Setup E S C 6(P2) GPS Y-Cable (included) E S C 5 (P1) GSP&CPMPASS PC setting AP117 OSD Data Radio CH5 RUD E S C 4 E S C 3 E S C 2 E S C 1 THR ELE AIL 5 3 1 2 3 4 6 2 1 CW = clock wise CCW = counter clockwise 4 GuiLin FeiYu Electronic Technology Co., Ltd X - Type Hexa Layout: 1 = ESC 1 CW 2 = ESC 2 CW 3 = ESC 3 CW 4 = ESC 4 CCW 5 = ESC 5 CCW 6 = ESC 6 CCW www.feiyudz.cn Page 17 E-mail: service@feiyu-tech.
GuiLin FeiYu Electronic Technology Co., Ltd FY-91Q Module Installation Direction of flight 1. FY-91Q has an arrow indicator on top. Please ensure this arrow is pointed towards the direction of flight. 2. Installed the module horizontally, and as close as possible to the aircraft center. A more centered installation will result in more stable drift free hover. 3. The FY-91Q sets its own benchmark of what is ‘horizontal’.
GuiLin FeiYu Electronic Technology Co., Ltd 12 o’clock. Anything less than that may result in no flight stability for this first flight. 6. Tie down test: Before proceeding, we highly advise that you tie down the aircraft to the ground to prevent any possibility it going out of control during this initial flight tests. Safety first. 7. First test lift off: Advance your throttle stick, but do not take off (usually around 30% throttle).
GuiLin FeiYu Electronic Technology Co., Ltd d) Ensure you have selected mid or high timing for your ESC (if you are not using FY ESCs). GPS & COMPASS Module Set Up Debugging 1. The GPS & COMPASS Module contains an internal three-axis magnetometer. This module senses the earth's magnetic field, and uses this reading to accurately measure the aircraft direction of flight. 2. The magnetometer sensor is very sensitive to metallic objects and electric fields.
GuiLin FeiYu Electronic Technology Co., Ltd (minimum 5 required). c) Upon power up, the FY-91Q will automatically search for GPS satellites. d) Upon detecting 5 satellites, the red LED will begin flashing twice continuously, indicating GPS Home Position has been locked. e) You can safely fly the FY-91Q system without GPS locking ‘home’ position (red LED flashing twice). However, both Hover Hold and RTH autonomous flight cannot function.
GuiLin FeiYu Electronic Technology Co., Ltd Additional Notes On Return to Home (Mode 3) 1. For FY-91Q autonomous RTH flight, similar principles to Hover Mode is utilized, with differences in critical areas. These are: (a) RTH utilizes the last recorded Flight Neutral Gain value. (b) RTH will only activate after the aircraft has stabilized into a hover. (c) There is a timed delay (between 2 to 5 seconds) between activation of RTH and the actual procedure of returning to the home position.
GuiLin FeiYu Electronic Technology Co., Ltd 5. Data radio Parameters: FY-91Q interface panel have 4 Pin for UART GND, Power, TX1, RX1 Baud rate 19200 Interface characteristic TTL ON BOARD AIRCRAFT GND FY-91Q Module GND Power 5V FY-606 TX1 RX Data Radio RX1 TX Two Way Communication GROUND CONTROL STATION FYGCS GND GND 5V 5V TX RX USB-TTL PC RX 6. 7. FY-606 Data radio TX Refer to FY-606 Manual on more details on the FY-606 (to be updated).
GuiLin FeiYu Electronic Technology Co., Ltd FY-91Q Connection to AP117 ON Screen Display 1. You can connect the FY-91Q to the AP117 OSD module to display the telemetry data onto your On Screen Display. 2. Connection is as shown below: FY-91Q Module 1. Updating the Firmware Data port to connect to the AP117 Refer to AP117 Manual on more details of the display.
GuiLin FeiYu Electronic Technology Co., Ltd type, you must power up all motors and go to full throttle to set the endpoints, making it impossible to use on multi-rotors. Pre-Flight Check & Sensitivity (Exponential) Adjustments STEP 1 - Radio Transmitter Settings I. Select the Model for Traditional Airplane, where there is no mixing of the throttle, elevator, aileron or rudder controls. II.
GuiLin FeiYu Electronic Technology Co., Ltd (e) If this procedure is successful, proceed with flight tests as per the manual. ESCs Not Arming 1. Many types of ESCs have an arming protection set up where they expect to see an incoming signal as soon as they are powered up. If the ESC does not ‘see’ this input signal, it will automatically inhibit the arming process. 2. Upon powering up, the FY-91Q takes about 1 to 2 seconds to initialize. During this time, signal is not immediately sent to the ESCs.
