.J 

Brooklyn Aerials, Inc. 

T: +1 716 581 0734 

tim@timsessler.com 

November 17 2015 

U. S. Department of Transportation 

Docket Management System 

1200 New Jersey Ave., SE 

Washington, DC 20590 

Re: Exemption Request Section 333 of the FAA Reform Act and Part 11 of the Federal 

Aviation Regulations from 14 CFR 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 for the 

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 of this exemption would thereby enhance safety and fulfill the 

Secretary of Transportation's (the FAA Administrator's) responsibilities to " ... establish 

requirements for the safe operation of such aircraft systems in the national airspace system." 

Section 333(c) of the Reform Act. 

The name and address of the 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 of Transportation 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 of the Reform 

Act. 

Brooklyn Aerials, Inc sUASs are rotorcraft, weighting 55 or fewer 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 or the public." 

Given the small size of the 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 of the 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 of the 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 under the 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 less than 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 prior to the 30 minute limit. 

• Flights will be operated at an altitude of no more than 400 feet AGL 

• Minimum crew for 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 prior to 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 of the area except those 

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 of Activities 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 Regulations for which 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 Safe Altitudes 

Section 91.119 (c) prescribes that "Over other than congested areas. 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 Waiver for 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 longer time frame for flight 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 engender the 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 longer than 30 minutes or 25% remaining 

battery power, whichever occurs first. 

14 CFR §91.405(a): Maintenance Required, §91.407(a)1: Operation After Maintenance, 

Preventive Maintenance, Rebuilding, or Alteration, §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 apply to 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: 

14 CFR 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 just feet 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 of 4,0001bs., carrying large amounts of jet A or other fuel. 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, not flown 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 of the 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 safer than conventional operations conducted with 

turbine helicopters operating in close proximity to 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 of the criteria provided in Section 333 of the Reform Act of 2012--size, weight, 

speed, operating capabilities, proximity to airports and populated areas and operation within 

visual line of sight and national security - provide more than adequate justification for the grant 

of the requested exemptions allowing commercial operation of applicant'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 July 2015 Initial Release 

B August 2015 Revised section order. Added Allowable Gross Weight table. 

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 Before Takeoff 

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 Light Warning 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. Default Tuning Values 

103 Appendix B. Data Logging Fields 

1\\!..TA USER MA 4 
5 
DISCLAIMER AND WARNING 

IMPORTANT- Please read this disclaimer and warning carefully and review 

the ALTA User Manual prior to flight. If you have any questions, please contact 

support!afreeflysystems.com prior to 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 that you have read, understand and agree to 

this disclaimer. You agree that you are solely responsible for your conduct while 

using the ALTA, and for any direct or indirect consequences that may result from its 

use. You agree to only use the ALTA for proper purposes that are in accordance with 

local and airspace rules and regulations. 

» ALTA is not a toy and should be operated with extreme care, as improper 

operation can cause damage to property, serious personal injury or death. 

» 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 prior to operation. The ALTA 

User Manual and a flight simulator are no substitute for training with an 

experienced pilot, particularly when it comes to learning how to safely 

operate the ALTA. Novice pilots should never fly without the supervision of 

an experienced pilot. 

>> Always check the ALTA and its components prior to operation. 

>> Always maintain a safe distance from the ALTA when in use. 

>> Never attempt to touch the ALTA when the propellers are moving. 

» Never fly the ALTA over or around people, power lines or other aircraft. 

>> Never fly with any propellers that have visible imperfections or damage. 

» Always keep children and animals a safe distance away from the ALTA 

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 motor starts. 

'' Always remove the configuration jumper when making changes to the 

configuration of the ALTA. 

» Always test the ALTA with the propellers removed to make sure that the 

motors are spinning in the correct direction and that the motor assignment 

is correct with respect to the SYNAPSE flight controller. If you 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 prior to 

every flight. 

» It is your responsibility to learn how to safely operate the ALTA and to adhere to all applicable rules and regulations. 

» Fly at your 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 OF THE ALTA OR FROM LOSS 

OF USE, DATA OR PROFITS [HOWEVERCAUSED AND UNDER ANY THEORY OF 

LIABILITY), EVEN IF FREE FLY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH 

DAMAGES. IN NO EVENT SHALL FREEFLY'S LIABILITY FOR A PRODUCT (WHETHER 

ASSERTED AS A TORT 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 LAST TWELVE (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 MAY ARISE 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 operator to follow proper instructions and safety warnings found 

at www.freeflysystems.com. 

» Failure of the operator to follow on board safety warnings while using the 

ALTA. 

» Failure of the operator to follow and comply with local rules and regulations. 

» Failure of the operator to inspect the ALTA and its components prior to 

operation. 

» Failure of the operator to properly maintain and/or service the ALTA 

through an authorized Free fly Service Center with genuine ALTA parts. 

>> Use of third-party products on the ALTA. 

>> 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. 

» Improper operation, misjudgment or risky behavior while using the ALTA. 

» Infringement of third party data, audio or video rights recorded when using 

the ALTA. 

7 
INTRODUCTION 

ALTA is a professional multi-rotor aircraft 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 either the 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 highlight various 

important procedures. These are defined as follows: 

WARNING 

Warnings are used to highlight procedures which. if not strictly observed. 

may result in personal injury or loss 

of life. 

CD 

CAUTION 

Cautions are used to highlight procedures which. if not strictly observed. 

may cause damage to equipment 

NOTE 

Notes are used to highlight specific 

operating conditions or steps of a 

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 at which the temperature is 

j-56.5°C (-69.7°F) is -0.00198°C (-0.003564°F) 

. per foot and zero above that altitude ~-" 

MSL I Mean Sea Level i~ the average height above 

I the 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 

1 temperature surrounding the aircraft 

ALTA USER \iM~ 9 
"'""'''""""""'"''--··-------··-·······-·-·--·---··l-------·------·---·--·-·---·----·-·----~----··-·--·-----·-·-................... -·-· Pressure Altitude Altitude measured from standard sea level pressure 

(29. 92 in. Hhg) by a pressure or barometric altimeter 

It is the indicated pressure altitude corrected for 

1 

position and instrument error. 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 of a motor during 

~:.~~ !:?~~-~_gutp~_!___ ·-· ~~_phas:.?~!~~~~~~~~-:-~he~-~~~_:~~eri~L ........ __ 

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

Throttle Stick I The radio controller stick responsible for 

I throttle control. For Mode 2 controllers, this 

1 is the vertical movement of the left control I stick. For Mode 1 controllers, this is the 

i vertical movement of the right control stick 

Yaw Stick I The radio controller stick responsible 

for yaw (also called pan) control 

~ode 2 aod Mode 1 oontcollecs, this is the 

al movement of the left control stick 

Pitch Stick , The radio controller stick responsible for I pitch control. For Mode 2 controllers, this is 

the vertical movement of the right stick 

For Mode 1 controllers, this is the 

vertical movement of the 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 controller stick responsible for roll 

controL For Mode 2 and Mode 1 controllers, this is 

the lateral movement of the 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 

of a standard aircraft 

0 
--··· ··-----~---·-- Tst~~da;:d;~pty weight plus optional equipment 

_s_ic ~~p~y_-~_:ight ·····!············-·········-······-··············-~················-·········-····· -···----····· __ _ I Difference between take off weight I and basic empty w_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 Power Cable 

7. Inverted Landing Gear 

8. Antenna Tubes 

9. FPV Cables 

a. Skyzone/BOSCAM 

b. lmmersionRC/Fat Shark 

c. Ready Made RC 

ALTA ! USER MM~ U 

10. Fasteners 

a. (4) M3 x 8 Socket 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. 5.5mm Wrench 

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

14. Accessory Mount 

15. Double-Sided Tape 

i 4 
D 

SPECIFICATIONS 

DIMENSIONS 

Unfolded Diameter 

(does not include Props) 

Folded Diameter 

(does not include Props) 

Height to base of Toad In The Hole (TITHl 

POWER PlANT 

Number of Motors 

Motor Type 

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 

Propeller Type 

BATTERY 

Nominal Battery Voltage 

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 Load2 

i:·~~,¥} ~~~~~$'~~;~dj·~~ 'i~l·~·~·· 

Typical Standard Empty Weight: 

SPECIFIC LOADINGS . 

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

1 At sea level, I SA. 

2 Top and bottom mount. Includes batteries. 

3 Payload weight top or bottom mount. 

Battery weight not included and mounted ·· 

on opposite side from payload. 

4 At MTOW, sea level, I SA. 

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-Person View System 

Video Formats 

Supported First-Person 

View Transmitters 

Supported First-Person View Cameras 

First-Person View OSD Telemetry 

Installed Transceivers 

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, Auto land 

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 

User Configurable 

Wi-Fi 

25Hz 

1 Watt Red, 1 Watt 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 

Freefly Toad In The Hole 

(TITH) Quick Release 

Boom #5 

18 
LIMITATIONS 

@] NOTE 

· These limitations are advisory in nat'ure and do not extend or 

restrict limitations provided by local aircraft operational regulation. 

POWERPlANT LIMITATIONS 

ENVIRONMENTAl liMITATIONS • 

WEIGHT liMITS 

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. 2 or 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 Camera Cable 

' 

SYNAPSE 

Flight 

Controller 
ALTA MOBILE APP 

The ALTA App is used to configure ALTA parameters and to monitor ALTA's status 

during flight To download the ALTA App, search for .. Freefly ALTA .. 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 automatically save changes to ALTA before shutting off the app or the mobile 

device. 

The ALTA App will be actively maintained, and additional functionality may be added 

over time. For information on individual app updates, refer to the App release notes. 

ADO NAL REQUIRED COMPON NTS (NOT INCLUDED) 

RADIO CONTROllER 

ALTA supports a variety 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 controller with 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 controller with 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 a variety of Lithium Polymer (LiPol flight battery packs. 

Battery packs must be 65, having a nominal voltage 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 of 400 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, refer to 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. Secure props with prop protectors 

2. Unlatch all six booms 

3. Close ALTA booms 

1\!..TA USER UA.L 23 
4. 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 

controller will automatically use the receiver with the best signal quality. Using two 

receivers requires the radio controller to be bound to both receivers. 

Refer to the instructions provided with your radio controller to 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 & 2 and 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 per the 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 1-7 on 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 battery voltage telemetry on Futaba radios using a receiver that 

supports an external voltage sensor, such as the R7008SB. To set up ALTA with 

voltage telemetry for Futaba radios: 

1. Locate the radio receiver wire bundle behind the 

closeout panel between booms 1 and 2. 

2. Identify the voltage 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 already connected to an in-line fuse. 

Soldering a fuse into this wire is not required. 

1\l.T/\ USE.R M~UAL 33 
3. Feed the voltage sense wires through the grommet on the closeout panel. 

4. Connect the white connector to the external voltage 

sense port on the Futaba receiver. 

1\ll...T/\ 
RADIO MAPPING 

ALTA can be used with a variety of radio 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 ALTA App. 

This section describes the steps required to complete radio mapping. 

If you are uncertain about your channel mapping, obtain assistance from an 

experienced pilot or from Freefly Customer Support. 

CONFIGURATION JUMPER 

A small jumper is used to prevent motor operation while configuring radio mapping 

parameters. With the jumper in place. the motors may operate, but channel 

mapping is prevented. With the jumper removed, channel mapping may take place, 

but motor operation will be prevented. 

To remove or replace the Configuration Jumper: 

1. Locate the closeout panel where the jumper is installed 

2. Remove the side closeout panel with the jumper using a 1.5mm hex driver 

ALTA USEFl [v\1\N 35 
3. Remove or replace the jumper 

4. Reattach the closeout panel 

MAPPING RADIO CHANNELS USING ALTA APP 

Channel mapping is accomplished with the ALTA App. Prior to rnapping channels, 

ensure your radio controller and receivers are properly installed. Refer to the Radio 

Installation section of this manual and your Radio Controller's documentation. 

1. Remove the Configuration Jumper 

& WARNING 

Always ensure the Configuration Jumper is removed prior to 

adjusting radio settings to prevent unintentional motor starts. 

2. Power ALTA 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 channel to the desired channel 

number, and use the toggle to invert the orientation of a control 

6. Ensure proper channel selection by moving the control input on the radio 

controller and verifying the displayed graph in the ALTA App responds correctly 

& WARNING 

Ensure proper channel mapping prior to 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 will work 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 is the 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. A three-position switch is recommended to select the three 

different modes. However, a two-position switch may be used, but will 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 for the 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 or vertical speed 

1\l.T/\ USEF! AN 37 
available 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, 

or disarming 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 of this manual under Operating 

ALTA for more information on switch behavior. 

A minimum two-position switch is required to make use of Arm Enable. A three 

position switch may be used to temporarily turn off the feature as both arm and 

disarm are allowed in the switch's center position. 

All FUNCTIONS 

The meaning of the 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 • Low Throttle --~----·~------·--------------------------

• Top ·• Position 

Mode Height 

• Manual 

Home 

Velocity Clamp 

ALTI\ USER MM~UAL 38 
Climb 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 for flight to 

determine if these 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 either the top or bottom of ALTA via the Freefly Toad In 

The Hole [TITH) quick release. 

ALTA comes pre-configured for bottom mounting a M6VI. 

BOTTOM MOUNT 

1. Prepare your M6VI for bottom-mount flight [see MoVI manual) 

a. Attach landing gear 

b. Install TITH receiver on M6VI 

2. Connect MoVI to bottom Toad 

ADDING A TITH TOP MOUNT 

CD CAUTION 

Top mounting is not supported by the MoVI M1 0. 

1. Prepare your M6VI for top-mount flight 

a. Remove landing gear (see M6VI manual) 

b. Install TITH receiver on MoVI [see MoVI manual) 

1\LT/\ 40 
2. Connect and secure the supplied inverted landing gear to the bottom Toad 

T 

3. Remove the four flat-head M3x6 bolts that secure the top handle 

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

5. Connect MoVI to the top 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, teal for medium payloads, and 

black for heavy payloads. Flight testing may be required to determine the optimal 

isolator for a given setup. 

To install. place the cartridges between the top chassis plate and the battery plate. 

Ensure they are engaged in the track features and are parallel with the chassis and 

battery plate. Push inwards fully until they 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 cartridges are locked in place before flying 

ALTA. Isolator cartridges that are not locked can cause the payload 

to loosen and change ALTA's fundamental flying characteristics. 

To remove, pinch the cartridge latch to unlock it from the battery and chassis plate. 

Simultaneousty pull the battery and chassis plate apart while pulling the cartridge 

outward . 

.IU.TA i USER t..t;ANUAL 42 
BATTERY INSTALLATION 

Batteries may be installed on either the 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 either side of the 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 at a 

similar state of charge (a full pack voltage difference less 

than 0.5Vl. Plugging in two dissimilarly charged 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 that are 

identical in their capacity and at a similar condition. 

Using a pack with another that 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 polarity will damage ALTA's electronics. 

UStR IIAM~UAL 43 
BOTTOM MOUNT 

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

2. Adjust battery stops 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 gear that 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 of the 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 

Verify ALTA is disarmed prior to performing a compass calibration. 

To ensure ALTA does not arm, set the Arm 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. Under Calibration, select Start Manual 

6. Follow the 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 immediately for 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 5 spin clockwise when viewed from above ALTA, and the propellers 

installed on booms 2, 4 and 6 spin counterclockwise when viewed from above. 

For information on propeller installation and maintenance, refer to the Maintenance 

section of this manual. 

1\ILTI\ USER M.£\N AL 1.9 
CHECKING PROP BOLT TIGHTNESS 

Over time, the bolts that hold the propeller blades to the prop hub can loosen due to 

vibration. To check prop bolt tightness, twist the prop about its length. If there 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 blade just enough to remove the play. 

<D CAUTION 

Do not overtighten, or the prop may fail to unfold completely 

during motor start up, leading to excessive vibration. 

ALTA USER UAL 50 
FIRST PERSON VIEW (FPV] 

ALTA and SYNAPSE can power a variety 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 the ALTA package. 

3. Remove the front closeout panel with 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 transmitter on the provided carbon fiber accessory mount plate. 

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

3. locate the appropriate FPV transmitter cable. The following cables are included: 

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

b. Boscam/SkyZone (cable with one connector! 

4. Remove the side closeout panel with 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 transmitter lead. 

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 the ALTA 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 character widths and heights . .,., .... _._,,,., ....... . 

54 
TEXT COMPONENTS 

The following components are displayed as text items, and can be configured to 

display as big or small letters, or no letters effectively turning off the display. 

Vario 

Heading 

Distance 

Ground Speed 

Battery 

Time 

GPS 

GPS Accuracy 

Lat/Long 

Displays the height of ALTA from its 

starting point in meters or feet ,,. ........... , ....... . 

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 per second 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 of the 

.. ~P.S. si9.n.ati.n. IT)eters or feet 

· 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 of the artificial horizon 

that indicate changes in roll 

• Adds marks to include a full horizon line 

• Adds small marks on either side 

• of the artificial horizon ladder that 

• roll with ALTA roll movements 

• Allows for scaling of the artificial 

10, 20, 30, 40 . horizon markings to compensate for 

• FPV cameras of different field views 

Sets the number of degrees 

10, 20, 30, 40 between pitch markings when the 

artificial horizon ladder is used 

OTHER COMPONENTS 

The following components can be turned on or off. There are no other options 

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 of the home point 

. Displays a bar on the right of the screen that scales 

• with vertical speed. The bar will increase in length 

• up to indicate a climb, or down to indicate a descent 

• Displays a bar on the left of the screen that scales 

• with the forward/rearward velocity component 

• The bar will extend up to indicate forward velocity, 

• or down to indicate a rearward velocity 

• Displays a bar on the bottom of the screen that 

scales with the side-to-side velocity component 

The bar will extend left to indicate leftward 

velocity, or right to indicate rightward velocity .......... '' ..................................... . 

56 

TUNING ALTA 

ALTA comes pre-tuned for a wide variety of payloads and flying conditions. Generally, 

additional tuning is not required to fly ALTA, and additional tuning will only need to 

take place if more customization of control feel 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 at a 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 characteristics of ALTA. 

It is possible for ALTA to become unstable or even uncontrollable if 

values are set too high or too low. Only change tuning parameters 

in small increments and with caution. Always test new tuning 

configurations in open areas away from people or obstacles. 

19 NOTE 

The ALTA App only allows tuning while ALTA is on the ground. 

ATTITUDE TUNING 

Attitude tuning adjusts how ATLA 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 parameter to 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 primary variable to adjust when 

1\ILT/\ 58 
tuning. When tuning Stiffness first, or making large stiffness changes, Hold Strength 

should be set to a low, non-zero value. 

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 a vague or disconnected control response. 

HOLD STRENGTH 

Hold Strength controls how much ALTA will try to maintain a pitch/roll 

angle command, or a 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 default value, 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 !for additional information on flight modes, see the 

Flight Controller Modes section of this manual). Tune height parameters only after 

satisfactorily tuning attitude parameters. 

Similar to 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 if they 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 if ALTA experiences vertical oscillation or vibration. Increase 

this value if ALTA is sluggish while accelerating to a desired climb or descent rate in 

Height mode. 

HOLD STRENGTH 

Hold Strength Gain tunes how much ALTA will attempt to stay on a desired altitude 

in Height Hold mode only. A higher value will result in height being held more 

precisely. Too high of a value can cause ALTA to overreact to winds, gusts or 

turbulent air. 

CLIMB RATE STRENGTH 

Climb Rate Strength adjusts how much ALTA will attempt to maintain a desired 

climb rate. Higher values 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 parameters will adjust how well ALTA maintains a desired ground 

speed or a position over the ground. Similar to attitude and height tuning, the 

primary value to adjust is stiffness. 

HORIZONTAL STIFFNESS GAIN 

This changes the horizontal stability of ALTA. Higher values increase ALTA's 

resistance to wind gusts or turbulence from moving ALTA off its target position. 

Values that are too high can cause instability of ALTA. 

HOLD STRENGTH GAIN 

This adjusts how much ALTA will attempt to maintain its place over a target position. 

A higher value will result in position being held more precisely. If too high, positional 

instability can result, causing ALTA to fly past a target position. 

J\LTJ\ USER VANUAL 60 
0 

ALTA FLIGHT PARAMETERS 

Flight Parameters are different from tuning parameters in that the flight 

characteristics of ALTA will not change with their modification. However, they can be 

used to select neutral points using trim, or to set maximum or minimum values. 

ATTITUDE 

PITCH AND ROLL TRIM 

Use Pitch and Roll trim settings to correct for tendencies of the ALTA to pitch or roll 

with a neutral control input. 

Use the in-app pitch and roll trim settings instead of radio controller trim features 

as large radio controller trims could prevent position hold from engaging at neutral 

stick positions. 

MAXIMUM PITCH/ROLL ANGLE 

This sets the 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 the ALTA will yaw (pan] when at full stick deflection. 

HEIGHT 

HOVER THROTTLE 

Hover Throttle is a parameter that adjusts ALTA"s thrust at center throttle stick, and 

ensures ALTA does not climb or descend at the center stick position while flying in 

Manual Mode. A Hover Throttle setting that is too high or too low can cause ALTA to 

climb or descend when switching between Manual and Height Modes. 

eJ NOTE 

Hover Throttle will need to be adjusted when 

changing the overall weight of the system, or when 

moving between very different elevations. 

Adjust the Hover Throttle setting such that during a stable hover the required 

throttle position is at middle stick, or about 1500 IJS in the App radio chart. Increase 

Hover Throttle if hover occurs above center stick, and decrease if hover occurs 

1\ILTA 

-----------
below center stick. 

Alternatively, if ALTA climbs when switching from Manual to Height mode, increase 

hover throttle, since a climb indicates a stick position that is higher than 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 hover throttle 

adjustments while 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 parameter will 

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 controller will place on the 

airframe. It is recommended to use lower G settings 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 lower of these two limits. 

MAXIMUM GPS SPEED 

Max GPS Speed sets the maximum speed ALTA will fly across the ground at full stick 

deflection in Position Mode. 

If Velocity Clamp is mapped to an RC transmitter channel, the parameter will adjust 

the fastest ground speed available to the Velocity Clamp feature. 

RANGE 

Range sets the maximum distance ALTA may fly away from the home point while 

in Position mode. If the range is exceeded in Manual mode, the status light will 

illuminate white. 

ALTA USEF! VAN 
JU .. T/\ 
FLIGHT CONTROLLER MODES 

ALTA has three primary flight 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 control modes. 

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 behavior to command climb and descent 

rates. The higher the throttle stick position, the faster ALTA will climb. Conversely, 

the Lower the throttle stick position, the faster ALTA will descend. 

When the throttle stick is centered, ALTA will enter Height Hold. In Height Hold, 

ALTA will maintain a target 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/roll stick behavior to command ground speeds. 

Pitch and roll stick deflection will command fore/ aft and 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 a weak signal is present, ALTA will not 

enter Position Mode, and if the 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 of degraded GPS signal, 

such as near buildings or under dense 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 of the 

flight or the last defined Home Point. When ALTA first acquires a GPS position, it 

sets this as the Home Point of the 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 or be 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 of ALTA's altitude the entire time. ALTA will not Autoland 

if an adequate signal is detected. The pilot can cancel the RTH procedure by 

commanding a pitch or roll 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 wilt first check its current altitude against Safe Height. If 

it is lower, it will climb to Safe Height. and if ALTA is above Safe Height, it will remain 

at its current altitude. Next, ALTA will fly back to the home position at the RTH 

Speed set in the ALTA App. 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 
AUTO LAND 

The Autoland function will command ALTA to hover for 10 seconds and will then land 

in place. This only occurs if Autoland is selected as the Loss of Signal(LOSl event in 

the ALTA App, or at the end of an LOS Return-to-Home (RTHl event. If ALTA is 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 descent will slow to 

the Autoland Descent Rate until landing. 

HOME SWITCH 

The home switch has three settings, Set Home, RTH Off and RTH On. 

SET HOME 

Set Home sets a new home point at ALTA's current position. This could be useful for 

setting a point away from the initialization point, such as if the ALTA were started 

underneath an overhang or a tree. 

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 height while the SYNAPSE will command ALTA's position over the ground 

to the home point. 

ARM ENABLE SWITCH 

The optional Arm Enable Switch allows for added safety while working around and 

flying ALTA by disallowing arming during ground handling or disarming during 

flight. To set up an Arm Enable Switch, refer to Mapping Channels or the ALTA User 

Manual. 

If used, the Arm Enable function should be mapped to a three-position switch. 

2lmiddlel 

3 

ALTA USER Mt\NUAL 7 
STATUS LIGHT 

The rear-facing Status Light shows the status of ALTA as it boots, arms and flies. 

The following table shows the different meanings of the light in the various flight 

phases. 

·Booting 

Standby 

Armed 

Flight - all modes 

Flashing White 

Flashing Red 

· Flight controller is booting 

. Flight controller is running 

and dis-armed 

' Flight controller is running 

and not ready to arm ························································ .. ······· .................... ,. ........ . 

A flight controller error has 

occurred or Battery cell voltage 

below user-defined levels 

68 
Flight - 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 

• Nominal flight status 

Height hold inactive . ·- - - . .... . . . . . . . 

· Height hold active 

Battery cell voltage 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 of ALTA in 

flight and the status of the individual motor Electronic Speed Controllers IESCsl 

during other flight phases. The following table shows the different meanings of the 

light colors in the various flight phases. 

Armed 

Flight 

1\l.T/\ 

..•. ESC firmvvare is updati~g . 

70 
ALTA APP MONITOR 

The ALTA App includes a flight status monitor that displays information about the 

health of the ALTA and the various controls that can be selected. 

Boot indicates if the 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 number of GPS satellites in view and being received. 

Lock displays whether a position lock is ready, indicating a valid 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 if the 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 fly to 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 as a .csv file at a rate of 25 Hz on a microSD card installed on the top of the 

GPS/Compass module. A table of recorded 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 

Isolator cartridges 

Payload mounting location 

REMOVE from case 

REMOVE 

STOW 

UNFOLD 

LOCK 

CHECK 

SELECT and INSTALL as necessary 

CONFIGURE as necessary 

AMPLIFICATION 

To set up ALTA for flight, remove it from the case and remove the prop protectors. 

Stow the 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 until they audibly dick, indicating the 

booms are secure. There should be little to no slop in the hinge. Check that the 

receivers and the electrical connectors that attach to the receivers are secure. 

For information on installing isolator cartridges and setting up payload mounting 

locations, refer to 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 the Toad 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 if they 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 until the slop is removed. There should be no slop between the prop hub 

and the motor . 

.1\LTA I USER MANUAL 75 
Motors should spin freely, and there should be no grinding or scraping sound from 

the motor. The inside of the motor should be free of debris. 

Always turn on the radio controller before plugging in ALTA. Follow the battery 

instaLLation guidance in the Battery Installation section of this 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 

If ALTA 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 Light will quickly flash a sequence of red and 

white Lights. At the end of this process, it will begin slow flashing white. indicating 

SYNAPSE is ready for arming. The Orientation Lights will also begin flashing 

green. Verify that aLL six motors are flashing green, indicating all ESCs initialized 

successfully. 

Verify that there 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 

of this 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 

1 1. Flight Controls VERIFY.CORRECT 

12. Throttle ADVANCE 

AMPLIFICATION 

Prior to 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 at a high RPM, and the ends of the blades 

move at high speeds. ALTA's props can cause severe injury 

or death or cause damage to objects while they are rotating. 

Always ensure the area surrounding the props and ALTA is 

clear of people or objects prior to starting the ALTA's motors. 

ALTA can only be armed for flight when 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 ENABLE ARM position. To arm, hold full low throttle and full left yaw. 

& WARNING 

Do not approach ALTA while it is armed. 

To start the motors. hold full low throttle and full right yaw. Ensure that all the 

77 
motors are 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 

cartridge flex. Ensure that the ALTA behaves as expected. If it does not, shutdown 

ALTA and ensure the props are installed in the correct orientation. 

CD CAUTION 

Do not make large yaw commands while on the 

ground with the inverted landing gear installed. 

large yaw commands can cause instability. 

After checking flight control directions, advance the throttle to enter a hover. 

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

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 for warnings 

9. Batteries DISCONNECT and REMOVE 

10. Radio Controller Power AS REQUIRED 

11. Aircraft Condition INSPECT 

12. Motor and Prop Condition INSPECT 

13. Battery Condition INSPECT 

AMPliFICATION 

Upon landing, disarm the motors by holding full low throttle and full left yaw. This 

is typically done on the left radio control stick by moving it to 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 motors are 

disarmed, the Orientations Lights will flash green and the Status Light will slowly 

flash white, indicating it is safe to approach ALTA. 

& WARNING 

Only approach ALTA after confirming 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. After the flight, ensure there is no damage 

to the props and that the motors still spin freely and quietly. Take extra care when 

operating in areas with large amounts of debris, such as in sand, dirt. or gravel. 

After flight 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 79 
2. Prop Protectors INSTALL 

6. Payload REMOVE 

AMPLIFitATION 

• Packing ALTA is similar to the unpacking process. K~eping ALTA on Jhe payload or 

.landing gear facilitates the'process as ALTA may be turned on the Toad In The Hole 

adapter while 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 battery leads 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 substantially through 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 or applied during the event. These procedures are not a substitute for 

thorough understanding of aircraft systems and sound pilot judgement. 

fn general, if an emergency occurs, three basic actions can be applied to most 

situations: 

Maintain aircraft control- Small emergencies can quickly escalate if the pilot is 

distracted attempting to determine or troubleshoot the problem. Always maintain 

visual contact with the aircraft during an emergency to reduce the likelihood of 

disorientation. 

Analyze the situation -Once the aircraft is stabilized, begin to assess the cause of 

the emergency if practical. 

Take appropriate action In many cases, the appropriate action will be to land the 

aircraft as soon as possible. Always consider the safety of yourself 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 

If the problem persists 

3. ALTA LAND as soon as possible 

AMPLIFICATION 

If the ALTA behaves unexpectedly, neutralize control inputs and observe ALTA. If it 

is still flying 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. 

If the behavior occurred while in Manual mode, land as soon as possible and check 

the ALTA App for any warnings. 

J\lLTA USEF! MAN!'M .. 84 
BATTERY EXHAUSTION 

If battery cell voltage is between Alarm Voltage and Land Voltage 

1. Status Light Illuminates red (solid or blinking! 

2. ALTA LAND as soon as possible 

If battery cell voltage is below Land Voltage 

1. ALTA 

2. Pitch and RoLL 

Begins Auto land 

MANEUVER away from people or objects 

AMPLIFICATION 

If the battery cell voltage drops below the Alarm Voltage, the Status Light will 

turn solid red in Manual Mode, or turn blinking red if holding position or altitude. 

Terminate the flight and Land as soon as possible. 

In the event the cell voltage drops below the Land Voltage, ALTA will begin to auto 

land. However, pitch and roll commands are still active. During the time ALTA is 

descending, use pitch and roll to avoid people or objects during the descent 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 a warning; fora number of different 

· reasons. It is always recommended to land as soon as possible and investigate the 

. problem while ALTA is on the ground. 

ALTA j USER ~viANUI\l. 
LOSS OF RADIO CONTROL SIGNAL 

1. 

2. 

3. 

4. 

Controller Battery 

Controller Antenna 

Mode Switch 

Home Switch 

CHECK 

REPOSITION 

POSITION 

RETURN-TO-HOME 

AMPLIFICATION 

Loss of Signal (LOS) can occur if the radio controller stops transmitting a signal, 

or if ALTA is too far away to receive it. In the event ALTA detects a LOS, it will 

automatically execute a Return-to-Home or Autoland as configured in the App. 

However, it is always recommended to attempt to regain signal link with 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 of the receiver antennae. Move the transmitter away 

from objects to get a clear line-of-sight to ALTA. 

Setup the Mode and Home switches to enable Return-To-Home so ALTA will 

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 for optimal signal reception 

If visual 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 if the aircraft flies out of range, or if it flies 

behind an object that interrupts the signal line of sight. Regaining visual contact 

is the preferred method to reestablish control of the aircraft, either with the pilot 

seeing the aircraft, or by the use of a second visual observer. 

Yawing the aircraft can help signal reception if the body of the aircraft is blocking the 

line of sight between the transmitter and receiver antennas. 

If FPV signal or visual 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 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. 

B8 
ALTA 
PERFORMANCE 

WEIGHT I ENDURANCE 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 90 
BLE GROSS WEIGHT 

e and temperature increase, the density of the air decreases. Consequently, ALTA's thrust will decrease. The follow

describes maximum gross weight limits with respect to altitude and temperature. 

0°C 1QOC 20°C 30°C 40°C 

s Alt Ft ! ! Maximum J Maximum Maximum Maximum Maximum Maximum Maximum Maximum Maximum Maximum 

Gross Weight 

1 

Gross Weight Gross Weight Gross Weight Gross Weight Gross Weight Gross Weight Gross Weight Gross Weight Gross Weight 

llbl (kg) (!b) (kg) Ubi (kg) Ubl )kg! (lbl (kg) 

S.L. 30.0 I 13.6 30.0 13.6 29.5 13.4 28.5 12.9 27.6 12.5 

1000 30.0 13.6 29.4 13.4 28.4 12.9 27.5 12.5 26.6 12.1 

-

2000 29.4 13.3 28.4 12.9 27.4 12.4 26.5 12.0 25.7 11.6 

I 

3000 28.4 12.9 27.4 12.4 26.4 12.0 25.5 11.6 24.7 11.2 

4000 27.3 I 12.4 26.4 12.0 25.5 11.5 24.6 11.2 23.8 10.8 

5000 26.3 11.9 25.4 11.5 24.5 11.1 23.7 10.8 23.0 10.4 

----

6000 25.4 I 11.5 24.5 11.1 23.6 10.7 22.8 10.4 22.1 10.0 

7000 24.4 I 11.1 23.5 10.7 22.7 10.3 22.0 10.0 21.3 9.7 

• 

8000 23.5 10.7 22.7 10.3 21.9 9.9 21.2 9.6 20.5 9.3 

9000 22.6 I 10.3 21.8 9.9 21.1 9.6 20.4 l 9.2 19.7 8.9 ! I 

-· I I 10000 21.8 I 21.8 21.0 9.5 20.3 9.2 19.6 8.9 19.0 8.6 

0• 

..J 

::::> 

z 

<( 

2. 

a:; 

ill 

Ul 

::::> ;.,1 

< 

II 
92 
GENERAL INFORMATION AND TECHNIQUES 

USE OF THREADLOCKER 

Bolts and screws that are called out in this manual to regularly remove or replace 

typically do not require use of a threadlock compound. This includes the screws 

holding on the handle, battery retention strap studs, battery stops, 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 thread locker. 

All structural fasteners require the use of threadlock. This includes chassis screws, 

lower male Toad In The Hole adapter and motor attachment fasteners. In addition, 

the four M3 x 8 socket head bolts that attach the folding propeller to the motor 

require threadlocker. Typically, a medium threadlocker [such as Loctite Blue 243) is 

used on structural fasteners. 

BOLT INSTAllATION 

The Freefly hex drivers included with ALTA are designed to help limit the torque that 

can be applied to each bolt. 

Thread all fasteners into their respective holes until "snug ... This is when 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 of the tool between your thumb and index finger for 

small fasteners (under size M3) or with your thumb and two forefingers for larger 

fasteners [size M3 and larger). 
MAINTENANCE ITEMS 

PROPELLERS 

Propeller blades should be removed when making a change to the configuration of 

the ALTA to prevent propeller strikes in the event of unintentional motor starts and 

should be replaced on an as needed basis if they become damaged. Generally, a 

nick on the leading edge that is large enough to catch a fingernail indicates that the 

prop should be replaced. If the blade composite structure becomes delaminated, the 

propeller blade should be replaced. 

Freefly makes folding propeller assemblies available that include the blades and 

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 thread locking compound on the bolt 

threads that attach the propeller hub to the motor. 

94 
Odd numbered booms (1, 3 and 5] use clockwise rotating props when looking from 

the top down, and even numbered booms (2, 4 and 6) use counterclockwise rotating 

props. 

& WARNING 

-·---~·----- ·------- Always check to ensure the correct prop rotation direction 

and correct propeller prior to flight. Props that spin in the 

incorrect direction will cause ALTA 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 of the folding propeller is required. 

Start by removing the M3 x 19 bolt and nylon nut. Pull off the upper prop adapter. 

The two bumpers are held in place by circular features in the lower prop adapter. 

Replace the worn or split bumper with 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 thicker and is installed between the nut or 

bolt head and the two prop adapters. The PTFE washer is wider and thinner and 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 after every 15 flights, dependent upon the level of vibration ALTA 

experiences in flight or during handling. To check ALTA's fasteners. apply a 

tightening torque to each fastener on the chassis using the supplied hex drivers. The 

fasteners should not slip. 

If a fastener does slip, tighten it using the methods described in the Bolt Installation 

section. Do not apply additional thread locking 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 refer to 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 a firmware 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 of control. 

SYNAPSE firmware is updated using the ALTA App. New app updates may include 

new firmware 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 latest firmware 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 
. 
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 

'Allow Arm 

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 Switch to 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 set the 

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, 

starting with Position Hold Strength 

ALTA does not Compass track straight in • Perform a manual compass calibration 

Position Mode • calibration invalid 

Revert tuning to the last known 

Unexpected Tuning too high working configuration 

flight behavior or too low 

back to default values 

1\L.T/\ i USEF~ 100 
1\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 

103 
IMU 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 ..... - ..... : ................... --···-· 

Compass X . 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 

• A component of a unit magnetic vector 

• with positive values directed to the 

front when front is Northward 

· A component of a unit magnetic vector 

with positive values directed to the 

when front is Westward 

The position control loop set 

point in a Northerly direction 

referenced to take-off location 

: The position control loop set 

: point in an Easterly direction 

referenced to take-off location 

. The position control loop set point 

: in an Upwards direction referenced 

to the take-off location 

: The velocity control loop set point 

· 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 set point 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 

· point where 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 pulse width 1 000-2000us where 

increasing values are for 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 last telemetry update ~------------~--~--

Motor Voltage 1-6 :Volts • Bus voltage measured at ESC 

• from last 

Motor Current 1-6 •Amps 

Motor field current measured at 

• ESC from last """'"''"'"'' 

Motor Power 1-6 • Watts • Measured ESC 

1\LTA USEF~ MANUAL 1D6 
Motor Energy 1-6 · Watt-hours 

Motor Accel 1-6 • a.u. 

Motor Temp 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 battery voltage 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 : Internal communication errors 

103