FY91Q with GPS Position Hold-Telemetry,Firmware and Configuration Software - RC Groups
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Mar 17, 2011, 12:08 PM
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New Product

FY91Q with GPS Position Hold-Telemetry,Firmware and Configuration Software

Tips:Any news will be updated in the first 3 posts in the first page,please keep an eye on it any time.Important files will be uploaded and attached at the end of this post.

How to contact FY?
Technical support : tech@feiyu-tech.com
Consult and purchase: sale@feiyu-tech.com
Website of feiyu-tech: http://www.feiyu-tech.com/

FY91Q firmware1.1:
Brief manual for upgradation of FY91Q firmware 1.1:
Detailed manual for upgradation of FY91Q firmware 1.1

New PID parameters configuation software(in smaller window):

Some tips to make the flight more safe and more easy(thanks for Jim)
- FY91Q components: https://www.rcgroups.com/forums/show...&postcount=819
- Rx Failsafe settings: https://www.rcgroups.com/forums/show...&postcount=698
- Tips for flying a multicopter with GPS: https://www.rcgroups.com/forums/show...&postcount=593
- Initial GPS testing: https://www.rcgroups.com/forums/show...&postcount=472
ESC recommendations for standard PWM: Bidproduct HW25a, ExceedRC Volcano series, HKSuperSimple (the programmable type not the basic), HK Blue Series, Mystery Blue series, www.quadroufo.com 30a, RCTimer, Towerpro, Turnigy Plush, YGE.

For GPS &Compass(thx for steve):

Including 2 standard items:FY91Q controller and GPS&compass module.Total retail price :$399

Important Informs:
1.Check for Answers to any problems found in the real flight here:

2.Download the lastest manual (draft 6 in 7th July)here:

PS:in page 7,the pic at right top showing how to set the 3 way SW.It is not a standard setiing,please note you should set the order according to your own habbits.

3.Firmware updating software:

4.Com port driver software for Win7&vista:

5.How to do the firmware upgradation:

Key feature:
1.Self-stabilization and mixing controll for quad and other multi copters such as y6 and x8.
2.Bera Altitude Hold.
3.GPS Postion Hold.
5.FPV with OSD.
6.Simple Autopilot functions via GCS and dataradio,such as real time track recording and replaying offline,PID settings,and so on.
7.Firmware upgraded.
8.Almost all parts in one unit,easy to plug and play.

Some Videos:
FY91Q - Quadrocopter Controller - Position Hold Test GPS (1 min 44 sec)



GPS position hold,Baro altitude hold,telemetry with OSD and dataradios,firmware upgradable,configuration software available,self stabilization for camera mount,and so on.



According to the agreedment between FY and me,I will manage the marketing and tech supporting for the FY as a part time job in the next 6 months or a little longer,untill the new members can take my position back.Please note that I was a main member of FY,and is knowing almost every details about FY products.And I am appointed as the distributor of all FY products all over the world.

Any questions,You can email me at feiyutech@qq.com.

where to buy?Sb ask me this question,em,Then I will list them out.

Sorry,will update other webshops later.
Last edited by feiyudz; Sep 16, 2011 at 11:48 PM.
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Mar 17, 2011, 12:09 PM
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0.Some tips to make the flight more safe and more easy?

For beginners(thx for Jim):

For GPS &Compass(thx for steve):

1.To the Y6 and X8 connections.

There is a stardard Y cable for the Y6.
Connection from FY91Q to y6 using Y cable:

2.Q:Are the data radio(606,602,605),Ap117 OSD,remote adaptor ,GCS can be used in FY91Q as well as in FY21AP and FY3ZT?

A:Yes! If you got any of them,then you need not to buy them for twice.

3.How to understand the working princeple of the FY91Q hovering and RTH?

Please check here:

4.How to active hover function?
a)Take off,let go the stick for AIL and ELE,but maintain the altitude via THR stcik.
Trim out the AIL and ELE in flight.Leave that of RUD in its middle position and not trimed.
b)Ensure you can "hands free" with the quad leveled and altitud hold.
c)Change to hover mode via RC-TX,record the neutrol values in AIL,ELE,RUD and THR.
d)If the THR is not in middle position now,then the quad will be up or down.So move the THR stick to middle position(1400us-1600us),in order to remove any manual controlling signal in THR.The controller will offer auto controlling signal to maintain the current altitude.

5.How to active the RTH function?
a)Active Hover before letiing the quad to fly far away from you.But do not change to hover mode again before you active the RTH mode.
b)Change to RTH mode via RC-TX.

6.Why my AP117 can not display the right working modes?
Sorry to tell,AP117 was designed for FY21AP,there is 5 working modes in FY21AP,and 3 working modes in FY91Q.They are not the same.
A mistake was found in the manual for this problem.
And it had been solved in the firmware v1.1.You can get it work normally by firmware upgradation.

7.How to do the firmware upgradation?

--check here:

8.What's new to the firmware 1.1?

Two key points:

Hover Hold Activation
1) You now do not need to move the THR stick to the middle position after engaging hover hold (Mode 2).
2) When you engage Hover Hold, your hovering THR position will be recognized by FY91Q as the Hold altitude Throttle position (plus or minus range of 100Ás).
3) However, you need to remember this throttle position, especially for engaging RTH.
4) In this new firmware, you can change the altitude up or down during Hover Hold. But you need to bring your throttle stick back to the hover position when you first engaged Hover Hold.
5) Alternately, you can disengage Hover Hold, move to another location, hover and engage hover hold again. This way you don’t have memorize the throttle location.

AP117 OSD Display
The protocol of FY91Q Data output has been modified to fit that interface of AP117. Display flight mode display will now show as per the manual:
ABM=auto balance mode = stabilization mode
FAF=fixed altitude flight= hover mode
RTL=return to launch = RTH mode

We have two ideas about throttle setting for RTH mode. Please feedback which one you prefer:
1. Make the FY91Q altitude lock the moment RTH is engaged. FY91Q will control throttle level and fly the aircraft back to you at the same altitude as when RTH was engaged.
2. RTH will be engaged only if you put your throttle level to the hover hold level (you need to remember that level).

Last edited by feiyudz; Jul 14, 2011 at 12:55 PM.
Mar 17, 2011, 12:10 PM
Registered User

More informations

More informations:

Quad X4 FPV with OSD
FY-91Q FPV with OSD (3 min 37 sec)

Y6 Scorpion Frame
FY-91Q Y6 Scorpion Frame (4 min 13 sec)

V2 configuration
FY-91Q V2 Frame (2 min 10 sec)

Where to buy?
Check FY distributor/reseller list:

More will be updated.

And you can buy from me or Adrian as well:
Email me in feiyutech@qq.com
(I have no time to take care my own website yet.)

Adrian's website:www.fyetech.com

Where to get help?

FY official emailbox:

Email me in feiyutech@qq.com

Access FY official website:
I am in charge of the official website now,but no time to refresh the datas recently.Have to finish the tech files such as manuals and FAQs for all FY current products first.

Visit www.fyetech.com for latest news.

More will be updated.
Testers that will get the samples sent from FY(though delay for some time,testers are still needed) :
Last edited by feiyudz; Jul 15, 2011 at 05:49 AM.
Mar 17, 2011, 12:18 PM
Registered User
Mar 17, 2011, 12:27 PM
aka Helidaho
AeroVideoUS's Avatar
Woohoo, the thread/controller I've been waiting for!
Mar 17, 2011, 12:33 PM
Registered User
Rc Heli Halle's Avatar
Please Yin , let us Test one Unit here in the Rc Heli Halle Berlin.
Please set us on the Tester List.
Mar 17, 2011, 01:43 PM
Registered User
I am strong hope that you will not forget me.
Mar 17, 2011, 01:49 PM
Registered User
Mar 17, 2011, 01:51 PM
mkmkmk13's Avatar
can we see a video of the OSD please?



Quad X4 FPV with OSD
FY-91Q FPV with OSD (3 min 37 sec)

Y6 Scorpion Frame
FY-91Q Y6 Scorpion Frame (4 min 13 sec)

V2 configuration
FY-91Q V2 Frame (2 min 10 sec)
Last edited by mkmkmk13; May 07, 2011 at 06:49 AM. Reason: added videos
Mar 17, 2011, 02:14 PM
Registered User
great to hear (see) about what u have talked about some month ago
Mar 17, 2011, 03:29 PM
Registered User
Hamanu's Avatar
Can't wait for this to be available I already have an airframe built for it........
Mar 17, 2011, 08:07 PM
Registered User
@Helidaho ,thanks!

@Rc Heli Halle ,sorry to tell,the public test will not be taken in large ranges.But I will try to match my promission to some of my old friends several months ago.Any news changed,I will anounce here.

@ThaiskyDigital ,Havn't seen you for ages!But I did not forget you ,my friend.You will get yours as promissed ASAP.

@titeuf007 ,Compared to the samilar products from other brands

@mkmkmk13 ,more videos coming soon,still under shooting and editing.

@warthox,yes,time passed quickly.Shamed to keep silent in a long time.But now it come true and I can apear again.
Mar 17, 2011, 08:42 PM
Registered User
I really glade that you still do not forget me, after last information I do not have any contact anymore, really really glade to see you over here again, I did sent MSN to you but no any reply.

Hope everyting be better.
Mar 17, 2011, 10:03 PM
Registered User
Will a Y6 configuration be supported? If so please have all top props CW and the lower props CCW.
Mar 17, 2011, 10:49 PM
Registered User
nicnaimless's Avatar
Watching closely.

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