Unmanned Photography Section 333 Exemption Petition 1 of 7

May 22, 2015

U.S. Department of Transportation 

Docket Management System

1200 New Jersey Avenue, SE 

Washington, DC 20590

Re: Exemption Request Section 333 of the FAA Reform Act and

Part 11 of the Federal Aviation Regulations 

Dear Sir or Madam,

We, Unmanned Photography, are writing pursuant to the FAA Modernization and Reform Act of 2012 and the 

procedures contained within 14 C.F.R. 11, to request that, Unmanned Photography, an owner and operator of 

small unmanned aircraft, be exempted from the Federal Aviation Regulations (“FARs”) listed below so that We, 

Unmanned Photography, may operate unmanned aircraft system (“UAS”) commercially in airspace regulated by 

the Federal Aviation Administration (“FAA”).

Currently using a 3DR IRSI+Quadcopter1

,2 with intent for aerial photography / videography to showcase 

constructed projects for architects, landscape architects, and contractors in and around South Eastern

Pennsylvania. Other anticipated applications would include surveying, mapping, and construction site monitoring. 

Use of the UAS for aerial photography, inspections and surveys reduce the need to utilize conventional manned 

aircraft, manned lifting devices or manned climbing for the same purpose and provides very high quality imagery 

at a fraction of the cost. These savings result in enhanced safety, efficiency and productivity for the affected 

activities, as well as environmental benefits.

We, Unmanned Photography, are committed to safety with each flight. Our exemption request would permit 

operation of ultra-light weight, UAS(s) in tightly controlled and limited airspace. Predetermined in areas away 

from general public, airports, heliports and vehicular traffic. 

Currently, similar lightweight, remote controlled UAS's are legally operated by unmonitored amateur hobbyists 

with no safety plan or controls in place to prevent catastrophe. We, Unmanned Photography, have personally 

instilled safety protocols and controls3to avoid and prevent public hazard, as well as manned aircraft

hazards/catastrophe. This will act to further safety protocols exclusive to lightweight UAS's specific to aerial 

photography, surveying, and mapping applications as We, Unmanned Photography, record flight data and other 

information gained through permitted flight operations to share with the FAA through any required FAA reports 

to assist with future protocol and safety regulation.

Granting our request comports with the Secretary of Transportation’s (FAA Administrator’s) responsibilities and 

authority to not only integrate UAS's into the national airspace system, but to “...establish requirements for the 

safe operation of such aircraft systems [UAS's] in the national airspace system” under Section 333(c) of the Reform 

Act specific to the use of UAS's for Cinematography/Photo purposes. Further We, Unmanned Photography, will 

conduct our operations in compliance with the protocols described herein or as otherwise established by the FAA.

For the reasons stated below We, Unmanned Photography, respectfully request the grant of an exemption 

allowing us to operate ultra-lightweight, remote controlled UAS’s for aerial photography, mapping, and surveying 

operations that are now conducted with fixed wing and rotary conventional aircraft or other manned means of 

inspections. All of which will promote local economic growth through increased employment and increased tax 
Unmanned Photography Section 333 Exemption Petition 2 of 7

base. Both with public safety in mind by keeping heavier manned aircraft containing combustible fuel that that 

poses potential public hazard.

I. Contact Information 

Unmanned Photography

Brent M. Detter

125 Stanley Avenue

Landisville, PA 17538

(717) 468-0700

brentdetter@unmanned-photography.com

II. Regulations Petitioner Petitions for Exemption, If Such Regulations Apply to sUAVs

14 CFR Part 21

14 C.F.R. 45.23(b)

14 CFR 61.113 (a) & (b) 

14 CFR 61.133 (a)

14 CFR 91.7 (a) and (b)

14 CFR 91.9 (b) (2)

14 CFR 91.103

14 CFR 91.109(a)

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) (1)

14 CFR 409 (a) (2)

14 CFR 417 (a) & (b)

III. The Extent of Relief Sought and the Reason We Seek Such Relief

We, Unmanned Photography, submit this application in accordance with the Reform Act, 112 P.L. 95 §§ 331-

334, seeking relief from any currently applicable FARs operating to prevent Us, Unmanned Photography, to 

pursue aerial photography, surveying, mapping and other flight operations within the national airspace 

system. The Reform Act in Section 332 provides for such integration of civil unmanned aircraft systems into 

our national airspace system as it is in the public’s interest to do so. Our, Unmanned Photograph’s, ultralightweight UAS meets the definition of “small unmanned aircraft” as defined in Section 331 and therefore 

the integration of our ultra-lightweight UAS is expressly contemplated by the Reform Act. We would like to 

operate our ultra-lightweight UAS prior to the time period by which the Reform Act requires the FAA to 

promulgate rules governing such craft.

Thereby, providing direct experience and valuable information for formal regulation that can be administered 

uniformly to all construction related UAS aerial photography, surveying and mapping. The Reform Act guides 

the Secretary in determining the types of UAS's that may operate safely in our national airspace system. 

Considerations include: The weight, size, speed and overall capabilities of the UAS's; whether the UAS will be 

operated near airports or heavily populated areas; and, whether the UAS will be operated by line of sight. 112 

P.L. 95 § 333 (a). Each of these items reflect in favor of an exemption for Us, Unmanned Photography. Our

UAS utilizes four (4) counter-rotating propellers for balance, control and stability. Our UAS is equipped with 

GPS and Return to Launch safety technology. Weighing less than ten (10) pounds (far below the maximum 55 

pound limit); including camera with gimbal.

We, Unmanned Photography, considers safety as foremost with each flight. Our small unmanned aircraft is 

designed to hover in place via GPS and operate in less than a 24 knot (15 mph) wind. For safety, stability and 

fear of financial loss we will not fly in winds exceeding 16 kph (10 mph). Built in safety systems include a Loiter 

Mode that allows our UAS to hover in place when radio control inputs are released. With three modes to 

choose from, we utilize the Loiter Mode4 for aerial photography. This is the safest, most reliable and stable 
Unmanned Photography Section 333 Exemption Petition 3 of 7

mode to prevent accident and hazard. When pilot communication is lost our UAS is designed to slowly descend 

to point of take-off. We do not operate our UAS near airports, Hospitals nor Police heliports, and do not 

operate near areas where general public is within fifty to one hundred (50-100) yards depending on location, 

conditions and weather. 

We are constantly on alert for any manned aircraft (Police/Medical helicopters, etc.) and are prepared to 

land/abort immediately to the nearest and safest ground point should a manned aircraft approach our

location or we suspect manned aircraft may approach near our location. Our UAS is capable of vertical and 

horizontal operations, and is flown only within line of sight of the pilot. Utilizing battery power rather than 

combustible fuels, flights generally last between eighteen (18) to twenty (20) minutes, with an altitude under 

three hundred (300) feet.

We, Unmanned Photography, utilize a fresh fully charged battery with each flight as a safety precaution; full 

flight time limit for each battery is eighteen (18) to twenty (20) minutes as tested. We do not operate our UAS 

at or below manufacturer recommended minimum charge levels for operation; preferring to remain well 

within a safe operating range to insure adequate communication between radio control and UAS to eliminate 

potential for crash, loss of control or hazard. Reserve batteries are at hand with each exercise to insure 

replacement for sufficient safe level of operation. 

We do not believe in taking risk that may cause a crash that could create hazard to the 

public/property/manned aircraft. We have clocked over 50+ hours of hobby level flights for future commercial 

use to gain familiarization with the characteristics of this specific UAS's performance under different 

temperature and weather conditions. We also practice computerized simulated flights to maintain adequate 

skills and response reflex time. 

We, Unmanned Photography, am extremely cautious when operating of our UAS/ultra-lightweight unmanned 

aircraft and will not “create a hazard to users of the national airspace system or the public.” 112 P.L. 95 § 333 

(b). Given the small size and weight of our UAS it falls well within Congress’s contemplated safety zone when 

it promulgated the Reform Act and the corresponding directive to integrate UAS's into the national airspace 

system. The UAS, used in hobby flight, has a demonstrable safety record and does not pose any threat to the 

general public or national security.

IV. How Unmanned Photography’s Request Will Benefit the General Public

Aerial photography, surveying and mapping for the Architectural, Engineering and Construction market has 

been around for a long time through manned fixed wing aircraft and helicopters. However, for small budget 

companies and average design professionals the expense of such aerial services is cost prohibitive. Only large 

companies can afford to absorb such expenses, depriving smaller companies from a valuable marketing and 

construction observation tool. Manned aircraft can pose a threat to the public through potential catastrophic 

crashes which may result in possible loss of life. Our UAS pose no such threat since size and lack of combustible 

fuel alleviates any potential threat to the public.

Congress has already proclaimed that it is in the public’s interest to integrate commercially flown UAS's into 

the national airspace system, hence the passing of the Reform Act. Granting Our, Unmanned Photograph’s,

exemption request furthers the public interest through academic/visual awareness of the geographical 

benefits in and around the South Florida area. Our ultra-lightweight UAS is battery powered and creates no 

emissions that can harm the environment. The consequence of our ultra-lightweight UAS crashing is far less 
Unmanned Photography Section 333 Exemption Petition 4 of 7

than a full size helicopter or fixed wing aircraft; which are heavy, contain combustible fuel and can cause 

catastrophic devastation to the public

The public’s interest is furthered by minimizing ecological and crash threat by permitting aerial photography, 

surveying and mapping through our battery operated ultra lightweight UAS's.

Permitting us, Unmanned Photography, to immediately fly within national air space furthers economic 

growth. Granting our exemption request substantially furthers the economic impact for the south central 

Pennsylvania Florida community for companies looking to benefit from aerial photography, surveying and 

mapping. Both of which serve as a stimulus to the community.

V. Reasons Why Unmanned Photography’s Exemption Will Not Adversely Affect Safety and How The 

Exemption Will Provide a Level of Safety At Least Equal To Existing Rule

Our, Unmanned Photograph’s, exemption will not adversely affect safety. Quite the contrary, for the reasons 

stated permitting us, Unmanned Photography, to log more flight time in FAA controlled airspace, with 

communication with the FAA, will allow me to contribute to the innovation and implementation of new and 

novel, as of yet undiscovered safety protocols for UAS Pilots that can be embraced for development in 

cooperation with the FAA. In addition We, Unmanned Photography, submit the following representations of 

enhancements to current aerial videography and photography:

a. Our UAS weighs less than 10 pounds complete with a small ultra-lightweight high camera

b. We only operate our UAS below 300 feet (well within the 400 foot permissible ceiling set by the FAA 

Modernization and Reform Act of 2012);

c. Our UAS only operate for 18-20 minutes per flight;

d. We land our UAS prior to manufacturer recommended minimum level of battery power;

e. We pilot our UAS through remote control only by line of sight;

f. Our UAS has GPS a flight safety feature whereby it hovers and then slowly lands if communication with 

the remote control pilot is lost;

g. We actively analyze flight data and other sources of information to constantly update and enhance safety 

protocols;

h. We only operate in reasonably safe environment that are strictly controlled, are away from power lines, 

elevated lights, airports and actively populated areas;

i. We conduct extensive pre-flight inspections and protocol, during which safety carries primary importance;

j. WE always obtains all necessary permissions prior to operation; and,

k. WE have procedures in place to abort flights in the event of safety breaches or potential danger.

Our, Unmanned Photograph’s, safety protocols provide a level of safety equal to or exceeding existing rules. 

It is important to note that absent the integration of commercial UAS into our national airspace system, 

traditional helicopters and fixed wind aircraft are the primary means of aerial photography, surveying and 

mapping in the design and construction industry. While the safety record of such helicopters is remarkably 

astounding, it is far safer to operate a battery powered ultra-lightweight UAS.

a. First, the potential loss of life is diminished because UAS's carry no people on board and only operated in 

specific areas away from mass populations.

b. Second, there is no fuel on board a UAS and thus the potential for fire or explosions is greatly diminished.

c. Third, the small size and extreme maneuverability of our UAS allow me to remotely pilot away from and 

avoid hazards quickly and safely.
Unmanned Photography Section 333 Exemption Petition 5 of 7

d. Lastly, given its small size and weight, even when close enough to capture amazing images, our UAS need 

not be so close to the objects they are focused on through the technology and use of post editing software 

allowing pan and zoom.

Accordingly, our UAS has been experimentally operated for familiarization/competency and will continue to 

operate at and above current safety levels.

VI. A Summary - The FAA May Publish in the Federal Register

A. 14 C.F.R. 21 & 14 C.F.R. 91: Airworthiness Certificates, Manuals and the Like

14 C.F.R. 21, Subpart H, entitled Airworthiness Certificates, sets forth requirements for procurement of 

necessary airworthiness certificates in relation to FAR § 91.203(a)(1). The size, weight and enclosed 

operational area of Our, Unmanned Photograph’s, UAS permits exemption from Part 21 because our UAS 

meets (and exceeds) an equivalent level of safety pursuant to Section 333 of the Reform Act. The FAA is 

authorized to exempt aircraft from the airworthiness certificate requirement under both the Act (49 U.S.C. § 

44701 (f)) and Section 333 of the Reform Act. Both pieces of legislation permit the FAA to exempt UAS's from 

the airworthiness certificate requirement in consideration of the weight, size, speed, maneuverability and 

proximity to areas such as airports and dense populations.

Our, Unamend Photography’s, current and projected UAS's meet or exceed each of the elements.

14 C.F.R. 91.7(a) prohibits the operation of an aircraft without an airworthiness certificate. As no such 

certificate will be applicable in the form contemplated by the FARs, this Regulation is inapplicable.

14 C.F.R. § 91.9 (b) (2) requires an aircraft flight manual in the aircraft. As there are no on board pilots or 

passengers, and given the size of the UAS's, this Regulation is inapplicable. An equivalent level of safety will 

be achieved by maintaining a safety/flight manual delineating areas of where safety can be defined.5 The FAA 

has previously issued exemptions to this regulation in Exemption Nos. 8607, 8737, 8738, 9299, 9299A, 9565, 

9565B, 10167, 10167A,10602, 10700 and 32827.

14 C.F.R. § 91.121 regarding altimeter settings is inapplicable insofar as our UAS utilizes electronic global 

positioning systems with a barometric sensor.

14 C.F.R. § 91.203 (a) and (b) provides for the carrying of civil aircraft certifications and registrations. They are 

inapplicable for the same reasons described above. The equivalent level of safety will be achieved by 

maintaining any such required certifications and registrations by Unmanned Photography.

B. 14 C.F.R. § 45.23: Marking of The Aircraft

Applicable Codes of Federal Regulation require aircraft to be marked according to certain specifications. Our

UAS are, by definition, unmanned. They therefore do not have a cabin, cockpit or pilot station on which to 

mark certain words or phrases. 

Further, two-inch lettering is difficult to place on such small aircraft with dimensions smaller that minimal 

lettering requirement. Regardless, we will mark our UAS’s in the largest possible lettering by placing the word 

“EXPERIMENTAL” on its fuselage as required by 14 C.F.R. §45.29 (f) so that the pilot, or anyone assisting as a 
Unmanned Photography Section 333 Exemption Petition 6 of 7

spotter with the UAV will see the markings. The FAA has previously issued exemptions to this regulation 

through Exemptions Nos. 8738, 10167, 10167A and 10700.

C. 14 C.F.R. § 61.113: Private Pilot Privileges and Limitations: PIC

Pursuant to 14 C.F.R. §§ 61.113 (a) & (b), private pilots are limited to non-commercial operations. We, 

Unmanned Photography, can achieve an equivalent level of safety as achieved by current Regulations because 

our UAS does not carry any pilots or passengers. Further, while helpful, a pilot license will not ensure remote 

control piloting skills. The risks attended to the operation of our UAS are far less than the risk levels inherent 

in the commercial activities outlined in 14 C.F.R. § 61, et seq. Thus, allowing us, Unmanned Photography, to 

operate our UAS meeting and exceeding current safety levels in relation to 14 C.F.R. §61.113 (a) & (b).

D. 14 C.F.R. 91.119: Minimum Safe Altitudes

14 C.F.R. § 91.119 prescribes safe altitudes for the operation of civil aircraft. It allows helicopters to be 

operated at lower altitudes in certain conditions. Our UAS will never operate at an altitude greater than 300 

AGL; safely below the standard of 400 AGL. We, Unmanned Photography, will however operate our UAS in 

safe areas away from public and traffic, providing a level of safety at least equivalent to or below those in 

relation to minimum safe altitudes. Given the size, weight, maneuverability and speed of our UAS, an 

equivalent or higher level of safety will be achieved.

E. 14 C.F.R. 91.405 (a); 407 (a) (1); 409 (a) (2); 417(a) & (b): Maintenance Inspections

The above-cited Regulations require, amongst other things, aircraft owners and operators to “have [the] 

aircraft inspected as prescribed in subpart E of this part and shall between required inspections, except as 

provided in paragraph (c) of this section, have discrepancies repaired as prescribed in part 43 of this chapter. 

. . .”

These Regulations only apply to aircraft with an airworthiness certificate. They will not, therefore, apply to 

Our, Unmanned Photograph’s, UAS. However, as a safety precaution WE inspect our UAS before and after 

each flight.

A Summary: The FAA May Publish in the Federal Register: A. 14 C.F.R. 21 and 14 C.F.R. 91: Airworthiness 

Certificates, Manuals and the Like. 14 C.F.R. 21, Subpart H, entitled Airworthiness Certificates, sets forth 

requirements for procurement of necessary airworthiness certificates in relation to FAR § 91.203(a)(1). The 

size, weight and enclosed operational area of our UAS permits exemption from Part 21 because Our, 

Unmanned Photograph’s, UAS meets an equivalent level of safety pursuant to Section 333 of the Reform Act. 

The FAA is authorized to exempt aircraft from the airworthiness certificate requirement under both the Act 

(49 U.S.C. § 44701 (f)) and Section 333 of the Reform Act. Both pieces of legislation permit the FAA to exempt 

UAS's from the airworthiness certificate requirement in consideration of the weight, size, speed, 

maneuverability and proximity to areas such as airports and dense populations. Our UAS meets or exceeds 

each of the elements. 14 C.F.R. 91.7(a) prohibits the operation of an aircraft without an airworthiness 

certificate. As no such certificate will be applicable in the form contemplated by the FARs, this Regulation is 

inapplicable. 14 C.F.R. § 91.9 (b) (2) requires an aircraft flight manual in the aircraft. As there are no pilots or 

passengers, and given the size of the UAS's, this Regulation is inapplicable. An equivalent level of safety will 

be achieved by maintaining a manual. The FAA has previously issued exemptions to this regulation in 

Exemption Nos. 8607, 8737, 8738, 9299, 9299A, 9565, 9565B, 10167, maintenance program that involves 
Unmanned Photography Section 333 Exemption Petition 7 of 7

regular software updates and curative measures for any damaged hardware. Therefore, an equivalent level 

of safety will be achieved.

F. In summary, Unmanned Photography seeks an exemption from the following Regulations

14 CFR Part 21

14 C.F.R. 45.23(b)

14 CFR 61.113 (a) & (b) 

14 CFR 61.133 (a)

14 CFR 91.7 (a) and (b)

14 CFR 91.9 (b) (2)

14 CFR 91.103

14 CFR 91.109(a)

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) (1)

14 CFR 409 (a) (2)

14 CFR 417 (a) & (b)

To commercially operate our small unmanned vehicle/lightweight unmanned aircraft vehicle in community 

awareness, aerial photography, surveying and mapping services, and to develop economic platforms for 

design professionals and contractors to market their projects, services, and documents construction progress. 

Currently, area design professionals and contractors rely primarily on the use of larger aircraft running on 

combustible fuel. Posing potential risk to the public. 

Granting our request for exemption will reduce current risk levels and thereby enhance safety. Our UAS craft 

does not contain potentially explosive fuel, is smaller, lighter and more maneuverable than conventional video 

and photographic aircraft with much less flight time. Further, We operate at lower altitudes and in controlled 

airspace eliminating potential public risk flying to and from established air fields. We, Unmanned 

Photography, have been informally analyzing flight information and have compiled safety protocols and the 

implementation of a flight operations manual for UAS usage that exceeds currently accepted means and

methods for safe flight. Formal collection of information shared with the FAA will enhance the FAA's internal 

efforts to establish protocols for complying with the FAA Modernization and Reform Act of 2012. There are 

no personnel on board our UAS and therefore the likelihood of death or serious bodily injury is significantly 

diminished.

Operation of our UAS, weighing less than 10 pounds and travelling at lower speeds within limited areas will 

provide an equivalent level of safety as that achieved under current FARs. Accordingly We, Unmanned 

Photography, respectfully request that the FAA grant our exemption request and am willing to cooperate in 

sharing information to benefit the FAA, safety of manned aircraft, and the general public at large.

Sincerely,

Unmanned Photography

Brent M. Detter

Owner

Enclosure:

1. Appendix A IRIS+ Operation Manual

2. Appendix B FlySky ER9X Controller Operation Manual

3. Appendix C Unmanned Photography Standard Operating Procedures

4. Appendix D Unmanned Photography Flight Log

c:\users\brentd\google drive\up\correspondance\2015 05 xx 333 request.dotx
Unmanned Photography

Appendix A

IRIS+ Operation Manual
Operation Manual

Read before 

flying!

IMPORTANT
Contents

01 Meet IRIS

03 Parts

04 Charging the Battery

06 Attaching Propellers

07 Safety and Failsafes

08 Learn to Fly

11 Flight Modes

13 Return to Launch

13 Geofence

14 First Flight

19 Planning Missions

20 Flying Missions

21 Specifications and Resources

22 Learn More and Support
01

Meet IRIS+.

Thank you for purchasing IRIS+. 

IRIS is a personal aerial imaging platform powered by open-source 

hardware, software, and firmware. Please read this manual carefully 

before your first flight and pay close attention to safety information.

Happy flying!

Important note: When using a GoPro with IRIS, always 

ensure that the WiFi on the GoPro is turned OFF.
02

Front

Rear

antenna

status LED

battery 

compartment

USB port

front arms (blue)

safety button

rear arms (black)
03

Parts

Controller

your direct link to IRIS

Ground station radio 

with USB and Android adapters

Slide out the leg to remove it, and replace with the tall leg. 

Tighten the set screw until it sits flush with the surface. 

Do not tighten the screw beyond this point.

Use the small (1.5 mm) hex 

key to loosen the set screw 

in the bottom of the leg.

Battery kit

battery, guard bag, and charger

with international travel adapters

Propellers and tool kit

four propellers with propeller tool and 

small, medium, and large hex keys 

(1.5 mm, 2 mm, and 3 mm)

Tall legs

Switch to tall legs to use IRIS with the Tarot 

Gimbal or for extra clearance on landing.
04

Charging the Battery

IRIS is powered by a rechargeable lithium polymer (LiPo) battery. Store 

the battery at half charge then charge fully before flying. Batteries must 

ship at half charge, so please charge before your first flight. Each full 

battery provides up to 22 minutes of flight time without a gimbal and 

up to 16 minutes when using a Tarot Gimbal.*

Connect charger to the 

power adapter cable and 

a wall outlet.

Connect the red cable to the 

+ port and the black cable 

to the - port.

Set the charger to 

LiPo and 3A.

Connect the white 

connector to the 3S port. 

Join the two yellow 

connectors together.

1

2

+

–

LiPo 3A

3S

3
05

Battery Safety

Secure battery inside the guard bag 

while charging. Charge until the status 

indicator displays green.

Charging Complete

4

Protect the battery from extreme heat, extreme cold, puncturing, 

and flammable surfaces. Always transport, charge, and store 

the battery in the guard bag.

Charge the battery using a designated LiPo balance charger only. 

Always monitor the battery while charging.

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

unusable. Always discontinue use when you receive a low battery 

notification, and always fly with a fully charged battery.

Inspect the battery for damage before takeoff and after landing. 

If you observe any swelling of the package or the battery ceases 

to function, locate your local battery recycling center to dispose 

of the battery. In the US and Canada, visit call2recycle.org to find 

a location. Do not dispose of the battery in the trash.

*Flight time varies with payload, wind conditions, altitude, 

temperature, humidity, flying style, and pilot skill. See the Flight 

Checklist for instructions on managing battery levels during flight.
06

IRIS uses four propellers: two with black nuts and two with silver nuts. 

Attach the propellers with black nuts to the motors with black tops and 

the propellers with silver nuts to the motors with silver tops.

Attaching Propellers

For propellers with black nuts:

Spin clockwise to attach.

Spin counterclockwise 

to remove.

For propellers with silver nuts:

Spin counterclockwise 

to attach.

Spin clockwise to 

remove.

Each propeller has locking and unlocking direction symbols. To attach, 

spin the propeller in the direction of the locking symbol. The propellers will 

automatically tighten onto the motors when you arm IRIS before takeoff.

To remove, hold the motor in place with 

the propeller tool, and spin the propeller 

in the direction of the unlocking symbol.
07

IRIS has powerful motors and high-speed propellers. Never place your hands 

near propellers while IRIS is armed or the safety button displays solid red. 

Always press the safety button until it displays blinking red before handling. 

Always fly in an open area away from people and buildings; do not attempt to 

fly indoors or in a confined space. Do not fly over people, near airports, or in any 

situation that could pose a hazard to those around you. Always fly within your 

line of sight and in compliance with local regulations. IRIS will not avoid 

obstacles on its own. As the operator, it is your job to recognize and avoid 

obstructions while flying. Always follow the preflight and postflight steps in the 

order described in this manual, and remain attentive at all times while flying.

Environmental factors, such as wind and GPS irregularities, can cause instability 

in flight. IRIS will attempt to compensate for these factors by triggering a failsafe 

if it detects an unsafe flying condition due to loss of controller signal, loss of GPS 

signal, or low battery (see below for details). To avoid potential hazards due to 

environmental factors, identify the boundaries of your flying area before takeoff, 

and recover IRIS manually by switching into standard (STD) if it moves outside 

your designated flying area. If you observe any inconsistent behavior, land, and 

consult the troubleshooting guide at 3dr.com/iris/info.

Failsafes

Loss of RC signal

Always use the controller as a primary or backup control system when flying. 

Ensure that the controller is turned on any time IRIS is powered. If contact with 

the controller is lost during flight, IRIS will land and display a blinking yellow LED. 

If IRIS is more than 2 meters (6.5 feet) from the launch point, it will return to 

launch (RTL) before landing. (See page 13 for more information about RTL.)

Loss of GPS signal

IRIS requires an active GPS signal before takeoff. If IRIS loses GPS signal in flight, 

it will trigger a GPS failsafe, indicated by a blinking blue and yellow LED with a 

high-high-high-low tone, and automatically switch to manual control (standard 

- altitude hold mode). Always be prepared to regain manual control of IRIS at 

any time while flying and choose an unobstructed flying area to improve GPS 

signal strength. When flying a mission, we recommended changing the GPS 

failsafe behavior to land. (Visit 3dr.com/iris/info for more information about 

configuring the GPS failsafe.)

Low battery

When the battery reaches 25% of its remaining charge, IRIS will land and display 

a blinking yellow LED with a quick repeating tone. If IRIS reaches the low battery 

limit during a mission, it will return to the launch point before landing.

Safety
08

Maneuver IRIS in flight using 

the controller sticks.

left stick:

throttle

& yaw

right stick:

pitch

& roll

Left Stick

Left Stick

Lower the throttle 

stick below center 

to decrease altitude. 

Set the throttle stick 

to center to maintain 

the current altitude.

left stick

Left Stick

Left Stick

Move the left stick up and down to control altitude.

Throttle

Learn to Fly

Set the throttle stick 

fully down to land 

once IRIS is a few 

inches above the 

ground.

Left Stick

To take off and to 

gain altitude, raise the 

throttle stick slightly 

above center position.

Left Stick Left Stick
09

Flight Tip

When adjusting orientation, move the left stick horizontally without changing its 

vertical position.

Hover + Land

Lower just slightly

to hover

Left Yaw

Left

Right

Right Yaw

Deactivate

Hold until propellers

stop spinning

Hover + Land

Lower just slightly

to hover

Left Yaw

Left

Right

Right Yaw

Deactivate

Hold until propellers

stop spinning

Move the stick to 

the left to rotate 

counterclockwise.

Move the stick 

to the right to 

rotate clockwise.

left stick

Left Stick

Release the stick to 

stop rotating and 

maintain the current 

orientation.

Move the left stick horizontally to rotate IRIS and change orientation. 

For a slow rotation, move the stick slightly away from the center

in either direction. Moving the stick farther from the center creates 

a faster rotation.

Yaw

Left Stick
10

pellers 

t

htly 

d

htly

Left

Back

Forward

Right

pellers 

t

htly 

d

htly

Left

Back

Forward

Right

Move the right 

stick forward to 

fly forward.

right stick

Move the right 

stick back to fly 

backward.

The right stick allows you to control IRIS’ position in the air. Move the right 

stick to tell IRIS to move in that direction: forward (toward the blue arms), 

back (toward the black arms), left (toward the left arms), or right (towards 

the right arms). How far you move the stick from the center before releasing 

it tells IRIS how fast to move. 

Pitch and Roll

pellers 

t

htly 

htly

Left

Back

Forward

Right

pellers 

t

htly 

d

ghtly

Left

Back

Forward

Right

Move the right 

stick left to fly 

left.

Move the right 

stick right to fly 

right.

Flight Tip

IRIS moves according to its orientation. The blue arms and white lights face 

forward, and the black arms and red lights face backward. Before using the right 

stick, use yaw to keep IRIS facing in outward orientation so that the black arms and 

red lights face towards you and the blue arms and white lights face away from you.
11

Standard (altitude hold mode)

STD

fly manually

Start your flight in standard to select altitude hold 

mode, and fly IRIS manually using the controller.

Loiter mode

LTR

hover

Select loiter to set IRIS to hover in place automatically. Use the 

controller to adjust IRIS’ position then release the sticks to hold 

that position. Loiter is a great way for beginners to learn how to fly! 

If you’re new to flying, start your first flight in loiter instead of standard.

Flight Modes

Stabalize

Altitude Hold

Loiter

Full Autonomy

Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch

mode switch

IRIS includes three flight modes: manual flight 

(STD-altitude hold), hover mode (LTR-loiter), and 

mission flight (AUTO). Use the switch on the 

right side of the controller to select a flight mode.

To avoid sudden changes in altitude, set the throttle stick 

to center position before switching modes, including in the 

event of a GPS failsafe.

Advanced Operator Note: If you choose to modify the flight mode configuration to 

include Stabilize mode, please fly only with the provided set of tall legs. Flying in Stabilize 

with short legs can cause vibrations that may interfere with autopilot calculations and 

produce unexpected behavior.
12

Auto mode

AUTO

fly a mission

Select auto mode to fly an autonomous mission. IRIS will 

automatically fly the series of waypoints saved to the autopilot. 

See pages 19 and 20 for instructions on planning and flying missions.

Do not activate auto mode unless you have saved a 

mission to IRIS using a ground station application.

Altitude Hold

Loiter

Full Autonomy

Return to Launch

Gimbal control

TILT

tilt the camera up and down

Connect a Tarot Gimbal (sold separately), and use the TILT knob to 

control the angle of the camera in flight. Visit 3dr.com/iris/info for 

instructions.

Stabalize

Altitude Hold

Loiter

Full Autonomy

Land

CH 7

land at the current position

Set the CH 7 switch to ON to end your flight and land IRIS at its 

current position. Once you activate land, set the throttle stick fully 

down, and IRIS will automatically disarm after landing. IRIS will not 

disarm automatically unless the throttle stick is set fully down.

Reposition during landing: During landing, use the 

right stick on the controller to adjust IRIS’ position.
13

land at the launch point

Set the RTL switch to ON to end your flight and return 

IRIS to the launch point automatically. Ensure that the 

RTL switch is set to OFF before takeoff.

RTL returns IRIS to the location where IRIS was armed. 

Always arm IRIS in a safe, unobstructed launch point.

When commanded to RTL, IRIS will:

1 Achieve minimum altitude of 15 m (50 ft) 

or maintain current altitude if above 15 m.

2 Move to launch point and loiter for 5 seconds.

3 Land at launch point. launch point

1 15 meters 2

3

hover 5 seconds

Altitude Hold

Loiter

Full Autonomy

Return to Launch

Return to Launch (RTL)

Reposition during landing: During landing, use the 

right stick on the controller to adjust IRIS’ position.

A safety fence restricts IRIS to within 300 meters (980 feet) of the 

launch point and under 100 meters (320 feet) in altitude. If IRIS reaches 

the edge of the geofence, it will initiate an automatic return to launch.

launch point

100 m

300 m

Geofence

In the event of a GPS failsafe, the horizontal geofence will be disabled. 

If IRIS breaches the vertical geofence during a GPS failsafe, it will land at 

its current position.
14

First Flight

Select an open area for flying, away from people and buildings, and 

remember to bring the Flight Checklist and a fully charged battery. 

Determine the boundaries of your flying area before takeoff, and select 

a level, unobstructed space as a launch point. Follow these preflight 

and postflight steps in the order shown here and on the Flight Checklist 

every time you fly.

1

Preflight

Check 

IRIS.

Point the controller antenna up 

and the IRIS antenna down for 

the strongest signal.

Ensure that the RTL switch 

is set to OFF.

Set the mode switch to standard (STD).

If you’re new to flying, try starting your first 

flight in loiter (LTR) instead of standard.

2 Power on 

controller.

Ensure that the controller is always turned on while 

IRIS is powered. If IRIS loses communication with 

the controller in flight, IRIS will initiate an automatic 

return to launch.

ld

omy

Launch

nch
15

3 Connect battery.

Press the sides of the battery 

compartment together and 

rotate the door down.

Insert battery, and attach the yellow 

connectors. To close, squeeze the door, 

and rotate up until it clicks into place, 

ensuring that the battery cables do not 

interfere with the LED cables.

Place IRIS at the launch point 

with the black arms facing 

towards you and the blue arms 

facing away from you.

Connect the radio to your ground station, and select Connect.

A ground station (recommended) lets you view live data in 

flight and unlock IRIS’ advanced autonomous features. 

To download a ground station app for you laptop or 

Android device, visit 3DR.com/iris/info.

Press and hold the DN button on the controller to 

view flight data from IRIS. See the Flight Checklist 

for more information about controller flight data.

Keep IRIS still and 

level while it powers 

on and initializes 

the sensors.
16

Do not handle IRIS while the 

safety button is solid red and 

IRIS is live. Always press the 

button until it displays blinking 

red before approaching 

the propellers.

Autopilot ready, GPS locked

Acquiring GPS, please wait.

Initializing, please wait. 

4 Press safety 

button.

Press the safety button 

until it is solid red.

IRIS is now live. 

Stand back!

5 Check LED.

Check the LED to view the status of IRIS. Wait 

to proceed until you see the blinking green light 

indicating that IRIS has acquired GPS lock.

Pre-arm safety check failure. Connect 

to a ground station and see the troubleshooting guide at 3DR.com/iris/info.

6

To activate the motors, 

hold the left stick down-right 

until the motors spin. 

Now you’re ready for takeoff! 

Arm motors.

IRIS will spin its propellers 

when armed. Ensure that the 

launch point is clear of 

obstructions before arming. 

Always disarm the motors 

before approaching IRIS.

Motors inactive, safe to handle Motors active, deactivate before 

handling

GPS lock requires a clear view of the 

sky. IRIS may take a few minutes to 

acquire GPS lock depending on your 

flying location. Always fly in an open 

area to improve GPS signal strength, 

and review the GPS failsafe 

information on page 7.
17

Flight

Left Stick

Take off and gain altitude by 

raising the left stick slightly 

above center.

Left Stick

Fly forward, backward, left, or right 

by moving the right stick in the 

direction you want to fly.

Left Stick

Release the right 

stick to level IRIS.

Left Stick

Lower the left 

stick below center 

to descend.

Left Stick

Set the left stick to 

center to maintain 

the current altitude.

Rotate counterclockwise and 

clockwise by 

moving the left 

stick left and right. 

IRIS is a powerful and agile 

flier. Move the sticks in small 

increments until you feel 

comfortable with how IRIS 

responds to controls.

Left Stick

Set the left stick fully 

down to land once IRIS 

is a few inches above 

the ground.

!
18

Postflight

1 Disarm 

motors.

After landing, hold 

the left stick downleft until the motors 

stop spinning.

2 Press safety 

button.

Press the safety 

button until it 

displays blinking 

red to make IRIS 

safe to handle.

3 Disconnect 

battery. 4 Power off 

controller.

Your first flight is now complete!

Follow the steps shown here and 

on the Flight Checklist every time 

you fly.

Tips for New Fliers: Practice these exercises to help you master flight controls.

Skill 1: Hover

Your first step is to maintain a consistent altitude while keeping IRIS oriented so 

the black arms face towards you and the blue arms face away from you. Practice 

taking off, rising to a comfortable hovering altitude, and keeping IRIS in place 

without allowing for any changes in orientation or position. If IRIS drifts forward, 

backward, left, or right, or rotates clockwise or counterclockwise, use the 

corresponding stick controls to correct.

Skill 2: Box

When you feel comfortable with your ability to maintain a consistent hovering 

altitude, try flying a box pattern. To practice this, take off, reach your hovering 

altitude, then fly forward, right, backward, and left by making small adjustments 

to the right stick. Make sure to fly the box in front of you and not around you. 

Use the left stick to rotate IRIS so the black arms face towards you and blue arms 

face away from you for the duration of the exercise.

Skill 3: Figure Eight

When you can confidently navigate a box while maintaining altitude and 

orientation, try flying a figure-eight pattern. Once again, make sure to fly the figure 

eight in front of you and not around you. Use the right stick to create a smooth 

flight path while using the left stick to correct orientation and maintain altitude.
19

Planning Missions

1 Power IRIS, connect the radio to your laptop 

or Android device, and select Connect.

2 Configure waypoints.

To plan a mission, download a ground station application from 

3dr.com/iris/info, and install onto your laptop or Android device.

DroidPlanner 2 for Android

Mission Planner for Windows

When flying missions, we recommend changing the GPS 

failsafe behavior to set IRIS to land in the event of a loss of 

GPS signal. For instructions, visit 3dr.com/iris/info.

Connect the blue end of the 

Android adapter to your device 

and the black end to the radio.

Select Connect.

Select Edit and tap to add 

waypoints, or select the brush 

tool and draw a path for IRIS 

to follow.

Select Flight Plan, and click to 

add waypoints. Select the green 

arrows at the bottom of the 

screen to configure altitude and 

change waypoint types.

3 Save the mission to IRIS.

Select Write WPs. Select the option menu in 

the top-right corner, and 

select Send Mission.

Connect the USB adapter to the 

radio and your laptop. Select 

AUTO, 57600, and Connect.

APM Planner for OS X
20

To avoid sudden changes 

in altitude when switching 

from auto to standard (STD), 

ensure that the left stick is 

set to the center position.

Fly a brief test flight to verify 

that all controls (throttle, yaw, 

roll, and pitch) are responding 

normally.

1 Perform a pre-mission 

test flight.

If you planned a takeoff waypoint into 

your mission, switch to AUTO on the 

ground, and raise the throttle to initiate 

the mission. If you did not add a takeoff 

waypoint, switch to AUTO mode after 

takeoff to initiate the mission in flight.

3 Switch to

AUTO.

When the mission is complete and IRIS has landed, 

use the controller to switch to standard (STD) then 

disarm and proceed with the postflight steps. 

If you added an automatic landing waypoint to your 

mission, IRIS will disarm automatically after landing.

4 Switch to standard

before disarming.

To recall IRIS during a mission, 

use the controller to switch 

to standard (STD) and land 

manually. Or switch to RTL, 

and automatically return to 

the launch point.

2 Arm IRIS 

in standard.

When you’re ready 

to start the mission, 

arm IRIS in standard 

(STD).

Flying Missions

ld

omy

Launch

ld

omy

Launch

Stabalize

Altitude Hold

Loiter

Full Autonomy

Left Stick

For auto-takeoff, 

raise throttle to 

start mission.
21

Specifications

Autopilot: Pixhawk v2.4.5

Firmware: ArduCopter 3.2

GPS: 3DR uBlox GPS with Compass (LEA-6H module, 5 Hz update)

Telemetry radio: 3DR Radio Telemetry v2 (915 mHz or 433 mHz)

Motors: 920 kV

Frame type: V

Propellers: 9.5 x 4.5 T-Motor multirotor self-tightening counterclockwise (2)

 9.5 x 4.5 T-Motor multirotor self-tightening clockwise (2)

Battery: 3S 5.1 Ah 8C lithium polymer

Low battery voltage: 10.5 V

Maximum voltage: 12.6 V 

Battery cell limit: 3S

IRIS is compatible with 3S lithium polymer batteries only. 

Using a 4S battery can cause permanent damage to the gimbal electronics and will void 

the warranty.

Payload capacity: 400 g (.8 lbs)

Radio range: up to 1 km (.6 miles)

Flight time: 16-22 minutes, depending on payload

Resources

Hardware: 3dr.com/iris/info

Firmware: copter.ardupilot.com

Software: planner.ardupilot.com and planner2.ardupilot.com

3DR Store: store.3dr.com

Community: diydrones.com

Happy flying!
Support

Learn More

Visit 3dr.com/iris/info to learn about:

» 3PVTM Follow Me and DroidPlanner

» Opening the shell

» Replacing the arms and motors

» Installing software

» Planning a mission

» Updating firmware

» LED meanings and tones

Visit copter.ardupilot.com to learn about:

» Additional flight modes

» Configuring parameters, including yaw behavior during 

 autonomous flight, descent speed during RTL, and more

Visit planner.ardupilot.com (Mission Planner) and 

planner2.ardupilot.com (APM Planner) to learn about:

» Planning a mission with waypoints and events

» Using a ground station to command IRIS in flight

» Downloading and analyzing flight logs

Join the community and share your experience at 

diydrones.com.

Follow us on Facebook and Twitter @3drobotics.

For customer support, contact us at help@3dr.com

or call our support line at +1 (858) 225-1414 

Monday through Friday, from 8 am to 5 pm, PST.

Iris+ Operation Manual vE | ©3D Robotics, Inc. | 29 October 2014
Unmanned Photography

Appendix B

FlySky ER9X Controller Operation Manual
	



		

1
	



Disclaimer..................................................................................................................................................3

Introduction................................................................................................................................................4

How it works.........................................................................................................................................5

Nomenclature........................................................................................................................................6

Edit buttons............................................................................................................................................7

Navigation.............................................................................................................................................7

Editing and Saving................................................................................................................................8

Main Screen...............................................................................................................................................9

General view..........................................................................................................................................9

Statistics Screens Statistics Screens....................................................................................................10

General Settings.......................................................................................................................................11

Basic Setup (1/7).................................................................................................................................12

Setup Options (2/7).............................................................................................................................13

PPM In (3/7)........................................................................................................................................14

Version Info (4/7)................................................................................................................................14

Diagnostics (5/7).................................................................................................................................15

Analog Inputs (6/7).............................................................................................................................15

Calibration (7/7)..................................................................................................................................16

Model Setup.............................................................................................................................................17

Model Select (1/8)...............................................................................................................................18

Model Setup (2/8)................................................................................................................................19

Expo/Dr (3/8)......................................................................................................................................21

Triple Dr Example..........................................................................................................................21

Mixer (4/8)..........................................................................................................................................22

Main Screen....................................................................................................................................22

Edit Mix..........................................................................................................................................23

Limits (5/8)..........................................................................................................................................25

Curves (6/8).........................................................................................................................................26

Custom Switches (7/8)........................................................................................................................27

Templates (8/8)....................................................................................................................................28

Examples..................................................................................................................................................29

Programming a throttle cut..................................................................................................................29

MORE......................................................................................................................................................31

2



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3

 


The IMAX/FLYSKY/TURNIGY/EURGLE 9x is a computerized radio from china. The transmitter is

outfitted with a 128x64 pixel monochrome LCD, 2-2axis gimbals, 3 variable potentiometers (pots), 6

2-position switches, 1 3-position switch and some funky red trim.

The big thing about this transmitter is the price. At the time of writing radios may cost anywhere from

$180 for simple units up to $1000+ for super blinged out bazillion channel super heavyweight

monsters.

This one costs $60.

Where's the catch then? (you ask) The catch is in the software (firmware - FW). The original FW is

less-than-perfect. It has bugs, funky navigation and the most annoying beeping I have ever heard. Not

good.

However, some neat guy called Thus figured out that the whole radio is made from gimbals, switches,

funky trim and a very generic main processing unit that does absolutely everything. He had one of

those ah-ha moments where insanity overrides common-sense and decided to completely rewrite the

original software and replace it with his own. 

At some point I decided that while Thus' FW is great I really wanted more bling for my TX. So in the

spirit of open-source Thus' source was stolen and ER9x was born. (Yah, I was vain. ER are my

initials)

You might want to check out Thus' code – it's available here: http://code.google.com/p/th9x/

While you're at it check out RadioClone's code – which also runs on the 9x. While ER9x is based on

Thus' code, I have managed to pilfer some of RC's excellent code. His FW is more complex but also

more powerful. Check it out here: http://radioclone.org/

Got you all worked up about this? Good. Go now to the kitchen, make yourself a nice cup of coffee.

This is a long read. I'll wait here till you're ready. Promise!

4
	

Bear with me here – some flow charts coming up:

5

Pots

(P1,P2,P3) Switches Sticks(RUD,THR,ELE,AIL) Trims

Calibration Calibration

Expo / Dr

MIXER

Limits

Output
What the heck was that?

The system receives 4 types of imputs:

1. Main Sticks

2. Potentiometers

3. Trims

4. Switches

The analog inputs (sticks and pots) go through a calibration phase. The sticks can also go through

Expo and Dr filters before going to the mixer.

The mixer does it all. It directs each input to the desired output (CH1..CH16). It controls how the

inputs are added. It also controls the timing of each function.

After the inputs are processed by the mixer they are directed to the relevant output channels. The limit

procedure takes over and makes sure no output goes too far.

Finally the channels are encoded and sent to the RF module to take that nice little hike through the air

to your model.





(just so we understand each other)

Inputs:

1. RUD – Rudder.

2. ELE – Elevator.

3. THR – Throttle.

4. AIL – Aileron.

5. P1/P2/P3 – Pots.

6. Switches:

1. THR – Throttle cut switch, don't confuse this with the THR stick. The THR switch is

located on the back left side.

2. RUD – Rudder Dr switch.

3. ELE – Elevator Dr switch.

4. ID0, ID1, ID3 – Three position switch. These 3 define the 3-position switch. ID0 is the top

position, ID1 – mid position and ID2 – bottom position.

5. AIL – Aileron Dr switch.

6. GEA – Gear switch.

7. TRN – Trainer switch. This switch is spring loaded.

8. SW1..SW6 – Custom switches. More on these later.

It should be stated that every function in this FW is assignable. There are no fixed switches. You can

choose the TRN switch to be throttle cut and use the triple switch to control Dr. The names are useful

since they are labeled like that on the Tx.

6

	

There are 6 edit buttons on the Tx. In this manual they are noted with square brackets ([MENU]).

Some functions need the button to be pressed and held for a second or so. The are noted as “long”

presses like so: [MENU LONG]

Also since the “+” and “-” keys are placed stupidly in the original Tx I've switched their position. So

[+] is actually [-] and vice-versa. This is actually more intuitive than the original (trust me, I've tried

using them as is).

Since to upload this FW you need to open up your Tx and do some modifications (which void your

non-existent warranty FYI) it is highly recommended you switch between the [+] and [-] keys. It's a

simple job, so don't skimp, you'll thank me later.

To avoid confusion with people who modded their keys and all the others I'll refer to the [+] and [-]

keys as [LEFT] and [RIGHT] from now on. (I hope that left and right are still universal values – you

can never tell today)

The “!” sign. Whenever you see the “!” sign you can read that as “not” or “inverted”. Switches can be

“normal” or “inverted”. So when choosing the elevator d/r switch ELE is normal operation and !ELE

denotes inverted operation.





As a general rule the [UP]/[DOWN]/[LEFT]/[RIGHT] move the cursor appropriately The [MENU] key

is used for selection and for editing. The [EXIT] key is used for exiting (surprise). Pressing [EXIT]

will generally bring the cursor to the top of the screen. Another press will exit the menu to the main

screen. Pressing [EXIT LONG] will exit immediately to the main screen. 

Pressing [MENU] from the main screen will take you back to the last menu.

From the main screen you can press [RIGHT LONG] to enter the model setup pages. Pressing [LEFT

LONG] will enter the general setup menus.

Once in the menus you can navigate between different screens using the [LEFT]/[RIGHT] keys as long

as the cursor is at the top right position of the screen.

7





As a rule once a value is changed it is saved. You can turn off your Tx and turn it back on and the

values will be saved. The values are saved internally in the MCU's eeprom. However there is a slight

delay sometimes so it's probably a good idea to wait a couple of seconds before turning off.

There is no undo functionality. Once something is erased/changed it's changed for good.

Generally, when a value is highlighted and you cannot move left or right then pressing [LEFT]/

[RIGHT] will change that value.

When moving left or right is possible you need to press [MENU] to edit that value. Edit-mode is

displayed by the cursor blinking. To exit edit-mode press either [MENU] or [EXIT].

8




(Cool back light here, huh?)




The main view is split into top and bottom. The top contains the following:

The current model's name. (goofi in this case and yes, it's a real airplane)

The battery voltage.

Trim increment information.

Timer and timer trigger information. Pressing [EXIT LONG] resets the timer.

Throttle trim activation information.

The bottom consists of three screens. You can flip between these with the [UP]/[DOWN] keys.

The 3 screens are: 

Value bars – these show the output values for the first 8 channels.

Value values – The output values for the first 8 channels.

Input values – Stick position and switch indicators.

9



	

		
			
	

From the main screen pressing [UP LONG]/[DOWN LONG] will enter the statistics screen.

The first shows some available timers and traces the throttle stick as well.

The second shows general timing of the Tx. The value “tmain” shows how long the math takes. This

will increase as you add more mixers. It can be very large sometimes depending on eeprom writes.

You can reset the timers by pressing [MENU].

10




	


	


	

	




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From the main screen pressing [LEFT LONG] will enter the general settings menus. Here you can set

up settings that will be the same regardless of chosen model. 

The menus are as follows:

1. Basic Setup

2. Setup Options

3. PPM In Calibration

4. Version Information

5. Diagnostics

6. Analog Inputs

7. Calibration

11
	

Use this screen to set up general functions for the Tx:

1. Contrast: The LCD's contrast. The values can be 20..45.

The higher the value the darker the screen.

2. BAT Warning: Battery voltage warning. When the connected battery's voltage drops below this

voltage the Tx will beep. Though the Tx will continue to function normally it's really advisable

to land as it is known that this FW was not able to fix the “zero voltage non-functionality”

problem of the original.

3. Inactivity Alrm: This will set up a warning that will beep if the Tx is left unattended for the

specified amount of time.

Values can be from 1 to 250 minutes. To reset the timer simply move one of the sticks.

4. Filter ADC: 

i. SING: Single conversion. This is the fastest conversion but base resolution is 1024.

ii. OSMP: Oversampling. This uses extra samples to increase resolution to 2048. Just slightly

slower than SING.

iii. FILT: Filtered. This is in case you have excessive noise from the conversion (servo jitters).

This will filter the input and prevent that noise. It will, however, increase latency by

~30msec.

5. Throttle Rev: This is for all you wacky people who fly with the throttle backwards (e.i. idle is

far from you and full is close to you). Though I personally don't understand how you fly like

that it's a nice feature.

The reverse will also reverse the throttle warning on startup and some other throttle related

functions.

6. Light: This chooses a switch which can be used to turn on a backlight if connected.

7. Mode: Choose between MODE1, MODE2, MODE3 and MODE4.

12


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Startup warnings here:

THR Warning: If ON will show a warning when throttle is not at idle when the Tx is turned on.

The Tx will not output a signal until the alert is cleared.

SW Warning: If ON will show a warning when the switches are not at the default position when

the Tx is turned on. The Tx will not output a signal until the alert is cleared.

MEM Warning: If ON will show a warning when the available eeprom memory is less than 200

bytes when the Tx is turned on. The Tx will not output a signal until the alert is cleared.

Beeper: Sets Beeping levels

I. 0 – Quiet. No beeping at all. No warning – nada. If the kids are sleeping and you

must setup the model in your living room this is the mode to use. Just remember

that the Tx will not even warn you when the battery is low. If you're using a Lipo

watch out!

II. 1 – No keys. The beeps are normal but edit keys are silent.

III. 2 – Normal. Normal beeping. 

IV. 3 – Extra long beeps. For those who want to annoy other people.

13


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This menu allows you to calibrate the mid point for the input PPM channels. 

Highlighting “Cal” and pressing [MENU] will calibrate the mid point for all PPM IN channels.

PPM IN is read from the signal at the trainer port of the Tx.

&	
$
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This screen shows the version information for the current FW:

SVN: The SVN name of the current revision.

DATE: Compile date for the current FW.

TIME: Compile time for current FW.

VERS: Version number.

Since ER9x is OPEN SOURCE I try to help out anyone who has problems. Please feel free to open

new issues for defects and/or enhancement requests at the project's code page:

http://code.google.com/p/er9x/issues/list

Your participation is what helps me makes the FW better. Please use the revision number stated in this

screen when you state a problem.

14

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This menu will help you visualize the current state of the trims, keys and physical switches.

Each Key/Switch/Trim is represented. When pressing a key or switch they are highlighted.

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Here you can see the analog inputs in hexadecimal format to save space and annoy you at the same

time.

Values range between 0..0x3FF (0..1023).

A1..A4 are the gimbals (sticks).

A5..A7 are the pots.

A8 is battery voltage. You can press [DOWN] and highlight the battery voltage. Pressing [LEFT]/

[RIGHT] will increase and decrease the value and so enable you to calibrate the battery voltage

monitor. 

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This screen allows you to calibrate the analog channels (A1..A7).

The calibration method goes like this: 

1. Press [DOWN] → (SetMid) 

2. Set Sticks to center. (Including throttle)

3. Press [DOWN] → (SetSpan) 

4. Move sticks and pots through full range. 

5. Press [DOWN] → (Done) – Values are saved here.

6. Press [DOWN] (Back to top) 

The values are calculated when you press [DOWN].

They are saved when you press [DOWN] to (Done).

(Works surprisingly well for a cheap Chinese Tx)

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From the main screen pressing [LEFT RIGHT] will enter the model select/settings menus. Here you

can set up settings that model specific. 

The menus are as follows:

1. Model Select

2. Model Setup

3. Expo/Dr

4. Mixer (This is the important one)

5. Limits

6. Curves

7. Custom Switches

8. Templates 

17
#.

In this screen you can see, select, copy and move models between different memory “slots”. I quote

the word “slots” because memory management is dynamic. The available memory is displayed at the

top of the screen. 

Memory usage for each model is displayed on the right. The more complex your model

(mixes/curves/options/limits/etc) the more memory it'll take.

The “*” on the left shows the currently loaded model memory.

Pressing [UP]/[DOWN] will move the cursor between different models.

Pressing [MENU] will highlight the model. Pressing [UP]/[DOWN] with the model highlighted will

move it up/down. Pressing [MENU] again will copy the model memory. Pressing [EXIT] will only

move it.

Pressing [EXIT] will load the highlighted model.

Pressing [EXIT LONG] will load and exit to the main screen.

Pressing [MENU LONG] or [RIGHT LONG] will load the model and go to the next screen (Model

Setup). 

18

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Lots of options here:

1. Name: Unsurprisingly here you edit the model's name. To edit: scroll down until the name is

highlighted and press [MENU].

Once your press [MENU] only one letter will remain highlighted. To change the letter you

press [UP]/[DOWN]. To move the cursor press [RIGHT]/[LEFT].

Once done, press [MENU]/[EXIT] to exit the edit.

2. Timer: Here you set the value for the timer. 

Press [RIGHT]/[LEFT] to choose between minutes and seconds.

Press [MENU] and the cursor will blink. To edit use the [UP]/[DOWN]/[RIGHT]/[LEFT]

buttons and [MENU]/[EXIT] when done.

3. Trigger: Choose what triggers the timer → (remember – by pressing [LEFT] you'll see the

same values with the “!” sign. This means that the usage is inverted)

1. OFF – timer is off.

2. ABS – timer is on.

3. RUs/RU%/ELs/EL%/THs/TH%/ALs/AL% - chooses to activate the timer based on stick

position. When a XXs is selected (THs for example) The timer starts whenever the stick is

not at zero.

The XX% sign is the same except the timer speed is determined by stick position. When at

zero, the timer is stopped. When at full the timer goes at normal speed. When midway the

timer's speed reflects the sticks position.

4. Switches – You can specify a switch so whenever that switch is activated the timer counts.

5. Momentary switches. A switch denoted with “m” (like TRNm) means “momentary”. That

means that moving the switch once to the on position and back turns the timer on. Moving

it on and off again turns the timer off. (difficult I know, take a sip from your coffee, relax a

bit, take a break – it's not difficult once you try it out :) )

4. Timer: Here you can choose whether the timer counts up or down.

5. T-Trim: Throttle trim. This is a nifty feature for power fliers. When activated a couple of

things happen. First off the center detent for the throttle trim is removed. Also the throttle's

trim will now only affect the “low” side. That means you can use the trim for setting idle while

full throttle remains unchanged.

6. T-Expo: 'nother throttle related function. This one makes the throttle stick's expo go from zero

to full instead of having a center like all the others. Always the odd kid out this throttle is.

7. Trim Inc: Trim increments:

19


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1. Exp – Exponential. With this the trims are fine near the center and get progressively coarser

farther out.

2. ExFine – Extra fine – 1 step per click.

3. Fine – 2 steps per click.

4. Medium (my personal favorite) – 4 steps per click.

5. Coarse – 8 steps per click.

8. Trim Sw: Neat little function this is. When in flight if this key is activated it reads the current

position of the sticks and trims and copies that into the subtrims. After that it zeros the trims.

This is really neat for new models when you might have a hard time taking your hands off the

stick and pressing the trims. Simply hold the plane level with the sticks and press the selected

trim switch. Voilà – the plane is trimmed. It's magic! No it ain't. It's ER9x!!! 

9. Proto: encoding protocol

1. PPM – with ppm you can choose how many channels to encode. Anything from 4 to 16

channels. You can also change the pulse spacing. This is useful for systems which might

experience jitter. On the whole it might be a good idea to leave it alone.

2. Other protocols include Silver A/B/C and TRAC09.

3. TRIM->subTRIM [MENU]: Pressing [MENU LONG] here will copy the trims to the

subtrims and zero them.

4. DELETE MODEL [MENU]: Guess....

This deletes the current model. You need to press [MENU LONG] for that to happen

though.

20
/)%.

This screen allows you to enter and edit Expo and D/R values for the main controls

(RUD/ELE/THR/AIL).

For each control you can input values for Left/Right for both Expo and D/R. To edit expo values

highlight the value in the “expo” column and press [MENU]. Once the cursor blinks you can use the

[UP]/[DOWN]/[LEFT]/[RIGHT] buttons to change the value. Notice that while there is a telltale that

shows you which side of travel you are adjusting:

"-”: This means both left and right values are equal. Pressing [UP]/[DOWN]/[LEFT]/[RIGHT]

will change  values simultaneously.

"←”, “→” : When moving the stick you can see either of these symbols. When this symbol is

visible you are only changing that side of travel. 

For each control you can set 2 switches. The main switch changes between high rate/high expo and

mid rate. If the main switch is “low” (e.i. mid rate) the second switch can switch between mid and low

rate. 

At the end of each line there's a telltale that shows you which rate you are on:

H: High.

M: Medium.

L: Low.

Pressing [MENU LONG] while the cursor is on a control will take you to the Edit Expo/Dr screen. In

this screen you can adjust the values for that single control. You will also see a graph indicating the

action of that control. Press [EXIT] to return to the main Expo/Dr screen.




The "F.Mode" switch can be used as a triple rate switch for any one axis, or it can be used as a triple

rate flight mode switch, controlling rates and expos for some or all of the flight axes at once. To use it

as a triple rate/flight mode switch, set sw1 to "!ID2" and sw2 to "!ID1" If you want rudder, elevator,

and aileron all assigned to this switch for flight modes, be sure to set sw1 and sw2 as above for each

axis. With the switch in the up position, it will be at low rate, as indicated by the "L" at the end of the

line. In the mid position, it will be mid rate, and at the down position, it will be at high rate. You can

also include throttle if you'd like, to have different expo curves for each of the flight modes. 

21

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I'm actually writing this last since it's the most important menu. If you're still awake now would be a

good time to sip that coffee and wake up. You want to understand ER9x? Understand the mixer and

you're very nearly there.

The function of the mixer is to take the inputs, perform some function on them and rout them to the

output channels. Since selection is totally free you have a very flexible system which is extremely

powerful and very quick to boot.





When you enter the screen for the first time you'll probably see a list like so:

What this is telling you is that the rudder stick's input is being routed with a weight of 100% to CH1.

Same for the elevator, throttle and aileron. Though not visible now you can also see the switch column

which will tell you if a switch is assigned to the mix and also a crv (curve) column which tells you

what curve is applied to that mix.

When you scroll down you'll see that sometimes the weight is being highlighted and sometimes the

channel's number is underlined. When the weight is highlighted, pressing [LEFT]/[RIGHT] will edit

that value and pressing [MENU LONG] will enter the Edit Mix screen and allow you to edit that mix.

When the channel's number is underlined, pressing [MENU LONG] will insert a new mix for that

channel and take you to the edit mix screen for it.

You can also press [MENU]. This will highlight the mix. Then you can press [UP]/[DOWN] to move

or copy the mix. Notice that moving or copying is decided by whether you press up or down on the

first press after highlighting the mix. If you first try to move it down it will be copied. Subsequent

presses of [UP]/[DOWN] will move the copy up or down until you press [MENU] or [EXIT].

Pressing [UP] will move the mix without copying it. Again, subsequent presses of [UP]/[DOWN] will

move the copy up or down until you press [MENU] or [EXIT].

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In this screen you edit individual mixes.

Here are the available options for each mix:

1. Source: This is the input for the mix. It can be the following:

i. Stick or pot: Self explanatory.

ii. MAX: The output is either 0 or the value describes in “weight”. This is controlled by the

switch.

iii. FULL: Same as MAX but the value is “-weight” if the switch is off or “weight” if the

switch is on. 

MAX and FULL can be a little confusing. Look in the examples section for, well, examples

:).

iv. PPM1..PPM8: PPM input channels. These are fed by the ppm input or “trainer port”. You

can use these to configure a buddy system or to simply extend your radio with more

functions (like head tracking for you FPV guys).

v. CH1..CH16: These are the outputs of the other mixes. You can use these to chain mixes for

very complex behavior.

2. Weight: This value multiplies the value from the input. It can be -125% to 125%.

3. Offset: This value is added to the value from the input. It can be -125% to 125%.

4. Trim: When this is “ON” the trim value (if exists) will be carried on through the mix. When

“OFF” it is ignored.

5. Curves: 

i. x>0: The value of the source is carried through only if it is positive (greater than zero).

Otherwise it is zero.

ii. x<0: Same but for negative values.

iii. |x|: The value is passed as an absolute value.

iv. f>0: If source is positive then the output value is “+weight” otherwise it is 0.

v. f<0: If source is negative then the output value is “-weight” otherwise it is 0.

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vi. |f|: Output is either “+weight” or “-weight” depending on the sign of the source.

vii. c1..c16: custom curves. These are defined in the “CURVES (6/8)” screen. You can also

press [MENU] to edit the curve directly.

6. Switch: Here you select the switch that operates the mix. If the switch is not selected then the

mix is on by default.

7. Warning: Here you can select an audible warning that will sound whenever a mix is active.

(This will only work when a switch is defined). You have an option of 1, 2 or 3 beeps. The

warnings will sound in succession so you can hear them individually.

8. Multpx: This value defines how the mix will be added to the channel.

i. Add: This is the default value. With this value the mix is added to the previous values in the

same channel.

ii. Multiply: Use this to multiply the previous values in the same channel. 

iii. Replace: This value is used in conjunction with a switch. When the switch is off the value

is ignored. When the switch is on the value discards the previous values and places it's own

value in the channel. 

9. Delay Down/Up: Use this to delay use of this channel. Usually used with a switch. When the

switch is turned “ON” or “OFF” the mixer will wait the specified number of seconds before

changing the value.

10. Slow Down/Up: Slow the rate of change in the channel. When not zero these will determine the

maximum speed with which the value can change. The specified value is the number of

seconds to go between -100% to 100%.

11. DELETE MIX [MENU]: Pressing [MENU LONG] here will delete the mix and return to the

main mix screen.

24
0	*.

This is probably the second most important menu. 

The limits operate on the output channels (as you can see from the flow chart in the introduction). In

the LIMITS menu you can set the center point (subtrim), limits (both left and right) and reverse the

channel's output (inv – invert).

Each channel here corresponds to a channel in your receiver. The limits you set will be used on that

channel only. 

Columns:

1. subT: SubTrim. This sets the channel's center point. Please notice that the position of the limits

is based on the center point. When subT changes their absolute position moves with it.

HINT: The values of subT can be -100 to 100 with increments of 0.1. This is done so to have

excellent resolution when setting the center of each surface. You can use your stick to set the

center point as well. While the subT is highlighted hold the stick so that the surface is

centered. Press [MENU LONG] and the position will be recorded! It's the magic of ER9x

again :).

2. Min/Max: These set the endpoints of the channel. Notice that there's a telltale that hints as to

which side is active at the moment. Each limit point can range between -125% to 125%. 

The limits act both as gains and as absolute limits. The servo will not go beyind the limits you

set here.

3. inv: Invert. This function reverses the output of the channel.

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Surprisingly in this menu you set your custom curves. Curves are nifty things that can tell your servo

how to move when you move your stick. In ER9x there are 8 5point curves and 8 9pointt curves.

A 5pt curve is a curve you can edit at position -100%, -50%, 0%, 50%, 100%.

A 9pt curve is a curve you can edit at position -100%, -75%, -50%, -25%, 0%, 25%, 50%, 75%, 100%.

When you enter the menu you see a long list of zeros. Scroll down to the curve you wish to modify

and press [MENU]. This will bring up the screen for editing the curve. Depending on whether you

chose a 5pt or a 9pt curve you will see 5 or 9 editable points. Scroll through the points with [UP]/

[DOWN]. Change the value with [LEFT]/[RIGHT]. 

At the bottom you will see a “preset” entry. Pressing [LEFT]/[RIGHT] on that will populate the values

with a linear curve that is a good starting point.

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I really like this feature.

Custom switches are not really switches at all but rather a set of logical conditions that can be used as

switches.

You might have noticed that beyond the physical switches there are 6 switches called SW1..SW6.

These correspond to the list you see in this screen. Once the condition defined for the switch is met it's

value will be “ON”.

1. To define a custom switch you need to define a source. This can be a stick, a pot, a PPM input

or an output channel. 

2. Next we define an offset. This can be anywhere between -100 and 100. This will be the test

point for the condition.

3. Lastly we define the condition. This can be v>offset, v<offset, |v|>offset and |v|<offset.

The offset is the value we set in step 2 and “v” is the value of the source we set in step 1.

Example: 

Say you have a glow plug driver which you want to turn on when the throttle is below 10%: 

1. Highlight SW1

2. Select the source as THR.

3. Select the offset as -80 (remember -100 – 100 so 10% from idle is -80).

4. Select the condition as v<ofs.

Now you need to use a mix to run the switch. Go to the mixer menu. Select the CH8 as the channel

you want the GP driver to operate on. On that channel select source as “MAX” and Switch as “SW1”.

Now whenever the throttle goes below 10%, CH8 will go to 100%. Cool, huh? 

27

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The templates are there to help you get started. When entering the screen you'll see a list of available

templates. To choose a template, scroll down to it and press [MEU LONG]. This will  the

template to the existing mixes. 

At the bottom you'll see an option called “CLEAR MIXES [MENU]”. Pressing [MENU LONG] on

this will clear all the mixes leaving you with a clean slate.

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31
Unmanned Photography

Appendix C

Standard Operating Procedures
UNMANNED PHOTOGRAPHY 

STANDARD OPERATING PROCEDURES

PREFLIGHT CHECKLIST

Safety for the public on the ground as well as manned aircraft above is an essential consideration for aerial 

photography, surveying and mapping. As such, safety protocol and control must be implemented through 

pre-flight preparation and during aerial operation.

ENVIRONMENTAL:

□ Check weather forecasts for wind advisory or other conditions that may impact flight

□ Notify any bystanders or nearby property owner of your intentions.

□ Consult five (5) mile radius map for airport vicinity

• Contact respective airport to advices of estimated flight time, estimate flight duration, 

estimated elevation of flight, and any other pertinent information

□ Inspect flight area for:

• Vicinity of public safety helipads/heliports

• Vicinity of medical helipads/heliports

• Vicinity of light poles

• Vicinity of utility wires

• Vicinity of trees

• Flocks of birds that may cause interference and potential flight impact

• Vicinity of any elevated obstructions that may pose potential flight hazard

• Vicinity of roadway with moderate to heavy traffic that can be distracted

• Public gathers that may attract viewers

□ Takeoff and landing

• Inspect area for best and safest point of takeoff and landing

• If in a subdivision or area that is within 150 feet of a residential street, post warning 

sign(2)/stand(s) “Attention Aerial Photography/Surveying/Mapping In Progress – Remain 

Back 150 Feet”

□ First Aid / Safety Kit on hand, stocked, readily accessible, and visible to anyone in the area

HARDWARE / EQUIPMENT:

VISUALLY INSPECT THE AIRFRAME

□ Cracks (especially in high stress areas like joints)

□ Loose or damaged screws / fasteners / bands / straps / ties

□ Loose or damaged wiring

□ Loose or damaged connections (solder, plugs, etc)

□ Inspect prop mounts & screws & apply slight counter pressure on arms to check for loosened

construction

□ Inspect camera lens and ensure that cameras are secured

□ Battery/batteries fully charged, properly seated & secured

□ Remove props and test fail‐safe behavior (if applicable)

□ Props are smooth and free of damage/defect (check blade, surface, & hub)

□ Tighten prop adapters (careful not to over tighten which may damage prop)

□ Ensure voltage alarm is connected

□ Ensure arming/idle timeout is properly configured (6‐15 seconds is generally acceptable)

□ Check whether the right model is selected in the transmitter (if applicable)

□ Check your RC transmitter shows the right range and centering for all sticks

□ If desired, perform range test
UNMANNED PHOTOGRAPHY 

STANDARD OPERATING PROCEDURES

PRE‐FLIGHT:

POWER UP

□ Batteries charged & secured

□ Position UAV in a level, safe location for takeoff

□ Power up ground station and video receiver

□ Turn on camera

□ All transmitter controls move freely in all directions

□ All transmitter trims in its neutral position

□ All transmitter switches in correct position (typically away)

□ Transmitter throttle to zero

□ Radio transmitter on

□ Connect/power on battery to airframe

□ Ensure led indicators & audible tones are all correct

□ Timer on (if applicable)

□ Scan for nearby people or animals

□ Stand clear ‐ audibly, loudly announce the word "CLEAR!"

□ Arm flight controller

PRE TAKEOFF

□ Increase throttle slightly listening for any abnormalities

□ Short 20‐30 second hover at 3‐5 feet

(listen for any weird vibrations or anything that sounds loose)

FLIGHT:

□ Takeoff and land from same location

□ Remain alert to birds, sound or aircraft, curious public, and approaching vehicles

□ Do not allow anyone to engage in conversation or distract the remote control pilot

□ Restrict flight to minimal elevation sufficient to acquire desired results

□ Remain prepared for emergency landing at all times

□ Pay attention to flight time and set a timer as a safety alert

□ Land UAS and shut down propulsion immediately following landing

POST FLIGHT:

□ Disconnect battery to prevent accidental activation of propulsion system

□ Secure UAS in a safe location

□ Remove all warning signs from public access areas

Emergency or Suspected Hazard:

□ Immediate land UAS at safest and closet ground location in the event:

• Manned aircraft is heard or seen in vicinity of flight

• There is a public gathering within established safety boundary wanting to observe flight

• Pilot is being distracted from focusing on flight and safety

• Sudden change in weather (wind bursts)

• Sudden increase in vehicular traffic in vicinity of flight

• Birds enter into proximity of flight

• Any sudden unsafe event that can cause collision, distraction or interruption of control
Unmanned Photography

Appendix D

Flight Log
UNMANNED PHOTOGRAPHY

FLIGHT LOG

Date:

Location:

Pre-Flight Inspection: Yes No

Elements Circle Circle Comment

Weather Good Fair

Visibility Good Fair

Wind Speed Low Medium

Airport Notified: Yes No Date: Time:

Phone Number: Contact Name:

Comments:

Estimated Elevation:

Safety for the public on the ground as well as manned aircraft above is an essential consideration for 

aerial photography, surveying and mapping. As such, safety protocol and control must be implemented 

through pre-flight preparation and during aerial operation.

Proximity to Airport:

Nearest Major Intersection:

Proximity to Medium Traffic Road:

Proximity to Heavily Traveled Road:

Takeoff Time:

Landing Time: