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# Stingray Flight Manual

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# Table of Contents **1. Legal**  **3 2.**  **Stingray**

**Ov erv**  **iew 5**  **3. Operations**  **6 4.**  **Fly 12**  **5. Failsafes**  **14 6.**  **Process 15**  **7. Ap**  **pendix 17**  **8. Stingray** 

**Spec Sheet 20** 

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# Applicable Regulations Bushnell Aviation, LLC products are subject to Civil Aviation regulations. Regulations may vary depending on the country where you intend to operate your product.

 ANY USE OF BUSHNELL AVIATION, LLC PRODUCTS IN BREACH OF THE LAW OF THE COUNTRY W HERE YOU OPERATE THE PRODUCT IS UNDER YOUR SOLE RESPONSIBILITY.  INFORM YOURSELF BEFORE USING THE PRODUCT. SOME COUNTRIES MAY HAVE LA WS THAT LIMIT THE USE OF UN MANNED AIRCRAFT TO 'LINE - OF - SIGHT' OPERATIONS AND/OR PROHIBIT THE USE OF UNMANNED AIRCRAFT AT ALL OR IN SPECIFIC AREAS. 

# Privacy Recording and circulating an image of an individual may constitute an infringement of their image and pri vacy for which you can be liable. Ask for authorization before taking pictures of an individual, particularly if you want to keep your recordings and/or circulate images on the We b or any other medium. Do not circulate degrading images or ones that could u ndermine the reputation or dignity of an individual. Check that your use of the cameras on board Bushnell Aviation, LLC products comply with the legal provision on privacy in the country where you operate your product. 

# Limited Warranty Bushnell Aviation, LLC warrants that the produ ct will be free from defects in material and w orkmanship for a period of three (3 ) months from the date of delivery. Bushnell Aviation, LLC further warrants that the product will perform substantially in accordance with its speci fi cation. During the warranty period Bushnell Aviation LLC 's sole liability shall be at Bushnell Aviation LLC 's sole option, either to repair or to replace the defective product with another product or a product with similar speci fications, at no charge, or to reimburse the purchase price of the product, or if repair or replacement is not possible, issue a credit note; provided however, that the defect has been con fi rmed by Bushnell Aviation, LLC and that the defective product is returned to Bushnell Aviation, LLC in accordance with the support and repair form together with all required flight log files. Wa rranty does not apply, without limitation, in case: a) the products are not stored and used according to their speci fications, b) the products are damaged due to carelessness, negligence, or wrong use by the user, and c) for defects

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## due to normal wear and tear including, but not limited to, deterioration to the airframe after first flight, normal degradation, misuse, moisture or liquids, proximity or exposure to heat, accidents, excessive strain, abuse, neglect, misapplication, repairs or modi fications made by third party other than Bushnell Aviation, LLC , damage due to manual operation, damage due to take - off or landing location with obstacles, dama ge due to low altitude flight, damage due to loss of data radio connection, damage due to strong wind, rain or humidity, or other causes for which Bushnell Aviation, LLC has no control. THE FOREGOING WARRANTIES ARE IN LIEU OF ALL WA RRANTIES, EITHER EXPRESS ED OR IMPLIED, INCLUDING W ITHOUT LIMITATION ANY IMPLIED WA RRANTY OF M ERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE, AND OF ANY OTHER OBLIGATION ON THE PART OF BUSHNELL AVIATION, LLC
. 

# Limitation of liability TO THE EXTENT PERMITTED BY APPLICABLE LAW , IN NO EVENT WI LL BUSHNELL AVIATION, LLC BE LIABLE FOR ANY LOSS OF REV 

# ENUE, LOSS OF PROFIT, LOSS OF DATA, OR INDIRECT, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES, EVEN IF BUSHNELL AVIATION, LLC HAS BEEN NOTIFIED OF THE POSSIBILITY OF SUCH DAMAGES, AND WHE THER THIS LIABILITY ARISES FROM A CLAIM BASED ON CONTRACT, WARRANTY, TORT OR OTHERW ISE, W IT H THE EXCEPTION OF GROSS NEGLIGENCE AND DEATH. YOU SHALL AT ALL TIMES OPERATE THE PRODUCT IN AREAS OR UNDER CIRCUMSTANCES SO AS TO GUARANTY SECURITY AND SAFETY OF PE OPLE, PROPERTY AND ANIMALS.

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# STINGRAY OVERVIEW

The Stingray is an autonomous flying sUAS comprised of the following components: • Airframe: Made primarily of carbon fiber, Kevlar, and Nomex Honeycomb • W inglets: Corrugated Plastic for stability. • Elevon s: Primary, and only, control surfaces. • Servo rods: Actuate the elev ons using servos • Propeller: Used to generate thrust while it is in flight. 

# Caution: When attached to the motor the propeller spins at high speeds and can be potentially dangerous if it comes into contact with exposed skin. Be sure to alwa ys keep your hands clear of the propeller when the battery is attached to the Stingray
.

 Battery: The Stingray is powered by a LiPo (Lithium Polymer) battery. 

# Caution: Proper care of **yo ur battery**  **is essential.** Keep out of high temperatures when in use and when in storage. Do not alter, mutilate, puncture the battery

 Pitot probe: This is the sensor used by the Stingray to detect airspeed, wind and altitude. It must be kept clean and clear of obstructions to function properly.

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# Operations The Stingray uses the 3DR Pixhawk for all navigation, autopilot, and safety integration. Refer to the Pixhawk manual for operation. Manual Mode In manual mode, the Stingray will be operated using the s upplied radio controller. Return to Home will be programmed on switch 2. 

# Ground Station Setup Mission Planner allows you to turn a Windows laptop into a full
- featured ground station for con guring and monitoring autonomous missions. You will need to take this laptop into the eld when you y the mission. As part of the mission procedure, you will use the Pix4D Rapid Check to verify the quality of the image set before leaving the eld. 

# Download Software Mission Planner Mission Planner is a full
- featured ground station application for planning missions and monitoring the Stingray in ight. Download Mission Planner from 3DR.com/download_software. If you already have Mission Planner installed, make sure you’re running the most recent version: Select the Help tab and Check for Updates. 

# Connect to Radio To connect the Stingray to Mission Planner, connect to the laptop, and power the Stingray. 1 Connect the ground station radio to your laptop using the micro
- USB cable. Open Mission Planner. 2 Select 57600 and AUTO, then select CONNECT. (When connecting directly to Pixhawk’s micro
- USB port, set the rate to 115200.) 3 Select Flight Data to view live data from the Stingray. 

# Controls Fly manually using the RC controller. Move the left stick forward and backward to control the motor. Move the left stick horizontally to turn left and right using the rudder. Move the right stick up to pitch down and dow n to pitch up. Move the right stick left and right to control the bank angle.

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# Modes Fly an autonomous mission. This is the mode that the Stingray will use to fly via the map. Fly by Wire
- assisted manual control Let the autopilot manage the control surfaces, and navigate based on where you want the Stingray to fly. Fly
- by
- wire mode* (FBW) is the easiest way to fly and is the recommended mode for new operators. *ArduPlane mode FBWA Return to Launch (RTL)
- recall to launch point Command the plane to ci rcle over the launch point. The Stingray will return to the position where it acquired GPS lock and enter into a circle pattern at an altitude of 100 meters. Loiter
- circle Activate GPS
- positioned circling; the Stingray will enter into a circle pattern with a radius of 60 meters at the current altitude. Move the right stick to adjust the position of the circle. Stabilize
- stabilized manual control Stabilize mode provides manual control with an added autopilot safeguard: Release the right stick and the S tingray will automatically return to a level flying orientation. Use stabilize mode for the freedom of manual control with return
- to - level stabilization. Manual
- full manual control Fly with fine
- tuned manual control without autopilot assistance. Manual mode gives you the most direct input to the control surfaces, resulting in precise in
- flight adjustment. Try manual mode if you’re an experienced RC plane operator. To select a fl ight mode: First, set the GEAR/MI

X switch to select a set of modes. Then us e the FLAP/GYRO switch t o 0, 1, or 2 to select a specific mode. With GEAR/MIX set to GEAR, set FLAP/GYRO to: With GEAR/MIX set to MI X, set FLAP/GYRO to: 0 for Manual 1 for Stabilize 2 for Loiter 0 for Auto 1 for Fly by wire 2 for RTL GE AR/MIX selects the set of modes. FLAP/GYRO selects the specifi c mode, either 0, 1, or 2. RC controller (top) 

# Arming & Disarming Arming and disarming are important steps that must be completed before takeoff and after landing to activate and deactivate t he motor, respectively. The arming and disarming procedure ensures you can safely start and stop the motor without risk of injury. The Stingray s motor can spin while armed! Do not place your hands in the way of the propeller while the safety button is active (solid red). Before arming, check the status LED. The LED will flash blue while the Stingray acquires GPS; this can take a few minutes. Once you see the green LED, the autopilot has acquired GPS lock. Initializing, please wait. Acquiring GPS lock, please wait. Autopilot ready, GPS locked

## 8 To arm the motor, press and hold the safety button until it displays solid red. To disarm, p ress and hold the safety button until it displays blinking red. 

# LED Indicators Please reference the Pixhawk quick guide. 

# Tones Visit 3DR.com/Stingray
- M to listen to Pixhawk’s status tones. 

# GPS Lock Auto, RTL, and loiter modes requires GPS lock. When p owered, the autopilot will automatically search for GPS lock. The position of the Stingray when the autopilot acquires GPS will be saved as the home position, and used as the coordinates for the launch p oint during RTL. If you plan to use auto, RTL, or loi ter modes during your fl ight, ensure that the Stingray is located at a suitable launch point when powered, and the autopilot acquires GPS lock before takeoff, indicated by a blinking green status LED. 

# Prefl ight Checks Before each fl ight, perform a physic al component check, center of gravity check, and control checks in both manual and stabilize modes. If any of the components or assemblies in these checks are not secure, tighten the screws or use CA glue (super glue) to secure the components to the foam. Examine the Stingray to ensure that all components are secured in flight configuration.



###  

## » Check that the elevons, hatches, and winglets are fully assembled and securely attached. 

###  

## » Check that the propeller is secured tightly to the motor. 

###  

## » Check th at the servo rods are secu red to the servo horns with clasps. 

###  

## » Check that the airspeed sensor is secured to the side of the Stingray and the tube is free from obstructions. With the battery connected and the lid secured, check that the Stingray is correctly balanced for flight. Hold the Stingray w ith one finger 1/3 behind nose . That point indicates the Stingray’s center of gravity. If the plane balances on your fingers, then the center of gravity is correct. If it won’t balance, adjust the position of the battery until you can balance the plane . Flying the plane without the camera will affect the center of gravity. If you choose to fly without the camera, make sure to re - bal ance the center of gravity. 

# Pre fl ight Checks: Manual Control Check Before flying, power and arm the Stingray on the ground and complete these checks to verify that the control surfaces respond correctly to the control inputs. Place the plane on the ground, and set the mode switches to select manual mode. Move each of the sticks as shown, and check for the corresponding movement of the motor or control surfaces. Raise the throttle slightly until the motor spins, then immediately set the throttle back to f ully down position. Do not raise the throttle more than just enough to spin the propeller while the plane is on the ground, and do not place any body part in the way of th e propeller while the motor is armed.

## 9 **Roll left** Left Stick Left elev on tilts up, right elevon tilts down. **Roll right** Right Stick Left elevon tilts down, right elevon tilts up. 

# Prefl ight Checks: Stabilize Control Check Set the mode switches to stabilize, and hold the plane in front of you. Move the plane as shown, and ch eck for the stabilization response from the control surfaces. Test: Tilt the plane left. Result: Left elevon tilts down, right elevon tilts up. Test: Tilt the plane right. Result: Left elevon tilts up, right elevon tilts down. Test: Tilt the plane dow

n. Result: Elevator tilts up. Test: Tilt the plane up. Result: Elevator tilts down. 

# Automatic Takeoff
Auto - takeoff works by sensing the movement of the plane and launching it in that direction. Set the Stingray to autonomous mode when you’re ready to launch. Find a launching area with at least 100 feet of clear space in front of you. Face into the wind, and hold the body of the Stingray in one hand under the center of gravity. Be careful not to place your hand in the way of the propeller! Hold the Stingray above your head, run, and throw the plane at an upwards angle. The Stingray will sense the throw, power the motor, and climb to the altitude specified by the takeoff waypoint before starting the survey mission. 

# Manual Takeoff
Auto - takeoff works by sensing the movement of the plane and launching it in that direction. Set the Stingray to autonomous mode when you’re ready to launch. Find a launching area with at least 100 feet of clear space in front of you. F ace into the wind, and hold the body of the Stingray in one hand under the center of gravity. Be careful not to place your hand in the way of the propeller! Use the landing gear provided or on the launch rail, if purchased. Hold the Stingray above your h ead, run, and throw the plane at an upwards angle. The Stingray will sense the throw, power the motor, and climb to the altitude specified by the takeoff waypoint before starting the survey mission.

## 10 If you’re new to planes, we recommend having a friend he lp you launch the Stingray. Have your friend throw the Stingray while you control the controller. We recommend setting the Stingray to fly
- by
- wire mode for takeoff. Find a launching area with at least 100 feet of clear space in front of you. Face into the wind, and hold the Stingray at the center of gravity. Raise the throttle to center position to start the motor. Be careful not to place your hand in the way of the propeller! Hold the Stingray above your head, run, and throw the plane at an upwards angle . Once launched, the Stingray will require immediate adjustment with the controller to navigate away from the ground and up to the desired altitude. Pitch up (right stick down) and add any other necessary controls based on wind, speed, and terrain. DO NOT WIND UP YOUR THROW; if the Stingray senses any backwards momentum it will launch in that direction. Use only forward momentum to throw the Stingray! Automatic takeoff requires you to configure the takeoff angle during mission plan ning. 

# Automatic Landing To land automatically at the end of the mission, the Stingray requires the mission to be configured with a specific pattern of landing waypoints that gradually decreases the altitude so that the Stingray can land safely. For instructions on configuring automatic landing, 

# Manual Landing To land automatically at the end of the mission, the Stingray requires the mission to be configured with a specific pattern o f landing waypoints that gradually decreases the altitude so that the Stingray can land safely. When you’re ready to end your flight, follow these steps to land:



###  

## » Fly a circle pattern above your landing area. 

###  

## » Come in on a final approach, flying into the wind at an altitude of 20 to 40 meters. 

###  

## » When the plane reaches an altitude of 10 meters, set the throttle fully down to turn off the motor and glide down on a 15 to 20 degree down
- pitch angle. After stopping the motor at an altitude of 10 m, keep your thumb on the throttle stick in full dow n position to ensure that the motor does not accidentally spin during landing. 

## » Wh en the plane is one meter above the ground, pitch up (flare) to land the Stingray on the landing skids of the plane instead of the nose. 

# Confi guring Automatic Takeoff and Landing
If you selected automatic landing in the Survey Tool by checking the Add Takeoff and Land WP’s option and unchecking the Use RTL option, you will need to confi gure the landing waypoint pattern manually at this step in the mission planning process. To begin, determine the direction of the wind and select an unobstructed area 200
- 500 m in length leading to the launch point, into the wind. On the main Flight Plan screen, create a series of waypoints along this path to decrease altitude gradually from t he survey altitude to 0, ensuring that:



###  » Turns along the fl ight path are greater than 90 degrees. 

###  » The altitude decreases by a maximum of 20 m between waypoints 

###  » There is at least 20 m between each waypoint

## 11  » The Grad % does not exceed 20% To add a waypoint, right click on the map in the location of the waypoint you would like to add, and select I nsert WP. For each waypoint you add to the mission, Mission Planner will prompt you for the new waypoint’s place in the script: Add the series of l anding waypoints immediately before the LAND waypoint in the script of events. For the fi rst waypoint in the pattern, add it to the mission immediately following the DO_SET_CAM_TRIGG_DIST waypoint at the end of the mission. Specify the altitude of each way point and check the distance and gradient angle in the waypoints table. Locate the Takeoff waypoint in the mission script and set the fi rst option in the row to assign the takeoff angle. Set the takeoff angle to 20
- 25 degrees depending on the length of your takeoff area. Mission Planner Tip: Confi gure Waypoints Measure the distance between waypoints by right
- clicking at one end and selecting Measure Distance; then right
- click on the other end and select Measure Distance again. A dialog box will open with the distance between the two points. Double
- click on a field in the waypoint table to edit the parameters for a waypoint. Use the Up and Down arrow icons to re
- order the waypoints. Use the Delete option to remove a waypoint from the mission. To add a waypoint, right click on the map in the location of the waypoint you would like to add, and select I nsert WP. For each waypoint you add to the mission, Mission Planner will prompt you for the new waypoint’s place in the script: Add the series o f landing way

points immediately before the LAND waypoint in the script of events. For the fi rst waypoint in the pattern, add it to the mission immediately following the DO_SET_CAM_TRIGG_DIST waypoint at the end of the mission. Specify the altitude of each waypoint and check the distance and gradient angle in the waypoints table. 

# Save and Write Mission For the Stingray to run the mission, write the waypoint fi le to the autopilot. Don’t forget to save the waypoint fi le to your ground station for future use. Select Save WP File to save the mission fi le to your computer. To repeat this mapping mission, load the saved WP fi le from your computer. Select Write WPs to save the mission to the Stingray .

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# Fly Safety To ensure safe and successful flying , familiarize yourself with the safety information on this page. Always fl y in accordance with your location regulations and these best operating practices. 

# Propeller Spinning propellers can cause serious injury. The safety button indicates the status of the motor to help you prevent hazardous contact with the Stingray ’s high
- speed propeller. Before you fly, determine the boundaries of your safe flying area. Flying outside the designated area or exhibits instability in fli ght, switch to fly - by
- wire mode and land the plane manually. Always be ready to regain manual control of the plane in the event of an unsafe situation. When the Stingray is powered on, the safety button will blink red, indicating that the motor is inactive and the propell er is safe to handle. When you’re ready to fl y, press and hold the safety button until it shows solid red. This indicates that the motor is armed and the propeller will spin if the throttle stick is raised. To make the propeller safe to handle again, press and hold the safety button until it blinks red. The Stingray will not avoid obstacles on its own, including during missions. As the operator, it’s your job to recognize and avoid obstructions while flying. When planning missions, ensure that the selected altitude is appropriate for all geographical features of the area, including terrain. 

# Location Always fl y below 400 ft (120 m) and within your visual line of sight. Don’t let the Stingray get too far away from you; make sure you can always see its orientation. Don’t fl y in low light, rain, or other conditions that might impede visibility. Always fl y at least 5 miles (8 km) away from airports Always fl y at least 100 feet (30 m) away from people, vehicles, and buildings. Make the safety of people and a priority! 

# FPV Sy stem Operation
If you selecte d to receive an optional FPV/OSD system, the components are pre
- installed into the Stingray to transmit on
-board video. Parts AV receiver Antenna Receiver cables Batteries (2) Transmitter Battery connector Camera

## 13 1 Charge battery Charge both batteries before your first fl ight. Set the charger to LiPo and 1A. Connect the white battery connector to the 3S port, and connect the XT60
- JST charger adapter to the red battery connector and yellow charger connector. 2 Wire and power recei ver Attach an antenna to the receiver. Connect the AV output cable to either receiver AV OUT port. Connect the RC power cable to the receiver DC I

N port, and attach a battery to the red connector. 3 Prepare on -board components Connect a fully charged battery to the transmitter inside the compartment in the nose of the plane. Remove the lens cap from the camera. Remove lens cap! 4 Viewing video When using a 3DR Black Pearl Monitor to view your video, set the mode to DI V (M button changes modes), the channel to 8 (+ and
- buttons), and the band to E (press the power button to access the menu). 

# Fly ing Mapping Missions Takeoff Checklist Before flying the mission, check the following:



###  » Camera is on with mission script ready and is secured into the mount with the mini
- USB cable connected and the cap removed. 

###  » Stingray is powered and connected to the ground station with all pre
- fl ight checks passed. 

###  » The survey mission has been adjusted to account for present environmental conditions and saved to the Stingray. 

# Initiating For automatic takeoff, set the Stingray to auto mode and launch according to the instructions in the Automatic Takeoff section of these instructions . For manual takeoff, set the Stingray to auto mode after takeoff to initiate the mission in fl ight. 

# Monitoring Monitor the Stingray closely during the mission using your line of sight and the Mission Planner Flight Data sc reen. End your flight at 14V!

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# Failsafes The Stingray is programmed with a set of failsafe behaviors to prevent a crash in the event of a loss of one of the data or communication channels required for autonomous fl ight. Although certain failsafe have as signed LED indicators and tones, it is unlikely that you will be able to see these at a distance. Monitor the Flight Data screen for failsafe indic ations. If a failsafe is triggered, the assigned behavior will activate. To override the failsafe behavior (RTL in most cases), use the controller to regain manual control. Regaining Manual Control To regain manual control during the mission, switch to y
- by
- wire mode using the controller. If you’re a con dent operator, switch to stabilize mode. If you observe instability in the Stingray’s fl ight behavior or it the aircraft moves outside your designat ed safe flying area, switch to RTL. Turning off the controller will automatically trigger an RTL and can be used in an emergency situation a s a hard recall command. RC Controller Signal Failsafe Physical obstructions and interference from nearby wireless signals can affect the Stingray’s connection with the RC controller. If the Stingray loses contact with the controller, it will return to the launch point automatically and enter into a circle p attern above the launch point, indicated by a blinking yello w status LED. If the controller failsafe is triggered, wait for the Stingray to return to the launch point, then regain manual control and either land or restart the mission. Low Battery Failsafe Environmental conditions can affect power consumption. Us e the Mission Planner Flight Data display to monitor the voltage of the battery during fl ight. If the battery reaches 13.8 V, the Stingray will return automatically to circle above the launch point, indicated by a blinking yellow status LED and a quick repeating tone.

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# Process On - Site Quality Check Before leaving the survey site, check the i mages using Pix4D or comparable software to ensure suffi cient quality for mapping by downloading the images from the SD card, downloading the log fi le from the Stingray, and completing Rapid Check I nitial Processing in Pix4D. If you observe poor image quality or the quality report returns errors, see the I mage Quality Troubleshooting section and rep eat the mission. 

# Spot Check (Optional) The quickes t way to see the images after a fl ight is to unlock the SD card and restart the camera. The camera will load the default Canon programming and you can select the playback button to review the images. 

# Download Images Unlock the SD card and load into your ground station. Select the DCIM folder and locate the folder for your fl ight. Copy the fi les into a project folder on the ground station and delete them from the SD card. 

# Download Log File Pix4D uses the GPS data from the Stingray’s log fi le to geo
- reference the images. To download the Stingray’s data ash log, power the Stingray and connect to Mission Planner. The download process will be faster if you connect the micro
- USB cable directly to Pixhawk’s micro
- USB port instead of connecting using the ground station radio. (When connecting directly to the Stingray, set the rate to 115200.) On the Flight Plan screen, select the DataFlash Logs tab under the heads
-up display, and select Download DataFlash Log over Mavlink. Mission Planner: Flight Data heads
-up display The Log window shows the Stingray’s recent fl ights. Select the fl ight for your mission, and select Download These Logs. This will save the log le to your computer in the location displayed under the list of fl ights. To retrieve the log le, access your computer’s le structure under Program Files/Mission Planner/logs/ PLANE, and select the . log le for the date of your fl ight. 

# Pix4Dmapper Rapid Check: Create Project Open Pix4D Mapper, and create a new project. Select A erial Nadir as the project type. After adding the images, select From File to add the geo
- location data from the Stingray’s log le. I n the pop
- up window, select 3D Robotics Flight Log as the le format, and upload the data ash log le downloaded from Mission Planner.

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# Pix4Dmapper Rapid Check: Initial Processing After creating the project, select the Local Processing screen (Process menu). Check the option for I nitial Processing and Rapid Check. Uncheck all other local processing options, and select Start. Pix4D will generate a Quality Report that will indicate if the images are of suffi cient quality to create a map. 

# Full Processing To complete full processing for the map, visit support.pix4d.com for instructions.

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# Appendix Aerial Imaging Concepts Understanding key concepts in aerial images can help you understand the mission planning process and create better maps. Distance
- Based I

maging By default, the camera captures only the images required to create the map. The Pixhawk monitors the distance traveled by the aircraft and sends a command to the camera to capture an image at the distance interval speci fi ed by the camera trigger distance parameter (CAM_TRIGG_DIST). This parameter is set by the Mission Planner Survey tool during survey confi guration by calculating the minimum distance between image s based on the parameters specifi ed for the survey (altitude, overlap, sidelap). This distance
- based imaging allows for more precise data collection, resulting in less images and d ata storage cost. Once confi gured, the Survey tool creates an event at the start of the mission script (after takeoff) to set the camera t rigger distance to the specifi ed interval and an event at the end of the mission (before landing) to reset the camera trigger distance to 0. Time
- Based I

maging The camera is also equipped to capture images at a consistent time interval instead of using distance. This function can be u seful if you want to capture images over an area without planning a mission. This time
- b ased imaging results in more images per area, and therefore more processing time and storage cost. See the Trigger Type options on page xx to enable time
- based imaging. Overlap and Sidelap To capture images for the map, the aircraft fl ies a lawnmower
- like pattern in strips across the survey site. The front
- to -back overlap between sequential images is called overlap; the side overlaps of adjacent pictures in different strips is called sidelap. Th e overlap and sidelap parameters in the Survey tool determine the distance between images and the number of images to be captured based on the projected ground area that each image will cover, called a footprint. I ncreasing overlap and sidelap improves the accura cy of the map while increasing fli ght time and processi ng time. In the Survey tool, Distance between Images shows the specifi ed camera trigger distance that will be assigned to the mission. You can also see the projected image footprint size and the total number of images to be captured. Default overlap: 50% Default sidelap: 60% 

# 3DR EAI
3DR EAI is based on KAP UAV Exposure Control Script v3.1: a great open
- source project for kite and UAV aerial photography. Start and Stop Script Ensure the camera is set to P (program) mode before powering the camera. Upon startup, 3DR EAI starts automatically and listens for commands from the autopilot, indicated by waiting for USB signal. To stop (and re
- start) the script, press the shutter button. The script will display I

NTERRUPTED when stopped. Script Menu The script menu allows you to change the parameters associated with the script itself, including changing the trigger mode an d adjusting exposure. To open the script menu, stop the script and select the FUNC. SET button. These parameters are con gured for the S100 and do not require adjustment as part of standard operation.

## 18 Trigger Type This parameter allows you to control how the camera captures images. Trigger type defaults to USB for distance
- based imaging during mapping missions. For time
- based imaging, select I nterval and specify the length in the Shot I nterval parameter. Trigger Type default: USB (mapping) Variable intervalometer: Interv al (default to 2 seconds, specifi ed by Shot I nterval) CHDK Menu The CHDK menu contains all the standard option s provided with CHDK. To access the CHDK menu, stop the script and select the MENU button. Memory Reset If the battery is left out of the camera for too long, the camera will reset its memory . 

# Image Quality Troubleshooting
If you observe poor image qua lity during the spot check or if you receive error messages during processing, use the settings below to troubleshoot the image quality. Blurry Images To correct motion blur, adjust the shutter speed using the Target Tv parameter in the script menu. Target Tv (shutter speed) default: To correct moderate motion blur: To correct severe motion blur: Overexposure 1/1250 Set to 1/1600. Set to 1/2000. If the images are overexposed but do not show any motion blur, it can be due to flying in extremely bright conditions. To correct this, set the Allow use of ND fi lter parameter to YES in the script menu. Allow use of ND fi lter default: No To correct overexposure: Set to Yes. Processing Errors If you receive errors from Pix4Dmapper regarding the images, datas et, or matching points, increase the overla p and sidelap during survey confi guration to improve the quality of the image set. Overlap default: Sidelap default: To improve processing: 50% 60% Set overlap to 60% and sidelap to 70%.

## 19



# Operational Troublesh ooting No Images Captured 1 If the camera did not capture any images during the mission, fi rst perform a physical inspection on the Stingray. Is the mini
- USB cable connected to the camera’s USB port? Are the AUX OUT 6 pins connected on Pixhawk? AUX OUT 6: black (
- ), red (+), w hite (s) Is the camera battery charged? Unlock the SD card to view the Canon’s battery level indicator. 2 Take a distance
- triggered test image on the ground by manually setting the camera trigger distance parameter to 1 m. Power the aircraft and connect to Mission Planner. Select Con g/Tuning and Full Parameter List. Change the CAM_TRIGG_DIST parameter to 1, and select Write Params. Now carry the Stingray for a few meters to see if the autopilot triggers the camera.

## 20 

## STINGRAY	SPEC	SHEET

Characteristics Wing	Span 5.4ft	(1.7m) Length 2.1ft	(.6m) MGTOW 9	lbs Payload 4	lbs Motor 25	Amp , 1500	KV, Brushless Battery 2x	9000mA - h	LiPo Datalink Circular	Polarized	433	UHF

Auto - tracking Performance Endurance 45 - 90	Min	(varied	based	on	configuration) Ceiling >8,000ft Speed 90MPH	(145KMH) Telemetry Airspeed,	GPS,	Altitude,	Compass,	Voltage Telemetry	Range 10NM	(16KM)	Radius Operating	Range Manual - 10NM

Autopilot - >25NM Operation Launch Rail	Launch Recovery Kevlar	Skid	Belly	Landing Wind <25kts Precipitation Light Ground	Control	Station Computer Panasonic	Toughbook	CF - 19	Rugged	Notebook	PC	or	Comparable

2GB	RAM 80GB	HD 10.3"	Touchscreen Wireless	LAN	(802.11abg) Windows	XP Mission	Planner Software	Included

## 21 To create a map, the Stingray flies an autonomous mission over the survey site, using the integration between the Pixhawk autopilot and custom
- programmed camera to capture images at a consistent distance interval. Pix4Dmapper then stitches these images together into a georeferenced, o rthorectified mosaic. The accuracy of the map depends on the configuration of the mission. Planning a mission that captures high
- quality images requires balancing the Stingray ’s operating parameters with the environmental factors at the survey site. 

# Load Maps Mission Planner allows you to plan the mission away from the mapping location; however, it is important to assess the environmental conditions on site at the time of the mission and adjust the flight plan if necessary. Alternatively, you can pla n the entire mission at the mapping location. To create or alter the mission, Mission Planner requires an I nternet connection to access the maps. If you’ re unable to access the I

nternet on site, follow the instructions below to pre
- fetch the maps within Mi ssion Planner while you have I nternet access. Open Mission Planner, select Flight Plan, and zoom to your flying location. Mission Planner will attempt to load the map data from the current level of zoom down to the closest level of zoom available. However, it can take hours to pre
- fetch every level of zoom, and it is unlikely that the closer levels will be useful in planning the mission. To shortcut this process, check the slider on the right side of the map. The levels of zoom are represented by this sli der from 0 (bottom) to 25 (top). Press the ESC key to skip levels of zoom at a greater detail than you need for mission planning. Right
- click on the map, select Map Tool and Prefetch, and accept the default prompts. Mission Planner will download the maps for the selected location to your computer. 

# Draw Poly gon To begin planning the mapping mission, select the area you want to map using the Polygon tool. You’ll be able to adjust the s ize and shape of the p olygon later in the mission confi guration process. Select Flight Plan, and zoom to your mapping location. Right click on the map. Select Draw Polygon and Add Polygon Point. Click and drag to add points around the area you want to m ap. The Survey Tool uses metric units. If your Mission Planner is set to imperial units, please change the settings to use metric to plan the mission. Support for imperial units in Mission Planner is coming soon; check 3DR.com/ Stingray
- M for updates. 

# Confi gure Survey: Set Default Parameters The Survey tool allows you to conf igure a mapping mission according to the Stingray ’s operating parameters and the current environmental conditions at the mapping location. First, set the default values for the Stingray . Set Camera Canon S100 - S120 Set Camera Orientation Uncheck the option for Camera top facing forward. Set Default Speed

## 22 15 m/s Apply Survey Speed Check the option for Use speed for this mission. If unchecked, the mission will use the Stingray ’s default speed of 15 m/s regardless of the speed selected in the Survey Tool. 

# Confi gure Survey: Set Angle Next configure the angle of the flight path for the current wind conditions. Adjust the angle so that the Stingray makes as few turns as possible to Set Angle Wind Direction In environments with winds of less than 6 m/s, set the angle so that the Stingray ies into the wi nd. I n winds from 7
- 10 m/s, confi gure the fl ight path to travel perpendicular to the wind so the Stingray flies cross wind. # of Strips Adjust the angle so that the Stingray makes as few turns as possible to complete its course. The # of Strips parameter shows how many passes the plane will make as you adjust the angle. Review Wind Conditions On
- Site Always assess the wind conditions at your survey site at the time of the mission and adjust the mission accordingly. Confi gure the fl ight path parallel with the wind in low winds (1
- 6 m/s). Confi gure the fl ight path perpendicular to the wind in high wind s (7
- 10 m/s). 

# ! Use caution when flying in winds over 10m/s. Mapping results may degrade as a result of inability to make headway or maintain appropriate groundspeed. Mission Planner Tip: Adjust Polygon Click and drag the red polygon points to adjust the size and shape of the polygon from the Survey Tool. 

# Confi gure Survey: Set Altitude The survey altitude determines the duration of the mission and the ground resolution of the final map. Adjust altitude to bal ance flight time and power consumption with the current environmental conditions. Set Altitude Standard operating altitude: 100 m Operating altitude range: 80
- 120 m Increasing altitude decreases fl ight time, allowing you to cover more area per minute. Decreasing altitude improves ground resolution. Set the alti tude to get the best ground resolution while keeping the fl ight time und er 40 min and the altitude under 120 m.

## 23 Keep altitude below 120 m, and ensure that the altitude is appropriate for your flying area and local regulations. Check Ground Resolution Gr ound Resolution is the centimeters per pixel that you will have in the m ap and corresponds to the amount of detail that you will see. To improve ground resolution by decreasing the number of centimeters per pixel, decrease altitude. Check Flight Time Flight Time estimates the duration of the mission. The total estimated fl i ght time must be under 40 min for a fully charged Stingray battery. To decrease fl ight time, increase altitude or speed. High winds, humidity, high altitude, and extreme heat can affect power consumption and reduce fl ight time. Consider the environmenta l factors at your site when confi guring fl ight time. 

# Confi gure Survey: Check Photo Interval With the basic parameters in place, verify that the photo interval calculated from the altitude and speed complies with the operating parameters for the camera. Ch eck Photo I

nterval Photo Every must be longer than 2 seconds for the S100 camera. Altitude Increasing altitude increases photo interval. 

# ! Keep altitude below 120 m, and ensure that the altitude is appropriate for your fl ying area and local regulations. Speed Decreasing speed increases photo interval. 

# ! Ensure that the Use speed for this mission option is checked. 

# Confi gure Survey: Set Takeoff and Landing Now select a takeoff and landing pattern, either manual or aut omatic. Takeoff and Land WP’s For automatic takeoff and landing Check the Add Takeoff and Land WP’s option. Uncheck the Use RTL option. This will create a takeoff waypoint and a placeholder waypoint for the landing pat tern. After accepting the survey, confi gure the automatic landing pattern .

## 24 For automatic takeoff and manual landing Check both the Add Takeoff and Land WP’s option and the Use RTL options. This will create a takeoff waypoint so the Stingray will automatically climb to the survey altitud e before heading to the rst waypoint. The Stingray will return to circle over the launch point after completing the mission. For manual takeoff and landing Uncheck the Add Takeoff and Land WP’s option Check the Use RTL option. For this option, take off manually then initiate the mission in fl ight. The Stingray will return to circle over the launch point after completing the mission. 

# Confi gure Survey: Advanced Options The Survey tool includes the following advanced configuration options. These options allow you to customize the mission to comply with best operating practices. Camera Con g Check Advanced Options to view the Survey Tool’s advanced confi guration options. Select Grid Options Set OverShoot The Stingray has a min imum turning radius of 90 degrees. To accommodate the sharp angles of the survey mission, set both OverShoot parameters to 50 to have the Stingray overshoot the waypoints on either side of the polygon by 50% to ensure that the complete area of the polygon is covered by the images. OverShoot will affect fl ight time. Ensure that the total estimated fl ight time is less than the Stingray ’s maximum fl ight time of 40 minutes.
Adjust StartFrom During the mission, you will maintain contact with the aircraft through the RC controller and ground station signals. If your mission is likely to experience a loss of signal, it is best practice to start from the corner of the mission farthest from the launch p oint. I n this example, TopLeft is the corner of the mission f arthest from the launch point. Adjust Overlap and Sidelap Overlap and sidelap are set to 50% and 60%, respectively, by default. See page 42 for an in
- depth discussion of these parameters. The options under the Camera Con g tab allow you to confi gure a camera other than the S100 and won’t be used for operating the Stingray . 

# Con fi gure Survey: Accept Survey Before accepting the survey, verify that the mission complies with the Stingray ’s operating parameters.

## 25 Operating Parameters Camera Canon S1 00 - S120 Altitude 80
- 120 m Camera top facing forward unchecked Flying speed 9
- 15 m/s Use speed for this mission checked (optional if speed set to default speed of 15 m/s) Photo Every greater than 2 s Flight time under 40 min depending on environmental conditions Accept Select Accept to create this mission. After accepting, you wi ll need to reconfi gure the survey completely to make any adjustments. If Mission Planner prompts you for a home altitude, enter the altitude that you specifi ed in the Survey tool. 

# !

 Do not accept the mission if any of the parameters exceed the Stingray’s operating limits or FAA regulations.