# JeffPennell/Pennell Photography 

# sUAV Flight Operations Manual

# Introduction

This manual describes the procedures andpolicies for the operation ofall Pennell Photography, Inc. sUAV’s. This includes roles and responsibilities, mission phases and emergencyprocedures. 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 emergencyprocedures (when the UAV is circling Airfield Home and needs to be landed) ● Assembling the UAV ifneeded (Wings, Tailplane, Hatches) and acting as a point ofcontact 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 ofthe UAV - altitude, speed, roll, pitch, etc ● Monitors the UAV’s progress through the mission ● Monitors the time in flight andbattery levels, ensuring the UAV will finish the mission with adequate reserve batterypower remaining ● Monitors position ofUAV relative to the geofence, particularly in Manual mode

## Visual **Observer (VO)** 

● Maintain awareness offlight area and inform ofpossible dangers ● Assist pilot with pre flight andpost flight checklists ● The Pilot and VO along with the camera Operator (ifutilized) will be on the flight line within voice communications distance from one another at all times ● Acts as communications linkbetween pilot and Ground Station 

## Cam**era Operator**  ● Monitors overall progress ofthe UAV through all phases ofthe mission through data link display over laid on camera monitor ● Performs pre-flight checks ofall 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 forNOTAMS and/or TFR’s ● Confirm nearest helipad, landing strip or airport ● Compile a “written plan ofactivities” and submit to area FSDO between 36 hours and 72 hours in advance ● Confirmpermits (city, county commissions, etc) have been secured at the local level 

# Setup **Assembling the**  **sUAV**● Extend and lock arms inplace (ifneeded)

● 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 ofunnecessarypersonnel 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 andnetworked ● 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 linkworking ● Confirm GPS Lock ● Confirm compass enabled ● Check geo fence area and it is enabled ● Checkmax 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

● Checkbarometric 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 checkbarometric sensor is showing 0m altitude ● Check compass calibration on ground station 

# Flight **Takeoff** ● Takeoffmay 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 takeoffand when the UAV is at least 30m offthe 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 stickmixing (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 / # ofsatellites locked?) ○ SNR on both radios is acceptable ○ Camera is showing good quality images ○ Ifneeded, switch offUSE_COMPASS 

## In **Flight (pilot)**  ● Be aware ofairspace around craft. Sense and be aware ofpossible dangers (birds, wires, etc..) ● Always maintain your “emergency” landing area and have a plan to reach it ifneeded ● Stay in communication with observer on ground and camera op throughout entire flight ● Whenbattery reaches stated low voltage, 1st 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 ofsatellites “locked” while in flight● Whenbattery voltage in flight reaches stated low voltage and 1st warning is activated, Inform

pilot ofthis 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 ofthe RC transmitter when they are confident ofManual 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 anypoint during the landing, we are not confident in the auto landing the pilot will manually take over (only ifthe 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 ofcontrol surfaces ● Check declination angle ofGPS system● Download all flight data from flight controller to laptop



# Emergenc**y Procedures**  **Loss of** **Datalink** ● Occurs ifthe both datalinks are lost (no heartbeat) for more than 10 seconds ○ Ifcom bined with a loss ofGPS, 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 takeoffpoint ● Ifthe datalink is not re-established in this time, the UAV will terminate and begin auto 

### landing sequence ● We are allowed a maximum of2 datalink losses (“no heartbeat”) during the mission 

## Loss **of GPS**  ● Ifthe GPS reports a loss oflock, this mode must be activated immediately ● The UAV will automatically loiter around the point ofGPS lock loss (via deadreckoning) for 30 seconds. Loiterradius is ~100m● The UAV will then navigate to the takeoffpoint (via deadreckoning)

● 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)**  ● Ifno 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** ● Ifwe can still safely operate with an engine failure, navigate backto take-offpoint and land immediately. ● Ifwe cannot still safely operate, then we will begin to auto rotate down. Craft will automatically lower landing gear. (ifapplicable) ● We will have control ofall 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. 

## Fa**il -** **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.