01/11/2015

Hangar78 UAV, LLC

Version 1.1
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 The seamless integration of mission planning tools with a flight computer provides 

advanced capabilities that opens up a whole new dimension to RC aircraft and 

potential uses. 

 This guide is designed to bridge the detailed wiki pages online and your Hangar78 

UAV specific aircraft configuration. It is an assimilation of lessons learned, flight 

test experience, monitoring user forums, and many conversations with RC experts. 

Please click on the link below for in depth information.

 http://copter.ardupilot.com/wiki/mission-planning-and-analysis/

 This information is also available as an in depth technical training course. Please 

contact Hangar 78 UAV for specifics.

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 The North Texas Drone User Group is a member of the Drone User Group Network, 

an association of community groups that promotes the use of civilian drone 

technology for the benefit of humanity. NTDUG’s Standard Operating Procedures 

are an excellent guideline for operating sophisticated multi-copter systems. Please 

review the flying club’s section “Preflight, Takeoff, and Post flight Checklists” and 

incorporate the checklist information into your own custom checklist.

 The NTDUG SOP is available online at 

https://www.hangar78uav.com/specifications.html

 This information is subject to change based on developing FAA, local regulations 

and society’s comfort levels with respect to RC flight. It is a relatively sensitive time 

and an era of great technical breakthroughs. It is the intent of Hangar78 UAV to 

promote positive innovations of multi-copter aircraft – use with caution, 

responsibility, and most of all have fun!

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Warnings – Potential for injury

Cautions – “Safety 1st”

Tips – Lessons learned

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 BEC Battery Eliminator Circuit

 CCW Counter ClockWise

 CW ClockWise

 EEPROM Electrically Erasable Programmable Read-Only Memory

 ESC Electronic Speed Controller

 LiPo Lithium Polymer

 NDVI Normalized Difference Vegetation Index

 NIR Near field Infrared

 RF Radio Frequency

 PC Personal Computer

 UAV Unmanned Air Vehicle

 USB Universal Serial Bus

 QR Quick Response

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 Flight below 400’ Above Ground Level

 Manned aircraft safety is paramount over RC

 Clear the airspace (i.e., descend) immediately when aircraft are in the vicinity.

 Minimum safe distances

 Account for propeller safety at all times to avoid injuries such as lacerations, 

entanglement, dismembering. Please follow safe distance minimums. A 3 pound object 

free falling from 400’ will cause more damage than baseball sized hail.

 Animals, People, Roadways (50’)

 Buildings, Trees (25’)

 Airports (3 miles)

 Weather

 Wind speed less than 10 mph (including gusts)

 Condensation, ice, precipitation flying conditions prohibited

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Darkness

 LED lights are extremely important for maintaining both multi-copter 

and manned aircraft situational awareness. Hangar 78 UAV does not 

advocate night flying simply due to the obvious challenges that 

manual flight and obstruction collision avoidance present.

 Legal/Property Rights

 Flying in or around US City/State/Federal or other Government 

property is prohibited unless authorized by exception. 

 Flying in or around private property requires the owner’s permission

 US laws are evolving in this area. It is best to exercise caution and fly 

in open / approved areas only. A general theme regarding state laws 

is absolutely no surveillance of any kind without permission.

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 Flight Computer

 The PixHawk* flight computer provides modern sensor interfaces and GPS flight stability 

features that previously made autonomous flight extremely difficult and ineffective. This system 

contains the ability to receive updates to its onboard memory (EEPROM) allowing new features 

and algorithm updates to continue well into the future. *PixHawk is a registered trademark of 

3D Robotics Inc.

 Records dataflash logs

 Integrates stabilization sensors and autonomous behaviors w/ RC controller

 Stores user defined failsafe behavior

 Motors

 Brushless – extremely responsive to voltage input changes

 ESC

 Interprets throttle inputs (manual/auto) into DC volts to each motor

 Contains a BEC output (+5v)

 Airframe

 Custom Design and manufactured by Hangar78, UAV

 Power

 Rechargeable lithium polymer battery

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 Telemetry

 Radios allow your ground station computer to communicate with your vehicle wirelessly, 

providing unparalleled ease of use for viewing in-flight data, changing missions on the fly, 

and tuning parameters in mission. Compatible with Android devices.

 HD Video/Camera

 Integrated into power system and stores onboard HD quality video

 NIR HD Video/Camera

 Independent, stand-alone system, stores near field infrared images for daytime capture

 On-Screen Display Telemetry

 Radios allow your ground station computer to view what the aircraft camera is seeing 

wirelessly. Transmitter adjust the camera tilt angle. 

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 JST

 Integrated power to HD camera

 XT60

 12v battery to Power Distribution Board

 LiPo Balance connector

 Essential for charging

 USB

 Connection to personal computer for reading / programming flight computer

 BEC

 ESC 5v step down from battery

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 Lithium Polymer aka LiPo has higher discharge rate, higher capacity, and lighter 

weight advantages.

 Individual LiPo cells should not be discharged below 3.0V

 Causing an electrical short between battery leads will not only ruin the battery, but 

can produce toxic smoke and/or explosive fireball. Use extreme caution when 

connecting and disconnecting LiPo batteries.

 Actual battery burn down plot recorded by Hangar78 UAV and the included 

mission planning software. The blue data indicates volts on the right hand scale. 

(1100 = 11.00)

 Please see www.hangar78uav.com for airframe compatible replacement batteries.

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 LiPo batteries have strict charging and storage requirements. Failure to follow these 

guidelines could result in damaged or ineffective batteries, explosion, or fire. Use 

of a non-LiPo charger is an extreme fire risk.

 Please refer to charger manual for detailed charging instructions

 Quick guide to charging concepts

 The C rating stands for capacity and is a measure of how fast the battery can be 

discharged safely and without harming the battery

 A safe charging rate is 5Amps.

 LiPo batteries will last longer, both in flight and flight times, if they are charged at a slower rate.

 4S indicates that there are 4-cells. The flight system has been tested and calibrated with 

4S batteries only. 

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 The following steps apply to the HiTec X1 charger. Your aircraft has custom XT60 

connections for simplicity and flight reliability in addition to the standard LiPo 

balance connector. XT60s also eliminate the possibility of reversing the polarity.

 Connect aircraft battery XT60 connector (F) to the charger output XT60 connector (M)

 Connect aircraft battery balance connector (F) to the charger balance board 3S (M)

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1. Press Batt Type until display reads LiPo Batt

2. Enter

3. Press ± until display reads LiPo Charge

4. Enter 

5. Press ± until display reads 3.0 A

6. Enter

7. Press ± until display reads 14.8V (4S)

8. Enter

9. Hold START for 3 seconds and display should 

transition to R: 4SER S:4SER

10.Press Enter to confirm and begin charging
 The props on a multi-copter have several variables that impact the flight 

computer’s ability to maintain flight. CW or pusher props generally contain an ‘R’ 

or ‘P’ after the prop size. CCW props are classified as puller props and the norm in 

typical helicopter applications. Props should be tightened by holding the motor 

casing by hand and tightening the prop nut approximately 1⁄4 turn past snug. Do not 

overtighten and do not use tools on the motor housing or frame.

 Replacement props that are sized and compatibility tested are available online at 

www.hangar78uav.com

 Please note the Quad-X rotation diagrams for each motor below. 

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1

2 4

3
 The RC controller is linked to the aircraft’s RF receiver by a process called binding. 

The aircraft is pre-bound prior to shipping and re-binding procedures are 

available in the controller’s manual. The controller is ideal for both operator in the 

loop autonomous takeover and manual flight.

 Verify that the RC controller’s is charged by checking the display’s voltage read 

out. (Greater than 5v is generally sufficient)

 Verify that all toggle switches are set to mode 0

 Channel 5 is a versatile switch that allows multiple toggles to influence the flight 

modes. The flight modes are critical for regaining control. 

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Throttle/Yaw

Manual (0)

Auto (1)

RTL (in Manual) Land (in Manual)

Pitch/Roll
 Your controller is pre-programmed by Hangar78 UAV flight engineers. These 

settings define the behavior when switches are toggled on the controller. For 

example; by setting the Gear switch to OFF, the PixHawk will enter Stabilize mode. 

To enter autonomous flight toggle the Gear switch to ON. These behaviors can be 

remapped within the mission planning software. 

 In this example; flight modes 2,4 and 5 can be activated only when flight mode 1 is 

OFF.

Flight Mode 1 Stabilize GEAR 0FF (0)

Flight Mode 2 RTL ELEV OFF (0)

Flight Mode 3 not set

Flight Mode 4 Land AIL ON (1)

Flight Mode 5 Circle ELEV+AIL BOTH ON (1)

Flight Mode 6 Auto GEAR ON (1)

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Available when 

Flight Mode 1 is 

OFF
 Mission Planner is a PC based software application (included) that provides the 

capability to establish safety behavior, tune configuration parameters, define 

autonomous missions, and perform post mission analysis. It also has the ability to 

automatically check online for newer versions that add new features. 

 To take advantage of a version of mission planning software that has been tested 

with this aircraft, start from the same release included in the shipping package. 

Simply run the mission planner for PC installer included on the setup media 

(MissionPlanner-latest.msi) on a Microsoft Windows based PC.

 Alternatively, download and install the latest mission planner software by 

navigating to http://ardupilot.com/downloads/?did=82 and selecting the 

download icon

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 Verify battery is disconnected. If battery is connected, props may spin

 Start Mission Planner program

 Attach USB between PixHawk and PC

 Since the COM Port drop down auto detects, verify that PX4 FMU is selected or it 

will try to connect to other USB / COM peripherals and fail

 Select the CONNECT icon

 Successful connection will latch the icon

 You should see digital data changing in the mission planner quick view

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An optional / alternative connection consists of two small 915 MHz radios with USB 

connectors. One of them integrates directly into the PixHawk and the other can be 

connected to a Microsoft Windows based user laptop. This image contains a few 

simple steps to get started.

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One of the most important features of this aircraft is its ability to contain preprogrammed contingency behavior. It is extremely critical that the selected 

behavior be well understood should such a contingency trigger occur. Each of these 

contingencies will be covered in the following section;

1. Breaching the Geo Fence

2. Throttle (RF link)

3. Battery

4. GPS Signal Lost

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A geo fence is simply a software defined virtual fence in the shape of a 3D cylinder. 

Geo fences are useful for managing the RC airspace and maintaining visual line of 

sight.

 While connected, Select Config/Tuning 

 Verify the following Geo Fence options

Enabled is checked

Type is Altitude and Circle

Action is RTL or Land

Max Alt (<120 meters, 50m recommended)

Flexible user settings. Too small and virtual geo fence cylinder will be triggered too 

often. Too large and geo-fence essentially has not effect 

Max Rad (500m)

RTL Altitude (20m)

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The throttle failsafe defines the default contingency behavior when the RF link is 

lost. It can be set by selecting the Config/Tuning button, Standard Params tab, and 

selecting page down until Throttle Failsafe Enable is visible.

http://copter.ardupilot.com/wiki/throttle-failsafe/

 When it will trigger 

 Aircraft exceeds radio range

 Controller is off

 Receiver loses power

 When a throttle failsafe is triggered, select the desired behavior in mission planner 

failsafe menus.

 Disarm motors – if you are in stabilize or acro mode and your throttle is zero

 RTL – if you have a GPS lock and are at least 2 meters from your home position

 LAND – if you have no GPS lock or are within 2 meters of home when the failsafe triggers

 Continue with the mission – if you are in AUTO mode and have set the Failsafe Options to 

“Enabled_continue_in_auto_mode”.

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The battery failsafe defines the default contingency behavior for power related issues. It 

can be set by selecting the Config/Tuning button, Standard Params tab, and selecting 

page down until Battery Failsafe Enable is visible.

http://copter.ardupilot.com/wiki/battery-gps-and-gcs-failsafes/

 When it will trigger 

 battery voltage becomes low for more than 10 seconds

 estimated current consumed passes your battery capacity (set on the power module set-up 

page)

 When a battery failsafe is triggered, select the desired behavior in mission planner 

failsafe menus.

 Disabled

 RTL – if you are in AUTO mode, have a GPS lock and are at least 2 meters from your home 

position

 LAND

 Setting up the battery failsafe

 On the INITIAL SETUP > Mandatory Hardware > Failsafe page click the Battery Failsafe 

checkbox and enter the Low Battery level that you wish to have trigger an RTL or LAND.

 We recommend setting this to 10.5 v

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The GPS failsafe defines the default contingency behavior when the GPS signal is 

interrupted. It can be set by selecting the Config/Tuning button, Standard Params

tab, and selecting page down until GPS Failsafe Enable is visible.

http://copter.ardupilot.com/wiki/battery-gps-and-gcs-failsafes/

 When it will trigger 

 If you lose GPS lock or experience a GPS Glitch for 5 seconds while in a mode that 

requires the GPS (Auto, Guided, Loiter, RTL, Circle, Position or Drift) mode

 When a GPS failsafe is triggered, select the desired behavior in mission planner 

failsafe menus.

 The GPS Failsafe is enabled by default but you can enable or disable it on the Mission 

Planner’s Standard Parameter List, by setting the FS_GPS_ENABLE parameter to 0 

(Disable) or 1 (Land) or 2 (switch to AltHold)

 AltHold

 Disabled

 Land

 Land even from Stabilize

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 While connected, select Initial Setup

 Verify the following Geo Fence options

Battery Failsafe Enable is set to RTL

GPS Failsafe Enable AltHold

Ground Station Failsafe Enabled Continue with Mission in Auto

Throttle Failsafe Enabled Enabled RTL

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 Your multi-copter includes a simple pre-loaded mission setup by the engineers at 

Hangar78 UAV. The mission can be flown completely autonomous and consists of;

 Takeoff

 Climb to 50’

 Hold altitude for 1 min

 Return to Launch location

 Please see “Planning a Mission” to overwrite this mission with your own. Should the 

need arise, the pre-loaded mission can always be recovered by loading it from the 

packaged jumpdrive.

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A mission is defined as a set of instructions that can be defined by a simple point and 

click interface and stored onboard the PixHawk. You do not have to have the aircraft 

connected to the PC to perform mission planning or save a mission. It will however 

need to be connected to write the mission to the PixHawk. 

Open Mission Planner software

Step 1: select ‘Flight Plan’

Step 2: click and drag green line up to 

make waypoint menu visible

Step 3: click on home location which 

prompts to click a starting location on 

the map

At any time, right click on the map to 

clear the mission.

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 Home is a term used throughout the programming process and can cause 

confusion. It is somewhat irrelevant for the actual flight since it is relative to where 

the aircraft was armed. (For arming instructions see Pre-flight checklist). 

Remember “Home is where the arm is.” 

 Home on the flight plan screen helps populate certain flight plan related stats such 

as overall distance.

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 A mission that can be picked up and flown anywhere is considered a portable 

mission. When manipulating command options in the mission planning software, 

pay particular attention to the Latitude, Longitude, Altitude columns. When the 

latitude and longitude fields are populated, they are actual. When they are blank, 

they are relative.

 If you want to fly a pattern that can be transposed in several locations, then use 

relative points. If you want to fly a mission in a specific area, consider using actual 

locations.

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 A takeoff point is always the 1st command in any mission. The takeoff altitude is the 

relative height in meters above the arming altitude that the flight computer will 

consider takeoff complete. 

Step 1: select ‘Add Below’ to add an 

action

Step 2: select ‘TakeOff’

Step 3: set the desired hold time in 

seconds

Step 4: adjust the desired altitude 

(relative to takeoff point)

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 Return to launch is always the last command in any mission. It will command the 

aircraft to fly autonomously to the takeoff point. A simple Takeoff (hold for n 

secs)/Return to Launch mission is a perfect beginner mission.

 Every begins with TAKEOFF and ends with RETURN_TO_LAUNCH!

Step 1: select ‘Add Below’ to add an 

action

Step 2: select ‘Return to Launch’

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 Navigate around on the map until you find a waypoint area that you’d like to fly to. 

This can be the edge of the property line or simply a point in space that you’d like 

the aircraft to pass through.

Step 1: select ‘Verify Alt’ in the waypoint tab

Step 2: right click on the map indicating the 

desired waypoint location

Step 3: select ‘Insert WP’

(if prompted by ‘insert waypoint after #’ just 

select ok. Waypoints can be ordered by using the 

up/down arrows in the waypoint menus

Step 3: set the desired hold time in seconds

Step 4: adjust the desired altitude (relative to 

takeoff point)

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 One benefit of multi-copter systems over traditional winged flight is that the front 

of the vehicle can be aimed at a point while the vehicle is traversing its route. The 

command syntax is ROI for region of interest.

Step 1: select ‘Verify Alt’ checkbox in the 

waypoint tab

Step 2: right click on the map indicating the 

desired ROI

Step 3: select ‘Do_SET_ROI’

Step 3: ensure the order is below the 

waypoint

Repeat for each waypoint (1 ROI : 1 waypoint)

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 PC based

 Save the mission to your PC selecting the ‘Save WP File’ button

 Alternatively, you can load a previously saved mission by selecting 

‘Load WP File’

 Onboard the PixHawk

 Ensure the aircraft is connected to your PC over USB (see 

Connection instructions). Verify that the connect icon is latched

 Ensure that the mission begins with a ‘Takeoff’ and ends with a 

‘Return to Launch’

 Save the mission to PixHawk by selecting the ‘Write WPs’ button

 Always select ‘Read WPs’ and let it clear your onscreen mission to 

ensure that the correct information is stored onboard

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1 Verify that an Autonomous Mission is stored onboard FC by reading mission over USB to Mission Planning soft

2 Props tightened

3 No loose wiring

4 Clear takeoff area

5 Minimum safe distances observed

6 Verify that battery voltage is at desired capacity

7 Set controller switches to manual and no throttle

8 Turn on controller

9 Verify that controller battery is fully charged

10

Pug in your LiPo battery. The red and blue lights should flash for a few seconds as the gyros are calibrated (do not move the copter). 

The pre-arm checks will run automatically and if any problems are found the PixHawk RGB led will blink yellow. 

11 Enable camera recording

12 Check that your flight mode switch is set to Manual

13 Press the safety button until the red light remains solid

14

If you are planning on using the autopilot (i.e. Loiter, RTL, Drift, Auto or Guided modes) you should wait for 30 seconds after the GPS has 

gotten 3d lock. This will give the GPS position time to settle. The PixHawk RGB LED will blink green.

15 Announce All Clear

16

Arm the motors by holding the throttle down, and rudder right for 5 seconds. It takes approximately 5 seconds the first time the copter 

is armed as it re-initializes the gyros and barometer. Do not hold the rudder right for too long (>15 seconds) or you will begin 

the AutoTrimfeature. 

17 Once armed, the red arming light should go solid and the propellers will be permitted to spin.

Additional Arming and Disarming information 

http://copter.ardupilot.com/wiki/arming_the_motors/

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Autonomous missions can be initiated by performing the pre-flight checklist, 

running the motors up approx. 25% in MANUAL mode.

Be careful, providing too much throttle ~50% will takeoff and you’ll be in command.

Switching to AUTO on the controller and the aircraft will complete the takeoff and 

head towards the 1st waypoint. At this point the controller’s joystick inputs are 

ignored and the aircraft perform the entire mission autonomously!

Should a need to take control arise – see section Manual Flight Autopilot Takeover

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The manual flying experience is not completely manual. The default manual flying setting 

is “STABILIZE” which means the flight computer will utilize GPS information and all 

sensors to maintain level flight. This is a distinct advantage over piloting RC aircraft 

without this technology. Operator inputs are processed, geo-fence and all safety features 

are active. That said, manual flying takes careful – smooth inputs and knowing the 

orientation of the platform is critical. Once initial flight is mastered at close proximity and 

low altitudes, there are other optional features (simple mode etc) that offer alternatives to 

how the airframe is aligned.

 Ensure throttle is in zero position

 Ensure Flight mode is set to Manual flight (position 0)

 Arm

 Fly!

 If the aircraft suddenly starts returning to launch it is likely that the virtual geo-fence has been 

breached. At that point, just let it return. The mission planner configuration parameters allow 

the operator to define this behavior.

 Land!

 Land manually by feathering throttle to maintain a gradual decent rate or toggle Elev switch to 

position 1 to utilize computer controlled Return to Launch

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 Certain conditions such as a sudden storm that enters the flight area might require 

autopilot takeover. Manual operations are still flight computer assisted under most 

conditions.

 Set throttle to mid position (this is a starting point for hover conditions)

 Warning! The current throttle position is commanded immediately on throttle takeover when 

manual flight is set to stabilize. If the throttle is at the arm position of zero then the motors will drop 

to min spin rate and a/c will free fall

 Toggle flight mode from auto to manual

 Fly!

 If the aircraft suddenly starts returning to launch it is likely that the virtual geo-fence has been 

breached. At that point, just let it return. The mission planner configuration parameters allow the 

operator to define this behavior.

 Land!

 Land manually by feathering throttle to maintain a gradual decent rate or toggle Elev switch to 

position 1 to utilize computer controlled Return to Launch

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1 Check that your flight mode switch is set to Manual

2 Disarm safety by holding throttle at minimum and rudder to the left for 2-5 seconds

3 The PixHawk RGB LED will start flashing green.

4 Press and hold the safety button mounted on the aircraft until the led begins flashing

5 Disconnect the Lipo battery

6 Turn off your transmitter

7 Remove HD camera microSD card to retrieve video

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 Images from the onboard NIR sensor can be downloaded to a PC’s hard drive in 

various ways, inslucingWiFi, Bluetooth and USB connection. 

 USB provides the fastest method, followed by WiFi and Bluetooth being the slowest. 

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 The mission planner software has the ability for operators to interact directly with 

the stored log data over the USB connection. For this reason, it is not necessary to 

remove the PixHawk XD memory card.

1. Select DataFlash Logs tab 

2. Select Download DataFlash Log Via Mavlink button

 Note the location that the MP will store the log files. Typically is the install path with 

logs appended such as; 

C:\Program Files (x86)\Mission Planner\logs

 The default location can be changed in the Config/Tuning menu item’s LogPath setting

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This feature is informative for post flight analysis and performance review.

 In the Mission Planner’s DataFlash logs tab, select ‘Review a Log’

 Select the desired mission from your local PC

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 PixHawk won’t arm

 Issue: GPS signal light is not green, no GPS lock

 Workaround: remove power, move to a location that has clear Line of Sight to the sky, re-apply 

power

 Altitude Units

 Issue: units don’t appear to be consistent across menu options in Mission Planner

 Workaround: Use the default (meters) in Config/Tuning menus

 Controller throttle values set to minimum

 Issue: Controller nominal values won’t register during PixHawk arming

 Workaround: 

 ESC is calibrated with Controller set to nominal values

 Calibrate trim on controller to minimum possible values

 Mouse scrolling in Mission Planner

 Issue: inadvertently scrolling the mouse can select a different drop down option

 Workaround: 

 Use page up/down for page full of options

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 The latest technical Frequently Asked Questions is available online at 

www.hangar78uav.com/about

 Can I fly my aircraft indoors? 

 No. Not only does this violate the minimum building distance guidelines posted on the 

“Flight Restrictions” page it is technically not possible (w/o a tested GPS repeater). This 

system relies on high GPS quality throughout the mission. Indoor drift (tested w/ the 

telemetry option in my garage) shows approx. 25’ of drift from the workbench the aircraft 

was resting on. This would cause erratic flight for both auto and stabilized manual flight. 

 How I determine the current windspeed? Checkout a smartphone compatible 

option from Vaavud for a convenient local wind assessment. Otherwise, aviation 

websites such as http://www.usairnet.com/ can provide 3 days of forecasted 

winds.

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 What if I plan a mission too close to the ground?

 Low autopilot flight has trouble below 25’ and drifts lower due to barometric 

effects near the surface. 

 What is the sequence of events for obtaining NDVI?

 Cameras currently don’t have the ability to generate NDVI onboard. Here is a typical 

sequence to obtain NVDI; Purchase NIR camera option, fly autonomous mission, upload 

NIR images to cropvue.net for processing.

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 Mission Planner images are snapshots from Michael Oborne’s Mission Planning 

software

License

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, 

either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A 

PARTICULAR PURPOSE. See the GNU General Public License for more details.

 PixHawk is a registered trademark of 3DRobotics, Inc http://3drobotics.com/

 QR codes generated using https://www.the-qrcode-generator.com/

 ArducopterWiki Site http://copter.ardupilot.com/wiki

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