Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 RevJ



# Aircraft Flight ManualConfidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

## 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 Landin g 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

................................ ................................ ........................ 23Confidential

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© Copyright Pulse Aerospa ce 2012 

### 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 Flig ht 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

................................ ................................ ................................ ............ 37Confidential

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© Copyright Pulse Aerospa ce 2012 

## 1 Forewo rd

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.comConfidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

## 1 System Components

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

1. Vapor h elicopter

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 transmissio n consists of 2

- stage gearing between the motor and the main rotor. Self

lubricating 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 gea r 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 Vapo r is capable of.

The tail belt is driven from the 1 st 

### 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 w hen operated in dry climates. Care should be taken to not over

oil the belt as this creates an attraction for dust and dirt, thus defeating the purpose.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 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 TrayConfidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

### 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

t hese joints is minimal and operation is smooth.

Figure 4 : Vapor Tail Boom Assembly



### Tail Collective Pushrod

Boom SupportsConfidential

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© Copyright Pulse Aerospa ce 2012 

### 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 actuat ed swash

- plate that

handles collective, lateral cyclic, and longitudinal cyclic. Loctite is used throughout t he 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 si de. 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

Ma in Shaft

Swash Followers

Swash PlateConfidential

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© Copyright Pulse Aerospa ce 2012 

### 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 Tac tical 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 Glo nass solution, inertial measurement, magnetometer, PWM

inputs, and power supply.

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

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 Figure 6 : VA POR 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 provid e a tailored signal to noise ratio of the inertial sensors. The vibration isolators

also protect the core from shock and vibration related damages. These dampe rs 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 make s 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

- flig ht checks, you find that the magnetometer is out of calibration, please follow the

magnetometer calibration procedure that follows.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

### 1.1.6.1.2 Magnetometer Calibration

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

B e 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 sc reen 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 optio n 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 ret urn 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.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 Figure 7 : Magnetometer & GPS Antenna Mounted on V APOR '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 mode l

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 9 00Mhz 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 AntennaConfidential

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© Copyright Pulse Aerospa ce 2012 

### The gr ound 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 2 Hz to the GCS application. This can be increased

if required. Please contact Puls e 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

- run ner electric motor supplying up to 8HP to the Vapor must always

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

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

replacements are available from Pulse up on request. In this case, t he m otor 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 stee ls 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 mot or 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 ope ration 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 Va por Log. Typical temperatures are 4 0

- 8 0degF aboveConfidential

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© Copyright Pulse Aerospa ce 2012 

### 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 commo n.

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 10 1 0rpm. If the helicopter is started at 2000m above sea level, the

helicopter wil l automatically set its rotor speed to 1 11 0rpm. This is a linear relationship, and so,

we can calculate that the RPM for 1000m above sea level flight will be controlled to 1 0 6 0 rpm.

1.1.11 Servos

– Swashplate

Three servos control the 120 ° CCPM swashplate. The s ervos 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 sec ure 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 bu zzing, 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 ro tating 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 Blade s

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 befor e 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.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

### The blades are inspecte d 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 o nly 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 (und er

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

Course.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

## 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 i n 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. C onnect the joystick through USB.

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

License Key is inserted)

.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 Figure 9 : GCS Physical Setup



### 2.1.1 PC Requirements and Licensing

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

requirements:

 Minimum x 2 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 fo rmat ( .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

JoystickConfidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 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 us es 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

di splayed 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.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 Figure 11 : Magnetic Declination Map (with Vapor sig n 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 capabilitie s

and customizations can be gathered from the weGCS manual.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

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

Note: N EVER 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

Aut omatic 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 a utopilot 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 a ircraft 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 limit s 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 hov er.

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 whe n 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 )Confidential

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© Copyright Pulse Aerospa ce 2012 

### In Mission Mode, the autopilot does not respond to the 2.4 G Hz 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 waypo int, which is

defined as a position, altitude, and speed

. When the Home Mode is engaged, t he 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 t o 10

- 20 seconds from the factory.

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

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

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

## 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 type s:

1. Stop Waypoints

a. Always stops at waypoint

b. Mission continuation with GCS command or timeout parameter

2. Cruise Waypoints

a. Always p ass through waypoint

b. If sp e ed zero, then stop and go

2.3.2 Mission Definition

An uploadable mission must always consist of the followi ng:

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.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

### 2.3.3 Altitude Computation

The helicopter operates with relative altitudes. Zero altitude is where the GPS becomes val id 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 M ode” with joysticks neutral, then upload the mission. The new

mission can now be executed by returning to “Mission” Mode. Only 1 mission c an 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.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

### 2.3.6 Trajectory Characteristics

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

waypoint transitions.

2.3.6.1 Acceleration and Climb ExampleConfidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

### 2.3.6.2 Deceleration and Descend Example

2.3.6.3 Travel Speed Not Defined ExamplesConfidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

### 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.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

### 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.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

### 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 automati c 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”.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 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.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

### Helicopter is not

responding to

com m ands and data

link is lost Data

- link is lost due to

range, interference,

jamming, or loss of

antenna Wait for user def ined timeout period (usually 1 0

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

crashConfidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

## 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 V nominal 

### = 11.1VDC, V

max 

### = 12.6VDC, capacity = 2 3 00mAh

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

Pulse Aerospac e. The charge current setting on a li thium 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 Batter y

The MAIN Motor Power Battery consist s of a 12

- cell 2 2 ,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, 2 2 ,000mAh power to the ESC.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

### 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

20 A to each battery side for simultaneous charging of the x 2 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 G eneral 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 especia lly but not limited to:

 Main rotor and tail rotor assemblies

 Servo mounting and linkages

 Tail boom and boom supports

 Landing gear bolts

 Motor attach ment

 Upper and lower sideframe bolts

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

 Magnetometer and GPS supp ort platformConfidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

###  FCS connector bolts (4

- 40)



## 4.2 Cleaning

Cleanin g of all components should be performed with a cloth (old t

- shi r t, 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 thes e 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 r otor 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 spra ys 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 gea rs of the transmission.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 Figure 14 : Light Grease on the Head Elastomer

Figure 15 : Light WD

- 40 on Tail BeltConfidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012



### 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 inspectionConfidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012



### 36 

## 5.1 V APOR 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 ro tor 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 t o 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 check list 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 che ck 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.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

## 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 l ess

.

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.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 

### Appendix A: Component Manufacturer Data Sheets

# HMR2300

Solid St a te Ele c troni c s Center

• ww w .magneti c sensors

. c o m • ( 800) 32 3

- 8295 • Page 1 

### APPENDIX A

UART 

### Features SENSOR PRODUCTS



# SMART DIGITAL MAGNETOMETER

 High Acc u r a cy Over  1 g a uss, <0.5% F ull Scale

 Ra n ge of  2 ga u ss, <70  ga u ss R e sol u tion

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

 10 to 154 S a mples P e r S e co n d, Select a ble

 RS

- 2 32 or RS

- 485 S e rial Data Interf ac es

 PCB or Alum i num Enc l osure Optio n s

 6

- 15 volt DC Unregu l ated Pow e r Supp l y Interface



### General Description

The H o neywell HMR23 0 0 is a three

- ax is sm a rt di g ital

magnet o met e r to det e c t the stre n gth a n d dir e ction of a n

inci d ent m a gnetic field. The three of Honeywell’s magnet o

res i stive s e ns or s are o rient e d in orth o go n al dir e ctio n s to

meas u re the X, Y and Z vec t or com p on e nts of a

m a gnet i c field. T h e s e s e nsor out p uts are c o nvert e d to 1 6

-

bit d i gital valu e s u s ing an internal delta

- s igma A/D

c onverter. An onboard EEPROM stor e s the

m agneto m eter ’ s config u rati o n for co n s is t ent operation. T h e

data output is ser i al full

- duplex R S

- 2 32 or half

- dup l ex RS

4 8 5 with 9600 o r 19, 2 00 data rat e s.

A RS

- 2 32 d evelopm e nt kit version i s avail a ble t hat incl u d e s

a wind o ws com p atible demo p ro g ram, interface c a b l e,

AC adapt e r, and carrying c a se.



## APPL I C ATIONS

 Attitude Reference

 Compassing & Navigation

 Traffic and Vehi c l e De t ection

 Anomaly Detection

 Laboratory Instrumentation

 Security Systems HMC1 0 02

HMC1 0 01 

### Block Diagram

Pwr

Co n d

ADC

HMC 2 0 0 3  C

EE P ROM V+ G n d

TX

RX

# HMR2300

Solid St a te Ele c troni c s Center

• ww w .magneti c sensors

. c o m • ( 800) 32 3

- 8295 • Page 2 

### APPENDIX A

SPECIFICATIONS SENSOR PRODUCTS

Cha r acterist i cs Conditi o ns

Min T y p Max Units

Power Supp l

y

Supply Voltage Pin 9 refer en c ed to Pin 5 (Gro u n d ) 6.5 15 Volts

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

Temper a ture

Operati n g Ambient

- 40 +85 °C

Storage Ambient, Un b ias e d

- 55 125 °C

M agnetic Fi

e ld

Range Full Scale ( F S), Total Field Applied

- 2 +2 ga u ss

Resoluti o n Applied Field to Cha n ge O utput 67 micro

- g a u ss

A cc ura c y RSS of All Errors @ + 25°C

 1 ga u ss

 2 ga u ss 0.01

1 0.52

2 %FS

%FS

Linearity Err o r Best Fit Straight Line @+ 2 5°C

 1 ga u ss

 2 ga u ss 0.1

1 0.5

2 %FS

%FS

Hy s teri s is Error 3 Swee p s Across  2 g a us s @ + 2 5 °C 0.01 0.02 %FS

Repeat a bility Error 3 Swee p s Across  2 g a us s @ + 2 5 °C 0.05 0.10 %FS

Gain Error Applied Field for Zero Re a ding 0.05 0.10 %FS

Offset E r ror Applied Field for Zero Re a ding 0.01 0.03 %FS

Temper a ture

Effe c t Coeffic i ent of Gain

- 600

 114 ppm/°C

Power Supply

Effe c t From +6 to +15V with 1 g a uss

Applied Field 150 ppm/V

M echanical

Weight PCB Only

PCB and No n

- Fla n ged E n clos u re

PCB and Fl a nged E n cl o s u re 28

94

98 gra m s

Vibration Operating,

5 to 10Hz for 2 Ho u rs

10Hz to 2kHz for 30 Minut e s 10

2.0 mm g

# HMR2300

Solid St a te Ele c troni c s Center

• ww w .magneti c sensors

. c o m • ( 800) 32 3

- 8295 • Page 3 

### APPENDIX A

SENSOR PRODUCTS

Cha r acterist i cs Conditi o ns

Min T y p Max Units

Digital I/O Timing (See Timing Dia g ra m s )

T R ESP *dd C o mma n ds ( d d = Device ID)

*ddP

*ddR, * d dS, *ddT

*ddC

*ddQ

*99 C o mma n ds

*99Q 1.9 2

3

6

40

2+(ddx8 0 )

2+(ddx4 0 )

2+(ddx1 2 0) 2.2

3.2

6.2

60

2+Typ

2+Typ

2+Typ msec

T DE LA Y *dd C o mma n ds ( d d = Device ID)

*99 C o mma n ds 39 40

ddx40 41

2+Typ msec

T B Y TE 9600

19,200 1.04

0.52 msec

T S T AR T UP Pow e r Appli e d to End of Start

- Up

Messa g e 50 80 ms e c

RS

- 2 32 C O M MUN I C A

TI O NS

– Figure1 (Timing is Not to Scale)

RS

- 4 85 CO M MUN I CATI O NS

– Figure 2 (Timing is Not to S c ale)

# HMR2300

Solid St a te Ele c troni c s Center

• ww w .magneti c sensors

. c o m • ( 800) 32 3

- 8295 • Page 4 

### APPENDIX A

GLOBAL ADDRESS (*99) DELAY

– Figure 3 (Timing is Not to Scale)

PIN C O NFI G U R ATI O N SENSOR PRODUCTS

Pin Number Pin Name De s cription

1 NC No C o nnect i on

2 T D T ransmit Data, RS

- 485 (B+)

3 RD Recei v e Data, RS

- 4 8 5 (A

- )

4 NC No C o nnect i on

5 GND P o w e r a nd S ig nal Gro u nd

6 NC No User C on n ection (facto r y X offset strap +)

7 NC No User C on n ection (facto r y Y offset strap +)

8 NC No User C on n ection (facto r y Z offset strap + )

9 V+ Unr e gu l ated P o w e r In p u t ( + 6 to + 15 VDC)

PCB DIM E N SIONS A N D PINOUT

– F i gure 4 (Co nn ector Not Sh o wn for Clarit y )

# HMR2300

Solid St a te Ele c troni c s Center

• ww w .magneti c sensors

. c o m • ( 800) 32 3

- 8295 • Page 5 

### APPENDIX A

CASE DIM E NSIONS

– F i gure 5

RS

- 2 32 UNBALANCED I/O INTERCONN E CTS

– Figure 6 SENSOR PRODUCTS

HOS T PC HMR 2 3 0 0

T D RD

D R

R D TD

R D

GD GD

# HMR2300

Solid St a te Ele c troni c s Center

• ww w .magneti c sensors

. c o m • ( 800) 32 3

- 8295 • Page 6 

### APPENDIX A

RS

- 4 85 BALANCED I/O INTERCONNECTS

– Figure 7 SENSOR PRODUCTS

H O S T PC

A

D

Z Z

R

B+

Z

= 12 0 o h m s RD ( A ) R

T D ( B )

D RD ( A ) R

T D ( B )

D

H M R 230 0

I D

= 0 1 H M R 2300

I D

= 0 2

DA T A C O M MUN I C A

TI O NS

The RS

- 232 sig n als are s i ngle

- en d ed u ndir e ctio n al l evels t h at ar e sent r e cei v ed simulta ne ously (full d u plex). O ne sig n al

i s from the h ost p e rsonal co m pu t e r ( P C) tr a ns m it (TD) to the HMR23 0 0 r e ceive (RD) da ta line, a nd t h e oth e r i s from the

H M R2 3 00 TD to the PC RD d ata line. Wh e n a log i c o ne is s e nt, either the TD or RD line will d r iv e to about

+6 Volts referenced to gr ou nd. For a log i c z e ro, the T D or RD line will drive to a bout

– 6 Volts bel o w gr o un d . Since the

sig n als a re t r ansmitted an d d e pe n dent on a n a b sol u te voltage le v el, this limits the d i sta n ce of tra n sm i ss i on d ue to

line no i se a n d sig n al to a b out 60 feet.

Wh e n u s ing RS

- 4 85, the sig n als are b ala n c ed differential tra n sm i ss i o n s shar in g the same l i nes (hal f

- d up lex). This mea n s

that logic o n e the transmitting end will drive the B line at l east 1.5 Volts high e r than the A line. F or a log i c zero, the

tr a nsmitting en d will drive t he B line at least 1.5 V olts lower t h an the A li n e. Since the signa l s a re transmitted

a s differe n c e voltage level, these s i gna l s c a n wit h stand high n o i s e environ m ents or ov e r very long dista n c e s w h ere line

l o ss may be a pr o blem; up to 4000 feet. Note that long RS

- 485 lin e s should be terminated a t both en d s wi t h 120

- ohm

r e sist o rs.

Another precaution on R S

- 485 o p erati o n is that wh e n the H M R2 3 00 i s in a co n tinuo u s o utp u t mode of o p eration, t h e

host PC m ay have to se n d re p eated e s cape a nd c a rri a ge return bytes to stop the str e am o f output data. If the host can

det e c t a rec i eved c a rr i age return b y te ( 0 D hex), and im m edia t ely se n d the esca p e

- c a rri a ge return bytes; then a

syste m atic stop of c o ntin u ous out p ut is likely. If m a nually sent, b ew a re t h at t h e half

- dup l ex nature of t h e interf ac e corr u pt

the HMR2 3 00 out b ound d ata w h ile attempting to get the stop com m and i nterleav e d b e tween the d ata.

As noted by the D i gital I/O timing s p ecif i c ation and F i gure 3, the HMR2 3 00 h as a delayed r e spo n se feat u re based o n

the pro g ra m med d evice ID in r e s p o n se to g l obal a ddr es s com m an d s (*9 9 ....<cr>). E a ch HMR23 0 0 wi l l take its t u rn

respo n ding so that u nits do n ot tra n smit simult a n e ously (no c o ntens i on). T h ese dela y s a lso apply to t he RS

- 2 32 interface

versions of the HMR2 3 00.

# HMR2300

Solid St a te Ele c troni c s Center

• ww w .magneti c sensors

. c o m • ( 800) 32 3

- 8295 • Page 7 

### APPENDIX A

COM MA ND I NPUTS SENSOR PRODUCTS

A simple co m mand set is u s ed to com m unicate with the H M R2 3 0 0

. These co m man d s c a n b e automated; or typed in

rea l

- time whi l e runn i ng c o mmun i cation softw a re p ro g ra m s , s u ch a win d ows hy p erterm i nal.

Command Inputs (1) Res p onse (2) B y tes (3) De s cription

F o rmat *ddWE *ddA

*ddWE *ddB ASCII_ON¬

BINARY_ON¬ 9

10 ASCII

– Output Read i ngs i n BCD ASCII F o rmat (Default)

Bina r y

– Out pu t Read i ngs i n Sig n ed 1 6

- bit B i ana r y F o rmat

Output *ddP

*ddC Esc { x

, y , z r e a d ing}

{ x

, y , z stream}

{stream stops} 7 or 28

... 0 P = Polled

– Output a Si n g le Samp l e (Defa u lt)

C = Contin u o u s

– Output Re a d i n gs at Samp l e Rate

Escape K e y

– Stops Cont i n u ous R e ad i ngs

Samp l e Rate *ddWE *ddR

= nnn OK¬ 3 Set Sample Ra te to nnn W he r e:

Nnn = 10, 20, 25, 30, 40, 50, 60, 100, 1 23, o r 154

Samp l e s/sec (Defa u lt = 20)

Set/Reset

Mode *ddWE *dd T N

*ddWE *dd T F

*ddWE *ddT S/R_ON¬

S/R

_ OFF¬

{ T oggle} 7

8

7 or 8 S/R Mode: T N

– ON = Auto S/R Pulses ( D ef a u lt)

TF

– O F F = Manual S/R Pulses

*ddT T oggles Comma n d (De f ault = On)

Set/Reset

Pulse *dd]S

*dd]R

*dd] SET¬

RS T

¬ { T oggle} 4

4

4 ] Character

– S ing l e S/R: ]S

- > SET

= Set Pulse

]R

- > R S T

= Reset Pulse

T oggle Alter n ates Be t w e e n S e t and Reset P u lse

Device ID *99ID=

*ddWE *ddI D =nn ID=_nn¬

OK¬ 7

3 Re a d Devi c e ID (Defa u lt = 00)

Set Device ID W here nn = 00 to 98

Baud R a te *99WE *9 9 ! B R=S

*99WE *9 9 ! B R=F OK¬

BAUD

_ 96 0 0¬

OK¬

BAUD=_ 1 9,2 0 0¬ 14

14 Set Baud R a te to 9600 bps ( D efault)

Set Baud R a te to 19,2 0 0 bps

( 8 bits, no pari t y, 1 stop bit)

Z e ro

Re a d i n g *ddWE *ddZN

*ddWE *ddZF

*ddWE *ddZR ZERO_ON¬

ZERO

_ OFF¬

{ T oggle} 8

9

8 or 9 Zero Re a d i n g W ill Store a n d Use Curr e nt as a Negative

Offset so T hat the Output Reads Zero Field

*ddZR T oggles Comma n d

Avera g e

Re a d i n gs *ddWE *dd V N

*ddWE *ddVF

*ddWE *ddV AVG_ON¬

AVG_OFF¬

{ T oggle} 7

8

7 or 8 T he Average R ea d ing for the Current Sa m p l e X(N) is:

Xa vg = X (N)/2 + X (N

- 1)/4 + X ( N

- 2)/8 + X (N

- 3)/16 +

. . . *ddV T ogg l es Comma n d

Re

- Enter

Res p onse *ddWE *ddY

*ddWE *ddN OK¬

OK¬ 3

3 T u rn the “Re

- Enter” Error Re s pon s e ON (*d d Y) or O F F

(*ddN). O F F is Recomm e n d ed for RS

- 485 ( D efault = ON)

Query Setup *ddQ {See Desc.} 62

- 72 Read Setup Parameters. Default: ASCII, PO L L ED, S/R

ON, ZERO O F F, AVG O F F, R ON, ID=00, 20 sps

Default

Settings *ddWE *ddD OK¬

BAUD=_ 9 600¬ 14 Ch a nge A l l C o mmand Pa r a m e ter Settings to F a cto r y

Default Values

Restore

Settings *ddWE *dd R ST OK¬

BAUD=_ 9 600¬

or

BAUD=_ 1 9,2 0 0¬ 14

16 Ch a nge A l l C o mmand Pa r a m e ter Settings to the Last User

Stored Values in the EEPROM

Serial

Num b er *dd# SER#

_ n n nn¬ 22 Output the HMR2 3 00 Ser i al N u mber

Sof t w a re

Version *ddF S/W_vers:_

nn n n¬ 27 Output the HMR2 3 00 Sof t w a r e Versi o n Nu m ber

Har d w a re

Version *ddH H/W_vers:_

nn n n¬ 19 Output the HMR2 3 00 Ha r d w a re Versi o n N u mber

W rite Enab l e *ddWE OK¬ 3 Activate a W rite Ena b le. T h is is req u ired b e fore

comma n d s: Set Device ID, Baud Rate, a nd S tore

Parameters.

Store

Parameters *ddWE *ddSP DONE¬

OK¬ 8 T h is w r ites all para m eter settings to EEPROM. T hese

val u es w i l l be a u tomatic a l l y r e stored u p on po w e r

- up.

Too Many

Cha r acters W rong Ent r y Re

- e nter¬ 9 A command w a s not ente r ed pro p er l y or 10 characters

w e re t y p e d after an asterisk ( *) and b e fore a <cr>.

Missing WE

Entry Write Enable Off WE_OFF¬ 7 T h is error response indi c a tes that this instru c tion requires

a w r ite e n ab l e comma n d immed i ate l y b e fore it.

(1) All i n puts must be foll o w e d b y a <cr> carriage retu r n , or Enter, k e y . Eit h er up p er or l o w e r case letters m a y b e us e d

. T he d evice

ID (dd) is a de c imal n u mber b e t w ee n 00 a n d 99. Device ID = 99 is a glo b al address for a l l units.

(2) T he “¬” s y mbol is a car r iage return (hex 0D). T he “_” s i gn is a spa c e (h e x 20). T he output resp o n se w i ll be de la y e d from t h e

end of the car ri age retu r n of the in p u t string b y 2 msec (typ.), unless the c o mmand s e nt as a glo b al d e v i ce ID = 99.

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### APPENDIX A

DA T A F O R M ATS SENSOR PRODUCTS

The H M R 2 3 0 0 tra n smits e ach X, Y, and Z axis as a 16

- bit value. The out p ut data format c a n be eith e r 1 6

- bit s i gned

binary (s i gn plus 15 bi t s ) or a bin a ry coded d e cimal (BC D ) A S CII ch a r a c ters. The com m a n d *ddA will select t h e

ASCII format and *ddB will sel e ct the bi n ary format.

The ord e r of ouput for t h e binary format is Xhi, Xlo, Yhi, Ylo, Zhi, Zlo. The binary for m at is more efficient for a com p uter

to inter p ret si n c e only 7 bytes are tr a nsmit t ed. The BCD ASCII format is easi e st for user int e r p r e tation but requ i r e s 2 8

by tes per r e ad i ng. Th e re a re limitations o n the out p ut samp l e rate (see t a ble b e l ow) b a sed on the format and b aud ra t e

se l ect e d. Examples of b oth bin a ry a n d BCD ASCII outputs are sh o wn bel o w for field val u es b etw ee n

 2 ga u ss.

Field B C D A S CII Binary Value (He x ) High B y te

L o w B y te (ga u ss) Value

+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

- 15,0 0 0 C3 74

- 1.5

- 22,5 0 0 A8 1C

- 2.0

- 30,0 0 0 8A D0

Bina r y Format: 7 Bytes

X H | X L | Y H | Y L | Z H | Z L | < c r>

X H = Signed Byte, X axis

X L = Low Byte, X axis

<cr> = Carri a ge Ret u rn ( E nter ke y ), H e x Code = 0 D

ASCII For ma t: 28 Bytes

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

| SP | SP | <c r >

The ASCII characters will be r eadable on a monitor as sign deci m al numbers. T h is format is best when the user i s

inter p reting t h e read i n g s.

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### APPENDIX A

PARAMET E R SELECTION VERSUS OUT P UT S A MPLE RATE SENSOR PRODUCTS

Sample

Ra t e ASCII Binary f 3dB No t ch Command I n put

Ra t e

– m in.

(sp s ) 9600 19,200 9600 19,200 ( H z) ( H z) ( m se c )

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 34 100/1 2 0 10

50 no yes yes yes 42 125/1 5 0 8

60 no no yes yes 51 150/1 8 0 7

100 no no yes yes 85 250/3 0 0 4

123 no no no yes 104 308/3 6 9 3.5

154 no no no yes 131 385/4 6 2 3

DEVICE ID

The Dev i ce ID co m mand (*dd I D=nn) will chan g e the HM R 23 0 0 ID numb e r. A Write En a ble (*d d WE) com m and is requ i r e d

bef o re the dev i c e ID can be c h ang e d. This i s r e quired for RS

- 4 8 5 op e ration w h en m ore th a n one HMR23 0 0 is on a

ne t w o rk. A Device ID = 99 i s uni v ersal and will simulta n eo u s l y talk to all units on a network.

B AU D R A

T E CO MM A ND

The Baud R a te com m and (*dd!BR=F or S) will chan g e the H M R2 3 00 ba u d rate to either f a st (19,2 0 0 b a u d ) or sl o w (96 0 0

b au d ). A Write Ena b le ( * d d WE) comma n d i s r e quir e d b efore the b aud ra t e can be ch a nged. T he l ast respo n se after this

c om mand h a s b e en accep t ed will be either BAUD=9 6 00 or BAUD= 1 9,200. This will indicate to the us e r to ch a nge to the

identified n e w ba u d rate b efore comm u nicati o ns can resume.

ZERO R E AD ING C O MM A ND

The Z ero R e ading comm a nd (*dd Z N) will take a ma gnetic r e adi n g a n d store it in t h e HMR2300 ’ s m i cr o c ontroll e r.

This val u e wi l l be s u btr a ct e d from su b s e quent read i n g s a s an offset. The z e ro r e ading will be t ermi n ated wi t h anoth e r

com m and i np ut(*dd Z F) o r a power d own co n dition. T his feat u r e is useful f o r set t ing a ref e re n c e attitude o r nulling the

earth ’ s field b efore a n oma l y detection.

SET/RESET AND AV E RAGE COMMANDS

The set

- reset function g e n erat e s a current/magnet i c field pulse t o each sensor to r e align the per m all o y thin film

magnet i z ati o n. This yiel d s the maxim u m output s en s itivity for magnetic se n s i n g. This pu l se is ge n erat e d inside t h e

HMR23 0 0 a n d c o nsum e s less than 1 m A typically. The Set/R e s et Mode co m mand (*d d TN or * d dT) ac t ivates an internal

switching circuit t h at flips the c u rr e nt in a “S et ” and “R e s e t ” conditi o n. T his ca n c e l s o ut any temp e rature d rift effects a n d

e ns u r e s the s e ns o rs a re o p e r ating in the i r most se n s itive regi o n.

Fluctuati o ns i n the ma g ne t ic r e adi n gs can be re d uc e d by usi n g t h e Avera g e Readi n gs co m man d s ( * dd V N or * ddV).

These com m an d s p rovide a l o w p a ss filter effect on t he outp u t read i n g s t h at re d uces n oise due to Set/Reset

swi t chi n g and other envir on mental mag n etic effects. T he t w o figur e s bel o w s h ow the average read i n g s effect for step

and impu l se res p o n s e s.

Switchi n g the set

- r e set sta t e is n ot re q u i red to se n s e magnet i c fie l ds. A si n gle Set (or R e se t ) pu l se will m aximize the

output se n s itivity and it will stay that w a y for mont h s or y e a rs. T o t urn off the internal switch in g, enter t h e comma n d

*ddTF or * dd T. In this state the se n s ors are eith e r in a Set or Reset mo d e. If the HMR2 30 0 is exposed to a large magnet i c

field (> 1 0 ga u ss), then anot h er set p ulse i s re q uired to maximize o utput se n s itivity.

In the Set mode, the d i r e ction of t he sensitive ax i s ’ are s h own on the e nc l o s ure la b el a n d the b o ard dime n s io n s

figure. In the R e set mo de

, the se n s itive field dir e ct i ons are opp o site to those sh o wn. By typing * d d], the us e r can manually

a c t i vate a Set or R e set pu l se. The S/R pu l se com m an d s can be us e d the contin u ous re a d m o de to flip

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### APPENDIX A

SENSOR PRODUCTS betw e en a S et and R e set state. Note t hat the first three r e adin g s imm e diate l y after these

com m an d s will be invalid due to the u n certa i nty of the curr e nt pulse to the se ns or s a mple ti m e.

DEF A ULT A ND REST OR E COM M A N DS

The Defaut Settings co m mand (*d d D) will force t h e H M R2 3 00 to all the default parame t ers. T his will not be a per m an e nt

chan g e u nless a Store P a rameter co m mand (* d d SP) is iss u ed after the Write Enable co m mand. T he Restore Sett i ngs

com m and (*ddRST) will force the HMR2300 to a l l the stored para m eters in the EEPROM.

OUT P UT S A MPLE RAT E S

The samp l e rate c a n be v aried f rom 1 0 samp l es per s e co n d (s ps ) to 154 s p s usi n g the * dd R=nnn co mm and. Each samp l e

cont a ins a n X, Y, and Z read i ng and can be o utputted in ei t her 1 6

- bit si g ned b i nary o r binary co d ed deci m al (BCD) ASCII.

The ASCII format s hows the s tandard numeric c h ara c ters di s played on the ho s t c omputer di s pla y . Some sa m ple rates

may h a ve restr i ctio n s on the for m at and ba u d rate us e d, due to transm i ss i on time co n s t raints.

There are 7 Bytes tra n smitted for ev ery re a ding binary f o r m at and 2 8 Bytes per r e ading i n ASCII format.

Tra n sm i ss i on times for 9600 ba u d are about 1 ms e c / B yte and for 19,200 baud a re a b out 0.5ms e c / Byte. The comb i natio n s

of for m at a n d a n d b a ud rate sel e ctio n s a re s h own in the a bove Table. T he d efault setting of ASCII format and 9 600 b a ud

will only transmit corr e c tly up to 30 sps. Note the H M R2 3 00 will o utput a high e r da t a settin g s, but the read in gs may be

i n corr e c t and will be at alow e r output rate t han sel e cted.

For hi g h e r s a mple rat e s (>60 s p s), it is advis e d that host com p ut e r settin g s for the terminal pref e re n c e s be set so a line

feed <lf> is not appended to the s e nt commands. This s l ows d o wn the recep t ion of data, and it will not be ab l e to ke e p

up with the incom i ng data stream.

INPUT SIGNAL A T TENUATI O N

Magnet i c s ig nals being m easur e d will be atten u at e d b a sed o n the sample r a te sel e cted. T he b a ndw i dt h

, defined by the

3dB poin t

, is sh o wn in the above T ab le for each s a mple rate. T h e default rate of 20 s p s h a s a ban d width of 17Hz. The

digital filter i n side the HMR23 0 0 is the co m binat i on of a c o mb filter and a l ow p a ss filter. This provid e s a line a r ph a se

r e s p o n se with a tra n sfer fu n c tion t hat has zeros in it.

Wh e n the 1 0 or 2 0 sps rate is u s ed, t h e zeros are at t he line f req ue nci e s of 5 0 a nd 60 Hz. T h ese z e r o s p r ov ide better

than 1 2 5 dB rejecti o n. All multiples of the zeros extend throug h o u t the tra n sfer function. F or example, the 10 a n d 2 0 sps

rate has zeros at 50, 60, 100, 120, 150, 180,

... Hz. T he m u l tiples of the zeros apply to all the sa m ple rates agai n s t the

s t ated notch fr e que n ci e s in the above T ab le.

COM MA ND I NPUT R A TE

The HMR23 0 0 limits h o w f ast the co mm and byt e s can be r e cie v ed b a s e d on the sa m ple rate se l ect e d. The a b ove Table

s h ows the mini m um time between co m ma n d b y tes f o r t h e HMR2 3 00 to correctly read them. Th i s i s us u ally n o t a prob l em

when the u s er is typing the com m an d s from the h o st com p uter. The pr o bl e m could a r is e from an appl i c ation

pr ogr a m outpu t ting com m a n d bytes too q uickly.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012



### 11 CI R CUIT DESCRIPTI O N

The H M R2 20 0 Sm a rt D i gital M a gneto m eter c o ntai n s all the b a sic sensors and e l ectr o nics to p rovide

digital indication of mag n etic f i eld stre n gth and dir e ction. The H M R 23 00 h as all t h ree ax i s of m agnet i c

se ns ors on the f a r end of the printed c i rcuit board, away from the J1 and J2 co n n e c tor int e rf a c e s

. The

H M R 2 300 u s e s the circuit b o ard mounting hol e s o r the enc l osure s u rfac e s as t h e refere n c e m ec h an i cal

d i rectio n s

. T h e comp l ete H M R2 3 00 PCB assembly co n s i s ts of a mother b oar d

, daughter bo ard, and the

9

- pin D

- c o n n ector (J1).

The HMR23 0 0 c i rcuit st a rts with Hone y well H M C2 00 3 3

- Axis M ag netic S e nsor Hybrid to p r ov ide X, Y,

a n d Z ax i s magnet i c s en s ing of t h e e arth’s field. T he H M C2 0 03 c o ntai n s t h e AMR se n s i n g br i dge

ele m ents, a co n s t ant current so u rce b rid g e s u pply, three prec i s i o n i nstr u mentati o n am p lifiers, and

f a ctory h and

- se l ect e d trim r e sist or s optimiz e d for p e rfor m a n c e f o r ma g n e tic field ga i n and offset. The

HMC 2 003 is a dau g ht e r b o ard t h at p lugs i nto the HMC23 0 0 motherbo a rd, and the hy b rid ana l og v o ltages

from e ach ax i s is i n to analog mu ltiplexors a nd then into three 1 6

- bit Analog to Di g ital Conv e rters ( A DCs)

for digitizati o n. No c a l i bration i s n e c e ss a ry as the H M C 2 003 hy b rid c o ntains a l l the c o mp en s ation f o r t h e

s e nsors, and the set/reset r o utine hand l es t h e temp e rat ur e drift corr e c tio n s. A microcontrol l er integrated

circuit r e cei v es the digitized mag n etic field values (readi n gs) by peri o dically querying the ADCs a nd

p e rfor m s a ny o f fset corr e c ti o ns. Th i s microc o ntroll e r a l so perf o r m s t he external serial data i nterface a nd

other housekeeping funct i ons. An onboa r d EEPROM integrated circuit is employed to retain necessary

setup variabl e s for best p e rfor m ance.

The p o w e r supply for the HMR23 0 0 c i rcuit is re g ula t ed +5 volt d e sign (L M 29 3 1M) with ser i es p olarity

p o wer i npu t s diod e s i n c a se of ac cid e ntal po l arity r e versal. A ch a rge pu m p circuit i s u s e d t o b o ost t h e

regulat e d vol t age f o r the set/r e s et pu l se function g o ing to the s e t/reset stra p s onbo a rd the HMC 2 003.

Tra n si e nt pr o tection a b s o rbers are placed on the TD, RD, a n d V+ c o nn e cti o ns to J1.

APPLICATIONS

PRECAUTIONS

Several precautio n s s h ou l d be o b serv e d wh e n us i ng

magneto m eters in g en e ra l :

 The p r e s e nce of f e rr o us materia l s, s u ch as n i ckel, iron, steel, an d cobalt ne a r the

m a gnet o meter will cr e ate disturba n c e s in the earth ’ s magnet i c field that w ill dis t ort the X, Y, a nd Z field

m e as u re m ents.

 The prese n ce of the ear t h’s ma g netic field must be taken into acco u nt wh e n measur i ng

other ma gn etic fields.

 The vari a nce of the earth ’ s magnet i c field must be ac co u nted for in different par t s of the w o rl d

. Differe n c e s in the earth ’ s field are quite dr amatic be t w e en N o r t h America, South Ameri c a and the Equator

region.

 Perming eff e cts o n the HMR2 3 00 circuit bo a rd n e e d to be t a k e n into a c count. If the H M R 2 300

i s exp o sed to fields g reat e r than 10 ga u ss, th e n it is r e comm e n d ed that the e ncl o s u re/c i rcuit boards be

deg a uss e d for high e st s e ns i tivity and resolution. A p o ss i ble result of permi n g is a high zer o

- field out p ut

indication th a t exce e ds sp ec ification limits. Deg a uss i ng wa n ds a re r e adily availab l e from l o cal e lectr o nics

tool su p pliers an d are inex p e n s iv e. Severe field offset values could res u lt if not degaussed.

N O N

F E R RO US

MAT E RIALS

Materia l s that do not affect surro u nding magnet i c fields are: co pp er, br as s, gold, alum i num, some

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### APPENDIX A

sta i nl e ss stee l s, silver, tin, silicon, a n d most non

- meta l s

.

H AN DLING

PRE C AUT I O N

S

The HMR23 0 0 Smart Digi t al Mag n eto m eter m e asur e s fiel d s with i n 2 g a uss in magnitu d e w i th better th a n

0.1 milli

- ga u ss resolu t ion. Com p ut e r floppy disks (diskettes) store data wi t h field stre ng ths of

approximately 10 gauss. This mea n s that t he HMR2300 is m a ny tim e s m o re s e nsi t ive t han co m mon

flo p py d i sks. Ple a se t reat the ma g netomet e r with at least t he s a me cau t ion as yo u r d i skettes by a v oiding

mot o rs, CRT video monitors, and magne t s. Even thou g h the loss of p e rform a nce is recov e rab l e, these

m ag n etic s o urc e s will interfere with meas u re m e n ts.

DEM O NST R ATI O N PCB MO D ULE K I T

The HMR23 0 0 De m o n s tra t ion Kit incl ud es a dditio n al har d w a re a n d Wi n d o ws software t o form a

devel op ment kit for with the sm a rt digital m a g netomet e r. T his kit i n clu d es the H M R2300 P CB a nd

e n cl o s u r e

, ser i al p o rt cab l e with attach e d AC adapt e r p o wer s u pply, and demo sof t ware pl u s

d o cum e ntation on a com p act disk (CD). The figure below shows the schemat i c of the serial port cab l e

with integral A C adapter. T here will be three rotary switches on the AC adap t er. Th e s e s h ould be po i nted

tow a r d s the posi t ive (+) polarity, +9 volts, and 120 or 240 VAC; dep e ndi n g your do m est i c s u pply of pow e r.



### D9

- F D 9

- F

2 d a ta 2

3 d a ta 3

5 g r o u nd 5

9 9

+9 v d c

G R Y

BLK AC a d a p t e r

O R DERI N G INF O R M ATI O N

Ordering N u mber Product

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### APPENDIX A

HMR2 3 00

- D0 0

- 232

HMR2 3 00

- D0 0

- 485

HMR2 3 00

- D2 0

- 232

HMR2 3 00

- D2 0

- 485

HMR2 3 00

- D2 1

- 232

HMR2 3 00

- D2 1

- 485

HMR2 3 00

- D2 0

- 232

- D EMO

HMR2 3 00

- D2 1

- 232

- D EMO PCB Only (No Enclo s ure), R S

- 232 I/O

PCB Only (No Enclo s ure), R S

- 485 I/O

Flush

- Base Enclosure, RS

- 232 I/O

Flush

- Base Enclosure, RS

- 485 I/O

E x tended

- Ba s e Enclo s ure, RS

- 232 I/O

E x tended

- Ba s e Enclo s ure, RS

- 485 I/O

Demo Kit, Flush

- Base Enclosure, RS

- 232 I/O

Demo Kit, E x tended

- Base Enclosure, RS

- 232 I/O

Ho n eywell r e serv e s the ri g ht to make chan g es to i m prove reliabil i ty, function or desi g n. Ho n eywell do e s

not assume any liability a risi n g o ut of t he a pplicati o n or u s e of a ny p r o d u c t o r circuit d e scr i bed herein;

n either do e s it c o nvey any lice n se u nd e r its patent ri g hts nor t h e ri g hts of others.

900 1 39 0 2

- 0 4 Rev. HConfidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without writt en approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012 General Terms and Conditions of Sales

1. General: All orders and deliveries are made subject to the terms and conditions as herein set out. Any conditions stipulated by the Custom er which are

in contradiction of our general conditions of supply shall be valid only if expressly acknowledged by us in writing. A ny local general terms and conditions

or specific conditions of sales shall take precedence over the above; these terms and conditions as herein set out shall be a pplicable if any loopholes,

contradictions or uncertainties should arise.

2. Software: Specia l conditions apply for software. We guarantee that software can be operated under the specified computer operating systems, o r in the

case of embedded software, the specified platform. We grant no warranty for functionality, completeness, accuracy or timel iness. The purchase or

provision of software provides the right for use on one system only. The software may not be reproduced, copied, re

- engineered or transmitted in any way

whatsoever.

3. Quotations: Quotations given by us are valid for 30 days and are confidential. If the Customer does not place a purchase order according to our quotation,

the Customer will return all specifications and documents upon our request.

4. Price: All prices are in the indicated currency. Delivery is ex works Lawrence Kansas, packing included, non insured, VAT or any other tax or duty excluded.

We reserve the right to modify prices for goods not yet delivered if circumstances so require and to notify the Customer as s oon as possible unless

otherwise stated in the order document ation. Special packaging is subject to extra charge.

5. Payment Terms: Except and to the extent otherwise stipulated, payment is due 30 days from date of invoice. Checks and money drafts are not r egarded

as constituting payment until they have been cleared. We may at any time demand advance payment, satisfaction security, such as a confirmed and

irrevocable letter of credit or a guarantee of prompt payment, prior to shipment. Such a payment shall not necessarily consti tute payment in full.

6. Overdue Accounts: If the Customer delays in payment, he shall be liable, without reminder, for default interest at the rate of 6% above the act ual discount

rate of the National Bank at the place of his business with effect from the agreed date on which the paymen t was due.

7. Delivery Times: Whilst we will do our best to adhere to any promise of delivery time, delivery shall not be deemed to be of the essence of th e contract

nor shall the delay be a reason for a claim in respect of damages or cancellation. Part s hipments are allowed.

8. Call

- off Orders: Call

- off Orders are subject to the Customer's obligation to accept full delivery within one year after the date of our order confi rmation.

The cost of special storage agreed is to be borne by the Customer. Delivery dates for call

- offs orders are fix and cannot be changed, unless approved from

our side.

9. Quantities delivered: Invoicing of deliveries is performed according to actual delivery quantity and at the unit prices as stipulated in the order

acknowledgement.

10. Order Cancellation: In the event the Customer cancels all or any part of any order or fails to meet any obligations hereunder, causing cancellati on of

any order or portion thereof, the Customer agrees to pay a cancellation charge of 50% of product pri ce. Recognizing that our damages arising from any

cancellation or rescheduling of any order will be difficult to estimate, the parties agree that the foregoing charges are rea sonable and are intended as

liquidated damages and not as a penalty.

11. Return M aterial: We accept returned material only if a Return Material Authorization (RMA) has been obtained from us. We accept no returns for any

products specifically manufactured for the Customer. Material received without any prior authorization will be return ed at the Customer's expense. A fee

for administrative cost and product inspection will be levied on the Customer.

12. Warranties and Guarantees: Any other claims excluded and upon written request of the Customer, we undertake at our discretion to repair, replace or

credit as quickly as possible any parts of the goods which, before the expiry of the guarantee period

- a maximum of 12 months from the date of delivery

are proved to be defective due to bad material, faulty designed or poor workmanship. Replac ed parts shall become our property. The Customer shall bear

the costs of remedying (i.e. removing, transporting, and reinstalling) the defective parts. Excluded from our guarantee and l iability are all deficiencies in the

goods delivered by us, which canno t be proved to have their origin in bad material, faulty design or poor workmanship, those resulting from normal wear

(e.g. current consumption, recuperation, weather conditions, air pollution, prohibited electromagnetic effects or other extra neous cause), improper

maintenance, lack of fitness for a particular use, failure to observe the user manual and mounting instructions, excessive lo ading, testing, use of any

unsuitable material, influence of chemical or electrolytic action, or resulting from other rea sons beyond the supplier's control. All claims on the part of the

Customer, irrespective of the grounds on which they are based which are not allowed under these general conditions, in partic ular any claim not expressly

mentioned, such as for damages, redu ction of price or withdrawal from the contract, are excluded. In no case whatsoever shall the Customer be entitled

to claim damages, in particular but not only for loss of production, loss of use, loss of orders, loss of profit and other di rect or indirect or consequential

damage. This exclusion of liability, however, does not apply to unlawful intent or gross negligence on our part, but does app ly to unlawful intent or gross

negligence of persons employed or appointed by us to perform any of our obligation s. It is the customer's responsibility to arrange and pay for the return

shipment to us.

13. Claims (Complaints): Customer claims must be submitted in written form immediately upon receipt of goods or immediately upon detection of hidden

faults.

14. Owners hip of Goods: Ownership of the goods sold shall, notwithstanding delivery, or attachment of these to other property, remain with us until w e

have received full payment for them.

15. Pledge or Lien: The Customer shall have no pledge or lien on the property of the manufacturer.

16. Law: Any contract between the Parties shall be construe in accordance with US material law. Place of venue is Douglas County Kansa s.

17. Technical Specifications: Unless otherwise agreed upon, brochures and catalogues are not bindi ng. Data provided for in documentation are only binding

in so far as expressly stipulated as such. We reserve the right to modify any specification without notice.

18. Design Ownership: Information and drawings delivered in addition to the sales documentat ion may not be transmitted to any third party. The Customer

may not transmit or make use, in any form whatsoever, of any information concerning the design and the functionality. In the event of infringement of this

clause we retain the right to claim damag es.

19. Exclusion of Liability: Pulse Aerospace llc. is not liable for any material or personal injuries that could occur with products or systems provided b y

Pulse. In particular, Pulse is not responsible for any mis

- operation, for mechanical deficiencies , for any errors occuring during the flight, for crashes or

crash landings excluding gross negligence on the part of Pulse. This includes damages or injuries that could occur during the training. In order to guarantee

optimal operation and reliability of t he products and systems, all components have to be maintained and looked after according to the given guidelines. It

is up to the buyer to obtain any flight allowances needed for the operation of systems provided by Pulse. Unmanned aircraft are sophistica ted, complex,

dangerous, and often crash in the hands of inexperienced operators and maintainers. This should be understood by the operato rs and the necessary

precautions to prevent damage and injury shall be taken by customer in preparation for system fa ilure.Confidential

This Document is the property of Pulse Aerospace. No communication, reproduction or dissemination without written approval of Pulse Aerospace LLC.

© Copyright Pulse Aerospa ce 2012



### 15 20. Insurance: Any operation of systems provided by Pulse must be done by persons who have been trained by Pulse. Each operator is responsib le to have

his own liability insurance before operating the system.

Issued 201 3, Pulse Aerospace in c. Lawre nce KS, USA