Operation Manual

Read before 

flying!

IMPORTANT
Contents

01 Meet IRIS

03 Parts

04 Charger

06 Propellers

07 Learn to Fly

11 Safety

12 Altitude Hold Mode

13 First Flight

18 Stabilize Mode

18 Loiter Mode 

19 Return-to-Launch Mode

19 Autonomous Mode and Missions

21 Specifications and Resources

22 Learn More and Support
01

Meet IRIS.

Thank you for purchasing IRIS. 

IRIS is an autonomous quadcopter and personal aerial imaging 

platform powered by open-source hardware, software, and 

firmware. Please read this manual carefully before your first flight 

and pay close attention to safety information.

Happy flying!

! Important note: When using a GoPro with IRIS, always 

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

Front

Rear

Antenna

LED

Battery 

compartment

USB port

Front arms (blue)

Safety button

Rear arms (black)

IRIS does not include the GoPro frame shown in these images.
03

Parts

RC transmitter

Your direct link to IRIS

3DR Radio 

With micro-USB and Android OTG 

ground station adapters

Slide out the leg to remove it, and replace with the new 

leg. Replace the set screw and fasten until it sits flush with 

the surface. Do not tighten the screw beyond this point.

Use the small (1.5 mm) hex 

key to remove the set screw 

in the bottom of the leg.

Battery kit

Power pack, charger, and guard bag

Tool kit

Wrench and small, medium, and large hex keys 

(1.5 mm, 2 mm, and 3 mm)

Red legs

For extra visibility (optional)
04

Charger

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

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 10 to 13 minutes of flight time.

Connect charger to the 

power adapter cable and 

a wall outlet.

Connect the red cable to the 

+ port and the black cable 

to the - port.

Set the charger to 

LiPo and 3A.

Connect the white 

connector to the 3S port. 

Join the two yellow 

connectors together.

1

2

+

–

LiPo 3A

3S

3
05

Secure battery inside the guard bag 

while charging. Charge until the status 

indicator displays green.

Charging Complete

4

Protect battery from extreme heat, extreme cold, puncturing, 

and flammable surfaces. Always transport, charge, and store 

the battery in the guard bag.

Charge battery using a designated LiPo balance charger only. 

Always monitor 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 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.

! Battery Safety
06

IRIS uses two SF and two SFP propellers. To attach, find the rings shown 

below inside the propeller package.

Add SFP propellers to the front-left and 

back-right motors and SF propellers to the 

front-right and back-left motors with the 

writing on the propellers facing up.

SF

SF

SFP

SFP

Writing on propellers 

faces up

Propellers

Use the wrench to remove the 

nut and washer from the motor.

Place the washers over the propellers, and use the wrench to secure 

the nuts tightly on top. Always ensure that the propellers are fastened 

tightly to the motors before flying.

Select the ring with the smaller internal diameter 1 and insert it into the back of the propeller hub.

2

3
07

Control IRIS in flight using the transmitter’s 

left and right sticks.

left stick right stick

Lower stick 

to decrease 

altitude. 

Before takeoff, set 

stick fully down. 

To maintain altitude, 

set stick to center 

position. 

Take off by raising stick 

halfway to center. 

To increase altitude, raise 

stick slowly.

left stick

Move the left stick forward and backward to control altitude and acceleration.

Throttle

Learn to Fly

Land by setting stick 

fully down once IRIS 

is a few inches above 

the ground.
08

Flight Tip

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

vertical position.

Move stick to the 

left to rotate 

counterclockwise.

Move stick to 

the right to 

rotate clockwise.

left stick

Release stick to 

stop rotating and 

maintain current 

orientation.

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

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

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

a faster rotation.

Yaw
09

Move stick 

forward to fly 

forward.

right stick

Move stick back 

to fly backward.

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

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

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

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

it tells IRIS how fast to move. 

Pitch and Roll

Move stick left 

to fly left.

Move stick right 

to fly right.

Flight Tip

IRIS moves according to its orientation. The camera mount and blue arms face 

forward, and the black arms and LED face backward. Before using the right stick, 

use yaw to keep IRIS facing in outward orientation so that the black arms face 

towards you and the blue arms face away from you.
10

left

left mode switch

up down center

right mode switch

Mode switches

up down

right

Use the two switches above the right stick to select a flight mode. 

Set the right switch in the up position to select the group of modes 

shown in white on the transmitter, or set the right switch in the down 

position to select the group of modes shown in blue. After selecting 

a group of modes using the right switch, set the left switch in the up, 

center, or down position to select a mode. Both switches must be set to 

the correct position to select a mode. In this manual, the position of the 

left switch is specified first, followed by the position of the right switch. 

For the example center/down, set the left switch to center and the right 

switch to down.

Flight Modes
11

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 automatically 

landing if it detects an unsafe flying condition due to loss of RC signal, loss of 

GPS signal, or low battery. To avoid potential hazards due to environmental 

factors, identify the boundaries of your flying area before takeoff, and recover 

IRIS manually by switching into stabilize mode if it moves outside your 

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

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

Always use an RC transmitter as a primary or backup control system when 

flying. Ensure that the transmitter is turned on any time IRIS is powered. 

If contact with the transmitter is lost during flight, IRIS will land and display 

a blinking yellow light. If IRIS is more than 2 meters (6.5 feet) from the launch 

point, it will return to launch (RTL) before landing. (See page 19 for more 

information about RTL.)

Loss of RC signal

Autopilot-positioned flight modes (loiter, autonomous, and return to launch) 

require an active GPS signal. If GPS signal is lost during flight, IRIS will land and 

display a blinking blue and yellow light with a high-high-high-low tone. Always 

choose an unobstructed flying area to improve signal strength.

Loss of GPS signal

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

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

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

Low battery

! Flight Safety
12

Once you feel comfortable flying in altitude hold, try out IRIS’ other flight 

modes for GPS-positioned and autonomous flight.

Altitude Hold Mode (ALT)

Allow IRIS’ autopilot to help you fly by engaging altitude hold mode (ALT). This 

autopilot-assisted flight mode maintains altitude automatically. Set the left 

stick to center, and IRIS will hover at the current altitude. Adjust altitude and 

orientation with the left stick, and navigate with the right stick.

To select altitude hold mode, set the left mode switch to center and 

the right switch to down (center/down).

Altitude hold (ALT)

center/down » Autopilot-assisted altitude control

» Great for new fliers
13

First Flight

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

to bring the Flight Checklist, wrench, and a fully charged battery. Determine the 

boundaries of your flying area before takeoff, and select a level, unobstructed 

space as a launch point. Follow these preflight and postflight steps in the order 

shown here and on the Flight Checklist every time you fly.

1

L

Preflight

Check 

IRIS.

Check that the IRIS and 

transmitter antennas are 

oriented vertically for 

the strongest signal.

Check that the propellers 

are tight. Use the wrench 

to tighten if necessary.

Set the switches to select 

a flight mode. For your first 

flight, select altitude hold 

mode (shown here).

Check that the left stick 

on the transmitter is 

set fully down. 

Altitude hold 

(ALT)

center/down
14

2 Power on 

transmitter.

If the left stick is not fully 

down, the transmitter will 

display an alert message.

3 Connect battery.

Press the sides of the battery 

compartment together and 

rotate the door down.

Insert battery and attach the yellow 

connectors. 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.

Place IRIS at the launch point 

with the black arms facing 

towards you and the blue arms 

facing away from you.

If you are using a ground station with IRIS, select Connect. 

For Mission Planner or APM Planner, select COM or USB and 

set the rate to 57600 before connecting. To learn about 

using a ground station in flight, visit 3drobotics.com/iris/info.

!

Ensure the transmitter is 

always turned on while IRIS 

is powered. If communication 

with the transmitter is lost, 

IRIS will initiate an automatic 

recovery landing.
15

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 

propellers.

!

!

Autopilot ready, GPS locked

Autopilot ready, no GPS

Initializing, please wait. 

4 Press safety 

button.

Press the safety button 

until it is solid red.

IRIS is now live. 

Stand back!

5 Check LED.

Check the LED to view the status of IRIS. Wait 

to proceed until you see the blinking blue light 

indicating that you’re ready to fly. If you plan to

use loiter, RTL, or autonomous modes during your

flight, please wait to see the blinking green light

indicating that IRIS has acquired GPS lock.

Error, disconnect battery and restart 

flight procedure. See the troubleshooting 

guide at 3drobotics.com/iris/info.

6

To activate the motors, 

hold the left stick down-right 

until the motors spin. 

Now you’re ready for takeoff! 

L

Arm motors.

IRIS will spin its propellers at 

a low speed when armed. 

Ensure that the launch point 

is clear of obstructions before 

arming. Always disarm the 

motors before approaching.

Inactive, safe to handle Active, deactivate before handling

!

RTL, loiter, and autonomous modes 

require GPS lock before takeoff. Do 

not initiate these modes during flight 

unless you observed a blinking green 

light prior to takeoff. IRIS may take 

a few minutes to acquire GPS lock 

depending on your flying location.
16

Flight

L Take off by 

raising the left 

stick halfway to 

center. 

L Gain altitude by 

raising the left 

stick.

R

L

R 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.

R Slowly lower 

the left stick to 

descend.

L Hover by setting 

the left stick to 

center.

Rotate counterclockwise and 

clockwise by 

moving the left 

stick left and right. 

!

IRIS is a powerful and agile 

flier. Move the sticks in small 

increments until you feel 

comfortable with how IRIS 

responds in each flight mode. 

L Set the left stick fully 

down to land once IRIS 

is a few inches above 

the ground.

!

L
17

Postflight

L

1 Disarm 

motors.

After landing, hold 

the left stick downleft until the motors 

stop spinning.

2 Press safety 

button.

Press the safety 

button until it 

displays blinking 

red to make IRIS 

safe to handle.

3 Disconnect 

battery. 4 Power off 

transmitter.

Your first flight is now complete!

Refer to 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

Stabilize Mode (STB)

Stabilize mode (STB) is IRIS’ most acrobatic flight setting. In stabilize, the 

autopilot provides basic stabilization while allowing full manual control of both 

sticks. In this mode, you’ll need to make continuous, small adjustments to the 

left and right sticks to maintain a hovering altitude, navigate, and maintain 

orientation without autopilot assistance.

Select stabilize mode by setting both switches up. The transmitter has an 

additional setting (up-down) for stabilize mode to allow you to switch between 

modes without triggering a mission or return-to-launch command. 

Stabilize (STB)

up-up 

up-down

» Manual flight

» Acrobatic flying

» Recovery

Flying confidently in stabilize mode is required for flying your first mission. 

To practice, try the exercises on page 17.

Loiter (LTR)

center-up

GPS required before takeoff

» Automatic positioning

» Easy flying

Loiter Mode (LTR)

Loiter mode (LTR) uses GPS positioning to hold IRIS’ current position and 

altitude automatically. Just release the sticks and IRIS will hover in place. Use 

the left stick to adjust altitude and orientation; use the right stick to navigate 

and change IRIS’ position.

To select loiter mode, set the left switch to the center position and the right 

switch to the up position (center-up).

Loiter mode requires GPS lock (flashing green LED) prior to takeoff.
19

Return-to-Launch Mode (RTL)

Return to launch (RTL)

down-down

GPS required before takeoff

To recall IRIS to the launch point during flight, execute a return-to-launch (RTL) 

command. RTL automatically returns IRIS to the launch point, and can be used 

any time you would like to land quickly. RTL requires GPS lock prior to takeoff.

When commanded to RTL, IRIS will:

1 Achieve minimum altitude of 15 m (50 ft) 

 or maintain current altitude if above 15 m.

2 Move to launch point and loiter for 5 seconds.

3 Land at launch point. launch point

1 15 meters 2

3

hover 5 seconds

» First, achieve altitude of 15 m

» Next, return to launch point

» Then, land

To RTL, set both switches to the down position (down-down). Ensure the 

launch point is clear to allow IRIS to land safely.

Autonomous Mode (AUTO) and Missions

Fly a fully autonomous mission using a computer or Android device as a 

ground station. When switched into autonomous (AUTO) mode, IRIS will 

automatically perform the mission and report data back to the ground station. 

For instructions on setting up your ground station, planning a mission, and 

saving it to IRIS, visit 3drobotics.com/iris/info.

Autonomous mode requires GPS lock (flashing green LED) prior to takeoff.

Follow these steps to run a fully autonomous mission with automatic takeoff 

and landing. If your mission is not planned with an automatic takeoff and 

landing, fly to the location of your first waypoint before switching to 

autonomous mode.

Autonomous (AUTO)

down-up

GPS required before takeoff

» Fly a planned mission

» Fully autonomous flight
20

!

To avoid sudden changes 

in altitude when switching from 

autonomous mode to stabilize 

mode, ensure that the left stick 

is set to the center position.

Fly a brief test flight in 

stabilize mode to verify 

that all controls (throttle, 

yaw, roll, and pitch) are 

responding normally.

Use the ground station to view 

IRIS’ status on the Flight Data screen. 

For more information about using a ground 

station, visit 3drobotics.com/iris/info.

IRIS will take 

off and begin 

the mission. 

1 Perform a pre-mission test flight.

Set the switches to stabilize 

and follow the preflight 

steps shown on page 13 

and the Flight Checklist. 

Wait to arm until you see 

the blinking green light.

2 Arm in 

stabilize mode.

3 Switch to autonomous mode (AUTO). 4 Raise the left stick slightly 

to initiate the mission.

When the mission is complete 

and IRIS has landed, use the 

transmitter to switch to 

stabilize mode before 

disarming and proceeding 

with the postflight steps. 

5 Switch to stabilize mode 

before disarming.

To recall IRIS during a mission, 

use the transmitter to switch 

to stabilize mode and land 

manually. Or switch to RTL, 

and automatically return to 

the launch point.

AUTO

STB

With the motors 

armed, switch to 

AUTO by setting 

the left switch 

down and the 

right switch up. down-up

STB

STB

Missions

up-up

up-up

up-up
21

Specifications

Autopilot hardware: Pixhawk

Firmware: APM:Copter 3.1

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

Telemetry radio: 3DR Radio Telemetry V2 (915 mHz or 433 mHz)

Motors: 850 kV

Frame type: V

Propellers: 10 x 4.7 SF puller type, counterclockwise rotation (2)

 10 x 4.7 SFP pusher type, clockwise rotation (2)

Battery: 3 cell 11.1 V 3.5 Ah lithium polymer

Low battery voltage: 10.5 V

Minimum voltage: 9.9 V 3 cell (13.2 V 4 cell)

Maximum voltage: 12.6 V 3 cell (16.8 V 4 cell)

Payload capacity: 425 g (.9 lbs)

Radio range: 1 km (.6 miles)

Flight time: 10-13 minutes

Resources

Hardware: 3drobotics.com/iris/info

Firmware: copter.ardupilot.com

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

3DR Store: store.3drobotics.com

Community: diydrones.com

Happy flying!
Support

Learn More

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

» Opening the shell

» Replacing the arms and motors

» Connecting and calibrating an RC system

» Installing software

» Planning a mission

» Updating firmware

» LED meanings and tones

Visit copter.ardupilot.com to learn about:

» Additional flight modes

» Configuring parameters, including yaw behavior during 

 autonomous flight, descent speed during RTL, and more

Visit planner.ardupilot.com (Mission Planner) and 

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

» Planning a mission with waypoints and events

» Using a ground station to command IRIS in flight

» Downloading and analyzing flight logs

Join the community and share your experience at 

diydrones.com.

Follow us on Facebook and Twitter @3drobotics.

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

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

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

Iris Operation Manual V6 | ©3D Robotics, Inc. | 9 April 2014