ATTACHMENT 3 
ASN 2015-ESA-22-COA

Case Status RECOMMITTED

Date Created 12/08/2014

Date Submitted 02/04/2015

Proponent 

Organization Sponsor Florida State University Center for Disaster Risk Policy

Attn Of David Merrick

Address 113 Collegiate Loop

Address2 637 Bellamy

City Tallahassee

State FL

Postal Code 32306-2250

Telephone (850) 644-9961

Email dmerrick@cdrp.net

Declaration Declaration(a) Yes

Declaration(b) Yes

Point of 

Contact Representative David Merrick

Address 113 Collegiate Loop

Address2 Bellamy 638

City Tallahassee

State FL

Postal Code 32306-2250

Telephone (850) 644-9961

Email dmerrick@cdrp.net

Operational 

Description

Requested 

Effective Period Beginning

End

Light out operation No

VFR operation Yes

IFR operation No

Day operation Yes

Night operation No

Program Executive 

Summary

The Center for Disaster Risk Policy at Florida State University will conduct research on the use of 

small unmanned aerial systems (sUAS) in the field of emergency and disaster management. Use 

cases include aerial photography and creation of digital elevation models and video and still 

photography. The objective is to model the integration of sUAS remote sensing capabilities with 

local, state, and federal disaster management operations.

Operational Summary

The 3DRobotics Y6 and 3DRobotics Iris+ UAS will operate under 400ft AGL, in Class "G" airspace 

north of Tallahassee, Florida. Flights are daytime only, within visual observation distance and 

limited to 13 minutes of flight time. Research flights will be conducted approximately 4 days each 

calendar month. Each flight day will include approximately 4 flights of 11 minutes each. 

This request is the same system as 2014-ESA-109-COA operating in a new location, with the 

addition of the Iris+ airframe.

Location State FL

County Leon

Nearest Airport RUTTEN DUSTING STRIP

AOR Florida - Northern

Class Of Airspace Class-A

Class-B

Class-C

Class-D

Class-E

Class-G Yes

System 

Description Aircraft Type

Aircraft Type And Model 

Description Attachment 2

Control Station Attachment 2

Communications System 

Attachment 2

List Certified Components 

(TSO) Attachment 1

Other Attachment 2

Performance 

Characteristi

cs Climb Rate (feet/Minute)

3DRobotics Y6 - N915FS

3DRobotics Iris+ - N916FS

See temporary registration docs attached under 'Other', above.

Descent Rate (feet/Minute) 335

Turn Rate 

(Degrees/Second) 335

Cruise Speed Maximum 110.0

Minimum 37

Approach Speed 0

Operating 

Attributes Maximum MSL 0

Minimum MSL 8000

Gross Takeoff Wt 0

Launch/Recovery 

Attachment 4.8

Airworthiness FAA Type Certificate 2

Page 1 of 3
If No FAA Certificate (Public 

Aircraft Only) Attachment

Procedures

Lost Link/Mission 

Procedures Attachment 2

Lost Communications 

Procedures Attachment 2

Emergency Procedures 

Attachment 2

Avionics/Equi

pment Equipment Suffix Type 2

GPS X

Moving map indicator 

(Command Station) Yes

Tracking capability Yes

TCA/MCAS Yes

ELT No

Transponder Transponder No

On No

Off

Standby

Ident

Mode S

Mode C

Transponder Retuneable in 

Flight

Lights Landing

Position/Navigation No

Anti-collision No

Infrared (IR) No

Spectrum 

Analysis 

Approval Data Link No

Data Link Attachment Yes

Control Link(s) 0

Control Link Attachment Yes

Operations utilizing Radio 

Control (R/C) frequencies 

as described in Title 47 CFR 

95 0

NTIA/FCC Authorization 

Attachment Yes

ATC 

Communicati

ons

Transmitter VHF 

Band VHF Band 0

Quantity No

In-Flight Retunable

Transmitter UHF 

Band UHF Band No

Quantity No

In-Flight Retunable

Transmitter HF 

band HF Band No

Quantity No

In-Flight Retunable

Receiver VHF 

Band VHF Band No

Quantity No

In-Flight Retunable

Receiver UHF 

Band UHF Band No

Quantity No

In-Flight Retunable

Receiver HF band HF Band No

Quantity No

In-Flight Retunable

Guard 

(Emergency) 

Frequencies VHF 

Band VHF Band No

Quantity No

Guard 

(Emergency) 

Frequencies UHF 

Band UHF Band

Quantity No

Instantaneous 

Two-Way Voice Direct to pilot

SATCOM No

Relay via aircraft No

Electronic 

Surveillance/

Detection 

Capability EO/IR No

Terrain detection Yes

Weather/icing detection No

Page 2 of 3
Radar No

Other Attachment No

Electronic detection 

systems 0

Electronic detection 

systems attachment No

Radar observation 0

NAS Operational Capability 

Attachment No

Visual 

Surveillance/

Detection 

Capability

Maximum 

Distance from UA Vertical 0

Horizontal 400 Feet

Airborne based (Chase 

Aircraft) 0.43 Nautical Miles

Ground based No

Visual observation from one 

or more ground sites Yes

Forward or side looking 

cameras Yes

Attachment for All Yes

Aircraft 

Performance 

Recording Flight data recording 0

Control station recording Yes

Voice Recording Yes

Flight Aircrew 

Qualifications Pilots Private (Written) No

Private (Certified) Yes

Instrument No

Commercial No

Air Transport No

Unique Trained Pilot No

Unique Trained Pilot 

Description No

DOD certified/trained

UAV pilots will have an understanding of and comply with Federal Aviation Regulations applicable 

to the airspace where the UAV will operate. Pilots must have in their possession a current second 

class (or higher) airman medical certificate that has been issued under 14CFR 67, Medical 

Standards and Certification. 14CFR 91.17, alcohol or drugs, applies to UAV pilots. UAV Pilots will 

have completed a recognized private pilot ground school course and passed FAA Private Pilots 

Other Certified Training No

Trained on Part 91 

Requirement No

Medical Certification Class 

(FAA or DOD equivalent) Yes

Currency Status 2

Duty Time Restrictions Pilots and observers will possess a Class 2 or higher FAA medical certificate.

Single UAS Control Daylight operations only. 

UAS Description Yes

Total Numbers of UAS 

Controlled

Observers Private (Written) 1

Private (Certified) Yes

Instrument No

Commercial No

Air Transport No

Unique Trained Pilot No

Unique Trained Pilot 

Description No

DOD certified/trained Observers will meet and comply with the same stated requirements for UAV pilots.

Other Certified Training No

Trained on Part 91 

Requirement No

DOD Certified Training 

Attachment Yes

Medical Certification Class 

(FAA or DOD equivalent) 0

Currency Status 2

Duty Time Restrictions Pilots and observers will possess a Class 2 or higher FAA medical certificate.

Single UAS Control Daylight operations only.

UAS Description Yes

Total Numbers of UAS 

Controlled

Special 

Circumstanc

es Special Circumstances 1

Page 3 of 3
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Data Sheet for 3DRobotics IRIS+ Small Unmanned 

Untitled eventAerial System (sUAS)

The 3DRobotics IRIS+ is a remotely operated unmanned aircraft with vertical takeoff 

and landing capability designed to carry video and still cameras.

Physical Information

Dimensions

Width: 19.5 in.

Height: 8.5 in.

Length: 12 in.

Weight & Payload

sUAS Weight: 1300g

Effective Payload: 400g

Maximum Gross Take-Off Weight: 1700g

Typical Gross Take-Off Weight: 1540g

Construction

Plastic

Carbon Fiber

Landing Gear

Ground Clearance: 5.5 in.

Material: Carbon Fiber

Rotor Blades

Four Tiger Motor Multi-Rotor Self-Tightening Blades

Rotor Blade Material: Plastic

Counterclockwise Rotor Diameter/Pitch: 9.5in x 4.5

Clockwise Rotor Diameter/Pitch: 9.5in x 4.5
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Electric Motors

Motors: Four (4) MN2213 850kV

Configuration: Direct Drive (One Motor per Rotor)

Voltage: 14.8V nominal 

Weight: 72g

Operating Requirements

Operating Temperature: 14° to 105°F (-10° to 41°C) 

Relative Humidity: 0% to 92% Noncondensing 

Maximum Wind Speed: 48 km/h (30 mph)

Flight Characteristics

Climb Rate: 1.7m/s (335 ft/min)

Descent Rate: 1.7m/s (335 ft/min)

Turn Rate: 110°/second

Cruise Speed: 6 m/s (13.4 mph)

Maximum Speed: 14 m/s (32 mph)

Minimum Speed: 0 m/s

Approach Speed: 0 m/s

Launch Type: VTOL (Vertical Take Off and Landing) 

Maximum Altitude ASL: 8,000ft (2438m

Standard Battery: 5100 mAh 3S 8C Lithium Polymer (LiPo) 11.1 volt

Maximum Flight Time: 22 minutes

Autopilot and Onboard Sensors

Autopilot: Pixhawk v2.4.5

3DR uBlox GPS with Compass (LEA-6H module, 5 Hz update)

4MB on board solid state memory
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Autopilot Flight Modes

“Stabilized” - Manual flight mode with autopilot stabilization assistance.

“Loiter” - GPS position hold; aircraft will hover in place without pilot input.

“Return to Launch” - Aircraft will return to launch point using GPS navigation assistance.

“Autonomous” - Aircraft will fly pre-programmed mission waypoints using GPS 

navigation.

Flight Logging (Black Box)

Flight Data Recording: On-Board

Storage: Internal 4MB autopilot memory

Data Recorded: Pitch, Yaw, Climb/Descent Rate, Altitude, Heading, Airspeed, GPS 

Location, Flight Mode, Data Link Status

Flight Data Recording: Ground Control Station

Storage: 340GB Hard Drive

Data Recorded: Pitch, Yaw, Climb/Descent Rate, Altitude, Heading, Airspeed, GPS 

Location, Flight Mode, Data Link Status

RF Communications

Flight Controller

Purpose: Ground to air transmission of flight control commands

Frequency: 2.4GHz Digital Spectrum Modulation (DSM)

sUAS Antenna: Two (2) Whip Antennas

Controller Antenna: Dual Omni-Directional Antennas

Transmission Power (North America): 100mW

Telemetry

Purpose: Two way transmission of flight telemetry data and mission planning 

commands

Frequency: 915MHz 

sUAS Antenna: Omni-Directional

Ground Control Station (GCS) Antenna: Omni-Directional

Transmission Power (sUAS Transmitter): 100mW 
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Transmission Power (GCS Transmitter): 100mW 

Transmission Technique: Frequency Hopping Spread Spectrum (FHSS)

Data Rate: 57,600 baud

Protocol: Full Duplex MAVLink

Video Transmission

Purpose: Air to ground transmission of video signal

Frequency: 5.8GHz

7 Selectable Channels: 5740MHz, 5760MHz, 5780MHz, 5800MHz, 5820MHz, 

5840MHz, 5860MHz

sUAS Antenna: Omni-Directional Helix

Standard Camera Payloads

1080p High Definition Video and 16 mega-pixel Camera Garmin VIRB Camera
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Data Sheet for 3DRobotics Y6 2014 Small 

Unmanned Aerial System (sUAS)

The 3DRobotics Y6 is a remotely operated unmanned aircraft with vertical takeoff and 

landing capability designed to carry video and still cameras.

Physical Information

Dimensions

Width: 21 in.

Height: 7.5 in.

Length: 18 in.

Weight & Payload

sUAS Weight: 1,200g

Effective Payload: 600g

Maximum Gross Take-Off Weight: 2,500g

Typical Gross Take-Off Weight: 2,200g

Construction

Carbon Fiber

Glass Filled Injected Nylon

Aluminum

Landing Gear

Ground Clearance: 135mm

Material: Carbon Fiber

Rotor Blades

Three Counter-Rotating Pairs (Six Rotors Total) 

Rotor Blade Material: Injection Molded Plastic

Upper Rotor Diameter/Pitch: 11in x 4.6

Lower Rotor Diameter/Pitch: 11in x 4.6

Electric Motors

Motors: Six (6) 880kv Brushless Motors
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Configuration: Direct Drive (One Motor per Rotor)

Voltage: 14.8V nominal

Weight: 72g

Operating Requirements

Operating Temperature: 14° to 105°F (-10° to 41°C) 

Relative Humidity: 0% to 92% Noncondensing 

Maximum Wind Speed: 48 km/h (30 mph)

Flight Characteristics

Climb Rate: 1.7m/s (335 ft/min)

Descent Rate: 1.7m/s (335 ft/min)

Turn Rate: 110°/second

Cruise Speed: 6 m/s (13.4 mph)

Maximum Speed: 14 m/s (32 mph)

Minimum Speed: 0 m/s

Approach Speed: 0 m/s

Launch Type: VTOL (Vertical Take Off and Landing) 

Maximum Altitude ASL: 8,000ft (2438m)

Standard Battery: 5000 mAh 4S Lithium Polymer (LiPo) 14.8 volt

Maximum Flight Time: 11 minutes

Autopilot and Onboard Sensors

Autopilot: 3DRobotics Ardupilot version 2.6

MPU-6000 3D Accelerometer and Gyroscope3 

MS5611-01BA03 Barometric Pressure Sensor

u-Blox External Global Positioning System Receiver

4MB on board solid state memory

Autopilot Flight Modes

“Stabilized” - Manual flight mode with autopilot stabilization assistance. 

“Loiter” - GPS position hold; aircraft will hover in place without pilot input.
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

“Return to Launch” - Aircraft will return to launch point using GPS navigation assistance.

“Autonomous” - Aircraft will fly pre-programmed mission waypoints using GPS 

navigation.

Flight Logging (Black Box)

Flight Data Recording: On-Board

Storage: Internal 4MB autopilot memory

Data Recorded: Pitch, Yaw, Climb/Descent Rate, Altitude, Heading, Airspeed, GPS 

Location, Flight Mode, Data Link Status

Flight Data Recording: Ground Control Station

Storage: 340GB Hard Drive

Data Recorded: Pitch, Yaw, Climb/Descent Rate, Altitude, Heading, Airspeed, GPS 

Location, Flight Mode, Data Link Status

RF Communications

Flight Controller

Purpose: Ground to air transmission of flight control commands

Frequency: 2.4GHz Digital Spectrum Modulation (DSM)

sUAS Antenna: Two (2) Whip Antennas

Controller Antenna: Dual Omni-Directional Antennas

Transmission Power (North America): 100mW

Telemetry

Purpose: Two way transmission of flight telemetry data and mission planning 

commands

Frequency: 915MHz 

sUAS Antenna: Omni-Directional

Ground Control Station (GCS) Antenna: Omni-Directional

Transmission Power (sUAS Transmitter): 100mW 

Transmission Power (GCS Transmitter): 100mW 

Transmission Technique: Frequency Hopping Spread Spectrum (FHSS)

Data Rate: 57,600 baud

Protocol: Full Duplex MAVLink
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Video Transmission

Purpose: Air to ground transmission of video signal

Frequency: 5.8GHz

7 Selectable Channels: 5740MHz, 5760MHz, 5780MHz, 5800MHz, 5820MHz, 

5840MHz, 5860MHz

sUAS Antenna: Omni-Directional Helix

Standard Camera Payloads

16 mega-pixel (MP) Canon SX-260 Digital Still Camera with Remote Controlled Tilt

480p Standard Definition Video Camera with Remote Controlled Tilt
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Communications 

Communications systems for the 3DRobotics Y6 2014. 

Flight Controller

Purpose: Ground to air transmission of flight control commands

Frequency: 2.4GHz Digital Spectrum Modulation (DSM)

sUAS Antenna: Two (2) Whip Antennas

Controller Antenna: Dual Omni-Directional Antennas

Transmission Power (North America): 100mW

Flight Controller Channel Assignments

Channel 1 - Throttle Channel 5 - Flight Mode

Channel 2 - Roll Channel 6 - Flight Mode

Channel 3 - Pitch Channel 7 - Camera Tilt

Channel 4 - Yaw Channel 8 - [unused]
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Telemetry

Purpose: Two way transmission of flight telemetry data and mission planning 

commands

Frequency: 915MHz 

sUAS Antenna: Omni-Directional

Ground Control Station (GCS) Antenna: Omni-Directional

Transmission Power (sUAS Transmitter): 100mW 

Transmission Power (GCS Transmitter): 100mW 

Transmission Technique: Frequency Hopping Spread Spectrum (FHSS)

Data Rate: 57,600 baud

Protocol: Full Duplex MAVLink
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Video Transmission

Purpose: Air to ground transmission of video signal

Frequency: 5.8GHz

7 Selectable Channels: 5740MHz, 5760MHz, 5780MHz, 5800MHz, 5820MHz, 

5840MHz, 5860MHz

sUAS Antenna: Omni-Directional Helix
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Communications 

Communications systems for the 3DRobotics IRIS+. 

Flight Controller

Purpose: Ground to air transmission of flight control commands

Frequency: 2.4GHz Digital Spectrum Modulation (DSM)

sUAS Antenna: Two (2) Whip Antennas

Controller Antenna: Dual Omni-Directional Antennas

Transmission Power (North America): 100mW

Flight Controller Channel Assignments

Channel 1 - Throttle Channel 5 - Flight Mode

Channel 2 - Roll Channel 6 - Gimbal

Channel 3 - Pitch Channel 7 - Auto Land

Channel 4 – Yaw Channel 8 – Optional
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Telemetry

Purpose: Two way transmission of flight telemetry data and mission planning 

commands

Frequency: 915MHz 

sUAS Antenna: Omni-Directional

Ground Control Station (GCS) Antenna: Omni-Directional

Transmission Power (sUAS Transmitter): 100mW 

Transmission Power (GCS Transmitter): 100mW 

Transmission Technique: Frequency Hopping Spread Spectrum (FHSS)

Data Rate: 57,600 baud

Protocol: Full Duplex MAVLink
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Video Transmission

Purpose: Air to ground transmission of video signal

Frequency: 5.8GHz

7 Selectable Channels: 5740MHz, 5760MHz, 5780MHz, 5800MHz, 5820MHz, 

5840MHz, 5860MHz

sUAS Antenna: Omni-Directional Helix
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Ground Control Station

The 3DR Y6 Ground Control Station (GCS) is a Hewlett Packard laptop computer running 

Microsoft Windows 8.1 and Mission Planner (version 1.3.5), a FatShark “Attitude” First-PersonView (FPV) video headset, and the 3DR 

telemetry radio module and omni-directional 

antenna. The laptop and omni-directional 

antenna are mounted on a tripod stand for 

ease of use in the field. The video goggles 

contain the video downlink receiver and are 

connected to the GCS laptop via USB cable. 

This set up allows the video from the UAV to 

be displayed on the GCS laptop screen.

The Mission Planner software utilizes the 

Micro Air Vehicle Communication Protocol 

(MAVLink) to communicate with the 3DR Y6 

via the telemetry module radio link.

The Mission Planner software allows for premission planning of flights, displays real-time 

flight information from the 3DR Y6, and allows 

in-flight changes of mission parameters. 

While in flight, Mission Planner displays 

current flight mode, altimeter, heading, 

airspeed, ground speed, GPS coordinates, 

time of flight, battery status, rate of climb, and 

a moving map displaying the realtime UAV 

position, heading, and programmed mission. 

Mission Planner can be used in flight to 

update the mission in the UAV, as well as 

simple ‘go to’ navigation on the moving map.

CDRP owns two (2) complete Ground Control 

Stations.
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Ground Control Station

The 3DR IRIS+ Ground Control Station (GCS) is a Hewlett Packard laptop computer running 

Microsoft Windows 8.1 and Mission Planner (version 1.3.5), a FatShark “Attitude” First-PersonView (FPV) video headset, and the 3DR 

telemetry radio module and omni-directional 

antenna. The laptop and omni-directional 

antenna are mounted on a tripod stand for 

ease of use in the field. The video goggles 

contain the video downlink receiver and are 

connected to the GCS laptop via USB cable. 

This set up allows the video from the UAV to 

be displayed on the GCS laptop screen.

The Mission Planner software utilizes the 

Micro Air Vehicle Communication Protocol 

(MAVLink) to communicate with the 3DR 

IRIS+ via the telemetry module radio link.

The Mission Planner software allows for premission planning of flights, displays real-time 

flight information from the 3DR IRIS+, and 

allows in-flight changes of mission parameters. 

While in flight, Mission Planner displays 

current flight mode, altimeter, heading, 

airspeed, ground speed, GPS coordinates, 

time of flight, battery status, rate of climb, and 

a moving map displaying the realtime UAV 

position, heading, and programmed mission. 

Mission Planner can be used in flight to 

update the mission in the UAV, as well as 

simple ‘go to’ navigation on the moving map.

CDRP owns two (2) complete Ground Control 

Stations.
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

TSO

There are no TSO components in this UAV
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Lost Link Procedures

Launch and Recovery Areas

Prior to the mission, the PIC and Observer will designate safe landing areas for the 3DR IRIS+

UAV. All personnel involved in the mission (including the PIC and Observer) will see and 

understand the location of these landing areas and the circumstances in which they may be 

used.

Loss of Signal Procedures

There are three distinct (and separate) radio links between the 3DR IRIS+ and the 

PIC/Observer. Loss of Signal (LoS) on any of these radio links will trigger different procedures.

Flight Controller Radio Loss of Signal

In the event the 3DR IRIS+ loses link with the Turnigy 9XR radio system, the autopilot will 

initiate an automatic ‘failsafe’ mode and land the UAV immediately at it’s current location. 

Telemetry Radio Loss of Signal

The 3DR IRIS+ maintains a telemetry radio link between the UAV and the Ground Control 

Station (GCS) laptop. In the event of a LoS on the telemetry radio, the PIC will immediately:

1. Declare verbally “Telemetry Loss of Signal”.

2. Attempt to reestablish telemetry link.

3. If the telemetry link cannot be re-established, the UAV will be ordered to return to the 

launch point and land. 

If the link is reestablished, the mission may continue. 

Video Downlink Loss of Signal

The 3DR IRIS+ maintains a one-way radio link from the onboard video camera system to the 

Ground Control Station (GCS). This link is informational only, and a LoS event on this radio 

linkage does not necessarily threaten the mission or the safety of the UAV, ground crew, or 

other personnel in the area.

In the event of a video downlink LoS, the PIC will:

1. Declare verbally “Video Loss of Signal”
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

2. Monitor Telemetry and Flight Controller radio links - LoS on the video downlink often 

precedes LoS on other (more critical) radio linkages.

3. If required, order the UAV to return to the launch area or initial a landing at a predefined 

landing area.
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Lost Link Procedures

Launch and Recovery Areas

Prior to the mission, the PIC and Observer will designate safe landing areas for the 3DR Y6 

UAV. All personnel involved in the mission (including the PIC and Observer) will see and 

understand the location of these landing areas and the circumstances in which they may be 

used.

Loss of Signal Procedures

There are three distinct (and separate) radio links between the 3DR Y6 and the PIC/Observer. 

Loss of Signal (LoS) on any of these radio links will trigger different procedures.

Flight Controller Radio Loss of Signal

In the event the 3DR Y6 loses link with the Turnigy 9XR radio system, the autopilot will initiate 

an automatic ‘failsafe’ mode and land the UAV immediately at it’s current location. 

Telemetry Radio Loss of Signal

The 3DR Y6 maintains a telemetry radio link between the UAV and the Ground Control Station 

(GCS) laptop. In the event of a LoS on the telemetry radio, the PIC will immediately:

1. Declare verbally “Telemetry Loss of Signal”.

2. Attempt to reestablish telemetry link.

3. If the telemetry link cannot be re-established, the UAV will be ordered to return to the 

launch point and land. 

If the link is reestablished, the mission may continue. 

Video Downlink Loss of Signal

The 3DR Y6 maintains a one-way radio link from the onboard video camera system to the 

Ground Control Station (GCS). This link is informational only, and a LoS event on this radio 

linkage does not necessarily threaten the mission or the safety of the UAV, ground crew, or 

other personnel in the area.

In the event of a video downlink LoS, the PIC will:

1. Declare verbally “Video Loss of Signal”
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

2. Monitor Telemetry and Flight Controller radio links - LoS on the video downlink often 

precedes LoS on other (more critical) radio linkages.

3. If required, order the UAV to return to the launch area or initial a landing at a predefined 

landing area.
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Lost Communications

Primary communications between the PIC and Observer is verbal (if co-located) or GMRS 

(General Mobile Radio Service) handheld two-way radio. 

Secondary communications between PIC and Observer is cellular telephone.

Primary communications between PIC and ATC when required is telephone. All operations of 

the UAV will be in Class G airspace, below 400 feet AGL.

In the event of lost communications between the PIC and Observer, two options are available to 

the PIC:

Lost Communications Option 1

The PIC will put the UAV into “Loiter” mode and hold position and altitude. PIC will attempt to reestablish communications. If successful, the mission can continue. If unsuccessful, the PIC will 

immediately abort the mission and return the UAV to the launch location.

Lost Communications Option 2

The PIC will put the UAV into “Loiter” mode and hold position and altitude. PIC will attempt to reestablish communications. If successful, the mission can continue. If unsuccessful, the PIC will 

immediately abort the mission and land the UAV at the current position.
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Lost Communications

Primary communications between the PIC and Observer is verbal (if co-located) or GMRS 

(General Mobile Radio Service) handheld two-way radio. 

Secondary communications between PIC and Observer is cellular telephone.

Primary communications between PIC and ATC when required is telephone. All operations of 

the UAV will be in Class G airspace, below 400 feet AGL.

In the event of lost communications between the PIC and Observer, two options are available to 

the PIC:

Lost Communications Option 1

The PIC will put the UAV into “Loiter” mode and hold position and altitude. PIC will attempt to reestablish communications. If successful, the mission can continue. If unsuccessful, the PIC will 

immediately abort the mission and return the UAV to the launch location.

Lost Communications Option 2

The PIC will put the UAV into “Loiter” mode and hold position and altitude. PIC will attempt to reestablish communications. If successful, the mission can continue. If unsuccessful, the PIC will 

immediately abort the mission and land the UAV at the current position.
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Emergency Procedures

There are several different hazards that may create unsafe or dangerous conditions for the 

operation of the UAV. These may occur in or around the UAV itself, or near the Ground Control 

Station and associated personnel. 

Each of these hazards will result in the PIC and/or Observer to initiate one or more emergency 

procedures to ensure the safety of the UAV crew, bystanders, property and the UAV system.

Hazards and Responses

Weather (wind, temperature, or precipitation)

In case of weather conditions that develop during the flight that are outside of safe operation 

parameters, the PIC will execute either: ABORT TO LAUNCH or ABORT TO GROUND

After the UAV is on the ground, crew will recover the aircraft, disassemble the GCS, and move 

to a safe/dry location.

Low Voltage / Low Battery

In the event a low voltage condition develops (defined as the primary flight battery reporting 

14.3volts or less) the PIC will execute either: ABORT TO LAUNCH or ABORT TO GROUND

The decision as to which emergency procedure to execute will be determined by the PIC and 

depend on current battery levels, range from the UAV to the GCS, wind, and other factors. 

Loss of Motor/Prop

In the event the UAV suffers a single motor failure or loses a propeller in flight, the PIC will 

execute ABORT TO GROUND. 

While the redundant motor design of the 3DRobotocs Y6 allows for flight on 5 motors, stability 

and flight safety are compromised in that condition. Therefore an immediate landing is required.

Loss of Flight Control Link

If the UAV loses the radio linkage to the Flight Controller, the autopilot will automatically 

command a FAILSAFE: ABORT TO LAUNCH.
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Even if a Flight Controller radio link is reestablished, the mission will not continue.

Loss of GPS Signal

If the UAV loses the GPS position lock, the autopilot will automatically attempt to hold position. 

Without GPS input, altitude can be maintained, but the UAV will drift on prevailing winds. The 

PIC will execute ABORT TO LAUNCH or ABORT TO GROUND. In this condition, RETURN 

TO LAUNCH (RTL) mode is not available, only manual flight is possible.

Loss of Telemetry Link

In the event the UAV loses the telemetry radio link, there is not an immediate emergency 

condition - the UAV can and will continue any automated missions without telemetry to the 

ground. However, loss of telemetry is often a precursor to loss of Flight Control Link. 

Ground Control Station Security

In the event of an unsafe situation at or near the GCS, the PIC may execute: LOITER AND 

HOLD, ABORT TO LAUNCH, or ABORT TO GROUND.

UAV out of Line of Sight

If the PIC and Observer lose visual contact with the UAV, the following procedures will be 

initiated. 

1. PIC will initiate LOITER AND HOLD.

2. The Observer will LOG LAST LOCATION

3. If the PIC and/or Observer can regain visual contact, the mission may proceed. 

Otherwise, the PIC will execute ABORT TO LAUNCH or ABORT TO GROUND

Crash

In the event of a crash:

1. The Observer will LOG LAST LOCATION

2. The crew will move to the crash site with a blanket or towel and a fire extinguisher and 

RENDER UAV SAFE

Defined Emergency Procedures

LOITER AND HOLD

The PIC will place the UAV into LOITER flight mode, and hold current position and altitude. 
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

ABORT TO GROUND

PIC will assume manual control by placing the UAV in LOITER mode and descend to an 

immediate landing. 

ABORT TO LAUNCH

PIC will return the UAV to the launch point (the GCS location) and land immediately. This may 

be accomplished via RETURN TO LAUNCH (RTL) mode or manually using LOITER mode. 

LOG LAST LOCATION

The Observer will immediately log the last/current position coordinates of the UAV from the 

GCS, as well as altitude, heading, and airspeed. 

RENDER UAV SAFE

The PIC, Observer, or other personnel should use caution with approaching a crashed UAV - 

it may present an immediate or delayed fire hazard. The UAV propellers will be covered by a 

towel or blanket until the battery can be disconnected and removed. 

FAILSAFE: ABORT TO LAUNCH

If the UAV loses radio link to the Flight Controller on the ground, the autopilot will engage 

RETURN TO LAUNCH (RTL) mode. The UAV will then proceed back to the launch point (the 

GCS location) and land.

FAILSAFE: ABORT TO GROUND

In a low voltage (low battery) situation, the autopilot will automatically land the UAV at the 

current location.
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Emergency Procedures

There are several different hazards that may create unsafe or dangerous conditions for the 

operation of the UAV. These may occur in or around the UAV itself, or near the Ground 

Control Station and associated personnel. 

Each of these hazards will result in the PIC and/or Observer to initiate one or more 

emergency procedures to ensure the safety of the UAV crew, bystanders, property and the 

UAV system.

Hazards and Responses

Weather (wind, temperature, or precipitation)

In case of weather conditions that develop during the flight that are outside of safe operation 

parameters, the PIC will execute either: ABORT TO LAUNCH or ABORT TO GROUND

After the UAV is on the ground, crew will recover the aircraft, disassemble the GCS, and 

move to a safe/dry location.

Low Voltage / Low Battery

In the event a low voltage condition develops (defined as the primary flight battery reporting 

10.6 volts or lower) the PIC will execute either: ABORT TO LAUNCH or ABORT TO 

GROUND

The decision as to which emergency procedure to execute will be determined by the PIC 

and depend on current battery levels, range from the UAV to the GCS, wind, and other 

factors. 

Loss of Motor/Prop

In the event the UAV suffers a single motor failure or loses a propeller in flight, the PIC will 

execute ABORT TO GROUND. 

Loss of Flight Control Link

If the UAV loses the radio linkage to the Flight Controller, the autopilot will automatically 

command a FAILSAFE: ABORT TO LAUNCH.

Even if a Flight Controller radio link is reestablished, the mission will not continue.
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Loss of GPS Signal

If the UAV loses the GPS position lock, the autopilot will automatically attempt to hold 

position. Without GPS input, altitude can be maintained, but the UAV will drift on prevailing 

winds. The PIC will execute ABORT TO LAUNCH or ABORT TO GROUND. In this 

condition, RETURN TO LAUNCH (RTL) mode is not available, only manual flight is 

possible.

Loss of Telemetry Link

In the event the UAV loses the telemetry radio link, there is not an immediate emergency 

condition - the UAV can and will continue any automated missions without telemetry to the 

ground. However, loss of telemetry is often a precursor to loss of Flight Control Link.

Ground Control Station Security

In the event of an unsafe situation at or near the GCS, the PIC may execute: LOITER AND 

HOLD, ABORT TO LAUNCH, or ABORT TO GROUND.

UAV out of Line of Sight

If the PIC and Observer lose visual contact with the UAV, the following procedures will be 

initiated. 

1. PIC will initiate LOITER AND HOLD.

2. The Observer will LOG LAST LOCATION

3. If the PIC and/or Observer can regain visual contact, the mission may 

proceed. Otherwise, the PIC will execute ABORT TO LAUNCH or ABORT TO 

GROUND

Crash

In the event of a crash:

1. The Observer will LOG LAST LOCATION

2. The crew will move to the crash site with a blanket or towel and a fire extinguisher 

and RENDER UAV SAFE

Defined Emergency Procedures

LOITER AND HOLD

The PIC will place the UAV into LOITER flight mode, and hold current position and 

altitude. 
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

ABORT TO GROUND

PIC will assume manual control by placing the UAV in LOITER mode and descend to an 

immediate landing.

ABORT TO LAUNCH

PIC will return the UAV to the launch point (the GCS location) and land immediately. This 

may be accomplished via RETURN TO LAUNCH (RTL) mode or manually using LOITER 

mode. 

LOG LAST LOCATION

The Observer will immediately log the last/current position coordinates of the UAV from the 

GCS, as well as altitude, heading, and airspeed. 

RENDER UAV SAFE

The PIC, Observer, or other personnel should use caution with approaching a crashed UAV 

- it may present an immediate or delayed fire hazard. The UAV propellers will be covered 

by a towel or blanket until the battery can be disconnected and removed. 

FAILSAFE: ABORT TO LAUNCH

If the UAV loses radio link to the Flight Controller on the ground, the autopilot will engage 

RETURN TO LAUNCH (RTL) mode. The UAV will then proceed back to the launch point 

(the GCS location) and land.

FAILSAFE: ABORT TO GROUND

In a low voltage (low battery) situation, the autopilot will automatically land the UAV at the 

current location.


CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

CDRP UAS Flight Testing Area - North 

Tallahassee, Florida 

The Center for Disaster Risk Policy will conduct UAS flight testing and research at Tall Timbers 

Research Station, north of Tallahassee, Florida. Tall Timbers is a privately owned tract of 

undeveloped land used for forestry and conservation research. All flight operations will be 

conducted in daylight, below 400’ AGL, within Class G airspace.

Boundary GPS Coordinates

1 30.675999 -84.255594

2 30.673732 -84.198397

3 30.636668 -84.202223

4 30.638906 -84.257991

Sectional Chart Excerpt - Training area is outlined in green
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Satellite Image of Training Area (Wide) - Area Outlined in Green
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Satellite Image of Training Area (Narrow) - Area Outlines in Green
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Launch and Recovery

The 3DRobotics IRIS+ takes off and lands vertically. As such, it requires a small amount of flat, 

clear, space.

The launch and recovery procedures are as follows:

Preflight

1. Clear autopilot logs

2. Check that Flight Controller is charged

3. Check props and landing gear are secured to UAV

4. Check Airframe is nominal – no damage

5. Engine mounts secure and aligned

6. Wind, temperature, and takeoff altitude within UAV tolerances

Arming

1. Flight Controller powered on and flight mode confirmed

2. UAV battery connected 

3. Sensor package power on 

4. Telemetry antenna in line of sight / telemetry link established to GCS

5. GPS position locked

6. Upload Mission Waypoints to autopilot

7. Visual confirmation of secure battery and sensor package

Takeoff

1. Auto mode switch to ‘OFF’

2. Master flight mode switch to ‘STABILIZED’

3. Loiter mode disable switch to ‘OFF’

4. Arm/Start motor

5. Takeoff

6. Master flight mode switch to ‘LOITER’

7. Hover at 3 meters/Confirm battery status and flight controls

8. Clear to engage auto mode switch to ‘ON’

9. Confirm Flight Controller throttle at 50%

CONTINUOUSLY MONITOR ALTITUDE, AIRSPEED, AND POWER LEVELS. 
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Disengage Autonomous Mission Mode (Approach) / Landing

1. UAV at Approach Waypoint (last mission waypoint)

2. Controller throttle at 60%

3. Confirm Takeoff/Landing area clear

4. Master flight mode in “RETURN TO LAUNCH” 

5. Land

Disarm

1. Visually confirm motor shutdown 

2. Disconnect UAV battery – UAV dearmed

3. BEFORE CONTROLLER IS OFF log flight time, ending battery voltage, PIC and Observer

Post Flight

1. External modules, landing gear, sensor package, flight sensors all secure

2. Airframe nominal

3. Controller power off

4. Download sensor data and autopilot flight log
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Launch and Recovery

The 3DRobotics Y6 takes off and lands vertically. As such, it requires a small amount of flat, 

clear, space.

The launch and recovery procedures are as follows:

Preflight

1. Clear autopilot logs

2. Check that Flight Controller is charged

3. Check props and landing gear are secured to UAV

4. Check Airframe is nominal – no damage

5. Engine mounts secure and aligned

6. Wind, temperature, and takeoff altitude within UAV tolerances

Arming

1. Flight Controller powered on and flight mode confirmed

2. UAV battery connected 

3. Sensor package power on 

4. Telemetry antenna in line of sight / telemetry link established to GCS

5. GPS position locked

6. Upload Mission Waypoints to autopilot

7. Visual confirmation of secure battery and sensor package

Takeoff

1. Auto mode switch to ‘OFF’

2. Master flight mode switch to ‘STABILIZED’

3. Loiter mode disable switch to ‘OFF’

4. Arm/Start motor

5. Takeoff

6. Master flight mode switch to ‘LOITER’

7. Hover at 3 meters/Confirm battery status and flight controls

8. Clear to engage auto mode switch to ‘ON’

9. Confirm Flight Controller throttle at 50%

CONTINUOUSLY MONITOR ALTITUDE, AIRSPEED, AND POWER LEVELS. 
CDRP sUAS in Emergency Management Research Project

Florida State University

637 Bellamy, Tallahassee, Florida 32306-2250

850.644.9961

Disengage Autonomous Mission Mode (Approach) / Landing

1. UAV at Approach Waypoint (last mission waypoint)

2. Controller throttle at 60%

3. Confirm Takeoff/Landing area clear

4. Master flight mode in “RETURN TO LAUNCH” 

5. Land

Disarm

1. Visually confirm motor shutdown 

2. Disconnect UAV battery – UAV dearmed

3. BEFORE CONTROLLER IS OFF log flight time, ending battery voltage, PIC and Observer

Post Flight

1. External modules, landing gear, sensor package, flight sensors all secure

2. Airframe nominal

3. Controller power off

4. Download sensor data and autopilot flight log