V10 Instruction
1 Equipment List
| Module Equipment | Model | Quantity |
| Main Control | V10-PRO | 1 |
| RTK Positioning Antenna | RTK-ANT | 2 |
| Gnss Module | GNSS | 1 |
2 Installation and Debugging
2.1 Schematic Diagram of the Connection
2.2 Interfaces of the Flight Control Module
| Interface | Description | Remarks |
| PWR | Flight control power input | 6~120V wide voltage input power supply |
| M1~M16 | PWM signal interface | Connect to actuator devices such as ESCs and servos, Refer to the aircraft model settings in the ground station software to determine which interface the specific ESC is connected to, Note that the second row of the V10-PRO main control Dupont connector is the PWM signal of M9~M16. |
| Link | Remote telemetry seria lport | Connect to the data transmission link, TTL level, 115200 baud rate. |
| SBUS.I | SBUS signal Input | Connect to the signal output of the remote control SBUS receiver |
| SBUS.O | SBUS Signal output | Connect to pods and other equipment that can be controlled by the SBUS signal, such as the Siyi Z10 pod，The signal of this interface is the same as that of SBUS.I. Users can directly control the pod and other equipment connected to this interface through the remote control |
| GNSS | GNSS-CAN module interface | Connect to the GNSS module |
| ASPD | ASPD-CAN module interface | Connect to the airspeed meter module, Hobbywing CAN ESC data, or other 500k CAN device data |
| RTCM | Base station data interface | Connect to the airborne end of the RTK base station differential link or the 4G network RTK airborne module. Used to receive differential base station data |
| COM1 | Payload serial port | TTL serial port, can be connected to the payload and send flight control attitude and position data to the payload |
| ANT1\ANT2 | Antenna interface of the | ANT1 is the main positioning antenna, located on the left when installed left and right, and on the back when installed |
| Interface | Description | Remarks |
| RTK board | front and back，ANT2 is the main directional antenna.Located on the right when installed left and right, and on the front when installed front and back |
2.3 Connection of Common Links or Remote Control Receivers
- H16
- H20/H30
- MK15/MK32
- S2
3 Factory Mode
After installing the equipment, you need to enter this page to configure various installation and debugging parameters.
3.1 Aircraft Model Setting
Select the aircraft model on this page.
1.Connect the corresponding ESC signal according to the motor rotation direction shown in the figure. For example:
- M1 is the counterclockwise motor signal of the right front arm of the X4 axis 8-propeller;
- M5 is the clockwise motor signal of the right front arm of the X4 axis 8-propeller;
2.Be sure to select the correct aircraft model and correctly connect the ESC signal line according to the aircraft model diagram, otherwise it will lead to a crash accident.
3.2 Installation Setting
Set the flight control module, antenna, remote control, ESC, etc. on this interface.
1.Flight Control Installation
Be sure to set the correct installation direction of the flight control and the RTK antenna, otherwise it will lead to a crash accident.
2.RTK Installation
- The antennas of the ANT1 and ANT2 interfaces of the flight control must be installed according to the instructions in the figure and cannot be installed reversely, otherwise it will lead to a crash accident.
- The antenna should be installed in an open and unobstructed position on the fuselage to achieve good satellite search results.
3.GNSS Installation
- According to the instructions and red letter instructions in the figure, setting the installation position deviation compensation parameter will result in more accurate flight performance.
- The GNSS module contains a magnetic compass and the arrow must point to the front of the nose.
- The GNSS module should be installed in an open and unobstructed position on the fuselage and away from motors, high-current cables and steel materials to achieve good satellite search and magnetic direction finding results.
4.Horizontal Calibration and Magnetic Calibration
- Horizontal Calibration:
Place the aircraft on a horizontal ground, click the horizontal calibration button, and wait fort wo seconds. The roll and pitch angles will converge to around 0 degrees and the calibration is completed.Generally, horizontal calibration is not required for normal installation. Horizontal calibration can be performed when the following phenomena are found.
- When flying in the attitude mode, the aircraft drifts significantly in a fixed direction after the joystick is centered. It indicates that there is a deviation between the flight control horizontal plane and the aircraft power plane and horizontal calibration can be performed once.
- When the aircraft is placed on a horizontal ground, the roll and pitch attitude data of the flight control exceeds 2 degrees and horizontal calibration can be performed once.
- Magnetic Calibration:
According to the prompts in the APP figure, manually lift the aircraft and perform horizontal rotation and vertical rotation in turn and complete the magnetic calibration according to the APP prompts.
The V10-PRO flight control is equipped with dual antenna direction finding and generally does not require magnetic calibration. Magnetic calibration can be performed when the following scenarios occur.
- It is recommended to perform magnetic calibration once for the first installation.
- The APP reports a magnetic interference warning and magnetic calibration can be performed once.
3.3 Parameter Setting
Set the sensitivity parameters related to the flight control on this page.
Usually, the default sensitivity parameters are suitable for most aircraft flight situations. For some common power sets, we have recommended empirical parameter references as follows for supplementary reference parameters.
- Except for the parameters in “Sensitivity Setting”, adjustments are required for different power and aircraft platforms. Most of the other parameters do not need to be modified in most cases.
- When the fuselage shakes at a lower frequency, the “Roll Attitude Self-stabilization” and “Pitch Attitude Self-stabilization” can be appropriately increased. Increase or decrease by 10~20 each time. The “Roll Damping” and “Pitch Damping” can be appropriately increased by 1~2 each time.
- When the fuselage trembles at a higher frequency, the “Roll Attitude Self-stabilization” and “Pitch Attitude Self-stabilization” can be appropriately decreased by 10~20 each time. The “Roll Damping” and “Pitch Damping” can be appropriately decreased by 1~2 each time.
- When the manual joystick is centered and the aircraft shakes back and forth once or twice and then converges to the horizontal attitude, the “Roll Damping” and “Pitch Damping” can be appropriately increased by 1~2 each time.
- For special requirements, please contact the business and technical support and provide the ESC model, wheelbase, takeoff weight and blade size information of the aircraft platform and we will provide appropriate parameter reference replies.
3.4 Remote Control Setting
On this page, you can check whether the flight control is connected to the remote control signal of theSBUS receiver and calibrate the remote control signal.
Note:
- The selection of American hand and Japanese hand on this page only modifies the display position of the throttle and heading channels in the joystick schematic diagram. If you need to really modify the remote control hand type, you need to modify it in the APP or settings of the remote control itself.
- Check whether the action directions of the roll, pitch, throttle and heading joysticks are consistent with the joystick diagram. If they are inconsistent, you need to reverse the corresponding channels in the settings of the remote control itself.
- he default strokes of most remote controls can be directly used without modification. Generally, the stroke of the remote control itself can be set to 1000~2000.
- The flight control uses the 5th and 6th channels of the remote control for mode switching and return triggering and the 7th to 16th channels can be used for other purposes according to user needs.
3.5 Motor Setting
On this page, you can check the throttle signal output by the flight control to each ESC. If the CAN ESC is used, the number configuration of the CAN ESC and the more specific voltage, current and speed information of the CAN ESC can be checked on this page.
CAN ESC Configuration:
The flight control has a protocol adaptation with the CAN ESC of Hobbywing.
- Connect the CAN signals of all CAN ESCs in parallel to the ASPD interface of the flight control; connect the PWM signals to the PWM signal interfaces of M1~M16 respectively according to the normal aircraft model.
- The number of the CAN ESC needs to be set for the first installation, otherwise all ESCs are connected in parallel at one interface and the flight control cannot distinguish them.
- Click the green M1~M16 buttons on the left side of this page in turn to set the CAN ESC. After clicking one, the corresponding Hobbywing ESC will change the light language. After waiting for 2 seconds, the voltage, current and speed information of the ESC will be displayed below the signal progress bar.
4 Equipment Management
4.1 Flight Control
On this page, the firmware upgrade and flight data download of the flight control can be carried out.
Flight Control Upgrade:
Online upgrade or local upgrade can be carried out. The online upgrade is the general firmware and the customized firmware for special projects please contact the special project personnel.
After the upgrade reaches 100%, power on the flight control again. The flight control needs about 10s for internal update and the ESC will make a ticking sound during this period. After completion, the ground station APP can re-establish the connection.
4.2 Payload
On this page, the mapping and configuration of the payload equipment controlled by the PWM signal such as the ejection servo and lighting are carried out.
Explanation of Each Parameter Set
1.Remote Control Mapping Channel
Which channel of the remote control is used to manually switch the servo or light on and off.
Multiple servos or lights can be mapped to one remote control channel to achieve the function that one lever can simultaneously switch on and off multiple servos.
For example, the setting in the figure below indicates that the flight control is connected to 6 ejection servos which are respectively connected to the M5~M8 and M14, M1 channels. The manual switch operation is simultaneously carried out through the 7th channel of the remote control.
2.Flight Control Mapping Channel
Which PWM signal interface of the flight control M1~M16 is used to switch the servo or light on and off.
Each servo or light should be mapped to a different PWM signal interface of the flight control.
3.Ejection Device/Lighting On Value
The PWM signal for turning on the ejection servo or light. Usually, the value is in the range of 1000~2000.If a high level is required to turn on, the value is filled with 2500. If a low level is required, the value is filled with 0.
4.Ejection Device/Lighting Off Value
The PWM signal for turning off the ejection servo or light. Usually, the value is in the range of 1000~2000.
If a high level is required to turn off, the value is filled with 2500. If a low level is required, the value is filled with 0.
4.3 Battery
On this page, the information of the smart battery can be viewed.
The flight control has a smart battery CAN protocol adaptation with battery manufacturers such as Tuttu, Haiying and Zhi’an and is connected to the smart battery through the CAN-HUB interface.
It supports the simultaneous connection of multiple batteries (up to 5, and the smart battery manufacturer needs to allocate the battery ID by itself according to the protocol).
4.4 Radar
The radar data can be viewed on this page. The flight control is connected to the radar through the CAN-HUB interface.
4.5 Gimbal
Select the model of the gimbal on this page. The APP will automatically match the network configuration of the video stream according to the gimbal model.
If the model of the gimbal used is not in the list, select “Other Models” and fill in the video stream address of the pgimbalod according to the instructions in the gimbal manual.
4.6 Remoter
On this page, the channel data of the remote control can be viewed and the remote control can be calibrated.
5 Manual Flight
The flight control can perform manual flight through the remote control that supports SBUS. There are two types of manual flight: attitude mode and fixed-point mode
- Attitude Mode: The joystick corresponds to the target flight attitude of the aircraft. When the joystick is centered, the aircraft attitude is kept horizontal and the throttle is set to a fixed height and the position is not locked. When there is an external disturbance such as wind, there will be a position drift.
- GNSS Mode: The joystick corresponds to the target flight speed of the aircraft. When the joystick is centered, the aircraft is kept at a fixed point and the throttle is set to a fixed height.
Steps for Quickly Starting Manual Flight:
1.Pre-flight Inspection
Confirm that there is no abnormal alarm in the APP and the positioning is good. The aircraft battery and motor power are normal.
2.Manual Unlock
Switch the flight control to the attitude mode or fixed-point mode through the lever of the 5th channel of the remote control. Unlock with the outer eight or inner eight joysticks. Note that the remote control needs to be calibrated before manual flight so that the flight control can correctly identify the joystick stroke.
After unlocking, the flight control will output the idle throttle. If there is no throttle lever action after unlocking and it lasts for 5 seconds, it will be automatically locked.
3.Manual Takeoff
Switch the flight control to the attitude mode or fixed-point mode through the lever of the 5th channel of the remote control. Unlock with the outer eight or inner eight joysticks. Note that the remote control needs to be calibrated before manual flight so that the flight control can correctly identify the joystick stroke.
After unlocking, the flight control will output the idle throttle. If there is no throttle lever action after unlocking and it lasts for 5 seconds, it will be automatically locked.
4.Manual Takeoff
After unlocking, push the throttle lever past the middle position and the flight control will increase the throttle for takeoff.
Note that after the throttle passes the middle position, do not vigorously move the roll and pitch levers when the aircraft is not off the ground, otherwise it may cause the aircraft to roll over on the ground.
5.Manual Forced Lock
In case of some abnormal situations during flight, manual locking may be required. Switch to the attitude mode or fixed-point mode and the inner eight or outer eight actions can be used for forced locking emergency.
Note that during normal flight, especially during maneuvering tests, do not move the joystick to the inner eight or outer eight gestures.
6 Logistics Operation
In the right sidebar, select “General Settings” -> “Application Mode” as “Logistics”. In the upper right corner, select the operation scenario “Manual Logistics”, “AB Logistics” or “Multi-point Logistics”.
6.1 Manual Logistics
Refer to manual flight for flight operations. On the flight page, the servo control panel can be opened, and the servos that need to be controlled can be selected for switching on or off. The servo switches can be operated either through the APP or through the mapped remote control channels.
When operating the release servos through the APP’s servo status panel, clicking the digital icon to turn it green indicates that this switch operation will act on the servo. One or several servos can be selected simultaneously for the switch operation. For example, in the following picture, servos 1 and 2 are selected. When the “Open” or “Close” button is clicked, both of these servos will be opened or closed.
6.2 AB Logistics
AB logistics is applicable to the situation of single transportation between two points. It can execute the cargo transportation from A to B and the reverse return from B to A.
The general applicable process of AB logistics:
1.Mission Planning
Click the mission planning button on the right side. The APP takes the current position of the aircraft as point A, and the user selects point B on the map. If the route between A and B is not a simple straight line, the “+” sign can be clicked to add intermediate points.
Open the AB mission editing panel on the left side to edit specific mission attributes. The height is the flight altitude of the AB route, and the “Speed” is the horizontal flight speed of the AB route. If the positions of A and B are already determined, the precise longitudes and latitudes of A and B can be manually edited.
- Logistics mode “Air Release”: After the aircraft reaches point B, it opens the release servos at the current altitude. Then the aircraft returns to point A in reverse order along the route and lands at point A.
- Logistics mode “Low-Altitude Release”. It is necessary to install a ground-facing radar. After the flight controller reaches point B, it automatically reduces the altitude. When the distance measured by the ground-facing radar reaches the “Low-Altitude Release Height”, the flight controller will open the release servos. Then the aircraft climbs to the route altitude and returns to A in reverse order along the route and lands at A. Note: A ground-facing radar must be equipped to implement this mode.
- Logistics mode “Landing to Pick Up”. The aircraft lands at point B, and the cargo on the aircraft is manually removed after landing.
After planning the mission, click the “Upload Route” on the right side to upload the mission route to the flight controller.
2. Mission Operation
Conduct pre-flight inspections, including checking that the power, motors, and APP are free of abnormalities and alarms, and then click the “Execute Mission” on the right side;
- Click “Unlock and Take Off”. After receiving the instruction, the aircraft unlocks and rotates at idle speed for 3 seconds, and then increases the throttle to take off vertically to the preset take-off altitude;
- Click “A->B”, and the aircraft will start from the first waypoint A and fly along the route in sequence to the last waypoint B;
- When reaching the last waypoint, the flight controller will perform the release operation, or return to A in reverse order along the route, or land at B according to the “Logistics Mode” preset in the mission planning;
- If the aircraft takes off from B and needs to fly back to A, after “Unlock and Take Off”, click “B->A”. The flight controller will start from point B and fly back to A in reverse order along the route and land at A.
- During the operation, you can click “Pause Mission”, and the flight controller will suspend the route and hover. Click “Continue Mission”, and the flight controller will continue to fly to the previous target waypoint.
- The “A-B” mission inherently includes the return process from B to A. If you want to return without continuing the route during the mission, clicking “Return to Home” can return to the take-off point.
6.3 Multi-point Logistics
Multi-point logistics can achieve the release at multiple release points along the route, and is applicable to the operation situation of one-time mounting and multiple release points.
1.Mission Planning
After selecting the waypoints on the map, open the left sidebar to edit the specific attributes of the waypoints.
The “Parameter Setting” will change the corresponding attributes of all waypoints. When unified changes such as altitude and speed are required, first modify them in this sub-window.
The “Individual Editing” can modify the specific attributes of each waypoint.
In the above picture, except for the longitude and latitude, the explanations of the other several attributes are as follows:
- Altitude: The relative altitude (relative to the take-off point) of this waypoint in meters. When the altitudes of the waypoints are inconsistent, the flight controller will fly along the slope of the line connecting the waypoints. If the set “Speed” conflicts with the slope of the route slope(for example, the slope is large, the vertical speed is limited, and the horizontal speed cannot reach the preset value), the flight controller will automatically reduce the speed to prioritize tracking the route slope.
- Speed: The horizontal speed in m/s when flying to this waypoint.
- Throw Mode: Air Release – release at the original altitude of the waypoint; Low-Altitude Release – lower the altitude at the waypoint according to the downward radar, and perform the release when the radar distance reaches the release altitude to the ground, and then climb back to the waypoint altitude and continue to the subsequent waypoints.
- Throw Channel: Which specific servos to open at this waypoint. You can select one or multiple servos. When the release is executed after reaching the waypoint, the selected servos will be opened.
After editing the route, click “Upload Route” to send the planned mission route to the flight controller. Click “Return” -> “Execute Mission” to enter the operation.
2.Mission Operation
- Conduct pre-flight inspections, including checking that the power, motors, and APP are free of abnormalities and alarms, and then click the “Execute Mission” on the right side;
- Click “Unlock and Take Off”. After receiving the instruction, the aircraft unlocks and rotates at idle speed for 3 seconds, and then increases the throttle to take off vertically to the preset take-off altitude;
- Click “Start Mission”, and the aircraft will fly along the planned route. For the waypoints with objects to be released, the flight controller will perform the corresponding release servo actions at those points.
- During the flight, you can click “Pause Mission”, and the flight controller will hover. Click “Continue Mission”, and the flight controller will fly to the previous target waypoint.
- Click on the digital icon of the waypoint, and a pop-up window will appear to execute the flight to that target point.
After flying to the last point, the flight controller will hover. During the flight, you can click “Return to Home” as needed, and the flight controller will return to the take-off point and land.
7 Patrol Operations
On the right sidebar of the flight page, select “Settings” -> “Application Mode” as “Patrol”.
In the upper right corner, you can choose “Manual Patrol”, “Pointing Patrol”, or “Route Patrol”.
7.1 Manual Patrol
Manual patrol is mainly controlled by the operator to fly the aircraft and operate the pod with the remote control. For specific flight operations, refer to the manual flight section.
7.2 Pointing Patrol
Pointing patrol is applicable to selecting the target position point on the map and quickly and conveniently controlling the aircraft to turn and point to or fly to that position point.
Fly to the target point
- Select the target position point on the map.
- Edit the specific information of the target position point in the left sidebar.
- Click “Fly to This Point”, and the flight controller will execute the flight to the target point. This instruction can be executed after the aircraft takes off. If it has not taken off, first “Unlock and Take Off” or use the manual remote control to make the aircraft take off.
- The heading on arrival indicates the direction in which the aircraft’s nose points after reaching the target point. “Default Heading” means keeping the current nose direction when arriving at the point. If the application scenario requires turning the nose to a certain direction (such as pointing due east) after arriving at the point, select “Specified Heading” (such as 90 degrees).
- After arriving at the point, if you want to land at this point, click “Land”. Note: If you want to land at a different location, the flight controller needs to be equipped with a downward radar to detect the altitude to the ground and achieve automatic early slow descent in the near-ground stage. Without a ground-facing radar, the minimum descent speed will be executed when landing at a different location.
Look at the target point
- Select the target position point on the map.
- Edit the specific information of the target position point in the left sidebar.
- Click “Look at This Point”, and the aircraft will keep its nose turned to point to the target point. If it subsequently switches to the route and automatically flies again, it will still keep its nose always pointing to the target point. Returning to home will automatically cancel the nose lock on this target point, and “Pointing Cancellation” will manually cancel the nose lock on this target point.
7.3 Route Patrol
Route patrol is used to fly and conduct patrol tasks along the planned route in a specified area.
1.Task Plan
- Mission Planning
Freely select waypoints from the ground station and set parameters. Timed and fixed -distance photography during the route can be set.
The photography POS during the route will be transmitted and displayed in real time on the APP, and the POS records can be exported through the APP.
- Strip Route
Strip routes are applicable to the scene of patrolling back and forth in strip-shaped areas, such as pipelines, highways, etc.
Select the center point of the strip route direction on the map, and the APP will automatically generate corresponding waypoints according to the strip route parameters in the left sidebar.
- Area Route
Block routes are used for the scene of internal coverage patrol in a specified closed area.
Select the boundary vertices of the block on the map, and the APP will automatically generate waypoints according to the block route parameters in the left sidebar.
After planning the route, click “Upload Route” to upload the waypoints to the flight controller.
2.Mission Execution
- Conduct pre-flight inspections, confirm that the APP has no abnormal alarms and has good positioning. The aircraft’s battery and motor power are normal.
- Click “Unlock and Take Off”, and the aircraft will automatically take off to the preset take-off altitude;
- Click “Start Mission”, and the aircraft will execute the mission according to the planned route;
- Click “Pause Mission”, and the aircraft will hover;
- Click “Continue Mission”, and the aircraft will continue to fly to the previous target waypoint;
- Click “Return to Home”, and the aircraft will return to the take-off point;
- Click on the digital icon of the waypoint, and a pop-up window will appear to execute the flight to that point;
- If you want to re-plan and upload the route during the mission, you can return to the planning page to re-plan and upload. The flight controller will fly according to the newly transmitted route at the next waypoint after executing the current target route. If you want to immediately execute according to the new route, you can directly click the new target waypoint to execute the flight to that point.
8 Cluster Control
The v10PRO flight controller is equipped with a cluster link and can support cluster control, that is, one GCS software can control multiple drones. The steps are as follows:
1）First, connect each aircraft separately and set a different ID number for each aircraft.
2）Power on all the drones, open the GCS ground station, and then you can see a list of multiple drones on the drone interface.
3）Select the “Multi-point Logistics” mode, click “Plan Mission”, and use the left mouse button to select logistics points on the map. You can edit the attributes of all waypoints or modify the attributes of individual waypoints.
4）After the route planning is completed, select the drones in the drone list and click “Upload Route”.
5）Repeat steps 3) and 4) to re-plan a route and upload it to another drone.
6）After completing the route planning and uploading for all drones, click “Execute Mission” to enter the mission operation interface, click the “Unlock and Take Off” button, select “All”, and all drones will take off.
7）After the drones automatically take off and climb to the set automatic take-off altitude, click “Start Mission”, and all the drones will automatically execute the tasks according to their respective routes.
8）During the route execution process, it is as shown in the following picture.
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