# Operations Manual MU-1H

# Operations Manual

**MU -** **1H** This book provides the operating instruction for the MU-1H aircraft. All operators must read the contents of this book prior to flight.

# MU**- 1H** 

**CHECKLISTS**

 **MU -** **1H BENCH SET UP & TESTS**  o All screws/bolts are tight o Timer alarm for flight time to not exceed 70% 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 ifused o Batteries charged. Replace any battery which cycles below 70% of rated capacity  Laptop Battery  Flight Battery  Handheld Rx Battery  RC Tx Battery  Video Rx Battery  Spare Laptop Battery

 **MU -** **1H 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 Datalink & cable o Battery Y-harness **MU -** **1H PREFLIGHT CHECKLIST**

o Position: MU-1H Ground Station o Emergency LZ o Wind o Area secure o Antennas o GCS o Lens cap o Camera On o SD card o Flight battery: voltage

– install - CG o C2 Tx: Switches

– On - Model Selection - 5.4V+ o Photo Tx

– Switches

– On - Model Selection - 5.4V+ o Copter On o Calibrate? - Cycle o Copter Voltage on GCS o GPS Mode

– Double Purple/Single Purple o Course Lock Mode - Green o Camera/Gimbal tests o Upload mission o Zero altitude
 **TAKEOFF CHECKLIST**  o Timer o GPS mode (Course lock?) o Motor startup/checks o Takeoff o Landing Gear

 **LANDING CHECKLIST** o LZ clear o Landing Gear o Land o Flight Time o Copter/Camera Power down o Adjust Params o Power Down batteries o Motor Temps o Logbooks **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

### 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/Equipment List  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 referenced 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.

 GENERAL CHARACTERISTICS o Primarily

for unmanned patrol, insepoction, and data gathering) 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 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 17 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: 400 Feet o Maximum Operation Wind Conditions: 10 m/s o Propulsion System: LiIon 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: 700mm o Height with GPS/Compass folded down: 300mm o Height with GPS/Compass up: 320mm o Length of landing gear skids: 355mm o Distance between landing gear skids: 450mm

 IMPORTANT WEIGHTS o --- No Gimbal o 13.5lbs = MU-1H NO Gimbal and Panasonic 13600 o 12.3lbs = MU-1H NO Gimbal and Panasonic 10200 o --- 5N Storm Eye7 Gimbal o 17.2lbs =MU-1H with Nex-7 and Panasonic 13600 o 16lbs = MU-1H with Nex-7 and Panasonic 12200 o --- GH3/GH4 Gimbal o 17.68lbs = MU-1H with GH3/GH4 and Panasonic 13600 o 16.48lbs = MU-1H with GH3/GH4 and Panasonic 10200 o --- BMPCC Gimbal o 17.3lbs = MU-1H and Panasonic 13600 o 16.1lbs = MU-1H and Panasonic 10200 o --- 5D Gimbal o 22.5lbs = MU-1H and Panasonic 13600 - OVERWEIGHT! o 21.3lbs = MU-1H and Panasonic 10200- OVERWEIGHT!

 MOTORS o Manufacturer: Multistar o Number of motors: 6 o Motor KV/RPM: 268 o Motor max @ 32V: 8,500 rpm o Motor max power: 369 Watts o Power rating: 2200 Watts max for all 6 motors o Current Max: 66 amps o Amp Draw Typical Average: 10 amps

 PROPELLERS o Manufacturer: Gemfan o Material: Composite Carbon Fiber o Number of propellers: 6 o Propeller model number: MU-1H 14x4.7 o Number of blades: 2 fixed blades o Propeller Diameter: 14” o Propeller Pitch (fixed): 4.7” o Max rpm: 10,000 rpm ELECTRONIC SPEED CONTROLS

o Manufacturer: Afro o Number of speed controllers: 6 o Speed controller model number: Afro 20A HV ESC o Amp rating: 20 Amps continuous o Signal Frequency: 30-450 Hz o Drive PWM Frequency: 1 KHz

 AUTOPILOT o Manufacturer: APM 2.6/ Pixhawk o Autopilot Model Number: MU-1HAP o Components: GPS/Compass, IMU, Master Controller, Power Distribution System, LED Indicator Lighting System, 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 / Windows 8 o Hovering Accuracy: Vertical : ± 0.5m; Horizontal: ± 2m

 ANALOG WIRELESS LINKS o Distributor: Turnigy 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: <2 km.

 DIGITAL WIRELESS LINKS o Distributor: JDrones o Frequencies:  900 MHz o Power Consumption: <1 watt o Usable Range: 20 km +.  FLIGHT BATTERY o Manufacturers: Panasonic o Battery chemistry

recommended: Lithium Ion o Battery

Capacity:up to 21,000 mah or greater depending on max gross weight o Battery cell count required: 8s (8 cells in series) o Battery

Voltage: 25.6V minimum during hover, 29.6V nominal, 33.6V maximum o Battery Maximum Discharge Rate: 2C o Battery

Minimum Charge Rate: 1C o Battery

Rest Time between discharging and charging: 0-30 minutes o Batteries used simultaneously: ty pically 1 o Recommended Battery Discharge Amount: 80-90% FLIGHT PARAMETERS

o Flight Time: 60+ minutes ty pical o Payload Max: 10 lbs with battery, sensor and gimbal

 **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. Batteries 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 60% charged state. o Store batteries between 20% - 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 20%

- 50% charged state. o Discharging LiIon batteries in excess of 80% oftheir 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 33.6V. 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 performance. Airframe must not be overloaded. 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 & POWERPLA NT LIMITATIONS o 11 Amps max per motor o 20 Amps max per speed controller o 66 Amps max total o Do not exceed 80-90% discharge ofrated 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 TakeoffWeight Max: 17 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 ofthe three pairs of arms  Must be checked before every flight to ensure batteries were installed in the proper location.  Check all sets 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 Light dust and light rain require the use of a shield for the electronics in the center section. o Light dust and light rain are acceptable for the unshielded motor and ESC. RANGE LIMITS

o FUEL  Fuel capacity is a 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 by 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 especially a person.  Hold the transmitter up in the air and walk in the general direction ofthe AV (aerial vehicle).  Ensure that the antenna is vertical. Do not point the antenna at the AV.  The failsafes 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 system) 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 ofthe range. Ifusing 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 o 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 ifthey 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 20V can permanently damage the battery. o GCS FAILURE  Takeover by the external pilot should happen ASAP using the RC link.  Most often happens due to a low battery.  Keep a spare 3 cell LiPoly battery with the appropriate plug to plug into the charge jack for emergency use. Most chargers are 19V output which is roughly equivalent to a 4-cell battery. 3-cell batteries may work. o COMPASS CALIBRATION ERROR  Ifthe compass is out of calibration the warning light will flash red. This is the same signal as low voltage. Ifthe voltage is correct, there is a calibration error.  Recalibrate the compass following the instruction manual o FIRE  Fires can occur due to a short circuit or battery failure.  Disconnect the battery ASAP unless there is danger in doing so ifthere is any electrical issue.  It is not possible to put out a battery fire.  Do not attempt to put out a battery fire. Use a fire extinguisher to put out fires surrounding the battery. A CO2 fire extinguisher is better than the powder or chemical ty pe. CO2 does not leave a residue. Water can be used though it may cause other electrical component failures. o FORCED LANDI

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

### SECTION **4 SET**  **UP SUGGESTIONS** 

 ELECTRONICS BURN IN o We recommend that you put weights onto the landing skids to keep the copter on the ground and run the copter at about 70% throttle for about 2 hours to burn in the electronics. Most electronic failures occur in the first 2 hours of operation.  GPS/COMPASS MAST LENGTH o We found that the higher the mast, the better the GPS reception  Nex5N vs. Nex7 vs. Panasonic GH3 o These cameras are excellent for stills, and very good for video. The best for video is the Panasonic GH4 with 4k capabilities. o We found that the Nex 5N takes exceptional quality stills and video, though most professionals use the Nex 7. o Use the Panasonic GH4 if you primarily shoot video  RADIO SET UP o Follow the instructions in the manual o We prefer the switch assignment as shown in the checklists above though feel free to modify to your liking  COPTER COMMAND AND CONTROL o We recommend the use of a dual rate switch for main copter operation.  High rate

– used to initialize the motors. The flight controller will not engage unless it sees full down throttle, full left rudder, full left cyclic and full back cyclic. However, these may be too high for normal flying. On high rate it is helpful to utilize fairly high exponential to make the stick feel soft around center. Adjust to your preference. 

###  Low rate

– used for typical flying. Set the end point adjustments such that full stick deflection offers the maximum speed required in normal flying. If conditions require higher flight speeds, switch to high rate. On low rate it is also helpful to utilize a small amount of exponential to make the stick feel soft around center. Adjust to your preference.  ZENMUSE COMMAND AND CONTROL o We recommend the use of a dual rate switch for gimbal operation.  High rate

– used to initialize the gimbal. The gimbal may not engage unless it sees full motion. However, these may be too high for shooting video smoothly. This is best for still photography so as to put the camera on target quickly. On high rate it is helpful to utilize fairly

high exponential to make the stick feel soft around center. Adjust to your preference. 

###  Low rate

– used for videography. Set the end point adjustments such that full stick deflection offers the maximum speed required for videography. If conditions require higher gimbal speeds, switch to high rate. On low rate it is also helpful to utilize a small amount of exponential to make the stick feel soft around center. Adjust to your preference. 

###  TIMERS 

### o Use of the countdown timer is a good backup method to ensure landing with battery power. 

###  Set the timer for 20 minutes (or what you deem appropriate) and have it start when the throttle is over 1⁄4. Then adjust the timer upwards until the amount of battery used is about 80-90% ofthe total available. Ifusing 20,000 mah batteries, a total of 17,000 mah would be the target. Set the timer such that you have a minute or so to land after

###  BATTERIES the alarm sounds so that you have adequate time to return to base. Adjust to your preference. 

### o Replace the transmitter standard battery with a Lipoly battery to extend use times to 8 hours. Supplied batteries often last about 2 hours.

### NORMAL **PROCEDURES**

 PREFLIGHT CHECKLIST o Confirm all communication radios are operational  Radio with ATC  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 ofprior 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 ATTIand 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 ofthe shot when flying. o Turn on Pilot Tx o Ifusing 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 MU-1H o Throttle on Tx Down o Return to Home switch Off o Adjust gain to correct position (ifrequired) o Manual Flight Mode Switch to manual (not ATTI or GPS mode) o Flight Path Switch Off

– Not Course or Home or POI o Check Tx battery

voltage (above 7.5v)  These settings above are required to initialize the copter properly. Ifthe switches are in the incorrect position, it will not initialize properly which may cause some ofthe 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 correctly depending on battery capacity. This can be adjusted to your flying style. 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 5.4v for Futaba 14ch) 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 cause 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-style connectors in a parallel wire harness. This Y-harness has a yellow connector. Itis preferable to connect the batteries to the Y-harness f irst, then plug in the yellow connector. This reduces (but does not eliminate) electrical arcing.  8 quick chirps should be heard confirming 8S LiIon 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 t he copter until 30 seconds after full GPS Lock  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 satellites. 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. Ifthe 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 ifthe voltage is outside that range which should be resolved before flying. o Engage Attitude Mode

– Must achieve double amber flash o Engage GPS Mode

– Must achieve double purple flash o Engage course lock 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 ifnecessary until this is completed. o After calibration, reset the copter by cycling battery with copter pointed in the correct heading for course lock. o Engage Camera o HDMIswitch 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 HDMIconnection. 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 ofthe camera. o Verify

data link if installed  Roll the copter about 45 degrees on its side by 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.  Ifthe 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 ofthe 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 offby this amount. This could cause the copter to fly at 10 meters or 30 meters ifthe way point is set for 20 meters and the altitude is off by 10 meters one way or another. Ifthe 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 by going to altitude offset. o Alternate Emergency Landing Sites Established

 NORMAL TAKEOFF o Confirm clear for takeoffwith ATC  Necessary ifwithin 5 miles of an airport ATC clearance is required days or weeks before flying.

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 offuntil about 1⁄2 stick is reached. o Verify

data and video links before lifting off. If anything 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: “TAKI NG 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.

 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 offthe 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 (Can be purchased inexpensively) o Keep a log of all flights.  Date  Time of Day  Time in Operation (in hours)  Battery serial numbers  Ah used in flight  Location  Pilot, Observer, Sensor Operator Names  Flight Objective  Remarks

 AIRCRAFT MAI

NTENANCE LOG BOOK (Can be purchased inexpensively) o Keep a log of significant inspections, tests, repairs, alterations, equipment changes.  Date maintenance is performed  Accumulated hours of operation  Remarks

 PILOT LOG BOOK (Can be purchased inexpensively ) 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 PERFORMANCE** 

 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 ofpower 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**  **EQUIPMENT LIST**  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 ty

pically in the front ofthe AV, and the batteries 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 ofthe arms the more efficient and the more stable the AV will be.  WEIGHT o Weight is critical to the operation of any aircraft o Weight is especially critical to a rotor wing aircraft. At full throttle the motors have a finite amount ofthrust. All the weight is lifted by the battery power, there is no wing to assist in providing lift. o As the batteries are operated, they lose power. At full charge they have about 32V. At 20% remaining capacity they have about 22v. This is a loss of 8% ofthe power available which is significant. o Do not overload the aircraft or there will not be sufficient reserve power to maneuver at low battery levels.

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

 FLIGHT BATTERY REQUIRED o Manufacturers: Panasonic o Battery chemistry

recommended: Lithium Ion o Battery

Capacity:up to 21,000 mah or greater depending on max gross weight o Battery cell count required: 8s (8 cells in series) o Battery

Voltage: 25.6V minimum during hover, 29.6V nominal, 33.6V maximum o Battery Maximum Rated Discharge Rate: 2C o Battery Minimum Charge Rate: 1C (3C preferable) o Battery

Rest Time between discharging and charging: 0-30 minutes o Batteries used simultaneously: ty pically 1 o Recommended Battery Discharge Amount: 80-90%

 WERELESS 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 may have severe degradation due to location to other admitters such as cell towers o Range must be constantly monitored. o Alternate antenna ty

pes 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: 2C. 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 ifthe battery is more than 2°C warmer than ambient, especially ifthe 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 Ion 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 33.6V. 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 motors.  Test all batteries for capacity.  Upgrade firmware and software to latest revisions.

### SECTION **9 SUPPLEMENTS**  COTS components have been utilized in the construction ofthis AV. All instruction manuals, operating handbooks, warning notices, and more are available as separate documents. Components which may have separate documentation follow. Links to these documents are available on the website. Print out the significant documents and keep in a notebook with the copter at all times. AIRFRAME AUTOPILOT SYSTEM BATTERIES BATTERY CHARGER CAMERA MANUAL CAMERA GCS DATA WIRELESS LINK GIMBALCAMERA MOUNT GIMBAL CAMERA MOUNT SERVOS LAPTOP COMPUTER MOTORS ONBOARD REGULATOR PROPELLERS RC/MANUAL COMMAND & CONTROL SYSTEM SPEED CONTROLS (ESCs) VIDEO CAPTURE HARDWARE VIDEO CAPTURE SOFTWARE VIDEO WIRELESS LINK