# UNMAN ED SYSTEMS



# E384 

# Operations Manual

# UNMAN ED SYSTEMS 

# Table of Contents Setup Getting Started Charging the Batteries TelemetryConnection Adjusting Declination Firmware Download Assembly Tail Asembly Wing Asembly Propeller Assembly Camera & Battery Installation Mission Planning Mission Planning Overview Part 1 Mission Planning Overview Part 2 AutoTakeoff FBWATakeoff Planning a Mapping Mission Auto Land FBWA Land Geotagging Utility Part 1 Geotagging Utility Part 2 E384 Operations Transmitter modes NX1100 Operations Part 1 NX1100 Operations Part 2 S110 Operations Part 1 S110 Operations Part 2 E384 Procedures Pre-Field Checklist PreflightChecklist Flight Procedure Summary Flight Procedure Summary Part 2 

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# UNMANNED SYSTEMS 

# Getting Started The following pages will act as a guide through the E384 experience, and serve as an importanttoolthroughout its continued use. Ifquestions or suggestions arise, do not hesitate to contact us for a quick resolution. All E384 users must download E38 Mission Planner found through the following link-- https://www.event38.com/Articles.asp?ID=270

Ifyou are located beyond the USA start with Firmware Download.

Ifyou are in the USA follow through to Charging the Batteries.

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# UNMANNED SYSTEMS 

# Chargingthe Batteries Step 1: To charge your batteries, plug in your battery charger and add the banana to XT-60 cable on the right side as shown in the picture below.



### Step 2: To charge the 8000mAh battery, plug it directly intothe XT60-banana plugthat is connected to the charger. Plug the balancer into the corresponding terminal.



### Step3: Plug the power cord into the left side ofthe charger. 

### Step 4: If LiPo charge is not selected when you power on the charger press the BattType (the left-most button) until itsays LiPo then press the start button on the far right.


### Step 5: After selecting LiPo pressing the start button again will allowyou to change the amps
. Change this according to the batteryyou are charging by going left or right usingthe two buttons in between Batt Type and Start. Charge the 8000mAh battery at 6.0A.


### Step 6: After selecting the correct amount ofamps, press start again. This will allowyou to change the number ofcells. The 8000mAh battery is labeled a 4 cell battery, so charge it at 45.



### Step 7: After choosing the proper amps and cells hold the start button. Then after the battery check press start again to startthe charge

. When the battery is full the charger will beep.



### 2

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# Telemetry Conection Step 1: To connect we will first power on the transmitter, followed by the aircraft. We will allow ten seconds or so forthe aircraftto initialize. 

### Step 2: Plug in the cable from your ground side telemetry system to the computer. Ifyou are usingthe RFD900 make sure pin one receives the black wire from the FTDI cable.

Ifyou have the old style 433 make sure the black wire goes to the GND pin.



## -------.

The new style 3DR telemetry systems simply connect with a MicroUSB cable. 

### Step 3: Open Mission Planner and choose the Com Port that comes up when plugging in the telemetry (it may take afew minutes forthe Com Port to show up). Set baud rate to 57600.



### Step 4: Press Connect and you should have your wireless connection.



### 3

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# Adjusting Declination The Earth's magnetic field varies significantly depending on your location relative to the poles. To adjustfor the offset in your location, we'll change the magnetic declination parameter untilthe heading shown on Mission Planner matches the heading ofyour plane 

### Step 1: Power on the R/C Transmitter then power on the E384. (This should be done with the battery, wings, and other components installed and ready forflight.) Be sure notto set the E384 near any large metallic objects as the compass is very sensitive and can be affected by local magnetic disturbances. Once initialized, set it on the ground at a known heading. it can be any direction as long as it's known. If no directions are known for certain, you can use visual cues thatwould be visible on Google Earth. For example, you can pointthe nose to be perpendicularto your street or parallel with the edge ofyour house. 

### Step 2: Connect to the E384 by telemetry in Mission Planner. Once connected, you'll see an airplane icon at roughly your current location. Ifyou're inside, you may need to go near a window or putthe E384 outside in order to get a GPS fix. There will be a red line emerging straightforward from the icon, that is the direction the autopilotthinks it'sfacing. Knowing the real direction, we can now adjust and iterate the magnetic declination until the red line is pointing in the same direction we know the E384 to be pointing. 

### Step3: Take a mental note ofapproximately how many degrees offthe true direction the red line is pointing. Now click on Initial Setup-> Mandatory Hardware-> Compass 

### Step 3: Ifthe red line was counterclockwise ofthe true direction, add the approximate number ofdegrees you noted before to the current value, type that in and then switch back to Flight Data. Wait at least 30 seconds between iterations, ittakes some time forthe direction to update. Ifthe red line was spun clockwise relative to the true direction, subtract. Negative values are ok butthey should not exceed 180 degrees in either direction. 

### Example: Initialsetting, I've setthe E384 down lining up with the edge of my building.

Now after adding 45 degrees to the declination value, it'svery close to parallel with the edge. I'll make one more adjustmentfor another 2-3 degrees butthis is close enough already. Aim to be within 5 degrees ofthe true heading.



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# UNMANNED SYSTEMS 

# Firmware Download For customers outside ofthe USA, firmware must be loaded onto the E384. 

### Step 1: Go to the below link to download the E384 firmware below. http://event38.wikispaces.com

### IFirmware+Download 

### Step 2: Plug the microUSB cable connected to the computer into the autopilot. 

### Step3: Open Mission Planner. Go to Initial Setup» Install Firmware.



### Step 4: Follow the steps given to download the E384 Firmware
.



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# Tail Assembly Step 1: Fit the elevator on top ofthe tail, and slide the elevatortoward the rudder

.



### Step 2: Connect the servo lead on the elevator to the servo extension.



### Step3: Take the servo wires from the tail and place them into the body ofthe E384. 

### Step 4: Push the carbon rod allthe way intothe body, the notches on the rod will catch on the orange tube at the furthest point

. 

### Step 5: Tighten the three screws on the body to keep the tailtightly in place



### Step 6: Fish the elevator and rudder cables through the hole on the top and connect the elevatorto output channel2 and the rudder to output channel4. Be sure the top pin receives the black wire on your Pixhawk.



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# UNMANNED SYSTEMS 

# Wing Assembly Step 1: Slide the rod into one wing, and then the other.



### Step 2: Connect the servo wires to the splitter originatingfrom main out channel one on the Pixhawk, eitherwing can go into either side ofthe splitter. 

### Step3: Fit the wings intothe body, avoid squeezing the servo wires in between the wings and the body. 

### Step 4: Attach rubber bands as follows

... (Use two rubber bands for safety.)



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# PropellerAssembly Step 1: Place the propeller on to the boltwith the lettering on the propellerfacing the motor.



### Step 2: Place the washer on the bolt. Make sure the side ofthe washer with the larger face is against the propeller.



### Step3: Then, tighten the nutto boltvery tightly securing the propeller and washer. Ifthis bolt is too loose the propeller may fall offduring aflight.



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# UNMANNED SYSTEMS 

# Installing Camera 

# & Batteries Step 1: Place the battery into the plane, after checking the center ofgravity you may need to adjustthe location ofthe batteries

.



### Step 2: Insertthe camera. 

### Step 3: Attach the nose hatch

. 

### Step 4: Check the center ofgravity by putting afinger on each wing atthe rear ofthe Styrofoam insert underthe wings and making sure it is level or 5 degrees nose down at most. The red line in the following picture shows the proper center ofgravity.



### Step 5: Ifthe center ofgravity is off, correct this by moving the battery forward or backward on the velcro and then re-check the center ofgravity

.



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# UNMANNED SYSTEMS 

# Mission Planning Options
The E384 is fully capable of performingfully autonomous missions. When using the E384, fully manual (FBW-A) flight is also an option

.The E384 can use combination of manual (FBW-A) flight and autonomous flight. Examining the flight options will allow the user to choose the best solution for the intended use. --The discussion begins with afully autonomous mission. -The Ground Station Manager plans a mission with an Auto TakeoffWP, a Land WP, and anything in between. The user in charge of physically throwingthe E384 (the "Launcher") will prepare himself, in a ready-to-launch position. The Ground Station Manager will change the mode to AUTO (either using the transmitter, or using the ground station computer)

.The Ground Station Manager will communicate to the Launcher ofthe mode change. The Launcher launches the E384 firmly at about a 15 degree angle into a headwind. The E384 realizes it has been launched and begins turningthe motor. The E384 begins gaining altitude until it has reached the takeoffaltitude. The E384 proceeds by travelingto the next WP. It continues through the WPs until it has reached the final WP, the Land WP. The E384 touches down. The E384 Flight Crew briefly celebrates another successful collection ofdata. One member ofthe E384 Flight Crew travels to the E384. The member disconnects the batteryfor safe transportation. The advantage ofthe fully autonomous flight is apparent. Minimal user input is needed, as the E384 takes care of itself. It is importantto discuss furtherthe Auto Takeoff and Auto Land process. -Auto Takeoffwill be perfect, so long as the Launcher launches the E384 withouttoo much error. Errors can be seen ifthe E384 is launched with a large bank angle. Errors can be seen ifthe E384 is launched with a pitch angle that is too great or notgreat enough. Errors can be seen ifthe E384 is not launched strongly enough, or ifthe E384 is thrown downwind. The E384 should by gliding out ofthe users hand. While the E384's Auto Takeoff has room for errors, it is possible to have too many Launcher errors for a clean takeoff. -Auto Land is a usefultool. The Ground Station Manager sets WP's to reduce the altitude, followed by a Land WP. There are two aspects involved in Auto Land that should be realized. The first aspect is thatthe Ground Station Manager must be diligent. The Ground Station Manager must be sure to follow proper landing procedure to maintain a high probability ofsuccess. The second is thatthere are uncontrollable factors in play. Google Maps (or other "Maps") will not maintain perfectly accurate terrain. This means that it is importantto allow for a landing strip that offers some forgiveness. Anotherfactor of note is altitude. The altitude will not be perfect fortwo major reasons
.The E384 considers Om altitude to be that ofthe altitude where itwas given power. Ifthe landing strip is ofdifferent altitude than that ofthe start up altitude, it must be taken into account. The other altitude factor is the E384 altitude readings. There may be discrepancies between actual altitude and E384 altitude readings. The E384 could touch down before intended, or glide past the intended landingtarget. Again, it is importantto choose a landing strip that offers some forgiveness. %The user can take manual (FBW-A) control ofthe E384 at any time. The E384 mode will be switched to FBW-A and the pilotwill control the E384.% --Attention is turned toward afully manual (FBW-A) flight. -The Ground Station Manager may or may not have planned a mission. The Launcher prepares to throwthe E384. The Launcher communicates with the pilot until preparedness is reached. The Launcher throws the E384. The Pilot increases throttle and begins increasing altitude. The Pilot manually (FBW-A) controls the E384 at all times

.The Pilotflies in any manner deemed necessary. The Pilot brings the E384 down for a landing.



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# UNMANNED SYSTEMS 

# Mission Planning Options (Continued)
-While afully manual (FBW-A) flight will notyield data collection, it can increase the Pilot's flight skill. This may prove valuable in situations where a manual (FBW-A) takeoffor landing is ideal. -FBWA takeoffwill hold one advantage ifthe Pilot is skilled

.With a skilled Pilot, this will allowthe Launcher to commit more errors while stillfinding success. -FBWA landing holds an advantage ifthe Pilot is skilled. With a skilled Pilot the E384 may land more accurately. --Lastly, combination flight is discussed. -The E384 Flight Team may decide manual (FBW-A) flight is ideal in certain situations. The scenario considered is that of manual (FBW
-A) takeoff, automatic survey, followed by manual (FBW-A) landing. In this scenario the Pilot performs a manualtakeoff. After communicating with the rest ofthe Flight Crew, the E384 is placed into AUTO. The E384 flies the pre-programmed survey WPs. When the E384 completes the mission it will return to the area that itwas given power and proceed by circlingthat area at 100m altitude. The Pilot regains manual (FBW-A) controlwhen the mode is switched to FBW-A. This is done eitherfrom the ground station computer, orfrom the Pilot's transmitter. The Pilot maintains control and brings the E384 down for a landing. -All combinations of manual (FBW-A) and autonomous flight can be realized

. --In conclusion, the E384 can flyfully autonomously, fully manual (FBW-A), and a combination ofautonomous and manual (FBW-A) flight. With a skilled pilot atthe helm, the E384 can takeoffand land under harsher conditions than an automatic takeoffand automatic landing. Now that mission planning understanding has been increased, the stages offlight and the WP layout will be detailed.



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# Auto Takeoff Step 1: Enter the Flight Plan screen of Mission Planner

. Before setting any WP click the Add TakeoffWP button on the right

. Action ))

Add Polygon Clear Polygon Survey(Gnd) Bevetion Graph Cle!r Miss1on l.oad'"IP F1le**Sav ole**  AddT okecflWP 

### Step 2: When prompted, enter the desired takeoffaltitude. It is recommended thatyour takeoffaltitude equal that ofyour surveying altitude

.

•.. Altitude l__!!_j

Please enteryourlakeoffafi<ude
120 

# -- Step3: The next prompt will be pitch angle. It is recom- mended to set thisto 35.

The resulting WP will be shown underthe Waypoints bar
. Notice there will not be atakeoffWP visible on the map.

Proceed by constructing the Survey(Grid) portion ofthe Mission Planning. The TakeoffWP will initiate when the E384 is in AUTO and the ground speed is above 3 m/s (which suggest the E384 being launched)

. 

### Step 4: The Launcher should pickthe E384 up and hold it, fully prepared to launch. One hand is placed on the bottom ofthe fuselage nearthe camera opening to guide the throw. The other hand is the launching hand

. The launching hand is placed on the tail,with the index finger or more on the back ofthe tail. Never put body parts near the propeller when the battery is plugged in! The Launcher should communicate to the Ground Station Manager that he is prepared. The Ground Station Manager shallthen change the mode to Auto, using eitherthe RC transmitter orthe actions tab underthe HUD

.The Ground Station Manager confirms thatthe mode is Auto. The Launcher proceeds by launchingthe E384 firmly at an angle ofapproximately 15 degress. Always throw the E384 against the wind for best results

. When the E384 reads 3 m/s ground speed, the motor will begin rotating. The E384 will attemptto hold heading duringtakeoff

.When it reaches the takeoffaltitude itwillturn and travel to the second WP.

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