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Amigo — Manual
Kanardia d.o.o.
July 2018
© Kanardia d.o.o.
Revision 1.0
Amigo — Manual
Contact Information
Publisher and producer:Kanardia d.o.o.Lopata 24aSI-3000Slovenia
Tel: +386 40 190 951Email: [email protected]
A lot of useful and recent information can be also found on the Internet. Seehttp://www.kanardia.eu for more details.
Copyright
This document is published under the Creative Commons, Attribution-Share-Alike 3.0 Unported licence. Full license is available on http://creativecommons.
org/licenses/by-sa/3.0/legalcode web page and a bit more human read-able summary is given onhttp://creativecommons.org/licenses/by-sa/3.0/. In short, the licensegives you right to copy, reproduce and modify this document if:
� you cite Kanardia d.o.o. as the author of the original work,
� you distribute the resulting work only under the same or similar licenseto this one.
Credits
This document was written using TeX Live (LATEX) based document creationsystem using Kile running on Linux operating system. Most of the figures weredrawn using Open Office Draw, Inkscape and QCad applications. Photos andscanned material was processed using Gimp. All document sources are freelyavailable on request under the licence mentioned above and can be obtainedby email. Please send requests to [email protected].
Revision History
The following table shows the revision history of this document.
2 © Kanardia 2018
Amigo — Manual
Rev. Date Description1.0 Jane 2018 Initial release
3 © Kanardia 2018
Amigo — Manual CONTENTS
Contents
1 Introduction 5
1.1 General Description . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Technical Specification . . . . . . . . . . . . . . . . . . . . . . . 6
1.3 Icons Used Trough the Manual . . . . . . . . . . . . . . . . . . 7
2 Operation 8
2.1 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3 Status Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4 Autopilot Lateral Modes . . . . . . . . . . . . . . . . . . . . . . 10
2.4.1 Heading Hold Mode (HDG) . . . . . . . . . . . . . . . . 10
2.4.2 Horizontal Navigation (HNAV) . . . . . . . . . . . . . . 11
2.5 Autopilot Vertical Modes . . . . . . . . . . . . . . . . . . . . . 12
2.5.1 Altitude Hold (ALT) . . . . . . . . . . . . . . . . . . . . 12
2.6 Disengaging The Autopilot . . . . . . . . . . . . . . . . . . . . 14
2.7 User Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.7.1 Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.7.2 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.7.3 About . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3 Installation & Maintenance 17
3.1 Mounting Procedure . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.3 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.4 Repair . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4 Limited Conditions 20
4.1 Two Years Warranty . . . . . . . . . . . . . . . . . . . . . . . . 20
4.2 TSO Information — Limited Operation . . . . . . . . . . . . . 22
4 © Kanardia 2018
Amigo — Manual 1. Introduction
1 Introduction
First of all, we would like to thank you for purchasing our device. Amigo is anelectronic device, which enhances autopilot functionality. Amigo can not actalone and it must be combined with some other Kanardia device. Typicallyit is connected to Nesis or Aetos. In addition it must be connected withautopilot servos.
This manual describes the technical description, operation, installation andtuning.
1.1 General Description
Amigo is an electronical device which is used as a remote unit for Nesis orAetos autopilot system. It serves for easy changing of the autopilot parametersand modes.
Amigo can not work standalone and it must be connected with other Kanardiadevices, to exchange information. You can not use third party devices. Theconnection is made with a CAN bus. Typically, Amigo is connected with:
� Nesis or Aetos device. They are used for the autopilot handling and tun-ing. In addition, they also host an AD-AHRS device internally, whichis essential for proper AP operation. The AD-AHRS device providesattitude, altitude, airspeed, heading and GPS data.
� Two servomotors, which are connected to the command system in orderto steer an aircraft.
Amigo has a high-brightness IPS LCD display. The panel has two rotary-pushknobs and two simple buttons, which are used to operate Amigo.
On the back side, amigo has four CAN bus connectors, which allow simpleautopilot integration. Two are used for the primary CAN bus. The other twoare bridged and used to connect servo motors (SERU). A RS232 connector isalso provided for possible future extension of Amigo functions.
5 © Kanardia 2018
Amigo — Manual 1.2 Technical Specification
1.2 Technical Specification
Table 1 shows some basic technical specification of Amigo autopilot controler.
Description ValueWeight 170 gSize 50 x 102 x 38 mmOperational voltage 7 to 32 VPower consumption 2.4 WCurrent 200 mA at 12 V
100 mA at 24 VOperating temperature -30 ◦C to +85 ◦CHumidity 30 % to 90 %, non condensingCommunication CAN bus, 29 bit header, 500 kbit,
Kanardia protocol
Table 1: Basic technical specifications.
50
102
31 7 18
Figure 1: Front and side view of the Amigo with its principal dimensions.Dimesions are given in mm.
6 © Kanardia 2018
Amigo — Manual 1.3 Icons Used Trough the Manual
1.3 Icons Used Trough the Manual
A few icons appear on the side of the manual, which have special meanings:
This icon denotes information that needs to be taken with specialattention.
This icon denotes background information about the subject.
This icon denotes an installation tip.
7 © Kanardia 2018
Amigo — Manual 2. Operation
2 Operation
2.1 General Precautions
The approved Pilot’s Operating Handbook (POH) always supersedes the in-formation in this manual.
Refer to the approved Pilot’s Operating Handbook (POH) for emergency pro-cedures.
2.2 User Interface
Amigo user interface was carefully designed with an ease of operation in mind.The result is a device with only two rotary knobs and two push-buttons whichprovides the pilot easy access to most commonly used autopilot functions.
LCD display is divided in two screens: lateral modes (upper half) and verti-cal modes (lower half). Each of the screen displays relevant information forselected lateral/vertical mode.
Figure 2 illustrates knobs, push buttons and LCD screen division.
1. Lateral knob (HDG): Rotating the knob changes the reference valueof the selected lateral mode. Long press on a knob shows the lateralmodes menu.
2. Navigation mode (HNAV): Short press on the button activates Nav-igation mode1.
3. Vertical knob (ALT): Rotating the knob changes the reference valueof the selected vertical mode. Long press on a knob shows the verticalmodes menu.
4. Option knob (VNAV): Short press on the key selects the optionalparameter for vertical mode.
5. Lateral info: Top half of the LCD display shows lateral mode infor-mation.
6. Vertical info: Bottom half of the LCD display shows vertical modeinformation.
7. Status line: Displays status of the autopilot limiting conditions.
1 Only when connected to NESIS or AETOS device.
8 © Kanardia 2018
Amigo — Manual 2.3 Status Line
1 2
43
6
5
7
Figure 2: Amigo controls and screen division.
2.3 Status Line
Amigo LCD screen always displays status line on the middle. Status line tellsif conditions for the AP operations are met.
Figure 3: Amigo controls and screen division.
1. IAS shows a small slider. If indicated airspeed is within limits for theAP operation, the slider will be green. When the airspeed is close tothe either limit, but still inside the valid range, the slider will becomeyellow (amber) and when it is outside limits, it will be red.
2. V ... stands for vertical speed. Same logic as for IAS applies also here.If current vertical speed is within limits, the light is green, close to limitsthe light becomes yellow (amber) and outside limits the light is red.
9 © Kanardia 2018
Amigo — Manual 2.4 Autopilot Lateral Modes
3. R ... stands for roll angle. Again, green, yellow and red lights are shown.
4. P ... stands for pitch angle. It can be green, yellow or red.
In this case Amigo also refuses to engage any autopilot function. If any ofthe four parameters becomes red, the autopilot will automatically disengageboth servo motors.
Please refer to the Autopilot manual for more details on how to set the pa-rameter limits.
2.4 Autopilot Lateral Modes
Amigo consists of the following lateral modes: heading hold (HDG) and hor-izontal navigation (HNAV). Default lateral mode is the heading hold mode,which is displayed every time Amigo powers up. To change the lateral modefollow the steps bellow:
� Press and hold the HDG knob for at least 1 second (long press). Amigowill display lateral autopilot modes dialog.
� Rotate the HDG knob until the dialog of desired lateral mode appears.
� Short press on HDG knob to engage the selected lateral autopilot mode.
2.4.1 Heading Hold Mode (HDG)
In short, the Heading Hold mode (HDG) engages roll servo motor to maintainselected reference heading.
If for any reason any of the limiting parameters is not withing valid limits,Amigo will automatically disengage servo motors and it will display a warning.
When a HDG mode is inactive the first increment/decrement of the HDGknob sets the current heading value as a reference heading hold value andautomatically engages roll servo motor. Any following rotation of the HDGknob changes the reference heading value:
� Reference heading value can take values from 0 to 359° with 1° resolu-tion.
� Rotating the HDG knob clockwise increments reference heading value.
� Rotating the HDG knob counterclockwise decrements the reference head-ing value.
10 © Kanardia 2018
Amigo — Manual 2.4 Autopilot Lateral Modes
� Moderate rotation of the HDG knob gives 1°/step change.
� Rapid rotation of the HDG knob gives 10°/step change.
Short press on a HDG knob pauses heading mode (if HDG mode is engaged)and disengages roll servo motor. Another short press on a HDG knob engagesback roll servo motor with previous reference heading value.
Figure 4 illustrates heading hold situation on the upper part of the LCDdisplay.
1. Target heading hold.
2. Current aircraft tracking.
3. Steering arrow. Right arrow appears on the right side and left arrow onthe left side.
1
2
3
Figure 4: Upper part of the LCD display in the Heading Hold mode.
HDG mode can be disengaged in several ways:
� Short press on a HDG knob while the heading hold mode is activedisengages the roll servo motor.
� Short press on AP button on Joyu control stick.
2.4.2 Horizontal Navigation (HNAV)
Short press on a HNAV key engages the Horizontal Navigation (HNAV) mode.This selects NESIS or AETOS as a primary navigation source and follow pre-planned route or fly direct-to waypoint. It also engages roll servomotor if itis inactive. The HNAV mode is active only for direction flying. In order tochange an altitude use ALT or VS controls.
HNAV mode can be disengaged in several ways:
11 © Kanardia 2018
Amigo — Manual 2.5 Autopilot Vertical Modes
� Press on a NAV button while the horizontal navigation mode is activedisengages the roll servo motor.
� Short press on AP button on Joyu control stick.
If for any reason any of the limiting parameters is not withing valid limits,Amigo will automatically disengage servo motors and it will display a warning.
2.5 Autopilot Vertical Modes
Default vertical mode is Altitude Hold mode, which will be displayed everytime Amigo powers up.
2.5.1 Altitude Hold (ALT)
Altitude Hold mode (ALT) engages pitch servo motor to maintain selectedreference altitude value.
If for any reason any of the limiting parameters is not withing valid limits,Amigo will automatically disengage servo motors and it will display a warning.
When ALT mode is inactive the first increment/decrement of the ALT knobsets current altitude value (it rounds it to nearest 10 ft) as a reference altitudehold value and engages pitch servo motor. Any following rotation of the knobchanges the reference altitude value:
� Reference altitude value can take values from 0 to 20000 ft with 10 ftresolution.
� Rotating the ALT knob clockwise increments reference altitude value.
� Rotating the ALT knob counterclockwise decrements reference altitudevalue.
� Moderate rotation of the ALT knob gives 10 ft/step change.
� Rapid rotation of the ALT knob gives 100 ft/step change.
Short press on ALT knob pauses altitude hold mode (if altitude hold modeis engaged) and disengages pitch servo motor. Another short press on ALTknob reengages pitch servo motor with previous reference altitude value.
ALT mode has an additional parameter vertical speed (VS) which defines themaximum vertical speed which Amigo will use to maintain or climb/descent
12 © Kanardia 2018
Amigo — Manual 2.5 Autopilot Vertical Modes
to reference altitude level. Default VS value is 500 ft/min. Short press onOPT key displays VS parameter dialog. Rotate the ALT knob to change thevertical speed value:
� Vertical speed parameter for altitude hold mode can take values from100 ft/min to 1000 ft/min with 100 ft/min resolution.
� Rotating the ALT knob clockwise increments vertical speed parametervalue.
� Rotating the ALT knob counterclockwise decrements the vertical speedparameter value.
� Rotation of the ALT knob gives 100 ft/min per step change.
Dialog will also close automatically about 7 seconds after the last change ofthe parameter.
During the altitude transition Amigo will try to maintain the vertical speedas close as possible to the defined vertical speed. Due to aircraft performancelimitations (engine power, trim position, flight configuration, altitude, etc.)it might happen that the actual vertical speed will be significantly lower thanthe maximal defined vertical speed.
Figure 5 illustrates the infomation of the Altitude Hold mode.
1. Target altitude hold.
2. Current altitude.
3. Climb, descent marker.
4. Current climb/descent rate.
5. Target climb/descent rate.
Altitude hold mode can be disengaged in several ways:
� Press on ALT knob while the altitude hold mode is active disengagespitch servo motor.
� Short press on AP button on Joyu control stick.
13 © Kanardia 2018
Amigo — Manual 2.6 Disengaging The Autopilot
1
24
53
Figure 5: Lower part of the LCD display in the Altitude Hold mode.
2.6 Disengaging The Autopilot
Autopilot servo motors can be disengaged in several ways.
� A short press on HDG knob while the lateral hold mode is active disen-gages roll servo motor.
� A short press on ALT knob while the altitude hold mode is active dis-engages pitch servo motor.
� A short press on AP button on Joyu control stick disengages both servomotors.
� An external button may be installed and connected with Nesis. It isusually mounted on command stick or on steering wheel. A press onthis button will disengage both servo motors.
� Power line for both servo motors must be routed via a circuit breakerswitch. Turning off the circuit breaker switch will disengage both servomotors.
2.7 User Settings
User settings window can be accessed by pressing and holding the ALT knobfor about 2 seconds to bring up the menu. From this menu the Settings optionbrings up a window as shown of figure 6.
14 © Kanardia 2018
Amigo — Manual 2.7 User Settings
Figure 6: User settings window.
2.7.1 Units
User can select preferred units for following parameters:
� Direction: true or magnetic.
� Altitude: feet or meters.
� Vertical speed: feet/min or m/s.
� Airspeed: kts, km/h or mph.
Figure 7: Units window.
2.7.2 Security
This option is not in use at the moment.
2.7.3 About
The About window shows some information about Amigo. Its serial num-ber, software version and software creation date, AD-AHRS (Airu) unit serialnumber and electronic magnetic compass (Magu) serial number.
Airu unit must be present on the bus, while Magu is optional.
15 © Kanardia 2018
Amigo — Manual 2.7 User Settings
Figure 8: About window.
16 © Kanardia 2018
Amigo — Manual 3. Installation & Maintenance
3 Installation & Maintenance
Amigo requires 48 X 100 mm chamfered slot in the instrument panel, seefigure 9. Position of the slot must ensure good access for knob and buttonoperations and must always be visible from the pilot’s perspective.
Carefully cut the slot. The slot must be tight. There is only about 1 mmmargin between the slot edge and the Amigo panel end – there is almost noroom for an error.
3.1 Mounting Procedure
The mounting screw holes are located at all four corners of the Amigo frontpanel. The device is mounted using four screws type M3. To prevent internalstresses, please make sure that the instrument panel is flat. It is highly rec-ommended that the instrument panel is mounted using rubber shocks, whichreduce the vibrations. Figure 9 illustrates the mounting hole.
Remove the mounting screws from the device. Insert the device from the frontside of the instrument panel and fix it with all four screws.
Due to better access it is normally more convenient to connect all cables atthe back of Amigo before fixing it into the instrument panel.
3.2 Connections
Figure 10 shows Amigo’s back side with all connection ports.
� POWER – this connection is seldom used. Amigo has a very modestpower consumption and thus it get power from the CAN bus. However,it can be also powered from the power connector.
� SERVO – Secondary line of CAN bus. Not in the use for the moment.Reserved for the future use.
� CAN – Standard CAN connector – use standard RJ45 ethernet cable.Two CAN ports are provided, so that devices can be daisy-chained tothe CAN bus. Both of them are equivalent. This connector is typicallyused to connect Amigo to main CAN bus Nesis, Aetos and servos.
� AUX – Not in the use for the moment. Reserved for the future use.
17 © Kanardia 2018
Amigo — Manual 3.3 Maintenance
48.4
100.4
15.14
3.2
44
9610.7
10.7
Figure 9: Instrument panel cutout and mounting holes. Dimensions are inmilimeters. Some tolerance has been already incorporated. Warn-ing: Figure may not be in scale.
3.3 Maintenance
No special maintenance is required.
18 © Kanardia 2018
Amigo — Manual 3.4 Repair
POWER
CAN CAN
SERVO SERVO
AUX
Figure 10: Instrument panel cutout and mounting holes. Some tolerance hasbeen incorporated.
3.4 Repair
Amigo has no serviceable parts inside. In the case of malfunction, it must besent to factory for a repair.
19 © Kanardia 2018
Amigo — Manual 4. Limited Conditions
4 Limited Conditions
Although a great care was taken during the design, production, storage andhandling, it may happen that the Product will be defective in some way.Please read the following sections about the warranty and the limited opera-tion to get more information about the subject.
4.1 Two Years Warranty
Kanardia d.o.o. warrants the Product manufactured by it against defects inmaterial and workmanship for a period of twenty-four (24) months from retailpurchase.
Warranty Coverage
Kanardia’s warranty obligations are limited to the terms set forth below:
Kanardia d.o.o. warrants the Kanardia-branded hardware product will con-form to the published specification when under normal use for a period oftwenty-four months (24) from the date of retail purchase by the original end-user purchaser (”Warranty Period”). If a hardware defect arises and a validclaim is received within the Warranty Period, at its option and as the soleand exclusive remedy available to Purchaser, Kanardia will either (1) repairthe hardware defect at no charge, using new or refurbished replacement parts,or (2) exchange the product with a product that is new or which has beenmanufactured from new or serviceable used parts and is at least functionallyequivalent to the original product, or, at its option, if (1) or (2) is not possible(as determined by Kanarida in its sole discretion), (3) refund the purchaseprice of the product. When a refund is given, the product for which the refundis provided must be returned to Kanardia and becomes Kanardia’s property.
Exclusions and Limitations
This Limited Warranty applies only to hardware products manufactured by orfor Kanardia that have the ”Kanardia” trademark, trade name, or logo affixedto them at the time of manufacture by Kanardia. The Limited Warrantydoes not apply to any non-Kanardia hardware products or any software, evenif packaged or sold with Kanardia hardware. Manufacturers, suppliers, orpublishers, other than Kanardia, may provide their own warranties to thePurchaser, but Kanarida and its distributors provide their products AS IS,without warranty of any kind.
20 © Kanardia 2018
Amigo — Manual 4.1 Two Years Warranty
Software distributed by Kanardia (with or without the Kanardia’s brand nameincluding, but not limited to system software) is not covered under this Lim-ited Warranty. Refer to the licensing agreement accompanying such softwarefor details of your rights with respect to its use.
This warranty does not apply: (a) to damage caused by use with non-Kanardiaproducts; (b) to damage caused by accident, abuse, misuse, flood, fire, earth-quake or other external causes; (c) to damage caused by operating the productoutside the permitted or intended uses described by Kanardia; (d) to damagecaused by service (including upgrades and expansions) performed by anyonewho is not a representative of Kanardia or an Kanarida Authorized Reseller;(e) to a product or part that has been modified to significantly alter func-tionality or capability without the written permission of Kanardia; (f) toconsumable parts, such as batteries, unless damage has occurred due to adefect in materials or workmanship; or (g) if any Kanardia serial number hasbeen removed, altered or defaced.
To the extent permitted by applicable law, this warranty and remedies setforth above are exclusive and in lieu of all other warranties, remedies andconditions, whether oral or written, statutory, express or implied, including,without limitation, warranties of merchantability, fitness for a particular pur-pose, non-infringement, and any warranties against hidden or latent defects.If Kanardia cannot lawfully disclaim statutory or implied warranties then tothe extent permitted by law, all such warranties shall be limited in durationto the duration of this express warranty and to repair or replacement serviceas determined by Kanardia in its sole discretion. Kanardia does not warrantthat the operation of the product will be uninterrupted or error-free. Kanar-dia is not responsible for damage arising from failure to follow instructionsrelating to the product’s use. No Kanardia reseller, agent, or employee isauthorized to make any modification, extension, or addition to this warranty,and if any of the foregoing are made, they are void with respect to Kanardia.
Limitation of Liability
To the extent permitted by applicable law, Kanardia is not responsible for in-direct, special, incidental or consequential damages resulting from any breachof warranty or condition, or under any other legal theory, including but notlimited to loss of use; loss of revenue; loss of actual or anticipated profits(including loss of profits on contracts); loss of the use of money; loss of an-ticipated savings; loss of business; loss of opportunity; loss of goodwill; lossof reputation; loss of, damage to or corruption of data; or any other loss or
21 © Kanardia 2018
Amigo — Manual 4.2 TSO Information — Limited Operation
damage howsoever caused including the replacement of equipment and prop-erty, any costs of recovering, programming, or reproducing any program ordata stored or used with Kanardia products and any failure to maintain theconfidentiality of data stored on the product. Under no circumstances willKanardia be liable for the provision of substitute goods or services. Kanar-dia disclaims any representation that it will be able to repair any productunder this warranty or make a product exchange without risk to or loss ofthe programs or data. Some jurisdictions do not allow for the limitation ofliability for personal injury, or of incidental or consequential damages, so thislimitation may not apply to you.
4.2 TSO Information — Limited Operation
This product is not TSO approved as a flight instrument. Therefore, themanufacturer will not be held responsible for any damage caused by its use.The Kanardia is not responsible for any possible damage or destruction ofany part on the airplane caused by default operation of instrument.
22 © Kanardia 2018