# Aero-M Operation Manual
Thank you for purchasing an Aero-M! This manual contains important information about your aerial mapping platform. Please read these instructions before your first flight.

1 Plan 1 2 Fly 20 3 Process 37 Appendix 41

V.1 2014 ©3D Robotics DCT0010 

## Online information portal: 3DR.com/Aero-M 3DR support: help@3DR.com Terms and conditions: 3DR.com/terms Pix4D instructions: support.Pix4D.com1 

# 1 Plan
Parts 2 Flight Battery 3 Charging 3 Safety 3 Powering the Aero 4 Camera Setup 5 3DR EAI 5 Charging 5 Starting a Mission 5 Mounting 6 Ground Station Setup 7 Download Software 7 Connect to Radio 7 Mission Planning 8 Operating Parameters 8 Load Maps 9 Draw Polygon 10 Configure Survey 11 Save and Write Mission 192 

# Parts

Aero

wings propellers (1 plus 1 spare) camera RC controller and accessories

battery guard bag batteries (2)

charger and accessories ground station radio
micro-USB cable

Pixhawk micro-SD card adapter hex keys (?)
propeller wrench horizontal stabilizer wing spar

spare camera mount filters (2) spare control horns (2) wing rubber bands (4 plus 2 spare)

spare servo rods (2) FPV/OSD System If you selected to receive a FPV/OSD system, those components will be included with the Aero’s accessories. See page 34 for parts and instructions. registration card and Pix4D license key3 1 Connect the charger to the power adapter cable and a wall outlet. Connect the red cable to the + port and the black cable to the - port.



# +

– 2 Set the charger to LiPo and 3A.

LiPo 3A

3 Connect the white connector to the 4S port, and join the two yellow connectors together.

4S 4 Secure the battery inside the guard bag, and charge until the status indicator displays green.

Charging

Complete The Aero is powered by a rechargeable lithium polymer (LiPo) battery. Charge the battery before your first flight.



# ! Flying with a low battery is a safety risk and can render the battery permanently unusable. Always fly with a fully charged battery. Charge the battery using a designated LiPo balance charger only. Always monitor the battery while charging. Protect the battery from extreme heat, extreme cold, puncturing, and flammable surfaces. Always transport, charge, and store the battery in the guard bag. Inspect the battery for damage before and after flying. If you observe any swelling of the package or the battery ceases to function, do not use the battery; locate your local battery recycling center, and dispose of the battery. In the US and Canada, visit call2recycle.org to find a location. Do not dispose of the battery in the trash. 

# Flight Battery
Charging Safety

Charger with power cable and split-wire charging cable Charger settings

Flight battery charging wiring Charging in process4 1 Turn on the controller. To avoid triggering the controller’s startup alarm, ensure that all switches are set back (away from you) and the throttle stick is set fully down. 

# ! It is important to establish communication before powering on the Aero. Always turn on the controller before connecting the battery. When powering off the Aero, disconnect the battery before turning off the controller.

3 Insert a charged battery into the battery slot, and attach the yellow connectors. This will power on the Aero.

Hold the Aero still and level while it powers on. Attach the velcro above the battery slot to the velcro on the battery. Close and secure the lid onto the battery compartment.



# ! 2 Open the battery compartment by sliding the knob on the orange switch forward and lifting out the lid. 

# Powering the Aero

RC controller Throttle stick

Switches

Aero: battery compartment lid

battery slot battery connector

Aero: battery compartment interior flight battery5 

# Camera Setup The Aero includes a Canon PowerShot SX260 HS running the 3DR EAI script.

SD card locked Load 3DR EAI 

## » Fly a mapping mission SD card unlocked Load default Canon software 

## » View images on camera 

## » Save images to ground station 

## » Update script 

# 3DR EAI (Exposure-Aperture-ISO) 3DR EAI runs on the Canon Hacker Development Kit (CHDK), a pow erful opensource tool that expands the functionality of Canon point-and-shoot cameras. 3DR EAI optimizes image exposure and integrates with the Pixhawk autopilot to enable distance-based imaging. This software is designed to load off the camera’s SD card, leaving the original Canon programming intact. The yellow switch on the side of the SD card allows you to lock or unlock the card. Lock the SD card to run 3DR EAI; unlock the SD card to save images to your ground station or to boot the camera with its original programming. For more information about 3DR EAI, see page 43. 

# Charging Charge the camera battery before your first flight. Once fully charged, insert the battery into the camera.

status indicator


# Starting a Mission To prepare the camera to fly a mapping mission, ensure that the mode dial is set to P (program) mode. Power on the camera using the silver button on the top. 3DR EAI will start automatically, and you will see the script messages on the camera display. Check to see that the last line of the script reads waiting on USB signal . The camera is now ready to map!

power button

Camera ready to map: waiting on USB signal Canon battery charger

Power off the camera before removing the SD card. 

# ! Camera running 3DR EAI Camera running Canon software mode dial6 

# Mounting

autopilot integration cable The camera mounts to the Aero inside the battery compartment and connects to the autopilot using the mini-USB cable. When the camera is ready to start the mission, insert the camera into the mount inside the battery compartment as shown below, connect the mini-USB cable to the camera, and secure the camera in place using the velcro strap.

Connect mini-USB cable inside battery compartment here. The camera mount includes a lens cap that protects the filter during travel. Make sure to remove this lens cap before you fly, and check that the filter contains no foam particles, dirt, or scratches that could affect image quality. It is expected that the filter will accumulate scratches after significant use. If you notice any damage to the filter that could affect image quality, unscrew the filter and replace with one of the extra filters provided with the Aero.

UV filter Aero battery compartment: camera mount

Camera (side) Camera mount (bottom): cap removed

Camera mount (bottom): cap attached

The camera mount is fixed to the inside of the battery compartment and is not intended to be removed from the Aero.7 Mission Planner

Your license key for Pix4Dmapper can be found on the registration card inside the documents package. Visit mapper.pix4d.com/license-redeem to create an account and redeem your license key; then visit pix4d.com/download to download Pix4Dmapper Discovery. Pix4D will automatically upgrade from the Discovery edition to the LT 3DR Edition (or Pro Edition if you selected to upgrade) when you log in to the program with your Pix4D account information. Mission Planner is a full-featured ground station application for planning missions and monitoring the Aero in flight. Download Mission Planner from 3DR.com/download_software
. If you already have Mission Planner installed, make sure you’re running the most recent version: Select the Help tab and Check for Updates
.

Mission Planner: Help tab 

# Ground Station Setup

Pix4Dmapper LT 3DR Edition To connect the Aero to Mission Planner, connect the ground station radio to the laptop, and power the Aero. 1 Connect the ground station radio to your laptop using the micro-USB cable. Open Mission Planner.

3 Select Flight Data to view live data from the Aero. 2 Select 57600 and AUTO , then select CONNECT
. (When connecting directly to Pixhawk’s micro-USB port, set the rate to 115200.) 

# Connect to Radio Download Software Mission Planner allows you to turn a Windows laptop into a full-featured ground station for configuring and monitoring autonomous missions. You will need to take this laptop into the field when you fly the mission. As part of the mission procedure, you will use the Pix4D Rapid Check to verify the quality of the image set before leaving the field.

Ground station laptop with radio connected Mission Planner Connect tool (top-right corner))

Mission Planner Flight Dat a tab: connected to aircraft8 The Aero is a complete solution for creating high-resolution visual-spectrum aerial maps.

Pixhawk autopilot system Pix4Dmapper LT 3DR Edition Canon SX260

3DR EAI

To create a map, the Aero flies an autonomous mission over the survey site, using the integration between the Pixhawk autopilot and custom-programmed camera to capture images at a consistent distance interval. Pix4Dmapper then stitches these images together into a georeferenced, orthorectified mosaic. The accuracy of the map depends on the configuration of the mission. Planning a mission that captures high-quality images requires balancing the Aero’s operating parameters with the environmental factors at the survey site. 

### Operating Parameters

Camera Canon SX260 Camera Orientation Portrait (side facing forward) Operating Altitude 80-120 m Standard Operating Altitude 100 m Low-Wind Conditions 0-6 m/s High-Wind Conditions 7-10 m/s Maximum Wind Conditions 10 m/s Operating Speed 8-20 m/s Default Speed 15 m/s Estimated Maximum Flight Time 40 min Estimated Ground Resolution 5 cm/pixel Estimated Maximum Survey Area 1 km 2 

### Minimum Photo Interval 2 seconds 

# Mission Planning Operating Parameters

Mapping system diagram9 1 Open Mission Planner, select Flight Plan , and zoom to your flying location. 2 Right-click on the map, select Map Tool and Prefetch , and accept the defaults prompts. Mission Planner will download the maps for the selected location to your computer.

3 Mission Planner will attempt to load the map data from the current level of zoom down to the closest level of zoom available. However, it can take hours to pre-fetch every level of zoom, and it is unlikely that the closer levels will be useful in planning the mission. To shortcut this process, check the slider on the right side of the map. The levels of zoom are represented by this slider from 0 (bottom) to 25 (top). Press the ESC key to skip levels of zoom at a greater detail than you need for mission planning. Mission Planner Flight Plan tab: zoom to mapping location Mission Planner Flight Plan tab: Select Prefetch 

# Load Maps Mission Planner allows you to plan the mission away from the mapping location; however, it is important to assess the environmental conditions on site at the time of the mission and adjust the flight plan if necessary. Alternatively, you can plan the entire mission at the mapping location. To create or alter the mission, Mission Planner requires an Internet connection to access the maps. If you’re unable to access the Internet on site, follow the instructions below to pre-fetch the maps within Mission Planner while you have Internet access.10 2 Right click on the map. Select Draw Polygon and Add Polygon Point . Click and drag to add points around the area you want to map. 3 Right click on the polygon. Select Auto WP and Survey (Grid ) to open the Survey Tool.

Units The Survey Tool uses metric units. If your Mission Planner is set to imperial units, please change the settings to use metric to plan the mission. Support for imperial units in Mission Planner is coming soon; check 3DR.com/Aero-M for updates. 

# Draw Polygon
To begin planning the mapping mission, select the area you want to map using the Polygon tool. Y ou’ll be able to adjust the size and shape of the polygon later in the mission configuration process.

1 Select Flight Plan , and zoom to your mapping location.

Mission Planner Flight Plan tab: zoom to mapping location
Mission Planner Flight Plan tab: draw polygon Mission Planner Flight Plan tab: open Survey tool 

# !11 Set Camera Canon SX260-SX280

Set Camera Orientation Uncheck the option for Camera top facing forward
.

Set Default Speed 15 m/s

Apply Survey Speed Check the option for Use speed for this mission
. If unchecked, the mission will use the Aero’s default speed of 15 m/s regardless of the speed selected in the Survey Tool. 

# Configure Survey: Set Default Parameters

Mission Planner Survey tool The Survey tool allows you to configure a mapping mission according to the Aero’s operating parameters and the current environmental conditions at the mapping location. First, set the default values for the Aero.12 Set Angle Wind Direction In environments with winds of less than 6 m/s, set the angle so that the Aero flies into the wind. In winds from 7-10 m/s, configure theflight path to travel perpendicular to the wind so the Aero flies crosswind. No. of Strips Adjust the angle so that the Aero makes as few turns as possible to complete its course. The No. of Strips parameter shows how many passes the plane will make as you adjust the angle. Review Wind Conditions On-Site Always assess the wind conditions at your survey site at the time of the mission and adjust the mission accordingly.

Mission Planner Tip: Adjust Polygon Click and drag the red polygon points to adjust the size and shape of the polygon from the Survey Tool. 

# Configure Survey: Set Angle

wind

Configure the flight path perpendicular to the wind in high winds (7-10 m/s). Configure the flight path parallel with the wind in low winds (1-6 m/s).

wind wind

Use caution when flying in winds over 10m/s. Mapping results may degrade as a result of inability to make headway or maintain appropriate groundspeed. Mission Planner Survey tool Next configure the angle of the flight path for the current wind conditions.



# !13 Set Altitude Standard operating altitude: 100 m Operating altitude range: 80-120 m Increasing altitude decreases flight time, allowing you to cover more area per minute. Decreasing altitude improves ground resolution. Set the alti

tude to get the best ground resolution while keeping the flight time under 40 min and the altitude under 120 m.

Keep altitude below 120 m, and ensure that the altitude is appropriate for your flying area and local regulations.

Check Flight Time Flight Time estimates the duration of the mission. The total estimated flight time must be under 40 min for a fully charged Aero battery. To decrease flight time, increase altitude or speed. High winds, humidity, high altitude, and extreme heat can affect power consumption and reduce flight time. Consider the environmental factors at your site when configuring flight time. Check Ground Resolution Ground Resolution is the centimeters per pixel that you will have in the map and corresponds to the amount of detail that you will see. To improve ground resolution by decreasing the number of centimeters per pixel, decrease altitude. 

# Configure Survey: Set Altitude

Mission Planner Survey tool The survey altitude determines the duration of the mission and the ground resolution of the final map. Adjust altitude to balance flight time and power consumption with the current environmental conditions.



# !14 Check Photo Interval Photo Every must be longer than 2 seconds for the SX260 camera.

Altitude Increasing altitude increases photo interval.
Keep altitude below 120 m, and ensure that the altitude is appropriate for your flying area and local regulations.

Speed Decreasing speed increases photo interval.

Ensure that the Use speed for this mission option is checked. 

# Configure Survey: Check Photo Interval

Mission Planner Survey tool With the basic parameters in place, verify that the photo interval calculated from the altitude and speed complies with the operating parameters for the camera.



# !

!15 Takeoff and Land WP’s For automatic takeoff and landing Check the Add Takeoff and Land WP’s option. Uncheck the Use RTL option. This will create a takeoff waypoint and a placeholder waypoint for the landing pat

tern. After accepting the survey, configure the automatic landing pattern by following the instructions on page 20. For automatic takeoff and manual landing Check both the Add Takeoff and Land WP’s option and the Use RTL options. This will create a takeoff waypoint so the Aero will automatically climb to the survey altitude before heading to the first waypoint. The Aero will return to circle over the launch point after completing the mission. For manual takeoff and landing Uncheck the Add Takeoff and Land WP’s option Check the Use RTL option. For this option, take off manually then initiate the mission in flight. The Aero will return to circle over the launch point after completing the mission. 

# Configure Survey: Set Takeoff and Landing

Mission Planner Survey tool Now select a takeoff and landing pattern, either manual or automatic.16 Check Advanced Options to view the Survey Tool’s advanced configuration options.

Set OverShoot The Aero has a minimum turning radius of 90 degrees. To accommodate the sharp angles of the survey mission, set both OverShoot parameters to 50 to have the Aero overshoot the waypoints on either side of the polygon by 50% to ensure that the complete area of the polygon is covered by the images.
OverShoot will affect flight time. Ensure that the total estimated flight time is less than the Aero’s maximum flight time of 40 minutes.

Adjust Overlap and Sidelap Overlap and sidelap are set to 50% and 60%, respectively, by default. See page 42 for an in-depth discussion of these parameters. Adjust StartFrom During the mission, you will maintain contact with the aircraft through the RC controller and ground station signals. If your mission is likely to experience a loss of signal, it is best practice to start from the corner of the mission farthest from the launch point. In this example, TopLeft is the corner of the mission farthest from the launch point. 

# Configure Survey: Advanced Options

Select Grid Options

Camera Config The options under the Camera Config tab allow you to configure a camera other than the SX260 and won’t be used for operating the Aero. 

# ! The Survey tool includes the following advanced configuration options. These options allow you to customize the mission to comply with best operating practices.

Mission Planner Survey tool: advanced options

Mission Planner Survey tool: advanced options17 Before accepting the survey, verify that the mission complies with the Aero’s operating parameters.

Camera Canon SX260-SX280 Altitude 80-120 m Camera top facing forward unchecked Flying speed 9-15 m/s Use speed for this mission checked (optional if speed set to default speed of 15 m/s) Photo Every greater than 2 s Flight time under 40 min depending on environmental conditions

Do not accept the mission if any of the parameters exceed the Aero’s operating limits. Operating Parameters 

# Configure Survey: Accept Survey

Accept Select Accept to create this mission. After accepting, you will need to reconfigure the survey completely to make any adjustments. If Mission Planner prompts you for a home altitude, enter the altitude that you specified in the Survey tool. Mission Planner Survey tool



# !18 

# Configuring Automatic Takeoff and Landing
If you selected automatic landing in the Survey Tool by checking the Add Takeoff and Land WP’s option and unchecking the Use RTL option, you will need to configure the landing waypoint pattern manually at this step in the mission planning process. To begin, determine the direction of the wind and select an unobstructed area 200-500 m in length leading to the launch point, into the wind. On the main Flight Plan screen, create a series of waypoints along this path to decrease altitude gradually from the survey altitude to 0, ensuring that:

» Turns along the flight path are greater than 90 degrees. » The altitude decreases by a maximum of 20 m between waypoints » There is at least 20 m between each waypoint » The Grad % does not exceed 20% To add a waypoint, right click on the map in the location of the waypoint you would like to add, and select Insert WP . For each waypoint you add to the mission, Mission Planner will prompt you for the new waypoint’s place in the script: Add the series of landing waypoints immediately before the LAND waypoint in the script of events. For the first waypoint in the pattern, add it to the mission immediately following the DO_SET_CAM_TRIGG_DIST waypoint at the end of the mission. Specify the altitude of each waypoint and check the distance and gradient angle in the waypoints table.

To add a waypoint, right click on the map in the location of the waypoint you would like to add, and select Insert WP . For each waypoint you add to the mission, Mission Planner will prompt you for the new waypoint’s place in the script: Add the series of landing waypoints immediately before the LAND waypoint in the script of events. For the first waypoint in the pattern, add it to the mission immediately following the DO_SET_CAM_TRIGG_DIST waypoint at the end of the mission. Specify the altitude of each waypoint and check the distance and gradient angle in the waypoints table. Set altitude. Check Grad %
. Mission Planner Tip: Configure Waypoints Measure the distance between waypoints by right-clicking at one end and selecting Measure Distance ; then right-click on the other end and select Measure Distance again. A dialog box will open with the distance between the two points. Double-click on a field in the waypoint table to edit the parameters for a waypoint. Use the Up and Down arrow icons to re-order the waypoints. Use the Delete option to remove a waypoint from the mission. Mission Planner Flight Plan tab: Correctly configured automatic landing pattern Locate the Takeoff waypoint in the mission script and set the first option in the row to assign the takeoff angle. Set the takeoff angle to 20-25 degrees depending on the length of your takeoff area.

Takeoff angle19 Select Write WPs to save the mission to the Aero. Select Save WP File to save the mission file to your computer. To repeat this mapping mission, load the saved WP file from your computer. For the Aero to run the mission, write the waypoint file to the autopilot. Don’t forget to save the waypoint file to your ground station for future use. 

# Save and Write Mission

Mission Planner Flight Plan tab: Save and write mission20 

# 2 Fly Safety 21 Aircraft Operation 22 Components 22 Assembly 23 Controls 26 Modes 27 Arming and Disarming 28 LED Indicators and Tones 28 GPS Lock 28 Preflight Checks 29 Manual and Automatic Takeoff 32 Manual and Automatic Landing 33 FPV System Operation 34 Flying Mapping Missions 35 Takeoff Checklist 35 Initiating 35 Monitoring 35 Failsafes 36