### UNITED STATES DEPARTMENT OF TRANSPORTATION FEDERAL AVIATION ADMINISTRATION

Petition for Exemption Pursuant to Pub. Law 112-95 § 333 And 14 CFR Part 11 concerning Unmanned Aircraft Systems Used for Sense and Avoid Research

PETITION OF FREEFLIGHT SYSTEMS FOR REGULATORY EXEMPTION

Dated: September 22, 2015

Please address all communications with respect to this Petition to:

Mr. Joliii DeBLISk FreeFlight Acquisition Corporation dba FreeFlight Systems 8.150 Spruigwood. Dr, Suite 100 Irviiig, TX 75063 Phone: (817)239-0660 

### Fax: (854)662-9450 

### Email: jdebusk@freeflightsystems.com

### FreeFlight Systems has been developing full scale NextGen avionics and aviation related

electronics for 3 generations in Texas. FreeFlight Systems is an aviation industry leader in the production of ADS-B, radar altimeters, WAAS/GPS, FMS/GPS, memory management and jetcall decoders.

11. The Identity and Interests of the Petitioner Petitioner FreeFlight Systems has been a pioneer in the development of NextGen avionics and is an FAA certified supplier of electronics for civil and military use. FreeFlight Systems is uniquely aware of the challenges required by air traffic control in the de-confliction of manned and unmanned aircraft. FreeFliglit Systems intends to develop radar altimeters and ADS-B systems that are small enough to fit in small unmanned aircraft and accurate enough for use by civilian and military aircraft for aircraft position reporting. FreeFlight Systems requires the use of small unmannedaircraft systems in their testing and research such NextGen systems for both cooperative and noncooperative aircraft in the national air space.

The name and address of the Petitioner is: FreeFlight Acquisition Corporation dba FreeFlight Systems 8.150 Spi-ingwood. Dr., Suite 100 lrvingj'X 75063

- Petitioner requests that communications be directed to the same listed above. Jol'in DeBusk Email: jdebusk(ofreeflightsystems.com



### N

### III. F'reeI+'light's Itequest Would be in the Public Interest and Benefit the I'ublic as a

Whole The benefit to the public interest of FreeFlight's request is unquestionable as the number of reported "near misses" increases daily. The advent of more economical unmanned aircraft has translated into many more flight hours being recorded and many operating above the 500' AGL threshold as prescribed for UA use. These "unreported" flight operations are a hazard to general and commercial manned aviation, of which FreeFlight Systems intends to rectify by developing an accurate, electronic means of Above Ground Level (AGL) altitude determination and reporting air traffic, aiding in the "sense and avoid" feature lacking in unmanned aircraft today. Thus, the operations are of enormous public benefit and present at least an equivalent level of safety under 14 CFR part 11.

IV. The iJnmanned Aircraft Systems Configuration 

### Super1Vova

Robota Supernova Specifications

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~ hi Time fvo payload 11m/s 90 i7iirlutes


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# --• , .- No payload 11 m/s to 20 m/s 21 kts to 39 kts .No payload ' 29 kts no payload, ready to fly 5 Ibs.

•~ I 1' 46 inches 5 x 4 x 3 inches 46 x 12 x 12 inch box

Std Antennas, line of sight

Line of sight Line of sight Call for more options Measured on Autopilot Runway/Hand Launch Conventional Emergency Parachute


### Construetion: The SuperNova is constructed entirely of foam (Bxpanded Polypropolene) with internal bracing. Propulsion: Aircraft utilize brushless, three phase, AC motors. They require a switching electronic speed control to provide throttle management. Hazard mitigation The SuperNova is designed to collect data utilizing a lightweight and relatively slow airframe made entirely of foam. This reduces the potential for injury by reducing the mass that can be delivered in a small area. This aircraft is considered


## s

### "frangible" in that it will come apart on impact without concentrating force in any vector. The aircraft does not use internal combustion motors and do not carry any flammable liquids for operation. Additionally, the aircraft utilizes the Robota GooseTM Flight Control System that features a redundant communications fail safe in that if either the command over ride link or the telemetry fails, the aircraft will abort the mission and return to the launch area. In the event the aircraft is unable to return to the launch area, it may deploy a parachute for a soft descent to the ground.
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### The area of operations shall be initially restricted to 2nm from coordinates: 33 15 44.83N 95 23 21.32W

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### This location is 11.29nm from the Sulfur Springs VOR at 055 degrees This location is 13nm from the Sulfur Springs Airport (KSLR) This location is 8.5nm from the Franklin County Airport (F53) Altitude of operations: 400' AGL, daylight operations only.

9

### Sectional Map Location

VI. Summary of Exemptions Sought

FreeFlight Systeins seeks exemption from the following regulations; to the extent the FAA deems them applicable to the operation of civil UAS for the indicated purposes: 14 CFR Part 21 14 CFR Part 36 14 CFR 45.23(b) 

### 14 CFR 61.101 14 CFR 61.113 (a) & (b) 14 CFR 61.315 14 CFR 91.7 (a) 14 CFR 91.9 (b) (2) 14 CFR 91.103 14 CFR 91.105 14 CFR 91.109 14 CFR 91.119 14 CFR 91.121 14 CFR 91.151 (a) 14 CFR 91.203 (a) & (b) 14 CFR 91.405 (a) 14 CFR 91.407 (a) (1) 14 CFR 91.409 (a) (2); and 14 CPR 91.417 (a) & (b)



# m

### VII. 'I'he Spccafic Excmptions Sought and Reasons I; • , ~ 

### Petitioner seeks relief from 14 CFR part 21 concerning airworthiness certificates, as well as any associated noise testing requirements of part 36, with respect to the UAS identified in Section IV. As set out herein, the size, weight, speed, operational capability, visual line-of-sight operation, and intended operating area of these UAS meet the conditions of FMRA Section 333. Moreover, the proposed operations, conducted pursuant to the FreeFlight Systems Flight Standard Operating Procedure (FSOP), present an equivalent level of safety or better. An exemption ought to be granted or, in the alternative, a finding made that relief from parts 21 and 36 are not necessary for Petitioner's intended operation. (See, e.g., 

### Grant of Exemption No. 11282, Docket. No. FAA-2014-0977 (Apri16, 2015), finding that such an exemption is "not necessary.")

I.
. • .

~ , 

### Petitioner seeks relief from 14 CFR 45.23(b) concerning aircraft markings, to the extent such relief is necessary. Given the size of the UAS, its operation within visual line of sight of the operator, and other factors, such an exemption is warranted. Petitioner will, if required, mark each UAS with the word "RESTRICTED" in lettering as large as practicable. However, Petitioner notes that because its UAS's will not be certificated under § 21.185, such marking is not actually required, and therefore Petitioner alternatively requests a finding confirming same.

C. 14 CFR 61.101, 

### 14 CFR 61.113 (a) & (b), and 14 CFR 61.315 Petitioner seeks relief from 14 CFR 6 1. 101 concerning limitations on recreational pilot privileges, 14 CFR 61.113(a) and (b) concerning limitations on private pilot privileges, and

7

### 14 CFR 61.315 concerning limitations on sport pilot privileges. The FreeFlight Systems FSOP

establishes a level of safety exceeded by that provided by a commercial pilot's certificate in the operation of a passenger aircraft. The UAS intended to be operated do not carry any person and therefore present an equivalent or better level of safety compared to manned aircraft operations. Petitioner requests an exemption allowing UAS operations be the holder of either a recreational, sport pilot or private pilot certificate. With respect to medical certification, Petitioner proposes that the PIC 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.

Petitioner seeks relief from 14 CFR 91.7(a) concerning civil aircraft airworthiness. Given the size of the UAS, its operation within visual line of sight of the operator and other factors providing an equivalent level of safety, such an exemption is warranted. Moreover, because Petitioner proposes that no airworthiness certificate be issued for the UASs to be operated under this exemption, § 91.7(a) is inapplicable. Therefore, in the alternative, Petitioner requests a determination that an exemption from § 91.7(a) is not necessary.

E. 14 CF1Z 91.9(b)(2) Petitioner seeks relief from 14 CFR 91.9(b)(2), and 91.203(a) and (b) concerning flight manuals and placard requirements. Because all persons involved in the operation will be on the ground, not on board the UAS, such an exemption is clearly warranted. Moreover, the FAA determined in an August 8, 20141ega1 interpretation that keeping such documentation at the control station, as Petitioner intends to, meets the requirements under these regulations and

### therefore an exemption is not necessary. See 

### Memorandum from Mark. W. Bury to John Duncan,

"Interpretation regarding whether certain required documents may be kept at an unmanned aircraft's control station," available at htt s://www.faa. >ov/a:bo

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### c,rs ofEices/ayc/ ol ad'udie.ation/a rc;200iinter reta tions/datct/iij, FS- 1-2`1,20-%2(} 4 %,282014`,29%2(}Le >a;l

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### Petitioner seeks relief from 14 CFR 91.103 concerning preflight action, and particularly that portion of the regulation concerning FAA-approved flight manuals (which do not exist). Petitioners' pre-flight actions concerning UAS operations are set out in its FSOP, reflect that the pilot in command will "become familiar with all available information" concerning the proposed flight, and therefore present an equivalent or better level of safety. Given the size of the UAS, its operation within visual line of sight of the operator, and other factors, such an exemption is warranted. Alternatively, given that Petitioner wi11 account for all relevant site-specific conditions in its preflight procedures, Petitioner asks for a finding that an exemption from § 91.103 is not necessary for the intended operation.

Petitioner seeks relief from 14 CFR 91.105 concerning "Flight crewmembers at stations" and seat belt/harness fastening. Because there is no crew on board the UAS, and persons involved in the operations will be present at the UAS ground station pursuant to the FreeFlight Systems FSOP, Petitioner believes that such an exemption is warranted due to Petitioner's FSOP providing an equivalent level of safety, or alternatively that an exemption is not necessary for the operation. Although it does not appear that the FAA has addressed § 91.105 in various UAS

9

### Section 333 exemptions granted to date, we note that § 91.105 is listed in the FAA's Public

Guidance document as a regulation from which an exemption may be required (Rev. 9/25/2014 at page 7, available at htt s:/lwww. (aa. >ov/ti

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### df). Petitioner therefore requests either an exemption or an acknowledgement that an exemption is not necessary.

Petitioner seeks relief from 14 CFR 91.109 concerning flight instruction and dual controls. Petitioner will evaluate the qualifications of its PICs based on their experience and capabilities with the UAS to be operated, as set out in the FreeFlight Systems FSOP Section I (Personnel Qualifications, attached excerpt Appendix A). Moreover, as each PIC will have previously been qualified by the FAA as a certificated recreational, sport, or private pilot, the operations proposed herein may be conducted without an exemption from § 91.109 being required. Thus, Petitioner requests either an exemption or confirmation that none is required.


## UNNNNR 3 •

~ ~. 

### Petitioner seeks relief from 14 CFR 91.119 concerning minimum safe altitudes. Under the FreeFlight Systems FSOP, each UAS will be operated no higher than 400 feet above ground level, and a safe emergency landing "abort site" will be selected in advance of each flight, in compliance with 14 CFR 91.119(a) which permits operations "[a]nywhere." With respect to the balance of § 91.119, Petitioner proposes to conduct operations 

### at least 50 feet from non-essential or non-participating persons, and prior to each operation the PIC will make a safety assessment of the risk of operating within the proximity of structures, vehicles and vessels. Petitioner believes

10

### that given the size, weight and speed of the UAS to be operated, these parameters in the FreeFlight

Systems FSOP present an equivalent level of safety compared to the 500 foot minimum safe altitude of a manned aircraft set out in § 91.119(c).

We are aware that in prior UAS exemption grants, the FAA has included a 500 foot minimum distance separation from uninvolved persons. We ask the FAA either to raise the maximum operational altitude to 500 feet above ground level (from the typica1400), or, preferably, to reduce the required distance separation from uninvolved persons to no greater than 400 feet, so that Petitioner's UAS, when in operation, may pass above persons in the operational area. In consideration of the benefits of, and strong public interest in the proposed research and development of sense and avoid systems, which are potentially life-saving, this request ought to be 

### granted.

Petitioner seeks relief from 14 CFR 91.121 concerning altimeter settings. Petitioner's UAS will utilize a GPS altitude read out, set to zero at the elevation of the departure location, thus indicating to the operator the operational altitude in feet above ground level. This approach will provide an equivalent level of safety.



### m[t o~1=31- m 

### Petitioner seeks relief from 14 CFR 91.151 concerning fuel requirements. The Petitioner's Configuration 1 uses the SuperNova UAS airplane equipped with 5.4AH lithium polymer flight batteries. Petitioner's flight duration is 60 minutes or less, which results in approximately 20-30% of the battery power remaining at landing. Petitioner's Configuration 2 requests the same exemption as the SuperNova. In both configurations, an equivalent level of


### 11

### safety is achieved, in particular because each UAS is operated within visualline of sight, can be

landed within moments of a low-battery condition, and the UAS never has to travel any significant distance to an alternate airport or landing area.

L. 14 CFR 91.203(a) and (b) Petitioner seeks relief from 14 CFR 91.203(a) and (b) concerning airworthiness certificates. Each of the UAS to be operated weighs under 8 pounds, and will be operated within visual line of sight, pursuant to the FreeFlight Systems FSOP (Appendix A), by a knowledgeable operator. An exemption from airworthiness certification is warranted pursuant to Section 333 of FMRA in consideration of the weight, size, speed, and operational capabilities of the Petitioner's UAS.

M. 14 CFR 91.405(a)

14 CFR 91.407 (a) (1) 

### 14 CFR 91.409 (a) (2); and 14 CPR 91.417 (a) c4i (b) Petitioner seeks relief from 14 CFR 91.405(a), 91.407(a)(1), 91.409(a)(2), and 91.417 (a) and (b), concerning maintenance inspections. Petitioner proposes to maintain each UAS in accordance with the manufacturer's suggested maintenance procedures, and to conduct preflight inspections in accordance with the FreeFlight Systems FSOP for each operation. The UAS are not contemplated to have an airworthiness certificate, and therefore no exemption is needed with respect to maintenance relating to airworthiness certificates.

i c 

### Petitioner hereby requests a blanket Certificate of Waiver or Authorization for airspace use within Class G airspace, at or below 400 feet. We understand that the typical holder

IF-i

### of a Section 333 exemption waits approximately three weeks in order to receive COA

authorization, the timely execution of developmental items is as much an economic consideration as well as a delay on important and sometimes time sensitive processes.

The FAA has already indicated that holders of UAS exemptions under Section 333 are also granted a"streamlined" COA up to 200 feet AGL. See 

### March 20, 2015 Memorandum from Elizabeth L. Ray to Terry Biggio,"Small Unmanned Aircraft Systems Operations in the National Airspace System.'° However, this streamlined or "blanket" COA apparently requires the operator to issue a Notice to Airmen (NOTAM) "at least 24 hours prior to the proposed operation." Id. In many instances Petitioner expects to be called upon with less than 24 hours' notice. Petitioner requests that its streamlined COA require only that Petitioner issue a NOTAM as far in advance as practicable, with no specific minimum time.

An equivalent level of safety is established for these blanket COA parameters because, currently, operations are permitted by FAA by recreational model aircraft operators without any COA or NOTAM requirements. Dated: September 22, 2015 Respectfully submitted,

~ 150 Sp; txgwood Dr.. Suite: 100 

### lrvi.ngq T'X 75063

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### Petitioner FreeFlight Systems Attachements: Appendix A — Flight Operations Standards Appendix B — SuperNova Assembly Manual Appendix C — GCS Software Operation

14

### Appendix A— Flight Standard Operating Procedures for Unmanned Aircraft (excerpted)

Pilot in Coantnand (PIC) The PIC shall be the individual with responsibility for all other personnel involved with the operation. For clarification, this section will include both the Pilot in Command and the Pilot at the Controls although they may both be interchangeable in most circumstances. The PIC shall have the minimum qualifications; 1. Knowledge of general aviation practices and FARs (optional private rating) 2. A minimum of a Light Sport Aviation (LSA) license and a valid state driver's license 3. 20/20 corrected vision 4. Familiarity and operations of SuperNova; a. At least three events utilizing the unmanned aircraft (UA) b. At least three take offs and recoveries within 90 days with type c. Familiar with the latest revision of ground control software d. Emergency recovery procedures in failed link situations 5. Familiar with the qualification requirements of all subordinate personnel 6. Familiar with mission planning and preflight procedures 7. Versed in emergency procedures and contingency operations 8. Familiar with acceptable field repair and maintenance procedures Pilot at Controls (PAC) 1. Knowledge of general aviation practices and FARs (optional LSA rating) 2. Valid state driver's license 3. 20/20 corrected vision 5. Familiarity and operations of SuperNova aircraft to include; a. At least three events utilizing the UA b. At least three take offs and recoveries within 90 days with type c. Familiar with the latest revision of ground control software d. Emergency recovery procedures in failed link situations 6. Familiar with mission planning and preflight procedures 7. Versed in emergency procedures and contingency operations 8. Familiar with acceptable field repair and maintenance procedures Ground System Crevv (including Visual Observers) 1. Valid state driver's license 2. 20/20 corrected vision 4. Familiarity and operations of SuperNova aircraft to include; a. Familiar with the construction and configuration of each UA b. Familiar with Ground Control Station electronics and confguration
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### c. Familiar with field repair procedures for each UA d. Familiar with the latest revision of ground control software

Pr°itnary Responsibility Preflight activities are completed and verified by the PIC before takeoff, generally upon arrival at the location and the operation is to be performed. Activities in this segment refer to all knowledge gathering, area assessment, and actions performed on the aircraft before taxi or takeoff. These include inspection of aircraft, assessment of the operating location, coordination with other crew members involved in the operation, and equipment checkouts. IVlission Plan The mission plan shall contain all actions and contingencies for the mission planned. Any limiting factors in the flight environment may alter the intended operation and modify the mission plan accordingly. Contingency planning should include safe routes in the event of a system failure, degraded performance, or lost communication link, if such a failsafe exists.

~ 

### The airframe shall be given a thorough inspection thru the use of a checklist. The content of the checklist will be as follows: 1. Before the first flight of the day, verify all transmitter, on-board aircraft, and camera batteries are fully charged. 2. Check all control surfaces for signs of damage, loose hinges, and overall condition. 3. Check the control linkages are secured and the condition of the control horns and brackets. 4. Check the wing to make sure it is in good structural condition and properly secured and aligned to the airframe. S. Check the motor/engine and mounting system to make sure it is firmly attached to the airframe. 6. Check the propeller or rotor blades for chips, cracks, looseness and any deformation. 7. Check the landing gear (if applicable) for damage, for secure attachment, and the wheels are in good shape and rotate freely. 8. Check that the servos are firmly attached to the airframe and all receiverconnections are 

### secure. 9. Check all electrical connections making sure they are plugged in and secured to the airframe. 10. Check that the photography equipment and mounting system are secure and operational. 11. Perform an overall visual check of the aircraft prior to arming any power systems.



### 16

### 12. Repair or replace any part found to be un-airworthy in the pre-flight prior to take-off.

Flight Control/Ground Station

1. Ensure tlicre are no 1requeiicy conflicts by use of 1reqtiency scaiiiier bel'ore turning on transinitter. 2. Make sLire that all of your body parts, clothing, other obstructions, and. bystanders are well away 1roni ajiy p.ropeller or i

- otoi - aiid its arc before turning power on to any systems. Make sure the aircraft is secure ai

- ict will not iiiove if the iiiotor was sucictenly powered up. 3. Announce out loud - "CLEAR' PROP". 4. Turn on the transinitter. It . 'it displays i

- flf'orrnatioii such as aircrall mernory alid. battery voltage, be sure these ntimbers are correct., 5. Make sure iliat tl

- ic throttle stick on the transr

- nitter is in the power off positioll. 6. Coiinect the battery and/or tLii

- n on the power switch to the aircraft. 7. Follow the recoinmende(i range test procedures as outlined iti 

### your radio transmitter/receiver owiier's man

- uial. 8. Check for proper operation ofcontrol surfaces. 9. Check that all servos arc steady and i

- iot chattering or making any other abjiornial noise when in operatioti or idle. TO.Check the inotor/engine for proper operation. lirmly secure the aircraft and gradually increase the tlirottle to full power ajid back down to ictle - checking for lack ol . 'thrust, vibration or other possible anotnalies. Check that ttie inotor stops completely wheii the tlirottle stick is at the ofl.'posifion. 11. Ensure the triggering device is workiiig correctly. Before'l'ake Off: L Confirin transmitter ajitentia is fully extended. 2. Confirin ti

- ansmitter trims settings in proper position. 3. Cont

- irm receiver aritenna is fully extejided. 4. Check that the takeoff area is clear oi' obstructions aiid people. S. Double check weather conditions and review poteiitial eniergency landing ai

- eas. 6. Set flight tii

- ner alarm, 7. Announce out loud - "PREPAfUNGTOTAKE 01"17" 8. Launch aircraft.

1. Clinib to a, sat'e attitude away f.rom potential hazards and check cojitrol systerns. Reset tri i

- n s i f necessary. 2. Keep aircraft at a. safe operating distance f

- rom people atid buildings. 3. If aircraft niust be flown over buildiiigs or people, maintain a safe attitude for recovery

17

### anCi 1Tlake every effort to IYLininlize expc)SUre.



### 4. Contillually scari tlic f7ig17t ancl groutld areas f:or potential harards.

1. Checic the control systeans and set the trims that ifiiecessary, an emergency abort landing can be nlade. 

### 2. Scan lanclang area for potential obstruction hazards and recheck weather coiiditions. 3. Announce out loud - "PRZPARIlVG 'I70 LANL7", 4. Always be prepared to go aroun.d. 5. Carefully larid the aircraft away f t°om obstructioa7s and people.

1. Turn the power off to the aircraft and/or disconnect the batteries. 2. Turn off the transmitter. 3. Turn the power off to the photo equipment. 4. Visually check aircraft for signs of damage and/or excessive wear. 5. Remove the unused fuel if applicable. 6. Secure the aircraft. 

# irlau m~ 

## IM Fliglat Clearance & Authorization In the event that flight personnel are given the task of independently performing missions, or the absence of a formal Incident Command, the PIC shall have full authority for all flight operations. The PIC will be solely responsible for the conduct of the ground crew and observers before, during and after the flight while on duty. The PIC shall also ensure that all standards of safe flight are met before authorizing launch of any aircraft. Ground Crew c& ®bserver Corntnunications Ground crew and observer communications shall be lcept to a minimum and shall focus on the mission at hand. Communications not directly affecting the outcome of the mission should be avoided so as to not distract the PAC from his/her assigned duties. The use of two radios with a VOX capability will be utilized when possible. Cell phone communication may be utilized. when it is reliably available but radios will be on standby for backup.



## 18

### Appendix B — SuperN®va Assembly SuperNova Assembly Instructions

_

41

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### I,ite Shipping C®ntainer The Lite Shipping container is compact ( 48" x 12" x 12") but requires some assembly prior to flight. Individual parts included in this container are: • Fuselage • Left/Right Wing with two(2) wing bolts
• Elevator 

### • Vertical Tai) with two (2) nylon nuts • Propeller on spinner • Battery Charger • GCS Radio • GCS Antenna 

### • Vehicle Antenna • Flight Battery The remote control and main landing gear are packaged separately. 

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19

### ;. '1'ransport Case



### The Transport Case is compact (50" x 20" x 13") and requires minor assembly prior to flight. Parts included in this container are: • Fuselage With landing gear and 900mhz antenna attached. • Left/Right Wing with two(2) wing bolts • Horizontal tail/Elevator • Vertical tail /Rudder with two (2) nylon nuts • Propeller on spinner • Battery Charger • GCS Radio with • GCS antenna • Vehicle Antenna • Flight Battery • Manual Remote Control • Hex Tools • Motor/Propeller • Payload



### go]

### IX. Assembly

'To assemble the aircraft for flight: Attaeh the main landing gear with 4 screws installed in the fuselage as shown below.

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# AM Attaeh the vertical and horizontal tail sections. Slide the vertical tail into the fuselage making sure that the nylon bolts pass through the horizontal tail and the fiberglass retainer as shown below. Then c®nneet the ball links for the elevator and rudder.



### 21

### To assemble the wing, locate the wing bolts(31,32) and spar, insert the spar into the wing, place

the wing on the top of the fuselage, taking care to route the aileron and tubing through the split path at the wing root. Screw the wing into place. Tighten until the wing is firmly attached to the fuse. Reference the image below.

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### Connect the pitot static tubing to the matching connector. Also connect the aileron wires to either black connector. Use the supplied Velcro strap to secure the battery.

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### The assembled vehicle looks like this:



### 22

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### 23

### X. Payl®ads

A. ADC Lite C®nnect the power and trigger cables shown below to the Payload Accessory board inside the payload bay then connect the opposite ends to the camera. There is only one place that the connectors will fit.

Attach the ADC Lite to the bottom of the fuse using four (4) 4-40 screws. The bossed arrow on the mounting plate should point forward.

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### XI> Ianp®rtant Balance the vehicle by holding it under the wing with two fingers. The balance point is marked with a black dot(85mm from the leading edge). Adjust the battery until the vehicle is level. Remember to make changes to the battery location if the payload changes.



### 24

### Check the control surface trim position by powering the vehicle and the RC transmitter then

engaging the manual mode. Surfaces should be centered unless they were purposely adjusted off center by the operator. Check the payload settings and function before flying. Hint: the camera can be triggered on the flight plan tab with the go button. Use cautio

► 

### ; do not install the propeller until you are ready to fly. Inadvertent throttling by the user or autopilot can be dangerous if the propeller is installed.



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### (a) Introduction

T.Tfiro 

# rm-0 materials, is the valuable property of Robota LLC 

### in the United States (hereinafter Robota) and/or their licensors. Robota and/or its licensors, as appropriate, reserve all patent, copyright and other proprietary rights to this document, including all design, manufacturing, reproduction, use, and sales rights thereto, except to the extent said rights are expressly granted to others. To allow for design and specification improvements, the information in this document is subject to change at any time, without notice. Reproduction of this document or portions thereof without prior written approval of Robota is prohibited.
This document covers how to use the Robota GCS 

### along with the Goose Autopilot.

(b) Cautions

- 

### Jus prio Alwaysst y 

### 'ofthep

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### rt)avoidinadv 'r

. 

### -', , '.ltherr t ' 

### rto W l _.!;= ,, ~ 

### beforepcvl ircraft. ;Yinvisual fr - safety, e man j 

### itroller ready to take control of the vehiC, A. 

### (c) Keywords/Acronyms
GCS: 

### Ground Control Station - 

### This refers to the computer running the Robota GCS 

### Software. AP: Autopilot - 

### This refers to the physical Goose Autopilot module. AV: Aerial Vehicle - 

### Refers to the aircraft with the AP installed. AV is synonymous with thegreen 

### airplane icon on the GCS 

### Map window. PIC: 

### Pilot In Command - 

### This is the person operating the GCS 

### and ultimately controlling the AV. AH: 

### Artificial Horizon - 

### This is the artificial horizon for the AV that includes airspeed and altitude overlays to give the PIC 

### an idea of the attitude and motion of the AV. RC: Remote Control - 

### The hand held control with joysticks. Used for direct control of the vehicle (in RC mode) or semi-automated control in Fly-by-wire mode.

lull

### (d) Installing Robota GCS Software

1. Verify System Requirements a. Minimum 100MB Free Ram b. Minimum 50MB Free Hard Disk Space c. Minimum 1GHz Processor 32 bit d. Running Windows XP or Windows 7 (

. ,, net 3.5 or greater, 32/64bit)

start up. (If any errors occur; exit installation, restart computer and attempt installation again.)


### (e) Using Robota GCS for the first time The following section will give a "dry run" or overview in order to familiarize the PIC with layout and functionality of the Robota GCS software. This section can also be used as a field reference guide to re-familiarize one with GCS operations as events occur. NOTE: At this time the autopilot does not need to be communicating with the GCS.

1. Open the Robota GCS by clicking Start > All Programs > Robota GCS > Robota GCS 2. Once Robota GCS is open the AV marker may be seen in the South Atlantic Ocean. It will remain in this default position until the GCS communicates with an AP that is receiving a 

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Kul(i) Icons



### Three main icons are seen on the main map as seen below.

• 

### The red landing strip indicates the landing location and the direction of travel. o Right clicking on the red strip opens a land settings dialog • 

### The green aircraft icon indicates the current vehicle position. o Right clicking the aircraft shows a GPS 

### dialog with high update rate UTC 

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### ® 

### The yellow icon represents the ground station location. (ii) Tabs 

### On the bottom left of the GCS 

### you will notice four tabs *(If 

### you are running the Pro version, you will notice two more tabs appear once the GCS 

### communicates with the AP.)

Check ! 'A: ligill. Plan Pff ~

I

— — -- -------- 

### a. Checklist: This is your pre-flight checklist. Following this checklist in addition to any application specific checklists will help ensure successful and safe flight conditions. A 

### checklist warning reminder will remain in the Warnings Area (top left

31

### corner of the Map) until the checklist is complete.

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### Flight Plan: In this tab you will adjust flight parameters and invoke actions.

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### i. Airspeed - 

### Set by 

### typing in the text box and pressing enter or dragging slider. Value in meter per second, (M/S). 

### ii. Altitude - 

### Set by 

### typing in the text box and pressing enter or dragging slider. Value in Meters, (M). iii. Orbit Radius ® 

### Set orbit waypoint radius by 

### typing value and pressing enter or dragging slider. Value in meters, (M). iv. Update - 

### Updates or sends the current flight plan up the the AV

32v. New - Creates a separate flight plan that does not connect to any previously laid out flight plans. vi. Goto ® Click this button followed by the waypoint that the vehicle should fly to. vii. Search - Inserts a Zigzag search pattern after clicking this button and then clicking the desired location on the map. The drop down menu sets the default search parameters, viii. Clear - Clears the current flight (all waypoints/orbits) plan from the map ix. Trigger #1 - If trigger utiiized, "Go" button used to actuate the servo or camera trigger while "Done" button used to bring servo or camera trigger back to resting position
x. Show Distance - Line distances are displayed when this checkbox is enabled. c. PID: This tab is for advanced users only. The options here are used to tune the control theory algorithms that fly the AP. d. ConfigWiz: This tab is used to optimize the autopilot for use with any airframe. 

### See the Configuration Manual for more info. e. *RAM: This tab is for advanced users only. RAM tab displays read only variables that the AP uses for operation. 

### See the Configuration Manual for more info. f. *ROM: This tab is for advanced users only. ROM tab displays writable parameters for customizable configuration of the AP. 

### Seethe Configuration Manual for more info. g. *Payload Pass-through: This tab appears when the autopilot sends payload data. The tab organizes the data in columns, depending on the selected separator variable and end of line character. This data will also be logged and saved in the log folder. *Pro License Only. Will not be shown until communication with AP has started.

(iii) Avionics The avionics area of the GCS is located in the top left hand corner and is titled 'Avionics'. Here you will find the AH and the status of various variables critical to flight.

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a. AH: The artificial horizon shows the current attitude of the AV. The blue area is meant to be interpreted as sky and the brown area as ground. As a quick reference, if all of one color is seen the AV is most likely in an unusual attitude. i. Pitch - The green lines are known as "Pitch Ladder" which helps interpret the pitch of the aircraft. Each horizontal "tick" represents five degrees of pitch. On the left hand side of the pitch ladder the ten degree ticks are written out. ii. Roll - Roll is show on the bottom of the HUD with ticks at every ten

iii. Airspeed - On the left hand side of the HUD are two numbers. The bottom number is the current airspeed of the AV and the top smaller number is the desired airspeed the AV is trying to fly at which is set by the PIC in the Flight Plan area. iv. Altitude - On the right hand side of the HUD are two numbers that correspond to altitude. They operate the exact same as the airspeed values.
v. Heading - The top of the HUD shows the heading of the aircraft on a 360 degree scale. vi. GPS Satellites - On the bottom left of the HUD there is an area to show the number of GPS satellites that are being received by the GPS receiver. Each satellite is represented by a small green box. At least five satellites



### triare required to fly. If the receiver isn't connected or isn't receiving a signal,

b. Flight Indicators: Just to the right of the HUD in the Avionics display are a series of boxes that display important flight variables. These variables include: Volt - This is the main battery voltage of the AV. This voltage will decrease with flight time and needs to be watched to give the PIC an idea of how much possible flight time is left. ii. VoIt2 - This is the auxiliary or servo voltage. iii. TrtI% - This is the percentage of total throttle the motor on the the AV is commanding. iv. Temp- This is the AP board temperature in deg C.
v. Airtime min - This is the the amount of time in minutes that the AV has

vi. Amperage - This is the current or amperage all the electronics including the motor are drawing in Amps. vii. Usage Ah - This is the amount of discharge in Amp-Hours. This is your best measure of battery consumption and flight time left. c. Emergency: This is the emergency parachute deployment button. If configured and installed correctly, pressing this button will kill the motor and actuate a servo on Auxl, deploying the parachute. You may use this button any time to abort the flight and kill the engine.

(iv) Top Menus Located in the top left-hand corner of the Robota GCS are five menus.

FIIF- f a P Setting - Ld el l p AVionics a. File: This menu is used for loading and saving flight plans. i. Open - Not supported at this time. ii. Save Flight Plan - Used to save the current flight plan present in the map area. This flight plan then be loaded back in with the next command. iii. Load Flight Plan - Used to load a saved flight plan from the previous command.



## miv. Load KML - Used to import flight boundary from a polygon in a KML file. If

It waypoints" is entered in the polygon details, flightlines are generated for that polygon instead of flight boundary lines. b. Map: This menu will help you customize the map. i. Type - Set the preferred map type for your location and function ii. Auto Zoom - Map will follow the plane icon at full zoom iii. Bread Crumbs - Choose the number of previous AV position update points that are visible

c. AP Seftings: This menu is used to access autopilot settings generally configured before flight. i. The Preflight configuration wizard will guide you through the use of the AP Settings window.. d. Simulator: The menu is used to set up a hardware in the loop simulation between FlightGear (FG) simulation software (download free at www.flightgear.org ) and the AP. See the Setting up 

### the Simulator Chapter for more info. i. Open FG Sim Connection - Opens a connection for FG to connect ii. Sim GPS Failure - Simulates a GPS failure to test failsafes iii. Sim Com Failure - Simulates a GCS/AP communications failure to test failsafe iv. Sim IP Address - Sets [P address for networked connection, see Simulation 

### Chapterfor more info.
v. Clear Commands - Clears commands for a reset e. Help: The help menu is used to provide a quick access to the hot key map and GCS/AP versions. i. Key Map - The Key Map shows all the hot keys used to set up flight plans, manipulate the current flight and control the map. ii. About - Contains the current GCS, Firmware and Hardware Version. If the GCS is not communicating with the AP, only the GCS version will be visible. (v) Map Overlays You may add your own map image to the map for improved flight planning and visualization. Plot images by moving them from the 

### available map overlays box to the displayed map overlays box
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. 

### using the up and down arrows. There are two options for adding your images.
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### Option 1: Add 

### the image with corresponding world file to the ..Robota\Maps folder. These files will then appear under the available map overlays box. Option 2: Add 

### the images by 

### using the Browse button to locate it, once located, add the image coordinates at the corner points in the setup window. When the values are entered press the Add 

### button and the image file will then appear under the available map overlays box. (vi) Map The Map is where you will be able to view the current position of the AV and see what it's future course will be determined by 

### the flight plan you have set up. The map also contains a few other features such as warnings and a wind estimate.

a. Warnings: In the top left area of the map, warnings will show up in red. Warnings are meant to notify the PIC 

### of any issues with the AV while either on the ground or in flight. Any warnings seen here while on the ground should be remedied before attempting flight. In flight warnings should be taken very seriously as a condition has come up that could possibly terminate the flight. i. No GPS 

### Lock - 

### The GPS 

### receiver has not received a fix on its current location yet or it has lost it's fix. Make sure GPS 

### receiver has clear view of sky and is placed away from transmitting antennas ii. No RC - 

### There is no RC controller connection and the AV cannot be controlled via manual remote control or Fly-By-Wire. Connect RC controller if manual RC or Fly-By-Wire flight control is desired.

37

### iii. Save settings orrebootautopilotto restore -There have •een changes ma•e to the 

### ROM 

# • PID and nee• to •e saved to the AP in the 

### AP Settings > File System tab in order for them to be permanently saved. iv. No GPS Lock - GPS Failsafe has been engaged, override this failsafe by



## v Iniag

attempt to take manual control.
x. Communications Failure - There has been a communications failure. If on ground make sure there is a good connection between the AP and communications radio. If in flight attempt to manually land. xi. Airspace Violation - The AV has crossed an airspace boundary fence. Depending on configuration, failsafe may result. xii. Motor Malfunction ® The AP has detected a motor malfunction. If in flight, land immediately. xiii. Wait for AV Info - There has been a break in communications and the GCS is waiting to get setup information from the autopilot. If this message does not go away, there may be a communications failure. xiv. AP and GCS Versions Do Not Match - The current version of the GCS software is not compatible with the current version of AP firmware. Make sure both version are the most up to date.
xv. A Crash Was Detected! - The AP detected a crash. A sudden jerk has occurred while in flight mode which is most likely the result of a collision. xvi. Wait for initial coordinates - The GPS receiver has not found a fix on the AV's position yet. During a "cold start'this could take a few minutes. xvii.

IRVb. Cautions: In the top left area of the map, cautions will show up in orange underneath any current warnings. Cautions are any flight conditions that the PIC should be aware of. Cautions include: i. Flight Plans Do not Match - press u to update - The current flight plan in the Map area does not match what the AV is flying. Pressing the Update button or clicking on the map and pressing the "u" key will send the current flight plan up to the AV. ii. RC Mode is Active - The RC controller is overriding the AP for control of the AV. When on the ground make sure the throttle is always in the full down position when switching into RC mode. When in the air, the PIC will have full manual control of the aircraft. iii. Reset Airspeed - The AP is detecting an airspeed anomaly while on the ground in preflight. Make sure the airspeed is properly zeroed out by blocking the pitot tube from any wind (but not physically touching the tip) and watching the airspeed on the HUD. The airspeed should not read an absolute zero nor should it be over 4m/s. In normal operation the airspeed will be varying between 0 and 3m/s. If this is not the case make sure the pitot tube is properly shielded from the wind without physically touching the tip (having someone cup their hands over it works) and click Reset Airspeed in the checklist tab. The airspeed should not have to be reset on a regular basis unless flight conditions change dramatically between flights. iv. Reset Altitude - The AP is detecting an altitude anomaly while on the ground during preflight. When the AP is turned on it automatically saves its current pressure altitude as the "Field Elevation". Changing the physical altitude of the AV after power-up by even a couple feet can cause the AP to think it's under or above the field elevation. The key here is to make sure that when the AP is at actual ground level, the altitude reading on the HUD is close to Om. If not zero out the altitude by placing the AV on the ground and clicking Reset Altimeter on the checklist tab. GPS altitude may affect the Altimeter reading, ensure that you have a good GPS signal before Reseting. v. Sensor Temperature Out Of Range - The AP is detecting that it is either too hot or too cold. Make sure the board is operating in a range of 0-90C

39

### (32-194F). If too hot, proper ventilation to the AP may be the issue. During cold flights it is important to cut off the AP from airflow as it will cool dramatically during flight. vi. Checklist Passed, Enter Launch Mode - You have gone through the checklist and there are no errors, it is now OK to launch the AV. vii. USE CAUTION: Propeller May Spin! - You are in "Launch Mode". If the launch type is catapult, the AV will throttle up as soon as a launch is detected. Take caution as to not give the AV any sudden jerks unless they are from an actual physical launch while this caution appears. viii. AP is Flaring for Landing - The AP has detected a flare state either by sensor or altitude pressure (depending on configuration settings) and is now flaring. This notification will appear while in preflight mode for ground testing purpose. (vii) Flight Modes



# Plan R y ei V~ w e 

### Above the map are a series of buttons for choosing a flight mode for the AV. The button will be green for the current mode the system is in. The five modes are: 1. Launch- This button should only be pressed when all conditions are deemed GO for launch. This includes no warnings on the GCS and safe flight conditions in the PIC. You will receive a prompt with three automated launch options, Catapult, Runway or RC. Once any option is entered, the AP has the authority to apply throttle to the AV. This means the propeller can spin at any time (depending on takeoff mode) and full caution should be practiced. a. Catapult starts the motor after an acceleration. Use this option for hand launches. b. Runway starts the launch right away. c. RC starts the launch when the throttle stick is moved to full throttle on the control box. 2. Flight Plan - In normal operation, the most time will be spent in this mode. The AV will follow any flight plans you have set up in the Map area. 3. Fly-By-Wire - Mode entered by either pressing this button or by returning control from RC to AP with the manual controller. During this mode, control of the AV will be simi-manual, using the RC: no]a. Altitude of the AV will be controlled by the RC elevator stick. b. Airspeed will be set through the RC throttle stick. c. AV roll will be controlled through the RC aileron stick. d. AV yaw rate will be controlled by rudder stick if the vehicle has a rudder 4. EasyRc - Enter this mode by clicking the dropdown on the Fly-By-Wire button or by using the middle position on the manual controller ch5 switch. During this mode, control of the AV will be simi-manual, using the RC: a. AV pitch will be controlled through the RC elevator stick. b. AV roll will be controlled through the RC aileron stick. c. AV throttle will be controlled through the RC throttle stick d. AV yaw will be controlled by the rudder stick if the vehicle has a rudder.. 5. Land - When pressed the AV will go into landing mode. This AV will maintain the current altitude or safe navigation, whichever altitude is greater, while the vehicle tracks to the landing orbit. which will be offset from the runway icon depending on the landing configuration. a. Land mode is automatically entered if the low voltage failsafe land is enabled. b. Land mode is automatically entered if the loss of data communications failsafe is enabled and no failsafe point is designated i the flight plan. 6. Holding Paftern - When pressed the AV will go to the landing holding pattern then descend to the orbit altitude but will not continue to descend to landing until the land mode is entered. 7. Return ® This mode appears once airborne. You may press it at any time. The AP will navigate back to its initial coordinates and orbit a predefined orbit with altitude 50m or SafeNavigationAlt ROM value, whichever is greater. a. Return mode is automatically entered if you are flying in RC or FBY modes and the RC link is lost. b. Return mode is automatically entered after the vehicle is launched and no flight plan has been uploaded.

(viii) COM To the top right of the map is the communications box. This box will allow you to set the COM port for communications with the AV.

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This is the COM ••rt • your computer that the radio module is connected to. To set COM Port ,

f. Click ♦ the arrow - Shows the available COM ••rts. Select the COM port

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### MMOTMOM order to establish communications, this needs to be green. h. Status Indicator - When communications are established and the COM button is green, there will be an indicator bar above the COM button indicating the rate of packets coming through. This bar should be full most of the time and may decrease in periodically while in flight. If the bar is empty then no comunications are occurring.



## im

### (f) Setting up a Flight Plan

Setting up a flight plan is optional. If no flight plan is loaded on the AP, the AP will enter return mode after launch. If a flight plan is loaded, the AP will begin executing the flight plan in the Flight Plan mode. To send a modified flight plan, press the update button in the flight plan tab or press the u key while the map has focus. Flight Plan Line Style: • Dashed

o Flight plan has been modified and needs to be updated • Solid

o Flight plan has been sent to the autopilot and will be executed in the Flight Plan mode. 

### (i) Stats Flight plan stats are available at the bottom of the flight plan tab. Create your flight plan and click the refresh button in this box to see updated information. Endurance and range values are constantly updated during flight.



### (ii) Waypoint Manipulation The Robota GCS supports "fly to" waypoints and orbits. Waypoint manipulation is easy, you can use "hot keys" or the tools available in the Flight Plan tab.



### IN

# 0= 0 Hot keys: 1. To add a waypoint: press w and click on the map 2. To add an orbit: press o and click on the map 3. To add a Mission Boundary: press f (for fence) and click on the map 4. To de/ete a waypoint or orbit : press d and click on the point 5. To move a waypoint, orbit or landing strip: press m, click and drag the point to a new location 6. To insert a waypoint, use the add procedure but click on the track where the waypoint should be inserted 7. To go to a desired waypoint or orbit while in flight: click Goto on the Flight Plan Tab and then click on the desired point.
The Help>Keymap window provides a useful reminder for waypoint manipulation.

ME

### (iii) Waypoint settings

Right clicking on a waypoint or orbit will bring up the waypoint's individual settings, including: 1. GPS coordinates in 

### DD.ddd, Lat/Lon 2. Altitude (m) 

### a. Enter an individual waypoint altitude. If the entered altitude is different from the global altitude slider in the flight plan tab, the waypoint will be labeled with an X. This waypoint altitude will not change if the global slider is adjusted. 3. Land Next 

### option a. For waypoints, AP will enter the land mode when it reaches this point. b. For orbits, AP will enter the land mode when the orbit time limit expires. 4. Trigger #1 Go - 

### The AP will actuate the servo trigger when it reaches this point. 5. Com Fail - The AP will fly to this point if there is a communications failure a. Preferably this is configured on an orbit point with a time limit and the land next option 6. Label - 

### An optional name for the waypoint 7. Details 

### - Exists for orbit points only a. Set a time limit for the orbit in seconds b. Select a clockwise orbit 8. CJear Group 

### - Deletes only the waypoints that are part of the same group.



# m

### (iv) Search Pattern Manipulation



### Once a search pattern is placed on the map by 

### using the search button on the Flight Plan Tab or by 

### using the s key, it can be resized, moved and rotated. Right click on the red icon in the center of the search pattern in order to adjust the search settings.

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### To move 

### a search pattern: press m, click and drag the center marker on the search pattern to a new location.
To rotate 

### a search pattern: press r, click and drag the center marker on the search pattern to the desired direction. To delete a search pattern: press d, 

### click on the center marker on the search pattern to delete it.
A 

### structured search pattern triggers the camera using distance intervals determined by 

### longitudinal overlap and longitudinal field of view of the camera. Red tick marks indicate the camera trigger locations. The autopilot will automatically trigger the camera upon crossing these points. The fastest rate at which a camera is triggered is limited by 

### the Go interval discussed in the Configuration section. Unchecking structured search pattern will create a search pattern but the autopilot will not trigger the camera automatically. Triggering must be done by 

### manually pressing the Go bufton on the flight plan tab. This results in a time triggered camera rather than a triggering by 

### distance. (v) Landing Strip Manipulation of the landing stirp is optional. If 

### the landing stirp is not set by 

### the user, the landing strip will be determined by 

### the vehicle at launch. Right click on the landing strip to make adjustments to the land settings. 1. 

### To move 

### the landing strip: press m, click and drag it to a new location
luo2. To move the holding orbit: press m, click and drag the orbit to the desired location

3. To rotate the landing strip: press r, click on the landing strip and rotate it to the desired position. The land direction follows the arrows on the landing strip. The default landing pattern is a counter clockwise spiral descent.

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1. To switch to a clockwise spiral, right click on the landing strip and select clockwise.


# m2. To enable a parachute landing right click on the landing strip and select the parachute check box. It is possible to save the land settings by clicking the more button (>>) and selecting save. Making changes to the landing strip location or heading and uploading those changes while in land mode will cause the AP to restart the landing sequence. When land mode is entered, the computed landing spiral will appear on screen. The vehicle will track to the orbit at the current altitude or ROM variable: #19, whichever is greater, then begin its descent. Entering the Holding Pattern mode sends the AV to the holding orbit but the AV will not descend to the land point. 

### (g) ConfigurationThe Robota GCS includes a Configuration Wizard that will walk you through the pre-flight and Inflight autopilot setup. Each step includes the necessary instructions to properly configure the autopilot. The In-flight configuration should be performed by at least one GCS operator and one RC pilot. Configuration is only necessary when a user installs an autopilot in a custom vehicle for the first time. There is no requirement to configure Robota's complete systems. *Always r - tl° e pr
-
. iring the pre-flight SetLIP tO avoid th jers of spinning propellers' 

### (h) Advanced settings (i) Triggers The trigger menu can be found by clicking Settings on the main toolbar, AP Settings, then Triggers tab. After making changes, click Apply Trigger Settings. To permanently save the changes click Save ROM in the File System tab.



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### (1) Easy Camera Selector Use this dropdown to quickly configure the trigger for predefined cameras. Custom cameras can be added to the XML file located in ...\Robota\Cameras.xls (2) Action "Triggers The Robota GCS will allow you to configure a servo trigger or digital 10 trigger having two states, Go and Done. The state of the trigger will be reflected in the GO/Done section in the Flight Plan tab, however, if the trigger state changes too quickly, the actual state may not be displayed.

• Destination 

### • The correct port should be selected in the Trigger Destination dropdown box. • After setting the destination, save the ROM in the File System tab and power cycle the autopilot. This procedure enables the change to take effect • Trigger Positions • For servos enter a pulse with corresponding to the desired position for each state • For digital IOs enter a 1 for a high (3.3v @25ma) output and a 0 for a low output. • Trigger Type • Manual Go/Done trigger - set the trigger state manually using the buttons in the flight plan tab or the waypoint trigger check box in the waypoint details menu • Auto Done after Go Click - automatically go to the Done state after clicking Go • Continuous Go/Done - continually cycle the trigger state after the first manual Go

,.click and stop the cycle on a manual Done click. o Enable Throttle Kill - Optional. For applications where the user desired the throttle to be disabled while the trigger is in the go state Timing Interval

(3) Event Triggers The Robota GCS will let you configure an event trigger. The first field designates the action that should be taken, the second and third fields determine what triggers the event to occur. Save State o This action will create a data log on the ground station when the event is triggered in the Trigger Log file.



# a

### (ii) Failsafes

The Failsafes menu can be found by 

### clicking Settings on the main toolbar, AP Settings, and then Failsafes tab. To get the current failsafe settings from the AP simply navigate to the Failsafes tab. Select Apply 

### Failsafes, then click Save ROM in the File System tab

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• Watch Dog Pulse o PDO is toggled every 900ms as a means of indicating a normal operating state of 

### the AP. External circuits can use this pulse to trigger a fail-safe mechanism. • 

### Boundary Crossing o Select the behavior for a Mission Boundary crossing incident. • 

### No GPS 

### Fix o Select the behavior for a No GPS 

### condition • 

### Communication Failure o Enter the amount of time that needs to elapse without communication in order to enter the Com Fail point. If 

### no Com Fail point is selected, the default behavior is to land. • 

### Low Voltage • *Enabled for Pro License • Enter landing mode when voltage drops below selected level • Throttle governor prevents the motor from drawing enough power to prevent autopilot functionality by 

### reducing the throttle limit when the main voltage drops

51below the specified level. 

### (i) Updating Firmware The GCS allows you to upload and install new autopilot firmware. The firmware update process is straightforward. Always update the Goose firmware before updating the GCS. Below is a detailed list of the steps required. 1. Obtain the latest bin file. 2. Start the GCS 3. Open the serial port and turn the autopilot on, establishing communications. 4. In the top menu, select AP Settings, File System Tab 5. Enter the path of the bin file in the Firmware Update section 6. Select upload 7. Wait for 100% completion 8. Click Install 9. Reboot the Goose autopilot when the reboot message appears. 10. You are now running new firmware on the Goose and may need to update your GCS.



### (j) Log Files The GCS creates different log files. • Telemetry Datalog - Information about the entire flight • Trigger Log - Information about points where the input trigger was activated • Certain cameras allow for log lines in the trigger file to be populated automatically. Contact Robota for details with respect to your payload. • The Robota Tagger application is available to synchronize log lines with image file names for post processing. • Payload Log - The raw data that is sent down from the payload • RawCom Log - The raw data that can be used to playback a specific flight Log files will be located in c:\Program Files\Robota\Logs. If the GCS does not have permission to write to the first directory, it will attempt to use c:\Users\Public\Robota\Logs. (i) Playback To playback a rawcom file, got to File> Load Log then search for the rawcom file with the appropriate date.

0-iAfter opening the file, a new playback tab will appear. Press Start to begin the playback. 

### (k) Advanced Features (i) Position Output The GCS constantly outputs the vehicle position data in NMEA format on a TCP socket. GPRMC and GPGGA strings are output every second. To connect a client, use the localhost (ip address of the GCS computer) as the hostname with port 5050. 

### (ii) SRTM Elevation Data The GCS supports SRTM data. If the data is loaded, the terrain elevation over the mouse cursor will be displayed in the lower right corner of the map screen. To load the data, first download the folders that reference your area of interest from dds.cr.usgs.gov/srtm/ . Place the folders into c:\Users\Public\Robota\SRTM



### (1) Typical Flight A lot of information has been covered, not all of it is required for a typical flight. To give the reader a main idea of a flight experience, the typical steps would be: 1. Power the vehicle 2. Power the GCS 3. Establish communications 4. Follow the checklist on the GCS 5. Setup a flight plan and landing 6. Update the flight plan 7. Yell "Clear Prop" Press Launch or takeoff with manual control a. Select your desired launch method 8. In flight - adjust the flight plan, click the flight plan flight mode and perform the mission 9. Adjust the landing point for wind and preferred orientation. Right click on the landing point to confirm all the details. 10. Press Land - standby with manual control in the event that intervention is required to protect personnel or the vehicle.

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