# MANUAL FOR SA200

‐ MR

PREPARED FOR BARRICK GOLD, BALD MOUNTAIN

4/13/2015www.stratosaerial.com or info@stratosaerial.com

888

‐ 454

‐ 0073 

### Table of Contents

General

............................................................................................................................... ........................... 3

Specifications

............................................................................................................................... ................. 3

DJI S900 AIRFRAME

............................................................................................................................... .... 3

PIXHAWK AUTOPILOT

............................................................................................................................... 5

KEY FEATURES

............................................................................................................................... ........ 5

SPECIFICATIONS

............................................................................................................................... ..... 5

COPILOT BY DRONEDEPLOY

...................................................................................................................... 7

SAFTEY FEATURES

............................................................................................................................... .. 7www.stratosaerial.com or info@stratosaerial.com

888

‐ 454

‐ 0073 

### General

The SA200

‐ MR has been developed with the integration of the latest technologies for the

specific purpose of capturing imagery for mapping and survey purposes.

The airframe is a S900, a six motor multirotor from DJI. The SA200

‐ MR flight is controlled via

the 3DR Pixhawk flight controller and the CoPilot from DroneDeploy. The camera sensor is the

Sony QX1, fix mounted to the airframe. The vehicle is powered with a single 16000mAh battery

with a normal flight time of 15 to 18 minutes, depending on conditions.



### Specifications

DJI S900 AIRFRAME

DIMENSIONS

 Distance rotor to rotor across the center: 889mm

 Height with GPS/Compass folded down: 533mm

 Height with GPS/Compass up: 625mm

 Length of landing gear skids: 432mm

 Distance between landing gear skids: 457mm

 Collapsed size: 559mm x 483mm

MOTORS

 Manufacturer: DJI

‐ Innovations

 Number of motors: 6

 Motor type: 41mm x 14mm

 Motor Model Number: 4114

‐ 11

 Motor KV/RPM: 400

 Motor max @ 25.2V: 10,000 rpm

 Motor Max Power: 500 Watts

 Power rating: 3000 Watts maximum power consumption for all 6 motors

 Current Max: 100 amps

 Amp Draw Typical Average: 55 ampswww.stratosaerial.com or info@stratosaerial.com

888

‐ 454

‐ 0073 PROPELLERS

 Manufacturer: DJI

‐ Innovations

 Material: Composite

 Number of propellers: 6

 Propeller model number: DJI 15 x 5.2

 Number of blades: 2

‐ folding

 Propeller Diameter: 15”

 Propeller Pitch (fixed): 5.2”

 Max rpm: 10,000 rpm

ELECTRONIC SPEED CONTROLS

 Manufacturer: DJI

‐ Innovations

 Number of speed controls: 6

 Speed control model number: DJI 40A Opto

 Rating in amps: 40 Amps continuous

 Signal Frequency: 30

‐ 450 Hz

 Drive PWM Frequency: 8 KHz

FLIGHT BATTERY

 Manufacturers: Various suppliers

 Battery chemistry recommended: Lithium Polymer

 Battery Capacity: up to 21,000 mAh or greater depending on max gross weight

 Battery cell count required: 6S (6 cells in series)

 Battery Voltage: 21V minimum during hover, 22.2V nominal, 25.2V maximum

 Battery Minimum Rated Discharge Rate: 10C minimum

 Battery Minimum Charge Rate: 1C (3C preferable)

 Batteries used simultaneously: typically 1

 Recommended Battery Discharge Amount: 80

‐ 90%

FLIGHT PARAMETERS

 Flight Time: 15+ minutes typical

 Payload Max: 9.5 lbs for battery and sensorwww.stratosaerial.com or info@stratosaerial.com

888

‐ 454

‐ 0073 

### PIXHAWK AUTOPILOT

PIXHAWK is a high

‐ performance autopilot

‐ on

‐ module suitable for fixed wing, multi rotors,

helicopters, cars, boats and any other robotic vehicle that can move.

KEY FEATURES

 168 MHz / 252 MIPS Cortex

‐ M4F

 14 PWM / Servo outputs (8 with failsafe and manual override, 6 auxiliary, high

‐ power

compatible)

 Abundant connectivity options for additional peripherals (UART, I2C, CAN)

 Integrated backup system for in

‐ flight recovery and manual override with dedicated

processor and stand

‐ alone power supply (fixed

‐ wing use)

 Backup system integrates mixing, providing consistent autopilot and manual override

mixing modes (fixed wing use)

 Redundant power supply inputs and automatic failover

 External safety switch

 Multicolor LED main visual indicator

 High

‐ power, multi

‐ tone piezo audio indicator

 microSD card for high

‐ rate logging over extended periods of time

SPECIFICATIONS

PROCESSOR

 32bit STM32F427 Cortex M4 core with FPU

 168 MHz

 256 KB RAM

 2 MB Flash

 32 bit STM32F103 failsafe co

‐ processor

SENSORS

 ST Micro L3GD20H 16 bit gyroscope

 ST Micro LSM303D 14 bit accelerometer / magnetometer

 MEAS MS5611 barometer

INTERFACES

 5x UART (serial ports), one high

‐ power capable, 2x with HW flow control

 2x CAN (one with internal 3.3V transceiver, one on expansion connector)www.stratosaerial.com or info@stratosaerial.com

888

‐ 454

‐ 0073  Spektrum DSM / DSM2 / DSM

‐ X® Satellite compatible input

 Futaba S.BUS® compatible input and output

 PPM sum signal input

 RSSI (PWM or voltage) input

 I2C

 SPI

 3.3 and 6.6V ADC inputs

 Internal microUSB port and external microUSB port extension

POWER SYSTEMS AND PROTECTIONS

 Ideal diode controller with automatic failover

 Servo rail high

‐ power (max. 10V) and high

‐ current (10A+) ready

 All peripheral outputs over

‐ current protected, all inputs ESD protected

VOLTAGE RATINGS

Pixhawk can be triple

‐ redundant on the power supply if three power sources are supplied. The

three rails are: Power module input, servo rail input, USB input.

NORMAL OPERATION MAXIMUM RATINGS

Under these conditions all power sources will be used in this order to power the system

1. Power module input (4.1V to 5.7V)

2. Servo rail input (4.1V to 5.7V)

3. USB power input (4.1V to 5.7V)www.stratosaerial.com or info@stratosaerial.com

888

‐ 454

‐ 0073 

### COPILOT BY DRONEDEPLOY

SAFTEY FEATURES

Numerous pre

‐ flight and in

‐ flight checks to ensure the vehicle is safe to fly and take corrective

action if required. Below is a list of the most important safety features:

MISSION PLANNING STAGE

 Terrain collision avoidance: Check the elevation of the terrain being flying over and

ensure the flight is at a considerable altitude above mountains or other permanent

vertical structures.

 Endurance check: Using predictive models, forecast vehicle flight time and ensure the

mission is not beyond the vehicle's endurance

 Waypoint sanity checks: Ensure the total mission distance does not exceed mission

parameters

 Autopilot home location check: The vehicle's programmed home location is checked to

ensure the vehicle is within a safe distance from you.

MISSION COMMIT

 Altitude legality check: Check the mission altitude is set to be below 400 feet as

suggested in FAA guidelines.

 Closed loop waypoint check: Software writes the mission to the vehicle, reads the

mission back from the autopilot, confirms and ensures the mission data is a match

PRE

‐ FLIGHT VEHICLE STATE CHECKS

 Critical failsafes: Check flight controller's settings and enable GPS, Battery and CoPilot

failsafes. In the unlikely event that any one of these systems fails, the vehicle will be

able to land safely. These failsafes add an additional level of redundancy to the

multitude of safety checks.

 Flight sensor health analysis: CoPilot checks the health of all sensors and cross

references the readings to ensure that all sensors are working as expected.www.stratosaerial.com or info@stratosaerial.com

888

‐ 454

‐ 0073  Battery checks: Intelligent battery capacity check using a proprietary algorithm to

estimate the battery capacity, estimate flight time and ensure the mission flight time

does not exceed the vehicle battery endurance.

GPS CHECKS

 Number of satellites: CoPilot checks that your GPS unit can see enough satellites to

ensure your drone has a robust position estimate

 HDOP: CoPilot checks the GPS unit HDOP value is adequate to ensure that altitude

estimates are accurate.

IN

‐ FLIGHT CHECKS

 Attitude check: The CoPilot constantly compares the vehicle desired attitude with its

actual attitude. In case of a discrepancy, suggesting a failed control surface or heavy

wind, the Copilot software recommends corrective action

 Altitude check: The CoPilot is constantly comparing the vehicle desired altitude with its

actual altitude. In case of a discrepancy, suggesting a failed control surface or heavy

wind, the Copilot software recommends corrective action

 Flight sensor health analysis: The CoPilot is constantly checking the vehicle sensor health

and recommends corrective action if any sensor is suspected to be malfunctioning

 R/C signal check: In the event of a loss of R/C signal the drone automatically returns to

the launch location

 Predictive battery failsafe: The CoPilot is constantly analyzing the flight and the state of

the vehicle to ensure the vehicle has battery capacity to return to launch

 Wind speed check: The CoPilot analyzes wind speed to ensure the vehicle is flying in safe

conditions. If wind speed is detected to be higher than recommended, the pilot is

notified and an immediate landing is recommended

# MANUAL FOR SA200

‐ MR

PREPARED FOR BARRICK GOLD, CORTEZ

4/13/2015www.stratosaerial.com or info@stratosaerial.com

888

‐ 454

‐ 0073 

### Table of Contents

General

............................................................................................................................... ........................... 3

Specifications

............................................................................................................................... ................. 3

DJI S900 AIRFRAME

............................................................................................................................... .... 3

PIXHAWK AUTOPILOT

............................................................................................................................... 5

KEY FEATURES

............................................................................................................................... ........ 5

SPECIFICATIONS

............................................................................................................................... ..... 5

COPILOT BY DRONEDEPLOY

...................................................................................................................... 7

SAFTEY FEATURES

............................................................................................................................... .. 7www.stratosaerial.com or info@stratosaerial.com

888

‐ 454

‐ 0073 

### General

The SA200

‐ MR has been developed with the integration of the latest technologies for the

specific purpose of capturing imagery for mapping and survey purposes.

The airframe is a S900, a six motor multirotor from DJI. The SA200

‐ MR flight is controlled via

the 3DR Pixhawk flight controller and the CoPilot from DroneDeploy. The camera sensor is the

Sony QX1, fix mounted to the airframe. The vehicle is powered with a single 16000mAh battery

with a normal flight time of 15 to 18 minutes, depending on conditions.



### Specifications

DJI S900 AIRFRAME

DIMENSIONS

 Distance rotor to rotor across the center: 889mm

 Height with GPS/Compass folded down: 533mm

 Height with GPS/Compass up: 625mm

 Length of landing gear skids: 432mm

 Distance between landing gear skids: 457mm

 Collapsed size: 559mm x 483mm

MOTORS

 Manufacturer: DJI

‐ Innovations

 Number of motors: 6

 Motor type: 41mm x 14mm

 Motor Model Number: 4114

‐ 11

 Motor KV/RPM: 400

 Motor max @ 25.2V: 10,000 rpm

 Motor Max Power: 500 Watts

 Power rating: 3000 Watts maximum power consumption for all 6 motors

 Current Max: 100 amps

 Amp Draw Typical Average: 55 ampswww.stratosaerial.com or info@stratosaerial.com

888

‐ 454

‐ 0073 PROPELLERS

 Manufacturer: DJI

‐ Innovations

 Material: Composite

 Number of propellers: 6

 Propeller model number: DJI 15 x 5.2

 Number of blades: 2

‐ folding

 Propeller Diameter: 15”

 Propeller Pitch (fixed): 5.2”

 Max rpm: 10,000 rpm

ELECTRONIC SPEED CONTROLS

 Manufacturer: DJI

‐ Innovations

 Number of speed controls: 6

 Speed control model number: DJI 40A Opto

 Rating in amps: 40 Amps continuous

 Signal Frequency: 30

‐ 450 Hz

 Drive PWM Frequency: 8 KHz

FLIGHT BATTERY

 Manufacturers: Various suppliers

 Battery chemistry recommended: Lithium Polymer

 Battery Capacity: up to 21,000 mAh or greater depending on max gross weight

 Battery cell count required: 6S (6 cells in series)

 Battery Voltage: 21V minimum during hover, 22.2V nominal, 25.2V maximum

 Battery Minimum Rated Discharge Rate: 10C minimum

 Battery Minimum Charge Rate: 1C (3C preferable)

 Batteries used simultaneously: typically 1

 Recommended Battery Discharge Amount: 80

‐ 90%

FLIGHT PARAMETERS

 Flight Time: 15+ minutes typical

 Payload Max: 9.5 lbs for battery and sensorwww.stratosaerial.com or info@stratosaerial.com

888

‐ 454

‐ 0073 

### PIXHAWK AUTOPILOT

PIXHAWK is a high

‐ performance autopilot

‐ on

‐ module suitable for fixed wing, multi rotors,

helicopters, cars, boats and any other robotic vehicle that can move.

KEY FEATURES

 168 MHz / 252 MIPS Cortex

‐ M4F

 14 PWM / Servo outputs (8 with failsafe and manual override, 6 auxiliary, high

‐ power

compatible)

 Abundant connectivity options for additional peripherals (UART, I2C, CAN)

 Integrated backup system for in

‐ flight recovery and manual override with dedicated

processor and stand

‐ alone power supply (fixed

‐ wing use)

 Backup system integrates mixing, providing consistent autopilot and manual override

mixing modes (fixed wing use)

 Redundant power supply inputs and automatic failover

 External safety switch

 Multicolor LED main visual indicator

 High

‐ power, multi

‐ tone piezo audio indicator

 microSD card for high

‐ rate logging over extended periods of time

SPECIFICATIONS

PROCESSOR

 32bit STM32F427 Cortex M4 core with FPU

 168 MHz

 256 KB RAM

 2 MB Flash

 32 bit STM32F103 failsafe co

‐ processor

SENSORS

 ST Micro L3GD20H 16 bit gyroscope

 ST Micro LSM303D 14 bit accelerometer / magnetometer

 MEAS MS5611 barometer

INTERFACES

 5x UART (serial ports), one high

‐ power capable, 2x with HW flow control

 2x CAN (one with internal 3.3V transceiver, one on expansion connector)www.stratosaerial.com or info@stratosaerial.com

888

‐ 454

‐ 0073  Spektrum DSM / DSM2 / DSM

‐ X® Satellite compatible input

 Futaba S.BUS® compatible input and output

 PPM sum signal input

 RSSI (PWM or voltage) input

 I2C

 SPI

 3.3 and 6.6V ADC inputs

 Internal microUSB port and external microUSB port extension

POWER SYSTEMS AND PROTECTIONS

 Ideal diode controller with automatic failover

 Servo rail high

‐ power (max. 10V) and high

‐ current (10A+) ready

 All peripheral outputs over

‐ current protected, all inputs ESD protected

VOLTAGE RATINGS

Pixhawk can be triple

‐ redundant on the power supply if three power sources are supplied. The

three rails are: Power module input, servo rail input, USB input.

NORMAL OPERATION MAXIMUM RATINGS

Under these conditions all power sources will be used in this order to power the system

1. Power module input (4.1V to 5.7V)

2. Servo rail input (4.1V to 5.7V)

3. USB power input (4.1V to 5.7V)www.stratosaerial.com or info@stratosaerial.com

888

‐ 454

‐ 0073 

### COPILOT BY DRONEDEPLOY

SAFTEY FEATURES

Numerous pre

‐ flight and in

‐ flight checks to ensure the vehicle is safe to fly and take corrective

action if required. Below is a list of the most important safety features:

MISSION PLANNING STAGE

 Terrain collision avoidance: Check the elevation of the terrain being flying over and

ensure the flight is at a considerable altitude above mountains or other permanent

vertical structures.

 Endurance check: Using predictive models, forecast vehicle flight time and ensure the

mission is not beyond the vehicle's endurance

 Waypoint sanity checks: Ensure the total mission distance does not exceed mission

parameters

 Autopilot home location check: The vehicle's programmed home location is checked to

ensure the vehicle is within a safe distance from you.

MISSION COMMIT

 Altitude legality check: Check the mission altitude is set to be below 400 feet as

suggested in FAA guidelines.

 Closed loop waypoint check: Software writes the mission to the vehicle, reads the

mission back from the autopilot, confirms and ensures the mission data is a match

PRE

‐ FLIGHT VEHICLE STATE CHECKS

 Critical failsafes: Check flight controller's settings and enable GPS, Battery and CoPilot

failsafes. In the unlikely event that any one of these systems fails, the vehicle will be

able to land safely. These failsafes add an additional level of redundancy to the

multitude of safety checks.

 Flight sensor health analysis: CoPilot checks the health of all sensors and cross

references the readings to ensure that all sensors are working as expected.www.stratosaerial.com or info@stratosaerial.com

888

‐ 454

‐ 0073  Battery checks: Intelligent battery capacity check using a proprietary algorithm to

estimate the battery capacity, estimate flight time and ensure the mission flight time

does not exceed the vehicle battery endurance.

GPS CHECKS

 Number of satellites: CoPilot checks that your GPS unit can see enough satellites to

ensure your drone has a robust position estimate

 HDOP: CoPilot checks the GPS unit HDOP value is adequate to ensure that altitude

estimates are accurate.

IN

‐ FLIGHT CHECKS

 Attitude check: The CoPilot constantly compares the vehicle desired attitude with its

actual attitude. In case of a discrepancy, suggesting a failed control surface or heavy

wind, the Copilot software recommends corrective action

 Altitude check: The CoPilot is constantly comparing the vehicle desired altitude with its

actual altitude. In case of a discrepancy, suggesting a failed control surface or heavy

wind, the Copilot software recommends corrective action

 Flight sensor health analysis: The CoPilot is constantly checking the vehicle sensor health

and recommends corrective action if any sensor is suspected to be malfunctioning

 R/C signal check: In the event of a loss of R/C signal the drone automatically returns to

the launch location

 Predictive battery failsafe: The CoPilot is constantly analyzing the flight and the state of

the vehicle to ensure the vehicle has battery capacity to return to launch

 Wind speed check: The CoPilot analyzes wind speed to ensure the vehicle is flying in safe

conditions. If wind speed is detected to be higher than recommended, the pilot is

notified and an immediate landing is recommended