Extended User Manual

Revision 1.0 / July 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 AT ALL

OR IN SPECIFIC AREAS.

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 Web 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 comply 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’s

sole 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 on any kind of situational awarness

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 ARISES

FROM 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.

Copyrights

senseFly 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.
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.

∗ http://my.sensefly.com

Welcome to your eXom

Congratulations on your purchase of eXom.This intelligent mapping and inspection 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.

This user manual is divided into 2 parts:

• Getting started

All you need to get you into the air safely and effectively.

• Extended guide to the eXom

Completes and complements the Getting Started guide, giving you a full

guide to using the eXom.

The Getting Started part is supplied on paper with your eXom. The Extended User

Manual (PDF), which you’ll find in eMotion X’s File menu, contains both parts.
Note: This user manual refers to eMotion X version 1.0.0 and Postflight Terra 3D version 4. The eXom requires eMotion X to operate.

The latest versions of both software programs are always available

from my.senseFly.com.

∗ available on http://my.sensefly.com
Package contents

The standard eXom package contains the following items:

• 1x eXom drone

• 1x Interactive ScreenFly Controller

• 2.4 GHz remote control (for safety pilots)

• 2.4 GHz / 5 GHz dual band USB radio modem

• 2 x SD memory cards (32 GB)

• 2 x batteries

• 2 x single battery chargers w/power supplies

• 1x wheeled carry case

• 1x User Manual

• 1x USB cable set

• 1x spare leg set

• 1x spare propeller set

• eMotion X & Postflight Terra 3D software (accessible via my.senseFly at no

extra cost)

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.
Hardware features

Top

Motor mount

Motor

Ultrasonic transmitter

Ultrasonic receiver

Left navcam

Shrouding

Propeller

TripleView head

Leg

Cap

Power button/

status LED & top strobe

Left sensor module Right sensor module

Rear sensor module

Navigation light

Top cover

Leg clip

Front arm

Main camera

Head sensor module

Port access cover

Motor

cooling fins

Rear arm

Left Right
TripleView Head

Ultrasonic transmitter

Ultrasonic receiver

Head navcam

Main camera

Headlamp

Flash*

Thermal camera

Head sensor

module

* will be activated in a future firmware update
Bottom

Bottom strobe

Battery

Battery release tabs

TripleView head

Bottom sensor module

Maintenance cover

Battery

level

indicator
Ports

Maintenance port*

Autopilot port

SD card slot

*Do not use

Battery

Battery release tabs

Battery level indicator

Battery level button
• 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 has an LED built into

it 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: Able to provide high-intensity flashes of light (not active upon

release).

– Headlamp: Provides lighting for video and navigation.

– Head sensor module: Contains an ultrasonic transmitter, ultrasonic

receiver 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 light

on the left-hand (port) side shines red and the one on the right-hand (starboard) side shines green.

• Leg: Supports the eXom on the ground.

• Cap: 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.

X

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 eXomreturns 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 highquality photogrammetric geo-referenced 2D and 3D outputs like Point Clouds, Orthomosaics and digital elevation/surface models(DEM/DSM). For mapping projects,

Postflight Terra 3D can analyse the quality of the reconstruction and generates 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 3

2.1 In-flight Warnings and Critical Failures . . . . . . . . . . . . . . 5

3 About eMotion X 7

3.1 Showing, hiding and resizing the Bottom Bar and side panels . . 9

3.2 About eMotion X’s toolbar . . . . . . . . . . . . . . . . . . . . . 9

3.3 About eMotion X’s Bottom Bar . . . . . . . . . . . . . . . . . . . 11

3.4 About the Control Bar . . . . . . . . . . . . . . . . . . . . . . . 11

3.5 About coordinates and altitude references in eMotion X . . . . . 14

3.6 How to connect eMotion X to your drone . . . . . . . . . . . . . 16

4 Preparing to fly the eXom 18

4.1 Pre-flight checklist . . . . . . . . . . . . . . . . . . . . . . . . . 19

4.2 General inspection . . . . . . . . . . . . . . . . . . . . . . . . . 20

4.3 Weather check . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4.4 Flying conditions . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.5 About the working area . . . . . . . . . . . . . . . . . . . . . . 24

4.6 Take-off and landing conditions . . . . . . . . . . . . . . . . . . 26

4.7 The eXom’s battery . . . . . . . . . . . . . . . . . . . . . . . . . 28

4.8 How to power the eXom on . . . . . . . . . . . . . . . . . . . . 29
4.9 Audible messages and alerts . . . . . . . . . . . . . . . . . . . . 30

4.10 About the remote control . . . . . . . . . . . . . . . . . . . . . 30

5 Flying the eXom 31

5.1 About eXom missions . . . . . . . . . . . . . . . . . . . . . . . 31

5.2 About waypoints . . . . . . . . . . . . . . . . . . . . . . . . . . 32

5.3 How to move waypoints . . . . . . . . . . . . . . . . . . . . . . 33

5.4 About Start and Home waypoints . . . . . . . . . . . . . . . . . 33

5.5 About the communication link . . . . . . . . . . . . . . . . . . 36

5.6 About take-off . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

5.7 Landing the eXom . . . . . . . . . . . . . . . . . . . . . . . . . 39

5.8 Powering your eXom off . . . . . . . . . . . . . . . . . . . . . . 40

5.9 How to remove the drone’s battery . . . . . . . . . . . . . . . . 40

6 In-flight Monitoring 42

6.1 Choosing what to display in the Main Viewer . . . . . . . . . . . 42

6.2 Selecting the head feed . . . . . . . . . . . . . . . . . . . . . . 43

6.3 About the head-up display . . . . . . . . . . . . . . . . . . . . . 43

6.4 Choosing a navcam . . . . . . . . . . . . . . . . . . . . . . . . 45

6.5 About the ultrasonic sensors . . . . . . . . . . . . . . . . . . . . 45

6.6 About the background & custom maps . . . . . . . . . . . . . . 48

6.7 Navigating around the map . . . . . . . . . . . . . . . . . . . . 48

7 Processing 51

7.1 Obtaining your photos, videos and flight data . . . . . . . . . . 51

7.2 In-field quality check . . . . . . . . . . . . . . . . . . . . . . . . 54

7.3 Creating mapping products . . . . . . . . . . . . . . . . . . . . 56
II Your first autonomous mapping mission 57

8 Autonomous missions 58

8.1 Opening, creating and saving missions . . . . . . . . . . . . . . 59

8.2 About mission blocks . . . . . . . . . . . . . . . . . . . . . . . 61

8.3 How to design and edit mission blocks . . . . . . . . . . . . . . 61

8.4 Autonomous Mission example: Horizontal Mapping . . . . . . . 63

8.5 Readying your drone for the mission . . . . . . . . . . . . . . . 66

8.6 After the mission . . . . . . . . . . . . . . . . . . . . . . . . . . 68

III Your first interactive ScreenFly flight 71

9 The ScreenFly Controller 72

9.1 How to activate and deactivate the ScreenFly Controller . . . . . 76

10 Flying the eXom interactively with ScreenFly 77

10.1 How to take off using ScreenFly . . . . . . . . . . . . . . . . . . 77

10.2 How to land using ScreenFly . . . . . . . . . . . . . . . . . . . . 77

10.3 How to fly left, right, forward and backward with ScreenFly . . . 78

10.4 How to turn the drone using ScreenFly . . . . . . . . . . . . . . 78

10.5 How to climb and descend using ScreenFly . . . . . . . . . . . . 78

10.6 How to hover using ScreenFly . . . . . . . . . . . . . . . . . . . 79

10.7 How to set a constant speed (cruise) . . . . . . . . . . . . . . . 79

10.8 How to maintain a fixed distance from a vertical surface . . . . . 79

11 Capturing photos and video 80

11.1 How to capture single photos . . . . . . . . . . . . . . . . . . . 80
11.2 Automatically capturing photos . . . . . . . . . . . . . . . . . . 80

11.3 Focussing the eXom’s Main Camera . . . . . . . . . . . . . . . . 81

11.4 Focussing the navcams and thermal camera . . . . . . . . . . . 82

11.5 Recording video . . . . . . . . . . . . . . . . . . . . . . . . . . 82

11.6 How to turn on the headlamp . . . . . . . . . . . . . . . . . . . 83

11.7 About the Main Camera zoom . . . . . . . . . . . . . . . . . . . 83

11.8 How to move the eXom’s cameras . . . . . . . . . . . . . . . . . 85

IV Extended guide to eMotion X 89

11.9 About the Monitor tab . . . . . . . . . . . . . . . . . . . . . . . 89

11.10 How to change units . . . . . . . . . . . . . . . . . . . . . . . . 91

11.11 3D mapping in eMotion X . . . . . . . . . . . . . . . . . . . . . 91

11.12 Choosing an alternate altitude reference for your mapping mission block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

11.13 Using custom background data . . . . . . . . . . . . . . . . . . 94

11.14 Using custom map sources . . . . . . . . . . . . . . . . . . . . . 96

11.15 About photo footprints . . . . . . . . . . . . . . . . . . . . . . 97

11.16 Advanced Flight Data Manager options . . . . . . . . . . . . . . 98

11.17 About eMotion X’s data folder . . . . . . . . . . . . . . . . . . . 98

11.18 Enabling advanced functions . . . . . . . . . . . . . . . . . . . 99

11.19 Advanced connection options . . . . . . . . . . . . . . . . . . . 100

V Extended guide to mission planning 101

12 Around POI (point of interest) mission blocks 102
13 Custom Route mission blocks 104

14 Disabling security actions 107

VI Extended guide to interactive and manual flight 109

15 Manual and Interactive flight modes 110

15.1 About the eXom’s dual autopilots . . . . . . . . . . . . . . . . . 110

15.2 Flight control modes . . . . . . . . . . . . . . . . . . . . . . . . 112

16 Flying without GNSS signals 116

16.1 About GNSS signals . . . . . . . . . . . . . . . . . . . . . . . . 116

16.2 No GNSS mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

17 Extended guide to interactive flight 119

17.1 Taking ScreenFly control of the eXom during a mission . . . . . . 119

17.2 About Distance Lock . . . . . . . . . . . . . . . . . . . . . . . . 119

18 Manual flight with the remote control 121

18.1 About the remote control . . . . . . . . . . . . . . . . . . . . . 121

18.2 About flight assistance when flying manually . . . . . . . . . . . 123

18.3 How to take control of the drone with the remote control . . . . 123

18.4 Using the remote control . . . . . . . . . . . . . . . . . . . . . 124

18.5 Manual take-off and landing . . . . . . . . . . . . . . . . . . . . 128

18.6 Motor cut-off . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

18.7 Manual flight . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

18.8 Returning control to eMotion X . . . . . . . . . . . . . . . . . . 130
18.9 How to change the remote control’s batteries . . . . . . . . . . . 131

VII Maintenance and Repair 133

19 Maintenance and repair of the eXom 134

19.1 Updating the eXom’s software and firmware . . . . . . . . . . . 134

19.2 Full inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

19.3 About your eXom’s propellers . . . . . . . . . . . . . . . . . . . 138

19.4 Changing a leg . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

19.5 Changing a leg cap . . . . . . . . . . . . . . . . . . . . . . . . . 146

19.6 Changing the shrouding . . . . . . . . . . . . . . . . . . . . . . 146

19.7 Changing a ground modem antenna . . . . . . . . . . . . . . . 147

19.8 Cleaning the eXom . . . . . . . . . . . . . . . . . . . . . . . . . 147

19.9 Storing the eXom . . . . . . . . . . . . . . . . . . . . . . . . . . 147

19.10 Repairing the eXom airframe . . . . . . . . . . . . . . . . . . . 148

19.11 Proper battery care . . . . . . . . . . . . . . . . . . . . . . . . . 148

20 Troubleshooting 150

20.1 Take-off vetoes . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

20.2 In-flight warnings . . . . . . . . . . . . . . . . . . . . . . . . . 151

20.3 Critical failures . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

20.4 Locating a lost eXom in the field . . . . . . . . . . . . . . . . . . 158

20.5 Reporting a problem with your eXom . . . . . . . . . . . . . . . 159

20.6 Maintenance schedule . . . . . . . . . . . . . . . . . . . . . . . 160

VIII Specifications 163
1 Software requirements 164

2 Drone specifications 165

Part I

Getting Started
Getting 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 a dataset to 3D models, orthomosaics and DSMs, install PostflightTerra3D.

To install, launch the installer and follow the on-screen instructions. Once installation is complete, you will find Postflight Terra 3D in the Windows Start menu.

Note: When software updates are available from senseFly, a message

will pop up when you launch eMotion X or Postflight Terra 3D while

connected to the internet.

You can also find updates on http://my.sensefly.com.

See Updating the eXom’s software and firmware on page 134 for more

information.

1 see Software requirements on page 164

2
Safety precautions

2 Safety precautions

• Keep clear of the propellers

The propellers spin at high speeds and can be potentially 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 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.

• 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.

• 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.

3
Getting Started

See About the Control Bar on page 11, on page 67, Flying the eXom interactively with ScreenFly on page 77 and Using the remote control on page 124.

• Do not fly above people or animals

Pay close attention to the legal restrictions in the location you are flying.

• Do not fly in high winds

The eXommust not be launched if thewind speed exceeds 10 m/s(36 km/h,

22 mph, 19 kts). See Drone specifications on page 165 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, making sure the drone won’t hit, for example,

the ground, trees or buildings.

• Propellers must be locked on for flight

See About your eXom’s propellers on page 138.

• Check battery charge level

Make sure you have more than enough for your flight. Land well before the

battery is empty.

See Proper battery care on page 148.

• Set an appropriate working area

Set 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 24

• 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.

4
Safety precautions

• Always keep the Remote Control to hand

It 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.

• Leave eMotion X as much computing power as possible

Do 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 drone 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 eXomraises an In-flightWarning, theWARNING

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 151.

Critical Failures occur if the drone’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 drone

immediately performs an emergency landing.

5
Getting Started

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 150 for a list of Inflight warnings and Critical failures and the drone’s reaction to them.

Note: It is important to keep track of the location of the drone during

a Critical Failure until the moment it reaches the ground. Its position’s

coordinates can aid in finding it afterwards. See Locating a lost eXom

in the field on page 158.

6
About eMotion X

3 About eMotion X

Navcam

selection

Control

bar

Navcam feed

Toolbar

Ultrasonic sensor feedback Bottom Bar Viewer

Bottom

bar

Main

viewer

Mission

panel

Drone

panel

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 options 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 11 for details.

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

7
Getting Started

– 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.

– Flight Monitoring

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 it will show the map.

8
About eMotion X

3.1 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.

3.2 About eMotion X’s toolbar

You can find the following buttons on the toolbar, if you are connected to your

eXom:

Open the File menu

Put the map in the Main Viewer

9
Getting Started

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

Toggle full-screen mode

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 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

10
About eMotion X

Take a photo now

3.3 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

3.4 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

any warnings. Some buttons are only active when needed or appropriate.

11
Getting Started

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 drone 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 drone 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 drone into a hover, where it will wait for the

next command.

The drone creates a waypoint at that point.

12
About eMotion X

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.

13
Getting Started

3.5 About coordinates and altitude references in eMotion X

EGM96 geoid

Local elevation

data

Local ellipsoid

ATO AMSL AED

WGS 84 ellipsoid

This schematic represents a local elevation dataset that references a standard local

ellipsoid being used for AED values. eMotion X transforms coordinates on import

to WGS 84 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.

14
About eMotion X

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 the

current 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 in eMotion X

eMotion X assumes that any coordinate you enter is in the WGS 84 reference

frame.

4 see 3D mapping in eMotion X on page 91

15
Getting Started

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 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.

3.6 How to connect eMotion X to your drone

1. Connect your ground modem to your computer using the provided USB

cable and allow it to start up.

Note: It takes approximately 30 s for your computer to recognize the

ground modem as a USB device. It takes about another 30 s before

your ground modem can detect your drone.

2. 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 number5will 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 Status panel and the

drone’s status will be visible in the 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.

Note: To set connection parameters manually, click Advanced.... To

return to the simple connection screen, click Advanced... again.

5 printed on a label inside the eXom’s battery compartment

16
About eMotion X

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 the FLIGHT DATA MANAGER button then click OK.

17
Getting Started

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 following steps

before every flight to ensure that the platform is best prepared for flight.

Note: Remove the warning label from the battery compartment before your first flight.

18
Preparing to fly the eXom

4.1 Pre-flight checklist

General inspection complete

Weather conditions checked

Flying conditions checked

Appropriate working area set

Maps downloaded

Take-off & 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.

19
Getting Started

4.2 General inspection

A 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 136 for more details.

Visually inspect the drone

The sensors and lenses must be clean and unobstructed for them to work correctly.

Caution: Carry out these checks with the battery removed from the

drone.

• Pick the drone up from above, holding the central body just behind the

sensor modules.

• Check that there 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.

20
Preparing to fly the eXom

• 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.

Visually inspect the propellers

To prevent vibration and remain safe, only fly with propellers that are in excellent

condition.

New propeller:

OK to fly

Worn propeller:

Replace

Damaged propeller:

Replace

Cracked propeller:

Replace

• Replace worn propellers.

• Replace propellers that have any indentations on their leading edge.

21
Getting Started

• Replace cracked propellers. Look out for cracks near the base of the propeller.

• Replace propellers that are not firmly fixed onto the motor, despite being

properly locked on.

See About your eXom’s propellers on page 138 for further details.

Check sensor and camera operation

• Insert the drone’s battery.

• Holding the drone’s central body from above at its narrowest point, place

it on the ground and power it on.

• Launch eMotion X and connect to your drone using the ground modem.

• 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

22
Preparing to fly the eXom

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 8 m/s

(29 km/h, 18 mph, 16 kts).

Caution: The eXomis 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 car 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.

23
Getting Started

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 its position outside the working area. Working area ceiling

Working area limit

Outer security limit

3D 2D

A working area positioned on the side of a hill

During an autonomous mission:

• If it 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.

If in ScreenFly mode, the drone 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

24
Preparing to fly the eXom

out an emergency landing. If it passes the outer security limit in ScreenFly mode

it will immediately do an emergency landing.

Note: An emergency landing cannot be aborted, but the user can

still take control over the drones horizontal positioning(left, right and

sideways) using either the ScreenFly Controller or the Remote Controller.

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.

5 see Troubleshooting on page 150 for a full description of In-flight warnings and Critical failures that

may occur

25
Getting Started

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.

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 Fully

Autonomous mode and as safety position in case of an in-flight warning.

See About Start and Home waypoints on page 33 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, power

lines, 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.

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.

26
Preparing to fly the eXom

• Muddy, wet, dusty or sandy area.

• Water or deep snow.

• A steeply inclined surface.

Caution: If the eXom accidentally gets wet, remove the battery immediately .

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 precisely before taking off, it will do so.

• If the eXom cannot set its position precisely 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 drone’s Parameters tab 6.

Abort your landing:

• If there are obstacles, for example, vehicles, people or animals in the landing zone.

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

the landing zone.

6 see No GNSS mode on page 117

27
Getting Started

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.

4.7 The eXom’s battery

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 fit into the charger.

During charge, the status LEDs on the battery indicate the charge level. Each LED

indicates approximately 20% of charge. The LED for the current charge level blinks

during charging. When all the LEDs go out, the battery is charged.

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 Proper battery care on page 148

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.

28
Preparing to fly the eXom

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 when you are ready for take-off.

4.8 How to power the eXom on

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 not inclined more than 10 degrees in order to start

up properly. Pre-flight checks may 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.

Note: Satellite positioning signals are not required to fly the drone.

If the satellite check fails, you can still fly, but some capabilities will

be missing. See No GNSS mode on page 117

Once the pre-flight checks are complete and the drone is ready to fly, the status

LED will shine green.

Note: You can connect the drone to eMotion X at any time during

startup and view the status of the checks in the Flight Monitoring tab.

29
Getting Started

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 ping 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.

4.10 About the remote control

The remote control can be used as a fallback means of flying the drone.

When flying autonomously or with ScreenFly, we recommend you keep the remote control close by, with fresh batteries installed.

It is also the only means of triggering a motor cut-off in case of emergency

30
Flying the eXom

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 eXomsemi-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 Control

Only 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 fly: Every mission begins with careful preparation, whether

it is a quick inspection or a multi-stage mapping mission over complex terrain.

In Preparing to fly the eXom on page 18 you will learn how to prepare your

drone for flight.

Autonomous missions on page 58 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 follow a flight plan without intervention from take-off to landing, you can control the drone with ScreenFly, or use the remote control.

31
Getting Started

You can modify a flight plan or take control at any time during a planned

mission.

Flyingthe eXominteractivelywith ScreenFly on page 77 describes how to use

ScreenFly to take control of your drone.

See Manual flight with the remote control on page 121 for a guide to using

the remote control.

• Processing: The next step is to view and process photos and video, converting the photos taken by your eXom into valuable products such as precise geo-referenced orthomosaics or 3D models. Processing on page 51

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

32
Flying the eXom

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 immediately

transferred 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 mean an unexpectedly large change in the waypoint’s altitude.

Always check your flight plan carefully before take-off.

5.4 About 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 refere to this take-off altitude as 0 m

above take-off (m/ATO).

8 see Readying your drone for the mission on page 66

33
Getting Started

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 drone takes off and calibrates its compass.

4. The drone heads to the Start waypoint.

5. The drone 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 drone 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 directly above the take-off location. It will place the Home waypoint 10 m

directly above the Start waypoint.

Flying to the Home waypoint

Whenever the eXomflies autonomously to the Home waypoint (for example, after

a mission or if you click GO LAND):

• 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.

9 see In-flight warnings on page 151

10 see How to move waypoints on the previous page

34
Flying the eXom

HOME

START

MISSION

If Home is higher

HOME

START

MISSION

If Home is lower

Flying to the Start waypoint

HOME

START

MISSION

35
Getting Started

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 104.

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.

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.

Maintain 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

36
Flying the eXom

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:

Note: The modem is equipped with a 1/4 inch screw mount and can

be 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.

37
Getting Started

5.6 About take-off

Note: Carefully review the position of the Start and Home waypoints

before taking off. See About Start and Home waypoints on page 33.

Immediately after take-off the drone will climb to an altitude of approximately

1 m and turn around once to calibrate its compass.

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:

• Wait at the Start waypoint

Set After take-off to Stay on Start Waypoint.

• Don’t wait – immediately start the mission

Set After take-off to Go to Mission.

If there are no mission blocks assigned, it pauses briefly then flies to the Start

waypoint and waits there for your command.

See Creating mapping products on page 57 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 control

of the drone with the Controller or Remote Control, or land if necessary.

38
Flying the eXom

5.7 Landing the eXom

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

Note: As your eXom is landing, you can influence its trajectory or

abort the landing using the ScreenFly Controller or Remote Control.

Land after a completed 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.

Return to home and land using the Control Bar

If you need to abort a mission and land, click GO LAND on the control bar.

The drone will immediately fly to the Home waypoint11, 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 the Control Bar three times (tripleclick).

• If flying interactively, press and hold the left-hand stick on the ScreenFly

Controller.

• Switch on the Remote Control and pull back on the take-off/land slider.

11 see About Start and Home waypoints on page 33

39
Getting Started

Caution: The drone will immediately descend at a moderately fast

rate of descent. There is a risk of collision with any objects or people

that are directly under the drone.

• Switch on the Remote Control and pilot the drone to the ground. Once on

the ground, press and hold the left-hand stick to cut the motors.

5.8 Powering your eXom off

Wait for the propellers to stop spinning, and wait for eMotion X to finish copying

the flight logs12, then press and hold the power button on the top of the eXom.

After 1 s the eXom powers off.

Caution: Never attempt to power the drone off using its built-in

power button while the propellers are spinning. Instead, power on

the Remote Control then press and hold the left stick.

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.

5.9 How to remove the drone’s battery

1. Grip the battery release tabs and squeeze them together.

2. Pull the battery out.

12 a message appears in the Drone panel’s Monitor tab

40
Flying the eXom

Caution: Never try to remove the battery while the propellers are

turning.

41
Getting 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

Double-click

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.

42
In-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.

320 330 340 350 N

4

10 20 30 40 50

Ground

speed

Bearing

Altitude

Main camera

field of view Head angle

Main camera settings

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

43
Getting 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 is indicated in metres above take-off (m/ATO) , where 1 m is

equal to 3.3 ft.

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 drone 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 main

camera. All photos captured with the main camera are, however, fullframe.

44
In-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 digital

cameras, 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 objectswithin a cone-shaped

beam of a maximum distance of 6 m (20 ft). 2D representations of each of these

beams appear in eMotion X’s Bottom Bar. If there is an object near the drone, the

beam slices up to and including the one in which the object has been detected

turn red.

45
Getting 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

46
In-flight Monitoring

Note: Ultrasonic sensors send out a beam of ultrasonic sound and

pick 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.

47
Getting 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.

48
In-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.

49
Getting 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.

50
Processing

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. Choose whether you want to complete the whole process or just part of it

2. Tell eMotion X which flight you want to treat

3. Create a project folder into which eMotion X will create the treated files

4. Tell eMotion X where to look for the photos, videos and log files

5. Check that the photos, videos and logs it found are the ones you want

6. Choose the type of output you want

7. 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 drone logs important information such as

sensor data, control inputs and its location.

51
Getting Started

A similar file, the eMotion X Flight Log (.efl)13, 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 before removing the SD card from the drone. A message appears in the Drone panel’s Monitor tab.

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 toimport and treat photos, videos and data from the drone

• Step 1 - Prepare for the data import

Remove the SD card from your eXom and insert it into your computer. All

photos, videos and flight logs are saved on this SD card.

13 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 159

52
Processing

• 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 drone 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.

53
Getting 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 geo-tags 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 software14, available as a free download with the eXom package, can be used to rapidly create a Quality Report directly in the field. The Quality

14 powered by Pix4D; see Installing the software on page 2 for installation instructions

54
Processing

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 3Dwill launch and the position of your photos will appear

as red dots in the Map Area of Postflight Terra 3D’s main window.See Advanced

Flight Data Manager options on page 98 for more details.

Map Area

Top Toolbar

Project

Summary

Local

Processing

panel

Layers

Step 1: select 1. Initial Processing,

Rapid Check Step 2: click ‘Start’

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 Checkradial button. Click Startto begin rapid processing.

55
Getting 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 geo-referenced 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 X15. 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.senseFly16.

15 see Using custom map sources on page 96 for more information on importing layers into eMotion X

16 http://my.sensefly.com

56
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 large

obstacle-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 a mission.

To create a mapping flight for the systematic coverage of an area, use the automatic mission planning feature of eMotion X. Specify a point, area or route of interest and eMotion X will generate a mission plan optimized for the intended resoultion of the project.

An eXom mission is made up of a series of blocks. Each block contains a series of

waypoints.

A mission is shown in the Main Viewer using:

• In 2D view, circles to represent waypoints.

• In 3D view, 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, for

example, 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 a fully 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.

58
Autonomous 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...

16 A folder called eMotion within your Windows Documents folder, unless you have changed it (see

About eMotion X’s data folder on page 98).

59
Your 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.

60
Autonomous 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 63.

• 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 102.

• Custom route

Create waypoints and edit their position, properties and actions to define

your own mission profile.

See Custom Route mission blocks on page 104.

8.3 How to design and edit 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.

Your mission block will appear in the centre of the map.

How to view mission block details

Within the mission explorer:

61
Your first autonomous mapping mission

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 change 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.

How to remove a mission block

1. Click , or double-click the block to expand it.

2. Click Remove.

62
Autonomous missions

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 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).

• Overlap

The percentage you want one photo to overlap the next.

• Reverse flight

If left unchecked, eMotionX sends the drone to the farthest waypoint in the

mission block first. If checked, the drone will begin the nearby and finish

far away17.

17 Ensure that there is enough battery power to return to Home at the end of the mission.

63
Your first autonomous mapping mission

eMotion X displays the following results:

• Area

The area covered by the mission.

• Altitude

The 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) requires a lower altitude, a lower resolution (more cm/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.

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 waypoint18. If, however, you then move

the mission polygon, or change the ground resolution, all waypoint

altitudes will be reset to the initial altitude.

18 see How to move waypoints on page 33

64
Autonomous missions

Note: Due to less overlap around the edges of a mapping mission,

eMotion X automatically adds flightlines to ensure complete coverage and therefore high quality results of 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 design and edit

mission blocks on page 61). A mission polygon, including the required waypoints,

is automatically calculated and displayed on the map. 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.

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 33.

65
Your first autonomous mapping mission

Caution: Neither eMotion X nor its automatic mission planning tool

are aware of obstacles in the area. They cannot tell if there are differences between the elevation data and the real world. They are not

aware of any legal restrictions (such as minimum or maximum altitude) that may apply in your region. The resulting flight plan should

be 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.

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.

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Autonomous missions

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.

Caution: Keep clear of the drone during take-off.

Caution: Be ready to abort the take-off by triple-clicking LAND NOW

on 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.

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Your first autonomous mapping mission

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 150 describes the possible

take-off veto messages and the user action that should be taken to

remove them.

After take-off, the drone switches into waypoint navigation mode and flies to the

Start waypoint.

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 land19

Set After mission to Land at Home waypoint.

• Return to the Home waypoint and wait there

Set After mission to Go to Home waypoint.

• 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.

19 this is the default action

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Autonomous missions

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 before removing the SD card or

the eXom’s battery. 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 51), before putting the eXomback in its case for storage.

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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.

Caution: Use of a controller other than the one supplied with your

eXom is not recommended.

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MODE

Y

X

A

B

(PRESS)

Anti-Drift OFF/ON

(PRESS+HOLD)

EmergencyLanding

+SHIFT

SHIFT

Take off/abort take-off

Land/abort landing

Select navcam: Head

Press with SHIFT: Cruise up

Select navcam: Left

Press with SHIFT: Cruise left

Select navcam: Right

Press with SHIFT: Cruise right

Select navcam: Bottom/rear

Press with SHIFT: Cruise down

Do not use*

Interactive ScreenFly

on/off

Drone control:

Forward/backward/right/left

Press: Anti-drift off/on

Drone control:

Up/down/turn right/turn left

Press & hold: Emergency landing

Take phLong p

Start/stop video recording

Long press: Auto photo trigger on/off

TripleView Head : Look down TripleView Head: Look up

∗ 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.
TripleView he

Look down

TripleView head:

Look up

Take photo

Long press: Trigger autofocus

Set to X (do not change)

X D
The ScreenFly Controller

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

MODE

Y

X

A

B

E

K

Y

X

J L M

I

G H

F

A

B

C

D

K

M L

J

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Your 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 pauses

its 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.

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Flying 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 re-centre 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.

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.

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.

Using eMotion X, you have the following options:

• 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.

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Your first interactive ScreenFly flight

10.3 How to flyleft, right, forward and backward with ScreenFly

Use the right-hand joystick (E) on the ScreenFly Controller. 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 Controller. 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.

10.5 How to climb and descend using ScreenFly

Use the left-hand joystick (D) on the ScreenFly Controller. The drone will move

according to the direction you push the joystick:

• Push up to climb.

• Pull down to descend.

Caution: Do not change the Mode(I). It swaps the functions on the

left-hand controllers. If accidentally turned on (LED shines red), deactivate it by pressing it again.

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Flying the eXom interactively with ScreenFly

10.6 How to hover using ScreenFly

Release the joysticks. The eXomwill automatically maintain its position and hover.

10.7 How to set a constant speed (cruise)

• Press and hold the SHIFT button (H), then at the same time, use the controller F to set the cruise direction (up, down, left or right).

• 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.

10.8 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.

Then press button B to activate Distance Lock. You can do this at any time.

The eXom’s head will automatically turn to level (0◦) and the head ultrasonic sensor will activate.

When the drone’s head ultrasonic sensor detects a surface, it will automatically try

and maintain that distance from the detected surface.

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Your first interactive ScreenFly flight

11 Capturing photos and video

During an automated mapping mission, photos are automatically captured by the

drone. 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.

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Capturing photos and video

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 each photo you capture.

When 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.

Note: The Main Camera has a large depth of field. Objects more than

approximately 5 m from the camera are already at infinity. With the

drone at more than 5 m from the subject, focussing once at the beginning of the flight may be enough to ensure good focus throughout

an interactive mission. You should, however, trigger the autofocus

from time to time during a flight 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.

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Your first interactive ScreenFly flight

To focus on an object that is not at the centre:

• 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

, but it is possible to switch that feed while recording.

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.

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Capturing photos and video

• Choose if you want to record the Thermal Camera feed.

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, you

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.

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Your first interactive ScreenFly flight

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.

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.

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Capturing photos and video

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:

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, turn the eXom to the left. Push the left stick

on the controller (D) to the left.

• To turn the camera to the right, turn the eXom to the right. Push the left

stick on the controller (D) to the right.

• To pan the camera to the left, fly the drone to the left. Push the right stick

on the controller (E) to the left.

• To pan the camera to the right, fly the drone to the right. Push the right

stick on the controller (E) to the 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.

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• 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.
Extended guide to the eXom

Part IV

Extended guide to eMotion X

11.9 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 warnings20 are

shown here.

Note: Important status andwarning messages also appear in the Status Panel on the map, remaining visible when the Sidebar 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 discharged21.

• Flight time

Current flight’s duration so far.

20 see Troubleshooting on page 150

21 see Proper battery care on page 148
Extended guide to eMotion X

• 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. Estimating

the remaining capacity of a battery can thus be tricky and the displayed value may occasionally 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.

Instruments

• Temperature

Battery: Your drone’s battery temperature.

Air: The ambient temperature.

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• GNSS

Satellites: The number of satellites from which your drone’s GNSS receiver

is receiving signals.

Accuracy: The amount of error you should expect in the drone’s reported

absolute position.

Mode: The current GNSS receiver mode.

11.10 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.

11.11 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.

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Extended guide to eMotion X

Caution: The supplied elevation data may contain inaccuracies of

several 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 the

flight plan and the ground. SenseFly Ltd 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 servers22.

Terrain following using elevation data

When planning an autonomous mapping mission, eMotion X can use elevation

data to set the altitude of each mission waypoint. This improves the ground resolution and increases mission safety, especially in uneven terrain, by keeping a

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 menu23.

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.

22 eMotion X must be connected to the internet. Once downloaded, elevation tiles are cached and can

be used offline.

23 this is the default option

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Note: If you need to, you can then adjust each waypoint’s altitude

manually. See How to move waypoints on page 33

11.12 Choosing an alternate altitude reference for your mapping mission 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.

• Area highest point

All 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 point

All 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.

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Extended guide to eMotion X

11.13 Using custom background data

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

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.

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Browse to the location of your elevation data file and click Open.

How to enable an elevation dataset

1. Choose Preferencesfrom 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.

Caution: Always very carefully check that your elevation dataset has

been imported in the way that you expected. Unexpected altitudes

can 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.

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Extended guide to eMotion X

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.

11.14 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

• 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.

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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.

Note: You can use Postflight Terra 3D (see Processing on page 51) 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.

11.15 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

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Extended guide to eMotion X

ground (its footprint).

When positioning the mouse cursor 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.

It is only an estimation due to Wind conditions and imprecisions in the elevation

data, which may mean that the photo taken is not 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.

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.

11.16 Advanced Flight Data Manager options

Importing photos without processing

Choose Only import flight data, process later in the first pull-down menu in the first

Flight Data Manager screen.

Use this option if you wish to import photos from your drone’s SD card but do not

wish to process them straight away, or wish to process them on another computer.

11.17 About eMotion X’s data folder

eMotion X stores its data files in the Data Folder.

This includes:

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• 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.

11.18 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.

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.

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Extended guide to eMotion X

11.19 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.

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Part V

Extended guide to mission

planning
Extended guide to mission planning

12 Around POI (point of interest) mission blocks

Use an Around POImission 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)24.

• Mode

Choose the way you want to set up the drone’s trajectory around the point

of interest.

24 see About coordinates and altitude references in eMotion X on page 14

102
Around 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.

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Extended guide to mission planning

13 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 Start waypoint, or to guide the drone from 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.

104
Custom Route mission blocks

About Custom Route waypoints

Custom Route waypoints are simple waypoints that have only the following properties:

• Altitude

You can choose to set the altitude as ATO, AMSL or AED25.

• 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 map26.

How to add a waypoint to a Custom Route

1. Open the Custom Route mission block.

2. Click .

The waypoint will be created at the centre of the map at an altitude of 25 m AED.

How to view and edit Custom Route waypoint properties

With the Custom Route mission block open, open the waypoint in one of the following ways:

• In the mission explorer, click the that is after the Custom Route mission

block and choose the waypoint from the list.

• With the mission block open, double-click the waypoint.

• With the mission block open, click on the waypoint you want.

25 see About coordinates and altitude references in eMotion X on page 14

26 see How to move waypoints on page 33

105
Extended guide to mission planning

Edit the waypoint’s properties. Your changes are immediately saved.

106
Disabling security actions

14 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: Disabling this increases the risk of a crash or of the wind

pushing the drone out of the working area, resulting in an emergency

landing and potential loss of the drone. Flying in high-wind conditions 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.

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Extended guide to mission planning

Hold if ground proximity detected

If your mission takes the drone into close proximity with the ground, disabling

this increases the risk of a crash.

Return to Home in case of low endurance

The drone indicates a low battery level and will try to return to the Home waypoint, where it does not take into account the distance to the Home waypoint.

Caution: Disabling this means flying with the risk that, if the drone’s

battery is empty, it will carry out an emergency landing and you may

lose the drone.

108
Part VI

Extended guide to interactive and

manual flight
Extended guide to interactive and manual flight

15 Manual and Interactive flight modes

15.1 About the eXom’s dual autopilots

START BACK

MODE

Y

X

A

B

Navcams Ultrasonic

sensors

GNSS

receiver Magnetometer

IMU

Propellers

Barometer

HLAP

IMU

Barometer

LLAP

eXom

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. When

you 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.

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Manual 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 sensors

Used 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 eXomto 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.

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Extended guide to interactive and manual flight

15.2 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 sticks27. 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 joystick. It gives you direct

control of the drone’s angles. It automatically neutralises vertical and rotational momentum, but not horizontal momentum. It does not compensate

for the wind.

• Manual

The 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) 28

An 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.

27 If travelling horizontally, it briefly applies opposite pitch or roll

If travelling vertically, it briefly applies opposite thrust.

28 Once activated, you cannot deactivate this mode in flight. To deactivate, restart the drone.

112
Manual and Interactive flight modes

The capabilities of the eXom vary according to the flight mode:

Mode Anti-drift30 Cruise control Distance

lock

Up/down Left/right

START BACK

MODE

Y

X

A

B

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 Yes32 No No No Yes32 No

30 compensates for wind and maintains the drone’s position in a hover

32 the low-level autopilot’s IMU and barometer

113
Extended 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 drone33

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.

33 for example, if flying over swaying grass or moving trees in windy conditions, or if vehicles are passing under the drone

114
Manual 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.

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Extended 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 processor34.

16 Flying without GNSS signals

16.1 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.

34 the message LLAP take-over will appear in eMotion X’s Drone panel’s Status pane

116
Manual 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.

16.2 No GNSS mode

In extended zones where GNSS signal reception is poor, suffers from interference

or reflections, you can disable the GNSS receiver and take off without satellite positioning.

In this No GNSS mode, the drone cannot calculate it’s position, therefore:

• Autonomous flight is unavailable

• No Home waypoint is set

• No Start waypoint is set

• The drone’s position is not shown on the map

Note: With the GNSS receiver disabled you can still fly in all Interactive and Manual modes.

Caution: Without GNSS-based positioning, the drone will use only

optic flow to estimate its ground speed in Interactive mode. It may

drift out of position if far from the ground. If it does, switch to Interactive: Anti-Drift Off.

117
Extended guide to interactive and manual flight

How to deactivate the GNSS receiver

Check the No GNSS mode checkbox in your drone’s Parameters tab before takeoff.

Note: You cannot switch No GNSS off or back on in the air.

118
Extended guide to interactive flight

17 Extended guide to interactive flight

17.1 Taking ScreenFly control of the eXom during a mission

Press button C35 on the controller to activate interactive mode at any time during

an autonomous mission.

Press button C again to return control to eMotion X and the drone. It will resume

the mission.

17.2 About Distance Lock

Use Distance Lock to maintain the eXom at a fixed distance from a vertical surface

for inspection.

Move the drone across the surface, up and down. Set the required distance in the

Drone tab.

When active, the eXom’s head points forward (0◦) and only the head ultrasonic

sensor is used. You cannot use other sensors without deactivating Distance Lock.

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.

35 see The ScreenFly Controller on page 73 for a detailed description of the Controller.

119
Extended guide to interactive and manual flight

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.

120
Manual 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.

18.1 About the remote control

Use 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 range36.

36 see Drone specifications on page 165 for the range of the remote control

121
Extended guide to interactive and manual flight

Thrust Pitch

Right stick Left stick

(Disabled*)

Manual control (power) on/off

Yaw

Set*

Motor cut off

(Press+hold for 1s)

Roll

Auto photo

trigger off/on

Take off/land Custom switch

*Do not touch these controls

HLAP bypass

(Press)

A B

C D

E

G*

F*

⏻

122
Manual flight with the remote control

Caution: When flying manually, the pilot must pay great attention

to 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.

18.2 About flight assistance when flying manually

When 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 automatically

carry out an emergency landing. However, you can still take control

of the drone with the remote control, if in range37, and pilot the drone

to the ground.

18.3 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 the 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.

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Extended guide to interactive and manual flight

While the remote control is in control of the drone, the power button flashes approximately once per second.

If the remote control does not beep five times, or the 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

power button again to switch the Remote Control 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.

18.4 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

above diagram).

• Pull back on a stick means pull the stick towards you (or down in the above

diagram).

• 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).

124
Manual flight with the remote control

Remote Control Functions

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

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

125
Extended guide to interactive and manual flight

C: Take off/

land

Push forward On the ground: take off

While 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

sequence

Push left Off

Push right On

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.

126
Manual flight with the remote control

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.

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.senseFly38.

38 http://my.sensefly.com

127
Extended guide to interactive and manual flight

18.5 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 18 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 the 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.

128
Manual flight with the remote control

Manual landing

Pilot your drone down to the ground. Approach the ground at low vertical speed.

Once on the ground, press and hold the left stick for 1 s to stop the motors.

18.6 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.

18.7 Manual flight

How to climb using the remote control

Push the left stick up and the drone will climb.

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.

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Extended guide to interactive and manual flight

Caution: If your drone is at altitude in a zone that has little or no satellite positioning signal coverage, extended manual assistance will not

be able to automatically maintain a hover. You must use the right

and left sticks to maintain a hover manually.

How to 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).

Push the left stick to the left to turn the drone on its axis to the left (anticlockwise

when viewed from above).

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 forward. 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 direction. Use

the left stick to provide enough additional thrust to maintain altitude.

18.8 Returning control to eMotion X

To return control to eMotionX, press the 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 MISSIONto continuefrom

where the mission left off.

130
Manual flight with the remote control

Note: If you have activated the HLAP Bypass flight mode, you cannot

return control to eMotion X39.

18.9 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.

39 see Flight control modes on page 112

131

Part VII

Maintenance and Repair
Maintenance 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 Updating the eXom’s software and firmware

Occasionally, senseFly Ltd releases a software upgrade for the eXomto provide additional features to our users or to correct potential issues. eMotion X will check

for new versions during start-up40 and will display a message with update instructions if a new version is available. We recommend, however, that you check

my.senseFly41 regularly for updates to ensure you have the latest version of the

software.

Caution: We are constantly working to improve the performance of

our products and we are dedicated to providing our customers with

the 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.

To upgrade eMotion X or Postflight Terra 3D to the latest version either OK the

softwares prompt upon opening or download the installation packagefrom my.senseFly

and follow the standard install procedure (see Installingthe software on page 2). It

is not necessary to uninstall a previous version of eMotion X before installing the

new one.

40 provided that there is an internet connection

41 http://my.sensefly.com

134
Maintenance 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 drone before it can be used.

1. If the drone is on, power it off and remove the battery.

2. Connect the supplied USB cable between the computer on which you installed eMotion X and the Autopilot Port on the side of the eXom42.

3. Install the battery in the drone.

4. Power the drone on.

5. Launch eMotion X.

6. In eMotion X, choose Updater eXom... from the File menu.

7. Click Update to begin the updating process..

8. Once the update is completed successfully (indicated in green within the

Updater), power off the drone.

9. Disconnect the USB cable.

10. Reboot the drone. During this first reboot the drones LED will shine yellow

for a short while.

Note: A firmware update may upgrade several of the drone’s systems (HLAP, LLAP, etc.) and can take several minutes, during which

time the drone will restart. Do not interrupt the update. If more

than 10 minutes have passed and the update is not complete, contact senseFly or your reseller.

42 see the diagram on page 10

135
Maintenance and Repair

Connect eMotion X to the drone using the ground modem and check that the

HLAP firmware version and LLAP firmware version in the Drone Parameters tab

match those in the firmware update release note.

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.

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 when connected.

19.2 Full inspection

Beyond the general airframe inspection that is performed before every flight, senseFly

recommends that perform a full airframe and sensor inspection regularly and after any incident43.

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:

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

43 see Maintenance schedule on page 160

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Maintenance and repair of the eXom

not turn smoothly, blow some air through the motor to dislodge any obstruction. If this does not help, contact senseFly or your reseller.

Check head mechanism and inertial sensors

The 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.

2. Listen for loose objects inside the drone. If you hear anything rattling, do

not fly.

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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

blade with a circular lock symbol on it must be installed on the propeller 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 160 for details.

You do not need to replace all 4 propellers at once. You can replace one propeller

at a time.

Attaching and detaching propellers

x 2

x 2

x 1

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1.

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2. 3.

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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.

How to attach the propellers

1. Take the screwdriver provided and insert it into one of the sockets on the

motor.

2. Position the correct propeller on the correct motor. Make sure that the labels match (circular or square lock symbol).

3. While holding the screwdriver to prevent the motor from turning, position

the propeller on the motor then turn it 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.

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Maintenance and Repair

19.4 Changing a leg

x 2

x 1

1.

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x x 

2.

1.

2. 143
Maintenance and Repair

3.

First, completely remove the shrouding on the side the leg is on...

1. Take the screwdriver suppliedwith your eXomand 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.

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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.

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Maintenance and Repair

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 142.

Note: The screws can easily become worn or damaged during removal. We recommend replacing them with new screws when you

change the shrouding.

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Maintenance and repair of the eXom

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.

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Maintenance and Repair

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 drone

and to maximize 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 Ltd

cannot be 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.

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Maintenance and repair of the eXom

LiPo batteries do not exhibit any memory effect. We recommend that you always

fully charge them after use even if they are only partially discharged.

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,

charge the battery so that the third indicator LED has lit, but not the fourth.

Dispose of the battery safely and appropriately.

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 the

battery 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.

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Maintenance 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 Statussection on theDrone panel’s Monitor tab.

The following error message types are possible:

• Take-off vetoes

• In-flight warnings

• Critical failures.

20.1 Take-off vetoes

After successfully completing pre-flight checks, the eXom’s status LED shines green.

If it detects a condition that prevents it from taking off, or makes taking off unwise,

itwill raise a Take-off veto. A messagewill appear in the Status panel in eMotionX’s

Flight monitoring 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 159.

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Troubleshooting

Take-off vetos

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 Area44.

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.

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 automatic

response 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 eMotion 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 waypoint45

• Holding

45 see About Start and Home waypoints on page 33

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Maintenance and Repair

• Resuming an interrupted mission

• Autonomous landing after a mission

If flying 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 user action recommended below. The

full list of possible In-flight warnings and required User actions can be found in

the following table.

In-flight warnings

eMotion X text Description

Automatic response

User action

Prevention

Battery temperatureYour eXom’s batteries have overheated. 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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Troubleshooting

Low battery The remaining battery level is below 15 % – it is risky to

continue the flight plan.

Automatic response: The drone flies to Home and

lands.

User Action: Land as soon as possible. Recharge the

battery.

Battery malfunctionThe drone is unable to monitor the battery. There is a

risk that the battery will run out during flight.

User Action: Land as soon as possible. Recharge the

drone battery before the next flight.

Navigation disabledThe drone encountered an error and cannot continue

the mission.

Automatic response: The drone holds its position (enters a hover).

User Action: Land as soon as possible and restart the

drone.

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.

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Maintenance and Repair

Out of working

area

The drone has left the working area but has not reached

the outer security limit. This may occur if waypoints

are set very close to the edge of the working area or if

strong wind pushes the drone out of it. 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.

Above working

area

The drone has climbed above the working area ceiling.

This may occur if waypoints are set very close to the top

of the working area or if strong wind pushes the drone

out of it. 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.

∗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.

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Troubleshooting

∗GPS required

but unavailable

GNSS signals are very poor or have been lost and

the eXom can no longer calculate its position for autonomous flight.

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.

∗Wind too

strong

There is too much wind to maintain stable flight. The

drone risks being blown out of the working area. The

drone will try and reach the Home waypoint.

User Action: Land as soon as possible.

∗Ground proximity

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

risks crashing.

Automatic response: The drone holds its position

(hovers).

User Action: Consider aborting the mission or adjusting waypoint altitude.

Prevention: Carefully review mission plans in 3D.

∗Camera

malfunction

The drone’s camera has malfunctioned. It can no longer

capture photos or video.

Automatic response: The drone flies to the Home

waypoint.

∗

These warnings can have their Security Action disabled. See Disabling security

actions on page 107.

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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 the

drone 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.

Critical failures

eMotion X text Description

Effect on drone/drone’s response

Prevention

User action

Autopilot failure The eXom’s low-level autopilot has taken control of

the drone, which means that the high-level autopilot

has failed.

User action: Power on the Remote Control(HLAP Bypass Mode will be active46), take manual control of

your drone, land and restart it.

Prevention: Only fly within the eXom’s recommended operating conditions.

46 see Flight control modes on page 112

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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.

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.

Localisation failure Satellite positioning 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.

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.

Temperature criticalThe eXom’s internal temperature has reached a critical level.

Automatic response: The drone immediately lands.

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Far outside working areaWhile 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 in 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.

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.

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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 150 to see if there is a solution to the particular message.

2. Check our Knowledge Base, part ofmy.senseFly47, 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.

47 http://my.sensefly.com

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20.6 Maintenance schedule

You must carry out a general inspection48 before every flight.

You must perform afull inspection49 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 required50.

Perform afull inspectionwhen bringing your drone out of long-term storage(more

than 1 month) after any repair, part replacement, heavy landing or other unexpected incident.

48 see General inspection on page 20

49 see Full inspection on page 136

50 see General inspection on page 20

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Date A/C model S/N Hours General/Full Maintenance 

Part VIII

Specifications
1 Software requirements

eMotion X has the following minimum software 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 software 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 min. resolution: 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)51 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◦

51 can vary greatly depending on external factors such as wind, altitude change and temperature.
Main Camera - video HD (1280 x 720 pixels)

Stills and video geo-referenced

Thermal Camera photos 80 x 60 pixels

Thermal Camera FOV 50◦

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 x 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 52 Up to 2 km (1.2 miles)

Frequency 2.4 GHz & 5 GHz ISM bands

Streams MiMo 2x2 with Spatial Diversity

Transmision Mode OFDM53 or DSSS54

Radiated Power Up to 630 mW55

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)

52 can vary greatly depending on external factors such as cruise altitude, presence of obstacles and

radio-frequency interference.

53 orthogonal frequency division modulation

54 direct sequence spread spectrum

55 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.

geo-reference 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 point

cloud 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