# ATTACHMENT 21 

# SteadiDrone QU4D X

Operations Manual2 

## Contents:

SteadiDrone QU4D X Description: Page 3

SteadiDrone QU4D X Specifications: Page 4

SteadiDrone QU4D X Assembly: Page 5

Flight Controller Description: Page 18

Flight Controller LED Indicators: Page 19

Flight Controller Safety Switch: Page 20

Software Installation and Overview : Page 20

Powering the SteadiDrone QU4D X : Page 24

Calibrations: Page 24

Flight Modes: Page 29

Pre

- flight Checklist: Page 36

Taking Off: Page 38

Landing: Page 39

Maintenance: Page 39

LiPo Disposal Procedure: Page 42

Credits: Page 43

Radio Controller Manual: Appendix3 

## Hardware Overview:

What is a SteadiDrone QU4D X :

The SteadiDrone QU4D X is a portable, high powered multi

- rotor classified as a quad

copter. Multi

- rotors are also known as Vertical Take

- off and Landing (VTOL) Unmanned Aerial Sy stems.



### SteadiDrone QU4D X Construction:

The SteadiDrone QU4D X is constructed of light weight durable carbon fiber plates and tubes (booms) as well as high strength plastic components used for mounting the motors, booms and the boom locking mechanisms. The QU4D X includes the following component s:

4 x SteadiDrone 100kv Brushless motors

4 x 28 ” carbon fiber props

4 x 65A ESC

3DR Pixh awk Flight Controller

Datalink (915Mhz) for use with ground station

2.4Ghz Advanced Futaba digital flight control radio system

2.4Ghz Advanced Futaba FASSTest Radio Receiver with bi

- directional communication feature and dual antennas for improved communication

1 x 2200mah 2s Flight Control Lithium Polymer battery

4 x 10 000mah 5s Lithium Polymer batteries (runs in series 10S)



### How a Multi

- rotor/VTOL work s :

A multi

- rotor platform functions by providing vertical thrust with its propellers exceeding the weight and gravitational force of the platform to provide lift. These types of platforms are aerodynamically unstable and require computer control for stable flig ht. The comput er used in this case is the Pixh awk flight controller which uses various sensors to4 maintain stability, position and altitude as well as to translate controls transmitted to the platform via radio link into horizontal and vertical movement.

Quadcopters such as the SteadiDrone QU4D X utilize four motors with each opposite pair of motors spinning in opposite directions which allow for the platform orientation to change depending on the collective differential between the alternate propeller pai r speeds. Slowing one pair down results in the platform rotating one way while slowing the other pair down results in the platform rotating the opposite way. Horizontal motion is accomplished by speeding up the motors (increasing thrust) on one side and re ducing the speed on the opposite side. This results in either roll, pitch or a combination of both depending on the desired direction of travel and thrust is re

- equalized. The angle of the

multi

- rotor is generally representative of its speed in that direct ion. To hover, the platform compensates for disturbances such as gusts of wind by tilting automatically against the direction of the disturbance. This is accomplished through algorythms using the data captured by on

- board gyroscopes which sense displacemen t in all three axis. Altitude control and change are accomplished by speeding up or slowing down all the motors simultaneously.



## SteadiDrone QU4D X Specifications:

Flight times 60+min (60min empty / 2kg add payload 40min / 4kg add payload 30min / 8kg add payload 20min)

Flight times stated are with standard batteries in outdoor real world conditions. Flight times may vary and depend on batteries, payload, conditions etc

Payloads < 8kg

Weight (Excluding battery & payload) 3.580kg

Width (Back arms) 91cm

Width (Diagonally) 124cm

Height (Landing gear unfolded) 47.5cm

Folded Size (Excluding props/landing gear/gimbal bracket)

(L x W x H in CM) 72 x 33 x 130

*Specifications are for standard QU4D X RTF5 

## Steadi Drone QU4D X Assembly:

Step 1

– Unpacking: The SteadiDrone QU4D X RTF model comes in an Alpine travel case with foam inserts to protect the platform as well as its components.

Open the case by twisting the latch handles to release the locking mechanism

Once open, remove the SteadiDrone QU4D X and Remote Control6 Remove the foam insert in which the SteadiDrone QU4D X was seated to reveal the section containing the propellers and additional gear.78 Remove the propellers and propeller mounti ng screws from the case

Step 2

– Unfolding the QU4D X

Hold the QU4D X so that the top of it is facing you and grab the two outer arms. Pull one of the two arms out away from the rests of them and push it into the red plastic locking clip located towards the front of the unit. Repeat this for the opposite arm.9 Now shift the red plastic clips where the front arms were locked in the transport position parallel to the carbon fiber plate edge pointing towards the rear of the QU4D X10 Pull the two rear arms out of their locking position and lock them into the rear red clips which have been adjusted to hold the booms.

With the arms now unfolded, extend the landing gear by pulling it away from the arms towards the motors until they st op.11 Step 3

– Mounting the Propellers:

Please note the arrows above the unfolded SteadiDrone QU4D X image above. These arrows indicate the motors spinning direction which must correspond with the correct propellers. The propellers direction of travel is identified by its “leading” edge which can be identified by the tallest edge of the half propeller. The propellers should be mounted12 to the motors such that the front right and rear left propellers leading edge spins counter clockwise and the front left and rear right propellers leading edge spin clockwise.

Place one propeller blade onto the motor such that the holes through the propeller align with the holes on the prop eller mount then place the locking ring on top of the propeller

so that the holes match.13 Screw in the provided propeller screws through the top locking bracket and propeller into the base locking bracket. At this point in time, do not tighten them comp letely as to allow for the remaining propeller blade to be slid into place.

Slide the remaining propeller blade in between the top locking bracket and the base locking bracket.14 Insert the remaining screws and tighten securely. There should be no pla y between the propeller blades and the locking brackets.

Once the propeller is secure, verify that the propeller blade spins according to the sticker on the boom and that it is the leading edge that moves in that direction.15 Repeat Step 3 for each of the four motors/propellers ensuring that once they are all mounted, that they are spinning in the correct direction as per the indicator on each arm and that they are properly secured.16 Step 4

– Mounting the Lithium Polymer Batteries

The SteadiDrone QU4 D X requires four 5 cell 10,000mAH Lithium Polymer (LiPo) batteries for flight. Each battery is mounted on one of the arms using the supplied battery mounting hardware.

Firstly, slip the Velcro strap through the carbon fiber battery mounting plate Velcro slot such that the soft end faces away from its center then pull through until the plastic buckle on the Velcro strap is against the carbon fiber plate. Next, place the battery on the underside of the battery mount and wrap the Velcro strap around it and through the slot on the other side of the battery mount.17 Place the mounted battery and battery mount under one of the SteadiDrone QU4D X booms approximately 5 cm away from the edge of the center of the airframe. Loop the Velcro strap over the arm and through the plastic buckle then back again towards its

source and press it against the strap to secure.

Repe at this for all four batteries ensuring that they are securely fastened and that all of the Velcro locking mechanism is utilized.18 

## Flight Controller Description :

Pixhawk is an advanced autopilot system designed by the PX4 open

- hardware project and manufactured by 3D Robotics. It features advanced processor and sensor technology from ST Microelectronics® and a NuttX real

- time operating system, delivering incredible perform ance, flexibility, and reliability for controlling any

autonomous vehicle.

The benefits of the Pixhawk system include integrated multithreading, a Unix/Linux

- like programming environment, completely new autopilot functions such as Lua scripting of

mission s and flight behavior, and a custom PX4 driver layer ensuring tight timing across all processes. These advanced capabilities ensure that there are no ations to your autonomous vehicle. Pixhawk allows existing APM and PX4 operators to seamlessly

transition to this system and lowers the barriers to entry for new users to participate in the exciting world of autonomous vehicles.

The flagship Pixhawk module will be accompanied by new peripheral options, including a digital airspeed sensor, support for an exte rnal multi

- color LED indicator and an external magnetometer. All peripherals are automatically detected and configured.

Features:

• Advanced 32 bit ARM Cortex® M4 Processor running NuttX RTOS

• 14 PWM/servo outputs (8 with failsafe and manual override, 6 auxi liary, high

power compatible)

• Abundant connectivity options for additional peripherals (UART, I2C, CAN)

• Integrated backup system for in

- flight recovery and manual override with dedicated processor and stand

- alone power supply

• Backup system integrates mixin g, providing consistent autopilot and manual override mixing modes

• Redundant power supply inputs and automatic failover

• External safety button for easy motor activation

• Multicolor LED indicator

• High

- power, multi

- tone piezo audio indicator

• microSD card for long

- time high

- rate logging19 Additional Sensors included with the SteadiDrone QU4D X Pixhawk FC:

1) GPS with integrated Compass:

A GPS module provides in

- flight positioning data for full autonomy. The GPS module with integrated compass provides th e platform with stand

- alone GPS positioning accuracy of 3

- 5 meters however this does not imply that the platform itself will vary by this amount as a specialized Kalman filter has been composed to correct for GPS drift using the Pixhawk accelerometers. The GPS with integrated compass allows for the QU4D X to maintain position in all 3 cardinal axis with the assistance of a barometer for altitude maintenance. In addition to the ability to hover in place, the GPS module wi th Compass allows for the execution o f pre

- planned missions based off of GPS coordinates as well as the Return to Launch flight mode which relies on GPS to guide the QU4D X back to the point of first GPS fix which should always be the take

- off

location.

2) Telemetry Radios:

The SteadiDrone QU 4D X is also equipped with a pair of transceivers which allow for the transmission of real time flight data down to a base station which can either be a portable laptop, cellphone or tablet. These radios operate at 915Mhz and can be setup to have unique ne twork IDs so that no interference can occur when more than one platform with this type of transceiver is flying in the same location.



## Flight Controller LED Indicators:

The PixHawk flight controller on the SteadiDrone QU4D X includes an LED indicator to visually state the status of the platform.

LEDs and their meanings:

1) Flashing Red and Blue: Initializing Gyroscopes 2) Double Flash Yellow: Failing Pre

- Arm Checks 3) Flashing Blue: Disarme d, no GPS lock found 4) Flashing Green: Disarmed, GPS lock acquired (with quick double beep tone at time of disarming) 5) Solid Green: Armed, GPS lock acquired (with single long tone at time of arming) 6) Solid Blue: Armed with no GPS lock 7) Flashing Yellow: Radio fa ilsafe activated 8) Flashing Yellow with quick beeping tone: Battery failsafe activated 9) Flashing blue and yellow with high

- high

- high

- low tone sequence (dah

- dah

dah

- doh): GPS glitch or GPS failsafe activated20 

## Flight Controller Safety Switch:

The SteadiDrone QU4D X system is equipped with a safety switch which prevents accidental arming of the motors. The safety switch prevents signals from the flight controller from reaching the speed controllers/motors thus eliminating the risk that the

unit can become live through remote commands. An LED is included inside the switch itself showing what the current status of the switch is:

Quick, Constant Blinking: Performing System Check. Please Wait.

Intermittent Blinking: System ready. Press safety switch to enable outputs to the motors (prerequisite for arming on SteadiDrone QU4D X).

Solid: Outputs to motors enabled (SteadiDrone QU4D X can now be armed).



## Software Installation and Overview:

The SteadiDrone QU4D X utilizes one of the most comprehensive and advanced open source flight controller software packages available. Mission Planner is utilized to configure the SteadiDrone QU4D X as well as to design and execute automatic

missions. When used in combination with the SteadiDrone QU4D X Telemetry link, all flight data can be remotely monitored and recorded.

Download the most recent Mission Planner installer file at http://copter.ardupilot.com

.

Go to the Mission Planner download page and click on the “Mission Planner

– MSI

– Permanent link to latest” and then on the next page push the Download button.21 Run the installation utility

Open the Microsoft installer file (.msi) and select Run to run the installation utility.

Follow the instructions to complete the setup process. The installation utility will automatically install any necessary software drivers. If you receive a DirectX installation error, please update your DirectX plug

- in from the DirectX Download Center.

If you receive the warning pictured here, select Install this driver software anyway to

continue.22 Mission Planner is normally installed in the C: \ Program Files (x86) \APM Planner folder

or the C: \ Program Files \APM Planner folder . That is where your log files folder is located. An icon to open the Mission Planner is created according to your instructions during the installation.

Once installation is complete, open Mission Planner by clicking on the Icon. Mission

Planner automati cally notifies you about available updates. Please always run the most

current version of Mission Planner.

The “Heads Up” Display:23 1) Air speed ( Ground Speed if no airspeed sensor is fitted) 2) Crosstrack error and turn rate (T) 3) Heading Direction 4) Bank Angle 5) Wireless Telemetry Connection (% bad packets) 6) GPS Time 7) Altitude ( Blue Bar is Climb Rate) 8) Air Speed 9) Ground Speed 10) Battery Status 11) Artificial Horizon24 The above is the main Ground Station view of the Mission Planner, showing the Hea ds

up Display (HUD).

A fe w tips:

The map will only show current position when you have GPS lock or are using a flight

simulator

Remember how artificial horizons work: when the aircraft tilts to the right, the horiz on tilts to the left.

For APM:Copter status, the output meaning is as follows: “WPDist” : Distance to next waypoint in meters

“Bearing ERR”: How far your UAV is from the perfect line to the next waypoint

“Alt ERR”: How far your UAV is from the target altitude

“WP”: Next waypoint to hit

“Mode”: Current autopilot m ode.

You can issue mode changes and other action commands in the air with the Mission Planner and other GCSs, but note that you must be under autopilot control for them to

take effect.

If you double

- click the HUD it will pop out, allowing you to run the hud full screen on a

second screen.25 If you double

- click on the Speed Gauge you can modify the max scale you want to display.

You can change the voice used in the speech synthesis in the Ease of Access center

in Windows Control Panel. Go to the “Text to Speech” options.

If you enable the Tuning checkbox and double

- click tuning you can graph any data that is available in the status tab. This means you can have alt, attitude, or many other options in real time.

You can use custom imagery instead of Google Maps. Press control

- F. This allows you to upload your own orthophotos. Use will require Globalmapper, as this is currently one of the key steps in exporting in the required format for use in the planner.



## Powering the SteadiDrone QU4D X:

IMPORTANT : Before every flight, ensure that all batteries are fully charged and

balanced.

Secure the 2s 2200mAH Lipo Battery to the top of the SteadiDrone QU4D X and connect to the appropriate connector to power the flight controller and Electronic Speed

Controlle rs [1] :

After the Flight Controller Beeps and the Flashing Red and Blue LED indicator on the Pixhawk has stopped, connect the flight battery packs to their respective connectors [2] :



## Calibrations:

Radio Control Calibration:

This calibration only needs to be done when additional channels and functions are added to the system.

Turn on transmitter. Verify that the transmitter is in Airplane mode (APM needs airplane mode regardless of the platform type being piloted) and all trims are centered.26 For Mode 1 transmitters, the left stick will control pitch and yaw, the right stick will

control throttle and roll.

For Mode 2 transmitters, the left stick will control throttle and yaw; the right stick will control pitch and roll.

For either type of transmitter, t he transmitter’s three

- position switch should be attached to channel 5 and will control flight modes.

Optionally the transmitter’s tuning knob should control channel 6 for inflight tuning. Channel 7 and Channel 8 switches can be used for controlling auxi liary functions.

In Mission Planner, click on the green “Calibrate Radio” button in the lower right of the window. Mission Planner will call a dialog window to ensure radio control equipment is on, battery is not connected, and propellers are not attached . Select OK.27 Select Calibrate Radio and OK to begin calibrating.

Select OK; move the control sticks and toggle switches on your transmitter to their limits of travel and observe the results on the radio calibration bars. Red lines will appear

across the calibration bars to indicate maximum and minimum values. Move the C h 5 and 6 toggle switches through their range of positions (Ch 7 and 8 are not used for basic operations).

Your transmitter should cause the following control changes:

Channel 1: low = roll left, high = roll right.

Channel 2: low = pitch forward, high=p itch back.

Channel 3: low = throttle down (off), high = throttle up.

Channel 4: low = yaw left, high = yaw right.28 Once red bars are set, select Click When Done.

When the red bars for roll, pitch, throttle, yaw, and radio 5 (and optionally radio 6, 7 and 8) are set at the minimum and maximum positions, select Click when Done. Mission Planner will show a summary of the calibration data. Normal values are around 1100 for minimums and 1900 for maximums. If the bars go in the opposite direction of the

dir ection you’re moving the sticks, which means that the channel is reversed on your RC transmitter side. Use your RC transmitter’s channel

- reverse function to reverse it at

the transmitter sid e . (see your RC gear’s manual for that, if you’re not familiar wit h the process)

Above: Sample radi o c alib ration results29 Compass Calibration:

This calibration MUST be performed when the location being flown at is new and has a different magnetic declination than the previous location. Failure to calibrate the

compass w ill result in unexpected flight behavior which may result in a crash.

To perform the basic compass calibration please open Mission Planner and follow the

instructions below:

Under Intial Setup > Mandatory Hardware select Compass. Select the correct

orient ation for your setup.

Ensure the Enable and AutoDec check boxes are checked

Click the “Live Calibration” button

Next select your autopilot configuration, for Pixhawk and PX4, select the option Pixhawk/PX4 with the image of the Pixhawk. For APM 2.6, sele ct APM with External Compass with the image of the GPS with Compass module. These options will automatically enter the correct orientation for the board. Ensure that you have mounted the GPS with Compass with the arrow facing toward the front of the vehicl e and in the same direction as the arrow on the autopilot.

A window should pop

- up informing you that you have 60 seconds in which to rotate the APM/PX4 around all axis, press “OK”

A countdown window should appear to show that the mission planner is col lecting compass data30 During these next 60 seconds you should hold the copter in the air and rotate it slowly so that each side (front, back, left, right, top and bottom) points down towards the earth

for a few seconds in turn.

[3]

Upon completion, another window will pop up showing you the new offsets that it

calculated.

For APM, as long as all three values are between

- 150 and 150 the offsets are good.

Press “OK”.

Note, for PX4 and Pixhawk values may be greater than 150 and less than

- 150. Press

“OK”.



## Flight Modes:

There are 14 flight modes available for the QU4D X . You can set these up by doing the following:

Turn on your RC transmitter

Connect the flight controller to the Mission Plan ner

Go to the Initial Setup > Mandatory Hardware > Flight Modes screen

Note as you move your transmitter’s flight mode switch (channel 5) the green highlight bar will move to a different position.

Use the drop

- down on each line to select the flight mode for that switch position ensuring that at least one switch position is left assigned to Stabilize

Optionally check the Simple Mode check

- box for that switch position. If using AC3.1 or higher you can optionally set Super Simple mode. If both Simple mod e and Super Simple mode checkboxes are checked Super Simple will be used.31 When finished press the “Save Modes” button.

In general when first starting to use the SteadiDrone QU4D X you should progress through the flight modes in the order listed below, b eing sure that you are comfortable with each before progressing to the next. Click on any of the flight modes below for

more details.

Stabilize

Alt Hold

Loiter

RTL (Return

- to

- Launch)

Auto

Additional flight modes

Acro

Sport

Drift

Guided

Circle

Position

Land

Follow Me

Simple and Super Simple32 GPS Dependent Flight Modes:

Flight modes that use GPS

- positioning data require an active GPS lock prior to takeoff. To see if your autopilot has acquired GPS lock, connect to a ground station or consult your autopilot’s hardware overview page to see the LED indication for GPS lock. Bel ow is a summary of GPS dependent flight modes setup for SteadiDrone QU4D X

. 1) Loiter

When in Loiter Mode, the SteadiDrone QU4D X maintains a consistent location, heading and altitude. A good GPS position is indicated by a low HDOP value (<2.0) and more than 6 satellites as well as low magnetic interference.

The pilot can control the SteadiDrone QU4D X location horizontally and vertically with

the control sticks.

Horizontal lo cation can be adjusted with the Roll and Pitch control sticks with the default maximum horizontal speed being 5m/s ( Adjustable in Mission Planner

- > Config/Tuning

- > Extended Tuning ). When the pilot releases the sticks the copter will slow to a stop.

Alt itude can be controlled with the Throttle control stick just as in AltHold mode

The heading can be set with the Yaw control stick

With the current firmware version on the SteadiDrone QU4D X (FW 3.1.5) you may arm in Loiter mode but only once the GPS has 3 D lock and the HDOP has dropped to 2.0 or

lower.

A GPS fix is indicated on the QU4D X by a constant flashing Green LED on the flight controller and in the Heads Up Display.

The HDOP value can be made clearly visible through the mission planner’s Quick

sc reen by double clicking and then selecting “gpshdop” from the large grid of

checkboxes.33 2) Return to Launch:

When RTL mode is selected, the SteadiDrone QU4D X will return to the home location. The copter will first rise to RTL_ALT before returning home or maintain the current altitude if the current altitude is higher than RTL_ALT. The default value for RTL_ALT is

30 m.

RTL is a GPS

- dependent move, so it is e ssential that GPS lock is acquired before attempting to use this mode.34 RTL will command the SteadiDrone QU4D X to return to the home position, meaning that it will return to the location where it was armed. Therefore, the home position is always supposed to be your platforms actual GPS takeoff location, unobstructed and away from people. For the SteadiDron QU4D X if you get GPS lock and then ARM, the home position is the location the QU4D X was in when it was armed. This means if you

execute an RTL in Ste adiDrone QU4D X will return to the location where it was armed.

Warning: In RTL mode the flight controller uses a barometer which measures air pressure as the primary means for determining altitude (“Pressure Altitude”) and if the air pressure is changing in your flight area, the copter will follow the air pressure cha nge rather than actual altitude.

Options:

These options can be configured in Mission Planner:

RTL_ALT: The minimum altitude the copter will move to before returning to launch. Set

to zero to return at the current altitude.

The return altitude can be set from 1 to 8000 centimeters.

The default return altitude Default is 15 meters (1500)

RTL_ALT_FINAL: The altitude the copter will move to at the final stage of “Returning to

Launch ” or after completing a Mission. Set to zero to automatically land the copter.

The final return altitude may be adjusted from 0 to 1000 centimeters.

RTL_LOIT_TIME: Time in milliseconds to loiter above the “Home” position before beginning final descent. The “Loiter” time may be adjusted from 0 to 60,000

milliseconds.

WP_YAW_BEHAVIOR: Sets how the autopilot controls the “Yaw” during Missions and

RTL. 0 = Never change Yaw.

1 = Face Next Waypoint including facing home during RTL.

2 = Face Next Waypoin t except for RTL (i.e. during RTL vehicle will remain pointed at it’s last heading)35 LAND_SPEED: The descent speed for the final stage of landing in centimeters per

second. The landing speed is adjustable from 20 to 200 centimeters per second.

3) Auto (Way point Mode)

In Auto mode the SteadiDrone QU4D X will follow a pre

- programmed mission script stored in the autopilot which is made up of navigation commands (i.e. waypoints) and “do” commands (i.e. commands that do not affect the location of the copter incl uding triggering a camera shutter).

AUTO mode incorporates the altitude control from AltHold mode and position control from Loiter mode and should not be attempted before these modes are flying well. All the same requirements apply including ensuring t hat vibration levels and compass interference levels are acceptable and that the GPS is functioning well including returning an HDOP of under 2.0.

AUTO should be set

- up as one of the Flight Modes on the flight mode switch.

If starting the mission while the copter is on the ground the pilot should ensure the throttle is down, then switch to the Auto flight mode, then raise the throttle. The moment that the throttle is raised above zero, the copter will begin the mission.

If starting the mission from the air the mission will begin from the first command the moment that the flight mode switch is moved to Auto. If the first command in the

mission is a take

- off command but the vehicle is already above the take

- off command’s36 altitude the take

- off command will be considered completed and the vehicle will move onto the next waypoint.

At any time the pilot can retake control from the autopilot by returning the flight mode switch to another flight mode such as Stabilize or Loiter. If the pilot then switches to

AUTO again, the mission will restart from the first command.

During the mission the pilot’s roll, pitch and throttle inputs are ignored but the yaw can be overridden with the yaw stick. This allows the pilot to for example aim the nose of the copter (which mig ht have a hard mounted camera on it) as the copter flies the mission. The autopilot will attempt to retake yaw control as the vehicle passes the next waypoint.

Missions can be entered, amended through the Mission Planner’s Flight Plan screen.

Missions should normally have an RTL as their final command to ensure the copter will return after the mission completes. Alternatively the final command could be a LAND with a different location. Without a final RTL or LAND command the copter will simply stop at the final waypoint and the pilot will need to retake control with the transmitter.

Remember that when using RTL, the copter will return to the “home” position which is the location where the copter was armed.

As the copter touches down at the end of the m ission the pilot should move the throttle to zero at which point the autopilot will disarm the motors if it also believes that it has

landed.

Flight Modes not requiring GPS Lock:

The SteadiDrone QU4D X can be configured with multiple “GPS free” flight mod es. Below are two of the recommended ones. Please note that Stabilize mode is delivered on all SteadiDrone QU4D X systems to allow for complete pilot control over the entire system:

1) Stabilize:

Pilot’s roll and pitch input control the lean angle of the copter. When the pilot releases the roll and pitch sticks the vehicle automatically levels itself.

Pilot will need to regularly input roll and pitch commands to keep the vehicle in place

as it is pushed around by the wind.

Pilot’s yaw input controls the rate of change of the heading. When the pilot releases the yaw stick the vehicle will maintain its current heading.

Pilot’s throttle input controls the average motor speed meaning that constant adjustment of the throttle is required to maintain altitude. If the pilot puts the throttle37 completely down the motors will go to their minimum rate and if the vehicle is flying it

will lose attitude control and tumble.

The throttle sent to the motors is automatically adjusted based on the tilt angle of the vehicle (i.e. increased as the vehicle tilts over more) to reduce the compensation the pilot must do as the vehicle’s attitude changes.

Warning: it is very important to master flying in stabilize befor e moving on to other flight modes and it is highly recommended that the pilot is always able to easily and rapidly switch back to stabilize mode from other flight modes in case of unexpected or undesirable flight behavior. .

2) Altitude Hold:

When altitude ho ld mode (aka AltHold) is selected, the throttle is automatically controlled to maintain the current altitude. Roll, Pitch and yaw operate the same as in Stabilize mode meaning that the pilot directly controls the roll and pitch lean angles and the heading. The altitude will only be maintained if the throttle stick is in the middle position. The difference in throttle control between Stabilize mode and Altitude Hold mode is that in Stabilize, the throttle controls the average motor speed where as in

Altitude Hold, the throttle functions as a rate controller. The amount either above or below the center point on the throttle stick translates directly to rate of climb or decent.

The SteadiDrone QU4D X allows for arming and disarming in altitude hold mode. When disarming, the copter may need to rest in the landing position for a few seconds to allow the internal calibration to indicate that the copter has landed before you are able to

disarm.

NOTE: It is very important to ensure that the throttle mid

- point is cal ibrated properly for the payload being flown. For instructions on performing this calibration, please refer to http://copter.ardupilot.com

.



## Pre

- Flight Check List38 SteadiDrone QU4D X

Flight Controller

Flight Controller Connections

Pre

- Flight Operations Check List

Battery Voltage (Flight Packs) 21V for Flight Packs, 8.4V for 2s Pack39 

## Take

- Off Checklist:

Before take

- off it is important to ensure that there are no persons or animals within a 4

meter radius around the platform. Ensure that all systems are functional and that there

are no pre

- flight warnings or errors displayed on the Heads Up Display in Mission planner and that the LEDs indicate that it is safe to take

- off.

Once all systems are clear , depress the safety switch until it glows red to allow signals to pass to the motors from the flight controller.

Ensure that the platform is in the desired take

- off flight mode then move the throttle stick to the bottom right for 5 seconds.

After 5 seco nds, the motors will begin to spin at which point increase the throttle until the platform has taken off. After that, the operator is in charge of selecting the desired flight mode and maintaining safe operation.40 

## Landing Checklist:

To land, either manually bring the platform over the desired landing location or engage RTL to automatically return the platform to the location of first GPS fix attained at arming of the platform. Gradually reduce the throttle until the platform has lande d. If landing in Loiter or Altitude Hold, let the platform rest on the ground until the motors have returned to idle speed then move the throttle stick to the bottom left until the

motors turn off.

IMPORTANT: Ensure that you depress the safety switch for 2 seconds after the motors have been turned off to disable any signals being sent to the motors and accidental arming of the platform.



## Maintenance:

Periodic Maintenance Checklist

Description Checked

Airframe

Check that all the screws on the frame, gimbal and motor mounts are still securely

fastened.

Check that all the ABS parts are still intact and do not show signs of wear or fatigue,41 particularly the inner mounts.

Check the carbon plates and tubes for wear and damage that would reduce the structural integrity of the frame.

Motors

Check that the prop holder is still secure fastened to the motor with all three screws and that the nut and tread that secures the prop is still in good condition.

Check that the motor is still securely fastened to the motor mount with all 4 screws.

Check that the motor runs smooth when turned by hand and that there is not any play in the bearings.

Check that the motors are free of dust and any other foreign particles.

Check that the motor windings do not show any damage or bubbling/melting. Also check that the motor wires are not damaged.

Electronics

Check that the battery connector is in good condition and that the soldering is still secure. Also make sure the wires are not damaged.

Check that the wires between the ESC and the motors are not damaged.

Check that all the different electronic modules are still securely fastened. Check the ESC, Gimbal Control Board, Receiver, Flight Co ntroller, GPS/Compass, etc.

Check that all the various plugs that connect all the electronics are still securely plugged in.

W h ere possible, check that all the solder joints are still in good condition.

Check that all the electronics are free of dust or dirt.

Check sensor readings for abnormalities. (Check in Mission Planner, Compass reading, GPS, attitude, etc. See ArduCopter

Wiki for more information.)42 Radio

Check that the control gimbals are free from dust and other particles.

Check that the battery is still in good condition.

Perform a radio range check. (See radio manual for details)

LiPo Batteries

Check that the battery is not punctured or does not have any other physical damage. The battery should also not be swollen at all.

Check that all the cells of the battery are balanced. (Within 0.1V of each other)

Check that the battery connector is in good condition and that the soldering is still secure. Also make sure the wires are not damaged.4344 

## Credits:

This manual was compiled by Micro Aerial Projects L.L.C. and is copyrighted to Micro Aerial Projects L.L.C.

Contents contained within this manual are sourced from:

SteadiDrone Pty Ltd http://www.steadidrone.com

3D Robotics http://www.3drobotics.com

http://copter.ardupilot.com