### .J

Brooklyn Aerials, Inc. T: +1 716 581 0734 tim@timsessler.com 

### November 17 2015 U. S. Department ofTransportation Docket Management System 1200 New JerseyAve., SE Washington, DC 20590 Re: Exemption Request Section 333 ofthe FAA Reform Act and Part 11 ofthe Federal Aviation Regulations from 14CFR Parts 61.113 (a) 

## & (b), 91.119 (c), 91.151(a), 91.405 (a), 91.407 (a) (1), 91.409 (a) (2), and 91.417 (a) 

## & (b) Dear Sir or Madam: Pursuant to Section 333 of the FAA Modernization and Reform Act of 2012 and 14 CFR Part 11, Brooklyn Aerials, Inc, an operator of Unmanned Aircraft Systems, hereby applies forthe exemption of certain Federal Aviation Regulations during photography and filming commercial operations for use in the television and motion picture industry. As described more fully below, the requested exemption would permit the operation of small, unmanned and relatively inexpensive sUAS under controlled conditions in airspace that is 1) limited 2) predetermined 3) controlled as to access and 4) would provide safety enhancements to the already safe operations in the film and television industry presently using conventional aircraft. Approval ofthis exemption would thereby enhance safety and fulfill the Secretary ofTransportation's (the FAAAdministrator's) responsibilities to "
...establish requirements forthe safe operation of such aircraft systems in the national airspace system." Section 333(c) ofthe Reform Act. The name and address ofthe applicant is: Brooklyn Aerials Attn: Tim Sessler T:+1 716 581 0734 Email: tim@timsessler.com Address: 179 Irving Ave, Apt 1R Brooklyn, NY 11237 Regulations from which the exemption is requested: 14 CFR §61.113 (a) and (b) 14 CFR §91.119 (c)
. 14 CFR §91.151 (a) 14 CFR §91.405 (a) 14 CFR §91.407 (a) (1) 14 CFR §91.409 (a) (2) 14 CFR §91.417 (a) and (b) '

. 

## .. . 

## ...**,~·**

### This exemption application is expressly submitted to fulfill Congress' goal in passing Section 333(a) through (c) of the Reform Act. This law directs the Secretary ofTransportation to consider whether certain unmanned aircraft systems may operate safely in the national airspace system (NAS) before completion of the rule-making required under Section 332 ofthe Reform Act. Brooklyn Aerials, Inc sUASs are rotorcraft, weighting 55 orfewer lbs. including payload. Under normal conditions they operate at a speed of no more than 50 knots, have the capability to hover or move in the vertical and horizontal plane simultaneously. They will operate only in line of sight and only within the sterile area described in the Motion Picture and Television Operations Manual, confidential and attached. Such operations will insure that the sUAS will "not create a hazard to users of the national airspace system orthe public." Given the small size ofthe sUASs involved and the restricted sterile environment within which they will operate, the applicant falls squarely within that zone of safety (an equivalent level of safety) in which Congress envisioned that the FAA must, by exemption, allow commercial operations of UASs to commence immediately. Also due to the size ofthe UASs and the restricted areas in which the relevant sUASs will operate, approval of the application presents no national security issue. Given the clear direction in Section 333 of the Reform Act, the authority contained in the Federal Aviation Act, as amended; the strong equivalent level of safety surrounding the proposed operations, and the significant public benefit, including enhanced safety, reduction in environmental impacts, including reduced emissions associated with allowing UASs for movie and television operations, the grant ofthe requested exemptions is in the public interest. Accordingly, the applicant respectfully requests that the FAA grant the requested exemption without delay. 

## Aircraft and Equivalent Level of Safety The limitations proposed by Brooklyn Aerials provide for at least an equivalent or even higher level of safety to operations underthe current regulatory structure. These limitations and conditions to which Brooklyn Aerials agrees to be bound when conducting commercial operations under a FAA issued exemption and further detailed in the operations manual:
• The sUAS will weigh lessthan 55 lbs. • Flights will be operated within line of sight of a pilot and observer. • Maximum total flight time for each operational flight will be 30 minutes. Flights will be

terminated at 25% battery power reserve should that occur priorto the 30 minute limit. • Flights will be operated at an altitude of no more than 400 feetAGL • Minimum crewfor each operation will consist of the sUAS Pilot, the Visual Observer, and the

Camera Operator. • sUAS pilot will be an FAA licensed airman with at least a private pilot's certificate and third

class medical. • The UAS will only operate within a confined "Operational Border'' as defined in the operations

manual. • A briefing will be conducted in regard to the planned sUAS operations priorto each day's

production activities. It will be mandatory that all personnel who will be performing duties within the boundaries of the safety perimeter be present for this briefing. • The operator will ensure that no persons are allowed within 500 feet ofthe area exceptthose

consenting to be involved and necessary for the filming production. This provision may be

### reduced to no less than 200 feet if it would not adversely affect safety and the Administrator has approved it. • The operator will submit a written Plan ofActivities to the FSDO three days before the

proposed shoot as required by the operations manual. • Pilot will have been trained in operation of UAS and current information on the particular UAS

to be operated as required by the operations manual. • Visual Observer will be trained through procedures outlined in the operations manual • Observer and pilot will at all times be able to communicate by voice. • If the sUAS loses communications or loses its GPS signal, the UAS will have capability to

return to a pre-determined location within the Security Perimeter and land. • The sUAS will have the capability to abort a flight in case of unpredicted obstacles or

emergencies. 

## Details of Regulationsforwhich Brooklyn Aerials requests Exemption 14 CFR §61.113 (a) and (b): Private Pilot Privileges and Limitations: Pilot in Command Sections 61.113 (a) and (b) limit private pilots to non-commercial operations. Because the UAS aircraft operated by Brooklyn Aerials will not carry a pilot or passengers, the proposed operations can achieve the equivalent level of safety of current operations by requiring the PIC operating the aircraft to have a private pilot's license rather than a commercial pilot's license to operate a small UAS. Unlike a conventional manned aircraft, a UAS is remotely controlled by a ground-based operator. The operational area is controlled and restricted, and all flights are planned and coordinated in advance. The level of safety exceeds that provided by a single individual holding a commercial pilot's certificate operating a conventional aircraft. The risks associated with the use of a UAS are so diminished from the level of risk associated with commercial operations contemplated by Part 61 allowing UAS use by a private pilot as the PIC exceeds the present level of safety sought by 14 C.F.R. §61.113 (a) and (b).
14 CFR §91.119(c): Minimum SafeAltitudes Section 91.119 (c) prescribes that 

### "Overotherthan congestedareas. An altitude of 500 feet above the surface, except over open water or sparsely populated areas. In those cases, the aircraft may not be operated closer than 500 feet to any person, vessel, vehicle, or structure." Relief is sought from Section 91.119 (c) with respect to those participating persons, vehicles, and structures directly involved in the performance of the actual filming. This is consistent with relief typically provided to manned operations in FAA Order 8900.1 V3,C8,S1 Issue of a Certificate of Waiverfor Motion Picture and Television Filming by which the Brooklyn Aerials intends to adhere to. The MPTOM further details the guidelines to be followed regarding operational safety and the safety of participating and non-participating persons and property.
14 CFR §91.151 (a): Fuel Requirements for Flight in VFR Conditions Brooklyn Aerials seeks exemption from the requirements of Section 91.151 (a). Given the limitations on the UAS's proposed flight area and its proposed operations within a predetermined location, a longertime frame forflight in daylight VFR conditions is reasonable.

### Furthermore, operating the UAS in a tightly controlled area where only participating personnel will be involved, less than 30 minutes of reserve power does not engenderthe type of risk that §91.151 (a) was intended to address. UAS aircraft operated by Brooklyn Aerials are battery powered. Current battery technology limits the available total flight time to that of less than the 30 minute reserve prescribed in this Part. As technology advances, however, the available total flight time will increase. Therefore, flight time will be limited to no longerthan 30 minutes or25% remaining battery power, whichever occurs first.
14 CFR §91.405(a): Maintenance Required, §91.407(a)1: Operation After Maintenance, Preventive Maintenance, Rebuilding, orAlteration, §91.409(a)(2): Inspections, §91.417(a) and (b): Maintenance Records Given that these sections and Part 43 referred to in these sections apply only to aircraft with an airworthiness certificate, these sections will not applyto the applicant. Maintenance will be accomplished by the operator pursuant to the operations manual. An equivalent level of safety will be achieved because the UASs are limited in size, will carry a small payload and operate only in restricted areas for limited periods of time. If mechanical issues arise, the UAS can land immediately and will be operating from no higher than 400 feet AGL. As provided in the Operations Manual, the operator will ensure that the UAS is in working order prior to flight, perform any required maintenance, and keep a log of any maintenance performed. Moreover, the operator is the person most familiar with the UAS and best suited to maintain it in an airworthy condition and provide the equivalent level of safety.



### Federal Register Summary Pursuant to 14 C.F.R. Part 11, the following summary is provided for publication in the Federal Register, should it be determined that publication is needed: Applicant seeks an exemption from the following rules: 14CFR Parts 61.113 (a) & (b), 91.119 (c), 91.151 (a), 91.405 (a), 91.407 (a) (1 ), 91.409 (a) (2), and 91.417 (a) & (b) to operate commercially a small unmanned vehicle (551bs or less) in motion picture and television operations. Approval of exemptions allowing commercial operations of sUASs in the film industry will enhance safety by reducing risk. Conventional film operations, using jet or piston power aircraft, operate at extremely low altitudes justfeet from the subject being filmed and in extreme proximity to people and structures; and present the risks associated with vehicles that weigh in the neighborhood of4,0001bs., carrying large amounts ofjetA or otherfuel. Such aircraft must fly to and from the film location. In contrast, a sUAS weighing fewer than 551bs. and powered by batteries eliminates virtually all of that risk given the reduced mass and lack of combustible fuel carried on board. The sUAS is carried, notflown to film sets. The sUAS will carry no passengers or crew and, therefore, will not expose them to the risks associated with manned aircraft flights.

### The operation of small UASs, weighting less than 551bs., conducted in the strict conditions outlined above, will provide an equivalent level of safety supporting the grant ofthe exemptions requested herein. These lightweight aircraft operate at slow speeds, close to the ground, and in a sterile environment and, as a result, are far saferthan conventional operations conducted with turbine helicopters operating in close proximityto the ground and people. 

## Privacy All flights will occur over private or controlled access property with the property owner's prior consent and knowledge. Filming will be of people who have also consented to being filmed or otherwise have agreed to be in the area where filming will take place.
Satisfaction ofthe criteria provided in Section 333 ofthe Reform Act of2012--size, weight, speed, operating capabilities, proximityto airports and populated areas and operation within visual line ofsight and national security - provide more than adequatejustification for the grant ofthe requested exemptions allowing commercial operation ofapplicant's UAS in the motion picture and television industry pursuant to the Manual appended hereto. Sincerely, Tim Sessler

# y

Fr.:IEEFl...V 

# J\LTA

REVISION 8 

## I 08.01.2015

# REVISION HISTORY
REVISION DATE DESCRIPTION A July2015 InitialRelease 

### B August 2015 Revisedsection order. AddedAllowable GrossWeighttable.

ALTA USER MANUAL PART NUMBER: 770·00042

# CONTENTS

2 Revision History 3 Contents 5 

### ALTA OVERVIEW 6 Disclaimer and Warning 7 LIMITATION OF LIABILITY 8 Introduction 9 ·Symbols, Abbreviations and Terminology 12 Dimensions 14 Included Items 15 Specifications 19 Limitations 20 System Diagrams 24 ALTA Mobile App 24 Additional Required Components !not included] 25 

### SETTING UP ALTA 26 Unfolding ALTA 30 Radio Installation 35 Radio Mapping 40 Configuring Top or Bottom Mount 42 Isolator Cartridges 43 Battery Installation 47 Compass Calibration 49 Propellers 51 First Person View (FPVJ 54 FPV On Screen Display Setup 58 Tuning ALTA 61 ALTA Flight Parameters 64 

### OPERATING ALTA 65 Flight Controller Modes 67 Home Switch

1\l.T/\ USER**MM~UAL..**

### 67 Arm Enable Switch 

### 68 Status Light 

### 70 Orientation Lights 

### 71 ALTA App Monitor 72 Data Logging 

### 73 

### NORMAL PROCEDURES 74 Unpacking and Setup 

### 75 Before Starting 

### 77 BeforeTakeoff 

### 79 After Every Flight 

### 80 After Last Flight 

### 81 

### EMERGENCY ROCEDURES 82 Emergency Guidance 

### 83 Pilot Disorientation 

### 84 Unexpected Flight Controller Behavior 

### 85 Battery Exhaustion 

### 86 Status LightWarning Indicator Illuminates 

### 87 Loss of Radio Control Signal 

### 88 Loss of FPV Signal 

### 89 

### PERFORMANCE 90 Weight 

### I Endurance Performance Data 

### 91 Allowable Gross Weight 92 

### MAINTAINING ALTA 93 General Information and Techniques 

### 94 Maintenance Items 

### 96 Replacement of Parts 

### 97 Firmware Update Process 

### 98 

### TROUBLESHOOTING 101 

### APPENDIX 102 Appendix A. DefaultTuning Values 

### 103 Appendix B. Data Logging Fields 1\\!..TA USER MA 45

# DISCLAIMER AND WARNING IMPORTANT- Please read this disclaimerand warning carefully and review the ALTA User Manual priorto flight. Ifyou have any questions, please contact support!afreeflysystems.com priorto using the ALTA. You can review the most current version of this User Manual at www.freeflysystems.com/software-manuals/. By using the ALTA. you acknowledge thatyou have read, understand and agree to this disclaimer. You agree that you are solely responsible foryour conduct while using the ALTA, and forany direct or indirect consequences that may result from its use. You agree to only use the ALTA for proper purposes thatare in accordance with localand airspace rules and regulations.
» ALTA is nota toy and should be operated with extreme care, as improper operation can cause damage to property, serious personal injury ordeath.
» As with any multi-rotor helicopter, the ALTA is a complex and technical machine. Novice pilots should invest sufficient time on a flight simulator and seek training from an experienced pilot priorto operation. The ALTA User Manual and a flight simulator are no substitute fortraining with an experienced pilot, particularlywhen it comes to learning how to safely operate the ALTA. Novice pilots should never flywithout the supervision of an experienced pilot.
>> Always check the ALTA and its components priorto operation.
>> Always maintain a safe distance from the ALTA when in use.
>> Never attempt to touch the ALTA when the propellers are moving.
» Neverfly the ALTA over oraround people, power lines or otheraircraft.
>> Neverfly with any propellers that have visible imperfections ordamage.
» Always keep children and animals a safe distance away from theALTA when in use and when changing configurations. » Always remove the propellers or power ALTA using a low power source when making a change to the configuration of the ALTA to prevent propeller strikes in the event of unintentional motorstarts. '' Always remove the configurationjumperwhen making changes to the configuration of the ALTA.
» Always test the ALTA with the propellers removed to make sure that the motorsare spinning in the correct direction and that the motorassignment is correct with respect to the SYNAPSE flight controller. Ifyou have either of these wrong, the ALTA will be uncontrollable and dangerous.
>> It is your responsibility to perform a full system check of the ALTA priorto every flight.

» It is your responsibility to learn howto safely operate the ALTA and to adhere to allapplicable rules and regulations. » Fly atyour own risk. /U
.. Th

# liMITATION OF liABiliTY IN NO EVENT SHALL FREEFLY BE LIABLE TO BUYER FOR ANY INDIRECT, CONSEQUENTIAL, PUNITIVE, INCIDENTAL, OR SPECIAL DAMAGES, OR ANY DAMAGES WHATSOEVER RESULTING FROM THE USE OFTHE ALTA OR FROM LOSS OF USE, DATA OR PROFITS [HOWEVERCAUSED AND UNDER ANY THEORY OF LIABILITY), EVEN IF FREEFLY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. IN NO EVENT SHALL FREEFLY'S LIABILITY FOR A PRODUCT (WHETHER ASSERTED AS ATORT CLAIM, A CONTRACT CLAIM OR OTHERWISE) EXCEED THE AMOUNTS PAID TO FREEFLY FOR SUCH PRODUCT. NOTWITHSTANDING ANYTHING HEREIN, IN NO EVENT SHALL FREEFLY'S LIABILITY FOR ALL CLAIMS ARISING OUT OF OR RELATING TO THIS AGREEMENT EXCEED THE AMOUNTS PAID BY BUYER TO FREEFLY FOR PRODUCT IN THE LASTTWELVE (12) MONTHS. IN NO EVENT WILL FREEFLY BE LIABLE FOR COSTS OF PROCUREMENT OR SUBSTITUTE GOODS BY BUYER. THE LIMITATIONS SET FORTH HEREIN SHALL APPLY TO ALL LIABILITIES THAT MAYARISE OUT OF THIRD-PARTY CLAIMS AGAINST BUYER. THESE LIMITATIONS SHALL APPLY NOTWITHSTANDING ANY FAILURE OF ESSENTIAL PURPOSE OF ANY LIMITED REMEDY. Freefly shall not be liable for damages or injuries incurred directly or indirectly from the use of the ALTA including. but not limited to, the following situations:

» 

### Failure of operatorto follow proper instructions and safetywarnings found at www.freeflysystems.com.

» 

### Failure of the operatorto follow onboard safetywarnings while using the ALTA. » 

### Failure of the operatorto follow and comply with local rules and regulations.

» 

### Failure of the operatorto inspect the ALTA and its components priorto operation. » 

### Failure of the operatorto properly maintain and/or service the ALTA through an authorized Freefly Service Centerwith genuine ALTA parts.

>> 

### Use of third-party products on theALTA.

>> 

### Use of the ALTA in a physically or mentally impaired capacity.

>> 

### Use of the ALTA without sufficient training.
» 

### Use of the ALTA in unsafe conditions, including but not limited to. bad or severe weather, such as rain, wind, snow, lightning, dust storms, etc., or in areas of magnetic or radio interference, such as power stations, broadcasting and cell phone towers, government prohibited airspace, etc.

» 

### Improperoperation, misjudgment or risky behaviorwhile using the ALTA.

» 

### Infringement of third party data, audio orvideo rights recorded when using the ALTA. 7

# INTRODUCTION
ALTA is a professional multi-rotoraircraft designed for demanding cinematic, television, and photographic applications. Within five minutes, ALTA can unfold from its carrying case to flying some of the most capable cinema cameras on eitherthe top or bottom of the aircraft. The SYNAPSE flight controller is purpose-built for cinema use, yielding precise, yet smooth control. This User Manual has been prepared to describe the complete operation of airframe and flight control systems, and the normal maintenance of those items. Do not operate ALTA without reading and understanding this manual. This manual is not a substitute for adequate flight training. Training requirements can vary when operating in different countries or under different flight conditions. Always consult local regulations before flying ALTA. In areas where there are no flight training requirements, it is the sole determination of the pilot-in-command as to whether he or she has the appropriate level of training or experience for a given flight. Always set and adhere to personal minimums and fly within your own capabilities.

3

# SYMBOLS, ABBREVIATIONS AND TERMINOLOGY WARNINGS, CAUTIONS AND NOTES Throughout the manual, warnings, cautions and notes are used to highlightvarious important procedures. These are defined as follows:



### WARNING Warningsare usedto highlightprocedureswhich. if notstrictlyobserved. may result in personal injuryorloss of life. 

# CD

CAUTION Cautionsare usedto highlight procedureswhich. if notstrictlyobserved. maycause damageto equipment 

### NOTE Notesare usedto highlightspecific operating conditionsorsteps ofa procedure.



# METEOROlOGICAl TERMINOlOGY

ISA lllt:l IICill\.11 Standard Atmosphere in which: The air is a dry, perfect gas; The temperature at sea level is 15° Celsius (59° Fahrenheit); The pressure at sea level is 1013.2 mbar (29.92 inches Hg); The temperature gradient from sea level

. to the altitude atwhich the temperature is j-56.5°C (-69.7°F) is -0.00198°C (-0.003564°F)

. perfoot and zero above that altitude**~-"** 

# IMean Sea Level

# i~ the average height above MSL 

## Ithe surface of the sea for all stages of tide AGL Above Ground Level is the height of the aircraft above the ground OAT Outside Air Temperature is the free air static 1temperature surrounding the aircraft



### ALTA USER**\iM~** 9**"'""'''""""""'"''--··-------··-·······-·-·--·---··l-------·------·---·--·-·---·----·-·----~----··-·--·-----·-·-**

## ...................-·-· PressureAltitude Altitude measured from standard sea level pressure (29.92 in. Hhg) by a pressure or barometric altimeter It is the indicated pressure altitude correctedfor

1

### position and instrumenterror. In this Manual.**~ltimeter** 

### instrument errors are assumed to be zero 

# POWER TERMINOLOGY -.........,.---------------- ximum Continuous The maximum typical power output of a

....

### e~--~~-tpu_t.....- .......................--..--+m ......

o __

### t~.~-~.~~ra**g~~-?ver t~~-~nti** **'::.~~i~~~**...---·-----· ..··----..1 

### Maximum Instantaneous The maximum power output ofa motorduring

### ~:.~~**!:?~~-~_gutp~_!___** ·-·

### ~~_phas:.?~!~~~~~~~~-:-~he~-~~~_:~~eri~L........__ 

# FLIGHT AND POWERPLANT CONTROL ,.....--.- 

### Throttle Stick 

# I The radio controllerstick responsible for 

## Ithrottle control. For Mode 

### 2controllers, this 1 

### is thevertical movement ofthe left control 

# I stick. For Mode 1 

### controllers, this is the 

### i vertical movement ofthe right control stick Yaw Stick 

# IThe radio controller stick responsible for yaw (also called pan) control

# ~ode 2aod Mode 1oontcollecs, this is the al movement ofthe left control stick Pitch Stick , The radio controllerstick responsible for 

# I pitch control. For Mode 

### 2controllers, this is thevertical movement ofthe right stick For Mode 1

### controllers, this is the vertical movement ofthe left stick

·--- 

### Roll Stick

···- 

### Pitch/Roll Stick or Cyclic Stick 

# WEIGHT AND BALANCE

Maximum Takeoff (MTOW) Standard Empty Weight
JU
.. TJ\ USEP MANUA.L 

### The radio controllerstick responsible for roll controL For Mode 2 

### and Mode 1

### controllers,this is the lateral movement ofthe right control stick The radio control stick responsible for both pitch and roll control For Mode 2

### controllers, this is the right stick

Maximum allowable weight at liftoff ofa standard aircraft
0

### --···

### ··-----~---·--**Tst~~da;:d;~pty** weight plus optional equipment _s_ic

## ~~p~y_-~_:ight**·····!············-·········-······-··············-~················-·········-·····** -···----····· ___ 

# IDifference between take off weight 

# I and basic emptyw_e...::ig:....h_t

### --~-----------1 1 

### Useful load less batter...::...._yw_e....;tg:::...h_t
_______ __, 

# GENERAl TERMINOLOGY

IU
.. TA 

### I U 

### Small Unmanned Aircraft System includes all components of the system required for the flight of an unmanned aircraft, including the radio controller. link and other related

11

# DIMENSIONS 1533 (60.4) 1064

UNFOLDED PLAN VIEW WITH BOOM NUMBERING SCHEME MM NCH)

UNFOLDED SIDE VIEW WITH LANDING GEAR



### 1126 (44.3) UNFOLDED FRONT VIEW WITHOUT LANDING GEAR iiNC i

ALTA USER**r•1M~** Al 

### 178 (7.0)220 (8.7)

FOLDED SIDE VIEW Wv1 !!NOll



### 550 (21.7)

FOLDED PLAN VIEW MM:


### 515 (20.3)



# ~~·~)

**~**

**~** 205 (8.1) FOLDED FRONT VIEW '-1'·-1 N 1\LTA 

### i USER \JAL 3

# INCLUDED ITEMS

1. Case 2.ALTA 3. 

### Case Lid Foam 4. 

### Isolator Cartridges a. (6) 

### Teal (Installed) b.(6)8lack c.(6) 

### Red 5. Documentation 6.

**USB~Futaba** 

### PowerCable 7. 

### Inverted Landing Gear 8. 

### AntennaTubes 9. 

### FPV Cables a. 

### Skyzone/BOSCAM b. 

### lmmersionRC/Fat Shark c. Ready Made RC

ALTA 

### ! USER

**MM~** U 10. 

### Fasteners a. (4) M3 x 

### 8Socket Head for

Toad In The Hole Male Adapter b. 

### (2) M3 x 8 

### Flat Head for Accessory

Mount 

### 11. Toad In The Hole Male Adapter 12. 

### 5.5mmWrench 

### 13. Hex Drivers (1.5mm, 2.0mm, 2.5mml 14. 

### Accessory Mount 

### 15. Double-Sided Tape

i 4D 

# SPECIFICATIONS DIMENSIONS Unfolded Diameter (does not include Props) Folded Diameter (does not include Props) Height to base of Toad In The Hole (TITHl 

# POWERPlANT

Number of Motors MotorType Motor Model Motor Max Continuous Power Output Motor Max Instantaneous Peak Power Output Maximum RPM (flat rated) Equivalent Kv Electronic Speed Controller 

# PROPEllERS

Material Propeller Orientation PropellerType 

# BATTERY

Nominal BatteryVoltage Maximum Battery Size Maximum Battery Quantity Battery Connectors Required Minimum Battery Discharge Rating

1\LTI\ 

### I USER MANUAL 1126 mm 550 mm 220 mm



### 6 Direct Drive 3-Phase PMAC Outrunner F45 350W 950W 6300 RPM 384 Freefly Silent-Drive Sine Wave ESC

Carbon fiber with balsa core (3) CW and (3) CCW Props 18 x 6 Folding

6S 

## I 22.2V 240 x 180 x 80 m m 2 Battery Packs (Parallel) 2x EC5 (Parallel) Dual Pack: 200A 

### I 400A Peak Single Pack: 300A 

### I 600A Peak

15

# WEIGHTS

# i:·Mi~fhi'g!r,ryi~$f~ttif4r;~~~¥E:. Maximum Useful Load 2

## i:·~~,¥}**~~~~~$'~~;~dj·~~ 'i~l·~·~··**  Typical Standard EmptyWeight: 

# SPECIFIC LOADINGS
.

# ·;rr~b:i4a@P,,W5,\f1,~~~~~h~k·· Thrust Ratio at MTOW1

1At sea level, ISA. 2Top and bottom mount. Includes batteries. 3 Payload weight top or bottom mount. Batteryweight not included and mounted ·· on opposite side from payload. 4 At MTOW, sea level, ISA.

J\l
... TA 

### ! USER fvi!\WJ/\L

... ·---·-·----------··-- ----- --- -- 

# ;**f~~·~Q\[~(J,p~i{f[~** 9.1 kg 

### [20.0 lbs)

. .fJqn:-q;:;:_**'·.~,~· .:.r·.:,·:\<H~**  

### lJ5.0Jbsbi ,.<L.>,;. , ·,,.;;:,,**~:">·** 4.5 kg (

### 10.0 lbs)



### 1.85: 1

## c 

# FLIGHT CONTROLLER Model Name Flight Modes Supported Inputs: Supported Radios Supported Radio Controller Telemetry Systems Minimum Radio Controller Channels Required Supported GNSS Supported SBAS First-PersonView System Video Formats Supported First-Person View Transmitters Supported First-Person View Cameras First-Person View OSD Telemetry InstalledTransceivers Data Logging Rate 

# LIGHTING AND INDICATION Status Light Orientation Lights Orientation Light Color Options Accessory Lighting Port Accessory Lighting Port Location 

# ISOLATION SYSTEM Vibration Isolation System Option 1: Soft

## I Light Payloads Option 2: Medium 

## I Medium Payloads Option 3: Stiff

## I Heavy Payloads

ALTA I USER MANUAL Freefly SYNAPSE flight controller Manual, Height Mode, Position Mode, Return-To-Home, Autoland DSMX, DSM2, S.Bus, S.Bus2, PPM, FPV SO Futaba S.Bus 

### & S.Bus2, DSMX, DSM2 (SpektrumiJR). PPM, PPM Invert, PPM Graupner Futaba 

## wl built-in voltage sense port 

### 5 GPS, GLONASS, Galileo OZSS,WAAS,EGNOS,MSAS NTSC, PAL Skyzone, BOSCAM, lmmersionRC, Fat Shark Ready Made RC UserConfigurable Wi-Fi 25Hz

1Watt Red, 1Watt White LED 3-Watt RGB LED Red, Yellow, Blue, Green, White 12VDC Outboard on Boom Ends

Silicone 0-Rings Red 0-Rings Teal 0-Rings Black 0-Rings

17

# PAYLOAD MOUNTING

· Mounting System



### F·Pv Transmitter Mount

1\li..TA USEF1 Mi\NUAL FreeflyToad In The Hole (TITH) Quick Release Boom #5

18

# LIMITATIONS @] NOTE

· These limitations are advisory in nat'ure and donotextend or

restrict limitationsprovidedby localaircraft operationalregulation. 

# POWERPlANT LIMITATIONS

ENVIRONMENTAl liMITATIONS• WEIGHTliMITS

Maximum Payload · . 6.8 kg (15.0 lbsl 

# FLIGHT CONTROLLER liMITS

Maximum Yaw Rate 150° 

### I second

5 Must additionaUy observe battery temperature ratings.

19

# SYSTEM DIAGRAMS sUAS OVERVIEW



# \Ttl; 

# D

HO VIdeo Lil'lk, Preview Monitor•

'NOT INCLUDED

ALTA Radio ControHer"' FPV Rx. Preview Monitor•

2.4GHz MOVI ControHe.r'" I

## ' 

# 0

ALTA App

## FLIGHT CONTROL



# ®

®··
.. ···...@spektrum Receiver D:SMX, D.SM 2



### .....@ Futaba Receiver or Generic Receiver • S.BUS, S.BUS. 2or PPtJ

PWM CAN

## POWER SYSTEM

0

/U.TI\ USER**:V1P.,f~Uf>.L** SYNAPSE Flight Controller

EC5 Connector 0



### 22

## FPV EQUIPMENT

FPVTx (not included!



# • FPV Tx Cable FPV Camera {not included!

FPV CameraCable '

SYNAPSE Flight Controller

# ALTA MOBILE APP
The ALTA App is used to configure ALTA parameters and to monitorALTA's status during flight To download the ALTA App, search for
..FreeflyALTA
.. in the App Store or on Google PlayTM. Parameters may only be adjusted while ALTA is on the ground and disarmed. In addition, radio mapping parameters can only be adjusted when the Configuration Jumper is removed. For more information on radio mapping, see the Radio Mapping section of this manual. When making configuration changes with the ALTA App, wait three seconds for the app to automaticallysave changes to ALTA before shutting off the app orthe mobile device. The ALTA App will be actively maintained, and additional functionality may be added over time. For information on individual app updates, referto the App release notes. 

# ADO NAL REQUIRED COMPON NTS (NOT INCLUDED) RADIO CONTROllER ALTA supports avariety of radio controllers as outlined in the Flight Controller Specifications. A minimum of five (5] channels are required, with four (4] used for flight control, and the remaining one (1) used for mode selection. However, a radio controllerwith at least 9 channels is highly recommended to make use of Velocity and Climb Rate Clamps, Return-To-Home, and Arm Enable functions. It is recommended to use a radio controllerwith a three way switch for the Mode, Home and Arm Enable functions, and a knob or slider input for both the Velocity and Climb Rate Clamp functions. 

# FLIGHT BATTERY ALTA can accommodate avariety of Lithium Polymer (LiPol flight battery packs. Battery packs must be 

### 65, having a nominalvoltage of 22.2 V. When running two packs, each pack must have a continuous discharge rating of 200 amps or greater, and a peak discharge rating of400 amps or greater. When running a single pack, the pack must have a continuous discharge rating of 300 amps or greater, and a peak discharge rating of 600 amps or greater. For additional information on expected flight durations, referto the Performance Section of the manual.

1\LT/\ US[f{**t//\c~UAL** 

### 24

### 25

# UNFOLDING ALTA
ALTA features swan-neck booms that fold into a compact size for travel. They are secured in an open position for flight using overcenter latches. 

# TO UNFOlD AlTA 1. Remove ALTA from case 2. Fold down all six boom retention clips

3. Open ALTA booms

26

### 4. Snap shut all six boom Latches until they "click"

5. Visually confirm all Latches are seated properly

6. Remove prop protectors



### .,..,. -f.. I

# TO FOLD ALTA 1. Securepropswith prop protectors

2. Unlatch all six booms

3. Close ALTA booms

1\!..TA USER UA.L 

### 234. Fold up all six boom retention clips to secure booms

29

# RADIO INSTALLATION RADIO CONTROLLER RECEIVER ALTA requires the installation of a radio control system. S.Bus, S.Bus2, DSM2, DSMX, and PPM (including inverted PPM and Graupner) receiver types are supported. Additionally, ALTA supports radio receiver diversity using S.Bus, S.Bus2, DSM2 and DSMX receivers. This means two receivers may be installed, and the SYNAPSE flight controllerwill automatically use the receiver with the best signal quality. Using two receivers requires the radio controllerto be bound to both receivers. Refer to the instructions provided with your radio controllerto complete the binding process. For Spektrum/JR radios, a receiver is required to bind the satellites to a radio controller. 1. Locate the noted closeout panels used for receiver installation [between booms 1 & 

### 2and 5 & 

### 6]

2. Remove side closeout panel with radio wires using a 1.5mm hex driver

JU
.. TA 

### 30

### 3. Identify required wire

S.BUS/S.BUS2 

### PPM

4. Feed wire through grommet



### 5. Replace side closeout panel

# I

DSM2/DSMX



### 6. Plug in receiver/satellite to wire perthe radio manufacturer's installation instructions

31

### 7. Attach receiver/satellite to exterior using the provided double sided tape a. Futaba & 

### PPM

b. Spektrum/JR

8. For Futaba receivers, feed antenna wires into antenna tubes and zip tie to noted mounting Location

9. Repeat 1-7on opposite side for dual receivers [only applies to Futaba and Spektrum/JR}

/U
.. TA 

### 32

# RECOMMENDED RECEIVER PlACEMENT
FUTABA Mount Futaba receivers 15mm from the wiring grommet for easy S.Bus wire installation and removal (See Radio Controller Receiver step 7al.

SPEKTRUM/JR SATELLITES Mount satellites so antennae are blocked by the airframe as little as possible. If using two receivers, place them at a 90° angle to each other. [See Radio Controller Receiver 7bl 

# VOlTAGE TElEMETRY ALTA supports batteryvoltage telemetry on Futaba radios using a receiver that supports an externalvoltage sensor, such as the R7008SB. To set up ALTA with voltage telemetryfor Futaba radios: 1. Locate the radio receiver wire bundle behind the closeout panel between booms 1and 2.

2. Identifythevoltage sense wire and connector in the bundle. It is the small, 2-pin white connector attached to a black and red twisted wire pair. 

## NOTE This wire is alreadyconnected to an in-linefuse. Soldering a fuse into this wire is not required.

1\l.T/\ USE.R**M~UAL** 

### 33

### 3. Feed thevoltage sense wires through the grommet on the closeout panel.

4. Connect thewhite connectorto the externalvoltage sense port on the Futaba receiver.

1\ll...T/\

# RADIO MAPPING
ALTA can be used with avariety ofradio controllers. Different radio controllers can map functions to different channels. so properly mapping controller channels to ALTA functions is an important step before flying. Radio mapping is performed using the ALTAApp. This section describes the steps required to complete radio mapping. Ifyou are uncertain aboutyour channelmapping, obtain assistancefrom an experienced pilot orfrom Freefly CustomerSupport. 

# CONFIGURATION JUMPER Asmalljumperis used to prevent motor operation while configuring radio mapping parameters.With thejumperin place. the motors may operate, but channel mapping is prevented. With thejumperremoved, channel mapping may take place, but motor operation will be prevented. To remove or replace the Configuration Jumper: 1. Locate the closeout panelwhere thejumperis installed

2. Remove the side closeout panelwith thejumperusing a 1.5mm hex driver

ALTA USEFl [v\1\N 

### 35

### 3. 

### Remove or replace thejumper

4. Reattach the closeout panel 

# MAPPING RADIO CHANNELS USING ALTA APP Channel mapping is accomplished with the ALTAApp. Prior to rnapping channels, ensureyour radio controller and receivers are properly installed. Referto the Radio Installation section ofthis manual and your Radio Controller's documentation. 1. Remove the Configuration Jumper 

# & WARNING Always ensure the Configuration Jumperis removed priorto adjusting radio settings to prevent unintentional motorstarts.


### 2. 

### PowerALTA using a battery pack or by plugging in the included USB-Futaba cable into an available port on a Futaba receiver 3. Open the ALTA App and connect to ALTA 4. 

### Open Configurations -7

### Radio 5. 

### Open each ALTA function and adjust the channelto the desired channel number, and use the toggle to invert the orientation ofa control 6. 

### Ensure properchannel selection by moving the control input on the radio controllerand verifying the displayed graph in the ALTAApp responds correctly 

# & WARNING Ensure proper channel mapping priorto flight. Incorrect mapping can lead to immediate loss of control.ONCE CHANNELS ARE MAPPED 

### 7. Remove the battery or USB-Futaba cable from ALTA 

### 8. Replace the Configuration Jumper 

# FUNCTION DESCRIPTIONS The following functions can be mapped to radio controller channels. These are found in the Radio section of the Configurations menu in the ALTA App. Each function is also represented by a chart that responds to control input allowing for quick verification of mapping settings. 

### CONTROLLER Use this to select the appropriate receiver. The following guide is compiled for convenience. For complete specifications and which mode willwork with your receiver, refer to your radio controller or receiver manuals. » OSM2/0SMX are typically used by Spektrum and some JR controllers. » SBUS is typically used by Futaba controllers. » PPM is a generic standard used by many controllers and receivers. » PPM Invert isthe same as PPM except channel inputs are reversed. » PPM Graupner interprets Graupner radio PPM inputs. 

### PITCH/ROLL/YAW/THROTTLE The Pitch, Roll, Yaw and Throttle controls are the basic flight controls and are mapped to the two radio controller sticks. 

### MODE The required Mode Switch selects between the three different flight modes: Manual, Height and Position. Athree-position switch is recommended to selectthe three different modes. However, atwo-position switch may be used, butwill only allow for selecting between Manual Mode and (depending on radio controller mixes) either Position Mode or Height Mode 

### HOME SWITCH The optional Home Switch selects between the different Return-To-Home !RTHl functions. A three-position switch is required forthe Home Switch functions to select between the Home Set, RTH Off, and RTH Enable functions. 

### VELOCITY AND CLIMB RATE CLAMP Velocity and Climb Rate Clamps set the maximum ground speed orvertical speed 1\l.T/\ USEF! AN 

### 37available in Height Mode and Position Mode. The clamps can be adjusted mid-flight. An analog dial or slider is recommended for the Velocity and Climb Rate Clamp Functions. 

### ARM ENABLE Arm Enable is an optional safety feature that inhibits arming while on the ground, ordisarming while in the air based on the position of the switch. When not mapped, ALTA may be armed or disarmed at any time following normal arming and disarming procedures. See the Arm Enable Switch section ofthis manual under Operating ALTA for more information on switch behavior. A minimumtwo-position switch is required to make use ofArm Enable. Athree position switch may be used to temporarily turn offthe feature as both arm and disarm are allowed in the switch's center position. 

### All FUNCTIONS The meaning ofthe direction or position of the indicator is described in the following table for all mappable parameters. The top and right positions on the radio mapping indicators represent 2000ps, and the bottom and left positions represent 

### 1 OOOps, and the middle position represents 1500ps.

• Bottom • LowThrottle**--~----·~------·--------------------------** •Top ·• Position Mode Height • Manual Home Velocity Clamp



### ALTI\ USER**MM~UAL** 38Climb Rate Top Fast Clamp Bottom Slow Top Arm Enable 

## I Disarm Disable Arm Enable '.,, Switch . Middle •Arm Enable 

## I Disarm Enable


# TYPICAL CHANNEL MAPPINGS The following are channel mapping configurations as set in the ALTA App. These are recommendations only. Depending on exact radio models, these may help as an initial configuration. However, it is up to the pilot setting up ALTA forflight to determine ifthese settings are appropriate. 

### FUTABA 

### 14SGI8FG

SPEKTRUM DX18

Climb Rate Clall"lp
1\B..T/\ USER MMLAL 

### 39

# CONFIGURING TOP OR BOTTOM MOUNT

A M6VI can be attached to eitherthe top or bottom ofALTA via the FreeflyToad In The Hole [TITH) quick release. ALTA comes pre-configured for bottom mounting a M6VI. 

# BOTTOM MOUNT 1. Prepare your M6VI for bottom-mountflight [see MoVI manual) 

### a. Attach landing gear 

### b. InstallTITH receiver on M6VI 

### 2. Connect MoVI to bottom Toad



# ADDING A TITH TOP MOUNT CD CAUTION Top mounting is not supported by the MoVI M10. 

### 1. Prepare your M6VI fortop-mount flight 

### a. Remove landing gear (see M6VI manual) 

### b. InstallTITH receiver on MoVI [see MoVI manual)

1\LT/\ 

### 40

### 2. Connect and secure the supplied inverted landing gearto the bottom Toad 

# T

3. Remove the four flat-head M3x6 boltsthat securethetop handle

4. Attach the supplied Toad to the top plate using thefour M3x8 bolts provided

5. Connect 

### MoVI to thetop Toad



# • ALTA U EF!**t~I\N** 

### AL 

### 41

# ISOLATOR CARTRIDGES
Different Isolator Cartridges can be used to fine tune vibration damping performance for different payload weights. Three isolation cartridge styles are provided with ALTA with the red for light payloads, tealfor medium payloads, and black for heavy payloads. Flight testing may be required to determine the optimal isolatorfor a given setup.

To install. placethe cartridges between thetop chassis plate and the batteryplate. Ensure they are engaged in the trackfeatures and are parallelwith the chassis and batteryplate. Push inwardsfully untilthey click, indicating the cartridges are locked in place. Pull outwards on the cartridge to ensure it is locked in place. 

# CD CAUTION Always ensure isolator cartridgesare locked in place beforeflying ALTA. Isolatorcartridges that are not locked can cause the payload to loosen and changeALTA's fundamentalflying characteristics.



### To remove, pinch the cartridge latch to unlock it from the batteryand chassis plate. Simultaneousty pullthe battery and chassis plate apartwhile pulling the cartridge outward
.

.IU.TA 

### i USER t..t;ANUAL 

### 42

# BATTERY INSTALLATION

Batteries may be installed on eitherthe top or bottom of an ALTA and are always mounted opposite of the payload Location. In both Locations, battery pack(s) are secured with silicone straps tensioned across the pack[sl. The straps are secured using studs Located on eitherside ofthe pack(s].

J\LT/\ 

# & WARNING Always secure battery pack(s) with both battery retention straps. 

### Q) 

## CAUTION When installing two battery packs, ensure they are ata similar state of charge (a full pack voltage difference less than 0.5Vl. Plugging in two dissimilarlycharged packs could cause one pack to rapidly discharge into the other and damage the batteries or cause a battery fire. 

### Q) 

## CAUTION When using two battery packs, only use packs thatare identical in their capacityand ata similarcondition. Using a pack with anotherthat is larger, or has many more cycles, can damage the battery packs. 

### Q) 

## CAUTION Always refer to and follow the battery manufacturer's instructions, recommendations and guidelines for battery handling. 

### Q) 

## CAUTION When plugging in battery pack(s), ensure the polarity is correct. Positive is indicated by a red power lead, and negative/ground is indicated by a black power lead. Reversing polaritywill damageALTA's electronics.

UStR**IIAM~UAL** 

### 43

# BOTTOM MOUNT 1. Place battery retention strap studs at the appropriate height for battery pack(s)



### 2. Adjust batterystops to fit battery pack(s)



### 3. Attach 

### the single-hole end of the battery retention straps to the studs

1\l.TA

### 4. Place battery pack(sl on battery tray below handle

5. Tension and secure battery retention straps

J\ll..TA USER 

### MANUAL 

### 45

# TOP MOUNT CD CAUTION Always completely secure the inverted landing gear by closing the TITH quick release lever. Inverted landing gearthat are not completely attached can rotate and unplug battery leads.



### 1. Adjust battery stops to fit battery pack[sl

2. Attach the single-hole end ofthe battery retention strap to a stud on the landing gear

3. Place battery packs[sl in landing gear 4. Tension and secure battery retention straps

AILTA 46

# COMPASS CALIBRATION

For best results, it is recommended to perform manual compass calibrations away from ferrous objects, buildings and vehicles. In addition, concrete can contain steel rebarwhich may influence compass calibrations. 

# & WARNING VerifyALTA is disarmed priorto performing a compass calibration. To ensure ALTA does not arm, set theArm Enable Switch (if available) to disable, and remove the Configuration Jumper.

### ~ 

## NOTE It is recommended to use two people to perform the compass calibration as it requires handling and rotating ALTA. Perform calibration without a payload attached.

### ~ 

## NOTE Ensure a microSO card is installed in the GPS/compass module prior to performing compass calibration.



### TO PERFORM A COMPASS CALIBRATION: 1. Secure a battery onto ALTA 2. Plug in the battery 3. Open the ALTA app 4. Select Configurations 

### --7 More 

### --7 Compass 

### 5. UnderCalibration, select Start Manual 6. Followthe on-screen instructions

1\l.T/\

# AUTOMATIC COMPASS CAliBRATION Automatic Compass Calibration will use compass readings over time to resolve an accurate compass calibration. Manual calibration is recommended when moving to a new location and an accurate compass calibration is needed immediatelyfor using position mode. In the ALTA App, select Configurations 

### --7 More 

### --7 Compass. Change the Auto Calibration setting to On.

ALTA US R**\'!!\~~UfU**...

# PROPElLERS

The folding propellers include two carbon fiber propeller blades attached to prop hubs, which are themselves secured to the motors. The propellers installed on booms 1, 3 and 5spin clockwise when viewed from above ALTA, and the propellers installed on booms 2, 4 and 6spin counterclockwise when viewed from above. For information on propeller installation and maintenance, referto the Maintenance section of this manual.

1\ILTI\ USER M.£\N AL 1.9

# CHECKING PROP BOLT TIGHTNESS

Over time, the boltsthat hold the propeller blades to the prop hub can loosen due to vibration. To check prop bolttightness, twist the prop about its length. Ifthere is free play, the prop bolt is too loose. Use the provided 2.5mm hex driver and wrench to tighten the bolt and nut that secure the prop bladejustenough to remove the play. 

# <D CAUTION Do not overtighten, orthe prop mayfail to unfold completely during motor startup, leading to excessive vibration.

ALTA USER 

### UAL 50

# FIRST PERSON VIEW (FPV]

ALTA and SYNAPSE can power avariety of first person view [FPV) cameras and transmitters, as well as add informational on-screen display [OSD) elements to aid in FPV flying. Two FPV transmitter cables are included. The cable with two connectors on one of the ends will run lmmersionRC and Fat Shark systems, and the cable with a single connector on the end will run Boscam and SkyZone systems. A single camera cable is provided, and is configured to run a Ready Made RC camera. Camera and transmitter cables follow this wiring scheme:

Black Yellow · Ground •Video signal ·························· ······· 

## & WARNING It is the responsibility of the pilot to see and avoid other aircraft, people or obstacles. Always maintain direct Line of sight with ALTA during flight, use visual observers as operations require, and follow Local regulations regarding see-and-avoid requirements.


# FPV SYSTEM INSTALLATION CAMERA 1. Mount FPV camera on the FPV mount on the front underside of ALTA or other preferred location.

J\1\
..1"1\**USEF~ MA!~Ui•J.**  

### 51

### 2. Locate the FPV camera cable included in theALTA package. 3. Remove the front closeout panelwith a 1.5 mm hex driver.

4. Pass the FPV cable through the grommet, and connect to the mating FPV camera lead inside ALTA. Connect the other end directly to the camera.

5. Replace front closeout panel.

/U
.. TJ'\ 

### ! USER**VM~Ufi.L** 

### 52

### TRANSMITTER 

### 1. Mount FPV transmitteron the provided carbon fiber accessorymount plate.



### 2. Attach Accessory Mount to boom 5with M3x8 flathead bolts.



### 3. locatethe appropriate FPVtransmittercable.The following cablesare included: 

### a. lmmersionRC/Fat Shark (cable with two connectors) 

### b. Boscam/SkyZone (cable with one connector! 

### 4. Remove the side closeout panelwith the FPV transmitter lead using the 1.5mm hex driver.

IU
..Ti\ 

### USER

### 5. Pass transmitter cable through the underside of the hinge, and connect to the FPV transmitterlead.



### 6. Replace side closeout panel.



### 7. Zip tie the FPV transmitter lead to the boom cable bundle for strain relief. 

# FPV ON SCREEN DISPLAY SETUP A number of properties and components can be adjusted or added to the FPV On Screen Display [OSD) using theALTA App. 

### PROPERTIES
Video Mode Units Horizontal Offset Vertical Offset Borders



### ALTA USER . PAL/ NTSC • FPV video camera format**lr,n.peria~** • Changes the displayed units 0, 15, 30, 45, 60 • Centers the OSD components horizontally

.....d
................ Centers the OSD**componentsverti~ally** ... . Adds gaps between OSD components and the edges of the display, measured in characterwidths and heights

. .,., ...._._,,,.,........ 

### 54

### TEXT COMPONENTS The following components are displayed as text items, and can be configured to display as big or smallletters, or no letters effectivelyturning offthe display.

Vario Heading Distance Ground Speed Battery Time GPS GPS Accuracy Lat/Long Displays the height of ALTA from its starting point in meters orfeet

,,............,........ l Displays the vertical speed of ALTA in

### IT)e~e_r~.**pe.~ :econ~** **~-r** fe.e.tp:r minute
. · Displays the magnetic heading of.ALTA

and is measured in degrees



### . . . • Displays the distance ALTA is from.the • home position in meters or feet



## . . . . . . Displays the ground speed of ALTA in meters persecond or knots • Displays the**volt~~~.**of**~he._fli9.~~ .batterypa~k**  : Displays the time of the flight in minutes and

### secon~s

. Displays the horizontal accuracy ofthe



# ..**~P.S.** si9.n.ati.n. IT)eters orfeet
· Displays the GPS derived latitude and**_lo~gitude coordi~ate.s**  of ALTA
....................



### ARTIFICIAL HORIZON COMPONI:NTS The artificial horizon displays pitch and roll information in the center of the FPV display in the form of a horizon line and accompanying elements
.

Artificial Horizon • Basic

USER MANUAL . Adds a horizon line that moves up and down •as ALTA

### ch~n~~~ pitch, and mlls as ALTA rolls

Adds pitch marks at intervals defined the Pitch Interval



### 55

### Roll Marker

Pitch and Roll Scaling Pitch and Intervals Basic ·Adds small dash marks on the left and right side ofthe artificial horizon that indicate changes in roll •Adds marksto include a full horizon line •Adds small marks on either side •ofthe artificial horizon ladderthat •roll with ALTA roll movements •Allows for scaling ofthe artificial 10, 20, 30, 40
. horizon markings to compensate for •FPV cameras of different field views

Sets the numberof degrees 10, 20, 30, 40 between pitch markings when the artificial horizon ladderis used OTHER COMPONENTS 

### The following components can be turned on oroff. There are no otheroptions associated with these components.

Compass Arrow
. Displays an arrowthatpoints**i~ ~he_dir~ctio~**  

### of**~?rth** 

### .. Home Arrow
Varia Bar

Forward Velocity

Sideslip

A!L.T/\ 

### •_Displays an arrow that points in the •direction ofthe home point

. Displays a baron the right ofthe screen that scales •with vertical speed. The barwill increase in length •up to indicate a climb, ordown to indicate a descent •Displays a baron the left ofthe screen that scales •with the forward/rearward velocity component •The barwill extend up to indicate forward velocity, •ordown to indicate a rearward velocity •Displays a baron the bottom ofthe screen that

scaleswith the side-to-sidevelocity component The barwill extend left to indicate leftward velocity, or right to indicate rightward velocity

.......... '' ......................................



### 56

# TUNING ALTA

ALTA comes pre-tuned for awide variety of payloads and flying conditions. Generally, additionaltuning is not required to flyALTA, and additionaltuning willonly need to take place if more customization of controlfeel is desired. Default tuning values are included in Appendix A, Default Tuning Values. Parameters fall into three categories- Attitude, Height and Position. Typically, tuning should take place in that order, ensuring Attitude parameters are set first, then moving to Height parameters, and finally Position parameters. Tuning should take place as an iterative process by making only small changes, test flying the changes, observing the new flight behaviors, and repeating. Only tune a single parameter ata time during this process for best results. To tune ALTA, open the ALTA App and select**Configurations~** Aircraft Dynamics. 

## & WARNING Tuning can change the fundamental flying characteristicsofALTA. It is possible for ALTA to become unstable oreven uncontrollable if values are settoo high ortoo low. Only change tuning parameters in small increments and with caution. Always test new tuning configurations in open areas away from people orobstacles. 

# 19 NOTE TheALTAApp only allows tuning while ALTA is on the ground. 

# ATTITUDE TUNING Attitude tuning adjusts howATLA responds to control inputs and disturbances. Attitude directly controls responsiveness and changes ALTA's fundamental flying behaviors. Attitude must be tuned acceptably before tuning height or position parameters. When tuning attitude, the primary parameterto change is Stiffness followed by Strength. 

### STIFFNESS Stiffness is adjusted for pitch and roll simultaneously, and yaw independently. It changes how stable ALTA is in these axes and is the primaryvariable to adjust when 1\ILT/\ 58tuning. When tuning Stiffness first, or making large stiffness changes, Hold Strength should be set to a low, non-zerovalue. Higher Stiffness values give more responsive control. Values that are too high can cause instability or oscillation. 

## & WARNING Excessively high stiffness values can cause ALTA to become unstable and difficult or even impossible to control. Lower Stiffness values give less responsive control. Values that are too low can cause avague or disconnected control response.

HOLD STRENGTH Hold Strength controls how much ALTA will try to maintain a pitch/roll angle command, ora yaw heading command. It is adjusted for pitch and roll simultaneously, and yaw independently. A higher Hold Strength setting will give a faster control response and a more responsive feel. However, values that are too high can cause ALTA to overshoot pitch or roll commands, or even cause instability. 

## & WARNING Excessively high strength values case cause ALTA to become unstable and difficult or even impossible to control. Typically, this setting will not need to be changed from the defaultvalue, and only then in small increments. 

# __________"

# ____________ HEIGHT TUNING Tuning height parameters will adjust the control feel of ALTA"s height control while in Height and Position modes !foradditional information on flight modes, see the Flight Controller Modes section of this manual). Tune height parameters only after satisfactorilytuning attitude parameters. Similarto attitude tuning, stiffness is the primary tuning parameter. If switching to Height Mode causes ALTA to fly in an unstable manner, switch back to Manual Mode, land and try reducing the values of height tuning gains if they are very high, or increasing them ifthey are very low. VERTICAL STIFFNESS Vertical Stiffness Gain modifies the vertical stability of the ALTA in Height mode. .1\l.T/\ 

### 59

### Decrease this value ifALTA experiencesvertical oscillation orvibration. Increase this value ifALTA is sluggish while accelerating to a desired climb ordescent rate in Height mode. HOLD STRENGTH 

### Hold Strength Gain tunes how much ALTAwill attempt to stay on a desired altitude in Height Hold mode only. Ahighervalue will result in height being held more precisely. Too high of a value can causeALTA to overreactto winds, gusts or turbulent air. CLIMB RATE STRENGTH 

### Climb Rate Strength adjusts how much ALTA will attempt to maintain a desired climb rate. Highervalues will result in a more direct feel between pilot climb or descent commands and ALTA flying behavior. However, values that are too high may cause instability. 

# POSITION TUNING Tuning position parameterswill adjust howwell ALTA maintains a desired ground speed ora position overthe ground. Similarto attitude and height tuning, the primary value to adjust is stiffness. HORIZONTAL STIFFNESS GAIN 

### This changesthe horizontal stability ofALTA. Higher values increaseALTA's resistanceto wind gusts orturbulence from moving ALTA offits target position. Values that are too high can cause instability ofALTA. HOLD STRENGTH GAIN 

### This adjusts how much ALTAwill attempt to maintain its place over a target position. Ahighervalue will result in position being held more precisely. Iftoo high, positional instability can result, causing ALTA to fly past a target position.

J\LTJ\ USER 

### VANUAL 

### 600 

# ALTA FLIGHT PARAMETERS
Flight Parameters are different from tuning parameters in that the flight characteristics ofALTA will not changewith their modification. However, they can be used to select neutral points using trim, orto set maximum or minimum values. 

# ATTITUDE PITCH AND ROLL TRIM 

### Use Pitch and Roll trim settingsto correct for tendencies oftheALTA to pitch orroll with a neutral control input. Use the in-app pitch and roll trim settings instead of radio controller trim features as large radio controllertrims could prevent position hold from engaging at neutral stick positions. MAXIMUM PITCH/ROLL ANGLE 

### This setsthe maximum angle the ALTA will be allowed to fly in all modes and in all flight conditions. MAXIMUM YAW RATE 

### This is the maximum rate theALTA will yaw (pan] when at full stick deflection. 

# HEIGHT HOVER THROTTLE 

### HoverThrottle is a parameterthat adjustsALTA"s thrust at centerthrottle stick, and ensuresALTA does not climb or descend at the center stick position while flying in Manual Mode. AHoverThrottle setting that is too high or too low can cause ALTA to climb or descend when switching between Manual and Height Modes. 

## eJ NOTE HoverThrottle will need to be adjusted when changing the overallweight ofthe system, orwhen moving between very different elevations. 

### Adjust the HoverThrottle setting such that during a stable hoverthe required throttle position is at middle stick, orabout 1500 IJS 

### in theApp radio chart. Increase HoverThrottle if hover occurs above center stick, and decrease if hover occurs 1\ILTA

-----------below center stick. Alternatively, ifALTA climbs when switching from Manual to Height mode, increase hoverthrottle, since a climb indicates a stick position that is higherthan neutral in Manual mode. If ALTA descends, decrease hover throttle, since a descent indicates a stick position that is lower than neutral in Manual mode. 

# eJ NOTE The ALTA App does not allow hoverthrottle adjustmentswhile ALTA is flying.



### MAXIMUM CEILING This adjusts the highest altitude the ALTA is allowed to climb from its starting point while in Height or Position modes. If the maximum ceiling is exceeded in Manual mode, the Status Light will illuminate white. 

### MAXIMUM CLIMB RATE This sets the maximum speed ALTA will climb at full throttle stick deflection in Height Mode or Position Mode If Climb Rate Clamp is mapped to an radio controller channel, the parameterwill adjust the fastest climb speed available to the Climb Rate Clamp feature. 

### GPS HEIGHT CORRECTION With GPS Height Correction On, SYNAPSE will use both barometer and GPS sensor measurements to determine its altitude. It can be useful for assisting in windy or gusty conditions, but requires good GPS reception. It is recommended to keep this enabled unless GPS reception is problematic. 

# POSITION MAXIMUM G This sets the total maximum acceleration, in G's, that the controllerwill place on the airframe. It is recommended to use lower Gsettings with heavier payloads. This setting has no effect in Manual mode. 

### MAXIMUM GPS ANGLE This sets the maximum pitch and roll angle the ALTA may fly under Position mode. This will not override the Attitude Maximum Pitch/Roll Angle. Instead, ALTA will
ALT/\ 

### 62

### follow the lowerofthesetwo limits. MAXIMUM GPS SPEED Max GPS Speed sets the maximum speedALTA will fly acrossthe ground atfull stick deflection in Position Mode. IfVelocity Clamp is mapped to an RC transmitterchannel, the parameterwill adjust the fastest ground speed available to the Velocity Clamp feature. RANGE Range setsthe maximum distanceALTA may fly away from the home point while in Position mode. Ifthe range is exceeded in Manual mode, the status lightwill illuminate white.

ALTA USEF! VANJU
.. T/\

# FLIGHT CONTROLLER MODES

ALTA has three primaryflight control modes: Manual Mode, Height Mode, and Position Mode. They are selected with the Mode Switch 

# eJ CAUTION Always neutralize control inputs when switching between controlmodes. 

# MANUAL MODE In Manual Mode, ALTA will only stabilize its attitude. At neutral control input [middle pitch and roll stick position). ALTA will attempt to remain Level. Throttle control is direct. 

# HEIGHT MODE Height Mode changes the throttle stick behaviorto command climb and descent rates. The higherthe throttle stick position, the faster ALTA will climb. Conversely, the Lower the throttle stick position, the fasterALTAwill descend. When the throttle stick is centered, ALTA will enter Height Hold. In Height Hold, ALTA will maintain atarget altitude and try to correct for drift. If a disturbance moves ALTA away from this target altitude, ALTA will climb or descend to return to the target altitude. 

# POSITION MODE Position Mode changes the pitch/rollstick behavior to command ground speeds. Pitch and roll stick deflection will command fore/aftand left/right ground speeds respectively. Controlling altitude in Position Mode is the same as in Height Mode. With pitch and roll controls centered, ALTA will enter Position Hold. In Position Hold, ALTA will maintain its position over a given point on the ground and correct for disturbances. Position Mode requires a strong GPS signal. If aweak signal is present, ALTA will not enter Position Mode, and ifthe GPS signal degrades while in Position Mode, ALTA will automatically revert to Manual Mode.

1\LT/\ USER MAN i\L 

### &5

# CD CAUTION Flight using Position Mode in areas ofdegraded GPS signal, such as near buildings or underdense tree cover, is not recommended. The automatic reversion to Manual Mode can cause unexpected. abrupt changes in flight behavior. 

# RETURN-TO-HOME Return-To-Home Mode will command ALTA to fly back to the starting point ofthe flight orthe last defined Home Point. When ALTA first acquires a GPS position, it setsthis asthe Home Point ofthe flight. The Home Switch on your radio controller can also be used to set a new Home Point. See the Radio Mapping section in this manual for more information on setting up the Home Switch. RTH can be initiated manually by the Home Switch orbe initiated with an LOS event. When initiated with the Home Switch, ALTA will fly back to the Home Point, and the pilot will maintain control ofALTA's altitude the entire time. ALTAwill notAutoland ifan adequate signal is detected. The pilot can cancelthe RTH procedure by commanding a pitch orroll command or by retuning the Home Switch to the middle position. The Mode Switch must be in Position Mode to activate RTH manually. During an LOS event, ALTA wiltfirst check its current altitude against Safe Height. If it is lower, itwill climb to Safe Height. and ifALTA is above Safe Height, itwill remain at its current altitude. Next, ALTAwill fly back to the home position at the RTH Speed set in the ALTAApp. Finally, upon reaching the home position, ALTA will begin Autoland. RADIO LOSS OF SIGNAL RTH

SAFE HEIGHT 15 USER DHINFO

J\ILTA USER**iv'Ar~UAL**

# AUTOLAND The Autoland function will command ALTA to hoverfor 10 seconds and will then land in place. This only occurs ifAutoland is selected as the Loss of Signal(LOSl event in theALTA App, or at the end of an LOS Return-to-Home (RTHl event. IfALTAis above the app-configurable Safe Height setting, ALTA will first descend to the Safe Height at the Maximum Descent Rate. After reaching this height, ALTA's descentwill slow to the Autoland Descent Rate until landing. 

# HOME SWITCH The home switch has three settings, Set Home, RTH 

### Offand RTH On. 

### SET HOME Set Home sets a new home point atALTA's current position. This could be useful for setting a point away from the initialization point, such as ifthe ALTA were started underneath an overhang oratree. A new home point can only be set within 20 meters of ALTA's starting point. Momentarily moving the Home Switch to the Set Home position sets a new home point. When a new home point is set, the Status Light will turn white to indicate the new home point was successfully set. 

### RTH OFF This is the normal switch position and does not initiate an RTH command. RTH 

### ON This manually initiates the RTH function. In a manual RTH, the pilot maintains control of heightwhile the SYNAPSE will command ALTA's position overthe ground to the home point. 

# ARM ENABLE SWITCH The optionalArm Enable Switch allows for added safety while working around and flying ALTA by disallowing arming during ground handling ordisarming during flight. To set up an Arm Enable Switch, referto Mapping Channels orthe ALTA User Manual. If used, the Arm Enable function should be mapped to athree-position switch.

2lmiddlel 

### 3 ALTA USER Mt\NUAL 7

# STATUS LIGHT

The rear-facing Status Light showsthe status ofALTA as it boots, arms and flies. The following table shows the different meanings of the light in thevarious flight phases.
·Booting
Standby

Armed Flight

- all modes Flashing White Flashing Red · Flight controller is booting

.Flight controlleris running

and dis-armed ' Flight controlleris running

and not readyto arm ························································ .. ······· .................... ,..........


### Aflight controllererrorhas occurred orBatterycellvoltage below user-defined levels



### 68Flight - Manual Mode

Flight - Height Hold

Flight Position Hold

/U.TA**USEr~** 

### Off Solid White ' Off
•SLow Flashing •White

Flashing Red 

### Off

. Slow Flashing •White

• Flashing Red

U;\L Nominal flight status No errors •Outside user-defined range, Limits •Nominalflight status

Height 

### hold inactive

.·-
- - . .... . . . . . . .
· Height hold active

Battery cellvoltage below user-defined levels

· Nominal flight status
· Height hold inactive

Position hold inactive
• Height Hold or Position Hold Active

Height Hold and Position Hold Active

. 

### . . . . -······· -- ... 

### ..... Battery cell voltage below user-defined levels



### 69

# ORIENTATION LIGHTS

BOTTOM VIEW
The boom-end mounted Orientation Lights indicate both the orientation ofALTA in flight and the status ofthe individual motor Electronic Speed Controllers IESCsl during otherflight phases. The following table shows the different meanings ofthe light colors in thevarious flight phases.

Armed Flight

1\l.T/\ 

### ..•. ESC firmvvare is**updati~g** 

### .


### 70

# ALTA APP MONITOR

The ALTA App includes aflight status monitorthat displays information about the health ofthe ALTA and the various controls that can be selected. 

### Boot indicates ifthe SYNAPSE booting process has completed successfully. Any issues that prevented a normal boot are indicated here. 

### Battery displays the voltage of the battery pack. 

### Status displays the state of the SYNAPSE flight controller. 

### Radio displays if the SYNAPSE detects a radio controller signal. A LOS [Loss Of Signal] warning is displayed if no signal is present. 

### GPS displays if SYNAPSE has resolved a GPS fix or not. 

### Sats displays the numberof GPS satellites in view and being received. 

### Lock displays whether a position lock is ready, indicating avalid GPS fix and good heading. This is required before the SYNAPSE will allow switching into Position Mode. 

### Height displays the current height control mode: Manual, Varia if in Height or Position mode and climbing or descending, and Hold. 

### Attitude displays the current attitude control mode. 

### Position displays the current position control mode: Manual, Velocity if in Position mode and moving across the ground, and Hold 

### Compass displays the status of the compass and ifthe SYNAPSE believes the compass readings are good or bad. If Bad, the compass may require recalibration [see the Compass Calibration section in this manual!. 

### Station displays if ALTA is currently over its commanded position over the ground, or if it attempting to flyto it. 

### Temp displays the temperature of the SYNAPSE flight controller board.

71

# DATA LOGGING

ALTA automatically logs flight and control data when ALTA is armed for flight. Data is recorded asa .csv file at a rate of 25 Hz on a microSD card installed on the top ofthe GPS/Compass module. Atable ofrecorded data is included in Appendix B.

J\lLTA USER**MM~UAL**JU.TA 73

# UNPACKING AND SETUP

1. 

### 2. 

## 3. 4. 5. 6. 

## 7. 8. Aircraft Prop protectors Boom retention clips Booms Boom latches Receivers and wiring Isolatorcartridges Payload mounting location REMOVE from case REMOVE STOW UNFOLD LOCK CHECK SELECT and INSTALL as necessary CONFIGURE as necessary 

# AMPLIFICATION To set up ALTA forflight, remove it from the case and remove the prop protectors. Stowthe six boom retention clips by folding them down. The clips only fold in one direction and are spring-loaded to stay in open and closed detented positions. Unfolding the booms is most easily accomplished by unfolding opposite pairs partially. Then unfold the opposite boom pairs completely. ALTA can become unbalanced while unfolding booms individually, so unfolding opposite pairs reduces this possibility. Once unfolded, push on the boom latches untilthey audibly dick, indicating the booms are secure. There should be littleto no slop in the hinge. Check that the receivers and the electrical connectors that attach to the receivers are secure. For information on installing isolatorcartridges and setting up payload mounting locations, referto the Isolator Cartridges and Configuring Top or Bottom Mount sections of this manual.



### 74

## c 

# BEFORE STARTING

.1. Payload SECURED 

### 2. Isolator Cartridges CHECK 

### 3. microSD Card INSTALLED 4. Props CHECK CONDITION, VERIFY TIGHT 5. Prop Hub VERIFY SECURE 6. Motors CHECK CONDITION 

### 7. Radio Controller ON, VERIFY TX BATT 

## 8. Radio Controller Model SELECT 

### 9. Aircraft Placement AWAY from people and obstacles 10. Battery Pack Voltage VERIFY ABOVE 24V 11. Battery Packs SECURE 12. Battery Leads CHECK CONDITION and CONNECT 13. Aircraft KEEP STATIONARY 14. Flight Controller INITIALIZED 15. Status Light VERIFY SLOW FLASHING WHITE 16. Orientation Lights VERIFY FLASHING GREEN 

### 17. Receivers VERIFY BOUND 

### 18. ALTAApp CONNECT 

### 19. ALTA App Monitor VERIFY NO WARNINGS 20. Compass Calibration AS REQUIRED 21. Radio Control Range Check AS REQUIRED 

# AMPLIFICATION Check that the payload is secure by checking that theToad In The Hole quick release lever is pushed in, and that the payload does not slip. Check that all isolator cartridges are locked in place, especially ifthey have been recently replaced. A microSD card is required to be installed in the GPS/Compass module for reliable compass sensing and data logging. The blades should be checked for damage, including nicks and scrapes. If a prop has been nicked enough such that it catches a fingernail, it should be replaced. Bolt tightness should be checked by rotating the blade about its length {blade pitch up and down). There should be no slop, and if there is. the bolt and nut should be tightened untilthe slop is removed. There should be no slop between the prop hub and the motor
. .1\LTA I USER 

### MANUAL 

### 75Motors should spin freely, and there should be no grinding or scraping sound from the motor. The inside ofthe motorshould be free of debris. Always turn on the radio controller before plugging in ALTA. Followthe battery instaLLation guidance in the Battery Installation section ofthis manual for battery installation instructions. While the SYNAPSE flight controller initializes, keep the ALTA as stable as possible. Wedging a foam prop protector between the stationary gimbal or landing gear and the ALTA frame can be used to stabilize ALTA from spinning during this process. 

# eJ NOTE IfALTA 

### moves during initialization, it many not boot properly.

When it is impossible to initialize ALTA without movement (such as booting on a boat). Motion Booting can be used. It is not recommended to use Motion Booting regularly. During initialization, the Status Lightwill quicklyflash a sequence of red and white Lights. At the end ofthis process, itwill begin slowflashing white. indicating SYNAPSE is ready for arming. The Orientation Lights willalso begin flashing green. Verify that aLL six motors are flashing green, indicating all ESCs initialized successfully. Verify thatthere are no flight warnings by connecting to ALTA via the ALTA app and checking on its status from the App. For more information, see the ALTA App section ofthis manuaL.

!:1 

### ALTA USER MANUAL

# BEFORE TAKEOFF

1. Prop Area CLEAR 

### 2. Mode Switch MANUAL 

### 3. Home Switch CENTER POSITION 

### 4. Radio Controller VERIFY CORRECT MODEL 

### 5. Telemetry (if equipped) CHECK OPERATION 

### 6. Arm Enable Switch ENABLE ARM 

### 7. ALTA ARM 

### 8. Status Light VERIFY OFF 

### 9. Orientation Lights VERIFY USER-DEFINED COLOR 

### 10. Motors START and VERIFY OPERATION 

### 11. Flight Controls VERIFY.CORRECT 

### 12. Throttle ADVANCE 

# AMPLIFICATION Priorto start, check the surrounding area to ensure people and objects are clear of ALTA and its props. Also ensure that there are no people or objects between the ALTA's takeoff location and its intended flight path. 

# & WARNING ALTA's props spin ata high RPM, and the ends of the blades move at high speeds. ALTA's props can cause severe injury ordeath or cause damage to objectswhile they are rotating. Always ensure the area surrounding the props and ALTA is clear of people orobjects priorto starting the ALTA's motors.

ALTA can only be armed for flightwhen it is in the Manual Mode, and the Home Switch is in the middle position. If an Arm Enable Switch is configured, it must be placed in an ENABLEARM position. To arm, hold full lowthrottle and full leftyaw. 

## & WARNING Do not approach ALTA while it is armed.
To startthe motors. hold full low throttle and full right yaw. Ensure that allthe 

### 77

### motorsare spinning. Keep the throttle in the lowest position and move the pitch, roll and yaw controls slightly. ALTA should pitch, roll and yaw slightly due to isolator cartridgeflex. Ensure thattheALTA behaves as expected. If it does not, shutdown ALTA and ensure the props are installed in thecorrectorientation. 

# CD CAUTION Do not make large yaw commandswhile on the ground with the inverted landing gear installed. largeyaw commands can cause instability.


### After checking flight control directions, advance the throttle to entera hover.

ALTA USER**~-1/\NUJ\L** 78D 

# AFTER EVERY FLIGHT

1. Mode Switch MANUAL 

### 2. Home Switch CENTER POSITION 

### 3. Arm Enable Switch ENABLE DISARM 

### 4. ESCs and Motors DISARM and STOP 

### 5. Arm Enable Switch DISABLED 

### 6. Orientation Lights VERIFY FLASHING GREEN 

### 7. Status LEO VERIFY SLOW FLASHING WHITE 

### 8. ALTAApp CHECK forwarnings 

### 9. Batteries DISCONNECT and REMOVE 

### 10. Radio Controller Power AS REQUIRED 

### 11. Aircraft Condition INSPECT 

### 12. Motorand Prop Condition INSPECT 

### 13. Battery Condition INSPECT 

# AMPliFICATION Upon landing, disarm the motors by holding full lowthrottle and full leftyaw. This is typically done on the left radio control stick by moving itto the bottom left corner with mode 2 controllers. Disarming can only be done while in Manual Mode. If configured, set the Arm Enable Switch to ENABLE DISARM. Once the motorsare disarmed, the Orientations Lights will flash green and the Status Lightwill slowly flash white, indicating it is safe to approach ALTA. 

# & WARNING Only approachALTA afterconfirming that it is disarmed by verifying the Status Light and Orientation Light colors.
The downwash from the props can disturb debris. This debris can be ingested by the props or motors and cause damage. Afterthe flight, ensure there is no damage to the props and thatthe motors still spin freelyand quietly. Take extra care when operating in areaswith large amounts of debris, such as in sand, dirt. or gravel. Afterflight is also a good time to check a battery pack's condition. Always refer to the battery manufacturer's recommendations for inspection and replacement intervals or requirements.

1\LT/\ 

### I USER MANUAL 

### 792. Prop Protectors INSTALL

6. Payload 

### REMOVE 

# AMPLIFitATION
• Packing ALTA is similarto the unpacking process.

## K~eping ALTA onJhe payload or .landing gearfacilitates the'process as ALTA may be turned on the Toad In The Hole adapterwhile folding the props and booms. Make sure that the handle is aligned front-to-back when putting ALTA in the included case, and that the batteryleads are facing to the right.

!30

# EMERGENCY GUIDANCE

The emergency procedures listed in this section are the recommended practices for handling the aircraft in the event of an aircraft emergency. This guidance should be considered and applied as necessary. The risk of an emergency occurring can be reduced substantiallythrough proper aircraft maintenance, by performing thorough inspections before and after all flights. and with careful pre-flight planning. Emergency situations are dynamic events, and not all conditions or procedures can be anticipated orapplied during the event. These procedures are not a substitute for thorough understanding of aircraft systems and sound pilotjudgement. fn general, ifan emergency occurs, three basic actions can be applied to most situations: 

### Maintain aircraftcontrol- Small emergencies can quickly escalate ifthe pilot is distracted attempting to determine ortroubleshoot the problem. Always maintain visual contact with the aircraft during an emergency to reduce the likelihood of disorientation. 

### Analyzethesituation -Once the aircraft is stabilized, begin to assess the cause of the emergency if practical. 

### Takeappropriate action In many cases, the appropriate action will be to land the aircraft as soon as possible. Always considerthe safety ofyourself and others before attempting to save the aircraft in an emergency.

1\l.T/\ USER**M/\!~** U;\L 82

# PILOT DISORIENTATION

1. Controllnputs · 

### 2. Mode Switch



### .3. Yaw 

### 4. Roll 

# AMPLIFICATION NEUTRALIZE POSITION NOSE AWAY VERIFY DIRECTION

Regaining spatial orientation as quickly as possible is most important. In disorientation situations, control inputs will not give the expected result, so neutralize them. If a good GPS signal is available, enable Position Mode so ALTA will stay in a one place. Use yaw only to reorient ALTA so the nose is pointed away, then use the roll control to verify the orientation of ALTA.

1\LT/\ USER MAN 83

# UNEXPECTED FLIGHT CONTROLLER BEHAVIOR

1. Control Inputs 

### 2. Mode Switch NEUTRALIZE MANUAL Ifthe problem

### persists 3. ALTA LAND as soon as possible 

# AMPLIFICATION Ifthe ALTA behaves unexpectedly, neutralize control inputs and observe ALTA. If it is stillflying in an uncommanded manner, switch to Manual mode if it is in Height or Position modes. In most cases, unexpected behavior is due to erroneous sensor readings, or degraded GPS signal reception. Ifthe behavior occurred while in Manual mode, land as soon as possible and check the ALTA App for anywarnings.

J\lLTA USEF! 

### MAN!'M
.. 

### 84

# BATTERY EXHAUSTION

Ifbatterycellvoltage is between Alarm Voltage and Land Voltage

1. Status Light Illuminates red (solid orblinking! 2. ALTA LAND as soon as possible
If batterycellvoltage is below Land Voltage

1. ALTA 2. Pitch and RoLL Begins Autoland MANEUVER away from people orobjects 

# AMPLIFICATION Ifthe battery cellvoltage drops below the Alarm Voltage, the Status Light will turn solid red in Manual Mode, orturn blinking red ifholding position oraltitude. Terminate the flight and Land as soon aspossible. In the event the cellvoltage drops below the Land Voltage, ALTAwill begin to auto land. However, pitch and roll commands are stillactive. During the time ALTA is descending, use pitch and roll to avoid people or objects during thedescent and landing.

Jtl::fA. USER MANUAL 

### 85. . . 

# STATUS LIGHT WARNING INDICATOR IllUMINATES

2. ALTA LAND as soon as possible



# . AMPLIFICATION

The Status 

### Light can turn red, indicating awarning; fora number of different
· reasons. It is always recommended to land as soon as possible and investigate the

. problemwhile ALTA is on the ground.

ALTA j USER

**~viANUI\l.**

# LOSS OF RADIO CONTROL SIGNAL

1. 2. 

### 3. 4. Controller Battery ControllerAntenna Mode Switch Home Switch CHECK REPOSITION POSITION RETURN-TO-HOME 

# AMPLIFICATION Loss of Signal (LOS) can occur ifthe radio controller stops transmitting a signal, or ifALTA is too far away to receive it. In the event ALTA detects a LOS, itwill automaticallyexecute a Return-to-Home orAutoland as configured in the App. However, it is always recommended to attempt to regain signal linkwith ALTA to keep the pilot in control of the aircraft. Move the antenna orientation for best signal strength. Ensure the transmitter antenna matches the direction ofthe receiver antennae. Move the transmitter away from objects to get a clear line-of-sightto ALTA. Setup the Mode and Home switches to enable Return-To-Home so ALTAwill continue to approach the starting point and have a higher likelihood of regaining signal reception. 

# @NOTE If efforts to regain control signal are unsuccessful, ALTA will begin the Return-To-Home and Autoland sequence.

ALTA USER M1\NUAL 87

# LOSS OF FPV SIGNAL

1: Control Inputs 2. Visual Contact 3. ALTA AS REQUIRED ESTABLISH POSITION foroptimal signal reception
Ifvisual contact or FPV signal is not reestablished 

## t 2. 3. Mode Switch Home Switch Throttle POSITION RETURN TO HOME AS REQUIRED 

# AMPliFICATION An FPV Loss of Signal [LOS] can occur ifthe aircraft flies out of range, or if itflies behind an object that interrupts the signal line of sight. Regaining visual contact is the preferred method to reestablish control of the aircraft, eitherwith the pilot seeing the aircraft, or by the use of a second visual observer. Yawing the aircraft can help signal reception ifthe body of the aircraft is blocking the line of sight between the transmitterand receiver antennas. If FPV signal orvisual contact cannot be reestablished, enabling Return To Home can be used to bring the aircraft back to signal reception range. 

## & WARNING It is the responsibility ofthe pilot to see and avoid otheraircraft, people orobstacles. Always maintain direct line ofsightwith ALTA during flight, use visual observers asoperationsrequire, and follow local regulations regarding see-and-avoid requirements.

B8ALTA

# PERFORMANCE
WEIGHT 

# IENDURANCE PERFORMANCE DATA Conditions: Altitude Winds



### :s .!l.**~** ·25+·------;-••**~,---** ;:: 

### ]. i:i: 20 ••_._-__,, -**'""~---·'"'**

### ~

### ~ 15 Sea Level, ISA Zero**0~~~~~~~4-~~+--+--~~~~~~~4-~~** l:l 1**):~** 10 11 12 1-:J 14 15 ts:**P~oaa{lb]**

1\LT/\ 

### ! USER 90ALLOWABLEGROSSWEIGHTAsaltitudeandtemperatureincrease,thedensityoftheairdecreases.Consequently,ALTA'sthrustwilldecrease.Thefollowingtabledescribesmaximumgrossweightlimitswithrespecttoaltitudeandtemperature.0°C1QOC20°C30°C40°CPressAltFt!!MaximumJMaximumMaximumMaximumMaximumMaximumMaximumMaximumMaximumMaximumGrossWeight1GrossWeightGrossWeightGrossWeightGrossWeightGrossWeightGrossWeightGrossWeightGrossWeightGrossWeightllbl(kg)(!b)(kg)Ubi(kg)Ubl)kg!(lbl(kg)S.L.30.0I13.630.013.629.513.428.512.927.612.5100030.013.629.413.428.412.927.512.526.612.1--200029.413.328.412.927.412.426.512.025.711.6I300028.412.927.412.426.412.025.511.624.711.2400027.3I12.426.412.025.511.524.611.223.810.8500026.311.925.411.524.511.123.710.823.010.4----600025.4I11.524.511.123.610.722.810.422.110.0700024.4I11.123.510.722.710.322.010.021.39.7•800023.510.722.710.321.99.921.29.620.59.3900022.6I10.321.89.921.19.620.4l9.219.78.9I!-·II1000021.8I21.821.09.520.39.219.68.919.08.60•..J::::>z<(2.a:;illUl::::>;.,1<II92

# GENERAL INFORMATION AND TECHNIQUES USE OF THREADLOCKER Bolts and screws that are called out in this manualto regularly remove or replace typically do not require use of athreadlock compound. This includes the screws holding on the handle, battery retention strap studs, batterystops, closeout panels, the top male Toad In The Hole adapter. In addition, fasteners that attach to nuts with a nylon locking feature [nylock nuts} do not require threadlocker. All structuralfasteners require the use ofthreadlock. This includes chassis screws, lower male Toad In The Hole adapter and motorattachmentfasteners. In addition, the four M3 x 8 socket head boltsthat attach the folding propellerto the motor require threadlocker. Typically, a medium threadlocker [such as Loctite Blue 243) is used on structuralfasteners. 

# BOLT INSTAllATION The Freefly hex drivers included with ALTA are designed to help limit the torque that can be applied to each bolt. Thread allfasteners into their respective holes until "snug
... This iswhen the fastener head bottoms out and lightly clamps the two mating parts together To prevent tightening the bolts excessively and damaging the bolts or parts, it is suggested to hold the wrench in your hand, and twist the wrench from the smaller dia knurled section ofthe tool between yourthumb and index fingerfor smallfasteners (under size M3) orwith yourthumb and two forefingers for larger fasteners [size M3 and larger).

# MAINTENANCE ITEMS PROPELLERS

Propellerblades should be removed when making a changeto the configuration of the ALTA to prevent propeller strikes in the event of unintentional motorstartsand should be replaced on an as needed basis ifthey become damaged. Generally, a nick on the leading edge that is large enough to catch a fingernail indicatesthatthe prop should be replaced. Ifthe blade composite structure becomes delaminated, the propellerblade should be replaced. Freefly makesfolding propellerassemblies available that include the bladesand prop hub fully assembled. They are available in clockwise and counter-clockwise orientations. The folding props are installed on the motors with four M3x8 

### socket head bolts. 

## CD CAUTION Always use a threadlocking compound on the bolt threadsthatattach the propellerhubto the motor.

94Odd numbered booms (1, 3 and 5] use clockwise rotating propswhen looking from the top down, and even numbered booms (2, 4 and 6) use counterclockwise rotating props. 

# & WARNING**-·---~·-----** 

# ·------- Always checkto ensurethe correct prop rotation direction and correct propellerpriorto flight. Propsthat spin in the incorrect direction will causeALTA to be uncontrollable. 

# REPLACING PROPELLER BUMPERS Under normal use, propeller bumpers may split and fall out of the folding propeller assembly. Six spare bumpers are provided with the ALTA. To replace the bumper, disassembly ofthe folding propeller is required. Start by removing the M3 x 19 bolt and nylon nut. Pull offthe upper prop adapter. The two bumpers are held in place by circular features in the lower prop adapter. Replace theworn orsplit bumperwith a new one.

IIpPer Prop**Adaptor~."** s::3
. · ..**~®-c** ...· ,Ny!anWash•r
·...**~~**

M3x8Bott
LQwer P·rap Ailapter

To reassemble, follow the part layout in the figure above. Note that there are two different types of washers, one made of nylon and the other made of PTFE. The nylon washer is smaller in width and thickerand is installed between the nut or bolt head and the two prop adapters. The PTFE washer is wider and thinnerand is installed between the prop blades and prop adapters. JU
.. T/\ 

### i USER

# EVERY 15 FLIGHTS ALTA is designed to be as maintenance-free as is possible. It is recommended to check ALTA's fasteners regularly. This check should occur roughly afterevery 15 flights, dependent upon the level ofvibration ALTA experiences in flight orduring handling. To checkALTA's fasteners. apply a tightening torque to each fastener on the chassis using the supplied hex drivers. The fasteners should not slip. If afastener does slip, tighten it using the methods described in the Bolt Installation section. Do not applyadditional threadlocking compound unless the bolt has repeatedly come loose. 

# REPLACEMENT OF PARTS Spare or replacement parts are available for sale separately at

**WV\fY'/.freef\y~_tems.CQI!}.** Please referto the company store for a current listing of all available spare parts.

# FIRMWARE UPDATE PROCESS
eJ NOTE Carefully follow in-app instructions for saving and restoring ALTA configuration settings during the firmware update process. 

## & WARNING Remove propellers before performing afirmware update. Test radio channels, arming and disarming behavior after firmware updates to ensure radio mapping has been preserved. Incorrect radio mapping can lead to loss ofcontrol.
SYNAPSE firmware is updated using the ALTA App. New app updates may include newfirmware installations. To update firmware: 1. Provide power to ALTA a. Install and plug in a fully charged flight pack or 

### b. Plug in the USB-Futaba cable to an available receiver port [Futaba and PPM receivers only] 2. Open the ALTA App 3. Open Monitor 

### -7 Updates 4. The latestfirmware included with the app release is compared with the ALTA firmware. If a new release is available, the app will provide a notification 5. Tap the Install button in the App if an update is available 6. Wait until the firmware is loaded and ALTA has bootedDo not power down ALTA during this time 7. Reload saved configuration

1\I..T/\ 97

### 1 

### 1 1 1 1 1 1 1 

### 1 1 1 1 1 1 1 1 1 

### 1 1 1 1 1 1 1 1 

### 1 1 1 1 1 1

. 1

1 1 

### 1 1 1 1 1 1 1 1 1 

### 1 1 1 1 1 1 1 1 

### 1 1 1 1 1 1 1 1 1 

### 1 1 1 1 1

# GENERAl WARNINGS·

is missing Compass Warning : Compass

GPS Warning ' calibration ' is invalid

GPS/Compass Unit has become
· disconnected 

# FliGHT CONTROllER

ALTA will not arm

Motors will not stop · Switch not in ' middle position

ALTA Mode Switch not in Manual

. . .

### . . . . . . . . . . . . . . . . . . . . .

.ALTA Arm Enable : Switch not on 'AllowArm

Radio not bound·

. · Radio not mapped

properly

SYNAPSE boot not successful
ALTA Mode Switch not in Manual

.ALTA Arm Enable

Switch not on 

### i Allow Disarm •Check the microSD card is installed

: Recalibrate the compass

Check the GPS/Compass unit wiring for damage

' Move Home Switchto middle position

• Move Mode Switch to manual

· Move Arm Enable Switch to Allow Arm

• Follow radio controller .•.**manufact~rer~s ?in.d.i~9.Pr?ce?ur~**  .

Check ALTA App radio mapping charts for correct behavior

.**A~just m~pping**  as necessary

Power cycle ALTA. Ensure it does not move during boot If ALTA must move during boot !such as on a moving platform).

· Move Arm Enable Switch to Allow Disarm

99

# FLIGHT BEHAVIOR

maintain leveL· Use the ALTA app to setthe or roll position not set •appropriate pitch and roll trim ALTA does not ALTA yaw Re-initialize SYNAPSE while keeping maintain heading during boot ALTA stationary in all directions Compass calibration Recalibrate the compass ALTA circles a point in Position Mode ' 

### Reduce Position Hold tuning values, startingwith Position Hold Strength ALTA does not Compass trackstraightin •Perform a manual compasscalibration Position Mode •calibration invalid Revert tuning to the last known Unexpected Tuning too high working configuration flight behavior ortoo low back to default values

1\L.T/\ i**USEF~** 1001\l.T/\ 

### i USEP Mi-\NUM
.. 101

# APPENDIX A. DEFAULT

# TUNING VAtU

Attitude

Height

Position

Safety

1\l!..TA USEF\**~/AN**

# APPENDIX B. DATA LOGGING FIELDS

Reading IMU Time GPS Time GPS Longitude GPS Latitude GPS Height GPS Course GPS Position North : Unitless ·Seconds

HH:MM:SS Degrees* 10"7 Degrees* 10"7 :meters

degrees

: meters
GPS Position East : meters assigned to data points •The number of seconds ALTA

: from the starting point. A negative • number indicates southward travel. •The distance ALTA traveled east •from the starting point. A negative : number indicates westward travel.**---~-------·-------~---** 

### ----- GPS Position Up • meters GPS Velocity North : meters

### I second GPS Velocity East : meters 

### I second GPS Velocity Up · meters

### I second : The distance ALTA traveled above the •starting point. A negative number • indicates downward travel.

. The GPS derived northward : velocity component of ALTA.**··~··········--** ........**---~·········•-•«••···--··••«•~---···«···-··············--··· ······················~·---····-·**  •The GPS derived eastward
· velocity component of ALTA.



# ------ The GPS derived upward of ALTA GPS Acceleration North meters

### I second"2 The GPS derived northward acceleration GPS Acceleration East GPS Acceleration

/U
.. TA meters 

### I second"2 The GPS derived eastward acceleration meters 

### I second"2

103IMU Position North : meters IMU Position East • meters 

### -----------'----------·

IMU Position Up ; meters .The IMU derived dead-reckoned

, distance ALTA has traveled northward ' The IMU derived dead-reckoned

distance ALTA has traveled eastward The IMU derived dead-reckoned •distance ALTA has traveled upward



## ------- IMU Velocity North • meters

### I second**~** The IMU derived northward

,velocity component of ALTA.**--------------~------------~----~~-** 

# ------ IMU Velocity East**~** meters

### I second IMU Velocity Up • meters

### I second ' The IMU derived eastward

-velocity component of ALTA
. •The IMU derived upward velocity ' component of ALTA. IMU Acceleration North • meters

### I second"2**~** The IMU derived northward acceleration IMU Acceleration East : meters

### I second"2 

### i The IMU derived eastward acceleration IMU Acceleration •The IMU derived upward acceleration, · meters

### I second"2

### ~-----------·------without**gravita!iona~celerati~--** IMU Roll •The IMU derived roll angle where •degrees



## --·------------ ------- -------···-···-·- ,,__**p_~~i~-~:!** 

## __**~~~:~i-~-~~-~!:**

## ....**~~-~i~~!..**

## .... IMU Pitch
IMU Yaw •degrees •The IMU derived pitch angle where positive values indicate pitch up

OOOOOnnooooomH<<<«<<O-kOoOOO
..**o--0000""'~'"** ''"'""0000000000"000000000-00000<<<<000000-000000000000000-00000000000000mO
...OOOOOOO- •The IMU derived yaw angle where degrees • positive values are eastward and ····--•-·----· ---··--.........,.......,......-....

## ~-~~~~:-**va_l~-=-~**__

## v:_:s~~~-r~- ·····-··· ·-·············-······- IMU Roll Rate IMU Pitch Rate
IMU Yaw Rate
IMU Acceleration 

### X IMU Acceleration y

JU.
.. TI\ ' degrees 

## I second

: degrees 

### I second

degrees 

## I second
G
G ,The IMU derived roll rate where positive values are roll rightward The IMU derived pitch rate where positive values are pitch upward The IMU derived yaw rate where positive values are clockwise down on the vehicle where positive values are in a forwards direction The IMU derived body acceleration where positive values are in direction

104

### IMU Acceleration G 

# z The IMU derived body acceleration
·where positive values are in an upwards •direction and excludes
-----·········--·····-·· --.....-'-·····-·**··--········~**..--·-..**-----~--------.---** ................- ............,.,....- •••.•- ......c .....- .....:...................--···-· 

### CompassX
. Unitless Compass Y · Unitless
Compass Z Unitless
Position Command North m Position Command East m Position :m Command Up Velocity Command :m/s North Velocity m/s Command East Velocity m/s Command Acceleration :m/s"2 Command East Acceleration •m/s"2 Command North Acceleration •Acomponent ofa unit magnetic vector •with positive values directed to the

front when front is Northward
·Acomponent ofa unit magneticvector

with positive values directed to the when front is Westward

The position control loop set point in a Northerly direction referenced to take-offlocation :The position control loop set : point in an Easterly direction

referenced to take-off location

.The position control loop setpoint :in an Upwards direction referenced to the take-offlocation :The velocity control loop setpoint
· in an Northwards direction

.The velocity control loops set in an Eastwards direction •The velocity control loop set direction
·The acceleration control loop set direction
The acceleration control loop set Command Up . m/s"2 _.........;._______ --'-'-po_i_n_t**i_n~~pwards** 

### direction Roll Command deg The roll control loop setpoint where mrrP;>i<:lnln 

### values are roll Pitch Command deg
Yaw Command deg
Al.T/\ 105

### Roll Rate
, deg/s Command Pitch Rate •deg/s Command Yaw Rate deg/s Command Radio Roll us Radio Pitch :us Radio Yaw us
Radio Throttle us •The roll rate control loop set · pointwhere positive values

are for

.The pitch rate control loop set · point where positive values

. are for 1'\ITt"nlr\n 

### •The yaw rate control loop setpoint

where positive values are rotating
·clockwise from the machine

RC pulsewidth 1 000-2000us where increasing values arefor pitch up •RC pulse width 1 000-2000us

•RC pulse width 1 000-2000us
·where increasing values are •for increased throttle**----------~--~--------------~-** 

### ' RC pulse width 1000-2000us

.where values near: Radio Mode us · 1 OOOus =

### Open Loop • 1500us ., Closed Loop height hold •2000us =Closed Loop

- height •and hold Roll Control a.u. calculation for roll axis Pitch Control a.u. calculation for Yaw Control a.u. calculation for Climb Control a.u. calculation for Motor Command · Unitless 1-6 •Scaled 0-1 representing ·demanded thrust from motor Motor speed 1-6 RPM •Propeller speed at lasttelemetryupdate**~------------~--~--** 

### MotorVoltage 1-6 :Volts •Bus voltage measured at ESC •from last Motor Current 1-6 •Amps Motorfield current measured at •ESC from last """'"''"'"'' Motor Power 1-6 •Watts •Measured ESC

1\LTA**USEF~** MANUAL 1D6Motor Energy 1-6 ·Watt-hours
MotorAccel 1-6 •a.u. MotorTemp 1-6 •

# oc Motor Status 1-6 · bit-field GPS Sats Satellites GPS Haec meters GPS Sacc ; meters

### I second Voltage •Volts Current •Amps Integrated ESC power consumption

- can be used to compare motor efficiencies or thrust skew • High pass filtered RMS vibration level

measured at ESC- can be used to
· compare motor

### I propeller imbalance

. ESC temperature measured •from last

• Horizontal speed accuracy GPS Main batteryvoltage measured the controller ;Total battery current inferred •from ESC measurements**·---··---·-~-----··-··--··---·------**



### ...

## ~~~~~---**-··········-···-~~!~--·-** ............................. .....

## T?.!~_l_~a.~.~.~2

# ...**~~~~** 

# ....................... ····-- ----·-- • Integrated battery power- to be used • in conjunction with battery recharge • measurements- ascertaining battery Energy •Watt-hours



## -----------·--- -···--·------ --- ---**-~~~~!~~-~~:~~c:!.':~!~~!~i-~.:~----·-·-•«**

Barometric Altitude Status Fail GPS Loss of Signal Radio A Drops Radio B Drops Magnetometer Bad Position Lock Heading Lock • meters

•a.u.
• bitfield

· binary ·number ·number
•binary

• binary
• binary 1\l.T/\ ! USEr-; H,t\NU/\1. - ·----

## ~~~.~-t __

## :?.~~?..~.~:.:.

# ..**~.~~--!=-~.P..:.~~!~~:..**

# ········-····· • Height above take-off location measurement

Machine alarm register indicating particular system failures



## ------- ; Declared if GPS signal is not
· adequate for safe position hold •Accumulated signal drops from radio A •Accumulated signal drops from radio B •Alarm indicating compass • magnitude is corrupted



### ··-··--**------~** •Status indicating position

estimation filter has locked

· Status indicating heading lock is active 107

# I

• Attitude Mode Position Lock 2**-~eight** 

### Lock CRC Failures



### J\LTJ\ •register •Status indicating angle or rate control mode control mode "'-•_re-'g,_i_st_e_r
______ •:_S_t_a_tu_s_i_n_d_icating_!::ight control mode number : Internalcommunication errors

103