PandaⅡ GCS & AFSS Autopilot System Installation & Operation Manual Applicable to the firmware V1.21 and above 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: service@feiyu-tech.
Table of content User Agreement.................................................................................................................................................... 1 1. PandaⅡAutopilot system Introduction ........................................................................................................ 2 2. Major AutoPilot Components ....................................................................................................................... 3 3. Technical parameters ........
Guilin Feiyu Electronic Technology Co., Ltd Dear Pilot Thank you for purchasing the PandaⅡ 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. This manual applies to PandaⅡ firmware V1.21 , version 5.1 GCS or above . User Agreement a) The PandaⅡ autopilot system complies with all regulations within the People‘s Republic of China (PRC).
Guilin Feiyu Electronic Technology Co., Ltd very carefully and you won‘t go wrong. Please do not hesitate to e-mail us directly for assistance: service@feiyu-tech.com 1. PandaⅡAutopilot system Introduction PandaⅡ Autopilot mainly include: PandaⅡ Autopilot module, GPS module, Airspeed module, Power management module, Remote adapter module, communication system, GCS. Through our GCS software you can set flight waypoint, flight altitude, flight speed, Equidistance or Timing taking photo and so on.
Guilin Feiyu Electronic Technology Co., Ltd 2. Major AutoPilot Components 1. PandaⅡ 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.
Guilin Feiyu Electronic Technology Co., Ltd 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. 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.
Guilin Feiyu Electronic Technology Co., Ltd Frequency Data Telemetry‘s Mission Frequency Data Telemetry ‗s Flight Status frequency RS-232 Baud Rate Operating Temperature -20 Temperature 1 Hz Maximum 10Hz 1 Hz Maximum 10Hz 19200 Bps TTL Level 25 25 60 ℃ ℃ 4. PandaⅡ Instructions No. module Instructions 1 PandaⅡ control module Volume：57mm * 34mm * 19mm Weight：34g 2 GPS receiver module Volume：32mm * 32mm * 13.
Guilin Feiyu Electronic Technology Co., Ltd 5 Turning receiver signal to digital signal for data radio Volume：52mm * 33.5mm * 14mm Weight：26g 6 1.Connect Data Radio and PC 2.Connect Remote Adapter and PC 3.
Guilin Feiyu Electronic Technology Co., Ltd 10 Use for connect Data radio and USB data cable 11 GPS extension cord 12 Attention: If you do not use the ESC to power on the servos, you can connect external power source to power on the servos through P2 port. 13 Connect to the taking photo port of the camera.(Need to do the camera shutter transformation) Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com Page 7 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd 5. Connection Diagram OPTION 1: RC receiver directly connect to Panda Ⅱ. The maximum flight range is your RC Transmitter. No delay, high real-time performance. Data Radio Aircraft Ground Station Diagramme Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com Page 8 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd OPTION 2: 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 Data Radio Aircraft Ground Station Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com Page 9 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd 6. How to connect PandaⅡ and Hornet-OSD PandaⅡ‘s OSD port is no longer for use any more, you must connect the Hornet-OSD to Panda Ⅱ‘s UART port.(You should use a Y cable to connect both data radio and Hornet-OSD to PandaⅡ‘s UART port) Connection diagram: Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com Page 10 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd 7. S1～S8 Servo interface connection instructions No.
Guilin Feiyu Electronic Technology Co., Ltd The wire connection about GPS module. 2*4P RC receiver connecting wires, use for connect the RC receiver and PandaⅡ,the wires is arranged by the colors. White (bundled with red & black)——AIL； Orange ——ELE； Green ——THR； Yellow ——RUD； Brown ——CH5； Blue ——CH6； The FY-606 Data radio connecting wires. The Airspeed sensor connecting wires. The wire connection about camera control port P1,white(signal),black(GND).
Guilin Feiyu Electronic Technology Co., Ltd 2*5P RC receiver connecting wires, use for connect the RC receiver and Remote Adaptor, the wires is arranged by the colors. Yellow——AIL； White (bundled with red & black)——ELE； Orange——THR； Green——RUD； White——CH5； Red——CH6； Blue——CH7； Brown——CH8 The wire connection about Remote Adaptor and FY-602 Data radio. The wire connection about Remote Adaptor and USB data cable.
Guilin Feiyu Electronic Technology Co., Ltd 9. The installation of main module 9.1 PandaⅡ module installation 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) .
Guilin Feiyu Electronic Technology Co., Ltd 9.2 GPS module installation 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. 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.
Guilin Feiyu Electronic Technology Co., Ltd 9.5 Airspeed Sensor module installation The airspeed sensor need to pull ahead the front of the pneumatic opening and in the line with the direction of flight. You can install the Airspeed sensor to the wing or in the front of the nose, do not block the front of the air inlet , we can use the glue to fix the airspeed sensor. Note: Make sure that after installation, the fuselage in flight airflow can not interfere with air intakes. 9.
Guilin Feiyu Electronic Technology Co., Ltd 10. PandaⅡ indicator light instruction PandaⅡ with three colors LED which can send out red, blue, green light. Also yellow, white, purple and other colors light through the combination. Operators can know the PandaⅡ‘s operating mode by judging the different colors which the LED sends out and the flash frequency. green light flash means GPS location fixed, red and blue light indicate PandaⅡ working mode.
Guilin Feiyu Electronic Technology Co., Ltd 11. RC setting、SW1&SW2 channel setting PandaⅡ requires a minimum of 6-channel RC receiver.4 Receiver channels are used for aileron (channel 1), elevator (channel 2) ，throttle (channel 3) and rudder (channel 4) signal output. 2 free Receiver channels are required to control the PandaⅡ Flight Modes (a 3-position switch or dial knob, ‖SW1‖) and Autopilot Mode (a 3-position switch or dial knob, ‖SW2‖).
Guilin Feiyu Electronic Technology Co., Ltd The FYGCS5.1 software include Google earth live map, also can support 2D view and 3D view at the same time. Support in offline mode display the map which have been browse . FY-GCS5.1 Software Operating Requirements CPU Frequency: 1GHz or more. Memory Capacity: 1G or more. Hard Disk Space: At least 200MB free disk space Operating System: Windows XP system, Vista, Win7system, etc Monitor Resolution: 1024x768 or above. First you have to download the FYGCS 5.
Guilin Feiyu Electronic Technology Co., Ltd www.feiyu-tech.com Method for checking whether the Google Earth plug-in have been installed successfully. Enter the following url : http://www.google.com/earth/explore/products/plugin.html , If the plug-in have been installed successfully, you can see the following 3D map directly 12.3 Installation of FYGCS 1) Double-click ― ‖ installed by default 2）After installation, double-click ― ‖ ,open the FYGCS5.1 software ,you can see the following interface.
Guilin Feiyu Electronic Technology Co., Ltd 3）Confirmation has been connected to the network , click the ―3D‖button ,you can switch to the Google earth map. Note: If you can’t open FYGCS5.1 successfully in Vista or Wind7 operating system . Please find out executable file, right click the mouse and run as administrator. 12.4 Connect PandaⅡ to our GCS software When you finish the flight control system installation and power on the whole system.
Guilin Feiyu Electronic Technology Co., Ltd Connection ID number Firmware of PandaⅡ V1.2 or above version increased the ID number matching function .Users can set the ID number of the PandaⅡ by oneself , only when enter the correct ID number on the GCS ,it can establish connection with PandaⅡ .This function can effectively avoid the problem which interference the control of the Padan2 because using the data radio in the same frequency . Version below PandaⅡ Firmware V1.
Guilin Feiyu Electronic Technology Co., Ltd 2) Click the ―connect ‖ button ,it will pop-up the ID setting dialog box. Enter the ID number which setting for the PandaⅡ ―01234‖ 3) Select ―Menu---Autopilot Bound‖ The result of bounding will show in the information bar. After bounding succeed unplug the jumper. Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com Page 23 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd Autopilot bounding succeed : Autopilot bounding Failure : Note: Remote Adapter which purchase before October 22, 2013 are not support the setting ID number function .When you use the PandaⅡ you can set its ID number as “00000”.If you want your Remote Adapter work in this new function ,please sent it back to our company to upgrade . 12.
Guilin Feiyu Electronic Technology Co., Ltd Step two: Servo’s output mix control mode setting No. Option Normal Elevon V tail Airship No MIX ELE&AIL MIX ELE&RUD MIX No MIX “AIL NAV‖means using only aileron make a turn in navigation mode. ‖RUD NAV‖means using only rudder make a turn in navigation mode. Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com Page 25 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd Step three: Servo Control Reverse setting Please use your RC control sticks to control the aircraft servos movement to see if they are in the same control direction of your RC control sticks. And if not, please adjust your RC to make them right. Switch to the "Auto Balance Mode" mode, check the control direction as explained below. Please according to the following checking and setting methods to make sure the servo control direction is correct.
Guilin Feiyu Electronic Technology Co., Ltd AILERON (Check in "Auto Balance Mode" ) RIGHT Roll the plane , the right aileron should automatically move downwards, while the left aileron move up. LEFT Roll the plane , the left aileron should automatically move downwards, while the right aileron should move up. If the servo movement is incorrect, you need to reverse the automated servo movement please select ―AIL REV‖.
Guilin Feiyu Electronic Technology Co., Ltd Rudder (check in "Auto Balance Mode" ) CLOCKWISE rotate your plane , the rudder should move to the Left. COUNTER CLOCKWISE rotation ,the rudder should move to the Right If the servo movement is incorrect, you need to reverse the automated servo movement please select “RUD REV”.
Guilin Feiyu Electronic Technology Co., Ltd Step four: Basic sensitivity Settings for automatic control We suggest that the first flight should be in default value ,then adjust the value according to the actual flight . Adjustment principle: check the gain of stability whether it is normal in the "Auto Balance Mode ―.
Guilin Feiyu Electronic Technology Co., Ltd Step five :The cruise speed and hovering flight radius setting Target speed setting (Default setting is 60km/h).The flight speed is very important, you can not optional Settings. The speed must can keep aircraft keep normal flight. We suggest not increase the settings too high, it may cause very unusual flying behavior and may result in damage of your aircraft due to excessive throttling.
Guilin Feiyu Electronic Technology Co., Ltd Step six: Gyro and airspeed sensor Initialization Gyro Initialization : Please click on the ―Initialize the gyro‖ button to do the gyro reset. When doing the gyro reset, please keep the PandaⅡ static and you can not to do the gyro rest during the flight. It‘s better to do the gyro reset before each flight.
Guilin Feiyu Electronic Technology Co., Ltd 1 ) Confirmation has been connected to the network , hidden the toolbar , make the GCS software to maximize window . 2 ) Click the ―3D‖button switch to the 3D view ,then fine out the flight region on Google earth live map . 3 ) Fined the region where you need on Google earth live map in 3D view , press on the ―AIT‖ key on the keyboard, mouse change into Gripper type , click the first point and the last point, the FYGCS 5.
Guilin Feiyu Electronic Technology Co., Ltd 4 ) After selected the area, click the ―Make Map‖ to grab the map . In the process of grabbing the map, you can‘t do any operation, click and move the mouse is also forbid ,wait for finish grabbing the map. According to the size of the region and the desired picture definition the larger area, the lower height, then the picture size is larger, and the map loading is more slower . In the process of map making, the information tips will show you some information .
Guilin Feiyu Electronic Technology Co., Ltd Note: The greater the size of the region ,the greater the number of pictures need to grab ,too many pictures may cause the failure of map making .Total number of map making should be controlled less than 512 pictures .）In GCS 5.1 The default value of screenshot resolution is ‖high‖ .In the same conditions, the higher the screenshot resolution, the clearer map which make in 3D view.
Guilin Feiyu Electronic Technology Co., Ltd All the steps finished successfully, it will generate 3 format files with the same name, respectively ―.GST‖, ―.Tab‖, ―.Jpeg‖ files. The Generating ―.GST‖ file is the map file format that the 2D version GCS can support, after loading it you can do the route planning. 12.7 Air Route Setting Click ―Route‖ on Tool bar, Then click ― through the ― right mouse button on ― ‖ , waypoint position which you want. You can ‖ to set waypoint altitude(default is 200m).
Guilin Feiyu Electronic Technology Co., Ltd Use ―Select rect (H)/(V)‖button to planning arch Aerial photography route . Firstly ,you should ‖Line Spacing(s)‖and ―Dis Buffer(s)‖ setting ,according to the focal length of camera and flying altitude , then click the button , drag the left mouse button to select the area for aerial photography, as the following: Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com Page 36 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd 12.8 Auto landing PandaⅡ system can select the method of the auto landing as ‖LINEAR‖or‖PARACHUTE . Select ―Menu---Autopilot Setting---Landing Setting‖to configurate the auto landing model and the altitude of open parachute. ( 1 ) LINEAR In order to realize the auto landing function you need to set 2 point to make sure the landing air route before take-off.
Guilin Feiyu Electronic Technology Co., Ltd 1) Click on to start auto landing, first the aircraft will fly to circling point ―C‖. 2) When it reaches point ―C‖, it's will auto circling around point ―C‖, and gradually decline to 50 meters. 3) The aircraft will continuous to decline the altitude to proper position , according to the distance of the plane to the "landing end point" and then at the right time to cut into A-B route .
Guilin Feiyu Electronic Technology Co., Ltd 12.10 Date radio channel setting FYGCS 5.1 can support FY-602 and FY-605 date radio to switch channel. 1) You need through USB-TTL data cable to connect Data Radio to your computer. Refer to the following picture. 2) After the wires connection is OK, USB-TTL data cable connected to the computer USB port, open the GCS software. Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com Page 39 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd 3) Read the current parameter values. 4) Parameters reading success 5) After read the current parameters, you can configure the channel . In the channel drop-down menu to select the channel which you need to configure. 6) Click on the "SET", underside column will indicate the parameter setting success. After setting success, you can close the dialog box directly . Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd Considerations for Data Radio setting 1) Only in the same channel , the date radio can communicate with each other.
Guilin Feiyu Electronic Technology Co., Ltd ―Read file list‖ Click the ‖ ‖in the file list title display bar will display files in order (The files is named according to year,month,date , minutes and seconds on the flight day which GPS record, The sequence number will + 1 after record a new file). As below: (It‘s takes time if POS information record module contains many files, the state hints bar will have "read the file list end!" tip when read success.
Guilin Feiyu Electronic Technology Co., Ltd Fields 9 Fields 10 Flight speed（Km/H） Pitch angle (unit degree) Fields 11 Roll angle (unit degree) Fields 12 Heading angle (unit degree) Fields 13 Aircraft head heading angle (unit degree) 12.12 Auto take-off setting and debugging Attack angle: Use this to adjust the Auto take-off pitch setting(default is 25 deg). Take Off Throttle: We suggest you set to 90.
Guilin Feiyu Electronic Technology Co., Ltd “Fail-Safe” Return To Home Connection by ―Option 1‖, RC receiver connect to the PandaⅡ directly ,it need the RC and RC receiver both must have ―Fail-Safe‖ function .Setting SW2 switch ,when RC out of control, the SW2 signal will switch to " Return To Launch (RTL)" position. Date radio communication interrupt Return To Home Connection by ―Option 2‖,RC receiver connect to Remote Adaptor.
Guilin Feiyu Electronic Technology Co., Ltd ( 5 ) Switch ―SW2‖ to ―NULL‖ and switch ―SW1‖to ―Manual mode‖. Use your RC sticks to control the aircraft servos surface to see the movement is right or not. ( 6 ) To Check the servo control surface automatic movement and setting install direction, also the airspeed and altimeter, First, you should switch"SW2" to "NULL" mode, then switch "SW1" to the " Stabilized Mode ".
Guilin Feiyu Electronic Technology Co., Ltd ( 8 ) Putting the aircraft into the field, and waiting for GPS positioning success. The GPS red LED will continuous flash after GPS positioning success. At the same time you can see the icon of the aircraft on the GCS software. ( 9 ) Setting a simple routes, for example, you can set a rhombus routes ,its length is about 500 meters , the height of Waypoint is 200 meters.
Guilin Feiyu Electronic Technology Co., Ltd While flying in a straight line and having no input through the transmitter sticks. Please through the to record servo neutral. ( 16 ) Target speed setting (Default setting is 60km/h).The flight speed is very important, you can not optional Settings. The speed must can keep aircraft keep normal flight. We suggest not increase the settings too high, it may cause very unusual flying behavior and may result in damage of your aircraft due to excessive throttling.
Guilin Feiyu Electronic Technology Co., Ltd The three values of each parameters from PID control menu correspond: Proportional, integral, and damping ―Turn Control‖-------Control the angle of roll when the aircraft use aileron navigation. Up/down Data Frequency "Teleme Rata" refers to the flight control data downlink frequency. Because the limit of the date radio performance , we suggest that the "Teleme Rata" should be not more than 2 HZ.
Guilin Feiyu Electronic Technology Co., Ltd speed, then push the aircraft into the air. 6 ) Wait the aircraft climb to 100m and circling around the Home point. 7 ) Through GCS to set , and wait the aircraft automatic climb to 200m. 8 ) Click on to start automatic navigation flight. 9 ) Wait the aircraft to fly according to the route you have set, then click on to start automatic take photo. 10 ) Wait the aircraft complete the flight mission and cancel the automatic take photo function.
