Aero-M

Operation Manual

Thank you for purchasing an Aero-M! This manual contains important information about your 

aerial mapping platform. Please read these instructions before your first flight. 

1 Plan 1

2 Fly 20

3 Process 37

Appendix 41

V.3 2014

©3D Robotics

DCT0010

Online information portal: 3DR.com/Aero-M

3DR support: help@3DR.com

Terms and conditions: 3DR.com/terms

Pix4D instructions: support.Pix4D.com
1

1 Plan

Parts 2

Flight Battery 3

Charging 3

Safety 3

Powering the Aero 4

Camera Setup 5

3DR EAI 5

Charging 5

Starting a Mission 5

Mounting 6

Ground Station Setup 7

Download Software 7

Connect to Radio 7

Mission Planning 8

Operating Parameters 8

Load Maps 9

Draw Polygon 10

Configure Survey 11

Save and Write Mission 19
2

Parts

Aero

wings propellers (1 

plus 1 spare)

camera

RC controller and 

accessories

battery guard bag

batteries (2)

charger and 

accessories

ground station radio

micro-USB cable

Pixhawk micro-SD 

card adapter

hex keys (?)

propeller wrench

horizontal stabilizer

wing spar

spare camera 

mount filters (2)

spare control horns 

(2)

wing rubber bands 

(4 plus 2 spare)

spare servo rods (2)

FPV/OSD System 

If you selected to receive a FPV/OSD system, those components 

will be included with the Aero’s accessories. See page 34 for 

parts and instructions.

registration card and 

Pix4D license key
3

1 

Connect the charger to the power adapter cable 

and a wall outlet. Connect the red cable to the + 

port and the black cable to the - port.

+

–

2 

Set the charger to LiPo and 3A.

LiPo 3A

3 

Connect the white connector to the 4S port, and 

join the two yellow connectors together. 

4S

4 

Secure the battery inside the guard bag, 

and charge until the status indicator 

displays green.

Charging

Complete

The Aero is powered by a rechargeable lithium polymer (LiPo) battery. 

Charge the battery before your first flight.

!

Flying with a low battery is a safety risk and can render the 

battery permanently unusable. Always fly with a fully charged 

battery. 

Charge the battery using a designated LiPo balance charger 

only. Always monitor the battery while charging. Protect the 

battery from extreme heat, extreme cold, puncturing, and 

flammable surfaces. Always transport, charge, and store the 

battery in the guard bag.

Inspect the battery for damage before and after flying. If you 

observe any swelling of the package or the battery ceases 

to function, do not use the battery; locate your local battery 

recycling center, and dispose of the battery. In the US and 

Canada, visit call2recycle.org to find a location. Do not 

dispose of the battery in the trash.

Flight Battery

Charging Safety

Charger with power cable and 

split-wire charging cable

Charger settings

Flight battery charging wiring Charging in process
4

1

Turn on the controller. To avoid triggering 

the controller’s startup alarm, ensure that 

all switches are set back (away from you) 

and the throttle stick is set fully down.

!

It is important to establish communication before 

powering on the Aero. Always turn on the controller 

before connecting the battery. When powering off 

the Aero, disconnect the battery before turning off 

the controller.

3

Insert a charged battery into the battery slot, 

and attach the yellow connectors. This will 

power on the Aero.

 

Hold the Aero still and level while it powers on.

Attach the velcro above the battery slot to the 

velcro on the battery. Close and secure the lid 

onto the battery compartment.

!

2

Open the battery compartment by 

sliding the knob on the orange switch 

forward and lifting out the lid.

Powering the Aero

RC controller

Throttle stick

Switches

Aero: battery compartment lid

battery slot

battery 

connector

Aero: battery compartment interior

flight battery
5

Camera Setup

The Aero includes a Canon PowerShot S100 running the 3DR EAI script.

SD card locked

Load 3DR EAI

» Fly a mapping mission

SD card unlocked

Load default Canon software

» View images on camera

» Save images to ground station

» Update script

3DR EAI (Exposure-Aperture-ISO)

3DR EAI runs on the Canon Hacker Development Kit (CHDK), a powerful opensource tool that expands the functionality of Canon point-and-shoot cameras. 3DR 

EAI optimizes image exposure and integrates with the Pixhawk autopilot to enable 

distance-based imaging.

This software is designed to load off the camera’s SD card, leaving the original Canon 

programming intact. The yellow switch on the side of the SD card allows you to lock 

or unlock the card. Lock the SD card to run 3DR EAI; unlock the SD card to save 

images to your ground station or to boot the camera with its original programming.

For more information about 3DR EAI, see page 43.

Charging

Charge the camera battery before your first flight. Once 

fully charged, insert the battery into the camera.

status indicator

Starting a Mission

To prepare the camera to fly a mapping mission, ensure that the mode 

dial is set to P (program) mode. Power on the camera using the silver 

button on the top. 3DR EAI will start automatically, and you will see the 

script messages on the camera display. Check to see that the last line 

of the script reads waiting on USB signal. The camera is now ready to map!

power button

Camera ready to map: waiting on USB signal

Canon battery charger

Power off the camera before removing the SD card. !

Camera running 3DR EAI Camera running Canon software

mode dial
6

Mounting 

autopilot integration cable

The camera mounts to the Aero inside the battery compartment 

and connects to the autopilot using the mini-USB cable. When the 

camera is ready to start the mission, insert the camera into the 

mount inside the battery compartment as shown below, connect 

the mini-USB cable to the camera, and secure the camera in place 

using the velcro strap.

Connect mini-USB cable inside 

battery compartment here.

The camera mount includes a lens cap that protects the filter during 

travel. Make sure to remove this lens cap before you fly, and check 

that the filter contains no foam particles, dirt, or scratches that could 

affect image quality.

It is expected that the filter will accumulate scratches after significant 

use. If you notice any damage to the filter that could affect image 

quality, unscrew the filter and replace with one of the extra filters 

provided with the Aero.

UV filter

Aero battery compartment: camera mount

Camera (side)

Camera mount (bottom): cap removed

Camera mount (bottom): cap attached

The camera mount is fixed to the inside of the battery compartment 

and is not intended to be removed from the Aero.
7

Mission Planner

Your license key for Pix4Dmapper can be found on the registration card 

inside the documents package. 

Visit mapper.pix4d.com/license-redeem to create an account and redeem 

your license key; then visit pix4d.com/download to download Pix4Dmapper 

Discovery. Pix4D will automatically upgrade from the Discovery edition to 

the LT 3DR Edition (or Pro Edition if you selected to upgrade) when you 

log in to the program with your Pix4D account information.

Mission Planner is a full-featured ground station application for planning 

missions and monitoring the Aero in flight. Download Mission Planner 

from 3DR.com/download_software.

If you already have Mission Planner installed, make sure you’re running 

the most recent version: Select the Help tab and Check for Updates.

Mission Planner: Help tab

Ground Station Setup

Pix4Dmapper LT 3DR Edition

To connect the Aero to Mission Planner, connect the ground station radio 

to the laptop, and power the Aero.

1 

Connect the ground station radio to your 

laptop using the micro-USB cable. Open 

Mission Planner.

3 

Select Flight Data to view live data from the Aero.

2 

Select 57600 and AUTO, then select CONNECT. 

(When connecting directly to Pixhawk’s 

micro-USB port, set the rate to 115200.)

Download Software Connect to Radio

Mission Planner allows you to turn a Windows laptop into a full-featured 

ground station for configuring and monitoring autonomous missions. You will 

need to take this laptop into the field when you fly the mission. As part of the 

mission procedure, you will use the Pix4D Rapid Check to verify the quality of 

the image set before leaving the field.

Ground station laptop with radio connected

Mission Planner Connect tool (top-right corner))

Mission Planner Flight Data tab: connected to aircraft
8

The Aero is a complete solution for creating 

high-resolution visual-spectrum aerial maps. 

Pixhawk 

autopilot 

system

Pix4Dmapper 

LT 3DR Edition

Canon S100

3DR EAI

To create a map, the Aero flies an autonomous mission over 

the survey site, using the integration between the Pixhawk 

autopilot and custom-programmed camera to capture images 

at a consistent distance interval. Pix4Dmapper then stitches 

these images together into a georeferenced, orthorectified 

mosaic.

The accuracy of the map depends on the configuration of the 

mission. Planning a mission that captures high-quality images 

requires balancing the Aero’s operating parameters with the 

environmental factors at the survey site.

Operating Parameters

Camera Canon S100

Camera Orientation Portrait (side facing forward)

Operating Altitude 80-120 m

Standard Operating Altitude 100 m

Low-Wind Conditions 0-6 m/s

High-Wind Conditions 7-10 m/s 

Maximum Wind Conditions 10 m/s

Operating Speed 8-20 m/s

Default Speed 15 m/s

Estimated Maximum Flight Time 40 min

Estimated Ground Resolution 5 cm/pixel

Estimated Maximum Survey Area 1 km2

Minimum Photo Interval 2 seconds

Mission Planning

Operating Parameters

Mapping system diagram
9

1

Open Mission Planner, select Flight Plan, and 

zoom to your flying location. 

2

Right-click on the map, select Map Tool and 

Prefetch, and accept the default prompts. 

Mission Planner will download the maps 

for the selected location to your computer. 

3

Mission Planner will attempt to load the map data from the current level of zoom down to the 

closest level of zoom available. However, it can take hours to pre-fetch every level of zoom, 

and it is unlikely that the closer levels will be useful in planning the mission. To shortcut this 

process, check the slider on the right side of the map. The levels of zoom are represented by 

this slider from 0 (bottom) to 25 (top). Press the ESC key to skip levels of zoom at a greater 

detail than you need for mission planning.

Mission Planner Flight Plan tab: zoom to mapping location Mission Planner Flight Plan tab: Select Prefetch

Load Maps

Mission Planner allows you to plan the mission away from the mapping location; 

however, it is important to assess the environmental conditions on site at the time 

of the mission and adjust the flight plan if necessary. Alternatively, you can plan 

the entire mission at the mapping location. To create or alter the mission, Mission 

Planner requires an Internet connection to access the maps. If you’re unable to 

access the Internet on site, follow the instructions below to pre-fetch the maps 

within Mission Planner while you have Internet access.
10

2

Right click on the map. Select Draw Polygon and 

Add Polygon Point. Click and drag to add points 

around the area you want to map. 

3

Right click on the polygon. Select Auto WP and 

Survey (Grid) to open the Survey Tool.

Units

The Survey Tool uses metric units. If your Mission Planner is 

set to imperial units, please change the settings to use metric 

to plan the mission. Support for imperial units in Mission 

Planner is coming soon; check 3DR.com/Aero-M for updates.

Draw Polygon

To begin planning the mapping mission, select the area you want to map using 

the Polygon tool. You’ll be able to adjust the size and shape of the polygon later in 

the mission configuration process.

1

Select Flight Plan, and zoom to your 

mapping location.

Mission Planner Flight Plan tab: zoom to mapping location

Mission Planner Flight Plan tab: draw polygon

Mission Planner Flight Plan tab: open Survey tool

!
11

Set Camera

Canon S100-S120

Set Camera Orientation

Uncheck the option for Camera top 

facing forward.

Set Default Speed

15 m/s 

Apply Survey Speed

Check the option for Use speed for this mission. 

If unchecked, the mission will use the Aero’s 

default speed of 15 m/s regardless of the 

speed selected in the Survey Tool.

Configure Survey: Set Default Parameters

Mission Planner Survey tool

The Survey tool allows you to configure a mapping mission according to the 

Aero’s operating parameters and the current environmental conditions at the 

mapping location. First, set the default values for the Aero.
12

Set Angle

Wind Direction

In environments with winds of less than 6 m/s, set the angle so that 

the Aero flies into the wind. In winds from 7-10 m/s, configure the 

flight path to travel perpendicular to the wind so the Aero flies crosswind.

No. of Strips 

Adjust the angle so that the Aero makes as few turns as possible to 

complete its course. The No. of Strips parameter shows how many 

passes the plane will make as you adjust the angle. 

Review Wind Conditions On-Site

Always assess the wind conditions at your survey site at the time of 

the mission and adjust the mission accordingly.

Mission Planner Tip: Adjust Polygon

Click and drag the red polygon points to adjust the size 

and shape of the polygon from the Survey Tool. 

Configure Survey: Set Angle

wind

Configure the flight path perpendicular to the 

wind in high winds (7-10 m/s).

Configure the flight path parallel with 

the wind in low winds (1-6 m/s).

wind

wind

Use caution when flying in winds over 10m/s. Mapping results 

may degrade as a result of inability to make headway or maintain 

appropriate groundspeed.

Mission Planner Survey tool

Next configure the angle of the flight path for the current wind conditions.

!
13

Set Altitude

Standard operating altitude: 100 m

Operating altitude range: 80-120 m

Increasing altitude decreases flight time, allowing you to cover more area 

per minute. Decreasing altitude improves ground resolution. Set the altitude to get the best ground resolution while keeping the flight time under 

40 min and the altitude under 120 m.

Keep altitude below 120 m, and ensure that the altitude is appropriate for 

your flying area and local regulations.

Check Flight Time

Flight Time estimates the duration of the mission. The total estimated flight 

time must be under 40 min for a fully charged Aero battery. To decrease 

flight time, increase altitude or speed.

High winds, humidity, high altitude, and extreme heat can affect power 

consumption and reduce flight time. Consider the environmental factors at 

your site when configuring flight time.

Check Ground Resolution

Ground Resolution is the centimeters per pixel that you will have 

in the map and corresponds to the amount of detail that you 

will see.

To improve ground resolution by decreasing the number of 

centimeters per pixel, decrease altitude.

Configure Survey: Set Altitude 

Mission Planner Survey tool

The survey altitude determines the duration of the mission and the ground 

resolution of the final map. Adjust altitude to balance flight time and power 

consumption with the current environmental conditions.

!
14

Check Photo Interval

Photo Every must be longer than 2 seconds for the S100 camera.

Altitude

Increasing altitude increases photo interval.

Keep altitude below 120 m, and ensure that the altitude is 

appropriate for your flying area and local regulations.

Speed

Decreasing speed increases photo interval. 

Ensure that the Use speed for this mission option is checked.

Configure Survey: Check Photo Interval

Mission Planner Survey tool

With the basic parameters in place, verify that the photo interval calculated from 

the altitude and speed complies with the operating parameters for the camera.

!

!
15

Takeoff and Land WP’s

For automatic takeoff and landing

Check the Add Takeoff and Land WP’s option.

Uncheck the Use RTL option. 

This will create a takeoff waypoint and a placeholder waypoint for the landing pattern. After accepting the survey, configure the automatic landing pattern by following 

the instructions on page 20.

For automatic takeoff and manual landing 

Check both the Add Takeoff and Land WP’s option and the Use RTL options. 

This will create a takeoff waypoint so the Aero will automatically climb to the survey 

altitude before heading to the first waypoint. The Aero will return to circle over the 

launch point after completing the mission. 

For manual takeoff and landing

Uncheck the Add Takeoff and Land WP’s option

Check the Use RTL option. 

For this option, take off manually then initiate the mission in flight. The Aero will 

return to circle over the launch point after completing the mission.

Configure Survey: Set Takeoff and Landing 

Mission Planner Survey tool

Now select a takeoff and landing pattern, either manual or automatic.
16

Check Advanced Options

to view the Survey Tool’s advanced configuration options.

Set OverShoot

The Aero has a minimum turning radius of 90 degrees. To accommodate the 

sharp angles of the survey mission, set both OverShoot parameters to 50 to 

have the Aero overshoot the waypoints on either side of the polygon by 50% 

to ensure that the complete area of the polygon is covered by the images.

OverShoot will affect flight time. Ensure that the total estimated flight time is 

less than the Aero’s maximum flight time of 40 minutes.

Adjust Overlap and Sidelap

Overlap and sidelap are set to 50% and 60%, respectively, by default. See 

page 42 for an in-depth discussion of these parameters.

Adjust StartFrom

During the mission, you will maintain contact with the aircraft through the RC 

controller and ground station signals. If your mission is likely to experience a 

loss of signal, it is best practice to start from the corner of the mission farthest 

from the launch point. In this example, TopLeft is the corner of the mission 

farthest from the launch point.

Configure Survey: Advanced Options 

Select Grid Options

Camera Config

The options under the Camera 

Config tab allow you to configure 

a camera other than the S100 

and won’t be used for operating 

the Aero.

!

The Survey tool includes the following advanced configuration options. These options 

allow you to customize the mission to comply with best operating practices.

Mission Planner Survey tool: advanced options

Mission Planner Survey tool: advanced options
17

Before accepting the survey, verify that the mission complies with the 

Aero’s operating parameters. 

Camera

Canon S100-S120

Altitude

80-120 m

Camera top facing forward

unchecked

Flying speed

9-15 m/s

Use speed for this mission

checked (optional if speed set to default speed of 15 m/s)

Photo Every

greater than 2 s

Flight time

under 40 min depending on environmental conditions

Do not accept the mission if any of the parameters 

exceed the Aero’s operating limits.

Operating Parameters

Configure Survey: Accept Survey

Accept

Select Accept to create this mission. After accepting, you 

will need to reconfigure the survey completely to make any 

adjustments.

If Mission Planner prompts you for a home altitude, enter 

the altitude that you specified in the Survey tool.

Mission Planner Survey tool

!
18

Configuring Automatic Takeoff and Landing

If you selected automatic landing in the Survey Tool by checking the Add Takeoff and Land WP’s option and unchecking 

the Use RTL option, you will need to configure the landing waypoint pattern manually at this step in the mission planning 

process.

To begin, determine the direction of the wind and select an unobstructed area 200-500 m in length leading to the 

launch point, into the wind. On the main Flight Plan screen, create a series of waypoints along this path to decrease 

altitude gradually from the survey altitude to 0, ensuring that:

» Turns along the flight path are greater than 90 degrees.

» The altitude decreases by a maximum of 20 m between waypoints

» There is at least 20 m between each waypoint

» The Grad % does not exceed 20% 

To add a waypoint, right click on the map in the location of the waypoint you would like to add, and select Insert WP. For 

each waypoint you add to the mission, Mission Planner will prompt you for the new waypoint’s place in the script: Add 

the series of landing waypoints immediately before the LAND waypoint in the script of events. For the first waypoint in 

the pattern, add it to the mission immediately following the DO_SET_CAM_TRIGG_DIST waypoint at the end of the mission. 

Specify the altitude of each waypoint and check the distance and gradient angle in the waypoints table.

To add a waypoint, right click on the map in the location of the waypoint 

you would like to add, and select Insert WP. For each waypoint you add to 

the mission, Mission Planner will prompt you for the new waypoint’s place 

in the script: Add the series of landing waypoints immediately before the 

LAND waypoint in the script of events. For the first waypoint in the pattern, 

add it to the mission immediately following the DO_SET_CAM_TRIGG_DIST

waypoint at the end of the mission. Specify the altitude of each waypoint 

and check the distance and gradient angle in the waypoints table.

Set altitude.

Check Grad %.

Mission Planner Tip: Configure Waypoints

Measure the distance between waypoints by right-clicking at one 

end and selecting Measure Distance; then right-click on the other end 

and select Measure Distance again. A dialog box will open with the 

distance between the two points.

Double-click on a field in the waypoint table to edit the parameters 

for a waypoint.

Use the Up and Down arrow icons to re-order the waypoints.

Mission Planner Flight Plan tab: Correctly configured automatic landing pattern Use the Delete option to remove a waypoint from the mission.

Locate the Takeoff waypoint in the mission script and set the 

first option in the row to assign the takeoff angle.

Set the takeoff angle to 20-25 degrees depending on the 

length of your takeoff area.

Takeoff angle
19

Select Write WPs

to save the mission to the Aero.

Select Save WP File

to save the mission file to your computer. To 

repeat this mapping mission, load the saved 

WP file from your computer.

For the Aero to run the mission, write the waypoint file to the autopilot. 

Don’t forget to save the waypoint file to your ground station for future use.

Save and Write Mission

Mission Planner Flight Plan tab: Save and write mission
20

2 Fly

Safety 21

Aircraft Operation 22

Components 22

Assembly 23

Controls 26

Modes 27

Arming and Disarming 28

LED Indicators and Tones 28

GPS Lock 28

Preflight Checks 29

Manual and Automatic Takeoff 32

Manual and Automatic Landing 33

FPV System Operation 34

Flying Mapping Missions 35

Takeoff Checklist 35

Initiating 35

Monitoring 35

Failsafes 36
21

To ensure safe and successful flying, familiarize yourself with the safety information 

on this page. Always fly in accordance with your location regulations and these best 

operating practices.

Always fly at least 100 feet (30 m) away from 

people, vehicles, and buildings. Make the safety 

of people and property your first priority!

Always fly below 400 ft (120 m) and within your visual 

line of sight. Don’t let the Aero get too far away from 

you; make sure you can always see its orientation. 

Don’t fly in low light, rain, or other conditions that 

might impede visibility.

Always fly at least 5 miles (8 km) away from airports 

and other areas where pilots operate manned 

aircraft.

visual line 

of sight 400 ft

(120 m)

100 ft (30 m) 5 miles (8 km)

visual line 

of sight 400 ft

(120 m)

100 ft (30 m) 5 miles (8 km)

Before you fly, determine the boundaries of your safe flying area. If the Aero moves 

outside the designated area or exhibits instability in flight, switch to fly-by-wire mode 

and land the plane manually. Always be ready to regain manual control of the plane 

in the event of an unsafe situation. 

The Aero will not avoid obstacles on its own, including during missions. As the 

operator, it’s your job to recognize and avoid obstructions while flying. When 

planning missions, ensure that the selected altitude is appropriate for all 

geographical features of the area, including terrain.

Location

Spinning propellers can cause serious injury. The safety 

button indicates the status of the motor to help you 

prevent hazardous contact with the Aero’s high-speed 

propeller.

• When the Aero is powered on, the safety 

 button will blink red, indicating that the motor 

 is inactive and the propeller is safe to handle.

• When you’re ready to fly, press and hold the safety 

button until it shows solid red. This indicates that 

the motor is armed and the propeller will spin if the 

throttle stick is raised. To make the propeller safe 

 to handle again, press and hold the safety 

 button until it blinks red. 

visual line 

of sight 400 ft

(120 m)

100 ft (30 m) 5 miles (8 km)

Propeller

You can find more safety tips throughout these instructions 

where you see this yellow box.

Safety 

visual line 

of sight 400 ft

(120 m)

100 ft (30 m) 5 miles (8 km)

5 miles (8 km)

!
22

Aircraft Operation

Components

body

tail boom

tail

left wing

motor

nose

right wing

battery compartment

airspeed sensor

electronics compartment 

(under wings)

rudder

elevator

left aileron right aileron

If the terms above are unfamiliar to you, visit 3DR.com/Aero-M, and dive into the 

exciting world of planes with our Introduction to Flying Fixed-Wing Aircraft.

video system compartment 

(above battery compartment)

ground station radio controller Aero (top)

Aero tail
23

On the top of the horizontal stabilizer, open the blue clasp at the end of the servo rod. Insert the pegs on the clasp into the open 

space in the servo horn, and close the clasp. Slide the blue rubber ring over the clasp to secure it in place.

servo horn

Turn the plane over and insert the provided tail screw into the horizontal 

and vertical stabilizers.

Tail

Slide the horizontal stabilizer into the vertical stabilizer along the orange groove. 

Make sure not to stress any of the components on the tail.

Assembly

clasp

Tail assembly (underside)

Tail screw

Horizontal stabilizer

Vertical stabilizer Complete tail assembly
24

Wings 

Attach a wing onto each side of the spar. Do not twist the wing 

or the spar so as not to stress the foam.

Locate the two cables inside the electronics compartment marked AILE. Connect these 

cables to the two cables on the wings marked AILE. (Either of the wing cables can 

connect to either of the plane cables; the order doesn’t matter.)

Place the wings over the body of the Aero with the foam 

squares fitted into the matching space in the electronics 

compartment. Make sure not to pinch the AILE cables.

Locate the four large rubber bands. Use the bands to 

secure the wings to the body of the Aero by the four 

orange knobs on the body around the wings. 

Attach two of the bands to the two knobs on one of the 

short sides and opposite knobs on the opposing side.

Repeat on the other short side with the remaining two rubber bands, resulting in two pairs of 

opposing right triangles.

1 2

3 4
25

Propeller

Locate the rings inside the propeller package. Remove the ring with 

the second-largest internal diameter, and insert it into the back of the 

propeller hub.

Remove the nut and the washer from the motor, add the propeller with the writing on the 

propeller facing towards the nose of the plane, add the washer and the nut over the propeller, 

and tighten the nut.
26

throttle up

Increase motor speed.

throttle down

Decrease motor 

speed.

throttle fully down

Stop motor.

yaw left

yaw right

Turn left.

Turn right.

Fly the Aero manually using the RC controller.

yaw

throttle

Throttle: Move the left stick forward and backward to control the motor. 

Yaw: Move the left stick horizontally to turn left and right using the rudder.

Pitch: Move the right stick up to pitch down and down to pitch up.

Roll: Move the right stick left and right to control the bank angle.

Controls

roll

pitch

roll and pitch center

Automatically level.

roll left

roll right

Roll left.

Roll right.

pitch up

pitch down

Pitch up.

Pitch down.
27

Auto - fly a mission

Fly an autonomous mission. This is the mode that the Aero will use to create the map.

Fly by Wire - assisted manual control

Let the autopilot manage the control surfaces, and navigate based on where you want the Aero 

to fly. Fly-by-wire mode* (FBW) is the easiest way to fly and is the recommended mode for new 

operators.

*ArduPlane mode FBWA 

Return to Launch (RTL) - recall to launch point

Command the plane to circle over the launch point. The Aero will return to the position where it 

acquired GPS lock and enter into a circle pattern at an altitude of 100 meters.

Loiter - circle

Activate GPS-positioned circling; the Aero will enter into a circle pattern with a radius of 60 meters 

at the current altitude. Move the right stick to adjust the position of the circle.

Stabilize - stabilized manual control

Stabilize mode provides manual control with an added autopilot safeguard: Release the right stick 

and the Aero will automatically return to a level flying orientation. Use stabilize mode for the freedom 

of manual control with return-to-level stabilization.

Manual - full manual control

Fly with fine-tuned manual control without autopilot assistance. Manual mode gives you the most 

direct input to the control surfaces, resulting in precise in-flight adjustment. Try manual mode if 

you’re an experienced RC plane operator.

GEAR/MIX selects the set of modes.

 FLAP/GYRO selects the specific mode, either 0, 1, 

or 2.

To select a flight mode:

First, set the GEAR/MIX switch to select a set of modes. Then use the 

FLAP/GYRO switch to 0, 1, or 2 to select a specific mode. 

With GEAR/MIX set to GEAR,

set FLAP/GYRO to: 0 for Manual

 1 for Stabilize

 2 for Loiter

With GEAR/MIX set to MIX,

set FLAP/GYRO to: 0 for Auto

 1 for Fly by wire 

 2 for RTL

Modes 

RC controller (top)
28

Arming and disarming are important steps that must be completed before 

takeoff and after landing to activate and deactivate the motor, respectively.

The arming and disarming procedures ensure that you can safety start and 

stop the motor without risk of injury.

The Aero’s motor can spin when armed! Do not place your hands in the 

way of the propeller while the safety button is active (solid red).

To arm the motor, press and hold the safety button until it 

displays solid red.

To disarm, press and hold the safety button until it displays 

blinking red.

safety button

Inactive, motor disarmed

Active, motor armed

Arming & Disarming LED Indicators

Low battery, automatic landing

Loss of RC signal, automatic landing

System error, see troubleshooting guide

Loss of GPS signal, switch to fly-by-wre

Initializing, please wait

Acquiring GPS, please wait

Armed, GPS locked

Tones

Visit 3DR.com/Aero-M to listen to Pixhawk’s status tones.

GPS Lock

Auto, RTL, and loiter modes requires GPS lock. When powered, the autopilot will 

automatically search for GPS lock. The position of the Aero when the autopilot acquires 

GPS will be saved as the home position, and used as the coordinates for the launch 

point during RTL. If you plan to use auto, RTL, or loiter modes during your flight, ensure 

that the Aero is located at a suitable launch point when powered, and the autopilot 

acquires GPS lock before takeoff, indicated by a blinking green status LED.

Before arming, check the status LED. The LED will flash blue while 

the Aero acquires GPS; this can take a few minutes. Once you see 

the green LED, the autopilot has acquired GPS lock. 

Autopilot ready, GPS locked

Acquiring GPS lock, please wait.

Initializing, please wait. 

!
29

Preflight Checks

Before each flight, perform a physical component check, center of gravity check, and control checks in both manual and stabilize 

modes. If any of the components or assemblies in these checks are not secure, tighten the screws or use CA glue (super glue) to 

secure the components to the foam.

1

Examine the Aero to ensure that all components are secured in flight configuration.

tail servos wing servos

» Check that the wings, tail, and tail boom are fully assembled and securely attached.

» Check that the propeller is secured tightly to the motor.

» Check that the servo rods are secured to the servo horns with the blue clasps.

airspeed sensor

2

Check that the airspeed sensor is secured to the side of the Aero and the 

tube is free from obstructions.

3

With the battery connected and the lid secured, check that the Aero is correctly 

balanced for flight. Hold the Aero with one finger on each of the clear, plastic balancing 

points shown below. These points indicate the Aero’s center of gravity.

If the plane balances on your fingers, then the center of gravity is correct. If 

it won’t balance, adjust the position of the battery until you can balance the 

plane on two fingers as shown below.

Flying the plane without the camera will affect the center of gravity. If you 

choose to fly without the camera, make sure to re-balance the center of 

gravity.
30

Before flying, power and arm the Aero on the ground and complete these checks to verify that the control surfaces respond correctly to the control inputs. Place 

the plane on the ground, and set the mode switches to select manual mode. Move each of the sticks as shown, and check for the corresponding movement of 

the motor or control surfaces.

Left Stick Left Stick

1 

Raise the throttle slightly until the motor spins, then 

immediately set the throttle back to fully down position.

Motor spins.

Left Stick

Left Stick

2 

Pitch down

Elevator tilts down.

Left Stick

Left Stick

Pitch up

Elevator tilts up.

! Do not raise the throttle more than just enough to spin the motor while 

the plane is on the ground, and do not place your hands in the way of 

the propeller while the motor is armed.

Left Stick

Left Stick

3 

Roll left

Left aileron tilts up, right 

aileron tilts down.

Left Stick

Left Stick

Roll right

Left aileron tilts down, 

right aileron tilts up.

Left Stick

Left Stick

4 

Yaw left

Rudder tilts left.

Left Stick

Left Stick

Yaw right

Rudder tilts right.

Preflight Checks: Manual Control Check
31

Set the mode switches to stabilize, and hold the plane in front of you. Move the plane as shown, and 

check for the stabilization response from the control surfaces.

1 

Test: Tilt the plane left.

Result: Left aileron tilts down, right 

aileron tilts up.

Test: Tilt the plane right.

Result: Left aileron tilts up, right 

aileron tilts down.

2 

Test: Tilt the plane down.

Result: Elevator tilts up.

Test: Tilt the plane up.

Result: Elevator tilts down.

Preflight Checks: Stabilize Control Check
32

Auto-takeoff works by sensing the movement of the plane and launching it in that 

direction. Set the Aero to autonomous mode when you’re ready to launch.

Find a launching area with at least 100 feet of clear space in front of you. Face into 

the wind, and hold the body of the Aero in one hand under the center of gravity. Be 

careful not to place your hand in the way of the propeller!

Hold the Aero above your head, run, and throw the plane at an upwards angle. The 

Aero will sense the throw, power the motor, and climb to the altitude specified by 

the takeoff waypoint before starting the survey mission.

Automatic takeoff requires you to configure the takeoff angle during mission planning. See page 18.

!

DO NOT WIND UP YOUR THROW; if the Aero senses any backwards 

momentum it will attempt to launch in that direction. Use only forward 

momentum to throw to Aero!

Automatic Takeoff Manual Takeoff

If you’re new to planes, we recommend having a friend help you launch the 

Aero. Have your friend throw the Aero while you control the controller.

We recommend setting the Aero to fly-by-wire mode for takeoff. Find a 

launching area with at least 100 feet of clear space in front of you. Face 

into the wind, and hold the Aero at the center of gravity. Raise the throttle 

to center position to start the motor. Be careful not to place your hand in 

the way of the propeller!

Hold the Aero above your head, run, and throw the plane at an upwards 

angle.

Once launched, the Aero will require immediate adjustment with the 

controller to navigate away from the ground and up to the desired altitude. 

Pitch up (right stick down) and add any other necessary controls based on 

wind, speed, and terrain.
33

Automatic Landing

When you’re ready to end your flight, follow these steps to land:

» Fly a circle pattern above your landing area. 

» Come in on a final approach, flying into the wind at 

 an altitude of 20 to 40 meters. 

» When the plane reaches an altitude of 10 meters, set the throttle fully down to turn 

off the motor and glide down 

 on a 15 to 20 degree down-pitch angle. 

» When the plane is one meter above the ground, pitch up (flare) to land the Aero on 

the body of the plane instead of the nose.

Left Stick

Left Stick

Left Stick

Left Stick

throttle fully down

pitch up

20-40 m

10 m

1 m

wind direction

Left Stick

pitch slightly down

After stopping the motor at an altitude of 10 m, keep your thumb on the throttle 

stick in fully down position to ensure 

that the motor does not accidentally spin during landing.

Manual Landing

!

To land automatically at the end of the mission, the Aero requires the 

mission to be configured with a specific pattern of landing waypoints 

that gradually decreases the altitude so that the Aero can land safely. 

For instructions on configuring automatic landing, see page 18.
34

FPV System Operation

If you selected to receive an optional FPV/OSD system, the components are pre-installed 

into the Aero to transmit on-board video.

AV receiver

Antenna

Batteries (2)

Receiver cables

Parts 2 Wire and power receiver

Attach an antenna to the receiver. Connect the AV output cable to either receiver AV OUT 

port. Connect the RC power cable to the receiver DC IN port, and attach a battery to the red 

connector.

1 Charge battery

Charge both batteries before your first flight. Set the charger to LiPo and 1A. Connect the 

white battery connector to the 3S port, and connect the XT60-JST charger adapter to the 

red battery connector and yellow 

charger connector.

3S port

Battery connector

Transmitter

Camera

Remove lens cap!

3 Prepare on-board components

Connect a fully charged battery to the transmitter inside the compartment in the nose of the 

plane. Remove the lens cap from the camera.

LiPo 1A

4 Viewing video

When using a 3DR Black Pearl Monitor to view your video, set the mode to DIV (M button 

changes modes), the channel to 8 (+ and - buttons), and the band to E (press the power 

button to access the menu).

For more information about configuring the FPV/OSD system, visit 3DR.com/Aero-M.
35

Flying Mapping Missions

Takeoff Checklist

Before flying the mission, check the following:

» Camera is on with mission script ready and is secured into the 

mount with the mini-USB cable connected and the cap removed. 

» Aero is powered and connected to the ground station with all pre-flight 

checks passed.

» The survey mission has been adjusted to account for present 

environmental conditions and saved to the Aero.

Initiating 

For automatic takeoff, set the Aero to auto mode and launch according to the 

instructions in the Automatic Takeoff section of these instructions (page 33).

For manual takeoff, set the Aero to auto mode after takeoff to initiate the mission 

in flight.

Monitoring

Mission Planner Flight Data: Attitude

1 Heading direction

2 Bank angle

3 Altitude (black) and rate of climb (blue bar)

4 Ground speed

Status

4 Distance to current waypoint > 

 current waypoint number

5 GPS status

6 Battery status*

1 Ground station signal

2 GPS time

3 Currently 

 enabled mode

1

2

3

4

1

2

3

4

5

6

Monitor the Aero closely during the mission using your line of sight and the 

Mission Planner Flight Data screen.

Actions

1 Change waypoints or restart a mission

2 Change modes

3 Change altitude

Flight Map

1 Current heading

2 Direct path to current waypoint

3 GPS-reported direction of travel

4 Actual flight path

5 Latitude, longitude

6 Altitude

1

2

3

1

2

3

4

5

6 Full battery: 16.8 V

Low battery failsafe: 13.8 V

 End your flight at 14 V! !

*Failsafe behavior enabled
36

Failsafes

al line 

ght 400 ft

(120 m)

00 ft (30 m) 5 miles (8 km)

Low Battery Failsafe

Environmental conditions can affect power consumption. Use the Mission Planner Flight Data 

display to monitor the voltage of the battery during flight.

If the battery reaches 13.8 V, the Aero will return automatically to circle above the launch point, 

indicated by a blinking yellow status LED and a quick repeating tone.

The Aero is programmed with a set of failsafe behaviors to prevent a crash in the event of a loss 

of one of the data or communication channels required for autonomous flight. Although certain 

failsafe have assigned LED indicators and tones, it is unlikely that you will be able to see these at a 

distance. Monitor the Flight Data screen for failsafe indications. If a failsafe is triggered, the assigned 

behavior will activate. To override the failsafe behavior (RTL in most cases), use the controller to 

regain manual control. 

Regaining Manual Control

To regain manual control during the mission, switch to fly-by-wire mode using the controller. If 

you’re a confident operator, switch to stabilize mode. If you observe instability in the Aero’s flight 

behavior or it the aircraft moves outside your designated safe flying area, switch to RTL. Turning off 

the controller will automatically trigger an RTL and can be used in an emergency situation as a hard 

recall command.

RC Controller Signal Failsafe

Physical obstructions and interference from nearby wireless signals can affect the Aero’s connection with the RC controller. 

If the Aero loses contact with the controller, it will return to the launch point automatically and 

enter into a circle pattern above the launch point, indicated by a blinking yellow status LED.

If the controller failsafe is triggered, wait for the Aero to return to the launch point, then regain 

manual control and either land or restart the mission.
37

3 Process

On-Site Quality Check 38

Spot Check 38

Download Images 38

Download Log File 39

Pix4D Rapid Check 40

Full Processing 40
38

On-Site Quality Check 

Before leaving the survey site, check the images using Pix4D to ensure sufficient quality for 

mapping by downloading the images from the SD card, downloading the log file from the 

Aero, and completing Rapid Check Initial Processing in Pix4D.

If you observe poor image quality or the quality report returns errors, see the Image Quality 

Troubleshooting section on page 45 and repeat the mission. 

playback button

SD card file structure: Download images

Spot Check (Optional)

The quickest way to see the images after a flight is to unlock the SD card and restart the 

camera. The camera will load the default Canon programming and you can select the 

playback button to review the images.

Download Images

Unlock the SD card and load into your ground station. Select the DCIM folder and locate 

the folder for your flight. Copy the files into a project folder on the ground station and 

delete them from the SD card.
39

Pix4D uses the GPS data from the Aero’s log file to georeference the images. To download the Aero’s 

dataflash log, power the Aero and connect to Mission Planner. The download process will be faster if 

you connect the micro-USB cable directly to Pixhawk’s micro-USB port instead of connecting using 

the ground station radio. (When connecting directly to the Aero, set the rate to 115200.)

On the Flight Plan screen, select the DataFlash Logs tab under the heads-up 

display, and select Download DataFlash Log over Mavlink.

The Log window shows the Aero’s recent flights. Select the flight for your 

mission, and select Download These Logs. This will save the log file to your 

computer in the location displayed under the list of flights.

To retrieve the log file, access your computer’s file structure under Program Files/Mission Planner/logs/

PLANE, and select the .log file for the date of your flight.

Mission Planner: Flight Data heads-up display

Mission Planner: Download Logs Program Files: Retrieve log file

Download Log File
40

1

Open Pix4D Mapper, and create a new project.

2

Select Aerial Nadir as the project 

type.

After creating the project, select the Local Processing screen (Process menu). Check the 

option for Initial Processing and Rapid Check. Uncheck all other local processing options, and 

select Start.

Pix4Dmapper Rapid Check: Create Project

3

After adding the images, select From File to add the geolocation data from the Aero’s log file. In the 

pop-up window, select 3D Robotics Flight Log as the file format, and upload the dataflash log file 

downloaded from Mission Planner.

Pix4Dmapper Rapid Check: Initial Processing

Pix4D will generate a Quality Report that will indicate if the images are of sufficient quality to 

create a map. 

To complete full processing for the map, visit support.pix4d.com for instructions.

Full Processing
41

Appendix

Aerial Imaging Concepts 42

3DR EAI 43

Image Quality Troubleshooting 45

Operational Troubleshooting 46
42

Aerial Imaging Concepts

Understanding key concepts in aerial images can help you understand the mission planning process and create better maps.

Distance-Based Imaging

By default, the camera captures only the images required to create the map. The Pixhawk monitors the distance traveled by the aircraft and sends 

a command to the camera to capture an image at the distance interval specified by the camera trigger distance parameter (CAM_TRIGG_DIST). This 

parameter is set by the Mission Planner Survey tool during survey configuration by calculating the minimum distance between images based on the 

parameters specified for the survey (altitude, overlap, sidelap). This distance-based imaging allows for more precise data collection, resulting in less 

images and data storage cost. Once configured, the Survey tool creates an event at the start of the mission script (after takeoff) to set the camera 

trigger distance to the specified interval and an event at the end of the mission (before landing) to reset the camera trigger distance to 0.

Time-Based Imaging

The camera is also equipped to capture images at a consistent time interval instead of using distance. This function can be useful if you want to 

capture images over an area without planning a mission. This time-based imaging results in more images per area, and therefore more processing 

time and storage cost. See the Trigger Type options on page xx to enable time-based imaging.

Overlap and Sidelap

To capture images for the map, the aircraft flies a lawnmower-like pattern in strips across the survey site. The front-to-back overlap between 

sequential images is called overlap; the side overlaps of adjacent pictures in different strips is called sidelap. The overlap and sidelap parameters 

in the Survey tool (see Advanced Options page xx) determine the distance between images and the number of images to be captured based on 

the projected ground area that each image will cover, called a footprint. Increasing overlap and sidelap improves the accuracy of the map while 

increasing flight time and processing time.

In the Survey tool, Distance between Images shows the specified 

camera trigger distance that will be assigned to the mission. 

You can also see the projected image footprint size and the 

total number of images to be captured.

Default overlap: 50%

Default sidelap: 60%
43

3DR EAI

3DR EAI is based on KAP UAV Exposure Control Script v3.1: a great open-source project for kite and 

UAV aerial photography. 

Start and Stop Script

Ensure the camera is set to P (program) mode before powering the camera. Upon startup, 3DR EAI 

starts automatically and listens for commands from the autopilot, indicated by waiting for USB signal. 

To stop (and re-start) the script, press the shutter button. The script will display INTERRUPTED when 

stopped.

CHDK Menu

The CHDK menu contains all the standard options provided with CHDK. To access the CHDK menu, 

stop the script and select the MENU button.

Script Menu

The script menu allows you to change the parameters associated with the script itself, including 

changing the trigger mode and adjusting exposure. To open the script menu, stop the script and 

select the FUNC. SET button. These parameters are configured for the S100 and do not require 

adjustment as part of standard operation. 

Trigger Type

This parameter allows you to control how the camera captures images. Trigger type defaults to USB

for distance-based imaging during mapping missions. For time-based imaging, select Interval and 

specify the length in the Shot Interval parameter.

Trigger Type default: USB (mapping)

Variable intervalometer: Interval (default to 2 seconds, specified by Shot Interval)

Memory Reset

If the battery is left out of the camera for too long, the camera will reset its memory. To re-configure 

the camera in this case, visit 3DR.com/Aero-M for instructions.

Online Resources and Information

Visit 3DR.com/Aero-M for links to updates, more information about KAP UAV, and full CHDK 

instructions.

Script start: waiting on USB signal

Script stopped: INTERRUPTED FINISHED

Script menu

CHDK menu

Script menu: Trigger Type
44

Image Quality Troubleshooting

If you observe poor image quality during the spot check or if you receive error 

messages during processing, use the settings below to troubleshoot the image quality.

Blurry Images

To correct motion blur, adjust the shutter speed using the Target Tv parameter in the script menu.

Target Tv (shutter speed) default: 1/1250

To correct moderate motion blur: Set to 1/1600.

To correct severe motion blur: Set to 1/2000.

Overexposure

If the images are overexposed but do not show any motion blur, it can be due to flying in extremely 

bright conditions. To correct this, set the Allow use of ND filter parameter to YES in the script menu.

Allow use of ND filter default: No

To correct overexposure: Set to Yes.

Processing Errors

If you receive errors from Pix4Dmapper regarding the images, dataset, or matching points, increase 

the overlap and sidelap during survey configuration to improve the quality of the image set.

Overlap default: 50%

Sidelap default: 60%

To improve processing: Set overlap to 60% and sidelap to 70%.

Example image: motion blur

Example image: overexposure Script menu: ND Filter

Script menu: Target Tv

Mission Planner Survey tool Advanced Grid Options: Overlap and Sidelap
45

Operational Troubleshooting

No Images Captured

1 If the camera did not capture any images during the mission, first perform a 

 physical inspection on the Aero.

Is the mini-USB cable connected to the camera’s USB port?

Are the AUX OUT 6 pins connected on Pixhawk?

 AUX OUT 6: black (-), red (+), white (s) 

Is the camera battery charged? Unlock the SD card to view the Canon’s 

 battery level indicator.

2 Take a distance-triggered test image on the ground by manually setting 

 the camera trigger distance parameter to 1 m.

Power the aircraft and connect to Mission Planner. Select Config/Tuning and 

Full Parameter List. Change the CAM_TRIGG_DIST parameter to 1, and select 

Write Params. Now carry the Aero for a few meters to see if the autopilot 

triggers the camera.

Camera with SD card unlocked, running Canon software

Pixhawk (side)

Camera (side)

Mission Planner Full Parameter List: Set CAM_TRIGG_DIST to 1.