\ 

) 

DIEFFENBAUCH & HRITZ, LLC. PETITION FOR EXEMPTION 2 015 

14 CFR part 21 

Appendix C 

senseFiy eXam Extended User Manual 
\ 

) 

--------senseFiy 

Extended User Manual 

Revision 1.1 I August 2015 

Copyright© 2015 senseFiy Ltd 

"-\.._,>.., 

sense Fly 

a Parrot company 
' ) 

GENERAL INFORMATION 

READ THIS USER MANUAL CAREFULLY BEFORE USING A SENSEFLY LTD PRODUCT. 

senseFiy ltd products are intended for professional use only. 

Always comply with Civil Aviation regulations, act responsibly and follow the instructions in this User Manual 

Applicable Regulations 

senseFiy Ltd products are subject to Civil Aviation regulations. Regulations may vary depending on the country 

where you intend to operate your product. 

ANY USE OF SENSEFLY LTD PRODUCTS IN BREACH OF THE LAW OF THE COUNTRY WHERE YOU OPERATE THE PRODUCT 

IS UNDER YOUR SOLE RESPONSIBILITY. 

INFORM YOURSELF BEFORE USING THE PRODUCT. SOME COUNTRIES MAY HAVE LAWS THAT LIMITTHE USE OF UNMANNED AIRCRAFT TO 'LINE-OF-SIGHT OPERATIONS AND/OR PROHIBIT THE USE OF UNMANNED AIRCRAFT IN ALL 

OR IN SPECIFIC LOCATIONS. 

Privacy 

Recording and circulating an image of an individual may constitute an infringement of their image and privacy for 

which you can be liable. Ask for authorisation before taking pictures of an individual, particularly if you want to keep 

your recordings and/or circulate images on the internet or any other medium. Do not circulate degrading images or 

ones that could undermine the reputation or dignity of an individual. Check that your use of the cameras on board 

senseFiy Ltd products complies with the legal provision on privacy in the country where you operate your product. 

Limited Warranty 

SenseFiy Ltd warrants that the product will be free from defects in material and workmanship for a period of twelve 

(12) months from the date of delivery. senseFiy Ltd further warrants that the product will perform substantially in 

accordance with its specification. During the warranty period senseFiy Ltd's sole liability shall be at senseFiy Ltd's 

sole option, eitherto repair or to replace the defective product with another product or a product with similar specifications, at no charge, or to reimburse the purchase price of the product, or if repair or replacement is not possible, 

issue a credit note; provided however, that the defect has been confirmed by senseFiy Ltd and that the defective 

product is returned to senseFiy Ltd in accordance with the support and repair form together with all required flight 

log files. 

Warranty does not apply, without limitation, in case: a) the products are not stored, maintained or used according to 

their specifications, b) the products are damaged due to carelessness, negligence, or wrong use by the user, and c) for 

defects due to normal wear and tear including, but not limited to, normal degradation, misuse, moisture or liquids, 

proximity or exposure to heat, accidents, excessive strain, abuse, neglect, misapplication, repairs or modifications 

made by third party other than sense Fly Ltd, damage due to manual piloting in RC (remote controlled) or interactive 

flight, damage due to take-off or landing location with obstacles, damage due to low altitude or close-object flight, 
\ 

) 

damage due to relying on visual or/and ultrasonic feedback and in more general terms on any kind of situational 

awareness assistance, damage due to using any kind of flight assistance features including but not limited to cruise 

control, distance lock and obstacle avoidance, damage due to loss of data radio connection, damage due to strong 

wind, rain, water or humidity, or other causes for which senseFiy Ltd has no control. 

Battery cells are excluded from warranty after first use. 

THE FOREGOING WARRANTIES ARE IN LIEU OF ALL WARRANTIES, EITHER EXPRESSED OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE, AND OF 

ANY OTHER OBLIGATION ON THE PART OF SENSEFLY LTD. 

Limitation of liability 

TO THE EXTENT PERMITIED BY APPLICABLE LAW, IN NO EVENT WILL SENSEFLY LTD BE LIABLE FOR ANY LOSS OF REVENUE, LOSS OF PROFIT, LOSS OF DATA, OR INDIRECT, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES, EVEN IF 

SENSEFLY LTD HAS BEEN NOTIFIED OF THE POSSIBILITY OF SUCH DAMAGES, AND WHETHER THIS LIABILITY ARISES 

FROM A CLAIM BASED ON CONTRACT, WARRANTY, TORT OR OTHERWISE, WITH THE EXCEPTION OF GROSS NEGLIGENCE AND DEATH. 

YOU SHALL AT ALL TIMES OPERATE THE PRODUCT IN AREAS OR UNDER CIRCUMSTANCES SO AS TO GUARANTY SECURITY AND SAFETY OF PEOPLE, PROPERTY AND ANIMALS. IN THAT CONTEXT YOU MUST UNDERSTAND THAT PRODUCT 

FEATURES SUCH AS, BUT NOT LIMITED TO, AUTOPILOT, GPS, WIRELESS COMMUNICATION LINK, MULTIDIRECTIONAL 

VIDEO FEED, ULTRASONIC SENSORS, SITUATIONAL AWARENESS, FLIGHT ASSISTANCE, CRUISE CONTROL, DISTANCE 

LOCK, OBSTACLE AVOIDANCE AND GROUND DETECTION CAN FAIL AND THAT YOU SHOULD AT NO MOMENT RELY 

SOLELY ON THEM. 

Disposal of this product at the end of its life 

~ At the end of this product's life, please do not dispose of this product in your general household waste. A Instead, in order to prevent possible harm to the environment or human health from uncontrolled waste 

disposal, please dispose of this product separately in accordance with your local laws and regulation. For 

- more information on the separate collection systems for waste electrical and electronic equipment that 

are available for consumers, near your home, free of charge, please contact your local municipal authority. 

You can also contact senseFiy Ltd or the reseller from which you purchased your drone who may provide recycling 

services or be part of a recycling scheme. 

Copyrights 

senseFiy Ltd reserves the right to make changes to specifications and product descriptions contained in this document at any time without notice. Please consult www.sensefly.com for the latest release. 

Copyright© 201 S senseFiy Ltd. All rights reserved. REPRODUCTION, USE OR DISCLOSURE OF ALL OR IN PART OF THIS 

MANUAL TO THIRD PARTIES WITHOUT THE PRIOR WRITTEN PERMISSION OF SENSEFLY LTD IS STRICTLY PROHIBITED. 
Address 

sensefly Ltd 

Route de Geneve 38 

1033 Cheseaux-Lausanne 

Switzerland 

Website: http:/ /www.sensefly.com 

Technical support 

senseFiy and our distributors are dedicated to providing you with full professional product support. 

To submit a support ticket and/or view your outstanding tickets, please use our customer portal at 

my.senseFiy.com. Log in with the same account details you used to download your drone's software 

(see the separate software information document in your eXom 's case). 

In addition to support access, my.senseFiy includes: 

• Details of all your senseFiy drones, including their serial numbers. 

• The Knowledge Base- packed full of helpful articles, tips, tutorials and webinars. 

• Download links for the latest versions of eMotion X and Postflight Terra 3D software. 
) 

\ 

) 

Welcome to your eXom 

Congratulations on your purchase of the eXom. This intelligent mapping and 

inspection drone (UAV, RPAS or UAS) offers TripleView imaging, advanced situational awareness, and a choice of flight modes: Autonomous mapping mode, 

Interactive Screen Fly mode, plus a Manual RC mode for experienced pilots. 

At sense Fly we build our products to the very highest standards. Inspired by the 

aeronautical backgrounds of our founders, we test both individual components 

and finished drones extensively in order to achieve the highest possible level of 

safety and reliability. 

We hope you enjoy using your eXom. 
) 

\ 

) 

' ) 

About this user manual 

A complete guide to your eXom comprises: 

• A user manual 

All you need to get you into the air safely and effectively. 

• An extended guide to the eXam 

Completes and complements the user manual, giving you a full guide to 

using the eXom. 

This document contains both. The user manual is also supplied on paper with 

youreXom. 

0 Note: This user manual refers to eMotion X version 1.0.0 and Postflight Terra 3D version 4. You can always find the latest versions of 

these on my.senseFiy*. The eXom requires eMotion X to operate. 

* http:! /my.sensefly.com 
\, 

) 

Package contents 

The standard eXom package contains the following items: 

• 1 x eXom drone 

• 1 x Interactive Screen Fly Controller 

• 1 x 2.4 GHz Remote Control (for safety pilots) 

• 1 x 2.4 GHz IS GHz dual band USB radio modem 

• 2x SD memory cards (32 GB) 

• 2x batteries 

• 2x single battery chargers w/power supplies 

• 1 x wheeled carry case 

• 1 x User Manual 

• 1 x USB cable set 

• 1 x spare leg set 

• 1 x spare propeller set 

• eMotion X & Postflight Terra 30 software* 

Depending on your order, your package may also include other items. Please verify upon delivery that your package is complete. In case of a missing item, please 

contact senseFiy or your eXom reseller immediately. 

* download from my .sense Fly at no extra cost 
Hardware features 

Top 

TripleView head 

Left sensor module Right sensor module 

Power button/ 

status LED & top strobe 

/! 

;; L__ __ ~,___'---- Front arm ,/ 

Port access cover 

C Shrouding/~~-- ,;~~~~, ~-o: ______ -t~£- "" 

,;:<····· .~· .•.. ~· ~~· ,(,,_ . Motormount 

rf ~d - . I 

Cap ------'k ; ~" t~ < -~, cYI'?:'(t· 

>3 r - - // 

Main camera ~f'~ -.~-- :- __ ~ \/ ~/ J 

Head sensor module · ·· ""---- '~,V ~". 

, 1 M~m 

Ultrasonic rece1ver - · F · Motor 

Navigation light " 
TripleView Head 

Flash* 

Main camera Thermal camera 

Head sensor ------'l:l::--lt----'<---1 

module 

Ultrasonic receiver--------' 

Head navcam _____ ....~ 

Ultrasonic transmitter ----------' 

*will be activated in a future firmware update 
\. 

Bottom 

Bottom sensor module ----, 

TripleView head Maintenance cover 

Battery release tabs 
Ports 

SDcardslot -----------:;-~==~-===:­

Autopilot port-----~==~:::::;;;;::.::=~ 

Maintenance port*-----+!---+------~ 

*Do not use 

Battery 

Battery release tabs 
\. 

) 

) 

• Central body: The core ofthe eXom, housing its autopilot, photo processing logic and communications. 

• Arms: Carbon fibre composite arms provide a lightweight and sturdy structure. 

• Power button/status LED & strobe: Power button with built-in LED that 

indicates the current state of the eXom when on the ground and flashes 

brightly in the air. 

• Top cover: Light yet durable cover to protect the drone's electronics. 

• Sensor modules: Composed of high-speed ultrasonic sensors and navcams, the 5 sensor modules (head, left, right, rear and bottom) are used for 

navigation, landing and situational awareness. 

- Navcam: High-speed optical sensor that constantly analyses the eXam's 

surroundings. 

- Ultrasonic transmitter: Emits ultrasound which is then picked up 

by the ultrasonic receiver. 

- Ultrasonic receiver: Detects the ultrasound emitted by the transmitter, allowing the eXom to measure its distance from a surface. 

• TripleView head: Stabilised head equipped with: 

- Main camera: Capable of capturing high-resolution video and photos. 

- Thermal camera: Capable of capturing thermal video and stills with 

edge overlay. 

- Flash: Provides high-intensity flashes of light. 

- Headlamp: Provides lighting for video and navigation. 

- Head sensor module: Contains an ultrasonic transmitter, ultrasonic 

receiver and navcam for navigation, landing and situational awareness. 
) 

• Propeller: Used to generate thrust. The eXam's propellers are detachable 

so that they can be easily replaced. 

• Motor: Powers the propellers. 

• Motor mount: Houses the motor and connections and supports the legs 

and shrouding. 

• Motor cooling fins: Provide air cooling for the motors. 

• Shrouding: Made of durable carbon fibre composite, it protects the propellers and surfaces with which the drone might come into contact. 

• Navigation lights: Indicate the drone's position and orientation. The light 

on the left-hand (port) side shines red and the one on the right-hand (starboard) side shines green. 

• Legs: Supports the eXam on the ground. 

• Caps: Provides protection for the surface on which the drone lands. 

• Battery: The eXam is powered by a LiPo (Lithium Polymer) battery stored 

within the battery compartment. 

• Battery compartment: Holds the removable battery. 

• Battery release tabs: Squeeze the tabs to remove the battery. 

• Battery level indicator: Press the button and a series of LEOs indicate the 

battery level. 

• Bottom strobe: Positioned on the bottom of the drone, it indicates the 

drone's location when viewed from below. 

• Port access cover: Protects the eXam's ports: 

- SD card slot: Holds the SD card on which videos, photos and flight 

logs are stored. 

- Autopilot port: Used for upgrading your drone's firmware. 

- Maintenance port: Only for use by sense Fly support. 
) 

Software features 

Your eXom requires eMotion X* to fly. 

eMotionX~ senseFiy ~ 

eMotion X is an integrated software package that allows you to interact with your 

eX om. Its easy-to-use interface allows you to pilot your drone intuitively. Once the 

drone is in the air, you can use eMotion X's wireless connection with your eXom to 

track its position, assess its surroundings via its video feeds and ultrasonic sensor 

displays, monitor the progress of your flight and send commands. 

You can also download and use Postflight Terra 3D* at no extra cost. 

ill 

I 

Terra 

Once youreXom returns after an inspection or a mapping flight, Postflight Terra 3D 

can be used to process captured photos fully automatically. Postflight Terra 3D 

is a full-featured mapping solution: with just a few mouse clicks it can create 

high-quality photogrammetric geo-referenced 20 and 3D outputs such as Point 

Clouds, Orthomosaics and digital elevation/surface models (DEM/DSM). For mapping projects, Postflight Terra 3D can analyse the quality oft he reconstruction and 

generate an easy to understand report in the field, letting you know immediately 

ifthe data you captured meets your requirements. 

* software access terms and conditions apply 
) 

\ 

I 

/ 

Contents 

Getting Started 

1 Installing the software 

2 Safety precautions 

2.1 In-flight Warnings and Critical Failures 

3 About eMotion X 

3.1 Showing, hiding and resizing the Bottom Bar and side panels 

3.2 About eMotion X's Tool bar ... 

3.3 About eMotion X's Bottom Bar . 

3.4 About the Control Bar ..... 

3.5 About coordinates and altitude references in eMotion X 

3.6 How to connect eMotion X to your drone ........ 

4 Preparing to fly the eXom 

4.1 Pre-flight checklist 

4.2 General inspection 

4.3 Weather check . . 

4.4 Flying conditions . 

4.5 About the working area 

4.6 Take-off and landing conditions 

4.7 The eXom's battery . . . .. 

4.8 How to power the eXom on 

1 

2 

4 

6 

8 

10 

10 

12 

12 

15 

17 

19 

20 

21 

24 

25 

25 

27 

30 

31 
4.9 Audible messages and alerts . 32 

4.10 About the Remote Control . 33 

5 Flying the eXom 34 

5.1 About eXom missions 34 

5.2 About waypoints . . . 35 

5.3 How to move waypoints 36 

5.4 About the Start and Home waypoints 36 

5.5 About the communication link 39 

5.6 About take-off . . 41 

5.7 Landing the eXom 42 

5.8 Powering the eXom off . 43 

5.9 How to remove the drone's battery 44 

6 In-flight Monitoring 45 

6.1 Choosing what to display in the Main Viewer 45 

6.2 Selecting the head feed .. 46 

6.3 About the head-up display . 46 

6.4 Choosing a navcam .... 48 

6.5 About the ultrasonic sensors . 48 

6.6 About the background & custom maps 51 

6.7 Navigating around the map ...... 51 

7 Processing 54 

7.1 Obtaining your photos, videos and flight data 54 

7.2 In-field quality check .... 57 

7.3 Creating mapping products 59 

) 
\ 

) 

) 

II Your first autonomous mapping mission 61 

8 Autonomous missions 62 

63 

65 

65 

67 

70 

72 

8.1 Opening, creating and saving missions 

8.2 About mission blocks . . . . . . . . . 

8.3 How to design and edit mission blocks 

8.4 Autonomous mission example: Horizontal Mapping 

8.5 Readying your drone for the mission 

8.6 After the mission . . . . . . . . . . . 

Ill Your first interactive Screen Fly flight 75 

9 The ScreenFiy Controller 76 

9.1 How to activate and deactivate the Screen Fly Controller 80 

10 Flying the eXom interactively with Screen Fly 81 

10.1 How to take off using Screen Fly . . . . . . 81 

10.2 How to land using Screen Fly . . . . . . . . 81 

10.3 How to fly left, right, forward and backward with Screen Fly 82 

10.4 How to turn the drone using Screen Fly . . . 82 

10.5 How to climb and descend using Screen Fly 82 

10.6 How to hover using Screen Fly . . . . 83 

10.7 How to set a constant speed (cruise) 83 

10.8 About Distance Lock . . . . . . . . . 83 

11 Capturing photos and video 

11.1 How to capture single photos 

85 

85 
\ 

) 

IV 

11.2 Automatically capturing photos .. 

11.3 Focussing the eXam's Main Camera 

11.4 Focussing the navcams and Thermal Camera 

11.5 Recording video . . . . . . . . 

11.6 How to turn on the Head lamp . 

11.7 About the Main Camera zoom . 

11.8 How to move the eXam's cameras . 

11.9 Temperatures in the Thermal Camera feed 

Extended guide to eMotion X 

85 

86 

87 

87 

88 

88 

89 

91 

93 

12 eMotion X's Monitor tab 93 

12.1 About the Monitor tab 93 

12.2 How to change units . 95 

12.3 3D mapping in eMotion X 95 

12.4 Choosing an alternate altitude reference for your mapping mission block . . . . . . . . . . . . 97 

12.5 Using custom background data 98 

12.6 Using custom map sources . 100 

12.7 About photo footprints . . 1 01 

12.8 About eMotion X's data folder . 1 02 

12.9 Enabling advanced functions 103 

12.10 Advanced connection options . 103 

v Extended guide to mission planning 105 
.\ 

) 

13 Around POl (point of interest) mission blocks 106 

14 Custom Route mission blocks 108 

15 Disabling security actions 111 

VI Extended guide to interactive and manual flight 113 

16 Manual and interactive flight modes 

16.1 About the eXam's dual autopilots 

16.2 Flight control modes . . 

114 

114 

116 

17 Flying without GNSS signals 

17.1 About GNSS signals 

120 

120 

17.2 No GNSS mode . . . 121 

18 Manual flight with the Remote Control 123 

18.1 About the Remote Control . . . . . . . . . . . . 123 

18.2 About flight assistance when flying manually . . 125 

18.3 How to take control of the drone with the Remote Control . . . 125 

18.4 Using the Remote Control . . 126 

18.5 Manual take-off and landing . 130 

18.6 Motor cut-off . . 131 

18.7 Manual flight . . 131 

18.8 Returning control to eMotion X 133 

18.9 How to change the Remote Control's batteries 133 
\ 

) 

\ 

) 

VII Maintenance and Repair 

19 Maintenance and repair of the eXom 

19.1 Upgrading the eXam's software and firmware 

19.2 Full inspection . . . . . . . . . . . . . .. 

19.3 About your eXam's propellers ...... . 

19.4 Changing a leg ......... . 

19.5 Changing a leg cap ....... . 

19.6 Changing the shrouding ...... . 

19.7 Changing a ground modem antenna 

19.8 Cleaning the eXam ......... . 

19.9 Storing the eXam . . . . ...... . 

19.10 Repairing the eXam airframe ... . 

19.11 Proper battery care .. 

20 Troubleshooting 

20.1 Take-off vetoes . 

20.2 In-flight warnings .. 

20.3 Critical failures . . .. 

20.4 Locating a lost eXam in the field . . . 

20.5 Reporting a problem with your eXam 

20.6 Maintenance schedule . . . . . . . . 

VIII Specifications 

1 Software requirements 

135 

136 

136 

138 

140 

145 

149 

149 

150 

150 

150 

151 

151 

154 

154 

155 

160 

163 

163 

164 

167 

168 
\ 

) 

2 Drone specifications 169 
) 

Part I 

Getting Started 
Getting Started 

1 Installing the software 

Download the latest senseFiy software from: 

http:/ /my.sensefly.com 

Install eMotion X 

To fly your eX om you must install eMotion X. The software runs on Microsoft Windows1 and installs the required device drivers automatically. 

To install, launch the installer and follow the on-screen instructions. As with most 

applications, once installation is complete, you will find eMotion X in the Start 

menu. 

If necessary, the drivers can be installed manually. The installation file is available 

in the following directory: 

C:\Program Files\senseFly\eMotion X\usb_driver\ 

Install Postflight Terra 3D 

To process your eXam's datasets and create 3D models, orthomosaics and DSMs, 

install Postflight Terra 3D. 

To install, launch the installer and follow the on-screen instructions. Once installation is complete, you will find Postflight Terra 3D in the Start menu. 

eMotion X and Postflight Terra 3D updates 

When software updates are available from sense Fly, a message will pop up when 

you launch eMotion X or Postflight Terra 3D (if you are connected to the internet). 

1 see Software requirements on page 168 

2 
) 

Installing the software 

You can also find updates on http://my.sensefly.com. 

See Upgrading the eXam's software and firmware on page 136 for more information. 

3 
\ 

) 

) 

Getting Started 

2 Safety precautions 

4 

• Keep clear of the propellers 

The propellers spin at high speeds and can be dangerous ifthey come into 

contact with exposed skin. Always keep all objects and all parts or your 

body clear of the propellers when the battery is installed in your eXom. 

• Power the drone off before handling it 

Switch the eXom off before picking it up. Never attempt to pick the eXom 

up while the propellers are turning. 

• Never attempt to fly without the legs and shrouding 

The eXam's legs and shrouding are integral parts of the drone, providing 

stability and structural integrity. 

• Never fly with the port cover open 

The port cover protects the drone's ports and electronics. If left open, the 

drone's internal sensors will not function correctly. 

• Only use the batteries provided 

Only fly with a sense Fly battery. Flying with any other battery risks causing 

a malfunction and will void your warranty in case of an incident. 

• Only use approved senseFiy SD cards 

Only fly with SD cards that have been approved by sense Fly. Flying with 

any other SD card risks causing a malfunction and will void your warranty 

in case of an incident. 

• Always take off and land on a stable, level surface 

Do not attempt to land on a steep slope or an area covered with large rocks, 

debris or holes. Do not land on a wet surface, soft sand, thick snow, dust, 

or mud. 

• Know how to, and be ready to abort take-off or landing if necessary 

There are buttons in eMotion X's Control Bar, on the ScreenFiy Controller 

and the Remote Control that do this. See About the Control Bar on page 12, 
\ 

) 

) 

Safety precautions 

Flying the eX om interactively with Screen Fly on page 81 and Using the Remote 

Control on page 126. 

• Do not fly above people or animals 

Pay close attention to the legal restrictions at the location you are flying. 

• Do not fly in high winds 

TheeXom must not take off at all if the wind speed exceeds 10 m/s (36 km/h, 

22 mph, 19 kts). See Drone specifications on page 169 for details. 

• Do not fly in bad weather 

Do not fly in rain, snow, hail, fog, a sandstorm or dust storm. 

• Avoid collisions 

Always make sure there is enough space between the drone's trajectory 

and any obstacles. Always double check waypoint altitudes and elevation 

data against the real terrain. 

• Propellers must be locked on and in excellent condition for flight 

See General inspection on page 21 and AboutyoureXom's propellers on page 140. 

• Check battery charge level 

Make sure you have more than enough for your flight. Land well before the 

battery is empty. See The eXam's battery on page 30. 

• Set an appropriate working area 

Set a working area that prevents your drone from flying outside communications range, above the legal altitude limit, into prohibited airspace such 

as private property or a nearby airport, or into a hazardous area. See About 

the working area on page 25 

• Always fly with eMotion X connected 

If flying using the Remote Control, connect your drone to eMotion X to provide situational awareness, extended communications range and a means 

of controlling your drone and initiating a landing in case of incident. 

• Always keep the Remote Control to hand 

It can be used as a fallback means of flying the drone in case there's a problem with your computer or its communication link to the drone. 

5 
) 

Getting Started 

• Leave eMotion X as much computing power as possible 

Do not run memory- or processor-intensive software on the same computer as eMotion X while flying. For example, do not process photos with 

Postflight Terra 30 while flying. 

2.1 In-flight Warnings and Critical Failures 

If the drone detects an issue while in flight it will: 

• Raise an In-flight Warning and, if necessary, automatically carry out a Security Action, or 

• Signal a Critical Failure. 

In-flight Warnings are raised when a dangerous situation is detected, for example, 

low battery or strong winds. lfyoureXom raises an In-flight Warning, the WARNING 

button on the tool bar turns yellow and the text changes to ACK. WARNING. 

If no Security Action has been triggered, acknowledge the warning by clicking 

ACK. WARNING and carry out the action recommended in In-flight warnings on 

page 155. 

Critical Failures occur if the drone's ability to fly is severely compromised, for example, the battery is empty. The WARNING button will turn red and read CRITICAL 

FAILURE. A critical failure cannot be dismissed. If a critical failure arises, the drone 

immediately performs an emergency landing. 

6 

WARJI!IJIIG ACK. 

WARNrl~JG 

Caution: We recommend that you familiarise yourself with the inflight warnings to have a better understanding of what happens if 

they occur in the field. See Troubleshooting on page 154 for a list of Inflight warnings and Critical failures and the drone's reaction to them. 
\ 

) 

\ 

/ 

0 

Safety precautions 

Note: It is important to keep track ofthe location of the drone during 

a Critical Failure until the moment it reaches the.ground. Its coordinates can aid in finding it afterwards. See Locating a lost eXom in the 

field on page 163. 

7 
\ 

) 

Getting Started 

3 About eMotion X 

-Drone 

panel 

Mission---

panel 

l_. 

Navcam~= 

selection 

Navcamfeed Ultrasonic sensorfeedback Bottom Bar Viewer 

The main screen of eMotion X is split into several sections: 

8 

• Main Viewer 

Here, eMotion X can display a map with the drone's current position, or the 

feed from the Triple View Head cameras. 

• Toolbar 

Use the tool bar to access eMotion X's main functions and control the content of the Main Viewer. The tool bar adapts to your choice of Main Viewer 

content. When viewing the map, you'll find buttons on thetoolbarto switch 

between a 20 or 30 map, to control the layers, sources or map information 

and other display options related to the Map Area. When viewing the feed 

from the eXam's TripleView Head, you'll find buttons to switch between 

head feeds and to capture photos and video. 

• Control Bar 

Use to issue commands to the eXom while it is in flight, such as starting the 

mission phase or holding position. Warnings raised either before or during 

a mission can be acknowledged here. See About the Control Bar on page 12 

for details. 
\ 

/ 

About eMotion X 

• Mission panel 

Plan autonomous missions and set their parameters here: 

- It Mission Planning 

Use when setting up an autonomous flight to create missions, add 

mission blocks to them and assign them to your drones. 

- (j Transitions 

Set up the take-off and landing phase of a mission. 

- rlr Parameters 

Use this tab to set mission planning options. 

• Drone panel 

When you connect a drone to eMotion X, tabs to view its status and control 

its cameras and parameters appear here. 

- Y::i] Monitor 

Use to monitor the drone while in flight. 

- L@J Cameras 

Use to configure the drone's cameras and how it will capture photos. 

- Hl Parameters 

Use this tab to set drone flight options. 

• Bottom Bar 

Use to monitor the drone's position and activate the feeds from the eXam's 

sensors: 

- Navcam selection 

Choose the navcam feed you want to view. 

- Navcam feed 

The feed from the selected navcam. 

- Ultrasonic sensor feedback 

Indicates the drone's distance from surrounding objects. 

- Bottom Bar Viewer 

If you have the map in the Main Viewer, the head camera feed appears 

here, otherwise the map appears here. 

9 
) 

Getting Started 

3.1 Showing, hiding and resizing the Bottom Bar and side panels 

To resize a panel, click and drag the edge of the panel, marked >. 

To show or hide one of the panels: 

• Click the edge of the panel, marked > . 

• Click and drag the edge of the panel to make it smaller until it disappears. 

3.2 About eMotion X's Toolbar 

You can always find the following buttons on the tool bar: 

. . 

10 

Open the File menu 

Put the map in the Main Viewer 

Toggle full-screen mode 
About eMotion X 

You'll see these buttons if you have the map in the Main Viewer: 

t~;; Choose your background map source 

~ Select map layers 

€) Toggle between 2D and 3D map 

8 Automatically keep the drone in the centre of the map 

,c,;;. Centre the map on the drone once 

• Q • Move the map to a specific place or coordinate 

q Zoom out of the map 

®. Zoom in on the map 

~ Toggle photo footprints on/off 

~ Clear current photo footprints 

You'll see these buttons when you are connected to your eXam: 

8 Put the head's navcam feed in the Main Viewer 

@l Put the head's HD video feed from the Main Camera in the Main Viewer 

0 Put the head's thermal camera feed in the Main Viewer 

You'll see these buttons if you have a head camera feed in the Main Viewer: 

q Zoom out (Main Camera) 

®. Zoom in (Main Camera) 

®. Reset the head's position to pointing forward 

:AF: Trigger autofocus 

III Toggle video recording on/off 

~ Toggle automatic photo trigger on/off 

11 
) 

) 

Getting Started 

~ Take a photo now 

You'll see these buttons if you have the Thermal Camera feed in the Main Viewer: 

~ Toggle thermal edge overlay on/off 

~~~ Toggle temperature range lock to scene 

~~- Calibrate Thermal Camera pixels 

3.3 About eMotion X's Bottom Bar 

You'll see these buttons if the Bottom Bar is visible: 

...... (i:' View head navcam feed in Bottom Bar 

1t•·· View left navcam feed in Bottom Bar 

View right navcam feed in Bottom Bar 

View bottom navcam feed in Bottom Bar 

View rear navcam feed in Bottom Bar 

Switch ultrasonic feedback sound effects on/off 

Select ultrasonic beam 

Turn on beam pulse cycling 

3.4 About the Control Bar 

The Control Bar appears when connected to a drone. Use the Control Bar buttons 

to send commands to the drone. Use the first button (WARNING) to acknowledge 

12 
About eMotion X 

any warnings. Some buttons are only active when needed or appropriate. 

WARNING/ 

ACK. WARNING/ 

CRITICAL FAILURe 

INTERACTIVE 

START 

MISSION* 

RESUME 

MISSION 

GOTO 

START* 

GOTO 

HOME 

GO LAND 

HOLD* 

Acknowledge a warning if one has been raised (ACK. 

WARNING displays). 

Toggle ScreenFiy on/off 

Send the drone towards the first waypoint in the mission block and start the mission. 

Send the drone to the last position reached during an 

interrupted mission and continue the flight plan. 

Send the drone to the Start waypoint, where it will 

hover and wait for the next command. 

Send the drone to the Home waypoint, where it will 

hover and wait for the next command. 

Send the drone to the Home waypoint, where it will 

land. 

Land if already on the Home way point. 

Put the drone into a hover, where it will wait for the 

next command. 

The drone creates a waypoint at that point. 

13 
) 

Getting Started 

Immediately land at the current location. 

LAND NOW Click 3x Use this button to abort take-off. 

Click 3 times in quick succession (triple-dick) to 

engage. 

Abort the current landing (unless its an emergency 

ABORT LANDING landing). The drone returns to the Home waypoint 

and hovers, waiting for a command. 

TAKE OFF Take off. 

* these actions can only be carried out once you have acknowledged and dealt 

with any warnings 

14 
) 

) 

\ 

) 

About eMotion X 

3.5 About coordinates and altitude references in eMotion X 

I AID local"""'""" 

"~ 

-------==:: 

This schematic represents a local elevation datasetthat references a standard local 

ellipsoid being used for AED values. As long as eMotion X recognises the projected 

coordinates, it transforms them to WGS 84 on import using the GDAL3 Iibrary. 

Altitudes in eMotion X 

eMotion X displays altitudes in different ways according to the situation: 

• Above the Take-off Altitude- metres (m/ATO) or feet (ft/ATO) 

ATO altitudes are relative to the place your eXom started its motor just before taking off. 

• Above Mean Sea Level- metres (m/ AMSL) or feet (ft/ AMSL) 

AMSL altitudes are relative to a standard mean sea level geoid. Your drone 

3 The Geospatial Data Abstraction Library- www.gdal.org. 

Note that eMotion X cannot convert manually defined references in non-standard coordinates. 

15 
\ 

I 

/ 

Getting Started 

uses the EGM96 mean sea level standard. 0 m! AMSL (0 ft/ AMSL) on land is 

very close to where the sea level would be if the land was absent. 

• Above Elevation Data- metres (m/AED) or feet (ft/AED) 

AED altitudes are relative to the currently active elevation data model. If, 

for example, you are using the supplied SRTM elevation data, this is approximately the altitude above the ground4

. 

Terrain height and altitude can be given relative to a geoid or an ellipsoid. A geoid 

represents the shape of the earth in a way that takes into account local changes 

in gravity. A geoid is not a regular geometric shape. 

An ellipsoid is a geometric shape, whose cross-section is an ellipse, that closely 

follows the earth's surface, but does not take local changes in gravity into account. 

0 

0 

Note: If you are using the SRTM elevation dataset supplied with eMotion X, terrain height is relative to the EGM96 geoid. 

Note: Altitudes below take-off, sea level or below 0 m (0 ft) in the 

current elevation dataset are expressed as negative values, for example, if the drone is at -10 m/ ATO (-33 ft/ ATO) it means that it is 1 0 m 

(33ft) lower than the point it took off from. 

Caution: SenseFiy Ltd cannot guarantee the accuracy of the elevation data supplied. It is the operator's sole responsibility to ensure a 

safe flight trajectory and altitude. 

Coordinates you enter into eMotion X's user interface 

eMotion X assumes that any coordinate you enter is in the WGS 84 reference 

frame. 

4 see 3D mapping in eMotion X on page 95 

16 
About eMotion X 

If you are using a local or national geoid (MSL) or geodetic coordinate system, you 

must convert coordinates into WGS 84 before entering them into eMotion X. 

The way you do this conversion depends on the geoid and the tools available 

to you. Online or downloadable conversion tools may be available, for example, 

from a national geodetic society. 

3.6 How to connect eMotion X to your drone 

1. Connect your ground modem to your computer using the USB cable provided and allow it to start up. 

0 Note: It takes approximately 30 s for your computer to recognise the 

ground modem as a USB device. It takes about another 30 s before 

your ground modem can detect your drone. 

2. Insert the SO card and battery then power on your drone. You can do this 

while the modem is starting up. 

3. Launch eMotion X. When your drone has been successfully detected by the 

ground modem and recognised by eMotion X, its serial numbers will appear 

in the Drone pulldown menu of the Connect dialog and your computer will 

make a sound. 

4. In the Connect dialog, click the eXam button to select it, then click OK. 

When a connection is established eMotion X will display the Drone panel and the 

drone's status will be visible in its 1~i0 Monitor tab. 

Once your drone has set its position using satellite signals, an eXom symbol will 

appear at its location on the map. If you cannot see the drone on the map, click 

· ~- on the Tool bar to centre the map on the drone. 

5 printed on a label inside the eXam's battery compartment 

17 
Getting Started 

0 

0 

0 

18 

Note: To set connection parameters manually, click Advanced ... on 

the Connect dialog. To return to the simple connection screen, click 

Advanced ... again. 

Note: Every eXom is paired with the ground modem it is delivered 

with, and will only work with that ground modem. The name that 

appears in the Drone pulldown menu of the Connect dialog is theserial number of the drone that the ground modem is paired with. 

Note: If you want to process flight data you already created, click to 

select FLIGHT DATA MANAGER on the Connect dialog then click OK. 
Preparing to fly the eXam 

4 Preparing to fly the eXom 

Goal of this section: This section describes how to prepare your 

eXam for flight. 

The eXam's advanced yet simple design means it can go from the box to being 

ready for flight in minutes. We recommend that you perform the following procedures before every flight. 

0 Note: Remove any warning labels from the drone before your first 

flight. 

19 
Getting Started 

4.1 Pre-flight checklist 

~ General inspection complete 

~ Weather conditions checked 

~ Flying conditions checked 

~ Appropriate working area set 

~ Maps downloaded 

~ Take-off and landing conditions checked 

~ Charged eXom battery installed 

~ Drone powered on 

~ Drone connected to eMotion X through the ground modem 

~ Computer's sound enabled and audible 

~ Remote Control with fresh batteries within reach 

See the following sections for a guide to each check. 

20 
) 

Preparing to fly the eXam 

4.2 General inspection 

A general inspection should be performed before every flight. It is also good practice to perform a full airframe check regularly to keep your eXam in good shape. 

See Full inspection on page 138 for more details. 

Visually inspect the drone 

The sensors and lenses must be clean and unobstructed for them to work correctly. 

Remove the battery from the drone and pick the drone up to carry out these 

checks. 

• Check that the arms are solidly attached. 

• Visually inspect each of the 5 vision sensors. 

• Visually inspect the 5 ultrasonic transmitters and receivers. 

• Visually inspect the main camera. 

• Visually inspect the thermal camera. 

• Check that all propellers are properly locked on. 

• Check that the legs are in good condition and properly attached with their 

caps in place. 

• Check that the shrouding is in good condition and properly attached at the 

leg clips. 

• Check that the top cover is attached and in good condition. 

• Ensure that nothing is at risk of touching the spinning propellers. 

• Check that the eXam's main body is in good condition. 

• Check that the eXam's head is undamaged and turns freely on both axes. 

• Check that all LEOs and strobes are clean and free of obstacles. 

21 
\ 

) 

Getting Started 

Visually inspect the propellers 

To prevent vibration and remain safe, only fly with propellers that are in excellent 

condition. 

\ 

New propeller: Cracked propeller: Worn propeller: Damaged propeller: 

OK to fly Replace Replace Replace 

• Replace cracked propellers. Check carefully for cracks, especially near the 

hub. 

• Replace worn propellers. 

• Replace propellers that have any indentations on their leading edge. 

• Replace propellers that have a white stress mark in the plastic near the hub. 

These propellers have been overstressed. 

22 
\ 

) 

Preparing to fly the eXom 

Locked on Not locked on 

• Make sure that all propellers are properly locked on. 

• Replace propellers that are not firmly fixed onto the motor, despite being 

properly locked on. 

See About your eXam's propellers on page 140 for further details. 

Check sensor and camera operation 

• Insert the drone's SO card then insert the battery. 

• Place the drone on the ground and power it on. 

• Launch eMotion X and connect to your drone using the ground modem. 

23 
) 

Getting Started 

• In eMotion X checktheirfunctionalitywiththe head feed in the Main Viewer 

using the control bars and the head-up display. 

• Check the vision sensors. 

Select the different Navcams and view the resulting video feed. 

• Check the main camera. 

View the main camera's video feed. 

• Check the thermal camera. 

View the thermal camera's video feed. 

4.3 Weather check 

Before each flight, you should be aware of the weather conditions. The eXom is 

a small drone that cannot fly in heavy rain or strong wind conditions. In case of 

doubt, make sure to check a weather bulletin including wind estimations in the 

flight area. Note that wind is often stronger at higher altitudes and that the wind 

perceived at the surface is not always a good reference to estimate the wind at 

flight altitude. Cloud velocity or tall tree movements can help you to estimate the 

wind speed once you are out in the field. 

Weather forecasts may use various units to measure wind speed. As a reference, 

24 

1 m/s = 3.6 km/h = 2.24 mph= 1.94 kts. 

e Caution: Do not fly eXom missions if the wind speed exceeds: 

Autonomous flight: 8 m/s (29 km/h, 18 mph, 16 kts) 

Manual flight: 1 0 m/s (36 km/h, 22 mph, 19 kts) 
\ 

) 

) 

4.4 

Preparing to fly the eXam 

Caution: The eXam is not designed to operate in temperatures above 

40° C. Avoid exposing the drone to high temperature for prolonged 

periods of time. In particular, leaving the drone exposed to the sun 

or in a hot vehicle should be avoided. 

Flying conditions 

Avoid flying the eXam in the following conditions: 

• In high winds. 

• In gusty conditions. 

• When there is precipitation, for example, rain, snow or hail. 

• In heavy mist or fog. 

• If air density is low, for example, at high altitudes, if air temperature is high, 

air pressure is low, or a combination of these factors. 

• In very dusty conditions or in a dust storm. 

• If there is a lot of sand in the air, or in a sandstorm. 

• In very low light conditions. 

4.5 About the working area 

The cylindrical volume of space in which the drone is allowed to fly is known as 

the working area. 

If the drone leaves this area (gets pushed or flies out of the circle or above the 

ceiling) it will raise a warning and carry out a security action. The eXam will not 

take off if it detects that it is outside the working area. 

25 
Getting Started 

<<'<\:;<;><< /Working area li 

'-~'~ 

_<) )--outersecuritylimtt ------' 

.-~' 

30 20 

A working area positioned on the side of a hill 

During an autonomous mission: 

• If the drone leaves the working area or flies above the ceiling, it will abandon the mission and try to fly to the Home waypoint. 

• If it passes the outer security limit, 50 m (164ft) beyond the working area 

limit, it will perform an emergency landing. 

During an interactive Screen Fly flight: 

26 

• It will raise a warning if it leaves the working area or flies above the ceiling. 

You should take action to bring the drone back or carry out an emergency 

landing. 

• If it passes the outer security limit in ScreenFiy mode it will immediately 

carry out an emergency landing. 
) 

Preparing to fly the eXom 

0 Note: An emergency landing cannot be aborted, but you can still 

take control of the drones horizontal positioning (pitch left, right, forwards and backwards) using either the Screen Fly Controller or theRemote Control. 

Setting the working area 

You set the working area in the Mission panel's Hl parameters tab. 

How to set the working area's size 

• Click the Hl Parameters tab in the Mission panel. 

• Set the working area radius. 

• Set the working area ceiling. 

How to set the working area's position 

• Click the U! Parameters tab in the Mission panel. 

• Move the map so that the place you want to put the centre of the working 

area is in the centre of the map. To centre the map on the drone, click· i~· on 

the Toolbar. 

• Click ·? · on the Hl Parameters tab. 

4.6 Take-off and landing conditions 

It is important to carefully select the place you take off from, the Start waypoint, 

the Home waypoint and landing location. 

5 see Troubleshooting on page 154 for a full description of In-flight warnings and Critical failures that 

may occur 

27 
\ 

) 

Getting Started 

Once the drone has taken off it will go to the Start waypoint. 

The Home waypoint is both the location under which the drone will land in when 

flying autonomously and as safety position in case of an in-flight warning. 

See About the Start and Home waypoints on page 36 for more details. 

Do not take off: 

• If it is legally prohibited to fly a drone, for example, close to an airport. 

• If there is a risk of collision with other aircrafts, for example, other drones, 

helicopters or low-flying airplanes. 

• If there is risk of disturbance, for example, to the local population or to 

wildlife. 

• lfthere is risk of damage, for example, to an historical monument or sensitive natural habitat. 

How to select a take-off & landing spot 

Select a take-off and landing spot that is clear of obstacles (buildings, rocks, power 

lines, hills, trees, etc.) within a distance of 5 m (16ft) in all directions. This is to account for the possibility of drift after take-off and to give the drone enough space 

to land. Behaviour after take off and the precision of a landing will depend on the 

satellite positioning accuracy, lighting conditions, the ground's visual texture and 

the wind. 

Select a take-off and landing spot that is flat, level and free of objects that could 

prevent the propellers from spinning freely. 

Do not attempt to take off from or land the eXom on the following: 

• Surface that does not allow all4 feet to contact the ground. 

• Muddy, wet, dusty or sandy area. 

• Water or deep snow. 

28 
) 

) 

Preparing to fly the eXom 

• A steeply inclined surface. 

Caution: If the eXom accidentally gets wet, remove the battery immediately. 

Calculating take-off location 

If the eXom is able to detect and process plenty of high-quality satellite signals, it 

can set its take-off location precisely. If not, the accuracy of its position calculation 

will drop. 

• If it can set its position before taking off, it will do so. 

• If the eXom cannot set its position, it cannot reliably fly an autonomous 

mission. It will not take off. 

Note: If you need to take off, for an interactive or manual flight, and 

satellite positioning signal reception is poor, you can enable No GNSS 

mode in the drone's !It Parameters tab 6

. 

Abort your landing: 

• If there are obstacles, for example, vehicles, people or animals in the landing zone. 

• If there is a risk of a moving vehicle, person, animal or other object entering 

the landing zone. 

' see No GNSS mode on page 121 

29 
\ 

) 

Getting Started 

Caution: Choose the altitude of your Home waypoint carefully. Set 

it high enough to clear any obstacles. Do not set it too high; there is 

a risk of higher winds at altitude. 

4.7 The eXomls battery 

Battery charge level indicator 

Press the battery level button and the LEDs will indicate the level of charge: 

LEOs lit: 2 3 4 5 

Charge level: 0- 30% 30- 55% 55- 75% 75-90% 90- 100% 

How to charge the eXom1

s battery 

Before leaving for the field to perform a flight, be sure to fully charge all your eXam 

batteries. 

0 Note: Upon delivery, the eXam's batteries are charged to a level of 

70% and therefore have to be fully charged before the first flight. 

To charge an eXam's battery pack, connect it to the battery charger provided. Plug 

the charger into a power socket using the adapter provided. Slide the charger 

onto the battery so that the battery's connectors slot into the charger. 

During charge, the status LEDs on the battery indicate the charge level: 

LED blinking: 1st 2nd 3rd 4th 5th 

Charge level: 0- 30% 30- 55% 55- 75% 75- 90% 90- 1 00% 

30 
\ 

) 

Preparing to fly the eXom 

The LED for the current charge level blinks during charging. When all the LEDs go 

out, the battery is charged. 

The charger provided independently balances the voltage of each of the cells contained in the battery pack to ensure optimal performance and battery life. 

Charging can take up to 1.5 hours, depending on the charge level of the battery 

and whether any cell balancing is required. See TheeXom's battery on the preceding page for more information on maintaining your drone's batteries. 

How to install the eXom's battery 

Place the eXom on the ground or on a level surface in the vicinity of the takeoff location. With its senseFiy label up, slide the battery firmly into the battery 

compartment, making sure that it clicks into place. 

0 

4.8 

Caution: Take great care not to get anything trapped by the battery 

as you push it in, or push anything into the battery compartment with 

the battery, for example, the surrounding vegetation. 

Caution: Keep clear of the propellers in case they unexpectedly start 

spinning. 

Note: To avoid using up battery power unnecessarily, insert the battery only when you are ready for take-off. 

How to power the eXom on 

1. To reduce the risk of data corruption, insert the SD card before powering 

the drone on. 

2. Press the power button. 

31 
Getting Started 

The eXom will perform an automatic self-check of its sensors and acquire satellite 

signals. Do not move the drone during these tests. It is important that the drone is 

not inclined more than 1 0 degrees in order to start up properly. Pre-flight checks 

may last from a few seconds to several minutes depending on satellite signal reception. 

While the drone is starting up, running pre-flight checks and gathering satellite 

positioning signals, its status LED will shine blue. 

Once the pre-flight checks are complete and the drone is ready to fly, the status 

LED will shine green. 

4.9 

Note: Satellite positioning signals are not required to fly the drone. If 

the satellite check fails, you can still fly with No GNSS mode, but some 

capabilities will be missing. See No GNSS mode on page 121 

Note: You can connect the drone to eMotion X at any time during 

startup and view the status of the checks in the \':i2 Monitor tab. 

Note: If there were any problems during the pre-flight checks a preflight error will be raised and a message will appear in eMotion X. The 

eXom's status LED will shine red. 

Audible messages and alerts 

eMotion X will generate audible alerts and warnings throughout your flight: 

• A sound when the ground modem successfully detects the drone. 

• Continuous beeping if an object or surface is detected close to the drone. 

• Vocal warnings, for example, battery level. 

We recommend turning your computer's sound on and turning the volume up. 

32 
) 

) 

Preparing to fly the eXom 

4.1 0 About the Remote Control 

The Remote Control can be used as a fallback means of flying the drone. It is also 

the only means of triggering a motor cut-off in case of emergency. 

When flying autonomously or with Screen Fly, we recommend you keep the Remote Control close by, with fresh batteries installed. 

33 
) 

J 

Getting Started 

S Flying the eXom 

You can fly the eXom: 

• Autonomously 

Ideal for aerial mapping. The drone follows the flight plan you have set up, 

autonomously managing its position, stability and photo capture. 

• Interactively with the Screen fly Controller 

Ideal for inspection, capturing photos and video. Fly your eXom semi-automatically 

using the Screen Fly Controller and eMotion X. Only basic piloting experience is required. The drone looks after flight stability, flies where you direct 

it to fly and looks where you direct it to look. You can ask it to cruise at a 

fixed speed or lock its distance from a surface. Commands are passed to 

the eXom through its ground modem. 

• Manually with the Remote Control 

Only for situations where you need to use advanced piloting skills. Commands go directly to the drone from the Remote Control. 

5.1 About eXom missions 

A typical mission can be divided into the following phases: 

34 

• Preparing to fly 

Every mission begins with careful preparation, whether it is a quick inspection or a multi-stage mapping mission over complex terrain. 

See Preparing to flytheeXom on page 19to learn how to prepare your drone 

for flight. 

Autonomous missions on page 62 describes how to use eMotion X's Mission 

Planner to quickly generate a flight plan for autonomous flight. 

• Theflight 

Once planning and preparation is complete, it's time to fly. The eXom can 
.\ 

) 

) 

Flying the eXom 

follow a flight plan without intervention from take-off to landing, you can 

control the drone with Screen Fly, or use the Remote Control. You can modify a flight plan or take control at any time during a planned mission. 

Flying the eX om interactively with Screen Fly on page 81 describes how to use 

Screen Fly to take control of your drone. 

See Manual flight with the Remote Control on page 123 for a guide to using 

the Remote Control. 

• Processing 

The next step is to view and process photos and video, converting the photos taken byyoureXom into valuable products such as precise gee-referenced 

orthomosaics or 30 models. Processing on page 54 leads you through the 

process of obtaining the video and photos the drone has recorded, checking if the project quality suits your needs while still in the field and producing advanced 20 and 30 maps. 

0 Note: You can find supporting documentation and technical FAQs in 

our Knowledge Base, part of my.senseFil. 

5.2 About waypoints 

Waypoints are points in 30 space at which the drone is instructed to carry out 

an action such as capturing photos, carrying out a manoeuvre, proceeding to the 

next waypoint or landing. 

An autonomous mission is made up of a series of waypoints. eMotion X automatically calculates the best place to put the waypoints for your autonomous mapping 

mission. 

7 http:! /my.sensefly.com 

35 
) 

Getting Started 

5.3 How to move waypoints 

Once you have assigned a mission block to a drone8

, you can move the Start, Home 

and mission waypoints on the map. 

0 Note: Changes to the Start and Home waypoints are immediately 

transferred to the connected drone. Changes to assigned mission block waypoints are also immediately transferred to the drone, 

changing the mission even if it is already in progress. 

5.4 

• To change a waypoint's position with the map in 20, click the waypoint to 

select it, then click and drag it to a new position. 

• To change a waypoint's position with the map in 30, click the waypoint to 

select it, then click and drag the base of the waypoint (the point on the 

ground directly under the waypoint) to a new position. 

• To change a waypoint's altitude, switch the map to 30. Click the waypoint 

to select it, then drag the waypoint itself up and down. 

Caution: When the map is in 3D and you are viewing your mission 

from above, a small change in the on-screen position of a waypoint 

can result in an unexpectedly large change in the waypoint's altitude. 

Always check your flight plan carefully before take-off. 

About the Start and Home waypoints 

The eXom uses satellite positioning signals to calculate its position and accuracy. 

Soon after it is powered on it starts processing satellite signals so that it is ready 

to record its position when it takes off. It will refer to this take-off altitude as 0 m 

(0 ft) above take-off (m/ ATO or ft/ ATO). 

8 see Readying your drone for the mission on page 70 

36 
' ) 

) 

Flying the eXom 

If all is well, a simple autonomous mission will go like this: 

1. You power on the eXom and connect it to eMotion X. While it is powering 

on, it calculates its position using satellite positioning signals. 

2. You click the TAKE OFF button in eMotion X. 

3. The drone takes off and calibrates its compass. 

4. The drone heads to the Start waypoint. 

5. The drone carries out its mission. 

6. The drone heads to the Home waypoint. 

7. The drone lands directly under the Home waypoint. 

The Start waypoint is therefore the first point that the drone goes to when it starts 

an autonomous flight. 

The Home waypoint is the point that the drone will head to at the end of an autonomous mission. It is also the point it will head to if it encounters a problem 

during flight 9

• 

Unless you have moved it10, eMotion X will automatically place the Start waypoint 

20 m (66ft) directly above the take-off location. It will place the Home waypoint 

10m (33ft) directly above the Start waypoint. 

Flying to the Home waypoint 

Whenever the eXom flies autonomously to the Home waypoint (for example, after 

a mission or if you click GO LAND): 

• If Home is higher than the drone, it will first climb, then fly to Home. 

• If Home is lower than the drone, it will first fly to a point directly above 

Home, then descend. 

' see In-flight warnings on page 155 10 see How to move waypoints on the previous page 

37 
Getting Started 

t 

-------------HOME 

~ 

MISSION 

If Home is higher 

~---------. HOME 

MIS~ON 

If Home is lower 

Flying to the Start waypoint 

HOME 

MISSION 

38 
\ 

) 

) 

) 

Flying the eXam 

When flying an autonomous mission, the eXam will fly in a straight line from the 

take-off location to the Start waypoint. 

Make sure there are no obstacles between the take-off location and the Start waypoint. If there are: 

• Move the Start waypoint, for example, place it above the take-off location 

at the same altitude as the first mission waypoint. 

• Place the Start waypoint near the drone, then create a Custom Route mission block to guide the drone to the mission. See Custom Route mission 

blocks on page 1 08. 

5.5 About the communication link 

Your eXam must be in contact with eMotion X through the ground modem at all 

times. To maintain this connection the ground modem's signal must be able to 

reach the eXam. 

You may occasionally lose the data connection between eMotion X and your eXam 

while in the field. Whether there is a loss in uplink or downlink communication, 

the drone will continue its mission and should re-establish the connection as it 

flies closer to the ground modem or changes direction. 

If the drone stops receiving messages from eMotion X for more than 30 san inflight warning will be raised. If, for safety reasons you want the eXam to automatically return Home if this happens, activate that security action in the Mission 

panel's HI Parameters tab. 

The strength of the connection between the drone and eMotion X is indicated in 

the ~i2? Monitor tab. 

Maintaining a good communication signal 

A straight line between the ground modem antenna and the drone is called the 

line of sight. For a strong ground modem signal to reach the drone, the line of 

39 
Getting Started 

sight, and a zone a few metres wide around the line of sight, must be clear of 

obstacles. 

----------~ 

Tree too close to line of sight 

To prevent loss of contact with the drone: 

40 

• Position the ground modem above the ground, or any other surface by at 

least 1.6 m (5.2 ft). 

• Do not sit the ground modem on a metal surface such as the roof of avehicle. 

• Bend the antennas at their hinge by 90° so that are vertical and parallel. 

• Do not position the modem with the antennas lined up along the line of 

sight. Instead, have them perpendicular to the line of sight: 

0 Note: The modem is equipped with a 1/4 inch screw mount and can 

be attached to some models of camera tripod. SenseFiy can recommend the Manfrotto Nano Black stand, which comes with a 1/4 inch 

screw mount adapter. 
) 

Flying the eXom 

5.6 

0 

About take-off 

Note: Carefully review the position of the Start and Home way points 

before taking off. See About the Start and Home waypoints on page 36. 

Immediately after take-off the drone will climb to an altitude of approximately 

1 m and turn around once to calibrate its compass. 

To allow it complete effectively, only manoeuvre11 during calibration if necessary. 

(!) Caution: Be ready to abort the take-off in case of emergency. 

lfthere are mission blocks assigned to the drone, it pauses briefly then flies to 

the Start waypoint. 

Use the After take-off setting in the Mission panel's () Take-off and landing tab to 

tell the drone what to do next. You can tell the drone to: 

• Wait at the Start waypoint 

Set After take-off to Stay on Start Waypoint. 

• Don't wait- immediately start the mission 

Set After take-off to Go to Mission. 

lfthere are no mission blocks assigned, it pauses briefly then flies to the Start 

waypoint and waits there for your command. 

See Creating mapping products on page 61 for more information about missions 

and mission blocks. 

11 only pitch and roll are available during calibration 

41 
Getting Started 

Caution: The drone's ability to maintain its position in a hover depends on the conditions. There must be good lighting conditions and 

good satellite positioning signal reception. Be ready to take control 

of the drone with the Controller or Remote Control, or land if necessary. 

5.7 Landing the eXom 

You can land the eXom in different ways, depending on the circumstances. 

Land after a completed mission 

Your eXom can land itself after an autonomous mission. 

Set the A her mission options in the Mission's panel's ()Take-off and landing tab to 

Land at Home Waypoint. 

Return to home and land using the Control Bar 

If you need to abort a mission and land, click GO LAND on the control bar. 

The drone will immediately fly to the Home waypoint12, then descend vertically, 

land and power off its motors. 

Land immediately at current location 

If you need the drone to land immediately without first returning to the Home 

waypoint, do one of the following: 

• Rapidly click the LAND NOW button on the Control Bar three tirnes (tripleclick). 

12 see About the Start and Home way points on page 36 

42 
l 

/ 

Flying the eXom 

• If flying interactively, press and hold the left-hand stick on the Screen Fly 

Controller. 

• Switch on the Remote Control and pull back on the Take off/land slider. 

Caution: The drone will immediately descend at a moderately fast 

rate of descent. There is a risk of collision with any objects or people 

that are directly under the drone. 

• Switch on the Remote Control and pilot the drone to the ground. Once on 

the ground, press and hold the left-hand stick to cut the motors. 

5.8 Powering the eXom off 

Wait for the propellers to stop spinning, and wait for eMotion X to finish copying 

the flight logs13, then press and hold the power button on the top of the eXom. 

After 1 s the eXom powers off. 

To reduce the risk of data corruption, only remove the SO card once the drone has 

powered off. 

0 

Caution: Never attempt to power the drone off using its built-in 

power button while the propellers are spinning. If you need to stop 

the propellers, power on the Remote Control, allow it to connect to 

the drone, then press and hold the left stick14• 

Note: When you power the eXom off, its servos stop holding the 

head in position. When powered off and placed on a level surface, 

the eXam's head will turn down (cameras pointing down) . This is 

normal and does not indicate a malfunction. 

13 a message appears in the Drone panel's ;:;; Monitor tab 

43 
Getting Started 

5.9 How to remove the drone's battery 

1. Grip the battery release tabs and squeeze them together. 

2. Pull the battery out. 

Caution: Never try to remove the battery while the propellers are 

spinning. If you need to stop the propellers, power on the Remote 

Control, allow it to connect to the drone, then press and hold the left 

stick14. 

14 see Manual flight with the Remote Control on page 123 

44 
- \, 

) 

In-flight Monitoring 

6 In-flight Monitoring 

You can monitor while in-flight through eMotion X using the map, video feeds, 

ultrasonic sensor readouts and the Drone panel's t1.? Monitor tab. 

6.1 Choosing what to display in the Main Viewer 

You can display either the head feed in the Main Viewer, or the map. The one that 

is not displayed in the Main Viewer appears in the Bottom Bar, if the bar is visible. 

To change the content of the Main Viewer: 

• Click ~ to select the map or select a head feed camera type using the 

tool bar buttons e' e' 0. 

• Double-click the Bottom Bar Viewer to swap between them. 

0 Note: To change the head feed in the Bottom Bar Viewer, first put the 

feed in the Main Viewer by double-clicking the Bottom Bar Viewer, 

change head feed, then swap them back. 

45 
Getting Started 

6.2 Selecting the head feed 

You can choose to display the following head camera feeds in the Main Viewer: 

• Navcam feed 

Click 8 to put the head navcam feed in the Main Viewer. 

• Main Camera feed 

Click @l to put the Main Camera feed in the Main Viewer. 

• Thermal camera feed 

Click 0 to put the Thermal Camera feed in the Main Viewer. The feed is 

overlaid onto the Main Camera feed. 

6.3 About the head-up display 

A head-up display appears over the camera feeds. The head-up display changes 

according to the camera you are using. 

Ground 

speed 

Main camera settings 

Altitude 

The image above shows the head-up display you'll see when using the head navcam. 

46 
) 

In-flight Monitoring 

How to read the head-up display 

• Ground speed 

The ground speed is indicated in m/s (1 m/s is equal to 1.94 kts). 

Read the ground speed from the white box in the centre of the scale. For 

example, the ground speed indicated above is 0 m/s (0 kts). 

• Altitude 

The altitude above take-off (m/ ATO or ft/ ATO) is indicated. 

Read the altitude from the white box in the centre oft he scale. For example, 

the altitude indicated above is 0 m (0 ft). 

• Head angle 

The scale indicates the angle (up/down) of the head. 

0° indicates that the head is pointing straight forwards. Positive angles indicate that the head is pointing up. Negative angles indicate that the head 

is pointing down. 

• Bearing 

The scale indicates the compass bearing of the drone in degrees. 

0°indicates that the drone is pointing in the direction of magnetic north, 

90° indicates the east, 180°the south and 270°the west. 

• Main camera field of view 

The dotted lines indicate the field of view of the main camera feed, which 

it currently displays. 

0 Note: If you have zoomed in with the main camera, the solid rectangle indicates the smaller field of view you see now with the main 

camera. All photos captured with the main camera are, however, fullframe. 

47 
\, 

/ 

Getting Started 

• Camera settings 

The following main camera settings are shown, if space allows: 

- Zoom level (for example, 1.0x) 

- Exposure time(for example, 1/250s) 

- Aperture (for example, F2.0) 

- Camera sensitivity (for example, ISO 1 00) 

0 Note: Camera settings are given in the way that is standard for digital 

cameras, that is, exposure is expressed as a fraction of a second, aperture is expressed as an f-number (the ratio of the lens focal length to 

the opening diameter) and sensitivity expressed according to the ISO 

12232:2006 standard. 

6.4 Choosing a navcam 

• Click the navcam button in the Bottom Bar for the navcam you want. 

• Click the active navcam button again to switch all navcams off. This conserves drone-eMotion X bandwidth. 

6.5 About the ultrasonic sensors 

The eXam's ultrasonic sensors detect the presence of objects within a cone-shaped 

beam of a maximum distance of 6 m (20ft). 20 representations of each of these 

beams appear in eMotion X's Bottom Bar. If there is an object near the drone, the 

beam slices up to and including the one in which the object has been detected 

turn red. 

48 
) 

In-flight Monitoring 

Object detected 1.5 m away from the Bottom Sensor Module 

As you turn the eXam's head up and down, the ultrasonic sensor also turns: 

Head pointing forward Head pointing up 

':i: 

Head pointing downward Head pointing down 

49 

' _) 
' I 

J 

Getting Started 

0 Note: Ultrasonic sensors send out a beam of ultrasonic sound and 

pick up the reflections. They cannot detect objects that absorb or diffuse the ultrasonic beam. Soft surfaces such as polystyrene or foam 

or diffuse surfaces such as the leaves of a tree may not be detected 

by the sensors. 

Choosing an ultrasonic sensor 

The ultrasonic sensors operate in the following modes: 

• A single sensor beam is active, providing constant awareness in a certain 

direction. 

Use, for example, a beam pointing in the direction of the drone's motion 

when it's travelling at speed, or if you only anticipate obstacles on one side 

of the drone. 

• Each sensor activates its beam in turn, providing overall awareness all around 

the drone. 

Use, for example, when the drone is manoeuvring in a space with potential 

obstacles all around. 

The eXom will automatically choose for you when: 

• Flying an autonomous mission 

It uses the bottom sensor module for ground avoidance. 

• When Distance Lock is active 

It uses the head sensor module to monitor the distance. 

• When taking off and landing 

It uses the bottom sensor module to guide itself. 

50 
\. 

) 

) 

In-flight Monitoring 

How to choose a single ultrasonic sensor 

In the Bottom Bar, click the beam you want to activate. 

How to cycle the ultrasonic sensors 

In the Bottom Bar, click either of the drone images ( n:f or ,..., ) in the centre of 

the sensor feedback panel. 

Each sensor will pulse its ultrasonic beam in turn, giving you general awareness 

of the drone's surroundings. It takes about 1 s to complete each beam pulse cycle. 

6.6 About the background & custom maps 

You can select the background map source from the (~i} pull-down menu on the 

Tool bar. 

eMotion X can use different sources of commercially available webmaps, but also 

custom maps. Tiles from map sources with the icon {~ can be downloaded by 

eMotion X from the internet as required and locally cached on the hard drive. Map 

sources with the icon (iji cannot be saved locally due to regulatory restrictions and 

are therefore not recommended for use in the field. 

6.7 Navigating around the map 

Panning and zooming 

Use one of the following: 

• Click (£)_ on the tool bar to zoom in. Click 0 to zoom out. 

• Place your mouse pointer on the map. Roll the scrollwheel up to zoom in 

and down to zoom out. 

51 
Getting Started 

• Place your mouse pointer on the map then press and hold the right-click 

button. Move the mouse up to zoom out, down to zoom in. 

• Double-click to zoom in, right double-click to zoom out. 

Moving around the map 

• Click and drag map to move it around. 

• Place your mouse pointer on the map. Roll the scrollwheel up to zoom in 

and down to zoom out. 

• Place your mouse pointer on the map then press and hold the right-click 

button. Move the mouse up to zoom in, down to zoom out. 

Tilting and turning the map 

Activate 3D mode using the €l button, then: 

• Place your mouse pointer on the map and click and drag with the middle 

mouse button. 

• Press and hold the Shift key on your keyboard then click and drag on the 

map with your mouse. 

Move the mouse up to tilt the map down (move your vantage point down). Move 

your mouse down to tilt the map up. 

Move the mouse right to turn the map anticlockwise, left to turn it clockwise. 

0 

52 

Note: If viewing the map in 2D, you cannot rotate the map. North is 

always towards the top of the map. 
In-flight Monitoring 

Finding the drone on the map 

Click -~~-· on the Toolbar to centre the map on the drone. 

Locking the map onto the drone 

Click 0 to lock the centre of the map onto the drone. When activated, you can 

zoom in and out, but cannot move around the map. 

53 
) 

Getting Started 

7 Processing 

Goal ofthis section: In this section you will learn how to obtain and 

treat the photos, videos and flight data that your eXom captured. 

You'll also learn to create basic mapping products directly in the field 

so that you can immediately gauge the quality of the photos you 

gathered. 

7.1 Obtaining your photos, videos and flight data 

After completing a flight, use eMotion X to import and treatthe raw photos, videos 

and log files, readying them use and for processing with Postflight Terra 30. 

You will: 

1. Tell eMotion X which flight you want to treat. 

2. Create a project folder into which eMotion X will create the treated files. 

3. Tell eMotion X where to look for the photos, videos and log files. 

4. Check that the photos, videos and logs it found are the ones you want. 

5. Choose the type of output you want. 

6. Import and treat the files. 

During its flight, the eXom records flight data in a special Drone Flight Log file 

(.bbx), stored on the SD card. In it, the drone logs important information such as 

sensor data, control inputs and its location. 

A similar file, the eMotion X Flight Log (.eMs, is also created by eMotion X during a flight. This serves as a backup in case the Drone Flight Log file cannot be 

15 If there is an issue with your eXam, both flight logs will be needed for technical support. See Reporting a problem with your eXam on page 163 

54 
Processing 

recovered. 

Use eMotion X's Flight Data Manager to obtain, consolidate and treat the data 

generated during a mapping mission. 

0 Note: The raw photos and videos that the eXom has captured are 

not optimised for viewing or for use in Postflight Terra 3D. sense Fly 

recommends importing and treating all eXom data with the Flight 

Data Manager. 

Caution: After a flight, always wait for eMotion X to finish copying 

the flight logs, then power off the drone before removing the SD card. 

A message in the Drone panel's '(;ifl Monitor tab tells you when copying is complete. 

How To launch the Flight Data Manager 

• Select Flight Data Manager in the Connect dialog when you launch eMotion X. 

• Click eJ on the Toolbar and choose Flight Data Manager .... 

How to import and treat photos, videos and data from the drone 

• Step 1 - Prepare for the data import 

Power off the eXom, remove its SD card and insert it into your computer. 

All photos, videos and flight logs are saved on this SD card. 

• Step 2a- Select a flight 

If you haven't already, launch the flight data manager. 

55 
\ 

) 

Getting Started 

56 

If the flight was monitored from the computer onto which you are importing drone photos and data, it will have been logged in the flight database 

on that computer. 

Select the date on which the flight took place. A list of flights (including 

number of photos taken) that were monitored using that computer, on that 

date, appears in the pull-down menu below the calendar. Choose the one 

you wish to treat. 

• Step 2b- Create a project folder 

Choose a folder name that uniquely identifies your flight (e.g. the date, the 

name of the area, etc.). 

• Step 3- Load the flight logs 

eMotion X's Flight Data Manager will automatically locate the correct flight 

log (.bbx) on the SD card. The flight trajectory appears in the Map View. 

This flight log as well as the log from eMotion X are copied to the project 

folder. 

• Step 4 - Load the photos 

eMotion X will automatically locate the photos and videos (they are stored 

in the DCIM folder on the SD card). 

If it does not, or if you have copied or moved them, choose Select folder ... 

and Browse to their location. On the SD card, they are in a folder named 

with the ID of the flight log you imported. 

• Step 5- Review the import 

eMotion X's Flight Data Manager shows the number of photos and videos 

it will import into the project folder. 

• Step 6- Select outputs 

The Flight Data Manager can compress (zip) your raw (.dng) photos and 

also create JPEG format versions of them. 

- With Compress raw (.dng) images unchecked, your raw photos will be 

imported, but not compressed (zipped). 
Processing 

- With Convert raw (.dng) images to JPEG unchecked, JPEG versions of 

your photos will not be created. If you wish to process your photos 

with Postflight Terra 3D, you must create the JPEGs in some other 

way. 

Choose the actions to execute and outputs to create: 

- The eXom automatically geo-tags its photos in flight. The option to 

Write geotags in image files is therefore disabled for photos captured 

by the eXom. 

- Check Create text file with image positions (geoinfo) and choose a file 

format if you wish to export a geoinfo file. This file contains latitude, 

longitude, altitude (AMSL and WGS 84), heading, pitch and roll values 

for each photo captured. 

- Only uncheck Create Postflight Terra 30 project if you do not want to 

create a Postflight Terra 3D project. 

- Only uncheck Create KML flight trajectory if you do not want to create 

a 3D flight trajectory. 

Click Next to execute the import and treatment you have set up. 

• Step 7- Finish off and tidy up 

All your results are now in the project folder and you are ready to open the 

project in Postflight Terra 3D for further processing. 

Use your computer's Eject function to eject the SD card before removing 

the card. 

7.2 In-field quality check 

Postflight Terra 3D software16, available as a free download with the eXom package, can be used to rapidly create a Quality Report directly in the field. The Quality 

16 powered by Pix4D; see Installing the software on page 2 for installation instructions 

57 
\ 

) 

Getting Started 

Report that is automatically generated provides immediate feedback on the quality of the dataset. 

First, use your flight data to create a new project in Postflight Terra 30 

After importing your data in the Flight Data Manager, click Open Postflight Terra 30 

project. Postflight Terra 3D will launch and the position of your photos will appear 

as red dots in the Map Area of Postflight Terra 3D's main window. 

~~~-~~~-~""~--~~~~~=~~=~=~~~=~ .. !~ 

Map Area 

Step 1: select 1. Initial Processing, 

Rapid Check Step 2: click 'Start' 

Tool bar 

Project 

Summary 

Layers 

Local 

Processing 

panel 

Next, create the Quality Report 

58 

1. Choose Local Processing from Postflight Terra 3D's Process menu or click 

d on the Toolbar. 

2. In the Local Processing panel, select only the Initial project processing checkbox and the Rapid Check radial button. Click Start to begin rapid processing. 
Processing 

Postflight Terra 3D will now process the data and produce a report that includes 

the overall completeness and georeference quality of the photos taken during 

your last mission. You can use this information to decide whether further imaging 

flights are required while you are still in the field. The quality report will launch in 

a new window. Click ]j on the Tool bar if it does not appear. 

7.3 Creating mapping products 

Beyond Quality Reports and low-resolution orthomosaics, Postflight Terra 3D can 

generate gee-referenced high-resolution 2D orthomosaics, 3D point clouds, 3D 

Meshes, DSMs and export these results to common third-party software formats. 

Ground Control Points (GCP) can be added to add absolute accuracy to the project. 

Postflight Terra 3D also includes a mosaic and a rayCioud editor, which not only 

provide measuring tools, but also give you control over the quality of your final 

mapping products. 

Furthermore the resulting orthomosaic and DSM may then be imported as custom background map and elevation data layer in eMotion X17• This data can be 

used for advanced flight planning in complex or uneven terrain. 

0 

0 

Note: You need to either enable tile set generation OR choose Generate Google Maps Tiles and KML from the Process menu before you 

can push the tileset into eMotion X by choosing Send Map to eMotion from the Process menu. Alternatively, this data can be imported 

into eMotion X; choose Import custom map from eMotion X's \:=J File 

menu. 

Note: The best way to learn how to use the various features of Postflight Terra 3D is to look at the comprehensive online Knowledge 

Base within my.senseFiyl 8

• 

17 see Using custom map sources on page 100 for more information on importing layers into eMotion X 18 http://my.sensefly.com 

59 
) 

0 

Part II 

Your first autonomous mapping 

• • miSSIOn 

Goal of this section: This section introduces the autonomous mission planning features of eMotion X and describes the steps required 

to plan a simple mapping flight. 

Note: We recommend that you perform your first mission in a large 

obstacle-free area and limit the length of the mission in order to familiarise yourself with the eXom in flight. 
\ 

) 

Your first autonomous mapping mission 

8 Autonomous missions 

If you want your eXom to fly all or part of its flight autonomously, you must assign 

it one or more mission blocks. 

To create a mapping flight for the systematic coverage of an area, use the automatic mission planning feature of eMotion X. Create a polygon covering the area 

you would like to map and eMotion X will generate a mission plan optimised for 

the ground resolution you want. 

An eXom mission is made up of a series of blocks. Each block contains a series of 

waypoints. 

A mission is shown on the map in the Main Viewer using: 

• In 20, circles to represent waypoints. 

• In 30, vertical lines to represent the altitude of the drone with inverted 

cones to represent the waypoint itself. 

You can only plan one mission at a time. A mission can be made up of many mission blocks. Each block can have a different purpose. A mission might include, for 

example, several blocks to study some structures or points of interest, a horizontal mapping block to gather mapping data of the surrounding area and a series of 

custom routes to guide the drone between them. 

When they are ready, you assign mission blocks to your drone. This transfers the 

waypoints, through the ground modem connection, to the drone's autopilot, then 

keeps them synchronised if you make a change. 

During an autonomous flight the eXom will control its flight autonomously from 

take-off to landing and you do not need to use the control bar. It can however 

be useful in unexpected situations, for example, press HOLD and the drone will 

temporarily hold position or press GO TO HOME to send the drone to the Home 

waypoint, or GO TO START to send it to the Start waypoint. 

62 
' I 

/ 

Autonomous missions 

8.1 Opening, creating and saving missions 

When you save a mission, you save the entire mission, including: 

• All the mission blocks, all their parameters and any waypoints. 

• How much of each mission block had been completed. 

• The () Transition parameters that were set. 

• The security actions that were enabled or disabled when you saved the mission. 

• The mission footprints. 

Missions are also saved automatically just after you make a change. 

Missions are saved with the mission's name as .misfiles in a missions folder within 

your Data Folder. 

How to create a new mission 

First, get eMotion X ready for mission planning ... 

1. Click> to open up the Mission panel on the left-hand side of eMotion X. 

2. Locate on the map the place where you want to fly your mission. 

Note: You can use the · ~ · button on the toolbar to find places on the 

map by name or coordinate. 

Next, choose how you want to create the mission ... 

18 A folder called eMotion within your Windows Documents folder, unless you have changed it (see 

About eMotion X's data folder on page 1 02). 

63 
' I 

/ 

Your first autonomous mapping mission 

Create from scratch 

1. Choose Mission ~ New from the e:J File menu. 

A new, empty mission called My mission is created. 

2. Choose Mission ~ Rename ... from the e:J File menu to change the name 

and prevent overwriting of a saved mission. 

Create using a saved mission as a template 

1. Choose Mission ~ New from saved ... from the e:J File menu. 

The new mission (called My mission) will have all of the saved mission's 

blocks and their properties. 

2. Choose Mission ~ Rename ... from the e:J File menu to change the name 

and prevent overwriting of a saved mission. 

Note: You can only have one mission open at a time. Creating a new 

mission clears the current mission. 

How to open a saved mission 

Choose Mission ~ Open ... from the e:J File menu. 

The saved mission will open and restore the progress made at the moment the 

mission was saved. 

64 

Note: Use New from saved ... to open the mission without restoring 

the progress made. 
) 

Autonomous missions 

How to rename a mission 

Choose Mission ~ Rename ... from the tJ File menu. 

8.2 About mission blocks 

There are different types of mission blocks: 

• Horizontal Mapping 

Define a mission area and eMotion X will automatically set out the waypoints and flight lines. 

See Autonomous mission example: Horizontal Mapping on page 67. 

• Point of interest 

Identify a point of interest and have the drone fly around it capturing the 

object in detail from different angles. 

See Around PO/ (point of interest) mission blocks on page 1 06. 

• Custom route 

Create waypoints and edit their position, properties and actions to define 

your own mission profile. 

See Custom Route mission blocks on page 1 08. 

8.3 How to design and edit mission blocks 

1. In the tt Mission planning tab in the Mission panel, click the mission's name. 

2. Click + Add block and choose the type of block you want. 

Your mission block will appear in the centre of the map. 

How to view mission block details 

Within the mission explorer: 

65 
Your first autonomous mapping mission 

1. Click the mission's name to move to the top level of the mission explorer. 

2. Click~. 

3. Choose the block you want to view. 

Within the block list: 

1. Click the mission to move to the top level in the mission explorer. 

2. Double-click the block itself, or click 8. 

How to change mission block properties 

1. Double-click the block, or click 8 to view the block details. 

2. Click ~· to edit the block. 

3. Rename the block, adjust the ground resolution and other mapping parameters in the Mission Planning tab to suit your terrain and quality requirements. 

4. Click ~· again to finish editing the block. 

How to reorder mission blocks 

1. Click the mission to move to the top level in the mission explorer. 

2. Click and drag the mission blocks up and down to change their order. 

How to remove a mission block 

1. Click 8, or double-click the block to expand it. 

2. Click 0 Remove. 

66 
\ 

) 

) 

Autonomous missions 

8.4 Autonomous mission example: Horizontal Mapping 

Use Horizontal Mapping mission blocks to fly your eXom over extended areas to 

create aerial maps. Create a polygon that defines the area you want to map, set 

the ground sampling distance (GSD) you want and eMotion X will automatically 

create the mission waypoints. 

You can set the following properties: 

• Description 

The name you have given to the block. 

• Camera 

The Main Camera resolution that will be used. 

• Plan above 

Choose the reference above which you want eMotion X to set the drone's 

altitude. 

• Resolution 

The size, on the ground, you want the finest distinguishable detail in the 

photos to be (the ground resolution). 

• Overlap 

The percentage you want one photo to overlap the next. 

• Reverse flight 

If left unchecked, eMotion X sends the drone to the farthest waypoint in 

67 
Your first autonomous mapping mission 

the mission block first. If checked, the drone will begin the mission nearby 

and finish far awai 9

• 

eMotion X displays the following results: 

• Area 

The area covered by the mission. 

• Altitude 

The altitude at which the drone will fly in order to achieve the ground resolution you set. 

• Number of photos 

The number of photos needed to complete the block. 

• Flight time 

The estimated time needed to complete the block. 

• Flight distance 

The estimated distance the drone needs to fly to complete the block. 

0 

0 

Note: Ground resolution is directly linked to the flight altitude: a 

higher resolution (fewer cm/px or in/px) requires a lower altitude, a 

lower resolution (more cm/px or in/px) requires a higher one. 

Note: For most mapping purposes, between 60% and 80% overlap 

is usually required. Higher overlap values may increase the mapping 

quality, but will also increase flight duration for the same area. 

19 Ensure that there is enough battery power to return to Home at the end of the mission. 

68 
Autonomous missions 

0 

0 

Note: When you create a mapping mission block, its waypoints' altitudes are automatically set. After assigning the block to a drone, you 

can change the altitude of a waypoinf0

• If, however, you then move 

the mission polygon, or change the ground resolution, all waypoint 

altitudes will be reset to the initial altitude. 

Note: Because there is less image overlap around the edges of a mapping mission, eMotion X automatically adds flight lines the extend 

beyond the mission polygon to ensure complete coverage and therefore high quality results over the actual project area. 

How to create a Horizontal Mapping mission block 

First, locate on the map the zone you want to map .. 

Next, add a Mapping mission block to your mission (see How to design and edit 

mission blocks on page 65). A mission polygon, including the required waypoints, 

is automatically calculated and displayed on the map. As you adjust the polygon, 

eMotion X recalculates the waypoints. 

To adjust the shape of the mission polygon, select it then ... 

1. Click and drag the corners ( ) of the polygon to adjust its size and shape. 

2. Click and drag the middle ( ) of the polygon to move it. 

3. Click just inside the edge of the polygon to add a new corner. 

4. Right-click a corner ( ) to remove it. 

20 see How to move waypoints on page 36 

69 
Your first autonomous mapping mission 

To adjust the orientation of the flight lines ... 

• If you need to, click and drag a corner ( ) of the polygon to move it out of 

the way. 

• Click and drag one of the orientation handles ( ). 

• Return the corner ( ) to its original position if you need to. 

To move individual waypoints, see How to move waypoints on page 36. 

Caution: Neither eMotion X nor its automatic mission planning tool 

are aware of obstacles in the area. They cannot tell ifthere are differences between the elevation data and the real world. They are not 

aware of any legal restrictions (such as minimum or maximum altitude) that may apply in your region. The resulting flight plan should 

be carefully reviewed in order to avoid any collision with uneven terrain or tall objects such as buildings, and to comply with local regulations. 

Once your mission block is complete, you can assign it to a drone. 

8.5 Readying your drone for the mission 

Once you have completed your mission blocks it's time to assign them to a drone. 

Power on and connect your eXom to eMotion X. 

When you assign the mission blocks you want to fly to your drone, they are copied 

to the drone's autopilot through the ground modem connection. 

Once assigned, the block's waypoints change colour in eMotion X, and any change 

you make to a waypoint is immediately transmitted to the drone. 

How to assign mission blocks to a drone 

1. Power on and connect your drone to eMotion X. 

70 
\. 

) 

\ 

J 

Autonomous missions 

2. In the Mission planning tab, click the mission to view its blocks. 

3. Click the coloured ti5 Assign button on the blocks you want to assign. The 

button background turns dark grey for assigned blocks. 

The coloured \')i-] symbol also appears in the block details when a block has been 

assigned. 

Caution: Always carefully review the flight plan before take-off to 

ensure that there is sufficient clearance between the flight plan and 

the ground. Click I@ on the Tool bar to to toggle 3D mode on and off. 

We recommended that you double-check waypoint AMSL altitudes 

with respect to another source of elevation data. 

How to unassign mission blocks from a drone 

1. Click the coloured 0:t] Assign button again to unassign a block. 

How to take off and start your mission 

Once you've planned your mission and the eXam's status LED is solid green your 

drone is ready to take off. 

• Click TAKE OFF on the Control Bar. 

• Allow the drone to take off and calibrate its compass (it spins around once). 

• Allow the drone to fly to the Start waypoint. 

• If needed, click START MISSION. 

After take-off, the drone switches into waypoint navigation mode and flies to the 

Start waypoint. 

71 
.\ 

) 

) 

Your first autonomous mapping mission 

Caution: Keep clear of the drone during take-off. 

Caution: Be ready to abort the take-off by triple-clicking LAND NOW 

on the Control Bar. If the drone doesn't automatically stop its propellers after landing, power on the Remote Control then press and 

hold the left-hand stick. Do not do this ifthe drone is in the air. 

Caution: Never attempt a hand-held take-off. 

0 Note: If the drone detects an issue that prevents take-off or makes 

take-off dangerous or unwise, it will raise a take-off veto. A message 

will appear in the Status panel in eMotion X and the drone's status 

LED will shine red. Take-off vetoes on page 154 describes the possible 

take-off veto messages and the user action that should be taken to 

remove them. 

8.6 After the mission 

Use the After mission setting in the Mission panel's () Take-off and landing tab to 

tell the drone what to do at the end of a mission. You can tell the drone to: 

• Return to the Home waypoint and land21 

Set After mission to Land at Home waypoint. 

• Return to the Home waypoint and wait there 

Set After mission to Go to Home waypoint. 

21 this is the default action 

72 
Autonomous missions 

• Go to the Start waypoint and wait 

Set After mission to Go to Start waypoint. 

• Wait at the last waypoint in the mission 

Set After mission to Stay on Mission. 

How to land after a mission 

If After mission in the Mission's panel's () Take-off and landing tab is set to Land 

at Home waypoint, the drone will return to the Home waypoint and automatically 

initiate a landing sequence. 

If After mission is not set to Land at Home waypoint, click GO LAND on eMotion X's 

Control Bar. 

Once on the ground, the propellers will stop. 

The vision sensors must have sufficient light and texture to accurately detect the 

drone's height above the ground. Ensure that the sensors are clear of dirt or other 

obstructions. 

Allow eMotion X to finish copying the flight logs and power the eXam off before 

removing the SD card. Remove the battery from the drone before picking it up. 

0 Note: We recommend you import the photos and flight data straight 

away after each flight (see Obtaining your photos, videos and flight 

data on page 54), before putting the eXam back in its case for storage. 

73 
\. 

) 

.•.. ) 

Part Ill 

Your first interactive Screen fly 

flight 

Goal of this section: This section introduces interactive flight with 

the Screen Fly Controller . 
Your first interactive Screen Fly flight 

9 The Screen Fly Controller 

With the ScreenFiy Controller you send commands to the drone through eMotion X. The drone's autopilot interprets flight commands and moves as instructed, 

all while maintaining stable flight. Use eMotion X and the Screen Fly Controller to 

direct the cameras on the eXam's TripleView Head towards the object you want to 

film, photograph or inspect. Use the buttons on the controller to select a navcam, 

activate and deactivate the automatic photo trigger or take photos as needed. 

Connect the Screen Fly Controller to the USB port on a computer with eMotion X 

installed. 

76 

Caution: Use of a controller other than the one supplied with your 

eXom is not recommended. 
TripleView Head : Look down 

Start/stop video recording 

Long press: Auto photo trigger on/off 

Take off/abort take-off 

Land/abort landing 

Select navcam: Head 

Press with SHIFT: Cruise up --_,__,__ 

Select navcam: Left .... Jl i an 

Press with SHIFT: Cruise left 

Select navcam: Right 

Press with SHIFT: Cruise right 

Select navcam: Bottom/rear 

Press with SHIFT: Cruise down 

Drone control: 

Up/down/turn right/turn left 

Press & hold: Emergency landing 

TripleView Head: Look up 

Take photo 

Long press: Trigger autofocus 

Activate Cruise Control 

(press SHIFT+ cruise) 

Deactivate Cruise Contro

(press SHIFT) 

L '\ \ ..... Main Camera: Zoom in 

I aFl l • Distance Lock on/off 

Drone control: 

Forward/backward/right/left 

Press: Anti-drift off/on 

Switch head camera: 

Navcam > Main >Therm

Main camera: Zoom out 

Press & hold: Reset head

• Pressing this button swaps the functions on the left-hand controllers. While active, the LED shines red. 

If you press it by accident, press it again to swap back- the LED will switch off. 
Take photo 

Long press: Trigger autofocus 

TripleView head: 

Look up 

xL:JD 

Set to X (do not change) 

TripleView head: 

Look down 

Start/stop video recordi

Long press: Auto photo 

on/off 
The Screen Fly Controller 

The following button index will be used in the next section: 

79 

) 
) 

Your first interactive Screen Fly flight 

9.1 How to activate and deactivate the Screen Fly Controller 

• Press button C in the centre of the Screen Fly Controller. 

• In eMotion X, click INTERACTIVE on the Control Bar. 

If your drone is in the air when you activate the Screen Fly Controller, it hovers and 

waits for a command. 

If your drone is flying autonomously when you activate the controller, it pauses 

its autonomous mission and hovers, waiting for a command. If you later deactivate the controller while the drone is in the air, you can resume the incomplete 

autonomous mission by clicking RESUME MISSION on the control bar. 

If you deactivate the controller while flying interactively, it will hover, awaiting a 

command. 

80 
" \ 

) 

) 

Flying the eXom interactively with Screen Fly 

10 Flying the eXom interactively with Screen fly 

You can use the controller to approach the target of your inspection and once in 

position, zoom in and out, fly around the target, cruise along or across the target, 

capturing video or photos. You can use eMotion X to recentre the video feed on 

objects of interest. Click and hold on the video feed to activate the on-screen 

controller and drag the pointer to pan around- the head will automatically move 

up and down and the drone will turn, all while remaining stable in the air. 

0 Note: A flight direction stated here is relative to the drone itself. 

10.1 How to take off using Screen Fly 

• Press the f,-r! button (G) on the ScreenFiy Controller. 

• In eMotion X, click TAKE OFF on the Control Bar. 

(!) Caution: Be ready to abort the take-off by pressing the button again. 

10.2 How to land using Screen Fly 

With your eXom positioned over the landing location, press the 

on the Screen Fly Controller and the eXom will land. 

button (G) 

You have the following options in eMotion X: 

• Click GO LAND on the Control Bar. The drone will head first to the Home 

waypoint, then land. 

• Triple-click LAND NOW on the Control Bar. The drone will immediately initiate a landing. 

81 
Your first interactive Screen Fly flight 

10.3 How to fly left, right, forward and backward with ScreenFly 

Use the right-hand joystick (E) on the Screen Fly Controller. The drone will pitch 

according to the direction you move the joystick: 

• Push up to fly forward. 

• Pull down to fly backward. 

• Push right to fly to the right. 

• Push left to fly to the left. 

10.4 How to turn the drone using Screen Fly 

Use the left-hand joystick (D) on the ScreenFiy Controller. The drone will turn 

(yaw) in the direction you push the joystick: 

• Push right to turn to the right. 

• Push left to turn to the left. 

10.5 How to climb and descend using Screen Fly 

Use the left-hand joystick (D) on the ScreenFiy Controller. The drone will move 

according to the direction you push the joystick: 

82 

• Push up to climb. 

• Pull down to descend. 

Caution: Do not change the Mode (1). It swaps the functions on the 

left-hand controllers. If you accidentally press Mode (I) and the LED 

on the controller shines red, deactivate it by pressing it again. 
Flying the eXom interactively with Screen Fly 

1 0.6 How to hover using Screen fly 

Release the joysticks. The eXom will automatically maintain its position and hover. 

10.7 How to set a constant speed (cruise) 

• Press SHIFT (H)+ the controller (For ~~)in the direction in which you want 

to cruise (up, down, left or right). 

You do not need to hold SHIFT or hold the controller direction to continue 

cruising. 

• To stop cruising, press the SHIFT button (H) again. 

• To change direction, first stop cruising, then start cruising again in another 

direction. 

How to change cruise speed 

In the drone's H! Parameters tab set the Cruise control speed in the Assistance section. 

1 0.8 About Distance Lock 

You can ask the eXomto maintain a set distance, between 2m (6ft) and 5 m (16ft), 

from a vertical surface. 

You can then move the drone up, down and across the surface. Set the required 

distance in the Drone U! Parameters tab. 

When switched on, the eXam's head points forward (0°) and only the head ultrasonic sensor is used. You cannot use other sensors without switching Distance 

Lock off. 

You can temporarily move away from the surface using the right-hand joystick on 

the Controller. When you release the joystick the drone will return to the Distance 

Lock distance. 

83 
Your first interactive Screen Fly flight 

Surfaces must be hard, solid and continuous for Distance Lock to work. You cannot 

lock onto, for example, trees, open fences or open steel lattices. 

Caution: Do not forget to switch distance lock off when you are finished. If you don't, it may unexpectedly lock onto the next object that 

passes in front of the drone. 

Caution: To prevent collision, move the drone away from the surface 

before deactivating Distance Lock. If GNSS is poor, the drone might 

drift towards the surface. 

How to maintain a fixed distance from a vertical surface 

First, set the distance you want the drone to maintain. In the drone's HI Parameters 

tab set the Distance lock distance in the Assistance section. 

Press button B to switch a.::rl Distance Lock on. 

Press button B again to switch Distance Lock off again. 

84 
\ I 

/ 

Capturing photos and video 

11 Capturing photos and video 

During an automated mapping mission, photos are automatically captured by the 

drone. When flying interactively, you have control over the photos and video captured. 

0 

0 

11.1 

Note: The zoom level or the use of a navcam feed do not affect captured photo resolution. All photos are captured using the full frame 

of the selected camera. 

Note: If you are viewing or capturing video, there will be short break 

in the video feed each time a photo is captured. 

How to capture single photos 

• With your right hand, press ~ -the upper button on the back of the controller (K). 

• In eMotion X, click ~ to capture a single photo. 

11.2 Automatically capturing photos 

The eXom can automatically capture a photo every few seconds. 

How to activate automatic photo capture 

• With your left hand, long press ~ -the upper button on the back of the 

controller (J) to start or stop photo capture. 

• In eMotion X, click~ to start automatically capturing photos. Click~ again 

to stop. 

85 
Your first interactive Screen Fly flight 

How to set the interval between photos 

In your drone's U?Ll Camera tab in eMotion X, move the slider to change the Autotrigger interval. 

11.3 Focussing the eXom's Main Camera 

The eXom will automatically focus the Main camera at the beginning of each line 

in a mapping mission and before the first photo you capture on an interactive 

flight. 

While flying interactively, you can ask itto focus on the current subject at anytime. 

The Main Camera always zooms fully in to the centre of the feed to focus. It focusses on a region in the centre (SO% of the zoomed-in image). It then zooms out 

again. 

The Main Camera has a large depth of field. Objects more than approximately 

4 m from the camera are already at infinity. Focussing once at the beginning of 

the flight is often enough to ensure good focus throughout an interactive mission. 

You may however need to trigger the autofocus from time to time during a flight 

if less than 4 m from the subject or to correct focus changes caused by changing 

temperature. 

How to use the Main Camera's autofocus 

To focus on the object at the centre of the feed: 

• With your right hand, long press :AF: -the upper button on the back of the 

controller (K). 

• In eMotion X, click :AF: on the Toolbar. 

The camera will zoom in, focus, then zoom out again. 

To focus on an object that is not at the centre: 

86 
) 

Capturing photos and video 

• Using your mouse's scrollwheel, zoom in on the object. 

• Click :AF: to focus on the object. 

• If you need to, zoom out again. The Main Camera's focus will not change as 

you zoom back out. 

11.4 Focussing the navcams and Thermal Camera 

The eXom's navcams use wide-angle lenses with a large depth of field and do not 

require focussing. 

The thermal camera used on the eXom uses a focus-free design. Objects more 

than 0.5 m (1.6 ft) away will be in focus. 

11.5 Recording video 

You can record video from the eXom's Main and Thermal cameras. 

The eXom records the camera feed that is in the Main Viewer when you clicked 

III. If you change the feed while recording, the new feed is recorded. 

0 Note: You cannot continue to use the camera feed you are recording. 

If you start recording while viewing a feed, the view freezes. Switch 

to the navcam to navigate. 

How to start and stop video recording 

First, choose the camera with which you want to record a video: 

• Choose the @ Main Camera or 8 Head navcam on the Toolbar if you 

want to record the Main Camera feed. 

• Choose 0 if you want to record the Thermal Camera feed. 

87 
) 

Your first interactive Screen Fly flight 

Next, start recording: 

• With your left hand, press III -the upper button on the back of the controller (J). 

• In eMotion X, click III to start video recording. Click III again to stop. 

0 

0 

0 

Note: If you start recording while viewing the head navcam feed, the 

eXom will record the Main Camera feed. 

Note: If you switch the Main Viewer to @> Main Camera or 8 Head 

navcam while recording the ® Thermal camera feed, thermal feed 

recording will stop and you will record only the Main Camera feed. 

To continue navigating using the view from the eXam's head while 

recording the thermal feed, switch to the :X::' Head navcam feed in 

the Bottom Bar. 

Note: In recorded thermal video, the lower-resolution thermal camera feed is overlaid onto the Main Camera feed. 

11.6 How to turn on the Head lamp 

Click the Turn ON button under Headlamp on the drone's LID Camera tab. 

11.7 About the Main Camera zoom 

You can zoom in up to 6 x using the Main Camera. 

The eXam's Main Camera uses digital zoom, however, since its resolution is considerably higher than most computer screens, it does not create a zoomed image 

by enlarging part of the full image. 

88 
) 

Capturing photos and video 

Instead, unless fully zoomed in, each pixel on your computer's screen represents 

several Main Camera pixels. It is only when fully zoomed in, that each pixel on 

your computer's screen represents a single Main Camera pixel. 

How to zoom in and out with the Main Camera 

Using the controller: 

1. Press the blue button (X) until you see the Main Camera feed in eMotion X. 

2. Press the yellow G. button (Y) on the controller to zoom in. Press the green 

8. button (A) to zoom out. 

From within eMotion X, first click @l to activate the Main Camera feed. 

You can then, zoom in and out in the following ways: 

• Click G. to zoom in on the centre of the feed. Click 8. to zoom out. 

• If you have a mouse with a scrollwheel, place the mouse pointer where you 

want to zoom. Roll the scrollwheel away from you to zoom in and towards 

you to zoom out. 

0 

0 

11.8 

Note: You cannot zoom with the navcams or Thermal Camera. 

Note: When you take a photo or record video, the eXom always uses 

the full extent of the camera's sensor, not the zoomed-in view. 

How to move the eXom's cameras 

When flying interactively, you can move the eXam's head cameras, moving the 

field of view, in several ways: 

89 
\ 

) 

Your first interactive Screen Fly flight 

Moving the head cameras using the ScreenFiy Controller 

• To turn the head up, with your right hand, press -the lower button on 

the back of the controller (M). 

• To turn the head down, with your left hand, press -the lower button 

on back of the controller (L). 

• To turn the camera to the left or right, turn the eXom by pushing the left 

stick on the controller (D) to the left or right. 

• To pan the camera to the left or right, fly the drone in that direction. Push 

the right stick on the controller (E) to the left or right. 

0 Note: You can also use the eXam's Cruise capability to pan across an 

object, capturing photos or video. 

Moving the camera using eMotion X 

With a camera feed in the Main or Bottom Bar Viewer, click and hold your mouse 

pointer on the video feed. An on-screen controller will appear. 

• Drag the mouse pointer up to move the head up, down to move the head 

down. 

• Drag the mouse pointer to the left and the drone will turn to the ieft. Drag 

it to the right and the drone will turn to the right. 

The further your mouse pointer is from the centre of the on-screen controller, the 

faster the head or drone will turn. 

90 
) 

11.9 Temperatures in the Thermal Camera feed 

Temperatures are represented by a colour scale, as shown alongside the Thermal 

Camera feed. 

Unless you lock it, the eXom automatically adjusts the feed's colour scale so that 

it ranges from the coldest to the hottest object in the scene22• As the scene in the 

feed changes, the eXom continuously adjusts the colour scale. 

If you lock the scale on a certain scene, the colour that represents a certain temperature no longer changes as the scene changes. 

With the scale locked, you can adjust the colour range: 

• Make the range of temperatures covered by the colour scale larger or smaller. 

• Raise or lower the set of temperatures covered by the scale. 

How to lock the temperature range to the scene 

Click ~. Lock thermal scale on the Tool bar. Click ~. again to unlock. 

How to adjust the temperature range 

Vary the range using the Contrast and Brightness sliders on the drone's L@J Camera 

tab. 

• To change the size of the temperature range covered by the scale, use the 

Contrast slider. A higher contrast means that the colour scale represents a 

smaller range of temperatures. 

• To raise or lower the set of temperatures that the colours represent, use the 

Brightness slider. 

22 within the resolution limits ofthe camera 
Extended guide to the eXom 

.. \ 

) 
Part IV 

Extended guide to eMotion X 

12 eMotion X's Monitor tab 

12.1 About the Monitor tab 

Click the ~7 Monitor tab on the Drone panel to monitor your drone during its 

flight. 

Drone Status 

What your drone is currently doing and any messages or active warnings23 are 

shown here. 

0 Note: Important status and warning messages also appear in the 

Status Panel on the map, remaining visible when the Drone panel's 

CG_ii:? Monitor tab is hidden. 

Autonomy 

• Battery (voltage) 

Shows battery charge level (and voltage). 

0 Note: As charge level decreases, voltage will also decrease. A fully 

charged battery has a voltage of 12.6 V. A voltage of approximately 

9 Vindicates that the battery is fully discharged24. 

23 see Troubleshooting on page 154 
) 

\ 

) 

Extended guide to eMotion X 

• Flight time 

Current flight's duration so far. 

• Home distance 

The straight-line distance to the Home waypoint. 

• Link quality 

Ground modem radio data link quality. 

Caution: Lithium polymer batteries are chemical devices whose performance depends on a number of parameters, including temperature, lifetime, number of cycles, mechanical integrity, etc. The remaining capacity shown in eMotion X may therefore be inaccurate. It 

is the operator's responsibility to monitor battery voltage and flight 

time in addition to the battery level to make sure that endurance is 

sufficient to complete the mission. 

Flight data 

• Ground speed 

Your drone's speed relative to the ground. 

• Altitude 

Your drone's altitude above mean sea level (AMSL). 

• Latitude 

Longitude 

Your drone's absolute position as reported by its on-board GNSS receiver. 

Instruments 

24 see The eXam's battery on page 30 

94 
\. 

! 

/ 

Extended guide to eMotion X 

• Temperature 

Battery: Your drone's battery temperature. 

Air: The ambient temperature. 

• GNSS 

Satellites: The number of satellites from which your drone's GNSS receiver 

is receiving signals. 

Accuracy: The amount of error you should expect in the drone's reported 

absolute position. 

Mode: The current GNSS receiver mode. 

12.2 How to change units 

eMotion X can display lengths and measurements in metric or imperial units. To 

switch units: 

1. Choose Preferences from the t=J File menu. 

2. Choose the Local preferences panel and select the Unit system. 

12.3 30 mapping in eMotion X 

eMotion X is supplied with Improved SRTM elevation data and uses this elevation 

data to display the map in 30. 

0 Note: Improved SRTM elevation data uses a 3 arc-second (approx. 90 

m resolution) digital elevation model derived from the SRTM (Shuttle 

Radar Topography Mission) dataset version 2.1 combined with other 

data sources (ASTER GDEM, SRTM30, cartographic data, etc.). This 

data covers nearly all emerged land except the territories below 56° 

S latitude and the territory of the Russian Federation above 60° N latitude. 

95 
) 

Extended guide to eMotion X 

0 

Caution: The supplied elevation data may contain inaccuracies of 

several meters, and does not contain data on obstacles such as buildings or trees. We highly recommend that you check your flight plan 

thoroughly, in 20 and 3D, to ensure sufficient clearance between the 

flight plan and the ground. senseFiy provides no guarantee regarding the accuracy of the elevation data and it is the operator's sole responsibility to ensure a safe flight trajectory and altitude. 

Note: The first time you use elevation data, eMotion X will download 

the Improved SRTM elevation data tiles from senseFiy's servers25• 

Terrain following using elevation data 

When planning an autonomous mapping mission, eMotion X can use elevation 

data to set the altitude of each mission waypoint. This improves the ground resolution and increases mission safety, especially in uneven terrain, by keeping a 

constant distance between the drone and the ground. 

To ask the drone to follow the terrain during a mapping mission, open the mapping mission block, click ~· Edit and choose Elevation data from the Plan above: 

pull-down menu26• 

Elevation data will then be used to set each mission waypoint altitude: 

1. The planner uses the elevation data to find the terrain elevation under the 

waypoint. 

2. The target altitude is added to this maximum value and the result is set as 

the waypoint altitude. 

25 eMotion X must be connected to the internet. Once downloaded, elevation tiles are cached and can 

be used offline. 26 this is the default option 

96 
Extended guide to eMotion X 

0 Note: If you need to, you can then adjust each waypoint's altitude 

manually. See How to move waypoints on page 36 

12.4 Choosing an alternate altitude reference for your mapping mission block 

If you do not want the drone to follow the terrain, or you do not have confidence 

in the elevation data you are using, you can choose another way to set waypoint 

altitudes. 

Open your mapping mission block and click /• Edit. Choose an option from the 

Plan above: pull-down menu: 

• Area center 

All waypoints are at the same altitude above mean sea level (AMSL). The 

altitude set is the optimum altitude, relative to the height of the elevation 

model at a point under the geometric centre of your mission polygon. 

• Area highest point 

All waypoints are at the same AMSL altitude. The altitude set is the optimum altitude, relative to the highest point in the elevation model under 

your mission polygon. 

• Area mean point 

All waypoints are at the same AMSL altitude. The altitude set is the optimum altitude relative to the average height of the elevation model under 

your mission polygon. 

• Fixed altitude 

All waypoints are at the AMSL altitude you set. 

Caution: Always check carefully to make sure your drone will stay 

clear ofthe ground, especially if you are not using elevation data. Do 

not rely solely on the eXam's ground avoidance feature. 

97 
\ 

I 

J 

Extended guide to eMotion X 

12.5 Using custom background data 

Using a custom elevation model 

By default, eMotion X uses the supplied SRTM elevation model as an altitude reference for mapping. 

You can also import another elevation dataset or create your own. 

Use Elevation data Preferences (choose Preferences from the \::J File menu) to: 

• Add datasets 

• Remove datasets 

• Activate and deactivate them 

• Change the order 

0 

0 

Note: eMotion X uses the elevation data that is (out of those available 

at a given location) the highest in the list to calculate altitude for each 

waypoint. The Improved SRTM elevation dataset supplied is always 

considered the bottom layer. 

Note: eMotion X displays custom elevation data with 1 em vertical 

and approximately 12 em horizontal resolution. eMotion X brings 

higher-resolution data down to this resolution for display. 

How to import an elevation dataset 

98 

• Choose Import custom elevation data (DSM) ... from the \::J File menu. 

• Choose Preferences from the \::J File menu, choose the Elevation data pane 

and click Import custom DSM. 
J 

Extended guide to eMotion X 

Browse to the location of your elevation data file and click Open. 

How to enable an elevation dataset 

1. Choose Preferences from the c.=! File menu, choose the Elevation data pane. 

2. Activate or deactivate the elevation data layer using the checkboxes. 

3. Use the arrows to move your elevation data up or down the list. 

If one dataset appears above another in this list, it will be used to display 

the map in 30 and set drone altitude whenever those data sets overlap. 

4. Click Ok. 

5. Enable your new elevation model using the ~ menu in the Toolbar. eMotion X will then use your custom dataset (in areas where it is available) to 

display the map in 30 and set waypoint altitudes. 

Caution: Always very carefully check that your elevation dataset has 

been imported in the way that you expected. Unexpected altitudes 

can be set if, for example, a custom elevation dataset was created using a different ellipsoid. Carefully check your flight plan in 30 before 

flying. 

How to create and use your own elevation data 

One way to increase the resolution and accuracy of the elevation data is to create 

your own elevation data using the drone: 

1. Fly a mission at high altitude, process this data and create a OSM using Postflight Terra 30. 

2. Transfer this elevation data directly from Postflight Terra 30 to eMotion X 

by selecting Send DSM to eMotion from Postflight Terra 3D's Process menu. 

99 
Extended guide to eMotion X 

3. Enable your new elevation model using the @ menu in the Tool bar. eMotion X will then use your custom dataset (in areas where it is available) to 

set waypoint altitudes. 

0 Note: Always carefully check that elevation datasets you have created appear as expected on the 3D map. 

12.6 Using custom map sources 

eMotion X is supplied with a series of maps. 

You can also import maps or create your own. 

Use Maps Preferences (choose Preferences from the \':j File menu) to: 

• Add maps 

• Remove maps 

• Activate and deactivate them 

• Change the order 

How to import a custom map 

• Choose Import custom map ... from the \':j File menu. 

• Choose Preferences from the \':j File menu, choose the Elevation data pane 

and click Import custom map. 

Browse to the location of your map file and click Open. 

100 
) 

/ 

Extended guide to eMotion X 

How to enable a custom map 

1. Choose Preferences from the \:=J File menu, choose the Maps pane. 

2. Activate or deactivate the map layer using the checkboxes. 

3. Use the arrows to move your map up or down the list. 

If one map appears above another in this list, only the top map will appear 

in areas that both maps cover. 

4. Click Ok. 

5. Enable your new map using the @ menu in the Tool bar. 

The imported tile set will appear in the {;; list of layers on the Tool bar. 

Custom map tiles are added as a layer in eMotion X. Tile sets must be TMS-compatible 

sets of files. 

0 

0 

12.7 

Note: You can use Postflight Terra 3D (see Processing on page 54) to 

generate TMS-compatible, eMotion X-compatible tile sets for each 

project. In this way, you can create your own map background using 

the eXam or another senseFiy drone. Generate the tile set by choosing Generate Google Maps tiles and KML from Postflight Terra 3D's Process menu. 

Note: KML files, including associated icons or photos included within 

them, are not copied to the eMotion X directory and will no longer 

therefore appear in eMotion X if you move or delete the original KML 

files. 

About photo footprints 

Whenever the eXam takes a picture, eMotion X records the location and orientation of the drone and computes the approximate outline of the photo on the 

101 
) 

Extended guide to eMotion X 

ground (its footprint). 

When you move your mouse over a waypoint, footprints of photos taken by the 

drone are shown as a shaded polygon on the map. Each polygon represents an 

estimate of the area that has been photographed by the drone at that moment. 

Wind conditions and imprecisions in the elevation data will affect the estimation; 

the photo taken may not be the exact size or exactly where the footprint appears. 

You can show or hide footprints with the ~ button on the Tool bar. When hidden, 

eMotion X still keeps and creates new footprints, but doesn't display them on the 

map. Unless you clear them, they are saved with the mission. 

Clicking ~ removes all footprints from the map and deletes them from the mission. If you then change or save the mission, it will have no footprints. 

0 Note: Clearing or hiding footprints does not affect the photos and 

video captured, their geotags or any other data logged by eMotion X 

and the drone during the flight. 

12.8 About eMotion X's data folder 

eMotion X stores its data files in the Data Folder. 

This includes: 

• The flight database 

• Flight logs 

• Saved missions 

• Custom maps, KML files and elevation data 

How to set the location of your eMotion X data folder 

If you haven't changed it, it is called eMotion and is in your Windows Documents 

folder. 

102 
Extended guide to eMotion X 

1. Choose Preferences from the C) File menu then choose the Folder panel. 

2. Edit the path to the folder, or click Browse ... and select a folder. 

12.9 Enabling advanced functions 

A number of connection options are made available to expert users by clicking 

Advanced .. in the Connect dialog that appears when you launch eMotion X. The 

options vary according to the Connection type you choose. 

In addition, eMotion X can be run in advanced mode by checking the Enable advanced functions in the Advanced version of the Connect dialog. 

Caution: Only enable advanced functions if advised to do so by an 

eXom expert from senseFiy or your reseller. Enabling the parameters that are made available in advanced mode may lead to unstable 

flight. Unauthorised enabling of advanced functions will void your 

warranty. 

12.1 0 Advanced connection options 

To change the frequency and channel that the ground modem uses to connect to 

the drone: 

1. Click Advanced .. in the Connect dialog. 

2. Choose the eXom Connection type and click Channel settings .... 

3. Select the region in which the channel is authorised for use. 

4. If you wish to use a channel that is restricted to indoor use only, check the 

Indoor use only to attest that you will only fly indoors. 

5. Choose the Channel from the pulldown menu. 

6. Click Apply. 

103 
PartV 

Extended guide to mission 

planning 
Extended guide to mission planning 

13 Around POl (point of interest) mission blocks 

Use an Around POl mission block to concentrate photo capture on an object, structure or point of interest. These photos can then be used to build a detailed 3D 

model. 

Move the map to your point of interest, create the Around POl mission block, then 

set the block's parameters to tell the drone how to circle the point of interest and 

capture the photos you want. 

Around POl mission blocks have the following properties: 

• Description 

The name of the mission block. 

• Camera 

The resolution setting that the Main Camera should use to capture photos. 

• Point of interest 

The latitude and longitude of the point of interest. 

The altitude (AMSL or AEDf7

• 

• Mode 

Choose the way you want to set up the drone's trajectory around the point 

of interest. 

27 see About coordinates and altitude references in eMotion X on page 15 

106 
Around POl (point of interest) mission blocks 

Choose Resolution/angle to set the photo resolution you want and the angle 

at which you want to set the eXam's head. 

Choose Distances to set how far away from the point, horizontally and vertically, you want the drone to fly. 

Based on your choices, eMotion X will calculate the appropriate trajectory. 

• Start heading 

Setthe absolute heading (from point to drone) you want the drone to start 

its circuit of the point. 

• Stop heading 

Set the absolute heading (from point to drone) you want the drone to end 

its circuit of the point. 

• Picture interval 

Set the gap, in degrees, between each photo captured. 

Using these properties, eMotion X calculates: 

• Number of photos 

The number of photos needed to complete the block. 

• Altitude 

The altitude at which the drone will fly with the parameters you have set. 

• Flight time 

The estimated time needed to complete the block. 

• Flight distance 

The estimated distance the drone needs to fly to complete the block. 

How to create an Around POl (point of interest) mission block 

1. In the tt Mission planning tab in the Mission panel, click the mission. 

2. Click + Add block and choose Around POl. 

107 
\. 

) 

) 

Extended guide to mission planning 

14 Custom Route mission blocks 

Custom Route mission blocks are made up of a series ofwaypoints. The eXom will 

fly to each waypoint in order. 

To build a Custom Route, create a Custom Route mission block, then add waypoints. 

You can use Custom Routes to, for example, guide your drone around obstacles to 

the beginning of a mapping mission block, or to guide the drone from one mission 

block to another. 

0 Note: You cannot ask the drone to automatically carry out any actions, for example, capture a photo, on Custom Route waypoints. 

How to create a Custom Route mission block 

Locate on the map the place where you want to build your route, then create a 

Custom Route mission block and add waypoints to it. 

1. In the tt Mission planning tab in the Mission panel, click the mission. 

2. Click + Add block and choose Custom Route. 

108 
Custom Route mission blocks 

About Custom Route waypoints 

Custom Route waypoints are simple waypoints that have only the following properties: 

• Altitude 

You can choose to set the altitude as ATO, AMSL or AED28. 

• Coordinates 

Latitude and longitude in the WGS 84 coordinate system. 

As with any waypoint, you can move it and change its altitude by clicking and 

dragging the waypoint on the map29• 

How to add a waypoint to a Custom Route 

1. Open the Custom Route mission block. 

2. Click+. 

The waypoint will be created at the centre of the map at an altitude of 25 m AED. 

How to view and edit Custom Route waypoint properties 

With the Custom Route mission block open, open the waypoint in one of the following ways: 

• In the mission explorer, click ~ on Custom Route mission block and choose 

the waypoint from the list. 

• With the mission block open, double-click the waypoint. 

• With the mission block open, click 8 on the waypoint you want. 

28 see About coordinates and altitude references in eMotion X on page 15 29 see How to move waypoints on page 36 

109 
Extended guide to mission planning 

Edit the waypoint's properties. Your changes are immediately saved. 

110 
\ 

) 

Disabling security actions 

15 Disabling security actions 

If mission circumstances require it and you perceive an acceptable level of risk, you 

can disable some of the automated security actions the drone will take during an 

autonomous flight. 

Uncheck a checkbox in the Mission Ill Parameters tab to disable a security action. 

The drone will report the warning and attempt to continue its mission. 

Return to Home if strong wind detected 

The drone will continue to report the estimated wind speed, but will not return to 

home in high winds. 

Caution: Strong wind can force the drone to lose altitude. Disabling 

this increases the risk of a crash or an emergency landing and potential loss of the drone. Flying in high-wind conditions is at your own 

risk. 

Return to Home if GNSS accuracy degrades, 

The drone will attempt to calculate its position with only poor GNSS signals. It 

may take photos in the wrong place and could unexpectedly change position in 

flight. 

Caution: Disabling this means flying with the risk that, if the drone 

loses GNSS completely, it will carry out an emergency landing at an 

unknown location and you may lose the drone. 

Return to Home after 30s if ground modem link is lost 

Caution: Disabling this means potentially flying the drone without 

being able to send commands to it from eMotion X. 

111 
Extended guide to mission planning 

Hold if ground proximity detected 

If your mission takes the drone into close proximity with the ground, disabling 

this increases the risk of a crash. 

Return to Home in case of low endurance 

When enabled, the drone will ensure that there is enough battery charge to reach 

the Home waypoint. If, during an autonomous mission, the battery level approaches 

the point at which there will not be enough to reach Home, the drone will abandon the mission and head for Home. 

112 

Caution: Disabling this means flying with the risk that, if the drone's 

battery runs out before reaching Home, it will carry out an emergency 

landing and you may lose the drone. 
\ I 

I 

I j 

Part VI 

Extended guide to interactive and 

manual flight 
) 

Extended guide to interactive and manual flight 

16 Manual and interactive flight modes 

16.1 About the eXom's dual autopilots 

I 

I -1 ((<' IMU 

HLAP ., Barometer I 

((< .., IMU 

LLAP 

-11 Barometer I 

eX om 

The eXam's autopilot is divided into 2 functional units- the high-level autopilot 

(HLAP) and the low-level autopilot (LLAP). Each autopilot has its own barometer 

to measure the drone's altitude and IMU (inertial measurement unit) to measure 

its orientation and acceleration. 

The high-level autopilot controls the eXom during autonomous flight and, with 

anti-drift on, carries out the calculations that keep the drone from drifting. When 

you are using the Screen Fly Controller, you are interacting with the high-level autopilot. 

The low-level autopilot directly controls the motors. In normal flight, the lowlevel autopilot gets its instructions from the high-level autopilot. If you are using 

the Remote Control, you are interacting with the low-level autopilot, however, in 

normal flight, it passes its commands to the high-level autopilot for processing. 

114 
Manual and interactive flight modes 

About the autopilot's sensor inputs 

The eXom's autopilots analyse inputs from the following types of sensor. Advanced algorithms combine the inputs to precisely calculate the drone's position, 

orientation and speed: 

• Navcams 

Used to analyse optic flow. Input from the navcams combined with data 

from other sensors allows the eXom to calculate its speed relative to a surface. 

• Ultrasonic sensors 

Used to detect and measure the distance to surrounding objects and surfaces. Distance Lock, for example, uses these sensors to maintain the drone's 

distance from a surface. 

• Inertial measurement units (I MUs) 

Used to measures the orientation and movement of the drone. Input from 

the IMU's combined with other sensors allows the eXomto measure changes 

in its orientation and position. 

• GNSS receiver 

Used to calculate the drone's position and altitude using GNSS signals. 

• Magnetometer 

Used as a compass to measure the drone's orientation with respect to the 

Earth's magnetic field. 

• Barometers 

Measure air pressure to estimate the drone's altitude. 

115 
Extended guide to interactive and manual flight 

16.2 Flight control modes 

Your eXom has the following flight control modes: 

• Interactive 

The mode you are using when you activate the Screen Fly Controller. Inputs 

from all of the eXam's sensors are combined and used to stabilise the drone 

and compensate for wind. When you move the controller's joysticks you 

set the drone's speed. The drone automatically neutralises its momentum 

when you release the sticks30• It is the easiest way to pilot the eXom. 

• Interactive: Anti-Drift Off 

The mode you are using if you have activated the Screen Fly Controller but 

have disabled the anti-drift by pressing the right-hand joystick. It gives you 

direct control of the drone's angles. It automatically neutralises vertical and 

rotational momentum, but not horizontal momentum. It does not compensate for the wind. 

• Manual 

The mode you are using when you activate the Remote Control. Both autopilots work together in this mode. It gives you near-direct control of the 

drone's thrust, its pitch and roll angle and does not compensate for the 

wind. Momentum is not automatically neutralised. 

• HLAP Bypass (High-Level Autopilot Bypass) 31 

An emergency mode on the Remote Control that allows you to cut the highlevel autopilot off. You have a similar level of control to Manual mode, however the drone's reactions are more abrupt. 

30 if travelling horizontally, it briefly applies opposite pitch or roll 

if travelling vertically, it briefly applies opposite thrust 31 once activated, you cannot deactivate this mode in flight. To deactivate, restart the drone. 

116 
\ 

) 

Manual and interactive flight modes 

The capabilities ofthe eXom vary according to the flight mode: 

Mode Anti-drife3 Cruise control Distance 

lock 

Up/down Left/right 

~.) Interactive Yes Yes Yes Yes 

.. ·~·· • _i•.l Interactive: Anti-Drift Off No Yes No Yes 

Manual No No No No 

HLAP Bypass No No No No 

Flight modes and autopilot inputs 

The eXam's autopilots process inputs from different sensors in different modes. If 

a sensor becomes unreliable, it can cause the drone to behave unexpectedly and 

you should consider switching mode. 

Mode Autopilot processes inputs from: 

IMU Ultrasonic GNSS Navcams 

sensors 

Interactive Yes Yes Yes 

Interactive: Anti-Drift Off Yes Yes No 

Manual Yes No No 

HLAP Bypass Yes3

s No No 

33 compensates for wind and maintains the drone's position in a hover 35 the low-level autopilot'siMU and barometer 

Yes 

No 

No 

No 

Barometer 

Yes 

Yes 

Yes 

Yes3s 

Magnetometer 

Yes 

Yes 

No 

No 

117 
Extended guide to interactive and manual flight 

Choosing a flight control mode 

It's important to use the best flight mode for the conditions. 

Interactive 

Use: When you expect GNSS signals to be strong. 

When there is little chance of movement underneath the drone. 

Do not use: If you expect to lose GNSS signals. 

If the anti-drift is sending the drone off course. 

In zones where there is a lot of movement under the drone36 

This is the easiest way to fly the eX om. 

Poor GNSS signals can cause the anti-drift logic to erroneously correct the 

drone's trajectory. 

You can switch the anti-drift off if it starts to send your drone off course. 

36 for example, if flying over swaying grass or moving trees in windy conditions, or if vehicles are passing under the drone 

118 
) 

Manual and interactive flight modes 

Interactive: Anti-Drift Off 

Use: When you expect GNSS signals to be weak. 

If you lose GNSS signals and want to continue flying. 

In Interactive mode if the drone starts to drift off course. 

When flying close to large structures such as buildings or cliffs. 

Do not use: If all is well - if GNSS signals are strong and the drone is not 

drifting. The drone will be more predictable with the anti-drift 

switched on. 

The eXom will not maintain its position during a hover and may drift sideways while moving. You must use pitch and roll to counteract the wind. 

In this mode, the eXom can still automatically maintain its altitude. 

Caution: Only switch the anti-drift back on if you expect strong GNSS 

signals. 

Manual 

Use: If very fine control of the drone is absolutely essential. 

In an emergency. 

If the drone is ignoring eMotion X or the Screen Fly Controller. 

Do not use: If you are an inexperienced pilot. 

Everyday use of the Remote Control is not recommended. 

Have the Remote Control to hand in case of emergency. 

119 
Extended guide to interactive and manual flight 

HLAP Bypass 

Use: Only in case of emergency (the drone is out of control). 

Once activated, you cannot deactivate this mode in flight. To deactivate, 

restart the drone. 

The eXam will automatically switch to this mode if there is a critical malfunction in one of the HLAP's sensors or the main processo~ • 

17 Flying without GNSS signals 

17.1 About GNSS signals 

The eXam uses satellite positioning (GNSS) signals for navigation and flight stabilisation. 

The following can reduce the number and quality ofthe signals the drone receives 

or affect its ability to process the signals: 

• Terrain 

Your drone cannot receive the signals if they are blocked by the terrain. 

The number of signals received will be lower, for example, in mountainous 

regions or inside a open-cast mine. 

• Physical barriers 

In general, brick, concrete and metal will stop the signals from reaching the 

drone. 

• Reflective surfaces 

The signals can bounce off flat surfaces such as walls, doors or the sides 

of vehicles. If the drone receives a signal and its reflection, it can affect its 

ability to process the signal. Metallic surfaces are the most reflective. 

37 the message LLAP take-over will appear in the Status pane on eMotion X's Drone panel's Monitor tab 

120 
\ 

) 

0 

Manual and interactive flight modes 

Note: A large vertical surface, such as the side of a building or a cliff, 

is both a physical barrier and a source of reflections. Consider using a 

flight mode that does not require GNSS signals when inspecting large 

structures. 

17.2 No GNSS mode 

In extended zones where GNSS signal reception is poor, suffers from interference 

or reflections, you can disable the GNSS receiver and take off without satellite positioning. 

In this No GNSS mode, the drone cannot calculate its position, therefore: 

• Autonomous flight is unavailable 

• No Home waypoint is set 

• No Start waypoint is set 

• The drone's position is not shown on the map 

0 Note: With the GNSS receiver disabled you can still fly in all interactive and manual modes. 

Caution: Without GNSS-based positioning, the drone will use only 

optic flow to estimate its ground speed in Interactive mode. It may 

drift out of position if far from the ground. If it does, switch to Interactive: Anti-Drift Off. 

121 
Extended guide to interactive and manual flight 

How to deactivate the GNSS receiver 

Check the No GNSS mode checkbox in your drone's HI Parameters tab before takeoff. 

0 Note: You cannot switch No GNSS off or back on in the air. 

122 
18 

18.1 

Manual flight with the Remote Control 

Manual flight with the Remote Control 

Goal of this section: This section describes how to use the Remote 

Control to manually control the drone. 

Caution: Manual operation of the eXom requires advanced piloting 

skills. 

About the Remote Control 

Use the Remote Control to fly your drone manually. The sticks of the Remote Control directly set the motors' thrust. The only flight assistance provided is automatic 

hover, activated when you release the sticks. 

Caution: Do not turn the Remote Control on without it being held in 

the hands of a pilot who is ready to take immediate manual control 

oft he drone. Turn the Remote Control off before putting it down. 

Caution: The Remote Control emits an audible low-battery warning. 

If you hear this warning, take action immediately; land your drone 

and change the batteries. 

You can take manual control of the eXom with the Remote Control at any time, as 

long as the drone is within range38. 

38 see Drone specifications on page 169 

123 
Extended guide to interactive and manual flight 

124 

Set*-----, 

*Do not touch these controls 

Manual control (power) on/off -----, 

Takeoff/land-----, ,...-----oCustom switch 

~ 

:c: 

-~·g·~· :o: 's'@. 's' 

on!:( !ITo u ~ u c::rrl:e)lo 

'lA---HLAP bypass 

(Press) 

.,r----Roll 
\ 

) 

18.2 

Manual flight with the Remote Control 

Caution: When flying manually, the pilot must pay great attention 

to obstacles in the area, the drone's proximity to the ground, the inversion of control commands when the drone is flying towards the 

pilot and the distance between the drone and the pilot. 

About flight assistance when flying manually 

When flying manually with the Remote Control, the drone's autopilot will not assist you in any way: 

• It will not prevent the drone being pushed off course by the wind. 

• It will not maintain its position when hovering. 

• To stop the drone you will need to briefly apply the opposite command to 

the one you just used. If you don't, it will carry on going into the same 

direction due to momentum. 

18.3 

Caution: In the rare event of a high-level autopilot malfunction while 

flying autonomously or interactively, the drone will automatically 

carry out an emergency landing. However, you can still take control of the drone with the Remote Control, if in range39, and pilot the 

drone to the ground. 

How to take control of the drone with the Remote Control 

With the eXom powered on and either in flight, or ready to fly, power the Remote 

Control on by pressing its power button. 

39 see Drone specifications on page 169 

125 
) 

Extended guide to interactive and manual flight 

If all is well and the eXam is within range, after a short pause (approximately 1 s), 

the Remote Control will emit 5 rapid beeps to confirm that it has taken control of 

the drone. 

While the Remote Control is in control of the drone, its power button flashes approximately once per second. 

If the Remote Control does not beep five times, or its power button does not flash 

every second, the Remote Control is not controlling the drone. 

To return control to the drone, eMotion X or the Screen Fly Controller, press the 

Remote Control's power button again to switch it off. 

Caution: There will be a short delay (1-2 s) before control is returned. 

Put the drone into a hover before switching the Remote Control off. 

Note: To obtain the maximum range, tilt the Remote Control up and 

orientate it in the direction of the drone. 

18.4 Using the Remote Control 

The following table describes the drone's response to your inputs on the Remote 

Control. 

126 

• Push forward on a stick means push the stick away from you (or up in the 

diagram on page 124). 

• Pull back on a stick means pull the stick towards you (or down in the diagram on page 124). 

• Release a stick means let go and let the stick spring back into its neutral 

position. 

• To press on a stick means push down on the top ofthe stick, along the stick's 

axis. You will feel a click. 
Manual flight with the Remote Control 

• Turn (yaw) direction is given as if you were on board the drone (from the 

drone's frame of reference). 

Remote Control Functions 

A: Left stick Push forward Increase thrust 

Pull back Decrease thrust 

Push left Yaw to left (port) 

Push right Yaw to right (starboard) 

Release Maintain altitude 

Press & hold (1 s) Motors off 

B: Right stick Push forward Pitch forward 

Pull back Pitch backward 

Push left Roll to left (port) 

Push right Roll to right (starboard) 

Release Flat pitch/roll 

Press HLAP bypass 

127 
Extended guide to interactive and manual flight 

A+B: Both Release Hover 

sticks 

C: Take off/ Push forward On the ground: take off 

land 

While landing: abort landing 

Pull back Land 

While taking off: abort 

take-off 

D: Custom Push forward User defined 

Pull back User defined 

E: Auto photo Push left Off 

sequence 

Push right On 

F: Disabled Do not use Do not use 

G: Set Do not press Do not press 

128 
Manual flight with the Remote Control 

Caution: Flying with the Remote Control requires some piloting experience. 

Pre-flight Remote Control check 

If you plan to use the Remote Control during a flight we recommend that you 

check it before flight. 

1. Place the drone in a safe and suitable take-off location. 

2. Insert the battery and power on the drone. 

3. Launch eMotion X and connect to the drone. 

4. Switch the Remote Control on. 

5. Slide the take off/land slider up. The drone will take off. Allow it to spin 

around once to calibrate its compass. 

6. Use the Remote Control to carry out some small, simple manoeuvres (yaw, 

tilt, climb, descend). 

7. Slide the take off/land slider down. The drone will land. 

8. Turn the Remote Control off. 

Caution: If you detect a problem with the Remote Control, land the 

drone immediately. If you cannot land with the Remote Control, click 

LAND NOW in eMotion X. Do not attempt to fly with a malfunctioning 

Remote Control. 

For more information on using the Remote Control, refer to the original user manual, available from the Knowledge Base within my.senseFiy40. 

40 http:/ /my.sensefly.com 

129 
\, 

) 

Extended guide to interactive and manual flight 

18.5 Manual take-off and landing 

Caution: We recommend you perform an automatic take-off and 

landing using eMotion X or the Screen Fly Controller whenever possible. 

Manual take-off 

1. Prepare the drone for flight as described in Preparing to fly the eXom on 

page 19 while keeping the Remote Control turned off. 

2. Take the Remote Control in your hands and switch it on. Leave the sticks 

alone, in their neutral position. 

3. Place the eXom in its take-off location and power it on using its power button. The status LED will indicate the progress of the drone's autopilot's 

start-up sequence. 

4. Push the take off slider (C) on the Remote Control up. The drone will climb 

to 1m. 

5. Leave the sticks alone while the drone spins around once to calibrate its 

internal compass. 

6. The drone will hover awaiting commands from the Remote Control. 

0 Note: Although it is possible, do not use the Remote Control to take 

control of the drone before compass calibration is complete. Flying 

an uncalibrated drone can result in it rotating (yawing) unexpectedly. 

130 
\ 

) 

Manual flight with the Remote Control 

Manual landing 

• Position your drone over the landing location and push the take off slider 

(C) on the Remote Control down. The drone will land. 

• Pilot your drone down to the ground. Approach the ground at low vertical 

speed. Once on the ground, press and hold the left stick for 1 s to stop the 

motors. 

18.6 Motor cut-off 

Pressing the left stick down until it clicks and holding for 1 swill cause the eXom's 

motors to stop. 

18.7 

Caution: Only stop the motors when the drone is on the ground. Always stop the motors before picking the drone up. 

Caution: If the drone is in the air, only use this feature in an absolute emergency. The drone will immediately drop out of the sky and 

risks damaging or injuring anything or anyone beneath it. Even at 

low altitude, using this feature may cause irreparable damage to the 

drone. 

Manual flight 

How to climb using the Remote Control 

Push the left stick up and the drone will climb. 

131 
-\ 

) 

Extended guide to interactive and manual flight 

How to hover using the Remote Control 

Release both sticks, allowing then to spring back to their central position. The 

drone will maintain a hover. 

Caution: If your drone is at altitude in a zone that has little or no satellite positioning signal coverage, it will not be able to automatically 

maintain a hover. You must use the right and left sticks to maintain a 

hover manually. 

How to yaw using the Remote Control 

Push the left stick to the right to turn the drone on its axis to the right (clockwise 

when viewed from above). 

Push the left stick to the left to turn the drone on its axis to the left (anti clockwise 

when viewed from above). 

How to fly forward using the Remote Control 

Release the left stick, allowing it to spring back to its central position. Push the 

right stick up and the drone will tilt and fly forward. Use the left stick to provide 

enough additional thrust to maintain altitude. 

How to tilt and fly to the left or right using the Remote Control 

Release the left stick, allowing it to spring back to its central position. Push the 

right stick to the left or right and the drone will tilt and fly in that direction. Use 

the left stick to provide enough additional thrust to maintain altitude. 

132 
Manual flight with the Remote Control 

18.8 Returning control to eMotion X 

To return control to eMotion X, press its power on/off button to switch the Remote 

Control off. The drone will hover and wait for the next command. 

If you interrupted an autonomous mission, click RESUME MISSION to continue from 

where the mission left off. 

0 

18.9 

Note: If you have activated the HLAP Bypass flight mode, you cannot 

return control to eMotion X41 • 

How to change the Remote Control's batteries 

1. The battery cover is on the back of the Remote Control. Slide the battery 

cover off. 

2. Remove any used batteries. 

3. Replace them with fresh batteries, following the polarity(+/-) indication on 

the inside of the battery compartment. 

4. Replace the battery cover. 

Caution: Always change all the batteries at once. Do not mix fresh 

and used batteries. 

41 see Flight control modes on page 116 

133 
Part VII 

Maintenance and Repair 

) 
Maintenance and Repair 

19 

19.1 

Maintenance and repair of the eXom 

Goal of this section: The eXom is an advanced, robust and reliable 

UAV system. Nevertheless, occasional maintenance is required. This 

section describes how to keep your drone in good working condition. 

Upgrading the eXom's software and firmware 

Occasionally, senseFiy releases a software and firmware upgrade for eMotion X 

and the eXom to provide additional features or correct potential issues. 

How to upgrade eMotion X 

eMotion X will check for new versions during start-up42 and will display a message 

with update instructions if a new version is available. 

You can also check yourself and obtain the latest software from my.senseFil3

• 

It is important that both the drone and eMotion X have the same software version 

for them to work properly together. Make sure that you keep both up-to-date. 

Caution: We are constantly working to improve the performance of 

our products and we are dedicated to providing our customers with 

the newest software as soon as it becomes available. Since the highest level of flight safety can only be achieved with the latest software 

release, senseFiy Ltd can only offer warranty service for products that 

have been properly updated. 

42 provided that there is an internet connection 43 http:/ /my.sensefly.com 

136 
) 

Maintenance and repair of the eXom 

How to update the eXom's firmware 

Every version of eMotion X is packaged with an accompanying firmware revision 

which must be installed on the drone before it can be used. 

eXom firmware updates have 2 phases- in the first phase, eMotion X installs the 

firmware onto the drone, then during the second, the drone's HLAP updates its 

LLAP. 

1. First, update eMotion X following the on-screen instructions. 

2. If the drone is on, power it off and remove the battery. 

3. Connect the supplied USB cable between the computer on which you installed eMotion X and the Autopilot Port (the right-hand USB port) on the 

side of the eXom. 

4. Install the battery in the drone. 

5. Power the drone on. 

6. Launch eMotion X. Click Cancel in eMotion X's Connect dialog. 

7. In eMotion X, choose Updater eXam ... from the t='1 File menu. 

8. Click Update to begin the first phase of the update process. 

9. Once the first phase of the update has completed successfully (indicated 

by 100% progress and a message in green within the Updater), power the 

drone off, remove the battery and disconnect the USB cable. 

10. Re-insert the battery and power the drone on to begin the second phase 

of the update. 

137 
Maintenance and Repair 

11. When the update is complete, the LED will shine blue and the eXom will 

beep. 

Your eXom is ready to fly. You can now use eMotion X's Connect dialog to 

connect to the drone through the ground modem. 

0 Note: A firmware update upgrades several of the drone's systems 

(HLAP, LLAP, etc.) and can take several minutes, during which time 

the drone may restart more than once. Do not interrupt the update. 

If more than 10 minutes have passed and the update is not complete, 

contact senseFiy or your reseller. 

To check which version of eMotion X you have installed, choose About eMotion 

X ... from the \:=J File menu. Your eXam's firmware version is shown in the Drone 

panel's HI Parameters tab. This should match the Firmware version in the Updater. 

19.2 Full inspection 

Beyond the general airframe inspection that is performed before every flight, sense Fly 

recommends that perform a full airframe and sensor inspection regularly and after any incident44. 

Caution: The autopilot, sensors and actuators within the central 

body of the eXom are specially calibrated and should only be modified by senseFiy or your eXom reseller. Opening the central body of 

the eXom will void the warranty. 

Check your motors 

The eXom uses brush less DC motors to turn its propellers and generate thrust. All 

4 motors must be clean and spin smoothly without friction to function correctly. 

44 see Maintenance schedule on page 164 

138 
/ 

Maintenance and repair of the eXom 

To check the motors, follow these steps: 

1. Remove the battery from the eXom. 

2. Visually inspect the motors. 

3. Turn each propeller with your finger. Ensure that there is no sand or other 

obstruction preventing the motor from turning smoothly. If the motor does 

not turn smoothly, blow some air through the motor to dislodge any obstruction. If this does not help, contact senseFiy or your reseller. 

Check head mechanism and inertial sensors 

The inertial sensors are used by the autopilot to compute the attitude (i.e. its orientation in space) of the drone and control the head. To check the head and inertial sensors, follow these steps: 

• Put the eXom on a flat surface such as a table. 

• Gently turn the head up and down and tilt it from side to side. If you feel 

any resistance, contact senseFly or your reseller. 

• Power on the drone. 

• Watch and listen to the head during calibration. Check that it moves freely 

without any excessive noise. 

• Check that the head is pointing straight ahead at the end of calibration. 

• Check that the head is not tilted to one side at the end of calibration. 

• Take the drone in your hands and tilt it in all directions. Make sure that the 

head stabilisation functions smoothly in all directions. 

139 
Maintenance and Repair 

Check physical integrity 

1. Take the drone in your hands and tilt it in all directions. 

2. Listen for loose objects inside the drone. If you hear anything rattling, do 

not fly. 

19.3 About your eXom's propellers 

The eXam's propellers come in pairs that rotate in opposite directions and have 

opposite pitch. You must install the correct propeller on the correct motor. A 

propeller with a circular lock symbol on it must be installed on the motor that is 

labelled with the same circular lock symbol. 

Damaged or loose propellers are unsafe, cause vibrations and must be replaced. 

senseFiy recommends changing the propellers on a regular basis. See Maintenance schedule on page 164 for details. 

You do not need to replace all4 propellers at once. You can replace one propeller 

at a time. 

140 
\ 

) 

\ ) 

Maintenance and repair of the eXom 

Attaching and detaching propellers 

x2 

x2 

X 1 

141 
Maintenance and Repair 

142 
Maintenance and repair of the eXom 

2. 

3. 

143 
Maintenance and Repair 

How to attach the propellers 

1. Position the correct propeller on the correct motor. Make sure that the labels match (circular or square lock symbol). 

2. Take the screwdriver provided and insert it into one of the sockets on the 

motor. 

3. While holding the screwdriver to prevent the motor from turning, turn the 

propeller in the direction of the arrows. The propeller will click into place. 

Locked on Not locked on 

Caution: Never fly your eXom with a propeller missing or incorrectly 

locked on. 

How to detach a propeller 

144 

1. Take the screwdriver provided and insert it into one of the sockets on the 

motor. 

2. While holding the screwdriver to prevent the motor from turning, turn the 

propeller in the opposite direction to the arrows to unlock and remove it. 
) 

19.4 Changing a leg 

1. ·~ 

)J 

Maintenance and repair of the eXom 

X 1 

~--------------

.'.!1:--

145 
Maintenance and Repair 

2. 

146 
Maintenance and repair of the eXom 

3. 

I 

\ \ 

\J 

First, completely remove the shrouding on the side the leg is on ... 

1. Take the screwdriver supplied with youreXom and unscrew the 2 shrouding 

screws at the top of the leg you want to change. 

2. Unscrew the 2 shrouding screws on the top of the other leg (on the same 

side of the eXom as the leg you want to change). 

3. Lift the shrouding mounting points a little so that they are free to move. 

4. While holding the leg in place, push the shrouding out of each of its clips. 

147 
Maintenance and Repair 

A good way to do this is to hook the fingers of one hand over the leg then 

push the shrouding out of its clip with your thumb. 

{!) Caution: Do not twist the legs. 

5. Put the shrouding to one side. 

Next, remove the leg ... 

6. Unscrew the screw that's holding the leg you want to change in place and 

lift the leg off. 

Caution: Never try and unscrew the motor mounting screw that's 

under the leg. 

Fit the new leg ... 

7. Take the new leg and fit it into place. 

8. Screw the leg screws in gently until they stop. Then add half a turn to 

tighten. 

0 Note: The screws can easily become worn or damaged during removal. We recommend using a new set of screws with each new leg. 

Finally, reinstall the shrouding ... 

148 

9. Take the shrouding, pass it under the legs, then clip it back into the clips. 

A good way to do this is to hook the fingers of one hand over the leg then 

push the shrouding into its clip with your thumb. 
Maintenance and repair of the eXom 

10. Slot the top shrouding mounts back into place and firmly screw all4 screws 

back in. 

0 Caution: Never attempt to fly without the shrouding or legs. 

19.5 Changing a leg cap 

The leg caps wear down with use. You should replace worn leg caps. 

1. Carefully work the leg cap off the leg. 

0 Note: The caps are glued on. You may need to use a knife to carefully 

cut the cap without damaging the leg. 

2. Place a drop of epoxy resin inside the new cap. 

3. Push the new cap firmly onto the leg. 

4. Allow the glue to dry before flying. 

19.6 Changing the shrouding 

Cracked shrouding weakens your eXam's structure and must be replaced. 

If the shrouding is only scratched or scuffed it should not need to be replaced. 

Follow the instructions for removing and replacing the shrouding within Changing a leg on page 145. 

0 Note: The screws can easily become worn or damaged during removal. We recommend replacing them with new screws when you 

change the shrouding. 

149 
) 

Maintenance and Repair 

19.7 Changing a ground modem antenna 

1. Grip the serrated part at the base of the antenna and carefully unscrew the 

old antenna. 

2. Ensure that the antenna threads are clean and undamaged. 

3. Screw the new antenna firmly on using finger force only. Take care not to 

cross the threads. 

You can obtain replacement antennas from sense Fly or your reseller. 

19.8 Cleaning the eXom 

Use a damp cloth to wipe off dirt from the eXam's sensor modules, housing, motors, propellers and shrouding. 

Use the cleaning tool provided to clean the camera lenses. 

19.9 

Caution: Never bring the eXam into direct contact with water; this 

may damage its electronics. 

Caution: Never use pressurised air to clean the eXam. You will damage the ultrasonic sensors. 

Storing the eXom 

Always clean the eXam before returning it to its case for storage. 

Whenever possible, store the eXam in the case it was supplied in. 

150 
) 

Maintenance and repair of the eXom 

19.1 0 Repairing the eXom airframe 

The eXam's advanced materials and construction mean that it has very few userserviceable parts. 

• Only carry out the basic repairs described in this user manual. 

• Do not try and disassemble the drone beyond the part replacement procedures described in this manual. 

• Do not try and remove the top cover. 

• Do not try and repair carbon fibre parts, for example, the arms or shrouding. 

• If your drone is damaged, contact sense Fly or your eXom reseller. 

0 Caution: Never fly a damaged eXom. 

19.11 Proper battery care 

Proper care of your eXam's battery is important to prevent damage to your drone 

and to maximise flight time. Batteries perform better at medium or high air temperature and it is normal to observe shorter flight times in cold weather. 

The charger delivered with your drone automatically checks for healthy voltages 

of all cells and only attempts charging if they are within limits. If the cells are out 

of balance, the charger will take care of balancing them. 

Caution: The batteries delivered with your drone are designed to be 

charged with the charger delivered with your eXom. senseFiy cannot 

be held responsible for any consequences resulting from using a different charger. In particular, using a charger improperly configured 

or designed for other types of batteries may lead the battery pack to 

be permanently damaged or to catch fire. 

151 
Maintenance and Repair 

LiPo batteries do not exhibit any memory effect. You do not need to fully discharge them before charging them again. Recharging them when only partially 

discharged does not reduce their total charge, damage the battery or shorten its 

useful life. 

Dispose of the battery safely and appropriately. 

When not using the battery for an extended period, store it 70% charged in the 

carrying case provided with your drone. To achieve approximately 70% charge: 

152 

• If the battery is charged, discharge it by flying the drone until 3 or fewer 

LEOs light up when you press the battery level button. 

• Connect the battery to the charger and charge it. As soon as the 4th LED 

starts blinking (indicating 75% charge), disconnect the charger. 

Caution: After flight, the battery will be warm. Allow it to cool down 

before charging it. 

Caution: Always fly missions with a fully-charged battery. 

Caution: If the battery swells or if any of the cells are punctured the 

battery is damaged and should be discarded. Do not charge a damaged battery- it may catch fire. 

Caution: If the battery gets wet, allow it to dry thoroughly before 

flying with it. 

Caution: Make sure not to leave batteries exposed to the sun or other 

sources of heat. 
Maintenance and repair of the eXom 

Battery security write-off 

Continuing to draw current from a LiPo battery that is almost empty results is a 

very high risk of damaging the cells. In general, a battery damaged in this way 

continues to indicate successful charging, when in fact only a small amount of 

power is available for flight, putting your drone at risk. 

In normal use, the eXom's smart battery maintains a power reserve in the battery, 

preventing this from happening. 

In some rare situations, for example, an emergency landing in windy conditions, 

the eXom has been designed to prioritise powering, and thus saving the drone 

over conserving the battery's reserve power. It will continue to draw power from 

the battery despite detecting that the voltage is critically low. 

If this happens, the battery is automatically written off. That is, the smart battery 

processor blocks any further use of the battery, and the battery must be replaced. 

If you attempt to use the battery, a take-off veto is raised45• 

45 see Take-off vetoes on the next page 

153 
) 

Maintenance and Repair 

20 Troubleshooting 

Goal of this section: This section describes the various error messages that may be displayed during start-up or while the eXom is in 

flight and provides some tips on solving the simplest problems. 

In the case of a more serious problem, this section describes how to 

prepare the required data on the problem and report it to sense Fly or 

your eXom reseller. 

The eXom can generate several types of error messages. Some of these messages 

are minor and simply need to be acknowledged through eMotion X, whereas others require more specific action from the user. If the drone is connected to eMotion X, error messages will appear in the Status panel on the Drone panel's '(:i2/ Monitor tab. 

The following error message types are possible: 

• Take-off vetoes 

• In-flight warnings 

• Critical failures. 

20.1 Take-off vetoes 

If, during pre-flight checks, the eXom detects a condition that prevents it from 

taking off, or makes taking off unwise, it will raise a take-off veto. A message will 

appear in the Status panel in eMotion X's ~iJ Monitor tab. 

Once the take-off veto is cleared, the eXom is ready for take-off. 

The following table presents all the take-off vetoes that can be raised and the 

actions you can take to allow take-off. If you cannot clear the veto, please follow 

the instructions in Reporting a problem with your eXom on page 163. 

154 
\, 

J 

Battery too low for take-off 

Outside working area 

SO card missing 

Battery written off 

20.2 In-flight warnings 

Troubleshooting 

Take-off vetos 

User action: Charge or change the battery. 

You are trying to take off outside the Working Area. 

User action: Move your drone into the 

Working Area or redefine your Working 

Area46• 

Without the SO card the eXom cannot capture any video or photos. 

User action: Insert an SO card into the slot 

on the eXom. 

The battery was pushed beyond its performance limits in a previous flight and can no 

longer be used. 

User action: Change the battery. 

While it is in flight the eXom can generate two types of errors: warnings and failures. In-flight warnings occur when there is an event that requires an automatic 

response from the drone, or the user's attention and action, but does not compromise the drone's ability to continue flying. 

When an In-flight warning is activated the warning will appear in yellow in eMotion X and cause the WARNING button in the Control Bar to change to ACK. WARNING, turn yellow and activate. 

If an in-flight warning is raised while the drone is flying autonomously, the drone 

will, in almost all cases, automatically respond, aborting the mission and heading 

back to the Home waypoint. The drone is flying autonomously when: 

155 
Maintenance and Repair 

• Flying an autonomous mission 

• Flying to the Start waypoint 

• Flying to the Home waypoint47 

• Holding 

• Resuming an interrupted mission 

• Autonomous landing after a mission 

If flying manually, warnings must be acknowledged by clicking on the ACK. WARNING button on eMotion X's Control Bar, after which, to avoid loss of your drone, 

collision or a crash, you must carry out the action recommended below. The full 

list of possible In-flight warnings and required User actions can be found in the 

following table. 

47 see About the Start and Home waypoints on page 36 

156 
) 

Battery temperature 

Low battery 

Battery malfunction 

Troubleshooting 

In-flight warnings 

Your eXam's batteries have overheated. There is a risk 

of battery failure or fire. 

User action: Land as soon as possible. Remove the 

battery from the drone and place it in a fireproof bag 

or container to cool down. Inspect the battery before 

charging it again. 

Prevention: Inspect your batteries before each flight. 

Store them according to senseFiy's recommendations. 

Do not operate the drone outside the recommended 

temperature range. 

The remaining battery level is below 15%- it is risky to 

continue the flight plan. 

Automatic response: The drone flies to Home and 

lands. 

User Action: Land as soon as possible. Recharge the 

battery. 

The drone is unable to monitor the battery. There is a 

risk that the battery will run out during flight. 

User Action: Land as soon as possible. Recharge the 

drone battery before the next flight. 

157 
\ 

J 

Maintenance and Repair 

Navigation disabled 

SD card missing 

SD card full 

Out of working 

area 

158 

The drone encountered an error and cannot continue 

the mission. 

Automatic response: The drone holds its position (enters a hover). 

User Action: Land as soon as possible and restart the 

drone. 

The drone can no longer detect the SD card. 

User Action: Land as soon as possible, remove the SD 

card, restart the drone then re-insert the SD card. 

The SD card is full. 

User Action: Land as soon as possible. Insert a card 

that is not full. Use only SD cards provided by senseFiy. 

The drone has left the working area but has not reached 

the outer security limit. This may occur if waypoints 

are set very close to the edge of the working area or if 

strong wind pushes the drone out of it. There is a risk of 

collision, loss or prosecution. 

Automatic response: The drone flies to the Home 

waypoint. 

User Action: Bring the drone back into the working 

area. 

Prevention: Only fly your drone in suitable weather 

conditions. 
Troubleshooting 

Above working The drone has climbed above the working area ceiling. 

area This may occur if waypoints are set very close to the top 

of the working area or if strong wind pushes the drone 

out of it. There is a risk of collision, loss or prosecution. 

Automatic response: The drone flies to the Home 

waypoint. 

User Action: Bring the drone back below the working 

ceiling. 

Prevention: Only fly your drone in suitable weather 

conditions. 

*Uplink lost The eXam has not received any data from eMotion X for 

more than 30 s. This can be due to a large distance between drone and ground modem, a problem with the 

ground modem, antenna positioning or interference. 

Automatic response: The drone flies to the Home 

waypoint. 

User action: Try to improve radio signal quality. 

*GPS required GNSS signals are very poor or have been lost and 

but unavailable the eXom can no longer calculate its position for autonomous flight. 

Automatic response: The drone attempts to hold its 

position (hover) but is likely to drift. 

User action Take interactive or manual control as soon 

as possible. 

*Wind too There is too much wind to maintain stable flight. The 

strong drone risks being blown out of the working area. The 

drone will try and reach the Home waypoint. 

User Action: Land as soon as possible. 

159 
Maintenance and Repair 

*Ground proximity 

The drone has detected that it is close to the ground. It 

risks crashing. 

Automatic response: The drone holds its position 

(hovers). 

User Action: Consider aborting the mission or adjusting waypoint altitude. 

Prevention: Carefully review mission plans in 3D. 

*These warnings can have their Security Action disabled. See Disabling security 

actions on page 111. 

20.3 Critical failures 

A critical failure is an error that occurs in flight that prevents the continuation of 

normal flight. This is the most serious type of error that can occur with the eXom. 

When a critical failure occurs flight is aborted and the drone initiates an Emergency action which immediately directs it to the ground. 

The table below describes the critical failures that may occur and what action is 

taken by the drone. In some cases it may be possible to manually control the 

drone using the Remote Control. If a critical failure occurs that results in an Emergency landing we recommend that you keep track of the drone's last known position in the air and in eMotion X if possible. 

160 
____ ) 

Autopilot failure 

Emergency cut-off 

Motor failure 

Troubleshooting 

Critical failures 

The eXam's low-level autopilot has taken control of 

the drone, which means that the high-level autopilot 

has failed. 

User action: Power on the Remote Control (HLAP Bypass Mode will be active48), take manual control of 

your drone, land and restart it. 

Prevention: Only fly within the eXam's recommended operating conditions. 

The drone has received the Motor cut-off command 

(which is actioned by the low-level autopilot). 

Effect: The motors immediately stop. 

One or more of your eXam's motors has failed or a 

propeller has failed or detached. 

Effect: The affected motors stop providing lift. 

Prevention: Inspect your propellers before each 

flight. Ensure they are firmly attached. 

User action: Prepare in whatever way possible for a 

falling drone. 

48 see Flight control modes on page 116 

161 
\. 

) 

Maintenance and Repair 

Localisation failure 

Empty battery 

Temperature critical 

Far outside working area 

162 

Satellite positioning signals have been lost for more 

than 30 s. 

Automatic response The drone immediately lands. 

User action: Take manual control (using ScreenFly 

Controller or Remote Control) as soon as possible. 

Your eXom's batteries can no longer provide enough 

energy to keep the drone airborne. 

Effect: The drone immediately lands. 

Prevention: Do not allow your drone's batteries to 

run out. 

The eXam's internal temperature has reached a critical level. 

Automatic response: The drone immediately lands. 

While flying autonomously, your eXom has been 

pushed beyond the working area's outer security 

limit. 

Automatic response: Unless flying manually, the 

drone raises an alert and immediately engages its 

landing sequence. 

Prevention: Only fly your drone in suitable weather 

conditions. 
Troubleshooting 

20.4 Locating a lost eXom in the field 

In case you lose your drone in the field for whatever reason, whether from a loss 

of communications, a critical failure or an accidental collision, use the following 

steps to try to recover it: 

1. Do not disconnect the connection to eMotion X! 

If it is out of communication range, the drone should reconnect automatically as it comes back into range. 

2. Note the last known location of the drone in eMotion X by printing the 

screen or writing down the location displayed. 

3. Move towards this last known direction with the computer running eMotion X in the hope of regaining a connection. Be sure to take the Remote 

Control with you as well. 

4. Try moving downwind from the last known location in case the drone was 

pushed by the wind while still in the air. 

20.5 Reporting a problem with your eXom 

If there is a problem with your eXom, whether it is a software malfunction, damaged airframe or any other problem, we recommend the following actions: 

1. If there is an error message displayed in eMotion X, begin by checking Troubleshooting on page 154 to see if there is a solution to the particular message. 

2. Check our Knowledge Base, part of my.senseFil9

, to see if there is a solution to your problem. 

3. If you have still not found a solution, contact your eXom reseller. Please 

include the following information with your inquiry: 

49 http:/ /my.sensefly.com 

163 
Maintenance and Repair 

0 

20.6 

• The serial number of your drone. 

• A short description of the problem. 

• The Drone Flight Log file of the flight that had a problem. 

• The eMotion Flight Log file of the flight that had a problem. You 

can find this file in the eMotion/logs/ directory which is created 

in your Windows Documents folder. 

• Photos or video of the eXam airframe, if required. 

Note: In order to provide support, senseFiy may request the flight 

log files for inspection. 

Maintenance schedule 

You must carry out a general inspection50 before every flight. 

You must perform a full inspection51 of airframe and sensors at least once a month, 

or every 20 flight hours, whichever comes first. 

Inspect propellers for wear, damage or cracks and replace as required52• 

Perform a full inspection when bringing your drone out of long-term storage (more 

than 1 month) after any repair, part replacement, heavy landing or other unexpected incident. 

50 see General inspection on page 21 51 see Full inspection on page 138 52 see General inspection on page 21 

164 
\~ 

Maintenance and inspection log 

A/C model General/Full Maintenance activity Inspec
Part VIII 

Specifications 
\ 

) 

) 

1 Software requirements 

eMotion X has the following minimum software requirements: 

Operating system Microsoft Windows 7 I 8 

64-bit only 

Hardware 1.6 GHz processor 

4GB RAM (8GB recommended) 

10GB free storage space 

Screen 1920 x 1 080 (Full HD) 

visible outdoors 

Postflight Terra 3D has the following minimum software requirements: 

Operating system Microsoft Windows 7 I 8 

64-bitonly 

Hardware 1.6 GHz processor (2 GHz Intel i51i7 IX eon recommended) 

4GB RAM (16 GB recommended for large projects) 

1 0 GB free storage space (1 TB recommended for large 

projects) 

Screen Minimum resolution: 1024x768 
) 

2 Drone specifications 

Nominal take-off weight (approx.) 1.8 kg (4.0 I b) 

Weight without battery 1.2 kg (2.6 I b) 

Maximum take-off weight 1.9 kg (4.2 I b) 

Dimensions 799 x 561 x 172 mm (31.5 x 22.1 x 6.8 in) 

Max. airspeed (manual flight) 12 m/s (43 km/h, 27 mph) 

Max. airspeed (autonomous flight) 8 m/s (29 km/h, 18 mph) 

Maximum climb speed 7 m/s (23 ft/s) 

Maximum pitch/roll angle 60° 

Possible manoeuvres Climb, descend, hover, pitch, roll, yaw 

Nominal endurance (flight timd3 22 min 

Material Carbon structure & composite parts 

Battery 3-cell 8500 mAh 

Battery weight 0.57 kg (1.3 I b) 

Optimum charge time 1.5 hours 

Main Camera- stills 38 Mp 

Main Camera FOV 63° 

Main Camera- video HD (1280 x 720 pixels) 

Stills and video geo-referenced 

Thermal Camera photos 80 x 60 pixels 

Thermal Camera FOV 50° 

53 can vary greatly depending on external factors such as wind, altitude change and temperature. 
Thermal Camera temp. resolution 0.1 o C (0.2° F) 

Navcam resolution 640 x 480 pixels 

Navcam FOV 120° 

Ultrasonic sensor range 6 m (20ft) 

Ultrasonic sensor FOV 50° 

Propulsion 4 x electric brush less motors 

Max. wind (manual flight) 1 0 m/s (36 km/h, 22 mph, 19 kts) 

Max. wind (autonomous flight) 8 m/s (29 km/h, 18 mph, 16 kts) 

Operating temperature -10 to 40° C (14 to 40° F) 
\, 

/ 

Communication devices 

Ground modem 

Range 54 Up to 2 km (1.2 miles) 

Frequency 2.4 GHz & 5 GHz ISM bands 

Streams MiMo 2x2 with Spatial Diversity 

Transmision Mode OFDM5s or DSSSs6 

Radiated Power Up to 630 mWs7 

Antennas Dual Omnidirectional 

Security WPA Encryption 

Remote control 

Frequency 2.4 GHz 

Range Up to 0.8 km (0.5 miles) 

Carry case dimensions 92 x 64 x 22 em (36 x 25 x 9 in) 

54 can vary greatly depending on external factors such as cruise altitude, presence of obstacles and 

radio-frequency interference. 55 orthogonal frequency division modulation 56 direct sequence spread spectrum 57 automatically configured based on frequency and legal limits of the country 
) 

\ 

! 

Glossary 

ATO Above the Take-off Altitude 

Your eXam's altitude can be shown and set in eMotion X using ATO. Altitudes in ATO are relative to the place your eXam started its motor just before take-off. 

OEM Digital Elevation Model 

A 3D digital representation of heights of objects on the ground. 

DSM Digital Surface Model 

A 3D digital representation of a surface. 

GCP Ground Control Point 

A location or object on the ground that has precisely know coordinates. 

GCPs are used to improve the precision of DSMs created from photog rammetric analysis of a series of images. 

geo-reference A data point associated with a specific location on the earth's surface. 

ground resolution The size, on the ground, of the finest distinguishable detail 

in an aerial image. 

GSD Ground Sampling Distance 

The distance measured on the ground between pixel centres in an image 

or DSM. The smaller the GSD, the higher the spatial resolution of the image. 

For example, a GSD of 5 em means that one pixel in the image represents 

5 em on the ground. 

mosaic A single map or terrain model created from several map sections that 

have been placed side-by-side and merged together. 

MSL Mean Sea Level 

The average level oft he surface ofthe Earth's oceans; a close approximation 

of the surface in gravitational equilibrium. 
\ 

) 

point cloud A set of data points within a coordinate system. 

rayCioud A feature unique to Postflight Terra 3D that combines the 3D point 

cloud with the original images. Multi ray matching with the rayCioud extends the stereo view triangulation and increases the accuracy of 3D point 

estimates while providing a full understanding of 3D results. 
"-\._,>.-

sense Fly 

a Parrot company 

http:/ /my.sensefly.com