APPENDIX E.5. 

3D Robotics Aero Checklist 

 
Aero Flight Checklist

Preflight

LED

Inactive

Safety Button

Active, press and hold button to deactivate

Initializing, please wait

System error, see troubleshooting guide

Autopilot ready, no GPS

Loss of RC signal, automatic return to launch

Autopilot ready, GPS locked

Armed, ready to fly

4 Press and hold 

safety button until 

solid red.

3 Check LED for blinking 

blue (no GPS) or blinking 

green (GPS locked). 

GPS

GPS X

Check manual 5 controls.

» Throttle

» Pitch up and down

» Roll left and right

» Yaw left and right

6 Check autopilot 

stabilization.

» Pitch up and down

» Roll left and right

» Wings and tail attached

» Tail boom secured

» Servos and rods secured

» Airspeed sensor secured

» Propeller tight

» Transmitter on

1 Go outside to an open area, 

and inspect aircraft.

Connect 2 charged battery.

» Hold aircraft still 

while powering on.

» Secure lid.

» Check for balanced 

center of gravity.
motor on

motor of

Flight Control

For customer support, contact us at help@3DR.com

or call our support line at +1 (858) 225-1414 

Monday through Friday, from 8 am to 5 pm, PST.

3DR.com/rtf-aero | plane.ardupilot.com

Postflight

1 Press and hold safety button 

until blinking red.

2 Disconnect battery.

3 Power off transmitter.

V.B DCT0034 ©2014 3D Robotics. All rights reserved.

Flight Modes

RC mode 2 only

Left Stick

Left Stick

Left Stick

Left Stick

Left Stick

Left Stick

Left Stick

Left Stick

Left Stick

Left Stick

Left Stick

Left Stick

Left Stick

Left Stick

Left Stick

Left Stick

pitch down

pitch up

yaw left

yaw right

roll left

roll right

With GEAR/MIX set to MIX,

set FLAP/GYRO to:

0 for AUTONOMOUS

1 for FLY BY WIRE

2 for RETURN TO LAUNCH

With GEAR/MIX set to GEAR,

set FLAP/GYRO to:

0 for MANUAL 

1 for STABILIZE

2 for LOITER

Spektrum FlySky

With AIL D/R set to 0,

set F MODE to:

N for RETURN TO LAUNCH

1 for FLY BY WIRE

2 for AUTONOMOUS

With AIL D/R set to 1,

set F MODE to:

N for LOITER 

1 for STABILIZE

2 for MANUAL
APPENDIX E.6. 

3D Robotics Y6 Manual 

 
Y6

Unfold arms and legs

travel position

Remove the bolts and thumb nuts outside the blue arms. Rotate 

the blue arms into position, insert the bolts through the plates and 

the arms, and secure the arms in place with the thumb nuts.

Rotate the legs into place and secure through the 

inner hole with the provided bolt and nut.

remove

secure with bolts

flight position

rear arm 

(black)

front arms 

(blue)

slide arms into position

travel position flight position
+

–

Attach propellers

Remove the rings from the propeller 

packages. Select the ring with the 

smaller internal diameter, and insert 

it into the back of the propeller hub.

Remove the nuts and washers from 

the motors. Add SFP propellers to the 

the front-left and back-right motors 

and SF propellers to the front-right and 

back-left motors with the writing on the 

propellers facing towards the sky.

Charge battery

Place the washer over the propeller, and 

secure the nut tightly on top. Always 

ensure that the propellers are fastened 

tightly to the motors before flying.

LiPo 3A

Connect the charger to the power 

adapter cable and a wall outlet. 

Connect the red cable to the + port 

and the black cable to the - port.

Set the charger to LiPo and 3A.

red

black

SF

SFP

SF

SFP

SF

SFP
4S

Charging Complete

Connect the white connector to 

the 4S port. Join the two yellow 

connectors together. 

Secure battery inside the guard 

bag while charging. Charge until 

the status indicator displays green.

red green

guard bag

Protect battery from extreme heat, extreme cold, puncturing, 

and flammable surfaces. Always transport, charge, and store 

battery in the guard bag.

Charge battery using a designated LiPo balance charger only. 

Always monitor battery while charging.

Flying with a low battery is a safety risk and can render battery 

unusable. Always discontinue use when you receive a low 

battery notification, and always fly with a fully charged battery.

Inspect battery for damage before takeoff and after landing. 

If you observe any swelling of the package or battery ceases 

to function, locate your local battery recycling center to dispose 

of battery. In the US and Canada, visit call2recycle.org to 

find a location. Do not dispose of battery in the trash.

! Battery safety
Flight modes

If you did not order an 

RC transmitter with your 

copter, visit 3dr.com/learn 

for instructions.

X

GPS

Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch

Stabalize

Altitude Hold

Loiter

Full Autonomy

On 3DR transmitters, use the two-position switch and the 

three-position switch shown below to select a flight mode.

Stabilize mode

Stabilize allows full manual control of 

altitude, position, and orientation without 

autopilot assistance. Use stabilize for 

acrobatic flying and to recover your copter.

Loiter mode

With automatic autopilot control of

altitude, position, and orientation, loiter is the 

easiest way to fly. Just release the sticks and the 

copter will hover in place.

position of switch: 

forward/forward

forward/back

no GPS lock required

position of switch: 

center/forward

GPS lock required 

before takeoff GPS

Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch

three-position mode switch

forward

(away from you)

back

(towards you)

center

Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch

two-position mode switch

Spektrum mode switches

forward

(away from you)

back

(towards you)

Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch

Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch

In this manual, the position of the three-position switch is specified 

first and the position of the two-position switch is specified second. 

For example, “center/back” requires the three-position switch set to 

center and the two-position switch set to back.

two-position switch

marked GEAR/MIX

three-position switch

marked FLAP/GYRO

FlySky mode switches

two-position switch

marked AIL D/R

three-position switch

marked F MODE

Both switches must be set to the correct position to 

select a mode. The three-position switch can be set 

forward (away from you), center, and back (towards 

you). The two-position switch can be set forward and 

back.
Altitude Hold

Loiter

Full Autonomy

Return to Launch

X

GPS

position of switch: 

center/back

no GPS lock required

Altitude hold mode

Set the left stick to center, and the copter will 

automatically hover at the current altitude. 

Adjust altitude and orientation with the left 

stick, and navigate with the right stick.

Your copter has powerful motors and high-speed propellers. Never place your hands near propellers 

while the motors are armed or the safety button displays solid red. Always press and hold the safety 

button until it displays blinking red before handling. 

Always fly in an open area away from people and buildings; do not attempt to fly indoors or in a confined 

space. Do not fly over people, near airports, or in any situation that could pose a hazard to those around 

you. Always fly within your line of sight and in compliance with local regulations. Your copter will not 

avoid obstacles on its own. As the operator, it is your job to recognize and avoid obstructions while 

flying. Always follow the preflight and postflight steps in the order described in this manual and the 

flight checklist, and remain attentive at all times while flying.

Environmental factors, such as wind and GPS irregularities, can cause instability in flight. Your copter will 

attempt to compensate for these factors by automatically landing if it detects an unsafe flying condition 

due to loss of RC signal, loss of GPS signal, or low battery. To avoid potential hazards due to 

environmental factors, identify the boundaries of your flying area before takeoff, and recover the copter 

manually by switching into stabilize mode if it moves outside your designated flying area. If you observe 

any inconsistent behavior, land, and consult the troubleshooting guide at 3dr.com/learn.

Always use an RC transmitter as a primary or backup control system when flying. Ensure that the 

transmitter is turned on any time the copter is powered. If contact with the transmitter is lost during 

flight, the copter will land and display a blinking yellow light. If the copter is more than 2 meters (6.5 

feet) from the launch point, it will return to launch (RTL) before landing.

Autopilot-positioned flight modes (loiter, autonomous, and return-to-launch) require an active GPS 

signal. If GPS signal is lost during flight, the copter will land and display a blinking blue and yellow light 

with a high-high-high-low tone. Always choose an unobstructed flying area to improve signal strength.

When the battery reaches 25% of its remaining charge, the copter will land and display a blinking yellow 

light with a quick repeating tone. If the copter reaches the low battery limit during a mission, it will return 

to the launch point before landing.

! Flight safety

Loiter

Full Autonomy

Return to Launch

Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch

Autonomous mode

Fly a fully autonomous mission using a 

computer or Android device as a ground 

station. For instructions on planning and 

flying missions, visit 3dr.com/learn.

Return to launch (RTL)

Command the copter to achieve a minimum 

altitude of 15 meters, return to the launch 

point, hover for five seconds, and land. Use 

RTL to end your flight automatically.

position of switch: 

back/back

GPS lock required 

before takeoff GPS

position of switch: 

forward/back

GPS lock required 

before takeoff

GPS
Flying

Select an open area for flying, away from people 

and buildings, and remember to bring the flight 

checklist and a fully charged battery. Follow these 

steps every time you fly.

Attach the battery to the underside of the 

copter using the velcro straps, and join the 

yellow connectors.

Determine the boundaries of your flying area 

before takeoff, and select a level, unobstructed 

space as a launch point. Place the copter at the 

launch point with the blue arms facing away 

from you, and stand back.

1 Turn on the transmitter. Set the left stick fully 

down, and select a flight mode. Check that 

the propellers are tight, the antennas are 

vertical, the GPS mast is vertical, and all the 

components are secure.

2

3

Check Pixhawk’s LED. If you plan to fly 

only in stabilize or altitude-hold modes, 

wait to see the blinking blue light. 

If you plan to use loiter, autonomous, 

return-to-launch, or other GPS-required 

modes during your flight, wait to see the 

blinking green light, indicating GPS lock, 

before arming.

4

Flight Checklist

Pixhawk LED

Inactive, safe to handle

Safety Button

Active, press and hold button before handling

Low battery, automatic landing

Loss of GPS signal, automatic landing

Initializing, please wait

System error, see troubleshooting guide

Autopilot ready, no GPS

Loss of RC signal, automatic landing

Autopilot ready, GPS locked

Armed, ready to fly

Preflight

Connect battery. 2

Place copter at 

launch point 

with the blue 

arms facing 

away from you. 

3

4 5

» Antennas vertical

» Propellers tight

» Transmitter on

» Throttle down

» Mode set

» Components secure

1 Perform checks.

6

Press safety button 

until solid red.

Check Pixhawk 

LED for blinking 

blue (no GPS) or 

blinking green 

(GPS lock). Hold throttle 

down/right 

until motors 

spin. GPS

GPS X

LED
To arm the motors, hold the left stick 

down/right until the motors spin.

6

Control your copter in flight using the 

transmitter’s left and right sticks. Use the 

left stick to control throttle (power) and 

yaw (rotation); use the right stick to 

control roll (left and right movement) and 

pitch (forward and backward movement). 

Navigate by orienting the copter with the 

blue arms facing forward.

7

After landing, disarm the motors by 

holding the left stick down/left until 

the motors stop.

8

Once the motors are disarmed, disconnect the 

battery. Once the copter is powered off, turn off 

the transmitter. 

10

Press the safety button until it displays blinking 

red to make the copter safe to handle.

9

roll

pitch

yaw

throttle

5 The safety button indicates when the 

copter is safe to handle. When you’re 

ready to fly, press and hold the safety 

button until it displays solid red. This 

indicates that the copter is now active.

safety button
Happy flying!

Y6 Operation Manual V2 | ©3D Robotics, Inc. | 10 March 2014

Learning more

To learn more about the APM:Copter platform, 

including adding new flight modes and flying 

autonomous missions, visit copter.ardupilot.com.

Resources

Visit 3dr.com/learn for more instructions on 

flying, configuring, and using a ground station 

with your copter.

Support

For customer support, contact us at help@3dr.com

or call our support line at +1 (858) 225-1414

Monday through Friday, from 8 am to 5 pm, PST.
APPENDIX E.7. 

3D Robotics Safety Manual 
 (HTTP://3DROBOTICS.COM)  DRONE SAFE TY

DroneSafety

Drones can be hazardous if operated incorrectly. If you are new to drones, we recommend learning on

a mini-drone to first learn the ropes. Make safety your first priority, and always follow these best

practices.

Handling

Spinning propellers can cause serious injury. Become familiar with your drone’s arming procedure, and

always disarm before handling the propellers. On 3DR RTF (ready-to-fly) and other Pixhawk-powered

vehicles, the safety button provides an additional safety measure by blocking power to the motors

while the button is disabled (blinking red), allowing you to handle the drone safely.

When flying, always make sure to keep a safe distance between yourself and the drone. Don’t take off

with the drone facing towards you or fly directly over your head. It is your job to ensure the safety of

the people around you; make sure that spectators maintain a safe distance from your drone at all

times.

VisualLineofSight

(http://3drobotics.com/) 

We give away a new IRIS+ every month! *Email Subscribe
Maintaining visual contact with your aircraft is the best assurance of a safe flight. Don’t let the drone

get too far away from you; keep it where you can easily see its orientation from the ground. This is

called your visual line of sight and prevents a situation where you cannot recover the drone safely.

Flying within visual line of sight is also a good way to ensure that your radio signals (from the RC and

telemetry radio systems) aren’t blocked by buildings or other obstructions. If you can’t see through it,

it’s likely that your radio signal can’t either.

Under400Feet

Keep your drone flying below 400 feet (120 meters) altitude to avoid conflict with full-scale, manned

aircraft and maintain visual line of sight. To give you an idea of how high that is, the Statue of Liberty is

300 feet (93 meters) tall.

100FeetfromPeople,Vehicles,andProperty

Always maintain at least 100 feet (30 meters) between your drone and people, vehicles, and buildings.

This rule is important for flying near crowds, buildings, and roads due to potential hazards from

unplanned landings.
5MilesfromAirports

To prevent conflict between your drone and manned aircraft, always fly at least five miles (eight

kilometers) away from all airports and other locations where manned aircraft are in use. Research your

area to find all areas of restricted airspace near you.

Failsafes

A failsafe is a pre-programmed behavior designed to prevent a crash in the event of an unsafe

situation. All ArduCopter vehicles include a GPS failsafe activated by default. 3DR RTF copters are also

preset with radio control (RC) and low battery failsafe behaviors.

Loss of GPS signal

If the drone looses GPS signal in a flight mode that requires GPS (loiter, auto, return-to-launch,

guided), it will land automatically, indicated by a blinking blue and yellow status LED and a high-highhigh-low tone. Always fly outside in an open area to improve GPS signal strength.

Loss of RC signal

If the drone looses contact with the RC transmitter, it will land automatically, indicated by a blinking

yellow status LED. If it looses RC signal during a mission, it will return to the launch point before

landing.
Low battery

If the battery reaches 25% charge, the drone will land automatically, indicated by a blinking yellow

status LED and a quick repeating tone. If the battery runs low during a mission, the drone will return to

the launch point before landing.

Commonsense

Your common sense is the best failsafe. Always be ready to regain manual control of the drone in the

event of an unsafe situation. Before you fly, determine the boundaries of your safe flying area. If the

drone moves outside the designated area or exhibits instability in flight, switch to stabilize mode and

land the drone manually. Remember that, despite specific regulations, flying recklessly or creating an

unsafe situation for the public is always illegal. As the operator, you take responsibility for the behavior

of your drone at all times.

Visit Know Before you Fly (http://knowbeforeyoufly.org/) for more information about drone safety.

Please fly with adult supervision if you are under 18 years of age.

back to Learn (http://3drobotics.com/learn/)



(http://www.facebook.com/3drobotics)



(http://www.twitter.com/3drobotics)



(http://plus.google.com/+3DRobotics/posts)



(http://www.youtube.com/3drobotics)



(http://www.instagram.com/3drob



(http://www.3drdrones.tum

LOGIN (HTTPS://STORE.3DROBOTICS.COM/LOGIN)

SHOPPING CART (HTTPS://STORE.3DROBOTICS.COM/CART)

CAREERS (HTTP://3DROBOTICS.COM/CAREERS-2/) SUPPORT (HTTP://3DROBOTICS.COM/SUPPORT/)

SOF TWARE (HTTP://3DROBOTICS.COM/LANDING-SOF TWARE/)

TERMS (HTTP://3DROBOTICS.COM/TERMS/) COMMUNITY (HTTP://WWW.DIYDRONES.COM)

CONTACT (HTTP://3DROBOTICS.COM/CONTACT/) SITEMAP (HTTP://3DROBOTICS.COM/SITEMAP/)

/

/ /

/

/ /

/ /
WegiveawayanewIRIS+everymonth!

Email

Copyright © 2014 3D Robotics Inc., All Rights Reserved

Subscribe