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Helios Imaging Inc. - Drone Laws Blog by Antonelli Law

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1. NAAAAA ANA Wireless Video Transmitter 3 position switch R C Receiver A E T E iOSD ON SCREEN DISPLAY Autopilot System Important iOSD can be connected to any CAN Bus port of the WKM system BUT should be connected to the NAZA M or NAZA M V2 via the PMU V2 NAZA M V2 Accessory NAZA M should be upgraded to the firmware version of V3 10 or above when using with the PMU V2 with the same assistant software V2 10 of NAZA M V2 iOSD should not be connected to the WKM and NAZA M NAZA M V2 at the same time Refer to the Appendix for more connection details Video Input Port If you use the DJI 215 it is recommended to use the 4Pin Audio Head cable for connecting the iOSD and GCU If you use the 4Pin cable please connect the iOSD to the Z15 s GCU according to the above chart If you use your own camera s please connect through the Video Input Cable according the pin description AV1 AV2 pin you can select the required input AV1 is default POWER pin supply power for Video input source such as a camera with the maximum current of 1A If the battery is 3S LiPo then Output Voltage
2. naak aka a Sse Se SS LL 6 Please read the tips text carefully after login Open the FisrtUse function FisrtUse function can be opened and closed in More 2 Settings t3 to make use of the ner text 1 Flight Simulator can be opened and Bus Use the sit on the sereen to control the aircraft dosedin More Hd gt settings Kd Es ingie waypoint sui ai a 1 ee 2 When usiha the GS the Flight contrat Ma Waypoints Use the templates Ed to set routes Ed batch the system will enter into GPS control mode and waypoints and upload the routes then confirm and go the aquired satellites shoule be more than 6 El cation Use to locate the aircrattedl or the Pao 3 In GPS control mode the GS control Auto Landing a ANA AAK ng bnini O O O priorto the Transmitter Users can toggle M M M M al 2013 2014 DJI Innovations All Rights Reserved sd ae the control mode switch to other mode and Default Home point is the one recorded by the aircraft back to the GPS mode quickly to get the
3. Important POWER CYCLE the Flight control system and 2 4G Bluetooth Datalink after upgrade 2013 2014 DJI Innovations All Rights Reserved 3 53 iPad Ground Station App The iPad Ground Station is designed for remote flight control in applications of surveillance aerial photography etc it should be used with the 2 4G Bluetooth Datalink to achieve auto flight after the setting of the routes The application with easy usable design offers great portability and simple operation which will provide users with an extraordinary flight experiences 1 1 Introduction Functions Map information display amp Joystick mode ZEE One key Take off Go Home MM Flight display in real time Single waypoint Auto landing 0000 Flight simulator Waypoints Customized Waypoints Customized Route Template 1 1 1 I 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 I 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 sanga 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 I 1 1 1 1 Voice guidance function Flight control systems that support the iPad Ground Station WKM Firmware V5 24 or above NAZA M NAZA M V2 Firmware V4 00 or above A2 Firmware V2 0 o
4. WookKong M Features Multi Rotor Stabilization Controller 9 Types Of Multi Rotors And A Customized Motor Mixer Built In Gimbal Stabilization Function Support iPad Ground Control Station GCS New Assistant Software for Smartphone Supporting Futaba S bus receiver Power Monitoring Unit Built in Damper Precise Position and Altitude hold High Accuracy and Driving Handfeel Motor arm disarm mode Multiple flight control mode Intelligent Switching Point of Interest POI RTH Switch from Transmitter Support iOSD MARK Intelligent Orientation Control IOC Enhanced Fail Safe and Auto Go Home Landing Multi rotor One power Output Fail Protection Two Levels Low Voltage Protections and Auto Go Home Upgrade to Ground Station Control System 23 Learn More PHANTOM About DJI Contact DJI News Media Coverage Showcase Careers DJI Wiki After sales Service Policies Website Feedback DJI Developer cij Boer E ere Privacy Policy Terms of Use o 24 ciji STORE PRODUCTS SUPPORT COMMUNITY DEVELOPER m EN Worldwide English W OO KO N G M Overview Features Specs Videos Downloads FAQ Wiki Dealers Multi Rotor Stabilization Controller DJI Wookong Multi Rotor stabilization controller is a complete flight system for all multi rotor platforms for commercial and industrial AP applications Unlike others WooKong allows the use of regular ESC commonly used in RC helicopters without any wiring mod
5. 30 3 32 upon request If a discrepancy exists between the conditions and limitations in the exemption grant and the procedures outlined in the operating documents the grant conditions and limitations will take precedence and will be followed Otherwise the petitioner will follow the procedures outlined in its operating documents If it updates or revises its operating documents it will present updated and revised documents to the Administrator upon request If the petitioner determines that any update or revision would affect the basis upon which the FAA granted the exemption then the Petitioner will petition for an amendment to the grant of exemption Petitioner will obtain written and or oral permission from the landowners authorized agents of the landowners over which flights will be conducted Petitioner will obtain all required permissions and permits from territorial state county or city jurisdictions including local law enforcement fire or other appropriate governmental agencies UA operations will not be conducted during night as defined in 14 CFR 1 1 All operations will be conducted under visual meteorological conditions VMC Flights will not be conducted under special visual flight rules SVFR The petitioner will obtain an Air Traffic Organization ATO issued Certificate of Waiver or Authorization COA prior to conducting any operations under the grant of exemption Petitioner will request a Notice to Air
6. e DJI Z15 Supported 02012 2013 DJI Innovations All Rights Reserved 47 Trouble Shooting No What Only iOSD information video signal loss Only video signal iOSD 2 information loss Both video signal and iOSD 3 information loss Both video signal and iOSD 4 information loss Why Video input error Connection between iOSD controller and autopilot system error Signal transmission error The video signal cable to display screen is unconnected or short circuit 02012 2013 DJI Innovations All Rights Reserved 48 How to Make sure the connection between iOSD controller and video input port is OK Make sure the connection between iOSD controller and DJI autopilot system is OK Make sure the Wireless Video Transmitter Channel Setting is correct e Make sure the communication between the video transmitter and the receiver Is working correctly Make sure the connection of video signal cable is OK 15 Some Descriptions for the iOSD Versionl O There is an adapter for the Versionl O to solve the problem that the iOSD is incompatible with your camera If there is the incompatible problem with your device please contact your authorized dealer to get an adapter for free There are two adapter versions including SAO and SAO for ZI15 If the iOSD is working with the Z15 please use the version of SAO for Z15 otherwise if with your camera use the SAO Please connect the adapte
7. 91 203 a and b Nos 11062 11063 11064 11065 11066 11067 11080 11109 11110 11111 11112 11114 11136 11138 11150 11153 11156 11157 11170 11171 11172 11174 11176 11177 11178 11184 11185 11188 11188 11189 11191 11192 11193 11195 91 215 No 11185 11195 91 403 12 13 14 No 11185 91 405 a 12 13 14 Nos 11062 11063 11064 11065 11066 11067 11080 11109 11110 11111 11112 11114 11136 11138 11150 11153 11156 11157 11158 11160 11161 11166 11167 11170 11171 11172 11174 11176 11177 11178 11184 11185 11188 11188 11189 11191 11192 11193 11195 11204 A 4 17 22 26 91 407 a 1 14 Nos 11062 11063 11064 11065 11066 11067 11080 11109 11110 11111 11112 11114 11136 11138 11150 11153 11156 11157 11158 11160 11161 11166 11167 11170 11171 11172 11174 11176 11177 11178 11184 11185 11188 11188 11189 11191 11192 11193 11195 11204 91 409 a 1 12 13 14 Nos 11062 11063 11064 11065 11066 11067 11080 11109 11110 11111 11112 11114 11136 11138 11150 11153 11156 11157 11158 11160 11161 11166 11167 11170 11171 11172 11174 11176 11177 11178 11184 11185 11188 11188 11189 11191 11192 11193 11195 11204 91 409 a 2 12 13 14 Nos 11062 11063 11064 11065 11066 11067 11080 11109 11110 11111 11112 11114 11136 11138 11150 11153 11156 11157 11158 11160 11161 11166 11167 111
8. IMU 3 41 4mm x 31 1mm x 27 8mm GPS amp Compass 50mm diameter x 9mm 50 0 mm Quad Rotor 4 x4 Hex Rotor 6 x6 Y6 Rev Y6 3 Octo Rotor 8 x8 V8 Basic Performance Multi Rotor Types Flight Performance Hardware Supported ESC Output Recommended Transmitter Recommended Battery Power Consumption Operating Temperature Assistant Software System Requirement Hovering Accuracy Suitable Wind Condition Max Yaw Angular Velocity Max Tilt Angle Ascent Descent Weight Dimensions Built In Functions 22 400Hz refresh frequencys PCM or 2 4GHz with minimum 7 channels and Failsafe function available on all channels 25 68 LiPo MAX 5W 0 9A 95V 0 7A 95 8V 0 5A Q97 4V 0 4A 08V 5 C to 60 C You have to keep the IMU warm if you want to use it under low temperature could be 5 Gor lower Windows XP sp3 Windows 7 Windows 8 Vertical 0 5m Horizontal 2m lt 8m s 17 9mph 28 8km h 150 deg s 35 6m s Total Weight lt 118g overall Main Controller 51 2mm x 38 0mm x 15 3mm IMU 41 4mm x 31 1mm x 27 8mm GPS amp Compass 50mm diameter x 9mm LED Indicator 25mm x 25mm x 7mm PMU 39 5mm x 27 5mm x 9 7mm Three Modes Autopilot Enhanced Failsafe 2 axis Gimbal Support Low Voltage Protection Go Home amp Auto Landing D Bus Receiver Supported Intelligent Orientation Control About DJI Contact DJI News Media Coverage Showcase Careers DJIWik
9. below YAW motor and above it In case of 2 axis Stabilization there is only one option above ROLL motor Frame IMU above YAW mmm YAW MOTOR below YAW above ROLL MOTOR A Camera IMU If the sensor is placed above YAW motor it helps to stabilize ROLL PITCH and YAW motors But the system becomes less stable during long work because the frame heading estimated from the second IMU may drift with time and auto correction may not work in all cases If the sensor is placed below YAW motor it does not help YAW axis stabilization but works more reliable Like the main camera IMU the frame IMU may be mounted in any orientation keeping its axis parallel with motor s axis 2013 2014 Basecamelectronics 6 63 Configuring the frame IMU To configure the frame IMU first of all set its location in the Advanced tab Sensor area Write settings to the board and go to the Basic tab Press the button Frame IMU Sensor Axis TOP Y RIGHT F Skip Gyro calibration at startup CALIB ACC CALIB GYRO Configure Camera IMU Frame IMU If the second IMU is connected properly this button becomes active It means that all IMU settings now affect on the frame IMU Change sensor orientation axis TOP RIGHT and write setting to the board if necessary board will be restarted After restart calibrate the accelerometer and gyroscope like you did it fo
10. when planning operations Petitioner will only operate its UA in visual meteorological conditions VMC The UA will at all times be no less than 500 feet below and no less than 2 000 feet horizontally from a cloud and petitioner will not conduct operations unless visibility is at least 3 statute miles from the PIC The flight crew will always make a safety assessment of the risk of every operation and will only operate when it is determined that no hazards are present The specific conditions of the proposed exemption that relate to the flight conditions in which the UA will be operated are numbers 2 4 16 and 28 29 in Section V below Each has been adopted or imposed by the FAA in numerous previous grants of Section 333 exemption petitions D Flight Operations The purpose of every UA flight will be to conduct safe accurate and efficient 1 scripted closed set filming for the motion picture and television industries or 11 site inspections for the construction industry in Class G airspace nationwide The PIC will be responsible for flying the UA and will use a Futaba 14 MZ transmitter The PIC will have visual contact with the UA at all times and will have available on screen display to observe telemetry data including battery power and flight altitude The on screen display telemetry information will also be available on an iPad The main purpose of the iPad with the telemetry information is to set an audio signal for when the voltage on
11. Boeing 757 B 767 Boeing 767 First Class Medical Certificate Tel 312 285 4359 kate kdfletcherlaw com Table of Contents k Popi hbe S BITTE aa aaa eaaa aaa Be aaa Todd LA sone en mt Dto da a a nana aa ena 5 Tl Pe tonersContact InfOrmiallOD nsi ote EH ERREUR E Din Et SL MES 5 IE Proposed Operon kakas an anaa aaa cest cic ste a jana aaa uM tM MI DELL M LEE 6 CNET an aa Ba a a a aa E DG KNA E Ja O a aa aa 6 B MC CROW dore 6 C TUNGGON OMS NOR E E 7 D BhehtOperduOlis aaa abangan ada aga a aaa a aaa a avida dub aa na naa dub a 7 IV Aircratt and Equivalent Level OF Safety iuo netta apang a i oe E E peti Dur ipe a aapa E Ree 8 V Proposed Conditions Of the Exemplo 35 onis kana AN Gak a ad aa its ane aaa a gin angka aaa 9 Mab ATE AG esis sete AN MEA E a AAN Ka A BANA KANA BEMA MAEN ANAN ie A E BN E A EE 12 VIL Pubic Interest and Sale acie ek aa a aa t a t aaa ka ee due A ake naba ag a an aas 12 VIII Regulations from Which Exemption is Requested aaoonenenenen anon ne nane an anana n anana n anane ene 14 A Appendix A FARs as to which Helios wishes the same determination to be made as has Deci made Dre VIOUSLY sies ease tea eae nU AA recto bu t ders dei pa S oh octet 14 B Appendix B Helios s argument for exemption from 14 C F R 61 113 Private pilot privileges and limitations Pilot in command eeeeeesessssssseeeeeeeeeeeen nnn 17 1 The FAA and foreign regulators recognize that obtai
12. Home Landing Multi rotor One power Output Fail Protection Two Levels Low Voltage Protections and Auto Go Home Upgrade to Ground Station Control System Supporting Futaba S Bus Receiver Compatible with almost all radios PCM or 2 4Ghz Power Monitoring Unit Specially designed for WKM to solve the high power consumption problem of the power support system It contains two power outputs for the entire WKM system and receiver separately a battery voltage monitor and two CAN Bus interfaces Built In Damper Small footprint and weight offer ease of installation in tight spaces for various aircraft sizes Precise Position And Altitude Hold With WKM the multirotors will have position and altitude lock in windy conditions Precise hovering in less than 2m horizontal and 0 5m vertical High Accuracy And Driving Handfeel With the WKM flying a multi rotor will be as easy as driving a car The pilot is released from the stress of controlling the multi rotor and able to pay more attention to other tasks such as camera angle instead of focus on flying Motor Arm Disadrr Mode 1 Start Motor When using WKM pushing throttle stick before takeoff will not start motors You have to execute any one of following four Combination Stick Commands CSC to start motors 2 Stop Motor We provide two options to stop motors Immediate and Intelligent Immediately Mode By using this mode in any control mode once motors
13. Human Factors Division University of Illinois at Urbana Champaign 13 2004 available at http www tc faa gov logistics grants pdf 2004 04 G 032 pdf See Civil Aviation Standards Transport Canada Advisory Circular Guidance Material for Operating Unmanned Air Vehicle Systems under an Exemption at 14 and 18 22 Nov 27 2014 available at http www tc gc ca media documents ca opssvs ac 600 004 pdf 18 organizations or self taught similarly the United Kingdom s Civil Aviation Authority CAA recognized that determining Remote Pilot qualification requirements on the same basis as manned aircraft may yield requirements that are too inflexible too onerous and inappropriate for UAS operations As a result the CAA only requires UA operators to demonstrate UA operator competence While there are a variety of ways to demonstrate competence the most common is to complete a course that will lead to a ground exam and flight test Australia too requires only passage of a UA specific ground school program in lieu of a private pilot license Finally more than a dozen countries including Germany Italy France Spain and the Netherlands have adopted the National UAS Certificate for Small Unmanned Aircraft BNUC S Standard for UA pilot certification This standard results in a type specific UA certificate and does not require the operator to have a pilot s license The process involves taking a short ground school course passing a
14. When changing the position of your RC switch signal jumps from one section to another and assigned command is executed The full list of available commands is described in the section MENU BUTTON of this manual o FC ROLL FC PITCH is used to mark any of PWM inputs to be a signal from the external flight controller See External FC gain section for details e RC Mix you can mix 2 inputs together before applying to any of ROLL PITCH or YAW axis It lets to control the camera from the 2 sources joystick and RC for example You can adjust the proportion of the mix from 0 to 100 e ANGLE MODE RC stick will control the camera angle directly The full RC range will cause a camera to go from min to max angles as specified above If RC stick doesn t move camera stands still The speed of rotation depends on the SPEED setting and the acceleration limiter setting e SPEED MODE RC stick will control the rotation speed If stick is centered camera stands still if stick is deflected camera starts to rotate but does not exceed min max range Speed is slightly decreased near min max borders Speed of rotation is proportional to stick angle and the SPEED setting RC control inversion is allowed in both of control modes e MIN ANGLE MAX ANGLE range of the angles controlled from RC or in Follow mode To inverse the control set higher value first and lower value second For example if you want to configure a camera to go from leve
15. automatically after recording conditions are satisfied control by Transmitter 1 Please view the map of fight fields via Internet in the GS before outdoors flights 8 Disable the Flight Simulator and power cycle the Flight control system to then the maps can be used off line start real flights Click on Joystick and you can use One key Take off to take 2 Please use the GS for real flights after off your aircraft you are familiar with its use and functions 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 I T 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Refer to all help text in the App 9 Using Tips Customized Route Template oo In Waypoints mode users can set a route and click to save it as a template Users can view all the customized route templates in the template menu slip from right to left on a template and you can choose to detele it 2 Capturing waypoints e In Waypoints mode click to capture the aircraft attitude including longitude latitude height and nose pointing direction properties to build a new waypoint during flight This function is always available when the UAV is hovering or flying 1 4 Flight Limit of Special Areas All UAV operators should abide by all regulations from such organizations at ICAO International Civil Aviation Organization and per country airspace regulations For safety reasons key areas have been re
16. bit e Motor outputs you can assign hardware motor outs for any of stabilization axes For example you can use second controller for YAW stabilization and set it up this way ROLL disabled PITCH disabled YAW ROLL OUT and connect a YAW motor to hardware ROLL OUT e RC Sub Trim allows to correct transmitter inaccuracy o ROLL PITCH YAW trim central point trimming Central point here is PWM 1500 It s better to trim it in transmitter But in case of it is not possible when using joystick for example you can use AUTO function in the GUI Just place stick in center and press AUTO button Actual data becomes new center point Press WRITE button to apply settings o Dead band adjusts a dead band around neutral point There s no control while RC signal is inside this range This feature works only in SPEED mode and helps to achieve better control by eliminating jitters of stick around neutral point o Expo curve adjusts the curvature of an exponential function that allows to get precise control from RC in the range of the small values but rough and strong control near endpoints Works only in SPEED mode e Sensor o Gyro LPF adjusts filtering gyro data It s not recommended to set values different than 0 2013 2014 Basecamelectronics 10 67 because it will make adjusting PID controller harder You can experiment with this o Gyro high sensitivity Increases gyro sensitivity twice Use this option for big si
17. fly a manned aircraft are irrelevant to operating a UA For that reason they have concluded that UA operators do not need to have a private or commercial pilot s license Canada for example does not require a pilot s license to operate a UA Transport Canada requires training of UA operators but that training is limited to pilot ground school and flight operation training on UAs not manned aircraft Moreover Canada allows this training to be provided by other pilots manufacturers UA flight training Michael J Barnes Beverly G Knapp Barry W Tillman Brett A Walters amp Darlene Veliki Crew systems analysis of unmanned aerial vehicle UAV future job and tasking environments Technical Report ARL TR 2081 Aberdeen Proving Ground MD Army Research Laboratory page 12 2000 available at http www dtic mil dtic tr fulltext u2 a374230 pdf Kevin W Williams Unmanned Aircraft Pilot Medical Certification Requirements Report DOT FAA AM 07 3 FAA Civil Aerospace Medical Institute page 2 2007 available at http fas org irp program collect ua pilot pdf While the authors speculated that UAS use in populated areas may change this assessment indicating further research was needed to address this concern this concern is inapplicable as Helios s flights will not be in congested areas See also Jason S McCarley amp Christopher D Wickens Human Factors Implications of UAVs in the National Airspace Institute of Aviation Aviation
18. hold move the camera Level the camera tray horizontally and click the AUTO button in the Motor configuration settings The gimbal will make small movement to determine correct 2013 2014 Basecamelectronics 4 61 motor rotation direction Wait for the calibration procedure to complete Then re set your PID values and tune your Power values e NUM POLES Number of motor poles This value needs to be equal to the number of magnets in your motor s bell During the auto calibration process described above this value is automatically detected However this value is sometimes not correctly determined during the auto calibration process and will need to be verified and possibly corrected manually Most brushless gimbal motors are built with 14 poles or magnets and utilize a DLRK winding scheme Count your motor magnets and enter this value if the value is not correct in the GUI e External FC Gain Gain value for matching the gimbal data from your flight controller optional For better stabilization and utilization of some additional features the knowledge about the frame inclination angles is required SimpleBGC IMU doesn t provide such information Most of FC have servo outs for connecting gimbals This outs should be connected to SimpleBGC controller through EXT ROLL and EXT PITCH inputs o Activate gimbal outs in FC and set range limits for angles you generally fly for example 30 degrees of frame inclination should equals ful
19. manual are copyrighted by DJI Innovations with all rights reserved No part of this product or manual shall be reproduced in any form without the prior written consent or authorization of DJI Innovations No patent liability is assumed with respect to the use of the product or information contained herein Contents Be ER IMS DD A LLL T E KA 2 Ce MN a Um REN 2 Hodac To n NE EIER E ang TT TOT EE 3 yop nr do AAN n ec MD cn Hor rc Heo cpm eR POR RII ERA 4 PSS inj E 9 Display ES ration aaa aa SE TL mM T jp p Tm PTS 9 Assistent GEWE PE esta act naa aite I A an af rw qaad D pa aan aa copi telae fedibus ultio ere tudo root e dO iau ub a a a Gan 10 Sontware ane Driver InstallatiObdo5 uiui Medea us janah vett OR a A aa Ico Lamm Mns cma cat a ate ripe AE 10 Assistant Soltware GU aaa anana s ac prod aa jana aka apa a aaa Naja aa a E D MIS dene du a de e oma ao ean A a lequ PURUS dde Meat ud ene 10 Assistaht Software Usage ies esos e de ue vui nt usua a ule de S ERU Gus esset pel ee cT 10 Firmware amp Assistant Software baden odit vases anaa sen anan tp aput esi ana gana nawan naa Den aaa dem aaa nean 11 AND DEN cea A ated aed na a a a a ae ng a a a abane deed ate Aas nana AT ga a anana aan een a an aan a aa aa a D aaa a aa aa Ba EE 13 Port BI eig ene MP ET aa aa ang Ga an SN na gag aaa A ng ag a La a a ga ID S 13 SENENGI Sani gang aa a E I aa E A E LER 14 Troubl
20. record of the PIC training will be documented and made available upon request by the Administrator Training operations will only be conducted during dedicated training sessions During training proficiency and experience building flights all persons not essential for flight operations will be considered nonparticipants and the PIC will operate the UA with appropriate distance from nonparticipants in accordance with 14 CFR 91 119 The VO will not perform any other duties beyond assisting the PIC with seeing and avoiding other air traffic and other ground based obstacles obstructions and will not be permitted to operate the camera or other instruments The PIC will be designated before the flight and will not be allowed to transfer his or her designation for the duration of the flight The PIC will ensure that the VO can perform the functions prescribed in these conditions and the operating documents A briefing will be conducted in regard to the planned UA operations prior to each day s activities It will be mandatory that all personnel who will be performing duties 1n connection with the operations be present for this briefing Prior to each flight the PIC will inspect the UA including the Ground Control Station to ensure it 1s in a condition for safe flight If the inspection reveals a condition that affects the 9 13 14 15 16 17 18 19 20 ZN 22 safe operation of the UA the PIC will not operate
21. the App on your mobile device Note The map of Mainland China download from Mainland China IP addresses has differences with the actual geographic environments If users download the map of Mainland China from foreign IP addresses which will be more accurate 2 46 Bluetooth Datalink The 2 4G Bluetooth Datalink consists of the Air end and the Ground end which provides reliable and stable remote wireless transmissions for Ground Station based applications The signal flow is as shown below Signals from Ground Station Flight control CAN Bus Signals from Flight control system Flight control systems that support the 2 4G Bluetooth Datalink ACE ONE Firmware V4 02 or above WKM Firmware V5 24 or above NAZA M NAZA M V2 Firmware V4 OO or above A2 Firmware V2 0 or above 1 1 In the box fe ne Se PN The Ground end of The Air end of 2 4G Bluetooth 2 4G Bluetooth Datalink Datalink p 4 Ground Station 19 BTU CAN Bus USB DC power Installer CD for yy Module cable cable cable PC 7 Important the firmware of BTU should be upgraded to version 1 0 1 2 or above to use with the 2 4G Bluetooth Datalink 1 2 User supplied To use the 2 4G Bluetooth Datalink and Ground Station please prepare the Flight control system the aircraft batteries PC or iPad etc 2013 2014 DJI Innovations All Rights Reserved 51 1 3 Connections and use 1 Please assemble the antenna of the Ground end first 2 F
22. the UA until the necessary maintenance has been performed and the UA is found to be in a condition for safe flight All maintenance and alterations will be properly documented in the aircraft records Petitioner will conduct a functional flight test on any UA that has undergone maintenance or alterations that affect the UA operation or flight characteristics e g replacement of a flight critical component The PIC who conducts the functional test flight will make an entry in the aircraft records The petitioner will carry out its maintenance inspections and record keeping requirements at the direction and under the supervision of the UA manufacturer Maintenance inspection alterations and status of replacement overhaul component parts will be noted in the aircraft records including total time in service description of work accomplished and the signature of the manufacturer authorizing the return of the UA to service The manufacturer will make an entry in the aircraft record of the corrective action taken against discrepancies discovered between inspections When conducting operations for the motion picture and television industry petitioner will submit a written Plan of Activities and any additional necessary paperwork to the FSDO at least one day before the proposed operations begin The UA will be operated within visual line of sight VLOS of the PIC and VO at all times This requires the PIC to be able to use human vision unaided
23. the battery 1s running low The VO will be responsible for the overall safety of the operation The VO will observe the UA and flight operational area without any display monitors The CO will use a Futaba 14SG transmitter to control the gimbal and the camera The CO will use an on screen display monitor to observe the camera data and change what is being viewed Prior to the day of an operation the flight crew will conduct a site inspection The flight crew will look for obstructions in the filming or construction area and determine a safe flight plan The flight crew will also make a note of any public access points in the general area where nonparticipating individuals could access the operational area The flight crew will adapt their flight plan to avoid these areas On the day of an operation the flight crew will cone off the flight operational area 1f not already roped off up to square miles The only individuals allowed within the flight operational area will be participants actors crew members or construction workers All other 7 nonparticipating individuals and vehicles will be outside the sectioned off area Prior to each operation the flight crew will conduct a safety briefing with all individuals who will be in the flight operational area The flight crew will set a home area that the UA will launch from and return to The area will have a ten foot radius and be marked off with traffic cones The flight crew w
24. 013 2014 Basecamelectronics 11 68 configured turned ON or OFF in the GUI You can connect an active buzzer only which has an internal sound generator working from 5 12V currents below 40mA check this Digikey product search for example NOTE you can connect the buzzer to old boards in DIY way by soldering its wire to the pin 32 of the 328p MCU and wire to the GND Realtime Data tab In this tab you can see raw sensor data stream and logical RC input levels e ACC X Y Z accelerometer data e GYRO X YZ gyroscope data Helps to determine quality of P and D settings Disturb gimbal by hand and see trace If it looks like sine wave D setting is too low and gimbal tends to low frequency oscillations If some noise is always present even without any disturbance D setting is too high and gimbal tends to high frequency self excitation e ERR ROLL PITCH YAW stabilization error graph Same as peak indicators on the control panel and shows maximum deflection angle Each graph can be turned on or off scale can be adjusted for Y axis You can pause the data transmission at any time Setup step by step sequence 1 Adjusting the mechanics Mount the camera on the tray and balance the gimbal in all three axes Stabilization quality strongly depends on balance quality To check your balance pick your turned off gimbal in hands Make fast motions along all axes try to catch resonance point and swing the gimbal
25. 1 12 17 25 and 32 35 in Section V below Each has been accepted or imposed by the FAA in numerous previous grants of Section 333 exemption petitions IV Aircraft and Equivalent Level of Safety Petitioner proposes that the exemption apply to UAs that have the characteristics and that operate with the limitations proposed herein These limitations provide for a level of safety at least equivalent to or higher than manned aircraft operations under the current regulatory structure Section V below identifies the limitations and conditions to which petitioner agrees to be bound when conducting commercial operations under a grant of this petition Appendix A contains a matrix connecting 1 the specific proposed condition with 11 the FAR provision for which it provides an equivalent level of safety and 11 one or more recent Section 333 exemption grants in which the FAA recognized this equivalent level of safety Appendix B requests relief from additional FARs that are not identified in Appendix A Approval of the commercial operations outlined in this petition presents no national security issue The PIC is willing to undergo a background check including the proposed Transportation Security Administration Vetting process to ensure that no national security threat is present Operation and Certification of Small Unmanned Aircraft 80 Fed Reg 9543 at 9572 proposed Feb 23 2015 to be codified at 14 C F R Parts 21 43 45 et al 8 10
26. 11 12 Proposed Conditions of the Exemption The UA will weigh approximately 18 lbs 8 kg inclusive of battery and technical payload UA operations under this exemption will be limited to conducting operations for the purpose of scripted closed set filming for the motion picture and television industries and construction site inspections in Class G airspace nationwide Flights will be operated within line of sight of a pilot and visual observer Flights will be operated at an altitude of no more than 200 feet AGL as indicated by the procedures specified in the operating documents All altitudes reported to ATC must be in feet AGL The UA will not be flown at an indicated airspeed exceeding 35 knots Minimum flight crew for each operation will consist of the UA pilot in command PIC a visual observer VO and a camera operator CO The PIC will have at minimum 40 hours of training on the UA to be operated under this grant before accepting commercial operations The petitioner will not permit any PIC to operate unless the PIC meets its qualification criteria and demonstrates the ability to safely operate the UA in a manner consistent with how the UA will be operated under this exemption including evasive and emergency maneuvers and maintaining appropriate distances from persons vessels vehicles and structures PIC qualification flight hours and currency will be logged in a manner consistent with 14 CFR 61 51 b A
27. 193 11195 11204 91 9 b 2 22 Nos 11062 11063 11064 11065 11066 11067 11080 11109 11110 11111 11112 11114 11136 11138 11150 11153 11156 11157 11062 11063 11064 11065 11066 11067 11080 11109 11110 11111 11112 11114 11136 11138 11150 11153 11156 11157 11174 11177 11178 11184 11185 11189 11192 11193 11195 91 9 c Nos 11136 11170 11171 11174 11185 91 103 b 2 3 9 16 17 18 19 20 28 No 11062 11063 11064 11065 11066 11067 11080 11109 11138 11150 11153 11156 11158 11160 11161 11166 11167 11171 11172 11176 11177 11178 11184 11185 11188 11188 11189 11191 11192 11193 11195 11204 JL e Neli8S 91 113 b 3 32 No 11238 91 119 c 4 34 Nos 11162 11163 11164 11165 11166 111080 111109 11110 11111 11112 11114 11136 11138 11150 11153 11156 11160 11161 11166 11167 11170 11171 11172 11174 11176 11178 11185 11188 11189 11190 11193 14 FAR pplicable condition s in FAA Exemption Decision Provision Section 5 of petition B BEEN 91 151 a Nos 11110 11153 11156 11161 111109 11110 11112 11136 11138 11150 11153 11156 11160 11161 11166 11167 11170 11171 11172 11174 11176 11178 11185 11188 11189 11190 11193 Nos 11162 11163 11164 11165 11166 111080 111109 11136 11138 11150 11153 11156 11160 11161 11166 11167 11170 11171 11174 11176 11178 11185 11188 11189 11190 11193
28. 70 11171 11172 11174 11176 11177 11178 11184 11185 11188 11188 11189 11191 11192 11193 11195 11204 15 18 meee FAR Applicable condition s in FAA Exemption Decision Provision Section 5 of petition 91 417 a 12 13 14 Nos 11062 11063 11064 11065 11066 11067 11080 11109 11110 11111 11112 11114 11136 11138 11150 11153 11156 11157 11158 11160 11161 11166 11167 11170 11171 11172 11174 11176 11177 11178 11184 11185 11188 11188 11189 11191 11192 11193 11195 11204 91 417 b 12 13 14 Nos 11062 11063 11064 11065 11066 11067 11080 11109 11110 11111 11112 11114 11136 11138 11150 11153 11156 11157 11158 11160 11161 11166 11167 11170 11171 11172 11174 11176 11177 11178 11184 11185 11188 11188 11189 11191 11192 11193 11195 11204 16 B Appendix B Helios s argument for exemption from 14 C F R 61 113 Private pilot privileges and limitations Pilot in command Helios requests an exemption from 14 C F R 61 113 so that the PIC of the UA will not be required to possess a private or commercial pilot s license As the FAA and numerous other national airspace regulators have recognized UA operations conducted by persons who do not hold a pilot s license can still achieve the equivalent level of safety of current operations by manned aircraft with pilots holding a private or commercial pilot s license Although it recognizes that a pilot s li
29. ANTONELLI LAW Drone UAS Practice Group 100 North LaSalle Street Suite 2400 Chicago IL 60602 Tel 312 201 8310 Jeffrey Antonelli Law com U S Department of Transportation March 30 2015 Docket Management System 1200 New Jersey Ave S E Washington D C 20590 Re Request for Exemption under Section 333 of the FAA Modernization and Reform Act of 2012 and Part 11 of the Federal Aviation Regulations from Certain Provisions of 14 C F R Dear Sir or Madam Pursuant to Section 333 of the FAA Modernization and Reform Act of 2012 the Reform Act and 14 C F R Part 11 Antonelli Law files this petition for exemption on behalf of Helios Imaging Inc Helios an operator of Small Unmanned Aircraft UA used for scripted closed set filming for the motion picture and television industries and for the construction industry Specifically applicant seeks an exemption from the Federal Aviation Regulations FARs listed in Appendices A and B to allow commercial operation of its UA so long as such Operations are conducted within and under the conditions outlined herein or as may be established by the FAA in a grant of this petition Approval of the exemption for petitioner will allow commercial operation of the Helios 960 a proprietary design based on the Tarot 960 airframe for scripted closed set filming for 1 the motion picture and television industries and 2 the construction industry in Class G airspace nationwide or as
30. And then configure the warning of GPS Satellite Number Distance and Height Range if warnings are required Click the DataView item and follow the tips to get the flight attitude data main control input and output information etc Note If you do not configure the Warnings Setting the iOSD will show warnings in default values It will auto detect the firmware version when you open the assistant software and prompt the check for updates window if your version is not the latest one If enter the Data View mode the iOSD controller will temporarily quit the parameter configuration mode and act as a USB Device to connect to the PC You can manually select and read any data file from the USB Device If you need to re enter the parameter configuration mode please power cycle the iOSD The speed of data loading will be very slow for large files For the large file on the iOSD controller please copy the file to the local hard drives of the PC and then open the file for viewing The Compass Data Recording is added in the iOSD Firmware version V2 OO or above you can read the Compass data in the DataView item of the iOSD assistant software V2 OO Firmware amp Assistant Software Upgrade Please follow the procedure for firmware upgrade otherwise the iOSD might not work properly Make sure your computer is connected to the Internet Please close all the other applications during the firmware upgrade including anti virus software and fir
31. If it is hard to do gimbal is balanced correctly NOTE Good balance and low friction can scale down power consumption and keep good quality of stabilization If you rewound motors by yourself it s recommended to check winding Remove motors from gimbal connect them to controller and set parameters P 0 120 1 D 0 for each axis and set enough POWER Connect main power supply Motors should spin smoothly while rolling the sensor Little jitter is normal due to magnetic force between rotor and stator cogging effect Pay great attention to sensor installation Its axes must be parallel with motor axes Pay attention to mechanical links They must be a VERY RIGID and backlash free Sensor provides feedback data for stabilization and even any little freedom or flexibility will cause delays and low frequency resonances This can complicate setting of PID and cause unstable work in real conditions frame vibrations wind etc 2 Calibrating the sensor Gyro is calibrated every time you turn the controller on and it takes about 4 seconds Try to immobilize sensor camera as hard as you can in first seconds after powering on while signal LED is blinking After powering on you have 3 seconds to freeze gimbal before calibration starts If you activated option Skip gyro calibration at startup gyro is not calibrated every time and controller start working immediately after powering up Be careful and recalibrate gyro manually if you wil
32. Input Votage If 4S 6S then Output Voltage 11 2V Make sure your camera is rated for this voltage and current 1A if not please use a separate battery supply If you use other wireless video transmitter and the rated voltage is over the voltage of BATT you can use the POWER pin to apply power Make sure the total current consumption of wireless video transmitter and camera is lower than 1A otherwise will damage your iOSD Aircraft End i Ground End ME Wireless Video RX 02012 2013 DJI Innovations All Rights Reserved 39 Display Description The iOSD information is displayed on the screen as shown below NO 7 o 96 a gt N wr 23 Er I T Function B Din Power voltage CHI Channel CH Ea CH8 Distance between aircraft and home D points Height IH Control mode ATT M GPS FS APT Fail safe mode GHome Pitch attitude P 0 B 12 0V 90 P 0 9 0 9 0 0 2 avi 1 65 e 9 9 e WR A Us Description Real time battery voltage of the aircraft power unit in V For PHANTOM 2 there will be current battery level percentage shown in addition D stink first level low voltage alert the alert threshold is same to the protection voltage value set in the assistant software Wireless video transmitter channel selection When the home point is successfully recorded this item will show
33. LED Indicators of the 2 4G Bluetooth Datalink will work after power on the descriptions are shown below TX RX LINK GO Green blinks Sending GO Solid Green The Air end links with the Ground end successfully TX RX LINK The Air Red blinks Receiving sSolid Red The Air end delinks with the e I end Ground end Yellow blinks Searching the Main controller GO Green blinks Sending GO Solid Green The Air end links with the Ground end successfully The TT Red blinks Receiving Solid Red The Air end delinks with the Ground e end ne Yellow blinks Power voltage of the Ground end Ground end is less than 9 9V Notes 1 LED Indicators on both ends will blink when powering on then the TX RX indicator of the Air end will blink when searching the Main controller The LED Indicators of LINK on both ends should be solid green to indicate that the two ends have linked successfully It s recommended to check the power voltage of the Ground end regularly when using batteries for power supply in order to avoid over discharging 1 5 Upgrade Use the 2 4G Bluetooth Datalink Assistant software to upgrade the 2 4G Bluetooth Datalink and BTU module Please refer to the diagram below to connect when upgrading To upgrade the Air end To upgrade the Ground and the Ground end end and BTU module e 2 4G Bluetooth e 2 4G Bluetooth Datalink Assistant Datalink Assistant software software TA l
34. Manual cccccccccccccccccsccesnssssssscesseesscccceesececseneens 58 Exhibit 11 Helios 960 Information eeesessss Submitted confidentially to the FAA Exhibit 12 Tarot 960 Assembly Section Submitted confidentially to the FAA Exhibit 13 Helios Imaging Inc Inspection Procedures Submitted confidentially to the FAA Exhibits 10 12 have been submitted confidentially and are not available to the public I Publishable Summary Pursuant to 14 C F R 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 C F R 21 h 14 C F R 43 7 14 C F R 43 11 14 C F R 45 11 14 C F R 45 27 14 C F R 45 29 14 C F R 61 113 14 C F R 91 7 a 14 C F R 91 9 b 2 14 C F R 91 9 c 14 C F R 91 103 b 2 14 C F R 91 105 14 C F R 91 113 b 14 C F R 91 119 c 14 C F R 91 121 14 C F R 91 151 a 14 C F R 91 203 a and b 14 C F R 215 14 C F R 91 403 14 C F R 91 405 a 14 C F R 91 407 a 1 14 C F R 409 a 1 and a 2 and 14 C F R 91 417 a and b to operate commercially a small unmanned aircraft system UA 18 Ibs or less Approval of the exemption for petitioner will allow commercial operation of the Helios 960 a propriety design for scripted closed set filming for 1 the motion picture and television industr
35. Motors toggle Motors ON Motors OFF commands to change the state of the motors Reset controller Battery Monitoring On some latest board versions there is a voltage sensor installed to monitor the main battery voltage It is used to apply voltage drop compensation PID becomes stable during whole battery life cycle and to make low voltage alarms and do the motor cut off when the battery becomes discharged Calibrate adjusts the rate of internal multiplier to make measured voltage more precise You need a multimeter to measure the real voltage than enter this value in the calibration dialog Low voltage alarm set the threshold to make alarm when the voltage drops below it Low voltage stop motors set the threshold to stop motors when the voltage drops below it Compensate voltage drop set this option to automatically increase the POWER parameter which controls the output power goes to the motors when the battery loose voltage due to discharge process Set defaults for select the battery type to fill the fields above with the default settings for selected type NOTE you can add the voltage sensor to old boards in DIY way by soldering a voltage divider 33k 10k 33k goes to the battery 10k goes to the GND and common point goes to the pin 19 of the 328p MCU if this pin is grounded de solder it first Buzzer On some boards there is an output to the buzzer It is used to buzz on some events Events are 2
36. Performance RF Data Rate Indoor Urban Range Outdoor RF Line of Sight Range EIRP Equivalent Isotropic Radiated Power Receiver Sensitivity 1 PER Power Consumption Features Frequency Band Serial Data Rate Antenna Options Operating Temperature Size No Antenna 2013 2014 DJI Innovations All Rights Reserved 15356kbps lt 200m lt l lkm lt 100mW 94dBm The Ground end lt 1 5W The Air end lt O 9W 2 4G 2400MHz 2483MHz 115200 bps SMA 10 C 60 C The Ground end 5mmx47 8mmxl7 lmm 56 The Air end 49 8mmx356 Ammxll 4mm Weight with Antenna The Ground end 95g The Air end 52g Power supply Supply Voltage The Ground end 9 9V 25 2V The Air end 6V Current Transmitting signal 0 10A I12 5V Current Receiving signal O 15A 6V Regulatory Approvals CE European Yes 5 5 FAQ 2 4G Bluetooth Datalink Failure The Ground Station fails to connect with the Main controller please check the following items e The distance between the two ends of the 2 4G Bluetooth Datalink should be more than 1 5m e Make sure the Ground end is connected correctly and the LED indicator of BTU is green If above are ok please power cycle while this problem continues after powering cycle there may be hardware problems such as the Antenna is broken please contact your authorized dealer 2013 2014 DJI Innovations All Rights Reserved 7 57 V4 BasecamM SimpleBGC Software User Manual Board ver 3 0 Firmwa
37. UA operators from the 44711 A requirement that they hold an airman certificate authorizing them to serve in the capacity for which the certificate was issued It has done so by allowing them to operate a UA so long as they hold a private pilot s or sport pilot s authorization even though such a certificate does not permit commercial operations Exemption No 11062 at 15 18 Exemption No 11110 at 14 16 Exemption No 11191 at 3 5 and Exemption No 11229 at 3 and 8 The FAA argues that it cannot exempt applicants from the requirements of 44711 because while the specific language of Section 333 grants it limited statutory flexibility relative to 49 U S C 44704 for the purposes of airworthiness certification Section 333 does not provide flexibility relative to 44711 and other sections of Title 49 Exemption No 11110 at 14 This argument ignores the plain language of the statute The relevant language of Section 333 1s a IN GENERAL Notwithstanding any other requirement of this subtitle and not later than 180 days after the date of enactment of this Act the Secretary of Transportation shall determine if certain unmanned aircraft systems may operate safely in the national airspace system before completion of the plan and rulemaking required by section 332 of this Act or the guidance required by section 334 of this Act b ASSESSMENT OF UNMANNED AIRCRAFT SYSTEMS In making the determination under subsection a the Secretary shal
38. ame The less is value the smoother is camera rotation under control e POWER maximum voltage supplied to the motors 0 255 where 255 means full battery voltage Choose this parameter according to your motor characteristics Basic tuning o Motors should not get too hot Motor temperatures of over 80C will cause permanent damage to motor magnets o A Power value that is too low will not provide enough force for the motor to move the gimbal and stabilize the camera adequately A low power value will be most noticeable in windy conditions when the gimbal is not well balanced or if the gimbal suffers from mechanical friction Slowly lower the Power parameter to find its optimal value Find the lowest value that still provides good stabilization and adequate holding torque o Raising the power equals raising the P value of PID settings If you raise the POWER value you should re tune your PID values as well e Additional power that will be add to the main power in case of big error caused by missed steps It helps to return camera to the normal position If main power additional power is greater than 255 the result is limited to 255 e INVERT reverse motor rotation direction It s extremely important to choose the correct motor rotation direction to not damage your gimbal To determine the correct direction set the P and D values to 0 and the POWER values to 80 or higher if your motors don t produce enough force to
39. ance camera Check motor winding Increase POWER parameter During fast YAW rotating camera deflects by ROLL and then slowly gets to horizon Bad accelerometer calibration Sensor is not in parallel with motor axes Make advanced ACC calibration by 6 positions Align sensor with motor axes During fast motion with acceleration camera deflects and then slowly gets to horizon This is normal effect of accelerations Try to increase Gyro Trust in Advanced tab YAW arrow slowly spins in the GUI Slow drift is normal less than 1 degree minute It s because of gyro drifts over time Note to sensor Immobility during gyro calibration Re calibrate gyro Camera slowly drifts by any or all axes just after power on Bad gyro calibration Re calibrate gyro Clicks and crunch are heard during work LED is synchronously blinking 2C errors present Errors are possible if sensor wires are too long or motors outs affect sensor by capacitive linkage Shorter sensor wires Lower pullup resistors value on the sensor board Install spike LC filter on motor outs make 2 3 turns of motor cable through ferrite coil Install spike LC filter on sensor wires the same as motor filter Replace sensor with version with LLG High frequency oscillations Feedback self excitation as a result of high D parameter Check the graphs to understand on what axis is the problem
40. and lower D value Low frequency oscillations Feedback self excitation as a result of high D parameter or high P Lower P increase D GUI cannot connect to the board Wrong COM port selected GUI and firmware versions doesn t match Try different COM ports Upload the latest firmware and download matching GUI version 2013 2014 Basecamelectronics 12 15 SimpleBGC 3 0 32bit connection diagram IMU SENSOR BATTERY 3s 6s a Ce a BUZZER 5 12V IMU SENSOR MN M 1 04 0 a 1 E O iisclro sc dc MMOL 606 66 66 LM E 6606 66 Tf CAM STAB ROLL CAM STAB PITCH gan I2C BUZZER RC_PITCH F FLIGHT RC ROLL 666 gp RC YAWN 606 T CONTROLLER FC_ROLL 3 NF See ee FC_PITCH LLLLLL Jl TI OPTIONAL 3 CAM CONTROL ROLL SumPPM SBUS CAM CONTROL PITCH CAM CONTROL YAW YAW PITCH ROLL RECEIVER 111 e FERRITE RINGS optional if I2C errors JOYSTICK 1 3 2013 2014 Basecamelectronics 16 73 2013 2014 Basecamelectronics 74 17
41. ation in the Exhibits are hereinafter referred to as the operating documents The specific conditions of the proposed exemption that relate to the characteristics of the UA are numbers 1 5 and 16 20 in Section V below Each has been adopted or imposed by the FAA in numerous previous grants of Section 333 exemption petitions B The Crew The crew will consist of a pilot in command PIC a visual observer VO and a camera operator CO The PIC VO and CO will have been trained in operation of UAs generally The PIC is a lifelong model aircraft hobbyist with years of general UA experience Additionally the PIC will have completed at a minimum 40 hours of UA flight training with this specific UA prior to operations and will be required to participate in annual training thereafter The specific conditions of the proposed exemption that relate to the training and characteristics of the crew are numbers 3 and 6 9 in Section V below Each has been adopted or 6 imposed by the FAA in numerous previous grants of Section 333 exemption petitions C Flight Conditions The UA will be used for scripted closed set filming for the motion picture and television industries and the construction industry It will be flown in Class G airspace nationwide under 200 feet above ground level AGL and under controlled conditions over property that is restricted as stated below under D Flight Operations Petitioner will work with the local FSDO
42. button located on the controller board or mounted externally and tune the battery monitoring service e Follow Mode settings related to special mode of the camera control e Real time Data real time sensor data monitoring This screen is extremely helpful in tuning your gimbal performance Firmware Update Firmware and GUI software versions and update options e Firmware Upgrade lets you to check the fresh version of firmware and upgrade if necessary Connection COM port selection and connection status Profile Profile selection loading re naming and saving Control Panel graphic visualization of gimbal orientation angles in three axes e Black arrows are displaying the angles blue arrows are a 10x time magnification to provide higher precision Red marks show target angles that gimbal should keep e Thin blue lines shows the maximum peak deflection from the central neutral point 2013 2014 Basecamelectronics 3 60 e Blue digits show peak deflection amplitude Using these numbers stabilization quality can be estimated e Vertical red bars to the right of the scales show actual power level from 0 to 100 READ WRITE RESET TO DEFAULTS buttons are used to transfer setting from to board MOTORS ON OFF button is used to toggle motors state At the bottom of the screen tips status or error messages in red color are displayed Overall cycle time and I2C error count is also displayed 8 Batte
43. by any device other than corrective lenses PIC and VO will at all times be able to communicate verbally They will not be permitted to use electronic messaging or texting to communicate during flight operations The PIC will not begin a flight unless considering wind and forecast weather conditions there is enough power to fly at normal cruising speed to the intended landing point and land the UA with 20 battery power remaining Actual total flight time for each operational flight will result in no less than a 20 battery reserve The UA will have the capability to abort a flight in case of unexpected obstacles or emergencies The UA will be programmed so that if 1t loses communication with the ground station or loses its GPS signal it will return to a pre determined location within the planned operating area and land or be recovered in accordance with the operating documents If the UA and its radio control link disconnect during flight the system s failsafe protection will be triggered and the multirotor will return to home and land automatically rather than flying off uncontrollably or landing at an unknown location The operating documents required under 14 CFR 91 9 and 91 203 will be maintained and available to the PIC at the Ground Control Station of the UA any time the UA is operating These documents will be made available to the Administrator or any law enforcement official 10 25 24 25 26 27 26 29
44. cense 1s unnecessary for safe UA operation the FAA has to date declined to allow grant exemptions under Section 333 that would permit individuals who possess neither a private nor a commercial pilot s certificate to conduct commercial UA operations It has specified two reasons for declining to do so First it has stated that it does not possess the authority under Section 333 to exempt individuals from the requirement under 49 U S C 44711 to hold an airman certificate authorizing the airman to serve in the capacity for which the certificate was issued Exemption No 11110 at 14 Second the FAA has concluded that the Department of Homeland Security DHS security screening required of all certified airmen meets the statutory requirement in Section 333 that operations not pose a threat to national security Exemption No 11110 at 15 Helios respectfully requests that the FAA reconsider its position There is no dispute that it is unnecessary for an operator of a UA to go through the rigorous process of becoming a certified pilot in order to safely operate a UA In addition the FAA does have the authority to exempt UA operators from the requirement in 49 U S C 4471 1to hold an airman certificate for serv ing in the capacity for which the certificate was 1ssued Indeed it has exercised that authority repeatedly in the Section 333 process Finally the FAA s security concerns can be addressed by a variety of methods involving operator background chec
45. deo input when there are two video inputs Only the toggle from Position 5 to Position 2 can change the video input source AVI is default Position 1 Position 2 Position 3 2012 2013 DJI Innovations All Rights Reserved 38 Video Output Port e If you use wireless video transmission module AVL58 specified by DJI connect through the bi port cable e f you use your own module please connect through the one port cable according the pin description Channel Control pin Control signal for the video transmitter channel number CH1 CH8 If your video transmitter does not support this feature then ignore this pin Video and OSD output pin make sure this is correctly connected Positive Negative voltage of battery pin its output voltage is equate to the voltage of the battery supplying power for your wireless video transmitter It is recommended to solder the two cables of the same function Please make sure the input voltage of your own wireless video transmitter is matched to the voltage of BATT to prevent damage from your wireless video transmitter module For example if the Battery is 6S 25V and the input voltage of the wireless video transmitter is 35 12V then you cannot use the BATT to supply power since the 25V is larger than 12V Wireless Video Transmitter Or Negative voltage of battery BATT Specified by DJI AVL58 Positive voltage of battery BATT Channel Control Video GND Video and OSD output Other
46. dules with the main module and in its clones Because there are many modifications of this protocol it may not work as expected in the first versions of SimpleBGC firmware but we will work on correct implementation in next versions There is a dedicated socket on the board marked Spektrum that matches standard connector You should bind satellite module with the transmitter manually e For each control targets you can choose appropriate hardware input from the drop down list o RC ROLL RC PITCH RC YAW FC ROLL FC PITCH hardware inputs on board that accept signal in the PWM Pulse Width Modulation format excepting RC ROLL see above Most RC receivers output this signal type o ADC1 ADC2 ADC3 dedicated analog inputs marked on the board as A1 A2 A3 and accepts analog signal in range from O to 3 3 volts For example joystick variable resistor provides such signal Connect A1 A3 to the center contact of variable resistor 3 3V and GND to side contacts See Connection Diagram for more info o VIRT CH XX In case of RC ROLL pin mode is set to multi channel signal format you can chose one of the virtual channels e Control targets 2013 2014 Basecamelectronics 7 64 o ROLL PITCH YAW controls the position of the camera o CMD allows to execute some actions You can configure 2 or 3 position switch on your RC for specified channel and assign it to CMD channel Its range is splitted into 3 sections LOW MID HIGH
47. e SHOCUIAG asi on uS duni test Dueb edt BEN aa eit a aa aaa ga estrada aa a a a les Ba 15 Some Descriptions forthe iOS Versionl Osa aaa ang aaa a cb oodd educa du a a Use IUD VO gua ue rd dM Uo Dd Ue oa dud MPG 16 Connection Between iOSD and Autopilot System saa eaaa eaaa anaa a aee eene ne nennen sense nennen 17 02012 2013 DJI Innovations All Rights Reserved 35 Introduction DJI iOSD is specially designed for DJI autopilot system during the FPV flight or other aero modeling activates DJI iOSD can transmit video and iOSD information in real time which will help you to obtain the aircraft status information during a FPV flight It can display power voltage flight velocity height distance from the home point horizontal attitude GPS satellite number etc iOSD and video information are superposed on the receiver making iOSD data clearly visible and bringing you a more involved flight experience DJI iOSD should be used in conjunction with a DJI autopilot system It supports two video input sources under PAL or NTSC mode which can be selected remotely by an R C transmitter switch The R C TX switch can also change the wireless video transmitter channel remotely when user uses the wireless video transmitter specified by DJI The iOSD supports online upgrades The iOSD has built in BEC which is on one hand for the power supply of the camera on the other hand for the power supply of the autopilot system s main controller to impro
48. eas and operation within visual line of sight and national security provide more than adequate justification for the grant of the requested exemption allowing commercial operation of applicant s UA for filming the television and movie industry and the construction industry pursuant to petitioner s rules of operation A Motion Picture and Television Industry Filming As the FAA has repeatedly recognized in granting other exemptions under Section 333 the use of a UA to take videos and photography over closed scripted motion picture and television sets significantly increases the level of safety for both the actors and crew Currently filmmakers use manned aircraft which can weigh 6 000 Ibs or more Manned aircraft also by definition carry a pilot and other crew They carry flammable fluids and require large areas to take off operate over and land By using the Helios 960 many of these dangerous conditions will be alleviated The Helios 960 weighs under 15 Ibs The pilot and flight crew will be safely on the ground rather than several hundred feet in the air The UA is powered by a battery and requires a small area to operate in The FAA has previously determined that using a UA such as the Helios 960 will provide a greater level of safety when filming for the motion picture and television industry Exemption No 11062 B Construction Inspections Use of a UA to conduct inspections of construction projects will provide a greater lev
49. el of safety than what is currently available The construction industry has traditionally been very dangerous for workers both based on the working conditions and equipment used including helicopters and cranes Currently aerial inspections are not done on many construction projects Instead inspections are conducted from the ground or from within the structure being constructed giving a limited view of the project This limits the capabilities of architects and construction crews examining the work that has been done and could lead to misidentification or failure to identify flaws in the construction Those projects that do incorporate aerial inspections must rely upon manned helicopters or other types of aircraft devices that can pose a great risk to those piloting and those on the ground below without providing the most accurate results Alternatively using the Helios 960 to videotape and photograph construction sites will allow the construction crew to gain a better vantage point of the structure Safety concerns can be better identified and fixed and the inspectors will be able to gain a more thorough understanding of construction progress This UA will be able to provide a quick and cost effective aerial inspection of an entire jobsite something that is much more difficult to perform without this technology The device can be used to check the progress of the project and provide visual information on hard to reach areas that may not be ade
50. ewall Make sure the power supply is securely connected DO NOT un plug the power supply until firmware upgrade has finished Connect the iOSD to PC with Micro USB cable DO NOT break connection until firmware upgrade is finished Run the assistant software and wait for connection Select Info Software and Firmware DJI server will check your current software and firmware version and get the latest software and firmware prepared for the unit If there is a software version more up to date than your current version you will be able to click to download the 2012 2013 DJI Innovations All Rights Reserved 11 44 new version Please re install the assistant software follow the prompts If there is a firmware version more up to date than your current version you will be able to click to update them Wait until Assistant software shows finished Click and power cycle Your unit is now up to date Note If firmware upgrade failed the iOSD will enter waiting for firmware upgrade status automatically please try again with the above procedures 2012 2013 DJI Innovations All Rights Reserved 45 12 Appendix Port Description LED Power Battery Input Port input voltage range IIV 26V Control Signal Input Port for wireless video module channel selection and video input source selection Video Signal Output Port e AV OUT Video Signal Output including both video and iOSD information e AV GND V
51. exemptions from the requirement that commercial UA operators hold a commercial pilot certificate From an analytical standpoint there 1s no difference between granting an exemption from the commercial pilot s license requirement and granting an exemption from the private or sport pilot s license requirement Both are clearly exemptions from a specific statutory requirement in 49 U S C 844711 If the FAA has the statutory authority under Section 333 b to do the former it has the same authority to do the latter For all of the reasons set forth above the FAA should reconsider its position and exercise its full authority to grant an exemption from all the requirements of 49 USC 44711 so that a person serving as a commercial UA operator need not have a pilot s license The FAA has not specifically identified the statutory provision that underpins its authority to grant the exemptions from the commercial pilot s license requirement Whether the statutory basis is Section 333 or some other provision makes no difference If there is a basis for a partial exemption from in 49 U S C 44711 that basis also justifies an exemption from the entire provision 21 ciji STORE PRODUCTS SUPPORT COMMUNITY DEVELOPER Search dj com Worldwide English Features Specs Videos Downloads FAQ Wiki Dealers WOOKONG M WOOKONG M THE PROFESSIONAL MULTIROTOR AUTOPILOT SYSTEM Aj a ray o ra Pj Gallery
52. f the camera rotation in the follow mode Don t set big values that motors can not handle if motor does not produce enough torque it will skip steps and synchronization will be broken In this case acceleration limiter may help to have big speed but do not miss steps Operation in the Follow Mode At system startup in the follow mode keep the frame horizontally and manually adjust the camera to the horizontal position and adjust it s heading Camera easily jumps between the magnetic poles Rotate the camera by hands to desired horizontal position it will stick to the nearest magnetic pole 2013 2014 Basecamelectronics 9 66 Gently rotate and tilt the frame Turns within 45 will control the speed of the camera from 0 to 100 Camera rotates in accordance with the SPEED settings until its angles are not equal the frame s angles or until given restrictions will be achieved If the camera moves unpredictably perhaps its the wrong direction of rotation of the motors and you need to change the Reverse flag in the Basic tab To achieve the smooth motion increase the LPF parameter in the RC tab increase Expo curve and decrease the SPEED and the Acceleration limits For more dynamic control change these settings in the opposite direction In case of failure of stabilization due to external disturbances the camera can completely lose synchronization with the frame In this case it is necessary to return it to the proper p
53. g you need to do is to plug in a Bluetooth datalink and the BTU module Gone are the days of the heavy laptop now you don t need to install maps and drivers forget about the Windows OS version compatibility problems and don t worry about Google Earth Without long cables it is as easy for you to control the aircraft with your ground station as play a game on your iPad More over the trend of using the iPad Waypoint will be another highlight Click here for more information New Assistant Software For Smartphone The WooKong M now provides assistant software for iPhone4s iPhoneS5 iPad3 iPad4 iPadmini iPod5 You can do parameter adjustments at any time on your mobile devices using only an LED indicator with a built in Bluetooth module which makes it easier and convenient It uses low power Bluetooth to minimize the power consumption of your mobile devices It is easy to use and will automatically save your last connection records The password mechanism ensures your safety link Parameters can be automatically synchronized to the Cloud Server and can be restored immediately when you changed your mobile devices 26 Built in Damper Precise Position and Altitude hold High Accuracy and Driving Handfeel Motor arm disarm mode Multiple flight control mode Intelligent Switching Point of Interest POI RTH Switch from Transmitter Support iOSD MARK II Intelligent Orientation Control IOC Enhanced Fail Safe and Auto Go
54. ground school test and then passing a practical test on commercial operation of the specific UAS per the UAS manufacturer s operations manual All of this experience and evidence indicates that the proposed exemption will provide a ereater level of safety than operations under 14 C F R 61 113 In this instance the PIC has had decades of UA experience He has focused his training and education on UAs generally and in particular on the aircraft to be operated rather than taking additional time and risk to train on a manned aircraft weighing several thousand pounds and carrying highly flammable fuel The FAA has concluded in the NPRM that such UA specific training is more than sufficient to provide an equivalent level of safety for UA operations Sometime in the next 18 24 months that position will be enshrined in a valid regulation However in the meantime the FAA claims it lacks the authority to relax the requirement to possess a pilot certificate As we show in the next section that position is both incorrect and contradicted by the FAA s recent decisions 2 The FAA has and has already exercised the authority to exempt applicants from the airman certificate requirement The FAA claims that it lacks authority to exempt UA operators from the requirement of 49 U S 44711 to hold an airman certificate authorizing the airman to serve in the capacity for which the certificate was issued See e g Exemption No 11110 at 14 This claim 1
55. guage View Help Connection Profile COM23 isconnec Profile 4 Rename Load Save Board version 3 1 Firmware FIUNT basecamelectronics com Advanced RC Settings Service Follow mode Realtime Data Firmware upgrade PID Controller Motor Configuration us POWER INVERT NUM POLES ROLL 3 5 14 e pr MN 141 D Hu 1 65 0 02 E Lad YAW E YAW 130 2 rj 14 Limit accelerations 500 dg sec AUTO External FC Gain sensor ROLL Axis TOP RIGHT PITCH Skip Gyro calibration at startup CALIB ACC CALIB GYRO 4 67 0 02 gt Configure Camera IMU Frame IMU USE DEFAULTS MOTORS ON OFF WRITE Cycle time I2C errors It is very important to properly calibrate the accelerometer Level the IMU sensor with Z axis pointing up fix itin place and press the CALIB ACC button Calibration takes about 3 4 seconds led flashes Dont move sensor board while calibrating For precise six point calibration refer to manual 68 95 0 00 gt Parameters successfully loaded from board The GUI contains different functional blocks 1 Configuration block in the central part of the window organized by tab e Basic Basic gimbal stabilization settings Adjusting these settings is usually adequate to achieve good camera stabilization e Advanced More precise tuning options e RC Settings settings to control the gimbal roll pitch yaw orientation with RC inputs e Service Specify the behavior of the MENU
56. i After sales Service Policies Website Feedback DJI Developer A f ANTA j 3 A Ena L cij THE FUTURE OF POSSIBLE Copyright 2015 DJI All Rights Reserved Privacy Policy Terms of Use Q o o 33 IOSD On Screen Display User Manual V2 10 For iOSD Firmware Version V3 0 amp iOSD Assistant V4 O April 7 2014 iOSD Firmware V3 01 compatible with iOSD Assistant V4 0 www dji innovations com 2012 2013 DJI Innovations All Rights Reserved 1 34 Disclaimer Thank you for purchasing product s from DJI Innovations Please read the instructions carefully before installing the hardware and software for this product this will ensure trouble free operation of your iOSD Please use DJI products in accordance with the provisions of your local authorities and regulations As DJI Innovations has no control over use setup final assembly modification including use of non specified DJI parts i e motors ESCs propellers etc or misuse no liability shall be assumed nor accepted for any resulting damage or injury By the act of use setup or assembly the user accepts all resulting liability DJI Innovations accepts no liability for damage s or injured incurred directly or indirectly from the use of this product DJI and iOSD are registered trademarks of DJI Innovations Names of products brands etc appearing in this manual are trademarks or registered trademarks of their respective owner companies This product and
57. ideo Signal Ground e UART transmit the wireless channel control signal to the wireless video transmitter For example AVL58 e BATT it is equate to the Positive Voltage of Battery e BATT itis equate to the Negative Voltage of Battery Video Input Port 2 input sources are available and the default setup is AVI e AVI Video Input Source e AV2 Video Input Source 2 POWER IllI 15V supply power for video input source with the maximum current of TA e GND Ground Micro USB Port Connects the iOSD with PC for firmware upgrade CAN Bus Communication of the iOSD with autopilot system through CAN Bus LED indicator for power 02012 2013 DJI Innovations All Rights Reserved 13 46 Specifications Performance Parameter Video Input Mode PAL NTSC Video Output Mode PAL NTSC Physical Temperature V1 0 20 70 C Mark II 20 60 C Size 52mm X 4lmm X 11mm Weight V1 0 42g Mark II 56g Hardware Supported Voltage 3S 6S LiPos Current Typical Value V1 0 51mA 25 2V 87mA 12 6V Mark II 60mA 25 2V 103mA 12 6V Rated Power 1 25W Controller Supported WKM NAZA M NAZA M V2 Software Supported Built in Functions e iOSD Information Transmission e Video Transmission 2 Video Signal input Channels Switchable e Remote channel selection of the Wireless Video Transmitter Module when using the video transmitter specified by DJI e Built in BEC improve the reliability of power supply for the main controller
58. ies and 2 the construction industry nationwide in Class G airspace nationwide or as otherwise prescribed in an ATO issued COA The requested exemption should be granted because operation of small UA weighing approximately 18 Ibs 8 kg inclusive of battery and payload conducted in the strict conditions outlined below will provide an equivalent level of safety while still allowing commercial operations The lightweight aircraft covered by the exemption are far safer than conventional operations conducted with helicopters and fixed wing aircraft weighing thousands of pounds and carrying highly flammable fuel and operating in close proximity to the ground power lines transmission towers pipelines and people The seven factors Congress directed the FAA to consider when approving Section 333 exemption petitions size weight speed operational capability proximity to airports proximity to populated areas and operation within visual line of sight each support the request In particular the aircraft are small and will operate at slow speeds and close to the ground in order to more safely and efficiently conduct inspections that would otherwise involve a risk of death to the inspectors The substantial increase of safety and decrease of risk to human life coupled with the low risk use of UAs to conduct these operations weigh heavily in favor of granting the exemption II Petitioner s Contact Information Gerardo Dan Rocha Directo
59. ification Heli mode setup provides a seamless transition for current Ace One AP professionals WK M utilizes high quality components precisely calibrated with temperature compensation in all gyros and sensors industry renowned flight algorithm in autopilot and UAV field 25 click and drag Multi Rotor Stabilization Controller 9 Types Of Multi Rotors And A Customized Motor Mixer Built In Gimbal Stabilization Function Support iPad Ground Control Station GCS New Assistant Software for Smartphone Supporting Futaba S bus receiver Power Monitoring Unit mnmmmeer Support 9 traditional motor mixer Quad I Quad X Hexa LHexa V Hexa Y Hexa IY Octo X Octo LOcto V It s a UAS that targeted at commercial and industrial multirotor platforms with simple configuration easy installation and stable performance Built In Gimbal Stabilization Function The gimbal stabilization module is compatible with most 2 axis gimbal systems The system will adjust the camera according to the attitude of the aircraft after setting the parameters the first time The scope of the gimbal servo output frequency is 400hz 200hz 100h and 50hz the higher frequency output makes the adjustment more efficient At the same time the limit of the gimbal servo rolling and pitching is extended to 90 Support IPad Ground Control Station GCS WooKong M GCS now supports iPad currently iPad 3 iPad4 iPad mini the only thin
60. ill stand outside this area During operations the flight crew will wear high visibility safety vests and helmets The three members of the flight crew will stand next to each other and be able to communicate orally The flight crew will conduct a pre and post flight inspection as laid out in Helios s Inspection Procedures Exhibit 12 The flight crew will also conduct an inspection flight each week going through both the pre and post flight procedures to ensure that the Helios 960 is in a safe condition In the unlikely event of emergency or a lost link the UA will be equipped with an emergency return to home feature as part of the DJI WooKong M flight control If there is a lost link the WooKong M will be programmed to rise 65 6 feet 20 meters instantaneously not to exceed a maximum altitude of 200 AGL travel horizontally to the home area and land For more information regarding the emergency fail safe methods please refer to the WooKong M User Manual Exhibit 1 to this petition The failsafe section begins on page 17 of that document Flights will be terminated at 20 of battery life Currently the Helios 960 s battery is limited to approximately 10 minutes of flight time Helios will use an iPad to monitor telemetry data including battery life The iPad will send an audio signal when the battery depletes to 2096 of remaining power The specific conditions of the proposed exemption that relate to flight operations are numbers 1
61. ks to be conducted by government agencies 1 The FAA and foreign regulators recognize that obtaining a manned aircraft pilot license is unnecessary for safe operation of a UA The FAA like the other national airspace regulators that have considered the issue has concluded that UA operations conducted by persons who do not hold a pilot s license can still achieve the equivalent level of safety of current operations by manned aircraft with pilots holding a private or commercial pilot s license In its recent UAS NPRM the FAA stated While these airman certification requirements are necessary for manned aircraft operations they impose an unnecessary burden for many small UAS operations This is because a person typically obtains a private or commercial pilot certificate by learning how to operate a manned aircraft Much of that knowledge would not be applicable to small UAS operations because a small UAS is operated differently than manned aircraft In addition the knowledge currently necessary to obtain a private or commercial pilot certificate would not equip the certificate holder with the tools necessary to safely operate a small UAS Thus requiring persons wishing to operate a small UAS to obtain a private or commercial pilot certificate imposes the cost of certification on those persons but does not result in a significant safety benefit because the process of obtaining the certificate does 17 not equip those persons with the t
62. l area as defined by the applicable COA to the FAA s UAS Integration Office AFS 80 within 24 hours Petitioner will report accidents to the National Transportation Safety Board NTSB per instructions contained on the NTSB Web site www ntsb gov VI Privacy There 1s little concern that the proposed flights will cause invasions of privacy because all flights will occur 1 over public spaces where there is no expectation of privacy and around participating individuals or i1 over private restricted property where applicant has permission from the landowner authorized agent to film When the UA is being flown the onboard cameras will be focused on the film or inspection area not on nonparticipating individuals who may be present during filming VII Public Interest and Safety The planned UA use will increase ground safety in both the television and movie industry and the construction industry The enhanced safety and reduced environmental impact achieved using a UA with the specifications described by the petitioner and carrying no passengers or crew rather than a manned aircraft of significantly greater proportions carrying crew in addition to flammable fuel gives the FAA good cause to find that the UA operation enabled by this exemption is in the public interest Satisfaction of the criteria provided in Section 333 of the Reform Act of 2012 size 12 weight speed operating capabilities proximity to airports and populated ar
63. l determine at a minimum 1 which types of unmanned aircraft systems if any as a result of their size weight speed operational capability proximity to airports and populated areas and operation within visual line of sight do not create a hazard to users of the national airspace system or the public or pose a threat to national security and 2 whether a certificate of waiver certificate of authorization or airworthiness certification under section 44704 of title 49 United States Code 1s required for the operation of unmanned aircraft systems identified under paragraph 1 c REQUIREMENTS FOR SAFE OPERATION If the Secretary determines under this section that certain unmanned aircraft systems may operate safely in the national airspace system the Secretary shall establish requirements for the safe operation of such aircraft systems in the national airspace system 20 The language of Section 333 b 1s permissive it requires that the Secretary determine at a minimum whether a certificate of waiver certificate of authorization or airworthiness certification under section 44704 of title 49 United States Code 1s required for the operation of unmanned aircraft systems identified under paragraph 1 Nothing in b precludes the secretary from determining whether or not a pilot s license 1s required for operation of a UA identified under paragraph b 1 Indeed the FAA has implicitly conceded the point by granting
64. l notice something wrong with IMU angles Calibrating Accelerometer You must perform ACC calibration only once but it s recommended to recalibrate it from time to time or when the temperature significantly changes 2013 2014 Basecamelectronics 12 69 e Simple calibration mode set the sensor horizontally and press CALIB ACC in the GUI or menu button if it s assigned LED will blink for 3 seconds Try not to move sensor during calibration At this step no matter how camera is leveled You are calibrating the sensor not the camera e Advanced mode recommended perform calibration in simple mode as above Then turn sensor in order that each side of sensor looks up 6 positions at all including base one Fix the sensor in each position press CALIB ACC button in the GUI and wait about 3 4 seconds while LED if flashing The order does not matter but the base position always goes first because the simple calibration cancels a result of advanced calibration You have not to press WRITE button calibration data is written automatically after each step NOTE Precise accelerometer calibration is a very important for horizon holding during dynamic flying or YAW rotation X x d x EEEEDD Z l Zee 2 X 4 Tuning basic settings e Connect the main power supply e Set POWER according to the motor configuration see recommendations above e Auto detect number of poles and motors direction D
65. l servo range about 1000 2000 o Deactivate all filters and smoothing of FC gimbal settings if present o Inthe RC settings tab make sure that inputs EXT ROLL EXT PITCH doesn t used to control gimbal i e are not chosen as source for any other RC control task o n REALTIME DATA tab check availability of EXT FC ROLL EXT FC PITCH signals and make sure they are split to axes correctly Frame roll angle tilting should cause EXT FC ROLL change in approximately 900 2100 range The same is for pitch o Connect power supply and setup stabilization as described above tune POWER INVERT PID o Push AUTO button in FLIGHT CONTROL GAIN group and smoothly incline copter frame to different directions by all axes for 10 30 seconds o Push AUTO button again to complete calibration Calibration will stop automatically after some time too New gains will be written into EEPROM and shown in the GUI NOTE You may skip this step and leave zero values at initial setup e Sensor Specify your IMU sensor board s orientation and position on the gimbal For a standard IMU sensor installation look at the gimbal from behind just like the camera will view out from the gimbal Viewing the gimbal in this way the UP and Right direction will match the Z and X axis You can place the IMU sensor in any direction keeping its sides always parallel to the motor axis be very accurate here it is a very important to precisely align the sensor and moun
66. led position to down position set 0 90 or 90 0 to inverse e LPF Control signal filtering The higher is value the smoother is reaction to the stick commands This filter cuts fast stick movements but adds some delay Follow Mode There is a special control mode when the camera follows for a tilting of the outer frame but eliminates small frame jerking Several modes of operation are possible e Disabled camera is locked to ground and may be rotated only from RC o Estimate frame angles from motors it use magnetic field for rough estimation of frame tilting Helps to increase the range of the frame angles where the gimbal s operation is stable To proper operation in this mode it is strictly required to calibrate Offset setting see below Like with the Follow mode its not recommended to use this option in flight its dedicated for hand held systems only NOTE that this option is ignored if you connect second IMU mounted on the frame because the data from the second IMU is more precise than from motors e Follow Flight Controller camera is controlled from RC together with the mixed signal from an external flight controller FC Almost every FC has servo outputs to drive a gimbal It feeds the information about the frame angles to this outputs in the PWM format that all servos understand SimpleBGC can get this information and use it to control a camera It is necessary to connect and calibrate external flight controlle
67. man NOTAM not more than 72 hours in advance but not less than 48 hours prior to the operation All operations will be conducted in accordance with airspace requirements in the ATO issued COA including class of airspace altitude level and potential transponder requirements The UA will not be operated within 5 nautical miles of an airport reference point as denoted on a current FAA published aeronautical chart unless a letter of agreement with that airport s management has been obtained and the operation is conducted in accordance with a NOTAM as required by the operator s COA Any letter of agreement with the airport management will be made available to the Administrator upon request The UA will not be operated less than 500 feet below or less than 2 000 feet horizontally from a cloud or when visibility is less than 3 statute miles from the PIC All operations shall be conducted in Class G airspace or as otherwise prescribed in an ATO issued COA All aircraft operated in accordance with this exemption will be identified by serial number registered in accordance with 14 CFR part 47 and have identification N Number markings in accordance with 14 CFR part 45 Subpart C Markings will be as large as practicable Before conducting operations petitioner will ensure that the radio frequency spectrum used for operation and control of the UA complies with the Federal Communications Commission FCC or other appropriate government oversight age
68. n in order to make sure the iOSD is working properly 1 Ensure batteries are fully charged for R C transmitter iOSD and all the other devices on your aircraft 2 Make sure all connections and wiring are correct and secure 3 Make sure the communication between the wireless video RX and TK modules is normal 4 Switch on the R C transmitter and power on the iOSD and autopilot system 5 Check the LED indicator on the iOSD The iOSD is powered when the LED is on 6 If there are two video inputs please select an input by toggling the TA 3 position switch otherwise please skip to the next step 7 If you use the wireless video RX and TX modules specified by DJI please select the channel you require by toggling the T X 5 position switch otherwise please skip to next step 8 Observe the display screen to make sure the video and iOSD information are displaying on the screen 2012 2013 DJI Innovations All Rights Reserved 42 Assistant Software Software and Driver Installation Please download driver installer and assistant software from the iOSD page of DJI website Connect the iOSD Controller and the PC via USB cable power on the iOSD Controller system Run driver installer and follow the instructions strictly to finish installation Run assistant software installer and follow the instructions strictly to finish installation Assistant Software GUI 5 OSD ON SCREEN DISPLAY English w x IOSD Setting Data View Sof
69. ncy requirements The UA will remain clear and yield the right of way to all manned aviation operations and 11 activities at all times 33 The UA will not be operated by the PIC from any moving device or vehicle 34 The UA will not be operated over congested or densely populated areas 35 Petitioner will conduct all flight operations at least 500 feet from all nonparticipating persons vessels vehicles and structures unless one of the following three conditions is met a Barriers or structures are present that sufficiently protect nonparticipating persons from the UA and or debris in the event of an accident The petitioner will ensure that nonparticipating persons remain under such protection If a situation arises where nonparticipating persons leave such protection and are within 500 feet of the UA the PIC will ensure that flight operations cease immediately b The aircraft 1s operated near vessels vehicles or structures where the owner controller of such vessels vehicles or structures has granted permission and the PIC has made a safety assessment of the risk of operating closer to those objects and determined that it does not present an undue hazard c Operations nearer to the PIC VO operator trainees or essential persons do not present an undue hazard to those persons per 91 119 a 36 Petitioner will report any incident accident or flight operation that transgresses the lateral or vertical boundaries of the operationa
70. ning a manned aircraft pilot license is unnecessary for safe operation of a UA seeeeseeeeee 17 2 The FAA has and has already exercised the authority to exempt applicants from tie airman certificate TEGEN saa aaa anaa a aaa Ue Aa nd aa eroe Gute eae Waaa 19 Exhibit List Exhibit 1 DJI WooKong M User Manual Submitted separately due to upload constraints Exbibi 2 DIE WOORONPSN Buen onditants etre ann eran p ene Ba a a aa eda ann tt tete nt eee etu De 22 Exhibit ODIL WOO KON M Eeaturess s nito EUMD set qe na nete muto sets de m MER DEUM ED 29 Exhibit 4 DJI WooKong M Specifications cccccccssssssseccccccceeeeesesecceeeeesaeeesseeecceeeeeaaaeseeeeeees 3l Exhibit 5 105D Mark I User Mantlal sc uita tui iM qu etae ET bein M ag etaed M SEE 34 Exhibit 6 Ground Station Wireless Data Link User Manual eese M HH Submitted separately due to upload constraints Exhibit 7 2 4G Bluetooth Datalink amp iPad Ground Station User Guide 51 Exhibit 8 Futaba 14MZ Transmitter User Manual ccccccccccccsssssssecceeeeceaaeesseseceeceeeaaaaenseseeeees M Submitted separately due to upload constraints Exhibit 9 Futaba P456 Transmitter User Manual iiio tbe to I ch obo se RIPE subo een e anane Mi DEM D aC M n CE aa age Submitted separately due to upload constraints Exhibit 10 SimpleBGS Software User
71. nk yellow light continuously second level will blink red light continuously Compare the Go Home and Landing of low voltage protection and the Go Home and Landing in Enhanced Failed safe the generations of Home Location are the same the Go Home routes are the same the difference is that there is no hovering before landing in low voltage protection Upgrade To Ground Station Control System WooKong M can be upgraded to ground station which is a more powerful unmanned platform to satisfy the high requirement of customers Now you just need to buy a DJI professional datalink and upgrade to the latest WooKong M 5 26 firmware then free Ground Station function is available without S N and free 50 waypoints supported Besides the 3D map it also contains such ground control functions as joystick keyboard control one key takeoff and click amp go About DJI Contact DJI News Media Coverage Showcase Careers DJI Wiki After sales Service Policies Website Feedback DJI Developer TE CMT WINE Phi LI cij THE FUTURE OF POSSIBLE CO 5 DJI All Rights ed Privacy Policy Terms of Use Q o ciji STORE PRODUCTS c SUPPORT COMMUNITY c DEVELOPER Search dj com Worldwide English Overview Features Specs Videos Downloads FAQ Wiki Dealers WOOKONG M Size and Weight x co us o 3 HA TM and 2012 DJI INHOYATIOHNS PAT TH ged 2017 OF INAOVATIONS 51 2 mm 41 4 mm Main Controller 51 2mm x 38 0mm x 15 3mm um
72. o not proceed to next step until proper direction will be detected e Adjust PID controller To check stabilization quality use peak indicator in the control panel shown by the blue traces and blue numbers Incline the frame by small angles and try to minimize peak values by increasing P and D to its maximum You may use gyro data from Realtime Data tab to estimate stabilization quality too Better to tune PID with the Follow Mode turned OFF for all axes Suggested algorythm for PID tuning 1 Set l 0 01 P 10 D 10 for all axes Gimbal should be stable at this moment If not decrease P and D a bit Than start to tune each axis sequentially 2 Gradually increase P until motor starts oscillate you may knock camera and see on the gyro graph how fast oscillation decays Increase D a little it should damp oscillations and decay time decreases The lower is decay time the better 3 Repeat step 2 until D reaches its maximum when high frequency vibration appears you may feel it by hands and see noisy line on the gyro graph Current P and D values are maximum for your setup decrease them a little and go to step 4 4 Increase until low frequency oscillation starts Decrease a little to keep gimbal stable 2013 2014 Basecamelectronics 13 70 Now you found a maximum for all PID values for selected axis Repeat from step 1 for other axes 5 When all axes are tuned in static try to move gimbal s frame emulating a
73. oint of Interest When the GPS signal is good users can record the present position of the aircraft as a point of interest by the preset switch on the remote control The aircraft could achieve a circle flight around the point of interest with the nose in the point in an area of 5 meters to 500 meters radius when the rolling command is given This function is easy to set up and convenient to operate it is suitable for all round shod ig of a fixed scenic spot RTH Switch From Transmitter In addition to the function of failsafe RTH WooKong M now has a new function of RTH switch from transmitter It is unnecessary to turn into failsafe mode Support IOSD MARK The WooKong M now support iOSD MARK II This will undoubtedly give you a fantastic flight performance Depending upon DJI s accumulation of historic and reliable information integration technology the 1OSD MARK II can grab the most accurate first hand flight data information in the shortest possible time Intelligent Orientation Control IOC Usually the forward direction of a flying multi rotor is the same as the nose direction By using Intelligent Orientation Control IOC wherever the nose points the forward direction has nothing to do with nose direction In course lock flying the forward direction is the same as a recorded nose direction See the following figures Mode 2 In home lock flying the forward direction is the same as the direction from home
74. ools necessary to mitigate the public risk posed by small UAS operations Operation and Certification of Small Unmanned Aircraft 80 Fed Reg 9543 at 9550 proposed Feb 23 2015 to be codified at 14 C F R Parts 21 43 45 et al The FAA s conclusion that manned aircraft flying experience is unnecessary for the operation of a UA is supported by research by the FAA and the Army Research Laboratory They demonstrate that UAs even those much larger than the sUAS proposed by Helios can be safely flown by non certificated pilots with a small amount of training For example one Army Research Laboratory study concluded T he specific motor skills needed to control the radio controlled UAV would have to be learned by aviators independently of the motor skills learned in flying an aircraft In particular the somatic and visual cues that pilots use during aircraft landings would not be useful and perhaps even counter productive for the different skill sets and perceptual viewpoint necessary for radio controlled landings Additional research reports lend further support for the exclusion requested For example a report sponsored by the FAA concluded that We know that certain systems like the U S Army Hunter and Shadow systems are successfully flown by pilots with no manned aircraft experience In addition foreign government airspace regulators that have examined the issue have consistently recognized that the skills required to
75. or connections and use please refer to the diagram below Antenna The tail of the Antenna 2 4G DATA LINK 90 should be pointed To Flight control system ened downward and To any CAN Bus port on ACE ONE WKM unobstructed to ensure the NAZA M NAZA M V2 communication distance Or to the CAN2 port or the CAN Bus port on the devices connected to the CAN2 port on A2 The Air end The Ground end Distance between the two ends should be more than 1 5m Antenna The tail of the Antenna should be pointed upwards and unobstructed to ensure the communication distance USB port e PC Ground Station Extra power e 2 4G Bluetooth Datalink Connect to a PC viaa IM REC pp y p Assistant Software USB cable to use the PC Ground Station or e Assistant Software of configure the 24G Flight control system Bluetooth Datalink in Communication amp the Assistant Software power supply port 4 4 CAN Bus port e iPad Ground Connect the BTU Station module when using the j e Assistant of Flight iPAD Ground Station control system ka DC power port Connect DC power you can choose one of the e 35 65 Battery T USB power supply or DC Tp A e 9 9V 25 2V DC power power supply to provide power for the Ground end You can configure the Flight control system using the Assistant software on a PC or iOS mobile Device wirelessly over the link of the 2 4G Bluetooth Datalink h
76. osition by hands IT IS VERY IMPORTANT to keep the frame horizontally because at this point the frame s zero angles are calibrated You can switch between modes on the fly by activating different profiles Camera will keep their position between modes Advanced tab e AHRS options influencing on camera angle determination accuracy o Gyro trust The higher is value the more trust to the gyro data compared with the accelerometer data when estimating angles It can reduce errors caused by accelerations during moving but also decreases gyro drift compensation resulting in horizon drift over time For smooth flying it is recommended to set low values 40 80 which will give more stable horizon for longer time For aggressive flying it s better to set higher values 100 150 o Accelerations compensation enable it to use a physical model of multirotor to compensate accelerations during flight This option works only when external FC is connected and calibrated e Serial port speed changes baud rate used for serial communication Decrease it when using over the air serial adapters that can t work on maximum speed The GUI can auto detect the baud rate configured in the board e PWM Frequency sets the PWM frequency used to drive motors by power stage Two modes are available Low Frequency in audible range and High Frequency outside audible range In the high frequency mode it is necessary to increase the POWER setting a
77. otherwise prescribed in an Air Traffic Organization ATO issued COA The UA operations contemplated by this petition particularly the construction industry proposed use are in the public interest because they clearly satisfy the Four D s of exemplary uses of UAs to replace work that is dangerous difficult dull or dirty and at the same time provide an equivalent or greater level of safety than alternative manned aircraft operations The UA covered by this petition is a small battery powered craft weighing approximately 18 lbs 8 kg inclusive of battery and payload Operation of the UA under the strict conditions proposed below will provide an equivalent level of safety as Congress intended while still allowing commercial operations Operations using this UA are far safer than conventional operations conducted with helicopters and fixed wing aircraft that weigh thousands of pounds carry highly flammable fuel and operate in close proximity to the ground trees infrastructure and people Congress directed the FAA to consider seven factors in deciding whether to approve Section 333 exemption petitions size weight speed operational capability proximity to 1 airports proximity to populated areas and operation within visual line of sight In this case each factor supports the exemption request In particular the UA is small and will operate at slow speeds and close to the ground It will be able to more safely and efficientl
78. owever you cannot upgrade the firmware of the Flight control system using this communication route When connecting a BTU module or a LED Bluetooth unit to the Flight control system to configure in the Assistant on mobile devices as well as connecting a BTU module to the Ground end to use the iPad Ground station the two Bluetooth communication links will not interfere with each other If the Air end is changed to connect to a new Main controller you should power cycle the Ground end Make sure the LED indicator of BTU module is green after power on for specific usage details please refer to the BTU Manual For usage of the PC Ground Station please refer to the latest Ground Station User Manual Important If there are obstacles between the ground and air ends then the radio signal of the 2 4G Bluetooth Datalink will be weak please make sure the antennas are always visibly unobstructed during the flight Human body trees buildings or hills will disconnect the link between the Air end and the Ground end Make sure the antenna of the Air end is pointing down and the antenna of the Ground end is pointing upwards it s better to put the Ground end at a high place to get further transmission distance When using the ACE ONE Flight control system with the 2 4G Bluetooth Datalink the Ground Station will connect to the Main controller 15s after power on 2013 2014 DJI Innovations All Rights Reserved 2 52 1 4 LED Indicator descriptions The
79. plication Follow these steps to connect your main controller board to the GUI software e Connect the mini USB cable e Start the GUI select correct COM port from the list and click Connect After the connection is established all board settings and profiles will be loaded into the GUI You can re load the current board parameters anytime by clicking the READ button e After adjusting parameters in the GUI you should write them to the controller board by clicking the WRITE button Only the current profile parameters will be saved to the board To return to the default settings push the RESET TO DEFAULTS button e To choose a different profile with different settings select it from the list of profiles located in the upper right corner of the GUI window You can store different settings as three different profiles onto the controller board You can switch profiles saved on the board by choosing the profile in the GUI or by pressing the MENU button on the controller board Remember that some settings are common for all profiles and can not be saved on a per profile basis Parameters such as sensor orientation hardware configuration RC inputs and motors outs are the same across all profiles The GUI starts in the English version of the user interface To change the interface language choose one in the language menu and restart the program 2013 2014 Basecamelectronics 2 50 GUI Blocks SimpleBGC GUI v2 40 bi File Lan
80. point to multi rotor See the following figures Mode 2 Enhanced Fail Safe And Auto Go Home Landing Enhanced fail safe is the feature to ensure that the multi rotor will hover automatically if it loses RC signal After losing the signal in a certain time period WKM will calculate the safest way to return the helicopter to the home position The helicopter will hover over your GPS start point and land automatically This feature will guarantee the safety of your expensive payloads and equipments on the platform 29 Multi Rotor One Power Output Fail Protection In most conditions the whole multi rotor will retain good attitude and rotate around the frame arm with no power output due to imbalanced mechanical structure and external environment Rotating is mainly caused by payload and external environment When payload is heavier rotating speed is faster On rotating the hexa rotor physical structure can cause rudder to become out of control The humanistic protection function from WooKong M in Attitude or GPS Mode keeps attitude under control even with any one power output failed and highly reduces crash risk Two Levels Low Voltage Protections And Auto Go Home In order to prevent your multi rotor from a crash or other harmful consequence caused by low battery voltage we have designed two levels of low voltage protection You can choose to not to use them but all two level protections have LED warning as default First level will bli
81. quately inspected otherwise without putting people in danger UAs can be equipped with specialized cameras and sensors that provide enhanced detection of other concerns such as gas leaks lack of structural integrity The FAA has previously determined that using a UA such as the Helios 960 will provide an equivalent or greater level of safety than manned flight when inspecting construction sites Exemption Nos 11109 and 11204 13 VIII Regulations from Which Exemption is Requested A Appendix A FARs as to which Helios wishes the same determination to be made as has been made previously FAR Applicable condition s in FAA Exemption Decision Provision Section 5 of petition 21 h 1 2 3 4 5 16 25 28 29 Nos 11062 11063 11064 11065 11066 11067 34 35 11080 11109 11111 11110 11114 11136 11138 11150 11153 11156 11157 11166 11167 11170 11171 11172 11174 11176 11177 11178 11184 11185 11188 11189 11191 11192 11193 11195 13 14 No 11208 TET No 11208 i No 11208 4527 27 es No 11188 45 29 a Nos 11136 11157 11170 11185 11193 61 113 See Appendix B for argument regarding why petitioner should be exempted from the private pilot license requirement 91 7 a Nos 11062 11063 11064 11065 11066 11067 11080 11109 11110 11136 11138 11150 11153 11156 11157 11158 11160 11161 11166 11167 11170 11171 11172 11174 11177 11178 11184 11185 11188 11189 11191 11192 11
82. r Helios Imaging Inc 26 West 371 Jewell Road Winfield IL 60190 Counsel for Petitioner Antonelli Law 100 North LaSalle Street Suite 2400 Chicago IL 60602 Tel 312 201 8310 Fax 888 211 8624 Email jeffrey antonelli law com III Proposed Operations A The UA The requested exemption will permit petitioner to operate the Helios 960 a proprietary design with a maximum weight of approximately 18 Ibs 8 kg inclusive of batteries and technical payload This rotorcraft operates at a speed of no more than 35 knots and has the capability to hover and move in the vertical and horizontal planes simultaneously The UA will use the following e GPS Autopilot System DJI WooKong M with its accompanying Main Controller MC Internal Measurement Unit IMU and GPS e Receiver Futaba R6014HS 14 Channel 2 4GHz FASST e Datalink DJIiOSD Mark II 2 4 Ghz which displays power voltage flight velocity height distance from the home point horizontal attitude and GPS satellite number acquired to make the location calculation Transmitter 1 Tx1 Futaba 14 MZ used by the UA operator to control the UA Transmitter 2 Tx2 Futaba 14 SG used by the camera operator to control the gimbal and camera Please refer to Exhibits 1 12 for further information regarding the UA Details regarding the design and assembly of the UA are being submitted confidentially due to the proprietary nature of the UA The petition and the supporting document
83. r see EXT FC GAIN settings After calibration you can setup the percentage values for ROLL and PITCH axis so the camera will follow frame inclinations Follow PITCH ROLL this mode is dedicated to ROLL axis mode hand held systems FC connection is not required 6 In this mode the position of the outer frame by PITCH and ROLL is estimated from the motor s magnetic field This means that if motor skips steps position will be estimated incorrectly and operator should correct camera by hands returning it to angie M ems E follow frame proper position You should use this mode carefully H for FPV flying because if the camera misses its initial direction there is no chance to return it back automatically 2013 2014 Basecamelectronics 8 65 locked to the ground soft transition o Follow ROLL start deg Set the angle in degrees of the camera PITCH ing up or down where the ROLL axis enters follow mode Below this angle ROLL is in lock mode o Follow ROLL mix deg Set the range in degrees of the camera PITCH ing where the ROLL axis is gradually switched from the lock mode to follow mode see picture Hint to completely disable follow for ROLL set these values to 90 0 To permanently enable follow for ROLL regardless of the camera PITCH ing set values to 0 0 Follow YAW the same as above except it can be enabled only for YAW axis For example you can lock camera b
84. r above Important Phantom 2 supports iPad Ground Station V1 4 58 To use the iPad Ground Station with the Phantom 2 please update the main controller firmware to V2 00 or above update the central board firmware to V1 0 1 24 or above while the BTU firmware should be updated to V1 O 1 5 or above iOS Devices that support the iPad Ground Station iPad3 iPad4 iPad mini iPad mini with Retina display iPad Air iOS 6 1 or above 1 2 First Time Use First time use Tips and Notes 1 Open your iPad and search DJI in the App Store to download and install the Ground Station GS App There will have popups if you forget to enable the Bluetooth 5 Connect the 2 4G Bluetooth Datalink and BTU module to the Flight Please refer to the Datalink part to ee ee eS ee a CMS Cl control system power on connect 4 Run the GS App create an account through the Internet and login BC secountieavailable to login 5 The GS will search your Main controller and named with NEW you will LED in GS indicates 6 after the GS is be asked to set a new name and a password for the Main controller connected with the Main controller
85. r according to the below figure Using the SAO AV Input1 Power Cameral Ground ZENMLIGE 2012 2013 DJI Innovations All Rights Reserved 16 49 Connection Between iOSD and Autopilot System Connection Between iOSD and NAZA M NAZA M V2 l If use with DJI multi rotor you can solder the power cable of the PMU V2 to the power pads on frame bottom board Please refer to DJI multi rotor manual for details Then connect the iOSD to a battery 2 If use with 3rd part aircraft you can make a connecter by yourself to connect PMU V2 and battery 1 NAZA M Fig l Make a connecter to connect the PMU V2 NAZA M V2 Accessory iOSD VU and battery 2 NAZA M V2 Fig 2 Make a connecter to connect the PMU V2 iOSD and battery ON SCREEN DISPLAY MARK II Connecter made by yourself Sy SE 88099908 Connecter made by yourself Fig 2 Connection between iOSD and NAZA M V2 Connection Between iOSD and WKM Fig 3 Battery ON SCREEN DISPLAY WA MARK II Fig Connection between iOSD and WKM 2012 2013 DJI Innovations All Rights Reserved 17 50 2 46 Bluetooth Datalink amp iPad Ground Station User Guide v1 10 Thank you for purchasing DJI products Please strictly follow this user guide to mount and connect the 2 4G Bluetooth Datalink install the Assistant Software on your computer as well as
86. r the main IMU For the accelerometer you can do simple calibration or extended 6 point calibration You may notice that right panels with arrows are displaying now angles not for the main but for the frame IMU Also in the Realtime Data tab accelerometer s and gyroscope s data go for the frame IMU It helps to properly configure an orientation of the sensor and check its calibration RC Settings tab e RC Input Mapping here you can assign hardware RC inputs to virtual control channels There are 4 hardware inputs provided on the board for RC Radio control connections which you can assign to control any of three channels one for each axes and one command channel If control for an axis is not needed leave the option at no input e RC ROLL pin mode allows to configure several formats of incoming signal for RC ROLL pin o Normal incoming signal is in the PWM format that most RC receivers generally outputs o Sum PPM some receivers may have this signal output It is a PWM format modification in which every channel transmits sequentially through one cable In this case you do not need to connect other channels read your receiver s user manual to check if it has SumPPM out o Futaba s bus receivers made by Futaba may transmit data in special digital format up to 16 channels by one wire Connect it to RC ROLL pin o Spektrum another digital multi channel protocol that is used to communicate Spektrum s satellite mo
87. re ver 2 4 GUI ver 2 4 2013 2014 Basecamelectronics 58 Connection to PC To connect board to your PC you need a miniUSB cable First time a USB cable is plugged you need to install the appropriate software driver If your PC does not install the driver automatically install one manually from this link http www silabs com products mcu pages usbtouartbridgevcpdrivers aspx After you install the driver and connecting the board a new virtual COM port will be created You need to choose this COM port in the SimleBGC software GUI to initiate the connection It is safe to connect USB and main power battery simultaneously But be very careful to not reverse the polarity of the main battery because in this case it will burn out controller and may damage your PC There is also a possibility to use Bluetooh To Serial adapter HC 05 HC 06 Sparkfun BlueSMiRF and comparable to connect to the GUI and tune the board remotely There is a special connector on the board that matches the same one on the BT module It is marked as UART and contains pins 5V GND RX TX You can solder BT module over it or use extender Male Male 4pin cable IMPORTANT NOTE Bluetooth module must be configured at 115200 baud rate and Even parity generally its not set by default Refer your module s user manual to find out how to configure bluetooth With these settings you will be able connect to the GUI and even to upgrade firmware remotely Running ap
88. real work You may notice that cross influence of axes may make gimbal not stable In this case decrease a little PID values from its maximum for axes that looses The result of good tuning stabilization error is less than 1 degree when you slightly rock a gimbal s frame 5 Connecting and configuring RC e Connect one of the free receiver s channels to RC PITCH input preserving right polarity In the RC Settings tab e Set SORCE PWM e Assign RC PITCH input to PITCH axis e Leave all other axes and CMD as no input e For PITCH axis set MIN ANGLE 90 MAX ANGLE 90 ANGLE MODE checked LPF 5 SPEED 10 not used in angle mode e Connect the battery to the main controller and receiver and check that RC PITCH input receives data in the Realtime Data tab slider should be blue filled and reflects to stick movement Now you can control the camera from your RC transmitter from 90 to 90 degrees If you are not satisfied with the speed of movement adjust the I term setting for PITCH in the Basic tab Try the SPEED mode and feel difference with the ANGLE mode Connect and tune remaining axes the same way as required 6 Testing gimbal in real conditions Connect controller to the GUI and turn ON multirotor motors holding it above your head Check the vibrations on the camera by using Realtime Data tab ACC raw data Try to decrease the level of vibrations using soft dampers NOTE Brushless motors versus traditional servo
89. ry voltage indicator with warning sector Basic Settings Note Before tuning your controller install the camera into the gimbal firmly and ensure your gimbal s center of gravity is leveled as much as possible e PJ D PID regulation parameters for all axes o P describes the power of disturbance response Higher values means a stronger response reaction to external disturbance Raise this value until the stabilization quality of fast disturbances will be adequate If the P value is too high oscillations of the axis will start to be present These oscillations will get worse if there are vibrations that reach the IMU sensor board f oscillations occur raise the D parameter by 1 or 2 units and then try to raise the P value again o D The D value reduces the reaction speed This value helps to remove low frequency oscillations A D value that is too high can cause high frequency oscillations particularly when the IMU sensor is exposed to vibrations o The l value changes the speed at which the gimbal moves to incoming RC commands and to move the gimbal back to neutral Low values result in a slow and smooth reaction to RC commands and to getting back to neutral Increase this value to speed up the movement e Limit Accelerations this option lets to limit angular accelerations in case of hard RC or Serial control useful to prevents jerks or skipped steps smoother camera control less impact on the multirotor s fr
90. s inconsistent with both 1 the statutory language of that section and Section 333 and ii Td at 14 Civil Aviation Authority Safety Regulation Group Unmanned Aircraft System Operations in UK Airspace Guidance Section 2 Chapter 5 Page 2 Aug 10 2012 available at https www caa co uk docs 33 CAP722 pdf Civil Aviation Authority Unmanned Aircraft and Aircraft Systems available at http www caa co uk default aspx catid 1995 amp pagetype 90 Australian Government Civil Aviation Safety Authority available at http www casa gov au scripts nc dll WCMS STANDARD pc PC 100374 8 See EuroUSC International Pilot Qualification available at http eurousc com services pilot qualifications 19 numerous recent FAA decisions The operative part of 49 USC 44711 provides that a person may not serve in any capacity as an airman with respect to a civil aircraft used or intended for use in air commerce A without an airman certificate authorizing the airman to serve in the capacity for which the certificate was issued If the FAA s interpretation were correct this language would require that any person wishing to operate a UA for commercial operations have an airman certificate authorizing the person to serve as an airman in commercial operations However in all of its recent grants of Section 333 petitions the FAA has without explicitly acknowledging the fact exempted commercial
91. s provide faster reaction but less torque That s why it s hard for them to fight against wind and air flows from props If you are developing multirotor frame by yourself try to avoid this influences for example lengthen arms a bit or tilt motors away from center or place camera above props in case of H frame Also bear in mind when copter moves with high speed an air flow is deflected and can affect the gimbal Status LED There are 2 LEDs on board Red led lights when power is connected Green blue LED signals show actual state of the system e LED is off pause before calibration to take hands off or to level gimbal e LED blinks slowly Calibration is in action Freeze gimbal during this process e LED blinks fast system error stabilization cannot be performed To check error description connect to GUI e LED is on normal operation mode e LED is on but blinks irregularly I2C errors appears Also additional LEDs may present to signal serial communication on RX and TX line 2013 2014 Basecamelectronics 14 71 Possible problems and solutions Problem Possible causes Solutions Motors don t spin Power supply is not connected Supply polarity inverted POWER set to 0 Check all connections Set POWER between 50 200 Camera is trying to align but falls back Camera is not balanced It s an error in motor windings or one phase is broken POWER is not high enough Bal
92. start and throttle stick is over 1096 motors will stop immediately when throttle stick is back under 10 again In this case if you push the throttle stick over 10 in 5 seconds after motors stop motors will re start CSC is no needed If you don t push throttle stick after motors start in three seconds motors will stop automatically Intelligent Mode By using this mode different control modes have different way of stopping motors In Manual Mode only executing CSC can stop motors In Atti or GPS Atti Mode any one of following four cases will stop motors Multiple Flight Control Mode Intelligent Switching Command Stick Meaning Command Linearity Stick Released Altitude Lock GPS Lost Safety Applications GPS Atti Mode Atti Mode Multi attitude control Stick center position for 0 attitude its endpoint is 35 YES Lock rotor position when GPS signal is Only attitude stabilizing adequate Maintain the altitude best above 1 meter from ground After 10s when GPS signal is lost system enters Only performing attitude stabilizing without Atti Mode automatically position lock Attitude amp speed mixture control ensures stability Enhanced fail safe AP work Sports flying Point Of Interest POI Manual Mode Maximum angular velocity is 150 s No attitude angle limitation and vertical velocity locking NOT Recommend NO Depends on experience WooKong M has a new function P
93. stricted such as a Within the radius of I5Km from Tiananmen Square in Beijing China b Within the radius of 8Km from the airport Users will not be able to build waypoints or Home points in designated special areas and the waypoint routines go through these special areas are invalid and the UAV will fail to cruise to those areas All the special areas have been restricted are specified on the DJI official website and please refer to Special Areas List http www dji com fly safe category gs to obtain details 2013 2014 DJI Innovations All Rights Reserved 5 55 Appendix 5 1 2 4G Bluetooth specifications Deliveries passed FCC Performance RF Data Rate Indoor Urban Range Outdoor RF Line of Sight Range Transmit Power Receiver Sensitivity 1 PER Power Consumption Features Frequency Band Serial Data Rate Antenna Options Operating Temperature Size No Antenna Weight with Antenna Power supply Supply Voltage Current Transmitting signal Current Receiving signal Regulatory Approvals FCC USA 15356kbps 550m lt 2km lt 125mW 94dBm The Ground end lt 2 5W The Air end lt 1 8W 2 4G 2400MHz 2483MHz 115200 bps SMA JO C 60 C The Ground end 5mmx47 8mmx 7 lmm The Air end 49 8mmx6 Ammxll 4mm The Ground end 95g The Air end 32g The Ground end 9 9V 25 2V 0 18A4 12 5V O 30A 6V The Air end 6V Yes 5 2 2 4G Bluetooth specifications Deliveries passed CE
94. t it firmly Configure your IMU orientation in the GUI The correct configuration should result in the following Camera pitches forward the PITCH arrow spins clockwise in the GUI Camera rolls right ROLL arrow spins clockwise in the GUI Camera yaws clockwise YAW arrow spins clockwise 2013 2014 Basecamelectronics 5 62 o Skip Gyro calibration at startup With this option the board starts working immediately after powering it on using the saved calibration data from last gyroscope calibration call However stored calibration data may become inaccurate over time or during temperature changes We recommend you to re calibrate your gyro from time to time to ensure the best performance Second IMU sensor There is an option to install the second IMU sensor on the gimbal s frame The advantage is more precise stabilization you may use lower PID s to get the same quality and knowing of frame tilting that greatly helps for 3 axis system to extend the range of working angles second IMU should be connected to the same I2C bus as main in parallel Sensors should have different I2C address Main IMU 0x68 Frame IMU 0x69 On the Basecam IMU address 0x69 may be set by cutting the ADDR bridge located on the back side of the sensor y ectronic Oz Mounting the Frame IMU There are two options where to place the second IMU
95. the home point easily Orientation 4 Orientation 5 Aircraft z Orentation 3 M s Orientation 2 i Orientation 1 Aircraft nose direction Home point O o o 90 Orientation 3 Orientation 5 Orientation 1 Display Screen Orientation 2 135 Orientation 4 4 Upward speed Y Downward speed Use attitude line for aircraft attitude observation craft up Vv o craft down e e v ee 9 o UE a e craft left 7 0 x Vv A WV 5 03 8 e craft right 2012 2013 DJI Innovations All Rights Reserved 41 Display the 5 axis attitude of the gimbal when a gimbal is used 5 15 Gimbal Attitude 0 5 Roll Direction 0 0 Pitch Direction 0 Yaw Direction 16 Compass error 4 For NAZA M user Sie will appear when compass has errors link indicator gn please calibrate your compass Azimuth angle is a horizontal angle measured clockwise from the North base line to the line goes through the 17 Azimuth angle Az 0 360 home point and aircraft position Az 225 S Users can locate the aircraft by X Home Point Gp Aircraft calculating the aircraft position using Az D IH 1 r Blinks when the aircraft enters a no fly zone l8 Airport alert TOT Bii Ter Disappears when the aircraft exits no fly zone Notes For more information about the no fly zones visit www dji com and download the Phantom 2 User Manual Test Please use the following procedures to test your installatio
96. to connect the IOSD with the video transmitter module Otherwise you can use the one port cable for your own connection in accordance with the wiring diagram 2 PIN to 5 PIN Cable x Connect the iOSD with the R C receiver through this cable When there are two video signal inputs it is used for the selection of video signal sources lt can be used for the selection of AVL58 video channel 02012 2013 DJI Innovations All Rights Reserved 37 Assembly 1 Fix the iOSD controller on your aircraft 2 Connect the iOSD with the video signal source wireless video TX module DJI autopilot system and R C receiver Make sure the connection is correct in accordance with the wiring diagram 5 Setup a 3 position switch on the R C TX as the iOSD control switch 4 Connect your wireless video RX module with the display screen Please refer to DJI autopilot system manual your TX manual and your wireless video RX for more details 5 Position Switch Control Choose a position switch and make sure you connect the correct channel of the receiver to the iOSD switch port e Position 1 Position 2 hold position 2 for 1 5s every toggle from Position 1 to Position 2 increases the channel of the wireless video transmitter module by from CHI to CH8 only for the wireless video transmitter module specified by DJI Position 3 Position 2 hold position 2 for 1 5s toggle the switch to select the required vi
97. tware Version amp Firmware Version a Adjust P O 0 0 M S SM etc R 0 Wo A o AV1 C Left C Right Text Indication iOSD Setting is used for adjusting the display position of the iOSD Main well so thatthe iOSD information can Please refer to the real device display show an the monitor screen completely Warnings Setting Sen you can setOratentand arnings Setting E Distance warning threshold SatNumber 0 Distance U m Data Communication TEENS NT m s ei ange Om oom efau Indicator ideale i PC Connection Indicator Assistant Software Usage Using the assistant software adjust the display position of the iOSD information upgrade the firmware and assistant software are available In addition the flight data will automatically be saved as files in the iOSD which can be viewed by connecting to the PC Power on your computer 2 Make sure the iOSD is power on Connect the iOSD Controller to the PC with a USB cable If the iOSD is connected to the autopilot system and both of them are power on and then switch on the transmitter first 2012 2013 DJI Innovations All Rights Reserved 10 43 Run the iOSD Assistant Software If the Data Communication Indicator is Red on please double check the connections and driver installation otherwise if the indicator is blinking Green go to next step Select the Main item to adjust the display position of the iOSD information if necessary
98. unit In m The vertical height between the aircraft and the take off point unit in m The autopilot system control mode ATT is Atti mode e GPS is GPS Atti mode M is Manual mode e FS is in Fail safe mode e APT is in ground station mode e GHome is in go home status Positive value means the aircraft nose is up negative value means the 02012 2013 DJI Innovations All Rights Reserved 40 8 Roll attitude 9 Flight velocity lO GPS satellite ll Video input Aircraft 12 direction 15 Vertical velocity l4 Attitude line R O O Om s v o AVI AV2 6 OO 0 0 L L T aircraft nose is down Positive value means the aircraft is right Negative value means the aircraft is left The aircraft horizontal speed Number of GPS satellites acquired Video input source selected AVI or AV2 can be chosen Display the relative angle between aircraft nose and home point The o aircraft nose is pointing to the home point when the icon is in the middle of the screen this may help you to bring back the aircraft by distinguishing the aircraft nose direction o For example when the icon on your display screen is located in the Orientation as shown in the following figure you can change the aircraft nose direction through operating your R C TX When the icon arrives at the Orientation l your aircraft nose is heading the home point which can help you pull your aircraft back to
99. ve the power supply reliability of the main controller Specified autopilot systems for the iOSD Autopilot system amp Aircraft A2 WKM NAZA M NAZA M V2 PHANTOM 2 iOSD should be connected to the NAZA M or NAZA M V2 via the PMU V2 NAZA M V2 Accessory iOSD should not be connected to the WKM and NAZA M NAZA M V2 at the same time NAZA M should be upgrade to the firmware version of V3 16 or above with the same assistant software V2 16 of Naza M V2 02012 2013 DJI Innovations All Rights Reserved 36 In the Box IOSD Controller x Connect the iOSD controller to your DJl autopilot system via CAN Bus Cable It communicates with the main controller receives data from the main controller superimposes the data with the video image and then transmits the whole information via a transmitter CAN Bus Cable lt 2 Connect the iOSD to your autopilot system through a CAN Bus LITT B HSE cable re Video Input Cable x aUi 77 Connect the iOSD with video input source i e camera or DJI 215 for video input and power supply with maximum current of lA If you connect the iOSD to DJI Z15 please use the 4Pin Audio Head cable If connect to other camera use the 4Pin cable for the connection in accordance with the wiring diagram Video Output Cable x2 Only when you use the wireless video transmitter module specified by DJI you can use the bi port cable
100. y ROLL and PITCH axis by selecting Disabled option but still control camera by YAW by enabling Follow YAW option There are additional settings to tune follow mode Dead band degrees you can set the range where the rotation of an outer frame does not affect the camera It helps to skip small jerks when you operate gimbal by hands Expo curve you can specify the strength of the control when outer frame declines from neutral position For example when the expo curve is enabled i e is not flat small or medium declination of an outer frame will cause very fine control even if l term is configured high But the strength of control exponentially grows when angles of declination becomes close to 60 degrees It gives a big freedom in camera operation from fine and smooth control to very fast movements OFFSET it is a very important to properly configure the initial position of the motor s magnetic poles because all further calculations use this information For YAW axis it allows to fine adjust a camera heading relative to a frame heading For PITCH and ROLL axis there is an option to calibrate offset automatically To do this power on system hold frame leveled and press AUTO button Don t forget to write setting when finished If the camera after power on is not leveled you need to adjust the offset setting v wai SPEED adjust the speed o
101. y film over closed sets and inspect construction sites The substantial increase of safety and decrease of risk to human life and to property weighs heavily in favor of granting the exemption Pursuant to 14 C F R 11 35 petitioner requests confidential treatment for certain information provided with this request for exemption Specifically petitioner is submitting its proprietary description of the Helios 960 and inspection procedures under separate cover as Exhibits 16 18 It requests that the information contained in those exhibits not be made public because they are trade secrets whose disclosure would harm petitioner They contain valuable commercial data this is not publically available and are protected from release under the Freedom of Information Act 5 U S C 552 b 4 For your ease in reviewing this petition please refer to the table of contents which begins on page 3 If we can provide any additional information to assist your understanding or review of this document please do not hesitate to contact us at 312 201 8310 or via email at Jeffrey Antonelli Law com rey J Antonelli Attorney f ios Imaging Inc Of Counsel Mark C Del Bianco 3929 Washington Street Kensington MD 20895 Tel 301 933 7216 Cell 301 602 5892 mark markdelbianco com Of Counsel Kate D Fletcher Airline Transport Pilot License Type rated in CE 500 Citation Jet SF 340 Saab turbo prop DC 9 turbo jet B 737 Boeing 737 B 757
102. zed DSLR cameras in case if your PID settings are close to upper limits but stabilization still not good Increasing gyro sensitivity equals to multiplying P and D values by 2 o 12C Pullups Enable turns ON built in I2C pull up resistors for SDA and SCL lines Use function on only if sensor doesn t work properly o Frame IMU set the location of the frame IMU See Second IMU sensor section of this manual Service tab Menu Button If you ve connected menu button to BTN connector on the controller you can assign different actions to it Available actions Use profile 1 5 loads selected profile Calibrate ACC the accelerometer calibration works the same way as button in the GUI Calibrate Gyro gyroscope calibration Swap RC PITCH ROLL temporary swap RC inputs from PITCH to ROLL In the most cases only one PITCH channel is enough to control a camera in 2 axis systems Before a flight you can assign control from pitch channel to roll and make a camera precisely leveled Activating this function again swaps channels back and saves roll position in the static memory Swap RC YAW ROLL like the previous point Set tilt angles by hand motors will be turned off after that you can take the camera in hands and fix it in the new position for a few seconds Controller will save and hold the new position This function may be useful to correct camera position before flight if there is no RC control connected

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