TEXDrones		 12034	Normont	Dr. Houston,	TX	77070

United States Department of Transportation

Federal Aviation Administration

800 Independence Ave., SW

Washington, DC 20591

Petition for Exemption

Parts of certain Title 14 CFRs in regards to 

Section 333 of the FAA Modernization & 

Reform Act of 2012

Concerning Unmanned Aerial Systems (UAS)
TEXDrones		 12034	Normont	Dr. Houston,	TX	77070

To Whom it May Concern:

This letter is a request for exemption from a number of Title 14 CFRs that relate to the 

commercial operation of “unmanned aerial systems” (UAS). The following will be 

included in this request: Name & information of Petitioner; Executive Summary of 

Petitioner summarizing the rules Petitioner seeks exemption from and the reasons the 

exemptions would serve the public good; Specific Title 14 CFRs to which an exemption 

is sought; the extent & reasons for the requested exemptions; reasons why safety would 

not be compromised.

Personal Information:

Name: Steven Edward Rawley (hereafter referred to as “Petitioner”)

Company: TEXDrones Low Altitude Aerial Photos & Video (TEXDrones)

Address: 12034 Normont Dr., Houston, Texas 77070 info@dronephototexas.com

Phone: (281) 257-1972

The Petitioner was born on September 7, 1964 in Houston, TX and is a US citizen. He is 

the owner of TEXDrones whose primary clients will be real estate companies in need of 

aerial photography and video in the state of Texas, farm and land owners that require 

inspections and agricultural mapping, and businesses in need of photography and video 

services for their own personal use. The Petitioner is a licensed pilot – Airplane Single 

Engine Land since age 16. The Petitioner has operated radio controlled fixed wing and 

rotor aircraft for over 40 years without incident and has been active in the same model 

aircraft club since 1977. The Petitioner is a member of the Academy of Model 

Aeronautics (AMA). The Petitioner is a Professional Photographer and a member of The 

Professional Photographer’s of America (PPA). Petitioner is requesting an exemption 

from the current rules in Section 333 which govern the uses of UASs for commercial 

purposes. The Petitioner seeks authorization to perform commercial UAS operations for 

real estate inspections, sales and advertising. This would include residential, commercial 

and rural properties. Prospective customers and clients would include real estate agents 

and brokers along with insurance companies, banks and private property owners. Other 

prospective clients include land developers needing photographs of privately owned lands 

that cannot be reached by automobile, land owners needing crop surveys of privately 

owned land and other businesses that could use photography and video from a lowaltitude UAS in their own sales and marketing projects. 

The Title 14 CFR exemptions that this request includes are: 61.113(a) & (b); 91.7(a); 

91.119(a); 91.121; 91.151(a); 91.407(a)(1)&(2); 91.417(a) & (b). Reasons for each 

request are cited below. 

Public Good

Aerial videography for geographical awareness and for real estate marketing and 

inspections has been around for a long time through manned fixed wing aircraft and 

helicopters. But for small business owners, its expense has been cost‐prohibitive.

Granting this exemption to the Petitioner would allow him to provide this service at a 
TEXDrones		 12034	Normont	Dr. Houston,	TX	77070

much lower cost. Further, the small UAS being utilized in this application will pose no 

threat to the public given its small size and lack of combustible fuel when compared to 

larger manned aircraft. The operation of this UAS will minimize ecological damage and 

promote economic growth by providing information to businesses & individuals in the 

state of Texas and specifically Southeast Texas.

Description of UAV to be Deployed Under Requested Exemptions.

Petitioner currently owns Two (2) 3DRobotics IRIS+ Quadcopters and has a 3DRobotics 

SOLO Quadcopter on order to arrive in June 2015. The petitioner intends to use the 

IRIS+ and SOLO quadcopters as the UAV’s in commercial applications described herein. 

The IRIS+ and SOLO are a quadcopters that can take off and land vertically. They weigh

less than 5 pounds each with payload and have a maximum airspeed of approximately 40

knots. They use lithium polymer batteries which have approximately 20‐25 minutes of 

total charge time. This gives the UAS approximately 12‐15 minutes of flight time with 

sufficient remaining battery charge to land safely. Both models being utilized under this 

request for exemption have First Person View (FPV) which allows the PIC to visually 

monitor telemetry data on a ground station monitor including altitude (AGL), GPS signal 

strength, battery charge information, etc. This FPV also gives the PIC video feed from 

the attached Hi‐Definition camera showing what images are being captured. This is a 

significant safety feature as it shows the attitude of the UAS and its forward direction. 

However, this FPV feature will never be used as a tool to deviate from VLOS operation 

by the PIC. 

Preflight 

The petitioner will always follow procedures outlined in the UAS operator's manual as to 

proper preflight inspection of all hardware, software, environment and any other factors 

needed to ensure a safe flight. 

FCC Information 

The UAS being deployed here is a 3DRobotics IRIS+ and SOLO.

PIC Qualifications

As stated above, the petitioner holds a FAA Single Engine Land pilot's license. Along 

with the years of actual flight experience, the petitioner is also an experienced radio 

controlled fixed wing and rotor operator of over 40 years. Petitioner has owned the UAS 

(IRIS+) described above since 2014 and has over 150 hours in this type of UAS as a 

hobbyist. The petitioner envisions being the PIC in all operations that will be performed 

under the requested rule exemptions and the subsequent COA request. 

Description of Intended Commercial Operations

Petitioner intends to solicit work for aerial real estate inspections from real estate agents

& brokers, insurance companies & related vendors, banks and private property owners

to provide photography and videography of residential, commercial and rural real

estate. The Petitioner will also solicit work from land developers and farmers as well as 

other companies requesting private photography and video services from a low-altitude 

UAS. This work will always be conducted with the permission of the property owner or
TEXDrones		 12034	Normont	Dr. Houston,	TX	77070

their respective agent. Flight operations will be restricted to flights directly over the

property that has granted permission. Safety will always be the primary concern 

regarding all flights at all times. Petitioner agrees to place a sign during any flight 

operation that says: CAUTION UNMANNED AERIAL VEHICLE IN OPERATION. 

STAY BACK 100 FEET FROM AIRCRAFT.

UAS Operating Parameters

The UAS being deployed in this exemption request can fly at a speed of approximately

40 knots. However, given the intended use describe here, this speed will never be 

necessary. Much slower speeds are preferred to collect the photographic material needed.

Petitioner agrees never to fly UAS outside of VLOS and also agrees to only fly UAS 

during the day in VMC conditions at altitudes below 400 feet AGL, clear of clouds.

The UAS will not be operated within 5 nautical miles of an airport reference point as 

denoted on a current FAA published aeronautical chart.

The UAS being deployed with these exemption requests has the capability of using GPS

signals to return to its initial point of takeoff if connection with the radio control link is 

lost. This is a safety advantage to these type aircraft.

The Petitioner agrees to yield right of way to all manned aviation activities at all times.

Exemption Requests

The following are a list of Title 14 CFRs which the petitioner seeks exemption. Please

note that the Petitioner has used Exemption No. 11138 to Douglas Trudeau (Regulatory

Docket No. FAA‐2014‐0481) as a reference. Given that the petitioner and Mr. Trudeau

intend to use the exemptions in similar manners and both use similar equipment, it

seemed prudent not to burden the reviewer in this matter with exemption requests that

have been previously deemed that relief was not necessary. These rules are Part 21,

45.23(b). 91.9(b)(2), 91.103(b), 91.109 and 91.203(a) & (b). If the reviewer believes that

these rules need to be addressed in this request, the petitioner will make a supplemental

request including these additional rule exemptions.

Rule 61.113 - Private Pilot Privileges and Limitations

The Petitioner holds a Single Engine Land pilot’s license (a copy included in 

supplemental material). As to the Private Pilot Limitations concerning operations for hire 

or compensation, it seems that Exemption No. 11062 to Astraecus has allowed this 

exemption previously and was noted in the Trudeau Exemption No. 11138. 

As to airmanship skills, the Petitioner has been operating his UAS since 2014 and has 

over 150 hours of flight time. Petitioner currently fly's this UAS several hours a month as 

a hobby and is very proficient and has the skills to maintain altitude, maintain VLOS, 

navigate, avoid obstacles, avoid air traffic and respond to loss of control link. Petitioner 

understands that he must make at least 3 takeoffs and landings within a 90 day period for 

currency purposes. 
TEXDrones		 12034	Normont	Dr. Houston,	TX	77070

Rule 91.7(a) Civil Aircraft Airworthiness 

There is no current FAA regulatory standard for determining airworthiness of UAS and 

there is no certificate currently available for UAS airworthiness. Petitioner seeks an 

exemption from this rule by ensuring that the UAS is in an airworthy condition based on 

compliance with the operating documents prior to every flight. Flight manuals and other 

important documents will be kept in a location readily accessible to the PIC at all times. 

Rule 91.119© Minimum Safe Altitudes 

91.119 prescribes safe altitudes for the operation of civil aircraft, but it allows helicopters 

to be operated at lower altitudes in certain conditions. Petitioner seeks an exemption from 

this rule as Petitioner will only operate the UAS in a range from ground level up to but 

not exceeding 400 feet (AGL) and will only operate in safe areas away from the public 

thus providing a level of safety not available to manned aircraft. The petitioner asserts 

that given the size, weight, maneuverability and speed of the UAS, an equivalent or 

higher level of safety will be achieved that from conventional manned helicopters. 

Petitioner will avoid actively populated areas. Petitioner intends to operate the UAS over 

real estate for inspection purposes, farmland and on private property. 

Per the exemption granted in No. 11138 concerning 91.119(c), Petitioner agrees to act in 

strict accordance to that exemption. However, Petitioner seeks an exemption from the 

rule stipulating that a UAS cannot be operated within 500 feet of a structure without 

permission of the owner. Given the intended use Petitioner will use these exemptions for, 

which is for photography and videography of real estate for marketing & inspection 

purposes, agreement from the engaging property owner or their agent is an absolute 

necessity. The UAS will only be flown over properties with this permission. However,

given the housing density in the Southeast Texas area, maintaining a 500 foot distance 

from other structures even while strictly flying over a permission granting owner's 

property is impossible in many instances. The Petitioner seeks an exemption to this rule 

which would allow a 50' stand‐off from other structures as long as the UAS is operated 

completely over and within the property boundary lines of a permission granting property 

owner. Petitioner agrees to always keep privacy rights of other property owners in mind.

Rule 91.121 Altimeter Settings

Petitioners' UAS has GPS derived altitude capabilities with a barometric sensor. The 

petitioner believes this rule in not applicable to the UAS operations intended. 

Rule 91.151(a) Fuel Requirements For Flight in VFR Conditions 

Petitioner seeks relief from this rule due to the UAS being deployed is battery operated 

and the requirements under this rule are not applicable. The UAV in question has First 

Person Vision (FPV) capabilities which transmits certain telemetry to a monitor where 

the PIC can monitor certain aspects of the flight including battery level. A typical battery 

for a 3DR IRIS + UAS will last approximately 20‐25 minutes before total exhaustion. 

Certain battery level warnings are set where the PIC will know when the battery state is

at 30% and 15% remaining charge levels. This will normally allow a flight of 12 ‐ 15 
TEXDrones		 12034	Normont	Dr. Houston,	TX	77070

minutes with sufficient battery charge to make a safe landing. Petitioner will never begin 

a flight unless a fully charged battery is used. 

Rule 91.405(a) Maintenance Required, 91.407(a) Operation After Maintenance, 

Preventative Maintenance, Rebuilding or Alteration; 91.409(a)(2) Inspections; 

91.417(a)(b) Maintenance Records 

Petitioner seeks relief from these rules due to it being an alternate inspection requirement 

of 91.409(a)(2). The Petitioner will inspect and ensure UAS is in a condition for safe 

flight and adhere to all operating documents. 

Supplemental Information 

The Petitioner has provided the following information to support these requests for rule 

exemptions and personal identification: 1) Copy of Petitioner’s FAA License, 

2) 3DRobotics IRIS+ Manual, 3) Petitioner’s Texas Driver’s License 4) Petitioner’s 

Academy of Model Aeronautics Card

Closing

The Petitioner believes that exemption from the above listed Title 14 CFRs is warranted 

given: 1) Petitioner's background as a licensed private pilot, 2) proficiency as a model 

aircraft operator, 3) professional photographer, 4) the nature of the type of UAS flights 

that will be undertaken, 5) the size & weight of the UAS being deployed, 6) the safety 

precautions to the general public the Petitioner intends to adhere to, 7) the positive 

environmental impact of the flight operations would have compared to manned fuel 

consuming missions, and 8) the economic benefit the Petitioner's business would have in 

this new area of aviation.

Thank you for your review of this matter. Please feel free to contact me at any time with

requests for additional information regarding this matter.

Sincerely,

Steven E. Rawley

TEXDrones

12034 Normont Dr

Houston, TX 77070
Operation Manual

Read before 

flying!

IMPORTANT
Contents

01 Meet IRIS

03 Parts

04 Charging the Battery

06 Attaching Propellers

07 Safety and Failsafes

08 Learn to Fly

11 Flight Modes

13 Return to Launch

13 Geofence

14 First Flight

19 Planning Missions

20 Flying Missions

21 Specifications and Resources

22 Learn More and Support
01

Meet IRIS+.

Thank you for purchasing IRIS+. 

IRIS is a personal aerial imaging platform powered by open-source 

hardware, software, and firmware. Please read this manual carefully 

before your first flight and pay close attention to safety information.

Happy flying!

Important note: When using a GoPro with IRIS, always 

ensure that the WiFi on the GoPro is turned OFF.
02

Front

Rear

antenna

status LED

battery 

compartment

USB port

front arms (blue)

safety button

rear arms (black)
03

Parts

Controller

your direct link to IRIS

Ground station radio 

with USB and Android adapters

Slide out the leg to remove it, and replace with the tall leg. 

Tighten the set screw until it sits flush with the surface. 

Do not tighten the screw beyond this point.

Use the small (1.5 mm) hex 

key to loosen the set screw 

in the bottom of the leg.

Battery kit

battery, guard bag, and charger

with international travel adapters

Propellers and tool kit

four propellers with propeller tool and 

small, medium, and large hex keys 

(1.5 mm, 2 mm, and 3 mm)

Tall legs

Switch to tall legs to use IRIS with the Tarot 

Gimbal or for extra clearance on landing.
04

Charging the Battery

IRIS is powered by a rechargeable lithium polymer (LiPo) battery. Store 

the battery at half charge then charge fully before flying. Batteries must 

ship at half charge, so please charge before your first flight. Each full 

battery provides up to 22 minutes of flight time without a gimbal and 

up to 16 minutes when using a Tarot Gimbal.*

Connect charger to the 

power adapter cable and 

a wall outlet.

Connect the red cable to the 

+ port and the black cable 

to the - port.

Set the charger to 

LiPo and 3A.

Connect the white 

connector to the 3S port. 

Join the two yellow 

connectors together.

1

2

+

–

LiPo 3A

3S

3
05

Battery Safety

Secure battery inside the guard bag 

while charging. Charge until the status 

indicator displays green.

Charging Complete

4

Protect the battery from extreme heat, extreme cold, puncturing, 

and flammable surfaces. Always transport, charge, and store 

the battery in the guard bag.

Charge the battery using a designated LiPo balance charger only. 

Always monitor the battery while charging.

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

unusable. Always discontinue use when you receive a low battery 

notification, and always fly with a fully charged battery.

Inspect the battery for damage before takeoff and after landing. 

If you observe any swelling of the package or the battery ceases 

to function, locate your local battery recycling center to dispose 

of the battery. In the US and Canada, visit call2recycle.org to find 

a location. Do not dispose of the battery in the trash.

*Flight time varies with payload, wind conditions, elevation, 

temperature, humidity, flying style, and pilot skill. See the Flight 

Checklist for instructions on managing battery levels during flight.
06

IRIS uses four propellers: two with black nuts and two with silver nuts. 

Attach the propellers with black nuts to the motors with black tops and 

the propellers with silver nuts to the motors with silver tops.

Attaching Propellers

For propellers with black nuts:

Spin clockwise to attach.

Spin counterclockwise 

to remove.

For propellers with silver nuts:

Spin counterclockwise 

to attach.

Spin clockwise to 

remove.

Each propeller has locking and unlocking direction symbols. To attach, 

spin the propeller in the direction of the locking symbol. The propellers will 

automatically tighten onto the motors when you arm IRIS before takeoff.

To remove, hold the motor in place with 

the propeller tool, and spin the propeller 

in the direction of the unlocking symbol.
07

IRIS has powerful motors and high-speed propellers. Never place your hands 

near propellers while IRIS is armed or the safety button displays solid red. 

Always press the safety button until it displays blinking red before handling. 

Always fly in an open area away from people and buildings; do not attempt to 

fly indoors or in a confined space. Do not fly over people, near airports, or in any 

situation that could pose a hazard to those around you. Always fly within your 

line of sight and in compliance with local regulations. IRIS will not avoid 

obstacles on its own. As the operator, it is your job to recognize and avoid 

obstructions while flying. Always follow the preflight and postflight steps in the 

order described in this manual, and remain attentive at all times while flying.

Environmental factors, such as wind and GPS irregularities, can cause instability 

in flight. IRIS will attempt to compensate for these factors by triggering a failsafe 

if it detects an unsafe flying condition due to loss of controller signal, loss of GPS 

signal, or low battery (see below for details). To avoid potential hazards due to 

environmental factors, identify the boundaries of your flying area before takeoff, 

and recover IRIS manually by switching into standard (STD) if it moves outside 

your designated flying area. If you observe any inconsistent behavior, land, and 

consult the troubleshooting guide at 3DR.com/iris/info.

Failsafes

Loss of RC signal

Always use the controller as a primary or backup control system when flying. 

Ensure that the controller is turned on any time IRIS is powered. If contact with 

the controller is lost during flight, IRIS will land and display a blinking yellow LED. 

If IRIS is more than 2 meters (6.5 feet) from the launch point, it will return to 

launch (RTL) before landing. (See page 13 for more information about RTL.)

Loss of GPS signal

IRIS requires an active GPS signal before takeoff. If IRIS loses GPS signal in flight, 

it will trigger a GPS failsafe, indicated by a blinking blue and yellow LED with a 

high-high-high-low tone, and automatically switch to manual control (standard 

- altitude hold mode). Always be prepared to regain manual control of IRIS at 

any time while flying and choose an unobstructed flying area to improve GPS 

signal strength. When flying a mission, we recommended changing the GPS 

failsafe behavior to land. (Visit 3DR.com/iris/info for more information about 

configuring the GPS failsafe.)

Low battery

When the battery reaches 25% of its remaining charge, IRIS will land and display 

a blinking yellow LED with a quick repeating tone. If IRIS reaches the low battery 

limit during a mission, it will return to the launch point before landing.

Safety
08

Maneuver IRIS in flight using 

the controller sticks.

left stick:

throttle

& yaw

right stick:

pitch

& roll

Left Stick

Left Stick

Lower the throttle 

stick below center 

to decrease altitude. 

Set the throttle stick 

to center to maintain 

the current altitude.

left stick

Left Stick

Left Stick

Move the left stick up and down to control altitude.

Throttle

Learn to Fly

Set the throttle stick 

fully down to land 

once IRIS is a few 

inches above the 

ground.

Left Stick

To take off and to 

gain altitude, raise the 

throttle stick slightly 

above center position.

Left Stick Left Stick
09

Flight Tip

When adjusting orientation, move the left stick horizontally without changing its 

vertical position.

ver + Land

wer just slightly

hover

ft Yaw

Left

Righ

ght Yaw

activate

d until propellers

p spinning

ver + Land

wer just slightly

hover

ft Yaw

Left

Righ

ght Yaw

activate

ld until propellers

p spinning

Move the stick to 

the left to rotate 

counterclockwise.

Move the stick 

to the right to 

rotate clockwise.

left stick

Left Stick

Release the stick to 

stop rotating and 

maintain the current 

orientation.

Move the left stick horizontally to rotate IRIS and change orientation. 

For a slow rotation, move the stick slightly away from the center

in either direction. Moving the stick farther from the center creates 

a faster rotation.

Yaw

Left Stick
10

Left

Back

Forward

Right

Left

Back

Forward

Right

Move the right 

stick forward to 

fly forward.

right stick

Move the right 

stick back to fly 

backward.

The right stick allows you to control IRIS’ position in the air. Move the right 

stick to tell IRIS to move in that direction: forward (toward the blue arms), 

back (toward the black arms), left (toward the left arms), or right (towards 

the right arms). How far you move the stick from the center before releasing 

it tells IRIS how fast to move. 

Pitch and Roll

Left

Back

Forward

Right

Left

Back

Forward

Right

Move the right 

stick left to fly 

left.

Move the right 

stick right to fly 

right.

Flight Tip

IRIS moves according to its orientation. The blue arms and white lights face 

forward, and the black arms and red lights face backward. Before using the right 

stick, use yaw to keep IRIS facing in outward orientation so that the black arms and 

red lights face towards you and the blue arms and white lights face away from you.
11

Standard (altitude hold mode)

STD

fly manually

Start your flight in standard to select altitude hold 

mode, and fly IRIS manually using the controller.

Loiter mode

LTR

hover

Select loiter to set IRIS to hover in place automatically. Use the 

controller to adjust IRIS’ position then release the sticks to hold 

that position. Loiter is a great way for beginners to learn how to fly! 

If you’re new to flying, start your first flight in loiter instead of standard.

Flight Modes

Stabalize

Altitude Hold

Loiter

Full Autonomy

Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch

mode switch

IRIS includes three flight modes: manual flight 

(STD-altitude hold), hover mode (LTR-loiter), and 

mission flight (AUTO). Use the switch on the 

right side of the controller to select a flight mode.

To avoid sudden changes in altitude, set the throttle stick 

to center position before switching modes, including in the 

event of a GPS failsafe.

Advanced Operator Note: If you choose to modify the flight mode configuration to 

include Stabilize mode, please fly only with the provided set of tall legs. Flying in Stabilize 

with short legs can cause vibrations that may interfere with autopilot calculations and 

produce unexpected behavior.
12

Auto mode

AUTO

fly a mission

Select auto mode to fly an autonomous mission. IRIS will 

automatically fly the series of waypoints saved to the autopilot. 

See pages 19 and 20 for instructions on planning and flying missions.

Do not activate auto mode unless you have saved a 

mission to IRIS using a ground station application.

Altitude Hold

Loiter

Full Autonomy

Return to Launch

Gimbal control

TILT

tilt the camera up and down

Connect a Tarot Gimbal (sold separately), and use the TILT knob to 

control the angle of the camera in flight. Visit 3DR.com/iris/info

for instructions.

Stabalize

Altitude Hold

Loiter

Full Autonomy

Land

CH 7

land at the current position

Set the CH 7 switch to ON to end your flight and land IRIS at its 

current position. Once you activate land, set the throttle stick fully 

down, and IRIS will automatically disarm after landing. IRIS will not 

disarm automatically unless the throttle stick is set fully down.

Reposition during landing: During landing, use the 

right stick on the controller to adjust IRIS’ position.
13

land at the launch point

Set the RTL switch to ON to end your flight and return 

IRIS to the launch point automatically. Ensure that the 

RTL switch is set to OFF before takeoff.

RTL returns IRIS to the location where IRIS was armed. 

Always arm IRIS in a safe, unobstructed launch point.

When commanded to RTL, IRIS will:

1 Achieve minimum altitude of 15 m (50 ft) 

or maintain current altitude if above 15 m.

2 Move to launch point and loiter for 5 seconds.

3 Land at launch point. launch point

1 15 meters 2

3

hover 5 seconds

Altitude Hold

Loiter

Full Autonomy

Return to Launch

Return to Launch (RTL)

Reposition during landing: During landing, use the 

right stick on the controller to adjust IRIS’ position.

A safety fence restricts IRIS to within 300 meters (980 feet) of the 

launch point and under 100 meters (320 feet) in altitude. If IRIS reaches 

the edge of the geofence, it will initiate an automatic return to launch.

launch point

100 m

300 m

Geofence

In the event of a GPS failsafe, the horizontal geofence will be disabled. 

If IRIS breaches the vertical geofence during a GPS failsafe, it will land at 

its current position.
14

First Flight

Select an open area for flying, away from people and buildings, and 

remember to bring the Flight Checklist and a fully charged battery. 

Determine the boundaries of your flying area before takeoff, and select 

a level, unobstructed space as a launch point. Follow these preflight 

and postflight steps in the order shown here and on the Flight Checklist 

every time you fly.

1

Preflight

Check 

IRIS.

Point the controller antenna up 

and the IRIS antenna down for 

the strongest signal.

Ensure that the RTL switch 

is set to OFF.

Set the mode switch to standard (STD).

If you’re new to flying, try starting your first 

flight in loiter (LTR) instead of standard.

2 Power on 

controller.

Ensure that the controller is always turned on while 

IRIS is powered. If IRIS loses communication with 

the controller in flight, IRIS will initiate an automatic 

return to launch.
15

3 Connect battery.

Press the sides 

of the battery 

compartment 

together and 

rotate the door 

down.

To close, squeeze the 

door, and rotate up 

until it clicks into place, 

ensuring that the battery 

cables do not interfere 

with the LED cables.

Connect the radio to your ground station, and select Connect.

A ground station (recommended) lets you view live data in 

flight and unlock IRIS’ advanced autonomous features. 

To download a ground station app for you laptop or 

Android device, visit 3DR.com/iris/info.

Press and hold the DN button on the controller to 

view flight data from IRIS. See the Flight Checklist 

for more information about controller flight data.

Place IRIS at the launch 

point with the black 

arms facing towards you 

and the blue arms facing 

away from you.

Wait 10 seconds before 

closing the battery door or 

moving IRIS at all while the 

internal sensors calibrate 

and the status LED shows 

blue and red.

Insert battery, and 

attach the yellow 

connectors.

If you see a flashing yellow status 

LED, it’s likely that the sensors 

did not calibrate correctly during 

startup. Re-connect the battery and 

make sure to keep IRIS absolutely 

still and level during the blue-andred status LED indicator.
16

Do not handle IRIS while the 

safety button is solid red and 

IRIS is live. Always press the 

button until it displays blinking 

red before approaching 

the propellers.

Autopilot ready, GPS locked

Acquiring GPS, please wait.

Initializing, hold IRIS still, please wait. 

4 Press safety 

button.

Press the safety button 

until it is solid red.

IRIS is now live. 

Stand back!

5 Check LED.

Check the LED to view the status of IRIS. Wait 

to proceed until you see the blinking green light 

indicating that IRIS has acquired GPS lock.

Pre-arm safety check failure. Connect 

to a ground station and see the troubleshooting guide at 3DR.com/iris/info.

6

To activate the motors, 

hold the left stick down-right 

until the motors spin. 

Now you’re ready for takeoff! 

Arm motors.

IRIS will spin its propellers 

when armed. Ensure that the 

launch point is clear of 

obstructions before arming. 

Always disarm the motors 

before approaching IRIS.

Motors inactive, safe to handle Motors active, deactivate before 

handling

GPS lock requires a clear view of the 

sky. IRIS may take a few minutes to 

acquire GPS lock depending on your 

flying location. Always fly in an open 

area to improve GPS signal strength, 

and review the GPS failsafe 

information on page 7.
17

Flight

Left Stick

Take off and gain altitude by 

raising the left stick slightly 

above center.

Left Stick

Fly forward, backward, left, or right 

by moving the right stick in the 

direction you want to fly.

Left Stick

Release the right 

stick to level IRIS.

Left Stick

Lower the left 

stick below center 

to descend.

Left Stick

Set the left stick to 

center to maintain 

the current altitude.

Rotate counterclockwise and 

clockwise by 

moving the left 

stick left and right. 

IRIS is a powerful and agile 

flier. Move the sticks in small 

increments until you feel 

comfortable with how IRIS 

responds to controls.

Left Stick

Set the left stick fully 

down to land once IRIS 

is a few inches above 

the ground.

!
18

Postflight

1 Disarm 

motors.

After landing, hold 

the left stick downleft until the motors 

stop spinning.

2 Press safety 

button.

Press the safety 

button until it 

displays blinking 

red to make IRIS 

safe to handle.

3 Disconnect 

battery. 4 Power off 

controller.

Your first flight is now complete!

Follow the steps shown here and 

on the Flight Checklist every time 

you fly.

Tips for New Fliers: Practice these exercises to help you master flight controls.

Skill 1: Hover

Your first step is to maintain a consistent altitude while keeping IRIS oriented so 

the black arms face towards you and the blue arms face away from you. Practice 

taking off, rising to a comfortable hovering altitude, and keeping IRIS in place 

without allowing for any changes in orientation or position. If IRIS drifts forward, 

backward, left, or right, or rotates clockwise or counterclockwise, use the 

corresponding stick controls to correct.

Skill 2: Box

When you feel comfortable with your ability to maintain a consistent hovering 

altitude, try flying a box pattern. To practice this, take off, reach your hovering 

altitude, then fly forward, right, backward, and left by making small adjustments 

to the right stick. Make sure to fly the box in front of you and not around you. 

Use the left stick to rotate IRIS so the black arms face towards you and blue arms 

face away from you for the duration of the exercise.

Skill 3: Figure Eight

When you can confidently navigate a box while maintaining altitude and 

orientation, try flying a figure-eight pattern. Once again, make sure to fly the figure 

eight in front of you and not around you. Use the right stick to create a smooth 

flight path while using the left stick to correct orientation and maintain altitude.
19

Planning Missions

1 Power IRIS, connect the radio to your laptop 

or Android device, and select Connect.

2 Configure waypoints.

To plan a mission, download a ground station application from 

3DR.com/iris/info, and install onto your laptop or Android device.

DroidPlanner 2 for Android

Mission Planner for Windows

When flying missions, we recommend changing the GPS 

failsafe behavior to set IRIS to land in the event of a loss of 

GPS signal. For instructions, visit 3DR.com/iris/info.

Connect the blue end of the 

Android adapter to your device 

and the black end to the radio.

Select Connect.

Select Edit and tap to add 

waypoints, or select the brush 

tool and draw a path for IRIS 

to follow.

Select Flight Plan, and click to 

add waypoints. Select the green 

arrows at the bottom of the 

screen to configure altitude and 

change waypoint types.

3 Save the mission to IRIS.

Select Write WPs. Select the option menu in 

the top-right corner, and 

select Send Mission.

Connect the USB adapter to the 

radio and your laptop. Select 

AUTO, 57600, and Connect.

APM Planner for OS X
20

To avoid sudden changes 

in altitude when switching 

from auto to standard (STD), 

ensure that the left stick is 

set to the center position.

Fly a brief test flight to verify 

that all controls (throttle, yaw, 

roll, and pitch) are responding 

normally.

1 Perform a pre-mission 

test flight.

If you planned a takeoff waypoint into 

your mission, switch to AUTO on the 

ground, and raise the throttle to initiate 

the mission. If you did not add a takeoff 

waypoint, switch to AUTO mode after 

takeoff to initiate the mission in flight.

3 Switch to

AUTO.

When the mission is complete and IRIS has landed, 

use the controller to switch to standard (STD) then 

disarm and proceed with the postflight steps. 

If you added an automatic landing waypoint to your 

mission, IRIS will disarm automatically after landing.

4 Switch to standard

before disarming.

To recall IRIS during a mission, 

use the controller to switch 

to standard (STD) and land 

manually. Or switch to RTL, 

and automatically return to 

the launch point.

2 Arm IRIS 

in standard.

When you’re ready 

to start the mission, 

arm IRIS in standard 

(STD).

Flying Missions

Stabalize

Altitude Hold

Loiter

Full Autonomy

Left Stick

For auto-takeoff, 

raise throttle to 

start mission.
21

Specifications

Autopilot: Pixhawk v2.4.5

Firmware: ArduCopter 3.2

GPS: 3DR uBlox GPS with Compass (LEA-6H module, 5 Hz update)

Telemetry radio: 3DR Radio Telemetry v2 (915 mHz or 433 mHz)

Motors: 950 kV

Frame type: V

Propellers: 9.5 x 4.5 T-Motor multirotor self-tightening counterclockwise (2)

 9.5 x 4.5 T-Motor multirotor self-tightening clockwise (2)

Battery: 3S 5.1 Ah 8C lithium polymer

Low battery voltage: 10.5 V

Maximum voltage: 12.6 V 

Battery cell limit: 3S

Battery weight: 320 g

IRIS is compatible with 3S lithium polymer batteries only. Using a 4S battery can cause 

permanent damage to the gimbal electronics and will void the warranty.

Weight with battery: 1282 g

Height: 100 mm

Motor-to-motor: 550 mm 

Payload capacity: 400 g (.8 lbs)

Radio range: up to 1 km (.6 miles)

Flight time: 16-22 minutes*

*Flight time varies with payload, wind conditions, elevation, temperature, 

humidity, flying style, and pilot skill. Listed flight time applies to elevations 

less than 2,000 ft above sea level.

Resources

Hardware: 3DR.com/iris/info

Firmware: copter.ardupilot.com

Software: planner.ardupilot.com and planner2.ardupilot.com

3DR Store: store.3DR.com

Community: diydrones.com

Happy flying!
Support

Learn More

Visit 3DR.com/iris/info to learn about:

» 3PVTM Follow Me and DroidPlanner

» Opening the shell

» Replacing the arms and motors

» Installing software

» Planning a mission

» Updating firmware

» LED meanings and tones

Visit copter.ardupilot.com to learn about:

» Additional flight modes

» Configuring parameters, including yaw behavior during 

 autonomous flight, descent speed during RTL, and more

Visit planner.ardupilot.com (Mission Planner) and 

planner2.ardupilot.com (APM Planner) to learn about:

» Planning a mission with waypoints and events

» Using a ground station to command IRIS in flight

» Downloading and analyzing flight logs

Join the community and share your experience at 

diydrones.com.

Follow us on Facebook and Twitter @3DRobotics.

For customer support, contact us at help@3DR.com

or call our support line at +1 (858) 225-1414 

Monday through Friday, from 8 am to 5 pm, PST.

IRIS+ Operation Manual vH | ©3D Robotics, Inc. | 2015
Flight Checklist

LED

Motors inactive, safe to 

handle

Low battery, automatic landing

Loss of RC signal, automatic landing

Pre-arm safety check failure,

see troubleshooting guide

Loss of GPS signal, switch to manual

Initializing, please wait

Acquiring GPS, please wait

Autopilot ready, GPS locked

Armed

Safety Button

Motors active, deactivate before 

handling (see reverse)

Flight Modes

Return to launch

RTL

land at the launch point

Stabalize

Altitude Hold

Loiter

Full Autonomy

Standard position 

(altitude hold mode)

STD

fly manually

Loiter mode

LTR

hover

Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch

!

Stand back!

4 6

The motors are 

now active.

Hold left stick downright until motors spin.

1 2 Power on controller;

set to STD and RTL OFF.

Arm 

motors.

Press and hold safety 

button until solid red.

Connect 

charged battery.

Choose a clear launch 

point, and face IRIS 

away from you. 

5 Check 3 LED.

Place IRIS at 

launch point.

Go outside to 

an open area!

Auto mode

AUTO

fly a mission

©2014 3D Robotics | vB DCT0003 | All rights reserved.

Control gimbal

TILT

tilt the camera down and up

Land

CH7

land at the current position

Stabalize

Altitude Hold

Loiter

Full Autonomy

Stabalize

Altitude Hold

Loiter

Full Autonomy
Press and hold until 

blinking red to deactivate.

Hold left stick downleft until motors stop. 

1 2 Disarm 

motors.

Press safety 

button. 3 Disconnect battery. 4Power off 

controller. Postflight

Controller Flight Data

Press and hold the DN button to access the flight data screens. 

Press DN again to toggle between screens.

Lower left stick below 

center to descend.

Set left stick fully down to 

land when near the ground.

Left Stick

Left Stick

Raise left stick above 

center to take off and 

gain altitude.

Move left stick left 

and right to rotate.

Use right stick to fly forward, 

backward, left, and right.

Set left stick to center 

to maintain altitude.

Left Stick

Left Stick

Flight

current flight mode

controller battery level (9-12 V)

GPS signal strength in # of 

satellites

meters from launch point

flight battery level (10.5-12.6 V)

connection strength

current latitude

current longitude

altitude in meters

flight time

altitude in meters

For customer support, contact us at help@3DR.com

or call our support line at +1 (858) 225-1414 

Monday through Friday, from 8 am to 5 pm, PST.

3DR.com/iris/info 

GPS status

speed in m/s

flight battery mAh 

consumed since armed

End your flight at 10.7 V.

Do not exceed 4000 mAh for 

a fully charged IRIS+ battery 

(80% of available capacity).

!