RoboFlight RF-70

Pilot’s Operating Handbook

for the

RF-70

1—1
RoboFlight RF-70

Performance – Specifications

SPEED:

Maximum at Sea Level.............................................................................................55 knots

Cruise .......................................................................................................................35 knots

RATE OF CLIMB ................................................................................................. 800 feet per minute

SERVICE CEILING .............................................................................10,000 feet MSL / 400 feet AGL

STALL SPEED.........................................................................................................................10 knots

MAXIMUM WEIGHT......................................................................................................... 13 pounds

STANDARD EMPTY WEIGHT............................................................................................ 6.5 pounds

MAXIMUM USEFUL LOAD............................................................................................... 6.5 pounds

WING LOADING........................................................................................................ 2.14 ounces/ft2

BATTERY CAPACITY ........................................................................................................10,000 mAh

BATTERY VOLTAGE......................................................................................................14.8 volts / 4S

MOTOR...................................................... Hyperion ZS 3025 10-Turn 770 KV brushless outrunner

PROPELLER ....................................................................................................... Composite 13” X 6.5

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RoboFlight RF-70

Contents

Chapter 1 GENERAL................................................................................................................................. 1—1

RF-70 DIMENSIONS ............................................................................................................................. 1—2

INTRODUCTION................................................................................................................................... 1—3

DESCRIPTIVE DATA.............................................................................................................................. 1—3

AIRFRAME ....................................................................................................................................... 1—3

ENGINE............................................................................................................................................ 1—3

PROPELLER ...................................................................................................................................... 1—3

BATTERY .......................................................................................................................................... 1—3

STANDARD WEIGHTS ...................................................................................................................... 1—4

PAYLOAD COMPARTMENT DIMENSIONS........................................................................................ 1—4

SYMBOLS, ABBREVIATIONS AND TERMINOLOGY ............................................................................... 1—4

Chapter 2 LIMITATIONS .......................................................................................................................... 2—1

INTRODUCTION................................................................................................................................... 2—2

AIRSPEED LIMITATIONS ...................................................................................................................... 2—2

POWER PLANT LIMITATIONS .............................................................................................................. 2—2

WEIGHT LIMITS ................................................................................................................................... 2—2

CENTER OF GRAVITY LIMITS................................................................................................................ 2—2

MANUEVERING LIMITS ....................................................................................................................... 2—2

FLIGHT LOAD FACTOR LIMITS ............................................................................................................. 2—2

TEMPERATURE AND WEATHER OPERATING LIMITATIONS ................................................................ 2—2

BATTERY LIMITATIONS........................................................................................................................ 2—3

AUTOPILOT LIMITATIONS ................................................................................................................... 2—3

LINE OF SIGHT LIMITATIONS............................................................................................................... 2—3

GPS LIMITATIONS................................................................................................................................ 2—3

Chapter 3 EMERGENCY PROCEDURES .................................................................................................... 3—1

INTRODUCTION................................................................................................................................... 3—2

ENGINE FAILURES................................................................................................................................ 3—2

Engine Failure During Launch ......................................................................................................... 3—2

Engine Failure During Flight............................................................................................................ 3—2

Partial Power................................................................................................................................... 3—2

FORCED LANDINGS ............................................................................................................................. 3—3

Emergency Landing without Motor Power..................................................................................... 3—3

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RoboFlight RF-70

Precautionary Landing with Partial Motor Power .......................................................................... 3—3

GPS/MAGNETOMETER FAILURES........................................................................................................ 3—3

GYRO/AHRS FAILURES......................................................................................................................... 3—3

AIR DATA SYSTEM FAILURE................................................................................................................. 3—3

GROUND STATION FAILURES .............................................................................................................. 3—3

Power Loss to Ground Station ........................................................................................................ 3—3

Lost Telemetry Communication with UAV...................................................................................... 3—4

SPINS/STALLS ...................................................................................................................................... 3—4

Chapter 4 NORMAL PROCEDURES .......................................................................................................... 4—1

INTRODUCTION................................................................................................................................... 4—2

AIRSPEEDS........................................................................................................................................... 4—2

FLIGHT CHECKLIST............................................................................................................................... 4—2

Chapter 5 PERFORMANCE....................................................................................................................... 5—1

INTRODUCTION................................................................................................................................... 5—1

LAUNCH PERFORMANCE..................................................................................................................... 5—1

LANDING PERFORMANCE ................................................................................................................... 5—1

FLIGHT ENDURANCE ........................................................................................................................... 5—1

Chapter 6 WEIGHT AND BALANCE/EQUIPMENT LIST............................................................................. 6—1

INTRODUCTION................................................................................................................................... 6—2

WEIGHT AND BALANCE....................................................................................................................... 6—2

Weighing the Aircraft...................................................................................................................... 6—2

Determining Center of Gravity........................................................................................................ 6—2

Center of Gravity Limits.................................................................................................................. 6—2

COMPREHENSIVE EQUIPMENT LIST.................................................................................................... 6—3

Chapter 7 AIRPLANE AND SYSTEMS DESCRIPTION................................................................................. 7—1

REMOTE CONSOLE:............................................................................................................................. 7—5

FrSky Taranis X9D................................................................................................................................ 7—5

MAIN FLIGHT LIPO BATTERY:.............................................................................................................. 7—8

Chapter 8 AIRCRAFT HANDLING, SERVICE AND MAINTENANCE ............................................................ 8—1

INTRODUCTION................................................................................................................................... 8—2

INSPECTION PERIODS.......................................................................................................................... 8—2

RECOMMENDED COMPONENT REPLACEMENT INTERVALS............................................................... 8—2

PREVENTATIVE MAINTENANCE AND CARE......................................................................................... 8—2

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RoboFlight RF-70

ALTERATIONS OR REPAIRS .................................................................................................................. 8—2

STORAGE ............................................................................................................................................. 8—2

BATTERY CARE..................................................................................................................................... 8—2

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RoboFlight RF-70

Chapter 1 GENERAL

TABLE OF CONTENTS

Page

RF-70 Dimensions ........................................................................................................................ 1-2

Introduction ................................................................................................................................. 1-3

Descriptive Data........................................................................................................................... 1-3

Motor............................................................................................................................... 1-3

Propeller........................................................................................................................... 1-3

Battery.............................................................................................................................. 1-3

Standard Weights............................................................................................................. 1-4

Payload Compartment Dimensions................................................................................. 1-4

Symbols, Abbreviations and Terminology ................................................................................... 1-4

1—1
RoboFlight RF-70

RF-70 DIMENSIONS

1—2
RoboFlight RF-70

INTRODUCTION

This handbook contains 9 sections relating to the operation and care of the RF-70. It also 

contains supplemental data supplied by RoboFlight Systems, LLC.

Section 1 provides basic data and information of general interest. It also contains definitions or 

explanations of symbols, abbreviations, and terminology commonly used.

DESCRIPTIVE DATA

AIRFRAME

Material: Expanded Polypropylene (EPP)

Density: 2.0 lbs/ft3

ENGINE

Number of motors: 1

Motor Manufacturer: Hyperion

Motor Model Number: ZS3025B-10

Motor Type: Electric Brushless Outrunner

PROPELLER

Propeller Model Number: APC13065E

Number of Blades: 2

Propeller Diameter: 13 inches

Propeller Type: Fixed Pitch

Propeller Material: Molded Nylon

BATTERY

Battery Type: Lithium Polymer

Battery Capacity: 10,000 mAh

Battery Voltage: 14.8 volts

Battery Cells: 4 cells in series

1—3
RoboFlight RF-70

STANDARD WEIGHTS

Maximum Weight: 13 pounds

Empty Weight: 6.5 pounds

PAYLOAD COMPARTMENT DIMENSIONS

Front Bay: 13” x 5” x 3”

Rear Bay: 12.5” x 5” x 3.5”

Side Bays: 7” x 3.75” x 1.5”

SYMBOLS, ABBREVIATIONS AND TERMINOLOGY

AGL – Above Ground Level, or the altitude above the ground.

AUTO – A flight mode that will completely control the aircraft according to a pre-made mission 

plan. Requires GPS lock.

BEC – Battery Elimination Circuit, a voltage regulator that allows components to be ran off of 

the same battery that powers the motor.

COG – Center of Gravity, the point upon the aircraft where the weight is balanced.

ESC – Electronic Speed Control, an electric circuit that controls and varies the speed of an 

electric motor.

FBWA – Fly by Wire A, an assisted flight mode that auto-levels the aircraft and limits roll and 

pitch control to preset parameters. Does not require GPS lock.

GCS – Ground Control Station, the system used to control the UAV from the ground. It consists 

of the transmitter, laptop, and transceiver radio.

GPS – Global Positioning System

HDOP – Horizontal Dilution of Position, a measurement of the integrity of the GPS signal. The 

lower the number, the more accurate the signal.

LiPo – Lithium Polymer, the type of battery that is used in the aircraft.

LOITER – Flight mode that when entered, the UAV will circle over its current GPS position until a 

new command is given. Requires GPS lock.

mAh – Milliampere-hour, a unit used to measure the capacity of a battery.

MANUAL – Flight mode that gives the operator complete manual control. There is no autolevel, stabilization, or attitude limitation in this mode.

1—4
RoboFlight RF-70

Mission Planner – An open-source software that allows mission planning and telemetry 

readout for Unmanned Aerial Systems.

MSL – Mean Sea Level, or the altitude above sea level

PFD – Primary Flight Display, a screen on the ground control station that provides pertinent 

flight information such as altitude, attitude, speed, and heading.

PixHawk Autopilot – A PX4 based flight control board that manipulates the flight controls 

according to the flight mode or mission.

Reference Datum – An imaginary point in space that is used to calculate the center of gravity of 

a plane. In the case of the RF-70, the reference datum is at the tip of the nose of the aircraft.

RTL – Return to Launch, a flight mode and failsafe that will automatically maneuver the UAV 

back to the launch site and circle until a new command is given. Requires GPS lock.

Telemetry – The transmitting of data to and from a UAV to a ground control station, allowing 

the operator to see the status of the UAV real time as well as change certain mission 

parameters while the UAV is in flight.

Transceiver – A radio antenna system that both transmits and receives data. This is used in the 

Telemetry system.

UAS – Unmanned Aerial System, the entire system needed to operate a UAV. This includes the 

UAV, ground control station, and the operator.

UAV – Unmanned Aerial Vehicle

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RoboFlight RF-70

Chapter 2 LIMITATIONS

TABLE OF CONTENTS

Page

Introduction ................................................................................................................................. 2-2

Airspeed Limitations.................................................................................................................... 2-2

Powerplant Limitations................................................................................................................ 2-2

Weight Limits............................................................................................................................... 2-2

Center Of Gravity Limits............................................................................................................... 2-2

Maneuvering Limits ..................................................................................................................... 2-2

Flight Load Factor Limits.............................................................................................................. 2-2

Temperature and Weather Operating Limitations...................................................................... 2-2

Battery Limitations....................................................................................................................... 2-3

Autopilot Limitations ................................................................................................................... 2-3

GPS Limitations............................................................................................................................ 2-3

2—1
RoboFlight RF-70

INTRODUCTION

Section 2 provides operating limitations and basic operating procedures for safe operation of 

the UAV, standard systems, and standard equipment.

AIRSPEED LIMITATIONS

Never Exceed Speed – 80 knots (Do not exceed this speed in any operation)

POWER PLANT LIMITATIONS

Time at continuous max power – 40 minutes

Max amp draw – 50 amps

WEIGHT LIMITS

Maximum Operating Weight – 13 pounds

CENTER OF GRAVITY LIMITS

Between 22cm and 26.5 forward of reference datum

MANUEVERING LIMITS

-Do not exceed 60° of bank left or right

-Do not exceed 40° of pitch up or down

FLIGHT LOAD FACTOR LIMITS

Do not exceed 4.4 G’s in any phase of flight.

TEMPERATURE AND WEATHER OPERATING LIMITATIONS

-Avoid operating UAV in temperatures below -17C or above 43C

-Avoid operating UAV in precipitation

-Avoid operating UAV in fog or other types of low visibility

2—2
RoboFlight RF-70

BATTERY LIMITATIONS

-Avoid operating UAV below a battery voltage of 14.8 volts

-Charge batteries in LIPO BALANCE mode when possible

AUTOPILOT LIMITATIONS

Temperature limitation – Do not operate below 17°C or above 43°C

LINE OF SIGHT LIMITATIONS

This UAV must be operated within line of sight. The operator must be able to see the UAV with 

the naked eye throughout all phases of every flight.

GPS LIMITATIONS

Do not operate the UAV in the AUTO, LOITER, or RTL flight modes if the HDOP (Horizontal 

Dilution of Position) is greater than 2.5 or if the number of satellites received is abnormally low.

2—3
RoboFlight RF-70

Chapter 3 EMERGENCY PROCEDURES

TABLE OF CONTENTS

Page

Introduction ................................................................................................................................. 3-2

ENGINE FAILURES ........................................................................................................................ 3-2

Engine Failure During Launch .......................................................................................... 3-2

Engine Failure During Flight............................................................................................. 3-2

Rough Engine/Partial Power............................................................................................ 3-2

FORCED LANDINGS...................................................................................................................... 3-3

Emergency Landing without Engine Power..................................................................... 3-3

Precautionary Landing with Engine Power...................................................................... 3-3

GPS/MAGNETOMETER FAILURES ............................................................................................... 3-3

GYRO/AHRS FAILURES ................................................................................................................ 3-3

AIR DATA SYSTEM FAILURE......................................................................................................... 3-3

GROUND STATION FAILURES ...................................................................................................... 3-3

Power Loss to Ground Station ......................................................................................... 3-3

Lost Telemetry Communication with UAV ...................................................................... 3-4

SPINS/STALLS ..................................................................................................................... 3-4

3—1
RoboFlight RF-70

INTRODUCTION

Section 3 Provides checklist procedures for coping with emergencies that may occur. 

Emergencies caused by airplane or engine malfunctions are extremely rare if proper preflight 

inspections and maintenance are practiced. However, should an emergency arise, the basic 

guidelines described in this section should be considered and applied as necessary to correct 

the problem. In any emergency situation, the most important task is continued control of the 

airplane and maneuver to execute a successful landing.

ENGINE FAILURES

Engine Failure During Launch

1 – Ensure High-Start rope is disconnected from the UAV

2 – Pitch nose level to conserve airspeed

3 – Aim for a landing spot within 30° of the UAV’s current heading. DO NOT ATTEMPT TO TURN 

AROUND

4 – Flare before touchdown by pulling aft on the elevator control

5 – Confirm throttle control is at IDLE before touchdown

Engine Failure During Flight

1 – Find a suitable landing spot within the UAV’s glide distance

2 – Maneuver the UAV toward the landing spot

3 – Flare before touchdown by pulling aft on the elevator control

4 – Confirm throttle control is at IDLE before touchdown

IF GLIDE TIME PERMITS:

5 – Take note of voltage and amp draw on PFD

6 – Cycle the throttle from FULL to IDLE and back to FULL

7– Even if power returns, it is still advisable to make a precautionary landing

Partial Power

1 – Maneuver to a suitable landing area as soon as practical

2 – Confirm throttle control is at IDLE before touchdown

3—2
RoboFlight RF-70

3 – Flare before touchdown by pulling aft on the elevator control

FORCED LANDINGS

Emergency Landing without Motor Power

1 – Move the flight mode switch to FBW-A

2 – Use any available altitude to maneuver the aircraft to a safe, open area

3 – Make an approach, flaring just before touchdown

Precautionary Landing with Partial Motor Power

1 – Move the flight mode switch to FBW-A

2 – Maneuver the aircraft to a safe landing area, using power only when necessary

3 – Execute an approach and landing, making sure the throttle is at idle before touchdown

GPS/MAGNETOMETER FAILURES

1 – IMMEDIATELY change the flight mode from any GPS referenced modes to FBW-A

2 – Make a precautionary landing as soon as practical

GYRO/AHRS FAILURES

1 – IMMEDIATELY switch the flight mode to MANUAL

2 – Make a precautionary landing as soon as practical

AIR DATA SYSTEM FAILURE

1 – IMMEDIATELY change the flight mode to FBW-A

2 – Make a precautionary landing as soon as practical

GROUND STATION FAILURES

Power Loss to Ground Station

1 – Continue to visually monitor the aircraft

2 – Make a landing as soon as practical, as it won’t be possible to monitor the battery voltage

3—3
RoboFlight RF-70

Lost Telemetry Communication with UAV

1 – If signal is intermittent, continue to monitor visually and via telemetry

2 – If signal is completely lost land as soon as practical, as it won’t be possible to monitor 

battery voltage.

SPINS/STALLS

1 – IMMEDIATELY change the flight mode to MANUAL

2 – Pitch the nose down to break the stall

3 – Bring throttle to IDLE

4 – Once stall is broken, pitch nose up slowly to a straight and level attitude

3—4
RoboFlight RF-70

Chapter 4 NORMAL PROCEDURES

TABLE OF CONTENTS

Page

Introduction ................................................................................................................................. 4-2

AIRSPEEDS ................................................................................................................................... 4-2

FLIGHT CHECKLIST ....................................................................................................................... 4-2

4—1
RoboFlight RF-70

INTRODUCTION

Section 4 provides procedures for normal operations using standard equipment.

AIRSPEEDS

Climb ...................................................................................................................No less than 25 kts

Cruise .......................................................................................................................................30 kts

Landing.....................................................................................................................................25 kts

Stall...........................................................................................................................................10 kts

FLIGHT CHECKLIST

Page GCS Set Up (FIRST FLIGHT OF DAY) Check

Setup Laptop and connect USB modem and antenna Power On PC

Primary & backup power supplies OK (fuelled/charged) Generator and 

Laptop Battery

All cables connected to GCS PC as appropriate USB and Laptop 

Charger

CONS Power ON, Check battery voltage, Verify model, Set autopilot to STABILIZE All Switches Up

Voltage>9.5V

Desktop Start Mission Planner Select COMM

57600

Aircraft Install Flight Batteries

Aircraft Check longitudinal and lateral CG Balance on CG Point

Aircraft Place RF-70 at launch location and connect Batteries Connect Flight 

Batteries

Aircraft Verify GREEN light on RF-70 receiver Solid Green

MP Connect to RF-70 Connect

MP Verify telemetry data and check pitch, roll, yaw Pitch, Roll, Yaw

Config If incorrect, Verify RF-70 configuration (Advance Parameter List) Compare Params

Flight Data Check flight Battery voltage on PFD >16V

Flight Data Verify GPS solution and hdop 3D, <2.5

Flight Data Verify compass heading, calibrate if necessary Red Line

Page MISSION PLANNER SETUP Check

Flight Data Verify RF-70 position on map Location

Flight Plan 

Tab Configure waypoints and altitude for mission Set Home, Write Mission WPs

Config Verify WP radius >20m Standard Params

4—2
RoboFlight RF-70

Flight Plan 

Tab Write Mission to AP Click “Write”

Console/

PFD Verify flight mode selections and RTL Manual, Stabilize,Auto, RTL

GS-Radio Verify radio LINK percentage >95% 

DOC Record .tel file name and complete Flight Summary Log (create shortcut on 

desktop) Date,Location,etc

Page FLY BY WIRE MODE LAUNCH Check

PIC Get Updated Weather ASOS

PIC Conduct crew brief ALL PERSONNEL

Flight 

Planner

Verify Home waypoint set, tracking to 1st desired waypoint, and mission 

flight plan loaded

Set safe Alt,

Set Home Location

Console Set flight mode switch to FBWA and verify for launch Switch Mid Pos.

Autopilot Verify system initialization on Autopilot Steady Green Light

Launcher Insert stake in launch area and lay cord downwind of stake Stake secured

Launcher AVO holds ring and stretches cord 65 ft. downwind of stake

Aircraft Operator #2 holds aircraft while AVO attaches ring to hook Hooked securely

RF - 1 ARM autopilot by pushing the Red flashing safety switch button Check for tone and 

solid RED light

Console Complete Flight Controls Check and Pitch, Roll, Yaw Stabilization Check Elevons, Motor 

Spinup to IDLE

Console Verify flight mode FBWA and start TIMER Switch to middle 

position

PIC Turn camera on and begin Intervalometer script I> , Press Shutter

Console AVO holds full aft with zero throttle

Aircraft Operator #2 releases aircraft Release evenly

Console AVO increases throttle ONLY AFTER launch cord has departed the aircraft

Flight Data Switch to AUTO at safe ALT, Check aircraft flightplan tracking WP, HDG, ALT 

PIC Verify throttle set at mid-point for cruise flight Left stick 50%

Page AFTER LAUNCH 

Flight Data Verify aircraft tracking flightplan waypoints and altitude

Flight Data Monitor Aircraft BATTERY VOLTAGE and LINK status Voltage>14.6V

Link>70%

Observer Maintain VLOS for traffic and terrain avoidance Maintain Contact

Console Monitor flight TIMER and allow for BATTERY reserve for landing

Endurance based on 

# of Battery and 

Payload Weight

AUTO LANDING

MAP Verify auto land waypoints configured (Note: Step down altitude gradually 

throughout landing pattern) Last WP set to LAND

Console Standby ready for FBW-A MODE override if issues Verify ALT Tracking

Console At 1 meter ALT, reduce THROTTLE STICK to 0% [ . ]

Console Upon TOUCHDOWN, switch to STABILIZE (with Throttle 0%) Switch Mid Pos.

4—3
RoboFlight RF-70

RF-70 DISARM Press Safety Switch

FBW-A MODE LANDING

EP Verify aircraft in sight and orientation for safe FBW-A control change Aircraft Visual

Console Switch to FBW-A flight mode Switch Mid Pos.

EP Maneuverer RF-70 to landing location and LAND

Console Bring throttle to IDLE before touchdown [ . ]

RF-70 Upon Touchdown, DISARM AP Press Safety Switch

POST FLIGHT ACTIONS

PFD Maintain clear of RF-70 until DISARMED is verified DISARMED

DOC Record flight duration on Flight Summary Sheet hh:mm:ss

DOC Document flight performance details Batt. Voltage, 

Maintenance items

Aircraft Disconnect Flight Batteries

GCS PC Archive Telemetry for Post flight analysis (if desired)

DOC Check Aircraft Flight Battery Voltage and Record

DOC Complete Flight Summary Sheet/ Logbook

DOC Recharge Batteries and document Battery charge data per Battery mAh 

4—4
RoboFlight RF-70

Chapter 5 PERFORMANCE

TABLE OF CONTENTS

Page

Introduction ................................................................................................................................. 5-1

Launch Performance.................................................................................................................... 5-1

Landing Performance................................................................................................................... 5-1

Flight Endurance .......................................................................................................................... 5-1

INTRODUCTION

This section summarizes the RF-70 flight performance specifications.

LAUNCH PERFORMANCE

The RF-70 requires a clear area of at least 300 feet to launch. The aircraft will have an altitude 

of at least 30 feet above the ground at the 300 foot mark.

LANDING PERFORMANCE

The RF-70 requires a 300 foot clear area with at least 100 feet of smooth landing surface to 

land.

FLIGHT ENDURANCE

With no wind and cruise throttle setting, the expected flight endurance is 40 minutes.

5—1
RoboFlight RF-70

Chapter 6 WEIGHT AND BALANCE/EQUIPMENT LIST

TABLE OF CONTENTS

Page

Introduction ................................................................................................................................. 6-2

Weight and Balance ..................................................................................................................... 6-2

Weighing the Aircraft....................................................................................................... 6-2

Determining Center of Gravity......................................................................................... 6-2

Center of Gravity Limits................................................................................................... 6-2

Weight and Balance Graph .............................................................................................. 6-2

Comprehensive Equipment list.................................................................................................... 6-3

6—1
RoboFlight RF-70

INTRODUCTION

This section describes the procedure for determining the weight and center of gravity (CG) for the 

aircraft as well as determining that the weight and CG is within the acceptable range.

WEIGHT AND BALANCE

• CG

o CG is critical to the efficient operation of any UAV.

o When components are shifted, the CG will be altered.

o The main components which are moved on a regular basis are the sensors and the 

batteries.

o The sensors are typically in the middle front of the UAV, and the batteries are located in 

the correct position to offset all the components on the UAV.

o The CG must be tested after any change to the components or their placement.

o The CG should be tested by lifting the UAV by the central fins. The CG range is 1⁄4” fore 

and aft of the marking on the fuselage. 

• WEIGHT

o Weight is critical to the operation of any aircraft

o As the batteries are operated, they lose power. At full charge they have about 12.4v. At 

cruise speed the voltage shows about 1⁄2 volt less than at rest.

o As the weight increases the stall speed increases so the aircraft must fly faster and at a 

higher angle of attack which is less efficient.

o Do not overload the aircraft or the wing could break due to higher loads on the wing 

during maneuvering.

Weighing the Aircraft

-Place aircraft on accurate scale

-Ensure the aircraft is not moving and read display

-Aircraft should not way more than 13 lbs/5.9 kg

Determining Center of Gravity

-Install all equipment so that the aircraft is in flying configuration

-Balance aircraft on CG markings

-Reposition batteries, sensors, or other payload until aircraft balances on markings.

Center of Gravity Limits

-The center of gravity may be up to 1” forward of the markings, but SHALL NOT be aft of

the markings by any amount

6—2
RoboFlight RF-70

COMPREHENSIVE EQUIPMENT LIST

Pixhawk Autopilot

3DR GPS receiver

3DR Telemetry Transceiver

3DR Digital Pitot Static Sensor

I2C Splitter

Taranis X8R Receiver

Motor arming switch

Piezo Buzzer

Brushless Electric Motor Electronic Speed Controller

Brushless Electric Motor

Composite Propeller

6—3
RoboFlight RF-70

Chapter 7 AIRPLANE AND SYSTEMS DESCRIPTION

TABLE OF CONTENTS

Page

Introduction ................................................................................................................................. 7-2

Systems List and Description ....................................................................................................... 7-2

7—1
RoboFlight RF-70

INTRODUCTION

This section provides an overview and definition of the systems on the RF-70.

SYSTEMS LIST AND DESCRIPTION

The RF-70 features some of the most advanced electronic components available. Below are a few

of these electronic components that you will want to be more familiar.

● PixHawk Flight Controller Board: Controls the overall motions of the RF-70 by receiving

signals from the receiver and then also sends the appropriate commands to the motor and 

elevons.

You can connect to Mission Planner software via a micro USB port on the side of the

PixHawk Flight Board. Be sure not to press too aggressively when plugging in the USB cable

and that you are not putting the cable end in up-side-down. You can also connect wirelessly

via the 3D Robotics USB antenna supplied with your kit

PixHawk LED Signals:

Flashing red and blue: Initializing gyroscopes

Double flash yellow: Failing pre-arm checks

7—2
RoboFlight RF-70

Flashing blue: Disarmed, no GPS lock found

Flashing green: Disarmed, GPS lock acquired (with quick double beep tone at time of 

disarming)

Solid green: Armed, GPS lock acquired (with single long tone at time of arming)

Solid blue: Armed with no GPS lock

Flashing yellow: Radio failsafe activated

Flashing yellow with quick beeping tone: Battery failsafe activated

Flashing blue and yellow with high-high-high-low tone sequence (dah-dah-dah-doh): GPS 

glitch or GPS failsafe activated

Safety Switch Signals:

Quick, constant blinking: Performing system check, please wait.

Intermittent blinking: System ready. Press the safety switch to enable outputs to the motor 

and elevons

Solid: Outputs to motor and elevons enabled (Armed)

● Receiver: Receives the wireless pilots commands that he or she enters into the remote

control from the ground

7—3
RoboFlight RF-70

● 3D Robotics Antenna: Used to connect your Windows based computer that is running

Mission Planner to your RF-70 (there is one antenna on the aircraft, and a second separate

antenna that plugs into your computer to connect the computer and the RF-70 wirelessly)

● GPS Block and Magnetometer: Contains the GPS electronics that are necessary for

autopilot features including Return To Home, Loiter, and general autopilot navigating of

waypoints

7—4
RoboFlight RF-70

It is always good to re-calibrate your compass anytime you operate more than 150 miles from the 

last location it was calibrated. This can be done by connecting your RF-70 to Mission Planner

wirelessly and then going to the Compass Calibration option (you will not see this option until

you have successfully connected the RF-70 to Mission Planner)

REMOTE CONSOLE:

FrSky Taranis X9D

Manual Download Link:

https://www.greathobbies.com/manuals/f/frs/frsx9d_manual.pdf

7—5
RoboFlight RF-70

Notes on operation of the remote console:

Prior to shipping your RF-70 we make sure all settings are correct and test fly your unit. Do not

attempt to adjust the settings of the console.

Lay the console down with the face up and make sure all the switches are away from you or “down”

from you when starting the remote and even into ARMING the RF-70. These switch positions are

considered “neutral”.

● Flight Mode Switch ( 3 way switch located at the top right hand corner of the

console) - “Stabilize / FBWA / Auto”

- Away position is “Stabilize” (basic manually controlled stabilized flying)

Stabilize automatically levels the RF-70 while giving you manual control. If you 

were to let go of the controls, the plane will level itself. It allows more aggressive control 

than in FBWA. This mode is not suggested for normal operations. Does not require GPS

lock, but GPS is highly advised for all flights.

- Middle position, this is “FBWA” (Fly By Wire)

FBWA automatically levels the RF-70 and also limits the angle of bank and pitch of the 

RF-70. For instance, you can input full deflection of the right stick on the console, but this mode 

will prevent the RF-70 from passing a pre-determined angle of bank or pitch relative to the 

horizon. This is the suggested mode for launch and landing. This mode does not require GPS 

lock, but GPS is highly advised for all flights.

- Towards or Forward position is “AUTO”

Auto absolutely requires a GPS lock which is indicated by a green LED on the PixHawk

flight board. This mode immediately activates the last written flight data from Mission Planner. 

If you change the mode from AUTO, the flight plan will pause, and then restart once you reengage the AUTO position but from the start of the flight pattern and NOT where you paused

the previously engaged flight pattern

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RoboFlight RF-70

● RTL SWITCH: (RED 2 way switch labeled “RTL” located at the top left hand corner of the 

console)

- Towards or Forward position is “RTL” (Return to Launch)

RTL absolutely requires GPS lock which is indicated by a green LED on the PixHawk flight board. 

Activate this mode to have the aircraft return to the GPS coordinates of where the aircraft first 

obtained a GPS position lock. The aircraft will then circle at 200 feet until the flight mode is 

changed. For this reason, we recommend that you plug in your main flight battery and also take

off at the same location, assuming GPS lock is reached where take off begins. Activating this 

mode will override any mode selected on the Flight Mode Switch. Deactivating this 

mode (by pushing switch away from you) will re-activate whichever mode is selected 

on the Flight Mode Switch.

PROPELLER

The RF-70 comes equipped with a composite 13X6.5 propeller.

WARNING: The propeller rotates at an extremely high velocity and can be very dangerous. Any time the 

aircraft is armed, stay clear of the propeller and only advance the throttle from idle for control checks 

and launch.

Note: When landing, ALWAYS touch down with the throttle control at IDLE (0%). Failure to touch down 

at idle will likely cause propeller damage.

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RoboFlight RF-70

MAIN FLIGHT LIPO BATTERY:

The standard battery is a 10,000 milliampere-hour (mAh) 4 cell battery. A fully charged 4 cell battery 

will have a voltage of 16.4-16.6 volts for all cells (or a little over 4.1 volts per cell)

Users should consider a 4 cell battery to be empty when the total voltage falls below 14.8 volts for all

cells. Various factors such as payload, ambient temperature, and burst rate of the battery can alter

flight times. It is a common characteristic that the last remaining 20% of a LIPO’s stored MAH’s are

spent incrementally faster, so it is not recommended to use any LIPO battery past this point.

Make sure the black negative and red positive power wires are securely attached to the XT60 

connector prior to any power up or connection to the charger. Check for cuts in the line and

damage to the cells. Look for any swelling in the battery as this is a severe indication of a

damaged battery that is susceptible to starting a fire.

When connecting the battery to the RF-70, there may be a small “pop” at the connector and even a

small spark. In almost every instance this is normal. Once connect and plugged in, wiggle to check for

any electrical shorts. A short is primarily witnessed by a power surge or momentary loss of power to

the RF-70.

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RoboFlight RF-70

Chapter 8 AIRCRAFT HANDLING, SERVICE AND MAINTENANCE

TABLE OF CONTENTS

Page

Introduction ................................................................................................................................. 8-2

Inspection Periods........................................................................................................................ 8-2

Recommended Component Replacement Intervals.................................................................... 8-2

Preventative Maintenance and Care ........................................................................................... 8-2

Alterations or Repairs.................................................................................................................. 8-2

Storage......................................................................................................................................... 8-2

Battery Care ................................................................................................................................. 8-2

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RoboFlight RF-70

INTRODUCTION

This section describes proper maintenance, handling, and inspection procedures.

INSPECTION PERIODS

-The aircraft should receive a thorough inspection every 30 days or 10 cycles, whichever 

occurs first

RECOMMENDED COMPONENT REPLACEMENT INTERVALS

Batteries – 100 cycles

Motors – 50 hours

Propeller – 20 hours

PREVENTATIVE MAINTENANCE AND CARE

-Conduct a thorough preflight and postflight inspection after every flight

-Inspect the camera and camera lens after every flight. If lens is dirty, use approved lens 

cleaning material to clean

ALTERATIONS OR REPAIRS

-Any alterations made to the aircraft are not approved or certified by RoboFlight.

-If repairs are needed, contact a RoboFlight representative for the approved repair 

process.

STORAGE

Store the RF-70 aircraft in the supplied hard case when not in use and for transportation

BATTERY CARE

-If not using the batteries regularly, discharge to a safe storage voltage (3.9 Volts per 

cell)

-Store batteries in a dry area around room temperature

-If left unattended, store batteries in a fire-proof enclosure

8—2