Contents01 Meet IRIS 03 Parts 04 Charger 06 Propellers 07 Learn toFly

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 SupportMeet IRIS. Thank you for purchasing IRIS. IRISisan 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 **------~-- ----------~-**  Antenna Front Safety button

Rear IRIS does not include the GoPro frame shown in these images. 02PartsRC transmitterYour direct linkto IRIS 3DRRadioWith micro-USB and Android OTG ground station adapters Battery kit

Power pack, charger, and guard bag

Tool kitWrench and small, medium, and large hex keys (1.5 mm, 2 mm, and3 mm) Red legs For extra visibility (optional) 1111 Use the small (1.5 mm) hex keyto remove the set screw

inthe bottom ofthe leg. Slide out the legto remove it,and replace with the new leg. Replace the set screw and fasten until itsits flush with the surface. Do not tighten the screw beyond this point. 03ChargerIRISis powered bya 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 10to13 minutes of flight time. l Connect charger tothe power adapter cable and awall outlet.--· l:.:I. 2 Set the charger to LiPo and 3A. Connect the red cable to the +port and the black cable tothe-port. 0-......> 0 LiPo 3A .................................................................................................................... , ................................................... . 3 Connect the white connector tothe 3S port. Join the two yellow connectors together . .....**~!!!!!!!** ...... 35 044 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 witha lowbaUery isa **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 ofthe package orthe battery ceases to function, locate your local battery rec:ycl)ng center to gi'spose of the battery. Inthe US and Canada, visifcail2recycle.org to finda location. Do not dispose ofthe battery inthe trash. 05PropellersIRIS 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 itinto the back ofthe propeller hub. 2 Use the wrench to remove the nut and washer from the motor.**~.** 0 Add SFP propellers tothe front-left and back-right motors and SF propellers tothe front-right and back-left motors with the writing onthe 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 upLearn toFly Control IRISin 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 offby raising stick halfway to center. To increase altitude, raise stick slowly.

To maintain altitude, set stick to center position.Lower stick to decreasealtitude.Land by setting stick fully down once IRIS

isafew inches above the ground.

left stick **o~·**0 07YawMove the left stick horizontally to rotate IRIS and change orientation. Fora 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 tothe

leftto rotate counterclockwise.Move stick to the right to rotate clockwise . . Release stick to stop rotating and maintain currentorientation. Flight Tip

left stick When adjusting orientation, move the left stick horizontally without changing its vertical position. 08Pitch and Roll The right stick allows you to control IRIS' position inthe air. Move the right stick totell 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

ittells IRIS how fast to move. Move stickforward tofly forward.Move stick back0 tofly backward. Move stick left0 tofly left. Move stick righto· tofly right.Flight Tip
right stick IRIS moves according toits orientation. The camera mount and blue arms face forward, and the black arms and LED face backward. Before using the right stick, use yawto keep IRIS facing in outward orientation sothat the black arms face towards you and the blue arms face away from you. 0910 Flight Modes Use the two switches above the right stick to select a flight mode. Set the right switch inthe up position to select the group of modes shown in white onthe transmitter, orset the right switch inthe 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 inthe up, center, or down position to select a mode. Both switches must be setto the correct position to select a mode. Inthis manual, the position ofthe left switch is specified first followed bythe position ofthe 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 rightA 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 flyinan•operi**•e~ea** aw'ay **J~l>m.·p~gpJ~?r,ti ~l,!'ttctil!g~i;PO'**  **n~tatt~mptto** tty. indoors prina **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 lineof'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** inthe 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 attempttp **G()Ji'lJ:iehs~f~f0r(b~se fa'ato~s\byqutomatically**  lanaing ifit detects an **Ufl~afe** flying **co~oition'due** td foss.of R( sigrtal, lossof 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 useanRC transmitter asa primary or backup coritr()l system when

flying. Ensure that the transmitter is turned oil anytiine.JRIS ls powered. If contact with the transmitter islost duringflight)RIS will land and i;lisplay a blinking yellow light.IfIRISis more than2 meters (6.5 feet) from the launch point, itwill return to launch (RTL) before landing.(See page i9**f~r** more information about RTL) · Loss ofRC signal 0000 ................................................. **~·········"'""''''"''''"'''"''''-·"""'."'"'''''';'~** ........................... **~** ........................... ,. .............................................. .. Autopilot-positioned flight modes (loiter, autonomous,.and teturn to launch) require an active GPS **~ignal.lf** GPS sign<!Iislost clwingflight; IRiS Will land and display a blinking blue and y,ellow light witha 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% ofits remaining charge, IRIS will land and display a blinking yellow light witha quick:repeating tone: IfIRIS reaches the low battery limit during a mission, it wiiLretur,n tothe launch point before landing. Low battery **000~** 11Altitude Hold Mode (ALT) Allow IRIS' autopilot to help you flyby engaging altitude hold mode (ALT). This autopilot-assisted flight mode maintains altitude automatically. Set the left stick to center, and IRIS will hover atthe 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. 12First Flight Select an open area for flying, away from people and buildings, and remember to bring the Flight Checklist, wrench, andafully charged battery. Determine the boundaries of your flying area before takeoff, and select a level, unobstructed space asa launch point. Follow these preflight and postflight steps in the order shown here and on the Flight Checklist every time you fly. Preflightl CheckIRIS.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). 132 Poweron transmitter. 3 Connect battery. 14

Ifthe left stick isnot fully down, the transmitter will display an alert message.

Press the sides ofthe 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 atthe launch point with the black arms facing towards you and the blue arms

facing away from you. Ifyou 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 safetybutton .•••• Press the safety button untilitis solid red. IRISis now live. Stand back! Donot handle IRIS while the safety button is solid red and

IRISislive. Always press the button untilit displays blinking red .before. approaching propellers. · •0.0 Inactive, safeto 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 tofly.Ifyou plan to use loiter, RTL, or autonomous modes during your flight, please wait tosee 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 priorto takeoff. IRIS may take afew minutes to acquire GPS lockA 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 alow speed When armed. Ensure that the launch point is clear of obstructions before arming. Always disarm the motors before approachingA 15FlightL**~0**L®0 RR0®L<@)016

Take offby 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 inthe direction you want tofly. L**~0** Slowly lower the left stick to descend. Set the left stick fully down to land once IRIS isafew inches above the ground. IRISisa powerful and agile flier. Move the sticks in small increments until you feel comfortable with how IRIS responds ih each flight mode.APostflight1 Disarm motors. 2 Press safetybutton. L®0 After landing, hold the left stick downleft until the motors stop spinning. eoeo Press the safety button until it displays blinking redto make IRIS safe to handle. 3 Disconnect battery. 4 Poweroff transmitter. Your first flight is now complete! Refer tothe 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 isto 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 toa comfortable hovering altitude, and keeping IRISin place without allowing for any changes in orientation or position. IfIRIS 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 abox pattern. To practice this, take off, reach your hovering altitude, then fly forward, right, backward, and left by making small adjustments tothe right stick. Make sure tofly the boxin 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 ofthe exercise. Skill 3: Figure Eight When you can confidently navigate abox while maintaining altitude and orientation, try flying a figure-eight pattern. Once again, make sure tofly 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. 17Stabilize 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. Inthis 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 tothe center position and the right switch tothe up position (center-up). Loiter mode requires GPS lock (flashing green LED) prior to takeoff. 18 Loiter (LTR)center-upGPS required before takeoff » Automatic positioning » Easy flyingReturn-to-Launch Mode (RTL) To recall IRIS tothe launch point during flight, execute a return-to-launch (RTL) command. RTL automatically returns IRIS tothe launch point, and can be used any time you would liketo land quickly. RTL requires GPS lock prior to takeoff.

115 meters 2 hover 5 seconds •f-•'if m m.'**~**rlf 2 Move to launch point and loiter for5 seconds. 3 Land at launch point. ...launch point To RTL, set both switches tothe down position (down-down). Ensure the launch point is clear to allow IRIS to land safely. Return to launch (RTL) down-downGPS required before takeoff » First, achieve altitude of 15m » Next, return to launch point » Then, land Autonomous Mode (AUTO) and Missions Flyafully autonomous mission using a computer or Android device asa ground station. When switched into autonomous (AUTO) mode, IRIS will automatically perform the mission and report data back tothe ground station. For instructions on setting up your ground station, planning a mission, and saving itto IRIS, visit 3drobotics.com/iris/info. Autonomous mode requires GPS lock (flashing green LED) prior to takeoff. Autonomous (AUTO) down-upGPS required before takeoff »Flya planned mission » Fully autonomous flight Follow these steps torunafully autonomous mission with automatic takeoff and landing. If your mission isnot planned with an automatic takeoff and landing, flytothe location of your first waypoint before switching to autonomous mode. 19Missionsl Perform a pre-mission test flight. Flya 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. AUTOca1JJ 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 issettothe center position. 5 Switch to stabilize mode before disarming. STB20 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, 5Hz update) 3DR Radio Telemetry V2 (915 mHz or 433 mHz) 850 kV

v10x4.7 SF puller type, counterclockwise rotation (2) 10x4.7 SFP pusher type, clockwise rotation (2) Battery: 3cell 11.1V3.5 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: 425g(.9 lbs)

Radio range: 1km (.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