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Hovermap-Zoe user manual

Release date: 01 Nov 2021
Revision: 1.0

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4.4

Autonomous Waypoint mode

4.4.1 Overview

Autonomous Waypoint mode enables flight beyond line of sight and communications range. Place
smart waypoints on the live-streamed 3D point cloud, and Hovermap plans and self-navigates a path to
safely complete its mission, even in GPS-denied environments.

4.4.2 Autonomous Waypoint functions

Tablet interface with tap commands for takeoff, waypoints placement, return to home, and
landing.

Smart return to home features

Multiple failsafes

Omnidirectional collision avoidance

GPS-denied position hold

Overrides pilot commands to keep the drone safe

Obstacle avoidance

4.4.3 Operational guide

4.4.3.1 Step 1: Drone inspection

Check the Velodyne sensor to make sure that it is clean and serviceable.

Securely mount Hovermap to the Zoe.

Ensure that the LiDAR sensor can rotate freely.

Connect the following:

The two Wi-Fi antennas

The power cable

The serial cable

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Summary of Contents for HOVERMAP-ZOE

Page 1: ... DOCUMENT NUMBER UM 017 REVISION NUMBER 1 0 RELEASE DATE 01 NOV 2021 PREPARED BY EMESENT PTY LTD LEVEL G BUILDING 4 KINGS ROW OFFICE PARK 40 52 MCDOUGALL ST MILTON QLD 4064 AUSTRALIA EMAIL INFO EMESENT IO PHONE 61 7 3548 9494 ...

Page 2: ... is therefore recommended to read the user manual thoroughly to make use of all its capabilities in a safe and productive way Disclaimer and safety guidelines This product is not a toy and is not suitable for children under the age of 18 It must be operated with caution common sense and according to the instructions in this user manual Failure to operate it in a safe and responsible manner could r...

Page 3: ...is intended only for the use of the individual or entity to whom it is addressed If you have received this transmission in error you are hereby notified that any use dissemination distribution or reproduction is strictly prohibited If you are not the intended recipient please notify the sender and delete the message from your system Product warnings ...

Page 4: ...ns 6 1 5 Hovermap Zoe case inclusions 7 2 Data capture basics 10 2 1 Overview 10 2 2 Basic workflow 10 2 2 1 Capture 11 2 2 2 Connect 12 2 2 3 Compute 12 2 3 Concepts 13 2 3 1 SLAM 13 2 3 1 1 Capabilities 13 2 3 1 2 Limitations 13 2 4 Mission planning and scanning techniques 14 2 4 1 Hovermap settings 14 2 4 2 Point density and resolution 15 2 4 2 1 Point density 15 2 4 2 2 Resolution 15 2 4 3 Env...

Page 5: ...Tablet mount 19 3 1 3 Using the controller 19 3 2 Web UI 22 3 2 1 Overview 22 3 2 2 Access the Web UI 22 3 2 3 Web UI layout 23 3 2 4 Web UI functions 24 3 2 4 1 Remotely start or stop a scan 24 3 2 4 2 Set the scan name 25 3 2 4 3 Set the system time 25 3 2 4 4 Update firmware 25 3 2 4 5 Individual file download 25 3 3 The Hovermap App 27 3 3 1 Overview 27 3 3 1 1 Specifications 27 3 3 1 2 Suppor...

Page 6: ...bar 61 3 3 3 11 Zoe odometry bar 62 4 Drone operation 63 4 1 Standard operating procedures 63 4 1 1 Overview 63 4 1 2 Operating procedures 63 4 1 2 1 Set up Hovermap Zoe 64 4 1 2 2 Check the system 66 4 1 2 3 Powering up 68 4 1 2 4 Flight 72 4 1 2 5 Post flight 75 4 2 Mapping mode 77 4 2 1 Overview 77 4 2 2 Mapping mode functions 77 4 2 3 Mapping mode operational checklist 77 4 2 3 1 Step 1 Drone ...

Page 7: ...86 4 3 3 5 Step 5 Landing 87 4 3 3 6 Step 6 Downloading the data 87 4 3 3 7 Step 7 Shut down 87 4 4 Autonomous Waypoint mode 88 4 4 1 Overview 88 4 4 2 Autonomous Waypoint functions 88 4 4 3 Operational guide 88 4 4 3 1 Step 1 Drone inspection 88 4 4 3 2 Step 2 Powering on 89 4 4 3 3 Step 3 Taking off 91 4 4 3 4 Step 4 Flight scanning 92 4 4 3 5 Step 5 Landing 92 4 4 3 6 Step 6 Downloading the dat...

Page 8: ...ilsafe 103 4 6 1 2 Critical Battery Auto landing failsafe 105 4 6 1 3 Remote Controller Communications Loss RTH failsafe 105 4 6 1 4 Wi Fi Communications Loss RTH failsafe 106 4 6 1 5 Heavy Dust Backtrack failsafe 107 4 6 1 6 SLAM Loss failsafe 107 4 6 1 7 LiDAR Error failsafe 109 4 6 1 8 Poor Waypoint failsafe 111 4 6 2 Zoe failsafes 111 4 6 2 1 Return to Launch failsafe 111 4 6 2 2 GCS communica...

Page 9: ...ement 129 5 2 2 5 Battery connector insert check replacement 129 5 2 3 Propeller maintenance 129 5 2 3 1 Visual check 130 5 2 3 2 Propeller track 130 5 2 3 3 Balancing the propeller 130 5 2 3 4 Propeller replacement 131 5 2 4 Motor maintenance 131 5 2 4 1 Motor check 131 5 2 4 2 Motor cleaning 132 5 2 4 3 Motor bearing replacement 132 5 2 4 4 Motor replacement 132 5 2 5 ESC maintenance 133 5 2 5 1...

Page 10: ... 5 3 Battery maintenance 134 5 3 1 Battery checks 134 5 3 2 Visual check 135 5 3 3 Charging 135 5 3 3 1 Before charging 135 5 3 3 2 Charging 135 5 3 3 3 Discharging 136 5 3 4 Battery replacement 136 5 3 5 Battery storage 137 6 Support 138 7 List of abbreviations 139 ...

Page 11: ...er settings 44 Table 6 Connection settings 46 Table 7 View controller 55 Table 8 Weight limits 94 Table 9 Center of gravity limits 97 Table 10 Flight and maneuver limitations 99 Table 11 Battery limitations 100 Table 12 Command and control link limitations 100 Table 13 Environmental limitations 101 Table 14 Critical errors 113 Table 15 Warnings 117 Table 16 Cautions 119 Table 17 Zoe maintenance sc...

Page 12: ...21 Figure 10 Web UI layout 23 Figure 11 Scans file management 26 Figure 12 Transferred file management 26 Figure 13 Clear Data function 27 Figure 14 The Hovermap App 28 Figure 15 Settings menu 30 Figure 16 Status indicator 32 Figure 17 Notifications 33 Figure 18 Start scanning 34 Figure 19 Stop scanning 35 Figure 20 VESH settings 37 Figure 21 The Waypoint UI 39 Figure 22 Quick access menu 40 Figur...

Page 13: ...int 53 Figure 34 Rally point pop up 54 Figure 35 The view controller 55 Figure 36 View controller Compact mode 56 Figure 37 VESH limits 57 Figure 38 Change to Pilot Assist mode 58 Figure 39 Return to home confirmation 59 Figure 40 Confirmation Begin takeoff 60 Figure 41 Confirmation Begin landing 60 Figure 42 Zoe status bar 61 Figure 43 Zoe sensor status 62 Figure 44 Hovermap returning home 103 Fi...

Page 14: ... drone to fly beyond line of sight and communication range even in challenging GPS denied environments With Hovermap s collision avoidance you can safely fly close to inside or underneath assets to map them and capture detailed images The compact Zoe is wind and rain resistant and can withstand temperatures of up to 122 F 50 C Acecore Technologies has a reputation for developing high quality drone...

Page 15: ...Hovermap Zoe user manual Release date 01 Nov 2021 Revision 1 0 2 Figure 2 Zoe left view ...

Page 16: ...ple into potentially hazardous areas To achieve this Hovermap uses a sophisticated simultaneous localization and mapping SLAM technology that allows for the collection of accurate 3D LiDAR data in almost all environments Hovermap is lightweight and yet robust enough to withstand the demands of harsh environments Made from a machined aircraft grade aluminum frame combined with carbon fiber composit...

Page 17: ...0 4 flight Switching between drone and walking scans can be done with the click of a button using Hovermap s quick release mechanism Figure 4 Hovermap rear view 1 2 3 4 5 6 Hovermap rear view USB ports Serial port Power port Status LED Power button Wi Fi antennas ...

Page 18: ...one vehicle or pole lowered in a cage or mounted to a backpack 1 3 2 Pilot Assist mode Pilot Assist mode provides safe line of sight flight with LiDAR based omnidirectional collision avoidance and GPS denied stability control This mode allows you to fly indoors or closer to structures 1 3 3 Autonomous Waypoint mode Autonomous Waypoint mode enables flight beyond line of sight and communications ran...

Page 19: ...Hovermap Zoe user manual Release date 01 Nov 2021 Revision 1 0 6 1 4 Specifications ...

Page 20: ...Hovermap Zoe user manual Release date 01 Nov 2021 Revision 1 0 7 1 5 Hovermap Zoe case inclusions Figure 5 What s in the Zoe box ...

Page 21: ...ablet Emesent cable kit including AS150 XT150 male to XT60 female cable 100 mm 0 5 m USB 2 0 Type A to Mini B cable 0 5 m USB 2 0 Type A to Micro B cable Loctite 222 purple 10 ml USB 3 1 Type C male to A female adapter 2 5 mm hexagon socket key short arm wrench XT90 to XT60 power cable 300 mm Landing gear Additional inclusions Battery charger power supply Smart battery charger Zoe propellers Zoe b...

Page 22: ...map box Hovermap payload Mains power supply with country specific plug and DC adapter Handle High speed USB flash drive with Emesent Processing Software installer and license dongle Universal carbon fiber mounting plate Utility space for additional items may not be included at initial purchase Hovermap power cable in Emesent mesh bag ...

Page 23: ...kflow and provides some guidelines on how to use Hovermap to achieve the best possible results 2 2 Basic workflow Figure 7 Data capture workflow This workflow shows how to use Hovermap to capture data For simplicity this section focuses on using the unit in Mapping mode However the process can be adapted for any platform of choice Note Mounting Hovermap onto Zoe allows the system to embed the GPS ...

Page 24: ...h room for the LiDAR puck to rotate When the status LED is pulsing blue start a scan by pressing the power button on the back of the Hovermap Alternatively you can press Start in the Web UI The LiDAR puck will begin to rotate and the status LED will flash green quickly before moving to a steady slow flashing green Keep Hovermap relatively still until you count at least three slow flashing green pu...

Page 25: ...The status LED will change to a rapid blinking light blue Any scan that has not yet been transferred will be copied to the flash drive The transfer is complete when the status LED returns to a slow pulsing blue Remove the USB flash drive 2 2 3 Compute Once the data has been retrieved from the Hovermap it is in a raw state and will need to be processed Use the Emesent Processing Software to create ...

Page 26: ...dy collected This process builds a map often referred to as a registered point cloud and is used to estimate Hovermap s trajectory within that map Hovermap uses SLAM technology for both mapping and autonomous navigation 2 3 1 1 Capabilities No need for external infrastructure for example GPS Works outdoors indoors and underground Easy to set up Rapid deployment 2 3 1 2 Limitations Needs 3D feature...

Page 27: ...dent and familiar with Hovermap and Zoe can mean the difference between a failed mission and great results Have you chosen your primary and backup navigation modes appropriately Are your VESH settings correct for the mission It s important to perform preflight checks of your settings before you operate Hovermap Our preflight checklists help to ensure that you have chosen the correct parameters and...

Page 28: ...tly on your points of interest 2 4 2 2 Resolution When it comes to resolution the closer Hovermap is to its target the greater the accuracy of the points Capturing data at 50 m away from the target will produce a fuzzier point cloud than if you are only 10 m away For this reason we don t recommend that you fly over features more than 50 m away If you are closer to your target you are more likely t...

Page 29: ...ap track itself In this environment Hovermap would be able to operate both more effectively and at a greater height than in a sparser environment It s also important to remember that vegetation can be both a distinctive feature and relatively featureless depending on the density of foliage in an area A single tree might be a distinct feature to Hovermap but a dense canopy can appear as white noise...

Page 30: ...you will break down the area as well as the scanning pattern you will use Take into account all the recommendations in this section Aim for scans to be under 35 minutes You should also ensure that there is some overlap between scans that you intend to merge There should be approximately 25 overlap from scan to scan 2 4 5 Scanning patterns 2 4 5 1 Closing the loop Over time Hovermap will also accum...

Page 31: ...ieve a good result vary The following information is a guide based on a general user experience across many different environments 2 4 6 1 Speed Keep the speed of the Hovermap below 5 mps when flying and below 25 mph 40 km h when driving This gives Hovermap sufficient time to analyze the features in its environment and piece them together Flying faster than this can cause Hovmermap to lose its pla...

Page 32: ...p this configuration The controller allows you to monitor the battery voltage of the drone A vibration and alarm on the controller are set if the value drops to 21 5 V or lower 3 1 2 Tablet mount The controller comes with a tablet mount which is capable of fitting the Samsung tablet to the controller It is attached easily with a mounting arm Make sure that it is attached firmly before use 3 1 3 Us...

Page 33: ...map mode Loiter mode GPS and Altitude Hold no GPS mode Figure 8 Zoe controller The screen on the bottom of the controller is the telemetry readout which contains a suite of flight and battery information The image below shows all available telemetry readouts Note Most information relevant to a Hovermap Zoe flight will be available in the Hovermap App You will only need to use the telemetry screen ...

Page 34: ...Hovermap Zoe user manual Release date 01 Nov 2021 Revision 1 0 21 Figure 9 Telemetry screen ...

Page 35: ...l solid state drive Download files 3 2 2 Access the Web UI To access the Web UI Connect Hovermap to a power source 12 VDC to 54 VDC Press the power button on the back of the Hovermap to power on the system On your mobile device open the Wi Fi settings and connect to Hovermap s Wi Fi Hovermap creates a Wi Fi network with the name of the serial number of the unit For example for Hovermap HVM0068 the...

Page 36: ...Hovermap Zoe user manual Release date 01 Nov 2021 Revision 1 0 23 3 2 3 Web UI layout Figure 10 Web UI layout ...

Page 37: ...s when the system state is stopped The Stop button appears when the system state is running The Wait button appears during the transition between states Set button Press Set to confirm the scan name State Shows the current state of the system System Time Shown in UTC format Free Space Shows the amount of free space on the internal solid state drive Upgrade Software Select Upgrade Firmware to updat...

Page 38: ...itlement and solid state drive file management Hovermap s firmware is regularly updated for improvements optimizations and new features and capabilities The Web UI allows you to upgrade the firmware on the Hovermap Press Upgrade Firmware to access the update page From here you can update the operating system for Hovermap change autonomy entitlement and upload update colorization calibration files ...

Page 39: ...ansferred tab provides a number of helpful functions for individual scan file management To access these functions press the three dot icon next to the scan name Figure 12 Transferred file management Three options appear Move This option transfers the scan data to the Scans tab removing it from the Transferred tab Download This option shows the BAG and BIN files that are available for download Del...

Page 40: ...mode and Autonomous Waypoint mode The app gathers and displays both drone and Hovermap information in one place It is designed for use on popular drone vendor tablets Many off the shelf tablets can also be used 3 3 1 1 Specifications The minimum specifications required to run the Hovermap App are Android 5 1 Hardware specifications matching or exceeding the Samsung Galaxy Tab Active 2 3 3 1 2 Supp...

Page 41: ... help mount these tablets to the remote control 3 3 2 The Hovermap App Figure 14 The Hovermap App Note The Samsung Galaxy Tab Active 2 will work with the Hovermap App but is not recommended for operating in Autonomous Waypoint mode due to relatively poor performance Other tablets may be used However these have not been tested with the Hovermap App and are not guaranteed to work as effectively ...

Page 42: ... the screen 3 3 2 1 App color guide The Hovermap App uses a standard color palette to indicate status These are as follows White Standard element 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 The Hovermap App Settings menu Hovermap status bar Hovermap workflow Hovermap Wi Fi Connection settings Mission settings Navigation Method settings VESH settings Shortcut to the Waypoint UI Shortcut to the Web...

Page 43: ... 0 30 Gray Unavailable not applicable or disabled Blue Ready Green Active and functioning as desired Yellow Warning Red Error alert unavailable 3 3 3 Hovermap App components 3 3 3 1 Settings menu Press the Settings button to open the menu Figure 15 Settings menu ...

Page 44: ...hat the drone can fly before a return to home is triggered Hovermap settings AirMarshal Allows you to show hide or reload the Waypoint UI FPV over AirMarshal Allows the FPV camera to show in the Waypoint UI Configure Flight Characteristics Sets the sensitivity and the way that the drone will respond to pilot stick inputs Includes the following settings Max Horizontal Speed Max Vertical Speed Climb...

Page 45: ...ese are ordered by priority Notifications Notifications are grouped into three sections Critical errors Shown in red and accompanied by an audible harsh beep beep sound These errors indicate that the drone is not safe to fly Switch out of Hovermap mode and land as soon as possible A crash or fly away is possible Warnings Shown in yellow and accompanied by an audible soft beep beep sound with a voi...

Page 46: ...te 01 Nov 2021 Revision 1 0 33 Figure 17 Notifications Warning If any of these notifications are present before the flight don t take off For more detail on emergency procedures and notifications refer to the Emergency Procedures section ...

Page 47: ... Wi Fi Connection button to open the Wi Fi settings panel This allows you to connect to Hovermap s Wi Fi Green Indicates that you are connected and communicating with Hovermap Gray Indicates that no Wi Fi connection has been established The Wi Fi is either off or not connected to a network Red Indicates that you are connected to a Wi Fi network but Hovermap is either not on this network or not res...

Page 48: ...n methods SLAM GPS or INS The secondary navigation system will be used only if the primary is no longer available The navigation method can be set before a flight or during a flight if in drone control mode The following options are available Table 2 Navigation method settings Icon Navigation method Uninitialized Navigate using GPS Warning With the GPS set as the primary navigation mode Hovermap a...

Page 49: ...s now using the secondary navigation method VESH settings Press the VESH button to open the menu The VESH settings allow you to turn Hovermap s collision avoidance system known as VESH on and off as well as set the limits for the VESH shield Note Always set the secondary navigation method to INS when in a GPS denied environment Note For added safety when flying with GPS as the primary navigation m...

Page 50: ...tings Warning VESH works by adjusting and overriding pilot commands to prevent the drone from flying into obstacles However if the drone is passively drifting towards an obstacle or dynamic obstacles are moving towards the drone VESH won t stop or move the drone to prevent a collision ...

Page 51: ...t you can fly to an obstacle Status This setting indicates whether VESH is enabled or disabled Auto enable at take off When this setting is on VESH will automatically enable when the drone leaves the ground If it is off you will have to manually activate VESH after the drone leaves the ground The VESH status is indicated by the color of the button and the message shown The color of the button prov...

Page 52: ...al time while the system is in operation In Autonomous Waypoint mode you can perform tap to fly operations with waypoint mission planning advanced flight autonomy and many smart failsafe capabilities that keep Zoe safe even when it is not in view Access to the Waypoint UI is only available on more powerful tablet devices such as the Samsung Galaxy tablets You can also view the Waypoint UI using an...

Page 53: ...enu A handy quick access mechanism is available allowing you to jump to the parameters of interest quickly and easily The quick access menu is visible at all times in the right hand settings display Figure 22 Quick access menu 1 2 3 The Waypoint UI The Waypoint UI introduces three new functions The Autonomy Settings menu The Waypoint Manager The View Controller 1 2 3 4 Quick access menu Settings m...

Page 54: ... the menu Figure 23 Settings section The following options are available Table 4 Autonomy settings menu Field Data Fullscreen Turn on fullscreen mode to hide the top browser bar The default setting is off Note This option is not available if you are running from the app It is only available when using the browser ...

Page 55: ...vermap The default setting is off Show Top Menu Controls the appearance and disappearance of the top menu Visuals Press Clear to reset the visuals on the screen Hovermap UI Press Launch to launch the Web UI for device maintenance Additional Settings Version Shows the current version of the software Settings Press Reset Defaults to restore factory defaults Note The screen will clear automatically w...

Page 56: ...Hovermap Zoe user manual Release date 01 Nov 2021 Revision 1 0 43 Renderer settings Press the Renderer Settings button to open the menu Figure 24 Renderer section ...

Page 57: ...our point cloud The maximum point size is 15 Opacity Use this setting to control how opaque the points in your point cloud are 0 Points are invisible 0 5 Each point has 50 opacity 1 Each point has 100 opacity You will not be able to see through it Colourisation Choose between the following options Solid Colour Changes the entire point cloud to the chosen color Height Ramp Choose between options ou...

Page 58: ... into the limits This allows you to better highlight points at either top or bottom Invert Colour Allows you to invert the colors of the points in your point cloud Waypoints If this option is enabled the app will automatically switch the camera to a suitable view when setting a waypoint The view will switch back to the previous view after the waypoint has been placed Performance FPS Frames per sec...

Page 59: ...ettings The following options are available Table 6 Connection settings Field Data HTTP Status Legacy communications link used to get the basic system status RX Status Shows the status of the receiving link for autonomy functionality TX Status Shows the status of the transmitting link for autonomy functionality Note This link only goes live once the scan has been started Note This link only goes l...

Page 60: ...training review or for incident analysis When downloaded these are stored on the device and can be accessed from the file browser Figure 26 Logs The Waypoint Manager Use the Waypoint Manager to add and edit waypoints to create a mission Figure 27 The waypoint manager Press the pin to add new waypoints Press an individual waypoint to edit it Press Clear All to clear all the waypoints Press Confirm ...

Page 61: ...maining waypoints will move to the left in the Waypoint Manager Once all waypoints have been achieved the drone will hover and the status will show as idle while it waits for a new command However if Wi Fi communications are lost when the last waypoint is achieved Hovermap will trigger the Wi Fi Communications Loss RTH failsafe Refer to the Emergency Procedures section for more information Note Wa...

Page 62: ...d or when an existing waypoint is edited Figure 28 The waypoint editor In the Type field select your waypoint type from the dropdown list Press and to edit the waypoint positions Move a waypoint using the touch interface You can touch and move the current waypoint from anywhere on the screen The available position information will vary depending on the waypoint type ...

Page 63: ...Hovermap Zoe user manual Release date 01 Nov 2021 Revision 1 0 50 Waypoint types and concepts Figure 29 Waypoint types 1 2 3 4 Waypoint types XY waypoint Planar waypoint Height waypoint 3D waypoint ...

Page 64: ...waypoint mission XY waypoints are best placed using the top view in the View Controller Figure 30 XY waypoint Planar waypoints A planar waypoint is a two dimensional vertical surface placed in the Waypoint UI Hovermap will attempt to navigate the drone via the easiest path to any point on that plane Planar waypoints are good to use when you want to explore in a generally horizontal direction towar...

Page 65: ...e placed above or below the starting position They are good to use when you want to explore in a vertical direction in an area that may be obscured Once the point cloud is created a more specific waypoint can be added to the mission or an additional height waypoint can be placed further away to allow more exploration Height waypoints are best placed using the left or front views in the View Contro...

Page 66: ...chieve This distance is user definable A large slack allows for rapid waypoint achievement It is a best effort mode where Hovermap will attempt to reach the exact location but will mark the waypoint as achieved if it reached any location within the slack distance Conversely a small slack can be used to ensure that a particular location is achieved with greater accuracy However a small slack also m...

Page 67: ...ctions It is the first destination to which the drone will return when it executes a return to home In the case of a pilot initiated return to home the drone will fly itself to this point and hover to await further instruction All other system failsafes are enabled In the case of a failsafe return to home the drone will hover at the rally point for a short time before attempting to return to the t...

Page 68: ...n zoom and change views Figure 35 The view controller The following options are available Table 7 View controller Field Data Perspective Provides a 3D view of the point cloud Top Provides a top view of the point cloud Left Provides a view of the point cloud from the left of the drone Front Provides a view of the point cloud from the front of the drone ...

Page 69: ...he drone To save space on the screen the View Controller will change to compact mode when the screen is too small Figure 36 View controller Compact mode 3 3 3 5 The Web UI Press the Web UI button to open the Web UI Refer to the Web UI section for more information Note Once it has been pressed the button will change to the Follow button Note Ensure that you have completed any waypoint editing befor...

Page 70: ...t Zoe provides 3 3 3 7 Hovermap platform This bar shows the platform type for example Zoe that the payload is configured to run on The Hovermap App automatically detects the connected platform type and will send a request to the payload to set the platform type accordingly 3 3 3 8 VESH limits This indicator shows the approximate distances to obstacles around the drone The blue lines indicate the m...

Page 71: ... and fly the system to the desired location and then reengage Autonomous Waypoint mode once on the other side On activation you will have to confirm the action via a pop up Figure 38 Change to Pilot Assist mode Note Although the range of the LiDAR is 100 m the obstacle distances shown in the current version of the indicator are limited to 40 m Warning If you choose to fly through a small opening t...

Page 72: ...igher or lower than the home point when return to home is activated it may conduct spiraling ascents or descents These rotations are clearing turns used to check all blind spots for obstacles as it moves through the environment Once the drone has returned home it will hover and wait for pilot input You can either initiate an auto landing or switch back to Pilot Assist mode to reposition the drone ...

Page 73: ...Hovermap Zoe user manual Release date 01 Nov 2021 Revision 1 0 60 Figure 40 Confirmation Begin takeoff Figure 41 Confirmation Begin landing ...

Page 74: ...Revision 1 0 61 3 3 3 10 Zoe status bar The Zoe status bar contains all Zoe related status indicators Figure 42 Zoe status bar 1 2 3 4 5 Zoe status bar Zoe status indicator Flight mode indicator Message indicator GPS status indicator Battery indicator ...

Page 75: ...e 43 Zoe sensor status 3 3 3 11 Zoe odometry bar This panel shows telemetry data that is reported and used by Zoe It shows The distance from the takeoff position The height relative to the takeoff position The horizontal speed The vertical speed When flying above the ground these indicators can be used to troubleshoot potential issues with the drone or Hovermap ...

Page 76: ...perations it is important that you are familiar with the standard operating procedure of the Zoe drone Many of the emergency procedures prescribed to recover Hovermap Zoe in case of an unexpected event require you to take manual control Being confident and capable in stand alone operation is a critical part of these emergency procedures 4 1 2 Operating procedures There are three autonomy modes for...

Page 77: ...t the Zoe center frame out of the case Install and secure the legs to the body of the Zoe Ensure that any cables are securely connected and fully pushed home Stand the Zoe on its legs Install the batteries Unfold the propellers so that they are completely extended Make sure the antennas are facing downwards away from obstructions to avoid loss of control due to signal loss Note The screen gives a ...

Page 78: ... Use the microfiber cloth bag to give the lens a quick wipe before mounting it on the Zoe From the front of the Zoe locate the male and female dovetail Slide Hovermap backward until you hear a click Give Hovermap a shake to ensure that the locking clips are engaged and that the Hovermap cannot come free Connect the data cable to the correct port on the Hovermap Connect the power cable to the corre...

Page 79: ...ed is 20 m Mark the takeoff position to make sure that it stays free from objects The minimum clear terrain takeoff is 3 m from the Zoe 4 1 2 2 Check the system Step 1 Calibrate the compass You should recalibrate the compass when The flight environment has changed The mechanical setup of the Zoe has changed For example The GPS and compass module has been repositioned Electronic devices have been a...

Page 80: ...light Perform these checks on site when the Zoe is positioned for takeoff Check that the batteries for the controller the Zoe and all other equipment are fully charged Check that you have assembled the Zoe correctly Any of the following issues could lead to a dangerous accident Check that The rotation direction of the motors is correct Caution Do not calibrate your compass where there is strong ma...

Page 81: ...er to the Emergency Procedures section for more information Check that the GPS signal is good If it is not sufficient recalibrate the compass Refer to the Maintenance section for more information Verify the IMU status If the IMU is not calibrated correctly refer to the Maintenance section for more information 4 1 2 3 Powering up Step 1 Power up the system Power on the controller Power on the table...

Page 82: ...ssions and then check the serial connection cable between Zoe and the Hovermap unit Ensure that there are no critical errors reported by Zoe If there are any errors refer to the Emergency Procedures section for more information Step 3 Check the Hovermap App settings These settings will vary depending on the autonomy mode you are using Follow the process outlined for your desired autonomy mode Mapp...

Page 83: ...uto enable at takeoff parameter Set the flight mode switch to Hovermap mode Observe the Hovermap status bar for notifications Remedy any notifications as required For more information on notifications refer to the Emergency Procedures section Ready SLAM if SLAM is your primary navigation mode or Ready GPS if GPS is your primary navigation mode should appear You should hear the Hovermap ready audio...

Page 84: ...waypoints Step 3 Start Zoe Start Zoe as follows To arm the motors move the left stick to the bottom right position Keep the right stick centered When the motors are armed Zoe will play a single audible tone for 1 second Within 2 seconds release both sticks back to the center position The motors will start to spin slowly but Zoe will not take off Maintain visual contact with Zoe to make sure that i...

Page 85: ...the left stick on the controller throttle forward until Zoe lifts itself off the ground 75 throttle After Zoe has lifted to a safe height move the left stick back to the center position to hover Zoe before performing any flight maneuvers Pilot Assist mode For Pilot Assist mode do everything outlined in Mapping mode and then continue as follows Initiate a takeoff There are two ways to do this Push ...

Page 86: ...ly During flight you should frequently check the following The telemetry monitor and the controller monitor The GPS signal Battery voltage and percentage to estimate flight endurance Pay attention to any status indicators and drone odometry Step 3 Switching flight modes The following flight modes are available for Zoe Hovermap Hovermap has control of Zoe If Hovermap is not connected Zoe will autom...

Page 87: ...ate any flight maneuver Hold Zoe in one position keeping sufficient distance from any surrounding obstacles When switching to Loiter mode check the telemetry monitor to see if the GPS signal is sufficient Ensure that the orientation LEDs are visible Use the appropriate switch to change the flight mode Verify the flight mode through the telemetry monitor Continue flight Step 4 Landing The way you l...

Page 88: ...il the Zoe is on the ground Hold the throttle fully down to shut down the motors Conduct an automatic landing On the Master Controls press the Auto Takeoff Auto Land button The button will be blue if Zoe is within a short distance of the home position around 2 m or red if it is not near the home position If auto landing the motors will automatically shut down Use the Mission menu to stop the Hover...

Page 89: ...xidation Use a can of compressed air to blow any dust out of components and motor Check the batteries and prepare them for transport and storage if required Store the drone and the controller in a dry place With a temperature of 10 C to 25 C Store all other equipment appropriately after use Step 4 Transport and storage To ensure that Zoe remains safe and functional proper handling during transport...

Page 90: ...Use with our backpack cage or vehicle mount accessories Real time point streaming 4 2 3 Mapping mode operational checklist 4 2 3 1 Step 1 Drone inspection Check the Velodyne sensor to make sure that it is clean and serviceable Securely mount Hovermap to the Zoe Ensure that the LiDAR sensor can rotate freely Connect the following The two Wi Fi antennas The power cable The serial cable Offset the an...

Page 91: ... up A compass and IMU calibration should be conducted at least once every three months In addition you should calibrate the compass if prompted by the Hovermap App if the system has traveled to a new location or if operating in an environment that may be prone to magnetic interference Follow the procedure outlined in the Standard Operating Procedures section Press the power button once on the back...

Page 92: ...ll start flashing green then will then change to a slow pulsing green Wait for five slow pulses before moving the unit Ensure that the system has adequate GPS signal to support position holding In Mapping mode Hovermap does not provide collision avoidance or position hold capabilities 4 2 3 3 Step 3 Taking off Set the controller to your desired flight mode Start armed motors and make sure that the...

Page 93: ...s 4 2 3 5 Step 5 Landing Hold the left stick on the controller down for 3 seconds until the motors stop 4 2 3 6 Step 6 Downloading the data When you have finished scanning or the motors are off press Stop in the app to end the scan After the LiDAR sensor has stopped rotating insert a USB flash drive into either of the two USB ports to download the scan data When the transfer is complete the status...

Page 94: ...rmap Zoe user manual Release date 01 Nov 2021 Revision 1 0 81 4 2 3 7 Step 7 Shut down To shut down Hovermap turn off Zoe or disconnect the Hovermap power cable once the status LED shows a slow pulsing blue ...

Page 95: ...avoidance GPS denied position hold and velocity control Enables safe line of sight flight indoors underground or close to structures Includes all Mapping mode features Obstacle avoidance 4 3 3 Pilot Assist mode operational checklist 4 3 3 1 Step 1 Drone inspection Check the Velodyne sensor to make sure that it is clean and serviceable Securely mount Hovermap to the Zoe Ensure that the LiDAR sensor...

Page 96: ... battery lights should light up A compass and IMU calibration should be conducted at least once every three months In addition you should calibrate the compass if prompted by the Hovermap App if the system has traveled to a new location or if operating in an environment that may be prone to magnetic interference Follow the procedure outlined in the Standard Operating Procedures section Press the p...

Page 97: ...s LED will start flashing green then will then change to a slow pulsing green Wait for five slow pulses before moving the unit Press the Navigation Method button to select the primary and secondary navigation methods Satellites available Primary GPS Backup SLAM No satellites available Primary SLAM Backup HVM INS Ensure that the Ready SLAM or Ready GPS indicator to the top right is blue Note Do not...

Page 98: ... to Hovermap mode Start armed motors and make sure that they are running smoothly In the app check that the autonomy status has changed to a green Assisted SLAM or Assisted GPS If so Hovermap and Zoe are now ready for flight Push up on the throttle to the desired takeoff height and hover Clear the lower VESH limit VESH will auto enable if it has been set to do so Descend toward the ground to test ...

Page 99: ... Try to ensure loop closure as much as possible Best results are achieved by closing the loop for each scan At the completion of the flight fly Zoe to a safe landing position or return to home To do this press the Return to Home button Zoe may pause for a short period around 10 seconds before return to home begins Note Changing the navigation mode from SLAM to GPS is only possible when Zoe is in d...

Page 100: ...nds until the motors stop 4 3 3 6 Step 6 Downloading the data When you have finished scanning or the motors are off press Stop in the app to end the scan After the LiDAR sensor has stopped rotating insert a USB flash drive into either of the two USB ports to download the scan data When the transfer is complete the status LED will switch to a slow pulsing blue When this happens remove the USB flash...

Page 101: ...s Waypoint functions Tablet interface with tap commands for takeoff waypoints placement return to home and landing Smart return to home features Multiple failsafes Omnidirectional collision avoidance GPS denied position hold Overrides pilot commands to keep the drone safe Obstacle avoidance 4 4 3 Operational guide 4 4 3 1 Step 1 Drone inspection Check the Velodyne sensor to make sure that it is cl...

Page 102: ...rom you 4 4 3 2 Step 2 Powering on Power on the controller and wait for the tablet to boot up When prompted open the Hovermap App on the tablet Press only once USB permissions Power on the Zoe The green battery lights should light up A compass and IMU calibration should be conducted at least once every three months In addition you should calibrate the compass if prompted by the Hovermap App if the...

Page 103: ...on name then press Set Press Start and then keep Hovermap still for the first 10 seconds The LiDAR puck will start spinning the status LED will start flashing green then will then change to a slow pulsing green Wait for five slow pulses before moving the unit Press the Navigation Method button to select the primary and secondary navigation methods Satellites available Primary SLAM Backup GPS No sa...

Page 104: ...start the motors Instead restart the Zoe and Hovermap Place your waypoints 4 4 3 3 Step 3 Taking off Set the controller to Hovermap mode Check that the Hovermap status is a blue Ready SLAM Start armed motors and make sure that they are running smoothly In the app check that the autonomy status has changed to a green Assisted SLAM or Assisted GPS If so the Hovermap and Zoe are now ready for flight ...

Page 105: ...ing the loop for each scan At the completion of the flight fly Zoe to a safe landing position or return to home To do this press the Return to Home button Zoe may pause for a short period around 10 seconds before return to home begins 4 4 3 5 Step 5 Landing Landing can be performed in the following ways Auto landing Select either the red away from home position or blue at or near home position but...

Page 106: ... motors are off press Stop in the app to end the scan After the LiDAR sensor has stopped rotating insert a USB flash drive into either of the two USB ports to download the scan data When the transfer is complete the status LED will switch to a slow pulsing blue When this happens remove the USB flash drive 4 4 3 7 Step 7 Shut down To shut down the Hovermap turn off the Zoe or disconnect the Hoverma...

Page 107: ...6 35 lbs Maximum payload 6 5 kg 14 33 lbs Minimum standard empty weight 4 4 kg 9 7 lbs Maximum top mount limit payload 2 kg 4 4 lbs 4 5 3 Flight limitations It is important that you are aware of and follow the regulations for flying a drone in the country of operation 4 5 3 1 No fly zones For more information on no fly zones and their specific restrictions please contact your local authorities War...

Page 108: ... The reference datum for determining the center of gravity limits for Zoe is determined as follows The reference datum is located at the point where the three cross sectional planes intersect each other The XY plane is located on the bottom of the centerpiece of the Zoe The bottom of the 3D carbon part supports the landing gear bracket damping Due to the symmetry of the Zoe the vertical reference ...

Page 109: ...Hovermap Zoe user manual Release date 01 Nov 2021 Revision 1 0 96 ...

Page 110: ...p Zoe user manual Release date 01 Nov 2021 Revision 1 0 97 Table 9 Center of gravity limits Zoe center of gravity Left right 0 mm Aft 2 mm Up 30 mm Longitudinal center of gravity limits Forward 25 mm Aft 25 mm ...

Page 111: ... position determine a vertical line through the balancing edge Find a different edge to balance the drone in the same view Again find its balance point as described above Determine a vertical line once the balance point is found The point where the two lines meet is the center of gravity from the front or back view Now turn your drone 45 degrees so that you have a side view Repeat the above step a...

Page 112: ...oltage 21 0 V Maximum pitch roll angle 45 from horizontal Maximum yaw rate 150 second Maximum airspeed 76 km h 41 knots Flight modes Hovermap mode Loiter GPS mode Altitude Hold Attitude mode Typical ascent 5 m s Typical descent 4 m s Hovering accuracy Vertical 0 5 m Horizontal 1 5 m Return to home cruise speed Variable adjustable 3 m s to 9 m s Top mount limitations Maximum airspeed 36 km h 19 kno...

Page 113: ... 0 V Failsafe 1 autonomous return to home voltage 21 0 V Failsafe 2 autonomous land voltage 20 V 4 5 7 Range limitations 4 5 7 1 Command and control link Table 12 Command and control link limitations Maximum altitude range 1 km Maximum operating range 1 km visual line of sight extended visual line of sight Maximum flight endurance 40 minutes visual line of sight by EASA standards 500 m ...

Page 114: ...temperature with a nominal wind speed of 8 knots while hovering at a height of 5 meters above ground Zoe is placed back on the ground with 10 battery capacity left Batteries are standard with Amass AS150 Positive and XT150 Negative connectors 4 5 8 Environmental limitations Table 13 Environmental limitations Maximum operating temperature 50 C Minimum operating temperature 15 C Maximum flight endur...

Page 115: ...go with other systems The Hovermap system has been designed to be either within line of sight or completely without operator input and out of sight As such Hovermap provides a range of operational smart failsafes to ensure safe and reliable operation These include Low Battery RTH Critical Battery Autolanding Remote Controller Communications Loss RTH Wi Fi Communications Loss RTH Heavy Dust Backtra...

Page 116: ...toring the vehicle s battery system and comparing it with the requirements of the return journey The Low Battery RTH failsafe is triggered at a calculated energy level This allows the drone to return to home with 30 battery capacity remaining on arrival This sometimes means that the system will initiate a return to home much earlier than at 30 battery For instance if the system is a long way from ...

Page 117: ... to the home position There are two ways to abort the Low Battery RTH failsafe If Wi Fi is available Press the Pilot Assist button This button is located in the Master Controls and the action will be confirmed by a secondary confirmation pop up screen With this action no further Low Battery RTH will be initiated by the system If Wi Fi is not available Double toggle the flight mode switch Toggle th...

Page 118: ...ncy landing at 10 battery capacity The system will say landing as an audible warning and will show Landing in the Hovermap status bar 4 6 1 3 Remote Controller Communications Loss RTH failsafe The Remote Controller Communications Loss RTH failsafe will automatically bring the drone back to the home position if the system senses that the link between the drone and the remote control has been lost a...

Page 119: ...always obvious when the function has been initiated but you will notice that the Waypoint UI will stop updating the real time point stream If the status is open in the display you may also notice that the HTTP status indicators TX and RX will not be illuminated The system will continue to go to any remaining waypoints set for the mission Once complete it will initiate an automatic return to home D...

Page 120: ...o the position that it is in without difficulty and should be able to get out again with a high degree of safety Any new object introduced into the return path such as someone moving toward the system may not be detected Make sure that the path remains clear After the initial short period of time Hovermap will reinitiate its SLAM perception and check to see if the dust has gone If the system can g...

Page 121: ...move around for a few seconds but control authority will return to normal A critical red Lost SLAM alert will show in the Hovermap status bar It will remain there for the duration of the flight Following a SLAM loss event the SLAM navigation method is unreliable and could lead to unstable flight For this reason a SLAM Unreliable warning will continue to be shown for the remainder of the flight The...

Page 122: ...od will revert to the selected secondary method In outdoors flights with GPS set as the secondary navigation method this will result in a stable GPS assisted hover With HVM INS set as the secondary navigation method the system will be placed in an emergency hover In this case you will have reduced control authority You should maintain vigilance and correct any drift The system will take action to ...

Page 123: ...vermap App will display a warning and will prevent you from starting any new autonomous operations Even if the system is power cycled the LiDAR error lockout will remain Figure 45 LiDAR error warning Contact Customer Success to report a LiDAR error In the event of a LiDAR error please contact Customer Success5 to verify the functionality of your system We will need to collect your tablet and fligh...

Page 124: ...has exhausted all options after around 20 seconds it will give up on the waypoint as an impossible waypoint and clear it from the mission The waypoint will disappear from the Waypoint UI Hovermap will then continue to the next waypoint If no further waypoints are set Hovermap will hover in place until a new waypoint is added or another failsafe is triggered 4 6 2 Zoe failsafes 4 6 2 1 Return to La...

Page 125: ...ically return to the flight mode that was active before the failsafe was triggered It will not automatically return to the flight mode that was active before the failsafe was triggered If you want to switch back to the previous flight mode flick the flight mode switch to another position and then back to the desired mode Note Zoe is not able to avoid obstacles during Return to Launch failsafe Ther...

Page 126: ... controls will be sensitive and the drone will move at greater speed Contact Customer Success6 with flight logs and scan data for more detail about any errors encountered For more information about specific notifications refer to the following sections 4 6 3 1 Notifications Critical errors Critical errors are shown in red and are accompanied by an audible harsh beep beep sound They indicate that t...

Page 127: ...ach a geofence The drone will lose VESH protection As above Lost SLAM SLAM has been lost The SLAM loss failsafe should be triggered and the drone should revert to its backup navigation mode Hovermap will reduce user input to attempt SLAM recovery Give SLAM a short amount of time to recover If it is recovered fly home in Pliot Assist mode If the drone is drifting or not holding position switch to d...

Page 128: ... failsafe is imminent If in Hovermap mode The drone will do an emergency descent If in drone control mode The drone will stay in the air until lands at 10 Poisition the drone so that it lands safely Avoid draining the battery to this level in future as it damages the battery Landing Battery Exhausted Battery fault This indicates either a critically low battery charge or a high battery temperature ...

Page 129: ...us Warnings Present The drone is reporting that it is in a critical state A pop up warning will tell you what the problem is Because the drone itself is telling you that it has a probelm land it as soon as possible Not Ready Hovermap is not ready or hasn t passed preflight checks and is airborne Assisted flight is not available Land the drone Be patient next time Wait until Hovermap is ready and t...

Page 130: ...he battery is very low It wants to return to home but is not doing that yet for some reason for example if you have aborted the failsafe Hovermap will try to trigger Low Battery RTH failsafe The system will attempt to return home automatically Make your way home If you wait too long the drone may not make it UNKNOWN ERROR The Hovermap App has received an error it doesn t understand Drone behavior ...

Page 131: ...lsafe will be triggered Autonomous Waypoint mode does not use this failsafe Observe the system performance Intervene if required by changing the flight mode to Pilot Assist mode or drone control mode in that order SLAM Unreliable SLAM was lost and has now been recovered SLAM navigation is now unreliable This could lead to unstable flight Bring the drone home in Pilot Assist mode recommended or gui...

Page 132: ...Aircraft Disconnected This indicates that the system is not receiving Ardupilot information through the USB connection to controller The drone will operate but you will not have Ardupilot data Ascertain why it is not connected Has the USB cable fallen out or been damaged You will still be able to operate the system with the remote control or with Wi Fi in Autonomous Waypoint mode Cautions Cautions...

Page 133: ...oard SDK Activation Failed Onboard activation has failed This means that Hovermap is no longer talking to the drone Refer to SDK activation with the DJI M300 and Hovermap7 for more information on how to activate the SDK Dust Failsafe Triggered You will receive this is the notification when the Heavy Dust Backtrack failsafe is triggered Refer to the Heavy Dust Backtrack Failsafe section for more in...

Page 134: ...llers will stop turning and the drone will start to fall In this situation you will have no control This could happen for a number of reasons Flight battery failure of both batteries Shorting of the flight battery Flight controller failure either the flight controller itself or the PMU might experience a failure In this situation do the following Stay away from the drone if the batteries have caug...

Page 135: ... the situation Don t do anything drastic such as cutting off power immediately If Zoe moves without any input from the controller there may be a number of reasons for this IMU calibration If the drone is slowly drifting without any controller input the IMU will need to be recalibrated Land Zoe normally and then contact Customer Success9 Use the controller If Zoe moves violently try correcting it u...

Page 136: ... motors have not stopped after the drone has hit the ground switch to Altitude Hold mode and hold the throttle down until the motors have stopped Stay away from the drone if the batteries have caught fire Call the local emergency number if anyone has been hurt If the drone does not show any smoke or fire take the batteries out of the drone as soon as possible Inform your local air force authority ...

Page 137: ... 2 Maintenance schedule It is recommended that you perform an extensive maintenance check after every 160 hours of operation or after 350 flights Other maintenance intervals are outlined in the following table Table 17 Zoe maintenance schedule Every flight Every day of operation 50 hour s 160 hours 300 flights 320 hours 600 flights 480 hours 900 flights 640 hours 1200 flights If required after pre...

Page 138: ...320 hours 600 flights 480 hours 900 flights 640 hours 1200 flights If required after pre post flight check Airframe extensive check Arm replacement Airframe repair replacement Battery connector insert check Battery connector insert replacement Retractable landing gear servo replacement Propeller maintenance Visual check Propeller track ...

Page 139: ...hts 320 hours 600 flights 480 hours 900 flights 640 hours 1200 flights If required after pre post flight check Balancing the propeller Propeller replacement Propeller edge cleaning Motor maintenance Motor check Motor cleaning Motor bearing replacement Motor replacement ESC maintenance ESC check ESC replacement Autopilot maintenance ...

Page 140: ...eplacement 5 2 1 Zoe flight checks 5 2 1 1 Preflight check Refer to the Standard Operating Procedures section for more information 5 2 1 2 Post flight check Refer to the Standard Operating Procedures section for more information 5 2 2 Airframe maintenance 5 2 2 1 Airframe check It is recommended that you perform a visual check of the airframe before any operation Perform this check as follows Chec...

Page 141: ...ll fixtures of the arm for any cracks on the edges Check that all fasteners are tightened There is no need to overtighten them Check the LED for any cracks or for loose cable or components around the motor Check the connectors of the motors for any damage If the connectors appear burnt try to clear them Do this by using a piece of sandpaper 1 mm thick on the connectors to polish the metal Check th...

Page 142: ...ten them Check that the wire dampers are still in their correct position 5 2 2 3 Arm replacement If you detect any damage or crack during an airframe check please contact Customer Success16 to replace the arm 5 2 2 4 Airframe repair replacement If there is any damage or deformation in the center frame of the landing gear damping please contact Customer Success17 5 2 2 5 Battery connector insert ch...

Page 143: ...moves along the indication tool Mark the position of that tip as well If the propeller track the distance between the marks is more than 4 mm check the propeller for any deformation or imbalance If the propeller is deformed or damaged please replace the propeller If the propeller is ok there may be some play in the motor or deformation of the motor mount In this case do the following Check the mot...

Page 144: ...ith low strength threadlocker applied Hand tighten the DIN7984 bolts 5 2 4 Motor maintenance The brushless motors of the Zoe require very little maintenance It is not recommended that you disassemble any of the motors as it may damage them However the motors are sensitive to dirt and saltwater Keep these environmental conditions in mind when performing the following procedures 5 2 4 1 Motor check ...

Page 145: ...his check every time the airframe is disassembled or at least every 50 flight hours 5 2 4 2 Motor cleaning It is important that you keep the motor clean from dust and water Remove dust using a compressed air gun Point this at the core of the motor with a distance of 15 cm Water cannot access the motor core in normal operation or in rainy environments If water does get into the motor do not use an ...

Page 146: ...esn t go away after a second reboot contact Customer Success26 5 2 5 2 Performance check During the preflight check you will be able to verify whether an ESC is functioning properly by starting the motors If a motor doesn t start up or it grinds to a halt when running idle disarm the drone and stop the operation 5 2 5 3 ESC replacement An ESC should be replaced after 640 flight hours Contact Custo...

Page 147: ...S compass calibration It is recommended that you perform a compass calibration at least every 50 hours of operation as well as at any new flight location that is at least is 1500 km away from the original calibration This is especially important when using Zoe in different countries Sometimes this requires physically repositioning the GPS Contact Customer Success29 if you experience GPS problems 5...

Page 148: ... charging Check the battery cell voltages before each charge session to ensure they are at or above the minimum safe starting voltage If the starting voltage is below recommended levels the batteries have been over discharged or have experienced a failure In this case they should not be charged Check the battery before charging for any type of damage Check the battery packaging wires and connector...

Page 149: ...0 C during discharge Never discharge batteries to a voltage below that rated by the manufacturer when measured under load connected to the vehicle or a charger capable of discharge Batteries discharged to a voltage lower than the lowest approved voltage may be damaged resulting in loss of performance or potential fire when they are charged Never discharge the battery to a level below 3 V per cell ...

Page 150: ...ould be stored in temperature conditions between 10 C and 45 C When storing batteries for longer periods over 3 months store them in the following conditions Temperature 18 C to 28 C Humidity 65 20 relative humidity The voltage for long term storage should be 3 6 V to 3 9 V per cell Disconnect batteries when not in use Store batteries in a non conductive and fireproof container ...

Page 151: ...al shop Release date 01 Nov 2021 Revision 1 0 138 6 Support Our Customer Success team is here to help you at every stage of your Hovermap experience If you have any questions concerns or technical issues please visit our Customer Portal31 From here you can Contact our support team32 Report an incident33 Suggest a new feature34 Download35 the latest firmware and software updates Access our Knowledg...

Page 152: ...ile ESC Electronic speed controller FPV First person view GCS Ground control station GPS Global positioning system IMU Inertial measurement unit INS A secondary navigation mode This is a good mode to use either below ground or indoors This method relies on the IMU LiDAR Light detection and ranging LiPo battery Lithium ion polymer battery mph meters per second mps miles per hour PMU Power managemen...

Page 153: ... Definition RTL Return to launch RTH Return to home RX Receive SDK Software development kit SLAM Simultaneous localization and mapping TX Transmit UI User interface UTC Coordinated universal time VESH Virtual ellipsoid shield Provides collision detection and avoidance capabilities ...

Page 154: ...PREPARED BY EMESENT PTY LTD LEVEL G BUILDING 4 KINGS ROW OFFICE PARK 40 52 MCDOUGALL ST MILTON QLD 4064 AUSTRALIA EMAIL INFO EMESENT IO PHONE 61 7 3548 9494 ...

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