Contents 

01 Meet IRIS 

03 Parts 

04 Charger 

06 Propellers 

07 Learn to Fly 

11 Safety 

12 Altitude Hold Mode 

13 First Flight 

18 Stabilize Mode 

18 Loiter Mode 

19 Return-to-Launch Mode 

19 Autonomous Mode and Missions 

21 Specifications and Resources 

22 Learn More and Support 
Meet IRIS. 

Thank you for purchasing IRIS. 

IRIS is an autonomous quadcopter and 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! 

A Important note: When using a GoPro with IRIS, always 

ensure that the WiFi on the GoPro is turned OFF. 

01 
----~_______,_- __ ___L----___ - ------------- -' f 

----------~-

------~--

Front 

Antenna 

Safety button 

Rear 

IRIS does not include the Go Pro frame shown in these 

02 

images. 
Parts 

RC transmitter 

Your direct link to IRIS 

3DRRadio 

With micro-USB and Android OTG 

ground station adapters 

Battery kit 

Power pack, charger, and guard bag 

Tool kit 

Wrench and small, medium, and large hex keys 

(1.5 mm, 2 mm, and 3 mm) 

Red legs 

For extra visibility (optional) 

1111 

Use the small (1.5 mm) hex 

key to remove the set screw 

in the bottom of the leg. 

Slide out the leg to remove it, and replace with the new 

leg. Replace the set screw and fasten until it sits flush with 

the surface. Do not tighten the screw beyond this point. 

03 
Charger 

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

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 10 to 13 minutes of flight time. 

l Connect charger to the 

power adapter cable and 

a wall outlet. 

--· 

l:.: 

I. 

2 Set the charger to 

LiPo and 3A. 

Connect the red cable to the 

+port and the black cable 

to the - port. 

0 

- ...... > 0 

LiPo 3A 

.................................................................................................................... , ................................................... . 

3 Connect the white 

connector to the 3S port. 

Join the two yellow 

connectors together . 

..... ~!!!!!!! ...... 35 

04 
4 Secure battery inside the guard bag 

while charging. Charge until the status 

indicator displays green. 

• Charging • Complete 

Protect battery from extreme heat, extreme cold, punctt,~r;i.r)g, . 

and flammable surfaces. Always transport charge, add store 

the batteryin the guard ba,g. · · . · 

Charge battery using a designated LiPo balance charger only. 

Always monitor battery while charglr)g. 

Flying with a lowbaUery is a s~f:ety fisk and ¢ari reMder:the battery 

UI"]USable. Always discontinue use when yqu receive ilow.battery 

notification, and always fly with a fully charged battery. 

Inspect battery for damage before takeoffand after landihg. If 

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

function, locate your local battery rec:ycl)ng center to gi'spose of 

the battery. In the US and Canada, visifcail2recycle.org to find a 

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

05 
Propellers 

IRIS uses two SF and two SFP propellers. To attach, find the rings shown 

below inside the propeller package. 

l Select the ring with the smaller internal diameter 

and insert it into the back of the propeller hub. 

2 Use the wrench to remove the 

nut and washer from the motor. 

~. 

0 

Add SFP propellers to the front-left and 

back-right motors and SF propellers to the 

front-right and back-left motors with the 

writing on the propellers facing up. 

... ..... SFP ·. 

.. , ,. ·····~·. . SFP,.. 

··· ........ · 

3 Place the washers over the propellers, and use the wrench to secure 

the nuts tightly on top. Always ensure that the propellers are fastened 

tightly to the motors before flying. 

~· 0 

06 

Writing on propellers 

faces up 
Learn to Fly 

Control IRIS in flight using the transmitter's 

left and right sticks. 

Throttle 

left stick right stick 

Move the left stick forward and backward to control altitude and acceleration. 

Before takeoff, set 

stick fully down. 

Take off by raising stick 

halfway to center. 

To increase altitude, raise 

stick slowly. 

To maintain altitude, 

set stick to center 

position. 

Lower stick 

to decrease 

altitude. 

Land by setting stick 

fully down once IRIS 

is a few inches above 

the ground. 

left stick 

o~· 

0 

07 
Yaw 

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. 

Move stick to the 

left to rotate 

counterclockwise. 

Move stick to 

the right to 

rotate clockwise . 

. Release stick to 

stop rotating and 

maintain current 

orientation. 

Flight Tip 

left stick 

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

vertical position. 

08 
Pitch and Roll 

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. 

Move stick 

forward to fly 

forward. 

to 

Move 

fly backward. 

stick back 0 

to 

Move 

fly left. 

stick left 0 

to 

Move 

fly right. 

stick right o· 

Flight Tip 

right stick 

IRIS moves according to its orientation. The camera mount and blue arms face 

forward, and the black arms and LED face backward. Before using the right stick, 

use yaw to keep IRIS facing in outward orientation so that the black arms face 

towards you and the blue arms face away from you. 

09 
10 

Flight Modes 

Use the two switches above the right stick to select a flight mode. 

Set the right switch in the up position to select the group of modes 

shown in white on the transmitter, or set the right switch in the down 

position to select the group of modes shown in blue. After selecting 

a group of modes using the right switch, set the left switch in the up, 

center, or down position to select a mode. Both switches must be set to 

the correct position to select a mode. In this manual, the position of the 

left switch is specified first followed by the position of the right switch. 

For the example center/down, set the left switch to center and the right 

switch to down. 

left mode switch right mode switch 

~ @ 0 ~ 0 

up center down up down 

Mode switches 

left right 
A Flight5@{ety 

. IRIS h9s powerful motor:s?ndl:righ,~pe~d:pr9R~IIer,;, N~y¢r··pl~c~ypur hands 

near propellerswhilg IRIS is.;,rii)~d ortpesaf~ty.byttqnqi~pjayssqlipred .. 

Always. press the safety:buttori,'uqtil lt di5'81ays plin'kfrg(~CJ·l;t¢fofe'h~nd ling, 

Always fly in an• operi •e~ea aw'ay J~l>m.·p~gpJ~?r,ti ~l,!'ttctil!g~i;PO' n~tatt~mptto tty. indoors pr in a c~iifigeg:sp:a~e/pp;,l)~iJiy~v~r 8e2~J~i!f~~r~i/riorts; ·.or in.any 

sifuation'th\lt co41d.pgse ~· M:iarp'fg thg~ear()u[l9'yp~'''A.I~?Y.~·~tiy ~fthin your 

line of's ight end. in. com,rlt9n~~Wit~)t6c~rr~g~l~!ior:i$:~1~1$iw!lG.n§t.:?Yoid 

ob:;tacleson'its O\Yn~f.,sthe:qp.¢rator, iflsy~u(jop:tcir~dg.grfl~~ an~ ~Vojd 

obstructions while,ftyirig; Pifway,s fglloWtheprefllghtahd::~qstfiU~hbteps in the 

order d~scfibed 'in·this :manuatandrerna)n aftf;rltiv~{~t ~U·tin1~s·W.hiie flying. 

Environmental factors;.SuCh/eswif1.9 anddPS'irr~gyl?fiti~s,can c;:a'use instability 

in flight. IRIS wHI attempt tp G()Ji'lJ:iehs~f~f0r(b~se fa'ato~s\byqutomatically 

lanaing if it detects an Ufl~afe flying co~oition'due td foss.of R( sigrtal, loss of 

GPS signal; or)bw bafter1'.,Tdavbi4pot~htialhqzard~'dlle'f9eDvl;onmental 

factors, identify tliebotindaries ofyoQr flyihg·ar~a b~foretak~off,. and recover 

IRIS manually by switchilig i~fo ?t~bJOte mpdeiflt ;;~ves·o.utsi~~ yo\,lr . 

designated flying arei3. If yo{,J·observ~ aQyiriconsistentbeh;aviqr,land;and 

consult the troubleshO'oting g~Jlde3t :3drobotics:con1/lrisfinfo: · ... ·. · · . 

..................................................................................... ! .......................................... _ ....................................................................................... . 

Always use an RC transmitter as a primary or backup coritr()l system when 

flying. Ensure that the transmitter is turned oil anytiine.JRIS ls powered. 

If contact with the transmitter is lost duringflight)RIS will land and i;lisplay 

a blinking yellow light. If IRIS is more than 2 meters (6.5 feet) from the launch 

point, it will return to launch (RTL) before landing.(See page i9 f~r more 

information about RTL) · 

Loss of RC signal 0000 ................................................. ~·········"'""''''"''''"'''"''''-·"""'."'"'''''';'~ ........................... ~ ........................... ,. .............................................. .. 

Autopilot-positioned flight modes (loiter, autonomous,.and teturn to launch) 

require an active GPS ~ignal.lf GPS sign<! I is lost clwingflight; IRiS Will land and 

display a blinking blue and y,ellow light with a high"highch)gh-low tone. Always 

choose an unobstructed flyiQg area to improv:e signal strength. 

Loss of GPS !;ignal e,ae& .· , ................................................................................................................. , ........................................................................................................ . 

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

a blinking yellow light with a quick:repeating tone: If IRIS reaches the low battery 

limit during a mission, it wiiLretur,n to the launch point before landing. 

Low battery 000~ 

11 
Altitude Hold Mode (ALT) 

Allow IRIS' autopilot to help you fly by engaging altitude hold mode (ALT). This 

autopilot-assisted flight mode maintains altitude automatically. Set the left 

stick to center, and IRIS will hover at the current altitude. Adjust altitude and 

orientation with the left stick, and navigate with the right stick. 

To select altitude hold mode, set the left mode switch to center and 

the right switch to down (center/down). 

Altitude hold (ALT) 

center/down » Autopilot-assisted altitude control 

» Great for new fliers 

Once you feel comfortable flying in altitude hold, try out IRIS' other flight 

modes for GPS-positioned and autonomous flight. 

12 
First Flight 

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

to bring the Flight Checklist, wrench, 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. 

Preflight 

l Check 

IRIS. 

Altitude hold 

(ALT) 

center/down 

Check that the IRIS and 

transmitter antennas are 

oriented vertically for 

the strongest signal. 

Check that the propellers 

are tight. Use the wrench 

to tighten if necessary. 

Check that the left stick 

on the transmitter is 

set fully down. 

Set the switches to select 

a flight mode. For your first 

flight, select altitude hold 

mode (shown here). 

13 
2 Poweron 

transmitter. 

3 Connect battery. 

14 

If the left stick is not fully 

down, the transmitter will 

display an alert message. 

Press the sides of the battery 

compartment together and 

rotate the door down. 

Ensure the transmitter is 

always turned on while IRIS 

is pow~red. If communication 

with the transmitter is lost, 

IRI5willihitiatean automatic 

reGovery landing. 

Insert battery and attach the yellow 

connectors. To close, squeeze the door, 

ar.d 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. 

If you are using a ground station with IRIS, select Connect. 

For Mission Planner or APM Planner, select COM or USB and 

set the rate to 57600 before connecting. To learn about 

using a ground station in flight, visit 3drobotics.com/iris/info. 
4 Press safety 

button . 

•••• Press the safety button 

until it is solid red. 

IRIS is now live. 

Stand back! 

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 

propellers. · 

• 0. 0 Inactive, safe to handle • • • • Active, deactivate before handling 

5 CheckLED. 

•••• 

oeoe 

Check the LED to view the status of IRIS. Wait 

to proceed until you see the blinking blue light 

indicating that you're ready to fly. If you plan to 

use loiter, RTL, or autonomous modes during your 

flight, please wait to see the blinking green light 

indicating that IRIS has acquired GPS lock . 

ln;tiaiizing, please wait. 

Autopilot ready, no GPS 

Autopilot ready, GPS locked 

Error, disconnect battery and restart 

flight procedure. See the troubleshooting 

guide at 3drobotics.com/iris/info. 

RTL, loiter, and autonomous modes 

require GPS lock before takeoff. Do 

not initiate these modes during flight 

unless you observed a blinking green 

light prior to takeoff. IRIS may take 

a few minutes to acquire GPS lock A 

depending on your flying location. 

6 Arm motors. 

L 

®0 

To activate the motors, 

hold the left stick down-right 

until the motors spin. 

Now you're ready for takeoff! 

IRIS will. spin its propellers at 

a low speed When armed. 

Ensure that the launch point 

is clear of obstructions before 

arming. Always disarm the 

motors before approachingA 

15 
Flight 

L 

~0 

L 

®0 

R 

R 

0® 

L 

<@)0 

16 

Take off by 

raising the left 

stick halfway to 

center. 

Hover by setting 

the left stick to 

center. 

Release the right 

stick to level IRIS. 

R 

L Gain altitude by 

~0 raising the left 

stick. 

L Rotate counter-

€10 clockwise and 

clockwise by 

moving the left 

stick left and right. 

Fly forward, backward, left, or right 

by moving the right stick in the 

direction you want to fly. 

L 

~0 

Slowly lower 

the left stick to 

descend. 

Set the left stick fully 

down to land once IRIS 

is a few inches above 

the ground. 

IRIS is a powerful and agile 

flier. Move the sticks in small 

increments until you feel 

comfortable with how IRIS 

responds ih each flight mode. 

A 
Postflight 

1 Disarm 

motors. 2 Press safety 

button. 

L 

®0 

After landing, hold 

the left stick downleft until the motors 

stop spinning. 

eo eo Press the safety 

button until it 

displays blinking 

red to make IRIS 

safe to handle. 

3 Disconnect 

battery. 4 Poweroff 

transmitter. 

Your first flight is now complete! 

Refer to 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 cantrols. 

Skill1: 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. 

Skill2: 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. 

17 
Stabilize Mode (STB) 

Stabilize mode (STB) is IRIS' most acrobatic flight setting. In stabilize, the 

autopilot provides basic stabilization while allowing full manual control of both 

sticks. In this mode, you'll need to make continuous, small adjustments to the 

left and right sticks to maintain a hovering altitude, navigate, and maintain 

orientation without autopilot assistance. 

Select stabilize mode by setting both switches up. The transmitter has an 

additional setting (up-down) for stabilize mode to allow you to switch between 

modes without triggering a mission or return-to-launch command. 

Stabilize (STB) 

up-up 

up-down 

» Manual flight 

» Acrobatic flying 

» Recovery 

Flying confidently in stabilize mode is required for flying your first mission. 

To practice, try the exercises on page 17. 

Loiter Mode (LTR) 

Loiter mode (LTR) uses GPS positioning to hold IRIS' current position and 

altitude automatically. Just release the sticks and IRIS will hover in place. Use 

the left stick to adjust altitude and orientation; use the right stick to navigate 

and change IRIS' position. 

To select loiter mode, set the left switch to the center position and the right 

switch to the up position (center-up). 

Loiter mode requires GPS lock (flashing green LED) prior to takeoff. 

18 

Loiter (LTR) 

center-up 

GPS required before takeoff 

» Automatic positioning 

» Easy flying 
Return-to-Launch Mode (RTL) 

To recall IRIS to the launch point during flight, execute a return-to-launch (RTL) 

command. RTL automatically returns IRIS to the launch point, and can be used 

any time you would like to land quickly. RTL requires GPS lock prior to takeoff. 

1 15 meters 2 hover 5 seconds 

•f- • 'if m m. ' ~ rlf 

2 Move to launch point and loiter for 5 seconds. 

3 Land at launch point. 

... 

launch point 

To RTL, set both switches to the down position (down-down). Ensure the 

launch point is clear to allow IRIS to land safely. 

Return to launch (RTL) 

down-down 

GPS required before takeoff 

» First, achieve altitude of 15m 

» Next, return to launch point 

» Then, land 

Autonomous Mode (AUTO) and Missions 

Fly a fully autonomous mission using a computer or Android device as a 

ground station. When switched into autonomous (AUTO) mode, IRIS will 

automatically perform the mission and report data back to the ground station. 

For instructions on setting up your ground station, planning a mission, and 

saving it to IRIS, visit 3drobotics.com/iris/info. 

Autonomous mode requires GPS lock (flashing green LED) prior to takeoff. 

Autonomous (AUTO) 

down-up 

GPS required before takeoff 

» Fly a planned mission 

» Fully autonomous flight 

Follow these steps to run a fully autonomous mission with automatic takeoff 

and landing. If your mission is not planned with an automatic takeoff and 

landing, fly to the location of your first waypoint before switching to 

autonomous mode. 

19 
Missions 

l Perform a pre-mission 

test flight. 

Fly a brief test flight in 

stabilize mode to verify 

that all controls (throttle, 

yaw, roll, and pitch) are 

responding normally. 

2 Armin 

stabilize mode. 

STB 

up-up 

Set the switches to stabilize 

and follow the preflight 

steps shown on page 13 

and the Flight Checklist. 

Wait to arm until you see 

the blinking green light. 

3 Switch to autonomous 

mode (AUTO). 4 Raise the left stick slightly 

to initiate the mission. 

AUTO 

ca1JJ 

down-up 

STB 

up-up 

With the motors 

armed, switch to 

AUTO by setting 

the left switch 

down and the 

right switch up. 

<WO 

IRIS will take 

off and begin 

the mission. 

Use the ground station to view 

IRIS' status on the Flight Data screen. 

For more information about using a ground 

station, visit 3drobotics.com/iris/info. 

To recall IRIS during a mission, 

use the transmitter to switch 

to stabilize mode and land 

manually. Or switch to RTL, 

and automatically return to 

the launch point. 

To avoid sudden changes 

in altitude when switching from 

atJtonomous mOde to stabilize 

mode,:ensure that the left stick 

is set to the center position. 

5 Switch to stabilize mode 

before disarming. 

STB 

20 

up-up 

When the mission is complete 

and IRIS has landed, use the 

transmitter to switch to 

stabilize mode before 

disarming and proceeding 

with the postflight steps. 
----r ----

Specifications 

Autopilot hardware: 

Firmware: 

GPS: 

Telemetry radio: 

Motors: 

Frame type: 

Propellers: 

Pix hawk 

APM:Copter 3.1 

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

3DR Radio Telemetry V2 (915 mHz or 433 mHz) 

850 kV 

v 

10 x 4.7 SF puller type, counterclockwise rotation (2) 

10 x 4.7 SFP pusher type, clockwise rotation (2) 

Battery: 3 cell 11.1 V 3.5 Ah lithium polymer 

Low battery voltage: 10.5 V 

Minimum voltage: 9.9 V 3 cell (13.2 V 4 cell) 

Maximum voltage: 12.6 V 3 cell (16.8 V 4 cell) 

Payload capacity: 425 g (.9 lbs) 

Radio range: 1 km (.6 miles) 

Flight time: 10-13 minutes 

Resources 

Hardware: 

Firmware: 

Software: 

3DR Store: 

Community: 

Happy flying! 

3drobotics.com/iris/info 

copter.ardupilot.com 

planner.ardupilot.com and planner2.ardupilot.com 

store.3d robotics.com 

diydrones.com 

21