Zerotech YS-S4 Manual de usuario

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

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YS‐S4Multi‐rotorAutopilot

UserManual

V1.4

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ZeroUAV(Beijing)IntelligenceTechnologyCo.Ltd

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

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TableofContents

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TableofContents.......................................................................................................................................................2

1.WarningandDisclaimer.........................................................................................................................................3

2.In‐the‐Box..............................................................................................................................................................4

3.Functions................................................................................................................................................................5

4.Installation.............................................................................................................................................................6

5.Connections...........................................................................................................................................................7

5.1Assembly..............................................................................................................................................................7

5.2Howtoconnectthemodules...............................................................................................................................8

6.ConfigurationsBeforeFlying..................................................................................................................................9

6.1InstallPhoneGCS.................................................................................................................................................9

6.2TxSetup..............................................................................................................................................................10

6.3ParameterSetup................................................................................................................................................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.Tasks.....................................................................................................................................................................23

8.1ServoGimbal......................................................................................................................................................23

9.FirmwareUpgrade...............................................................................................................................................24

Appendix..................................................................................................................................................................27

LEDIndicatorMeanings...........................................................................................................................................27

FlightModeDescription...........................................................................................................................................28

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1. WarningandDisclaimer

ThankyouforpurchasingthisZEROUAVproduct.Theproductisanadvancedandspecificallydedicatedcontrol

item.Anymisusemayresultindamagetoproperty,injuryorevendeath.Theusermustconformtothelawand

usetheequipmentresponsibly.Thisproductisnotsuitableforpeopleundertheageof18.Pleasereadthis

disclaimercarefullybeforeusingtheproduct,orvisittheYS‐S4webpageathttp://www.zerouav.comtoreferto

relevantupdatesorinformation.

Warning

Pleasekeeptheproductoutofreachofchildren.

Makesuretheaircraftiskeptawayfrompeopleanddangerssuchasbuildingsroadsandproperty.

Wesuggestyouflyyouraircraftatspeciallydesignatedareas.

PleasedoNOTflythisproductwhenaffectedbydrunkenness,tiredness,drugs,dizzinessfatigue,

nauseaoranyotherconditionthatmightimpairyourabilitytocontroltheaircraft.

Pleasestrictlyfollowtheusermanualwhenoperatingthedevice.

Pleasemakesureallcomponentsofthedeviceareconnectedandworkwell,otherwiseyourunitmay

bedamaged,destroyedorevenburied!

Pleasepoweroffandremovepropellersbeforemakinganyadjustmentstotheunitsuchascalibrating,

upgradingfirmwareorchangingparameters.Thereisaneverpresentdangerofthepropellersstarting

unexpectedlyandcausinginjury.

PleasedoNOTfly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usingthisproduct.

c. ZEROTECHacceptsnoliabilityfordamage(s)orinjuriesdirectlyorindirectlyfromtheuseofthis

productinthefollowingconditions:

1) Damage(s)orinjuriesincurredwhenusersaredrunk,takingdrugs,druganesthesia,dizziness,fatigue,nausea

andanyotherconditionsnomatterphysicallyormentallythatcouldimpairtheirability.

2) Damage(s)orinjuriescausedbyintentionaloperationoraccident.

3) Anymentaldamagecompensationcausedbyintentionaloperationoraccident.

4) Failuretofollowtheguidanceofthemanualtoassembleoroperate.

5) Malfunctionscausedbyrefitorreplacementwithnon‐ZEROTECHaccessoriesandparts.

6) Damage(s)orinjuriescausedbyusingthirdpartyproductsorfakeZEROTECHproducts.

7) Damage(s)orinjuriescausedbymisuseorpoorjudgment.

8) Damage(s)orinjuriescausedbymechanicalfailureduetowearandtear.

9) Damage(s)orinjuriescausedbycontinuedflyingafterlowvoltageprotectionalarmistriggered.

10) Damage(s)orinjuriescausedbyknowinglyflyingtheaircraftinanabnormalcondition(suchaswater,oil,soil,

sandandotherunknownmaterialingressionintotheaircraftoriftheassemblyisnotcompleted,themain

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componentshaveobviousfaults,obviousdefectsormissingaccessories).

11) Damage(s)orinjuriescausedbyflyinginthefollowingsituations:Usingtheaircraftinamagneticinterference

area,radiointerferenceareaorgovernmentregulatedno‐flyzones,inbadlight,whenthepilothasblocked,

fuzzyorpooreyesightorinanyotherconditionsnotsuitableforoperating.

12) Damage(s)orinjuriescausedbyusinginbadweather,includingrain,wind(morethanamoderatebreeze),snow,

hail,lightning,tornado,hurricaneetc.

13) Damage(s)orinjuriescausedwhentheaircraftisinthefollowingsituations:collision,fire,explosion,flood,

tsunami,subsidence,icetrapped,avalanche,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.

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2. IntheBox

■Hardware□Software

■Maincontrollerx1

TheMC(MainController)withitsintegralInertialMeasurementUnit(IMU)combinesandcommunicates

withtheothermodulesandexternalelectronicdevicestocarryoutitsfunctionasacompleteautopilot

system.



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■GPS+COMPASSx1

TheGPS/Compassmoduleisforsensingtheorientationoftheaircraftbyreadingits

positionanddirection



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■LEDx1

TheLEDindicatesthecurrentflightstatusofthecraft..Thelightshowsinformationsuchasflightmode,

numberofsatellitesinviewandbatteryused.

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■PowerModulex1

Suppliesregulatedpowerfortheautopilot

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■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.

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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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4. Installation

4.1YS‐S4ModuleInstallation

1) TheYS‐S4Moduleshouldbeplacedlevelonthemainbodyoftheaircraft.

2) ForbestresultsinstallattheCenterofGravity(CoG)oftheaircraft.

3) The“FrontArrow”MUSTpointtowardstheheadoftheaircraft:



 

IMPORTANT:

TheYS‐S4willadapttomostaircrafttypeswithoutinnerdampening.Itmaynotadaptsatisfactorilytolarger

aircraft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.

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2) TheGPSmoduleshouldbeinstalledonalevelGPSstand,mountedhigherthantheelectricalcomponentson

theaircraft.Thisensuresminimalmagneticfieldeffectfromtheotheron‐boardcomponents,suchaspower

cables,transmitters,motors,ESCsandcamera.



Arrowtowards

aircrafthead

Towards aircraft nose

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5. Connections

5.1

Assembly



IMPORTANT

a. Ensuretheoriginalfactorysuppliedpowermoduleisused.Themanufacturerholdsnoresponsibilityifthe

S4isburntoutbyusinganyotherpowermodule.

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b. ThePowersupplymoduleandtheWI‐FImodulemustconnecttoa3S‐6SLIPObattery.Thevoltagerange

wouldthereforebe10.8V‐25.5V.Normallythiswouldbeyourmainflightbattery.



c. TheRCreceiver(PPMsupported)ispowereddirectlyfromtheMC.DONOTpowerthereceiverwithany

additionalmoduleortheYS‐S4unitmaybeburntout.

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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magnetic

field.KeepthebatterywiresasfarawayaspossiblefromtheGPSmoduleotherwiseyouraircraftmayflyin

circles!



e. Ifusingaservogimbal,makesuretheSERVOsarepoweredseparately.



f. WHITEcorewireisalwaysthesignalline,theREDcorewireispositive;theBLACKcorewireisground(0v).

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

g. OnlytheUSBinterfacecanbeusedforParameterSettingandFirmwareUpgrade.TheCOMportisalsoan

interfacetoconnecttoaWI‐FImodule.



h. TheYS‐S4DOESNOTsupportESCcalibrationTheESCsshouldbecalibratedindependentlyreferringtothe

manufacturersuppliedESCmanual.ItisagoodideatodisabletheESClow‐voltagecutout.WithmostESCsall

youneeddoisconfigurethemtoNiMH.

5.2HowtoConnect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LEDinterfaceoftheS4maincontrollerasshown.



3)ConnecttheGPSmodule

TheGPSmodulehasredandblackends;theREDendisconnectedtotheS4GPS‐Rinterface,andtheblackendto

theGPS‐Binterface.Thesideoftheslotfacesup.



4)Connectthereceiver

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

Thereceivershouldbeconnectedasfollows:theWHITEwire(signal)isup,theREDwire(positive)isinthe

middle,andtheBLACKwire(ground)isatthebottom.TheESCwiresshouldbeconnectedinthesamewaybut

NB:IfyourESCshaveaBEC(supplyvoltageviaabatteryequivalencecircuit)thenyoumustremovetheredwire

fromeach.IfyouarenotsureabouttheBEC,removetheredwireanyway!



5)ConnecttheWI‐FIModule(extendedconnection)

TheWI‐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optionalWI‐FImodule.Downloadthe“Phone‐GCS

Software‐YSS4V2”fromourofficialwebsite

http://www.zerouav.com/en/service/Download/Software/

TheAppmustbeinstalledtotheMobile‐phonememorycard.Itcanbeinstalledautomaticallybyselecting

INSTALLontheAPKfileonceinthefilemanager.



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

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

S4V2‐GCS



StarttheGCS;youwillseetheserialnumberandfirmwareversionfortheautopilotontheinterfaceoncethe

datahasconnected.



AfterconnectingyourWI‐FItothe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controlthe

flightmodes:



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