Ver. 2.11-US1

Class 1 Laser Product5/17/2024

Table of Contents
WARNING: Read precautions and entire manual before first use.
Keep manual nearby for future reference by current and future users.

Precautions ..................................................................................................................... 1
1.1.

1.2.

1.3.

1.4.

1.5.

Introduction ........................................................................................................................................................................ 2
1.1.1.

Disclaimer ............................................................................................................................................................ 2

1.1.2.

Warning ................................................................................................................................................................ 3

1.1.3.

Definitions – Classifications of Safety Alerts .......................................................................................... 4

Ensuring Safe Use ............................................................................................................................................................. 5
1.2.1.

Intended Use ...................................................................................................................................................... 5

1.2.2.

Flight Conditions............................................................................................................................................... 5

1.2.3.

Limitations ........................................................................................................................................................... 6

1.2.4.

Firmware Updates ............................................................................................................................................ 7

General Precautions ......................................................................................................................................................... 8
1.3.1.

Aircraft .................................................................................................................................................................. 8

1.3.2.

Battery ................................................................................................................................................................... 9

1.3.3.

Battery Charger .............................................................................................................................................. 11

1.3.4.

Controller .......................................................................................................................................................... 12

1.3.5.

Soft Equipment Case .................................................................................................................................... 13

1.3.6.

Water & Dustproof Case ............................................................................................................................ 14

1.3.7.

Multi Mount Kit .............................................................................................................................................. 15

1.3.8.

Rotor Blade Guard ......................................................................................................................................... 17

In-Flight Precautions ..................................................................................................................................................... 19
1.4.1.

General Precautions...................................................................................................................................... 19

1.4.2.

Flight Environment ........................................................................................................................................ 20

1.4.3.

Aircraft ............................................................................................................................................................... 21

Maintenance, Inspection, Storage, and Transportation Precautions ......................................................... 22
1.5.1.

Maintenance and Inspection .................................................................................................................... 22

1.5.2.

Storage............................................................................................................................................................... 22

1.5.3.

Disposal ............................................................................................................................................................. 22

1.5.4.

Transport ........................................................................................................................................................... 22

1.6.

FCC Compliance Statements ..................................................................................................................................... 23

1.7.

Other Notes...................................................................................................................................................................... 24

Product Overview ........................................................................................................ 25
2.1.

Product Details ................................................................................................................................................................ 26
2.1.1.

2.2.

2.3.

Standard Parts ................................................................................................................................................. 26

System Configuration ................................................................................................................................................... 27
2.2.1.

System Configuration Conceptual Diagram ....................................................................................... 27

2.2.2.

Functional Overview of Each Wireless System ................................................................................... 28

Aircraft ................................................................................................................................................................................ 29
2.3.1.

Names of Parts and Functional Overview ............................................................................................ 29

2.3.2.

Overview of the Visual System ................................................................................................................. 31

2.4.

2.5.

2.6.

2.7.

Controller .......................................................................................................................................................................... 34
2.4.1.

Names of Parts and Functional Overview ............................................................................................ 34

2.4.2.

LCD Display ...................................................................................................................................................... 36

2.4.3.

SYSTEM Settings Menu: Screen Transition Diagram ....................................................................... 38

2.4.4.

Status LED Indications ................................................................................................................................. 39

2.4.5.

Sounds ............................................................................................................................................................... 41

2.4.6.

Extended Functionality (HDMI output and mobile device charging) ....................................... 42

TAKEOFF Ground Control Application ................................................................................................................... 43
2.5.1.

Functional Overview ..................................................................................................................................... 43

2.5.2.

On-Screen Display......................................................................................................................................... 43

2.5.3.

Key Features .................................................................................................................................................... 43

Battery ................................................................................................................................................................................ 44
2.6.1.

Names of Parts ............................................................................................................................................... 44

2.6.2.

Battery Features ............................................................................................................................................. 45

2.6.3.

Battery Modes ................................................................................................................................................. 46

2.6.4.

Basic Battery Operation .............................................................................................................................. 47

Battery Charger ............................................................................................................................................................... 50
2.7.1.

2.8.

Indications ........................................................................................................................................................ 50

Standard Camera/Gimbal ........................................................................................................................................... 51
2.8.1.

Standard Camera (visible camera) .......................................................................................................... 51

First-Time Use .............................................................................................................. 52
3.1.

Initial Battery Activation .............................................................................................................................................. 53

3.2.

Installing the TAKEOFF Ground Control Application ....................................................................................... 54

3.3.

Controller Preparation ................................................................................................................................................. 55

3.4.

Aircraft Preparation ....................................................................................................................................................... 56

3.5.

First Connection (binding) .......................................................................................................................................... 59

3.6.

3.5.1.

Aircraft-Side Operation ............................................................................................................................... 59

3.5.2.

Radio-Controller-Side Operation ............................................................................................................ 59

Stick Mode Settings ...................................................................................................................................................... 62
3.6.1.

Stick Mode Types ........................................................................................................................................... 62

3.6.2.

Changing Stick Mode ................................................................................................................................... 64

3.6.3.

Confirming Stick Mode ............................................................................................................................... 65

3.7.

Propeller Installation ..................................................................................................................................................... 67

3.8.

Camera Initialization ..................................................................................................................................................... 68

Pre-Flight Preparation ................................................................................................ 69
4.1.

Pre-Flight Preparation Items ..................................................................................................................................... 70

4.2.

What You Need for Flight ........................................................................................................................................... 71

4.3.

Battery Charging ............................................................................................................................................................ 72

4.4.

4.3.1.

Charging Method .......................................................................................................................................... 72

4.3.2.

Battery Charging Modes ............................................................................................................................. 72

Controller Charging ...................................................................................................................................................... 74
4.4.1.

Charging Method .......................................................................................................................................... 74

4.4.2.

LCD Display While Charging (only when powered on) .................................................................. 75

Pre-Flight Inspection ................................................................................................... 77

5.1.

Pre-Flight Inspection .................................................................................................................................................... 78

5.2.

Pre-Flight Battery Inspection ..................................................................................................................................... 79

5.3.

5.2.1.

Confirm Level of Charge ............................................................................................................................. 79

5.2.2.

Inspect Exterior ............................................................................................................................................... 79

Pre-Flight Aircraft Inspection .................................................................................................................................... 80
5.3.1.

Inspect Exterior ............................................................................................................................................... 80

5.3.2.

Inspect Battery Terminals and Locking Mechanism ......................................................................... 80

5.3.3.

Inspect Camera Terminals and Locking Mechanism ........................................................................ 80

5.3.4.

Inspect Air Intake ........................................................................................................................................... 81

5.3.5.

Inspect Motors................................................................................................................................................ 81

5.3.6.

Inspect Propeller Mounts and Arms ...................................................................................................... 82

5.3.7.

Inspect Arm Locking Mechanisms .......................................................................................................... 82

5.3.8.

Confirm Camera and Battery Lock Status ............................................................................................ 84

5.3.9.

Confirm Flight Conditions/Limitations .................................................................................................. 84

5.3.10. Inspect Stereo Cameras and Infrared Sensors ................................................................................... 84
5.4.

Pre-Flight Propeller Inspection ................................................................................................................................. 85
5.4.1.

5.5.

5.6.

Inspect Propellers .......................................................................................................................................... 85

Pre-Flight Controller Inspection ............................................................................................................................... 86
5.5.1.

Confirm Level of Charge ............................................................................................................................. 86

5.5.2.

Confirm Controller Binding ....................................................................................................................... 86

5.5.3.

Confirm the Stick Mode .............................................................................................................................. 86

5.5.4.

Confirm Signal Strength ............................................................................................................................. 87

5.5.5.

Determine Optimal Antenna Direction ................................................................................................. 87

5.5.6.

Confirm Antenna Position .......................................................................................................................... 88

Pre-Flight Camera Inspection.................................................................................................................................... 89
5.6.1.

Confirm Startup .............................................................................................................................................. 89

5.6.2.

Confirm Video Transmission ..................................................................................................................... 89

5.6.3.

Confirm Gimbal Operation ........................................................................................................................ 89

Normal Operating Procedures ................................................................................... 90
6.1.

6.2.

6.3.

Test Run ............................................................................................................................................................................. 91
6.1.1.

Verify Motor Start and Stop Procedure ................................................................................................ 91

6.1.2.

Verify Correct Magnetic Orientation ...................................................................................................... 92

6.1.3.

Confirm Level of Charge ............................................................................................................................. 92

6.1.4.

Check the Status LED ................................................................................................................................... 94

6.1.5.

Install Propellers ............................................................................................................................................. 95

Basic In-Flight Operations .......................................................................................................................................... 95
6.2.1.

Flight Mode Settings .................................................................................................................................... 95

6.2.2.

Basic Manual Mode (MAN) Operations ................................................................................................ 96

6.2.3.

Basic Position Mode (POS) Operations ................................................................................................. 99

6.2.4.

Basic Auto Mode (AUT) Operations ..................................................................................................... 101

In-Flight Functions ....................................................................................................................................................... 103
6.3.1.

Availability of Functions for each Flight Mode ................................................................................ 103

6.3.2.

Modal Dialog (TAKEOFF Ground Control Application) ................................................................. 104

6.3.3.

Auto Takeoff .................................................................................................................................................. 104

6.3.4.

Auto Landing ................................................................................................................................................. 105

6.3.5.

Pause/Resume............................................................................................................................................... 105

6.3.6.

Directional Pad (D-Pad) ............................................................................................................................. 106

6.3.7.

Go Home ......................................................................................................................................................... 107

6.3.8.

Go to Transmitter ......................................................................................................................................... 108

6.3.9.

Obstacle Avoidance .................................................................................................................................... 109

6.3.10. Collision Avoidance .................................................................................................................................... 110
6.3.11. Camera/Gimbal Operation ...................................................................................................................... 111
6.3.12. Planned Flight ............................................................................................................................................... 113
6.3.13. User-Defined Geofence............................................................................................................................. 114
6.3.14. Altitude Limitations..................................................................................................................................... 116
6.3.15. Emergency Landing .................................................................................................................................... 116
6.3.16. Emergency Landing .................................................................................................................................... 116
6.3.17. Forced Stop .................................................................................................................................................... 116
6.4.

6.5.

6.6.

Controller Multicast .................................................................................................................................................... 117
6.4.1.

About Multicast ............................................................................................................................................ 117

6.4.2.

Fail-Safe when Multicasting .................................................................................................................... 118

6.4.3.

Switching Pilots ............................................................................................................................................ 118

Lesson Mode (Japan only) ........................................................................................................................................ 119
6.5.1.

Setup ................................................................................................................................................................ 119

6.5.2.

How to Operate ........................................................................................................................................... 120

Regional Market Geofence ....................................................................................................................................... 121

Abnormal Operating Procedures .............................................................................123
7.1.

Emergency Procedures for Abnormalities ......................................................................................................... 124
7.1.1.

Definition of Terms ...................................................................................................................................... 124

7.1.2.

Manual (MAN) Flight Mode (using the controller) ........................................................................ 125

7.1.3.

GPS and Visual Odometry Accuracy Degradation ......................................................................... 125

7.1.4.

Emergency Menu ......................................................................................................................................... 126

7.1.5.

Communications Disruption ................................................................................................................... 128

7.1.6.

Ground Control Application Emergency Button ............................................................................. 132

7.1.7.

Forced Stop Using the Controller ......................................................................................................... 133

7.1.8.

Forced Stop Using the Ground Control Application ..................................................................... 135

7.1.9.

Low-Battery Emergency Landing .......................................................................................................... 136

7.1.10. Degraded GPS Reception in Auto Flight Mode ............................................................................... 136
7.1.11. Indications of an Abnormality ................................................................................................................ 137
7.1.12. Stick Calibration ........................................................................................................................................... 138
7.1.13. Warning Messages ...................................................................................................................................... 141
7.1.14. Caution Messages ....................................................................................................................................... 149
7.1.15. Advisory Messages ..................................................................................................................................... 156
7.1.16. Messages Displayed on the Controller ............................................................................................... 157

Maintenance, Inspection and Disposal ...................................................................159
8.1.

Post-Flight Inspection ................................................................................................................................................ 160

8.2.

Post-Flight Battery Inspection ................................................................................................................................. 161

8.3.

8.2.1.

Clean Battery ................................................................................................................................................. 161

8.2.2.

Confirm Level of Charge ........................................................................................................................... 161

Post-Flight Aircraft Inspection ................................................................................................................................ 162
8.3.1.

Clean Aircraft ................................................................................................................................................. 162

8.4.

Post-Flight Propeller Inspection ............................................................................................................................. 163
8.4.1.

8.5.

Clean Propellers ........................................................................................................................................... 163

Post-Flight Controller Inspection ........................................................................................................................... 164
8.5.1.

Clean Controller ........................................................................................................................................... 164

8.5.2.

Confirm Level of Charge ........................................................................................................................... 164

8.6.

Storage ............................................................................................................................................................................. 165

8.7.

Periodic Inspection, Repair and Maintenance .................................................................................................. 166

8.8.

Periodic Parts Replacement...................................................................................................................................... 168

8.9.

Product Transfer ........................................................................................................................................................... 169

8.10. Disposal and Recycling .............................................................................................................................................. 170
8.10.1. Disposal of airframe and controller ...................................................................................................... 170
8.10.2. Battery Disposal and Recycling .............................................................................................................. 170

Troubleshooting ........................................................................................................171
9.1.

Troubleshooting ........................................................................................................................................................... 172
9.1.1.

Aircraft Troubleshooting ........................................................................................................................... 172

9.1.2.

Controller Troubleshooting ..................................................................................................................... 174

9.1.3.

Battery Troubleshooting ........................................................................................................................... 175

A Appendix ......................................................................................................................176
A-1

Specifications .............................................................................................................................................. 177

A-2

Change History........................................................................................................................................... 184

Manufacturer Information.................................................................................................................................................... 185

Chapter1

Precautions

1.1. Introduction ·································································································································································· 2
1.2. Ensuring Safe Use ······················································································································································· 5
1.3. General Precautions ··················································································································································· 8
1.4. In-Flight Precautions ················································································································································· 19
1.5. Maintenance, Inspection, Storage, and Transportation Precautions ···················································· 22
1.6. FCC Compliance Statements ·································································································································· 23
1.7. Other Notes ·································································································································································· 24

1

`

1

1.1. Introduction
1.1.1.

Disclaimer

Precautions

Please read this disclaimer carefully before using SOTEN. By using this product, you hereby agree that you
have read this disclaimer carefully and that you understand, acknowledge and agree to the terms andconditions described herein and elsewhere in the SOTEN User Manual. SOTEN IS NOT A TOY AND IS NOTSUITABLE NOR INTENDED FOR USE BY ANYONE UNDER THE AGE OF 18.
Although SOTEN incorporated sophisticated technologies, inappropriate use of the product may result inpersonal injury or property damage.

Please read this SOTEN User Manual carefully before using the

product. The SOTEN User Manual is available at https://acsl-usa.com/support/
The SOTEN User Manual may affect your personal safety and your legal rights and obligations.

Failure toread this document in its entirety and following the instructions and warnings may result in productloss/damage, injuries to you and others, and damage to property.

It is essential that you read and follow

all of the instructions and warnings in this documents.
Notwithstanding anything to the contrary in this SOTEN User Manual or otherwise, under nocircumstances shall ACSL be liable for any damage(s) or injuries caused to you, to any other party or any
property or have any legal responsibility, directly or indirectly, from the use of this product.
When using this product, if you choose to use your own or third-party equipment or service(s) (including,but not limited to, your mobile device or the Google Play Store), review and proceed at your own
discretion after confirming the operating instructions and other applicable terms of use for each such
related equipment or services. Do not use incompatible equipment or service(s) or alter this product inany way unless authorized to do so by ACSL in writing. Except in cases of ACSL’s intentional misconduct orgross negligence or where ACSL has authorized use of the subject equipment or service(s) in writing, ACSL
shall not be liable for any damage(s) or injuries caused to you, to any other party or any property, directly
or indirectly, arising from or related to such related equipment or service(s).
TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAWS, EXCEPT AS EXPRESSLY PROVIDED IN THE
APPLICABLE ACSL LIMITED PRODUCT WARRANTY AVAILABLE AT (https://acsl-usa.com/support/), THE
PRODUCT (OR COMPONENTS, SOFTWARE OR PARTS THEREOF), PRODUCT ACCESSORIES AND RELATEDMATERIALS, AND CONTENT AVAILABLE THROUGH THE PRODUCT ARE PROVIDED “AS IS” AND ON AN “AS
AVAILABLE” BASIS, WITHOUT WARRANTY OR CONDITION OF ANY KIND, EITHER EXPRESS OR IMPLIED.
ACSL EXPRESSLY DISCLAIMS ALL WARRANTIES OF ANY KIND, EXCEPT AS EXPRESSLY PROVIDED IN THE
APPLICABLE ACSL LIMITED PRODUCT WARRANTY, WHETHER EXPRESS OR IMPLIED, RELATING TO THE
PRODUCT (OR COMPONENTS, SOFTWARE OR PARTS THEREOF), PRODUCT ACCESSORIES AND ALL
RELATED MATERIALS, INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY, TITLE, QUIETENJOYMENT, NON-INFRINGEMENT, FITNESS FOR A PARTICULAR PURPOSE, AND ANY WARRANTYARISING OUT OF COURSE OF DEALING, USAGE OR TRADE, EVEN IF ACSL HAS BEEN ADVISED OF SUCHPURPOSE. ACSL DOES NOT WARRANT, EXCEPT AS EXPRESSLY PROVIDED IN THE APPLICABLE ACSLLIMITED PRODUCT WARRANTY, THAT THE PRODUCT (OR COMPONENTS, SOFTWARE OR PARTS

2

THEREOF), PRODUCT ACCESSORIES AND RELATED MATERIALS, WILL BE ERROR-FREE, VIRUS-FREE,
UNINTERRUPTED, SECURE, OR FREE OF HARMFUL COMPONENTS OR SOFTWARE, AND DO NOTWARRANT THAT ANY SUCH ISSUES WILL BE CORRECTED.
BY USING THE PRODUCT, YOU HEREBY ACKNOWLEDGE AND AGREE THAT YOU ARE SOLELY RESPONSIBLE

1

FOR AND ASSUME ALL RISKS FOR ANY PERSONAL INJURIES, DEATH, DAMAGE TO PROPERTY OR LOSS OF
THEREOF), PRODUCT ACCESSORIES AND RELATED MATERIALS. YOU AGREE THAT YOU WILL USE THE
PRODUCT AT YOUR OWN DISCRETION AND RISK.
WHEN USING THE PRODUCT (OR COMPONENTS, SOFTWARE OR PARTS THEREOF), PRODUCTPrecautions

DATA THAT MAY RESULT FROM YOUR USE OF THE PRODUCT (OR COMPONENTS, SOFTWARE OR PARTSACCESSORIES AND RELATED MATERIALS, YOU MAY PROVIDE ACSL WITH PERSONAL INFORMATION OR
DATA. PLEASE REFER TO ACSL’S PRIVACY POLICIES AVAILABLE AT [www.acsl-usa.com/support] FOR MORE
INFORMATION.
THIS DISCLAIMER AND OTHER CONTENTS OF THIS SOTEN USER MANUAL MAY BE UPDATED FROM TIMETO TIME IN ACSL’S SOLE DISCRETION. PLEASE VISIT https://acsl-usa.com/support/ OR CONTACT US FOR
THE LATEST VERSION OF THIS SOTEN USER MANUAL. THIS DISCLAIMER AND SOTEN USER MANUAL MAY
BE MADE AVAILABLE IN VARIOUS LANGUAGES. IF THERE IS ANY CONFLICT BETWEEN ANY TERM OR THE
MEANING GIVEN CERTAIN LANGUAGE IN ONE VERSION COMPARED TO THE TERM OR MEANING GIVEN
SUCH CORRESPONDING LANGUAGE IN ANOTHER, THE TERM AND/OR LANGUAGE CONTAINED IN THE
ENGLISH VERSION SHALL GOVEN.

1.1.2.
•

Warning

Before using this product, read carefully and fully understand the safety precautions and instructions inthis manual.

•

Follow the warnings in this manual. Failure to do so may result in personal injury or property damage.

•

Do not replace any part of this product without explicit permission from ACSL. In addition to thereplacement of parts, any repairs or modifications other than those specified by ACSL are not covered by
the warranty.

•

During the operational life of this product, perform the pre-flight inspections, repairs, and routine
maintenance as specified in Chapter 8: “Maintenance, Inspection and Disposal” .

3`

1.1.3.

Definitions – Classifications of Safety Alerts

In this manual, and on the product itself, the following classification of safety alert signal words and symbols

1

is used in conjunction with the headings “WARNING”, “CAUTION” and “ADVISORY”. These symbols are
deployed to ensure safe and proper use of the product and to prevent property damage and injury to theuser or to others.

Precautions

The symbols and signal words and their meanings are shown below. Please read carefully and understand themeaning of each.
This symbol is the safety alert symbol.
This symbol is used to alert you to hazards that could potentially harm people.
To avoid possible injury or death, follow all safety instructions that follow this symbol.

WARNING

This signal word indicates that failure to follow the associated guidance could result in death or serious
injury.

CAUTION

This signal word indicates that failure to follow the associated guidance could result in minor ormoderate injuries.

ADVISORY

This signal word indicates that failure to follow the associated guidance could result in malfunction or
failure of the product, which could cause damage to other property.
The following symbols illustrate prohibited or required actions.
Prohibited Actions
The associated actions should not be done.
Required Actions
The associated actions must be done.

41.2. Ensuring Safe Use
1.2.1.

Intended Use

SOTEN is an unmanned aircraft designed specifically for industrial/official use, not for general consumer
use.

•

SOTEN’s intended use is that it is to be flown manually by an experienced pilot, or autonomously along aplanned route using the controller and the ACSL TAKEOFF ground control application.

1.2.2.

Precautions•

1

Flight Conditions•

The table below lists common flight conditions and the suitability of SOTEN for those conditions.

•

The user must comply with all local and national laws regarding the flight of unmanned aircraft.

•

Purchase of liability insurance to protect the user against the occurrence of bodily injury to persons anddamage to property is strongly recommended prior to using SOTEN. It is also strongly recommended thatthe user purchase property insurance.
Flight Scenario
1
2

Yes

(excluding no-fly zones)

Yes(excluding no-fly zones)sight
Autonomous flight within visualline of sight3

Flight beyond visual line of sight

Only with proper permission (check pertinent laws)

4

Daylight flightYes

Night flight

Only when properly equipped and with proper5

permission (check pertinent laws)

6

Good GPS reception

Yes1

7

No/Poor GPS reception

Yes2

Flying in a strong electromagnetic

No3

8

1

Manual flight within visual line of

Suitability

field

9

Flying in precipitation

No4

10

Flying in icing conditions

No

Must continuously monitor GPS reception during flight.
If GPS reception becomes poor, immediately switch to manual (MAN) mode to continue safe flight.

2

SOTEN is capable of flight in position (POS) mode even with poor or no GPS signal reception using
the three on-board stereo cameras. However, flight may become unstable depending on thelighting conditions and scenery, especially in environments with poor or extremely bright lighting,reflective or low-contrast scenery, a lot of moving scenery, or a lack of close scenery. Be preparedto switch to manual (MAN) mode immediately if you notice anything unusual or if motion
becomes erratic.

3

Be careful not to use SOTEN in areas with strong interference from other wireless devices. Do not
fly near areas with electromagnetic interference. In particular, areas around high-voltage powerlines, cellular base stations, and radio towers are likely to be sources of electromagnetic

5`interference, which may cause instability or disruption of the communications between the aircraft
and the controller that are necessary for safe maneuvering. If communication between the aircraft
and the controller becomes unstable, discontinue the use of nearby Wi-Fi devices.

1

4

The main body of the aircraft (with the camera and battery installed) is dustproof and waterproof
equivalent to IP43, but if rain or fog is observed or anticipated during flight, abort the flight.

Precautions

1.2.3.
•

Limitations

Use of SOTEN must comply with the limits specified below.
Item

1

Min.

Max.

Takeoff weight-

2.0 kg (4.4 pounds)

Airspeed-

15 m/s (33.5 MPH)

Density altitude1-

2,000 m (6,600 ft)

Maximum wind speed-

Operating ambient temperature-20°C (-4°F ) (conditional)

40°C (104°F)

2.4 GHz communication distance-

4 km2 (2.5 miles2)

10 m/s (22 MPH)
3

3

Density altitude is the equivalent altitude above sea level at international standard atmosphericpressure and temperature (1013.25 hPa, 15°C). Density altitude varies from geodetic altitude withatmospheric pressure and temperature. In general, high temperature and lower pressure weather
will result in a density altitude that is higher than the geodetic altitude.

2

Communication distance is not guaranteed. Communication distance varies depending on thesurrounding environment and level of electromagnetic interference in the vicinity. Continuously
monitor the strength of the communications between the aircraft and the controller during flight.

3

The amount of energy that can be supplied from the battery is lower when used at low ambient
temperatures compared to normal ambient temperatures. Please be aware of the following points
when operating at low ambient temperatures:⚫

The battery level will decrease faster, and the flight time will be shorter than when flying in anormal ambient temperature. Please be aware of battery consumption and continuously
monitor the battery level indicator during flight.

⚫

The maximum power the battery can produce decreases with its internal temperature. At low
temperatures, the battery may not be able to provide enough power to sustain high-speed
flight against strong winds or to perform abrupt maneuvers. When flying in low ambient
temperatures, consider using lower airspeed and wind speed limits than those specified in thesection 1.2.3, and avoid abrupt maneuvers.

⚫

To prevent the battery temperature from falling below 20°C (68°F), place the battery in alocation with a heating system to warm up the battery before use. Avoid direct exposure to
hot air from heating equipment, etc.
(A battery should not be used if its left in low ambient temperature.)6

1.2.4.

Firmware Updates

Use the latest firmware. The aircraft and controller firmware can be updated through the ACSL TAKEOFF
ground control application to improve performance and add new features. Check the ACSL website or yourdealer for the latest information.

1

The latest version of the ACSL TAKEOFF ground control application includes all fixes from previous versions,is not necessary to update a drone and/or controller with previous versions of TAKEOFF.
Refer to the ACSL TAKEOFF ground control application User Manual for information on how to update suchout-of-date firmware.

Precautions

so updating the firmware with the latest version of TAKEOFF will bring the aircraft and controller up to date. It

7

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1

1.3. General Precautions
1.3.1.

Aircraft

Precautions

Familiarize yourself with the orientation of the aircraft (which side is front and which side is rear) to avoid
maneuvering in the wrong direction.

ForwardClass 1 Laser Product

Do not touch the aircraft or battery terminals with wet hands.
Doing so may result in electric shock.
Do not disassemble or modify the aircraft in any way.
Doing so may result in fire, damage, malfunction, or electric shock.
Do not look near the two infrared sensors located on the top and bottom of theaircraft when it is powered on.
Lasers operating with a wavelength outside the visible range (class 1 lasers) are emitted
when the aircraft is powered on.
Do not touch the motors immediately after flight.
Doing so may result in burns, as the motors heat up significantly during flight.
The propellers are sharp. Be careful when attaching and removing the propellers to
avoid cutting your hands or body with the sharp ends.
Japan only: Due to recent regulatory changes, the use of SIM cards may be restricted
to those exclusively for use in unmanned aircraft. Please confirm and comply with thelatest regulations. (LTE-equipped models only)8

1.3.2.

Battery

Handle the battery carefully to avoid damage or leakage.

1

Failure to do so may result in injury.
Doing so may cause fire or the release toxic substances.
Do not use an unsuitable battery type.
Doing so may cause fire.

Precautions

Do not disassemble the battery.

Do not drop the battery into water or splash water onto it.
Doing so may cause overheating or fire.
(In an emergency it is acceptable to douse the battery with water to prevent startingor spreading fire. See the “Precautions to prevent the spread of fire” below.)
Do not short circuit the battery.
Doing so may cause overheating or fire.
Do not heat battery to high temperatures (>60°C or >140°F) or incinerate.
Doing so may cause an explosion or burns.
Do not use or charge the battery if the aircraft has been subjected to a severe shock,such as a crash or a hard landing after free fall.
Doing so may cause overheating or fire.
Do not mount, use, or charge a battery with bulges, breaks, cracks, holes, ordeformities.
Doing so may cause overheating, fire, damage, or malfunction.
Do not charge, store, or leave the battery in high temperatures, high humidity, places
exposed to water, or in a car under the hot sun.
Doing so may cause overheating, fire, damage, or malfunction.
Do not charge the battery immediately after the flight. Delay charging until after thebattery has cooled down to room temperature.
The battery may be hot immediately after flight, and charging may further increase
temperature and may cause overheating or fire.
Please dispose of used batteries properly according to the disposal method specified
by your local government.
Contact your dealer for recycling of batteries with remaining useful life.

9`

Precautions to prevent the spread of fire:1•

When using SOTEN, take necessary measures such as having an appropriate fire extinguisher*
nearby in case of fire caused by damage to the battery.
*ABC powder fire extinguishers are recommended.

Precautions•

If the battery is damaged or deformed due to excessive shock, crash, etc., dispose of it properly
according to the disposal method specified by your local government.

•

If the battery is damaged or deformed by excessive shock, crash, etc., or if abnormal heatgeneration or smoking is observed, it may catch fire. Immediately cool the battery with a large
amount of water to prevent self-ignition.

•

If fire is detected in the battery, prevent the fire from spreading by using fireproof cloth, fireproof
sand, or a fire extinguisher. Call the local fire department and make every effort to extinguish the
fire.

10

1.3.3.

Battery Charger

Do not touch or unplug the charger with wet hands.

1

Doing so may result in electric shock.
Doing so may cause fire or malfunction.
Do not operate, store, or leave the charger in high temperatures, high humidity,
places exposed to water, or in a car under the hot sun.
Doing so may cause fire, damage, or malfunction.

Precautions

Do not drop the charger or subject it to vibration, shock, or deformation.

Do not touch the charger for long periods of time while charging the battery.
Doing so may result in burns.
Do not connect the charger to or use it with devices other than those specified.
Doing so may cause overheating, fire, damage, or malfunction.
Do not cover the charger with blankets or other covers while charging a battery.
Doing so may cause excessive heat buildup resulting in fire or malfunction.
Do not disassemble or modify the charger in any way.
Doing so may cause fire, damage, malfunction, or electric shock.
Do not connect the charger to an electrical outlet or battery with condensation on it.
Doing so may cause fire, damage, malfunction, or electric shock.
Do not allow foreign matter such as dust or dirt to contact the charger terminals.
Doing so may cause overheating, fire, damage, malfunction, or electric shock.
Do not use flammable aerosols or sprays on or in the vicinity of the charger.
Doing so may result in fire or explosion.
Do not allow other metallic objects (tools, jewelry, etc.) to contact or short-circuit the
charger terminals.
Doing so may result in malfunction, electric shock, or fire.
Do not use the charger with an excessive number of extension cords, power strips,
etc.
Exceeding the current rating of the electrical wiring may cause fire.
Unplug the charger from the outlet when not in use for an extended period.
Power leakage due to deterioration over time may cause a fire.
The ground terminal of the power cord must be connected to a ground wire.
Failure to do so may cause electric shock.
When using an extension cord, check its user manual and current rating.
Exceeding the current rating of the extension cord may cause fire.
If you notice any abnormality, unplug the charger immediately.
Failure to do so may cause electric shock, malfunction, overheating or fire.

11`

1.3.4.

1

Controller

Do not heat the controller, use it near a fire, or incinerate.
Doing so may cause overheating, ignition, damage, or malfunction.

Precautions

Do not drop the controller or subject it to vibration, shock, or deformation.
Doing so may cause fire or malfunction.
Do not charge, store, or leave the controller in high temperatures, high humidity,
places exposed to water, or in a car under the hot sun.
Doing so may cause fire, damage, or malfunction.
Do not use or charge the controller if it is swollen, damaged, cracked, punctured, ordeformed.
Doing so may cause overheating, fire, damage, or malfunction.
Do not connect the controller to or use it with equipment other than that specified.
Doing so may cause overheating, fire, damage, or malfunction.
Do not drop the controller into water or splash water onto it.
Doing so may cause fire, damage, or malfunction.
Do not disassemble or modify the controller in any way.
Doing so may cause fire, damage, malfunction, or electric shock.
Do not connect the controller to a battery or an electrical outlet or with condensation
on it.
Doing so may cause fire, damage, malfunction, or electric shock.
Do not allow foreign matter such as dust or dirt to contact the controller terminals.
Doing so may cause overheating, fire, damage, malfunction, or electric shock.
Do not allow the terminals of the controller to get dirty or wet.
Doing so may cause fire, damage, malfunction, or electric shock.
Do not use or charge the controller if it has been dropped or if has been deformed.
Doing so may cause overheating, fire, damage, malfunction, or electric shock.
Do not allow other metallic objects (tools, jewelry, etc.) to contact or short-circuit thecontroller terminals.
Doing so may result in malfunction, electric shock, or fire.

12

1.3.5.

Soft Equipment Case
1
Precautions13`

1.3.6.

1
Precautions

14

Water & Dustproof Case

1.3.7.

Multi Mount Kit
1
Precautions

15

`

1

Precautions

16

1.3.8.

Rotor Blade Guard
1
Precautions

17

`

1

Precautions18

1.4. In-Flight Precautions
1.4.1.

General Precautions

evacuation area should be designated in advance.
The flight area must be kept clear of people, including pilots, and third-party property.

•*Japan only: A flight permit is required when flying within 30 meters of third-party people or property.

•

Precautions

Pilots should wear helmets, protective goggles, long sleeves, and long pants. In addition, an emergency•

1

When the motors start, the propellers rotate, which may cause cuts, amputations, or fractures. The
pilot should make sure that no one is within 5 meters (15 feet) of the aircraft before starting the
motors.

•Never allow anyone to come between the pilot and the aircraft.

•

Provide an adequate airspace buffer around personnel involved in the flight operations, including
pilots and observers, to ensure that people not involved cannot inadvertently approach the pilot
and interfere with the flight operations.

•

While in operation. ensure that the propellers do not touch the ground or any structure. Failure to
do so may cause a serious accident, injury, death, or property damage.

•Beware of collisions with power lines, trees, birds, and other aerial objects. A serious accident may
result in injury or property damage.

19

`

1.4.2.

1•

Flight Environment

Be sure to check the current weather conditions and forecasts before flying to avoid exceeding the flight
conditions and limitations specified in section 1.2: “Ensuring Safe Use.”

Precautions•

If weather conditions deteriorate, such as sudden rain, lightning or fog, the flight should be terminatedimmediately.

•

Depending on the surrounding environment, GPS signals may be reflected by obstacles, causing
the aircraft to operate erratically.

•

In places where radio waves are easily reflected or diffracted by obstacles such as buildings or
terrain, a phenomenon called “multipath reception” may occur. Multipath reception can cause anerror of several meters to dozens of meters in the measured position of the aircraft by the GPS
receiver, which could result in a collision with an obstacle or a crash. Avoid flying in such areas.

•

Indication of poor GPS reception on the controller or ground control application, or abnormal
attitude or motion of the aircraft may indicate multipath reception. Pay close attention to the
behavior of the aircraft and the GPS signal strength indications during flight. If you notice any
abnormalities, switch to manual (MAN) mode and land the aircraft immediately.
GPS Satellite
Path 2: Reflection off a building
Path 1: Direct path

Path 3: Reflection
Possibility of runaway•

off the ground

SOTEN is capable of position mode flight even with poor or no GPS signal reception using the three
on-board stereo cameras. However, flight may become unstable depending on the lighting
conditions and scenery, especially in environments with poor or extremely bright lighting, reflective
or low-contrast scenery, a lot of moving scenery, or a lack of close scenery. Be sure to be able toswitch to manual flight mode immediately if you notice anything unusual or if motion becomes
erratic.

➔ See section 2.3.2: “Overview of the Visual System.“.
•

Be careful not to use SOTEN in areas with strong interference from other wireless devices. Do not
fly near areas of electromagnetic interference. In particular, areas near high-voltage power lines,
cellular base stations, and radio towers are likely sources of electromagnetic interference, which
may cause instability or interruption of communication between the aircraft and the controller
necessary for safe maneuvering. If communication between the airplane and the controller
becomes unstable, discontinue the use of nearby Wi-Fi devices. Ensure that you do not exceed theflight conditions and limitations specified in Section 1.2: “Ensuring Safe Use.“20

1.4.3.

Aircraft•Takeoffs and landings should be made on a flat, level surface.

•

Before powering on, place the aircraft on a flat, level surface.

•

During startup, do not bump or tilt the aircraft until startup is complete as this may interfere with the1startup calibration of the on-board sensors.
Do not leave the aircraft unattended with the battery connected.

•

A caution message will be displayed if the internal temperature of the aircraft rises above 65°C (149°F).
Keep the aircraft in the shade, out of direct sunlight. See Section 7.1.14: “Caution Messages.”•

After landing, first shut the aircraft down, then move it to a safe place.

•

The status LED will blink white or red when a sensor error, poor GPS reception, or other abnormal

Precautions•

condition occurs. If the LED blinks white, an abnormality has been detected in the aircraft, and the flightshould be terminated immediately.
*For other details, see Section 6.1.4: “Check the Status LED.”94• Do not exceed the maximum takeoff weight. The aircraft may not be able to maintain safe flight,

which could result in injuries or property damage.

•

Do not perform a hand catch or hand release. The aircraft may behave unexpectedly due to a
disturbance or mishandling, which may result in injury.

•

Do not touch the motors immediately after flight. Doing so may result in burns, as the motors heatup significantly during flight.

21

`

1

1.5. Maintenance, Inspection, Storage,
and Transportation Precautions

Precautions

1.5.1.
•

Maintenance and Inspection

Perform maintenance inspections according to the instructions in Chapter 8 “Maintenance, Inspection and
Disposal”.

•

Perform the periodic replacement of parts according to the instructions in Section 8.8 “Periodic Parts
Replacement.”•

If the aircraft crashes or otherwise suffers a strong impact during flight, contact your dealer.

1.5.2.

Storage•

If the aircraft is dropped or otherwise subjected to a strong shock during storage, contact your dealer.

•Store SOTEN in a locked area.

•

Refer to Section A-1-1 “Specifications” for the storage conditions for each component of SOTEN.

•

If SOTEN is stolen, it may be used for illegal or unsafe nefarious purposes. Customers are requested tomake every effort to prevent theft. In the event that SOTEN is stolen, promptly file a report with the local
police and contact your dealer.

1.5.3.
•

When disposing of SOTEN, refer to Section 8.10 “Disposal and Recycling”. Comply with all local rules.

1.5.4.
•

Disposal

Transport

Transport SOTEN in a storage case to avoid strong shocks to the aircraft, controller, camera, propellers, orbatteries.

•

Make every effort to prevent theft of this product during transportation. In the event that SOTEN is stolen,
promptly file a report with the local police and contact your dealer.

If SOTEN is transported with the camera attached to the aircraft, unintentional shocks to the camera may
cause contact failure at the points that it contacts the aircraft. Always remove the camera from theaircraft for storage or transportation.

22

1.6. FCC Compliance Statements
This device may not cause harmful interference, and (2) this device must accept any interference received,
including interference that may cause undesired operation.
SOTEN (L14)Precautions

This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1)1This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1)This device may not cause harmful interference, and (2) this device must accept any interference received,
including interference that may cause undesired operation.
ACSL, Inc.
710 Lakeway Drive, Suite 200, Sunnyvale, CA 94085
https://acsl-usa.com/contact/
FCC CAUTION
Changes or modifications not expressly approved by the party responsible for compliance could void theuser’s authority to operate the equipment.
Note: This equipment has been tested and found to comply with the limits for a Class A digital device,pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against
harmful interference when the equipment is operated in a commercial environment. This equipment
generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio communications. Operation of this equipment ina residential area is likely to cause harmful interference in which case the user will be required to correct theinterference at his own expense.
This transmitter must not be co-located or operated in conjunction with any other antenna or transmitter.
This aircraft complies with FCC radiation exposure limits set forth for an uncontrolled environment and meetsthe FCC radio frequency (RF) Exposure Guidelines. This equipment should be installed and operated keeping
the radiator at least 20cm or more away from person’s body.
The available scientific evidence does not show that any health problems are associated with using low power
wireless devices. There is no proof, however, that these low power wireless devices are absolutely safe. Low
power wireless devices emit low levels of radio frequency energy (RF) in the microwave range while being
used. Whereas high levels of RF can produce health effects (by heating tissue), exposure of low-level RF that
does not produce heating effects causes no known adverse health effects. Many studies of low-level RF
exposures have not found any biological effects. Some studies have suggested that some biological effects
might occur, but such findings have not been confirmed by additional research. SOTEN’s controller has beentested and found to comply with FCC radiation exposure limits set forth for an uncontrolled environment andmeets the FCC radio frequency (RF) Exposure Guidelines.

23

`

1

1.7. Other Notes
In the unlikely event of an accident, report to the FAA along with your dealer within 10 days.

Precautions

24(Refer to the FAA website as per below.)
When do I need to report an accident? | Federal Aviation Administration (faa.gov)

Chapter2

Product Overview

2.1. Product Details ······················································································································································26
2.2. System Configuration ·········································································································································27
2.3. Aircraft ······································································································································································29
2.4. Controller ································································································································································34
2.5. TAKEOFF Ground Control Application ·········································································································43
2.6. Battery ······································································································································································44
2.7. Battery Charger ·····················································································································································50
2.8. Standard Camera/Gimbal ·································································································································51

252.1. Product Details
2.1.1.

2
Product Overview

26Standard Parts

The items are included in the basic SOTEN set.
•

Aircraft•

Controller (USB Type-C® cable included)•High-capacity battery (safety precautions/warranty card included)•

Battery charger (dedicated charging cable included)•Standard camera/gimbal•

Safety precautions/disclaimer
Aircraft

Controller

High-capacity battery

Battery charger

Standard camera/gimbal

Product warranty

2.2. System Configuration
2.2.1.

System Configuration Conceptual Diagram

2
Product Overview

Remote ID

Bluetooth®
GNSS

Global Positioning System
Signals

2.4 GHz wireless

2.4 GHz wireless(broadcast received)(not Wi-Fi)

Observer

Pilot

controller

controller*Requires purchase of anadditional controller

272.2.2.

Functional Overview of Each Wireless System

No.

Name

1

GNSS

FeatureUses radio signals received from Global Navigation Satellite System (GNSS)
satellites to estimate the location of the drone relative to the earth.
GPS/SBAS/QZSS satellites are used.

2
2

Remote ID

Uses Bluetooth 4.0 and 5.0 to broadcasts the unique identity of the aircraft,

Product Overview

location, and status according to national regulations.
3

Cellular

When equipped with an embedded cellular modem, a cellular connection may
be used to connect the aircraft to the ACSL TAKEOFF ground control application(commands, telemetry, and video).
*In Japan, this requires a subscription to either the NTT DOCOMO LTE Over-theAir Usage Plan or the KDDI Smart Drone 4G LTE Package.

4

2.4 GHz wirelessUses low-power 2.4 GHz wireless signals (not Wi-Fi) to communicate control,
command, telemetry, and video signals between the aircraft and the controller.
Up to three controllers may be bound to one aircraft. All three bound controllers
can simultaneously receive signals from the aircraft (telemetry and video), but
only one controller (designated the pilot) can transmit signals (control andcommand) to the drone at a time. Pilot authority can be toggled during flight(pilot/observer switching).

5•920MHzUses low-power 920 MHz wireless signals for communication between two(Japan only)

controllers (teacher and student) while in the lesson mode.

Wireless communication may be disrupted if the aircraft is operating in an environment withelectromagnetic interference.

•

28

If communication becomes unstable, abort the flight and land in a safe location.

2.3. Aircraft
Names of Parts and Functional Overview

2.3.1.
1

2

2

3

Product Overview

DC

TOP VIEWREAR VIEWA
RIGHT VIEW

4
B

19
8

4

9

LEFT VIEW

5E

BOTTOM VIEW

1067A : RIGHT VIEW

711
B : LEFT VIEW

14

13

12

15

C : REAR VIEW

4

16
4

4
D : TOP VIEW

17

18

4

E : BOTTOM VIEW

29

No.

2

name

Feature1

Motor

Rotates the propeller.

2

Propeller

Generates lift and propulsive force.

3

Arm

Supports the motors and propellers. Can be folded for transportationand storage.

Product Overview

4

Stereo cameras

Detect obstacles and the relative motion of the aircraft.

5

Navigation lights

LED lights mounted on the tip of the arms improve visibility of theaircraft's attitude and orientation.

6

USB Type-C® port

7

LTE antennas(LTE-equipped models only)

Service port used for aircraft diagnosis (not for customer use).
For high-speed cellular communications.

8

Bind button

Used to initiate the procedure for binding a controller to the aircraft.

9SIM card slot

Slot for inserting a nano SIM card into the aircraft.

10

Camera release button

Used to release the camera from the aircraft.

11

Battery

Lithium-ion battery with an embedded battery management system(BMS).

12

Battery release button

Used to release the battery from the aircraft.

13

Power button

Used to turn the aircraft power on and off.

14

Status LED

Uses colors and patterns of flashing to indicate the status of the aircraft.

15

Battery level LED

Indicates the remaining level of battery charge.

16

Upward distance sensor

Measures the distance to obstacles above the aircraft.

17

Downward distance sensor

Measures the distance between the aircraft and the ground.

18

Downward light

Illuminates the ground below the aircraft.
Note: The function to manually turn the light on and off is currently
under development.

19Standard camera/gimbal

The camera captures video and still images. The gimbal isolates theorientation of the camera from the orientation of the aircraft.

30

2.3.2.

Overview of the Visual System

The aircraft is equipped with 3 stereo cameras mounted on front, top and bottom. These stereo cameras areused to measure the distance to obstacles to avoid collision, and for visual odometry.
Visual odometry is an advanced computer vision algorithm that deduces the motion of the aircraft relative tothe surrounding environment from the images captured by the onboard stereo cameras. Depending on thelighting and texture in the environment, visual odometry can enable stable hover even when reception of
GPS signals is not possible.

2
Product Overview

Stereo camera locations on the aircraft

Detection range◼

The detection range of the visual odometry system is as shown below.
Obstacles outside the detection range cannot be detected.)

Caution (≈ 9 m, ≈ 30 ft)(≈ 5 m, ≈ 16 ft)
Good

Good (≈ 5 m, ≈ 16 ft)

Caution(≈ 9 m, ≈ 30 ft)
Good (≈ 5 m, ≈ 16 ft)

Caution (≈ 9 m, ≈ 30 ft)•

Maximum ground speed is limited to 0.8 m/s (1.8 MPH).

•

Operation may become unstable depending on the environment surrounding the aircraft.

•

If operation becomes unstable, switch to manual mode immediately.

•

Correct operation is not possible on plain surfaces with little visual information, surfaces withrepeating, evenly spaced patterns that create optical illusions, or reflective surfaces such as glass or
shiny metal.

•

The visual odometry cameras may not operate properly in excessively bright or dim environments
such as direct sunlight or at night.

31

•Obstacles less than 20 cm (8 inches) wide may not be detected.

•

Always keep the camera and sensor lenses clean. Dust, dirt, and other contaminants will reduce
sensitivity.

•

Over time, the heading (yaw angle) will slowly drift. In this case, you will need to use the controller’s
yaw control to maintain the desired heading (yaw angle).

2◼

Brief description of the infrared distance sensors

Infrared distance sensors located on the top and bottom of the aircraft measure the distance to obstacles to

Product Overview

avoid collisions and provide soft landing assistance respectively*.
*Soft landing assist functions only in the position (POS) and auto (AUT) modes.
Upper

Lower

sensorsensor

◼

Detection range
The detection range of the infrared distance sensors is shown below.
Obstacles outside the detection range cannot be detected. Please use caution when referring tomeasurements from the infrared distance sensors.

≈ 3 m, ≈ 10 ft≈ 3 m, ≈ 10 ft*indoor use only

*indoor use only

≈ 10 m, ≈ 33 ft≈ 10 m, ≈ 33 ft

Class 1 Laser Product32

•Distance may not be measured correctly due to the influence of infrared light from the sun or othersources of infrared light.

•

The top sensor is not suitable for outdoor use.

•

When flying over surfaces that reflect sunlight, such as water or shiny metal, distance may not bemeasured correctly.

•

Familiarize yourself with the detection range of the sensor. Obstacles beyond the detection range

2

will not be detected.
Always keep the sensor lenses clean. Dirt and debris on the lenses will reduce sensitivity.

Product Overview•

33

2.4. Controller
2.4.1.

2
Product Overview

34

Names of Parts and Functional Overview

No.

Name

Feature1

Flight mode switch

Switch to select the flight mode.

2

Gimbal control button L

Tap to point the camera forward (both pan and tilt).
Press and hold to point the camera straight down (both pan and tilt).

Gimbal Control wheel L

Used to adjust the camera tilt.

4

Antennas

Transmits and receives 2.4 GHz signals.

5

Mobile device connection

USB Type-C® port for wired connection to mobile devices.

port
6

Emergency button

Used in an emergency to stop the motors, causing the aircraft to fallfrom the sky if in flight.

7

Gimbal control wheel R

Used to adjust the left/right pan of the camera.

8

Camera control button R

Tap to start/stop interval photography.

2
Product Overview

3

Press and hold to start/stop video recording.
9

Collision avoidance switch

Used to turn on or off the collision avoidance feature.

10Enter button

Used for various settings.

11

Auto-landing button

Press and hold to Initiate an autonomous landing at the current
location.

12

Left stick

Used to control the aircraft. It is a self-neutral type that automatically
returns to the center position when the finger is released.

13

LCD Screen

Displays aircraft speed, battery level, error warnings, etc.

14

Mobile device mount

Used to attach a mobile device to the controller.

15

Right stick

Used to control the aircraft. It is a self-neutral type that automatically
returns to the center position when the finger is released.

16

Pause button

Pauses the motion of the aircraft (enters a hover) when flying
autonomously.

17

Go-home button

Press and hold to Initiate an autonomous return to the takeoff
location.

18

Strap holder

A mounting location for neck straps or other straps.

19

Status LED

Indicates the controller’s status.

20

Power button

Used to turn controller power on and off.

21

Charging port

USB Type-C® port to connect to a charger for charging the controller.

352.4.2.

LCD Display

No.

name

2
Product Overview
Feature1

Aircraft status display

The status of the aircraft is indicated by icons (nos. 13 to 16).

2

Notification symbol

Displays an icon to indicate whether a notification is a warning,
caution, or alert.

3

Number of GPS satellites

Indicates the number of GPS satellites from which signals are being
received.
0: 3 or less, 1: 4 to 6, 2: 7 to 9, 3: 10 to 12, 4: 13 or more

4

Aircraft battery level

Displays the remaining charge of the aircraft battery.

indicator
5

Controller battery level

Displays the remaining charge of the controller battery.

indicator
6

Speed indicator

Displays the speed of the aircraft.

7

Height Indicator

Displays the height of the aircraft from the takeoff point.

8

Horizontal distance

Displays the horizontal distance of the aircraft from the takeoff point.

indicator
9

Aircraft power

Indicates the power consumption of the aircraft.

consumption indicator
10

Distance to obstacle (m)Displays the distance between the aircraft and surrounding obstacles.

Forward, upward, anddownward
11

Notification area

Displays flight modes, warnings, cautions, etc.

12

Received signal strength

Indicates the strength of the signals being received from the aircraft

indicator

by the controller.
0: 91 or more, 1: 90~71, 2: 70~51, 3: 50~31, 4: 30 or less (dBm).

36

13

Go-home indication

This icon is displayed when the aircraft is in go-home mode
(autonomously returning to the takeoff point).

14

Auto-landing indication

This icon is displayed when the plane auto-landing mode
(autonomously landing at the current location).

15

Auto-takeoff indication

This icon is displayed during auto-takeoff.

16

Pause indication

This icon is displayed when pausing (entering a hover) from2

autonomous motion of the aircraft.

Product Overview

37

2.4.3.

SYSTEM Settings Menu: Screen Transition Diagram

With the controller powered off, press the power button while holding down the Enter button to display thefollowing system setup screen.

2
Product Overview

38

Status LED Indications

2.4.4.

The status of the controller is indicated by the color and flashing pattern of the status LED as described
below.
Solid

Blinking

LED

LED

brightness
Hi.

brightness
Hi.

lit

(unlit)lit(unlit)Lo.

2
Product Overview

Undulating

Blinking

Lo. (unlit)

Undulating

Slowly lighting up

1.0 sec 2.0 sec

1.0 sec 2.0 sec

StatusStatus LED

Normal operation in pilot mode
Solid green

While in the process of pilot/observer switching
Blinking green

Normal operation in observer mode
Undulating green

39Status

Status LED

Communication with the aircraft is interrupted or not
yet established2

Solid red

Product Overview

Charging
Solid orange

Charging suspended due to low temperature
Blinking Orange

Lesson mode: teacher
Solid purple

Lesson mode: student
Undulating purple

40

2.4.5.

SoundsThe various sounds that the controller produces to draw the attention of the pilot are described below. It is
important that you understand what each sound means so that you are adequately alerted to any safetyissues.
When a warning is issued

2≈ 3 sec.

≈ 0.8 sec.

• When a warning message is issued, the controller notifies the user with both this sound and vibration.
• For safety reasons, the warning sound cannot be muted even when the SOUND setting is set to OFF in

the controller settings menu.
When a caution is issued

Product Overview... Repeat.

... Repeat.

≈ 0.4 sec.

≈ 3 sec.

• When a caution message is issued, the controller notifies the user with this sound.
• If the SOUND setting is set to OFF in the controller settings menu, this sound is muted.
• The notification can be dismissed by pressing the Enter button.

When an alert is issued≈ 0.4 sec.
• When an alert message is issued, the controller notifies the user with this sound.
• If the SOUND setting is set to OFF in the controller settings menu, this sound is muted.

When obstacle is detected
Proximity to obstacles (within 10 m, 33 ft)• When an obstacle is detected, the closer the obstacle is, the shorter the warning sound interval

becomes.
Warning tone interval (sec)

1.0

0.7

0.5

0.3

0.1

0.1

Distance (m)

10

7

5

3

1

0.5

41

2.4.6.

•

Extended Functionality(HDMI output and mobile device charging)

By connecting a USB Type-C® multiport HDMI adapter to a mobile device compatible with DisplayPort
Alternate Mode (Alt Mode), the screen of the mobile device can be mirrored to an HDMI output while2

maintaining the connection to the controller.
•

Using this adapter, it is also possible to charge the mobile device while it is in use.

When charging the mobile device is not necessary◼
Product Overview

mobile device
controller

HDMI output

When charging the mobile device is desired◼

mobile device

charger
HDMI output

controller(device)•

Depending on quality or compatibility with HDMI or USB Type-C®, not all adapters will work
properly with the particular mobile device that is being used with the controller.

•

For detailed information on supported standards, etc., please refer to the instruction manual for the
product in question.

•

Damage to or malfunction of SOTEN resulting from the use of the USB Type-C® adapter is notcovered by the warranty.

42

2.5. TAKEOFF Ground Control
Application
2.5.1.

Functional Overview

to monitor the telemetry and video that is broadcast from the aircraft, manage aircraft settings, issuecommands to the aircraft, set geofences, plan and execute autonomous flights, review prior flights, and more.
Please refer to the ACSL TAKEOFF ground control application user manual for more information.

2.5.2.

On-Screen Display◼

Flight Screen◼

Plan Screen

2.5.3.
•

Product Overview

The ACSL TEKEOFF ground control application is intended for use only with ACSL SOTEN. It offers the ability

2

Key Features

Flight command functions (preflight check, flight status display, flight commands, camera control andsettings, etc.)•

Flight planning functions (creating and editing flight plans, setting geofences)•

Flight log functions (upload and download flight logs, review, etc.)•

Configuration fonctions (firmware updates, calibration, maintenance information, etc.)43

2.6. Battery
2.6.1.

2

Names of Parts
Power

Product Overview

44

Status LED

Battery level LED

button

LED1

LED2

LED3

2.6.2.

Battery Features

The battery is equipped with an embedded battery management system (BMS).
The features of the BMS enhance safety during use.

◼

Monitoring
To maximize safety, the BMS continuously monitors the battery’s condition (output, remaining battery
charge, temperature, etc.), and logs occurrences of any conditions that are outside of the normal

2

operating range.

Mode switching
The BMS automatically switches to sleep mode, shutdown mode, or safety lock mode to check battery
level, prevent over-discharge, and limit battery use under hazardous conditions.
See Section 2.6.3: Battery Modes.

◼

Self-diagnostics
When the battery is powered on, the BMS performs self-diagnostics to check for system abnormalities.
➔◼

Product Overview◼

See section 2.6.4 .Basic Battery Operation.

Product life prediction function
The BMS determines the remaining useful life of the battery based on a variety of data. When thebattery is approaching the end of its life, a status LED will indicate such. When the battery reaches theend of its life, the BMS will automatically engage the safety lock rendering the battery unusable.
➔

See section 2.6.4: Basic Battery Operation.

An LED warning may not occur indication before the safety lock is applied is not guaranteed. The safety
lock may be applied without warning if the battery management system (BMS) deems it necessary toensure safety depending on the method of use, operating environment, or storage environment.

◼

Charge Standby
The BMS automatically switches from normal charge mode to charge standby mode when the internal
temperature of the battery is outside the safe temperature range for charging. For example, the internal
temperature of the battery may be high immediately after a flight, and the BMS may switch to charge
standby mode upon connection to a charger to prevent excessive battery performance degradation
caused by charging at a high internal temperature.
➔

See Section 4.3.2: Battery Charging Modes.

452.6.3.

Battery Modes

The BMS may switch the battery into the following modes to enhance battery safety.

◼

Sleep mode
The BMS puts the battery in sleep mode after the aircraft is powered off. In this mode, the BMS
monitors battery condition (e.g., temperature) and records monitoring values at regular intervals for2

safety determination. In this mode, the user can check the battery level or power on the aircraft bypressing the battery power button.

Product Overview◼

Shutdown mode
Shutdown mode is a mode that consumes less power than sleep mode and is designed to prevent overdischarge of the battery. In this mode, the battery will not respond to pressing the power button andthe aircraft cannot be powered on. Note that batteries are placed in shutdown mode prior to leaving
the factory. If the battery is stored for a long period of time with low remaining charge, the BMS
transition to shutdown mode to prevent over-discharge, and the condition monitoring operation will
also cease. Connect the battery to a charger to return it to sleep mode from shutdown mode.

◼

Safety lock (permanent)
Safety lock is a mode that completely disables operation of the battery. The BMS transitions the battery
to this mode when it determines, through several criteria, that the battery can no longer be safely used.
In this mode, the status LED will continuously blink red until the battery charge reaches an appropriately
low level for maximum safety. Once discharge is complete, all operation will be completely disabled.
Note that the high-capacity batteries can be connected to a charger even after discharge to enable LED
indication during safety lock.
LED indication of safety lock mode
Status LED

Battery level LED

Red Flashing Switching off the light

If the above LED pattern is displayed, replace the battery.

46

2.6.4.

Basic Battery Operation

Pressing the power button initiates the BMS self-diagnostics. The self-diagnostics take about 2 seconds, andupon successful completion, the remaining battery charge is displayed.
•

LED indication during self-diagnostics
Status LED•

2

Green light

LED indication of remaining battery charge
Status LED/Battery level LED

Battery level0 to 24

Product Overview

Red light

Battery level LED

Blinking

25-49% (%)
OnOn

50-74% (50-74%)

On

75-100On

On

On

If an error state is detected during self-diagnostics, the status LED will blink for about 10 seconds and thenturn off.
However, the standard battery holds the error condition internally for about 30 seconds, so please wait anadditional 20 seconds after the LED stops blinking before pushing the power button again. As an example,
the BMS may trigger an error indication if the internal battery temperature is outside the range for safe
operation.
•

Self-diagnosis LED indication when an error state is detected.

47

Status LED

Battery level LED

Blinking for 10 sec.

off

2
Product Overview

off
If the BMS determines that the battery is nearing the end of its life, the status LED will continue to blink andthe remaining battery charge will be displayed.
•

LED indication when battery life is nearing end of life
Status LED/Battery level LED

Battery level0 to 24
Blinking

Blinking

Blinking

25-49% (%)

On

50-74% (50-74%)
Blinking

OnOn

75-100Blinking

On

On

On

• If the above LED pattern is displayed, the battery is nearing the end of its useful life and should be

replaced immediately.
• When the battery reaches the end of its useful life, a safety lock is automatically activated and thebattery will no longer power on.
• Please contact your dealer to purchase replacement batteries.

48

If a temporary anomaly such as communications timeout (communication failure) or overcurrent is detected
when connecting to the aircraft or charger, the status LED will remain lit and the remaining charge will be
displayed.
•

LED indication in case of battery failure
Status LED/Battery level LED

Battery level2
Blinking

On

On

On

25-49% (%)

On

On

On

On

On

Product Overview

On

0 to 2450-74% (50-74%)

On

75-100At this time, if an abnormality is detected that prevents future use, the safety lock (permanent) is applied andthe status LED continues to flash red.
➔

See Section: 2.6.3: Battery .

49

2.7. Battery Charger
2.7.1.

2

Indications

The status LED and the remaining battery LEDs light up (blink) according to the charging mode, and charging
status.

Product Overview➔

See Section: 4.3.2: Battery Charging Modes.

Battery charger

Battery
Status LED• Do not connect the battery to the charger while the battery status LED is on. Charging may not start

properly.

50

2.8. Standard Camera/Gimbal
2.8.1.

Standard Camera (visible camera)• CX-GB100 camera with integrated 20MP image sensor, large

2

aperture lens, and 3-axis stabilized gimbal (tilt, pan, roll).
proprietary signal processor.
• For more information about the product and how to handle it,

please refer to the CX-GB100 User Manual and the ACSLTAKEOFF User Manual.

Product Overview• Low-noise, high-quality image capture is achieved with a

Display switching button

Example of full screen camera display

Example of full screen map display

SliderFocus button
Gimbal button
Zoom button
AE lock button

Example operation of the standard camera

51

Chapter

3

First-Time Use

3.1. Initial Battery Activation ········································································································································· 53
3.2. Installing the TAKEOFF Ground Control Application ·················································································· 54
3.3. Controller Preparation ·············································································································································· 55
3.4. Aircraft Preparation ···················································································································································· 56
3.5. First Connection (binding) ···································································································································· 59
3.6. Stick Mode Settings ··················································································································································· 62
3.7 Propeller Installation··················································································································································· 67
3.8. Camera Initialization ·················································································································································· 68

52

3.1. Initial Battery Activation
Battery charger

Battery• To activate a new battery, connect it to a charger.

➔ See Section 4.3: “Battery Charging.”.

First time use• Batteries are shipped from the factory in shutdown mode and will not respond to the power button.

3

Always fully charge the battery before installing it onto the aircraft for flight.

53

3.2. Installing the TAKEOFF Ground
Control Application
The ACSL TAKEOFF ground control application is available for Android mobile devices by downloading theapplication from the ACSL Soten product website or from Google Play.

3

・ Firmware updates for the SOTEN controller, controller, communication module, and battery are all
performed using the ACSL TAKEOFF ground control application.

First time use

・ For details, please refer to the ACSL TAKEOFF ground control application user manual.

TAKEOFF icon

54

3.3. Controller Preparation
1.

Attach the mobile device to the mobile device holder.
Mobile device holder
Mobile device

the mobile device. Failure to do so may result in damage to or malfunction of the mobile device.

2.

First time use

Attach the mobile device to the mobile device holder so that it does not interfere with the buttons on

3Connect the mobile device to the controller via USB Type-C® .

USB Type-C®

Mobile device connection port
connection port

The USB Type-C® cable should be connected to the mobile device connection port at the top of thecontroller, not the charging port at the bottom of the controller. Communication will not be possible if
the mobile device is connected to the charging port.

3.

Deploy the controller antennas.
➔

See Section 5.5.5 :Determine Optimal Antenna Direction.

Antenna55

If necessary, charge the controller in advance.

➔ For information on how to charge the controller, see Section 4.4: “Controller Charging.” .

3.4. Aircraft Preparation
3

1.

Deploy the arms of the fuselage.
Open the arms firmly until they click into place. Do not install the propellers yet.

First time use

click

click

•

2.

Open the arms firmly until they click into place. Failure to do so may result in a crash.

As shown in the figures below, align the camera/battery hooks with the mounting grooves on theaircraft, then slide the camera/battery in the direction shown until it locks into place.
Slide it into place until it is firmly locked.
groovegrooveclose up(editing
cameraclose up(editing
battery

camera56

batteryWhen installing the camera and battery, be careful not to pinch your hands or fingers. Failure to do so
may result in injury.

•

When installing the camera, do not wear gloves, etc., but be sure to check the camera is properly
installed with your bare hands.

•

If a sticker made by a label maker or other means is attached to the side of the camera mount, it
may interfere with installation. It is recommended that stickers only be attached to the upper part3of the mount.
Only install the camera with the aircraft powered off. Installing the camera with the power on may
cause malfunction of the camera or aircraft.

3.

Check that there is no misalignment between the camera and battery locks and the body of theaircraft (not half-locked). If the battery is only half-locked, the aircraft may not start.

First time use•

Camera lockalignment

Battery lockverificationalignment
verification•

Flying with the camera mount not properly locked is extremely dangerous as the camera may fall

during flight.
•

The video feed from the camera may be displayed even when its mount is not properly locked. Do

not judge the state of the lock from the video feed alone.
•

Touching the camera mount release button may cause the camera mount lock to be unintentionallyreleased.
•

After confirming that the camera is installed and locked, be careful not to touch the camera mountrelease button. Double check that the camera mount is properly locked just prior to flight.

4.

Press the battery power button to turn on the aircraft.
When power is supplied, the aircraft will produce a startup tone.

Powerbutton57

Lasers operating with a wavelength outside the visible range (class 1 lasers) are emitted from two
infrared sensors located on the top and bottom of the aircraft when the aircraft is powered on. Do notlook closer than necessary or look into the lenses of the sensors when the aircraft is powered on.

5.

The status LED will illuminate briefly immediately upon startup and will begin to blink continuously
once the aircraft has completed its startup procedure.
Confirm that the aircraft LED blinks normally (no abnormality).

3First time use

58➔

See Section 6.1.4: Check the Status LED.

Status LED

3.5. First Connection (binding)
3.5.1.
1.

Aircraft-Side Operation

Open the binding button cover on the fuselage.
Binding button cover

3
First time use

Do not use sharp tools to open the cover. Doing so may result in damage to the aircraft.

2.

Press and hold the binding button on the fuselage until all four position LEDs at the tips of the arms
are blinking red.
The status LED blinks and the aircraft enters the binding standby state.

Binding button

3.5.2.
1.

Radio-Controller-Side Operation

With the controller powered off, press the power button while holding down the Enter button.
The system settings screen appears.
System settings menuEnter button
Power button

59

2.

Move the cursor to “BIND” by operating the left stick on the controller and press the Enter button.
*Make sure that the aircraft is in binding standby mode before executing (see Section 3.5.1: Aircraft-Side
Operation).

3
3.

When RUN is displayed, press the Enter button again to execute binding.

First time use

Binding may take 1-2 minutes due to the encryption process.

4.

If binding is successful, “SUCCESS” will be displayed. If binding is not successful and “FAILURE” isdisplayed, repeat steps 1 through 3.
The controller retains only the binding information for the aircraft that it has most recently been boundwith. When binding is performed with another aircraft, the binding information for the previously boundaircraft is deleted.

5.

Press the Go Home button twice to exit the system settings menu.

Go Home button

60

6.

Verify that the controller’s LCD screen displays the aircraft’s battery level and other information.

SOC: State of Charge

3First time use

613.6. Stick Mode Settings•

The controller stick control assignments can be selected from four control modes.

•

Always check the control mode before flying to ensure that the stick operation assignments are the sameas those you are accustomed to using. First-time users should carefully check the stick operation
assignments according to the control mode before making settings.

3
Do not operate the aircraft without checking the stick mode. Unintended movement of the aircraft may

First time use

result in injuries or property damage.

3.6.1.

Stick Mode Types
Climb

Right Slide

Backward
backwards

RotateRotateForwardLeft
Descend
Climb/Descend: Throttle
Forward/Backward: Pitch
Slide Left/Right: Roll
Rotate Left/Right: Yaw

62

MODE 1

MODE 2

3First time use

MODE 3

MODE 463

3.6.2.
1.

Changing Stick Mode

1.
With the controller powered off, press and hold the power button while pressing the Enterbutton on the controller.
The system settings menu appears.
System settings menuEnter button

3

Power buttonFirst time use

2.

Move the cursor to “MODE” by operating the left stick on the controller and press the Enter button.

3.

Move the cursor to the desired control mode and press the Enter button.
The highlighted item on the black background indicates the currently active mode.

4.

Press the Go Home button twice to exit the system settings menu.

Auto return button

643.6.3.

Confirming Stick Mode

Check the operation of the stick mode with the propellers removed. Failure to do so may result in injury.

1.

Starting the motors
Holding the throttle stick down and the yaw stick to the left releases the motor lock and the motors
begin to turn.

In the case of mode 1

In case of mode 2

3First time use

Do not touch the rotating parts. Doing so may result in injury.

2.

Confirmation of rotational operation
Check that the motor rotation operates as below picture.
➔

See Section .3.6.1: Stick Mode Types.
Clockwise rotation

Counterclockwise
rotation

Counterclockwise

Clockwise rotation

rotation

Do not touch the motors immediately after operation. Doing so may result in burns.

3.

Stopping the motors
Holding the throttle stick down and the yaw stick to the right will stop the motor.

65

*This combination of stick inputs will not cause the motors to stop while in flight.

In the case of mode 1

3First time use

66

In the case of mode 2

3.7. Propeller Installation
1.

Turn off the power to the aircraft.

Be sure to turn off the power to the aircraft before attaching or detaching the propellers. Failure to doso may result in injury.

2.

3

Install the propeller while holding the base of the motor with your fingers to prevent it from rotating andholding the arm to prevent it from being strained.

Clockwise

Counterclockwise

rotationrotation

Counterclockwise

ClockwiserotationrotationFirst time use

There are two types of propellers, clockwise rotating and counterclockwise rotating. Like propellers
are installed at opposite ends. Neither propeller type will interface with the mount at the wrong
location.

Motor base

A: For clockwise

B: For counterclockwise

propellers

propellers

Arm

A: Align the protrusions of the propeller with the grooves on the motor and rotate it counterclockwise
while pressing downward to lock it in place.
B: Align the grooves of the propeller with the protrusions of the motor and rotate it clockwise whilepressing downward to lock it in place.

The propellers are sharp. Be careful when attaching and removing them. The sharp edges can cut yourhands or body.

67

3.8. Camera Initialization1.

Prepare a microSD card for image and video storage.
•

The microSD card must meet the following criteria*Refer to the CX-GB100 User Manual for the recommended SD card.
✔ UHS Speed Class ・・・・・・・・・・・・・・U3✔ Video speed class3

・・・・・・・・・・・・・V30 or higher✔ Recording Capacity ・・・・・・・・・・・・・・・・・・・

First time use•

Up to 512GB

Initialize (format) the microSD card.
Supported filesystem formats:✔ FAT32✔ exFAT* exFAT is recommended for microSD cards with a capacity of 32 GB or greater.

2.

Insert the microSD card into the microSD card slot with the correct orientation (as shown in theillustration on the aircraft) until it locks into place.

Insert the microSD card withthe metal terminal side up.

3.

Attach the camera to the aircraft.
➔

68

See Section 3.4: Aircraft Preparation.

Chapter4

Pre-Flight Preparation

4.1. Pre-Flight Preparation Items ·································································································································· 70
4.2. What You Need for Flight ········································································································································ 71
4.3. Battery Charging ························································································································································· 72
4.4. Controller Charging ··················································································································································· 74

69

4.1. Pre-Flight Preparation Items•

The following checks should be made prior to flight.
✔ Batteries charged✔ Controller charged

4
Pre-Flight Preparation704.2. What You Need for Flight•

The following protective gear and apparatus should be readied prior to flight:✔ Helmets✔ Protective goggles *recommended✔ Gloves of a thickness that does not interfere with manipulating the controls *recommended✔ Long-sleeved clothing (top and bottom) *recommended✔ Fire extinguishers, etc. (Refer to the ‘Precautions for Fire Prevention’ in section “1.3.2 Precautions forBattery Handling”).
✔ Internet access (for map data acquisition)

4
Pre-Flight Preparation

714.3. Battery Charging
4.3.1.
•

Charging Method

The status LED and the remaining battery LED light up (blink) according to the charging mode, andcharging starts.
Battery charger

4
Pre-Flight Preparation

Battery
Status LED

To maintain battery health, be sure to fully charge the battery before use.

4.3.2.
•

Battery Charging Modes

The battery’s internal battery management system (BMS) automatically switches from normal charge
mode to charge standby mode when the internal temperature of the battery is outside the safe
temperature range for charging. For example, the internal temperature of the battery may be highimmediately after a flight, and the BMS may switch to charge standby mode upon connection to a charger
to prevent excessive battery performance degradation caused by charging at a high internal temperature.

•

Whether charging has initiated, and whether it is in normal charge mode or charge standby mode, isindicated by the status LED.

◼

Normal charge mode
In normal charge mode the battery is charged at the normal prescribed rate.
Status LED/Battery level LED

Battery level

0-24% (0-24%)
Green

Blinking

light

25-49% (%)
Green

On Blinking

light

(a
lam
p)

72

50-74% (50-74%)
Green

On

On Blinking

On

On

On

On

On

On

light

75-99
Green
light

100%.
Off

◼

4

Charge standby modetemperature of the battery is outside the safe temperature range for charging. Charging is resumed
when the temperature returns to the safe range for charging. Even after charging has started, if theinternal temperature of the battery may exceed the safe range due to exposure to direct sunlight orother factors. In this case the BMS will again switch to charge standby mode and charging will besuspended until the temperature returns to the safe range for charging.
LED indication in charge

standby mode

Status LED

Off

Battery level LED

Pre-Flight Preparation

In the charge standby mode, charging is suspended because the BMS has detected that the internal

Blinking

73

4.4. Controller Charging
4.4.1.

Charging Method

Connect the controller to a commercially available USB compliant charger or other charging-capable device
via USB Type-C®. The controller’s status LED turns orange to indicate charging.

4
Pre-Flight Preparation

Status LED
USB Type-C®

• For charging, the USB Type-C® charging cable should be connected to the charging port at thebottom of the controller, not to the mobile device connection port at the top of the controller. The
controller will not charge if the charger is connected to the mobile device connection port.
• Chargers that are not compliant with the USB BC standard (Battery Charging Specification 1.2) may

not charge the controller properly.
• The dedicated USB Type-C® charging cable that is included with SOTEN may not work with somecommercially available USB PD chargers that are capable of fast charging.

74

LCD Display While Charging (only when powered on)

4.4.2.

When the controller is powered on while charging, the LCD screen displays the charging status.

(1) Charging method(2) State of charge(3) Supply(4) Charging speed
limit display

voltage/current
to built-in

4

About the charging method
The controller identifies the charging method of the charger and displays the name of the charging
accordance with the USB charging standard “Battery Charging Specification 1.2”.
Charging

Detailsmethodname
SDP

Charging via a normal USB communications port on an electronic device (max. 5V 0.5A)

CDP

Charging a USB communications port that is also equipped for charging (max. 5V 1.5A)

DCP

Charging via a dedicated USB charging port (max. 5 V 1.5 A)

CHG1Standard charger or equivalent (max. 5 V 2.4 A), except as noted above

CHG2

Charger that is not capable of the above current (max. 5V 1.0A)

Pre-Flight Preparation

method; the maximum current during charging is adjusted according to the identified charging method inState of Charge
Displays controller charge status.
State ofContents

Details

WAIT

Waiting to charge

Low or high temperature, waiting for acceptable battery temperature.

REPAIR

Over-discharge

The controller is attempting to restore its battery, which has reachedrepair charging

an extremely low level of charge.

Pre-charge

The controller is preforming diagnostics on the battery prior to

diagnostics

initiating charging.

Charging

Normal state of charge.

Charge complete

Charging is complete.

charge

PRECHGCHARGE
FULL

Supply voltage/current to internal battery
Displays the voltage and current supplied to the internal battery. Note that the voltage and current in thisdisplay are not the input voltage and current from the USB port.

75

Charging speed limit indication
The letter “L” is displayed when the charger has reached the upper limit of the power it can supply and thecontroller is limiting the current consumed to protect the charger. Note that this will also be displayedwhen the input power has reached the maximum allowable for the active charging method, regardless ofwhether the charger is capable of supplying more power.

4
Pre-Flight Preparation

76

Chapter5

Pre-Flight Inspection

5.1. Pre-Flight Inspection ················································································································································· 78
5.2. Pre-Flight Battery Inspection·································································································································· 79
5.3. Pre-Flight Aircraft Inspection ································································································································· 80
5.4. Pre-Flight Propeller Inspection ······························································································································ 85
5.5. Pre-Flight Controller Inspection ···························································································································· 86
5.6. Pre-Flight Camera Inspection ································································································································ 89

77

5.1. Pre-Flight Inspection
Perform the following inspections prior to flight.

1.

2.

5
Pre-f light inspection

3.

•

Confirm level of charge ··························································································································5-2-1•

Inspect exterior ··········································································································································5-2-2

Pre-Flight Aircraft Inspection•

Inspect exterior ··········································································································································5-3-1•

Inspect battery terminals and locking mechanism ······································································5-3-2•

Inspect camera terminals and locking mechanism ·····································································5-3-3•

Inspection air intake ································································································································5-3-4•

Inspect motors ···········································································································································5-3-5•Inspect propeller mounts and arms ··································································································5-3-6•

Inspect arm locking mechanisms ·······································································································5-3-7•

Inspect camera and battery lock status ···························································································5-3-8•

Confirm flight conditions/limitations ································································································5-3-9•Inspect stereo cameras and infrared sensors ················································································5-3-10

Pre-Flight Propeller Inspection
•

4.

5.

78

Pre-Flight Battery Inspection

Inspect propellers ·····································································································································5-4-1

Pre-Flight Controller Inspection•

Confirm level of charge ··························································································································5-5-1•

Confirmation controller binding ·········································································································5-5-2•

Confirm the stick mode ··························································································································5-5-3•

Confirm signal strength ··························································································································5-5-4•

Determine optimal antenna direction ······························································································5-5-5•

Confirm antenna position ······················································································································5-5-6

Pre-Flight camera inspection•

Confirm startup··········································································································································5-6-1•

Confirm video transmission ··················································································································5-6-2•

Confirm gimbal operation ·····················································································································5-6-3

5.2. Pre-Flight Battery Inspection
If any abnormality is found during the battery inspection, do not use it for flight. Contact your dealer.

5.2.1.
•

Confirm Level of Charge

Ensure that the battery is fully charged (100%).
➔

See Section 4.3: Battery Charging.

5

Always fully charge the battery before installing it onto the aircraft for flight.

Inspect Exterior•

Verify that there are no cracks or other damage to the mounting hooks and that they are not deformed.

•

Verify that there are no debris in or around the battery terminals.

•

Verify that there are no cracks or other damage or deformation near the terminals.

Mounting hook

Pre-Flight Inspection

5.2.2.

Mounting hook
Battery terminals

795.3. Pre-Flight Aircraft Inspection
If any abnormality is found during the aircraft inspection, do not fly the aircraft. Contact your dealer.
Pre-flight inspections of the aircraft should be performed with the aircraft powered off.

5.3.1.
•

Verify that there are no cracks, scratches, or other damage or deformation on the exterior of the aircraft.

•

Deploy the arms and verify that they do not tilt or wobble when placed on level ground.

5.3.2.

5

Inspect Exterior•

Inspect Battery Terminals and Locking Mechanism

Verify that there is no deformation or rattling near the battery terminals or in the locking mechanism.
Perform the inspection with the battery removed from the aircraft.

Pre-f light inspection•

Verify that there are no cracks, deformation, or other damage or debris near the terminals.

•

Verify that there are no cracks, deformation, or other damage or debris near the locking mechanism.
Battery

Locking mechanism

5.3.3.
•

Locking mechanism

Inspect Camera Terminals and Locking Mechanism

Verify that there is no deformation or rattling near the camera terminals or in the locking mechanism.
Perform the inspection with the camera removed from the aircraft.

•

Verify that there are no cracks, deformation, or other damage or debris near the terminals.

•

Verify that there are no cracks, deformation, or other damage or debris near the locking mechanism.

CameraLocking mechanism

80

Locking mechanism

5.3.4.
•Inspect Air Intake

Verify that there is no debris adhering to the air intake port, which is located at the front of the aircraft,just under the camera terminals. Perform the inspection with the camera removed from the aircraft.

air intake

5.3.5.

Inspect Motors•

Verify that the motors are not damaged or deformed.

•

Turn all motors by hand and verify that they all turn with about the same resistance.

•

Verify that the motors are securely fastened to the arm and are not rattling.

Pre-Flight Inspection

Compare all 4 motors to confirm that there are no significant differences.

5

Hold part A and move part B

81

5.3.6.

Inspect Propeller Mounts and Arms•

Verify that there are no cracks or deformation on the arms.

•

Verify that there are no cracks, chips, deformation, debris, or other contamination of the propeller mounts.

•

Verify that the springs attached to the motor shaft are not deformed or contaminated with debris.

•

After mounting the propellers, verify that they are not loose or rattling.
SpringLeft front/right rear

Right front/left rear

Propeller mount5•

For the left front and right rear motors, verify that the angles of the 4 propeller mounting hooks arevertical (Angle A in the figure below).

•

For the right front and left rears motors, verify that there are no indications of contact or melting on the

Pre-f light inspection

top surface of the propeller mounts (Plane B in the figure below).
•

For the right front and left rears motors, check that there are no contact marks in the propeller mounting
grooves (Groove C in the figure below).

Angle A

5.3.7.
•

Inspect Arm Locking Mechanisms

Open the arms completely until an audible click is heard. Check that there is no rattling of the arms.

Click

82

Groove C

Plane BClick

An arm that is not fully open may move due to the normal accelerations of the motor during flight,
severely impairing the ability of the aircraft to control its attitude, possibly resulting in a crash.

5
Pre-Flight Inspection835.3.8.
•Confirm Camera and Battery Lock Status

The camera release button has a lock confirmation line that visually indicates the lock is engaged. If thisline is not visible, then the lock is not fully engaged. The battery release button does not have a lockconfirmation line, but lock engagement can be confirmed by verifying that the bottom of the button isaligned with the aircraft structure behind it.

•

Before flying, visually check both lock lines to make sure they are not half-locked.

Camera lockBattery lock verified

confirmation line

by alignment

5Pre-f light inspection

If the battery is not securely locked, it may fall out during flight, resulting in a crash.

5.3.9.
•

Confirm Flight Conditions/Limitations

Check the applicable payloads user manuals for flight conditions and limitations with or without payloads
prior to flight.

•

Whenever payloads (including optional items) are loaded onto the aircraft, make sure that total takeoff
weight of the aircraft does not exceed 2,000 g (4.4 pounds).

5.3.10. Inspect Stereo Cameras and Infrared Sensors
Check the lenses of the three pairs of stereo cameras mounted at the front, top, and bottom of the aircraft
and the two infrared sensors mounted at the top and bottom of the aircraft for scratches and dirt. If there isdirt, gently wipe it off with a soft, clean cloth.
•

Check the lenses of the three pairs of stereo cameras for fingerprints, fogging, scratches, cracks, ordeformation.

•

Check the lenses of the two infrared sensors for fingerprints, fogging, scratches, cracks, or deformation.

Stereo camera

Stereo camera
Infrared sensor

Stereo camera

84

Infrared sensor

5.4. Pre-Flight Propeller Inspection
If any abnormality is found with a propeller during inspection, do not use it for flight. Contact yourdealer.

5.4.1.

Inspect Propellers•

Check the propellers for cracks, chips, deformation, dirt, or other contamination.

•

Ensure that there is no damage or wear on the blade tips.

5

For the counterclockwise propellers, verify that the angles of the 4 propeller mounting hooks are vertical(Angle A in the figure below).

•

For the clockwise propellers, verify that there are no indications of contact or melting on the bottom
surface of the propellers (Plane B in the figure below).

•

For the clockwise propellers, check that there are no contact marks in the propeller mounting grooves(Groove C in the figure below).
Plane B

Pre-Flight Inspection•

Groove C

Angle A85

5.5. Pre-Flight Controller Inspection
If any abnormality is found during the controller inspection, do not use if for flight. Contact your dealer.

5.5.1.
•

Confirm Level of Charge

Ensure that the controller battery is fully charged.
➔

Refer to Section 4.4: Controller Charging.

If the controller’s battery runs out, the aircraft will detect the loss of communication with the controller

5and go into emergency mode.

➔ Refer to Section 7.1.4: “Emergency Menu” for details.

Pre-f light inspection

5.5.2.
•

Confirm Controller Binding

When the controller and the aircraft are turned on, “CONNECTION CHECKING” is displayed on thecontroller and the controller status LED blinks green. Connection to the aircraft is made automatically.

•

When “SUCCESS” is displayed on the controller and the controller status LED becomes solid green, theconnection between the controller and the aircraft is complete.

• If the status LED is blinking red, communication with the aircraft has been lost. If, after some time,connection cannot be established, restart the controller and aircraft.
• If the aircraft is bound to more than one controller, “TO BE PILOT PUSH ENTER” will be displayed. Press

and hold the ENTER button on the desired controller to acquire pilot authority.

Notification
CONNECTION CHECKING

Checking the connection between the aircraft and the controller.

TO BE PILOT PUSH ENTER

The aircraft is soliciting for a pilot.

5.5.3.
•

Confirm the Stick Mode

Always check the control mode before flying to ensure that it is set to the pilot’s preferred mode.
➔

86

Processing details

Refer to Section 3.6 .Stick Mode Settings.

5.5.4.
•

Confirm Signal Strength

Verify the lack of wireless interference between the controller and drone by performing the following test
procedure. With the antennas folded in the stowed position, confirm that the camera video stream can bereceived smoothly at approximately 50 m (160 ft) from the aircraft.

•

Remember to deploy the antennas after completing the signal strength check.

Antennas folded

Approx. 50m, direct line of sight5

2.4 GHz devices (such as Wi-Fi).

5.5.5.
•

Determine Optimal Antenna Direction

The antennas are directional; radio waves are transmitted and received most strongly in the direction thatis perpendicular to the plane of the antennas.

•

Referring to the figure below, communication with a distant aircraft tends to be more stable in state B

Pre-Flight Inspection

Beware of radio interference when other drones are flying in the vicinity or when in the vicinity of otherthan in state A in the figure below. Configuration B is recommended when the aircraft and controller are
far from each other.

A

B

87

5.5.6.
•

Confirm Antenna Position

The two antennas must be deployed so that they are in parallel.

Antennas that are folded or not deployed in parallel may cause unstable communication between theaircraft and the controller.

5Pre-f light inspection•

The 2.4GHz band used for communication between the controller and the aircraft is capable of highbandwidth data communication, but it is easily obstructed by obstacles between the controller and theaircraft.

•Objects blocking the line of sight between the aircraft and the antennas may disrupt
communication.

•

If the aircraft is flown behind the pilot, the pilot themselves may obstruct communications. To
maintain communications, the pilot should turn so that the controller always has an unobstructedline of sight to the aircraft.

885.6. Pre-Flight Camera Inspection
For details on camera/gimbal operation with the ACSL TAKEOFF ground control application, refer to the
ACSL TAKEOFF ground control application User Manual.

5.6.1.

Confirm Startup•

The gimbal performs a self-calibration when the aircraft is started up.

•

After self-calibration is completed, confirm that the gimbal holds a forward-facing orientation.

If, during calibration, the gimbal touches the ground or other obstacle, calibration will fail, the gimbal will
not function properly, and a gimbal error message will be displayed. When starting up the gimbal, place5

the aircraft on a flat, level surface.

•

Confirm Video Transmission

Connect the ACSL TAKEOFF ground control application to the controller and confirm that the live video
feed is displayed.

Pre-Flight Inspection

5.6.2.

Camera image

Example of full-screen map display

5.6.3.

Confirm Gimbal Operation•

Check that the controller’s left gimbal control wheel operates the gimbal tilt.

•

Check that the controller’s right gimbal control wheel operates the gimbal pan.
Gimbal control wheel (L)Gimbal control wheel (R)89

Chapter6

Normal Operating Procedures

6.1. Test Run ·········································································································································································· 91
6.2. Basic In-Flight Operations ······································································································································· 95
6.3. In-Flight Functions ····················································································································································· 103
6.4. Controller Multicast ··················································································································································· 117
6.5. Lesson Mode (Japan only) ······································································································································· 119
6.6 Regional Market Geofence ······································································································································ 12190

6.1. Test Run
6.1.1.
•

Verify Motor Start and Stop Procedure

Before the first flight of the day, briefly start then stop the motors to confirm correct setting of the stickmode and operation. Refer to Section 3.6.3 Confirming Stick Mode.
clockwisleft-ehandedleft-

clockwis

handede

6Class 1 Laser Productinfrared sensors located on the top and bottom of the aircraft when the aircraft is powered on. Do notlook closer than necessary or look into the lenses of the sensors when the aircraft is powered on.

• During startup, do not bump or tilt the aircraft until startup is complete as this may interfere with thestartup calibration of the on-board sensors.
• During startup, if the sticks are not centered, a safety lockout function is activated and the motors will

not start. The safety lockout function is deactivated once the sticks are centered.

Normal Operating Procedures

Lasers operating with a wavelength outside the visible range (class 1 lasers) are emitted from two• If the motors do not start, refer to Chapter 9 “Troubleshooting.”

916.1.2.
•

Verify Correct Magnetic Orientation

Perform a magnetic orientation check on the first flight of the day.
Magnetic Orientation Check Procedure•

Confirm that the propellers are removed from the aircraft.

•

Power on the aircraft and controller.

•

Verify connection between the aircraft and controller.

•

Verify connection between the aircraft and the ACSL TAKEOFF ground control application.

•

While keeping the aircraft flat, lift the aircraft and rotate it 360-degrees around the yaw axis in about 2
to 3 seconds.

•

Verify that the “AZIMUTH ERROR INCREASED” message is not displayed on the controller or ACSLTAKEOFF ground control application.

If the “AZIMUTH ERROR INCREASED” caution message is displayed, follow the instructions below.
•

If any equipment that emits a strong magnetic field is installed, buried, or suspected in the vicinity,
do not take off in either the position (POS) or auto (AUT) mode.

•

Perform a magnetic calibration when the aircraft configuration is changed, such as adding optional
equipment or removing a standard camera.

6*Refer to the ACSL TAKEOFF ground control application User Manual for instructions on performing amagnetic calibration.

Normal Operating Procedures•

If none of the above apply, it is recommended that you do not fly in either the position (POS) or
auto (AUT) mode.

6.1.3.
•

Confirm Level of Charge

Before flight, check the level of charge of the battery that will be inserted to the aircraft.
LED indication of remaining battery charge during normal charging
Battery level LED

Battery level0-24%
blinking

25-49%
on

on

92

on

50-74%

onon

75-100%on

The ability to take off (i.e. the ability to increase motor speed above idle) is inhibited when the aircraft’s
battery level is 13% or lower. See below for dealing with low battery.
•Continually monitor the battery level of the aircraft during flight.

Remaining battery level

Battery level
24%

Resulting actions

Battery voltage low

Battery power is low. Continue to monitor the battery(caution)level.

Battery voltage low

The ability to take off is inhibited. Land in a safe place(warning)

as soon as possible.
If in auto (AUT) mode, the aircraft will enter
emergency mode.

6%

Battery voltage low

An emergency landing (automatic landing on the(warning)spot) that cannot be overridden will commence.

• If the aircraft’s battery level falls to 6% or lower, the battery level LED will blink and the aircraft will

make an emergency landing straight down to prevent a crash. The emergency landing cannot be

6Normal Operating Procedures

13%.

Messagecancelled by the user, and all controls will be locked out. Continually monitor the battery level during
flight and land the aircraft in a safe location before the battery level falls to 6%.

936.1.4.

Check the Status LED

If any abnormality is found during the inspection, do not fly the aircraft. Contact your dealer.
➔

With the battery installed in the aircraft, when the power button is pressed the status LED will display theflight mode set on the controller. The status LED will also flash red when a GPS or visual odometry
abnormality is detected, and white when an aircraft abnormality is detected.
➔

Refer to Section 6.2.1: Flight Mode Settings.

Status LED
Status LED indication when the aircraft is powered on

6

Flight mode

Mode indication

GPS and visual odometry
abnormality

Aircraft abnormality

Manual mode

Normal Operating Procedures

Switch position: MAN

Flashing yellow

Position mode
Switch position: POS

Flashing green

Auto mode
Switch position: AUT

Flashing blue

Flashing red

Flashing white

Manual mode
Position mode
Auto mode
Switch position:
MAN/POS/AUT(Auto takeoff andFlashing purple

landing)• If, while in flight, the status LED flashes red, immediately switch to manual (MAN) mode.
• Continued flight in position (POS) or auto (AUT) mode with the status LED flashing red may result inloss of control and a crash.

The ability to take off (i.e. the ability to increase motor speed above idle) is inhibited in position (POS) or
auto (AUT) mode while the status LED is flashing red.

94

6.1.5.

Install Propellers

Install the propellers.
➔

Refer to Section 3.7: “Propeller Installation” for instructions on how install the propellers.

6.2. Basic In-Flight Operations
6.2.1.

Flight Mode Settings

Auto landing

Go homeFlight mode switch(MAN, POS, AUT)

FeatureManual modeThis mode does not use GPS. The aircraft will achieve a flat attitude when

Switch position: MAN

the sticks are released, but a hover at a fixed position will not be
achieved.

Position modeThis mode uses GPS or visual odometry to control the position and speed

Switch position: POSof the aircraft. The aircraft will achieve a hover at a fixed position when
the sticks are released.

Auto modeThis mode uses GPS to autonomously execute a flight along a route that

Switch position: AUT

was pre-planned using the ACSL TAKEOFF ground control application.
This mode cannot be used in a non-GPS environment.

Automatic landing modeThis mode uses GPS or visual odometry to autonomously land at the

Switch position: MAN, POS,

current location. This mode is entered by pressing either the land button

AUT

on the ACSL TAKEOFF ground control application or the auto-landing

Normal Operating Procedures

Flight mode

6

button on the controller.
Go home modeThis mode uses GPS to autonomously return to the takeoff location. This

Switch position: MAN, POS,

mode is entered by pressing either the go home button in the ACSLAUTTAKEOFF ground control application or the go home button on thecontroller.

Command flight

This mode uses GPS to control the location and orientation of the aircraft

Switch position: AUT

using the ACSL TAKEOFF ground control application.

95

Auto-takeoffThis mode uses GPS or visual odometry to autonomously take off. This

Switch position: AUT

mode is entered by pressing the takeoff button on the ACSL TAKEOFF
ground control application.

Idling

The aircraft has transitioned from the powered-on state to the flightready state and the motors are rotating at the minimum rotational speed.

Flying in manual (MAN) mode requires advanced piloting skill.
Position (POS) and auto (AUT) modes primarily use GPS for position control, but automatically switch tovisual odometry when reception of GPS signals is poor or not possible.
* The ability to take off (i.e. the ability to increase motor speed above idle) is inhibited in auto (AUT)
mode while GPS reception is poor (as indicated by the status LED flashing red or a red GPS icon in the
ACSL TAKEOFF Ground Control Application).

6.2.2.
•

Basic Manual Mode (MAN) Operations

This section describes basic operations in manual (MAN) mode. This mode requires active use of thecontroller and is primarily intended to give the pilot full control in case of an operational abnormality or

6emergency.
➔

Normal Operating Procedures•

Refer to Chapter 7: Abnormal Operating Procedures.

Manual (MAN) mode should be used when GPS or visual-odometry cannot correctly measure the aircraft’s
position or speed.

•

Assists the pilot in maintaining a constant aircraft attitude and altitude or vertical speed.

Failure to comply with the following may result in an unexpected collision or crash that could cause
injury, fire, or damage.
•

There is a risk of lacerations or other injury from contact with the rotating propellers. Always keep a
sufficient distance.

•

The aircraft will not maintain its position in manual (MAN) mode. The pilot must make continuous
corrective inputs to maintain the aircraft’s position in manual (MAN) mode. Always exercise careafter switching to manual (MAN) mode.

•

When switching to manual (MAN) mode, be sure to confirm the forward heading (yaw angle) of theaircraft before manipulating the controls. It is recommended to turn the aircraft so that it faces
away from the pilot for intuitive maneuvering.

•If the aircraft’s battery level falls to 6% or less, the battery level LED will flash and the aircraft will
make an emergency landing straight down to prevent a crash. The emergency landing cannot becancelled by the user, and all controls will be locked out. Continually monitor the battery level
during flight and land the aircraft in a safe location before the battery level falls to 6%.

Switching to manual mode•

If the aircraft is not able to measure it’s position or speed with GPS or visual-odometry, switch tomanual mode by setting the controller's flight mode switch to the “MAN” position.

•

96

Verify that the aircraft’s status LED is blinking yellow.

MAN
Controller flight mode switch

TAKEOFF display

Aircraft status LED

MAN

ManualBlinking yellow

6
Normal Operating Procedures

97

Maneuvering the aircraft using the controller•

Takeoff•

After starting the motors, slowly manipulate the throttle stick upward from the center position totake off.

••

Hovering•

The pilot has direct control of aircraft attitude. The aircraft will not hold its position.

•

The position of the aircraft should be controller by manipulating the roll and pitch sticks.

•

Manipulate the yaw stick to change the heading direction of the aircraft.

Altitude••Moving forward, backward, left, and right••

The aircraft will maintain a constant altitude when the throttle stick is in the center position.
Manipulate the roll and pitch sticks to adjust the path and speed of the aircraft.

Landing•

Manipulate the throttle stick downward to descend the aircraft toward the ground.

•

When nearing the ground, ease the throttle stick toward the center to reduce the rate ofdescent.

•

6

Upon landing, hold the throttle stick in the lowest position until the aircraft is securely grounded.

There is a risk of flyaway or loss of control when flying in winds that are higher than the specified windspeed limit.

Normal Operating Procedures➔•

Refer to 1.2.3. Limitations. Abort flight immediately if the wind speed exceeds the limit.

If, during takeoff or landing, any part of the landing gear or the aircraft inadvertently contacts theground or any other object, do not attempt to climb. Immediately hold the throttle stick in thelowest position and land the aircraft.

•

Attempting to climb or hover while in contact with the ground or other object may result inexcessive attitude angles and a possible crash.

•

Excessive use of pitch or roll in manual (MAN) mode may cause the aircraft to exceed its maximum
speed and lose control. Fly at or below the maximum speed.

•

Takeoffs and landings should be performed on a flat, level surface.

•

During takeoff, any stick input other than throttle may cause the aircraft to tip over.

•

The aircraft will not maintain its position in manual (MAN) mode. The pilot must make continuous
corrective inputs to maintain the aircraft’s position in manual (MAN) mode.

•

Wind gusts may cause the aircraft to move suddenly.

•

When landing, do not land with any horizontal speed. Attempting to land with horizontal speed
may cause the aircraft to tip over or the propellers to contact the ground.

•

The soft-landing assist function does not work in manual mode. Depending on the condition of thelanding area, landing with high vertical speed may cause damage. Operate the throttle stickcarefully and land slowly.

986.2.3.
•

Basic Position Mode (POS) Operations

This section describes basic operations in a position (POS) mode. This is the mode that should normally be
used when it is desired to control the location of the aircraft via the control sticks.

•

GPS or visual-odometry are used to measure the aircraft's position and speed.

•

Assists the pilot in maintaining a constant aircraft position or speed.

Failure to comply with the following may result in an unexpected collision or crash that could cause
injury, fire, or damage.
•

There is a risk of lacerations or other serious injury from contact with the rotating propellers.
Always keep a sufficient distance.

•

In position (POS) mode, the aircraft relies primarily on GPS signals (when available) for position
control. Switch to manual (MAN) mode immediately if the GPS icon in the ACSL TAKEOFF groundcontrol application turns red, if the aircraft’s status LED flashes red, or if the aircraft drifts orotherwise moves in a way that seems abnormal.

•

When reception of GPS signals is poor or not possible, the aircraft will switch automatically tovisional odometry for position control. Switch to manual (MAN) mode immediately if the “VISION
Accuracy Degraded” caution message is displayed in the ACSL TAKEOFF ground control application,
if the aircraft’s status LED flashes red, or if the aircraft drifts or otherwise moves in a way that seems
abnormal.

•6

If the aircraft’s battery level falls to 6% or less, the battery level LED will flash and the aircraft willcancelled by the user, and all controls will be locked out. Continually monitor the battery level
during flight and land the aircraft in a safe location before the battery level falls to 6%.

Switching to position mode•

Switch to position mode by setting the controller's flight mode switch to the “POS” position.

•

Verify that the aircraft’s status LED is blinking green.

•

Verify that the aircraft’s status LED is not blinking red.

•

Ensure that the takeoff area is not within a user-defined geofence no-fly zone.

Normal Operating Procedures

make an emergency landing straight down to prevent a crash. The emergency landing cannot be

POS•

Controller flight mode switch

TAKEOFF display

Aircraft status LED

POS

Position

Blinking green

The ability to take off (i.e. the ability to increase motor speed above idle) is inhibited in position(POS) mode while the status LED is flashing red.

•

The ability to start the motors is inhibited if the aircraft detects that it is within a no-fly zone set by
the user with the ACSL TAKEOFF ground control application.

99

Maneuvering using the controller•

Takeoff•

After starting the motors, slowly raise the throttle stick upward from the center position and take
off.

•

•

Hovering•

The pilot has direct control of the aircraft’s position.

•

The position of the aircraft can be adjusted by manipulting the roll and pitch sticks.

•

Manipulate the yaw stick to change the heading direction of the aircraft.

Altitude••Forward/backward/left/right sideways••

The aircraft will maintain a constant altitude when the throttle stick is in the center position.
Manipulate the roll and pitch sticks to adjust the speed and trajectory of the aircraft.

Landing•

Manipulate the throttle stick downward to descend the aircraft toward the ground.

•

When nearing the ground, the soft-landing assist function will automatically adjust the rate ofdescent.

•

6

Upon landing, hold the throttle stick in the lowest position until the aircraft is securely grounded.

There is a risk of flyaway or loss of control when flying in winds that are faster than the specified windspeed limit. Abort flight immediately if the wind speed exceeds the limit.

Normal Operating Procedures•If, during takeoff or landing, any part of the landing gear or the aircraft inadvertently contacts theground or any other object, do not attempt to climb. Immediately hold the throttle stick in thelowest position and land the aircraft.

•

Attempting to climb or hover while in contact with the ground or other object may result inexcessive attitude angles and a possible crash.

•

Malfunction of the soft-landing assist function may result in an excessively slow descent. Switch tomanual (MAN) mode to regain control of the descent speed.

•

In position (POS) mode, with good reception of GPS signals, the maximum possible ground speed is
15 m/s (33.5 MPH). If reception of GPS signals is poor or not possible, the aircraft will automaticallyswitch to visual odometry for position control and ground speed will be limited to 0.8 m/s (1.8
MPH).

•

The collision avoidance feature only functions in the forward and upward directions. Avoid flying at
low altitude to prevent collision with rising terrain.

100

•

Takeoffs and landings should be performed on a flat, level surface.

•

During takeoff, any stick operation other than throttle may cause the aircraft to tip over.

•As the aircraft approaches the ground for landing, it will automatically decelerate to assist in a softlanding based on the distance measurements from the infrared sensor on the bottom of theaircraft.

•*Depending on the composition and condition of the ground directly below the aircraft, thisfeature may not function properly. The pilot should monitor the landing and be ready to manually
adjust the rate of descent if it appears not to be slowing near the ground. When landing, do notland with any horizontal speed. Attempting to land with horizontal speed may cause the aircraft to
tip over or the propellers to contact the ground.

6.2.4.
•

Basic Auto Mode (AUT) Operations

This section describes basic operations in the auto (AUT) mode. This is the mode that should normally be
used when it is desired to control the location of the aircraft via the ACSL TAKEOFF ground control
application.

•

GPS or visual-odometry are used to measure the aircraft's position and speed.

•

Assists the pilot in maintaining a constant aircraft position or speed.

injury, fire, or damage.
•

There is a risk of lacerations or serious injury from contact with the rotating propellers. Always keepa sufficient distance.

•

In auto (AUT) mode, the aircraft relies primarily on GPS signals (when available) for position control.
Switch to manual (MAN) mode immediately if the GPS icon in the ACSL TAKEOFF ground control
application turns red, if the aircraft’s status LED flashes red, or if the aircraft drifts or otherwise
moves in a way that seems abnormal.

•

If the aircraft’s battery level falls to 6% or less, the battery level LED will flash and the aircraft will
make an emergency landing straight down to prevent a crash. The emergency landing cannot becancelled by the user, and all controls will be locked out. Continually monitor the battery level

Normal Operating Procedures

Failure to comply with the following may result in an unexpected collision or crash that could cause

6during flight and land the aircraft in a safe location before the battery level falls to 6%.
Switching to auto mode•

Switch to position mode by setting the controller's flight mode switch to the “AUT” position.

•

Verify that the status LED on the aircraft is blinking blue.

•

Verify that the status LED on the aircraft is not blinking red.

•

Ensure that the takeoff area is not within a user-defined geofence no-fly zone.

AUT

101

•

Controller fried mode switch

TAKEOFF display

Status LEDs on the aircraft

AUT

Auto

Blinking blue

The ability to take off (i.e. the ability to increase motor speed above idle) is inhibited in auto (AUT)
mode while the status LED is flashing red.

•

The ability to start the motors is inhibited if the aircraft detects that it is within a no-fly zone set by
the user with the ACSL TAKEOFF ground control application.

Checklist•

When the controller's flight mode switch is set to the “AUT” position, a red checklist button will appear
in the ACSL TAKEOFF ground control application.
*For details on the checklist, please refer to the ACSL TAKEOFF ground control application user manual.

•

Press the checklist button to display the preflight checklist.

•

The preflight checklist automatically checks for GPS and sensor health.

•

When all checks, including manual check items, are completed, the checklist button turns blue and thestart button appears.

6
Normal Operating Procedures

102

Checklist button (red)Checklist button (blue)

Start button

Free flight➔

Refer to section 6.3.6: Directional Pad (D-Pad).

Planned flight➔

Refer to Section 6.3.12: Planned Flight.

6.3. In-Flight Functions
6.3.1.
◼

Availability of Functions for each Flight Mode

Functions that may be executed from the controller
Function
Auto landing
Pause

◼

Manual (MAN)

Position (POS)

Auto (AUT)

✓

✓

✓

From go home or auto landing modes✓

Go home✓✓✓

Collision avoidance

-

✓

✓

Camera/gimbal operations

✓

✓

✓

Forced stop

✓

✓

✓

Function

Manual (MAN)

Position (POS)

Auto (AUT)

Auto takeoff

-

-

✓

Auto landing

✓

✓

✓

Pause

From go home or auto landing modes✓

Directional pad (D-pad)

-

-

✓

Go home✓✓✓

Go to Transmitter

✓

✓

✓

Camera/gimbal operations

✓

✓

✓

Planned flight

-

-

✓

User-defined geofence

-

✓

✓

Altitude limitations

-

✓

✓

Marker tracking

-

-

✓

Emergency landing

✓

✓

✓

Normal Operating Procedures

Functions that may be executed from the ACSL TAKEOFF ground control
application

6103Forced stop

6.3.2.
•✓✓✓

Modal Dialog (TAKEOFF Ground Control Application)

In the case of the ACSL TAKEOFF ground control application, the following functions are executed only
after confirmation via a modal dialog window. The intention to execute the function is confirmed bysliding the confirmation slider to the right, and can be canceled by pressing the close button.
•

Auto takeoff•

Auto landing•

Go to Transmitter•

Emergency landing*Slide to the right to execute•

Forced stop

Close button (cancel)

6.3.3.

6

Confirmation slider

Auto Takeoff•

Allow the controller sticks to remain in the center position.

•

Set the controller mode switch to atuo (AUT) mode and tap the takeoff button on the ACSL TAKEOFF
ground control application to execute an automatic take off on the spot.

•

After takeoff, the aircraft will hover at approximately 3 meters (10 feet).

Normal Operating Procedures

Takeoff button

AUT•

Takeoff button

Complete the checklist before starting the motors.

➔ Refer to Section 6.2.4: Basic Auto Mode (AUT) Operations for details.
•

104

Take off from a flat, level surface.

6.3.4.
•

Auto Landing

Press and hold the Auto Landing button on the controller or tap the Land button from the Command
Menu in the ACSL TAKEOFF ground control application to execute an automatic landing on the spot.
Landing button

Auto Landing
buttonCommand Menu button

Land on a flat, level surface.

6.3.5.

Press and hold the Pause button on the controller or tap the Pause button on the ACSL TAKEOFF groundcontrol application to pause the function currently being executed.

•

In manual (MAN) mode and position (POS) mode, it is only possible to initiate a pause while executing ago home, Go to Transmitter, or auto landing.

•

In auto (AUT) mode, pause can be initiated while executing an auto takeoff, planned flight, go home, Go
to Transmitter, or auto landing.

•Releasing the pause button on the controller or pressing the resume button on the TAKEOFF groundcontrol application will cause the paused function to resume.

Pause button

Pause button

Normal Operating Procedures•

6

Pause/Resume

Resume button

105Directional Pad (D-Pad)

6.3.6.
•

Directional Pad (D-Pad) control can be initiated in the ACSL TAKEOFF ground control application, by
tapping the D-Pad button from either the command menu or the emergency menu (in some situations,
see Section 7.1.4 Emergency Menu on pg. 126). D-pad control is automatically initiated while in auto
(AUT) mode, if no flight plan has been uploaded to the aircraft, or when the flight plan is complete.

•

The D-Pad allows the pilot to manually control the drone from within the ACSL TAKEOFF ground control
application.
Note that pressing and holding the D-Pad button will not result in continuous movement of the aircraft.

D-pad

Command button

6

Left Directional Pad

Normal Operating Procedures

FrowardDistance: 2 m (6.5 ft) per press

Right Directional Pad
Up

Speed: 1 m/s (2 mph)
Back

Distance: 2 m (6.5 ft) per press

Speed: 1 m/s (2 mph)
Down

Speed: 1 m/s (2 mph)
Right (slide)

Distance: 2 m (6.5 ft) per press

Distance: 2 m (6.5 ft) per press

Distance: 2 m (6.5 ft) per press
Speed: 0.5 m/s (1 mph)

Right (turn)

30° per press

Left (turn)

30° per press

Speed: 1 m/s (2 mph)
Left (slide)

Distance: 2 m (6.5 ft) per press
Speed: 1 m/s (2 mph)

There is a risk of flyaway or loss of control when flying in winds that are faster than the specified windspeed limit. Abort flight immediately if the wind speed exceeds the limit.

If you cannot decrease the altitude of the aircraft or if the descent speed is low due to collision
avoidance feature, switch to manual (MAN) mode.

106

6.3.7.
•

Go HomePress and hold the Go Home button on the controller or tap the Go Home button from the Command
Menu in the ACSL TAKEOFF ground control application to execute the Go Home function. Upon execution,
if the aircraft is at an altitude that is lower than 10 m (33 ft) above the takeoff location, then it will
immediately climb to that altitude. The aircraft will then return to the takeoff location, maintaining it’s
altitude, and then will initiate an automatic landing.
Go Home button

Go Home button

Command button>10 m (33 ft)
10 m (33 ft)

Switch to manual (MAN) mode immediately if the GPS icon in the ACSL TAKEOFF ground control
application turns red, if the aircraft’s status LED flashes red, or if the aircraft drifts or otherwise moves ina way that seems abnormal.

•

Normal Operating Procedures

Takeoff locaiton

6

The aircraft will proceed to the home location in a straight line from its current location. Pleaseconfirm in advance whether there are any obstacles in the way. If necessary, increase the aircraft’s
altitude prior to engaging Go Home mode.

•

In Go Home mode, the pilot can regain control of the aircraft at any time by switching the flightmode on the controller.

•

In Go Home mode, the motion of the aircraft can be paused and resumed using the pause buttonon the controller.

•

In Go Home mode, commands may be issued from the command menu in the ACSL TAKEOFF
ground control application. For details, check the ACSL TAKEOFF ground control application User
Manual.

107

6.3.8.

Go to Transmitter

Press and hold the Go to Transmitter button on the controller or tap the Go to Transmitter button from•the Command Menu in the ACSL TAKEOFF ground control application to execute the Go to Transmitter
function. The aircraft will maintain its altitude and proceed directly to the nearest location that is
approximately 15 m (49 ft) from the controller, and then initiate a hover.
If the controller's location changes during the return, the aircraft will recompute the target location (the•nearest location that is 15 m (49 ft) from the controller).
Control will transition to Directional Pad (D-Pad) approximately 2 seconds after initiating the hover.

•6

Current altitude

Normal Operating Procedures

Current altitude

Controller•≈15 m (49 ft)

In Go to Transmitter mode, the aircraft will proceed in a straight line to a location approximately 15m (49 ft) from the controller’s location and initiate a hover. Be careful not to move to a location
directly under the aircraft.

•

Switch to manual (MAN) mode immediately if the GPS icon in the ACSL TAKEOFF ground control
application turns red, if the aircraft’s status LED flashes red, or if the aircraft drifts or otherwise
moves in a way that seems abnormal.

•

The aircraft will proceed to the controller location in a straight line from its current location. Pleaseconfirm in advance whether there are any obstacles in the way. If necessary, increase the aircraft’s
altitude prior to engaging Go to Transmitter mode.

•

In Go to Transmitter mode, the pilot can regain control of the aircraft at any time by switching theflight mode on the controller.

•

In Go to Transmitter mode, the motion of the aircraft can be paused and resumed using the pause
button on the controller.

108

•

In Go Home mode, commands may be issued from the command menu in the ACSL TAKEOFF
ground control application. For details, check the ACSL TAKEOFF ground control application User
Manual.

6.3.9.
•

Obstacle Avoidance

When the controller’s Collision Avoidance switch is set to the ON position, the aircraft will climb to avoid
obstacles that are detected while executing Go Home or Go to Transmitter functions.

•

As the aircraft climb to avoid an obstacle, once it is detected that the obstacle has been cleared, theaircraft will continue to climb an additional 2 m (6.5 ft) before resuming the return, maintaining the new
altitude.

Collision Avoidance
switch6

Climbs ≈2 m
(6.5 ft)

Approx. 2mlocation

beforeThe obstacle avoidance function can help but the pilot is ultimately responsible for obstacle avoidance.
Keep a close eye on the aircraft and switch to manual (MAN) mode in an emergency.

Normal Operating Procedures

Takeoff/controller

1096.3.10. Collision AvoidanceAfter takeoff, setting the controller’s Collision Avoidance switch to the ON position activates the collision•

avoidance function to avoid collisions with obstacles ahead of and above the aircraft. (The distance to thedetected obstacle is displayed on the controller and the ACSL TAKEOFF ground control application.)
When an obstacle is detected to be closer than the collision avoidance distance, the aircraft will no longer•

proceed in the direction of the detected obstacle.
There is no function to maintain a constant collision avoidance distance when progress in the direction of•an obstacle is stopped (i.e. the aircraft will not back away from obstacles).

Collision
Avoidance switch

Example controller display

6
Normal Operating Procedures

Example ACSL TAKEOFF ground control application display•

Collision avoidance

Collision avoidance

direction

distance

Sensor(s)AheadApprox. 2m (6.5 ft)

Stereo camera

Above

Approx. 1m (3 ft)

Stereo camera or infrared sensor

The collision avoidance function can help but the pilot is ultimately responsible for collision
avoidance.

•

Obstacles may not properly be detected depending on environmental factors such as lighting andvisibility and the shape and color of the obstacles. Always fly with sufficient distance from obstacles.

•

The collision avoidance function is inhibited in manual (MAN) mode.

•

The collision avoidance function is always disabled when the collision avoidance switch on thecontroller is turned off. If collision avoidance is desired during a planned flight in auto (AUT) mode,the collision avoidance switch on the controller must be turned on.

•

When the collision avoidance switch is turned on, the controller will display the symbol “Example
controller display” shown above.

110

6.3.11. Camera/Gimbal Operation•

Camera operation is performed using the right and left Camera Control button and wheels, or the camera
control buttons and sliders on the ACSL TAKEOFF ground control application.
*For details on camera/gimbal operation with the ACSL TAKEOFF ground control application, refer to the
ACSL TAKEOFF ground control application user manual.

•

Upon startup, the gimbal performs a self-calibration. If the gimbal touches the ground or any otherobject during this process, the calibration will fail and the gimbal will cease to operate. Always
place the aircraft on a flat, level surface before starting up.

•

The aircraft will not maintain its position in manual (MAN) mode. The pilot must make continuous
corrective inputs to maintain the aircraft’s position in manual (MAN) mode, even while
manipulating the gimbal.

•

Video recording and interval shooting can only be stopped by the controller if started by thecontroller, or by the ACSL TAKEOFF ground control application if started by the ACSL TAKEOFF
ground control application.

Camera/gimbal operation via the controller•

Push and hold the right camera control button to start/stop a video recording.

•Briefly push the right camera control button to starts/stop interval still image capture.

•

Briefly push the left gimbal control button to point the gimbal forward. Push and hold to turn the•

The left gimbal control wheel is used to control the gimbal tilt (up and down).

•

The right gimbal control wheel is used to control the gimbal pan (left and right).

Left Camera Control wheel

Right Camera Control wheel

Left Camera Control

Right Camera Control

buttonbuttonCamera/gimbal operation via the ACSL TAKEOFF ground control application•

If the map is displayed full screen, tap the Mini Camera Display at the bottom-left of the screen toNormal Operating Procedures

gimbal downward.

6

switch to the camera full screen view.

111

Mini Camera
Display

Example of the camera full screen view
Example of the map full screen view•

The camera control buttons at the bottom-right of the camera full screen view are used to perform thefollowing functions.

6•

Selecting the shooting mode: video, still image, and interval still image.

•The shutter button is used to start and stop shooting.

•

The stream record button is used to start and stop the recording of the video stream to themobile device.

•

The camera settings menu button opens the camera settings menu for advanced camera

Normal Operating Procedures

settings.

Still image

Interval

Video
Tap

•

Tap

Shooting mode

ShutterStream recording

Camera Settings

buttonbuttonbuttonMenu button

Tap…

The camera control buttons at the right of the camera full screen view are used to perform thefollowing functions.

112

Still image

Tap•

Display the camera manual focus slider.

•

Display the gimbal tilt slider.

•

Display the camera zoom slider.

•

Locks/unlock the exposure (auto exposure lock).

SliderManual focus button
Gimbal tilt button
Zoom button
AE lock button

6.3.12. Planned Flight•

To use the planned flight function, a flight plan must first be created then uploaded to the aircraft using
the ACSL TAKEOFF ground control application.
*For details on how to create a flight plan and upload it to the aircraft, please refer to the ACSL TAKEOFF
ground control application user manual.

•Complete the preflight checklist in the ACSL TAKEOFF ground control application.

•

Panned flight will commence immediately following automatic takeoff, or when the controller’s control•

Upon completing the planned flight, the aircraft will initiate a hover at the final waypoint and Directional
Pad (D-Pad) control will be initiated.

•

At any time during a planned flight, it is possible to pause/resume execute a go home, Go to Transmitter,or emergency landing, or switch to Directional Pad (D-Pad) control.

•

To resuem the planned flight after a Pause, Go Home, Go to Transmitter, or Emergency Landing, toggle
the controller's flight mode switch to POS or MAN and then back to AUT. The controller will return to theaborted position of the planned flight and resume the planned flight.
Take-off button

Normal Operating Procedures

mode switch is set to the AUT position while in flight.

6

AUT

There is a risk of flyaway or loss of control when flying in winds that are faster than the specified windspeed limit.
➔

Refer to 1.2.3. Limitations. Abort flight immediately if the wind speed exceeds the limit.

113

•

Planned flights in auto (AUT) mode can only be performed when reception of GPS signals is good
(as indicated by a blue GPS icon in the ACSL TAKEOFF ground control application).

•

If GPS reception deteriorates during a planned flight in auto (AUT) mode1, the planned flight willautomatically be suspended, the aircraft will initiate a hover, and “Forced pausing” will be displayedin the ACSL TAKEOFF ground control application. If the aircraft's position and speed can bemeasured by visual odometry using the on-board stereo cameras2, then the hovering state will be
continued using visual odometry. Immediately switch to manual (MAN) mode and land the aircraft
in a safe location. Continuation of flight is not recommended.
Note 1: Deterioration of GPS reception may be indicated by the status LED flashing red, a “GPSaccuracy low” notification on the ACSL TAKEOFF ground control application or the controller, the GPS
icon in the ACSL TAKEOFF ground control application turning red, or if the aircraft drifts or otherwise
moves in a way that seems abnormal.
Note 2: Refer to Section 7. Abnormal Operating Procedures for the recommended procedures when
visual odometry cannot measure the aircraft's position or speed.

•

The pilot is ultimately responsible for safety during all phases of flight, including planned flight inauto (AUT) mode. Always be aware of the aircraft’s position and condition, work to ensure its safety,
and be prepared for unforeseen circumstances.

6
Normal Operating Procedures

6.3.13. User-Defined Geofence•

To enforce a user-defined geofence, the geofence must first be created then uploaded to the aircraft
using the ACSL TAKEOFF ground control application.
*For details on how to create a geofence and upload it to the aircraft, please refer to the ACSL TAKEOFF
ground control application user manual.

•

The user-defined geofence function is only enforced in position (POS) and auto (AUT) modes.

•

When approaching a no-fly zone, the aircraft begins to slow down, the ACSL TAKEOFF ground control
application and controller display the alert message “No-fly area,” the controller vibrates to warn the user,
and the aircraft comes to a stop prior to crossing the boundary to a no-fly zone.

Geofence creation screen of the ACSL TAKEOFF groundcontrol application

114

Do not switch from manual (MAN) mode to position (POS) mode or auto (AUT) mode while the aircraft
is flying in a no-fly zone of the user-defined geofence. The aircraft will automatically move horizontally
to exit the no-fly area to the nearest allowable area and will not respond to inputs from the controller or
the ACSL TAKEOFF ground control application.

When the aircraft is located in a no-fly zone of the user-defined geofence, the controller and ACSLTAKEOFF ground control application will display “No-fly area” notification. Starting the motors while inposition (POS) mode or auto (AUT) mode will be inhibited.

◼

In Manual (MAN) Mode
[On ground]
The motors cannot be started when located within a no-fly zone of the user-defined geofence.
The motors cannot be started if a GPS location fix has not yet been achieved (i.e. it cannot be determined
whether or not the aircraft is within a no-fly zone of the user-defined geofence).
[In flight]

6

The user-defined geofence is not enforced in manual (MAN) mode so flight into a no-fly zone of the user*The warning message “No-fly area” will be displayed when within a no-fly zone.

◼

In Position (POS) Mode / Auto (AUT) Mode
[On ground]
The motors cannot be started when located within a no-fly zone of the user-defined geofence.
The motors cannot be started if a GPS location fix has not yet been achieved (i.e. it cannot be determined
whether or not the aircraft is within a no-fly zone of the user-defined geofence).
[In flight]
When approaching a user-defined no-fly area, the warning message “No-fly area” will be displayed andspeed will be reduced.

Normal Operating Procedures

defined geofence is allowed.

Upon reaching the boundary of the user-defined no-fly area, the warning or message “No-fly area” isdisplayed and the aircraft initiates a hover.
If the aircraft penetrated a user-defined no-fly area, the warning message “No-fly area” is displayed andthe aircraft automatically moves toward the closest boundary of the no-fly area at a speed of 2 m/s (4.5
mph).

115

6.3.14. Altitude Limitations
The maximum allowable altitude above takeoff location can be set in advance in the range of 5 to 3000 m•

using the ACSL TAKEOFF ground control application.
*For details on how to set the altitude limit, please refer to the ACSL TAKEOFF ground control application
user manual.
•

The altitude limitation is only enforced in position (POS) and auto (AUT) mode.

•

When approaching the altitude limit, the aircraft begins to decelerate, the ACSL TAKEOFF ground control
application and controller display the warning message “No-fly area,” the controller vibrates to warn theuser, and the aircraft comes to a stop prior to crossing the altitude limit.

In Manual (MAN) Mode◼

The altitude limit is not enforced in manual (MAN) mode so flight above the altitude limit is allowed.
*The warning message “No-fly area” will be displayed when within a no-fly zone.

In Position (POS) Mode / Auto (AUT) Mode◼

[in flight]
When approaching the altitude limit, the warning message “No-fly area” will be displayed and speed will6

be reduced.
Upon reaching the altitude limit, the warning or message “No-fly area” is displayed and the aircraft

Normal Operating Procedures

initiates a hover.

6.3.15. Emergency Landing➔

Refer to Section 7.1.6: Ground Control Application Emergency for more information.

6.3.16. Emergency Landing➔

Refer to Section 7.1.9: Low-Battery Emergency for more information.

6.3.17. Forced Stop➔

Refer to Section 0:➔

Forced Stop Using the Controller or Section 7.1.8: Forced Stop Using the Ground Control Application for
more information.

1166.4. Controller Multicast
6.4.1.

About Multicast

This product is equipped with a multicast communication function. This function allows up to threecontrollers to be bound to one aircraft to simultaneously receive telemetry and video from the aircraft.
While pilot authority is granted to only one controller at a time, it is possible to monitor the telemetry andvideo with up to two other controllers as long as the radio signal from the aircraft is within range.

encrypted link
encrypted link
encrypted link

6
Pilot Authority

Observer 1

Normal Operating Procedures

Pilot

Observer 2117

6.4.2.

Fail-Safe when Multicasting

A fail-safe function is provided to allow transfer of pilot authority to an observe in the event of a loss ofcommunication between the aircraft and the pilot controller. When the observer's controller displays “TO BE
PILOT PUSH ENTER,” the observer can obtain pilot authority by pressing and holding the Enter button.
Controller display

Details

CONNECTION CHECKING

A communications failure has occurred and the aircraft is attempting
to re-establish a connection.

TO BE PILOT PUSH ENTER

The aircraft is recruiting any bound controller within communication
range to be granted pilot authority.

PILOT REQUESTING

The operator has pushed the Enter button and the controller is
attempting to request pilot authority from the aircraft. The aircraft
grants pilot authority to the controller whose request was received
first.

Loss of

6communications

Pilot recruitment

Normal Operating Procedures

Observer 2

Pilot

6.4.3.

Observer 1

Switching Pilots

When at least 2 controllers are bound to the aircraft, the pilot may release pilot authority at any time bysimultaneously pushing the Enter and Pause buttons.
The aircraft then begins recruiting for a new pilot.
If no controller requests pilot authority, then no pilot authority will be granted.
Controller display
QUIT PILOT REQUESTING

Details
Requesting release of pilot authority

Switching from pilot mode to observer mode is inhibited while in lesson mode (optional, Japan only)and during a firmware update.

118

6.5. Lesson Mode (Japan only)•

Flight training can be performed using a pair of controllers that are equipped with 920 MHz training radios(Japan only). To do this both controllers must be set to “lesson mode”.

•

In the lesson mode, one controller is set to teacher mode and the other to student mode. The teacher cantransfer/retrieve pilot privileges at any time.
2.4 GHz band
920 MHz band

Teacher
Student

6.5.1.
1.

6

Setting GROUP ID
From the “GROUP ID” setting in the system setup screen, select a group ID so that the teacher andstudent are using the same group ID.

If multiple aircraft in the vicinity are to operate in lesson mode simultaneously, make sure that each

Normal Operating Procedures

•

Setup

aircraft is set to a different Group ID.

2.
•

LESSON Setup
From the “LESSON” setting in the system setup screen, select “TEACHER” for the teacher’s controller and“STUDENT” for the student’s controller.

1196.5.2.

How to Operate•

Verify that the status LED on the teacher's controller is solid purple.

•

Verify that the status LED on the student's controller is on undulating purple.

Teacher’s controller: solid purple, student’s controller: undulating purple
When lesson mode is enables, the obstacle avoidance switch is used by the teacher to switch between•

granting (ON) and revoking (OFF) pilot authority to the student.
If the teacher senses any abnormality or danger in the student's operation, the teacher can forcibly take•pilot authority at his/her discretion.

6

Collision Avoidance
SwitchNormal Operating Procedures•

The collision avoidance function is inhibited during lesson mode.

•

If communication between the student’s and teacher’s controllers is interrupted, pilot authority is
automatically transferred to the teacher's controller. On the other hand, if communication between
the teacher’s controller and the aircraft is lost, pilot authority is not transferred to the student andthe aircraft will enter emergency mode.

•

If communication between the student’s and teacher’s controllers is interrupted, pilot authority is
automatically transferred to the teacher's controller. On the other hand, if communication between
the teacher’s controller and the aircraft is lost, pilot authority is not transferred to the student andthe aircraft will enter emergency mode.

•

When using lesson mode, make sure that any other SOTEN in the vicinity of the planned training
location (within 150 m or 500 ft) are not being used for training or that they are set to use a
different Group ID.

•

The maximum number of SOTEN that can be used for training in the same vicinity simultaneously is
3 (3 controllers for 3 teachers and 3 controllers for 3 students).

•

Since information regarding the transfer of pilot authority between teacher and student in lesson
mode is not encrypted, accidental use of the same group ID by 2 teacher-student pairs in the same
vicinity may result in inadvertent switching between teacher and student of one pair due toswitching by the other pair. However, since the control signals are encrypted, the control signals ofeach pair will not interfere with each other.

•

Do not attempt multicast (connecting a third controller) during training sessions. Only twocontrollers (teacher and student) should be connected to one aircraft for training.

•

When the lesson is complete, return the controller to the “NORMAL” setting from the “LESSON”
setting in the controller’s SYSTEM settings menu.

1206.6. Regional Market Geofence
The aircraft is pre-programmed with a regional market geofence to prevent use outside the boundaries of•

the region of authorized use. For example, ACSL SOTENs that are sold in the United States contain aregional market geofence to prevent use outside of the United States and U.S. Territories.
If the aircraft approaches the regional market geofence within 100 m (330 ft), the controller vibrate to alert•

the user, and the controller and ACSL TAKEOFF ground control application will display the following
caution: “Nearing unpermitted area”.
If the aircraft approaches the regional market geofence within 30 m (98 ft) while operating in position•(POS) or auto (AUT) mode, the aircraft will automatically enforce a reduced speed limit and will come to acomplete stop (hover) when it reaches the geofence.
If the aircraft approaches the regional market geofence within 30 m (98 ft) while operating in manual•(MAN) mode, the aircraft will automatically initiate a hover and enter emergency mode.

If the aircraft is carried outside of the regional market geofence, the controller and ACSL TAKEOFF ground6

control application will display the warning: "Entered unpermitted area" and the ability to start the◼

With a GPS location lock (indicated by a blue GPS icon in the ground control
application), the conditions for takeoff are:➢

In manual (MAN) mode, the aircraft must be within and at least 30 m (98 ft) away from the regional
market geofence.

➢

In position (POS) or auto (AUT) mode, the aircraft must be within the regional market geofence.

◼

Without a GPS location lock (indicated by a red or yellow GPS icon in the groundcontrol application), the conditions for takeoff are:➢Manual (MAN) and position (POS) modes only.

Normal Operating Procedures

motors will be inhibited.

*In position mode, the aircraft can take off with visual odometry only when the vision accuracy is good(indicated by a blue vision icon in the ground control application).
➢

The aircraft must have acquired a GPS location lock at some point since powering on, and that location
lock must have been within and at least 30 km (19 miles) from the regional market geofence.

DISCLAIMER:
As described in Section 1.1.1 above, ACSL does not warrant or guarantee the “reginal market geofence”
functionality described in this Section 6.6 nor assume any liability for any damage(s) or injuries caused to you,to any other party or any property or have any legal responsibility, directly or indirectly, from the use of thisproduct and for any violations of applicable laws, rules and regulations. You are solely responsible for121

complying with all laws, rules and regulations applicable to the operation of the aircraft near national borders
and in restricted areas.

6
Normal Operating Procedures

122

Chapter

7

Abnormal Operating Procedures

7.1. Emergency Procedures for Abnormalities ········································································································ 124

123

7.1. Emergency Procedures for
Abnormalities
This section describes emergency procedures in the event of an abnormality with the aircraft in flight.

Failure to comply with the following precautions and instructions may result in an unexpected collision
or crash that could cause injury, fire, or damage.
•

Pilots should carefully read and fully understand the contents of this chapter and be prepared torespond to any malfunction that may occur while the aircraft is in flight.

7.1.1.

Definition of Terms

The emergency procedures used in this section are defined as follows:•

Drop the aircraft immediately.
Immediately after confirming the safety of the area directly under the aircraft, use the “forced stop”
function of the controller or ACSL TAKEOFF ground control application to force the motors to stop andthe aircraft to drop on the spot.

7

If not dropping immediately, injury or damage to the pilot and third parties may result.
•

Abnormal Operating Procedures

124

Immediately land the aircraft at a safe location.
Land the aircraft immediately at the nearest safe location.
Continued flight beyond the nearest safe location may result in the aircraft crashing.

•Land the aircraft in a safe place as soon as possible.
Land the aircraft at the takeoff position or at a pre-determined emergency landing point.
Do not take off again until the cause of the aircraft abnormality is determined and resolved.

7.1.2.
•

Manual (MAN) Flight Mode (using the controller)

Manual mode should be used whenever the aircraft cannot reliably measure its position or velocity withGPS or visual odometry.

•

Land the aircraft in a safe place as soon as possible. Do not continue the flight in manual mode.

•

For information on how to operate the aircraft in manual mode, refer to Section 6.2.2: Basic Manual Mode
(MAN) Operations.

7.1.3.
•

GPS and Visual Odometry Accuracy Degradation

If the accuracy of GPS and visual odometry degrade during flight, the status LED on the aircraft will flash
red and a message will appear on the ACSL TAKEOFF ground control application and controller LCD
display screen.
➔•

Refer to Section 7.1.11: Indications of an Abnormality.

Not a suitable place for flying.

Status LED◼

On the ground7

The ability to take off (i.e. the ability to increase motor speed above idle) is inhibited in position (POS)◼

In Flight•

Manual (MAN) mode
Continuation of flight is possible.

➔ Refer to Section 6.2.2 .Basic Manual Mode (MAN) Operations.
•

Position (POS) mode
Switch to manual mode and land the aircraft in a safe location as soon as possible.

・ If GPS accuracy deteriorates while flying in position (POS) mode, the aircraft will automatically switch its
source of position information from GPS to visual odometry if the speed is lower than around 1 m/s

Abnormal Operating Procedures

mode while the status LED is flashing red.

(2.2 MPH) and vision accuracy is good.
*When switching to visual-odometry-based position mode, the maximum speed limited becomes 0.8
m/s (1.8 MPH).
・ If vision accuracy deteriorates while flying in visual-odometry-based position mode, the status LED on
the aircraft will flash red. Control will fall back to a mode similar to manual (MAN) mode due to loss of
position information. Do not continue flight and land the aircraft at a safe location as soon as possible.
*To suppress erratic movements and to aid maneuverability during the transition, the maximum tilt
angle is limited to approximately 13° in position (POS) mode when GPS and vision accuracy isdegraded.

125

・ If the controller’s flight mode switch is set to position (POS) mode, when GPS or vision accuracy is
restored, the aircraft’s status LED will cease flashing red and the aircraft will automatically return toposition control with either GPS or visual odometry.
Auto (AUT) mode•

➔ Refer to Section 7.1.10: Degraded GPS Reception in Auto .

Emergency Menu

7.1.4.
•

If, for example, communication between the controller and the aircraft is disrupted, the aircraft willtransition to emergency mode and hover in place for one minute.
Note: Refer to Section 7.1.5: Communications Disruption for information on what to do in the event ofcommunication interruption.

•

While hovering for one minute, maneuver the aircraft according to the following emergency mode
operating procedure.

◼

Emergency Mode Operating Procedure
Select one of the following operations
Piloting with the ACSL TAKEOFF ground control application.

①•

The Emergency Menu (6 buttons) will appear automatically on the ACSL TAKEOFF groundcontrol application.

•

7

Select the following normal or emergency operating procedure.
*For details of each function, refer to Section 7.1.6: Ground Control Application Emergency
Button or Section 0:
Forced Stop Using the Controller.

Abnormal Operating Procedures*If an electrical abnormality is detected during flight while in position (POS) or auto (AUT) mode,
only automatic landing, emergency landing, and forced stop may be selected. The emergency
menus is not shown in manual (MAN) mode.

Emergency Menu-1

Emergency Menu-2(When an electrical abnormality is detected during flight in POS or AUT mode)126

Emergency Menu-3(When an electrical abnormality is detected during flight in MAN mode)②

After switching the controller’s flight mode switch to another mode, return to the originallyselected mode and continue piloting with the controller.
FeatureController

Description

buttonNormalGo home

Go homeoperation

Return and hover at a height of 10 meters above thetakeoff point.

Go to

RTC

Transmitter

Return and hover at a height of 10 meters above thecontroller.

Auto landingLand

Automatically land on the spot.

Directional Pad

D-Pad

Manual operation using the D-Pad. Pressing any button
once will result in a certain amount of motion. Holding it
down will not cause any further changes.

Emergency

Emergency

operation

landing
Forced stop

The aircraft moves to the ELS point or takeoff point andlands automatically.

Forced stop

Stops the motor.

If the aircraft does not receive any commands from the pilot within 60 seconds, then the aircraft willautomatically either go home or proceed to an emergency landing site (ELS).

•

Plan your flight and make sure that the altitude settings are high enough so that the aircraft will not
encounter any obstacles should it need to go home or proceed to an emergency landing site (ELS).

7
Abnormal Operating Procedures

•

ELS

127

Communications Disruption

7.1.5.

When the SOTEN is in flight operation and the distance between the aircraft and controller is within thecommunication distance (SOTEN Operation Manual “1.2.3 Limitations“), but reception is interrupted(communication interruption) or the camera view image on the TAKEOFF application is interrupted and“Waiting for video“ is displayed (video interruption), the signal interruption may be recovered by changing
the distance between the aircraft and the controller while moving the pilot’s standing position.
When radio communication is interrupted, the operator should attempt to restore radio communication byreferring to the following procedure.

1.

Signal interruption has occurred•

When communication is lost, the status LED on the controller turns solid red.

•

When the controller status LED is blinking or undulating green, the controller and TAKEOFF cannot bepiloted. Please recover “3.

Blinking green: during POSW

Undulating Green sweep: during observer

communications(Switching Pilot/Observer)

7•

Solid Red redlight: during no

When a video interruption occurs, the antenna display in the video transmission status on the TAKEOFF
screen indicates the interruption status, and the message “Waiting for video“ is displayed on the camera
view.

Abnormal Operating ProceduresVideo transmission status

2.

While pointing the controller’s antenna plane toward the aircraft, the operator should move to a
position where radio communication is restored.

•

Pointing the flat portions of the controller’s two antennas toward the aircraft facilitates communication
recovery.

•

When the controller status LED goes from solid red to blinking green or undulating green, communication
has been restored.

128

•

Adjusting the direction of the antenna and at the same time moving the pilot’s standing position relative
to the aircraft will help to get out of areas prone to signal interruption and make it easier to recover radio
communication. (See note).

Move

Communication interruption occurred

3.

Restoration of control•

Once communication is lost, control of the aircraft via the controller is no longer possible. After thecontroller status LED blinks green and you see “TO BE PILOT PUSH ENTER“ on the controller LCD display
screen, press and hold the Enter button on the controller to regain control of the aircraft.

7••

Emergency mode deactivatedEmergency mode can be deactivated by toggling flight modes with the controller’s flight mode switch.
Note: See 7.1.4. Emergency Mode.

Flight mode switch

Abnormal Operating Procedures

4.

Enter button
When pilot authority is restored, the controller status LED will return to a solid green.

129

Effects of multipath-induced fading
Radio waves are emitted from the controller’s antennas in all directions (with varying amplitude). If there
is no obstruction, then some waves will reach the aircraft in a straight line (direct waves). Some other waves
may reach the aircraft by bouncing off the ground, trees, buildings, uneven terrain, other objects, etc.
(reflected waves). The phenomenon of some combination of direct and reflected waves arriving at the same
location is called “multipath”.
airframe

direct wave
Waves reflected from objects

Propo (Pilot)

Waves reflected from the ground surface

7
Abnormal Operating Procedures

130

Figure . Conceptual diagram of multipath
Since direct waves and reflected waves travel different distances to arrive at the same location, reflected
waves will arrive with a phase delay compared to direct waves. If the reflected waves arrive at the aircraftwith nearly the same phase as the direct waves, then the waves will combine into a strengthened, or
amplified, wave. If the reflected waves arrive at the aircraft with nearly opposite phase from the direct
waves, then the waves will cancel each other into a weakened, or attenuated, wave. This phenomenon ofmultipath waves cancelling is called “multipath-induced fading”.

Figure . Conceptual diagram of multipath-induced fading

A location where multipath waves completely cancel each other out is called a “null point”. If the aircraft
happens to move into a null point of the controller, then the signals for the controller will be too weak to
be received, resulting in a communications disruption. The same is true for the controller receiving signals
from the aircraft.

The relationship between received signal strength and distance from the transmitter for unobstructedline-of-sight without any reflected waves is shown by the black line in the figure below. Notice that thereceived signal becomes weaker as distance increases. In reality, however, multipath-induced fading may
cause received signal strength to decrease suddenly at a certain distance only to strengthen again at aslightly further distance. It is difficult to predict at what location this could occur, since multipath-induced
fading is a complex phenomenon that is influenced strongly by the composition and geography of thesurroundings, the characteristics of the aircraft and controller antennas, radios, and internals,
environmental conditions, etc.
If the aircraft approaches a null point of the controller, or vice-versa, the signal may become too weak,

Abnormal Operating Procedures

Signal strength vs. distance and recovery from communications disruption

7

resulting in a communications disruption. The aircraft may automatically halt its motion in response to thecommunication disruption, thereby remaining in the null zone. As can be seen from the figure below, aneffective way to recover from a communication disruption caused by entering a null zone is for the pilot tosimply move to a different location, particularly toward or away from the aircraft, thereby changing thelocation of the null zone.

131

[dB]
Signal strength

Theoretical signal strength with distance(black curve)②

Move the controller from it’s current location to exit the null point.
Signal attenuation due to fading(for illustration purposes only)

Receiversignalreceptionlimit①

Signal strength drops below the signal reception limit
at the null point and communication is interrupted.

← NearFar → [m]Distance between aircraft and controller

Figure . Relationship between signal strength, distance, and null points.

7.1.6.

7•

Ground Control Application Emergency Button

If an abnormality is detected in the aircraft during flight and it becomes difficult to continue the flight, thesystem has a function to return the aircraft to the emergency landing site (ELS) or takeoff point in order toland the aircraft safely.

Abnormal Operating Procedures

132•

Please refer to the ACSL TAKEOFF ground control application user manual for the ELS setting method.

•

If an ELS is not set, or when in manual (MAN) mode or position (POS) mode, the aircraft returns to thetakeoff point.

◼

Emergency landing procedures
Press the Command button on the ACSL TAKEOFF ground control application to display the
Emergency Menu.
Press the Emergency Landing button and confirm the instructions in the modal dialog.

◼

Situations requiring an emergency landing•

When the remaining battery power is too low to reach the destination•

When weather conditions along the flight path are likely to exceed operational limits•

When communication between the controller and the aircraft is lost

Emergency Menu

Emergency Landing
buttonCommand button

Emergency Landing Site (ELS) Type

◼

type

travel route

Direct• Moves along a straight path to the ELS while descending.

Via an• Moves along a straight path relative to the ELS while maintaining the current

approach
point

altitude.
• From the approach point (20 m horizontal distance from the ELS), descend to

the specified altitude.

7• If the altitude of the ELS is higher than the current altitude, moves in a straightline to the ELS.
• Specify the waypoints to each ELS when creating the flight plan.
• After moving the flight plan route to the specified waypoint, moves in a straightline to the ELS.

•

An emergency landing can be initiated from any flight mode, but an emergency landing to an
emergency landing site (ELS) can only be initiated during planned flight in auto (AUT) mode.

•

Plan your flight and make sure that the altitude settings are high enough so that the aircraft will not
encounter any obstacles should it need to go home or proceed to an emergency landing site (ELS).

Forced Stop Using the Controller

7.1.7.
•

Abnormal Operating Procedures

Routing

To ensure maximum safety for pilots and third parties, the aircraft is equipped with a “forced stop”
function that forcibly stops the aircraft's motors.

•

In the unlikely event of unintended movement of the aircraft, or if the surrounding environment changes
significantly or otherwise becomes unsafe, check the safety of the surroundings and immediately drop theaircraft.

◼

Forced stop procedure
Press the EMERGENCY (force stop) button on the controller.

133

◼

Possible situations requiring a forced stop•

When an unintended movement takes the aircraft out of the safety zone•

When there is a possibility of coming into contact with people or property•

When people or objects are approaching rapidly

EMERGENCY BUTTON

Failure to comply with the following may result in an unexpected collision or crash that could cause
injury, fire, or damages.
•

In the case of a forced stop, make the utmost effort to drop the aircraft where there are no people
or structures.

7
Abnormal Operating Procedures

134•

Even after the emergency button is pressed, the motors will continue to rotate with inertia and will
not stop instantly.

•

Familiarize yourself with the location of the emergency button on the controller before flight.

•

Be careful not to push the emergency button unintentionally during flight. It will result in crash.

Forced Stop Using the Ground Control Application

7.1.8.

To help provide maximum safety for pilots and third parties, the aircraft is equipped with a “forced stop”•

function that forcibly stops the aircraft's motors.
In the unlikely event of unintended movement of the aircraft, or if the surrounding environment changes•

significantly or otherwise becomes unsafe, check the safety of the surroundings and immediately drop theaircraft.

Forced stop procedure◼

Press the Command button on the ACSL TAKEOFF ground control application to display the
Emergency Menu.
Press the Forced Stop button and confirm the instruction in the modal dialog.

◼

Examples of possible situations requiring mandatory suspension•

When an unintended movement takes the aircraft out of the safety zone•

When there is a possibility of coming into contact with people or property•

When people or objects are approaching rapidly

Emergency Menu

Command button

Failure to comply with the following may result in an unexpected collision or crash that could cause
injury, fire, or damage.
•In the case of a forced stop, make the utmost effort to drop the aircraft where there are no people
or structure.

•

Abnormal Operating Procedures

Forced stop button

7

Even after the emergency button is pressed, the motors will continue to rotate with inertia and will
not stop instantly.

•

Familiarize yourself with the location of the emergency button in the ACSL TAKEOFF ground control
application before flight.

•

Be careful not to push the emergency button unintentionally during flight.

1357.1.9.

Low-Battery Emergency Landing

If the battery power drops below 6%, an emergency landing function automatically lands on the spot to•ensure maximum safety for the pilot and third parties in the event of a crash.
•

Automatically lands on the spot if GPS reception deteriorates while in emergency mode.

•

The status LED on the aircraft blinks white and “Battery voltage low” is displayed on the controller and
ACSL TAKEOFF ground control application.

•

Injury to the pilot or third parties or damage to the aircraft caused by a low-battery emergency
landing is not covered by the warranty.

•

Continually monitor the battery level during flight and land the aircraft in a safe location before thebattery level falls to 6%.

•

The emergency landing cannot be cancelled by the user, and all controls will be locked out.

•

An emergency landing on uneven ground may cause the aircraft to tip over.

7.1.10. Degraded GPS Reception in Auto Flight Mode

7

If GPS reception deteriorates during a planned flight (see note), the planned flight is automatically•aborted and the aircraft hovers in place.
Note: If the status LED flashes red, the base station app or controller displays a “GPS accuracy low” error,

Abnormal Operating Proceduresor the aircraft becomes unstable, GPS reception may have deteriorated.
If the aircraft's position and speed can be measured by visual odometry using the stereo cameras, the•aircraft will continue the hovering condition using visual odometry (see note). Switch to position (POS) or
manual (MAN) mode and land the aircraft in a safe location as soon as possible.
Note: See ‘2.3.2.

Overview of the Visual System.’

When visual odometry cannot measure the position or speed of the aircraft, it cannot hold the position of•

the aircraft. The aircraft will move slowly, subject to wind and other factors. Switch to manual mode andimmediately land the aircraft in a safe location.

•

Continued flight to any site other than a safe landing site is not recommended.

•

If the aircraft's position and speed cannot be measured by visual odometry, the aircraft's position
will not be displayed on the ACSL TAKEOFF ground control application. The pilot should
continuously, visually track the aircraft and be prepared to visually navigate the aircraft at any time.

136

7.1.11. Indications of an Abnormality
There are three types of indications in the event of an abnormality.
The Aircraft’s Status LED•

When the aircraft is unable to accurately determine its location with GPS and visual odometry, thestatus LEDs will indicate the following patterns.
Status LED indication when the aircraft is powered on
GPS and visual
Flight mode

Mode indication

odometry

Aircraft abnormality

abnormality
Manual mode
Switch position: MAN

Blinking yellow

Position mode
Switch position: POS

Blinking green

Auto mode
Switch position: AUT

Blinking blue

Blinking red

Blinking white

Manual mode
Position mode

7

Auto mode
Switch position:
MAN/POS/AUT

Blinking purple

landing)
ACSL TAKEOFF ground control application•

A message will appear on the right side of the screen. For details, please refer to the ACSL TAKEOFF
ground control application user manual.
Message

Abnormal Operating Procedures(Auto takeoff andController LCD screen•

The center of the controller’s LCD screen displays warning messages and other information about theaircraft and controller.

137

Notifications

7.1.12. Stick Calibration
If the warning message “INIT NEUTRAL FAILURE” appears even though the controller's left and right sticks arein the center position, perform stick calibration.

If you are unable to start the motors, even after successfully completing the troubleshooting steps
described in Section 9.1.1: Aircraft Troubleshooting, it may be an indication that the sticks are out ofcalibration.

1.

With the controller powered off, press the power button while simultaneously pressing the Enterbutton to activate the system setup screen.
System settings screen

7Enter button

Abnormal Operating Procedures

138

Power button

2.

Move the cursor to “CALIBRATION” by operating the left stick on the controller and then press theEnter button.

3.

Move the cursor to “RUN” by operating the left stick on the controller and then press the Enterbutton.

4.

When “RELEASE STK” appears, release the left and right sticks and press the Enter button.
Wait until “ROTATE STK” is displayed.

run

5.

When “ROTATE STK” is displayed, rotate the left along the limits of its range of motion at least threetimes at a speed of about 5 seconds per revolution.

run

7
Right stick

6.

Rtoate the right stick in the same way. Then press the Enter button.

7.

“SUCCESS” is displayed when the trim function is successfully completed.

Enter button

If the message “FAILURE” is displayed, repeat the above procedure.

run

run

8.

Press the Enter button to return to the system menu.

9.

To confirm that the calibration was successful, move the cursor to “CALIBRATION” by operating theleft stick on the controller, and press the Enter button.

Abnormal Operating Procedures

Left stickEnter button

13910. Move the cursor to “CHECK” by operating the left stick on the controller and press the Enter button.

11. A screen will appear on which you can check the stick position numerically, so be sure to check that
it is “0000” with your hands off the sticks.

display

7
Abnormal Operating Procedures

140•

Contents

Details

L VER

Left stick up/down［Lower] -1000 to 1000 [Upper]

L HOR

Left stick left/right［Left] -1000 to 1000 [Right]

R VER

Right stick up/down［Lower] -1000 to 1000 [Upper]

R HOR

Right stick left/right［Left] -1000 to 1000 [Right]

If “0000” is not shown when the sticks are released, control of the aircraft will be affected. Start thecalibration procedure over from the beginning.

•If, after repeating the calibration procedure, “0000” is still not shown when the sticks are released,
or if calibration fails, a stick may be malfunctioning.

•If stick malfunction is suspected, discontinue use immediately and contact your dealer.

7.1.13. Warning Messages•

The following pages list all of the warning messages that can appear in the ACSL TAKEOFF ground control
application and on the controller. Also included is an explanation and required actions.

•

When a warning message is issued, the controller alerts the user with sound and vibration.
*For safety reasons, the warning sound cannot be muted even when SOUND is set to OFF in the controller
settings.
Warning message

Camera not connected

Explanation and required action
The aircraft has not detected the presence of a camera.
On ground: The ability to start the motors is inhibited. Attach a camera.
In flight: Land the aircraft in a safe place as soon as possible. After landing
reattach the camera.

GNSS is not measured

The aircraft has not successfully achieved a GPS lock since powering on.
On ground: The ability to stat the motors is inhibited. Make sure that thisaircraft is in a location suitable for the reception of GPS signal and wait for GPS
lock as indicated by a blue GPS icon on the ACSL TAKEOFF ground control
application.
(This warning only occurs while on ground)No airspace boundary

The regional market geofence data cannot be retrieved from the aircraft’s

data

memory.
On ground: The ability to start the motors is inhibited. If the warning persists,
contact your dealer.
The aircraft’s GPS sensor is reporting that the aircraft is within 30 m (100 ft) ofarea

the regional market geofence, or the aircraft no longer has a GPS position lockand the most recent GPS position lock was within 30 km (19 miles) of theregional market geofence.
On ground:• The ability to start the motors is inhibited unless reception of GPS signals isgood (as indicated by a blue GPS icon in the ACSL TAKEOFF ground control
application) and the flight mode is either position (POS) or auto (AUT).
In flight:• Be aware that the aircraft will transition to emergency mode if the regional

market geofence is crossed.
Entered unpermitted

The aircraft’s GPS sensor is reporting that the aircraft is outside of the regionalareamarket geofence.

Abnormal Operating Procedures

Nearing unpermitted

7

On ground:• The ability to start the motors is inhibited in position (POS) and auto (AUT)

mode.

Relocate the aircraft inside and further away from the regional

market geofence.
In flight:• The aircraft will automatically control its motion to stay within the regional

market geofence.
• If GPS reception is poor, control of the horizontal motion of the aircraft will

not be possible.

141

Warning message

Explanation and required action

Failed Preflight Self-

The on-board remote ID module has either failed or not yet completed its self-

Test

test.
On ground:• The ability to start the motors is inhibited. Make sure that the mobile

device that is running the ACSL TAKEOFF ground control application isequipped with a GPS, has location services enabled, and is connected
properly to the controller. If the warning persists, discontinue use andcontact your dealer.
In flight:• Flight may be continued but the aircraft may not be properly broadcasting

its remote ID. If the warning persists, land as soon as is safely possible andrestart the aircraft. If the warning persists, discontinue use and contact yourdealer.
Improper RC

The controller has detected that the sticks are not centered.

configuration

Correct stick positions. If the warning persists, perform a stick calibration.

SD card access failure

Restart the aircraft.
*If the warning message appears again, discontinue use, and contact yourdealer.

7

EEPROM access failure

EEPROM access failed.
Restart the aircraft.
*If the warning message appears again, discontinue use and contact yourdealer.

Abnormal Operating ProceduresRadio comms

On ground: Controller signal has been lost. Turn on the controller.

interrupted

In flight: Land the aircraft in a safe place as soon as possible.
• Manual (MAN) or position (POS) mode

The aircraft is not receiving signals from the controller and will transition to
emergency mode.
• Auto (AUT) mode

The aircraft is not receiving signals from the controller and will transition to
emergency mode after 30 seconds.
➔

p. 126 '7.1.4 .Emergency Menu Emergency Menu” for details.

*When the signal interruption is restored, the emergency mode can be canceledby toggling the controller's flight mode switch.
System error

A system error has occurred.
On ground: Restart the aircraft.
*If the warning message appears again, discontinue use and contact yourdealer.
In flight: Immediately land in a safe location.

Radio binding

The aircraft and controller are in the process of binding to each other.

underway

If connection is not established, perform the bind operation again.
➔142

p. 59 '3.5 .First Connection (binding) See “3.5.

Warning message
Nav calculation error

Explanation and required action
There is an abnormality in the speed or navigation calculations used in automode.
Restart the aircraft.
*If the warning message appears again, discontinue use and contact yourdealer.
On ground: The ability to idle is inhibited.
In flight:• Switch to manual mode and immediately land the aircraft in a safe location.
• If you are unable to maneuver in manual mode, check the safety of yoursurroundings and drop the aircraft immediately with the forced stopfunction.
➔ p.133 'The0➔

Forced Stop Using the Controller See “7.1.7 Forced Shutdown (Controller
Operation)”.

➔Battery voltage low

p.135 '7.1.8Forced Stop Using theSee “7.1.8 Emergency Menu”.

The aircraft’s battery level is below 13%.
On ground: The ability to idle is inhibited. Replace the aircraft’s battery with afully charged battery.
In flight:• Manual (MAN) or position (POS) mode

Land in a safe place as soon as possible.
• Auto (AUT) mode

7

The aircraft will transition to emergency mode.

In flight: The aircraft will initiate an emergency landing on the spot.
➔
No data from IMU

p.136 '7.1.9Low-Battery Emergency

See “7.1.9 Emergency Landing

There is an error in communication between the flight controller and the IMU.
Restart the aircraft.
*If the warning message appears again, discontinue use and contact yourdealer.
On ground: The ability to idle is inhibited.
In flight: There is a high possibility of a crash. Alert others and land in a safe
location immediately.

Acceleration data

Attitude and acceleration data quality has degraded.

unreliable

Restart the aircraft.

Abnormal Operating Procedures

The aircraft’s battery level is below 6%.

*If the warning message appears again, discontinue use and contact yourdealer.
On ground: The ability to idle is inhibited.
In flight: Immediately land in a safe location.
Gyro data unreliable

Angular rate data quality had degraded.
Restart the aircraft.
*If the warning message appears again, discontinue use and contact yourdealer.
On ground: The ability to idle is inhibited.

143

In flight: Immediately land in a safe location.
Warning message

Explanation and required action

Barometer data

The quality of the barometric pressure data has deteriorated.

unreliable

Restart the aircraft.
*If the warning message appears again, discontinue use and contact yourdealer.
On ground: The ability to idle is inhibited.
In flight: Immediately land in a safe location.

ESC CAN comms error

An abnormality in the communications between the flight controller and ESCs
has occurred.
Restart the aircraft.
*If the warning message appears again, discontinue use and contact yourdealer.
On ground: The ability to idle is inhibited.
In flight: There is a high possibility of a crash. Alert others and land in a safe
location immediately.

Attitude angle limit

The aircraft has detected an abnormal attitude, indicating a loss of control.
In flight: The motors will stop and the aircraft will drop. Alert people in thevicinity.

7

No data from batt

Data cannot be received from the battery monitor. Replace the battery.

monitorOn ground: The ability to idle is inhibited.
In flight: Land the aircraft in a safe place as soon as possible.

Abnormal Operating Procedures

Attitude init error

Failed to calculate the initial attitude of the aircraft at startup.
Place the aircraft on a level, stable surface and restart.
*Do not jostle the aircraft when starting up.

Cannot maintain

Operational limits (wind speed/airframe weight) may have been exceeded.

altitude

In flight: The aircraft will transition to emergency mode.
➔p. 126 '7.1.4 .Emergency Menu Emergency Menu” for details.

Immediately land the aircraft in a safe location.
Vehicle temperature

The aircraft’s internal temperature may be about to exceed the upper or lower
limit.
After landing, avoid direct sunlight to cool the aircraft.
On ground: On ground: The ability to idle is inhibited.
In flight: Land the aircraft in a safe place as soon as possible.

ESC too hot

The temperature of the ESC may be about to exceed the upper temperature
limit.
After landing, avoid direct sunlight to cool the aircraft.
On ground: The ability to idle is inhibited.
In flight: Immediately land the aircraft in a safe location.

144

Warning message

Explanation and required action

Position control

There is a problem with GPS or visual odometry location information.

disabled

The environment may not be suitable for flight.
On ground: The ability to idle is inhibited in position (POS) or auto (AUT) mode.
In flight:• Manual (MAN) mode

Continuation of flight is possible.
• Position (POS) mode or auto (AUT) mode

Switch to manual mode and land the aircraft in a safe location as soon as
possible.
No data fromNo response from the barometric sensor. Restart the aircraft.

barometer*If the warning message appears again, discontinue use and contact yourdealer.
On ground: The ability to idle is inhibited.
In flight: Land in a safe place as soon as possible.

Battery half locked

The battery is not locked. Check battery installation.
On ground: The ability to idle is inhibited.
In flight: Land in a safe place as soon as possible.

Battery temperature

Battery temperature is elevated. Remove the battery from the aircraft and store

high

it at room temperature.
On ground: The ability to idle is inhibited.
In flight: Immediately land in a safe location.
The firmware versions of the flight computer and the visual odometry computer

mismatch

do not match.
Refer to the ACSL TAKEOFF ground control application instruction manual to
update the firmware.
On ground: The ability to idle is inhibited in position (POS) or auto (AUT) modein a non-GPS environment.
In flight:• Manual (MAN) mode

Continuation of flight is possible.
• Position (POS) or auto (AUT) mode

In a non-GPS environment, switch to manual mode and land the aircraft ina safe location as soon as possible.
Emergency mode

The load on the battery is abnormally high (Level 2). The aircraft will transition tohigh load

emergency mode.
➢

Abnormal Operating Procedures

AP-Vision ver

7

If warning persists: The aircraft will execute an emergency landing after 60
seconds.
During the emergency landing, all pilot inputs will be ignored except forforced stop and automatic landing.

If warning ceases: Emergency mode may be cancelled by toggling thecontroller’s flight mode switch. Immediately land the aircraft in a safe location.

145

Warning message

Explanation and required action

Flight Restricted highThe load on the battery is abnormally high (Level 1). Take the following actions.

load• Manual (MAN) mode
Climb speed is limited but horizontal speed is not limited. Decelerate
immediately.
➢If warning persists: Land the aircraft in a safe place as soon as possible.

➢

If warning ceases: Flight may continue.

• Position (POS) mode
Horizontal and climb speeds are limited. Decelerate immediately.
➢If warning persists: Land the aircraft in a safe place as soon as possible.

➢

If warning ceases: Flight may continue.

• Auto (AUT) mode
Horizontal and climb speeds are limited. Decelerate immediately.
(e.g., pause, etc.)

7➢

If warning persists: Land the aircraft in a safe place as soon as possible.

➢

If warning ceases: Flight may continue.

Flight Restricted ESC

Motor RPM is abnormally high (level 1). The aircraft will enforce the following

speed

restrictions for 30 seconds:• Manual (MAN) mode
Climb speed is limited but Horizontal speed is not limited. Decelerate
immediately.

Abnormal Operating Procedures➢If warning persists: Ascent speed is limited for 30 seconds. Decelerate.

➢

If warning ceases: Flight may continue.

• Position (POS) mode
Horizontal and climb speeds are limited. Decelerate immediately.
➢

seconds. Decelerate.
➢

If warning ceases: Flight may continue.

• Auto (AUT) mode
Horizontal and climb speeds are limited. Decelerate immediately.
(e.g., pause, etc.)➢

If warning persists: Horizontal and climb speeds are limited for 30
seconds. Decelerate (e.g., pause, etc.).

➢

146

If warning persists: Horizontal and climb speeds are limited for 30

If warning ceases: Flight may continue.

Warning message

Explanation and required action

Emergency mode ESC

Motor RPM is abnormally high (level 2). The aircraft will transition to

speed

emergency mode. Immediately land the aircraft in a safe location.
➢

If motor RPM remains high, an emergency landing will occur. (Alloperations are disabled during emergency landing).

➢

Emergency mode may be cancelled by toggling the controller’s flightmode switch . *Restriction continues.

If the ESC speed error occurs frequently, the aircraft is under excessive load
during flight. Review your flight plan, reduce the aircraft weight, or lower theflight altitude.
An airspeed limit may have been exceeded. Check the limits.
ESC current error

A motor current error was detected during idling. Repair is required.
Contact your distributor.

Motor error
detection

A motor current error was detected during flight. Land the aircraft in a safe
location immediately.
Repair is required. Contact your dealer.

Vision cam connect

Unable to connect to an on-board stereo camera. Please restart the aircraft.

error

Manual (MAN) mode
Continuation of flight is possible.

7

Position (POS) or auto (AUT) mode
upward collision avoidance may not work properly. Use caution.
In a non-GPS environment, switch to manual mode and land the aircraft in asafe location as soon as possible.

Abnormal Operating Procedures

In a GPS environment, continuation of flight is possible, but forward and147

Warning message
Battery Memory Error

Explanation and required action
The battery software has detected an anomaly. Land in a safe place
immediately.
After landing, turn off the battery power.
If the warning appears again during operation, discontinue use and contact
your dealer.

Old Battery FW

Battery firmware is too old for use. Replace the battery.

detected

On ground: The ability to start the motors is inhibited.

Battery FW Updating

Battery firmware is being updated.
Do not turn off the power until the FW update is completed.

Battery update failed

Battery firmware update failed.
Remove the battery from the aircraft and reattach it to the aircraft to reattempt to update. If the update fails after retrying, discontinue use andcontact your dealer.

7
Abnormal Operating Procedures

Battery Failed Force

Old type of battery is used.

Shut

Restart using a new battery.

Low temperature No

Battery temperature is too low. The ability to idle is inhibited.

takeoff

Wait for the battery temperature to rise before attempting a takeoff again.

No-fly area

The aircraft position is outside of a user-defined geofence or altitude limit.
Check the geofence.
Geofence
On ground:• The ability to start the motors is inhibited.

In flight:• In position (POS) or auto (AUT) mode, the aircraft will toward the nearest

boundary of the no-fly area at a speed of 2 m/s.
• If necessary, switch to manual (MAN) mode to ensure safety.

Altitude limit
In flight:• The aircraft will no longer climb.

148

7.1.14. Caution Messages•

The following pages list all of the caution messages that can appear in the ACSL TAKEOFF ground control
application and on the controller. Also included is an explanation and required actions.

•

When a warning message is issued, the controller alerts the user with sound.
*The sound will be muted if SOUND is set to OFF in the controller settings menu.

Caution message

Explanation and required action

No airspace boundary

The regional market geofence data cannot be retrieved from the aircraft’s

data

memory.
In flight:• A speed limit will be imposed. Please land in a safe place as soon as

possible.
(This caution only occurs while in flight)
Nearing unpermitted

The aircraft’s GPS sensor is reporting that the aircraft is within 100 m (330 ft) ofarea

the regional market geofence.
In flight:• A speed limit will be enforced in position (POS) and auto (AUT) mode.

Failed Preflight Self-

The on-board remote ID module has either failed or not yet completed its self-

Test

test.
On ground:• The ability to start the motors is inhibited. Make sure that the mobile

7

device that is running the ACSL TAKEOFF ground control application isproperly to the controller. If the warning persists, discontinue use andcontact your dealer.
(This caution only occurs while on ground)Self-check error

Indicates that an abnormality has been detected in the aircraft’s attitude sensor
or in the operation of the controller.
• Place the aircraft on a stable surface and restart it.
• During takeoff, keep the roll, pitch, and yaw sticks in the center position

and avoid excessive throttle operation.
ESC nearing life limit

The ESCs have accumulated more than 285 hours of operation.
Contact your dealer for ESC replacement.
➔

ESC lifetime exceeded

p. 168 '8.8 .Periodic Parts Replacement See “8.8.

Abnormal Operating Procedures

equipped with a GPS, has location services enabled, and is connected

The ESCs have accumulated more than 300 hours of operations. Replace before
further use.
Contact your dealer for ESC replacement.
➔

p. 168 '8.8 .Periodic Parts Replacement See “8.8.

149Caution message
No-fly area

Explanation and required action
The aircraft position is outside of a user-defined geofence or altitude limit.
Check the geofence.
On ground:• The ability to start the motors is inhibited.
• The aircraft may not have a GPS location fix due to poor GPS reception.

In flight:• Approaching a no-fly area or altitude limit. A speed limit will be enforced inposition (POS) or auto (AUT) mode.
GPS accuracy low

GPS accuracy is low.
On ground: The ability to idle is inhibited in position (POS) or auto (AUT) mode.
In flight:• Manual (MAN) mode

Continuation of flight is possible.
• Position (POS) mode➔p. 99 '6.2.3 .Basic

See “6.2.4.

• Auto (AUT) mode➔
Battery voltage low

p. 136 '7.1.10 .Degraded GPS Reception in Auto

See “7.1.11.

Battery level is below 24%.
In flight: Battery power is low. Continue to monitor the remaining battery level.

7
Abnormal Operating Procedures

Battery temperature

Battery temperature is low. Remove the battery from the aircraft and store it atlowroom temperature.

Warm up the battery

Battery temperature is low. Please warm up the battery to room temperature.

Battery voltage

An abnormal battery voltage was reported by the battery.

unreliable

Replace the battery.
On ground: The ability to idle is inhibited.
In flight: Immediately land the aircraft in a safe location.

RID System Error

There is a malfunction in the remote ID system. Please restart the aircraft.
*If the caution message appears again, discontinue use and contact your dealer.
*It is not legal to fly a drone without a properly functioning remote ID.

RID No Heartbeat

No response from remote ID device. Please restart the aircraft.
*If the caution message appears again, discontinue use and contact your dealer.
*It is not legal to fly a drone without a properly functioning remote ID.

RID BLE FW Old

The firmware version of the remote ID Bluetooth module is out of date. Please

Versionupdate the firmware of the aircraft.
*If the caution message appears again, discontinue use and contact your dealer.
*It is not legal to fly a drone without a properly functioning remote ID.

150

Caution message
No data from GPS

Explanation and required action
There is an error in communication between he flight controller and the GPS
sensor. Restart the aircraft.
*If the caution message appears again, discontinue use and contact your dealer.
On ground: The ability to idle is inhibited in position (POS) or auto (AUT) mode.
In flight:• Manual (MAN) mode

Continuation of flight is possible.
• Position (POS) mode➔p. 99 '6.2.3 .Basic

See “6.2.4.

• Auto (AUT) mode➔p. 136 '7.1.10 .Degraded GPS Reception in Auto

See “7.1.11.

Magnetometer

The quality of the magnetomer (magnetic compass) data has deteriorated.

unreliable*If the caution message appears again, discontinue use and contact your dealer.
On ground: Not recommendable to take off in position (POS) or auto (AUT)mode.
In flight: Switch to manual mode and land in a safe location as soon as possible.

No data from

There is an error in communication between he flight controller and themagnetometer

magnetometer (magnetic compass). Restart the aircraft.
*If the caution message appears again, discontinue use and contact your dealer.
On ground: Not recommendable to take off in position (POS) or auto (AUT)
mode.

7

In flight: Switch to manual mode and land in a safe location as soon as possible.
An inconsistency between the readings from the magnetometer (magnetic

increasedcompass) and the motion of the aircraft has been detected. This may indicate
magnetic interference from objects in the environment, that the magnetometer(magnetic compass) is faulty, or that compass calibration is needed.
On ground:• Not recommendable to take off in position (POS) or auto (AUT) mode.
• Perform magnetic field calibration when a camera is switched or optional

equipment is added or removed.
• If none of the above apply, flying in position (POS) or auto (AUT) mode in

the area is not recommended.
In flight: Switch to manual mode and land in a safe location as soon as possible.
Home position

Displayed when the Home location is unknown during Go Home operation.

unknown➔

p. 107 '6.3.7 .Go Home See “6.3.8.

Abnormal Operating Procedures

Azimuth error

In flight: Abort Go Home and switch to another mode.

151

Caution message
No data from GCS

Explanation and required action
There is no communication between the ACSL TAKEOFF ground control
application and the aircraft.
Check the connector connection between the mobile device and the controller.
• Manual (MAN) or position (POS) mode

Continuation of flight is possible.
• Auto (AUT) mode

Switch to position mode and promptly land in a safe location.
No data from dist

There was an error in communication between the flight controller and asensordistance sensor.
Upward obstacle detection, upward obstacle avoidance, and/or soft-landing
assist may not function properly.

Throttle control

Operational limits (wind speed/airframe weight) may have been exceeded.

saturated

In flight: Reduce speed and land in a safe location as soon as possible.

Vehicle temperature

The aircraft’s internal temperature may be about to exceed the upper or lower
limit.
After landing, avoid direct sunlight to cool the aircraft.
On ground: Not recommendable to take off.
In flight: Land the aircraft in a safe place as soon as possible.

7
Abnormal Operating Procedures

Position drift

Operational limits (wind speed) may have been exceeded.

increasing

In flight: Reduce speed and land in a safe location as soon as possible.

Flight speed is limited

Operational limits (wind speed) may have been exceeded.
• Auto (AUT) mode

There is a possibility that the aircraft may not have enough remaining
battery charge to reach its destination. Check the remaining battery leveland determine whether or not to continue the flight.
Collision avoidance

An obstacle is detected near the aircraft.

activeOn ground: The ability to idle is inhibited in position (POS) or auto (AUT) mode.
In flight: Keep a safe distance from obstacles.

Navigation source

While flying with GPS in position (POS) or auto (AUT) mode, GPS reception

switched

degraded and the aircraft switched the source of position and velocity data tovisual odometry.
OR
While flying without GPS in position (POS) or auto (AUT) mode, GPS reception
improved and the aircraft switched the source of position and velocity data toGPS.
➔

p. 99 '6.2.3 Basic➔p. 101 The following is a brief description of the “The6.2.4 .Basic Auto
Mode (AUT)152

See also

See “6.2.5.

Caution message
Radio not responding

Explanation and required action
There is an error in communication between the aircraft and the controller.
On ground: Restart the aircraft and controller.
In flight: Land the aircraft in a safe place as soon as possible.
• Manual (MAN) or position (POS) mode

If the communications error persists, the aircraft will transition to
emergency mode.
• Auto (AUT) mode

If the communications error persists, the aircraft will transition to
emergency mode after 60 seconds.
➔

p. 126 '7.1.4 .Emergency Menu Emergency Menu” for details.

*When radio wave interruption is restored, the emergency mode can be canceledby switching the mode switch of the controller to another mode.
Forced pausing

While flying in auto mode, GPS reception was poor and switched to visual
odometry. Please switch to Position or Manual mode and land the aircraft in asafe place as soon as possible.
➔

p. 101 The following is a brief description of the “The6.2.4 .Basic Auto
Mode (AUT)

See “6.2.5.

*When switched to visual odometry, free flight, Go Home and other operations
are not available.
*The forced pause function does not work with active marker tracking.

The ESC has detected that the motor does not have a propeller (propeller).

detected

All motors should be equipped with a propeller.

Battery temperature

Battery temperature is elevated. Remove the battery from the aircraft and store

high

it at room temperature.
On ground: Not recommendable to take off.
In flight: Land in a safe place as soon as possible.

Battery use limit

The number of times the battery has been charged and discharged isnearing

approaching the limit of use.
Contact your dealer for battery replacement.

Improper flight plan

There is an abnormality in the received planned flight. Please review theplanned flight.
• Reduce the number of waypoints• Check for unassigned emergency landing points.

Obstacle detected

7
Abnormal Operating Procedures

Propeller not

An obstacles near the aircraft is detected. Fly with caution.

153

Caution message

Explanation and required action

No data from vision

The flight controller is not receiving any data from the vision computer. If theunit

caution persists, restart the aircraft.
*If the caution message appears again, discontinue use and contact your dealer.
On ground: The ability to idle is inhibited in position (POS) or auto (AUT) modein a non-GPS environment.
In flight:• Manual (MAN) mode

Continuation of flight is possible.
• Position (POS) mode

In a non-GPS environment, switch to manual (MAN) mode and land theaircraft in a safe location as soon as possible.
Vision accuracy low

This environment is not suitable for visual odometry.
➔p. 31 The following is a brief description of the “A.”2.3.2 .Overview ofSee“2.3.3.
On ground: The ability to idle is inhibited in position (POS) or auto (AUT) modein a non-GPS environment.
In flight:• Manual (MAN) mode

Continuation of flight is possible.
• Position (POS) mode

In a non-GPS environment, switch to manual (MAN) mode and land the7aircraft in a safe location as soon as possible.
Too dark for vision

There is not enough light for the stereo cameras to capture properly exposed

Abnormal Operating Procedures

images and some functions may not work properly.
Manual (MAN) mode
Continuation of flight is possible.
Position (POS) or auto (AUT) mode
Forward and upward collision avoidance may not work in GPS
environments. Use caution.
In a non-GPS environment, switch to manual mode and land the aircraft in asafe location as soon as possible.
Vision initialization

Vision could not initialize. Please restart.

error

On ground: The ability to idle is inhibited in position (POS) or auto (AUT)
mode in a non-GPS environment.
In flight:-Manual (MAN) mode
Continuation of flight is possible.
-Position (POS) or auto (AUT) mode
In a non-GPS environment, switch to manual mode and land the aircraft in asafe location as soon as possible.

154

Caution message

Explanation and required action

Vision performance

Vision has a low frame rate. Please restart.

error

On ground: The ability to idle is inhibited in position (POS) or auto (AUT)
mode in a non-GPS environment.
In flight:-Manual mode
Continuation of flight is possible.
-Position mode/Auto mode
In a non-GPS environment, switch to manual mode and land the aircraft in a safe
location as soon as possible.

No camera SD

No SD card was detected in the camera.
Make sure an SD card is inserted in the camera
Format the SD card.

Lens error

There is a problem with the focus/zoom function of the camera.
Please power off the aircraft, reinsert the camera, then power the aircraft backon.
*Do not reinsert the camera while the aircraft is powered on.
*If the caution message appears again, discontinue use and contact your dealer.

Gimbal init error

Gimbal initialization failed.
Please power off the aircraft, reinsert the camera, then power the aircraft back7

on.
*Do not reinsert the camera while the aircraft is powered on.
make sure that there are no obstacles or other objects that may interfere withthe gimbal initialization.
*If the caution message appears again, discontinue use and contact your dealer.
Gimbal motor error

An abnormality has occurred in the gimbal motor.
Please power off the aircraft, reinsert the camera, then power the aircraft backon.
*Do not reinsert the camera while the aircraft is powered on.
*If the caution message appears again, discontinue use and contact your dealer.

Gimbal ctrl error

An abnormality has occurred in the gimbal motor.
Please power off the aircraft, reinsert the camera, then power the aircraft backon.
*Do not reinsert the camera while the aircraft is powered on.

Abnormal Operating Procedures*After the aircraft is powered on, initialization of the gimbal will begin. Please*If the caution message appears again, discontinue use and contact your dealer.

155

7.1.15. Advisory Messages•

The following pages list all of the advisory and informational messages that can appear in the ACSLTAKEOFF ground control application and on the controller. Also included is an explanation and required
actions.

Advisory message
Camera connected

Explanation and required action
No camera is detected.
Attach a camera.

Takeoff command rejected

Not ready for automatic takeoff.
• Verify that GPS accuracy is good.
• Verify that throttle stick is in the center position.
• Verify that communication between the controller and the aircraft

has not been disrupted.

EEPROM reloading

One or more settings values in the aircraft’s internal memory has
been changed and is being reloaded.

Camera heat warning

Camera temperature is rising. Stop shooting.
After landing, avoid direct sunlight and lower the temperature of thecamera.

*If the warning message appears again, discontinue use and7
Abnormal Operating Procedures

156

contact your dealer.
Excess number of RCs paired

More than 3 controllers have been bound to the aircraft.
From the ACSL TAKEOFF ground control application, perform acontroller binding erase.

Waiting

The current waypoint included a wait time. The number of seconds ofwait time will also be indicated.

Log write failure

Failed to write to the aircraft’s internal log. Restart the aircraft.
*If the warning message appears again, discontinue use and contact
your dealer.

7.1.16. Messages Displayed on the Controller◼
•

Warning messages
The following lists all of the warning messages that can appear only on the controller. Also included is an
explanation and required actions.

•

When a warning message is issued, the controller alerts the user with sound and vibration.
* The sound will be muted if SOUND is set to OFF in the controller settings menu.
Warning message
SWITCH STICK FAILURE

Explanation and required action
A controller stick malfunction was detected. Discontinue use contact
your dealer.
On ground: Not recommendable to take off.
In flight: Immediately land the aircraft in a safe location.

COMM FAILURE

An abnormality in the radio has been detected. Discontinue use andcontact your dealer.
On ground: Not recommendable to take off.
In flight: Immediately land the aircraft in a safe location.

SUB-G COMM ERROR

An abnormality has occurred with the training radio. Discontinue use
and contact your dealer.
On ground: Not recommendable to take off.
In flight: Immediately land the aircraft in a safe location.
(Only for controllers equipped with a 920 MHz radio, Japan only)

PLEASE CHARGE CTRL

The controller’s battery level is below 5%.

7

On ground: Not recommendable to take off.

HIGH TEMP CTRL

The controller's internal battery temperature is too high. Allow it tocool down immediately.
On ground: Not recommendable to take off.
In flight: Immediately land the aircraft in a safe location.

INIT NEUTRAL FAILURE

Make sure the left and right sticks are in the center position.

BIND FAILURE

Binding failed. Reattempt binding.

LOW VOLTAGE CTRL

Controller battery voltage is low.
Charge the battery or, if it is cold, bring it up to the appropriate

Abnormal Operating Procedures

In flight: Immediately land the aircraft in a safe location.

temperature.
DISCONNECT DRONE

Communication with the drone has been lost.

WARM UP THE BATTERY

Battery temperature is low. Please warm up the battery to room
temperature.

157

◼
•

Caution messages
The following lists all of the warning messages that can appear only on the controller. Also included is an
explanation and required actions.

•

When a warning message is issued, the controller alerts the user with sound and vibration.
* The sound will be muted if SOUND is set to OFF in the controller settings menu.
Warning message
PLEASE CAHRGE CTRL

Explanation and required action
The controller’s battery level is below 10%.
On ground: Not recommendable to take off.
In flight: Find a possible landing site and land the aircraft in a safe place
as soon as possible.

HIGH TEMP CTRL

The controller's internal battery temperature is high. Allow it to cool
down as soon as possible.

LOW TEMP CTRL

Controller temperature has dropped below the operating temperature(CANNOT CHG)

range.
Warm up the controller.
When charging: When this message is displayed, charging is stopped
to protect the battery.

7

LEAVING ALONE

The controller has been inactive for an extended period of time.

CHARGER COMM ERROR

A communication error between the battery and charger has occurred.
If this occurs more than once even after replacing the charger, contact
your dealer.

Abnormal Operating Procedures◼
•

Advisory messages
The following lists all of the advisory messages that can appear only on the controller. Also included is an
explanation and required actions.
Advisory message
CONNECTION CHECKING

Explanation and required action
A communication connection is being prepared between the aircraft
and the controller.
When a radio fail-safe occurs, this message is displayed on all boundcontrollers that have successfully reconnected with the aircraft.

QUIT PILOT REQUESTING

This message is displayed on the pilot’s controller when releasing pilot
authority by simultaneously pressing the Enter and Pause buttons.
When this occurs, the aircraft will immediately begin recruiting for a
new pilot and a notification will appear on all controllers that are
currently receiving telemetry from the aircraft in observer mode.

PILOT REQUESTING

This message is displayed when attempting to gain pilot authority bypressing the Enter button when the message “TO BE PILOT PUSH
ENTER” is displayed on the controller. The aircraft checks the order ofthe requests and grants pilot privileges to the controller with theearliest request.

158

Chapter

8

Maintenance, Inspection and
Disposal
8.1. Post-Flight Inspection ··············································································································································· 160
8.2. Post-Flight Battery Inspection ............................................................................................................................... 161
8.3. Post-Flight Aircraft Inspection ······························································································································· 162
8.4. Post-Flight Propeller Inspection···························································································································· 163
8.5. Post-Flight Controller Inspection·························································································································· 164
8.6. Storage ············································································································································································ 165
8.7. Periodic Inspection, Repair and Maintenance ································································································· 166
8.8. Periodic Parts Replacement ···································································································································· 168
8.9. Product Transfer ·························································································································································· 169
8.10. Disposal and Recycling ········································································································································ 170

159

8.1. Post-Flight Inspection•

Perform the following inspections after each flight.

•

When flying, dust, insects, pollen, and other microscopic debris adhere to the aircraft. If left unattended,these particles can cause chemical changes that lead to deterioration and discoloration of parts.

•

To prevent these problems, clean and care for the equipment after each flight, and check each part for
stains, damage, or wear.

1.
•

Clean battery ·············································································································································· 8-2-1•

Confirm level of charge ·························································································································· 8-2-2•

Inspect exterior ·········································································································································· 5-2-2

2.

8
Maintenance, inspection and disposal

160

Post-flight battery inspection

Post-flight aircraft inspection•

Clean aircraft ··············································································································································· 8-3-1•

Inspect exterior ·········································································································································· 5-3-1.

•

Inspect battery terminals and locking mechanism ······································································ 5-3-2•

Inspect camera terminals and locking mechanism ····································································· 5-3-3•

Inspection air intake ································································································································ 5-3-4•

Inspect motors ··········································································································································· 5-3-5•Inspect propeller mounts and arms ·································································································· 5-3-6•

Inspect arm locking mechanisms ······································································································· 5-3-7•

Inspect stereo cameras and infrared sensors ················································································ 5-3-10

3.

Post-flight propeller inspection•

Clean propellers········································································································································· 8-4-1•

Inspect propellers ····································································································································· 5-4-1

4.

Post-flight controller inspection•

Clean controller ········································································································································· 8-5-1•

Confirm level of charge ·························································································································· 8-5-2

8.2. Post-Flight Battery Inspection
If the battery has experienced a severe impact, there is a risk of it swelling or self-igniting. In such cases,
discontinue its use immediately, place it in a fire-safe place away from flammable materials and ensure it
has stabilized before proceeding further.

If any abnormality is found during the battery inspection, do not install it onto an aircraft or attempt tocharge it. Contact your dealer.

8.2.1.
•

Clean Battery

Wipe the battery clean with a soft, slightly damp cloth.

•

Water splashed onto the battery terminals may cause a malfunction. Do not pour water directly
onto the battery.

•

Only clean the battery with it removed from the aircraft.

8.2.2.
•

Confirm Level of Charge

Ensure that the battery has a level of charge that is suitable for storage. Refer to Section A-1-1

8

Specifications.

Maintenance, inspection and disposal

161

8.3. Post-Flight Aircraft Inspection
If the aircraft experienced a crash or other impact during flight, do not attempt to fly it again.

•

Contact your dealer.
If any abnormality is found during the aircraft inspection described in the following pages, do not•

attempt to fly it. Contact your dealer.

8.3.1.
•

Clean Aircraft

Wipe the dirt off each part of the fuselage with a soft, slightly damp cloth.

•

Water splashed onto electrical components may cause malfunction. Do not pour water directly
onto the aircraft.

•

8
Maintenance, inspection and disposal

162

Only clean the aircraft with the battery removed.

8.4. Post-Flight Propeller Inspection•

If the aircraft experienced a crash or other impact during flight, discontinue the use of all propellers
that were installed. Separate them from propellers that are in good conditions, and dispose of them.

•

If any abnormality is found during the propeller inspection, do not use them for flight. Contact yourdealer.

8.4.1.
•

Clean Propellers

Wipe the propeller clean with a soft, slightly damp cloth.

Only clean the propellers when they are removed from the aircraft.

8
Maintenance, inspection and disposal

163

8.5. Post-Flight Controller Inspection•

If the controller is dropped or experiences impact during use, discontinue use and contact yourdealer.

•If any abnormality is found during the controller inspection described in the following pages,
discontinue use. Contact your dealer.

8.5.1.

Clean Controller•

Wipe the controller clean with a soft, slightly damp cloth .

•In particular, do not allow moisture or dust to remain on the moving parts of the antenna.

8.5.2.
•

Confirm Level of Charge

Ensure that the controller is in the recommended storage condition as described in Section A-1-1
Specifications.

8
Maintenance, inspection and disposal

1648.6. Storage
Ensure that the aircraft, battery, and controller are in the recommended condition for storage, as•

described in Section 8.1: Post-Flight Inspection.
In addition to the recommended storage temperatures listed in Section A-1-1•

Specifications, avoid

storage locations with a fire hazard, high humidity, dust, and weak shelving.
To prevent theft, store the aircraft, batteries, and controller in separate, lockable locations.

••

The batteries include a built-in battery management system (BMS) that continuously monitors theconditions of the internal lithium-ion cells. If the battery is left in a high-temperature environment,such as the inside of a car on a hot sunny day, with full charge, the battery management system may
sense an overcharge condition and engage a safety lock, rendering the battery unusable.

•

If the aircraft is dropped or experiences a shock during storage, contact your dealer.

•

To maximize battery life, it is recommended to store batteries with around 50% charge.

•

Storage at low battery levels is effective in reducing battery degradation. However, over-discharge
can also cause battery degradation. The built-in battery management system (BMS) continuously
consumes a small amount of energy causing the batteries to discharge very slowly over time. If the
BMS detects an extreme over-discharge condition it may engage a safety lock, rendering thebattery unusable. Always store batteries with around 50% remaining charge to avoid this situation.
If you know in advance that you will not be able to charge a battery for a long period of time,8

charge the battery to a level a little higher than 50% before storing it.
Charge batteries once every three months to prevent over-discharge.

•

Store batteries disconnected from the aircraft.

•If batteries are stolen, promptly file a report with the local police and contact your dealer.

Maintenance, inspection and disposal•

165

8.7. Periodic Inspection, Repair andMaintenance•To maintain maximum performance, it is recommended that periodic inspections be performed on theaircraft and controller.

•

At the time of repair or periodic inspection, the SOTEN Diagnostics Tool is used at a designatedmaintenance facility to check the accumulated flight time and inspect the functions of onboard equipment
to identify areas in need of overhaul or repair.

•

Please consult your dealer for periodic inspections.

•

Repair or replacement of parts may be necessary following regular inspections. Repair or
replacement of parts will only be done in consultation with the customer.

•If, upon inspection, it is found that the battery is no longer usable, an inspection report will be
submitted to the customer and it will be disposed of as industrial waste.

◼

8
Maintenance, inspection and disposal

166

SOTEN Repair, Periodic Inspection, and Maintenance (Summary)◼

Shipping SOTEN for Repair, Periodic Inspection and Maintenance•

When shipping an aircraft for repair or inspection, please ship the aircraft and parts in a storage
case or return box (see photo below).

•

When shipping an aircraft for defect analysis, we ask that you mark it with a sticky note or similar
item so that we can identify the battery that was in use at the time the defect occurred.

•

Following the occurrence of abnormal behavior, do not repeatedly turn the aircraft on and off. S hip
the aircraft as soon as possible.

AircraftIf the battery is cracked or otherwise damaged, it cannot be shipped because it could cause a fire or otheraccident while in transit. Dispose of the battery yourself in accordance with the battery disposal rules at

8

your location.

is powered on. Promptly power off the aircraft and refrain from powering it on again. Contact yourdealer.
In addition, repeatedly powering the aircraft on and off following a malfunction could lead to the onboard flight logs of the malfunction event, which are necessary for analysis, to be overwritten, making
it difficult for ACSL to determine the cause of the malfunction.

Maintenance, inspection and disposal

After experiencing a severe impact, such as a crash, there is a risk of fire or other hazards if the aircraft

167

•

When shipping SOTEN, remove the battery and camera from the aircraft.

•

When shipping the aircraft in the carrying case, do not place additional components such asbatteries in the excess space around the aircraft. There is a risk that they may knock together andcause damage to each other.

•

If there are batteries, cameras, or other item that cannot fit in the carrying case, forcing them in
may result in damage to these items or to SOTEN. Prepare separate packaging for these items.

•

For third-party equipment, such as an anemometer, do not include them in the shipment as they
may be lost. Keep such items under your own management and supervision.

8.8. Periodic Parts Replacement•

For safe use, the aircraft should be properly cared for and parts should be replaced periodically.
Replacement parts should be periodically replaced in accordance with the following standards.

•

Replace parts based on total flight hours or date of purchase, whichever comes first.
Replacement Parts

8
Maintenance, inspection and disposal

168

Total flight time

From the date of purchase

Motors

250 hours

3 years

Propeller

250 hours

3 years

Propeller mounting base250 hours

3 years

Failure to perform the periodic replacement of parts, as specified in this section, may result in risk of inflight malfunction or crash.

8.9. Product Transfer•

If you wish to transfer this product to a third party, please contact your dealer.

•

After the transfer of this product, after-sales support, including the notification of urgent service bulletins,
will be provided to the new customer through your distributor.

•

Since this product is an industrial unmanned aircraft, ACSL will not provide any after-sales support if the
product is transferred to an individual customer.

•

For operators in the US, upon transfer of the drone to a new owner, the previous owner must remove theregistration number label from the aircraft and the new owner must re-register the aircraft themselves.

Transfer of this product to criminal entities is prohibited.

8
Maintenance, inspection and disposal

169

8.10. Disposal and Recycling
When this product is disposed of, it is classified as industrial waste. If the product is improperly dumped
or disposed of as general waste, you will be subject to punishment according to the local regulations.

8.10.1. Disposal of airframe and controller•

When disposing of the aircraft and controller, please dispose of them properly as industrial waste.

8.10.2. Battery Disposal and Recycling•

Batteries that have been involved in a crash or strong shock, or that have been submerged, damaged, or
have swollen should be disposed of properly by the customer according to the disposal method specified
by the local government in your area.

•

Please contact your dealer for recycling of used batteries.

•

For a battery that has been safety-locked, contact your dealer. A functional inspection will be performedat an authorized maintenance facility to determine whether the battery should be repaired or disposed ofor recycled. In the case of disposal or recycling, a diagnostic report will be issued to the customer and thebattery will be disposed of properly.

8
Maintenance, inspection and disposal

170

The transportation of batteries that have been subjected to a crash or severe shock, or batteries thathave been submerged in water, damaged, or swollen, should only be done upon consultation with thecarrier.

Chapter

9

Troubleshooting

9.1. Troubleshooting ·························································································································································· 172

171

9.1. TroubleshootingThis section describes troubleshooting actions for common problems. If you do not find a problem listed
below, or if the problem persists, contact your dealer. Do not attempt to fly the aircraft until the problem has
been resolved.

9.1.1.

Aircraft Troubleshooting
Issue

The aircraft has fallen or crashed.

ActionStop flying and contact your dealer. Information on inspections of
the aircraft will be provided.

The BIND button cover has come off.

The waterproofing and dustproofing performance is degraded.
Discontinue use and contact your dealer for repair.

No power to the aircraft.

Replace the battery.

The aircraft status LED blinks red forMove the aircraft to a location with more unobstructed sky.

more than 5 minutes in a GPS
environment.
The aircraft status LED blinks red inMove the aircraft to a location with a wall or ceiling surfaces

non-GPS environment.

within 3 m (10 ft) of the aircraft and restart it.

Cannot start the motors.

• Ensure that the controller is bound to the aircraft and thatpilot authority has been gained.
• Perform stick calibration according to '7.1.12 Stick9

Calibration.

Troubleshooting

Cannot start the motors.

Move the aircraft to a location where the status LED on the(position (POS) or auto (AUT) mode)

aircraft does not flash red.

Strange noise when starting theTurn the motor by hand and check for foreign objects or

motors.

snagging.

Certain motors do not rotate.

Discontinue use and contact your dealer for repair.

Can't take off.

Operate the controller throttle above the center position.

Cannot take off automatically.

• Set the controller flight mode switch to the “AUT” position.

(auto (AUT) mode)• Complete the preflight checklist on the ACSL TAKEOFF

ground control application.
• Ensure that the throttle stick is in the center position.

172

IssueActionAircraft shakes when hovering.

Land the aircraft and check for any abnormalities in the aircraft,(manual (MAN) mode)arms, or propeller attachments.

Aircraft shakes when hovering in a
GPS environment.
(position (POS) auto (AUT) mode)• Ensure that there are no objects on or around the drone that

may interfere with the geomagnetic compass.
• Move the aircraft to a location with more unobstructed sky.
• Turn off the collision avoidance switch on the controller.

Aircraft shakes when hovering in a
non-GPS environment,(Position mode/Auto mode)• Move the aircraft to a location with a wall surface within 3 m

in front of the aircraft and restart it.
• Turn off the collision avoidance switch on the controller.

Cannot go straight or turn right or

If there are any objects on or around the drone that may interfere

left.

with the geomagnetic compass, discontinue the flight.

(position (POS) auto (AUT) mode)
The speed is too slow.

The aircraft may have switched to visual odometry as a result of(position (POS) mode)poor GPS reception. The notification “Navigation soured
switched” is displayed when the aircraft switches from GPS tovisual odometry.

I can’t land.
(manual (MAN) mode)• This product uses a barometric pressure sensor for altitudecontrol. Changes in air pressure near the ground, etc., may
affect throttle operation.
• Select auto-landing on the controller or ACSL TAKEOFF

ground control application.
I can't land.
(position (POS) mode)• This product uses a barometric pressure sensor for altitude• Select auto-landing on the controller or ACSL TAKEOFF

ground control application.
• Check that the controller status LED is solid green and thatthe notification “Radio comms interrupted” is not displayed.
• Land it in position (POS) mode or manual (MAN) mode.

Troubleshooting

affect throttle operation.

Can't auto-land.

9control. Changes in air pressure near the ground, etc., may

173

9.1.2.

Controller Troubleshooting
Issue

ActionThe controller does not respond when

• Check if the controller temperature is appropriate.

plugged into a USB charger.

• The charging port is located on the bottom of the controller.

Connecting a charger to the data communication port on the
top of the controller will not recharge the battery.
• Try a different USB charger.
• If the problem persists, contact your dealer.

Charging is not complete after a longIf this occurs even after replacing the charger, contact yourperiod of time.

dealer.

Controller housing section is bulging.

Do not touch the controller with your bare hands. Temporarily

There is a strong chemical odor.

place the controller in a fire-safe location that is as far away as
possible from flammable materials, buildings, or crowded places,
and away from rainwater or other water sources. If you have an
explosion-proof case, temporarily store the controller in the
explosion-proof case.

The controller was dropped and theThere is a possibility that the controller could start to smoke orcasing was damaged/deformed.

catch fire. Temporarily place the controller in a fire-safe location

The controller was submerged inthat is as far away as possible from flammable materials,

water.

buildings, or crowded places, and away from rainwater or other

Seawater splashed onto the controller.

water sources. If you have an explosion-proof case, temporarily
store the controller in the explosion-proof case.

9
Troubleshooting

174

The controller is submerged in

If the controller behaves strangely, do not force it out of theseawaterseawater. It is extremely dangerous.

9.1.3.

Battery Troubleshooting
Issue

ActionThe battery does not respond at all

If you have more than one battery, check that the charger is notwhen plugged into a charger.

defective.
If the charger is defective, contact your dealer immediately.

The status LED is lighting or flashing

Please contact your dealer as soon as possible.

in a pattern not described in thismanualThe safety lock has engaged.
➔

See '2.6.3 .Battery Modes’

The battery’s internal battery management system (BMS) has
determined that the battery is no longer safe for continued use.
This battery will no longer power on. The cause of the safety lockcan be diagnosed by an authorized maintenance facility. For more
information, contact your dealer.

The battery is swollen.

Do not touch the battery with your bare hands. Temporarily place
the battery in a fire-safe location that is as far away as possible
from flammable materials, buildings, or crowded places, and awayfrom rainwater or other water sources. If you have an explosionproof case, temporarily store the battery in the explosion-proof
case.

There is a strong chemical odor.

Do not touch the battery with your bare hands. Temporarily place
the battery in a fire-safe location that is as far away as possible
from flammable materials, buildings, or crowded places, and awayfrom rainwater or other water sources. If you have an explosionproof case, temporarily store the battery in the explosion-proof
case.
There is a possibility that the controller could start to smoke orwater.

catch fire. Do not touch the battery with your bare hands.
Temporarily place the battery in a fire-safe location that is as far
away as possible from flammable materials, buildings, or crowded
places, and away from rainwater or other water sources. If you
have an explosion-proof case, temporarily store the battery in the
explosion-proof case.

Seawater splashed onto the battery.

9
Troubleshooting

The battery has been submerged in

There is a possibility that the controller could start to smoke orcatch fire. Do not touch the battery with your bare hands.
Temporarily place the battery in a fire-safe location that is as far
away as possible from flammable materials, buildings, or crowded
places, and away from rainwater or other water sources. If you
have an explosion-proof case, temporarily store the battery in the
explosion-proof case.

The battery is submerged in seawater.

If the battery behaves strangely, do not force it out of theseawater. It is extremely dangerous.

175

A Appendix

A-1

Specification ······················································································································································ 177

A-2

Change History ················································································································································· 184

176

A-1

Specifications

A-1-1

Specifications
AircraftModel

L14 (without LTE)
L22 (equipped with LTE)

Dimensions

When arms are

Overall length 560 mm / width 637 mm / height 153 mm

extended(Overall length 22.0” / width 25.1” / height 6.0”)(including propellers)

Arms retracted

Overall length 363 mm / width 162 mm / height 144 mm(Overall length 14.3” / width 6.4” / height 5.7”)

Weight (without battery or camera)

L141 (without LTE): approx. ≈ 1,050 g (2.31 lbs)
L221 (equipped with LTE): ≈ 1,070 g (2.36 lbs)

Number of propellers

4

Maximum takeoff weight

2,000 g (4.41 lbs)

Flight timeHigh capacity

29 minutes (conditions: without standard camera, wind speed 8batterym/s)

Altitude limit

2,000 m (6,560 ft)

Ingress protection rating

IP43 (with camera, gimbal and battery installed)*Flying in the rain is not recommended.

Operating environment temperature-20 to 40°C (-4 to 104°F)*Conditions apply for use in low-temperature environments.

Obstacle detection system

Stereo cameras: 3 directions (forward, upward, downward)

Laser distance sensor

Class 1 laser equipment

External power supply capability

USB type-C® 5V 500mA or less*Since the aircraft is electrically connected to the internal system, it
feed power to external devices during flight.

Appendix

may be affected by external equipment. In principle, please do notA

177

Controller
Built-in battery nominal voltage

7.2 V

Rated current capacity

5,000 mAh

Rated energy capacity

36.0 Wh

Dimensions

194 mm x 129 mm x 84 mm(7.6” x 5.1” x 3.3”)

Weight≈ 500 g (1.1 lbs)

Mobile device port

USB 2.0 Full Speed

Charging standards

USB BC (Battery Charging Specification 1.2)

Rated voltage for charging

5V

Maximum charging current *1• SDP standard charger max 5 V 0.5 A• CDP standard charger max 5 V 1.5 A• DCP standard charger max 5 V 1.5 A• Standard charger, etc. max 5 V 2.4 A• Chargers not applicable to the above max 5 V 1.0 A

Maximum charging power *1• SDP standard charger max 2.5 W• CDP standard charger max 7.5 W• DCP standard charger max 7.5 W• Standard charger, etc. max 12.0 W• Chargers not falling under the above max 5.0 W

Recommended charging

0 to 40°C (32 to 104°F)

temperature (ambient)
Recommended operating

0 to 40°C (32 to 104°F)

temperature (ambient)A

Recommended storage

Less than 3 months: -10 to 45°C (14 to 113°F)

temperature (ambient)More than 3 months: -10 to 20°C (14 to 68°F), no condensation

Appendix

Recommended storage conditions

Battery level: ≈ 30%
Ambient temperature: ≈ 20°C (68°F)
Humidity: ≈ 45%

Only models equipped with a 920 MHz training radio (Japan only)
Training radio frequency band

920.6 to 927.8 MHz (L-band)
928.15 to 929.65 MHz（H band)

Training radio power (EIRP)

1.2 mW (L band)
0.8 mW (H-band)

Japan technical standards
compliance certification

178

001-A11789

Controller
Maximum transmission

100 m (330 ft)

distance between training(open area with no radio interference and good visibility)

radios *2

A
Appendix179

High-Capacity Battery (aircraft)
Nominal voltage

23.1 V

Maximum charge voltage

26.4 V

Rated current capacity

4,075 mAh

Rated power capacity

94.1 Wh

Dimensions

Overall length 107 mm / width 75 mm / height 53 mm(Overall length 4.2” / width 3.0” / height 2.1”)

Weight≈ 480 g (1.1 lbs)

Approximate charging time

≈ 2 hours (indoors at 25°C)

Ingress protection rating

IP43(The terminal should not be wetted by water or condensation.)

Chargeable temperature

0 to 45°C (32 to 113°F)(internal temperature)
Recommended charging

0 to 40°C (32 to 104°F)

temperature (ambient)
Recommended operating

0 to 40°C (32 to 104°F)

temperature (ambient)A
Appendix

180

Recommended storage

Ambient temperature 0 to +35°C (-22 to +140°F)

temperature (ambient)

0 to 35°C (32 to 95°F) , no condensation

Recommended storage conditions

Battery level: ≈ 50% (first two battery level indicator LEDs lit)

Normal charging (3.0 A)

Pack internal temperature: +5 to +45°C (41 to 113°F)

Low speed charging (0.8 A)

Pack internal temperature: 0 to +5°C (32 to 41°F)

Battery Charger
Voltage

100 to 240V, 2A, 50 to 60Hz

Rated output

26.4V @ 3A, 5V @ 2A
33.6V @ 2.4A, 5V @ 2A, 90W total maximum
Wireless Communications

Controller
Communication frequency

2,412 to 2,477 MHz

band
Power

0.009 W/MHz

Bandwidth

14 channels, 5 MHz spacing

Modulation

G1D

Encryption

AES256

Japan technical standards

Aircraft: 001-X00399

compliance certification

Controller 001-X00400

Specified radio equipment

Article 2, Paragraph 1, Item 19 of the Certification Regulations

type (Japan)

2.4GHz Band Advanced Small Power Data Communication System

Maximum transmission

4 km (2.5 miles), line-of -sightdistance *2(open area with no radio interference and good visibility)

BluetoothBluetooth Version

Bluetooth 4.0 and 5.0

Japan technical standards

001-A14398

compliance certification
Maximum transmission

300 m (1,000 ft), Bluetooth 5.0

distance *2
Remote ID standard

ASTM F3411-22A Broadcast TypeThe values may vary depending on the compatible standard and power supply capacity of the charger used to supply
power. Please check the user manual of the charger used.

2

The maximum transmission distance is the transmission distance under favorable conditions and does not guarantee
performance under actual operating conditions. It depends on the surrounding radio environment, line-of-sightAppendix1A

conditions, and the orientation of the controller.

181

A-1-2◼

Dimensions

Aircraft
Unit: mm

560

637

162

363

A
Appendix

182

144

363

◼

Battery
High-capacity battery◼

Unit: mmController
Unit: mmA
Appendix183

A-2 Change History
VersionDate

2.11-US1

5/17/2024

Details of RevisionFirst edition

EditorACSL Ltd.

Production Unit

A
Appendix184

Manufacturer Information

Manufacturer
ACSL Ltd.
Hulic Kasai Rinkai Bldg. 2F
3-6-4 Rinkai-cho, Edogawa-ku
Tokyo 134-0086, JapanFor individual questions, please contact the distributor listed on the backcover of this manual.
Specifications are subject to change without notice due to productimprovement.
First edition May 2024

Distributor Contact