Zerotech YS-S4 - Page 30

YS-S4 Multi-rotor Autopilot User Manual V1.4
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Inthismode,craftwillholdthealtitudebutnotholdtheposition.WhentheTHRstickisinits50%position
thecraftwillhoverinthecurrentaltitudebutnotatitscurrentposition(thecraftwilldriftwhentheGPSisnot
locked),butthecraft
canstillbecontrolledmanually.Left/rightiscontrolledbytheAILERONStick,Up/Down
controlledbytheELEVATORstick,directioniscontrolledbytheRUDDERstick,andheightcontrolle dbyTHRstick.
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IftheTHRstickis50%,craftwillauto‐hover;
IfTHRstickismorethan50%,craftwillfly
upward;
IfTHRstickislessthan50%,craftwilldescend.
TheCraftcanflytoanyaltitudecontrolledbyTHRstick,andflytoanypositioncontrolledbytheother
sticks.
(4)Autohover
WithGPSlocated(whensatelliteslockedaremorethan5)andCH5isinposition2
andCH6inposition1,the
S4willenterauto‐hovermode.
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Inthismode,theaircraftwillholditspositionandaltitude.YourTXsticksshouldallbeinthemidposition.When
THRstickisaroundthemidpositionthecraftwillhoverinitscurrentposition,(Thecraftdoes
notdriftbecause
GPShaslocked)andalsomaycontrolledmanually.
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Left/rightiscontrolledbytheAILERONStick,Up/DowncontrolledbytheELEVATORstick,directionis
controlledbytheRUDDERstick,andheightcontrolledbyTHRstick.
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IftheTHRstickis50%,craftwillauto‐hover;
IfTHRstick
ismorethan50%,craftwillflyupward;
IfTHRstickislessthan50%,craftwilldescend.
TheCraftcanflytoanyaltitudecontrolledbyTHRstick,andflytoanypositioncontrolledbytheother
sticks.
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(5)ReturnandLand(RTL)
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WithGPSlocked(morethan5satellites
locked)andMotorarmingdone,thecraftwillrecorditshomeposition.
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a) PushCH6toposition2toenterRTL(returnandland)mode.IntheReturnandLandmode,thecraftwillreturn
homeandlandautomatically.
b) Afteractivation,youcanonlychangetoStabilizationModeif
youwanttotakeovertheflightcontrols.Ifyou
movefromRTLtoAutoHoverMode,theaircraftwillcontinuewiththeReturnandLandprocess.
c) Onarrivalat‘Home’,theYS‐S4V2willbegintodescend.Atthistime,theautopilotwillallowyoutotake
overAIL
andRUDcontrolstoadjustthelandingsite,buttheTHRcannotbecontrolled.TheTHRcontrolisfully
autonomousfordescentandlanding.
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d) Altitude:Ifthecraftisbeyond25metersawayfromhomepositionandbelow20metersaltitude,theYS‐S4V2
willascend
to20metersbeforei nitiatingRTHwhenitentersRTLmode.Ifitsheightismorethan20meters,the
YS‐S4V2willmaintainaltitudeduringRTH.Ifthedistancefromhomepositionismorethan20meters,theYS‐S4