User Manual
Contents
1. i S Operation Manual Contents 01 Os 04 06 OF O08 e is 14 12 20 2 22 Meet IRIS Parts Charging the Battery Attaching Propellers Safety and Failsafes Learn to Fly Flight Modes Return to Launch Geofence First Flight Planning Missions Flying Missions Specifications and Resources Learn More and Support Meet IRIS Thank you for purchasing IRIS IRIS is a personal aerial imaging platform powered by open source hardware software and firmware Please read this manual carefully before your first flight and pay close attention to safety information Happy flying A Important note When using a GoPro with IRIS always ensure that the WiFi on the GoPro Is turned OFF 01 FONT antenna safety button NU b front arms blue Rear BSBapOn staitus ERD battery compartment rear arms black 02 Controller your direct link to IRIS Ground station radio with USB and Android adapters og Battery kit battery guard bag and charger with international travel adapters Propellers and tool kit four propellers with propeller tool and small medium and large hex keys 1 5 mm 2 mm and 3 mm Tall legs Switch to tall legs to use IRIS with the Tarot Gimbal or for extra clearance on landing Use the small 1 5 mm hex Slide out the leg to remove it and replace with the tall leg Tighten the set screw until it sits flush with the s2. altitude Lower the throttle stick below center to decrease altitude Set the throttle stick fully down to land once IRIS is a few inches above the ground 08 Yaw Move the left stick horizontally to rotate IRIS and change orientation For a slow rotation move the stick slightly away from the center in either direction Moving the stick farther from the center creates a faster rotation Move the stick to the left to rotate counterclockwise Move the stick to the right to rotate clockwise Release the stick to stop rotating and maintain the current orientation left stick O09 Pitch and Roll The right stick allows you to control IRIS position in the air Move the right stick to tell IRIS to move in that direction forward toward the blue arms back toward the black arms left toward the left arms or right towards the right arms How far you move the stick from the center before releasing it tells IRIS how fast to move right stick Move the right stick forward to fly forward Move the right stick back to fly backward Move the right stick left to fly left Move the right stick right to fly right Flight Modes mode switch IRIS includes three flight modes manual flight STD altitude hold hover mode LTR loiter and mission flight AUTO Use the switch on the right side of the controller to select a flight mode Standard altitude hold mode STD fly manu
3. antenna up and the IRIS antenna down for the strongest signal Set the mode switch to standard STD If you re new to flying try starting your first flight in loiter LTR instead of standard Ensure that the RTL switch is set to OFF Power on controller Press and hold the DN button on the controller to view flight data from IRIS See the Flight Checklist for more information about controller flight data 3 Connect battery Press the sides of the battery compartment together and rotate the door down Insert battery and attach the yellow connectors To close squeeze the door and rotate up until it clicks into place ensuring that the battery cables do not interfere with the LED cables Al TF A Place IRIS at the launch point with the black arms facing towards you and the blue arms facing away from you Keep IRIS still and level while it powers on and initializes oo the sensors Go Connect the radio to your ground station and select Connect A ground station recommended lets you view live data in flight and unlock IRIS advanced autonomous features To download a ground station app for you laptop or Android device visit 3DR com iris info Press safety button Press the safety button until it is solid red IRIS is now live Stand back O O Motors inactive safe to hande QQ Motors active deactivate before handling 5 Check LED Check the LED to view the sta
4. the safety button until it displays blinking red before handling Always fly in an open area away from people and buildings do not attempt to fly indoors or in a confined space Do not fly over people near airports or in any situation that could pose a hazard to those around you Always fly within your line of sight and in compliance with local regulations IRIS will not avoid obstacles on its own As the operator it is your job to recognize and avoid obstructions while flying Always follow the preflight and postflight steps in the order described in this manual and remain attentive at all times while flying Environmental factors such as wind and GPS irregularities can cause instability in flight IRIS will attempt to compensate for these factors by triggering a failsafe if it detects an unsafe flying condition due to loss of controller signal loss of GPS signal or low battery see below for details To avoid potential hazards due to environmental factors identify the boundaries of your flying area before takeoff and recover IRIS manually by switching into standard STD if it moves outside your designated flying area If you observe any inconsistent behavior land and consult the troubleshooting guide at 3dr com iris info Failsafes Loss of RCsignal OOOO Always use the controller as a primary or backup control system when flying Ensure that the controller is turned on any time IRIS is powered If contact with the controller is los
5. ad wind conditions elevation temperature humidity flying style and pilot skill Listed flight time applies to elevations less than 2 000 ft above sea level Resources Hardware 3DR com iris info Firmware copter ardupilot com Software planner ardupilot com and planner2 ardupilot com 3DR Store store 3DR com Community diydrones com Happy flying 21 Learn More Visit 3dr com iris info to learn about 3PV Follow Me and DroidPlanner Opening the shell Replacing the arms and motors Installing software Planning a mission Updating firmware LED meanings and tones Visit copter ardupilot com to learn about Additional flight modes Configuring parameters including yaw behavior during autonomous flight descent speed during RTL and more Visit planner ardupilot com Mission Planner and planner2 ardupilot com APM Planner to learn about Planning a mission with waypoints and events Using a ground station to command IRIS in flight Downloading and analyzing flight logs Join theecommunity and share your experience at diydrones com Follow us on Facebook and Twitter 3drobotics Support For customer support contact us at help 3dr com or call our support line at 1 858 225 1414 Monday through Friday from 8 am to 5 pm PST IRIS Operation Manual vF 3D Robotics Inc 11 December 2014 5D
6. ally Start your flight in standard to select altitude hold mode and fly IRIS manually using the controller Loiter mode LTR hover Select loiter to set IRIS to hover in place automatically Use the controller to adjust IRIS position then release the sticks to hold that position Loiter is a great way for beginners to learn how to fly If you re new to flying start your first flight in loiter instead of standard Advanced Operator Note If you choose to modify the flight mode configuration to include Stabilize mode please fly only with the provided set of tall legs Flying in Stabilize with short legs can cause vibrations that may interfere with autopilot calculations and produce unexpected behavior Auto mode AUTO fly a mission Select auto mode to fly an autonomous mission IRIS will automatically fly the series of waypoints saved to the autopilot See pages 19 and 20 for instructions on planning and flying missions Gimbal control yee TILT f f TILT A iN tilt the camera up and down ATTS Connect a Tarot Gimbal sold separately and use the TILT knob to control the angle of the camera in flight Visit 3dr com iris info for instructions Land CH 7 land at the current position Set the CH 7 switch to ON to end your flight and land IRIS at its current position Once you activate land set the throttle stick fully down and IRIS will automatically disarm after landing IRIS will n
7. droid device DroidPlanner 2 for Android m APY APM Planner for OS X Mission Planner for Windows Power IRIS connect the radio to your laptop or Android device and select Connect Connect the blue end of the Connect the USB adapter to the gy Android adapter to your device M radio and your laptop Select and the black end to the radio AUTO 57600 and Connect Select Connect Connect CONNECT AM 2 Configure waypoints Select Edit and tap to add Select Flight Plan and click to waypoints or select the brush add waypoints Select the green tool and draw a path for IRIS arrows at the bottom of the to follow screen to configure altitude and change waypoint types FLIGHT PLAN JES 2 4 3 Save the mission to IRIS Select the option menu in the top right corner and select Send Mission M Select Write WPs When flying missions we recommend changing the GPS failsafe behavior to set IRIS to land in the event of a loss of GPS signal For instructions visit 3dr com iris info send Mission Flying Missions 1 Perform a pre mission Arm IRIS in standard test flight Fly a brief test flight to verify that all controls throttle yaw roll and pitch are responding normally Switch to AUTO If you planned a takeoff waypoint into your mission switch to AUTO on the ground and raise the throttle to initiate the mission f you did not add a takeoff waypoint
8. ese exercises to help you master flight controls Skill 1 Hover Your first step is to maintain a consistent altitude while keeping IRIS oriented so the black arms face towards you and the blue arms face away from you Practice taking off rising to a comfortable hovering altitude and keeping IRIS in place without allowing for any changes in orientation or position If IRIS drifts forward backward left or right or rotates clockwise or counterclockwise use the corresponding stick controls to correct Skill 2 Box When you feel comfortable with your ability to maintain a consistent hovering altitude try flying a box pattern To practice this take off reach your hovering altitude then fly forward right backward and left by making small adjustments to the right stick Make sure to fly the box in front of you and not around you Use the left stick to rotate IRIS so the black arms face towards you and blue arms face away from you for the duration of the exercise Skill 3 Figure Eight When you can confidently navigate a box while maintaining altitude and orientation try flying a figure eight pattern Once again make sure to fly the figure eight in front of you and not around you Use the right stick to create a smooth flight path while using the left stick to correct orientation and maintain altitude Planning Missions To plan a mission download a ground station application from 3dr com iris info and install onto your laptop or An
9. landing If you observe any swelling of the package or the battery ceases to function locate your local battery recycling center to dispose of the battery In the US and Canada visit call2recycle org to find a location Do not dispose of the battery in the trash Flight time varies with payload wind conditions altitude temperature humidity flying style and pilot skill See the Flight Checklist for instructions on managing battery levels during flight O5 Attaching Propellers IRIS uses four propellers two with black nuts and two with silver nuts Attach the propellers with black nuts to the motors with black tops and the propellers with silver nuts to the motors with silver tops J 7 x f Each propeller has locking and unlocking direction symbols To attach spin the propeller in the direction of the locking symbol The propellers will automatically tighten onto the motors when you arm IRIS before takeoff For propellers with black nuts For propellers with silver nuts Cc 9 Spin counterclockwise a Spin clockwise to attach e to attach a Spin counterclockwise Con Spin clockwise to to remove remove To remove hold the motor in place with the propeller tool and spin the propeller in the direction of the unlocking symbol A Safety IRIS has powerful motors and high speed propellers Never place your hands near propellers while IRIS is armed or the safety button displays solid red Always press
10. ot disarm automatically unless the throttle stick is set fully down Reposition during landing During landing use the OC C right stick on the controller to adjust IRIS position Return to Launch RTL land at the launch point Set the RTL switch to ON to end your flight and return IRIS to the launch point automatically Ensure that the RTL switch is set to OFF before takeoff 1 15 meters 2 hover 5 seconds When commanded to RTL IRIS will 1 Achieve minimum altitude of 15 m 50 ft or maintain current altitude if above 15 m 2 Move to launch point and loiter for 5 seconds 3 3 Land at launch point launch point Reposition during landing During landing use the OC C right stick on the controller to adjust IRIS position Geofence A safety fence restricts IRIS to within 300 meters 980 feet of the launch point and under 100 meters 320 feet in altitude If IRIS reaches the edge of the geofence it will initiate an automatic return to launch 300 m hhh 7v i launch point First Flight Select an open area for flying away from people and buildings and remember to bring the Flight Checklist and a fully charged battery Determine the boundaries of your flying area before takeoff and select a level unobstructed space as a launch point Follow these preflight and postflight steps in the order shown here and on the Flight Checklist every time you Tly Preflight Check IRIS Point the controller
11. switch to AUTO mode after takeoff to initiate the mission in flight To recall IRIS during a mission use the controller to switch to standard STD and land manually Or switch to RTL and automatically return to the launch point Switch to standard before disarming 20 When you re ready to start the mission arm IRIS in standard STD For auto takeoff raise throttle to start mission XS When the mission is complete and IRIS has landed use the controller to switch to standard STD then disarm and proceed with the postflight steps If you added an automatic landing waypoint to your mission IRIS will disarm automatically after landing Specifications Autopilot Pixhawk v2 4 5 Firmware ArduCopter 3 2 GPS 3DR uBlox GPS with Compass LEA 6H module 5 Hz update Telemetry radio 3DR Radio Telemetry v2 915 mHz or 433 mHz Motors 920 kV Frame type V Propellers 9 5 x 4 5 T Motor multirotor self tightening counterclockwise 2 9 5 x 4 5 T Motor multirotor self tightening clockwise 2 Battery 3S 5 1 Ah 8C lithium polymer Low battery voltage 10 5 V Maximum voltage 12 6 V Battery cell limit 35 IRIS is compatible with 3S lithium polymer batteries only Using a 4S battery can cause permanent damage to the gimbal electronics and will void the warranty Payload capacity 400 g 8 Ibs Radio range up to 1km 6 miles Flight time 16 22 minutes Flight time varies with paylo
12. t during flight IRIS will land and display a blinking yellow LED If IRIS is more than 2 meters 6 5 feet from the launch point it will return to launch RTL before landing See page 13 for more information about RTL Loss of GPS signal ooo A IRIS requires an active GPS signal before takeoff If IRIS loses GPS signal in flight it will trigger a GPS failsafe indicated by a blinking blue and yellow LED with a high high high low tone and automatically switch to manual control standard altitude hold mode Always be prepared to regain manual control of IRIS at any time while flying and choose an unobstructed flying area to improve GPS signal strength When flying a mission we recommended changing the GPS failsafe behavior to land Visit 3dr com iris info for more information about configuring the GPS failsafe Low battery OOO N When the battery reaches 25 of its remaining charge IRIS will land and display a blinking yellow LED with a quick repeating tone If IRIS reaches the low battery limit during a mission it will return to the launch point before landing O7 left stick right stick Learn to Fly throttle pitch amp yaw amp roll Maneuver IRIS in flight using the controller sticks Throttle Move the left stick up and down to control altitude left stick To take off and to gain altitude raise the throttle stick slightly above center position Set the throttle stick to center to maintain the current
13. tus of IRIS Wait to proceed until you see the blinking green light indicating that IRIS has acquired GPS lock OOO iiitializing please wait O O Acauiting Ges please wait QSO Autopilot ready GPS locked O O Pre arm safety check failure Connect to a ground station and see the trouble shooting guide at 3DR com iris info 6 Arm motors To activate the motors hold the left stick down right until the motors spin Now you re ready for takeoff Flight Take off and gain altitude by raising the left stick slightly C above center Set the left stick to Rotate counter center to maintain clockwise and EN the current altitude clockwise by aly moving the left stick left and right Fly forward backward left or right by moving the right stick in the C i C fa direction you want to fly Release the right Lower the left stick to level IRIS stick below center o k Set the left stick fully down to land once IRIS is a few inches above the ground Posttlignt Disarm Press safety motors Z button After landing hold O O Press the safety the left stick down button until it left until the motors displays blinking stop spinning red to make IRIS safe to handle Disconnect Power off battery F controller Your first flight is now complete Follow the steps shown here and on the Flight Checklist every time you fly Tips for New Fliers Practice th
14. urface Do not tighten the screw beyond this point key to loosen the set screw in the bottom of the leg O3 Charging the Battery IRIS is powered by a rechargeable lithium polymer LiPo battery Store the battery at half charge then charge fully before flying Batteries must ship at half charge so please charge before your first flight Each full battery provides up to 22 minutes of flight time without a gimbal and up to 16 minutes when using a Tarot Gimbal Connect charger to the Connect the red cable to the power adapter cable and port and the black cable a wall outlet to the port Z Set the charger to LiPo and 3A LiPo 3A 3 Connect the white connector to the 3S port Join the two yellow connectors together R O O Q a _ 04 Secure battery inside the guard bag while charging Charge until the status indicator displays green Charging Complete A Battery Safety Protect the battery from extreme heat extreme cold puncturing and flammable surfaces Always transport charge and store the battery in the guard bag Charge the battery using a designated LiPo balance charger only Always monitor the battery while charging Flying with a low battery is a safety risk and can render the battery unusable Always discontinue use when you receive a low battery notification and always fly with a fully charged battery Inspect the battery for damage before takeoff and after
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