# AERIAL INNOVATION AND

INSPECTION S

PILOT CHECKLIST DJI S1000+WITH Zenmuse

Original: August 13, 2015

# DJI S1000+WITH Zenmuse **CHECKLIST**
**DJI S1000+ BENCH SET UP & TESTS** 

o All screws/bolts are tight o Timer alarm for flight time to not exceed 80% battery capacity set properly o Batteries are secure o Antennas are secure o Props balanced o Props aligned o Props not chipped o Check blades, arms, etc. for cracks/damage o Wiring Tight o No excessive flexing of motors or booms o Booms/motors will not twist o Center of gravity

is correct o Warning lights set for low battery if used o Batteries charged. Replace any battery which cycles below 80% of rated capacity  Laptop Battery  Flight Battery  Handheld Rx Battery  RC Tx Battery  Video Rx Battery  Spare Laptop Battery **DJI S1000+ INVENTORY CHECKLIST** 

o Load Flight plan o Aircraft o Camera with SD card o Spare parts/tools o Spare batteries o Two RC transmitters o Laptop o Battery Charger o Flight Controller Cable o Video monitor, stand, battery, antennas o Goggles o Datalink & cable o Battery

Y -harness**DJI S1000+ PREFLIGHT CHECKLIST** 

o Check area to fly on Google maps o Confirm walkie talkie and ATC coms operation o Inform ATC of your flight plan if required o Determine emergency flight plan and alternate landing zones avoiding power lines and obstacles o Check wind direction o Set a perimeter of 50 - 100 meters

– area must be clear of people o All antennas (9?) installed and all pointing in correct directions o Engage GCS, monitor, laptop, goggles, etc. (bring up flight plan) o Remove lens cap / Clean lens o Camera On o Ensure camera has SD card installed. o Check battery voltage o Install battery on copter. o Check CG o Level copter with front pointing in correct direction for course lock

– do not turn on o On Copter TX - Set switches - Throttle Down, Return to Home switch Off, Manual Flight Mode Switch On, Flight Path Switch Off

– Not Course or Home Lock o Copter Transmitter On o Check Model Selection on Tx o Check Tx battery voltage (above 7.4v) o On Photo Tx

– set switches - HDMI switch Off, Freestyle switch On o Photography Transmitter On o Check Model Selection on Tx o Check Tx battery voltage (above 7.4v) o Plug in battery black lead first. o Calibrate GPS/Compass if necessary o If calibrated, cycle battery with correct heading for course lock. o Do not touch the Copter until 30 seconds after full GPS Lock. Initial 3 red blinks is normal meaning no GPS lock. Wait until no flashes. Continue with checklist. o Check Copter Voltage from GCS o Engage Attitude Mode

– Must Achieve Double Amber Flash o Engage GPS Mode

– Must Achieve Double Purple Flash o While in GPS mode engage “Course Lock” mode. Must achieve green Flash o Do not engage motors. Set throttle to center position. Must achieve single amber flash in Attitude Mode and single purple flash in GPS mode o HDMI switch On (video on camera itself should go off) o Freestyle switch On (FPV Off) o Verify camera operation (If problems, check Drive Mode

– Remote Cmdr must be “on”, manual focus, intelligent auto) o Verify data link if installed

– rolling copter manually should change gauges o Upload flight plan o Verify altitude is about 0 via gauge on computer/GCS/video monitor/goggles o Timers set properly**DJI A2 CONTROLLER ERROR MESSAGES** 

o White flashes  IMU malfunction. Land and determine cause. Possibilities:  GPS/Compass not pointing forward  IMU not pointing forward  Set up of X, Y, Z for location of IMU and Compass is incorrect o Excessive rocking/instability possible causes:  Weak motor  Structure flexing from fatigue or cracks  Motor mount  Main frame  Booms  Loose Bolts causing flexing or misalignment  Props  Mounts  Props out of balance  Props misaligned  Excessive wind speeds or gusts  Excessive Gains  Excessive motor power. Max motor power must a little more than ty pical ascent power. o Red Flashes (1, 2 or 3 flashes with pauses)

– GPS loss (3 is more serious). Land if loss lasts for more than 30 seconds. Possible causes:  Clouds  Structures  GPS mal - function  GPS too close to electrical components  GPS vibration **QUICK PREFLIGHT CHECKLIST**

o Landing zone clear o Level copter with correct heading o Battery

4.1+ full, 3.8 depleted (do not use) o Camera on. SD card in. o Both TX

– all switches down o Both TX on o Copter on o Check GPS and Course lock checks o Video check o Photo check o Timers ready o Takeoff o Raise Landing Gear o Unplug 6 batteries upon landing**TAKEOFF CHECKLIST** 

o Declare intentions for takeoff with ATC if required. o Engage GPS mode

– Double purple flash o Engage Course Lock mode (double green flash) o Announce loudly: “CLEAR PROP” o Position the sticks in the lower left hand corners, then immediately raise the throttle 2 clicks, and center the right stick. o Advance throttle to 1⁄4 power for 5 seconds. Assure all motors are operating. o Verify

that left/right and forward/back stick movement engages the proper motors. o Verify

data and video links are still operational o Announce loudly: “TAKING OFF” o Advance throttle to full. Copter must jump off of the ground. o Ascend to 3 meters. Center throttle stick. Should be single green flash. Verify wireless link, GPS hold, camera operation, gauges, etc. are working properly. o Verify

course lock is operational by rotating 90 degrees and pushing forward on stick. o Verify

copter stability . If unstable, land and reset gains, recalibrate, or retest as necessary . o Raise landing gear o Proceed with manual mission o For autopilot operation  Ascend to 10 meters manually  Engage autopilot o Manual pilot/observer must monitor the informational LED and be ready to take over in manual mode when necessary . o Manual pilot to request copter flight battery voltage readout from camera operator periodically. **LANDING CHECKLIST**

o Landing area clear o Lower landing gear o Note obstacles in flight path o Announce loudly: “LANDING” o First cut power to the aircraft o Note elapsed time of flight o Adjust any

parameters (camera servo speed, exponential , etc) o Turn power off to transmitters, camera, goggles, monitors, Rxs, etc. o Touch motors to verify temperatures are similar o Complete flight log  Date and time of flight  Batteries used  Time of Flight o Contact ATC if required

# AERIAL INNOVATION AND

INSPECTION
FLIGHT OPERATIONS MANUAL

### TABLE OF **CONTENTS**

 Section 1: General

 Section 2: Limitations

 Section 3: Emergency Procedures

 Section 4: Normal Procedures

 Section 5: Performance

 Section 6: Weight and Balance

 Section 7: Air Vehicle and Systems Description

 Section 8: Handling, Service and Maintenance

 Section 9: Supplements

### SECTION **1 GENERAL**  NOTE: In an effort to minimize costs and maximize spare parts availability, many COTS (commercial off the shelf) components have been utilized. Some may have slight modifications to better suit this application. Most COTS products have separate data sheets, assembly manuals and instruction manuals. They are reference in this document, with key factors being emphasized. As with all high technology products utilizing constantly evolving software, it is important to periodically check for online upgrades to the COTS components, including hardware, firmware and software. WARNI NG: Great care must be taken with the batteries. Much of this manual and supplemental information is devoted to the use and care of the batteries, especially the flight batteries. They are less volatile than gasoline, though they

should be treated with the same respect. Become very familiar with proper techniques of their use. **GENERAL CHARACTERISTICS**

o Primarily

for IS R (Intelligence, Surveillance, and Reconnaissance) o Economical due to extensive use of COTS products o Low Visual Signature o Low Aural Signature o Quick Launch and Recovery o Short Training Period o Simple Operation o Way point Navigation o Back packable o VTOL o Quick Repairs o Redundant Flight Systems o Safety Return to Home during lost link or low battery o High Degree of Mission Success o GPS navigation aid o Various sensors o 24 lb max takeoff weight o Operating Temp Range: - 5°C to +60°C o Flight Modes: Manual and GPS aided way point navigation o Maximum Operating Altitude: 1000 meters o Maximum Operation Wind Conditions: 10 m/s o Propulsion System: LiPo batteries o Takeoff: Manual or Automatic o Landing: Manual or Automatic o Takeoff/Recovery

Area: 5m square**IMPORTANT DIMENSIONS** 

o Distance rotor to rotor across the center: 41” o Height with GPS/Compass folded down: 21” o Height with GPS/Compass up: 25” o Length of landing gear skids: 18” o Distance between landing gear skids: 21” **IMPORTANT WEIGHTS**

o Weight including Nex 7 camera, Zenmuse gimbal, A2 autopilot system, landing gear, data transceiver, RC transceiver, video transmitter, regulators and all wiring

– every thing except battery : 13.4 lbs o Maximum Takeoff Weight: 24 lbs o Battery

Weight: up to 9.5 lbs with Nex camera and Zenmuse Gimbal **MOTORS**

o Manufacturer: DJ I - Innovations

o Number of motors: 8 o Motor ty

pe: 41mm x 14mm o Motor Model Number: 4114 - 11 o Motor KV/RPM: 400 o Motor max @ 25.2V: 10,000 rpm o Motor Max Power: 500 Watts o Power rating: 4000 Watts maximum power consumption for all 8 motors o Current Max: 100 amps o Amp Draw T ypical Average: 65 amps **PROPELLERS**

o Manufacturer: DJ I - Innovations o Material: Composite o Number of propellers: 8 o Propeller model number: DJI15 x 5.2 o Number of blades: 2 - folding o Propeller Diameter: 15” o Propeller Pitch (fixed): 5.2” o Max rpm: 10,000 rpm**ELECTRONIC SPEED CONTROLS**

o Manufacturer: DJ I- Innovations o Number of speed controls: 8 o Speed control model number: DJ I 40A Opto o Rating in amps: 40 Amps continuous o Signal Frequency : 30 - 450 Hz o Drive PWM Frequency : 8 KHz **AUTOPILOT**

o Manufacturer: DJ I - Innovations o Autopilot Model Number: DJI A2 o Components: GPS/Compass, IMU, Master Controller, Power Distribution System, LED Indicator Lighting S ystem, Data Transceiver, GCS Software o Power Consumption: 5W o Operating Temp Range: - 5°C to +60°C o Software Compatible: Windows XP sp3 / Windows 7 o Hovering Accuracy : Vertical : ± 0.5m; Horizontal: ± 2m **WIRELESS LINKS**

o Distributor: DJI - Innovations o Frequencies:  2.4 Ghz datalink with WiFi  2.4 Ghz Command & Control  5.8 Ghz Video o Power Consumption: 1 watt o Usable Range: Less than 2 km. **FLIGHT BATTERY** 

o Manufacturers: Various COTS suppliers o Battery

chemistry

recommended: Lithium Poly mer o Battery

Capacity: 16,000 - 42,000 mah o Battery

cell count required: 6S (6 cells in series) o Battery

Voltage: 21V minimum during hover, 22.2V nominal, 25.2V maximum o Battery

Minimum Rated Discharge Rate: 20C minimum o Battery

Minimum Charge Rate: 1C (3C preferable) o Battery

Rest Time between discharging and charging: 0 - 30 minutes o Batteries used simultaneously : 1 - 4 o Recommended Battery Discharge Amount: 80 - 90%**FLIGHT PAR** 

**AMETERS** o Flight Time: up to 30 minutes o Payload Max: 11 lbs o Power Consumption in a Hover at 21 lb takeoff weight: 1500 Watts, 65 amps
**WARNINGS** o Never power a video transmitter or receiver without an antenna connected or overload failure

will occur. o Read all information regarding batteries contained in this manual and supplements. o Batteries are highly flammable and can explode, especially when fully charged. Improper charging, vibration, impact, high discharge, etc. can lead to explosion and fire. Batterie s must be charged under constant supervision and using proper precautions. o Batteries fully

charged must be handled with extreme care. o Batteries must not be stored above 50% charged state. o Store batteries between 20% - 50% charged state. Fully charge just b efore use. o Fully charged batteries which are not to be used within 24 hours should be discharged to 20%

- 50% charged state. o Discharging LiPo batteries in excess of 80% of their rated capacity can cause harm to the batteries. o Using more than one battery at a time requires the proper wiring harness so that the voltage is no more than 25.2V. Over voltage will cause serious damage to electrical equipment. o Using more than one battery at a time requires weight and balance checks. Proper CG is critical to perfo rmance. Airframe must not be overloaded. o Propellers must be balanced to avoid excessive vibration. o GPS/Compass must be facing forward. o Do not use GPS Mode without GPS lock. o Use low strength thread locking compound on all screws. o Wireless Video and Data ranges vary considerably

on many factors including weather, equipment, and obstructions. Be prepared for com failures.

### SECTION **2 LIMITATIONS**  **AIRSPEED LIMITATIONS**

o Vne

– Velocity to Never Exceed: 15 m/s o Va

– Ty

pical Maneuvering Speed

– 5 m/s **POWER & POWERPLANT LIMITATIONS** 

o 40 Amps max per motor o 40 Amps max per speed control o 320 Amps max total o Do not exceed 80 - 90% discharge of rated battery capacity o Do not charge batteries which are warmer than air temperature o Allow batteries to cool after use before charging o Leave an air gap between batteries when multiple batteries are used simultaneously **WEIGHT LIMITS** 

o Takeoff Weight Max: 24 lbs  Must be checked prior to takeoff if any change in equipment is made **CENTER OF GRAVITY LIMITS** 

o 3mm from the center of any of the three pairs of arms  Must be checked before every flight to ensure batteries were installed in the proper location.  Check all 4 pairs of arms before flight **MANEUVER LIMITS**

o This aircraft is intended for non- aerobatic operations o G - loading maximum: 2G **TEMPERATURE LIMITS** 

o Operating Temp Range: - 10°C to +40°C o In cold temperatures  Keep IMU at room temperature if possible before the flight  Keep Batteries above 5°C before flight  Do not fly

with any frost or ice on the propellers o In warm temperatures  Batteries heat up when discharged  The higher the discharge rate the higher the temperature increase during use  At temperatures above 45°C, use of 2 or more batteries is required to lower the load on any one battery

pack to keep it cooler.**WEATHER LIMITS**

o Li ght dust and light rain require the use of a shield for the electronics in the center section. o Li ght dust and light rain are acceptable for the unshielded motor and ESC. **RANGE LIMITS** 

o BATTERY

 Battery

capacity is the primary

limiting factor.  Flying into the wind will use more battery power to travel the same ground distance. Higher air speeds will be required to penetrate the wind which used more battery power. Take this into account when flying a mission.  Where possible, fly upwind at the start of a mission and downwind at the end to avoid depleting the battery

before returning to base. Have alternative landing sites available in case of emergency landing. o WIRELESS LINK

 Wireless links will be stable in LOS (line of sight) in most conditions  Wireless links are always susceptible to shorter ranges due to  Atmospheric conditions  Other transmission devices in the area  Jamming  Antennas not aligned properly  Improper voltage  Antenna blockage from AV in certain positions  Multipath

– reflection off buildings or ground which cause multiple signals to arrive at different times and/or phase.

### SECTION 3 **EMERGENCY PROCEDURES**  **MOTOR FAILURE** 

o Operation is possible with one motor/ESC/propeller failure

 The two adjacent motors/ESCs will be increased in thrust automatically by the flight controller to overcome the loss  In cases where the airframe is highly loaded the maximum rating of 40 amps may be exceeded b y these two motors/ESCs  Operation should be terminated as soon as possible to reduce the possibility of damage to the remaining motors **COMMUNICATION FAILURE** 

o Video link failure

 5.8 Ghz being the shortest wavelength in general AV use has the least ability to penetrate. This link should be the first to be lost.  It is best to lose video first! It is the least likely to cause a crash when it fails.  5.8 Ghz can lose link with little warning.  Ensure that the GCS station antennas are perpendicular to the AV. Do not point the antenna at the AV.  Yaw the AV to change the antenna position  Other links should still be good. Return back to the GCS until link is restored.  Transmitters produce heat when in operation. When overheated they may have thermal protection which interrupts use temporarily. Use of a heat sink or fan may be required especially with high ambient temperatures.  Higher gain antennas may be used, but do so with caution. High gain antennas are directional.  Multiple antennas using “diversity” can be used. Diversity is a device which determines the best signal, and uses that.  5.8 Ghz even at high wattages theoretically has less range than lower frequencies. Changing to 1.3 Ghz is an option, though there are other issues to be considered. o RC link failure

 2.4 Ghz antennas can lose link with little warning.  Any thing in between the two antennas can cause temporary signal loss especiall y a person.  Hold the transmitter up in the air and walk in the general direction of the AV (aerial vehicle).  Ensure that the antenna is vertical. Do not point the antenna at the AV. The fail safes on the RC link should be set so that the AV returns to home. Should this require a heading change, the antenna may move into a more desirable position and link will be restored.  The onboard equipment may block the signal. Yaw the AV so that the antennas point towards the GCS.  A LRS (long range s ystem) can be used as a permanent solution. This is higher in wattage and usually

on 433 Mhz.

o Data Link Failure

 900 Mhz do not lose link without some warning. When drop outs are noticed to increase in frequency

that is the limit of the range.

 If using 900 Mhz, this is on cell phone frequency . If a cell tower is nearby it can swamp the signal. 900 Mhz may not be usable in that area. Change to a different freq. or remain closer to the AV **LOW BATTERY POWER** 

 Fail - safes can be set such that in the event of low battery power, either due to a failure or too long of a flight, the warning light on the AV will constantly flash amber. This is the first level of warning.  The second warning level is red flashing lights  Auto landing will occur when battery power is low. It may

land in a tree or a lake, so this is not desirable.  Landing with 80 - 90% of battery depleted is best. Therefore landing with 17,000 mah used and 3,000 mah remaining of a 20,000 mah battery is desirable. Batteries should be drawn down equally when in use if they are both charged equally and both in relatively the same condition/age.  Do not mix partially

charged batteries. Only use completely charged batteries.  Over discharging a battery below 19.8V can permanently damage the battery . **GC S**  **FAILURE**

 Takeover b y the external pilot should happen ASAP using the RC link.

 Most often happens due to a low battery .  Keep a spare 3 cell LiPo battery with the appropriate plug to plug into the charge jack for emergency

use. Most chargers are 19V output which is roughl y equivalent to a 4 - cell battery . 3 - cell batteries may work.**COMPASS CALIBRATION ER** **ROR**

 If the compass is out of calibration the warning light will flash red. This is the same signal as low voltage. If the voltage is correct, there is a calibration error.  Recalibrate the compass following the instruction manual

**FIRE**

 Fires can occur due to a short circuit or battery failure.

 Disconnect the battery ASAP unless there is danger in doing so .  Use appropriate LiPo battery fire suppression procedures to contain the fire and notify the fire department if unable to contain. Use a fire extingui sher to put out fires surrounding the battery if they exist. **FORCED LANDINGS** 

 Alternate emergency

landing zones should be chosen ahead of time.  Be sure that the LZ is clear of people to avoid any incidents.  Land in the nearest LZ which is clear of people.  Announce your intentions of landing as loud as necessary to alert people of the incoming AV.

### SECTION 4 **NORMAL PROCEDURES**  **PREFLIGHT CHECKLIST**

o Confirm all communication radios are operational  Radio with ATC if required  Radios with others in the group o Set a perimeter of 100 meters  Area must be clear of people to avoid collision o Check for overhead power lines and other obstacles to avoid o Check structural integrity  In event of prior crash, inspect all booms, props and motor mounts for excessive flex indicating structural fatigue/failure o Have a manual flight plan avoiding obstacles. o Load auto flight plan if using one  Be sure that the total flight time is under 10 minutes to avoid low battery o Clean lens  Remove lens cap o Ensure camera has SD card installed  Many flights have been wasted due to this! o Install batteries  Ensure that the straps are tight and the Velcro keeps the batteries from moving which will avoid a shift in the CG (Center of Gravity – or that it balances evenly) o Check CG (Center of Gravity)  Lift the copter on each of the 3 pairs of arms. The copter should balance properly . If not, do not fly . Rearrange the equipment such that the CG is o IMU pointing forward  The Inertial Measurement Unit is set so that it must face forward o GPS/Compass installed, limited free play, pointing forward  This device must be installed with a screw to hold it in place. It cannot vibrate easily . If it does not point forward, the corrections in ATTI and GPS mode will be incorrect and it will crash. The FC will provide a warning with constant flashing white lights. o Level copter using a bubble level with front pointing in correct direction for course lock

– do not turn on  Keep in mind the best angle for pointing the landing gear in the direction that will keep the landing gear out of the shot when flying. o Turn on Pilot Tx o If using the rate gy

ro, set it at the correct position. This is usually a slider switch. Gains should have the range set from 200

– 350. Use the highest gain possible which does not cause oscillation. o Check Model Selection on Tx to be S800 o Throttle on Tx Down o Return to Home switch Off o Adjust gain to correct position (if required) o Manual Flight Mode Switch to manual (not ATTI or GPS mode) o Flight Path Switch Off

– Not Course or Home or POIo Check Tx battery voltage (above 7.5v)  These settings above are required to initialize the copter properly. If the switches are in the incorrect position, it will not initialize properly which may

cause some of the functions like course lock or GPS mode to not operate properly.  If the copter does not function properly after takeoff, land immediately and disconnect the copter power. Then put all the switches in the proper position for initialization and turn the power back on to the copter. o Count down timer should be set to 20 minutes. This can be adjusted to your flying styl e. The timer should engage at 1⁄4 throttle and trigger an alarm at the proper time. This is a backup alarm in case the indicator lights on the copter are not visible. o Turn on Photography Tx o Check Model Selection on Tx

– should read Zenmuse o Check Tx battery

voltage (above 7.5v) o HDMI switch Off o Freestyle switch Off (FPV On)  These settings above are required to initialize the Zenmuse properly. If the switches are in the incorrect position, it will not initialize properly which may c ause some of the functions like live video or gimbal operation to not operate properly.  If the camera or gimbal do not function properly, disconnect the copter power. Then put all the switches in the proper position for initialization and turn the power back on to the copter. o Engage power to copter  Plug in the 2 battery

packs. Ty

pically the battery

packs use red T - styl e connectors in a parallel wire harness. This Y -harness has a yellow connector. Itis preferable to c onnect the batteries to the Y -harness first, then plug in the yellow connector. This reduces (but does not eliminate) electrical arcing.  6 quick chirps should be heard confirming 6S LiPo batteries are recognized by the ESCs.  Hearing less than 6 chirps indicates fewer cell battery packs are being recognized which is incorrect. Check for improper or damaged batteries. o Do not move or vibrate the Squadcopter until 30 seconds after full GPS Lo ck  Initial 3 red blinks is normal meaning no GPS lock. No red flashes indicates full GPS lock.  Continue with checklist as you are waiting for full GPS lock, but do not move the copter.  If the GPS takes more than 5 minutes to lock, there is a problem with the area. It is not receiving the proper signals from the satellite s. GPS signals are weak, so trees, people, buildings, terrain, weather, have an effect. Move the copter into a more open area where it can more easily

see the satellites. o Check Copter Voltage from both Tx’s (transmitters)  The transmitters receive a signal from the corresponding receivers. The voltages are regulated to about 5v. If the voltage is below 4.4v or above 6v do not fly. There may be power regulation issues. The receivers cannot work outside this voltage consistently . Also there is some issue if the voltage is outside that range which should be resolved before flying. o Engage Attitude Mode

– Must achieve double amber flasho Engage GPS Mode

– Must achieve double purple flash

o Engage course cock mode

– Must achieve double green flash

o Disengage course lock mode. Must achieve double purple flash. Stay in this mode until just prior to takeoff, after takeoff at any time, or do not use. o Do not engage motors. Set throttle to center position. Must achieve single purple flash when in GPS mode.  To verify

that the sticks are all centered properly:

 With throttle in the center position, use the trim buttons on the transmitter to check that the sticks are centered. Trim the roll (the stick located on the right side of the transmitter when moved to the right and left) to the right, counting the number of clicks until a double flash occurs. Then center the trim. Then move the trim to the left, counting the number of clicks until a double flash occurs. An equal number of clicks should be counted each side of center.  Do this check for the 3 stick movements other than throttle.  Center the trim such that when the stick is in the neutral position that there are equal numbers of clicks in each direction. This ensures that when the sticks are neutralized that the flight controller will recognize this signal and engage GPS mode. o Calibrate GPS/Compass before the first flight each day or if receiving continuous red blinks or continuous white blinks.  Flip the GPS mode switch 7 times very quickly from manual to GPS. End with the switch in the manual position. The indicator light will be blue. Rotate the copter about 1.5 turns in a horizontal position. A green flashing light indicates that this is complete. Then hold the copter vertically and rotate about 1.5 turns. A white flashing light indicates that this is complete. Repeat if necessary until this is completed. o After calibration, reset the copter b y cycling battery with copter pointed in the correct heading for course lock. o Engage Camera o HDMI switch On  This will stop video from playing on the back of the camera and will send the video signal to the video transmitter via the HDMI connection. o Freestyle switch On (FPV Off)  This allows the camera to be operated freely through the transmitter o Verify

camera operation  Operate the shutter  Set the focus to auto or manual. Manual setting is usually set to infinity

to stop constant focusing of the camera. o Verify

data link if installed  Roll the copter about 45 degrees on its side b y lifting one side of the copter and resting one side of the landing gear on the ground  A corresponding roll should be seen on the gauge.  If the copter is rolled to the right, it will appear on the gauge that the horizon rolls to the left

– not the right because the view from inside the copter is that the horizon rolls the opposite direction of the copter.o Verify altitude is about 0 via gauge on computer  If it is not about 0, the altitude settings for the waypoints will be off by this amount. This could cause the copter to fly at 10 meters or 30 meters if the way point is set for 20 meters and the altitude is off b y 10 meters one way or another. If the copter thinks it is at 10 meters when it is on the ground, then it will only rise 10 meters above the ground to achieve what it believes it to be 20 meters above the ground.

 The altitude can be reset using the ground control software b y going to altitude offset. o Alternate Emergency

Landing Sites Established **NORMAL TAKEOFF** 

o Engage GPS mode

– Double purple flash when the throttle is down. o Switch to Course Lock flight mode if required. Purple flashes are replaced with green flashes. Flying in course lock is not required, but helpful in many instances. o Announce loudly: “CLEAR PROP” o Move both of the sticks to the bottom left corners to engage the motors. Within 1 second move the throttle up 1/8

– 1/4. The copter should not lift off until about 1⁄2 stick is reached. o Verify

data and video links before lifting off. If any thing is not working properly, move the throttle stick to low to disengage the motors and determine a solution. o If all flight checks are passed, announce loudly: “TAKING OFF” o Advance throttle to about 3/4. Copter must jump off of the ground to avoid one skid coming up before the other skid, and the skid on the ground getting caught and flipping the copter over sideways. o Ascend to 3 meters. Then decrease throttle to 1⁄2 to engage the GPS hold. o Verify

links, GPS, Attitude, etc. Should be single purple flash. o Verify

that the copter is holding position within .5m in all directions. o Verify camera operation o Verify

course lock is operational by rotating 90 degrees and pushing forward on stick. o Verify

copter stability . If unstable, land and reset gains, recalibrate, or retest as necessary . o Proceed with manual mission or o For autopilot operation  Ascend to 10 meters  Command AVO to proceed with mission.  Pilot should say

“It’s yours”  Response from AVO “I have it” o Manual pilot/observer must monitor the informational LED and be ready to take over in manual mode when necessary .  White flashes indicates flight controller issue  Amber flashes indicates low battery  Red flashes indicate loss of GPS or severe battery condition  Quick decisions are required when red flashes are indicated  10 seconds or more of loss of GPS signal will stop way point guidance and any GPS hold and put into manual mode. Red indicator light battery warning requires immediate landing o Manual pilot to request copter flight battery voltage readout from AVO periodically .  Reset the first and second indicator lights as required for your set up.  When recharging the batteries, the goal is to put 4,000 mah into a 5,000 mah battery pack. Adjust the voltage warnings to your style of flying.  Also use the countdown timer on the transmitter. This gives a good indication of battery level because the current used is fairly constant from flight to flight. **NORMAL LANDING**

o Landing area clear o Lower landing gear o Note obstacles in flight path o Announce loudly: “LANDING” o First cut power to the aircraft o Note elapsed time of flight o Adjust any

parameters (camera servo speed, exponential , etc) o Turn power off to transmitters, camera, goggles, monitors, Rxs, etc. o Touch motors to verify temperatures are similar o Complete flight log  Date and time of flight  Batteries used  Time of Flight o Contact ATC if required

**POST LANDING**

o Note flight time from transmitter. Write this down in the log book. o Note battery

power used during the flight. Write this down in the log book. o ALWAYS disconnect the main power to the AV first, then turn off the transmitter. o Check motor temperatures by touching them with your fingers. Any motors which are excessively

hot should be further inspected and possibly replaced. o Check battery

temperatures by

touching them with your fingers. Battery temperatures should not be hot to the touch. Battery temperatures should be slightly above ambient. o Inspect all components especially the propellers for wear. o Note in logbook which batteries were used to calculate life cycle.**AIRCRAFT FLIGHT LOG BOOK**

o Keep a log of all flights.  Date  Time of Day  Time in Operation (in hours)  Battery

serial numbers  Mah used in flight  Location  Pilot, Observer, Sensor Operator Names  Flight Objective  Remarks **AIRCRAFT MAINTENANCE LOG BOOK**

o Keep a log of significant inspections, tests, repairs, alterations, equipment changes.  Date maintenance is performed  Accumulated hours of operation  Remarks **PILOT LOG BOOK**

o Keep a log of all flights. Include the following:  Aircraft flown  Aircraft serial number  Date  Time of Day  Time in Operation (in hours)  Location  Flight Objective  Remarks**SECTION 5**  

### PERFORMANC **E FLIGHT**  **TIMES**

o The AV is designed to hover at high efficiency . Hovering is much less efficient than flying on a wing, thus flight times are low compared to fixed wing aircraft. o All the weight of the AV is supported by power from the batteries. As the batteries are used in a flight, the amount of power available decreases. Therefore the power reserve is constantly decreasing as the battery

is being used. Thus loading a rotorcraft above its limit is not recommended. While the AV may have enough power to lift off initially on a full charge, the power reserve at partial charge may be too low to allow for maneuvering and will result in a crash. o High lateral speeds will add lift to slightly improve efficiency . The rotors act similar to fixed wings at higher speeds. This increase in efficiency may be negated by

the increased power consumption of forward flight. o High winds or gusts decrease efficiency /flight time. The motors work harder to hold position. o As weight increases flight times decrease. **WIRELESS TRANSMISSION**

o Refer to the specific manuals for performance ratings. o Wireless communications utilized provide acceptable communication for LOS. o In general:  LOS is required  The higher the GCS antennas, the better the range  Any freq. at may

have severe degradation due to location to other admitters such as cell towers  RSSI(Received Signal Strength Indication) should be monitored for indication of communication drop out.**CG** 

### SECTION **6 WEIGHT AND BALANCE** 

o CG is critical to the efficient operation of any AV 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 front of the AV, and the batterie s are located in the correct position to offset all the components on the AV. o The CG must be tested after any change to the components or their placement. o The CG should be tested by lifting the UV with fingers on the bottom of the arms. Check all 3 pairs of arms. The CG should be no more than 2mm off in any on the 3 checks. The closer the CG is to the centerlines of the arms the more efficient and the more stable the AV will be. **WEIGHT** o Weight is critical to the operation of any aircraft .

o Manufactures maximum takeoff weight will not be exceeded.

### SECTION **7 AIR VEHICLE AND SYSTEMS**  **DESCRIPTION BATTERY REQUIREMENTS** 

o Manufacturers: Various COTS suppliers. o Refer to manufacturer data sheet. o Battery

chemistry

required: Lithium Poly

mer o Battery

Capacity: 16,000 mah (minimum) o Battery

cell count required: 6S (6 cells in series) o Battery

Voltage: 21V minimum at hover, 22.2V nominal, 25.2V maximum o Battery

Minimum Rated Discharge Rate: 20C minimum o Batteries used simultaneously : 1 - 4 ty pi cal o Recommended Battery Discharge Amount: 80 - 90% **WIRELESS COMMUNICATIONS** 

o Refer to the specific manuals for performance ratings. o Never power a video transmitter or receiver without an antenna connected or overload failure will occur. o Wireless communications utilized provide acceptable communication for LOS. o In general: o LOS is required. o Lower frequencies penetrate objects such as trees better than higher freqs. o Lower freqs have longer range than high freqs o Higher freqs can transfer more data than lower freqs o Higher freqs use smaller/shorter antennas o The higher the GCS antennas, the better the range and reception o Any freq at may

have severe degradation due to location to other admitters such as cell towers o Range must be constantly monitored. o Alternate antenna types may be utilized to improve link/range. Patch, helical, omni, etc. can be substituted. They

must be verified before use. o Alternate freqs may

be utilized to improve link/range.

### SECTION **8 HANDLING, SERVICE AND**  **MAINTENANCE PROPELLER**  **CARE**

o Propellers must be checked each flight for nicks or cracks o Propellers are designed to last indefinitely if they do not impact dust, dirt or more. **BATTERY CARE AND USE** 

o Refer to instruction sheet included from the battery manufacturer. Ty

pical information follows. o Batteries are highly flammable and can explode, especially when fully charged. Improper charging, vibration, impact, high discharge, etc. can lead to explosion and fire. Batteries must be charged under constant supervision and using proper precautions. o Batteries fully

charged must be handled with extreme care. o Any battery which puffs up is considered damaged and must not be used. It is in a dangerous state. Never charge a puffed up battery . o Any battery which holds less than 80% of its rated capacity should be discarded. o Cycle test each battery after every

50 cycles or if a battery

is suspected to have lost as significant amount of its capacity to determine the current capacity. o Properly

dispose of batteries. First discharge the battery fully using a battery cycler. Bring to a recycler such as a home improvement store. o Always charge flight batteries under “balance” mode. o Flight Battery

Recommended Charge Rate: 1C which takes approximately 1 hour to charge o Flight Battery

Maximum Charge Rate: May exceed 5C. Charge rates higher than 1C will decrease life cycles. Maximum charge rating per the manufacturer will provide 300+ cycles. Use the lowest charge rate which is practical. o Battery

Rest Time between discharging and charging: 30 minutes minimum, 1 hour maximum. o Do not charge if the battery is more than 2°C warmer than ambient, especially if the temperature is above 20°C. The outer surface is cooler than the inner core after use. Damage will occur when charging a warm battery . o Recommended Battery Discharge Amount: 80%. Using more of the capacity of the battery will decrease the life cycles o As battery

temperature approaches freezing the capacity of Lithium Poly

mer batteries decrease. Keep warmer than 5°C before installing into the UV (unmanned vehicle). o Battery

capacity decreases at higher discharge rates. Using more batteries decreases the discharge rate of each battery thereby extending individual battery capacity slightly . o Lower discharge rates improve the life cycles. o Batteries are rated at greater than 300 life cycles. 1,000+ life cycles are possible. o Batteries must not be stored above 60% charged state for extended periods. o Batteries should be stored below 25°C for extended periods o Store batteries between 40% - 60% charged state. Fully charge just before use. o Fully charged batteries which are not to be used within 24 hours should be discharged to 40%

- 60% charged state using the battery discharger. o Using more than one battery at a time requires the proper wiring harness so that the voltage is no more than 25.2V. Over voltage will cause serious damage to electrical equipment.**PREVENTATIVE MAINTENANCE** 

o ANNUAL INSPECTION (SUGGESTED)  If the airframe has in excess of 300 hours in a one year period, an annual inspection must be completed by

an approved technician.  An approved technician should disassemble the AV and inspect all components for wear and replace any components as required.  Test all batteries for capacity .  Upgrade firmware and software to latest revisions o 500 HOUR PM (SUGGESTED)  An approved technician should disassemble the AV and inspect all components for wear and replace any components as required.  Replace all 8 motors.  Test all batteries for capacity .  Upgrade firmware and software to latest revisions.

### SECTION **9 SUPPLEMENTS**  COTS components have been utilized in the construction of this AV. All instruction manuals, operating handbooks, warning notices, and more are available as separate documents. These documents will be added as equipped. AIRFRAME AUTOPILOT SYSTEM