PandaⅡAutopilot System Installation & Operation Manual Apply To The Firmware V1.35 And Above Version 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: Email: www.feiyu-tech.com service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd. Table Of Content User Agreement ......................................................................................................................................1 1. PandaⅡAutopilot System Introduction ...........................................................................................2 2. Major Autopilot Components...........................................................................................................3 3.
Guilin Feiyu Electronic Technology Co., Ltd. 15. 14.6 Record Servo Neutral ...........................................................................................................38 14.7 POS Information Reading ....................................................................................................38 Route Planning .............................................................................................................................39 15.1 15.2 16. Route Planning In 2D View....
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 V1.35 or above , GCS 5.23 or above version . 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. 1. PandaⅡAutopilot System Introduction PandaⅡ Autopilot system 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 2. 3. 4. 5. sensor, attitude algorithm, Kalman filtering and data fusion algorithms.
Guilin Feiyu Electronic Technology Co., Ltd. latitude, altitude, speed, etc . 14. The GCS software helps integrate Automated and Manual flight control modes in an easy to use display interface. 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.
Guilin Feiyu Electronic Technology Co., Ltd. Flight status PID Control Rate 100 Hz Navigation Control PID Rate 10 HZ 1 Hz Maximum 10Hz 1 Hz Maximum 10Hz 1 Hz Maximum 10Hz 19200 Bps TTL Level Data Telemetry‘s Track Frequency Data Telemetry‘s Mission Frequency Data Telemetry ‗s Flight Status frequency RS-232 Baud Rate Operating Temperature -20 25 Temperature ℃ 60 ℃ 25 4. PandaⅡ Instructions No.
Guilin Feiyu Electronic Technology Co., Ltd. Use for measure the airspeed 4 volume：64.5mm * 13.5mm * 13.5mm Weight：9g Turning receiver signal to digital signal for data radio 5 Volume：52mm * 33.5mm * 14mm Weight：26g 1.Connect Data Radio and PC 6 2.Connect Remote Adapter and PC 3.
Guilin Feiyu Electronic Technology Co., Ltd. 9 Use for connect Remote Adaptor and RC receiver 10 Use for connect Data radio and USB data cable 11 GPS extension cord Attention: 12 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.
Guilin Feiyu Electronic Technology Co., Ltd. 5. Connection Diagram OPTION 1 (“RC” control mode): RC receiver directly connect to Panda Ⅱ. The maximum flight range depend on your RC Transmitter. No delay, high real-time performance. Aircraft Ground Station Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com Page 8 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd. OPTION 2 (“DDRC” control mode ): 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 Zz z 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. S1~S8 Servo Interface Connection Instructions No.
Guilin Feiyu Electronic Technology Co., Ltd. The wire connection about power management module. The wire connection about GPS module. 2*4P RC receiver connecting wires, use for connect the RC receiver and Panda Ⅱ ,the wires is arranged by the colors. Black Red White Orange —— AIL —— ELE Green —— THR Yellow —— RUD Brown —— CH5 Blue ——CH6 The FY-602 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. Vibration absorbing pads (dampers),use for PandaⅡvibration damping installation. 2*5P RC receiver connecting wires, use for connect the RC receiver and Remote Adaptor, the wires is arranged by the colors. Yellow —— AIL Black Red White —— 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. 8. The Installation Of Main Module 8.1 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.
Guilin Feiyu Electronic Technology Co., Ltd. 8.2 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. 8.5 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. Make sure that after installation, the fuselage in flight airflow can not interfere with air intakes.
Guilin Feiyu Electronic Technology Co., Ltd. 9. PandaⅡ Indicator Light Instruction LED on the PandaⅡ module can send out red, blue, green and purple light.The working statue can be know via 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. Under manual mode, stabilization mode or 3D mode, keep PandaⅡ in the static state and if the LED sends out purple light it means PandaⅡ needs Gyro Reset.
Guilin Feiyu Electronic Technology Co., Ltd. 10. RC Unit Requires And 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 Navigation Mode (a 3-position switch or dial knob, ‖SW2‖).
Guilin Feiyu Electronic Technology Co., Ltd. 11. Parameter Setting Software (GCS)——USB Driver And GCS Software installation Step A : Please visit the official website: www.feiyu-tech.com. Download the correct USB driver, GCS installation program and the Google Earth plug-in 6.1 or above version then unzip the RAR file. Step B : Install the USB driver according to the guide.
Guilin Feiyu Electronic Technology Co., Ltd. 12. Connection Between PandaⅡ And GCS Software 12.1 Steps Of The Connection And Upload The Map Step A : Assumption the Autopilot system have installed ,connect to the computer and power on normally. Step B : Double click the icon ― ‖ start the software. Step C : Select the correct COM port (e.g. COM3),baud rate:19200,click on ―Connect‖ button.
Guilin Feiyu Electronic Technology Co., Ltd. Figure Map Information Interface After finish the Step E, if the current parameters of the autopilot can be display on the GCS, it will indicate that the connection is successful. The ID number can be reset by users. The new number please select from“00000” to “65535”.If the number of characters more than 5 ,the ID number will invalid. The ID number reset operation support under the “OPTION1 (RC control mode )” and “OPTION2 (DRRC control mode)”.
Guilin Feiyu Electronic Technology Co., Ltd. 12.2 Steps Of ID Number Reset Step A : Power off the autopilot unit . Step B : Install the jumper to the signal pin on P1,P2 port ( Refer to the picture 12.1). Step C : Connect the Autopilot unit to the computer (Ensure power on the unit normally). Step D : Running the GCS software , select the correct COM port (e.g. COM3),baud rate:19200,click on ―Connect‖ button. Step E : Enter the new ID number (e.g.
Guilin Feiyu Electronic Technology Co., Ltd. Figure 12.2 Guilin Feiyu Electronic Technology Co., Ltd ID Bounding Diagram http://www.feiyu-tech.com Page 22 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd. 13. Parameters Setting Process Of Panda Ⅱ Autopilot Select ―Menu---Autopilot Configuration Wizard‖ begin doing basic configuration. Step One: Installation direction setting Set up the correct mounting direction according to the PandaⅡ mounting direction on the plane(The default setting is Arrow forward).Click on the button "Set" after you select the correct mounting direction.
Guilin Feiyu Electronic Technology Co., Ltd. Step Two: Servo’s output mix control mode setting Set up the correct mixing mode according to the layout of the aircraft. The default setting is‖ Normal (AIL NAV)‖. Click on the button "Set" after you select the correct mixing mode. 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. Step Three: (1) Servo control reverse setting Aileron, Elevator, Throttle, Rudder auto control surface direction setting Operate the RC control sticks to control the aircraft servos movement to observe if they are in the same control direction with the RC sticks. And if not, please adjust the RC to make them correct. Switch to the "Auto Balance Mode" mode after set up the RC unit, check the auto control direction. Guilin Feiyu Electronic Technology Co.
Guilin Feiyu Electronic Technology Co., Ltd. Aileron ( Check In "Auto Balance Mode" ) Right roll the aircraft, the right aileron should automatically move downwards, while the left aileron move up. Left roll the aircraft, the left aileron should automatically move downwards, while the right aileron should move up. If the servo movement is incorrect, please select ―AIL REV‖. Elevator ( Check In "Auto Balance Mode" ) Upward incline the aircraft nose, the elevator should automatically move downwards.
Guilin Feiyu Electronic Technology Co., Ltd. Rudder ( Check In "Auto Balance Mode" ) Clockwise rotate the aircraft, 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. of internal logic controls in the autopilot. The physical installed of the parachute equipment should be make the arm of the servo pressed parachute hatch,if the arm of the servo keep press the parachute hatch after autopilot starting, this is normal .
Guilin Feiyu Electronic Technology Co., Ltd. Step Five: The cruise speed and circle radius setting Target Speed Setting: This is the expectation speed when the PandaⅡ flight in the navigation working mode(Default setting is 68.4Km/h). The flight speed is very important, please don‘t optional setting. The speed have to make the aircraft keep normal flight.
Guilin Feiyu Electronic Technology Co., Ltd. After set up the parameter please click on “Set” button to confirm the setting. Step Six: Gyro and airspeed sensor Initialization Gyro Initialization: Please keep the PandaⅡ static the click on the ―Initialize the gyro‖ button to reset the gyro. It‘s better to do the gyro reset before each flight.
Guilin Feiyu Electronic Technology Co., Ltd. After set up the parameters please click on “Finish and Save” button to save the setting. 14. PandaⅡAutopilot System Other Setting 14.1 Power Voltage Calibration Please make a calibration for the measure of the power voltage before flight. Steps for calibration please refer to the Appendix D. If devices (PandaⅡ autopilot or power manager) have any replacement, please calibrate again. 14.
Guilin Feiyu Electronic Technology Co., Ltd. pulse is optional (Camera remake pictures please refer to the Appendix J ). Camera shutter pulse can be select with“Normal” or “Narrow”. Please set up according to the camera.
Guilin Feiyu Electronic Technology Co., Ltd. autopilot will control the aircraft with maximum gradually. 14.3.2 Automatic Take Off Parameters Setting Take Off Pitch: The minimum climbing angle in auto take off process. Default value is 15°. Take Off Throttle: The maximum throttle quantity in the auto take off process. Default value is 95%. Automatic take-off is not suitable for all model aircraft, it's more suitable for hand throwing or catapult-assisted take-off.
Guilin Feiyu Electronic Technology Co., Ltd. climbing; Phase Two: The aircraft will turn into auto circle mode automatically after climb to the target altitude. Afterwards the aircraft climb to the new target altitude 110 meters while fly to the home point then hover above the home point and wait for the next command. In the process of the auto take off process, the throttle can not control by pilot, another rockers (Aileron, Elevator, Rudder) of the remote control can manual assisted for auto take off.
Guilin Feiyu Electronic Technology Co., Ltd. 14.4.2 Automatic Landing Achieving In order to achieve the auto landing, the aircraft need two points to confirm the landing route: Landing start point and Landing end point. PandaⅡ autopilot will generate the landing route according to this two point. Refer to the picture, landing start point ―A‖, landing end point ―B‖, landing route ―A->B‖, distance of ―A‖ and ―B‖ suggest set up more than 5 meters.
Guilin Feiyu Electronic Technology Co., Ltd. 14.4.3 Automatic Landing Point Setting There are three option for landing point setting .The landing point can set up in 2D view or 3D view on the GCS. Introduce the setting in 2D view as a reference, setting in 3D view please refer to the manual of the GCS. Click on the ―Land Start‖ or ―Land End‖ button in page ―Route‖ in the parameter setting bar. Select the setting mode in the pop up setting dialog.
Guilin Feiyu Electronic Technology Co., Ltd. 110.283 in the longitude edit box,25.277 in the latitude edit box, click on ‖ OK ‖ button, it will mark the landing starting point at the target coordinates on the map, show as the following interface. (Landing ending point please refer to the operation of the setting for landing starting point.) 14.5 RC Switch (SW2) Setting Sw2, the three position switch which control navigation working modes can configurate via the GCS software.
Guilin Feiyu Electronic Technology Co., Ltd. 14.6 Record Servo Neutral Adjust the center of gravity of the aircraft well, fix the devices on the aircraft, then the neutral can be record after place the aircraft in correct attitude (The adjustment of COG of the aircraft we will use fly wing X8 as a reference, please refer to the Appendix B). Neutral Servo is the reference value of the autopilot when work in the navigation working mode. The servo neutral must be record in correct attitude.
Guilin Feiyu Electronic Technology Co., Ltd. Please read the POS information after the aircraft landing on the ground.
Guilin Feiyu Electronic Technology Co., Ltd. 15.1.1 Route Planning By Mouse Click Click ― MOU PLAN ‖ button, mouse click the target point on the map the waypoint will generate . Right click the mouse or click the ―END PLAN‖ button to end the route planning. If you want to modify the data, firstly, select the information of the waypoint, then edit the information in this edit box. You can add or delete the waypoint.
Guilin Feiyu Electronic Technology Co., Ltd. upload into autopilot, otherwise waypoints will be lost after power outage. Please don’t click any other buttons when the route is in the uploading or downloading status. 15.1.2 Regional Auto Route Planning Firstly, set up the ―Line Spacing‖, ―Distance Buffer‖, then select the route direction (Horizontal please select the ―Select Rect H‖ button, vertical please select the ―Select Rect V ‖ button).
Guilin Feiyu Electronic Technology Co., Ltd. Route planning in 3D view need to make altitude initialization, use to extracting the initial relative altitude of the routes in Google earth, otherwise the route may be obscured under layer. If the autopilot system connect to the GCS, after GPS fixed position the software will initialize the altitude automatically. Otherwise you have to manual initialize. 15.2.
Guilin Feiyu Electronic Technology Co., Ltd. 15.2.2 Regional Auto Route Planning In 3D After initialized altitude .Input the route altitude, spacing, turn distance in parameter edit box, click on ―Set‖ button to confirm the setting. Click on the ―Area Start‖ button mouse change into gripper type, press on ―Ctrl‖ button on the keyboard, select three vertices of the target area on the map, the fourth vertex of the area will generated automatically.
Guilin Feiyu Electronic Technology Co., Ltd. Figure Aerial Route Planning Interface After route planning completely, please click ―Upload‖ button to upload the route to the autopilot. After upload the route successfully, it will pop up the following dialog box, click ― OK ‖ button to confirm. In order to ensure the waypoint upload with correct information, after uploading, please clear the current information on the map via click the ―Clear‖ button.
Guilin Feiyu Electronic Technology Co., Ltd. 15.2.3 Route Planning By Mouse Click In 3D View After initialized altitude. Input the altitude in parameter edit box, click on ―Set‖ button to confirm the setting. Click on the ‖Start‖ button, the mouse change into gripper type, press on the ―Ctrl‖ button on the keyboard, mouse click on the target point on the map to set the corresponding navigation point.
Guilin Feiyu Electronic Technology Co., Ltd. the batteries is normal please clamp the batteries after confirm the center of the gravity. Step C: Power on the system for checking on the ground. 1) 2) 3) Turn on the RC transmitter, check the power and the flight mode (Select the traditional layout of fixed wing flight mode). Start the computer, run the GCS software, power on the part of the autopilot system on the ground.
Guilin Feiyu Electronic Technology Co., Ltd. the PandaⅡ autopilot without any changing, and the servo neutral don‘t need record again after save with correct altitude). After finish the parameter checking and change, please click the “ Save ” button in page ” Param1” in the tool bar to save the setting. Step F: Air route planning and the landing point setting 1) 2) Make sure the air route within the flying range (the first fly please set up a simple air route for testing).
Guilin Feiyu Electronic Technology Co., Ltd. Step K: The Post processing 1) Power off the aircraft after landing, turn off the RC unit and GCS, take back the aircraft. 2) Read the image from the camera, the POS information from the PandaⅡ autopilot, then post processing. Appendix Appendix A: Introduction For Other Functions And Settings 1. “Click Point Flight” Working Mode PandaⅡ autopilot can enter the ―Click Point Flight‖ mode under any working mode.
Guilin Feiyu Electronic Technology Co., Ltd. 3. Special Instruction For Navigation Working Mode The aircraft can not be control by Remote Control when work in navigation mode except Fixed altitude & Heading lock Mode. The aircraft can be control by Remote Control when work in Fixed altitude & Heading lock Mode except the throttle. When working in navigation mode, once the flight altitude descend to less than 12 meters, the throttle will shut down. 4.
Guilin Feiyu Electronic Technology Co., Ltd. If the target waypoint setting when the aircraft work in other working mode (not in the path navigation mode)，the air routes will start from the target waypoint when switch to the path navigation mode. (2) Operation Of Setting Target Waypoint Click on “SET POINT” button in page “Route” in the tool bar on GCS.
Guilin Feiyu Electronic Technology Co., Ltd. 7. Up/Down Data Frequency "Teleme Rate" Refers to the autopilot data downlink frequency. Because the limit of the data radio performance, please set up the "Teleme Rate" to 1HZ. "RC Rate" means the remote control frequency when using the Remote Adaptor. Because the limit of the data radio performance, please set up the "RC Rate" to 10 HZ. If the frequency is set too high, it will obstruct the communication of the data radio and can not communicate at all.
Guilin Feiyu Electronic Technology Co., Ltd. Param1” page in the tool bar to save the setting. Appendix B: Adjust The Center Of Gravity Lift the aircraft at the design COG (center of gravity) point. It is OK if the aircraft can satisfy the conditions: maintain balance at rolling and the head or tail slowly title to one side. Please fix the batteries and the other equipment well after finish the adjustment.
Guilin Feiyu Electronic Technology Co., Ltd. (4) Map making Click the “Make Map” button to grab the map after select the region. 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. In the process of map making, the total number of the pictures, the serial number of the pictures which is grabbing at present will display in the message bar. Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd. (5) Finish grabbing the pictures, it will pop-up a dialog box to prompt that getting picture is OK. Click ―Confirm‖ button, choose the save path in the save dialog box, the file can be rename, but please don‘t change the file format. Click the ―Save‖ button to finish making map. Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com Page 54 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd. Map making success should be generate 3 format files with the same name, ( “.gst”, “.tab”, “.jpeg” files). The .gst file is the map file that load in the 2D view on the GCS, after load it can do route planning or other operations. The region have selected too large or too small may cause failure of the map making. Total number of the pictures should be less than 512 pictures.
Guilin Feiyu Electronic Technology Co., Ltd. After finish the voltage calibration, please click on ―Save‖ button in page ―Para1‖ to save the setting to the autopilot, otherwise the autopilot will restore the original settings after power off. ( 3 ) After the voltage calibration success, the voltage display on the GCS(―BAT1‖) is the power voltage which have been calibrated . Voltage can be calibrate through USB cable connect to the autopilot directly or calibrate through the data radio.
Guilin Feiyu Electronic Technology Co., Ltd. ( 2 ) Airspeed Sensor calibration: Suggest that calibration in the windless flight environment. Take off after Airspeed Sensor initialization. Keep the aircraft level flight, observe the current airspeed and the GPS speed try to calibrate both to uniform (Also suggest that the airspeed less than GPS speed 5~10KM).
Guilin Feiyu Electronic Technology Co., Ltd. If need for other POS data file please follow the above steps. 2. POS Data Instructions 1) The file name according to date and time of the current GPS data: year-month-day, hour-minute-second. The sequence number will + 1 after record a new file. 2) Open .txt document, every data is separated by ―,‖ and a line of data is created in every photo-taken. Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com Page 58 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd. Instructions Of Every Data Type of command Pos information Fields 1 Photo serial No.
Guilin Feiyu Electronic Technology Co., Ltd. ( 2 ) Right click【Ports: Silicon Labs CP210x USB to UART Bridge（COM**） 】, select "Properties‖. ( 3 ) Switch to the "Port Setting" then click "Advanced (A)" button. Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com Page 60 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd. ( 4 ) In the settings window click on the COM number, please select the available COM number which within COM10 (For example COM3) and then click "Confirm" button to confirm the setting. ( 5 ) Check in the ―Device Manager‖ again , and the port number will change to COM3. Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com Page 61 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd. Appendix H: Run The GCS As Administrator Appendix J: Fail Save Instructions Setting Home Point After power on the autopilot system, the point where the GPS position first time will be record as home point automatically. The home point can be reset by click on the ―Return Pt‖ button in page "Route" in the toolbar. Click the ―Return Pt‖ button, then left click mouse on the map, the point will be record as the new home point.
Guilin Feiyu Electronic Technology Co., Ltd. mode)‖. RC receiver connect to Remote Adapter, the Panda Ⅱ will detect the communication automatically when in flying, if the communication is interrupt by 5 seconds continuous, the PandaⅡ autopilot will switch into RTL "Return to Launch " working mode automatically. Appendix K: Photograph Caption Of The Camera Refit The P1 port on the autopilot module is the photograph controlling interface.
Guilin Feiyu Electronic Technology Co., Ltd. Appendix L: PID Control----“Turn Ctrl” Parameter Adjustment. There are three items in one parameter: P、I、D. When the PandaⅡ autopilot work in "navigation" mode, if the aircraft flight from point A to point B, and when one of the following situation occurs please modify corresponding settings according to the instructions below to get a better flying .
Guilin Feiyu Electronic Technology Co., Ltd. please adjust the parameter : "Param1" -> "PID Control" -> "Turn Ctrl" , decrease the 1st and 3rd items, if the situation still exist, please fine tune the 3rd item again, increase first then tune it smaller until appropriate. On the basis of the original value, decrease these 2 parameters Situation 3: The aircraft always deviate from the center of the line, please adjust the parameter: "Param1" -> "PID Control" -> "Turn Ctrl", increase the 2rd item.
Guilin Feiyu Electronic Technology Co., Ltd. On the basis of the original value, decrease this parameter Appendix M: Default Parameters Of PandaⅡ Autopilot PID Control Name Parameter I P D Turn Ctrl 60 20 60 Altitude Ctrl 50 10 50 Throttle Ctrl 50 10 50 Head Stability 50 10 50 Pitch Stability 50 20 50 Roll Stability 50 20 50 Flight Parameters Name Parameter Instruction TGT SPD 68.4 (Km/h) The expectations speed when work in the navigation working mode.
Guilin Feiyu Electronic Technology Co., Ltd. PhoIntval 4 (S) The interval of auto photo (Timing-PG). Cruise thr 50% Throttle reference quantity navigation working mode. PG DELAY 1200 (ms) The interval time between output the camera shutter and completely save the POS data of the photo ASP 120 The reference value of the airspeed sensor calibration. when switch to the Auto Take Off Parameters Name Parameter Instruction TakeOff pitch 15° The minimum climb angle during auto takeoff.
Guilin Feiyu Electronic Technology Co., Ltd. Appendix N: Firmware Upgrade PandaⅡ autopilot contain the basic function of firmware upgrade, users can update to the latest firmware which release on the official website: www.feiyu-tech.com. 1. Steps for firmware upgrade (1) Please visit the official website of Feiyu Tech: www.feiyu-tech.com to download the latest firmware and the firmware upgrade software and the USB driver.
Guilin Feiyu Electronic Technology Co., Ltd. (4) USB data cable connect to the "UART" port on the PandaⅡ. ―Connect OK!‖ will display in the information bar on the software after connect successfully. (5) Click the "Read the version number" button to get the information of current firmware in autopilot, click on "Select the file" button to select the firmware (.Bin file). Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com Page 69 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd. (6) Click the ―Start upgrade‖ button, the progress of upgrade will display in information bar on the software, waiting for completing the upgrading. (7) Firmware upgrade success, close the serial port, remove the USB cable. Guilin Feiyu Electronic Technology Co., Ltd http://www.feiyu-tech.com Page 70 service@feiyu-tech.
Guilin Feiyu Electronic Technology Co., Ltd. 2. Notes In Upgrading ( 1 ) Please remove all devices before firmware upgrade. ( 2 ) Please operate step by step, and ensure that click ―Open‖ button to open the series port before the USB data connect to the PandaⅡ. ( 3 ) Please don‘t interrupt the upgrading forcibly. ( 4 ) After completes firmware upgrade. It will fail to get the current information of the firmware if click the "Read the version number" button directly.
