# F550 Hex Copter

By DJI

From: Quadrocopter LLC 3949 MT Hwy 40 W. Suite E Columbia Falls, MT 59912 Phone: +1 (800) 730 6944

April 11, 2014



# APM 2.6 Autopilot with External Compass Documentation at: copter.ardupilot.com

Red Light = Armed - Not Blinking Blue Light = GPS Lock - Blinking

# Agricultural UAVs

1. Support precision agriculture 2. Survey plant health with NDVI remote sensing 3. Detect irrigation needs 4. Detect fertilization needs 5. Detect insect infestation 6. Monitor soil patterns 7. Crop insurance claims 8. Farm Service Agency - customers are insurance company, crop advisors & farmers National Agriculture Imagery Program (NAIP) 1 meter GSD

Various UAV Suppliers

1. SenseFly eBee $25,987.00 2. Zephyr 2 $13,995.00 3. HawkEye parasail $10,995.00 4. Crop Cam $7,000.00 5. Gatewing X100

Various Camera Equipment Suppliers

1. Tetra Cam ADC Lite - $3,759.00 multispectral camera. At 400 feet, each image covers 1.85 acres at a resolution of less than 2 inches per pixel. 100 x 75 meters / shot. John Palico at tetracam.com 323-319-3693 Agricultural uses for UAVs

Various Image Processing Suppliers and Software

1. AgiSoft $3499.00 2. IDRISI $1250.00 3. vgSIG 4. AgPixel 5. Quantum GIS 6. Grass 7. Pixel Wrench 2 (Tetra Cam) 8. Fiji Image J (free) 9. PublicLab.org (free)

# Ground Sample Distance Overlap and Resolution

1. GSD = Ground Sampling Distance 2. Overlap from front to back (forward overlap) = 60% Overlap from side to side (side lap) = 30% 3. In very hilly or urban areas: Overlap from front to back (forward overlap) = 80% Overlap from side to side (side lap) = 50 - 60% Narrow angle = 50 ̊ Normal angle = 60 ̊ Wide angle = 90 ̊ Super wide = 120 ̊

Resolution comparison:

4. Satellites can provide 2030 cm/pixel, 30 meter spatial resolution smallest area for practical investigation is 5 acres Problems with cloud cover, cloud shadow and terrain shadows 8 day repeat cycle between Landsat 5 & 7 After May 2003 Landsat 7 data has triangular wedges of missing data on sides

5. UAVs can provide 3 cm/pixel

# Industry Contacts

1. Ron Goldy, MSU Southwest extension 269-944-1477 x207, 269-208-1651 goldyr@msu.edu Has farmers he works with using soil moisture sensors 2. Tom Zabadal, MSU Southwest extension 269-944-1477 x206 3. George Silva, MSU Southwest extension, Precision Ag 4. Travis Tsunemori, ASABE 5. Dr. Marvin Stone, Oklahoma State Univ. 405-612-6403 6. Phil Hamm, Hermiston Agricultural Research, Oregon State University, Center Oregon, 541-567-6337 x110. Using Tetracam Hawkeye over potatoe fields

# How Often and How Much

1. Pre-Planting soil patterns 2. Every 2 weeks for plant growth, health and soil moisture 3. Pre-Harvest for annual comparison and yield

4. Satellite imagery can run .47 per acre for 30cm resolution 5. Aerial imagery (plane) can be .75 per acre for 2 meter resolution (DTN, Nebraska)

# Mission Planner Software: Initial Setup Wizard

USB wire connection: COM 11 Arduino Mega 2560 - Baud rate 115200 USB Power supplied to copter Antenna connection: COM 9 - Baud rate 57600 - Battery power required

Step 7: Battery Monitor Autopilot Version: APM 2.5 - 3DR Sensor: 3DR Power Module Battery Size: 6200mah

Step 8: Optional Items Sonar Attached: None (Sonar will control altitude more accurately at 26 ft & below)

Step 11: Flight Mode Selection

Gear Switch Flap Switch Mode # Flight Mode Simple Mode PWM Setting PWM Range

0 (down) 1 (down) 2 Stabilize yes 1323 0-1230 0 (down) 2 (middle) 4 Alt Hold yes 1575 1231-1360 0 (down) 3 (up) 6 Loiter yes 1979 1361-1490 1 (up) 1 (down) 1 Auto yes 1142 1491-1620 1 (up) 2 (middle) 4 Alt Hold yes 1539 1621-1749 1 (up) 3 (up) 5 Return to launch yes 1741 1750 + Mandatory Hardware

Step 1: Frame Type = XStep 14: GeoFence Settings

Enable YES Type Altitude & Circle Action Return to launch or Land Max Alt (Feet) 400 Max Radius (Feet) 2500 Return to launch altitude (Feet) 50 Step 13: Failsafe Options

Failsafe Setting Battery Failsafe RTL GPS Failsafe Alt Hold Ground Station Failsafe Enabled Continue with mission in Auto Throttle Failsafe Disabled Throttle Failsafe ValueStick Mode 2 

# JR 11X Radio Transmitter With Spektrum 2.4GHz DSM Technology

Flight Modes: Gear Switch (APM 5) Flight Modes: Flap Switch (APM 5) Gear Switch Flap Switch Flight Mode 0 (down) 1 (down) Stabilize 0 (down) 2 (middle) Alt Hold 0 (down) 3 (up) Loiter

1 (up) 1 (down) Auto 1 (up) 2 (middle) Alt Hold 1 (up) 3 (up) Return to launch

Yaw Rudd (APM 4)

Throttle (APM 3) Roll Aile (APM 1)

Pitch Elev (APM 2)

Start Motors Stop Motors (APM 6)

Slider on back Camera Gimbal Tilt Control

(APM 7) CHARGING: Plug into radio first, then plug in to wall. If radio battery is less than 9 volts - Land & Charge radio Full Charge 11.4 volts Low Charge 9 volts

# JR 11X Radio Transmitter Settings

Dual Rate and Exponential Settings: Channel D/R Expo AILE 100 50 ELEV 100 50 RUDD 100 LIN

Travel Adjust Channel Direction

THRO L 100 100

AILE L & R 100 100 ELEV D & U 100 100 RUDD L & R 100 100

Reverse Switch

THRO AILE ELEV RUDD GEAR FLAP

N R N R N R

AUX 2 AUX 3 AUX 4 AUX 5 AUX 6

R N N N N

Device Select Channel Device Out

GEAR GEAR SW INH Flight Modes FLAP FLAP SW SYS Flight Modes AUX 2 AUX 2 SW ACT AUX 3 AUX 3 LV ACT AUX 4 RD D/R SW ACT Camera AUX 5 MIX/HLD SW ACT AUX 6 AL D/R SW ACT

# JR 11X Radio Transmitter Settings Continued

Program MIX 1 This setting allows the Gear switch and Flap switch to operate like one 6 position switch. This is used for our Flight Modes

FLAP→FLAP POS 0 POS 1 SW SEL GEAR 0 0 0 1 U: +0% D: +0% U: +100% D: -50%

THRO STK INH OFFSET: +10

# JR 2048 R921X24 Receiver

Current set up with connections as follows



## 1 2 3 4 5 6 7 8 9



# + THRO AILE ELEV RUDD GEAR

Aux 1 Aux 2 Aux 3 Aux 4



# - Y O B G

R Y
Y O
O B
B 

## Yellow Orange Blue Green

Red

B=Brown O=Orange Y=YellowTOP OF RECEIVER

# APM Lights

LED Behavior Action Power On Powered Red Solid Armed, motors will spin Red Single Blink Disarmed, motors will not spin Red Double Blink Disarmed, motors will not spin, failed pre-arm checks Yellow/Red Flashes During calibration or as part of the in-flight auto trim Blue Solid GPS working, 3D lock Blue Blinking GPS working, no lock Blue Off GPS not attached or not working PPM/Serial Flashing Data detected

# LIPO Batteries

1. Full maximum charge for 4S LIPO flight battery is 16.8v (4.2v x 4) 2. Low voltage warning starts at 14.4v (3.6v x 4) 3. Land by 14.0v (3.5v x 4) 4. Never allow a LIPO battery to discharge below 3v per cell (4S = 12v)

# ESC Calibration Not required on DJI opto ESCs

1. All at once calibration 2. Safety Check! 3. Before calibrating ESCs, please ensure that your copter has NO PROPS on it and that the APM is NOT CONNECTED to your computer via USB and the Lipo battery is disconnected. 4. Turn on your transmitter and put the throttle stick at maximum. 5. Connect the Lipo battery. On an APM the red, blue and yellow LEDs will light up in a cyclical pattern. This means the APM is ready to go into ESC calibration mode the next time you plug it in. 6. With the transmitter throttle stick still high, disconnect and reconnect the battery

. 7. The autopilot is now in ESC calibration mode. (On an APM you may notice the red and blue LEDs blinking alternatively on and off like a police car). 8. Wait for your ESCs to emit the musical tone, the regular number of beeps indicating your battery’s cell count (i.e. 3 for 3S, 4 for 4S) and then an additional two beeps to indicate that the maximum throttle has been captured. 9. Pull the transmitter’s throttle stick down to its minimum position. 10. The ESCs should then emit a long tone indicating that the minimum throttle has been captured and the calibration is complete. 11. If the long tone indicating successful calibration was heard, the ESCs are “live” now and if you raise the throttle a bit they should spin. Test that the motors spin by raising the throttle a bit and then lowering it again. 12. Set the throttle to minimum and disconnect the battery to exit ESC-calibration mode.NGB Converted - block red to record NIR

Blue channel = visible light Green channel = visible light Red channel = NIR 670 to 750 nm

CHDK - Canon Hack Development Kit - Installed 

# Canon PowerShot SX260 HS Camera

# Skyeye 2 Axis Camera Gimbal from China

The GMB01 Skyeye Camera Gimbal is a 2-Axis professional level camera housing with roll and pitch movement for APV and FPV use. It could install on aircraft, such as X650-V4/ V8, X800-V6 and most of other DIY multicopter air frame in the market. GMB01 Skyeye Camera Gimbal is fully made of high quality 3K carbon fiber boards. It comes with 2 high performance GOTECK GS-D9025MG full metal gear servos.

Gimbal Specifications: Material: 3K Carbon Fiber (thickness 1.2mm) Net Weight: 75g (Servos not included) Gross Weight: 103g (2pcs Servos included) Effective width of inner frame: 138mm The Depth of Inner Frame: 68mm Effective depth of inner frame: 60mm Roll angle: 60 degree Pitch angle: 80 degree Max load: < 500g Dimension: 170mm (Width) x158mm (Depth) x110mm (Height)

Servo Specification: Type: Digital Operating Speed (4.8V): 0.11 sec/60° degrees at no load Operating Speed (6V): 0.09 sec/60° degrees at no load Stall Torque (4.8V): 2.35kg-cm (82.9oz./in) Stall Torque (6V): 2.5kg-cm (88.2oz/in) Bushing or Bearing: Ball Bearing Bearing: Single Motor Type: Brushed Gear Type: Metal Case: Plastic Weight: 13g (0.46oz) Dimensions: 23 x 12.1 x 28.8mm (0.9 x 0.48 x 1.13in)

Box inside: Carbon fiber gimbal frame and assembly parts 2 Goteck GS-D9025MG full metal gear servos Assembly manual - See more at: http://readygorc.com/index.php?route=product/product&product_ id=268#sthash.Opf0N3ej.dpuf (Assembly Instructions at http://www .unmannedtech. co.uk/3/post/2012/07/q650-2-axis-camera-gimbal-assembly-guide.html)

# APM to CHDK Camera Link

1. http://plane.ardupilot.com/wiki/common-apm-to-chdk-camera-link-tutorial/#Use_ the_Canon_CHDK_Camera_Link_to_connect_Your_Canon_Camera_to_the_APM

2. Cut a USB to mini USB cable and keep the mini USB end. 3. Get rid of the white and green wires 4. Insert the red (switch) wire into one side of a servo plug 5. Insert the black (-) wire into the other side of a servo plug. 6. Leave the middle of the servo plug empty 7. Plug the servo end of the modified mini USB Servo cable into pin A9 on the side row of APM. The text doesn’t line up exactly so be sure to count rows. 8. Plug the mini USB end into the Canon camera with CHDK installed. 9. Push the Record button (Red Dot on back) to enable CHDK ((ALT) in red appears at the bottom of the display) 10. Push the Menu button 11. Scroll down to CHDK Settings and either press the right side of the circle button or press the middle Function Set button. 12. Scroll down to Remote Parameters and either press the right side of the circle button or press the middle Function Set button. 13. Make sure the Enable Remote setting has a dot in the parenthesis 14. Press the Menu button to exit the menu. 15. Open Mission Planner 16. Select Config/Tuning tab. 17. Select Full Parameters List and set the parameters as following: 18. CAM_DURATION: 1 19. CAM_TRIGG_DIST: Depending on overlap required. Keep in mind the normal downwind speed of the copter as well as the maximum rate at which the camera can take pictures. For the SX260 that’s once every 2.7 seconds. To get as many pictures as possible, try setting the distance to 49 (meters). 20. CAM_TRIGG_TYPE: 1 21. RELAY_PIN: 13 22. On the camera, press the Function Set button (middle of the circle) 23. Select Load Script from File 24. Select the E38_APM.bas script file 25. Press the Menu button to exit menu 26. Press the Shutter button to start running the script. 27. Establish a GPS: 3D Fix and walk the copter around to test operation. (set the CAM_TRIGG_DIST: to 3 or 4 for manual testing) 28. Press the Shutter button to stop the script.

# gentWIRE-USB2 CHDK Camera Control *

http://www.gentles.ltd.uk/gentwire/chdk_sdm/index.htm

gentWIRE-USB2 lets you connect two servo channels to the USB port of a CHDKenabled Canon camera. Scripts running in the camera can detect joystick movements on the two channels and carry out a variety of actions in response. A CHDK script can detect when power is applied to the USB port and for how long that power is applied. The CHDK2 uses this to send USB power signals of six different durations:

30 mS signal when joystick 1 is moved up 60mS signal when joystick 1 is centered 90mS signal when joystick 1 is moved down 120 mS signal when joystick 2 is moved up 150mS signal when joystick 2 is centered 180mS signal when joystick 2 is moved down

The get_usb_power CHDK script function returns the time power was applied in 10ms units, so an “up” movement of joystick 2 will return a value of 12 (or possibly 13 since it’s not possible for the system to be exactly precise). By using this function a script can determine which joystick was moved and in which direction and use this to carry out an appropriate action.

The essence of the script is an if statement which passes control to one of six subroutines depending on the value returned by get_usb_power. It’s relatively simple to modify the script by inserting camera actions in the appropriate subroutines.

Important Note When assigning an action to the joystick middle position, bear in mind that it’ s not possible to move a joystick from the up position to the down position without going through the middle position.

3 wire plug is Channel 1, Single wire plug is Channel 2

* We bought 2 of these cables and were never able to get them to work with the APM triggering pictures automatically. This wire did work when plugged into the R/C receiver and activated with a switch on the R/C transmitter.

# Propeller Rotation and Motor Order

1. Safety Check! Ensure writing on props faces up. 2. COUNTERCLOCKWISE ROTATION: USE NORMAL PROPELLER 3. CLOCKWISE ROTATION: USE PUSHER PROPELLER 4. Normal propellers (unmarked or marked “SF”) for counterclockwise motors 5. Pusher propellers (marked “SFP” or “P“) for clockwise motors 6. Unscrew prop nuts and add propellers to motor collets with writing on props facing up in relation to the sky. 7. Add metal spacers on top of prop nuts if prop hub measures less than 5 mm in height. 8. Tighten prop nuts to secure propellers in place. 9. Try inserting a 2 mm (5/64) hex wrench into the hole in the side of the prop nut to get better leverage when tightening prop nuts.

# NDVI Interpretation

0.6 Plants 0.5 0.4 Dry Soil 0.3 0.2 Wet Soil 0.1 0.0 (NIR) 0.3 0.8 0.9 1.1 WavelengthReflectance

Normalized Difference Vegetation Index

NDVI = NIR + Red NIR - Red

Soil Adjusted Vegetation Index

SAVI = NIR + Red (1 + L) NIR - Red + L Where L = l 1 + l 2 = 2l

Consideration must be given to - Atmospheric constraints - Sensor view & solar zenith angles - Soil background - Canopy architecture

Platform Typical Spacial Resolution Typical Field of View Satellite 2 - 15 m 10 - 50 Km Aircraft 0.2 - 2 m 2 - 5 Km

UAV 1 - 20 cm 50 - 500 m Ground Based < 1 cm < 2 m

# NDVI Image Processing Fiji Image J Software

1. Open .DNG image in Photoshop 2. Save image as .TIF 3. Open image in Image J 4. Select Plugins 5. Select Photo Monitoring 6. Select Single image NDVI from displayed image 7. Select Output color for NDVI image = infraBlueNDVI.LUT 8. Select Default for other settings 9. Now, with the new color NDVI image selected 10. Select Image 11. Select Adjust 12. Select Window/Level 13. Click ‘Auto’ 5 times

To display LUT for color range legend 14. Select Image 15. Select Color 16. Select Show LUT

To pick colors and see values from image 17. Select

18. Click on a color in the image 19. the value will highlight in the Pixel Values window Px

# Colors and Wavelengths

Color from (nm) to (nm) Used for Violet 380 450 Blue 450 495 Green 495 570 Yellow 570 590 Orange 590 620 Red 620 700 Near IR (NIR) 700 730 Vegetation Mid IR (MIR) 1550 1750 Far IR (FIR) 2080 2350 Thermal imaging 9000 14000 Heat

http://en.wikipedia.org/wiki/File:EM_Spectrum_Properties_edit.svg

# Electromagnetic Spectrum

NIR

http://imagine.gsfc.nasa.gov/docs/science/know_l1/emspectrum.html