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## s.ch.n.e.id•e•r•C•o•r•p•or.a.t.io.n 

# Schneider Historic Fo1t Harrison 8901ot1s Avenu\3

### ~.;**,;(g ~;** **~~~\i~.** tN 46216

.1037

March 28th, 2016

U.S. DepartmentofTransportation Docket Management System 1200 NewJersey Ave., SE Washington, DC 20590 Phone: 317.826.7100 Fax: 317.826.7200



## .-rC)>·

RE: Application forAmendmentto Exemption 14257,The Schneider Corporation, Regulatory Docket FAA-2015-4778 Dear Sir or Madam: Pursuant to Section 333 ofthe FAA Modernization and Reform Act of2012, Pub. L. No. 112-95, 126 Stat. 11 (amending 49 U.S.C.) (Hereinafter, the "Reform Act") and 14C.F.R. Part 11, The Schneider Corporation (Applicant), operatorof unmanned aircraft systems (singularly a "UAS" or cumulatively "UASs") equipped to conduct aerial photography, and/orvideography in supportof broader projectobjectives such as identifying encroachments, observingvegetation condition, staking boundaries and rights ofway, and preparing descriptions and exhibitsforacquisition ofrights ofway, hereby applies for a petition to amend Exemption Number 14257, grantedJanuary 8, 2016 (the "Exemption"), to allow commercial operation ofone additional UAS, so long as such operations are conducted within and underthe conditions outlined bythe grantofthe Exemption. As The Schneider Corporation is only requestingto add aircrafttothe Exemption, we do notfeel that this amendment qualifies as precedent-setting, perguidance located at: http:/ /aes.faa.gov/Petition/faq5a.html. The Applicant respectfully submitsthatgood cause exists so that notice does not need to be published in the Fed,eral Register forthe requested amendment. Currently, per paragraph 1ofthe section ofexemption number 14257 named "Conditions and Limitations", The Schneider Corporation's exemption is limited tooperations using the Yuneec Typhoon Q500, and proposed operations ofany otheraircraft require a petitionto amend exemption number 14257. The name and address ofthe applicant is: The SchneiderCorporation 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 1330Win Hentschel Blvd. Suite 260 West Lafayette, IN 47906 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 C:\Userslkac\AppData\Locai\Microsoft\Windows\Temporary Internet Files\Content.Ouflook\D09KNOBO\FM333 Exemption Amendment (002).docxThe Applicant hereby requeststo amend the Exemption, and the issuance ofan FAA Form 7711- 1 UAS COA Attachment, to allowthe use ofthe following UAS: 1. Firefly6 VTOL aircraft The Firefly6 VTOL aircraft is a hybrid fixed wing/rotarywing aircraft weighing a maximum of9 lbs. at takeoff (in any event, less than SSibs.), with payload. Itwill notoperate at aspeed greaterthan 87 knots. Preflight maintenance will be accomplished as setforth in the Operations Manual submitted confidentially withthis application. Attachment 1 tothis petition for amendment is a listing ofoperations manuals submitted confidentially. In accordance withthe section of14527 known as "Conditions and Limitations", The Schneider Corporation hereby requests to operate theAmendment Aircraftwhile adheringtothe conditions and limitations listed below: 1. Operations authorized bythis amendmenttothe Exemption are limitedtothe Firefly6 VTOL aircraftwhen weighing less than 55 pounds including payload. Proposed operations of any otheraircraft will require a new petition ora petitionto amend this exemption. 2. Operationsforthe purpose ofclosed-set motion picture and television filming are not permitted. 3. The UA may not be operated ata speed exceeding 87 knots {100 miles per hour). The exemption holdermay use eithergroundspeed orcalibrated airspeed to determine compliance withthe 87 knot speed restriction. In no case will the UA be operated at airspeeds greaterthan the maximum UA operating airspeed recommended by the aircraft manufacturer. 4. The UA must be operated at an altitudeofno morethan 400 feet above ground level (AGL). Altitude must be reported in feetAGL 5. The UA must be operated withinvisual line ofsight (VLOS) ofthe PIC at all times. This requires the PIC to be able to use human vision unaided by any device otherthan corrective lenses, as specified on the PIC's FAA-issued airman medical certificate or U.S. driver's license. 6. All operations must utilize avisual observer {VO). The UA must be operated within the visual line ofsight (VLOS) ofthe PIC and VO atall times. The VO may be used to satisfythe VLOS requirement as long as the PIC always maintainsVLOS capability. The VO and PIC must be able tocommunicateverbally at all times; electronic messaging ortexting is not permitted duringflight operations.The PIC must be designated beforethe flight and cannot transfer his or herdesignation forthe duration ofthe flight. The PIC mustensurethatthe VO can perform the duties required ofthe VO. 7. This exemption and all documents needed to operate the UAS and conduct itsoperations in accordance withthe conditions and limitations stated in this grant ofexemption, are hereinafter referred to as the operating documents. The operatingdocuments must be

C:\Users\kac\AppData\Locai\Microsoft\Windows\Temporary Internet Files\Content.Outlook\D09KNQBO\FM 333 Exemption Amendment (002).docx

---- -------------------------accessible during UAS operations and made available to theAdministrator upon request. Ifa 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 mustfollowthe procedures as outlined in its operating documents.The operator may update or revise its operating documents. Itis the operator's responsibility totrack such revisions and present updated and revised documents to theAdministrator orany law enforcementofficial upon request. The operator mustalso present updated and revised documents if it petitions forextension or amendmentto thisgrant ofexemption. Ifthe operatordetermines thatany update or revision would affectthe basis upon which the FMgranted this exemption, then the operator must petition foran amendmentto itsgrantofexemption. The FAA's UAS Integration Office (AFS-80) may be contacted ifquestions arise regarding updates or revisionstothe operatingdocuments. 8. Any UAS that has undergone maintenance oralterationsthataffectthe UAS operation or flight characteristics, e.g. replacement ofaflight critical component, must undergo a functional testflight priorto conductingfurtheroperations underthis exemption. Functionaltestflights may only be conducted by a PIC with aVO and must remain at least 500 feetfrom other people. The functional testflight 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 maintainingand inspectingthe UAS to ensure that it is in a conditionfor safe operation. 10. Priorto each flight, the PIC must conduct a pre-flight inspection and determinethe UAS is in acondition forsafe flight. The pre-flight inspection must account forall potential discrepancies, e.g. inoperable components, items, orequipment. Ifthe inspection reveals a condition that affects the safe operation ofthe UAS, the aircraft is prohibited from operating untilthe necessary maintenance has been performed and the UAS is found to be in a conditionforsafe flight. 11. The operator mustfollowthe UAS manufacturer's maintenance, overhaul, replacement, inspection, and life limit requirements forthe aircraftand aircraft components. 12. Each UAS operated underthis exemption must comply with all manufacturersafety bulletins. 13. Underthis grantofexemption, a PIC must hold eitheran airline transport, commercial, private, recreational, orsport pilot certificate.The PIC mustalso hold acurrent FAA airman medical certificate oravalid U.S. driver's license issued by astate, the District ofColombia, Puerto Rico, aterritory, a possession, orthe Federal government. The PIC mustalso meet the flight review requirements specified in 14 CFR § 61.56 in an aircraft in which the PIC is rated on his orher pilotcertificate. 14. The operator may not permit any PIC to operate unless the PIC demonstratesthe ability to safely operate the UAS in a mannerconsistent with howthe 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

C:\Users\kac\AppData\Locai\Microsofl\Windows\Temporary Internet Files\Content.OuHook\D09KNQBO\FAA 333 Exemption Amendment (002).docxcurrency mustbe logged in a mannerconsistent with 14CFR § 61.51{b). Flightsforthe purposes oftraining the operator's PICs and VOs (training, proficiency, and experiencebuilding) and determiningthe PIC's abilityto safely operate the UAS in a mannerconsistent with howthe UAS will be operated underthis exemption are permitted undertheterms of this exemption. However, training operations mayonly be conducted during dedicated training sessions. During training, proficiency, and experience-buildingflights, all persons notessential forflight operations are considered nonparticipants, and the PIC must operate the UAwith appropriate distance from nonparticipants in accordance with 14CFR § 91.119. 15. UAS operations may not be conducted during night, as defined in 14CFR § 1.1. All operations must be conducted undervisual meteorological conditions {VMC). Flights under special visual flight rules (SVFR) are not authorized. 16.The UA may notoperate within 5 nautical miles ofan airport reference point (ARP) as denoted in the current FMAirport/Facility Directory (AFD) orfor airports notdenotedwith an ARP, the centerofthe airportsymbol as denoted on the current FAA- published aeronautical chart, unless a letterofagreement with that airport's management is obtained orotherwise permitted by a COA issued totheexemption holder.The letterofagreement with the airport management must be made available to the Administrator orany law enforcementofficial upon request. 17.The UA may not be operated less than 500 feet below or less than 2,000 feet horizontallyfrom a cloud orwhen visibility is less than 3 statute milesfrom the PIC. 18. Fortethered UAS operations, the tether line must have colored pennants orstreamers attached at not morethan SO foot intervals beginning at 150feet above the surface ofthe earth and visible from at least one mile. This requirementfor pennants orstreamers is not applicable when operating exclusively below the topofand within 250 feet ofany structure, so long as the UA operation does not obscure the lightingofthe structure. 19. Ifthe 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 mustaborttheflight in the eventof unpredicted obstacles oremergencies. 21. The PIC is prohibited from beginning aflight unless (considering wind and forecast weatherconditions) there is enough available powerforthe UA to conductthe intended operation and to operate afterthat for at leastfive minutes orwith the reserve power recommended bythe manufacturer ifgreater. 22. AirTrafficOrganization (ATO) Certificate ofWaiver orAuthorization (COA). All operations shall be conducted in accordance with an ATO-issued COA. The exemption holder may applyfora new oramended COA if it intendstoconduct operationsthat cannot be conducted underthe terms ofthe attached COA. 23. All aircraftoperated in accordance with this exemption must be identified by serial number, registered in accordance with 14CFR part47, and have identification (N-Number)

C:\Users\kac\AppOata\Locai\Microsoft\Windows\Temporary Internet Files\Content.Outlook\009KNOBO\FM 333 Exemption Amendment (002).docxmarkings in accordance with 14CFR part45, SubpartC. Markings must be as large as practicable. 24. Documents used bythe operatorto ensure the safe operation and flight ofthe UAS and any documents required under 14CFR §§ 91.9 and 91.203 must be available tothe PIC at the Ground Control Station ofthe UAS any time the aircraft is operating. These documents must be made available to the Administratororany law enforcementofficial upon request. 25. The UA must remain clear and give wayto all manned aviation operations and activities atall times. 26. The UAS may not be operated by the PIC from any movingdevice orvehicle. 27. All Flight operations must be conducted at least 500 feetfrom all nonparticipating persons, vessels, vehicles, and structures unless:

a. Barriers orstructures are presentthat sufficiently protect nonparticipating personsfrom the UA and/ordebris in the event ofan accident. The operator must ensure that nonparticipating persons remain undersuch protection. Ifa situation arises where nonparticipating persons leave such protection and are within 500 feet ofthe UA, flight operations mustcease immediately in a manner ensuring the safetyofnonparticipating persons; and b. The owner/controllerofanyvessels, vehicles orstructures has granted permission foroperating closertothose objects and the PIC has made asafety assessment ofthe risk ofoperating closertothose objects and determinedthat itdoes not present an undue hazard. The PIC, VO, operatortrainees oressential persons are not considered nonparticipating persons underthis exemption. 28. All operationsshall be conducted over private orcontrolled-access propertywith permission from the property owner/controllerorauthorized representative. Permission from propertyowner/controllerorauthorized representative will be obtained foreach flight to be conducted. 29. Any incident, accident, orflight operationthat transgresses the lateral orvertical boundaries ofthe operational area as defined bythe applicable COA must be reported to the FAA's UAS Integration Office (AFS-80) within 24 hours. Accidents must be reported to the NationalTransportation Safety Board (NTSB) per instructionscontained on the NTSB Web site: www.ntsb.gov. Unless otherwise specified in thisgrantofexemption, the UAS, the UAS PIC, and the UAS operations mustcomplywith all applicable parts of 14 CFR including, but not limitedto, parts 45, 47, 61, and 91. Approval ofthis amendmenttothe granted Exemption and the issuance ofan FAA Form 7711 -1**~I** C:\Userslkac\AppData\Locai\Microsoft\WindowsiTemporary lntemet Files\Content.Outlook\D09KNOBOIFAA 333 Exemption Amendment (002).docxUAS COA Attachment, allowingthe operation ofthe aircraft listed in this document, will provide an equivalent level ofsafety supportingthe amendment requested herein. The AmendmentAircraft possess even more enhanced safetyfeaturesthan the Yuneec Typhoon QSOO which was approved for use in the Exemption, and when operated within the conditions and limitationsoutlined in the Exemption. Ifyou have any questions, please contact us atyourearliest convenience.

Scott Lawson Vice President The SchneiderCorporation 8901 Otis Avenue Indianapolis, IN 46216

C:\Users\kac\AppData\locai\Microsoft\Windows\Temporary Internet Files\Content.Outlook\D09KNQBO\FM 333 Exemption Amendment (002),docxList ofConfidential Manuals 1. Operations Manual- Firefly6 VTOL Aircraft

C:\Users\kac\AppData\Locai\Microsoft\Windows\Temporary Internet Files\Conlent.Outlook\D09KNQBOIFAA333 Exemption Amendment (002).docx

# 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 FireFLY6 with AvA Onboard. along with its components and accessories. is a sophisticated model aircraft. It should be operated underthe following guidelines: • Before each flight. check the modelto ensure its propercondition 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 ModelAeronautics (AMA) or a similar nationwide community-based organization. In particular. we encourage voluntary compliance with the Department ofTransportation's Advisory Circular 91-57. which includesthe following suggestions: o Do notfly the model higherthan 400 feet. o Do notfly the model within 3 miles of an airportwithout 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 notflown this type of model before. we recommend that you getthe assistance of an experienced pilot in your RC club for yourfirst flights.
The FireFLY6 with AvA Onboard contains: l. Autopilot Hardware licensed underthe Open Source Hardware License OSHWl.ldefinition licensed underthe Creative CommonsAttribution-Share Alike 3.0 Unported (CC BY-SA 3.0) license. https:!/github.com/PX4/Hardware 2. Autopilot Software licensed underthe GNU General Public License Version 3 as published by the Free Software Foundation. http://www.gnu.org/licenses/. Please see http:!/firmwarediydrones.com/ THIS PROGRAM IS DISTRIBUTED IN THE HOPE THAT IT WILL BE USEFUL. BUT WITHOUT ANY WARRANTY: WITHOUT EVEN THE IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. 3. Autopilot Software licensed undera 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. Forfurther information. please see https:l/wwwdronecode.org/ Our number one priority is your satisfaction with our products. Please take the time to review the manual and let us know ifyou require any assistance in configuration or operation ofthe FireFLY6 with AvA Onboard. We truly hope you will appreciate and enjoy the FireFLY6. and its unique flying experience. as much aswe 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. SmartWind Assist. GCS failsafe



### 3 Approval 

## ARS ARS ARS

# AvAOverview

AvA is custom software which allows feature rich. fully autonomous. single flight controller operation ofthe FireFLY6. 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 ofthe FireFLY6. 

# +

AvA Software PX4hawk

Unparalleled Autonomy

AvA provides control ofthe FireFLY6 through all regimes offlight: 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. BirdsEyeViewAerobatics provides ground station software called FireFLY6 Planner. The software is run on a Windows laptop or tablet with a wireless connection to the FireFLY6. It displays data from your FireFLY6 and allows you to send commands. plan missions, and change configuration settings within the AvA software.



### 4

# UpdatingAvAand FireFLYS Planner

We periodically release updates and improvements to AvA and FireFLY6 Planner. These can be downloaded for free from our Downloads page. The following steps only need to be performed if updatingAvA or the FireFLY6 Planner.


### FireFLY6 Planner Updating FireFLY6 Planner is as simple as unzipping the file provided on the downloads page and storing the folder in a convenient location. When updating FireFLY6 Planner. your custom settings and cached mapswill be forgotten. Remember to update your speech settings and cache the needed maps prior to your first flight with the new software!

Prior to updatingAvA it's a good idea to back up your parameters. To do this. connect to FireFLY6 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 injust 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 FireFLY6 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 belowthe progress bar. During this process. ifyou receive a "board failed to respond" message. disconnect and reconnect the USB cable from your computer and restart the firmware installation. When the message belowthe progress bar displays "Connection." use a pencil or similarly-sized object to press the reset button located on the side of the PX4hawk nearthe USB port. After the firmware update. load your saved parameters back on the PX4hawk. As before. connect to FireFLY6 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. Thesesafetyfeaturesarenot permission to ignoregoodpractice! Always follow best safety practices. pay close attention to safety warnings. and operate in a responsible. common sense manner. The FireFLYS is nota 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 motorsfrom accidentally spinning: a safety button and a process called "arming." Thesesafetyfeaturesarenotpermissiontoignoregood 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 preventsthe motors from spinning until the operator directs final armingvia 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 thatAvA is armed by looking at the Heads Up Display (HUD) in FireFLY6 Planner (details on using FireFLY6 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) orvia the Disarm button in FireFLY6 Planner. Iffor 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 yawingfull 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 FireFLY6 Planner can also be used, although itwill 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 appearto be functioning properly. Ifconnected to FireFLY6 Planner, a message describing the issue will display in the bottom ofthe 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

# FireFLYS Planner

0.83 0.00 0.00

FireFLY6 Planner is a graphical interface you can run on a Windows laptop ortablet to display the status of your FireFLY6 and to send commands. As a best practice. always have a laptop or tablet with you running FireFLY6 Planner while flying. FireFLY6 Planner is based largely on open source software called Mission Planner. In orderfor FireFLY6 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 FireFLY6 Planner provided on our Downloads page and store the folder in a convenient location. Double click on the MissionPianner.exe file in the resultingfolderto run FireFLY6 Planner. For convenience. place a shortcut to MissionPianner.exe on your desktop. Connecting FireFLY6 Plannerto 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 otherthan onboard log file downloads or initial PX4hawk configuration (details ofwhich can be found in the FireFLY6 Manual). Open FireFLY6 Planner and select the appropriate com port from the dropdown menu in the top right corner ofthe screen. Verify that the baud rate reads 57600. then click 'CONNECT.' TIP: FireFLY6 Plannercan 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 FireFLY6 Planner, navigate to SETUP -> Flight Mode. The**secon~** way to change flight modes is through the 'Set Mode' button on FireFLY6 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 promptingfrom 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 newflight 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, orvice versa. While in hover mode, all six motors are providing thrust to control the FireFLY6's movement. When AvAtransitions into forward flight mode, the front four motors are rotated to face forward, and the rear two motors are intelligently deactivated. During transition, the FireFLY6 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. Priortotransitioning,ensurethere is sufficientspaceon allsides ofthe FireFLY6. 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 importantthat the FireFLY6 be pointed nose intothe 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 ofthe FireFLY6 Manual for detailed recommendations on operations in the wind).



### 9Transitions 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 FireFLY6 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 descendfoster 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. Forthis 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 butwith greater limits. The nose down limit is 20 degrees, and nose up is 12 degrees. The yow stick causes the FireFLY6 to turn. Once the yow stick is released, AvA works to maintain the present heading. Throttle controls the amount ofthrust generated by the motors. When flying in hover Stabilize mode, AvA tokes advantage ofthe elevons and transition axle to control the FireFLY6. 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 intothe 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 lowthrottle 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 lowthrottle.

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. AvAworks 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 FireFLY6 Planner under the FLY page. These altitude commands are overridden ifthe pilot commands anything otherthan neutral throttle. Landing in hoverAltHold mode is easy and intuitive. When AvA detects that the FireFLY6 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. AvAwill disarm only when the RC transmitterthrottle is all the way down. For your own safety, confirm AvA is disarmed using FireFLY6 Planner before you approach your FireFLY6. 

### 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 hoverAltHold mode. throttle commands away from neutral change the altitude set point. Increasingthe 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 FireFLY6 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 orAltHold 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 FireFLY6 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 'SetAlt' button on the FLY page.



### llDo notsetGuided modeasa modeoptiononyourradio's ChS modeswitch. 

### Only enter Guided mode using the right click 'Fly to Here' map option in FireFLY6 Planner. In Guided mode, all pilot inputsare ignored. Hover: The FireFLY6 will navigate to and hold the position specified by your 'Fly To Here' command. Forward Flight: The FireFLY6 will navigate to and circle around the point specified byyour 'Fly To Here' command. AvA mayconduct a few gentle turning maneuversto enter the circle correctly, which could take 30-60 seconds.


### Loiter Mode NOTE: An AvA Pro key is required for this flight mode. Hover: AvAwill work to hold the present position. Altitude behaves the same as in AltHold mode. The pilot can move the FireFLY6 using the roll and pitch sticks. Once the controls are released, the FireFLY6will hold position. It is importantto always keep the nose pointed into the relative wind when flying in hover mode. AvAwill try to assist by gently turning to keep the noise pointed into the relative wind. Ifyou see your FireFLY6 yawgently in Loiter mode let it happen!

Forward Flight: The FireFLY6 will circle around the paint itwas atwhen 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 adjustthe loiter location using roll and pitch inputs.


### Return to Launch (RTL) Mode AvA brings the FireFLY6 back to its Home location (the location atwhich you first armed the aircraft) and lands. AvA coordinatesthe transition and lowers the landing gear automatically, making RTL a trulyworry-free flight mode. RTL mode can onlywork properly ifthe FireFLY6 had a GPS lock priorto takeoff. Ifyou plan to use RTL mode, or have any failsafes configured to use RTL (see the next section) double check

12that the HUD in FireFLY6 Planner says 'GPS: 3D Fix' in the lower right corner priorto arming and takeoff. Hover: AvAwill first climb to 30 meters (reconfigurable via the RTL_ALT 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 delayAvAwill disarm the motors. You may prefer switching to AltHold or Stabilize modes to manually disarm the motors. Forward Flight: AvAwill fly the FireFLY6 backto the Home location at either 30 meters (reconfigurable via the RTL_ALT parameter) orthe 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 forAvAto 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 FireFLY6 Planner. AvAwill follow the loaded mission script and does not allow pilot inputs. When transitioning it is very important that the FireFLY6 be pointed nose into the wind as much as possible. When planning auto missions this will require special attention to detail. particularly in heavierwind 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: AvAwill lowerthe 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 motorsto idle. Depending on your motor

## I ESC combination, you may or may not see the motors continue to spin. After a short delayAvAwill 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 hoverlanding sequence at its present location.



### 14

# SmartWindAssist When operating in hover mode it is important to keep the nose ofyour FireFLY6 pointed into the wind. AvA contains a revolutionary wind assist feature which makes this task easy and intuitive. SmartWind 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 orAltHold) or navigation controller (all other modes). If the bank angle exceeds a pre-determined threshold, the assist commands a gentle yaw in proportion tothe bank angle. Most ofthe time the assist is so gentle you won't be aware of its presence. If you do happen to notice your FireFLY6 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 FireFLY6 Planner. Any failsafe using RTL mode can only work properly if the FireFLY6 had a GPS lock prior to takeoff. If you have any failsafes configured to use RTL double check that the HUD in FireFLY6 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 ifthe 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 FireFLY6 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 ifGPS is present. otherwise Land mode. 2 Will enter RTL mode ifGPS 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 ifyou have an active telemetry link to FireFLY6 Planner. As an example. ifyou turn offthe RC transmitter. the RC failsafe will trigger. but you can continue to fly using FireFLY6 Planner in Guided mode. Ifyou were operating with ajoystick, turning offthe radio will still trigger the failsafe. You can override the failsafe by changing flight modes. For more information onjoystickoperation. see the section below titled "Joystick Control." 

### Battery Failsafe This battery failsafe is enabled using the 'FS_BATT_ENABLED' parameter. Exact behaviors for differentvalues of 'FS_BATT _ENABLED' are shown below. For quick and easy failsafe configuration. use the Failsafe page in FireFLY6 Planner. Navigate to SETUP -> Mandatory Hardware -> FailSafe.

16'FS_BATT_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_BATT _VOLT AGE' and 'FS_BATT_MAH' parameters. Please note that 'FS_BATT _MAH' triggers based on mAh remaining, not mAh used. Setting either to zero will preventthat particular trigger from being used.


### GPS Failsafe The GPS failsafe triggers when GPS is lostfor 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 enterAltHold mode ifthe present flight mode requires GPS. 2 Will enterAltHold mode regardless ofthe 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 ifflying in Stabilize orAltHold autopilot modes. If flying in a different mode AvA will enter RTL. The GCS failsafe triggers when link between the FireFLY6 and FireFLY6 Planner is poor. This means you may not hear the usual 'RTL Mode'warning when the failsafe triggers, as FireFLY6 Planner is not receiving data.



### 17

### Joystick Failsafe Thejoystickfailsafe is not user configurable. If you're operating with ajoystick and AvA doesn't receive any newjoystickcommands for 2 seconds, it enters RTL mode if GPS is present. If no GPS is present it enters Land mode. This happens even ifyou have an RC receiver connected. 

### Magnetometer Failsafe The magnetometer is the digital compass AvA useswhen navigating. It is not possible to navigate in hoverwhen the magnetometerfails or gives unreliable readings. If you are flying in a hover mode that requires GPS (Auto. Loiter, etc) and the magnetometer fails orgives 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 FireFLY6 Planner. Ifthis 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 bythe 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, AvAwill idle the engines following the last command and disarm after a few seconds. Ifthe lastcommand is not a land command, AvA returns tothe Home location and loiters until the pilottakes control. Missions that are interrupted prior to completion (for example. the pilottaking control in AltHold mode) will be resumed atthe 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 tofly the FireFLY6 into a mountain, itwill do it! Itisyourresponsibilityastheoperatorto makecertainthatthemission commandswill notdamageyourFireFL VBorplaceitin a dangerousorunsafesituation. Important: WhenoperatinginAuto mode,a human pilotshould alwaysbeattentiveand standingbytotakecontrol. 

### The PLAN page in FireFLY6 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 ofthe mission. Numeric fields in the waypoints panel can be edited using your computer's mouse and keyboard. Use caution if manually editingthe latitude and longitude as small typographical errors can cause your FireFLY6 to fly very long distances! 

### 19Each 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 tothe 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. GearToggle Lowers the gear if raised. and vice Same as hover. versa. Transition Toggle Immediatelytransitions to forward Immediately transitions to hover flight mode and movesto the next mode and movesto the next mission command. mission command. Waypoint Flies to the position in space Same behavior as hover. except defined by 'lot' (latitude), 'long' that AvA will begin turningtowards (longitude), and 'alt' (altitude). AvA the next waypoint slightly before will pause atthe waypoint for the arriving at the presenttarget amount oftime (seconds) specified waypoint (predictive turning). by the field 'delay'. If eitherthe 'lot' or 'long' fields are set to zero. AvA will hold its present position. 

### 20LoiterTurns 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 oftimes specified by the 'turn'field. The default radius for the circle is 10 meters. This default con be overridden by setting the 'radius' parameterto a non-zero number. Rotation will always be clockwise. LoiterTime 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 forthe amount of time (seconds) specified by 'time.' If either ofthe 'lot' or 'long' fields ore set to zero. AvAwill 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 ofthe 'lot' or 'long' fields ore set to zero. AvAwill hold its present position. Any mission commands following Loiter Unlimited will be ignored. Return to Launch AvAwill 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. AvAthen flies to the woypoint. Once 150 meters away, position in space defined by 'lot,' AvAwill 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. AvAwill either ofthe 'lot' or 'long' fields ore transition to hover immediately set to zero. AvAwill 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 ofthe landing point. Ifthe LAND command is the final mission command in the mission list. AvAwill idle the engines once on the ground and wait forthe user to disarm. 

### 21Jump Redirects the aircraft to the Same as hover. waypoint specified in the 'WP tt' column. Will execute this redirect forthe numberof times specified by 'Repeat'. Set to -1 tojump infinitely. Care must be taken not to have nestedjumps. See the figure and description belowfor 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 triggerthe camera every time it moves the specified distance. Available with an AvA Mapping key only.



### Care must be taken when a single mission contains multiplejumps. Do not have a nestedjump, or a 'jumpwithin ajump.' In otherwords, ajump should never skip over anotherjump 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

Usingjumpsthis way will cause undesirable behaviors

# Pre-Arm Check: TroubleshootingTips

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 notattempttoflyifAvAfails anypre-armchecks. 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 FireFLY6 sits on the PX4howk do not agree. stationary for 30 seconds after connectingthe batteries. Alternatively, redo the accelerometer calibration. Accels not healthy The accelerometers are either Ensure the FireFLY6 sits not responding orare giving stationaryfor 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 altimeterand Ensure the PX4hawk sits inertial navigation altitude stationary for 30 seconds after solutions disagree by more than connectingthe batteries. l meter. Alternatively, perform an accelerometer calibration. Bad Velocity The GPS thinks it is moving Verify the GPS has a clearview fasterthan 0.5 m/s. ofthe sky and that the HUD is indicating '3D Lock.' Wait a bitfor better GPS lock ortry a different flying site. Baro not healthy The barometer is either not Ensure the FireFLY6 sits responding or is giving stationaryfor 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.


### 23Check 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 FireFLY6. Check that the RC failsafe is configured properly. Check magfield The compass is reporting Make certain there ore no magnetic fields that ore out of magnets nearthe 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 FireFLY6 Planner. Navigate to SETUP -> Mandatory Hardware -> Compass. Compass not healthy The compass is either not Make certain there ore no responding or giving magnets nearthe compass and unreasonable magneticfields. that possible sources of electrical noise (generators. power lines. etc) ore for removed from the compass. Some locations on Earth's surface hove unusual magneticfields. 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 FireFLY6 outdoors. PX4howk and the compass away from metallic or electrical mounted on the GPS receiver objects. Perform a compass disagree on heading. This calibration ifthe problem disparity is fairly common when persists. indoors or near metallic objects.



### 24GPS Glitch The GPS position is moving Verify the GPS has a clearview**aboutunreasonab~.** ofthe sky and that the HUD is indicating '3D Lock.' Wait a bitfor betterGPS lock ortry a different flying site. Gyro cal failed The gyroscopeswere not able Ensure the FireFLY6 sits to be calibrated duringthe stationary for 30 seconds after autopilot's booting process. connecting the batteries. Gyros inconsistent The two sets of gyroscopes on Ensure the FireFLY6 sits the PX4hawk do not agree. stationary for 30 seconds after connecting the batteries. Gyros not healthy The gyroscopes are either not Ensure the FireFLY6 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 clearview inaccurate. ofthe sky and that the HUD is indicating '3D Lock.' Wait a bit for better GPS lock ortry 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 FireFLY6 is on flat ground. Verify the roll and pitch angles usingthe FLY page of FireFLY6 Planner. If the FireFLY6 is indeed level but the HUD is not showing level, perform an accelerometercalibration.



### 25Need 3D Fix The GPS does not hove on Verify the GPS has a clearview accurate enough fix forflight. ofthe 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 receiverto 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. FireFLY6 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 longerflashing. 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 atthe 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

# JoystickControl
NOTE: An AvA Pro key is required for this feature. WARNING: Recommendedforadvancedoperatorsonly. Betafunctionality, useatyourown risk

### I AvA can be controlled by ajoystick connected to a computer running FireFLY6 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 thejoystickfail. Plug yourjoystick into your computer and install the device drivers according to thejoystick manufacturer's instructions. Start FireFLY6 Planner and connect to your PX4hawk using a radio modem. Navigate to SETUP -> Planner and click the 'Joystick' button. Select yourjoystickfrom the dropdown menu. Below thejoystick selection dropdown menu there is a list of the axes typically controlled by your RC transmitter. You can assign an axis on yourjoystickto override a channel on your RC transmitter by using eitherthe dropdown menu orthe 'Auto Detect' button. Any axis that is not assigned to yourjoystick (those with 'None' in the ControllerAxis dropdown menu) will not be overridden by thejoystick and will remain under control by your RC transmitter.
JoyStick Comroner (XBOX360 IForW'mdows) 

### ...
- - iloadedConfigforArduCQpter2 ContronerJlOOs 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 iNone 

# -illlli lo [[l
We recommend setting 'Expo' to 100 for the roll. pitch. and yaw channels. This setting allows more precise control nearthe center of yourjoystick. 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 underjoystick RC override, AvAwill enter a loss of ground station failsafe if it goes 2 secondswithout communication. Ifa loss of ground station failsafe occurs. AvAwill enter RTL mode if it has a GPS lock or Land mode if itdoes not. The RC transmitter failsafe is still active when operating injoystick RC override. Ifyou fly outside of RC transmitter range or turn your RC transmitter off, AvAwill enter RC failsafe (if configured to do so). When the RC failsafe occurs. AvAwill enter RTL mode if GPS is available or Land mode if not. You may use thejoystick to override the flight mode and resume flying. Be aware that any channels on the RC transmitterwhich are not overridden by thejoystickwill goto your RC receiver's failsafe position! Make certain that. at a minimum. the roll. pitch. yaw. and throttle are overridden bythejoystick. In general. it is more difficult to fly from ajoystickthan an RC transmitter. Due to latencies inherent in computers and wireless communication.joystickcommands passed to AvAthrough a computerwill be up to a second delayed. This delay makesfine control tasks such as piloted takeoffand landing more challenging.

28