# Gemini F light C on troller M anual
V1. 1

Zero UAV (Beijing) Intelligence Technology Co., Ltd.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | 1 

# Table of C ontents

1 Warning and Disclaimer

................................ ................................ ................................ .................. 1

2 Terms and Abbreviations

................................ ................................ ................................ ................ 3

3 Functions

................................ ................................ ................................ ................................ ........ 4

4 In the Box

................................ ................................ ................................ ................................ ........ 5

5 Installation

................................ ................................ ................................ ................................ ...... 6 5.1 Airframe Types

................................ ................................ ................................ .............................. 6 5.2 Installation of Flight Controller

................................ ................................ ................................ ..... 7

5.3 Installation of the GPS

................................ ................................ ................................ .................. 7
6 Wiring

................................ ................................ ................................ ................................ ............. 8

6.1 Port Definitions

................................ ................................ ................................ ............................. 8
6.2 Wiring Diagram

................................ ................................ ................................ ............................. 9 7 System Preparation and Debugging

................................ ................................ .............................. 11

7.1 GCS Installation

................................ ................................ ................................ ........................... 11

7.1.1 Installation of Mobile GCS

................................ ................................ ............................... 11

7.1.2 Installation of PC GCS

................................ ................................ ................................ ...... 11

7.2 Wi

- Fi Configuration

................................ ................................ ................................ ..................... 11

7.2.1 Wi

- Fi Communication Mode

................................ ................................ ............................ 11

7.2.2 Wi

- Fi Configuration

................................ ................................ ................................ .......... 11 7.3 Setting up the Transmitter(s)

................................ ................................ ................................ ...... 14 7.3.1 Setting up Dual Transmitter Mode

................................ ................................ .................. 15 7.3.2 Setting up Single Trans mitter Mode

................................ ................................ ................ 16 8 Ground Control Software setup and Debugging

................................ ................................ ............ 17 8.1 Mobile Ground Station Debugging

................................ ................................ ............................. 17 8.1.1 Ground Station Software Auxiliary Setting (Installation Guideline)

................................ 17 8.1.2 Manual Settings

................................ ................................ ................................ ............... 19 8.2 PC Ground Station Setup and Debugging

................................ ................................ ................... 24 8.2.1 Ground Station Software Auxiliary Setting (Installation Guideline)

................................ 24 8.2.2 Manual Settings

................................ ................................ ................................ ............... 26 9 Pre Flight Inspection

................................ ................................ ................................ ...................... 31 9.1 Test Parachute Opening/Closing

................................ ................................ ................................ 31 9.2 Calibrating the Magnetic Compass

................................ ................................ ............................. 32 9.2.1 Using the Android GCS

................................ ................................ ................................ ..... 32 9.2.2 Compass Calibration Using a PC Ground Station

................................ ............................. 33 9.3 Unlocking and Arming the Motors

................................ ................................ ............................. 352 | Zero UAV (Beijing) Intelligence Technology Co., Ltd. 9.4 Inspecting Motor Rotational Direction

................................ ................................ ....................... 36 10 Flying at the Field

................................ ................................ ................................ ........................ 39 10.1 Flight Status

................................ ................................ ................................ .............................. 39

10.1.1 LED Status Indications

................................ ................................ ................................ .... 39

10.1.2 Motor Balance and Real Throttle Position

................................ ................................ ..... 40 10.1.3 Adjusting Aircraft Vibration Parameters

................................ ................................ ....... 41 10.2 Flight Functions

................................ ................................ ................................ ......................... 43 10.2.1 Basic Flight Operation

................................ ................................ ................................ .... 43 10.2.2 Professional Flight Oper ation

................................ ................................ ........................ 54

11 Tasks

................................ ................................ ................................ ................................ ........... 63

11.1 Gimbal

................................ ................................ ................................ ................................ ...... 63

11.1.1 Servo Driven Gimbal

................................ ................................ ................................ ...... 63

11.1.2 Brushless Gimbal

................................ ................................ ................................ ........... 64 11.2 Photography

................................ ................................ ................................ ............................. 64

11.3 POS Info D ata Download

................................ ................................ ................................ .......... 67

11.3.1 Mobile Ground Station Data Download

................................ ................................ ........ 67

11.3.2 PC Ground Station Data Download

................................ ................................ ................ 67 12 Safety Features

................................ ................................ ................................ ........................... 68 12.1 Starting and Stopping the Motors

................................ ................................ ............................ 68

12.1.1 To Start Motors

................................ ................................ ................................ .............. 68
12.1.2 To Stop Motors

................................ ................................ ................................ .............. 68 12.2 F/S Protection

................................ ................................ ................................ ........................... 68

12.3 Parachute Protection

................................ ................................ ................................ ................ 68

12.4 Data Record

................................ ................................ ................................ .............................. 69 12.4.1 Flight Data Record

- “Black Box Function”

................................ ................................ ..... 69

12.4.2 GCS Data Record

................................ ................................ ................................ ............ 70 13 Extending the Range of Capabilities

................................ ................................ ............................ 71

13.1 Radio Connection

................................ ................................ ................................ ..................... 71

13.1.1 Airborne Radio Connection

................................ ................................ ........................... 71

13.1.2 Ground Radio Connection

................................ ................................ ............................. 71

13.2 Co nnecting the Power Management Module

................................ ................................ .......... 71

13.3 OSD Connection

................................ ................................ ................................ ........................ 72 14 Upgrading the Firmware

................................ ................................ ................................ ............. 73 Appendix

................................ ................................ ................................ ................................ ......... 75 Appendix 1 Introduction to Mobile Ground Station (Android)

................................ ........................ 75 Appendix 2 Introduction to PC Ground Station

................................ ................................ ................ 79Zero UAV (Beijing) Intelligence Technology Co., Ltd. | 3 Appendix 3 Installation and Configuration Videos

................................ ................................ ........... 81 Appendix 4 Technical Support

................................ ................................ ................................ .......... 82 Appendix 5 Reference Manual Update History

................................ ................................ ................ 82Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Warning and Disclaimer 1



# 1 Warning and Disclaim er

Danger

Thank you for purchasing this ZERO UAV product. The product is an advanced and specif ically
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 GEMINI web page at http://www.zerouav.com to refer to relevant updates or information.



# Caution

1. Please keep the product out of reach of children.

2. Make sure the aircraft is kept away f rom people and dangers such as buildings roads and property. We suggest you fly your aircraft at sp ecially designated areas.

3. Please do NOT fly this product when affected by drunkenness, tiredness, drugs, dizziness fatigue, nausea or any other condition th at might impair your ability to control the aircraft.

4. Please strictly follow the user manual when operating the device.

5. Please make sure all components of the device are connected and work well, otherwise your unit may be damaged, destroyed or even burie d!

6. 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.

7. Please do NOT f ly in unfavorable conditions.

8. Please do NOT open or modify the autopilot, there are no user serviceable parts inside.



# Disclai mer

1. Zero UAV (Beijing) Intelligence Technology Co. Ltd. products are specially controlled devices

. The user shall be responsible fo r any and all activities connected with the use of all their products. The manufacturer shall not be reliable for any consequences directly or indirectly caused by all their products.

2. The user is responsible for abiding with the law and not behaving contr ary to public order or public safety by using this product.

3. We shall not provide technical support or security warranty for any of the following
conditions:2 Warning and Disclaimer | Zero UAV (Beijing) Intelligence Technology Co., Ltd. 1) U nits or individuals obtaining the product from agents or channels not authorized by Zero UAV (Be ijing) Intelligence Technology Co. Ltd.
2) P roducts after modification, debugging or replacing parts without authorization;
3) P roducts losing warranty card, serial number or flight data;
4) I njuries and property losses due to mis

- operation or force majeure of natural
disasters.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Terms and Abbreviations 3



# 2 Terms and A bbreviation s

Name Description

Gemini Gemini
, dual redundancy(M+S)

Gemini M Host controller

Gemini S Slave controller

GCS Ground control station

SSID Service Set Identifier, name of wireless network

Dual controller operation Aircraft radio control transmitter + Gimbal radio control transmitter

Single controller operation To control the aircraft and gimbal with a single radio control (RC) transmitter

CH C hannel, for example CH5 means channel 5
Channel switches as signed to different functions

F/S Fail/Safe control4 Functions | Zero UAV (Beijing) Intelligence Technology Co., Ltd.



# 3 Functions

The types and related functions of the aircraft are as follows:

 Airframe type : 4

- axis X

- type, 4

- axis cross type, 6

- axis X

- type, 6

- axis cross type, 8

- axis
X

- type, 8

- axis cross type, 6

- a xis reverse Y

- type, 6

- axis Y

- type, 4

- axis X

- type with 8 motors and customized types (irregular or quasi

- irregular);

 Firmware upgrading: PC upgrading (standard USB serial port cable);

 Control mode: transmitter radio control/mobile control;

 Parameter adju stment mode: PC/tablet PC/mobile ground station ;

 Operation mode: manual stabilization , automatic hover, automatic navigation and return and land;

 Status indication: LED

 Security measures: auto return on loss of control , black box flight recorder and pr otection by deployment of parachute

.
 Photography : manual and automatic (user customized) acquisition of stills and video ;

 PTZ: brushless Gimbal (ZERO Z series ), servo PTZ;

 Receiver: Standard receiver, S

- BUS receiverZero UAV (Beijing) Intelligence Technology Co., Ltd. | In the Box 5



# 4 In the B ox

Key: ■ Hardware □Software (download )

■ Controller X2 ■ GPS+COMPASS ( hereinafter referred
to as GPS ) X2

The MC (Master Controller) combines and
communicates with the other modules and external electronic devices to carry out its fu nction as a complete autopilot system. Firmware is updated in this unit via its RS232 COM port. The YS

- GCS (Ground control Station) records real time flight state
via WI

- FI. The GPS/Compass modules are for sensing the orientation of the aircraft by rea ding its position and direction

.

■ External LED indicator X1 ■ Power module X1

The LED indicates current flight status of the craft. The light shows information such as flight mode, number of satellites in view and battery used. Supplies regulated power for the autopilot and
the Wi

- Fi module.

■ WIFI module X1 ■ R232 serial port to USB converter cable (FTDI) X1

Connects the Auto Pilot to the Ground Station via
WI

- FI (Wireless Network) Supports 2 work modes:
Peer to Peer and Router Connects PC and autopilot via USB to update firmware

.

■ GPS bracket X2 ■ Warranty card 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. This provides Product Serial No., Purchase
Date. Please fill out the relevant information and return to Zero UAV Intelligence Technology Co. to register your product warranty.

□ Ground station software □ Upgrade software6 Installation | Zero UAV (Beijing) Intelligence Technology Co., Ltd.



# 5 Installation

5.1 Airframe Types

The Gemini flight controller provides support for aircraft in a cross (+), X and Y configurations of rotor arms and propellers.
In the figures below , the yellow arrow at the position of the central plate indicates the direction
of the aircraft nose; the blue curve d arrow indicates the direction of rotation of the upper propeller and the purple curve d arrow the direction of rotation of the lower propeller.

NB
Install the motor and propellers a ccording to the following modes

.

Quad
- Rotor +4 Quad
- Rotor x4 Hexa
- Rotor + 6

Hexa
- Rotor x 6 Octo
- Rotor + 8 Octo
- Rotor x 8

Hex

- Rotor reverse Y6 Hex

- Rotor Y6 Quad

- Rotor X8Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Installation 7



## 5.2 Installation of F light C ontroller

Install the Gemini flight controlle r on the central deck of the aircraft horizontally, with the

arrow labelled “Front” pointing to the aircraft nose , as indicated in the following diagrams :



## 5.3 Installation of the GPS

Install the GPS on the bracket with the GPS label facing upwards and the small arrow pointing to the aircraft nose.

T he appearance of the bracket is as shown in Figure 1

. Figure 1

NB

 Make sure the small arrow points to the aircraft nose. If not the aircraft will circle (toilet bowl) when in auto

- hover;

 Place the GPS module in an elevated and horizontal position, away from equipment which can produce magnetic fields such as cables, transmitters and cameras without screening.8 Wiring | Zero UAV (Beijing) Intelligence Technology Co., Ltd.



# 6 Wiring

6.1 Port D efinitions

 Port Definitions: Gemini M flight controller

Port Port function Port Port function

M1 ESC for Motor #1 PTZ1 G imbal P TZ1 (Servo)

M2 ESC for Motor #2 PTZ2 Gimbal PTZ2 (Servo)

M3 ESC for Motor #3 PTZ3 G imbal PTZ3 (Servo)

M4 ESC for Motor #4 PAR/PITCH P arachute or Gimbal Tilt control

M5 ESC for Motor #5 PHO/ROLL C amera shutter release or gimbal roll control

M6 ESC for Motor #6 EXT1 EXT1 to EXT1 on Gemini S

M7 ESC for Motor #7 S

- BUS Connect S

- BUS receiver ( NOT support S

- BUS2 port of 7 008SB)

M8 ESC for Motor #8 EXT2 EXT2 to EXT2 on Gemini S

COM Wi

- Fi data unit or to PC via USB

for updating firmware etc. AI1 Power management module (option)

LED LED indicator POW 5.7V output from power module

GPS

- R GPS

- B GPS

- R: R ed terminal from GPS

module GPS

- B: B lack terminal from GPS module

 Port Definitions: Gemini S flight controller

Port Port function Port Port function

M1 No connection PTZ1 No connection

M2 No connection PTZ2 No connection

M3 No connection PTZ3 No connection

M4 No connection PAR/PITCH No connection

M5 No connection PHO/ROLL No connection

M6 No connection EXT1 EXT1 to EXT1 on Gemini M

M7 No connection S

- BUS No connectionZero UAV (Beijing) Intelligence Technology Co., Ltd. | Wiring 9 Port Port function Port Port function

M8 No connection EXT2 EXT1 to EXT1 on Gemini M

COM No connection AI1 No connection

LED No connection POW 5.7V output from power module

GPS

- R GPS

- B GPS

- R: Red terminal from GPS

module GPS

- B: Black terminal from GPS module



## 6.2 Wiring D iagram

Notes:

a. The power supply range for the power module and Wi

- Fi module should be a Lipo battery
of between 3S and 6S, namely 10.8v

- 25.5v ;

b. The RC receiver should be powered directly from the flight controller. If an external power supply is used at the same time the equipment may be destroyed.

c. The ESC s and motor s can cause serious magnetic interference. The GP S and magnetic
sensor modules must be installed as far away as possible from motors and ESCs (particularly where there are multiple ESC s ). The arrow on the GPS must be pointed at
the aircraft nose. The power lead from the battery will create a large magnet ic field particularly when large currents are drawn

. Keep this as far away as possible from the GPS module to avoid flight artefacts such as “toilet bowling”.

d. A servo driven gimbal should not be powered from the receiver but should be powered separately.

e. T he video transmitter (VTX) must be kept as far away from the aircraft electronics as possible to avoid serious interference.

f. Make sure the full system power is not connected directly to the flight controller. This will destroy the flight controller which s hould be powered by a 5.7 V output only. The LED
indicator will flash three times after the initialization of the f light controller, indicating that
correct correction has been made and the system started normally.10 Wiring | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

Wiring diagramZero UAV (Beijing) Intelligence Technology Co., Ltd. | System Preparation and Debugging 11



# 7 System Preparation and D ebugging

The Gemini Aircraft system links to PC or Android ground station software. As the Android is more convenient for debugging and flight monitoring at the field, this is the recommended system.



## 7.1 GCS I nstallation

7.1.1 Ins tallation of M obile GCS

Android mobile GCS should be installed as follows :

1. Download YS

- GCS Android mobile software from the download section in the support

zone of the official website ( www.zerouav.com ).

2. Automatic ally install the software by clicking on the APK file in the file manager. The ground station App will appear on the mobile
device desktop after installation as shown in Figure 2 . The GCS must be installed in the memory of the mob ile. Figure 2


## 7.1.2 Installation of PC GCS

Download the YS

- GCS PC software from the download section in the support zone of the official website ( www.zerouav.com ). After decompressing, double

- click the ZERO

- GCS Rotor
Ground Station.exe file to install the program

.


## 7.2 Wi

- Fi C onfiguration

7.2.1 Wi

- Fi C ommunication M ode

The Gemini Wi

- Fi system can support two communication modes : point

- to

- point (P2P) and
router. The delivery default setting is point

- to

- point mode with an SSID of ZERO

- TECH and no password.
After the link is completed all flight data will be recorded to the ground station

. The file with the extension of “.hjext2” can be found in the directory “YShj” in the root directory of a mobile
devic e or in the file folder “ Hj ” in the PC ground station software package. This file can be replayed and analyzed in the PC GCS application

.
A Wi

- Fi configuration tutorial can be found at: http:/ /v.youku.com/v_show/id_XNTE2OTY4MjQ4.html



## 7.2.2 Wi

- Fi C onfiguration

7.2.2.1 Firmware C onnection

The firmware can be updated using the following procedure:12 Sy stem Preparation and Debugging | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

1. Download the USB driver from the ZERO
official website and install it ;

2. Connect the Wi

- Fi module to a PC with t he supplied USB serial port cable shown below. C onnect the USB terminal to any USB port
on the PC and the serial terminal to the com port of the Wi

- Fi module;

3. Plug the lead reserved for the Wi

- Fi module
from the power supply into the Power port of (3S

- 6S input) of the Wi

- Fi module.

N ote :

 When connecting the Wi

- Fi module to the Computer , the WHITE wire of the communication cable is located at the upper right hand corner of the Wi

- Fi module.

 When connecting the Wi

- Fi module to the Gemini M, the BLACK wire of the communication cable is located at the upper right hand corner of the Wi

- Fi module.



## 7.2.2.2 Software Set

- up
7.2.2.2.1 Point

- to
- point M ode
It is possible to use the wireless router in the point

- to

- point mode and the password can be set up in this mode to make sure no other user can connect to the Wi

- Fi

. Setup procedure is as
follows:

1. Download Wi

- Fi configuration software from
the Zero UAV site.

2. Double

- click “SeanyConfig.exe” after decompressi on and a “SeanyC onfig” window will pop up , as shown in Figure 3

.
3. Click “Setting” for the main interface , as shown in Figure 4

. Figure 3Zero UAV (Beijing) Intelligence Technology Co., Ltd. | System Preparation and Debugging 13 Figure 4
4. Select the correct C OM port. If you are unsure which port this is you can search for the
“Prolific USB

- to

- Serial Comm Port” in your Windows Device Manager. This will give you the port number. Check "AP" (Access Point) which is "PTP mode"

. To check your port: right

- click “My c o mputer”→“ Properties ”→“ Device manager”→“Port (Com and LPT), as indicated in Figure 5

.

Figure 5
5. Set up the SSID of Wi

- Fi module,
default is “ZERO

- TECH”

.
6. Uncheck “ No Passphrase ” ; the Wi

- Fi password must b e five digits; as shown in Figure 6

.
7. Click “Apply” and wait for completion of the software configuration ; click
“Yes” to exit after the window “Ap mode OK” pop s up , as shown in Figure

7

.
8. Connect your mobi le device or PC
GCS to the SSID via wireless after set
up.

9. The Wi

- Fi blue indicator changes from solid to flashing to indicate the GCS is connected and receiving data. Figure 6

Figure 7


## 7.2.2.2.2 Router M ode

Se t up Wi

- Fi router mode if your mobile device or PC is incompatible with P2P.14 System Preparation and Debugging | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

Configuration of router mode is similar to that of point

- to

- point mode and you should proceed
as follows:

1. D ownload Wi

- Fi configuration software
from the ZERO official website t o your PC;

2. Double

- click “SeanyConfig.exe” after decompressi on and a “SeanyConfig” window will pop up
, as shown in Figure 8

.
3. Click “Setting” and the main interface will
pop up , as shown in Figure 9

.
4. Selec t the correct port and check “Infra
station” , as shown in Figure 10

.
5. Set up the SSID of Wi

- Fi module, default
is “ZERO

- TECH” it is case
- sensitive and
the default password is 82890430.

6. C omplete the configuration modification by cli cking “Apply”

.
7. A video showing how to configure the
route can be seen at : http://v.youku.com/v_show/id_XNTE3Nz E1NDcy.html/ ;

8. Connect your mobile device or PC GCS
to the SSID via wireless afte r set up.

9. The Wi

- Fi blue indicator changes from flashing to solid to indicate the GCS is connected and receiving data. Figure 8

Figure 9

Figure 10 Note :

 The SSID and passwor d of the router must be consistent with those of the Wi

- Fi module;

 TP

- LINK is taken as an example for the router configuration in the video;

 WPA2

- PSK AES encryption method is used with an IP of 192.168.1.1.


## 7.3 Setting u p the Transmitter(s)

Fixed wing mode must be used in the RC transmitter without any mixes configured

. If you are using FUTABA none of the channels should be reversed. All channels should be reversed for a
JR or WFLY transmitter.

Note :Zero UAV (Beijing) Intelligence Technology Co., Ltd. | System Preparation and Debugging 15

 A ZERO Z serial brushless gimbal can support two control modes : Dual transmitter operation or single transmitter operation ; Dual transmitter mode means the aircraft and the gimbal are controlled by two different transmitters separately. S ingle transmitter mode

means that the aircraft and gimbal are simultaneousl y controlled with a single transmitter

.

 The Z2000 and Z1400 gimbals can both be controlled from a ground station

.



## 7.3.1 Setting u p D ual T ransmitter M ode

7.3.1.1 Setting u p the F light T ransmitter
The transmitter of the aircraft can be set up as follows:

1. Set three

- posi tion switch es to CH5 and CH6 on the transmitter as indicated in the following diagram :

2. To set up F/S (Fail safe) protection set both CH5 and CH6 of the transmitter to Position 3 and the accelerator near central position (50%)

. The relationship of four o peration modes is indicated in the following table:

CH5 status CH6 status Operation mode

Position 1 X, (A ny Position) Manual stabilisation If Channel 5 is switched to position1 then the aircraft will be in manual stability mode whatever the position of Channel 6

Position 3 Position 1 Automatic hovering
Position 3 Position 2 Automatic navigation Position 3 Position 3 Returning and landing
Note : Position 2 of CH5 is a functional Position in which the C arefree mode or FPV mode can be selected

. Refer to “ 10.2.2 Professional Flight Operation ” for more information

.

Refer to your transmitter manual for specific instructions to set up failsafe and take a look at
this video: http://www.tudou.com/programs/view/e1ai526Mbt4/

.


## 7.3.1.2 Setting up the G imbal T ransmitter

The gimbal transmitter can be set up as follows :16 System Preparation and Debugging | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

1. Set up a three position switch to CH5 to control the operation mode of the g imbal and a three position switch to CH6 of the transmitter to control the rotation speed of gimbal , as indicated in the following diagram

.
2. Set a knob switch to CH7 of the transmitter to control the deployment of retractable undercarriage as indicated belo w.

3. Set a two position switch to CH8 on the transmitter radio, one for On and the other for Off to control the camera, as indicated below:



## 7.3.2 Setting u p S ingle T ransmitter M ode

A single transmitter can be set as follows :

1. Set up a three position switch to CH5 and CH6 of the transmitter, as indicated below

.
2. Set a 2 position switch to CH8 of the transmitter to control the camera.

3. Set up a lever switch ( RS or LS on FUTABA) to
CH7 of the transmitter to control gimbal tilt , as shown in Figure 11

.
4. To set up F/S (Fail safe) protection set both CH5
and CH6 of the transmitter to Position 3 and the accelerator near central position (50%);
Refer to your transmitter manual for specific instructions to set up failsafe and take a look at this
video: http://www.tudou.com/programs/view/e1ai526Mbt4/

. Figure 11Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Ground Control Software setup and Debugging 17 

# 8 Ground Control S oftware setup and D ebugging

The aircraft will be set up by following the GCS installation guide. We can follow your own customized setup in the GCS app. It is recommended that you follow the GCS installation guide because it is easy to miss out essential steps if you do it yourself and you may damage the equipment as a result.

You should pay attention to the following points during the installation :

 Before turning on the transmitter or powering the flight controller when you are installing or debugging, make sure the propellers are removed, and it is recommended that you are
able to power the motors separately from the controller.

 Switch your transmitter to manual mode and advance the throttle before entering settings, otherwise it will not be possible to make changes.

Note :

 Carry out the following inspections if there is no da ta transmission during installation or debugging :

1. E xamine whether the wires are connected correctly;

2. Examine whether there is any problem with the flight controller; connect the flight
controller to the PC and see whether there is any data tran smission from the flight controller; the flight controller can be considered fault y if there is no data transmission
but the USB serial port lead is working okay

.
3. Check Wi

- Fi configuration;

 An automatic alarm will be made by the mobile ground station if the differen ce between the magnetic headings of the host and slave controllers differ by more than 15° or if the voltage is too low

.



## 8.1 Mobile Ground Station Debugging

8.1.1 Ground S tation S oftware A uxiliary S etting (Installation G uideline)
The ground station software auxiliary setting s are as follows:

1. Connect the ZERO

- GCS app on your android mobile device or tablet to the autopilot by
Wi

- Fi to enter the initial interface screen , as shown in Figure 12

.
2. Click “Setting s ” for the settin gs interface , as shown in Figure 13

.
3. Click “Installation Guide” to start the installation , as shown in Figure 14

.18 Ground Control Software setup and Debugging | Zero UAV (Beijing) Intelligence Technology Co., Ltd. Figure 12 Figure 13 Figure 14
4. Click “Next” to start setting up or debugging by following the on

- screen instructions :

Step 1 Step 2 Step 3

Step 4 Step 5 Step 6

5. Click “Next” to exit the installation guideline s. An instructional video can be found here: http://www.tudou.com/programs/view/h6Umvfs1my8/

.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Ground Control Software setup and Debugging 19 

## 8.1.2 Manual Settings

8.1.2.1 Transmitter M ode S et U p

Powers to the motors should be off or propellers removed to guarantee safety.

1. Select correct operational mode ; a) Click menu on your android to open the dialogue , as shown in Figure 15

. b) Click “Set” to open the setting win dow
, as shown in Figure 16

. c) Open the drop

- down menu next to “Stick mode” , as shown in Figure 17

.

Figure 15 Figure 16 Figure 17 d) Check next to your stick mode; for example “US” would be mode two (left

- hand throttle).

2. Verify correct stick movement.
a) Press “Adjust Transmitter” in the settings interface
, and then press “OK” to confirm.
b) W ithin 5 seconds rotate the left and right t ransmitter
sticks to their extremes in all directions , as shown
in Figure 18

. The flight controller will automatically collect maximum, minimum and
neutral values for each channel

. Figure 18

3. Now make su re that the direction of movement of the sticks is reflected accurately in the diagram below. You can only proceed to the next step after confirming this.
c) How to check stick position :

– I n the diagram below showing “Manual Servo Data ” in the data interface , the left
stick is rotor and elevator and th e right is aileron and throttle , as shown in Figure

19

.20 Ground Control Software setup and Debugging | Zero UAV (Beijing) Intelligence Technology Co., Ltd. – When the sticks are in neutral position they will
be shown as green . The vertical will be shown the yellow when fully extended a nd the sticks will be shown as red in any other position than
neutral.
d) It is necessary to select “capture transmitter central point” in the settings interface to make the flight controller record the correct neutral position of the sticks if, for example, if either stick is not in the central position after fine tuning.

Figure 19 

## 8.1.2.2 Check CH5 and CH6 for F/S (fail/safe protection)

 Check operation mode switching is correct:
You need to check with mode switching is normal each time you connect the GCS

. For example, looking at the data interface on the GCS
, flight mode should display “Manual” when CH5 is at position 1 and CH6 is at any position , as shown in Figure
20

. This is not the case you should look at the data link or the settings in your transmitter.

 Check F/S protection Turn off your transmitter , the flight mode should display “Returning to land ” and the throttle should show is neutral (green)

. This is not the case you should reset F/S protection. Figure 20 

## 8.1.2.3 Setting u p A ircraft P arameters

The autopilot is set to 4

- axis X

- type
mode as default before delivery and the parameters should be set up according to the following procedure:

1. Click the “Parameter” tab for the parameter interface, as shown in Figure 21

.
2. Click “Get” to load the existing parameters of the aircraft;

Figure 21Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Ground Control Software setup and Debugging 21 3. Click “Send” after any alterations to send the modified parameters to the aircraft;
Please ref er to the following table specific parameter descriptions:

Note :

 Click Get or Send multiple times to avoid failure in obtaining or sending parameters;

 Click “Default” to recover factory setting values.

Parameter name S etting description
Roll Sensitivi ty Pitch Sensitivity This is the sensitivity of roll and pitch of the aircraft. The value will have a direct effect on the sensitivity of the controls , too small or too large settings will make the aircraft unstable

. Settings represent the angle speed err or and are in the range of 0 to 255. The larger the value of the sensitivity, the more rapid the response of the aircraft, but too much sensitivity will result in high frequency vibration. Sensitivity needs to be reduced for aircraft with high

- speed, small er propellers. Sway Compensation This sets up vibration dampening for aircraft with a lower propeller rotation speed; this will improve the stability but reduce sensitivity. The range is from 0 to 255 . A value too high or too low will cause instability.
I f there is no sway compensation, the aircraft will rock backwards and forwards rather than snapping directly into its neutral position.

– If your aircraft repeatedly rocks, then the value needs to be increased to stop the aircraft rocking.

– This value should be reduced when the high

- speed vibration appeared

. 

### Photo spacing Sets up the distance interval (in meters) between two photograph captures within the range of 5m

- 255m. This parameter is only available in automatic photography mode.
PTZ Roll Sensitivity PTZ Pitch Sensitivity The PTZ (Gimbal) ro ll output and PTZ pitch output s ensitivity is used to adjust the compensation angle of the PTZ d ata for your Gimbal. You can compensate high or low for aircraft movement within a range from

- 127 to 127

. Note: You can enter a negative value to reverse the direction of compensation.

Cell Num Enter the cell number of your flight battery (4S shown) The autopilot can calculate the low voltage alert according to the Cell Number filled in by the user. If your cellphone v ibrates once every 2 seconds it is a reminder that the power is getting low. When it vibrat es continuously it means the power is getting very low and you should land at once.

Altitude Limit
Distance Limit This shows the highest and furthest distance which the aircraft can fly. You can enter the value 0 for unlimited distance. You can also fill in your own distance limit value. Note : The aircraft will automatically return to the starting position22 Ground Control Software setup and Debugging | Zero UAV (Beijing) Intelligence Technology Co., Ltd. Parameter name S etting description if the height or distance limit is exceeded after taking of f in manual or GPS mode. It is not possible to regain control of the aircraft until it is back within the permitted range.

Volt Alert Threshold Enter the voltage per cell required to activate a low voltage alert, for a Lipo battery this would be normally 3.65v

. PAR+PHO Multiplex 1. If using a brushless gimbal : select parachute

- opening + photograph
2. Servo Gimbal: select 2

- axis PTZ
Aircraft Type Set according to the type of aircraft in use.

Handle Mode To select speed mode or status mode The speed mo de is the speed in GPS mode while the status mode is the speed in manual mode. It‟s necessary to fill in maximum flight speed when selecting status mode.
Max Fly Speed Flight speed is governed to the value selected.

4. Customized parameter setup ( Users o f common standard aircraft patterns may skip
this bit ) If you are using a non

- standard multirotor with an irregular flight configuration you may set up the parameters according to your own requirements, customizing the speed increase and decrease ratio s o f the roll, pitch and yaw channels of each axis

. The specific definitions are as follows :
Channel Aircraft activity Required parameter values

Throttle Climb or descent 100 for all

Yaw Rotate to the right Decrease to

- 100 or increase to 100 Pitching Pitch down Decrease to

- 100 or increase to 100 Rolling Roll to the right Decrease to

- 100 or increase to 100

Flight parameters can be set up using 4

- axis X

- type quadcopter as an example
, as shown in Figure 22

. Set up as fol lows : a) Click “ Settings ” in the GCS ; b) Click “ Mixing Define ” for the parameter setting interface;
c) Fill in the necessary parameters and click “Send” to send your modified values to the flight controller; click “Get” to download the parameters again from
the GCS to check whether parameters are uploaded successfully. Figure 22Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Ground Control So ftware setup and Debugging 23 d) Click on the “ parameter ” interface and select “aircraft type” and select “user

- define” ; e) After successful modification of parameters
, power up the aircraft , th rottle up gently and carefully note that the aircraft response is consistent with your setting s ; now you can confirm this with a trial flight.

NB Because the motors might immediately rotate at high speed after the aircraft type has been modified, it is st rongly recommended to remove propellers to make sure of safety.



## 8.1.2.4 ESC S troke C alibration

Please remove propellers before ESC stroke calibration

. Some ESCs which have been designed specifically for multi

- rotors do not need to be
calibrated. Here we take the Hobbywing I did as yours ESC as example: hi DDM goodtime

.
1. Connect the autopilot power only, pull the throttle to the bottom and put CH5 to position 1.

2. Click "Init Setup" in "Setting"
page , as shown in Figure 23

. Click "Confirm" button in the dialog box. Now the "Flight
Mode" should be displaying as "Settings " in the Data screen of the GCS , as shown
in Figure 24

. Figure 23 Figure 24

3. After arming the m otors with CSC (Section 9.3 Unlocking and A rmin g the M otors ), push the throttle all the way to the top and then connect power on (No propellers!)

4. Pull the throttle to its lowest position after two conf irmatory sound signals from the ESCs
and the gimbal controller will also sound a number of beeps to indicate the number of cells in the battery. This will complete ESC calibration.

5. Click “ Quit Setup ” and confirm in the dialog box that pops up.

6. To check w hether verification is successful, push the throttle after unlocking and all my
motors should work simultaneously.24 Ground Control Software setup and Debugging | Zero UAV (Beijing) Intelligence Technology Co., Ltd. 

## 8.1.2.5 Inspection of F light C ontroller and GPS I nstallation
The flight controller and GPS installation should be inspected as follows :

1. Check th at the arrows of Gemini M, Gemini S and GPS are all pointing to the aircraft
nose

. 2. Check Gemini M and Gemini S are installed horizontally and GPS is elevated and installed horizontally;
3. Check Gemini M, Gemini S and GPS are fixed firmly.



## 8.2 PC G round S tati on S etup and D ebugging

8.2.1 Ground S tation S oftware A uxiliary S etting (Installation G uideline)
The ground station software should be set up as follows :

1. Connect the PC to the Wi

- Fi module, or directly to the COM1 on the auto pilot using the USB adaptor, and

ru n “ZERO

- GCS rotor ground station.exe” to enter the initial interface, as
shown in Figure 25

. Figure 25 2. Select “ File ”→ “ Open Wi

- Fi ” , the flight data information bar will pop up at the bottom of the groun d station window, indicating controller data, as shown in Figure 26

.
3. Now select “ Settings ”→“ Installation guide ” , to pop up the installation debugging window,

as shown in Figure 27

.

Figure 26 Figure 27
4. Click “Next” for the installation operation stage . C omplete the required information as indicated below :Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Ground Control Software setup and Debugging 25 Step 1 Set the aircraft type, battery cell number
and required alarm voltage from a single cel l. Step 2 Check channel settings
, and failsafe setting (F/S)

Step 3 Select transmitter Stick Mode and
direction of stick movement. Step 4 Calibrate ESCs

Step 5 Unlock ( using the CSC operation) and check channel mixing. Step 6 Examination of f light controller and GPS
installation

5. Click “Finish” to exit the installation guide after software debugging.26 G round Control Software setup and Debugging | Zero UAV (Beijing) Intelligence Technology Co., Ltd. 

## 8.2.2 Manual Setting s
8.2.2.1 Calibration of T ransmitter

The power supply should be disconnected from the motors or propeller s removed before continuing.
T he transmitter is calibrated as follows :
1. Select correct stick mode ; a) Run “ZERO

- GCS rotor ground station.exe” and open Wi

- Fi ; b) Select your TX stick
mode from the pull

- down menu , as shown in Figure 28

. (Mode 2

– American
standard is shown) Figure 28
2. Calibrate Stick Movement
a) Click “Setting (S) ”→“ Transmitter (T) ”→“ Adjust Transmitter (C) ”
, t he calibration prompt dialogue will open , as shown in Figure 29
b) Click “Yes”, within 5 seconds rotate the left and right transmitter sticks to their
extremes in all directions , as shown in Figure 30

. The flight controller automatically
record the maximum and minimum values for each control axis and also the neutral
values.

Figure 29 Figure 30
3. Check the stick movement is consistent with the directions indicated in the GCS;
a) Check display positions :

– In the flight data interface
, stick positions are shown as per the diag ram below. Mode 2 is indicated where the throttle and rudder are on the left stick, the aileron
and elevator are on the right stick , as shown in Figure 31

.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Ground Control Software setup and Debugging 27 – When the sticks are in their neutral position they are shown in green. Wh en moving they are shown in red. At their full extent they are shown in yellow.
Figure 31 b) Select “ Setting ”→ “ Transmitter ”→“ Capture Transmitter Centre point (N) ”
, to
make sure the flight controller records the correct neutral position if this has not already been done in fine tuning.



## 8.2.2.2 Checking CH5 and CH6 S witching and F/S (failsafe)

 Check operation mode switc hing

Check whether the switching of operation mode is correct after connecting GCS module.
For example, the flight state
on the “Flight status ”
interface on the right side of
the GCS should display
“Manual” when CH5 is at position 1 and CH6 in any positi on and so on , as shown
in Figure 32

. If not , examine
the firmware connection or
your transmitter setting s. Figure 32
 Check F/S protection
Switch off your transmitter, flight state should display “ Back landing” and the throttle slider should be near the neutral position in green in the “Manual servo ” in the flight data interface. This is not the case recheck your failsafe setup.



## 8.2.2.3 Setting u p A ircraft P arameters

T he steps of setting up aircraft parameters are as follows:

1. Select “Setting (S) ”→“ Parameters (P) ” , t he parameter setting window will pop up
, as shown in Figure 33

.
2. Click “Get” to obtain the existing parameters of the aircraft;28 Ground Control Software setup and Debugging | Zero UAV (Beijing) Intelligence Technology Co., Ltd. 3. Click “Send” after parameter adjustment
to send the modif ied parameters to the
aircraft.
An explanation of parameters can be
found in “ 8.1.2.3 Setting u p A ircraft
P arameters ”.

Figure 33
Note :

 Click Get or Send multiple times to avoid failure in obtaining or sending parameters;

 Click “Default” to recover factory setting values.

4. Customized parameter setup ( Users of common standard aircraft patterns may skip
this bit ) If you are using a non

- standard multirotor with an ir regular flight configuration you may set up the parameters according to your own requirements, customizing the speed increase and decrease ratio s of the roll, pitch and yaw channels of each axis

. The specific definitions are as follows :
Channel Aircraft a ctivity Required parameter values
Throttle Climb or descent 100 for all Yaw Rotate to the right Decrease to

- 100 or increase to 100 Pitching Pitch down Decrease to

- 100 or increase to 100 Rolling Roll to the right Decrease to

- 100 or increase to 100

An example of flight parameter set up is shown in F igure 34 , using a 4

- axis X

- type quad copter as an example.
Setting up procedure is as follows:
a) Click “Setting ” → “Other (O) ” → “ Mixing Define (E)” in the GCS.
b) Fill in required parameters and click “Send” to send these values to the flight controller; click “Get” to download latest parameters to the GCS to check whether parameters have been uploaded successfully.

F igure 34Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Ground Control Software setup and Debugging 29 c) In the “Parameters(P)” dialogue enter your correct “Aircraft Type”, for example “Quad

- Rotor Cross”
d) Power the flight controller after confirm ing successful m odification of parameters and apply a small amount of throttle to check the motors are spinning in the correct directions. If this is successful you are all set to make a trial flight.

NB Because the motors might immediately rotate at high speed after the aircraft type has been modified, it is strongly recommended to remove propellers to make sure of safety.



## 8.2.2.4 ESC S troke C alibration
Please remove propellers before ESC st roke calibration.
Some ESCs which have been designed specifically for multi

- rotors do not need to be calibrated. Here we take the Hobbywing ESC as an exa mple

.
1. Connect the autopilot power only, pull the throttle to the bottom and put CH5 to position 1.

2. Click "Init Setup" in "Setting" page. Click
"Confirm" button in the dialog box. Now the "Flight Mode" should be displaying as "Settings" in the Data

screen of the GCS , as shown in Figure 35

. Figure 35

3. After arming the motors with CSC (Section 9.3 Unlocking and A rmin g the M otors ), push the
throttle all the way to the top and then connect power on (No propellers!)

4. Pull the throttle to its lowest position after two confirmatory sound signals from the ESCs and the gimbal controller will also sound a number of beeps to indicate the number of
cells in the bat tery. This will complete ESC calibration.

5. Click “Quit Setup” and confirm in the dialog box that pops up.

6. To check whether verification is successful, push the throttle after unlocking and all motors should work simultaneously.30 Ground Control Software setup and Debugging | Zero UAV (Beijing) Intelligence Technology Co., Ltd. 

## 8.2.2.5 Examination of flight cont roller and GPS installation
The flight controller and GPS installation should be inspected as follows:

1. Check that the arrows of Gemini M, Gemini S and GPS are all pointing to the aircraft

nose.

2. Check Gemini M and Gemini S are installed horizontally and GPS is elevated and installed horizontally;

3. Check Gemini M, Gem ini S and GPS are fixed firmly.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Pre Flight Inspection 31



# 9 Pre Flight Inspection

9.1 Test P arachute O pening/ C losing

The PAR output channel on the Gemini flight controller is a PWM square wave signal, to control the opera tion of the parachute servo . The parachute opening
servo must be powered separately from the flight controller

. The mobile ground station can be used to
test the operation of the parachute.

NB

 Press the parachute capsule co ver to prevent the parachute from deploying during debugging, if you do this there is not a problem checking the operation of the servo.

 The parachute must be folded in accordance with the parachute folding video. It is the responsibility of the user the p arachute does not open because it has been improperly
folded. Parachute folding video: http://v.youku.com/v_show/id_XNjgxNTQ1OTU2.html

The parachute operation can be tested as follows:

1. C lick “Test Open Parachute ”
in the “Setting s ” interface to
pop up the confirmation dialog ue box , as shown in Figure 36

.

2. Click “ OK ”, to open the parachute capsule

.
3. Click “Test Close Parachute”
and click “OK” , as shown in Figure 37

. Figure 36 Figure 37
Note : The Gimbal controller does not support the parachute.32 Pre Flight Inspection | Zero UAV (Beijing) Intelligence Technology Co., Ltd.



## 9.2 Calibrating the M agnetic C ompass
9.2.1 Using the Android GCS

NB

 The magnetic compass must be calibrate d before the first flight after installation o f the Gemini flight controller.

 Calibration should be carried out in a clear space outside; calibration should not be done indoors or in an environment with strong magnetic fields, such as in the presence of ca rs or shipping containers.

 You should also calibrate after re

- arranging components in your aircraft or if you find it
flies in circles.

 Compass calibration does not need to be done every time you fly, or if you upgrade firmware without changing hardware position. However it should be done when components are moved or if the aircraft flies in unexpected ways.

Compass calibration is carried out in three steps : horizontal calibration , vertical calibration and storage of magnetic compass data. Instructions f or each stage can be found in the status bar at the top “Setting s ” interface
, as follows :

1. Switch the transmitter to manual mode
and pull the throttle to minimum

.

Figure 38 2. Click “Setting s” to enter the settings
interface , as sho wn in Figure 38

.
3. Click “Magnetic compass” to open the
calibration dialog box , as shown in Figure 39

.

Figure 39

4. Select “Horizontal Alignment ” and to click “ OK ” to start horizon tal calibration

.
5. Hold the aircraft horizontally (with in a stat us error of 5° which can be maintained if you
hold the aircraft with both hands , as shown in Figure 40 ), turn around two or three timesZero UAV (Beijing) Intelligence Technology Co., Ltd. | Pre Flight Inspection 33 slowly making sure that the blue LED stays lit

. If the blue LED goes off, stop and adjust the aircraft, before continuing.

6. Now select “Vertical Alignment” and click “OK” for vertical calibration.

7. Hold the aircraft with the nose vertically down (with in a status error of 5° , as shown in Figure 41 ) turn around two or three times slowly making sure that the blue LED stays lit

. If the blue LED goes off, stop and adjust the aircraft, before continuing.

Figure 40 Figure 41
8. Select “Save Alignment” in the dialogue box and click “OK”

.
9. You will need to wait for the flight controller to process the recorded magnetic data. A purple LED will show during the processing. When the purple light goes out, calibration is complete

.
10. The ground station will switch to the remote control interface automatically and spend a few seconds calculating. Then it will display two circles, one blue and the other red, as indicated in the following figures: The superposition of two circles, red a nd blue indicates
successful calibration

. If this is not the case you need to start again with a new calibration operation.

Calibration e xcellent Calibration okay Calibration unsuccessful



## 9.2.2 Compass Calibration Using a P C G round S tation

NB

 The magnetic compass must be calibrated before the first flight after installation of the Gemini flight controller. Direction of aircraft nose34 Pre Flight Inspection | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

 Calibration should be carried out in a clear space outside; calibration should not be done
indoors or in an environmen t with strong magnetic fields, such as in the presence of cars or shipping containers.

 You should also calibrate after re

- arranging components in your aircraft or if you find it
flies in circles.

 Compass calibration does not need to be done every time yo u fly, or if you upgrade firmware without changing hardware position. However it should be done when components are moved or if the aircraft flies in unexpected ways.

Compass calibration is carried out in three steps : horizontal calibration , vertical cal ibration and storage of magnetic compass data. Instructions for each stage can be found in the status bar at the top “Setting s ” interface
, as follows :

1. Switch the transmitter to manual mode and pull the throttle to minimum ;

2. Select “ Settings (S) ”→“ Magnetic C ompass (M) ” for the “ Magnetic C ompass Alignment ”
window as shown in Figure 42

.
3. Click “Horizontal Alignment” for horizontal calibration , as shown in Figure 43

.

Figure 42 Figure 43

4. Hold the aircraft horizontally (with in a stat us error of 5° which can be maintained if you
hold the aircraft with both hands , as shown in Figure 44 ), turn around two or three times slowly making sure t hat the blue LED stays lit

. If the blue LED goes off, stop and adjust the aircraft, before continuing.

5. Now select “Vertical Alignment ” and click “ OK ” for vertical calibration.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Pre Flight Inspect ion 35

6. Hold the aircraft with the nose vertically down (with in a status error of 5° ,as shown in Figure 45 ) turn around two or three times slowly making sure that the blue LED stays lit

. If the blue LED goes off, stop and adjust the aircraft, before continuing.

Figure 44 Figure 45
7. Select “ Save Alignment ” in the dialog ue box and click “ OK ”;

8. You will need to wait for the flight controller to process the recorded magnetic data. A purple LED will show during the processing. When the purple light goes out, calibra tion is complete

.
9. The ground station will switch to the remote control interface automatically and spend a few seconds calculating. Then it will display two circles, one blue and the other red, as indicated in the following figures: The superposition of tw o circles, red and blue indicates
successful calibration

. If this is not the case you need to start again with a new calibration operation.

Calibration Excellent Calibration okay Calibration unsuccessful



## 9.3 Unlocking and A rmin g the M otors

NB

 The controller cannot be unlocked and motors armed near large airports, or within Beijing 5th ring.

 The controller cannot be unlocked without GPS.

 Magnetic compass calibration must be carried out before the first time you unlock the
moto rs. Direction of aircraft nose36 Pre Flight Inspection | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

 The flight controller will lock the motor again if no throttle has been applied within five seconds. In this instance you should perform the unlocking operation again.

 Checking F/S protection is intended to reduce the possibility of accidents in the flight. Failsafe check should be made each time the system is powered.

 The motor will run when applying throttle after unlocking. It ’ s normal for some motors to slow down or even stop if there has been no take off. The aircraft will take off normally

o nly by increasing the throttle.

Motors are locked by the Gemini flight controller for the purpose of safety. Motors will run normally only after unlocking. The unlocking procedure, also known as arming or applying CSC
, is as follows: using a FUTABA transmitte r as an example ( in Japanese stick mode, mode
1 )

.
1. Check F/S protection by shutting off the transmitter, the flight status bar on the ground
station should display “Returning and landing”, before attempting to unlock. If it does not you should reset failsa fe

.
2. U nlock by push ing the rudder stick to the extreme left, and pull it fully down. Now push the aileron stick to the extreme right and pull it down.

Note :

When unlocking, the reverse V

- type ( / \ ) is required for the left

- hand pattern (Japanese and
Am erican
, or Mode 1 and Mode 2) while the V

- type ( \ / ) is required for the right

- hand pattern (Chinese and European , or Mode 3 and Mode 4).



## 9.4 Inspecting M otor R otational D irection

You must inspect the direction of rotation of each motor before the aircraft tak es off, in the same way that you would inspect the control surfaces of a fixed wing aircraft before takeoff.

Switch to manual mode and check F/S setting to allow unlocking;Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Pre Flight Inspection 37

U sing a four axis cross
- type multirotor as an example ; rotor di rection inspection is carried out as follows. The diagrams that follow give the conditions required for other types of aircraft :

1. Check motor balance by making sure that all f our motors rotate at the same speed when gently applying throttle

.
2. Check the aile ron channel . Push the aileron stick slightly to the left and the M4 motor
should run immediately ( Figure 46 ) while the other three motors remain static

. Push the aileron stick slightly to the right and the M2 motor should rotate i mmediately ( Figure 47 )
while the other three motors remain static

.

Figure 46 Figure 47
3. Inspect the climb and descent channel (Elevator) in the same way as the aileron channe l

. P ush the elevator stick up and M3 should rotate ( Figure 48 ) . P ull the stick down to make
M1 rotate ( Figure 49 ).

Figure 48 Figure 49

4

- axis X

- ty pe:

Push aileron stick to left Push aileron stick to right Push elevator stick up Push elevator stick up38 Pre Flight Inspection | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

6

- axis cross type:

Push aileron stick to left Push aileron stick to right Push elevator stick up Push elevator stick up

6

- axis X

- type:

Push aileron stick to left Push aileron stick to right Push elevator stick up Push elevator stick upZero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field 39



# 10 Flying at the Field

10.1 Flight S tatus

10.1.1 LED S tatus I ndications

 GPS

The red light, blue light and green light indicate the cu rrent operation al state of the aircraft
as indicated the table below :

Light colour L ight status Operation al status

Red light (for all modes) 3 flashes 

# ••• No GPS

2 flashes 

# •• GPS 5 satellites

1 flash 

# • GPS 6 satellites
Red light out GPS 7 o r more satellites

Blue light (GPS mode, non

- positioning) 1 flash 

# • User in operation

2 flashes 

# •• Hovering at fixed height

Green light (GPS mode, in positioning) 1 flash 

# • User in operation

2 flashes 

# •• Hovering at fixed point

Note :

 Onl y take off after 7 or more GPS satellites are in view.

 The flight controller will use the take

- off position as the home location when the GPS
first locks in to seven satellites

.

 White LED
(1) T he LED white light indicates a large status error or a loose co nnection to the GPS
module.
(2) Action required when the white light comes on :

– I f the light comes on when the aircraft is suffering violent movement but goes out when it retains stability than you can continue the flight normally

.

– Land the aircraft as soon a s possible if the white light shows continuously and
check the GPS connection. Zero the gyro in the GCS if there is a status error.

 Low voltage alarm40 Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd. The red light will flash quickly as a low battery voltage alarm. It shows as a solid light in an
emergency situation of extreme low voltage.

 B arometer initialization failure
A continuous red light showing when the aircraft is on the ground
, indicates the failure of
the barometer to initializ e

. You must restart the flight controller.

 Magnetic field verificatio n
When calibrating, a continuous blue light indicates a magnetic compass calibration error
less than 5° a nd indicates a successful calibration

. However, if the blue light goes off with

a status error more than 5° this indicates that adjustment is needed. T he purple light will be on continuously when storing the data after calibration of the magnetic data. The purple light will go out completely when data storage is complete

.


## 10.1.2 Motor B alance and R eal T hrottle P osition

The two parameters of motor balance and r eal throttle position are shown as follows in the ground station:

 Mobile ground station : open the mobile ground station and click “Data” , as shown in Figure 50

.
 PC ground station : O pen Wi

- Fi and the “ Flight data ” section will ope n at the bottom or
select “ View ”→“ Flight data ” to check. The parameters are indicated in Figure 51

.

Figure 50 Figure 51


## 10.1.2.1 Motor B alance

"Motor balance ” will display an imbalanc e between the clockwise propeller s or counter clockwise propeller s when the aircraft is in a static hovering position. The propeller s need to be
balanced or replaced with higher quality units.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field 41

To ensure stable flight, accurate examination must be made of the balance and horizontal symmetry of the motor s and propeller s until the motor balance parameter displays “ Good ”
when hovering the aircraft.



## 10.1.2.2 Real T hrottle P osition

The throttle position of the aircraft when hovering is usually at 40

- 65, which is conside red normal (in green). Any position lower than 40 ( shown in yellow) indicates the aircraft is maintaining a light load on the ESC s while higher than 65 (in red) indicates that the aircraft is heavy or the battery is delivering a low voltage. This situation requires a load adjustment or battery replacement.



## 10.1.3 Adjusting A ircraft V ibration P arameters
The following factors affect the flight stability of the aircraft and corresponding adjustment

measures need to be carried out :

1. Shaking, vibration or poor install ation of the IMU will affect flight stability . Therefore
attention should be paid to the following :

– Make sure the host and slave controllers are in the correction direction (facing the aircraft nose) and firmly fixed in a position of as little resonance a s possible on the
aircraft.

– The coefficients of shake and vibrat e on the ground station indicate the amount of
vibration of the IMU. Therefore, when installing the flight controller make sure the
motor s and propeller s are installed in balance to reduce the shake and vibration state
to lower than 10 ( use smaller propeller s to reduce the amount of vibration in the trial).
An airframe structure of higher rigidity is recommended as a softer frame will cause
additional vibration.

Note :

The Shake state and Vib rate state can be checked as follows :

 Mobile ground station : open the mobile ground station and click “Data” , as shown
in Figure 52

.

 PC ground station : Open Wi

- Fi and the “ Flight data ” section will open at the
bottom or select “V iew ”→“ Flight data ” to check. The parameters are indicated in
Figure 53

.42 Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd. Figure 52 Figure 53

2. The orientation of multiple axis aircraft is adjusted by adjust ing speed of the m otors . The sensitivity of the axis control will make a direct impact on the accuracy of the aircraft response. Adjust the match between the aircraft weight and the screw pitch of the propeller to make sure the motor can generate an adequate rotation speed , producing enough control response

. The lightest propeller possible, should be selected to reduce inertia and to improve command response. The re should be a proper balance between flight efficiency and stability.

3. The symmetry of multiple axis aircraft ha s a vital influence on flight stability. The symmetry of the motor and propeller can be evaluated in horizontal flight by referring
to “ 10.1.2.1 Motor B alance ”.

4. Furthe r improvement s can be made to the stability of th e aircraft by adjusting “Roll sensitivity”, “Pitch sensitivity” and “ Sway Compensation ” after completi ng the above three steps.

Note : “Roll sensitivity”, “Pitch sensitivity” and “ Sway Compensation ” can be checked as follows:

 Mobile ground station : open the mobile ground station and click “Parameter” , as shown in Figure 54

.

 On the PC ground station select “ Settings ” →“Parameters” to check , as shown in Figure 55

.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field 43 Figure 54 Figure 55


## 10.2 F l ight F unctions

10.2.1 Basic F light O peration

10.2.1.1 Using 

## Y our M o bile D evice for R emote C ontrol of the A ircraft

In automatic hovering status, click the menu key on the mobile ground

s tation to select “ Enable Control ” to enter mobile remote control mode, as
shown in the figures on the right : The button will change to “ Disable C ontrol”

.

Non

- remote control mode Remote control mode
The transmitter sticks cannot be used in mobile remote control mode. Remote control using your mobile device is explained in the following table:

After Enable C ontrol Remote control interface operation Aircraft status

Dot status Red: non

- positioning Green: positioning

- Hovering operation Do not touch any area of the screen Hovering

Advance operation 1. Touch the central circle and drag up or and down

2. Touch the central circle and drag left or right 1. move forwards

or backwards

2. move left or right

3. move forward44 Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

After Enable C ontrol Remote control interface operation Aircraft status
3. Touch the central circle and drag diagonally lef t, backward left, forward right

or backward right

Climb / descend /
rotate 1. Touch the area above the circle ( on the cross)

2. Touch the area under the circle (on the cross)

3. Touch the left side of the circle (on the cross)

4. Touch the right side of the circle (o n the cross)

N ote :

 The distance between the click position and the center of a circle is equivalent to the chang e of speed of the aircraft, meaning the farther from the center, the higher speed of the aircraft

.

 The touch time is equivalent to the moving ti me of the aircraft. 1. Climb

2. Descend

3. Rotate left

4. Rotate right

Note :
Mobile remote control mode cannot be used without GPS positioning. (Indoors for example)



## 10.2.1.2 Mobile Attitude Control M ode

NB

 Please keep the aircraft horizontal before starting attitude cont rol mode. Otherwise, the aircraft will fly off in the direction that the mobile dips, after switching to this mode.

 Mobile attitude control mode can only be used in mobile remote control mode.

 Control mode will automatically switch immediately to mobile remote control mode after exiting from the mobile attitude control mode. However exiting mobile remote control
mode will revert to transmitter control.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field 45

Click the mobile device menu key and click “ Enable
Attitude Control ” to open the attitude option , the remote
control interface will switch

to a blue cross, indicating
that mobile attitude control
mode is started as shown the figures on the right

.

Non

- attitude control mode Attitude Control mode

The status of attitude control mode can be se en in the following table:

After Enable Control Remote control interface operation Aircraft status

Dot status Red: non

- positioning Green: positioning

-
Hovering operation Hold the mobile device horizontally and do
not touch the screen Hovering

Adva nce d operation 1. Tilt the mobile device forwards and
backwards

2. Tilt the mobile device from left to right

3. Tilt the mobile device from upper left to
bottom left or upper right to bottom right 1. Move forwards
and backwards

2. Move left and right

3. Move forward lef

t, backward left, forward right and backward right

Climb / descend /
rotate 1. Click any area on the screen and drag upwards

2. Click any area on the screen and drag
downwards

3. Click any area on the screen and drag
to the left

4. Click any area on the screen a nd drag to the right

Note :

 D ragging distance is proportional to the speed of the aircraft, meaning that 1. Climb

2. Descend

3. Rotate left

4. Rotate right46 Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd. After Enable Control Remote control interface operation Aircraft status the longer the dragging distance , the higher the speed of the aircraft

.

 The time spent touching the screen is equivalent to the move duration of the
aircraft

.



## 10.2.1.3 Semi

- automatic T ake O ff

The flight status will display “Auto hover” when seven or more satellites are in view and CH5 is in position 3 and CH6 in position 1

. Now push the throttle after arming and the ai rcraft will take
off after the throttle is in mid position and will hover automatically at a height of approximately
2

- 3 metres

.


## 10.2.1.4 Return and L and

NB For safety reasons it is not recommended to switch to return and land mode if the aircraft is
too near to people.

Return and land is achieved as follows :

1. The aircraft will record automatically the starting position , after having attained GPS lock
with seven or more satellites.

2. Carry out any of the following operations to hand over control to the aircraft to return and
land. The aircraft will not respond to the flight control sticks on the transmitter during this
time:

– Switch CH5 and CH6 to position 3 on the transmitter

.

– On the mobile ground station: click “Map”→“ SPC ”→“ Auto Landing ”;

– On the PC ground station: select “View”→“Panel” and open the instrument panel and
click “ Auto landing”.

3. The aircraft will land slowly after reaching the take

- off point and at this stage you can adjust the position of the aircraft if you need to find a better landing position. The flight controller automatically applies throttle at this time and the throttle stick of the
transmitter is inactive

.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field 47

4. The motor s will gradually stop rotation when the aircraft is fully on the ground and the
throttle stick reduced to minimum . The motor s will be locked after 5 seconds and a CSC operation is required before restarting

.
Note :

 If the aircraft is 25m or more away from the return point and less than 20m in height, the aircraft will climb to 20m before returning when switched to auto land mode. The Aircraft will
return to its original height after switching to auto land mode if the aircraft is higher than
20m. The aircraft will return at its current height if the aircraf t is less than 25m away from
the return point.

 The aircra ft will exit from return and land mode only after switching CH5 to position 1.



## 10.2.1.5 Fly to P oint on the M ap (FlyToPP)

10.2.1.5.1 Mobile G round S tation F ly to P oint

NB
Take care when using FlyToPP that the aircra ft does not fly out of sight.

FlyToPP can only be carried out in GPS automatic hover mode. The procedure is as follows:

1. Switch CH5 to position 3 and CH6 to position 1 on the transmitter

.
2. Select a point on the map interface, a yellow smiley will appear a t that point,
as shown in Figure 56

.
3. Click " SWP ” then “OK” the smiley will change
into a purple star , as shown in Figure 57

.
4. Perform the same procedure to fly to the next target point. Figure 56 Figure 57 Note : The aircraft will fly without turning if the distance between two target points is less than 10m;
the nose of the aircraft will turn towards the next target point if the distance is larger than 10m.48 Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.



## 10.2.1.5.2 PC Ground S tation F ly to P oint (FlyToPP)

Fly to point can only be achieved in GPS automatic hovering mode. The procedure is as follows:

1. Switch CH5 to position 3 and CH6 to position 1 on the transmitter

.
2. Open the ground
station and select

“ File ”→“ Open Wi

- Fi ”
, a yellow smiley will display on the map, as
shown in Figure 58 : a purple star is beneath the yellow smiley.
Figure 58
3. Click a target point, the yellow round smiling
face will move to the point and the covered purple star will be exposed , as shown in Figure 59

.

Figure 59
4. Click “ Fly to PP ”, the purple star will move to the position of the yellow smiley , as shown in Figure 60

.
5. The aircraft will fly to this point and to the next target point if the same procedure is followed. Figure 60



## 10.2.1.6 Way Point Flight

10.2.1.6.1 Mobile Ground S tation Waypoint F light
Waypoint flying is carried out as follows :

1. Ro ute design : Click “Map”→“ Tool ”→“ Add Waypoints ” then “OK” to open the route design interface; complete waypoint the design clicking each point on the route.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field 49 Route design can be made by adding single points consecutively (manual generation of route) or autom atic route generation

.
 Editing s ingle point s : each waypoint contains the key parameters of “Height ”, “Hovering time” and “Speed”. To edit waypoints, click on the waypoint and then select “Edit waypoint” from the pop

- up window.

– “Height” : means the altitude of the aircraft relative to the takeoff point at that waypoint. The aircraft will gain or lose altitude between waypoints if they are of different heights. T he default altitude of a waypoint is the current height of the
aircraft when switching to navigati on mode

.

– “Hovering time” : is the time spent stationery at each waypoint . The default setting for the first waypoint
is 65535.

– “Speed” : is the speed of
the aircraft to the next waypoint. Single point editing (manual generation of route)

– “ Photography se tting” : sets up the ability to take a photograph at intervals or at each waypoint indicated along a route. The initial point, where the first photograph is taken should be set up according to the “Start photograph” routine
described below.

 Automatic gener ation of route : at least 4 waypoints should be set up with the same height and flight speed at each way point.
After setting up the waypoints, click “ Tool ”

→“ Auto Make Waypoints ” and edit the correct setting s for “ Delay ”
, “ Interval ”
,

“ Altitude ” and “ Speed ” . T he software
will now automatically generate a waypoint
route. Automatic waypoint route generation

2. Uploading a route : after drawing a route, it must be uploaded to the flight controller. Click

“ Upload Waypoints ” in the Tools menu. The route can also be stored as a file for use in the
future

. Click “Save Waypoints”
To examine whether each waypoint has been uploaded successfully, the color of the waypoint will change to blue indicating success or change to orange to indicate failure. Uploading should be do ne again in case of failure.50 Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

3. Route verification : Click “ remove route point s ” to change blue points into orange points
and click “ verify waypoints ”, to download the currently uploaded waypoints into the ground station for comparison. If all waypoints chang e to blue
, the route stored in the flight controller is consistent with that in the ground station, indicating no error s. If this is not the case the route should be uploaded again.

4. Waypoint flight

 

### A utomatic flight
1) Switch CH5 to position 3 and CH6 to the position 2 on the transmitter

. 2) Click “ Map ”→“ SPC ”→“ Enable Skyway ” , the aircraft will fly automatically
to the first waypoint and hover.
3) Enter 2 in the text box “ Target ” in “ Map ”→“ SPC ”
, and click “ Target ” now push the elevator stick up and the aircraft will fly to waypoints in the order 2, 3, 4 „ Until the route is complete when it will fly to the first waypoint and hover.



###  Semi

- automatic flight
1) Switch CH5 of the RC control TX to position 3 and CH6 to position 2.
2) On the Android GCS select “Map ”→“SPC ”→“Enabl e Skyway ”→“Semi

- Auto Skyway” and click “OK”, the aircraft will stay in its current position;
3) Push the elevator stick on your TX and the aircraft will fly in the order 1, 2, 3, 4...etc. until completion of all waypoints.

Throttle and rudder can be used as normal during the flight.

2. Exit : Switch CH5 to position 1 (in manual mode) or CH6 to position one (auto hover mode) to exit waypoint flying

.
Note :

 If you have not set up a waypoint route the aircraft may fly away if you switch to auto navigation mode. Aft er starting the motor s , the flight status of the aircraft will change
to automatic navigation 3 seconds after switch ing to automatic navigation mode

.

 The nose of the aircraft aligned to the next waypoint during waypoint route navigation.

 If you want to co ntrol the direction of the nose, click “Map”→“ SPC ”→“ Disable course
locked ” during waypoint flight. T he aircraft will fly the route is normal but the nose will not point to the flight direction . It will be controlled by the rudder stick on the transmitter. C lick

“ E nable course locked ”, and the nose of the aircraft will point towards the flight direction again.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field 51



## 10.2.1.6.2 PC Ground Station Waypoint Flight
Waypoint route flying is carried out as follows :

1. Connect the PC via Wi

- Fi and open the ground station. S elect “ Fi le ”→“ Open Wi

- Fi ” ;

2. Route design : Click “ ” to open waypoint route design, click on each waypoint in turn,

then click “ ” to exit waypoint generation.
Waypoint route design can be single point editing (manual generation of route) and
automatic route generatio n

.
 Single point edit ing : each waypoint contains key parameters of “ Height ”
, “ Cycle
time ” and “ Speed ” . Right click on the waypoint and select “Edit” to change these parameters.

– “Height”: is the altitude of the aircraft relative to the takeoff point at that waypoint. The aircraft will gain or lose altitude between waypoints if they are of different heights. T he default altitude of a waypoint is the current height of the aircraft when switching to navigation mode.

– “ Cycle time” : is the time spent stationery a t each waypoint . The default setting for the first waypoint is 65535.

– “Speed” : is the speed
of the aircraft to the next waypoint. Single point edition (manual generation of route)

– “ Snapshot config ”: sets up the ability to take a photograph
at intervals or at each waypoint indicated along a route. The initial point, where the first photograph is taken should be set up according to the “Start photograph” routine
described below. Route edition window

Note :

 Clicking the right button on a selected waypoin t will give you the option of uploading editing or deleting.

 Left click on the waypoint to display the waypoint properties.52 Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.  Automatic generation of route : at least 4 waypoints should be set up with the same height and flight speed at each waypoint

. 1) Select “ Path Settings ” “ Edit Current Path ” after setting up route points and the “Edit Waypoint” window will pop up.
2) Click “ Pattern Waypoints ” and the “ Pattern Waypoints ” window will pop up.
3) S elect a waypoint and click LPT1 and enter a setting for “ Pattern Dela y ”, “ Pattern
Interval ” and “ Pattern Speed ”, then click “ Make ” and the software will automatically generate a flight route for the aircraft.

1. Setting up waypoints 2. Route edition window

3. Setting of automatic generation of route

parameters 4. Automatic generation of route

3. Uploading the route to the aircraft: right click a waypoint and click “ Upload ” or select

“ Path Settings ”→ “ Upload Path to AP ” after setting up the route. The route can also
be stored as a file for use in the future. T o examine whether each waypoint has been uploaded successfully, the waypoint color will change to blue indicating success , any other color woul d indicate failure , as shown
in Figure 61

. Figure 61

4. Route verification : select “ Path Settings ”→ “ Download and Check Path ”, to download
the waypoints from the aircraft to the ground station for compariso n. All route points will change into orange and then blue. All route points in blue indicate that the route stored inZero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field 53 the flight controller is consistent with that in the ground station, indicating no error in the
route. If not , the route should be uploade d again.

5. Waypoint flight

 Automatic flight
1) Switch CH5 to position 3 and CH6 to position 2

. 2) Click “ Enable Skyway ” on the right hand panel
and a confirmation will
pop up, as shown in Figure 62 , click

“ Enable ” and the
aircraft will fly to the
first waypoint and
hover. Figure 62

3) Enter 2 in the textbox “Target Waypoint ” in the instrument panel and click

“ Change Target ” Now push the elevator stick and the aircraft will fly between waypoints in the order 2, 3 , 4... etc. until the route is complete when it will hover at the first waypoint

.
 Semi

- automatic flight
1) Switch CH5 of the RC control TX to position 3 and CH6 to position 2.
2) On the Android GCS select “ Map ”→“ SPC ”→“ Enable Skyway ”→

“ Semi

- Auto Skyway ” and click “ OK ” , the aircraft will stay in its current position;
3) Push the elevator stick on your TX and the aircraft will fly in the order 1, 2, 3, 4...etc. until completion of all w aypoints.
Throttle and rudder can be used as normal during the flight.

6. Exit : Switch CH5 to position 1 (in manual mode) or switch CH6 to position 1 ( auto hover mode) to exit the function.

Note :

 If you have not set up a waypoint route the aircraft may fly away if you switch to auto navigation mode. After starting the motor s , the flight status of the aircraft will change
to automatic navigation 3 seconds after switch ing to automatic navigation mode

.

 The nose of the aircraft aligned to the next waypoint dur ing waypoint route navigation.

 If you want to control the direction of the nose, click “ Map ”→“ SPC ”→“ Disable course
locked ” during waypoint flight. T he aircraft will fly the route as normal but the nose will not54 Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd. point to the flight direction . It will be con trolled by the rudder stick on the transmitter. C lick

“ Enable course locked ”, and the nose of the aircraft will point towards the flight direction again.



## 10.2.1.7 Tracking Mode (Heading Hold)

This function can only be used in GPS mode and when seven or more satel lites are in view.
In tracking mode the aircraft flies along the waypoint route with the aircraft nose direction
locked.
Tracking mode is carried out as follows :

1. Switch CH5 to position 3 (GPS hover mode) and move the transmitter sticks to as near
neutral as possible.

2. On the ground station, click “ Enable Course Locked ” on the instrument panel to start.

3. Click “ Disable Course Locked ” on the instrument panel to exit.



## 10.2.2 Professional Flight Operation
The following flight modes are designed for professional pho tographic work using the Zero
UAV „ Z ‟ series brushless direct drive gimbals

 Air rocker
 FPV aerial photograph y
 Carefree Aerial Photography can be carried out using a single transmitter, however most professionals would prefer to use two transmitters, one t o control the aircraft and the other to control the gimbal. Both operational modes will be described :



## 10.2.2.1 Dual C ontroller O peration

10.2.2.1.1 A erial R ocker
The default waypoint flying value, when using a Zero UAV Z series brushless gimbal, is
the aerial rocker functi on. Rocking the elevator stick backwards and forwards controls the speed of waypoint flight.

When in the aerial rocker function , the gimbal remote control controls the direction of gimbal,
the aircraft hea d tracks the gimbal direction. Pushing the elevator stick will make the aircraft fly according to the scheduled way point route; the greater the degree of elevator input the higher the flight speed. Releasing the stick to center will make the aircraft return to hover. After completing all way points, relea sing the stick to the center will cause the aircraft to return to the first way point and hover.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field 55

Enter the Aerial Rocker function as follows:

1. Setup your waypoint route on the GCS map interface, upload the route to the autopilot and verify.

2. After takeoff, switch to GPS mode on the aircraft controller and hover.

3. Switch CH6 on the aircraft controller from position 1 to position 2. Pause for five
seconds and the aerial rocker function will enable.

4. To exit, return CH5 to position one (manual mode) or CH6 to p osition one (GPS mode).
The status of all parameters in aerial rocker mode is shown in following table.

Flight mode Flight

course Aircraft

head Remote

controlling instruction Aircraft

remote control Gimbal remote

control

Aerial rocker (waypoint route) Dir ection of

planned route Head

direction always follows the direction of the camera lens. Rudder Not controlled Direction is controlled Aileron rudder Not controlled Roll is controlled

Elevator Regulates

speed of waypoint flight Pitch is

controlled

Accelerator rudder Not controlled Push throttle stick to increase stability CH5 Position three Position one
CH6 Position two X



## 10.2.2.1.2 FPV 

## M ode
FPV mode (first person view) the aircraft remote control controls the direction of the gimbal.
The aircraft heading automatically follows the direction of the gimbal so as to avoid the landing gear from blocking the view of the camera. The pitch and roll of the aircraft will follow the video direction as reference. For example, when circling a point of interes t, the pilot can always focus on the target by just using the rudder. The autopilot will control aileron, elevator, height
and distance.
A schematic diagram of FPV mode is shown below:56 Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

 FPV operation in GPS flight mode

1. Switch CH5 of the gimbal remote con trol to position 1, the gimbal will not be in tracking mode.

2. After the aircraft enters hover in GPS mode, switch CH5 on the aircraft controller from position 3 to position 2, after a 2 second pause the aircraft will enter FPV mode with a high level of stab ility. The aircraft will remain hovering in GPS mode.

3. To leave FPV mode switch CH5 on the aircraft controller back to the first position for manual mode or 3rd position for GPS hover.
The status of all parameters in FPV mode is shown in following table.

F light mode Flight

course Aircraft

head Remote

controlling instruction Aircraft

remote control Gimbal remote

control

Highly stable FPV mode Takes

gimbal direction as reference The aircraft

head direction always follows the direction of the camera lens. Rud der Controlled Not controlled

Aileron rudder Controlled Roll is controlled

Elevator Controlled Pitching is controlled
Accelerator rudder Controlled Push throttle stick to increase stability CH5 Position two Position one
CH6 Position one X

NB: When CH6 is shown as X changing the sensitivity of the gimbal will be invalid.

 FPV operation in manual flight mode

1. Switch CH5 of the gimbal remote control to position one; the gimbal will not be in tracking mode.

2. After the aircraft takes off in m anual, place CH5 from position 1 to position two. After a 2 second pause the aircraft will enter manual FPV mode with a high level of stability. Unlike when in GPS automatic hover status, the aircraft will remain in manual mode.

3. To leave FPV mode switch CH 5 back to the first position for manual mode.
The status of all parameters in manual mode is shown in following table.

Flight mode Flight

course Aircraft

head Remote

controlling instruction Aircraft

remote control Gimbal remote

control

Highly stable FPV
m ode Take

gimbal direction as reference The aircraft

head direction always follows the Rudder Controlled Not Controlled

Aileron rudder Controlled Roll is Controlled
Elevator Controlled Pitch is controlledZero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field 57

Flight mode Flight

course Aircraft

head Remote

controlling instruction Aircraft

remote control Gimbal remote

control
direction of the camera lens. Accelerato r

rudder Controlled Push throttle stick to increase stability CH5 Position two Position one
CH6 X X



## 10.2.2.1.3 Carefree M ode

This mode must be used in GPS Hover Status.
In carefree mode, the navigation direction of the aircraft is locked (i.e. the direct ion the aircraft is heading when entering this mode). Whatever direction faced by the nose of the aircraft, the flight direction will remain unchanged. The nose of the aircraft automatically keeps track of the gimbal so that the camera avoids the landing g ear. The elevator and aileron of the aircraft take the navigation direction of the aircraft as reference.
A schematic diagram of carefree mode is shown below:

Enter carefree mode as follows:

1. Switch CH5 of the gimbal remote control to position one; the gimbal will not be in tracking
mode.

2. After takeoff switch to GPS mode and hover

3. After selecting the desired flight direction align the nose of the aircraft in this direction. Switch CH5 on the flight controller from position 3 to position 2, switch back t o position 3 then return to position 2. You will now be in carefree mode.58 Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

4. When you need to exit carefree mode, switch channel 5 to position 1 or position 3 (manual mode or GPS mode).
The status of all parameters in carefree mode is shown in the followin g table.

Flight mode Flight

course Aircraft

head Remote

controlling instruction Aircraft

remote control Gimbal remote

control

Carefree Take user

selected direction as reference The aircraft

head direction always follows the direction of the camera lens. R udder Controlled Direction is Controlled Aileron rudder Controlled Roll Controlled

Elevator Controlled Pitching Controlled
Accelerator rudder Controlled Push throttle stick to increase stability CH5 Position two Position one
CH6 Positio n one X



## 10.2.2.2 Single T ransmitter F light O peration

The default operation al mode is dual transmitter control after switch on

. Change to single
transmitter mode as follows :

1. Toggle the CH7 switch from maximum to
minimum
, 3 times rapidly to change to single trans mitter control . The gimbal is

now controlled by the aircraft transmitter
radio.

2. In order to check for correct operation, gently advance the throttle by around
5 %. If correct , the gimbal will become operational and CH7 will control camera
tilt , as shown in Figure 63

. Figure 63
3. The gimbal will stop stabilization when the throttle is reduced back to zero

.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Fiel d 59



## 10.2.2.2.1 Aerial Rocker Function
The default waypoint flying value, when using a Zero UAV Z series brushless gi mbal, is the “Aerial rocker” function. Rocking the elevator stick backwards and forwards controls the speed of waypoint flight.
When in the aerial rocker function, the aircraft remote control controls the direction of gimbal, the aircraft head tracks the g imbal direction. Pushing the elevator stick will make the aircraft fly according to the scheduled way point route; the greater the degree of elevator input the higher the flight speed. Releasing the stick to center will make the aircraft return to hover. After complete all way points, releasing the stick to center will cause the aircraft to return to the 1st way point and hover.

Enter the aerial rocker function as follows:

1. Setup your waypoint route on the GCS map interface, upload the route to the autopi lot and verify.

2. After takeoff, switch to GPS mode and hover.

3. Switch CH6 from position 1 to position 2. Pause for five seconds and the aerial rocker
function will enable.

4. To exit, return CH5 to position one (manual mode) or CH6 to position one (GPS mode).

The status of all parameters in aerial rocker mode is shown in following table.

Flight mode Flight

course Aircraft

head Remote

controlling instruction Aircraft remote control

Airplane Gimbal

Aerial rocker (waypoint route) Direction of

planned route Head

direction always follows the direction of the camera lens. Rudder Not controlled Controlled

Aileron rudder Not controlled Not controlled

Elevator Regulates

speed of waypoint flight Not controlled

Throttle rudder Not controlled Push throttl e stick to increase stability CH5 Position three
CH6 Position two

NB : Gimbal tilt is controlled by CH7.



## 10.2.2.2.2 Highly S table FPV M ode FPV mode (first person view) the aircraft remote control controls the direction of the gimbal. The aircraft heading automatically follows the direction of the gimbal so as to avoid the landing60 Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

gear from blocking the view of the camera. The pitch and roll of the aircraft will follow the video direction as reference. For example, when circling a point of interest, the pi lot can always focus on the target by just using the rudder. The autopilot will control aileron, elevator, height
and distance.
A schematic diagram of FPV mode is shown below:

 FPV operation in GPS flight mode

1. After the aircraft enters hover in GPS mode, switch CH5 from position 3 to position 2, after a 2 second pause the aircraft will enter FPV mode with a high level of stability. The aircraft will remain hovering in GPS mode.

2. To leave FPV mode switch CH5 back to the first position for manual mode or 3r d position for GPS hover.

The status of all parameters in FPV mode is shown in following table.

Flight mode Flight

course Aircraft

head Remote

controlling instruction Aircraft remote control

Airplane Gimbal

Highly stable FPV mode Takes

gimbal direct ion as reference The aircraft

head direction always follows the direction of the camera lens. Rudder Not controlled Controlled

Aileron rudder Controlled Not controlled

Elevator Controlled Not controlled

Accelerator rudder Controlled Push thrott le stick to increase stability CH5 Position two
CH6 Position one

NB : Gimbal tilt is controlled by CH7.

 FPV operation in manual flight m ode

1. After the aircraft takes off in manual, place CH5 from position 1 to position two. After a 2 second pa use the aircraft will enter FPV mode with a high level of stability. UnlikeZero UAV (Beijing) Intelligence Technology Co., Ltd. | Flying at the Field 61 when in GPS automatic hover status, the aircraft will remain in manual mode.

2. To leave FPV mode, switch CH5 back to the first position for manual mode.
The status of all parameters in manual mode is shown in following table.

Flight mode Flight

course Aircraft

head Remote

controlling instruction Aircraft remote control

Airplane Gimbal

Highly stable FPV mode Takes

gimbal direction as reference The aircraft

head direction always follows the direction of the camera lens. Rudder Not controlled Controlled

Aileron rudder Controlled Not controlled

Elevator Controlled Not controlled

Accelerator rudder Controlled Push throttle stick to increase stability CH5 Position two
CH6 X

NB : Gimbal tilt is controlled by CH7.



## 10.2.2.2.3 Carefree M ode

This mode must be used in GPS Hover Status.
In carefree mode, the navigation direction of the aircraft is locked (i.e. the direction the aircraft is heading when entering this mode). Whatev er direction faced by the nose of the aircraft, the flight direction will remain unchanged. The nose of the aircraft automatically keeps track of the gimbal so that the camera avoids the landing gear. The elevator and aileron of the aircraft take the navig ation direction of the aircraft as reference.
A schematic diagram of carefree mode is shown below:

Enter carefree mode as follows:

1. Switch to GPS mode after take

- off, the aircraft will hover as normal.62 Flying at the Field | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

2. After selecting the desired flight direction align the nose of the aircraft in this direction. Switch CH5 from position 3 to position 2, switch back to position 3 then return to position 2.
You will now be in carefree mode.

3. When you need to exit carefree mode, switch channel 5 to position 1 or position 3 (manual mode or GPS mode).
The status of all parameters in carefree mode is shown in following table.

Flight mode Flight

course Aircraft

head Remote

controlling instruction Aircraft remote control

Airplane Gimbal

carefree Take user

selected direct ion as reference The aircraft

head direction always follows the direction of the camera lens. Rudder Not controlled Controlled

Aileron rudder Controlled Not controlled

Elevator Controlled Not controlled

Accelerator rudder Controlled Push thr ottle stick to increase stability CH5 Position two
CH6 Position one

NB : Gimbal tilt is controlled by CH7.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Tasks 63



# 11 Tasks

11.1 Gimbal

11.1.1 Servo D riven Gimbal

The PAR/PITCH and PHO/ROLL ports on the flight controller are connected respectively to the gimbal pit ch servo and
the roll servo

. You must power the servos separately from the flight controller when using a servo driven Gimbal.
When using a servo driven gimbal the
transmitter should have at least seven
channels.

 Gimbal pit ch control: assign CH7 to a knob switch on the transmitter. Any adjustment of the knob will produce a corresponding tilt on the pitch servo.

 Gimbal roll control : with no initial signal to the roll channel
, the roll servo will remain in the neutral position to stabilize the roll axis of the gimbal

. Adjust the roll channel according to the following procedure : a) Switch CH5 to position 1 and throttle back to minimum.
b) Click “ Setting s ” in the mobile ground station or the button “ Init Setup ” on the PC ground stat ion. The knob currently assigned to CH7 is changed to control Gimbal roll.
c) Click “ Quit Setup ” after adjusting the gimbal roll position, the new central position will be fixed and stored. CH7 will return to control Gimbal tilt

.
Note :

 PAR/PITCH and PHO/ROL L are set up with the parameter: “PAR+PHO multiplex ” which
can be edited as follows:
On the m obile ground station: click “Parameter” , as shown in Figure 64

. On the PC ground station: select “ Setting ”→“ Parameter Setting ” , as shown in Figure 65

.

 “PTZ Roll sensitivity” and “PTZ Pitch Sensitivity ” on the parameter interface are used to adjust the gimbal correction angle. If the correction angle is too small that it should be
inc reased and vice versa. A negative value should be entered to indicate reverse PTZ sensitivity. The range of PTZ sensitivity is

- 127 to 127.64 Tasks | Zero UAV (Beijing) Intelligence Technology Co., Ltd. Figure 64 Figure 65



## 11.1.2 Brushless Gimbal

A brushless motor di rect drive Gimbal has a much higher level of stability than a servo driven Gimbal

. The Gemini flight controller supports the “ Z ” Series Brushless Gimbal
from ZERO UAV . The PTZ1, PTZ2 and PTZ3 ports will
connect to the corresponding ports on a Z series Gimb al
controller and it is not necessary to set up any parameters

. The Z 2000 and Z 1400 gimbals are shown on the right
side.
Zero UAV brushless gimbals are equipped with a brushless gimbal controller, a power supply and receiver, controlled independently by the gimbal operator

. Refer to
the ZERO Z series brushless Gimbal manual for detailed
instructions . The manual can be downloaded from the ZERO UAV official website ( www.zerouav.com ). Z2000 Gimbal

Z1400 Gimbal



## 11.2 Ph otograph y

The PHO/ROLL port on the flight controller outputs an electronic shutter which switches between high and low TTL levels. The upper PIN is the signal wire, the middle PIN has no connection and the lower PIN is ground

. The output of the signal is 3.3V. The signal wire will output a temporary low level of 1V for 400ms approximately and then return to the high level of 3.3V. This output format supports Canon 550D, 600D and 5D mark II cameras

. Photographs can be taken in manual or automatic mode. Man ual photographs can be taken with the RC transmitter or with the ground station, as shown below:Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Tasks 65 

### NB

 CH8 is set up in the Gimbal R/C TX when using dual transmitters.

 Automatic photography can only be made in waypoint flight. The photographic interval

mus t be set up within the range of 5m

- 255m in automatic mode. Refer to “ 8.1.2.3 Setting

u p A ircraft P arameters ”

.

 D uring the photo process, the communication should be kept open.

 Manual photography

 With CH8 of the transmitter

.
1. Set up "PAR+PHO multiplex ” on the parameter interface of the ground station to “Parachute + Photo ”

. You can skip this step if you are using a Zero brushless gimbal.y7

2. Toggle CH8 and the camera will ta ke a photograph;

3. Toggle CH8 again and the camera will take another photograph;

4. As many photographs as you require can be taken using this method

.  With Ground Station

1. Set up the parameter "PAR+PHO multiplex ” on the parameter interface of the ground stat ion to “Parachute + photo ”

. You can skip this step if you are using a Zero brushless gimbal.y7

2. T ake photographs with either of the following operations:66 Tasks | Zero UAV (Beijing) Intelligence Technology Co., Ltd. – Open the mobile ground station and click “Snaps” in the Map
Section
, as shown in Figure 66

.

– Open the instrument panel on the PC ground
station and click “Take
Photo”. Each click takes one photo, as shown in Figure 67

. Figure 66 Figure 67
 Automatic pho tography: Automatic photography can be carried out when the aircraft is in waypoint flight. Refer to “ 10.2.1.6 Way Point Flight ” for waypoint route design.

 Parameters s hould be set up in exactly the same way if you are flying to a single point. (Fly2PP)

– On the PC ground station set up “Snapshot interval” and photograph parameters of each point in the window “Parameter” window

.

– On the Mobile ground station set up “Photo s pacing” and photograph parameters of each route point, as shown in Figure 68 and Figure 69

.  Photographic interval settings can only be made in automatic route generation mode.

Figure 68 Figure 69 Figure 70
Note :

 The ground station will record statistics on the number of pictures taken in the photography process and the corresponding area on the map will be displayed as a g reen dot , as shown
in Figure 70

.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Tasks 67

 The maximum number of pictures recorded is 250. The ground station will restart the count
if this number is exceeded.



## 11.3 POS Info D ata D ownload

11.3.1 Mobile Ground Station Data Download

The text informat ion on pictures taken can be downloaded into your phone or tablet including the following information (from left to right): number, latitude, longitude, elevation, roll angle, tilt angle, heading and GPS elevation.

1. Open the mobile ground station and conne ct via Wi

- Fi;

2. Click “pos info” in the “Settings” section, as shown in Figure 71 . The POS data on the pictures will be downloaded automatically to the directory “YShj” in the root directory of your mobile device.

The file is labe l l ed: PIC+time.txt, of which the time should be exact to the second, for example:
PIC20141027181021. Figure 71



## 11.3.2 PC Ground Station Data Download
The text information on pictures taken can be downloaded into your PC or tablet incl uding the following information (from left to right): number, latitude, longitude, elevation, roll angle, tilt angle, heading and GPS elevation.

1. Open the PC ground station and connect via Wi

- Fi;

2. Click “ Get Photo Data ” on the dashboard

. The POS data
on th e pictures will be downloaded automatically to the directory “ H j” in the ground station of your PC device.
T he download tip will appear in the prompt box under the parameter “ Fight Mode ” d uring the download
process , as shown in Figure 72

.
The file is label l ed: PIC+time.txt, of which the time should be exact to the second, for example: PIC20141027181021. Figure 7268 Safety Features | Zero UAV (Beijing) Intelligence Technology Co., Ltd.



# 12 Safety Features

12.1 Starting and S topping the M otor s

12.1.1 To S tart M otor s

The motors will be lock ed after 5 seconds if no throttle is applied before take

- off
, or after landing in manual mode with the pulled back to minimum . The motor will not rotate after it has
been locked even if throttle is applied

. Motors will rotate only after unlocking. Referenc e can be
made to “ 9.3 Unlocking and A rmin g the M otors ”

.


## 12.1.2 To S top M otor s

The motor s will stop when the throttle is pulled back to minimum in manual mode. In GPS mode, reducing the throt tle to minimum will have the following differing results:

– The aircraft will reduce altitude but the motors will not stop if the aircraft is in flight;

– The motor s will stop slowly until fully locked if the aircraft is on the ground.



## 12.2 F/S P rotection

 Loss o f Wi

- Fi signal

Full control of the aircraft will be handed to t he transmitter if the loss of Wi

- Fi signal
exceeds 1 second when flying the aircraft with the Android mobile device . If the aircraft is waypoint flying
, it will not be affected and will comple te the route where it will hover awaiting further commands

.
 Loss of R/C transmitter signal

F/S (failsafe) should be correctly set up. Refer to the RC transmitter manual to set CH5 in position 3, CH6 in position 3 and throttle in neutral for correct operat ion of failsafe.

Failsafe will initialize when there is signal loss from the RC (receiver)

.

– The aircraft will switch to auto hover for 5 seconds and then return and land if the signal is not recovered within five seconds.

– The aircraft will keep flying fo r 5 seconds in automatic waypoint mode and will return and land if the signal is not recovered within 5 seconds.



## 12.3 Parachute P rotection

NBZero UAV (Beijing) Intelligence Technology Co., Ltd. | Safety Features 69

 The parachute servo should have its own power supply. It should not be powered from the flight controller or the rec eiver.

 The weight of the whole aircraft should not exceed the safe protection range of the parachute.

The flight controller will consider the status of the aircraft as abnormal if the angle of deflection
from horizontal exceeds 70° and will deploy the p arachute

. The parachute will open automatically. The motors have two status when the parachute is opened:

– Motors will be shut off automatically if flying in GPS mode with more than 7 satellites
locked.

– Motors will not be shut off automatically if flying in manual mode or in GPS mode with less
than 7 satellites locked.

N ote :

 Manual parachute deployment is not supported, only automatic parachute deployment.

 The parachute will not deploy automatically because of radio interference, control instability or low flight battery voltage

.



## 12.4 Data Record

12.4.1 Flight Data Record

- “Black Box Function”

The Gemini flight controller has a flight data record function for fault analysis. It is not necessary to have any external memory or to initiate any application for this functi on to work

. A record is made automatically during every flight. However, only the data of the last one minute before landing is recorded . Therefore if you need to examine this data , please do not make another flight or unlock the motors again

.


## 12.4.1.1 Obtaining Mobile Ground Station Data
The flight data can be obtained from the mobile ground station
as follows:

1. Connect the power supply to the flight controller, open the mobile ground station and connect via Wi

- Fi ;

2. Click “One minute data” in the “Setting” interfa ce and a confirmation dialog box will pop up , as shown in Figure 73

.
3. Click “ OK ” and the flight controller will upload to the mobile
device the last minute of recorded flight data

.
Figure 7370 Safety Features | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

4. It will ta ke 1 minute to obtain the data and then report that c ompletion of 1 minute data reading

.
5. The file “T

- 1min. hjext2” can be seen in the directory “YShj” in the root directory of the mobile device. You can make your own analysis of this data or email it to th e manufacturer for debugging.



## 12.4.1.2 Obtaining PC Ground Station Data
Flight data can be obtained from the PC ground station as follows :

1. Connect the power supply to the flight
controller and to the PC via Wi

- Fi

.
2. Select “Setting s ” → “1 Minute Data ” and a conf irm ation dialog box will pop up , as shown in Figure 74

.
3. Click “Yes” and the flight controller will blow to the PC the last minute of flight
data. Figure 74

4. After 1 minute to obtain the data
, the instructi on of c ompletion of 1 minute data reading will pop up on the ground station;

5. The file “T

- 1min. hjext2” can be seen in the “ H j” directory of the PC ground station software package

. You can make your own analysis of this data or email it to the
manufacturer for debugging

.



## 12.4.2 GCS D ata R ecord
This function needn't any external device, just keeping the flight controller powering on and WIFI connecting, then all of the operation record will be saved by hj files in the rela ted folder of GCS for analy z ing.
One hj fi le will be created once closing the GCS and all of data will be in one hj file if not closing GCS.

 saved file path

– m obile GCS: root folder in cellphone/YShj catalog

– PC GCS: GCS/Hj catalog

 document format: time.hjext2, for example, 20150506110410.hjext2, 20 150506 means date,110410 means recording begin time from 11:04:10Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Extending the Range of Capabilities 71



# 13 Extending the Range of Capabilities

13.1 Radio C onnection

The XB

- PRO900 radio can be purchased as an option to extend the control distance, overcoming the distance limit of Wi

- Fi for ground s tation and mobile device control.

This radio has an RF power of 100mW on a frequency of 900MHZ and its measured two

- way communication distance is 1

- 2 km in open ground

. The radio has a RS232 port and the
communication Baud rate is 115200bps.

XB

- PRO900 co nsists of two interchangeable radios, one on the aircraft and the other on the ground

.


## 13.1.1 Airborne R adio C onnection

Remove the Wi

- Fi module from the aircraft and install the radio in the aircraft in the same way
as the Wi

- Fi module; connect to the COM port of the flight controller; the radio should be powered by a 3S

- 6S lithium battery.



## 13.1.2 Ground R adio C onnection

Connect the Wi

- Fi module to the other radio on the ground with the connection cable provided with the radio, which is powered separately. The unit on the ground consists of
the radio and the Wi

- Fi module.

Note :

The radio and Wi

- Fi are powered with a 3S

- 6S lithium battery with the red/ black cable , the red
for anode (+) and the black for cathode (

- )

.



## 13.2 Connecting the Power Management Module

Real

- time c urrent draw (Amps) and electricity consumption ( mAh ) can be observed in the
“Data” interface of the ground station after connecting the optional Power Management
Module to the Gemini flight controller.

To use this function connect the power management mod ule (to the A 1 port on the Gemini )
, reduce the throttle to minimum and then power the flight controller. The current (A) and electricity cons umption (mAh) will be displayed , as shown in Figure 75

.72 Extending the Range of Capabilities | Zero UAV (Beijing) Intelligence Technology Co., Ltd.



## 13.3 OSD Connection

After the OSD ( On Screen Display) has been connected to
the Gemini flight controller, flight parameters will be overlapped in real time on the video display. This improves the quality of the flight experience because the pilot is constantly aware of vital flight paramete rs. Connect the OSD COM port to the COM port on the flight controller. Full details are available in the ZerOSD manual.

Figure 75Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Upgrading the Firmware 73



# 14 Upgrading the Firmware

NB Make sure the flight controllers not powered, if it is please dis connect.

Before upgrading the firmware, please download the special firmware upgrade tool on the Zero
UAV official website.
http://www.zerouav.com/en/service/Download/Firmware/
Upgradin g GEMINI firmware is simple! Upgrade the firmware according to the following procedure:

1. Download the USB driver from the ZERO official website and install it

.
2. Plug the serial converter end of the USB cable into the PC USB port, the other end to the COM por t on the Flight Controller, white cable up wards

.
3. Extract the “YS

- X4

- X4V2

- X4P

- Gemini

- M

- S ” firmware upgrade archive and double

- click

“ UpgradAP(En)

- TOOL.exe ” and the window

“ AP Firmware upgrade ” will pop up, as
shown in Figure 76

.
4. C lick “Upgrade” and the window “AP Firmware upgrade” will pop up, as shown in Figure 77

. Figure 76

Figure 77
5. S elect the appropriate COM port for upgrading; (if you do not know which COM port on your PC is being used, right click “My computer”

- >“Properties”

- >”Device manager”

- >“port”(COM & LPT ) to check , as shown in Figure 78 ) Figure 7874 Upgr ading the Firmware | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

6. Click “Open Com ”, if successful, the “Op en” button will change from gray to black and
be come clickable ;

7. Click “Open” and to select the firmware file which will have a “.arm” extension from its stored location on your PC , as shown in Figure 79

.
8. Power up the flight cont roller and to wait for the automatic upgrade process to activate
, as shown in Figure 80

.
9. Power

- off the autopilot when it says in red,
“Please Restart AP!” and then close the
window , as shown in Figure 81

. Figure 79

Figure 80 Figure 81

Note :

Please close the software and unplug the USB/serial port adapter if the upgrade operation fails. Restart the operation from the beginni ng.Zero UAV (Beijing) Intelligence Technology Co., Ltd. | Appendix 75



# Appendix

Appendix 1 Introduction to Mobile Ground Station (Android)

1. GCS Remote Control Interface

The interface functions are introduced in the following table:

No. Menu Item Function

1 Remote control Default setting: use the Green Cross to control flight

2 Data Real time flight data

3 Map Cache d map or active real time map (Google Earth)

4 Setting s Set up aircraft status

5 Parameter Adjust aircraft parameters

6 Control interface Multiple control modes using mobile device

7 C entral button Directs the aircraft in simple control mode

8 Quit E xit GCS software

9 Set Define system settings

10 Enable attitude control Click “Enable Attitude control” (red button) to start simple mobile device control mode. “Disable Attitude cont rol” (green button) Click “Disable Attitude cont rol” to exit

.

11 Enable control Click “ Enable control” (red button) to start simple mobile device control mode

. “ Disable control” (green button) Click “ Disable control ” to exit.76 Appendix | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

Note :
The aircraft seri al number and firmware version will display on the remote control interface
after data connection.

2. Data I nterface
In the Gemini ground station, continuous monitoring of the statuses of the GPS , magnetic compass and IMU of both host and slave controllers is possible . The aircraft will be ready to take off if the number of satellites recorded by the GPS is seven or more.

Click the “Data” tab for the data interface to see the screens shown below: the software will display communication disconnected in the c enter if there is no link with the aircraft

.

Descriptions of the parameters are as follows :

Name Description

Satellites Shows number of GPS satellites in view and locked GPS velx(cm) GPS velx(cm) GPS velocity displays a value below 10 when static

Xekf velx Xekf vely xek f veld Speed of the aircraft after Kalman filtering

A value of 0

- 10 is displayed when the aircraft is static on the ground.

Attitude angle Displays real

- time attitude angle during flight Flight mode settings
state Displays curr ent craft status: Manual, Manual Altitude Hold, Auto Hover, Auto Navigation, Auto Go Home and Land; setup status.
Altitude Barometer altitude of aircraft, units in metres

Course angle Aircraft compass heading: Due North= 0° , clockwise direction is posit ive, counterclockwise direction is negative. For example: Due East=+ 90° , Due West=

- 90° , Due South=+ 180° . Does not apply in manual mode. AP voltage Power supply voltageZero UAV (Beijing) Intelligence Technology Co., Ltd. | Appendix 77 Name Description GPS longitude GPS latitude GPS longitude and latitude

Motor balance Motor bala nce performance

Vibration State Shake State Displays the influence of shake and vibration on the IMU from different

directions : a para meter under 10 indicates normal
, larger than 10 indicates that shake and vibration exceed s the limit, requiring adjustm ent to the airframe to reduce vibration.
Distance from home The distance of the aircraft from the starting point
Flight time Flight time of the aircraft

Real throttle Actual position of throttle

3. Map Interface A map must be downloaded from
the Internet before the initial opening of the “Map” interface

. The map will return to its last closing position, when reopening the map.
The map interface is shown on the right side.
Map parameters are shown in the following table :

Name Description
Snap s Manual photography

Show the number of photos. The maximum number of pictures recorded is 250. The ground station will restart the count if this number is exceeded.

Locate My location, Plane location and Search location.

SWP Fly to Point (FlyToPP)

SPC Waypoint and Route flying

Tool Map tools related to the defined waypoint route

4. Waypoint Editing

T he waypoint editing interface are as shown in Figure 82 and Figure 83

.78 Appendix | Zero UAV (Beijing) Intelligence Technology Co., Ltd. Figure 82 Figure 83 Figure 84

Waypoint editing parameters are shown below :

Name Description
Single point edit Edit longitude
, latitude, height and speed between waypoints
Single point upload Upload waypoint
Single point cancel Cancel waypoint

No. Number of waypoints
Height Waypoint altitude in meters
Longitude Longitude of single waypoint

Latitude Latitude of single way point
Hovering time Time spent at each waypoint

. Zero means no delay at waypoint.
Photograph setting Setup photographic task at waypoint
Target speed Flight speed between waypoints

5. Setting s I nterface
Please take care with these settings as they are vitally important

.
T he s ettings interface is as shown in Figure 84 . The parameters are shown below.

Parameter name Parameter description

Capture Transmitter Centre point With no wind, in manual mode, after flying and trimming, activating this

will define the neutral point. NB: Make sure y our TX throttle stick is in the middle position; it does not affect the actual throttle position. Adjust transmitter Used to calibrate the transmitter’s joystickZero UAV (Beijing) Intelligence Technology Co., Ltd. | Appendix 79 Parameter name Parameter description

Magnetic compass Click to enter "Magnetic Compass" Calibration mode, the status bar above

d isplays the calibration status.

1 Minute Data Used to initiate reading the data saved in the FC within the last minute of

flight. Please refer to “ 12.4.1 Flight Data Record

- “Black Box Function” ”

. Installation guide The "Installation Guide" will guide you through installation and alignment

step by step

Init Setup Used to align channels or enter parameters of craft. Flight status will

display "Settings" afte r clicking this button. Once in settings, the control channels for each motor on the craft are directly connected to the throttle channel of the TX and there is no mix output.
Quit setup After completing Throttle Alignment and when all parameters have bee n

entered, you may click this button to exit from settings. Zero Gyro Zero the gyro. The aircraft should be perfectly level when you do this.
Snapshot Trigger camera shutter manually
Mixing Define Defines custom mixing of throttle, roll, pitch and yaw.

Follow Me If the Android Ground Station has GPS enabled, the aircraft will follow the

moving course of the Ground Station.

Test Open Parachute Test parachute open before flight , hold down the container lid to prevent deployment.

Test Close Parachute Close parachute after testing.



## Appendix 2 Introduction to PC Ground Station

1. Main Interface

2. Menu Bar Profile80 Appendix | Zero UAV (Beijing) Intelligence Technology Co., Ltd.

 File (F) T ab  View (V) T ab

 Path Settings (S) Tab  Tools (T) Tab

 Setting s (S) Tab

 Help (H) Tab: software version

Note :

 Th e correct COM port must be selected when connecting to the flight controller with the USB / serial port adaptor cable

.

 When the map is flat mode, you can download offline maps.

T he view tab i ncludes the following sections :

 ToolbarZero UAV (Beijing) Intelligence Technology Co., Ltd. | Appendix 81

 Flight Data (F)  Dashboard



## Appendix 3 Installation and Configuration V ideos

 Setting up the Futaba T8FG transmitter radio : http://www.tudou.com/programs/view/e1ai526Mbt4/

 Wi

- Fi configuration : http://v.youku.com/v_show/id_XNTE2OTY4MjQ4.html/

 U pgrading f irmware : http://v.youku.com/v_show/id_XNTE3NzEz OTky.html/

 Folding the parachute: http://v.youku.com/v_show/id_XNjgxNTQ1OTU2.html82 Appendix | Zero UAV (Beijing) Intelligence Technology Co., Ltd.



## Appendix 4 Technical S upport

Please contact ZERO UAV for technical support for any problems arising from a ctual operation.
R elevant technical documents can be downloaded in the download section in the official
website of ZERO UAV

.
 ZERO UAV official website: www.zerouav.com

 ZERO UAV Tel : +86 10

- 8282 5271

 ZERO UAV QQ Group : 168451730 ( Group1 ), 228669705 ( Group2 ), 242018689 ( Group3 ),
53371874 ( Group4 )



## Appendix 5 Reference Manual Update History

No. Version Modification Modifier Date

1 V1.0 To prepare first version Technical support 1 2014.9.1

2 V1.0 English revision Chris Hornby 2014.12.25

3 V 1.1 1. Format Adjustments

2. added functions: 10.2.1.6 Way Point Flight : Semi

- automatic flight 11.2 Photography 11.3 POS Info Data Download Technical support 1 2015.1.22

1. Format Adjustments 2. Modify parameters, diagram Technical support 1 2015.5.4

A dded function: GCS Data Record Technical support 1 2015.5.14