CTAHR sUAS Flight 

Operation Manual

Drafted: 8/14/2015

Approved: 8/19/2015
Copyright © 2015 by the College of Tropical Agriculture and Human Resources.

All rights reserved.

First year of printing: 2015

College of Tropical Agriculture and Human Resources

1955 East-West Road

Agricultural Science Building 218

Honolulu, HI 96822

www.ctahr.hawaii.edu/

Author:

Roberto Rodriguez III

Department of Molecular Biosciences and Biological Engineering

1955 East-West Road

Agricultural Science Building 218

Honolulu, HI 96822

Editors:

Dr. Daniel M. Jenkins, Ph.D., P.E.

Professor, Department of Molecular Biosciences and Biological Engineering

1955 East-West Road

Agricultural Science Building 218

Honolulu, HI 96822

Dr. James J. K. Leary, Ph.D.

Associate Specialist

Department of Natural Resources and Environmental Management

Maui Agricultural Research Center

PO Box 269

Kula, HI 96790
Approved for the College of Tropical Agriculture and Human Resources:

_________________________________________

J. Kenneth Grace

Associate Dean and Associate Director for Research
Contents

Preface ........................................................................................................................................6

Introduction ................................................................................................................................6

Purpose .......................................................................................................................................9

Safety Guidelines........................................................................................................................9

Current Aircraft Specifications..................................................................................................11

IRIS+ ....................................................................................................................................11

General ..............................................................................................................................11

Engines..............................................................................................................................11

Electronic Speed Control....................................................................................................11

Propellers...........................................................................................................................11

Battery...............................................................................................................................11

Frame.................................................................................................................................11

Landing Gear (x4)..............................................................................................................12

Flight Parameters...............................................................................................................12

Limitations................................................................................................................................13

Pilot.......................................................................................................................................13

Pilot in Command..................................................................................................................13

Visual Observers (VOs).........................................................................................................13

Flight.....................................................................................................................................14

Batteries ................................................................................................................................14

Navigation.............................................................................................................................14

Operational Environment.......................................................................................................15

Other Personnel.....................................................................................................................15

Normal Procedures....................................................................................................................16

Flight Planning Checklist.......................................................................................................16

Weather .............................................................................................................................16

Pre-Flight Checklist...............................................................................................................16

Site Set Up.........................................................................................................................16

sUAS Set Up......................................................................................................................16

Launch Checklist...................................................................................................................17
Landing Checklist..................................................................................................................17

After Landing Checklist.........................................................................................................17

Shut Down/Secure Checklist .................................................................................................17

Supplementary Procedures........................................................................................................18

APM Mission Planner Software Installation ..........................................................................18

Flight Controls and Test for IRIS+.........................................................................................19

Yaw ...................................................................................................................................19

Pitch and Roll ....................................................................................................................20

Navigation Calibration Procedure for IRIS+ with APM Mission Planner ...............................21

GPS ...................................................................................................................................21

IMU Calibration.................................................................................................................22

Non-Normal Procedures............................................................................................................25

Battery Low Power................................................................................................................25

Loss of GPS signal ................................................................................................................25

Loss of RC signal ..................................................................................................................25

Navigation Data is Abnormal.................................................................................................26

GPS Data ...........................................................................................................................26

IMU Data...........................................................................................................................26

Engine Failure .......................................................................................................................26

Appendix 1. Section 333 Exemption (Pending) .........................................................................27

Appendix 2. Hazard/Incident Report .........................................................................................28

Appendix 3. FAA UAS Regulations & Policies.........................................................................29

Appendix 4. List of Acronyms ..................................................................................................31
Preface

The College of Tropical Agriculture and Human Resources ("CTAHR") creates and 

delivers knowledge that supports and strengthens families, agricultural and food systems, and the 

natural environment. We educate and serve the people of Hawai‘i and those from around the 

world with integrity and excellence.

CTAHR provides exceptional education, research, and extension programs in tropical 

agriculture and food systems, family and consumer science, and natural resource management 

for Hawai‘i and the international community. We cultivate innovative scientific inquiry, solve 

real world challenges, and provide experiential learning in an interdisciplinary setting with 

global impacts. As part of this vision, CTAHR conducts commercial operations of small 

Unmanned Aerial Systems (sUAS) to conduct agricultural and environmental aerial data 

collection. This document serves as a resource for CTAHR faculty, personnel and volunteers 

serving as, or to be, certified sUAS crewmembers for conducting proper flight operations. 

Current operations are to be conducted with the Iris+(3D Robotic Inc. Berkeley, CA) registered 

as NXXXX under Section 333 Exemption by the Federal Aviation Administration (FAA). The 

Iris+ is a vertical takeoff and landing (VTOL) quadcopter with 4 lbs. payload and sustained flight 

of 15 min offering unique opportunities for aerial, sensor-based data collection

Introduction

An Unmanned Aerial System (UAS) encompasses the unmanned aircraft (UA) and all of 

the associated support equipment, ground control station, data links, telemetry, communications 

and navigation equipment, etc., necessary to operate the unmanned aircraft.

The UA is the flying portion of the system, flown by a pilot via a ground control system, 

or autonomously through use of an on-board computer, communication links and any additional 

equipment that is necessary for the UA to operate safely. The Federal Aviation Administration 

(FAA) issues an experimental airworthiness certificate for the entire system, not just the flying 

portion of the system. Under 49 United States Code 40103, the United States Government has 

exclusive sovereignty of airspace of the United States and the FAA has the authority to prescribe 

air traffic regulations on the flight of aircraft, including UAS.

Public Aircraft Operations are limited by federal statute to certain government operations 

within U.S. airspace. Title 49 U.S.C. § 40102(a)(41) provides the definition of "Public Aircraft" 

and § 40125 provides the qualifications for public aircraft status. Whether an operation qualifies 

as a public aircraft operation is determined on a flight-by-flight basis, under the terms of the 

statute. The considerations when making this determination are aircraft ownership, the operator, 

the purpose of the flight, and the persons on board the aircraft.

For public aircraft operations, the FAA issues a Certificate of Waiver or Authorization 

(COA) that permits public agencies and organizations to operate a particular aircraft, for a 

particular purpose, in a particular area. The COA allows an operator to use a defined block of 

airspace and includes special safety provisions unique to the proposed operation. COAs usually 

are issued for a specific period – up to two years in many cases.
The FAA works with these organizations to develop conditions and limitations for UAS 

operations to ensure they do not jeopardize the safety of other aviation operations. The objective 

is to issue a COA with parameters that ensure a level of safety equivalent to manned aircraft. 

Usually, this entails making sure that the UAS does not operate in a populated area and that the 

aircraft is observed, either by someone in a manned aircraft or someone on the ground to ensure 

separation from other aircraft in accordance with right-of-way rules. Common public uses today 

include law enforcement, firefighting, border patrol, disaster relief, search and rescue, military 

training, and other government operational missions.

The FAA manages public aircraft COAs through its COA Online system. Before the 

FAA grants an agency access to COA Online, the agency (or proponent) will be asked to provide 

the FAA with a "declaration letter" from the city, county, or state attorney's office assuring the 

FAA that the proponent is recognized as a political subdivision of the government of the State 

under Title 49 of the United Stated Code (USC) section (§) 40102(a)(41)(c) or (d) and that the 

proponent will operate its unmanned aircraft in accordance with 49 USC. § 40125(b) (not for 

commercial purposes). An agency's accountable executive cannot self-certify their agency is a 

"public" agency.

If an activity does not fall under the purview of "government function", which includes 

"activities undertaken by a government, such as national defense, intelligence missions,

firefighting, search and rescue, law enforcement (including transport of prisoners, detainees, and 

illegal aliens), aeronautical research, or biological or geological resource management", it does 

not qualify as a public operation. Three relevant documents to consult in determining if your 

work is considered a public operation are Advisory Circular 00-1.1A, Public Aircraft Operations, 

UAS Operations by Public Universities for Aeronautical Research, and Clarification of June 13, 

2014 Interpretation on Research Using UAS. The important point of these documents is that the 

term "aeronautical research" is a very limited term and cannot be manipulated to include any 

manner of research that an operator may seek to undertake.

The UAS COA process is managed in Washington, DC, FAA Headquarters in the UAS 

Group (AJV-13). Contact AJV-13 via email for assistance. The process includes opening a COA 

website account, which has an application that can be populated on-line. Public aircraft are tied 

to government agencies, therefore credentials must be provided.

A public aircraft is one that is only for the United States government or owned and 

operated by the government of a state, the District of Columbia, or a territory or possession of 

the U. S. or a political subdivision. Operators of public aircraft include DOD, DOJ, DHS, NASA, 

NOAA, state/local agencies and qualifying universities. Civil aircraft means other than a public 

aircraft.

There are presently three methods of gaining FAA approval for flying civil (nongovernmental) UAS:

1. Special Airworthiness Certificates – Experimental Category (SAC-EC) for civil aircraft 

to perform research and development, crew training, and market surveys. However, 

carrying persons or property for compensation or hire is prohibited. For more information, 

please contact the Airworthiness Certification Service, AIR-113, at 202-267-1575. 1,3
2. Obtain a UAS type and airworthiness certificate in the Restricted Category (14 CFR § 

21.25(a)(2) and § 21.185) for a special purpose or a type certificate for production of the 

UAS under 14 CFR § 21.25(a)(1) or § 21.17. 7,8

3. Petition for Exemption with a civil Certificate of Waiver or Authorization (COA) for 

civil aircraft to perform commercial operations in low-risk, controlled environments.

By law, any aircraft operation in the national airspace requires a certificated and 

registered aircraft, a licensed pilot, and operational approval. Section 333 of the FAA 

Modernization and Reform Act of 2012 (FMRA) (PDF) grants the Secretary of Transportation 

the authority to determine whether an airworthiness certificate is required for a UAS to operate 

safely in the National Airspace System (NAS).

This authority is being leveraged to grant case-by-case authorization for certain 

unmanned aircraft to perform commercial operations prior to the finalization of the Small UAS 

Rule, which will be the primary method for authorizing small UAS operations once it is 

complete.

The Section 333 Exemption process provides operators who wish to pursue safe and legal 

entry into the NAS a competitive advantage in the UAS marketplace, thus discouraging illegal 

operations and improving safety. It is anticipated that this activity will result in significant 

economic benefits, and the FAA Administrator has identified this as a high priority project to 

address demand for civil operation of UAS for commercial purposes.

Pilot certification requirements for petitions for exemption under Section 333 are 

evaluated on a case-by-case basis. While Section 333 grants the Secretary of Transportation

flexibility with regard to airworthiness certification requirements, it does not grant the Secretary 

any flexibility with regard to airman certification standards as outlined in Sections 44703 and 

44711 of Title 49 of the United States Code (49 USC). An FAA airman certificate is required to 

operate an aircraft in the National Airspace System.

Registration is required for all unmanned aircraft (UA) operated for non-hobby or nonrecreational purposes. Registration is also required for Government UA. All Aircraft owned by 

agencies, offices or subdivisions of: the United States (other than aircraft of the U.S. Armed 

Forces), the States, the District of Columbia, or a territory or possession of the United States are 

required to be registered. Aircraft Registration requirements and directions are provided in 14 

Code of Federal Regulations Part 47. In general registration requires:

 A completed Aircraft Registration Application, AC Form 8050-1

 A full description of the sUA (consult 14 Code of Federal Regulations Part 47 for 

required items)

 Evidence of Ownership

 Confirmation the sUA is not registered in another country

 An N-number to be assigned to the registered aircraft

 The registration fee of $5.00 per aircraft

The FAA will grant a Certificate of Waiver or Authorization (COA) for flights with a 

elevation ceiling at or below 200 feet above ground level to any UAS operator with a Section 
333 exemption for UA weighing less than 55 pounds, operate during daytime Visual Flight 

Rules (VFR) conditions, within visual line of sight (VLOS) of the pilots, and from established, 

minimum safe distances from airports or heliports:

 5 nautical miles (NM) from an airport having an operational control tower; or

 3 NM from an airport with a published instrument flight procedure, but not an operational 

tower; or

 2 NM from an airport without a published instrument flight procedure or an operational 

tower; or

 2 NM from a heliport with a published instrument flight procedure

The “blanket” 200-foot COA allows flights anywhere in the country except restricted 

airspace and other areas, such as major cities, where the FAA prohibits UAS operations

(http://www.faa.gov/news/updates/?newsId=82245). Section 333 exemption holders 

automatically receive a “blanket” 200 foot COA. Anyone who wants to fly outside the blanket 

parameters must obtain a separate COA specific to the airspace required for that operation.

Purpose

This Flight Operation Manual (FOM) details safety guidelines, limitations, checklists, 

normal procedures, supplemental procedures, and non-normal procedures for the operation of 

sUAS. The essential sections of this FOM pertain to normal operation. When configurations, 

including hardware and software, or actions outside of normal operations are utilized, the pilot is 

referred to the appropriate manufacturer's manual.

Safety Guidelines

1. All flight operations will be accompanied by a flight plan detailing the mission objective, 

location, crew, resources and contingency protocols for go/no go decision and pilot 

alternation.

2. A briefing with preflight checklist will be conducted at the landing zone (LZ) for 

establishing go/no go determination, radio check with NOTAM, reviewing mission 

objectives, acknowledging crew assignments, equipment (e.g., UAS) calibration and 

emergency action plans. 

3. The basic crew of a sUAS flight operation consists of a Pilot In Command (PIC), at least 

one Visual Observer (VO) and Ground Support Staff (GSF).

4. The Pilot In Command (PIC) maintains operational control of UA via radio link, and is 

the final authority for all operational and in-flight decisions.

5. The PIC and VO must have constant audio communication during operations either 

unaided at close proximity or via radio at larger distances. If the latter, the PIC and VO 

must maintain visual contact with each other.

6. In an in-flight emergency requiring immediate action, the PIC may deviate from any rule 

of this manual to the extent required to meet that emergency.

7. Each PIC who deviates from a rule under guideline (2) of this section shall, upon the 

request of the Federal Aviation Administration (FAA), send a written report of that 
deviation to the FAA. A written report according to the Hazard/Incident Report must be

submitted to CTAHR administration.

8. All accomplished missions will be logged with PIC as signatory identifying basic metrics 

regarding UA maintenance, flight time and objective completion and should highlight 

any deviations from the original flight plan.

9. All operations must be conducted according to all CTAHR documentation and FAA 

approvals.

10. All operations must be compliant with sterile area/airspace control procedures according 

to CTAHR documentation.

11. The PIC must always give way to manned aircraft.

12. Training of every PIC will take place according to CTAHR documentation and FAA 

approvals.

13. Any unapproved modification of the UA is prohibited.
Current Aircraft Specifications

IRIS+

General

Manufacturer: 3DRobotics

Class: Rotorcraft

Engines

Manufacturer: 3DRobotics

Type: Electric

Number: 4

KV: 950 rpm/V

Max Power: 243 W

Weight: 0.15 lbs (70 g)

Electronic Speed Control

Working Current: 90 A

Working Voltage: 3S LiPo

Signal Frequency: 50-400 Hz

Drive PWM Frequency: 30 kHz

Weight: 0.08 lbs (38 g)

Propellers

Manufacturer: 3DRobotics

Material: High strength performance plastics

Number: 4

Blade Type: Folding

Size: 9.5 in x 4.5 in

Weight: 0.03 lbs (10 g)

Battery

Type: Lithium Polymer

Cells: 3 in series

Frame

Diagonal Wheel Base: 21.6 in (550 mm)

Frame Arm Length: 7.8 in (198 mm)

Frame Arm Weight: 2.1 lbs (962 g)

Center Frame Diameter: 4.8 in (122 mm)
Landing Gear (x4)

Length: 0.5 in (12 mm)

Width: 0.2in (6 mm)

Height: 6.7 in (171mm)

Flight Parameters

Takeoff Weight: 2.8 lbs - 3.7 lbs (1.3 kg - 1.7 kg)

Total Weight: 2.8 lbs (1.3 kg)

Power Battery: LiPo (3S, 5.1 Ah 8C)

Max Power Consumption: 972 W

Hovering Power Consumption: 300 W (@3.3 lbs (1.5 kg) Takeoff Weight)

Hovering Time: 12 min. 5.1 Ah & 3.3 lbs (1.5 kg)

Working Environment Temp.: 14°F (-10°C) - 104°F (40°C)
Limitations

Pilot

 Pilots consist of the designated Pilot in Command (PIC) and Supplemental Pilots

 UA pilots must meet the qualifications listed in FAA Order 8900, 16-4-1-3

 Pilots must undergo training with the specific sUAS, in this case the Iris+quadcopter, that 

they will pilot under strict supervision by existing CTAHR pilots, in addition to FAA 

required training for certified airmen. Training will consist of observing and performing 

all of the activities listed in the following procedures, including the Non-Normal 

Procedures, with additional training for any added sensor payloads. Pilots should log at 

least 10 hours with the sUAS.

Pilot in Command

 Has been designated prior to flight

 Is responsible for the UAS flight operation as described under 14 CFR part 91, § 91.3, or 

an FAA-recognized equivalent

 Is responsible for determining whether the UAS is in condition for safe flight.

 Must land as soon as safely practical when any condition occurs that causes operations to 

be unsafe

 May be augmented by supplemental pilots; however, the PIC retains complete and 

overall responsibility of the flight, regardless of who may be piloting the aircraft

 Has the ability to assume the duties of an internal or an external UAS pilot at any point 

during the flight

 May rotate duties as necessary to fulfill operational requirements

 Must have audio and visual contact with VOs

 Must have a thorough knowledge of the Certificate of Waiver or Authorization (COA) 

issued to the organization when conducting a public aircraft operation, and must retain a 

copy to reference during flight

 Must be trained and qualified on the specific UAS for the conduct of the flight

 For further information consult FAA Order 8900, 16-4-1-1-B

Visual Observers (VOs)

 A VO is a trained person who assists the unmanned aircraft pilot in the duties associated 

with collision avoidance. This includes, but is not limited to, avoidance of other traffic, 

clouds, obstructions and terrain

 All VOs must have an understanding of the Title 14 of the Code of Federal Regulations 

(14 CFR) parts applicable to the airspace where the Unmanned Aircraft Systems (UAS) 

will operate

 VOs are considered crewmembers

 Observers must not perform crew duties for more than one UAS at a time
 VOs must have audio and visual contact with PICAll observers must have a valid Federal 

Aviation Administration (FAA) second-class medical certificate issued under 14 CFR 

part 67 verifying that the observer has sufficient visual and auditory acuity; an FAArecognized equivalent is an acceptable means of demonstrating compliance with this 

requirement

 Observers must complete sufficient training to communicate to the pilot any information 

required to remain clear of conflicting traffic, terrain, and obstructions; maintain proper 

cloud clearances; and provide navigational awareness. Consult FAA Order 8900, 16-4-4-

1-B for minimum requirements.

Flight

 If the UA is assembled prior to flight, the PIC must perform a Pre-Flight Checklist

 A safe distance should be maintained from people and obstacles as detailed in the 

Manufacturer's Safety documentation

 All operations must be within Line Of Sight (LOS)

 All operations must be at or below 200 ft AGL (unless an additional civil COA is filed)

 All manned aircraft have the right of way

 Operations must be conducted in accordance with the Manufacturer's Operation Manual

 Operation in adverse weather such as, but not limited to, rain, wind or fog is prohibited

 Every effort should be made to avoid interference resulting in a loss of communication 

between the remote control transmitter and other wireless equipment

 Sufficient battery voltage (at least 25%) for Landing and Non-Normal Procedures must 

be maintained during operations

Batteries

 Flammable if damaged and must be charged under supervision

 Discharging Lithium Polymer Batteries (in A) in excess of 80% of their rated capacity (in 

A-hr) can cause permanent damage to the batteries

 Provide time for batteries to cool to within 5°F of the ambient temperature after use and 

before subsequent charging

 Use batteries of the appropriate rating as given in the Manufacturer's manual

Navigation

 GPS signals are limited by line of sight. Autonomous operations must be conducted 

under conditions that ensure obstructions to the sky are minimized, and must have a pilot 

ready to assume remotely operated control at all times.

 Gyroscopes are subject to drift due to compounding integration errors. The gyroscope 

must be calibrated prior to launch.

 Magnetometers (compasses) must be calibrated prior to launch

 Barometric altimeters must be calibrated for ambient conditions at a known altitude prior 

to launch

 Laser altimeters may require calibration if the sUAS is flown over terrain with a 

significantly different reflectance at the wavelength of the transmitted signal. Consult the 

Manufacture's Model.
Operational Environment

 Flight in visible moisture and other conditions that affect LOS is prohibited

Other Personnel

 Any additional personnel must meet qualifications listed in FAA Order 8900, 16-4-4-3
Normal Procedures

Flight Planning Checklist

1. The PIC must issue a Notice to Airmen (NOTAM) not more than 72 hours in advance, 

but not less than 48 hours prior to the operation

2. Contact Visual Observers to confirm that they have not consumed any alcoholic beverage 

8 hours prior to flight in compliance with Title 14 CFR part 91, § 91.17

Weather

1. Consult local weather report for the day of the operation, at least 72 hours in advance

2. If inclement weather is indicated in the local weather report in advance of operations, an 

additional report must be consulted 24 hours prior to operation

3. For further information consult the FAA's General Aviation Pilot’s Guide to Preflight 

Weather Planning, Weather Self-Briefings, and Weather Decision Making

Flight Planning Checklist Complete

Pre-Flight Checklist

Site Set Up

1. Check NOTAMS for Temporary Flight Restrictions, GPS NOTAM

(https://pilotweb.nas.faa.gov/PilotWeb/)

2. Verify that local weather is within operating parameters of the sUAS and that the PIC and 

VOs can maintain LOS with the sUAS at all points of the operational area

3. Verify that all operational documents, including flight manuals, are present and 

accessible to all personnel

4. Conduct a briefing with all personnel to discuss the operational plan, including all NonNormal Procedures

5. PIC and VOs should consult the operational manual prior to operation to review relevant 

responsibilities and procedures as they pertain to the operation plan

6. Designate PIC and VO locations

7. Designate Launch, Landing, and Non-Normal Landing Zones. Verify that these areas are 

clear of any obstructions and apply a visual mark.

8. PIC and VOs must visually inspect the operational area to verify that only operational 

personnel are present

sUAS Set Up

1. Verify that the sUAS is free of visible defects

2. Verify that all propellers are in good condition: free of cracks, holes, dings, and other 

defects

3. Verify that all propellers are firmly mounted by moving the propellers gently while 

holding the motor

4. Verify that proper mounting direction of IMU and GPS

5. Verify that control link is stable

6. Perform Navigation Calibration Procedure

7. Verify that motor rails are firmly attached

8. Verify that all screws are tightened securely
9. Verify that landing gear is firmly attached

10. Verify that all antennas are firmly attached and in optimal operating position

11. Verify that all batteries are fully charged

12. Verify motors are rotating propellers in the correct direction

Pre-Flight Checklist Complete

Launch Checklist

1. Verify that the UA is in proper alignment for launch

2. Alert all personnel for launch

3. Verify that the surrounding airspace is clear and that the launch zone is clear of 

obstructions

4. Initiate launch sequence as prescribed in Manufacturer's Manual

Launch Checklist Complete

Landing Checklist

1. Verify that the UA is in proper landing position both with navigational data and visually

2. Alert all personnel for landing

3. Verify that the surrounding airspace is clear and that the landing zone is clear of 

obstructions

4. Initiate landing sequence as prescribed in Manufacturer's Manual

Landing Checklist Complete

After Landing Checklist

1. Turn data collection device(s) off

2. Turn UA off

3. Turn controller off

4. Inspect UA for damage

After Landing Checklist Complete

Shut Down/Secure Checklist

1. Secure antennas in transport position

2. Transfer operational data, including flight path, to appropriate media storage

3. Complete Post Flight documentation (i.e., flight log)

Shut Down/Secure Checklist Complete
Supplementary Procedures

APM Mission Planner Software Installation

1. Go to the Mission Planner download page and click on the Download button to get the 

most recent Mission Planner installation file (http://ardupilot.com/downloads/?did=82).

2. Open the Microsoft installer file (.msi) and select Run to run the installation utility.

3. Follow the instructions to complete the setup process. The installation utility will 

automatically install any necessary software drivers. If you receive a DirectX installation 

error, please update your DirectX plug-in from the DirectX Download Center.

4. If you receive a warning, select Install this driver software anyway to continue.

5. Mission Planner is normally installed in the C:\Program Files (x86)\APM Planner folder 

or the C:\Program Files\APM Planner folder. That is where your log files folder is 

located. 

6. An icon to open the Mission Planner is created according to your instructions during the 

installation.

7. Once installation is complete, open Mission Planner by clicking on its system icon. 
Flight Controls and Test for IRIS+

Maneuver IRIS in flight using the controller sticks.

Move the left stick up and down to control altitude.

Yaw

Move the left stick horizontally to rotate IRIS and change orientation. For a slow rotation, move 

the stick slightly away from the center in either direction. Moving the stick farther from the 

center creates a faster rotation.
Pitch and Roll

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

move in that direction: forward (toward the blue arms), back (toward the black arms), left 

(toward the left arms), or right (towards the right arms). How far you move the stick from the 

center before releasing it tells IRIS how fast to move.
Navigation Calibration Procedure for IRIS+ with APM Mission Planner

GPS

A common pre-launch safety check error is due to insufficient GPS signal. The sUAS

requires a strong GPS signal to fly accurately. There are two important measurements of GPS 

signal required to pass the pre-arm check: the GPS lock (the strength of the signal) and the 

HDOP (the accuracy of the signal).

A lock is obtained when the GPS receives positioning data from multiple satellites. You 

can see the status of the lock and the number of communicating satellites on the controller’s 

flight data display. 

Five or more active satellites will produce a strong GPS lock. It is possible for the GPS to 

acquire a lock with fewer than five satellites, but there is a greater chance of losing the lock 

during flight with fewer satellites. Generally, a clear line of sight to the sky will produce the 

highest satellite count, but it can also depend on your specific location and the time of day. 

Horizontal dilution of precision (HDOP) is a measure of the accuracy of the GPS signal, 

as opposed to the strength of the signal as measured by the lock. To pass the pre-arm check, 

HDOP must be below a specified value to ensure accurate GPS measurements. A high HDOP 

can result from the positions of the satellites, obstructions such as buildings and mountains, 

atmospheric effects, electromagnetic interference from radio towers or onboard radio 

transmission equipment, or the time of day. You can receive an HDOP error even with a high 

number of satellites and an active lock.

To improve GPS signal, move to a more open space with a clear view of the sky and wait 

for the GPS to acquire an active lock or a lower HDOP. It can take several minutes for the GPS 

to acquire a lock, possibly up to 10 minutes if the vehicle is significantly distanced from the 

location where it last acquired a lock.
IMU Calibration

Calibrate Gyroscope

If using APM Mission Planner the gyroscope will be automatically calibrated. Otherwise consult 

Manufacturer's Manual.

Calibrate Compass

To perform the basic compass calibration you should:

 Under Intial Setup | Mandatory Hardware select Compass. Select the correct 

orientation for your setup.

 Ensure the Enable and AutoDec check boxes are checked

 Click the “Live Calibration” button

 Next select your autopilot configuration, for Pixhawk and PX4, select the option 

Pixhawk/PX4 with the image of the Pixhawk. For APM 2.6, select APM with External 

Compass with the image of the GPS with Compass module. These options will 

automatically enter the correct orientation for the board. Ensure that you have mounted 

the GPS with Compass with the arrow facing toward the front of the vehicle and in the 

same direction as the arrow on the autopilot.

 A window should pop-up informing you that you have 60 seconds in which to rotate the 

APM/PX4 around all axis, press OK

 A countdown window should appear to show that the mission planner is collecting 

compass data

 During these next 60 seconds you should hold the copter in the air and rotate it slowly so 

that each side (front, back, left, right, top and bottom) points down towards the earth for a 

few seconds in turn.
Compass Calibration Positions

Front Right Back Left

 Upon completion, another window will pop up showing you the new offsets that it 

calculated.

 For APM, as long as all three values are between -150 and 150 the offsets are 

good. Press OK.

 Note, for PX4 and Pixhawk values may be greater than 150 and less than -150. Press OK.

Calibrate Accelerometer

 Under Initial Setup | Mandatory Hardware select Accel Calibration from the left-side 

menu.

 If you are using Copter Code 3.0, make sure you check the AC 3.0+ box. If you are using 

2.9.1b (or earlier), leave the box unchecked. This process will require you to place your 

copter in the positions shown below in sequence. The level position is the most important 

to get right as this will be the attitude that your controller considers level while flying.

 It is important not to move the copter immediately after pressing the key for each step.

 When you’re ready to perform the calibration, select Calibrate Accel.

 Mission Planner will prompt you to place the copter in each calibration position and press 

any key. Proceed through the required positions (it is not necessary to use the Click 

When Done button).
 When you’ve completed the calibration process, Mission Planner will display 

“Calibration Successful!” as shown below.
Non-Normal Procedures

Battery Low Power

General: If the battery reaches 25% charge, the sUAS will land automatically. If the battery runs 

low during a mission, the sUAS will return to the Launch Zone before landing.

IRIS+: This is indicated by a blinking yellow status LED and a quick repeating tone.

Loss of GPS signal

General: If the sUAS looses GPS signal in a flight mode that requires GPS (i.e., loiter, auto, 

return-to-launch, guided), it will land automatically.

IRIS+: This is indicated by a blinking blue and yellow status LED and a high-high-high-low tone.

Loss of RC signal

General: If the sUAS looses contact with the RC transmitter, it will land automatically. 

IRIS+: This is indicated by a blinking yellow status LED. If it loses RC signal during a mission, 

it will return to the Launch Zone before landing.
Navigation Data is Abnormal

GPS Data

If GPS data does not agree with personnel observations, the PIC will initiate the Landing 

Sequence to the designated Landing Zone or Non-Normal Landing Zone, whichever is closer. 

The PIC will then perform Navigation Calibration Procedures.

IMU Data

If IMU data does not agree with personnel observations, or otherwise behaves erratically, 

the PIC will initiate the Landing Sequence to the designated Landing Zone or Non-Normal 

Landing Zone, whichever is closer. The PIC will then perform Navigation Calibration 

Procedures.

Engine Failure

If one or more engines fail during flight, the PIC will initiate the Landing Sequence to the 

designated Landing Zone or Non-Normal Landing Zone, if the other motors are capable of 

transporting the sUAS safely to these locations, or its current location if not capable of 

navigating to the predetermined landing sites.
Appendix 1. Section 333 Exemption (Pending)
Appendix 2. Hazard/Incident Report

CTAHR Accident/Incident Report

ACCIDENT □ INCIDENT □

DATE OF EVENT

____/____/____

LOCATION: CITY/STATE/ZIP

______________________________________

PIC

NAME

______________________________________

DEPARTMENT

______________________________________

DATE OF BIRTH

____/____/____

DATE HIRED

____/____/____

REGULATORY CHECK RIDE

____/____/____

HOURS IN UAS (LAST 90 DAYS) ______

HOURS IN UAS (LAST YEAR) ______

HOURS IN UAS (TOTAL) ______

CERTIFICATION: TYPE/NO.

______________________________________

OTHER PERSONNEL: NAME/ROLE

______________________________________

______________________________________

______________________________________

______________________________________

______________________________________

______________________________________

______________________________________

LOCAL TIME

______________________________________

LATITUDE/LONGITUDE

______________________________________

INJURIES: NAME/ROLE/SEVERITY

(ATTACHED ADDITIONAL SHEETS AS 

NECESSARY)

______________________________________

______________________________________

______________________________________

______________________________________

______________________________________

______________________________________

______________________________________

______________________________________

SUAS DAMAGE

NONE □ MINOR □

SUBSTANTIAL □ DESTROYED □

UAS REGISTRATION:

N-NUMBER

______________________________________

MAKE

______________________________________

YEAR OF MANUFACTURE

______________________________________

NARRATIVE

(ATTACH ADDITIONAL SHEETS AS 

NECESSARY)

______________________________________

______________________________________

______________________________________

______________________________________

______________________________________

______________________________________

______________________________________

______________________________________

______________________________________

______________________________________

______________________________________

______________________________________
Appendix 3. FAA UAS Regulations & Policies

Presidential Guidance and Laws

 Presidential Memorandum: Promoting Economic Competitiveness While Safeguarding 

Privacy, Civil Rights, and Civil Liberties in Domestic Use of Unmanned Aircraft 

Systems

 Public Law 112-95, Title III, Subtitle B – Unmanned Aircraft Systems (FAA 

Modernization and Reform Act of 2012)

Title 14 Code of Federal Regulations

 Part 1, Definitions, Civil Aircraft, section 1.1

 Part 21, Certification Procedures for Products and Parts

 Part 21, Subpart H, Airworthiness Certificates, Experimental Certificates, sections 21.191 

and 21.193

Rules

 Interpretation of the Special Rule for Model Aircraft

Advisory Circulars

 AC 00-1.1A, Public Aircraft Operations

 AC 91-57, Model Aircraft Operating Standards

 AC 21-12, Application for U.S. Airworthiness Certificate, FAA Form 8130-6

 AC 45-2D, Identification and Registration Marking

Policies

 Notice 8900.291, Inspection and Maintenance Program Requirements for Airworthiness 

Certification of Unmanned Aircraft Systems Operating Under 55 Pounds

 Notice 8900.292, Aviation-Related Videos or Other Electronic Media on the Internet

 UAS Temporary Flight Restrictions (TFRs) for Sporting Events

 2007 Federal Register Notice, Unmanned Aircraft operations in the National Airspace 

System

 Notice 8900.313 Education, Compliance, and Enforcement of Unauthorized Unmanned 

Aircraft Systems Operators

 UAS Certification Status, November 15, 2006, includes FAA focal points for UAS 

certification project coordination

 UAS Certification Status, Optionally Piloted Aircraft and Accidents Involving UAS, 

August 18, 2008, Revision to AVS Policy
Orders

 Order 8000.372A, UAS Designated Airworthiness Representatives (DAR) for UAS 

Certification at UAS Test Sites

 Order 1110.150, Small Unmanned Aircraft System Aviation Rulemaking Committee 

(ARC)

 Order 2150.3B, Change 6 (Compliance and Enforcement Bulletin)

 Order 8130.2, Airworthiness Certification of Aircraft and Related Products

 Order 8130.20, Registration Requirements for the Airworthiness Certification of U.S. 

Civil Aircraft

 Order 8130.34C, Airworthiness Certification of Unmanned Aircraft Systems

 Order 8900, Volume 16, Unmanned Aircraft Systems

FAA Legal Interpretations on Unmanned Aircraft Systems

 New Media Use of UAS

 Clarification of June 13, 2014 Interpretation of Research Using UAS

 Operation of UAS as Public Aircraft for Educational Purposes

 Interpretation regarding whether certain required documents may be kept at an unmanned 

aircraft's control station

Guidance

 Law Enforcement Guidance for Suspected Unauthorized UAS Operations

 Letter to COA Holders – Statutory Requirement to Register UAS (November 5, 2014)

 Public Guidance for Petitions for Exemption Filed under Section 333

Forms

 FAA Form 8130-6, Application for U.S. Airworthiness Certificate
Appendix 4. List of Acronyms

CTAHR College of Tropical Agriculture and Human Resources

UAS Unmanned Aerial System

UA Unmanned Aircraft

sUAS Small Unmanned Aerial System

FOM Flight Operation Manual

FAA Federal Aviation Administration

PIC Pilot In Command

LOS Line Of Sight

NOTAM Notice to Airmen

GPS Global Positioning System

IMU Inertial Measurement Unit

VO Visual Observer