# Aero-M

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

Plan 

## 2 Fly 

# 20 3 Process 

# 37 Appendix 

## 41

## Parts 

# 2 Mission Planning 

## 8 Operating Parameters 

## 8 Flight Battery 

## 3 Load Maps 

## 9 Charging 3 Draw Polygon 

## 10 Safety 3 Configure Survey 

## II Powering the Aero 

## 4 Save and Write Mission 

## 19 Camera Setup 

# 5 3DR EAI 

# 5 Charging 

# 5 Starting a Mission 

# 5 Mounting 

## 6 Ground Station Setup 

## 7 Download Software 

## 7 Connectto Radio 

## 7

# Parts
Aero

**~--** 

### batteries (2)

**~** camera
wing spar 

### horizontal stabilizer

registraf1on 

### card and Pix4D license key 

### wings

FPV/OSD System Ifyou selected to receive a FPV/OSD system, those components 

### will be included with the Aero's accessories. See page 34 for parts and instructions. 

# - RC controller and 

### accessories ground station radio



### ~ micro-USB cable 

# •

**""'~-**



# ~ __j 

# s :z:::::::...- 

# • 

# Dill

I charger and 

### accessories
battery guard bag 

### wing rubber bands (4 plus 2 spare) propellers (1 plus 1 spare) hex keys(?) 

### propeller wrench 

### spare control horns (2) spare servo rods (2) 

### spare camera mount filters (2) 

### Pixhawk micro-SO card adapter

# Fli~ht 

# Battery The Aero is powered by a rechargeable lithium polymer (LiPo) battery. Chargethe battery before your first flight.

Connectthe chargertothe power adapter cable and awall outlet. Connect the red cable to the+ port and the black cable to the - port. 

# -- II
Charger with power cable and split-wire charging cable



### 3 

# 0 

# :::::- 0

Connect the white connectorto the 4S port, and 

### join the two yellow connectors together. 

# W®!!!!!!!-- 4S

Flight battery charging wiring 

### 2 Set the chargerto UPo and 3A.

UPo 3A Charger settings 

### 4 Secure the battery insidethe guard bag, 

### and charge until the status indicator displays green.

Charging in process 

# • Charging Complete 

### Flying with a low battery is a safety risk and can render the battery permanently unusable. flJways fly with a fully charged battery. Chargethe battery using a designated LiPo balance charger only. Always monitorthe battery while charging. Protect the batteryfrom extreme heat, extreme cold, puncturing, and flammable surfaces. flJways transport, charge, and store the battery in the guard bag. Inspectthe battery for damage before and after fiying. Ifyou observe any swelling ofthe package or the battery ceases to function, do not use the battery; locate your local battery recycling center, and dispose ofthe battery. In the US and Canada, visit call2recycle.org tofind a location. Do not dispose ofthe battery in the trash.



### 3Turn on the controller. To avoid triggering the controller's startup alarm, ensure that all switches are set back (away from you) and the throttle stick is set fully down.

Switches
Throttle stick

RC controller

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

# A Hold theAero still and level while it powers on. Attach thevelcro above the battery slot tothe velcro onthe battery. Close and secure the lid onto the battery compartment. 

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

Aero: batterycompartment lid

fl1ghtbattery

Aero: battery compartment interior 

# A It is importantto establish communication before powering on the Aero. Always turn on the controller before connecting the battery. When powering off the Aero, disconnectthe battery before turning off the controller.



### 4

# Camera Setup The Aero includes a Canon PowerShot Sf00 running the 3DR EAI script.

3DR EAI runs on the Canon Hacker Development Kit (CHDK), a powertul opensource tool that expands the functionality of Canon point-and-shoot cameras. 3DR EAI optimizes image exposure and integrates withthe Pixhawk autopilotto enable distance-based imaging. This software is designed to load off the camera's SO card, leaving the original Canon programming intact. The yellow switch on the side ofthe SO card allows you to lock or unlockthe card. Lock the SO card to run 3DR EAI; unlockthe SO card to save imagesto your ground station orto boot the camera with its original programming. For more information about 3DR EAI, see page 43. 

# 1

SD card locked Load 3DR EAI 

## » Fly 

### a mapping mission

Camera running 3DR EAI 

# i SD card unlocked Load default Canon software 

## » View images on camera 

## » Save imagesto ground station 

## » Update script

Camera running Canon software 

# A Power offthe camera before removing the SO card. Charge the camera battery before your first flight. Once fully charged, insert the battery into the camera. 

# +---- status indicator
Canon battery charger

To prepare the camera to fly a mapping mission, ensure thatthe mode dial is setto 

### P(program) mode. Power on the camera using the silver button on the top. 3DR EAI will start automatically, and you will see the script messages on the camera display. Check to see thatthe last line ofthe script reads 

### waitingon USBsignal. The camera is now readyto map!

Camera ready to map: waitingonUSBsignal powerbutton mode dial

### The camera mounts tothe Aero inside the battery compartment and connects to the autopilot using the mini-USB cable. When the camera '1s ready to start the mission, insert the camera into the mount inside the battery compartment as shown below, connect the mini-USB cable tothe camera, and secure the camera in place using the velcro strap.

Aero battery compartment camera mount

Camera (side) 

### autopilot integration cable

Connect mini-USB cable inside battery compartment here.
The camera mount is fixed tothe inside ofthe battery compartment and is not intended to be removed from theAero. The camera mount includes a lens cap that protects the filter during travel. Make sure to remove this lens cap before you fly, and check thatthe filter contains no foam particles, dirt, or scratches that could affect image quality. It is expected that the filter will accumulate scratches after significant use. If you notice any damageto the filter that could affect image quality, unscrewthe filter and replace with one ofthe extra filters provided with theAero.

UVfilter Camera mount (bottom): cap removed



# - Camera mount (bottom): cap attached

6

# Ground Station Setup Mission Planner allows you toturn a Windows laptop into a full-featured ground station for configuring and monitoring autonomous missions. You 

### will need to take this laptop into the freld when you 

### fly the mission. As part ofthe mission procedure, you will use the Pix4D Rapid Checkto verilythe quality of the image set before leaving the freld.



# ~~ Mission Planner Mission Planner is afull-featured ground station application for planning missions and monitoring the Aero in flight. Download Mission Planner from 

### 3DR.com/downfoad_software. If you already have Mission Planner installed, make sure you're running the most recent version: Select the 

### Helptab and 

### CheckforUpdates.

Mission Planner: Helptab
Pix4Dmapper LT 3DR Edition Your license keyfor Pix4Dmapper can befound on the registration card inside the documents package. Visit 

### mapper.pix4d.com/license-redeemto create an account and redeem your license key; then visit 

### pix4d.com/downfoadto download Pix4Dmapper Discovery. Pix4D will automatically upgradefrom the Discovery edition to the LT 3DR Edition (or Pro Edition if you selected to upgrade) when you log in to the program with your Pix4D account information. To connectthe Aero to Mission Planner, connect the ground station radio to the laptop, and powerthe Aero. Connectthe ground station radio toyour laptop using the micro-USB cable. Open Mission Planner.

Ground station laptop w·1th racf1o connected 

### 3 Select 

### FlightDatatoview live datafrom the Aero. 

### 2 Select 

### 57600and

### AUTO, then select 

### CONNECT. (When connecting directlyto Pixhawk's micro-USB port, setthe rate to 115200.) 

# ; 

# :
Mission Planner Connecttool (top-right corner))

Mission Planner RightData tab: connected to aircraft 

### 7

# Mission Planning

The Aero is a complete solution for creating high-resolution visual-spectrum aerial maps. Canon S100 Pixhawk [ 3DR EAI

# I autopilot 

# f---+ 

# r---- system Mapping system diagram Pix4Dmapper LT 3DR Edition


### To create a map, the Aero flies an autonomous mission over the survey site, using the integration between the Pixhawk autopilot and custom-programmed camera to capture images at a consistent distance interval. Pix4Dmapper then stitches these images together into a georeferenced, orthorectified mosaic. The accuracy ofthe map depends on the configuration ofthe mission. Planning a mission that captures high-quality images requires balancing the Aero's operating parameters with the environmental factors at the survey site. 

### Operating Parameters Camera Canon S100 Camera Orientation Portrait (side facing forward) Operating Altitude 80-120 m Standard OperatingAltitude 100m Low-Wind Conditions 0-6 m/s High-Wind Conditions 7-10 m/s Maximum Wind Conditions 10m/s Operating Speed 8-20 m/s Default Speed 15m/s Estimated Maximum Flight Time 40 min Estimated Ground Resolution 5 em/pixel Estimated Maximum Survey Area 1km2 

### Minimum Photo Interval 2 seconds

8Mission Planner allows you to plan the mission away from the mapping location; however, it is important to assess the environmental conditions on site at thetime ofthe mission and adjust theflight plan if necessary. Alternatively, you can plan the entire mission at the mapping location. To create or alter the mission, Mission Planner requires an Internet connection to accessthe maps. Ifyou're unable to access the Internet on site, follow the instructions below to pre-fetch the maps within Mission Planner while you have Internet access.
Open Mission Planner, select 

### FlightPlan, and zoom to your flying location.

Mission Planner FlightPlantab: zoom to mapping location



### 3 Mission Planner will attemptto load the map datafrom the current level of zoom down to the closest level of zoom available. However, it can take hours to pre-fetch every level of zoom, and it is unlikely that the closer levels will be useful in planning the mission. To shortcutthis process, checkthe slider on the right side of the map. The levels of zoom are represented by this slider from 0 (bottom) to 25 (top). Press the ESC key to skip levels ofzoom at a greater detail than you need for mission planning. 

### 2 Right-click onthe map, select 

### Map Too/and Pretetch, and acceptthe

**defau~** prompts. Mission Planner will downloadthe maps forthe selected location toyour computer.

Mission Planner FlightPlantab: Select PrefetchTo begin planning the mapping mission, select the area you want to map using the 

### Polygontool. You'll be able to adjust the size and shape ofthe polygon later in the mission configuration process. 

### 2 Select 

### FlightPlan, and zoom toyour mapping location. Right click on the map. Select 

### DrawPolygon and 

### AddPolygon Point. Click and drag to add points around the area you want to map.

Mission Planner FlightPlantab: zoom to mapping location

Units The Survey Tool uses metric units. If your Mission Planner is set to imperial units, please change the settings to use metric to plan the mission. Supportfor imperial units in Mission Planner is coming soon; check 

### 3DR.com/Aero-Mfor updates. Mission Planner FlightPlantab: draw polygon 

### 3 Right click on the polygon. Select 

### Auto WPand 

### Survey(Grirf) to open the SurveyTool.

Mission Planner FlightPlantab: open Surveytool



### 10The Surveytool allows you to configure a mapping mission according tothe Aero's operating parameters and the current environmental conditions atthe mapping location. First, setthe default values for the Aero.

Mission Planner Swveytool 

# t Set Camera Canon S100-S120
Set Camera Orientation Uncheckthe option for 

### Camera top facing forward.

Set Default Speed 15m/s Apply Survey Speed Check the option for 

### Use speedforthis mission. If unchecked, the mission will use the Aero's default speed of 15 m/s regardless ofthe speed selected in the SurveyTool.
11

### Next configure the angle ofthe flight path forthe current wind conditions.

Mission PlannerSurveytool



### Mission PlannerTip: Adjust Polygon Click and drag the red polygon points to adjust the size and shape of the polygon from the SurveyTool. Set Angle Wind Direction 

### In environments with winds of Jess than 6 m/s, set the angle so that the Aero flies into the wind. In winds from 7-10 m/s, configure the flight path to travel perpendicular to the wind so the Aero flies cross

### wind. No. of Strips 

### Adjust the angle so that the Aero makes as few turns as possible to complete its course. The 

### No. ofStripsparameter shows how many passes the plane will make as you adjust the angle. Review Wind Conditions On-Site 

### Always assess the wind conditions at your survey site at the time of the mission and adjustthe mission accordingly.



# A Configure the flight path parallel with the wind in lowwinds (1-6 m/s).

Configure the flight path perpendicular tothe wind in high winds (7-1 0 m/s). Use caution when flying in winds over 1Onn!s. Mapping results 

### may degrade as a result of inabilityto make headway or maintain appropriate groundspeed. 12

### The survey attitude determines the duration ofthe mission and the ground resolution ofthe final map. Adjust altitude to balance flight time and power consumption with the current environmental condit'1ons.

Mission Planner Surveytool


### Check Ground Resolution 

### GroundResolution is the centimeters per pixel that you will have in the map and corresponds to the amount of detail that you willsee. · To improve ground resolution by decreasing the number of centimeters per pixel, decrease altitude. Set Altitude Standard operating altitude: 100 m Operating altitude range: 80-120 m Increasing altitude decreases flight time, allowing you to cover more area 

### per minute. Decreasing altitude improves ground resolution. Set the altitude to get the best ground resolution while keeping the flight time under 40 min and the altitude under 120 m. 

# A Keep altitude below 120 m, and ensure that the altitude is appropriatefor your flying area and local regulations.

Check Flight Time Right Time estimates the duration ofthe mission. The total estimated ftight 

### time must be under 40 min for afully charged Aero battery. To decrease flight time, increase altitude or speed. High winds, humidity, high altitude, and extreme heat can affect power 

### consumption and reduce flight time. Considerthe environmental factors at your site when configuring flight time.



### 13

### With the basic parameters in place, verifythat the photo interval calculated from 

### the altitude and speed complies with the operating parameters for the camera.

Mission Planner Surveytool 

### Check Photo Interval 

### PhotoEverymust be longerthan 2 seconds forthe 8100 camera.
Altitude 

### Increasing altitude increases photo interval. 

# A Keep altitude below 120 m, and ensure that the altitude is appropriate foryourflying area and local regulations. Speed 

### Decreasing speed 

### ·Increases photo interval. 

# A Ensure that the 

### Use speedforthis missionoption is checked. 14

### Now select atakeoff and landing pattern, either manual or automatic.

Mission Planner Surveytool 

### Takeoff and Land WP's 

### For automatic takeoff and landing Check the 

### AddTakeoffandLand WP's option. Uncheckthe 

### Use RTL option. This will create a takeoff waypoint and a placeholder waypoint for the landing pattern. Alter accepting the survey, configure the automatic landing pattern by following 

### the instructions on page 20. For automatic takeoff and manual landing Check both the 

### AddTakeoffandLandWP'soption and the 

### Use RTL options. 

### This will create atakeoff waypoint so the Aero will automatically climb to the survey altitude before heading tothe first waypoint. The Aero will return to circle overthe 

### launch point after completing the mission. For manual takeoff and landing Uncheckthe 

### AddTakeoffandLandWP's option Check the 

### Use RTL option. For this option, take off manually then initiate the mission in flight. The Aero will 

### return to circle over the launch point after completing the mission.



### 15The Survey tool includes the following advanced configuration options. These options allow you to customizethe mission to comply with best operating practices.

Mission Planner Surveytool: advanced options r---tcamera Config 

# ...._J The options underthe Camera Config tab allow you to configure a camera other than the S1 00 and won't be usedfor operating the Aero.

Mission Planner Surveytool: advanced options CheckAdvanced Options toview the SurveyTool's advanced configuration options. Select Grid Options

,...... r---t Set OverShoot 

# ...._J The Aero has a minimum turning radius of 90 degrees. To accommodatethe sharp angles ofthe survey mission, set both 

### OverShootparameters to 50 to havetheAero overshoot the waypoints on either side of the polygon by 50% to ensure that the complete area ofthe polygon is covered by the images.
OverShoot will affect flight time. Ensure that the total estimated flight time is less than the Aero's maximum ftight time of40 minutes.

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

### 16Before accepting the survey, verify that the mission complies with the Aero's operating parameters.

Mission Planner Surveytool Operating Parameters Camera Canon S1 00-S120 Altitude 80-120 

### m Cameratopfacing forward unchecked Flying speed 

### 9-15 m/s 

### Use speed for

### this mission checked (optional if speed set to default speed of 

### 15 m/s) Photo Every greaterthan 2 s Flighttime under 40 min depending on environmental conditions

Accept Select 

### Acceptto create this mission. After accepting, you will need to reconfigure the survey completelyto make any adjustments. If Mission Planner promptsyou for a homealtitude, enter the altitude that you specified in the 

### Surveytool.



# A Do notacceptthe mission if any ofthe parameters exceed theAero's operating limits. 

### 17Ifyou selected automatic landing in the SurveyTool by checking the

### AddTakeoffandLandWP'soption and unchecking the 

### Use RTL option, you will need to configurethe landing waypoint pattern manually at this step in the mission planning process. To begin, determine the direction ofthe wind and select an unobstructed area 200-500 min length leading tothe launch point, into the wind. On the main Flight Plan screen, create a series ofwaypoints along this path to decrease altitude gradually from the survey altitude to 0, ensuring that: » Turns along the fiight path are greater than 90 degrees. )) The altitude decreases by a maximum of 20 m between waypoints

There is at least 20 m between each waypoint » The 

### Grad

### %does not exceed 20% To add a waypoint, right click on the map in the location ofthe waypoint you would like to add, and select 

### InsertWP. For each waypoint you addtothe mission, Mission Planner will promptyou for the new waypoint's place in the script: Add the series of landing waypoints immediately before the 

### LANDwaypoint in the script of events. Forthe first waypoint in the pattern, add it tothe mission immediately following the 

### DO_SET_CAM_TRIGG_DISTwaypoint at the end ofthe mission. Specifythe altitude of each waypoint and check the distance and gradient angle in the waypointstable.

Mission Planner FlightPlantab: Correctlyconfigured automatic !anding pattern To add a waypoint, right click on the map in the location ofthe waypoint you would like to add, and select 

### InsertWP. For each waypoint you addto the mission, Mission Planner will prompt you for the newwaypoint's place in the script Add the series of landing waypoints immediately before the 

### LAND waypoint in the sc1ipt ofevents. Forthe first waypoint in the pattern, add it to the mission immediatelyfollowing the 

### OO_SET_CAM_TRIGG_OIST waypoint at the end ofthe mission. Specifythe altitude of each waypoint and checkthe distance and gradient angle in the waypoints table. Set altitude. Check Grad%. LocatetheTakeoff waypoint in the mission script and set the first option in the rowto assign the takeoff angle. Setthetakeoff angle to 20-25 degrees depending on the length ofyourtakeoff area.

Mission PlannerTip: Configure Waypoints Measure the distance between waypoints by right-clicking at one end and selecting 

### Measure Distance; then right-click on the other end and select 

### Measure Distance again. A dialog boxwill open with the distance between the two points. Double-click on a field in the waypoint table to edit the parameters for a waypoint. Usethe Up and Down arrow icons to re-orderthe waypoints. Usethe Delete option to remove a waypoint from the mission.



### 18For the Aero to run the mission, write the waypoint file tothe autopilot. Don'tforgetto save the waypoint file toyour ground station for future use.

Mission Planner FlightPlantab: Save and write mission Select Save WP File 

### to save the mission file to your computer. To repeat this mapping mission, load the saved WP iile from your computer.

Select Write WPs 

### to save the mission to the Aero.



### 19

## Safety Aircraft Operation 

## Components Assembly Controls Modes Arming and Disarming LED Indicators and Tones GPS Lock Preflight Checks Manual and Automatic Takeoff Manual and Automatic Landing FPV System Operation Flying Mapping Missions 

## Takeoff Checklist Initiating Monitoring Failsafes 21 

# 22 22 23 26 

# 27 28 28 28 

# 29 32 33 34 35 

# 35 35 35 36
20

# Safety
To ensure safe and successful flying, familiarize yourselfwith the safety information on this page. Always fly in accordance with your location regulations and these best 

### operating practices. Before you fly, determine the boundaries of your safe flying area. Ifthe Aero moves outside the designated area or exhibits instability in**~ight,** switch to**~y-by-wire** mode and land the plane manually. Always be ready to regain manual control ofthe plane 

### in the event of an unsafe situation. The Aero will not avoid obstacles on its own, including during missions. As the operator, it's yourjobto recognize and avoid obstructions while flying. When 

### planning missions, ensure that the selected altitude is appropriate for all geographical features ofthe area, including terrain. 

# Location 

# t ..**~** visual line of sight

# • Sm1les{8km) 400ft (120m) Always fly below 400 

### It {120 m) and within yourvisual line of sight. Don't letthe Aero gettoofar away from 

### you; make sure you can always see its orientation. Don'tfly in lowlight, rain, orother conditionsthat might impedevisibility.
I'Jways fty at least 5 miles {8 km) away from airports 

### and other areas where pilots operate manned 

### aircraft. I'Jways fly at least 100feet {30 m) awayfrom people, vehicles, and buildings. Makethe safety of people and property your first priority! 

# Propeller 

# •

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

### When the Aero is powered on, the safety button will blink red, indicating thatthe motor 

### is inactive and the propeller is safe to handle. When you're readytofly, press and hold the safety 

### button until it shows solid red. This indicates that the motor is armed and the propeller will spin ifthe throttle stick is raised. To makethe propeller safe to handle again, press and holdthe safety 

### button until it blinks red.

You can find more safetytipsthroughout these instructions where you see this yellow box.

21

# Aircraft Operation

lett wing tail boom

airspeed sensor battery compartment electronics compartment (under wings) 

### nose

# ~---------------+

tail

Aero (top) Ifthe terms above are unfamiliartoyou, visit 

### 3DR.com/Aero·M, and dive into the exciting world of planes with our Introduction to Flying Fixed-Wing Aircraft. body 

### right wing motor Aero tail

video system compartment (above battery compartment) rudder 

# ,--_...,._

_.; ..

### ·.~~------.~ elevator

ground station radio controller



### 22Tail Slide the horizontal stabilizer intothevertical stabilizer along the orange groove. Makesure notto stress any ofthe components onthe tail. 

# ( I I/ Horizontal stabilizer


# c.· Vertical stabilizer 

# .. 

# Jl-_

**·~ +~--**  Complete tail assembly Turn the plane over and insert the provided tail screw into the horizontal and vertical stabilizers.

Tail assembly (underside) 

# (iJ

**+-~**

# -- 

# • 

# 1
Tail screw

On the top ofthe horizontal stabilizer, openthe blue clasp atthe end ofthe servo rod. Insertthe pegs on the clasp intothe open space in the servo horn, and close the clasp. Slidethe blue rubber ring over the c!asp to secure it in place. 

# I clasp

servo horn 

### 23

### Wings Attach a wing onto each side ofthe spar. Do nottwistthe wing or the spar so as notto stressthe foam.

Place the wings over the body ofthe Aero with thefoam squares fitted into the matching space in the electronics compartment. Make sure notto pinch the AILE cables.

**~­**



## F-~~ 

# ' Locate the two cables inside the electronics compartment marked AILE. Connect these cables tothe two cables on the wings marked AILE. (Either ofthe wing cables can connectto either ofthe plane cables; the order doesn't matter.)

Locatethefour large rubber bands. Use the bands to secure the wingstothe body ofthe Aero bythefour orange knobs on the body around the wings. Attach two ofthe bandstothe two knobs on one ofthe short sides and opposite knobs on the opposing side. Repeat on the other short sidewith the remaining two rubber bands, resulting in two pairs of opposing righttriangles.


# •.::: 

# • 

# • •

**·:~>-,_** /;;::-;:

**----~**

## .. 

## ·:::.c-.. 

# • <::. 

# • ..

# .:·:· 3 4 

# ..,.

**:~c:·** 

# • 

# • ---:...-

**·~·**

**·--;~"'-** 

# .. 

# • • 

# .,,

**~~**

# .. 24Propeller Locatethe rings insidethe propeller package. Remove the ring with the **second~largest** internal diameter, and insert it into the backofthe propeller hub. Remove the nut and thewasherfrom the motor, addthe propeller w·1th thewriting on the propeller facing towardsthe nose ofthe plane, add the washer and the nut overthe propeller, and tighten the nut.



# ··~

25

### Flythe Aero manually using the RC controller.

Throttle: 

### Yaw: Pitch: Roll: throttle up

throttle down



### ·•I··

# c-rzythrottle fully down 

### Move the lett stick forward and backward to control the motor. Move the left stick horizontallyto turn left and right using the rudder. Movethe right stick up to pitch down and down to pitch up. Move the right stick left and right to control the bank angle.



## • • • ----::;,::?} ___**··~-··,._**



# - ·:::zi 

# - -- Increase motor speed.

Decrease motor speed.
Stop motor. yaw left

yaw right

roll left

roll right

roll and pitch center 

### !.,.



### ~[!a]-'- pitch up
pitch down



# -- Turn left.



### Turn right.

Roll left.

Roll right.

Automatically leveL

Pitch up.

Pitch down. 

### 26

### Auto - 

### fly

### amission Fly an autonomous mission. This is the modethatthe Aero will use to create the map. Fly byWire - 

### assistedmanualcontrol Let the autopilot managethe control suriaces, and navigate based on where you want theAero to fty. Fly-by-wire mode• (FBW) is the easiest way tofly and is the recommended modefor new operators. •ArduPiane mode FBWA Return to Launch (RTL) - 

### recallto launchpoint Commandthe plane to circle overthe launch point. The Aero will return tothe posiTion where it acquired GPS lock and enter into a circle pattern at an altitude of 100 meters. 

### Loiter - 

### circle Activate GPS-positioned circling; the Aero will enter into a circle pattern with a radius of 60 meters atthe current altitude. Movethe right stickto adjustthe position ofthe circle. Stabilize - 

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

### Manual - 

### fullmanualcontrol Fly with fine-tuned manual control without autopilot assistance. Manual mode gives you the most direct inputto the control suriaces, resulting in precise in-flight adjustment. Try manual mode if you're an experienced 

### RC plane operator. To select a flight mode: First, setthe GEAR/MIX switch to select a set of modes. Then usethe FLAP/GYRO switch to 0, 1, or2 to select a specific mode. With GEAR/MIX setto GEAR, set FLAP/GYROto: 0 for Manual With GEAR/MIX setto MIX, set FLAP/GYROto: 

### 1for 

### Stabilize 2 for Loiter OforAuto 1for Fly bywire 2for RTL

GEAR/MIX selects the set of modes.

FLAP/GYRO selects the specific mode, either 0, 1, or2. RC controller (top)

27

### Arming and disarming are important steps that must be completed before takeoff and after landing to activate and deactivate the motor, respectively. Before arming, check the status LED. The LED will flash blue while 

### the Aero acquires GPS; this can take afew minutes. Once you see the green LED, the autopilot has acquired GPS lock.
• •• • Initializing, pleasewait. • •• • Acquiring GPS lock, please wait. 

# e••e Autopilot ready, GPS locked 

# •

To arm the motor, press and hold the safety button until it displays solid red. To disarm, press and hold the safety button until it displays blinking red.**~;ro""**

# --~ l • safety button

# ~~~_,¥,!llfl"' 0 • 0 

# e Inactive, motordisarmed 

# e eee Active, motor armed 

### The arming and disarming procedures ensure that you can safety start and stopthe motorwithout risk of injury. 

### The Aero's motor can spin when armed! Do not place your hands in the way ofthe propellerwhile the safety button is active (solid red). 

# •••• •••• •••• 

# • • Initializing, please wait Acquiring GPS, please wait Armed, GPS locked Loss of RC signal, automatic landing 

# ))J Low battery, automatic landing 

# ))J Loss of GPS signal,

# switc~ tofly-by-wre 

### System error, see troubleshooting guide

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

Auto, RTL, and loiter modes requires GPS lock. When powered, the autopilot will automatically search for GPS lock. The position ofthe Aero when the autopilot acquires 

### GPS will be saved as the home position, and used as the coordinates for the launch point during RTL. Ifyou plan to use auto, RTL, or loiter modes during your ftight, ensure 

### that the Aero is located at a suitable launch point when powered, and the autopilot acquires GPS lock beforetakeoff, indicated by a blinking green status LED.



### 28Before each flight, perform a physical component check, center of gravity check, and control checks in both manual and stabilize modes. If any ofthe components or assemblies in these checks are not secure, tighten the screws or use CA glue (super glue) to secure the components tothe foam. Examine the Aero to ensurethat all components are secured in flight configuration. 

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

## » Checkthat the propeller is secured tightlytothe motor. 

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

# I 

# @



# ~r ' 

# J



# t~ tail servos wing servos 

### •\ 2 Check thatthe airspeed sensor is secured tothe side ofthe Aero andthe tube is free from obstructions. airspeed sensor 

# • **~** 3 With the battery connected and the lid secured, check that the Aero is correctly balanced for flight. Holdthe Aero with one finger on each of the clear, plastic balancing points shown below. These points indicate the Aero's center of gravity. 

# I

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

# --· :E

---- Flying the plane without the camera will affect the center of gravity. If you choose to fly without the camera, make sure to re-balance the centerof gravity.



### 29

### Before flying, power and arm the Aero on the ground and complete these checks toverify that the control suriaces respond correctly tothe control inputs. Place the plane on the ground, and set the mode switches to select manual mode. Move each of the sticks as shown, and check for the corresponding movement of the motoror control suriaces.

Raise the throttle slightly until the motorspins, then immediately set the throttle backtofully down position.



### 2 Pitch down

Pitch up 

# ~_v.~ Motorspins. ..AI·

# I\'-. Do not raise the throttle more than just enough to spin the motorwhile the plane is on the ground, and do not placeyour hands in the way of the propeller while the motor is armed.



# _,.,.;:~~~

**~**



# -·"'·''·~~~

**~** Elevator tilts down.

Elevator tilts up. 

### 3 Roll left

Roll right



### 4 Yaw left

Yaw right Left aileron tilts up, right aileron tilts down.

Left aileron tilts down, right aileron ms up.

Rudder tilts left.

Rudder tilts right.


### 30

### Set the mode switches to stabilize, and hold the plane in front ofyou. Move the plane as shown, and check for the stabilization response from the control surfaces.

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

### aileron tilts up.

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

### aileron tilts down. 2 Test: Tilt the plane down. Result: Elevatortilts up.

Test: Tilt the plane up. 

# .•- Result: Elevatortilts down.



### 31Auto-takeoffworks by sensing the movement ofthe plane and launching it in that direction. Set theAero to autonomous modewhen you're readyto launch. Find a launching area with at least 100feet of clear space in front ofyou. Face into the wind, and hold the body ofthe Aero in one hand underthe center of gravity. Be careful notto place your hand in the way ofthe propeller! Hold the Aero above your head, run, and throwthe plane at an upwards angle. The Aero will sensethethrow, powerthe motor, and climb tothe altitude specified by the takeoffwaypoint before starting the survey mission.



# A DO NOTWIND UP YOURTHROW; iftheAero senses any backwards momentum itwill attemptto launch in that direction. Use only forward momentum tothrowtoAero!

Automatictakeoff requires you to configure thetakeoff angle during mission planning. See page 18. Ifyou're newto planes, we recommend having afriend help you launch the Aero. Have yourfriend throwthe Aero while you control the controller. We recommend setting theAero to fly-by-wire modefortakeoff. Find a launching areawith at least 100 feet of clear space in front ofyou. Face into the wind, and hold theAero atthe center of gravity. Raise the throttle to center position to startthe motor. Be careful notto place your hand in the way of the propeller! HoldtheAero above your head, run, and throwthe plane at an upwards angle. Once launched, the Aero will require immediate adjustment with the controller to navigate awayfrom the ground and upto the desired altitude. Pitch up (right stick down) and add any other necessary controls based on wind, speed, and terrain.



### 32

### To !and automatically at the end ofthe mission, the Aero requires the mission to be configured with a specific pattern of landing waypoints that gradually decreases the altitude so thatthe Aero can land safely. 

### For instructions on configuring automatic landing, see page 18. When you're ready to end yourflight, follow these steps to land: 

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

### Come in on afinal approach, flying into the wind at

an altitude of20 to 40 meters. 

## » When the plane reaches an altitude of 10 meters, set thethrottle fully down toturn

offthe motor and glide down on a 15 to 20 degree down-pitch angle.
Afterstopping the motorat an altitude of 10 m, keep yourthumb on thethrottle 

### stick in fully down position to ensure thatthe motordoes not accidentally spin during landing.


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

the body of the plane instead ofthe nose.

## ·······:~:·~~'?- 

## 10m--... pitch up

## ;d"" 

## 1

# .111ft**It~** 33

### Ifyou selected to receive an optional FPV/OSD system, the components are pre-installed 

### into the Aero to transmit on-board video. Parts 

### Transmitter 

### AV receiver Battery connector 

### Camera


# - Antenna 

### Receiver cables Batteries (2)

1 Charge battery Charge both batteries before your first ftight. Set the chargerto LiPo and 1 A. Connect the white battery connector to the 38 port, and connect the XT60-JST charger adapter to the red battery connector and yellow charger connector.



### LiPo 1A 2 Wire and power receiver 

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

### connector.



# r

3 Prepare

**on~board** 

### components Connect afully charged battery to the transmitter insidethe compartment in the nose ofthe plane. Remove the lens cap from the camera.



# -

**~~-**



# ~- **~** 1 +--Removelens cap'

4 Viewing video 

### When using a 3DR Black Pearl Monitortoview yourvideo, set the mode to DIV

### (M button changes modes), the channel to 

### 8(+ and - buttons), and the band to 

### E(press the power 

### button to access the menu). For more information about configuring the FPV/OSD system, visit 

### 3DR.com/Aero-M. 

### 34

# Flyin~ **Mappin~** 

# Missions
Before flying the mission, check the following: Camera is on with mission script ready and is secured into the mountwith the mini-USB cable connected and the cap removed. Aero is powered and connected to the ground station with all pre-flight checks passed. The survey mission has been adjusted to accountfor present environmental conditions and saved tothe Aero.

MonitortheAero closely duringthe mission usingyour line of sight and the Mission Planner Flight Data screen. Mission Planner Flight Data: Attitude



### 1 Heading direction 

### 2 Bank angle 

### 3 Altitude (black) and rate of climb (blue bar) 

### 4 Ground speed *Failsafe behavior enabled 

### 3
4 Status

Ground station signal GPStime Currently enabled mode For automatic takeoff, setthe Aero to auto mode and launch according tothe instructions in the AutomaticTakeoff section ofthese instructions (page 33). For manual takeoff, set the Aero to auto mode after takeoff to initiatethe mission in 

### flight



### 3 4 

### 5 6 4 Distanceto current waypoint 

### >

current waypoint number 

### 5 GPS status 

### 6 Battery status*

Full 

### battery: 16.8V Low 

### batteryfailsafe: 13.8 V 

# 6 End yourflight at 14V! Actions

Changewaypoints or restart a mission 2 Change modes 

### 3 Change altitude Flight Map

1 Current heading 2 Direct path to current waypoint 3 GPS-reported direction oftravel 

### 1 

### 2 

### 3 4 

### 6 4 !\ctu3! 

### f•!g'ot path 5 Latitude, longitude 6 Altitude 

### 35The Aero is programmed with a set offailsafe behaviors to prevent a crash in the event of a loss ofone ofthe data or communication channels required for autonomousflight Although certain failsafe have assigned LED indicators and tones, '1t is unlikely that you will be ableto see these at a distance. Monitorthe Flight Data screen for failsafe indications. If afailsafe is triggered, the assigned behaviorwill activate. To override the failsafe behavior (RTL in mostcases), use the controller to regain manual control. 

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

RC Controller Signal Failsafe Physical obstructions and interterencefrom nearby wireless signals can affect the Aero's connection with the RC controller. Ifthe Aero loses contact with the controller, it will return tothe launch point automatically and enter into a circle pattern above the launch point, indicated by a blinking yellow status LED. If the controller failsafe is triggered, wait forthe Aero to return tothe launch point, then regain manual control and either land or restart the mission. 

### 0000

**~** 

### ./!""""• .-::::;:.., 

# f Low Battery Failsafe Environmental conditions can affect power consumption. Usethe Mission Planner Flight Data display to monitorthevottage ofthe battery during ftight Ifthe battery reaches 13.8

### V, the Aero will return automaticallyto circle abovethe launch point, indicated by a blinking yellow status LED and a quick repeating tone. 

# "" 0000



### 36

## On-Site Quality Check Spot Check Download Images Download Log File Pix4D Rapid Check Full Processing 

# 38 38 38 39 

# 40 

# 40

37

# On-Site QualityCheck Before leaving the survey site, check the images using Pix4D to ensure sufficient quality for mapping by downloading the images from the SO card, downloading the log file from the Aero, and completing Rapid Check Initial Processing in Pix4D. If 

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

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

playback button Unlockthe SO card and load intoyour ground station. Select the OCIM folder and locate the folderforyour flight. Copythe files into a projectfolder on the ground station and delete them from the SO card.



# ~~~~~··~·::~::·~~--~~J:-. **-~~**



# ~s 

# J

**~-~~** 

### SD card file structure: Download images



### 38Pix4D uses the GPS datafrom the Aero's log file to georeference the images. To downloadtheAero's dataflash log, powerthe Aero and connect to Mission Planner. The download process will be faster if 

### you connect the micro-USB cable directlyto Pixhawk's micro-USB port instead of connecting using the ground station rad"1o. (When connecting directly to the Aero, set the rate to 

### 115200.) On the Flight Plan screen, select the 

### DataFiash Logstab underthe heads-up display, and select 

### DownloadDaiBF/ash LogoverMavlink.

Mission Planner: Flight Data heads-up display

The Log window shows the Aero's recent flights. Select the flight for your mission, and select 

### DownloadThese Logs. This will save the log file toyour computer in the location displayed under the list offlights. To retrieve the log file, access your computer's file structure under 

### Program Files/Mission Planner/logs! 

### PLANE, and select the .log file for the date ofyourflight. 

### Mission Planner: Download Logs Program Files: Retrieve log file



### 39

### Open Pix4D Mapper, and create a new project. 

# .JliRobotics UAV TECHNOLOGY



### :/Jiijj~¥1_ Help GuidedTour Upgrade 

### 2 Select Aerial Nadir as the project type.

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

### select Start.

Pix4D will generate aQuality Report that will indicate ifthe images are ot sufficient qualityto create a map. 

# Full

**Processin~** To complete full processing forthe map, visit support.pix4d.comfor instructions. 

### After adding the images, select From File

### to add the geolocation data from the Aero's log file. In the pop-upwindow, select 30 Robotics Right Log as the file format, and upload the datafiash log file downloaded from Mission Planner.

sumrnary{h.;.IP.)

**C~meranilme** A\>erageGroundSampl/nj!Dislantt{GSD); **•.·.·~**



## Quality Report lll!nmg_quarry 2014-4•-251630:49 9.Scm 05979km215e7948hal0.231sq Ill! wo... GroundConlrolPolnl (GCP)COO!dinale syal&rrL 

# """' WGS84/!JDA:mne32N

**Outpuleoordlnates~tern:** lult(scale1}aenatnM•r Timel01tllibalprot:e$Sing(wi!M\11n'POII): 1mag:es: medlanllf3131Jk&yplllntsptrlmage

**CameraOp~miultionquekty:** Maldllngqualty:
**medlanof11203mEitdlesper~lbratedlfrlag&** Georelerencing: 7 GCPs(730). o 045m **AI~Rwtn!t>13[)~1>011j$tLn** ..:1



### c:~~~:.:J

PlX4D



### 40

## Aerial Imaging Concepts 3DR EAI Image QualityTroubleshooting Operational Troubleshooting 

## 42 

# 43 45 46

41

# Aerial Imaging Concepts Understanding key concepts in aerial images can help you understand the mission planning process and create better maps. DistanceMBased Imaging 

### By default, the camera captures onlythe images required to create the map. The Pixhawk monitors the distancetraveled bythe aircraft and sends a commandto the camera to capture an image at the distance interval specified bythe camera trigger distance parameter 

### (CAM_ TRIGG_D/Sn. This parameter is set bythe Mission Planner Survey tool during survey configuration by calculating the minimum distance between images based on the parameters specified torthe survey (altitude, overlap, sidelap). This distance-based imaging allows for more precise data collection, resulting in less images and data storage cost. Once configured, the Survey tool creates an event at the start of the mission script (aftertakeoff) to set the camera trigger distanceto the specified interval and an event at the end ofthe mission (before landing) to reset the camera trigger distance to 0. Time-Based Imaging 

### The camera is also equipped to capture images at a consistent time interval instead of using distance. This function can be useful if

### you want to capture images over an area without planning a mission. This time-based imaging results in more images per area, and therefore more processing time and storage cost. See the Trigger Type options on page xxto enabletime-based imaging. Overlap and Sidelap 

### To capture images for the map, the aircraft flies a lawnmower-like pattern in strips across the survey site. The front-to-back overlap between sequential images is called overlap; the side overlaps of adjacent pictures in different strips is called sidelap. The overlap and sidelap parameters in the Survey tool (see Advanced Options pagexx) determinethe distance between images and the number of imagesto be captured based on 

### the projected ground area that each image will cover, called afootprint. Increasing overlap and sidelap improves the accuracy ofthe map while increasing flight time and processing time.

In the Survey tool, 

### Distancebetween Imagesshowsthe specified 

### camera trigger distancethat will be assigned to the mission. You can also see the projected image footprint size and the total numberof images to be captured. **:~·.** Default overlap: 50% Default sidelap: 60%


### 42

# 3DREAI 3DR EAI is based on KAP UAV Exposure Control Scriptv3.1: a great open-source project for kite and UAV aerial photography. Start and Stop Script Ensurethe camera is set to P (program) mode before powering the camera. Upon startup, 3DR EAI 

### starts automatically and listens for commands from the autopilot, indicated 

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

Script start: waiting on USB signal

Script stopped: INTERRUPTED FINISHED
CHDK Menu The CHDK menu contains all the standard options provided with CHDK. To access the CHDK menu, stop the script and selectthe 

### MENUbutton.

CHDK menu 

### Script Menu 

### The script menu allows you to change the parameters associated with the script itself, including changing the trigger mode and adjusting exposure. To open the script menu, stop the script and select the 

### FUNC. SETbutton. These parameters are configured for the S100 and do not require 

### adjustment as part of standard operation.

Script menu TriggerType 

### This parameter allows you to control howthe camera captures images. Triggertype defaults to 

### USB for distance-based imaging during mapping missions. For time-based imaging, select 

### Intervaland specifythe length in the 

### ShotIntervalparameter. 

### TriggerType default: 

### USB(mapping) Variable intervalometer: 

### Interval(default to 2 seconds, specified by 

### Shot

**lnterva~**

Script menu: TriggerType 

### Memory Reset If the battery is left out ofthe camera for too long, the camera will reset its memory. To re-configure 

### the camera in this case, visit 

### 3DR.com/Aero-Mfor instructions. Online Resources and Information Visit 

### 3DR.com!Aero-Mfor links to updates, more information about KAP UAV, and full CHDK 

### instructions. 

### 43

# Image QualityTroubleshooting Ifyou observe poor image quality duringthe spot check or 

### if you receive error messages during processing, use the settings belowto troubleshoot the image quality. Blurry Images To correct motion blur, adjust the shutter speed using the 

### TargetTvparameter in the script menu. 

### TargetTv(shutter speed) default: To correct moderate motion blur: To correct severe motion blur:

Overexposure 1/1250 Setto 1/1600. Set to 1/2000.

If the images 

### are overexposed but do not show any motion blur, it can be dueto flying in extremely bright conditions. To correctthis, set the

### Allowuse ofNO filterparameter to YES in the script menu. 

### Allowuse ofNO filterdefault: No To correct overexposure: Setto Yes.

Processing Errors Ifyou receive errors from Pix4Dmapper regarding the images, dataset, or matching points, increase the overlap and sidelap during suNey configuration to improve the quality ofthe image set. Overlap default: Sidelap default: To improve processing: 

### 50% 

### 60% Set overlap to 60% and sidelap to 70%. Example image: motion blur Script menu: TargetTv

Example image; overexposure Script menu: NO Filier

Mission Planner Survey tool Advanced Grid Options: Overlap and Sidelap



### 44

# Operational**Troubleshootin~** No Images Captured 1 Ifthe camera did not capture any images during the mission, first perform a

physical inspection on the Aero. Is the mini-USB cable connected to the camera's USB port?

Camera {side) 

## Are theAUX OUT 6 pins connected on Pixhawk?**~~** 8 7 6 54 3 2 lr:u:EDI 

## ••••.•..• ·e::ll· •••. -**:::::::~::a::::::** 

## AUX OUT6: black(-), red(+), white (s) Pixhawk (side) 

## Is the camera battery charged? Unlockthe SD card to view the Canon's battery level indicator.

Camera with SO card unlocked, running Canon software 

## 2 Take a distance-triggered test image on the ground by manually setting the cameratrigger distance parameterto 1 m. Powerthe aircraft and connect to Mission Planner. Select 

## Config/Tuningand 

## FullParameterList. Change the 

## CAM_TRIGG_D/STparameterto 1 , and select 

## Write Params. Now carry theAero for a few meters to see ifthe autopilot triggers the camera.

Mission Planner Full Parameter list: Set CAM_TR!GG_DISTto 1.



### 45