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Pilot's Operating Handbook 

2015 Phoenix 

Unmanned Aircraft 

Sentera, LLC 

6636 Cedar Ave, Minneapolis, MN 55423, USA 

I I!` ^Inl r 
REVISION HISTORY 

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- Initial Handbook Release 29 Julv, 2015 I 

CONTENTS 

SECTION1: GENERAL ....................................................................................................................1-1 

INTRODUCTION................................................................................................................................1-1 

3-VIEW DRAWING ............................................................................................................................1-2 

ACRONYMS, ABBREVIATIONS, SYMBOLS, AND TERMINOLOGY .....................................1-2 

UASTERMS :..................................................................................................................................1-2 

AIRCRAFTTERMS : ......................................................................................................................1-3 

AVIATIONTERMS :........................................................................................................................1-3 

VIRTUAL COCKPIT TERMS :.......................................................................................................1-4 

SECTION2: LIMITATIONS .............................................................................................................. 2-1 

SECTION 3: EMERGENCY PROCEDURES .................................................................................3-1 

LOSSOF PROPULSION .................................................................................................................3-1 

GCS SOFTWARE CRASH OR LOCK-UP .................................................................................... 3-1 

LOSTLINK ......................................................................................................................................... 3-1 

Aircraft autonomous behavior during lost link ............................................................................ 3-1 

Aircraft autonomous behavior during lost GPS : ........................................................................ 3-2 

SECTION 4: NORMAL PROCEDURES ......................................................................................... 4-1 

FLIGHT PLANNING IN VIRTUAL COCKPIT GCS SOFTWARE ..............................................4-1 

ADJUST AREA WAYPOINT PARAMETERS TO ACHIEVE DATA COLLECTION GOALS4-4 

BATTERYCHARGING .....................................................................................................................4-7 

MAGNETOMETER CALIBRATION ................................................................................................4-9 

CHECKLISTS..................................................................................................................................... 4-9 

PRE-FLIGHT CHECKLIST .........................................................................................................4-11 

DURING FLIGHT AIRCRAFT STATUS SCAN ......................................................................4-12 

LANDINGCHECKLIST ..............................................................................................................4-12 

LAUNCHTECHNIQUE ................................................................................................................... 4-12 

SECTION5: PERFORMANCE ........................................................................................................5-1 

PERFORMANCE CHARACTERISTICS ........................................................................................ 5-1 

SECTION 6: WEIGHT AND BALANCE ......................................................................................... 6-1 

WEIGHT.............................................................................................................................................. 6-1 

CENTEROF GRAVITY .................................................................................................................... 6-1 

SECTION7: SYSTEM DESCRIPTION ........................................................................................... 7-1 

AIRCRAFTDESCRIPTION ..............................................................................................................7-1 
GROUND CONTROL STATION DESCRIPTION .........................................................................7-2 

FIELD SUPPORT KIT DESCRIPTION ...........................................................................................7-4 

SECTION 8: HANDLING, SERVICE, AND MAINTENANCE ......................................................8-1 

ASSEMBLY: .. ..................................................................................................................................... 8-1 

DISASSEMBLY AND PACKING : .......................................................................---•--......................8-1 

STORAGE........................................................................................................................................... 8-1 

Battery Maintenance and Storage ................................................................................................... 8-1 

BatteryDisposal ................................................................................................................................. 8-2 

Batterytransportation .................................................................................................................... 8-2 

SERVICEAND MAINTENANCE .....................................................................................................8-2 

PROPELLER REPLACEMENT ...................................................................................................8-2 

SPINNERREPLACEMENT ......................................................................................................... 8-3 

PITOT-STATIC TUBE REPLACEMENT ....................................................................................8-4 

WING CONNECTOR REPLACEMENT .....................................................................................8-5 

AIR SPEED SENSOR REPLACEMENT ....................................................................................8-5 

MOTOR ASSEMBLY REPLACEMENT .....................................................................................8-6 

Propulsion Harness Replacement ............................................................................................... 8-7 

SECTION 9: SUPPLEMENTS ..........................................................................................................9-1 

LOADING BACKGROUND MAPS INTO VIRTUAL COCKPIT USING GOOGLE EARTH ..9-1 

SECTION10: SAFETY TIPS ..........................................................................................................10-1 

BATTERY USE - PRECAUTIONS ................................................................................................10-1 
SECTION 1: GENERAL 

INTRODUCTION 

This Pilot's Operating Handbook is for Phoenix unmanned aircraft systems 

(UAS). Vireo UAS which have been upgraded to a Phoenix configuration 

are also covered by this handbook. 

The Phoenix UAS is a nominally 3 pound, hand launched, electric powered, 

autopilot controlled aircraft that is remotely operated using a tablet or laptop 

computer with a digital wireless data-link. The Phoenix UAS is produced in 

two main variants, the Agricultural and Aerial Imaging variant, denoted by 

an "A" suffix and the multi-mission variant, denoted by an "M" variant. The 

differences between the two variants lie in the sensor payloads and types 

of missions that each supports. These variants are described briefly below: 

• Phoenix A: The agricultural and aerial imaging variant supports 

aerial imaging missions to capture still images and metadata. The 

"A" variant is equipped with a data-link with full bi-directional 

command and control but does not provide bandwidth for real-time 

video from the aircraft to the ground control station. 

• Phoenix M: The multi-mission variant is configured to support a wider 

variety of missions, which include ISR-type missions such as search 

and rescue, public safety support, security operations in addition to 

the agricultural and aerial imaging mission capabilities provided by 

the Phoenix A. As such, the "M" variant is equipped with a data-link 

which provides for both full bi-directional command and control as 

well as real-time transmission of video and associated metadata to 

the ground control station. 

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3-VIEW DRAWING 

39 inches 

(1 meter) 

22 inches —+I 

(.56 meter) 

ACRONYMS, ABBREVIATIONS, SYMBOLS, AND 

TERIVIINOLOGY 

UAS TERMS: 

UAS— unmanned aircraft system 

GCS— ground control station 

UA— unmanned aircraft 

UAV — unmanned aerial vehicle 

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' • \ ~ 

Pitot tube — Device that measures the speed of the air passing 

by/over the air vehicle. 

Control Surfaces (Elevons) — Flaps on the trailing edge of wings that 

control aircraft orientation. 

Fuselage — Primary enclosure that houses the autopilot, sensor, and 

other essential electronics. 

Payload/Sensor — Camera unit installed into the UA to capture 

mission imagery. 

Servos — Geared electronic motors that operate control surfaces via 

commands from the autopilot. 

Magnetometers — Electronic sensors that measure the magnetic 

orientation of aircraft (N,S, E,W). 

C.G. — center of gravity 

AVIATION TERMS: 

Winds aloft — Speed and direction of winds above the surface (200- 

400 ft.). 

Ground speed — Speed of the aircraft over the ground. 

Airspeed — Speed of the relative wind over the aircraft and 

conversely, the speed of the aircraft relative to the air mass. 

GPS Altitude — Altitude of an aircraft determined by readings from the 

GPS unit. 

MSL — Altitude of an aircraft as measured above the average sea 

level. 

Pitch, Roll, and Yaw (Aircraft Attitude) — Pitch: nose up or down, Roll: 

banking of wings, Yaw: left or right lateral motion of the aircraft nose. 

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VIRTUAL COCKPIT TERMS: 

Takeoff waypoint— Waypoint that aircraft will go to after 

launch/takeoff. 

Rally waypoint— Waypoint that aircraft will go to for landing 

operations and emergencies. 

Landing Waxpoint— Waypoint that aircraft will touch down at when 

ianding. 

Area Waxpoint— Waypoint that outlines image capture area and 

dictates where photos are taken. 

Loiter Wa pX oint— Waypoint in which aircraft will circle indefinitely at a 

predetermined altitude. 

Artificial Horizon— Shows aircraft attitude and essential flight 

information. 

HAL— The height of the aircraft above the launch altitude. 

Agent #/address— The unique identification number of an aircraft. 

Failsafes— Time and altitude limits that an aircraft will adhere to in 

case of lost link, lost GPS, and low battery. 

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SECTION 2: LIMITATIONS 

The operator must ensure all parameters are operated within limits. The 

autopilot and ground control station software have some built-in limits that 

aid the operator, but ultimately the operator is responsible for keeping the 

system within all limits. 

SPEED LIMITS 

The Phoenix UAS autopilot automatically maintains commanded airspeed 

based on the Pitot-static pressure measurements: 

Vstall = 25 mph (22 kts, 11 m/s), standard sea level conditions 

Vmin = 32 mph (29 kts, 14 m/s), autopilot limited 

Vcruise = 34 mph (30 kts, 15 m/s), autopilot default 

Vmax = 45 mph (40 kts, 20 m/s) 

ALTITUDE LIMITS 

The Phoenix UAS autopilot automatically maintains commanded altitude 

based on barometric and GPS altitude measurements: 

Minimum cruise altitude = 150 ft. HAL (height above launch), 

autopilot limited 

Maximum density altitude = 12,000 ft. MSL (mean sea level) 

Maximum altitude above ground: 3280 ft. HAL (height above 

launch).* 

*Autopilot limited, however, flight operations must remain be/ow 

the maximum altitude allowed by local regulations or /oca/ 

airspace authority. Often this means below 400 ft, or below 500 

ft. AGL (height above ground). 

1NIND LIMITS 

Maximum winds aloft = 30 mph 

Maximum crosswind takeoff = 0, Zero takeoff cross wind allowed 

Maximum crosswind landing = 15 mph crosswind component 

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PRECIPITATION AND MOISTURE LIMITS 

Do not fly in precipitation. 

Do not fly through fog, mist, or clouds. 

GPS LIMITS 

Minimum 7 GPS satellites tracked 

AII GPS quality measures shown as green in the artificial horizon 

TEMPERATURE LIMITS 

Operational temperature limits 

Minimum = 14 F (-10 C) 

Maximum = 120 F (50 C) 

Storage temperature limits 

Minimum = -10 F (-23 C) 

Maximum = 140 F (60 C) 

BATTERY LEVEL LIMITS 

Maximum voltage: 12.6 volts 

NomEnal voltage: 11.1 volts 

Minimum voltage: 9.0 volts 

Never go below 10% battery level during flight. 

Never go below 6% battery level during ground handling. 

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TAKE-OFF AND LANDING AREA LIMITS 

The launch and recovery area must be free of obstructions within an area 

measuring 50 meters wide and 100 meters long, as shown below. This 

area should also be kept free of persons during launch and landing, other 

than the operator that is doing the launching. 

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SECTION 3: EMERGENCY PROCEDURES 

The following are emergency procedures and behaviors. 

LOSS OF PROPULSION 

If propulsion power is lost the aircraft will automatically maintain the preplanned mission ground track and airspeed and glide to the ground. 

• Maintain visual contact with the aircraft. 

• Attempt to reset the propulsion system by pressing the [Motor Armed] 

button twice to disarm and re-arm the motor. 

• Avoid obstacles along the path using the normal waypoint and flight 

mode commands to change the aircraft's gliding direction. 

GCS SOFTWARE CRASH OR LOCK-UP 

If the GCS software crashes or locks up: 

• Force the software application to close. 

• Re-launch the GCS software. 

• Reconnect to the Phoenix in the normal way. 

If the Phoenix does not receive communication from the GCS software 

within the Lost Link time out period the automatic Lost Link procedure will 

begin. 

LOST LINK 

If lost link occurs attempt troubleshoot and re-establish communications 

with the aircraft: 

• Maintain visual contact with the aircraft. 

• Check Virtual Cockpit communicating with the radio. 

• Check antenna placement for RF line-of-sight. 

• Check electrical cable connections between antenna and computer. 

Aircraft autonomous behavior during lost link 

If communications are not re-established within the time out period 

(typically 30 seconds) the aircraft will automatically perform the "lost 

comms" mission which is to return to the Rally waypoint for the preprogrammed duration (typically 2 minutes) and then land at the Land 

point. 

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If communications are regained, the operator may command the 

aircraft back onto the flight plan or to proceed to land the aircraft. 

1f communications is not re-established and the aircraft is not 

commanded back onto the mission, it will automatically enter the preprogrammed landing pattern and land. 

LOST G PS 

If the aircraft loses GPS the operator should: 

• Maintain visual contact with the aircraft. 

• Attempt to land the aircraft in a safe location by disarming the motor 

and using the arrow keys on the keyboard to control the direction of 

the aircraft as it glides to the ground. 

Aircraft autonomous behavior during lost GPS; 

If the aircraft loses GPS lock the autopilot will cease flying the preprogrammed waypoints and will begin flying a circle while it waits to 

regain GPS lock. After the pre-programmed time out period the 

(typically 10 seconds) the aircraft will circle down to the ground. 

LOST LI N K+ LOST G PS 

If both GPS and communications are lost for more than the time-out limit 

(typically 10 seconds) the aircraft will automatically power off the motor and 

glide to the ground in an orbit maintaining constant airspeed. 

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For other emergencies the operator may command the aircraft onto the 

ground at any time (if in communications with the aircraft) by shutting off 

the motor or by immediately returning to the pre-programmed Rally or Land 

points. 

MEDICAL 

If there is a medical emergency with any involved personnel, flight 

operations should cease and emergency responders should be contacted. 

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REPORTING 

Incident reports should be logged and applicable authorities notified. Any 

incidents pertaining to the performance of the aircraft or other parts of the 

system should be reported to the manufacturer. 

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I 

SECTION 4: NORMAL PROCEDURES 

FLIGHT PLANNING IN VIRTUAL COCKPIT GCS SOFTWARE 

The standard Phoenix UAS configuration uses Virtual Cockpit GCS 

software for flight planning and operation. 

Once both the aircraft and GCS are powered and the GCS software is 

loaded the data links should automatically connect. 

To create a flight plan in Virtual Cockpit: 

1. Right-click a spot on the map where you want the UAV to land. 

2. From the right-click menu select "Move Takeoff/Land Here" 

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3. Click and drag the T(Takeoff), R(Rally), and L(Land) waypoints to 

the desired locations based on wind direction and landing location. 

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Tip: Phoenix recommended landing approach distance is 1000 ft. 

4. OPTIONAL: if you want the UAV to automatically fly to the rest of the 

flight plan waypoints after climb-out, double click on the Takeoff 

waypoint and check the box "Auto Trans to NAV Mode". If you do not 

check this box then the UAV will remain in the Takeoff waypoint until 

the operator presses the "Nav" button in Virt ual Cockpit. 

Takeoff Point 

SQd (mph) Att htAL (ft) LaUfude (DEG) 

33.0 -400.0 40A0038 

Radus (ft) Lorg (DEG) 

250.0 -99.30015 

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( Norttt (ft) 'cast (fi) 

14730472.5 -27589370.1 

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kft Trans CW Orbit Pay4oad 

~~ bo NAN 1~9odc F ErlaNe Paykw, ', :n:a ._ 

a check nthK . ..,_- _ - -- -- 

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33e after 

- Takeor 

_ = IL 

5. Now add additional waypoints to your flight plan. Right-click a spot 

on the map (e.g. the center of a field), select "Insert Command" and 

then select the waypoint type. Typically, "Area Waypoint" will be 

used for mapping flights. 

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~ 

Speed (nph) wt tiAE (R) tatta,ae (bEG) 

` 33.0 164_0 40.3974857 

Payioad StardofPTme (sec) Long (DEG) 

r PaYk)ad W*dow I 15 -99.3596667 

tiorth (ft) East (ft) 

14729416.03 -27589714.61 

1M19dth (m) LentJth (m) Box Anglee (°) 

152 152 0.00 

Fsn ovestap 5% Wk,d Era„ Hdg (-) 'Wind Spd (mph) 

30 0.00 0.0 

Rol Sta"aation Pitdi Stabizatiort Yavr Stabization 

f—amble F amble ramble 

Lit Smn Estinated Tme 

f— enabie 1 mn 7 sec :o '., nc I 

6. The default settings for the Area Waypoint will be populated and 

should be adjusted based on data collection goals. See the next 

section of this document for further details. 

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ADJUST AREA WAYPOINT PARAMETERS TO ACHIEVE 

DATA COLLECTION GOALS 

The default settings for Area Waypoints must be adjusted to your specific 

data collection goals. Here are some steps and recommendations to do 

that. 

1. Double click on the center point in the Area Waypoint. 

2. Click and drag the corners of the Area Waypoint to resize, or enter 

values into the waypoint edit window. 

3. Area waypoints may be rotated using the small yellow circle at the top 

side of the area waypoint or by typing in a"Box Angle" in the 

waypoint edit window. 

4. Adjust the altitude using the Alt HAL entry. The area waypoint 

automatically re-calculates how many back and forth passes are 

needed at different altitudes. 

Speed (a'Ph) — -- . tIAL (h) ... abhide (DEG) 

310 64.0 0.3974657 

?al''~' rne scc ton9 (DEG) 

PaylDad VrYtdore I 15 -99.3596667 

.`.br7h (ft) `aY. (ft) ' 

14729416.03 -27589714.61 

ri 

t45dCh (m) Lerqth (rn) 8ox An¢e (% ' 

i52 152 0.00 ~ 

Kn Cn'tTSaP 595 145nd Frarn Hd9 (% 135nd SDd (my1+) 

3D O.oa 0.0 

Ra15'.abizaCon Prt~ StabJ¢abace Yaw Stabi¢aGon 

~ Ena bk 1—5nabk F— Enabie r 

1-R Scan Estrnated Te. ~e 

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tic; 

Tip: The default altitude is currently 164 ft. (50 m) height above launch. 

Flying at 400 ft. or 500 ft. HAL is best for covering large areas. 

WARNING: Phoenix controls altitude to "height above launch" which means 

it does not adjust altitude to flow terrain such as hills and valleys. !t is up to 

the operator to ensure they do not fly into the side of a hill or tall obstacles 

such as trees. 

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5. Adjust the overlap in the "Min Overlap 5%" entry. The system 

automatically re-calculates the number of back and forth passes 

needed at different overlaps. This overlap value is the same for both 

long-lap and side-lap. 

r - 

Speed (mph) Att HAL (ft) Latituck (DEG) 

33.0 400.0 43.3975857 

Payioad Standloff Trne (sec) Long {DcG) 

PaVioad S"lsidan 1 15 s34.3596667 

Wth (ft) East (R) 

14724416.03 •27584714.61 

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1V+dth (m) Length (m) $ox.UigSe {') 

52 152 0.00 1 

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: a' irid Ftom ridQ (°) 1'ind SOd (mph) 

.00 0.0 `'' ,.viv•... 

~ _ td~ Stabizatx~ Ya•a, Stnbkzasor: 

Enabfe 

1 L -R Scan Estr a:ert Trnc 

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Tip: The default overlap is 30% which is a good value to ensure a minimal 

level of overlap for all adjacent pictures. Many image mosaic stitching 

programs require higher overlap to work reliably. Sometimes up to 80% 

overlap is required to successfully stitch data sets captured in certain 

conditions. Other times 30% overlap works. 60% overlap is a good choice 

if you are uncertain about the overlap value needed. 

6. The Standoff Time (sec) can be adjusted for Phoenix. The default is 

15 seconds which is longer than necessary. Change this value to 7" 

for best turning results under most conditions. "9" or 11" might work 

better in windy conditions. 

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SQeed (crvh) AkL FtAL (ft) Latibide (I'F_G) ~ 

33.0 I64.0 43ADD7?-?5 

aayioad StarxioffTme twn9 (DEG) 

Faylaad Wrda►v 7 99.3653513 

•:orth (ft) East (ft) 

_4730531.52 -27590615.97 

; :dth (m) Lerigth (m) 8ox litYg6e (°} 

152 0.00 

'•4E1 Or+&W 5% WM Ftota Hcig (') Wlnd $pd (mph) 

E 30 0.00 0.0 

z:a1 Slab3¢abort Atfi Stabization Yaw SL"zation 

-- Enabk [— Etsabie ~ Bvbie 

~ L-R Scan EsffEria-ted Tme 

~ Enable ! man 79ec "YJ % . "```_ 

Tip: set Standoff Time (sec) to 7 for Phoenix for tightest turn 

performance in area waypoints. 

7. Multiple area waypoints may be used to more efficiently cover nonrectangular fields. There is a limit of 14 waypoints in the 

"commercial" version of Virtual Cockpit. 

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BATTERY CHARGING 

The Phoenix aircraft is powered by a lithium polymer smart battery. 

The battery level indicator lights can be displayed at any time by pressing 

the button on the battery. 

~ Battery 

. Charge 

Indicator 

Button 

Air Vehicle Battery Indicators 

Indicator State Status Battery State of Char e 

1 LED On Constant current char in 0-25 % char ed 

2 LEDs On Constant current char ing 25-50 % charged 

3 LEDs On Constant current charging 50-75 % charged 

4 LEDs On Constant voltage char ing 75-97 % charged 

5 LEDs On Battery char ed > 97 % Char ed 

The Phoenix smart battery automatically maintains balance between the 

cells without the need for an external balancing charger. The battery 

charger supplied with the system contains a custom firmware program 

which ensures safe charging of the Phoenix batteries and is the only 

charger that should be used. 

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To charge a battery: 

1. Plug the charger into power. 

2. Connect a battery to the charge paddle. 

3. Press and hold the [Enter] button on the charger for 3 seconds. 

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4. Verify the charge cycle starts and the voltage is within limits listed in 

Section 2 of this handbook. 

~ 

~ 

The battery level indicator lights display while charging to provide an 

indication of charge level. 

MAGNETOMETER CALIBRATION 

Periodically the magnetometer (magnetic compass) may need to be recalibrated. This is checked during pre-flight. To re-calibrate the 

magnetometer do the following: 

1. Assemble the UAS and power on both the GCS and aircraft. 

2. Launch Virtual Cockpit and verify connected to the aircraft. 

3. Press the F5 key on the keyboard and select "Mag Cal" from the list 

on the left side of the F5 screen. 

4. Follow the on-screen directions. 

5. Remember to press the [Write Flash] button once the calibration is 

complete. It should turn from red to yellow to gray once pressed. 

CsHI_xa:1~~1&1 

To avoid missing important steps, always use the appropriate checklists. 

Consistent adherence to approved checklists is a sign of a disciplined and 

competent pilot. 

Included in this handbook are: 

• Pre-Flight Checklist 

• During flight status scan 

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0 Landing Checklist 

Checklists and procedures specific to different payloads that the Phoenix 

may carry should be followed as appropriate. 

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PRE-FLIGHT CHECKLIST 

Pre-Flight Checklist 

sentera Phoenix A 1. Phoenix 1141. Vireo 

Item Check 

Field Set-up 

Takeotf and tanding area scouted and clear oi obstacles 

Laptop battery sufficientty charged 

USB rad,o plugged in 

Antenna mounted high w/ ctear view 

Vatua! Cockpet correct maps 

tJAV comrns connected to rght UAV 

Flight plan 

Takeotf waypoint into the wind, ciear of obstades 

Landing waypoint surveyed by UAV at tanding spot 

Ratiy waypo#nt 1000 ri. gtide path, dear of obstacles 

Area waypoant(s) set correct alGtudeand o eriap v

Upbad to UAV dick flashing red button (upper right) 

Start camera paybad verify running 

Mechancical Assembly 

Pogo-pins undamaged 

Locator beacon instatled, tumed ON (optionaf) 

Prtot tube extended straight, dear of debrfs 

Propeqer I spinner spins freety, no rattle 

Propetiers no chips > t mm 

PropeGers bght inction 

Battery instai[ed securelv, 

Vlmgs Secure 

Forehead check etevons stdf move when wirig is flexed 

Sensors 

GPS kxk min 7 sats. GPS quafity values 

Top status "ights' 

Artdipt horizon all G: R 

Ptc1VRol dheck verify correct response. < t secorxi detay 

Point UAV North. East, Soutth, West verify "Rtag' reading and aspiane icon 

Pi!tot (fxWr test) airspeed >20 mph tor 3 secorxis 

Shieid pitot airspeed 0+1- 5mph 

Press [Zero Press.] button verity attitude 0 +l- 5 ft_ 

Press [GPS Home] button <Home> icon moves to a ►rcraft 

Press [Check Sensors] button atl passed, verify heading wdhin 5 degrees 

Launch 

Battery charge level > 95% 

(Motor Arm] button WARNING MOTOR ARMED 

[Take Off] button venfy countdown starts 

Launch directly into wind 

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