### 1331 Elmwood Avenue, Suite 310 Columbia, SC 29201 PH 803.724.3263 www.geosyntec.com

FAA Section 333 Exemption Request_FINAL.docx 

## 31 July 2015

United States Department of Transportation Docket Management System 1200 New Jersey Ave., SE West Building Ground Floor Room W12-140 Washington, DC 20590

Subject: Exemption Request Pursuant to Section 333 of the FAA Modernization and Reform Act of 2012

Dear Sir or Madam :

Pursuant to Section 333 of the Federal Aviation Administration ( FAA ) Modernization and Reform Act of 2012 (Reform Act) and 14 CFR Part 11, Geosyntec Consultants , Inc. (Geosyntec) seeks an exemption from Federal Aviation Regulations (FARs) detailed herein for the use of 3D Robotics Inc. (3DR) Aero

- M and X8+ small unmanned a ircraft systems (UAS). The requested exemption will support Certificate of Authorization (COA) applications . Together, the Section 333 exemption and COA s will allow Geosyntec to operate the aforementioned UAS in the National Airspace System (NAS) for vario us commercial aerial data collection purposes.
Geosyntec requests that the FAA review this petition pursuant to its “summary grant” process as the FAA has already granted exemptions similar in all practical aspects to this petition to use the 3DR Aero

- M an d X8+ for com mercial aerial data collection (s ee FAA Grant of Exception No. 11519, 11617, 11755, 11861, and 12048).

I. REGULATIONS FOR WHICH EXEMPTION IS REQUE STED

Geosyntec requests exemption from the following regulations:

• 14 CFR Part 21, Subpart H;

• 14 CFR Part 27;

• 14 CFR §45.23(b);

• 14 CFR §45.27(a);

• 14 CFR §61.113;

• 14 CFR §91.7(a);

• 14 CFR §91.9(b)(2);

• 14 CFR §91.9(c);

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## • 14 CFR §91.103;

• 14 CFR §91.109(a);

• 14 CFR §91.119;

• 14 CFR §91.121;

• 14 CFR §91.151(a)&(b);

• 14 CFR §91.203(a)&(b);

• 14 CFR §91.405(a);

• 14 CFR §91.407(a)(1);

• 14 CFR §91.409(a)(2); and,

• 14 CFR §91.417(a)&(b).

This petition incorporates the material contained in the Geosyntec UAS Pre

- Flight Safety Check Procedures

, the X8+ Operation Manual, and the AERO

- M Operation Manual (together referred to as the “Manuals”, see attached ).

II. STATUTORY AUTHORITY FOR REQUEST EXEMPTIO NS

This petition for exemption is submitted in accordance with Section 333 of the Reform Act. Congress has directed the FAA to safely accelerate the integration of civil unmanned aircra ft systems into the national airspace system . Under Section 333 of the Reform Act, the FAA Administrator is to permit operation of a UAS where it does not create a hazard to users of the NAS or the public or pose a threat to national security based on:

• Th e size, weight, speed and operational capability;

• Operation in proximity to airports and populated areas; and,

• Operation within visual line of sight of the operator.

Furthermore, the Federal Aviation Act provides the FAA Administrator the general authorit y to grant exemptions from FAA safety regulations and minimum standards when the Administrator decides a requested exem ption is in the public interest (see 49 USC §§ 106(f), 44701-44716).

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## III. DESCRIPTION OF GEOSYNTEC AND ITS SERVICE S

Geosyntec is a consulting firm comprising over 1,000 engineers, geologists, scientists, and other technical specialists. Our professionals provide a broad range of engineering and environmental services to public - and private

- sector clients across the United States and abroad. Headquartered in Boca Raton, Florida, Geosyntec has offices in North America, Malaysia, Australia, Ireland, and the United Kingdom. The name and address of the applicant is:

Geosyntec Consultants, Inc. Attention: Brandon Mogan, PE Phone: 803-422-5251 E- Mail: BMogan@Geosyntec.com Mailing Address: 1331 Elmwood Avenue, Suite 310, Columbia, SC 29072 Corporate Address: 900 Broken Sound Pkwy NW, Suite 200, Boca Raton, FL 33487

IV. DESCRIPTION OF PROPOSED OPERATIONS

Geosyntec is requesting exemptions from applicable FARs pursuant to Section 333 of the Reform Act in order to perform commercial aerial data collection along existing and proposed utility corridors ; at industrial facilities (e.g., power plants, manufacturing plants, etc.); landfills; and other sites located in non- urban areas.

The use of UAS for the aforementioned purposes is much safer than using traditional aircraft. The proposed UAS are very small (much less than 55 pounds) when compared to t raditional aircraft and therefore pose significantly less risk to persons and property. Further, UAS operation does not require an on

- board pilot or combustible fuel. For activities that would typically be performed by ground

- based workers, the use of UAS allows for the safe and efficient collection of data without the need to expose workers to potentially harmful environmental conditions. For example, a UAS equipped with a thermal imaging camera can be used to identify temperature anomalies along an elevat ed piping system whereas this activity would typically be performed by personnel working on an elevated platform, presenting the risk for falls and /or chemical
exposure.

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## A. AIRCRAFT TO BE OPERATED

1. 3DR X8+
Geosyntec will operate the 3DR X8+ for the purposes of aerial data collection. The FAA has already approved the 3DR X8+ for commercial operations (see FAA Exemption No. 11617, Regulatory Docket No. FAA -2015- 0549). The 3DR X8+ is a battery

- powered multirotor UAS with a maximum weight of less than eight pound s (5.6 pounds without payload)

. 1 

## The maximum estimated flight time per the manufacturer is 15 minutes. The 3DR X8+ is depicted in the following figure.

Figure 1: 3DR X8+

The 3DR X8+ is more fully described in the 3DR X8+ Operation Manual (see Attachmen t C)

.

2. 3DR AERO -M
Geosyntec will also operate the 3DR AERO

- M for the purposes of aerial data collection. The FAA has already approved the 3DR AERO

- M for commercial operations (see FAA Exemption No. 11617, Regulatory Docket No. FAA -2015- 0549). The 3DR AERO

- M is a battery

- powered fixed

- wing UAS with a maximum weight of less than eight pounds (6.8 pounds without payload,

1 The 3DR X8+ website specifies that the payload capacity is 800 g (1.7 lbs), but that additional payload is possible to over 1 kg with reduced flight time. Geosyntec will not utilize payloads of greater than 1 kg (2.2 pounds) on the X8+. See https://store.3drobotics.com/products/x8

- plus?taxon_id=32 , accessed on 17 July 2015.

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## 1.1 pound payload capacity). The maximum estimated flight time per the manufacturer is 40 minutes. The 3DR AERO-M is depicted in the following figure.

Figure 2: 3DR AERO -M

The 3DR AERO

- M is more fully described in the 3DR AERO

- M Operation Manual (see Attachment D)

.

B. Geosyntec’s Proposed Operations Demonstrate an Equivalent Level of Safety

1. General Description of Proposed Flight Operati ons
Geosyntec proposes to operate within the limitations and performance specifications listed in the 3DR X8+ and AERO

- M Manuals. These limitations provide for at least an equivalent, or higher, level of safety for operations under the current regulatory structure because the proposed operations are safer than conventional operations using helicopters or fixed wing aircraft which are much larger than these UAS, travel at much higher speeds, carry a pilot, and carry combustible fuel. The proposed flight oper ations are similar in all material respects to operations already approved by the FAA and are therefore subject to the FAA’s “summary grant” process.

The proposed operations do not create any hazard to users of the NAS or pose a threat to national security . Moreover, the use of these UAS for the proposed operations pose less of a threat to persons and property than traditional aircraft given:

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## • The proposed UAS will have short flight durations during which the UAS will be operated below 400 feet above ground level (AGL) within the visual line of sight (VLOS) of pilot in command ( PIC ). If operating under a blanket COA, operations will be limited to under 200 feet AGL.

• The proposed UAS are equipped with robust safety features, including low

- battery failsafe, GP S signa l loss failsafe, remote control (RC) signal loss failsafe, and geo

- fence capabilities . These features are more fully described in the Manuals.

• The proposed UAS travel at much lower altitudes and much slower speeds as compared to traditional aircraft

.

• The proposed UAS do not carry persons or combustible fuel as do traditional aircraft.

The FAA has determined that the risk of not having an electronic means to monitor and communicate with other aircraft, such as transponders or sense and avoid technolog y, is mitigated by placing limits on altitude, requiring stand

- off distance from clouds, prohibiting nighttime operations, requiring that the unmanned aircraft (UA) be operated within the visual line of sight of the PIC, and yielding right of way to all ma nned aircraft.

2. Specific Limitations on Proposed Flight Operations
Given the small size involved, the restricted environment within which they will operate, the procedures listed below, and pilot certification requirements PIC , Geosyntec’s proposed operatio ns using the 3DR X8+ and AERO

- M would not create a hazard to users of the national airspace system or the public or pose a threat to national security (Reform Act Section 333(b)(1)).

• The UA weigh less than ten pounds each.

• Each UA will be identified by ser ial number, registered with the FAA, and have identification (N

- Number) markings as large as practicable.

• Flights will be operated within VLOS of the PIC. The Visual Observer (VO) may be used to satisfy this requirement so long as the PIC maintains VLOS capability.

• Prior to each flight, a zero altitude initiation point will be established as a base elevation for monitoring flight altitude AGL

.

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## • The PIC will ensure that before each flight, there is enough available power for the UAS to conduct the intended operation and to operate after that for at least five minutes or with the reserve power recommended by the manufacturer, if greater.

• The aircraft will be operated during daylight and in periods of good visibility.

• Flights will not exceed 400 feet AGL. If o perating under a blanket COA, flights will not exceed 200 feet AGL.

• Flights will be operated at a lateral distance of at least 500 feet from any persons or
structures not associated with the operation who have not given prior permission.

• Flights will be li mited to a groundspeed of less than 100 miles per hour (mph).

• Minimum crew for each flight will consist of a PIC and a VO.

• The PIC will hold either an airline transport, commercial, private, recreational, or sport pilot certificate. The PIC will also hold a current FAA airman medical certificate or valid US Driver’s license issued by a state or the federal government. The PIC will also meet the flight review requirements specified in 14 CFR §61.56 in an aircraft in which the PIC is rated on his or her pilot certificate.

• Prior to each flight, a Mission Plan will be created setting the limitations for the flight as well as contact information for the PIC.

• The flight operations will yield the right of way to all manned aircraft operations.

• All persons who are not involved in Geosyntec UA S operations will be required to be at least 500 feet from flight operations.

• The aircraft will only operate over private or controlled access property with the permission of the owner/controller or authorized representative.

• The UAS will not operate within five nautical miles of an airport unless a letter of agreement is established with the airports management.

• All required permissions and permits will be obtained from territory, state, county, or city jurisdictions as applicable prior to flight.

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## • Prior to commencing operations, Geosyntec will obtain a Certificate of Waiver or Authorization (COA) from the FAA.

• If the aircraft loses communications, the UA will either land or return to a pre

- determined location within the private or controlled- access property.

• If the aircraft loses GPS signal, it will have the capability of being flown manually to a predetermined location within the operational area and land.

• UA flights will be aborted in case of unanticipated obstacles or emergenci es by manual override of the mission and either land ing or return ing to a pre

- determined location within the private or controlled- access property.

• UAS operations will be conducted within the parameters of the Manuals.

3. Flight Recovery, Lost Communications, and Lost GPS Procedures
The flight recovery, lost communications, and lost GPS procedures are more fully documented in the attached Manuals.

V. SPECIFIC FAR EXEMPTI ONS REQUESTED

Geosyntec seeks exemption from several interrelated provisions of 14 CFR Parts 21, 45, 61, and 91 for the purposes of conduct ing the requested operations using the 3DR X8+ and AERO

- M UAS for commercial (civil) purposes. The following provides the specific FAR sections for which an exemption is requested and outlines operating procedures that Geosyntec has established which will ens ure a level of safety better than or equal to the rules from which the exemption is sought, per 14 CFR §11.81(e).

A. 14 CFR Part 21, Subpart H – Airworthiness Certificates and 14 CFR 91.2013(a)(1)

The FAA has previously determined that the proposed UAS used for similar purposes do not require exemption from 14 CFR Part 21 or the associated noise certification and testing requirements of Part 36 given that these UAS meet the conditions of Section 333 (see FAA Exemption No. 11617, Regulatory Docket No. FAA -2015- 0549). If, however, the FAA determines that there are some characteristics of the UAS proposed herein that fail to meet the requirements of the Reform Act, an exemption is requested.

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## Equivalent Level of Safety: The 3DR X8+ and 3DR AERO

- M provide similar if not better levels of safety when compared to traditional aircraft when taking into account their size, weight, speed, and operational capability. The UAS weigh less than 10 pounds each and will be flown at speeds of less than 100 miles per hour, an d in VSOL of the PIC. The UAS s do not carry pilots, passengers, or combustible liquid fuels. The UAS s will be operated within the parameters of their respective Manuals. For these reasons, and other reasons described herein, the proposed operations will be at l east as safe as, or safer than, conventional aircraft operating with an airworthiness certificate without the restrictions and conditions proposed in this request.

B. 14 CFR Part 27 Airworthiness Standards: Normal Category Rotor craft

14 CFR Part 27 sets forth the procedural requirements for airworthiness certification of normal category rotorcraft. To the extent the proposed UAS would otherwise require certification under Part 27, Geosyntec seeks an exemption from Part 27's airworthiness standards for the same reasons identified in the request for exemption from 14 CFR Part 21, Subpart H.

C. 14 CFR §§ 45.23(b), 45.27(a), and 91.9(c): Aircraft Marking and Identification Requirements

14 CFR §45.23(b), Markings of the Aircraft states:

When marks include only the Roman capital letter "N" and the registration number is displayed on limited, restricted or light

- sport category aircraft or experimental or provisionally certificated aircraft, the operator must also display on that aircraft near each entrance to the cabin, cockpit, or pilot station, in letters not less than 2 inches nor more than 6 inches high, the words "limited," "restricted," "light

- sport, "experimental," or "provisional," as applicable.

14 CFR § 45.27(a) states:

Rotorcraft. Each operator of a rotorcraft must display on that rotorcraft horizontally on both surfaces of the cabin, fuselage, boom, or tail the marks required by § 45.23.

14 CFR § 91.9(c) states:

No person may operate a U S- registered civil aircraft unless that aircraft is identified in accordance with part 45 of this chapter.

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## In a previous Grant of Exemption, the FAA determined that exemption from these requirements was warranted provided that the aircraft “have identification (N

- Number) markings in accordance with 14 CFR Part 45, Subpart C if th e markings are “as large as practicable” (see Exemption No. 11062, Docket No. FAA 2014-0352, at p. 14).

Equivalent Level of Safety: Geosyntec will mark the proposed UAS with their N

- Number in a prominent spot with markings that are as large as practicable.

D. 14 CFR §61.113: Private Pilot Privileges and Limitations

Geosyntec seeks exemption from 14 CFR § 61.113, which restricts private pilots from flying aircraft for compensation or hire and would also require a second class medical certificate. The purpose of Part 61 is to ensure that the skill and competency of any PIC matches the airspace in which the PIC will be operating, as well as requiring certifications if the pilot is carrying passengers or cargo for hire. While the UAS will be operated as part of a commercial operation, they will carry neither passengers nor cargo.
Equivalent Level of Safety: The FAA has granted other petitioners relief from the requirements of 1 4 CFR §61.133 under the conditions that: (i) the PIC hold either an airline transport, commercial, private, recreational, or sport pilot certificate; (ii) the PIC hold either a current FAA airmen medicate certificate or a valid US driver’s license issued by a state, the District of Columbia, Puerto Rico, a territory, a possession, or the Federal government; and, (iii) the PIC meet the flight review requirements specified in 14 CFR §61.56 in an aircraft in which the PIC is rated on his or her pilot certifica te ( see FAA Exemption No. 11519, Regulatory Docket No. FAA -2015- 0329). Through training of PICs in the safe operation of the UAS and compliance with the aforementioned conditions, Geosyntec’s proposed operations will achieve an equivalent level of safety w ith respect to the requirements of 14 CFR §61.133.

E. 14 CFR §91.7(a): Civil Aircraft Airworthiness



## Geosyntec seeks an exemption from 14 CFR§ 91.7(a), which requires that a civil aircraft be in airworthy condition to be operated. The FAA has stated that no exemption is required to the extent that the requirements of Part 21 are waived or found inapplicab le. Accordingly, Geosyntec requests that the requirements for § 91.7 be treated in accordance with FAR Part 21 Subpart H (s ee Gran t of Exemption No. 11062, p. 19).

F. 14 CFR §91.9(b)(2): Civil Aircraft Flight Manual in the Aircraft; 14 CFR §91.203(a) and (b): Carrying Civil Aircraft Certification and Registration

Under 14 CFR §91.9(b)(2):

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## (b) No person may operate a US- registered civil aircraft –

... (2) For which an Airplane or Rotocraft Flight Manual is required by §21.5 of this chapter, unless there is available in the aircraft a current approved Airplane or Rotocraft Flight Manual, approved manual material, markings, and placards, or any combination thereof.

Under 14 CFR §91.203(a) and (b):

(a) Except as provided in §91.715, no person may operate a civ il aircraft unless it has within it the following:

(1) An appropriate and current airworthiness certificate...

(b) No person may operate a civil aircraft unless the airworthiness certificate required by paragraph (a) of this section or a special flight authorization issued under §91.715 is displayed at the cabin or cockpit entrance so that it is legible to passengers or crew.

Geosyntec submits that an exemption from this section is not required in accordance with the FAA Office of Chief Counsel's Opinion dated August 8, 2014, which allows for the UAS flight manual, registration certificate and other documentation to be kept at the control station with the PIC during flight. The Chief Counsel's Office has held that for all UAS operations, this alternate method constitutes full compliance with the regulations. Geosyntec will utilize this alternate method for compliance with the aforementioned FAR sections.

G. 14 CFR §91.103: Preflight Action

Geosyntec seeks an exemption from 14 CFR § 91.103, which requires a PIC to become familiar with specific information before each flight, including information contained in the FAA

approved Flight Manual on board the aircraft. As mentioned above, t he UAS will not have a Flight Manual on board. The PIC will take all actions includi ng reviewing weather, flight battery requirements, landing and takeoff distances and aircraft performance data before initiation of flight. Under these circumstances, the FAA has state d that no exemption is required (s ee Grant of Exemption No. 11062, p. 20 ) . An exemption is requested to the extent that an FAA approved Flight Manual is required.

Equivalent Level of Safety: An equivalent level of safety will be provided by following the Manuals. The PIC will take all required preflight actions - including pe rforming all required

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## check s and reviewing weather, flight requirements, battery charge, landing and takeoff distance, aircraft performance data, and contingency landing areas - before initiation of flight. The Manuals will be kept at the ground station wi th the operator at all times.

H. 14 CFR §91.109(a): Flight Instruction

Geosyntec seeks an exemption from 14 CFR § 91.109(a), which provides that [n]o person may operate a civil aircraft (except a manned free balloon) that is being used for flight instruction unless that aircraft has fully functioning dual controls

. UAS and remotely piloted aircraft, by their design, do not have functional dual controls. Instead, flight control is accomplished through the use of the Ground Control Station (GCS) that communicate s with the aircraft via radio communications.

Equivalent Level of Safety: When flight instruction is performed, no pilots will be on board the aircraft and the GCS will be a safe distance from the aircraft and the public, causing no safety hazard. Given th e size and speed of the UAS , an equivalent level of safe training can still be achieved without dual controls because no pilot or passengers are aboard the aircraft, and all persons will be a safe distance away in the event that the aircraft experiences an y difficulties during flight instruction. In addition, Geosyntec will conduct flight training at a remote facility away from populated areas . These training flights will comply with the provisions in the Manuals. Accordingly, Geosyntec’s proposed method of operation provides a level of safety that exceeds the requirements of 14 CFR §91.109(a).

I. 14 CFR §91.119(c): Minimum Safe Altitudes in Uncongested Areas

Geosyntec requests an exemption from the minimum safe altitude requirements of 14 CFR § 91.119(c). Section 91.119(c) requires that an aircraft may not be operated closer than 500 feet to any person, vessel, vehicle, or structure. The Manuals provide for Geosyntec operations at least 500 feet from persons and structures not involved in the operations. The FAA has already determined that relief from Section 91.119(c) is warranted for UAS operations in uncongested areas with similar flight restrictions as those imposed by Geosyntec (see Grant o f Exemption No. 11062, p. 20-21).

Equivalent Level of Safety: Compared to flight operations with traditional rotorcraft or fixed wing aircraft weighing far more and traveling at much higher speeds tha n the UAS proposed herein, and given the lack of flammable fuel, any risk associated with these operations is far les s than those that presently exist with conventional aircraft. In order to avoid any risk to aircraft, flight operations will be restricted to 400 feet AGL or below. Other aircraft are already

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## prohibited from operating closer than 500 from structures where Geosyntec pro po ses to operate. This is airspace where other aircraft do not normally operate. As set forth in the Manuals and herein, the UAS will be operated in the remote sites, away from persons or structures not involved in the operation. All persons who are not involved with Geosyntec 's operations will be required to be at least 500 feet from flight operations. An equivalent level of safety will be achieved given the size, weight, and speed of the UAS , as well as the locations where it is operated.

J. 14 CFR §91.121: Altimeter Settings

Geosyntec seeks an exemption from 14 CFR §91.121, which requires a person operating an aircraft to maintain cruising altitude or flight level by reference to an altimeter that is set to the elevation of the departure airport.

Equivalent Level of Safety: Geosyntec will achieve an equivalent level of safety by monitoring altitude data transmitted to the ground station from the UAS barometer and GPS systems and by maintaining the UAS within VLOS of the PIC and VO. These method s will be utilized to comply with the requirement to operate the UAs at or below 400 feet AGL.

K. 14 CFR § 91.151(a): Fuel Requirements for Flight in VFR Conditions



## Geosyntec requests an exemption from the fuel requirements for flight in VFR conditions as outlined in 14 CFR §91.15l(a):

(a) No person may begin a flight in an airplane under VFR conditions unless (considering wind and forecast weather conditions) there is enough fuel to fly to the first point of intended landing and, assuming normal cruising spe ed – (1) During the day, to fly after that for at least 30 minutes; or

(2) At night, to fly after that for at least 45 minutes.

Here, the technological limitations on the UAS battery power means that no meaningful flight operations can be conducted while maintaining a 30 minute reserve. The aircraft are battery powered with a maximum flight time of approximately 15 minutes for the 3DR X8+ and approximately 40 minutes for the 3DR AERO-M.

Equivalent Level of Safety: The PIC will ensure that before each flight, there is enough available power for the UAS to conduct the intended operation and to operate after that for at least five

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## minutes or with the reserve power recommended by the manufacturer if greater. The FAA ha s stated that an equivalent level of safety is provided if the UAS flight is conducted under daytime VFR flight conditions using VLOS, and terminated with at least 25% reserve battery power still available (see Grant of Exemption No. 11062, p. 21-22).

L. 14 CFR §91.405(a), 91.407(a)(1), 91.409(a)(2); 91.417(a) and (b): Maintenance Inspections

Geosyntec seeks an exemption from the maintenance inspection requirements contained in 14 CFR§ 91.405(a), 91.407(a)(l), 91.409(a)(2); 91.417(a) and (b). These regulations specify maintenance and inspection standards in reference to 14 C FR Part 43. An exemption from these regulations is needed because Part 43 and these sections only apply to aircraft with an airworthiness certificate, which the UAS proposed here will not have.

Equivalent Level of Safety : An equivalent level of safety will be achieved because maintenance and inspections will be performed in accordance with the Manuals. This includes maintenance, overhaul, replacement, and preflight inspection requi rements. Geosyntec will follow the UAS manufacturer's maintenance requirements. As provided in the Manuals, flights will not be conducted unless a successful pre

- flight safety check is completed to verify that the UAS is safe for operation.

VI. PUBLIC INTEREST

Granting Geosyntec’s request for exemption furthers the public interest. National policy set by Congress favors early integration of UAS into the NAS in controlled, safe working environments such as proposed in this request. By granting this request, the FAA will fulfill Congress's intent of allowing UAS to operate safely in the NAS before completion of the rulemaking required under Section 332 of the Reform Act.

Moreover, use of UAS will improve efficiency and reduce costs for Geosyntec’s clients by reduc ing the time and expense necessary to collect aerial data. The use of the proposed UAS will also help to decrease safety

- related incidents involving traditional aircraft. Furthermore, use of the UAS for the purposes described herein will help to minimize worker exposure to certain hazards associated with performance of activities through traditional means, e.g., using a scissor lift to inspect elevated equipment. The public has an interest in reducing the hazards associated with conducting such activities via non- UAS methodologies.

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## VII. PRIVACY

All flights will occur over private property with the owner's consent. All flights will be conducted in accordance with any federal, state or local laws regarding privacy.

VIII. SUMMARY FOR FEDERAL REGISTER

Pursuant to 14 CFR Part 11, the following summary is provided for publication in the Federal Register, should it be determined that publication is needed:

Geosyntec Consultants, Inc. seeks an exemption from the following rules for the commercial operation of a small unmanned aircraft system to perform aerial data acquisition: 14 CFR Part 21, Subpart H; 14 CFR Part 27; 14 CFR §45.23(b); 14 CFR § 45.27(a); 14 CFR § 61.113; 14 CFR § 91.7(a); 14 CFR §91.9(b)(2); 14 CFR § 91.9(c); 14 CFR § 91.103; 14 CFR § 91.109(a); 14 CFR § 91.119; 14 CFR § 91.121; 14 CFR § 91.151(a) & (b) 14 CFR § 91.203 (a) & (b); 14 CFR § 91.405(a); 14 CFR § 91.407(a)(l); 14 CFR § 91.409(a)(2); 14 CFR § 91.417 (a) & (b). The exemption will enhance safety by reducing risk to the operator, the general public and property owners from the substantial hazards associated with performing equivalent work using traditional means.

Geosyntec requests that the FAA grant this petition using the "summary grant" process such that publication in the Federal Register is not required. This petition would not set a precedent, and any delay in acting on this petition would be detrimental to the petitioner.

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## IX. CONCLUSION

Geosyntec believes that operation of the UAS described herein in strict accordance with FAA policies and regulations, the conditions of the requested Section 333 exemption, Geosyntec’s safety policies, and UAS manufacturer’s recommendations will provide an equivalent or greater level of safety as co mpared to manned aircraft performing the same function.

Geosyntec appreciates your time and consideration of this matter. If you should have any questions or concerns related to this Section 333 exemption request, or require further information, please co ntact Brandon Mogan by e

- mail at BMogan@Geosyntec.com or by telephone at (803) 422-5251.

Sincerely,

Brandon Mogan

, P.E., LEED AP Senior Engineer

Robby White Associate

Attachments:

Attachment A: Geosyntec UAS Pre

- Flight Safety Ch eck Attachment B: Pre

- Flight Safety Checklist Attachment C: 3DR X8+ Operation Manual Attachment D: 3DR AERO

- M Operation Manual

# ATTACHMENT A

GEOSYNTEC UAS PRE

- FLIGHT SAFETY CHECK PROCEDURES

## Attachment A



# GEOSYNTEC UAS PRE

- FLIGHT SAFETY CHECK PROCEDURES

The following safety check will be performed prior to every flight:

Unmanned Aircraft Inspect ion Procedure :

• Motors – G rasp the aircraft body with one hand and the motor with the other. With moderate firmness, attempt to push each motor from side to side. If the motors moves, tighten motor mounting hardware.

• Propellers – U tilize propeller wrench or other tool to check that the propeller is tightly affixed to each motor. Visually inspect each propeller for deformations or other visible anomalies. If deformations or anomalies are identified, replace propeller(s) prior to
oper ation.

• Airframe – Visually inspect airframe for deformations or other visible anomalies. If deformations or anomalies are identified, replace applicable components prior to operation.

• Foldable, retractable, or removable components – If the unmanned airc raft comprises components that are foldable, retractable, or removable, e.g., for the purposes of storage and transportation between flights, such components shall be configured in the proper position for flight and inspected for tightness prior to operati on.

Pre

- Arm Safety Check Procedure:

• Unmanned Aircraft (UA) Position - Verify that the unmanned aircraft (UA) is in a safe position for takeoff (level ground at a safe distance from persons or property).

• Telemetry Radio - Install telemetry link on the gro und station.

• Radio Controller - Turn on the radio controller (RC), verify sufficient RC battery remains. Confirm that the RC switch positions are in the intended positions for the mission. Verify that all sticks and switches move freely.

• Battery Installation - Connect the power supply to the UA
, verify power supply is secure. Confirm that power

- on tones sound in proper sequence.

## • Ground Station/UA Telemetry Link - Connect the ground station to the UA by selecting the proper port and clicking “connect” in the ground station software. Verify that the ground station to UA telemetry link has been established by manually changing the pitch and / or heading of the UA and observing the results on the ground station.

• GPS signal - Verify that the UA GPS signal is adequate via the ground station (e.g., “GPS Fix”).

• Compass - Verify that the compass properly calibrated by manually configuring the UA compass to point in a known direction and verifying the direction is accurate via the ground station. If compass heading is not accurate, complete a compass calibration.

• Battery Charge - Observe the battery level via the ground station or other device to confirm that there is sufficient charge to complete the mission with at least five minutes of power reserve.

• Status Indicators - Confirm that there a re no warning/errors by observing the status lights on the flight controller or warning/ error messages displayed on the ground station.

• If using autonomous flight functionality:

o Flight Area - Verify proper flight area using aerial imagery (e.g., Google, Bing Maps, etc.) within the ground station and visual observation of the flight area.

o Home Position - Confirm that the home (i.e., takeoff) location is set.

o Flight Path - Confirm that the planned flight path is a sufficient distance from persons or property, wi thin visual line of sight of the PIC, and below applicable altitude restrictions (e.g., less than 200 feet AGL if operating under a “blanket” COA).

All UA inspections and pre

- arm safety checks will be documented in a l og by the PIC. If the UA inspection and/or pre

- arm safety check is not successful, UA operation will be suspended until maintenanc e /repair is conducted and a successful UA inspections/pre

- arm safety checks has been completed. Maintenance/repair will be performed in accordance with manufacturer recommendations.

# ATTACHMENT B

GEOSYNTEC UAS PRE

- FLIGHT SAFETY CHECK LOG

## Pilot in Command (PIC): Visual Observer (VO): Unmanned Aircraft (UA) Identification: Date: General Flight Area:

PRE

- FLIGHT SAFETY CHECKLIST 1


## Pre

- Flight Requirements Requirement Complete? Result NOTAM Filed Letter of Agreement Obtained 2 

## Unmanned Aircraft (UA) Inspection Component Complete? Result Motor Inspection Propeller Inspection Airframe Inspection Foldable, Retractable, and Removable Component Inspection UA Pre

- Arm Safety Check Safety Check Item Complete? Result UA Position Telemetry Radio Radio Controller Battery Installation Ground Station/UA Telemetry Link GPS Signal Compass Battery Charge Status Indicators Autonomous Flight Safety Check Safety Check Item Complete? Result Flight Area Home Position Flight Path

Notes: 1) Checklist must be completed prior to operation and maintained in a log book. If any of the safety checks fail, corrective measures must be completed and a passing safety check completed prior to operation. 2 ) If operating under an FAA Blanket COA, no flights can be conducted within 5 nautical miles (NM) from an airport having an operational control tower; or 3 NM from an airport with a published instrument flight procedure, but not an operational tower; or 2 NM fr om an airport without a published instrument flight procedure or an operational tower; or 2 NM from a heliport with a published instrument flight procedure. If operating under a COA specific to the airspace/operation (non

- blanket) and within 5 miles of an airport/heliport, a letter of agreement must be obtained by the airport/heliport management in advance of UA operat ions.

# ATTACHMENT C

3DR X8+ OPERATION MANUALX8+Operation ManualRead beforeflying!IMPORTANTMeet the X8+Thank you for purchasing an X8+!The X8 is a powerful octocopter platform for aerial video.Review this manual in its entirety before your first flight.Additional instructions can be found in the X8 informationportal at3DR.com/X8/info.Happy flying!ContentsParts2Setup4Assembly4Ground Station5Power Management7Charging8Safety8Controller Battery9Powering the X810Connecting to a Ground Station11Flight Basics12Safety12Operating Limits13Controls14Modes17Return to Launch19Failsafes20Status Indicators22Flight Procedures24Takeoff24Landing26Monitoring27Missions28Planning29Saving30Initiating31Ending31Appendix32Troubleshooting32Maintenance32Specs33Resources342PartsUSB adapterGround Station RadioPropeller wrenchAndroid adapterSF propellers (4)SFP propellers (4)Charger and accessoriesGuard bagPixhawk micro-SD cardadapterRC ControllerBattery KitTool KitPropellersFlight ChecklistFlight batteryRadioFlight ChecklistLEDMotors inactive, safe tohandleLow battery, automatic landingLoss of RC signal, automatic landingPre-arm safety check failureLoss of GPS signal, switch to manualInitializing, hold the X8 levelAcquiring GPS, please waitAutopilot ready, GPS lockedArmedSafety ButtonMotors active, deactivate beforehandling (see reverse)Flight ModesReturn to launch**RTL**land at the launch pointStabalizeAltitude HoldLoiterFull AutonomyReturn to LaunchStandard position(altitude hold mode)**STD**fly manuallyStabalizeAltitude HoldLoiterFull AutonomyReturn to LaunchLoiter mode**LTR**hoverStabalizeAltitude HoldLoiterFull AutonomyReturn to Launch!Stand back!46The motors arenow active.Hold left stick downright until motors spin.21Power on controller;set to STD and RTL OFF.Armmotors.Press and hold safetybutton until solid red.Connectcharged battery.Choose a clear launchpoint, and face the X8away from you.5CheckLED.3Place the X8 atlaunch point.Go outside toan open area!See the OperationManual for completeinstructions.Auto mode**AUTO**fly a missionStabalizeAltitude HoldLoiterFull AutonomyReturn to Launch©2014 3D Robotics. vA. DCT0005 All rights reserved.Control gimbal**TILT**tilt the camera down and upLand**CH7**land at the current positionStabalizeAltitude HoldLoiterFull AutonomyReturn to LaunchStabalizeAltitude HoldLoiterFull AutonomyReturn to LaunchStabalizeAltitude HoldLoiterFull AutonomyReturn to LaunchX8+Hold the X8 stilland level whilepowering on.3Micro-USB port (not pictured, sideof Pixhawk)X8+Front arms (blue)Rear arms (black)GPS mastPixhawk autopilotSafety buttonStatus LEDAntenna4Setup:AssemblyThe X8 arrives in travel configuration. Completethese steps to prepare the X8 for flight.1 Unfold Arms12Remove the bolts and thumbnuts near the two folded black arms (1).Unfold the black arms, re-insert the bolts, and secure with the thumbnuts (2).12X8 Assembly: Unfold Arms52 Unfold LegsRemove the bolts and nuts to the inside of the folded legs (1),unfold the legs, re-insert the bolts, and secure with the nuts (2).3 Attach PropellersThe X8 uses SF and SFP propellers. Labels are found on the individualpropeller packages and on the propellers themselves. The diagrambelow shows which motors require SF or SFP propellers. Accurateassembly of SF and SFP propellers is critical for the X8 to fly correctly.To attach each propeller, remove the nut and washer from the motor,and add the correct type of propellerwith the writing on the propeller facingthe sky. (This is a tight fit; apply pressure and twist the propeller onto themotor.) Replace the washer over the propeller, and use the propellerwrench to tighten the nut on top.12X8 Assembly: Unfold Legstop motor:SFbottom motor:SFPbottom motor:SFtop motor:SFPX8 Propeller Ordertop motor:SFbottom motor:SFPtop motor:SFPbottom motor:SFX8 Propeller Assembly!Ensure that the writing on allpropellers faces the sky.6Ground StationA ground station is a laptop or tablet running an ArduPilot-compatible mission control application.In the field, a ground station helps you monitor the X8 during flight, plan missions, and troubleshoot issues. We recommend using a ground station at all times with the X8.To set up a ground station, choose a platform below and visit3DR.com/download_softwareto installthe application.WindowsMission PlannerOS XAPM PlannerAndroidDroidPlanner 2Important Note About Vehicle Setup in Mission Planner and APM Planner:Your X8 has been pre-configured at the factory and is ready to fly. Re-performing thecalibrations on theInitial Setupscreen, including the mandatory hardware configurationsand setup wizard, can adversely affect the performance of your aircraft.iOS?There are currently no ground station applications available for iOS.7Power ManagementThe X8 is powered by a rechargeable lithium polymer (LiPo) battery. When fullycharged, the battery provides up to 15 minutes of flight time depending on payload,environmental conditions, and flying style. Flying with a gimbal, GoPro, and FPVsystem can reduce flight time by up to 5 minutes. Flying aggressively or in high windscan affect power consumption and reduce flight time. Monitor power consumptionusing the flight data display on the controller (press and hold theDNbutton).When the battery reaches the low voltage limit, the X8 initiates a low battery failsafeand lands automatically at the current position. (See page 20 for more informationabout failsafes.) To avoid a low battery failsafe, regularly check the controller’s flightdata display to monitor battery voltage, and end your flight before the battery reachesthe low voltage limit.ControllerPress and hold theDNbutton to view flight data.flight battery mAh consumed since armedAnother way to monitor power consumption is by using milliamp-hours (mAh).Monitor the mAh on the controller, and ensure that consumption does notexceed 8,000 mAh (80% of the battery’s available capacity). Exceeding 8,000mAh can render the battery permanently unusable.Do not exceed 8,000 mAh for a fully charged X8+ battery.flight battery levelFull battery:16.8 VLow battery limit:14 VEnd your flight at 14.1 V.!Controller Flight Data Display: Screen 1!8ChargingCharge the battery before your first flight!1Connect the charger to the power adapter cableand plug the adapter cable into a wall outlet.Connect the red cable to the + port and the blackcable to the - port.+–2Set the charger to LiPo and 3A.LiPo3A3Connect the battery’s white connector to thecharger’s 4S port, and join the two yellowconnectors together.4S4Secure the battery inside the guard bag,and charge until the status indicatordisplays green.ChargingCompleteCharger with power cable andsplit-wire charging cableCharger settingsFlight battery charging wiringCharging in process!Flying with a low battery is a safetyrisk and can render the batterypermanently unusable. Always flywith a fully charged battery.Charge the battery using a designatedLiPo balance charger only. Alwaysmonitor the battery while charging.Protect the battery from extremeheat, extreme cold, puncturing, andflammable surfaces. Always transport,charge, and store the battery in theguard bag.Inspect the battery for damage beforeand after flying. If you observe anyswelling of the package or the batteryceases to function, do not use thebattery. Do not dispose of the batteryin the trash; dispose of the battery atlocal battery recycling center. In theUS and Canada, visit call2recycle.orgto find a location.Safety9Controller BatteryThe controller is powered by 8 AA batteries (included). The controller’sflight data display allows you to monitor the voltage of the controller.When fully charged, the controller displays 12 V; when completely outof charge, the controller displays 9 V. Replace the batteries when thecontroller displays 9.1 V.ControllerPress and hold theDNbutton to view flight data.controller battery level (9-12 V)Replace controller batteries at 9.1 V.Controller Flight Data Display: Screen 1!10 

# Powering the X8

Follow these steps to power the X8.

2 To power on the X8, join the yellow connector on the battery with the yellow connector on the X8. Keep the X8 still and level while it powers on and initializes the sensors. When the status LED displays blinking blue, the sensors have completed initialization and you can move the X8.

It is important to establish communication before powering on the X8. Always turn on the controller before connecting the battery. When powering off the X8, disconnect the battery before turning off the controller. 1 Turn on the controller. Ensure that the switches are set to CH 7 OFF, STD, and RTL OFF.

RC controller

Stabalize Altitude Hold Loiter Full Autonomy Return to Launch

Stabalize Altitude Hold Loiter Full Autonomy Return to Launch

X8: Connect battery, keep level while initializing Stabalize Altitude Hold Loiter Full Autonomy Return to Launch

CH 7 switch Mode switch RTL switch

Initializing, keep still and level

Initializing complete Status LED indicators:

3 When the initialization process is complete, turn over the X8 and secure the battery to the underside of the vehicle using the velcro straps.

X8: Secure battery 

## !11 

# Connecting to a Ground Station

To connect the X8 to a ground station, connect the ground station radio to your laptop or tablet and power the X8.

Tablet (DroidPlanner) 1 Connect the ground station radio to your laptop using the USB adapter. Open Mission Planner or APM Planner.

3 Select Flight Data to view live data from the X8. 2 Select AUTO and 57600 , then select CONNECT

. (When connecting directly to Pixhawk’s micro-USB port, set the rate to 115200.)

Ground station laptop with radio connected Mission Planner Connect tool (top-right corner)

Mission Planner Flight Dat a tab: connected to aircraft Laptop (Mission Planner/APM Planner)

1 Connect the blue end of the Android adapter to your device and the black end to the radio. 2 Select Connect

.

Ground station tablet with radio connected DroidPlanner: Connect icon12Flight Basics:SafetyTo ensure safe and successful flying, always fly in accordancewith your location regulations and these best operating practices.Before you fly, determine the boundaries of your safe flying area.If the X8 moves outside the designated area or exhibits instabilityin flight, switch to standard mode and land the X8 manually.The X8 cannot avoid obstacles on its own, including duringmissions. As the operator, it’s your responsibility to recognize andavoid obstructions while flying. Always be ready to regain manualcontrol of the X8 in the event of an unsafe situation.visual lineof sight400 ft(120 m)100 ft (30 m)5 miles (8 km)Always fly at least 100 feet (30 m)away from people, vehicles, andbuildings. Make the safety of peopleand property your first priority!Always fly below 400 ft (120 m) and within yourvisual line of sight. Don’t let the X8 get too faraway from you; make sure you can always see itsorientation. Don’t fly in low light, high winds, rain, orother conditions that might impede visibility.Always fly at least 5 miles (8 km)away from airports and other areaswhere pilots operate manned aircraft.visual lineof sight400 ft(120 m)100 ft (30 m)5 miles (8 km)visual lineof sight400 ft(120 m)100 ft (30 m)5 miles (8 km)Spinning propellers can cause serious injury. The safetybutton indicates the status of the motors to help youprevent hazardous contact with the X8’s high-speedpropellers.•When the X8 is powered on, the safetybutton blinks red, indicating that themotors are inactive and the propellers aresafe to handle.•When you’re ready to fly, press and hold thesafety button until it shows solid red. Thisindicates that the motors are active and thepropellers can spin if armed. To make thepropellers safe to handle again, press andhold the safety button until it blinks red.visual lineof sight400 ft(120 m)100 ft (30 m)5 miles (8 km)visual lineof sight400 ft(120 m)100 ft (30 m)5 miles (8 km)LocationPropellers13Operating LimitsAlways fly within the X8’s operating limits.Maximum altitude*100 m (328 ft)Range*300 m (984 ft) from launch pointGPS lockGPS lock required at all timesMaximum estimated flight time15 minPayload capacity800 g (1.7 lbs)X8+ Operating Limits*While geofence enabled (default)14 Maneuver the X8 in flight using the controller’s two joysticks. left stick: throttle & yaw right stick: pitch & roll

Left Stick Left Stick Move the throttle stick below center to decrease altitude. Set the throttle stick to center to maintain the current altitude. left stick Left Stick

Left Stick Move the left stick vertically to control altitude.

Set the throttle stick fully down to land once the X8 is a few inches above the ground. Left Stick To take off and to gain altitude, push the throttle stick slightly above center position. Left Stick Left Stick 

# Controls

Throttle15 Flight Tip When adjusting orientation, move the left stick horizontally without changing its vertical position. 

# Activate Hold until propellers start spinning.

Take-off + Lift Raise just slightly for take off

Hover + Land Lower just slightly to hover

Left Ya w Left Back Forward

Right

Right Ya w

Deactivate Hold until propellers stop spinning Activate Hold until propellers start spinning.

Take-off + Lift Raise just slightly for take off

Hover + Land Lower just slightly to hover

Left Ya w Left Back Forward

Right

Right Ya w

Deactivate Hold until propellers stop spinning Move the stick to the left to rotate counterclockwise.

Move the stick to the right to rotate clockwise. left stick Left Stick

Release the stick to stop rotating and maintain the current orientation. Move the left stick horizontally to rotate the X8 and change orientation. For a slow rotation, move the stick slightly away from the center in either direction. Moving the stick farther from the center creates a faster rotation. Left Stick 

### Yaw16 

# Activate Hold until propellers start spinning.

Take-off + Lift Raise just slightly for take off

Hover + Land Lower just slightly to hover

Left Ya w Left Back Forward

Right

Right Ya w

Deactivate Hold until propellers stop spinning Activate Hold until propellers start spinning.

Take-off + Lift Raise just slightly for take off

Hover + Land Lower just slightly to hover

Left Ya w Left Back Forward

Right

Right Ya w

Deactivate Hold until propellers stop spinning Move the right stick forward to fly forward. right stick

Move the right stick back to fly backward. The right stick allows you to control the X8’s position in the air. Move the right stick to tell the X8 to move in that direction: forward (toward the blue arms), back (toward the black arms), left (toward the left arms), or right (towards the right arms). How far you move the stick from the center before releasing it tells the X8 how fast to move.



# Activate Hold until propellers start spinning.

Take-off + Lift Raise just slightly for take off

Hover + Land Lower just slightly to hover

Left Ya w Left Back Forward

Right

Right Ya w

Deactivate Hold until propellers stop spinning Activate Hold until propellers start spinning.

Take-off + Lift Raise just slightly for take off

Hover + Land Lower just slightly to hover

Left Ya w Left Back Forward

Right

Right Ya w

Deactivate Hold until propellers stop spinning Move the right stick left to fly left.

Move the right stick right to fly right.

Flight Tip The X8 moves according to its orientation. The blue arms face forward, and the black arms face backward. Before using the right stick, use yaw to keep the X8 facing in outward orientation so that the black arms face towards you and the blue arms and face away from you. 

### Pitch and Roll17 

## ! Standard (altitude hold mode) STD

fly manually

Start your flight in standard to select altitude hold mode, and fly manually using the controller.



### Loiter mode LTR

hover

Select loiter to hover in place automatically. Use the controller to adjust the X8’s position then release the sticks to hold that position. Loiter is a great way for beginners to learn how to fly! If you’re new to flying, start your first flight in loiter instead of standard. Stabalize Altitude Hold Loiter Full Autonomy Return to Launch

Stabalize Altitude Hold Loiter Full Autonomy Return to Launch mode switch

The X8 includes three flight modes: manual flight (STD-altitude hold), hover mode (LTR-loiter), and mission flight (AUTO). Use the switch on the right side of the controller to select a flight mode.

To avoid sudden changes in altitude, set the throttle stick to center position before switching modes, including in the event of a GPS failsafe. See page 20 for more information about failsafes. 

# Modes18 

### Auto mode AUTO

fly a mission

Select auto mode to fly an autonomous mission. The X8 automatically flies the series of waypoints saved to the autopilot. See the Missions section on page 28 for instructions on planning and flying missions. 

### Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch 

### Gimbal control TILT

tilt the camera up and down

Connect a Tarot Gimbal (sold separately), and use the TILT knob to control the angle of the camera in flight. Visit 3DR.com/X8/info for instructions. 

### Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch 

### Land CH 7

land at the current position

Set the CH 7 switch to ON to end your flight and land at the current position. Once you activate land, set the throttle stick fully down, and the X8 automatically disarms after landing. The X8 does not disarm automatically unless the throttle stick is set fully down.

Reposition during landing: During landing, use the right stick on the controller to adjust the X8’s position. 

## ! Do not activate auto mode unless you have saved a mission to the X8 using a ground station application.19 land at the launch point

Set the RTL switch to ON to end your flight and return the X8 to the launch point automatically. Once you activate RTL, set the throttle stick fully down, and the X8 automatically disarms after landing. The X8 does not disarm automatically unless the throttle stick is set fully down.

When commanded to RTL, the X8:

1 Achieves minimum altitude of 15 m (50 ft) or maintains curr ent altitude

if above 15 m. 2 Moves to launch point and loiters for 5 seconds. 3 Lands at launch point. Wait for a few seconds until the X8 disarms

automatically.

launch point

15 meters 1 2

3 hover 5 seconds 

### Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch 

# Return to Launch

Reposition during landing: During landing, use the right stick on the controller to adjust the X8’s position.



## ! RTL returns the X8 to the location where it was armed. Always arm the X8 at a safe, unobstructed launch point.20 

# Failsafes

visual line of sight 400 ft (120 m)

100 ft (30 m) 5 miles (8 km) 400 ft (120 m)

visual line of sight 400 ft (120 m)

100 ft (30 m) 5 miles (8 km) 400 ft (120 m) Low Battery Failsafe Environmental conditions, payload, and flying style can affect power consumption. Use the controller’s flight data display to monitor the voltage of the battery during flight.

If the battery reaches 14 V, the X8 lands automatically at the current position, indicated by a blinking yellow status LED and a quick repeating tone. The X8 is programmed with a set of failsafe behaviors to prevent a crash in the event of a loss of one of the data or communication channels required for flight. Although certain failsafes have assigned LED indicators and tones, it is unlikely that you will be able to see these at a distance. Monitor the ground station for failsafe indications. If a failsafe is triggered, the assigned behavior activates. To override the failsafe behavior, use the controller to switch to standard mode and regain manual control.

RC Controller Signal Failsafe Physical obstructions and interference from nearby wireless signals can affect the X8’s connection with the controller.

If the X8 loses contact with the controller, it returns to the launch point and lands automatically, indicated by a blinking yellow status LED.21 GPS Failsafe The X8 requires GPS lock before takeoff. Enclosed areas, physical obstructions, and lack of available satellites can affect GPS strength. If the X8 loses GPS lock in flight, it triggers a GPS failsafe—indicated by a blinking blue and yellow LED with a high-high-high-low tone—and automatically switch to manual control (standard - altitude hold mode). Always be prepared to regain manual control at any time while flying and choose an unobstructed flying area to improve GPS signal strength. When flying a mission, we recommended changing the GPS failsafe behavior to land. (Visit 3DR.com/X8/info for more information about configuring the GPS failsafe.)

Altitude Failsafe The X8 has a 100 m (328 ft) altitude geofence enabled by default. If the geofence is breached, the X8 automatically switches to RTL. visual line of sight 400 ft (120 m)

100 ft (30 m) 5 miles (8 km) 400 ft (120 m) 

### visual line of sight 400 ft (120 m)

100 ft (30 m) 5 miles (8 km) manual control

100 m (328 ft)

Range Failsafe The X8 has a 300 m (984 ft) horizontal geofence enabled by default. If the X8 travels farther than 300 m from the launch point, it automatically returns to the launch point and lands. If you plan to fly a mission that exceeds this range, you will need to disable the horizontal geofence. (Visit 3DR.com/X8/info for instructions.) The range failsafe is disabled in the event of a GPS failsafe.22 

# Status Indicators

Low battery, automatic landing Loss of RC signal, automatic landing

Pre-arm safety check failure—connect to a ground station and see the troubleshooting section Loss of GPS signal, switch to standard mode (altitude hold) Initializing, hold the X8 still and level

Acquiring GPS, please wait

Armed Autopilot ready, GPS locked Status LED The Pixhawk LED indicates the status of the X8. During flight, the LED won’t be visible; instead, use a ground station to view the status of the X8. Visit 3DR.com/X8/info to listen to Pixhawk’s status tones.

X8 Status LED 

### LED23 

### Safety Button

The safety button indicates the status of the motors to allow you to arm and disarm the X8 safely.

Safety button

X8 Safety Button

Motors inactive, safe to handle

Motors active, deactivate before handling24 

# Flight Procedures: Takeoff

Follow these steps to take off.



## » Propellers are attached tightly to the motors in the correct order and the GPS mast is oriented vertically.



## » The X8 is powered with the battery secured to the underside of the vehicle. (Remember to hold the X8 still and level while the sensors initialize.)



## » The controller is set to CH 7 OFF, standard (STD) mode (loiter mode for beginners), and RTL OFF.



## » The status LED displays blinking green, indicating that the X8 has acquired GPS lock. This can take a few minutes depending on your flying location.



## » The X8 is situated at a safe, unobstructed launch point, facing away from you. 

### Checklist25 

### Arm

After completing the checklist, you’re ready to fly! Arming and disarming are important steps that must be completed before takeoff and after landing. Use the safety button and the controller to arm the X8.

1 Press and hold the safety button until it displays solid red. This indicates that the X8 is now active. Stand back!

Motors inactive, safe to handle

Motors active, deactivate before handling

2 To arm the motors, hold the left stick down/right until the motors spin.

Controller left stick: arming position Safety button indicators



## ! The arming and disarming procedures ensure that you can safety start and stop motors without risk of injury. The X8’s motors will spin when armed! Make sure the propellers are clear of any obstructions, including your hands, before arming. Do not handle the propellers or pick up the X8 while the safety button is active (solid red).26Landing1Press and hold the safety button until itblinks red. The motors are now inactive,and the X8 is safe to handle.2To disarm the motors, hold the left stick down/leftuntil the motors stop.DisarmFor manual landing in standard or loiter mode:Motors inactive, safe to handleMotors active, deactivate beforehandlingController left stick: disarming positionSafety button indicators!Do not handle the propellers or pick up the copter while the safety button isactive (solid red). Remember to disconnect the battery before turning off thecontroller when powering off.If you end your flight using the Ch 7 land command or RTL, the X8 disarmsautomatically; wait for the motors to stop, and proceed to powering off.Attempting to disarm the X8 in either land mode or RTL mode can causethe cause the copter to flip.27MonitoringPress and hold theDNbutton to access the flight data screens.PressDNagain to toggle between screens.current flight modecontroller battery level (9-12 V)GPS signal strength in # of satellitesmeters from launch pointflight battery level (14-16.8 V)connection strengthcurrent latitudecurrent longitudealtitude in metersflight timealtitude in metersGPS statusspeed in m/sflight battery mAhconsumed since armedEnd your flight at 14.1 V.Do not exceed 8000 mAh for afully charged X8+ battery (80% ofavailable capacity).!Monitor the X8 in flight using the controller’s flight data screens.ControllerController Flight Data Display: Screen 1Controller Flight Data Display: Screen 228MissionsThe X8’s Pixhawk autopilot is capable of flying an autonomous missionwithout operator input. Ensure that you feel comfortable operating the X8manually before attempting an autonomous mission.Environmental AwarenessBefore you fly, assess the features of your flying area. Determine the boundaries of the safe flying area, and be prepared to recover the copter manuallyif it goes outside this area. Be aware of any risks at your location, includingbodies of water, structures, trees, etc. Designate a few areas as safety zoneswhere you can safely land the copter in case of an unsafe situation.Radio Signal ConditionsFlying behind solid objects, like buildings and trees, blocks radio signals.Always maintain visual contact with the copter to ensure that the radio signalis unobstructed. Radio towers, cell phone towers, and nearby WiFi signalscan also cause interference with the radio system and decrease its range.Avoid flying in populated areas to avoid sources of interference.AltitudeSelect an appropriate altitude for your flying location and local regulations.Remember the X8 cannot avoid obstacles during a mission; it completes themission as planned. Select altitudes that avoid any obstacles, such as trees,and comply with the safety information in this manual.SpeedBy default, the X8 travels at 6.5 m/s (14.5 mph) during a mission.PowerAs the operator, it is your responsibility to ensure that all missions complywith the X8’s operating limits, including flight time. Don’t forget to take intoaccount the effect of current wind conditions on power consumption.Regaining Manual ControlDuring a mission, keep the controller easily accessible, and be prepared toregain manual control at any time. To regain manual control during themission, switch to standard mode using the controller. If you observeinstability in the X8’s flight behavior or if the copter moves outside yourdesignated safe flying area, switch to RTL. Turning off the controllerautomatically triggers an RTL and can be used in an emergency situationas a hard recall command.FailsafesThe X8’s default failsafe behaviors are optimized for manual flight. Forautonomous missions, we recommend re-configuring the failsafe settingsfor your flying location. For instructions, visit3DR.com/X8/info.29PlanningSelect the DroidPlanner icon, selectEditor. Tap to addwaypoints, or select the brush tool and draw a pathfor the X8 to follow.Select Flight Plan, and click to add waypoints. Select the green arrows atthe bottom of the screen to configure altitude and change waypoint types.To plan a mission, power the X8 and connect to your ground station. Groundstation applications require an Internet connection to access maps.Tablet (DroidPlanner)Laptop (Mission Planner, APM Planner)DroidPlanner: Edit waypointsMission Planner: Flight PlanTakeoff and LandingBoth ground station applications provide the option to configure automatictakeoff and landing into the mission. Missions without automatic takeoff andlanding must be initiated and ended in flight.30SavingSelect the option menu in the top-right corner, andselectSend Mission. This command saves the missionto the X8.On theFlight Planscreen, selectWrite WPsto save the mission to the X8.SelectSave WP Fileto save the mission to your computer for future use.After planning the mission, save the mission to the X8. The Pixhawk autopilotcan store one mission at a time. When you initiate the mission, the X8 startsthe mission stored to the autopilot at the time.Tablet (DroidPlanner)Laptop (Mission Planner, APM Planner)DroidPlanner: Send Mission (option menu)Mission Planner: Flight Plan31InitiatingStabalizeAltitude HoldLoiterFull AutonomyReturn to LaunchStabalizeAltitude HoldLoiterFull AutonomyReturn to LaunchLeft StickFor auto-takeoff, raisethrottle to start mission.Once you’ve saved the mission to the X8, follow these steps to fly the mission.1 Perform a pre-mission test flight.Follow the standard takeoff procedure, and flyabrief test flight to verify that all controls (throttle,yaw, roll, and pitch) are responding normally.2 Arm in standard mode.When you’re ready to start the mission,arm the X8 in standard (STD) mode.3 Switch to auto mode.For automatic takeoff, arm the X8 in standardmode. Then switch to auto mode, and raise thethrottle to initiate the mission.For manual takeoff, initiate the mission in flight byswitching to auto mode.Controller: mode switchController: mode switchController: left stickAutomatic LandingFor missions configured with a landwaypoint, the X8 disarms automaticallyafter landing.Ensure that the throttlestick is set fully down during landing; theX8 cannot disarm automatically unlessthe throttle stick is set fully down.Manual LandingFor missions without a land waypoint,switch to standard or loiter mode in flightthen land manually.Ending!To avoid sudden changesin altitude when switchingfrom auto mode to standardmode, ensure that the leftstick is set to the centerposition.End the mission according to the type oflanding configured in the mission.32Appendix:TroubleshootingMaintenancePre-Arm Safety Check Failure`If the status LED displays blinking yellow, the X8 is failing one of the pre-arm safety checks. To determine the specific failure, check theheads-up display on the ground station for the error message specifying the failed check.Radio Calibration Failure:Perform radio calibration or RC controller re-bindingAccelerometer Calibration Failure:Perform accelerometer calibrationCompass Calibration Failure:Perform compass calibrationGPS Failure:Wait for improved GPS signal or move to a more open area (most common failure)Video tutorials for performing calibrations are available at 3DR.com/X8/info.Replacement parts for the X8 are available for purchase at store.3DR.com.Instructions for replacing the wiring, plates, motors, and legs of the X8 areavailable at 3DR.com/X8/info.33SpecsBattery:4S 14.8V 10,000 mAh 10CBattery Dimensions:6.6 in x 2.6 in x 1.4 in (16.7 cm x 6.5 cm x 3.5 cm)Battery Weight:803 gAutopilot Hardware:Pixhawk v2.4.5Autopilot Firmware:ArduCopter 3.2GPS:3DR u-blox GPS with Compass (LEA-6H module, 5 Hz update)Ground Station Radio:3DR Radio v2 (915 MHz or 433 MHz)Motors:SunnySky V2216-12 KV800 IIFrame Type:XPropellers:APC Propeller 11x4.7 SF (4)APC Propeller 11x4.7 SFP (4)Vehicle Dimensions:13.7 in x 20.1 in x 11.8 in (35 cm x 51 cm x 20 cm)Payload Capacity:800 g (1.7 lbs)Vehicle Weight with Battery:2.56 kg (5.6 lbs)Maximum Altitude*:100 mRange*:300 m from launch point (1 km when geofence disabled)Maximum Estimated Flight Time:15 min*While geofence enabled (default)ResourcesThank you for being a responsible drone operator. For more information about the X8,visit the pages below.Online information portal:3DR.com/X8/infoTerms and Conditions:3DR.com/termsContact 3DR Support at help@3DR.com or call our support line at+1 (858) 225-1414 Monday through Friday, from 8 am to 5 pm PST.Happy flying!3D Robotics1608 4th Street, Suite 410Berkeley, CA 947103DR.comX8+ Operation ManualDCT0004v.C2014 ©3D Robotics

# ATTACHMENT D

3DR AERO -M OPERATION MANUAL

# Aero-M Operation Manual

Thank you for purchasing an Aero-M! This manual contains important information about your aerial mapping platform. Please read these instructions before your first flight.

1 Plan 1

2 Fly 20

3 Process 37

Appendix 41

V.3 2014 ©3D Robotics DCT0010 

## Online information portal: 3DR.com/Aer o-M 3DR support: help@3DR.com Terms and conditions: 3DR.com/terms Pix4D instructions: support.Pix4D.com1 

# 1 Plan

Parts 2

Flight Battery 3 Charging 3 Safety 3 Powering the Aero 4

Camera Setup 5 3DR EAI 5 Charging 5 Starting a Mission 5 Mounting 6

Ground Station Setup 7 Download Software 7 Connect to Radio 7 Mission Planning 8 Operating Parameters 8 Load Maps 9 Draw Polygon 10 Configure Survey 11 Save and Write Mission 192 

# Parts

Aero

wings propellers (1 plus 1 spare) camera RC controller and accessories

battery guard bag batteries (2)

charger and accessories ground station radio

micro-USB cable

Pixhawk micro-SD card adapter hex keys (?)

propeller wrench horizontal stabilizer wing spar

spare camera mount filters (2) spare control horns (2) wing rubber bands (4 plus 2 spare)

spare servo rods (2)

FPV/OSD System If you selected to receive a FPV/OSD system, those components will be included with the Aero’s accessories. See page 34 for parts and instructions. registration card and Pix4D license key3 1 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.



# +

– 2 Set the charger to LiPo and 3A.

LiPo 3A

3 Connect the white connector to the 4S port, and join the two yellow connectors together.

4S 4 Secure the battery inside the guard bag, and charge until the status indicator displays green.

Charging

Complete The Aero is powered by a rechargeable lithium polymer (LiPo) battery. Charge the battery before your first flight.



# !

Flying with a low battery is a safety risk and can render the battery permanently unusable. Always fly with a fully charged battery.

Charge the battery using a designated LiPo balance charger only. Always monitor the battery while charging. Protect the battery from extreme heat, extreme cold, puncturing, and flammable surfaces. Always transport, charge, and store the battery in the guard bag.

Inspect the battery for damage before and after flying. If you observe any swelling of the package or the battery ceases to function, do not use the battery; locate your local battery recycling center, and dispose of the battery. In the US and Canada, visit call2recycle.org to find a location. Do not dispose of the battery in the trash. 

# Flight Battery

Charging Safety

Charger with power cable and split-wire charging cable
Charger settings

Flight battery charging wiring Charging in process4 1 Turn on the controller. To avoid triggering the controller’s startup alarm, ensure that all switches are set back (away from you) and the throttle stick is set fully down. 

# !

It is important to establish communication before powering on the Aero. Always turn on the controller before connecting the battery. When powering off the Aero, disconnect the battery before turning off the controller.

3 Insert a charged battery into the battery slot, and attach the yellow connectors. This will power on the Aero.

Hold the Aero still and level while it powers on.

Attach the velcro above the battery slot to the velcro on the battery. Close and secure the lid onto the battery compartment.



# ! 2 Open the battery compartment by sliding the knob on the orange switch forward and lifting out the lid. 

# Powering the Aero

RC controller Throttle stick

Switches

Aero: battery compartment lid

battery slot battery connector

Aero: battery compartment interior flight battery5 

# Camera Setup

The Aero includes a Canon PowerShot S100 running the 3DR EAI script.

SD card locked Load 3DR EAI



## » Fly a mapping mission SD card unlocked Load default Canon software



## » View images on camera


## » Save images to ground station


## » Update script 

# 3DR EAI (Exposure-Aperture-ISO)

3DR EAI runs on the Canon Hacker Development Kit (CHDK), a pow erful opensource tool that expands the functionality of Canon point-and-shoot cameras. 3DR EAI optimizes image exposure and integrates with the Pixhawk autopilot to enable distance-based imaging.

This software is designed to load off the camera’s SD card, leaving the original Canon programming intact. The yellow switch on the side of the SD card allows you to lock or unlock the card. Lock the SD card to run 3DR EAI; unlock the SD card to save images to your ground station or to boot the camera with its original programming.

For more information about 3DR EAI, see page 43. 

# Charging

Charge the camera battery before your first flight. Once fully charged, insert the battery into the camera.

status indicator



# Starting a Mission

To prepare the camera to fly a mapping mission, ensure that the mode dial is set to P (program) mode. Power on the camera using the silver button on the top. 3DR EAI will start automatically, and you will see the script messages on the camera display. Check to see that the last line of the script reads waiting on USB signal . The camera is now ready to map!

power button

Camera ready to map: waiting on USB signal Canon battery charger

Power off the camera before removing the SD card. 

# ! Camera running 3DR EAI Camera running Canon software mode dial6 

# Mounting

autopilot integration cable The camera mounts to the Aero inside the battery compartment and connects to the autopilot using the mini-USB cable. When the camera is ready to start the mission, insert the camera into the mount inside the battery compartment as shown below, connect the mini-USB cable to the camera, and secure the camera in place using the velcro strap.

Connect mini-USB cable inside battery compartment here. The camera mount includes a lens cap that protects the filter during travel. Make sure to remove this lens cap before you fly, and check that the filter contains no foam particles, dirt, or scratches that could affect image quality.

It is expected that the filter will accumulate scratches after significant use. If you notice any damage to the filter that could affect image quality, unscrew the filter and replace with one of the extra filters provided with the Aero.

UV filter

Aero battery compartment: camera mount

Camera (side) Camera mount (bottom): cap removed

Camera mount (bottom): cap attached

The camera mount is fixed to the inside of the battery compartment and is not intended to be removed from the Aero.7 Mission Planner

Your license key for Pix4Dmapper can be found on the registration card inside the documents package.

Visit mapper.pix4d.com/license-redeem to create an account and redeem your license key; then visit pix4d.com/download to download Pix4Dmapper Discovery. Pix4D will automatically upgrade from the Discovery edition to the LT 3DR Edition (or Pro Edition if you selected to upgrade) when you log in to the program with your Pix4D account information. Mission Planner is a full-featured ground station application for planning missions and monitoring the Aero in flight. Download Mission Planner from 3DR.com/download_software

. If you already have Mission Planner installed, make sure you’re running the most recent version: Select the Help tab and Check for Updates

.

Mission Planner: Help tab 

# Ground Station Setup

Pix4Dmapper LT 3DR Edition To connect the Aero to Mission Planner, connect the ground station radio to the laptop, and power the Aero.

1 Connect the ground station radio to your laptop using the micro-USB cable. Open Mission Planner.

3 Select Flight Data to view live data from the Aero. 2 Select 57600 and AUTO , then select CONNECT

. (When connecting directly to Pixhawk’s micro-USB port, set the rate to 115200.) 

# Connect to Radio Download Software Mission Planner allows you to turn a Windows laptop into a full-featured ground station for configuring and monitoring autonomous missions. You will need to take this laptop into the field when you fly the mission. As part of the mission procedure, you will use the Pix4D Rapid Check to verify the quality of the image set before leaving the field.

Ground station laptop with radio connected Mission Planner Connect tool (top-right corner))

Mission Planner Flight Dat a tab: connected to aircraft8 The Aero is a complete solution for creating high-resolution visual-spectrum aerial maps.

Pixhawk autopilot system Pix4Dmapper LT 3DR Edition Canon S100

3DR EAI

To create a map, the Aero flies an autonomous mission over the survey site, using the integration between the Pixhawk autopilot and custom-programmed camera to capture images at a consistent distance interval. Pix4Dmapper then stitches these images together into a georeferenced, orthorectified mosaic.

The accuracy of the map depends on the configuration of the mission. Planning a mission that captures high-quality images requires balancing the Aero’s operating parameters with the environmental factors at the survey site. 

### Operating Parameters

Camera Canon S100

Camera Orientation Portrait (side facing forward)

Operating Altitude 80-120 m

Standard Operating Altitude 100 m

Low-Wind Conditions 0-6 m/s

High-Wind Conditions 7-10 m/s

Maximum Wind Conditions 10 m/s

Operating Speed 8-20 m/s

Default Speed 15 m/s

Estimated Maximum Flight Time 40 min

Estimated Ground Resolution 5 cm/pixel

Estimated Maximum Survey Area 1 km 2



### Minimum Photo Interval 2 seconds 

# Mission Planning

Operating Parameters

Mapping system diagram9 1 Open Mission Planner, select Flight Plan , and zoom to your flying location. 2 Right-click on the map, select Map Tool and Prefetch , and accept the default prompts. Mission Planner will download the maps for the selected location to your computer.

3 Mission Planner will attempt to load the map data from the current level of zoom down to the closest level of zoom available. However, it can take hours to pre-fetch every level of zoom, and it is unlikely that the closer levels will be useful in planning the mission. To shortcut this process, check the slider on the right side of the map. The levels of zoom are represented by this slider from 0 (bottom) to 25 (top). Press the ESC key to skip levels of zoom at a greater detail than you need for mission planning. Mission PlannerFlight Plan tab: zoom to mapping location Mission Planner Flight Plan tab: Select Prefetch 

# Load Maps

Mission Planner allows you to plan the mission away from the mapping location; however, it is important to assess the environmental conditions on site at the time of the mission and adjust the flight plan if necessary. Alternatively, you can plan the entire mission at the mapping location. To create or alter the mission, Mission Planner requires an Internet connection to access the maps. If you’re unable to access the Internet on site, follow the instructions below to pre-fetch the maps within Mission Planner while you have Internet access.10 2 Right click on the map. Select Draw Polygon and Add Polygon Point . Click and drag to add points around the area you want to map. 3 Right click on the polygon. Select Auto WP and Survey (Grid ) to open the Survey Tool.

Units

The Survey Tool uses metric units. If your Mission Planner is set to imperial units, please change the settings to use metric to plan the mission. Support for imperial units in Mission Planner is coming soon; check 3DR.com/Aero-M for updates. 

# Draw Polygon

To begin planning the mapping mission, select the area you want to map using the Polygon tool. Y ou’ll be able to adjust the size and shape of the polygon later in the mission configuration process.

1 Select Flight Plan , and zoom to your mapping location.

Mission Planner Flight Plan tab: zoom to mapping location

Mission PlannerFlight Plan tab: draw polygon Mission PlannerFlight Plan tab: open Survey tool



# !11 Set Camera Canon S100-S120

Set Camera Orientation Uncheck the option for Camera top facing forward

.

Set Default Speed 15 m/s

Apply Survey Speed Check the option for Use speed for this mission

. If unchecked, the mission will use the Aero’s default speed of 15 m/s regardless of the speed selected in the Survey Tool. 

# Configure Survey: Set Default Parameters

Mission PlannerSurvey tool The Survey tool allows you to configure a mapping mission according to the Aero’s operating parameters and the current environmental conditions at the mapping location. First, set the default values for the Aero.12 Set Angle

Wind Direction In environments with winds of less than 6 m/s, set the angle so that the Aero flies into the wind. In winds from 7-10 m/s, configure theflight path to travel perpendicular to the wind so the Aero flies crosswind.

No. of Strips Adjust the angle so that the Aero makes as few turns as possible to complete its course. The No. of Strips parameter shows how many passes the plane will make as you adjust the angle.

Review Wind Conditions On-Site Always assess the wind conditions at your survey site at the time of the mission and adjust the mission accordingly.

Mission Planner Tip: Adjust Polygon Click and drag the red polygon points to adjust the size and shape of the polygon from the Survey Tool. 

# Configure Survey: Set Angle

wind

Configure the flight path perpendicular to the wind in high winds (7-10 m/s). Configure the flight path parallel with the wind in low winds (1-6 m/s).

wind wind

Use caution when flying in winds over 10m/s. Mapping results may degrade as a result of inability to make headway or maintain appropriate groundspeed. Mission PlannerSurvey tool Next configure the angle of the flight path for the current wind conditions.



# !13 Set Altitude Standard operating altitude: 100 m Operating altitude range: 80-120 m

Increasing altitude decreases flight time, allowing you to cover more area per minute. Decreasing altitude improves ground resolution. Set the alti

tude to get the best ground resolution while keeping the flight time under 40 min and the altitude under 120 m.

Keep altitude below 120 m, and ensure that the altitude is appropriate for your flying area and local regulations.

Check Flight Time Flight Time estimates the duration of the mission. The total estimated flight time must be under 40 min for a fully charged Aero battery. To decrease flight time, increase altitude or speed.

High winds, humidity, high altitude, and extreme heat can affect power consumption and reduce flight time. Consider the environmental factors at your site when configuring flight time. Check Ground Resolution Ground Resolution is the centimeters per pixel that you will have in the map and corresponds to the amount of detail that you will see.

To improve ground resolution by decreasing the number of centimeters per pixel, decrease altitude. 

# Configure Survey: Set Altitude

Mission PlannerSurvey tool The survey altitude determines the duration of the mission and the ground resolution of the final map. Adjust altitude to balance flight time and power consumption with the current environmental conditions.



# !14 Check Photo Interval Photo Every must be longer than 2 seconds for the S100 camera.

Altitude Increasing altitude increases photo interval.

Keep altitude below 120 m, and ensure that the altitude is appropriate for your flying area and local regulations.

Speed Decreasing speed increases photo interval.

Ensure that the Use speed for this mission option is checked. 

# Configure Survey: Check Photo Interval

Mission PlannerSurvey tool With the basic parameters in place, verify that the photo interval calculated from the altitude and speed complies with the operating parameters for the camera.



# !

!15 Takeoff and Land WP’s

For automatic takeoff and landing Check the Add Takeoff and Land WP’s option. Uncheck the Use RTL option.

This will create a takeoff waypoint and a placeholder waypoint for the landing pat

tern. After accepting the survey, configure the automatic landing pattern by following the instructions on page 20.

For automatic takeoff and manual landing Check both the Add Takeoff and Land WP’s option and the Use RTL options.

This will create a takeoff waypoint so the Aero will automatically climb to the survey altitude before heading to the first waypoint. The Aero will return to circle over the launch point after completing the mission.

For manual takeoff and landing Uncheck the Add Takeoff and Land WP’s option Check the Use RTL option.

For this option, take off manually then initiate the mission in flight. The Aero will return to circle over the launch point after completing the mission. 

# Configure Survey: Set Takeoff and Landing

Mission PlannerSurvey tool Now select a takeoff and landing pattern, either manual or automatic.16 Check Advanced Options to view the Survey Tool’s advanced configuration options.

Set OverShoot The Aero has a minimum turning radius of 90 degrees. To accommodate the sharp angles of the survey mission, set both OverShoot parameters to 50 to have the Aero overshoot the waypoints on either side of the polygon by 50% to ensure that the complete area of the polygon is covered by the images.

OverShoot will affect flight time. Ensure that the total estimated flight time is less than the Aero’s maximum flight time of 40 minutes.

Adjust Overlap and Sidelap Overlap and sidelap are set to 50% and 60%, respectively, by default. See page 42 for an in-depth discussion of these parameters. Adjust StartFrom During the mission, you will maintain contact with the aircraft through the RC controller and ground station signals. If your mission is likely to experience a loss of signal, it is best practice to start from the corner of the mission farthest from the launch point. In this example, TopLeft is the corner of the mission farthest from the launch point. 

# Configure Survey: Advanced Options

Select Grid Options

Camera Config The options under the Camera Config tab allow you to configure a camera other than the S100 and won’t be used for operating the Aero. 

# ! The Survey tool includes the following advanced configuration options. These options allow you to customize the mission to comply with best operating practices.

Mission PlannerSurvey tool: advanced options

Mission PlannerSurvey tool: advanced options17 Before accepting the survey, verify that the mission complies with the Aero’s operating parameters.

Camera Canon S100-S120

Altitude 80-120 m

Camera top facing forward unchecked

Flying speed 9-15 m/s

Use speed for this mission checked (optional if speed set to default speed of 15 m/s)

Photo Every greater than 2 s

Flight time under 40 min depending on environmental conditions

Do not accept the mission if any of the parameters exceed the Aero’s operating limits. Operating Parameters 

# Configure Survey: Accept Survey

Accept Select Accept to create this mission. After accepting, you will need to reconfigure the survey completely to make any adjustments.

If Mission Planner prompts you for a home altitude, enter the altitude that you specified in the Survey tool. Mission PlannerSurvey tool



# !18 

# Configuring Automatic Takeoff and Landing

If you selected automatic landing in the Survey Tool by checking the Add Takeoff and Land WP’s option and unchecking the Use RTL option, you will need to configure the landing waypoint pattern manually at this step in the mission planning process.

To begin, determine the direction of the wind and select an unobstructed area 200-500 m in length leading to the launch point, into the wind. On the main Flight Plan screen, create a series of waypoints along this path to decrease altitude gradually from the survey altitude to 0, ensuring that:

» Turns along the flight path are greater than 90 degrees.

» The altitude decreases by a maximum of 20 m between waypoints

» There is at least 20 m between each waypoint

» The Grad % does not exceed 20%

To add a waypoint, right click on the map in the location of the waypoint you would like to add, and select Insert WP . For each waypoint you add to the mission, Mission Planner will prompt you for the new waypoint’s place in the script: Add the series of landing waypoints immediately before the LAND waypoint in the script of events. For the first waypoint in the pattern, add it to the mission immediately following the DO_SET_CAM_TRIGG_DIST waypoint at the end of the mission. Specify the altitude of each waypoint and check the distance and gradient angle in the waypoints table.

To add a waypoint, right click on the map in the location of the waypoint you would like to add, and select Insert WP . For each waypoint you add to the mission, Mission Planner will prompt you for the new waypoint’s place in the script: Add the series of landing waypoints immediately before the LAND waypoint in the script of events. For the first waypoint in the pattern, add it to the mission immediately following the DO_SET_CAM_TRIGG_DIST waypoint at the end of the mission. Specify the altitude of each waypoint and check the distance and gradient angle in the waypoints table. Set altitude.
Check Grad %

. Mission Planner Tip: Configure Waypoints Measure the distance between waypoints by right-clicking at one end and selecting Measure Distance ; then right-click on the other end and select Measure Distance again. A dialog box will open with the distance between the two points.

Double-click on a field in the waypoint table to edit the parameters for a waypoint.

Use the Up and Down arrow icons to re-order the waypoints.

Use the Delete option to remove a waypoint from the mission. Mission PlannerFlight Plan tab: Correctly configured automatic landing pattern Locate the Takeoff waypoint in the mission script and set the first option in the row to assign the takeoff angle.

Set the takeoff angle to 20-25 degrees depending on the length of your takeoff area.

Takeoff angle19 Select Write WPs to save the mission to the Aero. Select Save WP File to save the mission file to your computer. To repeat this mapping mission, load the saved WP file from your computer. For the Aero to run the mission, write the waypoint file to the autopilot. Don’t forget to save the waypoint file to your ground station for future use. 

# Save and Write Mission

Mission PlannerFlight Plan tab: Save and write mission20 

# 2 Fly

Safety 21

Aircraft Operation 22 Components 22 Assembly 23 Controls 26 Modes 27 Arming and Disarming 28 LED Indicators and Tones 28 GPS Lock 28 Preflight Checks 29 Manual and Automatic Takeoff 32 Manual and Automatic Landing 33 FPV System Operation 34

Flying Mapping Missions 35 Takeoff Checklist 35 Initiating 35 Monitoring 35 Failsafes 3621 To ensure safe and successful flying, familiarize yourself with the safety information on this page. Always fly in accordance with your location regulations and these best operating practices.

Always fly at least 100 feet (30 m) away from people, vehicles, and buildings. Make the safety of people and property your first priority! Always fly below 400 ft (120 m) and within your visual line of sight. Don’t let the Aero get too far away from you; make sure you can always see its orientation. Don’t fly in low light, rain, or other conditions that might impede visibility.

Always fly at least 5 miles (8 km) away from airports and other areas where pilots operate manned aircraft. visual line of sight 400 ft (120 m)

100 ft (30 m) 5 miles (8 km) visual line of sight 400 ft (120 m)

100 ft (30 m) 5 miles (8 km) Before you fly, determine the boundaries of your safe flying area. If the Aero moves outside the designated area or exhibits instability in flight, switch to fly-by-wire mode and land the plane manually. Always be ready to regain manual control of the plane in the event of an unsafe situation.

The Aero will not avoid obstacles on its own, including during missions. As the operator, it’s your job to recognize and avoid obstructions while flying. When planning missions, ensure that the selected altitude is appropriate for all geographical features of the area, including terrain.



# Location Spinning propellers can cause serious injury. The safety button indicates the status of the motor to help you prevent hazardous contact with the Aero’s high-speed propeller.

• When the Aero is powered on, the safety button will blink red, indicating that the motor is inactive and the propeller is safe to handle.

• When you’re ready to fly, press and hold the safety button until it shows solid red. This indicates that the motor is armed and the propeller will spin if the throttle stick is raised. To make the propeller safe to handle again, press and hold the safety button until it blinks red. visual line of sight 400 ft (120 m)

100 ft (30 m) 5 miles (8 km) 

# Propeller

You can find more safety tips throughout these instructions where you see this yellow box. 

# Safety

visual line of sight 400 ft (120 m)

100 ft (30 m) 5 miles (8 km) visual line of sight 400 ft (120 m)

100 ft (30 m) 5 miles (8 km) 

# !22 

# Aircraft Operation

Components

body

tail boom

tail left wing

motor nose

right wing

battery compartment airspeed sensor

electronics compartment (under wings) rudder

elevator

left aileron right aileron

If the terms above are unfamiliar to you, visit 3DR.com/Aero-M , and dive into the exciting world of planes with our Introduction to Flying Fixed-Wing Aircraft. video system compartment (above battery compartment)

controller ground station radio Aero (top) Aero tail23 On the top of the horizontal stabilizer, open the blue clasp at the end of the servo rod. Insert the pegs on the clasp into the open space in the servo horn, and close the clasp. Slide the blue rubber ring over the clasp to secure it in place.

servo horn Turn the plane over and insert the provided tail screw into the horizontal and vertical stabilizers. Tail Slide the horizontal stabilizer into the vertical stabilizer along the orange groove. Make sure not to stress any of the components on the tail. 

# Assembly

clasp Tail assembly (underside) Tail screw Horizontal stabilizer

Vertical stabilizer Complete tail assembly24 Wings Attach a wing onto each side of the spar. Do not twist the wing or the spar so as not to stress the foam. Locate the two cables inside the electronics compartment marked AILE. Connect these cables to the two cables on the wings marked AILE. (Either of the wing cables can connect to either of the plane cables; the order doesn’t matter.)

Place the wings over the body of the Aero with the foam squares fitted into the matching space in the electronics compartment. Make sure not to pinch the AILE cables. Locate the four large rubber bands. Use the bands to secure the wings to the body of the Aero by the four orange knobs on the body around the wings.

Attach two of the bands to the two knobs on one of the short sides and opposite knobs on the opposing side. Repeat on the other short side with the remain

ing two rubber bands, resulting in two pairs of opposing right triangles.

1 2

3 425 Propeller Locate the rings inside the propeller package. Remove the ring with the second-largest internal diameter, and insert it into the back of the propeller hub. Remove the nut and the washer from the motor, add the propeller with the writing on the propeller facing towards the nose of the plane, add the washer and the nut over the propeller, and tighten the nut.26 throttle up

Increase motor speed.

throttle down

Decrease motor speed.

throttle fully down

Stop motor. yaw left

yaw right Turn left.

Turn right. Fly the Aero manually using the RC controller.

yaw throttle

Throttle : Move the left stick forwar d and backward to control the motor.

Yaw : Move the left stick horizontally to tur n left and right using the rudder.

Pitch : Move the right stick up to pitch down and down to pitch up.

Roll : Move the right stick left and right to contr ol the bank angle. 

# Controls

roll pitch

roll and pitch center

Automatically level. roll left

roll right Roll left.

Roll right.

pitch up

pitch down Pitch up.

Pitch down.27 Auto - fly a mission Fly an autonomous mission. This is the mode that the Aero will use to create the map.

Fly by Wire - assisted manual control Let the autopilot manage the control surfaces, and navigate based on where you want the Aero to fly. Fly-by-wire mode* (FBW) is the easiest way to fly and is the recommended mode for new operators. *ArduPlane mode FBWA

Return to Launch (RTL) - recall to launch point Command the plane to circle over the launch point. The Aero will return to the position where it acquired GPS lock and enter into a circle pattern at an altitude of 100 meters.

Loiter - circle Activate GPS-positioned circling; the Aero will enter into a circle pattern with a radius of 60 meters at the current altitude. Move the right stick to adjust the position of the circle.

Stabilize - stabilized manual control Stabilize mode provides manual control with an added autopilot safeguard: Release the right stick and the Aero will automatically return to a level flying orientation. Use stabilize mode for the freedom of manual control with return-to-level stabilization.

Manual - full manual control Fly with fine-tuned manual control without autopilot assistance. Manual mode gives you the most direct input to the control surfaces, resulting in precise in-flight adjustment. Try manual mode if you’re an experienced RC plane operator. GEAR/MIX selects the set of modes.

FLAP/GYRO selects the specific mode, either 0, 1, or 2. To select a flight mode:

First, set the GEAR/MIX switch to select a set of modes. Then use the FLAP/GYRO switch to 0, 1, or 2 to select a specific mode.

With GEAR/MIX set to GEAR

,
set FLAP/GYRO to: 0 for Manual 1 for Stabilize 2 for Loiter

With GEAR/MIX set to MIX

,
set FLAP/GYRO to: 0 for A uto 1 for Fly by wire 2 for RTL 

# Modes

RC controller (top)28 Arming and disarming are important steps that must be completed before takeoff and after landing to activate and deactivate the motor, respectively.

The arming and disarming procedures ensure that you can safety start and stop the motor without risk of injury.

The Aero’s motor can spin when armed! Do not place your hands in the way of the propeller while the safety button is active (solid red). To arm the motor, press and hold the safety button until it displays solid red.

To disarm, press and hold the safety button until it displays blinking red.

safety button

Inactive , motor disarmed

Active, motor armed 

# Arming & Disarming LED Indicators

Low battery, automatic landing Loss of RC signal, automatic landing

System error, see troubleshooting guide Loss of GPS signal, switch to fly-by-wre Initializing, please wait

Acquiring GPS, please wait

Armed , GPS locked



# Tones

Visit 3DR.com/Aero-M to listen to Pixhawk’s status tones.



# GPS Lock

Auto, RTL, and loiter modes requires GPS lock. When powered, the autopilot will automatically search for GPS lock. The position of the Aero when the autopilot acquires GPS will be saved as the home position, and used as the coordinates for the launch point during RTL. If you plan to use auto, RTL, or loiter modes during your flight, ensure that the Aero is located at a suitable launch point when powered, and the autopilot acquires GPS lock before takeoff, indicated by a blinking green status LED. Before arming, check the status LED. The LED will flash blue while the Aero acquires GPS; this can take a few minutes. Once you see the green LED, the autopilot has acquired GPS lock.

Autopilot ready, GPS locked Acquiring GPS lock, please wait. Initializing , please wait.



# !29 

# Preflight Checks

Before each flight, perform a physical component check, center of gravity check, and control checks in both manual and stabilize modes. If any of the components or assemblies in these checks are not secure, tighten the screws or use CA glue (super glue) to secure the components to the foam.

1 Examine the Aero to ensure that all components are secured in flight configuration.

tail servos wing servos 

## » Check that the wings, tail, and tail boom are fully assembled and securely attached.



## » Check that the propeller is secured tightly to the motor.



## » Check that the servo rods are secured to the servo horns with the blue clasps.

airspeed sensor 2 Check that the airspeed sensor is secured to the side of the Aero and the tube is free from obstructions. 3 With the battery connected and the lid secured, check that the Aero is correctly balanced for flight. Hold the Aero with one finger on each of the clear, plastic balancing points shown below. These points indicate the Aero’s center of gravity.

If the plane balances on your fingers, then the center of gravity is correct. If it won’t balance, adjust the position of the battery until you can balance the plane on two fingers as shown below.

Flying the plane without the camera will affect the center of gravity. If you choose to fly without the camera, make sure to re-balance the center of gravity.30 Before flying, power and arm the Aero on the ground and complete these checks to verify that the control surfaces respond correctly to the control inputs. Place the plane on the ground, and set the mode switches to select manual mode. Move each of the sticks as shown, and check for the corresponding movement of the motor or control surfaces.

Left Stick Left Stick 1 Raise the throttle slightly until the motor spins, then immediately set the throttle back to fully down position.

Motor spins.

Left Stick Left Stick 2 Pitch down

Elevator tilts down.

Left Stick

Left Stick Pitch up

Elevator tilts up. 

# ! Do not raise the throttle more than just enough to spin the motor while the plane is on the ground, and do not place your hands in the way of the propeller while the motor is armed. Left StickLeft Stick 3 Roll left Left aileron tilts up, right aileron tilts down.

Left StickLeft Stick Roll right Left aileron tilts down, right aileron tilts up.

Left StickLeft Stick 4 Yaw left

Rudder tilts left.

Left StickLeft Stick Yaw right

Rudder tilts right. 

# Preflight Checks: Manual Control Check31 Set the mode switches to stabilize, and hold the plane in front of you. Move the plane as shown, and check for the stabilization response from the control surfaces.

1 Test: Tilt the plane left.

Result: Left aileron tilts down, right aileron tilts up.

Test: Tilt the plane right.

Result: Left aileron tilts up, right aileron tilts down. 2 Test: Tilt the plane down.

Result: Elevator tilts up.

Test: Tilt the plane up.

Result: Elevator tilts down. 

# Preflight Checks: Stabilize Control Check32 Auto-takeoff works by sensing the movement of the plane and launching it in that direction. Set the Aero to autonomous mode when you’re ready to launch.

Find a launching area with at least 100 feet of clear space in front of you. Face into the wind, and hold the body of the Aero in one hand under the center of gravity. Be careful not to place your hand in the way of the propeller!

Hold the Aero above your head, run, and throw the plane at an upwards angle. The Aero will sense the throw, power the motor, and climb to the altitude specified by the takeoff waypoint before starting the survey mission.

Automatic takeoff requires you to configure the takeoff angle during mission plan

ning. See page 18. 

# ! DO NOT WIND UP YOUR THROW; if the Aero senses any backwards momentum it will attempt to launch in that direction. Use only forward momentum to throw to Aero! 

# Manual Takeoff Automatic Takeoff

If you’re new to planes, we recommend having a friend help you launch the Aero. Have your friend throw the Aero while you control the controller.

We recommend setting the Aero to fly-by-wire mode for takeoff. Find a launching area with at least 100 feet of clear space in front of you. Face into the wind, and hold the Aero at the center of gravity. Raise the throttle to center position to start the motor. Be careful not to place your hand in the way of the propeller!

Hold the Aero above your head, run, and throw the plane at an upwards angle.

Once launched, the Aero will require immediate adjustment with the controller to navigate away from the ground and up to the desired altitude. Pitch up (right stick down) and add any other necessary controls based on wind, speed, and terrain.33 

# Automatic Landing

When you’re ready to end your flight, follow these steps to land:



## » Fly a circle pattern above your landing area.



## » Come in on a final approach, flying into the wind at

an altitude of 20 to 40 meters.



## » When the plane reaches an altitude of 10 meters, set the throttle fully down to turn
off the motor and glide down
on a 15 to 20 degree down-pitch angle.



## » When the plane is one meter above the ground, pitch up (flare) to land the Aero on
the body of the plane instead of the nose.

Left Stick

Left Stick Left Stick

Left Stick 

## throttle fully down

pitch up 20-40 m

10 m

1 m wind direction

Left Stick 

## pitch slightly down After stopping the motor at an altitude of 10 m, keep your thumb on the throttle stick in fully down position to ensure that the motor does not accidentally spin during landing. 

# Manual Landing

! To land automatically at the end of the mission, the Aero requires the mission to be configured with a specific pattern of landing waypoints that gradually decreases the altitude so that the Aero can land safely. For instructions on configuring automatic landing, see page 18.34 

# FPV System Operation

If you selected to receive an optional FPV/OSD system, the components are pre-installed into the Aero to transmit on-board video.

AV receiver

Antenna

Batteries (2) Receiver cables Parts 2 Wire and power receiver

Attach an antenna to the receiver. Connect the AV output cable to either receiver AV OUT port. Connect the RC power cable to the receiver DC IN port, and attach a battery to the red connector.

1 Charge battery

Charge both batteries before your first flight. Set the charger to LiPo and 1A. Connect the white battery connector to the 3S port, and connect the XT60-JST charger adapter to the red battery connector and yellow charger connector.

3S port Battery connector Transmitter

Camera

Remove lens cap! 3 Prepare on-board components

Connect a fully charged battery to the transmitter inside the compartment in the nose of the plane. Remove the lens cap from the camera.

LiPo 1A

4 Viewing video

When using a 3DR Black Pearl Monitor to view your video, set the mode to DIV (M button changes modes), the channel to 8 (+ and - buttons), and the band to E (press the power button to access the menu).

For more information about configuring the FPV/OSD system, visit 3DR.com/Aero-M

.35 

# Flying Mapping Missions

Takeoff Checklist

Before flying the mission, check the following:

» Camera is on with mission script ready and is secured into the mount with the mini-USB cable connected and the cap r emoved.

» Aero is powered and connected to the ground station with all pre-flight checks passed.

» The survey mission has been adjusted to account for present envir onmental conditions and saved to the Aero. 

# Initiating

For automatic takeoff, set the Aero to auto mode and launch according to the instructions in the Automatic Takeoff section of these instructions (page 33).

For manual takeoff, set the Aero to auto mode after takeoff to initiate the mission in flight.



# Monitoring

Mission Planner Flight Data: Attitude

1 Heading direction 2 Bank angle 3 Altitude (black) and rate of climb (blue bar) 4 Ground speed Status

4 Distance to current waypoint > current waypoint number 5 GPS status 6 Battery status* 1 Ground station signal 2 GPS time 3 Currently enabled mode 1

2

3

4 1

2

3
4 5 6 Monitor the Aero closely during the mission using your line of sight and the Mission Planner Flight Data screen. Actions

1 Change waypoints or restart a mission 2 Change modes 3 Change altitude

Flight Map

1 Current heading 2 Direct path to current waypoint 3 GPS-reported direction of travel 4 Actual flight path 5 Latitude, longitude 6 Altitude 1

2

3

1 2 3 4

5
6 Full battery: 16.8 V Low battery failsafe: 13.8 V

End your flight at 14 V!



# !
*Failsafe behavior enabled36 

### visual line of sight 400 ft (120 m)

100 ft (30 m) 5 miles (8 km) 

# Failsafes

visual line of sight 400 ft (120 m)

100 ft (30 m) 5 miles (8 km) Low Battery Failsafe Environmental conditions can affect power consumption. Use the Mission Planner Flight Data display to monitor the voltage of the battery during flight.

If the battery reaches 13.8 V, the Aero will return automatically to circle above the launch point, indicated by a blinking yellow status LED and a quick repeating tone. The Aero is programmed with a set of failsafe behaviors to prevent a crash in the event of a loss of one of the data or communication channels required for autonomous flight. Although certain failsafe have assigned LED indicators and tones, it is unlikely that you will be able to see these at a distance. Monitor the Flight Data screen for failsafe indications. If a failsafe is triggered, the assigned behavior will activate. To override the failsafe behavior (RTL in most cases), use the controller to regain manual control.

Regaining Manual Control To regain manual control during the mission, switch to fly-by-wire mode using the controller. If you’re a confident operator, switch to stabilize mode. If you observe instability in the Aero’s flight behavior or it the aircraft moves outside your designated safe flying area, switch to RTL. Turning off the controller will automatically trigger an RTL and can be used in an emergency situation as a hard recall command.

RC Controller Signal Failsafe Physical obstructions and interference from nearby wireless signals can affect the Aero’s connec

tion with the RC controller.

If the Aero loses contact with the controller, it will return to the launch point automatically and enter into a circle pattern above the launch point, indicated by a blinking yellow status LED.

If the controller failsafe is triggered, wait for the Aero to return to the launch point, then regain manual control and either land or restart the mission.37 

# 3 Process

On-Site Quality Check 38 Spot Check 38 Download Images 38 Download Log File 39 Pix4D Rapid Check 40

Full Processing 4038 

# On-Site Quality Check

Before leaving the survey site, check the images using Pix4D to ensure sufficient quality for mapping by downloading the images from the SD card, downloading the log file from the Aero, and completing Rapid Check Initial Processing in Pix4D.

If you observe poor image quality or the quality report returns errors, see the Image Quality Troubleshooting section on page 45 and repeat the mission.

playback button

SD card file structure: Download images 

# Spot Check (Optional)

The quickest way to see the images after a flight is to unlock the SD card and restart the camera. The camera will load the default Canon programming and you can select the playback button to review the images. 

# Download Images

Unlock the SD card and load into your ground station. Select the DCIM folder and locate the folder for your flight. Copy the files into a project folder on the ground station and delete them from the SD card.39 Pix4D uses the GPS data from the Aero’s log file to georeference the images. To download the Aero’s dataflash log, power the Aero and connect to Mission Planner. The download process will be faster if you connect the micro-USB cable directly to Pixhawk’s micro-USB port instead of connecting using the ground station radio. (When connecting directly to the Aero, set the rate to 115200.)

On the Flight Plan screen, select the DataFlash Logs tab under the heads-up display, and select Download DataFlash Log over Mavlink

.

The Log window shows the Aero’s recent flights. Select the flight for your mission, and select Download These Logs . This will save the log file to your computer in the location displayed under the list of flights.

To retrieve the log file, access your computer’s file structure under Program Files/Mission Planner/logs/ PLANE , and select the .log file for the date of your flight. Mission Planner: Flight Data heads-up display

Mission Planner: Download Logs Program Files: Retrieve log file 

# Download Log File40 1 Open Pix4D Mapper, and create a new project. 2 Select Aerial Nadir as the project type.

After creating the project, select the Local Processing screen (Process menu). Check the option for Initial Processing and Rapid Check. Uncheck all other local processing options, and select Start. 

# Pix4Dmapper Rapid Check: Create Project

3 After adding the images, select From File to add the geolocation data from the Aero’s log file. In the pop-up window, select 3D Robotics Flight Log as the file format, and upload the dataflash log file downloaded from Mission Planner.



# Pix4Dmapper Rapid Check: Initial Processing

Pix4D will generate a Quality Report that will indicate if the images are of sufficient quality to create a map.

To complete full processing for the map, visit support.pix4d.com for instructions. 

# Full Processing41 

# Appendix

Aerial Imaging Concepts 42 3DR EAI 43 Image Quality Troubleshooting 45 Operational Troubleshooting 4642 

# Aerial Imaging Concepts

Understanding key concepts in aerial images can help you understand the mission planning process and create better maps.

Distance-Based Imaging By default, the camera captures only the images required to create the map. The Pixhawk monitors the distance traveled by the aircraft and sends a command to the camera to capture an image at the distance interval specified by the camera trigger distance parameter ( CAM_TRIGG_DIST ). This parameter is set by the Mission Planner Survey tool during survey configuration by calculating the minimum distance between images based on the parameters specified for the survey (altitude, overlap, sidelap). This distance-based imaging allows for more precise data collection, resulting in less images and data storage cost. Once configured, the Survey tool creates an event at the start of the mission script (after takeoff) to set the camera trigger distance to the specified interval and an event at the end of the mission (before landing) to reset the camera trigger distance to 0.

Time-Based Imaging The camera is also equipped to capture images at a consistent time interval instead of using distance. This function can be useful if you want to capture images over an area without planning a mission. This time-based imaging results in more images per area, and therefore more processing time and storage cost. See the Trigger Type options on page xx to enable time-based imaging.

Overlap and Sidelap To capture images for the map, the aircraft flies a lawnmower-like pattern in strips across the survey site. The front-to-back overlap between sequential images is called overlap; the side overlaps of adjacent pictures in different strips is called sidelap. The overlap and sidelap parameters in the Survey tool (see Advanced Options page xx) determine the distance between images and the number of images to be captured based on the projected ground area that each image will cover, called a footprint. Increasing overlap and sidelap improves the accuracy of the map while increasing flight time and processing time.

In the Survey tool, Distance between Images shows the specified camera trigger distance that will be assigned to the mission. You can also see the projected image footprint size and the total number of images to be captured. Default overlap: 50% Default sidelap: 60%43 

# 3DR EAI

3DR EAI is based on KAP UAV Exposure Control Script v3.1: a great open-source project for kite and UAV aerial photography.

Start and Stop Script Ensure the camera is set to P (program) mode before powering the camera. Upon startup, 3DR EAI starts automatically and listens for commands from the autopilot, indicated by waiting for USB signal

. To stop (and re-start) the script, press the shutter button. The script will display INTERRUPTED when stopped.

CHDK Menu The CHDK menu contains all the standard options provided with CHDK. To access the CHDK menu, stop the script and select the MENU button. Script Menu The script menu allows you to change the parameters associated with the script itself, including changing the trigger mode and adjusting exposure. To open the script menu, stop the script and select the FUNC. SET button. These parameters are configured for the S100 and do not require adjustment as part of standard operation.

Trigger Type This parameter allows you to control how the camera captures images. Trigger type defaults to USB for distance-based imaging during mapping missions. For time-based imaging, select Interval and specify the length in the Shot Interval parameter.

Trigger Type default: USB (mapping) Variable intervalometer: Interval (default to 2 seconds, specified by Shot Interval )

Memory Reset If the battery is left out of the camera for too long, the camera will reset its memory. To re-configure the camera in this case, visit 3DR.com/Aero-M for instructions.

Online Resources and Information Visit 3DR.com/Aero-M for links to updates, more information about KAP UAV, and full CHDK instructions. Script start: waiting on USB signal

Script stopped: INTERRUPTED FINISHED Script menu

CHDK menu Script menu: Trigger Type44 

# Image Quality Troubleshooting

If you observe poor image quality during the spot check or if you receive error messages during processing, use the settings below to troubleshoot the image quality.

Blurry Images To correct motion blur, adjust the shutter speed using the Target Tv parameter in the script menu.

Target Tv (shutter speed) default: 1/1250 To correct moderate motion blur: Set to 1/1600. To correct severe motion blur: Set to 1/2000.

Overexposure If the images are overexposed but do not show any motion blur, it can be due to flying in extremely bright conditions. To correct this, set the Allow use of ND filter parameter to YES in the script menu.

Allow use of ND filter default: No To correct overexposure: Set to Y es.

Processing Errors If you receive errors from Pix4Dmapper regarding the images, dataset, or matching points, increase the overlap and sidelap during survey configuration to improve the quality of the image set.

Overlap default: 50% Sidelap default: 60% To improve processing: Set overlap to 60% and sidelap to 70%. Example image: motion blur

Example image: overexposure Script menu: ND Filter Script menu: Target Tv

Mission Planner Survey tool Advanced Grid Options: Overlap and Sidelap45 

# Operational Troubleshooting

No Images Captured 1 If the camera did not capture any images during the mission, first perform a physical inspection on the Aero.

Is the mini-USB cable connected to the camera’ s USB port?

Ar e the AUX OUT 6 pins connected on Pixhawk?

AUX OUT 6: black (-), r ed (+), white (s)

Is the camera battery charged? Unlock the SD car d to view the Canon’s battery level indicator. 2 Take a distance-triggered test image on the ground by manually setting the camera trigger distance parameter to 1 m.

Power the aircraft and connect to Mission Planner. Select Config/Tuning and Full Parameter List . Change the CAM_TRIGG_DIST parameter to 1, and select Write Params . Now carry the Aero for a few meters to see if the autopilot triggers the camera.

Camera with SD card unlocked, running Canon software Pixhawk (side) Camera (side)

Mission Planner Full Parameter List: Set CAM_TRIGG_DIST to 1.