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 201 2 Concerning Unmanned Aerial Systems (UAS)TEXDrones 12034	Normont	Dr. Houston,	TX	77070 

### T o 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 ex tent & 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) **Addre ss:**  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 who se primary clients will be r eal estate c ompanies in need of aerial photography and video in the state of Texas, f arm and l and owners that require inspec tions and agricultural mapping , and businesses in need of photography and video services for their own p ersonal use . The Petitioner is a licensed p ilot

– 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 si nce 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 r eal estate i nspections, s ales and a dvertising. This would include residential, commercial and rural properties. Prospective customers and clients would include r eal e state a gents and b rokers along with i nsurance c ompanies, b anks and p rivate p roperty o wners. Other prospective c lients 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 low

altitude UAS in their own sales and marketing projects. The Title 14 CFR exemptions that this request in cludes 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 aTEXDrones 12034	Normont	Dr. Houston,	TX	77070 

### much lower cost. Fu rther, 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 econo mic growth by providing information to businesses & individuals in the state of Texas and specifically Southeast Texas. **Description of UAV to be D**  **eployed U**  **nder R**  **equested E**  **xemptions.** 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 quad copter s 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. Th ey 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 model s being utilized under this request for exemption ha ve First Person View (FPV) which allows t he 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 bein g 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 p ilot's l icen se. 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. Pe titioner has owned the UAS (IRIS+) described above since 2014 and has over 1 5 0 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 C OA 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 photogr aphy 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 wi ll always be conducted with the permission of the property owner orTEXDrones 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 b e the primary concern regarding all flig ht s at all time s . 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 als o ag rees 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 air port reference point as denoted on a current FAA published aeronautical chart. The U AS 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 t o 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 (Regula tory 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 tha t 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 su pplemental request including these additional rule exemptions. **Rule 61.113**
**- Private Pilot Privileges and Limitations**  The Petitioner hold s 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 sinc e 2014 and has over 1 5 0 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 lo ss 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 airworthine ss 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. Flig ht 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 ope rated 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 publi c 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 helicopter s. 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 exempti ons 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. Howev er, 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 th is 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 Altimete r 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 seek s 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 c an 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
‐ 15TEXDrones 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 R equired, 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 exemption s and personal identificati on: 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 precau tions 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 th e 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 TEXDrone s 12034 Normont Dr Houston, TX 77070

# Operation Manual Read before flying! IMPORTANT

# Contents

01 Meet IRIS 03 Parts 04 C harging the Battery 06 A ttaching Propellers 07 Safety and Failsafes
08 L earn to Fly 11 F light Modes 13 R eturn to Launch 13 Geofence 14 F irst Flight 19 Planning Mis sions 20 F lying Missions
21 Specifications and R esources 22 L earn More and Support01 

# 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 

# 305 

# 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. 

# Safety08 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 Stick09 Flight Tip When adjusting orientation, move the left stick horizontally without changing its vertical position. 

### Activate Hold until propellers start spinning.

Take-off + Lift Raise just slightly for take off

Hover + Land Lower just slightly to hover

Left Ya w Left Back Forward

Right

Right Ya w

Deactivate Hold until propellers stop spinning Activate Hold until propellers start spinning.

Take-off + Lift Raise just slightly for take off

Hover + Land Lower just slightly to hover

Left Ya w Left Back Forward

Right

Right Ya w

Deactivate Hold until propellers stop 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 Stick10 

### Activate Hold until propellers start spinning.

Take-off + Lift Raise just slightly for take off

Hover + Land Lower just slightly to hover

Left Ya w Left Back Forward

Right

Right Ya w

Deactivate Hold until propellers stop spinning Activate Hold until propellers start spinning.

Take-off + Lift Raise just slightly for take off

Hover + Land Lower just slightly to hover

Left Ya w Left Back Forward

Right

Right Ya w

Deactivate Hold until propellers stop spinning 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

Activate Hold until propellers start spinning.

Take-off + Lift Raise just slightly for take off

Hover + Land Lower just slightly to hover

Left Ya w Left Back Forward

Right

Right Ya w

Deactivate Hold until propellers stop spinning Activate Hold until propellers start spinning.

Take-off + Lift Raise just slightly for take off

Hover + Land Lower just slightly to hover

Left Ya w Left Back Forward

Right

Right Ya w

Deactivate Hold until propellers stop spinning 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 Return to Launch

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. Stabalize

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

Return to Launch 

### 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 A chieve minimum altitude of 15 m (50 ft)

or maintain curr ent altitude if above 15 m. 2 Move to launch point and loiter for 5 seconds. 3 Land at launch point. launch point 15 meters 1 2

3 hover 5 seconds Stabalize

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. Stabalize Altitude Hold Loiter Full Autonomy Return to Launch

Stabalize Altitude Hold Loiter Full Autonomy Return to Launch15 

# 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 absolutelystill 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 trouble

shooting 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 counter

clockwise 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, holdthe 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 Return to Launch Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch Stabalize Altitude Hold Loiter Full Autonomy Return to Launch

Left Stick

For auto-takeoff, raise throttle to start mission.21 

# Specifications
Autopilot: P ixhawk v2.4.5 Firmware: Ar duCopter 3.2 GPS: 3DR uBlo x GPS with Compass (LEA-6H module, 5 Hz update) Telemetry radio: 3DR Radio T elemetry v2 (915 mHz or 433 mHz) Motors: 9 50 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 gimba l electronics and will void the warranty. Weight with battery: 128 2 g Height: 100 mm Motor-to-motor: 550 mm Payload capacity: 400 g (.8 lbs ) Radio range: up t o 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: st ore.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

Return to Launch Standard position (altitude hold mode) **STD** fly manually

Stabalize Altitude Hold Loiter Full Autonomy Return to Launch

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 down

right until motors spin. 

# 2 1 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 LED. 

# 3 Place IRIS at launch point. Go outside to an open area!

Auto mode **AUTO** fly a mission Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch ©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

Return to Launch Stabalize Altitude Hold Loiter Full Autonomy Return to Launch

Stabalize Altitude Hold Loiter Full Autonomy Return to LaunchPress and hold until blinking red to deactivate.Hold left stick downleft until motors stop. 

# 1 2 Disarm motors. Press safety button. 

# 3 Disconnect battery. 

# 4 Power 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). 

## !