## Extended User Manual Revision 1.3 / October 2015 Copyright © 2015 senseFly Ltd

### GENERAL INFORMATION

READ THIS USER MANUAL CAREFULLY BEFORE USING A SENSEFLY LTD PRODUCT. senseFly Ltd products are intended for professional use only.Always comply with Civil Aviation regulations, act responsibly and follow the instructions in this User Manual Applicable Regulations senseFly Ltd products are subject to Civil Aviation regulations. Regulations may vary depending on the country where you intend to operate your product. ANY USE OF SENSEFLY LTD PRODUCTS IN BREACH OF THE LAW OF THE COUNTRY WHERE YOU OPERATE THE PRODUCT IS UNDER YOUR SOLE RESPONSIBILITY.INFORM YOURSELF BEFORE USING THE PRODUCT. SOME COUNTRIES MAY HAVE LAWS THAT LIMIT THE USE OF UNMANNED AIRCRAFT TO ‘LINE-OF-SIGHT’ OPERATIONS AND/OR PROHIBIT THE USE OF UNMANNED AIRCRAFT IN ALL OR IN SPECIFIC LOCATIONS. Privacy Recording and circulating an image of an individual may constitute an infringement of their image and privacy for which you can be liable. Ask for authorisation before taking pictures of an individual, particularly if you want to keep your recordings and/or circulate images on the internet or any other medium. Do not circulate degrading images or ones that could undermine the reputation or dignity of an individual. Check that your use of the cameras on board senseFly Ltd products complies with the legal provision on privacy in the country where you operate your product. Limited Warranty SenseFly Ltd warrants that the product will be free from defects in material and workmanship for a period of twelve (12) months from the date of delivery. senseFly Ltd further warrants that the product will perform substantially in accordance with its specification. During the warranty period senseFly Ltd’s sole liability shall be at senseFly Ltd’ssole option, either to repair or to replace the defective product with another product or a product with similar specifications, 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 confirmed by senseFly Ltd and that the defective product is returned to senseFly Ltd in accordance with the support and repair form together with all required flight log files. Warranty does not apply, without limitation, in case: a) the products are not stored, maintained or used according to their specifications, b) the products are damaged due to carelessness, negligence, or wrong use by the user, and c) for defects due to normal wear and tear including, but not limited to, normal degradation, misuse, moisture or liquids, proximity or exposure to heat, accidents, excessive strain, abuse, neglect, misapplication, repairs or modifications made by third party other than senseFly Ltd, damage due to manual piloting in RC (remote controlled) or interactive flight, damage due to take-off or landing location with obstacles, damage due to low altitude or close-object flight, damage due to relying on visual or/and ultrasonic feedback and in more general terms on any kind of situational awareness assistance, damage due to using any kind of flight assistance features including but not limited to cruise control, distance lock and obstacle avoidance, damage due to loss of data radio connection, damage due to strong wind, rain, water or humidity, or other causes for which senseFly Ltd has no control. Battery cells are excluded from warranty after first use.THE FOREGOING WARRANTIES ARE IN LIEU OF ALL WARRANTIES, EITHER EXPRESSED OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE, AND OF ANY OTHER OBLIGATION ON THE PART OF SENSEFLY LTD.Limitation of liability

TO THE EXTENT PERMITTED BY APPLICABLE LAW, IN NO EVENT WILL SENSEFLY LTD BE LIABLE FOR ANY LOSS OF REVENUE, LOSS OF PROFIT, LOSS OF DATA, OR INDIRECT, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES, EVEN IF SENSEFLY LTD HAS BEEN NOTIFIED OF THE POSSIBILITY OF SUCH DAMAGES, AND WHETHER THIS LIABILITY ARISESFROM A CLAIM BASED ON CONTRACT, WARRANTY, TORT OR OTHERWISE, WITH 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 PEOPLE, PROPERTY AND ANIMALS. IN THAT CONTEXT YOU MUST UNDERSTAND THAT PRODUCT FEATURES SUCH AS, BUT NOT LIMITED TO, AUTOPILOT, GPS, WIRELESS COMMUNICATION LINK, MULTIDIRECTIONAL VIDEO FEED, ULTRASONIC SENSORS, SITUATIONAL AWARENESS, FLIGHT ASSISTANCE, CRUISE CONTROL, DISTANCE LOCK, OBSTACLE AVOIDANCE AND GROUND DETECTION CAN FAIL AND THAT YOU SHOULD AT NO MOMENT RELY SOLELY ON THEM. Disposal of this product at the end of its life At the end of this product’s life, please do not dispose of this product in your general household waste. Instead, in order to prevent possible harm to the environment or human health from uncontrolled waste disposal, please dispose of this product separately in accordance with your local laws and regulation. For more information on the separate collection systems for waste electrical and electronic equipment that are available for consumers, near your home, free of charge, please contact your local municipal authority. You can also contact senseFly Ltd or the reseller from which you purchased your drone who may provide recycling services or be part of a recycling scheme. CopyrightssenseFly Ltd reserves the right to make changes to specifications and product descriptions contained in this document at any time without notice. Please consult www.sensefly.com for the latest release. Copyright © 2015 senseFly Ltd. All rights reserved. REPRODUCTION, USE OR DISCLOSURE OF ALL OR IN PART OF THIS MANUAL TO THIRD PARTIES WITHOUT THE PRIOR WRITTEN PERMISSION OF SENSEFLY LTD IS STRICTLY PROHIBITED. Acknowledgements Page 40: Icon made by Freepik from www.flaticon.com is licensed under CC BY 3.0.

### Address

senseFly Ltd Route de Gen `

eve 38 1033 Cheseaux-Lausanne Switzerland Website: http://www.sensefly.com 

### Technical support senseFly and our distributors are dedicated to providing you with full professional product support. To submit a support ticket and/or view your outstanding tickets, please use our customer portal at my.senseFly.com . Log in with the same account details you used to download your drone’s software (see the separate software information document in your eXom ’s case). In addition to support access, my.senseFly includes: • Details of all your senseFly drones, including their serial numbers. • The Knowledge Base – packed full of helpful articles, tips, tutorials and webinars. • Download links for the latest versions of eMotion X and Postflight Terra 3D software.

# Welcome to your eXom

Congratulations on your purchase of the eXom. This intelligent mapping andinspection drone (UAV, RPAS or UAS) offers TripleView imaging, advanced situational awareness, and a choice of flight modes: Autonomous mapping mode, Interactive ScreenFly mode, plus a Manual RC mode for experienced pilots.

At senseFly we build our products to the very highest standards. Inspired by the aeronautical backgrounds of our founders, we test both individual components and finished drones extensively in order to achieve the highest possible level of safety and reliability. We hope you enjoy using your eXom.

## About this user manual

A complete guide to your eXom comprises:
• A user manual All you need to get you into the air safely and effectively. • An extended guide to the eXom Completes and complements the user manual, giving you a full guide to using the eXom. This document contains both. The user manual is also supplied on paper with your eXom. Note: This user manual refers to eMotion X version 1.1 and Postflight Terra 3D version 4. You can always find the latest versions of these on my.senseFly∗ . The eXom requires eMotion X to operate.

∗ http://my.sensefly.com

## Package contents

The standard eXom package contains the following items:
• 1x eXom drone • 1x Interactive ScreenFly Controller • 1x 2.4 GHz Remote Control (for safety pilots) • 1x 2.4 GHz / 5 GHz dual band USB radio modem • 2x SD memory cards (32 GB) • 2x batteries • 2x single battery chargers w/power supplies • 1x wheeled carry case • 1x User Manual • 1x USB cable set • 1x pack of 4 spare legs • 1x pack of 4 spare screws • 1x pack of 4 spare propellers • eMotion X & Postflight Terra 3D software ∗Depending on your order, your package may also include other items. Please verify upon delivery that your package is complete. In case of a missing item, please contact senseFly or your eXom reseller immediately.

∗ download from my.senseFly at no extra cost

## Hardware features Top

### TripleView Head

* will be activated in a future firmware update

### Bottom

### Ports

Battery• Central body: The core of the eXom, housing its autopilot, photo processing logic and communications. • Arms: Carbon fibre composite arms provide a lightweight and sturdy structure. • Power button/status LED & strobe: Power button with built-in LED that indicates the current state of the eXom when on the ground and flashes brightly in the air. • Top cover: Light yet durable cover to protect the drone’s electronics. • Sensor modules: Composed of high-speed ultrasonic sensors and navcams, the 5 sensor modules (head, left, right, rear and bottom) are used for navigation, landing and situational awareness.

– Navcam: High-speed optical sensor that constantly analyses the eXom’s surroundings.

– Ultrasonic transmitter: Emits ultrasound which is then picked up by the ultrasonic receiver.

– Ultrasonic receiver: Detects the ultrasound emitted by the transmitter, allowing the eXom to measure its distance from a surface. • TripleView head: Stabilised head equipped with:

– Main camera: Capable of capturing high-resolution video and photos.

– Thermal camera: Capable of capturing thermal video and stills with edge overlay.

– Flash: Provides high-intensity flashes of light.

– Headlamp: Provides lighting for video and navigation.

– Head sensor module: Contains an ultrasonic transmitter, ultrasonicreceiver and navcam for navigation, landing and situational awareness.• Propeller: Used to generate thrust. The eXom’s propellers are detachable

so that they can be easily replaced. • Motor: Powers the propellers. • Motor mount: Houses the motor and connections and supports the legs and shrouding. • Motor cooling fins: Provide air cooling for the motors. • Shrouding: Made of durable carbon fibre composite, it protects the propellers and surfaces with which the drone might come into contact. • Navigation lights: Indicate the drone’s position and orientation. The lighton the left-hand (port) side shines red and the one on the right-hand (starboard) side shines green. • Legs: Supports the eXom on the ground. • Caps: Provides protection for the surface on which the drone lands. • Battery: The eXom is powered by a LiPo (Lithium Polymer) battery stored within the battery compartment. • Battery compartment: Holds the removable battery. • Battery release tabs: Squeeze the tabs to remove the battery. • Battery level indicator: Press the button and a series of LEDs indicate the battery level. • Bottom strobe: Positioned on the bottom of the drone, it indicates the drone’s location when viewed from below. • Port access cover: Protects the eXom’s ports:

– SD card slot: Holds the SD card on which videos, photos and flight logs are stored.

– Autopilot port: Used for upgrading your drone’s firmware.

– Maintenance port: Only for use by senseFly support.

## Software features

Your eXom requires eMotion X∗ to fly.

eMotion X is an integrated software package that allows you to interact with your eXom. Its easy-to-use interface allows you to pilot your drone intuitively. Once the drone is in the air, you can use eMotion X’s wireless connection with your eXom to track its position, assess its surroundings via its video feeds and ultrasonic sensor displays, monitor the progress of your flight and send commands. You can also download and use Postflight Terra 3D∗ at no extra cost.

Once your eXom returns after an inspection or a mapping flight, PostflightTerra3D can be used to process captured photos fully automatically. Postflight Terra 3D is a full-featured mapping solution: with just a few mouse clicks it can create high-quality photogrammetric georeferenced 2D and 3D outputs such as Point Clouds, Orthomosaics and digital elevation/surface models (DEM/DSM). For mapping projects, Postflight Terra3D can analyse the quality of the reconstruction and generate an easy to understand report in the field, letting you know immediately if the data you captured meets your requirements.

∗ software access terms and conditions apply

## Contents

I Getting Started 1 1 Installing the software 2 2 Safety precautions 4 2.1 In-flight Warnings and Critical Failures . . . . . . . . . . . . . 6 3 About eMotion X 8 3.1 About eMotion X’s Toolbar . . . . . . . . . . . . . . . . . . . . 10 3.2 About eMotion X’s Bottom Bar . . . . . . . . . . . . . . . . . . 12 3.3 About the Control Bar . . . . . . . . . . . . . . . . . . . . . . 12 3.4 About coordinates and altitude references in eMotion X . . . . 15 3.5 How to connect eMotion X to your drone . . . . . . . . . . . . 17 4 Preparing to fly the eXom 19 4.1 Pre-flight checklist . . . . . . . . . . . . . . . . . . . . . . . . 20 4.2 General inspection . . . . . . . . . . . . . . . . . . . . . . . . 21 4.3 Weather check . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.4 Flying conditions . . . . . . . . . . . . . . . . . . . . . . . . . 25 4.5 About the working area . . . . . . . . . . . . . . . . . . . . . 25 4.6 Take-off and landing conditions . . . . . . . . . . . . . . . . . 27 4.7 The eXom’s battery . . . . . . . . . . . . . . . . . . . . . . . . 30 4.8 How to power the eXom on . . . . . . . . . . . . . . . . . . . 31 4.9 Audible messages and alerts . . . . . . . . . . . . . . . . . . . 32 4.10 About the Remote Control . . . . . . . . . . . . . . . . . . . . 33 195 Flying the eXom 34

5.1 About eXom missions . . . . . . . . . . . . . . . . . . . . . . 34 5.2 About waypoints . . . . . . . . . . . . . . . . . . . . . . . . . 35 5.3 How to move waypoints . . . . . . . . . . . . . . . . . . . . . 36 5.4 About the Start and Home waypoints . . . . . . . . . . . . . . 36 5.5 About the communication link . . . . . . . . . . . . . . . . . 39 5.6 About lift generation . . . . . . . . . . . . . . . . . . . . . . . 41 5.7 About take-off . . . . . . . . . . . . . . . . . . . . . . . . . . 42 5.8 Landing the eXom . . . . . . . . . . . . . . . . . . . . . . . . 43 5.9 Powering the eXom off . . . . . . . . . . . . . . . . . . . . . . 46 5.10 How to remove the drone’s battery . . . . . . . . . . . . . . . 46 6 In-flight Monitoring 48 6.1 Choosing what to display in the Main Viewer . . . . . . . . . . 48 6.2 Selecting the head feed . . . . . . . . . . . . . . . . . . . . . 49 6.3 About the head-up display . . . . . . . . . . . . . . . . . . . . 49 6.4 Choosing a navcam . . . . . . . . . . . . . . . . . . . . . . . 51 6.5 About the ultrasonic sensors . . . . . . . . . . . . . . . . . . . 51 6.6 About the background & custom maps . . . . . . . . . . . . . 54 6.7 Navigating around the map . . . . . . . . . . . . . . . . . . . 54 7 Processing 57 7.1 Obtaining your photos, videos and flight data . . . . . . . . . 57 7.2 In-field quality check . . . . . . . . . . . . . . . . . . . . . . . 60 7.3 Creating mapping products . . . . . . . . . . . . . . . . . . . 62

### II Your first autonomous mapping mission 63

8 Autonomous missions 64 8.1 Opening, creating and saving missions . . . . . . . . . . . . . 65 8.2 About mission blocks . . . . . . . . . . . . . . . . . . . . . . 67 8.3 How to create mission blocks . . . . . . . . . . . . . . . . . . 67 8.4 Autonomous mission example: Horizontal Mapping . . . . . . 69 8.5 Readying your drone for the mission . . . . . . . . . . . . . . 72 8.6 After the mission . . . . . . . . . . . . . . . . . . . . . . . . . 74 

### III Your first interactive ScreenFly flight 77 9 The ScreenFly Controller 78 9.1 How to activate and deactivate the ScreenFly Controller . . . . 82 10 Flying the eXom interactively with ScreenFly 83 10.1 How to take off using ScreenFly . . . . . . . . . . . . . . . . . 83 10.2 How to land using ScreenFly . . . . . . . . . . . . . . . . . . . 84 10.3 How to fly left, right, forward and backward with ScreenFly . . 84 10.4 How to turn the drone using ScreenFly . . . . . . . . . . . . . 84 10.5 How to climb and descend using ScreenFly . . . . . . . . . . . 85 10.6 How to hover using ScreenFly . . . . . . . . . . . . . . . . . . 85 10.7 How to set a constant speed (cruise) . . . . . . . . . . . . . . 85 10.8 About Distance Lock . . . . . . . . . . . . . . . . . . . . . . . 86 11 Capturing photos and video 87 11.1 How to capture single photos . . . . . . . . . . . . . . . . . . 8711.2 Automatically capturing photos . . . . . . . . . . . . . . . . . 87

11.3 Focussing the eXom’s Main Camera . . . . . . . . . . . . . . . 88 11.4 Focussing the navcams and Thermal Camera . . . . . . . . . . 89 11.5 Recording video . . . . . . . . . . . . . . . . . . . . . . . . . 89 11.6 How to turn on the Headlamp . . . . . . . . . . . . . . . . . . 90 11.7 About the Main Camera zoom . . . . . . . . . . . . . . . . . . 90 11.8 How to move the eXom’s cameras . . . . . . . . . . . . . . . . 91 11.9 About the Thermal Camera feed . . . . . . . . . . . . . . . . . 93 11.10 Temperatures in the Thermal Camera feed . . . . . . . . . . . 93 11.11 Thermal Camera calibration . . . . . . . . . . . . . . . . . . . 94 

### IV Extended guide to eMotion X 97 12 eMotion X’s Monitor tab 97 12.1 About the Monitor tab . . . . . . . . . . . . . . . . . . . . . . 97 12.2 How to change units . . . . . . . . . . . . . . . . . . . . . . . 99 12.3 3D mapping in eMotion X . . . . . . . . . . . . . . . . . . . . 100 12.4 Using a custom elevation model . . . . . . . . . . . . . . . . . 102 12.5 Using custom map sources . . . . . . . . . . . . . . . . . . . . 104 12.6 About photo footprints . . . . . . . . . . . . . . . . . . . . . 106 12.7 About eMotion X’s data folder . . . . . . . . . . . . . . . . . . 107 12.8 Enabling advanced functions . . . . . . . . . . . . . . . . . . 107 12.9 Advanced connection options . . . . . . . . . . . . . . . . . . 108 

### V Extended guide to mission planning 109 13 Around POI (point of interest) mission blocks 11014 Custom Route mission blocks 113

15 Disabling security actions 116 

### VI Extended guide to interactive and manual flight 119 16 Manual and interactive flight modes 120 16.1 About the eXom’s dual autopilots . . . . . . . . . . . . . . . . 120 16.2 Flight control modes . . . . . . . . . . . . . . . . . . . . . . . 122 17 Flying without GNSS signals 126 17.1 About GNSS signals . . . . . . . . . . . . . . . . . . . . . . . 126 17.2 About the magnetometer . . . . . . . . . . . . . . . . . . . . 127 17.3 No GNSS mode . . . . . . . . . . . . . . . . . . . . . . . . . . 127 18 Manual flight with the Remote Control 129 18.1 About the Remote Control . . . . . . . . . . . . . . . . . . . . 129 18.2 Using the Remote Control . . . . . . . . . . . . . . . . . . . . 131 18.3 Manual take-off and landing . . . . . . . . . . . . . . . . . . . 136 18.4 Motor cut-off . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 18.5 Manual flight . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 18.6 Returning control to eMotion X . . . . . . . . . . . . . . . . . 139 18.7 How to change the Remote Control’s batteries . . . . . . . . . 139 18.8 Controller and Remote Control command modes . . . . . . . . 139 

### VII Maintenance and Repair 141 19 Maintenance and repair of the eXom 14219.1 Upgrading the eXom’s software and firmware . . . . . . . . . 142

19.2 Full inspection . . . . . . . . . . . . . . . . . . . . . . . . . . 144 19.3 About your eXom’s propellers . . . . . . . . . . . . . . . . . . 146 19.4 Changing a leg . . . . . . . . . . . . . . . . . . . . . . . . . . 151 19.5 Changing a leg cap . . . . . . . . . . . . . . . . . . . . . . . . 155 19.6 Changing the shrouding . . . . . . . . . . . . . . . . . . . . . 155 19.7 Changing a ground modem antenna . . . . . . . . . . . . . . 156 19.8 Cleaning the eXom . . . . . . . . . . . . . . . . . . . . . . . . 156 19.9 Storing the eXom . . . . . . . . . . . . . . . . . . . . . . . . . 156 19.10 Repairing the eXom airframe . . . . . . . . . . . . . . . . . . 157 19.11 Proper battery care . . . . . . . . . . . . . . . . . . . . . . . . 157 20 Troubleshooting 160 20.1 Take-off vetoes . . . . . . . . . . . . . . . . . . . . . . . . . . 160 20.2 In-flight warnings . . . . . . . . . . . . . . . . . . . . . . . . 161 20.3 Critical failures . . . . . . . . . . . . . . . . . . . . . . . . . . 170 20.4 Locating a lost eXom in the field . . . . . . . . . . . . . . . . . 173 20.5 Reporting a problem with your eXom . . . . . . . . . . . . . . 174 20.6 Maintenance schedule . . . . . . . . . . . . . . . . . . . . . . 175 

### VIII Specifications 177 1 Software requirements 178 2 Drone specifications 179

## Part I 

# Getting StartedGetting Started



## 1 Installing the software Download the latest senseFly software from: http://my.sensefly.com 

### Install eMotion X To fly your eXom you must install eMotion X. The software runs on Microsoft Windows1 and installs the required device drivers automatically. To install, launch the installer and follow the on-screen instructions. As with most applications, once installation is complete, you will find eMotion X in the Start menu. If necessary, the drivers can be installed manually. The installation file is available in the following directory: C: \Program Files \ senseFly\ eMotion X\usb driver\ 

### Install Postflight Terra 3D To process your eXom’s datasets and create 3D models, orthomosaics and DSMs, install Postflight Terra 3D.To install, launch the installer and follow the on-screen instructions. Once installation is complete, you will find Postflight Terra 3D in the Start menu. 

### eMotion X and Postflight Terra 3D updates When software updates are available from senseFly, a message will pop up when you launch eMotion X or Postflight Terra 3D (if you are connected to the internet). 1 see Software requirements on page 178 2Installing the software

You can also find updates on http://my.sensefly.com . See Upgrading the eXom’s software and firmware on page 142 for more information.

3Getting Started 

## 2 Safety precautions

• Keep clear of the propellers The propellers spin at high speeds and can be dangerous if they come into contact with exposed skin. Always keep all objects and all parts or your body clear of the propellers when the battery is installed in your eXom. • Power the drone off before handling it Switch the eXom off before picking it up. Never attempt to pick the eXom up while the propellers are turning. • Never attempt to fly without the legs and shrouding The eXom’s legs and shrouding are integral parts of the drone, providing stability and structural integrity. • Never fly with the port cover open The port cover protects the drone’s ports and electronics. If left open, the drone’s internal sensors will not function correctly. • Only use the batteries provided Only fly with a senseFly battery. Flying with any other battery risks causing a malfunction and will void your warranty in case of an incident. • Only use approved senseFly SD cards Only fly with SD cards that have been approved by senseFly. Flying with any other SD card risks causing a malfunction and will void your warranty in case of an incident. • Always take off and land on a stable, level surface Do not attempt to land on a steep slope or an area covered with large rocks, debris or holes. Do not land on a wet surface, soft sand, thick snow, dust, or mud. • Know how to, and be ready to abort take-off or landing if necessary There are buttons in eMotion X’s Control Bar, on the ScreenFly Controller and the Remote Control that do this. See About the Control Bar on page 12, 4Safety precautions

Flyingthe eXom interactivelywith ScreenFly on page 83 and UsingtheRemote Control on page 131 . • Do not fly above people or animals Pay close attention to the legal restrictions at the location you are flying. • Do not fly in high winds The eXom must not take off at all if thewind speed exceeds 10 m/s(36 km/h, 22 mph, 19 kts). See Drone specifications on page 179 for details. • Do not fly in bad weather Do not fly in rain, snow, hail, fog, a sandstorm or dust storm. • Avoid collisions Always make sure there is enough space between the drone’s trajectory and any obstacles. Always double check waypoint altitudes and elevation data against the real terrain. • Propellers must be locked on and in excellent condition for flight See General inspection on page 21 and About your eXom ’spropellers on page 146. • Check battery charge level Make sure you have more than enough for your flight. Land well before the battery is empty. See The eXom ’s battery on page 30. • Set an appropriate working areaSet a working area that prevents your drone from flying outside communications range, above the legal altitude limit, into prohibited airspace such as private property or a nearby airport, or into a hazardous area. See About the working area on page 25 • Always fly with eMotion X connected If flying using the Remote Control, connect your drone to eMotion X to provide situational awareness, extended communications range and a means of controlling your drone and initiating a landing in case of incident. • Always keep the Remote Control to handIt can be used as a fallback means of flying the drone in case there’s a problem with your computer or its communication link to the drone. 5Getting Started

• Leave eMotion X as much computing power as possibleDo not run memory- or processor-intensive software on the same computer as eMotion X while flying. For example, do not process photos with Postflight Terra 3D while flying. 

### 2.1 In-flight Warnings and Critical Failures If the UAV detects an issue while in flight it will:

• Raise an In-flight Warning and, if necessary, automatically carry out a Security Action, or • Signal a Critical Failure. In-flight Warnings are raised when a dangerous situation is detected, for example, low battery or strongwinds. If your eXom raises an In-flightWarning, the WARNING button on the toolbar turns yellow and the text changes to ACK. WARNING . If no Security Action has been triggered, acknowledge the warning by clicking ACK. WARNING and carry out the action recommended in In-flight warnings on page 161 .Critical Failures occur if the UAV’s ability to fly is severely compromised, for example, the battery is empty. The WARNING button will turn red and read CRITICAL FAILURE. A critical failure cannot be dismissed. If a critical failure arises, the UAV immediately performs an emergency landing.

Caution: We recommend that you familiarise yourself with the inflight warnings to have a better understanding of what happens if they occur in the field. See Troubleshooting on page 160 for a list of In-flight warnings and Critical failures and the UAV’s reaction to them. 6Safety precautions

Note: It is important to keep track of the location of the UAV duringa Critical Failure until the moment it reaches the ground. Its coordinates can aid in finding it afterwards. See Locating a lost eXom in the field on page 173 .

7Getting Started 

## 3 About eMotion X

The main screen of eMotion X is split into several sections: • Main Viewer Here, eMotion X can display a map with the drone’s current position, or the feed from the TripleView Head cameras. • Toolbar Use the toolbar to access eMotion X’s main functions and control the content of the Main Viewer. The toolbar adapts to your choice of Main Viewer content. When viewing the map, you’ll find buttons on the toolbar to switch between a 2D or 3D map, to control the layers, sources or map information and other display options related to the Map Area. When viewing the feed from the eXom’s TripleView Head, you’ll find buttons to switch between head feeds and to capture photos and video. • Control Bar Use to issue commands to the eXom while it is in flight, such as starting the mission phase or holding position. Warnings raised either before or during a mission can be acknowledged here. See About the Control Bar on page 12 for details. 8About eMotion X

• Mission panel Plan autonomous missions and set their parameters here:

– Mission Planning Use when setting up an autonomous flight to create missions, add mission blocks to them and assign them to your drones.

– Transitions Set up the take-off and landing phase of a mission.

– Parameters Use this tab to set mission planning options. • Drone panel When you connect a drone to eMotion X, tabs to view its status and control its cameras and parameters appear here.

– Monitor Use to monitor the drone while in flight.

– Cameras Use to configure the drone’s cameras and how it will capture photos.

– Parameters Use this tab to set drone flight options. • Bottom Bar Use to monitor the drone’s position and activate the feeds from the eXom’s sensors:

– Navcam selection Choose the navcam feed you want to view.

– Navcam feed The feed from the selected navcam.

– Ultrasonic sensor feedback Indicates the drone’s distance from surrounding objects.

– Bottom Bar Viewer If you have the map in the Main Viewer, the head camerafeed appears here, otherwise the map appears here. 9Getting Started



### Showing, hiding and resizing the Bottom Bar and side panels

To resize a panel, click and drag the edge of the panel, marked > . To show or hide one of the panels:
• Click the edge of the panel, marked > . • Click and drag the edge of the panel to make it smaller until it disappears. 

### 3.1 About eMotion X’s Toolbar You can always find the following buttons on the toolbar: Open the File menu Put the map in the Main Viewer Toggle full-screen mode

10About eMotion X

You’ll see these buttons if you have the map in the Main Viewer: Choose your background map source Select map layers Toggle between 2D and 3D map Automatically keep the drone in the centre of the map Centre the map on the drone once Move the map to a specific place or coordinate Zoom out of the map Zoom in on the map Toggle photo footprints on/off Clear current photo footprints You’ll see these buttons when you are connected to your eXom: Put the head’s navcam feed in the Main Viewer Put the head’s HD video feed from the Main Camera in the Main Viewer Put the head’s thermal camera feed in the Main Viewer You’ll see these buttons if you have a head camera feed in the Main Viewer: Zoom out (Main Camera) Zoom in (Main Camera) Reset the head’s position to pointing forward Trigger autofocus Toggle video recording on/off Toggle automatic photo trigger on/off 11Getting Started

Take a photo now You’ll see these buttons if you have the Thermal Camera feed in the Main Viewer: Toggle thermal edge overlay on/off Toggle temperature range lock to scene Calibrate Thermal Camera pixels 

### 3.2 About eMotion X’s Bottom Bar You’ll see these buttons if the Bottom Bar is visible:

View head navcam feed in Bottom Bar View left navcam feed in Bottom Bar View right navcam feed in Bottom Bar View bottom navcam feed in Bottom Bar View rear navcam feed in Bottom Bar Switch ultrasonic feedback sound effects on/off Select ultrasonic beam Turn on beam pulse cycling 

### 3.3 About the Control Bar The Control Bar appears when connected to a drone. Use the Control Bar buttons to send commands to the drone. Use the first button (WARNING) to acknowledge 12About eMotion X

any warnings. Some buttons are only active when needed or appropriate. Button Action WARNING/ ACK. WARNING/ CRITICAL FAILURE2 Acknowledge a warning if one has been raised (ACK.

WARNING displays). INTERACTIVE Toggle ScreenFly on/off START MISSION * Send the UAV towards the first waypoint in the mission block and start the mission. RESUME MISSION Send the drone to the last position reached during an

interrupted mission and continue the flight plan. GO TO START* Send the UAV to the Start waypoint, where it will

hover and wait for the next command. GO TO HOME Send the drone to the Home waypoint, where it will

hover and wait for the next command. GO LAND Send the drone to the Home waypoint, where it will

land. Land if already on the Home waypoint. HOLD* Put the UAV into a hover, where it will wait for the next

command. The UAV creates a waypoint at that point.

13Getting Started

LAND NOW Click 3x Immediately land at the current location.

Use this button to abort take-off. Click 3 times in quick succession (triple-click) to engage. ABORT LANDING Abort the current landing (unless its an emergency

landing). The drone returns to the Home waypoint and hovers, waiting for a command. TAKE OFF Take off.
* these actions can only be carried out once you have acknowledged and dealt with any warnings

14About eMotion X



### 3.4 About coordinates and altitude references in eMotion X

This schematic represents a local elevation dataset that references a standard local ellipsoid being usedfor AED values. As long as eMotionX recognises the projected coordinates, it transforms them to WGS 84 on import using the GDAL3 library. 

### Altitudes in eMotion X eMotion X displays altitudes in different ways according to the situation:

• Above the Take-off Altitude – metres (m/ATO) or feet (ft/ATO) ATO altitudes are relative to the place your eXom started its motor just before taking off. • Above Mean Sea Level – metres (m/AMSL) or feet (ft/AMSL) AMSL altitudes are relative to a standard mean sea level geoid. Your drone 3 The Geospatial Data Abstraction Library – www.gdal.org . Note that eMotion X cannot convert manually defined references in non-standard coordinates. 15Getting Started

uses the EGM96 mean sea level standard. 0 m/AMSL (0 ft/AMSL) on land is very close to where the sea level would be if the land was absent.
• Above Elevation Data – metres (m/AED) or feet (ft/AED) AED altitudes are relative to the currently active elevation data model. If,for example, you are using the supplied SRTM elevation data, this is approximately the altitude above the ground4. Terrain height and altitude can be given relative to a geoid or an ellipsoid. A geoid represents the shape of the earth in a way that takes into account local changes in gravity. A geoid is not a regular geometric shape. An ellipsoid is a geometric shape, whose cross-section is an ellipse, that closely follows the earth’s surface, but does not take local changes in gravity into account. Note: If you are using the SRTM elevation dataset supplied with eMotion X, terrain height is relative to the EGM96 geoid. Note: Altitudes below take-off, sea level or below 0 m (0 ft) in thecurrent elevation dataset are expressed as negative values, for example, if the drone is at -10 m/ATO (-33 ft/ATO) it means that it is 10 m (33 ft) lower than the point it took off from. Caution: SenseFly Ltd cannot guarantee the accuracy of the elevation data supplied. It is the operator’s sole responsibility to ensure a safe flight trajectory and altitude. 

### Coordinates you enter into eMotion X’s user interface eMotion X assumes that any coordinate you enter is in the WGS 84 reference frame.
4 see 3D mapping in eMotion X on page 100 16About eMotion X

If you are using a local or national geoid (MSL) or geodetic coordinate system, you must convert coordinates into WGS 84 before entering them into eMotion X. The way you do this conversion depends on the geoid and the tools available to you. Online or downloadable conversion tools may be available, for example, from a national geodetic society. 

### 3.5 How to connect eMotion X to your drone 1. Connect your ground modem to your computer using the USB cable provided and allow it to start up. Note: It takes approximately 30 s for your computer to recognise the ground modem as a USB device. It takes about another 30 s before your ground modem can detect your drone. 2. Insert the SD card and battery then power on your drone. You can do this while the modem is starting up. 3. Launch eMotion X. When your drone has been successfully detected by the ground modem and recognised by eMotionX, its serial number5 will appear in the Drone pulldown menu of the Connect dialog and your computer will make a sound. 4. In the Connect dialog, click the eXom button to select it, then click OK. When a connection is established eMotion X will display the Drone panel and the drone’s status will be visible in its Monitor tab. Once your drone has set its position using satellite signals, an eXom symbol will appear at its location on the map. If you cannot see the drone on the map, click on the Toolbar to centre the map on the drone.
5 printed on a label inside the eXom’s battery compartment 17Getting Started

Note: To set connection parameters manually, click Advanced... on the Connect dialog. To return to the simple connection screen, click Advanced... again. Note: Every eXom is paired with the ground modem it is delivered with, and will only work with that ground modem. The name that appears in the Drone pulldown menu of the Connect dialog is the serial number of the drone that the ground modem is paired with. Note: If you want to process flight data you already created, click to select FLIGHT DATA MANAGER on the Connect dialog then click OK.

18Preparing to fly the eXom 

## 4 Preparing to fly the eXom Goal of this section: This section describes how to prepare your eXom for flight. The eXom’s advanced yet simple design means it can go from the box to being ready for flight in minutes. We recommend that you perform the procedures in this section before every flight.

Note: Remove any warning labels from the drone before your first flight.

19Getting Started



### 4.1 Pre-flight checklist General inspection complete Weather conditions checked Flying conditions checked Appropriate working area set Maps downloaded Take-off and landing conditions checked Charged eXom battery installed Drone powered on Drone connected to eMotion X through the ground modem Computer’s sound enabled and audible Remote Control with fresh batteries within reach See the following sections for a guide to each check.

20Preparing to fly the eXom



### 4.2 General inspectionA general inspection should be performed before every flight. It is also good practice to perform a full airframe check regularly to keep your eXom in good shape. See Full inspection on page 144 for more details. 

### Visually inspect the droneThe sensors and lenses must be clean and unobstructed for them to work correctly. Remove the battery from the drone and pick the drone up to carry out these checks.
• Check that the arms are solidly attached. • Visually inspect each of the 5 vision sensors. • Visually inspect the 5 ultrasonic transmitters and receivers. • Visually inspect the main camera. • Visually inspect the thermal camera. • Check that all propellers are properly locked on. • Check that the legs are in good condition and properly attached with their caps in place. • Check that the shrouding is in good condition and properly attached at the leg clips. • Check that the top cover is attached and in good condition. • Ensure that nothing is at risk of touching the spinning propellers. • Check that the eXom’s main body is in good condition. • Check that the eXom’s head is undamaged and turns freely on both axes. • Check that all LEDs and strobes are clean and free of obstacles. 21Getting Started



### Visually inspect the propellers To prevent vibration and remain safe, only fly with propellers that are in excellent condition.

• Replace cracked propellers. Check carefully for cracks, especially near the hub. • Replace worn propellers. • Replace propellers that have any indentations on their leading edge.

• Replace propellers that have a white stress mark in the plastic near the hub. These propellers have been overstressed.
22Preparing to fly the eXom

Locked on Not locked on

• Make sure that all propellers are properly locked on.

• Replace propellers that are not firmly fixed onto the motor, despite being properly locked on. See About your eXom’s propellers on page 146 for further details. 

### Check sensor and camera operation
• Insert the drone’s SD card then insert the battery. • Place the drone on the ground and power it on. • Launch eMotion X and connect to your drone using the ground modem. 23Getting Started

• In eMotionX check theirfunctionalitywith the headfeed in the Main Viewer using the control bars and the head-up display.

• Check the vision sensors. Select the different Navcams and view the resulting video feed.

• Check the main camera. View the main camera’s video feed.

• Check the thermal camera. View the thermal camera’s video feed. 

### 4.3 Weather check Before each flight, you should be aware of the weather conditions. The eXom is a small drone that cannot fly in heavy rain or strong wind conditions. In case of doubt, make sure to check a weather bulletin including wind estimations in the flight area. Note that wind is often stronger at higher altitudes and that the wind perceived at the surface is not always a good reference to estimate the wind at flight altitude. Cloud velocity or tall tree movements can help you to estimate the wind speed once you are out in the field. Weather forecasts may use various units to measure wind speed. As a reference,

1 m/s = 3.6 km/h = 2.24 mph = 1.94 kts. Caution: Do not fly eXom missions if the wind speed exceeds: Autonomous flight: 8 m/s (29 km/h, 18 mph, 16 kts) Manual flight: 10 m/s (36 km/h, 22 mph, 19 kts)

24Preparing to fly the eXom

Caution: The eXom is not designed to operate in temperatures above 40 ◦ C. Avoid exposing the drone to high temperature for prolonged periods of time. In particular, leaving the drone exposed to the sun or in a hot vehicle should be avoided. 

### 4.4 Flying conditions Avoid flying the eXom in the following conditions:

• In high winds. • In gusty conditions. • When there is precipitation, for example, rain, snow or hail. • In heavy mist or fog. • If air density is low, for example, at high altitudes, if air temperature is high, air pressure is low, or a combination of these factors. • In very dusty conditions or in a dust storm. • If there is a lot of sand in the air, or in a sandstorm. • In very low light conditions. 

### 4.5 About the working area The cylindrical volume of space in which the drone is allowed to fly is known as the working area. If the drone leaves this area (gets pushed or flies out of the circle or above the ceiling) it will raise a warning and carry out a security action. The eXom will not take off if it detects that it is outside the working area. 25Getting Started

A working area positioned on the side of a hill

During an autonomous mission:

• If the drone leaves the working area or flies above the ceiling, it will abandon the mission and try to fly to the Home waypoint.

• If it passes the outer security limit, 50 m (164 ft) beyond the working area limit, it will perform an emergency landing. During an interactive ScreenFly flight:

• It will raise a warning if it leaves the working area or flies above the ceiling. You should take action to bring the drone back or carry out an emergency landing.

• If it passes the outer security limit in ScreenFly mode it will immediately carry out an emergency landing. 26Preparing to fly the eXom

Note: An emergency landing cannot be aborted, but you can stilltake control of the drones horizontal positioning (pitch left, right, forwards and backwards) using either the ScreenFly Controller or the Remote Control. 

### Setting the working area You set the working area in the Mission panel’s parameters tab. 

### How to set the working area’s size
• Click the Parameters tab in the Mission panel. • Set the working area radius. • Set the working area ceiling. 

### How to set the working area’s position
• Click the Parameters tab in the Mission panel. • Move the map so that the place you want to put the centre of the working area is in the centre of the map. To centre the map on the drone, click on the Toolbar. • Click on the Parameters tab. 

### 4.6 Take-off and landing conditions It is important to carefully select the place you take off from, the Start waypoint, the Home waypoint and landing location. 5 see Troubleshooting on page 160 for a full description of In-flight warnings and Critical failures that may occur 27Getting Started

Once the drone has taken off it will go to the Start waypoint. The Home waypoint is both the location under which the drone will land in when flying autonomously and as safety position in case of an in-flight warning. See About the Start and Home waypoints on page 36 for more details. Do not take off:
• If it is legally prohibited to fly a drone, for example, close to an airport. • If there is a risk of collision with other aircrafts, for example, other drones, helicopters or low-flying airplanes. • If there is risk of disturbance, for example, to the local population or to wildlife. • If there is risk of damage, for example, to an historical monument or sensitive natural habitat. 

### How to select a take-off & landing spot Select a take-off and landing spot that is clear of obstacles (buildings, rocks, powerlines, hills, trees, etc.) within a distance of 5 m (16 ft) in all directions. This is to account for the possibility of drift after take-off and to give the drone enough space to land. Behaviour after take off and the precision of a landing will depend on the satellite positioning accuracy, lighting conditions, the ground’s visual texture and the wind. Select a take-off and landing spot that is flat, level and free of objects that could prevent the propellers from spinning freely or prevent the drone from taking off. Do not attempt to take off from or land the eXom on the following:
• Surface that does not allow all 4 feet to contact the ground. • Muddy, wet, dusty or sandy area. • Water or deep snow. 28Preparing to fly the eXom

• A steeply inclined surface. Caution: If the eXom accidentally gets wet, remove the battery immediately . Caution: Choose the altitude of your Home waypoint carefully. Set it high enough to clear any obstacles. Do not set it too high; there is a risk of higher winds at altitude. 

### Calculating take-off location If the eXom is able to detect and process plenty of high-quality satellite signals, it can set its take-off location precisely. If not, the accuracy of its position calculation will drop.
• If it can set its position before taking off, it will do so. • If the eXom cannot set its position, it cannot reliably fly an autonomous mission. It will not take off. Note: If you need to take off, for an interactive or manual flight, and satellite positioning signal reception is poor, you can enable No GNSS mode in the UAV’s Parameters tab 6. 

### Abort your landing:
• If there are obstacles, for example, vehicles, people or animals in the landing zone. 6 see No GNSS mode on page 127 29Getting Started

• If there is a risk of a moving vehicle, person, animal or other object entering the landing zone. 

### 4.7 The eXom’s battery Battery charge level indicator Press the battery level button and the LEDs will indicate the level of charge: LEDs lit: 1 2 3 4 5 Charge level: 0 - 30% 30 - 55% 55 - 75% 75 - 90% 90 - 100% 

### How to charge the eXom’s battery Before leaving for the field to perform a flight, be sure to fully charge all your eXom batteries. Note: Upon delivery, the eXom’s batteries are charged to a level of 70% and therefore have to be fully charged before the first flight. To charge an eXom’s battery pack, connect it to the battery charger provided. Plug the charger into a power socket using the adapter provided. Slide the charger onto the battery so that the battery’s connectors slot into the charger. During charge, the status LEDs on the battery indicate the charge level: LED blinking: 1 st 2 nd 3 rd 4th 5 th Charge level: 0 - 30% 30 - 55% 55 - 75% 75 - 90% 90 - 100% The LED for the current charge level blinks during charging. When all the LEDs go out, the battery is charged. 30Preparing to fly the eXom

The charger provided independently balances the voltage of each of the cells contained in the battery pack to ensure optimal performance and battery life. Charging can take up to 1.5 hours, depending on the charge level of the battery and whether any cell balancing is required. See The eXom ’s battery on the preceding page for more information on maintaining your drone’s batteries. 

### How to install the eXom’s battery Place the eXom on the ground or on a level surface in the vicinity of the takeoff location. With its senseFly label up, slide the battery firmly into the battery compartment, making sure that it clicks into place. Caution: Take great care not to get anything trapped by the battery as you push it in, or push anything into the battery compartment with the battery, for example, the surrounding vegetation. Caution: Keep clear of the propellers in case they unexpectedly start spinning. Note: To avoid using up battery power unnecessarily, insert the battery only when you are ready for take-off. 

### 4.8 How to power the eXom on 1. To reduce the risk of data corruption, insert the SD card before powering the drone on. 2. Press the power button. The eXom will perform an automatic self-check of its sensors and acquire satellite signals. Do not move the drone during these tests. It is important that the drone is 31Getting Started

not inclined more than 10 degrees in order to start up properly. Pre-flight checksmay last from a few seconds to several minutes depending on satellite signal reception. While the drone is starting up, running pre-flight checks and gathering satellite positioning signals, its status LED will shine blue. Once the pre-flight checks are complete and the drone is ready to fly, the status LED will shine green. Note: Satellite positioning signals are not required to fly the drone. If the satellite check fails, you can still fly with No GNSS mode, but some capabilities will be missing. See No GNSS mode on page 127 Note: You can connect the drone to eMotion X at any time during startup and view the status of the checks in the Monitor tab. Note: If there were any problems during the pre-flight checks a preflight error will be raised and a message will appear in eMotion X. The eXom’s status LED will shine red. 

### 4.9 Audible messages and alerts eMotion X will generate audible alerts and warnings throughout your flight:

• A sound when the ground modem successfully detects the drone.
• Continuous beeping if an object or surface is detected close to the drone.
• Vocal warnings, for example, battery level. We recommend turning your computer’s sound on and turning the volume up. 32Preparing to fly the eXom



### 4.10 About the Remote Control The Remote Control can be used as a fallback means of flying the drone. It is also the only means of triggering a motor cut-off in case of emergency.When flying autonomously or with ScreenFly, we recommend you keep the Remote Control close by, with fresh batteries installed.

33Getting Started 

## 5 Flying the eXom You can fly the eXom:
• Autonomously Ideal for aerial mapping. The drone follows the flight plan you have set up, autonomously managing its position, stability and photo capture. • Interactively with the ScreenFly Controller Idealfor inspection, capturing photos and video. Fly your eXom semi-automatically using the ScreenFly Controller and eMotion X. Only basic piloting experience is required. The drone looks after flight stability, flies where you direct it to fly and looks where you direct it to look. You can ask it to cruise at a fixed speed or lock its distance from a surface. Commands are passed to the eXom through its ground modem. • Manually with the Remote ControlOnly for situations where you need to use advanced piloting skills. Commands go directly to the drone from the Remote Control. 

### 5.1 About eXom missions A typical mission can be divided into the following phases:
• Preparing to flyEvery mission begins with careful preparation, whether it is a quick inspection or a multi-stage mapping mission over complex terrain. See Preparingto flythe eXom on page 19 to learn how to prepare your drone for flight. Autonomous missions on page 64 describes how to use eMotion X’s Mission Planner to quickly generate a flight plan for autonomous flight. • The flight Once planning and preparation is complete, it’s time to fly. The eXom can 34Flying the eXom

follow a flight plan without intervention from take-off to landing, you cancontrol the drone with ScreenFly, or use the Remote Control. You can modify a flight plan or take control at any time during a planned mission. Flyingthe eXom interactivelywith ScreenFly on page 83 describes how to use ScreenFly to take control of your drone. See Manual flight with the Remote Control on page 129 for a guide to using the Remote Control.

• ProcessingThe next step is to view and process photos and video, converting the photos taken by your eXom into valuable products such as precise georeferenced orthomosaics or 3D models. Processing on page 57 leads you through the process of obtaining the video and photos the drone has recorded, checking if the project quality suits your needs while still in the field and producing advanced 2D and 3D maps. Note: You can find supporting documentation and technical FAQs in our Knowledge Base, part of my.senseFly7. 

### 5.2 About waypoints Waypoints are points in 3D space at which the drone is instructed to carry out an action such as capturing photos, carrying out a manoeuvre, proceeding to the next waypoint or landing. An autonomous mission is made up of a series of waypoints. eMotion X automatically calculates the best place to put the waypoints for your autonomous mapping mission.
7 http://my.sensefly.com 35Getting Started



### 5.3 How to move waypoints Once you have assigned a mission block to a drone8, you can move the Start, Home and mission waypoints on the map. Note: Changes to the Start and Home waypoints are immediatelytransferred to the connected drone. Changes to assigned mission block waypoints are also immediately transferred to the drone, changing the mission even if it is already in progress.

• To change a waypoint’s position with the map in 2D, click the waypoint to select it, then click and drag it to a new position. • To change a waypoint’s position with the map in 3D, click the waypoint to select it, then click and drag the base of the waypoint (the point on the ground directly under the waypoint) to a new position. • To change a waypoint’s altitude, switch the map to 3D. Click the waypoint to select it, then drag the waypoint itself up and down. Caution: When the map is in 3D and you are viewing your mission from above, a small change in the on-screen position of a waypoint can result in an unexpectedly large change in the waypoint’s altitude. Always check your flight plan carefully before take-off. 

### 5.4 About the Start and Home waypoints The eXom uses satellite positioning signals to calculate its position and accuracy. Soon after it is powered on it starts processing satellite signals so that it is ready to record its position when it takes off. It will refer to this take-off altitude as 0 m (0 ft) above take-off (m/ATO or ft/ATO). 8 see Readying your drone for the mission on page 72 36Flying the eXom

If all is well, a simple autonomous mission will go like this: 1. You power on the eXom and connect it to eMotion X. While it is powering on, it calculates its position using satellite positioning signals. 2. You click the TAKE OFF button in eMotion X. 3. The UAV takes off and calibrates its compass. 4. The UAV heads to the Start waypoint. 5. The UAV carries out its mission. 6. The drone heads to the Home waypoint. 7. The drone lands directly under the Home waypoint. The Start waypoint is therefore the first point that the drone goes to when it starts an autonomous flight.The Home waypoint is the point that the UAV will head to at the end of an autonomous mission. It is also the point it will head to if it encounters a problem during flight9. Unless you have moved it10, eMotion X will automatically place the Start waypoint 20 m (66 ft) directly above the take-off location. It will place the Home waypoint 10 m (33 ft) directly above the Start waypoint. Caution: Always make sure that your Home waypoint is well clear of the ground before flying. 

### Flying to the Home waypoint Whenever the eXom flies autonomously to the Home waypoint (for example, after a mission or if you click GO LAND): 9 see In-flight warnings on page 161 10 see How to move waypoints on the previous page 37Getting Started

If Home is higher

If Home is lower

• If Home is higher than the drone, it will first climb, then fly to Home. • If Home is lower than the drone, it will first fly to a point directly above Home, then descend.

38Flying the eXom



### Flying to the Start waypoint

When flying an autonomous mission, the eXom will fly in a straight line from the take-off location to the Start waypoint.Make sure there are no obstacles between the take-off location and the Start waypoint. If there are:

• Move the Start waypoint, for example, place it above the take-off location at the same altitude as the first mission waypoint.
• Place the Start waypoint near the drone, then create a Custom Route mission block to guide the drone to the mission. See Custom Route mission blocks on page 113 . 

### 5.5 About the communication link Your eXom must be in contact with eMotion X through the ground modem at all times. To maintain this connection the ground modem’s signal must be able to reach the eXom. You may occasionally lose the data connection between eMotionX and your eXom while in the field. Whether there is a loss in uplink or downlink communication, the drone will continue its mission and should re-establish the connection as it flies closer to the ground modem or changes direction. 39Getting Started

If the drone stops receiving messages from eMotion X for more than 30 s an inflight warning will be raised. If, for safety reasons you want the eXom to automatically return Home if this happens, activate that security action in the Mission panel’s Parameters tab. The strength of the connection between the drone and eMotion X is indicated in the Monitor tab. 

### Maintaining a good communication signal A straight line between the ground modem antenna and the drone is called the line of sight. For a strong ground modem signal to reach the drone, the line of sight, and a zone a few metres wide around the line of sight, must be clear of obstacles.

Tree too close to line of sight To prevent loss of contact with the drone:
• Position the ground modem above the ground, or any other surface by at least 1.6 m (5.2 ft). • Do not sit the ground modem on a metal surface such as the roof of a vehicle. • Bend the antennas at their hinge by 90° so that are vertical and parallel. • Do not position the modem with the antennas lined up along the line of sight. Instead, have them perpendicular to the line of sight: 40Flying the eXom

Note: The modem is equipped with a 1/4 inch screw mount and canbe attached to some models of camera tripod. senseFly can recommend the Manfrotto Nano Black stand, which comes with a 1/4 inch screw mount adapter. 

### 5.6 About lift generation As altitude and air temperature increase, air density decreases. The lower the air density, the more power the eXom must use to maintain its altitude. As the battery empties, the power that it makes available for flight also lowers. When flying horizontally, the drone is tilted, and in addition to countering thewind, some of its available thrust is being used to move the drone. It must therefore use more power to maintain altitudewhen tilted thanwhen flat and hovering. High wind causes the drone to use some available power to counter its effects. Caution: If the eXom detects that it is using nearly all available power to maintain altitude, it raises an Insufficient performance warning. Abort your mission, return home if possible and land your drone. Caution: High winds can cause your drone to lose altitude. If the eXom raises a Wind too strong warning, abort your mission, return home if possible and land your drone.

41Getting Started



### 5.7 About take-off Note: Carefully review the position of the Start and Home waypoints before taking off. See Aboutthe Startand Homewaypoints on page 36. Immediately after take-off the drone will climb to an altitude of approximately 1 m and turn around once to calibrate its compass. To allow it complete effectively, only manoeuvre11 during calibration if necessary. Caution: Be ready to abort the take-off in case of emergency. If there are mission blocks assigned to the drone, it pauses briefly then flies to the Start waypoint. Use the After take-off setting in the Mission panel’s Take-off and landing tab to tell the drone what to do next. You can tell the drone to:
• Don’t wait – immediately resume the assigned mission from where it left off Set After take-off to Resume mission . Missions that have never been flown will be started from the first waypoint. • Wait at the Start waypoint Set After take-off to Stay on Start Waypoint. • Don’t wait – immediately start the assigned mission from the first waypoint Set After take-off to Start Mission . Partially completed missions will be restarted from the first waypoint. If there are no mission blocks assigned, it pauses briefly then flies to the Start waypoint and waits there for your command. 11 only pitch and roll are available during calibration 42Flying the eXom

See Creating mapping products on page 63 for more information about missions and mission blocks. Caution: The drone’s ability to maintain its position in a hover depends on the conditions. There must be good lighting conditions and good satellite positioning signal reception. Be ready to take controlof the drone with the Controller or Remote Control, or land if necessary. 

### 5.8 Landing the eXom You can land the eXom in different ways, depending on the circumstances. 

### Landing after a completed autonomous mission Your eXom can land itself after an autonomous mission. Set the After mission options in the Mission ’s panel’s Take-off and landing tab to Land at Home Waypoint. 

### Landing after an interactive flight After an interactive flight, you can ask the drone to fly home and land autonomously, or you can pilot the drone to the landing location, then ask it to land. To fly home and land autonomously, click GO LAND on eMotion X’s control bar. Alternatively, position the drone above the place you want to land, then:

• Press the button (G) on the ScreenFly Controller.
• Rapidly click the LAND NOW button on eMotion X’s Control Bar three times (triple-click). 43Getting Started



### Abort autonomous mission, return to home and land If you need to abort an autonomous mission and land, click GO LAND on eMotion X’s control bar. The drone will immediately fly to the Home waypoint12, then descend vertically, land and power off its motors. 

### Land immediately at current location If you need the drone to land immediately without first returning to the Home waypoint, do one of the following:

• Rapidly click the LAND NOW button on eMotion X’s Control Bar three times (triple-click). • Press the button (G) on the ScreenFly Controller. • Switch on the Remote Control and pull back on the Take off/land slider. 

### Hands-on interactive landing If you need to, you can land the drone ’hands-on’, that is, pilot the drone down to the ground. Caution: Hands-on landings are not recommended. 1. Activate Interactive mode and pilot the drone to the ground using the ScreenFly Controller. 2. Once safely on the ground, press the button (G) on the ScreenFly Controller. After a short pause the motors will stop. 12 see About the Start and Home waypoints on page 36 44Flying the eXom



### Emergency landing If the drone encounters a critical failure, it will immediately start descending and land. You can influence the drone’s trajectory with the Controller and Remote Control, but you cannot abort the landing. It might not slow before reaching the ground. There is a risk of damage to the drone and collision with any objects or people that are directly under the drone. 

### Stopping the eXom’s propellers In some situations the eXom may not detect that it has landed. The propellers will continue to spin. This can happen when:

• The drone landed on a very soft surface • High winds forced the drone down to the ground • You piloted the drone ’hands-on’ down to the ground If this happens, in order to stop the propellers, first carry out one of the following:

• Rapidly click the LAND NOW button on eMotion X’s Control Bar three times (triple-click). • Press the button (G) on the ScreenFly Controller. • Switch on the Remote Control and pull back on the Take off/land slider. If, after 2 s, the propellers have not stopped, trigger a motor cut-off: 1. Power the Remote Control on by pressing its power button. After a short pause (approximately 1 s), the Remote Control will emit 5 rapid beeps to confirm that it has taken control of the drone. 45Getting Started

2. Press the left stick on the Remote Control down until it clicks and hold it for 1 s. The eXom’s motors stop. If, and only if the motor cut-off fails to stop the propellers, attempt with extreme caution to power the drone off using its power button. 

### 5.9 Powering the eXom off Wait for the propellers to stop spinning, and wait for eMotion X to finish copying the flight logs13, then press and hold the power button on the top of the eXom. After 1 s the eXom powers off. To reduce the risk of data corruption, only remove the SD card once the drone has powered off. Caution: Never attempt to power the drone off using its built-in power button while the propellers are spinning. If you need to stop the propellers, power on the Remote Control, allow it to connect to the drone, then press and hold the left stick14. Note: When you power the eXom off, its servos stop holding the head in position. When powered off and placed on a level surface, the eXom’s head will turn down (cameras pointing down) . This is normal and does not indicate a malfunction. 

### 5.10 How to remove the drone’s battery 1. Grip the battery release tabs and squeeze them together. 2. Pull the battery out. 13 a message appears in the Drone panel’s Monitor tab 46Flying the eXom

Caution: Never try to remove the battery while the propellers are spinning. If you need to stop the propellers, power on the Remote Control, allow it to connect to the drone, then press and hold the left stick14.

14 see Manual flight with the Remote Control on page 129 47Getting Started 

## 6 In-flight Monitoring You can monitor while in-flight through eMotion X using the map, video feeds, ultrasonic sensor readouts and the Drone panel’s Monitor tab. 

### 6.1 Choosing what to display in the Main Viewer

You can display either the head feed in the Main Viewer, or the map. The one that is not displayed in the Main Viewer appears in the Bottom Bar, if the bar is visible. To change the content of the Main Viewer:
• Click to select the map or select a head feed camera type using the toolbar buttons , , . • Double-click the Bottom Bar Viewer to swap between them. Note: To change the head feed in the Bottom Bar Viewer, first put the feed in the Main Viewer by double-clicking the Bottom Bar Viewer, change head feed, then swap them back.

48In-flight Monitoring



### 6.2 Selecting the head feed You can choose to display the following head camera feeds in the Main Viewer:
• Navcam feed Click to put the head navcam feed in the Main Viewer. • Main Camera feed Click to put the Main Camera feed in the Main Viewer. • Thermal camera feed Click to put the Thermal Camera feed in the Main Viewer. The feed is overlaid onto the Main Camera feed. 

### 6.3 About the head-up display A head-up display appears over the camera feeds. The head-up display changes according to the camera you are using.

The image above shows the head-up display you’ll see when using the head navcam. 49Getting Started



### How to read the head-up display
• Ground speed The ground speed is indicated in m/s (1 m/s is equal to 1.94 kts). Read the ground speed from the white box in the centre of the scale. For example, the ground speed indicated above is 0 m/s (0 kts). • Altitude The altitude above take-off (m/ATO or ft/ATO) is indicated. Read the altitude from the white box in the centre of the scale. For example, the altitude indicated above is 0 m (0 ft). • Head angle The scale indicates the angle (up/down) of the head. 0 ◦ indicates that the head is pointing straight forwards. Positive angles indicate that the head is pointing up. Negative angles indicate that the head is pointing down. • Bearing The scale indicates the compass bearing of the drone in degrees. 0 ◦ indicates that the UAV is pointing in the direction of magnetic north, 90 ◦ indicates the east, 180 ◦ the south and 270 ◦ the west. • Main camera field of view The dotted lines indicate the field of view of the main camera feed, which it currently displays. Note: If you have zoomed in with the main camera, the solid rectangle indicates the smaller field of view you see now with the maincamera. All photos captured with the main camera are, however, fullframe.

50In-flight Monitoring

• Camera settings The following main camera settings are shown, if space allows:

– Zoom level (for example, 1.0x)

– Exposure time(for example, 1/250s)

– Aperture (for example, F2.0)

– Camera sensitivity (for example, ISO 100) Note: Camera settings are given in the way that is standard for digitalcameras, that is, exposure is expressed as a fraction of a second, aperture is expressed as an f-number (the ratio of the lens focal length to the opening diameter) and sensitivity expressed according to the ISO 12232:2006 standard. 

### 6.4 Choosing a navcam
• Click the navcam button in the Bottom Bar for the navcam you want.
• Click the active navcam button again to switch all navcams off. This conserves drone-eMotion X bandwidth. 

### 6.5 About the ultrasonic sensors The eXom’s ultrasonic sensors detect the presence of objects within a series of cone-shaped beams. 2D representations of each of these beams appear in eMotion X’s Bottom Bar. Objects can be detected if they are between 0.6 m (2 ft) and a maximum of 6 m (20 ft) away. If there is an object within this range of distances,the beam slices, up to and including the one in which the object has been detected, turn red. 51Getting Started

Object detected 1.5 m away from the Bottom Sensor Module As you turn the eXom’s head up and down, the ultrasonic sensor also turns:

Head pointing forward Head pointing up

Head pointing downward Head pointing down

52In-flight Monitoring

Note: Ultrasonic sensors send out a beam of ultrasonic sound andpick up the reflections. They cannot detect objects that absorb or diffuse the ultrasonic beam. Soft surfaces such as polystyrene or foam or diffuse surfaces such as the leaves of a tree may not be detected by the sensors. 

### Choosing an ultrasonic sensor The ultrasonic sensors operate in the following modes:

• A single sensor beam is active, providing constant awareness in a certain direction. Use, for example, a beam pointing in the direction of the drone’s motion when it’s travelling at speed, or if you only anticipate obstacles on one side of the drone.
• Each sensor activates its beam in turn, providing overall awareness all around the drone. Use, for example, when the drone is manoeuvring in a space with potential obstacles all around. The eXom will automatically choose for you when:

• Flying an autonomous mission It uses the bottom sensor module for ground avoidance.
• When Distance Lock is active It uses the head sensor module to monitor the distance.
• When taking off and landing It uses the bottom sensor module to guide itself. 53Getting Started



### How to choose a single ultrasonic sensor In the Bottom Bar, click the beam you want to activate. 

### How to cycle the ultrasonic sensors In the Bottom Bar, click either of the drone images ( or ) in the centre of the sensor feedback panel. Each sensor will pulse its ultrasonic beam in turn, giving you general awareness of the drone’s surroundings. It takes about 1 s to complete each beam pulse cycle. 

### 6.6 About the background & custom maps You can select the background map source from the pull-down menu on the Toolbar. eMotion X can use different sources of commercially available webmaps, but also custom maps. Tiles from map sources with the icon can be downloaded by eMotion X from the internet as required and locally cached on the hard drive. Map sourceswith the icon cannot be saved locally due to regulatory restrictions and are therefore not recommended for use in the field. 

### 6.7 Navigating around the map Panning and zooming Use one of the following:

• Click on the toolbar to zoom in. Click to zoom out.
• Place your mouse pointer on the map. Roll the scrollwheel up to zoom in and down to zoom out. 54In-flight Monitoring

• Place your mouse pointer on the map then press and hold the right-click button. Move the mouse up to zoom out, down to zoom in.
• Double-click to zoom in, right double-click to zoom out. 

### Moving around the map
• Click and drag map to move it around.
• Place your mouse pointer on the map. Roll the scrollwheel up to zoom in and down to zoom out.
• Place your mouse pointer on the map then press and hold the right-click button. Move the mouse up to zoom in, down to zoom out. 

### Tilting and turning the map Activate 3D mode using the button, then:

• Place your mouse pointer on the map and click and drag with the middle mouse button.
• Press and hold the Shift key on your keyboard then click and drag on the map with your mouse. Move the mouse up to tilt the map down (move your vantage point down). Move your mouse down to tilt the map up. Move the mouse right to turn the map anticlockwise, left to turn it clockwise. Note: If viewing the map in 2D, you cannot rotate the map. North is always towards the top of the map.

55Getting Started



### Finding the drone on the map Click on the Toolbar to centre the map on the drone. 

### Locking the map onto the drone Click to lock the centre of the map onto the drone. When activated, you can zoom in and out, but cannot move around the map.

56Processing 

## 7 Processing Goal of this section: In this section you will learn how to obtain and treat the photos, videos and flight data that your eXom captured. You’ll also learn to create basic mapping products directly in the field so that you can immediately gauge the quality of the photos you gathered. 

### 7.1 Obtaining your photos, videos and flight data After completing a flight, use eMotionX to import and treat the raw photos, videos and log files, readying them use and for processing with Postflight Terra 3D. You will: 1. Tell eMotion X which flight you want to treat. 2. Create a project folder into which eMotion X will create the treated files. 3. Tell eMotion X where to look for the photos, videos and log files. 4. Check that the photos, videos and logs it found are the ones you want. 5. Choose the type of output you want. 6. Import and treat the files. During its flight, the eXom records flight data in a special Drone Flight Log file (.bbx), stored on the SD card. In it, the UAV logs important information such as sensor data, control inputs and its location. 57Getting Started

A similar file, the eMotion X Flight Log (.efl)15, is also created by eMotion X during a flight. This serves as a backup in case the Drone Flight Log file cannot be recovered. Use eMotion X’s Flight Data Manager to obtain, consolidate and treat the data generated during a mapping mission. Note: The raw photos and videos that the eXom has captured are not optimised for viewing or for use in Postflight Terra 3D. senseFly recommends importing and treating all eXom data with the Flight Data Manager. Caution: After a flight, always wait for eMotion X to finish copying the flight logs, then power off the drone before removing the SD card. A message in the Drone panel’s Monitor tab tells you when copying is complete. 

### How To launch the Flight Data Manager
• Select Flight Data Manager in the Connect dialog when you launch eMotion X. • Click on the Toolbar and choose Flight Data Manager.... 

### How to import and treat photos, videos and data from the UAV

• Step 1 - Prepare for the data import Power off the eXom, remove its SD card and insert it into your computer. All photos, videos and flight logs are saved on this SD card. 15 If there is an issue with your eXom, both flight logs will be needed for technical support. See Reporting a problem with your eXom on page 174 58Processing

• Step 2a - Select a flight If you haven’t already, launch the flight data manager.If the flight was monitored from the computer onto which you are importing UAV photos and data, it will have been logged in the flight database on that computer. Select the date on which the flight took place. A list of flights (including number of photos taken) that were monitored using that computer, on that date, appears in the pull-down menu below the calendar. Choose the one you wish to treat. • Step 2b - Create a project folder Choose a folder name that uniquely identifies your flight (e.g. the date, the name of the area, etc.). • Step 3 - Load the flight logs eMotion X’s Flight Data Manager will automatically locate the correct flight log (.bbx) on the SD card. The flight trajectory appears in the Map View. This flight log as well as the log from eMotion X are copied to the project folder. • Step 4 - Load the photos eMotion X will automatically locate the photos and videos (they are stored in the DCIM folder on the SD card). If it does not, or if you have copied or moved them, choose Select folder... and Browse to their location. On the SD card, they are in a folder named with the ID of the flight log you imported. • Step 5 - Review the import eMotion X’s Flight Data Manager shows the number of photos and videos it will import into the project folder. • Step 6 - Select outputs The Flight Data Manager can compress (zip) your raw (.dng) photos and also create JPEG format versions of them. 59Getting Started

– With Compress raw (.dng) images unchecked, your raw photos will be imported, but not compressed (zipped).

– With Convert raw (.dng) images to JPEG unchecked, JPEG versions of your photos will not be created. If you wish to process your photos with Postflight Terra 3D, you must create the JPEGs in some other way. Choose the actions to execute and outputs to create:

– The eXom automatically geotags its photos in flight. The option to Write geotags in image files is therefore disabled for photos captured by the eXom.

– Check Create text file with image positions (geoinfo) and choose a file format if you wish to export a geoinfo file. This file contains latitude, longitude, altitude (AMSL and WGS 84), heading, pitch and roll values for each photo captured.

– Only uncheck Create Postflight Terra 3D project if you do not want to create a Postflight Terra 3D project.

– Only uncheck Create KML flight trajectory if you do not want to create a 3D flight trajectory. Click Next to execute the import and treatment you have set up. • Step 7 - Finish off and tidy up All your results are now in the project folder and you are ready to open the project in Postflight Terra 3D for further processing. Use your computer’s Eject function to eject the SD card before removing the card. 

### 7.2 In-field quality check Postflight Terra 3D software16, available as a free download with the eXom package, can be used to rapidly create a Quality Report directly in the field. The Quality 16 powered by Pix4D; see Installing the software on page 2 for installation instructions 60Processing

Report that is automatically generated provides immediate feedback on the quality of the dataset. First, use your flight data to create a new project in Postflight Terra 3D After importing your data in the Flight Data Manager, click Open Postflight Terra 3D project. Postflight Terra 3D will launch and the position of your photos will appear as red dots in the Map Area of Postflight Terra 3D’s main window.

Next, create the Quality Report 1. Choose Local Processing from Postflight Terra 3D’s Process menu or click on the Toolbar. 2. In the Local Processing panel, select only the Initial project processing checkbox and the Rapid Check radial button. Click Start to begin rapid processing. 61Getting Started

Postflight Terra 3D will now process the data and produce a report that includes the overall completeness and georeference quality of the photos taken during your last mission. You can use this information to decide whether further imaging flights are required while you are still in the field. The quality report will launch in a new window. Click on the Toolbar if it does not appear. 

### 7.3 Creating mapping products Beyond Quality Reports and low-resolution orthomosaics, Postflight Terra 3D can generate georeferenced high-resolution 2D orthomosaics, 3D point clouds, 3D Meshes, DSMs and export these results to common third-party software formats. Ground Control Points(GCP) can be added to add absolute accuracy to the project. Postflight Terra 3D also includes a mosaic and a rayCloud editor, which not only provide measuring tools, but also give you control over the quality of your final mapping products.Furthermore the resulting orthomosaic and DSM may then be imported as custom background map and elevation data layer in eMotion X17. This data can be used for advanced flight planning in complex or uneven terrain. Note: You need to either enable tile set generation OR choose Generate Google Maps Tiles and KML from the Process menu before you can push the tileset into eMotion X by choosing Send Map to eMotion from the Process menu . Alternatively, this data can be imported into eMotion X; choose Import custom map from eMotion X’s File menu. Note: The best way to learn how to use the various features of Postflight Terra 3D is to look at the comprehensive online Knowledge Base within my.senseFly18.

17 see Using custom map sources on page 104 for more information on importing layers into eMotion X 18 http://my.sensefly.com 62

## Part II



# Your first autonomous mapping

mission
Goal of this section: This section introduces the autonomous mission planning features of eMotion X and describes the steps required to plan a simple mapping flight.

Note: We recommend that you perform your first mission in a largeobstacle-free area and limit the length of the mission in order to familiarise yourself with the eXom in flight.Your first autonomous mapping mission 

## 8 Autonomous missions If you want your eXom to fly all or part of its flight autonomously, you must assign it one or more mission blocks.To create a mapping flight for the systematic coverage of an area, use the automatic mission planning feature of eMotion X. Create a polygon covering the area you would like to map and eMotion X will generate a mission plan optimised for the ground resolution you want. An eXom mission is made up of a series of blocks. Each block contains a series of waypoints. A mission is shown on the map in the Main Viewer using:

• In 2D, circles to represent waypoints.

• In 3D, vertical lines to represent the altitude of the drone with inverted cones to represent the waypoint itself.You can only plan one mission at a time. A mission can be made up of many mission blocks. Each block can have a different purpose . A mission might include, forexample, several blocks to study some structures or points of interest, a horizontal mapping block to gather mapping data of the surrounding area and a series of custom routes to guide the drone between them. When they are ready, you assign mission blocks to your drone . This transfers the waypoints, through the ground modem connection, to the drone’s autopilot, then keeps them synchronised if you make a change. During an autonomous flight the eXom will control its flight autonomously from take-off to landing and you do not need to use the control bar. It can however be useful in unexpected situations, for example, press HOLD and the drone will temporarily hold position or press GO TO HOME to send the drone to the Home waypoint, or GO TO START to send it to the Start waypoint. 64Autonomous missions



### 8.1 Opening, creating and saving missions When you save a mission, you save the entire mission, including:

• All the mission blocks, all their parameters and any waypoints. • How much of each mission block had been completed. • The Transition parameters that were set. • The security actions that were enabled or disabled when you saved the mission. • The mission footprints. Missions are also saved automatically just after you make a change. Missions are saved with the mission’s name as .mis files in a missions folder within your Data Folder. 

### How to create a new mission First, get eMotion X ready for mission planning... 1. Click > to open up the Mission panel on the left-hand side of eMotion X. 2. Locate on the map the place where you want to fly your mission. Note: You can use the button on the toolbar to find places on the map by name or coordinate. Next, choose how you want to create the mission... 18 A folder called eMotion within your Windows Documents folder, unless you have changed it (see About eMotion X

’s data folder on page 107). 65Your first autonomous mapping mission



### Create from scratch 1. Choose Mission New from the File menu. A new, empty mission called My mission is created. 2. Choose Mission Rename... from the File menu to change the name and prevent overwriting of a saved mission. 

### Create using a saved mission as a template 1. Choose Mission New from saved... from the File menu. The new mission (called My mission) will have all of the saved mission’s blocks and their properties. 2. Choose Mission Rename... from the File menu to change the name and prevent overwriting of a saved mission. Note: You can only have one mission open at a time. Creating a new mission clears the current mission. 

### How to open a saved mission Choose Mission Open... from the File menu. The saved mission will open and restore the progress made at the moment the mission was saved. Note: Use New from saved... to open the mission without restoring the progress made.

66Autonomous missions



### How to rename a mission Choose Mission Rename... from the File menu. 

### 8.2 About mission blocks There are different types of mission blocks:

• Horizontal Mapping Define a mission area and eMotion X will automatically set out the waypoints and flight lines. See Autonomous mission example: Horizontal Mapping on page 69. • Around POI (point of interest) Identify a point of interest and have the drone fly around it capturing the object in detail from different angles. See Around POI (point of interest) mission blocks on page 110. • Custom route Create waypoints and edit their position, properties and actions to define your own mission profile. See Custom Route mission blocks on page 113 . 

### 8.3 How to create mission blocks To create Horizontal Mapping and Around POI mission blocks... 1. In the Mission planning tab in the Mission panel, click the mission’s name. 2. Click Add block and choose the type of block you want. 3. On the map, click where you want to place the mission block.

67Your first autonomous mapping mission

Your mission block will appear on the map at the location you clicked. If you are creating a Custom Route, you don’t click on the map to place the block. Instead, you’ll click on the map to place each waypoint. 

### How to view mission block details Within the mission explorer: 1. Click the mission’s name to move to the top level of the mission explorer. 2. Click . 3. Choose the block you want to view. Within the block list: 1. Click the mission to move to the top level in the mission explorer. 2. Double-click the block itself, or click . 

### How to edit mission block properties 1. Double-click the block, or click to view the block details. 2. Click to edit the block. 3. Rename the block, adjust the ground resolution and other mapping parameters in the Mission Planning tab to suit your terrain and quality requirements. 4. Click again to finish editing the block. 

### How to reorder mission blocks 1. Click the mission to move to the top level in the mission explorer. 2. Click and drag the mission blocks up and down to change their order. 68Autonomous missions



### How to remove a mission block 1. Click , or double-click the block to expand it. 2. Click Remove. 

### 8.4 Autonomous mission example: Horizontal Mapping

Use Horizontal Mapping mission blocks to fly your eXom over extended areas to create aerial maps. Create a polygon that defines the area you want to map, set the ground sampling distance (GSD) you want and eMotion X will automatically create the mission waypoints. You can set the following properties:
• Description The name you have given to the block. • Camera The Main Camera resolution that will be used. • Plan above Choose the reference above which you want eMotion X to set the drone’s altitude. • Resolution The size, on the ground, you want the finest distinguishable detail in the photos to be (the ground resolution). 69Your first autonomous mapping mission

• Overlap The percentage you want one photo to overlap the next. • Reverse flight If left unchecked, eMotion X sends the drone to the farthest waypoint in the mission block first. If checked, the drone will begin the mission nearby and finish far away19. eMotion X displays the following results:
• Area The area covered by the mission. • AltitudeThe altitude at which the drone will fly in order to achieve the ground resolution you set. • Number of photos The number of photos needed to complete the block. • Flight time The estimated time needed to complete the block. • Flight distance The estimated distance the drone needs to fly to complete the block. Note: Ground resolution is directly linked to the flight altitude: a higher resolution (fewer cm/px or in/px) requires a lower altitude, a lower resolution (more cm/px or in/px) requires a higher one. Note: For most mapping purposes, between 60% and 80% overlap is usually required. Higher overlap values may increase the mapping quality, but will also increase flight duration for the same area.
19 Ensure that there is enough battery power to return to Home at the end of the mission. 70Autonomous missions

Note: When you create a mapping mission block, its waypoints’ altitudes are automatically set. After assigning the block to a drone, you can change the altitude of a waypoint20. If, however, you then move the mission polygon, or change the ground resolution, all waypoint altitudes will be reset to the initial altitude. Note: Because there is less image overlap around the edges of a mapping mission, eMotion X automatically adds flight lines the extendbeyond the mission polygon to ensure complete coverage and therefore high quality results over the actual project area. 

### How to create a Horizontal Mapping mission block First, locate on the map the zone you want to map. Next, add a Mapping mission block to your mission. See How to create mission blocks on page 67 and click on the map where you want to place it. A mission polygon, including the required waypoints, is automatically calculated and displays on the map. The waypoints are placed so that the GSD is 1 cm (0.4 in) per pixel. As you adjust the polygon, eMotion X recalculates the waypoints. To adjust the shape of the mission polygon, select it then... 1. Click and drag the corners ( ) of the polygon to adjust its size and shape. 2. Click and drag the middle ( ) of the polygon to move it. 3. Click just inside the edge of the polygon to add a new corner. 4. Right-click a corner ( ) to remove it.

20 see How to move waypoints on page 36 71Your first autonomous mapping mission

To adjust the orientation of the flight lines...
• If you need to, click and drag a corner ( ) of the polygon to move it out of the way. • Click and drag one of the orientation handles ( ). • Return the corner ( ) to its original position if you need to. To move individual waypoints, see How to move waypoints on page 36. Caution: Neither eMotion X nor its automatic mission planning toolare aware of obstacles in the area. They cannot tell if there are differences between the elevation data and the real world. They are notaware of any legal restrictions (such as minimum or maximum altitude) that may apply in your region. The resulting flight plan shouldbe carefully reviewed in order to avoid any collision with uneven terrain or tall objects such as buildings, and to comply with local regulations. Once your mission block is complete, you can assign it to a drone. 

### 8.5 Readying your drone for the mission Once you have completed your mission blocks it’s time to assign them to a drone. Power on and connect your eXom to eMotion X. When you assign the mission blocks you want to fly to your drone, they are copied to the drone’s autopilot through the ground modem connection. Once assigned, the block’swaypoints change colour in eMotionX, and any change you make to a waypoint is immediately transmitted to the drone. 

### How to assign mission blocks to a drone 1. Power on and connect your drone to eMotion X. 72Autonomous missions

2. In the Mission planning tab, click the mission to view its blocks. 3. Click the coloured Assign button on the blocks you want to assign. The button background turns dark grey for assigned blocks. The coloured symbol also appears in the block details when a block has been assigned. Caution: Always carefully review the flight plan before take-off to ensure that there is sufficient clearance between the flight plan and the ground. Click on the Toolbar to to toggle 3D mode on and off. We recommended that you double-check waypoint AMSL altitudes with respect to another source of elevation data. 

### How to unassign mission blocks from a drone 1. Click the coloured Assign button again to unassign a block. 

### How to take off and start your mission Once you’ve planned your mission and the eXom’s status LED is solid green your drone is ready to take off.

• Click TAKE OFF on the Control Bar. • Allow the drone to take off and calibrate its compass (it spins around once). • Allow the drone to fly to the Start waypoint. • If needed, click START MISSION . After take-off, the drone switches into waypoint navigation mode and flies to the Start waypoint. 73Your first autonomous mapping mission

Caution: Keep clear of the drone during take-off. Caution: Be ready to abort the take-off by triple-clicking LAND NOWon the Control Bar. If the drone doesn’t automatically stop its propellers after landing, power on the Remote Control then press and hold the left-hand stick. Do not do this if the drone is in the air. Caution: Never attempt a hand-held take-off. Note: If the drone detects an issue that prevents take-off or makes take-off dangerous or unwise, it will raise a take-off veto. A message will appear in the Status panel in eMotion X and the drone’s status LED will shine red. Take-off vetoes on page 160 describes the possible take-off veto messages and the user action that should be taken to remove them. 

### 8.6 After the mission Use the After mission setting in the Mission panel’s Take-off and landing tab to tell the drone what to do at the end of a mission. You can tell the drone to:

• Return to the Home waypoint and land21 Set After mission to Land at Home waypoint. • Return to the Home waypoint and wait there Set After mission to Go to Home waypoint. 21 this is the default action 74Autonomous missions

• Go to the Start waypoint and wait Set After mission to Go to Start waypoint. • Wait at the last waypoint in the mission Set After mission to Stay on Mission . 

### How to land after a mission If After mission in the Mission ’s panel’s Take-off and landing tab is set to Land at Home waypoint, the drone will return to the Home waypoint and automatically initiate a landing sequence. If After mission is not set to Land at Home waypoint, click GO LAND on eMotion X’s Control Bar. Once on the ground, the propellers will stop. The vision sensors must have sufficient light and texture to accurately detect the drone’s height above the ground. Ensure that the sensors are clear of dirt or other obstructions. Allow eMotion X to finish copying the flight logs and power the eXom off before removing the SD card. Remove the battery from the drone before picking it up. Note: We recommend you import the photos and flight data straight away after each flight (see Obtaining your photos, videos and flight data on page 57), before putting the eXom back in its case for storage.

75

## Part III



# Your first interactive ScreenFly flight
Goal of this section: This section introduces interactive flight with the ScreenFly Controller.Your first interactive ScreenFly flight 

## 9 The ScreenFly Controller With the ScreenFly Controller you send commands to the drone through eMotion X. The drone’s autopilot interprets flight commands and moves as instructed, all while maintaining stable flight. Use eMotion X and the ScreenFly Controller to direct the cameras on the eXom’s TripleView Head towards the object you want to film, photograph or inspect. Use the buttons on the controller to select a navcam, activate and deactivate the automatic photo trigger or take photos as needed. Connect the ScreenFly Controller to the USB port on a computer with eMotion X installed.

Note: This section describes the controller with its controls set as supplied, to mode II. See Controller and Remote Control command modes on page 139. Caution: Use of a controller other than the one supplied with your eXom is not recommended.

78∗Pressing this button swaps the functions on the left-hand controllers. While active, the LED shines red.If you press it by accident, press it again to swap back – the LED will switch off.The ScreenFly Controller

The following button index will be used in the next section:

81Your first interactive ScreenFly flight



### 9.1 How to activate and deactivate the ScreenFly Controller
• Press button C in the centre of the ScreenFly Controller. • In eMotion X, click INTERACTIVE on the Control Bar. If your drone is in the air when you activate the ScreenFly Controller, it hovers and waits for a command. If your drone is flying autonomously when you activate the controller, it pausesits autonomous mission and hovers, waiting for a command. If you later deactivate the controller while the drone is in the air, you can resume the incomplete autonomous mission by clicking RESUME MISSION on the control bar. If you deactivate the controller while flying interactively, it will hover, awaiting a command.

82Flying the eXom interactively with ScreenFly



## 10 Flying the eXom interactively with ScreenFly You can use the controller to approach the target of your inspection and once in position, zoom in and out, fly around the target, cruise along or across the target, capturing video or photos. You can use eMotion X to recentre the video feed on objects of interest. Click and hold on the video feed to activate the on-screen controller and drag the pointer to pan around – the head will automatically move up and down and the drone will turn, all while remaining stable in the air.

Note: A flight direction stated here is relative to the drone itself. Note: This section describes the Controller with its controls set as supplied, to mode II. See Controller and Remote Control command modes on page 139. 

### 10.1 How to take off using ScreenFly
• Press the button (G) on the ScreenFly Controller. • In eMotion X, click TAKE OFF on the Control Bar. Caution: Be ready to abort the take-off by pressing the button again.

83Your first interactive ScreenFly flight



### 10.2 How to land using ScreenFly With your eXom positioned over the landing location, press the button (G) on the ScreenFly Controller and the eXom will land. You have the following options in eMotion X: • Click GO LAND on the Control Bar. The drone will head first to the Home waypoint, then land. • Triple-click LAND NOW on the Control Bar. The drone will immediately initiate a landing. 

### 10.3 How to flyleft, right, forward and backward with ScreenFly Use the right-hand joystick (E) on the ScreenFly Controller22. The drone will pitch according to the direction you move the joystick:
• Push up to fly forward. • Pull down to fly backward. • Push right to fly to the right. • Push left to fly to the left. 

### 10.4 How to turn the drone using ScreenFly Use the left-hand joystick (D) on the ScreenFly Controller22. The drone will turn (yaw) in the direction you push the joystick:
• Push right to turn to the right. • Push left to turn to the left. 22 with controls set to mode II. See Controller and Remote Control command modes on page 139 84Flying the eXom interactively with ScreenFly



### 10.5 How to climb and descend using ScreenFly Use the left-hand joystick (D) on the ScreenFly Controller22. The drone will move according to the direction you push the joystick:
• Push up to climb. • Pull down to descend. Caution: Do not press button I. It swaps the functions on the lefthand controllers. If you accidentally press button I and the LED on the controller shines red, press button I again. 

### 10.6 How to hover using ScreenFly Release the joysticks. The eXom will automatically maintain its position and hover. 

### 10.7 How to set a constant speed (cruise)
• Press SHIFT (H) + the controller (F or ) in the direction in which you want to cruise (up, down, left or right). You do not need to hold SHIFT or hold the controller direction to continue cruising. • To stop cruising, press the SHIFT button (H) again. • To change direction, first stop cruising, then start cruising again in another direction. 

### How to change cruise speed In the drone’s Parameters tab set the Cruise control speed in the Assistance section. 85Your first interactive ScreenFly flight



### 10.8 About Distance Lock You can ask the eXom to maintain a set distance, between 2 m (6 ft) and 5 m (16 ft), from a vertical surface. You can then move the drone up, down and across the surface. Set the required distance in the Drone Parameters tab. When switched on, the eXom’s head points forward (0 ◦ ) and only the head ultrasonic sensor is used. You cannot use other sensors without switching Distance Lock off. You can temporarily move away from the surface using the right-hand joystick on the Controller. When you release the joystick the drone will return to the Distance Lock distance. Surfaces must be hard, solid and continuousfor Distance Lock towork. You cannot lock onto, for example, trees, open fences or open steel lattices. Caution: Do not forget to switch distance lock off when you are finished. If you don’t, it may unexpectedly lock onto the next object that passes in front of the drone. Caution: To prevent collision, move the drone away from the surface before deactivating Distance Lock. If GNSS is poor, the drone might drift towards the surface. 

### How to maintain a fixed distance from a vertical surface First, set the distance you want the drone to maintain. In the drone’s Parameters tab set the Distance lock distance in the Assistance section. Press button B to switch Distance Lock on. Press button B again to switch Distance Lock off again.

86Capturing photos and video



## 11 Capturing photos and video During an automated mapping mission, photos are automatically captured by thedrone. When flying interactively, you have control over the photos and video captured. Note: The zoom level or the use of a navcam feed do not affect captured photo resolution. All photos are captured using the full frame of the selected camera. Note: If you are viewing or capturing video, there will be short break in the video feed each time a photo is captured. 

### 11.1 How to capture single photos
• With your right hand, press – the upper button on the back of the controller (K). • In eMotion X, click to capture a single photo. 

### 11.2 Automatically capturing photos The eXom can automatically capture a photo every few seconds. 

### How to activate automatic photo capture
• With your left hand, long press – the upper button on the back of the controller (J) to start or stop photo capture. • In eMotionX, click to start automatically capturing photos. Click again to stop. 87Your first interactive ScreenFly flight



### How to set the interval between photos In your drone’s Camera tab in eMotion X, move the slider to change the Autotrigger interval . 

### 11.3 Focussing the eXom’s Main Camera The eXom will automatically focus the Main camera at the beginning of each line in a mapping mission and before the first photo you capture on an interactive flight. While flying interactively, you can ask it to focus on the current subject at any time.The Main Camera always zooms fully in to the centre of the feed to focus. It focusses on a region in the centre (50 % of the zoomed-in image). It then zooms out again. The Main Camera has a large depth of field. Objects more than approximately 4 m from the camera are already at infinity. Focussing once at the beginning of the flight is often enough to ensure good focus throughout an interactive mission. You may however need to trigger the autofocus from time to time during a flight if less than 4 m from the subject or to correct focus changes caused by changing temperature. 

### How to use the Main Camera’s autofocus To focus on the object at the centre of the feed:

• With your right hand, long press – the upper button on the back of the controller (K). • In eMotion X, click on the Toolbar. The camera will zoom in, focus, then zoom out again. To focus on an object that is not at the centre: 88Capturing photos and video

• Using your mouse’s scrollwheel, zoom in on the object. • Click to focus on the object. • If you need to, zoom out again. The Main Camera’s focus will not change as you zoom back out. 

### 11.4 Focussing the navcams and Thermal Camera The eXom’s navcams use wide-angle lenses with a large depth of field and do not require focussing. The thermal camera used on the eXom uses a focus-free design. Objects more than 0.5 m (1.6 ft) away will be in focus. 

### 11.5 Recording video You can record video from the eXom’s Main and Thermal cameras. The eXom records the camera feed that is in the Main Viewer when you clicked . If you change the feed while recording, the new feed is recorded. Note: You cannot continue to use the camera feed you are recording. If you start recording while viewing a feed, the view freezes. Switch to the navcam to navigate. 

### How to start and stop video recording First, choose the camera with which you want to record a video:

• Choose the Main Camera or Head navcam on the Toolbar if you want to record the Main Camera feed. • Choose if you want to record the Thermal Camera feed. 89Your first interactive ScreenFly flight

Next, start recording: • With your left hand, press – the upper button on the back of the controller (J). • In eMotion X, click to start video recording. Click again to stop. Note: If you start recording while viewing the head navcam feed, the eXom will record the Main Camera feed. Note: If you switch the Main Viewer to Main Camera or Head navcam while recording the Thermal camera feed, thermal feed recording will stop and you will record only the Main Camera feed. To continue navigating using the view from the eXom’s head while recording the thermal feed, switch to the Head navcam feed in the Bottom Bar. Note: In recorded thermal video, the lower-resolution thermal camera feed is overlaid onto the Main Camera feed. 

### 11.6 How to turn on the Headlamp Click the Turn ON button under Headlamp on the drone’s Camera tab. 

### 11.7 About the Main Camera zoom You can zoom in up to 6 x using the Main Camera. The eXom’s Main Camera uses digital zoom, however, since its resolution is considerably higher than most computer screens, it does not create a zoomed image by enlarging part of the full image. 90Capturing photos and video

Instead, unless fully zoomed in, each pixel on your computer’s screen represents several Main Camera pixels. It is only when fully zoomed in, that each pixel on your computer’s screen represents a single Main Camera pixel. 

### How to zoom in and out with the Main Camera Using the controller: 1. Press the blue button (X) until you see the Main Camera feed in eMotion X. 2. Press the yellow button (Y) on the controller to zoom in. Press the green button (A) to zoom out. From within eMotion X, first click to activate the Main Camera feed. You can then, zoom in and out in the following ways:
• Click to zoom in on the centre of the feed. Click to zoom out. • If you have a mouse with a scrollwheel, place the mouse pointer where you want to zoom. Roll the scrollwheel away from you to zoom in and towards you to zoom out. Note: You cannot zoom with the navcams or Thermal Camera. Note: When you take a photo or record video, the eXom always uses the full extent of the camera’s sensor, not the zoomed-in view. 

### 11.8 How to move the eXom’s cameras When flying interactively, you can move the eXom’s head cameras, moving the field of view, in several ways: 91Your first interactive ScreenFly flight



### Moving the head cameras using the ScreenFly Controller
• To turn the head up, with your right hand, press – the lower button on the back of the controller (M).
• To turn the head down, with your left hand, press – the lower button on back of the controller (L).
• To turn the camera to the left or right, turn the eXom by pushing the left stick on the controller (D) to the left or right.
• To pan the camera to the left or right, fly the drone in that direction. Push the right stick on the controller (E) to the left or right. Note: You can also use the eXom’s Cruise capability to pan across an object, capturing photos or video. 

### Moving the camera using eMotion X With a camera feed in the Main or Bottom Bar Viewer, click and hold your mouse pointer on the video feed. An on-screen controller will appear.

• Drag the mouse pointer up to move the head up, down to move the head down.
• Drag the mouse pointer to the left and the drone will turn to the left. Drag it to the right and the drone will turn to the right. The further your mouse pointer is from the centre of the on-screen controller, the faster the head or drone will turn. 92Capturing photos and video



### 11.9 About the Thermal Camera feed

• Spot temperature The temperature of the object at the centre spot in the Thermal Camera feed. • Temperature scale The range of colours that appear in the feed. The temperature at each end of the colour range is shown in figures. 

### 11.10 Temperatures in the Thermal Camera feed Temperatures are represented by a colour scale, as shown alongside the Thermal Camera feed. Unless you lock it, the eXom automatically adjusts the feed’s colour scale so that it ranges from the coldest to the hottest object in the scene23. As the scene in the feed changes, the eXom continuously adjusts the colour scale.If you lock the scale on a certain scene, the colour that represents a certain temperature no longer changes as the scene changes. With the scale locked, you can adjust the colour range: 23 within the resolution limits of the camera 93Your first interactive ScreenFly flight

• Make the range of temperatures covered by the colour scale larger or smaller. • Raise or lower the set of temperatures covered by the scale. 

### How to lock the temperature range to the scene Click Lock thermal scale on the Toolbar. Click again to unlock. 

### How to adjust the temperature range Vary the range using the Contrast and Brightness sliders on the drone’s Camera tab.
• To change the size of the temperature range covered by the scale, use the Contrast slider. A higher contrast means that the colour scale represents a smaller range of temperatures. • To raise or lower the set of temperatures that the colours represent, use the Brightness slider. 

### 11.11 Thermal Camera calibration During use, especially if the temperature of the drone changes significantly (for example, it was stored in a cool place and is flying in a hot place) the temperature scale can change and needs re-calibration. The eXom’s Thermal Camera automatically calibrates itself when the drone is powered on. You can also trigger a calibration at any time when flying interactively, or ask the drone to hold and trigger it during an autonomous mission. During calibration, the head turns back on itself so that the camera is pointed at a calibration target of known temperature on the eXom’s body. Note: Different materials emit infra-red light differently. This can affect the way they appear in the Thermal Camera feed.
94

### How to trigger Thermal Camera calibration

If flying interactively, click on eMotion X’s Toolbar. Note: You cannot calibrate the camera when Distance Lock is active. During an autonomous mission: 1. Click HOLD on eMotion X’s Control Bar. 2. Click on eMotion X’s Toolbar.

# Extended guide to the eXom

## Part IV



# Extended guide to eMotion X 12 eMotion X’s Monitor tab 12.1 About the Monitor tab Click the Monitor tab on the Drone panel to monitor your drone during its flight. Drone Status What your drone is currently doing and any messages or active warnings24 are shown here. Note: Important status and warning messages also appear in the Status Panel on the map, remaining visible when the Drone panel’s Monitor tab is hidden. Autonomy
• Battery (voltage) Shows battery charge level (and voltage). Note: As charge level decreases, voltage will also decrease. A fully charged battery has a voltage of 12.6 V. A voltage of approximately 9 V indicates that the battery is fully discharged25. 24 see Troubleshooting on page 160Extended guide to eMotion X

• Flight time Current flight’s duration so far.
• Home distance The straight-line distance to the Home waypoint. • Link quality Ground modem radio data link quality. Caution: Lithium polymer batteries are chemical devices whose performance depends on a number of parameters, including temperature, lifetime, number of cycles, mechanical integrity, etc. The remaining capacity shown in eMotion X may therefore be inaccurate. It is the operator’s responsibility to monitor battery voltage and flight time in addition to the battery level to make sure that endurance is sufficient to complete the mission. Flight data

• Ground speed Your drone’s speed relative to the ground. • Altitude Your drone’s altitude above mean sea level (AMSL). • Latitude Longitude Your drone’s absolute position as reported by its on-board GNSS receiver.

25 see The eXom ’s battery on page 30 98Extended guide to eMotion X

Instruments
• Temperature The warmest part of the drone, and that component’s temperature: Electronics The main circuit board Processor The main CPU Motor The motor controller (LLAP) Battery The battery IMU The inertial measurement unit Magnetometer The compass Barometer The barometer The symbol changes colour and a warning is raised if the temperature gets too high. Air: The ambient temperature.
• GNSS Satellites: The number of satellites from which your drone’s GNSS receiver is receiving signals (and the average signal to noise ratio in dB/Hz). Accuracy: The amount of error you should expect in the drone’s reported absolute position. Mode: The current GNSS receiver mode. 

### 12.2 How to change units eMotion X can display lengths and measurements in metric or imperial units. To switch units: 1. Choose Preferences from the File menu. 2. Choose the Local preferences panel and select the Unit system . 99Extended guide to eMotion X



### 12.3 3D mapping in eMotion X eMotion X is supplied with Improved SRTM elevation data and uses this elevation data to display the map in 3D. Note: Improved SRTM elevation data uses a 3 arc-second (approx. 90 m resolution) digital elevation model derived from the SRTM (Shuttle Radar Topography Mission) dataset version 2.1 combined with other data sources (ASTER GDEM, SRTM30, cartographic data, etc.). This data covers nearly all emerged land except the territories below 56 ◦ S latitude and the territory of the Russian Federation above 60 ◦ N latitude. Caution: The supplied elevation data may contain inaccuracies ofseveral meters, and does not contain data on obstacles such as buildings or trees. We highly recommend that you check your flight plan thoroughly, in 2D and 3D, to ensure sufficient clearance between theflight plan and the ground. senseFly provides no guarantee regarding the accuracy of the elevation data and it is the operator’s sole responsibility to ensure a safe flight trajectory and altitude. Note: The first time you use elevation data, eMotion X will download the Improved SRTM elevation data tiles from senseFly’s servers26. 

### Terrain following using elevation data When planning an autonomous mapping mission, eMotion X can use elevationdata to set the altitude of each mission waypoint. This improves the ground resolution and increases mission safety, especially in uneven terrain, by keeping a 26 eMotion X must be connected to the internet. Once downloaded, elevation tiles are cached and can be used offline. 100Extended guide to eMotion X

constant distance between the drone and the ground.To ask the drone to follow the terrain during a mapping mission, open the mapping mission block, click Edit and choose Elevation data from the Plan above: pull-down menu27. Elevation data will then be used to set each mission waypoint altitude: 1. The planner uses the elevation data to find the terrain elevation under the waypoint. 2. The target altitude is added to this maximum value and the result is set as the waypoint altitude. Note: If you need to, you can then adjust each waypoint’s altitude manually. See How to move waypoints on page 36

### Choosing an alternate altitude reference for yourmappingmission block If you do not want the drone to follow the terrain, or you do not have confidence in the elevation data you are using, you can choose another way to set waypoint altitudes. Open your mapping mission block and click Edit. Choose an option from the Plan above: pull-down menu:

• Area center All waypoints are at the same altitude above mean sea level (AMSL). The altitude set is the optimum altitude, relative to the height of the elevation model at a point under the geometric centre of your mission polygon.
27 this is the default option 101Extended guide to eMotion X

• Area highest pointAll waypoints are at the same AMSL altitude. The altitude set is the optimum altitude, relative to the highest point in the elevation model under your mission polygon.
• Area mean pointAll waypoints are at the same AMSL altitude. The altitude set is the optimum altitude relative to the average height of the elevation model under your mission polygon.
• Fixed altitude All waypoints are at the AMSL altitude you set. Caution: Always check carefully to make sure your drone will stay clear of the ground, especially if you are not using elevation data. Do not rely solely on the eXom’s ground avoidance feature. 

### 12.4 Using a custom elevation model By default, eMotion X uses the supplied SRTM elevation model as an altitude reference for mapping. You can also import another elevation dataset or create your own. Use Elevation data Preferences (choose Preferences from the File menu) to:

• Add datasets
• Remove datasets
• Activate and deactivate them
• Change the order 102Extended guide to eMotion X

Note: eMotionX uses the elevation data that is(out of those available at a given location) the highest in the list to calculate altitude for each waypoint. The Improved SRTM elevation dataset supplied is always considered the bottom layer. Note: eMotion X displays custom elevation data with 1 cm vertical and approximately 12 cm horizontal resolution. eMotion X brings higher-resolution data down to this resolution for display. 

### How to import an elevation dataset
• Choose Import custom elevation data (DSM)... from the File menu. • Choose Preferences from the File menu, choose the Elevation data pane and click Import custom DSM . Browse to the location of your elevation data file and click Open . 

### How to enable an elevation dataset 1. Choose Preferences from the File menu, choose the Elevation data pane. 2. Activate or deactivate the elevation data layer using the checkboxes. 3. Use the arrows to move your elevation data up or down the list. If one dataset appears above another in this list, it will be used to display the map in 3D and set drone altitude whenever those datasets overlap. 4. Click Ok. 5. Enable your new elevation model using the menu in the Toolbar. eMotion X will then use your custom dataset (in areas where it is available) to display the map in 3D and set waypoint altitudes. 103Extended guide to eMotion X

Caution: Always very carefully check that your elevation dataset has been imported in the way that you expected. Unexpected altitudescan be set if, for example, a custom elevation dataset was created using a different ellipsoid. Carefully check your flight plan in 3D before flying. 

### How to create and use your own elevation data One way to increase the resolution and accuracy of the elevation data is to create your own elevation data using the drone: 1. Fly a mission at high altitude, process this data and create a DSM using Postflight Terra 3D. 2. Transfer this elevation data directly from Postflight Terra 3D to eMotion X by selecting Send DSM to eMotion from Postflight Terra 3D’s Process menu. 3. Enable your new elevation model using the menu in the Toolbar. eMotion X will then use your custom dataset (in areas where it is available) to set waypoint altitudes. Note: Always carefully check that elevation datasets you have created appear as expected on the 3D map. 

### 12.5 Using custom map sources eMotion X is supplied with a series of maps. You can also import maps or create your own. Use Maps Preferences (choose Preferences from the File menu) to:
• Add maps 104Extended guide to eMotion X

• Remove maps
• Activate and deactivate them
• Change the order 

### How to import a custom map
• Choose Import custom map... from the File menu. • Choose Preferences from the File menu, choose the Elevation data pane and click Import custom map. Browse to the location of your map file and click Open . 

### How to enable a custom map 1. Choose Preferences from the File menu, choose the Maps pane. 2. Activate or deactivate the map layer using the checkboxes. 3. Use the arrows to move your map up or down the list. If one map appears above another in this list, only the top map will appear in areas that both maps cover. 4. Click Ok. 5. Enable your new map using the menu in the Toolbar. The imported tile set will appear in the list of layers on the Toolbar. Custom map tiles are added as a layer in eMotionX. Tile sets must be TMS-compatible sets of files. 105Extended guide to eMotion X

Note: You can use Postflight Terra 3D (see Processing on page 57) to generate TMS-compatible, eMotion X-compatible tile sets for each project. In this way, you can create your own map background using the eXom or another senseFly drone. Generate the tile set by choosing Generate Google Maps tiles and KML from Postflight Terra 3D’s Process menu. Note: KML files, including associated icons or photos included within them, are not copied to the eMotion X directory and will no longer therefore appear in eMotion X if you move or delete the original KML files.



### 12.6 About photo footprints Whenever the eXom takes a picture, eMotion X records the location and orientation of the drone and computes the approximate outline of the photo on the ground (its footprint). When you move your mouse over a waypoint, footprints of photos taken by the drone are shown as a shaded polygon on the map. Each polygon represents an estimate of the area that has been photographed by the drone at that moment. Wind conditions and imprecisions in the elevation data will affect the estimation; the photo taken may not be the exact size or exactly where the footprint appears. You can show or hide footprints with the button on the Toolbar. When hidden, eMotion X still keeps and creates new footprints, but doesn’t display them on the map. Unless you clear them, they are saved with the mission. Clicking removes all footprints from the map and deletes them from the mission. If you then change or save the mission, it will have no footprints. 106Extended guide to eMotion X

Note: Clearing or hiding footprints does not affect the photos and video captured, their geotags or any other data logged by eMotion X and the drone during the flight. 

### 12.7 About eMotion X’s data folder eMotion X stores its data files in the Data Folder. This includes:
• The flight database • Flight logs • Saved missions • Custom maps, KML files and elevation data 

### How to set the location of your eMotion X data folder If you haven’t changed it, it is called eMotion and is in your Windows Documents folder. 1. Choose Preferences from the File menu then choose the Folder panel. 2. Edit the path to the folder, or click Browse... and select a folder. 

### 12.8 Enabling advanced functions A number of connection options are made available to expert users by clicking Advanced.. in the Connect dialog that appears when you launch eMotion X. The options vary according to the Connection type you choose. In addition, eMotion X can be run in advanced mode by checking the Enable advanced functions in the Advanced version of the Connect dialog. 107Extended guide to eMotion X

Caution: Only enable advanced functions if advised to do so by an eXom expert from senseFly or your reseller. Enabling the parameters that are made available in advanced mode may lead to unstable flight. Unauthorised enabling of advanced functions will void your warranty. 

### 12.9 Advanced connection options To change the frequency and channel that the ground modem uses to connect to the drone: 1. Click Advanced.. in the Connect dialog. 2. Choose the eXom Connection type and click Channel settings.... 3. Select the region in which the channel is authorised for use. 4. If you wish to use a channel that is restricted to indoor use only, check the Indoor use only to attest that you will only fly indoors. 5. Choose the Channel from the pulldown menu. 6. Click Apply.

108

## Part V



# Extended guide to mission

planningExtended guide to mission planning



## 13 Around POI (point of interest) mission blocks

Use an Around POI mission block to concentrate photo capture on an object, structure or point of interest. These photos can then be used to build a detailed 3D model. Move the map to your point of interest, create the Around POI mission block, then set the block’s parameters to tell the drone how to circle the point of interest and capture the photos you want. Around POI mission blocks have the following properties:

• Description The name of the mission block. • Camera The resolution setting that the Main Camera should use to capture photos. • Point of interest The latitude and longitude of the point of interest. The altitude (AMSL or AED)28. • Mode Choose the way you want to set up the drone’s trajectory around the point of interest. 28 see About coordinates and altitude references in eMotion X on page 15 110Around POI (point of interest) mission blocks

Choose Resolution/angle to set the photo resolution youwant and the angle at which you want to set the eXom’s head. Choose Distances to set how far away from the point, horizontally and vertically, you want the drone to fly. Based on your choices, eMotion X will calculate the appropriate trajectory. • Start heading Set the absolute heading (from point to drone) you want the drone to start its circuit of the point. • Stop heading Set the absolute heading (from point to drone) you want the drone to end its circuit of the point. • Picture interval Set the gap, in degrees, between each photo captured. Using these properties, eMotion X calculates:
• Number of photos The number of photos needed to complete the block. • Altitude The altitude at which the drone will fly with the parameters you have set. • Flight time The estimated time needed to complete the block. • Flight distance The estimated distance the drone needs to fly to complete the block. 

### How to create an Around POI (point of interest) mission block 1. In the Mission planning tab in the Mission panel, click the mission. 2. Click Add block and choose Around POI . 111Extended guide to mission planning

3. On the map, click where your point of interest is located. The point of interest is placed at the point you clicked, at ground level (AED).

112Custom Route mission blocks



## 14 Custom Route mission blocks

Custom Route mission blocks are made up of a series of waypoints. The eXom will fly to each waypoint in order. To build a Custom Route, create a Custom Route mission block, then add waypoints. You can use Custom Routes to, for example, guide your drone around obstacles to the beginning of a mapping mission block, or to guide the dronefrom one mission block to another. Note: You cannot ask the drone to automatically carry out any actions, for example, capture a photo, on Custom Route waypoints. 

### How to create a Custom Route mission block Locate on the map the place where you want to build your route, then create a Custom Route mission block and add waypoints to it. 1. In the Mission planning tab in the Mission panel, click the mission. 2. Click Add block and choose Custom Route. 113Extended guide to mission planning



### About Custom Route waypointsCustom Route waypoints are simple waypoints that have only the following properties:
• Altitude You can choose to set the altitude as ATO, AMSL or AED29. • Coordinates Latitude and longitude in the WGS 84 coordinate system. As with any waypoint, you can move it and change its altitude by clicking and dragging the waypoint on the map30. 

### How to add a waypoint to a Custom Route 1. Open the Custom Route mission block. 2. Click . 3. On the map, click where you want to place the waypoint. The waypoint will be created at the point you clicked and at an altitude of 25 m (82 ft) AED. 

### How to view and edit Custom Route waypoint propertiesWith the Custom Route mission block open, open the waypoint in one of the following ways:
• In the mission explorer, click on Custom Route mission block and choose the waypoint from the list. 29 see About coordinates and altitude references in eMotion X on page 15 30 see How to move waypoints on page 36 114Custom Route mission blocks

• With the mission block open, double-click the waypoint. • With the mission block open, click on the waypoint you want. Edit the waypoint’s properties. Your changes are immediately saved.

115Extended guide to mission planning



## 15 Disabling security actions If mission circumstances require it and you perceive an acceptable level of risk, you can disable some of the automated security actions the drone will take during an autonomous flight. Uncheck a checkbox in the Mission Parameters tab to disable a security action. The drone will report the warning and attempt to continue its mission. Return to Home if strong wind detected The drone will continue to report the estimated wind speed, but will not return to home in high winds. Caution: Strong wind can force the drone to lose altitude. Disablingthis increases the risk of a crash or an emergency landing and potential loss of the drone. Flying in high-wind conditions is at your own risk. Return to Home if GNSS accuracy degrades The drone will attempt to calculate its position with only poor GNSS signals. It may take photos in the wrong place and could unexpectedly change position in flight. Caution: Disabling this means flying with the risk that, if the drone loses GNSS completely, it will carry out an emergency landing at an unknown location and you may lose the drone. Return to Home after 30s if ground modem link is lost Caution: Disabling this means potentially flying the drone without being able to send commands to it from eMotion X.

116Disabling security actions

Return to Home if ground proximity detected If your mission takes the drone into close proximity with the ground, disabling this increases the risk of a crash. If ground proximity is detected because the drone is landing, it will continue to land. If ground proximity is detected while the drone is already returning to the Home waypoint, it will raise a warning and continue, risking a collision. Caution: Always make sure that your Home waypoint is well clear of the ground before flying. Return to Home in case of low endurance When enabled, the drone will ensure that there is enough battery charge to reach the Homewaypoint. If, during an autonomous mission, the battery level approachesthe point at which there will not be enough to reach Home, the drone will abandon the mission and head for Home. Caution: Disabling this means flying with the risk that, if the drone’s battery runs out before reaching Home, itwill carry out an emergency landing and you may lose the drone. Return to Home in case of camera malfunction When enabled, the drone will return to the Home waypoint if any of its cameras (Main Camera, Thermal Camera, or any navcam) malfunctions. You may want to disable this security action if there is a problem with a camera that you do not need for your mission. Caution: Disabling may result in missing, corrupt, or incorrectly captured photos.

117

## Part VI 

# Extended guide to interactive and

manual flightExtended guide to interactive and manual flight



## 16 Manual and interactive flight modes 16.1 About the eXom’s dual autopilots

The eXom’s autopilot is divided into 2 functional units - the high-level autopilot (HLAP) and the low-level autopilot (LLAP). Each autopilot has its own barometer to measure the drone’s altitude and IMU (inertial measurement unit) to measure its orientation and acceleration. The high-level autopilot controls the eXom during autonomous flight and, with anti-drift on, carries out the calculations that keep the drone from drifting. Whenyou are using the ScreenFly Controller, you are interacting with the high-level autopilot.The low-level autopilot directly controls the motors. In normal flight, the lowlevel autopilot gets its instructions from the high-level autopilot. If you are using the Remote Control, you are interacting with the low-level autopilot, however, in normal flight, it passes its commands to the high-level autopilot for processing. 120Manual and interactive flight modes



### About the autopilot’s sensor inputs The eXom’s autopilots analyse inputs from the following types of sensor. Advanced algorithms combine the inputs to precisely calculate the drone’s position, orientation and speed:

• Navcams Used to analyse optic flow. Input from the navcams combined with data from other sensors allows the eXom to calculate its speed relative to a surface.

• Ultrasonic sensorsUsed to detect and measure the distance to surrounding objects and surfaces. Distance Lock, for example, uses these sensors to maintain the drone’s distance from a surface.

• Inertial measurement units (IMUs) Used to measures the orientation and movement of the drone. Input from the IMU’s combinedwith other sensors allows the eXom to measure changes in its orientation and position.

• GNSS receiver Used to calculate the drone’s position and altitude using GNSS signals.

• Magnetometer Used as a compass to measure the drone’s orientation with respect to the Earth’s magnetic field.

• Barometers Measure air pressure to estimate the drone’s altitude.

121Extended guide to interactive and manual flight



### 16.2 Flight control modes Your eXom has the following flight control modes:

• Interactive The mode you are using when you activate the ScreenFly Controller. Inputs from all of the eXom’s sensors are combined and used to stabilise the drone and compensate for wind. When you move the controller’s joysticks you set the drone’s speed. The drone automatically neutralises its momentum when you release the sticks31 . It is the easiest way to pilot the eXom.
• Interactive: Anti-Drift Off The mode you are using if you have activated the ScreenFly Controller but have disabled the anti-drift by pressing the right-hand joystick. It gives you direct control of the drone’s angles. It automatically neutralises vertical androtational momentum, but not horizontal momentum. It does not compensate for the wind.

• ManualThe mode you are using when you activate the Remote Control. Both autopilots work together in this mode. It gives you near-direct control of the drone’s thrust, its pitch and roll angle and does not compensate for the wind. Momentum is not automatically neutralised.

• HLAP Bypass (High-Level Autopilot Bypass) 32An emergency mode on the Remote Control that allows you to cut the highlevel autopilot off. You have a similar level of control to Manual mode, however the drone’s reactions are more abrupt.

31 if travelling horizontally, it briefly applies opposite pitch or roll if travelling vertically, it briefly applies opposite thrust 32 once activated, you cannot deactivate this mode in flight. To deactivate, restart the drone. 122Manual and interactive flight modes

The capabilities of the eXom vary according to the flight mode: Mode Anti-drift34 Cruise control Distance lock Up/down Left/right Interactive Yes Yes Yes Yes Interactive: Anti-Drift Off No Yes No Yes Manual No No No No HLAP Bypass No No No No 

### Flight modes and autopilot inputs The eXom’s autopilots process inputs from different sensors in different modes. If a sensor becomes unreliable, it can cause the drone to behave unexpectedly and you should consider switching mode. Mode Autopilot processes inputs from:IMU Ultrasonic GNSS Navcams Baro- Magnetosensors meter meter Interactive Yes Yes Yes Yes Yes Yes Interactive: Anti-Drift Off Yes Yes No No Yes Yes Manual Yes No No No Yes No HLAP Bypass Yes36 No No No Yes36 No

34 compensates for wind and maintains the drone’s position in a hover 36 the low-level autopilot’s IMU and barometer 123Extended guide to interactive and manual flight



### Choosing a flight control mode It’s important to use the best flight mode for the conditions. Interactive Use: When you expect GNSS signals to be strong.

When there is little chance of movement underneath the drone. Do not use: If you expect to lose GNSS signals.

If the anti-drift is sending the drone off course. In zones where there is a lot of movement under the drone37 This is the easiest way to fly the eXom. Poor GNSS signals can cause the anti-drift logic to erroneously correct the drone’s trajectory. You can switch the anti-drift off if it starts to send your drone off course.

37 for example, if flying over swaying grass or moving trees in windy conditions, or if vehicles are passing under the drone 124Manual and interactive flight modes

Interactive: Anti-Drift Off Use: When you expect GNSS signals to be weak.

If you lose GNSS signals and want to continue flying. In Interactive mode if the drone starts to drift off course. When flying close to large structures such as buildings or cliffs. Do not use: If all is well – if GNSS signals are strong and the drone is not

drifting. The drone will be more predictable with the anti-drift switched on. The eXom will not maintain its position during a hover and may drift sideways while moving. You must use pitch and roll to counteract the wind. In this mode, the eXom can still automatically maintain its altitude. Caution: Only switch the anti-drift back on if you expect strong GNSS signals.

Manual Use: If very fine control of the drone is absolutely essential.

In an emergency. If the drone is ignoring eMotion X or the ScreenFly Controller. Do not use: If you are an inexperienced pilot. Everyday use of the Remote Control is not recommended. Have the Remote Control to hand in case of emergency. 125Extended guide to interactive and manual flight

HLAP Bypass Use: Only in case of emergency (the drone is out of control). Once activated, you cannot deactivate this mode in flight. To deactivate, restart the drone. The eXom will automatically switch to this mode if there is a critical malfunction in one of the HLAP’s sensors or the main processor38. 

## 17 Flying without GNSS signals 17.1 About GNSS signals The eXom uses satellite positioning (GNSS) signals for navigation and flight stabilisation. The following can reduce the number and quality of the signals the drone receives or affect its ability to process the signals:

• Terrain Your drone cannot receive the signals if they are blocked by the terrain. The number of signals received will be lower, for example, in mountainous regions or inside a open-cast mine. • Physical barriers In general, brick, concrete and metal will stop the signals from reaching the drone. • Reflective surfaces The signals can bounce off flat surfaces such as walls, doors or the sides of vehicles. If the drone receives a signal and its reflection, it can affect its ability to process the signal. Metallic surfaces are the most reflective. 38 the message LLAP takeover will appear in the Status pane on eMotion X’s Drone panel’s Monitor tab 126Manual and interactive flight modes

Note: A large vertical surface, such as the side of a building or a cliff, is both a physical barrier and a source of reflections. Consider using a flight mode that does not require GNSS signals when inspecting large structures. 

### 17.2 About the magnetometer The eXom also uses a magnetometer (an electronic compass) for navigation. Astrong magnetic field or the presence of a large metallic object can cause the magnetometer to give a false bearing. 

### 17.3 No GNSS mode You can disable both the GNSS receiver and magnetometer and take off without satellite or magnetic navigation. This is useful in:

• Extended zones where GNSS signal reception is poor, for example, mountainous regions • Places where GNSS signals suffer from radio frequency interference • Places where GNSS signal reflections are an issue • Close to electronic equipment, cables, motors or generators • Close to large metallic objects • Indoors In this No GNSS mode, the drone cannot calculate its position, therefore:

• Autonomous flight is unavailable 127Extended guide to interactive and manual flight

• No Home waypoint is set • No Start waypoint is set • The drone’s position is not shown on the map Note: With No GNSS activated, you can still fly in all interactive and manual modes. Caution: Without GNSS-based positioning or magnetometer, thedrone will use only optic flow to estimate its ground speed when flying interactively. It may drift out of position if far from the ground. If it does, activate Interactive: Anti-Drift Off. 

### How to deactivate the GNSS receiver and magnetometer Check the No GNSS checkbox in your drone’s Parameters tab before take-off. Note: You cannot switch No GNSS mode on or off in the air.

128Manual flight with the Remote Control



## 18 Manual flight with the Remote Control Goal of this section: This section describes how to use the Remote Control to manually control the drone. Caution: Manual operation of the eXom requires advanced piloting skills. Note: This section describes the Remote Control with its controls set as supplied, to mode II. See Controller and Remote Control command modes on page 139. 

### 18.1 About the Remote ControlUse the Remote Control to fly your drone manually. The sticks of the Remote Control directly set the motors’ thrust. The only flight assistance provided is automatic hover, activated when you release the sticks. Caution: Do not turn the Remote Control on without it being held in the hands of a pilot who is ready to take immediate manual control of the drone. Turn the Remote Control off before putting it down. Caution: The Remote Control emits an audible low-battery warning. If you hear this warning, take action immediately; land your drone and change the batteries. You can take manual control of the eXom with the Remote Control at any time, as long as the drone is within range39. 39 see Drone specifications on page 179 129Extended guide to interactive and manual flight

130Manual flight with the Remote Control

Caution: When flying manually, the pilot must pay great attentionto obstacles in the area, the drone’s proximity to the ground, the inversion of control commands when the drone is flying towards the pilot and the distance between the drone and the pilot. 

### About flight assistance when flying manuallyWhen flying manually with the Remote Control, the drone’s autopilot will not assist you in any way:
• It will not prevent the drone being pushed off course by the wind. • It will not maintain its position when hovering. • To stop the drone you will need to briefly apply the opposite command to the one you just used. If you don’t, it will carry on going into the same direction due to momentum. Caution: In the rare event of a high-level autopilot malfunction while flying autonomously or interactively, the drone will automaticallycarry out an emergency landing. However, you can still take control of the drone with the Remote Control, if in range40, and pilot the drone to the ground. 

### 18.2 Using the Remote Control The following table describes the drone’s response to your inputs on the Remote Control.
• Push forward on a stick means push the stick away from you (or up in the diagram on page 130). 40 see Drone specifications on page 179 131Extended guide to interactive and manual flight

• Pull back on a stick means pull the stick towards you (or down in the diagram on page 130). • Release a stick means let go and let the stick spring back into its neutral position. • To press on a stick means push down on the top of the stick, along the stick’s axis. You will feel a click. • Turn (yaw) direction is given as if you were on board the drone (from the drone’s frame of reference).

Remote Control Functions41 Item User’s action Drone’s response A: Left stick Push forward Increase thrust

Pull back Decrease thrust Push left Yaw to left (port) Push right Yaw to right (starboard) Release Maintain altitude Press & hold (1 s) Motors off B: Right stick Push forward Pitch forward

Pull back Pitch backward

132Manual flight with the Remote Control Push left Roll to left (port) Push right Roll to right (starboard) Release Flat pitch/roll Press HLAP bypass A+B: Both sticks Release Hover C: Take off/ land Push forward On the ground: take offWhile landing: abort landing Pull back Land While taking off: abort take-off D: Custom Push forward User defined

Pull back User defined E: Auto photo trigger Push left Off

Push right On

133Extended guide to interactive and manual flight

F: Disabled Do not use Do not use G: Set Do not press Do not press

Caution: Flying with the Remote Control requires some piloting experience. 

### Pre-flight Remote Control check If you plan to use the Remote Control during a flight we recommend that you check it before flight. 1. Place the drone in a safe and suitable take-off location. 2. Insert the battery and power on the drone. 3. Launch eMotion X and connect to the drone. 4. Switch the Remote Control on. 5. Slide the take off/land slider up. The drone will take off. Allow it to spin around once to calibrate its compass. 6. Use the Remote Control to carry out some small, simple manoeuvres (yaw, tilt, climb, descend). 7. Slide the take off/land slider down. The drone will land. 8. Turn the Remote Control off. 41 with controls set to mode II. See Controller and Remote Control command modes on page 139 134Manual flight with the Remote Control

Caution: If you detect a problem with the Remote Control, land the drone immediately. If you cannot land with the Remote Control, click LAND NOW in eMotion X. Do not attempt to fly with a malfunctioning Remote Control.For more information on using the Remote Control, refer to the original user manual, available from the Knowledge Base within my.senseFly42. 

### How to take control of the drone with the Remote Control With the eXom powered on and either in flight, or ready to fly, power the Remote Control on by pressing its power button. If all is well and the eXom is within range, after a short pause (approximately 1 s), the Remote Control will emit 5 rapid beeps to confirm that it has taken control of the drone.While the Remote Control is in control of the drone, its power button flashes approximately once per second. If the Remote Control does not beep five times, or its power button does not flash every second, the Remote Control is not controlling the drone. To return control to the drone, eMotion X or the ScreenFly Controller, press the Remote Control’s power button again to switch it off. Caution: There will be a short delay (1-2 s) before control is returned. Put the drone into a hover before switching the Remote Control off. Note: To obtain the maximum range, tilt the Remote Control up and orientate it in the direction of the drone.

42 http://my.sensefly.com 135Extended guide to interactive and manual flight



### 18.3 Manual take-off and landing Caution: We recommend you perform an automatic take-off and landing using eMotion X or the ScreenFly Controller whenever possible. 

### Manual take-off 1. Prepare the drone for flight as described in Preparing to fly the eXom on page 19 while keeping the Remote Control turned off. 2. Take the Remote Control in your hands and switch it on. Leave the sticks alone, in their neutral position. 3. Place the eXom in its take-off location and power it on using its power button. The status LED will indicate the progress of the drone’s autopilot’s start-up sequence. 4. Push the take off slider (C) on the Remote Control up. The drone will climb to 1 m. 5. Leave the sticks alone while the drone spins around once to calibrate its internal compass. 6. The drone will hover awaiting commands from the Remote Control. Note: Although it is possible, do not use the Remote Control to take control of the drone before compass calibration is complete. Flying an uncalibrated drone can result in it rotating (yawing) unexpectedly.

136Manual flight with the Remote Control



### Manual landing

• Position your drone over the landing location and push the take off slider (C) on the Remote Control down. The drone will land.

• Pilot your drone down to the ground. Approach the ground at low vertical speed. Once on the ground, pull the take-off/land slider back, or press and hold the left stick for 1 s to stop the motors. 

### 18.4 Motor cut-off Pressing the left stick down until it clicks and holding for 1 s will cause the eXom’s motors to stop. Caution: Only stop the motors when the drone is on the ground. Always stop the motors before picking the drone up. Caution: If the drone is in the air, only use this feature in an absolute emergency. The drone will immediately drop out of the sky and risks damaging or injuring anything or anyone beneath it. Even at low altitude, using this feature may cause irreparable damage to the drone.


### 18.5 Manual flight How to climb using the Remote Control Push the left stick up and the drone will climb. 137Extended guide to interactive and manual flight



### How to hover using the Remote Control Release both sticks, allowing then to spring back to their central position. The drone will maintain a hover. Caution: If your drone is at altitude in a zone that has little or no satellite positioning signal coverage, it will not be able to automatically maintain a hover. You must use the right and left sticks to maintain a hover manually. 

### How to turn (yaw) using the Remote Control Push the left stick to the right to turn the drone on its axis to the right (clockwise when viewed from above)43. Push the left stick to the left to turn the drone on its axis to the left (anticlockwise when viewed from above)43. 

### How to fly forward using the Remote Control Release the left stick, allowing it to spring back to its central position. Push the right stick up and the drone will tilt and fly forward43. Use the left stick to provide enough additional thrust to maintain altitude. 

### How to tilt and fly to the left or right using the Remote Control Release the left stick, allowing it to spring back to its central position. Push the right stick to the left or right and the drone will tilt and fly in that direction43. Use the left stick to provide enough additional thrust to maintain altitude.
43 with controls set to mode II. See Controller and Remote Control command modes on the following page 138Manual flight with the Remote Control



### 18.6 Returning control to eMotion X To return control to eMotion X, press its power on/off button to switch the Remote Control off. The drone will hover and wait for the next command. If you interrupted an autonomous mission, click RESUME MISSION to continuefrom where the mission left off. Note: If you have activated the HLAP Bypass flight mode, you cannot return control to eMotion X44. 

### 18.7 How to change the Remote Control’s batteries 1. The battery cover is on the back of the Remote Control. Slide the battery cover off. 2. Remove any used batteries. 3. Replace them with fresh batteries, following the polarity (+/-) indication on the inside of the battery compartment. 4. Replace the battery cover. Caution: Always change all the batteries at once. Do not mix fresh and used batteries. 

### 18.8 Controller and Remote Control command modes In common with remote control helicopters, the eXom’s Remote Control and Controller have 2 sticks. There are 4 ways that the commands (pitch, roll, thrust and yaw) could be programmed onto on the sticks. For remote control helicopters, these are known as Modes I, II, III and IV: 44 see Flight control modes on page 122 139Extended guide to interactive and manual flight Left stick Right stick Forward/back Left/right Forward/back Left/right Mode I Pitch Yaw Thrust Roll Mode II Thrust Yaw Pitch Roll Mode III Pitch Roll Thrust Yaw Mode IV Thrust Roll Pitch Yaw The eXom is supplied with both the Controller and Remote Control set to Mode II. You can also set them both to Mode I. 

### How to set Controller and Remote Control command modes With the drone powered on, but on the ground: 1. Connect the Controller to your computer. 2. Launch eMotion X and connect to your drone. 3. In the Drone panel’s Parameters tab, change the Manual control mode using the pulldown menu. 4. Power the eXom off then back on again. 5. Connect eMotion X to your drone.

140

## Part VII



# Maintenance and RepairMaintenance and Repair



## 19 Maintenance and repair of the eXom Goal of this section: The eXom is an advanced, robust and reliable UAV system. Nevertheless, occasional maintenance is required. This section describes how to keep your drone in good working condition. 

### 19.1 Upgrading the eXom’s software and firmware Occasionally, senseFly releases a software and firmware upgrade for eMotion X and the eXom to provide additional features or correct potential issues. 

### How to upgrade eMotion X eMotion X will check for new versions during start-up45 and will display a message with update instructions if a new version is available. You can also check yourself and obtain the latest software from my.senseFly46. It is important that both the drone and eMotion X have the same software version for them to work properly together. Make sure that you keep both up-to-date. Caution: We are constantly working to improve the performance of our products and we are dedicated to providing our customers withthe newest software as soon as it becomes available. Since the highest level of flight safety can only be achieved with the latest software release, senseFly Ltd can only offer warranty service for products that have been properly updated.

45 provided that there is an internet connection 46 http://my.sensefly.com 142Maintenance and repair of the eXom



### How to update the eXom’s firmware Every version of eMotion X is packaged with an accompanying firmware revision which must be installed on the UAV before it can be used. eXom firmware updates have 2 phases – in the first phase, eMotion X installs the firmware onto the drone, then during the second, the drone’s HLAP updates its LLAP. 1. First, update eMotion X following the on-screen instructions. 2. If the drone is on, power it off and remove the battery. 3. Connect the supplied USB cable between the computer on which you installed eMotion X and the Autopilot Port (the right-hand USB port) on the side of the eXom.

4. Install the battery in the UAV. 5. Power the drone on. 6. Launch eMotion X. Click Cancel in eMotion X’s Connect dialog. 7. In eMotion X, choose Updater eXom
... from the File menu. 8. Click Update to begin the first phase of the update process. 9. Once the first phase of the update has completed successfully (indicated by 100% progress and a message in green within the Updater), power the drone off, remove the battery and disconnect the USB cable. 10. Re-insert the battery and power the drone on to begin the second phase of the update. 143Maintenance and Repair

11. When the update is complete, the LED will shine blue . Your eXom is ready to fly. You can now use eMotion X’s Connect dialog to connect to the drone through the ground modem. Note: A firmware update upgrades several of the drone’s systems (HLAP, LLAP, etc.) and can take several minutes, during which time the drone may restart more than once. Do not interrupt the update. If more than 10 minutes have passed and the update is not complete, contact senseFly or your reseller. To check which version of eMotion X you have installed, choose About eMotion X... from the File menu. Your eXom’s firmware version is shown in the Drone panel’s Parameters tab. This should match the Firmware version in the Updater. 

### 19.2 Full inspection Beyond the general airframe inspection that is performed before every flight, senseFlyrecommends that perform a full airframe and sensor inspection regularly and after any incident47. Caution: The autopilot, sensors and actuators within the central body of the eXom are specially calibrated and should only be modified by senseFly or your eXom reseller. Opening the central body of the eXom will void the warranty. 

### Check your motors The eXom uses brushless DC motors to turn its propellers and generate thrust. All 4 motors must be clean and spin smoothly without friction to function correctly. To check the motors, follow these steps: 47 see Maintenance schedule on page 175 144Maintenance and repair of the eXom

1. Remove the battery from the eXom. 2. Visually inspect the motors. 3. Turn each propeller with your finger. Ensure that there is no sand or other obstruction preventing the motorfrom turning smoothly. If the motor does not turn smoothly, gently blow some air through the motor to dislodge any obstruction. Do not use compressed air. If this does not help, contact senseFly or your reseller. 

### Check head mechanism and inertial sensorsThe inertial sensors are used by the autopilot to compute the attitude (i.e. its orientation in space) of the drone and control the head. To check the head and inertial sensors, follow these steps:

• Put the eXom on a flat surface such as a table. • Gently turn the head up and down and tilt it from side to side. If you feel any resistance, contact senseFly or your reseller. • Power on the drone. • Watch and listen to the head during calibration. Check that it moves freely without any excessive noise. • Check that the head is pointing straight ahead at the end of calibration. • Check that the head is not tilted to one side at the end of calibration. • Take the drone in your hands and tilt it in all directions. Make sure that the head stabilisation functions smoothly in all directions. 

### Check physical integrity 1. Take the drone in your hands and tilt it in all directions. 145Maintenance and Repair

2. Listen for loose objects inside the drone. If you hear anything rattling, do not fly. 

### 19.3 About your eXom’s propellers The eXom’s propellers come in pairs that rotate in opposite directions and have opposite pitch. You must install the correct propeller on the correct motor. A propeller with a circular lock symbol on it must be installed on the motor that is labelled with the same circular lock symbol. Damaged or loose propellers are unsafe, cause vibrations and must be replaced. senseFly recommends changing the propellers on a regular basis. See Maintenance schedule on page 175 for details. You do not need to replace all 4 propellers at once. You can replace one propeller at a time.

146Maintenance and repair of the eXom



### Attaching and detaching propellers

147Maintenance and Repair

148Maintenance and repair of the eXom

149Maintenance and Repair



### How to attach the propellers 1. Position the correct propeller on the correct motor. Make sure that the labels match (circular or square lock symbol). 2. Take the screwdriver provided and insert it into one of the sockets on the motor. 3. While holding the screwdriver to prevent the motor from turning, turn the propeller in the direction of the arrows. The propeller will click into place.

Locked on Not locked on Caution: Never fly your eXom with a propeller missing or incorrectly locked on. 

### How to detach a propeller 1. Take the screwdriver provided and insert it into one of the sockets on the motor. 2. While holding the screwdriver to prevent the motor from turning, turn the propeller in the opposite direction to the arrows to unlock and remove it.

150Maintenance and repair of the eXom



### 19.4 Changing a leg

151Maintenance and Repair

152Maintenance and repair of the eXom

First, completely remove the shrouding on the side the leg is on... 1. Take the screwdriver suppliedwith your eXom and unscrew the 2 shrouding screws at the top of the leg you want to change. 2. Unscrew the 2 shrouding screws on the top of the other leg (on the same side of the eXom as the leg you want to change). 3. Lift the shrouding mounting points a little so that they are free to move. 4. While holding the leg in place, push the shrouding out of each of its clips. 153Maintenance and Repair

A good way to do this is to hook the fingers of one hand over the leg then push the shrouding out of its clip with your thumb. Caution: Do not twist the legs. 5. Put the shrouding to one side. Next, remove the leg... 6. Unscrew the screw that’s holding the leg you want to change in place and lift the leg off. Caution: Never try and unscrew the motor mounting screw that’s under the leg. Fit the new leg... 7. Take the new leg and fit it into place. 8. Screw the leg screws in gently until they stop. Then add half a turn to tighten. Note: The screws can easily become worn or damaged during removal. We recommend using a new set of screws with each new leg. Finally, reinstall the shrouding... 9. Take the shrouding, pass it under the legs, then clip it back into the clips. A good way to do this is to hook the fingers of one hand over the leg then push the shrouding into its clip with your thumb. 154Maintenance and repair of the eXom

10. Slot the top shrouding mounts back into place and firmly screw all 4 screws back in. Caution: Never attempt to fly without the shrouding or legs. 

### 19.5 Changing a leg cap The leg caps wear down with use. You should replace worn leg caps. 1. Carefully work the leg cap off the leg. Note: The caps are glued on. You may need to use a knife to carefully cut the cap without damaging the leg. 2. Place a drop of epoxy resin inside the new cap. 3. Push the new cap firmly onto the leg. 4. Allow the glue to dry before flying. 

### 19.6 Changing the shrouding Cracked shrouding weakens your eXom’s structure and must be replaced. If the shrouding is only scratched or scuffed it should not need to be replaced. Follow the instructions for removing and replacing the shrouding within Changing a leg on page 151 . Note: The screws can easily become worn or damaged during removal. We recommend replacing them with new screws when you change the shrouding.

155Maintenance and Repair



### 19.7 Changing a ground modem antenna 1. Grip the serrated part at the base of the antenna and carefully unscrew the old antenna. 2. Ensure that the antenna threads are clean and undamaged. 3. Screw the new antenna firmly on using finger force only. Take care not to cross the threads. You can obtain replacement antennas from senseFly or your reseller. 

### 19.8 Cleaning the eXom Use a damp cloth to wipe off dirt from the eXom’s sensor modules, housing, motors, propellers and shrouding. Use the cleaning tool provided to clean the camera lenses. Caution: Never bring the eXom into direct contact with water; this may damage its electronics. Caution: Never use pressurised air to clean the eXom. You will damage the ultrasonic sensors. 

### 19.9 Storing the eXom Always clean the eXom before returning it to its case for storage. Whenever possible, store the eXom in the case it was supplied in. 156Maintenance and repair of the eXom



### 19.10 Repairing the eXom airframe The eXom’s advanced materials and construction mean that it has very few userserviceable parts.
• Only carry out the basic repairs described in this user manual. • Do not try and disassemble the drone beyond the part replacement procedures described in this manual. • Do not try and remove the top cover. • Do not try and repair carbon fibre parts, for example, the arms or shrouding. • If your drone is damaged, contact senseFly or your eXom reseller. Caution: Never fly a damaged eXom. 

### 19.11 Proper battery care Proper care of your eXom’s battery is important to prevent damage to your droneand to maximise flight time. Batteries perform better at medium or high air temperature and it is normal to observe shorter flight times in cold weather. The charger delivered with your drone automatically checks for healthy voltages of all cells and only attempts charging if they are within limits. If the cells are out of balance, the charger will take care of balancing them. Caution: The batteries delivered with your drone are designed to be charged with the charger delivered with your eXom. senseFly cannotbe held responsible for any consequences resulting from using a different charger. In particular, using a charger improperly configured or designed for other types of batteries may lead the battery pack to be permanently damaged or to catch fire.
157Maintenance and Repair

LiPo batteries do not exhibit any memory effect. You do not need to fully discharge them before charging them again. Recharging them when only partially discharged does not reduce their total charge, damage the battery or shorten its useful life. Dispose of the battery safely and appropriately. When not using the battery for an extended period, store it 70% charged in the carrying case provided with your drone. To achieve approximately 70% charge:

• If the battery is charged, discharge it by flying the drone until 3 or fewer LEDs light up when you press the battery level button.
• Connect the battery to the charger and charge it. As soon as the 4th LED starts blinking (indicating 75% charge), disconnect the charger. Caution: After flight, the battery will be warm. Allow it to cool down before charging it. Caution: Always fly missions with a fully-charged battery. Caution: If the battery swells or if any of the cells are punctured thebattery is damaged and should be discarded. Do not charge a damaged battery - it may catch fire. Caution: If the battery gets wet, allow it to dry thoroughly before flying with it. Caution: Make sure not to leave batteries exposed to the sun or other sources of heat.

158Maintenance and repair of the eXom



### Battery security write-off Continuing to draw current from a LiPo battery that is almost empty results is a very high risk of damaging the cells. In general, a battery damaged in this way continues to indicate successful charging, when in fact only a small amount of power is available for flight, putting your drone at risk. In normal use, the eXom’s smart battery maintains a power reserve in the battery, preventing this from happening. In some rare situations, for example, an emergency landing in windy conditions, the eXom has been designed to prioritise powering, and thus saving the drone over conserving the battery’s reserve power. It will continue to draw power from the battery despite detecting that the voltage is critically low. If this happens, the battery is automatically written off. That is, the smart battery processor blocks any further use of the battery, and the battery must be replaced. If you attempt to use the battery, a take-off veto is raised48.

48 see Take-off vetoes on the next page 159Maintenance and Repair 

## 20 Troubleshooting Goal of this section: This section describes the various error messages that may be displayed during start-up or while the eXom is in flight and provides some tips on solving the simplest problems. In the case of a more serious problem, this section describes how to prepare the required data on the problem and report it to senseFly or your eXom reseller. The eXom can generate several types of error messages. Some of these messages are minor and simply need to be acknowledged through eMotion X, whereas others require more specific action from the user. If the drone is connected to eMotionX, error messageswill appear in the Status panel on the Drone panel’s Monitor tab. The following error message types are possible:

• Take-off vetoes • In-flight warnings • Critical failures. 

### 20.1 Take-off vetoes If, during pre-flight checks, the eXom detects a condition that prevents it from taking off, or makes taking off unwise, it will raise a take-off veto. A message will appear in the Status panel in eMotion X’s Monitor tab. Once the take-off veto is cleared, the eXom is ready for take-off. The following table presents all the take-off vetoes that can be raised and the actions you can take to allow take-off. If you cannot clear the veto, please follow the instructions in Reporting a problem with your eXom on page 174. 160Troubleshooting Take-off vetoes eMotion X text Description and User action Battery too low for take-off User action: Charge or change the battery. Outside working area You are trying to take off outside the Working Area. User action: Move your drone into the Working Area or redefine your Working Area49. SD card missing Without the SD card the eXom cannot capture any video or photos. User action: Insert an SD card into the slot on the eXom. Battery written off The battery was pushed beyond its performance limits in a previous flight and can no longer be used. User action: Change the battery. Drone not horizontal The drone was not level while it was preparing to take off, or there is an issue with the IMU. User action: Ensure the drone is on a level, stable surface. If it is, and the issue persists, restart the drone. 

### 20.2 In-flight warnings While it is in flight the eXom can generate two types of errors: warnings and failures. In-flight warnings occur when there is an event that requires an automaticresponse from the drone, or the user’s attention and action, but does not compromise the drone’s ability to continue flying. When an In-flight warning is activated the warning will appear in yellow in eMo161Maintenance and Repair

tion X and cause the WARNING button in the Control Bar to change to ACK. WARNING, turn yellow and activate. If an in-flight warning is raised while the drone is flying autonomously, the drone will, in almost all cases, automatically respond, aborting the mission and heading back to the Home waypoint. The drone is flying autonomously when:
• Flying an autonomous mission • Flying to the Start waypoint • Flying to the Home waypoint50 • Holding • Resuming an interrupted mission • Autonomous landing after a mission If flying interactively or manually, warnings must be acknowledged by clicking on the ACK. WARNING button on eMotion X’s Control Bar, after which, to avoid loss of your drone, collision or a crash, you must carry out the action recommended below. The full list of possible In-flight warnings and required User actions can be found in the following table.

50 see About the Start and Home waypoints on page 36 162Troubleshooting In-flight warnings eMotion X text Description

Automatic response User action Prevention Low battery The remaining battery level is below 10 % – there is a

risk the drone loses power. User Action: Fly to Home or a suitable landing spot immediately and land as soon as possible. Low endurance The remaining battery level is below 15 % – it is risky to

continue the flight plan. Automatic response: If flying autonomously, the drone flies to Home and lands. User Action: Land as soon as possible. Recharge the battery. Out of working area The drone has left the working area but has not reached

the outer security limit. There is a risk of collision, loss or prosecution. Automatic response: The drone flies to the Home waypoint. User Action: Bring the drone back into the working area. Prevention: Only fly your drone in suitable weather conditions.

163Maintenance and Repair

Above working area The drone has climbed above the working area ceiling.

There is a risk of collision, loss or prosecution. Automatic response: The drone flies to the Home waypoint. User Action: Bring the drone back below the working ceiling. Prevention: Only fly your drone in suitable weather conditions. Navigation disabled The drone encountered an error and cannot continue

its autonomous mission. Automatic response: The drone holds its position (enters a hover). User Action: Land as soon as possible and restart the drone. Over temperature The eXom’s internal temperature is too high (above

75 ◦ C). User action: Land as soon as possible and allow the drone to cool. Battery temperature Your eXom’s batteries are overheating (above 75 ◦ C).

There is a risk of battery failure or fire. User action: Land as soon as possible. Remove the battery from the drone and place it in a fireproof bag or container to cool down. Inspect the battery before charging it again. Prevention: Inspect your batteries before each flight. Store them according to senseFly’s recommendations. Do not operate the drone outside the recommended temperature range.

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Poor GNSS coverage GNSS signals are poor and the eXom can no longer precisely calculate its position. Automatic response: The drone attempts to hold its position (hover) but is likely to drift. User action Take interactive or manual control as soon as possible. If flying manually, switch anti-drift off.

∗ GPS required but unavailable GNSS signals have been lost and the eXom can no

longer navigate autonomously. Automatic response: The drone attempts to hold its position (hover) but is likely to drift. User action Take interactive or manual control as soon as possible.

∗ Uplink lost The eXom has not received any data from eMotion X for

more than 30 s. This can be due to a large distance between drone and ground modem, a problem with the ground modem, antenna positioning or interference. Automatic response: The drone flies to the Home waypoint. User action: Try to improve radio signal quality.

∗ Ground proximity The drone has detected that it is close to the ground. It

risks crashing. Automatic response: If within an autonomous mission block, the drone holds its position (hovers). User Action: If outside an autonomous mission block, take interactive or manual control of the drone and move it away from the ground. Prevention: Carefully review Home waypoint position and mission plans in 3D.

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∗ Wind too strong There is too much wind to maintain stable flight. The

drone risks losing height and crashing. The drone will try and reach the Home waypoint. User Action: Land as soon as possible. Prevention: Do not fly when there is a risk of high wind. Pitch instability The drone cannot control its pitch angle. This can be

due to a mechanical problem, or high winds. User Action: If moving, put the drone in a hover. Prepare for the possibility that the drone will fall. Prevention: Do not fly when there is a risk of high wind. Roll instability The drone cannot control its roll angle. This can be due

to a mechanical problem, or high winds. User Action: If moving, put the drone in a hover. Prepare for the possibility that the drone will fall. Prevention: Do not fly when there is a risk of high wind. Insufficient performance The drone is close to using its maximum thrust to maintain altitude. This can be due to strong wind or low air density. User Action: Land as soon as possible and recharge the battery.

166Troubleshooting

Drone Flight Log malfunction The drone cannot write to the drone flight log. It will

be impossible to create a DSM or orthomosaic from the photos captured. User Action: Land as soon as possible and check the SD card. Barometer malfunction The drone’s can no longer use it’s barometer to measure

altitude. The drone may unexpectedly change altitude. User Action: Land as soon as possible. Contact senseFly or your reseller. Battery malfunction The drone is unable to monitor the battery. There is a

risk that the battery will run out unexpectedly during flight. User Action: Land as soon as possible. Recharge the drone battery before the next flight. Battery cells unbalanced The batteries’ cells have unbalanced voltages, indicating a battery malfunction. There is a risk that the battery will run out unexpectedly during flight. User Action: Land as soon as possible. Place the battery in a fireproof bag and discard it appropriately. Ultrasonics malfunction One or more of the drone’s ultrasonic sensors has malfunctioned. There is a risk of hard landing. User Action: Land interactively (pilot the drone to the ground, then press the take-off/land button) as soon as possible. Contact senseFly or your reseller.

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SD card missing The drone can no longer detect the SD card.

User Action: Land as soon as possible, remove the SD card, restart the drone then re-insert the SD card. SD card full The SD card is full.

User Action: Land as soon as possible. Insert a card that is not full. Use only SD cards provided by senseFly.

∗ Camera malfunction One or more of the drone’s cameras (head cameras,

navcams) has malfunctioned. Automatic response: The drone flies to the Home waypoint. User action: If the malfunction affects your mission, land and restart the drone. If this fails to resolve the problem, contact senseFly or your reseller. Video subsystem malfunction The drone’s video capture processor malfunctioned

during drone startup. User action: Restart the drone. If this fails to resolve the problem, contact senseFly or your reseller. Main Camera not detected The Main Camera could not be detected during drone

startup. User action: Restart the drone. If this fails to resolve the problem, contact senseFly or your reseller. Thermal camera not detected The Thermal Camera could not be detected during

startup. User action: Restart the drone. If this fails to resolve the problem, contact senseFly or your reseller.

168Troubleshooting

Flash device not detected The drone’s flash could not be detected during drone

startup. User action: Restart the drone. If this fails to resolve the problem, contact senseFly or your reseller. Navcam not detected One or more of the drone’s navcams could not be contacted during drone startup. User action: Restart the drone. If this fails to resolve the problem, contact senseFly or your reseller. Navcam system malfunction The system that handles navcam feeds has malfunctioned during drone startup. User action: Restart the drone. If this fails to resolve the problem, contact senseFly or your reseller.

∗ Main Camera malfunction The drone’s Main Camera has malfunctioned during

startup. User action: Restart the drone. If this fails to resolve the problem, contact senseFly or your reseller.

∗ Video subsystem unresponsive The system that handles video has malfunctioned.

Automatic response: The drone flies to the Home waypoint. User action: Land and restart the drone. If this fails to resolve the problem, contact senseFly or your reseller.

169Maintenance and Repair

∗ Media recording issue The drone cannot record video or photos.

Automatic response: The drone flies to the Home waypoint. User action: Land and restart the drone. If this fails to resolve the problem, contact senseFly or your reseller. Motor issue A problem occurred while trying to start the motors

during drone startup. User action: Restart the drone. If this fails to resolve the problem, contact senseFly or your reseller.

∗ These warnings can have their Security Action disabled. See Disabling security actions on page 116. 

### 20.3 Critical failures A critical failure is an error that occurs in flight that prevents the continuation of normal flight. This is the most serious type of error that can occur with the eXom.When a critical failure occurs flight is aborted and the drone initiates an Emergency action which immediately directs it to the ground. The table below describes the critical failures that may occur and what action is taken by the drone. In some cases it may be possible to manually control thedrone using the Remote Control. If a critical failure occurs that results in an Emergency landing we recommend that you keep track of the drone’s last known position in the air and in eMotion X if possible.

170Troubleshooting
Critical failures eMotion X text Description

Effect on drone/drone’s response Prevention User action HLAP IMU failure Your eXom’s HLAP IMU has malfunctioned.

User action: Power on the Remote Control, take manual control of your drone and land it. Contact senseFly or your reseller. LLAP takeover The eXom’s low-level autopilot (LLAP) has taken control of the drone, which means that the high-level autopilot (HLAP) has failed. User action: Power on the Remote Control(HLAP Bypass Mode will be active51), take manual control of your drone, land and restart it. Prevention: Only fly within the eXom’s recommended operating conditions. Emergency cut-off The drone has received the Motor cut-off command

(which is actioned by the low-level autopilot). Effect: The motors immediately stop.

51 see Flight control modes on page 122 171Maintenance and Repair

Motor controller failure One or more of your eXom’s motor controller circuits

has malfunctioned. Effect: The affected motors have stopped providing lift. User action: Prepare in whatever way possible for a falling drone. Motor failure One or more of your eXom’s motors has failed or a

propeller has failed or detached. Effect: The affected motors stop providing lift. Prevention: Inspect your propellers before each flight. Ensure they are firmly attached. User action: Prepare in whatever way possible for a falling drone. Empty battery Your eXom’s batteries can no longer provide enough

energy to keep the drone airborne. Effect: The drone immediately lands. Prevention: Do not allow your drone’s batteries to run out. Localisation failure GNSS signals have been lost for more than 30 s.

Automatic response The drone immediately lands. User action: Take manual control (using ScreenFly Controller or Remote Control) as soon as possible. Temperature critical The eXom’s internal temperature has reached a critical level (above 85 ◦ C). Automatic response: The drone immediately lands.

172Troubleshooting

Outside flight envelope Your eXom is no longer within its controlled flight envelope, for example, its pitch or roll angle is too high. Prevention: Only fly your drone in suitable weather conditions. User action: Immediately switch on the Remote Control and pilot the drone manually. Far outside working area While flying autonomously, your eXom has been

pushed beyond the working area’s outer security limit. Automatic response: Unless flying manually, the drone raises an alert and immediately engages its landing sequence. Prevention: Only fly your drone in suitable weather conditions.



### 20.4 Locating a lost eXom in the field In case you lose your drone in the field for whatever reason, whether from a loss of communications, a critical failure or an accidental collision, use the following steps to try to recover it: 1. Do not disconnect the connection to eMotion X!If it is out of communication range, the drone should reconnect automatically as it comes back into range. 2. Note the last known location of the drone in eMotion X by printing the screen or writing down the location displayed. 173Maintenance and Repair

3. Move towards this last known direction with the computer running eMotion X in the hope of regaining a connection. Be sure to take the Remote Control with you as well. 4. Try moving downwind from the last known location in case the drone was pushed by the wind while still in the air. 

### 20.5 Reporting a problem with your eXom If there is a problem with your eXom, whether it is a software malfunction, damaged airframe or any other problem, we recommend the following actions: 1. If there is an error message displayed in eMotion X, begin by checking Troubleshooting on page 160 to see if there is a solution to the particular message. 2. Check our Knowledge Base, part of my.senseFly52, to see if there is a solution to your problem. 3. If you have still not found a solution, contact your eXom reseller. Please include the following information with your inquiry: • The serial number of your drone. • A short description of the problem. • The Drone Flight Log file of the flight that had a problem. • The eMotion Flight Log file of the flight that had a problem. You can find this file in the eMotion/logs/ directory which is created in your Windows Documents folder. • Photos or video of the eXom airframe, if required. Note: In order to provide support, senseFly may request the flight log files for inspection.

52 http://my.sensefly.com 174Troubleshooting



### 20.6 Maintenance schedule You must carry out a general inspection53 before every flight. You must perform afull inspection54 of airframe and sensors at least once a month, or every 20 flight hours, whichever comes first. Inspect propellers for wear, damage or cracks and replace as required55. Perform afull inspectionwhen bringing your drone out of long-term storage(morethan 1 month) after any repair, part replacement, heavy landing or other unexpected incident.

53 see General inspection on page 21 54 see Full inspection on page 144 55 see General inspection on page 21 175Maintenance and inspection logDateA/C modelS/NHoursGeneral/FullMaintenance activityInspected by

## Part VIII 

# Specifications

## 1 Software requirements

eMotion X has the following minimum requirements: Operating system Microsoft Windows 7 / 8

64-bit only Hardware 1.6 GHz processor

4 GB RAM (8GB recommended) 10 GB free storage space Screen 1920 × 1080 (Full HD) visible outdoors Postflight Terra 3D has the following minimum requirements: Operating system Microsoft Windows 7 / 8

64-bit only Hardware 1.6 GHz processor (2 GHz Intel i5/i7/Xeon recommended)

4 GB RAM (16 GB recommended for large projects) 10 GB free storage space (1 TB recommended for large projects) Screen 1024 × 768

## 2 Drone specifications

Nominal take-off weight (approx.) 1.8 kg (4.0 lb)

Weight without battery 1.2 kg (2.6 lb) Maximum take-off weight 1.9 kg (4.2 lb)

Dimensions 799 x 561 x 172 mm (31.5 x 22.1 x 6.8 in) Max. airspeed (manual flight) 12 m/s (43 km/h, 27 mph) Max. airspeed (autonomous flight) 8 m/s (29 km/h, 18 mph)

Maximum climb speed 7 m/s (23 ft/s) Maximum pitch/roll angle 60 ◦ Possible manoeuvres Climb, descend, hover, pitch, roll, yaw Nominal endurance (flight time)56 22 min

Material Carbon structure & composite parts Battery 3-cell 8500 mAh Battery weight 0.57 kg (1.3 lb) Optimum charge time 1.5 hours Main Camera - stills 38 Mp Main Camera FOV 63 ◦ Main Camera - video HD (1280 x 720 pixels)

Stills and video georeferenced Thermal Camera photos 80 x 60 pixels Thermal Camera FOV 50 ◦
56 can vary greatly depending on external factors such as wind, altitude change and temperature.Thermal Camera temp. resolution 0.1 ◦ C (0.2 ◦ F) Navcam resolution 640 x 480 pixels Navcam FOV 120 ◦ Ultrasonic sensor range 6 m (20 ft) Ultrasonic sensor FOV 50 ◦

Propulsion 4 electric brushless motors Max. wind (manual flight) 10 m/s (36 km/h, 22 mph, 19 kts) Max. wind (autonomous flight) 8 m/s (29 km/h, 18 mph, 16 kts) Operating temperature -10 to 40 ◦ C (14 to 40 ◦ F)Communication devices Ground modem Range 57 Up to 2 km (1.2 miles) Frequency 2.4 GHz & 5 GHz ISM bands Streams MiMo 2x2 with Spatial Diversity Transmission Mode OFDM58 or DSSS59 Radiated Power Up to 630 mW60 Antennas Dual Omnidirectional Security WPA Encryption Remote control Frequency 2.4 GHz Range Up to 0.8 km (0.5 miles) Carry case dimensions 92 x 64 x 22 cm (36 x 25 x 9 in)

57 can vary greatly depending on external factors such as cruise altitude, presence of obstacles and radio-frequency interference. 58 orthogonal frequency division modulation 59 direct sequence spread spectrum 60 automatically configured based on frequency and legal limits of the country

## Glossary

ATO Above the Take-off Altitude Your eXom’s altitude can be shown and set in eMotion X using ATO. Altitudes in ATO are relative to the place your eXom started its motor just before take-off. DEM Digital Elevation Model A 3D digital representation of heights of objects on the ground. DSM Digital Surface Model A 3D digital representation of a surface. GCP Ground Control Point A location or object on the ground that has precisely know coordinates.GCPs are used to improve the precision of DSMs created from photogrammetric analysis of a series of images. georeference A data point associated with a specific location on the earth’s surface. ground resolution The size, on the ground, of the finest distinguishable detail in an aerial image. GSD Ground Sampling Distance The distance measured on the ground between pixel centres in an image or DSM. The smaller the GSD, the higher the spatial resolution of the image. For example, a GSD of 5 cm means that one pixel in the image represents 5 cm on the ground. mosaic A single map or terrain model created from several map sections that have been placed side-by-side and merged together. MSL Mean Sea Level The average level of the surface of the Earth’s oceans; a close approximation of the surface in gravitational equilibrium.point cloud A set of data points within a coordinate system.

rayCloud A feature unique to Postflight Terra 3D that combines the 3D pointcloud with the original images. Multi ray matching with the rayCloud extends the stereo view triangulation and increases the accuracy of 3D point estimates while providing a full understanding of 3D results.http://my.sensefly.com