# UNMANNED SYSTEMS 

# FBWA Takeoff Step 1: The Launcher holds the E384 up, keeping the propeller as far away as possible. 

### Step 2: One hand is placed on the bottom ofthe fuselage near the camera openingto guide the throw. 

### Step3: The other hand is the launching hand. The launching hand is placed on the tail, with the index finger or more on the back ofthe tail. 

### Step 4: The Pilot should have the transmitter in hand. Thrattle up to 60%. 

### Step 5: The launcherthrows the E384 firmly at an angle ofabout 15 degrees with the wind at the nose of the plane. 

### Step 6: Afterthe release, the pilot increases the throttle and pulls up on the elevatorto climb. Climb to about 100m. After climbingto a safe altitude, the mode may be changed for autonomous flight.



### 13

# UNMANNED SYSTEMS 

# Planning a Mapping Mission Step 1: Go to the Flight Plan tab and find the area you intend to survey. 

### Step 2: Click Add Polygon on the right and enclose your area of interest. When in "Add Polygon" mode simply left click to add as many points as you desire. Ifyou left click and hold a polygon pointyou can drag it (likewise with way points). Ifyou need to delete a polygon point you can simply right click on the point and click on "Delete WP" (likewise with way points).



### Step3: Click Survey (Grid). Choose your camera. Change your altitude for desired ground resolution. Choose your angle, based on wind direction

. Choose your "startfrom" based on wind direction. Choose your sidelap/overlap (60% recommended). 

### Step 4: Click the accept buton.

You will notice "Stats on the right." Make sure "FlightTime" is reasonable, under 100 minutes. Ifyou are usingthe Canon SX260 you will need to set the proper settings foryour mission, based on the Flight Time. (See SX260 Operations).



### 14

# UNMANNED SYSTEMS 

# Auto Landing In this page Autonomous flight is planned from startto finish. Brief mentions will be made ofAuto Takeoff and Planning a Mapping Mission

. Check outthose pages to fill in the details. 

### Step 1: to the Flight Plan screen
.The mission has been planned by first settingthe Auto TakeoffWP, then adding a polygon and using the auto WP function. Because the TakeoffWP disappears we see thatthe first visible WP is WP 2.

In this scenario the wind is movingfrom North to South. During landing a headwind is ideal. 

### Step 2: WP must be added to accomplish two tasks. They must change the direction ofthe E384 so that it will be landing with a headwind. They must also reduce altitude safely. When reducing altitude, always avoid flying too closelyto obstacles. To add WP manually, first left click the Clear Polygon function. Now left click anywhere on the map to add a WP. Change altitude by changing the value ofthe Alt column in the row ofthe WP number desired. Change the last WP command to Land. Change the Land WP altitude to Om.

In this example, obstacles do not come into play. The design ofWP 38,39 and 40 is to set the E384 on the proper landing path and reduce altitude. We remember that the wind is traveling from North to South in this example. WP 41 is our Land WP at Om altitude

.Also notice the Grad% column. When developing a landing procedure; 1

. Decide landing path based on wind

. 3. Set a WP procedure

. 2. Estimate the obstacle heights. 4. Adjust altitudes. 5

. Set Land command

. 6. Adjustthe WP altitude or location in order to achieve usable Grad %. --The maximum magnitude ofGrad% is near 30% with a 5 mph headwind

.. --The maximum magnitude ofGrad% between your Land WP and the previous WP should be kept below 10% To upload the WPs to the E384, connectto Mission Planner and left click the Write WP button. Afterthe WP have been written, press the Read WP button

.The Read WP button will clearthe WP on your Flight Data screen and add the WP that are stored on the E384. Read WP allows confirmation thatthe WPs on the E384 are correct.



### 15

# UNMAN ED SYSTEMS 

# FBWA Landing Step 1: During descent keep throttle very low, and no throttle at all ifspeed is maintained.


### Step 2: Land with the wind atthe nose ofthe E384 to slow it down. Bring the E384 down and land on its belly. 

### Step 3: Go to the E384 and unplugthe battery. When you are sure the battery is unplugged you may disassemble.



### 16

# UNMANNED SYSTEMS 

# Geotagging Utility Step 1: Open mission planner and go to the flight data screen. Select the Telemetry Log tab on the display.



### Step 2: Click the Tlog > KML or Graph button. 

### Step 3: This will open a new window as shown below. Next Select the Convert to CSV button.



### Step 4: Selectthe Telemetry log from the flight you wish to GeoTag and select open. 

### Step 5: The log willthen be converted into a CSV file. The CSV file will save underthe same directorythat you have selected yourTelemetry Log from.

Now that we have the CSV file we are able to GeoTag our pictures with the Event38 Image Utility. Continued on the next page



### 17

# UNMANNED SYSTEMS 

# Geotagging Utility(Continued) Step 1: Open the Event38 Image Utility application. 

### Step 2: Select Image Utilities then select GeoTag V2

. 

### •



### Step 3: Selectthe Image Path and Log File path. To selectthe correct image path select the directory orfolder containing the photos thatyou wish to Geo Tag. To selectthe log file path find the CSV file you converted in the earlier steps ofthis manual. Then click process.



# ·- ............ 

# ·- ·-



# .

# -- 

# ·--· Step 4: c:=:J

-- c:=:J

--

Click okay and then navigate to the Folder containing the pictures that had been selected for GeeTagging. There will be a Text document called lmageLog.txt.


### Step 5: The documentwill contain the image name, latitude, longitude and altitude for each processed picture

.



### 18

# UNMANNED SYSTEMS 

# Transmitter Modes (Spektrum)
With the Spektrum DXSe we can selectfrom three different modes. Other modes can be selected using your ground station computer. The modes will be selected using the CH 5three position switch.

The position pushed furthest away from us (0) is FBWA mode. The position pushed furthest away from us (0) is FBWA mode.

The position pulled closest to us (2) is Auto.

Verify your modes. Power on yourtransmitter. Remove propeller. Power on your E384. Connect to Mission Planner. Cycle through the modes. In Flight Plan, the bottom right corner ofthe heads up display will show which mode is currently engaged.



### 19

# UNMANNED SYSTEMS 

# NX1100 Operations Step 1: Open Mission Planner and go to the Flight Plan screen 

### Step 2: Right click on the screen and select "Draw Polygon" » "Add Polygon Point".



### Step3: Choose the area you wish to map by inserting polygon points with a left click around your area of interest. Then right click and go to "Auto WP" »"Survey(Grid)". 

### Step 4: In the "Simple" tab use the camera drop down and select the "NX1000." Choose an "Angle" that will allowthe plane to fly crosswinds. Make sure the box labeled "Camera top facing forward" is not checked. Circled in red is "Ground Resolution." 

### Step 5: Go to the "Grid Options" tab (This tab will not be visible unless you check theAdvanced Options box in the Simple tab). Choose your Start From in the corner that will allowyou to fly your pattern crosswinds and make all ofyourturns with the wind at the nose ofthe plane. Standard "Overlap" and "Sidelap" is 60% for each. 

### Step 6: Go to the "Camera Config" tab and change the "Focal Length" to match thefocal length ofyour pancake lens. At the bottom ofthe Camera Config tab make sure "CAM_TRIGG_DIST" is checked. 

### Step 7: Go back to the "Simple" tab. Choose an altitude that corresponds to the "Ground Resolution" that you desire (be sure to check the altitude ceiling in your area). Then press "Accept" to transfer those WP to the "Flight Data" screen.



### 20

# UNMANNED SYSTEMS 

# NX1100 Operations (Continued) Step 1: Pull up the green Waypoints bar on the bottom ofthe screen and verifythey are as expected. Afterthe first WP in your polygon there shoud be a DO_SET_CAM_TRIG_DIST WP. After the last WP in your polygon you should see another DO_SET_CAM_TRIG_DIST WP. 

### Step 2: Press the green Write WPs button on the right when your E384 is powered on and connected to Mission Planner. This will send the WPs to the E384. Read the WP from the E384 by pressingthe Read WPs. Then lookthrough the WPs again to make sure all the WP are as desired.



### Step3: Turn your NX1100 on in P mode, we have configured your NX1100 for optimum performance in P mode. Connectthe MicroUSB comingfrom channel Aux Out 5 on the Pixhawk to your NX1100. In Auto mode the plane willtake pictures based on your parameters. 

### Step 4: After the flight connect a MicroUSB from your computerto your Pixhawk. Choose the correct Com Port, and set the baud rate to 115200. Go to the "Terminal" screen on Mission Planner and press the green "Connect" button. Now press the "Log Download" button.



### Step 5: Choose the latest log and press "Download These Logs". After completion close the "Log" window. Hold Ctrl on your keyboard and press the letter "F" on your keyboard. 

### Step 6: Click on "Geo ref images."



### Step 7: Choose "Cam Message Synchro." Press "Browse Log" and choose the log we just downloaded from the APM. Press "Browse Pictures" and choose the pictures from the mission. Press "Pre-process" and waitfor itto be completed. Then press "GeoTag Images." After this step is complete a separate set of images that are geotagged will be created for you
.



### 21

# UNMANNED SYSTEMS 

# 5110 Operations Step 1: Open Mission Planner and go to the Flight Plan screen. 

### Step 2: Click the Add Polygon button on the right. Left click on the map to enclose the area you are mappingwith the polygon then click the "Survey (Grid)" Button.



### Step3: Change the camera option to Canon S110 and click Accept. You will notice thattwo DO_- CAM_TRIGG_DIST WP have been automatically added. The first box reads 43. After the first WP is reached this willtellthe camera to take a picture every 43m the E384 travels. DO_CAM_TRIGG_DIST is also the last WP in my survey. The first box reads 0. When the E384 reaches the lastWP itwilltellthe camera to stop 

### Step 4: Write and read your WPs. 

### Step 5: After running through your preflight checklist plugthe cable from your Pixhawk portAux Out 5 into your S110. 

### Step 6: Turn on the S110 and press the shutter button to open the lens. 

### Step 7: Press the blue play button. 

### Step 8: Press the shutter again and the text on the display should read "waiting on USB signal." 

### Step 9: Place the camera in your E384. Ifat some point duringyourflight you have reached greaterthan 50m altitude and later decrease altitude below 30m the lens on the 5110 will automatically close. Ifyou need to abort flight before reaching SOm you can close the lens by going to the actions tab underthe HUD in Flight Data and pressing the close camera lens button.



### 22

# UNMANNED SYSTEMS 

# 5110 Operations (Continued) Step 1: Connect a MicroUSB cable from your computerto the Pixhawk. Choose the correct Com Port, and setthe baud rate to 115200. 

### Step 2: Go to the "Terminal" screen on Mission Planner and press the green "Connect" button. 

### Step3: Press the "Log Download" button. Ifyou have not cycled power since yourflight, choose the last log and press download these logs.



### Step 4: Run the Event38.1mage.Utility Application.
Moil! FU IMAGE UTlUTIES



### Step 5: Click IMAGE UTILITIES» Geo Tag. 

### Step 6: Click Select nextto Image Path and choose your folder containing your images

. 

### Step 7: Click Select nextto Log File Path and choose your dataflash log from your flight. 

### Step 8: Click Process. After afew seconds a pop up should appear lettingyou know processing is complete and a new set oftagged photos will be included within your image folder.



# - fU IMAGE U1IJTIS**~!iii** u
.**~** C\Uon I u**~** C\Uon

# r.:**~~~~**

# ~~**n ~10cl10** 



### 23

# UNMAN ED SYSTEMS 

# Pre-Field Checklist

D Designate a Windows Laptop 

# D Download E38 Mission Planner 

# D Download Telemetry Radio Drivers 

# D Cache Maps 

# D Charge Batteries 

# D Flight Batteries 

# D Transmitter Batteries 

# D Camera Batteries 

# D Pack Everything Up 

# D Flight Batteries 

# D Fuselage 

# D Tail 

# D Elevator 

# D Wings 

# D WingSpar 

# D Propeller 

# D Transmitter 

# D Camera 

# D Ground Side Telemetry 

# D Laptop 

# D Rubber Bands 

# D Phillips Screwdriver 

# D Adjustable Pliers (Or Similar Tool)

24

# UNMANNED SYSTEMS 

# Preflight Checklist

D Assemble E384 

# D Tail 

# D Wings 

# D Batery 

# D Camera 

# D Fuselage Cover 

# D Check Balance 

# D Power On Transmitter 

# D Plugin Battery 

# D Arm Plane 

# D FunctionTesting (FBWA Mode- Ensure proper response from ailerons) 

# D Move right stick right 

# D Move right stick left 

# D Move right stick up 

# D Move right stick down 

# D Move left stick right 

# D Move left stick left 

# D Move leftstick upwards 

# D Compensation Testing (No remote used) 

# D Bank Right 

# D Bank Left 

# D Lift Nose Up 

# D LiftTail Up 

# D Open Mission Planner 

# D Check MP Automated Checklist 

# D Review User Checklist 

# D Check For Valid Waypoints 

# D Power On Camera In "P" Mode 

# D Reinstall Camera



### 25

# UNMANNED SYSTEMS Flight Procedure Summary In this section we will discuss the procedure used to collect imagery, beginning with preparationsforflight.
Start byfollowing the E384 Pre-Field Checklist (Page 24).
When you arrive atthefield, take a note ofthe wind direction and speed. Avoid flying in winds above 20 mph.When we plan a mission we wanttofly crosswinds and make all ourturns intothewind. Let's startthe mission planning process. Decide whetheryou will betaking offmanually (in FBWA) or using the automatic takeoff. Ifyou are taking offmanually (FBWA Takeoff- Page 13) nofurther action is needed. Ifyou are taking offautomatically,followAutoTakeoff(Page 12). Now plan thesurveying portion ofyour mission (Planning a Mapping Mission- Page 14). Finally, decide on your landing procedure

.Automatic landing follows Auto Land. Manual landing follows FBWA Land.
Nowwewill turn our attention tothe assembly ofthe E384. Attach the propeller (Page

- 8). Attach thetail (Page- 6). Attach the wings (Page- 7). Place the batteries (but do not plug them in!!!) and camera intothe E384 and checkthe balance (Page- 9).
Go through the E384 Preflight Checklist (Page 25).
When everything checks out properly gotothe Fight Plan screen and press WriteWP. After theWP have been writtentothe E384 press Read WP. This will read whateverWP the E384 has stored. Verify all theWP are correct. Start your camera and prepare for take off.
Ifyou are taking offmanually, follow FBWATakeoff.
Ifyou are using an automatictakeoffWP;
Nowthe Launcher should pickthe E384 up and hold it, fully prepared to launch. Never put body parts near the propellerwhen the battery is plugged in!
The Launcher should communicate tothe Ground Station Managerthat he is prepared.The Ground Station Manager shall then change the modeto Auto, using eitherthe RC transmitterortheactionstab underthe HUD.The Grand Station Manager should confirm thatthe mode is Auto

.The Launcher will then proceed by throwing the E384 firmly at an angle ofapproximately 15 degress

.Always throwthe E384 againstthe wind for best results.
When the E384 reads 3 m/s ground speed, the motorwill begin rotating.The E384 will attemptto hold heading during takeoff.When it reaches thetakeoffaltitude itwill turn and travel tothe second WP.

26

# UNMANNED SYSTEMS Flight Procedure Summary (Continued) Ifyou have completed a manual takeoff, and are now in RTL;
Watch the E384 circle at least twice to make sure that it is flying properly. Nowgotoyour computerand press Auto.This will start the mission. During the mission keep an eye on the batteryvoltage.The voltage will fluctuate most notably at higher throttle. Ifit no longer rises above 14.5V it is timeto bring it in for a landing. During the mission pay attention totheflight path and the altitude as well. Ifthe E384 is struggling to maintain its flight path, alterations tothe mission may be necessary. Likewise ifthere is a large drop in altitude, greaterthan 15m, alterations may be necessary. When the E384 has reached the last WP ofthe survey portion ofthe mission itwill go into RTL ifthere is no Auto Land procedure. Ifthere is an automatic landing procedure, the E384 will proceed through thoseWP.
Ifyou are landing manually, Switch backto FBWA. You now have control. During descent keep throttlevery low, and nothrottle at all ifstability is maintained. Always land withthewind atthe nose ofthe E384 to slow itdown. Bring the E384 down and land on its belly. Go tothe E384 and unplug the battery.When you are sure the battery is unplugged you may disassemble.



### 27