# APPENDIX T

# DJI P hantom 2 V ision + Checklist

December 16 , 2015

• BEFORE FLIGHT

o Conduct MSR Area Safety Checklist

• PRE FLIGHT

o Vehicle Battery: CHARGED

o Controller Battery: CHARGED

o Mobile Device : CHARGED

o SD Card: INSTALLED

o Gimbal Lock: REMOVED

o Gimbal: Functioning as Normal

o Camera Lens Cap: REMOVED

o Propellers: mounted correctly and secured

o Damping absorbers: free from damage and wear

o Anti

- drop kit: mounted correctly

o DJI Pilot app: CONNECTED to aircraft

• POWER ON

o Initialize the equipment in the following sequential order

• RC Controller (ensure 2 beeps for 800m range): ON

• DJI P2V+ smart battery: ON

• Range Extender

- ON

• Wifi of mobile/tablet

- ON

• On the GPS of mobile/tablet (to lock the location of Pilot)

- ON

o Set the mobile/tablet to Flight Mode

o Calibrate Compass of DJI P2V+

• Move S1 switch 5 times, indication is fixed yellow light

• Rotate horizontally, indication is fixed green light

• Rotate vertically, indication is normal flashing lights

o Check the GPS status of P2V+ (flashing green lights of rear LEDs), green lights of RC transmitter and range extender

o Check the location of aircraft in ‘Flight Radar’

o Check the location of P2V+ in ‘Find my Phantom’ and ensure that blue and red dots are on the same current locat ion [blue: pilot location ,red: aircraft location]; This will ensure that in case of Failsafe mode being activated in the aircraft it will return to home point

o Run ‘Vision + Wifi Booster’ application in mobile/tablet to boost aircraft Wifi signals; wait fo r the confirmation message on mobile screen.

o Load the ‘DJI Vision’ App. In mobile/tablet and check the no. of satellites (must be greater than 6)

o Ensure the antenna of RC controller being perpendicular to ground (pointing upwards)

• MOTOR START

o Combination S tick Command (CSC) is used to start

- stop motors. Perform CSC in one continuous motion:- 2

- o Motors will idle and aircraft will remain stationary.

• TAKE OFF

o Thrust: Push up slowly and vehicle will take off

• AFTER TAKEOFF

o Hover at 10 feet and ensure UAS flight c ontrols operate normally.

• LANDING

o Hover over landing location

o Thrust: Slowly pull back as vehicle settles to land

• IN FLIGHT

o NOTE: When Rear LED flight indicator blinks yellow rapidly, aircraft has entered Failsafe Mode.

o NOTE: When Rear LED Flight indicator blinks RED slowly or rapidly, low battery warning is

on.

o Vehicle enters FAILSAFE mode when connection to controller is lost. FCS will automatically control the aircraft and return home to land.

• MOTOR STOP

o Method 1: Whe n aircraft has landed, push throttle stick down then perform CSC, hold until motors are stopped, then release.

o Method 2: When aircraft has landed, push throttle down and hold

- motors will stop after 3 seconds.

• POWER SHUTDOWN

o Smart Battery: OFF

o Range Exte nder: OFF

o Controller: OFF

• POST FLIGHT

o Inspect UAS for damage

• Propellers

- CHECK for cracks and damage

• Landing Gear

- CHECK for cracks and damage

• Fuselage: CHECK for damage and any missing parts

• Camera

- Secure and apply covers as appropriate- 3

- • EMERGENCY

o Wh en remote controller signal is lost, aircraft will return to recorded home point coordinates and land.

o If vehicle has flown out of effective controller signal range, it will enter Failsafe.

o Interference of signal will cause Failsafe mode.

o HOME POINT wil l reset to location of mobile device at specific time intervals.

o If any equipment failure occurs or unforeseen circumstances arise, the PIC will land the aircraft as soon as practica b l e in the nearest area where it is safe to land.- 4

- 

# DJI Matrice 100

December 16 , 2015

• BEFORE FLIGHT

o Conduct MSR Area Safety Checklist

• PRE

- FLIGHT

o Ensure that all other parts are installed before inserting Intelligent Flight Battery.

o Ensure Frame Arms are mounted correctly

o Ensure propeller rotation planes are horizontal

o Verify controller cooling fan is in good condition and working

o Verify propellers and motors are installed correctly

o Verify propellers are in good condition, no dents or cracks.

o Verify all cables are secure.

o Verify remote controller, intelligent flight battery and mobile device are all fully charged.

o Verify DJI GO App is connected to aircraft.

• POWER ON

o Remote Controller

- ON

o Mobile Device

- ON

o Intelligent Flight Battery

- ON

o Launch DJI GO and enter CAMERA view.

o Wait until ASI flashes GREEN.

• Home Point is now recor ded.

• If YELLOW, home point is not recorded.

• VERIFY FLIGHT STATUS INDICATOR :- 5

- • CALIBRATE COMPASS

o Tap System Status Bar in app and select CALIBRATE, follow on

- screen directions to calibrate.

o Hold aircraft horizontal and rotate 360 degrees along central axis

o Aircraft status indicator will show solid green

o Hold aircraft vertically, with nose downward. Rotate 360 degrees around central axis.

o Re

- calibrate if ASI becomes solid RED.

o NOTE: if Asi flashes red and yellow, move to a different location and run cal ibration.

o Re

- calibrate i f :

o ASI flashes RED and YELLOW

o If you move to a new location.

o The mechanical structure of the M100 has changed

o Severe drifting occurs in flight or unit cannot fly straight.

• MOTOR START

o Combination Stick Command (CSC) is used to sta rt

- stop motors. Perform CSC in one continuous motion:

o Motors will idle and aircraft will remain stationary.

• AUTO TAKEOFF

o Use Auto Takeoff if ASI is flashing GREEN

o Launch DJI GO app and enter camera view

o Ensure aircraft is in P

- mode

o Complete Pre

- Flight ch ecklist

o Tap

o
o And slide COMFIRM to TAKE OFF

o Aircraft will take off and hover 1.2 meters above ground.

• MANUAL TAKEOFF

o Push throttle up slowly and aircraft will lift off.

o WARNING: When ASI flashes YELLOW during flight, aircraft has entered FAILSAFE MODE.

o WARNING: ASI Flashes RED slowly for LOW BATTERY warning.

o CRITICAL: ASI flashes RED rapidly for CRITICAL Low Battery during flight.

• AFTER TAKEOFF

o Hover at 10 feet and ensure UAS flight controls operate normally.

• MANUAL LANDING

o Hover over level surface

o Thro ttle

- Gently PULL BACK- 6

- • AUTO LANDING

o Use if ASI is flashing GREEN

o Confirm aircraft is in P

- MODE

o Clear Landing area before tapping

o
o Aircraft will land automatically.

• SHUT DOWN:

o Method 1: When aircraft has landed, push throttle stick down then perform CSC , hold until motors are stopped, then release.

o Method 2: When aircraft has landed, push throttle down and hold

- motors will stop after 3 seconds.

o Intelligent Battery

- OFF

o Remote Controller

- OFF

o Mobile Device

- OFF

• POST FLIGHT

o Inspect UAS for damage

• Pro pellers

- CHECK for cracks and damage

• Landing Gear

- CHECK for cracks and damage

• Fuselage: CHECK for damage and any missing parts

• Camera

- Secure and apply covers as appropriate

• EMERGENCY

o If any equipment failure occurs or unforeseen circumstances arise, the PIC will land the aircraft as soon as practica b l e in the nearest area where it is safe to land.- 7

- 

# DJI Inspire 1 Checklist

December 16 , 2015

• BEFORE FLIGHT

o Conduct MSR Area Safety Checklist

• PRE FLIGHT

o Remote Controller

- CHARGED

o Aircraft Battery

- CHARGE D

o Aircraft Battery

- Check battery level

o Mobile Device

- CHARGED

o Propellers

- mounted correctly and secured

o Micro SD card

- INSTALLED

o Gimbal

- Functioning as Normal

o Motors

- All able to start

o DJI Pilot app

- CONNECTED to aircraft

• CALIBRATE COMPASS

o WARNING

- Required for every new flight location

o In open space:

• Tap Aircraft Status Indicator Bar in the DJI Pilot App.

• Select CALIBRATE.

• Follow on

- screen instructions

• Hold and rotate aircraft HORIZONTALLY 360 degrees.

• Aircraft Status Indicator will display a sol id GREEN light.

• Hold aircraft vertically, nose pointing DOWN.

• Rotate aircraft 360 degrees around the center axis.

• Aircraft Status indicator will display solid green light.

• Recalibrate the compass if Aircraft Status shows SOLID RED.

o WARNING

- if Aircraft St atus is blinking Red/Yellow, move to different location and recalibrate.

• MOTOT START

o Use the following CSC (Combined Stick Command) to start motors :

• NORMAL TAKE OFF

- AUTO

o Aircraft Status Indicator

- Blinking GREEN

o Launch DJI Pilot App

o Enter CAMERA Pag e

o Flight Mode Switch

- P MODE (full right)

• NOTE

- flight mode locked to P unless MULTI

- MODE selected in DJI Pilot app, Camera
page.

o Go through Pre

- Flight Checklist- 8

- o Tap "Up Arrow" and confirm flight condition

o Slide to confirm and take off

o Aircraft will take off and hover 1.2m above ground.

• NORMAL LANDING

- AUTO

o Aircraft Status Indicator

- Blinking GREEN

o Flight Mode Switch

- P MODE (full right)

• NOTE

- flight mode locked to P unless MULTI

- MODE selected in DJI Pilot app, Camera
page.

o Check landing area condition

o Tap "Down Arrow"

o Aircraft lowers landing gear and proceeds to land automatically.

• MOTOR STOP

o When aircraft has landed, push throttle down, then conduct CSC.

o Method 2

• When aircraft has landed, push down the throttle and hold for 3 seconds.

o WARNING: Do not perform CSC inflight or motors will immediately stop!

• TAKE OFF

o Place aircraft on open flat ground, battery indicator facing operator

o Remote Controller

- ON

o Mobile Device

- ON

o Intelligent Battery

- ON

o Launch DJI Pilot App and enter CAMERA page

o Aircraft Status Indicator

- Blinking GREEN

• Home Point is recorded

o WARNING: If blinking YELLOW, home point is not recorded and flight should not be attempted.

o Throttle

- Push up slowly to take off

o Raise Landing Gear

- RTH switch UP

• AFTER TAKEOFF

o Hover at 10 feet and ensure UAS flight controls operate normally.

• LANDING

o Hover over level surface

o Landing Gear DOWN

- RTH switch

- DOWN

o Throttle

- pull down gently to descend

• MOTOR STOP

• Execute CSC or hold throttle full back for 3 seconds- 9

- • POWER OFF

• Intelligent Battery

- OFF

• Remote Controller

- OFF

• EMERGENCY

o NOTE: When Aircraft Status Indicator blinks yellow rapidly during flight, FAILSAFE Mode has been entered.

o WARNING: Blinking RED slowly or rapidly indicated low battery.

o CRITICAL BATTERY

• Aircraft Status Indicator

- RAPI D blinking RED

• DJI Pilot App

- screen flashes RED

• Aircraft will begin to descend and land automatically.

o SMART RTH

- Pressing the RTH button on controller, the aircraft will return to the last recorded Home Point. Operator may control aircraft orientation to avoid collision. Pressing RTH a second time will regain control of aircraft.

o LOW BATTERY RTH:

- Activated when Battery is depleted to point where safe return may be impacted. After 10 second countdown on Pilot App after LOW Battery warning detected, air craft will RTH.

o CANCEL RTH

- press RTH button once

o FAILSAFE RTH

- is activated automatically if controller or video relay signal is lost for >3 seconds provided Home Point has been recorded and compass is normal. Operator may regain control if signal is r egained.

o Signal Loss

- Aircraft Status Indicator Blinking YELLOW

o RTH Recovery

- Aircraft will return to HP and hover at 20m for 15 seconds, then land.

o WARNING

- aircraft cannot avoid obstacles when in Return to Home Mode

. o Return to Home

o In DJI Pilot app , Tap "Arrow H" symbol to have aircraft return to latest home point.

•

o If any equipment failure occurs or unforeseen circumstances arise, the PIC will land the aircraft as soon as practica b l e in the nearest area where it is safe to land.

• POST FLIGHT

o Inspect UAS for damage

• Propellers

- CHECK for cracks and damage

• Landing Gear

- CHECK for cracks and damage

• Fuselage: CHECK for damage and any missing parts

• Camera

- Secure and apply covers as appropriate- 10

- 

# DJI Spreading Wings S900 Checklist

December 16 , 2015

• Caution: Do not fly in rain or snow

• BENCH TEST

o All screws/bolts are tight

o Timer alarm for flight time to not exceed 80% battery capacity set properly

o Batteries are secure

o Antennas are secure

o Props balanced

o Props aligned

o Props not chipped

o Check blades, arms, etc. for cracks/damage

o Wiring Tight

o No excessive flexing of motors or booms

o Booms/motors will not twist

o Center of gravity is correct

o Warning lights set for low battery if used

o Batteries charged. Replace any battery which cycles below 80% of rated capacity

• Laptop Battery

• Flight Battery

• Handheld Rx Battery

• RC Tx Battery

• Video Rx Battery

• Spare Laptop Battery

• BEFORE FLIGHT

o Conduct MSR Area Safety Checklist

• PRE FLIGHT

o Transmitte r batteries: CHARGED

o Receiver Batteries: CHARGED

o Ensure "R", "L", and "IN" connections are connected

o Landing Gear: LOWER Position.

o Landing Gear Control Board: GREEN

• NOTE: If landing gear control board flashes green, recalibrate servo travel.

o Propeller Sec urity: Observe torque markings on all props to ensure no loosening.

o Soft and Vibration Dampeners: Ensure all dampeners are secure prior to flight.

o Antennas: SECURE

o Lens cap: OFF

o Camera: ON

o SD card: INSTALLED

o Flight battery: voltage

– install

- CG

o C2 Tx: Switches

– On

-
o Model Selection

- 5.4V+

o Photo Tx

– Switches

– On

o Model Selection

- 5.4V+- 11

- o Copter On

o Calibrate

- Cycle

o Copter Voltage on GCS

o GPS Mode

– Double Purple/Single Purple

o Course Lock Mode

- GREEN

o Camera/Gimbal tests

- COMPLETE

o Upload mission

o Zero altitude

• TAKE O FF

o Timer: Start

o GPS MODE

o Motors

- Start

o Takeoff

o Landing Gear

- UP

• AFTER TAKEOFF

o Hover at 10 feet and ensure UAS flight controls operate normally.

• LANDING

o Landing Area: CLEAR

o Landing Gear: DOWN

o Land

o Note Flight Time

o Motors: OFF

o Camera: OFF

• POST FLIGHT

o Inspect UAS for damage

• Propellers

- CHECK for cracks and damage

• Landing Gear

- CHECK for cracks and damage

• Fuselage: CHECK for damage and any missing parts

• Camera

- Secure and apply covers as appropriate

• EMERGENCY

o If any equipment failure occurs or unforeseen circumstances arise, the PIC will land the aircraft as soon as practica b l e in the nearest area where it is safe to land.- 12

- 

# AscTec Firefly Checklist

D ecember 16 , 2015

• BEFORE FLIGHT

o Conduct MSR Area Safety Checklist

• PREFLIGHT

o Area Safety Checklist : COMPLETE

o Air vehicle: free from defects

o Propellers: in good condition and secured to motors

o UAV Battery: CHARGED

o Controller Battery: CHARGED

o Emergency Mode: Ensure emergency mode is set .

• POWER ON

o UAV Power: ON

o Controller Power: ON

o Seri al Interface Switch: DEACTIVATED

o GPS Lock: Verify good GPS lock

• NOTE: May take up to 3 minutes

o Warnings: NO warnings displayed

• MOTOR START

o Left Stick: Minimum Thrust + Full Yaw (hold 2 seconds)

• WARNING: Do not perform this motion while in flight!

• BEFORE TAKEOFF

o Motors: All running correctly

o Mode: Switch to Manual Mode

o Right Stick: Push forward

o Right Stick: Rock left and right

o Note proper movement and motor response

o Switch off Motors

o Mode: Switch to Manual

o Hold vehicle in hand from bottom, do not touch pr opellers

o Motors: Start

o Thrust: Set at 20%

o Rotate vehicle out of horizontal position, vehicle should try and counter.

o Motors: Stop

• TAKEOFF

o Power: ON

o Verify GPS Lock

o Mode: GPS

o Motors: Start

o Thrust: Push full forward

o Thrust: return to neutral once vehicle is at 5m.- 13

- • AFTER TAKEOFF

o Hover at 10 feet and ensure UAS flight controls operate normally.

• LANDING

o Return vehicle to above landing position and hold

o Thrust: Pull back half until vehicle starts descending

o Thrust: Full back at touch Down

• SHUT DOWN

o Motors: OFF

o Vehicle Battery: OFF

o Controller Battery: OFF

• POST FLIGHT

o Inspect UAS for damage

• Propellers

- CHECK for cracks and damage

• Landing Gear

- CHECK for cracks and damage

• Fuselage: CHECK for damage and any missing parts

• Camera

- Secure and apply covers as appropr iate

• EMERGENCY

o NOTE: Home position is set automatically when motors are started. If no GPS lock, home position cannot be set. Emergency mode will be set to Direct Landing.

o Direct landing: Vehicle take a horizontal attitude and descends at it's actual posi tion at a rate of 1M/sec.

o Wait and Land (Only if GPS mode is used during loss of reception, otherwise Direct Landing is set). UAV waits in position and height for 5 sec, then descends at a rate of 1m/sec to land at current position.

o Come Home: UAV switche s to GPS mode and hold s position and height for 5 seconds, then climbs to 20m if below. Then flies in direct straight line back to home position , where it descends and land s

. o Come Home High: UAV automatically switches to GPS Mode and holds its position an d height for 5 seconds. Then it climbs up to the highest altitude obtained during this flight mission (max. height resets after turning off the motors). It waits for 5 seconds at the max. height and then flies in a direct line to the home position. When it arrives at the home position, it keeps this position and descends at a rate of 1m/s.

o If any equipment failure occurs or unforeseen circumstances arise, the PIC will land the aircraft as soon as practica b l e in the nearest area where it is safe to land.- 14

- 

# 3D Robotics X8 +

D ecember 16 , 2015

• BEFORE FLIGHT

o Conduct MSR Area Safety Checklist

• PREFLIGHT

o Area Safety Checklist : COMPLETE

o Air vehicle: free from defects

• Propellers: in good condition and secured to motors

• Fuselage: all components secure

• Landing Gear: no cracks or defects

o UAV Battery: CHARGED

o Controller Battery: CHARGED

• POWER UP

o Center Power Switch: STD (UP)

o RTL: OFF

o Battery: CONNECT

• MOTOR START

o Place X8 on ground

- facing away

o Safety Button: HOLD until solid RED

o Motors are now active

o CHECK LED : White

- Gre en

- White

- Green

o Thrust: Hold down to left until motors start.

• TAKEOFF

o Thrust: raise above center to gain altitude.

• FLIGHT

o DN Button: Press and hold to view flight data- 15

- o DN Button: Press again to toggle between screens

o WARNING: End flight at 14.1V.

o WARNING : Do not exceed 8,000 mAh for a fully charged battery (80% of capacity).

• AFTER TAKEOFF

o Hover at 10 feet and ensure UAS flight controls operate normally.

• LANDING

o Thrust: Slowly pull back until vehicle lands

• MOTOR STOP

o Thrust: hold full back and to left to shut down.

• POWER DOWN

o Safety Button: Press and hold until blinking RED

o Battery Disconnect

o Controller: OFF

• POST FLIGHT

o Inspect UAS for damage

• Propellers

- CHECK for cracks and damage

• Landing Gear

- CHECK for cracks and damage

• Fuselage: CHECK for damage and any missing parts

• Camera

- Secure and apply covers as appropriate

• EMERGENCY

o If any equipment failure occurs or unforeseen circumstances arise, the PIC will land the aircraft as soon as practica b l e in the nearest area where it is safe to land.- 16

- 

# TBS Discover y Pro

December 16 , 2015

• NOTE: In absence of Manufacture r’ s checklist, this checklist has been developed by Microsoft.

• BEFORE FLIGHT

o Conduct MSR Area Safety Checklist

• PREFLIGHT

o Area Safety Checklist : COMPLETE

o Air vehicle: free from defects

• Propellers: in good condition and secured to motors

• Fuselage: all components secure

• Landing Gear: no cracks or defects

o UAV Battery: CHARGED

o Controller Battery: CHARGED

• POWER UP

o UAV Power: ON

o Camera: ON

o Controller Power: ON

o FPV Display: ON

o GPS Lock: Verify good GPS lock

• N OTE: May take up to 3 minutes

o Warnings: NO warnings displayed

• MOTOR START

o Left Stick: Minimum Thrust + Full Yaw (hold 2 seconds)

• WARNING: Do not perform this motion while in flight!

o FPV: Note any vibration in the FPV viewer.

• BEFORE TAKEOFF

o Motors: All runn ing correctly

o Mode: Switch to Manual Mode

o Controls Check

• Right Stick: Push forward

- observe proper movement

• Right Stick: Rock left and right

- observe proper movement

• TAKEOFF

o Power: ON

o Verify GPS Lock

o Mode: GPS

o Motors: Start

o Thrust: Push full forward

o Thrust: Return to neutral once vehicle is at 5m.

• AFTER TAKEOFF

o Hover at 10 feet and ensure UAS flight controls operate normally.- 17

- • LANDING

o Return vehicle to above landing position and hold

o Thrust: Pull back half until vehicle starts descending

o Thrust: Full back at touch Down

• SHUT DOWN

o Motors: OFF

o Vehicle Battery: OFF

o Controller Battery: OFF

• POST FLIGHT

o Inspect UAS for damage

• Propellers

- CHECK for cracks and damage

• Landing Gear

- CHECK for cracks and damage

• Fuselage: CHECK for damage and any missing parts

• Mo tors: CHECK for any excessive heat

• Camera: Note any vibration in the FPV display

o Camera

- Secure and apply covers as appropriate

• EMERGENCY

o If any equipment failure occurs or unforeseen circumstances arise, the PIC will land the aircraft as soon as practica b l e in the nearest area where it is safe to land.- 18

- 

# Microsoft Research (MSR) Area Safety Checklist (Pre

- Flight)

NOTE: This checklist covers pre

- flight items associated with the flight test area and preparation for flight, including participants, weather, and local conditions, and is intended for trained Operators, Observers, and essential crew.

 Weather Check

- Must be VFR

o http://weathermeister.com (subscription required)

o http://wunderground.com

o http://airnav.com

o http://skyvector.com

o http://vfrmap.com  Review 333 Exemption Operations Limits

- ensure planned flight is within operations limits.  Note flight test location  Confirm no active TFRs  Confirm Flight Test Area is not within No

- Fly Zone (Class B,C,D,E Airspace) or within 5nm of an airport

o Note location, bearing and distance from airport if applicable

o If within Class D (5nm), contact Tower via cell phone or VHF radio, with location, and ti ming of operations.

o If within 3nm of non

- tower airport, broadcast on CTAF

 "<airport> Traffic, unmanned air vehicle operations in progress, <bearing and distance from airport>, up to 400 AGL, <airport> Traffic."

 Repeat every 10 minutes while operations are in progress  Confirm sun position will not be an issue for Line of Sight operation  Verify no flight over or within 500 feet of non

- participating individuals.  Verify no flight over sensitive infrastructure (water treatment, power stat ions, correctional facilities, government facilities)  Do you have written land

- owner permission to fly over property?  Note obstacles: Power lines, trees, water hazards, structures  Can flight be accomplished by Line of Sight Only?  Confirm no exc essive electromagnetic interference (high

- tension lines, transmitters)  Is Pilot Qualified?

o Airman Certificate in in possession

o Appropriate medical certificate for Rating or driver’s license in possession.  Do you have first aid kit?  Safety glasses for each essential team member when in close proximity of operating UAS.  Is area sterile

- no unauthorized people, animals in flight area (for comment: do we want crew to have yellow high

- viz vests?)  Team Lead: Brief flight test plan to enti re team

o Role of each participant

o Flight Test mission objective

o Flight test area overview

o Route of Flight- 19

- o Estimated flight time

o Vehicle

- specific issues or concerns

o Safety / Emergency Overview

 Note location/ address

 First Aid Kit

 Calling 911

 Nearest Medical Facility

o Loss Of Link procedure

 Continue to UAS Pre Flight