TAKEOFF
User Manual

Ver. 2.6-US1

5/30/2024
NOTICE: Read this manual in its entirety before using the Takeoff software. Also, read the manuals for the
ACSL industrial aircraft before using the aircraft.

Table of Contents
Before Use ...................................................................................................................... 1
1.1. Introduction.......................................................................................................................................................................... 2
1.1.1.

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

1.1.2.

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

1.1.3.

Definitions – Classifications of Alert Symbols ...................................................................................... 4

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

About TAKEOFF ............................................................................................................................................... 5

1.2.2.

License ................................................................................................................................................................. 5

1.2.3.

Software Usage Precautions.................................................................................................................... 11

1.2.4.

Compatible Aircraft ....................................................................................................................................... 12

1.2.5.

System Requirements ................................................................................................................................. 121.3. Installation Procedure .................................................................................................................................................. 13
1.4. Connecting to the Aircraft ........................................................................................................................................... 14
1.4.1.

Wi-Fi ................................................................................................................................................................... 14

1.4.2.

Connecting to the Aircraft .......................................................................................................................... 15

1.4.3.

Initial Settings ................................................................................................................................................. 15

Flight View.................................................................................................................... 17
2.1. Screen Details ................................................................................................................................................................. 18
2.1.1.

Flight View Elements ................................................................................................................................... 18

2.1.2.

Pre-flight Checklist ........................................................................................................................................ 20

2.1.3.

Moving the Map ............................................................................................................................................. 21

2.1.4.

Zooming the Map In and Out ................................................................................................................... 21

2.1.5.

Rotating the Map ........................................................................................................................................... 22

2.1.6.

Icons ................................................................................................................................................................... 22

2.1.7.

Centering the Map ........................................................................................................................................ 23

2.1.8.

Changing the Map Orientation ................................................................................................................ 23

2.1.9.

Clearing the Flight Track History ............................................................................................................ 24

2.1.10. Remote ID ........................................................................................................................................................ 24
2.2. Attitude Indicator and Obstacle Radar Display ................................................................................................. 25
2.2.1.

Attitude Indicator............................................................................................................................................ 25

2.2.2.

Obstacle Radar Display .............................................................................................................................. 26

2.3. Command Operations ................................................................................................................................................. 27
2.3.1.

Arm Button ....................................................................................................................................................... 29

2.3.2.

Command Menu Button ............................................................................................................................. 31

2.3.3.

Pause/Resume Button ................................................................................................................................ 32

2.3.4.

Emergency Commands .............................................................................................................................. 33

2.3.5.

Free Flight Operation................................................................................................................................... 34

2.3.6.

D-Pad Operation............................................................................................................................................ 35

2.4. Camera Operation ......................................................................................................................................................... 36
2.4.1.

Camera Operation ........................................................................................................................................ 38

2.4.2.

Camera Settings and Advanced Camera Settings ......................................................................... 39

2.4.3.

360° Shooting ................................................................................................................................................. 42

2.4.4.

Video Stream Recording ............................................................................................................................ 43

2.5. Emergency Menu .......................................................................................................................................................... 44

Plan View ...................................................................................................................... 45
3.1. Overview of Plan View ................................................................................................................................................ 46
3.1.1.

Plan View Elements ..................................................................................................................................... 46

3.2. Creating a Flight Plan .................................................................................................................................................. 47
3.2.1.

Setting a Base Point .................................................................................................................................... 47

3.2.2.

Setting Waypoints ......................................................................................................................................... 48

3.2.3.

Survey and Corridor Scans ....................................................................................................................... 53

3.2.4.

Point Of Interest (POI) ................................................................................................................................ 57

3.2.5.

Emergency Landing Sites ......................................................................................................................... 59

3.2.6.

Geofences ........................................................................................................................................................ 60

3.2.7.

Using a Flight Plan ....................................................................................................................................... 62

Settings View ............................................................................................................... 63
4.1. TAKEOFF App Settings .............................................................................................................................................. 64
4.1.1.

General .............................................................................................................................................................. 64

4.1.2.

Comm Links..................................................................................................................................................... 66

4.1.3.

Offline Maps .................................................................................................................................................... 67

4.1.4.

MAVLink ............................................................................................................................................................ 68

4.1.5.

Remote ID ........................................................................................................................................................ 68

4.1.6.

Pointer................................................................................................................................................................ 69

4.2. Aircraft Settings .............................................................................................................................................................. 70
4.2.1.

General .............................................................................................................................................................. 70

4.2.2.

System Information ...................................................................................................................................... 70

4.2.3.

Firmware ........................................................................................................................................................... 70

4.2.4.

Update firmware ............................................................................................................................................ 71

4.2.5.

Magnetic calibration ..................................................................................................................................... 77

4.2.6.

Maintenance .................................................................................................................................................... 79

4.2.7.

Lifespan management ................................................................................................................................ 79

4.2.8.

Restriction (GPS) .......................................................................................................................................... 79

4.2.9.

Safety Features.............................................................................................................................................. 81

4.2.10. Gimbal Adjustment ....................................................................................................................................... 82
4.2.11. Stick Sensitivity Adjustment ...................................................................................................................... 83
4.2.12. Options .............................................................................................................................................................. 84
4.2.13. Data erasure ................................................................................................................................................... 84
4.2.14. Reset Transmitter Binding ......................................................................................................................... 84

Analysis & Flight Logs Views ..................................................................................... 85
5.1. Analysis ............................................................................................................................................................................. 86
5.2. Flight Logs ........................................................................................................................................................................ 88

Troubleshooting .......................................................................................................... 89
6.1. Troubleshooting .............................................................................................................................................................. 90
6.1.1.

Communication disruption ......................................................................................................................... 90

6.1.2.

No map is displayed. ................................................................................................................................... 91

A-1 Revision history...................................................................................................................................................... 93
Manufacturer information ....................................................................................................................................................... 94

Chapter1

Before Use

1.1. Introduction ········································································································ 2
1.2. Ensuring Safe Use ······························································································· 5
1.3. Installation Procedure ··························································································· 13
1.4. Connecting to the Aircraft ······················································································ 14

11.1. Introduction

Before Use

1.1.1. Disclaimer
PLEASE READ THIS DISCLAIMER CAREFULLY BEFORE USING TAKEOFF. THE ENTIRE TAKEOFF
USER MANUAL IS ALSO AVAILABLE TO YOU AT: https://acsl-usa.com/support/
By using this product, you hereby agree that you have read this disclaimer carefully and that you understand,acknowledge and agree to the terms and conditions described herein and elsewhere in the TAKEOFF User
Manual. THE PRODUCT IS NOT A TOY AND IS NOT SUITABLE NOR INTENDED FOR USE BY ANYONEUNDER THE AGE OF 18.
Although TAKEOFF incorporates sophisticated technologies, inappropriate use of the product may result inpersonal injury or property damage. Please read this TAKEOFF User Manual carefully before using the
product.
The TAKEOFF 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 allof the instructions and warnings in this document.
Notwithstanding anything to the contrary in this TAKEOFF 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 orservices. Do not use incompatible equipment or service(s) or alter this product in any way unless authorized
to do so by ACSL in writing. Except in cases of ACSL’s intentional misconduct or gross 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 orrelated 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 ACCESSORIESAND RELATED MATERIALS, 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 ANYIMPLIED WARRANTY OF MERCHANTABILITY, TITLE, QUIET ENJOYMENT, NON-INFRINGEMENT,2

FITNESS FOR A PARTICULAR PURPOSE, AND ANY WARRANTY ARISING OUT OF COURSE OF
DEALING, USAGE OR TRADE, EVEN IF ACSL HAS BEEN ADVISED OF SUCH PURPOSE. ACSL DOES
NOT WARRANT, EXCEPT AS EXPRESSLY PROVIDED IN THE APPLICABLE ACSL LIMITED PRODUCT1WARRANTY, THAT THE PRODUCT (OR COMPONENTS, SOFTWARE OR PARTS THEREOF), PRODUCTACCESSORIES AND RELATED MATERIALS, WILL BE ERROR-FREE, VIRUS-FREE, UNINTERRUPTED,

Before Use

SECURE, OR FREE OF HARMFUL COMPONENTS OR SOFTWARE, AND DO NOT WARRANT THAT ANY
SUCH ISSUES WILL BE CORRECTED.
BY USING THE PRODUCT, YOU HEREBY ACKNOWLEDGE AND AGREE THAT YOU ARE SOLELYRESPONSIBLE FOR AND ASSUME ALL RISKS FOR ANY PERSONAL INJURIES, DEATH, DAMAGE TOPROPERTY OR LOSS OF DATA THAT MAY RESULT FROM YOUR USE OF THE PRODUCT (ORCOMPONENTS, SOFTWARE OR PARTS THEREOF), PRODUCT ACCESSORIES AND RELATEDMATERIALS. YOU AGREE THAT YOU WILL USE THE PRODUCT AT YOUR OWN DISCRETION AND
RISK.
WHEN USING THE PRODUCT (OR COMPONENTS, SOFTWARE OR PARTS THEREOF), PRODUCTACCESSORIES AND RELATED MATERIALS, YOU MAY PROVIDE ACSL WITH PERSONALINFORMATION OR DATA. PLEASE REFER TO ACSL’S PRIVACY POLICIES AVAILABLE AT: https://acslusa.com/support/ FOR MORE INFORMATION.
THIS DISCLAIMER AND OTHER CONTENTS OF THIS TAKEOFF USER MANUAL MAY BE UPDATEDFROM TIME TO TIME IN ACSL’S SOLE DISCRETION. PLEASE VISIT https://acsl-usa.com/support/ OR
CONTACT US FOR THE LATEST VERSION OF THIS TAKEOFF USER MANUAL. THIS DISCLAIMER AND
TAKEOFF USER MANUAL MAY BE MADE AVAILABLE IN VARIOUS LANGUAGES. IF THERE IS ANYCONFLICT BETWEEN ANY TERM OR THE MEANING GIVEN CERTAIN LANGUAGE IN ONE VERSIONCOMPARED TO THE TERM OR MEANING GIVEN SUCH CORRESPONDING LANGUAGE IN ANOTHER,
THE TERM AND/OR LANGUAGE CONTAINED IN THE ENGLISH VERSION SHALL GOVERN.

1.1.2. Warning•

Before using this product, read carefully and fully understand the following safety precautions andinstructions.

•

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

3

1.1.3. Definitions – Classifications of Alert Symbols
In this manual, and on the product itself, the following classification of alert symbols is used in conjunction

1

with the headings “WARNING”, “CAUTION” and “ADVISORY”. These symbols are deployed to ensure safeand proper use of the product and to prevent property damage and injury to the user or to others.
The symbols and their meanings are shown below. Please read carefully and understand the meaning of

Before Use

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

CAUTION

This symbol indicates that failure to follow the associated guidance could result in minor or moderate
injuries.

ADVISORY

This symbol indicates that failure to follow the associated guidance could result in malfunction or failureof the product, or damage to other property.

41.2. Ensuring Safe Use

1•

Before Use

1.2.1. About TAKEOFF
This document describes how to use the ACSL TAKEOFF Ground Control Application (hereto referred toas “TAKEOFF”) to perform flight monitoring, flight planning, and various other functions to manage andcontrol industrial aircrafts manufactured by ACSL.

1.2.2. License
TAKEOFF Software License Agreement•

Please read the following software license agreement carefully before use.

SOFTWARE LICENSE AGREEMENTIMPORTANT – READ CAREFULLY
The terms and conditions of this Software License Agreement set forth a legal contract (this “Agreement”)
between you (whether you are an individual or a legal entity, you will be referred to in this Agreement as the“Licensee”) and ACSL, Ltd. (“Licensor”), relating to Licensor’s grant of a limited license to Licensee to use
certain Software (defined below) and other Licensed Materials (defined below) on the terms and conditions set
forth below.
Please carefully read this Agreement before downloading, installing, using, or accessing the Software or other
Licensed Materials. The license contained herein is expressly conditioned upon Licensee’s acceptance of all of
the terms and conditions contained in this Agreement.
By clicking or selecting the “ACCEPT” button at the end of this Agreement or other button, check-box, orsimilar mechanism designed to acknowledge agreement to the terms and conditions of an electronic copy ofthis Agreement, or by otherwise installing, downloading, accessing, or copying or using any or all of theLicensed Materials, (a) you hereby accept this Agreement on behalf of the entity Licensee for which you areauthorized to act and acknowledge that such entity Licensee is legally bound by this Agreement (and you agree
to act in a manner consistent with this Agreement) or, if there is no such entity Licensee for which you areauthorized to act, you accept this Agreement on behalf of yourself as the individual Licensee and acknowledge
that you are legally bound by this Agreement, and (ii) you represent and warrant that you have the right, power
and authority to act on behalf of and bind such entity Licensee (if any) or yourself as Licensee. YOU MAY
NOT ACCEPT THIS AGREEMENT ON BEHALF OF AN ENTITY UNLESS YOU ARE AN
EMPLOYEE OR OTHER AUTHORIZED AGENT OF SUCH ENTITY WITH THE FULL RIGHT,
POWER, AND AUTHORITY TO ACT ON BEHALF OF SUCH ENTITY.
If Licensee does not wish to and enter into this Agreement, or you do not have the full right, power, and authority
to act on behalf of and bind an entity Licensee or yourself as an individual Licensee, then (aa) select the“DENY” button at the end of this Agreement and the download, installation, or delivery (if it has already beencommenced) will be aborted and this Agreement will be of no force or effect; (bb) do not click or select anyother button, check-box, or similar mechanism designed to acknowledge agreement to the terms and conditionsof an electronic copy of this Agreement; (cc) do not install, download, access, or otherwise copy or use any or
all of the Licensed Materials; and (dd) destroy any and all copies of the Licensed Materials in your possession
and promptly notify Licensor of such destruction. If you click or select the “ACCEPT” button at the end of thisAgreement or other button, check-box, or similar mechanism in error, please notify Licensor immediately.

5

1.

1

Definitions.

“Action” means any claim, action, cause of action, demand, lawsuit, arbitration, inquiry, audit, noticeof violation, proceeding, litigation, citation, summons, subpoena, or investigation of any nature, civil, criminal,
administrative, regulatory, or other, whether at law, in equity, or otherwise.

Before Use“Confidential Information” includes any trade secrets or other information of Licensor that is not in
the public domain or otherwise generally known by or available to the public, including, without limitation,
information relating to Licensor, Licensed Materials, methods, techniques, compilations, methods, techniques,
processes, personal, private, confidential, or proprietary information, intellectual property, or knowhow ofLicensor or any affiliate of Licensor, or other information which is received by Licensee, in any way, whether
directly or indirectly, from Licensor or its affiliates. Such information includes, but is not limited to, businessplans; financial information; business strategies; marketing plans; prospects; customer and supplier lists; pricelists; cost information; information about directors, officers, managers, members, shareholders, employees,
representatives, licensees, affiliates, and subcontractors of Licensor; drawings; data, plans or specifications;samples; costs; pricing data; research and development materials; any other technical, business or marketing,promotional, or advertising information; works of authorship, whether or not copyrightable or subject to otherproprietary, trade secret, and/or intellectual property right protection. “Confidential Information” shall notinclude information that: (a) can be demonstrated to have been generally available to the public, other than
through Licensee’s breach of this Agreement or any other confidentiality obligation owed to Licensor; or (b)Licensor agrees in writing that Licensee may disclose, prior to such disclosure by Licensee.
“Documentation” means any user manuals, handbooks, and installation guides or other materials,
whether or not electronic, relating to the Software thereof that Licensor provides or makes available to Licensee
and which describe the functionality, components, features, processes, uses, or requirements of the Software,
including, without limitation, any aspect of the installation, maintenance, upgrading, configuration, integration,
operation, or use of the Software, as well as all associated updates to such items now or hereafter provided by
Licensor pursuant to the terms of this Agreement.
“Intellectual Property Rights” means any and all registered and unregistered rights granted, appliedfor, or otherwise now or hereafter in existence under or related to any patent, copyright, trademark, trade secret,database protection, or other intellectual property rights Laws, and all similar or equivalent rights or forms ofprotection, in any part of the world.
“Law” means any statute, law, ordinance, regulation, rule, code, order, constitution, treaty, common
law, judgment, decree, guidance or interpretive materials which have the force of law, or other requirement of
any federal, state, local, or foreign government or political subdivision thereof, or any arbitrator, court, or
tribunal of competent jurisdiction.
“Licensed Materials” means the combination of the Software and Documentation now or hereafter
provided or Licensed to Licensee by Licensor in connection with this Agreement.
“Losses” means all losses, damages, deficiencies, claims, actions, judgments, settlements, interest,awards, penalties, fines, costs, or expenses of whatever kind, including reasonable attorneys’ fees and the costsof enforcing any right to indemnification hereunder and the cost of pursuing any insurance providers.
“Maintenance Release” means any update, upgrade, release, or other adaptation or modification of
any of the Licensed Materials (including any Documentation) that Licensor may provide to Licensee from time
to time during the Term, which may contain, among other things, error corrections, enhancements,
improvements, modifications, or other changes or additions to the user interface, functionality, compatibility,
capabilities, performance, efficiency, or quality of the Licensed Materials.
“Open-Source Components” means any Software component that is subject to any open-source
license agreement or similar agreement.
“Permitted Use” means use of the Licensed Materials by Licensee or its employees or authorized
agents in the ordinary course of Licensee’s internal business operations.
“Software” the executable version (but not the source or object code) of the ACSL TAKEOFF Ground
Control Application, TAKEOFF VPN, and related software, as well as all associated Maintenance Releases,
patches, or other updates now or hereafter provided by Licensor pursuant to the terms of this Agreement.

6

“Third-Party Materials” means materials and information, in any form or medium, that are notproprietary to Licensor, including any third-party: (a) documents, data, content or specifications; (b) OpenSource Components or other software, hardware or other products, facilities, equipment or devices; and (c)accessories, components, documentation, parts or features of any of the foregoing.

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Before Use

2.
Grant of License. As of the date of License’s acceptance of this Agreement in accordance with thefirst page hereof, Licensor grants to Licensee and as of such date, Licensee accepts a limited, non-exclusive,
non-transferable, non-sublicensable, and revocable license and right to use the Licensed Materials andDocumentation during the Term (as defined below) only for the Permitted Use and for no other purposes, andstrictly in compliance with the terms and provisions of this Agreement (the “License”). All Intellectual
Property Rights associated with the Licensed Materials shall at all times belong to Licensor, and nothing inthis Agreement shall be construed as granting Licensee any ownership rights or license thereto except as
expressly provided herein, all of which rights are hereby reserved by Licensor; provided that with respect toany portion of the Licensed Materials that has been incorporated from Third-Party Materials under license orotherwise, the Intellectual Property Rights of that portion of the Licensed Materials belong to the respective
third-party provider. The Licensed Materials are protected by copyright or other intellectual property Laws invarious countries, including Japan, as well as international copyright treaties. Licensee’s use of the Licensed
Materials inures solely to the benefit of Licensor or any licensor or provider of Third-Party Materials, asapplicable.
3.
Term and Termination. This Agreement shall become effective when Licensee accepts thisAgreement and shall remain in effect until the termination of this Agreement in accordance herewith (the“Term”). For avoidance of doubt, Licensee shall be solely responsible for downloading and installing theSoftware. If Licensee breaches any provision of this Agreement, this Agreement will automatically terminate,
and all rights granted to Licensee will be automatically and irrevocably terminate, without notice to Licensee.
Upon termination of this Agreement, Licensee shall cease using all applicable Licensed Materials and return
or dispose of all components, copies, and related materials at its sole expense, and Licensor shall have nofurther obligations to Licensee except as may be expressly set forth herein. Licensor reserves the right toterminate Licensee’s access to or use of the Licensed Materials upon termination hereof without notice toLicensee. If Licensee continues to access or use the Licensed Materials after termination hereof, Licensor
may demand, and Licensee shall promptly provide, monetary compensation for Licensee’s continued andunauthorized access and use of the Licensed Materials. Any provision under this Agreement that, by its nature,
is intended to survive termination or expiration of this Agreement, will survive any expiration or terminationof this Agreement. Termination hereof shall not limit any rights or remedies which Licensor may have or seek
for Licensee’s breach of or default under this Agreement.
4.
Maintenance Releases; Repairs. During the Term, Licensor may, but shall be under no obligation toprovide Licensee with Maintenance Releases or make or install Maintenance Releases directly to the
Licensed Materials, with or without prior notice to Licensee. Licensee acknowledges and agrees that during
the installation or provision of any Maintenance Release, Licensee may be limited or prohibited from using
or accessing the Licensed Materials. Licensee shall not interfere with Licensor’s installation or provision of
any Maintenance Release. Licensor further acknowledges and agrees that an Internet connection may berequired in order for Licensor to make or provide a Maintenance Release. If Licensor provides MaintenanceReleases to the Licensed Materials or Licensee, this Agreement and the License will continue to apply to the
Licensed Materials as improved or modified. Licensor will use commercially reasonable efforts to resolve
defects or errors in the Licensed Materials through Maintenance Releases or otherwise, provided that
Licensor shall have no specific obligation to Licensee to do so. Licensor may, on a case by case basis in its
sole and absolute discretion provide technical or other support to Licensee. For avoidance of doubt, Licensor
shall have no obligation to provide such support or assistance to Licensee.
5.
Restricted Activities. Except as expressly permitted by this Agreement or by the prior written consent
of Licensor (which may be withheld, delayed, or conditioned in Licensor’s sole and absolute discretion),
Licensee shall not, and shall not permit any other person to undertake any of the following acts or omissions:(a) copy the Licensed Materials, in whole or in part; (b) modify, correct, adapt, translate, enhance, orotherwise prepare derivative works or improvements of any Licensed Materials; (c) rent, lease, lend, sell,
sublicense, assign, distribute, publish, transfer, or otherwise make available the Licensed Materials, orprovide access to the Licensed Materials to any third party; (d) reverse engineer, disassemble, decompile,
decode, or adapt the Licensed Materials, or otherwise attempt to derive or gain access to the source code of
the Licensed Materials, in whole or in part; (e) bypass or breach any security device or protection used foror contained in the Licensed Materials; (f) remove, delete, efface, alter, obscure, translate, combine,
supplement, or otherwise change any trademarks, service marks, terms of the Licensed Materials, warranties,7

1
Before Use

disclaimers, or Intellectual Property Rights, proprietary rights, or other symbols, notices, marks, or serial
numbers on or relating to any copy of the Licensed Materials; (g) use the Licensed Materials in any manner
or for any purpose that infringes, misappropriates, or otherwise violates any Intellectual Property Right,
privacy right, confidentiality right, or other right of any person, or that violates any applicable Law; (h) use
the Licensed Materials in or in connection with the design, construction, maintenance, operation, or use of
any hazardous environments, systems, or applications, any safety response systems or other safety-criticalapplications, or any other use or application in which the use or failure of the Licensed Materials could leadto personal injury or property damage; (i) use the Licensed Materials other than for the Permitted Use or inany manner or for any purpose or application not expressly permitted by this Agreement; (j) use any OpenSource Components in any manner or for any purpose or application not expressly permitted by thecontrolling open-source license(s); or (k) use the Licensed Materials for purposes of: (i) benchmarking orcompetitive analysis of the Licensed Materials; (ii) developing, using, or providing a competing product orservice; or (iii) any other purpose that is to Licensor’s detriment or commercial disadvantage.
6.
Monitoring. Licensor reserves the right, but shall not be obligated to, embed mechanisms within the
Licensed Materials to (a) monitor Licensee’s compliance with this Agreement and applicable Laws; (b) detect
the installation, access or use of unauthorized or illegal copies of the Licensed Materials or any parts thereof;and (c) collect and transmit to Licensor or its delegees data about any unauthorized or illegal copies of theLicensed Materials or noncompliance with this Agreement. Said mechanisms may store and/or transmit data,
including, without limitation, data relating to the usage of the Licensed Materials and the number of times
they have been copied or accessed, and may communicate with Licensor’s computers, devices, or servers
over any type of communications link to exchange communications and report data relating to the usage of
the Licensed Materials and the number of times they have been copied. Licensee may not take any steps to
avoid or defeat the purpose of any such measures. Licensee hereby consents to Licensor’s usage of suchmechanisms.
7.
Disclaimers. Except as may be specifically set forth in this Agreement, Licensor makes norepresentation or warranty of any kind (warranties arising from course of dealing or course of performance
included) whether expressed or implied (either in fact or by operation of Law), with respect to the Licensed
Materials or otherwise, and all such warranties are hereby disclaimed. Licensee acknowledges that it hasrelied on no warranties other than any express warranties in this Agreement. Licensee is and at all times shallremain solely responsible for the supervision, management, and control of its employees and agents’ use of
the Licensed Materials. Therefore, Licensor makes no warranty, express or implied, that: (a) the use of theLicensed Materials will be error-free, malfunction-free, defect-free, virus-free, uninterrupted, or secure; (b)the Licensed Materials and the quality and functionality thereof will meet the specific needs or intended usesof Licensee; (c) the Licensed Materials will be fit for a particular purpose; (d) specific results will be achieved
with the Licensed Materials; (e) the Licensed Materials will be compatible with Licensee’s hardware,
devices, systems, or software; or (f) all errors or failures will be corrected. Any representations or warranties
made by any person, including employees of Licensor, which are inconsistent herewith, shall be disregarded
by Licensee and shall not be binding upon Licensor. Without limiting the generality of the foregoing,
Licensee acknowledges and agrees that Licensor shall not be responsible any direct or indirect losses ordamage arising from, relating to, or in any way associated with (i) copyright or other intellectual property
disputes or disputes based on product liability Law that may arise between or among Licensee and third
parties concerning Licensee’s use of the Licensed Materials; (ii) any direct or indirect damages resulting
from Licensee’s installation, use, or inability to install or use the Licensed Materials, all of which shall be
the obligation of Licensee at Licensee’s risk; or (iii) all liability for direct or indirect damages that may occur
in connection with Licensee’s use of the Licensed Materials, whether for its own purposes or to provide
services for third parties.
8.
Limited Exclusion from Disclaimers. The provisions of Section 7 above shall not apply to (a) damage
to property or (b) injury to persons, if and only if Licensee can conclusively and objectively prove that eachof the following elements existed at the time when such damage to property or personal injury were incurred(“Disclaimer Exclusion”): (i) the aircraft in remote operation using the Licensed Materials (“Aircraft”) was
operated by Licensee or its authorized employee or agent; (ii) this Agreement is in full force and effect andwas not first terminated prior to Section 3 above; (iii) the Aircraft caused damage to property or personal
injury due solely to defects in the Licensed Materials, and not due in whole or in part to any other fact,
circumstance, act, occurrence, or omission; (iv) the Aircraft or dedicated radio controller was not modified
or repaired except as authorized by Licensor; (v) Licensee or its authorized employees or agents strictly
complied with the applicable safety and operational guidelines or instructions for the Aircraft contained inany Documentation or other instructions of Licensor, all applicable Laws, and any terms of this Agreement;and (vi) the incident or crash was impossible to avoid despite Licensee’s or its authorized employee’s or8agents’ use of the dedicated radio controller for the Aircraft in a manner that was not negligent under thecircumstances. In any Action or circumstance in which Licensee asserts that the Disclaimer Exclusion applies,
Licensee agrees that Licensee shall have the burden of proof thereof by clear and convincing evidence, andthe provisions of Section 10 below shall nevertheless apply.

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Before Use

9.
Indemnification. Licensee shall indemnify, defend, and hold harmless Licensor and its affiliates, andeach of their respective officers, directors, employees, agents, subcontractors, successors and permitted
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91
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or remedy hereunder.

1
Before Use

1.2.3. Software Usage Precautions•

Enable the lock screen for all devices on which TAKEOFF is installed (e.g. biometric authentication or PINlock) and set the devices to automatically lock after a certain amount of idle time.

•

Users are responsible for managing their own authentication credentials for their devices.

•

Use only secure Wi-Fi connections.

•

Install and activate security software and keep it up to date.

•

TAKEOFF provides a feature for the user to record the live video stream that is received from the aircraft
to an unprotected file folder of the user’s choosing. It is the user’s responsibility to manage this video data.

•

While using TAKEOFF, discontinue the use of other non-essential applications. Integration of TAKEOFF
with unauthorized apps will not be covered by the warranty.

11

1.2.4. Compatible Aircraft•

Table 1 shows the model supported by the TAKEOFF app.

1

Table 1 Compatible model

Before Use

Model name
SOTEN (ACSL-ST1)

Remarks－

1.2.5. System Requirements•

The system requirements for the TAKEOFF app are shown in Table 2.
Table 2 Recommended system requirements (for mobile devices)
Items

Specifications

Remarks

Android OS 11－

Android OS 12－

Supported mobile

Sony Xperia 5-II－

devicesSony Xperia 1-II－

OS

Table 3 Recommended system requirements (for Windows OS)
Items

Specifications

RemarksOS

Windows 10－

RAM

at least 8 GB－

Resolution

1920 x 1080 (Full HD)－* Normal operation may be affected by the security software in the mobile device and Windows where
TAKEOFF is installed. Please note the dependency on the security software when using TAKEOFF.

12

1.3. Installation Procedure1
Before Use

To use TAKEOFF, obtain the APK file from an official distributor or download the app from the Google Play•Store. (TAKEOFF is not yet available in the US Google Play Store)

Figure 1 TAKEOFF icon◼

Downloading the obtained APK file to your mobile device
Select the APK file placed in the Files application of your mobile device (if you transferred it from a PC or
the like, it is usually stored in the Downloads folder) and install it. After the installation is complete, theTAKEOFF icon will be displayed on the home screen.

Figure 2 Installing TAKEOFF◼

Updating firmware➔

Refer to 4.2.4. Update firmware.

13

1

1.4. Connecting to the Aircraft

Before Use

1.4.1. Wi-Fi•

Before developing a flight plan (see Section 3.2: Creating a flight plan), download the map of the intended
flight area to your mobile device in advance, and set your mobile device to airplane mode before flight.

•

Refer to the following procedure.
Table 4 Wi-Fi connection procedure
Procedure1Turn on the aircraft and controller.

2

Prior to connecting the mobile device to thecontroller, go to Settings on your mobile
device -> Network and Internet -> Connect
with Wi-Fi.

3

Start the TAKEOFF app and obtain the maparound the flight path from the map screen.

4

Go to Settings and activate the Airplane
Mode on your mobile device.
Confirm that Wi-Fi is turned OFF.

5

Connect the controller to your mobile
device.

Reference image

Mobile device
connection port

14

1.4.2. Connecting to the Aircraft•

1

The first time you connect the controller to your mobile device with the aircraft and controller bound, thefollowing pop-up window will appear. By selecting "Always open TAKEOFF" here, the TAKEOFF app will

Before Usestart automatically the next time your mobile device is connected to the controller.

Figure 3 Connecting to the aircraft•

On mobile devices with Android 12, a pop-up window will appear asking for permission to connect toBluetooth. Tap "Allow."

Figure 4 Bluetooth connection

1.4.3. Initial Settings•

Connect the TAKEOFF app to your mobile device and perform the initial settings to display camera
images.

• Perform the following initial setup upon first use.
• If the video stream is not received, verify that the settings match those described below.
• It may be necessary to repeat these settings after a firmware update.

15

1.

Upon startup, TAKEOFF will display a screen similar to that shown in Figure 5, tap the Main menu
button and tap the [Settings] button from the displayed menu to display the settings.

1
Before Use

Settings button

Main menu button

Figure 5 Initial settings: Initial TAKEOFF screen2.

Tap [App] -> [General] on the settings screen. Scroll down on the right side to find [Video
Source].

Figure 6 Initial settings: Video source3.

Tap the [Video Source] pull-down menu and select [UDP h.264 Video Stream]. The item [UDP Port]
is displayed. Change the value of the [UDP Port] to 8555.

8555

8555

Confirm "8555"

8555

Figure 7 Initial settings: UDP port settings•

16

This completes the initial settings.

Chapter2

Flight View

2.1.

Screen Details ····························································································· 18

2.2.

Attitude Indicator and Obstacle Radar Display ···················································· 25

2.3.

Command Operations ··················································································· 27

2.4.

Camera Operation ························································································ 36

2.5.

Emergency Menu ························································································· 44

Screen Details

2.1.

2.1.1. Flight View Elements
2•

The flight view screen, which is the basic screen of TAKEOFF, is structured as follows when the aircraft isin a standby state.

Flight View
Figure 8 Flight view outline

Table 5 Description of flight view buttons
Function and name18

Description

1

Main menu button

Switches the view between the flight, plan, analysis, flight logs,
and settings menu views.

2

Center map button

Aligns the map center to the aircraft position, controller position,or home position.

3

Orientation button

Aligns the map orientation with north or the controller’sorientation.

4

Clear flight track history

Clears the flight track of the aircraft.

5

Aircraft status

Displays the aircraft operational status and control mode.

6

Battery level

Displays the remaining battery level of the aircraft.

7

Communication link

Displays the connected controller.

8

Remote ID

Displays the status of the aircraft’s remote ID broadcast.

9

GPS status

Displays the status of the GPS and visual odometry
measurements (good or bad).

10

Telemetry signal
strength

Displays the strength of received telemetry signals from theaircraft.

11

Controller signal
strength

Displays the strength of the received controller signals asreported by the aircraft.

12

Video transmission
status

Displays the strength of the received video feed from the aircraft.

13

Time

Displays the current time.

Encryption functions

Displays the on/off status of the image encryption function.

15

Message

Displays notifications (warnings/cautions/advisories) from theaircraft.

16

Mission time

Displays the elapsed time of the planned flight.

17

Distance from home

Displays the horizontal and vertical distances from the home
position.

18

Distance fromcontroller

Displays the vertical distance from the controller.

19

Aircraft speed

Displays the current horizontal and vertical speed of the aircraft.

20

Instrument switching
buttonSwitches between the aircraft attitude indicator and the obstacles
radar display.

21

Video/map switching
buttonSwitches the display between the map and the video feed.

22

Pre-flight checklist

Displays the pre-flight checklist.

2
Flight View

1419

2.1.2. Pre-flight Checklist
When the aircraft is in Auto (AUT) flight mode, the aircraft can only be armed after all of the pre-flightcheckboxes have been checked.
Table 6 Pre-flight checklist

2

Items

Check items

Flight View

LED check

Are the status LEDs blinking?

Transmitter power on

Is the transmitter turned on?

Aircraft voltage

Is it displayed?

Data Link

Is the telemetry signal displayed?

Transmitter link

Is the transmitter signal displayed?

HelmetAre all participating members wearing helmets?

Position of the people
involved

Are they all behind the pilot?

Motor initiation
announcement

Make a clear and audible announcement by saying "Starting Motor."

Propeller (rotor) rotation
direction

Is it rotating in the right direction?

No-fly zone

Have you confirmed that you will not be flying in no-fly airspacedetermined by aviation laws, relevant laws and regulations, and local
authorities?

GPS

Is the GPS module free of any abnormality?

Sensor

Are the sensor modules free of any abnormality?

Checkbox

Figure 9 Preflight checklist (not completed)

Figure 10 Preflight checklist (completed)202.1.3. Moving the Map•

The map can be moved by dragging any point on the map in the desired direction.

2
Flight View

Figure 11 How to move the map

2.1.4. Zooming the Map In and Out•

Pinch any point on the map to zoom in/out.

Figure 12 How to zoom the map in and out

212.1.5. Rotating the Map•

The orientation of the map may be changed by dragging and rotating from any point on the map.

2
Flight View
Figure 13 How to rotate the map

2.1.6. Icons•

The icons displayed on the map are as follows:
Table 7 Map icons
Icon

Description

Displays the position and orientation of the aircraft.

Displays the position and orientation of the controller.

Displays the home location (takeoff location).

222.1.7. Centering the Map•

The map can be automatically shifted so that any of the following locations become centered on thescreen: the aircraft location, the controller location, or the home location.

•

When you tap the center map button, icons (aircraft location, controller location, home location) appear.
Tapping one of the icons causes the map to continuously move so that the target position remains
centered on the screen.

•

2

Tapping the selected icon a second time disables the automatic movement of the map.

Transmitter
position buttonHome position
buttonCenter map
buttonFigure 14 Centering the map

2.1.8. Changing the Map Orientation•

The map orientation can be changed to north up (the upward direction corresponds to North) or to headingup (the upward direction corresponds to the controller orientation).

•

Select one of the icons that appear after you tap the Orientation button (North Up or Heading Up) to set
the map orientation.

North up button

Heading up button

Orientation button

Figure 15 Changing the map orientation

23

Flight View

Aircraft position
button2.1.9. Clearing the Flight Track History•

A flight track history is normally displayed on the map.

•

The flight track history can be cleared by tapping the [Clear flight track history] button.

2
Flight View
Clear flighttrack history
buttonFigure 16 Clearing the flight track history

2.1.10. Remote ID•

Displays GPS data communication, TAKEOFF app location data and Bluetooth module status in colors.

•

The icon is blue to enable flight. Idling cannot be started when the icon is red or gray.
Table 8

Remote ID Icons

Icon

Description
GPS data communication：GOOD
TAKEOFF app location data：Location captured

Enable to fly

Bluetooth module ：Communication Enabled
GPS data communication：
TAKEOFF app location data：

No flying

Bluetooth module ：Disconneced
No flying

24

Either of these is an error

2.2. Attitude Indicator and Obstacle
Radar Display2

2.2.1. Attitude Indicator
The attitude indicator on the left side of the flight view screen shows the pitch and roll of the aircraft

Flight View•

relative to the horizon.
•

Refer to the figure below for how to read the pitch and roll angles from the attitude indicator.
0°30°

Roll angle
30°
Pitch angle (10°)

Your aircraft

Figure 17 How to read the attitude indicator•

Tap the obstacle radar display button to hide the attitude indicator and display the obstacle radar display
as described below.
Obstacle radar display button

Attitude indicator

Figure 18 Attitude indicator and obstacle radar display switching button25

2.2.2. Obstacle Radar Display
Distances to objects around the aircraft are continuously measured by the infrared sensors or stereo
cameras mounted to the aircraft. The results of these measurements can be monitored using the obstacle
radar display.
•2

The distance to the obstacle is displayed as a number on the obstacle radar display and by different
colors.

•

The colors are coded for level of danger according to the obstacle detection distance setting (see Chapter4) with green for long distance, yellow for medium distance, and red for short distance.

Flight View
Attitude indicator display button

Obstacle radar display

Figure 19 Obstacle radar

Distance to upward
obstacle: long

Distance to upward
obstacle: medium

Distance to upward
obstacle: short

Figure 20 Color indication of the distance to obstacles

No forward obstructions
detected

Distance to upward obstacle [2.7 m]

Distance to downward obstacle [0.0 m]

Figure 21 Display of the distance to obstacles

26

2.3. Command Operations
Various command buttons appear at the bottom of the flight view screen when the aircraft is in flight, or on
the ground (except when in manual (MAN) mode) following completion of the pre-flight checklist.
•

2

The command menu items that appear in the command menu vary depending on the aircraft's flight modeand flight status.

Flight View

Command menu button

Figure 22 Command operations•

Flight command buttons that appear at the bottom of the flight view screen vary depending on the aircraft's
flight mode.

•

The following is a list of command items that appear in each flight mode is summarized below.
Table 9 Flight and flight mode correspondence table
Command menu

Manual mode

Position mode

Auto mode

Arm

－

－

✓

Automatic takeoff

－

－

✓

Disarm button

✓

✓

✓

Command

Go home✓✓✓Menu button

Go to Transmitter

✓

✓

✓

Automatic landing

✓

✓

✓

Auto

－

－

✓

D-pad

－

－

✓

Pause

Only for go home or automatic landing

Resume✓✓✓✓Emergency

Emergency landing

✓

✓

✓

buttonForced stop

✓

✓

✓

The availability of some functions also change depending on the aircraft's flight mode.

27

Table 10 Function/control mode correspondence table
Function

Manual mode

Position mode

Auto modeFree flight

－

－

✓

Go home (and ascend to avoid

✓

✓

✓

✓

✓

✓

Camera/gimbal operation

✓

✓

✓

Planned flight

－

－

✓

Geofence－✓✓

Marker tracking

－

－

✓

obstacles)
Go to Transmitter (and ascend to2
Flight View

28

avoid obstacles)2.3.1. Arm Button
When the aircraft's flight mode is in Auto mode, the Arm button appears upon completion of the pre-flightchecklist.

2
Flight View

Arm button

Figure 23 Arm button•

Tap the Arm button to display a modal dialog.

•

Slide the slider to the right to activate the motor and transition to the idling state.

Figure 24 Modal dialog: Arm29

•

When the aircraft transitions to an idling state, the Automatic takeoff button and the Disarm button appear.

2
Flight View
Disarm button

Automatic takeoff button

Figure 25 Disarm and Automatic takeoff buttons•

Tap the Disarm button to stop the motors.

•

Tap the Automatic takeoff button to display a modal dialog and slide it to the right to start automatic takeoff.

Figure 26 Modal dialog: takeoff30

2.3.2. Command Menu Button•

The Command Menu button is displayed when the drone is in flight.

•

Tap the Command Menu button to display the command menu.

2
Flight View

Command Menu button Command menu

Figure 27 Command menu

Table 11 Command menu
Name

Description

Go home

The aircraft automatically returns to the home (takeoff) location.

Go to controller

The aircraft automatically returns to the location of the controller.

Land

Perform an automatic landing on the spot.

Auto(In auto mode) Start/continue a planned flight.

31

2.3.3. Pause/Resume Button•

Ongoing automatic operations such as planned flight, automatic landing, go home, etc. me be suspended
by tapping the Pause button.

•

Once the operation is paused, the button changes to the Resume button.

•

To resume the paused automatic operation, tap the Resume button.

2
Flight View
Resume button

Pause button

Figure 28 Pause/Resume button

32

2.3.4. Emergency Commands•

Tap the Command menu button during flight to display the Emergency command menu.

2
Flight View

Command menu button

Emergency commands

Figure 29 Emergency commands

Name
Emergency
landing
Forced stop•

Table 12 Emergency commands
Description
The aircraft automatically flies to and lands at a preset emergency
landing site.
The motors immediately stop and the aircraft falls from the sky.

When a forced stop is executed, the following pop-up window appears.

Figure 30 Forced stop pop-up display

33

2.3.5. Free Flight Operation
The D-Pad buttons appear when D-Pad is selected from the command menu or emergency menu (e.g.

•following a communications disruption), or when the aircraft is flying in auto mode but a flight plan has not
be uploaded to the aircraft.

2
Flight View
Command menu button

D-pad operation button

Figure 31 Initiating D-pad control from the command menu◼

Free flight
When the D-pad is displayed, tapping any point on the map displays the [Go to location] pop-up.
Tap this pop-up to display a modal dialog, then use the slider to command the aircraft to automaticallymove to the tapped location.

Tap any point↓Command the aircraft
to automatically move tothe tapped location

D-pad

Figure 32 Free flight

Figure 33 Modal dialog: Command the aircraft to move to the tapped location

34

2.3.6. D-Pad Operation•

The D-pad can be used to manually command movement of the drone from TAKEOFF. Tap once to movethe aircraft a fixed distance. Note that holding a button down does not cause the aircraft to continue
moving.

2
AscendMove right

Turn leftMove left

Turn rightMovebackward

Descend

Flight View

Move forward

Figure 34 D-pad
Table 13 Default setting for D-pad

Left key
ButtonBehavior
Move
forwardMovebackward
Move
right
Move left

Right key

Speed

Distance/Tap

1 m/s

ButtonBehavior

Speed

Distance/Tap

2 m per tap

Ascend1 m/s

2 m per tap

1 m/s

2 m per tap

Descend

1 m/s

2 m per tap

Turn right－

30° per tap

1 m/s

2 m per tap

Turn left－

30° per tap

0.5
m/s

2 m per tap

35

2.4. Camera Operation
Switching to the camera view displays the video feed from the main camera, allowing for easier camera

2

shooting operations and access to camera settings.

Flight View
Display switching button

Example of full screen camera display
Example of full screen map display

Figure 35 Switching to the camera view
⑩

⑤
⑦
⑥
⑧
⑨

Figure 36 Camera view

①

②

③

④

Table 14 Camera view icons
Number

36

Name

Description

1

Camera modes button

Cycle between still image, video, and interval shooting modes.

2

Shutter button

Take a picture or start shooting.

3

Video stream recording

Store the display the received video stream to the mobile device.

4

Camera settings button

Display the camera settings menu.

5

Manual focus button

Opens the manual focus slider.

6

Gimbal tilt button

Opens the gimbal tilt slider.

7

Gimbal angle

Displays the gimbal angle.

8

Zoom button

Opens the camera zoom slider.

9

AE lock button

Locks/unlocks automatic exposure adjustment (AE).

10

Camera settings button

Displays the current camera settings.

◼

Switching camera modes
Each time you tap the Camera mode button, the icon changes to indicate the current mode.
Table 15 Camera mode icons
Camera mode

Description

2

Capture a still image.

Flight View

Take photo

Record a video. (The Shutter button turns red.)
Record video

Capture still images continuously at a certain time interval.
Take photos (interval)

Capture still images in all directions from the current location.
* Only available in free flight (auto mode).
360° photo capture37

2.4.1. Camera Operation◼

Manual focus
Tap the Manual focus button to display the manual focus slider.
Slide the slider to the left to adjust the camera focus for distant objects, and to the right to focus on nearby
objects. To hide the slider, tap the [>] button on the left side of the slider.

2
SliderFlight View

Focus button
Gimbal button
Zoom button
AE Lock button

Figure 37 Focus button◼

Gimbal tilt
Tap the Gimbal tilt button to display the gimbal tilt slider.
Slide the slider to the left to tilt the gimbal upwards, and to the right to tilt downwards. Tap theto tilt the gimbal upwards by 15° and the

buttonbutton to tilt it downwards by 15°. To hide the slider, tap the[>] button on the left side of the slider.

◼

Zoom
Tap the Zoom button to display the zoom slider.
Slide the slider to the left to zoom in, and to the right to zoom out. To hide the slider, tap the [>] button on
the left side of the slider.

◼

AE lock
To lock/unlock the exposure (AE), tap the AE lock button.

38

2.4.2. Camera Settings and Advanced Camera Settings
Tap the Camera settings button to open the camera settings menu.

•

①

②

③

④

2
Flight View

Figure 38 Camera settings menu
Table 16 Camera settings screen
0

Name

1
Camerasettings

2
3
4

Description

Still image shooting settings

Change the camera settings for still image shooting.

Video shooting settings

Change the camera settings for video shooting.

Interval shooting settings

Change the camera settings for interval shooting.

Advanced camera settings

Change other camera settings.

Camera settings◼

Refer to Table 17 for the settings that can be set in the camera settings menu.
Table 17 Camera settings
Items

Parameters

Description

Exposure mode

Manual, Shutter speed, Aperture,
Program

Select the automatic/manual exposure mode.

Focus mode

Manual, Automatic

Select the focus mode.

ISO modeAuto, Manual, Semi-auto

Select the ISO mode.

Aperture

F2.8 to F11.0

In manual or aperture exposure mode, set theaperture (F-number).

Shutter speed

1/8000 to 8

In manual or shutter speed exposure mode,
set the shutter speed.

White balanceAuto, Sunny, Cloudy, Shade, Lightbulb, Fluorescent

Select a white balance preset.

ISO

125 to 6400

Set the ISO sensitivity.

Exposurecompensation-2.0 to +2.0

Set the exposure compensation (eV).

Metering mode

Overall/CenterSet the region of the image that will be used
for exposure adjustment.

Still image resolution

20 M to 10 M

Set the image resolution.

39

2Flight View

Video resolution

4 K/2.7 K/FHD/HD/nHD

Set the video resolution.

Still image quality

Ultra-High/High/Standard Quality

Select the JPEG compression ratio.

Image format

JPEG/DNG/JPEG+DNG

Select an image file format.

Frame rate

30 to 240 fps

Set the video frame rate. Videos at a frame
rate of 120 fps and 240 fps are recorded as
slow-motion videos.

Video split time

1 min to 10 min or no split

Select a duration at which to split continuousvideo recordings into multiple video files.

NDVI color map

×1.0 to ×4.0

Set the normalized vegetation index.

Interval time

2 to 60

Set the shooting interval.

◼

Advanced camera settings
Refer to Table 17 for the advanced settings that can be set in the camera settings menu.
Table 18 Advanced camera settings
Items

40

Parameters

Description

Shutter method

Electronic/MechanicalSelect between electronic andmechanical shutter.

HDR shooting

ON/OFF

Enable or disable HDR image andvideo capture.

Electronic image
stabilization

ON/OFF

Enable or disable electronic image
stabilization during image and video
capture.

Distortion correction

ON/OFF

Enable or disable lens distortion
correction.

Camera position

Normal, Upward mount－

Sharpnessenhancement

Default, Enhance +1, Enhance +2－

Sensor mode

Visible light, IR, Dual

Select a sensor mode for the IR
camera (CX-GB200).

Live view

Standard Definition, IR, Superimpose,
Side by Side, Picture in Picture, Mix

Select how the IR camera (CXGB200) displays images.

Color paletteWhite hot, Black hot, Rainbow, RainHC,
Ironbow, Lava, Artic, Glowbow,
Graded Fire, Hottest

Select a color palette for the IR
camera (CX-GB200).

Picture in Picture

Enable, Disable

Switch the screen display of themultispectral camera (CX-GB300).

Main screen of Picturein Picture

Inspection camera, Vision camera

Select the camera to be used for themain screen of the multispectral
camera (CX-GB300)

Direction of Picture in
PictureForward, Downward

Select either the forward or
downward direction of the vision
camera displayed by themultispectral camera (CX-GB300)

Show center
point

On, Off

Draw the center point in the live view.

FirmwareVersion－

Display the camera's firmware version.

Reset－Restore factory settings.

Format SD
card－

Format the camera's SD card.

◼

Table of available functions by camera
The items in camera settings and advanced camera settings vary depending on the camera used. Refer to2

Tables 19 and 20 for availability details.

Items

CX-GB100

CX-GB200

CX-GB300

CX-GB400

Exposure mode

✓

✓

✓

✓

Focus mode

✓

x

✓

✓

ISO mode

✓

✓

✓

✓

Aperture

✓

x

✓

x

Shutter speed* In Exposure mode
[Manual/Shutter speed priority]

✓

✓

✓

✓

White balance

✓

✓

✓

✓

ISO
* In ISO mode [Manual/Semiauto]

✓

✓

✓

✓

Exposure compensation

✓

✓

✓

✓

Metering mode

✓

✓

✓

✓

Still image resolution

✓

✓

x

✓

Video resolution

✓

✓

x

✓

Still image quality

✓

✓

x

✓

Image format (still image)

✓

✓

x

✓

Frame rate (Video)

✓

✓

x

✓

Video recording split time

✓

✓

x

✓

NDVI color map

x

x

✓

x

Interval time

✓

✓

✓

✓

Flight View

Table 19 Available functions by camera - Camera settings

Table 20 Available functions by camera - Advanced camera settings
Items

CX-GB100

CX-GB200

CX-GB300

CX-GB400

Shutter method

✓

x

✓

x

HDR shooting

✓

✓

x

✓

Electronic image stabilization

✓

✓

x

✓

Distortion correction

✓

✓

x

✓

Camera mounting position(top/bottom)

✓

✓

✓

✓

41

2

Sensor mode

x

✓

x

x

Live view

x

✓

x

x

Color palette

x

✓

x

x

Show center point

✓

✓

✓

✓

Firmware version

✓

✓

✓

✓

Reset

✓

✓

✓

✓

Flight View

2.4.3. 360° Shooting•

Automatically shoot still images in all directions.

•This function is intended to aid shooting images to be used for compositing a 360° spherical image.

•

Images shot with the 360° shooting function are stored in a separate folder on the camera's SD card.

•

Note that ACSL does not provide or recommend any specific software for 360° spherical image
compositing. It is up to the user to find and procure the appropriate software.

Figure 39 360° photo shooting

360° photo shooting button

1.

Set the flight mode to free flight (see Section 2.3.5) (10 m or more above ground is recommended)2.

Change the camera mode to select 360° shooting mode.

3.

Press the Shutter button to start shooting (the drone will move automatically to collect theimages from all directions)

Once 360° shooting mode is activated, the shutter button becomes a cancel button. Pressing thiscancel button will immediately cancel ongoing 360° shooting. If, before 360° shooting has completed,the camera mode is switched, the camera is removed, or the aircraft is powered off, then the camera
will be stuck in 360° shooting mode and still image or interval shooting will no longer be possible. To
resolve this issue, switch to 360° shooting mode, press the shutter button, and then press the cancel
button.

42

Release button of 360° shooting mode

360° Photo shooting mode is deactivated.

2

2.4.4. Video Stream Recording
Tap the video stream recording button to begin saving the video stream that is received from the aircraft.

•Videos are saved in the “Videos” folder under the “TAKEOFF” folder, which can be viewed via the Files

Flight View•

app on your mobile device.

Video stream recording
buttonFigure 40 Stream recording43

2.5. Emergency Menu
If communications between the aircraft and controller is lost, or if the battery level drops to below the•2

warning level, the aircraft will enter emergency mode and begin hovering on the spot for one minute.
TAKEOFF will display the following emergency menu.

•

Flight View

If communication between the aircraft and the controller is lost◼
•

Go Home will start automatically after 60 seconds has elapsed.

•

If communication is restored before the 60 seconds has elapsed, the emergency mode will becancelled automatically and the flight can continue.

Note: When the radio wave interruption is restored, the emergency mode can be deactivated by switching
the controller's flight mode switch to another mode.

When the battery level drops to below the warning level◼
•

If communication with the transmitter is established, send the command within 60 seconds andterminate the flight accordingly.

Figure 41 Emergency pop-up window

If a current error is detected during flight◼
•

Immediately land the aircraft in a safe location.

Note: In POS/AUT mode, commands are valid only for "auto-landing", "emergency landing", and "forcedstop". All commands are invalid in MAN mode.

Figure 42 Emergency pop-up window• 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).

44

Chapter

3

Plan View

3.1. Overview of Plan View ·························································································· 46
3.2. Creating a Flight Plan ··························································································· 47

3.1. Overview of Plan View•

The TAKEOFF application enables users to create and upload flight plans to aircraft, enabling fullyautonomous missions, including takeoff, landing, and camera operations, without pilot intervention. Thissection explains how to create such a flight plan.

3

3.1.1. Plan View Elements

Plan View

Tap Plan in the main menu to go to the plan view screen.
①

⑨

③

②

⑩

⑪

④

⑤

⑥

⑦

⑧

⑫

Figure 43 Plan view
Table 21 Plan view basic buttons
Name

46

Description

1

File menu

Create a new, open, or save a plan. Upload a plan to the aircraft or
clear the plan from the aircraft.

2

Search bar

Search for a place on the map by typing a location name, address,etc.

3

Flight distance

Displays the total flight distance for the entire plan.

4

Mission time

Displays the total flight time for the entire route.

5

Waypoint display

Displays the waypoints created on the map.

6

Geofence display

Displays the geofences created on the map.

7

Emergency landingsite display

Displays the emergency landing sites created on the map.

8

Flight plan details

Opens the flight plan details tab.

9

Altitude/speed
window

Displays the altitude/speed of the created plan.

10

Plan menu

Menu with flight plan creation tools.

11

Undo button

Undo the last performed action.

12

Redo button

Repeat the last undone action.

3.2. Creating a Flight Plan
3.2.1. Setting a Base Point•First, set the takeoff point (base point). Tap the takeoff point icon in the plan menu. The takeoff point(base point) is automatically centered on the map if TAKEOFF app is connected to the aircraft. If
TAKEOFF is not connected to the aircraft, tap a point on the map to set the location of the takeoff

3

point(base point).
•

To move the takeoff point (base point), drag and move the takeoff point (base point) icon or edit the latitude

Plan View

and longitude in the flight plan details tab.

Take-off point icon

Plan menu

Figure 44 Add the takeoff point (base point)
Takeoff point (base point)

Figure 45 Takeoff point (base point) added

47

3.2.2. Setting Waypoints◼

Standard setting of waypoints
Select the point icon in the plan menu and tap any point on the map to set a waypoint (the latitude andlongitude of the waypoint will correspond to the location on the map that was tapped).

The latitude, longitude, heading, etc. for each waypoint can be viewed in the flight plan details tab. Tap
the flight plan details button on the right edge of the screen to display the list of waypoints.
Point icon

Waypoint 1

Waypoint 2

3
Plan View
Figure 46 Setting a waypoint

Figure 47 Flight plan details

48

Flight plan details button

◼

Setting waypoint details
A list of the created waypoints is shown in the flight plan details window.
Tap the desired waypoint number in the flight plan details window or tap the waypoint icon on the map toview or edit the waypoint’s settings.
The selected waypoint is highlighted in blue on the map.
Table 22 Waypoint settings
Items

Description
Altitude above the takeoff location, altitude above sea level, or above
ground level (Japan only).

Speed

With the toggle set to OFF, the aircraft will approach this waypoint with thesame approach speed of the previous waypoint. With the toggle set to ON,
the aircraft will approach this waypoint at the specified speed.

Direction

With the toggle set to OFF, the aircraft will approach this waypoint with thenose pointed in the direction of travel. With the toggle set to ON, the aircraft
will approach this waypoint with the nose pointed in the specified direction.

Wait time

The amount of time that the aircraft will hover upon reaching this waypoint
before proceeding to the next.

ThresholdIf this value is set greater than zero, then as the aircraft approaches thiswaypoint, it will make a curved turn toward the next waypoint. The radius of
this turn will be equal to this value.

Distance from takeoffreference point (North)

The distance north of this waypoint from the takeoff point (base point).

Distance from takeoffreference point (East)

The distance east of this waypoint from the takeoff point (base point).

Latitude

The latitude of this waypoint.

Longitude

The longitude of this waypoint.

◼

3
Plan View

AltitudeSetting waypoint approach heading direction
The direction with which the nose is pointed (the heading direction) when approaching a waypoint can be
adjusted selecting the target approach waypoint, setting the Direction toggle to ON, and moving thedirection slider, as shown in Figure 48.
The direction that the nose of the aircraft will be pointing as it approaches this waypoint is indicated by the
direction of the arrow beside the waypoint on the map.

49

3Plan View

Waypoint 1

Direction slider

Direction switch

Figure 48 Setting waypoint approach heading direction50

◼

Setting waypoint altitude
The altitude of each waypoint can be specified in one of three ways as shown in Figure 49: (1) altituderelative to the takeoff point (base point), (2) altitude above sea level, or (3) altitude above ground level(Japan only).
The altitude can be specified by tapping the numeric entry field and entering the altitude corresponding to
the specified altitude type.

3
Plan View

Figure 49 Setting waypoint altitude◼

Altitude type list

Numeric entry field

Changing waypoint categories
For each waypoint, the type of waypoint can be changed by tapping its current category designation. A
category selector window will then be shown as in Figure 50.

Figure 50 Waypoint categories

51

Table 23 shows a summary of waypoint categories.
Table 23 Outline of categories
Category

Description

Waypoint

Standard target waypoint.

Luggage detachment

Perform a landing package release and re-takeoff at this location (delivery
drones only).

Landing

Perform a landing at this location.

Gimbal control

Control the camera tilt (immediately after the previous waypoint).
• Neutral: Point the camera straight forward (0 deg. tilt)• Mavlink Targeting: Specify camera tilt and pan via the numeric fields

Take photo

Activate the camera shutter (immediately after the previous waypoint).

Take photos (interval)Start interval shooting (immediately after the previous waypoint).

Stop taking photos

Stop interval shooting (immediately after the previous waypoint).

3
Plan View◼

Deleting waypoints
To delete a waypoint, open the flight plan details tab and select the waypoint you want to delete. Tap thetrash can icon to delete the waypoint.

Show flight plan details tab

Figure 51 Deleting waypoint

52

Waypoint

Delete◼

Batch editing
To change the settings of more than one waypoint, select the Batch Editing tab and specify the range of
waypoints to edit.
Any combination of altitude, speed, direction, wait time, and threshold can be changed for a range of
waypoints.
Batch edit button

Waypoint range

3
Plan View

Figure 52 Batch Editing tab

3.2.3. Survey and Corridor Scans◼

SurveyThe Survey plan automatically sets waypoints so that the aircraft will perform a lawnmower pattern within adesignated area within a polygon. The Survey plan is suitable for creating a set of overlapping images ofan area for surveying and for 3D reconstruction of structures.
To create a survey plan, select Survey from the plan menu.
The aircraft will fly directly to the first survey waypoint from the previous waypoint (or from the takeoff
location if there is no previous waypoint). Upon reaching the first survey waypoint, the aircraft will fly alawnmower pattern within the blue survey area to the exit point. The flight path within the blue survey area
is shown as gray lines.
Drag the vertices to change the shape of the blue survey area.
To make the shape more complex, tap a “+” to add a new vertex. The flight path is automatically updated
according to the area created.
The grid settings items for the survey are shown in Table 23, the camera settings items in Table 24, andthe preset settings items in Table 25.

Be aware that the aircraft will fly directly to the first survey waypoint from the previous waypoint (or fromthe takeoff location if there is no previous waypoint). Note that the aircraft will not ascend to the survey
altitude prior to moving horizontally.

Ground speed at which the survey is performed will be the same as the speed at the waypoint prior to
the survey. To change survey speed, add a waypoint just before the survey entry point.

53

Edit vertex button

Exit point

Add vertex button

Approach point

3
Plan View

Flight path

Takeoff

Plan menu -> Survey

Figure 53 Automatic setting of waypoint

Figure 54 Survey setting items

Table 24 Grid settings
Items

54

Description

Shape

Select and load a KML/SHP file (map coordinate data).

Overlap

Adjust the flight path and photo interval time so that images are captured witha certain amount of overlap.
Front rate is for the overlap in the direction of travel of the aircraft, and side
rate is for the overlap of the parallel paths.

AltitudeSet the altitude of the survey flight.

Ground resolution

Set the ground resolution of the flight path (assuming that ground is at thesame altitude as the takeoff point). Note that this will set the altitude of thesurvey flight.

Heading of Vehicle

Set the direction that the aircraft’s nose will point to a specific direction.

Route Direction

Specify the direction (angle) of the lawnmower pattern within the survey area.

Distance of turning
point

Specify the distance to overfly the boundaries of the survey area to make theturn to start the next line.

Speed before survey

Set the speed with which to approach the survey starting point.

Speed during survey

Set the speed during the survey flight.

Entry point

Cycle the approach and exit points.

Hover to capture image

The aircraft will hover before taking each photo.

Refly at 90 deg offset

Repeat the scan of the survey area with a lawnmower pattern than is 90
degrees from the original.

Image in turnarounds

The aircraft will continue to take photos even while turning to start the next
line.

Relative altitude

Use altitude relative to the takeoff point (base point).

Aircraft follows terrain(Japan only)

The aircraft flies while maintaining a certain altitude from the ground using
topographic information obtained from the map.

Estimation

Display the area of the survey range, the number of images shot, and theshooting interval in seconds.

3
Plan View

Table 25 Camera settings
Items
Model

Description
Select one of the following cameras below to load appropriate camera
parameters for calculating the flight path.
• Xacti CX-GB100• Xacti CX-GB200• Xacti CX-GB300• Xacti CX-GB400
Table 26 Preset settings

Items

Description

Preset name

Display the preset name of the route being created.
Save it to load the preset from the next time.

Route direction

Change the direction of the scan by moving the slider.

Approach point

Swap the approach and exit points of the survey area being created.

Statistics

Display the area of the survey range, the number of images shot, and theshooting interval in seconds.

55

◼

Corridor scan
The Corridor scan plan automatically sets waypoints so that the aircraft scans within the designated area
formed by continuous lines, following the area path. The Corridor scan plan is suitable for shooting
continuously along a road, powerline, pipline, etc.
To create a corridor plan, select Corridor from the plan menu.
The aircraft will fly directly to the first corridor scan waypoint from the previous waypoint (or from thetakeoff location if there is no previous waypoint). Upon reaching the first corridor scan waypoint, theaircraft will fly a lawnmower pattern within the blue corridor scan area to the exit point. The flight pathwithin the blue survey area is shown as gray lines.

3
Plan View

Be aware that the aircraft will fly directly to the first corridor scan waypoint from the previous waypoint(or from the takeoff location if there is no previous waypoint). Note that the aircraft will not ascend to thecorridor scan altitude prior to moving horizontally.

The velocity of the corridor scan will match the speed of the last waypoint prior to the corridor scan. If
you need to adjust the speed of the corridor scan, add a waypoint right before the corridor.

Exit point Add vertex

Edit vertex

Flight path Approach point Takeoff point

Plan menu -> Corridor

Figure 55 Corridor plan
Table 27 Corridor scan settings
Items

56

Description

Shape

Select and load a KML/SHP file (map coordinate data).

Overlap

Adjust the flight path and photo interval time so that images are captured witha certain amount of overlap.
Front rate is for the overlap in the direction of travel of the aircraft, and side
rate is for the overlap of the parallel paths.

AltitudeSet the altitude of the corridor scan flight.

Width

Set the width of the corridor scan.

Distance of turning point

Specify the distance to overfly the boundaries of the survey area to make theturn to start the next line.

Speed before corridor
scan

Set the speed with which to approach the corridor scan starting point.

Speed during corridor
scan

Set the speed during the corridor scan flight.

Image in turnarounds

The aircraft will continue to take photos even while turning to start the next
line.

Relative altitude

Use altitude relative to the takeoff point (base point).

Entry point

Cycle the approach and exit points.

Aircraft follows terrain(Japan only)

The aircraft flies at a certain altitude above the ground based on topographic
information obtained from the map.

Statistics

Display the area of the survey range, the number of images shot, and theshooting interval in seconds.

3
Plan View

3.2.4. Point Of Interest (POI)•

The point of interest (POI) feature ensures that the camera is always pointed at a specified point in space,regardless of the relative location of the drone to that point.

•

To set a target point of interest, tap the "POI" button and then tap any point on the map.

•

Drag the point to change the loaction.

•

As an example, in the figure below, the aircraft will fly from the takeoff point to Waypoint 1. During thisflight, the nose of the aircraft and the tilt of the gimbal will always face in the direction of the POI target.

•

The POI settings menu allows you to set the altitude, latitude, and longitude of a POI target.

POI start/stop position

Plan menu -> Start POI

Figure 56 Setting POI

57

3
Plan View
Figure 57 POI Settings58

3.2.5. Emergency Landing Sites•

To set an emergency landing site, tap the Emergency landing button in the plan menu, and then tap any
point on the map.
Emergency landing site

3
Plan View

Plan menu -> Emergency

Figure 58 Setting emergency landing site

Table 28 Emergency landing site settings
Items

Description

Target waypoint

Specify a waypoint that is linked to the emergency landing site.

Travel route

Select a flight path to fly to the emergency landing site.

AltitudeSet the altitude during the flight to the emergency landing site.

Speed

Set the speed during the flight to the emergency landing site.

Direction

Set the direction that the nose of the aircraft will face during the flight tothe emergency landing site.

Distance from takeoffreference point (North)

The distance north of this waypoint from the takeoff point (base point).

Distance from takeoffreference point (East)

The distance east of this waypoint from the takeoff point (base point).

Latitude

The latitude of this waypoint.

Longitude

The longitude of this waypoint.

593.2.6. Geofences
This function allows the user to specify no-fly areas.

•

A flight plan must also be created to enable the geofence function.

◼

Area settings

１． Create: Tap the Fence button in the plan menu, then select polygon, which will display a square area.
２． Move vertex: Drag the vertices to change the shape of the geofence.

3

３． Add vertex: Tap a “+” to add a new vertex (total number of vertices must not exceed 15).
４． Move area: Drag the Move area button to move the entire area to the desired position.

Plan View

Move vertex button

Move area button

Add vertex button

Geofence

Polygon button

Figure 59 Geofence editing screen
5. Flight OK/No-fly: Designate the area as Flight OK or No-fly in the flight plan details tab.
6. Add areas: To add additional areas, repeat steps 1 through 5.
7. Upload to aircraft: Tap the File menu and transmit the plan to the aircraft.

No-flyFigure 60 Geofence setting menu screen60• Limit geofences to a maximum of 15 vertices. A geofence with more than 15 vertices may not function

correctly.
• When constructing multiple geofenced areas, do not allow the no-fly zones to overlap. Geofenceswith overlapping no-fly zones will not function correctly.
• Do not construct geofences with lines that cross each other. If any line of the geofence crosses

another line of the geofence, then it will not work correctly.
• Do not construct geofences that might obstruct the planned flight path or potential paths during GoHome or Emergency Landing modes as the geofence may prevent the aircraft’s movement in those3

situations. If during flight, the geofence is preventing the aircraft’s movement, switching to manual◼

Plan View(MAN) mode will restore the pilot’s authority to continue flight or to land.

An example of an improperly set geofence
In the example shown below, a no-fly area is set in the Go Home path from the final waypoint to the takeoff
location. The aircraft would stop at the no-fly area and would not be able to return to the takeoff position.

Flight OK area
(4) Final point

No-fly area

Ⓣ Takeoff point
No-fly area

Figure 61 An example of an improperly set geofence613.2.7. Using a Flight Plan•

Created flight plans, including geofences and emergency landing sites, can only be executed after they
have been uploaded to the aircraft.

•

Tap the file menu icon at the top left of the screen to display the file menu.

•

Select “New” to create a completely new plan or select “Open” to load an existing plan.

•

Tap “Send to drone” to upload the plan to the aircraft for autonomous flight.

3
Plan View
Figure 62 Plan menu

Figure 63 Transmitting a plan

62

Chapter

4

Settings View

4.1. TAKEOFF app Settings ························································································· 64
4.2. Aircraft Settings ··································································································· 70

4.1. TAKEOFF App Settings
4.1.1. General•

A variety of application settings are provided in the settings view. The general settings are described inTable 29 below.

Settings button

Main menu button

Figure 64 Main menu screen

4
Settings View
Figure 65 Settings screen64Table 29 General setting of TAKEOFF app
Setting

Possible Values

Description

Time

24h, 12h

Change the clock format.

Units

VariousSet the desired units for various settings.

Dark mode

ON, OFF

Change the screen display for nighttime or darkplaces.

Map provider

Mapbox, Japan-GSI (Japan
only)

Select the map to be used from Mapbox or themap provided by Geospatial Information
Authority of Japan.

Map type

Mapbox:• Streets Basic• Dark• Bright• Outdoors• DID Satellite (Japan only)• DID Standard (Japan only)• Light• Custom• Hybrid• Satellite• Streets
Japan-GSI (Japan only):• Standard (fixed)

Change the display type of the Mapbox map.

UI scaling

60 to 120% (Android)
60 to 145% (Windows)

Change the size of the UI elements.

Announce battery
lower than

0 to 100%

A warning will be issued when the battery levelof the mobile device is below this threshold.

Application Load/Save
Path (Windows only)

User defined

Set the path for saving flight plans, logs, etc.

Save flight log

ON, OFF

Save logs of the received telemetry. The default
value is ON.

Save CSV logs fromarm

ON, OFF

Save the flight logs in CSV format in addition to
the TLOG format.

Save CSV logs afterconnecting to vehicle

ON, OFF

Save CSV flight logs from the moment a
connection is established rather than from themoment the drone is armed.

Auto connect to thefollowing devices

USB Connected Propo, USB
Telemetry Device, UDP

Select which class of devices to automaticallyconnect to (recommend selecting all).

NMEA GPS device

Disabled, UDP, COM port

When using an external GPS device, set thisaccording to the device’s connection andspecifications.

Video source

Video Stream Disabled,
RTSP Video Stream,
UDP h.264 Video Stream

Select the type of video stream from the aircraft.

UDP port

Default: 8555

Port number for video communication using
UDP method. In principle, keep the default
value.

Aspect ratio

Default: 1.777777

Set the aspect ratio of transmitted videos. In
principle, keep the default value.

Disable whendisarmed

ON, OFFThe video output is disabled when the aircraft isdisarmed to save power on the mobile device.

4
Settings View

65

Low latency mode

ON, OFF

Set ON to reduce latency of video transmission
from the aircraft. This may degrade video
quality.

Auto-delete files

ON, OFF

Automatically delete the oldest saved video
stream files when storage capacity is reached.

Maximum storage
capacity

Default: 2048 MB (Android),
10240 MB (Windows)

Set the maximum storage capacity for saving
the video stream.

Video file format

mkv, mov, mp4

Select the file format for saving the video
streams.

TAKEOFF version

Displays the version of the TAKEOFF
application.

4.1.2. Comm Links•

Manually open a communication path if communication with the aircraft/controller cannot be established.
This is not a normal procedure.

•

4
Settings View

66

If communications problems are encountered, contact your dealer.

4.1.3. Offline Maps•

For the TAKEOFF application to display a map without any connection to the internet, the map must be
loaded in advance when a connection to the internet is established.

•

To add a map file, press the “Add” button, select a region of the map to download, and press the“Download” button.

Figure 66 Offline map settings

4
Settings View

67

4.1.4. MAVLink•

The TAKEOFF application communicates with the aircraft via the MAVLink protocol. This section displays
basic information and status about MAVLink, which is the communication protocol with the aircraft.
Table 30 MAVLink settings
ValuesSetting

Description

MAVLink System ID

Default: 255

The ID used to identify TAKEOFF to theaircraft. Do not change this value.

Emit heartbeat

ON, OFFThis function is used to check for aircraft
malfunctions. Set it to ON.

Only accept MAVs withsame protocol version

ON, OFFThis function is used to check for aircraft
malfunctions. Set it to ON.

MAVLink Link Status(Current Vehicle)-

Check the status of communication with theaircraft.

4.1.5. Remote ID
The aircraft is equipped with standard remote ID that is compliant with the US Federal Aviation
Administration Regulation 14 CFR Part 89.
Note that to comply with US Federal Aviation Administration Regulation 14 CFR Part 89, the mobile device
hosting the ACSL TAKEOFF ground control application that is connected to a controller with pilot authority
must minimally be one of the following:

41) FCC Certified personal wireless device that uses GPS with SBAS (WAAS) for location services; or2) FCC Certified personal wireless device with integrated GNSS.

Settings View

Also, the mobile device must be operated in a way that does not interfere with the location reported and its
correlation to the operator location.”
In addition, the aircraft continuously performs a self-test to ensure that it can broadcast remote ID according
to federal regulations. This includes a self-test of the remote ID transmitter, confirmation that position data is
being received from the onboard GNSS receiver (a location fix is not required) and that position data is
being received from the TAKEOFF ground control application with pilot authority (a location fix is not
required). The result of this self-test is indicated by the Remote ID icon (See element 8 in Figure 8 andTable 5) with blue indicating "PASS" and red indicating "FAIL".

68

In the case of a self-test failure, additional information about the failure can be found in this Remote ID
settings view. An example is shown in Figure 67. Table 31 shows the possible error messages.

Figure 67 Remote ID self-test failure details
Table 31 MAVLink settings
Error Message
Meaning
NO LOCATION DATA The remote ID transmitter is not receiving the position data from the aircraft's
onboard GNSS receiver that is required to transmit the remote ID
Location/Vector message.
NO SYSTEM DATA The remote ID transmitter is not receiving position data from the groundcontrol application that is required to transmit the remote ID Systemmessage.
NO SELF-TEST
The remote ID transmitter has failed.
RESULT
This remote ID settings view also displays the position data (latitude, longitude, and altitude) that is being

4

reported to the aircraft.

Settings View

An external NMEA GPS Device may be used as the position source, in which case the NMEA GPS Device
settings should be set to match those specified in the device's user manual.

4.1.6. Pointer•All controllers that are bound to the aircraft are capable of simultaneously receiving the video andtelemetry transmission from the aircraft. When multiple controllers are connected to the aircraft, it may bedesirable for an observer to indicate a point of interest to the pilot. TAKEOFF provides the Pointer feature
to allow two mobile devices to communicate points of interest between mobile devices running TAKEOFF
by tapping on the screen. This communication happens over a Bluetooth connection between the mobile
devices.

•

To enable this feature, tap “Discoverable” and one device and tap the “Find Devices” button on the other.

69

4.2. Aircraft Settings
4.2.1. General
Vision System◼

When turned ON, visual odometry will be used to stabilize hover.

Encrypt files◼

When enabled, video and image files may be encrypted prior to being written to the SD card (Japanonly).

4.2.2. System Information
System version◼

Displays the version of the following firmware.

◼

•

NX: The aircraft firmware.

•Controller: The controller firmware.

•

Falcon: The 2.4 GHz radio firmware.

List of serial numbers connected to aircraft
The list shows the serial numbers of the controllers that have been bound to the aircraft.

◼

Version Checking
Retrieve the version numbers from the above components.

4

4.2.3. Firmware

Settings View•

Check whether the various components have the latest firmware.

•

The release notes for the latest firmware version are available on the ACSL website.

Figure 68 Firmware

When checking the firmware version, put your mobile device into airplane mode. It may not be possible
to retrieve the firmware version from the aircraft while the mobile device is connected to the internet.

70

4.2.4. Update firmware
Downloading firmware◼
•

Download from Google Play (Japan only)•

Download from the ACSL website
https://acsl-usa.com/support/•

Download from a distributed SD card
Contact your dealer for an SD card.

•

Download from the website to SD card, and then download it from SD card
Download it to your SD card from the website shown above.

Updating the firmware to TAKEOFF◼

1. Install•

Turn off the Wi-Fi function of your mobile device.

•

Download and install the applicable APK file via your computer or SD card.

4
Figure 69 Installation (1)Settings View

Download or SD card

Figure 670 Installation (2)•Start TAKEOFF and make sure it was updated successfully.
* Do not connect to the controller until the following steps are completed.

71Figure 71 Installation (3)* Because Wi-Fi function is turned off, the uploading of the encryption key fails (Japan only).

Downloaded version

Figure 72 Installation (4)* Make sure that the TAKEOFF version is the same as the downloaded version.

4
Settings View

2. Controller updates: OTA (Over The Air)•

After turning on the aircraft and controller, connect your mobile device to the controller and update
the firmware.

• The update process may take about 30 minutes.
• Charge the aircraft battery and controller to 100% prior to initiating an update. For updates via an

Android device, put the device in airplane mode with Wi-Fi disabled before starting the updateprocess.

72

Old FW-> New FW
Old FW -> New FW◆ Tap “Update the system.”◆ The progress status is displayed during the Nx update.
◆ After the Nx update is completed, press the [ENTER] button on the controller.

+

4◆ If there is a firmware update for the controller, the progress status is displayed during the Transmitter Update.
◆ After the Transmitter Update is completed, press the [ENTER] button on the controller.

Settings View

Figure 73 Installation (5)73• If the NX update fails, the flashing pattern will not change. Contact your dealer.

◆ After the NX update, the 2 forward navigation lights will flash.
• If the "NO DATA FROM GCS" notification appears on the controller’s LCD screen during the update,

it is possible that TAKEOFF has frozen. Compare the time displayed in TAKEOFF against the time
displayed natively on the device. If the time displayed in TAKEOFF is behind, restart TAKEOFF andperform the firmware update procedure again.

•

Restart TAKEOFF and make sure it was updated successfully.

4
Settings View

Select [Version Check].

Figure 74 System information

74

Figure 75 Firmware information• The aircraft and transmitter firmware will normally both be updated during a system update, but if a

communication disruption occurs, then the transmitter may not be updated. If the firmware update
fails, perform the “Force update transmitter” in TAKEOFF.

◆Tap “Force update transmitter”.

4

Updating the battery◼

Battery update starts automatically when the aircraft is connected to the battery and turned on.

Settings View

Restart the aircraft after the OTA update is completed.

• A battery firmware update will not be initiated if the battery level is less than 50% (indicated by only 1

green battery level LED illuminated). After the downlight below the fuselage blinks white for a while,the “Battery Update Failed” notification will be displayed on both the controller LCD display and
TAKEOFF. Remove the battery from the aircraft and charge it to a level greater than 50% (indicated byat least 2 green battery level LEDs illuminated) before repeating the battery firmware updateprocedure.

•

Attach the battery to the aircraft and turn it on.

•

The battery firmware update begins.

75

1. The battery status LED turns off.
2. The downlights on the underside of the aircraft blink white.
3. After the start of the update, the downlights on the underside of the aircraft continue to blink white(about five minutes).
4. When the update is completed, the downlights turn off.

Do not remove the battery from the aircraft or turn it off during battery firmware update.
This may cause the battery to become unusable.

During battery firmware update, the “Battery FW Updating” notification will be displayed on both thecontroller’s LCD display and TAKEOFF.

◼

Force the update of controllers
The aircraft and controller firmware will normally both be updated during a system update, but if a
communication disruption occurs, then the controller may not be updated. In this case, push the “Forceupdate transmitter” button to complete the update of the controller.

4
Settings View◼

Update confirmation
When the update has completed, reboot the controller.
Make sure that neither the controller nor TAKEOFF display the notification “Old Battery FW detected”.

If the battery firmware update fails, the battery may be locked and will no longer turn on. If this occurs,
contact your dealer.

764.2.5. Magnetic calibration
The aircraft uses a magnetometer to determine its horizontal orientation, like a compass. Because•

geomagnetism varies depending on the surrounding environment (regardless of the obvious presence of
metallic objects), it is a good practice to calibrate the magnetometer prior to flight, or if the aircraft moves
in a swirling motion or an unintended direction during flight.
•

This section describes two types of calibration methods.

•

Normally, the simple calibration is sufficient. Perform the full calibration if errant behavior in flight persists.

• Performing magnetic calibration in the presence of magnetic fields may lead to unexpected

accidents. As a simple way to check the effect of magnetic fields, use a magnetic compass or similar
device to verify that the aircraft is reporting its direction accurately. Conduct a test flight in an open
outdoor area.

◼

Simple calibration
The simple calibration consists of horizontal geomagnetic calibration and omits vertical geomagnetic
calibration. Use it while checking the local situation and error messages from the aircraft.
1. Select “Simple” and then tap the “Start” button. The “Start” button changes to a “Cancel” button andthe status bar on the right of the screen begins to progress.
2. Hold the aircraft with both hands, keeping it level with the horizon, and rotate it at least 360°
clockwise around its vertical axis as shown below. Make sure that the trajectory of the heading drawn
during the rotation forms a circle.
3. After enough number of samplings are obtained, the graph center on the screen is plotted and themessage “Calibration successful” is displayed. Select “Write” to return the screen before the4

beginning of calibration. This completes the geomagnetic calibration.
4. If a message “Calibration Failed” appears, try again from step 1.

Settings View

5. Fly the aircraft in position mode and check if it flies straight.
* If it does not fly straight, repeat steps 1 through 5.

Set the trajectory of heading* Check the circle
Plot on the center* Check the center of the circle

Figure 76 Calibration screen

Figure 77 Simple calibration

77◼

Full calibration
The full calibration consists of a vertical geomagnetic calibration in addition to the horizontal geomagnetic
calibration that is covered by the simple calibration. Full calibration requires actual flight operation tocapture the magnetic influence of the motors.

• Full calibration must be performed in manual (MAN) mode.
• The full calibration procedure should be performed by two people: one pilot and one person

monitoring TAKEOFF.
• 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.
• Perform the hovers for calibration at an altitude of 2 to 3 meters (6 to 9 feet) above the ground.

Excessive throttle inputs will result in a poor calibration.

1. Select “Full” and tap the “Start” button. The “Start” button changes to a “Cancel” button and the statusbar on the right of the screen begins to progress.
2. Hold the aircraft with both hands, keeping it level with the horizon, and rotate it at least 360°
clockwise around its vertical axis as shown below. Make sure that the trajectory of the heading drawn
during the rotation forms a circle. * Refer to the simple calibration method above.
3. After enough number of samplings are obtained, the graph center on the screen is plotted and themessage “Calibration successful” is displayed. Select “Write” to return the screen before thebeginning of calibration .

4

4. If a message “Calibration Failed” appears, try again from step 1.
5. Next, hover the aircraft while keeping it facing north for about 5 to 10 seconds. When sampling is

Settings View

complete, a pop-up window appears indicating completion. Land the aircraft.
6. Repeat step 5 for the following 7 directions: Northeast, East, Southeast, South, Southwest, West,and Northwest. The calibration is complete when the hover has been performed in all eight directions.
7. Reboot the aircraft and fly it in position mode to check if it flies straight.
If it does not fly straight, repeat steps 1 through 7.

North
Northwest
West

Northeast

Southwest

East
Southeast
South

Figure 78 Full calibration: Hovering with the nose facing eight directions78

4.2.6. Maintenance•Obtain the maintenance history from the aircraft.

•

The maintenance history is written to the aircraft by an authorized repair center when routine
maintenance or a repair is performed.

4.2.7. Lifespan management•

Obtain records about the operational history of the aircraft, which can be used as a guide formaintenance timing.

4.2.8. Restriction (GPS)•This section allows the review and setting of control parameters that are relevant to GPS flight.

•

Tap the “Read” button to obtain the currently set value for each of the settings.

•

After changing (a) value(s), tap the “Write” button to send the updated value(s) to the aircraft.
Table 32 Aircraft control parameters (for GPS-guided flight)
Setting

Description
The maximum yaw rate in auto (AUT) mode (under no windconditions).

Maximum autonomous translational
acceleration/deceleration

Maximum translational acceleration/deceleration in auto (AUT)
mode (under no wind conditions).

Maximum manual
horitzontalhorizontal flight speed

Maximum horizontal flight speed in position (POS) mode (under nowind conditions).

Maximum manual descent speed

Maximum descent speed in position (POS) mode (under no windconditions).

Maximum manual yaw rate

Maximum yaw rate in position (POS) and manual (MAN) modes(under no wind conditions).

Maximum manual ascent speed

Maximum ascent speed in position (POS) and manual (MAN)modes (under no wind conditions).

Automatic takeoff altitude

Altitude acquired immediately after automatic takeoff.

Automatic takeoff speed

Ascent speed to the automatic takeoff altitude (under no windconditions).

Automatic landing speed

Descent speed for automatic landing (under no wind conditions).

Home altitude

Minimum altitude for the Go Home maneuver.

Go Home horizontal speed

Horizontal speed for the Go Home maneuver (under no windspeed conditions).

Go home vertical speed

Vertical speed at which the vehicle will ascend to the minimum GoHome altitude (if necessary) (under no wind speed conditions).

Maximum altitude relative to ground

Maximum allowable altitude above the takeoff point. Set to “0” forunlimited.

4
Settings View

Maximum autonomous yaw rate

79

The factory default values listed above are the upper limits at which safe flight is guaranteed.
Setting parameters above these guaranteed upper limits will affect the flight safety and may result in acrash.

4
Settings View

80

4.2.9. Safety Features•

This section allows the review and setting of the failsafe features.

•

Tap the “Read” button to obtain the currently set value for each of the settings.

•

After changing (a) value(s), tap the “Write” button to send the updated value(s) to the aircraft.
Table 33 Safety function settings
Default
Value

Description

Compatible model30

If the aircraft cannot receive control signals fromthe controller, it will enter emergency mode andbegin to hover in place. Unless the pilot is able
to re-establish the connection and cancel
emergency mode, the aircraft will continue tohover until the amount of time specified by thissetting expires, at which point it will
autonomously proceed to the home location (oran emergency landing site if executing anautonomous flight with designated emergency
landing sites).

SOTEN(ACSL-ST1)

GCS
communication
loss tolerance
time(autonomous)
[sec]

0

The maximum permissible amount of time that
communications between the aircraft and theground control software can be tolerated. Set to“0” for unlimited (The default value of “0” allows
the aircraft to be piloted with a controller even
without a mobile device attached).

SOTEN(ACSL-ST1)

Go Home route

Straight
Line

The path that the aircraft will take when
performing a Go Home maneuver.

SOTEN(ACSL-ST1)

Setting

Transmitter loss
tolerance time
(autonomous)[sec]

4
After adjusting the safety function settings, ensure to conduct a test flight to verify intended

Settings Viewfunctionality and to prevent the aircraft from unexpectedly entering emergency mode.

81

4.2.10. Gimbal Adjustment•

This section allows the review and setting of gimbal control parameters.

•

Tap the “Read” button to obtain the currently set value for each of the settings.

•

After changing (a) value(s), tap the “Write” button to send the updated value(s) to the aircraft.
Table 34 Gimbal control parameters
Items
Operation mode

Default value
Mode B

Description
Select Mode A, B, or C (see the description in Table 33
below).

Pan minimum speed

1

Minimum speed in the pan direction.

10

Maximum speed in the pan direction.

1

Minimum speed in the tilt direction.

10

Maximum speed in the tilt direction.

[deg/s]Pan maximum speed[deg/s]Tilt minimum speed[deg/s]Tilt maximum speed[deg/s]◼

Operation mode
The gimbal has 4 control modes as described in Table 33.
Table 35 Operation modes
Items

Description
Gimbal speed is proportional to the deflection of the gimbal control wheels on

4Mode Athe controller. Full deflection of the gimbal control wheels results in 60
degrees per second in the pan direction, and 100 degrees per second in the

Settings View

tilt direction. The maximum and minimum speed is not adjustable.
Gimbal speed is proportional to the deflection of the gimbal control wheels on
the controller. Suitable for scenarios that require smooth movements, such asvideo filming. The speed at full deflection of the gimbal control wheels
Mode B(maximum speed) can be set as follows:-

Pan direction: 0.0 – 60.0 deg/sec-

Tilt direction: 0.0 – 100.0 deg/sec adjustable speed range

The gimbal control speed has two steps as the gimbal control wheels are
deflected: low speed (minimum speed) and high speed (maximum speed).
Mode C

82

These speeds can be set within the following ranges:-

Pan direction: 0.0 – 60.0 deg/sec-

Tilt direction: 0.0 – 100.0 deg/sec adjustable speed range

4.2.11. Stick Sensitivity Adjustment•

This section allows the review and setting of the control stick sensitivity parameters.

•

Tap the “Read” button to obtain the currently set value for each of the settings.

•

After changing (a) value(s), tap the “Write” button to send the updated value(s) to the aircraft.
Table 36 Stick control parameters
Items

Default value
Horizontal
velocity

POS mode

Ascent/Descent(When using GPS)

speed
Turning speed
Horizontal
velocity

POS mode (whenAscent/Descentusing VISION)

speed

MANUAL mode

2.5
1.7
1.6
1.0
1.7

Turning speed

1.6

Attitude angle

1.25

Ascent/Descent
speed
Turning speed-

Description
Set the horizontal speed during operation in
POS mode (using GPS).
Set the ascent/descent speed during operationin POS mode (using GPS).
Set the turning speed during operation in POS
mode (using GPS).
Set the horizontal speed during operation in
POS mode (using VISION).
Set the ascent/descent speed during operationin POS mode (using VISION).
Set the turning speed during operation in POS
mode (using VISION).
Set the angle of attitude during operation in
MANUAL mode.
The same value as the ascent/descent speed
in POS mode (using GPS) is applied.
The same value as the turning speed in POS

4mode (using GPS) is applied.

Settings View

83

4.2.12. Options•

Enable/disable collision avoidance sensors, set thresholds to display warnings/hazards, andenable/disable alert sounds.

•

Tap the “Read” button to obtain the currently set value for each of the settings.

•

After changing (a) value(s), tap the “Write” button to send the updated value(s) to the aircraft.

The obstacle detection sensors may not be able to detect obstacles that are beyond the sensor’s
range. Setting a distance threshold that is higher than the sensor’s detectable range may be ineffective.
Thus creating a safety hazard.

4.2.13. Data erasure•

Delete the flight log data stored on the aircraft.

•

Note that deleted data cannot be recovered.

•Log data stored in TAKEOFF cannot be deleted by this command. To delete this data, use the Flight log
view.

4.2.14. Reset Transmitter Binding

4
Settings View

84•

Delete controller binding information that is stored in the aircraft.

•

Once the controller binding information has been deleted, the controller will need to be re-bound to theaircraft.

Chapter5

Analysis & Flight Logs Views

5.1. Analysis ············································································································· 86
5.2. Flight Log ··········································································································· 88

5.1. Analysis•

A detailed view of the telemetry that is being received from the aircraft can be viewed in the Analysis view.

•

This function can be used for simple analysis such as when there is an abnormality in the aircraft.

Figure 77 Main menu: Analysis•

In the Analysis view, parameters are grouped by the MAVLink message that they are packaged in. A timeseries of any parameter can be displayed by selecting the appropriate MAVLink message in the left

5

submenu and then tapping the “Add to graph” checkbox for the desired parameter.
•

The range of the vertical and horizontal axes of the graph can be scaled by the Scale and Scope

Analysis & Flight Logs Views

pulldowns respectively.

Figure 78 Adding parameters86Graph area

Horizontal range

Vertical range

Figure 79 Time series graph

5
Analysis & Flight Logs Views

875.2. Flight Logs•

Logs of the telemetry that is received from the aircraft are saved in accordance with the TAKEOFF App
General Settings (see Section 4.1.1). The logs can be reviewed in the Flight Logs view.

Figure 80 Flight logs•

Pressing the Play buttons opens the Flight view map and begins to replay the telemetry.

•Tap “Upload to Drone Portal” to upload log data to linked cloud services when an internet connection isavailable (Japan only).

5
Analysis & Flight Logs Views

88Chapter6

Troubleshooting

6.1. Troubleshooting ·································································································· 90

6.1. TroubleshootingThis section describes common troubleshooting issues. If your issue cannot be found in following sections,•or if the issue persists, contact your dealer.

Never fly the aircraft until the issue is resolved. Failure to do so could result in a crash.

6.1.1. Communication disruption
When the aircraft and controller are linked and the controller and mobile device are connected via a USB-•

C cable (shown below), if the aircraft status indicator in TAKEOFF shows "Not Connected," please performthe following steps.

Mobile device
connection port

あ6Troubleshooting

90◼

Figure 81 Example of controller

Figure 82 Connecting to thescreencontroller

How to check１． Unplug the USB-C cable connecting the mobile device to the controller and shut down the TAKEOFF
on your mobile device.
２． Connect the USB-C cable again and start TAKEOFF.

6.1.2. No map is displayed.
When your mobile device is connected to the aircraft, if no map appears as shown below, try the following•

steps.

◼

How to check
１．Close the TAKEOFF app.
２．Unplug the USB-C cable from your mobile device.
３．Gently press the power button on your mobile device to lock it, and then unlock it again.
４．Set your mobile device to airplane mode.
５．Insert a USB-C cable into your mobile device and start TAKEOFF.
６．Check that images appear.
７．Turn on Wi-Fi function on your mobile device.

Figure 83 No map

6Troubleshooting91

Appendix A

A-1

Revision history ···························································································· 93

A-1 Revision history
VersionDate

2.6-US1

5/30/2024

Description of revisionFirst edition

EditorACSL Ltd.
Production Unit

A
Appendix93Manufacturer information

Manufacturer

ACSL Ltd.
Hulic Kasai Rinkai Building 2F,
3-6-4, Rinkaicho, Edogawa-ku, Tokyo,
134-0086, JAPAN* For individual questions, contact the distributor shown on the back cover of this manual.
* For improvement, specifications of this product are subject to change without notice.

First published: May 2024

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