UAS Users Manual version 1 March 20, 2015

497 Lake Ave

. + Santa Cruz, CA 95062 + phone: 888.467.6688 + www.inspectools.com 

# UAS User ’ s Manual

Note: this manual does not replace flight training for this unit



## Introduction to the ITX8

The ITX8 (InspecTools

- X

- 8) copter is a robust multi

- purpose aerial imaging platform. The ITX8 features

a n “X” style frame with 8 co

- axial and counter

- rotating motors/props

. This provides for a powerful system in a relatively small package with a significant level of redundancy a nd safety. This UAS features a modular assembly architecture

, which allows for rapid re

- configuration, and ease of maintenance and repairs. Cameras and other equipment can be mounted on top or bottom, different batteries can be used, and various safety features can be easily implemented.2

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## General Spec ifications

Vehicle Dimensions: 775mm x 775mm x 150mm

Vehicle Empty Weight: 2.5kg

Maximum Take

- Off Weight : 5.5 kg

Maximum Airspeed 20m/s

Maximum Operating Altitude (ASL) : 3 0 0 0m

Maximum Range: 25 km total flight path length

Maximum Flight Duration : 30 min



## Operational Limits

Maximum Operating Altitude (ASL) 3000m

Maximum Operating Altitude (AGL) Altitude limit setting enforced by flight

controller

Ambient Temperature Limits 0

- 40c

Maximum Winds (sustained/gust) 10m/ s / 14m/s

Weather No operations in anything more than a very light fog/clouds.

Maximum Control Link Range 1km

Maximum Telemetry Link
Range 1km

Maximum Video Link Range 1km

Maximum Operational Range Range limit setting enforced by flight

controller3

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## Table of Contents

Component Specifications

................................ ................................ ................................ ............................ 4

Major System Component Descriptions & Sources

................................ ................................ ...................... 5

UAS Component Diagrams

................................ ................................ ................................ ............................ 6

Figure 1. UAS Front View

................................ ................................ ................................ .......................... 6

Figure 2. UAS Left Side View

................................ ................................ ................................ ..................... 6

Figure 3. UAS Top View

................................ ................................ ................................ ............................. 7

Figure 4. UAS Back Left Isometric View

................................ ................................ ................................ .... 8

Figure 5. UAS Close

- Up View (with Top removed)

................................ ................................ ................... 8

System Setup

................................ ................................ ................................ ................................ ................ 9

Rotorcraft Assem bly

................................ ................................ ................................ ................................ .. 9

Ground Control Station Setup (Optional)

................................ ................................ ................................ . 9

Power Management

................................ ................................ ................................ ................................ ... 10

ITX8 Rotorcraft Battery and Charging

................................ ................................ ................................ ..... 10

Radio Control Transmitter Battery

................................ ................................ ................................ .......... 10

Ground Control Station Charging

................................ ................................ ................................ ............ 10

FPV Monitor Charging

................................ ................................ ................................ ............................. 10

Powering the ITX8 Rotorcraft

................................ ................................ ................................ ..................... 11

Connecting to a Ground Control Station

................................ ................................ ................................ .... 11

Flight Basics

................................ ................................ ................................ ................................ ................. 11

To ensure safe and successful flying, always fly in accordance with your applicable regulations and best
operating practices.

................................ ................................ ................................ ................................ .... 12

Propeller safety

................................ ................................ ................................ ................................ ....... 12

Operational limits

................................ ................................ ................................ ................................ ... 12

Controls

................................ ................................ ................................ ................................ ....................... 13

Modes

................................ ................................ ................................ ................................ ..................... 16

Failsafes

................................ ................................ ................................ ................................ ................... 19

Flight Procedures

................................ ................................ ................................ ................................ .... 20

Troubleshooting

................................ ................................ ............................. Error! Bookmark not defined.

Maintenance

................................ ................................ ................................ ................................ ............... 22

Schedule

................................ ................................ ................................ ................................ ...................... 22

Glossary

................................ ................................ ................................ ................................ ....................... 234

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## Component Specifications

Battery: 6S 22.2 5000 mAh (qty. 2) Battery Dimensions: 6.6 in x 2.6 in x 1.4 in (16.7 cm x 6.5 cm x 3.5 cm) Battery Weight: 540 g Autopilot hardware: 32 bit microcontroller, dual 6DOF IMU, barometer, 3D magnetic compass.
GPS: GPS with c oncurrent reception of GPS/QZSS, GLONASS,

BeiDou
Ground Control Station Radio: FHSS 915 MHz

Motors: 3110 700kv
Frame Type: X 8 Propellers: 12x4 Carbon Fiber5

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## Major System Component Descriptions & Sources

Radio Transmitter: Digital Telemetry Radio System

Radio Receiver: D igital Telemetry Radio Receiver

Flight Controller: Advanced UAV Flight Controller

Ground Control Station Hardware: Hosts the Ground Control System software

Ground Control Station Software: Configures, monitors, and records all Flight Con troller parameters and

data

Telemetry Radio: Provides telemetry radio link between UAV and GCS

FPV Monitor: Provides a live First Person View (FPV) from the cameras and is overlaid with a HUD displayin g real

- time telemetry

Motor: Commercial grade, MTBF rated

Motor Controller: Hi

- Speed custom firmware

Props: 12”x4” Carbon Fiber

Flight Pack Batteries : 6s 4 500m Ah

Flight Pack Charger: D ual 400 Watt charger6

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## UAS Component Diagrams

Figure 1. UAS Front View

Figure 2. UAS Left Side View



## Forward FPV Camera

Batteries

Landing Gear

GPS Antenna7

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Perimeter Frame 10mm Stub

6mm Perimeter Frame8

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Figure 5. UAS Close

- Up View (with Top removed) UAV Controller

X8R Receiver

Buzzer Arming Button

Telemetry Radio Status LED9

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## System Setup

The ITX8 system is packed in a pair of airline

- legal rugged case s

. The UAS itself is packed into a large

“checked

- baggage” size case. The charger, batteries and other accessories are packed in a “carry

- on”

size case.

Rotorcraft Assembly



### 1. Install Legs

Remove the ITX8 from the case and carefully set it upside

- down on a padded surface. Remove the fasteners from each leg mount, insert each leg into its specified mount and then secure with the

fasteners. Insert the correct plugs into each Video Transmitter ( vTx ) attached to the Legs

.

2. Install Perimeter Frame

Ins ert each perimeter frame 10mm stub into a motor mount. Tighten the motor mount fasteners until “snug”.

Install the corner piece onto the 10mm stub.

Insert the Perimeter Frame 6mm carbon tubes between a ll corner pieces.

3. Attach propellers:

The ITX8 uses both Left (CCW) and Right (CW) oriented propellers. These labels can be found on the individual propeller. See the diagram below for which motors require L or R propellers. E ach propeller

has two fasteners

, be careful not to strip or over

- tighten. Nicely snugged is all that’s required. Triple

check the direction and orientation.

4. Extend /Mount and Align Antenna s

Extend the GPS Antenna and align the telemetry and video antennas as shown in Figures 1,2 and 5 on

page s 7 and 9

.

Ground Control Station Setup (Optional)

The Ground Control Station ( GCS ) is a laptop or tablet running a c ompatible mission control application.
In the field, a Ground Control Station helps you monitor the ITX8 durin g flight, plan missions, and troubleshoot issues. We recommend using a Ground Control Station at all times with the ITX8

.

Important Note a bout Vehicle Setup in Mission Planner and Mission Planner:

Your ITX8 has been pre

- configured at the factory an d is ready to fly. Re

- calibrating the system or changing and parameters, can adversely affect the performance and behavior of your UAS

.10

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## Power Management

The ITX8 is powered by a rechargeable L ithium P olymer (LiPo) battery. Flights of up to 30 minutes are possible depending on payload, environmental conditions, and flying style. Flying aggressively or in high winds can affect power consumption and reduce flight time. Monitor power consumption using the

data on the FPV Monitor or Ground Control Station

.

Periodically check flight pack voltage while flying. The “low voltage alarm” will display on the GCS and

HUD if the main flight pack goes below 21V (3.5V/cell). If you go below 3.5V/cell or the voltage ever
begins to drop rapidly, land immediately.

When th e battery reaches the low voltage limit ( 20.5v )

, the ITX8 will initiate a low battery failsafe and land automatically

.

ITX8 Rotorcraft Battery and Charging

Refer to the Battery Charger Manual for detailed operating instructions.

Charger should be set to ba lance charge mode, 6 cells, and 20Amp charge current. Plug in the battery

and hold down the start button. If a battery is to be re

- used immediately, it should be charged while

warm . A charge rate of 1c is preferred, but up to 5c is acceptable if required. Verify the chargers have adequate input power and good connections , make sure the charge power source does not run out of power or take damage from the high current requirements ( < =60A).

Batteries should not be stored at full charge. If a battery will not be used within the next week or so, you can leave it at “Storage Voltage”, which is anywhere between 20%

- 50% capacity

.
Following these steps will help to increase battery health and overall cycle

- life.

Monitor ing the amount of charge a battery takes, combined with the flight termination voltage will give a good indication of battery health.

Radio Control Transmitter Battery

The controller is powered by its own battery and capable of running for over 12 hour s strai ght . The controller’s data display allows you to monitor the voltage of the controller. When fully charged, the
controller will display around 8 V; when completely out of charge, the controller will display around 6 V. Charge the batter y pursuant to the tran smitter manual when the controller displays 6.5 V. See t he

Controller manual for more information.

Ground Control Station Charging

Verify the Ground Control Station is fully charged at the start of any operation . The GCS can operate for

several hours on bat tery power alone. By turning off the display whenever possible this can be stretched to almost 10 hours. Plug into auxiliary power as required if more time is needed.

FPV Monitor Charging11

497 Lake Ave

. + Santa Cruz, CA 95062 + phone: 888.467.6688 + www.inspectools.com The FPV monitors have their own internal battery capable of running the unit for several hours. However, due to the critical nature of this system, we highly recommend the use of an auxiliary battery

to be used at all times. More information on chargin g the FPV Monitor can be found in the included

manual.

Status Indicator

s

Refer to UAV documentation for location and description of flight controller status indicators.



## Powering the ITX8 Rotorcraft

Follow these steps to power the ITX8 in preparation for flight

.

1. S ecure the battery to the underside of the vehicle using the velcro straps.

2. Turn on the controller. Verify it has passed all pre

- flight check s and is transmitting. Verify the

transmitter is charged and the throttle is at minimum

. Always turn the controller on first and off

last.

3. Connect the yellow connector on the b attery with the yellow connector on the ITX8 ; this will power on the ITX8 . Keep the ITX8 still and level while it powers on and initializes the sensors. Check the status LED; when it displays blinking blue, the sensors have completed initialization and you can move the ITX8

. 4. Verify GPS status via the FPV Monitor and/or GCS. You will need at least 8 satellites to achieve a

3D positional lock and fly in GPS assisted modes.



## Connecting to a Ground Control Station

1. To connect the ITX8 to the Ground Control Stati on , start the Mission Planner application on the

GCS tablet.

2. Verify the telemetry radio is plugged in and the correct serial port is selected and baud rate is

set to 57600 in the Mission Planner software, and click “connect”.

3. Verify the parameter download completes and the GCS is now receiving live telemetry data.

4. Fly mission per work instruction.

5. Make sure to click “disconnect” at the end of the flight to ensure the telemetry log file is saved
properly.



## Flight Basics

Before you fly, determine the boundar ies of your safe flying area. If the ITX8 moves outside the designated area or exhibits instability in flight, switch to “stabilize” mode and land the ITX8 manually.12

497 Lake Ave

. + Santa Cruz, CA 95062 + phone: 888.467.6688 + www.inspectools.com The ITX8 will not avoid obstacles on its own, including during missions. As the operator, it’s your job to recognize and avoid obstructions while flying. Always be ready to regain manual control of the ITX8 in

the event of an unsafe situation.

Propeller safety

Spinning propellers can cause serious injury. The arming button indicates the status of the motors to help you p revent hazardous contact with the ITX8 ’s propellers.

When the ITX8 is powered on, the arming b utton will blink red, indicating that the motors are ina ctive and the propellers are safe to handle.

Operati onal limits

Always fly within the ITX8 ’s O perat ional L imits as specified

. 

### To ensure safe and successful flying, always fly in accordance with your applicable

regulations and best operating practices.13

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## Controls

Maneuver the ITX8 in flight usin g the controller’s two joysticks.

Throttle

Move the left stick vertically to control altitude.

Lower the throttle
stick below center to
decrease altitude. Set the throttle stick
to center to maintain the current altitude.

Set the throttle stick fully down to land
once the ITX8 is a few
inches above the ground. To take off and to gain altitude, raise the throttle stick slightly above center position.14

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Move the left stick horizontally to rotate the ITX8 and change orientation. For a slow rotation, move the stick slightly away from the center in either direction. Moving the

stick farthe r from the center creates a faster rotation.

Move the sti ck to
the left to rotate
counterclockwise.

Move the stick to the right to
rotate clockwise. left stick

Release the stick to stop rotating and
maintain the current

orientation.15

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The right stick allows you to control the ITX8 ’s position in the air. Move the right stick to tell the ITX8 to move in that direction: forward (toward the blue arms), back (toward the black arms), left (toward the left arms), or right (towards the right arms). How far you move the stick from the center before releasing it tells the ITX8 how fast to move.

Mo ve the right
stick forward to fly forward.

Move the right stick back to fly
backward.

Move the right stick left to fly
left.

Move the right stick right to fly right.16

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The ITX8 moves according to its orientation. The blue arms face forward, and the black arms face backward. Before using the right stick, use yaw to keep the ITX8 facing in outward orientation so that the black arms face towards you and the blue arms and face away from you.

Modes

To avoid sudden changes in altitude, set the throttle stick to center position

before switching modes, including in the event of a GPS failsafe. See page 20 for

more information about failsafes. Standard (altitude hold mode)
STD

fly manually

Start your flight in standard to select altitude hold mode, and fly manually using the controller.

Loiter mode
LTR

hover

Select loiter to hover in place automatically. Use the controller to adjust the ITX8’s position then release the sticks to hold that position. Loiter is a great way for beginners to learn how to fly! If you’re new to flying, start your first flight in loiter instead of standard. mode switch

The ITX8 includes three flight modes: manual flight ( STD

- altitude hold), hover mode (LTR

- loiter), and mission flight (AUTO). Use the switch on the right side of the controller to select a fl ight mode.17

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AUTO

fly a mission

Select auto mode to fly an autonomous mission. The ITX8 will automatically fly the series of waypoints saved to the autopilot. See the Missions section on page 28 for instructions on planning and flying missions.

Gimbal control

TILT

tilt the c amera up and down

Connect a Tarot Gimbal (sold separately), and use the TILT knob to control the angle of the camera in flight. Visit 3DR.com/ITX8/info for instructions.

Land
CH 7

land at the current position

Set the CH 7 switch to ON to end your flight and land at the current position. Once you activate land, set the throttle stick fully down, and the ITX8 will auto

- matically disarm after landing. The ITX8 will not disarm automatically unless the
t hrottle stick is set fully down.

Reposition during landing: During landing, use the right stick on the controller to adjust the ITX8’s position. Do not activate auto mode unless you have saved a mission to the ITX8 using a Ground Control Station application.18

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land at the launch point

Set the Return to Landing ( RTL ) switch to ON to end your flight and return the ITX8 to the launch point automatically. Once you activate RTL, set the throttle stick fully down, and the ITX8 will automatically disarm after landing. The ITX8 will not disarm automatically unless the throttle stick is set fully down.

Ensure that the RTL switch is set to OFF before takeoff.

When commanded to RTL, the ITX8 will:

(1) Achieve minimum altitude of 15 m (50 ft) or maintain current altitude if above 15 m.
(2) Move to launch point and loiter for 5 seconds.
(3) Land at launch point. Wait a few seconds and disarm automatically.

(1) 15 meters (2) hover 5 seconds

Reposition during landing: During landing, use the right stick on the controller to adjust the ITX8 ’s
position.

RTL returns the ITX8 to the location where it was armed. Always arm the ITX8 at a safe,

unobstructed launch point. (3) land at launch point19

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The ITX8 is programmed with a set of failsafe behaviors to prevent a crash in the event of a loss of one of the data or communication channels required for flight. Although certain failsafes have assigned status indicators and tones, it is unlikely that you will b e able to

see /hear these at a distance. Monitor the Ground Control Station for failsafe indications. If a failsafe is triggered, the assigned behavior will activate. To override the failsafe behavior, use the controller to switch to standard mode and regai n manual control.

Radio Controller Signal Failsafe

Physical obstructions and interference from nearby wireless signals can affect the ITX8 ’s

connection with the controller.

If the ITX8 loses contact with the controller, it will return to the launch point automatically and land, indicated by a blinking yellow status LED.

L ow Battery Failsafe

Environmental conditions, payload, and flying style can affect power consumption. Use the controller’s flight data display to monitor the voltage of the battery during flight.

If the battery reaches 2 0 .5 V, the ITX8 will land automatically at the current position, indicated by a blinking yellow status LED and a quick repeating tone.

GPS Failsafe

The ITX8 requires GPS lock before takeoff. Enclosed areas, physical obstructions, and lack of available satellites can affect GPS strength. If the ITX8 loses GPS lock in flight, it will trigger a GPS failsafe, indicated by a blinking blue and yellow LED with a hig h

- high

high

- low tone, and automatically switch to manual control (standard

- altitude hold mode). Always be prepared to regain manual control at any time while flying and choose an unobstructed flying area to improve GPS signal strength.

Altitude Failsafe

The ITX8 has a 1 0 0 m (328ft) altitude geofence enable d by default. The ITX8 will not breach the geofence.

Range Failsafe

The ITX8 has a 10 00 m ( 3280 ft) horizontal geofence enabled by default. The range

failsafe will be disabled in the event of a GPS failsa fe.20

497 Lake Ave

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Pre

- Flight

Ensure compliance with th e “pre

- flight checklist” prior to take off:

1. Propellers are attached tightly to the motor s in the correct order and the GPS mast is oriented vertically.

2. The ITX8 is powered with the battery secured t o the underside of the vehicle. Ensure the ITX8

remains stil l and level while the sensors initialize.

3. The controller is set to standard ( Stable ) mode

. 4. The status LED displays blinking green, indicating that the ITX8 has acquired GPS lock. This can take a

few min utes depending on your flying location.

5. Verify flight pack is fully charged.

6. The ITX8 is situated at a safe, unobstructed lau nch point, facing away from you.

Arm

After completing the checklist, you’re ready to fly! Arming and disarming are important steps that must be completed before takeoff and after landing. There are two steps to arming the ITX8 : the safety

button and the controller.

1. Press and hold the armin g button until it displays solid red. This indicates that the ITX8 is now active.

Stand back! Arming button indicators should transition from the first pattern to the second:

Motors inactive, safe to handle

Motors active, deactivate before handling

2. To arm the motors, hold the left stick down/right until the motors spin as indicated below:

Controller left stick: arming position

The arming and disarming procedures ensure that you can safety start and stop motors without risk of injury. The ITX8 ’s motors will spin when armed! Make sure the propellers are clear of any obstructions, including your hands, before arming. Do not handle the propellers or pick up the ITX8 while the safety button is active (solid red).21

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Landing in stable mode is preferred. If you end your flight using the RTL, the ITX8 will disarm automatically; wait for the motors to sto p, and proceed to powering off.

Disarm

For manual landing in standard or loiter mode , follow the two steps :

(1) Press and ho ld the safety button until it blinks red. The motors are now inactive,

Motors inactive, safe to handle

Motors active, deactivate before handling

(2) To disarm the motors, hold the left stick down/left until the motors stop

, and the ITX8 is safe to

handle.

Do not handle the propellers or pick up the copter while the safety button is active

(solid red). Remember to disconnect the battery before turning off the controller when powering off.22

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## Maintenance

Schedule

Daily

 Check all wiring

 Check frame

 Check motor/props

Every 100 hours or less

 Inspect/Clean Motors

 Disassemble, inspect and clean airframe and components

Every 1000 hours

 Return for factory inspection

Contact Inspectools following any incidents or other maintenance questions23

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## Glossary

AGL: Above Ground Level

ASL: Above Sea Level

ATC: Air Traffic Control

COA: Certificate of Authorization: Permission granted by the FAA to operate a UAS within specified

parameters.

FOV: Field of View

FPV: First Pe rson View

GCS: Ground Control Station

GPS: Global Positioning System

HUD: Heads Up Display

IMU: Inertial Measurement Unit

ITX8 = InspecTools X

- copter 8

- motors

LZ: Landing Zone

M/S: meters per second

NAS: National Airspace System

NOTAMS: Notices to Airmen

OS: Operating Systems

PIC: Pilot in Command

PPE: Personal Protective Equipment

PV: Photo Voltaic

RC: Radio Control

RTL: Return To Landing

SN: Serial Number

UAS : Unmanned Aerial System

VLOS: Visual Line of Sight

VMC: Visual Meteorological Condition