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July 9, 2015 

U.S. Department of Transportation 

Docket Management System 

1200 New Jersey Ave., SE 

Washington, DC 20590 

RE: Exemption Request under § 333 of the FAA Modernization and Reform Act of 2012 of the Federal Aviation 

Regulations from 14 CFR Part 21; 14 CFR §§ 45.23(b); 61.113 (a) & (b); 61.315(a) & (c); 91.7(a); 91.9(b); 

91.103; 91.109(a); 91.119(c); 91.121; 91.151(a); 91.203; 91.405(a); 91.407(a)(1); 91.409(a)(2); 91.417(a) & (b). 

Dear Sir or Madam, 

Pursuant to § 333 of the Federal Aviation Administration (“FAA”) Modernization and Reform Act of 

2012, Pub. L. No. 112-95 (2012), 126 Stat. 11 (the “Reform Act”), the FAA’s general exemption authority under 

49 USC § 44701(f), and 14 CFR Part 11, Advanced Drone Technologies (hereinafter, the “Petitioner”), an owner 

and operator of small Unmanned Aircraft Systems (“UAS”), hereby petitions for exemptions from 14 CFR Part 

21, Subpart H (Airworthiness Certificates), 14 CFR §§ 45.23(b), 61.113(a) & (b), 61.315(a) & (c), 91.7(a), 

91.9(b)(2), 91.103(b)(1), 91.109(a), 91.119(c), 91.121, 91.151, 91.203(a) & (b), 91.405(a), 91.407(a)(1), 

91.409(a)(1) & (2), and 91.417(a) & (b). The proposed exemptions, if granted, would allow Petitioner to conduct 

commercial operations of small UAS for purposes to include: Aerial Mapping, Aerial Surveying, Industrial 

Inspections, Telecommunications Inspections, Aerial Videography & Photography, Energy Systems Inspections, 

Asset Management, Construction Site Monitoring and Inspections, Wildlife and Forestry Monitoring, UAS 

Education & Training, Pipeline Inspections, Volunteer Patrolling Operations, and Precision Agricultural Services 

missions under the conditions outlined herein and as may be established by the FAA in granting the above 

requested exemptions. 

As described more fully below, based on the small size of Petitioner’s UAS, the qualifications and 

experience of Petitioner’s pilots, and the limited, controlled-access environments within which Petitioner will 

operate, the requested exemptions clearly fall within the safety parameters envisioned by Congress as set forth in 

§ 333 of the Reform Act. Additionally, the enhanced safety achieved by replacing significantly larger manned 

aircraft carrying crew and flammable fuel with small UAS weighing less than 55 pounds under the specific 

guidelines and procedures proposed by Petitioner gives the FAA good cause to find that the UAS operations 

enabled by this petition are in the public interest. Thus, the requested exemptions should be granted. 

THE NAME AND ADDRESS OF PETITIONER: COUNSEL FOR PETITIONER: 

Advanced Drone Technologies Nathanial C. Brown 

Attn: Jesse Sanchez Carriere & Little, LLP 

9611 Ninas Court 8001 S. Interport Blvd, Ste 310 

San Antonio, TX 78254 Englewood, CO 80112 

512-757-1448 720-961-5386 

jsanchez@advanceddronetech.com nbrown@carrierelittle.com 

 
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BACKGROUND OF PETITIONER

 Founded in 2015 by co-founders Gary Cotton and Jesse Sanchez, Petitioner is a service-based company 

dedicated to providing a safe, cost effective, and environmentally friendly alternative to traditional, manned 

aircraft operations for a variety of clients across multiple industries. Focusing on aerial mapping, aerial surveying, 

industrial inspection, and agricultural services, Petitioner will employ the latest in UAS technologies and safety 

systems to provide their clients a best-in-class service and the critical data needed for operational efficiency and 

safety. 

 As the son of an aerospace executive, Mr. Cotton has always had a passion for aviation, and he starting 

flying his first remote-controlled aircraft when he was only 10 years old, an activity he enjoys to this day. Mr. 

Cotton’s passion for aviation has continued into adulthood, and he has worked extensively in aviation 

manufacturing and as a contractor for the United States Air Force, experiences which have given him firsthand 

understanding of the critical importance of safety in all aspects of the aviation industry. Since 2001, Mr. Cotton 

has devoted much of his time to the commercial security industry, and he is dedicated to bringing a superior level 

of operational safety to Petitioner’s UAS operations. 

Similarly, with a background in the oil & gas industry as a Field Service Supervisor and Health, Safety 

and Environmental Supervisor, Mr. Sanchez has extensive experience managing complex operations safely and 

in strict compliance with all applicable law and regulations. Because of his experiences with the often dangerous 

work of hydraulic fracturing, Mr. Sanchez appreciates all too well the need for adherence to strict safety standards 

and is dedicated to bringing the same level of safety and regulatory compliance to Petitioner’s UAS operations. 

Safety is of the utmost priority in any and all of Petitioner’s UAS operations. 

 Mr. Sanchez’s and Mr. Cotton’s combined experience with UAS, the aviation industry, and industrial 

safety & regulatory compliance provide a level of trust that will ensure the integrity and safety of all UAS 

operations conducted by Petitioner pursuant to the requested exemptions. Petitioner seeks to build on Mr. Cotton’s 

and Mr. Sanchez’s years of safe and successful industrial operations to offer a range of UAS services in a manner 

consistent with the parameters set forth in § 333 of the Reform Act. Petitioner seeks the requested exemptions to 

permit Petitioner to offer commercial UAS services for a variety of industries and applications, including: 

 Aerial Mapping 

 Aerial Surveying 

 Industrial Inspections 

 Telecommunications Inspections 

 Precision Agricultural Services 

 Aerial Videography and Photography 

 Energy Systems Inspections 

 Asset Management 

 Construction Site Monitoring and Inspections 

 Wildlife and Forestry Monitoring 

 UAS Education and Training 

 Pipeline Inspections 

 Volunteer Patrolling Operations 

DESIGN AND PERFORMANCE CHARACTERISTICS OF PETITIONER’S UAS 

Petitioner plans to conduct operations pursuant to the exemptions requested herein using the DJI S900 

rotorcraft, 3D Robotics (“3DR”) IRIS+ rotorcraft, and 3DR Aero M fixed wing small UAS. Utilizing a 

combination of rotorcraft and fixed wing UAS will allow Petitioner to provide its clients with the most appropriate 
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UAS platform to fit the client’s needs. The DJI S900 and the 3DR IRIS+ will be primarily utilized for Industrial 

Inspections, Telecommunications Inspections, while the 3DR Aero M will be primarily used for Aerial Mapping, 

Surveying, Construction Site Monitoring, and Precision Agricultural services, among others. 

DJI S900 

 

 The S900 is a small (900 mm wheelbase) and lightweight (maximum takeoff weight of 8.2Kg or 

approximately 18lbs) UAS rotorcraft made of carbon fiber designed for professional aerial applications. The S900 

is a highly reliable and stable aircraft and its integrated GPS and flight control software gives the S900 the ability 

to make emergency “return-to-home” and emergency automatic landing maneuvers that ensure the highest level 

of operational safety. 

Please refer to Appendix A for further information regarding the airframe, control system, and electronics. 

The FAA has previously reviewed these documents and has approved exemptions for commercial use of the DJI 

S900 in, for example, Exemption Nos. 11769 and 11965. 

3DR IRIS+ 

 The IRIS+ is a small (550 mm wheelbase) and ultra-lightweight (maximum takeoff weight of 1682g or 

approximately 3.7lbs) UAS rotorcraft made from high-strength plastic, and is designed to be highly user-friendly 

and extremely safe. Safety features equipped on the IRIS+ ensuring safe operations include: (1) “Geo-fence” 

capability that will limit the altitude and horizontal distance that the IRIS+ can fly form the operator, all but 

ensuring that the IRIS+ will stay within the limited, controlled-access environments within which Petitioner will 

operate; (2) Return-to-Launch (“RTL”) mode that will automatically return the IRIS+ to the point of takeoff and 

land itself in case of a low battery or loss of controller signal, and can be activated manually by the operator at 

any time during a flight; (3) Land mode that will automatically land the aircraft at its current location if it 

experiences a loss of GPS signal; and (4) Real-time telemetry radio communications that provides the operator 

with flight data including altitude, attitude, altitude rate-of-change, and GPS coordinates. 

 Please refer to Appendix B for further information regarding the airframe, control system, and electronics. 

The FAA has previously reviewed these documents and has approved exemptions for commercial use of the 3DR 

IRIS+ in, for example, Exemption Nos. 11861 and 11961. 

3DR Aero M 

 The Aero M is a small (188cm wingspan) and ultra-lightweight (maximum takeoff weight of 3.5Kg or 

approximately 8lbs) fixed wing UAS made from high density foam tailored for regular acquisition of highly 

detailed and actionable data for applications, such as precision farming, where a rotorcraft would be inefficient. 

Featuring many of the same safety features as the IRIS+, the Aero M is highly safe and user-friendly. Safety 

features equipped on the Aero M ensuring safe operations include a RTL mode that will command the Aero M to 

automatically return to the point from which it was launched and enter a circle pattern at a predetermined altitude, 

and a Loiter mode that commands the aircraft to enter into a circle pattern with a radius of 60 meters at its current 

location and altitude. 

 Please refer to Appendix C for further information regarding the airframe, control system, and electronics. 

The FAA has previously reviewed these documents and has approved exemptions for commercial use of the 3DR 

Aero M in, for example, Exemption No. 11769. 
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REQUESTED EXEMPTIONS

 Petitioner requests relief from the following regulations: 

 14 CFR Part 21; 

 14 CFR § 45.23(b); 

 14 CFR § 61.113(a) & (b); 

 14 CFR § 61.315(a) & (c); 

 14 CFR § 91.7(a); 

 14 CFR § 91.9(b)(2); 

 14 CFR § 91.103(b)(1); 

 14 CFR § 91.109(a); 

 14 CFR § 91.119; 

 14 CFR § 91.121; 

 14 CFR § 91.151(a); 

 14 CFR § 91.203; 

 14 CFR § 91.405(a); 

 14 CFR § 91.407(a)(1); 

 14 CFR § 91.409(a)(2); 

 14 CFR § 91.417(a) & (b) 

EXTENT OF RELIEF SOUGHT BY PETITIONER AND REASONS FOR SEEKING SUCH RELIEF

14 CFR Part 21, Subpart H: Airworthiness Certificates 

This section establishes the procedural requirements for the issuance of airworthiness certificates and 

other airworthiness approvals. Given the size, weight, speed, and limited operating area associated with the UAS 

to be utilized by Petitioner, an exemption from 14 CFR Part 21, Subpart H (Airworthiness Certificates), subject 

to certain conditions and limitations, is warranted, and meets the requirements for an equivalent level of safety 

under 14 CFR Part 11 and § 333 of the Reform Act. 49 USC § 44701(f) and § 333 of the Reform Act both 

authorize the FAA to exempt aircraft, including UAS, from the requirement for an airworthiness certificate upon 

consideration of the size, weight, speed, operational capabilities, proximity to airports and populated areas, and 

operation within visual line of sight. The UAS operated without an airworthiness certificate in the restricted 

environment and under the conditions and limitations proposed by Petitioner will be at least as safe, or safer, than 

a conventional aircraft (fixed wing or rotorcraft) operating with an airworthiness certificate issued under 14 CFR 

Part 21, Subpart H, and not subject to the proposed limitations and conditions. 

The UAS to be operated by Petitioner all weigh much less than 55 lbs. fully loaded, will be operated at a 

speed of no more than 50 knots, will carry neither a pilot nor passengers, will carry no explosive or flammable 

materials or fuel, and will be operated exclusively in predetermined, controlled-access environments. Petitioner’s 

UAS will use a radio frequency spectrum for operation and control that complies with Federal Communications 

Commission (“FCC”) requirements, and will be operated only in accordance with the procedures proposed herein 

and as may be established by the FAA. 

Petitioner’s UAS will be equipped with redundant safety mechanisms allowing safe operation after 

experiencing certain in-flight failures. If a lost-link event occurs, including loss of ground communications or 

loss of GPS signal, Petitioner’s UAS will have the ability to perform a pre-coordinated, predictable, automated 

flight maneuver and return to a predetermined location within a designated security perimeter for landing. 
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Unlike operations of other civil aircraft, operations under the requested exemptions will be tightly 

controlled and monitored by both the pilot in command (“PIC”) and a Visual Observer (“VO”) in order to ensure 

the Petitioner’s UAS remain within operational limitations and to ensure the safety of operations. These 

enhancements to current safety practices and regulations provide a greater degree of safety to the public and 

property owners than conventional aircraft operations conducted by aircraft with an airworthiness certificate. 

Lastly, there is no intrinsic credible threat to national security posed by UAS due to the size, speed, restricted 

operational environments, lack of explosive materials and flammable fuels or other liquids, and inability to carry 

passengers or a substantial external load. 

14 CFR § 45.23(b): Display of Marks 

 This section requires that “[w]hen marks include only the Roman capital letter “N” and the registration 

number is displayed on limited, restricted, or light-sport category aircraft or experimental or provisionally 

certificated aircraft, the operator must also display on that aircraft near each entrance to the cabin, cockpit, or pilot 

station, in letters not less than 2 inches nor more than 6 inches high, the words “limited,” “restricted,” “lightsport,” “experimental,” or “provisional,” as applicable.” 

 Even though the Petitioner’s UAS will have no airworthiness certificate, an exemption may be necessary 

as the UAS will have no entrance to the cabin, cockpit, or pilot station on which the word “experimental,” etc., 

can be placed. Also, given the size of Petitioner’s UAS, two-inch lettering will be impossible. Petitioner 

understands the need for markings and will mark all of its UAS in the largest possible lettering on the UAS 

fuselages so that anyone observing Petitioner’s UAS will be able to see the markings. 

14 CFR § 61.113(a) & (b): Private Pilot Privileges and Limitations: Pilot in Command (PIC) and 14 CFR 

§ 61.315(a) & (c): Sport Pilot Privileges and Limitations 

 These sections limit private pilots and sport pilots to non-commercial operations. Because Petitioner’s 

UAS will not carry a pilot or passengers, the proposed operations can achieve the equivalent level of safety of 

current operations by requiring the PIC operating Petitioner’s UAS to have a private pilot’s or sport pilot’s license 

rather than a commercial pilot’s license to operate Petitioner’s small UAS. Unlike a conventional aircraft that 

carries the pilot and passengers, Petitioner’s UAS are remotely controlled with no persons onboard. The area of 

operation will be controlled and restricted, and all flights will be planned and coordinated in advance. The risks 

associated with the operation of Petitioner’s UAS are so diminished from the level of risk associated with 

commercial operations contemplated by 14 CFR Part 61 when drafted, that allowing operations of Petitioner’s 

UAS as requested with a private pilot or sport pilot as the PIC exceeds the present level of safety achieved by 14 

CFR §§ 61.113(a) & (b) and 61.315(a) & (c). 

 14 CFR § 91.7(a): Civil Aircraft Airworthiness 

 This section prohibits any person from operating a civil aircraft unless it is in an airworthy condition. As 

there will be no airworthiness certificate issued for Petitioner’s UAS, should this exemption be granted, no FAA 

regulatory standard will exist for determining airworthiness. Given the size of the aircraft and the requirements 

contained in the UAS manufacturer’s manuals1

 and use of safety checklists2 prior to each flight, an equivalent 

level of safety will be provided. In accordance with the pertinent part of 14 CFR § 91.7(b), the PIC for all of 

                                                            

1 See Appendix A, Appendix B, and Appendix C 2 See Appendix G and Appendix H
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Petitioner’s UAS operations shall be responsible for determining whether the aircraft is in a safe condition for 

flight, including the use of pre-flight safety checklists.3

 

 

14 CFR § 91.9(b)(2): Civil Aircraft Flight Manual, Marking, and Placard Requirements 

 This sections provides in pertinent part that “[n]o person may operate a U.S.-registered civil aircraft ... 

For which an Airplane or Rotorcraft Flight Manual is not required by § 21.5 of this chapter, unless there is 

available in the aircraft a current approved Airplane or Rotorcraft Flight Manual, approved manual material, 

markings, and placards, or any combination thereof.” Petitioner’s UAS, given their size and configuration, have 

no ability to carry a physical flight manual on the aircraft. The equivalent level of safety will be maintained by 

keeping the flight manual at the ground control point where the PIC operating Petitioner’s UAS will have 

immediate access to it. 

 14 CFR § 91.103(b)(1): Preflight Action 

 This regulation requires each PIC to take certain actions before flight to insure the safety of each flight. 

As FAA approved flight manuals will not be provided for the aircraft, an exemption will be needed. Petitioner 

will comply with the other applicable procedures and requirements stated in § 91.103(a) & (b). Specifically, the 

PIC will take all action including reviewing weather, flight battery requirements, aircraft performance data, and 

landing and takeoff distances before initiating a flight. The PIC will also account for all relevant site-specific 

conditions in their preflight procedures.4

 Risks presented by sun glare will be mitigated by the PIC’s and VO’s 

ability to see other air traffic and initiate a return-to-home sequence if needed. 

 14 CFR § 91.109(a): Flight Instruction 

 This section provides in pertinent part that “[n]o person may operate a civil aircraft (except a manned free 

balloon) that is being used for flight instruction unless that aircraft has fully functioning dual controls.” UAS, by 

their design, do not have functional dual controls. Flight control is accomplished through the use of a control box 

that communicates with the aircraft via radio communications. Given the size and speed of Petitioner’s UAS, an 

equivalent level of safe training can be achieved without dual controls because no pilot or passengers are aboard 

the UAS and all persons will be a safe distance away in the event that the UAS experiences any difficulties during 

flight instruction. The FAA has approved exemptions for flight training without fully functional dual controls for 

a number of aircraft and for flight instruction in experimental aircraft. See e.g. Exemptions Nos. 5778K and 

9862A. 

 14 CFR § 91.119: Minimum Safe Altitudes 

 This section establishes minimum safe altitudes for operation of civil aircraft and provides that, over other 

than congested areas, no person may operate an aircraft below an altitude of 500 AGL, except over open water or 

sparely populated areas, and that over sparely populated areas the aircraft cannot be operated closer than 500 feet 

to any person, vessel, or structure. As this exemption requests authority to operate at altitudes no higher than 400 

feet AGL, an exemption may be needed to allow such operations. 

As set forth herein, Petitioner’s UAS will never operate at higher than 400 feet AGL, nor beyond visual 

line of sight (“VLOS”) of the PIC and VO, whichever is closer. It will, however, be operated in a restricted area 

                                                            

3 Id.   4 Id.
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with individuals tasked with ensuring public safety, and where buildings and people will not be exposed to 

operations without their pre-obtained consent and training. 

 The equivalent level of safety will be achieved given the size, weight, and speed of Petitioner’s UAS as 

well as the restricted environments within which they will be operated. No flight will be taken without the 

permission of the property owner. Because of the advance notice to the property owner and the participants in the 

UAS operation, all affected individuals will be aware of the planned flight operations. Compared to flight 

operations with manned aircraft or rotorcraft weighing far more than Petitioner’s UAS and the lack of flammable 

fuels onboard, any risk associated with Petitioner’s operations is far less than that presently presented by 

conventional aircraft operating at or below 500 feet AGL. In addition, the low-altitude operations of Petitioner’s 

UAS will ensure separation between Petitioner’s UAS operations and the operations of conventional aircraft that 

must comply with § 91.119. Furthermore, Petitioner’s UAS will not be operated over congested areas nor over 

any open-air assembly of persons. Petitioner’s UAS will be operated at an altitude allowing, if a power unit fails, 

an emergency landing without undue hazard to persons or property on the surface. 

 

14 CFR § 91.121: Altimeter Settings 

 In pertinent part, this section requires each person operating an aircraft to maintain cruising altitude by 

reference to an altimeter that is set to “...the elevation of the departure airport or an appropriate altimeter setting 

available before departure.” As Petitioner’s UAS may not have a barometric altimeter, but instead a GPS altitude 

readout, an exemption may be needed. An equivalent level of safety will be achieved by the PIC confirming the 

altitude of the launch site shown on the GPS altitude indicator, and prior to each flight, a zero altitude initiation 

point will be established and confirmed for accuracy by the PIC. The PIC will also ensure effective pairing with 

multiple GPS sources to guarantee accurate detection of altitude. 

 14 CFR § 91.151(a): Fuel Requirements for Flight in VFR Conditions 

 This section prohibits a person from beginning “a flight in an airplane under VFR conditions unless 

(considering wind and forecast weather conditions) there is enough fuel to fly to the first point of intended landing, 

and, assuming normal cruising speed—(1) during the day, to fly after that for at least 30 minutes; or (2) at night, 

to fly after that for at least 45 minutes.” 

Given the limited area of operation of Petitioner’s UAS, Petitioner believes that an equivalent level of 

safety is already achieved by the various failsafe procedures built in to Petitioner’s UAS that will perform a RTL 

maneuver or automatically land the aircraft in the case of a low battery while in flight. Operating Petitioner’s 

UAS in a tightly controlled area where only people or property owners or official representatives who have signed 

waivers will be allowed, with less than 30 minutes of reserve power, does not engender the type of dangers that §

91.151(a) was intended to alleviate given the size and speed of Petitioner’s UAS. Petitioner believes that an 

equivalent level of safety can be achieved by prohibiting Petitioner’s PIC from beginning any flights unless, 

considering the wind and forecast weather conditions, there is enough available power for Petitioner’s UAS to 

conduct the intended operation and to operate after that for at least five minutes or with the reserve power 

recommended by the manufacturer, whichever is greater. This restriction would be more than adequate to return 

the Petitioner’s UAS to its planned landing zone from anywhere in its limited operating area. FAA has granted 

similar exemptions in, for example, Exemption Nos. 2689F, 5745, 10673, 10808, 11864, and 11769. 

 14 CFR § 91.203(a) & (b): Civil Aircraft: Certifications Required 

 This regulation provides in pertinent part that “(a)...no person may operate a civil aircraft unless it has 

within it the following: (1) an appropriate and current airworthiness certificate... (b) No person may operate a 
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civil aircraft unless the airworthiness certificate required by paragraph (a) of this section ... is displayed at the 

cabin or cockpit entrance so that it is legible to passengers or crew.” 

Petitioner’s UAS fully loaded weigh less than 55 pounds and are operated without a pilot, passengers, or 

crew onboard. As such, there is no is ability or place to carry certification and registration documents or to display 

them on Petitioner’s UAS. An equivalent level of safety will be achieved by keeping these documents at the 

ground control station where the PIC will have immediate access to them, to the extent they are applicable to 

Petitioner’s UAS. FAA has issued numerous exemptions to this section; see e.g. Exemption Nos. 9565, 9665, 

9789, 9789A, 9797, and 10700. 

14 CFR §§ 91.405(a), 91.407(a)(1), 91.409(a)(1) & (2), and 91.417(a) & (b): Maintenance Inspections 

These regulations require that an aircraft operator or owner “shall have that aircraft inspected as prescribed 

in subpart E of this part and shall between required inspections, except as provided in paragraph (c) of this section, 

have discrepancies repaired as prescribed in part 43 of this Chapter...;” and others shall inspect or maintain the 

aircraft in compliance with Part 43. 

Given that these sections and Part 43 apply only to aircraft with an airworthiness certificate, these sections 

will not apply to Petitioner. Petitioner will strictly adhere to the safety and maintenance procedures included in 

all applicable UAS manufacturers’ instructions and operating manuals.5

 To the extent such information is not 

included in the guidelines as developed by the manufacturers, Petitioner will undertake to develop and document 

maintenance, overhaul, replacement, and inspection requirements, and procedures to document and maintain 

maintenance records with regards to Petitioner’s UAS.6

 An equivalent level of safety will be achieved because 

Petitioner’s UAS are very limited in size and will carry small payloads and operate only in restricted areas for 

limited periods of time. If mechanical issues arise, Petitioner’s UAS can land immediately and will be operating 

from no higher than 400 AGL. The Petitioner will ensure that its UAS are in working order prior to initiating 

each flight, perform regular maintenance, and keep a log of any maintenance performed. Moreover, Petitioner is 

the person most familiar with the aircraft and is best suited to maintain the aircraft in an airworthy condition in 

order to ensure safe operations. 

EQUIVALENT LEVEL OF SAFETY

Petitioner believes that the exemptions requested herein apply to civil aircraft that have the characteristics 

and that operate within the limitations listed herein. Petitioner’s requested exemptions will not adversely affect 

safety, and Petitioner’s proposed operational limits will provide for at least an equivalent or even greater degree 

of safety than for similar operations conducted using conventional, manned aircraft, due to the size, speed, and 

limited operating area of Petitioner’s UAS. 

 The UAS Petitioner plans to operate are small in size with each weighing much less than 55 pounds 

including their payload. They will operate, under normal conditions, at a speed of no more than 50 knots. 

Operations will be performed by a fully qualified and trained UAS PIC, as outlined below, to ensure that 

Petitioner’s UAS will “not create a hazard to users of the national airspace system or the public.” Given the small 

size of Petitioner’s UAS and the pre-planned, controlled-access environment within which they will operate, 

Petitioner believes that these operations fall squarely within that zone of safety in which Congress envisioned that 

the FAA must, by exemption, allow commercial operations of UAS to commence immediately. Also, operation 

in a secured, pre-defined area will prevent the possibility of a national security issue. The operation of Petitioner’s 

UAS by knowledgeable aviation professionals with experience in the national airspace system (“NAS”) will serve 

                                                            

5 See Appendix A, Appendix B, and Appendix C 6 See Appendix D, Appendix E, and Appendix F
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to enhance safety, add to the public benefit, and reduce environmental impacts related to current methods of aerial 

operations of the kind proposed by Petitioner. 

 The limitations and conditions to which Petitioner agrees to be bound when conducting commercial 

operations under this petition include but are not limited to the following, at a minimum: 

1. Safety will be the first and foremost consideration for all of Petitioner’s UAS operations. 

2. Petitioner will conduct operations using only the DJI S900, 3DR IRIS+, and 3DR Aero M UAS platforms, 

each of which weighs much less than 55 pounds fully loaded. 

3. Petitioner’s UAS PIC will be required to be an FAA licensed airman with at least a Sport Pilot certificate 

and hold at least an FAA Third Class Medical certificate or valid driver’s license. 

4. Petitioner’s UAS PIC will be responsible at all times for the safe operation of each flight conducted 

pursuant to the requested exemptions. 

5. All flights will be operated within VLOS of the PIC at all times. 

6. All operations will utilize a visual observer (“VO”). The VO will be used to maintain VLOS with the 

UAS so long as the PIC also always maintains VLOS capability, and the PIC and VO will at all times 

remain close enough to be able to communicate verbally during flight operations. The PIC will be 

responsible for ensuring that the VO can perform the duties required by the VO. 

7. The UAS will operate at no more than 50 knots, and in no case will UAS be operated at airspeeds greater 

than the maximum operating airspeed recommended by the UAS manufacturer. 

8. This exemption, if granted, and all other documents needed to operate Petitioner’s UAS and conduct 

operations in accordance with the limitations and conditions as set forth herein and as established by the 

FAA will at all times be kept with the PIC at the ground control station and will be immediately available 

upon request. 

9. Petitioner’s UAS will utilize GPS navigation, failsafe, return-to-launch, and/or flight abort safety features. 

10. The PIC will be prohibited from beginning a flight unless, considering the wind and forecast weather 

conditions, there is enough available power for Petitioner’s UAS to conduct the intended operation and 

to operate after that for at least five minutes or with the reserve power recommended by the manufacturer, 

whichever is greater. 

11. Flights will be operated at an altitude at or below 200 feet above ground level (“AGL”) under normal 

conditions, and will never exceed 400 feet AGL. 

12. Petitioner will not allow its PIC to operate unless the PIC demonstrates the ability to safely operate 

Petitioner’s UAS in a manner consistent with how the UAS will be operated as proposed herein, including 

evasive and emergency maneuvers and maintaining appropriate distances from persons and property, and 

including familiarization with applicable airspace restrictions and the UAS operations manuals. 

13. Operations will never be conducted at night. Daytime operations will only be conducted under Visual 

Flight Rules (“VFR”) conditions. 

14. Petitioner’s UAS will only be operated within a pre-planned, controlled-access flight perimeter sized so 

as to allow the PIC and VO to maintain VLOS with the UAS at all times during flight operations. 

15. A briefing will be conducted in regard to each planned UAS operation, and the safety thereof, prior to 

operation at each new location. 

16. All persons not directly involved with UAS flight operations will be prohibited from entering the flight 

perimeter unless there exists therein barriers or structures sufficiently robust to protect nonparticipating 

persons from the UAS and/or debris in the event of an accident. 

17. All UAS operations will be conducted over private or controlled-access property with permission from 

the property owner or property controller or their respective authorized representative. Permission from 

the property owner or controller or their authorized representative will be obtained prior to each operation. 
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18. If the UAS loses communications or loses its GPS signal, they will have the capability to return to a predetermined location within the flight perimeter. 

19. The PIC will have the power, and the duty, to abort all flight operations in the event of unpredicted 

obstacles or emergencies. 

The Requested Exemptions Promote the Public Interest 

 The enhanced safety achieved by replacing significantly larger manned aircraft carrying crew, passengers, 

and flammable fuel with small UAS carrying no passengers, crew, or flammable fuel under the specific guidelines 

and procedures proposed by Petitioner gives FAA good cause to find that the UAS operations enabled by this 

petition are in the public interest. Specifically, the potential for damage or harm to the public as a result of a UAS 

accident under the conditions and limitations proposed herein utilizing Petitioner’s small, ultra-lightweight UAS 

carrying no passengers, crew, or flammable fuel or other dangerous materials is far less than the threat posed to 

the public by normal manned aircraft operations. 

 Moreover, by replacing the manned aircraft traditionally used for the kinds of operations proposed by 

Petitioner with small UAS, Petitioner will be able to provide aerial operations services at a greatly reduced cost, 

making these kinds of services available to a greater range of businesses and consumers, thereby enhancing the 

utility of aerial operations and benefitting the economy as a whole. Similarly, the small, battery-powered UAS 

utilized by Petitioner will benefit the public as a whole by greatly reducing the pollution and ecological impact 

associated with traditional aircraft and rotorcraft operations, and utilizing Petitioner’s UAS for precision 

agriculture will allow for a more efficient application of fertilizers and pesticides, which will ultimately reduce 

the negative effects on the environment and consumers associated with these practices, which will benefit the 

public as a whole. 

 Congress and the FAA, through passage of the Reform Act and in numerous Exemptions (see e.g.

Exemption No. 11062), have already recognized that UAS provide a greater degree of flexibility and safety than 

traditional manned aircraft when used within certain operational limits and for the kinds of operations proposed 

herein by Petitioner. Granting Petitioner exemption to operate its UAS commercially furthers economic growth 

and public safety while limiting the ecological impacts of aerial operations. Thus, FAA has good cause to grant 

this petition. 

Conclusion 

For the forgoing reasons, the exemptions requested by Petitioner herein should be granted and Petitioner should 

be permitted to conduct commercial UAS operations in accordance with the limitations and conditions proposed 

herein and as established by the FAA. 

Respectfully submitted, 

Carriere & Little, LLP 

By: 

 Nathanial C. Brown 

 Counsel for Petitioner 

 Advanced Drone Technologies 
APPENDIX A

DJI S900 – Operations Documents
Spreading Wings 5900

User Manual CYJ]J

201412
Disclaimer

Thank you for purchasing the S900. Please visit the Spreading Wings S900 page on www.dji.com regularly 

to keep up to date with product information, technical updates and manual corrections. Information in this 

manual is subject to change without notice.

In using this product, you hereby agree to this disclaimer and signify that you have understood all points 

completely. When assembling this product, follow all instructions carefully. The manufacturer and seller 

assume no liability for any damage or injury arising from the use of this product.

This is a class A product of the FCC certification. In a domestic environment this product may cause radio

interference, in which case the user may be required to take adequate measures.

DJI is a registered trademark of DJI. Names of product, brand, etc., appearing in this manual are trademarks 

or registered trademarks of their respective owner companies. This product and manual are copyrighted by 

DJI with all rights reserved. No part of this product or manual shall be reproduced in any form without the prior 

written consent or authorization of DJI.

About

The S900 is designed for professional aerial photography and cinematography. It is user friendly, safe, 

stabilized and easy to fly while its integrated design makes assembly and configuration simple and fast. 

Retractable landing gear, vibration dampers, slightly angled arms and a minimalized gimbal mount allow for 

a clear 360 degree view from the camera. A patented power distribution board, built-in high-speed ESCs 

and motors with high efficiency propellers ensure dynamic stability and maximized power efficiency. Used 

with a professional DJI multi-rotor autopilot system, the S900 can hover and fly reliably making it ideal for 

photography and cinematography.

1 26mm

305mm

433mm

2 © 2014 DJI. All Rights Reserved.
Contents

Disclaimer 2

About 2

Contents 3

Cautions 4

Legend 4

In The Box 5

Mounting the Landing Gear 6

Mounting Frame Arms 7

Mounting Electronics and Wiring 11

Connecting XT60 Ports on the Center Frame 16

Installing Battery 16

Setting Up the Landing Gear 18

Mounting the Gimbal 20

Appendix 22

ESC Sound 22

ESC LED 22

Specifications 22

Gain Value Settings 23

FAQ 24

Soldering the ESC 24

Remounting the Propellers 24

Propeller Precautions 24

Using the Propeller Holder 25

Assembling Motor Vibration Absorbers 25

Remounting the Landing Gear Servo 26

Recalibrating Servo Travel 26

Part List 27

FCC Statements 31

© 2014 DJI. All Rights Reserved. 3
Cautions

Cautions

When flying, the rotating propellers may cause serious damage and injury. Please fly safe at all times.

Assembly Cautions

1. Use a bracket to mount the GPS module on the center frame to avoid interference with the power board.

2. Ensure the IMU is mounted with the arrow pointing toward the nose of the aircraft.

3. If using a receiver, attach it under the bottom board of the center frame with the end of the antenna 

facing downwards and away from obstructions to avoid signal loss.

4. Ensure frame arms are mounted correctly.

a) Motor mounts with CCW marks should be mounted to the center frame positions with the following 

marks: M1, M3 and M5.

b) Motor mounts with CW marks should be mounted to the center frame positions with the following 

marks: M2, M4, and M6.

5. Do not remove any glued-in screws.

6. Screws that already have blue glue can be used once without thread locker. On other occasions, apply

appropriate thread locker first.

7. TheS900 should be lifted off the ground when testing landing gear or recalibrating servo travel.

Flight Cautions

1. ESCs are not water-proof, please do not fly in rain or snow.

2. Ensure all soft dampers and vibration absorbers are in good condition before every flight. If not, replace

immediately. Otherwise, the flight performance of your aircraft will be adversely affected.

3. Ensure all parts are in good condition before each flight. Do not fly with worn or broken parts.

4. Ensure propellers and motors are installed correctly and propellers are unfolded before flying.

5. Ensure ESC signal connectors and power cable connectors are tight before every flight.

6. When flying, maintain a safe distance away from people, buildings, high-voltage lines, tall trees, water

and other hazards.

7. Use only 6S LiPo batteries for the power supply.

8. Ensure all output signals from M1 to M6 are in proper working order when using the DJI A2 flight control

system to avoid damage or injury.

9. Do not overload the system.

10. Do not get close to or touch motors or propellers when they are spinning as this can cause serious injury.

11. Disconnect the battery and remove the camera during transportation to avoid damage or injury.

12. We strongly recommend using as many DJI manufactured parts as possible.

Others

If you have any problems you cannot resolve, contact your dealer or DJI customer service.

Legend

Important Hints and Tips

4 © 2014 DJI. All Rights Reserved.
In The Box

In The Box

Center Frame ×1 Frame Arms ×6

Landing Skid Tubes ×2

(with Silicone Rubber Dampers)

Landing Gear Legs ×2

GPS Collapsible Mount ×1 Springs ×2

Connection Cable Accessories Package ×1

Connector Set ×1

or

CW propellers ×2

CCW propellers ×2

Magic tapes ×4

The red knobs ×6

3-PIN Connection Cables ×8 Landing gear leg rings ×4

Soft dampers ×50

3-PIN Servo Cable ×1 Screw Package ×1

Forframe arms mount: M4×35

 For landing gear mount: M3×8,

M2.5×8 (socket cap), M3×22 (socket cap)

Tools Required

Tools Usage

2.0mm Hex Wrench, 2.5mm Hex Wrench Mounting screws. 

Thread Locker Fastening screws.

Nylon Cable Tie,Scissors, Cutting Pliers/Dykes Binding devices and wires.

Foam Double Sided Adhesive Tape Mounting receiver, controller and other modules.

© 2014 DJI. All Rights Reserved. 5
Mounting the Landing Gear

Mounting the Landing Gear

Instructions

1. Put one landing gear leg ring onto each landing gear leg.

2. Insert one landing gear leg into each landing skid tube and secure it in place by tightening the M2.5×8 

(socket cap) screw. Ensure silicone rubber dampers are attached to each end.

3. Insert the landing gear leg into connection point on the center frame. Affix in place with M3×8 screws.

4. Connect both springs on the legs to the center frame.

M2.5×8 

(socket cap)

Note the springs are 58.5mm before connecting to the center frame, and are stretched to 70mm 

when mounting is completed.

It is recommended that the landing gear leg ring be placed about 30mm above the landing skid tube.

70mm

30mm

6 © 2014 DJI. All Rights Reserved.
Mounting Frame Arms

Mounting Frame Arms

Instructions

1. Prepare the arms.

(1) Check all propellers for cracks, then install and screw each propeller cover on tightly.

(2) Ensure all motors are mounted firmly and rotate freely.

(3) Mount all arms with red propeller covers to M1 and M2 to indicate the nose of the S900.

(4) Identify the CW and CCW marks on the arms. Mount the arms with the CCW mark to the M1, M3 and 

M5 positions of the center frame. The arms with the CW mark should be mounted to the M2, M4 and 

M6 positions of the center frame.

Cover Propeller

Screw Mount Power Cable

Screw

Motor

ESC

CW or CCW Mark

LED*

ESC Signal Cable

*LED is on after motor started.

2. Insert each frame arm vertically into the mounting 

area on the center frame.

3. Line up the screw holes of the frame arm and 

center frame.

4. Insert the M4×35 screw from the right of the 

frame arm (the thread is located on the left of the 

screw mount). Tighten each screw correctly. Over 

tightening may lead to connector abrasion.

© 2014 DJI. All Rights Reserved. 7
Mounting Frame Arms

Spreading Wings S900 User Manual

5. Gently lift the frame arm.

6. Twist the red knob to lock each arm in place. Be sure there is an audible click, which indicates a proper 

lock. Check the arm for movement. To store, untwist the knob and lower the frame arm.

7. Now unscrew 6 screws (M2.5×8 cheese) on the upper plate of the center frame and remove the upper 

plate. Then unscrew the 4 screws (M3×8 self-tapping, found under the center frame) of the round cover 

and remove it to gain access to the ESC and power cable installation area.

8. Plug each ESC signal cable into the slot near each arm on the center frame.

8 © 2014 DJI. All Rights Reserved.
Mounting Frame Arms

Spreading Wings S900 User Manual

9. Connect the power cables to the center frame. Each cable must be screwed into a positive (+) or negative (-) 

gold bracket. Each bracket will have two cables of the same color screwed into it. Red cables are positive 

and black cables are negative.

10. To ensure a reliable connection, rotate the screw until it is both tight and parallel to the connecting 

bracket.

11. Ensure all ESC cables, and power cables are correctly installed onto the center frame.

ESC cables

power cables

© 2014 DJI. All Rights Reserved. 9
Spreading Wings S900 User Manual

12. Replace the round cover of the center plate, and re-tighten the 4 screws (M3×8 self-tapping). Then 

replace the upper plate of the center frame, and re-tighten the 6 screws (M2.5×8 cheese).

13. Double check all frame arms. Arms M1 and M2 are the forward facing (nose), arms M4 and M5 are the 

tail. Seen from the top, motors on arms M1, M3 and M5 rotate counter clockwise while those on arms M2, 

M4 and M6 rotate clockwise.

10 © 2014 DJI. All Rights Reserved.
Mounting Electronics and Wiring

CAN1 CAN2

C A N 1 C A N 2

AN T

ANT

Mounting Electronics and Wiring

Eight positions are reserved for mounting a flight control system, wireless video transmission module, 

receiver, and other accessories. The DJI A2 flight control system has been used here as an example. If using 

an A2, follow mounting and wiring instructions found in the A2 flight control system user manual. If using 

the DJI WK-M flight control system, please refer to the WK-M user manual for connections. Also be sure the 

firmware on your DJI flight controller has been updated to the latest version.

Instructions

1. Attach IMU module to the IMU area of the center frame. Ensure that it points toward the nose.

2. Attach the PMU module to the center frame.

IMU

Only mount the IMU in the IMU position of the center frame.

3. Mount the flight controller in the reserved position near the PMU module.

M1 F 4 M2 LINK LED F 3 M3 F 2 M4 F1 M5 X3 M6 X2 M7 X1 M8 C O N TR O LLE R UNI T

S 2

S 1

Reserved Position

M1

M2 LINK

M3

M4

M5

M6

M7

M8 CONTROLLER UNIT

F4

LED F3

F2

F1

X3

X2

X1

S2

S1

A2 Flight Controller

© 2014 DJI. All Rights Reserved. 11
Mounting Electronics and Wiring

Spreading Wings S900 User Manual

4. Attach the GPS collapsible mount to the center frame using M2.5×8 screws.

5. Mount a GPS module to the GPS mount with a bracket. Ensure the arrow points toward the nose and avoid

catching your fingers in the bracket when folding for transportation.

M1

M2

6. The other reserved positions are indicated in the diagram below and can be used for mounting a receiver,

LED flight indicator, iOSD module and wireless video transmission module.

12 © 2014 DJI. All Rights Reserved.
Mounting Electronics and Wiring

Spreading Wings S900 User Manual

7. Check that every anti-drop screw has been firmly installed in the reserved positions. Thread locker is 

recommended.

(1) Remove the anti-drop screws to apply appropriate thread locker. 

(2) Replace and tighten.

8. Note that the dampers are 30° silicon rubber. If you use other dampers or vibration absorbing balls, the

quality of your aerial photography may be affected.

dampers

Mount the GPS with a bracket to avoid interference from the center frame power board.

Use glue to install the GPS bracket. Ensure it is firm and stable before every flight.

Always test motors using the Assistant Software after installation. Refer to your flight control system

user manual for details.

© 2014 DJI. All Rights Reserved. 13
2

M

M

CAN1 CAN2

CAN1 CAN2

Mounting Electronics and Wiring

ANT

ANT

M2

M5 M4 M6

6

Spreading Wings S900 User Manual

Connecting the flight controller to the center frame

1. Connect the flight control system according to your flight control system user manual.

2. Connect the flight controller to the center frame with the connection cables.

There are two kinds of connection cables. Choose the corresponding connection mode according to the

connection cable in the box.

Using the connector set:

 

Plug in the connector set to the ESC signal outlet on the center frame. Then plug in the connector set to

flight controller asshown below.

(1) Yellow 4-pin cables are for M1~ M4 connections. The yellow cable should be connected to M1. 

(2) Brown 4-pin cables are for M5~ M6 connections. The brown cable should be connected to M5.

(3) Black 4-pin cables are for four continuous ground pins connections. M1~M4 are connected as the

following diagram shows.

yellow

M1

M2

M3

M4

M1

M2 LINK

M3

M4

M5

M6

M7

M8

1

CONTROLLER UN IT

F4

LED F3

F2

F1

X3

X2

X1

S2

S1

3

3 1

M1

M2

M3

M4

M5 2

yellow

M1

M 2

M 3

M 4

M 5

M 6

brown

M5 brown 2

M6

M6

A2 Flight Controller

Using the 3-pin connection cable:

M1 through M6 correspond to each motor number.

the ESC Signal Outlet

M1

MM11

M2 MM2

M3

M3 MM34

M1 M5

M3 4

M4 M6

MM57

M5 M8

M6

LINK

CONTROLLER UNIT

F4

LED F3

F2

F1

X3

X2

X1

S2

S1

the ESC Signal Outlet A2 Flight Controller

14 © 2014 DJI. All Rights Reserved.
R IN

Mounting Electronics and Wiring

CAN1 CAN2

ANT

M4

Spreading Wings S900 User Manual

If using a DJI WK-M flight controller, you must use the wires that came with the WK-M.M1 through

M6 correspond to each motor number.

M1

M2

M3

M1

M2

M3

M4

M5

M6

M5

M6

WKM Flight Controller the ESC Signal Outlet

Connecting the flight controller and landing gear

1. Connect the left servo (between M3 and M4) cable to the “L” port of the landing gear control board.

2. Connect the right servo (between M5 and M6) cable to the “R” port of the landing gear control board.

3. For the A2 flight control system, connect the F1 port of the flight controller to the “IN” port of the landing 

gear control board. Other flight control systems connect a 2-position channel receiver to the “IN” port.

 R L IN

M1

M2 LINK

M3

M4

M5

M6

M7

M8 CONTROLLER UNIT

LED

F4

F3

F2 

F

FF1 1

X3

X2

X1

S2

S1

Right Servo Connector Left Servo Connector

If right and left servo cables are reversed, the landing gear will not function properly. 

Connect all wires carefully and neatly to avoid cable damage caused by frame edges.

© 2014 DJI. All Rights Reserved. 15
Connecting XT60 Ports on the Center Frame / Installing Battery

Connecting XT60 Ports on the Center Frame

The bottom board is a power distribution board with three XT60 connectors for battery power.

Instructions

1. Connect the PMU power cable to the XT60 connector on top of the bottom board.

2. Connect the landing gear control board cable to the XT60 connector on the bottom of the bottom board.

3. Other connectors can supply power for other DJI devices, as required.

2S V-S E N

6S

P M U

3V@5V X1

P W (2V @ 6V )

Installing Battery

Soldering battery connectors

AS150 spark-proof connectors are used. They must be soldered to your battery power cables.

1. Remove the original battery connectors. Avoid cutting the power and ground cables at the same time, as 

this can cause a short circuit. We recommend wrapping unsoldered cables with insulating tape to prevent 

accidental connections.

2. Pass the black ground wire through the black housing. After passing the wire through, solder the female 

bullet connector to the ground wire. Wait for the soldered connection to cool, then pull the housing back 

over the bullet connector.

3. Screw and pass the red power wire through the red housing. After passing the wire through, solder the 

male bullet connector to the power wire. Wait for the soldered connection to cool, and then screw and pull

the housing back over the bullet connector.

16 © 2014 DJI. All Rights Reserved.

Connectors soldering diagram
Installing Battery

Spreading Wings S900 User Manual

Connectors are soldered

Installing and connecting battery

1. Attach battery to battery tray. Do not use an oversized battery. Maximum installation dimension is 80mm X

120mm X 200mm.

2. Connect the black connector and then the red connector to power on. Disconnect the red connector then 

black connector to power off.

© 2014 DJI. All Rights Reserved. 17
Setting Up the Landing Gear

Setting Up the Landing Gear

Using a 2-position RC transmitter switch, landing gear retraction can be carried out remotely.

Setting up the transmitter

Select a 2-position switch (default setting is OK) as the control input for the landing gear. Ensure the 

corresponding receiver port is connected to the “IN” port on control board. For the A2 flight control 

system, connect the flight controller’s F1 port to “IN” port on control board.

Upper: Toggle the switch to this position to raise the landing gear.

Lower: Toggle the switch to this position to lower the landing gear.

If the transmitter switch has a FailSafe function, set the FailSafe value to the [Lower] position. This 

ensures that the landing gear will lower automatically when the receiver enters FailSafe mode.

To avoid accidental switch triggering, slide levers or other controls can be used for landing gear 

control.

Usage procedures

1. Ensure transmitter and receiver batteries are fully charged.

2. Toggle the switch to the [Lower] position, and then turn on the transmitter.

3. Ensure the “R”, “L” and “IN” connections are correct.

4. Ensure the landing gear is in the [Lower] position, then power on the system. If a solid green LED on the 

landing gear control board lights up, everything is normal. If it flashes green slowly, re-calibrate the system 

according to instructions in “Recalibrating Servo Travel”.

5. Toggle the switch to the [Upper] position ONLY AFTER takeoff.

6. Toggle the switch to the [Lower] position for landing.

18 © 2014 DJI. All Rights Reserved.
Setting Up the Landing Gear

Spreading Wings S900 User Manual

Servo power will shut off 3 seconds after the landing gear has reached its target position.

When powering on the system, if the transmitter switch is in the [Upper] position, the LED will flash

red quickly as a warning. Toggle the switch to the [Lower] position to continue.

If there is an abnormal signal or no signal input into the “IN” port, the LED willslowly flash red.

Check receiver and connections for problems.

If servo power consumption is too high, the LED will light up red. If this lasts more than 4 seconds, 

the landing gear will lower and the LED will flash green slowly. Re-calibration is needed before 

flying.

A2 flight control system users can use the A2 Assistant to set intelligent gear on the “Advanced”

page. Refer to the “A2 user manual” for details.

LED Control Board Indicator

System normal —Solid green. 

Calibration required Blinks rapid green. 

Recalibration required Blinks slow green. 

Calibration failed —Solid yellow.

Enter calibration mode Blinks rapid yellow. 

System calibrating Blinks slow yellow. 

Motor stalled —Solid red.

Unsafe startup alert Blinks rapid red. 

Input signal abnormal Blinks slow green.

Landing Gear Specifications

Parameter Range Parameter Range

Working Voltage 3S~6S (LiPo) Input Signal PWM (High-Pulse Width 800us~2200us) 

Working Current Max 1A@6S Output Signal PWM (Mid Position is 1520us) in 90Hz 

Working Temperature -20~70° C Output Voltage 6V

TotalWeight 875g Servo Travel 150° (Minimum 120° )

© 2014 DJI. All Rights Reserved. 19
Mounting the Gimbal

Mounting the Gimbal

Before assembling the gimbal, install the GCU asshown below. Be sure to install on the side asshown below. 

A DJI Z15-GH4 (HD) gimbal has been used as an example in the following diagrams.

The connectors on gimbal should be removed for better performance, then the gimbal can be mounted to 

the lower connection points. Users of DJI Z15-5N / 7N gimbal, refer to the DJI Z15-5N / 7N Gimbal Mounting

Notes (Page 21) for details.

20 © 2014 DJI. All Rights Reserved.
Mounting the Gimbal

Spreading Wings S900 User Manual

Check that the system’s center of gravity is on the line asshown in the diagram below.

DJI Z15-5N / 7N Gimbal Mounting Notes

Due to the size restriction of the Z15-5N / 7N gimbal, users should purchase extended landing gear 

legs (used with Z15-5N / 7N gimbal) to avoid damage and/or failure during the self-test. Refer to the 

Part List Package No.34 (Page 31) for details.

Follow the Mounting the Landing Gear (Page 6) instructions to mount extended landing gear legs.

Then the gimbal can be mounted as shown below.

Package No.34 is for users whose landing gear legs are 300mm. Users whose landing gear legs are

350mm have no need to purchase this part.

© 2014 DJI. All Rights Reserved. 21
Appendix

Appendix

ESC Sound

ESC State Sound

Ready 1234567--B--B 

Throttle stick is not at bottom BBBBBB...

Input signal abnormal B------- - B------- - B...

Input voltage abnormal BB- - - BB- - - BB- - - BB...

ESC LED

ESC State LED

Standby Off

Motor rotating Solid Red or Green On

Motor rotating at full throttle position Solid YellowOn

DJI ESCs are specifically designed for multi-rotors. When used with DJI autopilot systems 

parameters and travel ranges do not have to be calibrated.

Specifications

Frame

Diagonal Wheelbase 900mm

FrameArm Length 358mm

FrameArm Weight

(with Motor, ESC, Propeller )

316g

Center Frame Diameter 272mm

Center Frame Weight (with Landing Gear

Mounting Base, Servos)

1185g

Landing Gear Size 460mm(Length)×450mm(Width)×360mm(Height)

Motor

Stator Size 41×14mm 

KV 400rpm/V 

Max Power 500W

22 © 2014 DJI. All Rights Reserved.
Appendix

Spreading Wings S900 User Manual

Weight (with Cooling Fan) 158g

ESC

Working Current 40A 

Working Voltage 6S LiPo

Signal Frequency 30Hz ~ 450Hz

Drive PWM Frequency 8KHz 

Weight (with Radiators) 35g 

Foldable Propeller (1552/1552R)

Material High strength performance engineered plastics

Size 15×5.2 inch

Weight 13g

Flight Parameters

TakeoffWeight 4.7Kg ~ 8.2Kg

TotalWeight 3.3Kg

Power Battery LiPo (6S,10000mAh~15000mAh,15C(Min))

Max Power Consumption 3000W

Hovering Power Consumption 1000W (@6.8Kg Takeoff Weight)

Hovering Time 18min (@12000mAh & 6.8Kg Takeoff Weight)

Working Environment Temperature -10° C ~ 40° C

Gain Value Settings

Flight Control

Basic Attitude

Pitch Roll Yaw Pitch Roll Vertical

A2 110% 110% 120% 220% 220% 120%

WooKong-M 160% 160% 160% 190% 190% 100%

© 2014 DJI. All Rights Reserved. 23
G V G P

G G P V

FAQ

FAQ

Soldering the ESC

Be sure to solder the thick wires and fine wires correctly when soldering an ESC to the frame arm.

Clockwise (CW) and counter clockwise (CCW) motors have a different arrangement of the colored wires.

Red

Black

Blue

Thick wire

Fine wire

Fine wire

Solder pad

Blue 

Black 

Red

Thick wire

CCW arms CW arms

Remounting the Propellers

Instructions

1. Use two M3×12.3 screws and four washers to remount propellers.

2. Apply thread locker to the thread of the propellers mount first.

3. Affix screws with 4Kg ∙ cm (0.4N ∙ m) torque.

Refer to original screw tensions if you are unfamiliar with torque measurements. Applying thread

locker to the propeller mount first avoids getting thread locker into the holes of the plastic propeller.

Loose screws cannot be securely locked with thread locker.

Propeller Precautions

Torque markers on the screws and propeller covers will give you a visual cue to check whether the propellers

are loose. Check the torque markers before every flight.

24 © 2014 DJI. All Rights Reserved.
FAQ

Spreading Wings S900 User Manual

Using the Propeller Holder

Instructions

1. Insert the propeller blades into the propeller holder. 2. Attach the propeller holder to the frame arm.

Assembling Motor Vibration Absorbers

A soft damper is part of the vibration absorber. Assemble soft dampers as shown below. Assembly is the 

same for CCW and CW propellers.

Ensure all soft dampers and vibration absorbers are in good condition before every flight. If not, 

replace immediately.Otherwise, the flight performance of your aircraft will be adversely affected. 

Before installing the soft dampers, put the copper gaskets onto the four mounting holes on the 

carbon plate. Then put the soft dampers into the mounting holes.

After tightening the screws, the vibration absorbers may be twisted. If this is the case, hold the 

motor with your thumbs under the base plate and fingers on the top carbon plate, and squeeze the 

plates together to make the vibration absorbers flat and parallel with the plates.

© 2014 DJI. All Rights Reserved. 25
Spreading Wings S900 User Manual

Remounting the Landing Gear Servo

Remounting servos is not recommended as they are pre-installed.

Instructions

1. Connect the left servo cable to the “L” port of the landing gear control board.

2. Connect the right servo cable to the “R” port of the landing gear control board.

3. Press and hold the SET button using a pin then power on. You will see a yellow LED beside the SET button

flashing quickly. Wait as servos complete position initialization.

4. Make sure the arm connecting to the servo is parallel to the link as shown in the following diagram.

5. Assemble the left and right servos to the left (between M3, M4) and the right (between M5, M6) parts of the 

landing gear. Power off.

R L IN

To right servo

To left servo

To receiver channel

(To F1 port if use A2)

SET Button

LED

Servo 

Connecting arm 

Link

After Installation

Recalibrating Servo Travel

Instructions

1. Keep your hands away from all moving parts.

2. Ensure the “R”, “L” and “IN” connections are correct.

3. Keep the whole aircraft off of the ground during calibration, as landing gear will move.

4. Press and hold the SET button using a pin while powering on, then release. An LED will flash yellow 

quickly. Press the SET button again. Auto calibration will begin and the LED will flash yellow slowly. DO 

NOT obstruct any moving parts during auto calibration.

5. During calibration, the left landing gear will raise and lower, followed by the right landing gear.

6. After calibration, both the left and right landing gears will be lowered and the LED will display a solid green 

light. This indicates that the landing gear is working properly.

If the LED is solid yellow after calibration, a problem has occurred. Carry out the instructions in

“Remounting the Landing Gear Servo” then try again.

Avoid obstructions during calibration. If the landing gear was obstructed, recalibration will be 

required, per the above steps.

If the “R” and “L” servo cables are reversed, travel will not be measured correctly. Fix the

connections and recalibrate the landing gear using the above steps.

Landing gear travel has been pre-calibrated. Mechanical adjustment of the gear travel is not 

recommended.

26 © 2014 DJI. All Rights Reserved.
Part List

Part List

If you require a replacement part, locate the part that you wish to replace in the following tables. Then order

the package that comes with the specified part. The numbering of the part is defined as follow:

S900

S9020101CCW CW as clockwise; CCW as counter clock 

wise ; B as Balck; R as Red ; G as Green

01-Frame Arm;02-Center Frame;

03-Land ing Gear Package No.

Package Part No.

Frame Arm

M3x12.3 (hexagan)

S9012501CCW/ 

S9012502CW

S9012102B/ 

S9012202R/ 

S9013701R/ 

S9013801B

S9012503

S9012101B/ 

S9012201R M3x10.3

S9010801/ 

S9013501

S9010802

S9011001

M3x4.5

S9012902/ 

S9013002/ 

S9013102/ 

S9013202

S9012901/ 

S9013001/ 

S9013101/ 

S9013201

S9012301R/ 

S9012401G

S9012903/ 

S9013003/ 

S9013103/ 

S9013203

S9010401CCWB/ 

S9010501CCWR/ 

S9010601CWB/ 

S9010701CWR

S9012302/ 

S9012402

M3x12.3 (cheese)

S9010402/ 

S9010502/ 

S9010602/ 

S9010702

S9010403/ 

S9010503/ 

S9010603/ 

S9010703

S9010404/ 

S9010504/ 

S9010604/ 

S9010704

Package No. Name Part No.

4 S900 Frame Arm CCW - Black S9010401CCWB, S9010402, S9010403, 

S9010404, M3×12.3 (cheese)

5 S900 Frame Arm CCW - Red S9010501CCWR, S9010502, S9010503, 

S9010504, M3×12.3 (cheese)

6 S900 Frame Arm CW - Black S9010601CWB, S9010602, S9010603, 

S9010604, M3×12.3 (cheese)

7 S900 Frame Arm CW - Red S9010701CWR, S9010702, S9010703, 

S9010704, M3×12.3 (cheese)

8 S900 Motor Damping Unit S9010801, S9010802, M3×10.3

10 S900 Motor Mount Carbon Board S9011001, M3×4.5

© 2014 DJI. All Rights Reserved. 27
Part List

Spreading Wings S900 User Manual

21 S900 4114 Motor with black Prop cover S9012101B, S9012102B, M3×4.5

22 S900 4114 Motor with red Prop cover S9012201R, S9012202R, M3×4.5

23 S900 ESC with Red LED S9012301R, S9012302, M3×12.3 

(cheese)

24 S900 ESC with Green LED S9012401G, S9012402, M3×12.3 

(cheese)

25 S900Propeller Pack S9012501CCW, S9012502CW,

S9012503, M3×12.3 (hexagan)

Center Frame

S9020301

M2.5x8 (cheese)

S9021502

S9021503/ 

S9032703

M3x6.5

S9021501

S9020901

S9020302

M3x8 (self-tapping)

S9021201L

S9021202R

S9021203/ 

S9021101

S9021401 M2.5x8 (cheese)

M3x6.5

28 © 2014 DJI. All Rights Reserved.
Part List

Spreading Wings S900 User Manual

Package No. Name Part No.

3 S900 Lock Knob S9020301, S9020302, M3×8 (self-tapping)

9 S900 Center FrameSupport Pillar S9020901, M2.5×8 (cheese)

12 S900Arm Mounting Bracket S9021201L, S9021202R, S9021203, 

M3×6.5

14 S900 Center FrameBottom Board S9021401, M3×4.5 (cheese), M3×8 (selftapping), M3×6.5, M3×5.5

15 S900 Center Frame Top Board S9021501, S9021502, S9021503, M3×6.5, 

M2.5×8 (cheese)

11 S900 Frame Arm Mounting SteelShaft S9021101

Landing Gear

M3x4.5

S9031902

S9031814

S9031815

M3x6.5

S9031901

M2.5x13

S9031604/ 

S9033306

S9031602/

S9033303 

S9033301

S9033302

S9031603/ 

S9033305

S9031601/ 

S9033304

S9031605/ 

S9033307

M2.5x5

M2.5x8 (cheese) 

S9033308

S9033309

M2.5x10 (socket cap)

S9031812

S9031712

S9031903

M3x6.5

S9031904

S9031905

S9031701

S9030201

S9033313

S9033314

S9031801

M3x8

S9033310

S9033311

S9033312

S9032605 S9031808

S9031809 

M1.6x5

S9031810 

S9031811

S9031802

S9031803

S9031804

S9031805

M2.5x8(cheese)

S9031806

S9031713/ 

S9031813 M2.5x8 (socket cap) S9031807 

(1)

M2.5x8 (socket cap)

S9032601

S9032602

S9032603

S9032606

M3x22 (socket cap)

S9032604

M3x6.8

S9032001

S9032002

Caution!Z(1) Parts within the dotted box are mirrored against each other.

Except for S9031814 and S9031815.

© 2014 DJI. All Rights Reserved. 29
Part List

Spreading Wings S900 User Manual

Package No. Name Part No.

16 S900 Gimbal

Damping Bracket

S9031601, S9031602, S9031603, S9031604, S9031605, 

M2.5×5, M2.5×13

17 S900 Retractable

Module (Right)

S9031701, S9031702, S9031703, S9031704, S9031705, 

S9031706, S9031707, S9031708, S9031709, S9031710, 

S9031711, S9031712, S0031713, M1.6×5, M2.5×10 (socket 

cap), M2.5×8 (cheese), M2.5×5, M3×8, M3×4.5, M3×6.8

18 S900 Retractable

Module (Left)

S9031801, S9031802, S9031803, S9031804, S9031805, 

S9031806, S9031807, S9031808, S9031809, S9031810, 

S9031811, S9031812, S9031813, S9031814, S9031815, 

M1.6×5, M2.5×10 (socket cap), M2.5×8 (cheese), M2.5×5, 

M3×8, M3×4.5, M3×6.8

19 S900 Gimbal 

Damping 

Connecting 

Brackets

S9031901, S9031902, S9031903, S9031904, S9031905, 

M2.5×5, M3×6.5

20 S900 Landing Skid S9032001, S9032002

26 S900 Landing Gear

Leg

S9032601, S9032602, S9032603, S9032604, S9032605, 

S9032606, M2.5×8 (socket cap), M3×22 (socket cap)

2 S900Battery Tray S9030201

33 S900 Gimbal 

Mounting 

Accessories

S9033301, S9033302, S9033303, S9033304, S9033305, 

S9033306, S9033307, S9033308, S9033309, S9033310, 

S9033311, S9033312, S9033313, S9033314, M2.5×5, 

M2.5×13, M2.5×8 (cheese)

Miscellaneous

S9032701

S9032702

S9013601 S9020201 S9020202

S9020103 S9020104

S9033401

Caution: This part is used with Z15-5N / 7N gimbal.

30 © 2014 DJI. All Rights Reserved.
FC

C Statements

Spreading Wings S900 User Manual

Package No. Name Part No.

13 S900 Center Frame Package 3, 9, 12, 14, 15

29 S900 Complete Arm [CW-RED] Package 7, 8, 10, 11, 22, 23, 25, S9012901, 

S9012902, S9012903

30 S900 Complete Arm [CW-Green] Package 6, 8, 10, 11, 21, 24, 25, S9013001, 

S9013002, S9013003

31 S900 Complete Arm [CCW-RED] Package 5, 8, 10, 11, 22, 23, 25, S9013101, 

S9013102, S9013103

32 S900 Complete Arm [CCW-Green] Package 4, 8, 10, 11, 21, 24, 25, S9013201, 

S9013202, S9013203

27 S900 GPS Holder S9032701, S9032702, S9032703, M2.5×8 (cheese)

28 S900Screw Pack Assorted screws

1 S900Power Cord Plug S9020101, S9020102, S9020103, S9020104

34 S900 Extended Landing Gear Leg S9033401

35 S900 Rubber Damper for 4114 Motor S9013501, M3×10.3

36 S900 Propeller Holder S9013601

37 S900 4114 Motor-Red Prop Cover S9013701R, M3×12.3 (hexagan)

38 S900 4114 Motor-Black Prop Cover S9013801B, M3×12.3 (hexagan)

FCC Statements

This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant 

to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful 

interference when the equipment is operated in a commercial environment. This equipment generates, uses, 

and can radiate radio frequency energy and, if not installed and used in accordance with the instruction 

manual, may cause harmful interference to radio communications. Operation of this equipment in a residential 

area is likely to cause harmful interference in which case the user will be required to correct the interference 

at his own expense.

© 2014 DJI. All Rights Reserved. 31
User manual is subject to change without prior notice.

You may visit DJI offical website to obtain the latest version of user manual.

http://www.dji.com/product/spreading-wings-s900

© 2014 DJI. All Rights Reserved.
S900 Product Release Notes

Date : August 4, 2014

S900 User Manual Version : 1.00

S900 ESC Firmware Version : 3.6

August 4, 2014 DJI Spreading Wings S900

S900 Overview

1. Safe and stable

(1) The S900’s V-type mixer design provides large amounts of propulsion while improving power efficiency.

Combined with DJI flight controllers like the A2, it is guaranteed to remain stable even with the loss of a

rotor.

(2) A more reliable, safe, and simplified power wiring system is easy to setup, and eliminates the need for

soldering. The main power cord uses an AS150 spark-proof plug and an XT150 plug, preventing creators from

mixing up polarity when plugging in the battery, and also helping prevent short circuits.

(3) All frame arms and the retractable landing gear are made from carbon fiber, ensuring light weight and high

structural stability.

2. Professional hexacopter

(1) Weighing approximately 3.3kg with a maximum takeoff weight of about 8.2kg, the S900 can easily carry 

equipment such as the Zenmuse gimbal systems and a set of shooting equipment. Used with a 6S 15000mAh 

battery it can fly for up to 18 minutes.

(2) The gimbal is mounted low on the frame on a specifically designed bracket. When combined with our 

retractable landing gear, you have very wide range of possible shooting angles.

(3) The gimbal and battery are mounted to the same bracket, with dampers placed between the bracket and the 

frame. This significantly reduces high-frequency vibrations and makes shots clearer and sharper. The battery 

tray's position also makes it more stable and convenient for mounting and dismounting.

(4) The S900 supports most of the Zenmuse series of gimbals. (The Z15-5D gimbal is not currently supported by 

the S900. Please use the S1000 platform when using the Z15-5D.)

3. Portable and easy to use

(1) All six arms can be folded down, and the 1552 folding propellers can be tucked away, minimizing the S900’s

size during transport.

(2) To fly, simply lift the frame arms up, lock them in place with the red clips, and power up the system. This 

greatly saves on pre-flight prep time and you can be ready to fly in less than 5 minutes.

(3) The upper center plate can be removed quickly, making it convenient and efficient to arrange or change the 

power system, control system, and other accessories.

4. Easy to control and fly

(1) Each frame arm is designed with an 8° inversion and a 3° inclination, making the aircraft more stable when 

rolling and pitching, and more flexible when rotating.

(2) Each frame arm has a built-in 40A electronic speed controller (ESC). When combined with the 4114 pro motor

and high performance 1552 folding propellers, the S900 is capable of a maximum thrust of 2.5Kg.

©2014 DJI Innovations. All Rights Reserved.
New Product Specification

S900 Product Release Notes

Frame

Diagonal Wheelbase 900mm

Frame Arm Length 358mm

Frame ArmWeight

316g (with Motor, ESC, Propeller )

Center Frame Diameter 272mm

Center Frame Weight (with Landing Gear

1185g

Mounting Base, Servos)

Landing Gear Size 460mm(Length)×450mm(Width)×360mm(Height)

Motor

Stator Size 41×14mm

kV 400rpm/V

Max Power 500W

Weight (with Cooling Fan) 158g

ESC

Working Current 40A

Working Voltage 6S LiPo

Signal Frequency 30Hz ~ 450Hz

Drive PWM Frequency 8KHz

Weight (with Radiators) 35g

Foldable Propeller (1552/1552R)

Material High strength performance engineered plastics

Size 15×5.2 inch

Weight 13g

Flight Parameters

Takeoff Weight 4.7Kg ~ 8.2Kg

Total Weight 3.3Kg

Power Battery

LiPo (6S, 10000mAh ~ 15000mAh, 15C(Min))

Max Power Consumption 3000W

Hovering Power Consumption 1000W (@6.8Kg Takeoff Weight)

Hovering Time 18min (@12000mAh & 6.8Kg Takeoff Weight)

Working Environment Temperature -10°C ~ 40°C

©2014 DJI Innovations. All Rights Reserved.
APPENDIX B

3D Robotics IRIS+ – Operations Documents
IMPORTANT

Read before 

flying!

Operation Manual
Contents

01 Meet IRIS

03 Parts

04 Charging the Battery

06 Attaching Propellers

07 Safety and Failsafes

08 Learn to Fly

11 Flight Modes

13 Return to Launch

13 Geofence

14 First Flight

19 Planning Missions

20 Flying Missions

21 Specifications and Resources

22 Learn More and Support
Meet IRIS+

.

Thank you for purchasing IRIS+.

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

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

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

Happy flying!

Important note: When using a GoPro with IRIS, always 

ensure that theWiFi on the GoPro is turned OFF.

01
Front

antenna

safety button

front arms (blue)

Rear

USB port

status LED

battery 

compartment

rear arms (black)

02
Parts

Controller

your direct link to IRIS

Ground station radio

with USB and Android adapters

Battery kit

battery, guard bag, and charger 

with international travel adapters

Propellers and tool kit

four propellers with propeller tool and 

small, medium, and large hex keys

(1.5 mm, 2 mm, and 3 mm)

Tall legs

Switch to tall legs to use IRIS with the Tarot

Gimbal or for extra clearance on landing.

Use the small (1.5 mm) hex 

key to loosen the set screw 

in the bottom of the leg.

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

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

Do not tighten the screw beyond this point.

03
1

2

3

Charging the Battery

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

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

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

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

up to 16 minutes when using a Tarot Gimbal.*

Connect charger to the 

power adapter cable and 

a wall outlet.

Set the charger to

LiPo and 3A.

Connect the white 

connector to the 3S port. 

Join the two yellow 

connectors together.

Connect the red cable to the

+ port and the black cable 

to the - port.

+

–

LiPo 3A

3S

04
4

Secure battery inside the guard bag 

while charging. Charge until the status 

indicator displays green.

Charging Complete

Battery Safety

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

and flammable surfaces. Always transport, charge, and store

the battery in the guard bag.

Charge the battery using a designated LiPo balance charger only. 

Always monitor the battery while charging.

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

unusable. Always discontinue use when you receive a low battery 

notification, and always fly with a fully charged battery.

Inspect the battery for damage before takeoff and after landing. If

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

function, locate your local battery recycling center to dispose of

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

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

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

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

Checklist for instructions on managing battery levels during flight.

05
Attaching Propellers

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

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

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

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

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

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

For propellers with black nuts: For propellers with silver nuts:

Spin clockwise to attach.

Spin counterclockwise 

to remove.

Spin counterclockwise 

to attach.

Spin clockwise to 

remove.

To remove, hold the motor in place with 

the propeller tool, and spin the propeller 

in the direction of the unlocking symbol.

06
Safety

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Failsafes

Loss of RC signal

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

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

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

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

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

Loss of GPS signal

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

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

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

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

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

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

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

configuring the GPS failsafe.)

Low battery

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

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

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

07
Learn to Fly

Maneuver IRIS in flight using 

the controller sticks.

left stick:

throttle

& yaw

right stick:

pitch

& roll

Throttle

Move the left stick up and down to control altitude.

left stick

To take off and to

gain altitude, raise the 

throttle stick slightly 

above center position.

Set the throttle stick 

to center to maintain 

the current altitude.

Lower the throttle 

stick below center

to decrease altitude.

Set the throttle stick 

fully down to land 

once IRIS is a few 

inches above the 

ground.

08
Yaw

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

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

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

a faster rotation.

left stick

Move the stick to 

the left to rotate 

counterclockwise.

Move the stick to

the right to 

rotate clockwise.

Release the stick to 

stop rotating and 

maintain the current 

orientation.

Flight Tip

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

vertical position.

09
Pitch and Roll

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

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

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

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

it tells IRIS how fast to move.

right stick

Move the right 

stick forward to 

fly forward.

Move the right

stick back to fly

backward.

Move the right 

stick left to fly 

left.

Move the right 

stick right to fly 

right.

Flight Tip

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

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

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

red lights face towards you and the blue arms and white lights face away from you.
10
Flight Modes mode switch

IRIS includes three flight modes: manual flight 

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

mission flight (AUTO). Use the switch on the

right side of the controller to select a flight mode.

Standard (altitude hold mode)

STD

fly manually

Start your flight in standard to select altitude hold 

mode, and fly IRIS manually using the controller.

Loiter mode

LTR

hover

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

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

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

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

To avoid sudden changes in altitude, set the throttle stick

to center position before switching modes, including in the 

event of a GPS failsafe.

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

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

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

produce unexpected behavior.

11
Auto mode

AUTO

fly a mission

Select auto mode to fly an autonomous mission. IRIS will 

automatically fly the series of waypoints saved to the autopilot.

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

Do not activate auto mode unless you have saved a 

mission to IRIS using a ground station application.

Gimbal control

TILT

tilt the camera up and down

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

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

for instructions.

Land

CH 7

land at the current position

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

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

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

disarm automatically unless the throttle stick is set fully down.

Reposition during landing: During landing, use the 

right stick on the controller to adjust IRIS’ position.

12
Return to Launch (RTL)

land at the launch point

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

IRIS to the launch point automatically. Ensure that the 

RTL switch is set to OFF before takeoff.

1 15 meters 2 hover 5 seconds

When commanded to RTL, IRIS will:

1 Achieve minimum altitude of 15 m (50 ft)

or maintain current altitude if above 15 m.

2 Move to launch point and loiter for 5 seconds. 3

3 Land at launch point. launch point

Reposition during landing: During landing, use the 

right stick on the controller to adjust IRIS’ position.

RTL returns IRIS to the location where IRIS was armed. 

Always arm IRIS in a safe, unobstructed launch point.

Geofence

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

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

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

300 m

100 m

launch point

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

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

its current position.

13
14

1

2

First Flight

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

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

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

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

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

every time you fly.

Preflight

Check

IRIS.

Point the controller antenna up 

and the IRIS antenna down for 

the strongest signal.

Set the mode switch to standard (STD).

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

flight in loiter (LTR) instead of standard.

Ensure that the RTL switch 

is set to OFF.

Power on 

controller.

Ensure that the controller is always turned on while 

IRIS is powered. If IRIS loses communication with 

the controller in flight, IRIS will initiate an automatic 

return to launch.
Press and hold the DN button on the controller to 

view flight data from IRIS. See the Flight Checklist 

for more information about controller flight data.

3 Connect battery.

Press the sides 

of the battery 

compartment 

together and 

rotate the door 

down.

Insert battery, and 

attach the yellow 

connectors.

Wait 10 seconds before 

closing the battery door or 

moving IRIS at all while the 

internal sensors calibrate 

and the status LED shows 

blue and red.

To close, squeeze the 

door, and rotate up

until it clicks into place, 

ensuring that the battery 

cables do not interfere

with the LED cables.

If you see a flashing yellow status

LED, it’s likely that the sensors did

not calibrate correctly during 

startup. Re-connect the battery and 

make sure to keep IRIS absolutely 

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

Place IRIS at the launch 

point with the black

arms facing towards you 

and the blue arms facing 

away from you.

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

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

flight and unlock IRIS’ advanced autonomous features.

To download a ground station app for you laptop or

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

15
4

Press safety 

button.

Press the safety button 

until it is solid red.

IRIS is now live.

Stand back!

Do not handle IRIS while the 

safety button is solid red and 

IRIS is live. Always press the 

button until it displays blinking 

red before approaching

the propellers.

Motors inactive, safe to handle Motors active, deactivate before 

handling

5 Check LED.

Check the LED to view the status of IRIS. Wait 

to proceed until you see the blinking green light 

indicating that IRIS has acquired GPS lock.

Initializing, hold IRIS still, please wait. 

Acquiring GPS, please wait.

Autopilot ready, GPS locked

Pre-arm safety check failure. Connect

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

6 Arm motors.

GPS lock requires a clear view of the 

sky. IRIS may take a few minutes to 

acquire GPS lock depending on your 

flying location. Always fly in an open 

area to improve GPS signal strength, 

and review the GPS failsafe 

information on page 7.

To activate the motors,

hold the left stick down-right 

until the motors spin.

Now you’re ready for takeoff!

IRIS will spin its propellers 

when armed. Ensure that the 

launch point is clear of 

obstructions before arming. 

Always disarm the motors 

before approaching IRIS.

16
Flight

Take off and gain altitude by 

raising the left stick slightly 

above center.

Set the left stick to 

center to maintain 

the current altitude.

Rotate counterclockwise and 

clockwise by 

moving the left 

stick left and right.

Fly forward, backward, left, or right 

by moving the right stick in the 

direction you want to fly.

Release the right 

stick to level IRIS.

Lower the left

stick below center 

to descend.

Set the left stick fully 

down to land once IRIS 

is a few inches above 

the ground.

IRIS is a powerful and agile 

flier. Move the sticks in small 

increments until you feel 

comfortable with how IRIS 

responds to controls.

17
2

Postflight

motors.

Press safety 

button.

After landing, hold 

the left stick downleft until the motors 

stop spinning.

Press the safety 

button until it 

displays blinking 

red to make IRIS

safe to handle.

3

Disconnect Power off

battery. 4 controller.

Your first flight is now complete!

Follow the steps shown here and 

on the Flight Checklist every time 

you fly.

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

Skill 1: Hover

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

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

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

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

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

corresponding stick controls to correct.

Skill 2: Box

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

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

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

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

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

face away from you for the duration of the exercise.

Skill 3: Figure Eight

When you can confidently navigate a box while maintaining altitude and 

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

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

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

18
1

Planning Missions

To plan a mission, download a ground station application from

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

 DroidPlanner 2 for Android

Power IRIS, connect the radio to your laptop 

or Android device, and select Connect.

Mission Planner for Windows

APM Planner for OS X

Connect the blue end of the 

Android adapter to your device 

and the black end to the radio. 

Select Connect.

Connect the USB adapter to the 

radio and your laptop. Select 

AUTO, 57600, and Connect.

2 Configure waypoints.

Select Edit and tap to add 

waypoints, or select the brush 

tool and draw a path for IRIS

to follow.

Select Flight Plan, and click to 

add waypoints. Select the green 

arrows at the bottom of the 

screen to configure altitude and 

change waypoint types.

3 Save the mission to IRIS.

Select the option menu in 

the top-right corner, and 

select Send Mission.

Select Write WPs.

When flying missions, we recommend changing the GPS 

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

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

19
1

3

4

2

Flying Missions

Perform a pre-mission 

test flight.

Fly a brief test flight to verify 

that all controls (throttle, yaw, 

roll, and pitch) are responding 

normally.

Arm IRIS

in standard.

When you’re ready 

to start the mission, 

arm IRIS in standard 

(STD).

Switch to

AUTO.

If you planned a takeoff waypoint into 

your mission, switch to AUTO on the 

ground, and raise the throttle to initiate 

the mission. If you did not add a takeoff 

waypoint, switch to AUTO mode after 

takeoff to initiate the mission in flight.

For auto-takeoff, 

raise throttle to 

start mission.

To recall IRIS during a mission, 

use the controller to switch

to standard (STD) and land 

manually. Or switch to RTL, 

and automatically return to 

the launch point.

To avoid sudden changes in

altitude when switching from

auto to standard (STD), 

ensure that the left stick is

set to the center position.

Switch to standard 

before disarming.

When the mission is complete and IRIS has landed, 

use the controller to switch to standard (STD) then 

disarm and proceed with the postflight steps.

If you added an automatic landing waypoint to your 

mission, IRIS will disarm automatically after landing.

20
Specifications

Autopilot: Pixhawk v2.4.5

Firmware: ArduCopter 3.2

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

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

Motors: 950 kV 

Frame type: V

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

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

Battery: 3S 5.1 Ah 8C lithium polymer

Low battery voltage: 10.5 V 

Maximum voltage: 12.6 V 

Battery cell limit: 3S 

Battery weight: 320 g

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

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

Weight with battery: 1282 g Height:

100 mm

Motor-to-motor: 550 mm 

Payload capacity: 400 g (.8 lbs)

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

Flight time: 16-22 minutes*

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

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

less than 2,000 ft above sea level.

Resources

Hardware: 3DR.com/iris/info

Firmware: copter.ardupilot.com

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

3DR Store: store.3DR.com

Community: diydrones.com

Happy flying!

21
Learn More

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

» 3PVTM Follow Me and DroidPlanner

» Opening the shell

» Replacing the arms and motors

» Installing software

» Planning a mission

» Updating firmware

» LED meanings and tones

Visit copter.ardupilot.com to learn about:

» Additional flight modes

» Configuring parameters, including yaw behavior during 

autonomous flight, descent speed during RTL, and more

Visit planner.ardupilot.com (Mission Planner) and

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

» Planning a mission with waypoints and events

» Using a ground station to command IRIS in flight

» Downloading and analyzing flight logs

Join the community and share your experience at

diydrones.com.

Follow us on Facebook and Twitter @3DRobotics.

Support

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

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

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

IRIS+ Operation Manual vH | ©3D Robotics, Inc. | 2015
1 2

3 4 5 6

Go outside to 

an open area!

Power on controller;

set to STD and RTL OFF.

Flight Checklist

Connect

charged battery.

Place IRIS at 

launch point.

Press and hold safety 

button until solid red.

Check

LED.

Arm 

motors.

Choose a clear launch 

point, and face IRIS 

away from you.

The motors are 

now active.

!

Stand back! Hold left stick downright until motors spin.

LED

Initializing, please wait Loss of RC signal, automatic landing

Acquiring GPS, please wait Low battery, automatic landing

Autopilot ready, GPS locked Loss of GPS signal, switch to manual

Armed Pre-arm safety check failure, 

see troubleshooting guide

Safety Button

Motors inactive, safe to 

handle

Motors active, deactivate before 

handling (see reverse)

Flight Modes

Standard position 

(altitude hold mode) 

STD

fly manually

Loiter mode

LTR

hover

Auto mode

AUTO

fly a mission

Return to launch

RTL

land at the launch point

Land

CH7

land at the current position

Control gimbal

TILT

tilt the camera down and up

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

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

Press DN again to toggle between screens.

GPS status 

connection strength 

altitude in meters 

speed in m/s

meters from launch point 

flight time

current latitude 

current longitude 

altitude in meters

current flight mode

GPS signal strength in # of 

satellites

flight battery level (10.5-12.6 V)

flight battery mAh 

consumed since armed

End your flight at 10.7 V.

! Do not exceed 4000 mAh for

a fully charged IRIS+ battery

(80% of available capacity).

controller battery level (9-12 V)

Flight

Raise left stick above 

center to take off and 

gain altitude.

Set left stick to center 

to maintain altitude.

Move left stick left 

and right to rotate.

Use right stick to fly forward, 

backward, left, and right.

Lower left stick below 

center to descend.

Set left stick fully down to 

land when near the ground.

Postflight 1

Disarm 2Press safety Disconnect Power off

motors. button. 3 battery. 4controller.

Hold left stick downleft until motors stop.Press and hold until 

blinking red to deactivate.

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

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

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

3DR.com/iris/info
APPENDIX C

3D Robotics Aero M – Operations Documents
AERO

Congratulations on your purchase of an Aero!

Please read the following sections of this manual to get 

started with your new autonomous aircraft.

1 Meet the Aero 7 Fly-by-wire mode

2 Safety 8 Command modes

3 Charge battery 9 Missions

4 Setup 10 Preflight steps

5 Manual mode 11 Takeoff & landing

6 Stabilize mode 12 Postflight steps

Meet the Aero

nose

body

left wing

motor

right wing

tail boom

tail

1
airspeed sensor 

battery compartment

electronics compartment

(under wings)

left aileron right aileron

rudder

elevator

If the terms above are unfamiliar to you, visit 3dr.com/learn, 

and dive into the exciting world of planes with our 

Introduction to Flying Fixed-Wing Aircraft.

RC transmitter

Spektrum FlySky

If you did not order an RC transmitter with your

Aero, visit 3dr.com/learn for instructions.

2
100 ft (30 m) 5 miles (8 km)

! Safety

Before you fly, always determine the boundaries of your safe flying area. If 

the Aero moves outside the designated area or exhibits instability in flight, 

switch to fly-by-wire mode and land the plane manually.

The Aero will not avoid obstacles on its own, including during missions. As 

the operator, it’s your job to recognize and avoid obstructions while flying. 

Always be ready to regain manual control of the plane in the event of an 

unsafe situation.

Spinning propellers can cause serious injury. The safety button 

indicates the status of the motor to help you prevent hazardous 

contact with the Aero’s high-speed propeller. When the Aero is 

powered on, the safety button will blink red; the motor is inactive 

and the propeller is safe to handle. When you’re ready to fly, press 

and hold the safety button until it shows solid red. This indicates 

that the motor is active and the propeller can spin if armed. To 

make the propeller safe to handle again, press and hold the safety 

button until it blinks red.

visual livniesual line

of sightof sight 400 ft400 ft

(120 m(1)20 m)

Always fly below 400 ft (120 m) and within your 

visual line of sight. Don’t let the Aero get too far 

away from you; make sure you can always see its 

orientation. Don’t fly in low light, heavy wind, rain, 

or other conditions that might impede visibility.

100 ft (350 m)les (8 km)

100 ft (30 m)

Always fly at least five miles (8 km) away from 

airports and other areas where pilots operate 

manned aircraft.

Always fly at least 100 feet (30 m) away from 

people, vehicles, and buildings. Make the safety 

of people and property your first priority!

If the Aero looses contact with the RC transmitter, it will 

return to the launch point automatically and enter into a 

circle pattern above the launch point, indicated by a 

blinking yellow status LED.

If the battery reaches 33% of its remaining charge, the 

Aero will return automatically to circle above the launch 

point, indicated by a blinking yellow status LED and a 

quick repeating tone.

3
Charge battery

The Aero is powered by a rechargeable lithium polymer 

(LiPo) battery. Store the battery at half charge, then charge 

fully before flying. Batteries must ship at half charge, so 

please charge before your first flight. Each full battery 

provides approximately 40 minutes of flight time.

battery charger

Connect the charger to the power adapter cable and a 

wall outlet. Connect the red cable to the + port and the 

black cable to the - port.

+

–

Set the charger to LiPo and 3A.

LiPo 3A

4
Connect the white connector to the 4S port. Join the two yellow 

connectors together. Secure the battery inside the guard bag while 

charging, and charge until the status indicator displays green.

4S

Charging Complete

guard bag

! Battery safety

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

and flammable surfaces. Always transport, charge, and store

the battery in the guard bag.

Charge the battery using a designated LiPo balance charger only. 

Always monitor the battery while charging.

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

permanently unusable. Always fly with a fully charged battery.

Inspect the battery for damage before takeoff and after landing. 

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

to function, locate your local battery recycling center to dispose 

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

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

5
Setup

Follow these instructions to take the Aero from 

travel configuration to flight configuration.

1 Slide the horizontal stabilizer into the vertical stabilizer 

along the orange groove. Make sure not to stress any

of the components on the tail.

horizontal stabilizer

vertical stabilizer

complete tail assembly

On the top of the horizontal stabilizer, open the 

blue clasp at the end of the servo rod.

6
Insert the pegs on the clasp into the open space in 

the servo horn, and close the clasp.

servo horn

Slide the blue rubber ring over the clasp to secure it in place.

Turn the plane over and insert the provided tail screw 

into the horizontal and vertical stabilizers.

tail screw

2 Locate the wing spar (long rod) and the two wings.

Slide a wing onto the spar.

7
Slide the other wing onto the spar.

Do not twist the wing or the spar so as not to stress the foam.

complete wing assembly

Locate the two cables inside the electronics compartment marked 

AILE. Connect these cables to the two cables on the wings marked 

AILE. (Either of the wing cables can connect to either of the plane 

cables; the order doesn’t matter.)

plane AILE cables wing AILE cables

Place the wings over the body of the Aero with the foam squares 

fitted into the matching space in the electronics compartment. 

Make sure not to pinch the AILE cables.

wings placed onto the body of the Aero

8
Locate the four large rubber bands. Use the bands to secure 

the wings to the body of the Aero by the four orange knobs 

on the body around the wings.

Attach two of the bands to the two knobs on one of the short 

sides and opposite knobs on the opposing side.

add first band add second band

orange knobs

Repeat on the other short side with the remaining two rubber 

bands, resulting in two pairs of opposing right triangles.

add third band add fourth band

complete band assembly

9
3 Locate the rings inside the propeller package. Remove 

the ring with the second-largest internal diameter, and 

insert it into the back of the propeller hub.

Remove the nut and the washer from the motor, add the 

propeller with the writing on the propeller facing towards 

the nose of the plane, add the washer and the nut over the 

propeller, and tighten the nut.

10
The tail boom arrives attached to the Aero. Follow these 

instructions to remove the tail boom for travel.

Disconnect the RUDD and ELEV cables inside the 

electronics compartment.

Remove the screws on the body and the tail indicated below.

body

tail

Pull out the tail boom to remove. To reattach, reverse these steps.

11
Setting flight modes

On 3DR transmitters, use the two-position switch and the 

three-position switch shown below to select a flight mode.

Spektrum mode switches

two-position switch

marked GEAR/MIX

FlySky mode switches

three-position switch 

marked FLAP/GYRO 

available positions 0, 1, 2

three-position switch 

marked F MODE 

available positions N, 1, 2

two-position switch 

marked AIL D/R 

available positions 0, 1

The two-position switch activates one of the two groups of modes 

then the three-position switch selects the specific mode within the 

group. The three-position switch can be set forward (away from you), 

center, and back (towards you). The two-position switch can be set 

forward and back.

three-position mode switch two-position mode switch

forward

(away from you)

center back

(towards you)

forward

(away from you)

back

(towards you)

12
The Aero includes six flight modes. Manual mode, two assisted flight 

modes (stabilize and fly by wire), autonomous mission mode, and two 

command modes (loiter and return to launch). The following sections 

of this manual describe the behavior of each mode. The Aero’s six 

modes are assigned to your transmitter’s mode switches according to 

model.

Flight modes on Spektrum

With GEAR/MIX set to MIX,

set FLAP/GYRO to: 0 for AUTONOMOUS

1 for FLY BY WIRE

2 for RETURN TO LAUNCH

With GEAR/MIX set to GEAR,

set FLAP/GYRO to: 0 for MANUAL

1 for STABILIZE

2 for LOITER

Flight modes on FlySky

With AIL D/R set to 0,

set F MODE to: N for RETURN TO LAUNCH

1 for FLY BY WIRE

2 for AUTONOMOUS

With AIL D/R set to 1,

set F MODE to: N for LOITER

1 for STABILIZE

2 for MANUAL

13
Manual mode

Fly with fine-tuned manual control without autopilot assistance. 

Manual mode gives you the most direct input to the control 

surfaces, resulting in precise in-flight adjustment. Try manual 

mode if you’re an experienced RC plane operator.

XGPS no GPS lock required

Manual mode RC controls

throttle pitch

yaw roll

Throttle up

Increase motor 

speed.

Throttle down

Decrease motor 

speed.

Throttle fully down

Stop motor.

14
Yaw left

Turn left.

Yaw right

Turn right.

Pitch up

Pitch up.

Pitch down

Pitch down.

Roll left

Roll right

Roll left.

Roll right.

15
Stabilize mode

Stabilize mode provides manual control with an added autopilot 

safeguard: Release the right stick and the Aero will automatically 

return to a level flying orientation. Use stabilize mode for the 

freedom of manual control with return-to-level stabilization.

XGPS no GPS lock required

Stabilize mode RC controls

throttle pitch

yaw roll

Throttle up

Increase motor 

speed.

Throttle down

Decrease motor 

speed.

Throttle fully down

Stop motor.

16
Yaw left

Turn left.

Yaw right

Turn right.

Pitch up

Pitch up.

Pitch down

Pitch down.

Roll left

Roll right

Roll left.

Roll right.

Roll and pitch center

Automatically level.

17
Fly-by-wire mode

Let the autopilot manage the control surfaces, and navigate based 

on where you want the Aero to fly. Fly-by-wire mode* (FBW) is the 

easiest way to fly and is the recommended mode for new fliers.

*APM:Plane mode FBWA

XGPS no GPS lock required

FBW mode RC controls

throttle stabilized pitch

yaw stabilized roll

Throttle up

Increase motor 

speed.

Throttle down

Decrease motor 

speed.

Throttle fully down

Stop motor.

18
Yaw left

Turn left.

Yaw right

Turn right.

Pitch up

Pitch up.

Pitch down

Pitch down.

Roll left

Roll right

Fly to the left.

Fly to the right.

Roll and pitch center

Automatically level.

19
Command modes

Use command modes to enter into an automatic flight pattern. 

Once set to a command mode, the Aero will continue to follow 

the specified pattern until otherwise directed. Command modes 

require GPS lock prior to takeoff.

Loiter mode: GPS-positioned circling

» The Aero will enter into a circle pattern with a radius of

60 meters at the current altitude.

» Move the right stick to adjust the position of the circle.

GPS GPS lock required

Return-to-launch mode: circling over launch point

» The Aero will return to the position where it acquired GPS lock 

and enter into a circle pattern at an altitude of 100 meters.

GPS GPS lock required

20
Missions

Use a ground station computer with the provided Telemetry 

Radio to fly a fully autonomous mission. To download software 

and learn how to plan a mission, visit 3dr.com/learn.

laptop ground station with 3DR Telemetry Radio

Once you have saved a mission to the Aero, ensure that the 

autopilot acquires GPS lock during the preflight steps, and 

take off in manual, stabilize, or fly-by-wire mode. Fly to the 

approximate altitude of the first waypoint, and switch into 

autonomous mode to start the mission.

To fly a mission with automatic takeoff and landing, visit

3dr.com/learn for instructions.

GPS GPS lock required

!

Do not set the Aero to autonomous mode without following 

the mission planning instructions at 3DR.com/learn.

21
3 4

Preflight steps

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

and remember to bring the flight checklist and a fully charged 

battery. Follow these steps every time you fly.

Flight Checklist

Preflight

1 Go outside toan open area, Connect

and inspect aircraft.

» Wings and tail attached

» Tail boom secure

» S erv os and rods secure

» Airspeed s ens or secure

» Propeller tight

» Transm itter on

2 charged battery.

» Hold aircraft still 

while powering on.

» Secure lid.

» Check for balanced 

center of gravity.

Check manual 

controls.

» Throttle

» Pitc h u p and down

» Roll left and right

» Yaw left and right

Check autopilot 

stabilization.

» Pitc h u p and down

» Roll left and right

5 C hec k LED for blinking 6 Press and hold

blue (no GPS) or blinking

green (GP S locked).

XS

safety button until

solid red.

G P S

LED Initializing, please wait 

Autopilot ready, no GPS 

Autopilot ready, GP S locked 

Armed, ready tofly

Loss of RC signal, automatic return tolaunch

System error, see troubleshooting guide

Safety Button

Inactive, safe tohandle

Active, press and hold button before handling flight checklist

1 Before flying, examine the Aero to ensure that all 

components are secured in flight configuration.

» Check that the wings, tail, and tail boom are fully 

assembled and securely attached.

» Check that the propeller is secured tightly to the 

motor.

» Check that the servo rods are secured to the servo 

horns with the blue clasps.

tail servos wing servos

22
Check that the airspeed sensor is secured to the side of 

the Aero and the tube is free from obstructions.

airspeed sensor

If any of the components or assemblies in these checks are 

not secure, tighten the screws or use CA glue (super glue) 

to secure the components to the foam.

Power on the RC transmitter, and set the throttle fully down.

2 Open the battery compartment by sliding the knob 

on the orange switch and lifting out the foam lid.

23
Secure a charged battery to the velcro strip within the 

marked lines, and attach the yellow connectors.

! Hold the Aero still and level while it powers on.

Secure with the velcro strap. Close lid by aligning 

the orange notches at the nose.

3 With the battery connected and the lid secured, check that the 

Aero is correctly balanced for flight. Hold the Aero with one finger 

on each of the clear, plastic balancing points shown below. These 

points indicate the Aero’s center of gravity.

24
If the plane balances on your fingers, then the center of 

gravity is correct. If it won’t balance, adjust the position of 

the battery until you can balance the plane on two fingers as 

shown below.

4 Check the LED for the status of the autopilot. If you plan to 

use loiter, return-to-launch, autonomous, or any other GPSrequired modes during your flight, wait to see the blinking 

green light, indicating GPS lock, before proceeding. If you plan 

to fly only in manual, stabilize, or fly-by-wire modes, you may 

proceed when you see the blinking blue light.

Initializing, please wait

LED

Autopilot ready, no GPS 

Autopilot ready, GPS locked

5 To arm the motor, press and hold the safety 

button until it displays solid red.

safety button

Inactive, motor disarmed

Active, motor armed

25
!

6 Place the plane on the ground, and set the mode switches 

to select manual mode. Move each of the sticks as shown, 

and check for the corresponding movement of the motor 

or control surfaces.

Raise the throttle slightly until the motor spins, then 

immediately set the throttle back to fully down position.

Motor spins.

Do not raise the throttle more than just enough to 

spin the motor while the plane is on the ground, and 

do not place your hands in the way of the propeller 

while the motor is armed.

Pitch down

Elevator tilts down.

Pitch up

Elevator tilts up.

26
Roll left

Left aileron tilts up, 

right aileron tilts 

down.

Roll right

Left aileron tilts 

down, right aileron 

tilts up.

Yaw left

Rudder tilts left.

Yaw right

Rudder tilts right.

27
7 Set the mode switches to stabilize, and hold the plane in front

of you. Move the plane as shown, and check for the stabilization

response from the control surfaces.

Test: Tilt the plane left.

Result: Left aileron tilts 

down, right aileron tilts up.

Test: Tilt the plane right.

Result: Left aileron tilts up, 

right aileron tilts down.

Test: Tilt the plane down.

Result: Elevator tilts up.

Test: Tilt the plane up.

Result: Elevator tilts down.

28
Takeoff & landing

Now you’re ready for takeoff! If you’re new to planes, we recommend 

having a friend help you launch the Aero. Have your friend throw the 

Aero while you control the transmitter.

We recommend setting the Aero to fly-by-wire mode for takeoff. 

Find a launching area with at least 100 feet of clear space in front of

you. Face into the wind, and hold the Aero at the center of gravity.

Raise the throttle to center position to start the motor. Be careful not 

to place your hand in the way of the propeller!

throttle center

Hold the Aero above your head, run, and throw the 

plane at an upwards angle.

Once launched, the Aero will require immediate adjustment with 

the transmitter to navigate away from the ground and up to the 

desired altitude. Pitch up (right stick down) and add any other 

necessary controls based on wind, speed, and terrain.

29
!

When you’re ready to end your flight, follow these steps to land:

» Fly a circle pattern above your landing area.

» Come in on a final approach, flying into the wind at 

an altitude of 20 to 40 meters.

» When the plane reaches an altitude of 10 meters, set the 

throttle fully down to turn off the motor and glide down 

on a 15 to 20 degree down-pitch angle.

» When the plane is one meter above the ground, pitch up 

(flare) to land the Aero on the body of the plane instead 

of the nose.

wind direction

pitch slightly down

throttle fully down

20-40 m

pitch up

10 m

1 m

After stopping the motor at an altitude of 10 m, keep your 

thumb on the throttle stick in fully down position to ensure 

that the motor does not accidently spin during landing.

30
Postflight steps

1 To disarm the motor, press and hold the 

safety button until it displays blinking red.

safety button

Inactive, motor disarmed

Active, motor armed

2 Disconnect battery

3 Turn off transmitter.

Your flight is now complete. Always following the preflight 

and postflight steps described in this manual when you fly.

31
FPV/OSD video

If you received an FPV/OSD video system with your Aero, visit

3DR.com/learn for instructions on operating your video system.

Learning more

Visit 3DR.com/learn for more instructions on flying, configuring, 

and using a ground station with the Aero.

To learn more about the APM:Plane platform, including 

adding new flight modes and flying autonomous missions, 

visit plane.ardupilot.com.

Support

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

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

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

Happy flying!

Aero User Manual vB | DCT0035 | ©3D Robotics, Inc. | 31 October 2014

32
Aero-M

Operation Manual

Thank you for purchasing an Aero-M! This manual contains important information about your 

aerial mapping platform. Please read these instructions before your first flight.

1 Plan 1

2 Fly 20

3 Process 37

Appendix 41

Online information portal: 3DR.com/Aero-M

3DR support: help@3DR.com 

Terms and conditions: 3DR.com/terms 

Pix4D instructions: support.Pix4D.com

V.3 2014

©3D Robotics

DCT0010
1 Plan

Parts2

Flight Battery3

Charging3

Safety3

Powering the Aero4

Camera Setup5

3DR EAI 5

Charging5

Startinga Mission5

Mounting6

Ground Station Setup7

Download Software7

Connectto Radio7

Mission Planning8

Operating Parameters8

Load Maps9

Draw Polygon 10

Configure Survey 11

Save andWrite Mission 19

1
Parts

Aero 

batteries (2) 

camera

wing spar 

horizontal stabilizer

wings

registration card and

Pix4D license key

RC controller and 

accessories

ground station radio 

 micro-USB cable

charger and 

accessories

 battery guard bag

wing rubber bands

(4 plus 2 spare)

propellers (1 

 plus 1 spare)

 hex keys (?)

 propeller wrench

spare control horns

(2)

spare servo rods (2)

FPV/OSD System

If you selected to receive a FPV/OSD system, those components 

will be included with the Aero’s accessories. See page 34 for 

parts and instructions.

spare camera 

mount filters (2)

Pixhawk micro-SD

card adapter

2
Flight Battery

The Aero is powered by a rechargeable lithium polymer (LiPo) battery. 

Charge the battery before your first flight.

Charging Safety

1

Connect the charger to the power adapter cable 

and a wall outlet. Connect the red cable to the + 

port and the black cable to the - port.

2

Set the charger to LiPo and 3A.

!

+

–

Charger with power cable and 

split-wire charging cable

3

LiPo 3A

Charger settings

4

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

battery permanently unusable. Always fly with a fully charged 

battery.

Charge the battery using a designated LiPo balance charger 

only. Always monitor the battery while charging. Protect the 

battery from extreme heat, extreme cold, puncturing, and 

flammable surfaces. Always transport, charge, and store the 

battery in the guard bag.

Inspect the battery for damage before and after flying. If you 

observe any swelling of the package or the battery ceases

to function, do not use the battery; locate your local battery 

recycling center, and dispose of the battery. In the US and 

Canada, visit call2recycle.org to find a location. Do not 

dispose of the battery in the trash.

Connect the white connector to the 4S port, and 

join the two yellow connectors together.

Secure the battery inside the guard bag, 

and charge until the status indicator 

displays green.

Charging

4S

Complete

Flight battery charging wiring Charging in process

3
Powering the Aero

1

Turn on the controller. To avoid triggering 

the controller’s startup alarm, ensure that 

all switches are set back (away from you) 

and the throttle stick is set fully down.

Switches

2

Open the battery compartment by 

sliding the knob on the orange switch 

forward and lifting out the lid. !

It is important to establish communication before 

powering on the Aero. Always turn on the controller 

before connecting the battery. When powering off 

the Aero, disconnect the battery before turning off 

the controller.

Throttle stick

Aero: battery compartment lid

RC controller

3

Insert a charged battery into the battery slot, 

and attach the yellow connectors. This will 

power on the Aero.

!

Hold the Aero still and level while it powers on.

Attach the velcro above the battery slot to the 

velcro on the battery. Close and secure the lid 

onto the battery compartment.

battery 

connector

battery slot

flight battery

Aero: battery compartment interior

4
Camera Setup

The Aero includes a CanonPowerShot S100 running the 3DR EAI script.

3DR EAI (Exposure-Aperture-ISO)

3DR EAI runs on the Canon Hacker Development Kit (CHDK), a powerful opensource tool that expands the functionality of Canon point-and-shoot cameras. 3DR 

EAI optimizes image exposure and integrates with the Pixhawk autopilot to enable 

distance-based imaging.

This software is designed to load off the camera’s SD card, leaving the original Canon 

programming intact. The yellow switch on the side of the SD card allows you to lock 

or unlock the card. Lock the SD card to run 3DR EAI; unlock the SD card to save 

images to your ground station or to boot the camera with its original programming.

For more information about 3DR EAI, see page 43.

Charging

Charge the camera battery before your first flight. Once 

fully charged, insert the battery into the camera.

status indicator

Canon battery charger

Starting a Mission

SD card locked

Load 3DR EAI

» Fly a mapping mission

SD card unlocked

Load default Canon software

» View images on camera

» Save images to ground station

» Update script

To prepare the camera to fly a mapping mission, ensure that the mode 

dial is set to P (program) mode. Power on the camera using the silver 

button on the top. 3DR EAI will start automatically, and you will see the 

script messages on the camera display. Check to see that the last line

of the script reads waiting on USB signal. The camera is now ready to map!

power button 

mode dial

Camera running 3DR EAI Camera running Canon software

!

Power off the camera before removing the SD card.

Camera ready to map: waiting on USB signal

5
Mounting

The camera mounts to the Aero inside the battery compartment 

and connects to the autopilot using the mini-USB cable. When the 

camera is ready to start the mission, insert the camera into the 

mount inside the battery compartment as shown below, connect 

the mini-USB cable to the camera, and secure the camera in place 

using the velcro strap.

The camera mount includes a lens cap that protects the filter during 

travel. Make sure to remove this lens cap before you fly, and check 

that the filter contains no foam particles, dirt, or scratches that could 

affect image quality.

It is expected that the filter will accumulate scratches after significant 

use. If you notice any damage to the filter that could affect image 

quality, unscrew the filter and replace with one of the extra filters 

provided with the Aero.

autopilot integration cable

UV filter

Aero battery compartment: camera mount

Connect mini-USB cable inside 

battery compartment here.

Camera mount (bottom): cap removed

Camera mount (bottom): cap attached

Camera (side)

The camera mount is fixed to the inside of the battery compartment 

and is not intended to be removed from the Aero.

6
Ground Station Setup

Mission Planner allows you to turn a Windows laptop into a full-featured 

ground station for configuring and monitoring autonomous missions. You will 

need to take this laptop into the field when you fly the mission. As part of the 

mission procedure, you will use the Pix4D Rapid Check to verify the quality of 

the image set before leaving the field.

Download Software Connect to Radio

Mission Planner To connect the Aero to Mission Planner, connect the ground station radio 

to the laptop, and power the Aero.

Mission Planner is a full-featured ground station application for planning 

missions and monitoring the Aero in flight. Download Mission Planner 

from 3DR.com/download_software.

If you already have Mission Planner installed, make sure you’re running 

the most recent version: Select the Help tab and Check for Updates.

Mission Planner: Help tab

1

Connect the ground station radio to your 

laptop using the micro-USB cable. Open 

Mission Planner.

Ground station laptop with radio connected

3

Select Flight Data to view live data from the Aero.

2

Select 57600 and AUTO, then select CONNECT. 

(When connecting directly to Pixhawk’s

micro-USB port, set the rate to 115200.)

Mission Planner Connect tool (top-right corner))

Pix4Dmapper LT 3DR Edition

Your license key for Pix4Dmapper can be found on the registration card 

inside the documents package.

Visit mapper.pix4d.com/license-redeem to create an account and redeem 

your license key; then visit pix4d.com/download to download Pix4Dmapper 

Discovery. Pix4D will automatically upgrade from the Discovery edition to 

the LT 3DR Edition (or Pro Edition if you selected to upgrade) when you 

log in to the program with your Pix4D account information. Mission Planner Flight Data tab: connected to aircraft

7
Mission Planning

Operating Parameters

The Aero is a complete solution for creating 

high-resolution visual-spectrum aerial maps.

Operating Parameters

Pixhawk 

autopilot 

system

Canon S100

3DR EAI

Pix4Dmapper

LT 3DR Edition

Camera Canon S100

Camera Orientation Portrait (side facing forward)

Mapping system diagram

To create a map, the Aero flies an autonomous mission over 

the survey site, using the integration between the Pixhawk 

autopilot and custom-programmed camera to capture images 

at a consistent distance interval. Pix4Dmapper then stitches 

these images together into a georeferenced, orthorectified 

mosaic.

The accuracy of the map depends on the configuration of the 

mission. Planning a mission that captures high-quality images 

requires balancing the Aero’s operating parameters with the 

environmental factors at the survey site.

Operating Altitude 80-120 m 

Standard Operating Altitude 100 m 

Low-Wind Conditions 0-6 m/s 

High-Wind Conditions 7-10 m/s 

Maximum Wind Conditions 10 m/s 

Operating Speed 8-20 m/s 

Default Speed 15 m/s 

Estimated Maximum Flight Time 40 min

Estimated Ground Resolution 5 cm/pixel

Estimated Maximum Survey Area 1 km2

Minimum Photo Interval 2 seconds

8
Load Maps

Mission Planner allows you to plan the mission away from the mapping location; 

however, it is important to assess the environmental conditions on site at the time 

of the mission and adjust the flight plan if necessary. Alternatively, you can plan 

the entire mission at the mapping location. To create or alter the mission, Mission 

Planner requires an Internet connection to access the maps. If you’re unable to 

access the Internet on site, follow the instructions below to pre-fetch the maps 

within Mission Planner while you have Internet access.

1

Open Mission Planner, select Flight Plan, and 

zoom to your flying location.

2

Right-click on the map, select Map Tool and 

Prefetch, and accept the default prompts. 

Mission Planner will download the maps

for the selected location to your computer.

Mission Planner Flight Plan tab: zoom to mapping location Mission Planner Flight Plan tab: Select Prefetch

3

Mission Planner will attempt to load the map data from the current level of zoom down to the 

closest level of zoom available. However, it can take hours to pre-fetch every level of zoom, 

and it is unlikely that the closerlevels will be useful in planning the mission. To shortcut this 

process, check the slider on the right side of the map. The levels of zoom are represented by 

this slider from 0 (bottom) to 25 (top). Press the ESC key to skip levels of zoom at a greater 

detail than you need for mission planning.

9
Draw Polygon

To begin planning the mapping mission, select the area you want to map using 

the Polygon tool. You’ll be able to adjust the size and shape of the polygon later in 

the mission configuration process.

1

Select Flight Plan, and zoom to your 

mapping location.

Mission Planner Flight Plan tab: zoom to mapping location

2

Right click on the map. Select Draw Polygon and 

Add Polygon Point. Click and drag to add points 

around the area you want to map.

Mission Planner Flight Plan tab: draw polygon

3

Right click on the polygon. Select Auto WP and

Survey (Grid) to open the Survey Tool.

Mission Planner Flight Plan tab: open Survey tool

! Units

The Survey Tool uses metric units. If your Mission Planner is 

set to imperial units, please change the settings to use metric 

to plan the mission. Support for imperial units in Mission 

Planner is coming soon; check 3DR.com/Aero-M for updates.

10
Configure Survey: Set Default Parameters

The Survey tool allows you to configure a mapping mission according to the 

Aero’s operating parameters and the current environmental conditions at the 

mapping location. First, set the default values for the Aero.

Set Camera

Canon S100-S120

Set Camera Orientation

Uncheck the option for Camera top 

facing forward.

Set Default Speed

15 m/s

Apply Survey Speed

Check the option for Use speed for this mission. 

If unchecked, the mission will use the Aero’s 

default speed of 15 m/s regardless of the 

speed selected in the Survey Tool.

Mission Planner Survey tool

11
!

Configure Survey: Set Angle

Next configure the angle of the flight path for the current wind conditions.

Set Angle

Wind Direction

In environments with winds of less than 6 m/s, set the angle so that 

the Aero flies into the wind. In winds from 7-10 m/s, configure the 

flight path to travel perpendicular to the wind so the Aero flies crosswind.

wind

Mission Planner Survey tool

No. of Strips

Adjust the angle so that the Aero makes as few turns as possible to 

complete its course. The No. of Strips parameter shows how many 

passes the plane will make as you adjust the angle.

Review Wind Conditions On-Site

Always assess the wind conditions at your survey site at the time of 

the mission and adjust the mission accordingly.

Mission Planner Tip: Adjust Polygon

Click and drag the red polygon points to adjust the size 

and shape of the polygon from the Survey Tool.

wind

Configure the flight path parallel with 

the wind in low winds (1-6 m/s).

wind

Configure the flight path perpendicular to the 

wind in high winds (7-10 m/s).

Use caution when flying in winds over 10m/s. Mapping results may degrade

as a result of inability to make headway or maintain appropriate 

groundspeed. 12
Configure Survey: Set Altitude

The survey altitude determines the duration of the mission and the ground 

resolution of the final map. Adjust altitude to balance flight time and power 

consumption with the current environmental conditions.

Set Altitude

Standard operating altitude: 100 m

Operating altitude range: 80-120 m

Increasing altitude decreases flight time, allowing you to cover more area 

per minute. Decreasing altitude improves ground resolution. Set the altitude to get the best ground resolution while keeping the flight time under

40 min and the altitude under 120 m.

!

Keep altitude below 120 m, and ensure that the altitude is appropriate for 

your flying area and local regulations.

Mission Planner Survey tool

Check Ground Resolution

Ground Resolution is the centimeters per pixel that you will have

in the map and corresponds to the amount of detail that you 

will see.

To improve ground resolution by decreasing the number of 

centimeters per pixel, decrease altitude.

Check Flight Time

Flight Time estimates the duration of the mission. The total estimated flight 

time must be under 40 min for a fully charged Aero battery. To decrease 

flight time, increase altitude or speed.

High winds, humidity, high altitude, and extreme heat can affect power 

consumption and reduce flight time. Consider the environmental factors at 

your site when configuring flight time.

13
Configure Survey: Check Photo Interval

With the basic parameters in place, verify that the photo interval calculated from 

the altitude and speed complies with the operating parameters for the camera.

Mission Planner Survey tool

Check Photo Interval

Photo Every must be longerthan 2 seconds for the S100 camera.

Altitude

Increasing altitude increases photo interval.

!

Keep altitude below 120 m, and ensure that the altitude is 

appropriate for your flying area and local regulations.

Speed

Decreasing speed increases photo interval.

!

Ensure that the Use speed for this mission option is checked.

14
Configure Survey: Set Takeoff and Landing

Now select a takeoff and landing pattern, either manual or automatic.

Takeoff and Land WP’s

For automatic takeoff and landing 

Check the Add Takeoff and Land WP’s option. 

Uncheck the Use RTL option.

This will create a takeoff waypoint and a placeholder waypoint for the landing pattern. After accepting the survey, configure the automatic landing pattern by following 

the instructions on page 20.

Mission Planner Survey tool

For automatic takeoff and manual landing

Check both the Add Takeoff and Land WP’s option and the Use RTL options.

This will create a takeoff waypoint so the Aero will automatically climb to the survey 

altitude before heading to the first waypoint. The Aero will return to circle over the 

launch point after completing the mission.

For manual takeoff and landing

Uncheck the Add Takeoff and Land WP’s option

Check the Use RTL option.

For this option, take off manually then initiate the mission in flight. The Aero will 

return to circle over the launch point after completing the mission.

15
Configure Survey: Advanced Options

The Survey tool includes the following advanced configuration options. These options 

allow you to customize the mission to comply with best operating practices.

Check Advanced Options

to view the Survey Tool’s advanced configuration options.

Select Grid Options

Set OverShoot

The Aero has a minimum turning radius of 90 degrees. To accommodate the 

sharp angles of the survey mission, set both OverShoot parameters to 50 to 

have the Aero overshoot the waypoints on either side of the polygon by 50% 

to ensure that the complete area of the polygon is covered by the images.

!

OverShoot will affect flight time. Ensure that the total estimated flight time is 

less than the Aero’s maximum flight time of 40 minutes.

Mission Planner Survey tool: advanced options

Camera Config

The options under the Camera 

Config tab allow you to configure 

a camera other than the S100 

and won’t be used for operating 

the Aero.

Adjust StartFrom

During the mission, you will maintain contact with the aircraft through the RC 

controller and ground station signals. If your mission is likely to experience a 

loss of signal, it is best practice to start from the corner of the mission farthest 

from the launch point. In this example, TopLeft is the corner of the mission 

farthest from the launch point.

Mission Planner Survey tool: advanced options

Adjust Overlap and Sidelap

Overlap and sidelap are set to 50% and 60%, respectively, by default. See 

page 42 for an in-depth discussion of these parameters.

16
Configure Survey: Accept Survey

Before accepting the survey, verify that the mission complies with the

Aero’s operating parameters.

Operating Parameters

Camera

Canon S100-S120

Altitude

80-120 m

Camera top facing forward

unchecked

Flying speed

9-15 m/s

Use speed for this mission

checked (optional if speed set to default speed of 15 m/s)

Photo Every

greater than 2 s

Flight time

under 40 min depending on environmental conditions

Mission Planner Survey tool

Accept

Select Accept to create this mission. After accepting, you 

will need to reconfigure the survey completely to make any 

adjustments.

If Mission Planner prompts you for a home altitude, enter 

the altitude that you specified in the Survey tool.

Do not accept the mission if any of the parameters ! exceed the Aero’s operating limits.

17
Configuring Automatic Takeoff and Landing

If you selected automatic landing in the Survey Tool by checking the Add Takeoff and Land WP’s option and unchecking

the Use RTL option, you will need to configure the landing waypoint pattern manually at this step in the mission planning 

process.

To begin, determine the direction of the wind and select an unobstructed area 200-500 m in length leading to the 

launch point, into the wind. On the main Flight Plan screen, create a series of waypoints along this path to decrease 

altitude gradually from the survey altitude to 0, ensuring that:

» Turns along the flight path are greater than 90 degrees.

» The altitude decreases by a maximum of 20 m between waypoints

» There is at least 20 m between each waypoint

» The Grad % does not exceed 20%

To add a waypoint, right click on the map in the location of the waypoint you would like to add, and select Insert WP. For 

each waypoint you add to the mission, Mission Planner will prompt you for the new waypoint’s place in the script: Add 

the series of landing waypoints immediately before the LAND waypoint in the script of events. For the first waypoint in

the pattern, add it to the mission immediately following the DO_SET_CAM_TRIGG_DIST waypoint at the end of the mission. 

Specify the altitude of each waypoint and check the distance and gradient angle in the waypoints table.

Locate the Takeoff waypoint in the mission script and set the 

first option in the row to assign the takeoff angle.

Set the takeoff angle to 20-25 degrees depending on the 

length of your takeoff area.

Takeoff angle

Mission Planner Tip: Configure Waypoints

Measure the distance between waypoints by right-clicking at one 

end and selecting Measure Distance; then right-click on the other end 

and select Measure Distance again. A dialog box will open with the 

distance between the two points.

Mission Planner Flight Plan tab: Correctly configured automatic landing pattern

Set altitude. 

Check Grad %.

Double-click on a field in the waypoint table to edit the parameters 

for a waypoint.

Use the Up and Down arrow icons to re-order the waypoints. 

Use the Delete option to remove a waypoint from the mission.

To add a waypoint, right click on the map in the location of the waypoint 

you would like to add, and select Insert WP. For each waypoint you add to 

the mission, Mission Planner will prompt you for the new waypoint’s place 

in the script: Add the series of landing waypoints immediately before the 

LAND waypoint in the script of events. For the first waypoint in the pattern, 

add it to the mission immediately following the DO_SET_CAM_TRIGG_DIST 

waypoint at the end of the mission. Specify the altitude of each waypoint 

and check the distance and gradient angle in the waypoints table.

18
Save and Write Mission

For the Aero to run the mission, write the waypoint file to the autopilot. 

Don’t forget to save the waypoint file to your ground station for future use.

Select Save WP File

to save the mission file to your computer. To 

repeat this mapping mission, load the saved 

WP file from your computer.

Select Write WPs

to save the mission to the Aero.

Mission Planner Flight Plan tab: Save and write mission

19
2

Fly

Safety 21

Aircraft Operation 22

Components 22

Assembly 23

Controls 26

Modes 27

Arming and Disarming 28

LED Indicators andTones 28

GPS Lock 28

Preflight Checks 29

Manual and AutomaticTakeoff 32

Manual and Automatic Landing 33

FPV System Operation 34

Flying Mapping Missions 35

Takeoff Checklist 35

Initiating 35

Monitoring 35

Failsafes 36

20
Safety

To ensure safe and successful flying, familiarize yourself with the safety information 

on this page. Always fly in accordance with your location regulations and these best 

operating practices.

Before you fly, determine the boundaries of your safe flying area. If the Aero moves 

outside the designated area or exhibits instability in flight, switch to fly-by-wire mode 

and land the plane manually. Always be ready to regain manual control of the plane 

in the event of an unsafe situation.

The Aero will not avoid obstacles on its own, including during missions. As the 

operator, it’s your job to recognize and avoid obstructions while flying. When 

planning missions, ensure that the selected altitude is appropriate for all 

geographical features of the area, including terrain.

Location

Propeller

Spinning propellers can cause serious injury. The safety 

button indicates the status of the motor to help you 

prevent hazardous contact with the Aero’s high-speed 

propeller.

• When the Aero is powered on, the safety 

button will blink red, indicating that the motor

is inactive and the propeller is safe to handle.

• When you’re ready to fly, press and hold the safety 

button until it shows solid red. This indicates that 

the motor is armed and the propeller will spin if the 

throttle stick is raised. To make the propeller safe

to handle again, press and hold the safety 

button until it blinks red.

visuvailsluinael line 

of siogfhstight

100 ft10(300ftm(3)0 m)

5 miles (8 km)

4004f0t 0 ft

(120(1m20) m)

Always fly below 400 ft (120 m) and within your visual 

line of sight. Don’t let the Aero get too far away from 

you; make sure you can always see its orientation. 

Don’t fly in low light, rain, or other conditions that 

might impede visibility.

Always fly at least 5 miles (8 km) away from airports 

and other areas where pilots operate manned 

aircraft.

You can find more safety tips throughout these instructions ! where you see this yellow box.

100 ft (30 m)

Always fly at least 100 feet (30 m) away from 

people, vehicles, and buildings. Make the safety 

of people and property 5yomuilers fi(8rskmt )priority!

21
Aircraft Operation

Components

nose

body rudder

left wing right wing elevator

tail boom

motor

Aero tail

tail

airspeed sensor 

battery compartment

electronics compartment

(under wings)

left aileron right aileron

Aero (top)

video system compartment

(above battery compartment)

ground station radio controller

If the terms above are unfamiliar to you, visit 3DR.com/Aero-M, and dive into the 

exciting world of planes with our Introduction to Flying Fixed-Wing Aircraft.

22
Assembly

Tail

Slide the horizontal stabilizer into the vertical stabilizer along the orange groove.

Make sure not to stress any of the components on the tail.

Turn the plane over and insert the provided tail screw into the horizontal 

and vertical stabilizers.

Horizontal stabilizer

Vertical stabilizer Complete tail assembly

Tail assembly (underside)

Tail screw

On the top of the horizontal stabilizer, open the blue clasp at the end of the servo rod. Insert the pegs on the clasp into the open 

space in the servo horn, and close the clasp. Slide the blue rubber ring over the clasp to secure it in place.

clasp

servo horn

23
Wings

Attach a wing onto each side of the spar. Do not twist the wing 

or the spar so as not to stress the foam.

Locate the two cables inside the electronics compartment marked AILE. Connect these 

cables to the two cables on the wings marked AILE. (Either of the wing cables can 

connect to either of the plane cables; the order doesn’t matter.)

Place the wings over the body of the Aero with the foam 

squares fitted into the matching space in the electronics 

compartment. Make sure not to pinch the AILE cables.

Locate the four large rubber bands. Use the bands to 

secure the wings to the body of the Aero by the four 

orange knobs on the body around the wings.

Attach two of the bands to the two knobs on one of the 

short sides and opposite knobs on the opposing side.

Repeat on the other short side with the remaining two rubber bands, resulting in two pairs of 

opposing right triangles.

1 2

3 4

24
Propeller

Locate the rings inside the propeller package. Remove the ring with 

the second-largest internal diameter, and insert it into the back of the 

propeller hub.

Remove the nut and the washer from the motor, add the propeller with the writing on the 

propeller facing towards the nose of the plane, add the washer and the nut over the propeller, 

and tighten the nut.

 ··
25
Controls

Fly the Aero manually using the RC controller.

throttle

yaw

pitch

roll

yaw left

yaw right

Turn left.

Turn right.

roll left

Throttle: Move the left stick forward and backward to control the motor.

Yaw: Move the left stick horizontally to turn left and right using the rudder.

Roll left.

Pitch: Move the right stick up to pitch down and down to pitch up.

Roll: Move the right stick left and right to control the bank angle.

roll right

Roll right.

throttle up

throttle down

throttle fully down

Increase motor speed.

Decrease motor 

speed.

Stop motor.

roll and pitch center

pitch up

pitch down

Automatically level.

Pitch up.

Pitch down.

26
Modes

Auto - fly a mission

Fly an autonomous mission. This is the mode that the Aero will use to create the map.

Fly by Wire - assisted manual control

Let the autopilot manage the control surfaces, and navigate based on where you want the Aero 

to fly. Fly-by-wire mode* (FBW) is the easiest way to fly and is the recommended mode for new 

operators.

*ArduPlane mode FBWA

Return to Launch (RTL) - recall to launch point

Command the plane to circle over the launch point. The Aero will return to the position where it 

acquired GPS lock and enter into a circle pattern at an altitude of 100 meters.

Loiter - circle

Activate GPS-positioned circling; the Aero will enter into a circle pattern with a radius of 60 meters 

at the current altitude. Move the right stick to adjust the position of the circle.

Stabilize - stabilized manual control

Stabilize mode provides manual control with an added autopilot safeguard: Release the right stick 

and the Aero will automatically return to a level flying orientation. Use stabilize mode for the freedom 

of manual control with return-to-level stabilization.

Manual - full manual control

Fly with fine-tuned manual control without autopilot assistance. Manual mode gives you the most 

direct input to the control surfaces, resulting in precise in-flight adjustment. Try manual mode if 

you’re an experienced RC plane operator.

To select a flight mode:

First, set the GEAR/MIX switch to select a set of modes. Then use the

FLAP/GYRO switch to 0, 1, or 2 to select a specific mode. 

With GEAR/MIX set to GEAR,

set FLAP/GYRO to: 0 for Manual

1 for Stabilize

2 for Loiter

With GEAR/MIX set to MIX,

set FLAP/GYRO to: 0 for Auto

1 for Fly by wire

2 for RTL

GEAR/MIX selects the set of modes.

FLAP/GYRO selects the specific mode, either 0, 1, 

or 2.

RC controller (top)

27
Arming & Disarming LED Indicators

Arming and disarming are important steps that must be completed before 

takeoff and after landing to activate and deactivate the motor, respectively.

Initializing, please wait

Before arming, check the status LED. The LED will flash blue while 

the Aero acquires GPS; this can take a few minutes. Once you see 

the green LED, the autopilot has acquired GPS lock.

Acquiring GPS, please wait

Armed, GPS locked

Loss of RC signal, automatic landing

Initializing, please wait.

Acquiring GPS lock, please wait. 

Autopilot ready, GPS locked

Low battery, automatic landing

Loss of GPS signal, switch to fly-by-wre

System error, see troubleshooting guide

To arm the motor, press and hold the safety button until it 

displays solid red.

To disarm, press and hold the safety button until it displays 

blinking red.

safety button

Inactive, motor disarmed

Active, motor armed

Tones

Visit 3DR.com/Aero-M to listen to Pixhawk’s status tones.

GPS Lock

Auto, RTL, and loiter modes requires GPS lock. When powered, the autopilot will 

automatically search for GPS lock. The position of the Aero when the autopilot acquires 

GPS will be saved as the home position, and used as the coordinates for the launch 

point during RTL. If you plan to use auto, RTL, or loiter modes during your flight, ensure 

that the Aero is located at a suitable launch point when powered, and the autopilot 

acquires GPS lock before takeoff, indicated by a blinking green status LED.

The arming and disarming procedures ensure that you can safety start and ! stop the motor without risk of injury.

The Aero’s motor can spin when armed! Do not place your hands in the 

way of the propeller while the safety button is active (solid red).

28
Preflight Checks

Before each flight, perform a physical component check, center of gravity check, and control checks in both manual and stabilize 

modes. If any of the components or assemblies in these checks are not secure, tighten the screws or use CA glue (super glue) to 

secure the components to the foam.

1

Examine the Aero to ensure that all components are secured in flight configuration.

» Check that the wings, tail, and tail boom are fully assembled and securely attached.

» Check that the propeller is secured tightly to the motor.

» Check that the servo rods are secured to the servo horns with the blue clasps.

3

With the battery connected and the lid secured, check that the Aero is correctly 

balanced for flight. Hold the Aero with one finger on each of the clear, plastic balancing 

points shown below. These points indicate the Aero’s center of gravity.

If the plane balances on your fingers, then the center of gravity is correct. If 

it won’t balance, adjust the position of the battery until you can balance the 

plane on two fingers as shown below.

tail servos wing servos

2

Check that the airspeed sensor is secured to the side of the Aero and the 

tube is free from obstructions.

airspeed sensor

Flying the plane without the camera will affect the center of gravity. If you 

choose to fly without the camera, make sure to re-balance the center of 

gravity.

29
Preflight Checks: Manual Control Check

Before flying, power and arm the Aero on the ground and complete these checks to verify that the control surfaces respond correctly to the control inputs. Place 

the plane on the ground, and set the mode switches to select manual mode. Move each of the sticks as shown, and check for the corresponding movement of 

the motor or control surfaces.

1

Raise the throttle slightly until the motor spins, then 

immediately set the throttle back to fully down position.

3

Roll left

Left aileron tilts up, right 

aileron tilts down.

Motor spins.

Do not raise the throttle more than just enough to spin the motor while

! the plane is on the ground, and do not place your hands in the way of

the propeller while the motor is armed.

Roll right

Left aileron tilts down, 

right aileron tilts up.

2

Pitch down

4

Yaw left

Elevator tilts down.

Rudder tilts left.

Pitch up Yaw right

Elevator tilts up.

Rudder tilts right.

30
Preflight Checks: Stabilize Control Check

Set the mode switches to stabilize, and hold the plane in front of you. Move the plane as shown, and 

check for the stabilization response from the control surfaces.

1

Test: Tilt the plane left.

Result: Left aileron tilts down, right 

aileron tilts up.

Test: Tilt the plane right.

Result: Left aileron tilts up, right 

aileron tilts down.

2

Test: Tilt the plane down. 

Result: Elevator tilts up.

Test: Tilt the plane up. 

Result: Elevator tilts down.

31
Automatic Takeoff Manual Takeoff

Auto-takeoff works by sensing the movement of the plane and launching it in that 

direction. Set the Aero to autonomous mode when you’re ready to launch.

Find a launching area with at least 100 feet of clear space in front of you. Face into 

the wind, and hold the body of the Aero in one hand under the center of gravity. Be 

careful not to place your hand in the way of the propeller!

Hold the Aero above your head, run, and throw the plane at an upwards angle. The 

Aero will sense the throw, power the motor, and climb to the altitude specified by 

the takeoff waypoint before starting the survey mission.

DO NOT WIND UP YOUR THROW; if the Aero senses any backwards 

momentum it will attempt to launch in that direction. Use only forward

! momentum to throw to Aero!

If you’re new to planes, we recommend having a friend help you launch the

Aero. Have your friend throw the Aero while you control the controller.

We recommend setting the Aero to fly-by-wire mode for takeoff. Find a 

launching area with at least 100 feet of clear space in front of you. Face 

into the wind, and hold the Aero at the center of gravity. Raise the throttle 

to center position to start the motor. Be careful not to place your hand in 

the way of the propeller!

Hold the Aero above your head, run, and throw the plane at an upwards 

angle.

Once launched, the Aero will require immediate adjustment with the 

controller to navigate away from the ground and up to the desired altitude. 

Pitch up (right stick down) and add any other necessary controls based on 

wind, speed, and terrain.

Automatic takeoff requires you to configure the takeoff angle during mission planning. See page 18.

32
Automatic Landing Manual Landing

To land automatically at the end of the mission, the Aero requires the 

mission to be configured with a specific pattern of landing waypoints 

that gradually decreases the altitude so that the Aero can land safely. 

For instructions on configuring automatic landing, see page 18.

When you’re ready to end your flight, follow these steps to land:

» Fly a circle pattern above your landing area.

» Come in on a final approach, flying into the wind at 

an altitude of 20 to 40 meters.

» When the plane reaches an altitude of 10 meters, set the throttle fully down to turn 

off the motor and glide down

on a 15 to 20 degree down-pitch angle.

After stopping the motor at an altitude of 10 m, keep your thumb on the throttle 

stick in fully down position to ensure

! that the motor does not accidentally spin during landing.

» When the plane is one meter above the ground, pitch up (flare) to land the Aero on

the body of the plane instead of the nose.

wind direction

pitch slightly down

throttle fully down

20-40 m

pitch up

10 m

1 m

33
FPV System Operation

If you selected to receive an optional FPV/OSD system, the components are pre-installed 

into the Aero to transmit on-board video.

Parts 2 Wire and power receiver

1 Charge battery

AV receiver 

Antenna 

Receiver cables

Batteries (2)

Transmitter

Battery connector Camera

Attach an antenna to the receiver. Connect the AV output cable to either receiver AV OUT 

port. Connect the RC power cable to the receiver DC IN port, and attach a battery to the red 

connector.

3 Prepare on-board components

Charge both batteries before your first flight. Set the charger to LiPo and 1A. Connect the 

white battery connector to the 3S port, and connect the XT60-JST charger adapter to the 

red battery connector and yellow

charger connector.

Connect a fully charged battery to the transmitter inside the compartment in the nose of the 

plane. Remove the lens cap from the camera.

Remove lens cap!

LiPo 1A

3S port

4 Viewing video

When using a 3DR Black Pearl Monitor to view your video, set the mode to DIV (M button 

changes modes), the channel to 8 (+ and - buttons), and the band to E (press the power 

button to access the menu).

For more information about configuring the FPV/OSD system, visit 3DR.com/Aero-M.

34
Flying Mapping Missions

Takeoff Checklist

Before flying the mission, check the following:

» Camera is on with mission script ready and is secured into the 

mount with the mini-USB cable connected and the cap removed.

» Aero is powered and connected to the ground station with all pre-flight 

checks passed.

» The survey mission has been adjusted to account for present 

environmental conditions and saved to the Aero.

Initiating

For automatic takeoff, set the Aero to auto mode and launch according to the 

instructions in the Automatic Takeoff section of these instructions (page 33).

For manual takeoff, set the Aero to auto mode aftertakeoff to initiate the mission 

in flight.

Monitoring

Monitor the Aero closely during the mission using your line of sight and the

Mission Planner Flight Data screen.

Actions

Mission Planner Flight Data: Attitude

1 Heading direction

2 Bank angle

3 Altitude (black) and rate of climb (blue bar)

4 Ground speed

Status

1

2

3

4

1 Ground station signal

2 GPStime

3 Currently 

enabled mode

1

2

3

4

5

6

4 Distance to current waypoint >

current waypoint number

5 GPSstatus

6 Battery status* 

Full battery: 16.8 V

Low battery failsafe: 13.8 V

1 Change waypoints or restart a mission

2 Change modes

3 Change altitude

Flight Map

1 Current heading

1

2

3

1

2

3

4

5

6

4 Actual flight path

*Failsafe behavior enabled

! End your flight at 14 V! 2 Direct path to current waypoint

3 GPS-reported direction of travel

5 Latitude, longitude

6 Altitude

35
Failsafes

The Aero is programmed with a set of failsafe behaviors to prevent a crash in the event of a loss of 

one of the data or communication channels required for autonomous flight. Although certain failsafe 

have assigned LED indicators and tones, it is unlikely that you will be able to see these at a distance.

Monitor the Flight Data screen for failsafe indications. If a failsafe is triggered, the assigned behavior

will activate. To override the failsafe behavior (RTL in most cases), use the controller to regain manual

control.

Regaining Manual Control

To regain manual control during the mission, switch to fly-by-wire mode using the controller. If you’re

a confident operator, switch to stabilize mode. If you observe instability in the Aero’s flight behavior

or it the aircraft moves outside your designated safe flying area, switch to RTL. Turning off the

controller will automatically trigger an RTL and can be used in an emergency situation as a hard 

recall command.

RC Controller Signal Failsafe

Physical obstructions and interference from nearby wireless signals can affect the Aero’s connection with the RC controller.

If the Aero loses contact with the controller, it will return to the launch point automatically and 

enter into a circle pattern above the launch point, indicated by a blinking yellow status LED.

If the controller failsafe is triggered, wait for the Aero to return to the launch point, then regain 

manual control and either land or restart the mission.

Low Battery Failsafe

Environmental conditions can affect power consumption. Use the Mission Planner Flight Data 

display to monitor the voltage of the battery during flight.

If the battery reaches 13.8 V, the Aero will return automatically to circle above the launch point, 

indicated by a blinking yellow status LED and a quick repeating tone.

36
3 Process

On-Site Quality Check 38

Spot Check 38

Download Images 38

Download Log File 39

Pix4D Rapid Check 40

Full Processing 40

37
On-Site Quality Check

Before leaving the survey site, check the images using Pix4D to ensure sufficient quality for 

mapping by downloading the images from the SD card, downloading the log file from the 

Aero, and completing Rapid Check Initial Processing in Pix4D.

If you observe poor image quality or the quality report returns errors, see the Image Quality

Troubleshooting section on page 45 and repeat the mission.

Spot Check (Optional)

The quickest way to see the images after a flight is to unlock the SD card and restart the 

camera. The camera will load the default Canon programming and you can select the 

playback button to review the images.

Download Images

Unlock the SD card and load into your ground station. Select the DCIM folder and locate 

the folderfor your flight. Copy the files into a project folder on the ground station and 

delete them from the SD card.

playback button

SD card file structure: Download images

38
Download Log File

Pix4D uses the GPS data from the Aero’s log file to georeference the images. To download the Aero’s 

dataflash log, power the Aero and connect to Mission Planner. The download process will be faster if 

you connect the micro-USB cable directly to Pixhawk’s micro-USB port instead of connecting using 

the ground station radio. (When connecting directly to the Aero, set the rate to 115200.)

On the Flight Plan screen, select the DataFlash Logs tab under the heads-up 

display, and select Download DataFlash Log over Mavlink.

Mission Planner: Flight Data heads-up display

Mission Planner: Download Logs Program Files: Retrieve log file

The Log window shows the Aero’s recent flights. Select the flight for your 

mission, and select Download These Logs. This will save the log file to your 

computer in the location displayed under the list of flights.

To retrieve the log file, access your computer’s file structure under Program Files/Mission Planner/logs/ 

PLANE, and select the .log file for the date of your flight.

39
Pix4Dmapper Rapid Check: Create Project

1

Open Pix4D Mapper, and create a new project.

2

Select Aerial Nadir as the project 

type.

3

After adding the images, select From File to add the geolocation data from the Aero’s log file. In the 

pop-up window, select 3D Robotics Flight Log as the file format, and upload the dataflash log file 

downloaded from Mission Planner.

Pix4Dmapper Rapid Check: Initial Processing

After creating the project, select the Local Processing screen (Process menu). Check the 

option for Initial Processing and Rapid Check. Uncheck all other local processing options, and 

select Start.

Pix4D will generate a Quality Report that will indicate if the images are of sufficient quality to 

create a map.

Full Processing

To complete full processing for the map, visit support.pix4d.com for instructions.

40
Appendix

Aerial Imaging Concepts 42

3DR EAI 43

Image Quality Troubleshooting 45

Operational Troubleshooting 46

41
Aerial Imaging Concepts

Understanding key concepts in aerial images can help you understand the mission planning process and create better maps.

Distance-Based Imaging

By default, the camera captures only the images required to create the map. The Pixhawk monitors the distance traveled by the aircraft and sends a 

command to the camera to capture an image at the distance interval specified by the camera trigger distance parameter (CAM_TRIGG_DIST). This 

parameter is set by the Mission Planner Survey tool during survey configuration by calculating the minimum distance between images based on the 

parameters specified for the survey (altitude, overlap, sidelap). This distance-based imaging allows for more precise data collection, resulting in less 

images and data storage cost. Once configured, the Survey tool creates an event at the start of the mission script (after takeoff) to set the camera 

trigger distance to the specified interval and an event at the end of the mission (before landing) to reset the camera trigger distance to 0.

Time-Based Imaging

The camera is also equipped to capture images at a consistent time interval instead of using distance. This function can be useful if you want to 

capture images over an area without planning a mission. This time-based imaging results in more images per area, and therefore more processing 

time and storage cost. See the Trigger Type options on page xx to enable time-based imaging.

Overlap and Sidelap

To capture images for the map, the aircraft flies a lawnmower-like pattern in strips across the survey site. The front-to-back overlap between 

sequential images is called overlap; the side overlaps of adjacent pictures in different strips is called sidelap. The overlap and sidelap parameters 

in the Survey tool (see Advanced Options page xx) determine the distance between images and the number of images to be captured based on 

the projected ground area that each image will cover, called a footprint. Increasing overlap and sidelap improves the accuracy of the map while 

increasing flight time and processing time.

In the Survey tool, Distance between Images shows the specified 

camera trigger distance that will be assigned to the mission. 

You can also see the projected image footprint size and the 

total number of images to be captured.

Default overlap: 50% 

Default sidelap: 60%

42
3DR EAI

3DR EAI is based on KAP UAV Exposure Control Script v3.1: a great open-source project for kite and

UAV aerial photography.

Start and Stop Script

Ensure the camera is set to P (program) mode before powering the camera. Upon startup, 3DR EAI

starts automatically and listens for commands from the autopilot, indicated by waiting for USB signal.

To stop (and re-start) the script, press the shutter button. The script will display INTERRUPTED when 

stopped.

Script Menu

The script menu allows you to change the parameters associated with the script itself, including 

changing the trigger mode and adjusting exposure. To open the script menu, stop the script and 

select the FUNC. SET button. These parameters are configured for the S100 and do not require 

adjustment as part of standard operation.

Script start: waiting on USB signal Script menu

Trigger Type

This parameter allows you to control how the camera captures images. Trigger type defaults to USB 

for distance-based imaging during mapping missions. For time-based imaging, select Interval and 

specify the length in the Shot Interval parameter.

Trigger Type default: USB (mapping)

Variable intervalometer: Interval (default to 2 seconds, specified by Shot Interval)

Script stopped: INTERRUPTED FINISHED

CHDK Menu

The CHDK menu contains all the standard options provided with CHDK. To access the CHDK menu, 

stop the script and select the MENU button.

Script menu: Trigger Type

Memory Reset

If the battery is left out of the camera for too long, the camera will reset its memory. To re-configure 

the camera in this case, visit 3DR.com/Aero-M for instructions.

CHDK menu

Online Resources and Information

Visit 3DR.com/Aero-M for links to updates, more information about KAP UAV, and full CHDK

instructions.

43
Image Quality Troubleshooting

If you observe poor image quality during the spot check or if you receive error 

messages during processing, use the settings below to troubleshoot the image quality.

Blurry Images

To correct motion blur, adjust the shutter speed using the Target Tv parameter in the script menu.

Target Tv (shutter speed) default: 1/1250

To correct moderate motion blur: Set to 1/1600. 

To correct severe motion blur: Set to 1/2000.

Overexposure

If the images are overexposed but do not show any motion blur, it can be due to flying in extremely 

bright conditions. To correct this, set the Allow use of ND filter parameter to YES in the script menu.

Allow use of ND filter default: No

To correct overexposure: Set to Yes.

Example image: motion blur Script menu: Target Tv

Example image: overexposure Script menu: ND Filter

Processing Errors

If you receive errors from Pix4Dmapper regarding the images, dataset, or matching points, increase 

the overlap and sidelap during survey configuration to improve the quality of the image set.

Overlap default: 50% 

Sidelap default: 60%

To improve processing: Set overlap to 60% and sidelap to 70%.

Mission Planner Survey tool Advanced Grid Options: Overlap and Sidelap

44
Operational Troubleshooting

No Images Captured

1 If the camera did not capture any images during the mission, first perform a 

physical inspection on the Aero.

Is the mini-USB cable connected to the camera’s USB port?

2 Take a distance-triggered test image on the ground by manually setting 

the camera trigger distance parameter to 1 m.

Power the aircraft and connect to Mission Planner. Select Config/Tuning and 

Full Parameter List. Change the CAM_TRIGG_DIST parameter to 1, and select 

Write Params. Now carry the Aero for a few meters to see if the autopilot 

triggers the camera.

Camera (side)

Are the AUX OUT 6 pins connected on Pixhawk?

AUX OUT 6: black (-), red (+), white (s)

Pixhawk (side)

Is the camera battery charged? Unlock the SD card to view the Canon’s 

battery level indicator.

Mission Planner Full Parameter List: Set CAM_TRIGG_DIST to 1.

Camera with SD card unlocked, running Canon software

45
3DR Aero-M Specifications

v3

Autopilot: 3DR Pixhawk V2.4.5

Firmware: ArduPlane 3.1.1

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

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

Motors: Tiger Motor AT2820-7 830 kV 

Frame: Fixed wing

Propellers: Gemfan 11x7

Battery: 4S 6000 mAh 35C lithium polymer

Aircraft weight (with battery): 6.8 lbs (3 kg)

Aircraft dimensions: 74 in (188 cm) wingspan, 51 in (129 cm) length

Case dimensions: 60.75 in x 14.5 in x 15.5 in (154 cm x 37 cm x 39 cm)

Payload capacity: 1.1 lbs (500 g) 

Radio range: .6 miles* (1 km) 

Flight time: 40 min* 

Maximum operational wind speed: 25 mph (11 m/s)

Landing accuracy: 6.5 ft latitude x 131 ft longitude (2 m x 40 m) 

Recommended flight speed: 33 mph (15 m/s)

Camera: Canon SX260 12.1 megapixel

Camera software: 3DR EAI 1.0

Area coverage (single flight): 250 acres* (1 km2) 

Orthomosaic accuracy: 3-16 ft (1-5 m)

Ground sampling distance: 2 inches per pixel* (5 cm per pixel)

Image processing software: Pix4Dmapper LT 3DR Edition (Windows only)

*Figures reflect estimated values at ideal operating conditions. Environmental conditions 

can affect flight time, range, area coverage, and ground sampling distance.
1

3 4

2

5 6

Aero Flight Checklist

Preflight

Go outside to an open area, 

and inspect aircraft.

» Wings and tail attached

» Tail boom secured

» Servos and rods secured

» Airspeed sensor secured

» Propeller tight

» Transmitter on

Connect

charged battery.

» Hold aircraft still 

while powering on.

» Secure lid.

» Check for balanced 

center of gravity.

Check LED for blinking 

blue (no GPS) or blinking 

green (GPS locked).

GXPS

Press and hold 

safety button until 

solid red.

GPS

Check manual 

controls.

» Throttle

» Pitch up and down

» Roll left and right

» Yaw left and right

Check autopilot 

stabilization.

» Pitch up and down

» Roll left and right

LED Initializing, please wait

Autopilot ready, no GPS

Autopilot ready, GPS locked

Armed, ready to fly

Loss of RC signal, automatic return to launch

System error, see troubleshooting guide

Safety Button

Inactive

Active, press and hold button to deactivate
1

Flight Control

RC mode 2 only

motor on

motor off

pitch down

pitch up

yaw left

yaw right

roll left

roll right

Flight Modes

Spektrum FlySky

With GEAR/MIX set to MIX, 

set FLAP/GYRO to:

0 for AUTONOMOUS

1 for FLY BY WIRE

2 for RETURN TO LAUNCH

With GEAR/MIX set to GEAR, 

set FLAP/GYRO to:

0 for MANUAL

1 for STABILIZE

2 for LOITER

With AIL D/R set to 0, 

set F MODE to:

N for RETURN TO LAUNCH

1 for FLY BY WIRE

2 for AUTONOMOUS

With AIL D/R set to 1, 

set F MODE to:

N for LOITER

1 for STABILIZE

2 for MANUAL

Postflight

Press and hold safety button 

until blinking red.

2 Disconnect battery.

3 Power off transmitter.

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

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

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

3DR.com/rtf-aero | plane.ardupilot.com

V.B DCT0034 ©2014 3D Robotics. All rights reserved.
APPENDIX D 

Sample Flight Log
Advanced Drone Technologies – UAS Flight Log

DATE UAS BATTERY FLIGHT AREA FLIGHT TIME NOTES (Client, Purpose of flight, etc.)
APPENDIX E 

Sample Battery Log
Advanced Drone Technologies – UAS Battery Log

DATE BATTERY FLIGHT TIME NOTES (Charge Time, etc.)
APPENDIX F 

Sample Maintenance Log
Advanced Drone Technologies – UAS Maintenance Log

DATE UAS ITEM (Motors, ESC, etc.) NOTES (maintenance performed, etc.)
APPENDIX G

OpenPilot Preflight Checklist
ENVIRONMENTAL::

□ Check for people, animals, property in the flight vicinity.

□ Notify any bystanders or nearby property owner of your intentions.

□ If flying FPV, discuss flight plan with your check‐pilot.

□ If flying in controlled airspace, notify airspace authority of your intentions.

□ First Aid / Safety Kit on hand, stocked, readily accessible, and visible to anyone in the area

HARDWARE / EQUIPMENT::

== VISUALLY INSPECT THE AIRFRAME ==

□ Cracks (especially in high stress areas like joints)

□ Loose or damaged screws / fasteners / bands / straps / ties

□ Loose or damaged wiring

□ Loose or damaged connections (solder, plugs, etc)

□ Inspect prop mounts & screws & apply slight counter pressure on arms to check for loosened construction

□ For FPV, inspect/clean FPV and/or Gopro camera lens and ensure that cameras are secured

□ Battery/batteries fully charged, properly seated & secured

□ Remove props and test fail‐safe behavior (if applicable)

□ Props are smooth and free of damage/defect (check blade, surface, & hub)

□ Tighten prop adapters (careful not to over tighten which may damage prop)

□ Ensure voltage alarm is connected

□ Ensure arming/idle timeout is properly configured (6‐15 seconds is generally acceptable)

□ Check whether the right model is selected in the transmitter (if applicable)

□ Check your RC transmitter shows the right range and centering for all sticks

□ If desired, perform range test

PRE‐FLIGHT::

== POWER UP ==

□ Batteries charged & secured

□ Position quad in a level, safe location for takeoff

□ For FPV, power up ground station, video receiver, goggles, etc

□ If using onboard video recorder (i.e., Gopro), turn on camera

□ All transmitter controls move freely in all directions

□ All transmitter trims in its neutral position

□ All transmitter switches in correct position (typically away)

□ Transmitter throttle to zero

□ Radio transmitter on

□ Connect/power on battery to airframe

□ Ensure led indicators & audible tones are all correct

□ Timer on (if applicable)

□ For FPV, check video in goggles

□ Scan for nearby people or animals

□ Stand clear ‐ audibly, loudly announce the word "CLEAR!"

□ Arm flight controller

== PRE TAKEOFF ==

□ Increase throttle slightly listening for any abnormalities

□ Short 20‐30 second hover at 3‐5 feet

(listen for any weird vibrations or anything that sounds loose)

Version 1.1
APPENDIX H 

Flight Safety Procedures
Advanced Drone Technologies – UAS Flight Safety Procedures

Pre‐Flight Safety

□ Pre‐Flight Safety Briefing  Make sure all participating crew members understand their assignments 

and crew stations  cordon off Flight Perimeter and clear of all non‐participating persons

□ Designate Take off / Landing Area  Area clear of all non‐participating persons and clear of all hazards

 Area marked off

□ Complete UAS Preflight Checklists  OpenPilot Checklist

□ Confirm all Approvals are in place BEFORE flight begins

Flight Safety

□ PIC maintain constant visual contact with the UAS and monitor flight systems

□ VO maintain constant visual contact with UAS and monitor surrounding airspace and operations 

perimeter for other air traffic and ground hazards

□ PIC and VO maintain constant verbal communication

Post Flight Procedures

□ Turn off power to UAS

□ Turn off power to ground station

□ Disconnect UAS battery to prevent accidental activation

□ Inspect UAS for any damage / unusual wear‐and‐tear  log in Maintenance Log if necessary

□ Secure the UAS

□ Complete Battery and Flight Logs

□ Remove all warning signs/markersfrom operations perimeter

□ Make all necessary improvements/repairs

□ Flight Debriefing  any changes necessary to process / documents/ safety procedures/ etc.?

Emergency or Suspected Hazard

Immediately land UAS at safest and closet ground location in the event of:

□ ANY Hardware or System Failure

□ ANY System Warnings

□ Low‐flying manned aircraft Seen or Heard in the vicinity of UAS operation

□ Public gathering within establish safety perimeter

□ Too many distractions affecting the PIC or VO

□ Sudden weather change (wind bursts, rain, fog, etc.)

□ Sudden increase of vehicular traffic in vicinity of UAS operation

□ Birds flying into flight perimeter

□ Any other unsafe event / condition that has the potential to cause collision, distraction, or interruption 

of safe flight operations

THE PIC ALWAYS HAS THE DUTY TO CANCEL ANY FLIGHT IN THE EVENT OF ANY SAFETY RELATED ISSUE