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Hawkeye Aircraft Mk-III sUAS Aircraft Flight Manual
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Contents

Log of Revisions.............................................................................................................................................6

Revision Highlights........................................................................................................................................7

Purpose .........................................................................................................................................................8

Introduction ..................................................................................................................................................9

Notice to Operators....................................................................................................................................10

Safety Guidelines ........................................................................................................................................11

Limitations ..................................................................................................................................................12

Aircraft: ...................................................................................................................................................12

Battery: ...................................................................................................................................................12

Flight: ......................................................................................................................................................12

Operational Environments:.....................................................................................................................13

Specifications..............................................................................................................................................14

Overview.................................................................................................................................................14

Flight Characteristics...............................................................................................................................15

Sensor Types...........................................................................................................................................15

Ground Station Technical Specification and Characteristics ..................................................................15

Battery and Charging Technical Specification and Characteristics.........................................................16

Battery Charger Technical Specifications and Characteristics................................................................16

Onboard Instruments..............................................................................................................................17

Normal Procedures.....................................................................................................................................18

First Flight Of The Day Checklist .............................................................................................................18

Pre-Flight Checklist .................................................................................................................................18

Launch Checklist: ....................................................................................................................................19

Landing Checklist: ...................................................................................................................................19

After Landing Checklist ...........................................................................................................................19

Shut Down/Secure Checklist...................................................................................................................19

Supplementary Procedures ........................................................................................................................20

Aircraft Control Method .........................................................................................................................20

Battery - Charging ...................................................................................................................................20

Controller Preflight .................................................................................................................................21

Communication Configurations..............................................................................................................21
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Downloading Maps for Offline Use.........................................................................................................22

Engine Start & Control Systems Check ...................................................................................................22

Flight Planner Preflight ...........................................................................................................................22

Ground Station – Pre-flight.....................................................................................................................23

Ground Station – Setup Procedure.........................................................................................................23

Imagery Recording. .................................................................................................................................24

Landing Procedure ..................................................................................................................................24

Motor Preflight .......................................................................................................................................25

Propeller Preflight...................................................................................................................................25

Spectrum Analysis Pre-flight Procedure .................................................................................................25

Takeoff Procedure...................................................................................................................................26

Non-Normal Procedures. ............................................................................................................................27

General Guidelines and Situations Without Checklists: .........................................................................27

Aborted or Failed Launch and Recovery.............................................................................................27

Airframe Damage................................................................................................................................27

Autonomous Emergency Recovery Scheme .......................................................................................27

Battery or Electronic Systems Failures................................................................................................27

Communications Failures....................................................................................................................28

Critical Systems Abort Procedure .......................................................................................................28

Emergency Flight Termination System ...............................................................................................28

Emergency Landing Safety ..................................................................................................................28

Engine Failure......................................................................................................................................28

Manual Override Capabilities..............................................................................................................28

Minimizing Critical Component Failure...............................................................................................28

Navigation System Failure...................................................................................................................29

Pilot Warnings.....................................................................................................................................29

Severe Weather ..................................................................................................................................29

Aircraft Not Throttling ............................................................................................................................29

Battery Failure.........................................................................................................................................29

Ground Station RED LED Flashing. ..........................................................................................................30

Not Responding To Commands ..............................................................................................................31

Returning To Home Location ..................................................................................................................31
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Loss of GPS..............................................................................................................................................32

Loss of Ground Station Power – Not Responding to Commands...........................................................32

Loss of Ground Station Power – Returning to Home Location...............................................................33

Loss of Telemetry (RED X Through Signal)..............................................................................................33

Pilot Incapacitation .................................................................................................................................35

Sudden Uncommanded Loss of Altitude ................................................................................................35

Transmitter Loss of Power. .....................................................................................................................36

Transmitter Out of Range. ......................................................................................................................36

Transmitter Not Bound...........................................................................................................................36

Uncommanded Aircraft Movement........................................................................................................36

Uncommanded Loss of Altitude..............................................................................................................37

Appendix 1 – Battery Management Register/Tracking...............................................................................38

Appendix 2 – Flying and Equipment Running Log.......................................................................................40

Instructions for use .................................................................................................................................40

Flying and Equipment Running Log.........................................................................................................41

Appendix 3 – Packing/Pre-Dispatch Checklist.............................................................................................43

Appendix 4 – Ground Control Station Background.....................................................................................45

General:...................................................................................................................................................45

Control Method ......................................................................................................................................45

Data Links................................................................................................................................................45

Ground Control Station Instrumentation ...............................................................................................45

Launch, Takeoff and Recovery Methods.................................................................................................45

Redundant Ground Control Station Systems..........................................................................................46

Communication Rates.............................................................................................................................46

Appendix 5 – Communications Background...............................................................................................47

Appendix 6 – Payload Background .............................................................................................................48

Appendix 7 – Security Plan Background .....................................................................................................49

Appendix 8 – Emergency Contingency Plan Background ...........................................................................50

Appendix 9 - Mission Planner Quick Reference Guide ...............................................................................51

Immediate Landing Needed:...............................................................................................................51

Pause Mission .....................................................................................................................................51

Resume Mission..................................................................................................................................52
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Change Airspeed/Altitude...................................................................................................................52

Appendix 10 – Using the Flight Planning Software.....................................................................................53

Appendix 11 – Maintenance Logs...............................................................................................................62

Appendix 12 – Takeoff, Cruise/Survey, and Recovery Methods Overview ................................................69

General....................................................................................................................................................69

Takeoff Expanded..................................................................................................................................70

Cruise/Survey Expanded.........................................................................................................................71

Landing Expanded .................................................................................................................................73

Appendix 13 – Assembly Guide ..................................................................................................................74

Standard Items........................................................................................................................................74

ASSEMBLY STEPS.................................................................................... Error! Bookmark not defined.75
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Log of Revisions

Revision Number Revision Date Revision Number Revision Date

1 1/15/2015 26

2 27

3 28

4 29

5 30

6 31

7 32

8 33

9 34

10 35

11 36

12 37

13 38

14 39

15 40

16 41

17 42

18 43

19 44

20 45

21 46

22 47

23 48

24 49

25 50
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Revision Highlights

Document creation. 
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Purpose

This Hawkeye Aircraft Mk-III Aircraft Flight Manual (hereinafter referred to as AFM) is provided for usage 

by the PrecisionHawk authorized flight team. 

This document outlines specific Safety Guidelines, Limitations, Checklists, Normal Procedures, NonNormal Procedures, and Flight Profile information as detailed by both the Manufacturer and operational 

best practices determined by the Aircraft Owner.

For specific equipment installations and schematics, firmware updates/requirements, Aircraft assembly, 

software installations, and connecting external components, the manufacturer provided materials 

should be consulted. 

This document has been fully coordinated with PrecisionHawk’s Flight Operations Manual to assure 

consistency and provide necessary cross-checks which further enhance the safety margin of each 

operation.
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Introduction 

The Aircraft HawkEye Mark III Unmanned Aerial Vehicle (hereinafter referred to as Aircraft) is a 

lightweight UAS, weighing in at approximately 5.5 lbs. with payload. The body construction is aircraft 

Styrofoam, fiberglass and composite material. It employs a single 3900 mAh LiPo battery pack and has a 

typical flight time of forty-five (45) minutes (depending on the payload). It is outfitted with a 3DRobotic 

APM autopilot. The APM autopilot is a fully integrated autopilot module that stabilizes the aircraft in 

flight using an on-board Inertial Measurement Unit (IMU). The Aircraft autopilot module receives 

waypoint commands, which then sends commands to the motor and control surfaces to achieve the 

desired flight path. While the 3DRobotics autopilot is an open-source product (meaning that the user 

community is free to modify the hardware and software), PrecisionHawk has extensively tested one 

version of hardware and one version of firmware that is used on every Aircraft. When PrecisionHawk 

receives APM modules from 3DRobotics, PrecisionHawk rolls back the firmware and hardware (if 

required) to the approved version for production release, to ensure quality and consistency from one 

Aircraft to the next. The Aircraft is hand-launched, and can be landed automatically or manually. The 

landing style is traditional, but belly-lands as opposed to having landing gear.

The Aircraft has multiple payload configurations: A 14 MPixel RGB camera, four multispectral imagers: (i) 

Tetracam ADC Lite / Mini-MCA and a high-resolution imager, (ii) a high- and low-resolution 

microbolometer, (iii) a line-scanning LIDAR, and (iv) a push broom or snap shot hyperspectral sensor. 

Through these configurations, and through the Aircraft’s design, an operator can collect high-resolution, 

remote sensing data with minimal effort. 

Operationally, the Aircraft automatically computes flight paths, survey parameters, take-off and landing 

paths, as well as other vital information. Once a survey is complete, software will pull information from 

the aircraft computers and automatically connect to Wi-Fi or other networks and transfer all remote 

sensing data, flight information and diagnostics to remote servers. Users are never required to manually 

generate plot mission paths or build flight plans based off of weather conditions. Instead, the aircraft 

will automatically adapt to its current conditions. 

The artificial intelligence that operates all elements of the UAV and makes aerial and data decisions 

throughout the PrecisionHawk system is the core reason why PrecisionHawk has been able to secure 

sub 1 cm per pixel imagery, a market-leading aerial resolution. In addition, the aircraft is equipped with 

advanced diagnostic capabilities, enabling it to monitor all facets of the mission from power 

consumption to airframe fatigue to survey quality. 

The Aircraft connects to the Pilot through the PrecisionHawk Flight Planner and ArduPlane Mission 

Planner Ground Control Station Software via long range dedicated radio link. Additionally, the Futabacompatible RC transmitter interface allows direct interaction.
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Notice to Operators

It is the responsibility of the owner/operator and PIC to operate the aircraft in a safe manner consistent 

with their Flight Operations Manual and this Aircraft Flight Manual. Adhering to these guidelines helps 

significantly reduce the risk of injury to persons or damage to property.

Each owner authorizing, and PIC using, the Aircraft is responsible for compliance with all regulations 

governing the use of the Aircraft. 

PrecisionHawk does not accept any responsibility for the damages or financial compensations which 

may arise as the result of an owner operating or authorizing a pilot to operate and failing to comply with 

any of the respective regulations, leading to a claim of a third party against the user. 
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Safety Guidelines

1. The PIC should always act according to his/her best judgment, focusing on the safety of the people and 

the environment of the operation.

2. All operations must be operated according to all company documentation and FAA approvals.

3. All operations must be compliant with sterile area/airspace control procedures as outlined in company 

documentation. 

4. The PIC must always give way to other aircraft. 

5. Any unapproved modification of the Aircraft is prohibited.

6. To ensure safe and successful flying, always fly in accordance with your location regulations, 

manufacturer recommendations, and this AFM.

7. Before you fly, determine the boundaries of your safe flying area. 

8. Always fly altitude limits in accordance with the PrecisionHawk Flight Operations Manual. 

9. Flight Operations must remain within your visual line of sight. 

10. Don’t fly in low light, heavy wind, rain, or other conditions that might impede visibility.

11. Always fly safe distances from people, vehicles, and buildings in accordance with the PrecisionHawk Flight 

Operations Manual.

12. Always comply with the PrecisionHawk Flight Operations Manual guidelines for flight around towered and 

non-towered airports. 

13. Before you fly, assess the features of your flying area. Determine the boundaries of the safe flying area, 

and be prepared to recover the UAV manually if it goes outside this area. Be aware of any risks at your 

location, including bodies of water, structures, trees, etc. Designate a few areas as safety zones where you 

can safely land the UAV in case of an unsafe situation.

14. Radio towers, cell phone towers, and nearby WiFi signals can cause interference with the radio system 

and decrease its range. 

15. Avoid flying in populated areas to avoid sources of interference.

16. Always keep the controller easily accessible, and be prepared to regain manual control at any time. Regain 

manual control during the mission by switching to standard mode using the controller. 

17. The PIC is responsible for ensuring the safety of the people around the operating site. Comply with all 

company guidelines regarding Sterile Area and Airspace Control in the Flight Operations Manual. 

18. Do not use incompatible components or alteration of the Aircraft in any way outside of the instructions 

provided by PrecisionHawk.

19. Always operate the Product in compliance with all laws and regulations. 

20. Understanding and compliance with applicable airspace regulations, the Federal Aviation Administration 

rules, guidelines and/or recommendations is mandatory. 

21. Do not use of the Aircraft in a manner that violates any applicable rules or regulations. 

22. Do not operate the Aircraft if it is damaged or if any components are in worn condition. 

23. Replace any worn or damaged components before each flight per the FAA approved guidelines for 

PrecisionHawk. 

24. Do not attempt to fly longer than the battery’s safe capacity. 

25. Always ensure the batteries are fully charged prior to use. 

26. Always keep moving parts clean. 

27. Always keep parts dry. 

28. Do not operate the Aircraft with excess weight attached.

29. Always remove batteries after use. 
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Limitations

Aircraft:

o Damaged propellers should be replaced by new propellers.

o Do not use any aged, chipped or broken propellers.

o The Aircraft is not designed for aerobatic maneuvers or high speed flight. Do not conduct 

aggressive or erratic maneuvers at high speeds or fly in wind conditions above 26 mph (43 km/h).

o Maximum Payload Weight 2.2 lbs. (1000 g)

o Maximum Gross Takeoff Weight 5.5 lbs. (2500 g)

Battery: 

o Each battery requires an individual Battery Management Register as a record of the number of 

charge / discharge cycles it has experienced. Usage of this form is required.

o The life span of each battery is 250 charge / discharge cycles. Do not exceed this number. 

o The LiPo battery must be charged using the charger provided. Failure to charge the battery with 

a compatible charger may cause a fire resulting in personal injury and/or property damage. 

o Never leave charging batteries unattended. Always constantly monitor the temperature of the 

battery while charging. 

o If at any time, the battery begins to balloon or swell, discontinue use immediately. If charging or 

discharging, discontinue and disconnect. Continuing to use, charge or discharge a battery that is 

ballooning or swelling can result in fire. 

o The battery charger must be disconnected when not in use. 

o Always examine the charger for damage before each use. 

o Do not use a damaged charger.

o Always inspect the battery before charging. Never charge a damaged battery. 

o Batteries must not be charged outside recommended levels.

o Always transport or temporarily store the battery in a temperature range of 40–120° F (5–49° C). 

Do not store battery or model in a car or direct sunlight. If stored in a hot car, the battery can be 

damaged or even catch fire. 

o Never attempt to dismantle or alter the charger. 

Flight:

o After assembly and before the first flight, the PIC must perform a First Flight of the Day Checklist

and Pre-Flight Checklist detailed in this AFM.

o Maintain a safe distance from people and obstacles as detailed in the Flight Operations Manual. 

o All operations must be within Line-Of-Sight (LOS).

o The hand controller must be held at all times during the flight.

o All other Aircraft have the right of way.

o Conduct operations in accordance with the Flight Operations Manual.

o Completion of the Flying and Equipment Running Log is MANDATORY. (See Appendix 2)

o The GPS connection (indicated by a BLUE pulsating LED) is MANDATORY before Takeoff. Do not 

takeoff without this connection. 

o Maximum Flight Time (with payload) 45 minutes.

o Maximum endurance 1 hour.

o Maximum Speed 43.5 mph (70 km/h)

o Maximum Climb Rate 1181 fpm (6 m/s).
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o Maximum Range 18.6 miles (30 km).

Operational Environments:

o The sUAS may not be operated in excessive rain

o Do not fly in dusty or sandy environments.

o Maximum Density Altitude 13,123 ft. (4,000 m) MSL

o Minimum cruise altitude 100 ft. (30m) above ground.

o Maximum Surface Wind for Takeoff 26 mph or 23.3 kts (12 m/s).

o Maximum Operating Temperature 140°F (+60°C).

o Minimum Operating Temperature -22°F (-30°C).

o Flight in known icing conditions should be avoided. Icing conditions should be assumed when 

there is visible precipitation (cloud, fog or rain) and the temperature is below 28°F (-2°C) to 39°F 

(+4°C).
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Specifications

Overview

Manufacturer: PrecisionHawk Inc.

9001 Glenwood Avenue

Suite 100

Raleigh, NC 27617

Model: HawkEye MK III 

Type: Single Electric Motor Fixed Wing 

Airframe Dimensions Wingspan: 150cm Length: 100cm

Airframe Weight: 2.75 lbs. (1.25 kg)

Wingspan: 4.9 ft. (1.5 m)

Length: 2.6 ft. (0.8 m)

Propeller Diameter: 0.8-0.9 ft. (25-28 cm)

Landing Gear: None

Battery Weight: 0.33 lbs. (0.15 kg)

MTOW: 5.5 lbs. (2.5 kg)

Motor Type: E-Flight Park 480 1020 Kv 

Battery Powered electric motor, tractor configuration.

0.11 lbs. (50 g)

Power Source: Lithium-Polymer Battery (3900 mAhr)

Battery Power: 12.6 volts 

1 Lithium-Polymer battery, 3900 mAhr

Operating Speed: 26.7 mph (43 km/h).

Internal Components: Flight Instruments: 3 axis rate gyros, pitch/roll/yaw sensors, heading, 

altitude, airspeed, temperature, humidity 

Navigation: GPS, magnetometer, inertial measurement unit 

Two on-board computers dedicated to:

1. Vehicle control and stability (Flight Control Computer – FCC)

2. Mission control and vehicle status monitoring (Mission Control 

Computer – MCC) 

Control Data Link: 433 MHz Europe OR 915 MHz North America 
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Video data downlink: Available as part of select payloads at a resolution of 480 x 640, 

transmitted at 5.8 GHz.

Antennas: Control Data Link: 1 x dipole antenna. 

Flight Characteristics

Operating Modes: Autonomous Way-Point Flying Manual Control Flying 

Visual Reference Required 

Maximum Operating Speed: 56 mph (25 m/s)

Launch Type: Hand launch 

Maximum Operating Altitude: 13,120 feet (4,000 m) pressure density altitude 

Maximum Flight Time: 

Unobstructed Takeoff Length:

Up to 45 min. (dependent on payload)

131 ft. (40 m)

Sensor Types

Visual (RGB) Converted Nikon 1 J3 14.2 MP Still, HD 1080p, 60 FPS, Bands: 

390nm-700nm 

Infra-Red FLIR – Tau II Thermal camera system 640x480, Bands: 7,500nm13,500nm 

High-Resolution Multispectral Sensor 

(BGNIR) 

Converted Nikon 1 J3 14.2 MP Still, Bands: 380nm-800nm, with 

570nm to 650nm removed (the red channel is replaced with NIR) 

Fixed-Spectra Multispectral Converted Tetracam Micro sensor, Bands: 520nm-920nm 

Four Channel Multispectral Converted Tetracam Mini-MCA, Interchangeable Filters: 490nm, 

550nm, 680nm and 800nm 

Four Channel Multispectral MicaSense RedEdge: 480, 550, 670, 850nm 

Six Channel Multispectral Converted Tetracam Mini-MCA, Interchangeable Filters: 490nm, 

550nm, 680nm, 720nm, 800nm, 900nm 

UV Sensor Collects Bands: 275nm-400nm 

LiDAR Angular Scanning Range of 270 degrees, 98 ft. (30 m) range

Ground Station Technical Specification and Characteristics

Dimensions: Ground Station Width: 4.1 in. (10.5 cm) Length: 9.4 in. (24 cm) Height: 2.6 in. (6.5 cm)
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Weight: Ground Station Including 

Battery fitted: 

1.76 lbs. (810 g/0.810 kg) 

2.77 lbs. (1260 g/1.260 kg) 

Power Source: Lithium-Polymer Battery 

Battery Power Output: 12 volts 

Ground Station Software: 

(Graphical User Interface) 

PrecisionHawk Flight Planner and ArduPlane Mission Planner 

Internal Components: 1 x Main board (8bit CPU) 1 x Digital modem 

1 x Wireless Modem 

1 x Futaba-compatible RC transmitter interface 

1 x Nickel metal battery 

1 x RS232 to USB serial port 

1 x External and Internal Temperature Sensor 

Control Data Link: 433 MHz Europe OR 915 MHz North America 

Video data downlink: One 480 x 640 display with receiver (5.8 GHz) (optional)

Antennas: Control Data Link: 1 x Omni-Directional, Vertically Polarized, 2.1 in. (7 cm) Antenna 

Battery and Charging Technical Specification and Characteristics

Dimensions: Width: 3.54 in (9.0 cm) Length: 6.30 in (16.0 cm) Height: 2.44 in 

(6.2 cm) 

Battery Weight: 0.28 lbs. (130 g/0.130 kg) 

Cell Chemistry: Lithium-Polymer 

Battery Power Output: 12.6 volts 

Battery Design: Custom Designed C-Hook, Cotter Pin Secured 

Battery Connectors: Integrated Balance, Power, and Health 

Battery Charger Technical Specifications and Characteristics

Dimensions: Width: 4.65 in. (8.5 cm) Length: 3.4 in. (11.8 cm) Height: 1.1 in.

(2.8 cm) 

Charger Weight: 0.58 lbs. (265 g/0.265 kg) 

Battery Charger: Thunder Power TP610C 

Charging modes: 1. Competition (fast charge)

2. Storage (trickle charge)
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Recharge Time: Approximately 75 minutes (after a complete fight) 

(Note: A complete flight is when the Battery at the start of pre-flight 

indicates on the GUI as approx. 12.6 volts and at the end of the flight 

indicates on the GUI at below approx. 10.6 volts).

Onboard Instruments

Flight Instruments: 3 axis rate gyros, pitch/roll/yaw sensors, heading, altitude, airspeed, 

temperature, humidity

Navigation: GPS, magnetometer, inertial measurement unit

On Board Computers: Vehicle control and stability (Flight Control Computer – FCC)

Mission control and vehicle status monitoring (Mission Control 

Computer – MCC)
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Normal Procedures

First Flight Of The Day Checklist

1. [ ] Ensure the Project Packet (per Flight Operations Manual) is present.

2. [ ] Ensure the Aircraft is free of visible defects.

3. [ ] Ensure the electrical connection’s integrity and freedom from moisture and debris.

4. [ ] Ensure the Battery is free of visible defects.

5. [ ] Ensure all propellers in good condition are free of cracks, holes, dings, or other defects.

6. [ ] Ensure all propellers are firmly mounted to the motors and installed correctly.

7. [ ] Ensure all screws are tightened securely. 

8. [ ] Ensure tail surfaces are secured locked and straight

9. [ ] Ensure the wings and fasteners are secure, locked, and straight.

10. [ ] Ensure all the antennas firmly attached.

11. [ ] Ensure all the batteries fully charged and connections secure.

12. [ ] Complete Spectrum Analysis Pre-flight (if required).

Pre-Flight Checklist

1. Site Set Up:

a. [ ] Check NOTAMS for Temporary Flight Restrictions, as well as GPS NOTAMS.

b. [ ] Contingency plan -- Go-Home point established and written on map of the area of 

operations.

c. [ ] Brief the mission plan (communication, contingency, proximity to traffic, threats, and air 

traffic control considerations).

d. [ ] PIC and Observer review roles, responsibilities, and communication procedures.

e. [ ] Brief abort parameters.

f. [ ] Establish the location of the PIC and Observer.

g. [ ] Identify the Launch and Recovery Zone and ensure it is cleared free of obstacles, and 

marked for safety.

h. [ ] Identify Go-Home location and ensure it is cleared free of obstacles and marked for safety.

i. [ ] Ensure the area clear of spectators.

j. [ ] Perform Ground Station Pre-flight procedure.

2. Weather:

a. [ ] Wind speed within the operational limits.

b. [ ] Operation is clear of any rain, fog, thunder lighting, or other weather phenomena that would 

place the operation at risk.

c. [ ] Local weather report reviewed.

3. sUAS Set up and Calibration:

a. [ ] Place the Aircraft on the Go-Home Point (a.k.a. FailSafe or LostLink Return Point)

b. [ ] Install and connect the battery to the Aircraft. Read and record voltage.

c. [ ] Enter relevant data on Flying and Equipment Running Log. (See Appendix 2)

d. [ ] Install the necessary components on the Aircraft for the planned operation.

e. [ ] Ensure all components are securely fastened.

f. [ ] Perform the Controller Preflight.

g. [ ] Perform the Motor Preflight.

h. [ ] Perform the Propeller Preflight.
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i. [ ] Perform Ground Station Setup Procedure.

j. [ ] Perform Flight Planner Preflight.

4. Before Start Checklist:

a. [ ] Ensure takeoff settings are uploaded to the FCC from the MCC.

b. [ ] Check Battery condition.

c. [ ] Enter Pre-flight battery voltage (on GUI) on Battery Management Register.

d. [ ] Ensure GPS LED is pulsating BLUE. DO NOT TAKEOFF IF IT IS NOT.

e. [ ] Switch other components ON (as required).

f. [ ] Final check of Spectrum Analysis (as required).

- - Pre-Flight Checklist Complete - -

Launch Checklist:

1. [ ] Ensure GPS Lock established (flashing BLUE LED).

2. [ ] sUAS positioned correctly and safely per Flight Operations Manual guidance.

3. [ ] Perform the Engine Start & Control Systems Check.

4. [ ] Perform aircraft start sequence until “Ready to Launch” status

5. [ ] Observer ready for takeoff.

6. [ ] Surrounding area and airspace clear.

7. [ ] Perform Takeoff Procedure.

8. [ ] Motors stabilized with free motion.

9. [ ] Propeller unfolded.

- - Launch Checklist Complete - -

Landing Checklist:

1. [ ] Aircraft geographically positioned for landing. 

2. [ ] Perform Landing Procedure. 

- - Landing Checklist Complete - -

After Landing Checklist

1. [ ] Turn off Aircraft (Right button until all lights extinguish).

2. [ ] Propeller full stop.

3. [ ] Ensure lights extinguished.

4. [ ] Remove battery and check integrity.

5. [ ] Place battery on charger and monitor.

6. [ ] Additional equipment OFF.

7. [ ] Inspect Aircraft and Propellers for damage. 

8. [ ] Complete Battery Management Register.

9. [ ] Complete Flying and Equipment Running Log. (See Appendix 2)

10. [ ] Complete Maintenance Log. 

11. [ ] If an additional flight is scheduled, proceed to beginning of Pre-Flight Checklist.

- - After Landing Checklist Complete - -

Shut Down/Secure Checklist

1. [ ] Secure SD card from the Aircraft.

2. [ ] Shutdown laptop & Turn Ground Station Off.

3. [ ] Pack and account for all equipment.

4. [ ] Ensure all Post Flight documentation is complete, per the Operations Manual.

- - Shut Down/Secure Checklist Complete - -
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Supplementary Procedures

Aircraft Control Method 

The Aircraft can be controlled through autonomous or manual control. 

Fully autonomous control of the aircraft, the nominal mode of operations, utilizes the Mission Control Computer 

(MCC) to undertake the flight path generation functions, payload control, and determining optimal landing and 

recovery paths. This also includes diagnostics and threshold monitoring during operations and preprogrammed 

flight specified by waypoints and commands from users through 3D Robotics’ Mission Planner ground control 

station software. The vehicle is able to autonomously maintain stability through the onboard 3D Robotics’ Auto 

Pilot Module (APM) 2.6 Autopilot which stabilizes the aircraft. 

Flight planning is through the MCC. The MCC then changes the modes of the aircraft as well as waypoints defining 

the flight path. 

Another level of control utilizes the autopilot capabilities, with the Aircraft receiving commands and desired 

actions from a hand coded controller with autonomous capability through the addition of an onboard Mission 

Control Computer (MCC) instead of the existing Mission Planner control software. A Futaba-compatible RC 

transmitter is used to provide remote control capabilities and manual override for the vehicle. In this case, the 

pilot has direct control of the aircraft’s flight control surfaces. 

Additionally, the PIC can control the aircraft via the Futaba 2.4 MHz Controller. During this mode of operation, the 

PIC can use the ground software and modify flight parameters. 

Battery - Charging 

Step 1

Connect the flight battery to the charger by 

matching the red and black cords together and 

pressing the plug into the respective plug on 

the charger. Connect the balancing plug to the 

3 cell port on the bottom right of the balancing 

board.
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Step 2

Ensure that the screen on the charger is setup 

as in this picture. If not, use the "ENT/STOP" 

button to cycle through the settings, changing 

them with the up and down arrows until the 

screen on the charger is identical to the picture.

 

 

Step 3

Start the charging process by holding

the red "ENTI STOP" button on the

charger untilyou hearthe charger

beep a few times

 

 

Step 4

Whilethe battery ischarging, the

charger willcycle through various

screens displaying the current charge

ofthebattery.Oncecharginghas 

completed,the charger will beep 

multiple times. Press the red 

“ENT/STOP” button once. The 

battery is now safe to disconnect.

 

Controller Preflight 

General: The following actions should be performed prior to flight. 

Procedure:

 Ensure Micro SD card is inserted in the Micro SD card Slot to enable flight Data recording. 

 Fully charge controller battery before each use. 

 Ensure the Controller antennas are installed.

 Ensure controller is communicating with the aircraft. 

Communication Configurations

 Identify COM Port. Open Windows Device Manager and select Ports (COM & LPT)
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 On the upper right-hand side of the screen, in Mission Planner, select COM Port listed in previous step

 Baud frequency rate is 115200

 Click CONNECT to obtain connection to the aircraft (works only when aircraft is powered)

 Ensure transmitter is bound. Move control sticks on transmitter and check for corresponding motion on 

aircraft control surfaces. If not, 

o After aircraft and transmitter are powered, click and hold the black receiver button (on aft of 

fuselage) for five seconds. Check transmitter, retry if control surfaces do not move with transmitter 

input.

Downloading Maps for Offline Use

 Open Mission Planner

 Within the Flight Plan tab, locate the area that will be surveyed

o Right-mouse click > Map Tool > Zoom To

 Center the flight area of interest (AOI) within the screen

o Right-mouse click > Map Tool > Prefetch

o Press ESC key at any time to cancel operation

 Selected Map will then start downloading various zoom levels of the AOI

Engine Start & Control Systems Check 

General: The following procedure will start the engines and ensure the Aircraft is ready for flight.

Procedure:

1. Ensure all of your body parts, clothing, other obstructions and bystanders are well away from any rotors 

and their arc before turning power on to any systems. 

2. Ensure the aircraft is secure and will not move if the motors suddenly power up. 

3. Announce out loud “CLEAR PROPELLER”. 

4. Turn on the handheld controller. Ensure the telemetry information is displayed. 

5. Make sure that the throttle stick on the handheld controller is in the lowest position. 

6. Connect the battery and/or turn on the power button to the aircraft. 

7. Check motor and propeller for proper operation. Firmly secure the aircraft and gradually increase the 

throttle to full power and back down to off, checking for lack of thrust, vibration, or other possible 

anomalies. 

8. If a camera is installed, check that the camera equipment power is on. Check to make sure the shutter 

trigger is working properly. 

Flight Planner Preflight

General: The following procedure ensures the planned objective as described in the Project Packet is programed 

for insertion into the Aircraft.

Programming the Mission

1. Open the program and insert the micro SD Card that will be used on the Aircraft.

2. Create New Plan:

a. Click NEW PLAN and identify it via name.

3. Search for location via search bar.

4. Select Plan Type: Bounded or Linear.

5. Select Survey Mode: Ground Resolution or Altitude.

6. Identify survey area on the map as detailed in the Project Packet.
Page | 23

7. On the Flight Plan Summary (Appendix 2), confirm the number of flights and total flight time. 

8. Click SAVE PLAN

9. With UP & DOWN keys, select either “Default Box” or pre-configured survey.

10. Ensure Aircraft is in its takeoff location.

11. Click OK to start aircraft pre-flight sequence.

a. Monitor the BLUE LED status lights.

b. Monitor the GPS LED light.

12. Select Flight Plan tab of Mission Planner.

13. Click READ waypoints (WPs).

14. Confirm Survey area.

15. Select the last WP. NOTE: This will be the landing location.

a. Confirm via the pull-up WAYPOINTS table.

b. Ensure Landing Location.

c. Ensure the Approach waypoint (the second to last waypoint...a.k.a. Loiter WP)

d. Make any changes if necessary.

16. After the loiters in-flight, read calculated mission:

a. With FLIGHT PLAN tab of the Mission Planner click READ WPs.

b. If changes are made, click WRITE WPs.

17. Monitor the Heads-Up-Display (HUD) and Status Information for any abnormalities.

Ground Station – Pre-flight

Purpose: To prepare the ground station in accordance with the planned operation as detailed in the Project 

Packet.

Procedure:

1. Inspect the battery and battery compartment.

2. Connect Manual Controller and ensure the manual joystick is centered.

3. Connect USB cable to Ground Station. DO NOT connect to laptop. ONLY connect to Ground Station.

4. Raise the Control (black) antenna vertical.

5. Power up the Laptop.

6. Start the Flight Management (Mission Planner) Software. Ensure the version is greater than 1.3.10.

7. Turn on Ground Station.

a. The GREEN “Ground Connected” LED should turn ON.

b. Ensure no pressure is being applied to the manual controller joystick.

8. Connect the USB cable to the laptop.

a. The GREEN “PC Connected” LED should turn ON.

9. Check the Mission Planner Connection Arrow turns GREEN. This establishes laptop to Ground Station 

connection.

10. Connect to the Internet to retrieve maps if this has not already been accomplished when completing the 

Project Packet preparation as detailed in the Flight Operations Manual.

Ground Station – Setup Procedure

Purpose: To connect the Ground Station to the Aircraft and upload the planned mission.

Procedure:

1. Check both Mission Planner connections:

a. Laptop to Ground Station.

b. Ground Station to the Aircraft.

2. Check Ground Station LEDs.
Page | 24

a. Lights signify if telemetry packets are being sent and received, as well as indicating power status.

3. Check GPS LED is pulsating BLUE.

a. When satellite connection is less than 5, take-off cannot be performed.

4. Select Flight Data ICON:

a. Map will display with the Aircraft’s location overlaid on a geo-referenced map.

5. Check the camera connection:

a. Each payload will have a status light illuminating if connection is being made.

6. Check Aircraft Battery Voltage:

a. Should read 12.6v 

b. Ensure this is recorded in the maintenance documents. 

Imagery Recording.

General: To save/review recorded images from the Aircraft during survey flights. 

Procedure:

1. Combine metadata with imagery.

a. Open DataMapper application.

2. Check metadata stored in onboard computer.

a. Remove the Aircraft’s micro SD card.

b. Plug in the laptop.

c. Select :/boot/HEFW directory.

3. Check memory card fitted in sensor.

a. Remove sensor memory card

b. Plug in laptop.

c. Select :/Removable Disk/DCIM

4. Save data to storage device.

a. After following steps in DataBridge, export to directory

5. Visualize dataset.

a. Open DataMapper application.

6. Select exported directory.

a. Browse for directory with saved datasets.

7. Coverage and quality check:

a. Click the eye-tool to visualize a geometric projection of images.

b. Coverage quality:

i. Green = 5+ overlapping images

ii. Orange = 3-4 overlapping images

iii. Red = 1-2 overlapping images

iv. Black = 0 overlapping images

Landing Procedure

General: Prior to landing ensure the landing area is clear of obstacles and spectators. Verbally announce your 

intention to land the Aircraft to increase awareness around you.

Landing is performed in the following manner: 

1. If the landing is to be fully autonomous, the MCC computes an optimal landing and approach path based 

on current weather conditions 

2. If the landing is under manual or user control, landing settings are uploaded to Flight Control Computer 

(FCC).

3. Vehicle is commanded to switch the Landing mode when a change in landing is desired by the PIC.
Page | 25

4. Vehicle approaches landing site autonomously according to predefined settings.

5. Vehicle reduces altitude until touch-down.

6. Vehicle motors are stopped.

7. Avionics processes are halted.

8. Vehicle is recovered, motor is disabled. 

Procedure:

1. Check the Landing Area is clear.

a. Ensure compliance with Flight Operations Manual guidance on Sterile Area/Airspace Control.

b. Update landing area if necessary and advise those around you, including your Observer.

2. Call LANDING REMAIN CLEAR.

a. The Aircraft will be emitting an audible tone alerting those in the area of its position.

b. Descent angle depends on approach length.

c. Prior to contact with the ground (approximately 3-10 ft. (1-3 m)) AGL, the motor will stop.

3. After landing:

a. Record landing time in Flying and Equipment Running Log. (See Appendix 2)

Motor Preflight 

General: The following actions should be performed prior to flight.

Procedure:

1. Without powering up the aircraft, rotate the propeller slowly by hand. 

2. Without using excessive force, attempt to twist the motor pod. If it twists, do not continue with flight. 

3. If you feel there is any issue with a motor, do not fly the aircraft. Contact PrecisionHawk for technical 

assistance. 

Propeller Preflight 

General: The following actions should be performed prior to flight.

Procedure:

 Check the propeller is correctly installed. 

 Inspect propeller for chips or cracks; Replace any damaged propeller. 

 Check that each propeller blade is secured. 

Spectrum Analysis Pre-flight Procedure

General: When utilization of the Spectrum Analysis tool is required, it is important to begin checks of the system as 

early as possible. Follow this procedure for the best guidance.

Procedure:

1. 10 minutes prior to Take Off, ensure there are no spikes over -75db on control frequency 433 or 900 MHz 

span.

2. 5 minutes prior until Take Off, repeat procedure.
Page | 26

Takeoff Procedure

General: There are two takeoff procedures: Autonomous & Hand-Launch. Prior to takeoff, the PIC must choose the 

procedure appropriate to the operation being conducted.

Procedure:

1. Ensure Aircraft is facing into the wind. 

2. Initiate appropriate Takeoff Mode:

a. Autonomous:

i. Call CLEAR. The Aircraft’s propellers will start five (5) seconds after pressing the 

OK/LAUNCH button.

ii. Unfold the propeller blades

iii. Press the OK/LAUNCH button.

iv. Verify the port-side of the fuselage flashing all the LED lights indicating the imminent 

motor spool-up. If not, abort the start.

b. Hand-Launch:

i. Call CLEAR. The Aircraft propellers will start as soon as throttle is applied.

ii. Apply the throttle.

iii. The Aircraft will climb at a 15 degree angle.

iv. The unobstructed takeoff length is 131 ft. (40 m).

3. Record Takeoff Time in Flying and Equipment Running Log. (See Appendix 2)

4. Stabilization:

a. The Aircraft is stable immediately following launch.

b. If will climb to the indicated altitude, gather weather conditions, and then apply survey path, and 

land when finished.

c. Altitude is +/- 32 ft. (10 m) in flight.

5. Check airspeed and altitude:

a. Ensure the Aircraft has a positive airspeed greater than 22 mph (10 m/s)

b. Ensure the desired altitude is not below the desired altitude.
Page | 27

Non-Normal Procedures.

General Guidelines and Situations Without Checklists:

It is important that all PrecisionHawk Flight Team Members become familiar with the situations listed below, as 

well as the Non-Normal Checklists associated with them. The behavior of the system when encountering an 

abnormal event or operating condition outside of the expected performance envelopes will fall under this section. 

However, specific failures and responses will generally be handled in the following manner for each failure type. 

Aborted or Failed Launch and Recovery 

If an aborted takeoff is necessary, the throttle of the vehicle is to be reduced, and the desired target 

altitude of the vehicle should be set to zero in order for it to touchdown. Alternatively, landing can also be 

aborted by applying throttle and setting a desired altitude for the vehicle to regain. These steps can be 

initiated either through the manual control of the aircraft by the pilot or through the control station by 

the control station operator. 

In addition, in the event of a failed recovery, the pilot can take control of the aircraft to manually land or 

to allow the autonomous system to attempt another landing. 

Airframe Damage 

In the event of loss of control due to airframe damage, the aircraft will attempt to maintain mission 

operations. In the event that the damage is sufficient to preclude proceeding with the mission, but the 

system still has some control, it will attempt to return to the recovery area. Should this not be possible, 

all control surfaces will go to predefined positions, and the system will try to ground the vehicle at the 

current location and terminate servo outputs after a certain amount of time. 

Autonomous Emergency Recovery Scheme 

Should an emergency recovery be required during autonomous operations, there are several recovery 

options that can be instigated: 

1. The aircraft is commanded to autonomously return to the recovery area and land

2. The aircraft is commanded to autonomously return to the recovery area whereby the pilot will 

assume control and land the aircraft

3. The pilot manually assumes control of the aircraft and returns it to the recovery area and lands the 

aircraft.

The specific recovery option exercised will be at the discretion of the PIC.

Battery or Electronic Systems Failures 

In the case of low battery, the aircraft will be flown home or rally when the aircraft battery reaches a 

certain capacity threshold. This is typically a capacity such that the aircraft will have sufficient capacity to 

return home to the designated landing area given flight and weather conditions. This will be initiated 

automatically by the Mission Control Computer (MCC). In addition, in the unlikely event the MCC is unable 

to provide this function; the Flight Control Computer (FCC) has its own, preconfigured fail-safes. This also 

returns the aircraft to the home position. 

If the battery level reaches critical levels, the propulsion motor off will be shut off, and the aircraft will be 

landed at the current location. This prevents the loss of an aircraft due to autopilot reboot caused by low 

voltage. It also ensures that the control of the flight control surfaces is maintained. 
Page | 28

Communications Failures 

There are configurable failsafe conditions in the Mission Planner APM 2.6 autopilot software. In the case 

of communication loss, the aircraft can be configured to fly home or land after certain time has passed 

without re-establishing communication. Similar actions will be taken for conditions such as loss of the 

vehicle uplink, loss of “line of sight”, and radio interference. There will be real time visual and/or auditory 

warning signals that will report the signal loss to the operator. Note: There have been mandatory failsafes hard-coded in the PrecisionHawk HawkEye Aircraft platform.

Critical Systems Abort Procedure 

In the event of a critical systems abort, all control surfaces will go to predefined positions, and it will try to 

ground the vehicle at the current location and terminate servo outputs after a certain amount of time. 

Emergency Flight Termination System 

In the event of a critical system failure, the user may send a command over the radio control link to 

terminate the flight. This link (through the Futaba hand controller) is a separate and independent radio 

link from the radio link used by the autopilot for command and telemetry. When the flight termination 

system is activated, all control surfaces will go to predefined positions, and the throttle is set to zero to try 

to ground the vehicle at the current location. In the case of loss of radio frequency link, the same failsafe 

actions for loss of communication will be taken. 

Emergency Landing Safety 

Flight operations will not be held over buildings or persons. Thus, there should not be a risk to persons or 

buildings in the event of an emergency landing. The aircraft is also very small with little kinetic energy and 

should pose virtually no risk of damaging crops or other properties in the event of an emergency landing 

where the aircraft is not able to return to the designated recovery area. 

Engine Failure 

In the event of flight termination due to an engine system failure, the aircraft will attempt to immediately 

return to the launch and retrieval area. If the aircraft does not have sufficient altitude to return to the 

recovery area it will attempt a safe landing once the altitude has dropped below a set threshold (typically 

30 m above ground level). 

Manual Override Capabilities 

When flight is autonomous, manual override for one of the vehicles can be initiated by selecting “manual” 

mode in the Mission Planner software. Alternatively, one of the channel switches on the RC transmitter, 

dedicated to this purpose, can easily be switched to the “On” position, immediately transferring direct 

control of the aircraft to the pilot. Thus, it is fast and simple to regain manual control of the vehicle. 

Minimizing Critical Component Failure 

The primary failure prevention system on-board the aircraft is the use of independent computers 

operating on board the aircraft simultaneously. Each of these computers (one of which will be contained 

within the autopilot system and one for mission level control) will be able to provide information on the 

health of the other. 
Page | 29

The system is designed such that fail-safe situations (loss of communications, low battery, and loss of GPS, 

etc.) can be predefined such that safe maneuvers can be executed by the vehicles in case of emergency to 

minimize risk to the vehicle systems, support crew, or other persons or property. 

Navigation System Failure 

In the case of a navigation system failure (for example, GPS lock is lost), the aircraft will be put in a 

shallow bank. By putting the aircraft in a shallow bank, the distance the aircraft can wander is limited, and 

the GPS is given the opportunity to re-acquire lock. If GPS lock is not reacquired, the autopilot is 

programmed to loiter until manual control is initiated by a pilot or until the control station operators 

initiate an emergency-land sequence. 

Pilot Warnings 

Warnings such as low battery, low GPS satellites, low airspeed, low altitude, and loss of communications 

are relayed to the vehicle operator in Mission Planner. See Appendix 9 for discussion of Mission Planner 

software. These are visual flags in the Mission Planner software in the status area of the screen that are 

readily visible. In addition, all warnings are also issued audibly by the ground station software. 

Severe Weather 

Primary weather condition monitoring is handled by the onboard Mission Control Computer. However, it 

is also possible for an operator to override this behavior at any time, as it is possible for all vehicle 

operations. 

In the event that weather conditions arise that approach the operational limits of the vehicle, the vehicle 

will be commanded to fly home immediately, or the operators or pilots will immediately resume manual 

control of the vehicle and initiate a recovery sequence.

Aircraft Not Throttling

Situation: Unable to supply thrust to the aircraft.

PIC ACTION:

1. Disarm the motor. Ensure correct transmitter control inputs for the rudder

2. If incorrect, change servo function for channels 3 and 4 to opposite.

3. On the Transmitter, use the MODE key to access the REVR function.

4. Use the SELECT key to select the channel you wish to reverse.

5. Push the DATA INPUT lever downward for 0.5 seconds to reverse (REV), or push the lever upward for 0.5 

seconds for normal (NOR).

Battery Failure

Situation: 

 Audible/Visual CRITICAL BATTERY FAILURE warning.

Expected Actions: 

1. After 1st warning and landing has been aborted, you have 30 secs to move Aircraft to a more suitable 

landing location. 

2. After 2nd warning, Aircraft will glide during this time; you can still move Aircraft to a more suitable location. 

3. Control surfaces will have a backup power source to maneuver control surfaces to a desired landing location 

if out of reach. 
Page | 30

4. Aircraft starts its mission at the furthest waypoint, as to ensure it has enough battery to complete the 

mission or return to home on the battery reserves.

PIC ACTION:

1. Observe the Aircraft monitor.

2. Check pre-configured landing area.

a. Safe to land? IF YES, monitor landing.

b. IF NO, quickly locate alternate landing location.

3. Recover the Aircraft.

4. Perform After Landing & Shut Down/Secure Checklists.

Observer ACTION:

1. Inform the PIC.

2. Check pre-configured landing area.

a. Safe to land? IF YES, monitor landing.

b. IF NO, select LOITER to abort landing. Advise PIC.

i. Move Aircraft to safe location via Flight Plan tab and land (20 secs). Advise PIC.

3. If there is a second Critical Battery Failure, the Aircraft will begin landing/gliding to pre-configured location

4. Check landing area. Move Aircraft to a safe location. 

Ground Station RED LED Flashing.

Situation: 

 RED LED Flashing.

 All normal.

Expected Actions: 

1. If the battery is not replaced in time, the UAV will carry out its loss of data link protocols.

PIC ACTION:

1. Observe the UAV position.

2. Start a countdown (in case Aircraft returns to home location).

3. Alert the area around you.

4. Monitor until it lands or re-acquires signal.

5. If Observer is successful in regaining power to Ground Station, AND signal is reacquired, mission may be 

continued.

6. Recover the UAV.

7. Perform After Landing & Shut Down/Secure Checklists.

Observer ACTION:

1. Inform the PIC.

2. Replace Ground Station Battery.

3. Monitor GUI until UAV reacquires.

a. IF Aircraft reacquires, notify PIC. PIC may choose to carry on with task.
Page | 31

Not Responding To Commands

Situation: The signal quality will notify of loss of communication. There is no telemetry (GPS, Location, UAS Icon, 

Power). How the UAV will respond depends on its mode of operations.

Expected Actions:

1. If the UAV experiences control data loss for more than 5 secs., it will:

2. Return to launch location at 328 ft. (100 m), and

3. Initiate a loiter for 30 seconds, prior to landing at the pre- configured landing location. 

4. The UAV will climb to a minimum height of 131 ft. (40 m). 

5. If in a waypoint mission, it will climb to the greatest height programmed in that mission. 

6. If in manual mode if already higher than 131 ft. (40 m), it will remain at that height. 

7. UAV can navigate to a pre-defined location as to alert the operator as to its current location.

8. R/C manual control can be used to navigate 

9. If UAV re-acquires link at any time, it will resume normal navigation mode or allow operator to assign 

command. 

10. If UAV re-acquires, avoid the location of the loss of data link. Land the UAV if necessary. 

PIC ACTION:

1. Ensure Communication box powered and connected to GCS.

2. Start a timer.

3. Alert the area around you.

4. Assume manual control if necessary. If not, monitor the UAV until it lands or re-acquires signal.

5. Recover the UAV.

Observer ACTION:

1. Inform the PIC.

2. Ensure Communication box powered and connected to GCS.

3. Start a timer.

4. Note the UAV location, height, wind, direction.

5. Monitor HUD for changes/re-acquisition of telemetry.

Returning To Home Location

Situation: 

 HUD issuing a RED FAILSAFE warning with the current mode. 

 No telemetry (GPS, Location, Aircraft Icon, Battery Power)

Aircraft Actions: 

1. If the UAV experiences control data loss for more than 5 secs., it will loiter at current location for 30 secs. 

2. The UAV will climb to a minimum height of 131 ft. (40 m). 

a. If in a waypoint mission, it will not climb to the greatest height in that mission. 

b. If in manual/drop & drag mode and already higher than 131 ft. (40 m), it will remain at that height. 

3. The UAV will navigate directly to home location if in a waypoint mission mode, staying at altitude. 

4. The UAV will loiter at landing rally point until break-out altitude is reached or until operator selects final 

waypoint. 
Page | 32

5. If the UAV re-acquires link at any time, it will continue loitering, awaiting next UAV mode / waypoint 

command. 

6. If the UAV re-acquires, avoid the location of the loss of data link. If battery power allows, carry on with task.

PIC ACTION:

1. Observe the UAV position.

2. Start a timer.

3. Alert the area around you.

4. Monitor until it lands or re-acquires signal.

5. Recover the UAV.

Observer ACTION:

1. Inform the PIC.

2. Start a timer.

3. Note the UAV location, height, wind, direction.

4. Monitor GUI for possible re-acquisition.

Loss of GPS.

Situation: Loss of GPS.

PIC ACTION:

1. Switch transmitter into Manual Override

2. Land via Remote Control

Loss of Ground Station Power – Not Responding to Commands

Situation: 

 UAV not responding to commands

 Communication signal strength will show a RED X instead of the quality percentage on the HUD.

 No telemetry (GPS, Location, Airplane Icon, BTY power)

Expected Actions: 

1. Ground Station Low Battery LED RED -- If battery not replaced in time, Loss of link instigated. 

a. NOTE: IF LOSS OF LINK INSTIGATED, proceed to Loss of Ground Station Power – Aircraft Returning 

to Home Location checklist immediately.

2. If UAV experiences control data loss for more than 5 secs. it will loiter over the home location at a preconfigured altitude.

3. UAV will loiter at home location for 30 secs then land at the pre-configured landing location. 

4. If UAV re-acquires link at any time, it will await user command to re- initialize “Auto” mode. 

PIC ACTION:

1. Observe the UAV position.

2. Start a countdown (in case UAV returns to home location).
Page | 33

3. Alert the area around you.

4. Monitor until it lands or re-acquires signal.

a. If Observer is successful in regaining power to Ground Station, AND signal is reacquired, mission 

may be continued.

5. Recover the UAV.

6. Perform After Landing & Shut Down/Secure Checklists.

Observer ACTION:

1. Inform the PIC.

2. Replace Ground Station Battery.

3. Monitor GUI until UAV reacquires.

a. IF UAV reacquires, notify PIC. PIC may choose to carry on with task.

Loss of Ground Station Power – Returning to Home Location.

Situation: 

 UAV will show the command that it is going to the final landing waypoint.

 No telemetry (GPS, Location, Aircraft Icon, BTY power).

Expected Actions: 

1. Ground Station Low Battery LED RED -- If Battery not replaced in time, UAV will carry out its loss of link 

protocols. 

PIC ACTION:

1. Observe the UAV position.

2. Start a countdown (in case UAV returns to home location).

3. Alert the area around you.

4. Monitor until it lands or re-acquires signal.

5. If Observer is successful in regaining power to Ground Station, AND signal is reacquired, mission may be 

continued.

6. Recover the UAV.

7. Perform After Landing & Shut Down/Secure Checklists. (See “Normal Procedures” checklists.)

Observer ACTION:

1. Inform the PIC.

2. Replace Ground Station Battery.

3. Monitor GUI until UAV reacquires.

a. IF UAV reacquires, notify PIC. PIC may choose to carry on with task.

Loss of Telemetry (RED X Through Signal)

Situation: Loss of Telemetry.

PIC ACTION: (Next Page)
Page | 34
Page | 35

Pilot Incapacitation

Situation: PIC is unable to carry out duty.

Aircraft Actions: 

1. When “RTL” is selected, the UAV will return directly to its takeoff location and loiter until land is selected 

or will land when UAV’s battery power is below desired Voltage.

PIC ACTION:

1. Relinquish control to the Observer.

Observer ACTION:

1. Take over monitoring the UAV.

2. Select RTL Mode.

a. UAV returns to home location and loiters.

3. Give any first aid as necessary.

4. Select LAND once UAV has returned to the HOME location.

5. Call Emergency services if necessary.

Sudden Uncommanded Loss of Altitude

Situation: Uncommanded loss of altitude

 Altitude indicator decreasing.

 FAILSAFE message notifies the PIC in the HUD, starting RTL, low-battery.

 Battery Voltage Bar reading NIL.

 Loss of UAV telemetry.

Expected Actions: 

1. If a total loss of power is experienced, UAV will NOT free fall, but will glide slowly to land. 

2. Failsafe may have initiated to return UAV to land at the pre-configured location prior to complete power 

loss.

PIC ACTION:

1. Observe the UAV position.

2. Alert the area around you.

3. Pull back on the elevator control surfaces to slow descent and try to land the UAV Hands-On.

4. Recover the UAV.

5. Assess situation of UAV.

6. Complete After Landing & Shut Down Checklists.

Observer ACTION:

1. Inform the PIC.

2. Alert the area around you.

3. Record UAV landing location.
Page | 36

Transmitter Loss of Power.

Situation: Loss of Transmitter power.

PIC ACTION:

1. Aircraft will immediately Circle, then Return to Launch location (loiter)

2. Attach charged battery into transmitter

3. Charge transmitter for five minutes, then land aircraft immediately,

4. Aircraft will land automatically.

Transmitter Out of Range.

Situation: Loss of Transmitter out of range.

PIC ACTION:

1. Aircraft will immediately Circle, then Return to Launch location (loiter)

2. Bound survey area closer, within Line of Sight 1,640 ft.(500 meters)

Transmitter Not Bound.

Situation: Loss of Transmitter not bound.

PIC ACTION:

1. Place the transmitter and the receiver close to each other within 3 ft. (1 m)

2. Turn on the transmitter

3. Turn on the receiver (power the aircraft)

4. Press down the "ID SET" switch on the receiver for more than one second, and release the switch. The 

receiver starts the linking operation.

5. When the linking is complete, the LED in the receiver will change to solid GREEN.

6. Confirm that the servos will now operate by your transmitter.

Uncommanded Aircraft Movement.

Situation: 

 Aircraft icon moving without input.

 UAV position, height, and airspeed changing without input.

Expected Actions: 

1. If UAV looks stable, estimate landing location and attempt to recover. 

2. Ensure aircraft mode is what is desired. 

3. Note adverse changes in environmental conditions. Landing if necessary. 

4. Ensure “FAILSAFE” has not initialized. 

5. GPS coordinates are provided in the GUI if Aircraft landed in non- desired spot.

PIC ACTION:

1. Observe the UAV position as long as practical.

2. Alert the area around you. Alert local authorities if necessary.
Page | 37

3. Estimate possible final location from plot and visual observation.

4. Recover the UAV.

5. Assess situation of UAV.

6. Complete After Landing & Shut Down Checklists. (See “Normal Procedures” checklists.)

Observer ACTION:

1. Inform the PIC.

2. Insure commanded action was not accidently commanded.

3. Select RTL immediately.

4. Attempt stabilize/manual control. Advise PIC.

5. Note UAV location, height, wind speed, direction, and battery life remaining.

6. If data link is still active, record the UAV’s GPS coordinates.

Uncommanded Loss of Altitude

Situation: Uncommanded loss of altitude

 Altitude indicator decreasing.

 Battery Voltage Bar reading critical level.

 Critical battery warning text box.

Expected Actions: 

1. Should UAV experience a loss of motor, the autopilot will compensate and it will be able to glide to the 

landing area.

2. The UAV will descend under control surface power and land at its pre-configured landing location. 

3. In the event “Stabilize” mode works, instead of “Auto” mode, assisted throttle and control inputs will be 

needed to hands-on land the UAV. 

4. Note incident in logs and recommend replace motor. 

PIC ACTION:

1. Observe the UAV position.

2. Alert the area around you.

3. Recover the UAV.

4. Assess situation of UAV.

5. Complete After Landing & Shut Down Checklists.

Observer ACTION:

1. Inform the PIC.

2. Check the waypoint section to confirm actual desired altitude.

a. IF altitude change IS CORRECT, no other action is necessary.

i. Alert PIC.

ii. Resume Flight

b. IF altitude IS NOT CORRECT, motor loss has occurred.

i. Try stabilize mode and instruct PIC to increase throttle to see if any change.

3. Record UAV landing location.
Page | 38

Appendix 1 – Battery Management Register/Tracking

Instructions:

1. Each battery requires an individual Battery Management Register as a record of the number of charges it 

has had. The life span of each battery stated by the manufacturer is 250 charges. 

2. THIS IS A CONTROLLED FORM. This form is split into 8 columns: 

 (a) Record the number of charge / discharge cycles the battery has been given. 

 (b) Enter the date recorded when the Battery was charged. 

 (c) Enter the battery residual % before charging. Read on the Battery Charger.

 (d) Enter the battery residual voltage before charging. Read on the Battery Charger.

 (e) Enter the date the battery was used for flight.

 (f) Enter the battery voltage registered on the GUI. (Recorded before take-off).

 (g) Enter flight duration.

 (h) Enter any remarks observed during that charging process.
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Appendix 2 – Flying and Equipment Running Log

Instructions for use 

1. THIS IS A CONTROLLED FORM. The form is split into two sections. Print, insert into Logbook, and complete form 

after each flight.

a. Section 1 is the Unmanned Aircraft detail.

b. Section 2 is the usage record table.

2. Section 1 consists of two columns:

a. Airframe serial number.

b. Start running total.

3. In column (a) the Airframe serial number is entered.

4. In column (b) the start running total is entered. 

5. Section 2 consists of nine columns:

a. Flight Number.

b. Date.

c. Miscellaneous information including Ground Station and Laptop, Sensor Type, Aircraft Battery serial 

number and channel.

d. Fit to Fly.

e. Start Time.

f. Stop Time.

g. Flight Time.

h. Running Total.

i. Signature.

6. Column (a) records the Flight Reference Number. If the flight take-off is unsuccessful, “NOT FLOWN” is to be 

entered across column (e), (f) and (g).

7. Column (c) is used to record the serial numbers of the Ground Station, Panasonic Toughbook, and Aircraft’s 

Battery pack. Also recorded in this column will be the selected uplink channel (mil or civil) and which sensor 

type used.

8. In column (d), the UAS operator signs to say that the system is complete, which includes the Ground Station is 

“Fit to Fly” in accordance with the PrecisionHawk HawkEye Aircraft Operator’s Manual assembly instructions.

9. In column (e), the flight Start Time is recorded.

10. In column (f), the flight Stop Time is recorded.

11. In column (g), the Flight Time duration is recorded.

12. In column (h), the UAS operator calculates the accumulative flight total, adding any brought forward hours as 

required.

13. In column (i), the UAS operator signs to say that the flight is complete, the flight/running time has been logged 

and any un-serviceables documented. 

14. In column (j), the UAS operator can enter any remarks he/she may deem worthy of note for that flight.
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Flying and Equipment Running Log
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Appendix 3 – Packing/Pre-Dispatch Checklist

General: Always ensure the Project Packet (detailed in the Flight Operations Manual) is complete, and FAA 

coordination is accomplished.

The following provides guidance on equipment to prepare and ensure operational capability prior to dispatching to 

the operational location detailed in the Project Packet. Some items may not be required per the type of activity 

being conducted. Conversely, there may be other items not present on this list that should be considered. Use the 

checklists on the following pages as reference only. 
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Appendix 4 – Ground Control Station Background

General: 

The ground control station will include a single computer in communications contact with the vehicle system. This 

station will primarily act as an information conduit to the operators with little manual control as the normal vehicle 

operations will be fully autonomous. However, the capability to manually regain control of the vehicle and operate 

the system will always be available as an option and fail-safe measure. 

Control Method 

The vehicle can be controlled in either full autonomous mode or in manual mode as required. 

Fully autonomous control of the aircraft, the nominal mode of operations for the HawkEye system, utilizes the 

Mission Control Computer to undertake the flight path generation functions, payload control, and determining 

optimal landing and recovery paths. This also includes diagnostics and threshold monitoring during operations. 

Unmanned control of the vehicle also includes preprogrammed flight specified by waypoints and commands from 

users through Mission Planner ground control station software. The vehicle is able to autonomously maintain 

stability through the onboard 3D Robotics’ APM 2.6 Autopilot. While in autonomous control, the user may also use 

the RC hand controller to augment the control commands sent by the autopilot. 

A Futaba-compatible RC transmitter (RC hand controller) is used to provide remote control capabilities and manual 

override for the vehicle. In this case, the pilot has direct control of the aircraft’s flight control surfaces. 

Data Links 

There are two independent communications links on the HawkEye Aircraft Platform: a 915 MHz radio transceiver 

with an unobstructed broadcast range of 2 km for communicating to Mission Planner software through the 

CommBox as well as a high bandwidth wireless Ethernet link (2.4 GHz) for the additional onboard CPU. 

Ground Control Station Instrumentation 

The vehicle can be monitored through the management program located on the ground station. This is the 3D 

Robotics’ open-source flight management software: Mission Planner. Mission Planner ground station software 

receives and displays status information from the vehicle. It provides a graphical interface with a map display for 

users with simple access to retrieve this information. 

Note that while the autopilot software is an open-source product (meaning that the user community is free to 

modify the hardware and software), PrecisionHawk has extensively tested one version of the software that is used 

on every Aircraft system. PrecisionHawk routinely evaluates and tests new versions of the autopilot software, but 

they are never released into production until vetted by the hardware and software teams. Once a new version of 

autopilot software is approved by the PrecisionHawk production team, the aircraft is programmed to prevent flight 

unless the specific approved autopilot firmware is running on the aircraft.

The final function of the Ground Station is to provide an Emergency Stop function.

Launch, Takeoff and Recovery Methods 

Currently launch and takeoff are executed in the following manner: 

1. Vehicle is inspected

2. System start-up and diagnostics are run for sensors

3. Takeoff settings are uploaded to FCC from the MCC
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4. User inputs and survey parameters are checked for consistency and to ensure they fall within operating 

ranges, performance and limits of the aircraft

5. Avionics data and information are confirmed as operating normally

6. Motors and power systems are initialized, confirmed and engaged

7. Vehicle is launched and UAV mode is set to takeoff

8. Vehicle should follow predefined takeoff settings, lift to desired altitude and approach programmed takeoff 

point

9. Control of the vehicle is either maintained by the pilot or control station operator, or the launch takes place 

under autonomous control. This determination is made prior to launch.

10. Since the operations are to generally be fully autonomous, the MCC commands the aircraft into a series of 

maneuvers to determine the current weather conditions at flight altitude

11. Since the operations are to generally be fully autonomous, the MCC determines a mission flight path based 

on the current conditions, and the aircraft flies according to the MCC commands

Landing is performed in the following manner: 

1. Since in normal operations the landing will be fully autonomous, the MCC computes an optimal landing and 

approach path based on current weather conditions

2. In emergencies, if the landing is under manual or user control, landing settings are uploaded to FCC

3. Vehicle is commanded to switch to the Landing mode when directed by the PIC.

4. Vehicle approaches landing site autonomously according to predefined settings

5. Vehicle reduces altitude until touch-down

6. Vehicle motors are stopped

7. Avionics processes are halted

8. Vehicle is recovered; motor is disabled.

Redundant Ground Control Station Systems

The ground station currently includes Mission Planner, a terminal window, and the PrecisionHawk Base Station 

software to control and monitor the onboard CPU, and also the manual control capability of the vehicle from the 

pilot. These can be run or utilized independently and can communicate to the aircraft independently. 

Communication Rates 

Currently, the system relays its state (orientation and flight status) every 0.2 seconds from both the Mission 

Planner and the onboard CPU, and the current position and target heading and flight command every 0.5 seconds. 

In the event that faster update rates are required, specific sensors or information packets can be queried at much 

higher rates (100 Hz).
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Appendix 5 – Communications Background

The communication links and protocols between the UAV and Mission Planner are enabled through the 

communication device (Commbox). It allows operators to monitor, issue commands and upload flight plans to the 

autopilot. The wireless communication link uses radio frequencies operating at 915 MHz with an outdoor LOS 

range up to 2 km.

Communication links from the autopilot and additional onboard CPU utilize a communication protocol known as 

“MAVLink”. This standard protocol (shared by several autopilot manufacturers) includes full vehicle state 

information and allow for full vehicle control or autonomous operations. 
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Appendix 6 – Payload Background

Three potential payloads have been identified for use with the HawkEye aircraft: a visual camera, a multispectral 

agricultural camera, and a thermal camera. 

Currently, integration with the visual and multispectral cameras has been completed. All cameras have a maximum 

mass under 0.66 lbs. (300 g).
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Appendix 7 – Security Plan Background

The following provides an overview of the Security Plan. The Flight Operations Manual paragraph “Sterile 

Area/Airspace Control” is controlling and should be consulted prior to each operation.

The aircraft will be kept within visual contact of the pilot on the ground at all times. There will be two failsafe 

operations options during any flight session with an autonomous controller: 

1. Onboard autopilots to put the UAVs into a predetermined path through the ground station control software 

should the autonomous controllers fail; or

2. Manual control take over by pilot on the ground through RC in the case where both the formation controller 

and predetermined path autopilots fail

The flights planned will not take place over members of the public, buildings, or vehicles other than those involved 

in UAV operations.

Spectators are not expected during system operations. Any casual spectators that appear during the flight sessions 

or spectators specifically invited by the PrecisionHawk Inc. to view UAV demonstrations will be required to keep 

clear from the operational aircraft by using barriers or indicators such as pylons and per the guidelines in the Flight 

Operations Manual. 

It will be the responsibility of the flight crew to ensure sufficient separation is imposed between the operation area 

and the spectators if there are any. If this action is not possible, the flight operations will be halted until the safe 

separation criteria is achieved. 

No flight tests are scheduled to operate in any locations or at any altitudes where permission is required from

airport authorities. Operations are also not expected to take place in any area where persons other than the 

property owners will need to be notified and consulted. Furthermore, the UAVs will not be expected to operate in 

areas where the public will have to be removed from areas affected by the operations. 

Finally, the location choice for the base of operations will be made accessible to emergency vehicles in case they 

are required.
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Appendix 8 – Emergency Contingency Plan Background

The vehicle is a foam aircraft that consists of small electric motors and components, so the risks to persons or 

property should be minimal. However, contingency planning will be required in the cases of: 

1. Medical needs from vehicle crashing or loose propellers

2. Fire in the ground station or vehicle electric components

If any of the above events do occur, immediate assistance will be provided through medical first aid and fire 

extinguisher. If further assistance or help is required, a cellular phone will be available to contact emergency 

personnel. Thus, a first aid kit, fire extinguisher and cellular phones will be present at the time of flight operations. 

In the event of more serious injuries, the first to be contacted will be emergency services. If they are unable to 

respond, the next option will be to take the injured person to the closest hospital, while still trying to contact the 

emergency services along the way. All these emergency contact numbers will be identified and presented to all 

crew members before the flight operations. 

As the flight operations for the vehicle will typically be on the order of 30-100 m AGL, there is little risk to general 

airspace users. Further care will be taken, however, to remain clear of areas where low flying aircraft could be 

operating. This will include review NOTAMs relevant to the operational areas and dates/times.
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Appendix 9 - Mission Planner Quick Reference Guide

General: The following screen captures show quick reference views for a variety of necessary commands the Flight 

Team may utilize. 

Immediate Landing Needed:

Pause Mission
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Resume Mission

Change Airspeed/Altitude
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Appendix 10 – Using the Flight Planning Software 

The PrecisionHawk Mission Planning software is user-friendly.

Step 1: Install Mission Planning Software onto computer using the provided USB. If a Field Laptop was purchased, 

the Mission Planning Software will already be installed onto Desktop.

Step 2: Open the Mission Planning Software by searching for its saved location and double-clicking on the icon.

Step 3: Upon opening the Mission Planner for the first time, the system will prompt you to choose the location of 

a Micro-SD card. Insert the Micro-SD card included with the Aircraft into the USB adapter. Plug the USB adapter 

into the USB port on the laptop. Once a Micro-SD card has been identified, choose it on the prompt.

Step 4: Once you have chosen the micro-SD card, a configuration file from the software will automatically be saved 

onto the card. All missions planned hereafter will be saved into this location (unless otherwise specified).

Step 5: Next, click on the "New Plan" icon to start planning your mission. The plan will automatically be named 

"Untitled". You may change the name of the flight plan by clicking "Edit" next to the name.
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Step 6: Once the new mission has been created and named, you will choose if you would like to perform a 

bounded or linear survey.

Bounded Survey: A bounded survey consists of selecting a 2 dimensional area (unlimited sides of the shape) in 

which you would like to survey. Rather than flying a straight line (as a linear survey does), the plane will determine 

the most efficient way to build transects to collect data within the bounded area

First, find the location of the area you would like to survey. This can be done a few different ways. Either type in 

the address in the "Address Bar" at the top of the screen, or by zooming out on the map using the scale, moving 

over, and zooming into the area you wish to survey on the world map (Precision Hawk Mission Planner uses 

Google Maps API)
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To help identify specific landmarks, you may also choose Satellite Mode, which will show you visual imagery of the 

area in focus.

If you know the specific GPS coordinates that you are trying to survey, you may manually input them.

GPS coordinates will automatically populate the Latitude and Longitude boxes when a point is selected on the map 

by left clicking.
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Second, begin mapping out the survey area by left clicking on points on the map or manually entering the first and 

second GPS point.

Once completed, you will see a dot in the middle of these two plotted point. Left click and hold while moving your 

mouse. This will allow you to "stretch the area out into a triangle shape. You can use this method on any of the 

"between dots" to now stretch the shape into a 4-sided, 5-sided, 6-sided (unlimited sided) shape. Once you have 

outlined your shape, you may then left click and drag on the middle of the shape to move the entire shape around 

on the map.

Linear Survey: This type of survey consists of flying from GPS point to GPS point. To perform a linear survey, you 

must first find the location you would like to survey on the map. Do this using one of the methods as listed above 

in "Bounded Survey". After choosing the location where you would like to start the survey, continue adding 
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waypoints. Mission Planner will connect each point to the previous point using strait lines. The aircraft will conduct 

its survey by flying to each point on these lines in the order that they were chosen. 

Step 6: Once your survey area has been determined, you have the option of choosing either the Ground 

Resolution or the Altitude for the survey. These two options are inversely related; the higher resolution you choose 

to collect, the lower the altitude will be, and the higher the altitude you choose, the lower the ground resolution 

will be. You can make this choice by left clicking on either the "Ground Resolution" or "Altitude" icon and moving 

the horizontal scale right or left by left clicking and holding while moving the mouse left or right.

Note: The maximum altitude for a flight is set at l00 m, as to not disrupt the manned airspace

You can also specify by Altitude. 
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As the mission planner cannot determine which sensor you plan to use until you are in the field (the payload bay is 

intelligently queried when it connects), you can look at the right column of the screen which displays the altitude 

and ground resolution for each sensor. These numbers dynamically change as you make changes to the horizontal 

Ground Resolution or Altitude scale.

Once you've set your flight plan, left click on "Activate Flight Plan." This will automatically save your mission to the 

Micro SD card that you've chosen when you opened the program. This Micro SD card will then be physically 

removed from the computer, inserted into the plane, and act as the brains (it gives the parameters) for the flight.

Edit Mission Name: If you would like to change or edit the name of your mission, select (left click) the mission, then 

left click on "Edit.”
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Save to New SD Card: If you would like to save a plan to a different Micro SD Card than originally chosen, left click 

on "New SD Card" and the file location screen will occur.
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Delete Mission: If you would like to delete a mission, select (left click) the mission and left click on "Delete.”
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Appendix 11 – Maintenance Logs

General: Any damage or worn out parts need to be replaced or repaired before the next flight. Log books are not 

only used to record flight times with a running total, but also to record all maintenance items as well. Each aircraft 

will have its own identifying number and a corresponding log book. The log book will be kept with the aircraft and 

entries made including flight times, conditions, parts that are replaced, airworthiness testing, and any other notes 

of interest related to performance. 

Information in the log books is valuable to assess any problems and can assist in preventative solutions for future 

flight to avoid similar issues. Examples of PrecisionHawk Logs follow:
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Appendix 12 –Takeoff, Cruise/Survey, and Recovery Methods Overview

General

The following provides an overview of the various methods the Lancaster utilizes for Launch, Takeoff, 

and Recovery.

Currently Launch and takeoff are executed in the following manner: 

1. Vehicle is inspected.

2. System start-up and diagnostics are run for sensors.

3. Flight settings are uploaded to the autopilot from the field computer. 

4. User inputs and survey parameters are checked for consistency and to ensure they fall within 

operating ranges, performance, and limits of the aircraft.

5. Avionics data and information are confirmed as operating normally.

6. Motors and power systems are initialized, confirmed and engaged.

7. Vehicle is launched and UAV mode is set to takeoff. 

8. Vehicle should follow predefined takeoff settings, climb to desired altitude, perform survey, 

approach the predefined landing point, and finally land. 
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Takeoff Expanded

Step 1

With Mission Planner open, the Futaba 

radio powered on and the ground 

communication box connected and 

powered on, open the battery hatch and 

insert the flight battery into the bottom of 

the airframe.

Step 2

Secure the battery and make sure the grab 

catches have mated properly. Close the battery 

hatch.

Step 3

On the top right hand side of Mission Planner, 

choose the “COMxx” port from the drop down 

menu and set the baud rate to 115200. After 

pressing connect (found on the top right hand 

side), the signal strength between the plane and 

the MCC will be shown on the top left hand panel 

of Mission Planner confirming the communication 

between Mission Planner and the aircraft.

Step 4

Set the aircraft where you would like it to land on 

flat, level ground. Select the flight plan using the 

up and down buttons and press "Ok/Launch" on 

the left side of the airframe. The aircraft will wait 

to acquire GPS, home itself to this position in 

Mission Planner, perform diagnostics check, and 

zero its pressure sensors.
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Step 5

The LCD indicates that the aircraft will begin to

perform preflight tests. The tests are in order: 1) 

GPS lock, 2) Control surface test, 3) Sensor 

calibration, 4) Airspeed test, and 5) R/C 

transmitter test. Keep in mind that for test 3, the 

plane has to be level and the pitot tube must be 

covered.

Step 6

Within the flight plan tab of Mission Planner, 

click “Read WPS” to confirm survey area and 

takeoff loiter location (WP 2). Also make sure the 

landing touchdown location (last WP) is correctly 

set. If any changes are made, click “Write WPS” 

to upload changes to aircraft.

Step 7

The aircraft is now ready to fly. Pick it up in your 

throwing hand. When ready to launch, press 

"OK/Launch" button on the left hand side of the 

airframe. A 5 second countdown will begin as 

indicated by the LCD. Tilt the aircraft so that the 

nose is pointing towards the ground. After the 

countdown, tilt plane up. The motor will spin to 

full power. Give the aircraft a gentle, straight, 

level toss.

Cruise/Survey Expanded

Step 1

The aircraft will continue in Take-off mode, 

climbing to its survey altitude and proceeding 

with loitering around “WP 2” in order to 

determine the wind direction. After the aircraft 

has measured the wind parameters, It will 

calculate a survey path to cover the area between 

the designated box. In the Flight Plan tab, click 

“Read WPS” to download the flight pattern. 
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Step 2

Once the flight path has been downloaded it will 

appear over the map in Mission Planner. Verify 

that it has built the correct transects over the 

selected area. While it flies on its track, monitor 

its airspeed, altitude, flight path, and battery 

voltage (over 10.6 Volts).

 

Step 3

When the aircraft completes its survey, it will 

automatically initiate the landing sequence. It will 

also initiate the landing if the flight battery 

voltage drops below 10.6 Volts. The final 

waypoint indicates the landing point.
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Landing Expanded

Landing principles are as follows: 

1. If the landing is to be fully autonomous, the autopilot computes an optimal landing and approach 

path based on current weather conditions. 

2. If the landing is under manual or user control, landing settings are uploaded to autopilot. 

3. Vehicle is commanded to switch to Landing mode when landing is desired by the PIC. 

4. Vehicle approaches landing site autonomously according to predefined settings. 

5. Vehicle approaches landing waypoint and circles to correct landing direction (around the second 

to last waypoint). In addition, it will drop to an altitude of 40 meters at this stage.

6. Vehicle reduces altitude until touch-down. 

7. Vehicle motors are stopped. 

8. Avionics processes are halted. 

9. Vehicle is recovered, motor is disabled. 

Step 1

The aircraft will begin to approach the landing 

point from the second to last waypoint. From 

this point, an 820 ft. (250 meter) landing path 

is made in which the aircraft will gradually 

decrease altitude from 131 ft. (40 meters) to 

ground. Before the aircraft initiates its landing 

sequence, ensure that the aircraft will not be 

passing any obstacles from the landing 

approach to landing waypoints. 

Step 2

Monitor the aircraft both visually and from 

Virtual Cockpit as it continues on its landing 

path. The pilot may take over manual control 

if it gets too low or in a dangerous position. 

Otherwise, it will continue and land itself.

 

 

Step 3

After the aircraft has landed on the ground, 

approach it with caution. Lift the plane up and 

hold the button labeled with an arrow for 10 

seconds to power down the aircraft. You may 

now disassemble and remove the sensors and 

data from the aircraft.
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Appendix 13 – Assembly Guide 

Standard Items

The standard UAV system includes the following items:

1 Lancaster Mark Ill Rev. 4 flight-ready platform

1 Mission-planning software

1 Communications box (communicates with the platform via the autopilot)

1 Antenna

2 Power modules 3900 mAh (batteries)

1 Flight battery charger

1 Communications box charger

1 R/C controller charger 

2 Extra propellers

1 Hard PelicanTM Case with Rollers and foam

1 Remote Controller

1 Cable USB => 9-pin Communications Box

1 Cable Communications Box => R/C Controller

1 Micro-SD Card

1 Tool set
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