V7-AG Flight Control and Data Manage System User Manual (V4.0)

Beijing VK Technology Co.
Ltd V7-AG Flight Control and Data Manage System
V7-AG Flight Control and Data Manage System

User Manual(V4.0)
2020.02.17 Modified
Beijing VKE Technology Co.,Ltd
1
Beijing VK Technology Co. Ltd V7-AG Flight Control and Data Manage System
Index
1 Installation.........................................................................................................................................5
1.1 Component List...................................................................................................................... 5
1.2 Component Connect.............................................................................................................. 8
1.3 System Install......................................................................................................................... 9
1.3.1 Main Controller Install................................................................................................ 9
1.3.2 GPS Install................................................................................................................. 13
1.3.3 Dual Antenna RTK Install...........................................................................................13
1.3.4 Radar Install.............................................................................................................. 13
1.4 APP Install............................................................................................................................ 14
1.5 System Test...........................................................................................................................14
1.5.1 Link Check................................................................................................................. 14
1.5.2 Remoter Calibration..................................................................................................15
1.5.3 Motor Test.................................................................................................................16
1.5.4 Pump/Flow meter Test..............................................................................................17
1.5.5 Fly Calibration........................................................................................................... 18
1.5.6 Default Parameter.....................................................................................................18
2 Fly Parameters Adjustment.............................................................................................................19
2.1 Magnetometer Calibration.................................................................................................. 19
2.2 PID Parameters.....................................................................................................................20
3 Flying Mode.....................................................................................................................................21
3.1 AB Mode.............................................................................................................................. 21
3.1.1 AB Mode Operation.................................................................................................. 21
3.1.2 Real-time Adjust in AB Mode....................................................................................22
3.1.3 Break-point-continue in AB Mode............................................................................ 23
3.1.4 Obstacle Avoidance in AB Mode...............................................................................24
3.2 Automatic Wpt Mode.......................................................................................................... 25
3.2.1 Farmland Mapping....................................................................................................25
3.2.2 WPT Settings............................................................................................................. 28
2
3.2.3 Automatic Flight........................................................................................................32

4 RTK Instruction................................................................................................................................32
4.1 RTK Rover Module................................................................................................................32
4.2 RTK Base Station.................................................................................................................. 33
5 Data Manage...................................................................................................................................34
5.1 Data Download and Firmware Update................................................................................ 34
Appendix 1: Flight Controller LED Indication..................................................................................... 35
Appendix 2: RTK Base Station LED Indication.................................................................................... 36
Appendix 3: Single Antenna RTK LED Indication................................................................................37
Appendix 4: Dual Antenna RTK LED Indication.................................................................................. 38
3
Chart 1 Component List.......................................................................................................... 5

Chart 2 Standard Version Connection Chart...........................................................................8
Chart 3 Installation Direction..................................................................................................9
Chart 4 Main Controller Pins Definition................................................................................10
Chart 5 Main controller interface function...........................................................................10
Chart 6 APP QR Code............................................................................................................ 14
Chart 7 Channels of Remoter................................................................................................16
Chart 8 Pump Calibration......................................................................................................17
Chart 9 GPS Install Bias......................................................................................................... 18
Chart 10 AB Mode.................................................................................................................22
Chart 11 AB Mode Adjust Length......................................................................................... 23
Chart 12 Break-point-continue in AB Mode......................................................................... 23
Chart 13 Manual Obstacle Avoidance in AB Mode...............................................................24
Chart 14 Radar Obstacle Avoidance in AB Mode..................................................................25
Chart 15 Remoter Connect to QianXun................................................................................ 26
Chart 16 RTK Base Station QR Code......................................................................................27
Chart 17 Points Fine-turn......................................................................................................28
Chart 18 Route Type and Safe Distance................................................................................29
Chart 19 Smart Route Show..................................................................................................30
Chart 20 Delete Wpt Operation............................................................................................ 31
Chart 21 Add Auxiliary Point.................................................................................................31
Chart 22 RTK Base Station Information................................................................................ 33
4
1 Installation
1.1 Component List
Chart 1 Component List
Component Picture Parameters
size：114*53*26 mm
Main weight：165 g
Controller power：10--58 v
(standard)
Size: 64*64*14mm
Weight: 60 g
GNSS Module:
(standard) GPS+GLONASS+BD
LED indication refer to

appendix 1
LED
(standard)
1) Support QianXun
network RTK and RTK
Remoter base station cloud service
(optional) 1）Can be instead of by
skydroid T12/T10
5
Weight: 40 g
Flow meter Pressure endurance:≤
(optional) 0.8MPa
FM-L
Size: 108*79*20.5 mm
Altitude Weight: 120 g
radar Range: 0.5---30 m
(optional)
RADAR-AF
Size: 66*74*19.3 mm
Obstacle Weight: 110 g
radar Range: 1.5---20 m
(optional) Horizontal width: ±17°
RADAR-OB Vertical width: ±3°
1) Support RTK base

RTK base station cloud service
station 2) Support Qianxun
(optional) network RTK(optional)
RTK-G-MP 3) LED indication refer to
appendix 2
Size: 80*48*25 mm
RTK module Weight: 150 g
(optional) Module:
RTK-A-MP GPS+GLONASS+BD
6
appendix 3
Size: 85*49*21 mm
RTK module Weight: 100 g
(optional) Power: 10---58 v
RTK-A-MPH Module:
GPS+GLONASS+BD
Support dual antenna
measuring heading
appendix 4
7
1.2 Component Connect
Chart 2 Standard Version Connection Chart
8
1.3 System Install
1.3.1 Main Controller Install
Caution:
 Installed horizontally on the panel’s center as far as possible to avoid instability caused by
vibration during the flight of the plane.
 The side with V7 logo must be upward. The installation direction can be one of the four
directions: forward, backward, left and right. The default is forward installation, in this case
the small arrow sign should be aligned with the head of the aircraft. If the installation is set to
right, the small arrow should point to the right side of the aircraft, as shown in the figure
below:
Chart 3 Installation Direction
After the main controller is installed, GNSS module, LED module, ESC, water pump, flow meter
and other components shall be connected to the main controller.
Caution: ESC and main controller only need to connect the signal and the gnd.
9
Chart 4 Main Controller Pins Definition
V7-AG flight control system support several types of aircraft, the main interface function
described as below:
Chart 5 Main controller interface function
interface instruction interface instruction
XT30 10---58 v AD1/AD2 (Alternate)
S.BUS-I Remoter S.BUS input LED LED
S.BUS-O Water pump (Alternate) MC-COM Connect to remoter’s M4

for RTCM transmission
MI M1 motor DATA LINK Connect to radio
M2 M2 motor MC-CAN CAN-HUB
M3 M3 motor IMU-COM RTK input interface

M4 M4 motor GPS-CAN Connect to GNSS module
M5 M5 motor GPS-CAN Connect to GNSS module
M6 M6 motor
M7 M7 motor (Alternate)
M8 M8 motor (Alternate)
TP Flow meter (Alternate)
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Different kinds of aircraft have different definitions as below:

Default:
Channel 8 of remoter control water pump switch
Channel 9 of remoter control fine-tuning of water pump
AD1 monitor the water flow
Hybrid-T:
Channel 10 of remoter control engine start
Channel 11 of remoter control engine stop
Engine start connect to M7
Engine stop connect to M8
MC_COM connect to engine information
AD2 monitor oil
Hybrid-Z:
Mist-Z:
Channel 8 of remoter control mist pump switch
Channel 10 of remoter control mist start
Channel 11 of remoter control mist stop
Mist start connect to M7
Mist stop connect to M8
11
Double-pumps:
Front pump connect to M7
Back pump connect to M8
Centrifugal:
Water pump connect to M7
Centrifugal pump connect to M8
Seed:
Channel 8 of remoter control valve switch
Channel 10 of remoter control rotate
Valve signal connect to SBUS-O
Rotate signal connect to TP
AD2 monitor if the seeds empty
Hybrid Seed-T:
Channel 12 of remoter control rotate switch
Hybrid Seed-Z:
Channel 8 of remoter control valve
Channel 12 of remoter control rotate switch
12

Strip Sow:
Channel 8 of remoter control rotate switch of seeds
Channel 10 of remoter control seed sowing
Rotate switch connect to SBUS-O
Seed sowing connect to TP
1.3.2 GPS Install
Caution:
 When installing the GPS module, the marked side must be up, with the small triangle pointing
to the same direction of the aircraft.
 GPS module is magnetic sensitive sensor, should be far away from other electronic equipment
and strong magnetic material.
1.3.3 Dual Antenna RTK Install
 Dual antenna must be installed with the direction of forward-backward or left-right. This
direction must be the same as the settings of APP.
 The distance of the two antenna must be larger than 40cm.
1.3.4 Radar Install
 Radar altimeter must installed horizontally at the bottom of the aircraft without any cover
under the radar.
 The obstacle avoidance radar is installed at the front/back of the plane, with the rear strip
heat sink facing up and tilted upward by 12 degrees.
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1.4 APP Install
APP can run on android version 4.2 or above, and can be downloaded and installed by
scanning the following qr code directly.
Chart 6 APP QR Code
After installation, manufacturers can register on web http://ag.jiagutech.com/monitor_manage/

monitor.
1.5 System Test
After the components are connected, it is necessary to check the system function, which must
be done in the condition of propeller removed.
1.5.1 Link Check
Power on the aircraft and the remoter (the remoter needs to switch the communication mode
to VK, which can be set on the APP of the remoter). Open VK AGRICULTURE APP and enter Settings
--> controller --> bluetooth. Select the bluetooth of the remoter, and after the connection is
successful, the voice will prompt "the remoter is connected". Each channel’s value of remoter can
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be viewed on the page Channels, The flight information can be viewed on the Debug page.
1.5.2 Remoter Calibration
Check whether each channel of the remoter is correct according to the value in APP. If the
positive and negative definition of the channel is inconsistent with the display of the APP, this
channel must be reversed. Check whether the range of each channel is between (100, 200). The
error of channel 1/2/3/4 shall not exceed 1%. If it exceeds 1%, the remoter shall be calibrated as
following steps:
 First of all, the positive and negative settings of each channel are completed and correct, the
fine-tuning of all joysticks on the remoter are reset to zero, and all channel curves are set as
default.
 Put the joystick and the key switch into the middle position, and switch channel 7
continuously for 8 times to enter the remoter calibration mode, the LED indicator flash 3
times . Then push the corresponding joystick and key of all channels (1-8 channels) to
make them move to the maximum working range and repeat for several times.
 After completing the above operation, switch channel 7 continuously for 8 times, exit the
remoter calibration mode, and the LED light flashes normally (the purple light is off). Then the
calibration is completed.
After completing the remoter calibration, check whether the settings and calibration are
correct according to the text instructions on the APP.
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Chart 7 Channels of Remoter
1.5.3 Motor Test
1) ESC Calibration
Remove the propeller, push the aileron and throttle of the remoter to the maximum at the
same time, and then the flight control and ESC powered on at the same time, LED will flash purple
4 times , ESC will send voice ‘di..di..di’ if the mode is in ESC calibration. aileron back to
middle, throttle to the lowest to accomplish the calibration.
Caution: At ESC calibration, the throttle is in straight-through mode, so there is no need to
unlock but just push the throttle up will rotate the propeller. So this calibration must be done with
propellers removed.
2) Motor Test
Power on the aircraft, click button Check of motor 1-8 on page Motors to check whether the
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motor rotate direction is correct. If there is signal output display on the APP but the motor does
not rotate, try to raise the Idle Speed level of the motor on Advanced --> Algorithm page.
1.5.4 Pump/Flow meter Test
In order to achieve accurate spraying, V7-AG system provides flow meter and pump calibration.
1) Flow meter Calibration
Fill the tank with water up to 10L for example, then set Tank Volume as 10 on page Pump.
Click the Calibration Flow meter button to make the pump work until no water pump out, then
click Setup button to set this parameters into the flight controller.
2) Pump Calibration
Fill the tank with water and click button Calibrate Pump, a prompt box will pop up. At the
same time, the pump starts to work for calibration. please ensure that the water in the tank is not
empty during the calibration process, otherwise the calibration accuracy will be affected. When
there is no more water pump out, click the Confirm button in the prompt box.
Chart 8 Pump Calibration
``
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1.5.5 Fly Calibration
1) Voltage Calibration
The voltage detected by the flight control system may have some deviation from the actual
voltage of the battery. At this time, the voltage calibration needs to be done. Fill in the Real Volt on
page Calibration. Then click the Calibrate button to complete the voltage calibration.
3) Horizontal Calibration
There may be some angle deviation between the flight control and aircraft, so horizontal
calibration is required, otherwise the flight performance will be affected. Put the aircraft on
horizontal level ground, Go to page Advanced --> Calibration and click Confirm button, then the
angle deviation will be cleared.
1.5.6 Default Parameter
Parameter setting is very important, error settings will directly lead to crash accident, be
careful to confirm. Enter Settings --> Advanced --> Mode to select the type of aircraft. On page
Algorithm, ensure FCU Position settings is consistent with the real installation. Noise suppression
Level can be set to 3 as default.
The GPS installation deviation is the distance from the GPS installation position to the center
of the aircraft. The X-axis right is positive, the Y-axis front is positive, and the z-axis up is positive.
Chart 9 GPS Install Bias
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2 Fly Parameters Adjustment
2.1 Magnetometer Calibration
After the installation and system function test, can take some fly test outside. Magnetometer
calibration is necessary before as the following steps:
 Remoter’s channel 5 switch continuously for 8 times or go to page Settings -> Calibration, click
Mag Calibration button to enter this mode. The green LED will Long bright in magnetometer
calibration mode.
 Rotate the aircraft horizontally until the LED indicator turns to blue and enters the vertical
calibration mode.
 Rotate the aircraft vertically until the LED turn off blue light, otherwise if the red LED long
bright, it mean the calibration is fail and need calibrate again.
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2.2 PID Parameters
For the first test flight, please confirm the attitude Angle of the aircraft is correct. Unlock the
motors in attitude mode to check whether the corresponding relationship between the remoter’s
joysticks and the motors is normal. Using attitude mode in the first flight test, so can adjust
appropriate pid parameters to make the aircraft’s status to best.
Instruction:
1) R/P Gyro Gain: In attitude mode, gyro gain should be adjusted first, and the default value is
120 (please set this parameter to 100 for aircraft with more than 30 inches propeller). Try not
operate the joysticks and observe the self-stabilizing ability of the aircraft. A simple method is to
hit the joystick in a small range and back to see if the aircraft can recover to the level quickly. If not,
increase the value by 5 each time. Increase this parameter until the aircraft has a little shake, and
then reduce by 20%. This parameter should not exceed 180, otherwise there will be a greater risk
of self-excited oscillation.
2) Y Gyro Gain: Yaw gyro gain adjusting method is similar as roll/pitch. Operate yaw joystick to
see if aircraft’s heading can follow quickly, if not, increase this parameter by 10 every time.
Normally default value 260 is available.
3) R/P/Y Attitude Gain: Attitude gain can adjust the speed of aircraft following flight
instructions. In condition that the gyro gain is well adjusted, quickly and fully operate the joystick
and see if the aircraft can quickly respond to the angle (the maximum angle is limited to 20
degrees in attitude mode). If the response is slow, increase this parameter by 5 every time, but not
exceed 600.
4) R/P Damping: This parameter is to increase the stability of the aircraft and prevent
self-excited oscillation. If no matter how to adjust the gyro/attitude sensitivity, the shake of the
aircraft cannot be suppressed, try setting this parameter to 0. In general, the default is 3 or 4 for
flight. When in attitude mode, turn the joystick quickly and return middle, if the aircraft back to
horizontal with shake, increase the value, each time add 1, but not to exceed 15.
5) Y Damping: This coefficient increases the stability of the heading channel. The default is 3
or 4 for flight.
6) Height Coeff: The default value 20 usually can meet the requirements. If the vibration of
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the aircraft is large and the output of the motor is obviously not smooth enough, this parameter
can be reduced to 15 or 10.
7) V-Speed Coeff: Adjust the response speed of the throttle, the larger, the faster response,
the smaller, the slower response, usually 350 can meet the requirements.
8) H-Speed Damping: If the aircraft has poor wind resistance and large position drift when
hovering, this parameter can be appropriately increased (not the same as 50).
9) H-Speed Damping: Default value is 125. In the GPS position mode, if the speed following
response is insufficient, the parameter can be appropriately increased (no more than 150). If the
speed following overshoot, this parameter can be reduced appropriately (no less than 80). This
parameter can be reduced if the braking angle is too large, and increased if the braking speed is
too slow.
3 Flying Mode
3.1 AB Mode
AB mode automatically copies AB routes for flight after user defines point A and point B. In AB
mode, it supports radar altimeter and radar obstacle avoidance. Route length, altitude, heading
yaw can adjusted during the flight.
3.1.1 AB Mode Operation
 Switch remoter channel 6 for 8 times to clear the last AB points information to ensure that
there is no AB points inside the flight controller (LED will flash purple if AB points exist).
 Manually take off and fly to the first starting point. In GPS hover mode, channel 6 switch from
default to A point to record position A. After recording of point A, Purple LED will flash 1 time.
 Manually turn on the pump and move the aircraft to point B. In GPS hover mode, channel 6
switch from A point to B point to record position B. After recording point B, Purple LED will
flash 2 times.
 After the recording is completed, channel 5 switch to AB mode, and then the roll joystick gives
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a full left/right action. AB mode begins and the aircraft will continue to fly by changing ridges
to left/right.
 Channel 5 switch to Attitude/GPS mode can exit AB mode (at this time, channel 6 is at point B,
it is recommended to return to default position). In order to re-record AB point, it is necessary
to continuously switch channel 6 for 8 times to clear current AB points. purple light will
disappear if the AB points are cleared successfully.
Chart 10 AB Mode
3.1.2 Real-time Adjust in AB Mode
1) Ridge length
In order to adapt to irregular plots, the length of AB points can be adjusted in real time by
pull/push pitch joystick during flight. Adjust operation as follows:
 Extension/Shortening of AB length: when the aircraft flies to the edge, pull/push the pitch
joystick, the aircraft will move slowly at a speed of 2m/s. When the extension position is
reached, the pitch joystick should back to the center, the aircraft will stop flying forward to
turn left/right, and then start to copy the corresponding line. AB point extension is completed.
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Chart 11 AB Mode Adjust Length
2) Altitude Adjust
The throttle joystick keep center position to make the aircraft flying with the same altitude
(keep the same altitude relative to ground if radar altimeter is enable). The aircraft will climb if the
throttle is up and descend if throttle is down.
3) Heading Adjust
The aircraft heading is locked if rudder joystick is in the middle. Turn to left or right can
change the aircraft heading.
3.1.3 Break-point-continue in AB Mode
When AB mode is quit for some reason. it needs to continue executing AB mode. Then, follow
the below steps:
 Take off manually in the GPS mode, Channel 5 switch to AB mode, then the aircraft is hovering
at a certain position.
 Push pitch joystick, the aircraft enters Break-point-continue mode. Then go to the position
where it quit in last AB mode.
Chart 12 Break-point-continue in AB Mode
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3.1.4 Obstacle Avoidance in AB Mode
1) Manual Obstacle Avoidance

In AB mode, if there exist obstacles in future trajectory, Turn the roll joystick left or
right(depend on which direction to pass through the obstacle) to change the fly way. All the
joysticks return to middle can continue the AB task.
Chart 13 Manual Obstacle Avoidance in AB Mode
2) Automatically Obstacle Avoidance

If the aircraft is installed with obstacle avoidance radar, when the radar detects obstacles in
front/back, the aircraft will automatically choose hover/detour according to the obstacle
avoidance action set by APP. If hover is selected, the remoter can get control if roll/pitch joystick is
turned, and resume the route if all the sticks are back in middle. If detour is chosen, the aircraft
will shift to one side until there is no obstacle in front of it, and then fly forward for 2 times the
obstacle avoidance distance set by APP with +5 meters plus.
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Chart 14 Radar Obstacle Avoidance in AB Mode
3.2 Automatic Wpt Mode
3.2.1 Farmland Mapping
VK Agricultural System supports mobile phone/remoter/aircraft/RTK base station/map total 5

kinds of mapping methods, remoter/aircraft/RTK base station can support RTK high-precision if
RTK version is selected.
1) Remoter Mapping: if the remoter is installed with RTK, it can be connected to QianXun or
RTK base station cloud service to achieve high-precision positioning.
 Access QianXun location: Open VK Agriculture APP, enter Settings-->Controller Page, select
Bluetooth, then click Search and link to the remoter. Select QXWZ after successful connection
to remoter. If the remoter has purchased QianXun service, it will prompt the SDK account, as
shown in the figure below.
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Chart 15 Remoter Connect to QianXun
Exit the Controller Page, enter Mapping page, click the setting button in the lower right
corner, select the Controller, then RTK high-precision mapping mode is open.
 Base station cloud service: In the condition of no mobile signals, mapping can also be done in
mode of base station cloud services. First, power on the base station and fix the location, then
open the RTK base station APP, connect the base station through bluetooth, click the button
to open the mobile base station cloud service, and a QR code will be generated, as shown in
the figure below.
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Chart 16 RTK Base Station QR Code
Keep the mobile phone near by the base station, another mobile phone opens VK Agriculture
APP to connect the remoter, select the Cloud Station, at this time will be prompted to scan the qr
code on RTK base station APP to enjoy the cloud services.
Using base station cloud service has high relative accuracy, there is a solid bias between the
absolute accuracy. When finish the mapping, a calibrate point at the position of base station is
need. So the station must set at the very position where the calibrate point is to calibrate the base
station’s coordinates, then the aircraft’s coordinates will be the same as mapping.
2) RTK station mapping: Enter Settings-->RTK Station-->Search, connect base station through
bluetooth, then click Enter Locating Mode set the station to rover mode. If the account has buy
QianXun service, it will provide high precision.
Warning: RTK base station can not provide station function in rover mode, it must be reset to
base mode by click Enter Station Mode with Current Location or power off and restart again.
During mapping, the mapping point/obstacle point/calibration point can be fine-turned by

clicking the point as shown in the figure below.
27
Chart 17 Points Fine-turn
After completing edge point, obstacle point(optional), and calibration point(optional) mapping,
click Upload button to upload the map to cloud server.
3.2.2 WPT Settings
1) WPT parameters
After mapping, it is necessary to edit the route to generate way points. Parameters as below.
 Click to open the setting page for wpts type, safe distance to the surround, safe distance
of obstacle avoidance.
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Chart 18 Route Type and Safe Distance
 Choose a side (side 1 / side 2...) , the planned route will be parallel to the selected edge
(highlighted in orange). Each edge can be set a safe distance, which can be set by adding or
subtracting buttons, or by entering Numbers directly.
 Any vertex can be selected as the starting point of the route. "S" and "E" on the trajectory
mark the starting point and ending point of the route. Users can click the starting point on the
map.
 Click to open smart route, The route will divide into several sub-routes according to the
designed mileage. The ending wpt of each sub-routes will take action as return or hover,
which can be selected in the APP. If the smart route mileage is set to 0, then the smart
planning function is turned off, as shown in the figure below.
29
Chart 19 Smart Route Show
2) Delete Wpt
Sometimes there may be several routes do not need to be sprayed that can be deleted by the
following steps. Click the starting point that will be deleted, enter the end point, then confirm. So
the routes between the two wpts will be deleted.
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Chart 20 Delete Wpt Operation
3) Auxiliary Take-off and Landing Points

If there is an obstacle between the departure point and wpt 1, or between the departure
point and return point, an auxiliary point can be set to make the fly more safe. Just long press on
the map then the auxiliary point will be generated.
Chart 21 Add Auxiliary Point
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3.2.3 Automatic Flight
After flight altitude be set, click Takeoff -->Work . The aircraft will fly to wpt 1. some
attentions should be taken in auto-fly mode.
 Every time upload the routes and then click Work , the aircraft will first fly to wpt 1. If no
route is uploaded, the aircraft will fly to the break point of the last route.
 Even if there is an obstacle avoidance radar, it is automatically turned off during the phase of
going to wpt 1.
 Click Stop can emergency stop the aircraft, click Resume to continue.
 Change ridge mode can choose L-Turn or U-Turn.
 During auto-fly, the throttle/yaw can be adjust, also remoter can operate to avoid obstacles,
please refer to section 3.1.4 for details.
 Spraying amount can be set to fixed pump output and mu consumption with automatic speed
mode.
4 RTK Instruction
4.1 RTK Rover Module
There are two RTK modules, both are 3-star multi-frequency signal. Single antenna RTK has
high precision position, the dual-antenna RTK has both high-precision position and heading
orientation with good anti-magnetic disturbance capability.
RTK module and GNSS module provide the aircraft with dual redundant positioning function.
When RTK state is fixed solution, the system use the information of RTK module. When the RTK
state is not fixed, the system use the information of GNSS module.
Cautions about RTK installation:
 The single antenna RTK module should be installed with the arrow pointing in the same
direction as aircraft’s head.
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 The two antennas of the dual-antenna RTK must be installed either front-back (ANT1 back) or
left-right (ANT1 left) and the between distance is greater than 40cm.
4.2 RTK Base Station
RTK base stations without mobile network or without QianXun service can only provide
relatively high precision position with a certain deviation in absolute position. If have purchased
QianXun service, it can provide high-precision mapping and flight coordinates, the process is as
follows.
 Enter Settings-->RTK Station, Search the base station’s bluetooth.
 Connect the base station through bluetooth, click Enter Locating Mode and the APP will
provide QianXun service to the station.
 If the Location Type has been Fixed for more than 30 seconds, Click Enter Station Mode with
Current Location, then the base station can provide precise location service to the aircraft.
Chart 22 RTK Base Station Information
Cautions:
 Make sure the battery is full.
 The base station must not be move if it is providing service to the aircraft.
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 The base station can not provide mapping and service to the aircraft at the same time. It must
be set to base mode after mapping or power on it again.
5 Data Manage
5.1 Data Download and Firmware Update
The storage device in the flight control will record the flight data in real time. One unlocking
and locking is a complete flight. Enter Settings --> Log --> Download Log to read the last flight data
and then upload it to the server. In case of an aircraft accident, it is necessary to read the log and
upload it to the server as soon as possible, and notify relevant technical personnel of the supplier
for support.
Enter Settings --> Version page, can update controller/IMU/radar altimeter/radar obstacle
avoidance.
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Appendix 1: Flight Controller LED Indication
LED Status Instruction

System Initialization/Magnetometer Calibration Fail
GNSS Not Good
Red GNSS Very Poor
Low Battery Voltage
Aircraft Locked
Magnetometer Horizontal Calibration
Attitude Mode
Green GPS Mode
Auto Cruise Mode
Able to Take Off Indication
Magnetometer Vertical Calibration
IMU Communication Error
No IMU Communication
Blue
GNSS Lost Warning
Speed Warning
Remoter Pwm Channel Warning
Accelerometer Warning
Gyro Warning
黄色
Magnetometer Disturbance Warning
Temperature is Higher than 65 degree
Record A Point
Yellow Record B Point
Remoter Calibration
ESC Calibration
Cyan Altitude Control Poor
Motor Balance Poor
White Radar Altimeter Available
IMU Firmware Update
Long Bright Flash
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Appendix 2: RTK Base Station LED Indication
BT: Flash Quickly indicate bluetooth not be connected, Long bright indicate bluetooth connect
well to APP.
RX: RTK base station send one CORS message with this LED flash once, normally it will flash with
frequency of 1HZ.
TX: RTK base receive one message with this LED flash once.
FIX: RTK base station work status, definition as below.
Flash quickly: APP set station’s coordinates successfully, and work at base mode.
4 flash: No GNSS.
3 flash: Location type is single.
2 flash: Location type is float.
1 flash: Location type is fixed RTK.
P_L: Bluetooth and RTK initialization indication, definition as below.
Flash quickly: Enter rover mode.
2 flash: Bluetooth initialization fail.
Long bright: Normal
GPS: Flash indicate the GNSS is now searching stars.
RTK: NA
36
Appendix 3: Single Antenna RTK LED Indication
Red: NA
Green: RTK module work status, defined as below.
4 flash: No GNSS signal.
3 flash: Location type is single.
2 flash: Location type is float.
1 flash: Location type is fixed RTK.
Blue: Flash once if an CORS message received.
37
Appendix 4: Dual Antenna RTK LED Indication
H_RTK: Position work status, defined as below.

4 flash: ANT-1 no GNSS signal.
3 闪: ANT-1 location type is single.
2 闪: ANT-1 location type is float RTK.
1 闪: ANT-1 location type is fixed RTK.
P_RTK: Heading work status, defined as below.

Long bright: RTK module initialization is fail.
3 flash: ANT-2 no GNSS signal.
2 flash: ANT-2 has GNSS signal, but no heading output.
1 flash: dual antenna heading output.
38

V7-AG Flight Control and Data Manage System User Manual (V4.0)

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Beijing VK Technology Co.

Ltd V7-AG Flight Control and Data Manage System

V7-AG Flight Control and Data Manage System

Beijing VKE Technology Co.,Ltd

3.2.3 Automatic Flight........................................................................................................32

Chart 1 Component List.......................................................................................................... 5

1.1 Component List

Chart 1 Component List

Component Picture Parameters

LED indication refer to

1) Support RTK base

1.2 Component Connect

Chart 2 Standard Version Connection Chart

1.3 System Install

1.3.1 Main Controller Install

Chart 4 Main Controller Pins Definition

interface instruction interface instruction

XT30 10---58 v AD1/AD2 (Alternate)

S.BUS-I Remoter S.BUS input LED LED

S.BUS-O Water pump (Alternate) MC-COM Connect to remoter’s M4

MI M1 motor DATA LINK Connect to radio

M2 M2 motor MC-CAN CAN-HUB

M3 M3 motor IMU-COM RTK input interface

M5 M5 motor GPS-CAN Connect to GNSS module

TP Flow meter (Alternate)

Different kinds of aircraft have different definitions as below:

Engine stop connect to M8

1.3.2 GPS Install

1.3.3 Dual Antenna RTK Install

1.3.4 Radar Install

1.4 APP Install

After installation, manufacturers can register on web http://ag.jiagutech.com/monitor_manage/

1.5 System Test

1.5.1 Link Check

1.5.2 Remoter Calibration

Chart 7 Channels of Remoter

1.5.3 Motor Test

1.5.4 Pump/Flow meter Test

1.5.5 Fly Calibration

1.5.6 Default Parameter

2 Fly Parameters Adjustment

2.1 Magnetometer Calibration

2.2 PID Parameters

3.1.1 AB Mode Operation

3.1.2 Real-time Adjust in AB Mode

Chart 11 AB Mode Adjust Length

3.1.3 Break-point-continue in AB Mode

3.1.4 Obstacle Avoidance in AB Mode

1) Manual Obstacle Avoidance

2) Automatically Obstacle Avoidance

Chart 14 Radar Obstacle Avoidance in AB Mode

3.2 Automatic Wpt Mode

3.2.1 Farmland Mapping

VK Agricultural System supports mobile phone/remoter/aircraft/RTK base station/map total 5

Chart 15 Remoter Connect to QianXun

Chart 16 RTK Base Station QR Code

During mapping, the mapping point/obstacle point/calibration point can be fine-turned by

Chart 17 Points Fine-turn

3.2.2 WPT Settings