## EXTREMETECHNOLOGIES, INC. October 12, 2015

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## U.S. DepartmentofTransportation DocketOperations WestBuildingGroundFloor,RoomW12-140 1200NewJerseyAve, SE Washington, DE 20590 Re: ExemptionRequestforUAS Dear SirorMadam: 

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## We, ExtremeTechnologies, Inc. are writingpursuantto the FAAModernization and ReformAct of2012 and the procedures contained in 14 C.P.R. 11 to requestthatExtreme Technologies, Inc. a company and operator of small unmanned aerial system, be exempted from the Federal Aviation Regulations that we have listed below, so that we may operate our small quadcopter unmanned aerial system (UAS) commercially in the airspace that is regulated by the Federal AviationAssociation. Extreme Technologies is a US based company located in Corinth, Mississippi. We specialize in video inspections. Our sister company SBC Instrument & 

## Control currently specializes power line and utiltity tower inspections by manually climbing the poles and towers. Extreme Technologies, Inc. wouldbe ableto service ourcustomersin amuch safer, costeffective way. Extreme Technologies requests permission to conduct safe aerial inspections ofindustrial sites and power structures with our quad-copter Microdrone MD4-l000. These operations will be conducted in areas that are typically rural with very low vehicle and human traffic. These operationswill be conductedbelowanaltitude of400 feet. Extreme Technologies, Inc. will perform our operations m compliance with the protocols describedhereinorasotherwise establishedby the FAA. Extreme Technologies, Inc. respectfully requests the permit of an exemption to allow our company to operate our Microdrone MD4-1000 to help public utility companies and industries increase safety and affordabilityforpublicandprivate assetinspections. Extreme Technologies, Inc. submits this application seeking relief from current applicable Federal Aviation Regulations (FARs) that restrict us from utilizing Unmanned Aerial System technology within the national airspace system. The Reform Act in Section 332 provides for such integration ofcivil unmanned aircraft systems into the national airspace. We operate our UAS within line sight and under 400 feet elevation away from populated areas. When working in areas where people or vehicles may be present, we have set guidelines in place that are implemented prior to any performance of operation. Along with this we will be operating outside ofair traffic controlled areas, typically 5-8 miles in diameter from airports. OurUAS is equippedwith GPS and is outfittedwithauto returnto home safetytechnology.**'~** 'i 

## EXTREMETECHNOLOGIES, INC. Extreme Technologies, Inc. considers safety as the most important part ofany fight operation. Priorto eachflight operation,preflight safety assessments areprocessed and signedof[onby our Pilot-In-Command, Operations Manager, and Ground Observer. Extreme**Technol~es** 

## will operate ourUAS safety insuringthat we do not "create ahazardto users ofthe national airspace system orthe public". 122 P.L. 95 Section 333(b). Given that ourUAS falls within the weight and size regulations, we believe our UAS does not pose a threat to the general public, national security, ornational airspace. Aerial assetinspectionsusing fixed wing aircraftandhelicopters havebeenusedto as{ess unsafe and difficult to reach areas for many years. The use ofUAS technology for these types of inspections bring a new level ofincreased safety and personnel and industries involved in these inspections. The high cost ofmanned aircraft for power line inspections and tower inspections can be significantly reduced by using UAS technology. Manned aircrafts have liabilities that pose athreatto thepublic, pilots, and crewinvolved in operations. The use ofcombustible fuel and the size ofaircraft cause significant liabilities and ifcrashed cancause severe environmental andpublic damage and couldresult inloss oflife. OurUAS does notpose such athreat since it is batteryoperatedwithbatteries securedinprotectivecases withintheUAS. Withthese increased liabilities and costs oftraditional inspections, industries often cannot afford muchneeded inspections and neglectto inspect viable assets on aregularbasis. This neglect can have major consequences on the public. For example, overgrowth or dead vegetation along power lines can lead to power outages and/or fires. This poses a major risk to the public that could be affected in these regions. By utilizing inspections from Extreme Technologies, Inc. inspections can be completed in a safer and more cost effective way, thus, leading industries to not neglect much needed asset inspections and have the ability to keep their assets safe and performingoptimally. Extreme Technologies, Inc. receiving this exemption will not adversely affect the safety ofthe public or ofmanned aircraft. Extreme Technologies, Inc. is dedicatedto ensuring all procedures and operationshave safety as the highestpriority. Themostimportant details before wetake off are to ensure public safety, air safety, environmental safety, and the safety of our Operations team. Withtheseprocedures inplace we canjudgewhat is safe/not safe/or safe with some risks whenevaluating sitesthatareknown andrandom. ExtremeTechnologies, Inc. willtakethe following stepsto insure safetywhenperformingflights withtheMD4-1000. Our UAS will not exceed 400 feet in altitude during operation and will stay within 1000 feet ofthePilotand GroundObserver. OurUAS will be operatedwithredundantbatteries,to insurethatifonebatteryfalters the otheroneis thereto ensure safereturnto home. OurUAS will be inthe airfor approximately 35-45 minutespermission. OurUAS has a battery capacity of25.2V. At 22.2Vthe operatormustlandthe UAS. At21.7Vthe systemwill land automatically. IfGPS communication is lost, our UAS has an automatic return to home function programmedfor eachflight.

## EXTREMETECHNOLOGIES, INC. All flights are operated with a Pilot in Command and Ground Observer, ensuring safetyofmannedaircraftandthepublic. Before and after each flight we carry out extensive pre-flight inspections of the operations area. Wewill maintainlogbooks detailing all maintenance andrepairs. Batteryis serializedto maintainlogs ofbatterycycles. Safetypolicies and proceduresprovide a level ofsafety equalto orexceedingexistingrules and regulations. Today most visual inspections ofpower poles and hard to reach assets are done using manned helicopters or by having technicians climb dangerous areas for inspection. Both these options can be highly dangerous and environmentally taxing. 

## It can also lead to lack of thorough inspections because cost is relatively high, thus, leading to unknowingly defective assets orvegetation overgrowththat can lead to environmental damage, such as forest fires. Our UAS operationscanmitigatethesepotentialhigh-risk situations. There is no combustible fuel on board the UAS, thus the potential for fire or explosionis greatlyreduced. There is a far less environmental impact than with conventional techniques, insuring that safety ofpublic and industrial infrastructure is maintained more efficiently and costeffectively. SUMMARYTHEFAACANPUBLISHINTHEFEDERALREGISTRY: ExtremeTechnologies, Inc. seeks exemptionofthefollowing: 

## 14 C.F.R. § 21, Subpart H, Airworthiness Certificates. Extreme Technologies, Inc. seeks exemption from this Section which sets forth requirements for procurement ofnecessary airworthiness certificates in relation to FAR §91.203(a)(1). The size, weight and enclosed operational area of our UAS allows exemption from Part 21 because our UAS meet the equivalent level ofsafetypursuantto Section 333 ofthe Reform Act. The FAA is authorizedto exempt aircraft from the airworthiness certificate requirement under both the Act (49 U.S.C. §44701 (f)) and Section 3 3 3 ofthe Reform Act. Both pieces oflegislation permit the FAA to exempt UAS's from the airworthiness certificate requirement in consideration of the weight, size, speed, maneuverabilityandproximityto areas suchas airports anddensepopulations. 

## 14 C.F.F. Section 61.113: Private Privileges and Limitations. Extreme Technologies seeks exemption from 14 C.F.R. Section 61.113, which restricts private pilots from flying aircraft for compensation orhire and would also require a second class medical certificate. The purposeofpart61 isthe ensurethatthe skill and competencyofanyPIC matchesthe airspace in which the PIC will be operating, as well as requiring certification if the pilot is carrying passengers orcargo for hire. While the MD4-1000 will be operated as part of a commercial operation, it carries neither passengers norcargo. Inthe Grant ofExemption ofFAAdocketNo. FAA-2014-0652, the FAA determined that the unique characteristics ofUAS operation outside ofcontrolled airspace did not warrant the additional cost and restrictions attendant and requiring the PIC to have a**---------~---- -------~** 

## EXTREMETECHNOLOGIES, INC. commercialpilot certificate and a class II medical certificate. The FAAhas also determined that the required knowledge for a commercial pilot covers the same fundamental principles as a privatepilot. The PIC will possess at least aprivate pilot certificate, athird class medical certificate, and will have completedthe manufacturer'sbasic operatorcourse for the MD4-1000. The FAA stated in its grant of an exception to Astraeus Aerial the "the FAA considers the overriding safetyfactor for the limited operationsproposedbythe petitionerto be the airmanship skills acquired through UAS-specific flight cycles, flight time, and specific make and model experience, culminating in verificationthrough testing." See ExemptionNo. , DocketNo. FAAat page 18. The proposed operations can achieve an equivalent level ofsafety by requiring the knowledge and experience inMD4-1000 operations described above. Furthermore, the security screening conducted by the Transportation Security Administration of certificated airmen satisfiesthe statutoryrequirementfor Section 333 for operationsto notpose a threatto national security. The restrictions Extreme Technologies. Inc. has placed on its MD4-l000 operations meet or exceed the restrictions similarly imposed on Astraeus Aerial in FAA Docket No. FAA-Docket No. FAA-2014-0352. Extreme Technologies will operate inunpopulated areas withthe consent ofthe land owner away from person orpropertiesnotinvolved inthe operation. The aircraft will be flown based onVLOS at orbelow400 feet AFL. ANOT AM willbe issued at least 24hours beforethe fight isto occur, andthe flight will be coordinatedwiththe applicable FSDO. 14 C.F.R. 91.7(a) Civil Aircraft Airworthiness. 

## Extreme Technologies, Inc. seeks an exemptionfrom this sectionwhichprohibitsthe operation ofan aircraft without an airworthiness certificate. As no such certificate will be applicable inthe form contemplated bythe FARs, this Regulationis notrelevant. 14 C.F.R. §91.9(b)(2)Civil Aircraft Flight Manual in the Aircraft. 

## Extreme Technologies, Inc. requests an exemption from this section which requires an aircraft flight manual inthe aircraft. Since there are no onboardpilots orpassengers in regard to UAS's, this Regulation is also not relevant. A similar level of safety will be achieved by maintaining a safety/flightmanualthatwill be onhand for operationscrewduring all operations. The FAAhas previously issued exemptions to this regulation in Exemption Nos. 8607,8737, 8738, 9299, 9299A, 9565, 9565B, 10167, 10167A, 10602, 10700 and 32827. 14 C.F.R. § 91.103 Preflight Action. 

## Extreme Technologies seeks exemption from 14 C.P.R. Section 91.103, which requires the PIC to become familiar with specific information before each flight, including information contained in the FAA

- Approved Flight Manual on board the aircraft. The aircraft will not have a flight Manual on board. The PIC will take all actions including reviewing the weather, flight battery requirements, landing and takeoff distances and aircraft performance data before the initiation of flight. Under these circumstances, the FAA has stated that no exemption is required. See Grant ofExemptionNo.

# •• EXTREMETECHNOLOGIES, INC. 11062, p. 20. An exemption is requested to the extent that an FAA approved Flight Manual is required. Equivalent Level of Safety: An equivalent level ofsafety will be provided by following the Manuals. The PIC will take all required preflight actions

- including performing all required checklists and reviewing weather,. flight requirements, batter charge, landing and takeoff distance, aircraft performance data, and contingency landing areas - before initiation offlight. TheManuals willbekept attheground stationwiththe operatorat all times. 14 C.F.R. § 91.109 Flight Instruction. 

## Extreme Technologies seeks exemption from 14 C.F.R. Section 91.109(a), which provides that "no person may operate a civil aircraft (except a manned fee ballon) that is being used for flight instruction unless that aircraft has fully functioning dual controls" UASs and remotely piloted aircraft, by their design, do not have functional dual controls. Instead, flight control is accomplished through the use ofthe Ground Control System consisting ofthe handheld mdDRC command and control link and the laptop baseddatalinkthat communicatedwiththe aircraftviaradiomodemcommunications. Equivalent Level of Safety: When flight instruction is performed, no pilots will be on the aircraft and the GCS will be a safe distance from the aircraft and the public, causing no safety hazard. Given the size and speed ofthe MD4-l000, an equivalent level ofsafe training can still beperformed without dual controlsbecauseno pilotorpassengers are aboardthe aircraft, and all persons will be a safe distance away in the event that the aircraft experiences any difficulties during flight instruction. In addition, Extreme Technologies will conduct flight training at a remote facility away from populated areas. The training flights will comply with the provisions in the Manuals. Accordingly, Extreme Technologies proposed method of operation provides superiorlevels ofsafety. 14 C.F.R. § 91.119: Minimum Safe Altitudes. 

## Extreme Technologies, Inc. seeks an exemption from the minimum safe altitude requirements ofthis Section whichprescribes that an aircraft may not be operated closerthan 500 feet to any person, vessel, vehicle or structure. And further, ensures safe altitudes for the operationofcivil aircraft. It

## allowshelicoptersto operate at lower altitudes in certain conditions. Extreme Technologies will not operate at an altitude than 400 AGL. We will operate our UAS only in areas deemed safe and away from people and vehicle traffic, providing a level of safety at least equivalent to or below those in relation to minimum safe altitudes. 14 C.F.R. § 

## 91.121 Altimeter Settings. 

## Extreme Technologies, Inc. seeks exemption from 14 C.F.R. §91.121 in regard to altimeter settings, this is inapplicable insofar as our UAS utilizes globalpositioning systemsthatmonitorflight conditionsfor all fight operations. 14 C.F.R. § 91.151(a): Fuel Requirements for Flight in VFR Conditions. 

## Extreme Technologies, Inc. requests an exemption from 14 C.F.R. Section 91.151(a)'s fuel requirement for flight VFRconditions. Section91.151 states:

# .. EXTREMETECHNOLOGIES, INC. (a) No person may begin a flight in an airplane under VFR conditions unless (consideringwind andforecast weatherconditions)there is enoughfuel to fly tothefirstpoint of intendedlanding and, assumingnormal cruising speed

- (1) 

## Duringtheday, to fly afterthatfor atleast 30minutes; or (2) Atnight, to fly afterthatfor atleast45 minutes. Here the technological limitations on MD4-l000 battery power means that limited meaningful flight operations can be conducted while still maintaining a 30 minute reserve. The aircraft is battery powered with a maximum flight time of88 minutes. Extreme Technologies proposes thatthemaximumflight time for eachoperational flight will be 70 minutes. The aircraftwill be safelylandedwithno lessthatthe greaterof(a) 20%batteryliferemaining or(b) fifteen minutes offlighttimeremaining. Equivalent Level ofSafety: The FAA has stated that an equivalent level ofsafety is provided if the UAS flight is conducted under daytime VFR flight conditions using VLOS, and terminated with at least 25%reserve battery power still available. See Grant ofExemptionNo 11062, page 21-22. The Manuals providing an equivalent level ofsafety by safely landing with no less than the greater of(a) 20% battery life remaining or (b) fifteen minutes offlight time remaining and otherwise complyingwiththe flightrestrictions above. 14 C.F.R.§91.203 (a) and (b) 

## provides for the carrying ofcivil aircraft certifications and registrations. Theyareinapplicableforthe samereasons described above. 14 C.F.R. 

## § 91.405 

## (a) (1); 409 

## (a) (2); 417 (a) & (b): MaintenanceInspections. 

## This regulationrequiresthat aircraft owners and operators "havethe aircraft inspected andprescribed in subpartE ofthis part and shall betweenrequired inspections, except as provided in paragraph (c) ofthis section, have discrepancies repaired as prescribed in part 43 ofthis chapter." Before eachoperationwe runafull inspectionofthe UAS checking all critical surface areas. PUBLIC INTEREST Granting Extreme Technologies petition for exemption furthers the public interest. National policy setby Congress favors early integration ofUAS into theNAS incontrolled, safe working environments. By grantingthispetition, the FAA will fulfill Congress's intent ofallowing UAS to operate safely inthe NAS before completion ofthe rulemaking required under Section 332 of theReformAct Privacy All flight will occur over unpopulated areas, withthe consent ofthe landowner. All flights will beconductedinaccordancewithany federal, state orlocal lawsregardingprivacy.

## EXTREME TECHNOLOGIES, INC. SUMMARY: ExtremeTechnologies, Inc. seeks exemptionfrom the aforementionedRegulationsto operate our unmanned aerial system commercially and lawfully, while at the same time working with the FAA to develop safe protocols and procedures for UAS usage. We seek relief of FAA restrictions for commercial UAS use to have the ability to offer asset inspections for the power and industrial industry. By granting our request, Extreme Technologies, Inc. will be able to provide a safer more environmentally friendly approach for asset management compared to standard practices, thus, alleviating conventional dangerous inspections ofhard to reach highly energized assets. Our UAS pilots are/will be trained in manned aircraft and unmanned aircraft operationshaving completedmanned aircraftground school land/orpilotlicensing. Our UAV is certifiedto work around 500KVpower structureswhile maintaining limits ofapproach setby the power line trade. Extreme Technologies respectfully requests that the FAA grant our exemption request. We are willing to work with and share all information to benefitthe FAA to keep the national airspace, mannedaircraftandpublicatlarge safe andinformed. Summaryfor Federal Register Pursuantto 14 C.F.R. Part 11, the following summary is provided for publication in the Federal Register, shoulditbe determined thatpublicationis needed: Extreme Technologies seeks exemption from the following rules for commercial operation ofa small unmanned aircraft system: 14 C.F.R. §21, SubpartH, Airworthiness Certificates 14 C.F.F. Section61.113: Private Privileges and Limitations 14 C.F.R. 91.7(a) CivilAircraftAirworthiness 14 C.F.R. §91.9(b)(2)CivilAircraftFlightManual in theAircraft 14 C.F.R. §91.103PreflightAction 14 C.F.R. §91.109FlightInstruction 14 C.F.R. §91.119: Minimum SafeAltitudes 14 C.F.R. §91.121 Altimeter Settings 14 C.F.R. §91.151(a): FuelRequirementsforFlightin VFR Conditions 14 C.F.R.§91.203 (a) and (b) 14 C.F.R. §91.405 (a) 

## (1); 409 (a) (2); 417 (a) 

## & (b): MaintenanceInspections 

## The exemption will enhance safety by reducing risk to the operator, the general public and property owners from the substantial hazards associated with performing equivalent work using conventional aircraft androtocraft. ATTACHMENTS 1. MD4-l000 Operators Handbook Attachment is a confidential document submitted under 14 C.F.R. Section 11.35(b) and are exemptfrom disclosure underthe FreedomoflnformationAct, 5U.S.C Section 552 et. Seq. and any other requirement established by the FAA pursuant to Section 333 ofthe Reform Act.) If

## ,, EXTREMETECHNOLOGIES, INC.
you have any questions or require any additional information, please do not hesitate to contact WilliamW. Odom, Odom andAllred, P.A., attorney for ExtremeTechnologies, Inc. atP.O. Box 1393, Corinth,MS 38835-1393 orbytelephone at662-286-9311.
Thankyoufor yourtime and considerationinthismatter.

# ~:::~~ J.

# Grego~**J~son** ExtremeTechnologies, Inc. P.O.Box 

# \\-\:<{ Corinth,MS 38835-
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## Operators handbook

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# Operators handbook
md4-1000



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## 1 md4·1000 Table ofcontents

1. General
................................................................................................................................................4 1.1. Safety instructions
............................................................................................................................6 1.2. Statutory regulationsfor using the microdrone
...............................................................................8 1.3. Exportterms
.....................................................................................................................................8 1.4.Technology and history
....................................................................................................................9 1.5. System overview
............................................................................................................................10 2. The microdrone md4-1000
................................................................................................................ 11 2.1. General mode ofoperation ofthe md4-1000 microdrone
............................................................ ll 2.1.1. Drive motorand motorcontroller
...............................................................................................12 2.1.2.The main on-board electronics
................................................................................................... 12 2.2. Opening

## I puttingon the cover...................................................................................................... 13 2.3. Inserting and connectingtheflight battery
.................................................................................... 14 2.4. The rotors
.......................................................................................................................................15 2.5. Opening outand lockingthe arms ................................................................................................. 16 2.6. The connections ofthe md4-1000
................................................................................................. 17 2.6.1. Configuration and data terminal
.................................................................................................17 2.6.2. The control wires ofthe md4-1000
............................................................................................. 17 2.6.3The servo connections ofthe md4-1000
......................................................................................18 2.6.4 Downlinktransmitterconnection
................................................................................................18 2.6.5 Downlink receiver
.........................................................................................................................19 2.7. Taking offand landingthe microdrone
..........................................................................................20 2.8. Taking offin GPS position hold mode
............................................................................................21 2.9. GPS waypoint
..................................................................................................................................23 2.10. The flightdata recorder
................................................................................................................24 2.10.1 Preparing anewSD card fortheflightdata recorder
................................................................24 2.11.Technical data ofthe md4-1000
..................................................................................................26 2.12. Beeps ofthe microdrone
..............................................................................................................27 2.12.1. Error bleeps
...............................................................................................................................27 2.12.2. Status sounds
............................................................................................................................28 3. Operating modes ofthe microdrone
................................................................................................29 3.1. INS mode
........................................................................................................................................29 3.2. GPS position hold
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3.3. Dynamic position hold (DPH) function
...........................................................................................29 3.4. Teach-in function
............................................................................................................................30 3.5. Waypointfunction
..........................................................................................................................30 3.6. Homingfunction
.............................................................................................................................30 4. The remote control.
...........................................................................................................................32 4.1. Switchingfunctions ofthe microdrone
..........................................................................................33 4.1.1. Control stick allocation ofthe remote control
............................................................................33 4.1.2. Slide switches Eand Fofthe remote control
..............................................................................34 4.1.3. Switchingfunctions ofthe remote control
.................................................................................35 4.2. Remote control settings
.................................................................................................................36 4.2.1. Trim ofthe control sticks
.............................................................................................................36 4.2.2. RC channel selection
...................................................................................................................37 4.2.3. Switching between display pages................................................................................................37 4.2.4. Resettingthetimerto 30 min
.....................................................................................................37 4.2.5. Teacher/studentoperation
.........................................................................................................37 4.3. Charging the remote controltransmitter
.......................................................................................38 4.4. Bleeps ofthe remote control
.........................................................................................................38 4.5. The antenna ofthe hand transmitter
.............................................................................................38 4.6. Technical data ofthe hand-held transmitter
.................................................................................38 5. Camera
..............................................................................................................................................39 5.1. Camera suspension systems
...........................................................................................................39 5.2. Olympus camera.............................................................................................................................41 5.3. Full HD Sony HDR-CX 740 VE camcorder
........................................................................................42 5.4.

# ceo daylight camera ......................................................................................................................43 5.5. Dawn (near IR) camera ...................................................................................................................43 5.6. Thermographic camera ..................................................................................................................43 6. The base station
................................................................................................................................44 6.1. Connections and functionality
........................................................................................................44 6.2. Charging the base station
...............................................................................................................46 7.0. The flight battery
............................................................................................................................47 7.1. Safety and care information on the battery
...................................................................................47 7.2. The charging case ...........................................................................................................................48 7.2.1. Connection ofthe batterytothe charging case..........................................................................49 8. Safety procedures
..............................................................................................................................50
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## md4-1000

1. General The md4-1000 systems by microdrones are remote-controlled automatic flying platforms. They can be used to take photos, record videos and perform any other observation and inspection work. The systems use a quadrotor carrying system with state-of-the-art technology. You can take high-quality, professional pictures and videos from the air thanks to a torsionally resistant, extremely light CFRP body and an advanced electronics system. The technology used in the aircraft is normally only found in manned planes, e.g. GPS, inertial navigation system, autopilot and flight data recorder
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### The GPSposition hold

### function uses GPS to keep the microdrone hovering in its current position even when the wind is blowing. So the operator can concentrate fully on operating the camera without having to fly the microdrone againstthe wind at the same time.

The system is particularly powerful and highly effective thanks to the highly advanced carrying platform, a ground station and a notebook with appropriate software. It is also very cost-efficient compared to conventional aerial photography platforms.

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## md4-1000

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## Operators handbook

## 1 md4-1000 1.1. Safety instructions Always complywith the laws and regulations governing use ofthe microdronethatapply atthe area of use. Always keep a safety distance of5m towards any kind ofobjects. Always keep a safety distance of 10mtowards people and animals.
When calculating the flight time always include the time required to fly back and descend. It is not a good idea to have the microdrone ascend to 500 m and then descend through the final 100 m in emergency landing mode because the battery is almost empty. When planning waypoint flights, always take the GPS resolution into account as it might change depending on local conditions. Always calculate in a safety buffer if you want to fly the microdrone close to obstructions. Never save other data to the SO card of the microdrone. The entire content of the SO card is managed by the microdrone or mdCockpit. Even if it appears that there is space, there is not: the flight data are recorded directly to the sectors of the SO card and cannot be seen in the table ofcontents. Ifyou write other data to the SO card ofthe microdrone, the chances are that you are will overwrite flight data. In such cases microdrones cannot be held liable for technical defects iftheir cause cannot be traced due to overwritten flight data. Try not to fly directly over the RC transmitter. In this position the RC could fail ifthe signal is shielded by the housing ofthe microdrone, making the microdrone lose control. The distribution ofthe radio waves is also poor in this position, augmenting this effect. Avoid flying in or close to model aircraft clubs due to frequency interference from other transmitters. Do not fly close to airports and avoid flying in the vicinity of military complexes or model aircraft clubs or other strong transmitters. The systems used in such places create interference which could badly disrupt the microdrone and might even disable the emergency program. Therefore, keep to a distance ofat least 5 kilometres from airports. Due not fly close to high-voltage lines, transformer stations and power plants.

Do not fly directly over persons, because if there is an accident, the falling microdrone could injure someone.

Do not fly directly over water. If it cannot be avoided, then remain at least 10 m above the surface.

Avoid 'linear descents', i.e. flying down vertically. Instead fly down in large spirals orfrom side to side. Ifyou fly directly down, the microdrone becomes less stable as it is flying in its own downwash and the motor power has been throttled back for descent. 

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**:L~-~![~** Pay attention to the mdCockpit speedometer when descending. Do not push the throttle down fully for a long time. Descent is normally at the end ofthe flight when the battery is often almost empty. If you begin the descent too fast, particularly if carrying a large load, the microdrone Revision 2013-01-21, ©2012, microdrones GmbH

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## Operators handbook

## 1 md4-1000 might not have enough power left to prevent crashing into the ground. Do not adjust the trim of the remote control. Otherwise the microdrone might perform flight manoeuvres unexpectedly and lose control. Pay attention to local wind conditions. The microdrone has not been designed to fly when the wind speed is higher than 12 m/s. Even a wind speed of 4-5 m/s might be too much for inexperienced pilots to handle. Pay attention to the wind information and warnings in mdCockpit. Never fly with a cold battery. The LiPO cells used are powerful, though very sensitive to temperature. When temperatures are low, the battery's voltage might unexpectedly plunge, causing the microdrone to lose control for lack ofpower. Only take off if the battery is fully charged. A lack of power is often the cause of emergency situations which could have been avoided. Beforetaking off, ensurethat the rotors are properly attached. Even ifthe rotors are not about to come off, poorly fastened rotors subjected to a load could touch the housing ofthe microdrone. This could result in much higher power use and a considerable reduction in flight time. Be careful ifthe Waypointauto execute function is active. Once the battery has been inserted, a GPS signal has been detected and ifthe destination is within range, the microdrone sets out on the waypoint route automatically. Please read and complywith the separate safety and care information for batteries.

The transmission aerial ofthe hand transmitter (remote control) has to be fully extended during flight. If it is not, there is an acute risk of losing control ofthe microdrone suddenly after a short distance. Also ensure that the receiving antenna is correctly installed and in place on your microdrone. Take off immediately after connecting the battery. Don't let the microdrone idle before takeoff. If you don't do so it is possible thatthe microdronetakes offon its own due to awind gust etc. Always let the microdrones settle to its ambient temperature before takeoff. This does not apply to the battery itself! A difference of more than 5

# co between the ambient temperature and the temperature ofthe sensitive components and sensor inside the microdrone may cause serious misbehaviors. Never use the microdrone without rotors (for tests etc.). The exceptional high rpm may cause a damage ofthe drives and other related electronic parts. Always use both hands to carry the microdrone from your car to the area you want to start flying. Grab the microdrone at it's both arms as much as possible near the body-center. Never touch or catch the microdrone within flight, landing approach or with running motors on the ground.

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## Operators handbook

# 1 md4·1000 1.2. Statutory regulationsfor usingthe microdrone The user alone is responsible for using the system and must ensure that appropriate registrations are made and that statutory provisions governing the system md4-1000 at its place of use are complied with. Check in particularthat using the ../ remote control, ../ videotransmitter ../ and the aircraft itself is not againstthe law. Due to different rules governing flight permits, maximum altitude, liability insurance, etc., the user must himselffind out about compliance with regulations and provisions that apply in the area he intends to use the microdrone. Under no circumstances can microdrones GmbH be held liable for: damage to the microdrone or any other kind of damage; consequential damage; direct or indirect damage; or financial loss or interruptiontooperations dueto: improper use ofthe microdrone byyou orthird parties; unforeseeable or abnormal circumstances; orgeneral operation ofthe microdrone. Aviation liability insurance hasto be concluded! The video transmitter must be registered! Please contactthe relevant agency. 

### 1.3. Exportterms The md4-1000 is a dual-use good, meaning that it can be used in Germany and the rest ofthe EU for military and civilian purposes. Therefore the 

### 'Council Regulation (EC) np 133412000 ofJune 2000 setting up a Community regime for the control ofexports ofdual-use items and technology' appliesto international transport and export. In particular the above regulation stipulates that an export permit must be obtained from national authorities if the md4-1000 or one of its components is exported to countries for which there is no general export authorization. Countries for which there are currently (July 2007) such general export authorizations: Australia, Canada, Japan, New Zealand, Norway, Switzerland and the United States of America,
... You can find the complete list and more information at: http:l/ec.europa.eu/trade/creating-opportunities/trade-topics/dual-use/ microdrones GmbH cannot be held liable ifthe userbreachesthese terms.

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## Operators handbook

# 1 md4-1000 1.4.Technology and history VTOL is an acronym for vertical take-off and landing. It denotes the ability ofan aircraft to take offand land vertically without a runway. Helicopters also come underthe VTOL category. A quadrotor (from the Latin quadrum - 

### four) is an aircraft that is lifted by four rotors or propellers operating in the same plane and working vertically downwards to achieve lift and, from the inclination of the rotary plane and different rotor speeds, thrust. Picture: 'Flying Jeep' Curtiss-Wright VZ-7AP 

### It is a helicopter and like this one and VTOL aircraft in general, it can take offand land vertically. Other descriptions include quadrotor helicopterand quadcopter. The advantage ofthis type ofconstruction is that, ifthe directions of rotation are suitably positioned, all three axes can be controlled simply by varying the thrust and therefore the torque of the four propellers. Complicated swash plates as used on helicopters or other actuators are therefore not necessary. Nor is there drift as encountered with a tail-rotor configuration. And it does not matter whether the thrust is regulated by using differences in rotational speed or the pitch ofthe respective propeller. The thrust change just has to occur fast enough. Ifthe aircraft thrust is controlled by rotor speed. this is done by using e.g. stepless transmission or electric motors. When helicopters were first developed, several rotors were often used as the use of swash plates had not yet been practically conceived. The French pioneer of aviation Etienne Oehmichen had experimented with rotating wings as early as 1920 before his Oehmichen No. 2 (see picture) took to the skies on 11 November 1922. The four rotors of this early quadrotor were elastic and their pitch could be changed using cables. 

# - ..fl

. """'

Nextto them were an additional eight propellers acting horizontally to stabilise the aircraft and provide thrust as the rotors could not yet be controlled precisely enough. The Oehmichen No. 2 was the first reliable aircraft that could take offvertically. It completed more than 1000flights and got into the record books on 4 May 1924 byflying for 14 minutes and doing a kilometre circuit. With the development of the swash plate and tail-rotor, tandem and coaxial constructions. the quadrotor went off developers' radar. Not until a general interest for VTOL vehicles in the 1950s did quadrotors fly again. Manned quadrotors are currently not used. Though they are often used as drones and UAVs. This is because ofdevelopments made in electronics, sensory systems and lightweight materials.

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## Operators handbook

# 1 md4-1000 1.5. System overview A md4-1000 system basically consists ofthe microdrone in the transport box, a charging case and the ground station which is in its own case. The following picture shows the entire set. Optional extras include diverse cameras, a mobilevideo receiver and waypoint navigation. The md4-1000 microdrones have been manufactured from carbon fibre and top quality high-tech materials to be very lightweight. They should be treated with appropriate care.

Picture: entire md4-1000 system

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## Operators handbook

## 1 md4·1000 2. The microdrone md4-1000 2.1. General mode ofoperation ofthe md4-1000 microdrone As already mentioned, the md4-1000 microdrone is a quadrotor aircraft. When hovering all the rotors operate at the same speed, as shown in the following diagram. Positional changes can be made by adjusting the speeds ofindividual rotors.
• Forward flight/reverse flight by tilting forward or back about the horizontal axis, i.e. accelerating or braking (nick or pitch) -> alter speed and therefore thrust ratio between A and C. • Lateral flight by tilting about the longitudinal axis, side movement (roll) -> alterthrust ratio between 8 and D. • Rotating about the lift axis (yaw) -> alter thrust ratio in pairs between A-C and 8-D. • Climbing or going down (throttle) -> increase or decrease the thrust ofall rotors uniformly. Diagram: Motor schema Any position can be achieved with a combination ofthese basic commands. The device maintains the desired height using the temperature-compensating, barometric height control. This four-rotor concept, where pairs rotate in opposite directions, mean the torques are cancelled out when the rotors are at the same speed. A tail rotor, which reduces the performance of conventional helicopters because it does not generate thrust, can therefore be left out. The microdrone and its motors are maintenance-free. Only the batteries are subject to wear. The front and back rotors rotate to the left, the two side rotors to the right. When climbing all four motors are under the same load, when descending the power of all of them is reduced. Ifyou move the aircraft forwards, the speed ofthe back rotor is increased and the speed ofthe front rotor is decreased by the same amount. If you roll the aircraft to the left, the right motor revs up and the left one slows by the same amount. To turn the microdrone to the left, the speed ofthe left and right rotors is increased and the speed ofthe front and back rotors is reduced. This creates torque resulting in rotation aboutthe lift axis. The two control sticks on the remote control transmitter shown in the adjacent diagram control the microdrone. The right stick controls forward and back movement (nick or pitch) and movementsto the sides (roll). If the left control stick is moved forward, the microdrone climbs (throttle). If the control stick is moved back, the device goes down. Movement of the stick to the side causes rotation about the lift axis (yaw).

Picture: The hand-held transmitter

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## ~~~~Operators 

## handbook

# 1 md4-1000 2.1.1. Drive motorand motor controller

The 42-pole motor weighs 250 grammes and has a diameter of86 mm. The brushless external rotor motor (see adjacent diagram) with 36 grooves and 48 magnets has asynchronous commutator.

The motors are controlled entirely via a CAN bus system at which every motor has its own address. The interplay of these components creates a control circuit that enables, due to the dynamics of the whole unit, the motor speeds to be controlled quickly, therefore stabilising the md4-1000.


### 2.1.2. The main on-board electronics
The heartofthe electronics system is the IMU module (IMU 

### = Inertial Measurement Unit), the positional control system with barometric height stabilisation. It is a combination of three positional and acceleration sensors that are merged in what is called a Kalman filter. The two 32 bit micro-controllers ensure that all data is calculated fast. Ill

Picture: Components oftheon:boardeledronlcs

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_

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## Operators handbook

# 1 md4-1000 2.2. Opening I 

### putting on the cover

\ / ·-J

I 

### Caution: Check the lock before starting! Never lift microdrone at the top cover. Check it by slightly turning cover left/right in order to assure properfitting. microdrone with closed cover. It is locked ifthe arrows are notopposite each other.

To open the cover, hold the cover with one hand and the boltwith the other. Push the bolt down to unlock, now the cover will turn. Turn the cover whilst pushing down the bolt until the two orange arrows are opposite one another.

You can now carefully remove the cover. When removing the cover, ensure that you do not accidentally tear off the GPS cable between the cover and microdrone or trap the cable when putting the cover back on.

Once you have released the GPS cable from the microdrone, you can take the cover off completely.

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## Operators handbook

# 1 md4-1000 2.3. Inserting and connecting the flight battery

mlcrodrones.com The battery is brought into the correct position by the side guides highlighted in the adjacent picture. The battery has three projections on the side that should engage under the three guides. Put the battery between the side guides and slide it underthe holders.

When inserting the battery, ensure that the snap-in nose behind the battery locks properly. To take out the battery, hold down the snap-in nose with your thumb and using your other hand push out the battery through the side guides.

If the battery has been inserted properly, the microdrone's connections will be coupled to the battery.

The leftone is the negative connection. The right one is the positive connection. The balancer connection ensures the individual cells charge uniformly. It also checks the cells when charging and discharging. It is only required for the charging or discharging process.

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## ... Operators handbook 1

## md4-1000 2.4. The rotors

The md4-1000 has two rotors that rotate to the left (counter clockwise I CCW) and two that rotate to the right {clockwise I CW). The rotors are made from carbon, are robust and, together with the motors, are highly efficient. Before every flight, check for visible cracks to prevent problems during flight and crashes. After an accident, make sure you checkthe rotors to prevent breakage during flight. Every rotor is fastened to the motor ofthe microdrone with four Allen screws (M3x16). The torque of the screws is 0.7 Nm.

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## Operators handbook 1 

## md4-1000 2.5. Opening out and locking the arms Upon delivery or after transporting the microdrone in the transport box, the arms are folded up. The following diagram shows how the arms are opened out. Folding them up is done in the reverse order.
To open outthe arms, release the lock hook from the connecting bolt.

Then remove the connecting bolt from the side so thatthe arm can be put into place.

Lift the arm and fasten it in place with the connecting bolt.

After you have pushed in the connecting bolt, it has to be adjusted with the lock hook.

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# ..

2.6. The connections ofthe md4-1000 2.6.1. Configuration and data terminal To adjust the configuration ofthe microdrone orto upload waypoint routes to the system, a connection with the PC has to be established. Use the adapter supplied to connectthe microdrone by USB. The connection on the microdrone is right next to the plug-in connection for the GPS module. It is slightly smaller and marked with 'FC' and 'NC'. Which micro-controller establishes the connection depends on which way around the plug ofthe adapter cable is inserted. For configuration or to upload the waypoints, the flight controller has to be connected with the PC. So the white mark on the microdrone end ofthe adapter (1) should point in the direction ofthe mark FC (3). The connection to the navigation controller NC (2) is normally only required for servicing or afirmware update.


### 2.6.2. The control wires ofthe md4-1000

The picture shows the underside of the microdrone and its connection wires and the downlink transmitter. The downlink transmitter sends videos and data wirelessly. The connection wires coming from the microdrone for the camera and zoom and the power supply for the download transmitter are showing. The connections for controlling the servos are also on the back.

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# .. • Operators handbook

## 1 md4-1000 2.6.3 The servoconnections ofthe md4-1000
This detailed picture shows the 4 servo connections ofthe md4-1000. Servo 1 is for the pitch adjustment, servo 

### 2 for adjusting the roll angle and connections 3 and 4 are AUX channels, i.e. they are unassigned. If you are looking at the back of the microdrone and use the front (marked) arm as a reference point, the connection for servo 

### 1 is on the left. Servo 

### 2 is connected to the second connection from the left, etc. When connecting the servos, check that the servo wire is inserted the right way around. The orange wire should point in the direction of the front arm (arm with red mark).



### 2.6.4 Downlinktransmitterconnection Adigital download link is shown onthe picture. 

### Antenne

Videa

### Anschluss

# Konfiguratio~~ anschluss The download link transmitter is supplied by BMS. It is small and light, has a particularly good signal quality and a very lowsignal delay. This transmitter allows us to send wirelessly video, audio and any other data from the microdronetothe ground station. Special characteristics:
• Low signal delay (approx. 40 ms)
• Powersupply 6 to 16V
• Frequency range2.2to2.6 GHz
• MPEG-2 encoding

The power supply connector ofthe downlink transmitter is connected with the power supply connector ofthe microdrone. Thevideo connection ofthe transmitter is connected with the camera used. The configuration cable is only used internally for servicing. The analogue transmitter differs from the digital transmitter in a number of ways. The cooling fins make the digital transmitter look different. The digital transmitter has cooling fins, the analogue transmitterdoes not. Nor does the analogue transmitter have a configuration cable. The third difference is the analogue transmitter's lack ofantenna filter. Revision 2013-01-21, ©2012, microdrones GmbH

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## Operators handbook

## 1 md4-1000 2.6.5 Downlink receiver
The antennas for receiving the video/audio data look like this: Digital Analogue

Caution: When connecting the digital antenna, make sure that the small slide switch is in the DATA position sothat itcan also receive data sentfromthe microdrone. The CONFIG switch position is forservicework. Technical data ofthe downlink receiver Frequency range 2.3
... 2.5 GHz Channels 16 (can be set via the channel selector switch) Video output fVss +/- 0.1 Vss@ 750 0 · · · Video bandwidth 30 Hz
... 5 MHz Audio input 500 mWeffective at> 1 kO Audio bandwidth 15 Hz
... 16 KHz (3 dB) Energysupply 230

## Vmains, 12 Vvehicle, flight battery Specialfeatures

**~** External diversity box with 4 antennas

**~** Audio stereo channel display

**~** Switch channel

**~** Display ofthe relative reception strength

**~** Video picture inversion

**~** Automatic channel switching

**~** Video audio mute function

**~** 5 V output for antenna input amplifier

**~** Video detect output Revision 2013-01-21, ©2012, microdronesGmbH

## [ lA!l 

# IOperators handbook

# 1 md4-1000 2.7. Taking offand landingthe microdrone

5m

Diagram: Schema ofthe start position Put the microdrone onto aflat surface about 10m away from you. Ifthe microdrone is too lopsided, the electronics will register this and will not let the rotors start as they might otherwise come into contact with the ground. Always ensure that grass does not entangle with the axles ofthe motors. Fly in a range of about 80° in front of you. Avoid flightto your side or above you.

'Nose in hover', that is hovering with the front, orange arm pointing towards you, requires special skill and must be practised sufficiently in the simulator. Beginners in particular quickly run into difficulties. Nose in hover is not needed in normal operation. It poses a coordination risk and therefore should be avoided. 

## &. Do not leave the microdrone stationary for too long before taking off. It could lead to the microdrone developing an incorrect model for the sensor filter, leading to unpredictable flight manoeuvres. 

## & In particular, do not leavethe microdrone on the ground with its motors running. Otherwise the microdrone would already be in flight mode. This increases the risk ofa defective filter model and unpredictableflight manoeuvres. 

## .&. Take offas soon as possible after insertingthe battery! 

## A Ifthe microdrone is on the ground in flight mode, it could take off autonomously at anytime as a gust ofwind or changes in the air pressure could make it think it is alreadyflying. 

## A Never let the microdrone run without the rotor blades {e.g. for test purposes)! The unnecessarily high speeds could damage the motor or its electronics.

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# ..

...__ _ ___,;m=''-'1 Operators handbook

# 1 md4·1000 2.8. Taking offin GPS position hold mode Flying in GPS position hold mode is easy and makes operation ofthe microdrone simple. During flight you can release the operating buttons of the remote control and the microdrone will remain in its current position (hovering}. The GPS antenna is incorporated in the cover see picture below. When removing the cover, be careful not to tear offthe connection wire forthe GPS receiver. The red arrow on the picture on the right shows the connection position of the GPS antenna in the microdrone.

Picture: GPS connectionwire Picture: GPS antenna in thecover
Ifthe battery has been inserted and the cover has been connected to the microdrone with the GPS receiver, you can take off. The take-off sequence is as follows: Switch on the microdrone with the RFID tag. To do this hold the RFID tag to the red mark of the microdrone (see picture on the right). The microdronewill emit a single bleep. The start-up procedure now begins. First, the remote control is registered. While it is registered there are several bleeps in quick succession. If the remote control has been registered, confirmation is given with a slow sequence of bleeps. Picture: Switching on with RFID tag After the remote control has been registered, a search begins for the GPS signal. The GPS signal is registered via the GPS antenna in the cover ofthe microdrone. If there is no GPS signal available, there is a slow sequence ofbleeps. The betterthe reception, the faster the beep. Once GPS is ok you can heara double bleep. The application software mdCockpit constantly shows the number ofsatellites (SV for space vehicles} and the precision.

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## Operators handbook

# 1 md4·1000

Once the microdrone has emitted a double bleep, the motors are started using the motor slider switch 'F' in the adjacent picture. 

### CAUTION: Once the motors have started up, the microdrone is in flight mode and must be supervised at all times. You should also take off now to avoid the microdrone acting uncontrollably (this could happen if you wait too long) on the ground. If the microdrone is inflightmode- i.e. the motors are running - the microdronewantstofly. Picture: Startingthe motors Ifthe microdrone is not yet ready totake offin GPS position hold mode but the motor slider is actuated anyway, several bleeps in succession are emitted as a warning. Taking off like this is not possible. You can pull the connection to the cover and fly without GPS too. But you have to do this before inserting the battery. As an exception, you could skip the search for GPS satellites by using the 'E' slide switch (see picture above). The microdrone will then continue to search for satellites when airborne. To skip the GPS search, slide the E switch forward for 2 seconds and then Slide it back. The microdrone will acknowledge this acoustically. This should only be done as an exception because when the microdrone finds the satellites during flight, it might turn aboutthe lift axisto align itself. After landing remove the battery immediately. Put in a completely charged batteryfor every newflight.

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# .. •

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## Operators handbook

# 1 md4-1000
2.9. GPSwaypoint The GPS waypoint option allows a predefined route to be flown automatically. The route can be defined on the notebook or using ateach-in procedure {also see mdCockpit handbook, waypoint route planning). The screenshots are ofthe Waypoint editor.**"\,~·**

.,, leo'.**::-.~-** 

### mdCockpit has a very simple flight planning module for automatic flights with waypoint navigation. It even makes it possible to change the flight plan completely at short notice on location or to enter completely new routes with just a few clicks of the mouse.

All flight routes can be saved on the hard drive of the ground station notebook and are available again withinjustafew seconds.

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# • • Operators handbook

# 1 md4·1000 2.10. The flightdata recorder The md4-1000 has a flight data recorder which records the flights internally on a micro SO card. This is basically like the blackbox found in commercial aeroplanes and continually records the current flight status, sensor values and all flight commands received from the remote control. The card is slightly hidden on the bottom of the mother board of the flight controller as the green arrows in the following pictures show.

Picture: Picture ofthe microSD card inserted

To remove it, push carefully with yourfinger againstthe edge ofthe card. It will go in slightly. Upon retraction, itjumps out of its holder and can be removed. The card can be read using the supplied SO card adapter. mdCockpit application software can be used for reading and then evaluating the data. £WARNING: Please do not save other data to the SO card of the microdrone. The entire content of the SO card is managed by the microdrone or mdCockpit. Even if it appears that there is space, there is not: the flight data are recorded directly to the sectors of the SO card and cannotbe seen in thetable ofcontents. Ifyou write other data to the SO card ofthe microdrone, the chances are that you are will overwriteflight data. In such cases microdrones cannot be held liable for technical defects iftheir cause cannot be traced dueto overwrittenflightdata.



### 2.10.1 Preparing a newSD cardfortheflightdata recorder Ifyou want to use a new SO card to record flight data, it has to be prepared for use with the md4-1000. Download the official SO Association formatter (https:/lwww.sdcard.org/downloadslformatter 

## 3D and install it on your PC. Insertthe new SO card into the card reader ofyour PC and select its drive letter in the SO formatter. Under Option select Format type: FULL (OvetWrite) and Format Size Adjustment: ON. Begin formatting. During formatting do not remove the card orcard reader from your PC.

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# ..

..__ __**~==--...~]Operators** 

## handbook

# 1 md4-1000

optionsett;ng**~.** Afterwards the microdrone has to format the card to create the

, fundamental structures ofthe flight data recorder such as the table of roRMArTYPe**j[QITI~~** 

### ·I contents. Therefore, insert the card back into the microdrone and**~---...,.,** connect the FC interface to your PC as described in chapter 2.6.5.

## ~~?tit~~~ joN · Open a terminal dialogue, select the tab Drone Options. In the bottom oK c.nc.1 area called Special Functions you will see the button Format SO card in the microdrone. Afterthis the SO card is ready to be used with the md4-1000. If required, you can also use the existing connection to upload to the microdrone using the waypoint editor. You can proceed in the same way ifyou want to repair a faulty SO card. However, before doing this you should use the data analysis tool in mdCockpit to read out in comprehensive mode all data still on the card so that records are not lost (see chapter 5.4 (3) ofthe operating instructions for mdCockpit.

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## Operators handbook 1

## md4-1000 2.11. Technical data ofthe md4-1000

0 lO m

**~**

**~**

**·-'~·**

""-"

Vehicle mass Payload mass (recommended) Payload mass (maximum) Battery Climb rate Cruising speed Peak thrust Endurance Flight radius Ceiling altitude 

# l

c.

c.

(relative to take-off) /-::

**·~** II-

**~**

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### i i 605.0

17300

I 

### i i 

## """ Pll 1



# ~

# - **~** 

### '- ll

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### i i

Maximum take-offaltitude (above sea level/WGS84) Temperature range Humidity Wind tolerance
Diameter Height 

# J

;/

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**·~**

'-»'

7 Technical Specifications

Operational Conditions

Dimensions 2650g 800g 1200g 6S2P LiPo 22,2V/13Ah 7,5 m/s 12,0 m/s 118,0 N up to 88 min. approx. 500m on C&C 1000m 4000m
-10
..

# sooc max. 90% r.H. 12 m/s
1135mm 495mm
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# ' Operators handbook 1

## md4-1000 2.12. Beeps ofthe microdrone To make using the md4-1000 easy, the microdrone has a small loud speaker. This loud speaker makes bleep sounds to give you information on the status ofthe microdrone. Only important statuses are conveyed by a bleep so as not to confuse you. All information and statuses are available to you via the downlink when using the base station, and via the serial interface ofthe computer. The first acoustic sign of life is emitted directly after switching the microdrone on with the RFIO tag. Short acknowledgement bleeps are also emitted after successful initialisation of the microdrone and after landing. There are also other bleeps to provide status information and error notifications. A distinction can be drawn between error bleeps and bleeps on the status ofthe microdrone. 

### 2.12.1. Error bleeps All error messages are introduced clearly by a sequence of sounds: 3 successive bleeps. Following this signal, the error code is provided by a number of lower pitched sounds that follow it. The error status can be determined using the following table:
Number Designation Description Remedy of bleeps 1 RC key Unknown RC command Check command pressed 2 SO memory SO card not inserted I incorrectly Check/insert SO card* card formatted 

### 3 Motor At least one-motor has an error Re-insert battery; iferror status re-occurs, contact microdrones 4 EEprom Initialisation values invalid Check the initialisation values with serial connection 

### 5 Waypoint Programmed WPflight not possible Check w"p list andcorrect lf invalid - route length too long (incorrect start necessary Select start point point) correctly.

- WPflight contains errors Apart from error codes 1 and 5, the errors only occur immediately after inserting the battery, i.e. during the initialisation process. *)If a high-pitched uninterrupted rapid bleeping follows this error signal, an error recording data to the SO card could have occurred. To avoid flight data being lost, the microdrone will block any take-off attempts until the problem has been rectified. Please read out all data still on the card using the data analysis tool in mdCockpit in comprehensive mode (see chapter 5.4 (3) of the mdCockpit operating instructions) and then formatthe card as described in chapter2.10.1 ofthis manual.

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## Operators handbook

## 1 md4-1000 2.12.2. Status sounds There are sounds otherthan error messages that could occur during operation ofthe md4-1000. They are easily to identify as they take the form ofsound sequences. The table provides an overview ofthe status sounds. The sounds could be emitted during initialisation orwhilst the md4-1000 is flying. There might also be situations where several error sounds are emitted. But so you can easily identify the error only the most important error sound is emitted. The priority of the status sound is given by the number in the table. The smaller the number, the more important the status information. The battery emergencythreshold has the highest priority. The quality ofthe GPS signal has the lowest priority. Priority Designation Length of sound (ms) Pause duration (ms) Battery emergency very short medium threshold reached (50) (200) 

### 2 Batterywarning short long threshold reached (100) (400) Remedy
Land immediately! Prepare to land soon 1**~** , 

## T**~** 

## --**lncorrectallgnrrlent-~short~~---** -sh"orr---- ··· --c-heck -tal<e-=otfi:losiTion
___ ··-·------- - 

# i fortake-off (100)
_ __ (1_gOL
____ 4 Magnetometervalue medium range exceeded (200) medium (200) Check take-off point

- Metallic objects -Magnets

- Check magnetometer calibration**~-** 

## ---5-

-·---vlPconveifsuccessveryTcing-
.. -**v-eryfong~---vaTidWPfound**on**helicopter-~** ---- t 

### (BOQ> (BQQL
_____________________ 6 WP auto execute short very long countdown (100) (1000)**~-** 

## -7**~~wPauto execute~-3-=-----x** -short
___ Stiort ---- - -.Auto-start-activeWithout·;:e-mote--, ! active (100) (100) control 8 GPS valid 

## 2

# x short -- very long Douhle bleep signifies GPS is (100) (1000) ready 

## [--- -9- -"'

## i~!~~ai~~~-lit-y--~---------'~c___:_;-=~,---i~-;e-nt --

## ~;~i~;en~**~waftTor** GPS

## tobe readY ·------

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## Operators handbook

## 1 md4-1000 3. Operating modes ofthe microdrone The condition for the following operating modes is a very good GPS signal with a resolution of about 2.5 m. Ifthe GPS accuracy is less than this- larger than 2.5 m- then this has a negative effect on flight behaviour. The different flight modes can be set in mdCockpit. The mdCockpit operating instructions tell you how to makethese settings. 

### 3.1. INS mode In this mode the operator pilots the microdrone without help from GPS position hold or dynamic position hold. You must be very experienced to use this mode as the microdrone provides no positional help. The operator has to steer the vehicle taking the wind into account and must react to every undesired influence ofthe wind. This requires a high degree ofalertness and confident handling of the microdrone. Only experienced pilots should control the position angle using the control stick, and only in exceptional cases. As the operating modes that have automatic flight control require a sufficiently strong GPS signal, the INS mode is the only way to fly ifthe GPS signal is very bad or non-existent. Of course there are situations when the GPS signal is not good enough, e.g. if you are taking off between two houses, and taking offwithout GPS is unavoidable. To cater for this there is a function that allows the operator to override the GPS signal for take off. To do this, push the E slider switch of the remote control forward for a short time and then push it back. The microdrone responds to the GPS override by emitting a sound. The microdrone can now take off. In the air the microdrone continues to search for GPS satellites to allow GPS-aided flight, and the mode is switched to GPS position holdor dynamicposition holdas soon as possible. 

### 3.2. GPS position hold Ifyou release the control stick during manual flight when In GPSposition holdmode, the microdrone's current position will be maintained. This means that the microdrone remains in its current position and, if required, will fly against the wind to do so. The benefit of GPSposition holdis that it allows the user to concentrate on the task itself, e.g. taking photos. To exit position hold, you only have to move the control stick 5% out of its neutral position. You have to be very careful at this point as this is where the most frequent errors are made. Ifthe microdrone is in the wind and in GPS position hold mode, the microdrone counteracts the effect of the wind automatically. When you exit GPS position hold mode, you have to counteract the wind yourself. Depending on the strength ofthe wind, you have to counteract it sufficiently. An error often made here is that users do not counteract the effect of the wind to a sufficient extent. If they do not, the microdrone drifts with the wind and inexperienced pilots then release the control sticks to put the microdrone back into GPS position hold mode. If this process is repeated several times, the microdrone could drift a long way. The above situation requires you to fly against the wind with enough power to counteract it before moving on. To fly onwards against the wind, you have to be even more assertive with the control stick. 

### 3.3. Dynamic position hold (DPH) function It is possible, from firmware version 2.8, to activate Dynamic Position Hold (DPH) when flying the microdrone manually. You do this with the G switch. The middle position means DPH is off and forward/up means it is on. Dynamicposition holdis atype ofautopilot (do not confuse with waypointfunction) for the microdrone. Dynamic Position Holdis afurther development of GPSposition hold. In GPSposition holdthe current position is only held when the control sticks are released. When you use the control sticks again, you exit GPSposition holdmode and you have to fly the microdrone yourself (taking any wind into account if necessary). The stronger the wind, the stronger you have to counteract its effects. In Dynamic Position Holdyou do not have to counteract the wind. You fly the microdrone comfortably using the control sticks according to the GPS coordinates you want to move to. In this way the microdrone is sent a new GPS position which it moves towards and maintains automatically until you give another command via the control sticks. This preventsthe microdrone from drifting in the wind. In mdCockpit under microdrone settings I DPH you can select different DPH settings: Revision 2013-01-21, ©2012, microdrones GmbH

## '

.__ __ =3!l"-'] 

## Operators handbook

## 1 md4-1000
Setting Mode 0: Mode 1 : M6de2: Function OPH function deactivated OPH function activated OPH function can be set via switch G: - G in 'middle' position: G in 'top' position: 

### 3.4. Teach-in function OPH deactivated OPH activated

The teach-in function is activated by pulling back/down switch Gfor at least 3 seconds. This saves the current waypoint coordinates such as position, orientation and altitude to the SO card of the microdrone. Though there can be no waypoint route already on the SO card. If this is the case, the teach-in function cannot be used. The main reason for the teach-in function is to create and calibrate your own extremely precise map material so you can fly waypoint routes safely. To see how this is done in detail, please see the mdCockpit instructions under Waypoint Editor I Importing map pictures from files. 

### 3.5. Waypointfunction The waypoint function allows you to automatically fly a predetermined route (according to predefined positions: GPS position, altitude and orientation), e.g. to take pictures. Waypointis activated by pushing up/forward the G switch whilst pushing down the H button. For this to work there has to be avalid waypoint route on the SO card ofthe microdrone. If you are in waypoint mode and you put the G switch back in the middle position, the microdrone will stop flying the waypoint route and you are again in control ofthe microdrone. To take up the waypoint route again, hold down the H button and move the G switch back to the forward/top position. The microdronewill now return to where its waypoint route was interrupted and continuefrom there. 

### 3.6. Homing function In this operating mode the microdrone automatically flies to the first position from which it received a valid GPS signal (point offirst fix). This position is also normallythe take-of position, provided the GPS signal was strong enough for take-off. The homing function can be triggered with the remote control. To do this the function Homing via RC switch has to be activated in mdCockpit. Once activated, if you move the G switch back/down whilst holding down the H button, the homing function is triggered. You can also activate the option Auto homing upon RC loss in mdCockpit. This activates homing automatically once the RC outage time has exceeded a defined value. This value can also be set in mdCockpit. If this setting has been deactivated and the RC outage time is exceeded, the microdrone goes into emergency landing mode and lands. There are three important things that the homing function enables: Once the function has been activated, the microdrone aligns itself to the line of sight of the operator. This assumes that the operator is at or close to the point offirst fix (ideallythetake-off position). In mdCockpit you can reverse the alignment during the automatic return flight so thatthe microdrone is not aligned to the line ofsight ofthe operator, instead it faces the operator. Secondly, the microdrone flies at the safe altitude that you can configure in mdCockpit. Thirdly, the microdrone will fly safely at adefined speed of5 m/s to the point offirst fix. If the microdrone is so far away that you can no longer see the red front arm, activating the homing function is enough to align the microdrone in a defined direction. In this way you know the direction in which the microdrone is pointing. If Auto homing upon RC loss is selected, the homing function is automatically activated if the RC connection has been severed. If the RC connection is re-established during the return flight, the homing function is automaticallyturned back offand you can re-assume control ofthe microdrone.

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## ' • 

## Operators handbook

## 1 md4-1000
The following illustration shows the three majorcomponents ofthe homing function: 1. 2. 3.

# ~+ Ri.ickkehr 

# 11.. 

# +) zum Point offirst fix 

# ! Flugrichtung an aufsichere Blickrichtung Hohe steigen

anpassen 

# +

X X X X Point offirstfix Point offirstfix Pointoffirst fix Point offirst fix
The following tables provide an overview ofthe available homing settings in mdCockpit: Homingvia RC switch Activated

Deactivated Allows the function to be activated using the remote control. The switch/button combination: G back whilst holding down H switches the function on. Switch G in the middle deactivates the function. Does not allow activation remotely. Auto homing upon RC loss •Activated Ifthe RC signal is lostfor a defined period (period can be defined in mdCockpit), then the microdrone switches to homing mode and flies back to the point offirst fix. Deactivated In this setting the microdrone goes into emergency mode and lands ifthe RC signal is lost for a defined period. Alignmentduring automatic return flight Forwards The microdrone aligns itselfso that the red arm points towards the operator when flying back. Backwards The microdrone aligns itselfso that the red arm points in the line ofsight of the operator.

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### ..**--~** 

### 312_; 

## Operators handbook 1

## md4-1000
4. The remote control

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## . 

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·- Picture: An overview ofthe hand transmitter ofthe remote control

Picture: Hand-held transmitter in the console The Royal pro 9 by Multiplex is the remote control transmitter currently used by microdrones to control the microdrone. It is shown on the left with its main operating elements. The transmitter has what is called a synthesizer HF module, that allows you to select any 35 MHz frequency band. The display of the Royal pro 9 can be tilted up (see picture below).**/~-·-""'---....**_ _./r· _;>

Picture: Display adjustment

The safest way to use the control sticks is by holding each between thumb and forefinger. There is also an optional console into which the hand transmitter is pushed that makes handling easier. The console can be hung on a belt oraround your neck, meaning your hands are free, making operation more comfortable and precise.

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### •

4.1. Switching functions ofthe microdrone 4.1.1. Control stick allocation ofthe remote control
The microdrone is controlled using the two control sticks. The coloured arm (normally red) is defined as being the front. A quadrotor doesn't actually have afront, which is why microdrones chose one. The left control stick controls the height (gas/throttle) and rotation aboutthe lift axis (yaw). If you move the stick forward, the microdrone climbs; if you move it back, the microdrone descends. Pushing the stick to the left makes the microdrone turn anticlockwise. Pushing to the right makes it turn clockwise.



# ...........**-~~'!~tit** • 4 Diagram: left control stick The right stick controls movement forward and back (nick/pitch) and to the sides (roll). Moving forward makes the microdrone fly forwards, pulling the stick back makes itfly backwards. Push to the left, microdrone flies to the left. Push to the right, microdrone flies to the right.**..........c~**

### ~·-~~­ 

# .,.....,.."".,

.

# .**~** Diagram: right control stick

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## Operators handbook

# 1 md4-1000 4.1.2. Slide switches E and F ofthe remote control

£ The slide switches E and F have to be in the lower position before take off. E is used to override the GPS. If the microdrone does not have GPS reception on the ground, it can take off without GPS and search for the satellites during flight. This procedure should only be an exception. The override is carried out by sliding the E switch forward, waiting a short time and then pulling it back. The microdrone will acknowledge this acoustically. Picture: Slide switches Eand F
The F switch is used to turn the motors on and off. The F switch has to be pushed up to switch on the motors. The motors start up in turn, first at the front, then left and at the back, and finally on the right. To switch off the motors, the F slide switch has to be pushed down and at the same time the left control stick has to be pulled down at least 80%. Ifyou have old firmware (before version 2.8) or ifyou have deactivated the function Safe motorswitchoffin mdCockpit, you only have to push the F switch down to switch offthe motors. Safe motor switch-offcan be set in mdCockpit: Safe motorsetting Activated Deactivated


### CAUTION: Motors are switched offby pulling the Fslide switch down whilst pulling the left control stick down. Motors are switched offby p-uiiing the Fslide switch down.-

Do not pull down the F switch during flight unless you want to crash the microdrone purposefully to avoid an accident. Ifthe F switch is pulled down whilst moving the left control stick down, the microdrone is switched off directly. Re-starting the motors is not immediately possible. Ifnotshutdown by the "F"sliderthe microdrones inhibitsthe nextflightforsafety reasons. Theflightthen mightnothave been completed properlyonthe SO card. The microdrone prevents overwriting ofthe lastflightonthe SO card. Errormessage in mdCockpit'sterminal dialogues: "possible lostflight data"

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## Operators handbook

# 1 md4-1000 4.1.3. Switchingfunctions ofthe remote control The switches L, N, 

### 0,

### J and button M have no direct relation to piloting the microdrone. The 

### 0 switch is forteacher/student operation. 

### 0 allows you to switch controls.



### Functions ofswitches I and G: Switch position
· Iforward/up

I back/down Iforward/up and press button H Switch position G forward/up G in middle position G back/down Gforward/up whilst pressing the H button G back/down whilst pressing the 

### 1-i button I. G and H are important during flight.

The H button is on the side behind switch 

### J (see red arrow}.
They open up a host of possibilities to the user as shown in the table below.

Function Take photo (onlyduring manual control} Take photo deactivated Optical3xzoom: 1.0x, 1.7x, 3.0x Depends on type ofcamera. Function DPH active (from version 2.8} Static GPS position hold Teach-in function Activate waypoint Homing function when Homing via RCswitch has 

### Button H in combination withthe control sticks The H button has other functions in addition to the functions provided in combination with switches I and G. The four servos can be controlled by pressing the H button and using the control sticks at the same time. The leftcontrol stick is used to adjust servos 1and 2. Moving the control stick up or down adjusts servo 1, which adjusts the pitch of the camera mount. Moving the control stick to the right or left affects servo 2, which adjusts the roll angle ofthe camera mount. The right control stick in combination with the depressed H button controls auxiliary servos 3 and 4, which are currently unassigned. Iffirmware/hardware is installed , pressing the H-Buttonfor morethan 1Os switches flight lights on/off.

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# [m
.**]r~**__]

## Operators handbook

# Imd4-1000 4.2. Remote control settings The following chapter contains a few settings of the Royal pro 9 made by Multiplex that we currently use. Please see the manufacturer's operating instructions concerning the diverse settings that can be made. The menu structure is very user-friendly and well structured, making programming and operating the transmitter much easier. 

### 4.2.1. Trim ofthe control sticks

Picture: Allocation ofthetrim switches

Picture: Royal pro9 display 

### The trim for both control sticks (i.e. the value in the central position) must always be at neutral to operate the microdrone. The stylized bars on the display ofthe Royal pro 9 (see picture below) shows this value. You can change this setting with the four cross-like buttons under the control sticks (see circles in adjacent picture). You can see when the neutral position has been reached on the display, and a sound is also emitted.



## .&. WARNING: Only start when the trim is in the neutral position, otherwise the microdrone will assume that the operator is sending a permanent control command and will therefore turn off GPS position hold. If the voltage of the transmitter battery is under 7.2, itshould be charged immediately.

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## Operators handbook

## 1 md4-1000

4.2.2. RC channel selection 

# ' 

# -

ABC1 Hold down the 'Spanner- ABC1' button and then turn on the transmitter to change the channel.

Then release the button and setthe desired channel using the rotary knob on the top right ofthe transmitter
.

..- The channel has to be confirmed using the wide enter button in the middle of the button field. The channel is activated once the transmitter is turned back on.



### 4.2.3. Switching between display pages /-#0 

# -

..... Press the bottom right button "/-#0"to switch between pages on the LC display. This switches between the voltage and trim display, the status screen and the countdown timer
.



### 4.2.4. Resetting the timer to 30 min 

## vwxs 

# - REV/CLR You can use this button to reset the timer. Once the F motorswitch has been pushed forward, the timer begins and counts down from 30 minutes. You should do this each time you land.



### 4.2.5. Teacher/student operation The Royal pro 9 allows teacher/student operation (see Royal pro 9 handbook). Two pro 9 transmitters are used at the same time for this. You can switch between the controls using the 

### 0 switch. A cable has to connect the transmitters to do this (see picture). Ensure that the connection plugs for the teacher and student transmitters are the right way around. The transmitters must be set to teacher/student operation (see Royal pro 9 handbook). The easiest way to do this is to use software available from microdrones that can be put onto the transmitters via a cable. This allows a beginnerto be taught by an experienced operator, and by moving the 

### 0 switch the teachercan regain control.

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## Operators handbook

## 1 md4-1000 4.3. Charging the remote controltransmitter A separate charger is used to charge the remote control transmitter. It should be charged at the latest when a value of 7.2-7.3 V is shown on the voltage display. You get to the voltage display by pressing the bottom right button "1-#0". Charging overnight is easily enough to recharge the NiMh battery of the transmitter. Insert the round plug into the charging socket on the back ofthe transmitter forthis purpose. 

### Caution: Pay attention to the nose of the plug to prevent voltage reversal. 

### 4.4. Bleeps ofthe remote control Once the motors have been activated using the F switch , a countdown begins on the transmitter and a sound is emitted on reaching everyfull minute. This is simply a signal for the operator to make managing the flight time easier. Once the time is up, a constant warning sound is emitted. You now have to land as a matter of urgency, and replace the battery immediately after landing. 

### 4.5. The antenna ofthe handtransmitter CAUTION: The transmitterantenna must be completelyextended during flight. The antenna should not point towards the microdrone as this is the weakest orientation thus reducing range (so do not fly the microdrone over your head). You should align the antenna so it is parallel to the antenna ofthe microdrone. The swivel mechanism ofthe antenna can be unlocked by pulling the antenna slightly and then bent up. 

### 4.6. Technical data ofthe hand-held transmitter Multiplex Royal pro 9 hand-held transmitter Transmission type Modulator Servo impulseformat · Energysupply : Powerconsumption

Charging current

· Operating temperature

Storagetemperature Charging temperature Weight Dimensions (L x W xH) · Switchable FM I PPM or FM I M-PCM with 10kHzspacing !'iF !flQ.dLJ.Ie §yntj1E)sizer HFM.:§ MPX 1.6 +1- 0.55 ms UNI 1.5 +1- 0.55 ms 7.2 V, NiMH 6 cells, AA, <50 rnA without HF emission -250 rnA with HF emission Max. 1.4A (quick charge) 210 rnA (normalcharge)**~-15'**

### o(;'

# 'to55 

# "c
. -20 oc to 60 oc 0 octo4 ooc Approx. 900 g (with battery) 220 x 270

# x 60 mm

Revision 2013-01-21, ©2012, microdrones GmbH

### .___----'~=··'--'!Operators 

## handbook

# 1 md4-1000 5. Camera 5.1. Camera suspension systems There is a suspension system made from CFRP for every camera type that is put into position on the underside ofthe microdrone.

The above picture shows an Olympus camera with the standard mount for our microdrone. All camera mounts have a remote control servomotorthat enables a pitch angle ofthe optical axis ofabout0-90°. To controlthe pitch angle, hold down button Hon the right ofthe remote control and now movethe left control stick forwards and backwards (otherwise used to adjust the height (throttle) ofthe microdrone). You must keep the H button depressed all the time, otherwise you will change the altitude of the microdrone.

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## Operators handbook

## 1 md4-1000
This special camera mount, shown on the picture below, has two servos. These two servos allow you to adjustthe roll and pitch angles. The camera mount is not part ofthe standard range and can be purchased separately.

The camera mount is controlled by pressing the H button and operating the left control stick. Moving the control stick up ordown alters the angle ofinclination. Whilst moving the control stick to the right or left changes the roll angle. Connecting the servos is explained in the chapter The servo connections ofthe md4-1000. Please note: Do not attempt to adjust the camera angle by hand, otherwise you might irreparably damagethe delicatetransmission ofthe servo.

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# ..**['~;::P.~-i~HD**

## Operators handbook

## 1 md4·1000 5.2. Olympus camera The Olympus Pen E-P2 is currently the standard camera we offerwith oursystem.

• HD video
• Good picture quality • High-quality multimedia tool for photos and filming
• Classic design
• High flexibility

• Comprehensive photo functions and integrated picture stabiliser

Technical data: 

### Olympus Pen E-P2 Resolution

Colourdepth Sensor Fileformat : Compatible with removable · data storage media

Connectiontocomputer Otherconnections Powersupply Focussing Exposuretimes
; DimensionsW x H x D



### Weight 4,032 x 3,024 pixels 3,200x 2,400 pixels 2,560x 1,920 pixels 1,600x 1,200 pixels

640x 480 pixels 24 Bit (16.7 million colours) forJPGformat 17.3x 13 mm LiveMOS-Chip wlth 12,300l000 pixels JPEG (.jpg), AVI-Video(.avi), VIJAV and RAW SO card (SDHC-compatible) L)SB interface (version 2.0 hi-speed) Audio output, HDMI, accessory port (also for optional microphone adapterand supplied viewfinder) 1x lithium ion battery, camera-specific (1,150 mAh; 7.2 V) Type: BLS-1 Autofocus and manual focus 1/4000sto 2s (automatic) 1/4000sto60s (manual) 1 1180sto 60s (with flash) 120 mm x 70 mm x 35 mm 370 g (readyforoperation)

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# .. Operators handbook

## 1 md4-1000 5.3. Full HD Sony HDR-CX 740 VE camcorder The picture shows a Full HD camcorderwith universal mount.

• High definition 3MOS camcorder
• 3MOS camera system and progressive recording 1 080/SOp
• Lens with 1 Ox optical/120x intelligent zoom and XXmmwide angle
• 3D compatible (optional converter)



### Technical data: Sony HDR-CX740VE : Picture sensortype

Pixels

. Optical/digital zoom .

Focal length Picturestabiliser Display Recording format Recording standards Audio recording format· Storage medium Photo picture size 

## 16:9 (pixels) Dimensions (W x H x D) -Weight ExmorRTM CMOS sensor, type 1/2.88 (6,3 mm) Appro)(, 6.14 mill.**pix~l~** (16_:9)_;**~pprox.** 4.6 mill. pixels (4:3) 10x/120xintelligent 3.8-38.0 mm --Balanced optical stead-yShotm

## \r,Ttti.active mode (wide angle to

tele) Xtra Fine LCDTM display with TruBiackTM technology, 7.5 em**(~21** ,000pixels)
_ _ _ _ _ _ _ AVCHD: Full HD 1920x 1080 (50p/50i);**iFrarn~:__**540/25p
__ _ __ 1080/SOp (28Mbps), HA (17Mbps), HG (13Mbps), HN (9Mbps); HE (5Mbps), iFrame Dolby:.[)Jgital 5.1 channel SD/SDHC/SDXC card (min. c!ass2) 

### Max. 24.1 mega pixels**(JP~EG;6544** x 3680) 67.5x 73.5 x 137.5 mm Approx. 555 gwithout battery

Revision 2013-01-21, ©2012, microdronesGmbH

## Operators handbook

## 1 md4-1000 5.4.

# ceo daylightcamera

5.5. Dawn (near IR) camera

5.6. Thermographic camera The CCD daylight camera is a video camera without recording unit. So it doesn't have a battery or storage card. It sends the video live to the ground station. The focus cannot be adjusted. The stream is recorded using the application software (e.g. mdCockpit) on the notebook.

The dusk or dawn camera is a video camera for taking night pictures where light levels are very low. It does not have a recording unit, so is used for live transmissions. It doesn't have a battery or storage card. The video is sent live to the ground station. The focus cannot be adjusted. The stream is recorded using the application software on the notebook.

The thermographic camera is like a conventional camera that takes pictures, though is sensitive to infra-red light. Thermography is a process that visualizes heat radiation (medium infra-red) invisible to the human eye emanating from an object or body. Thermography records and represents temperature distributions on surfaces and objects. It sends the video live to the ground station.

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# C_ JHi 

## Operators handbook

## 1 md4-1000 6. The base station 6.1. Connections and functionality

The operating panel of the base station is shown on the right.

You choose one of the three power supplies by inserting the power cable, car cable or battery. The station is switched on using the switch at the top on the left. Depending on the power supply, the corresponding LED lights up.
The base station can also charge the LiPo battery. D**~** The picture on the left shows the base station we use. The base station receives the video and telemetry signals of the microdrone.

The signals received are prepared for use with a PC.



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## L----~=· 

# '-'I Operators handbook

## 1 md4-1000

The coloured connection cables of the antenna are connected to the corresponding cinch connections. The sockets Audio 1 and Audio 2 receive the telemetry data and the Video in socket receives the video signal. The video signal is sent to a notebook via USB. The second USB connection, downlink, provides the notebook with the telemetry signal. Using appropriate software (mdCockpit) the telemetry can be processed and displayed by the PC in real time.

Both Video outconnections allowthe userto pick up the video signal using external devices, e.g. with a projector or video glasses. Video glasses allowthe operatorto flythe microdrone as if he were in the cockpit himself. The small display shows the current battery level ofthe base station in percent. The DATA LED lights up as soon as data are received. The AC, 12V or BATT LED tells the user which power supply is operating the base station. Normally the best available power supply is used.

The base station can be connected to a 100-240V AC mains socket, a 12 V car power supply or power is provided by a battery whose connection is under the cover. The 12V DC out socket is the power supply for the digital receiver. CAUTION: Newer vehicles, vans or lorries might have other on-board voltages 

### (e.g. 24 V). Always check the operating instructions of the vehicle to avoid damaging the base station.

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## Operators handbook 1

## md4-1000 6.2. Charging the base station

The battery will be fully charged after one hour at most and can then be removed. If storing for a long period, the battery should be about 60% charged. Only batteries that have completely cooled down are permitted to be charged.

Caution: Constantly monitorthe charging process! The battery can only be charged by connecting to the AC mains or 12 V car power supply. To do so, insert the battery into the charging slot inside the case and switch on the charger (see adjacent picture).

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# •**'----=~'---'1** 

## Operators handbook

## 1 md4-1000 7.0. The flight battery Lithium polymer batteries currently have the highest energy density and so are the best choice for our system. However, due to fluctuations caused by manufacture, the internal resistance and capacity of each individual cell can vary. In addition, low temperatures, battery age and difficult flight conditions could cause the voltage of the battery to dip unexpectedly. Therefore, always monitor the voltage display, e.g. using mdCockpit.

Picture: LiPo battery microdrones selects the cells and matches each individual batteryfor quality-assurance purposes. The LiPo battery (picture) consists of individual cells and has a rated voltage of 22.2 V and a capacity of 13 Ah. The maximum voltage is 25.2 V. This battery type is used in the md4-1000 system to operate the microdrone. It is charged using a charger that is in aseparate charging case.



### 7.1. Safety and care information on the battery
The batteries should only be operated and stored at room temperature. So iftemperatures are low, make sure the batteries get up to room temperature (20-40

## oc, inner pocket ofjacket) for at least 3 hours before use. The voltage of cold batteries could drop suddenly and cause the microdrone to crash. Avoid short-circuiting the battery contacts. Coins or keys in your pocket or putting a battery onto wet grass is enough to short circuit it. If storing the battery for a long time, it should be at least 60% charged. The easiest way to check this is to use the charger orthe mdCockpit voltage display. Ifyou can hearthe batterywarning during flight, then you should land straight away. The battery should not be drained to less than 21 V to keep it in good condition and so it has a long life. Immediately remove the batteryfrom the microdrone after landing. Avoid exposing the microdrone to direct sunlight for long periods as otherwise the temperature specifications ofthe electronics and battery might be exceeded and cause malfunctions. You can only take off ifthe battery is completely charged. Used batteries must be stored in the microdrone box so that they cannot be confused with others. Crashes and hard landings are caused by a lack ofpower. New batteries do not perform at their full power immediately. Therefore, you should end the first flight with a new battery after ten minutes and then, as always, only charge the battery after it has cooled down. A battery that is not completely discharged can be charged many more times during its life than a battery that is often completely drained. Batteries wear, just as car tyres do. They do not last forever and have to be replaced from time to time. However, ifyou treat them well, you can increase their life considerably.

Revision 2013-01-21, ©2012, microdrones GmbH

# •• 

# .

. Operators handbook

## 1 md4-1000 7.2. The charging case

The red wire is the positive connection, the black wire is negative. The connection in the middle is the balancer connection. This connection ensures that all the individual battery cells are completely and uniformly charged. The balancer connection is required to ensurethe charging process runs correctly. The picture on the left shows the charging case we sell. Two batteries can be charged at the same time.
• Input 115-240 VAC /50-60Hz • Output 20 VDC - 20 A for every charger.

Caution: Do not shut the charging case during charging!

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### ' 1 

## •• Operators handbook

# 1 md4·1000 7.2.1. Connection ofthe batteryto the charging case

First connect the earth (black wire) ofthe charging case to the battery.

Then establish the positive connection (red wire).

Finally, connect the balancer to the battery. The balancer connection ensures the individual cells charge uniformly. It also checks the cells when charging and discharging.

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## Operators handbook

## 1 md4-1000 8. Safety procedures
microdrones md4-1000 are protected against several kinds of hazards. The behavior of the systems was tested in many different emergency situations. The following chapter gives an overview ofthe tested situations. Situation: Command & Control (C&C) signal reception is bad or lost. Behavior: The microdrone will enter GPS Position Hold immediately and try to reacquire the signal for an adjustable amount oftime (30s by default). Ifthat time runs out, the microdrone will either enter emergency landing with a descent speed of 0,5m/5 

### or go into homing mode, depending on the user's settings. Homing mode will align the microdrone with the operator's line of sight, climb to a predefined minimum altitude (30m by default), return to the take-off position in a straight line and finally

- if the C&C could not be recovered during the whole procedure - enter emergency landing at the take-off position. If C&C is recovered during homing or landing the procedure is interrupted and the operator has full control overthe craft. Situation: GPS signal reception is bad or lost. Behavior: Flight control will revert to inertial navigation mode. The stabilization system of the microdrone is still active. The operator is notified by textual, graphic and spoken messages aboutthe situation and has to hold position manually. GPS Position Hold kicks in again as soon as the signal quality is back to normal. Situation: Command & Control (C&C) and GPS signal reception is bad or lost simultaneously. Behavior: The microdrone will immediately enter emergency landing with a descent speed of 0,5m/s .If C&C is recovered the emergency landing is interrupted and the behavior ofthe situation "GPS signal reception is bad or lost" applies. IfGPS is recovered the emergency landing is interrupted and the behavior ofthe situation "Command & Control (C&C) signal reception is bad or lost" applies. Situation: Virtual Fence is being approached or reached. Behavior: The microdrone slows down and finally stops, ifthe operator continuously flies in a direction in which he would leave the approved air space volume. GPS Position Hold stays in effect until the operator commands the microdrone back towards the innercircle ofthe virtual fence. Situation: Flight reaches critical speed. Behavior: If the microdrone's speed increases to critical speeds the operator will be informed to immediately slow down the craft. The messages get more insistent, if the speed is not reduced. The best solution to resolve the situation is to let go of the controls and have the microdrone's GPS Position Hold stabilize the flight. In case GPS is not present the operator has to find the right maneuvers on his own to resolve that situation as soon as possible.

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## Operators handbook 1

## md4-1000 Situation: Flight reaches critical pitch or roll angle. 

### Behavior: Pitch or roll angles above 40° are a potential risk. As soon as the microdrone's attitude approaches a critical angle in at least one axis the operator will be informed by spoken message. The best solution to resolve the situation is to let go of the controls and have the microdrone·s GPS Position Hold stabilize the flight. In case GPS is not present the operator has to find the right maneuvers on his own to resolve that situation as soon as possible. Situation: Flight under increasing wind speeds. 

### Behavior: The operator is notified by textual, graphic and spoken messages about the current wind speed. Critical conditions are marked as such. Especially the approach of maximal motor load, high pitch and roll angles are also reported in this situation. In case oftoo much wind the operator has to land the system immediately. Situation: Flight reaches critical altitude and/ordistance. 

### Behavior: The drones distance and altitude can always be read on the base station screen. In regular intervals also a spoken message informs about the current readouts. If one ofthese values reaches a critical level, the operator is immediately informed by spoken message. Situation: Motor power reaches its limit. 

### Behavior: The power output ofevery individual motor is monitored continuously. The operator is informed by spoken message, if one or more motors approach their performance limit in case of payload overweight orcritical wind speeds. Situation: A rotor blade collides with an obstacle. 

### Behavior: Motor power is cut immediately. Motor control will intermittingly try to restart the motorwith low power. Only ifthe obstacle is gone and the rotor blade turns freely full power is applied again. Situation: Battery consumption in flight. 

### Behavior: During normal flight the battery voltage is constantly monitored by the base station. The state of the battery is communicated alphanumerically, graphically and through spoken messages. Readouts and messages include current battery level, estimated flight time remaining, "bingo" warning, which indicates the moment when the remaining battery power is just enough to comfortably and safely return home. Situation: The microdrone is powered up with an insufficiently charged battery. 

### Behavior: Always during startup and after landing the voltage ofthe battery is checked. If it is not sufficient for sustained flight the microdrone enters an error state, blocking (another) take-off.

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## Operators handbook1

## md4-1000 Situation: Battery is depleted belowwaming voltage during flight. 

### Behavior: The microdrone employs two battery voltage warning levels, which are by default 20,6V/20,1V. As soon as the voltage falls below the first threshold, the microdrone refuses to gain more altitude. Only horizontal or descending movements are allowed. If the operator does not touch down before the voltage falls below the second threshold, the microdrone will descend on its own with a speed of 

### 0,5mls and the operator can only influence the horizontal position or accelerate the descent. The status is constantly announced by the Base Station in textual, graphic and spoken messages. Situation: Unusual vibrations are detected. 

### Behavior: During the post-flight check of the flight recorder, acceleration sensor data is checked for unusual vibrations to detect body damage or loose screws in an early stage and prevent subsequent problems before they arise. Situation: microdrone automatically startsto spin wild and uncontrollably 

### Behavior: This can indicate a faulty component within the Navigation System which can lead to a crash. The operator has to turn the "G" switch to PH (center position) immediately. He has to take over manual control with movements of more than + 

### I -5% and immediately land the system. Depending on the firmware pulling the E-Siider up to switch of GPS completely is an alternative method. If both does not help the operator has to decide to initiate an emergency shutdown with F-Siider down and Throttle full down to initiate a controlled crash landing ifthe expected crash-zone is save to do so.

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