# K680
**- 4** **, K1000**
**- 4** **, Zeta FX** 
**- 61**  **Operat or’s**  **Manual**

**Version 1**  **.0 Revised 4/**  **1 5** **/15**

The latest version of this document shall be kept with the PIC at the ground control point.The K680

-4 , K1000

-4 , and Zeta FX

- 61 Unmanned Aircraft System (UAS) are designed

to lift compact digital still and video cameras for the purpose of photogrammetry , aerial photography and inspection. The aircraft are a fusion of off the shelf equipment, and prosumer digital cameras resulting in cost effective and reliable aerial data collection platform s that can carry camera payloads up to 8 oz (K680

-4 and Zeta FX

- 61 UAS) or 2 4 oz (K1000

-4 UAS)

. Wh en using the U AS in public or civil operations in the USA, you are required to comply with the current regulations of the Fede ral Aviation Administration (FAA) regarding unmanned aircraft. Information related to unmanned aircraft systems is available at https://www.faa.gov/uas/ . Operators are required to have at least a sport pilot certi ficate and US drivers license. Certificates of Wa iver or Authorization (COAs) are required for each flight when performing public or civil work. The UAS must be operated during daylight hours using visual line

-of

-sight (VLOS) and visual flight rules (VFR) The UAS is not a toy and must be assembled, maintained and operated by qualified personnel. Rotating p ropellers can cause severe injuries. Do not transport or handle the UA with the battery connecte d. Keep all body parts away from the propellers when the battery is connected.**Recommended Operator Requirements** 

A minimum crew of two is re commended for operating the UAS

. A crew consists of a Pilot

- in

- Command (PIC) and Visual o bserver (VO)

. Both PIC and VO should be positioned at the takeoff and landing area. Pilot In Command (PIC) The PIC is responsible for flight planning and ensuring that the UA will be operating within the boundaries of the COA and in weather conditions that permit safe operation. The PIC is responsible for safe flight operation in both manual and automatic flight modes

. In addition to FAA requirements the PIC must meet the training requirements below. Visual Observer (VO) The VO should be competent to observe a flight for the p urpose of assisting the PIC

. The PIC is responsible for determining the competency of the VO. The VO should be capable of assisting the PIC in avoiding air and ground obstacles as well as providing ground situational awareness to the PIC

. The VO should be able to discern the direction and attitude of the aircraft to assist the PIC during flight. It is recommended that the VO h ave flying experience with RC aircraft . Being able to discern the aircraft’s distance , orientation and heading is a skill that comes with flying experience. If the PIC becomes disoriented or loses sight of the aircraft, the VO should be able to advise the PIC appropriately. The VO should be thoroughly familiar with the operation of the telemetry system. The VO should report UAS status throughout the flight. Status information includes battery capacity remaining, waypoint count and GPS precision. The Observer must be positioned n ext to the PIC to facilitate voice only communications. The VO is responsible for keeping the immed iate landing area clear of personnel.
**Control Equipment** The UAS is controlled using a Spektrum DX9 Transmitter and triple diversity receiver. The Spektrum system operates in the 2.4 GHz band and complies with part 15 of the FCC rules. The Spektrum system u ses proprietary DSMX modulation and is well proven in noisy RF environments.
**Flight Modes**  The aircraft has 5 operational modes which are summarized below. StabilizeWh ile in stabilize mode the aircraft will self level and hold current yaw heading. W hile in

this mode the aircraft can drift horizontally or vertically. The Operator is required to manually position the aircraft while in stabilize mode. Loiter Multirotor: Wh ile in loiter mode the aircraft will self level and hold current yaw heading. The aircraft will also hold position using a fusion of inertial, GPS , and barometric sensor data

. If the control sticks are moved outside of their “dead band”, which is the approximate center position, the a ircraft will move at a rate proportional to the stick movement. Upon release of the sticks, the aircraft will hold the new position, altitude and yaw angle. Fixed wing: Wh ile in loiter mode the aircraft will self level and maintain current altitude. The aircraft will circle about a point at a user programmed radius using a fusion of inertial, GPS , and barometric sensor data . If the control sticks are moved outside of their “dead band”, which is the approximate center position, the aircraft will move at a rate proportional to the stick movement. Upon release of the sticks, the aircraft will hold the new position.

Auto Wh ile in auto mode the aircraft will fly a pre

- programmed path consisting of X,Y and Z wa ypoints. Additional commands such as camera sh utter triggers can be programmed at specific waypoints or at regular intervals along the flight path. Return to l aunch (RTL) Wh en a RTL command is received the aircraft will rise to the RTL altitude , return to the home coordinates and then loiter at the RTL final altitude. Land Wh en a land command is received the multirotor aircraft will descend vertically until it senses that it has landed. The motors will then be automatically shut down. The fixed win g UA utilizes operator configured parameters including altitude, airspeed and timers to achieve the desired glide slope and flare point for auto landing.**Flight Mode selection**

Flight Mode selection may be selected through the RC transmitter or through telemetry commands. The following transmitter switch positions are used to select flight modes.

Lowest numbered positions are forward, or away from operator.
Switch E Switch F Flight Mode 1 1 Stabilize 2 1 Stabilize 1 2 Loiter 2 2 Stabilize 1 3 Auto 2 3 RTL **Flight controller hardware , software**  **and firmware** The UA can be equipped with DJI or 3DR flight controllers. Both control systems provide the necessary functionality to support manual and autonomous modes.**Ai rcraft Fail Safe**  **Procedures and lost link handling**

The Pilot

- in

- Command (PIC) is responsible for safe operation of the aircraft. The following automatic failsafe modes provide additional safety features should contact with the aircraft be lost or sub

-systems fail. Radio Failsafe Radio failsafe will trigger if the aircraft loses the signal from the radio control receiver. This mode can occur if the transmitter fails or is turned off, the aircraft travels outside the range of the RC system, or the connection between the receiver and flight controller fails. Radio failsafe will initiate a Return

-to

- Launch (RTL) if the aircraft has GPS lock and is more than 2 meters from the home position. Radio failsafe will initiate a LAND command if there is no GPS lock or the aircraft i s within 2 meters from the home position. Battery Failsafe Battery failsafe will trigger if the battery voltage drops below a preset voltage for more than 10 seconds. Battery failsafe will initiate a Return

-to

- Launch (RTL) if the aircraft has GPS lock an d is more than 2 meters from the home position. Battery failsafe will initiate a LAND command if there is no GPS lock or the aircraft is within 2 meters from the home position. GPS Failsafe GPS failsafe will trigger if the aircraft experiences a GPS glitc h for 5 seconds while in a mode that requires GPS. GPS failsafe will initiate a LAND command if GPS failsafe is triggered. **Flight range** Th e con trol system and telemetry have a range that exceeds the pilots VLOS capability

. I t is not recommended that the aircraft operate beyond 2 5 00 feet from the control point. **Geo Fence** The geofence will be breached if the aircraft flies outside the preset radius and altitude. The horizontal fence distance should be set for each job. The fence should be set to return the UAS to the launch point if it crosses outside of the operating area.**Flight t** **esting and training a**  **rea**

A suitable flight testing area is required for flight testing and training. The flight testing area must be located outside and away from structures that could interfere with GPS reception

. The flight testing area must be a controlled “sterile” environment not open to the public. The PIC must have permission to use the area for UAS testing and training. The flight testing area must be sufficiently large to permit test ing of autonomous flight modes. All testing and training flights must be flown below 200 feet above ground level (AGL). All testing and training flights must be flown more than 500 feet from people not directly involved with the UAS activity

. The flight testing area should be located no more than:

 5 nautical miles (NM) from an airport having an operational control tower; or

 3 NM from an airport with a publi shed instrument flight procedure, but not an operational tower; or

 2 NM from an airport without a published instrument flight procedure or an operational tower; or

 2 NM from a heliport with a published instrument flight procedure **UA S**  **testing** A minimum of two , 15 minute test flights must be performed by a qualified PIC and VO at a flight testing area to verify correct UAS operation before the aircraft is flown in public or civil operations if any of the following occur : 1. An electrical or electronic component, other than the battery, has been replaced or repaired 2. Propellers have been replaced with a different type 3. Flight controller hardware or firmware has been updated 4. Control , camera or sensor equipment has changed 5. Battery type or capacity has changed 6. We ight or balance has been altered 7. Motor mounting plates have been re

- aligned**U AS**  **flight training**  **recommendations**

All UAS training must be conducted within the flight testing and training area.
A n instructor i s required for all training flights. The instructor may serve as VO. Before flying a UAS in training, t he PIC must hold a current exemption from the FAA for the specific UAS being operated

. The instructor should meet the current FAA requirements for operating a U AS in addition to having extensive experience piloting similar unmanned or hobby RC aircraft. If the instructor cannot meet current FAA airman requirements or does not have a current exemption to operate the specific UAS , the instructor is not allowed to fly the UA

. In this case , the instructor is limited to providing “ground school” training for maintenance and operations and is limited to verbally advising the PIC during flight training. The PIC should be competent to manually fly the aircraft using on ly visual cues. The PIC should be capable of discerning the direction and attitude of the aircraft at normal flight distances. The PIC should be able to recover the aircraft to level flight from any attitude. The PIC should be able to take off, fly, and consistently land the aircraft in the landing area without the aid of autonomous control modes

. It is recommended that initial flight competency be obtained through the use of RC flight simulators and hobby quadrotors flown indoors. The PIC sh ould have a thorough understanding of the manual controller and be able to quickly switch the system into the correct modes. If a PIC has to pause to think about which switch to activate or which way to move the control sticks the PIC is not ready to operate the UAS outside of a test area. It is recommended that the same model of manual controller should be used for simulator, indoor and outdoor training. It is recommended that PIC log at least 6 hours of flight time or 20, 20 minute flights before operating the system outside of the training area. The PIC should be able to demonstrate evasive emergency maneuvers as directed by the instructor in order to m aintain appropriate distances from persons, vessels, vehicles and structures. The PIC should demonstrate a thorough understanding of the telemetry system. The telemetry system serves as a redundant controller for the aircraft. The PIC should be able to command the aircraft to navigate to specific areas and land using the telemetry software. Before acting as PIC outside of the training area the PIC must demonstrate competency to operate the UAS to the sat isfaction of the UAS instructor . The PIC must pos sess a written statement from the instructor that the PIC is competent before the PIC operates the UAS outside of the test area. This written statement must be retained with the operating documents and be available during UAS operations.**UA S ground train**  **ing**

It is recommended that an organization using the UAS develop a training program to ensure that all personnel involved with operations are capable of safely operating and maintaining the UAS. This training should supplement the FAA certification and UAS flight training requirements. Recommended t raining topics include but are not limited to: FAA regulations Airspace classifications Basic electrical concepts Basic a erodynamics Motor power and thrust Sensors Telemetry and GPS Control theory concepts F light controller parameters Airframe maintenance and repair Soldering and connectors Battery care and charging Ground Control Station Operation We ather Operating procedures Flight planning Emergency procedures**Battery**

**Care and Charging** The Lithium Polymer battery used in the UAS must be charged with an appropriate battery charger . T he recommended charger is the Hitec X4 charger. Batteries must be charged in accordance with the battery manufacturers recommendations. Batteries must be charged out of the aircraft. Batteries should not be charged in an unsupervised area or near flammable materials. Batteries should be labeled with a unique ID number and the date they are placed into service. Before charging the battery , check the indiv idual cell voltages using a battery tester that simultaneously displays individual cell voltage s with a resolution of 1/100 of a volt. Batteries with dents, puffing or visible damage should be discarded. Batteries with any cell under 3.4V should be disca rded. Batteries with a difference in cell voltages that exceed .05 volts should be balance charged in “LiPo Balance” mode. Batteries with a difference in cell voltages less than .05 volts should be charged in “LiPo Charge” mode. If, after charging, a difference in cell voltage of more than .05 volts still exists, the battery should be discarded. A fully charged battery will have a voltage of 4.2 volts per cell. Batteries should be charged before flight. When a battery will not be used for over a m onth, it should be stored with a partial “storage” charge. The operator should keep a log of batte ry information with at least the following information. It is recommended that this information be stored electronically on the field computer so it is avai lable to the PIC and VO. Battery Log Data : Battery ID number Date of flight Time of flight Date recharged mAH replaced**Flight times**

Flight times will vary based on airframe type, payload, battery capacity and battery age. Telemetry should be monitored during the flight to determine when to land. The PIC should land the aircraft when the under load battery voltage during the flight drops to 3. 6 volts per cell. This under load voltage threshold will ensure the batteries are not discharged below 75 % of working capacity . This practice prevents battery damage and provide s a conservative power reserve sufficient to allow the UAS to return to the landing area from any point in the operating area and make a controlled landing. Once a baseline flight time has been established for a specific payload the transmitter’s timer should be set to one minute le ss to alert the PIC that the flight should be ended soon. Use of the transmitter timer is recommended as a redundant method of monitoring power reserves.**UA S maintenance** 

The UAS must be properly maintained for safe and reliable operation Damage occurring from normal wear, handling or rough landings must be repaired and the system test flown at a flight testing area before the system is flown in production. The battery should be disconnected during maintenance. If the UAS must be powered up for bench testing it must be thoroughly secured so that it cannot lift off . W hen conducting any mai ntena nce where power is applied, personnel must stay well clear of the aircraft. The UAS uses high quality brushless motors with sealed bearings. No lubrication or maintenance is required. Each of the four motors should be inspected before each day of flying by checking the following items: 1. Rotate the motor by hand to feel for rough bearings. 2. Pull the rotor upwards to check for worn washers or missing “c” clips 3. Check for loose motor mounting screws 4. Check for loose propeller mounting screws 5. Check for loose arms and loose or mis

- alignment of the motor mounting plates 6. Determine the cause of any high temperatures noted after flight and correct Motors with worn parts must be replaced or repaired and test flown for at least 30 minutes . Motors should be carefully inspected during this “break in” period. The propellers should be inspected before each flight. Propellers with chips, deep scratches or cracks must be replaced. All propellers must be from the same manufacturer and of the same model. If an identical replacement is not available the entire set of propellers must be replaced and a test flight conducted. It is recommended that ESCs b e directly soldered to the motor leads. The ESCs are sensitive to intermittent connections and eliminating 24 connector parts increases the reliability of the system. Soldering must be performed by a technician capable of making good solder connections. All solder points must be insulated with heat shrink tubing. If an ESC requires replacement it must be of the same manufacturer , model, firmware and circuit design. If an identical replacement is not available the entire set must be replaced with an equivalent optically isolated non

- BEC model with firmware optimize d for multirotor use

. Recalibration of all ESCs must be performed when any ESC is replaced.**Maintenance Log**

UAS maintenance should be documented in an electronic maintenance log. Maintenance information should include but is not limited to: The date the UAS was placed into service The date and type of maintenance performed The manufacturer, model, cost and vendor of all replacement parts purchased The date and the specific part replaced**Flight Operating P**  **rocedures**

The procedures below are a recommended minimum and should be modified and documented as needed for specific types of work. Flight p lanning checklist  Develop and review flight plan  Verify the flight plan conforms to FAA airspace regulations  Create a flight data folder on field computer  Fill out flight log with initial information o Date, time, location, weather, PIC, VO  Charge batteries and record data in battery log  Check weather, NOTAMs and TFRs  Adjust flight lines to align with current wind direction if possible  Put on personal protective equipment as required by organizational policy  Perform an on

-site visual confirmation that the flight plan avoids obstructions.  Set and verify the appropriate geofence radius for the flight plan  Brief personnel on the ground on the upcoming fli ghts and potential hazards. Pre flight i nspection checklist  Inspect props for damage or loose screws  Inspect airframe for damage  Make a final test of battery voltage and cell balance  Verify charged camera battery and available space on SD card Pre launch checklist  Clear the flight area of unnecessary and unauthorized personnel  Power up ground telemetry system  Power up the PIC controller  Verify proper flight mode and stick positions on PIC controller  Position aircraft at takeoff point  Power up aircraft  Connect Telemetry  Verify altimeter relative altitude is reading zero  Download flight plan to the flight controller  Power up camera and set camera mode  Check GPS for a minimum of 8 satellites, battery status, attitude and heading  Visually verify that no other aircraft are nearbyFlying p rocedures

 Take off  Verify aircraft stability and position holding performance  Verify nominal telemetry readings  Activate autonomous mode if necessary  During the flight the Observer should report the following information to the PIC: o Nearby aircraft o Mission status and waypoint count o Battery status o Any deviation from the flight plan or other anomaly  The Observer should ensure that the landing area remains clear of unnecessary or unauthorized personnel

.  Land Post Flight checklist
 Disconnect the flight battery  Place battery in discharged battery storage box  Power down the PIC controller  Disconnect telemetry  Immediately c heck for excessive motor or ESC temperatures . Temperatures should only be slightly above ambient air temperature. Record any motors or ESCs running hot in the maintenance log  Power down the camera  Copy telemetry logs to flight log folder  Retrieve images from camera  Replace or recharge battery in camera  Complete flight log fold er o Duration, document UA performance issues In the event of a crash the PIC should investigate and document the flight conditions and suspected reasons for the crash. Documentation is important so the appropriate repairs can be made. In the event of inj ury to personnel or damage to property , the PIC must follow all FAA regulations regarding reporting of the i ncident as well as following organizational and OSHA requirements. Any incident, accident, or flight operation that transgresses the lateral or vertical boundaries of the operational area as defined by the applicable COA must be reported to the FAA's UAS Integration Office (AFS

- 80) within 24 hours. Accidents must be reported to the National Transportation Safety Board (NTSB) per instructions conta ined on the NTSB W eb site: www.ntsb.gov**K680 -** **4 Specifications:** 

Airframe Type Quadrotor We ight including battery 4.1 lbs We ight with camera 4.5 lbs nominal Frame size (motor circle) 27” (680mm) Frame material Carbon fiber Motor Type Brushless outrunner Propeller Diameter 1 3 ” Propeller Pitch 5.5” (140mm) Battery Lithium Polymer Cell Count 4 Voltage 14.4V Capacity 3300 mAH Flight Characteristics Climb Rate 8.2 feet per second (firmware limited) Decent Rate 13 feet per second (firm ware limited) Endurance 15 minutes Reserve power 5 minutes Control Spektrum DX9 Frequency 2.4 GHz Modulation DSMX FCC compliance Part 15, unlicensed Telemetry Frequency 915 MHz Modulation FSK Output Power 100 mW Sensitivity

- 117 dBm Range 1 KM FCC compliance Part 15, unlicensed Camera Equipment Camera Canon S110 , GoPro Hero or similar**K 1000**  **- 4 Specifications:** 

Airframe Type Quadrotor We ight including battery 3.7 lbs We igh t with camera 4.8 lbs (with NEX7) Frame size (motor circle) 39.5” (1000mm) Frame Material F iberglass reinforced EPP Motor Type Brushless outrunner Propeller Diameter 1 5 ” Propeller Pitch 5.5” Battery Lithium Polymer Cell Count 4 Nominal Voltage 14.4V Nominal Capacity 4000 mAH Flight Characteristi cs Climb Rate 8.2 feet per second (firmware limited) Decent Rate 13 feet per second (firmware limited) Endurance 15 minutes Reserve Power 5 minutes Control Spektrum DX9 Frequency 2.4 GHz Modulation DSMX FCC compliance Part 15, unlicensed Telemetry Frequency 915 MHz Modulation FSK Output Power 100 mW Sensitivity

- 117 dBm Range 1 KM FCC compliance Part 15, unlicensed Camera Equipment Camera Sony NEX 5/7 or similar**ZETA**

**FX -** **61 Specifications:** Airframe Type Flying W ing Flying weight 4.2 lbs with QX1 Wi ngspan 61” Motor Type Brushless outrunner Propeller Diameter 6” Propeller Pitch 5.5” Battery Lithium Polymer Cell Count 3 Nominal Voltage 11.1 V Nominal Capacity 3300 mAH Flight Characteristics Airspee d 28 mph Climb Rate 25 feet per second Decent Rate 1 5 feet per second Endurance 25 minutes Reserve Power 10 minutes

Control Spektrum DX9 Frequency 2.4 GHz Modulation DSMX FCC compliance Part 15, unlicensed Telemetry Frequency 91 5 MHz Modulation FSK Output Power 100 mW Sensitivity

- 117 dBm Range approximately 0.75 miles FCC compliance Part 15, unlicensed Camera Canon S110, GoPro Hero, Sony QX1 or similar