\ ) DIEFFENBAUCH & HRITZ, LLC. PETITION FOR EXEMPTION 

# 2015 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



# "-

\.._,>.., 

# senseFly

a

## Parrot company' 

### ) GENERAL INFORMATION READ THIS USER MANUAL CAREFULLY BEFORE USING ASENSEFLY LTD PRODUCT. senseFiyltd products are intended for professional use only. Always complywith Civil Aviation regulations, act responsiblyandfollow 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 OFTHE LAW OFTHE COUNTRYWHERE YOU OPERATETHE 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 ofan individual may constitute an infringement oftheir image and privacy for which you can be liable. Askfor authorisation before taking pictures ofan individual, particularly ifyou 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 ofan individual. Check that your use ofthe 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 aperiod oftwelve (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 orto replace the defective product with another product or a product with similar specifications, at no charge, or to reimburse the purchase price ofthe product, or ifrepair 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 repairform 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 dueto carelessness, negligence, orwrong use bythe 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 bythird party otherthan senseFly Ltd, damage due to manual piloting in RC (remote controlled) or interactive flight, damage due to take-offor 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 offlight assistance features including but not limited to cruise control, distance lock and obstacle avoidance, damage due to loss ofdata 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 EVENTWILL 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 ACLAIM BASED ON CONTRACT, WARRANTY, TORT OR OTHERWISE, WITH THE EXCEPTION OF GROSS NEGLIGENCE AND DEATH. YOU SHALL AT ALLTIMES OPERATE THE PRODUCT IN AREAS OR UNDER CIRCUMSTANCES SO ASTO GUARANTY SECURITY AND SAFETY OF PEOPLE, PROPERTYAND ANIMALS. IN THAT CONTEXTYOU 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 ofthis product at the end of its life**~** At the end ofthis product's life, please do not dispose ofthis 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 ofthis 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, nearyour 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 arecycling 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 SsenseFiy 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 senseflyLtd 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 ofall your senseFiy drones, including their serial numbers. • The Knowledge Base- packed full ofhelpful articles, tips, tutorials and webinars. • Download links for the latest versions ofeMotion Xand PostflightTerra 3Dsoftware.

### )

\ 

### ) 

# 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 modefor experienced pilots.

At sense Fly we build our products to the very highest standards. Inspired by the aeronautical backgrounds of ourfounders, 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 Acomplete guide to your eXom comprises: • A user manual

All you need to getyou into the air safely and effectively. • An extended guideto 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 Xversion 1.0.0 and Postflight Terra 3D version 4. You can always find the latest versions of these on my.senseFiy*. The eXom requires eMotionXto operate.

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



# ) Package contents The standard eXom package contains the following items: • 1 

### xeXom drone • 1 x Interactive Screen Fly Controller • 1 x 2.4 GHz Remote Control (for safety pilots) • 1 x2.4 GHz 

### IS GHz dual band USB radio modem • 2x SD memory cards (32 GB) • 2x batteries • 2x single battery chargers w/power supplies • 1 xwheeled carry case • 1 x User Manual • 1 x USB cable set • 1 x spare leg set • 1 x spare propeller set • eMotionX&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 ofa missing item, please contact senseFiy or your eXom reseller immediately.

* download from my.senseFly at no extra cost

### Hardwarefeatures 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 _____**....~** Ultrasonictransmitter ----------'

*will be activated in afuture 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: Carbonfibre composite arms provide alightweightand sturdy structure. • Power button/status LED & strobe: Power button with built-in LED that indicates the current state ofthe eXom when on the ground and flashes brightly in the air. • Top cover: Light yet durable coverto protectthe drone's electronics. • Sensor modules: Composed of high-speed ultrasonic sensors and navcams, the 5sensor modules (head, left, right, rear and bottom) are used for navigation, landing and situational awareness.

- Navcam: High-speed optical sensorthatconstantlyanalysesthe 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 ofcapturing high-resolution video and photos.

- Thermal camera: Capable ofcapturing thermal video and stills with

edge overlay.

- Flash: Provides high-intensityflashes oflight.

- 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 thatthey 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 ofdurable 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. • Batterylevel indicator: Press the button and a series ofLEOs indicate the battery level. • Bottom strobe: Positioned on the bottom ofthe 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 senseFly support.

# ) Software features Your eXom requires eMotionX* to fly.

# eMotionX~ senseFiy

## ~ eMotionXis an integrated software packagethatallows you to interactwith your eX

om. Its easy-to-use interface allows you to pilotyour drone intuitively. Oncethe drone is in the air, you can use eMotionX's wireless connection with your eXomto track its position, assess its surroundings via its video feeds and ultrasonic sensor displays, monitorthe progress ofyourflight and send commands. You can also download and use Postflight Terra 3D* at no extra cost.
ill 

# I 

# Terra
Once youreXomreturns afteran inspection oramappingflight, PostflightTerra 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). Formapping projects, PostflightTerra 3Dcan analysethe qualityofthe 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 eMotionX 

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

### 3.2 About eMotionX's Toolbar ... 

### 3.3 About eMotionX's Bottom Bar . 

### 3.4 Aboutthe Control Bar ..... 

### 3.5 About coordinates and altitude references in eMotion X 

### 3.6 Howto connect eMotionXto 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-offand landing conditions 

### 4.7 The eXom's battery . . . .. 

### 4.8 How to powerthe 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 Afterthe mission . . . . . . . . . . . 

### Ill Your first interactive Screen

### Fly flight 75 9 The ScreenFiy Controller 76 9.1 How to activate and deactivate the ScreenFly Controller 80 10 Flying the eXom interactively with ScreenFly 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 Headlamp . 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 guideto eMotionX 85 86 87 87 88 88 89 91 

### 93 12 eMotionX's Monitortab 93 12.1 About the Monitortab 93 12.2 How to change units . 95 12.3 3D mapping in eMotionX 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 . . 101 12.8 About eMotionX's data folder . 102 12.9 Enabling advanced functions 103 12.10 Advanced connection options . 103 

# v Extended guideto 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 guideto interactive and manual flight 113 16 Manual and interactiveflight 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 ofthe drone with the Remote Control . . . 125 18.4 Using the Remote Control . . 126 18.5 Manual take-offand landing . 130 18.6 Motor cut-off . . 131 18.7 Manual flight . . 131 18.8 Returning control to eMotionX 133 18.9 How to change the Remote Control's batteries 133

### \ )



### \ ) 

### VII Maintenance and Repair 19 Maintenance and repair ofthe 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-offvetoes . 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 StartedGetting Started 

## 1 Installing the software Download the latest senseFiy software from: http://my.sensefly.com 

### Install eMotionX To fly your eX om you must install eMotionX. The software runs on MicrosoftWindows1 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. Ifnecessary, 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. eMotionX

### and Postflight Terra 3D 

### updates When software updates are available from senseFly, a message will pop up when you launch eMotionXor PostflightTerra 3D (ifyou are connected tothe 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 ofthe 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 ofthe propellers when the battery is installed in your eXom. • Powerthe drone off before handling it Switch the eXom offbefore picking it up. Never attemptto pickthe eXom up while the propellers are turning. • Never attemptto flywithoutthe legs and shrouding

The eXam's legs and shrouding are integral parts ofthe drone, providing stability and structural integrity. • Neverfly 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 Onlyfly with a senseFly battery. Flying with any other battery risks causing a malfunction and will void your warranty in case ofan incident. • Only use approved senseFiy SD cards Only fly with SD cards that have been approved by senseFly. Flying with any other SD card risks causing a malfunction and will void your warranty in case ofan incident. • Always take offand land on a stable, level surface Do not attemptto land on a steep slope oran 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. SeeAboutthe ControlBaron page 12,\ 

### )



# ) Safety precautions Flying the eX om interactivelywith ScreenFlyon page 81 and Using the Remote Controlon page 126. • Do notfly above people or animals

Pay close attention to the legal restrictions at the location you are flying. • Do notfly in high winds TheeXom mustnottake offatall ifthewind speed exceeds 10 m/s (36 km/h, 22 mph, 19 kts). See Dronespecifications on page 169 for details. • Do notfly 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 forflight See Generalinspection on page21 andAboutyoureXom'spropellerson page 140. • Check batterycharge level Make sure you have more than enough foryourflight. Land well beforethe battery is empty. See The eXam's batteryon page 30. • Set an appropriateworking area Set aworking 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 flywith eMotionX connected Ifflying using the Remote Control, connectyourdrone to eMotionXto provide situational awareness, extended communications range and a means ofcontrolling your drone and initiating a landing in case ofincident. • Always keep the Remote Control to hand It can be used as afallback means offlying the drone in case there's aproblem with your computer or its communication linkto the drone. 5

# ) Getting Started

• Leave eMotionXas much computing power as possible Do not run memory- or processor-intensive software on the same computer as eMotionXwhile flying. For example, do not process photos with Postflight Terra 30while flying. 

### 2.1 In-flight Warnings and Critical Failures Ifthe drone detects an issue while in flight itwill: • Raise an In-flight Warning and, if necessary, automatically carry out a Security Action, or • Signal aCritical Failure. In-flightWarnings are raised when adangerous situation is detected,for example, lowbattery orstrong winds. lfyoureXom raises an In-flightWarning, the WARNING button on the toolbarturns 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 ifthe drone's ability to fly is severely compromised, for example, the battery is empty. The WARNING button will turn red and read CRITICAL FAILURE. Acritical failure cannot be dismissed. Ifacritical 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 ofwhat happens if they occur in thefield. See Troubleshooting on page 154foralist ofInflightwarnings and Critical failures and the drone's reaction to them.

### \ )

\ / 

# 0 Safety precautions Note: 

### Itis importantto keep trackofthe location ofthe drone during aCritical Failure until the moment it reaches the.ground. Its coordinates can aid in finding it afterwards. See Locating a losteXom in the field

### on page 163.

7\ 

### ) Getting Started 

## 3 About 

### eMotionX

-Drone panel
Mission---

panel

l_.

**Navcam~=** selection Navcamfeed Ultrasonicsensorfeedback Bottom BarViewer The main screen ofeMotion Xis split into several sections:

8 • Main Viewer Here, eMotionXcan display a map with the drone's current position, orthe feed from theTripleView Head cameras. • Toolbar Use the toolbarto access eMotionX's main functions and control the content ofthe Main Viewer. The toolbar adapts to your choice ofMain Viewer content. When viewing the map, you'llfind buttons onthetoolbarto switch between a20 or 30 map, to control the layers, sources or map information and otherdisplay options related to the Map Area. When viewing thefeed 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 eXomwhile it is in flight, such as starting the mission phase or holding position. Warnings raised either before or during amission can be acknowledged here. SeeAboutthe ControlBaron page 12 for details.\ / About eMotionX

• Mission panel Plan autonomous missions and settheir 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-offand landing phase ofa mission.



### - rlr Parameters Use this tab to set mission planning options. • Drone panel

When you connect adrone to eMotionX, 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 monitorthe 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 sensorfeedback Indicates the drone's distance from surrounding objects.

- Bottom BarViewer Ifyou havethe map in the Main Viewer, the head camerafeed appears here, otherwise the map appears here. 9

# ) Getting Started 

### 3.1 Showing, hidingand resizing the Bottom Barand side panels

To resize a panel, click and drag the edge ofthe panel, marked >. To show or hide one ofthe panels: • Clickthe edge ofthe panel, marked 

### > . • Click and drag the edge ofthe panel to make it smaller until it disappears. 

### 3.2 About eMotion

### X's 

### Toolbar You can always find the following buttons on the toolbar:



# .. 10 Open the File menu Putthe map in the Main Viewer Toggle full-screen modeAbout eMotionX You'll see these buttons ifyou 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 ofthe map ,c,;;. Centre the map on the drone once

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

## q Zoom out ofthe 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 ifyou 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 aphoto now You'll see these buttons ifyou have the Thermal Camera feed in the Main Viewer:**~** Toggle thermal edge overlay on/off**~~~** Toggle temperature range lockto scene**~~-** Calibrate Thermal Camera pixels 

### 3.3 About eMotionX's 

### Bottom Bar You'll see these buttons ifthe 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 adrone. Use the Control Bar buttons to send commands to the drone. Use the first button (WARNING) to acknowledge 12About eMotionX 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 awarning ifone 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 ifalready on the Home waypoint. Put the drone into a hover, where it will wait for the next command. The drone creates awaypoint at that point.

13

# ) Getting Started
Immediately land atthe 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 eMotionX 

### 3.5 About coordinates and altitude references in eMotionX 

# I AID local"""'"""



## "~



# -------==::

This schematicrepresents alocal elevation datasetthatreferences astandard local ellipsoid being used forAED values. As long as eMotionXrecognisesthe projected coordinates, ittransforms them to WGS 84 on import using the GDAL3 Iibrary. 

### Altitudes in eMotionX eMotionXdisplays altitudes in different ways according to the situation: • Above theTake-offAltitude- metres (m/ATO) orfeet (ft/ATO)

ATO altitudes are relative to the place your eXom started its motorjust before taking off. • Above Mean Sea Level- metres (m/ AMSL) orfeet (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 Xcannot convert manually defined references in non-standard coordinates. 15\ I / Getting Started

uses the EGM96 mean sea level standard. 0m! AMSL (0 ft/AMSL) on land is very close to where the sea level would be ifthe 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 relativeto ageoid or an ellipsoid. Ageoid represents the shape ofthe earth in away that takes into account local changes in gravity. Ageoid 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, butdoes nottake local changes in gravity into account.



# 0 0 Note: Ifyou are using theSRTM elevation dataset suppliedwith 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 currentelevation dataset are expressed as negative values, for example, ifthe drone is at -10 m/ ATO (-33 ft/ATO) it means that it is 10 m (33ft) lowerthan the point ittook offfrom. Caution: SenseFiy Ltd cannot guarantee the accuracy ofthe elevation data supplied. It is the operator's sole responsibility to ensure a safe flight trajectory and altitude. Coordinates you enter into 

### eMotionX's user interface eMotion X assumes that any coordinate you enter is in the WGS 84 reference frame. 4 see 3D mapping in eMotion Xon page 95 16About eMotionX Ifyou are using alocal or national geoid (MSL) or geodetic coordinate system, you must convert coordinates into WGS 84 before entering them into eMotionX. 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 Howto connect eMotionX

### toyour drone 1. Connect your ground modem to your computer using the USB cable provided and allow itto start up. 

# 0 Note: Ittakes approximately 30 sfor your computerto recognise the ground modem as a USB device. It takes about another 30 s before your ground modem can detectyour 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 eMotionX. When yourdrone has been successfully detected bythe ground modem and recognised by eMotionX, its serial numberswill appear in the Drone pulldown menu ofthe Connect dialog and your computerwill make a sound. 4. In the Connect dialog, clickthe eXam button to select it, then click OK. When a connection is established eMotion

### Xwill display the Drone panel and the drone's status will be visible in its**1~i0** Monitortab. Once your drone has set its position using satellite signals, an eXom symbol will appear at its location on the map. Ifyou cannot see the drone on the map, click ·**~-** on theToolbarto 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 ofthe Connect dialog is theserial number ofthe drone thatthe ground modem is paired with. Note: 

### Ifyou wantto process flight data you already created, clickto 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 eXamfor 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.

19Getting Started 

### 4.1 Pre-flight checklist**~** General inspection complete**~** Weather conditions checked**~** Flying conditions checked**~** Appropriate working area set**~** Maps downloaded**~** Take-offand landing conditions checked**~** Charged eXom battery installed**~** Drone powered on**~** Drone connected to eMotionXthrough 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 everyflight. Itis also good practice to perform a full airframe check regularly to keep your eXam in good shape. See Fullinspection on page 138 for more details. 

### Visually inspectthe 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. • Checkthatthe arms are solidly attached. • Visually inspect each ofthe 5vision sensors. • Visually inspect the 5 ultrasonic transmitters and receivers. • Visually inspect the main camera. • Visually inspect the thermal camera. • Checkthat all propellers are properly locked on. • Checkthatthe legs are in good condition and properly attached with their

caps in place. • Checkthatthe shrouding is in good condition and properly attached atthe

leg clips. • Checkthatthe top cover is attached and in good condition. • Ensure that nothing is at risk oftouching the spinning propellers. • Checkthatthe eXam's main body is in good condition. • Checkthatthe eXam's head is undamaged and turns freely on both axes. • Checkthat all LEOs and strobes are clean and free ofobstacles. 21

## \ )

Getting Started Visually inspectthe propellers To preventvibration and remain safe, onlyfly 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 propellersthat have awhite stress markin the plastic nearthe 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 AboutyoureXam'spropellers on page 140for further details. Check sensor and camera operation • Insertthe drone's SO card then insert the battery. • Place the drone on the ground and power it on. • Launch eMotionXand connectto your drone using the ground modem.23

# ) Getting Started

• In eMotion

### Xchecktheirfunctionalitywiththe head feed in theMain Viewer

using the control bars and the head-up display.
• Checkthe vision sensors. Select the different Navcams and view the resulting video feed.
• Checkthe main camera.

View the main camera's video feed.
• Checkthethermal camera.

View the thermal camera's video feed. 

### 4.3 Weather check Before each flight, you should be aware ofthe 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 thatwind is often stronger at higher altitudes and thatthe wind perceived at the surface is not always a good reference to estimate the wind at flight altitude. Cloud velocity ortall tree movements can help you to estimate the wind speed once you are out in thefield. Weatherforecasts may use various units to measure wind speed. As a reference,

24 1m/s = 3.6 km/h = 2.24 mph= 1.94 kts.



# e Caution: Do notfly eXom missions ifthe wind speed exceeds: Autonomousflight: 8 m/s (29 km/h, 18 mph, 16 kts) Manualflight: 1 0 m/s (36 km/h, 22 mph, 19 kts)\ )



# ) 4.4 Preparing to fly the eXam Caution: The eXam is notdesignedto operate intemperaturesabove 40° C. Avoid exposing the drone to high temperature for prolonged periods oftime. In particular, leaving the drone exposed to the sun orin ahot 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 orfog. • Ifair density is low, for example, at high altitudes, ifairtemperature is high,

air pressure is low, or acombination ofthese factors. • In very dusty conditions or in a dust storm. • Ifthere is a lot ofsand in the air, or in a sandstorm. • In very low light conditions. 

### 4.5 About the working area The cylindrical volume ofspace in which the drone is allowed to fly is known as the working area. Ifthe drone leaves this area (gets pushed or flies out ofthe circle or above the ceiling) it will raise a warning and carry out a security action. The eXam will not take offifit detects that it is outside the working area. 25Getting Started

<<'<\:;<;><<

# /Workingarea li**'-~'~** 

## _<) )--outersecuritylimtt ------'**.-~'** 30 20

Aworking area positioned on the side ofa hill
During an autonomous mission:
• Ifthe drone leaves the working area orflies above the ceiling, it will abandon the mission and tryto flyto 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 ScreenFly flight:

26 • Itwill raise awarning ifit leaves the working area orflies 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 ofthe drones horizontal positioning (pitch left, right, forwards and backwards) using eitherthe ScreenFlyControllerortheRemote Control. 

### Setting the working area You set the working area in the Mission panel's 

### Hl parameters tab. 

### Howto set the working area's size • Clickthe 

### Hl Parameters tab in the Mission panel. • Setthe working area radius. • Setthe working area ceiling. 

### Howto set the working area's position • Clickthe 

### U! Parameters tab in the Mission panel. • Move the map so thatthe place you want to putthe centre ofthe working

area is in the centre ofthe map. To centrethe 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 offfrom, the Start waypoint, the Home waypoint and landing location. 5 see Troubleshooting on page 154for afull description ofIn-flight warnings and Critical failures that

may occur 27

### \ ) Getting Started Once the drone has taken offit will go to the Startwaypoint. The Home waypoint is both the location underwhich the drone will land in when flying autonomously and as safety position in case ofan in-flight warning. See

### Aboutthe StartandHome waypoints on page 36 for more details. Do not take off: • Ifit is legally prohibited to fly adrone, for example, close to an airport. • Ifthere is a risk ofcollision 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 ofdamage, for example, to an historical monument or sensitive natural habitat. Howto select a take-off 

### &landing spot Selectatake-offand landing spotthatis clearofobstacles (buildings, rocks, power lines, hills, trees, etc.) within adistance of5 m (16ft) in all directions. This is to accountfor the possibility ofdrift aftertake-offand to give the drone enough space to land. Behaviour aftertake offand the precision ofa landing will depend on the satellite positioning accuracy, lighting conditions,the ground's visual texture and the wind. Select a take-offand landing spot that is flat, level and free ofobjects that could preventthe propellers from spinning freely. Do not attemptto take offfrom 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

• Asteeply inclined surface. Caution: Ifthe eXom accidentally gets wet, remove the battery immediately. 

### Calculating take-offlocation Ifthe eXom is able to detect and process plenty ofhigh-quality satellite signals, it can setits take-offlocation precisely. Ifnot, the accuracy ofits position calculation will drop. • Ifit can set its position before taking off, it will do so. • Ifthe eXom cannot set its position, it cannot reliably fly an autonomous

mission. It will not take off. Note: Ifyou 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: • Ifthere are obstacles, for example, vehicles, people or animals in the landing zone. • Ifthere is ariskofa moving vehicle, person, animal or otherobjectentering

the landing zone. ' see No GNSSmode on page 121 29

### \ )
Getting Started Caution: Choose the altitude ofyour Home waypoint carefully. Set it high enough to clear any obstacles. Do not set it too high; there is arisk ofhigher winds at altitude. 

### 4.7 The eXomls 

### battery Battery charge level indicator Press the battery level button and the LEDs will indicate the level ofcharge:

LEOs lit: 2 3 4 5 Charge level: 0- 30% 30- 55% 55- 75% 75-90% 90- 100% 

### How to charge the eXom 1

### s

### battery Before leavingforthefield to perform aflight, be sureto 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 befully charged before thefirst flight. To charge an eXam's battery pack, connectittothe battery chargerprovided. Plug the charger into a power socket using the adapter provided. Slide the charger onto the battery so thatthe 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 LEDfor the current charge level blinks during charging. When all the LEDs go out, the battery is charged. The chargerprovided independentlybalancesthe voltage ofeach ofthe cells contained in the battery packto ensure optimal performance and battery life. Charging can take up to 1.5 hours, depending on the charge level ofthe battery and whetherany cell balancing is required. See TheeXom's batteryon the preceding page for more information on maintaining your drone's batteries. 

### Howto install the 

### eXom's battery Place the eXom on the ground or on a level surface in the vicinity ofthe 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 itin, orpush anything intothe batterycompartmentwith the battery, for example, the surrounding vegetation. Caution: Keep clearofthe propellers in casethey unexpectedly start spinning. Note: To avoid using up battery power unnecessarily, insertthe battery only when you are ready for take-off. 

### Howto 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. 31Getting Started The eXomwill perform an automatic self-checkofits sensors and acquire satellite signals. Do not movethe drone during thesetests. It is importantthatthe drone is not inclined more than 1 0degrees in orderto start up properly. Pre-flight checks may lastfrom afew 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 notrequired to fly thedrone. If the satellite checkfails, you can stillfly with No GNSS mode, but some capabilities will be missing. See No GNSSmode on page 121 Note: You can connect the drone to eMotion Xat any time during startup and view the status ofthe checks in the 

### \':i2 Monitortab. Note: Ifthere were any problems during the pre-flight checks a preflight errorwill be raised and amessage will appearin eMotionX. The eXom's status LED will shine red. 

### Audible messages and alerts eMotionXwill generate audible alerts and warnings throughout yourflight: • Asound when the ground modem successfully detects the drone. • Continuous beeping ifan 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 afallback means offlying the drone. It is also the only means oftriggering a motor cut-offin case ofemergency. When flying autonomously or with ScreenFly, 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 theflight plan you have set up, autonomously managing its position, stability and photo capture. • Interactivelywith the Screenfly Controller Ideal for inspection, capturing photos and video. FlyyoureXom semi-automatically using the ScreenFly Controller and eMotion X. Only basic piloting experience is required. The drone looks afterflight 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. • Manuallywith the Remote Control

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

### 5.1 About eXom 

### missions Atypical mission can be divided into thefollowing phases:

34 • Preparing to fly Every mission begins with careful preparation, whether it is aquick inspection or a multi-stage mapping mission over complex terrain. See Preparing to flytheeXom on page 19to learn howto prepareyourdrone forflight. Autonomous missions on page 62 describes howto use eMotionX's Mission Planner to quickly generate aflight plan for autonomous flight. • Theflight Once planning and preparation is complete, it's time to fly. The eXom can.\ )



### ) Flying the eXom follow aflight plan without intervention from take-offto landing, you can control the drone with ScreenFly, oruse the Remote Control. You can modify aflight plan ortake control at any time during aplanned mission. 

### Flying the eX om

### interactivelywithScreenFlyon page 81 describes howto use ScreenFly to take control ofyour drone. See 

### Manualflight 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 photostaken byyoureXom into valuable products such as precise gee-referenced orthomosaics or 30 models. 

### Processing on page 54 leads you through the process ofobtaining the video and photos the drone has recorded, checking ifthe projectquality 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 ofmy.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 ofaseries ofwaypoints. eMotionXautomatically calculatesthe best placeto putthe waypoints foryourautonomous mapping mission.

7 http:! /my.sensefly.com 35

## ) Getting Started 

### 5.3 How to movewaypoints Onceyou have assigned amission blockto adrone8, you can movethe 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 ifit is already in progress.



### 5.4• To change awaypoint's position with the map in 20, clickthe waypoint to select it, then click and drag itto a new position. • To change awaypoint's position with the map in 30, clickthe waypoint to

select it, then click and drag the base ofthe waypoint (the point on the ground directly underthe waypoint) to a new position. • To change awaypoint's altitude, switch the map to 30. Clickthe waypoint

to select it, then drag the waypoint itselfup 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 ofa waypoint can result in an unexpectedlylarge change in the waypoint's altitude. Always checkyourflight 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-offaltitude as 0 m (0 ft) above take-off (m/ATO orft/ATO). 8 see Readyingyourdrone forthe mission on page 70 36' 

# )



# ) Flying the eXom Ifall 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 clicktheTAKE OFF button in eMotionX. 3. The drone takes offand 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 Startwaypoint is thereforethefirst pointthatthe drone goesto when it starts an autonomous flight. The Home waypoint is the point that the drone will head to at the end ofan autonomous mission. It is also the point it will head to if it encounters a problem during flight9• Unless you have moved it10, eMotionXwill automatically place the Startwaypoint 20 m (66ft) directly above the take-offlocation. It will place the Home waypoint 10m (33ft) directly above the Start waypoint. 

### Flying to the Home waypoint Wheneverthe eXomflies autonomouslytothe Home waypoint (forexample, after a mission or ifyou click GO LAND): • IfHome 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 37Getting 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-offlocation to the Start waypoint. Make surethere are no obstacles between thetake-offlocation and the Startwaypoint. Ifthere are: • Move the Start waypoint, for example, place it above the take-offlocation

at the same altitude as thefirst 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 eMotionXthrough the ground modem at all times. To maintain this connection the ground modem's signal must be able to reach the eXam. You mayoccasionally losethe data connection between eMotionXand 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. Ifthe drone stops receiving messages from eMotion Xfor more than 30 san inflight warning will be raised. If, for safety reasons you want the eXam to automatically return Home ifthis happens, activate that security action in the Mission panel's 

### HI Parameters tab. The strength ofthe connection between the drone and eMotionXis indicated in the**~i2?** Monitortab. Maintaining a good communication signal Astraight 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 39Getting Started sight, and a zone a few metres wide around the line of sight, must be clear of obstacles.

### ----------~

Tree too close to line ofsight To prevent loss ofcontactwith 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 sitthe ground modem on a metal surface such as the roofofavehicle. • 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 perpendicularto the line ofsight: 

# 0 Note: The modem is equipped with a 1/4inch screw mount and can be attached to some models ofcamera 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 Abouttake-off Note: Carefully review the position ofthe Start and Home waypoints beforetaking off. See

### AbouttheStartandHome waypoints on page 36. Immediately after take-offthe drone will climb to an altitude of approximately 1 mand turn around once to calibrate its compass. To allow it complete effectively, only manoeuvre11 during calibration ifnecessary.



# (!) Caution: Be ready to abortthetake-offin case ofemergency. lfthereare mission blocks assignedtothedrone, it pauses brieflythen flies to the Start waypoint. Use the After take-off setting in the Mission panel's () Take-offand landing tab to tell the drone what to do next. You can tell the drone to:

• Wait at the Start waypoint

Set Aftertake-offto Stay on Start Waypoint.

• Don't wait- immediatelystartthe mission

Set Aftertake-offto Go to Mission. lfthereare no mission blocks assigned, it pauses briefly then flies to the Start waypoint and waits there for your command. See 

### Creating mappingproducts on page 61 for more information about missions and mission blocks.

11 only pitch and roll are available during calibration 41Getting Started Caution: The drone's ability to maintain its position in a hover depends onthe conditions. There mustbe good lighting conditions and good satellite positioning signal reception. Be ready to take control ofthe drone with the Controller or Remote Control, or land ifnecessary. 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 itselfafter an autonomous mission. Setthe A her mission options in the Mission's panel's ()Take-offand landing tab to Land at Home Waypoint. Return to home and land using the Control Bar Ifyou 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 offits motors. Land immediatelyat current location If you need the drone to land immediately without first returning to the Home waypoint, do one ofthe following: • Rapidly clickthe LAND NOW button on the Control Bar three tirnes (tripleclick). 12 seeAboutthe StartandHome way points on page 36 42

# l / Flying the eXom

• Ifflying interactively, press and hold the left-hand stick on the ScreenFly

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 ofdescent. There is a risk ofcollision with any objects or people that are directly underthe drone.
• Switch on the Remote Control and pilot the drone to the ground. Once on

the ground, press and hold the left-hand stickto cutthe motors. 

### 5.8 Powering the eXom 

### off Waitfor the propellers to stop spinning, and waitfor eMotionXto finish copying the flight logs 13, then press and hold the power button on the top ofthe eXom. After 1 sthe eXom powers off. To reduce the risk ofdata 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. Ifyou 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 offand 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 ;:;; Monitortab 43

### Getting Started 

### 5.9 Howto 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. Ifyou need to stop the propellers, power on the Remote Control, allow itto connectto the drone, then press and hold the left stick14

.

14 see Manualflight with the Remote Controlon page 123 44- \, )
In-flight Monitoring 

## 6 In-flight Monitoring You can monitor while in-flight through eMotion 

### Xusing the map, video feeds, ultrasonic sensor readouts and the Drone panel's 

### t1.? Monitortab. 

### 6.1 Choosing whatto display in the Main Viewer

You can display eitherthe head feed in the Main Viewer, orthe map. The one that is not displayed in the Main Viewer appears in the Bottom Bar, ifthe bar is visible. To change the content ofthe Main Viewer: • Click**~** to select the map or select a head feed camera type using the

toolbar buttons 

# e' e' 0. • Double-clickthe Bottom Bar Viewerto swap between them. 

# 0 Note: To changethe head feed in the Bottom BarViewer, first putthe feed in the Main Viewer by double-clicking the Bottom Bar Viewer, change head feed, then swap them back.

45Getting 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 putthe 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 Aboutthe head-up display Ahead-up display appears overthe 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 

### Howto 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 ofthe scale. For example, the ground speed indicated above is 0 m/s (0 kts). • Altitude

The altitude above take-off(m/ATO orft/ATO) is indicated. Read the altitudefrom the white boxinthecentreofthe scale. Forexample, the altitude indicated above is 0m (0 ft). • Head angle

The scale indicates the angle (up/down) ofthe head. 0° indicates that the head is pointing straight forwards. Positive angles indicate thatthe head is pointing up. Negative angles indicate thatthe head is pointing down. • Bearing

The scale indicates the compass bearing ofthe 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 ofview

The dotted lines indicate the field ofview ofthe main camera feed, which it currently displays. 

# 0 Note: Ifyou have zoomed in with the main camera, the solid rectangle indicates the smaller field ofview 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, ifspace 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 inthewaythatis standardfordigital cameras, thatis, exposure is expressed as afraction ofa second, aperture is expressed as an f-number (the ratio ofthe lens focal length to the opening diameter) and sensitivity expressed according tothe ISO 12232:2006 standard. 

### 6.4 Choosing a navcam • Clickthe navcam button in the Bottom Barfor the navcam you want. • Click the active navcam button again to switch all navcams off. This conserves drone-eMotion Xbandwidth. 

### 6.5 Aboutthe ultrasonic sensors The eXam'sultrasonic sensors detectthe presence ofobjectswithin acone-shaped beam ofa maximum distance of6 m (20ft). 20 representations ofeach ofthese beams appear in eMotionX's Bottom Bar. Ifthere is an object nearthe 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 maway 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 pickup the reflections. Theycannotdetect objects that absorb ordiffuse the ultrasonic beam. Soft surfaces such as polystyrene orfoam or diffuse surfaces such as the leaves ofa tree may not be detected bythe sensors. 

### Choosing an ultrasonic sensor The ultrasonic sensors operate in the following modes: • Asingle sensor beam is active, providing constant awareness in a certain

direction. Use, for example, a beam pointing in the direction ofthe drone's motion when it's travelling at speed, or ifyou only anticipate obstacles on one side ofthe drone. • Each sensoractivates 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 monitorthe distance. • When taking off and landing It uses the bottom sensor module to guide itself. 50\. )



# ) In-flight Monitoring Howto choose a single ultrasonic sensor In the Bottom Bar, clickthe beam you want to activate. Howto cycle the ultrasonic sensors In the Bottom Bar, click either ofthe drone images (

### n:f or ,..., )in the centre of the sensorfeedback panel. Each sensor will pulse its ultrasonic beam in turn, giving you general awareness ofthe drone's surroundings. Ittakes about 1 sto complete each beam pulse cycle. 6.6 About the background 

### &custom maps You can selectthe background map source from the**(~i}** pull-down menu on the Toolbar. eMotionXcan use different sources ofcommercially available webmaps, but also custom maps. Tiles from map sources with the icon**{~** can be downloaded by eMotionXfrom the internet as required and locallycached on the hard drive. Map sources withthe icon (iji cannotbe saved locally due to regulatoryrestrictions and are therefore not recommended for use in the field. 6.7 Navigating around the map Panning and zooming Use one ofthe following: • Click (£)_ on the toolbarto 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. 51Getting 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-clickto zoom in, right double-clickto 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 tiltthe map down (move yourvantage point down). Move your mouse down to tilt the map up. Move the mouse right to turn the map anticlockwise, leftto turn it clockwise.



# 0

52 Note: Ifviewing the map in 2D, you cannot rotate the map. North is always towards thetop ofthe map.In-flight Monitoring Finding the drone on the map Click**-~~-·** on theToolbarto centre the map on the drone. Locking the map onto the drone Click 

### 0 to lockthe centre ofthe map onto the drone. When activated, you can zoom in and out, but cannot move around the map.

53) Getting Started 

## 7 Processing Goal ofthissection: In this section you will learn how to obtain and treatthe photos, videos and flight data thatyour eXom captured. You'll also learn to create basic mapping products directly in thefield so that you can immediately gauge the quality ofthe photos you gathered. 

### 7.1 Obtaining your photos, videos and flight data Aftercompleting aflight, use eMotionXto importand treattheraw photos,videos and log files, readying them use and for processing with Postflight Terra 30. You will: 1. Tell eMotionXwhich flight you want to treat. 2. Create a projectfolder into which eMotionXwill create the treated files. 3. Tell eMotionXwhere to lookfor the photos, videos and log files. 4. Checkthat the photos, videos and logs itfound are the ones you want. 5. Choose thetype ofoutput you want. 6. Import and treatthe 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. Asimilar 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 Ifthere is an issue with your eXam, both flight logs will be needed for technical support. See Reporting aproblem withyoureXam on page 163 54Processing recovered. Use eMotionX'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 orfor use in Postflight Terra 3D. senseFly recommends importing and treating all eXom data with the Flight Data Manager. Caution: After aflight, always wait for eMotion Xto finish copying theflight logs, then poweroffthe drone before removing the SD card. Amessage in the Drone panel's 

### '(;ifl Monitortabtells you when copying is complete. 

### HowTo launch the Flight Data Manager • Select Flight Data Manager in the Connect dialog when you launch eMotionX. • Click 

## eJ on theToolbar and choose Flight Data Manager.... 

### Howto importand treat photos, videos and datafrom the drone

• Step 1 - Prepare forthe data import Power offthe 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 Ifyou haven't already, launch the flight data manager. 55\ ) Getting Started

56 Ifthe 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. Alist offlights (including numberofphotostaken) thatwere monitored using thatcomputer, 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 afolder name that uniquely identifies yourflight (e.g. the date, the name ofthe area, etc.). • Step 3- Load theflight logs eMotionX's Flight Data Managerwill automatically locate the correctflight log (.bbx) on the SD card. The flight trajectory appears in the Map View. This flight log as well as the log from eMotion Xare copied to the project folder. • Step 4 - Load the photos eMotionXwill automatically locate the photos and videos (they are stored in the DCIM folder on the SD card). Ifit does not, or ifyou 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 ofthe flight log you imported. • Step 5- Reviewthe import eMotionX's Flight Data Manager shows the number ofphotos and videos it will import into the projectfolder. • Step 6- Select outputs

The Flight Data Manager can compress (zip) your raw (.dng) photos and also create JPEG format versions ofthem.

- 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. Ifyou 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 afile

format ifyou 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 ifyou do not want to create a Postflight Terra 3D project.

- Only uncheck Create KML flight trajectory ifyou do not want to create a3D 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 projectfolder and you are ready to open the project in Postflight Terra 3Dfor 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 afree download with the eXom package, can be used to rapidly create aQuality Reportdirectly in thefield. The Quality 16 powered by Pix4D; see Installing the software on page 2for installation instructions 57\ 

### ) Getting Started Reportthat is automatically generated provides immediatefeedback on the quality ofthe dataset. First, use yourflight datato create a new project in Postflight Terra 30 After importing your data in the Flight Data Manager, click Open Postflight Terra 30 project. PostflightTerra 3Dwill launch and the position ofyour photos will appear as red dots in the Map Area ofPostflight Terra 3D's main window.**~~~-~~~-~""~--~~~~~=~~=~=~~~=~**

# ..**!~** Map Area Step 1: select 1. Initial Processing, Rapid Check Step 2: click 'Start' Toolbar Project Summary

Layers Local Processing panel

Next, createthe 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 onlythe Initial project processing checkbox and the Rapid Checkradial button. ClickStartto begin rapid processing.Processing Postflight Terra 3D will now process the data and produce a report that includes the overall completeness and georeference quality ofthe photos taken during your last mission. You can use this information to decide whetherfurther imaging flights are required while you are still in the field. The quality report will launch in a new window. Click ]j on theToolbar ifit does not appear. 

### 7.3 Creating mapping products Beyond Quality Reports and low-resolution orthomosaics, Postflight Terra 3Dcan 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 addedto add absolute accuracyto 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 ofyour final mapping products. Furthermore the resulting orthomosaic and DSM may then be imported as custom background map and elevation data layer in eMotionX 17• 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 eMotionX; choose Importcustom map from eMotionX'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 mapsources on page 100for more information on importing layers into eMotion X 18 http://my.sensefly.com 59

# )



# 0 Part II 

# Your first autonomous mapping • • 

## miSSIOn
Goal ofthis section: 

### This section introduces the autonomous mission planning features ofeMotionX

### and describes the steps required to plan asimple mapping flight. Note: 

### We recommend that you perform yourfirst mission in a large obstacle-free area and limit the length ofthe mission in orderto familiarise yourselfwith the eXom 

### in flight.

### \ )

Yourfirst autonomous mapping mission 

### 8 Autonomous missions Ifyou wantyour eXomto fly all or part ofits flight autonomously, you must assign it one or more mission blocks. To create a mapping flight for the systematic coverage ofan area, use the automatic mission planning feature ofeMotionX. Create a polygon covering the area you would like to map and eMotion Xwill generate a mission plan optimised for the ground resolution you want. An eXom mission is made up ofa series ofblocks. Each block contains a series of waypoints. Amission is shown on the map in the Main Viewer using:
• In 20, circles to represent waypoints.
• In 30, vertical lines to represent the altitude ofthe drone with inverted

cones to represent the waypoint itself. You can only plan one mission at atime. Amission can be made up ofmany mission blocks. Each blockcan have adifferent purpose. Amission mightinclude, for example, several blocks to study some structures or points ofinterest, a horizontal mapping blockto gather mapping data ofthe 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 ifyou make a change. During an autonomous flight the eXom will control its flight autonomously from take-offto 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 STARTto send itto the Startwaypoint. 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 ofeach mission block had been completed. • The () Transition parameters that were set. • The security actions thatwere enabled or disabled when you saved the mission. • The mission footprints. Missions are also saved automaticallyjust after you make achange. Missions are saved with the mission's name as .misfiles in amissions folder within your Data Folder. 

### How to create a newmission First, get eMotionXreadyfor mission planning... 1. Click> to open up the Mission panel on the left-hand side ofeMotion X. 2. Locate on the map the place where you want to fly your mission. Note: You can use the ·**~** · button on thetoolbartofind places on the map by name or coordinate. Next, choose howyou wantto create the mission... 18 A folder called eMotion within your Windows Documents folder, unless you have changed it (see

AbouteMotion X's data folderon page 102). 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 ofa saved mission. 

### Create using a saved mission as atemplate 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 ofa saved mission. Note: You can only have one mission open at atime. 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 differenttypes 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: HorizontalMapping 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 AroundPO/(pointof 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 108. 

### 8.3 How todesign and edit mission blocks 1. In the 

## tt Mission planning tab in the Mission panel, clickthe mission's name. 2. Click 

# + Add block and choose the type of blockyou want. Your mission blockwill appear in the centre ofthe map. 

### How toviewmission blockdetails Within the mission explorer: 65Your first autonomous mapping mission 1. Click the mission's name to move to the top level ofthe mission explorer. 2.**Click~.** 3. Choose the block you wantto view. Within the block list: 1. Click the mission to move to thetop level in the mission explorer. 2. Double-click the block itself, or click 

### 8. Howto change mission block properties 1. Double-clickthe block, or click 

### 8 to view the block details. 2. Click**~·** to edit the block. 3. Rename the block, adjustthe ground resolution and other mapping parameters in the Mission Planning tab to suit your terrain and quality requirements. 4. Click**~·** again tofinish editing the block. 

### Howto reorder mission blocks 1. Click the mission to move to thetop level in the mission explorer. 2. Click and drag the mission blocks up and down to change their order. 

### Howto remove a mission block 1. Click 

### 8, or double-clickthe 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 Xwill automatically create the mission waypoints. You can setthe 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

### Xto 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 

### Xsends the drone to the farthest waypoint in 67Yourfirst autonomous mapping mission the mission blockfirst. Ifchecked, the drone will begin the mission nearby and finish far awai 9• eMotionXdisplays the following results:
• Area

The area covered by the mission. • Altitude

The altitude at which the drone will fly in orderto achieve the ground resolution you set. • Number of photos

The number ofphotos needed to complete the block. • Flighttime

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 ahigher 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 atthe end ofthe mission. 68Autonomous missions 

# 0 0 Note: When you create a mapping mission block, its waypoints' altitudes are automatically set. After assigning the blockto adrone, you can change the altitude ofa waypoinf 0• If, however, you then move the mission polygon, or change the ground resolution, all waypoint altitudes will be reset to the initial altitude. Note: Becausethereis less imageoverlap aroundtheedges ofamapping mission, eMotion Xautomatically adds flight lines the extend beyondthe mission polygon to ensure complete coverage and therefore high quality results overthe actual project area. Howto create a Horizontal Mapping mission block First, locate on the map the zoneyou wantto map.. Next, add a Mapping mission block to your mission (see 

### How to design and edit mission blocks on page 65). Amission polygon, including the required waypoints, is automatically calculated and displayed on the map. As you adjustthe polygon, eMotionXrecalculates the waypoints. To adjust theshape ofthe mission polygon, select it then... 1. Click and drag the corners ( )ofthe polygon to adjust its size and shape. 2. Click and drag the middle ( )ofthe polygon to move it. 3. Clickjust inside the edge ofthe polygon to add a new corner. 4. Right-click a corner ( )to remove it.

20 see How to move waypoints on page 36 69Yourfirst autonomous mapping mission To adjust the orientation oftheflight lines... • Ifyou need to, click and drag acorner ( )ofthe polygon to move it out of

the way. • Click and drag one ofthe orientation handles ( ). • Return the corner ( )to its original position ifyou need to. To move individual waypoints, see 

### How to move waypoints on page 36. Caution: Neither eMotionXnor its automatic mission planning tool are aware ofobstacles in the area. They cannottell 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 orderto 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 itto a drone. 8.5 Readying your drone forthe mission Once you have completed your mission blocks it's time to assign them to adrone. Power on and connect your eXom to eMotionX. When you assign the mission blocks you wanttofly to your drone, they are copied to the drone's autopilot through the ground modem connection. Once assigned, the block's waypoints change colourin eMotionX, and any change you make to awaypoint is immediately transmitted to the drone. Howto assign mission blocks to a drone 1. Power on and connect your drone to eMotionX. 70\. )

\ J Autonomous missions 2. In the Mission planning tab, clickthe mission to view its blocks. 3. Clickthe coloured 

## ti5 Assign button on the blocks you wantto assign. The button background turns dark grey for assigned blocks. The coloured \')i-] symbol also appears in the blockdetails when ablockhas been assigned. Caution: Always carefully review the flight plan before take-offto ensure thatthere is sufficient clearance between the flight plan and the ground. Click I@ on theToolbarto totoggle 3D mode on and off. We recommended that you double-check waypoint AMSL altitudes with respectto another source ofelevation data. 

### Howto unassign mission blocks from adrone 1. Clickthe coloured 0:t] Assign button again to unassign ablock. 

### Howto 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. • ClickTAKE OFF on the Control Bar. • Allow the drone totake offand calibrate its compass (it spins around once). • Allow the drone to fly to the Start waypoint. • Ifneeded, click START MISSION. Aftertake-off, the drone switches into waypoint navigation mode and flies to the Start waypoint. 71.\ )



## ) Yourfirst autonomous mapping mission
Caution: Keep clear ofthe drone during take-off. Caution: Be ready to abortthe take-offby triple-clicking LAND NOW on the Control Bar. Ifthe 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: Ifthe drone detects an issue that prevents take-offor makes take-offdangerous or unwise, it will raise atake-offveto. Amessage will appear in the Status panel in eMotion

### X and the drone's status LED will shine red. Take-offvetoes on page 154describes the possible take-offveto 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-offand landing tab to tell the drone what to do at the end ofa mission. You can tell the drone to:
• Return to the Homewaypoint and land21 Set After mission to Land at Home waypoint. • Return to the Home waypoint and waitthere Set After mission to Go to Home waypoint.
21 this is the default action 72Autonomous missions

• Go tothe 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. Howto land after a mission If After mission in the Mission's panel's () Take-offand landing tab is set to Land at Home waypoint, the drone will return to the Home waypoint and automatically initiate alanding sequence. IfAfter mission is not setto 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 thatthe sensors are clearofdirt or other obstructions. Allow eMotion Xto finish copying the flight logs and powerthe eXam offbefore removing the SD card. Remove the battery from the drone before picking it up.



# 0 Note: We recommend you importthe photos and flight data straight away after each flight (see 

### Obtaining yourphotos, videos andflight data on page 54), before putting the eXam backin its caseforstorage.

73

### \. )



## .•.. 

# ) Part Ill 

# Yourfirst interactive Screen

# fly flight
Goal ofthis section: This section introduces interactive flight with the ScreenFly 

### Controller.Yourfirst interactive ScreenFlyflight 

### 9 The Screen

## Fly Controller With the ScreenFiy Controller you send commands to the drone through eMotionX. The drone's autopilot interprets flight commands and moves as instructed, all while maintaining stable flight. Use eMotionXand the ScreenFly Controllerto directthe cameras on the eXam'sTripleView Head towards the objectyou wantto film, photograph or inspect. Usethe buttons on the controllerto select a navcam, activate and deactivate the automatic photo trigger ortake photos as needed. Connect the ScreenFly Controller to the USB port on a computer with eMotionX installed.

76 Caution: Use ofa 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 Control

(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 >Thermal Main camera: Zoom out

Press & hold: Reset head/zoom

• 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.TakephotoLongpress:TriggerautofocusTripleViewhead:LookupxL:JDSettoX(donotchange)TripleViewhead:LookdownStart/stopvideorecordingLongpress:Autophototriggeron/offThe Screen

### Fly Controller The following button index will be used in the next section:

79 

# )

# )

Your first interactive ScreenFlyflight 

### 9.1 How to activate and deactivate the Screen

### Fly Controller • Press button Cin the centre ofthe ScreenFly Controller. • In eMotionX, click INTERACTIVE on the Control Bar. Ifyour drone is in the airwhen you activate the ScreenFly Controller, it hovers and waits for acommand. Ifyour drone is flying autonomously when you activate the controller, it pauses its autonomous mission and hovers, waiting for a command. Ifyou 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. Ifyou deactivate the controller while flying interactively, itwill hover, awaiting a command.

80

## " \ )



# ) Flying the eXom interactively with ScreenFly 

### 10 Flying the 

## eXom interactivelywith Screenfly You can use the controllerto approach the target ofyour 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 Xto recentre the video feed on objects of interest. Click and hold on the video feed to activate the on-screen controller and drag the pointerto pan around- the head will automatically move up and down and the drone will turn, all while remaining stable in the air.



# 0 Note: Aflight direction stated here is relative tothe drone itself. 

### 10.1 Howtotake off using ScreenFly • Press the f,-r! button (G) on the ScreenFiy Controller. • In eMotionX, click TAKE OFF on the Control Bar. 

# (!) Caution: Be readyto abortthetake-offby pressing the button again. 

### 10.2 Howto land using ScreenFly With your eXom positioned overthe landing location, press the on the Screen Fly Controller and the eXom will land. button (G) You have thefollowing options in eMotionX: • 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. 81Yourfirst interactive ScreenFly flight 

### 10.3 Howtofly left, right,forward and backward with ScreenFly Use the right-hand joystick (E) on the ScreenFly Controller. The drone will pitch according to the direction you move thejoystick: • 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 Howtoturn the drone using ScreenFly Use the left-hand joystick (D) on the ScreenFiy Controller. The drone will turn (yaw) in the direction you push thejoystick: • Push right to turn to the right. • Push left to turn to the left. 

### 10.5 Howto climb and descend using ScreenFly Use the left-hand joystick (D) on the ScreenFiy Controller. The drone will move according to the direction you push thejoystick:

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. Ifyou accidentally press Mode (I) and the LED on the controller shines red, deactivate it by pressing it again.Flying the eXom interactively with ScreenFly 

### 10.6 Howto hover using Screen

### fly Release thejoysticks. The eXomwill automatically maintain its position and hover. 

### 10.7 Howto 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. 

### Howto change cruise speed In the drone's 

### H! Parameters tab set the Cruise control speed in the Assistance section. 

### 10.8 About Distance Lock You can askthe eXomto maintain aset distance, between 2m (6ft) and 5 m (16ft), from avertical 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 awayfrom the surface using the right-hand joystick on the Controller. When you release thejoystickthe drone will return tothe Distance Lock distance. 83Yourfirst interactive ScreenFly flight Surfaces must be hard, solid and continuousfor Distance Lockto work. You cannot lock onto, for example, trees, open fences or open steel lattices. Caution: Do not forget to switch distance lock offwhen you are finished. Ifyou don't, it may unexpectedlylockontothe nextobjectthat passes in front ofthe drone. Caution: To preventcollision, movethe drone awayfrom the surface before deactivating Distance Lock. IfGNSS is poor, the drone might drift towards the surface. 

### Howto maintain afixed distance from avertical surface First, setthe distanceyou wantthe drone to maintain. In the drone's 

### HI Parameters tab setthe Distance lock distance in the Assistance section. Press button B to switch a.::rl Distance Lock on. Press button Bagain to switch Distance Lock offagain.

84

### \ I /
Capturing photos and video 

## 11 Capturing photos and video During an automated mapping mission, photos are automatically captured bythe drone. When flying interactively, you have control overthe photos and video captured.



# 0 

# 0 11.1 Note: The zoom level orthe use ofa navcam feed do not affect captured photo resolution. All photos are captured using the full frame ofthe selected camera. Note: Ifyou are viewing orcapturing video, there will be short break in the video feed each time a photo is captured. 

### How tocapture single photos • With your right hand, press**~** -the upper button on the backofthe controller (K). • In eMotionX, click**~** to capture a single photo. 

### 11.2 Automatically capturing photos The eXom can automatically capture aphoto everyfew seconds. 

### Howto activate automatic photo capture • With your left hand, long press**~** -the upper button on the back ofthe

controller (J) to start or stop photo capture. • In eMotionX,**click~** to startautomaticallycapturing photos.**Click~** again

to stop. 85Yourfirst interactive ScreenFly flight Howto set the interval between photos In your drone's 

### U?Ll Camera tab in eMotionX, move the sliderto change the Autotrigger interval. 11.3 Focussing the 

### eXom's Main Camera The eXom will automaticallyfocus the Main camera at the beginning ofeach line in a mapping mission and before the first photo you capture on an interactive flight. Whileflying interactively, you can askittofocus onthe currentsubjectat anytime. The Main Camera always zooms fully in to the centre ofthe feed to focus. It focusses on aregion in the centre (SO% ofthe zoomed-in image). Itthen zooms out again. The Main Camera has a large depth offield. Objects more than approximately 4 mfrom the camera are already at infinity. Focussing once at the beginning of theflight is often enough to ensure goodfocus throughoutan interactive mission. You may however need to triggerthe autofocus from time to time during aflight ifless than 4 mfrom the subject orto correct focus changes caused by changing temperature. Howto use the Main Camera's autofocus To focus on the object at the centre ofthe feed: • With your right hand, long press 

### :AF: -the upper button on the backofthe

controller (K). • In eMotionX, click 

### :AF: on the Toolbar. The camera will zoom in, focus, then zoom out again. To focus on an objectthat 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. • Ifyou need to, zoom out again. The Main Camera'sfocus 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 offield 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. Ifyou change the feed while recording, the new feed is recorded.



# 0 Note: You cannotcontinueto use thecamerafeed you are recording. Ifyou start recording while viewing afeed, the view freezes. Switch to the navcam to navigate. 

### Howto start and stop video recording First, choose the camera with which you wantto record avideo: • Choose the @ Main Camera or 

### 8 Head navcam on the Toolbar ifyou

want to record the Main Camera feed. • Choose 

### 0 ifyou want to record theThermal Camera feed. 87)

Yourfirst interactive ScreenFly flight Next, start recording: • With your left hand, press 

### III -the upper button on the back ofthe controller (J). • In eMotionX, click 

### III to start video recording. Click 

### III again to stop. 

# 0 0 0 Note: Ifyou start recording while viewing the head navcam feed, the eXom will record the Main Camerafeed. Note: Ifyou switch the Main Viewerto @> 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 camerafeed is overlaid onto the Main Camera feed. 

### 11.6 Howtoturn on the Headlamp Clickthe 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 xusing the Main Camera. The eXam's Main Camera uses digital zoom, however, since its resolution is considerably higherthan most computer screens, it does not create azoomed image by enlarging part ofthe 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. Howto zoom in and outwith the Main Camera Using the controller: 1. Press the blue button (X) until you see the Main Camerafeed in eMotionX. 2. Press theyellow 

### G. button (Y) on the controllerto zoom in. Press the green 

### 8. button (A) to zoom out. From within eMotionX, first click @l to activate the Main Camera feed. You can then, zoom in and out in thefollowing ways: • Click 

### G. to zoom in on the centre ofthefeed. Click 

### 8. to zoom out. • Ifyou have amouse with a scrollwheel, place the mouse pointerwhere you

wantto 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 orThermal Camera. Note: When you take a photo or record video, the eXom always uses the full extent ofthe camera's sensor, not the zoomed-in view. Howto move the eXom's cameras When flying interactively, you can move the eXam's head cameras, moving the field ofview, in several ways: 89\ 

### )

Yourfirst interactive ScreenFlyflight 

### Moving the head cameras using the ScreenFiy Controller • To turn the head up, with your right hand, press -the lower button on

the back ofthe controller (M). • To turn the head down, with your left hand, press -the lower button

on backofthe 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 orvideo. 

### Moving the camera using eMotionX With a camera feed in the Main or Bottom BarViewer, click and hold your mouse pointer on the video feed. An on-screen controllerwill appear. • Drag the mouse pointer up to move the head up, down to move the head

down. • Drag the mouse pointerto the left and the drone will turn to the ieft. Drag

itto the right and the drone will turn to the right. The further your mouse pointer is from the centre ofthe 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 theThermal Camera feed. Unless you lock it, the eXom automatically adjusts the feed's colour scale so that it ranges from the coldestto the hottest object in the scene22• As the scene in the feed changes, the eXom continuously adjusts the colour scale. Ifyou lockthe 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: • Makethe range oftemperatures covered bythecolourscale largerorsmaller. • Raise or lowerthe set oftemperatures covered bythe scale. 

### Howto lockthe temperature range tothe scene Click**~.** Lockthermal scale on the Toolbar. Click**~.** again to unlock. 

### Howto adjustthe temperature range Varythe range using the Contrast and Brightness sliders on the drone's L@J Camera tab.• To change the size ofthe temperature range covered by the scale, use the Contrast slider. Ahigher contrast means that the colour scale represents a smaller range oftemperatures. • To raise or lowerthe set oftemperatures thatthe colours represent, use the

Brightness slider.

22 within the resolution limits ofthe camera

# Extended guidetothe eXom

.. \



## )

### Part IV 

# Extended guide to 

# eMotionX 12 eMotionX's 

### Monitortab 12.1 About the Monitortab 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:? Monitortab is hidden. Autonomy • Battery (voltage) Shows battery charge level (and voltage). 

# 0 Note: As charge level decreases, voltage will also decrease. Afully charged battery has a voltage of 12.6 V. Avoltage ofapproximately 9Vindicates thatthe battery is fully discharged24

. 23 see Troubleshooting on page 154

# )

\ ) Extended guide to eMotionX

• 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 eMotionXmaytherefore 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 ambienttemperature. • GNSS Satellites: The number ofsatellites from which your drone's GNSS receiver is receiving signals. Accuracy: The amount oferror you should expect in the drone's reported absolute position. Mode: The current GNSS receiver mode. 

### 12.2 Howto change units eMotion

### Xcan 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 selectthe Unit system. 

### 12.3 30 mapping in eMotionX eMotionXis 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 3arc-second (approx. 90 mresolution) digital elevation model derived from the SRTM (Shuttle RadarTopography Mission) dataset version 2.1 combined with other data sources (ASTER GDEM, SRTM30, cartographic data, etc.). This data covers nearly all emerged land exceptthe territories below 56° Slatitude and the territory ofthe Russian Federation above 60° Nlatitude.
95

# )

Extended guide to eMotionX



# 0 Caution: The supplied elevation data may contain inaccuracies of several meters, and does not contain data on obstacles such as buildings ortrees. We highly recommend that you checkyour 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 ofthe elevation data and it is the operator's sole responsibility to ensure a safe flight trajectory and altitude. Note: Thefirst time you use elevation data, eMotionXwill download the Improved SRTM elevation data tiles from senseFiy's servers25• Terrain following using elevation data When planning an autonomous mapping mission, eMotionX can use elevation data to set the altitude ofeach 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 underthe waypoint. 2. The target altitude is added to this maximum value and the result is set as the waypoint altitude. 25 eMotionXmust be connectedto the internet. Once downloaded, elevation tiles are cached and can

be used offline. 26 this is the default option 96Extended guide to eMotionX 

# 0 Note: Ifyou need to, you can then adjust each waypoint's altitude manually. See Howto move waypoints on page 36 

### 12.4 Choosing an alternate altitude reference for your mapping mission block Ifyou do not wantthe drone to follow the terrain, oryou 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 ofthe elevation model at a point under the geometric centre ofyour 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 ofthe 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 ifyou are not using elevation data. Do not rely solely on the eXam's ground avoidance feature.
97\ I J Extended guide to eMotionX 

### 12.5 Using custom background data Using a custom elevation model By default, eMotion Xuses 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: eMotionXusestheelevation datathatis (outofthose available atagiven location) the highestin the listto calculate altitudefor each waypoint. The Improved SRTM elevation dataset supplied is always considered the bottom layer. Note: eMotion

### Xdisplays custom elevation data with 1em vertical and approximately 12 em horizontal resolution. eMotion X brings higher-resolution data down to this resolution for display. 

### Howto 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 eMotionX Browse to the location ofyour elevation data file and click Open. 

### Howto 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. Ifone dataset appears above another in this list, it will be used to display the map in 30 and set drone altitude wheneverthose datasets overlap. 4. Click Ok. 5. Enable your new elevation model using the

**~** menu in the Toolbar. eMotion Xwill then use your custom dataset (in areas where it is available) to display the map in 30 and setwaypoint altitudes. Caution: Always very carefully checkthatyour 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 checkyourflight plan in 30 before flying. 

### How to create and useyour own elevation data One way to increase the resolution and accuracy ofthe elevation data is to create your own elevation data using the drone: 1. Fly amission athigh altitude, process this data and create aOSM using Postflight Terra 30. 2. Transfer this elevation data directly from Postflight Terra 30to eMotion X by selecting Send DSM to eMotion from Postflight Terra 3D's Process menu. 99Extended guide to eMotionX 3. Enable your new elevation model using the @ menu in theToolbar. eMotion Xwill 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 eMotionXis supplied with a series ofmaps. 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 

### Howto import acustom 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 ofyour map file and click Open. 100) / Extended guide to eMotionX 

### How to enable a custom map 1. Choose Preferences from the 

### \:=J File menu, choose the Maps pane. 2. Activate ordeactivate the map layer using the checkboxes. 3. Use the arrows to move your map up or down the list. Ifone 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 theToolbar. The imported tile setwill appear in the {;; list oflayers on the Toolbar. Custom maptiles are added as alayerin eMotionX. Tile sets mustbeTMS-compatible sets offiles.



# 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 KMLfrom Postflight Terra 3D's Pro

### cess menu. Note: KMLfiles, including associated icons orphotos included within them, are not copied to the eMotion Xdirectory and will no longer therefore appear in eMotionXifyou move ordelete the original KML files. 

### About photofootprints Whenever the eXam takes a picture, eMotion X records the location and orientation ofthe drone and computes the approximate outline ofthe photo on the 101)

Extended guide to eMotionX ground (its footprint). When you move your mouse over a waypoint, footprints ofphotos taken by the drone are shown as a shaded polygon on the map. Each polygon represents an estimate ofthe area that has been photographed by the drone at that moment. Wind conditions and imprecisions in the elevation data will affectthe estimation; the photo taken may not be the exact size orexactly where thefootprint appears. You can show orhide footprints with the**~** button on theToolbar. When hidden, eMotionXstill keeps and creates new footprints, but doesn't display them on the map. Unless you clearthem, they are saved with the mission. Clicking**~** removes all footprints from the map and deletes them from the mission. Ifyou 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 otherdata logged by eMotionX and the drone during the flight. 

### 12.8 About eMotion

### X's data folder eMotion Xstores its data files in the Data Folder. This includes: • The flight database • Flight logs • Saved missions • Custom maps, KMLfiles and elevation data 

### How to setthe location ofyour eMotionX

### data folder Ifyou haven't changed it, it is called eMotion and is in your Windows Documents folder. 102Extended guide to eMotionX 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 afolder. 

### 12.9 Enabling advanced functions Anumber ofconnection 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 Xcan be run in advanced mode by checking the Enable advanced functions in the Advanced version ofthe Connect dialog. Caution: Only enable advanced functions ifadvised 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. 

### 12.10 Advanced connection options To changethe frequency and channel thatthe ground modem uses to connectto the drone: 1. Click Advanced.. in the Connect dialog. 2. Choose the eXom Connection type and click Channel settings.... 3. Selectthe region in which the channel is authorised for use. 4. Ifyou wish to use achannel that is restricted to indoor use only, checkthe Indoor use only to attestthat you will only fly indoors. 5. Choose the Channel from the pulldown menu. 6. Click Apply.
103

## PartV 

# Extended guideto mission planningExtended guide to mission planning 

### 13 Around POl (point of interest) mission blocks

Use an Around POl mission blockto 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 ofinterest, create the Around POl mission block, then setthe block's parameters to tell the drone how to circle the point ofinterest and capture the photos you want. Around POl mission blocks have the following properties:
• Description

The name ofthe mission block. • Camera

The resolution setting thatthe Main Camera should use to capture photos. • Point of interest

The latitude and longitude ofthe point ofinterest. The altitude (AMSL or AEDf 7• • Mode

Choose the way you want to set up the drone's trajectory around the point ofinterest. 27 see Aboutcoordinates andaltitude references in eMotion Xon page 15 106Around POl (point ofinterest) mission blocks Choose Resolution/angleto setthe photo resolutionyou wantand theangle at which you want to setthe 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 Xwill calculate the appropriate trajectory. • Start heading Settheabsolute heading (from pointto drone) you wantthe drone to start its circuit ofthe point. • Stop heading Setthe absolute heading (from pointto drone) you want the drone to end its circuit ofthe point. • Picture interval Setthe gap, in degrees, between each photo captured. Using these properties, eMotionXcalculates: • Number of photos

The number ofphotos 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. Howto create an Around POl (point of interest) mission block 1. In the 

### tt Mission planning tab in the Mission panel, clickthe 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 ofa 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 ofamapping mission block, orto guidethe dronefrom one mission blockto another.



# 0 Note: You cannot ask the drone to automatically carry out any actions, for example, capture a photo, on Custom Route waypoints. 

### Howto 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, clickthe mission. 2. Click 

# + Add block and choose Custom Route. 108Custom Route mission blocks About Custom Route waypoints Custom Route waypoints are simple waypoints thathave onlythefollowing properties: • Altitude

You can choose to setthe 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• Howto add a waypointto a Custom Route 1. Open the Custom Route mission block. 2. Click+. The waypoint will be created at the centre ofthe map at an altitude of25 mAED. Howtoview and edit Custom Route waypoint properties With the Custom Route mission blockopen, open the waypoint in one ofthefollowing ways: • In the mission explorer, click**~** on Custom Route mission block and choose

the waypointfrom the list. • With the mission block open, double-clickthe waypoint. • With the mission block open, click 

### 8 on the waypoint you want. 28 seeAboutcoordinates andaltitude references in eMotionXon page 15 29 see How to move waypoints on page 36 109Extended guide to mission planning Editthe waypoint's properties. Your changes are immediately saved.

110\ 

### )

Disabling security actions 

## 15 Disabling security actions Ifmission circumstances require itand you perceive an acceptable level ofrisk, you can disable some ofthe 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 attemptto continue its mission. Return to Home ifstrong wind detected The drone will continue to reportthe estimated wind speed, butwill not return to home in high winds. Caution: Strong wind can force the drone to lose altitude. Disabling this increases the risk ofacrash or an emergency landing and potential loss ofthe 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, ifthe 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 itfrom eMotionX.

111Extended guide to mission planning Hold ifground proximity detected Ifyour mission takes the drone into close proximity with the ground, disabling this increases the risk ofa crash. Return to Home in case of low endurance When enabled, the drone will ensure thatthere 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 riskthat, ifthe drone's batteryruns outbefore reaching Home, itwill carry outan emergency landing and you may lose the drone.

### \ I I

I j 

## Part VI 

# Extended guideto interactive and manualflight

# ) 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 -1 1Barometer I eXom

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 outthe 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. Ifyou 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 autopilotfor processing. 114Manual 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,forexample, usesthese sensorsto maintainthe drone's distance from a surface.
• Inertial measurement units (IMUs) Used to measures the orientation and movement ofthe drone. Inputfrom the IMU's combined with othersensors allowsthe

### 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.

115Extended 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 activatethe ScreenFly Controller. Inputs from all ofthe eXam's sensors are combined and usedto stabilise the drone and compensate for wind. When you move the controller'sjoysticks 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 ifyou have activated the ScreenFly Controller but have disabled the anti-drift by pressing the right-handjoystick. It gives you direct control ofthedrone's angles. Itautomatically 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 worktogether in this mode. It gives you near-direct control ofthe 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 Controlthatallows you to cutthe highlevel autopilot off. You have asimilarlevel ofcontrol to Manual mode, howeverthe drone's reactions are more abrupt.

30 iftravelling horizontally, it briefly applies opposite pitch or roll

iftravelling 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 modesand autopilot inputs The eXam's autopilots process inputs from different sensors in different modes. If asensor 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 Yes3s 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

117Extended guide to interactive and manual flight 

### Choosing aflight control mode It's important to use the bestflight mode for the conditions. Interactive

Use: When you expect GNSS signals to be strong. When there is little chance ofmovement underneath the drone. Do not use: Ifyou expect to lose GNSS signals. Ifthe anti-drift is sending the drone offcourse. In zones where there is a lot ofmovement under the drone36 This is the easiest way to fly the eX om. PoorGNSS signals can cause the anti-drift logic to erroneously correctthe drone's trajectory. You can switch the anti-drift offifit starts to send your drone offcourse.

36 for example, ifflying over swaying grass or moving trees in windy conditions, or ifvehicles are passing under the drone 118)

Manual and interactive flight modes Interactive: Anti-Drift Off

Use: When you expect GNSS signals to be weak. Ifyou lose GNSS signals and want to continue flying. In Interactive mode ifthe drone starts to drift offcourse. 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 eXomwill not maintain its position during ahoverand may drift sideways while moving. You must use pitch and roll to counteractthe wind. In this mode, the eXom can still automatically maintain its altitude. Caution: Onlyswitch the anti-driftbackon ifyou expectstrong GNSS signals.

Manual

Use: Ifvery fine control ofthe drone is absolutely essential. In an emergency. Ifthe drone is ignoring eMotionXorthe ScreenFly Controller. Do not use: Ifyou are an inexperienced pilot. Everyday use ofthe Remote Control is not recommended. Have the Remote Control to hand in case ofemergency. 119Extended guide to interactive and manual flight HLAP Bypass

Use: Only in case ofemergency (the drone is out ofcontrol). Once activated, you cannot deactivate this mode in flight. To deactivate, restart the drone. The eXam will automatically switch to this mode ifthere is a critical malfunction in one ofthe HLAP's sensors orthe main**processo~ •**  

## 17 Flying without GNSS signals 17.1 About GNSS signals The eXam uses satellite positioning (GNSS) signals for navigation and flight stabilisation. Thefollowing 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 ofsignals received will be lower, for example, in mountainous regions or inside aopen-cast mine. • Physical barriers In general, brick, concrete and metal will stop the signals from reaching the drone. • Reflective surfaces

The signals can bounce offflat surfaces such as walls, doors or the sides ofvehicles. Ifthe 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 eMotionX's Drone panel's Monitortab 120

## \ )


# 0 Manual and interactive flight modes
Note: Alarge vertical surface, such as the side ofa building or a cliff, is both aphysical barrierand asource ofreflections. Consider using a flight modethatdoes not require GNSS signalswhen 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 offwithout satellite positioning. In this No GNSS mode, the drone cannot calculate its position, therefore:
• Autonomous flight is unavailable • No Home waypoint is set • No Startwaypoint 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 ofposition iffar from the ground. Ifit does, switch to Interactive: Anti-Drift Off.

121Extended guide to interactive and manual flight Howto deactivatethe GNSS receiver Checkthe No GNSS mode checkbox in your drone's 

### HI Parameters tab before takeoff.



# 0 Note: You cannot switch No GNSS offor backon in the air.

122

## 18

18.1 Manual flight with the Remote Control 

### Manual flight with the Remote Control

Goal ofthis section: This section describes how to use the Remote Control to manually control the drone. Caution: Manual operation ofthe eXom requires advanced piloting skills.

About the Remote Control Use the Remote Control tofly yourdrone manually. The sticks ofthe Remote Control directly setthe motors'thrust. The onlyflight assistance provided is automatic hover, activated when you release the sticks. Caution: Do notturn the Remote Control on without it being held in the hands ofa pilot who is ready to take immediate manual control ofthe drone. Turn the Remote Control offbefore putting it down. Caution: The Remote Control emits an audible low-batterywarning. If you hear this warning, take action immediately; land your drone and change the batteries. You can take manual control ofthe eXom with the Remote Control at any time, as long as the drone is within range38

.

38 see Drone specifications on page 169 123Extended guide to interactive and manual flight

124 Set*-----, *Donottouchthesecontrols Manual control (power) on/off -----, Takeoff/land-----, ,...-----oCustomswitch

### ~

# -~·g·~· :c: :o: 

### 's'@. 's' on!:(

### !ITou

### ~ u

# c::rrl:e)lo 'lA---HLAPbypass (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 ofcontrol 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 assistyou in any way: • It will not prevent the drone being pushed offcourse bythe 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: Intherare eventofahigh-level autopilot malfunction while flying autonomously or interactively, the drone will automatically carry out an emergency landing. However, you can still take control ofthe drone with the Remote Control, ifin range39, and pilotthe drone to the ground. Howto take control ofthe drone with the Remote Control With the eXom powered on and either in flight, or ready to fly, powerthe Remote Control on by pressing its power button. 39 see Drone specifications on page 169 125

# ) Extended guide to interactive and manual flight Ifall is well and the eXam is within range, after a short pause (approximately 1s), the Remote Control will emit 5rapid beeps to confirm that it has taken control of the drone. While the Remote Control is in control ofthe drone, its power button flashes approximately once per second. Ifthe Remote Control does not beep five times, or its powerbutton does notflash every second, the Remote Control is not controlling the drone. To return control to the drone, eMotion Xor the ScreenFly Controller, press the Remote Control's power button again to switch it off. Caution: Therewill be ashortdelay (1-2 s) before control is returned. Putthe drone into a hover before switching the Remote Control off. Note: To obtain the maximum range, tiltthe Remote Control up and orientate it in the direction ofthe 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 astickmeans push down onthetop ofthestick, along the stick's

axis. You will feel a click.Manual flight with the Remote Control

• Turn (yaw) direction is given as ifyou were on board the drone (from the

drone's frame ofreference). 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

127Extended 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

128Manual 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-offlocation. 2. Insertthe battery and power on the drone. 3. Launch eMotion Xand 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: Ifyou detect a problem with the Remote Control, land the drone immediately. Ifyou cannot land with the Remote Control, click LAND NOW in eMotionX. Do notattempttofly with amalfunctioning Remote Control. For more information on using the Remote Control, referto 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-offand landing Caution: We recommend you perform an automatic take-off and landing using eMotionXorthe ScreenFly Controllerwhenever 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-offlocation 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 offslider (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 ofthe drone before compass calibration is complete. Flying an uncalibrated drone can resultin itrotating (yawing) unexpectedly.

130\ ) Manual flight with the Remote Control 

### Manual landing • Position your drone over the landing location and push the take offslider (C) on the Remote Control down. The drone will land.
• Pilotyour drone down to the ground. Approach the ground at low vertical

speed. Once on the ground, press and hold the left stickfor 1 sto stop the motors. 

### 18.6 Motor cut-off Pressing the left stick down until it clicks and holding for 1swill cause the eXom's motors to stop.



### 18.7 Caution: Only stopthe motors when the drone is on the ground. Always stop the motors before picking the drone up. Caution: Ifthe drone is in the air, only use this feature in an absolute emergency. The drone will immediately drop out ofthe 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 Howto climb using the Remote Control Push the left stick up and the drone will climb. 131

### -\ )

Extended guide to interactive and manual flight Howto hover using the Remote Control Release both sticks, allowing then to spring back to their central position. The drone will maintain a hover. Caution: Ifyourdrone is ataltitude in azonethathas littleorno 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.
Howto yaw using the Remote Control Push the left stickto the right to turn the drone on its axis to the right (clockwise when viewed from above). Push the left stickto the leftto turn the drone on its axis to the left (anticlockwise when viewed from above). Howto 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 stickto provide enough additional thrust to maintain altitude. Howtotilt and flytothe 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 stickto provide enough additional thrust to maintain altitude. 132Manual flight with the Remote Control 

### 18.8 Returning control to eMotionX To return controlto eMotionX, press its poweron/offbutton to switch the Remote Control off. The drone will hover and waitfor the next command. Ifyou interrupted an autonomous mission, clickRESUME MISSION to continuefrom where the mission left off.



# 0
18.9 Note: Ifyou have activated the HLAP Bypassflight mode, you cannot return control to eMotionX41 • 

### Howto change the Remote Control's batteries 1. The battery cover is on the back ofthe Remote Control. Slide the battery coveroff. 2. Remove any used batteries. 3. Replacethem with fresh batteries,following the polarity(+/-) indication on the inside ofthe battery compartment. 4. Replace the battery cover. Caution: Always change all the batteries at once. Do not mix fresh and used batteries.

41 see Flightcontrolmodes on page 116 133

## Part VII 

# Maintenance and Repair
)Maintenance and Repair 

## 19

19.1 

### Maintenance and repair ofthe 

## eXom Goal ofthis section: The eXom is an advanced, robust and reliable UAV system. Nevertheless, occasional maintenance is required. This section describes howto keep yourdrone 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. Howto upgrade eMotionX eMotionXwill checkfor new versions during start-up42 and will display amessage with update instructions ifa new version is available. You can also checkyourselfand obtain the latest software from my.senseFil3• It is importantthat both the drone and eMotionXhave the same softwareversion 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 offlight safety can only be achieved with the latest software release, senseFiy Ltd can only offerwarranty servicefor productsthat have been properly updated.

42 provided thatthere is an internet connection 43 http:/ /my.sensefly.com 136)

Maintenance and repair ofthe eXom Howto updatethe eXom's firmware Every version ofeMotionXis 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 thefirst phase, eMotionXinstalls the firmware onto the drone, then during the second, the drone's HLAP updates its LLAP. 1. First, update eMotionXfollowing the on-screen instructions. 2. Ifthe drone is on, power it offand remove the battery. 3. Connect the supplied USB cable between the computer on which you installed eMotionXand the Autopilot Port (the right-hand USB port) on the side ofthe eXom.

4. Install the battery in the drone. 5. Powerthe drone on. 6. Launch eMotion X. Click Cancel in eMotion X's Connect dialog. 7. In eMotionX, choose Updater eXam... from the 

## t='1 File menu. 8. Click Update to begin the first phase ofthe update process. 9. Once the first phase ofthe update has completed successfully (indicated by 100% progress and a message in green within the Updater), powerthe 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 ofthe update. 137Maintenance 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 connectto the drone through the ground modem. 

# 0 Note: Afirmware update upgrades several ofthe drone's systems (HLAP, LLAP, etc.) and can take several minutes, during which time the drone may restart more than once. Do not interruptthe update. Ifmorethan 10 minutes have passed and the update is not complete, contact senseFiy oryour reseller. To check which version of eMotion Xyou 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 Beyondthegeneral airframe inspectionthatis performed before everyflight, senseFly recommends that perform afull airframe and sensor inspection regularly and after any incident44

. Caution: The autopilot, sensors and actuators within the central body ofthe 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 brushless DC motors to turn its propellers and generate thrust. All 4 motors must be clean and spin smoothly withoutfriction to function correctly. 44 seeMaintenance schedule on page 164 138/

Maintenance and repair ofthe eXom To checkthe motors, follow these steps: 1. Remove the battery from the eXom. 2. Visually inspectthe motors. 3. Turn each propeller with your finger. Ensure thatthere is no sand or other obstruction preventingthe motorfrom turning smoothly. Ifthemotordoes not turn smoothly, blow some air through the motor to dislodge any obstruction. Ifthis does not help, contact senseFiy oryour reseller. 

### Check head mechanism and inertial sensors The inertial sensors are used by the autopilotto compute the attitude (i.e. its orientation in space) ofthe drone and control the head. To checkthe head and inertial sensors, follow these steps: • Putthe eXom on aflat surface such as atable. • Gently turn the head up and down and tilt it from side to side. Ifyou feel

any resistance, contact senseFly oryour reseller. • Power on the drone. • Watch and listen to the head during calibration. Checkthat it moves freely

without any excessive noise. • Checkthatthe head is pointing straight ahead at the end ofcalibration. • Checkthat the head is not tilted to one side atthe end ofcalibration. • Take the drone in your hands and tilt it in all directions. Make sure thatthe

head stabilisation functions smoothly in all directions. 139Maintenance 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. Ifyou 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 

### Maintenanceschedule on page 164for details. You do not need to replace all4 propellers at once. You can replace one propeller at atime.

140

### \ )

\ 

### ) Maintenance and repair ofthe eXom 

### Attaching and detaching propellers 

# x2 x2

X 

# 1

141Maintenance and Repair

142Maintenance and repair ofthe eXom 

## 2.

3.

143Maintenance and Repair Howto 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 ofthe sockets on the motor. 3. While holding the screwdriverto prevent the motorfrom turning, turn the propeller in the direction ofthe arrows. The propeller will click into place.

Locked on Not locked on Caution: Neverfly your eXom with a propeller missing or incorrectly locked on. Howto detach a propeller

144 1. Take the screwdriver provided and insert it into one ofthe sockets on the motor. 2. While holding the screwdriverto prevent the motorfrom 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 ofthe eXom



# X 

# 1**~--------------**

.'.!1:--

145Maintenance and Repair


# 2.

146Maintenance and repair ofthe eXom 

## 3.



# I \ 

# \ 

# \J

First, completely remove the shrouding on the side the leg is on... 1. Takethe screwdriversupplied with youreXom and unscrewthe 2shrouding screws at the top ofthe leg you want to change. 2. Unscrew the 2 shrouding screws on the top ofthe other leg (on the same side ofthe eXom as the leg you want to change). 3. Lift the shrouding mounting points a little so thatthey are free to move. 4. While holding the leg in place, push the shrouding out ofeach ofits clips. 147Maintenance and Repair Agood way to do this is to hook the fingers ofone hand overthe leg then push the shrouding out ofits clip with yourthumb.



# {!) Caution: Do not twistthe 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 underthe 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 ofscrews with each new leg. Finally, reinstall the shrouding...

148 9. Take the shrouding, pass it underthe legs, then clip it back into the clips. Agood way to do this is to hook the fingers ofone hand overthe leg then push the shrouding into its clip with yourthumb.Maintenance and repair ofthe eXom 10. Slotthe top shrouding mounts backinto place and firmly screw all4 screws back in. 

# 0 Caution: Never attemptto fly withoutthe shrouding or legs. 

### 19.5 Changing a leg cap The leg caps wear down with use. You should replace worn leg caps. 1. Carefully workthe leg cap offthe leg. 

# 0 Note: The caps are glued on. You may need to use aknife to carefully cutthe cap without damaging the leg. 2. Place a drop ofepoxy 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. Ifthe 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 atthe base ofthe antenna and carefully unscrew the old antenna. 2. Ensure thatthe 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 senseFly oryour reseller. 

### 19.8 Cleaning the eXom Use a damp cloth to wipe offdirt 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 airto 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 ofthe 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 outthe basic repairs described in this user manual. • Do nottry and disassemble the drone beyond the part replacement procedures described in this manual. • Do not try and remove the top cover. • Do nottry and repaircarbonfibre parts,for example, the arms orshrouding. • Ifyour drone is damaged, contact senseFly oryour eXom reseller. 

# 0 Caution: Neverfly adamaged eXom. 

### 19.11 Proper battery care Propercare ofyour eXam's battery is importantto prevent damage to your drone and to maximise flight time. Batteries perform better at medium or high airtemperature and it is normal to observe shorterflight times in cold weather. The charger delivered with your drone automatically checks for healthy voltages ofall cells and only attempts charging ifthey are within limits. Ifthe cells are out ofbalance, the chargerwill take care ofbalancing them. Caution: The batteries delivered with your drone are designed to be charged with the chargerdelivered 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 othertypes ofbatteries may lead the battery packto be permanently damaged orto catch fire.
151Maintenance 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 ofthe 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 • Ifthe 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: Afterflight, the batterywill be warm. Allow itto cool down before charging it. Caution: Always fly missions with afully-charged battery. Caution: Ifthe battery swells or ifany ofthe cells are punctured the battery is damaged and should be discarded. Do not charge a damaged battery- it may catch fire. Caution: Ifthe battery gets wet, allow it to dry thoroughly before flying with it. Caution: Make sure notto leave batteries exposed tothe sun orother sources ofheat.Maintenance and repair ofthe 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 apower 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 powerfrom the battery despite detecting thatthe voltage is critically low. Ifthis happens, the battery is automatically written off. That is, the smart battery processor blocks any further use ofthe battery, and the battery must be replaced. Ifyou attemptto use the battery, atake-offveto is raised45•

45 see Take-offvetoes on the next page 153

# ) Maintenance and Repair 

## 20 Troubleshooting Goal ofthis 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 ofa more serious problem, this section describes how to preparethe required data on the problem and report itto senseFlyor your eXom reseller. The eXom can generate several types oferror messages. Some ofthese messages are minor and simply need to be acknowledged through eMotionX, whereas others require more specific action from the user. Ifthe drone is connected to eMotionX, errormessages will appearinthe Status panel on the Drone panel's '(:i2/ Monitortab. The following error message types are possible: • Take-offvetoes • 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 offunwise, it will raise atake-offveto. Amessage will appear in the Status panel in eMotionX's**~iJ** Monitortab. Once the take-offveto 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. Ifyou cannot clearthe veto, please follow the instructions in Reporting aproblem withyoureXom 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-offvetos

User action: Charge or change the battery. You are trying to take offoutside 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 oferrors: warnings and failures. In-flight warnings occur when there is an event that requires an automatic responsefrom the drone, orthe 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 eMo

### tionXand cause the WARNING button in the Control Barto change to ACK. WARNING, turn yellow and activate. Ifan 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 backto the Home waypoint. The drone is flying autonomously when: 155Maintenance 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 Ifflying manually, warnings must be acknowledged by clicking on the ACK. WARNING button on eMotion X's Control Bar, after which, to avoid loss ofyour 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 seeAboutthe StartandHome 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 ofbatteryfailure orfire. 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 riskyto 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 riskthat the battery will run out during flight. User Action: Land as soon as possible. Recharge the drone battery before the nextflight.

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 lefttheworking area but has not reached the outer security limit. This may occur if waypoints are set very close to the edge ofthe working area or if strong wind pushes the drone out ofit. There is ariskof 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 occurifwaypoints are setvery closeto thetop ofthe working area or ifstrong wind pushes the drone out ofit. There is arisk ofcollision, 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 datafrom eMotionXfor 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 likelyto drift. User actionTake 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 ofthe working area. The drone will try and reach the Home waypoint. User Action: Land as soon as possible.

159Maintenance 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 Acritical failure is an error that occurs in flight that prevents the continuation of normal flight. This is the most serious type oferrorthat can occurwith the eXom. When a critical failure occurs flight is aborted and the drone initiates an Emergency action which immediately directs itto 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. Ifacritical failure occurs that results in an Emergency landing we recommend that you keep track ofthe drone's last known position in the air and in eMotion Xifpossible.

160____

### ) Autopilotfailure

Emergency cut-off
Motorfailure Troubleshooting
Critical failures

The eXam's low-level autopilot has taken control of thedrone, which meansthatthe high-level autopilot has failed. Useraction: Poweron 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 ofyour 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 Flightcontrolmodes 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 eMotionX! Ifit is out ofcommunication range, the drone should reconnect automatically as it comes back into range. 2. Note the last known location ofthe drone in eMotion Xby printing the screen or writing down the location displayed. 3. Move towards this last known direction with the computer running eMotion Xin the hope ofregaining 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 bythe wind while still in the air. 

### 20.5 Reporting a problem with your eXom Ifthere is a problem with your eXom, whether it is a software malfunction, damaged airframe or any other problem, we recommend the following actions: 1. Ifthere is an error message displayed in eMotionX, begin by checking Troubleshooting on page 154 to see ifthere is a solution to the particular message. 2. Check our Knowledge Base, part ofmy.senseFil9, to see ifthere is a solution to your problem. 3. Ifyou have still not found a solution, contact your eXom reseller. Please include the following information with your inquiry: 49 http:/ /my.sensefly.com 163Maintenance and Repair



# 0 20.6 • The serial number ofyour drone. • A short description ofthe problem. • The Drone Flight Log file ofthe 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 orvideo ofthe 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 inspection 50 before every flight. You must perform afull inspection 51 ofairframe and sensors at least once amonth, or every 20 flight hours, whichever comes first. Inspect propellers for wear, damage or cracks and replace as required 52• Perform afull inspection when bringingyourdrone outoflong-term storage (more than 1 month) after any repair, part replacement, heavy landing or other unexpected incident.

50 see Generalinspection on page 21 51 see Fullinspection on page 138 52 see Generalinspection on page 21 164**\~** '-__j
Maintenance and inspection log

A/C model General/Full Maintenance activity Inspected by

## PartVIII 

# Specifications

### \ )

) 

## 1 Software requirements eMotionX has the following minimum software requirements:



### Operating system MicrosoftWindows 7

### I8 64-bit only Hardware 1.6 GHz processor 4GB RAM (8GB recommended) 10GBfree storage space 

### Screen 1920x 1080 (Full HD) visible outdoors Postflight Terra 3D has thefollowing minimum software requirements:



### Operating system MicrosoftWindows 7

### I8 64-bitonly Hardware 1.6 GHz processor (2 GHz Intel i51i7IX eon recommended) 4GB RAM (16 GB recommended for large projects) 10 GB free storage space (1 TB recommended for large projects) 

### Screen Minimum resolution: 1024x768

# ) 2 Drone specifications Nominal take-offweight (approx.) 1.8 kg (4.0 Ib) Weight withoutbattery 1.2 kg (2.6 Ib) Maximum take-offweight 1.9 kg (4.2 Ib) 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/rollangle 60° Possible manoeuvres Climb, descend, hover, pitch, roll, yaw Nominalendurance (flight timd 3 22 min Material Carbon structure & composite parts

Battery 3-cell 8500 mAh Battery weight 0.57 kg (1.3 Ib) 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 Cameraphotos 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 x480 pixels Navcam FOV 120° Ultrasonicsensorrange 6 m (20ft)

UltrasonicsensorFOV 50° Propulsion 4 xelectric brushless motors Max. wind(manualflight) 10 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 -10to 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 OFDM 5sor DSSSs6

RadiatedPower 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) Carrycase dimensions 92 

### x64

### x22 em (36 

### x25 

### x9 in)

54 can vary greatly depending on external factors such as cruise altitude, presence ofobstacles and

radio-frequency interference. 55 orthogonal frequency division modulation 56 direct sequence spread spectrum 57 automatically configured based on frequency and legal limits ofthe country

# )

\ ! 

## Glossary ATO Above theTake-offAltitude Your eXam's altitude can be shown and set in eMotion Xusing ATO. Altitudes in ATO are relative to the place your eXam started its motorjust before take-off. OEM Digital Elevation Model A3D digital representation ofheights ofobjects on the ground. DSM Digital Surface Model A3D digital representation ofa surface. GCP Ground Control Point Alocation or object on the ground that has precisely know coordinates. GCPs are used to improve the precision ofDSMs created from photogrammetric analysis ofa series ofimages. geo-reference Adata point associated with aspecific location on theearth's surface. ground resolution The size, on the ground, ofthe finest distinguishable detail in an aerial image. GSD Ground Sampling Distance The distance measured on the ground between pixel centres in an image orDSM. The smallerthe GSD, the higherthe spatial resolution ofthe image. For example, a GSD of5 em means that one pixel in the image represents 5em on the ground. mosaic Asingle 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 ofthe surface ofthe Earth's oceans; aclose approximation ofthe surface in gravitational equilibrium.\ ) point cloud Aset ofdata points within a coordinate system. rayCioud Afeature 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 of3D point estimates while providing afull understanding of3D results.

# "- \._,>.- 

# senseFly

a

## Parrot company http://my.sensefly.com