Kanardia Horis Manuale utente

Horis - Installation and User Manual

©Kanardia d.o.o.

August 2021

Manual Revision 1.16

Software Version 3.8

Horis User Manual

Contact Information

Publisher and producer:

Kanardia d.o.o.

Lopata 24 a

SI-3000

Slovenia

Tel: +386 40 190 951

Email: info@kanardia.eu

A lot of useful and recent information can be also found on the In-

ternet. See http://www.kanardia.eu for more details.

This document is published under the Creative Commons, Attribu-

tion - ShareAlike 3.0 Unported licence. The license is available on

creativecommons.org/licenses/by-sa/3.0/legalcode web page

and a bit more human readable summary is given on http://creativecommons.

org/licenses/by-sa/3.0/. In short, the license gives you right to

copy, reproduce and modify this document if:

•you cite Kanardia d.o.o. as the author of the original work,

•you distribute the resulting work only under the same or similar

license to this one.

Credits

This document was written using TeTeX (L

EX) based document

creation system using Kile running on Linux operating system. Most

3©Kanardia 2021

Horis User Manual

of ﬁgures were drawn using Libre Oﬃce Draw, Inkscape and Bric-

scad applications. Photos and scanned material was processed using

Gimp. Sam2p was used to convert pictures into eps format. All

document sources are freely available on request under the license

mentioned above and can be obtained by email. Please send requests

to info@kanardia.eu.

Revision History

The following table shows the revision history of this document.

Acknowledgement

We thank Mr. John Delaﬁeld from LX Avionics UK for revising

the manual. We also thank all users who pointed to the manual

shortcomings and helped us to improve the manual and the product.

4©Kanardia 2021

Horis User Manual CONTENTS

Rev. Date Description

1.0 Jul 2015 Initial release.

1.1 Nov 2015 RS-232 pin desciption and NMEA out.

1.2 Jun 2016 Horis 80 mm.

1.3 Jan 2017 Compass, direction indicator, white line.

1.4 May 2017 Minor corrections and clariﬁcations.

1.5 Sep 2017 Added G-Meter screen and its settings.

RS232 pin 4 declared as not used.

1.6 Jan 2018 Adjustable turn rate bar on AHRS screen.

1.7 Jul 2018 Added SBAS GPS symbol and

a photo of broken LCD.

1.8 Sep 2018 Pinout description completed.

1.9 Mar 2019 Initial brightness and GNSS info.

1.10 Jul 2019 Roll, pitch and yaw section was added.

1.11 Dec 2019 Chrono screen was added.

1.12 May 2020 Support for special time zones and

TQ-KTX2 transponder.

1.13 Jul 2020 Instrument pictures updated.

1.14 Nov 2020 Autopilot support, minor corrections.

1.15 May 2021 Internal backup battery support in Horis 57.

1.16 Aug 2021 The max output current on RS-232

port changed to 50 mA.

Contents

1 Introduction 9

1.1 Latest Manual Version . . . . . . . . . . . . . . . . . 9

1.2 General Description . . . . . . . . . . . . . . . . . . . 9

1.3 Technical Speciﬁcation . . . . . . . . . . . . . . . . . 10

1.4 Roll, Pitch and Yaw . . . . . . . . . . . . . . . . . . 10

5©Kanardia 2021

Horis User Manual CONTENTS

2 Installation & Maintenance 13

2.1 LCD Display Damage Warning . . . . . . . . . . . . 13

2.2 Mounting Procedure . . . . . . . . . . . . . . . . . . 14

2.3 Space Behind the Panel . . . . . . . . . . . . . . . . 16

2.4 Connections....................... 16

2.4.1 Static - Pst ................... 18

2.4.2 Total Pressure - Ptot .............. 18

2.4.3 CANBus .................... 18

2.4.4 Power - PWR ................... 20

2.4.5 GPS Antenna - GPS ............... 20

2.4.6 Outside Air Temperature - OAT ........ 21

2.4.7 RS-232 Port (NMEA Out) . . . . . . . . . . . 23

2.4.8 D-sub 9 Port . . . . . . . . . . . . . . . . . . 24

2.5 Levelling AHRS . . . . . . . . . . . . . . . . . . . . . 25

2.5.1 Yaw Misalignment . . . . . . . . . . . . . . . 26

2.5.2 Procedure .................... 27

2.6 Compass Calibration . . . . . . . . . . . . . . . . . . 27

2.7 Internal Backup Battery . . . . . . . . . . . . . . . . 28

2.7.1 Battery Module . . . . . . . . . . . . . . . . . 28

2.7.2 Operation .................... 29

2.7.3 Status icon . . . . . . . . . . . . . . . . . . . 30

2.8 Maintenance....................... 31

2.9 Repair .......................... 31

2.10 Horis Use in Gliders . . . . . . . . . . . . . . . . . . 31

2.11 Software Update . . . . . . . . . . . . . . . . . . . . 33

2.11.1 Update With a Blu Module . . . . . . . . . . 33

2.11.2 Update With Micro SD Card . . . . . . . . . 34

6©Kanardia 2021

Horis User Manual CONTENTS

3 Horis Screens 35

3.1 AD-AHRS........................ 35

3.2 Directional Indicator . . . . . . . . . . . . . . . . . . 38

3.3 G-Meter......................... 40

3.4 Chrono.......................... 41

4 Operations 42

4.1 AdjustingQNH..................... 43

4.2 Adjusting Direction Indicator . . . . . . . . . . . . . 44

4.3 Reseting G-Load . . . . . . . . . . . . . . . . . . . . 44

4.4 Setting the Neutral Pitch . . . . . . . . . . . . . . . . 44

4.5 Diminishing the Brightness . . . . . . . . . . . . . . . 44

4.6 Settings ......................... 45

4.6.1 Units....................... 45

4.6.2 Airspeed..................... 46

4.6.3 Response Time . . . . . . . . . . . . . . . . . 47

4.6.4 AHRS Level . . . . . . . . . . . . . . . . . . . 48

4.6.5 Screens...................... 49

4.6.6 Direction Indicator . . . . . . . . . . . . . . . 50

4.6.7 G-Meter..................... 50

4.6.8 Pitostatic Oﬀset . . . . . . . . . . . . . . . . . 51

4.6.9 TurnRate.................... 52

4.6.10 TimeZone.................... 53

4.6.11 Compass Calibration . . . . . . . . . . . . . . 54

4.6.12 Compass Oﬀset . . . . . . . . . . . . . . . . . 54

4.6.13 NMEA Out . . . . . . . . . . . . . . . . . . . 54

4.6.14 Initial Brightness . . . . . . . . . . . . . . . . 54

4.6.15 GNSSInfo.................... 55

7©Kanardia 2021

Horis User Manual CONTENTS

4.6.16 Security ..................... 57

4.6.17 About ...................... 57

5 Autopilot 58

5.1 IntendedUse ...................... 59

5.2 Operation Limitations . . . . . . . . . . . . . . . . . 59

6 Limited Conditions 60

6.1 Warranty ........................ 60

6.2 TSO Information . . . . . . . . . . . . . . . . . . . . 63

8©Kanardia 2021

Horis User Manual 1. Introduction

1 Introduction

First of all we would like to thank you for purchasing our Horis device.

Horis AD-AHRS is an electronic device, which includes several state

of the art sensors and combines them into a small PFD display. It

ﬁts into a standard 57 mm (21

4”) / 80 mm (31

8”) panel hole. It can

serve as a standalone PFD display and it may be used as primary

instrument or as a perfect backup.

This manual describes the technical description of the unit, installa-

tion and operation.

CAUTION: Horis is not TSO approved as a ﬂight instrument.

1.1 Latest Manual Version

The Horis manual changes with time. Your printed manual may be

out of date. Please check our web site https://www.kanardia.eu/

product/horis/ for the latest manual version.

1.2 General Description

Horis is an electronic device. It consists of a set of sensors and an LCD

display. Majority of sensors are built into its compact housing: static

pressure, dynamic pressure, 3 axis accelerometer, 3 axis angular rate

and GPS receiver. Only GPS antenna and OAT sensor are externally

mounted. All sensors are solid state - there are no moving parts,

which means less problems with fatigue and aging.

Horis has two processors: sensor processor and display processor.

The sensor processor reads sensors and calculates airdata, attitude,

9©Kanardia 2021

Horis User Manual 1.3 Technical Speciﬁcation

GPS and other values using special sensor fusion algorithms. These

values are passed to CAN bus where other CAN devices may use also

them. The display processor monitors the CAN bus and it displays

the information on LCD display.

One push/rotate knob is used for the operations. User interface is

optimized so only minimal interaction is required to operate the in-

strument.

1.3 Technical Speciﬁcation

Tables 1–3 starting on page 11 list basic technical speciﬁcations of

Horis.

1.4 Roll, Pitch and Yaw

The AD-AHRS-GPS module (a.k.a. AIRU), which is built-in Horis is

responsible for calculation of roll, pitch and yaw angles (a.k.a. Euler

angles).

The module holds several sensors, which readings are combined to-

gether using sophisticated algorithms. Our implementation follows

ideas of Extended Kalman ﬁltering, which combines mathematical

model with measurements.

The mathematical model is based on gyroscope integration and it

gives short term response. MEMS gyroscopes sense angular velocity.

This angular velocity is integrated in time domain to obtain angles.

Numerical integration is performed about 100 times per second where

angular velocities are assumed to be constant between two integration

steps. All MEMS gyroscopes have same error, which integrated in

time quickly render angles (roll, pitch, yaw) unusable unless they are

corrected with some independent measurements.

Two measurements are used to stabilize the angles. One measure-

ment is apparent gravity. This is combination of measured values

Indice

Altri manuali Kanardia Display avionico

Kanardia

Kanardia EMSIS Manuale utente

Kanardia

Kanardia INDU 80 Manuale utente

Kanardia

Kanardia Aetos Manuale utente

Kanardia

Kanardia INDU Airspee Manuale utente

Kanardia

Kanardia Digi Manuale utente

Kanardia

Kanardia INDU COMBO Manuale utente

Kanardia

Kanardia INDU COMBO Manuale utente

Kanardia

Kanardia Indu Variometer Manuale utente

Manuali Display avionico popolari di altre marche

Smart Avionics

Smart Avionics PB-4 Manuale utente

Midcontinent

Midcontinent SAM MD302 Manuale

MGL Avionics

MGL Avionics Stratomaster Maxi Single FF-3 Manuale utente

Garmin

Garmin GI 275 Manuale utente

Mid-Continent Instruments

Mid-Continent Instruments 4300 Series Manuale

Avidyne

Avidyne 700-00182 Series Manuale di servizio

Flybox

Flybox Oblo Manuale utente

Garmin

Garmin GMA 350H Manuale

Garmin

Garmin G3X Touch Manuale

SANDIA aerospace

SANDIA aerospace SAFE 328 Manuale utente

Lynx

Lynx Micro System Manuale utente

SAC

SAC SA100 Manuale utente

Garmin

Garmin GNC 420 Manuale utente

Avidyne

Avidyne Entegra Manuale

Dynon

Dynon SkyView HDX System Documento tecnico

Garmin

Garmin Cessna Caravan G1000 Guida alla configurazione

Barco

Barco MDU-254 Manuale utente

PROXALERT

PROXALERT R5 Manuale