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 

Connect to Radio 7 
Parts 

Aero ~--

batteries (2) ~ 

camera 

wing spar 

horizontal stabilizer 

registraf1on card and 

Pix4D license key 

wings 

FPV/OSD System 

If you selected to receive a FPV/OSD system, those components 

will be included with the Aero's accessories. See page 34 for 

parts and instructions. 

-

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. 

Charge the battery before your first flight. 

Connect the charger to the power adapter cable 

and a wall outlet. Connect the red cable to the+ 

port and the black cable to the - port. 

-- II Charger with power cable and 

split-wire charging cable 

3 

0 

:::::-

0 

Connect the white connector to the 4S port, and 

join the two yellow connectors together. 

W®!!!!!!!-- 4S 

Flight battery charging wiring 

2 

Set the charger to UPo and 3A. 

UPo 3A 

Charger settings 

4 

Secure the battery inside the 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. 

Charge the battery using a designated LiPo balance charger 

only. Always monitor the battery while charging. Protect the 

battery from extreme heat, extreme cold, puncturing, and 

flammable surfaces. flJways transport, charge, and store the 

battery in the guard bag. 

Inspect the battery for damage before and after fiying. If you 

observe any swelling of the package or the battery ceases 

to function, do not use the battery; locate your local battery 

recycling center, and dispose of the battery. In the US and 

Canada, visit call2recycle.org to find a location. Do not 

dispose of the battery in the trash. 

3 
Turn on the controller. To avoid triggering 

the controller's startup alarm, ensure that 

all switches are set back (away from you) 

and the throttle stick is set fully down. 

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 the Aero still and level while it powers on. 

Attach the velcro above the battery slot to the 

velcro on the battery. Close and secure the lid 

onto the battery compartment. 

2 

Open the battery compartment by 

sliding the knob on the orange switch 

forward and lifting out the lid. 

Aero: battery compartment lid 

fl1ghtbattery 

Aero: battery compartment interior 

A 

It is important to establish communication before 

powering on the Aero. Always turn on the controller 

before connecting the battery. When powering off 

the Aero, disconnect the battery before turning off 

the controller. 

4 
Camera Setup 

The Aero includes a Canon PowerS hot Sf 00 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 with the Pixhawk autopilot to 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 of the SO card allows you to lock 

or unlock the card. Lock the SO card to run 3DR EAI; unlock the SO card to save 

images to your ground station or to boot the camera with its original programming. 

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

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 images to ground station 

» Update script 

Camera running Canon software 

A Power off the 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 that the mode 

dial is set to P (program) mode. Power on the camera using the silver 

button on the top. 3DR EAI will start automatically, and you will see the 

script messages on the camera display. Check to see that the last line 

of the script reads waiting on USB signal. The camera is now ready to map! 

Camera ready to map: waiting on USB signal 

power button 

mode dial 
The camera mounts to the 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 to the 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 to the inside of the battery compartment 

and is not intended to be removed from the Aero. 

The camera mount includes a lens cap that protects the filter during 

travel. Make sure to remove this lens cap before you fly, and check 

that the filter contains no foam particles, dirt, or scratches that could 

affect image quality. 

It is expected that the filter will accumulate scratches after significant 

use. If you notice any damage to the filter that could affect image 

quality, unscrew the filter and replace with one of the extra filters 

provided with the Aero. 

UVfilter 

Camera mount (bottom): cap removed 

- Camera mount (bottom): cap attached 

6 
Ground Station Setup 

Mission Planner allows you to turn a Windows laptop into a full-featured 

ground station for configuring and monitoring autonomous missions. You will 

need to take this laptop into the freld when you fly the mission. As part of the 

mission procedure, you will use the Pix4D Rapid Check to verily the quality of 

the image set before leaving the freld. 

~~ Mission Planner 

Mission Planner is a full-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 Help tab and Check for Updates. 

Mission Planner: Help tab 

Pix4Dmapper LT 3DR Edition 

Your license key for Pix4Dmapper can be found on the registration card 

inside the documents package. 

Visit mapper.pix4d.com/license-redeem to create an account and redeem 

your license key; then visit pix4d.com/downfoadto download Pix4Dmapper 

Discovery. Pix4D will automatically upgrade from the Discovery edition to 

the LT 3DR Edition (or Pro Edition if you selected to upgrade) when you 

log in to the program with your Pix4D account information. 

To connect the Aero to Mission Planner, connect the ground station radio 

to the laptop, and power the Aero. 

Connect the ground station radio to your 

laptop using the micro-USB cable. Open 

Mission Planner. 

Ground station laptop w·1th racf1o connected 

3 

Select Flight Data to view live data from the Aero. 

2 

Select 57600 and AUTO, then select CONNECT. 

(When connecting directly to Pixhawk's 

micro-USB port, set the rate to 115200.) 

; : 

Mission Planner Connect tool (top-right corner)) 

Mission Planner Right Data 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 

system f---+ r----

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 of the map depends on the configuration of the 

mission. Planning a mission that captures high-quality images 

requires balancing the Aero's operating parameters with the 

environmental factors at the survey site. 

Operating Parameters 

Camera Canon S100 

Camera Orientation Portrait (side facing forward) 

Operating Altitude 80-120 m 

Standard Operating Altitude 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 1 km2 

Minimum Photo Interval 2 seconds 

8 
Mission Planner allows you to plan the mission away from the mapping location; 

however, it is important to assess the environmental conditions on site at the time 

of the mission and adjust the flight plan if necessary. Alternatively, you can plan 

the entire mission at the mapping location. To create or alter the mission, Mission 

Planner requires an Internet connection to access the maps. If you're unable to 

access the Internet on site, follow the instructions below to pre-fetch the maps 

within Mission Planner while you have Internet access. 

Open Mission Planner, select Flight Plan, and 

zoom to your flying location. 

Mission Planner Flight Plan tab: zoom to mapping location 

3 

Mission Planner will attempt to load the map data from the current level of zoom down to the 

closest level of zoom available. However, it can take hours to pre-fetch every level of zoom, 

and it is unlikely that the closer levels will be useful in planning the mission. To shortcut this 

process, check the slider on the right side of the map. The levels of zoom are represented by 

this slider from 0 (bottom) to 25 (top). Press the ESC key to skip levels of zoom at a greater 

detail than you need for mission planning. 

2 

Right-click on the map, select Map Too/and 

Pretetch, and accept the defau~ prompts. 

Mission Planner will download the maps 

for the selected location to your computer. 

Mission Planner Flight Plan tab: Select Prefetch 
To begin planning the mapping mission, select the area you want to map using 

the Polygon tool. You'll be able to adjust the size and shape of the polygon later in 

the mission configuration process. 

2 

Select Flight Plan, and zoom to your 

mapping location. 

Right click on the map. Select Draw Polygon and 

Add Polygon Point. Click and drag to add points 

around the area you want to map. 

Mission Planner Flight Plan tab: 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. Support for imperial units in Mission 

Planner is coming soon; check 3DR.com/Aero-Mfor updates. 

Mission Planner Flight Plan tab: draw polygon 

3 

Right click on the polygon. Select Auto WP and 

Survey (Grirf) to open the Survey Tool. 

Mission Planner Flight Plan tab: open Survey tool 

10 
The Survey tool allows you to configure a mapping mission according to the 

Aero's operating parameters and the current environmental conditions at the 

mapping location. First, set the default values for the Aero. 

Mission Planner Swvey tool 

t 

Set Camera 

Canon S 1 00-S 120 

Set Camera Orientation 

Uncheck the option for Camera top 

facing forward. 

Set Default Speed 

15m/s 

Apply Survey Speed 

Check the option for Use speed for this mission. 

If unchecked, the mission will use the Aero's 

default speed of 15 m/s regardless of the 

speed selected in the Survey Tool. 

11 
Next configure the angle of the flight path for the current wind conditions. 

Mission Planner Survey tool 

Mission Planner Tip: Adjust Polygon 

Click and drag the red polygon points to adjust the size 

and shape of the polygon from the Survey Tool. 

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 crosswind. 

No. of Strips 

Adjust the angle so that the Aero makes as few turns as possible to 

complete its course. The No. of Strips parameter shows how many 

passes the plane will make as you adjust the angle. 

Review Wind Conditions On-Site 

Always assess the wind conditions at your survey site at the time of 

the mission and adjust the mission accordingly. 

A 

Configure the flight path parallel with 

the wind in low winds (1-6 m/s). 

Configure the flight path perpendicular to the 

wind in high winds (7 -1 0 m/s). 

Use caution when flying in winds over 1 Onn!s. Mapping results 

may degrade as a result of inability to make headway or maintain 

appropriate groundspeed. 12 
The survey attitude determines the duration of the mission and the ground 

resolution of the final map. Adjust altitude to balance flight time and power 

consumption with the current environmental condit'1ons. 

Mission Planner Survey tool 

Check Ground Resolution 

Ground Resolution is the centimeters per pixel that you will have 

in the map and corresponds to the amount of detail that you 

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 appropriate for 

your flying area and local regulations. 

Check Flight Time 

Right Time estimates the duration of the mission. The total estimated ftight 

time must be under 40 min for a fully charged Aero battery. To decrease 

flight time, increase altitude or speed. 

High winds, humidity, high altitude, and extreme heat can affect power 

consumption and reduce flight time. Consider the environmental factors at 

your site when configuring flight time. 

13 
With the basic parameters in place, verify that the photo interval calculated from 

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

Mission Planner Survey tool 

Check Photo Interval 

Photo Every must be longer than 2 seconds for the 8100 camera. 

Altitude 

Increasing altitude increases photo interval. 

A 

Keep altitude below 120 m, and ensure that the altitude is 

appropriate for your flying area and local regulations. 

Speed 

Decreasing speed ·Increases photo interval. 

A 

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

14 
Now select a takeoff and landing pattern, either manual or automatic. 

Mission Planner Survey tool 

Takeoff and Land WP's 

For automatic takeoff and landing 

Check the Add Takeoff and Land WP's option. 

Uncheck the Use RTL option. 

This will create a takeoff waypoint and a placeholder waypoint for the landing 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 Add Takeoff and Land WP's option and the Use RTL options. 

This will create a takeoff waypoint so the Aero will automatically climb to the survey 

altitude before heading to the first waypoint. The Aero will return to circle over the 

launch point after completing the mission. 

For manual takeoff and landing 

Uncheck the Add Takeoff and Land WP's option 

Check the Use RTL option. 

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

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

15 
The Survey tool includes the following advanced configuration options. These options 

allow you to customize the mission to comply with best operating practices. 

Mission Planner Survey tool: advanced options 

r---tcamera Config 

...._J The options under the Camera 

Config tab allow you to configure 

a camera other than the S1 00 

and won't be used for operating 

the Aero. 

Mission Planner Survey tool: advanced options 

Check Advanced Options 

to view the Survey Tool's advanced configuration options. 

Select Grid Options 

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

...._J The Aero has a minimum turning radius of 90 degrees. To accommodate the 

sharp angles of the survey mission, set both OverShoot parameters to 50 to 

have the Aero overshoot the waypoints on either side of the polygon by 50% 

to ensure that the complete area of the polygon is covered by the images. 

OverShoot will affect flight time. Ensure that the total estimated flight time is 

less than the Aero's maximum ftight time of 40 minutes. 

Adjust StartFrom 

During the mission, you will maintain contact with the aircraft through the RC 

controller and ground station signals. If your mission is likely to experience a 

loss of signal, it is best practice to start from the corner of the mission farthest 

from the launch point. In this example, Topleft is the corner of the mission 

farthest from the launch point. 

Adjust Overlap and Sidelap 

Overlap and sidelap are set to 50% and 60%, respectively, by default. See 

page 42 for an in-depth discussion of these parameters. 

16 
Before accepting the survey, verify that the mission complies with the 

Aero's operating parameters. 

Mission Planner Survey tool 

Operating Parameters 

Camera 

Canon S 1 00-S 120 

Altitude 

80-120 m 

Camera top facing forward 

unchecked 

Flying speed 

9-15 m/s 

Use speed for this mission 

checked (optional if speed set to default speed of 15 m/s) 

Photo Every 

greater than 2 s 

Flight time 

under 40 min depending on environmental conditions 

Accept 

Select Acceptto create this mission. After accepting, you 

will need to reconfigure the survey completely to make any 

adjustments. 

If Mission Planner prompts you for a home altitude, enter 

the altitude that you specified in the Survey tool. 

A Do not accept the mission if any of the parameters 

exceed the Aero's operating limits. 

17 
If you selected automatic landing in the Survey Tool by checking the Add Takeoff and Land WP's option and unchecking 

the Use RTL option, you will need to configure the landing waypoint pattern manually at this step in the mission planning 

process. 

To begin, determine the direction of the wind and select an unobstructed area 200-500 min length leading to the 

launch point, into the wind. On the main Flight Plan screen, create a series of waypoints along this path to decrease 

altitude gradually from the survey altitude to 0, ensuring that: 

» Turns along the 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 of the waypoint you would like to add, and select Insert WP. For 

each waypoint you add to the mission, Mission Planner will prompt you for the new waypoint's place in the script: Add 

the series of landing waypoints immediately before the LAND waypoint in the script of events. For the first waypoint in 

the pattern, add it to the mission immediately following the DO_SET_CAM_TRIGG_DISTwaypoint at the end of the mission. 

Specify the altitude of each waypoint and check the distance and gradient angle in the waypoints table. 

Mission Planner Flight Plan tab: Correctly configured automatic !an ding pattern 

To add a waypoint, right click on the map in the location of the waypoint 

you would like to add, and select Insert WP. For each waypoint you add to 

the mission, Mission Planner will prompt you for the new waypoint's place 

in the script Add the series of landing waypoints immediately before the 

LAND waypoint in the sc1ipt of events. For the first waypoint in the pattern, 

add it to the mission immediately following the OO_SET_CAM_TRIGG_OIST 

waypoint at the end of the mission. Specify the altitude of each waypoint 

and check the distance and gradient angle in the waypoints table. 

Set altitude. 

Check Grad%. 

Locate the Takeoff waypoint in the mission script and set the 

first option in the row to assign the takeoff angle. 

Set the takeoff angle to 20-25 degrees depending on the 

length of your takeoff area. 

Mission Planner Tip: Configure Waypoints 

Measure the distance between waypoints by right-clicking at one 

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

and select Measure Distance again. A dialog box will open with the 

distance between the two points. 

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

for a waypoint. 

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

Use the Delete option to remove a waypoint from the mission. 

18 
For the Aero to run the mission, write the waypoint file to the autopilot. 

Don't forget to save the waypoint file to your ground station for future use. 

Mission Planner Flight Plan tab: 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 yourself with 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. If the 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 of the plane 

in the event of an unsafe situation. 

The Aero will not avoid obstacles on its own, including during missions. As the 

operator, it's your job to recognize and avoid obstructions while flying. When 

planning missions, ensure that the selected altitude is appropriate for all 

geographical features of the area, including terrain. 

Location 

t 

.. ~ 

visual line 

of sight 

Sm1les{8km) • 

400ft 

(120m) 

Always fly below 400 It {120 m) and within your visual 

line of sight. Don't let the Aero get too far away from 

you; make sure you can always see its orientation. 

Don't fly in low light, rain, or other conditions that 

might impede visibility. 

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 1 00 feet {30 m) away from 

people, vehicles, and buildings. Make the safety 

of people and property your first priority! 

Propeller 

• ••• 

Spinning propellers can cause serious injury. The safety 

button indicates the status of the motor to help you 

prevent hazardous contact with the Aero's high-speed 

propeller. 

When the Aero is powered on, the safety 

button will blink red, indicating that the motor 

is inactive and the propeller is safe to handle. 

When you're ready to fly, press and hold the safety 

button until it shows solid red. This indicates that 

the motor is armed and the propeller will spin if the 

throttle stick is raised. To make the propeller safe 

to handle again, press and hold the safety 

button until it blinks red. 

You can find more safety tips throughout 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) 

If the terms above are unfamiliar to you, visit 3DR.com/Aero·M, and dive into the 

exciting world of planes with our Introduction to Flying Fixed-Wing Aircraft. 

body 

right wing 

motor 

Aero tail 

video system compartment 

(above battery compartment) 

rudder 

,--_...,._ _.; .. ·.~~------.~ elevator 

ground station radio controller 

22 
Tail 

Slide the horizontal stabilizer into the vertical stabilizer along the orange groove. 

Make sure not to stress any of the components on the tail. 

( 

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 of the horizontal stabilizer, open the blue clasp at the end of the servo rod. Insert the pegs on the clasp into the open 

space in the servo horn, and close the clasp. Slide the blue rubber ring over the c!asp to secure it in place. 

I 

clasp 

servo horn 

23 
Wings 

Attach a wing onto each side of the spar. Do not twist the wing 

or the spar so as not to stress the foam. 

Place the wings over the body of the Aero with the foam 

squares fitted into the matching space in the electronics 

compartment. Make sure not to pinch the AILE cables. 

~­

F-~~ 

' 

Locate the two cables inside the electronics compartment marked AILE. Connect these 

cables to the two cables on the wings marked AILE. (Either of the wing cables can 

connect to either of the plane cables; the order doesn't matter.) 

Locate the four large rubber bands. Use the bands to 

secure the wings to the body of the Aero by the four 

orange knobs on the body around the wings. 

Attach two of the bands to the two knobs on one of the 

short sides and opposite knobs on the opposing side . 

Repeat on the other short side with the remaining two rubber bands, resulting in two pairs of 

opposing right triangles. 

•.::: ·:~>-,_ • • /;;::-;: • ----~ .. ·:::.c-.. 

• <::. • .. .:·:· 3 4 

.. ,. :~c:· • ---:...- ·~· • ·--;~"'-

.. 

• • .,, ~~ .. 24 
Propeller 

Locate the rings inside the propeller package. Remove the ring with 

the second~largest internal diameter, and insert it into the back of the 

propeller hub. 

Remove the nut and the washer from the motor, add the propeller w·1th the writing on the 

propeller facing towards the nose of the plane, add the washer and the nut over the propeller, 

and tighten the nut. 

··~ 

25 
Fly the 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 horizontally to turn left and right using the rudder. 

Move the 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 a mission 

Fly an autonomous mission. This is the mode that the Aero will use to create the map. 

Fly by Wire - assisted manual control 

Let the autopilot manage the control suriaces, and navigate based on where you want the Aero 

to fty. Fly-by-wire mode• (FBW) is the easiest way to fly and is the recommended mode for new 

operators. 

• ArduPiane mode FBWA 

Return to Launch (RTL) - recall to launch point 

Command the plane to circle over the launch point. The Aero will return to the posiTion where it 

acquired GPS lock and enter into a circle pattern at an altitude of 1 00 meters. 

Loiter - circle 

Activate GPS-positioned circling; the Aero will enter into a circle pattern with a radius of 60 meters 

at the current altitude. Move the right stick to adjust the position of the circle. 

Stabilize - stabilized manual control 

Stabilize mode provides manual control with an added autopilot safeguard: Release the right stick 

and the Aero will automatically return to a level flying orientation. Use stabilize mode for the freedom 

of manual control with return-to-level stabilization. 

Manual - full manual control 

Fly with fine-tuned manual control without autopilot assistance. Manual mode gives you the most 

direct input to the control suriaces, resulting in precise in-flight adjustment. Try manual mode if 

you're an experienced RC plane operator. 

To select a flight mode: 

First, set the GEAR/MIX switch to select a set of modes. Then use the 

FLAP/GYRO switch to 0, 1, or 2 to select a specific mode. 

With GEAR/MIX set to GEAR, 

set FLAP/GYRO to: 0 for Manual 

With GEAR/MIX set to MIX, 

set FLAP/GYRO to: 

1 for Stabilize 

2 for Loiter 

Ofor Auto 

1 for Fly by wire 

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 a few minutes. Once you see 

the green LED, the autopilot has acquired GPS lock. 

• •• • Initializing, please wait. 

• •• • 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, motor disarmed 

e e e e Active, motor armed 

The arming and disarming procedures ensure that you can safety start and 

stop the motor without risk of injury. 

The Aero's motor can spin when armed! Do not place your hands in the 

way of the propeller while the safety button is active (solid red). 

•••• 

• ••• 

•••• 

• • 

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~ to fly-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 of the Aero when the autopilot acquires 

GPS will be saved as the home position, and used as the coordinates for the launch 

point during RTL. If you plan to use auto, RTL, or loiter modes during your ftight, ensure 

that the Aero is located at a suitable launch point when powered, and the autopilot 

acquires GPS lock before takeoff, indicated by a blinking green status LED. 

28 
Before each flight, perform a physical component check, center of gravity check, and control checks in both manual and stabilize 

modes. If any of the components or assemblies in these checks are not secure, tighten the screws or use CA glue (super glue) to 

secure the components to the foam. 

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

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

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

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

I 

@ 

' ~r J tail servos wing servos t~ •\ 

2 

Check that the airspeed sensor is secured to the side of the Aero and the 

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. Hold the Aero with one finger on each of the clear, plastic balancing 

points shown below. These points indicate the Aero's center of gravity. 

I 

If the plane balances on your fingers, then the center of gravity is correct. If 

it won't balance, adjust the position of the battery until you can balance the 

plane on two fingers as shown below. 

--· :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 center of 

gravity . 

29 
Before flying, power and arm the Aero on the ground and complete these checks to verify that the control suriaces respond correctly to the control inputs. Place 

the plane on the ground, and set the mode switches to select manual mode. Move each of the sticks as shown, and check for the corresponding movement of 

the motor or control suriaces. 

Raise the throttle slightly until the motor spins, then 

immediately set the throttle back to fully down position. 

2 

Pitch down 

Pitch up 

~_v.~ Motor spins . 

..AI· I\'-. 

Do not raise the throttle more than just enough to spin the motor while 

the plane is on the ground, and do not place your hands in the way of 

the propeller while the motor is armed. 

_,.,.;:~~~ 

~ 

-·"'·''·~~~ 

~ 

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 of you. 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: Elevator tilts up. 

Test: Tilt the plane up. 

.•- Result: Elevator tilts down. 

31 
Auto-takeoff works by sensing the movement of the plane and launching it in that 

direction. Set the Aero to autonomous mode when you're ready to launch. 

Find a launching area with at least 100 feet of clear space in front of you. Face into 

the wind, and hold the body of the Aero in one hand under the center of gravity. Be 

careful not to place your hand in the way of the propeller! 

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

Aero will sense the throw, power the motor, and climb to the altitude specified by 

the takeoff waypoint before starting the survey mission. 

A DO NOT WIND UP YOUR THROW; if the Aero senses any backwards 

momentum it will attempt to launch in that direction. Use only forward 

momentum to throw to Aero! 

Automatic takeoff requires you to configure the takeoff angle during mission planning. See page 18. 

If you're new to planes, we recommend having a friend help you launch the 

Aero. Have your friend throw the Aero while you control the controller. 

We recommend setting the Aero to fly-by-wire mode for takeoff. Find a 

launching area with at least 100 feet of clear space in front of you. Face 

into the wind, and hold the Aero at the center of gravity. Raise the throttle 

to center position to start the motor. Be careful not to place your hand in 

the way of the propeller! 

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

angle. 

Once launched, the Aero will require immediate adjustment with the 

controller to navigate away from the ground and up to the desired altitude. 

Pitch up (right stick down) and add any other necessary controls based on 

wind, speed, and terrain. 

32 
To !and automatically at the end of the mission, the Aero requires the 

mission to be configured with a specific pattern of landing waypoints 

that gradually decreases the altitude so that the Aero can land safely. 

For instructions on configuring automatic landing, see page 18. 

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

» Fly a circle pattern above your landing area. 

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

an altitude of 20 to 40 meters. 

» When the plane reaches an altitude of 1 0 meters, set the throttle fully down to turn 

off the motor and glide down 

on a 15 to 20 degree down-pitch angle. 

After stopping the motor at an altitude of 10 m, keep your thumb on the throttle 

stick in fully down position to ensure 

that the motor does not accidentally spin during landing. 

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

the body of the plane instead of the nose. 

·······:~:·~~'?-

10m--... 

pitch up 

;d"" 1

.111ft It~ 

33 
If you 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 charger to 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 battery to the red 

connector. 

r 

3 Prepare on~board components 

Connect a fully charged battery to the transmitter inside the compartment in the nose of the 

plane. Remove the lens cap from the camera. 

- ~~-

~- ~ 1 +--Remove lens cap' 

4 Viewing video 

When using a 3DR Black Pearl Monitor to view your video, set the mode to DIV (M button 

changes modes), the channel to 8 (+ and - buttons), and the band to E (press the power 

button to access the menu). 

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

34 
Flyin~ Mappin~ Missions 

Before flying the mission, check the following: 

Camera is on with mission script ready and is secured into the 

mount with the mini-USB cable connected and the cap removed. 

Aero is powered and connected to the ground station with all pre-flight 

checks passed. 

The survey mission has been adjusted to account for present 

environmental conditions and saved to the Aero. 

Monitor the Aero closely during the mission using your 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, set the Aero to auto mode and launch according to the 

instructions in the Automatic Takeoff section of these instructions (page 33). 

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

in flight 

3 

4 

5 

6 

4 Distance to current waypoint > 

current waypoint number 

5 GPS status 

6 Battery status* 

Full battery: 16.8 V 

Low battery failsafe: 13.8 V 

6 End your flight at 14 V! 

Actions 

Change waypoints or restart a mission 

2 Change modes 

3 Change altitude 

Flight Map 

1 Current heading 

2 Direct path to current waypoint 

3 GPS-reported direction of travel 

1 

2 

3 

4 

6 

4 !\ctu3! f•!g'ot path 

5 Latitude, longitude 

6 Altitude 

35 
The Aero is programmed with a set of failsafe behaviors to prevent a crash in the event of a loss 

of one of the data or communication channels required for autonomous flight Although certain 

failsafe have assigned LED indicators and tones, '1t is unlikely that you will be able to see these at a 

distance. Monitor the Flight Data screen for failsafe indications. If a failsafe is triggered, the assigned 

behavior will activate. To override the failsafe behavior (RTL in most cases), use the controller to 

regain manual control. 

Regaining Manual Control 

To regain manual control during the mission, switch to fly-by-wire mode using the controller. If 

you're a confident operator, switch to stabilize mode. If you observe instability in the Aero's flight 

behavior or it the aircraft moves outside your designated safe flying area, switch to RTL. Turning off 

the controller will automatically trigger an RTL and can be used in an emergency situation as a hard 

recall command. 

RC Controller Signal Failsafe 

Physical obstructions and interterence from nearby wireless signals can affect the Aero's connection with the RC controller. 

If the Aero loses contact with the controller, it will return to the launch point automatically and 

enter into a circle pattern above the launch point, indicated by a blinking yellow status LED. 

If the controller failsafe is triggered, wait for the Aero to return to the launch point, then regain 

manual control and either land or restart the mission. 

0000 ~ 

./ !"""" • .-::::;:.., 

f 

Low Battery Failsafe 

Environmental conditions can affect power consumption. Use the Mission Planner Flight Data 

display to monitor the vottage of the battery during ftight 

If the battery reaches 13.8 V, the Aero will return automatically to circle above the launch point, 

indicated by a blinking yellow status LED and a quick repeating tone. 

"" 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 Quality Check 

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 or the 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 select the 

playback button to review the images. 

playback button 

Unlock the SO card and load into your ground station. Select the OCIM folder and locate 

the folder for your flight. Copy the files into a project folder on the ground station and 

delete them from the SO card. 

~~~~~··~·::~::·~~--~~J:-. -~~ 

~s J ~-~~ 

SD card file structure: Download images 

38 
Pix4D uses the GPS data from the Aero's log file to georeference the images. To download the Aero's 

dataflash log, power the Aero and connect to Mission Planner. The download process will be faster if 

you connect the micro-USB cable directly to Pixhawk's micro-USB port instead of connecting using 

the ground station rad"1o. (When connecting directly to the Aero, set the rate to 115200.) 

On the Flight Plan screen, select the DataFiash Logs tab under the heads-up 

display, and select Download DaiBF/ash Log over Mavlink. 

Mission Planner: Flight Data heads-up display 

The Log window shows the Aero's recent flights. Select the flight for your 

mission, and select Download These Logs. This will save the log file to your 

computer in the location displayed under the list of flights. 

To retrieve the log file, access your computer's file structure under Program Files/Mission Planner/logs! 

PLANE, and select the .log file for the date of your flight. 

Mission Planner: Download Logs Program Files: Retrieve log file 

39 
Open Pix4D Mapper, and create a new project. 

.JliRobotics 

UAV TECHNOLOGY 

:/Jiijj~¥1_ Help Guided Tour Upgrade 

2 

Select Aerial Nadir as the project 

type. 

After creating the project, select the Local Processing screen (Process menu}. Check the 

option for Initial Processing and Rapid Check. Uncheck all other local processing options, and 

select Start. 

Pix4D will generate a Quality Report that will indicate if the images are ot sufficient quality to 

create a map. 

Full Processin~ 

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

After adding the images, select From File to add the geolocation data from the Aero's log file. In the 

pop-up window, 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 

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2014-4•-251630:49 

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Ground Conlrol Polnl (GCP) COO!dinale syal&rrL 

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Timel01tllibalprot:e$Sing(wi!M\11n'POII): 

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CameraOp~miultionquekty: 

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Georelerencing: 7 GCPs(7 30). o 045m 

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PlX4D 

40 
Aerial Imaging Concepts 

3DR EAI 

Image Quality Troubleshooting 

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 only the images required to create the map. The Pixhawk monitors the distance traveled by the aircraft and sends 

a command to the camera to capture an image at the distance interval specified by the camera trigger distance parameter (CAM_ TRIGG_D/Sn. This 

parameter is set by the Mission Planner Survey tool during survey configuration by calculating the minimum distance between images based on the 

parameters specified tor the survey (altitude, overlap, sidelap). This distance-based imaging allows for more precise data collection, resulting in less 

images and data storage cost. Once configured, the Survey tool creates an event at the start of the mission script (after takeoff) to set the camera 

trigger distance to the specified interval and an event at the end of the mission (before landing) to reset the camera trigger distance to 0. 

Time-Based Imaging 

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

capture images over an area without planning a mission. This time-based imaging results in more images per area, and therefore more processing 

time and storage cost. See the Trigger Type options on page xx to enable time-based imaging. 

Overlap and Sidelap 

To capture images for the map, the aircraft flies a lawnmower-like pattern in strips across the survey site. The front-to-back overlap between 

sequential images is called overlap; the side overlaps of adjacent pictures in different strips is called sidelap. The overlap and sidelap parameters 

in the Survey tool (see Advanced Options page xx) determine the distance between images and the number of images to be captured based on 

the projected ground area that each image will cover, called a footprint. Increasing overlap and sidelap improves the accuracy of the map while 

increasing flight time and processing time. 

In the Survey tool, Distance between Images shows the specified 

camera trigger distance that will be assigned to the mission. 

You can also see the projected image footprint size and the 

total number of images to be captured. 

:~·. 

Default overlap: 50% 

Default sidelap: 60% 

42 
3DREAI 

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

UAV aerial photography. 

Start and Stop Script 

Ensure the camera is set to P (program) mode before powering the camera. Upon startup, 3DR EAI 

starts automatically and listens for commands from the autopilot, indicated by waning tor USB 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 select the MENU button. 

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. SET button. These parameters are configured for the S100 and do not require 

adjustment as part of standard operation. 

Script menu 

Trigger Type 

This parameter allows you to control how the camera captures images. Trigger type defaults to USB 

for distance-based imaging during mapping missions. For time-based imaging, select Interval and 

specify the length in the Shot Interval parameter. 

Trigger Type default: USB (mapping) 

Variable intervalometer: Interval (default to 2 seconds, specified by Shot lnterva~ 

Script menu: Trigger Type 

Memory Reset 

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

the camera in this case, visit 3DR.com/Aero-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 Quality Troubleshooting 

If you observe poor image quality during the spot check or if you receive error 

messages during processing, use the settings below to troubleshoot the image quality. 

Blurry Images 

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

TargetTv(shutter speed) default: 

To correct moderate motion blur: 

To correct severe motion blur: 

Overexposure 

1/1250 

Set to 1/1600. 

Set to 1/2000. 

If the images are overexposed but do not show any motion blur, it can be due to flying in extremely 

bright conditions. To correct this, set the Allow use of NO filter parameter to YES in the script menu. 

Allow use of NO filter default: No 

To correct overexposure: Set to Yes. 

Processing Errors 

If you receive errors from Pix4Dmapper regarding the images, dataset, or matching points, increase 

the overlap and sidelap during suNey configuration to improve the quality of the 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: Target Tv 

Example image; overexposure Script menu: NO Filier 

Mission Planner Survey tool Advanced Grid Options: Overlap and Sidelap 

44 
Operational Troubleshootin~ 

No Images Captured 

1 If the camera did not capture any images during the mission, first perform a 

physical inspection on the Aero. 

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

Camera {side) 

Are the AUX OUT 6 pins connected on Pixhawk? 

~~ 8 7 6 54 3 2 lr:u:EDI 

••••.•..• ·e::ll· •••. -

:::::::~::a:::::: 

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

Pixhawk (side) 

Is the camera battery charged? Unlock the 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 camera trigger distance parameter to 1 m. 

Power the aircraft and connect to Mission Planner. Select Config/Tuning and 

Full Parameter List. Change the CAM_ TRIGG_D/ST parameter to 1 , and select 

Write Params. Now carry the Aero for a few meters to see if the autopilot 

triggers the camera. 

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

45