KAVAN R10 - User manual
Introduction
Congratulations on your purchase of the KAVAN R10 advanced 10-channel telemetry receiver. It operates on a 2.4GHz simultaneous dual-frequency transmission system Twin 2.4GHz. It has 10 high-precision PWM channels and 16 or 24-channel modes using S.BUS. Two detachable antennas with IPEX4 connectors provide full signal strength over a range of up to tens of kilometres. It is especially ideal for gliders, but you can also use it for other various models. With redundancy support, it can be connected as a primary receiver via S.BUS. With the Twin 2.4GHz protocol, both receivers work fully simultaneously in this connection. Thanks to the F.BUS connection option, you can also pair it quickly and easily to several different telemetry devices, providing bidirectional data transmission via a single cable.
It features advanced interference suppression for reliable, stable signal transmission across the entire range. Smart transmission system matching speeds up pairing. The black box function stores essential flight data. Receiver operating statuses are indicated by an LED indicator. Smart pairing allows firmware updates wirelessly.
It is also available in a stabilised version offering ADV-enhanced stabilisation features. The ADV stabiliser offers an advanced mode with multiple programmable stabilised channels and flexibility.
The classic stabilisation mode has been expanded with 5 additional stabilisation channels that provide pin mapping for each channel in several flight modes such as Stabilise, Auto-Level, Hover(Vis) and Knife-Edge(knife flight) with model aircraft.
The Advanced Stabilisation feature includes high-precision telemetry sensors to monitor altitude, vertical speed, etc.
In Advanced Stabilisation mode, all output pins are configurable for stabilisation and other advanced features such as Stab file sharing, programmable parameters and developer access, etc.
If you have any questions about the R10 receiver and its operation, please contact the technical and service staff of KAVAN Europe s.r.o. by e-mail (info@kavanrc.com for general technical information, servis@kavanrc.com for service) or by phone (+420 466 260 133 for general technical information, +420 463 358 700 for service), during working hours 8:00–16:00, Monday to Friday).
Firmware
Download the latest firmware:
Technical specifications
- RF transmission: Twin 2.4 GHz
- Dimensions: 64×16.6×12.4 mm (L*W*H)
- Weight: 9.4 g
- Operating voltage: 3.5–12 V (recommended supply 2S LiXX)
- Operating current: ≤120 mA at 5 V
- Vario - vertical speed measurement range: ±10 m/s
- Vario - altimeter range and resolution: -700 m to 10.000 m, 0.1 m
- External voltage measurement range via AIN2: 0–35 V
- Antenna connector: IPEX4
- Compatibility: Twin 2.4 GHz
- Max. radiated power: < 20 dBm
- Operating frequency: 2.400–2.4835 GHz
Functions
- Increased protection against RF interference and more stable RF transmission
- Simultaneous dual-frequency Twin 2.4GHz transmission system with smart pairing
- Built-in advanced stabilisation features (R10 Stabi)
- Built-in high-precision telemetry sensor (altitude, vertical speed etc.)
- Black box feature
- High maximum operating range
- Wireless firmware updates (OTA)
- 10 configurable channels
- CH1: PWM / S.BUS OUT / FPort / S.Port / SBUS IN
- CH2–10: PWM / SBUS OUT / FBUS / S.Port
- F.BUS / S.Port
- SBUS OUT port (Supports 16/24CH mode)
- SBUS IN port (Supports signal redundancy)
- Wireless firmware updates (OTA - OverTheAir)
Status light
| Green (LoRa) | Blue (SFK) | Red | Status |
|---|---|---|---|
| On | Off | On | Registering |
| Blinking | Off | Blinking | Registration complete |
| On | Off | Off | Pairing |
| On | Blinking | Off | Pairing complete |
| On | Blinking | Off | Working properly |
| Off | Off | On | Fail-safe mode |
| Yellow | State (Accelerometer calibration) |
|---|---|
| On | Exceeding limits (0.9G, 1.1G) |
| Off | Normal status |
| Blinking | Calibration completed |
| Yellow | State (Self-check) |
|---|---|
| On | Center detection in progress |
| Blinking | Deteting channel Min & Max |
| Off | Self-check completed |
Registration and pairing
Before using your receiver you must first register it.
Procedure:
- Start the registration process by selecting [Register].
- A window will appear with the message "Waiting...." with a repeating voice message "Register".
- Hold down the pairing button on the receiver and switch it on. Wait for the red and green LEDs to light up. The RID and UID can be set at this stage:
- RID: This is the unique identifier of the transmitter. It can be changed to the same/own code to use the Smart share feature for model sharing (if you want to share models and own multiple transmitters, or if you share models with other modellers, you must have the same RID set on those transmitters). The RID is the transmitter data (Owner Registration ID) written into the receiver's memory. If two transmitters have the same RID, you can easily share models including receivers between them using the Smart share function.
- RX name: the naming of the receiver is done automatically when the receiver is paired for the first time. This name can be changed at any time. This is useful when using more than one receiver, e.g. to remember the settings of the receivers, e.g. RX4R1 is for CH1–8 or RX4R2 is for CH9–16 or RX4R3 is for CH17–24.
- UID: is used to distinguish multiple receivers used simultaneously in one model. A default value of 0 can be left for a single receiver. If more than one receiver is to be used in one model, the UID must be changed, usually 0 for CH1–8, 1 for CH9–16 and 2 for CH17–24. Note that this UID cannot be read back from the receiver, so it is a good idea to tag the receiver.
- Press the [Register] button to complete the settings. The "Registration OK" dialog box will appear. Press the [OK] button to continue.
- Turn off the receiver. This registers the receiver. However, you still need to pair it with the transmitter to use it.
Pairing
Receiver pairing allows a receiver registered in phase 1 to be paired with one of the transmitters. After that, the receiver will only communicate with that transmitter unless you pair it with another transmitter. Before using the transmitter for the first time, you must check the range of the transmitter!
- Turn off the power to the receiver.
- RX 1 [Pairing]: Select [Pairing] to start the pairing process. Every few seconds, a "Pairing" voice alert will sound to confirm that you are in pairing mode. A pop-up window will display the message " Waiting for receiver...".
- Switch on the receiver without holding the F/S pairing button. A window will appear with the message "Selecting Device" and the name of the receiver you have just switched on.
- Scroll to the receiver name and select it. A window will appear with a message that the pairing was successful.
- Turn off the transmitter and receiver.
- Switch on the transmitter and then the receiver. If the green LED on the receiver is lit and the red LED is not lit, the receiver is connected to the transmitter. The pairing of the receiver and transmitter will not need to be repeated unless one is replaced.
- The receiver will only be controlled by the transmitter it is paired to. Other transmitters in its vicinity do not affect its function.
- The name of the selected RX1 receiver will now be displayed next to it.
- The receiver is now ready for use.
- If redundant wiring is required, repeat for receivers 2 and 3.
IMU mode (R10 Stabi)
The devices with ADV features offer three modes to set up the stabilisation module:
- OFF mode: The stabilisation module is not activated in the mode.
- BASIC mode: The mode is enabled by default, the basic configurations can be done directly on the radio.
- ADV: The mode supports full configuration of stabilisation mode with RBmixer programmer on PC.
Set the IMU mode to ADV mode and change the ADV config option from Disable to Enable, which supports parameter setting for ADV self-stabilising mode through the Upgrade interface.
Horizontal calibration (R10 Stabi)
Clicking [Start] to enable the CaliHorizontal mode to do the calibration for the horizontal plane.
Two independent stabilising functions (R10 Stabi)
- Stable System page 1/2: Allows turning on/off the 1st part of stabilisation channels (CH1–6).
- Stable System page 2/2: Allows turning on/off the 2nd part of stabilisation channels (CH7–11).
First steps - stabilisation function (R10 Stabi)
- Model Creation & Make sure the connected receiver is bound to the radio;
- Ensure stabilization is enabled & Calibrate the gyroscope sensor of the device;
- Servo connection & Build the stabilization device to the model;
- Set up the mixer channel and radio switches;
- Determine the [Wing Type] & [Mounting Type];
- Check the stabilized channel outputs of the receiver in the Auto-Level mode;
- Check the stick control of the transmitter in the manual mode;
- Self-Check of the receiver;
- Failsafe setting.
Gyroscope calibration
Ensure the stabilisation function is enabled
Move to the [SRX Cali] tool and calibrate the gyroscope sensor
- The gyroscope of the device (6 surfaces) must be calibrated before mounting into the model. Place the device on a flat surface and follow the instructions below to calibrate the gyroscope.
- Make sure the stabilisation device is lying on the surface with the logo/label facing upwards. Move to the radio and enter the [SRX Cali] tool and select "click to confirm". At this moment, the yellow LED light will flash. After it turns off, follow the prompts to calibrate the sensor.
- Complete the calibration of all the device surfaces. Ensure the value of each axis (X, Y, Z, Mod) is about 1.000 while placing the device in the corresponding direction. The deviation should be within ±0.1.
- The calibration is completed if all the steps above are done.
Servo connection & Build the device to the model
Connect the servos to the ports of the stabilization device according to the Channel List.
| Channel | Corresponding tag | Control surface |
|---|---|---|
| CH1 | AIL 1 | Aileron |
| CH2 | ELE 1 | Elevator |
| CH3 | THR | Throttle |
| CH4 | RUD | Rudder |
| CH5 | AIL 2 | Aileron |
| CH6 | ELE 2 | Elevator |
| CH7 | AIL 3 | Aileron |
| CH8 | ELE 3 | Elevator |
| CH9 | RUD 2 | Rudder |
| CH10 | AIL 4 | Aileron |
| CH11 | ELE 4 | Elevator |
| CH12 | User-defined | \ |
| CH13 | User-defined | Gyro gain adjustments |
| CH14+CH15 | User-defined | Flight modes |
Gyro gain adjustment of CH13: When the value of CH13 is in the centre, the gain is zero. The gain increases with the value. When the value is ±100%, the gain is at maximum.
Set up the mixer channel and radio switches
Refer to the Channel List to set the channel and switches. The switch setting of CH13–CH15 on the picture is for reference.
Move to the [SRx stab] tool, determine the [Wing Type] & [Mounting Type]
[Gain] and [Offset] configurations of flight modes
- Gain - Stab mode
- Gain - Auto-level mode
- Gain - Hover mode
- Gain - Knife mode
- Angle offset - Auto-level mode
- Angle offset - Hover mode
- Angle offset - Knife mode
Check whether the reaction of the wing servo is in line with the flight attitude caption below in the [Auto-Level] mode. If not, please try to invert the corresponding channel output in the [SRX Stab] tool.
Stick priority & Reversed stick priority for AIL1/2, RUD and ELE1/2 channels
Inspection of flight attitude
To ensure flight safety, checking the compensation direction of the model is strongly recommended. Activating auto level mode will produce a strong deflection on AIL and ELE, which is used to check the response of the aileron and elevator. Also, activating Knife-edge and Hover mode will have the same reaction on the rudder.
When the plane is rotated left or right (Roll), ailerons should have the correcting actions as illustrated.
When the plane is rotated up or down (Pitch), elevators should have the correcting actions as illustrated.
When the plane is rotated to left or right (Yaw), rudders should have the correcting actions as illustrated.
Check whether the reaction of the wing servo is in line with the radio stick operation in the [Manual] mode. If not, please try to invert the corresponding channel output by pressing the channel bar in the [Output] tool.
Self-check (R10 Stabi)
- Make sure the model is in a horizontal position on the ground, then put the throttle to 0, and keep the other channels in the centre position.
- Move to [System] and enter the [SRX Stab] tool, then click [Start] and the blue LED light turns on. Once the blue LED starts flashing, we can calibrate the maximum travel of stick channels (excluding the throttle channel).
- If the calibration is completed, the LED turns off and the servos react left and right to indicate the calibration process is completed.
Setting the flight modes (R10 Stabi)
Quick mode
It supports stabilisation mode, auto-level mode, and manual (Gyroscope is off) mode and is configured through CH14. The precise configuration is written below.
- If Quick Mode is applied, there is no Knife-Edge or (3D) Hover Mode.
- CH15 is not used when using Quick Mode.
Enable the Quick Mode in the [SRX Stab] tool.
| Channel | Position | Flight mode |
|---|---|---|
| CH14 (3-pos switch) | SW down | None |
| SW middle | Stabilisation mode | |
| SW up | Automatic level mode |
Conventional mode
It supports stabilisation mode and manual mode (the Gyroscope is off) and is configured through CH14&15. Detailed configuration is described below.
| Flight mode | Stabilisation | Automatic level | Hover | Knife-edge | Off |
|---|---|---|---|---|---|
| CH14 (3-pos switch) | CH14 SW down & CH15 SW mid | CH14 SW down & CH15 SW down | CH14 SW down & CH15 SW up | CH14 SW up & CH15 SW mid | CH14 SW mid |
| CH15 (3-pos switch) |
Model configuration reference (R10 Stabi)
Conventional model
| Flight mode | Stabilisation | Automatic level | Hover | Knife-edge | Off |
|---|---|---|---|---|---|
| CH14 (3-pos switch) | CH14 > M+H (CH14 sw. down) | CH14 > M+H (CH14 sw. down) | CH14 > M+H (CH14 sw. down) | CH14 < M-H (CH14 sw. up) | CH14 sw. mid |
| CH15 (3-pos switch) | M-H < CH15 < M+H (CH15 sw. mid) | CH15 > M+H (CH15 sw. down) | CH15 < M-H (CH15 sw. up) | M-H < CH15 < M+H (CH15 sw. mid) |
- M: represents a neutral signal period (1500 μs)
- H: represents the time of required signal change to activate the mode (50 μs). When the factory settings are selected, the switch position shown above represents the required modes.
Deltra wing / Flying wing / V-Tail
The available flight modes can be assigned to CH14 with a three-position switch.
| Flight mode | Stabilisation | Automatic level | Off |
|---|---|---|---|
| CH14 | CH14 > M+H (CH14 sw. down) | CH14 < M-H (CH14 sw. up) | CH14 sw. mid |
- When the Delta wing/Flying wing is selected, the signal produced by the transmitter should be without active mixes on the channels related to AIL and ELE. R10 Stabi will mix the AIL (CH1) and ELE (CH2) input signal with a fixed mix percentage automatically.
- When V-tail type is selected, the signal produced by the transmitter should be without active mixes on the channels related to ELE and RUD. R10 Stabi will mix the ELE (CH2) and RUD (CH4) input signal with a fixed mix percentage automatically.
Stabilisation: When the model is activated, R10 Stabi will compensate for external forces (wind) as soon as receiving commands from the transmitter. This function is used to enhance the stability of the model on three axes (Pitch, Roll, YAW). CH13 could be used to adjust gyro gain by assigning a knob or a slider, changing the sensitivity of the counteracting signal produced by the internal three-axis gyroscope.
Automatic level: When the mode is activated, R10 Stabi will make the model return to level orientation with an internal three-axis accelerometer and three-axis gyroscope on AIL and ELE channels after the sticks are released to neutral. RUD channel works in stabilisation mode only.
Hover: When the mode is activated, R10 Stabi will make the nose of the model straight up with an internal three-axis accelerometer and three-axis gyroscope on RUD and ELE channels (ELE and RUD inputs are not required). Under this mode, AIL is used to control the rotation of the model and THR to adjust the altitude. AIL channel works in stabilisation mode only.
Knife-edge mode: When the mode is activated, R10 Stabi will roll the plane on a certain side (wing points up) with an internal three-axis accelerometer and three-axis gyroscope on RUD and AIL channels. Thus, AIL inputs are not required. While the mode steering is done with ELE, altitude will be maintained with THR/RUD. ELE channel operates in stabilisation mode only.
Off: When the mode is activated, R10 Stabi will transmit the received commands produced by the transmitter to the model without compensating.
Roll and Pitch Angle throws configuration in Stab mode (R10 Stabi)
Ensure the receiver is bound to the radio and its Stab data is readable through Lua script. The movement angle of Roll and Pitch for Stab mode can be configured up to 80 degrees.
Turning on the High PWM speed mode
- The factory default setting is OFF.
- To go to the receiver [Options], select On to activate the High speed mode.
Choosing S.Port/SBUS OUT/SBUS IN/FBUS
Enter the [Set] of the receiver.
Select the FBUS/S.Port/SBUS Out/SBUS In for the channel ports.
Choosing the SBUS-16/24 mode
Enter the RX Settings.
Click [SBUS], then select SBUS-16 mode or SBUS-24 mode.
Black box
The Black box records flight data, e.g. RX Reset Case, RSSI, VFR etc. For KAVAN V20 as an example, to get flight data, please go to RF System-[Set]-[Flight Data Record].
OTA function
Go to the [File manager], and select the FW, press the enter button, select [Flash RX by int.OTA]. Power on the receiver, select the RX, go to the [ENTER], complete the flash process and the transmitter will display [Success]. Wait for 3 seconds, the receiver works properly at the moment.
Range check
A pre-flight range check should be done before every flight, in case the signal loss is caused by the reflection of the signal by the nearby metal fence or concrete, and the shading of the signal by buildings or trees during the actual flight.
- Place the model at least 60 cm (2 feet) above the non-metal contaminated ground (such as on a wooden bench). The receiving antenna should be in a vertical position.
- Ener the ETHOS system, move to the "RF System", scroll the Encoder to select "RANGE" mode and press Encoder. In range check mode, the effective distance will be decreased to 1/30.
Setting the Fail-safe
There are 3 failsafe modes when the setting is enabled: No Pulse, Hold, and Custom mode.
- No Pulses Mode: On loss of signal, the receiver produces no pulses on any PWM channel. To use this mode, select it in the menu and wait 9 seconds for the failsafe to take effect.
- Hold Mode: The receiver continues to output the last positions before the signal is lost. To use this mode, select it in the menu and wait 9 seconds for the failsafe to take effect.
- Custom Mode: Pre-set to required positions on the lost signal. Move the cursor to the failsafe mode of the channel and press Encoder, then choose the Custom mode. Move the cursor to the channel you want to set failsafe On and press Encoder. Then rotate the Encoder to set your failsafe for each channel and short-press the Encoder to finish the setting. Wait 9 seconds for the failsafe to take effect.
- If the failsafe is not set, the model will always work with the last working status before the signal is lost. That could cause potential damage.
- When the failsafe is disabled on the RF module side, the receiver defaults to Hold mode.
- When in No Pulses Mode, do not set the Failsafe to No Pulses Mode for the SBUS port as it will keep the signal output continuously. Please set "Hold" or "Custom" mode for the SBUS port.