### September 14th, 2015 US Department ofTransportation DocketManagement System WestBuilding GroundFloorRoomW12-140 1200NewJersey Ave. Washington, D.C. 20590 RE: Exemptionrequest under Section333 ofthe FAAReform Actof2012 andPart 11 ofthe Federal AviationRegulations from 14 C.F.R. 45.23(b); 14 C.F.R. Part 21; 14 C.F.RPart 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)
DearSir orMadam: Pursuant to Section 333 ofthe FAA Modernization and Reform Act of2012 (herein referred to as Reform Act) and 14 CFRPart 11, DraperAden Associates, an Engineering, Survey and Environmental Services ftrm, hereby applies for an exemption from the listed Federal Aviation Regulations (FARs) to allow commercial operation ofUAS for precision aerial surveying and aerial imagery capture so long as such operations are conducted within and under the conditions outlined herein or as maybe establishedbythe FAA as requiredby 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; siteplanning and engineering; andconstruction inspection services throughoutthe Mid-Atlantic region. As detailed in this document and the attached 3D Robotics X8-M UserGuide (hereinreferred 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 byDraperAden Associates. Approval ofthis exemptionwouldtherebyenhance safety and fulfill the SecretaryofTransportation'sresponsibilities to "
...establish requirements for the safe operation ofsuch aircraft systems in the national airspace system." Section 333(c) Reform Act. The name and address ofthe applicant is: Darren L. 

### Goodbar DirectorofAerial Services DraperAden 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 CFRPart 21 14 CFR45.23(b) 14 CFR45.29 14 CFR 61.23 14 CFR 61.113(a) & (b) 14 CFR 91.7(a) 14 CFR91.9(b)(2) 14 CFR 91.103 14 CFR91.109 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 ofthe 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 ofaregulationprescribed under subsection (a) or (b) ofthis section orany sections §44702-44716 ofthis title ifthe Administratorfinds 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) ofthe Reform Act assists the Secretary in determining whether UASs may operate inthe 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 UAS operates withinthe visual line ofsight ofthe operator • Whetherthe UAS operates outside ofhighly populated areas and away from close proximity to airports. Reform Act 333(a). Ifthe Secretary determines that a UAS "may operate safely in the national airspace system, the Secretary shall establish requirements for the safe operation ofsuch 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 operateunder normal conditions at a speed ofno more than 10 knots and has the capabilityto 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 ofsight at all times. Such operations will insure that the UAS will "not create a hazard to users ofthe national airspace system orthe public." Reform Act Section 333(b). Given the small size ofthe UAS involved and the restricted environment within which they will operate, our application falls squarely within the zone ofsafety (an equivalent level ofsafety) in which Congress envisioned that the FAAmust, byexemption, allow commercial operations ofUASsto commence immediately. Also due to the small size oftheUAS andthe lowaltitudes inwhichourUAS will operate, approval ofthe applicationpresents 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. TheX8-M is commonlyreferredto as an octo-copter (8 rotors and 8 motors) whichweighs a total of7.7 pounds withoutpayload and ispoweredbylithiumpolymerbatteries. 

## Itcancarrypayloads up to 0.4 pounds resulting in a total weightofno morethan 8.1 pounds andhas anoperationalrange ofup to 0.6 nauticalmiles. TheX8-M can be operated with a maximum wind threshold of25 miles perhour (MPH) for sustainedwinds and wind gusts up to30MPH The X8-M canbe operated entirelyby a touch-screen, map-based interface. This means the operator only needs to commandthe systemwheretogo, andthe systemdoes allthe flying forthe operator. TheX8-Mcanbeoperated inbothsemiandfully autonomousflight modes, withthe operatorsimplyclickingona mapto create apreplanned flightpathfor a flight. In addition, the operatorcancreateno fly zones ormaximum flight ranges and altitudes so the system cannot enter areas deemedunsafe orunnecessary 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 ifthe 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" orotherpotentially dangerous situation

- is available to the operator. DESCRIPTION OF SPECIFIC REGULATIONS 14 CFRPart 21, SubpartH: Airworthiness certificates Subpart H, establishes the procedural requirements for the issuance ofairworthiness certificates as required by FAR §91.203(a)(l). Given the size and limited operating area associated with the aircraft to be utilized byDraperAden Associates, an exemption from Part 21 Subpart H meets the requirements ofan equivalent level ofsafety under Part 11 and Section 3 3 3 ofthe 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 anairworthiness certificate, upon considerationofthe size, weight, speed, operational capability and proximity to airports and populated areas ofthe particular UAS. In all cases, an analysis ofthese criteria demonstrates thatthe UAS operated without an airworthiness certificate, inthe restricted environment andunder the conditions proposed, will be at least as safe, or safer, than a conventional aircraft operating with an airworthiness certificate without the restrictions and conditionsproposed. 14 CFR45.23(b) & 

### 14 CFR45.29: Marking ofthe aircraft; DisplayofMarks; Size ofMarks This regulationrequires that certain experimental, provisionallycertified aircraft, orlight-sport categoryaircraft to bemarkedwithlettersbetween2 inches and 6 incheshigh "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 maybe needed as the UAS will have no entrance to the cabin, cockpit or pilotstationonwhichthe word "Experimental" canbeplaced. Giventhe size ofthe UAS, 2 inch lettering willbe impossible. DraperAdenAssociates will markthe UAS with the organization's name and address. 14 CFR 61.23: Medical certificates; Requirement and duration Regulationsprovide that a person: (1) Musthold a frrst-class medical certificate: Whenexercising thepilot-in-commandprivileges ofan airline transportpilot certificate; When exercising the second-in-command privileges ofan airline transport pilot certificate in a flag or supplemental operation inpart 121 ofthis chapterthatrequires three ormorepilots; or When serving as a required pilot flight crew member in an operation conducted under part 121 ofthis chapter ifthe pilothas reachedhis orher 60thbirthday.

## (2) Musthold at least a second class medical certificate when exercising: Second-in-commandprivileges ofan airline transport pilot certificate inpart 121 ofthis chapter (other than operations specified inparagraph (a)(l)(ii) ofthis section); or Privileges ofa commercialpilot certificate. Given the size of the UAS, their structure, the limited flight area and the safety features integrated into the autopilot (amongothersthe flight termination system), DraperAdenAssociatesbelievesthat anEquivalentLevel ofSafety canbe reached ifthe pilot-in-command has a valid, state issued driver's license. 14 CFR 61.113(a) & 

## (b): Privatepilotprivileges and limitations: Pilot incommand Sections 61.113(a) and 

## (b) limit private pilots to non-commercial operations. Because the UAS will not carry a pilot orpassengers, the proposed operations can achieve the equivalent level ofsafety ofcurrent operations by requiring the pilot operating the aircraft to have completed UAS manufacturer's flight training before flying a UAS. Unlike a conventional aircraftthat carries the pilot andpassengers, the UAS is remotelycontrolledwithno living thing orcargo onboard. The area ofoperation is controlled and restricted, and all flights are planned and coordinated in advance as set forth inthe User Guide. The risks associated with the operation ofthe small UAS are so diminished from the level ofrisk associated with commercial operations contemplated by Part 61 when drafted, that allowing operations oftheUAS as requestedexceedsthe presentlevel ofsafety achievedby 14 CFR 61.113(a) and (b). 14 CFR91.7(a): Civil aircraft airworthiness Theregulationrequires thatno personmayoperate a civil aircraftunless itis in airworthycondition. Asthere will be no airworthiness certificate issued for the aircraft, should this exemption be granted, no FAA regulatory standardwillexist for determining airworthiness. Given the size ofthe aircraft andthe requirements contained in the User Guide for maintenance anduse ofsafety checklists priorto each flight an equivalent level ofsafety will beprovided. 14 CFR 91.9(b)(2): Civil aircraft flight manual, marking and placard requirements TheUAS, givenits size andconfigurationhas no ability orplace to carry such a flight manual onthe 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 equivalentlevel ofsafetywillbemaintainedbykeeping the UserManual atthe ground controlpoint where the pilot flying the UAS will have immediate access to it. 14 CFR91.103: Preflight action Thisregulationrequires eachpilotincommandtake certainactionsbefore flight to ensure the safetyofflight. An 

## exemptionis neededfrom this requirement as the pilotwilltake separatepreflight actions, including checking for weather conditions, checking flight battery requirements, checking takeoffand landing distances, and all other actions inthe User Guide and safetychecklists. These actions willprovide an equivalent level ofsafety. 14 CFR91.109: 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. Bydesign, UASs and remotely piloted aircraft do not have fully functional dual controls. Flight control is accomplished through the use ofa control box that communicates with the aircraft via radio communications. The equivalent level of safety is providedbythe fact thatneitherapilotnorpassengers willbecarriedinthe aircraft, the abilitytocontroltheUAS via radio signals from the controllerandbythe size and speed ofthe aircraft. 14 CFR91.119: Minimum safe altitudes Section91.119 establishes safe altitudes for operationofcivil 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 similarlyto a helicopter, withverticaltakeoffandvertical landing, which willtypicallyoperate ataltitudes of200 feet above ground level (AGL), so an exemption maybe 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. Theequivalentlevel ofsafetywillbeachieved giventhe size, weightand speedofthe UAS as well asthe location where it is operated. Because advance notice to the property owner and any on-site personnel, as well as the precautions outlinedbelow, all affected individuals willbe aware ofthe 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 iffar less than those presently presented with helicopters and other conventional aircraft operating at or below 500 feet AGL. In addition, the low-altitude operations ofthe UAS will ensure separationbetween these UAS operations and the operations ofconventional aircraft that must complywith Section91.119. 14 CFR91.121 :Altimeter Settings Thisregulationrequireseachpersonoperatingtheaircrafttomaintaincruisingaltitudebyreferenceto analtimeter thatis set "
...totheelevationofthe departureairportoranappropriatealtimetersettingavailablebeforedeparture." As the UAS may not have a barometric altimeter, but instead a GPS altitude read out, an exemption may be needed. An

## equivalentlevel ofsafetywillbe achievedbythe PIC confirmingthe altitude ofthe launch site shown onthe GPS altitude indicatorbefore flight. 14 CFR91.151(a): Fuel requirements for flight inVFR conditions Section 91.151(a) outlines fuel requirements forbeginning a flight in Visual Flight Rules (VFR) conditions. Our UAS is limited to operations in controlled environments andhas a limited flight time whichrequire an exemption from 14 CFR 91.151(a). The battery powering the UAS provides approximately 25 minutes ofpowered flight. This would render the UAS unable to meet the 30 minute reserve requirement in 14 CFR 91.151. Given the limitations onthe UAS's proposed flight area and the location ofits proposed operations within a predetermined area, a longertime frame for flight indaylightVFRconditions is reasonable. An

## equivalent level ofsafetycanbe achieved by maintaining enoughbatteryreserve to ensure that the UAS lands at the ground station with at least 15% ofbatterypower (as determinedbythe on-board monitoring system and the PIC). Thisrestriction wouldbe more thanadequate to return the UAS to its planned landing zone from anywhere inits limited operating area. 14 CFR91.203(a) 

## & (b): Carrying civil aircraft certification and registration The UAS has no cabin, cockpit orpilot station and is operated without an on-board pilot. Therefore, there is no ability orplace to carry certification and registration documents or to display them on the UAS. An 

## equivalent level ofsafetywillbe achievedbykeeping these documents at the groundcontrolpointwhere the pilotflying the UAS will have immediate access to them, to the extentthey are applicable to the UAS. 14 CFR91.405(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 ofthis part and shall betweenrequired inspections, except as provided inparagraph (c) ofthis section, have discrepancies repaired as prescribed in part 43 ofthis chapter
...," and others shall inspect or maintain the aircraft incompliance withPart43. Given that these sections and part43 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 ofsafety will be achieved because the UAS is very limited in size and will carry a smallpayloadand operate onlyinrestricted areas for limitedperiods oftime. Ifmechanical issues arise, the UAS can land immediately and will be operating from no higher than 400 feet AGL. As provided in the User Guide, the operatorwill ensure that the UAS is in working orderprior to initiating flight, performrequired maintenance

## andkeep alog ofany maintenanceperformed. Moreover, the operatoris thepersonmost familiar with the aircraft and best suitedto maintain the aircraft in an airworthy condition to provide the equivalent level ofsafety. PUBLIC INTEREST Approval ofexemptions allowing commercial operations ofan UAS for aerial data collection enhances safety while reducingrisk. Manned aircraft data collection creates a greaterriskbecause 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 ofthat risk given the reduced mass and lack ofcombustible 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 collectionwith the 3D Robotics X8-M, instead ofmanned aircraft, will greatlybenefitthe public by drastically reducing the levels ofair 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, environmentallyconscious alternative to the cabinclass, six cylinderinternal combustiontwinengine aircraft that are typically utilized for aerial data collection, while burning approximately 20-30 gallons per hour ofleaded aviation fuel. TheX8-M, while reducing the carbon footprint ofaerial data collection, also reduce noise pollution as the UAS is propelledbybatterypowered 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 orevenhigher level ofsafetyto operationsunderthe currentregulatory structurebecausetheproposed 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 bythe 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 ofsight ofa pilot and/or observer. 3. Flights will be terminated at 15% batterypower reserve. 4. Flights will be operated at an altitude ofno more than 400 feet AGL. 5. Flight operations will not be conducted within 5 nautical miles ofan airport reference point (ARP) as denoted in the current FAA Airport/Facility Directory (AFD) or for airports not denoted with an ARP, the center ofthe airport symbol as denoted on the currentFAA-published aeronautical chart, unless a letter ofagreement with that airport's management is obtained or otherwise permittedbya COA issued to the exemptionholder. 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 ofall operations through the filing ofnotices-to-airmen. 8. Minimum crew for each operation will consist ofthe UAS pilot and visual observer. 9. The pilot and visual observer will have been trained in the operation ofthe UAS. 10. The pilot and visual observer will at all times be able to communicate byvoice. 11. Written and/or oral permission from the relevantproperty 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 ofan accident. The pilot will ensure that non-participating persons remain under suchprotection. Ifa situation arises where non-participating persons leave suchprotection and are within 200 feet ofthe UAS, flight operations will cease immediately and/or; b) The aircraft is operated near vessels, vehicles or structures where the land owner/controllerhas granted permission and the PIC has made a safety assessment ofthe risk ofoperating closerto those objects and; c) Operationsnearthe pilotorvisual observerdo notpresentanundue hazardto thepilotorvisual observer.

## 13. Ifthe UAS loses communication or loses its GPS signal, the UAS will have the capabilityto return to a safe, pre-determined location and land. 14. The UAS will have the capabilityto abort flight in case ofunpredictedobstacles or emergencies. PRIVACY All flights will occur over private or controlled access property with the property owner's prior consent and knowledge. Images takenwill be ofindividuals who have also consentedtobeing filmed orotherwisehave agreed to be in the area where aerial photographywill take place. FEDERAL REGISTER SUMMARY Satisfaction ofthe criteria provided in Section 333 ofthe Reform Act of 2012

- size, weight, speed, operating capabilities, proximity to airports and populated areas and operation within visual line ofsight and national security

- provide more than adequatejustification for the grant ofthe requested exemptions allowing commercial operation ofDraper Aden Associates for aerial data collection.



# Darren L. 

# Goodbar Director ofAerial Services DraperAden Associates

## DraperAden Associates Operations Manual 1) Owner must: a) Document all maintenance, alterations, and updates in the aircraft records. b) Any maintenance oralterations that affect the UAS operation orflight characteristics, e.g. replacement ofa flight critical component, must undergo afunctional test flight in accordance with the operator's manual. The PIC who conducts the functional testflight must make an entry in the UAS aircraft records ofthe flight. 2) Priorto each mission: The PIC mustfamiliarize him/herselfwith all possible safety aspects ofthe mission. This includes but is not limited to: a) Software versions required (manufacturer's web site) b) Weather c) Wind d) NOTAMS e) Proximity ofairports orSUA 3) Priorto each flight: The PIC must inspect the UAS and Ground Station to ensure they are in a condition for safe flight. Ifthe inspection reveals a condition that affects the safe operation ofthe 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 fortransmitter 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 atthe Ground Control Station ofthe UAS any time the aircraft is operating. These documents must be made available to the Administrator orany law enforcement official upon request. The PIC performs a safety assessment. This includes but is not limited to: a) Ifoperating within 3 miles ofan uncontrolled airport, check that a letter ofagreement that covers the current mission with the airport manager is available to the PIC, and that the operation is conducted under a current NOTAM. b) Inspect flight area for light poles, trees, utilitywires, proximityto helipads, hospitals, schools, busy roadways, gatherings of people, SUA. c) The PIC provides a safety briefing to the spotter. An agreement is made underwhich conditions the flight must be aborted. d) Check placement ofwarning signs e) Identifytake-offand landing area.

## The PIC performs pre-flight checks: a) Check all controls neutral b) Turn on Power at transmitterfirst, then on UAS, and Range Extender c) Perform GPS alignment according to manufacturer's operating manual d) Ifalignment successful, flight can start from a safe take-off point e) Immediately aftertakeoff 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 orvehicle. 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 ofway 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 ofsight 5) Emergency during flight. This could include but is not limited to: a) Pilot distracted b) Spottersignals 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 offpower to UAS first, then turn off powerto 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 asafety risk and can render the battery permanently unusable. Amays fly with afully charged battery. Charge the battery using adesignated LiPo balance charger only. />Jways monitorthe 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. Hyou observe any swelling ofthe package or the battery ceases to function, do not use the battery; locate your local battery recycling center, and dispose ofthe battery. In the US and Canada, visit call2recycle.org to find a location. Do not dispose ofthe 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 offthe 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 ofthe SD card allows you to lock or unlock the card. Lockthe 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 offthe 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 

# Startinga ('.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. Checkto see that the last line ofthe script reads waitingon 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 offthe 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 aWindows laptop into afull-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 afull-featured ground station application for planning missions and monitoring the XB in flight. Download Mission Planner from 3DR.comldownload_soflware. Ifyou already have Mission Planner installed, make sure you're running the most recent version: Select the Helptab and CheckforUpdates.

Mission Planner: Helptab

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-redeemto create an account and redeem your license key; then**vis~** pix4d.com/downloadto download Pix4Dmapper Discovery. Pix4D will automatically upgrade from the Discovery edition to the LT 3DR Edition (or Pro Edition ifyou selected to upgrade) when you log in to the program with your Pix4D account information. 

## Connectto Radio

To connect the X8 to Mission Planner, connect the ground station radio to the laptop, and powerthe 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 FlightDatato view live data from the X8. 2 Select 57600and AUTO, then select CONNECT. (When connecting directly to Pixhawk's micro-USB port, set the rate to 115200.) 

## I 

# ··5i600

# ••

Mission Planner Connecttool (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 ofthe 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 atthe 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 ofthe 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 accessthe Internet on site, follow the instructions below to pre-fetch the maps within Mission Planner while you have Internet access.

Open Mission Planner, select RightPlan, and zoom to your flying location.

Mission Planner FlightPlantab: zoom to mapping location

3 Mission Planner will attempt to load the map datafrom the current level of zoom down to the closest level of zoom available. However, it can take hours to pre-fetch every level ofzoom, 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 ofthe map. The levels ofzoom are represented by this slider from 0 (bottom) to 25 (top). Press the ESC key to skip levels ofzoom at a greater detail than you need for mission planning. 2 Right-click on the map, select Map Tooland Pretetch, and accept the defautts prompts. Mission Planner will download the maps for the selected location to your computer.

Mission Planner RightPlantab: Select Prefetch

9

# Draw**Poly~on** To begin planning the mapping mission, select the area you want to map using the Polygontool. You'll be able to adjust the size and shape of the polygon later in the mission**con~guration** process.

2 Select FlightPlan, and zoom to your mapping location. Right click on the map. Select DrawPolygon and AddPolygon Point. Click and drag to add points around the area you want to map.



# A Units The Survey Tool uses metric units. Ifyour 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-Mtorupdates. M1ss1on Planner FltghtPlantab: draw polygon 3 Right click on the polygon. Select Auto WP and Survey(Grid) to open the Survey Tool.

M1ss1on Planner FlightPlan tab: open Surveytool

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 

## cameratop facing forward.

Set Default Speed 

### 5 m/s
Apply Survey Speed Check the option for 

### Use speed

### forthis mission. If unchecked, the mission will use the XB's**defau~** speed of 5 m/s regardless ofthe 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 ofthe polygon from the Survey Tool. Set Angle Wind Direction In environments with winds of less than 6 rn/s, set the angle so that theXB flies into the wind. In winds from 7-1 0 m/s, configure the flight path to travel perpendicular to the wind so theXB flies cross-wind. No. of Strips Adjust the angle so that theXB makes as few turns as possible to complete its course. The No. ofStrips 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 ofthe 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 D1:0 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 inabilityto make headway or maintain appropriate groundspeed. 12

## Confi~ure 

# Survey: SetAltitude

Mission Planner: SurveyTool

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 ofthe mission. The total estimated flight time must be under 14 min for afully 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: SurveyTool

viHeck 

### H1u10 rrl!tliWll Photo Everymust 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 speedforthis missionoption is checked.

14

# Configure Survey: SetTakeoffand Landing

Mission Planner: Survey Tool

For automatic takeoff and landing (recommended) Check the AddTakeoffandLand 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 ofthe mission, the X8 will automatically return to the launch point and land. For manual takeoff and automatic landing Uncheck the AddTakeoffandLandWPs option. Checkthe 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: SurveyTool

Survey Tool: Grid Options (Advanced)

..... Camera Conftg Check Advanced Options to view the Survey Tool's advanced configuration options
. 

# • _J-+ Select Grid Options Adjust StartFrom During the mission, you will maintain contact with the XB through the RC controller and ground station signals. Ifthese 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 ofthe 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 underthe 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, clearthe 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 greaterthan 2 s 

### Flight time under 14 min depending on environmental conditions
Accept Select 

### Acceptto save the mission. If Mission Planner prompts you for a home altitude, enterthe altitude that you specified in the Survey Tool.


### Do not accept the mission if any ofthe 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 tothe 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 Failsafes 

### 29

19

# Safety

To ensure safe and successful flying, familiarize yourselfwith 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 ofyour 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 yourjob 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

ofsight 

# 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 otherareas 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 atight 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 overthe propeller, and secure the nut tightly on top using the propeller wrench.

22

# Controls Fly theX8 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 - flyamission Fly an autonomous mission. This is the modethat the XS will use to create the map. Altitude hold - assistedmanualcontrol 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 lowerthe 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) - recallandland 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 ofthe XS during landing, Stabilize - fullmanualcontrol 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 propellerfacing 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 brieftest 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. Ifyou 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 afew 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 aclear 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 ofany obstructions, including your hands, before arming. Do not handle the propellers orpick 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 theX8 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 offthe 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 yourflight 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 aset of failsafe behaviors to prevent acrash 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 afailsafe 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. Ifyou 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. Ifthe XB loses contact with the ground station for over five seconds, it will automatically return to the launch point and land.

RC ControllerSignal Failsafe Physical obstructions and interference from nearby wireless signals can affect the XB's connection**~h** the RC controller. Ifthe 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. Ifthe battery reaches 14 V, the XB will land automatically at the current**pos~ion,** indicated by a blinking yellow status LED and aquick repeating tone.**0000~**

GPS Failsafe Enclosed areas, physical obstructions, and lack of available satellites can affect GPS strength. Use the Mission Planner Flight Data displayto 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, checkthe 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. Ifyou observe poor image quality orthe quality report returns errors, see the Image QualityTroubleshooting section on page 38 and repeat the mission.



# Spot Check (Optional) The quickest wayto see the images after a flight is to unlockthe 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** Unlockthe 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 Logstab under the heads-up display, and select DownloadDataFiash Log overMavlink.
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 ofyour 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 aQuality Report that will indicate if the images are of sufficient quality to create a map. 

# Full**Processin~** 3 After adding the images, select 

### From Fileto 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

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### 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 SurveyTool 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 ofthe 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 afootprint. The SurveyTool uses adefault overlap of 50% and a default sidelap of 60%. Increasing overlap and sidelap improves the accuracy ofthe map while increasing flight time and processing time. In the SurveyTool, DistancebBtwBBn Imagesshows 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 forUSBsignal. To stop (and re-start) the script, press the shutter button. The script will display INTERRUPTED when stopped.

. 

# '

.. ,_ ' 

# .

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### . 

## "'.- 

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Script start: waiting on USB signal

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## ...

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# ...........

. ,. 

# ... '**--~** 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 MENUbutton.

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. SETbutton. These parameters are configured for the X8 and SX260 and do not require adjustment as part of standard operation.

### ~~~, ,1

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# .. -**"~** .,. 

### . "' 6-" • ""**~** 

## -- 

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### . 

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# . Script menu Trigger Type This parameter allows you to control howthe camera captures images
. Trigger type defaults to USBfor distance-based imaging during mapping missions. For time-based imaging, select Intervaland specify the length in the ShotIntervalparameter. Trigger Type default: USB (mapping) Variable intervalometer: Interval(default to 2 seconds, specified by Shot**lnterva~**

Script menu: Trigger Type 36Updating 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 Rawand select Save linkto download the latest script labeled 3DR_EAI_SX260.1ua.

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# ·-·

New script file Script file on SD card

To update the script on the SD card, unlockthe 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 Ifthe 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-Mfor instructions.

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Image Quality Troubleshooting Ifyou 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 dueto flying in extremely bright conditions. To correct this, set theAllowuse ofNO filter parameter to YES in the script menu. Allowuse ofNO filterdefault: 

### 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 ofthe 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

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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) 

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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!Tuningand Full ParameterList. Change the CAM_ TRIGG_DISTparameter 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

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