### 01/11/2015

Hangar78 UAV, LLC Version 1.1Copyright HANGAR78UAV.COM, ALL RIGHTS RESERVED

COMPETITION SENSITIVE

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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 1 st 

### ”
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 a bsolutely 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 l ithium p olymer 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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– DO NOT DISSEMINATE 14 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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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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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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– DO NOT DISSEMINATE 18 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 pre

programmed 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 1 st 

### 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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– DO NOT DISSEMINATE 361 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 copte r). 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 th e 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 1 st 

### 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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– DO NOT DISSEMINATE 401 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, inslucing WiFi , 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 pub lished 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 o f M ERCHANTABILITY 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 /

 

### Arducopter Wiki Site http :// copter.ardupilot.com/wiki

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