## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

1 Revised 6/3/2015 

# PILOT OPERATION HANDBOOK

DJI S-1000/Zenmuse

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

2 Revised 6/3/2015 

### TABLE OF CONTENTS



## Section 1: General 3 Section 2: Limitations 7 Section 3: Emergency Procedures 10 Section 4: Set Up Suggestions 13 Section 5: Normal Procedures 15 Section 6: Performance 22 Section 7: Weight and Balance/Equipment List 23 Section 8: Air Vehicle and Systems Description 24 Section 9: Handling, Service and Maintenance 25 Section 10: Supplements 27 Section 11: Check Lists 28 Section 12: ERROR MESSAGES 34 Section 13: Notes 35

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

3 Revised 6/3/2015 

### SECTION 1 GENERAL NOTE: In an effort to minimize costs and maximize s pare parts availability, many COTS (commercial off the shelf) components have been uti lized. Some may have slight modifications to better suit this application. Most COTS products have separate data sheets, assembly manuals and instruction manuals. T hey are reference in this document, with key factors being emphasized. As with all high technology products utilizing constantly evolving software, it is important to pe riodically check for online upgrades to the COTS components, including hardware, firmware a nd software. WARNING: Great care must be taken with the batterie s. Much of this manual and supplemental information is devoted to the use and care of the batteries, especially the flight batteries. They are less volatile than gasoline, though they should be treated with the sa me respect. Become very familiar with proper techniques of their use. GENERAL CHARACTERISTICS

o Primarily for ISR (Intelligence, Surveillance, and Reconnaissance) o Economical due to extensive use of COTS products o Low Visual Signature o Low Aural Signature o Quick Launch and Recovery o Short Training Period o Simple Operation o Waypoint Navigation o Backpackable o VTOL o Quick Repairs o Redundant Flight Systems o Safety Return to Home during lost link or low batte ry o High Degree of Mission Success o GPS navigation aid o Various sensors o 24 lb max takeoff weight o Operating Temp Range: -5°C to +60°C o Flight Modes: Manual and GPS aided waypoint navigat ion o Maximum Operating Altitude: 1000 meters o Maximum Operation Wind Conditions: 10 m/s o Propulsion System: LiPoly batteries o Takeoff: Manual or Automatic

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

4 Revised 6/3/2015 o Landing: Manual or Automatic o Takeoff/Recovery Area: 5m square IMPORTANT DIMENSIONS

o Distance rotor to rotor across the center: 41” o Height with GPS/Compass folded down: 21” o Height with GPS/Compass up: 25” o Length of landing gear skids: 18” o Distance between landing gear skids: 21” IMPORTANT WEIGHTS

o Weight including Nex 7 camera, Zenmuse gimbal, A2 a utopilot system, landing gear, data transceiver, RC transceiver, video transmitter , regulators and all wiring – everything except battery: 13.4 lbs o Maximum Takeoff Weight: 24 lbs o Battery Weight: up to 9.5 lbs with Nex camera and Z enmuse Gimbal MOTORS

o Manufacturer: DJI-Innovations o Number of motors: 8 o Motor type: 41mm x 14mm o Motor Model Number: 4114-11 o Motor KV/RPM: 400 o Motor max @ 25.2V: 10,000 rpm o Motor Max Power: 500 Watts o Power rating: 4000 Watts maximum power consumption for all 8 motors o Current Max: 100 amps o Amp Draw Typical Average: 65 amps PROPELLERS

o Manufacturer: DJI-Innovations o Material: Composite o Number of propellers: 8 o Propeller model number: DJI 15 x 5.2 o Number of blades: 2 - folding o Propeller Diameter: 15” o Propeller Pitch (fixed): 5.2” o Max rpm: 10,000 rpm

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

5 Revised 6/3/2015 ELECTRONIC SPEED CONTROLS

o Manufacturer: DJI-Innovations o Number of speed controls: 8 o Speed control model number: DJI 40A Opto o Rating in amps: 40 Amps continuous o Signal Frequency: 30 - 450 Hz o Drive PWM Frequency: 8 KHz AUTOPILOT

o Manufacturer: DJI-Innovations o Autopilot Model Number: DJI A2 o Components: GPS/Compass, IMU, Master Controller, Po wer Distribution System, LED Indicator Lighting System, Data Transceiver, GCS So ftware o Power Consumption: 5W o Operating Temp Range: -5°C to +60°C o Software Compatible: Windows XP sp3 / Windows 7 o Hovering Accuracy: Vertical : ± 0.5m; Horizontal: ± 2m WIRELESS LINKS

o Distributor: DJI-Innovations o Frequencies: ・ 2.4 Ghz datalink with WiFi
・ 2.4 Ghz Command & Control
・ 5.8 Ghz Video o Power Consumption: 1 watt o Usable Range: Less than 2 km. FUEL/FLIGHT BATTERY

o Manufacturers: Various COTS suppliers o Battery chemistry recommended: Lithium Polymer o Battery Capacity: 16,000 - 42,000 mah o Battery cell count required: 6S (6 cells in series)

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

6 Revised 6/3/2015 o Battery Voltage: 21V minimum during hover, 22.2V no minal, 25.2V maximum o Battery Minimum Rated Discharge Rate: 20C minimum o Battery Minimum Charge Rate: 1C (3C preferable) o Battery Rest Time between discharging and charging: 0-30 minutes o Batteries used simultaneously: 1-4 o Recommended Battery Discharge Amount: 80-90% FLIGHT PARAMETERS

o Flight Time: up to 30 minutes o Payload Max: 11 lbs o Power Consumption in a Hover at 21 lb takeoff weigh t: 1500 Watts, 65 amps WARNINGS

o Never power a video transmitter or receiver without an antenna connected or overload failure will occur. o Read all information regarding batteries contained in this manual and supplements. o Batteries are highly flammable and can explode, esp ecially when fully charged. Improper charging, vibration, impact, high discharg e, etc. can lead to explosion and fire. Batteries must be charged under constant supervisio n and using proper precautions. o Batteries fully charged must be handled with extrem e care. o Batteries must not be stored above 50% charged stat e. o Store batteries between 20% - 50% charged state. Fu lly charge just before use. o Fully charged batteries which are not to be used wi thin 24 hours should be discharged to 20% - 50% charged state. o Discharging LiPoly batteries in excess of 80% of th eir rated capacity can cause harm to the batteries. o Using more than one battery at a time requires the proper wiring harness so that the voltage is no more than 25.2V. Over voltage will ca use serious damage to electrical equipment. o Using more than one battery at a time requires weig ht and balance checks. Proper CG is critical to performance. Airframe must not be ov erloaded. o Propellers must be balanced to avoid excessive vibr ation. o GPS/Compass must be facing forward. o Do not use GPS Mode without GPS lock. o Use low strength thread locking compound on all scr ews. o Wireless Video and Data ranges vary considerably on many factors including weather, equipment, and obstructions. Be prepared for com fa ilures.

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

7 Revised 6/3/2015 

### SECTION 2 LIMITATIONS

AIRSPEED LIMITATIONS

o Vne – Velocity to Never Exceed: 15 m/s o Va – Typical Maneuvering Speed – 5 m/s

POWER & POWERPLANT LIMITATIONS

o 40 Amps max per motor o 40 Amps max per speed control o 320 Amps max total o Do not exceed 80-90% discharge of rated battery cap acity o Do not charge batteries which are warmer than air t emperature o Allow batteries to cool after use before charging o Leave an air gap between batteries when multiple ba tteries are used simultaneously WEIGHT LIMITS

o Takeoff Weight Max: 24 lbs ・ Must be checked prior to takeoff if any change in e quipment is made
CENTER OF GRAVITY LIMITS

o 3mm from the center of any of the three pairs of ar ms ・ Must be checked before every flight to ensure batte ries were installed in the proper location. ・ Check all 4 pairs of arms before flight
MANEUVER LIMITS

o This aircraft is intended for non-aerobatic operati ons o G-loading maximum: 2G

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

8 Revised 6/3/2015 TEMPERATURE LIMITS

o Operating Temp Range: -10°C to +40°C o In cold temperatures ・ Keep IMU at room temperature if possible before the flight
・ Keep Batteries above 5°C before flight
・ Do not fly with any frost or ice on the propellers o In warm temperatures ・ Batteries heat up when discharged
・ The higher the discharge rate the higher the temper ature increase during use
・ At temperatures above 45°C, use of 2 or more batter ies is required to lower the load on any one battery pack to keep it cooler. WEATHER LIMITS

o Light dust and light rain require the use of a shie ld for the electronics in the center section. o Light dust and light rain are acceptable for the un shielded motor and ESC. RANGE LIMITS BATTERY

・ Fuel capacity is a primary limiting factor.
・ Flying into the wind will use more battery power to travel the same ground distance. Higher air speeds will be required to penetrate the wind which used more battery power. Take this into account when flying a mission

. ・ Where possible, fly upwind at the start of a missio n and downwind at the end to avoid depleting the battery before returning to base. Hav e alternative landing sites available in case of emergency landing. WIRELESS LINK

・ Wireless links will be stable in LOS (line of sight ) in most conditions
・ Wireless links are always susceptible to shorter ra nges due to
・ Atmospheric conditions

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

9 Revised 6/3/2015 ・ Other transmission devices in the area
・ Jamming
・ Antennas not aligned properly
・ Improper voltage
・ Antenna blockage from AV in certain positions
・ Multipath – reflection off buildings or ground whic h cause multiple signals to arrive at different times and/or phase.

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

10 Revised 6/3/2015 

### SECTION 3 EMERGENCY PROCEDURES MOTOR FAILURE

o Operation is possible with one motor/ESC/propeller failure ・ The two adjacent motors/ESCs will be increased in t hrust automatically by the flight controller to overcome the loss ・ In cases where the airframe is highly loaded the ma ximum rating of 40 amps may be exceeded by these two motors/ESCs ・ Operation should be terminated as soon as possible to reduce the possibility of damage to the remaining motors COMMUNICATION FAILURE

o Video link failure ・ 5.8 Ghz being the shortest wavelength in general AV use has the least ability to penetrate. This link should be the first to be lost

. ・ It is best to lose video first! It is the least lik ely to cause a crash when it fails.
・ 5.8 Ghz can lose link with little warning.
・ Ensure that the GCS station antennas are perpendicu lar to the AV. Do not point the antenna at the AV. ・ Yaw the AV to change the antenna position
・ Other links should still be good. Return back to th e GCS until link is restored.
・ Transmitters produce heat when in operation. When o verheated they may have thermal protection which interrupts use temporarily . Use of a heat sink or fan may be required especially with high ambient temperatures. ・ Higher gain antennas may be used, but do so with ca ution. High gain antennas are directional. ・ Multiple antennas using “diversity” can be used. Di versity is a device which determines the best signal, and uses that. ・ 5.8 Ghz even at high wattages theoretically has les s range than lower frequencies. Changing to 1.3 Ghz is an option, though there are other issues to be considered. o RC link failure ・ 2.4 Ghz antennas can lose link with little warning.

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

11 Revised 6/3/2015 ・ Anything in between the two antennas can cause temp orary signal loss especially a person. ・ Hold the transmitter up in the air and walk in the general direction of the AV (aerial vehicle). ・ Ensure that the antenna is vertical. Do not point t he antenna at the AV.
・ The failsafes on the RC link should be set so that the AV returns to home. Should this require a heading change, the antenna may move into a more desirable position and link will be restored. ・ The onboard equipment may block the signal. Yaw the AV so that the antennas point towards the GCS. ・ A LRS (long range system) can be used as a permanen t solution. This is higher in wattage and usually on 433 Mhz. o Data Link Failure ・ 900 Mhz do not lose link without some warning. When drop outs are noticed to increase in frequency that is the limit of the rang e. ・ If using 900 Mhz, this is on cell phone frequency. If a cell tower is nearby it can swamp the signal. 900 Mhz may not be usable in that area. Change to a different freq. or remain closer to the AV LOW BATTERY POWER

・ Fail-safes can be set such that in the event of low battery power, either due to a failure or too long of a flight, the warning light on the A V will constantly flash amber. This is the first level of warning. ・ The second warning level is red flashing lights
・ Auto landing will occur when battery power is low. It may land in a tree or a lake, so this is not desirable. ・ Landing with 80-90% of battery depleted is best. Th erefore landing with 17,000 mah used and 3,000 mah remaining of a 20,000 mah batter y is desirable. Batteries should be drawn down equally when in use if they are both charged equally and both in relatively the same condition/age. ・ Do not mix partially charged batteries. Only use co mpletely charged batteries.
・ Over discharging a battery below 19.8V can permanen tly damage the battery. GCS FAILURE

・ Takeover by the external pilot should happen ASAP u sing the RC link.
・ Most often happens due to a low battery.

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

12 Revised 6/3/2015 ・ Keep a spare 3 cell LiPoly battery with the appropr iate plug to plug into the charge jack for emergency use. Most chargers are 19V outpu t which is roughly equivalent to a 4-cell battery. 3-cell batteries may work.

COMPASS CALIBRATION ERROR

・ If the compass is out of calibration the warning li ght will flash red. This is the same signal as low voltage. If the voltage is correct, t here is a calibration error. ・ Recalibrate the compass following the instruction m anual FIRE

・ Fires can occur due to a short circuit or battery f ailure.
・ Disconnect the battery ASAP unless there is danger in doing so if there is any electrical issue. ・ It is not possible to put out a battery fire.
・ Do not attempt to put out a battery fire. Use a fir e extinguisher to put out fires surrounding the battery. A CO2 fire extinguisher is better than the powder or chemical type. CO2 does not leave a residue. Water can be us ed though it may cause other electrical component failures. FORCED LANDINGS

・ If alternate emergency landing zones should be chos en ahead of time.
・ Be sure that the LZ is clear of people to avoid any incidents.
・ Land in the nearest LZ which is clear of people.
・ Announce your intentions of landing as loud as nece ssary to alert people of the incoming AV.

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

13 Revised 6/3/2015 

### SECTION 4 SET UP SUGGESTIONS ELECTRONICS BURN IN

o We recommend that you put weights onto the landing skids to keep the copter on the ground and run the copter at about 70% throttle for about 2 hours to burn in the electronics. Most electronic failures occur in the first 2 hours of operation. GPS/COMPASS MAST LENGTH

o We found that the higher the mast, the better the G PS reception ・ Nex5N vs. Nex7 vs. Canon 5D vs. Panasonic GH3 o These cameras are excellent for stills, and very go od for video. The best for video is the Panasonic GH4 with 4k capabilities. o We found that the Nex 5N takes exceptional quality stills and video, though most professionals use the Nex 7. The Canon 5D is better than the Nex7 due to its larger sensor. o Use the Panasonic GH4 if you primarily shoot video RADIO SET UP

o Follow the instructions in the manual o We prefer the switch assignment as shown in the che cklists above though feel free to modify to your liking COPTER COMMAND AND CONTROL

o We recommend the use of a dual rate switch for main copter operation. ・ High rate – used to initialize the motors. The flig ht controller will not engage unless it sees full down throttle, full left rudder, full lef t cyclic and full back cyclic. However, these may be too high for normal flying. On high ra te it is helpful to utilize fairly high exponential to make the stick feel soft around cent er. Adjust to your preference. 

### ・ Low rate – used for typical flying. Set the end poi nt adjustments such that full stick deflection offers the maximum speed required in nor mal flying. If conditions require higher flight speeds, switch to high rate. On low r ate it is also helpful to utilize a small amount of exponential to make the stick feel soft a round center. Adjust to your preference.

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

14 Revised 6/3/2015 ZENMUSE COMMAND AND CONTROL

o We recommend the use of a dual rate switch for gimb al operation. ・ High rate – used to initialize the gimbal. The gimb al may not engage unless it sees full motion. However, these may be too high for shooting video smoothly. This is best for still photography so as to put the camera on target quickly. On high rate it is helpful to utilize fairly high exponential to make the stick f eel soft around center. Adjust to your preference. 

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


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

### ・ Set the timer for 20 minutes (or what you deem appr opriate) and have it start when the throttle is over 1⁄4. Then adjust the timer upwar ds until the amount of battery used is about 80-90% of the total available. If using 20,00 0 mah batteries, a total of 17,000 mah would be the target. Set the timer such that yo u have a minute or so to land after the alarm sounds so that you have adequate time to return to base. Adjust to your preference.
BATTERIES


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

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

15 Revised 6/3/2015 

### SECTION 5 NORMAL PROCEDURES PREFLIGHT CHECKLIST

o Confirm all communication radios are operational ・ Radio with ATC
・ Radios with others in the group o Set a perimeter of 100 meters ・ Area must be clear of people to avoid collision o Check for overhead power lines and other obstacles to avoid o Check structural integrity ・ In event of prior crash, inspect all booms, props a nd motor mounts for excessive flex indicating structural fatigue/failure o Have a manual flight plan avoiding obstacles. o Load auto flight plan if using one ・ Be sure that the total flight time is under 10 minu tes to avoid low battery o Clean lens ・ Remove lens cap o Ensure camera has SD card installed ・ Many flights have been wasted due to this! o Install batteries ・ Ensure that the straps are tight and the Velcro kee ps the batteries from moving which will avoid a shift in the CG (Center of Gravity – o r that it balances evenly) o Check CG (Center of Gravity) ・ Lift the copter on each of the 3 pairs of arms. The copter should balance properly. If not, do not fly. Rearrange the equipment such that the CG is o IMU pointing forward ・ The Inertial Measurement Unit is set so that it mus t face forward o GPS/Compass installed, limited free play, pointing forward ・ This device must be installed with a screw to hold it in place. It cannot vibrate easily. If it does not point forward, the corrections in AT TI and GPS mode will be incorrect and it will crash. The FC will provide a warning wi th constant flashing white lights. o Level copter using a bubble level with front pointi ng in correct direction for course lock – do not turn on

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

16 Revised 6/3/2015 ・ Keep in mind the best angle for pointing the landin g gear in the direction that will keep the landing gear out of the shot when flying. o Turn on Pilot Tx o If using the rate gyro, set it at the correct posit ion. This is usually a slider switch. Gains should have the range set from 200 – 350. Use the highest gain possible which does not cause oscillation. o Check Model Selection on Tx to be S800 o Throttle on Tx Down o Return to Home switch Off o Adjust gain to correct position (if required) o Manual Flight Mode Switch to manual (not ATTI or GP S mode) o Flight Path Switch Off – Not Course or Home or POI o Check Tx battery voltage (above 7.5v) ・ These settings above are required to initialize the copter properly. If the switches are in the incorrect position, it will not initialize p roperly which may cause some of the functions like course lock or GPS mode to not opera te properly. ・ If the copter does not function properly after take off, land immediately and disconnect the copter power. Then put all the switches in the proper position for initialization and turn the power back on to the copter. o Count down timer should be set to 20 minutes. This can be adjusted to your flying style. The timer should engage at 1⁄4 throttle and tr igger an alarm at the proper time. This is a backup alarm in case the indicator lights on t he copter are not visible. o Turn on Photography Tx o Check Model Selection on Tx – should read Zenmuse o Check Tx battery voltage (above 7.5v) o HDMI switch Off o Freestyle switch Off (FPV On) ・ These settings above are required to initialize the Zenmuse properly. If the switches are in the incorrect position, it will not initiali ze properly which may cause some of the functions like live video or gimbal operation t o not operate properly. ・ If the camera or gimbal do not function properly, d isconnect the copter power. Then put all the switches in the proper position for ini tialization and turn the power back on to the copter. o Engage power to copter ・ Plug in the 2 battery packs. Typically the battery packs use red T-style connectors in a parallel wire harness. This Y-harness has a yellow connector. It is preferable to connect the batteries to the Y-harness first, then plug in the yellow connector. This reduces (but does not eliminate) electrical arcing. ・ 6 quick chirps should be heard confirming 6S LiPoly batteries are recognized by the ESCs. ・ Hearing less than 6 chirps indicates fewer cell bat tery packs are being recognized which is incorrect. Check for improper o r damaged batteries.

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

17 Revised 6/3/2015 o Do not move or vibrate the Squadcopter until 30 sec onds after full GPS Lock ・ Initial 3 red blinks is normal meaning no GPS lock. No red flashes indicates full GPS lock. ・ Continue with checklist as you are waiting for full GPS lock, but do not move the copter. ・ If the GPS takes more than 5 minutes to lock, there is a problem with the area. It is not receiving the proper signals from the satellites. G PS signals are weak, so trees, people, buildings, terrain, weather, have an effect. Move t he copter into a more open area where it can more easily see the satellites. o Check Copter Voltage from both Tx’s (transmitters) ・ The transmitters receive a signal from the correspo nding receivers. The voltages are regulated to about 5v. If the voltage is below 4.4v or above 6v do not fly. There may be power regulation issues. The receivers cannot wo rk outside this voltage consistently. Also there is some issue if the volta ge is outside that range which should be resolved before flying. o Engage Attitude Mode – Must achieve double amber fl ash o Engage GPS Mode – Must achieve double purple flash o Engage course cock mode – Must achieve double green flash o Disengage course lock mode. Must achieve double pur ple flash. Stay in this mode until just prior to takeoff, after takeoff at any t ime, or do not use. o Do not engage motors. Set throttle to center positi on. Must achieve single purple flash when in GPS mode. ・ To verify that the sticks are all centered properly : ・ With throttle in the center position, use the trim buttons on the transmitter to check that the sticks are centered. Trim the roll (the st ick located on the right side of the transmitter when moved to the right and left) to th e right, counting the number of clicks until a double flash occurs. Then center the trim. Then move the trim to the left, counting the number of clicks until a double flash occurs. An equal number of clicks should be counted each side of center. ・ Do this check for the 3 stick movements other than throttle.
・ Center the trim such that when the stick is in the neutral position that there are equal numbers of clicks in each direction. This ensures t hat when the sticks are neutralized that the flight controller will recognize this sign al and engage GPS mode. o Calibrate GPS/Compass before the first flight each day or if receiving continuous red blinks or continuous white blinks. ・ Flip the GPS mode switch 7 times very quickly from manual to GPS. End with the switch in the manual position. The indicator light will be blue. Rotate the copter about 1.5 turns in a horizontal position. A green flashin g light indicates that this is complete. Then hold the copter vertically and rotate about 1. 5 turns. A white flashing light indicates that this is complete. Repeat if necessar y until this is completed. o After calibration, reset the copter by cycling batt ery with copter pointed in the correct heading for course lock.

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

18 Revised 6/3/2015 o Engage Camera o HDMI switch On ・ This will stop video from playing on the back of th e camera and will send the video signal to the video transmitter via the HDMI connec tion. o Freestyle switch On (FPV Off) ・ This allows the camera to be operated freely throug h the transmitter o Verify camera operation ・ Operate the shutter
・ Set the focus to auto or manual. Manual setting is usually set to infinity to stop constant focusing of the camera. o Verify data link if installed ・ Roll the copter about 45 degrees on its side by lif ting one side of the copter and resting one side of the landing gear on the ground ・ A corresponding roll should be seen on the gauge.
・ If the copter is rolled to the right, it will appea r on the gauge that the horizon rolls to the left – not the right because the view from insi de the copter is that the horizon rolls the opposite direction of the copter. o Verify altitude is about 0 via gauge on computer ・ If it is not about 0, the altitude settings for the waypoints will be off by this amount. This could cause the copter to fly at 10 meters or 30 meters if the waypoint is set for 20 meters and the altitude is off by 10 meters one way or another. If the copter thinks it is at 10 meters when it is on the ground, then i t will only rise 10 meters above the ground to achieve what it believes it to be 20 mete rs above the ground. ・ The altitude can be reset using the ground control software by going to altitude offset. o Alternate Emergency Landing Sites Established

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

19 Revised 6/3/2015 NORMAL TAKEOFF

o Confirm clear for takeoff with ATC ・ Necessary if within 5 miles of an airport
・ ATC clearance is required days or weeks before flyi ng. o Engage GPS mode – Double purple flash when the thro ttle is down. o Switch to Course Lock flight mode if required. Purp le flashes are replaced with green flashes. Flying in course lock is not required, but helpful in many instances. o Announce loudly: “CLEAR PROP” o Move both of the sticks to the bottom left corners to engage the motors. Within 1 second move the throttle up 1/8 – 1/4. The copter should n ot lift off until about 1⁄2 stick is reached. o Verify data and video links before lifting off. If anything is not working properly, move the throttle stick to low to disengage the mot ors and determine a solution. o If all flight checks are passed, announce loudly: “ TAKING OFF” o Advance throttle to about 3/4. Copter must jump off of the ground to avoid one skid coming up before the other skid, and the skid on th e ground getting caught and flipping the copter over sideways. o Ascend to 3 meters. Then decrease throttle to 1⁄2 to engage the GPS hold. o Verify links, GPS, Attitude, etc. Should be single purple flash. o Verify that the copter is holding position within . 5m in all directions. o Verify camera operation o Verify course lock is operational by rotating 90 de grees and pushing forward on stick. o Verify copter stability. If unstable, land and rese t gains, recalibrate, or retest as necessary. o Proceed with manual mission or o For autopilot operation ・ Ascend to 10 meters
・ Command AVO to proceed with mission.
・ Pilot should say “It’s yours”
・ Response from AVO “I have it” o Manual pilot/observer must monitor the informationa l LED and be ready to take over in manual mode when necessary. ・ White flashes indicates flight controller issue
・ Amber flashes indicates low battery
・ Red flashes indicate loss of GPS or severe battery condition

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

20 Revised 6/3/2015 ・ Quick decisions are required when red flashes are i ndicated
・ 10 seconds or more of loss of GPS signal will stop waypoint guidance and any GPS hold and put into manual mode. ・ Red indicator light battery warning requires immedi ate landing o Manual pilot to request copter flight battery volta ge readout from AVO periodically. ・ Reset the first and second indicator lights as requ ired for your set up.
・ When recharging the batteries, the goal is to put 4 ,000 mah into a 5,000 mah battery pack. Adjust the voltage warnings to your style of flying. ・ Also use the countdown timer on the transmitter. Th is gives a good indication of battery level because the current used is fairly co nstant from flight to flight. POST LANDING

o Note flight time from transmitter. Write this down in the log book. o Note battery power used during the flight. Write th is down in the log book. o ALWAYS disconnect the main power to the AV first, t hen turn off the transmitter. o Check motor temperatures by touching them with your fingers. Any motors which are excessively hot should be further inspected and pos sibly replaced. o Check battery temperatures by touching them with yo ur fingers. Battery temperatures should not be hot to the touch. Battery temperature s should be slightly above ambient. o Inspect all components especially the propellers fo r wear. o Note in logbook which batteries were used to calcul ate life cycle. ・ AIRCRAFT FLIGHT LOG BOOK (Can be purchased inexpens ively) o Keep a log of all flights. ・ Date
・ Time of Day
・ Time in Operation (in hours)
・ Battery serial numbers
・ Mah used in flight
・ Location
・ Pilot, Observer, Sensor Operator Names
・ Flight Objective
・ Remarks
・ AIRCRAFT MAINTENANCE LOG BOOK (Can be purchased ine xpensively) o Keep a log of significant inspections, tests, repai rs, alterations, equipment changes. ・ Date maintenance is performed

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

21 Revised 6/3/2015 ・ Accumulated hours of operation
・ Remarks ・ UAS PILOT LOG BOOK o Keep a log of all flights. Include the following: ・ Aircraft flown
・ Aircraft serial number
・ Date
・ Time of Day
・ Time in Operation (in hours)
・ Location
・ Flight Objective
・ Remarks

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

22 Revised 6/3/2015 

### SECTION 6 PERFORMANCE FLIGHT TIMES

o The AV is designed to hover at high efficiency. Hov ering is much less efficient than flying on a wing, thus flight times are low compare d to fixed wing aircraft. o All the weight of the AV is supported by power from the batteries. As the batteries are used in a flight, the amount of power available dec reases. Therefore the power reserve is constantly decreasing as the battery is being used. Thus loading a rotorcraft above its limit is not recommended. While the AV may have eno ugh power to lift off initially on a full charge, the power reserve at partial charge ma y be too low to allow for maneuvering and will result in a crash. o High lateral speeds will add lift to slightly impro ve efficiency. The rotors act similar to fixed wings at higher speeds. This increase in efficiency may be negated by the increased power consumption of forward flight. o High winds or gusts decrease efficiency/flight time . The motors work harder to hold position. o As weight increases flight times decrease. ・ WIRELESS TRANSMISSION o Refer to the specific manuals for performance ratin gs. o Wireless communications utilized provide acceptable communication for LOS. o In general: ・ LOS is required
・ The higher the GCS antennas, the better the range
・ Any freq. at may have severe degradation due to loc ation to other admitters such as cell towers ・ RSSI (Received Signal Strength Indication) should b e monitored for indication of communication drop out.

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

23 Revised 6/3/2015 

### SECTION 7 WEIGHT AND BALANCE EQUIPMENT LIST CG

o CG is critical to the efficient operation of any AV o When components are shifted, the CG will be altered

. o The main components which are moved on a regular ba sis are the sensors and the batteries. o The sensors are typically in the front of the AV, a nd the batteries are located in the correct position to offset all the components on th e AV. o The CG must be tested after any change to the compo nents or their placement. o The CG should be tested by lifting the UV with fing ers on the bottom of the arms. Check all 3 pairs of arms. The CG should be no more than 2mm off in any on the 3 checks. The closer the CG is to the centerlines of the arms the more efficient and the more stable the AV will be. ・ WEIGHT o Weight is critical to the operation of any aircraft o Weight is especially critical to a rotor wing aircr aft. At full throttle the motors have a finite amount of thrust. All the weight is lifted b y the battery power, there is no wing to assist in providing lift. o As the batteries are operated, they lose power. At full charge they have about 25v. At 20% remaining capacity they have about 21v. This is a loss of 8% of the power available which is significant. o Do not overload the aircraft or there will not be s ufficient reserve power to maneuver at low battery levels.

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

24 Revised 6/3/2015 

### SECTION 8

AIR VEHICLE AND SYSTEMS DESCRIPTION BATTERY REQUIRED

o Manufacturers: Various COTS suppliers. o Refer to manufacturer data sheet. o Battery chemistry required: Lithium Polymer o Battery Capacity: 16,000 mah (minimum) o Battery cell count required: 6S (6 cells in series) o Battery Voltage: 21V minimum at hover, 22.2V nomina l, 25.2V maximum o Battery Minimum Rated Discharge Rate: 20C minimum o Batteries used simultaneously: 1-4 typical o Recommended Battery Discharge Amount: 80-90% WERELESS COMMUNICATIONS

o Refer to the specific manuals for performance ratin gs. o Never power a video transmitter or receiver without an antenna connected or overload failure will occur. o Wireless communications utilized provide acceptable communication for LOS. o In general: o LOS is required. o Lower frequencies penetrate objects such as trees b etter than higher frequencies. o Lower frequencies have longer range than high frequ encies o Higher frequencies can transfer more data than lowe r frequencies o Higher frequencies use smaller/shorter antennas o The higher the GCS antennas, the better the range a nd reception o Any freq at may have severe degradation due to loca tion to other admitters such as cell towers o Range must be constantly monitored. o Alternate antenna types may be utilized to improve link/range. Patch, helical, omni, etc. can be substituted. They must be verified befo re use. o Alternate frequencies may be utilized to improve li nk/range.

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

25 Revised 6/3/2015 

### SECTION 9

HANDLING, SERVICE AND MAINTENANCE PROPELLER CARE

o Propellers must be checked each flight for nicks or cracks o Propellers are designed to last indefinitely if the y do not impact dust, dirt or more. BATTERY CARE AND USE

o Refer to instruction sheet included from the batter y manufacturer. Typical information follows. o Batteries are highly flammable and can explode, esp ecially when fully charged. Improper charging, vibration, impact, high discharg e, etc. can lead to explosion and fire. Batteries must be charged under constant supervisio n and using proper precautions. o Batteries fully charged must be handled with extrem e care. o Any battery which puffs up is considered damaged an d must not be used. It is in a dangerous state. Never charge a puffed up battery. o Any battery which holds less than 80% of its rated capacity should be discarded. o Cycle test each battery after every 50 cycles or if a battery is suspected to have lost as significant amount of its capacity to determine the current capacity. o Properly dispose of batteries. First discharge the battery fully using a battery cycler. Bring to a recycler such as a home improvement stor e. o Always charge flight batteries under “balance” mode

. o Flight Battery Recommended Charge Rate: 1C which ta kes approximately 1 hour to charge o Flight Battery Maximum Charge Rate: May exceed 5C. Charge rates higher than 1C will decrease life cycles. Maximum charge rating pe r the manufacturer will provide 300+ cycles. Use the lowest charge rate which is practical. o Battery Rest Time between discharging and charging: 30 minutes minimum, 1 hour maximum. o Do not charge if the battery is more than 2°C warme r than ambient, especially if the temperature is above 20°C. The outer surface is coo ler than the inner core after use. Damage will occur when charging a warm battery. o Recommended Battery Discharge Amount: 80%. Using mo re of the capacity of the battery will decrease the life cycles o As battery temperature approaches freezing the capa city of Lithium Polymer batteries decrease. Keep warmer than 5°C before installing in to the UV (unmanned vehicle). o Battery capacity decreases at higher discharge rate s. Using more batteries decreases the discharge rate of each battery thereby extendin g individual battery capacity slightly.

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

26 Revised 6/3/2015 o Lower discharge rates improve the life cycles. o Batteries are rated at greater than 300 life cycles . 1,000+ life cycles are possible. o Batteries must not be stored above 60% charged stat e for extended periods. o Batteries should be stored below 25°C for extended periods o Store batteries between 40% - 60% charged state. Fu lly charge just before use. o Fully charged batteries which are not to be used wi thin 24 hours should be discharged to 40% - 60% charged state using the battery discha rger. o Using more than one battery at a time requires the proper wiring harness so that the voltage is no more than 25.2V. Over voltage will ca use serious damage to electrical equipment. PREVENTATIVE MAINTENANCE ANNUAL INSPECTION (SUGGESTED)

・ If the airframe has in excess of 300 hours in a one year period, an annual inspection must be completed by an approved technician. ・ An approved technician should disassemble the AV an d inspect all components for wear and replace any components as required. ・ Test all batteries for capacity.
・ Upgrade firmware and software to latest revisions o 500 HOUR PM (SUGGESTED) ・ An approved technician should disassemble the AV an d inspect all components for wear and replace any components as required. ・ Replace all 8 motors.
・ Test all batteries for capacity.
・ Upgrade firmware and software to latest revisions.

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

27 Revised 6/3/2015 

### SECTION 10 SUPPLEMENTS COTS components have been utilized in the construct ion of this AV. All instruction manuals, operating handbooks, warning notices, and more are available as separate documents. Components which may have separate docum entation follow. Links to these documents are available on the website. Print out t he significant documents and keep in a notebook with the copter at all times. AIRFRAME AUTOPILOT SYSTEM BATTERIES BATTERY CHARGER CAMERA MANUAL CAMERA GCS DATA WIRELESS LINK GIMBAL CAMERA MOUNT GIMBAL CAMERA MOUNT SERVOS LAPTOP COMPUTER MOTORS ONBOARD REGULATOR PROPELLERS RC/MANUAL COMMAND & CONTROL SYSTEM SPEED CONTROLS (ESCs) VIDEO CAPTURE HARDWARE VIDEO CAPTURE SOFTWARE VIDEO WIRELESS LINK

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

28 Revised 6/3/2015 

### SECTION 

## 11 CHECKLISTS

DJI S-1000 BENCH SET UP & TESTS

o All screws/bolts are tight o Timer alarm for flight time to not exceed 80% batte ry capacity set properly o Batteries are secure o Antennas are secure o Props balanced o Props aligned o Props not chipped o Check blades, arms, etc. for cracks/damage o Wiring Tight o No excessive flexing of motors or booms o Booms/motors will not twist o Center of gravity is correct o Warning lights set for low battery if used o Batteries charged. Replace any battery which cycles below 80% of rated capacity ・ Laptop Battery
・ Flight Battery
・ Handheld Rx Battery
・ RC Tx Battery
・ Video Rx Battery
・ Spare Laptop Battery

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

29 Revised 6/3/2015 DJI S-1000 INVENTORY CHECKLIST

o Load Flight plan o Aircraft o Camera with SD card o Spare parts/tools o Spare batteries o Two RC transmitters o Laptop o Battery Charger o Flight Controller Cable o Video monitor, stand, battery, antennas o Goggles o Datalink & cable o Battery Y-harness

.

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

30 Revised 6/3/2015 DJI S-1000 PREFLIGHT CHECKLIST

o Check area to fly on Google maps o Confirm walkie talkie and ATC coms operation o Inform ATC of your flight plan if required o Determine emergency flight plan and alternate landi ng zones avoiding power lines and obstacles o Check wind direction o Set a perimeter of 50-100 meters – area must be cle ar of people o All antennas (9?) installed and all pointing in cor rect directions o Engage GCS, monitor, laptop, goggles, etc. (bring u p flight plan) o Remove lens cap / Clean lens o Camera On o Ensure camera has SD card installed. o Check battery voltage o Install battery on copter. o Check CG o Level copter with front pointing in correct directi on for course lock – do not turn on o On Copter TX - Set switches - Throttle Down, Return to Home switch Off, Manual Flight Mode Switch On, Flight Path Switch Off – Not Course or Home Lock o Copter Transmitter On o Check Model Selection on Tx o Check Tx battery voltage (above 7.4v) o On Photo Tx – set switches - HDMI switch Off, Frees tyle switch On o Photography Transmitter On o Check Model Selection on Tx o Check Tx battery voltage (above 7.4v) o Plug in battery black lead first. o Calibrate GPS/Compass if necessary o If calibrated, cycle battery with correct heading f or course lock. o Do not touch the Copter until 30 seconds after full GPS Lock. Initial 3 red blinks is normal meaning no GPS lock. Wait until no flashes. Continu e with checklist. o Check Copter Voltage from GCS o Engage Attitude Mode – Must Achieve Double Amber Fl ash o Engage GPS Mode – Must Achieve Double Purple Flash o While in GPS mode engage “Course Lock” mode. Must a chieve green Flash o Do not engage motors. Set throttle to center positi on. Must achieve single amber flash in Attitude Mode and single purple flash in GPS mode o HDMI switch On (video on camera itself should go of f) o Freestyle switch On (FPV Off) o Verify camera operation (If problems, check Drive M ode – Remote Cmdr must be “on”, manual focus, intelligent auto) o Verify data link if installed – rolling copter manu ally should change gauges o Upload flight plan o Verify altitude is about 0 via gauge on computer/GC S/video monitor/goggles o Timers set properly ・

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

31 Revised 6/3/2015 TAKEOFF CHECKLIST

o Declare intentions for takeoff with ATC o Engage GPS mode – Double purple flash o Engage Course Lock mode (double green flash) o Announce loudly: “CLEAR PROP” o Position the sticks in the lower left hand corners, then immediately raise the throttle 2 clicks and center the right stick. o Advance throttle to 1⁄4 power for 5 seconds. Assure a ll motors are operating. o Verify that left/right and forward/back stick movem ent engages the proper motors o Verify data and video links are still operational o Announce loudly: “TAKING OFF” o Advance throttle to full. Copter must jump off of t he ground. o Ascend to 3 meters. Center throttle stick. Should b e single green flash. Verify wireless link, GPS hold, camera operation, gauges, etc. are working properly. o Verify course lock is operational by rotating 90 de grees and pushing forward on stick. o Verify copter stability. If unstable, land and rese t gains, recalibrate, or retest as necessary. o Raise landing gear o Proceed with manual mission o For autopilot operation ・ Ascend to 10 meters manually
・ Engage autopilot o Manual pilot/observer must monitor the informationa l LED and be ready to take over in manual mode when necessary. o Manual pilot to request copter flight battery volta ge readout from camera operator periodically.

・

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

32 Revised 6/3/2015 QUICK PREFLIGHT CHECKLIST

o Landing zone clear o Level copter with correct heading o Battery 4.1+ full, 3.8 depleted o Camera on. SD card in. o Both TX – all switches down o Both TX on o Copter on o Check GPS and Course lock checks o Video check o Photo check o Timers ready o Takeoff o Raise Landing Gear o Unplug 6 batteries upon landing

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

33 Revised 6/3/2015 LANDING CHECKLIST o Landing area clear o Lower landing gear o Note obstacles in flightpath o Announce loudly: “LANDING” o First cut power to the aircraft o Note elapsed time of flight o Adjust any parameters (camera servo speed, exponent ial, etc) o Turn power off to transmitters, camera, goggles, mo nitors, Rxs, etc. o Touch motors to verify temperatures are similar o Complete flight log ・ Date and time of flight
・ Batteries used
・ Time of Flight o Contact ATC

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

34 Revised 6/3/2015 

### SECTION 12 

## ERROR MESSAGES o White flashes ・ IMU malfunction. Land and determine cause. Possibil ities:
・ GPS/Compass not pointing forward
・ IMU not pointing forward
・ Set up of X, Y, Z for location of IMU and Compass i s incorrect o Excessive rocking/instability possible causes: ・ Weak motor
・ Structure flexing from fatigue or cracks
・ Motor mount
・ Main frame
・ Booms
・ Loose Bolts causing flexing or misalignment
・ Props
・ Mounts
・ Props out of balance
・ Props misaligned
・ Excessive wind speeds or gusts
・ Excessive Gains
・ Excessive motor power. Max motor power must a littl e more than typical ascent power. o Red Flashes (1, 2 or 3 flashes with pauses) – GPS l oss (3 is more serious). Land if loss lasts for more than 30 seconds. Possible causes: ・ Clouds
・ Structures
・ GPS mal-function
・ GPS too close to electrical components
・ GPS vibration
・

## PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse

35 Revised 6/3/2015 

### SECTION 13 

# NOTES: PILOT OPERATION HANDBOOK - DJI S-1000/Zenmuse This book is offered in a format so that pilots can customize the checklists to their exact needs. Please print out this handbook, make notes w hile watching the video regarding the checklist, then change the wording and order to sui t your needs. Then print out the revised form and laminate it in plastic. Carry it y ou’re your aircraft. Then use it every time you operate your aircraft. Keep the log books regarding the following: 1) Pilot flight time 2) Aircraft flight time 3) Aircraft maintenance and updates 4) Battery usage, date put into service, voltage, m ah vs time KEY PARAMETERS Max Takeoff Weight: 24 lbs Weight with Zenmuse and all other equipment – no ca mera, no battery: 13.4 lbs Weight of Nex5/6/7 camera: 1 lb Weight of Canon 5D camera: 1.75 lbs Max Battery Weight with Zenmuse/Nex Camera: 9.5 lbs Max Battery Weight with Zenmuse/Canon 5D: 9 lbs Flight Times using 90% of battery: 16,000 mah battery Nex 7: 17 min 20,000 mah battery Nex 7: 20 min 32,000 mah battery Nex 7: 22 min Flight times using the Canon 5D or other cameras si milar in weight will reduce the flight times by about 1 minute. These times are averages i n our tests. You may get longer or shorter flight times based on weight and flying sty le, though these numbers should be fairly accurate.