September 14th, 2015 

US Department of Transportation 

Docket Management System 

West Building Ground Floor Room W12-140 

1200 New Jersey Ave. 

Washington, D.C. 20590 

RE: Exemption request under Section 333 of the FAA Reform Act of2012 and Part 11 of the Federal 

Aviation Regulations from 14 C.F.R. 45.23(b); 14 C.F.R. Part 21; 14 C.F.R Part 27; 91.7(a); 

91.9(b) (2); 91.103(b); 91.109; 91.121; 91.151(a); 91.203(a)&(b); 91.405(a); 91.407(a) (1); 

91.409(a) (2); 91.417(a)&(b) 

Dear Sir or Madam: 

Pursuant to Section 333 of the FAA Modernization and Reform Act of2012 (herein referred to as Reform Act) and 

14 CFR Part 11, Draper Aden Associates, an Engineering, Survey and Environmental Services ftrm, hereby applies 

for an exemption from the listed Federal Aviation Regulations (F ARs) to allow commercial operation of U AS for 

precision aerial surveying and aerial imagery capture so long as such operations are conducted within and under the 

conditions outlined herein or as may be established by the FAA as required by Section 333. 

With over 40 years of experience in facilities planning and engineering design for municipalities, state agencies, 

cultural institutions, and private clients we provide civil, environmental, geotechnical, solid waste, and structural 

engineering; surveying and subsurface utility engineering; site planning and engineering; and construction inspection 

services throughout the Mid-Atlantic region. 

As detailed in this document and the attached 3D Robotics X8-M User Guide (herein referred to as User Guides), the 

requested exemption would permit the operation of UAS under controlled conditions in airspace that is limited, 

predetermined, controlled as to access and would provide safety enhancements to the already best practices safety 

protocols followed by Draper Aden Associates. 

Approval of this exemption would thereby enhance safety and fulfill the Secretary of Transportation's responsibilities 

to " ... establish requirements for the safe operation of such aircraft systems in the national airspace system." Section 

333(c) Reform Act. 

The name and address of the applicant is: 

Darren L. Goodbar 

Director of Aerial Services 

Draper Aden Associates 

2206 S Main St, 

Blacksburg, VA 24060 

Phone:434-295-0700 

Fax: 434-295-2105 

Email: dgoodbar@daa.com 
Exemptions/Rule Making 

Regulations from which the exemption is requested: 

14 CFR Part 21 

14 CFR 45.23(b) 

14 CFR45.29 

14 CFR 61.23 

14 CFR 61.113(a) & (b) 

14 CFR 91.7(a) 

14 CFR 91.9(b)(2) 

14 CFR 91.103 

14 CFR 91.109 

14 CFR 91.119 

14 CFR 91.121 

14 CFR 91.151(a) 

14 CFR 91.203(a) & (b) 

14 CFR 91.405(a) 

14 CFR 407(a)(l) 

14 CFR 409(a)(2) 

14 CFR417(a) & (b) 

14 CFR Subpart E (91.401-91.417) 

Authority for Exemptions: 

The Federal Aviation Act expressly grants the FAA authority to issue exemptions. This statutory authority 

includes exempting civil aircraft, as the term is defined under §40101 of the Act, including UASs, from the 

requirement that all civil aircraft must have a current airworthiness certificate. 

The Administrator may grant an exemption from a requirement of a regulation prescribed under subsection (a) or 

(b) of this section or any sections §44702-44716 of this title if the Administrator finds the exemption in the public 

interest. 49 USC §4470l(f). See also 49 USC §447ll(a); 49 USC §44704; 14 CFR 91.203(a)(l). 

Section 333(b) of the Reform Act assists the Secretary in determining whether UASs may operate in the national 

airspace system without creating a hazard to the user, the public, or a threat to national security. In making this 

determination, the Secretary must consider: 

• The UAS' size, weight, speed and operational capability 

• Whether the U AS operates within the visual line of sight of the operator 

• Whether the UAS operates outside of highly populated areas and away from close proximity to airports. 

Reform Act 333(a). If the Secretary determines that a UAS "may operate safely in the national airspace system, 

the Secretary shall establish requirements for the safe operation of such aircraft in the national airspace system." 

Id. 333(c). 

The 3D Robotics X8-M is a multi-rotor aircraft weighing 8.1 pounds, including payload. It has the ability to 

operate under normal conditions at a speed of no more than 10 knots and has the capability to hover and move in 

the vertical and horizontal plane simultaneously. The UAS will operate only in the pilot's or visual observer's 

visual line of sight at all times. Such operations will insure that the U AS will "not create a hazard to users of the 

national airspace system or the public." Reform Act Section 333(b). 

Given the small size of the UAS involved and the restricted environment within which they will operate, our 

application falls squarely within the zone of safety (an equivalent level of safety) in which Congress envisioned 

that the FAA must, by exemption, allow commercial operations ofUASs to commence immediately. Also due to 

the small size of the U AS and the low altitudes in which our U AS will operate, approval of the application presents 

no national security issue. 
VEHICLE DESCRIPTION 

The UAS Draper Aden Associates proposes to use is constructed by 3DRobotics and referred to as the X8-M. 

The X8-M is commonly referred to as an octo-copter (8 rotors and 8 motors) which weighs a total of7.7 pounds 

without payload and is powered by lithium polymer batteries. It can carry payloads up to 0.4 pounds resulting in 

a total weight of no more than 8.1 pounds and has an operational range of up to 0.6 nautical miles. The X8-M can 

be operated with a maximum wind threshold of 25 miles per hour (MPH) for sustained winds and wind gusts up 

to30MPH 

The X8-M can be operated entirely by a touch-screen, map-based interface. This means the operator only needs 

to command the system where to go, and the system does all the flying for the operator. The X8-M can be operated 

in both semi and fully autonomous flight modes, with the operator simply clicking on a map to create a preplanned 

flight path for a flight. In addition, the operator can create no fly zones or maximum flight ranges and altitudes so 

the system cannot enter areas deemed unsafe or unnecessary to fly over. 

The UAS has built-in intelligent fault handling which allows the X8-M to detect a system fault while in the air 

and automatically fly back to its take-off location and land. Faults that can be detected include: loss of 

communication; exceeding preset wind thresholds; and low battery levels. All flight operations are global 

positioning system (GPS) controlled, making the system easy to navigate. At any point if the operator is not 

explicitly commanding the system to move, the system automatically holds its GPS position. Also a flight 

termination link - to prevent a "fly away" or other potentially dangerous situation - is available to the operator. 

DESCRIPTION OF SPECIFIC REGULATIONS 

14 CFR Part 21, Subpart H: 

Airworthiness certificates Subpart H, establishes the procedural requirements for the issuance of airworthiness 

certificates as required by FAR §91.203(a)(l). Given the size and limited operating area associated with the 

aircraft to be utilized by Draper Aden Associates, an exemption from Part 21 Subpart H meets the requirements 

of an equivalent level of safety under Part 11 and Section 3 3 3 of the Reform Act. The Federal Aviation Act ( 49 

USC §4470l(f) and Section 333 of the Reform Act both authorize the FAA to exempt aircraft from the 

requirement for an airworthiness certificate, upon consideration of the size, weight, speed, operational capability 

and proximity to airports and populated areas of the particular UAS. In all cases, an analysis of these criteria 

demonstrates that the UAS operated without an airworthiness certificate, in the restricted environment and under 

the conditions proposed, will be at least as safe, or safer, than a conventional aircraft operating with an 

airworthiness certificate without the restrictions and conditions proposed. 

14 CFR 45.23(b) & 14 CFR 45.29: Marking of the aircraft; Display of Marks; Size of Marks 

This regulation requires that certain experimental, provisionally certified aircraft, or light-sport category aircraft 

to be marked with letters between 2 inches and 6 inches high "limited", "restricted" "light-sport," "experimental," 

or "provisional," near each entrance to a cabin, cockpit or pilot station. Even though the UAS will have no 

airworthiness certificate, an exemption may be needed as the UAS will have no entrance to the cabin, cockpit or 

pilot station on which the word "Experimental" can be placed. Given the size of the UAS, 2 inch lettering will be 

impossible. Draper Aden Associates will mark the UAS with the organization's name and address. 

14 CFR 61.23: Medical certificates; Requirement and duration 

Regulations provide that a person: 

(1) Must hold a frrst-class medical certificate: 

When exercising the pilot-in-command privileges of an airline transport pilot certificate; 

When exercising the second-in-command privileges of an airline transport pilot certificate in a flag or 

supplemental operation in part 121 of this chapter that requires three or more pilots; or 

When serving as a required pilot flight crew member in an operation conducted under part 121 of this 

chapter if the pilot has reached his or her 60th birthday. 
(2) Must hold at least a second class medical certificate when exercising: 

Second-in-command privileges of an airline transport pilot certificate in part 121 of this chapter (other 

than operations specified in paragraph (a)(l)(ii) of this section); or 

Privileges of a commercial pilot certificate. 

Given the size of the UAS, their structure, the limited flight area and the safety features integrated into the 

autopilot (among others the flight termination system), Draper Aden Associates believes that an Equivalent Level 

of Safety can be reached if the pilot-in-command has a valid, state issued driver's license. 

14 CFR 61.113(a) & (b): Private pilot privileges and limitations: Pilot in command 

Sections 61.113(a) and (b) limit private pilots to non-commercial operations. Because the UAS will not carry a 

pilot or passengers, the proposed operations can achieve the equivalent level of safety of current operations by 

requiring the pilot operating the aircraft to have completed UAS manufacturer's flight training before flying a 

UAS. Unlike a conventional aircraft that carries the pilot and passengers, the UAS is remotely controlled with no 

living thing or cargo on board. The area of operation is controlled and restricted, and all flights are planned and 

coordinated in advance as set forth in the User Guide. The risks associated with the operation of the small UAS 

are so diminished from the level of risk associated with commercial operations contemplated by Part 61 when 

drafted, that allowing operations of the UAS as requested exceeds the present level of safety achieved by 14 CFR 

61.113(a) and (b). 

14 CFR 91.7(a): Civil aircraft airworthiness 

The regulation requires that no person may operate a civil aircraft unless it is in airworthy condition. As there will 

be no airworthiness certificate issued for the aircraft, should this exemption be granted, no FAA regulatory 

standard will exist for determining airworthiness. Given the size of the aircraft and the requirements contained in 

the User Guide for maintenance and use of safety checklists prior to each flight an equivalent level of safety will 

be provided. 

14 CFR 91.9(b)(2): Civil aircraft flight manual, marking and placard requirements 

The UAS, given its size and configuration has no ability or place to carry such a flight manual on the aircraft, not 

only because there is no pilot on board, but because there is no room or capacity to carry such an item on the 

aircraft. The equivalent level of safety will be maintained by keeping the User Manual at the ground control point 

where the pilot flying the UAS will have immediate access to it. 

14 CFR 91.1 03: Preflight action 

This regulation requires each pilot in command take certain actions before flight to ensure the safety of flight. An 

exemption is needed from this requirement as the pilot will take separate preflight actions, including checking for 

weather conditions, checking flight battery requirements, checking takeoff and landing distances, and all other 

actions in the User Guide and safety checklists. These actions will provide an equivalent level of safety. 

14 CFR 91.109: Flight instruction 

Section 91.103 provides that no person may operate a civil aircraft (except a manned free balloon) that is being 

used for flight instruction unless that aircraft has fully functioning dual controls. By design, UASs and remotely 

piloted aircraft do not have fully functional dual controls. Flight control is accomplished through the use of a 

control box that communicates with the aircraft via radio communications. The equivalent level of safety is 

provided by the fact that neither a pilot nor passengers will be carried in the aircraft, the ability to control the UAS 

via radio signals from the controller and by the size and speed of the aircraft. 

14 CFR 91.119: Minimum safe altitudes 

Section 91.119 establishes safe altitudes for operation of civil aircraft. Section 91.119( d) allows helicopters to be 

operated at less than the minimums prescribed, provided the person operating the helicopter complies with any 
.. 

route or altitudes prescribed for helicopters by the FAA. This exemption is for a multi-rotor craft that flies 

similarly to a helicopter, with vertical takeoff and vertical landing, which will typically operate at altitudes of 200 

feet above ground level (AGL), so an exemption may be needed to allow such operations. The UAS will never 

operate at altitude higher than 400 feet AGL and all operations will occur during daylight hours under Visual 

Meteorological Conditions (VMC) only. 

The equivalent level of safety will be achieved given the size, weight and speed of the U AS as well as the location 

where it is operated. Because advance notice to the property owner and any on-site personnel, as well as the 

precautions outlined below, all affected individuals will be aware of the planned flight operations. 

Compared to flight operations with aircraft or rotor craft weighing far more than the UAS proposed herein and 

carrying flammable fuel, any risk associated with our operations if far less than those presently presented with 

helicopters and other conventional aircraft operating at or below 500 feet AGL. In addition, the low-altitude 

operations of the UAS will ensure separation between these UAS operations and the operations of conventional 

aircraft that must comply with Section 91.119. 

14 CFR 91.121 : Altimeter Settings 

This regulation requires each person operating the aircraft to maintain cruising altitude by reference to an altimeter 

that is set " ... to the elevation of the departure airport or an appropriate altimeter setting available before departure." 

As the UAS may not have a barometric altimeter, but instead a GPS altitude read out, an exemption may be 

needed. An equivalent level of safety will be achieved by the PIC confirming the altitude of the launch site shown 

on the GPS altitude indicator before flight. 

14 CFR 91.151(a): Fuel requirements for flight in VFR conditions 

Section 91.151 (a) outlines fuel requirements for beginning a flight in Visual Flight Rules (VFR) conditions. Our 

UAS is limited to operations in controlled environments and has a limited flight time which require an exemption 

from 14 CFR 91.151(a). The battery powering the UAS provides approximately 25 minutes of powered flight. 

This would render the UAS unable to meet the 30 minute reserve requirement in 14 CFR 91.151. Given the 

limitations on the UAS's proposed flight area and the location of its proposed operations within a predetermined 

area, a longer time frame for flight in daylight VFR conditions is reasonable. An equivalent level of safety can be 

achieved by maintaining enough battery reserve to ensure that the UAS lands at the ground station with at least 

15% of battery power (as determined by the on-board monitoring system and the PIC). This restriction would be 

more than adequate to return the UAS to its planned landing zone from anywhere in its limited operating area. 

14 CFR 91.203(a) & (b): Carrying civil aircraft certification and registration 

The UAS has no cabin, cockpit or pilot station and is operated without an on-board pilot. Therefore, there is no 

ability or place to carry certification and registration documents or to display them on the UAS. An equivalent 

level of safety will be achieved by keeping these documents at the ground control point where the pilot flying the 

UAS will have immediate access to them, to the extent they are applicable to the UAS. 

14 CFR 91.405(a); 407(a)(l); 409(a)(2); 417(a) & (b): Maintenance inspections 

These regulations require that an aircraft operator or owner "shall have that aircraft inspected as prescribed in 

subpart E of this part and shall between required inspections, except as provided in paragraph (c) of this section, 

have discrepancies repaired as prescribed in part 43 of this chapter ... ," and others shall inspect or maintain the 

aircraft in compliance with Part 43. 

Given that these sections and part 43 apply only to aircraft with an airworthiness certificate, these sections will 

not apply to Draper Aden Associates. Maintenance will be accomplished by the operator pursuant to the User 

Guide. An equivalent level of safety will be achieved because the UAS is very limited in size and will carry a 

small payload and operate only in restricted areas for limited periods of time. If mechanical issues arise, the U AS 

can land immediately and will be operating from no higher than 400 feet AGL. As provided in the User Guide, 

the operator will ensure that the UAS is in working order prior to initiating flight, perform required maintenance 
and keep a log of any maintenance performed. Moreover, the operator is the person most familiar with the aircraft 

and best suited to maintain the aircraft in an airworthy condition to provide the equivalent level of safety. 

PUBLIC INTEREST 

Approval of exemptions allowing commercial operations of an UAS for aerial data collection enhances safety 

while reducing risk. Manned aircraft data collection creates a greater risk because the craft are much larger, have 

combustible fuel, and carry an on-board human pilot. In contrast, a UAS weighing less than 55 pounds and 

powered by batteries eliminates virtually all of that risk given the reduced mass and lack of combustible fuel 

carried on board. The UAS will carry no passengers or crew and, therefore, will not expose them to the risks 

associated with manned aircraft flights. 

Conducting aerial data collection with the 3D Robotics X8-M, instead of manned aircraft, will greatly benefit the 

public by drastically reducing the levels of air and noise pollution generated during traditional flight operations. 

By using battery power and electric motors, the 3D Robotics X8-M produces no air pollution and is a viable, 

environmentally conscious alternative to the cabin class, six cylinder internal combustion twin engine aircraft that 

are typically utilized for aerial data collection, while burning approximately 20-30 gallons per hour of leaded 

aviation fuel. The X8-M, while reducing the carbon footprint of aerial data collection, also reduce noise pollution 

as the UAS is propelled by battery powered electric motors rather than an internal combustion engine. 

EQUIVALENT LEVEL OF SAFETY 

Draper Aden Associates proposes that the exemption requested herein apply to civil aircraft that have the 

characteristics and that operate within the limitations listed herein. These limitations provide for at least an 

equivalent or even higher level of safety to operations under the current regulatory structure because the proposed 

operations represent a safety enhancement to the already safe protocols followed by aerial survey operations 

conducted with helicopters and other conventional aircraft. 

Draper Aden Associates will be bound by the following limitations when conducting its UASs operations under 

an FAA issued exemption: 

1. The UAS will weigh less than 55 pounds. 

2. Flights will be operated within visual line of sight of a pilot and/or observer. 

3. Flights will be terminated at 15% battery power reserve. 

4. Flights will be operated at an altitude of no more than 400 feet AGL. 

5. Flight operations will not be conducted within 5 nautical miles of an airport reference point (ARP) as denoted 

in the current FAA Airport/Facility Directory (AFD) or for airports not denoted with an ARP, the center of the 

airport symbol as denoted on the current FAA-published aeronautical chart, unless a letter of agreement with that 

airport's management is obtained or otherwise permitted by a COA issued to the exemption holder. The letter of 

agreement with the airport management must be made available to the Administrator or any law enforcement 

official upon request. 

6. Flight operations will occur during daylight hours and under visual meteorological conditions only. 

7. The FAA will have advance notice of all operations through the filing of notices-to-airmen. 

8. Minimum crew for each operation will consist of the UAS pilot and visual observer. 

9. The pilot and visual observer will have been trained in the operation of the UAS. 

10. The pilot and visual observer will at all times be able to communicate by voice. 

11. Written and/or oral permission from the relevant property holders will be obtained. 

12. Flight operations will not be conducted at least 500 feet from all non-participating persons, vessels, vehicles 

and structures unless: 

a) Barriers or structures are present that sufficiently protect non-participating persons from debris in the 

event of an accident. The pilot will ensure that non-participating persons remain under such protection. 

If a situation arises where non-participating persons leave such protection and are within 200 feet of the 

UAS, flight operations will cease immediately and/or; 

b) The aircraft is operated near vessels, vehicles or structures where the land owner/controller has granted 

permission and the PIC has made a safety assessment of the risk of operating closer to those objects and; 

c) Operations near the pilot or visual observer do not present an undue hazard to the pilot or visual observer. 
13. If the UAS loses communication or loses its GPS signal, the UAS will have the capability to return to a safe, 

pre-determined location and land. 

14. The UAS will have the capability to abort flight in case ofunpredicted obstacles or emergencies. 

PRIVACY 

All flights will occur over private or controlled access property with the property owner's prior consent and 

knowledge. Images taken will be of individuals who have also consented to being filmed or otherwise have agreed 

to be in the area where aerial photography will take place. 

FEDERAL REGISTER SUMMARY Satisfaction of the criteria provided in Section 333 of the Reform Act of 

2012 - size, weight, speed, operating capabilities, proximity to airports and populated areas and operation within 

visual line of sight and national security - provide more than adequate justification for the grant of the requested 

exemptions allowing commercial operation of Draper Aden Associates for aerial data collection. 

Darren L. Goodbar 

Director of Aerial Services 

Draper Aden Associates 
Draper Aden Associates Operations Manual 

1) Owner must: 

a) Document all maintenance, alterations, and updates in the aircraft records. 

b) Any maintenance or alterations that affect the UAS operation or flight characteristics, e.g. 

replacement of a flight critical component, must undergo a functional test flight in accordance 

with the operator's manual. The PIC who conducts the functional test flight must make an entry 

in the UAS aircraft records of the flight. 

2) Prior to each mission: 

The PIC must familiarize him/herself with all possible safety aspects of the mission. 

This includes but is not limited to: 

a) Software versions required (manufacturer's web site) 

b) Weather 

c) Wind 

d) NOTAMS 

e) Proximity of airports or SUA 

3) Prior to each flight: 

The PIC must inspect the UAS and Ground Station to ensure they are in a condition for safe flight. If the 

inspection reveals a condition that affects the safe operation of the UAS, the aircraft is prohibited from 

operating until the necessary maintenance has been performed and the UAS is found to be in a 

condition for safe flight. This includes, but is not limited to: 

a) Batteries (full UAS battery required for each flight, check battery levels for transmitter and range 

extender) 

b) Inspect propellers, motors, wings and lights 

c) The documents required under 14 CFR §91.9 and §91.203 must be available to the PIC at the 

Ground Control Station of the UAS any time the aircraft is operating. These documents must be 

made available to the Administrator or any law enforcement official upon request. 

The PIC performs a safety assessment. This includes but is not limited to: 

a) If operating within 3 miles of an uncontrolled airport, check that a letter of agreement that 

covers the current mission with the airport manager is available to the PIC, and that the 

operation is conducted under a current NOT AM. 

b) Inspect flight area for light poles, trees, utility wires, proximity to helipads, hospitals, schools, 

busy roadways, gatherings of people, SUA. 

c) The PIC provides a safety briefing to the spotter. An agreement is made under which conditions 

the flight must be aborted. 

d) Check placement of warning signs 

e) Identify take-off and landing area. 
The PIC performs pre-flight checks: 

a) Check all controls neutral 

b) Turn on Power at transmitter first, then on UAS, and Range Extender 

c) Perform GPS alignment according to manufacturer's operating manual 

d) If alignment successful, flight can start from a safe take-off point 

e) Immediately after takeoff perform the following checks: 

i. Hover 5-10 feet 

ii. Check data link 

iii. Check video link 

iv. Check altimeter 

v. Check GPS 

vi. Check time 

4) During each flight: 

a) The UAS may not be operated by the PIC from any moving device or vehicle. 

b) The UAS may not be operated at an altitude exceeding 400 feet AGL. 

c) The UAS may not be operated at night or at altitudes less than 500 feet below or less than 2,000 

feet horizontally from a cloud or when visibility is less than 3 statute miles. 

d) The UAS must remain clear and yield the right of way to all other manned operations and 

activities at all times (including, but not limited to, ultralight vehicles, parachute activities, 

parasailing activities, hang gliders, etc.). 

e) UAS must remain within visual line of sight 

5) Emergency during flight. This could include but is not limited to: 

a) Pilot distracted 

b) Spotter signals abort 

c) Sudden change in weather or wind 

d) Manned aircraft in the vicinity 

e) People getting within safety perimeter 

f) Birds 

Immediately: 

a) Determine closest safe landing location to UAS 

b) Land 

6) After each flight: 

a) Check and log flight time and remaining battery level. 

b) Turn off power to UAS first, then turn off power to transmitter 

c) Inspect UAS for any damage 

d) Remove warning signs 
.. _ 

XB-M 

Operation Manual 

Thank you for purchasing an XS-M! This manual contains important information about your aerial 

mapping platform. Please read these instructions before your first flight. 

1 Plan 

2 Fly 19 

3 Process 30 

Appendix 34 
I Plan 

Parts 2 Mission Planning 8 

Operating Parameters 8 

Flight Battery 3 Load Maps 9 

Charging 3 Draw Polygon 10 

Safety 3 Configure Survey 11 

Powering the X8 4 Save and Write Mission 18 

Camera Setup 5 

3DR EAI 5 

Charging 5 

Starting a Mission 5 

Mounting 6 

Ground Station Setup 7 

Download Software 7 

Connect to Radio 7 
Parts 

~I ~ 

i;":,i-- --.. -•:J 

XB 

batteries (2) ~ 

RC controller and 

accessories 

registration card and 

Pix4D license key 

FPV/OSD System 

If you selected to receive a FPV/OSD system, those components 

will be included w~h the XB's accessories. See page 27 for parts 

and instructions. 

- ground station radio 

~ micro-USB cable 

;,.'UM!M .• charger and ::mmn 

~:~m:!.~. . accessories 

~ Android adapter cable 

I! battery guard bag 

I Pixhawk micro-SO 

card adapter 

___j hex keys 

0 propeller wrench 

... !&a SF propellers 

.- .- SFP propellers 

• spare UV filter 

.. spare mounting nut 

2 
Fli~ht Battery 

The XB is powered by a rechargeable lithium polymer (LiPo) battery. 

Charge the battery before your first flight. 

Connect the charger to the power adapter cable 

and a wall outlet. Connect the red cable to the + 

port and the black cable to the - port. 

· .. ····. 0 :u.' ... m.•.••--- ...- IHIIUI -- t ffJIIIU . 0 

Charger with power cable and 

split-wire charging cable 

3 

Connect the wMe connector to the 4S port, and 

join the two yellow connectors together. 

2 

Set the charger to LiPo and 3A. 

Charger settings 

4 

Secure the battery inside the guard bag, 

and charge until the status indicator 

displays green. 

• Charging 

.._. Complete 

Flight battery charging winng Charging 1n process 

Safety 

Flying with a low battery is a safety risk and can render the 

battery permanently unusable. Amays fly with a fully charged 

battery. 

Charge the battery using a designated LiPo balance charger 

only. />Jways monitor the battery while charging. Protect the 

battery from extreme heat, extreme cold, puncturing, and 

flammable surfaces. />Jways transport, Charge, and store the 

battery in the guard bag. 

Inspect the battery for damage before and after flying. H you 

observe any swelling of the package or the battery ceases 

to function, do not use the battery; locate your local battery 

recycling center, and dispose of the battery. In the US and 

Canada, visit call2recycle.org to find a location. Do not 

dispose of the battery in the trash. 

3 
Powering the XS 

Turn on the controller. To avoid triggering 

the controller's startup alarm, ensure that 

all switches are set back (away from you) 

and the throttle stick is set fully down. 

Switches 

ThrottlestK;k 

RC controller 

2 

Attach the battery to the underside of the 

copter using the velcro straps, and join the 

yellow connectors. 

A 

It is important to establish communication 

before powering on the X8. Always turn 

on the controller before connecting the 

battery. When powering off the XB, 

disconnect the battery before turning off 

the controller. 

4 
' 

Camera Setup 

The X8 includes a Canon PowerShot SX260 HS running the 3DR EAI script. 

3DR EAI (Exposure-Aperture-ISO) 

3DR EAI runs on the Canon Hacker Development Kit (CHDK), a powerful opensource tool that expands the functionality of Canon point -and-shoot cameras. 3DR 

EAI optimizes image exposure and integrates with the Pixhawk autopilot to enable 

distance-based imaging. 

This software is designed to load off the camera's SD card, leaving the original Canon 

programming intact. The yellow switch on the side of the SD card allows you to lock 

or unlock the card. Lock the SD card to run 3DR EAI; unlock the SD card to save 

images to your ground station or to boot the camera with its original programming. 

For more information about 3DR EAI, see page 36. 

1 

SO card locked 

Load 3DR EAI 

» Fly a mapping mission 

Camera running 3DR EAI 

i 

SO card unlocked 

Load default Canon software 

» View images on camera 

>> Save images to ground station 

>> Update script 

Camera runmng Canon software 

,A Power off the camera before removing the SD card. 

Charge the camera battery before your first flight. Once 

fully charged, insert the battery into the camera. 

'4- status indicator 

Cat tOll batt(.ty charger 

Starting a ('.1issior. 

To prepare the camera to fly a mapping mission, ensure 

that the mode dial is set to P (program) mode. Power on the 

camera using the silver button on the top. 3DR EAI will start 

automatically, and you will see the script messages on the 

camera display. Check to see that the last line of the script 

reads waiting on USB signal. The camera is now ready to map! 

Camera ready to map: waiting on USB signal 

pov.<er button 

mode dial 

5 
\ 

Mountin~ 

When the camera is ready to start the mission. open the latch, and insert the 

camera into the mount. Close the latch, and rotate the mount so the camera 

faces down. Connect the mini-USB cable to the camera. 

Camera (side) 

mounting plate 

latch 

mini-USB cable 

Connect mini-USB cable 

here. 

The camera mount includes a cap to protect the UV filter during travel. Before you 

fly, remove the cap, and check that the filter contains no dirt particles or scratches 

that could affect image quality. If you notice any damage to the filter that could affect 

image quality, screw off the filter and replace with the extra filter provided with the xa. 

UVfi~er 

Camera enclosure with cap Camera enclosure with cap removed 

6 
\. 

Ground Station Setup 

Mission Planner allows you to turn a Windows laptop into a full-featured 

ground station for configuring and monitoring autonomous missions. You will 

need to take this laptop into the field when you fly the mission. As part of the 

mission procedure, you will use the Pix4D Rapid Check to verify the quality of 

the image set before leaving the field. 

Download Software 

II Mission Planner 

Mission Planner is a full-featured ground station application for planning 

missions and monitoring the XB in flight. Download Mission Planner 

from 3DR.comldownload_soflware. 

If you already have Mission Planner installed, make sure you're running 

the most recent version: Select the Help tab and Check for Updates. 

Mission Planner: Help tab 

Pix4Dmapper LT 3DR Edition 

Your license key for Pix4Dmapper can be found on the registration card 

inside the documents package. 

Vis~ mapper.pix4d.coml/iciJnse-redeem to create an account and redeem 

your license key; then vis~ pix4d.com/download to download Pix4Dmapper 

Discovery. Pix4D will automatically upgrade from the Discovery edition to 

the LT 3DR Edition (or Pro Edition if you selected to upgrade) when you 

log in to the program with your Pix4D account information. 

Connect to Radio 

To connect the X8 to Mission Planner, connect the ground station radio to 

the laptop, and power the X8. 

Connect the ground station radio to your 

laptop using the micro-USB cable. Open 

Mission Planner. 

Ground stat1on laptop wrth radio connected 

3 

Select Flight Data to view live data from the X8. 

2 

Select 57600 and AUTO, then select CONNECT. 

(When connecting directly to Pixhawk's 

micro-USB port, set the rate to 115200.) 

I ··5i600 

Mission Planner Connect tool (top-nght 

•• corner)) 

M1ssion Planner Flight Data tab: connected to aircraft 

7 
Mission Plannin~ 

Operatin~ Parameters 

The XB is a complete solution for creating high-resolution 

visual-spectrum aerial maps. 

Canon SX260 

Pixhawk 

[ 3DR EAI] autopilot f--+ ---+ 

Pix4Dmapper 

system LT 3DR Edition 

To create a map, the XB flies an autonomous mission over 

the survey site, using the integration between the Pixhawk 

autopilot and custom-programmed camera to capture 

images at a consistent distance interval. Pix4Dmapper 

then stitches these images together into a georeferenced, 

orthorectified mosaic. 

The accuracy of the map depends on the configuration of 

the mission. Planning a mission that captures high-quality 

images requires balancing the XB's operating parameters 

with the environmental factors at the survey site. 

Operating Parameters 

Camera Orientation Landscape (top facing forward) 

Default Altitude 60m 

High-Wind Conditions 7-10 m/s 

Operating Speed 1-17 m/s 

Estimated Maximum Flight Time 14min 

Estimated Maximum Survey Area .1km2 

8 
Load Maps 

Mission Planner allows you to plan the mission away from the mapping location; 

however, rt is important to assess the environmental conditions on site at the time 

of the mission and adjust the flight plan if necessary. Alternatively, you can plan 

the entire mission at the mapping location. To create or atter the mission, Mission 

Planner requires an Internet connection to access the maps. If you're unable to 

access the Internet on site, follow the instructions below to pre-fetch the maps 

within Mission Planner while you have Internet access. 

Open Mission Planner, select Right Plan, and 

zoom to your flying location. 

Mission Planner Flight Plan tab: zoom to mapping location 

3 

Mission Planner will attempt to load the map data from the current level of zoom down to the 

closest level of zoom available. However, it can take hours to pre-fetch every level of zoom, 

and it is unlikely that the closer levels will be useful in planning the mission. To shortcut this 

process, check the slider on the right side of the map. The levels of zoom are represented by 

this slider from 0 (bottom) to 25 (top). Press the ESC key to skip levels of zoom at a greater 

detail than you need for mission planning. 

2 

Right-click on the map, select Map Tool and 

Pretetch, and accept the defautts prompts. 

Mission Planner will download the maps 

for the selected location to your computer. 

Mission Planner Right Plan tab: Select Prefetch 

9 
Draw Poly~on 

To begin planning the mapping mission, select the area you want to map using 

the Polygon tool. You'll be able to adjust the size and shape of the polygon later in 

the mission con~guration process. 

2 

Select Flight Plan, and zoom to your 

mapping location. 

Right click on the map. Select Draw Polygon and 

Add Polygon Point. Click and drag to add points 

around the area you want to map. 

A Units 

The Survey Tool uses metric units. If your Mission Planner is 

set to imperial units, please change the settings to use metric 

to plan the mission. Support for imperial un~s in Mission 

Planner is coming soon; check 3DR.com/XB-M tor updates. 

M1ss1on Planner Fltght Plan tab: draw polygon 

3 

Right click on the polygon. Select Auto WP and 

Survey (Grid) to open the Survey Tool. 

M1ss1on Planner Flight Plan tab: open Survey tool 

10 
Configure Survey: Set Default Parameters 

Mission Planner: Survey Tool 

Mission Planner: Survey Tool 

t 

Set Camera 

Canon SX260-SX280 

Set Camera Orientation 

Check the option for camera top 

facing forward. 

Set Default Speed 

5 m/s 

Apply Survey Speed 

Check the option for Use speed for this mission. 

If unchecked, the mission will use the XB's 

defau~ speed of 5 m/s regardless of the speed 

selected in the Survey Tool. 

11 
Confieure Survey: Set Anele 

Mission Planner: Survey Tool 

Adjust Polygon 

Click and drag the red polygon points to adjust the size and 

shape of the polygon from the Survey Tool. 

Set Angle 

Wind Direction 

In environments with winds of less than 6 rn/s, set the angle so 

that the XB flies into the wind. In winds from 7-1 0 m/s, configure 

the flight path to travel perpendicular to the wind so the XB flies 

cross-wind. 

No. of Strips 

Adjust the angle so that the XB makes as few turns as possible to 

complete its course. The No. of Strips parameter shows how many 

passes the XB will make as you adjust the angle. 

Review Wind Conditions On-Site 

Always assess the wind conditions at your survey site at the time 

of the mission and adjust the mission accordingly. 

0 0 D D 0 

0- - 0 0- 0 

0 0 

0 0 

0 0 

0 0 

0 0 D 

1:0 Angle in low winds (1-6 rnls) 

Angle in high winds (7 -1 0 rnls) 

A Use caution when ftying In winds over 1 Om/s. Mapping resu~s 

may degrade as a resu~ of inability to make headway or maintain 

appropriate groundspeed. 12 
Confi~ure Survey: Set Altitude 

Mission Planner: Survey Tool 

Check Ground Resolution 

Ground Resolution is the centimeters per pixel that 

you will have in the map and corresponds to the 

amount of detail that you will see. 

To improve ground resolution by decreasing the 

number of centimeters per pixel, decrease almude. 

Set Altitude 

Recommended altitude: 60 m 

Operating altitude: 50-1 00 m 

Increasing altitude decreases flight time, allowing you to 

cover more area per minute. Decreasing altitude improves 

ground resolution. Set the altitude to get the best ground 

resolution while keeping the flight time under 14 min and 

the altitude under 120 m. 

A 

Keep altitude below 120 m, and ensure that the altitude is 

appropriate for your flying area and local regulations. 

Check Flight Time 

Right Time estimates the duration of the mission. The total 

estimated flight time must be under 14 min for a fully 

charged XB battery. To decrease flight time, increase 

altitude or speed. 

High winds, humidity, high altitude, and extreme heat can 

affect power consumption and reduce flight time. Consider 

the environmental factors at your site when configuring 

flight time. 

In this example, we increased speed to 8 m/s to keep 

flight time below 14 min while allowing for moderate wind 

conditions. When increasing speed, keep in mind that the 

increased power required to travel faster will impact flight 

time. 

13 
Configure Survey: Check Photo Interval 

Mission Planner: Survey Tool 

viHeck H1u10 rrl!tliWll 

Photo Every must be longer than 2 seconds for the SX260 

camera. 

Altitude 

Increasing altitude increases photo interval. 

Keep altitude below 120 m, and ensure that the altitude is 

appropriate for your flying area and local regulations. 

Speed 

Decreasing speed increases photo interval. 

Ensure that the Use speed for this mission option is checked. 

14 
Configure Survey: Set Takeoff and Landing 

Mission Planner: Survey Tool 

For automatic takeoff and landing (recommended) 

Check the Add Takeoff and Land WPs option. 

Check the Use RTL option. 

After initiating the mission, the X8 will automatically take off, climb to 

the survey a~itude, and begin the mission. At the end of the mission, 

the X8 will automatically return to the launch point and land. 

For manual takeoff and automatic landing 

Uncheck the Add Takeoff and Land WPs option. 

Check the Use RTL option. 

Take off manually, and initiate the mission in flight. To end the 

mission, the X8 will land automatically at the launch point. 

15 
Configure Survey: Advanced Options 

Mission Planner: Survey Tool 

Survey Tool: Grid Options (Advanced) 

..... Camera Conftg 

Check Advanced Options 

to view the Survey Tool's advanced configuration options . 

• _J-+ Select Grid Options 

Adjust Start From 

During the mission, you will maintain contact with the XB through 

the RC controller and ground station signals. If these signals are 

lost during flight, the XB will respond with the assigned failsafe 

behaviors. See page 29. If your mission is likely to experience a 

loss of signal, it is best practice to start from the corner of the 

mission farthest from the launch point. 

Adjust Overlap and Sidelap 

Overlap and sidelap are set to 50% and 60%, respectively, 

by default. See page 35 for an in-depth discussion of these 

parameters . 

.....J The options under the Camera Config tab 

allow you to configure a camera other than 

the SX260 and won't be used for operating 

the XB. 

16 
Confieure Survey: Accept Survey 

Before accepting the survey, check that the mission complies with the X8's operating parameters. Once you 

accept the survey, you will not be able to edit it directly by re-opening the Survey Tool. If you need to adjust the 

survey, clear the mission (right click, select Clear Mission}, and repeat the survey configuration process. 

Operating Parameters 

Camera 

Canon SX260-SX280 

Altitude 

50-100m 

Camera top facing forward 

checked 

Flying speed 

1-17 m/s 

Use speed for this mission 

checked (optional if speed set to default speed of 5 m/s} 

Photo Every 

greater than 2 s 

Flight time 

under 14 min depending on environmental conditions 

Accept 

Select Accept to save the mission. 

If Mission Planner prompts you for a home altitude, enter the 

altitude that you specified in the Survey Tool. 

Do not accept the mission if any of the parameters 

exceed the X8's operating limits. 

17 
• 

Save and Write Mission 

On the Flight Plan screen, save the waypoint file to your computer and write the mission to the X8. 

S(~lt:-( 1 Sc·\'f_ \.'1.~:=- hit 

to save the mission file to your computer. To 

repeat this mapping mission, load the saved 

WP file from your computer. 

---• Select Write WPs 

to save the mission to the X8. 

18 
2 Fly 

Safety 20 

Aircraft Operation 21 

Components 21 

Assembly 22 

Controls 23 

Modes 24 

Preflight Checks 25 

LED Indicators and Tones 25 

GPS Lock 25 

Arming and Disarming 26 

FPV System Operation 27 

Flying Mapping Missions 28 

Takeoff Checklist 28 

Initiating 28 

Monitoring 28 

Fail safes 29 

19 
Safety 

To ensure safe and successful flying, familiarize yourself with the safety information 

on this page. Always fly in accordance with your location regulations and these 

best operating practices. 

Before you fly, determine the boundaries of your safe flying area. If the X8 moves 

outside the designated area or exhibits instability in flight, switch to altitude hold 

mode and land the copter manually. 

The X8 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 copter in the event of an unsafe s~uation. 

Location 

0 

visual line 

of sight 

0 

I Smlles(Skm) 

0 

400ft 

(120m) 

iZ 

Always fly below 400 ft (120 m) and within your 

visual line of sight. Don't let the X8 get too far 

away from you; make sure you can always see 

its orientation. Don't fly in low light, heavy wind, 

rain, or other cond~ions that might impede 

visibility. 

Always fly at least 5 miles (8 km) away from 

airports and other areas where pilots operate 

manned aircraft. 

Always fly at least 1 00 feet (30 m) away from 

people, vehicles, and buildings. Make the 

safety of people and property your first priority! 

Propeller 

•••• 

A 

Spinning propellers can cause serious injury. The 

safety button indicates the status of the motors to 

help you prevent hazardous contact w~h the X8's 

high-speed propellers. 

When the X8 is powered on, the safety 

button will blink red, indicating that the 

motors are inactive and the propellers are 

safe to handle. 

• When you're ready to fly, press and hold the 

safety button until it shows solid red. This 

indicates that the motors are active and the 

propellers can spin if armed. To make the 

propellers safe to handle again, press and 

hold the safety button until it blinks red. 

You can find more safety tips throughout these 

instructions where you see this yellow box. 

20 
·-

Aircraft Operation 

Components 

camera integration 

cable 

rear arms 

Pixhawk autopilot 

front arms 

camera mount 

safety button 

status LED 

21 
Assembly 

The X8 arrives in travel configuration. Complete these steps to prepare the copter for flight. 

Arms 

Remove the bolt and nut outside each arm. Rotate the arm into position, insert the 

bolt through the plates and the arm, and secure the arm in place with the nut. 

travel pos~ion flight position 

Propellers 

Remove the nuts and washers from the motors. Add SFP propellers and SF 

propellers as marked below with the wming on the propellers facing towards 

the sky. This will be a tight fit; apply pressure and twist the propeller onto the 

shaft. 

Top motor: SFP .i. .i. Top motor: SF 

Bottom motor: s' e,,. ' ~o.,,n,~· : /}t e 'Bottom motor: SFP 

Top motor: Sl ~ .i. Top motor: SFP 

Bottom motor: SFP' • • 'Bottom motor: SF 

A Ensure writing on all propellers faces the sky. 

Place the washer over the propeller, and secure the 

nut tightly on top using the propeller wrench. 

22 
Controls 

Fly the X8 manually using the RC controller. 

Throttle: 

Yaw: 

Pilch: 

Roll: 

throttle up 

throttle down 

Move the lett stick forward and backward to control altitude and 

acceleration. 

Move the left stick horizontally to rotate and control orientation. 

Navigate by orienting the X8 with the blue arms facing forward. 

Move the right stick vertically to fly forward and backward. 

Move the right stick horizontally to fly to the left and to the right. 

Increase speed and 

a~itude. 

Decrease speed and 

aititude. 

Land. 

yaw right 

;;4·~,.. ,r--"\\ 

-t(£::r>- (: ~~ 

~-~ 

roll left 

pitch up 

pitch down 

~~= 

.......... 

~~ 

• :a,iti1-

~ ... 

Rotate 

counterclockwise. 

Rotate 

clockwise. 

Fly to the left. 

Fly to the right. 

Automatically level. 

Fly forward. 

Fly backward. 

23 
Modes 

Auto - fly a mission 

Fly an autonomous mission. This is the mode that the XS will use to create the map. 

Altitude hold - assisted manual control 

Mitude hold mode provides manual control of roll, pitch, and yaw, while allowing the 

autopilot to maintain the current altitude automatically. Set the left stick to center, 

and the copter will automatically maintain the current altitude. Raise the throttle stick 

above center to increase a~itude (and to take off), and lower the throttle stick below 

center to decrease altitude. Adjust altitude and orientation with the left stick, and 

navigate with the right stick. 

Loiter - hover 

With automatic autopilot control of altitude, position, and orientation, loiter is the 

easiest way to fly. Just release the sticks and the copter will hover in place. 

Return to launch (RTL) - recall and land 

Activate RTL during the mission to end your flight automatically. RTL commands 

the XS to achieve a minimum altitude of 15 meters, return to the launch point, hover 

for five seconds, and land. Use the right stick to adjust the position of the XS during 

landing, 

Stabilize - full manual control 

Stabilize allows full manual control of a~itude, position, and orientation without 

autopilot assistance. 

To select a flight mode: 

First, set the GEAR/MIX switch to select a set of modes. Then use the 

FLAP/GYRO switch to 0, 1, or 2 to select a specific mode. 

With GEAR/MIX set to GEAR, 

set FLAP/GYRO to: 0 for Stabilize 

1 for Loiter 

2 for Auto 

With GEAR/MIX set to MIX, 

set FLAP/GYRO to: 

RC controller (top) 

0 for Stabilize 

1 for Altitude hold 

2 for RTL 

GEAR/MIX selects the set of modes. 

FLAP/GYRO selects the specific rnode, 

either 0, 1 , or 2. 

24 
Pre-fli~ht Checks 

Visual Check 

Before flying, examine the X8 to verify the following: 

)) All propellers are tightly attached in the correct order with the writing 

on each propeller facing the sky. 

» All propellers can spin without obstruction. 

>> The antenna is oriented vertically. 

LED Indicators 

•••• 

oeoe 

oeoe 

•••• 

• • 

Tones 

Initializing, please wait 

Acquiring GPS, please wait 

Autopilot ready, GPS locked 

Anmed 

Loss of RC signal, automatic landing 

Low battery, automatic landing 

Loss of GPS signal, automatic landing 

System error, see troubleshooting guide 

Visit 3DR.corn/X8-M to listen to Pixhawk's status tones. 

Test Flight 

Before flying the mission, fly a brief test flight to verify that the X8: 

)) 

)) 

» 

Responds to controls correctly in stabilize mode. 

Holds position in loiter mode. 

Correctly executes a return-to-launch command. 

GPS Lock 

Auto, RTL, and loiter modes requires GPS lock. When powered, 

the autopilot will automatically search for GPS lock. If you plan to 

use auto, RTL, or loiter modes during your flight, ensure that the 

autopilot acquires GPS lock before takeoff, indicated by a blinking 

green status LED. 

25 
Armin~ and Disarmin~ 

Arming and disarming are important steps that must be completed before takeoff and after 

landing. There are two steps to arming the XB: the safety button and the throttle stick. 

Before arming, check the status LED. Before you fly, wait for the autopilot to acquire GPS 

lock. The LED will flash blue while the X8 acquires GPS; this can take a few minutes. Once 

you see the flashing green LED, the autopilot has acquired GPS lock. 

•• •• Initializing, please wail. 

0e0e Autopilot ready, no GPS 

0e0e Autopilot ready, GPS locked 

Arming 

1 

When you're ready to fly, place the copter at 

a clear launch point, with the blue arms facing 

away from you. 

3 

To arm the motors, hold the left stick 

down/right until the motors spin. 

Pre-arm check failure, see page 39. 

2 

Press and hold the safety button until it displays solid red. 

This indicates that the X8 is now active. Stand back! 

• 0 • 0 Motors inactive, safe to handle 

e e e e Motors active, deactivate before handling 

A 

The arming and disarming procedures ensure that you 

can safety start and stop motors without risk of injury. 

The XB'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 copter while 

the safety button is 

active (solid red). 

Disarming 

1 

To disarm the motors, hold the left stick 

down/left until the motors stop. 

2 

Press and hold the safety button until it blinks red. 

The motors are now inactive, and the X8 is safe to 

handle. 

26 
FPV System Operation 

If you selected to receive an optional FPV/OSD system, the components are pre-installed 

into the X8 to transmit on-board video. 

Parts 

Transmitter 

AV receiver Camera 

- Antenna 

Receiver cables 

Batteries (1 plus 1 spare) 

1 Charge battery 

Charge both batteries before your first flight. Set the charger to LiPo and 1 A. Connect the 

white battery connector to the 3S port, and connect the XT60-JST charger adapter to the 

red battery connector and yellow 

charger connector. 

LiPo 1A 

2 Wire and power receiver 

Attach an antenna to the receiver. Connect the AV output cable to erther receiver AV OUT 

port. Connect the RC power cable to the receiver DC IN port, and attach a battery to the red 

connector. 

···~"'--·---------~"' 

r__,~~ 

3 Remove lens cap 

The video transmitter is powered by the main flight battery and will automatically 

turn on when the XS is powered. To turn off the transmitter, disconnect the red 

JST connector. Remove the lens cap from the camera before takeoff. 

4 Viewing video 

When using a 3DR Black Pearl Monitor to view your video, set the mode to 0/V (M button 

changes modes), the channel to 8 (+ and - buttons), and the band to E (press the power 

button to access the menu). 

For more information about configuring the FPV/OSD system, visit 30R.com/X8-M. 

27 
Flyin~ Mappin~ Missions 

Takeoff Checklist 

Before flying the mission, check the following: 

Camera is on with mission script ready and is secured into the 

mount with the mini-USB cable connected and the cap removed. 

X8 is powered and connected to the ground station with all pre-flight 

checks passed. 

The survey mission has been adjusted to account for present 

environmental conditions and saved to the X8. 

Monitoring 

Monitor the X8 closely during the mission using your line of sight and the 

Miss1on Planner Flight Data screen. 

Mission Planner Flight Data: Attitude Status 

4 

Initiating 

For automatic takeoff, arm the X8 in stabilize mode. Switch to auto mode, and 

raise the throttle to initiate the mission. 

For manual takeoff, initiate the mission in ftight by switching to auto mode. 

3 

4 

5 

6 

Actions 

Change waypoints or restart a mission 

Change modes 

Change altitude 

Flight Map 

3 

t Heading direction 

2 Bank angle 

Ground station signal• 4 

GPStime 

Distance to current waypoint > 

current waypoint number 

2 

3 

4 

3 AHitude• (black) and rate of climb (blue bar) 

4 Ground speed 

•Failsafe behavior enabled 

Currently 

enabled mode 

5 GPS status• 

6 Battery status• 

Full battery: 16.8 V 

Low battery failsafe: 14 V 

£ End your flight at 14.1 V! 

1 Current heading 

2 1: 

3 GPS-reported direction of travel 

5 

4 Actual fl ght path 

5 Latitude, longitude 

6 Altitude 

28 
Failsafes 

The XB 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 autonomous flight. Although certain 

failsafes have assigned LED indicators and tones, ~ is unlikely that you will be able to see these at a 

distance. Mon~or the Right Data screen for failsafe indications. If a failsafe is triggered, the assigned 

behavior will activate. To override the failsafe behavior (RTL in most cases), use the controller to 

regain manual control. 

Regaining Manual Control 

To regain manual control during the mission, sw~ch to altitude hold mode using the controller. If 

you're a confident operator, switch to stabilize mode for full manual control. If you observe instability 

in the XB's flight behavior or it the aircraft moves outside your designated safe flying area, switch to 

RTL. Turning off the controller will automatically trigger an RTL and can be used in an emergency 

situation as a hard recall command. 

Ground Station Signal Failsfe 

Physical obstructions and interference from nearby wireless signals can affect the XB's connection 

with the ground station. Use the Mission Planner Flight Data display to mon~or the ground station 

connection strength during flight. 

If the XB loses contact with the ground station for over five seconds, it will automatically return to 

the launch point and land. 

RC Controller Signal Failsafe 

Physical obstructions and interference from nearby wireless signals can affect the XB's connection ~h the RC controller. 

If the XB loses contact w~h the RC controller, it will return to the launch point automatically and 

land, indicated by a blinking yellow status LED. 

Low Battery Failsafe 

Environmental cond~ions can affect power consumption. Use the Mission Planner Flight Data 

display to monitor the voltage of the battery during flight. 

If the battery reaches 14 V, the XB will land automatically at the current pos~ion, indicated by a 

blinking yellow status LED and a quick repeating tone. 

0000~ 

GPS Failsafe 

Enclosed areas, physical obstructions, and lack of available satellites can affect GPS strength. 

Use the Mission Planner Flight Data display to monitor the GPS during flight. 

If the XB loses GPS lock for over ftve seconds, it will land automatically at the current position. 

"'·il··* ... eoe8' c:ao 

Altitude Failsafe 

The XB has a 120 m altiTude geofence enabled by default. If the geofence is breached, the XB 

will automatically RTL. 

~ 

~ 

29 
3 Process 

On-Site Quality Check 

Spot Check 

Download Images 

Download Log File 

Pix4D Rapid Check 

Full Processing 

31 

31 

31 

32 

33 

33 

30 
On-Site Quality Check 

Before leaving the survey site, check the images using Pix4D to ensure 

sufficient quality for mapping by downloading the images from the SD 

card, downloading the log file from the X8, and completing Rapid Check 

Initial Processing in Pix4D. 

If you observe poor image quality or the quality report returns errors, see 

the Image Quality Troubleshooting section on page 38 and repeat the 

mission. 

Spot Check (Optional) 

The quickest way to see the images after a flight is to unlock the SD 

card and restart the camera. The camera will load the default Canon 

programming and you can select the playback bottom to review the 

images. 

playback button 

Download lma~es Unlock the SD card and load into your ground station. Select the DCIM 

folder and locate the folder for your flight. Copy the files into a project 

folder on the ground station and delete them from the SD card. 

SD card file structure: Download images 

31 
Download Lo~ File 

Pix4D uses the GPS data from the XS's log file to georeference the images. To 

download the XS's dataflash log, power the XS and connect to Mission Planner. 

The download process will be faster if you connect the micro-USB cable directly 

to Pixhawk's micro-USB port instead of connecting using the ground station 

radio. (When connecting directly to the X8, set the rate to 115200.) 

On the Flight Plan screen, select the DataFiash Logs tab under the heads-up 

display, and select Download DataFiash Log over Mavlink. 

Mission Planner: Flight Data heads-up display 

The Log window shows the XS's recent flights. Select the flight for your mission, 

and select Download These Logs. This will save the log file to your computer in the 

location displayed under the list of flights. 

To retrieve the log file, access your computer's file structure under Program Files! 

Mission Plannerllogs!OCTOROTOR, and select the .log file for the date of your flight. 

Mission Planner: Download Logs Program Files: Retrieve log file 

-~L~~~~~~.~]·~·~--~.:;~ 

-, .......... -- ~- .). 

32 
Pix4Dmapper Rapid Check: Create Project 

Open Pix4D Mapper, and create a new 

project. 

2 

Select Aerial Nadir as the 

project type. 

Pix4Dmapper Rapid Check: Initial Processing 

After creating the project, select the Local Processing screen (Process 

menu). Check the option for Initial Processing and Rapid Check. Uncheck 

all other local processing options, and select Start. 

Pix4D will generate a Quality Report that will indicate if the images are of 

sufficient quality to create a map. 

Full Processin~ 

3 

After adding the images, select From File to add the geolocation data from the 

X8's log file. In the pop-up window, select 3D Robotics Right Log as the file 

format, and upload the dataflash log file downloaded from Mission Planner. 

o~--...... [" -~---' ~--· : .,....__ 

I •--------· 

·--·-.. , 

··--~---

= --·· 

Quality Report 

.._._ 

~---~~~ ......... >--.......... .,...-~---

:·-~·-Pit{GCP) ....... ~--

~------m_:-- ~­

--~,..: 

lfrliJt~~~~ftlllll): 

tall*f'Cllltd:Lilti.PJ 

..... llllllallofS1S'13................ ·0 

r:·~--~~~=·~·.=[~~~~~~:==:~-~-==tt: ~~- ,.....CII1liDI....,._,.cahlal._ l.~, 

_......,_.. 7GIJPI(rXQ.t.oe• .• 

To complete full processing for the map, visit support.pix4d.com for instructions. 

33 
Appendix 

Aerial Imaging Concepts 

3DREAI 

Image Quality Troubleshooting 

Operational Troubleshooting 

35 

36 

38 

39 

34 
Aerial Imaging Concepts 

Understanding key concepts in aerial images can help you understand the mission planning process and create 

better maps. 

Distance-Based Imaging 

By default, the X8 captures only the images required to create the map. The autopilot monitors the distance 

traveled by the X8 and sends a command to the camera to capture an image at the distance interval specified 

by the camera trigger distance parameter (CAM_ TRIGG_DISl). This parameter is set by the Mission Planner 

Survey Tool during survey configuration by calculating the minimum distance between images based on the 

parameters specified for the survey (altitude, overlap, sidelap). This distance-based imaging allows for more 

precise data collection, resu~ing in less images and data storage cost. 

Once configured, the Survey Tool creates an event at the start of the mission script (after takeoff} to set the 

camera trigger distance to the specified interval and an event at the end of the mission (before landing) to reset 

the camera trigger distance to 0. Therefore, while on the ground and during landing, the camera captures no 

images because the camera trigger distance is set to 0 m. 

Time-Based Imaging 

The X8 is also equipped to capture images at a consistent time interval instead of using distance. This function 

can be useful if you want to capture images over an area without planning a mission. This time-based imaging 

resu~s in more images per area, and therefore more processing time and storage cost. See the intervalometer 

option on page 36 to enable time-based imaging. 

Overlap and Sidelap 

To capture images for the map, the X8 flies a lawnmower-like pattern in strips across the survey site. The frontto-back overlap between sequential images is called overlap; the side overlaps of adjacent pictures in different 

strips is called sidelap. The overlap and sidelap parameters in the Survey Tool (see Advanced Options page 

16} determine the distance between images and the number of images to be captured based on the projected 

ground area that each image will cover, called a footprint. The Survey Tool uses a default overlap of 50% and a 

default sidelap of 60%. Increasing overlap and sidelap improves the accuracy of the map while increasing flight 

time and processing time. 

In the Survey Tool, Distance bBtwBBn Images shows 

the specified camera trigger distance that will 

be assigned to the mission. You can also see 

the projected image footprint size and the total 

number of images to be captured. 

DefauH overlap: 50% 

DefauH sidelap: 60% 

35 
3DR EAI 

3DR EAI is based on KAP UAV Exposure Control Script v3.1: a great opensource project for kite and UAV aerial photography. 

Start and Stop Script 

Ensure the camera is set to P (program) mode before powering the camera. 

Upon startup, 3DR EAI starts automatically and listens for commands from the 

autopilot, indicated by waiting for USB signal. To stop (and re-start) the script, press 

the shutter button. The script will display INTERRUPTED when stopped. 

.. . ,_ ' . ' ,. ' .. ... ' ,. ~ 

" . "'.- .. ~- .... ~ .... ~- .. "' "' ..... ,_ - "', 

Script start: waiting on USB signal 

<• ' .. • ~ 

... _ ~-· ........... . ,. ... 

' --~ 

Script stopped: INTERRUPTED RNISHED 

CHDK Menu 

The CHDK menu contains all the standard options provided with CHDK. 

To access the CHDK menu, stop the script and select the MENU button. 

CHDK menu 

Script Menu 

The script menu allows you to change the parameters associated with the script 

itself, including changing the trigger mode and adjusting exposure. To open the 

script menu, stop the script and select the FUNC. SET button. These parameters 

are configured for the X8 and SX260 and do not require adjustment as part of 

standard operation. 

~~~, ,1 .. ... • ~ « ... 

.. - "~ .,. . "' 6-" • "" ~ -- . k • • 

. - . - - . 

Script menu 

Trigger Type 

This parameter allows you to control how the camera captures images . 

Trigger type defaults to USB for distance-based imaging during mapping 

missions. For time-based imaging, select Interval and specify the length in the 

Shot Interval parameter. 

Trigger Type default: USB (mapping) 

Variable intervalometer: Interval (default to 2 seconds, specified by Shot lnterva~ 

Script menu: Trigger Type 

36 
Updating the Script 

3DR EAI is an open-source project and continuously improving. To download the latest script, visit 3DR.com/X8-M and select 3DR EAI Source. You will 

be redirected to the GrrHubt repository where you can right-click on Raw and select Save link to download the latest script labeled 3DR_EAI_SX260.1ua. 

·--· ~''-'lli<IJiot."""'*"·O....-·-----­

-~ .. ---------

m-· 

·I 

s--.,. 

-

--·--·~ _,. __ .,.. ........... .. , ..... . --~·-

.,_., ... ,_ .. , ...... _ .... _ ........ "'""' ..... ,, .......... _ ........ ......,_, . .,,.,_, __ -.--......... .._ ... ,." 

_ -·-···-,.,._,. .. _ ........... ,.. . .,..,,__ ....... __ ... ._ .. _ .-:-,,.::-;:..'~;:,; :,·,:·· ::::.:·;:, - Download latest script from GitHub 

~"~ "" ,~ c-::/ 

,-;:;.- l 

·-· 

New script file Script file on SD card 

To update the script on the SD card, unlock the SD card and open it on your computer. Navigate to CHDK/Scripts and replace the existing 3DR_EAI_ 

SX260.1ua file vvith the updated script file from GitHub. 

Resources 

Visit 3DR.com/X8-M for links to resources. 

3DR EAI GrrHub Repository: 

KAP UAV Exposure Control Script v3.1: 

CHDKv1.3: 

github.com/diydrones/ardupiloVtree/master/Tools/CHDK-Scripts 

chdk. wikia.com/wikVKAP _UAV _Exposure_ Control_ Script 

chdk.wikia.com/wiki/CHDK_ 1.3.0_User_Manual 

Memory Reset 

If the battery is left out of the camera for too 

long, the camera will reset its memory. To 

re-configure the camera in this case, visrr 

30R.com/XB-M for instructions. 

37 
,. 

Image Quality Troubleshooting 

If you observe poor image quality during the spot check or if you receive error 

messages during processing, use the settings below to troubleshoot the image 

quality. 

Blurry Images 

To correct motion blur, adjust the shutter speed using the Target Tv parameter in the 

script menu. 

Target Tv (shutter speed) default: 

To correct moderate motion blur: 

To correct severe motion blur: 

Overexposure 

1/1250 

Set to 1/1600. 

Set to 1/2000. 

If the images are overexposed but do not show any motion blur, it can be due to 

flying in extremely bright conditions. To correct this, set the Allow use of NO filter 

parameter to YES in the script menu. 

Allow use of NO filter default: No 

To correct overexposure: Set to Yes. 

Processing Errors 

Example image: motion blur 

Example image: overexposure 

If you receive errors from Pix4Dmapper during processing, increase the overlap and 

sidelap during survey configuration to improve the quality of the image set. 0 

Overlap default: 

Sidelap default: 

To improve processing: 

50% 

60% 

Set overlap to 60% and sidelap to 70%. 

Script menu: Target Tv 

Script menu: NO filter 

38 
' . , 

Operational Troubleshootin~ 

No Images Captured 

1 It the camera did not capture any images during the mission, first perform a 

physical inspection on the X8. 

Is the mini·USB cable connected to the camera's USB port? 

Are the AUX OUT 6 pins connected on Pixhawk? 

~~B7tS4:210DDDDD 

AUX OUT 6: black(-), red(+), white (s) 

0 ' 

Is the camera battery charged? Unlock the SO card to view the Canon's 

battery level indicator. 

LED Error Indicator 

2 Take a distance-triggered test image on the ground by manually setting 

the camera trigger distance parameter to 1 m. 

Power the X8 and connect to Mission Planner. Select Config!Tuning and Full 

Parameter List. Change the CAM_ TRIGG_DIST parameter to 1 , and select Write 

Params. Disconnect the X8 from Mission Planner, and carry for a few meters 

to see if the autopilot triggers the camera. 

Mission Planner Full Parameter List: Set CAM_ TRIGG_DIST to 1 . 

If the status LED displays blinking yellow, the X8 is failing one the pre-arm safety checks. To determine the specific failure, check the 

heads-up display on the Mission Planner Flight Data screen. There will be an error message specifying the tailed check. 

Radio Calibration Failure: 

Accelerometer Calibration Failure: 

Compass Calibration Failure: 

GPS Failure: 

Perform Radio Calibration in Mission Planner or RC controller re-binding 

Perform Accelerometer Calibration in Mission Planner 

Perform Compass Calibration in Mission Planner 

Wait for improved GPS signal or move to a more open area 

39