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RevJ 

 

Aircraft FlightManual
 

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Table of Contents 

1 Foreword ....................................................................................................................................................4

1 System Components ...............................................................................................................................5

1.1 Vapor Helicopter Components ......................................................................................................5

1.1.1 Transmission ............................................................................................................................5

1.1.2 Tail Belt and Automatic Belt Tensioner ...............................................................................7

1.1.3 Tail Rotor ...................................................................................................................................7

1.1.4 Main Rotor.................................................................................................................................8

1.1.5 Landing Gear.............................................................................................................................8

1.1.6 AFCS...........................................................................................................................................9

1.1.7 Data Link ................................................................................................................................. 12

1.1.8 Motor....................................................................................................................................... 13

1.1.9 Electronic Speed Controller................................................................................................. 13

1.1.10 Main Rotor Governor............................................................................................................ 14

1.1.11 Servos – Swashplate ........................................................................................................... 14

1.1.12 Servo - Tail Rotor................................................................................................................... 14

1.1.13 Rotor Blades........................................................................................................................... 14

2 Ground Control Station......................................................................................................................... 16

2.1 Setting up the GCS........................................................................................................................ 16

2.1.1 PC Requirements and Licensing........................................................................................ 17

2.1.2 Calibration of Map................................................................................................................. 17

2.1.3 Magnetic Declination............................................................................................................ 18

2.1.4 Upload Firmware to Vapor AFCS....................................................................................... 19

2.1.5 Hardware-In-The-Loop Simulation (HWIL)....................................................................... 19

2.2 GCS Modes of Operation ............................................................................................................. 20

2.3 Mission Planning Principles ........................................................................................................ 22

2.3.1 Waypoint Types..................................................................................................................... 22

2.3.2 Mission Definition ................................................................................................................. 22

2.3.3 Altitude Computation ........................................................................................................... 23

2.3.4 Planar Coordinate Computation ........................................................................................ 23
 

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2.3.5 Uploading a Mission to the Helicopter.............................................................................. 23

2.3.6 Trajectory Characteristics................................................................................................... 24

2.3.7 Mission Interruption ............................................................................................................. 26

2.3.8 Sharp Turning Waypoints.................................................................................................... 28

2.3.9 Mission Planning Remarks ................................................................................................. 28

2.3.10 Beware of Obstacles............................................................................................................. 28

2.4 GCS Troubleshooting.................................................................................................................... 31

3 Battery Care and Charging................................................................................................................... 31

3.1 FCS and Servo Batteries .............................................................................................................. 31

3.2 MAIN Motor Power Battery ......................................................................................................... 31

4 General Maintenance............................................................................................................................ 32

4.1 General............................................................................................................................................. 32

4.2 Cleaning........................................................................................................................................... 33

4.3 Lubrication...................................................................................................................................... 33

5 Vapor Flight Log and Procedures....................................................................................................... 35

5.1 VAPOR Pre-Flight and Takeoff Procedure (RC TX).................Error! Bookmark not defined.

5.2 VAPOR Pre-Flight and Takeoff Procedure (No RC Tx).......................................................... 36

5.3 GCS Checklist (Tape copy to GCS laptop for convenience).................................................. 37

5.4 Vapor Landing Procedure ............................................................................................................ 37
 

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1 Foreword 

This Airplane Flight Manual has been produced by Pulse Aerospace, Inc to familiarize operators 

with the VAPOR 35 Unmanned Aircraft System (UAS). It is the responsibility of the owner to 

ensure that the Airplane Flight Manual is current at all times. Additional copies of the manual and 

revisions can be obtained from Pulse Aerospace at the following Address:

Pulse Aerospace, Inc.

450 N Iowa St. Ste A1

Lawrence, KS 66044

785-289-8402

contact@pulseaero.com

 
 

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1 System Components 

The Vapor UAS system can include several variations of the following main subcomponents:

1. Vapor helicopter

2. Vapor automatic flight control system

3. Data Link

4. Groundstation Computer

5. Groundstation Software

6. Payload system (optional)

Figure 1: Two Proud VAPOR's Complete Initial Factory Flight Checks 

1.1 Vapor Helicopter Components 

1.1.1 Transmission 

The transmission consists of 2-stage gearing between the motor and the main rotor. Selflubricating materials mate with the x2 steel pinion gears and therefore eliminates the need for 

external lubrication. The primary pinion gear (attached to the motor) is the only gear where 

backlash can be adjusted. This spacing should be approximately the thickness of a dollar bill for 

proper backlash adjustment. This ensures that there is sufficient gear spacing as the gears warm 

up and expand during the long flight times the Vapor is capable of.

The tail belt is driven from the 1st stage of the transmission through a pulley. It can be observed 

that the tail belt is lightly tensioned and is driven smoothly as the main rotor turns. The tail belt 

can be lightly oiled with a spray when operated in dry climates. Care should be taken to not overoil the belt as this creates an attraction for dust and dirt, thus defeating the purpose.
 

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Figure 2: Vapor 2-Stage Transmission 

Figure 3: Vapor Structural Chassis 

Stage 1

Stage 2

Swash Servo 

Payload Area 

Navigation & Flight 

Control System 

Tail Belt Damper 

ESC (speed 

controller) 

Motor 

Data Link 

Tail Servo 

Battery Tray 
 

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1.1.2 Tail Belt and Automatic Belt Tensioner 

The tail belt is manually tensioned by extending the tail boom. This is done by loosening the boom 

and boom supports, extending the tail to the proper belt tension, and re-tightening tail boom 

mounting and boom support bolts tail belt tensioner. The tail belt also has a shock absorber that 

is required to damp any unwanted belt vibrations. The belt should not be adjusted too tight as this 

will cause the belt to wear at a higher rate. The proper tension is demonstrated in your training 

courses and is 7Hz with a plucking tool.

1.1.3 Tail Rotor 

The tail rotor mechanism provides yaw stabilization and torque compensation. The helicopter tail 

rotor plane is aligned perfectly with the helicopter’s Z-axis (positive down), and this should be 

verified prior to flight by eye. The helicopter tail rotor mechanism must be securely clamped and 

all bolts secure to maintain the integrity of the vehicle. Because of the high RPM associated with 

the tail rotor, Loctite should be used when securing bolts in this area to prevent them from backing 

out under vibration.

The tail rotor collective pushrod connects the tail rotor collective arm to the tail rotor servo. This 

arm should be inspected for damage, particularly in the area of the ball ends to ensure that slop in 

these joints is minimal and operation is smooth.

Figure 4: Vapor Tail Boom Assembly 

 

Tail Collective Pushrod 

Boom Supports 
 

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1.1.4 Main Rotor 

The Vapor utilizes a flybarless main rotor system. This means that there is no Bell-Hiller stabilizer 

bar and therefore, the mechanics and maintenance are simpler. The helicopter is digitally 

stabilized through the use of the Vapor automatic flight control system.

Nonetheless, the helicopter is equipped with a 120 degree CCPM actuated swash-plate that 

handles collective, lateral cyclic, and longitudinal cyclic. Loctite is used throughout the main rotor 

head assembly and regular care should be taken to ensure the mechanical integrity of the head.

The main rotor head is mounted to the main rotor shaft made of high grade, heat treated steel. No 

modification of this shaft is allowed. The shaft and entire rotor head should be kept clean (wipe 

down with cloth). The shaft can be brushed with light oil after wipe-down. Only a tiny amount of 

oil should be used.

ALL BOLTS ASSOCIATED WITH THE ROTOR HEAD, TAIL ASSYMBLY, CONTROL JOINTS, POWER 

TRAIN, AND AUTOPILOT BOX SHOULD BE SECURED WITH LOCTITE BEFORE FLIGHT! This does 

not apply to bolts fixed with nylon joints or nylon locking nuts.

Figure 5: Vapor Main Rotor Head 

1.1.5 Landing Gear 

The main landing gear on the Vapor is easily dismounted by removing 2x M4 bolts that secure 

each side. If replacement bolts are required, care should be taken to ensure that the bolts do not 

protrude beyond the aluminum side-frames of the helicopter. If they protrude, the Core AFCS unit 

could come in contact with the bolts which could lead to erratic flight behavior.

Blade Grips 

Feathering Shaft 

Main Shaft 

Swash Followers 

Swash Plate 
 

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1.1.6 AFCS 

The Vapor UAS integrates state of the art helicopter control technologies into a simple to 

maintain and operate utility vehicle. The main components of the control system are:

 Core AFCS Unit

o GPS/INS - Global Positioning and Inertial Navigation System

o CPU – Core Processor

o FPGA – Field Programmable Gate Array

o Digital I/O

o A/D and D/A

o Air Data - barometer

o Auxiliary RS-232/TTL interfaces

 Magnetometer (Digital Compass)

 GPS Antenna

 Data Link (Encrypted Tactical Digital Data Link)

The following algorithms are utilized and controlled with the use of a supervisor managed 

software architecture:

 Extended Kalman Filter for fusion of GPS, inertial, and air data sensors

 Robust flight controller based on H∞ methods.

 Bumpless transfer between modes

 Monitoring of GPS and Glonass solution, inertial measurement, magnetometer, PWM 

inputs, and power supply.

Navigation, guidance, control, and supervisor are comprehensively satisfied.
 

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Figure 6: VAPOR Electrical Diagram 

1.1.6.1 Core AFCS Unit 

The Core AFCS Unit is an aluminum housing containing GPS/INS, CPU, FPGA, Digital I/O, A/D and 

D/A, Air Data, and Auxiliary RS-232/TTL interfaces. It is EMI shielded and designed to maintain 

rigidity even in the event of aircraft failure. The Enclosure is isolated with specialized vibration 

isolators to provide a tailored signal to noise ratio of the inertial sensors. The vibration isolators 

also protect the core from shock and vibration related damages. These dampers should remain 

tight and are not to be modified in any way. If the damage to one of the isolators is noticed, please 

contact Pulse for a replacement before further operation of the helicopter. No additional 

equipment should be mounted such that it makes contact with the core AFCS or alters its range 

of motion. No maintenance is required to the internals of the core.

1.1.6.1.1 Magnetometer

The Honeywell HMR 2300 3 axis digital compass is mounted on the tail-boom of the helicopter. 

Detailed information regarding this sensor can be found in Appendix A. In General, this device 

should NOT be touched with ferrous metal objects, objects that may result in static discharge 

through the device, or objects which may cause static buildup on the device.

If, during pre-flight checks, you find that the magnetometer is out of calibration, please follow the 

magnetometer calibration procedure that follows.
 

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1.1.6.1.2 Magnetometer Calibration

To calibrate the magnetometer, place the helicopter on a level surface away from Ferrous Metals. 

Be aware that often the rebar used in paved surfaces can negatively impact the calibration 

process.

1. Connect the supplied serial cable directly to the Host Port on the FCS box. This port is 

directly beside the Link Port which is powering and communicating with the Data-Link.

2. Open Hyperterminal or Putty program with serial connection (115200, 1 stop bit, no flow 

control)

3. Power the FCS switch to the helicopter. (DO NOT POWER THE MAIN MOTOR CIRCUIT 

DURING THIS CALIBRATION PROCESS!)

4. After bootup (~10 sec) a screen will appear with x2 options. #2 must be selected within 2 

seconds or the timer will expire, thus requiring a re-boot to gain acess.

5. Once the wePilot Sensor Diagnosis tool is updating in the window, press the ESC key.

6. A menu is presented with an option to calibrate the Magnetometer. Select Magnetometer 

Calibration.

7. Place the helicopter in a North Heading and follow the instructions on the screen.

8. Once complete, verify that the offset values for HX and HY are within +- 350. If they are 

not, please consult a Pulse representative. Furthermore, please verify that the Error % 

shown is within 3%. If not, verify that your calibration is being performed on a level surface 

free from Ferrous Metals.

9. If the values are within the guidelines, press ESC to return to the main menu.

10. Press the key for “Quit and Save” to save the new calibration to permanent memory.

11. The aircraft system can now be shutdown or restarted.
 

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Figure 7: Magnetometer & GPS Antenna Mounted on VAPOR's Tail Boom 

1.1.6.2 GPS Antenna 

The GPS antenna used is designed specifically to accept signals in the bands correlating to GPS 

and Glonass satellite broadcast frequencies. Do not replace GPS antenna with alternate model 

without first consulting Pulse Aerospace. The GPS antenna does not require maintenance or 

attention other than to keep it clean with a damp cloth and make sure it stays secure, both at its 

base mounting plate, and also at its connection to the Core AFCS unit.

1.1.7 Data Link 

The standard data-link for the Vapor consists of a 900Mhz secure digital datalink. One transceiver 

is mounted on the tail boom of the Vapor and connected to the dipole antenna. This onboard 

transceiver also has a special cable with a special DB-9 connector to interface with the “LINK” 

connector on the core AFCS. This cable passes power and data between the two modules. Never 

try to plug any other device or cord into the “Link” port on the FCS or damage to the FCS will occur!

Magnetometer 

(Digital 

Compass) 

GPS Antenna 
 

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The ground based transceiver is connected through a serial port to the laptop, or tablet designated 

Ground Control Station (GCS).

The standard data-link will update telemetry at 2Hz to the GCS application. This can be increased 

if required. Please contact Pulse Aerospace for supplemental instruction.

It is important to make sure that the antenna connection for both the data link and GPS remain 

clean and secure.

1.1.8 Motor 

The 3-Phase brushless in-runner electric motor supplying up to 8HP to the Vapor must always 

remain securely mounted with proper backlash to the transmission stage. Multiple high quality 

bearings support the main shaft of the motor to ensure long life and smooth operation. Bearing 

replacements are available from Pulse upon request. In this case, the motor should be returned to 

the factory by disconnecting it from the ESC and unbolting it from the upper chassis. Users who 

operate often in damp climates should take care to keep moisture from building on all steel ball 

bearings. While stainless steels are used throughout the machine, it is still good practice to keep 

all parts of the system clean.

To remount the motor, plug it back into the ESC and remount the motor while leaving the bolts 

finger tight. Once the backlash is adjusted, tighten the motor bolts and re-check the backlash. The 

backlash is set correctly when you can just start to notice “play” between the motor and first 

transmission stage.

1.1.9 Electronic Speed Controller 

The Electronic speed controller, or ESC, should provide trouble free operation for the life of the 

helicopter. No changes to programming, mounting, and wiring should be performed without first 

consulting Pulse. The temperature of the ESC should be measured through the use of an infrared 

temperature gauge and logged in the Vapor Log. Typical temperatures are 40-80degF above 
 

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ambient temperature. If temperatures exceed these values due to the client’s specific operational 

environment, Pulse can supply a fan to provide additional airflow to the ESC and Motor. This is 

not common.

1.1.10 Main Rotor Governor 

The Vapor UAS has a main rotor sensor and controller which allow for excellent speed control of 

the main rotor, as well as rotor RPM protection and automatic autorotation functions. 

Furthermore, the system automatically chooses its RPM based upon the altitude at which the 

system is started. For example, if the helicopter is started at sea level, the RPM of the main rotor 

will automatically be set to 1010rpm. If the helicopter is started at 2000m above sea level, the 

helicopter will automatically set its rotor speed to 1110rpm. This is a linear relationship, and so, 

we can calculate that the RPM for 1000m above sea level flight will be controlled to 1060 rpm.

1.1.11 Servos – Swashplate 

Three servos control the 120° CCPM swashplate. The servos are digitally controlled and use 

brushless motors to maximize care free operation for the length of the service interval. The servos 

should be kept clean and securely mounted. Importantly, the servo arm and linkage to the 

swashplate must remain secure at all times. During pre-flight inspection, while checking manual 

control aspects of the helicopter, the sound the servos make while rotating through the travel 

range should be noted. The servos should not be grinding, binding, screeching, heavily buzzing, or 

producing other abnormal sounds when operating.

1.1.12 Servo - Tail Rotor 

The tail servo for the Vapor is a specialized high speed digital brushless servo. The servo provides 

care free operation for the length of the service interval. The tail servo should be kept clean and 

securely mounted. Importantly, the servo arm and linkage to the tail rotor must remain secure at 

all times. During pre-flight inspection, while checking manual control aspects of the helicopter, the 

sound the servo makes while rotating through the travel range should be noted. The servo should 

not be grinding, binding, screeching, heavily buzzing, or producing other abnormal sounds when 

operating.

1.1.13 Rotor Blades 

Spinning rotors can be dangerous. Not only can severe injury occur if a rotor comes in contact 

with any object or body-part, but the blades can, in rare cases, launch FOD (foreign object debris)

that could reach the operator or other material objects. Please ensure that the takeoff and landing 

zones are free from FOD before spool-up of the rotor blades.

The rotor blades (both tail and main) should be kept free from the buildup of dirt, grass, grime, tar, 

and bug guts. A mild soap can be used, but a damp cloth can usually get the rotor blades clean. 
 

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The blades are inspected before each flight for damage including nicks, cracks, warpage, deep 

scratches, or any other damage that may compromise the integrity of the blade.

Proper attention to the torque of the lead-lag bolts of both the main and tail rotors is important. 

Not only can this torque effect the helicopter dynamics, incorrect tightening can lead to sever 

oscillation during spool-up and shutdown (over torqueing), or can lead to a boom-strike (under 

torqueing). The proper torqueing method is demonstrated thoroughly during the Vapor Training 

Course.
 

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2 Ground Control Station 

The Vapor Standard GCS is designed to be a simple application that allows the user to monitor 

flight telemetry in the form of alarms, attitude, position, speed, and mode information. The GCS is 

also useful for calibrating maps and planning missions that are then uploaded to the helicopter for 

execution. Figure 8 shows the GCS window as it sits in a window of the groundstation computer.

Figure 8: GCS Window 

2.1 Setting up the GCS 

The steps to setting up the GCS are as follows:

1. Power the GCS laptop

2. Connect the Data Link to the Laptop 

3. Power on the data link using AC power.

4. Connect the joystick through USB.

5. Start the weGCS application on the desktop (ensure that your USB Security Dongle 

License Key is inserted).
 

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Figure 9: GCS Physical Setup 

2.1.1 PC Requirements and Licensing 

The Vapor Standard GCS software runs on any Windows 7 based PC with the following 

requirements:

 Minimum x2 USB port

 Minimum x1 DataLink port (can be serial or Ethernet depending upon options)

 Select Windows 7 OS

 Ethernet/serial translator software (can be obtained by Pulse if Ethernet C2 Datalink is 

used)

2.1.2 Calibration of Map 

Map Calibration can be performed within the weGCS software. 2 sets of information are 

required:

1. A map or image in bitmap or JPEG file format ( .jpg)

a. Google maps or Google earth images can be used, but accuracies are variable. 

2. 2 known calibration points (Upper left and lower right)

DataLink & Antenna 

POE Power Injector 

GCS Computer 

Joystick 
 

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Figure 10: Calibrating a Map from Google Earth 

2.1.3 Magnetic Declination 

Magnetic declination is defined as the difference between true north (vector to the north pole), and 

the magnetic north vector. These vectors are rarely coincident on our planet and can vary by large 

angles in some parts of the world. Because the Vapor uses both magnetic reference and GPS 

reference sensors, it is important to know the correct magnetic declination value appropriate for 

the region of operation. Figure 11 is a 2009 map of the measured magnetic declinations. For 

example, for Kansas City Kansas, we can see that the magnetic declination is +3°. 

The Vapor system, upon bootup, automatically loads your actual magnetic declination which is 

displayed in the upper right corner of the navigation tab. The operator should verify this value is 

accurate (within 1-2 degrees) for your current flight region prior to launch.
 

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Figure 11: Magnetic Declination Map (with Vapor sign convention) 2009 

2.1.4 Upload Firmware to Vapor AFCS 

From time to time, you may be asked for one reason or another, to upload a firmware update 

onto your helicopter which would be downloaded from our website or sent to you directly. In this 

case, you will be provided a software called wePilotTool which performs CRC firmware uploads, 

blackBox downloads, as well as image metadata downloads. 

2.1.5 Hardware-In-The-Loop Simulation (HWIL) 

The Vapor comes standard with an integrated HWIL simulator. This allows mission simulations 

to be evaluated while running with the helicopter hardware and thus, the helicopter firmware, in 

the simulation loop. When the simulation is running (simulation mode is active), the system 

simulates GPS and inertial data. 

The HWIL simulator is useful to test and practice procedures, as well as to evaluate mission plans. 

To enter the Vapor into simulation mode=on, simply drag the command icon to the 

command box after system bootup. More information about simulation mode and its capabilities 

and customizations can be gathered from the weGCS manual.
 

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Note: NEVER attempt to fly Vapor while in simulation mode! This is very dangerous! 

Note: NEVER plug in MAIN power batteries for simulation! This is very dangerous! 

 

2.2 GCS Modes of Operation 

The Vapor UAS has the following flight modes: 

1. Manual Mode (Note: This mode is often referred to as Assisted Mode, Pilot Directed Mode, Sticks 

Mode, etc.) 

In Manual Mode, the flight control system performs all the autopilot stabilization functions of 

Automatic mode (see below) except for the guidance commands, which are sent from the RC 

transmitter, or the USB joystick. These commands include climb/descend, forward/reverse, 

translate left/right, and heading rate of change. When this mode is engaged, the autopilot will 

receive velocity command inputs directly from the pilot handheld transmitter, the GCS joystick, or 

the GCS sliders: 

a. Heading Rate Command: This command, which is generated by the pilot’s tail rotor 

collective (rudder) gimbal, will cause the aircraft to perform a steady, level turn at a 

rate proportional to the joystick or transmitter rudder gimbal. This command is 

limited to a maximum of 30 deg/s standard.

b. Climb/Descend Command: This command, which is generated by the pilot’s 

collective gimbal, will cause the autopilot to change its reference altitude at a rate 

proportional to the input, which will cause a climb or descent at a maximum rate of 

2 m/s standard. 

c. Forward/Reverse Command: The right gimbal provides for forward and reverse. 

Standard speed limits for this aircraft are 10 m/s forward and 4 m/s reverse. There 

is no need to try to use this stick to “brake” the helicopter if a hover is desired. 

Simply let off all sticks and set the climb/descend stick to neutral to return to hover. 

Pulling back on the stick will not decelerate the aircraft more quickly.

d. Left/Right Translation Command: The right gimbal provides for low speed left and 

right translation of the vehicle. Do not use this command when in fast forward 

flight. It is to be limited to 4 m/s left or right.

2. Mission Mode (Note: This mode is often referred to as Auto Mode) 
 

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In Mission Mode, the autopilot does not respond to the 2.4 GHz pilot console, other than to 

disengage the autopilot. The aircraft is flown via waypoint guidance and figure patterns (Circle, 

Figure 8, Hippodrome, etc.). 

3. Home Mode 

In Home Mode, the autopilot commands the aircraft to fly towards the home waypoint, which is 

defined as a position, altitude, and speed. When the Home Mode is engaged, the aircraft will 

immediately climb or descend according to the altitude controller within the specified climb limits 

(2m/s) to achieve the altitude of the Home Waypoint. 

Home mode is automatically entered in the case of lost link and the lost link timer has expired. 

This lost link timer is user configurable and is set to 10-20 seconds from the factory.

Note: Never try to “Bind” your Vapor to an RC transmitter. Special bind settings are used and set 

by the factory. Improper binding is unauthorized and may cause erratic behavior of the system.
 

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2.3 Mission Planning Principles 

2.3.1 Waypoint Types 

Waypoints are programmed through the use of the GCS. Each waypoint consists of the 

following:

1. Latitude and longitude of the waypoint

2. Altitude or above ground level (AGL) of the waypoint

3. Ground speed that is observed when tracking the waypoint

4. Turn Payload on/off for each waypoint.

5. Optional hover heading.

6. Optional hover timer.

7. Optional waypoint trigger.

The standard GCS for the Vapor supports x2 waypoint types:

1. Stop Waypoints

a. Always stops at waypoint

b. Mission continuation with GCS command or timeout parameter

2. Cruise Waypoints

a. Always pass through waypoint

b. If speed zero, then stop and go

2.3.2 Mission Definition 

An uploadable mission must always consist of the following:

1. 1 START waypoint (ID=0):

a. Near takeoff location of helicopter

b. Always at ground altitude

2. 1 HOME waypoint (ID=1):

a. Location where helicopter flies in the case of:

i. Execution of GCS “HOME” command

ii. Data link lost timeout period

b. Altitude typically above trees, buildings, or fences in the mission area.

3. Stop and Cruise waypoints

A minimal mission consists of a start waypoint and a home waypoint.
 

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2.3.3 Altitude Computation 

The helicopter operates with relative altitudes. Zero altitude is where the GPS becomes valid at a 

pre-defined PDOP accuracy value. The helicopter now computes the reference altitude always with 

respect to the START waypoint:

Reference altitude waypoint X = altitude waypoint X – altitude START waypoint

2.3.4 Planar Coordinate Computation 

2.3.5 Uploading a Mission to the Helicopter 

A mission can be uploaded from the GCS to the helicopter once the mission has been saved. The 

upload can only occur when the helicopter is in the “READY” state and the helicopter is not currently 

executing a mission. If you want to upload a new mission during flight, first place the helicopter in 

hover by entering the “Assisted Mode” with joysticks neutral, then upload the mission. The new 

mission can now be executed by returning to “Mission” Mode. Only 1 mission can be stored on the 

helicopter at a time, however, multiple missions can be loaded and executed by the helicopter per 

flight. The helicopter must be in “Hover” state to enter “Mission” Mode.
 

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2.3.6 Trajectory Characteristics 

The following subsections show examples of the behavior of Vapor to several common types of 

waypoint transitions.

2.3.6.1 Acceleration and Climb Example 
 

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2.3.6.2 Deceleration and Descend Example 

2.3.6.3 Travel Speed Not Defined Examples 
 

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2.3.6.4 Stacked Waypoint Example 

2.3.7 Mission Interruption 

The helicopter mission can be interrupted at any time by switching to the “Assisted” Mode. In this 

case, the mission can be continued by switching back to “Mission” Mode and continuing at the 

specified waypoint.
 

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When the helicopter reaches a “Stop” waypoint, the mission can be continued by pressing the 

“Continue” button to continue to the next consecutive waypoint. Alternatively, the “Continue At” 

button can be pressed which brings up a dialogue box where the operator can specify an alternate 

waypoint to track.
 

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2.3.8 Sharp Turning Waypoints 

2.3.9 Mission Planning Remarks 

 Maximum number of waypoints = 255

 Maximum cruise speed = 10 m/s groundspeed (standard limit from factory)

 Maximum climb/descent rate = 2 m/s

 Default speed between waypoints = 10 m/s

 START waypoint defined by WP0

 Home waypoint defined by WP1

2.3.10 Beware of Obstacles 

The standard Vapor helicopter does NOT have automatic obstacle avoidance measures. It is the 

operators responsibility to make sure that the path specified does not contain obstacles! Failure 

to plan accordingly can result in crash! This is often refered to as “controlled crash into terrain”.
 

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Figure 12: Beware of Obstacles 

Abnormal and Emergency Procedures

Abnormal Procedures

within Line of site GPS 

lost mode

GPS Jamming, loss of 

antenna connection, 

GPS antenna 

obstruction

Helicopter will automatically revert to attitude 

controller. Pilot takes control with handheld unit 

and lands aircraft in attitude control mode.

RPM fluctuations RPM Sensor failure, 

motor/powertrain 

pre-failure

Land helicopter at safe landing zone immediately 

and inspect.

Abnormally high 

Collective settings

Payload is too heavy, 

altitude is too high, 

incorrect RPM setting 

for altitude and 

payload

Land helicopter at safe landing zone immediately 

and inspect.

Pilot commands 

forward but helicopter 

flies diagonally

Magnetometer need 

calibration, magnetic 

declination setting 

incorrect

Land helicopter at safe landing zone immediately 

and perform magnetometer check on ground.

Tail Wagging Gusty wind conditions Point helicopter heading into wind

Unusual sounds from 

helicopter

Gusty wind conditions, 

mechanical problem

Land helicopter at safe landing zone and inspect.

Unusual oscilations of 

helicopter

Gusty wind conditions, 

magnetometer needs 

calibration, object in 

contact with FCS box

Land helicopter at safe landing zone and inspect.
 

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Helicopter is not 

responding to 

commands and datalink is lost

Data-link is lost due to 

range, interference, 

jamming, or loss of 

antenna

Wait for user defined timeout period (usually 10 

sec). Helicopter will return to HOME waypoint and 

land. Home waypoint is at takeoff location if GCS 

not used.

Emergency 

Procedures

Beyond Line of site 

GPS lost mode

GPS Jamming, loss of 

antenna connection, 

GPS antenna 

obstruction

Depending on flying location, follow flight area 

procedures for lost aircraft. Possible actions are 1. 

Dead reckoning navigation recovery 2.engine 

shutdown/autorotation 3. controlled crash

Loss of tail control Tail powertrain, 

actuator, or blade 

failure

Immediately shutdown motor and perform 

autorotation

Loss of main rotor 

power (Helicopter is 

descending)

Powertrain Failure If possible, provide forward speed command and 

steer aircraft to safe landing zone. Release forward 

speed and turn commands at ~10ft AGL to provide 

autorotation flare.

Severe oscilitory or 

unstable behavior

Gusty wind conditions, 

magnetometer needs 

calibration, object in 

contact with FCS box

Depending on severity, pilot should try to land 

immediately. If oscillations become too sever for 

safe landing, an engine shutdown and autorotation 

procedure is recommended.

Helicopter is not 

responding to 

comands and primary 

and seondary data-link 

is NOT lost

FCS failure Depending on flying location, follow flight area 

procedures for lost aircraft. Possible actions are 

1.engine shutdown/autorotation 2. controlled 

crash
 

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2.4 GCS Troubleshooting 

3 Battery Care and Charging 

3.1 FCS and Servo Batteries 

The AFCS and Servos are powered by redundant parallel 3-cell lithium batteries of the following 

specification:

 3-cell packs Vnominal = 11.1VDC, Vmax = 12.6VDC, capacity = 2300mAh

These packs can be charged only with the use of a LIPO battery charger that can be supplied by 

Pulse Aerospace. The charge current setting on a lithium charger should be 3S, 1-2C (2 A-4 A)

In practice, these batteries should be fully charged whenever the voltage drops to 11.5V to ensure 

battery life throughout the flight.

Batteries should be stored indoors. Please read and fully understand the precautions associated 

with LIPO batteries before using or charging the system. Never leave LIPO batteries charging 

unattended!

3.2 MAIN Motor Power Battery 

The MAIN Motor Power Battery consists of a 12-cell 22,000mAh packs run in series. The packs 

are charged separately as 6s packs. The Vapor power connector implements these packs together 

in series to create 12s, 22,000mAh power to the ESC.
 

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The MAIN Motor Power Battery can be charge at up to 40 Amps each. A large power supply is 

required to achieve this charge rate. The standard charger and power supply provided can supply 

20A to each battery side for simultaneous charging of the x2 internal power packs.

Batteries should be stored indoors. Please read and fully understand the precautions associated 

with LIPO batteries before using or charging the system. Never leave LIPO batteries charging 

unattended! 

Figure 13: Representative Vapor Performance Chart 

 

4 General Maintenance 

4.1 General 

The Vapor should be checked over before and after each flight to ensure smooth rotation of the 

main/tail rotors, smooth operation of the servos and mechanics. At this time, all bolts should be 

checked to ensure tightness especially but not limited to:

 Main rotor and tail rotor assemblies

 Servo mounting and linkages

 Tail boom and boom supports

 Landing gear bolts

 Motor attachment

 Upper and lower sideframe bolts

 FCS mounting bolts (x4) x2 upper and x2 lower

 Magnetometer and GPS support platform
 

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 FCS connector bolts (4-40)

4.2 Cleaning 

Cleaning of all components should be performed with a cloth (old t-shirt, etc) and a glass cleaning 

product such as Windex sprayed on the cloth. Do not spray the helicopter directly. Do not use 

harsh cleaners and avoid getting water or moisture on the following areas:

 Ball bearings

 Electrical connectors

 Battery leads

 Electric motor 

 ESC (electronic speed controllers)

 Any electronics

 GPS and Data Link antenna connectors

If any of these areas get wet or moisture is noticed, dry off with cloth and let air dry fully before 

power up or operation.

Cleaning should be performed each day of operation. 

4.3 Lubrication 

The following areas should receive light oil lubrication after cleaning:

 Main rotor shaft

 Tail Rotor shaft

For each 10 hrs of flight:

 A small amount of grease should be applied inside the main rotor head cap as depicted 

in Figure 14.

 A few sprays of WD-40 should be applied to the tail belt as depicted in Figure 15.

 A few drops (very few) of thinly spread grease should be applied to the x2 black 

composite gears of the transmission.
 

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Figure 14: Light Grease on the Head Elastomer 

Figure 15: Light WD-40 on Tail Belt
 

 

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35

5 Vapor Flight Log and Procedures 

Date Starting Hrs. Pilot(s)

Time Session Hrs. Ground Crew

Weather /

Temp.

Total Hrs. Location

Barometer

PA-01 Number:

Before Each Flight Servo Test 

Item Check Initial Item Check Initial

Motor Secure Cyclic roll Noise

Backlash Smoothness

Transmission gear condition Stage 1 Cyclic pitch Noise

Stage 2 Smoothness

Main Rotor Blades Condition Collective Noise

Clean Smoothness

Main rotor head Play Rudder Noise

Lube Smoothness

Condition

Main rotor bolts Drag

Blade Grips and Ball Links Play 

Condition Notes and Auxiliary Data: 

Tail rotor head Play

Lube

Tail rotor blade grips Drag

Tail rotor blades Condition

Tail Boom Tightness

Alignment

Tail boom supports Tightness

Drive belt Condition

Tension

Lube

LED lamps Bulbs

Battery terminals Tightness

Clean

Landing Gear Tightness 

Core AFCS Box Tightness 

Connectors

Magnetometer & GPS Antenna Tightness

NOTES:

Post Flight 

Post Flight Initial 

Main Batteries Unplugged!

AFCS off

Transmitter & GCS off

Wipe down inspection
 

 

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36

5.1 VAPOR Pre-Flight and Takeoff Procedure 

1. Check and record initial battery voltage and current.

2. Power up ground station, then transceiver, then open the GCS application.

3. Configure map page as required for the mission within the GCS software.

4. Verify flight plans. Verify waypoints above ground level using “Profile View” in weGCS.

5. Verify mission limits including lost communication home waypoint and link-lost timeout 

parameter.

6. Place Helicopter at takeoff location with rotor blades spread evenly (1 rotor blade pointed 

directly out nose of aircraft).

7. Power on Helicopter Flight Control System (toggle) (DO NOT PLUG IN MAIN BATTERIES AT 

THIS TIME!)

8. Step away from the aircraft.

9. Verify link to weGCS ground-station software (up to 15 sec)

10. Wait until weGCS indicates “READY” status (up to 2 min)

11. Upload flight plan.

12. Check for aircraft traffic and make any radio calls mandated by air traffic control. Verify TFR’s 

and NOTAM’s as required by your flight area.

13. Final checks: See GCS checklist and complete.

14. Perform Servo Test Command via GCS.

15. Plug in MAIN BATTERIES on helicopter.

16. Step away minimum 50ft. from aircraft

17. Start timer 

18. Initiate the automatic takeoff command via the GCS.

19. Select “Precision Mode” for Joystick Interface.

20. Perform heading check by rotating the helicopter heading 45 deg. each direction.

21. If stable flight is observed, climb out and continue mission.

22. If problems are detected, initiate automatic landing via GCS.
 

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5.2 GCS Checklist (Tape copy to GCS laptop for 

convenience) 

1. AFCS status is "Ready".

2. No "Alarms" on GCS Alarm Block.

3. Position AND Heading of helicopter located on GCS map is accurately reflecting observed 

attitude and heading of helicopter.

4. Current Forward, Side, and climb Velocity are all < 0.1m/s or less.

5. "Attitude" telemetry is accurate.

6. Verify altimeter reading on GCS for your area, is accurate.

7. Ground control is ready.

5.3 Vapor Landing Procedure 

1. Use “Manual Mode” to direct the helicopter into a HOVER over a suitable landing zone typically 

~5-7m above ground level.

2. Initiate the Automatic Landing Command via the GCS.

3. Wait for the helicopter to land, shut down the motor, and the rotors to stop turning.

4. Immediately unplug MAIN BATTERIES once the rotor has stopped – the helicopter is now 

DISARMED!

5. Turn off helicopter Flight Control System (Toggle switch on power panel of Vapor), and turn 

off handheld transmitter (If RC Transmitter Used). 

Note: Auxilliary flight data and payload meta-data is stored in the non-volatile memory sector of 

the AFCS. This is not deleted, and therefore is available for download, until the next time that 

aircraft reaches the “Ready State” for flight.
 

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Appendix A: Component Manufacturer Data Sheets
HMR2300

Solid State Electronics Center • www.magneticsensors.com • (800) 323-8295 • Page 1

APPENDIX A UART

Features

SENSOR PRODUCTS

SMART DIGITAL MAGNETOMETER

 High Accuracy Over 1 gauss, <0.5% Full Scale

 Range of 2 gauss, <70 gauss Resolution

 Three Axis (X, Y, Z) Digital Outputs

 10 to 154 Samples Per Second, Selectable

 RS-232 or RS-485 Serial Data Interfaces

 PCB or Aluminum Enclosure Options

 6-15 volt DC Unregulated Power Supply Interface

General Description

The Honeywell HMR2300 is a three-axis smart digital 

magnetometer to detect the strength and direction of an 

incident magnetic field. The three of Honeywell’s magnetoresistive sensors are oriented in orthogonal directions to 

measure the X, Y and Z vector components of a

magnetic field. These sensor outputs are converted to 16-

bit digital values using an internal delta-sigma A/D 

converter. An onboard EEPROM stores the 

magnetometer’s configuration for consistent operation. The

data output is serial full-duplex RS-232 or half-duplex RS485 with 9600 or 19,200 data rates.

A RS-232 development kit version is available that includes 

a windows compatible demo program, interface cable, 

AC adapter, and carrying case.

 APPLICATIONS

 Attitude Reference

 Compassing & Navigation

 Traffic and Vehicle Detection

 Anomaly Detection

 Laboratory Instrumentation

 Security Systems

HMC1002

HMC1001

Block Diagram

Pwr

Cond

ADC

HMC2003

C

EEPROM

V+ Gnd

TX

RX
HMR2300

Solid State Electronics Center • www.magneticsensors.com • (800) 323-8295 • Page 2

APPENDIX A 

SPECIFICATIONS

SENSOR PRODUCTS

Characteristics Conditions

Min Typ Max Units

Power Supply

Supply Voltage Pin 9 referenced to Pin 5 (Ground) 6.5 15 Volts

Supply Current Vsupply = 15V, with S/R = On 27 35 mA

Temperature

Operating Ambient -40 +85 °C

Storage Ambient, Unbiased -55 125 °C

Magnetic Field

Range Full Scale (FS), Total Field Applied -2 +2 gauss

Resolution Applied Field to Change Output 67 micro-gauss

Accuracy RSS of All Errors @+25°C

 1 gauss

 2 gauss

0.01

1

0.52

2

%FS

%FS

Linearity Error Best Fit Straight Line @+25°C

 1 gauss

 2 gauss

0.1

1

0.5

2

%FS

%FS

Hysterisis Error 3 Sweeps Across  2 gauss @+25°C 0.01 0.02 %FS

Repeatability Error 3 Sweeps Across  2 gauss @+25°C 0.05 0.10 %FS

Gain Error Applied Field for Zero Reading 0.05 0.10 %FS

Offset Error Applied Field for Zero Reading 0.01 0.03 %FS

Temperature

Effect

Coefficient of Gain -600

114

ppm/°C

Power Supply

Effect

From +6 to +15V with 1 gauss

Applied Field

150 ppm/V

Mechanical

Weight PCB Only

PCB and Non-Flanged Enclosure

PCB and Flanged Enclosure

28

94

98

grams

Vibration Operating,

5 to 10Hz for 2 Hours

10Hz to 2kHz for 30 Minutes

10

2.0

mm g
HMR2300

Solid State Electronics Center • www.magneticsensors.com • (800) 323-8295 • Page 3

APPENDIX A 

SENSOR PRODUCTS

Characteristics Conditions

Min Typ Max Units

Digital I/O Timing (See Timing Diagrams)

TRESP *dd Commands (dd = Device ID)

*ddP

*ddR, *ddS, *ddT

*ddC

*ddQ

*99 Commands

*99Q

1.9 2

3

6

40

2+(ddx80)

2+(ddx40)

2+(ddx120)

2.2

3.2

6.2

60

2+Typ

2+Typ

2+Typ

msec

TDELAY *dd Commands (dd = Device ID)

*99 Commands

39 40

ddx40

41

2+Typ

msec

TBYTE 9600

19,200

1.04

0.52

msec

TSTARTUP Power Applied to End of Start-Up

Message

50 80 msec

RS-232 COMMUNICATIONS – Figure1 (Timing is Not to Scale)

RS-485 COMMUNICATIONS – Figure 2 (Timing is Not to Scale)
HMR2300

Solid State Electronics Center • www.magneticsensors.com • (800) 323-8295 • Page 4

APPENDIX A 

GLOBAL ADDRESS (*99) DELAY – Figure 3 (Timing is Not to Scale)

PIN CONFIGURATION

SENSOR PRODUCTS

Pin Number Pin Name Description

1 NC No Connection

2 TD Transmit Data, RS-485 (B+)

3 RD Receive Data, RS-485 (A-)

4 NC No Connection

5 GND Power and Signal Ground

6 NC No User Connection (factory X offset strap +)

7 NC No User Connection (factory Y offset strap +)

8 NC No User Connection (factory Z offset strap +)

9 V+ Unregulated Power Input (+6 to +15 VDC)

PCB DIMENSIONS AND PINOUT – Figure 4 (Connector Not Shown for Clarity)
HMR2300

Solid State Electronics Center • www.magneticsensors.com • (800) 323-8295 • Page 5

APPENDIX A 

CASE DIMENSIONS – Figure 5

RS-232 UNBALANCED I/O INTERCONNECTS – Figure 6

SENSOR PRODUCTS

HOST PC HMR2300

TD RD

D R

RD TD

R D

GD GD
HMR2300

Solid State Electronics Center • www.magneticsensors.com • (800) 323-8295 • Page 6

APPENDIX A 

RS-485 BALANCED I/O INTERCONNECTS – Figure 7

SENSOR PRODUCTS

HOST PC

AD

Z Z

R

B+

Z = 120 ohms

RD(A)

R 

TD(B)

D

RD(A)

R 

TD(B)

D

HMR2300

ID = 01

HMR2300

ID = 02

DATA COMMUNICATIONS

The RS-232 signals are single-ended undirectional levels that are sent received simultaneously (full duplex). One signal

is from the host personal computer (PC) transmit (TD) to the HMR2300 receive (RD) data line, and the other is from the

HMR2300 TD to the PC RD data line. When a logic one is sent, either the TD or RD line will drive to about

+6 Volts referenced to ground. For a logic zero, the TD or RD line will drive to about –6 Volts below ground. Since the 

signals are transmitted and dependent on an absolute voltage level, this limits the distance of transmission due to 

line noise and signal to about 60 feet.

When using RS-485, the signals are balanced differential transmissions sharing the same lines (half-duplex). This means

that logic one the transmitting end will drive the B line at least 1.5 Volts higher than the A line. For a logic zero, the

transmitting end will drive the B line at least 1.5 Volts lower than the A line. Since the signals are transmitted

as difference voltage level, these signals can withstand high noise environments or over very long distances where line

loss may be a problem; up to 4000 feet. Note that long RS-485 lines should be terminated at both ends with 120-ohm 

resistors.

Another precaution on RS-485 operation is that when the HMR2300 is in a continuous output mode of operation, the 

host PC may have to send repeated escape and carriage return bytes to stop the stream of output data. If the host can 

detect a recieved carriage return byte (0D hex), and immediately send the escape-carriage return bytes; then a 

systematic stop of continuous output is likely. If manually sent, beware that the half-duplex nature of the interface corrupt 

the HMR2300 outbound data while attempting to get the stop command interleaved between the data.

As noted by the Digital I/O timing specification and Figure 3, the HMR2300 has a delayed response feature based on 

the programmed device ID in response to global address commands (*99....<cr>). Each HMR2300 will take its turn 

responding so that units do not transmit simultaneously (no contension). These delays also apply to the RS-232 interface

versions of the HMR2300.
HMR2300

Solid State Electronics Center • www.magneticsensors.com • (800) 323-8295 • Page 7

APPENDIX A 

COMMAND INPUTS

SENSOR PRODUCTS

A simple command set is used to communicate with the HMR2300. These commands can be automated; or typed in 

real-time while running communication software programs, such a windows hyperterminal.

Command Inputs(1) Response(2) Bytes(3) Description

Format *ddWE *ddA

*ddWE *ddB

ASCII_ON¬

BINARY_ON¬

9

10

ASCII – Output Readings in BCD ASCII Format (Default)

Binary – Output Readings in Signed 16-bit Bianary Format

Output *ddP

*ddC Esc

{x, y, z reading}

{x, y, z stream}

{stream stops}

7 or 28

...

0

P = Polled – Output a Single Sample (Default)

C = Continuous – Output Readings at Sample Rate

Escape Key – Stops Continuous Readings

Sample Rate *ddWE *ddR=nnn OK¬ 3 Set Sample Rate to nnn Where:

Nnn = 10, 20, 25, 30, 40, 50, 60, 100, 123, or 154

Samples/sec (Default = 20)

Set/Reset

Mode

*ddWE *ddTN

*ddWE *ddTF

*ddWE *ddT

S/R_ON¬

S/R_OFF¬

{Toggle}

7

8

7 or 8

S/R Mode: TN – ON = Auto S/R Pulses (Default)

TF – OFF = Manual S/R Pulses

*ddT Toggles Command (Default = On)

Set/Reset

Pulse

*dd]S

*dd]R

*dd]

SET¬ 

RST¬

{Toggle}

4

4

4

] Character – Single S/R: ]S -> SET = Set Pulse

]R -> RST = Reset Pulse

Toggle Alternates Between Set and Reset Pulse

Device ID *99ID=

*ddWE *ddID=nn

ID=_nn¬ 

OK¬

7

3

Read Device ID (Default = 00)

Set Device ID Where nn = 00 to 98

Baud Rate *99WE *99!BR=S

*99WE *99!BR=F

OK¬ 

BAUD_9600¬

OK¬ 

BAUD=_19,200¬

14

14

Set Baud Rate to 9600 bps (Default)

Set Baud Rate to 19,200 bps

(8 bits, no parity, 1 stop bit)

Zero

Reading

*ddWE *ddZN

*ddWE *ddZF

*ddWE *ddZR

ZERO_ON¬

ZERO_OFF¬

{Toggle}

8

9

8 or 9

Zero Reading Will Store and Use Current as a Negative

Offset so That the Output Reads Zero Field

*ddZR Toggles Command

Average

Readings

*ddWE *ddVN

*ddWE *ddVF

*ddWE *ddV

AVG_ON¬

AVG_OFF¬

{Toggle}

7

8

7 or 8

The Average Reading for the Current Sample X(N) is:

Xavg=X(N)/2 + X(N-1)/4 + X(N-2)/8 + X(N-3)/16 + ...

*ddV Toggles Command

Re-Enter

Response

*ddWE *ddY

*ddWE *ddN

OK¬ 

OK¬

3

3

Turn the “Re-Enter” Error Response ON (*ddY) or OFF 

(*ddN). OFF is Recommended for RS-485 (Default = ON)

Query Setup *ddQ {See Desc.} 62-72 Read Setup Parameters. Default: ASCII, POLLED, S/R

ON, ZERO OFF, AVG OFF, R ON, ID=00, 20 sps

Default

Settings

*ddWE *ddD OK¬

BAUD=_9600¬

14 Change All Command Parameter Settings to Factory

Default Values

Restore

Settings

*ddWE *ddRST OK¬ 

BAUD=_9600¬

or

BAUD=_19,200¬

14

16

Change All Command Parameter Settings to the Last User

Stored Values in the EEPROM

Serial

Number

*dd# SER#_nnnn¬ 22 Output the HMR2300 Serial Number

Software

Version

*ddF S/W_vers:_

nnnn¬

27 Output the HMR2300 Software Version Number

Hardware

Version

*ddH H/W_vers:_

nnnn¬

19 Output the HMR2300 Hardware Version Number

Write Enable *ddWE OK¬ 3 Activate a Write Enable. This is required before 

commands: Set Device ID, Baud Rate, and Store

Parameters.

Store

Parameters

*ddWE *ddSP DONE¬ 

OK¬

8 This writes all parameter settings to EEPROM. These 

values will be automatically restored upon power-up.

Too Many

Characters

Wrong Entry Re-enter¬ 9 A command was not entered properly or 10 characters 

were typed after an asterisk (*) and before a <cr>.

Missing WE 

Entry

Write Enable Off WE_OFF¬ 7 This error response indicates that this instruction requires

a write enable command immediately before it.

(1) All inputs must be followed by a <cr> carriage return, or Enter, key. Either upper or lower case letters may be used. The device

ID (dd) is a decimal number between 00 and 99. Device ID = 99 is a global address for all units.

(2) The “¬” symbol is a carriage return (hex 0D). The “_” sign is a space (hex 20). The output response will be delayed from the 

end of the carriage return of the input string by 2 msec (typ.), unless the command sent as a global device ID = 99.
HMR2300

Solid State Electronics Center • www.magneticsensors.com • (800) 323-8295 • Page 8

APPENDIX A 

DATA FORMATS

SENSOR PRODUCTS

The HMR2300 transmits each X, Y, and Z axis as a 16-bit value. The output data format can be either 16-bit signed 

binary (sign plus 15 bits) or a binary coded decimal (BCD) ASCII characters. The command *ddA will select the 

ASCII format and *ddB will select the binary format.

The order of ouput for the binary format is Xhi, Xlo, Yhi, Ylo, Zhi, Zlo. The binary format is more efficient for a computer

to interpret since only 7 bytes are transmitted. The BCD ASCII format is easiest for user interpretation but requires 28

bytes per reading. There are limitations on the output sample rate (see table below) based on the format and baud rate

selected. Examples of both binary and BCD ASCII outputs are shown below for field values between

2 gauss.

Field BCD ASCII Binary Value (Hex) High Byte

(gauss) Value Low Byte

+2.0 30,000 75 30

+1.5 22,500 57 E4

+1.0 15,000 3A 98

+0.5 7,500 1D 4C

0.0 00 00 00

-0.5 -7,500 E2 B4

-1.0 -15,000 C3 74

-1.5 -22,500 A8 1C

-2.0 -30,000 8A D0

Binary Format: 7 Bytes

XH | XL | YH | YL | ZH | ZL | <cr> 

XH = Signed Byte, X axis

XL = Low Byte, X axis

<cr> = Carriage Return (Enter key), Hex Code = 0D

ASCII Format: 28 Bytes

SN | X1 | X2 | CM | X3 | X4 | X5 | SP | SP | SN | Y1 | Y2 | CM | Y3 | Y4 | Y5 | SP | SP | SN | Z1 | Z2 | CM | Z3 | Z4 | Z5

| SP | SP |<cr>

The ASCII characters will be readable on a monitor as sign decimal numbers. This format is best when the user is 

interpreting the readings.
HMR2300

Solid State Electronics Center • www.magneticsensors.com • (800) 323-8295 • Page 9

APPENDIX A 

PARAMETER SELECTION VERSUS OUTPUT SAMPLE RATE

SENSOR PRODUCTS

Sample

Rate

ASCII Binary f3dB Notch Command Input

Rate – min.

(sps) 9600 19,200 9600 19,200 (Hz) (Hz) (msec)

10 yes yes yes yes 17 50/60 20

20 yes yes yes yes 17 50/60 20

25 yes yes yes yes 21 63/75 16

30 yes yes yes yes 26 75/90 14

40 no yes yes yes 34 100/120 10

50 no yes yes yes 42 125/150 8

60 no no yes yes 51 150/180 7

100 no no yes yes 85 250/300 4

123 no no no yes 104 308/369 3.5

154 no no no yes 131 385/462 3

DEVICE ID

The Device ID command (*ddID=nn) will change the HMR2300 ID number. A Write Enable (*ddWE) command is required

before the device ID can be changed. This is required for RS-485 operation when more than one HMR2300 is on a 

network. A Device ID = 99 is universal and will simultaneously talk to all units on a network.

BAUD RATE COMMAND

The Baud Rate command (*dd!BR=F or S) will change the HMR2300 baud rate to either fast (19,200 baud) or slow (9600

baud). A Write Enable (*ddWE) command is required before the baud rate can be changed. The last response after this

command has been accepted will be either BAUD=9600 or BAUD=19,200. This will indicate to the user to change to the

identified new baud rate before communications can resume.

ZERO READING COMMAND

The Zero Reading command (*ddZN) will take a magnetic reading and store it in the HMR2300’s microcontroller. 

This value will be subtracted from subsequent readings as an offset. The zero reading will be terminated with another 

command input(*ddZF) or a power down condition. This feature is useful for setting a reference attitude or nulling the 

earth’s field before anomaly detection.

SET/RESET AND AVERAGE COMMANDS

The set-reset function generates a current/magnetic field pulse to each sensor to realign the permalloy thin film 

magnetization. This yields the maximum output sensitivity for magnetic sensing. This pulse is generated inside the 

HMR2300 and consumes less than 1mA typically. The Set/Reset Mode command (*ddTN or *ddT) activates an internal 

switching circuit that flips the current in a “Set” and “Reset” condition. This cancels out any temperature drift effects and 

ensures the sensors are operating in their most sensitive region.

Fluctuations in the magnetic readings can be reduced by using the Average Readings commands (*ddVN or *ddV). 

These commands provide a low pass filter effect on the output readings that reduces noise due to Set/Reset 

switching and other environmental magnetic effects. The two figures below show the average readings effect for step 

and impulse responses.

Switching the set-reset state is not required to sense magnetic fields. A single Set (or Reset) pulse will maximize the 

output sensitivity and it will stay that way for months or years. To turn off the internal switching, enter the command

*ddTF or *ddT. In this state the sensors are either in a Set or Reset mode. If the HMR2300 is exposed to a large magnetic 

field (>10 gauss), then another set pulse is required to maximize output sensitivity.

In the Set mode, the direction of the sensitive axis’ are shown on the enclosure label and the board dimensions 

figure. In the Reset mode, the sensitive field directions are opposite to those shown. By typing *dd], the user can manually

activate a Set or Reset pulse. The S/R pulse commands can be used the continuous read mode to flip
HMR2300

Solid State Electronics Center • www.magneticsensors.com • (800) 323-8295 • Page 10

APPENDIX A 

SENSOR PRODUCTS between a Set and Reset state. Note that the first three readings immediately after these

commands will be invalid due to the uncertainty of the current pulse to the sensor sample time.

DEFAULT AND RESTORE COMMANDS

The Defaut Settings command (*ddD) will force the HMR2300 to all the default parameters. This will not be a permanent

change unless a Store Parameter command (*ddSP) is issued after the Write Enable command. The Restore Settings

command (*ddRST) will force the HMR2300 to all the stored parameters in the EEPROM.

OUTPUT SAMPLE RATES

The sample rate can be varied from 10 samples per second (sps) to 154 sps using the *ddR=nnn command. Each sample

contains an X, Y, and Z reading and can be outputted in either 16-bit signed binary or binary coded decimal (BCD) ASCII.

The ASCII format shows the standard numeric characters displayed on the host computer display. Some sample rates 

may have restrictions on the format and baud rate used, due to transmission time constraints.

There are 7 Bytes transmitted for every reading binary format and 28 Bytes per reading in ASCII format. 

Transmission times for 9600 baud are about 1 msec/Byte and for 19,200 baud are about 0.5msec/Byte. The combinations

of format and and baud rate selections are shown in the above Table. The default setting of ASCII format and 9600 baud

will only transmit correctly up to 30 sps. Note the HMR2300 will output a higher data settings, but the readings may be 

incorrect and will be at alower output rate than selected.

For higher sample rates (>60 sps), it is advised that host computer settings for the terminal preferences be set so a line

feed <lf> is not appended to the sent commands. This slows down the reception of data, and it will not be able to keep 

up with the incoming data stream.

INPUT SIGNAL ATTENUATION

Magnetic signals being measured will be attenuated based on the sample rate selected. The bandwidth, defined by the

3dB point, is shown in the above Table for each sample rate. The default rate of 20 sps has a bandwidth of 17Hz. The

digital filter inside the HMR2300 is the combination of a comb filter and a low pass filter. This provides a linear phase 

response with a transfer function that has zeros in it.

When the 10 or 20 sps rate is used, the zeros are at the line frequencies of 50 and 60 Hz. These zeros provide better 

than 125 dB rejection. All multiples of the zeros extend throughout the transfer function. For example, the 10 and 20 sps

rate has zeros at 50, 60, 100, 120, 150, 180, ... Hz. The multiples of the zeros apply to all the sample rates against the 

stated notch frequencies in the above Table.

COMMAND INPUT RATE

The HMR2300 limits how fast the command bytes can be recieved based on the sample rate selected. The above Table 

shows the minimum time between command bytes for the HMR2300 to correctly read them. This is usually not a problem

when the user is typing the commands from the host computer. The problem could arise from an application 

program outputting command bytes too quickly.
 

 

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11

CIRCUIT DESCRIPTION

The HMR2200 Smart Digital Magnetometer contains all the basic sensors and electronics to provide

digital indication of magnetic field strength and direction. The HMR2300 has all three axis of magnetic

sensors on the far end of the printed circuit board, away from the J1 and J2 connector interfaces. The

HMR2300 uses the circuit board mounting holes or the enclosure surfaces as the reference mechanical

directions. The complete HMR2300 PCB assembly consists of a mother board, daughter board, and the

9-pin D-connector (J1).

The HMR2300 circuit starts with Honeywell HMC2003 3-Axis Magnetic Sensor Hybrid to provide X, Y,

and Z axis magnetic sensing of the earth’s field. The HMC2003 contains the AMR sensing bridge

elements, a constant current source bridge supply, three precision instrumentation amplifiers, and

factory hand-selected trim resistors optimized for performance for magnetic field gain and offset. The

HMC2003 is a daughter board that plugs into the HMC2300 motherboard, and the hybrid analog voltages

from each axis is into analog multiplexors and then into three 16-bit Analog to Digital Converters (ADCs)

for digitization. No calibration is necessary as the HMC2003 hybrid contains all the compensation for the

sensors, and the set/reset routine handles the temperature drift corrections. A microcontroller integrated 

circuit receives the digitized magnetic field values (readings) by periodically querying the ADCs and 

performs any offset corrections. This microcontroller also performs the external serial data interface and 

other housekeeping functions. An onboard EEPROM integrated circuit is employed to retain necessary 

setup variables for best performance.

The power supply for the HMR2300 circuit is regulated +5 volt design (LM2931M) with series polarity

power inputs diodes in case of accidental polarity reversal. A charge pump circuit is used to boost the

regulated voltage for the set/reset pulse function going to the set/reset straps onboard the HMC2003.

Transient protection absorbers are placed on the TD, RD, and V+ connections to J1.

APPLICATIONS 

PRECAUTIONS

Several precautions should be observed when using

magnetometers in general:

 The presence of ferrous materials, such as nickel, iron, steel, and cobalt near the

magnetometer will create disturbances in the earth’s magnetic field that will distort the X, Y, and Z field 

measurements.

 The presence of the earth’s magnetic field must be taken into account when measuring

other magnetic fields.

 The variance of the earth’s magnetic field must be accounted for in different parts of the world.

Differences in the earth’s field are quite dramatic between North America, South America and the Equator 

region.

 Perming effects on the HMR2300 circuit board need to be taken into account. If the HMR2300

is exposed to fields greater than 10 gauss, then it is recommended that the enclosure/circuit boards be

degaussed for highest sensitivity and resolution. A possible result of perming is a high zero-field output

indication that exceeds specification limits. Degaussing wands are readily available from local electronics

tool suppliers and are inexpensive. Severe field offset values could result if not degaussed.

NONFERROUS 

MATERIALS

Materials that do not affect surrounding magnetic fields are: copper, brass, gold, aluminum, some
HMR2300

Solid State Electronics Center • www.magneticsensors.com • (800) 323-8295 • Page 12

APPENDIX A 

stainless steels, silver, tin, silicon, and most non-metals.

HANDLING

PRECAUTION

S

The HMR2300 Smart Digital Magnetometer measures fields within 2 gauss in magnitude with better than

0.1 milli- gauss resolution. Computer floppy disks (diskettes) store data with field strengths of 

approximately 10 gauss. This means that the HMR2300 is many times more sensitive than common

floppy disks. Please treat the magnetometer with at least the same caution as your diskettes by avoiding

motors, CRT video monitors, and magnets. Even though the loss of performance is recoverable, these 

magnetic sources will interfere with measurements.

DEMONSTRATION PCB MODULE KIT 

The HMR2300 Demonstration Kit includes additional hardware and Windows software to form a

development kit for with the smart digital magnetometer. This kit includes the HMR2300 PCB and

enclosure, serial port cable with attached AC adapter power supply, and demo software plus

documentation on a compact disk (CD). The figure below shows the schematic of the serial port cable

with integral AC adapter. There will be three rotary switches on the AC adapter. These should be pointed

towards the positive (+) polarity, +9 volts, and 120 or 240 VAC; depending your domestic supply of power.

D9-F D9-F

2

data 2

3

data 3

5

ground 5

9 9

+9vdc

GRY

BLK AC adapter

ORDERING INFORMATION

Ordering Number Product
HMR2300

Solid State Electronics Center • www.magneticsensors.com • (800) 323-8295 • Page 13

APPENDIX A 

HMR2300-D00-232

HMR2300-D00-485

HMR2300-D20-232

HMR2300-D20-485

HMR2300-D21-232

HMR2300-D21-485

HMR2300-D20-232-DEMO 

HMR2300-D21-232-DEMO

PCB Only (No Enclosure), RS-232 I/O 

PCB Only (No Enclosure), RS-485 I/O

Flush-Base Enclosure, RS-232 I/O 

Flush-Base Enclosure, RS-485 I/O

Extended-Base Enclosure, RS-232 I/O 

Extended-Base Enclosure, RS-485 I/O

Demo Kit, Flush-Base Enclosure, RS-232 I/O 

Demo Kit, Extended-Base Enclosure, RS-232 I/O

Honeywell reserves the right to make changes to improve reliability, function or design. Honeywell does 

not assume any liability arising out of the application or use of any product or circuit described herein;

neither does it convey any license under its patent rights nor the rights of others.

900139 02-04 Rev. H
 

 

 

 

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© Copyright Pulse Aerospace 2012

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