X PlusOne Operating and Maintenance Manual

Date: May 15, 2015

Author: Alex Kaiser

xCraft Enterprises, LLC

1205 U.S. 2

Sandpoint, ID 83864
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REVISION RECORD

REV DATE BY CHECKED BY APPROVED

IR 05/15/15 Alex Kaiser Dustin Ehrmantrout JD Claridge

PAGES CHANGE

All Initial release
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TABLE OF CONTENTS

1. Overview................................................................................................................... 1

2. Checklists.................................................................................................................. 4

2.1 Normal Operation...............................................................................................................4

2.2 Emergency..........................................................................................................................5

3. Setup.......................................................................................................................... 6

3.1 Assembly instructions ........................................................................................................6

3.2 Battery Charging ..............................................................................................................12

4. Operation................................................................................................................13

4.1 Flight Modes.....................................................................................................................13

4.2 RC Controls......................................................................................................................13

4.3 Hover Controls.................................................................................................................14

4.4 Forward Flight Controls...................................................................................................16

4.5 First Flight ........................................................................................................................18

4.6 Transition Flight...............................................................................................................19

4.7 Ai Operation (Ai Option) .................................................................................................19

4.7.1 Loiter............................................................................................................................19

4.7.2 Auto..............................................................................................................................19

4.7.3 Guided..........................................................................................................................20

4.7.4 Follow Me....................................................................................................................20

5. Emergencies............................................................................................................21

5.1 Lost Link ..........................................................................................................................21

5.2 Bird Attack .......................................................................................................................21

6. Maintenance ...........................................................................................................22

6.1 Operational Limits............................................................................................................22

6.2 Software Updates .............................................................................................................22

6.3 Repair ...............................................................................................................................22

6.3.1 Propellers .....................................................................................................................22

6.3.2 Non-Serviceable Components .....................................................................................23

6.3.3 Replacing Components................................................................................................23

6.4 Inspections........................................................................................................................24

6.4.1 Preflight Inspection......................................................................................................24
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6.4.2 Periodic Inspection.......................................................................................................25

6.4.3 Control Check ..............................................................................................................26
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ABBREVIATIONS, ACRONYMS & SYMBOLS

AH Amp Hour

FAA Federal Aviation Administration

FT Feet

FWD Forward

GPS Global Positioning System

HR Hour

IN Inches

LB Pounds

MIN Minutes

N/A Not Applicable

RPM Rotations Per Minute

SEC Seconds

VTOL Vertical Takeoff and Landing
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1. Overview

The X PlusOne is a hybrid platform that is capable of hovering and forward flight. The X PlusOne takes

off, hovers, and lands like a traditional quadcopter, but that's where the similarities with a multi-rotor 

stop. The key differentiator is this: In place of the quadcopter frame is an upward facing wing. This 

allows the X PlusOne to pitch over 90 degrees and fly nose-first at over 60 mph (100 km/h), twice as fast 

as a traditional quadcopter! Flight control is handled by varying motor speed to provide pitch, roll, and 

yaw control, even in forward flight mode. There are no traditional flight control surfaces on the X 

PlusOne. Thereby saving weight and complexity and ensuring the overall design remains clean and 

efficient.

All components will be defined as though the X PlusOne is in forward flight. The following images have 

the major components labeled the way they will be referenced.

top view

left motor right motor

left wing right wing

payload (standard nosecone)

GPS antenna (Ai option)

front/nose

back/tail
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bottom view

battery hatch

FPV antenna (FPV option) telemetry antenna (telemetry option)

safety switch (Ai option) status LED (Ai option)

external USB (Ai option)
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side view

top pylon

bottom pylon

top motor

bottom motor
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2. Checklists

2.1 Normal Operation

Preflight Checklist

1. Check that the pylons are properly installed onto the wing

2. Check for loose parts or wires

3. Check foam and plastic components for signs of damage

4. Propellers are tight and installed to rotate in the proper direction

5. Battery fully charged

6. Battery installed, power not connected

7. Battery hatch secured

8. CG is within tolerance

9. Payload is within maximum allowable weight limit

Before Takeoff

1. Transmitter on

2. Transmitter charged

3. Correct flight mode selected

4. Area free of obstructions 10 ft around craft

5. No obstructions overhead

6. Connect battery

7. Connect ground station (optional)

8. (Ai option) Press and hold safety switch 

9. Arm motors

10. Check motor direction

Takeoff

1. Increase throttle to climb

2. Climb vertically to 15 ft

3. Check control response

4. Proceed with flight

Before Landing

1. Check landing area for obstructions

2. Fly to landing site

3. Transition to hover 

4. Descend to 50 ft

Landing

1. Descend vertically at a reasonable rate

2. Adjust position during descent to land at desired location

3. Reduce throttle to minimum after touchdown

4. Disarm motors

5. Disconnect ground station if connected

6. (Ai option) Press and hold safety switch

7. Disconnect connector and remove battery
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8. Turn transmitter off

Postflight

1. Check battery for overheating, or expansion

2. Check motors for overheating

3. Check airframe for damage or loose/missing components

Autonomous Flight

1. Perform Preflight check

2. Perform Before Flight check

3. Switch flight mode to “Auto”

4. Increase throttle to begin mission

5. Monitor aircraft visually

6. If necessary engage manual control by switching flight mode

a. Stabilize craft

b. Return to Auto mode at pilot’s discretion

7. Once craft lands, reduce throttle to minimum

8. Disarm motors

9. Disconnect ground station if connected

10. Disconnect and remove battery

11. Turn transmitter off

2.2 Emergency

Lost Link

1. Check controls

2. Check flight mode

3. Set throttle to half

4. Touchdown, set throttle to minimum

5. Retrieve aircraft

Control Failure

1. Check controls

2. Check flight mode

3. Set throttle to minimum

4. Retrieve aircraft

Bird Attack

1. If flying autonomously, engage manual control

2. Attempt to evade bird by making abrupt attitude changes

3. If attack continues, land

4. If attack stops, continue with flight
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3. Setup

3.1 Assembly instructions

To prepare for a flight, observe the following steps:

1. Connect the pylon wires to the wires in the top of the wing as shown below. Connect two bullet 

connectors and single ESC wire. Ensure bullet connector polarity is correct.

Caution: Ensure wire polarity is correct or damage will result. Connect 

red pylon wire to red wing wire and black pylon wire to black wing wire.
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2. Insert the pylon spars and slide the pylon onto the wing. As you slide the pylon in place, bundle 

the wires into the cavities in the wing and pylon.

3. Insert pylon mounting screws as shown above
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4. Install the other pylon onto the bottom of the wing by repeating steps 1 through 3 with the 

second pylon
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5. The X PlusOne uses 2 clockwise spinning propellers and 2 counterclockwise spinning propellers. 

Attach the clockwise spinning propellers onto the top and bottom pylon motors and the 

counterclockwise spinning propellers onto the wing motors. Clockwise spinning propellers are 

marked with an “R” on the propeller blade.

To install the propellers, slip them onto the motor and add the spinner. Tighten the spinner by 

holding the motor stationary and rotating the spinner with a thin metal rod, such as a small 

screwdriver, inserted into the hole in the top of the spinner and rotating the spinner clockwise. 

Ensure a spinners are tightened securely.

clockwise 

propeller 

(R)

spinner

clockwise 

propeller

(R)

Counterclockwise

propeller

counterclockwise 

propeller

ensure 

writing is 

facing up
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rotate clockwise

hold stationary
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6. Install Payload

a. For the standard nosecone, install it as shown in the image below using the supplied 

hardware

b. For all other payload options, follow the instructions included with the payload
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7. (Optional) Install GPS antenna using the provided double-sided tape as shown

3.2 Battery Charging

1. Connect power cord and plug it into power outlet

2. Check that the status light for LiPo is illuminated. If it is not, press the Start/Stop/Select button to 

select LiPo

3. Connect charging cable to charger by connecting the red cable into the red port and the black 

cable into the black port

4. Connect the balance plug of the battery into the 3 cell port on the charger

5. Connect the yellow power connector of the battery to the power connector of the charger

6. Begin charging by pressing and holding the Start/Stop/Select button until the charger beeps and 

the status light turns red

7. Once the battery is charged the status light will turn green and the charger will beep
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4. Operation

How to operate your X PlusOne

4.1 Flight Modes

Your X PlusOne has two standard flight modes (Hover and Forward Flight) and four flight modes 

(Loiter, Guided, Auto, and Follow Me) that rely on optional equipment:

Hover Manual flight control

Auto-level will keep craft pointed up when right stick 

is centered

Forward Flight Manual flight control using forward flight controls

Auto-level will keep wings level when aileron stick is 

centered

Loiter (Ai option required) Hover in place

Position can be controlled with hover controls

Auto (Ai option required) Autonomous mission

X PlusOne will fly the flight plan saved to the 

autopilot

Guided (Ai and Telemetry options 

required)

Ground station controlled flight

X PlusOne will fly to waypoints sent from the ground 

station in real time

Follow Me (Ai option, Telemetry

option, and ground station with GPS

required)

Follows ground station

X PlusOne will follow the ground station as you 

move

4.2 RC Controls

rudder

(yaw)

elevator

(pitch)

throttle

aileron

(roll)
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WARNING: Do not fully 

reduce throttle unless 

your X PlusOne has landed

4.3 Hover Controls

While hovering, the X PlusOne functions as a standard quadrotor. 

Throttle Forward

Increases motor speed

If throttle is above hover 

position (varies with 

payload) craft will climb

back view

Throttle Backward

Decreases motor speed

If throttle is below hover 

position (varies with 

payload) craft will descend

back view

Rudder Left

Rotates wings 

counterclockwise

top view

Rudder Right

Rotates wings clockwise

top view
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Elevator Forward

Pitches nose forward

craft will fly forward

side view

Elevator Backward

Pitches nose backward

craft will fly backward

side view

Aileron Left

Rolls nose left

craft will fly to the left

back view

Aileron Right

Rolls nose right

craft will fly to the right

back view
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4.4 Forward Flight Controls

While in forward flight, the X PlusOne functions as a standard airplane. 

Throttle Up

Increases motor speed which 

increases airspeed

side view

Throttle Down

Decreases motor speed 

which decreases airspeed

side view

Rudder Left

Turns nose left

top view

Rudder Right

Turns nose right

top view
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Elevator Forward

Pitches nose down

craft will descend

side view

Elevator Backward

Pitches nose up

craft with climb

side view

Aileron Left

Rolls wings left

back view

Aileron Right

Rolls wings right

back view
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4.5 First Flight

1. Perform preflight inspection

2. Put X PlusOne on flat, level surface

3. Power on transmitter

4. Install battery and connect power

5. (Ai only) 

a. Press and hold safety button until it is solid red

b. Verify that indicator LED is flashing green

6. Arm by holding the left stick down and right for several seconds.

7. (Ai only) Once armed, the motors will begin spinning

8. Takeoff by increasing the throttle slightly above half

9. Familiarize yourself with how the X PlusOne responds to control inputs

10. Land

a. Return to takeoff point

b. Achieve stable hover at 10 ft.

c. Reduce throttle to smoothly descend

d. Fully reduce throttle once on the ground

11. Disarm by holding the left control stick down and left for several seconds.

12. (Ai only) Press and hold the safety button until it begins flashing

13. Disconnect battery

14. Turn off transmitter

WARNING: Never approach the craft when it is armed

TIP: It is suggested that you do not attempt to transition to forward flight until you are 

comfortable with hover controls
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4.6 Transition Flight

Once you feel comfortable hovering your X PlusOne it is time to transition to forward flight.

1. Perform all preflight checks and prepare craft for takeoff

2. Takeoff and climb to a suitable altitude for transition

3. Flip switch to forward flight

a. If in an auto-leveling flight mode, craft will begin pitching forward 

b. If not in an auto-leveling flight mode, slowly (2-4 seconds) pitch nose forward until craft 

is horizontal

4. Continue flying and familiarizing yourself with the X PlusOne in forward flight

5. When transitioning back to hover, fly the craft straight and level with roughly half throttle at a 

safe altitude (at least 100 ft. until you are familiar with transition) and flip the switch to hover 

mode

6. The X PlusOne will automatically transition back to hover

7. Perform the transition from hover to forward flight and back several times to familiarize yourself 

with how the X PlusOne acts during the transition

8. When ready to land, set flight mode to hover and land as described above

9. Disarm 

10. (Ai only) Press and hold the safety button until it begins flashing

11. Disconnect battery

12. Turn off transmitter

4.7 Ai Operation (Ai Option)

Once you have familiarized yourself with your X PlusOne you may want to fly it autonomously.

4.7.1 Loiter

When in Loiter mode your X PlusOne will hover in place. Using the hover controls on your 

transmitter you can reposition the craft. 

4.7.2 Auto

Auto mode is used to fly an autonomous mission. To fly the mission, prepare a series of 

waypoints in mission planner and upload them to your X PlusOne. If the mission does not 

include a waypoint for takeoff manually takeoff and switch to Auto mode in flight. If the 

mission does not include a waypoint for landing the craft will hover at the last waypoint and wait 

for the pilot to disengage Auto mode and land the X PlusOne manually.

WARNING: CG outside of acceptable range can lead to unsafe flying 

characteristics. It is very important to check CG before each flight

TIP: For first transition flight climb to at least 100 ft. before transition to 

forward flight

TIP: If at any time you lose orientation while in forward flight, switch to hover 

mode and set the throttle to at least half and the craft will right itself. You 

can then transition back to forward flight.

NOTE: Controls will switch from Hover to Forward Flight
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4.7.3 Guided

Guided mode requires an active connection to a ground station and allows the operator to control 

their X PlusOne through the ground station. Guided mode can be entered any time the motors 

are armed. The operator can set the craft to fly entirely through the ground station including 

takeoff and landing. 

4.7.4 Follow Me

Follow me allows the X PlusOne to follow a GPS equipped ground station. The craft will 

maintain a set altitude above the ground station as the ground station moves. The craft must first 

be in the air before entering Follow Me mode.
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5. Emergencies

In this section we discuss a number of possible in flight emergencies and how the pilot/operator should 

respond. This is not intended to be a complete list but is instead meant to highlight several possibilities.

5.1 Lost Link

In the event that your X PlusOne loses contact with your transmitter it will enter a radio failsafe mode. 

Your X PlusOne will act in one of two ways depending on how it is equipped

1. Standard X PlusOne

a. Craft will enter hover mode and will begin descending

b. After 20 seconds the motors will shut off

2. Ai Option

a. If the craft has a valid GPS position it will Return-to-Launch (RTL) this means it will 

return and land at the spot it took off from

b. If the craft does not have a valid GPS position it will land in its current position

5.2 Bird Attack

What to do if your aircraft is attacked by a bird. If hovering, transition to forward flight. If in forward 

flight, transition to hover. Attempt to evade the attacker. The method of attack will determine the best 

course of action. If the attack continues land the craft. If the attack stops, continue the flight at your 

discretion.
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6. Maintenance

This section has information on how to keep your X PlusOne flight ready.

6.1 Operational Limits

Maximum altitude 400 ft

Range 0.5 miles

Maximum estimated flight time 22 min

Payload capacity 1 lbs

6.2 Software Updates

Visit www.xcraft.io regularly to check for the latest version of all software

6.3 Repair

Information on user serviceable components and non-serviceable components

6.3.1 Propellers

Always balance all propellers used on your X PlusOne. Balanced propellers will greatly

improve performance and allow clearer images from onboard cameras. To balance propellers, 

follow the recommended procedures below.

1. Insert a rod into the hole in the center of the propeller

2. Allow propeller to freely rotate and make note of which blade points up, this is the 

“light” blade 

3. Add weight to the light blade. This can be done by adding a small piece of tape or nail 

polish to the underside of the propeller blade.

4. Repeat steps 2 and 3 until the propeller balances horizontally on the rod

light blade

heavy blade

TIP: For best results use a propeller balancer
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6.3.2 Non-Serviceable Components

There are several components of the X PlusOne that are not individually replaceable. These 

parts can be found in the wing assembly (main wing foam, wing spars, battery compartment, and 

spar insert) and the pylon assembly (main pylon foam, and pylon spars).

To replace these components:

1. If the component to be replace is in the wing, remove both pylons and set them aside

2. If the component is in a pylon, remove that pylon and set the other pylon and wing aside

3. Remove the cover (either wing cover or pylon cover) by removing the screws holding it 

in place and sliding the cover off

4. Remove all electronics from damaged assembly

a. Make careful note of all connections to the removed components as well as wire 

routing throughout the assembly

5. Unscrew motor mount(s) from spars and foam and remove motor mount(s)

6. Install motor mount into new wing or pylon assembly

7. Install electronics into new wing or pylon assembly

a. Check that all connections and wire routes are installed properly

8. Reinstall the cover

9. Reinstall the pylon(s)

6.3.3 Replacing Components

1. If the component to be replace is in the wing, remove both pylons and set them aside

If the component is in a pylon, remove that pylon and set the other pylon and wing aside

2. Remove the cover (either wing cover or pylon cover) by removing the screws holding it 

in place and sliding the cover off

a. If the cover is damaged, simply replace it and reassemble your X PlusOne

3. Replace damaged component

a. For electrical components, make careful note of all connections to that component 

as well as wire routing and make sure to reconnect all connections and run all 

wires as they were before

b. For motors or motor mounts, remove the screws holding the motor mount to the 

spars and the screws holding the mount to the wing or pylon foam

Reinstall the motor mount and reconnect the motor wires to the speed control 

(making sure to reconnect the wires as they were before)

4. Reinstall the cover

5. Reinstall the pylon(s)

TIP: You may want to take several pictures after removing the cover to 

aid in reassembly

TIP: You may want to take several pictures after removing the cover to 

aid in reassembly
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6.4 Inspections

6.4.1 Preflight Inspection

1. Check that the pylons are properly installed onto the wing

2. Check for loose parts or wires

3. Check foam and plastic components for signs of damage

4. Propellers are tight and installed to rotate in the proper direction

5. Install battery but do not connect power

6. Secure the battery hatch

7. Check that CG is within tolerance

a. Make sure all components are installed

b. Lift up your X PlusOne and find its center of gravity by attempting to balance it 

on two fingers (one on either side of the pylon, the same distance from the nose)

c. If the nose tips down the CG is forward of your balance point

d. If it tips up the CG is behind your balance point

e. Adjust the position of your fingers until your X PlusOne balances and make note 

of the position of your fingers, this is the CG

f. Measure the distance from the CG to the back edge of the battery compartment as 

shown below

g. The acceptable range is 3⁄8” to 1 1⁄4” from the battery compartment to the CG

forward CG limit

aft CG limit

measure from here

TIP: You may want to mark the forward and back CG limits to make 

checking the CG easier
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6.4.2 Periodic Inspection

Performed every 10 flight hours

More detailed than Preflight Inspection

1. Spin each motor by hand and check that the motors spin smoothly and quietly

2. Inspect airframe for damage.

a. If there is evidence of damage under a cover remove that cover and inspect the 

components underneath

3. Remove propellers and perform the control check found on page 26

4. Check the rigidity between the top pylon and the wing

a. Hold the wing in one hand and keep it stationary

b. Hold the top pylon with your other hand

c. Apply light pressure to the pylon and verify that it does not flex more than a few 

degrees in any direction

d. Repeat steps a-c on the bottom pylon

5. Remove both pylons

6. Inspect wires that go between the pylons and the wing

a. Check the wire insulation for any exposed wire

b. Check connectors, verify that connections are not loose

7. Check landing gear

a. Hold one of the pylons in one hand

b. Grasp the landing gear with the other hand

c. Verify that landing gear is firmly attached

d. Repeats steps a-c with the other pylon

8. Reinstall both pylons

9. Reinstall propellers

10. Perform a preflight inspection found on page 24

Pixhawk only:

11. Connect X PlusOne to mission planner

12. Connect battery and check battery voltage displayed

13. Disconnect the battery and measure its voltage with a volt meter

14. Verify that the measured value is within ±0.1 V of the value displayed in mission planner
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WARNING: Remove propellers before arming

6.4.3 Control Check

A control check should be performed during the periodic inspection 

1. Remove the propellers

2. Power on transmitter

3. Install battery and connect power

4. Arm the motors

5. Slowly increase the throttle until the motors begin spinning

6. Test each control input and check that the motors respond as shown in the table below

Control Input Left Wing 

Motor

Top Pylon 

Motor

Bottom Pylon 

Motor

Right Wing 

Motor

Elevator forward = faster slower =

Elevator backward = slower faster =

Aileron right faster = = slower

Aileron left slower = = faster

Rudder right faster slower slower faster

Rudder left slower faster faster slower

7. Disarm the motors

8. Disconnect battery

9. Power off transmitter