## Operators handbook 1 

## md4-1000 

# Operators handbook
md4-1000

Revision 2013-01-21, ©2012, microdronesGmbH

## Operators handbook 1 

## md4-1000 Table ofcontents

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

## I puttingon the cover......................................................................................................13 2.3. Inserting and connectingtheflight battery
.................................................................................... 14 2.4. The rotors
.......................................................................................................................................15 2.5. Opening outand lockingthe arms ................................................................................................. 16 2.6.The connections ofthe md4-1000
.................................................................................................17 2.6.1. Configuration and dataterminal.
................................................................................................17 2.6.2.The control wires ofthe md4-1000
............................................................................................. 17 2.6.3The servo connections ofthe md4-1000
...................................................................................... 18 2.6.4 Downlinktransmitterconnection
................................................................................................18 2.6.5 Downlink receiver
.........................................................................................................................19 2.7. Taking offand landingthe microdrone
..........................................................................................20 2.8. Taking offin GPS position hold mode
............................................................................................21 2.9. GPSwaypoint
..................................................................................................................................23 2.10.Theflightdata recorder.
...............................................................................................................24 2.10.1 Preparing anewSD card fortheflight data recorder
................................................................24 2.11.Technical data ofthe md4-1000
..................................................................................................26 2.12. Beeps ofthe microdrone
..............................................................................................................27 2.12.1. Error bleeps
...............................................................................................................................27 2.12.2. Status sounds
............................................................................................................................28 3. Operating modesofthe microdrone
................................................................................................29 3.1. INS mode
........................................................................................................................................29 3.2. GPS position hold
...........................................................................................................................29 Revision 2013-01-21, ©2012, microdronesGmbH

## Operators handbook

## 1 md4-1000
3.3. Dynamic position hold (DPH) function
...........................................................................................29 3.4.Teach-in function
............................................................................................................................30 3.5. Waypointfunction
..........................................................................................................................30 3.6. Homingfunction
.............................................................................................................................30 4. The remote control.
...........................................................................................................................32 4.1. Switchingfunctions ofthe microdrone
..........................................................................................33 4.1.1. Control stick allocation ofthe remote control
............................................................................33 4.1.2. Slide switches Eand Fofthe remotecontrol.
.............................................................................34 4.1.3. Switchingfunctions ofthe remote control
.................................................................................35 4.2. Remote control settings
.................................................................................................................36 4.2.1.Trim ofthecontrol sticks
.............................................................................................................36 4.2.2. RC channel selection
...................................................................................................................37 4.2.3. Switching between display pages................................................................................................37 4.2.4. Resettingthetimerto30 min
.....................................................................................................37 4.2.5.Teacher/studentoperation
.........................................................................................................37 4.3. Chargingthe remotecontroltransmitter
.......................................................................................38 4.4. Bleeps ofthe remotecontrol
.........................................................................................................38 4.5.The antenna ofthe hand transmitter
.............................................................................................38 4.6.Technical data ofthe hand-held transmitter
.................................................................................38 5. Camera
..............................................................................................................................................39 5.1. Camera suspension systems
...........................................................................................................39 5.2. Olympus camera.............................................................................................................................41 5.3. Full HD Sony HDR-CX 740 VE camcorder
........................................................................................42 5.4. CCD daylight camera ......................................................................................................................43 5.5. Dawn (near IR) camera...................................................................................................................43 5.6. Thermographic camera ..................................................................................................................43 6. The base station
................................................................................................................................44 6.1. Connections and functionality
........................................................................................................44 6.2. Chargingthe base station
...............................................................................................................46 7.0. The flight battery
............................................................................................................................47 7.1. Safetyand care informationon the battery
...................................................................................47 7.2. The charging case ...........................................................................................................................48 7.2.1. Connection ofthe batterytothe charging case..........................................................................49 8. Safety procedures
..............................................................................................................................50
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## Operators handbook 1

## md4-1000

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

The GPSposition holdfunction uses GPS to keep the microdrone hovering in its current position even when the wind is blowing. So the operator can concentrate fully on operating the camera without having to fly the microdrone againstthe wind atthe sametime.

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

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## Operators handbook 1 

## md4-1000

Revision 2013-01-21, ©2012, microdronesGmbH

## Operators handbook 1 

## md4-1000 1.1. Safety instructions Always complywith the laws and regulations governing use ofthe microdronethatapply atthe area ofuse. Always keep a safetydistanceof5m towards any kind ofobjects. Always keep a safetydistance of1Om towards people and animals.
When calculating the flight time always include the time required to fly back and descend. It is not a good idea to have the microdrone ascend to 500 m and then descend through the final 100m in emergency landing mode because the battery is almost empty. When planning waypointflights, alwaystakethe GPS resolution into account as it might change depending on local conditions. Always calculate in a safety buffer if you want to fly the microdrone close to obstructions. Never save other data to the SO card ofthe microdrone. The entire content of the SD card is managed by the microdrone or mdCockpit. Even if it appears that there is space, there is not: the flight data are recorded directly to the sectors of the SO card and cannot be seen in the table ofcontents. Ifyou write other data to the SO card ofthe microdrone, the chances are that you are will overwrite flight data. In such cases microdrones cannot be held liable for technical defects iftheir cause cannot be traced due to overwritten flight data. Try not to fly directly over the RC transmitter. In this position the RC could fail ifthe signal is shielded by the housing ofthe microdrone, making the microdrone lose control. The distribution ofthe radio waves is also poor in this position, augmenting this effect. Avoid flying in or close to model aircraft clubs due to frequency interference from other transmitters. Do not fly close to airports and avoid flying in the vicinity of military complexes or model aircraft clubs or other strong transmitters. The systems used in such places create interference which could badly disrupt the microdrone and might even disable the emergency program. Therefore, keep to adistance ofat least5 kilometres from airports. Due not fly close to high-voltage lines, transformer stations and power plants.

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

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

Avoid 'linear descents', i.e. flying down vertically. Instead fly down in large spirals orfrom side to side. Ifyou fly directly down, the microdrone becomes less stable as it is flying in its own downwash and the motor power has been throttled backfordescent. Pay attention to the mdCockpit speedometer when descending. Do not push the throttle down fully for a long time. Descent is normally at the end ofthe flight when the battery is often almost empty. If you begin the descent too fast, particularly if carrying a large load, the microdrone Revision 2013-01-21, ©2012, microdronesGmbH

## Operators handbook 1

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

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

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

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## Operators handbook1

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

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

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## Operators handbook 1

## md4-1000 1.4.Technology and history VTOL is an acronym for vertical .take-offand landing. It denotesthe ability ofan aircraftto take offand land vertically without a runway. Helicopters also come underthe VTOL category. A quadrotor (from the Latin quadrum - four) is an aircraft that is lifted by four rotors or propellers operating in the same plane and working vertically downwards to achieve lift and, from the inclination of the rotary plane and different rotor speeds, thrust. Picture: 'FlyingJeep' Curtiss-WrightVZ-7AP It is a helicopterand likethis one and VTOL aircraft in general, it can take offand land vertically. Other descriptions includequadrotor helicopterand quadcopter. The advantage ofthis type ofconstruction is that, ifthe directions ofrotation are suitably positioned, all three axes can be controlled simply by varying the thrust and therefore the torque of the four propellers. Complicated swash plates as used on helicopters or other actuators are therefore not necessary. Nor is there drift as encountered with a tail-rotor configuration. And it does not matter whether the thrust is regulated by using differences in rotational speed or the pitch of the respective propeller. The thrust change just has to occur fast enough. Ifthe aircraft thrust is controlled by rotor speed, this is done by using e.g. steplesstransmission or electric motors. When helicopters were first developed, several rotors were often used as the use of swash plates had not yet been practically conceived. The French pioneer of aviation Etienne Oehmichen had experimented with rotating wings as early as 1920 before his Oehmichen No. 2 (see picture) took to the skies on 11 November 1922. The four rotors of this early quadrotor were elastic and their pitch could be changed using cables. Next to them were an additional eight propellers acting horizontallyto stabilise the aircraft and provide thrust as the rotors could not yet be controlled precisely enough. The Oehmichen No. 2 was the first reliable aircraftthat could take offvertically. It completed morethan 1000flights and got intothe record books on 4 May 1924 byflying for 14 minutes and doing a kilometre circuit. With the development of the swash plate and tail-rotor, tandem and coaxial constructions, the quadrotor went off developers' radar. Not until a general interest for VTOL vehicles in the 1950s did quadrotorsfly again. Manned quadrotors are currently not used. Though they are often used as drones and UAVs. This is because ofdevelopments made in electronics, sensory systems and lightweight materials.

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## Operators handbook

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

Picture: entire md4-1000 system

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# • Operators handbook

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

Picture: The hand-held transmitter

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## Operators handbook 1 

## md4-1000 2.1.1. Drive motorand motorcontroller

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

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

### 2.1.2. The main on-board electronics
The heart ofthe electronics system is the IMU module (IMU = Inertial Measurement Unit}, the positional control system with barometric heightstabilisation. It is a combination of three positional and acceleration sensors that are merged in what is called a Kalman filter. The two 32 bit micro-controllers ensure that all data is calculated fast.

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## Operators handbook 1 

## md4-1000 2.2. Opening I 

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

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

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

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

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## Operators handbook

## 1 md4-1000 

## 2.3. Inserting and connecting the flight battery

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

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

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

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

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## Operators handbook 1

## md4-1000 2.4. The 

## rotors

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

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## • Operators handbook

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

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

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

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

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# " Operators handbook 1

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


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

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

Revision 2013-01-21, ©2012, microdronesGmbH

## Operators handbook 1 md4-1000 2.6.3 Theservo connections ofthe md4-1000
This detailed picture shows the 4 servo connections ofthe md4-1000. Servo 1 is for the pitch adjustment, servo 2 for adjusting the roll angle and connections 3 and 4 are AUX channels, i.e. they are unassigned. If you are looking at the back of the microdrone and use the front (marked) arm as a reference point, the connection for servo 1 is on the left. Servo 2 is connected to the second connection from the left, etc. When connecting the servos, check that the servo wire is inserted the rightway around. The orange wire should point in the direction of the front arm (arm with red mark).



### 2.6.4 Downlinktransmitterconnection A digital download link is shown on the picture.



### Spannungsanschluss 

### DC VideaAnschluss

# Konfiguratlo~ anschluss The download link transmitter is supplied by BMS. It is small and light, has a particularly good signal quality and avery low signal delay. This transmitter allows us to send wirelessly video, audio and any other data from the microdronetothe ground station. Special characteristics:
• Low signal delay (approx. 40 ms)
• Powersupply 6to 16 V
• Frequency range 2.2to 2.6 GHz
• MPEG-2 encoding

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

## Operators handbook

# 1 md4-1000 2.6.5 Downlink receiver
The antennasfor receiving the video/audio data look likethis: Digital Analogue

Caution: When connecting the digital antenna, make sure that the small slide switch is in the DATA positionsothatitcan also receive data sentfromthe microdrone. TheCONFIG switch position isforservicework. Technicaldataofthe downlink receiver Frequency range 2.3
... 2.5 GHz Channels 16 (can be setvia the channel selectorswitch) Video output 1Vss +/- 0.1 Vss 

### @ 750

### 0 Video bandwidth 30 Hz
... 5 MHz Audio input 500 mWeffective at > 1 kO Audio bandwidth 15Hz
... 16KHz(3 dB) Energysupply 230 V mains, 12 Vvehicle, flight battery Specialfeatures )- External diversity box with 4 antennas )- Audio stereo channel display )- Switch channel )- Display ofthe relative reception strength )- Video picture inversion )- Automatic channel switching )- Video audio mute function )- 5V outputfor antenna input amplifier )- Video detect output Revision 2013-01-21, ©2012, microdronesGmbH

## Operators handbook 1

## md4-1000 2.7. Taking offand landing the microdrone

.,"-, Put the microdrone onto aflat surface about 10m

'·· away from you. Ifthe microdrone is too lopsided, .,..,, '··--, Sm the electronics will register this and will not let the '·-,,.. rotors start as they might otherwise come into

'··,..,_

# ~ contactwith the ground.

. 

# • Always ensure that grass does not entangle with



## . the axles ofthe motors.
//>' _..,../ Fly in a range of about 80° in front of you. Avoid /

### ..

/ /,/'" flightto yourside or above you.
/ 

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

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

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

## .&. Take offas soon as possible after inserting the battery! 

## .&. Ifthe microdrone is on the ground in flight mode, it could take offautonomously at any time as a gust ofwind orchanges in the air pressure could make itthink it is alreadyflying
. 

## .&. Never let the microdrone run without the rotor blades (e.g. for test purposes)! The unnecessarily high speeds could damagethe motoror its electronics.

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## Operators handbook 1

## md4-1000 2.8. Taking offin GPS position hold mode Flying in GPS position hold mode is easy and makes operation ofthe microdrone simple. During flight you can release the operating buttons of the remote control and the microdrone will remain in its current position (hovering). The GPS antenna is incorporated in the cover see picture below. When removing the cover, be careful notto tear offthe connection wire forthe GPS receiver. The red arrow on the picture on the right shows the connection position of the GPS antenna in the microdrone.

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

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## Operators handbook

## 1 md4-1000
Once the microdrone has emitted a double bleep, the motors are started using the motor slider switch 'F' in the adjacent picture. 

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

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## Operators handbook

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

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

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

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## Operators handbook

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

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



### 2.10.1 Preparinga newSO card forthe flight data recorder Ifyou want to use a new SO card to record flight data, it has to be prepared for use with the md4-1000. Download the official SO Association formatter (https:l/www.sdcard.org/downloads/formatter 31) and install it on your PC. Insert the new SO card into the card reader ofyour PC and select its drive letter in the SO formatter. Under Option select Formattype: FULL (OverWrite) and FormatSizeAdjustment: ON. Begin formatting. During formatting do not remove the card orcard readerfrom your PC.

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## Operators handbook

## 1 md4-1000

Afterwards the microdrone has to format the card to create the fundamental structures ofthe flight data recorder such as the table of FoRMAT TYPE**HE9~U!!:i!itiM'~L:.:J ~1**  contents. Therefore, insert the card back into the microdrone and**~~~~~;rMsE~~** JoN 

### .J connect the FC interface to your PC as described in chapter 2.6.5. Open aterminal dialogue, selectthe tab Drone Options. In the bottom oK [ cancel area called Special Functions you will see the button Format SD card in the microdrone. Afterthisthe SD card is ready to be used with the md4-1000. Ifrequired, you can also use the existing connection to upload to the microdrone using the waypoint editor. You can proceed in the same way if you want to repair a faulty SD card. However, before doing this you should use the data analysis tool in mdCockpit to read out in comprehensive mode all data still on the card so that records are not lost (see chapter 5.4 (3) ofthe operating instructions for mdCockpit.

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## Operators handbook

## 1 md4-1000 2.11. Technical data ofthe md4-1000**~** 0 

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# "" ,- I I I c .? Technical Specifications Vehicle mass 2650g Payload mass 800g (recommended) Payload mass 1200g (maximum) Battery 6S2P LiPo 22,2V/13Ah Climb rate 7,5 m/s Cruising speed 12,0 m/s Peakthrust 118,0 N Endurance up to 88 min. Flight radius approx. 500m on C&C Ceiling altitude 1000m (relativeto take-off) Maximum take-offaltitude 4000m (above sea level/WGS84) Operational Conditions Temperature range -10
.. 50°C Humidity max. 90% r.H. Wind tolerance 12 m/s Dimensions Diameter 1135mm Height 495mm
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## Operators handbook 1 

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

### 2.12.1. Error bleeps All error messages are introduced clearly by a sequence of sounds: 3 successive bleeps. Following this signal, the error code is provided by a number of lower pitched sounds that follow it. The error status can be determined using the following table:
Number Designation Description Remedy ofbleeps 

### 1 RC key Unknown RC command Check command pressed 2 SO memory SO card not inserted I incorrectly Check/insert SO card* card formatted 

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

### 5 Waypoint Programmed WP flight not possible CheckWP list and correct if invalid
- route length too long (incorrectstart necessarySelectstart point point) correctly.

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

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## Operators handbook

## 1 md4-1000 2.12.2. Status sounds There are sounds otherthan error messages that could occurduring operation ofthe md4-1000. They are easilyto identifyas they take the form ofsound sequences. The table provides an overview ofthe status sounds. The sounds could be emitted during initialisation orwhilstthe md4-1000 is flying. There might also be situations where several error sounds are emitted. But so you can easily identify the error only the most important error sound is emitted. The priority ofthe status sound is given by the number in the table. The smaller the number, the more important the status information. The battery emergencythreshold hasthe highest priority. The qualityofthe GPS signal has the lowest priority. Priority Designation Length of Pause Remedy sound (ms) duration (ms) Battery emergency very short medium Land immediately! threshold reached (50) (200) 2 Battery warning short long Prepare to land soon threshold reached (100) (400) 3 Incorrectalignment short short Checktake-offposition fortake-off (100) (100) 4 Magnetometervalue medium medium Check take-off point range exceeded (200) (200) - Metallicobjects -Magnets

- Check magnetometercalibration 5 WP convert success very long very long - valid WPfound on helicopter (800) (800) 

### 6 WP auto execute short very long countdown (100) (1000) 

### 7 WP auto execute 3 x short short Autostart activewithout remote active (100) (100) control 8 GPS valid 2x short very long Double bleep signifies GPS is (100) (1000) ready 9 GPS quality Quality- Quality- Waitfor GPS to be ready indicator dependent dependent

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## Operators handbook 1 

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

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

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

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

## Operators handbook 1 

## md4-1000 Setting Function Mode 0: OPH function deactivated Mode 1 : OPH function activated Mode 2: OPH function can be setvia switch G: G in 'middle' position: Gin 'top' position: 

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

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

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

### 3.6. Homing function In this operating mode the microdrone automatically flies to the first position from which it received a valid GPS signal (point offirstfix). This position is also normallythe take-of position, provided the GPS signal was strong enough fortake-off. The homing function can be triggered with the remote control. To do this the function Homing via RC switch has to be activated in mdCockpit. Once activated, ifyou move the G switch back/down whilst holding down the H button, the homing function is triggered. You can also activate the option Auto homing upon RCloss in mdCockpit. This activates homing automatically once the RC outagetime has exceeded a defined value. This value can also be set in mdCockpit. If this setting has been deactivated and the RC outage time is exceeded, the microdrone goes into emergency landing mode and lands. There are three important things that the homing function enables: Once the function has been activated, the microdrone aligns itself to the line of sight of the operator. This assumes that the operator is atorclose to the point offirstfix (ideallythe take-off position). In mdCockpit you can reverse the alignment during the automatic return flight so thatthe microdrone is notaligned to the line ofsight ofthe operator, instead itfaces the operator. Secondly, the microdrone flies at the safe altitude that you can configure in mdCockpit. Thirdly, the microdronewill fly safely ata defined speed of5 m/s to the point offirstfix. Ifthe microdrone is so far away that you can no longer see the red front arm, activating the homing function is enough to align the microdrone in a defined direction. In this way you know the direction in which the microdrone is pointing. If Auto homing upon RC loss is selected, the homing function is automatically activated if the RC connection has been severed. If the RC connection is re-established during the return flight, the homing function is automaticallyturned back offand you can re-assume control ofthe microdrone.

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## Operators handbook

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

# -=+-- Ruckkehr 

# +) zum Pointoffirstfix 

# ! Flugrichtung an aufsichere

Blickrichtung Hohe steigen

anpassen 

# +

X X X X Potntoffirstfix Pointoffirstfix Pointoffirstfix Pointoffirstfix
Thefollowing tables provide an overview ofthe available homing settings in mdCockpit: Homingvia RC switch Activated

Deactivated Allows the function to be activated using the remote control. The switch/button combination: G backwhilst holding down H switchesthe function on. Switch G in the middle deactivatesthe function. Does notallow activation remotely. Auto homing upon RC loss Activated Ifthe RC signal is lostfor a defined period (period can be defined in mdCockpit), then the microdrone switches to homing modeand flies backto the point offirstfix. Deactivated In this setting the microdrone goes into emergency mode and lands ifthe RC signal is lostfor adefined period. Alignmentduring automatic return flight Forwards The microdrone aligns itselfso that the red arm pointstowards the operator when flying back. Backwards The microdrone aligns itselfso that the red arm points in the line ofsight of the operator.

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## Operators handbook 1

## md4-1000
4. The remote control

Picture: An overview ofthe handtransmitterofthe remote control

Picture: Hand-heldtransmitter intheconsole The Royal pro 9 by Multiplex is the remote control transmitter currently used by microdrones to control the microdrone. It is shown on the left with its main operating elements. The transmitter has what is called a synthesizer HF module, that allows you to select any 35 MHz frequency band. The display of the Royal pro 9 can be tilted up (see picture below).

Picture: Display adjustment

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

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## Operators handbook 1 

## md4-1000

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



# . The right stick controls movement forward and back (nick/pitch) and to the sides (roll). Moving forward makes the microdrone fly forwards, pulling the stick back makes itfly backwards. Push to the left, microdrone flies to the left. Push to the right, microdrone flies to the right. 

# "·• 

# -

Diagram: leftcontrol stick Diagram: right control stick

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### Operators handbook

# 1 md4-1000 4.1.2. Slideswitches Eand Fofthe remote control
The slide switches E and F have to be in the lower position before take off. E is used to override the GPS. If the microdrone does not have GPS reception on the ground, it can take off without GPS and search for the satellites during flight. This procedure should only be an exception. The override is carried out by sliding the E switch forward, waiting a short time and then pulling it back. The microdronewill acknowledgethis acoustically.

The F switch is used to turn the motors on and off. The F switch has to be pushed up to switch on the motors. The motors start up in turn, first at the front, then leftand atthe back, and finally on the right. To switch off the motors, the F slide switch has to be pushed down and at the same time the left control stick has to be pulled down at least 80%. Ifyou have old firmware (before version 2.8) or ifyou have deactivated the function Safe motorswitchoffin mdCockpit, you only haveto push the Fswitch down to switch offthe motors. Safe motorswitch-offcan be set in mdCockpit: Safe motorsetting Activated Deactivated


### CAUTION: Motors are switched offby pulling the Fslide switch downwhilst pullingthe left control stick down. Motors are switched offby pulling the Fslide switch down.

Do not pull down the F switch during flight unless you want to crash the microdrone purposefullyto avoid an accident. Ifthe F switch is pulled downwhilst moving the left control stick down, the microdrone is switched offdirectly. Re-starting the motors is not immediately possible. Ifnotshutdown bythe "F"sliderthe microdrones inhibitsthe nextflightforsafety reasons. Theflightthen mightnothave been completed properlyonthe SD card.The microdrone prevents overwritingofthe lastflightonthe SD card. Errormessage in mdCockpit'sterminal dialogues: "possible lostflightdata"

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## Operators handbook 1 

## md4-1000 4.1.3. Switching functions ofthe remote control The switches L, N, 

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

### 0 switch is forteacher/student operation. 

### 0 allows you to switch controls.



### Functions ofswitches Iand G: Switch position Iforward/up Iback/down Iforward/up and press button H Switch position Gforward/up G in middle position G back/down Gforward/up whilst pressing the Hbutton G back/down whilst pressing the H button I, Gand Hare importantduring flight.

The H button is on the side behind switch 

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

Function Take photo (only during manual control) Take photo deactivated Optical 3x zoom: 1.0x, 1.7x, 3.0x Depends on type ofcamera. Function DPH active (from version 2.8) Static GPS position hold Teach-infunction Activate waypoint Homing function when Homing via RCswitch has been activated 

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

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## Operators handbook 1 

## md4-1000 4.2. Remote control settings The following chapter contains a few settings ofthe Royal pro 9 made by Multiplex that we currently use. Please see the manufacturer's operating instructions concerning the diverse settings that can be made. The menu structure is very user-friendly and well structured, making programming and operating the transmitter much easier. 

### 4.2.1. Trim ofthe control sticks

Picture: Allocation ofthe trim switches

Picture: Royal pro9 display The trim for both control sticks (i.e. the value in the central position) must always be at neutral to operate the microdrone. The stylized bars on the display ofthe Royal pro 9 (see picture below) shows this value. You can change this setting with the four cross-like buttons under the control sticks (see circles in adjacent picture). You can see when the neutral position has been reached on the display, and a sound is also emitted.



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

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## Operators handbook 1 

## md4-1000

4.2.2. RC channel selection 

# ' 

# -

A8C1 Hold down the 'Spanner- ABC1' button and then turn on the transmitter to change the channel.

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

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



### 4.2.3. Switching between display pages 1-#0 

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



### 4.2.4. Resetting the timerto 30 min 

## vwxa 

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



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

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

### 0 switch the teachercan regain control.

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## Operators handbook

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

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

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

### 4.6. Technical data ofthe hand-held transmitter Multiplex Royal pro 9 hand-held transmitter Transmission type Switchable FM I PPM or FM I M-PCM with 10 kHz spacing Modulator HF module synthesizer HFM-S Servo impulseformat MPX 1.6

### +1- 0.55 ms Energysupply Powerconsumption Charging current Operatingtemperature Storagetemperature Charging temperature Weight Dimensions (L x W x H) UNI 1.5 

### +1- 0.55 ms 7.2 V, NiMH 6 cells, AA, <50 rnA without HF emission -250 rnA with HF emission Max. 1.4A (quick charge) 210 rnA (normal charge) -15 octo55 oc -20 oc to60 oc 

### 0 octo

### 4 ooc Approx. 900 g (with battery) 220

### x270

### x60 mm

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## Operators handbook 1 

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

The above picture shows an Olympus camera with the standard mountfor our microdrone. All camera mounts have a remote control servomotorthat enables a pitch angle ofthe optical axis ofabout 0-90°. To control the pitch angle, hold down button Hon the right ofthe remote control and now move the left control stickforwards and backwards (otherwise used to adjust the height (throttle) ofthe microdrone). You must keep the H button depressed all the time, otherwise you will change the altitude of the microdrone.

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## Operators handbook 1

## md4-1000 This special camera mount, shown on the picture below, hastwo servos. Thesetwo servos allowyou to adjustthe roll and pitch angles. The camera mount is not part ofthe standard range and can be purchased separately.

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

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## Operators handbook

## 1 md4-1000 5.2. Olympus camera The Olympus Pen E-P2 is currentlythe standard camera we offerwith our system.

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

• Comprehensive photo functions and integrated picture stabiliser

Technical data: Olympus Pen E-P2 Resolution

Colourdepth Sensor File format Compatible with removable datastorage media Connectionto computer Otherconnections Powersupply Focussing Exposuretimes DimensionsW x H x D Weight 4,032x 3,024 pixels 3,200 x2,400 pixels 2,560x 1,920 pixels 1,600x 1,200 pixels

640 x480 pixels 24 Bit (16.7 million colours) for JPG format 17.3x 13 mm LiveMOS-Chipwith 12,300,000 pixels JPEG (.jpg), AVI-Video(.avi), WAV and RAW SO card (SDHC-compatible) USB interface (version 2.0 hi-speed) Audio output, HDMI, accessory port (also for optional microphone adapterand supplied viewfinder) 1x lithium ion battery, camera-specific (1,150 mAh; 7.2 V) Type: BLS-1 Autofocus and manual focus 1/4000s to 2s (automatic) 1/4000sto 60s (manual) 1I 180sto 60s (with flash) 120 mm x 70 mm x 35 mm 370 g (ready for operation)

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## Operators handbook 1 

## md4-1000 5.3. Full HD Sony HDR-CX740 VE camcorder The picture shows a Full HD camcorderwith universal mount.

• High definition 3MOS camcorder
• 3MOS camera system and progressive recording 1080/SOp
• Lens with 1 Ox optical/120x intelligentzoom and XXmm wide angle
• 30 compatible (optional converter)

Technical data: Sony HDR-CX740VE Picturesensortype Pixels Optical/digital zoom Focal length Picturestabiliser Display Recording format Recording standards Audio recording format Storage medium Photo picture size 16:9 (pixels) Dimensions (Wx H x D) Weight Exmor RTM CMOS sensor, type 1/2.88 (6.3 mm) Approx. 6.14 mill. pixels (16:9); approx. 4.6 mill. pixels (4:3) 10x/120x intelligent 3.8-38.0 mm Balanced optical SteadyShotTM with active mode (wide angle to tele) Xtra Fine LCDTM display with TruBiackTM technology, 7.5 em (921 ,000 pixels) AVCHD: Full HD 1920x 1080 (SOp /50i); iFrame: 540/25p 1080/SOp (28Mbps), HA (17Mbps), HG (13Mbps), HN (9Mbps); HE (5Mbps), iFrame Dolby-Digital 5.1 channel SD/SDHC/SDXC card (min. class2) Max. 24.1 mega pixels (JPEG; 6544x 3680) 67.5 x 73.5 x 137.5 mm Approx. 555 g without battery

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## Operators handbook 1

## md4-1000 5.4.

# ceo daylightcamera

5.5. Dawn (near

## IR) camera

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

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

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

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## Operators handbook 1 

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

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

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

The signals received are prepared for usewith a PC.

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## Operators handbook 1

## md4-1000

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

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

The base station can be connected to a 100-240VAC mains socket, a 12 V car power supply or power is provided by a battery whose connection is under the cover. The 12V DC out socket is the power supply for the digital receiver. CAUTION: Newer vehicles, vans or lorries might have other on-board voltages (e.g. 24 V). Always check the operating instructions of the vehicle to avoid damaging the base station.

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## Operators handbook

# 1 md4-1000 6.2. Charging the base station

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

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

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

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



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

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

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## Operators handbook

## 1 md4-1000 7.2. The charging case

The red wire is the positive connection, the blackwire is negative. The connection in the middle is the balancer connection. This connection ensures that all the individual battery cells are completely and uniformly charged. The balancer connection is required to ensurethe charging process runs correctly. The picture on the left shows the charging case we sell. Two batteries can be charged at the sametime.
• Input 115-240VAG I50-60Hz • Output 20 VDC - 20 A for every charger.

Caution: Do not shut the charging case during charging!

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## Operators handbook

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

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

Then establish the positive connection (red wire).

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

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## Operatorshandbook 1 

## md4-1000 8. Safety procedures
microdrones md4-1000 are protected against several kinds of hazards. The behavior ofthe systems was tested in many different emergency situations. The following chapter gives an overviewofthetested situations. Situation: Command & Control (C&C) signal reception is bad or lost. 

### Behavior: The microdronewill enterGPS Position Hold immediatelyand tryto reacquire the signal for an adjustable amount oftime (30s by default). Ifthattime runs out, the microdrone will either enter emergency landing with a descent speed of

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

- if the C&C could not be recovered during the whole procedure - enter emergency landing atthetake-off position. IfC&C is recovered during homing or landing the procedure is interrupted and the operator has full control overthe craft. Situation: GPSsignal reception is bad or lost. 

### Behavior: Flight control will revert to inertial navigation mode. The stabilization system of the microdrone is still active. The operator is notified by textual, graphic and spoken messages aboutthe situation and hasto hold position manually. GPS Position Hold kicks in again as soon asthe signal quality is backto normal. Situation: Command & Control (C&C) and GPS signal reception is bad or lost simultaneously. 

### Behavior: The microdrone will immediately enter emergency landing with a descent speed of 

### O,Smls .If C&C is recovered the emergency landing is interrupted and the behaviorofthe situation "GPS signal reception is bad or lost" applies. IfGPS is recovered the emergency landing is interrupted and the behavior ofthe situation "Command &Control (C&C) signal reception is bad or lost" applies. Situation: Virtual Fence is being approached orreached. 

### Behavior: The microdrone slows down and finally stops, ifthe operator continuously flies in a direction in which hewould leavethe approved airspace volume. GPS Position Hold stays in effect until the operator commands the microdrone back towards the innercircle ofthevirtual fence. Situation: Flight reaches critical speed. 

### Behavior: If the microdrone's speed increases to critical speeds the operator will be informed to immediately slow down the craft. The messages get more insistent, if the speed is not reduced. The best solution to resolve the situation is to let go of the controls and have the microdrone's GPS Position Hold stabilize the flight. In case GPS is not present the operator has to find the right maneuvers on his own to resolve that situation as soon as possible.

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# • Operators handbook 1 

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

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

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

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

### Behavior: The poweroutput ofevery individual motor is monitored continuously. The operator is informed by spoken message, ifone or more motors approach their performance limit in case ofpayload overweightorcritical wind speeds. Situation: A rotor blade collides with an obstacle. 

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

### Behavior: During normal flight the battery voltage is constantly monitored by the base station. The state ofthe battery is communicated alphanumerically, graphically and through spoken messages. Readouts and messages include current battery level, estimated flight time remaining, "bingo" warning, which indicates the momentwhen the remaining battery power isjust enough to comfortably and safely return home. Situation: The microdrone is powered upwith an insufficientlycharged battery. 

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

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# • Operators handbook

## 1 md4-1000 Situation: Battery is depleted belowwarning voltage duringflight. 

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

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

### Behavior: During the post-flight check of the flight recorder, acceleration sensor data is checked for unusual vibrationsto detect body damage or loose screws in an early stage and preventsubsequent problems beforethey arise. Situation: microdrone automaticallystartstospinwild and uncontrollably 

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

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

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