Multi-rotors Flight Controller

 M

V1.00

2015.5.4 User Manual

Thanks for your purchase of Tarot professional aerial photography products 。

To ensure your success with this product, we would like to introduce the following information and important notes ,hope it can be useful for you 。

www.tarotrc.com

PMU-5V

LED/OSD

DATA/USB GIMBAL

DSM1 DSM2

S3

S2

S1

M8

M7

M6

M5

M4

M3

M2

M1

AUX

CH1

CH2

CH3

CH4

CH5

CH6

CH7

CH8

CH9

GPS

M

POWER

 IN

OUT 12v

OUT 5v

P M U
 M Multi-rotors Flight Controller Assembly Section

Contents

Disclaimer................................................................2.

Contents............................................................1

Mounting................................................................ .3

Package Contents..........................................................3

Wiring...................................................................4-5

Assistant Software Setup...............................................6

 1. Drive & Assistant Software Installation...............................6.

 2. Assistant Software Setup..........................................7

Recommended Gains..................................................7

Basic Flight..........................................................8

 1. Control Mode...................................................9

 2. Turn On or Turn Off the Motor.......................................9

 3. Compass Calibration............................................10

 4. Check the mounting.............................................11

 5. Check before flight..............................................11

 6. Flight Test Procedures...........................................11

Advanced Function..................................................12

 1. Failsafe......................................................13

 2. Low Voltage Protection..........................................14

 3. One Motor Fail Protection........................................15

 4. Intelligent Orientation Control(IOC).......................................................16

 5. Flight Limits...................................................17

LED Indicators............................................................17

 LED Indicators Priority:.................................................18

 Abnormal LED Indicators Descriptions & Solutions:.......................18

Troubleshooting.....................................................19

 1. Abnormal Motor Solutions........................................19

 2. Flight Control Mode Changes When GPS DATA Are Abnormal............19

 3. Parameters Cannot Be Modified in PC Assistant Software...............19

 4.Attentions during Flight..........................................19

Specifications.......................................................20
Disclaimer

2

 Please carefully read this statement before using the product. Once using the 

product, you agree to and accept this statement. This product is not designed for people under 18.

 ZYX-M is a flight control system specially designed for multi-rotors enthusiasts. 

With attitude stabilization, altitude holding, position locking and autopilotfunctions,

it can be widely applied to various entertainments, aerial photography and FPV activities. We strongly recommend you to remove all the propellers during upgrading and 

parameters setup, ensure all the connections are correct and keep the aircraft far away

 from the crowd, the vulnerable and dangerous goods. Tarot accepts no liability directly 

or indirectly for the personal injuries and property loss caused by the conditions below:

1. Damages or injuries incurred when users are drunk, taking drugs, drug anesthesia, 

 dizzy, feeble, nausea and any other mental or physical discomfort. 

2. Damages or injuries caused by subjective intentional operations of users. 

3. Damages or injuries caused by the failure to follow the guidance of the user manual.

4. Damages or injuries caused by refit or replacement of non-Tarot accessories or com-

 ponents. 

5. Damages or injuries caused by products of third party or fake.

6. Damages or injuries caused by misoperation or misjudgement. 

7. Damages or injuries caused by the internal abrasion, erosion or aging.

8. Damages or injuries caused by continued flying under abnormal alarm.

9. Damages or injuries caused by being aware of flying under abnormal conditions.

10. Damages or injuries caused by flying in magnetic-interference zone, radio-interfer-

 ence zone, no-fly zone or poor-sight zone. 

11.Damages or injuries caused by bad weather. 

12. Damages or injuries caused by crash, capsizing, fire, explosion, thunderstrike, 

 storm, flood, tsunami, land subsidence, avalanche, earthquake or some other 

 disastrous accidents. 

13. Damages or injuries caused by infringement of data, audio or video materials re-

 corded by the aircraft.

14. Damages or injuries caused by misuse of battery.

15. Damages or injuries caused by misuse of users. 

16. Other conditions that are not covered by the range of liability of Tarot. 

 M Multi-rotors Flight Controller Assembly Section
3

Mounting

Package Contents

Main Controller*1 PMU*1

GPS Module*1 LED Indicator*1

Cable*1

USBModule*1

Connection Cables*8

 M Multi-rotors Flight Controller Assembly Section
Wiring

4

1. Aircraft Preparations 

ZYX-M supports the mixer types below. The direction of the arrow corresponds to the rotation direction 

of motors and propellers.

Attention: Coaxial propellers: Greenarrow is at TOP, while Redarrow is at BOTTOM. Otherwise, all the 

propellers are at top. 

Hexa-rotor X & Hexa-rotor I

Octo-rotor V & Octo-rotor I

Hexa-rotor IY & Hexa-rotor Y & Octo-rotor X

 M Multi-rotors Flight Controller Assembly Section

Quad-rotor X& Quad-rotor I
2. Aircraft Mounting and Wiring

5

Please connect cables according to the diagram below:

Attention: Please take care of the mounting direction of GPS module cable based on the 

diagram below. Otherwise, damages may occur in the GPS module.

Attention:

 M Multi-rotors Flight Controller Assembly Section

1.Gimbal port is an auxiliary communication interface for gimbal to improve its control 

 accuracy. It only supports the latest Tarot 5D gimbal and other new gimbals in the future. 

 Tarot T-2D gimbal is not available to use this port. 

2.Tarot T-2D Gimbal:Connect the pitch cable to S2 port in the main controller, and map a 

 receiver channel to Gimbal Pitch in the assistant software. 

3.All series of Tarot Landing Gear: please connect the input cable of landing gear controller 

 to the S3 port in the main controller, and map a receiver channel to Landing Gear in the 

 assistant software. Set a corresponding switch in the Tx. To avoid mis-operation, it is 

 strongly suggested to enable the Intelligent Landing Gear in the assistant software or 

 choose a knob switch to control.

4.S1: backup interface.

5. In order to improve the reliability of remote signal, simultaneously using 2 S-BUS 

 Receivers or 2 DSM Satellite Receivers are available. (Due to the differences of 

 communication protocols, if binding of DSM2-1/ DSMX-1 is not successfully, or the 

 remote signal shows with errors in channel mapping page whenbinding is successful, 

 please choose DSM2-2/ DSMX-2 to bind.)

6. The OUT 5V of PMU powers up the entire flight controller and provides voltage values 

 of battery to the flight controller. The max current output is 3A.In order to guarantee 

 the operation of Low Voltage Protection, please connect to the PMU-5V port in the main

 controller. The OUT 12V of PMU can power up miniwatt devices, like camera, image tran-

 smission, and OSD, with maximum current output of 3A. Please check the input voltage 

 range of the device and ensure the correct connections. 
Assistance Software Setup

6

1)Please download the drive and assistant software from Tarot official website:

 http://www.0577mx.com/

2)Run the drive installation program and follow the instruction to finish the procedures. 

 Choose a corresponding drive file according to your PC system. Currently, we only

 support Windows System. 

Doubel-Click folder;

Windows ×86 

Windows ×64

1.Drive & Assistant Software Installation

2.Assistant Software Setup

1) Main interface of ZYX-M Multirotor Assistant:

2) Setup Procedures:

 M Multi-rotors Flight Controller Assembly Section

1Turn on the Tx, and power up the flight controller. Connect the PC and flight 

 controller with a USB cable. Choose a Com Port and click CONNECT:
7

2) When“ ”shows on the bottom right corner, it indicates flight controller has 

 successfully connected to the PC; if it shows“ ”,please re-check the 

 connections, power supply,USB module drive and the antivirus program in the PC. 

 DO NOT disconnect the connection during setup. 

3) Click “ ” to finish parameters setup, and set more functions in the “ “,

 page. Once a parameter has been changed, you should press the “ENTER” key to 

 send data to flight controller. When all the parameters have been modified, 

 click “ ” to save these modifications. When “ ” shows on the 

 bottom left corner, setup procedure finishes. Otherwise, flight controller cannot 

 save these parameters. 

Recommended Gains

Aircraft 

 Model

X330 20 

30 

60 

60 

50 

60 

60 

20 

30 

60 

60 

50 

60 

60 

50 

60 

80 

80 

100 

80 

80 

25 

30 

30 

30 

30 

30 

30 

20 

20 

15 

15 

15 

15 

15 

20 

20 

15 

15 

15 

15 

15 

50

50

50

50

50

50

50

Tarot FY450

Tarot X4

Tarot X6

Tarot X8

Tarot T810

Tarot T960

Basic Gains Attitude Gains

Pitch Roll Pan Vertical Pitch Roll Vertical

 M Multi-rotors Flight Controller Assembly Section

4) Once the flight controller and assistant software havebeensuccessfully connected, 

 motors cannot turn on. Disconnect them and power cycle the flight controller to turn 

 on motors.
8

Basic Flight

1.Control Mode

Please read this chapter carefully to achieve better flight experience.

There are four control modes supported by ZYX-M: Manual Mode, Attitude Mode, GPS

 Velocity Mode, and Autopilot Mode. Autopilot Mode contains AUTO Go-home Mode, 

Ground Station AUTO Navi Mode. You can enjoy various flight experiences with different

 control modes.

Attitude Mode GPS Velocity Mode Manual Mode

The midpoint of stick stands

for 0°of the multi-rotor.Its 

endpoint corresponds to 35°

of the multi-rotor.

Center Throttle Stick to enter Altitude Holding. Push the throttle

stick to upper end, the ascending speed is 6 m/s. when

pushing the throttle stick to lower end, the descending speed

is 3 m/s. 

The midpoint of stick stands for

0°of the multi-rotor.Its endpoint 

corresponds to 10 m/s of the 

multi-rotor.

Angular velocity controlled.The 

maximum angular velocity is 

150°/s. Noattitude angular 

limitation. 

No velocity locking in vertical

direction. Throttle Stick corresponds to motor speed.

Attitude stabilization only, 

without position locking.

Attitude stabilization only, 

without position locking.

With the GPS, the position is locked.

If the GPS has lost for 3 seconds, 

the Attitude Mode would be automatically entered.

The maximum pan angular velocity is 150°/s.

Yaw Stick & Yaw

Angular Velocity

GPS Signal Lost

Releasing Sticks

 Throttle Stick

&Altitude Locking

 Roll and Pitch

Command Sticks

2. Turn On or Turn Off the Motor

You could set the Immediate Cut Offor Intelligent Cut Offin the Cut OffType of Receiver 

of Basic Page in the assistant software. 

Before flight, you should understand ways to turn on/turn off motors.

(1)Turn on motors: Before taking off, push throttle stick cannot turn on motors. You 

 should follow any one of the four diagrams below to turn on motors. 

(2)Turn Off Motors:

1Immediate Cut Off:

In any flight control mode, if the motor is on and the throttle stick is over 10 percent, once the 

throttle stick is less than 10 percent, the motor will be automatically stopped. In this case, if 

you push the throttle stick over 10 percent within 5 seconds, the motor will turn on again automatically.Moreover, when motor turns on, if you do not push throttle stick over 10 percent 

within 3 seconds, motor will stop automatically.

2Intelligent Cut Off:

 M Multi-rotors Flight Controller Assembly Section

Motor Cut Off Type differentiates according to different control modes. 

A. In Manual Mode, only executing CSC will stop the motor. 

B. In Attitude Mode/GPS Velocity Mode, any one of the following four conditions will stop the motor:

 a. if you do not push throttle stick over 10 percent within 2 seconds, motor will stop automatically.

 b. executing CSC.

 c. the throttle stick is less than 10 percent, and landing successfully after 2 seconds.

 d. tilt angle of aircraft is over 70 degree and the throttle stick is less than 10 percent.

C. In Autopilot Mode, any one of the following three conditions will stop the motor:

 a. executing CSC.

 b. the aircraft lands automatically after 2 seconds.

 c. tilt angle of aircraft is over 70 degree and the throttle stick is less than 10 percent.
9

Attentions for Intelligent Mode

ATTENTIONS:

(1) In Attitude Mode/GPS Velocity Mode/Autopilot Mode, when the aircraft lands, the motor will stop automatically.

(2) In Attitude Mode/GPS Velocity Mode, if you do not push the throttle stick over 10 percent after executing CSC 

 to turn on the motor, flight controller will enter landing procedures, and the motor will stop after 2 seconds. 

(3) During normal flight, only push throttle stick to less than 10 percent will not stop the motor. 

(4) In Attitude Mode/GPS Velocity Mode/Autopilot Mode, for safety, when tilt angle of aircraft is over 70 degree 

 and the throttle stick is less than 10 percent, the motor will stop automatically. 

1. If you choose Immediate Cut Off in the assistant software, please do not push throttle stick less 

 than 10 percent during flight. Otherwise, the motor will stop. If you indeliberately push the 

 throttle stick toless than 10 percent, please push throttle stick to over 10 percent within 5 seconds.

2. DO NOT execute CSC during flight, because it will lead to the immediate stop of motor. 

3. If you choose Immediate Cut Offin the assistant software, in Attitude Mode/GPS Velocity Mode, 

 once the throttle stick is less than 10 percent, the system will stop and pitch roll &yawsticks lose 

 control, with control only in throttle stick. Moreover, the aircraft will keep balance and decline 

 vertically in 3m/s until landing or the throttle stick is over 10 percent again. 

4. During flight, no matter in any control mode, we do not suggest you to push throttle stick to less 

 than 10 percent.

5. If you want these two cut off types work properly, please correctly calibrate the Tx.

6. Executing CSC will be blocked by the main controller during Failsafe, and the motor will ma-

 intain the status before. 

3. Compass Calibration

After mounting the GPS Module, please calibrate the compass.

Attention:

(1)Please DO NOT calibrate the compass in magnetic interference zone.

(2)Please DO NOT carry ferromagnetic materials during calibration, such as keys and phones.

(3)This module cannot work in the polar cycle. 

(4)The compass calibration is very important, please DO NOT ignore.

Calibration Procedures:

1. Turn on the Tx and power up the flight controller.

2. Switch from any two of the control modes over six times until the BLUE light is on. Calibration 

 procedures enable.

3. According to Diagram I, hold the multi-rotor horizontally and rotate it for about 360°until the

 GREEN Light turns on.

4. AFTER the GREEN Light turns on, based on the Diagram II, hold the multi-rotor vertically and

 rotate it for about 360° (The nose of the multi-rotor MUST face the ground.). When the GREEN 

 Light turns off, the calibration is finished.

5.When calibration finishes successfully, it will automatically quit form calibration mode and 

 LED Indicator flashes properly. If not, Red light is on, please repeat from step two. 

 M Multi-rotors Flight Controller Assembly Section
10

Attention:

(1) When compass data is abnormal, RED light of LED Indicatorturns on andGPS turns off. 

 Attitude Mode enables.

(2) The aircraft do not need to be rotated for 360° horizontally or vertically with precision.

(3) If calibration procedures fail several times, please check the magnetic interference around.

(4) You should calibrate the compass in the following circumstances:

 a、Flight location changes;

 b、Mechanical structure of aircraft changes:

 Mounting position of GPS module changes;

 Electronic devices add/remove/reposition, such as main controller, servo and battery;

 c、Drifts happen and the aircraft cannot fly in a straight line.

4. Check the mounting

Please read the following MISTAKES carefully. Any one of these mistakes may lead to 

serious accidents. 

(1)Motor rotates in the opposite direction.

(2)Connection cablesof motors and ESCs are not reliable.

(3)The mounting direction of main controller does not match the setting direction in the 

 software, or the mounting is not firm;

(4)Wrong/unfirm connections between ESCs and main controller.

(5)Wrong rotation direction of propellers;

(6)Magnetization of the compass.

Attention:

Please ensure:

(1)Correctly mount the multi-rotor;

(2)Properly set all the parameters in the assistant software;

(3)All the wirings and connections work normally;

(4)The power supply of Tx, main controller and other components are in great condition

5. Check before flight

The following procedures are based on the Intelligent Cut OffMode. Check the status of your 

aircraft with procedures below. Please refer to Chapter LED IndicatorDescriptionfor more

 information.

1. Turn on the Tx, then power up the aircraft.

2. Keep the aircraft stationary after 5 seconds when the flight controller powers up. 

 As it enters initialization, LED lights flash in turn.

(Attention:when the BLUE light is on, please DO NOT move the aircraft, Tx switches, or sticks. Otherwise, 

initializationerrors may occur.)

( )。

When the BLUE light turns off, toggle the switch of control mode on the Tx to observe the LED Indicator. 

If LED light flash like it indicates the current control mode is Attitude Mode and 

GPS Satellite data are not available. )

3. When 6 or more GPS Satellites have been found for the first time, Purple Light flashes for 20 times.

Chart for the corresponding LED lights of Manual Mode, Attitude Mode, and GPS Velocity 

Mode (with GPS module):

(1) GPS Satellite Indicator is ,which indicates the satellite data are not available.

(2) With GPS module, GPS Satellite Indicator flashes after Control Mode lights.

Manual Mode Signal is great (GPS Satellite >6)

Attitude Mode Signal is well (GPS Satellite =6)

GPS Velocity Mode Signal is bad (GPS Satellite =5)

Autopilot Mode Signal is worst (GPS Satellite <5)

GPS Module Data is not available.

no light no light

(DO NOT fly in 

 this condition)

(DO NOT fly in 

 this condition)

 M Multi-rotors Flight Controller Assembly Section
11

4. Toggle the switch of control mode on the Tx to Attitude Mode, and keep the aircraft stationary. 

 Execute any one of the CSC to turn on the motor:

5. After turning on the motor, center the roll/pitch/yaw sticks immediately, and keep the throttle 

 stick under midpoint. Observe the rotation direction of propellers. 

6.Execute CSC to stop the motor and power off the aircraft.

7. Please ensure all the above steps are correct before entering flight test. 

* If other LED Indicator flashes after powering up, please refer to Chapter LED Indicator

 for further information. 

6. Flight Test Procedures

1. Choose an open space without any obstruction and the crowd. Put the aircraft on a level ground at least 3 

 meters far away from you.

2. In GPS Velocity Mode, please wait until enough GPS satellites have been found (RED light flashes once 

 or not). With Attitude/Manual Mode, it need not wait for GPS satellites. Manual Mode is only recomme-

 nded to experts. 

3. Procedures:

(1) Turn on the Tx, then power up the aircraft. Keep the aircraft stationary and wait for the initialization and 

 self-check. 

(2) After the aircraft self-check and BLUE light turns off, execute CSC to turn on the motor.

(3) After turning on the motor, center the roll/pitch/yaw sticks, and move the throttle stick from the bottom. 

 (If the throttle stick does not move from the bottom, the motor will stop; if the motor stops, restart the 

 procedure from step one.)

(4) Push the throttle stick over the midpoint, and the aircraft will take off from the ground. (DO NOT push 

 too hard, in case of taking off too fast.)

(5) Observe the movement of aircraft and toggle sticks to adjust. 

(6) When reaching the ideal altitude, you could center the throttle stick, and keep the pitch/roll/yaw stick 

 at midpoint. The aircraft will hover.

4. Gradually decline the aircraft. Do not land it on the hard object. Move the throttle stick to the bottom and 

 execute CSC to stop the motor. 

5. Power off the aircraft, then turn off the Tx. Flight test finishes. 

Attention!!!

DO NOT:

(1)If you choose Immediate Cut Off in the assistant software, please do not push throttle stick to less than 10 

 percent during flight. Otherwise, the motor will stop. If you indeliberately push the throttle stick less than 

 10 percent, please push throttle stick to 10 percent within 5 seconds. 

(2)DO NOT execute CSC during flight. Otherwise, the motor will stop.

(3)Please take care of the GPS Satellite LED Light during flight and ensure it on the great or well condition 

 (no light or )Otherwise, the aircraft will drift during hovering. 

(4) DO NOT fly in the magnetic interference area. Ferromagnetic materials would affect inside magnetic sensor.

(5)DO NOT choose GPS Velocity Mode in the area with weak GPS signal.

(6)If Low Voltage Alarm occurs with RED light flashing, please land the aircraft as soon as possible.

(7)If Low Voltage Alarm happens on the Tx, please land the aircraft as soon as possible.

(8)With GPS Velocity Mode, please record the home-point when the GPS signal is well or great. Otherwise, 

 the recording may not be accurate.

TIPs:

(1)The midpoint of throttle stick is 0m/s. Please keep it higher than 10 percent during flight. 

(2) Take care of the landing speed when landing. Decline gradually can avoid damages as much

 as possible.

(3) Once the aircraft enters Failsafe, the aircraft would fly according to your settings in the 

 assistant software.

(4) Once the aircraft enters Low Battery Protection, the aircraft would fly according to your

 settings in the assistant software.

 M Multi-rotors Flight Controller Assembly Section
12

Advanced Function

1. Failsafe

The entire Failsafe procedures are shown below:

Attention:

1.Please makesure the home-point is recorded before taking-off and be aware of 

 location of home-point.

2.During going home procedures, the nose of aircraft points to the home point, or 

 you can set the head direction in the assistant software. The aircraft will fly in a 

 straight line between Failsafe position and home point. 

3.During the entire Failsafe procedures, you can regain the control through the Tx.

How the Failsafe works& How to regain control

he following conditions work only in:

1. The aircraft is in flight.

2. GPS works normally with great signal.

Why Failsafe works? What the aircraft would react? How to regain control Attentions!

Aircraft flies far

 away with weak 

 Tx signal.

GPS Velocity Mode: 1. Aircraft immediately slows 

down and hovers; 2. Tx signal recovers within 3s, 

aircraft works normally and will not enter Failsafe; 

3. If not, flight controller enters Failsafe. Even if 

signal recovers during Go-home, the flight controller will not quit from Failsafe.

GPS Velocity Mode: Switch 

to Manual Mode or Attitude 

Mode. If the receiver can be

 connected, you can regain 

control.

Tx has been 

 turned off

Aircraft will act like the condition above.

If you want aircraft going home, do not turn on Tx within

3s. Otherwise, it will quit from Failsafe.

If you choose to turn off 

the Tx, we suggest you to 

know how to regain control. 

The following method is 

recommended to you.

1. Switch to GPS Velocity

 Mode.

2. Center the throttle 

 stick. After 3s of tur-

 ning off the Tx, re-turn 

 on the Tx.

3. Switch to Manual 

 Mode or Attitude Mode 

 to regain control.

We strongly suggest you DO NOT do it, because:

1. You have to be aware of whether or not the home-point is suitable for landing, and 

 thoroughly understand the definition of home-point and its working procedures.

2. If there are huge obstructions around, aircraft may be blocked during going home.

3. When the GPS signal is bad, Failsafe cannot work properly.

When aircraft does not take off after turning on the motor, turning off the Txis very

 dangerous! Because aircraft may take off in any moment, please DO NOT try to do it!

ATTENTION: After 3s of losing Tx signal, flight controller enters Failsafe. If the signal recovers within 3s, flight controller 

will quit from Failsafe immediately.

 M Multi-rotors Flight Controller Assembly Section

HOME POINT
13

 AUTO

Go-home Mode

When AUTO Go-home Mode is on, the 

flight path of aircraft is as same as the 

Failsafe Go-home path.

If you want the aircraft going home, please 

DO NOT switch to other control mode 

during flight.

When AUTO Go-home Mode is on, 

Go-home switch would disable. 

If aircraft lands automatically or switches to a different control mode during 

flight, you can regain control again

(quit from AUTO Go-home Mode).

Attention: AUTO Go-home only enables in GPS Velocity Mode.

2. Low Voltage Protection

We design two levels of low voltage protection to avoid accidents. We strongly recommend you to 

turn on this function in the assistant software. When the voltage is too low, low voltage protection

works to protect your aircraft from falling down. 

There are two levels of voltage protection: First-Level Protection and Second-Level Protection. 

When First-Level Protection has been entered, Yellow Light flashes quickly for warning. During 

Second-Level Protection, Red Light flashes quickly and the aircraft gradually declines. If you 

want the aircraft hovering, just push the throttle stick to 90 percent. 

Please calibrate the voltage in the assistant 

software before enabling this function.

When low voltage alarm enables, please land your aircraft as quickly as possible to avoid 

accidents. 

Attentions:

Set Low Voltage Protectioninthe Voltage section in the Advanced Page in the assistant software. 

3.One Motor Fail Protection

For any kind of Hexa-rotors or Octo-rotors, if one of its motors output has failed, you 

could still control the Tx to land the aircraft safely. 

4. Intelligent Orientation Control(IOC)

Definition

Forward Direction( )the direction of to push pitch stick

Step One: Preparations

During normal flight, the forward direction of aircraft is as same as the nose direction. 

When IOC enables, the forward direction of aircraft has nothing to do with the nose 

direction. The red and blue arrows in the diagrams below are corresponding to the 

relevant sticks operations. 

Course Lock (CL): the forward direction of aircraft is as same as the recorded nose direction. 

Requirements: GPS Velocity Mode only. 

Normal Flight Course Lock (CL)

Normal Flight Home Lock (HL)

Home Lock (HL): the forward direction is as same as the direction from home point to the aircraft. 

Requirements: GPS Velocity Mode only & the distance between aircraft and home point >5m

 M Multi-rotors Flight Controller Assembly Section
14

Point of Interested (POI): the forward direction is as same as the direction from interested point to

the aircraft.

Requirements: GPS Velocity Mode only & the distance between aircraft and interested point >5m

Normal Flight Point of Interested (POI)

Step Two: Switch Setup for IOC

Please first choose a three-position switch for IOC, which also would be applied 

to record course 

and home point manually. Please set the relevant contents in the IOC section of 

Advanced page in the assistant software. 

Control 1

OFF

Course Lock (CL)

Position 3 Home Lock (HL)

Position 2

Position 1

Course Lock (CL)

Point of Interested (POI)

Point of Interested (POI)

Home Lock (HL)

OFF OFF

Control 2 Control 3

Step Three: Forward Direction Recording & Home Point Recording

If IOC enables, you have to be aware of the definition of forward direction in Course Lock (CL), 

home point in Home Lock (HL) and Interested Point in Point of Interested (POI). There are two 

ways to record for your preferences, including Manual Recording and AUTORecording. However, 

Point of Interested (POI) only works in Manual Recording.

AUTO Recording ManualRecording

After 6 or more GPS satellites have been found& the nose direction records when the aircraft takes off for the first time. If aircraft takes off before GPS Module positions, nose direction will be recorded when GPS Module has positioned. 

Toggle from Position 1 to Position 

2 for 3-5 times.*Position 1- Position

2- Position 1 means one time.

After 6 or more GPS satellites have been 

found& the home point records when the

aircraft takes off for the first time. If

aircraft takes off before GPS Module

positions, home point will be recorded

when GPS Module has positioned.

Toggle from Position 2 to Position 3 for 

3-5 times.*Position 2- Position

3- Position 2 means one time.

Control 1: Toggle from Position 2 to Position 3 for 

3-5 times.*Position 2- Position 3- Position 2

means one time.Control 3: Toggle from Position 

1 to Position 2 for 3-5 times.*Position 1- Position

2- Position 1 means one time.

 Point of 

Interested (POI)

Home Lock (HL)

Course Lock (CL)

Green Light flashes quickly for ten times when course has been successfully recorded.

Purple Light flashes quickly for ten times when home point has been successfully recorded.

Blue Light flashes quickly for ten times when interested point has been successfully recorded.

Attention: During Manual Recording,DO NOT switch between OFF and Home Lock (HL), which

might lead to re-record of course.

 M Multi-rotors Flight Controller Assembly Section
15

Step Four: Flight Test

Please do Course Lock (CL), Home Lock (HL) and Point of Interested (POI) testsin

turns according to the following procedures.

Forward

Direction

Course Flight Route Auxiliary Line Home Point Point of 

Interested

Roll Stick Control Pitch Stick Control

Control 

 Mode

Normal

CL

HL

POI

Recording

IOC Warning!

DO NOT:

Home Lock (HL): when the aircraft is far away from the home point, please DO NOT switch IOC 

Switch quickly in case that the home point would be changed indeliberately.

Warning:

Home Lock (HL) Requirements: GPS Module Data are available& the distance between 

aircraft and home point >5m

When requirements cannot be satisfied, flight controller will automatically quit from IOC Mode. 

TIPs:

(1)You’d better to keep the aircraftover 5 meters away from home point before entering 

 Home Lock (HL). Ensure all the requirements are satisfied and switch to HL. 

(2)You should be aware of the position of home point and direction of course. Carefully

 choose an IOC Mode to fly.

5. Flight Limits

According to the airspace control regulations of ICAO and countries, drones should fly within the stipulated 

airspace. For safety considerations, ZYX-M enables Flight Limits functions by default to help users to fly safely 

and legally, including Altitude Limit, Distance Limit and Forbidden Area Limit. The aircraft will be influenced 

by Altitude Limit, Distance Limit and Forbidden Area Limit together. 

Altitude Limit &Distance Limit: the default max flight altitude is 120m and the default max radius is 300m.

Users can adjust the max altitude and radius in the assistant software. 

 M Multi-rotors Flight Controller Assembly Section

After setup, the aircraft would fly within both values that have been set in the assistant software, just like in a cylinder in 

the diagram below. 

Max Altitude Range 10-60000m

Max Radius Range 10-60000m
16

Attentions:

Altitude Limit &Distance Limit

The default max flight altitude is 120m and the default max distance is 300m.

Attentions:

(1)

(2)

(3)

Altitude Limit only works in GPS Velocity Mode and Attitude Mode, while

 Distance Limit only enables in GPS Velocity Mode.

In Attitude Mode and Manual Mode, if the aircraft flies out of the buffer zone, 

 AUTO Go-homeMode will be entered. After it flies back to the limited radius

 again, you can switch to different control mode to regain control. 

Failsafe and Ground Station will not be influenced by Flight Limit.

Forbidden Area Limit

1

2 

3 

4 

5 

There are three parts in the Forbidden Area Limit: No-Fly Zone, Altitude-Limited

 Zone and Warning Zone. Forbidden Area LimitI includes main civil airports around

 the world, while Forbidden Area LimitII contains most utility airports globally. 

 Their values are different, but limit logic works in the same way.

When GPS Module Data are available, Flight Limits only works in Attitude Mode

 and GPS Velocity Mode.

When entering Warning from Free Zone, Red Light in the LED Indicator flashes

 10 times. If entering No-Fly Zone, you would lose control in throttle stick and the

 aircraft would decline in 3 m/s until landing or leavingForbidden Area. If land

 within No-Fly Zone, you would lose all the control. 

The aircraft can fly freely within Altitude-Limited Zone, but cannot enter No-Fly Zone. 

In the range of No-Fly Zone, when GPS Module Data are available, the motor

 cannot turn on. 

 M Multi-rotors Flight Controller Assembly Section
17

Please DO NOT break regulations and laws in your country. Read the airspace control 

regulations of ICAO and your country carefully. Tarot accepts no liability directly or indirectly for the damages or injuries caused by the misuse of the flight limit function

guided by this user manual.

Warning:

LED Indicators

LED Indicators Priority:

In order to clearly distinguish from different flight statuses of various LED Indicators, they

are divided into two levels based on their importance, Level One and Level Two. Level

One Indicator will flash or be constantly on, while Level Two Indicator will flash within

limited times. 

During actual use, Level Two Indicator will be covered by the Level One Indicator until

Level One Status quits or Info Tips finish.

For instance, when Second Level Low Voltage Protection enables, LED light shows

However, Flight Mode and GPS Signal Status will not be shown. 

For instance, the LED light flashes It indicates the aircraft is in

the GPS Velocity Mode with 5 GPS Satellites been found and enters No-fly Zone.

 

Level One

Compass Calibration

Horizontal Calibration

Vertical Calibration

 Calibration failed/ 

Compass Data Abnormal

Low Voltage Protection

 First-level

Voltage Protection

 Second-level

Voltage Protection

Tx Status

System Error

Tx Initialization

 Error

FailSafe

System Error/Sensor

 Data Lost

Contract to the

local dealer for

repairmen.

Level Two

Control Mode

Manual Mode

Attitude Mode

GPS Velocity Mode

Autopilot Mode

*1

*1

*1

*20

*4 DO NOT fly in 

 this condition.

*3 DO NOT fly in

 this condition.

*2 

*3 

*10 

*10 

*10 

*10 

*1 

GPS Signal Status

6 or more GPS Satellites

have been found for the

first time. 

GSP Module Data are

 unavailable. 

 Signal is worst 

(GPS Satellite <5)

 Signal is bad 

(GPS Satellite =5)

 Signal is well

 (GPS Satellite =6)

 Signal is great 

(GPS Satellite >6)

Sensor Status

Huge vibrations

with bad attitude

IOC Recording Indicators

Home Point has been

recorded successfully.

Forward direction has

been recorded successfully.

Interested Point has

been recorded successfully.

Entering Forbidden Area

 M Multi-rotors Flight Controller Assembly Section
18

Abnormal LED Indicators Descriptions & Solutions:

appearance cause solvent

Green Light

flashes slowly after aircraft powering up. Tx initialization error

Power cycle. First turn on the Tx and then

power up the flight controller.DO NOT

touch Tx sticks whenflight controllerinitializes.

Red Light

flashes slowly after

aircraft powering up. 

Sensor initialization error Contract to the local dealer for repairmen.

Light flashes 3 times

quickly during flight.

 Huge Vibrations with

bad attitude

Land as quickly as possible and find

the vibrations. 

Red Light is on

during flight.

 Magnetic field error

Leave current flight area as soon as

possible or land.

Green Light flashes

quickly during flight.

 Tx Signal Lost

If errors are caused by misoperation, 

please power cycle the Tx. 

If Tx battery is low, please change the

battery as soon as possible.

Attentions: if GPS Module Data are

available and the aircraft does not

receive the Tx Signal within 3s, 

Failsafe Mode will be entered. 

 M Multi-rotors Flight Controller Assembly Section
19

Troubleshooting

1. Abnormal Motor Solutions

Motors do not rotate:

1

2

3

Wiring Problem: Please check connections between the main controller, motors with

 main controller, and ESCs with motors.

Please check whether or not the motors or ESCs are broken.

In the MOTOR part of ADVANCED page of PC assistant software, increase the Motor

 Idle Speed.

Motors rotate in a wrong direction:There are three cables connecting motors and 

ESCs. Please exchange any two of them.

2. Flight Control Mode Changes When GPS DATA Are Abnormal.

Attention: during flight, if there is something wrong with GPS data, the flight control 

system would change flight mode automatically for safety:

BEFORE GPS data goes wrong AFTER GPS data goes wrong

Attitude Mode Attitude Mode

GPSVelocity Mode Attitude Mode

Manual Mode

Attitude Mode

Manual Mode

Autopilot Mode

3. Parameters Cannot Be Modified in PC Assistant Software

4. Attentions during Flight

Please ensure:

Please ensure that:

Please DO NOT:

1

2

3

4

5

You have correctly mounted the multi-rotor; 

All the connections and wiring are in great conditions;

All the components have powered up.

The parameters have been correctly set in the assistant software.

GPS signal is great; otherwise, drift might occur during hovering.

1DO NOT fly in strong magnetic area!

2Within the 10 seconds after the system has powered on, please DO NOT move 

 the multi-rotor or sticks. Wait for initialization.

Attentions:

1

2

3

Before taking off, please turn on the transmitter and then power on the multi-rotor;

After landing, please power off the multi-rotor, and then turn off the transmitter.

During flight, if Low Voltage Alarm is on, please land your multi-rotor as quickly 

 as possible.

1

2

3 ,

 "

The main controller and PC assistant software have correctly connected;

”ENTER” key has been clicked after modification.

When all the parameters have been modified, click to save these 

 modifications,and “ shows on the bottom left corner.

 M Multi-rotors Flight Controller Assembly Section
20

Specifications

Working Voltage

Power Consumption

Main Controller: 4.8V-5.5V

PMU:7.2V-26V

Max:5W(Typical Value:0.3A-12.5V)

Working Environment -10°C-50°C

Weight (g)

Dimensions (mm)

Main Controller: 46

GPS Module: 27

PMU:23g

LED Indicator: 11

USB Module: 5

Main Controller: 55*40*16

GPS Module: 50*50*14

PMU: 40*28*9

LED Indicator: 27*27*9

USB Module: 26*20*7

Horizontal Direction: 1.5 m

Vertical Direction: 0.5 m

150deg/s

35°

6m/s

Hover Accuracy

Maximum Rotation

Angular Velocity

Maximum Tilt 

Angular Velocity

Maximum Ascend/

Descend Velocity

 M Multi-rotors Flight Controller Assembly Section