# ATTACHMENT 3ASN 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 3If 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 3Radar 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

Fli g ht 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 3CDRP 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 event Aerial 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: 1 300 g Effective Payload: 400g Maximum Gross Take

- Off Weight: 1 700 g Typical Gross Take

- Off Weight : 15 40 g

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: 9.5 in x 4. 5 Clockwise Rotor Diameter/Pitch: 9.5in x 4.5CDRP sUAS in Emergency Management Research Project Florida State University 637 Bellamy, Tallahassee, Florida 32306

- 2250 850.644.9961



### Electric Motors
Motors : Four (4) MN2213 8 50kV 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: 51 00 mAh 3 S 8C Lithium Polymer (LiPo) 11

. 1 volt 

### Maximum Fligh t 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 memoryCDRP 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 wa ypoints 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

Fligh t 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 ai r 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): 100mWCDRP 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

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# 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

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# 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

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### 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 HelixCDRP sUAS i n 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 C hannel 1

- Throttle Channel 5

- Flight Mode Channel 2

- Roll Channel 6

- Gimbal Channel 3

- Pitch Channel 7

- Auto Land Ch an nel 4

– Yaw Channel 8

– OptionalCDRP sUAS i n 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 MAVLinkCDRP sUAS i n 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 runningMicrosoft 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

- Person

View (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 pre

mission 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 UAVCDRP 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) rad io 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 au topilot 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, Tallahas see, 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:

Los t Communications Option 1 The PIC will put the UAV into “Loiter” mode and hold position and altitude. PIC will attempt to re

establish communications. If successful, the mission can continue. If unsuccessful, the PIC will immediately abort the mission an d 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 re

establish 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 1The 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 2The 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

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# 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

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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

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### 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

mov e 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 pr ocedure 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 thi s 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 automa ted 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 LAU NCH (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 p ersonnel 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 th e 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 greenCDRP 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 GreenCDRP 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 GreenCDRP 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 p ackage



### 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 t ime, 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