Jeff Pennell/Pennell Photography

sUAV Flight Operations Manual
Introduction

This manual describes the procedures and policies for the operation of all Pennell Photography, Inc.

sUAV’s. This includes roles and responsibilities, mission phases and emergency procedures.

The aim is to document everything that is needed to be done during a mission, so it can act as a reference

point for team members.

Roles and Responsibilities

Pilot

● Flying the UAV in Manual or FBW mode. This may include takeoff, landing or during emergency procedures (when the UAV is circling Airfield Home and needs to be landed)

● Assembling the UAV if needed (Wings, Tailplane, Hatches) and acting as a point of contact on

the flight line during preflight checks

● The Pilot and the Backup Pilot will be the only team members on the flight line

● Monitors the state of the UAV - altitude, speed, roll, pitch, etc

● Monitors the UAV’s progress through the mission

● Monitors the time in flight and battery levels, ensuring the UAV will finish the mission with

adequate reserve battery power remaining

● Monitors position of UAV relative to the geofence, particularly in Manual mode
Visual Observer (VO)

● Maintain awareness of flight area and inform of possible dangers

● Assist pilot with pre flight and post flight checklists

● The Pilot and VO along with the camera Operator (if utilized) will be on the flight line within

voice communications distance from one another at all times

● Acts as communications link between pilot and Ground Station

Camera Operator

● Monitors overall progress of the UAV through all phases of the mission through data link display over laid on camera monitor

● Performs pre-flight checks of all ground station, downlinks and camera

● Operates camera and gimbal via RF remote control during flight

● Issues flight termination command

● Confirms the Camera is capturing correctly

● Monitors the camera capture and image processing
Mission Planning

Confirm flight area specifics

● Secure written and signed approval from all parties involved pertaining to flight area for clearance and permission to operate in mission area

● Visual site survey

● Identify emergency landing area’s and how they will be secured and marked

● Check for NOTAMS and/or TFR’s

● Confirm nearest helipad, landing strip or airport

● Compile a “written plan of activities” and submit to area FSDO between 36 hours and 72

hours in advance

● Confirm permits (city, county commissions, etc) have been secured at the local level

Setup

Assembling the sUAV
● Extend and lock arms in place (if needed)

● Check for physical damage

● Check all electronics present and connected

● Check for working flight surfaces

● Confirm all batteries charged

● No physical damage to airframe, engine, propeller or avionics

● All hatches closed and secured on aircraft

● Area and runway clear of unnecessary personnel and debris

● Confirm SLA and engine ignition batteries charged

Setup of the Ground Station

● Radio links active and working (with a good SNR value)

● All laptops working and networked

● All laptops software working correctly

● All Ground Station operators confirm
Pre-startup checks

● Verify

○ All servos and flight control surfaces responsive

○ APM(s) running

○ Battery voltage within stated acceptable range

○ RC radio link working

● Confirm GPS Lock

● Confirm compass enabled

● Check geo fence area and it is enabled

● Check max height fence is set at 350 feet and enabled

● Check compass calibration is in range

● Confirm Altitude lock

● Ensure battery cell voltage is in stated acceptable range

● Airspeed calibration and check
● Receiver failsafe check

● Check barometric pressure sensor calibration

Post-startup Checks

● Engine running nominally

● Battery voltage at idle is in stated acceptable range

● Ensure flight mode MANUAL

● Confirm IMU gives the correct orientation

● Double check barometric sensor is showing 0m altitude

● Check compass calibration on ground station

Flight

Takeoff

● Takeoff may be automatic (in GPS mode)or manual, depending on conditions.

○ For automatic takeoff, the pilot switches to AUTO on controller.

○ For manual takeoff, allow the pilot to set to Manual mode. After takeoff and when

the UAV is at least 30m off the ground, switch to FBWA mode. One the UAV has

stable flight, the pilot switches to AUTO.

● Once the UAV is in stable AUTO flight, the GCS will disable stick mixing (rudder control)
● While the UAV is tracking to EL1, ensure that:

○ The UAV maneuvers correctly (good parameters)

○ GPS has a solid lock (can we check for a signal strength / # of satellites locked?)

○ SNR on both radios is acceptable

○ Camera is showing good quality images

○ If needed, switch off USE_COMPASS

In Flight (pilot)

● Be aware of airspace around craft. Sense and be aware of possible dangers (birds, wires, etc..)

● Always maintain your “emergency” landing area and have a plan to reach it if needed

● Stay in communication with observer on ground and camera op throughout entire flight

● When battery reaches stated low voltage, 1

st

warning is activated. Start return to home

sequence.

In Flight (Camera Op)

● Maintain open communication with pilot on battery voltage and possible dangers near or in

flight path

● Maintain open communication with pilot on GPS lock and number of satellites “locked” while

in flight
● When battery voltage in flight reaches stated low voltage and 1

st

warning is activated, Inform

pilot of this condition.

Landing

● Landing may be automatic (In GPS mode) or manual, depending on conditions.

● By default you should land in GPS mode

○ In automated mode, the camera op will keep a careful eye on the speed and altitude of

the UAV

○ The pilot will confirm when the UAV is in final descent.

○ The pilot will switch of the RC transmitter when they are confident of Manual

control. They should ensure the Transmitter is set to the right modes/switches

before power-on. The GCS should be informed when this happens

○ If, at any point during the landing, we are not confident in the auto landing the pilot

will manually take over (only if the UAV is in visual range though)

○ During a manual landing, the GCS will call out the airspeed and altitude for the pilot

via the 2-way radios

Post-flight Checks

● Disconnect and remove battery

● Visual inspection of control surfaces

● Check declination angle of GPS system
● Download all flight data from flight controller to laptop

Emergency Procedures

Loss of Datalink

● Occurs if the both datalinks are lost (no heartbeat) for more than 10 seconds

○ If combined with a loss of GPS, the UAV must terminate

○ The RC link fails during manual flight, the UAV must terminate

● The UAV will ascend or descend to 100 feet and return and hover over takeoff point

● If the datalink is not re-established in this time, the UAV will terminate and begin auto

landing sequence

● We are allowed a maximum of 2 datalink losses (“no heartbeat”) during the mission

Loss of GPS

● If the GPS reports a loss of lock, this mode must be activated immediately

● The UAV will automatically loiter around the point of GPS lock loss (via dead reckoning) for

30 seconds. Loiter radius is ~100m
● The UAV will then navigate to the takeoff point (via dead reckoning)

● RC control will be established and the UAV landed.

● We are allowed a maximum of 1 GPS loss during the mission

DJI Software crash (Failure of Autopilot software / Failure of SAS)

● If no heartbeat is heard from the APM for more than 1 second, this mode is activated

● Flight termination must be immediately activated

Loss of engine power

● If we can still safely operate with an engine failure, navigate back to take-off point and land

immediately.

● If we cannot still safely operate, then we will begin to auto rotate down. Craft will automatically lower landing gear. (if applicable)

● We will have control of all three axis’ but yaw will be limited.

Geofence

● As craft approaches programmed geo fence it will display a visual warning on the ground stations.

Once craft reaches fence the pilot will not be able to go any further. Craft will hover until reverse input

from sticks bringing craft back into the area.

Fail-Safe
● At any time and at the pilot’s discretion he can initiate fail safe by turning the command radio off. Thus

forcing the craft to enter fail safe mode whereas it will ascend or descend to 100 feet and return to home

and land.