## 1 © 2014 Troy Built Models , Inc. All Rights Reserved

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# PILOT OPERATION HANDBOOK Roboflight RF70/Canon SL1 NDVI

Author: Gene Payson Revised: 1/ 1 /201 5

This book is offered in a format so that pilots can customize the checklists to their exact needs. Please print out this handbook, make notes while watching the video regarding the checklist, then change the wording and order to suit your needs. Then print out the revised form and laminate it in plastic. U se it every time you operate your aircraft. Keep the log books regarding the following:

1) Pilot flight time 2) Aircraft flight time 3) Aircraft maintenance and updates 4) Battery usage, date put into service, voltag e, mah vs time

Print out and make readily available the error message legend of various flashing lights. Know what to do without hesitation should you observe warnings.

Insurance is a must! Not only will it be expens ive to repair your aircraft in the eve nt of a n incident, if you injure bystanders or damage other people’s property you are liable for damages which could run into the millions of dollars. One insurance company which currently writes policies on sUAS is www.Transportrisk.com

Errors & Omissions should be sent to customerservice@troybuiltmodels.com . We will promptly update the POH for everyone to have the latest updates available.

C2 (Command & Control) Taranis Manual: http://www.open

- tx.org/2013/08/22/opentx

- frsky

- manual

- en/ and http://www.frsky

rc.com/download/view.php?sort=&down=108&file=Instruction%20Manual%20for%20Taranis%20X9D

Pixhawk Manual: http ://3drobotics.com/wp

- content/uploads/2014/03/pixhawk

- manual

- rev7.pdf

Mission Planner Manual: http://planner.ardupilot.com/wiki/common

- planning

- a

- missio n

- with

- waypoints

and

- events/

## 2 © 2014 Troy Built Models , Inc. All Rights Reserved

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# Roboflight RF70 KEY PARAMETERS

Typical Takeoff Weight: 11 lbs. Max Recommended Takeoff Weight: 1 3 lbs

.
Typical airborne battery: 3S Lip oly 12.6V max 16,000 mah 2 lbs

Flight Times using 90% of battery: 1 6 ,000 mah battery with camera : up to 40 min 2 1 ,000 mah battery with camera : up to 6 0 min

These time s are averages in our tests. Individual flight times will differ based on weight , average flight speed and various autopilot parameters

.
Typical camera system: Canon SL1 DSLR (can be converted to obtain imagery for NDVI conversion)

Training is provided by TBM at the TBM location in Sarasota, FL or at a customer’s location worldwide. Training time depends on client knowledge base. Having passed the FAA PPL written exam is encouraged prior to training with TBM. Usually 2

- 5 days of training are necessary.

## 3 © 2014 Troy Built Models , Inc. All Rights Reserved

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# Roboflight RF70 CHECKLISTS

NOTE: The following checklists should be modified by the end user as necessary for their specific operation, printed out, and used each time the RF70 is operated. A separate RF70 Flight Log Book is available.

Never operate near populated areas. Always have proper insurance.

 RF70 BENCH SET UP & TEST S

o Prop screws/ nuts are tight

o Props not chipped

o Batteries are secure

o Antennas are secure

o Wiring Tight

o Hatches secure

o No excessive flexing of fuselage or wings

o Center of gravity is correct

o Batteries charged. Replace any battery which cycles below 80% of rated capacity

 Laptop Battery

 Flight Batteries

 C2 Tx Battery

## 4 © 2014 Troy Built Models , Inc. All Rights Reserved

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 RF70 INVENTORY CHECKLIST

o Laptop bag

 Laptop

 maps loaded or bring hot spot

 Datalink , antenna & cable

 Logbook

o Aircraft Bag

 Fuse

 Wings

 4 winglets

 2 wing tubes

 Bungee

 Stake

 Hammer

o Camera Bag

 Camera

 SD card

 Intervalometer

 GPS, Extension, batteries charged

o Tool Box

 Volt Checker

 Batteries

 Charger, cables

 C2 Tx

 Spare parts

 T ools

 Hammer

o Canopy, Table, Chair

## 5 © 2014 Troy Built Models , Inc. All Rights Reserved

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 RF70 PREFLIGHT CHECKLIST

o Set up Location

– Secure; Full LOS

o Weather

o Wind

o LZ /Bungee (15 lbs. tension)

o Emergency LZ/High Risk Areas

o L aptop /D atalink

o Assemble RF70

o Flight battery: voltage; install

o A ntennas

o C 2 T x: 8.5v/full; 7.0v no fly ; 7 hrs flight time with 2,000 mah battery

o Model Selection ; RTL off; Manual;

o RF70 on ; green LED; Red flashing start button

o Connect (57,600)

o Verify telemetry; 12.4V

o Verify GPS 3D Fix

o Verify compass; Calibrate?

o Radio Link >95%

 MISSION PLANNER CHECKLIST

o Open Flight plan

o Set home point

o Draw Polygon

o Auto WPs

– Survey (Grid)

 Simple

 Grid Options

o Record Stats

 Camera

 Altitude

 Angle

 Flying Speed

 Overshoot

 Start From

 Overlap

 Sidelap

 Area:

 Distance:

 Distance between images

 Ground Resolution

 Pictures:

 No of Strips:

 Distance between lines:

 Flight Time (est): Hours

 Photo every (est): seconds

o Accept

o Save WP file

o Clear polygon

o Connect

## 6 © 2014 Troy Built Models , Inc. All Rights Reserved

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o Write WPs

o Verify RF70 map position

o Record .tel file name

o Record .log file name

o Open Flight Data

 TAKEOFF CHECKLIST

o Motor Spins Free ly

o Prop is tight

o Open Flight Data

o Verify Home point; start point

o RF70 start button On

– solid red

o FBW mode

o Flight controls check

o Stabilizer check

o Throttle Check

o Camera

– Intervalometer; lens cap; SD card; On ; Install

o CG

o Tx Timer

o Connect B ungee

o Full up elevator; No throttle

o Launch

- throttle up after bungee separation

o Circle to altitude ; half throttle

o Engage Autopilot

o Ensure first turn is accurate

– Problems?

- RTL

 IN FLIGHT CHECKLIST

o Monitor: Timer , Voltage 1 0 V min, flight path, RSSI

o Maintain LOS and below 400’ AGL

o Ready for emergency collision avoidance

- RTL

 LANDING CHECKLIST

o Note Battery Voltage

o LZ clear

o FBW mode

o Land

o Disarm

o Motor and speed control temps

o Record Stats

 Flight Duration

 Min

o Disconnect Flight Battery

o Logbooks

## 7 © 2014 Troy Built Models , Inc. All Rights Reserved

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 E RROR MESSAGES

o Yellow flashes on Pixhawk

 Throttle trim too low

 C2 link lost

o Excessive rocking/instability possible causes:

 Loose servo linkage

 Loose hinge

 Structure flexing from fatigue or cracks

 Fuselage

 Wing

 Prop damaged causing vibration

 Excessive wind speeds or gusts



###  Excessive Gains

## 8 © 2014 Troy Built Models , Inc. All Rights Reserved

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### TABLE OF CONTENTS

 Section 1: General

 Section 2: Limitations

 Section 3: Emergency Procedures

 Section 4: Normal Procedures

 Section 5: Performance

 Section 6: Weight and Balance/Equipment List

 Section 7: Air Vehicle and Systems Description

 Section 8: Handling, Service and Maintenance

 Section 9: Supplements

## 9 © 2014 Troy Built Models , Inc. All Rights Reserved

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### SECTION 1 GENERAL

NOTE : In an effort to minimize costs and maximize spare parts availability, many COTS (commercial off the shelf) components have been u tilized. Some may have slight modifications to better suit this application. Most COTS products have separate data sheets, assembly manuals and instruction manuals. They are reference in this document, with key factors being emphasized.

As with all high technology products utilizing constantly evolving software, it is important to periodically check for online upgrades to the COTS components, including h ardware, firmware and software.

WARNING: Great care must be taken with the batteries. Much of this man ual and supplemental information is devoted to the use and care of the batteries, especially the flight batteries. They are less volatile than gasoline, though they should be treated with the same respect. Become very familiar with proper techniques of the ir use.

 GENERAL CHARACTERISTICS

o Primary RF70 use is for capturing imagery for:

 Precision Agriculture

 ISR (Intelligence, Surveillance, and Reconnaissance)

 SAR (Search and Rescue)

 Surveying/Mapping

o Economical due to extensive use of COTS products

o Low to Medium Visual Signature dependent upon

 External lighting

 Exterior markings

o Primary construction materials

 High density Expanded Polyolefin ( EPO ) foam

 Carbon Fiber (CF) reinforcement rods

 CF wingtubes

 Coroplast

o Low Aural Signature

o Quick Launch and Recovery

o Short Training Period

o Simple Operation

o Rugged

o Small Runway Operation (200’)

o Waypoint Navigation

o Man Transportable

o Quick Repairs

o Safety Return to Home during lost link or manually

o High Degree of Mission Success

o GPS navigation aid

o Various sensors

o 1 4 lb max takeoff weight

o Operating Temp Range:

- 5°C to +60°C

## 10 © 2014 Troy Built Models , Inc. All Rights Reserved

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o Flight Modes:

 FBW (Fly By Wire

– Stabilized) Manual

 GPS aided waypoint navigation

 RTL (Return to Launch)

o Maximum Operating Altitude: 1000 meters

o Maximum Operation Wind Conditions: 10 m/s

o Pro pulsion Sy stem: LiPoly battery

o Takeoff: Manual or Automatic

o Landing: Manual or Automatic

 IMPORTANT DIMENSIONS

o Wingspan : 70 ”

o Length: 36”

o Height: 7”

o Bag for aircraft transport

 Size: Height: 20”, Width: 36” , Depth 15”

 Weight fully loaded with aircraft: 15 lbs.

o Size of case for auxiliary components

 Size: Height: 13”, Width: 18”, Depth 10”

 Weight fully loaded with all components: 18 lbs.

 IMPORTANT WEIGHT S

o Aircraft airframe only without electronics, payload, servos, etc.: < 4 lbs.

o Aircraft ready to fly without battery or payload : < 7 lbs.

o Aircraft battery options:

 3S 16,000mah: 2 lbs.

 3S 21.000 mah: 2 lb. 13 oz.

 3S 27,000 mah: 3 lb. 9 oz.

o Weight of Canon SL1, GPS, GPS extender, Intervalometer: < 2 lbs

o Weight with 3S 16,000mah battery, Canon camera and all accessories: < 11 lbs

o Maximum Recommended Takeoff Weight: < 14 lbs.

 ELECTRIC PROPULSION MOTOR

o Manufacturer: Various approved by TBM

o Number of motors : 1

o Model Number: RF Motor X

o Battery Rating: 3

- 4S

o Motor KV/RPM: 6 00

- 1000

o Motor max @ 12.6 V: 1 2
, 2 00 rpm

o Motor Max Power: 4 00 Watts

o Current Max: 35 amps

o Current Cruise: 1 5 amps

 PROPELLERS

o Manufacturer: Various approved by TBM

o Material: C omposite

## 11 © 2014 Troy Built Models , Inc. All Rights Reserved

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o Number of propellers: 1

o Propeller Type: Folding

o Pro peller model number: RF prop X

o Number of blades: 2

o Propeller Diameter: 1 1

- 14 ”

o Propeller Pitch (fixed): 6

- 8 ”

o Max rpm: 10 ,000 rpm

 ELECTRONIC SPEED CONTROLS

o M anufacturer: Castle Creations

o Number of electronic speed controls (ESC): 1

o Speed co ntrol model number: Phoenix Edge 50 or equivalent

o Rating in amps: 5 0 Amps continuous

o BEC voltage: 5 amps peak

o Programmable: Yes

 Normal parameters

 Brake Off

o See user manual for other specifications and user guide

 AUTOPILOT

o Manufacturer: 3D Robotics

o Autopilot Model Number: Pixhawk

o Components: Flight Controller (FC), GPS/Compass, LED Indicator Lighting System, Pitot, Volt/Amp meter

 TELEMETRY D ATA TRANSCEIVER

o 915 Mhz (USA) or 433 Mhz (Various Countries)

o Power Consumption: 1 W

o Operating Temp Range:

- 5°C to +60°C

 GROUND CONTOL STATION

o Laptop, Tablet, desktop

o Windows com patible

o Basic processing power

 GROUND CONTROL STATION SOFTWARE

o APM MissionPlanner

 Free

 Open Source

 DIGITAL WIRELESS COMMAND & CONTROL (C2 )LINK

o Manufacturer: FrSky

o Model Number: Taranis X9D or equivalent

o Frequenc ies :

 2.4 Ghz frequency hopping

o P ower Consumption Air : 1 watt

## 12 © 2014 Troy Built Models , Inc. All Rights Reserved

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o Power consumption Ground: 5 watts

o Ground Station battery: 2500 mah (8 hrs use)

o Usable Ra nge: < 2 km

 FLIGHT BATTERY

o Manufacturer s : Various suppliers approved by TBM

o Battery chemistry recommended: Lithium Polymer

o Battery Capacity: up to 30 ,000 mah

o Battery cell count required: 3 S ( 3 cells in series)

o Battery Voltage:

 No Load Fully Charged: 12.6 V

 Typical V drop at cruise vs. no load: 0.5V

 Typical low V under cruise loading requiring landing: 10.5V

 Typical low V under no load requiring landing: 3.67V/cell; 11.0V

o Battery Minimum Rated Discharge Rate: 20 C minimum

o Battery M inimum Charge Rate: 1 C (3C preferable)

o Battery Rest Time between discharging and charging: 5

- 15 minutes

o Batteries used simultaneously: typically 1

o Recommended Battery Discharge Amount: 80

- 90 %

FLIGHT PARAMETERS

o Flight Time: 4 0 minutes typical

o Payload Max: 4 lbs

. for sensor and ancillary sensor equipment

 WARNINGS

o Never power a video transmitter or receiver with out an antenna connected or overload failure will occur.

o Read all information regarding batteries contained in this manual and supplements.

o Batteries are highly flammable and can explode , especially when fully charged . Improper charging, vibration, impact, high discharge, etc. can lead to explosion and fire. Bat teries must be charged under constant supervision and using proper precautions.

o Batteries fully charged must be handled with extreme care.

o Batteries must not be stored above 6 0% charged state.

o Batteries must not be stored below 40% charged state.

o Store bat teries between 4 0%

- 6 0% charged state. Fully charge just before use.

o Fully charged batteries which are not to be used within 24 hours should be discharged to 4 0%

- 6 0% charged state.

o Discharging LiPoly batteries in excess of 80% of their rated capacity ca n cause harm to the batteries. Typically this results in reduced charge cycles.

o Using more than one battery at a time requires the proper wiring harness so th at the voltage is no more than 1 6 .8 V (4S battery)

. Typically a 3S 12.6V battery is used. The speed controller and motor are rated for 4S batteries. Ancillary lighting systems, etc. which use direct battery voltage may require the use of 3S batteries only. Check all systems before using a 4S battery. Over v oltage will cause serious damage to electrical equipment.

o Using a different battery that usual requires weight and balance checks. Proper CG is critical to performance. Airframe must not be overloaded.

o GPS/Compass must be facing forward for the autopilot a nd the sensor

.

## 13 © 2014 Troy Built Models , Inc. All Rights Reserved

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o Do not use fly without GPS lock.

o Use low strength thread locking compound on all metal to metal screws.

o Wireless Video and Data ranges vary considerably on many factors including weather, equipment, and obstructions. Be prepared for com failures.

## 14 © 2014 Troy Built Models , Inc. All Rights Reserved

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### SECTION 2 LIMITATIONS

 AIRSPEED LIMITATIONS

o Vne

– Velocity to Never Exceed: 2 5 m/s

o Va

– Typical Maneuvering Speed

– 18 m/s

o Vs

– Typical Stall Speed (weight dependent)

– 12 m/s

 POWER & POWERPLANT LIMITATIONS

o 40 Amps max burst (15 seconds) for the motor

o 5 0 Amps max continuous for the ESC

o Do not exceed 80

- 90 % discharge of rated battery capacity

o Do not charge batteries which are significantly warmer than air temperature

o Allow batteries to cool after use before charging

o Leave an air gap between bat teries when multiple batteries are used simultaneously

 WEIGHT LIMITS

o Takeoff Weight Max: 1 3 lbs

.

 Must be checked prior to takeoff if any change in equipment is made

 CENTER OF GRAVITY LIMITS

o The CG is located 3 3⁄4” plus or minus 1⁄4” behind the rear of the front wingtube.

 Must be checked before every flight to ensure batteries were installed in the proper location.

 MANEUVER LIMITS

o This aircraft is intended for non

- aerobatic operations

o G

- loading maximum: 2G

 TEMPERATURE LIMITS

o Operating Temp Range:

- 10°C to + 6 0°C

o In cold temperatures

 Keep IMU at room temperature if possible before the flight

 Keep Batteries a bove 5°C before flight

 Do not fly with any frost or ice on the propellers or aircraft

o In warm temperatures

 Batteries heat up when discharged , provide proper ventilation

 The higher the discharge rate the higher the temperature increase during use

 WEATHER LIMITS

o Light dust and light rain require the use of a shield for the electronics.

o High moisture will cause corrosion of exposed electrical connections. It is advisable to not operate in rain.

## 15 © 2014 Troy Built Models , Inc. All Rights Reserved

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 RANGE LIMITS

o FUEL

 Fuel capacity is a primary limiting factor.

 Flying into the wind will use more battery power to travel the same ground distance. Higher air speeds will be required to penetrate the w ind which used more battery power. Take this into account when flying a mission.

 Where possible, fly upwind at the start of a mission and downwind at the end to avoid depleting the battery before returning to base. Have alternative landing sites available in case of emergency landing.

o WIRELESS LINK

 Wireless links will be stable in LOS (line of sight) in most conditions

 Wireless links are always susceptible to shorter ranges due to

 Atmospheric conditions

 Other transmission devices in the area

 Jamming

 Antenn as not aligned properly

 Improper voltage

 Antenna blockage from AV in certain positions

 Multipath

– reflection off buildings or ground which cause multiple signals to arrive at different times and/or phase.

## 16 © 2014 Troy Built Models , Inc. All Rights Reserved

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### SECTION 3 EMERGENCY PROCEDURES

 MOTOR FAILURE

o Operation of control surfaces is usually possible with motor/ESC/propeller failure unless there is a major malfunction and possible fire.

o If there is a failure of the propulsion unit, if in Auto mode, it may be best to switch to RTL or FBW mode. Pilot sho uld decide quickly which is most appropriate action and take emergency action which is the safest for any humans and property.

 IN FLIGHT FAILURE S

o Communication failure is not critical to autopilot operation. The aircraft is capable of carrying out its mi ssion without communication with the ground control station. If communication link happens for an extended time, RTL should be enacted so that when there is a link that the autopilot returns the aircraft to the launch position.

o RC link failure

 2.4 Ghz ante nnas can lose link with little warning.

 Anything in between the two antennas can cause temporary signal loss especially a
person.

 Hold the transmitter up in the air and walk in the general direction of the AV (aerial vehicle).

 Ensure that the antenna is v ertical. Do not point the antenna at the AV.

 The failsafes on the RC link should be set so that the AV returns to home. Should this require a heading change, the antenna may move into a more desirable position and link will be restored.

 The onboard equipm ent may block the signal. Yaw the AV so that the antennas point towards the GCS.

 A LRS (long range system) can be used as a permanent solution. This is higher in wattage and usually on 433 Mhz.

o Data Link Failure

 900 Mhz do not lose link without some warning. When drop outs are noticed to increase in frequency that is the limit of the range.

 If using 900 Mhz, this is on cell phone frequency. If a cell tower is nearby it can swamp the signal. 900 Mhz may not be usable in that area. Change to a different f req. or remain closer to the AV

.

o LOW BATTERY POWER

 Fail

- safes should be set such that in the event of low battery power, either due to a failure or too long of a flight, the warning with sound. There are audible and visual warnings. The warning should be set to 10.5V under load.

 Landing with 80

- 90 % of battery depleted is best. Therefore landing with 1 3
, 000

– 14,000 mah used and 2 ,000

– 3,000 mah remaining of a 16 ,000 mah battery is desirable.

 Over discharging a battery below 10% of rated capacity can permanently damage the battery.

## 17 © 2014 Troy Built Models , Inc. All Rights Reserved

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o GCS FAILURE

 Takeover by the external pilot should happen ASAP using the RC link.

 Most often happens due to a low battery.

 Keep a spare battery with the a ppropriate plug to plug into the charge jack of the laptop for emergency use. Most chargers are 19V output which is roughly equivalent to a 4

- cell battery. 3

- cell batteries may work.

o COMPASS CALIBRATION ERROR

 If the compass is out of calibration the warni ng light will appear.

 Recalibrate the compass f ollowing the instruction manual

o FIRE

 Fires can occur due to a short circuit or battery failure.

 Disconnect the battery ASAP unless there is danger in doing so if there is any electrical issue.

 It is not possi ble to put out a battery fire.

 Do not attempt to put out a battery fire. Use a fire extinguisher to put out fires surrounding the battery. A CO2 fire extinguisher is better than the powder or chemical type. CO2 does not leave a residue. Water can be used t hough it may cause other electrical component failures.

o FORCED LANDINGS

 A lternate emergency landing zones should be chosen ahead of time.

 Be sure that the LZ is clear of people to avoid any incidents.

 Land in the nearest LZ which is clear of people.

 Announce your intentions of land ing as loud as necessary to alert people of the incoming AV.

## 18 © 2014 Troy Built Models , Inc. All Rights Reserved

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### SECTION 4 NORMAL PROCEDURES

 RF70 PREFLIGHT CHECKLIST

o Set up Location

– Secure; Full LOS

o Weather

o Wind

o LZ/Bungee (15 lbs. tension)

o Emergency LZ/High Risk Areas

o L aptop/Datalink

o Assemble RF70

o Flight battery: voltage; install

o Antennas

o C2 Tx: 8.5v/full; 7.0v no fly; 7 hrs flight time with 2,000 mah battery

o Model Selection ; RTL off; Manual;

o RF70 on; green LED; Red flashing start button

o Connect (57,600)

o Verify telemetry; 12.4V

o Verify GPS 3D Fix

o Verify compass; Calibrate?

o Radio Link >95%

 MISSION PLANNER CHECKLIST

o Open Flight plan

o Set home point

o Draw Polygon

o Auto WPs

– Survey (Grid)

 Simple

 Grid Options

o Record Stats

 Camera

 Altitude

 Angle

 Flying Speed

 Overs hoot

 Start From

 Overlap

 Sidelap

 Area:

 Distance:

 Distance between images

 Ground Resolution

 Pictures:

 No of Strips:

 Distance between lines:

 Flight Time (est): Hours

 Photo every (est): seconds

o Accept

## 19 © 2014 Troy Built Models , Inc. All Rights Reserved

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o Save WP file

o Clear polygon

o Connect

o Write WPs

o Verify RF70 map position

o Record .tel file name

o Record .log file name

o Open Flight Data

 TAKEOFF CHECKLIST

o Motor Spins Freely

o Prop is tight

o Open Flight Data

o Verify Home point; start point

o RF70 start button On

– solid red

o FBW mode

o Flight controls check

o Stabilizer check

o Throttle Check

o Camera

– Intervalometer; lens cap; SD card; On ; Install

o CG

o Tx Timer

o Connect Bungee

o Full up elevator; No throttle

o Launch

- throttle up after bungee separation

o Circle to altitude; half throttle

o Engage Autopilot

o Ensure first turn is accurate

– Problems?

- RTL

 IN FLIGHT CHECKLIST

o Monitor: Timer , Voltage 10V min, flight path, RSSI

o Maintain LOS and below 400’ AGL

o Ready for emergency collision avoidance

- RTL

 LANDING CHECKLIST

o Note Battery Voltage

o LZ clear

o FBW mode

o Land

o Disarm

o Motor and speed control temps

o Record Stats

 Flight Duration

 Min

o Disconnect Flight Battery

o Logbooks

## 20 © 2014 Troy Built Models , Inc. All Rights Reserved

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 ERROR MESSAGES

o Yellow flashes on Pixhawk

 Throttle trim too low

 C2 link lost

o Excessive rocking/instability possible causes:

 Loose servo linkage

 Loose hinge

 Structure flexing from fatigue or cracks

 Fuselage

 Wing

 Prop damaged causing vibration

 Excessive wind speeds or gusts



###  Excessive Gains

 AIRCRAFT FLIGHT LOG BOOK (Can be purchased inexpensively)

o Keep a log of all flights.

 Date

 Time of Day

 Time in Operation (in hours)

 Battery serial numbers

 Mah used in flight

 Location

 Pilot, Observer, Sensor Operator Names

 Flight Objective

 Remarks

 AIRCRAFT MAINTENANCE LOG BOOK (Can be purchased inexpensively)

o Keep a log of significant inspections, tests, repairs, alterations, equipment changes.

 Date maintenance is performed

 Accumulated hours of operation

 Remarks

 PILOT LOG BOOK (Can be purchased inexpensively)

o Keep a log of all flights. Include the following:

 Aircraft flown

 Aircraft serial number

 Date

 Time of Day

 Time in Operation (in hours)

 Location

 Flight Objective

 Remarks

## 21 © 2014 Troy Built Models , Inc. All Rights Reserved

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### SECTION 5 PERFORMANCE

 FLIGHT TIMES

o The longest flight times are achieved by flying slowly. Slow flight uses less energy.

o The longest distance travelled depends on the wind direction. Flying into the wind severely impacts the ground speed of an aircraft. It is desirable to fly into the wind at the beginning of a mission so that the return flight will be faster and use less battery.

o When flying a lawnmower pattern it is important to

 Fly perpendicular to the wind. This ensures that the ground speed is more consistent because the plane will not be flying with or against the wind.

 Start downwind and make turns into the wind. This keeps the turn radius smaller, and it will end its mission upwind so that it can m ore easily fly downwind back to the recovery location.

o Larger batteries offer longer flight times. Be sure that:

 The center of gravity is correct

 The aircraft is not over max weight.

 Increased weight will increase the stall speed of the aircraft requiring the aircraft to fly faster and at a higher angle of attack which increases the parasitic drag and decreases efficiency.

 Increases in flight times in not directly proportional to mah due to some loss in efficiency.

o High winds or gusts decrease efficiency/fl ight time and reduce the accuracy of the flight paths.

 WIRELESS TRANSMISSION

o Refer to the specific manuals for performance ratings.

o Wireless communications utilized provide acceptable communication for LOS.

o In general:

 LOS is required

 The higher the GCS antennas, the better the range

 Any freq

. may have severe degradation due to location to other e mitters such as cell
towers

 RSSI (Received Signal Strength Indication) should be monitored for indication of communication drop out.

## 22 © 2014 Troy Built Models , Inc. All Rights Reserved

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### SECTION 6 WEIGHT AND B A LANCE EQUIPMENT LIST

 CG

o CG is critical to t he efficient operation of any UAV.

o When components are shifted, the CG will be altered.

o The main components which are moved on a regular basis are the sensors and the batteries.

o The sensors are typically in the mi ddle front of the U AV, and the batteries are located in the correct position to offset all the components on the U AV.

o The CG must be tested after any change to the components or their placement.

o The CG should be tested by lifting the U A V by the central fin s . The CG range is 1⁄4” fore and aft of the marking on the fuselage.

 WEIGHT

o Weight is critical to the operation of any aircraft

o As the batteries are operated, they lose power. At full charge they have about 12.4 v. At cruise speed the voltage shows about 1⁄2 volt less than at rest.

o As the weight increases the stall speed increases so the aircraft must fly faster and at a higher angle of attack which is less efficient.

o Do not overload the aircraft or the wing could break due to higher loads on the wing during

m aneuvering.

## 23 © 2014 Troy Built Models , Inc. All Rights Reserved

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### SECTION 7 AIR VEHICLE AND SYSTEMS DESCRIPTION

 F LIGHT BATTERY REQUIRED

o Manufacturers: Various COTS suppliers

o Battery chemistry recommended: Lithium Polymer

o Battery Capacity: up to 30,000 mah depending on max gross weight

o Bat tery cell count required: 3 S ( 3 cells in series)

o Battery Voltage: 10.5 minimum during cruise
, 11.1 V nominal, 1 2 .6 V maximum

o Battery Minimum Rated Discharge Rate: 20C minimum

o Battery Minimum Charge Rate: 1C (3C preferable)

o Battery Rest Time between discharging and chargin g: 5

- 15 minutes

o Batteries used simultaneously: typically 1

o Recommended Battery Discharge Amount: 80

- 90%

 WERELESS COMMUNICATIONS

o Refer to the specific manuals for performance ratings.

o Never power a video transmitter or receiver without an antenna connected or overload failure will occur.

o Wireless communications utilized provide acceptable communication for LOS.

o In general:

o LOS is required.

o Lower frequencies penetrate objects such as trees better than higher freqs.

o Lower freqs have longer range th an high freqs

o Higher freqs can transfer more data than lower freqs

o Higher freqs use smaller/shorter antennas

o The higher the GCS antennas, the better the range and reception

o Any freq at may have severe degradation due to location to other admitters such as cell
towers

o Range must be constantly monitored.

o Alternate antenna types may be utilized to improve link/range. Patch, helical, omni, etc. can be substituted. They must be verified before use.

o Altern ate freqs may be utilized to improve link/range.

## 24 © 2014 Troy Built Models , Inc. All Rights Reserved

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### SECTION 8 HANDLING, SERVICE AND MAINTENANCE

 PROPELLER CARE

o Propellers must be checked each flight for nicks or cracks

o Propellers are designed to last indefinitely if they do not impact dust, dirt , etc.

 BATTERY CARE AND USE

o Refer to instruction sheet included from the battery manufacturer. Typical information follows.

o Batteries are highly flammable and can explode, especially when fully charged. Improper charging, vibration, impact, high discharge, etc. can lead to explosion and fire. Batteries must be charged under constant supervision and using proper precautions.

o Batteries fully charged must be handled with extreme care.

o Any battery which puffs up is considered damaged and must not be used. It is in a dangerous state. Never charge a puffed up battery

. o Any battery which holds less than 80% of its rated capacity should be discarded.

o Cycle test each battery after every 50 cycles or if a battery is suspected to have lost as significant amount of its capacity to determine the current capacity.

o Properly di spose of batteries. First discharge the battery fully using a battery cycler. Bring to a recycler such as a home improvement store.

o Always charge flight batteries under “balance” mode.

o Flight Battery Recommended Charge Rate: 1C which takes approximately 1 hour to charge

o Flight Battery Maximum Charge Rate: May exceed 5C. Charge rates higher than 1C will decrease life cycles. Maximum charge rating per the manufacturer will provide 300+ cycles. Use the lowest charge rate which is practical.

o Battery Rest Time between discharging and charging: 30 minutes minimum, 1 hour maximum.

o Do not charge if the battery is more than 2°C warmer than ambient, especially if the temperature is above 20°C. The outer surface is cooler than the inner core after use

. Damage will oc cur when charging a warm battery.

o Recommended Battery Discharge Amount: 80% . Using more of the capacity of the battery will decrease the life cycles

o As battery temperature approaches freezing the capacity of Lithium Polymer batteries decrease. Keep warmer than 5 °C before installing into the UV (unmanned vehicle).

o Battery capacity decreases at higher discharge rates. Using more batteries decreases the discharge rate of each battery thereby extending individual battery capacity slightly.

o Lower discharge rates improve the life cycles.

o Batteries are r ated at greater than 300 life cycles. 1,000+ life cycles are possible.

o Batteries must not be stored above 6 0% charged state for extended periods

. o Batteries should be stored below 25°C for extended periods

o Store batt eries between 4 0%

- 6 0% charged state. Fully charge just before use.

o Fully charged batteries which are not to be used within 24 hours should be discharged to 4 0%

- 60% charged state using the battery discharger.

o Using more than one battery at a time requires the proper wiring harness so that the voltage is no more than 12.6 V. Over voltage will cause serious damage to electrical equipment. A 4S

## 25 © 2014 Troy Built Models , Inc. All Rights Reserved

. (16.8V) battery can be used if all onboard systems are compatible. The motor and ESC are compatible though ot her components such as lighting may not be compatible.

 PREVENTATIVE MAINTENANCE

o ANNUAL INSPECTION (SUGGESTED)

 If the airframe has in excess of 3 00 hours in a one year period, an annual inspection must be completed by an approved technician.

 An approved technician should disassemble the U AV and inspect all components for wear and replace any components as required.

 Test all batteries for capacity.

 Upgrade firmware and software to latest revisions

o 500 HOUR PM (SUGGESTED)

 An approved technician should disassemble the U AV and inspect all components for wear and replace any components as required.

 Replace propulsion motor.

 Replace ESC

 Replace autopilot

 Test all batteries for capacity.

 Upgrade firmware and software to latest revisions.

## 26 © 2014 Troy Built Models , Inc. All Rights Reserved

. 

### SECTION 9 SUPPLEMENTS

COTS components have been utilized in the construction o f this U AV. All instruction manuals
, operating handbooks, warning notices, and more are available as separate documents. Component s which may have separate documentation follow. Links to these documents are available on the website. Print out the significant documents and keep in a notebook with the UAV at all times.

AIRFRAME AUTOPILOT SYSTEM BATTERIES BATTERY CHARGER CAMERA GCS DATA WIRELESS LINK LAPTOP/GCS COMPUTER MOTOR PROPELLER RC/MANUAL COMMAND & CONTROL SYSTEM SPEED CONTROLS (ESCs) VIDEO CAPTURE HARDWARE VIDEO CAPTURE SOFTWARE