D R A F T

P R I V I L E G E D A N D C O N F I D E N T I A L

UNITED STATES DEPARTMENT OF TRANSPORTATION

FEDERAL AVIATION ADMINISTRATION

__________________________________________

)

Petition for Exemption )

Pursuant to Pub. Law 112-95 § 333 )

And 14 CFR Part 11 )

concerning Unmanned Aircraft Systems )

flight testing and demonstration )

)

__________________________________________)

PETITION OF ROBOTA LLC

FOR REGULATORY EXEMPTION

Dated: 29 February 2016

Please address all communications with respect to this Petition to:

Mr. Antonio Liska

Robota LLC

14123 Paradise Valley Dr

Houston, TX 77069

Phone: 2812509186

Email: antonio@robota.us
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I. Introduction: Research & Development

Robota LLC manufactures autopilots for UAVs as well as the vehicles that contain them. 

Proper autopilot and vehicle development requires flight testing in order to assure quality, 

reliability and safety.

II. The Identity and Interests of the Petitioner

Petitioner Robota LLC Systems has been a pioneer in the development of miniature 

autopilots for civil UAVs. Robota LLC is aware of the challenges in air traffic control and the deconfliction of manned and unmanned aircraft. 

Robota LLC intends to flight test their unmanned systems, including air traffic avoidance 

technologies in order to promote the safety and reliability of Robota LLC’s products. The name 

and address of the Petitioner is:

Robota LLC

14123 Paradise Valley Dr

Houston, TX 77069

Petitoner requests that communications be directed to the same listed above.

Antonio Liska

Email: antonio@robota.us

III. Robota LLC’s Request Would be in the Public Interest and Benefit the Public as a 

Whole

The benefit to the public interest of Robota LLC’s request is unquestionable as the 

need for reliable autopilots in the civil market is of ever increasing importance. The creation of 

low cost and hobby autopilots has produced many unreliable and untested products on the market 

that could end up in the NAS. Robota intends to demonstrate and test reliability of their products 

in order to offer a robust solution that will be safe to fly in the NAS by commercial operators. 
3

Thus, the operations are of enormous public benefit and present at least an equivalent level of 

safety under 14 CFR part 11. 

IV. The Unmanned Aircraft Systems

Configuration 1

1. Robota Specifications

Property Condition Value

Flight Time No payload @ 11m/s 90 minutes 

Speed Range .No payload 11 m/s to 20 m/s

21kts to 39 kts

Max wind speed .No payload 29 kts 

Weight no payload, ready to fly 5 lbs 

Wing Span 64 inches

Fuse Length 46 inches

Payload bay 5 x 4 x 3 inches

Shipping/Transport 48 x 12 x 12 inch box

Battery Capacity 22v 5000mAh - XL

Payload Power 5v @ 1A
4

Control Link Frequency 900 mhz

Control Link Range Std Antennas, line of sight 5 miles

10 miles with upgrade

Manual Control Frequency 2.4 ghz

Manual Control Range Line of sight 800 yards

Video Link Range Line of sight 1.5 Miles - VT

Video Link Frequency Call for more options 1.1Ghz - VT

Temperature Range Measured on Autopilot 0 to 70c

Launch Options Runway/Hand Launch

Land Options Conventional

Emergency Parachute

Construction: The is constructed entirely of foam (Expanded Polypropolene) with 

internal bracing. 

Propulsion: Aircraft utilize brushless, three phase, AC motors. They require a 

switching electronic speed control to provide throttle management.

Hazard mitigation

The is designed to collect data utilizing a lightweight and relatively slow airframe

made entirely of foam. This reduces the potential for injury by reducing the mass 

that can be delivered in a small area. This aircraft is considered “frangible” in that 

it will come apart on impact without concentrating force in any vector. They do not 

use internal combustion motors and do not carry any flammable liquids for 

operation. Additionally, the aircraft utilizes the Robota GooseTM Flight Control 

System that features a redundant communications fail safe in that if either the 

command over ride link or the telemetry fails, the aircraft will abort the mission and 

return to the launch area. In the event the aircraft is unable to return to the launch 

area, it may deploy a parachute for a soft descent to the ground.

V. Area of Operations

The area of operations shall be initially restricted to 1nm from coordinates:

30 27 40.8240N 

095 53 15.9000W
5

This location is 13nm from Navasota Municipal Airport

This location is 21nm from Huntsville Municipal Airport

This location is 27nm from Madisonville Municipal Airport

Altitude of operations: 400’ AGL, daylight operations only.
6

Sectional Map Location

VI. Summary of Exemptions Sought

Robota LLC seeks exemption from the following regulations, to the extent the FAA 

deems them applicable to the operation of civil UAS for the indicated purposes:

14 CFR Part 21 

14 CFR Part 36

14 CFR 45.23(b)

14 CFR 61.3 

14 CFR 61.101 

14 CFR 61.113 (a) & (b) 

14 CFR 61.315 

14 CFR. 91.7 (a)

14 CFR 91.9 (b) (2)

14 CFR 91.103

14 CFR 91.105 
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14 CFR 91.109

14 CFR 91.119

14 CFR 91.121

14 CFR 91.151 (a)

14 CFR 91.203 (a) & (b)

14 CFR 91.405 (a)

14 CFR 91.407 (a) (1)

14 CFR 91.409 (a) (2); and

14 CPR 91.417 (a) & (b)

VII. The Specific Exemptions Sought and Reasons

A. 14 CFR Part 21 and 14 CFR Part 36

Petitioner seeks relief from 14 CFR part 21 concerning airworthiness certificates, as 

well as any associated noise testing requirements of part 36, with respect to the UAS identified in 

Section IV. As set out herein, the size, weight, speed, operational capability, visual line-of-sight 

operation, and intended operating area of these UAS meet the conditions of FMRA Section 333. 

Moreover, the proposed operations, conducted pursuant to the Robota LLC Systems FSOP, present 

an equivalent level of safety or better. An exemption ought to be granted or, in the alternative, a 

finding made that relief from parts 21 and 36 are not necessary for Petitioner’s intended operation. 

(See, e.g., Grant of Exemption No. 11282, Docket. No. FAA-2014-0977 (April 6, 2015), finding 

that such an exemption is “not necessary.”)

B. 14 CFR 45.23(b)

Petitioner seeks relief from 14 CFR 45.23(b) concerning aircraft markings, to the 

extent such relief is necessary. Given the size of the UAS, its operation within visual line of sight 

of the operator, and other factors, such an exemption is warranted. Petitioner will, if required, 

mark each UAS with the word “RESTRICTED” in lettering as large as practicable. However, 

Petitioner notes that because its UAS’s will not be certificated under § 21.185, such marking is not 

actually required, and therefore Petitioner alternatively requests a finding confirming same. 
8

C. 14 CFR 61.101, 

14 CFR 61.113 (a) & (b), and

14 CFR 61.315

Petitioner seeks relief from 14 CFR 61.101 concerning limitations on recreational 

pilot privileges, 14 CFR 61.113(a) and (b) concerning limitations on private pilot privileges, and 

14 CFR 61.315 concerning limitations on sport pilot privileges. The ROBOTA LLC FSOP 

establishes a level of safety exceeded by that provided by a commercial pilot’s certificate in the 

operation of a passenger aircraft. The UAS intended to be operated do not carry any person and 

therefore present an equivalent or better level of safety compared to manned aircraft operations. 

Petitioner requests an exemption allowing UAS operations by the holder of either a recreational, 

sport pilot or private pilot certificate. With respect to medical certification, Petitioner proposes 

that the PIC hold a current FAA airman medical certificate or a valid U.S. driver’s license issued 

by a state, the District of Columbia, Puerto Rico, a territory, a possession, or the Federal 

government.

D. 14 CFR 91.7(a)

Petitioner seeks relief from 14 CFR 91.7(a) concerning civil aircraft airworthiness. 

Given the size of the UAS, its operation within visual line of sight of the operator, and other 

factors providing an equivalent level of safety, such an exemption is warranted. Moreover, 

because petitioner proposes that no airworthiness certificate be issued for the UASs to be operated 

under this exemption, § 91.7(a) is inapplicable. Therefore, in the alternative, Petitioner requests a 

determination that an exemption from § 91.7(a) is not necessary.
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E. 14 CFR 91.9(b)(2)

Petitioner seeks relief from 14 CFR 91.91(b)(2), and 91.203(a) and (b) concerning 

flight manuals and placard requirements. Because all persons involved in the operation will be on 

the ground, not on board the UAS, such an exemption is clearly warranted. Moreover, the FAA 

determined in an August 8, 2014 legal interpretation that keeping such documentation at the 

control station, as Petitioner intends to, meets the requirements under these regulations and 

therefore an exemption is not necessary. See Memorandum from Mark. W. Bury to John Duncan, 

“Interpretation regarding whether certain required documents may be kept at an unmanned 

aircraft's control station,” available at

https://www.faa.gov/about/office_org/headquarters_offices/agc/pol_adjudication/agc200/interpreta

tions/data/interps/2014/Duncan-AFS-1-2%20-%20%282014%29%20Legal%20Interpretation.pdf

F. 14 CFR 91.103

Petitioner seeks relief from 14 CFR 91.103 concerning preflight action, and 

particularly that portion of the regulation concerning FAA-approved flight manuals (which do not 

exist). Petitioners’ pre-flight actions concerning UAS operations are set out in its FSOP, reflect 

that the pilot in command will “become familiar with all available information” concerning the 

proposed flight, and therefore present an equivalent or better level of safety. Given the size of the 

UAS, its operation within visual line of sight of the operator, and other factors, such an exemption 

is warranted. Alternatively, given that Petitioner will account for all relevant site-specific 

conditions in its preflight procedures, Petitioner asks for a finding that an exemption from § 91.103 

is not necessary for the intended operation.
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G. 14 CFR 91.105

Petitioner seeks relief from 14 CFR 91.105 concerning “Flight crewmembers at 

stations” and seat belt/harness fastening. Because there is no crew on board the UAS, and persons 

involved in the operations will be present at the UAS ground station pursuant to the FSOP, 

Petitioner believes that such an exemption is warranted due to Petitioner’s FSOP providing an 

equivalent level of safety, or alternatively that an exemption is not necessary for the operation. 

Although it does not appear that the FAA has addressed § 91.105 in various UAS Section 333 

exemptions granted to date, we note that § 91.105 is listed in the FAA’s Public Guidance 

document as a regulation from which an exemption may be required (Rev. 9/25/2014 at page 7, 

available at 

https://www.faa.gov/uas/legislative_programs/section_333/how_to_file_a_petition/media/section3

33_public_guidance.pdf). Petitioner therefore requests either an exemption or an 

acknowledgement that an exemption is not necessary.

H. 14 CFR 91.109

Petitioner seeks relief from 14 CFR 91.109 concerning flight instruction and dual 

controls. Petitioner will evaluate the qualifications of its PICs based on their experience and 

capabilities with the UAS to be operated, as set out in the FSOP Section I (Personnel 

Qualifications, attached excerpt Appendix A). Moreover, as each PIC will have previously been 

qualified by the FAA as a certificated recreational, sport, or private pilot, the operations proposed 

herein may be conducted without an exemption from § 91.109 being required. Thus, Petitioner 

requests either an exemption or confirmation that none is required.
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I. 14 CFR 91.119

Petitioner seeks relief from 14 CFR 91.119 concerning minimum safe altitudes. 

Under the ROBOTA LLC FSOP, each UAS will be operated no higher than 400 feet above ground 

level, and a safe emergency landing “abort site” will be selected in advance of each flight, in 

compliance with 14 CFR 91.119(a) which permits operations “anywhere.” With respect to the 

balance of § 91.119, Petitioner proposes to conduct operations at least 50 feet from non-essential 

or non-participating persons, and prior to each operation the PIC will make a safety assessment of 

the risk of operating within the proximity of structures, vehicles and vessels. Petitioner believes 

that given the size, weight and speed of the UAS to be operated, these parameters in the FSOP 

present an equivalent level of safety compared to the 500 foot minimum safe altitude of a manned 

aircraft set out in § 91.119(c). 

We are aware that in prior UAS exemption grants, the FAA has included a 500 foot 

minimum distance separation from uninvolved persons. We ask the FAA either to raise the 

maximum operational altitude to 500 feet above ground level (from the typical 400), or, preferably, 

to reduce the required distance separation from uninvolved persons to no greater than 400 feet, so 

that Petitioner's UAS, when in operation, may pass above persons in the operational area. In 

consideration of the benefits of, and strong public interest in the proposed research and 

development of sense and avoid systems, which are potentially life-saving, this request ought to be 

granted.

J. 14 CFR 91.121

Petitioner seeks relief from 14 CFR 91.121 concerning altimeter settings. 

Petitioner's UAS will utilize a GPS altitude read out, set to zero at the elevation of the departure 
12

location, thus indicating to the operator the operational altitude in feet above ground level. This 

approach will provide an equivalent level of safety. 

K. 14 CFR 91.151

Petitioner seeks relief from 14 CFR 91.151 concerning fuel requirements. The 

Petitioner's Configuration 1 uses the UAS airplane equipped with 5.4AH lithium polymer flight 

batteries. Petitioner's flight duration is 60 minutes or less, which results in approximately 20-30% 

of the battery power remaining at landing. Petitioner's Configuration 2 requests the same 

exemption as the . In both configurations, an equivalent level of safety is achieved, in particular 

because each UAS is operated within visual line of sight, can be landed within moments of a lowbattery condition, and the UAS never has to travel any significant distance to an alternate airport or 

landing area.

L. 14 CFR 91.203(a) and (b) 

Petitioner seeks relief from 14 CFR 91.203(a) and (b) concerning airworthiness 

certificates. Each of the UAS to be operated weighs under 8 pounds, and will be operated within 

visual line of sight, pursuant to the ROBOTA LLC FSOP (Appendix A), by a knowledgeable 

operator. An exemption from airworthiness certification is warranted pursuant to Section 333 of 

FMRA in consideration of the weight, size, speed, and operational capabilities of the Petitioner's 

UAS. 
13

M. 14 CFR 91.405(a)

14 CFR 91.407 (a) (1)

14 CFR 91.409 (a) (2); and

14 CPR 91.417 (a) & (b)

Petitioner seeks relief from 14 CFR 91.405(a), 91.407(a)(1), 91.409(a)(2), and 

91.417 (a) and (b), concerning maintenance inspections. Petitioner proposes to maintain each 

UAS in accordance with the manufacturer's suggested maintenance procedures, and to conduct 

preflight inspections in accordance with the FSOP for each operation. The UAS are not 

contemplated to have an airworthiness certificate, and therefore no exemption is needed with 

respect to maintenance relating to airworthiness certificates.

VIII. Request for Blanket COA

Petitioner hereby requests a blanket Certificate of Waiver or Authorization for 

airspace use within Class G airspace, at or below 400 feet. We understand that the typical holder 

of a Section 333 exemption waits approximately three weeks in order to receive COA 

authorization, the timely execution of developmental items is as much an economic consideration 

as well as a delay on important and sometimes time sensitive processes.

The FAA has already indicated that holders of UAS exemptions under Section 333 

are also granted a "streamlined" COA up to 200 feet AGL. See March 20, 2015 Memorandum 

from Elizabeth L. Ray to Terry Biggio,"Small Unmanned Aircraft Systems Operations in the 

National Airspace System." However, this streamlined or "blanket" COA apparently requires the 

operator to issue a Notice to Airmen (NOTAM) "at least 24 hours prior to the proposed operation." 

Id. In many instances Petitioner expects to be called upon with less than 24 hours' notice. 

Petitioner requests that its streamlined COA require only that Petitioner issue a NOTAM as far in 

advance as practicable, with no specific minimum time. 
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An equivalent level of safety is established for these blanket COA parameters 

because, currently, operations are permitted by FAA by recreational model aircraft operators 

without any COA or NOTAM requirements. 

Dated: August ___, 2015

Respectfully submitted,

______________________

Antonio Liska

14123 Paradise Valley Dr

Houston, TX 77069

Petitioner Robota LLC Attachments:

Appendix A – Flight Operations Standards

Appendix B – Assembly Manual

Appendix C – GCS Software Operation
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Appendix A – Flight Operations Procedures for Unmanned Aircraft (excerpted)

Personnel qualifications

Pilot in Command (PIC)

The PIC shall be the individual with responsibility for all other personnel involved with the 

operation. For clarification, this section will include both the Pilot in Command and the Pilot at 

the Controls although they may both be interchangeable in most circumstances. The PIC shall 

have the minimum qualifications;

1. Knowledge of general aviation practices and FARs (optional private rating)

2. A minimum of a Light Sport Aviation (LSA) license and a valid state driver’s license.

3. 20/20 corrected vision

4. Familiarity and operations of ;

a. At least three events utilizing one, or both UA

b. At least three take offs and recoveries within 90 days with type

c. Familiar with the latest revision of ground control software

d. Emergency recovery procedures in failed link situations

5. Familiar with the qualification requirements of all subordinate personnel

6. Familiar with mission planning and preflight procedures

7. Versed in emergency procedures and contingency operations

8. Familiar with acceptable field repair and maintenance procedures

Pilot at controls (PAC)

1. Knowledge of general aviation practices and FARs ( optional LSA rating)

2. Valid state drivers license

3. 20/20 corrected vision

5. Familiarity and operations of aircraft to include;

a. At least three events utilizing one, or both UA

b. At least three take offs and recoveries within 90 days with type

c. Familiar with the latest revision of ground control software

d. Emergency recovery procedures in failed link situations

6. Familiar with mission planning and preflight procedures

7. Versed in emergency procedures and contingency operations

8. Familiar with acceptable field repair and maintenance procedures

Ground System Crew (including Visual Observers)

1. Valid state drivers license

2. 20/20 corrected vision

4. Familiarity and operations of aircraft to include;

a. Familiar with the construction and configuration of each UA

b. Familiar with GCU electronics and configuration
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c. Familiar with field repair procedures for each UA

d. Familiar with the latest revision of ground control software

Preflight, Takeoff, and Post flight Checklists

Primary Responsibility

Preflight activities are completed and verified by the PIC before takeoff, generally upon arrival at 

the location and the operation is to be performed. Activities in this segment refer to all knowledge 

gathering, area assessment, and actions performed on the aircraft before taxi or takeoff. These 

include inspection of aircraft, assessment of the operating location, coordination with other crew 

members involved in the operation, and equipment checkouts.

Mission Plan

The mission plan shall contain all actions and contingencies for the mission planned. Any limiting 

factors in the flight environment may alter the intended operation and modify the mission plan 

accordingly. Contingency planning should include safe routes in the event of a system failure, 

degraded performance, or lost communication link, if such a failsafe exists.

Airframe

The airframe shall be given a thorough inspection thru the use of a checklist. The content of the 

checklist will be as follows:

1. Before the first flight of the day, verify all transmitter, on-board aircraft, and camera 

batteries are fully charged. 

2. Check all control surfaces for signs of damage, loose hinges, and overall condition. 

3. Check the control linkages are secured and the condition of the control horns and 

brackets. 

4. Check the wing to make sure it is in good structural condition and properly secured and 

aligned to the airframe. 

5. Check the motor/engine and mounting system to make sure it is firmly attached to the 

airframe. 

6. Check the propeller or rotor blades for chips, cracks, looseness and any deformation. 

7. Check the landing gear (if applicable) for damage, for secure attachment, and the 

wheels are in good shape and rotate freely. 

8. Check that the servos are firmly attached to the airframe and all receiver connections are 

secure. 

9. Check all electrical connections making sure they are plugged in and secured to the 

airframe. 

10. Check that the photography equipment and mounting system are secure and 

operational. 

11. Perform an overall visual check of the aircraft prior to arming any power systems. 
17

12. Repair or replace any part found to be un-airworthy in the pre-flight prior to take-off.

Flight Control/Ground station

1. Ensure there are no frequency conflicts by use of frequency scanner before turning on 

transmitter. 

2. Make sure that all of your body parts, clothing, other obstructions, and bystanders are 

well away from any propeller or rotor and its arc before turning power on to any systems. 

Make sure the aircraft is secure and will not move if the motor was suddenly powered up. 

3. Announce out loud - "CLEAR PROP". 

4. Turn on the transmitter. If it displays information such as aircraft memory and battery 

voltage, be sure these numbers are correct. 

5. Make sure that the throttle stick on the transmitter is in the power off position. 

6. Connect the battery and/or turn on the power switch to the aircraft. 

7. Follow the recommended range test procedures as outlined in your radio 

transmitter/receiver owner's manual.

8. Check for proper operation of control surfaces. 

9. Check that all servos are steady and not chattering or making any other abnormal noise 

when in operation or idle. 

10.Check the motor/engine for proper operation. Firmly secure the aircraft and gradually 

increase the throttle to full power and back down to idle - checking for lack of thrust, 

vibration or other possible anomalies. Check that the motor stops completely when the 

throttle stick is at the off position. 

11. Ensure the triggering device is working correctly.

Before Take Off:

1. Confirm transmitter antenna is fully extended. 

2. Confirm transmitter trims settings in proper position. 

3. Confirm receiver antenna is fully extended. 

4. Check that the takeoff area is clear of obstructions and people. 

5. Double check weather conditions and review potential emergency landing areas. 

6. Set flight timer alarm. 

7. Announce out loud - "PREPARING TO TAKE OFF". 

8. Launch aircraft. 

In-Flight:

1. Climb to a safe altitude away from potential hazards and check control systems. Reset 

trims if necessary. 

2. Keep aircraft at a safe operating distance from people and buildings. 

3. If aircraft must be flown over buildings or people, maintain a safe altitude for recovery 
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& make every effort to minimize exposure. 

4. Continually scan the flight and ground areas for potential hazards. 

Landing:

1. Check the control systems and set the trims that if necessary, an emergency abort landing 

can be made. 

2. Scan landing area for potential obstruction hazards and recheck weather conditions. 

3. Announce out loud - "PREPARING TO LAND". 

4. Always be prepared to go around. 

5. Carefully land the aircraft away from obstructions and people. 

Post-Flight:

1. Turn the power off to the aircraft and/or disconnect the batteries. 

2. Turn off the transmitter. 

3. Turn the power off to the photo equipment.

4. Visually check aircraft for signs of damage and/or excessive wear. 

5. Remove the unused fuel if applicable.

6. Secure the aircraft. 

In flight Operations

Flight Clearance & Authorization

In the event that RPSS personnel are given the task of independently performing missions, or the 

absence of a formal Incident Command, the PIC shall have full authority for all flight operations. 

The PIC will be solely responsible for the conduct of the ground crew and observers before, during 

and after the flight while on duty. The PIC shall also ensure that all standards of safe flight are met 

before authorizing launch of any aircraft. 

Ground Crew & Observer Communications

Ground crew and observer communications shall be kept to a minimum and shall focus on the 

mission at hand. Communications not directly affecting the outcome of the mission should be 

avoided so as to not distract the PAC from his/her assigned duties. The use of two radios with a 

VOX capability will be utilized when possible. Cell phone communication may be utilized when 

it is reliably available but radios will be on standby for backup.
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Appenix B – Assembly

Assembly Instructions

Lite Shipping Container

The Lite Shipping container is compact ( 48 x 12 x 12) but requires some assembly prior to flight. 

Individual parts included in this container are:

 Fuselage

 Left/Right Wing with two(2) wing bolts

 Elevator 

 Vertical Tail with two (2) nylon nuts

 Propeller on spinner

 Battery Charger

 GCS Radio

 GCS Antenna

 Vehicle Antenna

 Flight Battery

The remote control and main landing gear are packaged separately.
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Transport Case

The Transport Case is compact ( 50 x 20 x 13) and requires minor assembly prior to flight. Parts 

included in this container are:

 Fuselage With landing gear and 900mhz antenna attached.

 Left/Right Wing with two(2) wing bolts

 Horizontal tail/Elevator 

 Vertical tail /Rudder with two (2) nylon nuts

 Propeller on spinner

 Battery Charger

 GCS Radio with 

 GCS antenna

 Vehicle Antenna

 Flight Battery

 Manual Remote Control

 Hex Tools

o Motor/Propeller

o Payload 
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IX. Assembly

To assemble the aircraft for flight:

Attach the main landing gear with 4 screws installed in the fuselage as shown below.

Attach the vertical and horizontal tail sections. Slide the vertical tail into the fuselage making sure 

that the nylon bolts pass through the horizontal tail and the fiberglass retainer as shown below. 

Then connect the ball links for the elevator and rudder.
22

To assemble the wing, locate the wing bolts(31,32) and spar, insert the spar into the wing, place 

the wing on the top of the fuselage, taking care to route the aileron and tubing through the split 

path at the wing root. Screw the wing into place. Tighten until the wing is firmly attached to the 

fuse. Reference the image below.

Connect the pitot static tubing to the matching connector. Also connect the aileron wires to either 

black connector. Use the supplied Velcro strap to secure the battery. 

The assembled vehicle looks like this:
23
24

X. Payloads

A. ADC Lite

Connect the power and trigger cables shown below to the Payload Accessory board inside the 

payload bay then connect the opposite ends to the camera. There is only one place that the 

connectors will fit. 

Attach the ADC Lite to the bottom of the fuse using four (4) 4-40 screws. The bossed arrow on 

the mounting plate should point forward.

XI. Important

Balance the vehicle by holding it under the wing with two fingers. The balance point is marked 

with a black dot(85mm from the leading edge). Adjust the battery until the vehicle is level. 

Remember to make changes to the battery location if the payload changes. 
25

Check the control surface trim position by powering the vehicle and the RC transmitter then 

engaging the manual mode. Surfaces should be centered unless they were purposely adjusted off 

center by the operator. 

Check the payload settings and function before flying. Hint: the camera can be triggered on the 

flight plan tab with the go button.

Use caution; do not install the propeller until you are ready to fly. Inadvertent throttling by the 

user or autopilot can be dangerous if the propeller is installed. 
26

Appendix C – GCS Software Operation

- Operation Manual -

Robota Ground Control Station (GCS) 

Version 4

GCS Version 1.1.0.60

July 2015

(a) Introduction

The information disclosed in this document, including all designs and related

materials, is the valuable property of Robota LLC in the United States (hereinafter Robota) and/or 

their licensors. Robota and/or its licensors, as appropriate, reserve all patent, copyright and other 

proprietary rights to this document, including all design, manufacturing, reproduction, use, and 

sales rights thereto, except to the extent said rights are expressly granted to others.

To allow for design and specification improvements, the information in this

document is subject to change at any time, without notice. Reproduction of this

document or portions thereof without prior written approval of Robota is

prohibited.

This document covers how to use the Robota GCS along with the Goose Autopilot. 

(b) Cautions

Always stay clear of the propeller to avoid inadvertent strikes. Install the propeller just prior to 

flight and before powering the aircraft. 

Always fly in visual range, for safety, keep the manual controller ready to take control of the 

vehicle.
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28

Contents

Introduction

Cautions

Keywords

Installing Robota GCS Software

Using Robota GCS for the first time

Icons

Tabs

Avionics

Top Menus

Map Overlays

Map

Flight Modes

COM

Setting up a Flight Plan

Waypoint Manipulation

Waypoint settings

Search Pattern Manipulation

Landing Strip

Configuration

Advanced settings

Triggers

Easy Camera Selector

Action Triggers

Event Triggers

Failsafes

Updating Firmware

Log Files

Advanced Features

Position Output

SRTM Elevation Data

Typical Flight

B.

(a)
29

(b)

(c) Keywords

GCS: Ground Control Station - The refers to the computer running the Robota GCS Software.

AP: Autopilot - This refers to the physical Goose Autopilot module.

AV: Aerial Vehicle - Refers to the aircraft with the AP installed. AV is synonymous with the green 

airplane icon on the GCS Map window. 

PIC: Pilot In Command - This is the person operating the GCS and ultimately controlling the AV.

AH: Artificial Horizon - This is the artificial horizon for the AV that includes airspeed and altitude 

overlays to give the PIC an idea of the attitude and motion of the AV. 

RC: Remote Control - The hand held control with joysticks. Used for direct control of the vehicle 

(in RC mode) or semi-automated control in Fly-by-wire mode.

(d)
30

(e)

(f) Installing Robota GCS Software

1. Verify System Requirements

a. Minimum 100MB Free Ram 

b. Minimum 50MB Free Hard Disk Space

c. Minimum 1GHz Processor 32 bit 

d. Running Windows XP or Windows 7 (.net 3.5 or greater, 32/64bit)

2. Make sure there are no other programs running on your computer.

3. Remove old GCS versions. If there are any other versions of the Robota GCS installed on 

your computer, uninstall them first. (To uninstall in WinXP, click Start >Control Panel >

Add or Remove Programs. Scroll down to find and click on “Robota GCS” > click 

Change/Remove > click OK, Robota GCS should now be removed from your computer.)

4. In the downloaded “Robota GCS” folder click on the setup.exe application file.

5. Click Install. The Robota GCS should install correctly in a few seconds and automatically 

start up. (If any errors occur; exit installation, restart computer and attempt installation 

again.)

(g)
31

(h)

(i) Using Robota GCS for the first time

The following section will give a “dry run” or overview order to familiarize the PIC with layout and 

functionality of the Robota GCS software. This section can also be used as a field reference 

guide to re-familiarize one with GCS operations as events occur.

NOTE: At this time the AP does not need to be communicating with the GCS. 

1. Open the Robota GCS by clicking Start > All Programs > Robota GCS > Robota GCS

2. Once Robota GCS is open you will notice the AV marker is in the South Atlantic Ocean. It 

will remain in this default position until the GCS communicates with an AP that is receiving 

a valid GPS signal. 

Robota GCS Main Screen
32

(i)

(ii) Icons

Three main icons are seen on the main map as seen below. 

● The red landing strip indicates the landing location and the direction of travel. 

○ Right clicking on the red strip opens a land settings dialog

● The green aircraft icon indicates the current vehicle position.

○ Right clicking the aircraft shows a GPS dialog with high update rate 

● The yellow icon represents the ground station location.

(iii) Tabs

On the bottom left of the GCS you will notice four tabs *(If you are running the Pro version, you 

will notice two more tabs appear once the GCS communicates with the AP.) 

a. Checklist: This is your pre-flight checklist. Following this checklist in addition to 

any application specific checklists will help ensure successful and safe flight 
33

conditions. A checklist warning reminder will remain in the Warnings Area (top left 

corner of the Map) until the checklist is complete. 

b. Flight Plan: In this tab you will adjust flight parameters and invoke actions.

i. Airspeed - Set by typing in the text box and pressing enter or dragging 

slider. Value in meter per second, (M/S).

ii. Altitude - Set by typing in the text box and pressing enter or dragging slider. 

Value in Meters, (M).

iii. Orbit Radius - Set orbit waypoint radius by typing value and pressing enter 

or dragging slider. Value in meters, (M).
34

iv. Update - Updates or sends the current flight plan up the the AV

v. New - Creates a separate flight plan that does not connect to any 

previously laid out flight plans.

vi. Goto - Click this button followed by the waypoint that the vehicle should fly 

to.

vii. Search - Inserts a Zigzag search pattern after clicking this button and then 

clicking the desired location on the map. The drop down menu sets the 

default search parameters. 

viii. Clear - Clears the current flight (all waypoints/orbits) plan from the map

ix. Trigger #1 - If trigger utilized, “Go” button used to actuate the servo or 

camera trigger while “Done” button used to bring servo or camera trigger 

back to resting position

x. Show Distance - Line distances are displayed when this checkbox is 

enabled.

c. PID: This tab is for advanced users only. The options here are used to tune the 

control theory algorithms that fly the AP. 

d. ConfigWiz: This tab is used to optimize the autopilot for use with any airframe. 

See the Configuration Manual for more info.

e. *RAM: This tab is for advanced users only. RAM tab displays read only variables 

that the AP uses for operation. See the Configuration Manual for more info. 

f. *ROM: This tab is for advanced users only. ROM tab displays writable parameters 

for customizable configuration of the AP. See the Configuration Manual for more 

info. 

g. *Payload Pass-through: This tab appears when the autopilot sends payload data. 

The tab organizes the data in columns, depending on the selected separator 

variable and end of line character. This data will also be logged and saved in the 

log folder.

*Pro License Only. Will not be shown until communication with AP has started.

(iv) Avionics

The avionics area of the GCS is located in the top left hand corner and is titled ‘Avionics’. Here 

you will find the AH and the status of various variables critical to flight.
35

a. AH: The artificial horizon shows the current attitude of the AV. The blue area is 

mean to be interpreted as sky and the brown area as ground. As a quick 

reference, if all of one color is seen the AV is most likely in an unusual attitude. 

i. Pitch - The green lines are know as “Pitch Ladders” which help interpret 

the pitch of the aircraft. Each horizontal “tick” represents five degrees of 

pitch. On the left hand side of the pitch ladder the ten degree ticks are 

written out.

ii. Roll - Roll is show on the bottom of the HUD with ticks at every ten 

degrees. 

iii. Airspeed - On the left hand side of the HUD are two numbers. The bottom 

number is the current airspeed of the AV and the top smaller number is the 

desired airspeed the AV is trying to fly at which is set by the PIC in the 

Flight Plan area. 

iv. Altitude - On the right hand side of the HUD are two numbers that 

correspond to altitude. They operate the exact same as the airspeed 

values. 

v. Heading - The top of the HUD shows the heading of the aircraft on a 360 

degree scale. 

vi. GPS Satellites - On the bottom left of the HUD there is an area to show the 

number of GPS satellites that are being received by the GPS receiver. 

Each satellite is represented by a small green box. At least five satellites 
36

are required to fly. If the receiver isn’t connected or isn’t receiving a signal, 

the message “Sat!” appears. 

b. Flight Indicators: Just to the right of the HUD in the Avionics display are a series 

of boxes that display important flight variables. These variables include:

i. Volt - This is the main battery voltage of the AV. This voltage will decrease 

with flight time and needs to be watched to give the PIC an idea of how 

much possible flight time is left.

ii. Volt2 - This is the auxiliary or servo voltage. 

iii. Trtl% - This is the percentage of total throttle the motor on the the AV is 

commanding. 

iv. Temp- This is the AP board temperature in deg C.

v. Airtime min - This is the the amount of time in minutes that the AV has 

been airborne.

vi. Amperage - This is the current or amperage all the electronics including 

the motor are drawing in Amps. 

vii. Usage Ah - This is the amount of discharge in Amp-Hours. This is your 

best measure of battery consumption and flight time left. 

c. Emergency: This is the emergency parachute deployment button. If configured 

and installed correctly, pressing this button will kill the motor and actuate a servo 

on Aux1, deploying the parachute. You may use this button any time to abort the 

flight and kill the engine. 

(v)

(vi) Top Menus

Located in the top left-hand corner of the Robota GCS are five menus. 

a. File: This menu is used for loading and saving flight plans.

i. Open - Not supported at this time.

ii. Save Flight Plan - Used to save the current flight plan present in the map 

area. This flight plan then be loaded back in with the next command.

iii. Load Flight Plan - Used to load a saved flight plan from the previous 
37

command.

iv. Load KML - Used to import flight boundary from a polygon in a KML file. If 

“waypoints” is entered in the polygon details, flightlines are generated for 

that polygon instead of flight boundary lines.

b. Map: This menu will help you customize the map. 

i. Type - Set the preferred map type for your location and function

ii. Auto Zoom - Map will follow the plane icon at full zoom

iii. Bread Crumbs - Choose the number of previous AV position update points 

that are visible

iv. Map Overlays - Used to add custom images to the map.

c. AP Settings: This menu is used to access autopilot settings generally configured 

before flight.

i. The Preflight configuration wizard will guide you through the use of the AP 

Settings window..

d. Simulator: The menu is used to set up a hardware in the loop simulation between 

FlightGear (FG) simulation software (download free at www.flightgear.org) and the 

AP. See the Setting up the Simulator Chapter for more info.

i. Open FG Sim Connection - Opens a connection for FG to connect

ii. Sim GPS Failure - Simulates a GPS failure to test failsafes

iii. Sim Com Failure - Simulates a GCS/AP communications failure to test 

failsafe

iv. Sim IP Address - Sets IP address for networked connection, see 

Simulation Chapter for more info.

v. Clear Commands - Clears commands for a reset

e. Help: The help menu is used to provide a quick access to the hot key map and 

GCS/AP versions.

i. Key Map - The Key Map shows all the hot keys used to set up flight plans, 

manipulate the current flight and control the map.

ii. About - Contains the current GCS, Firmware and Hardware Version. If the 

GCS is not communicating with the AP, only the GCS version will be 

visible. 

(vii) Map Overlays
38

You may add your own map image to the map for improved flight planning and visualization. Plot 

images by moving them from the available map overlays box to the displayed map overlays box 

using the up and down arrows. There are two options for adding your images. 

Option 1:

Add the image with corresponding world file to the ..Robota\Maps folder. These files will then 

appear under the available map overlays box. 

Option 2:

Add the images by using the Browse button to locate it, once located, add the image coordinates 

at the corner points in the setup window. When the values are entered press the Add button and 

the image file will then appear under the available map overlays box. 

(viii) Map

The Map is where you will be able to view the current position of the AV and see what it’s future 

course will be determined by the flight plan you have set up. The map also contains a few other 

features such as warnings and a wind estimate. 

a. Warnings: In the top left area of the map, warnings will show up in red. Warnings 

are meant to notify the PIC of any issues with the AV while either on the ground or 

in flight. Any warnings seen here while on the ground should be remedied before 

attempting flight. In flight warnings should be taken very seriously as a condition 

has come up that could possibly terminate the flight.

i. No GPS Lock - The GPS receiver has not received a fix on its current 

location yet or it has lost it’s fix. Make sure GPS receiver has clear view of 

sky and is placed away from transmitting antennas 

ii. No RC - There is no RC controller connection and the AV can not be 

controlled via manual remote control or Fly-By-Wire. Connect RC controller 
39

if manual RC or Fly-By-Wire flight control is desired. 

iii. Save settings or reboot autopilot to restore - There have been changes 

made to the ROM or PID and need to be saved to the AP in the AP Settings 

> File System tab in order for them to be permanently saved.

iv. No GPS Lock - GPS Failsafe has been engaged, override this failsafe by 

Fly-By-Wire mode or manual RC.

v. Perform Checklist and Launch - AV has been freshly powered on (or 

reset) by the user by applying power. This is the default starting message 

that will be seen on the GCS.

vi. AV Soft Reset! - AP has reset itself. If in air manually land immediately, if 

on ground contact Robota before attempting flight.

vii. GPS Failure - Check Connection - There are no communications with the 

GPS receiver. Ensure the GPS receiver is properly plugged into the AP. 

viii. Flash Error - There is a flash memory error on the AV. Contact Robota.

ix. Parachute Deployment - The parachute has been deployed. Do not

attempt to take manual control.

x. Communications Failure - There has been a communications failure. If 

on ground make sure there is a good connection between the AP and 

communications radio. If in flight attempt to manually land.

xi. Airspace Violation - The AV has crossed an airspace boundary fence. 

Depending on configuration, failsafe may result. 

xii. Motor Malfunction - The AP has detected a motor malfunction. If in flight, 

land immediately. 

xiii. Wait for AV Info - There has been a break in communications and the 

GCS is waiting to get setup information from the autopilot. If this message 

does not go away, there may be a communications failure.

xiv.AP and GCS Versions Do Not Match - The current version of the GCS 

software is not compatible with the current version of AP firmware. Make 

sure both version are the most up to date.

xv. A Crash Was Detected! - The AP detected a crash. A sudden jerk has 

occurred while in flight mode which is most likely the result of a collision. 

xvi.Wait for initial coordinates - The GPS receiver has not found a fix on the 

AV’s position yet. During a “cold start’ this could take a few minutes. 
40

xvii.

b. Cautions: In the top left area of the map, cautions will show up in orange 

underneath any current warnings. Cautions are any flight conditions that the PIC 

should be aware of. Cautions include:

i. Flight Plans Do not Match - press u to update - The current flight plan in 

the Map area does not match what the AV is flying. Pressing the Update

button or clicking on the map and pressing the “u” key will send the current 

flight plan up to the AV. 

ii. RC Mode is Active - The RC controller is overriding the AP for control of 

the AV. When on the ground make sure the throttle is always in the full 

down position when switching into RC mode. When in the air, the PIC will 

have full manual control of the aircraft. 

iii. Reset Airspeed - The AP is detecting an airspeed anomaly while on the 

ground in preflight. Make sure the airspeed is properly zeroed out by 

blocking the pitot tube from any wind (but not physically touching the tip) 

and watching the airspeed on the HUD. The airspeed should not read an 

absolute zero nor should it be over 4m/s. In normal operation the airspeed 

will be varying between 0 and 3m/s. If this is not the case make sure the 

pitot tube is properly shielded from the wind without physically touching the 

tip (having someone cup their hands over it works) and click Reset 

Airspeed in the checklist tab. The airspeed should not have to be reset on a 

regular basis unless flight conditions change dramatically between flights. 

iv. Reset Altitude - The AP is detecting an altitude anomaly while on the 

ground during preflight. When the AP is turned on it automatically saves its 

current pressure altitude as the “Field Elevation”. Changing the physical 

altitude of the AV after power-up by even a couple feet can cause the AP to 

think it’s under or above the field elevation. The key here is to make sure 

that when the AP is at actual ground level, the altitude reading on the HUD 

is close to 0m. If not zero out the altitude by placing the AV on the ground 

and clicking Reset Altimeter on the checklist tab. GPS altitude may affect 

the Altimeter reading, ensure that you have a good GPS signal before 

Reseting. 

v. Sensor Temperature Out Of Range - The AP is detecting that it is either 
41

too hot or too cold. Make sure the board is operating in a range of 0-90C 

(32-194F). If too hot, proper ventilation to the AP may be the issue. During 

cold flights it is important to cut off the AP from airflow as it will cool 

dramatically during flight.

vi. Checklist Passed, Enter Launch Mode - You have gone through the 

checklist and there are no errors, it is now OK to launch the AV.

vii. USE CAUTION: Propeller May Spin! - You are in “Launch Mode”. If the 

launch type is catapult, the AV will throttle up as soon as a launch is 

detected. Take caution as to not give the AV any sudden jerks unless they 

are from an actual physical launch while this caution appears. 

viii. AP is Flaring for Landing - The AP has detected a flare state either by 

sensor or altitude pressure (depending on configuration settings) and is 

now flaring. This notification will appear while in preflight mode for ground 

testing purpose.

(ix) Flight Modes

Above the map are a series of buttons for choosing a flight mode for the AV. The button will be

green for the current mode the system is in. The five modes are: 

1. Launch- This button should only be pressed when all conditions are deemed GO for 

launch. This includes no warnings on the GCS and safe flight conditions in the PIC. You 

will receive a prompt with three automated launch options, Catapult, Runway or RC. Once 

any option is entered, the AP has the authority to apply throttle to the AV. This means the 

propeller can spin at any time (depending on takeoff mode) and full caution should be 

practiced.

a. Catapult starts the motor after an acceleration. Use this option for hand launches.

b. Runway starts the launch right away.

c. RC starts the launch when the throttle stick is moved to full throttle on the control 

box.

2. Flight Plan - In normal operation, the most time will be spent in this mode. The AV will 

follow any flight plans you have set up in the Map area.

3. Fly-By-Wire - Mode entered by either pressing this button or by returning control from RC 

to AP with the manual controller. During this mode, control of the AV will be simi-manual, 
42

using the RC:

a. Altitude of the AV will be controlled by the RC elevator stick.

b. Airspeed will be set through the RC throttle stick.

c. AV roll will be controlled through the RC aileron stick.

d. AV yaw rate will be controlled by rudder stick if the vehicle has a rudder

4. EasyRc - Enter this mode by clicking the dropdown on the Fly-By-Wire button or by using 

the middle position on the manual controller ch5 switch. During this mode, control of the 

AV will be simi-manual, using the RC:

a. AV pitch will be controlled through the RC elevator stick.

b. AV roll will be controlled through the RC aileron stick.

c. AV throttle will be controlled through the RC throttle stick

d. AV yaw will be controlled by the rudder stick if the vehicle has a rudder..

5. Land - When pressed the AV will go into landing mode. This AV will maintain the current 

altitude or safe navigation, whichever altitude is greater, while the vehicle tracks to the 

landing orbit. which will be offset from the runway icon depending on the landing 

configuration. 

a. Land mode is automatically entered if the low voltage failsafe land is enabled.

b. Land mode is automatically entered if the loss of data communications failsafe is 

enabled and no failsafe point is designated i the flight plan.

6. Holding Pattern - When pressed the AV will go to the landing holding pattern then 

descend to the orbit altitude but will not continue to descend to landing until the land mode 

is entered.

7. Return - This mode appears once airborne. You may press it at any time. The AP will 

navigate back to its initial coordinates and orbit a predefined orbit with altitude 50m or 

SafeNavigationAlt ROM value, whichever is greater. 

a. Return mode is automatically entered if you are flying in RC or FBY modes and the 

RC link is lost. 

b. Return mode is automatically entered after the vehicle is launched and no flight 

plan has been uploaded. 

(x) COM

To the top right of the map is the communications box. This box will allow you to set the COM 

port for communications with the AV. 
43

This is the COM port on your computer that the radio module is connected to. To set COM Port:

f. Click on the arrow - Shows the available COM ports. Select the COM port 

connected to the radio modem.

g. Left Click - Enables/disables COM port. Green is enabled, Red is disabled. In 

order to establish communications, this needs to be green.

h. Status Indicator - When communications are established and the COM button is 

green, there will be an indicator bar above the COM button indicating the rate of 

packets coming through. This bar should be full most of the time and may 

decrease in periodically while in flight. If the bar is empty then no comunications 

are occurring.
44

(j) Setting up a Flight Plan

Setting up a flight plan is optional. If no flight plan is loaded on the AP, the AP will enter return 

mode after launch. If a flight plan is loaded, the AP will begin executing the flight plan in the Flight 

Plan mode. To send a modified flight plan, press the update button in the flight plan tab or press 

the u key while the map has focus. 

Flight Plan Line Style:

● Dashed

○ Flight plan has been modified and needs to be updated

● Solid

○ Flight plan has been sent to the autopilot and will be executed in the Flight Plan 

mode.

(i) Stats

Flight plan stats are available at the bottom of the flight plan tab. Create your flight plan and click 

the refresh button in this box to see updated information. Endurance and range values are 

constantly updated during flight.

(ii) Waypoint Manipulation

The Robota GCS supports “fly to” waypoints and orbits. Waypoint manipulation is easy, you can 

use “hot keys” or the tools available in the Flight Plan tab.
45

Waypoint manipulation tools as seen in the Flight Plan tab

Hot keys:

1. To add a waypoint: press w and click on the map

2. To add an orbit: press o and click on the map

3. To add a Mission Boundary: press f (for fence) and click on the map

4. To delete a waypoint or orbit : press d and click on the point

5. To move a waypoint, orbit or landing strip: press m, click and drag the point to a new 

location

6. To insert a waypoint, use the add procedure but click on the track where the waypoint 

should be inserted

7. To go to a desired waypoint or orbit while in flight: click Goto on the Flight Plan Tab and 

then click on the desired point.

The Help>Keymap window provides a useful reminder for waypoint manipulation.

(iii) Waypoint settings
46

Right clicking on a waypoint or orbit will bring up the waypoint’s individual settings, including:

1. GPS coordinates in DD.ddd, Lat/Lon

2. Altitude (m)

a. Enter an individual waypoint altitude. If the entered altitude is different from the 

global altitude slider in the flight plan tab, the waypoint will be labeled with an X. 

This waypoint altitude will not change if the global slider is adjusted.

3. Land Next option 

a. For waypoints, AP will enter the land mode when it reaches this point.

b. For orbits, AP will enter the land mode when the orbit time limit expires.

4. Trigger #1Go - The AP will actuate the servo trigger when it reaches this point.

5. Com Fail - The AP will fly to this point if there is a communications failure

a. Preferably this is configured on an orbit point with a time limit and the land next 

option

6. Label - An optional name for the waypoint

7. Details - Exists for orbit points only

a. Set a time limit for the orbit in seconds

b. Select a clockwise orbit

8. Clear Group - Deletes only the waypoints that are part of the same group. 

(iv) Search Pattern Manipulation

Once a search pattern is placed on the map by using the search button on the Flight Plan Tab or 

by using the s key, it can be resized, moved and rotated. Right click on the red icon in the center 

of the search pattern in order to adjust the search settings.
47

To move a search pattern: press m, click and drag the center marker on the search pattern to a 

new location.

To rotate a search pattern: press r, click and drag the center marker on the search pattern to the 

desired direction.

To delete a search pattern: press d, click on the center marker on the search pattern to delete it. 

.

A structured search pattern triggers the camera using distance intervals determined by 

longitudinal overlap and longitudinal field of view of the camera. Red tick marks indicate the 

camera trigger locations. The autopilot will automatically trigger the camera upon crossing these 

points. The fastest rate at which a camera is triggered is limited by the Go interval 

discussed in the Configuration section.

Unchecking structured search pattern will create a search pattern but the autopilot will not trigger 

the camera automatically. Triggering must be done by manually pressing the Go button on the 

flight plan tab. This results in a time triggered camera rather than a triggering by distance.

(v) Landing Strip

Manipulation of the landing stirp is optional. If the landing stirp is not set by the user, the landing 

strip will be determined by the vehicle at launch. Right click on the landing strip to make 

adjustments to the land settings. 

1. To move the landing strip: press m, click and drag it to a new location

2. To move the holding orbit: press m, click and drag the orbit to the desired location

3. To rotate the landing strip: press r, click on the landing strip and rotate it to the desired 

position. The land direction follows the arrows on the landing strip.

The default landing pattern is a counter clockwise spiral descent. 
48

1. To switch to a clockwise spiral, right click on the landing strip and select clockwise.

2. To enable a parachute landing right click on the landing strip and select the parachute 

check box.

It is possible to save the land settings by clicking the more button (>>) and selecting save.
49

Making changes to the landing strip location or heading and uploading those changes while in 

land mode will cause the AP to restart the landing sequence. When land mode is entered, the 

computed landing spiral will appear on screen. The vehicle will track to the orbit at the current 

altitude or ROM variable: #19, whichever is greater, then begin its descent. 

Entering the Holding Pattern mode sends the AV to the holding orbit but the AV will not descend 

to the land point.
50

(k)

(l) Configuration

The Robota GCS includes a Configuration Wizard that will walk you through the pre-flight and Inflight autopilot setup. Each step includes the necessary instructions to properly configure the 

autopilot. The In-flight configuration should be performed by at least one GCS operator and one 

RC pilot. Configuration is only necessary when a user installs an autopilot in a custom vehicle for 

the first time. There is no requirement to configure Robota’s complete systems.

*Always remove the propeller during the pre-flight setup to avoid the dangers of spinning 

propellers*

(m) Advanced settings

(i) Triggers

The trigger menu can be found by clicking Settings on the main toolbar, AP Settings, then 

Triggers tab. After making changes, click Apply Trigger Settings. To permanently save the 

changes click Save ROM in the File System tab.

(1) Easy Camera Selector
51

Use this dropdown to quickly configure the trigger for predefined cameras. Custom cameras can 

be added to the XML file located in ...\Robota\Cameras.xls

(2) Action Triggers

The Robota GCS will allow you to configure a servo trigger or digital IO trigger having two states, 

Go and Done. The state of the trigger will be reflected in the GO/Done section in the Flight Plan 

tab, however, if the trigger state changes too quickly, the actual state may not be displayed.

● Destination

○ The correct port should be selected in the Trigger Destination dropdown box. 

○ After setting the destination, save the ROM in the File System tab and power cycle 

the autopilot. This procedure enables the change to take effect

● Trigger Positions

○ For servos enter a pulse with corresponding to the desired position for each state

○ For digital IOs enter a 1 for a high (3.3v @25ma) output and a 0 for a low output.

● Trigger Type

○ Manual Go/Done trigger - set the trigger state manually using the buttons in the 

flight plan tab or the waypoint trigger check box in the waypoint details menu

○ Auto Done after Go Click - automatically go to the Done state after clicking Go

○ Continuous Go/Done - continually cycle the trigger state after the first manual Go 

click and stop the cycle on a manual Done click.

○ Enable Throttle Kill - Optional. For applications where the user desired the throttle 

to be disabled while the trigger is in the go state

● Timing Interval

(3) Event Triggers

The Robota GCS will let you configure an event trigger. The first field designates the action that 

should be taken, the second and third fields determine what triggers the event to occur.

● Save State

○ This action will create a data log on the ground station when the event is triggered 

in the Trigger Log file.
52

(ii) Failsafes

The Failsafe menu can be found by clicking Settings on the main toolbar, AP Settings, then 

Failsafes tab. To get the current failsafe settings from the AP simply navigate to the Failsafes tab. 

Select Apply Failsafes, then click Save ROM in the File System tab

● Watch Dog Pulse

○ PD0 is toggled every 900ms as a means of indicating a normal operating state of 

the AP. External circuits can use this pulse to trigger a fail safe mechanism.

● Boundary Crossing

○ Select the behaviour for a Mission Boundary crossing incident.

● No GPS Fix

○ Select the behaviour for a No GPS condition

● Communication Failure

○ Enter the amount of time that needs to elapse without communication in order to 

enter the Com Fail point. If no Com Fail point is selected, the default behaviour is 

to land.

● Low Voltage

○ *Enabled for Pro License

○ Enter landing mode when voltage drops below selected level

○ Throttle governor prevents the motor from drawing enough power to prevent 

autopilot functionality by reducing the throttle limit when the main voltage drops 
53

below the specified level.

(n) Updating Firmware

The GCS allows you to upload and install new autopilot firmware. The firmware update process is 

straightforward. Always update the Goose firmware before updating the GCS. Below is a 

detailed list of the steps required.

1. Obtain the latest .bin file.

2. Start the GCS

3. Open the serial port and turn the autopilot on, establishing communications.

4. In the top menu, select AP Settings, File System Tab

5. Enter the path of the .bin file in the Firmware Update section

6. Select upload

7. Wait for 100% completion

8. Click Install

9. Reboot the Goose autopilot when the reboot message appears.

10. You are now running new firmware on the Goose and may need to update your GCS.

(o)
54

(p)

(q) Log Files

The GCS creates different log files.

● Telemetry Datalog - Information about the entire flight

● Trigger Log - Information about points where the input trigger was activated

○ Certain cameras allow for log lines in the trigger file to be populated automatically. 

Contact Robota for details with respect to your payload.

○ The Robota Tagger application is available to synchronize log lines with image file 

names for post processing. 

● Payload Log - The raw data that is sent down from the payload

● RawCom Log - The raw data that can be used to playback a specific flight

Log files will be located in c:\Program Files\Robota\Logs. If the GCS does not have permission to 

write to the first directory, it will attempt to use c:\Users\Public\Robota\Logs. 

(i) Playback

To playback a rawcom file, got to File> Load Log then search for the rawcom file with the 

appropriate date.

After opening the file, a new playback tab will appear. Press Start to begin the playback. 

(r) Advanced Features

(i) Position Output 

The GCS constantly outputs the vehicle position data in NMEA format on a TCP socket. GPRMC 

and GPGGA strings are output every second. To connect a client, use the localhost (ip address 

of the GCS computer) as the hostname with port 5050.

(ii) SRTM Elevation Data
55

The GCS supports SRTM data. If the data is loaded, the terrain elevation over the mouse cursor 

will be displayed in the lower right corner of the map screen. To load the data, first download the 

folders that reference your area of interest from dds.cr.usgs.gov/srtm/. Place the folders into 

c:\Users\Public\Robota\SRTM

(s) Typical Flight

A lot of information has been covered, not all of it is required for a typical flight. To give the reader 

a main idea of a flight experience, the typical steps would be:

1. Power the vehicle

2. Power the GCS

3. Establish communications

4. Follow the checklist on the GCS

5. Setup a flight plan and landing

6. Update the flight plan

7. Yell “Clear Prop” Press Launch or takeoff with manual control

a. Select your desired launch method

8. In flight - adjust the flight plan, click the flight plan flight mode and perform the mission

9. Adjust the landing point for wind and preferred orientation. Right click on the landing point 

to confirm all the details.

10. Press Land - standby with manual control in the event that intervention is required to 

protect personnel or the vehicle.

Change Log

● 1-7-2015

○ added note about tagging log lines with image file names

○ added information on flight plan statistics 

● 1-15-2015

○ added ability to save landing for future use

○ added three launch options

● 8-18-2014

○ added simple playback of RawCom file

○ added support for SRTM elevation data

○ added clear waypoint group on right click

● 6-17-2014

○ added NMEA position output on localhost, 5050

● 4-22-2014 

○ added individual waypoint altitude

○ change log started
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