Aero-MOperation ManualThank you for purchasing an Aero-M! This manual contains important information about youraerial mapping platform. Please read these instructions before your first flight.1 Plan 12 Fly 203 Process 37Appendix 41V.1 2014©3D RoboticsDCT0010Online information portal: 3DR.com/Aero-M3DR support: help@3DR.comTerms and conditions: 3DR.com/termsPix4D instructions: support.Pix4D.com11 PlanParts 2Flight Battery 3Charging 3Safety 3Powering the Aero 4Camera Setup 53DR EAI 5Charging 5Starting a Mission 5Mounting 6Ground Station Setup 7Download Software 7Connect to Radio 7Mission Planning 8Operating Parameters 8Load Maps 9Draw Polygon 10Configure Survey 11Save and Write Mission 192PartsAerowingspropellers (1plus 1 spare)cameraRC controller andaccessoriesbattery guard bagbatteries (2)charger andaccessoriesground station radiomicro-USB cablePixhawk micro-SDcard adapterhex keys (?)propeller wrenchhorizontal stabilizerwing sparspare cameramount filters (2)spare control horns(2)wing rubber bands(4 plus 2 spare)spare servo rods (2)FPV/OSD SystemIf you selected to receive a FPV/OSD system, those componentswill be included with the Aero’s accessories. See page 34 forparts and instructions.registration card andPix4D license key31Connect the charger to the power adapter cableand a wall outlet. Connect the red cable to the +port and the black cable to the - port.+–2Set the charger to LiPo and 3A.LiPo3A3Connect the white connector to the 4S port, andjoin the two yellow connectors together.4S4Secure the battery inside the guard bag,and charge until the status indicatordisplays green.ChargingCompleteThe Aero is powered by a rechargeable lithium polymer (LiPo) battery.Charge the battery before your first flight.!Flying with a low battery is a safety risk and can render thebattery permanently unusable. Always fly with a fully chargedbattery.Charge the battery using a designated LiPo balance chargeronly. Always monitor the battery while charging. Protect thebattery from extreme heat, extreme cold, puncturing, andflammable surfaces. Always transport, charge, and store thebattery in the guard bag.Inspect the battery for damage before and after flying. If youobserve any swelling of the package or the battery ceasesto function, do not use the battery; locate your local batteryrecycling center, and dispose of the battery. In the US andCanada, visit call2recycle.org to find a location. Do notdispose of the battery in the trash.Flight BatteryCharging SafetyCharger with power cable andsplit-wire charging cableCharger settingsFlight battery charging wiring Charging in process41Turn on the controller. To avoid triggeringthe controller’s startup alarm, ensure thatall switches are set back (away from you)and the throttle stick is set fully down.!It is important to establish communication beforepowering on the Aero. Always turn on the controllerbefore connecting the battery. When powering offthe Aero, disconnect the battery before turning offthe controller.3Insert a charged battery into the battery slot,and attach the yellow connectors. This willpower on the Aero.Hold the Aero still and level while it powers on.Attach the velcro above the battery slot to thevelcro on the battery. Close and secure the lidonto the battery compartment.!2Open the battery compartment bysliding the knob on the orange switchforward and lifting out the lid.orwardandliftingoutthelid.Powering the AeroRC controllerThrottle stickSwitchesAero: battery compartment lidbattery slotbatteryconnectorAero: battery compartment interiorflight battery5Camera SetupThe Aero includes a Canon PowerShot SX260 HS running the 3DR EAI script.SD card lockedLoad 3DR EAI»Fly a mapping missionSD card unlockedLoad default Canon software»View images on camera»Save images to ground station»Update script3DR EAI (Exposure-Aperture-ISO)3DR EAI runs on the Canon Hacker Development Kit (CHDK), a powerful opensource tool that expands the functionality of Canon point-and-shoot cameras. 3DREAI optimizes image exposure and integrates with the Pixhawk autopilot to enabledistance-based imaging.This software is designed to load off the camera’s SD card, leaving the original Canonprogramming intact. The yellow switch on the side of the SD card allows you to lockor unlock the card. Lock the SD card to run 3DR EAI; unlock the SD card to saveimages to your ground station or to boot the camera with its original programming.For more information about 3DR EAI, see page 43.ChargingCharge the camera battery before your first flight. Oncefully charged, insert the battery into the camera.status indicatorStarting a MissionTo prepare the camera to fly a mapping mission, ensurethat the mode dial is set toP (program)mode.Power on thecamera using the silver button on the top. 3DR EAI will startautomatically, and you will see the script messages on thecamera display. Check to see that the last line of the scriptreadswaiting on USB signal. The camera is now ready to map!power buttonCamera ready to map:waiting on USB signalCanon battery chargerPower off the camera before removing the SD card.!Camera running 3DR EAI Camera running Canon softwaremode dial6Mountingautopilot integration cableThe camera mounts to the Aero inside the battery compartmentand connects to the autopilot using the mini-USB cable. When thecamera is ready to start the mission, insert the camera into themount inside the battery compartment as shown below, connectthe mini-USB cable to the camera, and secure the camera in placeusing the velcro strap.Connect mini-USB cable insidebattery compartment here.The camera mount includes a lens cap that protects the filter duringtravel. Make sure to remove this lens cap before you fly, and checkthat the filter contains no foam particles, dirt, or scratches that couldaffect image quality.It is expected that the filter will accumulate scratches after significantuse. If you notice any damage to the filter that could affect imagequality, unscrew the filter and replace with one of the extra filtersprovided with the Aero.UV filterAero battery compartment: camera mountCamera (side)Camera mount (bottom): cap removedCamera mount (bottom): cap attachedThe camera mount is fixed to the inside of the battery compartmentand is not intended to be removed from the Aero.7Mission PlannerYour license key for Pix4Dmapper can be found on the registration cardinside the documents package.Visitmapper.pix4d.com/license-redeemto create an account and redeemyour license key; then visitpix4d.com/downloadto download Pix4DmapperDiscovery. Pix4D will automatically upgrade from the Discovery edition tothe LT 3DR Edition (or Pro Edition if you selected to upgrade) when youlog in to the program with your Pix4D account information.Mission Planner is a full-featured ground station application for planningmissions and monitoring the Aero in flight. Download Mission Plannerfrom3DR.com/download_software.If you already have Mission Planner installed, make sure you’re runningthe most recent version: Select theHelptab andCheck for Updates.Mission Planner:HelptabGround Station SetupPix4Dmapper LT 3DR EditionTo connect the Aero to Mission Planner, connect the ground station radioto the laptop, and power the Aero.1Connect the ground station radio to yourlaptop using the micro-USB cable. OpenMission Planner.3SelectFlight Datato view live data from the Aero.2Select57600andAUTO, then selectCONNECT.(When connecting directly to Pixhawk’smicro-USB port, set the rate to 115200.)Connect to RadioDownload SoftwareMission Planner allows you to turn a Windows laptop into a full-featuredground station for configuring and monitoring autonomous missions. You willneed to take this laptop into the field when you fly the mission. As part of themission procedure, you will use the Pix4D Rapid Check to verify the quality ofthe image set before leaving the field.Ground station laptop with radio connectedMission PlannerConnecttool (top-right corner))Mission PlannerFlight Data tab: connected to aircraft8The Aero is a complete solution for creatinghigh-resolution visual-spectrum aerial maps.PixhawkautopilotsystemPix4DmapperLT 3DR EditionCanon SX2603DR EAITo create a map, the Aero flies an autonomous mission overthe survey site, using the integration between the Pixhawkautopilot and custom-programmed camera to capture imagesat a consistent distance interval. Pix4Dmapper then stitchesthese images together into a georeferenced, orthorectifiedmosaic.The accuracy of the map depends on the configuration of themission. Planning a mission that captures high-quality imagesrequires balancing the Aero’s operating parameters with theenvironmental factors at the survey site.Operating ParametersCamera Canon SX260Camera Orientation Portrait (side facing forward)Operating Altitude 80-120 mStandard Operating Altitude 100 mLow-Wind Conditions 0-6 m/sHigh-Wind Conditions 7-10 m/sMaximum Wind Conditions 10 m/sOperating Speed 8-20 m/sDefault Speed 15 m/sEstimated Maximum Flight Time 40 minEstimated Ground Resolution 5 cm/pixelEstimated Maximum Survey Area 1 km2Minimum Photo Interval 2 secondsMission PlanningOperating ParametersMapping system diagram91Open Mission Planner, selectFlight Plan, andzoom to your flying location.2Right-click on the map, selectMap ToolandPrefetch, and accept the defaults prompts.Mission Planner will download the mapsfor the selected location to your computer.3Mission Planner will attempt to load the map data from the current level of zoom down to theclosest level of zoom available. However, it can take hours to pre-fetch every level of zoom,and it is unlikely that the closer levels will be useful in planning the mission. To shortcut thisprocess, check the slider on the right side of the map. The levels of zoom are represented bythis slider from 0 (bottom) to 25 (top). Press the ESC key to skip levels of zoom at a greaterdetail than you need for mission planning.Mission PlannerFlight Plantab: zoom to mapping locationMission PlannerFlight Plantab: SelectPrefetchLoad MapsMission Planner allows you to plan the mission away from the mapping location;however, it is important to assess the environmental conditions on site at the timeof the mission and adjust the flight plan if necessary. Alternatively, you can planthe entire mission at the mapping location. To create or alter the mission, MissionPlanner requires an Internet connection to access the maps. If you’re unable toaccess the Internet on site, follow the instructions below to pre-fetch the mapswithin Mission Planner while you have Internet access.102Right click on the map. SelectDraw PolygonandAdd Polygon Point. Click and drag to add pointsaround the area you want to map.3Right click on the polygon. SelectAuto WPandSurvey (Grid) to open the Survey Tool.UnitsThe Survey Tool uses metric units. If your Mission Planner isset to imperial units, please change the settings to use metricto plan the mission. Support for imperial units in MissionPlanner is coming soon; check3DR.com/Aero-Mfor updates.Draw PolygonTo begin planning the mapping mission, select the area you want to map usingthePolygontool. You’ll be able to adjust the size and shape of the polygon later inthe mission configuration process.1SelectFlight Plan, and zoom to yourmapping location.Mission PlannerFlight Plantab: zoom to mapping locationMission PlannerFlight Plantab: draw polygonMission PlannerFlight Plantab: openSurveytool!11Set CameraCanon SX260-SX280Set Camera OrientationUncheck the option forCamera topfacing forward.Set Default Speed15 m/sApply Survey SpeedCheck the option forUse speed for this mission.If unchecked, the mission will use the Aero’sdefault speed of 15 m/s regardless of thespeed selected in the Survey Tool.Configure Survey: Set Default ParametersMission PlannerSurveytoolThe Survey tool allows you to configure a mapping mission according to theAero’s operating parameters and the current environmental conditions at themapping location. First, set the default values for the Aero.12Set AngleWind DirectionIn environments with winds of less than 6 m/s, set the angle so thatthe Aero flies into the wind. In winds from 7-10 m/s, configure theflight path to travel perpendicular to the wind so the Aero flies crosswind.No. of StripsAdjust the angle so that the Aero makes as few turns as possible tocomplete its course. TheNo. of Stripsparameter shows how manypasses the plane will make as you adjust the angle.Review Wind Conditions On-SiteAlways assess the wind conditions at your survey site at the time ofthe mission and adjust the mission accordingly.Mission Planner Tip:Adjust PolygonClick and drag the red polygon points to adjust the sizeand shape of the polygon from the Survey Tool.Configure Survey: Set AnglewindConfigure the flight path perpendicular to thewind in high winds (7-10 m/s).Configure the flight path parallel withthe wind in low winds (1-6 m/s).windwindUse caution when flying in winds over 10m/s. Mapping resultsmay degrade as a result of inability to make headway or maintainappropriate groundspeed.Mission PlannerSurveytoolNext configure the angle of the flight path for the current wind conditions.!13Set AltitudeStandard operating altitude: 100 mOperating altitude range: 80-120 mIncreasing altitude decreases flight time, allowing you to cover more areaper minute. Decreasing altitude improves ground resolution. Set the altitude to get the best ground resolution while keeping the flight time under40 min and the altitude under 120 m.Keep altitude below 120 m, and ensure that the altitude is appropriate foryour flying area and local regulations.Check Flight TimeFlight Time estimates the duration of the mission. The total estimated flighttime must be under 40 min for a fully charged Aero battery. To decreaseflight time, increase altitude or speed.High winds, humidity, high altitude, and extreme heat can affect powerconsumption and reduce flight time. Consider the environmental factors atyour site when configuring flight time.Check Ground ResolutionGround Resolutionis the centimeters per pixel that you will havein the map and corresponds to the amount of detail that youwill see.To improve ground resolution by decreasing the number ofcentimeters per pixel, decrease altitude.Configure Survey: Set AltitudeMission PlannerSurveytoolThe survey altitude determines the duration of the mission and the groundresolution of the final map. Adjust altitude to balance flight time and powerconsumption with the current environmental conditions.!14Check Photo IntervalPhoto Everymust be longer than 2 seconds for the SX260 camera.AltitudeIncreasing altitude increases photo interval.Keep altitude below 120 m, and ensure that the altitude isappropriate for your flying area and local regulations.SpeedDecreasing speed increases photo interval.Ensure that theUse speed for this missionoption is checked.Configure Survey: Check Photo IntervalMission PlannerSurveytoolWith the basic parameters in place, verify that the photo interval calculated fromthe altitude and speed complies with the operating parameters for the camera.!!15Takeoff and Land WP’sFor automatic takeoff and landingCheck theAdd Takeoff and Land WP’soption.Uncheck theUse RTLoption.This will create a takeoff waypoint and a placeholder waypoint for the landing pattern. After accepting the survey, configure the automatic landing pattern by followingthe instructions on page 20.For automatic takeoff and manual landingCheck both theAdd Takeoff and Land WP’soption and theUse RTLoptions.This will create a takeoff waypoint so the Aero will automatically climb to the surveyaltitude before heading to the first waypoint. The Aero will return to circle over thelaunch point after completing the mission.For manual takeoff and landingUncheck theAdd Takeoff and Land WP’soptionCheck theUse RTLoption.For this option, take off manually then initiate the mission in flight. The Aero willreturn to circle over the launch point after completing the mission.Configure Survey: Set Takeoff and LandingMission PlannerSurveytoolNow select a takeoff and landing pattern, either manual or automatic.16Check Advanced Optionsto view the Survey Tool’s advanced configuration options.Set OverShootThe Aero has a minimum turning radius of 90 degrees. To accommodate thesharp angles of the survey mission, set bothOverShootparameters to 50 tohave the Aero overshoot the waypoints on either side of the polygon by 50%to ensure that the complete area of the polygon is covered by the images.OverShoot will affect flight time. Ensure that the total estimated flight time isless than the Aero’s maximum flight time of 40 minutes.Adjust Overlap and SidelapOverlap and sidelap are set to 50% and 60%, respectively, by default. Seepage 42 for an in-depth discussion of these parameters.Adjust StartFromDuring the mission, you will maintain contact with the aircraft through the RCcontroller and ground station signals. If your mission is likely to experience aloss of signal, it is best practice to start from the corner of the mission farthestfrom the launch point. In this example, TopLeft is the corner of the missionfarthest from the launch point.Configure Survey: Advanced OptionsSelect Grid OptionsCamera ConfigThe options under the CameraConfig tab allow you to configurea camera other than the SX260and won’t be used for operatingthe Aero.!The Survey tool includes the following advanced configuration options. These optionsallow you to customize the mission to comply with best operating practices.Mission PlannerSurveytool: advanced optionsMission PlannerSurveytool: advanced options17Before accepting the survey, verify that the mission complies with theAero’s operating parameters.CameraCanon SX260-SX280Altitude80-120 mCamera top facing forwarduncheckedFlying speed9-15 m/sUse speed for this missionchecked (optional if speed set to default speed of 15 m/s)Photo Everygreater than 2 sFlight timeunder 40 min depending on environmental conditionsDo not accept the mission if any of the parametersexceed the Aero’s operating limits.Operating ParametersConfigure Survey: Accept SurveyAcceptSelectAcceptto create this mission. After accepting, youwill need to reconfigure the survey completely to make anyadjustments.If Mission Planner prompts you for a home altitude, enterthe altitude that you specified in theSurveytool.Mission PlannerSurveytool!18Configuring Automatic Takeoff and LandingIf you selected automatic landing in the Survey Tool by checking theAdd Takeoff and Land WP’soption and uncheckingtheUse RTLoption, you will need to configure the landing waypoint pattern manually at this step in the mission planningprocess.To begin, determine the direction of the wind and select an unobstructed area 200-500 m in length leading to thelaunch point, into the wind. On the main Flight Plan screen, create a series of waypoints along this path to decreasealtitude gradually from the survey altitude to 0, ensuring that:»Turns along the flight path are greater than 90 degrees.»The altitude decreases by a maximum of 20 m between waypoints»There is at least 20 m between each waypoint»TheGrad %does not exceed 20%To add a waypoint, right click on the map in the location of the waypoint you would like to add, and selectInsert WP. Foreach waypoint you add to the mission, Mission Planner will prompt you for the new waypoint’s place in the script: Addthe series of landing waypoints immediately before theLANDwaypoint in the script of events. For the first waypoint inthe pattern, add it to the mission immediately following theDO_SET_CAM_TRIGG_DISTwaypoint at the end of the mission.Specify the altitude of each waypoint and check the distance and gradient angle in the waypoints table.To add a waypoint, right click on the map in the location of the waypointyou would like to add, and selectInsert WP. For each waypoint you add tothe mission, Mission Planner will prompt you for the new waypoint’s placein the script: Add the series of landing waypoints immediately before theLANDwaypoint in the script of events. For the first waypoint in the pattern,add it to the mission immediately following theDO_SET_CAM_TRIGG_DISTwaypoint at the end of the mission. Specify the altitude of each waypointand check the distance and gradient angle in the waypoints table.Set altitude.CheckGrad %.Mission Planner Tip:Configure WaypointsMeasure the distance between waypoints by right-clicking at oneend and selectingMeasure Distance; then right-click on the other endand selectMeasure Distanceagain. A dialog box will open with thedistance between the two points.Double-click on a field in the waypoint table to edit the parametersfor a waypoint.Use the Up and Down arrow icons to re-order the waypoints.Use the Delete option to remove a waypoint from the mission.Mission PlannerFlight Plantab: Correctly configured automatic landing patternLocate the Takeoff waypoint in the mission script and set thefirst option in the row to assign the takeoff angle.Set the takeoff angle to 20-25 degrees depending on thelength of your takeoff area.Takeoff angle19Select Write WPsto save the mission to the Aero.Select Save WP Fileto save the mission file to your computer. Torepeat this mapping mission, load the savedWP file from your computer.For the Aero to run the mission, write the waypoint file to the autopilot.Don’t forget to save the waypoint file to your ground station for future use.Save and Write MissionMission PlannerFlight Plantab: Save and write mission202 FlySafety 21Aircraft Operation 22Components 22Assembly 23Controls 26Modes 27Arming and Disarming 28LED Indicators and Tones 28GPS Lock 28Preflight Checks 29Manual and Automatic Takeoff 32Manual and Automatic Landing 33FPV System Operation 34Flying Mapping Missions 35Takeoff Checklist 35Initiating 35Monitoring 35Failsafes 3621To ensure safe and successful flying, familiarize yourself with the safety informationon this page. Always fly in accordance with your location regulations and these bestoperating practices.Always fly at least 100 feet (30 m) away frompeople, vehicles, and buildings. Make the safetyof people and property your first priority!Always fly below 400 ft (120 m) and within your visualline of sight. Don’t let the Aero get too far away fromyou; make sure you can always see its orientation.Don’t fly in low light, rain, or other conditions thatmight impede visibility.Always fly at least 5 miles (8 km) away from airportsand other areas where pilots operate mannedaircraft.visual lineof sight400 ft(120 m)Before you fly, determine the boundaries of your safe flying area. If the Aero movesoutside the designated area or exhibits instability in flight, switch to fly-by-wire modeand land the plane manually. Always be ready to regain manual control of the planein the event of an unsafe situation.The Aero will not avoid obstacles on its own, including during missions. As theoperator, it’s your job to recognize and avoid obstructions while flying. Whenplanning missions, ensure that the selected altitude is appropriate for allgeographical features of the area, including terrain.LocationSpinning propellers can cause serious injury. The safetybutton indicates the status of the motor to help youprevent hazardous contact with the Aero’s high-speedpropeller.• When the Aero is powered on, the safetybutton will blink red, indicating that the motoris inactive and the propeller is safe to handle.• When you’re ready to fly, press and hold the safetybutton until it shows solid red. This indicates thatthe motor is armed and the propeller will spin if thethrottle stick is raised. To make the propeller safeto handle again, press and hold the safetybutton until it blinks red.PropellerYou can find more safety tips throughout these instructionswhere you see this yellow box.Safety100 ft (30 m)5 miles (8 km)!22Aircraft OperationComponentsbodytail boomtailleft wingmotornoseright wingbattery compartmentairspeed sensorelectronics compartment(under wings)rudderelevatorleft aileron right aileronIf the terms above are unfamiliar to you, visit3DR.com/Aero-M, and dive into theexciting world of planes with our Introduction to Flying Fixed-Wing Aircraft.video system compartment(above battery compartment)controllerground station radioAero (top)Aero tail23On the top of the horizontal stabilizer, open the blue clasp at the end of the servo rod. Insert the pegs on the clasp into theopenspace in the servo horn, and close the clasp. Slide the blue rubber ring over the clasp to secure it in place.servo hornTurn the plane over and insert the provided tail screw into the horizontaland vertical stabilizers.TailSlide the horizontal stabilizer into the vertical stabilizer along the orange groove.Make sure not to stress any of the components on the tail.AssemblyclaspTail assembly (underside)Tail screwHorizontal stabilizerVertical stabilizer Complete tail assembly24WingsAttach a wing onto each side of the spar. Do not twist the wingor the spar so as not to stress the foam.Locate the two cables inside the electronics compartment marked AILE. Connect thesecables to the two cables on the wings marked AILE. (Either of the wing cables canconnect to either of the plane cables; the order doesn’t matter.)Place the wings over the body of the Aero with the foamsquares fitted into the matching space in the electronicscompartment. Make sure not to pinch the AILE cables.Locate the four large rubber bands. Use the bands tosecure the wings to the body of the Aero by the fourorange knobs on the body around the wings.Attach two of the bands to the two knobs on one of theshort sides and opposite knobs on the opposing side.Repeat on the other short side with the remaining two rubber bands, resulting in two pairs ofopposing right triangles.1 23 425PropellerLocate the rings inside the propeller package. Remove the ring withthe second-largest internal diameter, and insert it into the back of thepropeller hub.Remove the nut and the washer from the motor, add the propeller with the writing on thepropeller facing towards the nose of the plane, add the washer and the nut over the propeller,and tighten the nut.26throttle upIncrease motor speed.throttle downDecrease motorspeed.throttle fully downStop motor.yaw leftyaw rightTurn left.Turn right.Fly the Aero manually using the RC controller.yawthrottleThrottle: Move the left stick forward and backward to control the motor.Yaw: Move the left stick horizontally to turn left and right using the rudder.Pitch: Move the right stick up to pitch down and down to pitch up.Roll: Move the right stick left and right to control the bank angle.pControlsrollpitchroll and pitch centerAutomatically level.roll leftroll rightRoll left.Roll right.pitch uppitch downPitch up.Pitch down.27Auto-fly a missionFly an autonomous mission. This is the mode that the Aero will use to create the map.Fly by Wire-assisted manual controlLet the autopilot manage the control surfaces, and navigate based on where you want the Aeroto fly. Fly-by-wire mode* (FBW) is the easiest way to fly and is the recommended mode for newoperators.*ArduPlane mode FBWAReturn to Launch (RTL)-recall to launch pointCommand the plane to circle over the launch point. The Aero will return to the position where itacquired GPS lock and enter into a circle pattern at an altitude of 100 meters.Loiter-circleActivate GPS-positioned circling; the Aero will enter into a circle pattern with a radius of 60 metersat the current altitude. Move the right stick to adjust the position of the circle.Stabilize-stabilized manual controlStabilize mode provides manual control with an added autopilot safeguard: Release the right stickand the Aero will automatically return to a level flying orientation. Use stabilize mode for the freedomof manual control with return-to-level stabilization.Manual-full manual controlFly with fine-tuned manual control without autopilot assistance. Manual mode gives you the mostdirect input to the control surfaces, resulting in precise in-flight adjustment. Try manual mode ifyou’re an experienced RC plane operator.GEAR/MIX selects the set of modes.FLAP/GYRO selects the specific mode, either 0, 1,or 2.To select a flight mode:First, set the GEAR/MIX switch to select a set of modes. Then use theFLAP/GYRO switch to 0, 1, or 2 to select a specific mode.With GEAR/MIX set toGEAR,set FLAP/GYRO to: 0 forManual1 forStabilize2 forLoiterWith GEAR/MIX set toMIX,set FLAP/GYRO to: 0 forAuto1 forFly by wire2 forRTLModesRC controller (top)28Arming and disarming are important steps that must be completed beforetakeoff and after landing to activate and deactivate the motor, respectively.The arming and disarming procedures ensure that you can safety start andstop the motor without risk of injury.The Aero’s motor can spin when armed! Do not place your hands in theway of the propeller while the safety button is active (solid red).To arm the motor, press and hold the safety button until itdisplays solid red.To disarm, press and hold the safety button until it displaysblinking red.safety buttonInactive, motor disarmedActive, motor armedArming & Disarming LED IndicatorsLow battery, automatic landingLoss of RC signal, automatic landingSystem error, see troubleshooting guideLoss of GPS signal, switch to fly-by-wreInitializing, please waitAcquiring GPS, please waitArmed, GPS lockedTonesVisit 3DR.com/Aero-M to listen to Pixhawk’s status tones.GPS LockAuto, RTL, and loiter modes requires GPS lock. When powered, the autopilot willautomatically search for GPS lock. The position of the Aero when the autopilot acquiresGPS will be saved as the home position, and used as the coordinates for the launchpoint during RTL. If you plan to use auto, RTL, or loiter modes during your flight, ensurethat the Aero is located at a suitable launch point when powered, and the autopilotacquires GPS lock before takeoff, indicated by a blinking green status LED.Before arming, check the status LED. The LED will flash blue whilethe Aero acquires GPS; this can take a few minutes. Once you seethe green LED, the autopilot has acquired GPS lock.Autopilot ready, GPS lockedAcquiring GPS lock, please wait.Initializing, please wait.!29Preflight ChecksBefore each flight, perform a physical component check, center of gravity check, and control checks in both manual and stabilizemodes. If any of the components or assemblies in these checks are not secure, tighten the screws or use CA glue (super glue) tosecure the components to the foam.1Examine the Aero to ensure that all components are secured in flight configuration.tail servos wing servos»Check that the wings, tail, and tail boom are fully assembled and securely attached.»Check that the propeller is secured tightly to the motor.»Check that the servo rods are secured to the servo horns with the blue clasps.airspeed sensor2Check that the airspeed sensor is secured to the side of the Aero and thetube is free from obstructions.3With the battery connected and the lid secured, check that the Aero is correctlybalanced for flight. Hold the Aero with one finger on each of the clear, plastic balancingpoints shown below. These points indicate the Aero’s center of gravity.If the plane balances on your fingers, then the center of gravity is correct. Ifit won’t balance, adjust the position of the battery until you can balance theplane on two fingers as shown below.Flying the plane without the camera will affect the center of gravity. If youchoose to fly without the camera, make sure to re-balance the center ofgravity.30Before flying, power and arm the Aero on the ground and complete these checks to verify that the control surfaces respond correctly to the control inputs. Placethe plane on the ground, and set the mode switches to select manual mode. Move each of the sticks as shown, and check for the corresponding movement ofthe motor or control surfaces.1Raise the throttle slightly until the motor spins, thenimmediately set the throttle back to fully down position.Motor spins.2Pitch downElevator tilts down.Pitch upElevator tilts up.!Do not raise the throttle more than just enough to spin the motor whilethe plane is on the ground, and do not place your hands in the way ofthe propeller while the motor is armed.3Roll leftLeft aileron tilts up, rightaileron tilts down.Roll rightLeft aileron tilts down,right aileron tilts up.4Yaw leftRudder tilts left.Yaw rightRudder tilts right.Preflight Checks: Manual Control Check31Set the mode switches to stabilize, and hold the plane in front of you. Move the plane as shown, andcheck for the stabilization response from the control surfaces.1Test: Tilt the plane left.Result: Left aileron tilts down, rightaileron tilts up.Test: Tilt the plane right.Result: Left aileron tilts up, rightaileron tilts down.2Test: Tilt the plane down.Result: Elevator tilts up.Test: Tilt the plane up.Result: Elevator tilts down.Preflight Checks: Stabilize Control Check32Auto-takeoff works by sensing the movement of the plane and launching it in thatdirection. Set the Aero to autonomous mode when you’re ready to launch.Find a launching area with at least 100 feet of clear space in front of you. Face intothe wind, and hold the body of the Aero in one hand under the center of gravity. Becareful not to place your hand in the way of the propeller!Hold the Aero above your head, run, and throw the plane at an upwards angle. TheAero will sense the throw, power the motor, and climb to the altitude specified bythe takeoff waypoint before starting the survey mission.Automatic takeoff requires you to configure the takeoff angle during mission planning. See page 18.!DO NOT WIND UP YOUR THROW; if the Aero senses any backwardsmomentum it will attempt to launch in that direction. Use only forwardmomentum to throw to Aero!Manual TakeoffAutomatic TakeoffIf you’re new to planes, we recommend having a friend help you launch theAero. Have your friend throw the Aero while you control the controller.We recommend setting the Aero to fly-by-wire mode for takeoff. Find alaunching area with at least 100 feet of clear space in front of you. Faceinto the wind, and hold the Aero at the center of gravity. Raise the throttleto center position to start the motor. Be careful not to place your hand inthe way of the propeller!Hold the Aero above your head, run, and throw the plane at an upwardsangle.Once launched, the Aero will require immediate adjustment with thecontroller to navigate away from the ground and up to the desired altitude.Pitch up (right stick down) and add any other necessary controls based onwind, speed, and terrain.33When you’re ready to end your flight, follow these steps to land:»Fly a circle pattern above your landing area.»Come in on a final approach, flying into the wind atan altitude of 20 to 40 meters.»When the plane reaches an altitude of 10 meters, set the throttle fully down to turnoff the motor and glide downon a 15 to 20 degree down-pitch angle.»When the plane is one meter above the ground, pitch up (flare) to land the Aero onthe body of the plane instead of the nose.throttle fully downpitch up20-40 m10 m1 mwind directionpitch slightly downAfter stopping the motor at an altitude of 10 m, keep your thumb on the throttlestick in fully down position to ensurethat the motor does not accidentally spin during landing.Manual Landing Automatic Landing!To land automatically at the end of the mission, the Aero requires themission to be configured with a specific pattern of landing waypointsthat gradually decreases the altitude so that the Aero can land safely.For instructions on configuring automatic landing, see page 18.34FPV System OperationIf you selected to receive an optional FPV/OSD system, the components are pre-installedinto the Aero to transmit on-board video.AV receiverAntennaBatteries (2)Receiver cablesParts2 Wire and power receiverAttach an antenna to the receiver. Connect the AV output cable to either receiver AV OUTport. Connect the RC power cable to the receiver DC IN port, and attach a battery to the redconnector.1 Charge batteryCharge both batteries before your first flight. Set the charger to LiPo and 1A.Connect thewhite battery connector to the 3S port, and connect the XT60-JST charger adapter to thered battery connector and yellowcharger connector.3S portBattery connectorTransmitterCameraRemove lens cap!3 Prepare on-board componentsConnect a fully charged battery to the transmitter inside the compartment in the nose of theplane. Remove the lens cap from the camera.LiPo1A4 Viewing videoWhen using a 3DR Black Pearl Monitor to view your video, set the mode toDIV(M buttonchanges modes), the channel to8(+ and - buttons), and the band toE(press the powerbutton to access the menu).For more information about configuring the FPV/OSD system, visit3DR.com/Aero-M.35Flying Mapping MissionsTakeoff ChecklistBefore flying the mission, check the following:»Camera is on with mission script ready and is secured into themount with the mini-USB cable connected and the cap removed.»Aero is powered and connected to the ground station with all pre-flightchecks passed.»The survey mission has been adjusted to account for presentenvironmental conditions and saved to the Aero.InitiatingFor automatic takeoff, set the Aero to auto mode and launch according to theinstructions in the Automatic Takeoff section of these instructions (page 33).For manual takeoff, set the Aero to auto mode after takeoff to initiate the missionin flight.MonitoringMission Planner Flight Data: Attitude1Heading direction2Bank angle3Altitude (black) and rate of climb (blue bar)4Ground speedStatus4Distance to current waypoint >current waypoint number5GPS status6Battery status*1Ground station signal2GPS time3Currentlyenabled mode1234123456Monitor the Aero closely during the mission using your line of sight and theMission Planner Flight Data screen.Actions1Change waypoints or restart a mission2Change modes3Change altitudeFlight Map1Current heading2Direct path to current waypoint3 GPS-reported direction of travel4Actual flight path5 Latitude, longitude6 Altitude123123456Full battery: 16.8 VLow battery failsafe: 13.8 VEnd your flight at 14 V!!*Failsafe behavior enabled36FailsafesLow Battery FailsafeEnvironmental conditions can affect power consumption. Use the Mission Planner Flight Datadisplay to monitor the voltage of the battery during flight.If the battery reaches 13.8 V, the Aero will return automatically to circle above the launch point,indicated by a blinking yellow status LED and a quick repeating tone.The Aero is programmed with a set of failsafe behaviors to prevent a crash in the event of a lossof one of the data or communication channels required for autonomous flight. Although certainfailsafe have assigned LED indicators and tones, it is unlikely that you will be able to see these at adistance. Monitor the Flight Data screen for failsafe indications. If a failsafe is triggered, the assignedbehavior will activate. To override the failsafe behavior (RTL in most cases), use the controller toregain manual control.Regaining Manual ControlTo regain manual control during the mission, switch to fly-by-wire mode using the controller. Ifyou’re a confident operator, switch to stabilize mode. If you observe instability in the Aero’s flightbehavior or it the aircraft moves outside your designated safe flying area, switch to RTL. Turning offthe controller will automatically trigger an RTL and can be used in an emergency situation as a hardrecall command.RC Controller Signal FailsafePhysical obstructions and interference from nearby wireless signals can affect the Aero’s connection with the RC controller.If the Aero loses contact with the controller, it will return to the launch point automatically andenter into a circle pattern above the launch point, indicated by a blinking yellow status LED.If the controller failsafe is triggered, wait for the Aero to return to the launch point, then regainmanual control and either land or restart the mission.373 ProcessOn-Site Quality Check 38Spot Check 38Download Images 38Download Log File 39Pix4D Rapid Check 40Full Processing 4038On-Site Quality CheckBefore leaving the survey site, check the images using Pix4D to ensure sufficient quality formapping by downloading the images from the SD card, downloading the log file from theAero, and completing Rapid Check Initial Processing in Pix4D.If you observe poor image quality or the quality report returns errors, see the Image QualityTroubleshooting section on page 45 and repeat the mission.playback buttonSD card file structure: Download imagesSpot Check (Optional)The quickest way to see the images after a flight is to unlock the SD card and restart thecamera. The camera will load the default Canon programming and you can select theplayback bottom to review the images.Download ImagesUnlock the SD card and load into your ground station. Select the DCIM folder and locatethe folder for your flight. Copy the files into a project folder on the ground station anddelete them from the SD card.39Pix4D uses the GPS data from the Aero’s log file to georeference the images. To download the Aero’sdataflash log, power the Aero and connect to Mission Planner. The download process will be faster ifyou connect the micro-USB cable directly to Pixhawk’s micro-USB port instead of connecting usingthe ground station radio. (When connecting directly to the Aero, set the rate to 115200.)On the Flight Plan screen, select theDataFlash Logstab under the heads-updisplay, and selectDownload DataFlash Log over Mavlink.The Log window shows the Aero’s recent flights. Select the flight for yourmission, and selectDownload These Logs. This will save the log file to yourcomputer in the location displayed under the list of flights.To retrieve the log file, access your computer’s file structure underProgram Files/Mission Planner/logs/PLANE, and select the .log file for the date of your flight.Mission Planner: Flight Data heads-up displayMission Planner: Download Logs Program Files: Retrieve log fileDownload Log File401Open Pix4D Mapper, and create a new project.2Select Aerial Nadir as the projecttype.After creating the project, select the Local Processing screen (Process menu). Check theoption for Initial Processing and Rapid Check. Uncheck all other local processing options, andselect Start.Pix4Dmapper Rapid Check: Create Project3After adding the images, selectFrom Fileto add the geolocation data from the Aero’s log file. In thepop-up window, select 3D Robotics Flight Log as the file format, and upload the dataflash log filedownloaded from Mission Planner.Pix4Dmapper Rapid Check: Initial ProcessingPix4D will generate a Quality Report that will indicate if the images are of sufficient quality tocreate a map.To complete full processing for the map, visit support.pix4d.com for instructions.Full Processing41AppendixAerial Imaging Concepts 423DR EAI 43Image Quality Troubleshooting 45Operational Troubleshooting 4642Aerial Imaging ConceptsUnderstanding key concepts in aerial images can help you understand the mission planning process and create better maps.Distance-Based ImagingBy default, the Aero captures only the images required to create the map. The autopilot monitors the distance traveled by the Aero andsends a command to the camera to capture an image at the distance interval specified by the camera trigger distance parameter (CAM_TRIGG_DIST). This parameter is set by the Mission Planner Survey Tool during survey configuration by calculating the minimum distancebetween images based on the parameters specified for the survey (altitude, overlap, sidelap). This distance-based imaging allowsfor moreprecise data collection, resulting in less images and data storage cost.Once configured, the Survey Tool creates an event at the start of the mission script (after takeoff) to set the camera trigger distance to thespecified interval and an event at the end of the mission (before landing) to reset the camera trigger distance to 0. Therefore,while on theground and during landing, the camera captures no images because the camera trigger distance is set to 0 m.Time-Based ImagingThe Aero is also equipped to capture images at a consistent time interval instead of using distance. This function can be useful if you wantto capture images over an area without planning a mission. This time-based imaging results in more images per area, and therefore moreprocessing time and storage cost. See the intervalometer option on page 43 to enable time-based imaging.Overlap and SidelapTo capture images for the map, the Aero flies a lawnmower-like pattern in strips across the survey site. The front-to-back overlap betweensequential images is called overlap; the side overlaps of adjacent pictures in different strips is called sidelap. The overlapand sidelapparameters in the Survey Tool (see Advanced Options page 16) determine the distance between images and the number of images tobecaptured based on the projected ground area that each image will cover, called a footprint. The Survey Tool uses a default overlap of 50%and a default sidelap of 60%. Increasing overlap and sidelap improves the accuracy of the map while increasing flight time and processingtime.In the Survey Tool,Distance between Imagesshowsthe specified camera trigger distance that willbe assigned to the mission. You can also seethe projected image footprint size and the totalnumber of images to be captured.Default overlap: 50%Default sidelap: 60%433DR EAI3DR EAI is based on KAP UAV Exposure Control Script v3.1: a great opensource project for kite and UAV aerial photography.Start and Stop ScriptEnsure the camera is set to P (program) mode before powering the camera.Upon startup, 3DR EAI starts automatically and listens for commands from theautopilot, indicated bywaiting for USB signal. To stop (and re-start) the script, pressthe shutter button. The script will display INTERRUPTED when stopped.CHDK MenuThe CHDK menu contains all the standard options provided with CHDK.To access the CHDK menu, stop the script and select theMENUbutton.Script MenuThe script menu allows you to change the parameters associated with the scriptitself, including changing the trigger mode and adjusting exposure. To open thescript menu, stop the script and select theFUNC. SETbutton. These parametersare configured for the Aero and SX260 and do not require adjustment as part ofstandard operation.Trigger TypeThis parameter allows you to control how the camera captures images.Trigger type defaults toUSBfor distance-based imaging during mappingmissions. For time-based imaging, selectIntervaland specify the length in theShot Intervalparameter.Trigger Typedefault:USB(mapping)Variable intervalometer:Interval(default to 2 seconds, specified byShot Interval)Script start:waiting on USB signalScript stopped:INTERRUPTED FINISHEDScript menuCHDK menuScript menu: Trigger Type44Updating the Script3DR EAI is an open-source project and continuously improving. To download the latest script, visit 3DR.com/Aero-M and select 3DR EAI Source. Youwill be redirected to the GitHubt repository where you can right-click onRawand selectSave Linkto download the latest script labeled 3DR_EAI_SX260.lua.To update the script on the SD card, unlock the SD card and open it on your computer. Navigate to CHDK/Scripts and replace theexisting 3DR_EAI_SX260.lua file with the updated script file from GitHub.ResourcesVisit 3DR.com/Aero-M for links to resources.3DR EAI GitHub Repository: github.com/diydrones/ardupilot/tree/master/Tools/CHDK-ScriptsKAP UAV Exposure Control Script v3.1: chdk.wikia.com/wiki/KAP_UAV_Exposure_Control_ScriptCHDK v1.3: chdk.wikia.com/wiki/CHDK_1.3.0_User_ManualDownload latest script from GitHubNew script fileScript file on SD cardMemory ResetIf the battery is left out of the camera for toolong, the camera will reset its memory. Tore-configure the camera in this case, visit3DR.com/Aero-Mfor instructions.45Image Quality TroubleshootingIf you observe poor image quality during the spot check or if you receive errormessages during processing, use the settings below to troubleshoot the imagequality.Blurry ImagesTo correct motion blur, adjust the shutter speed using theTarget Tvparameter in thescript menu.Target Tv(shutter speed) default: 1/1250To correct moderate motion blur: Set to 1/1600.To correct severe motion blur: Set to 1/2000.OverexposureIf the images are overexposed but do not show any motion blur, it can be due toflying in extremely bright conditions. To correct this, set theAllow use of ND filterparameter to YES in the script menu.Allow use of ND filterdefault: NoTo correct overexposure: Set to Yes.Processing ErrorsIf you receive errors from Pix4Dmapper during processing, increase the overlap andsidelap during survey configuration to improve the quality of the image set.Overlap default: 50%Sidelap default: 60%To improve processing: Set overlap to 60% and sidelap to 70%.Example image: motion blur Script menu: Target TvExample image: overexposureScript menu: ND filter46Operational TroubleshootingNo Images Captured1 If the camera did not capture any images during the mission, first perform aphysical inspection on the Aero.Is the mini-USB cable connected to the camera’s USB port?Are the AUX OUT 6 pins connected on Pixhawk?AUX OUT 6: black (-), red (+), white (s)Is the camera battery charged? Unlock the SD card to view the Canon’sbattery level indicator.2 Take a distance-triggered test image on the ground by manually settingthe camera trigger distance parameter to 1 m.Power the Aero and connect to Mission Planner. SelectConfig/TuningandFull Parameter List. Change theCAM_TRIGG_DISTparameter to 1, and selectWrite Params. Disconnect the Aero from Mission Planner, and carry for a fewmeters to see if the autopilot triggers the camera.Mission Planner Full Parameter List: Set CAM_TRIGG_DIST to 1.