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# sentera

Pilot's Operating Handbook

2015 Phoenix Unmanned Aircraft

Sentera, LLC 6636 Cedar Ave, Minneapolis, MN 55423, USA

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# 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

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### 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 p

X 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 PROPULSIONIf 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 "lostcomms" 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 notcommanded 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. re _ ■ m



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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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## 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 

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## 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) 3 1 0 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

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## 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 Stand loff Trne (sec) Long {DcG) PaVioad S"lsidan 1 15 s34.3596667 Wth (ft) East (R) 14724416.03 •27584714.61



# ~ 1V+dth (m) Length (m) $ox.UigSe {') 52 152 0.00 1

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



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~ _ td ~ Stabizatx ~ Ya•a, Stnbkzasor: Enabfe 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.

4-5 Sentera, LLC Proprietary informationSQeed (crvh) AkL FtAL (ft) Latibide (I'F_G)
~ 33.0 I64.0 43ADD7?-?5 aayioad StarxioffTme twn9 (DEG) Faylaad Wrda

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v 7 99.3653513 •:orth (ft) East (ft) _4730531.52 -27590615.97

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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 

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## 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.

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### The battery level indicator lights display while charging to provide an indication of charge level.



# MAGNETOMETER CALIBRATIONPeriodically 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

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## 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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## 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 alGtude and v o eriap 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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