# TUNING ALTA

ALTA comes pre-tuned for a wide variety of payloads and flying conditions. GeneratLy, additional tuning is not required to fly ALTA, and additional tuning will only need to take place if more customization of control feel is desired. Default tuning vaLues are incLuded in Appendix A, Default Tuning Vatues. Parameters fall into three categories - Attitude, Height and Position. Typically, tuning should take place in that order, ensuring Attitude parameters are set first, then moving to Height parameters, and finally Position parameters. Tuning should take place as an iterative process by making only small changes, test flying the changes, observing the new flight behaviors, and repeating. Only tune a singte parameter at a time during this process for best results. To tune ALTA, open the ALTA App and select Configurations - ~ > Aircraft Dynamics.



## ~ WARNING Tuning can change the fundamentat flying characteristics of ALTA. It is possible for ALTA to become unstable or even uncontrollable if values are set too high or too low. Only change tuning parameters in smalt increments and with caution. Always test new tuning configurations in open areas away from people or obstactes.


### ;] NOTE The ALTA App only altows tuning while ALTA is on the ground.



# ATTITUDE TUNING Attitude tuning adjusts how ATLA responds to control inputs and disturbances. Attitude directly controts responsiveness and changes ALTA's fundamental flying behaviors. Attitude must be tuned acceptably before tuning height or position parameters. When tuning attitude, the primary parameter to change is Stiffness followed by Strength.
STIFFNESS Stiffness is adjusted for pitch and roll simultaneously, and yaw independently. It changes how stable ALTA is in these axes and is the primary variable to adjust when

KEN "" = I USER MANUAL 58tuning. When tuning Stif€ness first, 

## or making large stiffhess changes, Hotd Strength should be set to a low. non-zero value. Higher Stiffness values give more responsive control. Values that are too high can cause instability or oscillation.



# zt WARNING Excessively high stiffness values can cause ALTA to become unstabte and difficutt or even impossibte to controt. Lower Stiffness vatues give less responsive controt. Vatues that are too tow can cause a vague or disconnected control response.

HOLDSTRENGTH Hold Strength controls how much ALTA will try to maintain a pitch/rott angle command, or a yaw heading command. It is adjusted for pitch and roll simuttaneously, and 

### yaw independentty. A higher Hold Strength setting will give a faster controt response and a more responsive feet. However, values that are too high can cause ALTA to overshoot pitch or rolt commands, or even cause instability.



# ZL WARNING Excessively high strength values case cause ALTA to become unstabte and difficutt or even impossible to control. Typically, this setting will not need to be changed from the default vatue, and only then in smatl increments.



# HEIGHT TUNING Tuning height parameters will adjust the control feel of ALTA's height control while in Height and Position modes (for additional information on flight modes, see the Ftight Controtter Modes section of this manual). Tune height parameters only after satisfactorily tuning attitude parameters. Similar to attitude tuning, stiffness is the primary tuning parameter. If switching to Height Mode causes ALTA to fly in an unstable manner, switch back to Manual Mode, land and try reducing the vatues of height tuning gains if they are very high, or increasing them if they are very low.
VERTICAL STIFFNESS Vertical Stiffness Gain modifies the vertical stability of the ALTA in Height mode.

0 >`»,aM I USER MANUAL 59

### Decrease this value if ALTA experiences vertical oscillation or vibration. Increase this value if ALTA is sluggish while accelerating to a desired climb or descent rate in Height mode.


## HOLDSTRENGTH Hold Strength Gain tunes how much ALTA will attempt to stay on a desired altitude in Height Hotd mode only. A higher value will result in height being held more precisely. Too high of a value can cause ALTA to overreact to winds, gusts or turbulent air.

CLIMB RATE STRENGTH Climb Rate Strength adjusts how much ALTA will attempt to maintain a desired climb rate. Higher values will result in a more direct feel between pilot climb or descent commands and ALTA flying behavior. However, values that are too high may cause instabitity. 

# POSITION TUNING
Tuning position parameters will adjust how well ALTA maintains a desired ground

~ speed or a position over the ground. Similar to attitude and height tuning, the primary value to adjust is stiffness.

HORIZONTAL STIFFNESS GAIN This changes the horizontal stability of ALTA. Higher values increase ALTA's resistance to wind gusts or turbulence from moving ALTA off its target position. Values that are too high can cause instability of ALTA.

HOLD STRENGTH GAIN This adjusts how much ALTA will attempt to maintain its place over a target position. A higher value will result in position being held more precisely. If too high, positional instability can result, causing ALTA to fty past a target position.

USER MANUAL 60

# ALTA FLIGHT PARAMETERS

Flight Parameters are different from tuning parameters in that the flight characteristics of ALTA will not change with their modification. However, they can be used to select neutral points using trim, or to set maximum or minimum values. 

# ATTITUDE

PITCH AND ROLL TRIM Use Pitch and Roll trim settings to correct for tendencies of the ALTA to pitch or roll with a neutrat control input. Use the in-app pitch and rotl trim settings instead of radio controller trim features as large radio controller trims could prevent position hold from engaging at neutral stick positions.
MAXIMUM PITCH/ROLL ANGLE, This sets the maximum angle the ALTA will be allowed to fly in alt modes and in all flight conditions.

MAXIMUM YAW RATE

_ This is the maximum rate the ALTA will yaw (pan) when at full stick deflection. 

# HEIGHT

HOVERTHROTTLE Hover Throttle is a parameter that adjusts ALTA's thrust at center throttle stick, and ensures ALTA does not climb or descend at the center stick position while flying in Manual Mode. A Hover Throttte setting that is too high or too low can cause ALTA to climb or descend when switching between Manual and Height Modes.



## ~ 

## NOTE Hover Throttle witt need to be adjusted when changing the overall weight of the system, or when moving between very different elevations.

Adjust the Hover Throttle setting such that during a stable hover the required throttle position is at middle stick, or about 1500 Ns in the App radio chart. Increase Hover Throttle if hover occurs above center stick, and decrease if hover occurs A_., , I USER MANUAL 61betow center stick. Alternatively, if ALTA climbs when switching from Manual to Height mode, increase hover throttle, since a climb indicates a stick position that is higher than neutral in Manual mode. If ALTA descends, decrease hover throttle, since a descent indicates a stick position that is lower than neutral in Manuat mode.



## ~ NOTE The ALTA App does not attow hover throttte adjustments while ALTA is flying.

MAXIMUM CEILING This adjusts the highest attitude the ALTA is allowed to climb from its starting point while in Height or Position modes. If the maximum ceiling is exceeded in Manual mode, the Status Light will illuminate white.

~ MAXIMUM CLIMB-RATE This sets the maximum speed ALTA witl ctimb at full throttte stick deflection in Height Mode or Position Mode If Climb Rate Clamp is mapped to an radio controller channel, the parameter will adjust the fastest climb speed availabte to the Climb Rate Clamp feature.
GPS HEIGHT CORRECTION With GPS Height Correction On, SYNAPSE witt use both barometer and GPS sensor measurements to determine its attitude. It can be useful for assisting in windy or gusty conditions, but requires good GPS reception. It is recommended to keep this enabled unless GPS reception is problematic.



# POSITION

MAXIMUM G This sets the total maximum acceleration, in G's, that the controlter will place on the airframe. It is recommended to use lower G settings with heavier payloads. This setting has no effect in Manual mode.
MAXIMUM GPS ANGLE This sets the maximum pitch and roll angle the ALTA may fly under Position mode. This wilt not override the Attitude Maximum Pitch/Roll Angle. Instead, ALTA wilt

~ ALTi°k I USER MANUAL 62follow the lower of these two limits.

MAXIMUM GPS SPEED Max GPS Speed sets the maximum speed ALTA will fly across the ground at full stick deflection in Position Mode. If Velocity CLamp is mapped to an RC transmitter channel, the parameter wi_ll adjust the fastest ground speed availabte to the Velocity Clamp feature.


## RANGE Range sets the maximum distance ALTA may fly away from the home point white in Position mode. If the range is exceeded in Manual mode, the status light will ilLuminate white.

t

I W A ~~.~ I USER MANUAL 63

# FLIGHT CONTROLLER MOOES

_
ALTA has three primary flight control modes: Manual Mode, Height Mode, and Position Mode. They are selected with the Mode Switch



## ~ CAUTION Always neutratize control inputs when switching between control modes.



# MANUAL MODE In Manual Mode, ALTA will only stabilize its attitude. At neutral control input (middle pitch and roll stick position), ALTA wilt attempt to remain level. Throttle control is direct. 

# HEIGHT MODE Height Mode changes the throttle stick behavior to command climb and descent rates: The higher the throttle stick position, the faster ALTA will climb. Converse.ly , the lower the throttle stick position, the faster ALTA wilt descend. When the throttle stick is centered, ALTA will enter Height Hold. In Height Hold, ALTA witl maintain a target altitude and try to correct for drift. If a disturbance moves ALTA away from this target altitude, ALTA witl climb or descend to return to the target altitude. 

# POSITION MODE Position Mode changes the pitch/roll stick behavior to command ground speeds. Pitch and rott stick deflection will command fore/ aft and teft/right ground speeds respectively. Controlling altitude in Position Mode is the same as in Height Mode. With pitch and roll controls centered, ALTA wilt enter Position Hold. In Position Hold, ALTA will maintain its position over a given point on the ground and correct for disturbances. Position Mode requires a strong GPS signal. If a weak signal is present, ALTA will not enter Position Mode, and if the GPS signal degrades while in Position Mode, ALTA will automaticalty revert to Manual Mode.

i USER MANUAL 65

## (0 CAUTION Ftight using Position Mode in areas of degraded GPS signat, such as near buildings or under dense tree cover, is not recommended. The automatic reversion to Manual Mode can cause unexpected, abrupt changes in flight behavior.



# RETURN-TO-HOME
Return-To-Home Mode witt command ALTA to fly back to the starting point of the flight or the last defined Home Point. When ALTA first acquires a GPS position, it sets this as the Home Point of the flight. The Home Switch on your radio controller can atso be used to set a new Home Point. See the Radio Mapping section in this manual for more information on setting up the Home Switch. RTH can be initiated manuatty by the Home Switch or be initiated with an LOS event When initiated with the Home Switch, ALTA will fly back to the Home Point, and the pitot will maintain control of ALTA's altitude the entVe time. ALTA will not Autoland if an adequate signal is detected. The pilot can cancel the RTH procedure by commanding a pitch or roll command or by retuning the Home Switch to the middle position. The Mode Switch must be in Position Mode to activate RTH manually. During an LOS event, ALTA will.first check its current altitude against Safe Height. If it is lower, it will climb to Safe Height, and if ALTA is above Safe Height, it will remain at its current altitude. Next, ALTA will fly back to the home position at the RTH Speed set in the ALTA App. Finalty, upon reaching the home position, ALTA wilt begin Autoland.
RADIO LOSS OF SIGNAL RTH

._. .... .... ~ .._ .... ._ .... . iR f1FFINFn SAFE HEIGHT IS ISF

~ ....... ~ ....:.,..... .. n . ~ "

~ ~~ p~ ~- T t • ~ ~

~~ I USER MANUAL 66

# AUTOLAND

The Autoland function will command ALTA to hover for 10 seconds and witl then land in place. This only occurs if Autoland is selected as the Loss of Signal (LOS) event in the ALTA App, or at the end of an LOS Return-to-Home (RTH) event. If ALTA is above the app-configurable Safe Height setting, ALTA will first descend to the Safe Height at the Maximum Descent Rate. After reaching this height, ALTA's descent witl slow to the Autoland Descent Rate until landing. 

# HOME SWITCH The home switch has three settings, Set Home, RTH Off and RTH On.


### SET HOME Set Home sets a new home point at ALTA's current position. This could be useful for setting a point away from the initialization point, such as if the ALTA were started underneath an overhang or a tree. A new home point can only be set within 20 meters of ALTA's starting point.
s Momentarily moving the Home Switch to the Set Home positiqn sets a new home

point. When a new home point is set, the Status Light will turn white to indicate the new home point was successfully set.

RTH OFF This is the normal switch position and does not initiate an RTH command.

RTH ON This manually initiates the RTH function. In a manual RTH, the pilot maintains control of height while the SYNAPSE will command ALTA's position over the ground to the home point. 

# ARM ENABLE SWITCH
The optionat Arm Enable Switch altows for added safety while working around and flying ALTA by disatlowing arming during ground handling or disarming during flight. To set up an Arm Enable Switch, refer to Mapping Channels or the ALTA User Manuat. If used, the Arm Enable function should be mapped to a three-position switch.

1 Possible Not possible



# _ 2 (middte) Possible Possible



# _ 3 Not possible Possible

I USER MANUAL 67

# STATUS LIGHT

_

0

The rear-facing Status Light shows the status of ALTA as it boots, arms and flies. The fotlowing table shows the different meanings of the light in the various flight phases.

Booting Flashing Red Flight controller is booting + White

_. _ _... Flashing White Flight controller is running and dis-armed Standby Flashing Red Flight controller is running and not ready to arm Solid Red

_ ........ Flight controtler boot unsuccessful

_. _.._ Armed Off Ready for Ftight

. A flight controller error has Flight - all modes Solid Red occurred or Battery cell voltage below user-defined levels

~'~ R Al-TA. I USER MANUAL 68Off Nominal flight status Flight
- Manual No errors Mode Sotid White Outside user-defined range, height or speed limits
Off Nominal flight status

_.__.. Height hold inactive

..... ......... ...._._._ ...... Flight
- Hei.ght Slow Flashing Hold White Height hold active,
Flashing Red Battery cetl vottage below user-defined levels Nominal flight status Off Height hold inactive Position hold inactive Flight
- Position Slow Flashing Height Hold or Position Hotd Active Hotd White Fast Flashing White Height Hotd and Position Hold Active Flpshing Red Battery cell voltage below user-defined levels

AS I USER MANUAL 69

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### , | USERMANUAL 70

# ALTA APP MONITOR

The ALTA App includes a flight status monitor that displays information about the health of the ALTA and the various controls that can be selected. Boot indicates if the SYNAPSE booting prbcess has completed successfutty. Any issues that prevented a normal boot are indicated here. Battery displays the voltage of the battery pack. Status displays the state of the SYNAPSE flight controtler. Radio displays if the SYNAPSE detects a radio controller signal. A LOS (Loss Of Signat) warning is displayed if no signaL is present. GPS disptays if SYNAPSE has resolved a GPS fix or not. Sats displays the number of GPS satellites in view and being received. Lock displays whether a position lock is ready, indicating a valid GPS fix and good heading. This is required before the SYNAPSE will allow switching into Position Mode. ' Height displays the current height control mode: Manual, Vario if in Height or Position mode and climbing or descending, and Hold. Attitude displays the current attitude controt mode. Position displays the current position control mode: Manual, Velocity if in Position mode and moving across the ground, and Hold Compass displays the status of the compass and if the SYNAPSE betieves the compass readings are good or bad. If Bad, the compass may require recalibration (see the Compass Calibration section in this manual). Station displays if ALTA is currentty over its commanded position over the ground, or if it attempting to fly to it. Temp displays the temperature of the SYNAPSE flight controller board.

~ At.EA I USER MANUAL 71

# DATA LOGGING

ALTA automatically logs flight and control data when ALTA is armed for ftight. Data is recorded as a.csv file at a rate of 25 Hz on a microSD card installed on the top of the GPS/Compass module. A tabte of recorded data is included in Appendix B.

I

AL,";Ak, I USER MANUAL 72

## r;a I USER MANUAL 73

# UNPACKING AND SETUP

1. Aircraft REMOVE from case 2. Prop protectors REMOVE 3. Boom retention clips STOW 4. Booms UNFOLD 5. Boom latches LOCK b. Receivers and wiring CHECK 7. Isolator cartridges SELECT and INSTALL as necessary 8. Payload mounting location CONFIGURE as necessary 

# AMPLIFICATION To set up ALTA for ftight, remove it from the case and remove the prop protectors. Stow the six boom retention clips by fotding them down. The clips only fold in one 1 - direction and are spring-loaded to stay in open and closed detented positions. Unfolding the booms is most easily accomplished by unfolding opposite pairs partially. Then unfold the opposite boom pairs completely. ALTA can become unbalanced while unfolding booms individually, so unfotding opposite pairs reduces this possibility. Once unfolded, push on the boom latches untit they audibly click, indicating the booms are secure. There should be little to no slop in the hinge. Check that the receivers and the etectrical connectors that attach to the receivers are secure. For information on installing isolator cartridges and setting up payload mounting locations, refer to the Isolator Cartridges and Configuring Top or Bottom Mount sections of this manual.

16" :e%VFA

~ , I USER MANUAL 74

# BEFORF STARTING

1. Payload SECURED 2. Isolator Cartridges CHECK 3. microSD Card INSTALLED 4. Props CHECK CONDITION, VERIFY TIGHT 5. Prop Hub VERIFY SECURE 6. Motors CHECK CONDITION 7. Radio Controller ON, VERIFY TX BATT 8. Radio Controller Model SELECT 9. Aircraft Placement AWAY from people and obstactes 10. Battery Pack Voltage VERIFY ABOVE 24V 11. Battery Packs SECURE 12. Battery Leads CHECK CONDITION and CONNECT : 13. Aircraft KEEP STATIONARY - 14. Flight Controller INITIALIZED 15. Status Light VERIFY SLOW FLASHING WHITE 16. Orientation Lights VERIFY FLASHING GREEN 17. Receivers VERIFY BOUND

_ 18. ALTAApp CONNECT 19. ALTA App Monitor VERIFY NO WARNINGS 20. Compass Calibration AS REQUIRED 21. Radio Control Range Check AS REQUIRED 

# AMPLIFICATION Check that the payload is secure by checking that the Toad In The Hote quick release lever is pushed in, and that the payload does not stip. Check that alt isolator cartridges are locked in place, especially if they have been recentty replaced. A microSD card is required to be installed in the GPS/Compass module for reliable compass sensing and data logging. The blades should be checked for damage, including nicks and scrapes. If a prop has been nicked enough such that it catches a fingernail, it shoutd be replaced. Bolt tightness should be checked by rotating the blade about its length (blade pitch up and downl. There should be no slop, and if there is, the bolt and nut shoutd be tightened until the slop is removed. There should be no slop between the prop hub and the motor.

~ 

### RXM I USER MANUAL 75

### Motors should spin freely, and there should be no grinding or scraping sound from the motor. The inside of the motor should be free of debris. Atways turn on the radio controller before plugging in ALTA. Follow the battery installation guidance in the Battery Installation section of this manual for battery installation instructions. While the SYNAPSE flight controller initializes, keep the ALTA as stable as possible. Wedging a foam. prop protector between the stationary gimbal or landing gear and the ALTA frame can'be used to stabilize ALTA from spinning during this process.

;] NOTE If ALTA moves during initialization, it many not boot properly.

When it is impossible to initialize ALTA without movement (such as booting on a boat), Motion Booting can be used. It is not recommended to use Motion Booting regularly. During initialization, the Status Light will quickly flash a sequence of red and white lights. At the erxl of this process, it will begin slow flashing white, indicating ' SYNAPSE is ready for arming. The Orientation Lights will also begin flashing green. Verify that all six motors are flashing green, indicating all ESCs initialized successfully. Verify that there are no flight warnings by connecting to ALTA via the ALTA app and checking on its status from the App. For mtire information, see the ALTA App section of this manual.

?:+ A ~~

??-, I USER MANUAL 76

# BFFORF TAKFOFF

1. Prop Area 2. Mode Switch 3. ..Home Switch 4. Radio Controller 5. Telemetry (if equipped) 6. Arm Enable Switch 7. ALTA 8. Status Light 9. Orientation Lights 10. Motors 11. Flight Controls 12. Throttle
s 

# AMPLIFICATION CLEAR MANUAL CENTER POSITION VERIFY CORRECT MODEL CHECK OPERATION 

## ENABLEARM ARM VERIFY OFF VERIFY USER-DEFINED COLOR START and VERIFY OPERATION

VERIFY CORRECT 

## ADVANCE

Prior to start, check the surrounding area to ensure people and objects are clear of ALTA and its props. Also ensure that there are rio people or objects between the ALTA's takeoff location and its intended flight path.

,I WARNING ALTA's props spin at a high RPM, and the ends of the blades move at high speeds. ALTA's props can cause severe injury or death or cause damage to objects while they are rotating. Atways ensure the area surrounding the props and ALTA is ctear of peopte or objects prior to starting the ALTA's motors.



### ALTA can only be armed for flight when it is in the Manual Mode, and the Home Switch is in the middle position. If an Arm Enable Switch is configured, it must be ptaced in an ENABLE ARM position. To arm, hold full low throttle and full teft yaw.



## Zt WARNING Do not approach ALTA while it is armed.



### To start the motors, hold full low throttle and full right yaw. Ensure that all the

~~ ~~.~•~...~ I USER MANUAL 77

### motors are spinning. Keep the throttle in the lowest position and move ttie pitch, roll and yaw controls stightly. ALTA should pitch, roll and yaw stightty due to isolator cartridge flex. Ensure that the ALTA behaves as expected. If it does not, shutdown ALTA and ensure the props are installed in the correct orientation.

O CAUTION Do not make large yaw commands while on the ground with the inverted landing gear installed. Large yaw commands can cause instabitity.

After checking flight controt directions, advance the throttle to enter a hover.

~~` ~ ~ > 1 IJSER MANUAL 78

# AFTER EVERY FLIGHT

1. Mode Switch MANUAL 2. Home Switch CENTER POSITION 3: Arm Enable Switch ENABLE DISARM 4. ESCs and Motors DISARM and STOP 5. Arm Enable Switch DISABLED 6. Orientation Lights VERIFY FLASHING GREEN 7_ Status LED VERIFY SLOW FLASHING WHITE 8. ALTA App CHECK for warnings 9. Batteries DISCONNECT and REMOVE 10. Radio Controller Power AS REQUIRED 11. Aircraft Condition INSPECT 12. Motor and Prop ConditiQn INSPECT 13. Battery Condition INSPECT 

# AMPLIFICATION Upon tanding, disarm the motors by holding futt tow throttle and full left yaw. This is typically done on the left radio control stick by moving it to the bottom left corner with mode 2 controtters. Disarming can only be done while in Manual Mode. If configured, set the Arm Enable Switch to ENABLE DISARM. Once the motors are disarmed, the Orientations Lights will ftash green and the Status Light will slowly flash white, indicating it is safe to approach ALTA.

As WARNING Only approach ALTA after confirming that it is disarmed by verifying the Status Light and Orientation Light colors.

The downwash from the props can disturb debris. This debris can be ingested by 

### the props or motors and cause damage. After the flight, ensure there is no damage to the props and that the motors stilt spin freely and quietly. Take extra care when operating in areas with targe amounts of debris, such as in sand, dirt, or gravel. After ftight is also a good time to check a battery pack"s condition. Always refer to the battery manufacturer"s recommendations for inspection and replacement intervals or requirements.

r~~ ALX/; I USER MANUAL 79

# AFTER LAST FLIGHT

1. Props FOLD and PLACE inline with booms 2. Prop Protectors INSTALL 3. Boom Latches UNLOCK 4. Booms FOLD 5. Boom Retention Clips EXTEND 6. Payload REMOVE 7. ALTA INSERT into case 

# AMPLIFICATION
Packing ALTA is similar to the unpacking process. Keeping ALTA on the payload or landing gear facilitates the process as ALTA may be turned on the Toad In The Hole adapter while folding the props and booms Make sure that the handle is aligned ' front-to-back when putting ALTA in the included case, and that the battery Leads are

_

facing to the right.



## m A.LT_% I USER MANUAL 80