~ ~------------------------~~!·~·:~~·~-·~·'------~Th .. e .. s.ch.n.e.id•e•r•C•o•r•p•or.a.t.io.n Schneider Historic Fo1t Harrison 8901 ot1s Avenu\3 ~.; ,;(g ~; ~~~\i~. tN 46216.1037 

March 28th, 2016 

U.S. Department of Transportation 

Docket Management System 

1200 New Jersey Ave., SE 

Washington, DC 20590 

Phone: 317.826.7100 Fax: 317.826.7200 

. -r C)>· 

RE: Application for Amendment to Exemption 14257, The Schneider Corporation, Regulatory Docket 

FAA-2015-4778 

Dear Sir or Madam: 

Pursuant to Section 333 ofthe FAA Modernization and Reform Act of 2012, Pub. L. No. 112-95, 

126 Stat. 11 (amending 49 U.S.C.) (Hereinafter, the "Reform Act") and 14 C.F.R. Part 11, 

The Schneider Corporation (Applicant), operator of unmanned aircraft systems (singularly a "UAS" or 

cumulatively "UASs") equipped to conduct aerial photography, and/or videography in support of 

broader project objectives such as identifying encroachments, observing vegetation condition, staking 

boundaries and rights of way, and preparing descriptions and exhibits for acquisition of rights of way, 

hereby applies for a petition to amend Exemption Number 14257, granted January 8, 2016 (the 

"Exemption"), to allow commercial operation of one additional UAS, so long as such operations are 

conducted within and under the conditions outlined by the grant of the Exemption. 

As The Schneider Corporation is only requesting to add aircraft to the Exemption, we do not feel that 

this amendment qualifies as precedent-setting, per guidance located at: 

http:/ /aes.faa.gov/Petition/faq5a.html. The Applicant respectfully submits that good cause exists so that 

notice does not need to be published in the Fed,eral Register for the requested amendment. 

Currently, per paragraph 1 of the section of exemption number 14257 named "Conditions and 

Limitations", The Schneider Corporation's exemption is limited to operations using the Yuneec Typhoon 

Q500, and proposed operations of any other aircraft require a petition to amend exemption number 

14257. 

The name and address of the applicant is: 

The Schneider Corporation 

Attention: Scott Lawson 

8901 Otis Avenue 

Indianapolis, IN 46216 

Telephone: (317) 826-7213 

Email: slawson@schneidercorp.com 

Indianapolis, Indiana 

Historic Fort Harrison 

8901 Otis Avenue 

Indianapolis. IN 46216 

West Lafayette, Indiana 

1330 Win Hentschel Blvd. 

Suite 260 

West Lafayette, IN 4 7906 

Ankeny, Iowa 

1450 SW Vintage Pkwy 

Suite 260 

Ankeny, lA 50023 

Charlotte, North Carolina 

8307 University Executive 

Park Dr. Suite 220 

Charlotte, NC 28262 

www.schnetdercorp.com 

Deland, Florida 

120'12 W. New York Ave. 

Deland, FL 32720 

Houston, Texas 

16225 Park Ten Place 

Suite 500 

Houston, TX 77084 

COR # 10194084 

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The Applicant hereby requests to amend the Exemption, and the issuance of an FAA Form 7711-

1 UAS COA Attachment, to allow the use of the following UAS: 

1. Firefly6 VTOL aircraft 

The Firefly6 VTOL aircraft is a hybrid fixed wing/rotary wing aircraft weighing a maximum of 9 lbs. at 

takeoff (in any event, less than SSibs.), with payload. It will not operate at a speed greater than 87 knots. 

Preflight maintenance will be accomplished as set forth in the Operations Manual submitted 

confidentially with this application. 

Attachment 1 to this petition for amendment is a listing of operations manuals submitted confidentially. 

In accordance with the section of 14527 known as "Conditions and Limitations", The Schneider 

Corporation hereby requests to operate the Amendment Aircraft while adhering to the conditions and 

limitations listed below: 

1. Operations authorized by this amendment to the Exemption are limited to the Firefly6 

VTOL aircraft 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 

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-------------------------
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 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 FM 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 aVO 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 Colombia, 

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 qualification flight hours and 

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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 experiencebuilding) 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 FM 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. For tethered UAS operations, the tether line must have colored pennants or streamers 

attached at not more than SO foot intervals beginning at 150 feet above the surface of the 

earth and visible from at least one mile. This requirement for pennants or streamers is not 

applicable when operating exclusively below the top of and within 250 feet of any structure, 

so long as the UA operation does not obscure the lighting of the structure. 

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

predetermined location within the private or controlled-access property. 

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

21. 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 five minutes or with the reserve power 

recommended by the manufacturer if greater. 

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

operations shall be conducted in accordance with an A TO-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. 

23. 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) 

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markings in accordance with 14 CFR part 45, Subpart C. Markings must be as large as 

practicable. 

24. 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. 

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

at all times. 

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

27. 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. 

28. 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. 

29. 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. 

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. 

Approval of this amendment to the granted Exemption and the issuance of an FAA Form 7711 -1 

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~I 

Amendment (002).docx 
UAS COA Attachment, allowing the operation of the aircraft listed in this document, will provide an 

equivalent level of safety supporting the amendment requested herein. The Amendment Aircraft 

possess even more enhanced safety features than the Yuneec Typhoon QSOO which was approved for 

use in the Exemption, and when operated within the conditions and limitations outlined in the 

Exemption. 

If you have any questions, please contact us at your earliest convenience. 

Scott Lawson 

Vice President 

The Schneider Corporation 

8901 Otis Avenue 

Indianapolis, IN 46216 

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List of Confidential Manuals 

1. Operations Manual- Firefly6 VTOL Aircraft 

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ADVANCEDVTOLAUTONOMY 

operations guide 

27 December 2015 

BIRDSEYEVIEW ~ 

AEROBOTICS 

~~ 
Disclaimers 

IMPORTANT: This manual contains instructions for safety. system configuration. and 

operation. It is essential to read the ENTIRE manual and follow all the 

instructions and warnings prior to assembly or use. in order to operate 

correctly and avoid damage or serious injury. All components. including 

remote control devices. must be compatible with the product and 

correctly installed to prevent any unsafe conditions. We cannot in any 

way guarantee the performance of your completed model; our warranty 

is included in the product paperwork. 

The FireFL Y6 with AvA Onboard. along with its components and accessories. is a sophisticated model aircraft. It 

should be operated under the following guidelines: 

• Before each flight. check the model to ensure its proper condition for operation. 

• The model should always be flown safely in accordance with existing conditions and in compliance with the 

safety rules for the local community. We encourage compliance with any safety guidelines published by the 

Academy of Model Aeronautics (AMA) or a similar nationwide community-based organization. In particular. 

we encourage voluntary compliance with the Department of Transportation's Advisory Circular 91-57. which 

includes the following suggestions: 

o Do not fly the model higher than 400 feet. 

o Do not fly the model within 3 miles of an airport without notifying the airport operator. 

o Give right-of-way and avoid flying in the proximity of full-scale aircraft. 

• If you are not an experienced pilot or have not flown this type of model before. we recommend that you 

get the assistance of an experienced pilot in your RC club for your first flights. 

The FireFL Y6 with AvA Onboard contains: 

l. Autopilot Hardware licensed under the Open Source Hardware License OSHW l.l definition licensed under the Creative 

Commons Attribution-Share Alike 3.0 Unported (CC BY-SA 3.0) license. https:!/github.com/PX4/Hardware 

2. Autopilot Software licensed under the GNU General Public License Version 3 as published by the Free Software 

Foundation. http://www.gnu.org/licenses/. Please see http:!/firmware diydrones.com/ 

THIS PROGRAM IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL. BUT WITHOUT ANY WARRANTY: 

WITHOUT EVEN THE IMPLIED WARRANTY OF MERCHANT ABILITY OR FITNESS FOR A PARTICULAR PURPOSE. 

3. Autopilot Software licensed under a permissive three-clause BSD license. Please see 

https:l/github.com/PX4/Firmware/blob/master/LICENSE.md 

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS 

OR IMPLIED WARRANTIES. INCLUDING. BUT NOT LIMITED TO. THE IMPLIED WARRANTIES OF MERCHANTABILITY 

AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR 

CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT. INCIDENTAL. SPECIAL. EXEMPLARY. OR CONSEQUENTIAL 

DAMAGES (INCLUDING. BUT NOT LIMITED TO. PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES: LOSS OF 

USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY. 

WHETHER IN CONTRACT. STRICT LIABILITY. OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY 

WAY OUT OF THE USE OF THIS SOFTWARE. EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 

For further information. please see https:l/www dronecode.org/ 

Our number one priority is your satisfaction with our products. Please take the time to review the manual and let 

us know if you require any assistance in configuration or operation of the FireFL Y6 with AvA Onboard. We truly 

hope you will appreciate and enjoy the FireFL Y6. and its unique flying experience. as much as we do. 
Revision History 

16 Nov 2015 

2 Dec 2015 

27 Dec 2015 

mkl Initial AvA release 

mkll Minor corrections related to preflight procedures 

mklll Details on update procedure. Smart Wind Assist. GCS failsafe 

3 

Approval 

ARS 

ARS 

ARS 
AvA Overview 

AvA is custom software which allows feature rich. fully autonomous. single flight controller 

operation of the FireFL Y6. AvA is intended to be run on the PX4hawk autopilot. which is then 

connected to the motors. elevons, and retractable landing gear. allowing full control of the 

FireFLY6. 

+ 

AvA Software PX4hawk 

Unparalleled Autonomy 

AvA provides control of the FireFL Y6 through all regimes of flight: hover. forward flight. and 

transition. Using various autopilot modes, the operator can adjust the level of authority given to 

the human pilot. Autopilot modes range from semi-manual control to entirely autonomous, with 

a spectrum of in-betweens designed to cater to hobbyists as well as professional operators. 

In addition to AvA software. BirdsEyeView Aerobatics provides ground station software called 

FireFL Y6 Planner. The software is run on a Windows laptop or tablet with a wireless connection 

to the FireFL Y6. It displays data from your FireFL Y6 and allows you to send commands. plan 

missions, and change configuration settings within the AvA software. 

4 
Updating AvA and FireFL YS Planner 

We periodically release updates and improvements to AvA and FireFL Y6 Planner. These can be 

downloaded for free from our Downloads page. The following steps only need to be performed 

if updating AvA or the FireFLY6 Planner. 

FireFL Y6 Planner 

Updating FireFL Y6 Planner is as simple as unzipping the file provided on the downloads page 

and storing the folder in a convenient location. When updating FireFL Y6 Planner. your custom 

settings and cached maps will be forgotten. Remember to update your speech settings and 

cache the needed maps prior to your first flight with the new software! 

Prior to updating AvA it's a good idea to back up your parameters. To do this. connect to 

FireFL Y6 Planner and navigate to SETUP -> Parameter List. Click the 'Save' button on the upper 

right hand side and save the file some place handy like your desktop. This file will be used in just 

a few steps. 

To update AvA. download the latest firmware release. To avoid file formatting complications. 

right click the link on the Downloads page and choose 'Save target as .. .' to save files to your 

computer in their native format. Connect your PX4Hawk qutopilot to your computer using a 

micro USB cable. Open FireFL Y6 Planner and select the com port labeled 'PX4FMU' from the 

dropdown menu in the top right screen. Verify that the baud rate in the adjacent pull down to 

the right reads 57600, but do not click 'CONNECT. 

Navigate to SETUP-> Install Firmware. Click the 'Load AvA Software' button and select the .px4 

file that you downloaded earlier. Follow the onscreen instructions to load the software. Do not 

proceed to the next step until you receive an 'Upload Done' message below the progress bar. 

During this process. if you receive a "board failed to respond" message. disconnect and 

reconnect the USB cable from your computer and restart the firmware installation. When the 

message below the progress bar displays "Connection." use a pencil or similarly-sized object to 

press the reset button located on the side of the PX4hawk near the USB port. 

After the firmware update. load your saved parameters back on the PX4hawk. As before. 

connect to FireFL Y6 Planner and navigate to SETUP -> Parameter List. This time click 'Load', and 

select the file you saved earlier. Be sure to click 'Write Params' to save the parameters to the 

PX4hawk. 

5 
Safety 

AvA has several features designed to keep you safe. These safety features are not permission 

to ignore good practice! Always follow best safety practices. pay close attention to safety 

warnings. and operate in a responsible. common sense manner. The FireFL YS is not a toy; do 

not treat it as one. 

Powering the Motors 

Only provide power to the motors immediately prior to flight. If you need to power the motors 

to perform checks and calibrations. remove the propellers first. Seriously, remove the propellers 

first. It only tokes a moment. 

·safety Button 6 Arming 

Two layers of safety features ore in place to keep the motors from accidentally spinning: a 

safety button and a process called "arming." 

These safety features are not permission to ignore good practice! Always toke caution when 

power is provided to the motors and ensure that people and property ore safely away from the 

aircraft. 

The PX4howk Set includes a safety button. When power is first applied to the PX4howk, the 

autopilot enters a safe state where the motors cannot spin and elevons cannot move. This 

state is indicated by a flashing red light on the safety button. Pressing and holding the safety 

button for ~5 seconds will cause it to illuminate red, indicating that the PX4howk is capable of 

spinning the motors and moving the elevons. 

However. AvA software prevents the motors from spinning until the operator directs final 

arming via the RC transmitter. The software con be armed by holding the throttle at minimum 

and yow full right for 3 seconds to send the arming command to AvA. 

You con verify that AvA is armed by looking at the Heads Up Display (HUD) in FireFL Y6 Planner 

(details on using FireFL Y6 Planner ore in a later section). If disarmed, the text 'DISARMED' is 

displayed in Iorge red letters on the HUD. Once AvA is armed. the HUD will display 'ARMED' for 5 

seconds. then no text will be displayed. 

6 
Disarming is accomplished automatically on landing (assuming radio throttle is zeroed after 

piloted landings in AltHold or Loiter modes) or via the Disarm button in FireFL Y6 Planner. If for 

some reason these methods do not disarm AvA (or if landing is made in Stabilize mode). disarm 

can be immediately commanded by zeroing throttle and yawing full left for 3 seconds in 

Stabilize mode. In the event you forget to disarm after a flight. AvA will automatically disarm 

itself if it detects it has been sitting on the ground for more than 10 seconds while armed. The 

Disarm button on the FLY page in FireFL Y6 Planner can also be used, although it will ask for 

confirmation from the user prior to disarming. This protects against accidentally disarming in 

flight. 

Pre-Arm Checks 

After receiving the arming command, AvA runs a check and will not arm if any hardware or 

software does not appear to be functioning properly. If connected to FireFL Y6 Planner, a 

message describing the issue will display in the bottom of the HUD. Most issues can be resolved 

by unplugging all batteries, making certain the lights on the PX4hawk are off. then reconnecting 

the batteries. If this method does not solve the problem. see the section below titled "Pre-Arm 

Check: Troubleshooting Tips." 

7 
FireFL YS Planner 

0.83 

0.00 

0.00 

FireFL Y6 Planner is a graphical interface you can run on a Windows laptop or tablet to display 

the status of your FireFL Y6 and to send commands. As a best practice. always have a laptop 

or tablet with you running FireFL Y6 Planner while flying. 

FireFL Y6 Planner is based largely on open source software called Mission Planner. In order for 

FireFL Y6 Planner to function properly, Mission Planner must first be installed to configure drivers 

properly. Download and install Mission Planner located at http:ljplanner.ardupilot.com. Be 

certain to allow drivers when installing Mission Planner. 

Unzip the custom FireFL Y6 Planner provided on our Downloads page and store the folder in a 

convenient location. Double click on the MissionPianner.exe file in the resulting folder to run 

FireFL Y6 Planner. For convenience. place a shortcut to MissionPianner.exe on your desktop. 

Connecting FireFL Y6 Planner to the PX4hawk can be accomplished with either a wireless 

telemetry modem or a micro USB cable. We generally recommend using your telemetry 

modem for everything other than onboard log file downloads or initial PX4hawk configuration 

(details of which can be found in the FireFL Y6 Manual). Open FireFL Y6 Planner and select the 

appropriate com port from the dropdown menu in the top right corner of the screen. Verify 

that the baud rate reads 57600. then click 'CONNECT.' 

TIP: FireFL Y6 Planner can be configured to give audible warnings for events such as autopilot 

mode changes. low battery. and arming. See the Speech options under SETUP -> Planner. 

8 
Autopilot Mode Descriptions 

AvA has several modes providing varying levels of autonomy. Autopilot modes can be changed 

three ways. The first. and most common, is to use a switch on your radio transmitter. You can 

configure which flight mode corresponds to each switch position. In FireFL Y6 Planner, navigate 

to SETUP -> Flight Mode. 

The secon~ way to change flight modes is through the 'Set Mode' button on FireFL Y6 Planner 

under the FLY page. Simply select a mode from the drop down menu and click 'Set Mode.' 

AltHiold 

'Auto 

jGuided 

i:Loiter 

;HTL 

itand 

Set Mode 

Set 'V.JP 

Cllange Alt 

' 

Finally, flight modes can be changed automatically by the autopilot during a failsafe event. 

without prompting from the user. For example, when AvA loses link with the pilot's radio 

transmitter. the PX4hawk automatically enters Return to Launch (RTL) mode (assuming the 

failsafe has been configured properly). Once the radio link is re-established, control can be 

taken back by commanding a new flight mode using the mode switch on the transmitter. 

Transitioning 

While not actually a formal autopilot mode, AvA is in "transition" when it is converting from 

forward flight to hover, or vice versa. While in hover mode, all six motors are providing thrust to 

control the FireFLY6's movement. When AvA transitions into forward flight mode, the front four 

motors are rotated to face forward, and the rear two motors are intelligently deactivated. 

During transition, the FireFL Y6 is a blend between a helicopter and airplane. The pilot has little 

control when transitioning as the motors and elevons are working at maximum capacity to 

transition. Prior to transitioning, ensure there is sufficient space on all sides of the FireFL Y6. 

Once the transition is initiated, there is a five second period where the pilot has minimal control. 

AvA concentrates on achieving a safe, reliable transition while giving the pilot limited roll 

authority, which can be used to command small adjustments in heading during the transition. 

When transitioning it is very important that the FireFL Y6 be pointed nose into the wind as much 

as possible. When planning auto missions this will require special attention to detail. particularly 

in heavier wind conditions (see the "First Flights 8 Piloting Techniques" section of the FireFL Y6 

Manual for detailed recommendations on operations in the wind). 

9 
Transitions may be commanded by a switch on the transmitter, the Transition button in 

FireFLY6 Planner. or by mission scripting in Auto mode (via a DO_ TRANSITION_ TOGGLE 

command). While in Auto mode, transition requests from the switch on the transmitter and the 

button on FireFL Y6 Planner ore ignored. When in the final stages of landing in RTL or Land 

modes, AvA disallows transitions to forward flight. 

Stabilize Mode 

When flying in hover Stabilize mode, the pilot is responsible for controlling altitude and must be 

careful not to climb or descend too quickly. Do not descend foster than 2 meters per second (6 

feet per second), and do not climb foster than 3 meters per second (10 feet per second). This 

task con be challenging for inexperienced pilots. For this reason we recommend using AltHold 

mode in place of Stabilize mode during first flights. 

Hover: 

Roll. pitch. and yow track pilot commanded angles. For example, holding the roll stick all 

the way to the right will cause a bonk of 12 degrees to the right. Holding the roll stick half 

way causes a 6 degree bonk, and so on. Pitch functions the some way but with greater 

limits. The nose down limit is 20 degrees, and nose up is 12 degrees. The yow stick 

causes the FireFL Y6 to turn. Once the yow stick is released, AvA works to maintain the 

present heading. Throttle controls the amount of thrust generated by the motors. 

When flying in hover Stabilize mode, AvA tokes advantage of the elevons and transition 

axle to control the FireFL Y6. You will notice the transition axle tilts forwards with a nose 

down command to assist with forward maneuvering. 

It is important to always keep the nose pointed into the relative wind when flying in hover 

mode. If you find the need to hold roll or nose up commands, we recommend yawing as 

needed so that only nose down command is needed. AvA will try to assist by gently 

turning to keep the noise pointed into the relative wind. 

Forward Flight: 

Roll and pitch track pilot commanded angles. while throttle is a direct pass-through to 

front motors. Yow stick does not hove on effect. AvA uses differential thrust as 

necessary to coordinate the turns. At low throttle settings. the desired pitch angle is 

automatically adjusted down to prevent stall. Stalling in forward flight Stabilize mode is 

difficult. if not impossible, due to the automatic pitch down adjustments at low throttle. 

10 
Altitude Hold (AitHold) Mode 

We strongly recommend using AltHold mode as your primary manual piloting mode. 

Hover: 

As in hover Stabilize mode. roll. pitch and yaw track pilot commanded angles. AvA works 

to maintain altitude using thrust from the motors. When the throttle is centered, AvA 

maintains its present altitude. When the pilot pushes the throttle up or down, AvA will 

climb or descend at up to 2 meters per second (6 feet per second). AvA then holds the 

present altitude when throttle is at neutral. 

Altitude can also be adjusted using the 'Change Alt' combo box in FireFL Y6 Planner under 

the FLY page. These altitude commands are overridden if the pilot commands anything 

other than neutral throttle. 

Landing in hover AltHold mode is easy and intuitive. When AvA detects that the FireFL Y6 

is on the ground, it will idle the motors. Depending on your motor and ESC combination. 

you may or not may not see the motors continue to spin. AvA will disarm only when the 

RC transmitter throttle is all the way down. For your own safety, confirm AvA is disarmed 

using FireFL Y6 Planner before you approach your FireFL Y6. 

Forward Flight: 

The autopilot controls throttle and pitch to maintain altitude. AvA does not respond to 

human pitch inputs on the RC transmitter. Roll control is the same as in forward flight 

Stabilize mode. As in hover AltHold mode. throttle commands away from neutral change 

the altitude set point. Increasing the throttle increases altitude as fast as 4 meters per 

second (13 feet per second). Pulling back on throttle decreases the altitude in the same 

way. As in hover mode, the set point can be adjusted from FireFL Y6 Planner using the 

'Change Alt' combo box. 

Guided Mode 

NOTE: An AvA Pro key is required for this flight mode. 

Guided mode disables the ability to disarm using the RC transmitter. To arm or disarm, switch 

to either Loiter or AltHold modes. We do not recommend attempting to takeoff or land in 

Guided mode. 

To enter Guided mode. right click on the map on the FLY page of FireFL Y6 Planner and select 

'Fly To Here.' AvA will then enter Guided mode and fly to the location you clicked. When in 

Guided mode, AvA will maintain its altitude. If you wish to change altitude, use the 'Set Alt' 

button on the FLY page. 

ll 
Do not set Guided mode as a mode option on your radio's ChS mode switch. Only enter Guided 

mode using the right click 'Fly to Here' map option in FireFL Y6 Planner. In Guided mode, all pilot 

inputs are ignored. 

Hover: 

The FireFL Y6 will navigate to and hold the position specified by your 'Fly To Here' 

command. 

Forward Flight: 

The FireFL Y6 will navigate to and circle around the point specified by your 'Fly To Here' 

command. AvA may conduct a few gentle turning maneuvers to enter the circle correctly, 

which could take 30-60 seconds. 

Loiter Mode 

NOTE: An AvA Pro key is required for this flight mode. 

Hover: 

AvA will work to hold the present position. Altitude behaves the same as in AltHold mode. 

The pilot can move the FireFL Y6 using the roll and pitch sticks. Once the controls are 

released, the FireFL Y6 will hold position. 

It is important to always keep the nose pointed into the relative wind when flying in hover 

mode. AvA will try to assist by gently turning to keep the noise pointed into the relative 

wind. If you see your FireFL Y6 yaw gently in Loiter mode let it happen! 

Forward Flight: 

The FireFL Y6 will circle around the paint it was at when it entered Loiter mode. AvA may 

conduct a few gentle turning maneuvers to enter the circle correctly. which could take 30-

60 seconds. Altitude behaves the same as in AltHold mode. Unlike hover Loiter mode. 

forward flight Loiter mode does not allow the pilot to adjust the loiter location using roll 

and pitch inputs. 

Return to Launch (RTL) Mode 

AvA brings the FireFL Y6 back to its Home location (the location at which you first armed the 

aircraft) and lands. AvA coordinates the transition and lowers the landing gear automatically, 

making RTL a truly worry-free flight mode. 

RTL mode can only work properly if the FireFL Y6 had a GPS lock prior to takeoff. If you plan to 

use RTL mode, or have any failsafes configured to use RTL (see the next section) double check 

12 
that the HUD in FireFL Y6 Planner says 'GPS: 3D Fix' in the lower right corner prior to arming and 

takeoff. 

Hover: 

AvA will first climb to 30 meters (reconfigurable via the RTL_AL T parameter). or maintain 

its present altitude, whichever is greater. Then. it will fly back to the Home location. lower 

the landing gear (if raised). and land. While landing. AvA accepts pilot inputs to make 

small adjustments to the landing location. Once on the ground. AvA tells the motors to 

idle. Depending on your motor I ESC combination. you may or may not see the motors 

continue to spin. After a short delay AvA will disarm the motors. You may prefer 

switching to AltHold or Stabilize modes to manually disarm the motors. 

Forward Flight: 

AvA will fly the FireFL Y6 back to the Home location at either 30 meters (reconfigurable 

via the RTL_AL T parameter) or the present altitude, whichever is greater. At 

approximately 150 meters away from the home location. AvA automatically transitions 

from forward flight to hover mode and completes the hover RTL sequence. 

Autonomous (Auto) Mode 

NOTE: An AvA Pro key is required for this flight mode. 

AvA will follow the pre-loaded mission script. A mission script is a list of mission commands, 

each constraining a specific action for AvA to complete. The mission commands are completed 

in order. with the autopilot continuing on to the next mission command once the previous is 

complete. A list of available mission commands. along with descriptions and tips, is available in 

the "Mission Commands" section below. 

Transitions and landing gear cannot be commanded from the RC transmitter or FireFL Y6 

Planner. AvA will follow the loaded mission script and does not allow pilot inputs. 

When transitioning it is very important that the FireFL Y6 be pointed nose into the wind as much 

as possible. When planning auto missions this will require special attention to detail. particularly 

in heavier wind conditions (see the "First Flights 8 Piloting Techniques" section of the FireFL Y6 

Manual for detailed recommendations on operations in the wind). 

Land Mode 

Land mode allows you to command an immediate landing at the current location (unlike RTL. 

which always returns to the Home location.) 

Hover: 

AvA will lower the gear (if retracted) and land at its present location. AvA accepts pilot 

inputs to make small adjustments to the landing location. Once on the ground. AvA tells 

13 
the motors to idle. Depending on your motor I ESC combination, you may or may not see 

the motors continue to spin. After a short delay AvA will disarm the motors. You may 

prefer switching to AltHold or Stabilize modes to manually disarm the motors. 

Forward Flight: 

AvA will automatically transition to hover mode and complete the hover landing sequence 

at its present location. 

14 
Smart Wind Assist 

When operating in hover mode it is important to keep the nose of your FireFL Y6 pointed into 

the wind. AvA contains a revolutionary wind assist feature which makes this task easy and 

intuitive. 

Smart Wind Assist is active in the following hover autopilot modes: 

• Stabilize 

• AltHold 

• Loiter 

• RTL - final descent stage only (when the retractable gear is down) 

• Land 

• Auto - Takeoff and Land only 

The assist works by looking at the roll angle requested by the pilot (if in Stabilize or AltHold) or 

navigation controller (all other modes). If the bank angle exceeds a pre-determined threshold, 

the assist commands a gentle yaw in proportion to the bank angle. 

Most of the time the assist is so gentle you won't be aware of its presence. If you do happen to 

notice your FireFL Y6 yawing gently, even though you haven't commanded it to do so. it means 

the nose wasn't quite aligned with the wind and AvA is giving you a helping hand. 

15 
Failsafes 

Failsafes are actions that AvA takes in response to an undesirable event or system failure. For 

example. the RC failsafe is triggered when link with the RC transmitter is lost. In many cases, the 

exact response to a failsafe can be configured using FireFL Y6 Planner. 

Any failsafe using RTL mode can only work properly if the FireFL Y6 had a GPS lock prior to 

takeoff. If you have any failsafes configured to use RTL double check that the HUD in FireFL Y6 

Planner says 'GPS: 3D Fix' in the lower right corner prior to arming and takeoff. 

RC Lost Link Failsafe 

When the radio input on channel 3 (throttle) drops below the value of the parameter 

'FS_ THR_ VALUE,' a radio failsafe is triggered if the parameter 'FS_ THR_ENABLED' is non-zero. 

Exact behaviors for different values of 'FS_ THR_ENABLED' are shown below. For quick and 

easy failsafe configuration. use the FailSafe page in FireFL Y6 Planner. Navigate to SETUP -> 

Mandatory Hardware -> FailSafe. 

'FS_ THR_ENABLED' Action 

0 No response to loss of radio (not recommended). 

l Will enter RTL mode if GPS is present. otherwise Land mode. 

2 Will enter RTL mode if GPS is present. otherwise Land mode. 

If in Auto mode. will continue the mission. 

3 Will always enter Land mode. 

Once the RC failsafe has triggered, you can override it and continue flying if you have an active 

telemetry link to FireFL Y6 Planner. As an example. if you turn off the RC transmitter. the RC 

failsafe will trigger. but you can continue to fly using FireFL Y6 Planner in Guided mode. If you 

were operating with a joystick, turning off the radio will still trigger the failsafe. You can override 

the failsafe by changing flight modes. For more information on joystick operation. see the 

section below titled "Joystick Control." 

Battery Failsafe 

This battery failsafe is enabled using the 'FS_BA TT _ENABLED' parameter. Exact behaviors for 

different values of 'FS_BA TT _ENABLED' are shown below. For quick and easy failsafe 

configuration. use the Failsafe page in FireFL Y6 Planner. Navigate to SETUP -> Mandatory 

Hardware -> FailSafe. 

16 
'FS_BA TT _ENABLED' Action 

0 No action. 

l Enter Land mode. 

2 Enter RTL mode. 

You can set the failsafe to trigger based on battery voltage or mAh remaining, using the 

'FS_BA TT _VOLT AGE' and 'FS_BA TT _MAH' parameters. Please note that 'FS_BA TT _MAH' 

triggers based on mAh remaining, not mAh used. Setting either to zero will prevent that 

particular trigger from being used. 

GPS Failsafe 

The GPS failsafe triggers when GPS is lost for 5 continuous seconds. Setting 'FS_GPS_ENABLE' 

affects the behavior. Exact behaviors for different values of 'FS_GPS_ENABLE' are shown 

below. 

'FS_GPS_ENABLE' Action 

0 No action (not recommended). 

l Will enter AltHold mode if the present flight mode requires GPS. 

2 Will enter AltHold mode regardless of the present flight mode. 

Ground Control Station (GCS) Failsafe (AvA 1.0.2 and later) 

The GCS failsafe triggers when heartbeat messages are not received from the ground station 

for more than 7 seconds. The failsafe only triggers when the connection is lost. This allows you to 

conduct a flight without the ground station connected, though it is not recommended to do so. 

The GCS failsafe can be configured using the parameter 'FS_GCS_ENABLE'. Options are shown 

below. 

'FS_GCS_ENABLE' Action 

0 No action (not recommended). 

l No action will toke place if flying in Stabilize or AltHold autopilot 

modes. If flying in a different mode AvA will enter RTL. 

The GCS failsafe triggers when link between the FireFL Y6 and FireFL Y6 Planner is poor. This 

means you may not hear the usual 'RTL Mode' warning when the failsafe triggers, as FireFL Y6 

Planner is not receiving data. 

17 
Joystick Failsafe 

The joystick failsafe is not user configurable. If you're operating with a joystick and AvA doesn't 

receive any new joystick commands for 2 seconds, it enters RTL mode if GPS is present. If no 

GPS is present it enters Land mode. This happens even if you have an RC receiver connected. 

Magnetometer Failsafe 

The magnetometer is the digital compass AvA uses when navigating. It is not possible to 

navigate in hover when the magnetometer fails or gives unreliable readings. If you are flying in a 

hover mode that requires GPS (Auto. Loiter, etc) and the magnetometer fails or gives unreliable 

readings. AvA enters Land mode. If you are flying in forward flight mode and the same event 

occurs. AvA reverts to using GPS course over ground and continues navigating. In either case. 

you will receive a 'DCM: Bad Heading' message in FireFL Y6 Planner. If this becomes a persistent 

problem. redo the compass calibration. If a new compass calibration doesn't alleviate the 

problem. perform a compass-motor ("compassmot") calibration. 

18 
Mission Commands 

AvA conducts autonomous missions by sequentially completing a pre-loaded list of mission 

commands. Each mission command is an action to be completed by the autopilot. Once a 

mission command is complete, the next command is executed, and this process repeats until no 

remaining commands exist. If the last command is a command to land, AvA will idle the engines 

following the last command and disarm after a few seconds. If the last command is not a land 

command, AvA returns to the Home location and loiters until the pilot takes control. 

Missions that are interrupted prior to completion (for example. the pilot taking control in AltHold 

mode) will be resumed at the point of interruption when Auto mode is re-entered. Once a 

mission has been completed. entry into Auto mode will restart the mission from the beginning. 

AvA does not check the mission commands for validity. If you write a mission which commands 

AvA to fly the FireFL Y6 into a mountain, it will do it! It is your responsibility as the operator to 

make certain that the mission commands will not damage your FireFL VB or place it in a 

dangerous or unsafe situation. 

Important: When operating in Auto mode, a human pilot should always be attentive and 

standing by to take control. 

The PLAN page in FireFL Y6 Planner allows you to plan your entire mission. Clicking at locations 

on the map will add waypoints. Right clicking on the map provides more detailed options. 

.... 

--)lA~ 

,.... .tl'!IC.iJC 

,. ..... .--

The waypoints panel provides a numerical display of the mission. Numeric fields in the 

waypoints panel can be edited using your computer's mouse and keyboard. Use caution if 

manually editing the latitude and longitude as small typographical errors can cause your 

FireFL Y6 to fly very long distances! 

19 
Each mission item is made up of 7 fields. Fields are used to pass special commands to the 

autopilot. such as to delay at a waypoint before continuing on to the next. When a mission 

command is selected in the waypoints panel, the column headers will automatically adjust to 

show what a given field will adjust. Notice the difference in column headers between the 

waypoint panel above and below. Any fields that do not have column headers are unused. 

They are set to zero by default. 

Command Tum Radi tat Long All Delete Up Down Glad % DiS! flZ 

The following table shows a list of mission commands: 

Mission Command Hover Behavior Forward Flight Behavior 

Takeoff Ascends vertically to the altitude AUTO takeoff in forward flight 

specified by 'alt' and then raises mode is not supported. Do not 

the landing gear. attempt an AUTO takeoff in 

forward flight. 

Gear Toggle Lowers the gear if raised. and vice Same as hover. 

versa. 

Transition Toggle Immediately transitions to forward Immediately transitions to hover 

flight mode and moves to the next mode and moves to the next 

mission command. mission command. 

Way point Flies to the position in space Same behavior as hover. except 

defined by 'lot' (latitude), 'long' that AvA will begin turning towards 

(longitude), and 'alt' (altitude). AvA the next waypoint slightly before 

will pause at the waypoint for the arriving at the present target 

amount of time (seconds) specified waypoint (predictive turning). 

by the field 'delay'. If either the 'lot' 

or 'long' fields are set to zero. AvA 

will hold its present position. 

20 
Loiter Turns Flies to the position in space Some behavior as hover. except 

defined by 'lot'. 'long', and 'olt', and the 'radius' parameter is ignored. 

then circles the point the number 

of times specified by the 'turn' field. 

The default radius for the circle is 

10 meters. This default con be 

overridden by setting the 'radius' 

parameter to a non-zero number. 

Rotation will always be clockwise. 

Loiter Time Flies to the position in space Some behavior as hover except 

defined by 'lot.' 'long.' and 'alt.' AvA AvA circles the position in space. 

will then pause for the amount of 

time (seconds) specified by 'time.' 

If either of the 'lot' or 'long' fields 

ore set to zero. AvA will hold its 

present position. 

Loiter Unlimited Flies to the position in space Some behavior as hover except 

defined by 'lot.' 'long.' and 'alt.' AvA AvA circles the position in space. 

will then pause indefinitely. If either 

of the 'lot' or 'long' fields ore set to 

zero. AvA will hold its present 

position. Any mission commands 

following Loiter Unlimited will be 

ignored. 

Return to Launch AvA will enter RTL mode. Any Some behavior as hover. 

mission commands following RTL 

will be ignored. 

Land Lowers the landing gear. if not Will fly towards the specified 

already down. AvA then flies to the woypoint. Once 150 meters away, 

position in space defined by 'lot,' AvA will transition to hover mode 

'long.' and 'alt.' and descends and complete the landing process. 

straight down to the ground. If If no woypoint is specified. AvA will 

either of the 'lot' or 'long' fields ore transition to hover immediately 

set to zero. AvA will land at its then continue the landing process. 

present location. 

While descending. the pilot con 

adjust the position using the roll, 

pitch, and yow sticks on the 

transmitter, allowing fine 

adjustment of the landing point. 

If the LAND command is the final 

mission command in the mission 

list. AvA will idle the engines once 

on the ground and wait for the user 

to disarm. 

21 
Jump Redirects the aircraft to the Same as hover. 

waypoint specified in the 'WP tt' 

column. Will execute this redirect 

for the number of times specified 

by 'Repeat'. Set to -1 to jump 

infinitely. Care must be taken not 

to have nested jumps. See the 

figure and description below for 

details. 

Digicam Control Triggers the camera attached to Same as hover. 

AUX Out 6 to take a picture. 

Available with an AvA Mapping key 

only. 

Set Cam Trigg Dist Sets the parameter Same as hover. 

CAM_ TRIGG_DIST to the 'Dist (m).' 

AvA will trigger the camera every 

time it moves the specified 

distance. Available with an AvA 

Mapping key only. 

Care must be taken when a single mission contains multiple jumps. Do not have a nested jump, 

or a 'jump within a jump.' In other words, a jump should never skip over another jump in the 

mission. 

Waypoint l 

Waypoint 2 

Waypoint 3 

Waypoint 4 

Permissible example of multiple 

jumps in a mission 

22 

Waypointl 

Waypoint 2 

Waypoint 3 

Waypoint 4 

Using jumps this way will cause 

undesirable behaviors 
Pre-Arm Check: Troubleshooting Tips 

Pre-arm checks serve as a protection against hardware and software failures within the 

PX4howk and AvA. Foiling a pre-arm check is a serious matter and indicates that AvA is not 

ready to fly. Do not attempt to fly if AvA fails any pre-arm checks. 

Most problems during pre-arm checks con be resolved by unplugging all batteries, making 

certain the lights on the PX4howk ore off. then reconnecting the batteries. In the unlikely event 

that the pre-arm check is not passed after a reboot. the table below contains troubleshooting 

tips: 

Error Message Cause Remedy 

Accels inconsistent The two sets of accelerometers Ensure the FireFL Y6 sits 

on the PX4howk do not agree. stationary for 30 seconds after 

connecting the batteries. 

Alternatively, redo the 

accelerometer calibration. 

Accels not healthy The accelerometers are either Ensure the FireFL Y6 sits 

not responding or are giving stationary for 30 seconds after 

unreasonable accelerations. connecting the batteries. Make 

certain the batteries are fully 

charged and there are no nearby 

sources of electrical noise. 

ACRO_BAL_ROLL/PITCH The aero mode gains are not Reload the default parameter 

reasonable. file. 

Alt Disparity The barometric altimeter and Ensure the PX4hawk sits 

inertial navigation altitude stationary for 30 seconds after 

solutions disagree by more than connecting the batteries. 

l meter. Alternatively, perform an 

accelerometer calibration. 

Bad Velocity The GPS thinks it is moving Verify the GPS has a clear view 

faster than 0.5 m/s. of the sky and that the HUD is 

indicating '3D Lock.' Wait a bit for 

better GPS lock or try a different 

flying site. 

Baro not healthy The barometer is either not Ensure the FireFL Y6 sits 

responding or is giving stationary for 30 seconds after 

unreasonable altitudes. connecting the batteries. 

Check ANGLE_MAX The autopilot's ANGLE_MAX Reload the default parameter 

parameter is either less than 10 file. 

degrees or more than 80. 

23 
Check Boord Voltage The power provided to the Make certain the voltage applied 

PX4howk is not within the to the PX4howk is within the 

voltage tolerance of 4.3 to 5.8 acceptable range. 

volts. 

Check FS_ THR_ VALUE The signal received on the Verify the RC transmitter is 

throttle channel is below the turned on and bound with the 

failsafe value. receiver on the FireFL Y6. Check 

that the RC failsafe is configured 

properly. 

Check mag field The compass is reporting Make certain there ore no 

magnetic fields that ore out of magnets near the compass and 

bounds. that possible sources of electrical 

noise (generators. power lines. 

etc) ore for removed from the 

compass. Some locations on 

Earth's surface hove unusual 

magnetic fields. Try a different 

flying site or redo the compass 

calibration. 

Compass not calibrated Compass calibration has not Perform a compass calibration 

been performed. using FireFL Y6 Planner. Navigate 

to SETUP -> Mandatory 

Hardware -> Compass. 

Compass not healthy The compass is either not Make certain there ore no 

responding or giving magnets near the compass and 

unreasonable magnetic fields. that possible sources of electrical 

noise (generators. power lines. 

etc) ore for removed from the 

compass. Some locations on 

Earth's surface hove unusual 

magnetic fields. Try a different 

flying site or redo the compass 

calibration. 

Compass offsets too high The saved compass calibrations Perform a compass calibration 

ore unreasonable. outdoors in on area free from 

electrical noise. 

Compasses inconsistent The compass onboord the Move the FireFL Y6 outdoors. 

PX4howk and the compass away from metallic or electrical 

mounted on the GPS receiver objects. Perform a compass 

disagree on heading. This calibration if the problem 

disparity is fairly common when persists. 

indoors or near metallic objects. 

24 
GPS Glitch The GPS position is moving Verify the GPS has a clear view 

aboutunreasonab~. of the sky and that the HUD is 

indicating '3D Lock.' Wait a bit for 

better GPS lock or try a different 

flying site. 

Gyro cal failed The gyroscopes were not able Ensure the FireFL Y6 sits 

to be calibrated during the stationary for 30 seconds after 

autopilot's booting process. connecting the batteries. 

Gyros inconsistent The two sets of gyroscopes on Ensure the FireFL Y6 sits 

the PX4hawk do not agree. stationary for 30 seconds after 

connecting the batteries. 

Gyros not healthy The gyroscopes are either not Ensure the FireFL Y6 sits 

responding or giving stationary for 30 seconds after 

unreasonable rotations. connecting the batteries. Make 

certain the batteries are fully 

charged and there are no nearby 

sources of electrical noise. 

High GPS HDOP The GPS has a solution, but it is Verify the GPS has a clear view 

inaccurate. of the sky and that the HUD is 

indicating '3D Lock.' Wait a bit for 

better GPS lock or try a different 

flying site. 

INS not calibrated Accelerometers have not been Perform an accelerometer 

calibrated. calibration using FireFL Y6 

Planner. Navigate to SETUP -> 

Mandatory Hardware -> Accels. 

Leaning The PX4hawk is not level. Make certain the FireFL Y6 is on 

flat ground. Verify the roll and 

pitch angles using the FLY page 

of FireFLY6 Planner. If the 

FireFL Y6 is indeed level but the 

HUD is not showing level, perform 

an accelerometer calibration. 

25 
Need 3D Fix The GPS does not hove on Verify the GPS has a clear view 

accurate enough fix for flight. of the sky and that the HUD is 

indicating '3D Lock.' Wait a bit 

for better GPS lock or try a 

different flying site. 

No external compass The external compass is not Check the connection from the 

connected to the autopilot. compass on the GPS receiver to 

the port on the PX4howk labeled 

'12C.' The connection uses a 4-

pin ribbon cable. 

RC not calibrated Radio calibration has not been Perform a radio calibration using 

performed. FireFL Y6 Planner. Navigate to 

SETUP -> Mandatory Hardware 

-> RC Calibration. 

Safety button The safety button is in a safe Press and hold the safety 

state. button for -5 seconds until the 

red light is no longer flashing. 

Throttle below FS The signal received on the Verify the RC transmitter is 

throttle channel is below the turned on and bound with the 

failsafe value. receiver on the FireFL Y6. Check 

that the RC failsafe is configured 

properly. 

Throttle too high The throttle is not at the Make certain the throttle is all 

minimum throttle position. the way down and that no 

throttle trim is in. If the problem 

persists, perform a radio 

calibration. 

26 
Joystick Control 

NOTE: An AvA Pro key is required for this feature. 

WARNING: Recommended for advanced operators only. Beta functionality, use at your own 

risk I 

AvA can be controlled by a joystick connected to a computer running FireFL Y6 Planner. The 

joystick can be used to control many of the functions normally performed by an RC transmitter. 

When flying with a joystick, we strongly recommend having your RC transmitter nearby to take 

control should the joystick fail. 

Plug your joystick into your computer and install the device drivers according to the joystick 

manufacturer's instructions. Start FireFL Y6 Planner and connect to your PX4hawk using a radio 

modem. Navigate to SETUP -> Planner and click the 'Joystick' button. Select your joystick from 

the dropdown menu. 

Below the joystick selection dropdown menu there is a list of the axes typically controlled by 

your RC transmitter. You can assign an axis on your joystick to override a channel on your RC 

transmitter by using either the dropdown menu or the 'Auto Detect' button. Any axis that is not 

assigned to your joystick (those with 'None' in the Controller Axis dropdown menu) will not be 

overridden by the joystick and will remain under control by your RC transmitter. 

JoyStick Comroner (XBOX 360 IFor W'mdows) ... - - iloadedConfigfor ArduCQpter2 

Controner JlOOs Output IExpo Reverse 

IRon Rx ... .... jo !Di 

IRitdh Ry -illlli lo 10 

Throttle y ., I jo lEI 

'Rudder X .... jo 1cr 

'Mode None ... ..... jo 1cr 

'trcmsition None ..... jo lEI 

Gear None ..... jo [j: 

()if8 iN one -illlli lo [[l 

We recommend setting 'Expo' to 100 for the roll. pitch. and yaw channels. This setting allows 

more precise control near the center of your joystick. Click 'Enable' to begin overriding the RC 

transmitter. Once clicked, the text in the 'Enable' button will display 'Disable' and a subsequent 

clicking will return control to your RC transmitter. 

27 
When operating under joystick RC override, AvA will enter a loss of ground station failsafe if it 

goes 2 seconds without communication. If a loss of ground station failsafe occurs. AvA will enter 

RTL mode if it has a GPS lock or Land mode if it does not. 

The RC transmitter failsafe is still active when operating in joystick RC override. If you fly outside 

of RC transmitter range or turn your RC transmitter off, AvA will enter RC failsafe (if configured 

to do so). When the RC failsafe occurs. AvA will enter RTL mode if GPS is available or Land 

mode if not. You may use the joystick to override the flight mode and resume flying. Be aware 

that any channels on the RC transmitter which are not overridden by the joystick will go to your 

RC receiver's failsafe position! Make certain that. at a minimum. the roll. pitch. yaw. and throttle 

are overridden by the joystick. 

In general. it is more difficult to fly from a joystick than an RC transmitter. Due to latencies 

inherent in computers and wireless communication. joystick commands passed to AvA through a 

computer will be up to a second delayed. This delay makes fine control tasks such as piloted 

takeoff and landing more challenging. 

28