May 19, 2015

Exemption No. 11617

Regulatory Docket No. FAA–2015–0549

Mr. Clayton Barrows 

Founder

Aerial Precision Survey

10662 West First Court

Star, ID 83669

Dear Mr. Barrows:

This letter is to inform you that we have granted your request for exemption. It transmits our 

decision, explains its basis, and gives you the conditions and limitations of the exemption, 

including the date it ends.

By letter dated February 16, 2015, you petitioned the Federal Aviation Administration (FAA) 

on behalf of Aerial Precision Survey (hereinafter petitioner or operator) for an exemption. 

The exemption would allow the petitioner to operate an unmanned aircraft system (UAS) to 

conduct precision photogrammetry and crop scouting.

See Appendix A for the petition submitted to the FAA describing the proposed operations and 

the regulations that the petitioner seeks an exemption.

The FAA has determined that good cause exists for not publishing a summary of the petition 

in the Federal Register because the requested exemption would not set a precedent, and any 

delay in acting on this petition would be detrimental to the petitioner.

Airworthiness Certification

The UAS proposed by the petitioner are the 3D Robotics Inc. Aero−M and 3D Robotics X8+.
2

The petitioner requested relief from 14 CFR part 21, Certification procedures for products 

and parts, Subpart H—Airworthiness Certificates. In accordance with the statutory criteria 

provided in Section 333 of Public Law 112−95 in reference to 49 U.S.C. § 44704, and in 

consideration of the size, weight, speed, and limited operating area associated with the 

aircraft and its operation, the Secretary of Transportation has determined that this aircraft 

meets the conditions of Section 333. Therefore, the FAA finds that the requested relief from 

14 CFR part 21, Certification procedures for products and parts, Subpart H—Airworthiness 

Certificates, and any associated noise certification and testing requirements of part 36, is 

not necessary.

The Basis for Our Decision

You have requested to use a UAS for aerial data collection. The FAA has issued grants of 

exemption in circumstances similar in all material respects to those presented in your petition. 

In Grants of Exemption Nos. 11062 to Astraeus Aerial (see Docket No. FAA−2014−0352), 

11109 to Clayco, Inc. (see Docket No. FAA−2014−0507), 11112 to VDOS Global, LLC (see

Docket No. FAA−2014−0382), and 11213 to Aeryon Labs, Inc. (see Docket No. 

FAA−2014−0642), the FAA found that the enhanced safety achieved using an unmanned 

aircraft (UA) with the specifications described by the petitioner and carrying no passengers or 

crew, rather than a manned aircraft of significantly greater proportions, carrying crew in 

addition to flammable fuel, gives the FAA good cause to find that the UAS operation enabled 

by this exemption is in the public interest.

Having reviewed your reasons for requesting an exemption, I find that—

 They are similar in all material respects to relief previously requested in Grant of 

Exemption Nos. 11062, 11109, 11112, and 11213;

 The reasons stated by the FAA for granting Exemption Nos. 11062, 11109, 11112, and 

11213 also apply to the situation you present; and 

 A grant of exemption is in the public interest.

Our Decision

In consideration of the foregoing, I find that a grant of exemption is in the public interest. 

Therefore, pursuant to the authority contained in 49 U.S.C. 106(f), 40113, and 44701, 

delegated to me by the Administrator, Aerial Precision Survey is granted an exemption from 

14 CFR §§ 61.23(a) and (c), 61.101(e)(4) and (5), 61.113(a), 61.315(a), 91.7(a), 91.119(c), 

91.121, 91.151(a)(1), 91.405(a), 91.407(a)(1), 91.409(a)(1) and (2), and 91.417(a) and (b), to 

the extent necessary to allow the petitioner to operate a UAS to perform aerial data collection. 

This exemption is subject to the conditions and limitations listed below.

Conditions and Limitations

In this grant of exemption, Aerial Precision Survey is hereafter referred to as the operator.
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Failure to comply with any of the conditions and limitations of this grant of exemption will be 

grounds for the immediate suspension or rescission of this exemption.

1. Operations authorized by this grant of exemption are limited to the 3D Robotics Inc. 

Aero−M and 3D Robotics X8+ when weighing less than 55 pounds including payload. 

Proposed operations of any other aircraft will require a new petition or a petition to 

amend this exemption.

2. Operations for the purpose of closed-set motion picture and television filming are 

not permitted. 

3. The UA may not be operated at a speed exceeding 87 knots (100 miles per hour). The 

exemption holder may use either groundspeed or calibrated airspeed to determine 

compliance with the 87 knot speed restriction. In no case will the UA be operated at 

airspeeds greater than the maximum UA operating airspeed recommended by the 

aircraft manufacturer.

4. The UA must be operated at an altitude of no more than 400 feet above ground level 

(AGL). Altitude must be reported in feet AGL.

5. The UA must be operated within visual line of sight (VLOS) of the PIC at all times. 

This requires the PIC to be able to use human vision unaided by any device other than 

corrective lenses, as specified on the PIC’s FAA-issued airman medical certificate or 

U.S. driver’s license.

6. All operations must utilize a visual observer (VO). The UA must be operated within 

the visual line of sight (VLOS) of the PIC and VO at all times. The VO may be used 

to satisfy the VLOS requirement as long as the PIC always maintains VLOS 

capability. The VO and PIC must be able to communicate verbally at all times; 

electronic messaging or texting is not permitted during flight operations. The PIC 

must be designated before the flight and cannot transfer his or her designation for the 

duration of the flight. The PIC must ensure that the VO can perform the duties 

required of the VO.

7. This exemption and all documents needed to operate the UAS and conduct its 

operations in accordance with the conditions and limitations stated in this grant of

exemption, are hereinafter referred to as the operating documents. The operating 

documents must be accessible during UAS operations and made available to the 

Administrator upon request. If a discrepancy exists between the conditions and 

limitations in this exemption and the procedures outlined in the operating documents, 

the conditions and limitations herein take precedence and must be followed. 

Otherwise, the operator must follow the procedures as outlined in its operating 

documents. The operator may update or revise its operating documents. It is the 
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operator’s responsibility to track such revisions and present updated and revised 

documents to the Administrator or any law enforcement official upon request. The 

operator must also present updated and revised documents if it petitions for extension 

or amendment to this grant of exemption. If the operator determines that any update 

or revision would affect the basis upon which the FAA granted this exemption, then 

the operator must petition for an amendment to its grant of exemption. The FAA’s 

UAS Integration Office (AFS−80) may be contacted if questions arise regarding 

updates or revisions to the operating documents.

8. Any UAS that has undergone maintenance or alterations that affect the UAS operation 

or flight characteristics, e.g., replacement of a flight critical component, must undergo 

a functional test flight prior to conducting further operations under this exemption. 

Functional test flights may only be conducted by a PIC with a VO and must remain at 

least 500 feet from other people. The functional test flight must be conducted in such 

a manner so as to not pose an undue hazard to persons and property.

9. The operator is responsible for maintaining and inspecting the UAS to ensure that it is 

in a condition for safe operation.

10. Prior to each flight, the PIC must conduct a pre-flight inspection and determine the 

UAS is in a condition for safe flight. The pre-flight inspection must account for all 

potential discrepancies, e.g., inoperable components, items, or equipment. If the 

inspection reveals a condition that affects the safe operation of the UAS, the aircraft is 

prohibited from operating until the necessary maintenance has been performed and the 

UAS is found to be in a condition for safe flight.

11. The operator must follow the UAS manufacturer’s maintenance, overhaul, 

replacement, inspection, and life limit requirements for the aircraft and 

aircraft components.

12. Each UAS operated under this exemption must comply with all manufacturer 

safety bulletins.

13. Under this grant of exemption, a PIC must hold either an airline transport, 

commercial, private, recreational, or sport pilot certificate. The PIC must also hold a 

current FAA airman medical certificate or a valid U.S. driver’s license issued by a 

state, the District of Columbia, Puerto Rico, a territory, a possession, or the Federal 

Government. The PIC must also meet the flight review requirements specified in 

14 CFR § 61.56 in an aircraft in which the PIC is rated on his or her pilot certificate.

14. The operator may not permit any PIC to operate unless the PIC demonstrates the 

ability to safely operate the UAS in a manner consistent with how the UAS will be 

operated under this exemption, including evasive and emergency maneuvers and 

maintaining appropriate distances from persons, vessels, vehicles and structures. PIC 
5

qualification flight hours and currency must be logged in a manner consistent with 

14 CFR § 61.51(b). Flights for the purposes of training the operator’s PICs and VOs 

(training, proficiency, and experience-building) and determining the PIC’s ability to 

safely operate the UAS in a manner consistent with how the UAS will be operated 

under this exemption are permitted under the terms of this exemption. However, 

training operations may only be conducted during dedicated training sessions. During 

training, proficiency, and experience-building flights, all persons not essential for 

flight operations are considered nonparticipants, and the PIC must operate the UA 

with appropriate distance from nonparticipants in accordance with 14 CFR § 91.119.

15. UAS operations may not be conducted during night, as defined in 14 CFR § 1.1. All 

operations must be conducted under visual meteorological conditions (VMC). Flights 

under special visual flight rules (SVFR) are not authorized.

16. The UA may not operate within 5 nautical miles of an airport reference point (ARP) as 

denoted in the current FAA Airport/Facility Directory (AFD) or for airports not 

denoted with an ARP, the center of the airport symbol as denoted on the current 

FAA-published aeronautical chart, unless a letter of agreement with that airport’s 

management is obtained or otherwise permitted by a COA issued to the exemption 

holder. The letter of agreement with the airport management must be made available 

to the Administrator or any law enforcement official upon request.

17. The UA may not be operated less than 500 feet below or less than 2,000 feet 

horizontally from a cloud or when visibility is less than 3 statute miles from the PIC.

18. If the UAS loses communications or loses its GPS signal, the UA must return to a 

pre-determined location within the private or controlled-access property.

19. The PIC must abort the flight in the event of unpredicted obstacles or emergencies.

20. The PIC is prohibited from beginning a flight unless (considering wind and forecast 

weather conditions) there is enough available power for the UA to conduct the 

intended operation and to operate after that for at least 5 minutes or with the reserve 

power recommended by the manufacturer if greater.

21. Air Traffic Organization (ATO) Certificate of Waiver or Authorization (COA). All 

operations shall be conducted in accordance with an ATO-issued COA. The 

exemption holder may apply for a new or amended COA if it intends to conduct 

operations that cannot be conducted under the terms of the attached COA.

22. All aircraft operated in accordance with this exemption must be identified by serial 

number, registered in accordance with 14 CFR part 47, and have identification 

(N−Number) markings in accordance with 14 CFR part 45, Subpart C. Markings must 

be as large as practicable.
6

23. Documents used by the operator to ensure the safe operation and flight of the UAS and 

any documents required under 14 CFR §§ 91.9 and 91.203 must be available to the 

PIC at the Ground Control Station of the UAS any time the aircraft is operating. 

These documents must be made available to the Administrator or any law enforcement 

official upon request.

24. The UA must remain clear and give way to all manned aviation operations and 

activities at all times. 

25. The UAS may not be operated by the PIC from any moving device or vehicle. 

26. All Flight operations must be conducted at least 500 feet from all nonparticipating 

persons, vessels, vehicles, and structures unless:

a. Barriers or structures are present that sufficiently protect nonparticipating persons 

from the UA and/or debris in the event of an accident. The operator must ensure 

that nonparticipating persons remain under such protection. If a situation arises 

where nonparticipating persons leave such protection and are within 500 feet of 

the UA, flight operations must cease immediately in a manner ensuring the safety 

of nonparticipating persons; and

b. The owner/controller of any vessels, vehicles or structures has granted permission 

for operating closer to those objects and the PIC has made a safety assessment of 

the risk of operating closer to those objects and determined that it does not 

present an undue hazard.

The PIC, VO, operator trainees or essential persons are not considered 

nonparticipating persons under this exemption.

27. All operations shall be conducted over private or controlled-access property with 

permission from the property owner/controller or authorized representative. 

Permission from property owner/controller or authorized representative will be 

obtained for each flight to be conducted.

28. Any incident, accident, or flight operation that transgresses the lateral or vertical 

boundaries of the operational area as defined by the applicable COA must be reported 

to the FAA's UAS Integration Office (AFS−80) within 24 hours. Accidents must be 

reported to the National Transportation Safety Board (NTSB) per instructions 

contained on the NTSB Web site: www.ntsb.gov.

If this exemption permits operations for the purpose of closed-set motion picture and 

television filming and production, the following additional conditions and limitations apply.

29. The operator must have a motion picture and television operations manual (MPTOM) 

as documented in this grant of exemption.
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30. At least 3 days before aerial filming, the operator of the UAS affected by this 

exemption must submit a written Plan of Activities to the local Flight Standards 

District Office (FSDO) with jurisdiction over the area of proposed filming. The 3-day 

notification may be waived with the concurrence of the FSDO. The plan of activities 

must include at least the following:

a. Dates and times for all flights;

b. Name and phone number of the operator for the UAS aerial filming conducted 

under this grant of exemption;

c. Name and phone number of the person responsible for the on-scene operation of 

the UAS;

d. Make, model, and serial or N−Number of UAS to be used;

e. Name and certificate number of UAS PICs involved in the aerial filming;

f. A statement that the operator has obtained permission from property owners 

and/or local officials to conduct the filming production event; the list of those 

who gave permission must be made available to the inspector upon request;

g. Signature of exemption holder or representative; and

h. A description of the flight activity, including maps or diagrams of any area, city, 

town, county, and/or state over which filming will be conducted and the altitudes 

essential to accomplish the operation.

31. Flight operations may be conducted closer than 500 feet from participating persons 

consenting to be involved and necessary for the filming production, as specified in the 

exemption holder’s MPTOM.

Unless otherwise specified in this grant of exemption, the UAS, the UAS PIC, and the UAS 

operations must comply with all applicable parts of 14 CFR including, but not limited to, 

parts 45, 47, 61, and 91.

This exemption terminates on May 31, 2017, unless sooner superseded or rescinded.

Sincerely,

/s/

John S. Duncan

Director, Flight Standards Service
February 16, 2015 

US Department of Transportation 

Docket Management System 

1200 New Jersey Ave., SE 

Washington, DC 20590 

. , ' -. .~ 

' .. i. '· 

Re: Exemption Request under Section 333 of the FAA Reform Act and Part 11 of the 

Federal Aviation Reg,Ilations 

Dear Sir or Madam: 

Pursuant to Section 333 ofthe FAA Modernization and Refonn Act of2012 and the 

requirements contained within 14 C.F.R. Pmi 11, Aerial Precision Survey requests an exemption 

from Federal Aviation Regulations (FARs) detailed below for the 3D Robotics Inc. (3DR) AeroM and X8+ unmanned aircraft system. 

The requested exemption would support an application for a commercial Certificate of 

Authorization to support agriculture and land mm1agement. The 3DR Aero-M and X8+ systems 

consists of a lightweight battery operated aircraft both weighing less than 7 pounds each, ground 

based PC and handheld controller, and associated communications and imaging equipment. A 

geo-referenced still camera is carried by the aircraft that allows it to conduct precision 

photogrammetry and crop scouting at resolutions necessary for precision agriculture and land 

management. The high-resolution data will provide farmers with detailed infonnation oftheir 

crops allowing them to determine which m·eas may need more seeding, fertilizer, and water at a 

faster rate than current conventional methods. Having the data at a faster rate will help fanners 

maximize crop yields which will directly benefit the agricultural industry. 

The unn1anned aircraft will be operated in the field with both a Pilot in Command (PIC) and a 

ground-based Visual Observer (VO) in accordance with the FAA Policy N 8900.227 Section 14 

"Operational Requirements for UAS" with the following additional operating restrictions: 

1. All operations will occur in Class G airspace at no more than 400ft AGL 

2. Operations will be operated over private prope1iy with the pennission of the land owner 

3. All required permits will be obtained from state and local governn1ent prior to operation 

4. The aircraft will not be operated over urban or populated areas 

5. The aircraft will not be operated within 5 NM of an airport or heliport 

6. The aircraft will not be operated at air shows or over an open-air assembly of people 

7. The aircraft will not be operated over heavily trafficked roads 

8. Operations will be limited to day and visual meteorological conditions 

Page 1 of8 
9. Aircraft will remain within visual line of sight at no greater than Yz NM of the PIC at all 

times 

10. While the aircraft is airborne, the VO will be positioned within voice distance to the PIC 

11. PIC will file a NOT AM providing radial/DME, radius, and a date/time group for each 

operation 

The PIC and VO will meet the requirements outlined in the FAA Policy N 8900.227 Section16 

Personnel Qualifications. The PIC and VO will perform maintenance on the system along with 

completing an in-service on maintenance and safety procedures as part of their initial training. 

We do not anticipate the need for a supplemental pilot, due to the simplicity ofthe system. 

We submit that the combination of strict operation under the guidelines established in 8900.227 

and the aircraft's light weight, historically demonstrated flight perfonnance, and a fully qualified 

flight crew, the FAA can have confidence that the operation will have an equivalent or greater 

level of safety of a manned aircraft performing the same mission. 

The name and contact infonnation of the applicant are: 

Aerial Precision Survey 

Attn: Clayton Barrows 

Ph: 208-353-4402 

Email: c lavton. barrmvs(~/i.aerial precisionsurvev .com 

The regulations from which the exemption is requested are as follows: 

14 CFR Part 21 

14 CFR 91.203 

14 CFR 45.23, 45.29 

14 CFR 91.9 

14 CFR 61.113(a) & (b), 61.133(a) 

14 CFR 91.109, 91.119 

14 CFR 91.121, 91.151 

14 CFR Subpart E (91.401-91.417) 

FAA Policy 8900.227 Paragraph 16(c)(4) and Paragraph 16(e)(l) 

We are prepared to modify or amend any pmi of this request to satisfy the need for an equivalent 

level of safety. We look forward to hearing from your office. Please contact us at any time. 

Sincerely, 

Clayton 

~~ Banows 

Founder, Aerial Precision Survey 

Page 2 ofS 
Appendices: 

A. Exemption Request and Equivalent Level of Safety 

B. Safety Guidelines 

C. Safety Log 

D. Maintenance Procedures X8+ 

E. Maintenance Procedmes Aero-M 

F. Flight Log 

G. User Manual 

Page 3 of8 
Appendix A 

EXEMPTION REQUESTS AND EQUIVALENT LEVEL OF SAFETY 

Aerial Precision Survey requests an exemption from the following regulations as well as any 

additional regulations that may technically apply to the operation of the 3D Robotics Inc. (3DR) 

Aero-M and X8+ 

14 CFR Part 21, Subpart H: Airworthiness Certificates 

This part establishes the procedures for the issuance of an airworthiness cetiificate. While the 

FAA continues to work to develop airworthiness standards for UAS, we request an experimental 

certificate be issued for the 3DR Aero-M and X8+ under either or both of the following 

prOVlSlOnS: 

21.191 Experimental certificates 

Experimental certificates are issued for the following purposes: 

(a) Research and development. Testing new aircraft design concepts, new aircraft 

equipment, new aircraft installations, new aircraft operating teclmiques, or new uses 

for aircraft. 

(b) Showing compliance with regulations. Conducting flight tests and other operations 

to show compliance with the airworthiness regulations including flights to show 

compliance for issuance of type and supplemental type certificates, flights to 

substantiate major design changes, and flights to show compliance with the function 

and reliability requirements of the regulations. 

Since the experimental cetiificate can be used for commercial purposes such as market surveys, 

sales demonstrations, and customer crew training, we would expect that an experimental 

certificate would permit for our commercial purpose as well. 

The aircraft will not cany persons or propetiy, will not cany fuel, and will only fly under strict 

operation requirements. Combined with the fact that the Aero-M weighs only 6.8 pounds and is 

constructed primarily out of foam, and the X8+ weighs 5.6 pounds and is composed primarily of 

aluminum and carbon fiber, we propose that the 3DR Aero-M and X8+ will be at least as safe, if 

not safer, than a conventionally certificated aircraft performing the same mission. 

If an experimental airworthiness ce1iificate is not appropriate for this application, then we 

request an exemption of 14 CFR Pmi 21, Subpart H, and the requirement for an airwmihiness 

cetiificate in general, citing the equivalent level of safety outlined in the previous paragraph. 

14 CFR 91.203(a) & (b) Civil aircraft: Certifications required. 

The regulation provides that an airworthiness certificate, with the registration number assigned to 

the aircraft and a registration certificate must be aboard the aircraft. Additionally, subparagraph 

(b) provides that the airworthiness certificate be "displayed at the cabin or cockpit entrance so 

that it is legible to passengers or crew." At 6.8 m1d 5.6 pounds the 3DR Aero-M and X8+ are too 

small to carry documentation, they do not have an entrance, and are not capable of carrying 

passengers or a crew. 

Page 4 of8 
Appendix A 

To obtain an equivalent level of safety and meet the intent of91.203, we propose that documents 

deemed appropriate for this aircraft by the FAA will be located with the crew at the ground 

control station and available for inspection upon request. In order to identify the aircraft, we 

propose that the following information be pennanently affixed to the aircraft via placard: 

Manufacturer: 3D Robotics Inc. 

Model: Aero-M or X8+ 

Serial Number: 

Registered to: 

Aerial Precision Survey 

10662 W First Court 

Star, ID 83669 

If found please contact: (208) 353-4402 

14 CFR 45.23 Display of marks; general and 45.29 Size of marks. 

These regulations provide that each aircraft must display "N" and the aircraft's registration 

number in letters at least 3 inches high. Additionally, the aircraft must display the word 

"EXPERIMENTAL" in letters at least 2 inches high near the entrance to the cabin, cockpit, or 

pilot station. The 6.8 and 5.6 pound 3DR Aero-M and X8+ do not have an entrance in which the 

word "EXPERIMENTAL" can be placed, and may not have a registration number assigned to it 

by the FAA. 

We propose to achieve an equivalent level of safety by including the word "EXPERIMENTAL" 

on the top of the aircraft, where the PIC, VO and others in the vicinity of the aircraft while it is 

preparing for launch will be able to see the designation. We feel that the permanent placard 

discussed in the previous paragraph will provide the aircraft's registration infonnation should it 

be found on the ground. We will also display at the ground station a high contrast flag or banner 

that contains the words "Unmanned Aircraft Ground Station" in letters 3 inches high or greater. 

Since the aircraft will operate within Yz NM of the ground station, the ba1111er should be visible to 

anyone that observes the aircraft and chooses to investigate its point of origin. 

14 CFR 91.9 Civil aircraft flight manual, marking, and placard requirements. 

This regulation provides that no person may operate an aircraft unless a current, approved flight 

manual is in the aircraft. We assume that the intent of this requirement is to ensure that flight 

manual information is available to the aircrew while operating the aircraft. We request an 

exemption to this requirement since the aircraft is not only too small to cany documentation, the 

documentation would not be available to the crew. 

To obtain an equivalent level of safety and meet the intent of91.9, we propose that a current 

approved Airplane Flight User Manual (appendix G) must be available to the flight crew at the 

ground station anytime the aircraft in in or operating for flight. 

Page 5 of8 
Appendix A 

14 CFR 61.113 Private pilot privileges and limitations: Pilot in Command and 61.133 

Commercial pilot privileges and limitations. 

Section 61.113(a) states that "no person who holds a private pilot certificate may act as a pilot in 

command of an aircraft that is canying passengers or property for compensation or hire; nor may 

that person, for compensation or hire, act as pilot in command of an aircraft." 

Section 61.113(b) states that "A private pilot may, for compensation or hire, act as pilot in 

conm1and of an aircraft in connection with any business or employment if: (1) The flight is only 

incidental to that business or employment; and (2) The aircraft does not carry passengers or 

property for compensation or hire." 

Section 61.133(a) states that "(1) General. A person who holds a co111111ercial pilot certificate 

may act as pilot in command of an aircraft - (i) Canying persons or property for compensation 

or hire, provided the person is qualified in accordance with this part and with the applicable parts 

of this chapter that apply to the operation; and (ii) For compensation or hire, provided the person 

is qualified in accordance with this part and with the applicable parts of this chapter that apply to 

the operation." 

We request exemption from sections 61.113(a) and (b), and section 61.133(a) because our 

proposed operations include commercial operations. Considering the size, weight and operating 

characteristics of3DR Aero-M and X8+ in question, and considering that the operation ofthe 

UAS is to be confined to an area over private prope1iy with controlled access, Aerial Precision 

Survey requests an exemption from section 61.113(a) and (b) with the following conditions: 

1. The Pilot in Command (PIC) of the UAS must hold at least a private pilot airman 

certificate and a third-class ainnan medical certificate and: 

2. UAS operation will additionally require a Visual Observer (VO) and the VO must have 

acceptable vision such that they can maintain visual line of sight (VLOS) with the UAS 

at all times 

Additionally, both the 3DR Aero-M and X8+ are equipped with an onboard autopilot for 

autonomous flight, capable of being (and required by the operating manual to be) monitored by a 

Ground Control Station (GCS) at all times. The onboard autopilot will also ensure flight 

operation is kept within the controlled airspace, including prohibiting operation above a defined 

maximum altitude. 

14 CFR 91.109 Flight instruction; Simulated instrument flight and certain flight tests 

The regulation provides that "No person may operate a civil aircraft that is being used for flight 

instruction unless that aircraft has fully functioning dual controls." The 3DR Aero-M and X8+ 

ground control stations are based on a ground based PC and hand-held controller that offers a 

trainer plug for a second set of"controls", both the student and instructor can, and will, operate 

the controls simultaneously. With both student and instructor having "hands-on" the controls 

during flight, we feel that this meets the intent of 91.1 09 and provides an equivalent level of 

safety. 

Page 6 of8 
Appendix A 

14 CFR 91.119 Minimum safe altitudes: General 

The regulation provides that over sparsely populated areas the aircraft cannot be operated closer 

than 500 feet to any person, vessel, vehicle, or structure. Since the aircraft will be operating at a 

maximum of 400 feet AGL, we cannot comply with this requirement. 

To provide an equivalent level of safety we will only fly over private property with the 

permission of the land owner. The land owner will be briefed of the expected route of flight and 

the associated risks to persons and property on the ground. We maintain that due to the small size 

of the 3DR Aero-M and X8+, the hazard to persons, vessels, vehicles, and structures is not 

comparable to manned aircraft and should be considered in granting the exemption. 

The aircraft will not be operated over congested areas nor over any open air assembly of persons. 

The aircraft will be operated at an altitude allowing, if a power unit fails, an emergency landing 

without undue hazard to persons or prope1iy on the surface. 

14 CFR 91.121 Altimeter settings 

The regulation provides that aircraft shall maintain cruising altitudes by reference to an altimeter 

setting available within 100 nautical miles ofthe aircraft. The aircraft will fly below 400 feet 

AGL and will not need to maintain hemispherical cruising altitudes in order to de-conflict with 

other aircraft. An appropriate altimeter measurement presented to the pilot should be above 

ground level and should be based on the barometric pressure at the point oflaunch. To provide 

an equivalent level of safety, the UAS's AGL altimeter will be set to zero on the ground prior to 

every flight. Since neither aircraft will t1y more than 40 minutes, even rapid changes in 

barometric pressure will have limited e±Iect on the safety of the t1ight. 

14 CFR 91.151 Fuel requirements for flight in VFR conditions 

The regulation provides that no person may begin a flight in an airplane under day-VFR 

conditions unless there is enough fuel to fly to the first point of intended landing and to fly after 

that for at least 30 minutes. We feel that the intention ofthis paragraph is to provide a reserve of 

energy as a safety butler for go-arounds and other delays to landing. 

The 3DR Aero-M and X8+ are battery operated and the maximum duration of flight from a 

single battery charge is 40 minutes for the Aero-M and 15 minutes for the X8+. Since the aircraft 

will never fly more than Yz NM from the point of intended landing, a full battery charge at launch 

will ensure that we meet the reserve energy requirement of this paragraph. We request an 

exemption to the word "fuel" and ask for an equivalent interpretation with the word "energy". 

14 CFR Subpart E (91.401-91.417)- Maintenance, Preventive Maintenance, and 

Alterations 

The regulation provides that the operator is primarily responsible for maintaining the aircraft in 

an airworthy condition, including compliance with part 39 and 43. Paragraphs 91.407 and 91.409 

require that the aircraft be "approved for return to service by a person authorized tmder 43.7" 

Page 7of8 
Appendix A 

after maintenance and inspection. It is our intention that the PIC perform maintenance and 

inspection of the aircrafts and "be authorized to approve the aircrafts for retum to service." 

As provided in the attached Maintenance Procedures (appendices D & E), the PIC will ensure 

that the aircraft is in an airwmihy condition prior to flight and conduct detailed inspections after 

every 10 hours. Maintenance will perfonned and maintained by the PIC per the operating 

manual, which contains instructions and procedures for inspecting, maintaining, and repairing 

the UAS. The PIC will document work performed in accordance with 91.417. We feel that due to 

the size, construction, and simplicity of the aircrafts, the PIC can ensure an equivalent level of 

safety. 

8900.227 Paragraph 16(c) (4) PIC Medical. And Paragraph 16(e) (1) Observer Medical. 

This policy provides that both the PIC and VO must have a valid FAA second-class medical 

cetiificate issued under part 67 in order to perform as a pilot or observer. The aircrafts weigh 6.8 

and 5.6 pounds. Requiring the crew to meet the same medical requirements as a commercial pilot 

canying passengers in a large aircraft is an mmecessary burden. 

We propose that the minimum medical requirements be vision corrected to 20/20 and a valid, 

state-issued driver's license. Due to the size and weight of the aircraft, the greatest hazard of our 

proposed operation will be driving to the launch site. A licensed driver is medically qualified to 

operate a much larger vehicle. The 20/20 vision requirement will ensure that the PIC and VO can 

see and avoid air traffic. Given the unlikely event that both the PIC and VO become medically 

incapacitated while the aircraft is in flight, the 3DR Aero-M and X8+ will recover autonomously 

to the landing location designated prior to launch without crew intervention. 

Page 8 of8 
Appendix B 

Safety Check Procedure 

Safety check of aircraft performed prior to very flight. 

Visual Inspection of Aircraft: 

• Check motor/engine and mounting attached to the airframe; 

• Study propellers I mounting hardware (tight) I rotor blades for chips and deformation; 

• Check the landing gear for damage and function 

• Look at complete airframe for any cracks or abnormalities 

• Wire connections tight and secure 

Procedure for Failed Visual Inspection of Aircraft 

PIC will log failure cause in detail and ground aircraft. Aircraft will not be put back into 

service until PIC has rectified problem per manufacturer guidelines and 

recommendations. If problem cannot be rectified, aircraft will be returned to 

manufacturer for direct replacement. 

Pre-arm Safety Checks which will prevent the vehicle from arming if any of a fairly large 

number of issues are discovered before take-off including missed calibration, configuration or 

bad sensor data. These checks help prevent crashes and fly-aways. The pilot will notice a preann check failure because he/she will be unable to arm the copter and the LED will be flashing 

yellow. 

Procedure for Pre-Arm Check Fail 

Recognizing which Pre-Arm Check has failed using the GCS 

1. Connect the Flight Controller to the ground station using a USB cable or Telemetry. 

2. Ensure the GCS is connected to the vehicle (i.e. on Mission Planner and push the 

"Connect" button on the upper right). 

3. Turn on your radio transmitter and attempt to arm the vehicle (regular procedure using 

throttle down, yaw right) 

4. The first cause of the Pre-Arm Check failure will be displayed in red on the HUD 

window 

Log Failure cause in detail and ground vehicle until PIC has rectified cause per 

manufacturer recommendation and guidelines. If cause cannot be rectified, aircraft will 

be returned to manufacturer for direct replacement. 

Page 1 of 4 
Appendix B 

Failure messages 

RC failures (i.e. transmitter/receiver failures): 

RC not calibrated : the radio calibration has not been performed. RC3 MIN and RC3 MAX 

must have been changed from their default values (11 00 and 1900) and for channels 1 to 4, the 

MIN must be less than 1300 and the MAX greater than 1700. 

Barometer failures: 

Baro not healthy : the barometer sensor is reporting that it is unhealthy which is nonnally a sign 

of a hardware failure. 

Alt disparity : the barometer altitude disagrees with the inertial navigation (i.e. Baro + 

Accelerometer) altitude estimate by more than 2 meters. This message is normally shmt-lived 

and can occur when the flight controller is first plugged in or if it receives a hard jolt (i.e. 

dropped suddenly). If it does not clear the accelerometers may need to be calibrated or there 

may be a barometer hardware issue. 

Compass failures: 

Compass not healthy : the compass sensor is reporting that it is unhealthy which is a sign of a 

hardware failure. 

Compass not calibrated: the compass(es) has not been calibrated. the COMPASS_OFS_X, Y, 

Z parameters are zero or the number or type of compasses connected has been changed since the 

last compass calibration was performed. 

Compass offsets too high :the primary compass's offsets length (i.e. sqt1(x"2+y"'2+z"2)) are 

larger than 500. This can be caused by metal objects being placed too close to the compass. If 

only an internal compass is being used (not recommended), it may simply be the metal in the 

board that is causing the large offsets and this may not actually be a problem in which case you 

may wish to disable the compass check. 

Check mag field: the sensed magnetic field in the area is 35% higher or lower than the 

expected value. The expected length is 530 so it's> 874 or< 185. Magnetic field strength 

varies around the world but these wide limits mean it's more likely the compass calibration has 

not calculated good offsets and should be repeated. 

Compasses inconsistent : the internal and external compasses are pointing in different directions 

(off by >45 degrees). This is normally caused by the external compasses orientation (i.e. 

COMPASS_ ORIENT parameter) being set incorrectly. 

Page 2 of 4 
Appendix B 

GPS related failures: 

GPS Glitch : the GPS is glitching and the vehicle is in a flight mode that requires GPS (i.e. 

Loiter, PosHold, etc) and/or the circular fence is enabled. 

Need 3D Fix: the GPS does not have a 3D fix and the vehicle is in a flight mode that requires 

the GPS and/or the circular fence is enabled. 

Bad Velocity: the vehicle's velocity (according to inertial navigation system) is above 

50cm/s. Issues that could lead to this include the vehicle actually moving or being dropped, bad 

accelerometer calibration, GPS updating at below the expected 5hz. 

High GPS HDOP: the GPS's HDOP value (a measure of the position accuracy) is above 2.0 

and the vehicle is in a flight mode that requires GPS and/or the circular fence is enabled. This 

may be resolved by simply waiting a few minutes, moving to a location with a better view ofthe 

sky or checking sources of GPS interference (i.e. FPV equipment) are moved further from the 

GPS. Alternatively the check can be relaxed by increasing the GPS_HDOP _GOOD parameter to 

2.2 or 2.5. Worst case the pilot may disable the fence and take-off in a mode that does not 

require the GPS (i.e. Stabilize, AltHold) and switch into Loiter after arming but this is not 

recommended. 

Note: the GPS HDOP can be readily viewed through the Mission Planner's Quick tab as shown 

below. 

INS checks (i.e. Acclerometer and Gyro checks): 

INS not calibrated : some or all of the accelerometer's offsets are zero. The accelerometers 

need to be calibrated. 

Accels not healthy : one of the accelerometers is reporting it is not healthy which could be a 

hardware issue. This can also occur immediately after a firmware update before the board has 

been restarted. 

Accels inconsistent : the accelerometers are reporting accelerations which are different by at 

least lm/s/s. The accelerometers need to be re-calibrated or there is a hardware issue. 

Page 3 of 4 
Appendix B 

Gyros not healthy : one of the gyroscopes is reporting it is unhealthy which is likely a hardware 

issue. This can also occur ilmnediately after a firmware update before the board has been 

restarted. 

Gyro cal failed : the gyro calibration failed to capture offsets. This is most often caused by the 

vehicle being moved during the gyro calibration (when red and blue lights are flashing) in which 

case unplugging the battery and plugging it in again while being careful not to jostle the vehicle 

will likely resolve the issue. Sensors hardware failures (i.e. spikes) can also cause this failure. 

Gyros inconsistent : two gyroscopes are reporting vehicle rotation rates that differ by more than 

20deg/sec. This is likely a hardware failure or caused by a bad gyro calibration. 

Board Voltage checks: 

Check Board Voltage: the board's internal voltage is below 4.3 Volts or above 5.8 Volts. 

If powered through a USB cable (i.e. while on the bench) this can be caused by the desktop 

computer being unable to provide sufficient current to the flight controller- try replacing the 

USB cable. 

If powered from a battery this is a serious problem and the power system (i.e. Power Module, 

battery, etc) should be carefully checked before flying. 

Parameter checks: 

Ch7&Ch8 Opt cannot be same: Ch7 and Ch8 auxiliary switches are set to the same option 

which is not permitted because it could lead to conu1sion. 

Check FS_THR_ VALUE :the radio failsafe pwm value has been set too close to the throttle 

channels (i.e. ch3) minimum. 

Check ANGLE_MAX: the ANGLE_MAX parameter which controls the vehicle's maximum 

lean angle has been set below 10 degrees (i.e. 1 000) or above 80 degrees (i.e. 8000). 

ACRO _BAL _ROLL/PITCH : the ACRO _BAL _ROLL parameter is higher than the Stabilize 

Roll P and/or ACRO _ BAL _PITCH parameter is higher than the Stabilize Pitch P value. This 

could lead to the pilot being unable to control the lean angle in ACRO mode because the Aero 

Trainer stabilization would overpower the pilot's input. 

Page 4 of 4 
Verify transmitter battery charged to 12.0 - 12.6 v 

. Verify main battery charged to 16.5-16.8v 

- -

Check all surfaces for signs of damage, abnormalities, 

and overall condition; Inspect each boom to ensure they 

ar~_i.11_gg_Q_d_ str_u~_turalcond!_!!_Q!!_3J!ci prQP~rly_~~£_ured_~ 

Check motor and mounting attached to the airframe 

.~ ·-~-~~------~-~-- --------- -~----·--··--- -

Study propellers I mounting hardware (tight) I rotor 

blades for chi.Q~ :.md deformation ···-· _ 

Check the landing gear for damage and function 

Test electrical connections, plugged in and secure 

- --------·- ----------- -- - -· 

i Ensure photo I video equipment mounting system is 

secure and op_~~~a_tion,a .. _,:::l_ ·------~-

Check location of GPS equipment controlling the 

aut~_p!If:Jt 

1 Check the IMU movements in the ground control 

; software -- -- -~ 

1 UA VI Drone is in a level location safe for takeoff 

, __ - ------ --

• AU transmitter controls move freely in all directions 

- - ---- -

All transmitter trims in neutral position 

··-- - -

. AU transmitter switches in correct position 

·-. 

Transmitter throttle to zero 

Radio transmitter on 

. -------

Connect I power on battery to airframe 

! Ensure led indicators and audible tones are correct 

Timer on (if applicable) 

i Scan for nearby cars I people I animals 

Say "CLEAR!" 

-· 

, Arm flight controller 

Increase throttle slightly listening for any abnormalities 

Short 20-30 second hover at 3-5 feet (listen for vibrations 

· I loose items) 

• If any fails marked, PIC will perform and log maintenance in separate maintenance log sheet 

• If any fails marked aircraft will be grounded until cleared by PIC 

Appendix C 
XS-M 

Operati Manu l 

Thank you for purchasing an X8-M! This manual contains important information about your aerial 

mapping platform. Please read these instructions before your first flight. 

1 Plan 1 

2 Fly 19 

3 Process 30 

Appendix 34 
Parts 2 Mission Planning 8 

Operating Parameters 8 

Flight Battery 3 Load Maps 9 

Charging 3 Draw Polygon 10 

Safety 3 Configure Survey I I 

Powering the X8 4 Save and Write Mission 18 

Camera Setup 5 

3DR EAI 5 

Charging 5 

Starting a Mission 5 

Mounting 6 

Ground Station Setup 7 

Download Software 7 

Connect to Radio 7 
Parts 

xs 

~ batteries (2) 

RC controller and 

, ... 

~1!~ ".''"'.·-.·."'>'.1'. 

registration card and 

Pix4D license key 

FPV/OSD System 

accessories 

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

will be included with the XS's accessories. See page 27 for parts 

and instructions. 

-

II 

~ 

I 

ground station radio 

micro-USB cable 

charger and 

accessories 

Android adapter cable 

battery guard bag 

Pixhawk micro-SO 

card adapter 

propeller wrench 

SF propellers 

SFP propellers 

spare UV filter 

spare mounting nut 

2 
Fli~ht Battery 

The X8 is powered by a rechargeable lithium polymer (LiPo) battery. 

Charge the battery before your first flight. 

Connect the charger to the power adapter cable 

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

port and the black cable to the - port. 

Charger with power cable and 

split-wire charging cable 

3 

0 

-~ 

0 

Connect the white connector to the 4S port, and 

join the two yellow connectors together. 

~!!!!!!!-- 4S 

2 

Set the charger to LiPo and 3A. 

0 0 0 0 1S 2S 35 45 

LiP a 3A 

Charger settings 

4 

Secure the battery inside the guard bag, 

and charge until the status indicator 

displays green. 

• Charging +--. 

Complete 

Flight battery charging wiring Charging in process 

Safety 

Flying with a low battery is a safety risk and can render the 

battery permanently unusable. Always fly with a fully charged 

battery. 

Charge the battery using a designated LiPo balance charger 

only. Always monitor the battery while charging. Protect the 

battery from extreme heat, extreme cold, puncturing, and 

flammable surfaces. Always transport, charge, and store the 

battery in the guard bag. 

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

observe any swelling of the package or the battery ceases 

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

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

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

dispose of the battery in the trash. 

3 
theX8 

Turn on the controller. To avoid triggering 

the controller's startup alarm, ensure that 

all switches are set back (away from you) 

and the throttle stick is set fully down. 

Switches 

Throttle stick 

RC controller 

2 

Attach the battery to the underside of the 

copter using the velcro straps, and join the 

yellow connectors. 

It is important to establish communication 

before powering on the XS. Always turn 

on the controller before connecting the 

battery. When powering off the XS, 

disconnect the battery before turning off 

the controller. 

4 
Camera Setup 

The XB includes a Canon PowerShot 8100 running the 3DR EAI script. 

3DR (Exposure- erture-ISO) 

3DR EAI runs on the Canon Hacker Development Kit (CHDK), a powerful opensource tool that expands the functionality of Canon point-and-shoot cameras. 3DR 

EAI optimizes image exposure and integrates with the Pixhawk autopilot to enable 

distance-based imaging. 

This software is designed to load off the camera's SD card, leaving the original Canon 

programming intact. The yellow switch on the side of the SD card allows you to lock 

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

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

For more information about 3DR EAI, see page 36. 

1 

SO card locked 

Load 3DR EAI 

» Fly a mapping mission 

B.r;o;>d!hl'.lP3.1 

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.~ 

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aoc t,s !J,-:563 Sia&hs 18111 1\11) ts 2814 liJde.~.eooti~U~~SJF:B.Sc!rwjf"B 

Tv.Uts MX!1132911 ... tn;1/64J ~ 8 8 • _llit;4.11•11ii11.35~·811, 

lSliirlfJJmll:GISC2:Wlll 

l'£-.dlo.3 Vl:ll!o'8U5B:2 <M,11<rt!2S'llS8lll!)BflJl.t 

nlt.~oot!S!I:sl~1 

.. ~~ 

Camera running 3DR EAI 

i 

SO card unlocked 

Load default Canon software 

» View images on camera 

» Save images to ground station 

» Update script 

Camera running Canon software 

A Power off the camera before removing the SD card. 

Charge the camera battery before your first flight. Once 

fully charged, insert the battery into the camera. 

+--- status indicator 

Canon battery charger 

a Mission 

To prepare the camera to fly a mapping mission, ensure that the mode 

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

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

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

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

Camera ready to map: waiffng on USB signal 

power button 

mode dial 

5 
Mountin~ 

When the camera is ready to start the mission, open the latch, and insert the 

camera into the mount. Close the latch, and rotate the mount so the camera 

faces down. Connect the mini-USB cable to the camera. 

Camera (side) 

mounting plate 

latch 

mini-USB cable 

Connect mini-USB cable 

here. 

The camera mount includes a cap to protect the UV filter during travel. Before you 

fly, remove the cap, and check that the filter contains no dirt particles or scratches 

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

image quality, screw off the filter and replace with the extra filter provided with the XS. 

nl v ~-- , l 

·' UV filter 

I 

Camera enclosure with cap Camera enclosure with cap removed 

6 
Ground Station Setup 

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

ground station for configuring and monitoring autonomous missions. You will 

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

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

the image set before leaving the field. 

Download 

II Mission Planner 

Mission Planner is a full-featured ground station application for planning 

missions and monitoring the X8 in flight. Download Mission Planner 

from 3DR.comldownload_software. 

If you already have Mission Planner installed, make sure you're running 

the most recent version: Select the Help tab and Check for Updates. 

Mission Planner: Help tab 

Pix4Dmapper LT 3DR Edition 

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

inside the documents package. 

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

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

Discovery. Pix4D will automatically upgrade from the Discovery edition to 

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

log in to the program with your Pix4D account information. 

To connect the X8 to Mission Planner, connect the ground station radio to 

the laptop, and power the X8. 

Connect the ground station radio to your 

laptop using the micro-USB cable. Open 

Mission Planner. 

Ground station laptop with radio connected 

3 

Select Flight Data to view live data from the X8. 

2 

Select 57600 and AUTO, then select CONNECT. 

(When connecting directly to Pixhawk's 

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

Mission Planner Connecttooi (top-right corner)) 

Mission Planner Right Data tab: connected to aircraft 

7 
Mission Plannin~ 

Operatin~ Parameters 

The X8 is a complete solution for creating high-resolution 

visual-spectrum aerial maps. 

Canon 8100 

Pixhawk 

[ 3DR EAI] autopilot ~ ---+ 

Pix4Dmapper 

system LT 3DR Edition 

To create a map, the X8 flies an autonomous mission over 

the survey site, using the integration between the Pixhawk 

autopilot and custom-programmed camera to capture 

images at a consistent distance interval. Pix4Dmapper 

then stitches these images together into a georeferenced, 

orthorectified mosaic. 

The accuracy of the map depends on the configuration of 

the mission. Planning a mission that captures high-quality 

images requires balancing the X8's operating parameters 

with the environmental factors at the survey site. 

Operating Parameters 

Camera Orientation 

Operating Altitude 

Default Altitude 

. Low~ Wind Conditions 

High-Wind Conditions 

Maximum Wind Conditions 

Operating Speed 

Default Speed 

Estimated Maximum Flight Time 

Estimated Ground Resolution 

Estimated Maximum Survey Area 

Minimum Photo Interval 

Landscape (top facing forward) 

50-120m 

60m 

0-6 m/s 

7-10 m/s 

10. m/s 

1-17 m/s 

5 m/s 

14min 

2 em/pixel 

.1 km2 

2 seconds 

8 
Load Maps 

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

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

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

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

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

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

within Mission Planner while you have Internet access. 

Open Mission Planner, select Flight Plan, and 

zoom to your flying location. 

Mission Planner Flight Plan tab: zoom to mapping location 

3 

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

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

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

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

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

detail than you need for mission planning. 

2 

Right -click on the map, select Map Tool and 

Prefetch, and accept the default prompts. 

Mission Planner will download the maps 

for the selected location to your computer. 

Mission Planner Flight Plan tab: Select Prefetch 

9 
Poly~on 

To begin planning the mapping mission, select the area you want to map using 

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

the mission configuration process. 

2 

Select Flight Plan, and zoom to your 

mapping location. 

Right click on the map. Select Draw Polygon and 

Add Polygon Point. Click and drag to add points 

around the area you want to map. 

FLIGHT PlAN 

:-:.---~ . 

mr 

Mission Planner Flight Plan tab: zoom to mapping location 

A Units 

The Survey Tool uses metric units. If your Mission Planner is 

set to imperial units, please change the settings to use metric 

to plan the mission. Support for imperial units in Mission 

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

Mission Planner Flight Plan tab: draw polygon 

3 

Right click on the polygon. Select Auto WP and 

Survey (Grid) to open the Survey Tool. 

Mission Planner Right Plan tab: open Survey tool 

10 
The Survey tool allows you to configure a mapping mission according to the X8's 

operating parameters and the current environmental conditions at the mapping 

location. First, set the default values for the X8. 

Mission Planner Survey tool 

Set Camera 

Canon S1 OO-S120 

Set Camera Orientation 

Check the option for Camera top 

facing forward. 

Set Default Speed 

5 m/s 

Apply Survey Speed 

Check the option for Use speed for this mission. 

If unchecked, the mission will use the XB's 

default speed of 5 m/s regardless of the speed 

selected in the Survey Tool. 

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

Mission Planner Survey tool 

Mission Planner Tip: Adjust Polygon 

Click and drag the red polygon points to adjust the size 

and shape of the polygon from the Survey Tool. 

Set Angle 

Wind Direction 

In environments with winds of less than 6 m/s, set the angle so 

that the X8 flies into the wind. In winds from 7-1 0 m/s, configure 

the flight path to travel perpendicular to the wind so the X8 flies 

cross-wind. 

No. of Strips 

Adjust the angle so that the X8 makes as few turns as possible to 

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

passes the X8 will make as you adjust the angle. 

Review Wind Conditions On-Site 

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

of the mission and adjust the mission accordingly. 

Angle in low winds (1-6 m/s) 

Angle in high winds (7 -10 m/s) 

Use caution when flying in winds over 1 Om/s. Mapping results 

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

appropriate groundspeed. 

12 
The survey altitude determines the duration of the mission and the ground 

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

consumption with the current environmental conditions. 

Mission Planner Survey tool 

Check Ground Resolution 

Ground Resolution is the centimeters per pixel that 

you will have in the map and corresponds to the 

amount of detail that you will see. 

To improve ground resolution by decreasing the 

number of centimeters per pixel, decrease altitude. 

Set Altitude 

Recommended altitude: 60 m 

Operating altitude: 50-1 00 m 

Increasing altitude decreases flight time, allowing you to 

cover more area per minute. Decreasing altitude improves 

ground resolution. Set the altitude to get the best ground 

resolution while keeping the flight time under 14 min and 

the altitude under 120 m. 

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

appropriate for your flying area and local regulations. 

Check Flight Time 

Flight Time estimates the duration of the mission. The total 

estimated flight time must be under 14 min f~:>r a fully 

charged X8 battery. To decrease flight time, increase 

altitude or speed. 

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

affect power consumption and reduce flight time. Consider 

the environmental factors at your site when configuring 

flight time. 

In this example, we increased speed to 8 m/s to keep 

flight time below 14 min while allowing for moderate wind 

conditions. When increasing speed, keep in mind that the 

increased power required to travel faster will impact flight 

time. 

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

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

Mission Planner Survey tool Check Photo Interval 

Photo Every must be longer than 2 seconds for the S 1 00 

camera. 

Altitude 

Increasing altitude increases photo interval. 

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

appropriate for your flying area and local regulations. 

Speed 

Decreasing speed increases photo interval. 

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

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

Mission Planner Survey tool 

Takeoff and Land WP's 

For automatic takeoff and landing (recommended) 

Check the Add Takeoff and Land WP's option. 

Check the Use RTL option. 

After initiating the mission, the X8 will automatically take off, climb to 

the survey altitude, and begin the mission. At the end of the mission, 

the X8 will automatically return to the launch point and land. 

For manual takeoff and automatic landing 

Uncheck the Add Takeoff and Land WP's option. 

Check the Use RTL option. 

Take off manually, and initiate the mission in flight. To end the 

mission, the X8 will land automatically at the launch point. 

15 
Mission Planner: Survey Tool 

Survey Tool: Grid Options (Advanced) 

~ Camera Config 

Check Advanced Options 

to view the Survey Tool's advanced configuration options. 

f Select Grid Options 

Adjust StartFrom 

During the mission, you will maintain contact with the X8 through 

the RC controller and ground station signals. If these signals are 

lost during flight, the X8 will respond with the assigned failsafe 

behaviors. See page 29. If your mission is likely to experience a 

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

mission farthest from the launch point. 

Adjust Overlap and Sidelap 

Overlap and sidelap are set to 50% and 60%, respectively, 

by default. See page 35 for an in-depth discussion of these 

parameters. 

__.J The options under the Camera Config tab 

allow you to configure a camera other than 

the S1 00 and won't be used for operating 

the X8. 

16 
Before accepting the survey, check that the mission complies with the XS's operating parameters. Once you 

accept the survey, you will not be able to edit it directly by re-opening the Survey Tool. If you need to adjust the 

survey, clear the mission (right click, select Clear Mission), and repeat the survey configuration process. 

Operating Parameters 

Camera 

Canon S100-S120 

Altitude 

50-100m 

Camera top facing forward 

checked 

Flying speed 

1-17 m/s 

Use speed for this mission 

checked (optional if speed set to default speed of 5 m/s) 

Photo Every 

greater than 2 s 

Flight time 

under 14 min depending on environmental conditions 

Accept 

Select Accept to save the mission. 

If Mission Planner prompts you for a home altitude, enter the 

altitude that you specified in the Survey Tool. 

Do not accept the mission if any of the parameters 

exceed the XS's operating limits. 

17 
Save a Mission 

On the Flight Plan screen, save the waypoint file to your computer and write the mission to the X8. 

Select Save WP File 

to save the mission file to your computer. To 

repeat this mapping mission, load the saved 

WP file from your computer. 

Select Write WPs 

to save the mission to the X8. 

18 
Safety 20 

Aircraft Operation 21 

Components 21 

Assembly 22 

Controls 23 

Modes 24 

Preflight Checks 25 

LED Indicators and Tones 25 

GPS Lock 25 

Arming and Disarming 26 

FPV System Operation 27 

Flying Mapping Missions 28 

Takeoff Checklist 28 

Initiating 28 

Monitoring 28 

Failsafes 29 

19 
Safety 

To ensure safe and successful flying, familiarize yourself with the safety information 

on this page. Always fly in accordance with your location regulations and these 

best operating practices. 

Before you fly, determine the boundaries of your safe flying area. If the X8 moves 

outside the designated area or exhibits instability in flight, switch to altitude hold 

mode and land the copter manually. 

The X8 will not avoid obstacles on its own, including during missions. As the 

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

ready to regain manual control of the copter in the event of an unsafe situation. 

Location 

* .. ···· 

' 

•... ······ visual line 

of sight 

5 miles {8 km) 

0 

100ft(30m) 

0 

400ft 

(120m) 

Always fly below 400ft (120 m) and within your 

visual line of sight. Don't let the X8 get too far 

away from you; make sure you can always see 

its orientation. Don't fly in low light, heavy wind, 

rain, or other conditions that might impede 

visibility. 

Always fly at least 5 miles (8 km) away from 

airports and other areas where pilots operate 

manned aircraft. 

Always fly at least 1 00 feet (30 m) away from 

people, vehicles, and buildings. Make the 

safety of people and property your first priority! 

Propeller 

•••• 

A 

Spinning propellers can cause serious injury. The 

safety button indicates the status of the motors to 

help you prevent hazardous contact with the X8's 

high-speed propellers. 

• When the X8 is powered on, the safety 

button will blink red, indicating that the 

motors are inactive and the propellers are 

safe to handle. 

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

safety button until it shows solid red. This 

indicates that the motors are active and the 

propellers can spin if armed. To make the 

propellers safe to handle again, press and 

hold the safety button until it blinks red. 

You can find more safety tips throughout these 

instructions where you see this yellow box. 

20 
Aircraft Operation 

camera integration 

cable 

rear arms 

Pixhawk autopilot 

front arms 

camera mount 

safety button 

status LED 

21 
The X8 arrives in travel configuration. Complete these steps to prepare the copter for flight. 

Arms 

Remove the bolt and nut outside each arm. Rotate the arm into position, insert the 

bolt through the plates and the arm, and secure the arm in place with the nut. 

• 

travel position flight position 

Propellers 

Remove the nuts and washers from the motors. Add SFP propellers and SF 

propellers as marked below with the writing on the propellers facing towards 

the sky. This will be a tight fit; apply pressure and twist the propeller onto the 

shaft. 

Top motor: SFPt 

• Bottom motor: SF , 

Top motor: Sl 

Bottom motor: SFP' e 

'Top motor: SF 

• 'Bottom motor: SFP 

a Top motor: SFP 

e 'Bottom motor: SF 

A Ensure writing on all propellers faces the sky. 

Place the washer over the propeller, and secure the 

nut tightly on top using the propeller wrench. 

~-0 

22 
Controls 

Fly the X8 manually using the RC controller. 

Throttle: 

Yaw: 

Pitch: 

Roll: 

throttle up 

throttle down 

throttle fully down 

Move the left stick forward and backward to control altitude and 

acceleration. 

Move the left stick horizontally to rotate and control orientation. 

Navigate by orienting the X8 with the blue arms facing forward. 

Move the right stick vertically to fly forward and backward. 

Move the right stick horizontally to fly to the left and to the right. 

-~-.- - -·,.- . 

-,·· .. ~ .. 

• • • 

Increase speed and 

altitude. 

Decrease speed and 

altitude. 

Land. 

yaw left 

yaw right 

fl~ 

if~ 

'''*-':-· 

roll left 

roll right 

, ~-''"'\, li;"'t'"''' 

{ \; jj_ [S:::D- \,,,,~_,j \.,."'-cr""'. 

roll and pitch center 

pitch up 

pitch down 

-~' - -.-, 

-·, . --., ,-~ 

• • • • • • • • • • 

Rotate 

counterclockwise. 

Rotate 

clockwise. 

Fly to the left. 

Fly to the right. 

Automatically level. 

Fly forward. 

Fly backward. 

23 
Auto - fly a mission 

Fly an autonomous mission. This is the mode that the X8 will use to create the map. 

Altitude hold - assisted manual control 

Altitude hold mode provides manual control of roll, pitch, and yaw, while allowing the 

autopilot to maintain the current altitude automatically. Set the left stick to center, 

and the copter will automatically maintain the current altitude. Raise the throttle stick 

above center to increase altitude (and to take off), and lower the throttle stick below 

center to decrease altitude. Adjust altitude and orientation with the left stick, and 

navigate with the right stick. 

Loiter - hover 

With automatic autopilot control of altitude, position, and orientation, loiter is the 

easiest way to fly. Just release the sticks and the copter will hover in place. 

Return to launch (RTL) - recall and land 

Activate RTL during the mission to end your flight automatically. RTL commands 

the X8 to achieve a minimum altitude of 15 meters, return to the launch point, hover 

for five seconds, and land. Use the right stick to adjust the position of the X8 during 

landing. After landing, tile X8 will automatically disarm after a few seconds. 

Stabilize - full manual control 

Stabilize allows full manual control of altitude, position, and orientation without 

autopilot assistance. 

To select a flight mode: 

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

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

With GEAR/MIX set to GEAR, 

set FLAP/GYRO to: 0 for Stabilize 

1 for Loiter 

2 for Auto 

With GEAR/MIX set to MIX, 

set FLAP/GYRO to: 

RC controller (top) 

0 for Stabilize 

1 for Altitude hold 

2 for RTL 

GEAR/MIX selects the set of modes. 

FLAP/GYRO selects the specific mode, 

either 0, 1, or 2. 

24 
Visual Check 

Before flying, examine the X8 to verify the following: 

)) All propellers are tightly attached in the correct order with the writing 

on each propeller facing the sky. 

)) All propellers can spin without obstruction. 

» The antenna is oriented vertically. 

LED lnd 

•••• 

oeoe 

oeoe 

•••• 

Initializing, please wait 

Acquiring GPS, please wait 

Autopilot ready, GPS locked 

Armed 

Loss of RC signal, automatic landing 

Low battery, automatic landing 

Loss of GPS signal, automatic landing 

System error, see troubleshooting guide 

Visit 3DR.com/X8-M to listen to Pixhawk's status tones. 

Test Flight 

Before flying the mission, fly a brief test flight to verify that the X8: 

)) 

» 

» 

Responds to controls correctly in stabilize mode. 

Holds position in loiter mode. 

Correctly executes a return-to-launch command. 

Lock 

Auto, RTL, and loiter modes requires GPS lock. When powered, 

the autopilot will automatically search for GPS lock. If you plan to 

use auto, RTL, or loiter modes during your flight, ensure that the 

autopilot acquires GPS lock before takeoff, indicated by a blinking 

green status LED. 

25 
Armin~ and D 

Arming and disarming are important steps that must be completed before takeoff and after 

landing. There are two steps to arming the X8: the safety button and the throttle stick. 

Before arming, check the status LED. Before you fly, wait for the autopilot to acquire GPS 

lock. The LED will flash blue while the X8 acquires GPS; this can take a few minutes. Once 

you see the flashing green LED, the autopilot has acquired GPS lock. 

Arming 

1 

•• e e Initializing, please wait. 

0e0e Autopilot ready, no GPS 

0 e 0 e Autopilot ready, GPS locked 

Pre-arm check failure, see page 39. 

When you're ready to fly, place the copter at 

a clear launch point, with the blue arms facing 

away from you. 

2 

Press and hold the safety button until it displays solid red. 

This indicates that the X8 is now active. Stand back! 

L- -··-- -. ·-- 1-

3 

To arm the motors, hold the left stick 

down/right until the motors spin. 

e 0 e O Motors inactive, safe to handle 

e e e • Motors active, deactivate before handling 

The arming and disarming procedures ensure that you 

can safety start and stop motors without risk of injury. 

The X8's motors will spin when armed! Make sure the 

propellers are clear of any obstructions, including your 

hands, before arming. 

Do not handle the propellers or pick up the copter while 

the safety button is 

active (solid red) . 

Disarming 

1 

To disarm the motors, hold the left stick 

down/left until the motors stop. 

2 

Press and hold the safety button until it blinks red. 

The motors are now inactive, and the X8 is safe to 

handle. 

26 
System Operation 

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

into the XB to transmit on-board video. 

Parts 

Transmitter 

AV receiver 

Antenna 

Receiver cables 

Batteries (1 plus 1 spare) 

1 Charge battery 

Charge both batteries before your first flight. Set the charger to LiPo and 1 A. Connect the 

white battery connector to the 38 port, and connect the XT60-JST charger adapter to the 

red battery connector and yellow 

charger connector. 

LiPo 1A 

2 Wire and power receiver 

Attach an antenna to the receiver. Connect the AV output cable to either receiver AV OUT 

port. Connect the RC power cable to the receiver DC IN port, and attach a battery to the red 

connector. 

3 Remove lens cap 

The video transmitter is powered by the main flight battery and will automatically 

turn on when the XB is powered. To turn off the transmitter, disconnect the red 

JST connector. Remove the lens cap from the camera before takeoff. 

~ Remove lens cap! 

4 Viewing video 

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

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

button to access the menu). 

For more information about configuring the FPV/OSD system, visit 3DR.com/X8-M. 

27 
Flyin~ Mappine Missions 

Before flying the mission, check the following: For automatic takeoff, arm the XS in stabilize mode. Switch to auto mode, and 

raise the throttle to initiate the mission. )) Camera is on with mission script ready and is secured into the 

mount with the mini-USB cable connected and the cap removed. For manual takeoff, initiate the mission in flight by switching to auto mode. 

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

checks passed. 

, The survey mission has been adjusted to account for present 

environmental conditions and saved to the XS. 

Monitor the XS closely during the mission using your line of sight and the 

Mission Planner Flight Data screen. 

Mission Planner Flight Data: Attitude Status 

2 

3 

4 

2 

3 

4 

5 

6 

1 Heading direction 

2 Bank angle 

1 Ground station signal* 4 Distance to current waypoint > 

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

4 Ground speed 

*Failsafe behavior enabled 

2 GPS time current waypoint number 

3 Currently 5 GPS status* 

enabled mode 6 Battery status* 

Full battery: 16.8 V 

Low battery failsafe: 14 V 

& End your flight at 14.1 V! 

- • --.T,; .. -- --~ ~- -,-.,,,-,F• -~,~-,~ 

Actions 

1 Change waypoints or restart a mission 

2 Change modes 

3 Change altitude 

Flight Map 

1 Current heading 

2 [)irect pe1th to current w<typoint 

3 GPS-reported direction of travel 

2 

3 

1 

2 

3 

4 

5 

6 

4 Actu;1.1 flir;Jht path 

5 Latitude, longitude 

6 Altitude 

28 
Failsafes 

The X8 is programmed with a set of failsafe behaviors to prevent a crash in the event of a loss 

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

failsafes have assigned LED indicators and tones, it is unlikely that you will be able to see these at a 

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

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

regain manual control. 

Regaining Manual Control 

To regain manual control during the mission, switch to altitude hold mode using the controller. If 

you're a confident operator, switch to stabilize mode for full manual control. If you observe instability 

in the XS's flight behavior or it the aircraft moves outside your designated safe flying area, switch to 

RTL. Turning off the controller will automatically trigger an RTL and can be used in an emergency 

situation as a hard recall command. 

Ground Station Signal Failsfe 

Physical obstructions and interference from nearby wireless signals can affect the XS's connection 

with the ground station. Use the Mission Planner Flight Data display to monitor the ground station 

connection strength during flight. 

If the X8 loses contact with the ground station for over five seconds, it will automatically return to 

the launch point and land. 

RC Controller Signal Failsafe 

Physical obstructions and interference from nearby wireless signals can affect the X8's connection with the RC controller. 

If the X8 loses contact with the RC controller, it will return to the launch point automatically and 

land, indicated by a blinking yellow status LED. 

t· II·* 

.J. 0000 

Low Battery Failsafe 

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

display to monitor the voltage of the battery during flight. 

If the battery reaches 14 V, the X8 will land automatically at the current position, indicated by a 

blinking yellow status LED and a quick repeating tone. 

0000~ 

GPS Failsafe 

Enclosed areas, physical obstructions, and lack of available satellites can affect GPS strength. 

Use the Mission Planner Flight Data display to monitor the GPS during flight. 

If the X8 loses GPS lock for over five seconds, it will land automatically at the current position. 

~-······-//······~ 

.... 

eoeff <> 

Altitude Failsafe 

The X8 has a 120 m altitude geofence enabled by default. If the geofence is breached, the X8 

will automatically RTL. 

4Q(!ft 

(1?Qm) 

29 
3 Process 

On-Site Quality Check 

Spot Check 

Download Images 

Download Log File 

Pix4D Rapid Check 

Full Processing 

31 

31 

31 

32 

33 

33 

30 
On-Site Quality Check 

Before leaving the suNey site, check the images using Pix4D to ensure 

sufficient quality for mapping by downloading the images from the SD 

card, downloading the log file from the X8, and completing Rapid Check 

Initial Processing in Pix4D. 

If you observe poor image quality or the quality report returns errors, see 

the Image Quality Troubleshooting section on page 38 and repeat the 

mission. 

L) 

quickest way to see images after a flight is to unlock the SD 

card and restart the camera. The camera will load the default Canon 

programming and you can select the playback button to review the 

images. 

playback button 

Unlock the SD card and into your ground station. Select the DCIM 

folder and locate the folder for your flight. Copy the files into a project 

folder on the ground station and delete them from the SD card. 

r0:"f ~~-~'::~i i ·•"- ; ,,.,~ 

! Ju..., l ;::. .. l"'--

~~~;n•:• ; ,,,,."' ! .I!<:U 

jl:~=~~· i' ,_ 

SD card file structure: Download images 

31 
Pix4D uses the GPS data from the X8's log file to georeference the images. To 

download the X8's dataflash log, power the X8 and connect to Mission Planner. 

The download process will be faster if you connect the micro-USB cable directly 

to Pixhawk's micro-USB port instead of connecting using the ground station 

radio. (When connecting directly to the X8, set the rate to 115200.) 

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

display, and select Download DataFiash Log over Mavlink. 

Mission Planner: Flight Data heads-up display 

The Log window shows the X8's recent flights. Select the flight for your mission, 

and select Download These Logs. This will save the log file to your computer in the 

location displayed under the list of flights. 

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

Mission Planner/logs!DCTOROTOR, and select the .log file for the date of your flight. 

Mission Planner: Download Logs Program Files: Retrieve log file 

32 
Pix4Dmapper Check: Proiect 

1 

Open Pix4D Mapper, and create a new 

project. 

.Jl:nlobotics 

UAV TECHNOlOGY 

2 

Select Aerial Nadir as the 

project type. 

~"'!';" .. ;:::: •. ~~-... ,.,...~ 

··--"""'""'"""'"""':»', ..... ""'--J) 

Rapid Check: Initial 

After creating the project, select the Local Processing screen (Process 

menu). Check the option for Initial Processing and Rapid Check. Uncheck 

all other local processing options, and select Start. 

P!t.rr.toliP:~ c;z.i>off.ClWI!De~~fttatio!l -~3 DSMandOr~~'"llllon 

.. :. Fu!l'f=l>;j -~ ~Ch!!;k: \1>!:;:>'~~ .... -:~·:c;:-.d!. -~::.:." 

Pix4D will generate a Quality Report that will indicate if the images are of 

sufficient quality to create a map. 

Full Processin~ 

3 

After adding the images, select From File to add the geolocation data from the 

XS's log file. In the pop-up window, select 3D Robotics Flight Log as the file 

format, and upload the dataflash log file downloaded from Mission Planner. 

Processea:: 

f.~ coorooae S}'St.e!lr 

GrooodCooirofPcintfGCPlcom~~m: 

""""""""--

Pfocessingfjpe: 

Time fOI' lmtiat JZroce5Sing (11112JoettepllJft 

-

1111111 

----11 

L=' II 

•=~•il ~I Accur.o<y n-. 1 

\ortlml [do' 1 -- II 1/Ji))'J l 

100011 ' 

, II iii 

2014-,!.pr-2516:30:49 

CanooOO.JS229HS_4.3_.40000D00 

9.3cm 

0.5979 ~/5!1.7946 ha/0231 SQ. mi. 

WGS84 

WG$8< 

WGS84llJTU zone 32M 

~(scale 1} ae:nat nadir 

24m:01s 

.,..,.,.. __ 121 out of 12:1 images caiiOCated (100%), alllmao;:es en.Wted. 

O..mli<relati¥etlilf~~iniliatandlinalrocatltflgtt 

- 7 G.CPs (7 30}. 0.1)45 m 

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

33 
wwww 

CDOJ())Ol 
Aeriallma~in~ Concepts 

Understanding key concepts in aerial images can help you understand the mission planning process and create better maps. 

Distance-Based Imaging 

By default, the camera captures only the images required to create the map. The Pixhawk monitors the distance traveled by the aircraft and sends 

a command to the camera to capture an image at the distance interval specified by the camera trigger distance parameter (CAM_TRIGG_D/Sl). This 

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

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

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

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

Time-Based Imaging 

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

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

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

Overlap and Sidelap 

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

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

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

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

increasing flight time and processing time. 

In the Survey tool, Distance between Images shows the specified 

camera trigger distance that will be assigned to the mission. 

You can also see the projected image footprint size and the 

total number of images to be captured. 

.-~~­

Jk~-- ···~~~~- 130%Sl:CE...AP 

Default overlap: 50% 

Default sidelap: 60% 

·:P> -~· ,' ,' ~.,'. 

., 

.· ·, . ...::...._ ---.--~~--~·--·----..:., 

50%0VEflL.AP 

35 
3DREAI 

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

UAV aerial photography. 

Start and Stop Script 

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

starts automatically and listens for commands from the autopilot, indicated by waiting for USB signal. 

To stop (and re-start) the script, press the shutter button. The script will display INTERRUPTED when 

stopped. 

Script start: waiting on USB signal 

Script stopped: INTERRUPTED FINISHED 

CHDKMenu 

The CHDK menu contains all the standard options provided with CHDK. To access the CHDK menu, 

stop the script and select the MENU button. 

CHDKmenu 

Script Menu 

The script menu allows you to change the parameters associated with the script itself, including 

changing the trigger mode and adjusting exposure. To open the script menu, stop the script and 

select the FUNC. SET button. These parameters are configured for the 8100 and do not require 

adjustment as part of standard operation. 

Script menu 

Trigger Type 

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

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

specify the length in the Shot Interval parameter. 

Trigger Type default: USB (mapping) 

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

Script menu: Trigger Type 

Memory Reset 

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

the camera in this case, visit 3DR.com!X8-Mfor instructions. 

Online Resources and Information 

Visit 3DR.com/X8-Mfor links to updates, more information about KAP UAV, and full CHDK instructions. 

36 
lma~e Quality Troubleshootin~ 

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

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

Blurry Images 

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

Target Tv (shutter speed) default: 

To correct moderate motion blur: 

To correct severe motion blur: 

Overexposure 

1/1250 

Set to 1/1600. 

Set to 1/2000. 

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

bright conditions. To correct this, set the Allow use of ND filter parameter to YES in the script menu. 

Allow use of ND filter default: No 

To correct overexposure: Set to Yes. 

Processing Errors 

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

the overlap and sidelap during survey configuration to improve the quality of the image set. 

Overlap default: 

Sidelap default: 

To improve processing: 

50% 

60% 

Set overlap to 60% and sidelap to 70%. 

• 

""' < 

•.. · · '! ..•.. ·~~~' ,,_, .. ·. 

~ -- .~.~ '---. 

Example image: motion blur Script menu: Target Tv 

Example image: overexposure Script menu: NO Filter 

Mission Planner Survey tool Advanced Grid Options: Overlap and Sidelap 

37 
Operational Troubleshootin~ 

No Images Captured 

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

physical inspection on the X8. 

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

Camera (side) 

Are the AUX OUT 6 pins connected on Pixhawk? -- ·-· 

~~876543210DDDDD 

~ -~·J·····~-~ ..... '- AUX OUT 6: black(-), red(+), white (s) 

:::: :,:: ~:_:6; :~: :_:'; 

Pixhawk (side) 

Is the camera battery charged? Unlock the SD card to view the Canon's 

battery level indicator. 

Camera wiTh SO card unlocked, running Canon sofuoVare 

LED Error Indicator 

2 Take a distance-triggered test image on the ground by manually setting 

the camera trigger distance parameter to 1 m. 

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

Full Parameter List. Change the CAM_ TRIGG_DIST parameter to 1 , and select 

Write Params. Now carry the X8 for a few meters to see if the autopilot 

triggers the camera. 

Mission Planner Full Parameter List: Set CAM_ TRIGG_DIST to 1. 

If the status LED displays blinking yellow, the X8 is failing one the pre-arm safety checks. To determine the specific failure, check the 

heads-up display on the Mission Planner Flight Data screen. There will be an error message specifying the failed check. 

Radio Calibration Failure: 

Accelerometer Calibration Failure: 

Compass Calibration Failure: 

GPS Failure: 

Perform Radio Calibration in Mission Planner or RC controller re-binding 

Perform Accelerometer Calibration in Mission Planner 

Perform Compass Calibration in Mission Planner 

Wait for improved GPS signal or move to a more open area 

38 
! Safety- Read Before Flying ! 

Your first priority must absolutely be the safety of people! 

Multicopters are essentially Flying Lawnmowers! 

• ArduCopter is an experimental aircraft running community-created code- Novel and unexpected results 

are NOT uncommon! 

• Crashes can happen, because of pilot error or hardware or software malfunction. 

• Especially while you are learning, it is recommended that you avoid, stiff, ultra-sharp carbon fiber props. 

o Get cheaper more flexible and more breakable plastic ones. 

o Some carbon fiber props cut better than a Ginsu and while they are almost indestructible, you are not. 

• If you are flying anywhere near other people, you are putting them at risk! 

• Be sure to maintain safe distances between yourself, and spectators and your copter. 

o Circumstances will require that you will need to make your own determination of what is a "safe distance" 

from people and property. 

o At a minimum, consider: at least 1Oft (3m) but not further than 30ft (1Om) from you. 

o Keep all other people, property and obstacles considerably further away from your copter. 

o Ensure that no one gets between you and your copter. 

o Spectators should always be a safe distance behind the pilot. 

o If people intrude beyond what you have determined to be the "safe" area, land immediately and do not 

take off until they are clear. 

o At full power, an average sized multi-copter can exceed 20 mph (32 km/h), can ascend to hundreds of feet 

and easily travel more than a mile in distance before running out of battery. 

• Always ensure that the battery cable is (NOT) connected to the power distribution board or harness until 

you are ready to fly. 

o After landing the first thing you should do is disconnect your battery cable. 

o Always remove your props while you are testing motors. 

o Your hands, arms and face and those of your friends will thank you. 

o When the battery is connected, always assume the motors are armed. 

o Check with a short throttle pulse. 

o Don't pick up the model and the radio at the same time, you may bump the throttle. 

o Do not attempt to fly longer than your batteries safe capacity. 

• At a minimum it is very hard on the battery and at worst you will crash destructively. 

• The APM and PX4 flight controllers we use incorporate a motor arming safety feature. 

o Immediately prior to flight after the battery has been connected, the RC transmitters throttle stick needs to 

be held down and to the right for several seconds to arm the motors. 

o After landing your first response should be to hold the throttle down and to the left for several seconds to 

"Disarm" the motors. 

o Disarm condition can be tested by moving the throttle stick up, if the motors do not move it is dis armed. 

o Even when disarmed, the throttle stick should always be kept in the full down position except when flying. 

• Get used to switching back to Stabilize mode from other modes and reassuming full manual control. 

o This is the single most important recovery technique (practice it). 

o Stabilize mode can have Simple mode added to it, but if you do, practice with it till you are proficient. 

o Do not use any modes other than Stabilize or Stabilize plus Simple until you are VERY comfortable flying. 

• Important primary response to a crash, inadequate landing or unknown flight controller state. 

o The first thing to do is throw a towel over your copters propellers (Propellers may start spinning 

unexpectedly). 

o Then immediately disconnect the battery. 

o A large towel is your most important piece of safety equipment followed by a fire extinguisher and a first 

aid kit. --Generally better to use the first one than the last one. 

• When testing or flying any of the navigation modes (using GPS): 

o Ensure that your GPS has "Lock" before arming and takeoff. 

o Check that your home position on the Mission Planner is in fact correct. 

o Sometimes GPS's do not report the home position accurately, reboot if not accurate and wait for 8 or more 

satellites (not just 3D lock) and check again. 
I 

l 

Keep a safe distance between your Copter and People! 

These tips can also help protect your multicopter from damage. 

• Avoid sudden or extreme transmitter control stick deflections 

o Move the control sticks in small measured increments and don't "yank" on them. 

o If the copter is properly calibrated and balanced it should require only small stick inputs to control altitude, 

direction and speed. 

o Your copter should be more or less stable on the horizontal plane without any control inputs. 

o If you are "fighting" the copter, land and fix it- something is not right- Hardware adjustment or software 

calibration may be required. 

o Be especially careful of large throttle inputs, as a copter can gain (or lose) altitude very rapidly. 

• Because MultiCopters are symmetrical it is especially easy to lose Visual Orientation. 

o For manual flight modes, maintaining a clear vision of the Copters Orientation (direction it is facing) is the 

most critical part of successful flight. 

o Especially while learning it is very important to keep your copter appropriately close to you to aid in 

maintaining visual orientation. 

o Generally: more than 1Oft (3m) but not further than 30ft (1Om) from you. 

o If the copter gets further than about 1OOft (30m) it starts getting difficult to be able to 

maintain orientation and can easily crash. 

o If you lose Yaw orientation while flying in Stabilize mode, try only flying forward and using yaw to steer like 

a car. 

o It is much better to simply descend and land rather than have an orientation-induced crash or fly away. 

• Fly-Aways often happen when the copter is commanded to tilt back towards the pilot but has 

rotated in the meantime and is so far away that orientation is lost. 

• Result: the copter flies further away and crashes or is lost. 

• Always have Stabilize mode as the {Go To) one of your 3 options. 

• High or unexpected winds or gusts can make flight considerably more difficult. 

o High winds can prevent forward progress or spin the copter around causing you to become disoriented. 

o The higher you are, the more likely high winds will be a problem. 

o Switching to Stabilize mode and landing before you reach your skill limits can help you save your copter. 

• Avoid flying at high speed or high altitude until you have gained considerable confidence in both manual 

and automatic modes. 

• When flying around trees or buildings it is very easy to lose visual orientation or even to lose sight of the 

copter completely. 

o Gusting winds around objects can also worsen the problem and radio signal loss can also occur. 

o If your copter is approaching a potentially interfering object, immediately switch to stabilize mode and land 

or retrieve the copter to your location. 

• ArduPilot specific safety modes: RTL, FailSafe and GeoFence. 

o RTL can provide a safe Return to Launch if it starts to get away from you. 

o FailSafe and GeoFence can assist you with keeping the copter in a safe proximity. 

o Do not rely on the above safety modes, always be ready to take control in stabilize and land the copter. 

o Especially do not rely on the above safety modes to perform maneuvers or training that you would 

otherwise consider dangerous. 

o These modes are a supplement to, not a replacement for sound safety practices. 

• On your first takeoff after tuning or hardware setup 

o In stabilize mode advance the throttle very slowly until the copter is almost hovering. 

o If the copter is trying to flip over turn it off and correct the problem, a motor could be turning the wrong 

direction, or a wrong direction prop could be installed. 

o If the copter tries to rotate on it's axis or fly off in some direction the transmitter or RC setup may be 

incorrect, a motor or ESC may not be performing properly or the props may be installed incorrectly. 

o When all problems are fixed it should be fairly easy to get the copter to hover a foot or 2 above the ground. 

o If a stable and stationary hover a foot or 2 above the ground cannot be achieved, land and fix the problem 

• When flying FPV "First Person View" {with a video camera), Set modes to: STABILIZE, SIMPLE, and RTL. 

o Ensure RTL is working properly before using FPV, 

o Use Stabilize mode to fly FPV and If you lose FPV video switch to Simple or RTL to get back. 

• Make sure your battery can't fall out, use a Velcro Strap to hold it in place. 
Aero-M 

anual 

Thank you for purchasing an Aero-M! This manual contains important information about your 

aerial mapping platform. Please read these instructions before your first flight. 

1 Plan 1 

2 Fly 20 

3 Process 37 

Appendix 41 

3~~ 
Parts 2 Mission Planning 8 

Operating Parameters 8 

Flight Battery 3 Load Maps 9 

Charging 3 Draw Polygon 10 

Safety 3 Configure Survey 11 

Powering the Aero 4 Save and Write Mission 19 

Camera Setup 5 

3DR EAI 5 

Charging 5 

Starting a Mission 5 

Mounting 6 

Ground Station Setup 7 

Download Software 7 

Connect to Radio 7 
Parts 

Aero 

/:s • batteries (2) 

camera 

wing spar 

horizontal stabilizer 

·- wings 

-· 

•~»~"c'l 

~ registration card and 

Pix4D license key 

FPVIOSD System 

...--

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

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

parts and instructions. 

-

RC controller and 

accessories 

ground station radio 

Q ;[f micro-USB cable -

__j 

, .. 

~ 

r-.- .... 

Ill 

[I 

charger and 

accessories 

battery guard bag 

wing rubber bands 

(4 plus 2 spare) 

propellers (1 

plus 1 spare) 

hex keys(?) 

propeller wrench 

spare control horns 

(2) 

spare servo rods (2) 

spare camera 

mount filters (2) 

Pixhawk micro-SO 

card adapter 

2 
Fli~ht Battery 

The Aero is powered by a rechargeable lithium polymer (LiPo) battery. 

Charge the battery before your first flight. 

Connect the charger to the power adapter cable 

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

port and the black cable to the - port. 

; r:nrn': ......... ·HHnnt 

;;J:tift ::;}I: 

Charger with power cable and 

split-wire charging cable 

3 

0 

==-

0 

Connect the white connector to the 4S port, and 

join the two yellow connectors together. 

~!!!!!!! .... 4S 

2 

Set the charger to LiPo and 3A. 

n 0 n r: 15 25 3S 4S 

LiPo 3A 

Charger settings 

4 

Secure the battery inside the guard bag, 

and charge until the status indicator 

displays green. 

• Charging 

+--- ~-Complete 

' Flight battery charging wiring Charging in process 

Safety 

A 

Flying with a low battery is a safety risk and can render the 

battery permanently unusable. Always fly with a fully charged 

battery. 

Charge the battery using a designated LiPo balance charger 

only. Always monitor the battery while charging. Protect the 

battery from extreme heat, extreme cold, puncturing, and 

flammable surfaces. Always transport, charge, and store the 

battery in the guard bag. 

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

observe any swelling of the package or the battery ceases 

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

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

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

dispose of the battery in the trash. 

3 
Powerin~ 

Turn on the controller. To avoid triggering 

the controller's startup alarm, ensure that 

all switches are set back (away from you) 

and the throttle stick is set fully down. 

Switches 

Throttle stick 

RC controller 

3 

Insert a charged battery into the battery slot, 

and attach the yellow connectors. This will 

power on the Aero. 

A 

Hold the Aero still and level while it powers on. 

Attach the velcro above the battery slot to the 

velcro on the battery. Close and secure the lid 

onto the battery compartment. 

2 

Open the battery compartment by 

sliding the knob on the orange switch 

forward and lifting out the lid. 

L ·_ k 

~~-

Aero: battery compartment lid 

"" \.. 

battery 

connector 

Aero: battery compartment interior 

flight battery 

A 

It is important to establish communication before 

powering on the Aero. Always turn on the controller 

before connecting the battery. When powering off 

the Aero, disconnect the battery before turning off 

the controller. 

4 
Camera Setup 

The Aero includes a Canon PowerShot S1 00 running the 3DR EAI script. 

EAI (Exposure-Aperture-180) 

3DR EAI runs on the Canon Hacker Development Kit (CHDK), a powerful opensource tool that expands the functionality of Canon point-and-shoot cameras. 3DR 

EAI optimizes image exposure and integrates with the Pixhawk autopilot to enable 

distance-based imaging. 

This software is designed to load off the camera's SD card, leaving the original Canon 

programming intact. The yellow switch on the side of the SD card allows you to lock 

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

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

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

l 

SD card locked 

Load 3DR EAI 

» Fly a mapping mission 

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Camera running 3DR EAI 

i 

SD card unlocked 

Load default Canon software 

» View images on camera 

>> Save images to ground station 

>> Update script 

Camera running Canon software 

A Power off the camera before removing the SO card. 

Charge the camera battery before your first flight. Once 

fully charged, insert the battery into the camera. 

f-- status indicator 

Canon battery charger 

a 

To prepare the camera to fly a mapping mission, ensure that the mode 

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

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

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

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

Camera ready to map: maftf.'¥J on USB signal 

power button 

mode dial 

5 
The camera mounts to the Aero inside the battery compartment 

and connects to the autopilot using the mini-USB cable. When the 

camera is ready to start the mission, insert the camera into the 

mount inside the battery compartment as shown below, connect 

the mini-USB cable to the camera, and secure the camera in place 

using the velcro strap. 

Aero battery compartment: camera mount 

Camera (side) 

autopilot integration cable 

Connect mini-USB cable inside 

battery compartment here. 

The camera mount is fixed to the inside of the battery compartment 

and is not intended to be removed from the Aero. 

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

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

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

affect image quality. 

It is expected that the filter will accumulate scratches after significant 

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

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

provided with the Aero. 

UVfllter 

Camera mount (bottom): cap removed 

l!!!l 

Camera mount (bottom): cap attached 

6 
Ground Station Setup 

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

ground station for configuring and monitoring autonomous missions. You will 

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

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

the image set before leaving the field. 

Load 

II Mission Planner 

Mission Planner is a full-featured ground station application for planning 

missions and monitoring the Aero in flight. Download Mission Planner 

from 3DR.comldownload_sottware. 

If you already have Mission Planner installed, make sure you're running 

the most recent version: Select the Help tab and Check tor Updates. 

Mission Planner: Help tab 

Pix4Dmapper LT 3DR Edition 

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

inside the documents package. 

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

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

Discovery. Pix4D will automatically upgrade from the Discovery edition to 

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

log in to the program with your Pix4D account information. 

Connect Radio 

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

to the laptop, and power the Aero. 

Connect the ground station radio to your 

laptop using the micro-USB cable. Open 

Mission Planner. 

Ground station laptop with radio connected 

3 

Select Flight Data to view live data from the Aero. 

2 

Select 57600 and AUTO, then select CONNECT. 

(When connecting directly to Pixhawk's 

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

Mission Planner Connect tool (top-right corner)) 

Mission Planner Flight Data tab: connected to aircraft 

7 
Mission Plannin~ 

Para 

The Aero is a complete solution for creating 

high-resolution visual-spectrum aerial maps. 

Canon 8100 

Pixhawk 

[ 3DR EAI) f----+ autopilot f-----. system 

Mapping system diagram 

Pix4Dmapper 

LT 3DR Edition 

To create a map, the Aero flies an autonomous mission over 

the survey site, using the integration between the Pixhawk 

autopilot and custom-programmed camera to capture images 

at a consistent distance interval. Pix4Dmapper then stitches 

these images together into a georeferenced, orthorectified 

mosaic. 

The accuracy of the map depends on the configuration of the 

mission. Planning a mission that captures high-quality images 

requires balancing the Aero's operating parameters with the 

environmental factors at the survey site. 

Operating Parameters 

Camera Canon S100 

Camera Orientation Portrait (side facing forward) 

Operating Altitude 80-120 m 

Standard Operating Altitude 100m 

Low-Wind Conditions 0-6 m/s 

High-Wind Conditions 7-10 m/s 

Maximum Wind Conditions 10 m/s 

Operating Speed 8-20 m/s 

Default Speed 15 m/s 

Estimated Maximum Flight Time 40min 

Estimated Ground Resolution 5 em/pixel 

Estimated Maximum Survey Area 1 km2 

Minimum Photo Interval 2 seconds 

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

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

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

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

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

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

within Mission Planner while you have Internet access. 

Open Mission Planner, select Flight Plan, and 

zoom to your flying location. 

FUGHTPLAN .• ) 

Mission Planner Flight Plan tab: zoom to mapping location 

3 

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

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

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

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

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

detail than you need for mission planning. 

2 

Right-click on the map, select Map Tool and 

Prefetch, and accept the default prompts. 

Mission Planner will download the maps 

for the selected location to your computer. 

Mission Planner Flight Plan tab: Select Pretetch 

9 
To begin planning the mapping mission, select the area you want to map using 

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

the mission configuration process. 

2 

Select Flight Plan, and zoom to your 

mapping location. 

Right click on the map. Select Draw Polygon and 

Add Polygon Point. Click and drag to add points 

around the area you want to map. 

FliGHT Ptl\N· ..• ' 

Mission Planner Fligf1t Plan tab: zoom to mapping location 

A. Units 

The Survey Tool uses metric units. If your Mission Planner is 

set to imperial units, please change the settings to use metric 

to plan the mission. Support for imperial units in Mission 

Planner is coming soon; check 3DR.com!Aero·Mfor updates. 

Mission Planner Right Plan tab: draw polygon 

3 

Right click on the polygon. Select Auto WPand 

Survey (Grid} to open the Survey Tool. 

Mission Planner Flight Plan tab: open Survey tool 

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

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

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

Mission Planner Sunre;.•tool 

~ 

l 

==iL 

Set Camera 

Canon S100-S120 

Set Camera Orientation 

Uncheck the option for Camera top 

facing forward. 

Set Default Speed 

15 m/s 

Apply Survey Speed 

Check the option for Use speed for this mission. 

If unchecked, the mission will use the Aero's 

default speed of 15 m/s regardless of the 

speed selected in the Survey Tool. 

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

Mission Planner Survey tool 

Mission Planner Tip: Adjust Polygon 

Click and drag the red polygon points to adjust the size 

and shape of the polygon from the Survey Tool. 

~ Set Angle 

Wind Direction 

In environments with winds of less than 6 m/s, set the angle so that 

the Aero flies into the wind. In winds from 7-10 m/s, configure the 

flight path to travel perpendicular to the wind so the Aero flies crosswind. 

No. of Strips 

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

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

passes the plane will make as you adjust the angle. 

Review Wind Conditions On-Site 

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

the mission and adjust the mission accordingly. 

A 

Configure the fiight path parallel with 

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

Configure the fiight path perpendicular to the 

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

Use caution when flying in winds over 1 Om/s. Mapping results 

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

appropriate groundspeed. 12 
The suNey altitude determines the duration of the mission and the ground 

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

consumption with the current environmental conditions. 

Mission Planner SUJveytool 

Check Ground Resolution 

Ground Resolution is the centimeters per pixel that you will have 

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

will see. 

To improve ground resolution by decreasing the number of 

centimeters per pixel, decrease altitude. 

Set Altitude 

Standard operating altitude: 1 00 m 

Operating altitude range: 80-120 m 

Increasing altitude decreases flight time, allowing you to cover more area 

per minute. Decreasing altitude improves ground resolution. Set the altitude to get the best ground resolution while keeping the flight time under 

40 min and the altitude under 120 m. 

A 

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

your flying area and local regulations. 

Check Flight Time 

Flight Time estimates the duration of the mission. The total estimated flight 

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

flight time, increase altitude or speed. 

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

consumption and reduce flight time. Consider the environmental factors at 

your site when configuring flight time. 

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

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

Mission Planner Survey tool 

Check Photo Interval 

Photo Every must be longer than 2 seconds for the S 1 00 camera. 

Altitude 

Increasing altitude increases photo interval. 

A 

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

appropriate for your flying area and local regulations. 

Speed 

Decreasing speed increases photo interval. 

A 

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

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

~ 

Mission Planner Survey tool 

Takeoff and Land WP's 

For automatic takeoff and landing 

Check the Add Takeoff and Land WPs option. 

Uncheck the Use RTL option. 

This will create a takeoff waypoint and a placeholder waypoint for the landing pattern. After accepting the survey, configure the automatic landing pattern by following 

the instructions on page 20. 

For automatic takeoff and manual landing 

Check both the Add Takeoff and Land WPs option and the Use RTL options. 

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

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

launch point after completing the mission. 

For manual takeoff and landing 

Uncheck the Add Takeoff and Land WPs option 

Check the Use RTL option. 

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

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

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

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

Mission Planner Survey tool: advanced options 

~Camera Config 

...___! The options under the Camera 

Config tab allow you to configure 

a camera other than the S1 00 

and won't be used for operating 

the Aero. 

Mission Planner Suroeytool: advanced options 

~ Check Advanced Options 

to view the Survey Tool's advanced configuration options. I: Select Grid Options 

.-~ Set OverShoot 

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

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

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

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

A 

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

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

Adjust StartFrom 

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

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

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

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

farthest from the launch point. 

~ Adjust Overlap and Sidelap 

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

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

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

Aero's operating parameters. 

Mission Planner Survey tool 

Operating Parameters 

Camera 

Canon 8100-8120 

Altitude 

80-120 m 

Camera top facing forward 

unchecked 

Flying speed 

9-15 m/s 

Use speed for this mission 

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

Photo Every 

greater than 2 s 

Flight time 

under 40 min depending on environmental conditions 

Accept 

Select Accept to create this mission. After accepting, you 

will need to reconfigure the survey completely to make any 

adjustments. 

If Mission Planner prompts you for a home altitude, enter 

the altitude that you specified in the Survey tool. 

A Do not accept the mission if any of the parameters 

exceed the Aero's operating limits. 

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

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

process. 

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

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

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

» Turns along the flight path are greater than 90 degrees. 

» The altitude decreases by a maximum of 20 m between waypoints 

» There is at least 20 m between each waypoint 

» The Grad % does not exceed 20% 

To add a waypoint, right click on the map in the location of the waypoint you would like to add, and select Insert WP. For 

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

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

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

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

Mission Planner Right Plan tab: Correctly configured automatic landing pattern 

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

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

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

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

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

add it to the mission immediately following the DO_SET_CAM_TRIGG_DIST 

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

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

fj-----+ Set altitude. 

~ Check Grad%. 

Locate the Takeoff waypoint in the mission script and set the 

first option in the row to assign the takeoff angle. 

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

length of your takeoff area. 

Mission Planner Tip: Configure Waypoints 

Measure the distance between waypoints by right-clicking at one 

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

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

distance between the two points. 

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

for a waypoint. 

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

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

18 
Save and 

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

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

Mission Planner Flight Plan tab: Save and write mission 

Select Save WP File 

to save the mission file to your computer. To 

repeat this mapping mission, load the saved 

WP file from your computer. 

Select Write WPs 

to save the mission to the Aero. 

19 
Safety 21 

Aircraft Operation 22 

Components 22 

Assembly 23 

Controls 26 

Modes 27 

Arming and Disarming 28 

LED Indicators and Tones 28 

GPS Lock 28 

Preflight Checks 29 

Manual and Automatic Takeoff 32 

Manual and Automatic Landing 33 

FPV System Operation 34 

Flying Mapping Missions 35 

Takeoff Checklist 35 

Initiating 35 

Monitoring 35 

Failsafes 36 

20 
Safety 

To ensure safe and successful flying, familiarize yourself with the safety information 

on this page. Always fly in accordance with your location regulations and these best 

operating practices. 

Before you fly, determine the boundaries of your safe flying area. If the Aero moves 

outside the designated area or exhibits instability in flight, switch to fly-by-wire mode 

and land the plane manually. Always be ready to regain manual control of the plane 

in the event of an unsafe situation. 

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

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

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

geographical features of the area, including terrain. 

Location 

;II" 0 f,/ visual line 

of sight 

0 

0 

400ft 

(120m) 

0 a 

0 0 ••• ll 

100ft(30ml {iii} Ill I 

Always fly below 400 ft (120 m) and within your visual 

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

you; make sure you can always see its orientation. 

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

might impede visibility. 

Always fly at least 5 miles (8 km) away from airports 

and other areas where pilots operate manned 

aircraft. 

Always fly at least 1 00 feet (30 m) away from 

people, vehicles, and buildings. Make the safety 

of people and property your first priority! 

Propeller 

~ • ••• 

A 

Spinning propellers can cause serious injury. The safety 

button indicates the status of the motor to help you 

prevent hazardous contact with the Aero's high-speed 

propeller. 

When the Aero is powered on, the safety 

button will blink red, indicating that the motor 

is inactive and the propeller is safe to handle. 

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

button until it shows solid red. This indicates that 

the motor is armed and the propeller will spin if the 

throttle stick is raised. To make the propeller safe 

to handle again, press and hold the safety 

button until it blinks red. 

You can find more safety tips throughout these instructions 

where you see this yellow box. 

21 
Aircraft Operation 

Components 

left wing 

tail boom 

airspeed sensor 

battery compartment 

electronics compartment 

(under wings) 

left aileron 

nose 

s.'~----------~ 

4~~ 

tail 

right aileron 

--~~~ 

Aero (top) 

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

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

body 

right wing 

motor 

Aero tail 

video system compartment 

(above battery compartment) 

~ ground station radio 

rudder 

elevator 

controller 

22 
Tail 

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

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

r---1->> 

Horizontal stabilizer 

It__ ~ ,r 

__ ,_J.._.:;_ 

\, ·,~-i~\11.;;;» .. 

"{ 

..... 

Vertical stabilizer Complete tail assembly 

Turn the plane over and insert the provided tail screw into the horizontal 

and vertical stabilizers. 

~--.....-

(i) .. ~ --

1 I 

1 

Tail screw 

Tail assembly (underside) 

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

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

--.- . .. , ...• - A 

clasp "' 

servo 

~ horn 

23 
Wings 

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

or the spar so as not to stress the foam. 

-----~- ~ 

... 

u--l ----------,,~ 

.... 

, 

~~-..-..., 

L _).,_ ~ 

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

squares fitted into the matching space in the electronics 

compartment. Make sure not to pinch the AILE cables. 

-+· ~·-~,· 

c-j _, 

~~-' 

I 

3 

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

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

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

Locate the four large rubber bands. Use the bands to 

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

orange knobs on the body around the wings. 

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

short sides and opposite knobs on the opposing side. 

2 

4 

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

opposing right triangles. 

r, .. ,;?: tit_, • 

[~'~ 24 
Propeller 

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

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

propeller hub. 

Remove the nut and the washer from the motor, add the propeller with the writing on the 

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

and tighten the nut. 

··~ 

25 
ControLs 

Fly the Aero manually using the RC controller. 

throttle 

~~ yaw .-{f [§]]} 

~ /; ···~t/ 

pitch 

~t~ - '\~ 

+{[§]]~roll ~->. _/) 

~-±-· 

Throttle: Move the left stick forward and backward to control the motor. 

Yaw: 

Pitch: 

Roll: 

throttle up 

~~} 

throttle down 

throttle fully down 

{~~j 

' 

Move the left stick horizontally to turn left and right using the rudder. 

Move the right stick up to pitch down and down to pitch up. 

Move the right stick left and right to control the bank angle. 

• ~I~ j;,_ ~ ·- __ ,_"< 0 

• • ~w-..t --""' .. :<.._!_.;;. .... 

.~;~ ·-~ 

-~~ .•.:?%,... ~ '-"'"~'-"-'-'-• • • • 

Increase motor speed. 

Decrease motor 

speed. 

Stop motor. 

yaw left 

~q~~ :7:"·~~ .. 

-<r2J ',I ,, 

T\! ji ~/ \\ _ll '"'+""' "'"'~:· 

yaw right 

;::""-+~,. 

+~ ·~\~ 

-~· 

roll left 

roll right 

4~,, 

-~1-

~-tP ''':ccf"/ 

()(~ 

roll and pitch center 

,,:-4~ 

1 [B] \ ~-+.J 

pitch up 

..;+- ;\ J' ~ •·'f~c;., 

"\:\ 7 

pitch down 

,. _A_ ' 

"\J¥1/ 

-~ 

/~~ .#"' 

.............._., 

~ ,l~ '"'o/il\ 

___ __,,.,----- ' ___.;~ J 

~ ---=::t:--

' --~~--.r'!;7·b... --

• • • • • • • • • • 

,_ ~~ '-..·~·~ . 

!.,~.~ 

~t--· . - -* --

Turn left. 

Turn right. 

Roll left. 

Roll right. 

Automatically level. 

Pitch up. 

Pitch down . 

26 
Modes 

Auto - fly a mission 

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

Fly by Wire - assisted manual control 

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

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

operators. 

*ArduP/ane mode FBWA 

Return to Launch (RTL) - recall to launch point 

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

acquired GPS Jock and enter into a circle pattern at an altitude of 100 meters. 

Loiter - circle 

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

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

Stabilize - stabilized manual control 

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

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

of manual control with return-to-level stabilization. 

Manual - full manual control 

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

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

you're an experienced RC plane operator. 

To select a flight mode: 

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

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

With GEAR/MIX set to GEAR, 

set FLAP/GYRO to: 0 for Manual 

With GEAR/MIX set to MIX, 

set FLAP/GYRO to: 

1 for Stabilize 

2 for Loiter 

0 for Auto 

1 for Fly by wire 

2for RTL 

GEAR/MIX selects the set of modes. 

FLAP/GYRO selects the specific mode, either 0, 1, 

or 2. 

RC controller (top) 

27 
Armin~ & Disarmin~ 

Arming and disarming are important steps that must be completed before 

takeoff and after landing to activate and deactivate the motor, respectively. 

Before arming, check the status LED. The LED will flash blue while 

the Aero acquires GPS; this can take a few minutes. Once you see 

the green LED, the autopilot has acquired GPS lock. 

•• • • Initializing, please wait. 

•• • • Acquiring GPS lock, please wait. 

• • • • Autopilot ready, GPS locked 

'-·· 

To arm the motor, press and hold the safety button until it 

displays solid red. 

To disarm, press and hold the safety button until it displays 

blinking red. 

~·fP' 

~~¢"i""" •• ""ety billtoc 

0 e 0 e Inactive, motor disarmed 

e e e e Active, motor armed 

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

stop the motor without risk of injury. 

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

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

LED Indicators 

•••• 

• ••• 

•••• 

• 

Tones 

Initializing, please wait 

Acquiring GPS, please wait 

Armed, GPS locked 

Loss of RC signal, automatic landing 

))J Low battery, automatic landing 

))J Loss of GPS signal, switch to fly-by-wre 

System error, see troubleshooting guide 

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

GPS Lock 

Auto, RTL, and loiter modes requires GPS lock. When powered, the autopilot will 

automatically search for GPS lock. The position of the Aero when the autopilot acquires 

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

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

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

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

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

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

secure the components to the foam. 

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

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

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

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

I 

tail servos wing servos 

2 

Check that the airspeed sensor is secured to the side of the Aero an.d the 

tube is free from obstructions. 

~ .. airspeed sensor 

--.. ) 

3 

With the battery connected and the lid secured, check that the Aero is correctly 

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

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

I 

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

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

plane on two fingers as shown below. 

Flying the plane without the camera will affect the center of gravity. If you 

choose to fly without the camera, make sure to re-balance the center of 

gravity. 

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

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

the motor or control surfaces. 

Raise the throttle slightly until the motor spins, then 

immediately set the throttle back to fully down position. 

(@)O ---~~ 411~ 

Motor spins. 

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

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

the propeller while the motor is armed. 

2 

Pitch down 

0® Elevator tilts down. 

Pitch up 

Elevator tilts up. 

3 

Roll left 

0<&~~-~~ 

4 

Yaw left 

€>0 

Yaw right 

Left aileron tilts up, right 

aileron tilts down. 

Left aileron tilts down. 

right aileron tilts up. 

Rudder tilts left. 

Rudder tilts right. 

30 
Set the mode switches to stabilize, and hold the plane in front of you. Move the plane as shown, and 

check for the stabilization response from the control surfaces. 

Test: Tilt the plane left. 

Result: Left aileron tilts down, right 

aileron tilts up. 

Test: Tilt the plane right. 

Result: Left aileron tilts up, right 

aileron tilts down. 

2 

Test: Tilt the plane down. 

Result: Elevator tilts up. 

Test: Tilt the plane up. 

Result: Elevator tilts down. 

31 
f" 

Automatic Takeoff 

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

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

Find a launching area with at least 1 00 feet of clear space in front of you. Face into 

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

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

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

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

the takeoff waypoint before starting the survey mission. 

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

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

moment\.lm to throw to Aero! 

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

Takeoff 

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

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

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

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

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

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

the way of the propeller! 

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

angle. 

Once launched, the Aero will require immediate adjustment with the 

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

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

wind, speed, and terrain. 

32 
Automatic Landin~ 

To land automatically at the end of the mission, the Aero requires the 

mission to be configured with a specific pattern of landing waypoints 

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

For instructions on configuring automatic landing, see page 18. 

Manual Landin~ 

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

» Fly a circle pattern above your landing area. 

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

an altitude of 20 to 40 meters. 

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

off the motor and glide down 

on a 15 to 20 degree down-pitch angle. 

A. 

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

stick in fully down position to ensure 

that the motor does not accidentally spin during landing. 

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

the body of the plane instead of the nose. 

wind direction 

33 
FPV System Operation 

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

into the Aero to transmit on-board video. 

Parts 

Transmitter 

AV receiver Battery connector Camera 

Antenna 

Receiver cables 

Batteries (2) 

1 Charge battery 

Charge both batteries before your first flight. Set the charger to LiPo and 1 A Connect the 

white battery connector to the 38 port, and connect the XT60-JST charger adapter to the 

red battery connector and yellow 

charger connector. 

LiPo 1A 

2 Wire and power receiver 

Attach an antenna to the receiver. Connect the AV output cable to either receiver AV OUT 

port. Connect the RC power cable to the receiver DC IN port, and attach a battery to the red 

connector. 

3 Prepare on-board components 

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

plane. Remove the lens cap from the camera. 

~~1----- Remove lens cap! 

4 Viewing video 

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

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

button to access the menu). 

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

34 
I"-

Flyin~ Mappin~ Missions 

Takeoff Checklist 

Before flying the mission, check the following: 

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

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

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

checks passed. 

» The survey mission has been adjusted to account for present 

environmental conditions and saved to the Aero. 

Monitorin~ 

Monitor the Aero closely during the mission using your line of sight and the 

Mission Planner Flight Data screen. 

Mission Planner Flight Data: Attitude 

1 Heading direction 

2 Bankangle 

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

4 Ground speed 

*Failsafe behavior enabled 

2 

3 

4 

Status 

Ground station signal 

2 GPStime 

3 Currently 

enabled mode 

lnitiatin~ 

For automatic takeoff, set the Aero to auto mode and launch according to the 

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

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

in flight. 

2 

3 

4 

5 

6 

4 Distance to current waypoint > 

current waypoint number 

5 GPS status 

6 Battery status* 

Full battery: 16.8 V 

Low battery failsafe: 13.8 V 

& End your flight at 14 V! 

Actions 

1 Change waypoints or restart a mission 

2 Change modes 

3 Change altitude 

Flight Map 

1 Current heading 

2 Direct path to current waypoint 

3 GPS-reported direction of travel 

2 

3 

1 

2 

3 

4 

5 

6 

4 Actual iiighi path 

5 Latitude, longitude 

6 Altitude 

35 
FaiLsafes 

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

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

failsafe have assigned LED indicators and tones, it is unlikely that you will be able to see these at a 

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

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

regain manual control. 

Regaining Manual Control 

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

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

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

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

recall command. 

RC Controller Signal Failsafe 

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

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

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

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

manual control and either land or restart the mission. 

0000 -~ 

, .; r· .. ·· .:-:.;_-:.. ....... 

Low Battery Failsafe 

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

display to monitor the voltage of the battery during flight. 

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

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

0000~ 

36 
3 Process 

On-Site Quality Check 

Spot Check 

Download Images 

Download Log File 

Pix4D Rapid Check 

Full Processing 

38 

38 

38 

39 

40 

40 

37 
Download La~ File 

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

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

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

the ground station radio. (When connecting directly to the Aero, set the rate to 115200.) 

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

display, and select Download DataFJash Log over Mavlink. 

Mission Planner: Flight Data heads-up display 

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

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

computer in the location displayed under the list of flights. 

To retrieve the log file, access your computer's file structure under Program Ales/Mission Planner/Jogs/ 

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

Mission Planner: Download Logs Program Files: Retrieve log file 

39 
Pix4Dmapper Rapid Check: Create Proiect 

Open Pix4D Mapper, and create a new project. 

.JiiRobotics 

UAV TECHNOLOGY 

~,HelP 6itiiti&jioulj uj,gi-a(/8, 

~;!!.:li 

Pix4Dmapper Rapid 

2 

Select Aerial Nadir as the project 

type. 

""'"""'" ___ _,.. ,..,..,.-,.,....,..,.=.,..,..t..-""*"' 

I· ,_., ...... __ _..=--. ..... - .. f-=< I _:1!' .. ___ £. .......... -...-4_,.,. ... _,...,-_, 

-.., ~c .• ;.;;..:to.;.o;.:·;;··· 

~..,c,~__,__,"""_ 

t:c,..,.:.&.o<.,""""""""' 

Processing 

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

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

select Start. 

f:{iLlrwrn!Pr~ i;:02.P'*!t0~.xl~bon 

(jF..:II~'.q,~~ 

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

create a map. 

Full Processing 

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

3 

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

pop-up window, select 3D Robotics Flight Log as the file format, and upload the dataflash log file 

downloaded from Mission Planner. 

i:oolo;1o~S0 n-'l'»il.lo-.:~""""'19:li;~5rot::ooW>2>1H 

SUmmary .ttl~l 

1 ~role~ 

Fmcesse<t 

C::inMuaname:: 

~~-~f!lpfi~-~~{~): 

Outputeoo«iilal:e SJStem; 

Pro<essU1o~ 

Timef«iniiaf~~~~ 

-

Quality 

-

9.3an 

0.5919kl'l'iZ1~~79:_16tlafO~.sq..mi 

WGSll4 

WGS84 

WGSS4; U1lf zone 32fl 

~-<~:_1}.ae~~r 

24m:G1s 

median of 31313 ke!P(Iints- per image 

1270011 ... 127 ....... """"""'1""""l.al ............... 0.43%-._,.._._ • ..., __ 

1 GCP:s (730}, 0J)45 m: 

fie~ IJ!H~ciclcsFY:W12 ... !I I 

"" ~ 

-~=<;~=] i =-JI =---I I 

40 
-~..,.,--,·" 

Appendix 

Aerial Imaging Concepts 

3DR EAI 

Image Quality Troubleshooting 

Operational Troubleshooting 

42 

43 

45 

46 

41 
Aerial lma~in~ Concepts 

Understanding key concepts in aerial images can help you understand the mission planning process and create better maps. 

Distance-Based Imaging 

By default, the camera captures only the images required to create the map. The Pixhawk monitors the distance traveled by the aircraft and sends 

a command to the camera to capture an image at the distance interval specified by the camera trigger distance parameter (CAM_TRIGG_DIS7). This 

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

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

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

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

Time-Based Imaging 

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

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

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

Overlap and Sidelap 

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

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

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

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

increasing flight time and processing time. 

In the Survey tool, Distance between Images shows the specified 

camera trigger distance that will be assigned to the mission. 

You can also see the projected image footprint size and the 

total number of images to be captured. 

~~ 

~·'· ',. "~' .. ·· .· . ''.'. 

:1': .... 

-~--~2:~----··_:, 

Default overlap: 50% 

Default sidelap: 60% 

·. 

L-~---2-:s-----.::" 

42 
3DREAI 

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

UAV aerial photography. 

Start and Stop Script 

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

starts automatically and listens for commands from the autopilot, indicated by waiting for USB signal. 

To stop (and re-start) the script, press the shutter button. The script will display INTERRUPTED when 

stopped. 

Script start: waiting on USB signal 

Script stopped: INTERRUPTED FINISHED 

CHDKMenu 

The CHDK menu contains all the standard options provided with CHDK. To access the CHDK menu, 

stop the script and select the MENU button. 

CHDKmenu 

Script Menu 

The script menu allows you to change the parameters associated with the script itself, including 

changing the trigger mode and adjusting exposure. To open the script menu, stop the script and 

select the FUNC. SET button. These parameters are configured for the S 1 00 and do not require 

adjustment as part of standard operation. 

Script menu 

Trigger Type 

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

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

specify the length in the Shot Interval parameter. 

Trigger Type default: USB (mapping) 

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

Script menu: Trigger Type 

Memory Reset 

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

the camera in this case, visit 3DR.com/Aero-Mfor instructions. 

Online Resources and Information 

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

instructions. 

43 
lma~e Quality Troubleshootin~ 

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

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

Blurry Images 

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

Target Tv (shutter speed) default: 

To correct moderate motion blur: 

To correct severe motion blur: 

Overexposure 

1/1250 

Set to 1/1600. 

Set to 1/2000. 

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

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

Allow use of ND filter default: No 

To correct overexposure: Set to Yes. 

Processing Errors 

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

the overlap and sidelap during survey configuration to improve the quality of the image set. 

Overlap default: 

Sidelap default: 

To improve processing: 

""·-~· -.~ .. - ---~---,_~-

50% 

60% 

Set overlap to 60% and sidelap to 70%. 

Example image: motion blur Script menu: Target Tv 

Example image: overexposure Script menu: ND Filter 

Mission Planner Survey tool Advanced Grid Options: Overlap and Sidelap 

44 
Operational Troubleshootin~ 

No Images Captured 

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

physical inspection on the Aero. 

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

Camera (side) 

Are the AUX OUT 6 pins connected on Pixhawk? 

_li!:il8765~3.2l~ 

..... ._ " .... " .. " .. '.. . . - • .. • • • ~ " .. • • 0- .r • ~ • • • '• + AUX OUT 6: black(-), red (+), white (s) 

.. : .· ... :. ·. ·0· . ... s_ 

Pixhawk (side) 

Is the camera battery charged? Unlock the SD card to view the Canon's 

battery level indicator. 

Camera with SD card unlocked, running Canon software 

2 Take a distance-triggered test image on the ground by manually setting 

the camera trigger distance parameter to 1 m. 

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

Full Parameter List. Change the CAM_ TRIGG_DIST parameter to 1, and select 

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

triggers the camera. 

Mission Planner Full Parameter Ust: Set CAM_ TRIGG_DIST to 1. 

45 
Appendix D 

X8+ Maintenance 

In order to maintain the continued safe operation of the X8+ platform and to maintain it running 

at its optimal performance, we will maintain the X8+ aircraft at the following intervals: 

If any part of the X8+ or its support equipment show signs of fatigue or damage, it will be 

immediately grounded until the component has been properly replaced by PIC per manufacturer 

recommendations. 

Every flight 

-Inspect the batteries for any signs of damage or abnormality as well as operating voltage. 

-Inspect motors for any signs of abnormal wear, rough movement, or contact. 

-Inspect propellers for any cracks, debris, or abnormalities. 

-Inspect main body and arms for any cracks or abnormalities. 

-Clean dusty components with compressed air or a soft cloth. 

-Perform Safety Check 

Every 30 days or 10 hours of flight (whichever comes first) 

-Cycle flight batteries 

-Perform Safety Check 

-Run motors and observe for any wobble, abnormal sound or roughness. 

-Inspect motor mounts and fasteners to ensure tight and secure. 

-Inspect main body and arms for any cracks or abnormalities. 

-Inspect all wires and connectors 

-Inspect landing gear for cracks or wear 

-Inspect condition and voltage of PIC controller and controller battery 

Page 1 of 2 
Appendix D 

Annually or every 300 hours of flight (whichever comes first) 

-Inspect motor mounts 

-Replace motors 

-Replace propellers 

-Replace all flight battery sets 

-Replace PIC controller battery 

-Inspect and clean all electrical connections 

-Check for firmware update 

-Recalibrate magnetometer 

-Inspect all wires and connectors 

-Perform Safety Check 

-Inspect landing gear for cracks or wear 

Page 2 of2 
movement or contact 

Inspect Propellers for any cracks, debris, or 

abnormalities 

Inspect main body and arms for any cracks or 

abnormalities 

Clean dusty components with compressed air or 

soft cloth 

Appendix D 

X8+ Flight Maintenance Procedures 
-------------------- ·- --------------

Appendix D 

X8+ 10 hour/30 Day Maintenance Procedures 

abnormal sound or ro ness 

Inspect motor mOqnts and fastners to ensure tight 

secure 

Inspect landing gear for cracks or wear 

and voltage IJfJ?tCcontrol 

Perform Safety Check 
Appendix D 

X8+ Annual/300 HOUR Maintenance Procedures 
Appendix E 

Aero-M Maintenance 

In order to maintain the continued safe operation of the Aero-M platform and to maintain it 

running at its optimal performance, we will maintain the Aero-M aircraft at the following 

intervals: 

If any part of the Aero-M or its support equipment show signs of fatigue or damage, it will be 

immediately grounded until the component has been properly replaced by PIC per manufacturer 

recommendations. 

Every flight 

-Inspect the batteries for any signs of damage or abnormality as well as operating voltage. 

-Inspect motor for any signs of abnormal wear, rough movement, or contact. 

-Inspect propeller for any cracks, debris, or abnormalities. 

-Inspect fuselage for any cracks or abnormalities. 

-Clean dusty components with compressed air or a soft cloth. 

-Perform Safety Check 

Every 30 days or 10 hours of flight (whichever comes first) 

-Cycle flight batteries 

-Perform Safety Check 

-Run motor and observe for any wobble, abnormal sound or roughness. 

-Inspect motor mount and fasteners to ensure tight and secure. 

-Inspect fuselage for any cracks or abnormalities. 

-Inspect main wing, vertical and horizontal stabilizers for cracks or warps 

-Inspect all control linkages and connectors. 

-Inspect all surface hinges for cracks or tears 

-Replace main wing rubber bands. 

Page 1 of2 
Appendix E 

-Inspect condition and voltage of PIC controller and controller battery 

Annually or every 300 hours of flight (whichever comes first) 

-Inspect motor mount 

-Replace motor 

-Replace propeller 

-Replace all flight battery sets 

-Replace PIC controller battery 

-Inspect and clean all electrical connections 

-Check for firmware update 

-Recalibrate magnetometer 

-Inspect all control linkages and connectors 

-Replace main wing rubber bands 

-Perform Safety Check 

-Inspect main wing, vertical, and horizontal stabilizers for cracks or warps 

-Inspect all surface hinges for cracks or tears 

-Inspect all movable surfaces for wear 

Page 2 of 2 
Appendix E 

Aero-M Flight Maintenance Procedures 
Appendix E 

Aero-M 10 hour/30 Day Maintenance Procedures 

Inspect fuselage for any cracks or abnormalities 

Ins 

Perform Safety Check 
Appendix E 

Aero-M Annual/300 HOUR Maintenance Procedures 

Replace all flight battery sets 

Replace P1C controll~rbattery 

Inspect and clean all electrical connections 

Perform safety check 
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