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# Mission Creation Start by the following links to learn how to create flight missions: 

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- 1,: http:f /plane.ardupilot.com/wiki/common-pianning-a-mission-with-waypoints-and-events/ Here is an interesting video from a user of the APM autopilot and Mission Planner that helps to get familiar with the Survey Tool, great to create a mission. It automatically calculates the following information according to the values entered for altitude, overlaps and even lens (focal length): - total area - total distance of flight - distance between images - ground resolution - number of images , - number of strips - footprint size - distance between lines - orientation of the lines http://www.youtube.com/watch?v=LZGWmNXylMs

The screenshot below shows the values to be entered in the Trigger Options tab when "Advanced Options" is selected on "Simple" tab.

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# Please note that the Distance Between Images changes as you enter different values ofaltitude, overlap and even cameras. The time between images also changes. Ideally you have a time between pictures of no less than 2.5 seconds. - Camera configuration settings: From the drop down menu on the"simple" tab Select the default Nex 5 16mm.

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Then enter the following values for camera settings (when using the Voigtlander 15mm lens):

NOTE: if using the Sony a5100 or Sony Nex 7 you should enter the following values instead: Image width: 6000 

# Image height: 4000 Sensor width: 23.5 Sensor height: 15.6
For the Sony Alpha a7r: Image width: 7360 

# Image height: 4912 Sensor width: 35.9 Sensor height: 24

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# Click on SAVE when ready and enter a name for this camera. This will save your camera settings for the next time so you don't need to enter this again. Your will find it by the name you entered on the drop down menu on the camera list. Finally, go to the first tab and click on "Accept".

NOTES: - Set your home location by clicking in the Home Location link in the lower right portion of the screen (requires GPS lock). Otherwise your home location will be set automatically when the GPS acquires satellites during power up. - The Default altitude is the altitude it automatically assigns to each waypoint when created. - Enter the Pitch Angle that you want the UAV to hold while climbing. We recommend a value of 25-30 degrees. - Enter the takeoff altitude (at which the autopilot will consider the takeoff complete and then will go to the next waypoint). We recommend setting an altitude of no less than 70 m for the autotakeoff. -'jet the waypoint sequence so that turns are alWays into the wind. This is very important because if the turns are set downwind then it will have three times the turn radius as if turning into the wind when the UAV exits a flight line. Remember to set this when using the survey tool. After clicking on accept and exiting the survey tool this can't be changed. That's why it is a good idea sometimes to create the survey in the flight field after studying the wind direction. - Triple check the correct sequence of commands. It should make logic or at least appears as suggested in this example. The sequence of commands will be executed by the drone exactly as indicated. Always triple check your altitudes: if a waypoint or command has an altitude of "0" then this means you are commanding the drone to hit the ground! - Click on "Write WPs". This will write the Mission onto the Autopilot. Make sure that it did so by clicking "Read WPs". The mission created should appear on the Flight Plan. -NE=.'<' the Mission Planner now supports mission editing and re-writing of a mission while the aircraft is during flight. This feature is extremely handy in some situations, as you will see below. The limit is your imagination.

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# How to operate the lens protective door automatically: First, test the camera protective door before flight:

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# Once the proper functioning of the lens cover door has been verified manually, then just enter the commands on the mission to open and close automatically: open after first mission WP and close after last mission WP, as follows:

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# a Waypoints (WPs) 18 and 19, straight and level and against the wind direction (nneaning at a low ground speed). From now on this will be called "Recovery Flight Line". When the UAV is passing over the landing spot simply deploy the parachute and immediately switch to MANUAL or STABILIZE flight modes (to avoid the autopilot revv up the motor) - The start of the Recovery Flight Line is WP 18, so make sure this WP is located well before the actual desired touchdown area.. Remember, .the plane may not hit directly this waypoint, especially if it comes from a downwind turn. So give plenty of space for the aircraft to get into the line before the target landing area. - Add two more waypoints after the Recovery Flight Line. In this example WP 20 is set at a slightly higher altitude (60m), in order to have greater clearance when the UAV is passing over the tree area and then turning downwind to WP 21, also set at 60m. The purpose of WP 21 is to allow plenty of space to turn and make the UAV start the Recovery Flight Line right from the beginning. Note that WP 21 also has an altitude of 60, so the plane will have to descend 20m. You have to leave enough room for the plane to make this descent and not place WP 21 right next to WP 18, otherwise the plane may pass over the Recovery Flight Line at a higher altitude. The plane has a maximum descent rate that can't be exceeded in AUTO mode, even if the mission asks this. So leave plenty of separation between WPs with different altitudes so the plane has room to glide or climb smoothly. This also increases the precision when-following the lines. - At the very end, enter the DO_JUMP command, the WP you want to repeat from (in this example is WP 18) and the number of repetitions (8 entered in this case). This will make the plane repeat the Recovery Flight Line 8 times from WP 18. You wil) have 8 attempts to deploy the parachute, assuming you have enough battery power left. - What to do if the number of repetitions is over, but the battery life is getting close to a critical voltage? There are several ways to approach this but the most recommended is to go to Flight Plan while the aircraft is still flying (you can also switch to Loiter mode while doing this, or RTL) - Delete the Mission Waypoints one by one using the Delete Button - Leave only the recovery portion. In this case it will be from WP 18 to JUMP command. You can also adjust/relocate waypoints position in the map - Click in Load Mission. - Go to Flight Data window, open Action Tab and click in Repeat Mission Here is another sample: the Recovery Flight Line is between WPs 9 and 10. Note the climb after WP 10 in order to have greater clearance for trees. The desired touchdown spot is before WP 10. The parachute is released just before WP 10.

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Alternative methods to control the _ descent of the aircraft after the mission is completed: 1) GUIDED mode (or emergency procedure) You can command the UAV to fly to a specific point in the map and at a desired altitude: In the Flight Data window right click on the map on the spot you want the aircraft to fly to (since we are using this example as an emergency procedure then chose a spot close to home location or desired landing area). The Mission Planner will ask you for the guided/loiter altitude. When reached, the airplane will remain loitering in this spot at the selected altitude.

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# This command is also very useful when the UAV operator needs to move around the field while the UAV is flying, or anytime you want to command the UAV to go or loiter over a specific area. If you need to change the altitude after it has been entered simply right click again over the guided waypoint and select "Fly to Here Altitude" and just enter a different value. If you need to move around the field in a vehicle while the UAV is in flight you definitely want to read about Rally Points and how to use them to your advantage: http://plane.ardupilot.com/wiki/

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2)"Change Alt" direct command on Flight Data: On the Flight Data window select ACTIONS tab. Enter the desired altitude and click on the button to execute. Ideally use this command when the plane is already over home or flying towards it. B_MiisianP; 73.2

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Autoniatic stabilization check: Standing behind the plane as reference: 

# 1. Select FBW-A or STABILIZE mode 2. Rotate your model nose up with the wings pei

- fectly level — you should see the tails surfaces deflect slightly down 3. Rotate your model nose down with the wings perfectly level — you should see the taiis surfaces deflect slightly up 4. Roll the model to the right — you should see the LH aileron «o up ancl the RH aileron go down. And the LH elevator go down and RH elevator

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# o up. 5. Roll the model to the left — you should see the LH ailero ❑ go down and the RH aileron go up. And LH elevator go up and RH elevator go down. 6. Level the model — the control surfaces should be close to neutral. There will be a little bit of offset, but any moi

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- epeated. 7. With the model level apply LH and RH roll stick inputs on your transmitter (right stick) — the controls should deflect in the same direction that they would in manual mode. 8. With the model level apply LH rudder / yaw stick inputs on your transmitter (left stick) _ the tails surfaces should move to the left, just the same in manual mode. 9. With the model level apply RH rudder / yaw stick inputs on your transmitter (left stick) — the tails surfaces should move to the right, just the same as in manual mode. 10. With the model level apply up and down pitch stick inputs on your transmitter (right stick), the elevators should deflect in the same direction.

You should do this before everx flight , just as you move your control surfaces with your RC transmitter to ensure that nothing's reversed. 

# Now, perform a ground parachute release test. Simply check that the parachute will deploy correctly and then folded as indicated further down in this manual. It is extremety im o g rEant that vou do this test before every fljght session. Propeller Always install the propeller tight and secure and ONLY right before takeoff. 

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# be extremely careful when handling the handling the remote control while the aircraft has the prop attached. Moving the throttle stick or Fliaht Modes switch accidentally can cause serious injury. Do remove the propeller as soon as the aircraft touches down upon landing before doincL ANYTHING ELSE.

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Auto takeofP instructions:
The basic idea of automatic takeoff is for the APM to set the throttle to maximum and climb until a designated altitude is reached. To cause the plane to execute a takeoff, add a TAKEOFF command to your mission, as the first command. The APM will initially hold the wings level on takeoff, but as soon as a takeoff heading is established, the APM will adjust roll to maintain that heading. DO NOT move the plane after Auto has been engaged except to throw it in the direction of takeoff. Try not to "wind up" by moving the plane backwards before throwing it. As much as possible, try to duplicate the behavior of a catapult launcher. Switch to AUTO flight mode. The motor should kick in at full throttle. Walking the plane for 2-3 meters in the direction of the takeoff just before the launch run starts will help. Toss the aircraft into the wind, not too hard and not too soft, with the WINGS AND FUSELAGE LEVELED = HORIZONTAL!. It is important that you don' t move it backwards just before you release it, so you may need to run_ a few times as a practice before the actual frst attempt. You must imitate as much as possible the behavior of a catapult. Catapults move the aircraft forward only, not backwards at any moment, so you need to emulate this the best you can. 

# WARNING! It is VERY important that you do not walk backwards after AUTO mode has been selected, for example, before starting to run! It is important to remember that you can nudge the plane at any moment and in any flight mode during flight, so stay on the controls all the time in case of emergency. Note: DON'T release the plane until the motor is spinning at full power! It is very important that the plane is launched with the wings leveled and the fuselage in a horizontal trajectory, or the nose 

# slightly up. Make sure to see the following video of some hand launches: 

# https://www.youtube.com/watch?v=PgMPCgfDa3M&feature=youtu.be 

# https://www.Xoutube.com/watch?v=l Z7Wz63Ss8
And above all: ALWAYS LAUNCH INTO THE WIND!

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# Pre-takeoff checklist: this checklist assumes the mission has been checked according to conditions and is fully ready. We highly recommend pen`orming this checklist right before takeoff and consider it as a separate element from the mission creation portion. Preferably follow the steps in the sequence suggested: - Check that wings and tail surfaces are properly installed and secured with tape. - Place camera into the UAV. Check camera battery and settings. - Install batteries into the UAV (but DON ' T power up yet) - Temporarily attach the propeller - Check the center of gravity (with batteries disconnected) - Remove propeller - Check battery voltage with digital voltmeter provided. Recommended voltages for a 90- 100 min flight are:

• Flight batteries: 24.9-25V per each 4500 mAh pack. Critical voltage is 22.0V. (The UAV should be preparing to land when the voltage is 22.5. At this voltage you have less than 5 mins left of operation of the motor at cruise throttle. Electronics (autopilot, servos, GPS last for about 15 minutes more). • Dragonlink batterx: 8.2V. Critical voltage is 7.4V. • DX8: for the 2000 mAh NiMH pack = 5.5V. Critical voltage is 4.9V. For the 4000 mAh Lipo battery pack = 8.2V. Critical voltage 7.5V. (This battery pack last many hours). - Power up: transmitter first, in Manua) mode, Throttle stick down. Then power up UAV (motionless for 40 seconds). MAKE SURE LENS COVER DOOR IS NOT OBSTRUCTED! - Connect to Mission Planner via data link - Check proper motion of control surfaces in Manual mode - Check for correct alignment of ailerons and V tail in Manual mode, sticks and trims neutral - Check flight surfaces in Stabilize mode: pitch and roll UAV and they should move in the right direction - Switch through all the flight modes. Check on Mission Planner - Perform Failsafe check (it should switch to RTL automatically when RC link is broken) - Perform a parachute release check. Check parachute wrapping. DO NOT SKIP THIS 

# STEP - Perform attitude check (artificial horizon must match actual level on airplane) - PerForm compass check (Mission Planner heading should match real UAV heading on the ground) - Setup battery voltage on Mission Planner. Double check that correct voltage is displayed

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# on Flight Data window - Check your mission one more time. If ok, "write" it to the UAV -"Read" the Mission from the UAV to make sure it loaded properly - Switch to AUTO mode. Motor should revv up (assuming mission has takeoff command) - Test camera trigger from Mission Planner - Test lens cover door open & close (from Flight Data — Servo tab — Click Low to open, High to close) - Attach propeller. Make sure the nut is very tight and won't come loose during flight. - Airplane is ready for takeoff!
During flight: Be at ajj_tirnes on the control sticks in case you need to deploy the parachute during an emergency.
Recovery: - When airplane is over the landing spot 1) Release the parachute AND THEN 2) switch to STABILIZE or MANUAL (with throttle stick in lowest position) - - If the day is windy, secure the parachute first on touchdown as quick as possible. Watch for wind speed and direction. Use common sense. The wind will drift the airplane while descending, so it is all about the timing to hit the parachute release switch. Anticipate the landing spot and avoid obstacles, buildings, rocks, water, people. After this first exercise you can start making small changes and add a bit of complexity to the mission. It is important to do small changes at a time, and see the effect on the mission planned. Don't attempt to do it all in a single flight, but learn progressively. If you want to repeat the mission the autopilot will have to be reset (if you already landed, disconnect the battery and re-connect to reset) or you will have to hit the "repeat mission" button on the Flight Data window on the mission planner. You can click this button when the aircraft is still flying.

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IMPORTANT INFORMATION ABOUT LIPO BATTERIES

- PLEASE READ CAREFULLY ! - 1. Charging/Safety IMPORTANT!. Lithium cells must be charged very difFerently than NiCad or NiMH. They require a special charger specifically designed to charge lithium cells. In general any cliarger that can charge lithium ion can charge lithium polymer, assuming that the cell count is correct. You must NEVER charge lithium cells with a NiCad or NiMH only battery charger. This is dangerous. Charging cells is the most hazardous part of using lithium batteries. EXTREME care must be taken when charging them. It is important to set your charger to the correct voltage or cell count. Failure to do this can cause the battery to spew violent flames. There have been many fires directly caused by lithium batteries. PLEASE BE RESPONSIBLE when charging lithium batteries. Here are a few MANDATORY guidelines for charqing/using LiPos (Lithium Polymer 

# Batteries): 1. Use only a charger approved for lithium batteries. The charger may be designed for Li-Ion or Li-Poly. Both batteries are charged in exactly the same. Some older cell phone chargers may charge the batteries .1 volt to low (4.1 vs 4.2), but that will not harm the battery. However, inexpensive lithium chargers are widely available and the use of cellphone chargers is highly discouraged. 2. Make certain that the correct cell count is set on your charger. Watch the

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# charger very closely for the first few minutes to ensure that the correct cell count continues to be displayed. If you don't know how to do that, get a charger that you do know how or don't charge the batteries. 3. Use the Taps. Before you charge a new Lithium pack, check the voltage of each cell individually. Then do this after every tenth cycle thereafter. This is absolutely critical in that an unbalanced pack can explode while charging even if the correct cell count is chosen. If the cells are not within 0.1 volts of each other then charge each cell individually to 4.2 volts so that they are all equal. If after every discharge the pack is unbalanced you have a faulty cell and that pack must be replaced. Taps are provided on most new lithium packs. Taps give you the ability to check individual cell voltages and charge one cell at a time. Make sure and get the appropriate connector to go into your taps. Don't try to stick you volt meter probes in the taps to measure voltage. They could slip and short your cells. Don't try to charge more than one cell at a time from the taps. Unless you have an isofated ground charging system, you'II short your batteries out. Refer to your individual cell maker for tap pin-outs. 4. NEVER charge the batteries unattended. This is the number one reason for houses and cars being burned to a crisp by lithium fires. 5. Use a safe surface to charge your batteries on so that if they burst into flame no damage will occur. Vented fire safes, pyrex dishes with sand in the bottom, fireplaces, plant pots, are all good options. 6. DO NOT CHARGE AT MORE THAN 1C unless specifically authorized by the pack vendor. Today's highest discharge batteries can supposedly be safely charged at greater than 1C, however so far in 

# all cases doing so shortens the life of the pack. Better to buy 3 packs than to try to charge 1 pack 3 times quickly. This may change in the future but as of Winter 2005 1C is still the recommended charge rate. 7. DO NOT puncture the cell, ever. If a cell balloons quickly place it in a fire safe place, especially if you were charging it when it ballooned. After you have let the cell sit in the fire safe place for at least 2 hours. Discharge the cell/pack slowly. This can be done by wiring a flashlight bulb of appropriate voltage (higher is voltage is ok, lower voltage is no) up to your batteries connector type and attaching the bulb to the battery. Wait until the light is completely off, then throw the battery away. 8. If you crash/hit your lithium cells they may be damaged such that they are shorted inside. The cells may look just fine. If you crash in ANY way carefully remove the battery pack from the aircraft and watch it carefully for at least the next 20 min. Several fires have been caused by damaged cells being thrown in the car and then the cells catch fire later and destroys the car completely. 9. Charge your batteries in a open ventilated area. If a battery does rupture or explode hazardous fumes and material will spew from the battery. 10. It can happen to you, do not think to yourself that "it won't happen to me" as soon as you do that it you'11 be trying to rescue your kids from your burning house or car. I'm very serious about this.
- How to install the camera (Sony Nex series): The following images illustrate how to properly install the Sony Nex 7/5 camera into the aircraft.

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# First, introduce the camera and then the bracket inside the Payload Bay Module without attach them together. Then screw the 1/4-20 nylon bolt included, as shown below. Let the lens covers attached to the camera to protect it from scratches since the space is a bit tight, especially when using the Voigtlander lens:

Now you can attach camera and bracket with the 1/4-20 bolt and Nylon nut. Make sure they are firmly attached and proceed to install the bracket into the two upper brackets and secure using the two 6/32 winged nuts provided.

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As shown below, wrap around thte camera ans its mount the velcro strap provided. This will relief part of the weight of the camera from the camera mount upon touchdown.

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# You can also test the camera trigger from the Mission Planner at any moment: in the Flight Data window left click and a small menu will appear. Now click in Trigger Camera NOW. Camera should take a picture. 

# Limited Warranty 

# Aeromao warrants to the original purchaser that this product shall be free from defects in materials and workmanship for a period of five months from the date of

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# original purchase. 

# Warranty service is provided F.O.B. Mississauga, Ontario, Canada, with transportation costs incurred by the purchaser. If the unit is to be returned to Aeromao for service, a return confirmation must be obtained before shipping and a detailed description of the problems included. Aeromao may elect to provide troubleshooting services by correspondence and ship repair parts if necessary. This warranty is VOID 

# if any Aeromapper UAV or its hardware components have sustained physical damage or if they have been modified in any way. Limited Liability Aeromao and its partners shall not be held liable for any incidental, consequential, or direct damages or expenses associated with the use or misuse of its products. It is the user's responsibility to provide back-up and redundant systems to assure that no single component failure can cause loss of control of the vehicle. 

# Changes Aeromao reserves the right to make changes to it's products, designs and documentation without notice. 

# NOTE: some portions of this manual relating to the operation of the ArduPilot Mega autopilot were extracted directly from the manual of the autopilot (Created by 3D Robotics as an open source autopilot).