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E1100 User Manual V1.

E1100 RTF User Manual V1.4


Revised January 18, 2014

www.zerouav.com

E1100 User Manual V1.4

Table of Contents

1 E1100 DESCRIPTION .......................................................................................................................... 3


2 WARNING and DISCLAIMER ................................................................................................................. 3
3 IN THE BOX ....................................................................................................................................... 6
4 FEATURES ......................................................................................................................................... 6
5 COMPONENTS ASSEMBLY .................................................................................................................... 8
1 E1100 Octo-copter : .................................................................................................................... 10
1.1 Hardware Specifications ..................................................................................................... 10
1.2 Frame Assembly ................................................................................................................ 11
2. Autopilot Setup.......................................................................................................................... 11
2.1 YS-Gemini Autopilot Setup .................................................................................................. 11
2.2 How to use the gemini autopilot .......................................................................................... 13
3. Brushless Gimbal ....................................................................................................................... 13
3.1 How to use the Z2000 gimbal.............................................................................................. 13
3.2 How to use the Z1400 gimbal.............................................................................................. 13
4. Additional Hardware Instructions ................................................................................................. 14
4.1 Power System ................................................................................................................... 14
4.2 Power Supply Module ......................................................................................................... 15
4.3 Communication Module ...................................................................................................... 16
4.3 Parachute ......................................................................................................................... 16
6 ON SITE CONFIGURATION (IMPORTANT) .............................................................................................. 18
1 Before flying............................................................................................................................... 18
1.1 Inspection Before Applying Power ........................................................................................ 18
1.2 Operation of dual transmitters ............................................................................................. 18
1.3 Single transmitter operation ................................................................................................ 20
1.4 Unlock Motors ................................................................................................................... 22
2. Flying ....................................................................................................................................... 24
2.1 High Stability FPV mode ..................................................................................................... 24
2.2 Carefree Gimbal Course ...................................................................................................... 26
2.3 Automatic Panorama Shooting............................................................................................. 28
2.4 Aerial Jib Function ............................................................................................................. 28
3. Landing .................................................................................................................................... 30
7 FAQ ................................................................................................................................................. 30
Appendix 1 : Single Transmitter Operation .............................................................................................. 32
Appendix 2 : Video Links ....................................................................................................................... 36
Appendix 3 : Customer Service .............................................................................................................. 37

E1100 User Manual V1.4

1 E1100 DESCRIPTION

The ZERO-E1100 Octo-rotor complete system is a professional ready-to-fly solution for cinematography, perfectly
integrated with the YS-Gemini autopilot. It consists of a high-end brushless gimbal, the Z2000 or the optional
Z1400, and the professional Octo-copter, the E1100. It is a secure and stable aerial photography platform and is
specifically designed and manufactured for industrial applications such as aerial filming, TV, advertising,
photography and so on.

2 WARNING & DISCLAIMER

Thank you for purchasing this ZERO UAV product. The product is an advanced and specifically dedicated control
item. Any misuse may result in damage to property, injury or even death. The user must conform to the law and
use the equipment responsibly. This product is not suitable for people under the age of 18. Please read this
disclaimer carefully before using the product, or visit the E1100 web page at http://www.zerouav.com to refer to
relevant updates or information.

Warning

Please keep the product out of reach of children.

Make sure the aircraft is kept away from people and dangers such as buildings roads and property. We
suggest you fly your aircraft at specially designated areas.

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

Please strictly follow the user manual when operating the device.

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

Please power off and remove propellers before making any adjustments to the unit such as calibrating,
upgrading firmware or changing parameters. There is an ever present danger of the propellers starting
unexpectedly and causing injury.

Please do NOT fly in unfavorable conditions.

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

Disclaimer

1 Zero UAV (Beijing) Intelligence Technology Co. Ltd. assumes no liability for damage(s) or injuries incurred
directly or indirectly from the use of this product.
2 The user is responsible for abiding with the law and not behaving contrary to public order or public safety by using
this product.

E1100 User Manual V1.4

3 ZERO TECH accepts no liability for damage(s) or injuries directly or indirectly from the use of this product in the
following conditions:
(1) Damage(s) or injuries incurred when users are drunk, taking drugs, drug anesthesia, dizziness, fatigue, nausea
and any other conditions no matter physically or mentally that could impair their ability.
(2) Damage(s) or injuries caused by intentional operation or accident.
(3) Any mental damage compensation caused by intentional operation or accident.
(4) Failure to follow the guidance of the manual to assemble or operate.
(5) Malfunctions caused by refit or replacement with non-ZERO TECH accessories and parts.
(6) Damage(s) or injures caused by using third party products or fake ZERO TECH products.
(7) Damage(s) or injuries caused by misuse or poor judgment.
(8) Damage(s) or injuries caused by mechanical failure due to wear and tear.
(9) Damage(s) or injuries caused by continued flying after low voltage protection alarm is triggered.
(10) Damage(s) or injuries caused by knowingly flying the aircraft in an abnormal condition (such as water, oil, soil,
sand and other unknown material ingression into the aircraft or if the assembly is not completed, the main
components have obvious faults, obvious defects or missing accessories).
(11) Damage(s) or injuries caused by flying in the following situations: Using the aircraft in a magnetic
interference area, radio interference area or government regulated no-fly zones, in bad light, when the pilot has
blocked, fuzzy or poor eyesight or in any other conditions not suitable for operating.
(12) Damage(s) or injuries caused by using in bad weather, including rain, wind (more than a moderate breeze),
snow, hail, lightning, tornado, hurricane etc.
(13) Damage(s) or injuries caused when the aircraft is in the following situations: collision, fire, explosion, flood,
tsunami, subsidence, ice trapped, avalanche, debris flow, landslide, earthquake, etc.
(14) Damage(s) or injuries caused by infringement such as litigation caused by any data, audio or video material
recorded by the use of aircraft.
(15) Damage(s) or injuries caused by the misuse of the battery, protection circuit, RC model and battery chargers.
(16) Other losses that are not covered by the scope of ZERO TECH liability.

Safety Precautions

For safety reasons, please pay serious attention to the following points:
1.

Make sure that assembly and connections are correct and accurate, any mis-connection of the IMU or GPS
may result in burning them out!

2.

Please remove all propellers during configuration and setup.

3.

The side marked MC and GPS faces up. The arrow points to the aircraft head.

4.

Make sure the RC transmitter is switched on before powering on the multi-rotor prior to takeoff! Power off
the multi-rotor first, then switch off RC transmitter after landing. Pay special attention to this when using
the S-BUS or self-adaptive feature of the autopilot.

5.

Throttle calibration, manual rudder position, real-time rudder position, channel setup must be accurate.

6.

The GPS+COMPASS unit is sensitive to magnetic interference; it should be mounted as far away as possible
from other electronic devices. The arrowhead on the IMU and GPS points to the aircraft head.

7.

Please enable the fail safe (F/S) function of your RC transmitter before takeoff.

8.

Do not fly in GPS mode when the signal is not good (red light blinks) or the "GPS Velx (cm) or GPS Vely

E1100 User Manual V1.4

(cm)" in GCS is more than 15cm/s.


9.

The Gimbal Servo can use power from any ESC, but if the ESCs have no BEC output, please power the
gimbal from a different source to the autopilot.

10. In auto Go Home mode, there are two ways to stop the motors:
(1) Reduce the throttle stick to below 10%;
(2) Click "Disable Engine in the "Control" screen of the GCS. The above two ways will not stop
motors when in any other Flight Mode.
11. The low voltage alert is very important. When this alert is activated you should land immediately to avoid
a crash or any other harmful consequence.
12. Please do not take-off when the Vibrate state in the GCS displays a high value.
13. You must check the Course Angle and Magnetic Declination value in the GCS are correct after compass
magnetic calibration.
14. You must check that the Attitude Angle and Static Angle in the GCS are correct before takeoff.
15. Please pay special attention to the wiring connections of the GPS/COMPASS and MC. Mis-connection may
result in a short-circuit and fry your components.
16. The anti-reverse design of all plugs is there for an important purpose; please do not try to force any
connections.
17. In some strong magnetic fields the "Course Angle" value may be shown as different from the actual
compass heading, please recalibrate the magnetic compass before takeoff.

Make sure assembly and

connections are correct and accurate; any mis-connection of the IMU or GPS may burn out the components

E1100 User Manual V1.4

3 IN THE BOX:
Octo-copter X 1

T-MOTOR Motor X 8

4014

Hobbywing Platinum 40A ESC X 8

15 Inch Propeller X8 (4 sets)

YS-Gemini Autopilot X 1

Parachute

EITHER: Gimbal-Z2000No cameraX1

OR: Gimbal-Z1400No camera X1

X1

4 FEATURES

INTEGRATED WITH THE SECURE, DUAL-REDUNDANCY, GEMINI AUTOPILOT


The ZERO-E1100 system is integrated with a Gemini autopilot which consists of duplicated control units, the
Master Controller and a Slave Controller. Each has its own IMU (Inertial Measurement Unit) which includes 2
separate sets of gyros, accelerometers, and barometric sensors. There are also two GPS/COMPASS units.
Having everything duplicated ensures maximum safety and reliability. If any unit associated with flight control
fails or loses control then the system automatically switches to a functioning unit. The ground station
continually monitors the status of two Controllers, and warns the user whenever a unit has failed and the other
has switched in. This built-in redundancy greatly increases safety, stability and reliability and minimizes the
likelihood of accidents.

E1100 User Manual V1.4

COMPATIBLE WITH ZERO HIGH-END BRUSHLESS GIMBALS


By combining with the newest ZERO brushless gimbals, the Z2000 or the Z1400, the aircraft is able to keep
the camera completely level and stable, regardless of flying conditions. This high-precision camera attitude
correction achieves impressive filming stability.

PARACHUTE PROTECTION IN EMERGENCY


An elegant additional feature of the YS professional autopilot is its ability to access the increased safety of an
incorporated parachute. In an emergency the motors are stopped and the parachute is opened automatically.
The pilot can also trigger parachute deployment from the transmitter. This provides another level of safety to
the existing redundancy of the dual system!

AERIAL JIB FUNCTION


An Aerial Jib function is available where the aircraft can, under auto-pilot, fly a preset route whilst the
camera automatically takes pictures according to a programmed sequence. The aircraft can repeat the preset
flying route several times and your camera will repeat its task so that you can choose the best and most
accurate shot for each location.

AUTOMATIC DODGING LANDING GEAR


In order to get a perfect 360shot, the controller can prevent the landing gear from blocking the camera view.
This unique and user-friendly feature is that the autopilot can control the camera and the aircraft
independently and allow them to rotate synchronously. This makes smooth shooting in all directions possible
and the landing gear will never be seen in the frame. All this is achieved whilst the aircraft still flies according
to its preset flying route.

Both Single or Dual Transmitter Control Supported


The E1100 system supports both single transmitter control (one transmitter controls the aircraft and gimbal
pitch at the same time) and dual transmitter control (one transmitter controls the aircraft whilst the other
transmitter controls the roll, pitch and yaw of the gimbal). The dual control method is very simple for users
when outdoor flying. Please note that the firmware of the Gemini autopilot must be later than 20131016 and
the firmware of the Z-controller of gimbal must be later than 20131115.

ONE MOTOR FAIL PROTECTION


Usually multi-rotors will crash and suffer damage if a motor fails. The protection provided by the GEMINI
autopilot, in Attitude or GPS Mode will keep the attitude of the aircraft under control even if a motor does fail.
This highly reduces the risk of a crash.

HEAVY-LIFT AIRCRAFT
ZERO-E1100 has the advantage of heavy-lift performance; the maximum take-off weight can be as much as
10kg which is very convenient if you need to carry large photographic equipment.

INTEGRATED-CIRCUIT DESIGN

E1100 User Manual V1.4

From batteries to electronic components, motors and ESC, all of the circuits of E1100 are integrated into the
central frame or the frame arms. This greatly simplifies the wiring, reduces the possibility of malfunction and
helps considerably with quick disassembly. The whole appearance looks simple and neat and makes its
performance more safe and reliable.

5 COMPONENT ASSEMBLY

E1100 system needs to work with a GCS platform (Android phone or tablet) and an RC transmitter (ideally two, one
each for the copter and the gimbal) as shown below. (E1100 with Z2000 gimbal shown as an example).

Android/PC GCS

Gimbal TX

Copter TX

Figure 1 E1100 System Components


As shown in the diagram above, the E1100 is made up of the GCS (ground control station, software provided),
remote control system (including wi-fi or DataLink but Transmitter and radio system excluded) and an Octo-copter.
The Octo-copter consists of the frame, the Gemini autopilot, the WIFI module, the brushless gimbal and parachute.

E1100 User Manual V1.4

A system schematic is illustrated below:

Figure 2: E1100 System Schematic

E1100 User Manual V1.4

1 E1100 Octo-copter:

1.1 Hardware Specifications

ZERO-E1100 Specifications
Diagonal Wheelbase
Frame
110cm

Landing Gear Size


45cm(L)57.5cm(W)
40Cm(H)

Center Frame Diameter

4.1KG

28.5cm

Recommended Power

Max Takeoff Weight

Hover Time

10KG

7 Min with Z2000

6S 10 A 25C or above

Z2000

10KG

11 Min with Z1400

6S 10 A 25C or above

Z1400

Type

KV

Max Power

Weight

T-MOTOR 4014

400 KV

900W

150g

Type

Voltage

Drive PWM Frequency

Weight

HW Platinum 30A

2s-6s

400Hz

32g

Material

Size

Weight

Carbon

15 Inch

28 g

Camera Supported

Lens Supported

Software Required

Flying
Performance

Frame Weight

Battery

Gimbal

Motor

ESC

Propeller

Control Requirement

EF17-40MM f/4 L USM;

E11005D
Canon 5D Mark II /III

24mm/35mm;

Lumix G 14mm f/2.5;


Lumix G 20mm/F1.7;

E1100GH3
Panasonic GH3

Supported Only

Sigma 12-24mm
1:4.5-5.6; etc.

Gimbal

S-BUS System

35mm<zoom<98mm;

Panasonic LEICA
25/1.4;
OLYMPUS M.ZUIKO
DIGITAL ED12mm
f/2.0; etc.

10

Windows XP SP3;
Windows 7;
Windows 8
S-BUS System
Supported Only

E1100 User Manual V1.4

1.2 Frame Assembly

Please refer to the E1100 assembly instruction

2. Autopilot Setup

Notice
1

The firmware of the Gemini Slave autopilot is always version 20131000 and there is no need

to update. It is very important not to make the mistake of updating the firmware of the Gemini
Master with the Gemini Slave firmware.
2

The Gemini slave autopilot never ever has a PWM output (outputs M1 through M8) to control

the motors. The Gemini slave can never work independently to control the motors.

2.1 YS-Gemini Autopilot Setup

The whole system integrates with Gemini autopilot which consists of two independent sets of GPS, compass
and IMU. If any sensor has an error, it will automatically switch to another sensor seamlessly and give an automatic
alarm and alarm prompt to the user via the GCS. This greatly reduces the possibility of crash or failure.
(1) The connectors of the Gemini autopilot are defined as below:
Flight Controller-Gemini M Gemini Master
Gemini M

To

Gemini M

To

M1

ESC 1

PTZ1

Z-Controller PTZ1

M2

ESC 2

PTZ2

Z-Controller PTZ2

M3

ESC 3

PTZ3

Z-Controller PTZ3

M4

ESC 4

PAR

Parachute Servo

M5

ESC 5

PHO

Camera Shutter

M6

ESC 6

EXT1

EXT1 (Gemini S)

M7

ESC 7/ or roll of servo gimbal

S-BUS

S-BUS receiver

M8

ESC 8/ or pitch of servo gimbal

EXT2

EXT2 (Gemini S)

POW

Power Module 5.7V

RS232 COM for PC Firmware


COM
Upgrade/ or connecting WIFI,

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E1100 User Manual V1.4

Datalink module
GPS RED End/GPS Black
LED

LED Module

GPS-R/GPS-B
End

Flight Controller-Gemini S Gemini Slave


FC Connector

To

FC Connector

To

M1

No

PTZ1

No

M2

No

PTZ2

No

M3

No

PTZ3

No

M4

No

PAR

No

M5

No

PHO

No

M6

No

EXT1

M7

No

S-BUS

No

M8

No

EXT2

EXT2 (Gemini M)

COM

No

POW

No

LED

No

EXT1 (Gemini M)

GPS-R/
GPS RED End /Black End
GPS-B

(2) How to connect the Gemini Autopilot.

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E1100 User Manual V1.4

Figure 3 Assembly Illustration

13

E1100 User Manual V1.4

2.2 How to use the Gemini autopilot

Please refer to the <<Gemini autopilot user manual>> for detailed instructions.

3.

Brushless Gimbal

3.1 How to use the Z2000 gimbal.

The Z2000 is a professional grade; 3-axis stabilized gimbal built specifically for the Canon 5D series of
cameras (EOS 5D mark II and mark III) for aerial photography and video use. Combined with Zero's Z-Attitude
Sensor and Z-Controller, the Z2000 is a leap forward in autonomous 3-Axis DSLR camera stabilization and provides
a truly professional platform for aerial film, advertising and photography.
Please refer to the <<Z2000 gimbal user manual>> for detailed instructions.

3.2 How to use Z1400 gimbal.

The Z1400 is specifically designed to carry the highly rated Panasonic Lumix GH3 camera. Combined with its
ZERO UAV precise gimbal control algorithm, the Z1400 will bring you a unique experience in aerial photography.
When coupled with YS series autopilots, it will bring more safety and stability. (When carrying the

Z1400

brushless gimbal, the default value of roll sensitivity and pitch sensitivity is 55, the sway compensation should be
120).
Please refer to the <<Z1400 gimbal user manual>> for detailed instructions.

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E1100 User Manual V1.4

4. Additional Hardware Instructions

4.1

Power System

Figure 4 Power System Diagram


Warning:
The Gemini autopilot, gimbal Z-Controller and gimbal Z-Attitude Unit must be supplied with 5.7V. If any of these
is directly supplied from the 6S battery, without using the power module, the electronics may be permanently
damaged.
The Gimbal must be supplied with power from a 6s lithium battery (discharge coefficient 25c or greater). Using
anything less than 6S will make the gimbal fail to function normally.

4.2 Power supply module

To simplify the connections and cables, the E1100-V2 has an added new main power supply module and a
Vice power supply module, so that only one aviation plug is needed to connect the frame and landing gear

15

E1100 User Manual V1.4

making all the connections very simple and convenient to assemble and disassemble when flying outdoors.
1)

Power supply module connections are shown below:


Main power supply module:
Main Power Supply Unit
Connector

TO

Connector

TO

22.2V OUT

aviation plug transfer cable

POWER IN 6S

6S battery

22.2V
X4P-PARACHUTE

Parachute servo / PAR port of

22.2V OUT

power port of WIFI

autopilot
X4P-POWER

POW port of Gemini M / Gemini S


Vice power supply module
Gimbal Power Supply Unit

Connector

TO

Connector

TO

PTZ1/PTZ2/P

PTZ1/PTZ2/PT3 of gimbal Z-Controller

POWER/BUS IN

Aviation Plug

A/V& Gimbal Power

Z-CONTROLLER

Power of gimbal

POWR

Z-controller

TZ3
GIMBAL
VIDEO/12

Video Transmitter & Power of Video


Transmitter

2)

Example connection

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E1100 User Manual V1.4

Notice
1PTZ1 port of Gimbal Z-controller is connected to white wire of Vice Power Supply Unit, PTZ2 to red
wire, PTZ3 to brown/black wire (brown is on top).
2Wires connected to video transmitter: white wire is ground, brown wire is signal wire
3Wires connected to gimbal video: white wire is ground, brown wire is signal wire.
All of the connections of the E1100-V2 are already configured when leaving the factory. The user only needs to
connect the port "POWER/BUS IN" of the vice power supply module to the aviation plug on the frame as shown
below:

4.3 Communication Module

A personal smart phone, tablet or PC can be used as the terminal ground control station by communicating via
WIFI with the E1100 system. The WIFI module has two communication modes (Router Mode and Peer-to-Peer
Mode); the default communication mode is PTP mode (Peer-to-Peer), which means the user can directly connect
the WIFI between the E1100 and Phone/PC/Tablet without using a router. This is very convenient for users when
flying outdoors.

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E1100 User Manual V1.4

4.4 Parachute

The parachute is designed to automatically open in an emergency to prevent the camera from damage by slowing
the speed at which the whole system falls, greatly improving its security. This provides an extra level of safety
above that already provided by the eight motors of the Octocopter.
Although the parachute is designed to open automatically a switch is provided to activate or deactivate this
function.
In manual mode, the parachute only can only be activated manually and cannot be activated automatically. If the
knob switch Ch8, is rotated completely to the right, then the parachute will be activated automatically. In GPS
mode, the autopilot will regard the craft attitude to be abnormal if the craft tilts to 70-90 degrees and trigger the
parachute which will then greatly reduce the falling speed of the of the aircraft.. (Interference, rudder judder or low
power will make parachute activation fail)

NOTE:
(1) Make sure the parachute servo is individually powered. DO NOT power the parachute servo
through the autopilot.
(2) Boot the autopilot first, do not power the parachute servo until the autopilot has fully initialised.
(3) Make sure the total weight of the whole E1100 system is not more than the protection capability of
the parachute. The lifting power of the E1100 only allows one 15000mah battery.
(4) Before flying you must check whether the parachute is folded well and the installation position of
the parachute is correct.
This video shows you how to fold the parachute:
http://www.tudou.com/home/_120837428/

6 ON SITE CONFIGURATION (IMPORTANT)


1 Before flying
1.1 Inspection before Applying Power

Make sure the nuts fixing the propellers are tightened sufficiently; otherwise the propellers may fall off during
flight.

Check and make sure the motors are fixed firmly.

Check and make sure the screws between the gimbal and the top of the landing gear are tight enough, and the

18

E1100 User Manual V1.4

fasteners on the center board are fixed well.

Check whether the centre of gravity is in the correct position when the batteries are installed.

Check and make sure all the connection cables are secure and tight especially the S_BUS cable between the
receiver and the controller.

Check whether the direction of the arrows of the flight controller and GPS are facing forwards towards the craft
nose, also make sure the GPS modules and flight controller are fixed well and the GPS units are higher than
everything else.

Check the cameras centre of gravity on the gimbal and that the gimbal is neutrally balanced when the camera
is installed.

Prepare a battery and make sure the battery is a 6 celled lipo (6S discharge coefficient 25C).

Make sure the total weight of the E1100 is not more than 10KG.

1.2 Operation of dual transmitters

(1) TX setup
A. Aircraft transmitter setup
Select fixed wing as your model type (TYPE AIRPLANE) on your Futaba RC TX. All channels should be set to
Normal not Reverse. In the FUNCTION menu select a 3-way switch to control channel 5 (CH5) and a 3-way switch
to control channel 6 (CH6). Set the FAIL SAFE (F/S) as described in the user manual. Select a knob switch to
control CH7; Select another knob switch to control CH8 for activating or deactivating the parachute. Connect the
S-Bus receiver with the S-Bus port of autopilot.

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E1100 User Manual V1.4

Figure 5 Futaba TX Setup


B. Gimbal TX Setup
Select fixed wing as your model type (TYPE AIRPLANE) on your Futaba RC TX. All channels should be set
to Normal not Reverse. In the FUNCTION menu select a 3-way switch to control channel 5 (CH5) and a 3-way
switch to control channel 6 (CH6) plus a two-way switch to control CH8. Connect the S-Bus receiver to the
S-Bus port of the gimbal Z-Controller.
(2) Power-On
A. Make sure you switch on the aircraft transmitter first, then switch to manual mode and Push the THR stick
to the bottom position. ON the gimbal transmitter push the THR stick to the bottom position. Now Power on the
autopilot.
B. Check the LED. It is working correctly if it flashes red in groups of three. Boot the GCS on your phone or tablet
and check that the craft attitude, angle and type are correct.
C. Look at the GCS (ground control station), check and make sure the switch positions for CH5 and CH6 of the
copter TX are showing correctly, and make sure the fail-safe has been set up correctly (Test by switching off the
transmitter and make sure that the Flying Status on the ground control station displays as Returning and
Landing)
D. Collect the parachute activate/ inactivate position (Read the open and closed positions to your GCS): With the
parachute servo activated Press the "Init Setting" button then press the "parachute open position" button; With
parachute servo inactivated, press "parachute close position" button. Quit Setting after you have finished
collecting the parachute position.
Caution: The force when the parachute is ejected from the parachute container is very large. You must make sure
that your head is out of the way to avoid injury. Once youve collected the parachutes open and closed position you

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E1100 User Manual V1.4

should be okay.
E. If the aircraft transmitter is being used for the first time, you should calibrate the channels referring to the
Gemini Autopilot User Manual.
F. Power on the gimbal and check it by hand: rotate each axis of the gimbal around 360 degrees and position the
camera level and upright (DO NOT turn it upside down). Push the THR stick from the bottom to the top position the Z2000 Gimbal will begin active stabilization, so that the pitch, roll and yaw direction of gimbal can be controlled
by the gimbal TX. Check whether CH8 of the gimbal TX controls the camera shutter. (Only the Z2000 gimbal
supports camera shutter control by TX).
Notice: Initialize the gimbal (check it manually) every time it is powered on.

1.3 Single transmitter operation

Notice:
(1) The E1100 supports single transmitter operation if the firmware of the Gemini M autopilot is
updated to later than version 20131016 and the firmware of the gimbal Z-controller is updated to later
than version 20131115.
(2) There is no Panorama shooting function (Z2000 gimbal) when using a single transmitter.
(3) Auto shutter is not supported with a single transmitter, and GCS manual shutter control is only
available when carrying a Z2000 gimbal.

Select fixed wing as your model type (TYPE AIRPLANE) on your Futaba RC TX. All channels should be set to
Normal not Reverse. In the FUNCTION menu select a 3-way switch to control channel 5 (CH5) and a 3-way switch
to control channel 6 (CH6). Set the FAIL SAFE (F/S) as described in the user manual; Setup Ch7 to the RS or LS
channel knob to control the pitch of gimbal; Select a knob switch to control CH8 to activate or inactivate the
parachute. Connect the S-Bus receiver to the S-Bus port of autopilot.
(2) Power-on
A. Make sure you switch on the aircraft transmitter first, then switch to manual mode and Push the THR stick to the
bottom position, power on the autopilot and the aircraft, the default operation is dual transmitters when the
autopilot is activated.
B. The autopilot is shown to be working normally if you can see the telemetry from the Gemini M/Gemini S in the
"Data" page of the GCS Check and make sure the attitude angle of the craft and the craft type is correct.
C. Look at the GCS (ground control station), check and make sure the switch positions for CH5 and CH6 of the
copter TX are showing correctly, and make sure the fail-safe has been set up correctly (Test by switching off the
transmitter and make sure that the Flying Status on the ground control station displays as Returning and
Landing)

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E1100 User Manual V1.4

D. Collect the parachute activate/ inactivate position (Read the open and closed positions to your GCS): With the
parachute servo activated Press the "Init Setting" button then press the "parachute open position" button; With
parachute servo inactivated, press "parachute close position" button. Quit Setting after you have finished
collecting the parachute position.
Caution: The force when the parachute is ejected from the parachute container is very large. You must make sure
that your head is out of the way to avoid injury. Once youve collected the parachutes open and closed position you
should be okay.
E. If the aircraft transmitter is being used for the first time, you should calibrate the channels referring to the
Gemini Autopilot User Manual.

F. After rotating each axis of the gimbal around 360, toggle the transmitter CH 7 switch three times quickly to
enter single transmitter operation mode, now the gimbal will be controlled by the craft transmitter. (Toggle it
another three times to quit single transmitter mode and enter double transmitter operation).
NB: initialize the gimbal (check it manually) every time it is powered on.

G. To check whether you have entered into the single TX operation mode: push the THR stick a little (5% is ok),
the gimbal will activate stabilization if you have succeeded to enter single TX mode. The roll and pitch of gimbal will
maintain the cameras balance, and the pitch of the gimbal can be controlled by CH7. The working mode of the
gimbal is set to be independent of the aircraft heading when in single TX operation.
H. The Gimbal will stop stabilization when the THR stick is pushed to the bottom position.
(3) NB:
A. There is no need to activate Gimbal stabilization after entering single TX operation and the THR stick
on your transmitter must be in the bottom position.
B. All the connections of the E1100 are already set up (excluding the receiver) when leaving the factory. Please
do not change any connections yourself!
C. The Gimbal will keep level and upright, automatically, independent of the pitch and roll of the aircraft, it will also

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E1100 User Manual V1.4

retain the same direction as the craft head providing the throttle has been advanced and the gimbal activated.
(Generally, when activating gimbal stabilization, you should move each axis of gimbal around 360and test the gimbal
balance in pitch and role, meanwhile make sure the camera lens and the craft nose are pointing in the same direction.
Activate stabilization by pushing the THR stick, the pitch and roll of the gimbal will automatically attain balance and the
direction of the camera will be same as that of the aircraft nose.).
D. The GPS/compass is calibrated on leaving the factory. All you need do is check the GPS bracket is vertical and
check whether the direction is correct, there is no need to calibrate the magnetic compass again.

1.4 Unlock motors

A. You must refold the parachute each time before flying.


How to fold the parachute
Press the parachute box by hand to prevent injury from the force of parachute ejection, move CH8 switch for a
complete rotation in the right direction to activate the parachute, the parachute will pop-up automatically and
you can refold the parachute replace it.
Caution: you must refold the parachute strictly according to the demo video, the manufacturer will not accept
responsibility if the parachute fails to open because it hasnt been folded properly.
B. Check the F/S (fail-safe) setup first: put the THR stick in or near the middle position and shut down the TX. Now
the flying status on the GCS should display Returning and Landing" (Reset the F/S and restart the TX if it does not).
Arm the motors and open a little throttle to check whether the motor-mix control is normal.
Note:
(1) Motor arming is not available if CH5 of autopilot TX is in the middle position.
(2) Motor arming is not available if the autopilot compass and actual compass bearing differs more than 15
degrees.
How to Arm the motors and unlock (Perform CSC):
To Arm you push the left-hand stick to the far left and extreme bottom, the right stick to the far right and to
the bottom. This is for Japanese and American convention (mode 1 and mode 2) and is called the toe-out
operation (Namely /\ type).

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E1100 User Manual V1.4

For Chinese and European operation (Mode 3 and Mode 4), you need to apply the toe-in operation to arm the
motors (Namely \/ type) After arming the motors you still need to advance the throttle stick to make the
motors rotate. If it doesn't take off, some motors might slowly decrease speed or even stop rotating, this is
normal. You only need to increase the throttle to take off normally.

C. The working status of two sensors of the two sets autopilot can be monitored through the Gemini GCS. Start
flying manually when the GPS of the autopilot indicates 7 satellites or more.

Figure 7 E1100 GCS Display Screen

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E1100 User Manual V1.4

2. Flying

NB All the flying operations in this user manual are assuming a double transmitter as an example. If
you are using a single transmitter please refer to the appendix.

Important: Please Read!

A. You must check the "Data page" on the GCS before flying: make sure motor balance is good. If it is
not, you need to adjust the clock-wise or anti-clockwise motors according to the GCS prompt. Make
sure the actual throttle reading when in the centre is around 50 and that the compass and IMU
readings are good.
B. You can only exit "returning and landing" mode after you have switched to manual mode. (If you
are in auto-hover or in auto-navigation mode you cannot exit "returning and landing" mode)
C. Do not switch to manual mode if your throttle stick is in the bottom position whilst you are in the air.
If you do this it is certain your aircraft will crash as the motors will stop spinning after five seconds.
D. Do not switch to GPS mode if flying is not stable in Manual mode because your flight will become
even more unstable.

2.1 High Stability FPV Mode

The functions A: FPV in GPS Hover Mode and B: FPV in Manual Mode are only available in firmware later
than version 20131008.

A. FPV in GPS Hover Mode

When in GPS position hover mode CH6 in top position, FPV mode will be activated 2 seconds after switching
CH5 of the aircraft TX from its bottom position to the middle position.
In this mode, the craft nose will auto track the gimbal to dodge the landing gear, the elevator and aileron
normally controlled by the pilot obeys the direction of the gimbal, rather than the direction of the aircraft. The pilot
is controlling the gimbal rather than the aircraft. The elevator and aileron respond relative to the video direction.
For example if you push the stick forward, the aircraft will move in the direction that the gimbal is pointing rather

25

E1100 User Manual V1.4

than in the direction which the aircraft is pointing.

In another example, when in target lock and flying around the target in a circle, the pilot controls the camera to
always shoot the target using the rudder, flies in a circle by pushing the aileron stick, and controls flying distance
with the elevator.

To quit this mode, switch aircraft transmitter CH5 to the top position (manual mode) or to the bottom position
(GPS Hover mode)

Flying Mode

High Stability FPV Mode

Flying Course

subject to gimbal course

Aircraft nose

craft nose always tracks gimbal camera lens direction

TX command

Rudder

Aileron

Elevator

Throttle

CH5

CH6

Aircraft TX

Controlled

Controlled

Controlled

Controlled

Middle position

Top position

Gimbal TX

uncontrolled

pitch controlled

To Max is to enable Stabilization

Top position

Gimbal TX

uncontrolled

uncontrolled

To Max is to enable Stabilization

Middle/Bottom position

roll controlled
uncontrolled

NoteGimbal course is controlled by Aircraft TX, gimbal pitch is controlled by Ch7 of Aircraft TX

B FPV in Manual Mode

The aircraft will enter FPV (manual mode) 2 seconds after switching CH5 of Aircraft TX from top position to middle
position whilst flying.
In this mode, the direction of the aircraft will auto track the gimbal heading so as to dodge the landing gear. The
elevator and aileron response which is controlled by the aircraft pilot are relative to the gimbal course, not the
aircraft heading. Therefore, the aircraft pilot is directly controlling the gimbal rather than the aircraft. (The elevator
and aileron are subject to the video, that is, pushing the stick makes the aircraft fly in the direction of the video
rather than direction of the aircraft head)

For example, when in target lock and flying around the target in a circle, the pilot controls the camera to always
shoot the target using the rudder, flies in a circle by pushing the aileron stick, and controls flying distance with the

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E1100 User Manual V1.4

elevator. To quit this mode, switch CH5 to the top position (manual mode) .

Flying Mode

FPV aerial photography mode

Flying Course

Subject to gimbal direction

Aircraft nose

craft nose always track gimbal lens direction

TX command

Rudder

Aileron

Elevator

Throttle

CH5

CH
6

Aircraft TX

Controlled

Controlled

Controlled

Controlled

Middle position

Gimbal TX

Uncontrolled

Roll controlled

Pitch controlled

To Max is to enable the Stabilization

Top position

Gimbal TX

Uncontrolled

Uncontrolled

Uncontrolled

To Max is to enable the Stabilization

Middle/Bottom

position
NoteGimbal course is controlled by Aircraft TX, gimbal pitch is controlled by Ch7 of craft TX

2.2 Carefree Gimbal Course

How to enter Carefree Gimbal Course:


Switch CH5 of the gimbal TX to the 1st position: gimbal not-tracking mode.
Switch craft TX to GPS mode so that the E1100 will hover when it starts flying and whenever there is no pilot input.
Adjust the craft head to the desired direction when the Gimbal Course Carefree is enabled; switch CH5 of craft Tx
from position 3 to position 2. Two seconds later switch it back to the position 3 and then back to position 2 again.
Now the craft head will move in the same direction as the gimbal head and keep pace with the lens direction in
order to dodge the landing gear. This shows that the E1100 has successfully entered Gimbal Course Carefree
mode.

In Gimbal Course Carefree mode, the direction of flying does not change and the initial direction when it entered
Carefree is always forward, no matter what direction the aircraft nose is facing. The elevator and aileron controlled
by the aircraft pilot are relative to the gimbal course only. The direction of the Gimbal Course is controlled by the
gimbal TX, the craft nose will auto-track the gimbal and not be controlled by the pilot.
As the diagram below shows, the yellow arrow faces the craft nose, the black arrow is in the direction of the flying

27

E1100 User Manual V1.4

course

To exit Gimbal Course Carefree, switch aircraft transmitter CH5 to the top position (manual mode) or CH5 to the
bottom position (GPS Hover mode)

Flying Mode

Gimbal course carefree

Flying Course

subject to the direction when switching to carefree

Aircraft nose

Aircraft nose always tracks gimbal lens direction

TX command

Rudder

Aileron

Elevator

Throttle

CH5

CH6

Aircraft TX

Uncontrolled

Controlled

Controlled

Controlled

Middle position

Top position

Gimbal TX

Yaw Controlled

Roll Controlled

Pitch Controlled

To max is to active stabilization

Top position

2.3 Automatic Panorama Shooting

The Z2000 Gimbal can be programmed to be automatic whether connected to the GEMINI autopilot or not.
Panorama shooting involves taking photos automatically (37 photos in 4 tilt positions) in approximately 2 minutes
in a complete 360rotation.

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E1100 User Manual V1.4

All of these 4 tilt positions will be selected;


h) Horizontal
i) Nose-down30
j) Nose-down60
k) Vertical
How to use the gimbal Automatic Panorama Shooting function:
While Z2000 is in active stabilization mode (THR stick in the top position on the gimbal transmitter), move the CH5
switch to the second position, and at the same time move the CH6 switch quickly from bottom position to top
position 3 timestop->bottom->top->bottom->top->bottom->top). This will activate automatic panorama
shooting.
In panorama shooting mode, craft will auto-rotate in the pan axis, the gimbal and the aircraft will be aligned
together to point in the same direction. The gimbal will control the camera to take three shots in each direction;
one in Horizontal, one Nose-down and one in the Vertical direction. The gimbal will auto-track back to balance in
the Horizontal (after the last shot the gimbal is vertical), and the autopilot will command the aircraft to hover.
Switch to manual mode to quit this mode.

2.4 Aerial Jib Function

How to enter the aerial jib function:


Firstly, preset the waypoint route on the Google Map in the GCS, upload the waypoints to the autopilot and verify
each waypoint (the latitude, longitude, height and speed of each waypoint is editable. The height of the waypoints
may be setup independently). Detailed instructions for setting up waypoints are in the Gemini manual.
Switch aircraft TX to GPS mode to ensure it hovers when the aircraft starts flying.
Move the CH6 of craft TX from first position to second position and remain there for 5 seconds, after that the craft
head will automatically move to the direction of the gimbal head to dodge the landing gear; this indicates the
E1100 has successfully entered the aerial jib function.
With the aerial jib function enabled, the gimbal TX pilot can control the direction of the gimbal (the aircraft head will
track the gimbal), the aircraft pilot will not be able to control the craft with the exception of pushing the stick to
continue flying the preset waypoints route, or releasing the stick to pause flying. The amount the stick is advanced
determines the flying speed. Craft will restart from the first waypoint when it has completed all the waypoints.

29

E1100 User Manual V1.4

How to exit the aerial jib function:


Switch CH5 of aircraft transmitter to position one (manual mode) or switch CH6 to position one (GPS hover mode).
Flying Mode

Aerial jib (preset waypoints)

Flying course

Waypoints path direction

Craft nose

Craft nose always track gimbal lens direction

TX command

rudder

aileron

elevator

THR

CH5

CH6

Aircraft TX

Uncontrolled

Uncontrolled

only can push stick/

Uncontrolled

Bottom position

Middle

back to middle position


Gimbal TX

Yaw

roll controlled

pitch controlled

controlled

position
push to max to
enable
stabilization

30

Top position

E1100 User Manual V1.4

3. Landing

During flying, users are responsible for observing the GCS and need to pay careful attention to all the Autopilot
telemetry, including voltage, motor balance, GPS satellite status and flying time so as to be aware when the aircraft
needs to be landed
After landing the E1100 craft, push the THR stick of the Gimbal TX from the top position to the bottom position
to stop gimbal stabilization; disconnect the power, check all of the motors by hand to feel whether the motors are
hot and still installed horizontally.

7 FAQ

Q1: Why doesnt Motor-arming work?


A1: With the newest firmware, users need to shut down the autopilot first and then check the F/S status. Check the
three positions of Channel 5 and Channel 6 with the throttle in the middle position (50%). Only after F/S checking
has been completed can the motors be activated after motor-arming. If this is not done, motor-arming is
deactivated.
After the autopilot is powered on motor arming can only be carried out after the failsafe check. Subsequent flights
can be carried out without the failsafe check providing the autopilot remains powered on. If the autopilot is
powered on again, F/S needs to be redone.

Q1: How can I capture the middle position of the gimbal TX?
A2: When using a new FUTABA TX, make sure there is no mixing configured on the TX and all channels should be
normal (not reversed), all sticks should be in the middle position and the THR stick at the bottom, switch CH5 from
first position to third position 3 times only. Now the central position of the TX will be recorded and saved by the
Z-controller of the gimbal.
Q3: Why does the gimbal still rotate slowly without any stick input?
A3: Due to temperature change (for example when going from indoors to outdoors), the attitude sensing gyros
may drift, resulting in the gimbal moving without stick input. When this happens it is necessary to reset the gyros.
To do this, move the gimbal THR stick to the bottom (this deactivates the gimbal motors). Carry out a CSC
(combined switch command) as shown below. Keep the sticks at the CSC position for approximately 30 seconds,
before releasing. This will initiate a gyro reset. Do not move the camera or gimbal at this time. The reset procedure
takes about 3 seconds. Check the gimbal function after a reset by leveling the camera manually, then push the THR
stick to the top. The gimbal should now work normally.

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E1100 User Manual V1.4

OR

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E1100 User Manual V1.4

Appendix 1: Single Transmitter operation

1 High Stability FPV Mode

A. FPV in GPS Hover Mode


When in GPS position hover mode CH6 in top position, FPV mode will be activated 2 seconds after switching CH5
of the aircraft TX from its bottom position to the middle position.
In this mode, the craft nose will auto track the gimbal to dodge the landing gear, the elevator and aileron
normally controlled by the pilot obeys the direction of the gimbal, rather than the direction of the aircraft. The pilot
is controlling the gimbal rather than the aircraft. The elevator and aileron respond relative to the video direction.
For example if you push the stick forward, the aircraft will move in the direction that the gimbal is pointing rather
than in the direction which the aircraft is pointing.
In another example, when in target lock and flying around the target in a circle, the pilot controls the camera to
always shoot the target using the rudder, flies in a circle by pushing the aileron stick, and controls flying distance
with the elevator.
To quit this mode, switch aircraft transmitter CH5 to the top position (manual mode) or to the bottom position (GPS
Hover mode)
Flying

High Stability FPV Mode

Mode
Flying

subject to gimbal course

Course
Aircraft

aircraft nose always tracks gimbal lens direction

nose
TX

TX command

Rudder

Aileron

Elevator

Throttle

CH5

CH6

Craft

Controlled

Controlled

Controlled

Middle position

Top

command

position
Gimbal

controlled

Notegimbal pitch is controlled by Ch7 of craft TX

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E1100 User Manual V1.4

B FPV in Manual Mode

The aircraft will enter FPV (manual mode) 2 seconds after switching CH5 of the transmitter from top position to
middle position whilst flying. In this mode, the direction of the aircraft will auto track the gimbal heading so as to
dodge the landing gear. The elevator and aileron response which is controlled by the aircraft pilot are relative to the
gimbal course, not the aircraft heading. Therefore, the aircraft pilot is directly controlling the gimbal rather than
the aircraft. (The elevator and aileron are subject to the video, that is, pushing the stick makes the aircraft fly in
the direction of the video rather than direction of the aircraft head)

For example, when in target lock and flying around the target in a circle, the pilot controls the camera to always
shoot the target using the rudder, flies in a circle by pushing the aileron stick, and controls flying distance with the
elevator. To quit this mode, switch CH5 to the top position (manual mode) .

Flying Mode

FPV aerial photography mode

Flying

Subject to gimbal direction

Course
Craft nose

craft nose always track gimbal lens direction

Transmitter

TX command

Rudder

Aileron

Elevator

Throttle

CH5

CH6

Craft

Controlled

Controlled

Controlled

Middle position

Gimbal

controlled

Notegimbal pitch is controlled by Ch7 of craft TX

2. Carefree Gimbal Course

Note:
Gimbal course carefree must be used in GPS position hold mode

How to enter Gimbal Course Carefree?


Switch transmitter to GPS mode to make the E1100 hover when it starts flying and whenever there is no pilot input.
Adjust the craft head to the desired direction when the Gimbal Course Carefree is enabled; switch CH5 of the
transmitter from position 3 to position 2. Two seconds later switch it back to the position 3 and then back to
position 2 again. Now the craft head will move in the same direction as the gimbal head and keep pace with the lens
direction in order to dodge the landing gear. This shows that the E1100 has successfully entered Gimbal Course
Carefree mode.

34

E1100 User Manual V1.4

In Gimbal Course Carefree mode, the direction of flying does not change and the initial direction when it entered
Carefree is always forward, no matter what direction the aircraft nose is facing. The elevator and aileron controlled
by the aircraft pilot are relative to the gimbal course only. The direction of the Gimbal Course is controlled by the
gimbal TX, the craft nose will auto-track the gimbal and not be controlled by the pilot.
As the diagram below shows, the yellow arrow faces the craft nose, the black arrow is in the direction of the flying
course

To exit Gimbal Course Carefree, switch transmitter CH5 to the top position (manual mode) or CH5 to the bottom
position (GPS Hover mode)

Flying Mode

Gimbal course carefree

Flying Course

subject to the direction when switching to carefree

Aircraft nose

craft nose always tracks gimbal lens direction


TX command

Rudder

Aileron

Elevator

Throttle

CH5

CH6

Craft

Controlled

Controlled

Controlled

Middle

Top

position

position

Gimbal

Controlled

3 Aerial Jib Function

How to enter the aerial jib function:


Firstly, preset the waypoint route on the Google Map in the GCS, upload the waypoints to the autopilot and verify

35

E1100 User Manual V1.4

each waypoint (the latitude, longitude, height and speed of each waypoint is editable. The height of the waypoints
may be setup independently). Detailed instructions for setting up waypoints are in the Gemini manual.
Switch aircraft TX to GPS mode to ensure it hovers when the aircraft starts flying.
Move the CH6 of craft TX from first position to second position and remain there for 5 seconds, after that the craft
head will automatically move to the direction of the gimbal head to dodge the landing gear; this indicates the
E1100 has successfully entered the aerial jib function.
With the aerial jib function enabled the aircraft head will track the gimbal whilst the aircraft flies according to the
preset waypoint route. The aircraft pilot will not be able to control the craft with the exception of pushing the stick
to continue flying the preset waypoints route, or releasing the stick to pause flying. The amount the stick is
advanced determines the flying speed. Craft will restart from the first waypoint when it has completed all the
waypoints unless the pilot returns the stick to the central position to hover..

How to exit the aerial jib function:


Switch CH5 of aircraft transmitter to position one (manual mode) or switch CH6 to position one (GPS hover mode).
Flying mode

Aerial jib (preset waypoints path)

Flying course

Waypoints path direction

Aircraft nose

craft nose always tracks gimbal lens direction

TX

TX

Rudder

Aileron

Craft

Elevator
Only can push stick or back to
middle position

36

THR

CH5

CH6

3-way

2-way

E1100 User Manual V1.4

Gimbal

Controlled

NoteThe pitch of gimbal is controlled by CH7 of TX

Appendix 2:

Video Links

E1100 Assembly Guide


http://www.youtube.com/watch?v=4kU3XJcOktA
E1100 Performance
E110010.3kgStay Quiet, Fly Wild
http://www.youtube.com/watch?v=x-6p5G9RsPE&feature=c4-overview&list=UUuAz3c9zE5Ebcad3esEC8WQ
Raw Video
https://www.youtube.com/watch?feature=player_detailpage&v=EhHrVyd6JEM
Raw Video
https://www.youtube.com/watch?feature=player_detailpage&v=bJP6WfQSdJU
Raw Video
https://www.youtube.com/watch?feature=player_detailpage&v=ma-lRr_-TPc
Weihai * China
https://www.youtube.com/watch?feature=player_detailpage&v=Wb8vTURLFdg
Tibet Yang Hu * China
http://www.youtube.com/watch?v=KWiVOlGzAxM
Tibet Lake Nam * China
http://www.youtube.com/watch?v=6ZY_Ljg7pyc

E1100 Parachute
http://v.youku.com/v_show/id_XNTg2MDU5MTY0.html

37

E1100 User Manual V1.4

Appendix 3: Customer Service

Website
www.zerouav.com
Address:
Building 39-102 Block 2B,
Xi'erqi Lingxiu New Silicon Valley,
Haidian District,
Beijing,
China
TEL 0086(10)-5725-0711 FAX 0086(10)-8289-0430
Sales
Email
distributor@zerouav.com
sales@zerouav.com
sales66@zerouav.com
sales99@zerouav.com

Skype

sales.zerouav
sales002.zerouav
Linda_zerouav

After-sale Support
Email: support@zerouav.com
Skype: support.zerouav

38