Lance Walters 

2751 Palmer­Wasilla HWY 

Wasilla, AK 99654 

September 13, 2015 

U.S. Department of Transportation, Docket Operations  

West Building Ground Floor, Room w12­140  

1200 New Jersey Avenue, SE  

Washington, DC 20590 

Re: Exemption request Section 333 of the FAA Reform Act and Part 11 of the Federal Aviation Regulations. 

To whom it may concern: 

Pursuant to Section 333 of the FAA Modernization and Reform Act of 2012 (the Reform Act) and 14 C.F.R. Part 11, I 

hereby request an exemption from the listed Federal Aviation Regulations (“FARs”) to allow commercial operation of small 

unmanned aerial vehicles (sUAV) so long as such operations are conducted within and under the conditions outlined herein or as 

may be established by the FAA in a grant of this petition. This request is substantially similar to other data collection petitions 

previously approved and should be considered under the summary grant procedure.  

Approval of this exemption will allow commercial operation of the 3DR Iris+ in Class G airspace nationwide unless 

otherwise prescribed by an Air Traffic Organization issued COA, NOTAM or other FAA issued directive. Use of the sUAV will be to 

conduct precision aerial mapping, inspections, photography and video. This sUAV has been previously approved for the same 

commercial operations put forth in this request, in Exemption Nos. 12368 and 11204. This sUAV is approximately 5lbs including 

battery and payload. Operation under the strict conditions described herein will provide an equivalent level of safety while still 

allowing commercial activity.  

This request addresses and supports the seven factors congress has directed the FAA to consider when approving 

Section 333 exemptions (size, weight, speed, operational capacity, airport proximity, populated area proximity, and visual line of site 

optionation). The sUAV is small, will operate at slow speeds close to the ground and in a highly controlled environment by a trained 

and professional operator. It will be able to operate more safely and efficiently than other means by which this information and 

material could be collected. Alternatives to sUAV operations pose significant risks to safety, human life and property. Use of the 

sUAV greatly increases safety and reduces risk to people and property, all weighing heavily in favor of granting of the exemption.  

In support of the request please refer to the following information, beginning on page three If I can provide any additional information 

to assist in the review of this document please do not hesitate to contact me via phone or email.  

Thank you, 

Lance C. Walters 

Assistant Professor, University Hawaii Manoa School of Architecture 

Private Pilot 

(206)291­7724 

lancecharleswalters@gmail.com 

1 
I. Publishable Summary 

Should publication in the Federal Register be needed the following summary is provided pursuant to 14 C.F.R. §11, the following 

summary is provided: 

Petitioner seeks an exemption from the following rules: 14 C.F.R 21(h); 14 C.F.R. 43.7; 14 C.F.R. 43.11; 14 C.F.R. 45.11; 14 C.F.R. 

45.27; 14 C.F.R. 45.29; 14 C.F.R. 61.23(a) and (c); 14 C.F.R. 61.101(e)(4) and (5); 14 C.F.R. 61.113(a); 14 C.F.R. 61.315(a); 14 

C.F.R. 91.7(a); 14 C.F.R. 91.9(b)(2); 14 C.F.R. 91.9(c); 14 C.F.R. 91.103(b)(2); 14 C.F.R. 91.105; 14 C.F.R. 91.109; 14 C.F.R. 

91.113(b); 14 C.F.R. 91.119 (c); 14 C.F.R. 91.121; 14 C.F.R. 91.151(a); 14 C.F.R. 91.203(a) and (b); 14 C.F.R. 91.215; 14 C.F.R. 

91.403; 14 C.F.R. 91.405(a); 14 C.F.R. 91.407(a)(1); 14 C.F.R. 409(a)(1) and (2); and 14 C.F.R. 91.417(a) and (b) to operate 

commercially small unmanned aircraft systems (sUAV). Approval of the exemption requested by petitioner will allow commercial 

operation of the 3DR Iris+ for the purpose of precision aerial mapping, inspections, photography and video in Class G airspace 

nationwide, unless otherwise prescribed by an ATO­issued COA. The requested exemption should be granted because operation of 

an sUAV will provide an equivalent level of safety, while still allowing commercial operations. The lightweight aircraft covered by the 

exemption are far safer than conventional operations conducted heavy, manned aircraft weighing operating in close proximity to the 

ground and people. The seven factors Congress directed the FAA to consider when approving Section 333 exemption petitions ­ 

size, weight, speed, operational capability, proximity to airports, proximity to populated areas, and operation within visual line of sight 

– each support the request. In particular, the aircraft are small, and will operate at slow speeds, and close to the ground. The 

substantial increase of safety and decrease of risk to human life, coupled with the low risk use of sUAVs to conduct these 

operations, weigh heavily in favor of granting the exemption. 

II. Contact Information 

Lance Walters 

2751 Palmer­Wasilla HWY  

Wasilla, AK 99654 

(206)291­7724 

lancecharleswalters@gmail.com 

III. Proposed Operations 

a. sUAV 

The requested exemption will permit petitioner to operate the 3DR Iris+. The Iris+ has been previously approved for 

commercial operation in Exemption Nos. 12368 and 11204. This petition includes supporting documentation of the sUAV. The 

specific conditions of the proposed exemption that relate to the characteristics of the sUAVs are given below. Each has been 

adopted or imposed by the FAA in numerous previous grants of Section 333 exemption petitions. The Iris+ has the ability to 

hover and move in the vertical and horizontal planes simultaneously. The Iris+ is powered by li­po batteries, receives 

telemetry data, has one onboard compass, and a GPS. It’s maximum speed when equipped to operate is under 40 knots. The 

internal electronics include a return to home procedure in the event a Tx signal is lost. This also may be activated by the pilot 

remotely, in which case the sUAV will rise to a preset altitude to clear surrounding obstacles, travel to a position above the 

landing zone and land accordingly. Specification and data for the 3DR Iris+ are included in the appendices.  

b. Operator and Crew 

Operations will include one pilot in command and at least one visual observer. The PIC and VO(‘s) will have been trained in 

the operation of the sUAV generally and receive up to date information on the sUAV and the conditions under which it is being 

operated. VO’s ensure safe operation and act as a redundant set of eyes for operators (pilot, gimbal op, director). The PIC will 

be trained, current and up to date with the sUAV, as well as a certified pilot in accordance with current FAA policy (currently: 

at least Sport rated Pilot, with valid drivers licence).  

c. Flight Conditions 

2 
only operate when it is determined that no hazards are present. Additionally, petitioner will follow 3DR guidelines for flight

conditions. The vehicle will always remain in direct LOS to the pilot. The sUAV will weigh less than 55 lbs and travel at less

than 50 knots. Batteries will exceed the capacity required for actual flight time. Flights will be operated at an altitude in

accordance with current regulations and approval (currently 200 AGL). The sUAV operated under this exemption will be

marked in accordance with 14 CFR part 45 or as otherwise authorized by the FAA.

d. Flight Operations

Every sUAV flight will use at minimum a two person flight crew: a PIC and a VO. Flights will operate in accordance with the

new blanket 200ft. COA procedure as published by the FAA. Petitioner will be able to maintain the safety of nonparticipants

while decreasing the nonparticipant parameter by applying the same parameters FAA has previously determined to be safe.

Before conducting an operation, the flight crew will examine the operational area to identify at least two potential safe

emergency landing areas. Only individuals who have experience and training will be approved to conduct inspection,

maintenance, or operations, including assessment of the flight perimeter.

IV. Proposed Conditions for Exemption:

1. The unmanned aircraft (sUAV) must weigh less than 55 pounds (25 Kg), including energy source(s) and equipment. The

sUAV may not be flown at a ground speed exceeding 50 knots.

2.Proposed operations of any other aircraft will require a new petition or a petition amendment to this request.

3. Flights must be operated at an altitude at or less than current regulation permits. All altitudes reported to ATC must be in

feet AGL.

4. The sUAV must be operated within visual line of sight (VLOS) of the PIC at all times. This requires the PIC to be able to

use human vision unaided by any device other than corrective lenses.

5. All operations will utilize a visual observer (VO). The VO and PIC must be able to communicate verbally at all times.

6. The operator’s manual and this petition of exemption must be maintained and made available to the Administrator upon

request.

The operator may update or revise its operator’s manual. It is the operator’s responsibility to track such revisions and present

updated and revised documents to the Administrator upon request. If the operator determines that any update or revision

would affect the basis for which the FAA grants this petition for exemption, then the operator must petition for amendment to

their exemption. The FAA’s sUAVS Integration Office (AFS­80) may be contacted if questions arise regarding updates or

revisions to the operator’s manual.

7. Prior to each flight the PIC must inspect the sUAVS to ensure it is in a condition for safe flight. If the inspection reveals a

condition that affects the safe operation of the sUAVS, the aircraft is prohibited from operating until the necessary

maintenance has been performed and the sUAVS is found to be in a condition for safe flight. The Ground Control Station, if

utilized, must be included in the preflight inspection.

8. Any sUAVS that has undergone maintenance or alterations that affect the sUAVS operation or flight characteristics must

undergo a functional test flight in accordance with the operator’s manual.

9. The operator must follow the manufacturer’s sUAVS aircraft/component, maintenance, overhaul, replacement, inspection,

and life limit requirements. When unavailable, aircraft maintenance/component/overhaul, replacement, and

inspection/maintenance requirements must be established and identified in the operator’s manual.

10. The Pilot In Command must possess at least a Sport pilot certificate and valid medical or driver's licence.

13. Prior to any flight operations authorized by this petition of exemption, the PIC and VO must have successfully completed a

qualification process. As this is a requirement stipulated by the operator, the test must be developed and implemented by a

qualified person designated at the sole discretion of the operator.

3
14. The qualified operator must maintain proficiency with the sUAV. Because the knowledge and airmanship test

qualifications have been developed by operator, and there are no established practical test standards that support a

jurisdictional FAA FSDO evaluation and approval of company designated examiners, the petitioner will conduct these tests in

accordance with the operator’s manual.

15. The sUAV may not be operated directly over any person, except authorized and consenting personnel, below an altitude

that is hazardous to persons or property on the surface in the event of a sUAVS failure or emergency.

16. Regarding the distance from participating persons, the operator’s manual has safety mitigations for authorized and

consenting personnel. At all times, those persons must be essential to the operations.

17. Regarding distance from nonparticipating persons, the operator must ensure that no persons are allowed within the

secured flight perimeter.

18. If the sUAVS loses communications or loses its GPS signal, the sUAV must return to a pre­determined location within the

security perimeter and land or be recovered in accordance with the operator’s manual.

19. The sUAVS must abort the flight in the event of unpredicted obstacles or emergencies in accordance with the operator’s

manual.

20. Each sUAVS operation must be completed with 25% battery power remaining.

21. All aircraft operated in accordance with this exemption must be identified by serial number, registered in accordance with

14 CFR part 47, and have identification (N­Number) markings in accordance with 14 CFR part 45, Subpart C. Markings must

be as large as practicable.

22. The operator must maintain a record of the sUAVS maintenance, preventative maintenance, alterations, status of

replacement/overhaul component parts, and the total time in service of the sUAVS.

23. Before conducting operations, the radio frequency spectrum used for operation and control of the sUAV must comply with

the Federal Communications Commission (FCC) or other appropriate government oversight agency requirements.

24. The documents required under 14 CFR §§ 91.9 and 91.203 must be available to the PIC at the Ground Control Station of

the sUAVS any time the aircraft is operating. These documents must be made available to the Administrator or any law

enforcement official upon request.

25. sUAVS operations may not be conducted during night, as defined in 14 CFR § 1.1. All operations must be conducted

under visual meteorological conditions (VMC). Flights under special visual flight rules (SVFR) are not authorized.

26. Any incident, accident, or flight operation that transgresses the lateral or vertical boundaries of the operational area as

defined by the applicable COA must be reported to the FAA’s sUAVS Integration Office (AFS­80) within 24 hours. Accidents

must be reported to the National Transportation Safety Board (NTSB) per instructions contained on the NTSB Web site:

www.ntsb.gov. Further flight operations may not be conducted until the incident, accident, or transgression is reviewed by

AFS­80 and authorization to resume operations is provided.

V. Public Interest and Equivalent Level of Safety

Granting an Exemption will not adversely affect safety. §11.81(e) requires why the contemplated operations would not

adversely affect safety. The sUAV operations would be restricted to daylight hours, at altitudes well below that which would pose a

risk to other aircraft and in accordance with all regulations. In general, sUAV operations are intended to be conducted in secured

areas. Many of my clients have already secured their property against unauthorized public access.The nature of operations

anticipated by this work requires that the sUAV be flown at relatively low altitudes and relatively low speeds. Because of the altitudes

flown, the risk of interference with another aircraft is minimal.

Data collection has previously been done by manned aircraft or ground operations when possible. Aerial evaluation by

manned aircraft is often impractical because of the detail required, trees and other obstacles that obstruct building and the site from

4
higher altitudes. The safety of those on the ground is of utmost concern, and means for protection established by strict conditions

that must be established prior to and maintained during all flight operations. No one will be allowed into the area without the

permission of the operator (myself), and all safety/support staff will be made aware of their presence. Security will be established for

the flight area as part of the pre­flight control. Each individual within the secure area will be briefed prior to flight and will consent to

being in the area. All others will be excluded from the area.

The current sUAV in consideration is the 3DR Iris+, which has been included in at least one other Section 333 exemption.

Software from highly­reputable industry partners will include features: 1. Auto descent (landing) if communication signal were to be

severed. If the sUAV loses communications, the sUAV will have capability to return to a pre­determined location within the Security

Perimeter and land. 2. Auto descent (landing) if battery were to drop lower than nominal level. 3. Flights will be terminated at 25%

battery power reserve. 4. Live video for operator gives real­time positioning feedback 5. The sUAV will have the capability to abort a

flight in case of unpredicted obstacles or emergencies. 6. On­Screen­Display (OSD) contains operating information to ascertain

vehicle health at all times: speed, altitude, number of GPS satellites (when available), heading and voltage. 7. GPS lock supplies for

return­to­home (RTH). Should Command and Control (C2) link failures occur (highly improbable), vehicle returns automatically to

the point of launch. 8. Altitude information will be provided to the sUAV pilot via a digitally encoded telemetric data feed, which

downlinks from the aircraft to a ground­based on­screen display. This altitude information will be generated by equipment installed

on board the aircraft, using GPS triangulation, or digitally encoded barometric altimeter, or radio altimeter, or any combination

thereof. Prior to each flight, a zero altitude initiation point will be established and confirmed for accuracy by the pilot.

5
Operation Manual

Read before 

flying!

IMPORTANT
Contents

01 Meet IRIS

03 Parts

04 Charging the Battery

06 Attaching Propellers

07 Safety and Failsafes

08 Learn to Fly

11 Flight Modes

13 Return to Launch

13 Geofence

14 First Flight

19 Planning Missions

20 Flying Missions

21 Specifications and Resources

22 Learn More and Support
01

Meet IRIS+.

Thank you for purchasing IRIS+. 

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

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

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

Happy flying!

Important note: When using a GoPro with IRIS, always 

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

Front

Rear

antenna

status LED

battery 

compartment

USB port

front arms (blue)

safety button

rear arms (black)
03

Parts

Controller

your direct link to IRIS

Ground station radio 

with USB and Android adapters

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

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

Do not tighten the screw beyond this point.

Use the small (1.5 mm) hex 

key to loosen the set screw 

in the bottom of the leg.

Battery kit

battery, guard bag, and charger

with international travel adapters

Propellers and tool kit

four propellers with propeller tool and 

small, medium, and large hex keys 

(1.5 mm, 2 mm, and 3 mm)

Tall legs

Switch to tall legs to use IRIS with the Tarot 

Gimbal or for extra clearance on landing.
04

Charging the Battery

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

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

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

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

up to 16 minutes when using a Tarot Gimbal.*

Connect charger to the 

power adapter cable and 

a wall outlet.

Connect the red cable to the 

+ port and the black cable 

to the - port.

Set the charger to 

LiPo and 3A.

Connect the white 

connector to the 3S port. 

Join the two yellow 

connectors together.

1

2

+

–

LiPo 3A

3S

3
05

Battery Safety

Secure battery inside the guard bag 

while charging. Charge until the status 

indicator displays green.

Charging Complete

4

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

and flammable surfaces. Always transport, charge, and store 

the battery in the guard bag.

Charge the battery using a designated LiPo balance charger only. 

Always monitor the battery while charging.

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

unusable. Always discontinue use when you receive a low battery 

notification, and always fly with a fully charged battery.

Inspect the battery for damage before takeoff and after landing. 

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

to function, locate your local battery recycling center to dispose 

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

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

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

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

Checklist for instructions on managing battery levels during flight.
06

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

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

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

Attaching Propellers

For propellers with black nuts:

Spin clockwise to attach.

Spin counterclockwise 

to remove.

For propellers with silver nuts:

Spin counterclockwise 

to attach.

Spin clockwise to 

remove.

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

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

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

To remove, hold the motor in place with 

the propeller tool, and spin the propeller 

in the direction of the unlocking symbol.
07

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Failsafes

Loss of RC signal

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

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

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

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

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

Loss of GPS signal

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

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

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

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

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

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

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

configuring the GPS failsafe.)

Low battery

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

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

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

Safety
08

Maneuver IRIS in flight using 

the controller sticks.

left stick:

throttle

& yaw

right stick:

pitch

& roll

Left Stick

Left Stick

Lower the throttle 

stick below center 

to decrease altitude. 

Set the throttle stick 

to center to maintain 

the current altitude.

left stick

Left Stick

Left Stick

Move the left stick up and down to control altitude.

Throttle

Learn to Fly

Set the throttle stick 

fully down to land 

once IRIS is a few 

inches above the 

ground.

Left Stick

To take off and to 

gain altitude, raise the 

throttle stick slightly 

above center position.

Left Stick Left Stick
09

Flight Tip

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

vertical position.

ver + Land

wer just slightly

hover

ft Yaw

Left

Righ

ght Yaw

activate

d until propellers

p spinning

ver + Land

wer just slightly

hover

ft Yaw

Left

Righ

ght Yaw

activate

ld until propellers

p spinning

Move the stick to 

the left to rotate 

counterclockwise.

Move the stick 

to the right to 

rotate clockwise.

left stick

Left Stick

Release the stick to 

stop rotating and 

maintain the current 

orientation.

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

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

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

a faster rotation.

Yaw

Left Stick
10

Left

Back

Forward

Right

Left

Back

Forward

Right

Move the right 

stick forward to 

fly forward.

right stick

Move the right 

stick back to fly 

backward.

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

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

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

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

it tells IRIS how fast to move. 

Pitch and Roll

Left

Back

Forward

Right

Left

Back

Forward

Right

Move the right 

stick left to fly 

left.

Move the right 

stick right to fly 

right.

Flight Tip

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

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

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

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

Standard (altitude hold mode)

STD

fly manually

Start your flight in standard to select altitude hold 

mode, and fly IRIS manually using the controller.

Loiter mode

LTR

hover

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

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

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

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

Flight Modes

Stabalize

Altitude Hold

Loiter

Full Autonomy

Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch

mode switch

IRIS includes three flight modes: manual flight 

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

mission flight (AUTO). Use the switch on the 

right side of the controller to select a flight mode.

To avoid sudden changes in altitude, set the throttle stick 

to center position before switching modes, including in the 

event of a GPS failsafe.

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

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

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

produce unexpected behavior.
12

Auto mode

AUTO

fly a mission

Select auto mode to fly an autonomous mission. IRIS will 

automatically fly the series of waypoints saved to the autopilot. 

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

Do not activate auto mode unless you have saved a 

mission to IRIS using a ground station application.

Altitude Hold

Loiter

Full Autonomy

Return to Launch

Gimbal control

TILT

tilt the camera up and down

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

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

for instructions.

Stabalize

Altitude Hold

Loiter

Full Autonomy

Land

CH 7

land at the current position

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

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

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

disarm automatically unless the throttle stick is set fully down.

Reposition during landing: During landing, use the 

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

land at the launch point

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

IRIS to the launch point automatically. Ensure that the 

RTL switch is set to OFF before takeoff.

RTL returns IRIS to the location where IRIS was armed. 

Always arm IRIS in a safe, unobstructed launch point.

When commanded to RTL, IRIS will:

1 Achieve minimum altitude of 15 m (50 ft) 

or maintain current altitude if above 15 m.

2 Move to launch point and loiter for 5 seconds.

3 Land at launch point. launch point

1 15 meters 2

3

hover 5 seconds

Altitude Hold

Loiter

Full Autonomy

Return to Launch

Return to Launch (RTL)

Reposition during landing: During landing, use the 

right stick on the controller to adjust IRIS’ position.

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

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

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

launch point

100 m

300 m

Geofence

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

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

its current position.
14

First Flight

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

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

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

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

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

every time you fly.

1

Preflight

Check 

IRIS.

Point the controller antenna up 

and the IRIS antenna down for 

the strongest signal.

Ensure that the RTL switch 

is set to OFF.

Set the mode switch to standard (STD).

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

flight in loiter (LTR) instead of standard.

2 Power on 

controller.

Ensure that the controller is always turned on while 

IRIS is powered. If IRIS loses communication with 

the controller in flight, IRIS will initiate an automatic 

return to launch.
15

3 Connect battery.

Press the sides 

of the battery 

compartment 

together and 

rotate the door 

down.

To close, squeeze the 

door, and rotate up 

until it clicks into place, 

ensuring that the battery 

cables do not interfere 

with the LED cables.

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

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

flight and unlock IRIS’ advanced autonomous features. 

To download a ground station app for you laptop or 

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

Press and hold the DN button on the controller to 

view flight data from IRIS. See the Flight Checklist 

for more information about controller flight data.

Place IRIS at the launch 

point with the black 

arms facing towards you 

and the blue arms facing 

away from you.

Wait 10 seconds before 

closing the battery door or 

moving IRIS at all while the 

internal sensors calibrate 

and the status LED shows 

blue and red.

Insert battery, and 

attach the yellow 

connectors.

If you see a flashing yellow status 

LED, it’s likely that the sensors 

did not calibrate correctly during 

startup. Re-connect the battery and 

make sure to keep IRIS absolutely 

still and level during the blue-andred status LED indicator.
16

Do not handle IRIS while the 

safety button is solid red and 

IRIS is live. Always press the 

button until it displays blinking 

red before approaching 

the propellers.

Autopilot ready, GPS locked

Acquiring GPS, please wait.

Initializing, hold IRIS still, please wait. 

4 Press safety 

button.

Press the safety button 

until it is solid red.

IRIS is now live. 

Stand back!

5 Check LED.

Check the LED to view the status of IRIS. Wait 

to proceed until you see the blinking green light 

indicating that IRIS has acquired GPS lock.

Pre-arm safety check failure. Connect 

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

6

To activate the motors, 

hold the left stick down-right 

until the motors spin. 

Now you’re ready for takeoff! 

Arm motors.

IRIS will spin its propellers 

when armed. Ensure that the 

launch point is clear of 

obstructions before arming. 

Always disarm the motors 

before approaching IRIS.

Motors inactive, safe to handle Motors active, deactivate before 

handling

GPS lock requires a clear view of the 

sky. IRIS may take a few minutes to 

acquire GPS lock depending on your 

flying location. Always fly in an open 

area to improve GPS signal strength, 

and review the GPS failsafe 

information on page 7.
17

Flight

Left Stick

Take off and gain altitude by 

raising the left stick slightly 

above center.

Left Stick

Fly forward, backward, left, or right 

by moving the right stick in the 

direction you want to fly.

Left Stick

Release the right 

stick to level IRIS.

Left Stick

Lower the left 

stick below center 

to descend.

Left Stick

Set the left stick to 

center to maintain 

the current altitude.

Rotate counterclockwise and 

clockwise by 

moving the left 

stick left and right. 

IRIS is a powerful and agile 

flier. Move the sticks in small 

increments until you feel 

comfortable with how IRIS 

responds to controls.

Left Stick

Set the left stick fully 

down to land once IRIS 

is a few inches above 

the ground.

!
18

Postflight

1 Disarm 

motors.

After landing, hold 

the left stick downleft until the motors 

stop spinning.

2 Press safety 

button.

Press the safety 

button until it 

displays blinking 

red to make IRIS 

safe to handle.

3 Disconnect 

battery. 4 Power off 

controller.

Your first flight is now complete!

Follow the steps shown here and 

on the Flight Checklist every time 

you fly.

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

Skill 1: Hover

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

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

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

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

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

corresponding stick controls to correct.

Skill 2: Box

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

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

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

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

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

face away from you for the duration of the exercise.

Skill 3: Figure Eight

When you can confidently navigate a box while maintaining altitude and 

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

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

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

Planning Missions

1 Power IRIS, connect the radio to your laptop 

or Android device, and select Connect.

2 Configure waypoints.

To plan a mission, download a ground station application from 

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

DroidPlanner 2 for Android

Mission Planner for Windows

When flying missions, we recommend changing the GPS 

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

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

Connect the blue end of the 

Android adapter to your device 

and the black end to the radio.

Select Connect.

Select Edit and tap to add 

waypoints, or select the brush 

tool and draw a path for IRIS 

to follow.

Select Flight Plan, and click to 

add waypoints. Select the green 

arrows at the bottom of the 

screen to configure altitude and 

change waypoint types.

3 Save the mission to IRIS.

Select Write WPs. Select the option menu in 

the top-right corner, and 

select Send Mission.

Connect the USB adapter to the 

radio and your laptop. Select 

AUTO, 57600, and Connect.

APM Planner for OS X
20

To avoid sudden changes 

in altitude when switching 

from auto to standard (STD), 

ensure that the left stick is 

set to the center position.

Fly a brief test flight to verify 

that all controls (throttle, yaw, 

roll, and pitch) are responding 

normally.

1 Perform a pre-mission 

test flight.

If you planned a takeoff waypoint into 

your mission, switch to AUTO on the 

ground, and raise the throttle to initiate 

the mission. If you did not add a takeoff 

waypoint, switch to AUTO mode after 

takeoff to initiate the mission in flight.

3 Switch to

AUTO.

When the mission is complete and IRIS has landed, 

use the controller to switch to standard (STD) then 

disarm and proceed with the postflight steps. 

If you added an automatic landing waypoint to your 

mission, IRIS will disarm automatically after landing.

4 Switch to standard

before disarming.

To recall IRIS during a mission, 

use the controller to switch 

to standard (STD) and land 

manually. Or switch to RTL, 

and automatically return to 

the launch point.

2 Arm IRIS 

in standard.

When you’re ready 

to start the mission, 

arm IRIS in standard 

(STD).

Flying Missions

Stabalize

Altitude Hold

Loiter

Full Autonomy

Left Stick

For auto-takeoff, 

raise throttle to 

start mission.
21

Specifications

Autopilot: Pixhawk v2.4.5

Firmware: ArduCopter 3.2

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

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

Motors: 950 kV

Frame type: V

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

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

Battery: 3S 5.1 Ah 8C lithium polymer

Low battery voltage: 10.5 V

Maximum voltage: 12.6 V 

Battery cell limit: 3S

Battery weight: 320 g

IRIS is compatible with 3S lithium polymer batteries only. Using a 4S battery can cause 

permanent damage to the gimbal electronics and will void the warranty.

Weight with battery: 1282 g

Height: 100 mm

Motor-to-motor: 550 mm 

Payload capacity: 400 g (.8 lbs)

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

Flight time: 16-22 minutes*

*Flight time varies with payload, wind conditions, elevation, temperature, 

humidity, flying style, and pilot skill. Listed flight time applies to elevations 

less than 2,000 ft above sea level.

Resources

Hardware: 3DR.com/iris/info

Firmware: copter.ardupilot.com

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

3DR Store: store.3DR.com

Community: diydrones.com

Happy flying!
Support

Learn More

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

» 3PVTM Follow Me and DroidPlanner

» Opening the shell

» Replacing the arms and motors

» Installing software

» Planning a mission

» Updating firmware

» LED meanings and tones

Visit copter.ardupilot.com to learn about:

» Additional flight modes

» Configuring parameters, including yaw behavior during 

 autonomous flight, descent speed during RTL, and more

Visit planner.ardupilot.com (Mission Planner) and 

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

» Planning a mission with waypoints and events

» Using a ground station to command IRIS in flight

» Downloading and analyzing flight logs

Join the community and share your experience at 

diydrones.com.

Follow us on Facebook and Twitter @3DRobotics.

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

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

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

IRIS+ Operation Manual vH | ©3D Robotics, Inc. | 2015
Flight Checklist

LED

Motors inactive, safe to 

handle

Low battery, automatic landing

Loss of RC signal, automatic landing

Pre-arm safety check failure,

see troubleshooting guide

Loss of GPS signal, switch to manual

Initializing, please wait

Acquiring GPS, please wait

Autopilot ready, GPS locked

Armed

Safety Button

Motors active, deactivate before 

handling (see reverse)

Flight Modes

Return to launch

RTL

land at the launch point

Stabalize

Altitude Hold

Loiter

Full Autonomy

Standard position 

(altitude hold mode)

STD

fly manually

Loiter mode

LTR

hover

Stabalize

Altitude Hold

Loiter

Full Autonomy

Return to Launch

!

Stand back!

4 6

The motors are 

now active.

Hold left stick downright until motors spin.

1 2 Power on controller;

set to STD and RTL OFF.

Arm 

motors.

Press and hold safety 

button until solid red.

Connect 

charged battery.

Choose a clear launch 

point, and face IRIS 

away from you. 

5 Check 3 LED.

Place IRIS at 

launch point.

Go outside to 

an open area!

Auto mode

AUTO

fly a mission

©2014 3D Robotics | vB DCT0003 | All rights reserved.

Control gimbal

TILT

tilt the camera down and up

Land

CH7

land at the current position

Stabalize

Altitude Hold

Loiter

Full Autonomy

Stabalize

Altitude Hold

Loiter

Full Autonomy
Press and hold until 

blinking red to deactivate.

Hold left stick downleft until motors stop. 

1 2 Disarm 

motors.

Press safety 

button. 3 Disconnect battery. 4Power off 

controller. Postflight

Controller Flight Data

Press and hold the DN button to access the flight data screens. 

Press DN again to toggle between screens.

Lower left stick below 

center to descend.

Set left stick fully down to 

land when near the ground.

Left Stick

Left Stick

Raise left stick above 

center to take off and 

gain altitude.

Move left stick left 

and right to rotate.

Use right stick to fly forward, 

backward, left, and right.

Set left stick to center 

to maintain altitude.

Left Stick

Left Stick

Flight

current flight mode

controller battery level (9-12 V)

GPS signal strength in # of 

satellites

meters from launch point

flight battery level (10.5-12.6 V)

connection strength

current latitude

current longitude

altitude in meters

flight time

altitude in meters

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

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

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

3DR.com/iris/info 

GPS status

speed in m/s

flight battery mAh 

consumed since armed

End your flight at 10.7 V.

Do not exceed 4000 mAh for 

a fully charged IRIS+ battery 

(80% of available capacity).

!