## CL 2

- 4



# Lynx M

Unmanned Aircraft System



# Operator and

Crewmember ChecklistCL 2

- 4

1 

## PACKING LIST

 Fuselage

 Wings

 Stabilator

 Batter y

 Battery Tester

 Handheld Transmitter

 GCS Device

 Ground Telemetry Radio & Antenna

 Micro USB Cable

 USB OTG to Micro USB (If Req

. )

 Castle Link & Cable

 Gaffer’s Tape

 Wishbones (x4)

 Camera

o Charged Battery

o SD Card

o UV Filter Lens Cover

o Lens Brush

 Spares:

o Props

o Stabilator Arms

o Tail Clips

o Pitot Clips

 Bind Plug

 Tools

o Exact

- O Knife

o Screwdrivers

o Crescent WrenchCL 2

- 4

2 

## NORMAL PROCEDURES

Aircraft Preflight Inspections

1. Fuselage

- Inspect

2. Wing Bolts

- Present and Spaced

3. Skid Pads

- Inspect

4. Propellers and Motor

- Serviceable

5. Propeller

- Extended and Clear

6. Pitot Tube

– Inspect and Attach

7. Servos

- Check Movement and Linkages

8. Battery

- Inspect and Install

9. Stabilator

- Inspect

10. Wings

- Inspect



### Aircraft Power On

1. Handheld Transmitter

- On

2. Handheld Transmitter

- Verify Manual

3. Throttle Safety Key

- Attach

4. Flight Battery

- Connect

5. Flight Surfaces

- Check Movement



### GCS Checks

GCS Power On

1. GCS Device

- Power On

2. Telemetry Radio

- Attach

3. Mission Planner

- Start

Flight Data Screen

4. Mission Planner

- Connect

Initial Setup Screen

5. Compass

- Enable, Check De clination

, Calibrate if N eeded

6. New Field

- Range Check/ Magnetometer

Calibration

7. Flight Modes

- Set

8. Failsafe

- Disabled

9. Airspeed

- Enable and Use

10. Battery

- Enable and V erify

Flight Planning Screen

11. Default Altitude

- SetCL 2

- 4

3 12. Loiter and Waypoint Radius

- Set 30, 105

13. Takeoff

- Create

14. Mission

- Create/Load

15. Rally points

- Create/Load

16. Waypoints

- Read Back and Verify

Flight Data Screen

17. Camera S ynchronization

- Perform



### Preflight Systems Checks

1. Autopilot Arm

- Verify

2. HUD

- Verify Level and Responsive

3. Magnetometer

- Correct and Responsive

4. Flight Surface Checks

- Perform

5. Mode Select

- Verify

6. AP Pass

- T hrough Check

- Perform

7. IMU Test

- Perform

8. Auto Check

- Perform

9. Return To Launch (RTL)

- Perform

10. GPS

- Verify a t L east 6 S atellites

11. Preflight Calibration

- Perform

12. Airspeed Test

- Perform

13. GCS HUD

- No E rrors/ W arnings

14. Stabilator

- Attach

15. Wing

- Assemble and Attach

16. Full Throttle Check

- Perform



### Takeoff

1. Payload

- Ready for Takeoff

2. Wind

- Check

3. Launch Direction

- Into Wind

4. Launch Area

- Clear

5. Mode Manual

- Verify (SP)

Manual Takeoff

6. Propeller

- Clear (Thrower)

7. Throttle Safety Key

- Remove (Thrower)

8. Ready for Takeoff

- Announce (SP)

9. Ready for Takeoff

- Confirm ( Thrower )

10. Timer

- Start (SP)

11. Full Throttle

- Set (SP)CL 2

- 4

4 12. Full Throttle

– Verify (Thrower)

13. Aircraft

- Launch Into Wind (Thrower)

Auto Takeoff

6. Mission

- Restart and Verify (AO)

7. Propeller

- Clear ( Thrower )

8. Throttle Safety Key

- Remove ( Thrower )

9. Ready F or Takeoff

- Announce (SP)

10. Ready F or Takeoff

- Confirm (Thrower)

11. Timer

- Start (SP)

12. Mode

- Auto (SP)

13. Half Throttle

- Set (SP)

14. Full Throttle

- Verif y (Thrower)

15. A ircraft

- Launch Into Wind (Thrower)



### Landing

1. Weather/Winds

– Verify (AO)

2. Recovery Site

- Select (SP)

3. Recovery Site Clear

- Verify (Observer)

Deep

- Stall Landing

4. Altitude

- Greater than 30 m eters AGL (SP)

5. Heading

- Into Wind (SP /AO )

6. Throttle

- Off (SP)

7. Deep Stall

- Engage (SP)

8. Heading Into Wind

- Maintain (SP)

9. Timer

- Stop (SP)

Belly Landing

4. Manually Land AV

- Into Wind (SP)

5. Timer

- Stop (SP)



### Post Flight

1. Flight Battery

- Disconnect /Check

2. Handheld Transmitter

– Off (SP)

3. Aircraft

- Disassemble/Inspect

4. GCS

- Shutdown (AO)

## EMERGENCY PROCEDURES

Motor Failure Below 30 meters AGL

1. Control

- Manual (SP)

2. Safe Heading

- Establish (SP)

3. Deep

- Stall

- Engage (SP)



### Motor Failure Above 30 meters AGL

1. Control

- Manual (SP)

2. Throttle

- Reduce (SP)

3. Safe Heading

- Establish (SP)

4. Recovery Site

- Select (Observer)

5. Land or Deep

- Stall

– ASAP (SP)



### Uncontrolled Flight

1. Control

- Manual (SP)

2. Controllability

- Assess (SP)

If AV is u ncontrollable

1. Deep

- Stall

– Engage (SP)

2. Batteries

- Secure

If AV is c ontrollable

1. Land

- As Soon As Practical (SP)



### Safety Pilot Low Battery

1. Control

- Manual (SP)

2. Safe Heading

- Establish (SP)

3. Land or Deep

- Stall

- Immediately (SP)



### Safety Pilot Uplink Failure

1. RTL

- Verify (AO)

2. Control

- Auto (SP)

3. Uplink

- Re

- Establish (SP)

4. Autoland

- As Appropriate (AO)



### GPS Failure

1. GPS Failure

- Announce (AO)

2. Control

- Manual (SP)

3. Land AV

- As Soon a s Practical (SP)

### GCS Low Battery

1. Screen Brightness

- Reduce (AO)

2. Power Source

- C onnect (AO)

3. Land

- As Soon as Practical (SP)



### GCS Telemetry Fail

1. Distance from AV

- Check (AO)

2. Comms

- Restart (AO)

If telemetry cannot be restored

3. Land

- As Soon As Practical (SP)



### Deep

- Stall Abort

1. Deep Stall

- Disengage (SP)

2. AV

- Climb Gently (SP)

3. Power

- Apply (SP)CL 2

- 4

8 

## Table 1

. Speed Conversions

Meter s /

second Knots Kilometers/

hour Miles/

hour

1 1.9 3.6 2.2

2 3.9 7.2 4.5

3 5.8 10.8 6.7

4 7.8 14.4 8.9

5 9.7 18 11.2

6 11.7 21.6 13.4

7 13.6 25.2 15.7

8 15.6 28.8 17.9

9 17.5 32.4 20

10 19.4 36 22.4

11 21.4 39.6 24.6

12 23.3 43.2 26.8

13 25.3 46.8 29.1

14 27.2 50.4 31.3

15 29.2 54 33.6

16 31.1 57.6 35.8

17 33 61.2 38

18 35 64.8 40.3

19 36.9 68.4 42.5

20 38.9 72 44.7

21 40.8 75.6 47

22 42.8 79.2 49.2CL 2

- 4

9 

## Table 2

. Distance Conversions

Feet Meters

50 15

100 31

150 46

200 61

250 76

300 91

350 106

400 122

450 137

500 152CL 2

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10 

## Table 3

. ESC Beep Codes

Tone Meaning Description

“Castle

Power”

tune with

beeps

correspond

ing to

number of

cells Power up

notice ESC plays Castle signature tone and beeps out

the number of cells attached to controller.

Note: when Auto

- LiPo detection is disabled

by the user, ESC will not beep the number of

cells. ESC will not run motor until it receives

an arming signal from the radio via the

throttle lead

Arming

Tone ESC ready to

run motor ESC plays the Castle arming tune once it

receives a signal from the receiver. Controller

is ready to run the motor at this point.

* Powered ESC

notice ESC beeps motor every 10 seconds to remind

user that power is connected to the ESC. This

notice may be disabled in Castle Link.

*

- Low Voltage

Cutoff Main battery voltage dropped below the

cutoff value. The default is Auto

- LiPo which

sets the cutoff value based on the detected

cell count. Other settings may be entered in

Castle Link

*

- * Over

Temperature ESC reached an overtemp condition. Occurs

when operated under too high a load or

operated without proper cooling airflow

*

-- Excessive

Load ESC detected very high current spikes. Causes

may include damaged wiring leading to, or

inside, the motor, or the use of too large a

motor for the controller.

Remove power from the controller and check

for shorts. If none are found, verify the

controller can handle the motor’s current

load. As a safety feature, if multiple Excessive

Load errors are detected, beeping will be

disabled.

If er ror continues, contact Castle Tech

Support.

** Start Fail ESC was unable to start motor

**

- Radio Glitch ESC detected unusual signals or loss of signal

on throttle wire.

*** Motor

Anomaly ESC detected a sudden interruption of the

motor’s rotation.

- * Over

- Current ESC detected operating currents that exceed

the cutoff value.

- ** AUX Wire

Glitch ESC detected unusual signals or loss of signal

on the AUX line.CL 2

- 4

11 

## Table 4

. Pixhawk LED Codes

LED Status Meaning

Flashing Red &

Blue Initializing

Double Flashing

Yellow Error. System refuses to arm

Flashing Blue Disarmed, searching for GPS.

Flashing Green Disarmed, GPS lock acquired.

Ready to arm

Solid Blue Armed without GPS lock. Do not

fly

Solid Green Armed with GPS lock. Ready to fly

Solid Red Failed to boot or read the microSD

card

Flashing Yellow RC failsaf e or battery failsafe

activated

Flashing Yellow

& Blue GPS g litch or GPS failsafe activated



## Table 5

. Telemetry Radio LED Codes

LED Status Meaning

Blinking Green Searching for another radio.

Solid Green Link has been established with

another radio.

Blinking Red Transmitting Data.

Solid Red In firmware update Mode.CL 2

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12 

## Table 6

. Camera Information

Mode Setting

Shooting Mode Shutter Priority

ISO Speed (Sensor Sensitivity) Auto

Aperture (Depth of Field) Auto

Shutter Speed (Exposure) 1/25 00 second.

White Balance Daytime, Cloudy, or Auto. Select

the appropriate white balance

based on current lighting

conditions.

Dynamic Range Optimization

(DRO) Low Level or Off

. The DRO

function analyzes the contrast

and produces an image with

optimal brightness and recovered

shadow detail. Useful in low light

situations where long shadows

may obscure details.

High Dynamic Range (HDR) Off

Focus Mode Single

- shot AF

Focus Area Wide

LCD Screen Brightness As low as possible. Reducing LCD

brightness will increase camera

battery life. This is essential for

long photomapping flights.

Auto Exposure Lock (AEL) On

Camera Image

Width

(Pix) Image

Height Sensor

Width

(mm) Sensor

Height Focal

Length

(MM)

Canon EOS M 5184 3456 22.3 14.9 22

Sony NEX

- 7 6000 4000 23.5 15.6 20

Sony a5100 6000 4000 23.5 15.6 20

Sony Alpha 7R 7360 4912 35.9 24 35CL 2

- 4

13 

## Figure 1

. GCS Comms Failure FlowchartCL 2

- 4

14 

## Figure 2

. Battery Discharge GraphCL 2

- 4

15 

## PERFORMANCE DATA

General

Wingspan 2.3 m

Propulsion Electric

Empty Weight 2.0 kg

Battery 1.3 kg

Payload .7 kg

Maximum Gross Takeoff Weight 4.0 kg

C enter of Gravity Limits

- 6.0 to

- 9.5 cm (center wing leading

edge datum)

Performance

Cruise Speed 16 m/s

Never Exceed Speed (V

NE ) 22 m/s

Stall Speed 9 m/s

Endurance 180 min (with a5100 payload)

Range 1.5 km (approx.)

Takeoff

Takeoff Method Hand launch

Auto Takeoff Climb Angle 20 degrees

Distance to clear 18 meter obstacle 40 m (with 5 m/s headwind)

Distance to clear 50 meter obstacle 100 m (with 5 m/s headwind)

Landing

Landing Method Belly land or vertical deep

- stall

Electrical

Low Battery Voltage 19.8 volts (3.3v per cell)

ESC Cutoff Voltage 18.0 volts (3.0v per cell)

Battery Charge Limit 1C

Battery Discharge Limit 3C continuous, 6C burst (<15

seconds) Safety Pilot Frequency 2.4 GHz

Telemetry Frequency 915 MHz

Environmental

Wind Limitation 8 m/s gusting to 1 2 m/s (15

- 2 5

knots)

Precipitation none

Prohibited Maneuvers :

 Launch or landing with any tailwind , including

deep

- stall

 Flight into known icing conditions

 Flight into visible moisture

 Flight beyond Safety Pilot’s visual line

- of

- sight

(LOS)CL 2

- 4

16 

## NotesCL 2

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17 

## Notes