QUICK INTRODUCTION Installation page 4 Preparing the remote control page 5 Connection page 5 LED display page 6 Setup / Einstellung page 7 Flying in page 8 RealTime-Tuning page 8 Tail gyro optimisation page 9 Head gyro optimization page 10 Trimming page 10 APPENDIX Troubleshooting page 15 Precautions, disclaimer, warranty page 16 Accessories page 17 Service and inquiries, imprint page 18 Setting up the Horizontal stabilization page 11 Tandem-Mixer page 13 ADVANCE INFORMATION Features, technical data, scope of delivery page 3 SPECIFIC FEATURES OF THE 3SX 2 CONTENT
3 FEATURES Congratulations to now owning a bavarianDEMON stabilization system. In combination with these FBL systems, huge performance is supplied to your model. The head gyro eliminates all undesired rigid head characteristics, resulting in optimum control and precision. By means of the latest generation high-quality MEMS gyros, these systems offer full 3D capability, whilst boasting a top-quality, ultra-fast tail gyro. In addition, it has a built-in symmetrical torque control (revo). This results in a further increase in lock-in ability, made possible by coupling the tail gyro internally with the coll.pitch data of the rotor head control. The 3SX additionally includes an optional horizontal stabilization (active self-leveling and unique rescue modes), which can also be used in helicopters with ﬂ ybar. Plus the 3SX features an additional mixer type for the control of tandem helicopters. For more info please see “Speciﬁ c features of the 3SX”. The 3X expressly incorporates no horizontal or position stabilisation and is thus fully suitable for competition! Besides this, there is no difference in performance compared to the 3SX, plus it can be upgraded at any time to the full functionality of the 3SX. For further information regarding upgrade possibilities please see www.bavarianDEMON.com. Of course, the system is also perfectly suitable for ﬂ ybarless scale helicopters (twin- and multi-bladed) as well as ﬂ ybarless helicopters such as turbine powered trainers, etc.. And it can be used without limits for all different power types, no matter if electric, nitro or combustion engines, as well as turbines too. Supported servo types: All current analog, digital and brushless servos, including narrow-pulse servos (760µs) on the tail. Moreover all current swashplate variants, including four swashplate servos and virtual swash rotation, CCPM/H1, H3-90°, H3-120°, H3-140°, H4-90°, H4-90°+45°. Direct USB connection for fast programming as well as clear separation of the gain (sensitivity) settings for head and tail gyro in independent auxiliary channels reduce the setup work to a minimum. In case of the 3SX, the head gyro channel additionally provides activation and in-ﬂ ight-adjustment of the multiple Horizon and rescue modes. 3X and 3SX can be updated via internet. For hints and instructions, please see PC software. TECHNICAL SPECIFICATIONS: Dimensions: 36 x 34 x 14mm Supply voltage: 4…10V (2S-LiPo-compatible, min. 5.5V using Spektrum/JR satellites) Max. roll & pitch rotational speed: 500°/s Max. tail rotational speed: 650°/s (typical) Tail servo output: optionally digital (220Hz) / analog (55Hz) / 760µs Head servo output: optionally digital servo (110Hz) / analog servo (55Hz) Maximum servo currents: Total 10A continuous load, 12A temporary load Weight: Approx. 18g (without cable loom) Length of connecting cables to receiver: 90mm (longer cables optionally available, see “accessories”) SCOPE OF DELIVERY: • Main unit including assembly material • Cable loom for receiver connection (90mm) • USB lead for direct connection to PC/notebook PC software (Win98, ME, 2000, XP, Vista, 7/8) available for download on www.bavarianDEMON.com.
o.k. wrong! o.k. INSTALLATION MOUNTING POSITION Important is an orientation exactly aligned to the level of the main rotor or rotor shaft in all 3 axis, i.e. the assembly surface must be orthogonal or parallel to these. Contrary to normal tail gyros, this is particularly important to ensure that the head stabilisation maintains constant attitude even during pirouettes. All four main orientation directions are possible (see PC software), plus mounting it inverted or even vertical. AVOIDING VIBRATIONS The mounting surface must be sturdy and vibrate to the least possible extent. The closer it is ﬁ tted to the rotor shaft, the less usually are vibrations. In case of combustion engines, it is particularly important to optimally observe this issue because of invisible vibrations. If the housing should tangibly or visibly vibrate extremely while the engine is running, we recommend choosing a different installation position that is protected better against vibrations. AVOID HEAT Keep distance from exhaust tube, ESC and motor. Using the system inside a fuselage, make sure to supply fresh air. USE THE SUPPLIED ADHESIVE FOAM TAPE Clean the mounting surface properly. Use the thick and softer tape for combustion engines only, the thin tape for all other models. Do not additionally lash the housing as this would restrict the damping effect of the foam tape. For the same reason, do not tightly lash the connecting cables (servos and receiver) and do not lay them in a straight line, but in a bend leading to the system. PREPARING THE REMOTE CONTROL Switch off ALL mixers in the transmitter. The mixers are set only in the system according to the linkage type. In the transmitter, select an unmixed standard program (CCPM/H1, in case disable the collective tail mixing). The functions like gyro menu, AVCS menu and pitch-throttle curve remain in the transmitter. Moreover, Expo and DualRate settings are allowed to be used in the transmitter, but only after the initial setup was completed. 4 QUICK INTRODUCTION
CONNECTION VIA SERVO OUTPUTS (STANDARD RECEIVER) VIA FUTABA S.BUS OR SUM SIGNAL (ROBBE, JETI, GRAUPNER, HITEC, ETC.) If the receiver features a sum signal (PPM pulse or ‚serial PWM‘) output, it can be connected via this output, so only one patch cable is needed. Activating this feature is done via PC software. In this case, the throttle channel is looped through by the system, its output supplied at the neighboring slot named “Output throttle / ESC”. A further channel is available, Output2, e.g. for speed controller gain, illumination accessories or retractable gear. This channel supplies only the signal pin. The power needs to be supplied via a Y-cable from e.g. one of the servo ports. 5 Sum.-/PWM-Signal VIA SATELLITE RECEIVERS (SPEKTRUM / JR) Up to 2 (diversity) receivers can be connected, one at each side of the system. See the info texts in the PC software for activation, adjustments and satellite binding. No main receiver is needed for binding the satellites to the transmitter. The usual input ports for tail gyro and head gyro channel must be idle, i.e. not connected to any signal source. When using Spektrum/JR satellites, the system needs to be supplied with min. 5,5V. 4,8V batteries (4x NiMH or NC) are not sufﬁ cient, the receivers may fail under load or not bind at all.
PLEASE NOTE WHEN CONNECTING As high servo currents can occur, a voltage supply should be routed directly to the device, also in case of a master-slave supply. So the receiver will be supplied via the system, not vice versa. When using the supplied cable loom and an ESC’s BEC is connected to the receiver anyway, the power supply via cable loom is sufﬁ cient. In this case any slave supply should be routed also to the receiver. Use one of the following possibilities: a) Battery connection / head 4 (in case no 4th head servo is used). b) Programming connection (Note: using a Y-lead for easy handling, so the USB cable can be connected without unplugging the power cable). c) Any servo port by using a Y cable. • Do not connect servos until the system has been set to the correct servo type via PC software. • Do not move the heli/system for the ﬁ rst ﬁ ve seconds after switching on (LED ﬂ ashes red). The system runs a self-test and needs standstill to perform this, as otherwise it does not activate the servos and starts to ﬂ ash 3x red. • In case using the cable loom: The cables loom should all be laid as one common bundle. Single wires must not lie separately. • The additional „head gyro“ and „tail gyro“ channels serve to set the respective gain (sensitivity) in ﬂ ight. One potentiometer or slider on the transmitter each should be assigned. As an alternative, and recommended for later on, a ﬁ xed value can be programmed on the transmitter, a gyro menu can be used, or the values can be programmed from the PC directly into the device if the corresponding channel does not see a transmitter input. However, it is considerably easier and faster to have a pot or slider at the transmitter to adjust directly in ﬂ ight. LED DISPLAY SWITCHING ON (ﬂ ashes red) Switch-on phase: do not move, no output of servo signals OPERATION (continuous red) Center of head gyro channel, minimum stabilisation (20%) (continuous yellow-orange) Active rigid stabilisation > 20% (continuous green) 3SX only: Horizontal stabilisation ON (ﬂ ickering green) 3SX only: Horizontal stabilisation with collective pitch rescue action ON SETTING UP (ﬂ ickering red) If connected to [Diagnose] or [Trim] menu: Servos remain in neutral position 6 ERRORS DURING SELF-TEST, NO SERVO SIGNAL OUTPUT (1x) Waiting for RC signal (2x) Battery as from switch-on < 4V (3x) Movement during switch-on phase, repeat power-on (4x) Hor-Mode deactivated cause tilt >30° detected prior to start (only with 3D horizon modes) (6x) 3SX only: too extreme temperature (>55°C/131°F or <-15°C/5°F)
SETUP / ADJUSTMENT After installation, the system must be tuned to heli and transmitter, which ﬁ rst includes adaptation of the transmitter to the system, followed by setting up the system to the model. The PC software includes a setup wizard at the bottom screen, guiding you swiftly and easily through all the required steps without missing anything. Additionally there are helpful mouse-over hints available for each parameter in the software, as well as additional notes in the [Help] menu. At this point please open the software and start the setup wizard. And prior to this, do not miss to read the following notes 1-3! 1. IMPORTANT NOTE IN CASE OF USE WITH TURBINE HELICOPTERS! Only for systems with serial number < 70-x-x (Delivery prior to December 2013): If running a turbine, it is mandatory to apply the protective hood, available as accessory, protecting the unit from the inﬂ uence of ultrasonic sound. Newer system are not affected, as their sensors are resistant to ultra-acoustic noise. 2. IMPORTANT BEFORE FIRST FLIGHT AND AFTER ANY CHANGES! EXTENDED CONTROL TEST INCLUDING A DIRECTION TEST FOR ALL THREE GYRO DIRECTIONS a) When the model is ready to ﬂ y, check the neutral positions and directions of all stick functions and for all servos. If the swashplate shows an increasing tilt while increasing the head gyro gain, this must be related to wrong transmitter neutral trim (step 4, b in particular). b) Check directions of all three sensor axes, as a wrong direction would fairly lead to a crash. Brieﬂ y move the model to and fro about all three axes, tilting and turning. Swashplate and tail must initially respond with the opposite action, i.e. swashplate wants to stay horizontal against rolling and tilting, and front side of the tail rotor blades move opposite to the tail swivel direction, i.e. tail rotor blows in the direction of its swivel movement. In the event of errors, a mistake must be either in the direction of the bars in the [Diagnose] menu or in the ‚mounting orientation‘ setting. c) RC range test. 3. [ALL] MENU: BACKUP OF ALL SETTINGS IN THE PC Data backup is optional, since all settings are stored permanently in the device, unless they are overwritten by new values or a factory reset. It also makes sense to save settings when carrying out tests with various parameters. If the result is not satisfying, you can easily restore the prior data by loading the backup. 7
200% 100% 0% + 110% (JR) -90 (Futaba) 0% 1,5 ms -110 % (JR) +90 (Futaba) 8 FLYING IN ! It is mandatory to have tested all sensor directions! (page 7, point 2) ! First ﬂ y with considerably reduced gain settings for tail and head gyro (40% recommended). ! Control test before every take off. Never take off before the servos can be moved. Only if servos are moving, the initialisation was successfull. PAY ATTENTION DURING TAKEOFF ! Generally pay attention to the horizontal position of the swashplate. Similarly to a tail gyro, it may happen that inadvertently issued slight stick deﬂ ections are ampliﬁ ed by the stabilisation before you are in the air. ! Especially 3D-acro helis with a hard head-damping must not be launched on hard asphalt, unless skids are dampened. Otherwise, when the motor is spooled up, resonances can occur with the risk of tilting over the heli, because in this state it cannot correctly follow the system‘s control commands. REALTIME-TUNING The channel that normally controls the tail gyro gain can be assigned for control of any parameter from [Tail gyro] and [Rigid] menu (and [Horizon] menu in case of 3SX). Note: When using this option, make sure, that the previously found tail gyro gain is set ﬁ x in the [Tail gyro] menu (see PC software). When you have selected and assigned a parameter in the [RealTime-Tuning] menu, you can adjust it in ﬂ ight from the transmitter via the ‚modiﬁ ed‘ gyro channel. It is best to use a slider or a potentiometer on the transmitter (or a ﬁ xed value programmed there). The applicable parameter‘s setting can be altered from zero to twice the pre-set value (active value is shown in the RTT tab), but no higher than the setting limits. Neutral signal from the transmitter results in the parameter value as set in the PC software (Factor 1.0). When the assignment is cancelled again, the setting made on the transmitter is discarded, i.e. it will not be saved automatically. You have to set it manually as the new setting for this parameter. REALTIME-TUNING CHANNEL
+ 110% (JR) -90 (Futaba) 0% 1,5 ms -110 % (JR) +90 (Futaba) 100% RIGID 20% gain RIGID 100% 100% HOR ON 0% HOR OFF 100% HOR + C.pitch Act. ON 100% Heading Hold 10% gain Normal 100% RIGID-MODE HOR-MODE TAIL GYRO OPTIMISATION SENSITIVITY (GAIN) SETTING As usual, set the gyro gain as high as possible, at which the tail does not yet tend to oscillate, not even at high ﬂ ight speed. The tendency to oscillate and thus the holding force crucially depend on the speed of the tail servo, but also on a play-free and easy-moving linkage as well as an optimum drive (no belt slipping, no breakdown of the motor controller at full coll.pitch, etc.). You can additionally optimise the gyro‘s performance to the model by tuning further parameters of the [Tail gyro] menu. In the case of high-performance acro helicopters, the following tuning procedure has proven itself and excellent performance can be achieved with it, even under extreme loads. P-GAIN Search for the setting at which the tendency to oscillate is at its lowest (referred to the same overall tail gain), and you may then further increase the overall gain to some extent. • You prevent fast oscillations (ﬁ ne dithering) by a lower overall tail gain. • You prevent slow oscillations and bouncing back by a higher P-gain. DELAY Use this to optimise the locking-in when the stick is released suddenly, with the result that the tail stands still without bouncing back or overshoot. Before adjusting the delay, adjust the tail gyro gain to a good and high value. REVO-MIX To improve tail stability (particularly with slower tail servos) by generating a direct ahead correction for the tail with every load change caused by coll.pitch elevations, even before measurable drift occurs, which the gyro would have to ﬁ rst detect in order to balance it out. For the Revo-mix you can select: • for 3D-ﬂ ying → symmetrical pitch curve • For scale ﬂ ying, with coll.pitch hover position in stick centre → asymmetrical pitch curve Optimise Revo mix with reduced gyro sensitivity as a test measure: Issue sharp coll.pitch deﬂ ections and observe the tail. If the tail gives in to the torque at the start of ascent, i.e. swivels in the opposite direction to the main rotor, then increase the Revo amount. Finally raise the gyro sensitivity again. OPTIMISING THE ESC If the tail performs a tiny excursion only after a coll.pitch change, the cause of this is mostly a sluggishly responding motor controller that allows the motor speed to break down brieﬂ y at the maximum load and then accelerates, thus applying a high load to the tail. In this case, mostly an improvement is achieved by increasing the motor‘s speed. TAIL GYRO CHANNEL HEAD GYRO CHANNEL 9
10 HEAD GYRO OPTIMIZATION The attitude stabilisation („head gyro“) for the rigid linkage maintains any pilot-operated attitude and prevents disturbances, like e.g. ballooning. On ground, the function is visible at the swashplate: when giving control commands and let go off the stick, the swash moves slowly back to level, maybe even stays in the inclined position for a short while. AN EFFICIENT WAY TO OPTIMISE THE RIGID SETTINGS: • We suggest to use a pot or slider at the radio to easily ﬁ nd the optimum gain. Use the ‚Head-gyro‘ channel or, in case no signal is supplied from the transmitter, it‘s default gain slider in the [Rigid] menu to set the gain as high as possible, approx 10% below the onset of oscillations. For safety reasons, begin with small values. Too high gain may provoke oscillations, for example like a ‚shivering‘ in roll axis or a pitching in elevator axis. • Then set the ‚agility‘ slider in the PC software as desired. Only with 3Xbase, use the transmitter‘s travel settings. • Usually at this point the performance is close to the optimum or perfect. If improvement is necessary, you can test sudden halt (‚locking-in”) after vigorous and abruptly ended stick deﬂ ections: In case of a tendency of rocking / lufﬁ ng in elevator axis, increase the elevator ﬁ lter value (see the tool-tip). This job is easily done by using RealTime-Tuning, after having pre-set the elevator ﬁ lter to a medium value. In case of abrupt and jerky reaction to small and sudden stick inputs: Reduce ‚Initial response‘, or increase ‚Rigid gain’ or ’P-portion’. In case the turning continues a short while even after ending the stick deﬂ ection: - for avoiding a too soft (sluggish) reaction: Increase ‚‘Initial response‘; possibly also increase the ‚Rigid gain’ and/or the travels in the [Mixer] menu. - for avoiding exaggerated and harsh reactions: reduce ‚Agility‘ in the [Rigid] menu, and carefully increase the travels in the [Mixer] tab. If aileron and elevator impulses cause mixed movements, this might be because of an incorrect setting of „virtual swashplate rotation“. Test it with reduced rigid gain: If the tail moves downwards in the event of rolling to the right, then increase swashplate rotation in the positive direction. • Test response to long stick elevations: - In the case of a strong ﬁ rst reaction and then decelerated continued reaction: reduce ‚Initial response and, if applicable, increase the „Agility“. • Test high-speed ﬂ ight - Against slow ballooning or undercutting: reduce or resp. increase the „withdraw rate“. - Against temporary nose-up („dolphin“) during harsh coll.pitch rises: increase ‚Rigid gain‘ as far as possible. Also try with increased P-portion and ensure mixer is set to maximum travels. - Against lasting ballooning after hard coll.pitch-up: see mouse over text for „altitude holding range“. • In case of tilting or tumbling motion during pirouettes: Align the sensor parallel to the rotor shaft. Trim the swashplate exactly straight while there is a connection to the [Trim] menu (necessary to have all servos at neutral). TRIMMING NEUTRAL Using Rigid stabilisation, trim adjustment at the transmitter is not allowed (and not necessary) any more. The system would interpret this as a control input. Helicopters equipped with ﬂ ybar, even though they would not need a Rigid stabilisation, can still use this stabilisation in order to correct any minor trim differences and drifts. To do so, use the preset button [Flybar: stab] in the [Rigid] menu. If necessary, the setting can be optimised using the gain (by RC or default setting) and the ‘Direct control portion’ slider. ‘Elevator ﬁ lter’ may be used as additional feature.
As long as the functions of the [Horizon] menu are not activated, the 3SX’s function is identical to the 3X’s function. SETTING UP THE HORIZONTAL STABILIZATION Important: The 3SX does not allow „exceptions“ during the setup procedure of Horizon and Rescue modes, in particular: • The coll.pitch travel must reach its 100% marks as displayed in the [Diagnose] menu, positive and negative, with the correct direction. • For using any of the extended 3D options, the angle of attack has to be exactly 0° when connected to the [Diagnose] or [Trim] menu. Otherwise a proper function of the 3SX’s horizon and rescue features can not be ensured. The horizontal stabilisation can be used for various purposes, primarily as training aid (“safety net”) for beginner as well as advanced pilots, from the ﬁ rst steps up to trai- ning new maneuvers, using the stabilisation only as a „rescue switch“ in an emergency case or permanent horizon activation (“Coax mode”).Moreover, a support during photographic ﬂ ights, particularly in greater distances is a possible application. HOW TO ACTIVATE THE HORIZONTAL STABILISER Using a helicopter without ﬂ ybar, ﬁ rst optimise the Rigid/head gain setting. We suggest to use a switch or better a pot or slider on the transmitter for instant adjustment ac- cess. Then read the resulting gain-setting of the head-gyro channel from the [Diagnose] menu (not from the transmitter, values may differ!) and enter this value as default setting into the [Rigid] menu and write to the system. To activate Horizon mode, use the [Horizon] menu to switch the channel assignment from ‚Rigid gain‘ to ‚Horizon‘. Using the head-gyro channel, you can now control the strength (gain) of the Horizon mode during ﬂ ight and switch between modes. Note: the 3D options act depending on the signal polarity (direction) given at the head-gyro channel. FLYING WITH HORIZONTAL STABILISATION Before starting the motor, ensure that the swashplate remains in approximate horizontal position while activating the Hor-stabilisation. It must not run into an end-blocking (can occur when initialized on the ground for a longer time). Begin with low stabilisation gain and increase carefully. Rigid stabilisation, set at high level, may increase a tendency to oscillate. Normally, take-off and landing is possible with activated Hor-Mode. This should be tested ﬁ rst with a gain not higher than 30% ﬁ rst. The tendency to oscillations may be increased before take-off, if the skids are standing on a hard surface and during fast ﬂ ight. Important: If ﬂ ying with permanently engaged Hor. stabilisation, do not reduce travels for aileron or elevator at the transmitter (dual rate). Otherwise, the priority of the manual control (override), which is necessary for safety reason, may get lost. The Horizon stabilisation can make pirouettes out-of-round, since it aims to bring the main rotor plane into its neutral hover attitude (adjustable in the [RC] menu): for round pirouettes reduce the Horizontal strength (gain) and/or increase the Rigid stabilisation. 11