Front Range Aerial Services LLC **Small UAS Petition For Exemption** 1

IN THE MATTER OF THE PETITION FOR EXEMPTION OF: FRONT RANGE AERIAL SERVICES LLC FOR AN EXEMPTION SEEKING RELIEF FROM THE REQUIREMENTS OF TITLE 14 OF THE CODE OF FEDERAL REGULATIONS CONCERNING OPERATION OF SMALL UNMANNED AIRCRAFT SYSTEMS PURSUANT TO SECTION 333 OF THE FAA MODERNIZATION AND REFORM ACT OF 2012 (PUBLIC LAW 112
-95) Submitted on February 14, 2015

Quinn Tirpak Daniel Troudt Front Range Aerial Services LLC 18255 Stone View Rd. Monument, CO 80132Front Range Aerial Services LLC **Small UAS Petition For Exemption** 2

**GLOSSARY** AGL Above Ground Level ATC Air Traffic Control COA Certificate of Authorization FAA Federal Aviation Administration FAR Federal Aviation Regulation GCS Ground Control Station NAS National Airspace System PIC Pilot in Command sUAS Small Unmanned Aircraft System VFR Visual Flight Rules VMC Visual Meteorological Conditions VO Visual Observer VLOS Visual Line of Sight FRAS Front Range Aerial ServicesFront Range Aerial Services LLC **Small UAS Petition For Exemption** 3

**TABLE OF CONTENTS** GLOSSARY 2 SUMMARY 4 BACKGROUND 4 BASIS FOR PETITION 5 NAME AND ADDRESS OF PETITIONER 5 THE SPECIFIC SECTIONS OF 14 C.F.R. FROM WHICH FRONT RANGE AERIAL SERVICES LLC SEEKS EXEMPTION 5
-9 THE EXTENT OF RELIEF FRONT RANGE AERIAL SERVICES LLC SEEKS AND THE REASON FRONT RANGE AERIAL SERVICES LLC SEEKS THE RELIEF 9
- 11 THE REASONS WHY GRANTING FRONT RANGE AERIAL SERVICES LLC’S REQUEST WOULD BE IN THE PUBLIC INTEREST 12 THE REASONS WHY GRANTING THE EXEMPTION WOULD NOT ADVERSELY AFFECT SAFETY 12
- 1 6 SUMMARY THAT CAN BE PUBLISH ED IN THE FEDERAL REGISTER 17 CONCLUSION 17 APPENDICES 18
- 30Front Range Aerial Services LLC **Small UAS Petition For Exemption** 4

**SUMMARY** Front Range Aerial Services LLC (FRAS) seeks exemption to operate a sUAS under section 333 of the FAA Modernization and Reform Act of 2012. This exemption will allow FRAS to operate a UAS for the purposes of aerial photography, videography, and inspection in a controlled, sterile environment. FRAS will be operating a proven airframe to accomplish flights with an equivalent level of safety to manned operations. **BACKGROUND** FRAS is a company focused on providing low
- cost aerial imagery. The company Pilot Trainer is a licensed private pilot. Having firsthand knowledge of the national airspace system from the air gives FRAS an advantage in operating small UAS. In addition to flying privately and understanding airspace management, all members of FRAS have experience in Radio Control(R/C) operations. R/C operations similar to professional flying require a standard of care to operate safely from checklists to post
-flight review. The standards in FRAS operations will mirror Part 121 operations. Each flight will be carefully coordinated to ensure safe operations as described in exemptions that have been granted and included in this petition. In any aviation operation, the discipline to ensure a safe operation needs to be the first priority. FRAS will only conduct flights where the environment can be controlled and no hazards t o the public can occur. This will be accomplished through the use of procedures detailed in this document. FRAS will be using tried and true technology from 3DR to perform appropriate missions. The 3DR product includes redundancy required by previous exemptions. Information on the sUAS, including instructions that will be carried out in order to ensure safe, controlled flight, are included as an appendix to this document. The technology that is available from this company includes the necessary restri ctions on performance to comply with FAA requirements: sUAS Operating Limits

Maximum Altitude 400ft Range 1km (0.6 miles) GPS Lock GPS lock required at all times Maximum estimated Flight Time 22 min Payload Capacity 400g (0.8 lbs)Front Range Aerial Services LLC **Small UAS Petition For Exemption** 5

**BASIS FOR THE PETITION**  In accordance with 14 C.F.R. § 11.81, FRAS provides the following information in support of its petition for exemption: **A. Name and Address Of The Petitioner.** 

The name and address of the petitioner is: Front Range Aerial Services LLC 18255 Stone View Road Monument, CO 80132 Specific contact information: Daniel Troudt 18255 Stone View Road Monument, CO 80132 Email: frontrangeaerialservices@gmail.com Quinn Tirpak 363 Vista Montana Lane Monument, CO 80132 Email: frontrangeaerialservices@gmail.com B. **The Specific Sections of 14 C.F.R. From Which FRAS Seeks Exemption.** 1. Section 61.113(a) and (b) prescribes that
a. No person who holds a private pilot certificate may act as a pilot in command of an aircraft that is carrying passengers or property for compensation or hire; nor may that person, for compensation or hire, act as pilot in command of an aircraft. b. A private pilot may, for compensation o r hire, act as pilot in command of an aircraft in connection with any business or employment if: i. The flight is only incidental to that business or employment; andFront Range Aerial Services LLC **Small UAS Petition For Exemption** 6

ii. The aircraft does not carry passengers or property for compensation or hire. 2. Section 91.10 3 prescribes, in pertinent part, that each pilot in command shall, before beginning a flight, become familiar with all available information concerning that flight, to include
a. For a flight under IFR or a flight not in the vicinity of an airport, weather reports and forecasts, fuel requirements, alternatives available if the planned flight cannot be completed, and any known traffic delays of which the pilot in command has been advised by ATC; b. For any flight, runway lengths at airports of intended use, and the following takeoff and landing distance information:
i. For civil aircraft for which an approved Airplane or Rotorcraft Flight Manual containing takeoff and landing distance data is required, the takeoff and landing distance data contained therein; and ii. For civil aircraft other than those specified in paragraph (b)(1) of this section, other reliable information appropriate to the aircraft, relating to aircraft performance under expected values of airport elevation and runway slope, aircraft gross weight, and wind temperature. 3. Section 91.119 prescribes that, except when necessary for takeoff or landing, no person may operate an aircraft below the following altitudes:
a. Anywhere. An altitude allowing, if a power unit fails, an emergency landing without undue hazard to persons or property on the surface. b. Over congested areas. Over any congested area of a city, town, or settlement, or over any open air assembly of persons, an altitude of 1,000 feet above the highest obstacle within a horizontal radius of 2,000 feet of the aircraft.
c. Over other than congested areas. An altitude of 500 feet above the surface, except over open water or sparsely populated. In those cases,Front Range Aerial Services LLC **Small UAS Petition For Exemption** 7

the aircraft may not be operated closer than 500 feet to any person, vessel, vehicle, o r structure. d. Helicopters, powered parachuters, and weight
-shift
- control aircraft. If the operation is conducted without hazard to persons or property on the surface
-- (1) A helicopter may be operated at less than the minimums prescribed in paragraph (b) or © of this section, provided each person operating the helicopter complies with any routes or altitudes specifically prescribed for helicopters by the FAA; and (2) A powered parachute or weight
-shift
- control aircraft may be operated less than the mini mums prescribed in paragraph © of this section. 4. Section 91.121 requires, in pertinent part, each person operating an aircraft to maintain cruising altitude by reference to an altimeter that is set “to the elevation of the departure airport or an appropria te altimeter setting available before departure.” 5. Section 91.151(a) prescribes that 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 speed, (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. 6. Section 91.203 prohibits, in pertinent part, any person from operating an aircraft that does not contain an appropriate and current airworthiness certificate. This certificate shall be displayed within the cabin of the aircraft. 7. Section 91.405(a) requires, in pertinent part, that an aircraft operator or owner shall have that aircraft inspected as prescribed in subpart E of the same part and shall, between required inspections, except as provided in paragraph (c) of the same section, have discrepancies repaired as prescribed in part 43 of the chapter. 8. Section 91.407(a)(1) pro hibits, in pertinent part, any person from operating an aircraft that has undergone maintenance, preventive maintenance, rebuilding, orFront Range Aerial Services LLC **Small UAS Petition For Exemption** 8

alteration unless it has been approved for return to service by a person authorized under §43.7 of the same chapter. 9. Se ction 91.409(a)(2) prescribes, in pertinent part, that no person may operate an aircraft unless, within preceding 12 calendar months, it has had an inspection for the issuance of an airworthiness certificate in accordance with part 21 of this chapter. 10. Section 91.417(a) and (b) prescribes, in pertinent part, that
--- a. Each registered owner or operator shall keep the following records for the periods specified in paragraph (b) of this section: i. Records of the maintenance, preventive maintenance, and alteratio n and records of the 100
- hour, annual, progressive, and other required or approved inspections, as appropriate, for each aircraft (including the airframe) and each engine, propeller, rotor, and appliance of an aircraft. The records must include
--- 1. A descr iption (or reference to data acceptable to the Administrator) of the work performed; and 2. The date of completion of the work performed; and 3. The signature, and certificate number of the person approving the aircraft for return to service. ii. Records containi ng the following information: 1. The total time in service of the airframe, each engine, each propeller, and each rotor. 2. The current status of life
- limited parts of each airframe, engine, propeller, rotor, and appliance. 3. The time since last overhaul of all items installed on the aircraft which are required to be overhauled on a specific time basis. 4. The current inspection status of the aircraft, including the time since the last inspection required by the inspectionFront Range Aerial Services LLC **Small UAS Petition For Exemption** 9

program under which the aircraft and its appliances are maintained. 5. The current status of applicable airworthiness directives (AD) and safety directives including, for each, the method of compliance, the AD or safety directive number and revision date. If the AD or safety directive involves rec urring action, the time and date when the next action is required. 6. Copies of the forms prescribed by §43.9(d) of this chapter for each major alteration to the airframe and currently installed engines, rotors, propellers, and appliances. b. The owner or operator shall retain the following records for the periods prescribed: i. The records specified in paragraph (a)(1) of this section shall be retained until the work is repeated or superseded by other work or for 1 year after the work is performed. ii. The records s pecified in paragraph (a)(2) of this section shall be retained and transferred with the aircraft at the time the aircraft is sold. iii. A list of defects furnished to a registered owner or operator under §43.11 of this chapter shall be retained until the defects are repaired and the aircraft is approved for return to service. C. **The Extent Of Relief FRAS Seeks And The Reason FRAS Seeks The Relief.**

1. Section 61.113(a) and (b):
a. The sUAS will not carry a pilot or passengers, so an equivalent level of safety will be achieved by requiring the Pilot in Command(PIC) to have an extensive knowledge of Visual Flight Rules(VFR). b. Knowledge of flight characteristics and the Federal Aviation Regula tions(FARs), along with the ability to physically manipulate the controls of the sUAS are the critical aspects of the requested operation.Front Range Aerial Services LLC **Small UAS Petition For Exemption** 10

c. The risks associated with the operation of the sUAS are so diminished from the standards that Part 61 was written fo r an equivalent level of safety can be maintained with an extensive knowledge of Visual Flight Rules(VFR) along with training from our pilot trainer. d. FAA has authority to waive pilot requirements for commercial operations under 49 U.S.C. §44701(f).
2. 14 C.F.R. § 91.103 – Preflight Action
a. The PIC shall perform a preflight inspection in accordance with the manufacturers of the UAS, controller, and ground control station prior to each flight to ensure it is free of all discrepancies. b. Equivalent safety leve ls will be met through preparation and compliance with the operator’s manual and site preparation. 3. 14 C.F.R. § 91.119 – Requirements for Minimum Safe Altitudes for Civil Aircraft Operation
a. The sUAS will be operated only within a predetermined area below 400 feet AGL. b. An equivalent level of safety will be maintained. 4. 14 C.F.R. §91.121
- Altimeter Settings
a. SUAS may not have a barometric altimeter, and may use a GPS altitude readout indication instead, so an exemption may be made. b. The operator will achieve an equivalent level of safety as the sUAS uses AGL height from its initialization (launch) point, cross referenced with Mean Sea Level (MSL) altitude of the launch point. 5. 14 C.F.R. §91.151(a )(1)
a. An equivalent level of safety can be obtained by terminating the flight prior to 30 minutes or 25% battery power, whichever occurs first. b. The UAS will not be operated at night.Front Range Aerial Services LLC **Small UAS Petition For Exemption** 11

6. 14 C.F.R. §91.203
a. An equivalent level of safety can be obtained by ke eping flight manuals and other documents required to safely operate the sUAS at the Ground Control Station. b. The sUAS will be maintained and inspected before every flight to insure its airworthiness.
7. 14 C.F.R. §91.405(a)
- Maintenance Required
a. This section and Part 43 apply only to aircraft with an airworthiness certificate, therefore these sections will not apply. b. Maintenance will be accomplished by FRAS pursuant to the manufacturer’s recommendations.
c. Maintenance, preventive maintenance, rebuilding, and alteration will be successfully accomplished by trained personnel. d. The sUAS shall be discrepancy free prior to initiating flight.
e. If a mechanical issue arises the sUAS can land safely within the “Safe Zone.” 8. 14 C.F.R. §91.407(a)(1)
- Operation after Maintenance, Preventive Maintenance, Rebuilding, or Alteration
a. This section and Part 43 apply only to aircraft with an airworthiness certificate, therefore these sections will not apply. 9. 14 C.F.R. §91.409(a)(1) and (2)
- Inspections
a. This section and Pa rt 43 apply only to aircraft with an airworthiness certificate, therefore these sections will not apply. 10. 14 C.F.R. §91.417(a) and (b)
- Maintenance Records
a. This section and Part 43 apply only to aircraft with an airworthiness certificate, therefore these sections will not apply.Front Range Aerial Services LLC **Small UAS Petition For Exemption** 12

D. **Reasons Why Granting this Request Would Be In The Public Interest.**
○ FRAS is a small business that is using the latest sUAS technology.
○ FRAS will operate with an equivalent or better level of safety.
○ FRAS will use a sUAS that has proven operational history.
○ FRAS will use available technology and knowledge to ensure public safety.
○ FRAS will only conduct flights where a controlled environment can be assured. E. **The Reasons Why Granting This Exemption Would Not Adversely Aff ect Safety, Or**  **How The Exemption Would Provide A Level At Least Equal To That Provided By The Rule From Which FRAS Seeks Exemption.**  1. PIC and Visual Observer
a. The PIC shall be trained by our privately certified pilot and flight trainer, and shall possess a current driver’s licence. i. The PIC shall also meet the flight review requirements specified in 14 CFR § 61.56 in an aircraft in which the PIC is rated. ii. The PIC shall be trained in the operation of the specific Make and Model of the UAS being piloted. iii. The PIC must have: 1. A minimum of 200 flight cycles and 25 hours of total time as a sUAS rotorcraft pilot. 2. Five hours logged with the make and model utilized. b. The PIC and Visual Observer(VO) will be designated before each flight. i. Minimum crew for each operation will consist of the PIC and the VO.
c. The PIC and VO will always be within visual line of sight (VLOS) of each other and in direct verbal communications at all times. d. Safety Briefings prior to each flight:Front Range Aerial Services LLC **Small UAS Petition For Exemption** 13

i. Designated roles of PIC and VO ii. Risk Man agement and Mitigation iii. PIC and VO will inspect site for safety issues. iv. PIC will operate the UAS with appropriate distance from non
participants in accordance with 14 CFR § 91.119. 2. SUAS Specifications and Design:
a. All sUAS flown under this exemption shall be less than 55 pounds including aircraft and payload. b. The radio frequency spectrum used for operation and control of the sUAS shall comply with the Federal Communications Commission (FCC) or other appropriate government oversight agency requirements.
c. Maximum speed shall be no more than 50 knots. d. The sUAS shall be equipped with Inertial Navigation Sensor(s) (IRS/IRU/Acceleromet er).
e. The sUAS shall be equipped with a compass (Magnetometer/Heading Source). f. The sUAS shall be equipped with a Global Positioning System (GPS) guidance system. g. The sUAS shall have a return to home feature. 3. Maintenance
a. The UAS shall be maintained in accordance with the manufacturer’s recommendations with appropriate recordkeeping. b. The PIC shall perform a preflight inspection of the sUAS, controller, and ground control station prior to each flight to ensure it is operational with no discrepancies. If the preflight inspection has any discrepancies that may affect a safe operation, repairs or maintenance shall be performed prior to flight. Any UAS that has undergone maintenance or alterations that affect the UAS operation or flight characteristics, e.g. replacement of a flight criticalFront Range Aerial Services LLC **Small UAS Petition For Exemption** 14

component, must undergo a functional test flight in accordance with the operator’s manual. The PIC who conducts the functional test flight must make an entry in the UAS aircraft records of the flight. The requirements and procedures for a functional flight test and aircraft record entry must be added to the operator’s manual.
c. FRAS shall follow the manufacturer’s sUAS maintenance, overhaul, replacement, inspection, and life limit replacements. When not spe cified at a minimum, the following shall be included: i. Actuators/servos ii. Powerplant(s) (motors) iii. Propellers iv. Electronic Speed Controller(s) v. Batteries vi. Remote controllers and Ground Control Station d. All sUAS shall be identified by sUAS registration number. They will be marked in accordance with 14 CFR part 48. 4. Permissions and Permitting
a. All required permissions and permits shall be obtained from territorial, state, county, or city jurisdictions, including local law enforcement, or other appropriate government al agencies. b. At least three days before a scheduled operational flight, FRAS shall submit a written plan of Activities to the local flight standards district office(FDSO) with jurisdiction over the area of the proposed flight. The 3
- day notification may be waived with the concurrence of the FSDO. i. The plan of activities shall include at least the following: 1. Dates and times for all requested flights 2. Name and phone number of the PIC responsible for operation of the sUAS 3. Make, model, and serial or registration number of sUAS to be used. 4. Name and Certificate number of sUAS PIC’s involved in the flight. 5. Signature of exemption
- holder or representative.Front Range Aerial Services LLC **Small UAS Petition For Exemption** 15

6. A description of the flight activity, including maps or diagrams of any area over which flights will be conducted, the relationship of that area to any nearby city, town, etc., and the altitudes essential to accomplish the operation.
c. Documents required under 14 CFR § 91.9 and § 91.203 shall be readily available to the PIC any t ime the aircraft is in operation. These documents shall be made available to the Administrator or any law enforcement official upon request. d. FRAS shall obtain an Air Traffic Organization (ATO) issued Certificate of Waiver or Authorization (COA) prior to conducting any operations under this grant of exemption. FRAS shall also request a Notice to Airmen (NOTAM) not more than 72 hours in advance, but not less than 48 hours prior to the operation. 5. Operations
a. The sUAS shall not operate in Class B, C, or D a irspace without written approval from the FAA. The sUAS shall not operate within 5 nautical miles of the geographical center of a non
-towered airport as denoted on a current FAA
- published aeronautical chart unless a letter of agreement with that airport’s management is obtained, and the operation is conducted in accordance with a NOTAM as required by the operator’s COA. This letter of agreement with the airport management shall be made available to the Administrator upon request. b. Flights shall be conducted under day visual meteorological conditions (VMC). i. In addition, the sUAS shall not be operated less than 500 feet below, or less than 2,000 feet horizontally from a cloud or when visibility is less than 3 statute miles from the PIC. ii. sUAS operations shall not be conducted during night, as defined in 14 CFR § 1.1.
c. Flights shall be operated at an altitude of no more than 400 feet above ground level (AGL).Front Range Aerial Services LLC **Small UAS Petition For Exemption** 16

d. The PIC shall be prohibited from operating the sUAS from any moving device or vehicle
. e. The sUAS shall be operated within visual line of sight (VLOS) of the PIC i. The PIC shall maintain VLOS without the aid of telescopes, cameras, or other devices. ii. The PIC will maintain VLOS with their own vision, which includes the use of eyeglasses or corrective lenses. f. The sUAS shall remain clear and yield the right of way to manned operations and activities at all times. g. Prior to any flight operations authorized by this grant of exemption, the PIC and VO must have successfully completed a qualifica tion process, as outlined in the operator’s manual. As this is a requirement stipulated by the operator, the test must be developed and implemented by a qualified person designated at the sole discretion of the operator. A record of completion of this qu alification process must be documented and made available to the administrator upon request. h. The UAS must abort the flight in the event of unpredicted obstacles or emergencies in accordance with the operator’s manual. i. Any incident, accident, or flight operation that transgresses the lateral or vertical boundaries of the operational area as defined by the applicable COA must be reported to the FAA’s UAS Integration Office (AFS
-80) within 24 hours. Accidents must be reported to the National Transportatio n Safety Board (NTSB) per instructions contained on the NTSB Web site: www.ntsb.gov . Further flight operations may not be conducted until the incident, accident, or transgression is reviewed by AFS
-80 and authorizati on to resume operations is provided. 6. Flight Time a. Each sUAS operation shall be completed within 30 minutes flight time or with 25% battery power remaining, whichever occurs first.Front Range Aerial Services LLC **Small UAS Petition For Exemption** 17

F. **Summary For Federal Register Publication.**

**The Rules From Which FRAS Seeks Exemption:**  14 CFR 61.113(a) and (b), 14 CFR 91.103, 14 CFR 91.119, 14 CFR 91.121, 14 CFR 91.151(a), 14 CFR 91.203, 14 CFR 91.405(a),14 CFR 91.407(a)(1), 14 CFR 91.409(a)(2), 14 CFR 91.417(a) and (b). 1. Brief Description Of The Na ture Of The Exemption FRAS Seeks: Front Range Aerial Services LLC (FRAS) seeks exemption to operate a UAS under Section 333 of the FAA Modernization and Reform Act of 2012. This exemption will allow FRAS to operate a UAS for the purposes of aerial ph otography, videography, and inspection in a controlled, sterile environment. FRAS will be operating a proven airframe to accomplish flights with an equivalent or better level of safety to manned operations.

**CONCLUSION** FRAS seeks to operate sUAS in a manner that will ensure an equivalent level of safety to the general public. The flights will be conducted to a high standard using proven technology complying with FAA regulations and the conditions of the requested exemption. Specific informatio n on the sUAS is included as an appendix, and any other information needed to fulfill necessary requirements will be gladly given upon request. Submitted By: Quinn Tirpak Daniel Troudt Front Range Aerial Services February 14, 2016Front Range Aerial Services LLC **Small UAS Petition For Exemption** 18

**APPENDIX 1:**Front Range Aerial Services LLC **Small UAS Petition For Exemption** 19

**APPENDIX 2: ArduPilot Mega 2 Quadcopter Alt Hold, Loiter & Position Modes**  A. Altitude Hold Mode: (Automatically holds but manually adjustable altitude) 1. Altitude Hold mode behaves like Stabilize mode except that the APM2 will try to maintain the altitude that the Quad was at when you switched to altitude hold mode. 2. In the Mission Planner install “Alt Hold” flight mode only on the center position of your channel 5 3
-way switch so you can easily switch back to “Stabilize” if needed. 3. After you achieve a stable hover in Stabilize mode, flip your mode switch to the center to initiate Alt Hold mode. Your Quad will hold that altitude as you fly. Do not move the throttle. 4. When you are done flying in Altitude Hold mode switch back to Stabilize Mode. 5. When resuming “Stabilize Mode” control from an automatic mode your Quad will move in the direction of any throttle movement. You need to be ready to qu ickly compensate with the throttle. B. Adjusting PIDs for Alt Hold Mode: Stabilize mode roll pitch and yaw PIDs must already be set. 1. Altitude hold is used by several functions to maintain either a current altitude or altitudes preset in an automatic flight plan. Altitude hold is the most basic automatic function. 2. The “Altitude Error PID” uses altitude error to decide how fast to go to reach the desired altitude. a. If your Quad changes altitude more than a meter or so in Alt Hold mode increase the “Altitude Error P” setting above the default “0.50” (Try “0.55”). (KK X525 = 0.50)

b. If your Quad rapidly bobs up and down in altitude in Alt Hold mode decrease the “Altitude Error P” setting below the default “0.50” (Try “0.45”). 3. The “Thrust Rate PI D” P value determines how much thrust to apply to climb or descend. a. If your Quad oscillates up and down in Alt Hold mode decrease the “Thrust Rate PIDs” P value below the default “0.25” (Try “0.20”). (KK X525 = 0.25) b. If your Quad ascends and descend s too slowly in Alt Hold mode increase the “Thrust Rate PIDs” P value above the default “0.25” (Try “0.30”). 4. Redo “Altitude Error and Thrust PID
- P” adjustments until Altitude is closely maintained. C. Loiter Mode: (Automatically holds current but manually adjustable position and altitude). 1. When selected, “Loiter” maintains your Quad in the location and at the altitude it is whenFront Range Aerial Services LLC **Small UAS Petition For Exemption** 20

“Loiter Mode” is selected. The transmitter sticks can override to move the position and altitude set point. 2. In the Mission Planner install “Loiter” flight mode only on the center position of your 3 way mode switch so you can easily switch back to “Stabilize” if needed. 3. To use Loiter mode: wait for GPS and board loc k (Both blue LEDs on Solid). Arm and take off and establish a stable hover at 8 to 10 feet and flip the mode switch to the Loiter position. 4. The Quads position should be automatically maintained. (Don’t move the throttle). 5. When done “Loitering” flip the 3 way mode switch to Stabilize mode, take control and land. D. Adjusting PIDs for Loiter Mode: (Roll pitch and yaw transmitter trim must always be zero). 1. The “Loiter Angular Rate Control PID” P value calculates angle required for speed needed. a. If your Quad wanders around too far in Loiter mode increase the “Loiter Angular Rate P” setting above the default “2.4” (Try “2.5”). (KK X525 = 2.4) b. If your Quad has oscillations and overshoot in Loiter mode decrease the “Loiter Angular Rate P” settin g below the default “2.4” (Try “2.2”). 2. The “Loiter Speed PID” P value calculates angle required to achieve needed speed. a. If your Quad wanders around too far in Loiter mode increase the “Loiter Speed P” setting above the default “0.2” (Try “0.250”). (KK X525 = 0.2) b. If your Quad seems to continuously over correct in Loiter mode decrease the “Loiter Speed P” setting below the default “0.2” (Try “0.18”). 3. Redo “Loiter Angular Rate and Loiter Speed PID
- P” settings until Loiter is solidly maintain ed. E. Position Mode: (Position mode is the same as Loiter but with manual throttle.)

**APPENDIX 3:**Front Range Aerial Services LLC **Small UAS Petition For Exemption** 21

**Install and Setup the ArduPilot Mega 2 in a Quadcopter Guide to Installation and Setup of the ArduPilot Mega 2 (APM2) controller in a Quadcopter.**  A. For an assembled Quad with motors and ESC’s but no control or power board begin here. 1. You need: Quad power distribution board, appropriate battery for your Quad, battery retention strap, 12 gauge wire, battery connector, four 1⁄2” nylon standoffs a nd necessary hardware. 2. Solder The ESC power leads to the Power distribution board. 3. Solder 12 gauge positive and negative battery wire leads to the power distribution board. 4. Solder a battery connector correctly to the leads from the power distribution board. 5. Mount the power distribution board on standoffs over the top center of the Quad. 6. Attach the battery retention strap to the bottom of the Quad and install the b attery. B. For an assembled Quad with control and power distribution boards begin here 1. You need: APM2 flight control board and USB cable, 5+ channel receiver to use with your 2.4GHz transmitter, Five 3 wire servo leads with female connectors to connec t yourFront Range Aerial Services LLC **Small UAS Petition For Exemption** 22

receiver to your APM2, an oversize plastic or fiberglass APM2 mounting plate with aluminum tape on the bottom, four 1.5” nylon standoffs and Velcro or double sided foam tape. 2. Disconnect and remove any existing flight control board. 3. Drill and mount the plastic mounting plate for the APM2 board in the center of the Quad over the power distribution board on 4 standoffs and aligned with the front of the Quad in your choice of X or + configuration. (X configuration has the front between 2 motors a nd + has a motor in front.) 4. Using double sided shock absorbing tape or Velcro mount the APM2 board on to the fiberglass mounting plate aligned in the direction of travel (GPS to the back, SDI card toward the front). 5. Retention can be improved by att aching a rubber band over the APM2 board. 6. A clear (not black) plastic bowl cover over the APM2 board can reduce damage in a crash. 7. Install your receiver onto the Quad with Velcro tape and with the antenna exposed externally. 8. Install channels 1
– 5 servo leads to the receiver. 9. Install channels 1
– 5 servo leads to the front connector on the APM2 board, Channel 1 is next to the white GPS connector. The white or yellow signal wire goes towards the center of the board. (Red and black wires on all but one connector can be clipped but this is generally not necessary since power and ground are common bussed at both the receiver and APM2 board.) 10. Install The 4 ESC control leads on the connector at the back of the APM2 board with the white or yellow signal lead towards the center of the board. 11. For X Quad frame configuration: a. The Front Right motor goes to the right most (first) connector position next to the LEDs. b. The Left Rear motor goes to the second connector position. c. The Front Left motor goes to the third connector position. d. The Rear Right motor goes to the fourth connector position. 12. For + Quad frame configuration: a. The Right motor goes to the right most (first) connector position next to the LEDs. b. Th e Left motor goes to the second connector position. c. The Front motor goes to the third connector position.Front Range Aerial Services LLC **Small UAS Petition For Exemption** 23

d. The Rear motor goes to the fourth connector position. 13. The BEC plus (red) and ground (black) wires can be cut on all but one of the ESC co ntrol leads. C. Install the Mission Planner program and Arducopter firmware and Set initial parameters. 1. Your RC transmitter should initially be set up for a Quad as follows: a. Four primary channels are Aileron (roll), Elevator (pitch), Rudder (yaw) a nd Throttle. b. Channel 5 is set to a 3 position switch for in flight mode changing. c. All channels are set to plus and minus 100 percent servo travel range. d. Set the throttle, roll, pitch and yaw trims to zero. (May need to trim throttle down to arm ). e. Some minus expo (
-40%) is a good idea on the pitch and roll channels to start. 2. Go to the ArduPilot website at http://code.google.com/p/ardupilot

mega/downloads/list and download the most recent “Mission Planner” and install it on your computer. 3. Ensuring that the battery is NOT connected, start the “Mission Planner” and hook up your USB cable between your PC and the APM2 board. 4. If you get a message indicating “New hardware found” select install driver when asked. If you are told “No driver found” you will need to load the driver from the Arducopter web site. Go to the Arducopter web site and in the search projects page search for “apm2code”. At the top of the list select the “APM2Code” item and then load the USB driver as instructed. You sh ould get a confirming message indicating that the USB driver is installed. 5. In the Mission Planner, ensure that on the top right of the screen that 115200 is selected for baud rate and the new driver Com? (But not Com1, TCP or UDP) is selected. Fix if n ecessary. 6. In the Mission Planner click on the Firmware tab then click on the Connect Icon at the top right of the Mission Planner screen to open the MavLink connection. 7. It is possible you may still get an error indicating that your serial rate is too low. If you do you will need to open your PC’s Control Panel
- > System
- > Device Manager
- > Hardware and set the 2650 Com device to 115200 baud. (Windows 7 has a different method for setting up the port.) 8. Once connected; select the Firmware tab and Click on the bottom center “APM Setup” button. 9. Turn on your transmitter with your Quad set up selected. (Mode 2 is shown, adapt for Mode 1).Front Range Aerial Services LLC **Small UAS Petition For Exemption** 24

10. In the “Radio Calibratio n” menu, select “Calibrate Radio” and move the control sticks to all limits. a. Right stick Left (Roll Left) should equal low PWM. If not reverse the transmitter channel. b. Right stick Up (Pitch Forward) should equal low PWM. If not reverse transmitter c hannel. c. Left stick Down (Throttle Low) should equal low PWM. If not reverse transmitter channel. d. Left stick Left (Yaw Left) should equal low PWM. If not reverse the transmitter channel. 11. Move the three position mode select switch to all 3 positions to calibrate it too. 12. When you are done calibrating, select the “Finished” button at the bottom right of the screen. 13. Select “Flight Modes” on the left side of the Mission Planner sc reen and set all 6 of the Flight Modes to “Stabilize”, uncheck all the “simple” mode boxes and click the “Save Modes” box. 14. Now select “Hardware Options” and click on “Enable Compass”. 15. Select the “Go to the Declination Web Site” box and retrieve your locations magnetic declination. 16. Enter your home declination in the Declination window as described and hit the tab key to exit. 17. Select “Arducopter Level” on the Mission planner left edge. With your Quad sitting very level, click on the “Level Arducopter” item then select the X or + Quad to set your frame orientation. D. ESC calibration sets the ESC endpoints to be equal and is essential for correct operation. 1. There are 2 modes for adjusting ESC endpoints. Automatic adjusts ESCs all at onc e and is easiest. Manual individually adjusts each ESC. Try Automatic mode first then Manual if that fails. 2. Automatic Setup (all ESCs at once) (Remove the Props and disconnect the USB cable). a. Turn on your transmitter and put the throttle full on the n connect the Quads battery. b. When the APM2 boots the LEDs will cycle continuously. c. Disconnect the battery and then reconnect it initiating ESC calibration. d. Drop the throttle stick to the lowest position. There should be 1 or 2 confirming beeps and when you move the throttle up the motors should start and turnFront Range Aerial Services LLC **Small UAS Petition For Exemption** 25

in sync.e. Disconnect the battery. The ESCs should now be calibrated. 3. Manual ESC Calibrate (Each ESC calibrated individually). (Remove props and disconnect USB). a. With the battery not connected, plug the 3 wire plug of the ESC you wish to calibrate into the throttle channel of your RC receiver. b. Turn on your transmitter and put the throttle full on. c. Connect the battery and after you hear 2 beeps drop the t hrottle to full down, you should now hear 3 beeps and then a longer beep indicating the ESC is calibrated. d. Disconnect the battery then repeat the above for each ESC. 4. Even after Manual calibration occasionally the ESCs will not initialize (continuou s loud beeping). If this is the case try one additional automatic calibration. 5. Normally if the ESCs are properly calibrated, when you power up the Quad and APM2 by plugging in the battery, there should be a slow ticking and the motors may “twitch” just a bit. 6. Once you have the slow twitch / motor tick on battery connection, arm the motors by holding all the way down and to the right on the throttle for at least 4 seconds. The red LED should come on solid and the motors should respond to throttle and turn on at the same time in sync. 7. Disarm by holding the throttle down and to the left for 4 seconds. 8. If the APM2 board failed to arm set the throttle trim a few clicks lower and try again. The bottom throttle setting must be below zero to permit a rming. 9. Once armed, the motors should start at the same time and run at the same speed with only the throttle being moved. If not, you need to go through ESC calibration again. E. Setting Prop Direction and checking the sensors for correct operation. 1 . A Quadcopter has two props turning clockwise and two turning counter clockwise which keeps it from inadvertently turning on its own axis, but permits it to turn (Yaw) when it is commanded to. 2. You need 2 matched clockwise propellers usually marked R o r P and 2 counter clockwise ones. 3. The 2 clockwise propellers are opposite each other as are the 2 counter clockwise propellers. 4. Without propellers installed, turn on your transmitter, plug in the battery and verify and correct each motor so it is t urning in the direction as indicated below then install the propellers. Reverse any 2 of the ESCs 3 motor lead connections to reverse the direction of the motor.Front Range Aerial Services LLC **Small UAS Petition For Exemption** 26

5. Disconnect the battery before installing propellers. The clockwise (usually marked R or P) or counter clockwise propeller should be installed on each motor with the printing on the front (top). 6. For X configuration: (Check and correct motor directions before installing propellers) a. On Front Right and Back Left motors install counter clockwi se propellers. b. On Front Left and Back Right motors install clockwise (R or P mark) propellers. 7. For + configuration: (Check and correct motor directions before installing propellers) a. On Right and Left motors install counter clockwise (R or P mark) propellers. b. On Front and Back motors install clockwise propellers. 8. With battery unplugged, connect a USB cable, start Mission Planner and select “Connect”. a. The heads up the flight display on the left will show the current attitude of your Quad. b. The compass display at the top will show the direction your Quad is facing. (If it is near metal objects or electronic devices it may cause a significant deviation). c. Unless you are outside with GPS lock it will NOT show your current GPS position. d. Tilt your Quad to various positions to see if the Heads up display follows your expectations also rotate about the center axis to make sure the compass display follows. e. When the Quad is tilted forward the green horizon should rise f. When the Quad is tilted to the left the green horizon should angle down to the left. g. This only verifies that the sensors are functioning properly, if the motors and propellers are hooked up properly, the Quad should be capable of flight, if they are not it will cra sh. 9. Make sure that transmitter control directions match expected results. There are various methods that can be used to do this, but the one I have found to be most reasonable and successful is: a. On a calm day set the Quad outside facing away from you on a flat level spot with at least 20 feet of flat clear space in every direction. b. Turn on the transmitter and then plug in the Quad’s battery. c. Stand at least 10 feet behind the Quad and ar m the APM2 by holding the throttle down and to the right for at least 4 seconds. (GPS lock is not important at this time). d. Slowly turn the throttle up until the motors just turn on (should all startFront Range Aerial Services LLC **Small UAS Petition For Exemption** 27

simultaneously). e. Now advance the throttle till th e Quad is not quite taking off or moving. f. Use the rudder (Yaw) stick to yaw left and right in place. If working correctly proceed. g. Now move the Elevator (Pitch) stick to pitch slightly forward and back. When the stick is moved forward (up) the Quad should try and tilt forward and try and move away from you. When the stick is moved down it should try and tilt and move towards you. h. Move the Aileron (Roll) stick to roll slightly right and left. When the stick is moved to the right the Quad should t ry and tilt and move to the right. When the stick is moved to the left it should try and tilt and move to the left. Fix any problems before proceeding. F. First Flights. (Stabilize is the basic and startup mode and is necessary for arming). 1. Try a short flight in Stabilize mode. Arm the APM2 by holding the throttle down and to the right for at least 4 seconds (Red LED solid). (GPS lock is not needed at this time). 2. Advance the throttle till the Quad takes off. Hold altitude to 4 to 8 feet above the g round with the Throttle. Compensate for drift with the Pitch stick. Reduce throttle and land. 3. If the Quad is very twitchy or has too much power: Disconnect the battery and connect the USB cable between the APM2 and your computer then start the Mission Planner and select Connect then select the Configuration tab and then the PID List item in the left column. Reduce the Pitch Angle "P" value. 4. Repeat several times adding rotation correction with the Yaw stick and making short excursions. 5. Gain consi derable flight experience in “Stabilize” before undertaking the more advanced modes.Front Range Aerial Services LLC **Small UAS Petition For Exemption** 28

**APPENDIX 4 : ArduPilot Mega 2 Quadcopter Basic Stabilize Mode Flying & PIDs**  A. Initial Flights: (Stabilize is the basic and startup mode and is necessary for arming). 1. Set the Quadcopter Flight Mode 3 way switch to “Stabilize” for the ArduPilot Mega 2 (APM2) 2. Place the Quad on a level spot facing away from you with at least 20 feet of flat clear space in every direction, turn on your transmitter and plug in your battery. 3. Stand at least 10 feet behind the Quad and arm the APM2 by holding the throttle all the way down and to the right for at least 4 seconds (red LED solid). (GPS lock is Not required). 4. Advance the throttle till the Quad lifts off. Hold altitude to 4 to 8 feet with the Throttle. Compensate for drift with the Pitch stick. Reduce throttle and land. 5. Repeat several times adding rotation correction with the Yaw stick and making short excursions. 6. Gain flight experience in “Stabilize” mode before using the more advanced modes. B. PIDs: (Use no transmitter roll, pitch or yaw trim. In auto modes trim = moving set points) 1. PIDs are the control loop feedba ck parameters that permit the APM2 to use its various sensors to automatically compensate and adjust your Quads motors to provide the desired flight stability and for the appropriate execution of flight control commands. 2. PID = Proportional Integral Der ivative. A PID has 3 variables which interact with the feedback loop to permit automatic error compensation. Wikipedia has an excellent description of the PID. 3. For the APM2 the PIDs are defined and explained at the Arducopter Wiki web site and the PID variables for each function are modifiable in the Mission Planner software. C. How to Set the PID parameters: (Perform Initial PID tuning in Stabilize mode). 1. Disconnect the battery and connect a USB cable between your Quad and your computer, then start the Mission Planner and click the “Connect” button to upload parameters from the APM2. 2. Select the “Configuration” tab and select the “Arducopter PIDs” item in the left column. 3. Adjust the desired PID parameter (usually the “P” value) with the arrows or by typing it in. 4. When finished making adjustments to PID parameters, select the “Write Params” button to save your changes to the APM2. Select “Refresh Params” to verify changes were saved to the APM2. D. Adjusting PIDs for Stabilize Mode: (Tune the flight characteristics of your Quad).Front Range Aerial Services LLC **Small UAS Petition For Exemption** 29

1. The Stabilize and Angular Rate Control PIDs tune Pitch and Roll for your Quad and are most important for control and stability. The “Pitch PID” values are slaved to “Roll PID” values. a. If your Quad twitches or oscillates quickly in Stabilize mode reduce the “Stabilize Angular Rate P” setting below the default “0.18” (Try “0.10”). (KK X525 = 0.08) b. If your Quad wobbles when descending quickly in Stabilize mode increase the “Stabiliz e Angular Rate P” setting above the default “0.18” (Try “0.20”). c. If your Quad oscillates slowly in Stabilize mode reduce the “Stabilize Control P” setting below the default “4.5” (Try “4.0”). (KK X525 = 4.5) d. If your Quad responds sluggishly in Stab ilize mode increase the “Stabilize Control P” setting above the default “4.5” (Try “5.0”). e. Redo Stabilize PID
– P settings until roll and pitch control and self leveling work smoothly. 2. Adjusting “Yaw Angular Rate PID” P value allows you to tune for a fast, stable yaw rotation rate. a. If your Quad responds slowly when you deflect the yaw stick, increase the “Yaw Angular Rate PIDs” P value above the default “0.13” (try “0.15”). (KK X525 = 0.15) b. If your Quad rotates too quickly when you deflect th e yaw stick, decrease the “Yaw Angular Rate PIDs” P value below the default “0.13” (try “0.10”). c. If your Quad is sluggish in rotating when you deflect the yaw stick, increase the “Yaw Stabilize PIDs” P value above the default “7.0” (try “8.0”). (KK X52 5 = 7.0) d. If your Quad wobbles slowly when you deflect the yaw stick, decrease the “Yaw Stabilize PIDs” P value below the default “7.0” (try “6.0”). e. Redo the “Yaw rate PID
- P” adjustment until Yaw control is smooth and stable.Front Range Aerial Services LLC **Small UAS Petition For Exemption** 30

**APPENDIX: 5**