Gatewing X100UAS System Manual Download Page 204

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2.0

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12 October 2012

In case of

Emergencies

23.2.10 Aircraft in ZoO diverging from the X100

Scenario:
An aircraft enters the ZoO at approximately the same height as the X100. The flight path of the

aircraft is diverging from the flight path of the X100.

Assess the situation. Take into account the location, course and speed of the X100 and of

the intruding aircraft.

Issue the GO HERE, RIGHT, LEFT or HOLD command to move the X100 to a safe posi

tion.

Release the command when the aircraft has left the ZoO. The X100 will resume its map

ping process.

23.2.11 Aircraft in ZoO intercepting the X100

Scenario:
An aircraft enters the ZoO at approximately the same height as the X100. The flight path of the

aircraft is intercepting the X100.

Assess the situation. Take into account the location, course and speed of the X100 and of

the intruding aircraft.

Issue the GO HERE, RIGHT, LEFT or HOME command to move the X100 to a safe posi

tion.

Release the command when the aircraft has left the ZoO. The X100 will resume its map

ping process.

If the situation is too critical (e.g. fast moving aircraft) issue the FTS command to immedi

ately abort the flight and put the X100 in an orbit towards the terrain.

23.2.12 Aircraft in ZoO approaching the X100 head-on

Scenario:
An aircraft enters the ZoO at approximately the same height as the X100. The aircraft

approaches the X100 head-on.

Assess the situation. Take into account the location, course and speed of the X100 and of

the intruding aircraft.

Issue the RIGHT command to move the X100 to a safe position (well known rule in avia

tion).

Release the RIGHT command when the aircraft has left the ZoO. The X100 will resume

its mapping process.

If the situation is too critical (e.g. fast moving aircraft) issue the FTS command to immedi

ately abort the flight and put the X100 in an orbit towards the terrain.

23.2.13 Aircraft in ZoO intending to land

A landing aircraft has at all times priority over the X100. Never assume that the aircraft

has noticed the X100. Take the necessary safety measures depending on the situation.

Summary of Contents for X100UAS

Page 1: ...X100 SYSTEM MANUAL X100 UAS ...

Page 2: ......

Page 3: ...tation of numbers 15 1 3 Units 16 General 16 Aviation 16 1 4 Conversion table 17 2 X100 19 2 1 General 19 UAS 19 Autonomous trajectory control 19 Image acquisition 20 GCS 20 3 X100 parts 21 3 1 X100 21 3 2 X100 body zones 22 3 3 X100construction 23 Composition 23 Load capability 23 ...

Page 4: ...ips 36 3 9 Check the elevons and elevon servos 37 3 10 Check the elevon response 37 4 Operating specifications 41 4 1 ISA conditions 41 International Standard Atmosphere 41 X100 conditions 41 4 2 X100 specifications 42 Power 42 Angles 42 Altitudes 42 Speeds 43 Dimensions 43 4 3 Gatewing modem specifications 44 5 Operating limitations 45 5 1 Operating Limitations 45 What 45 Overview 45 5 2 Image ac...

Page 5: ...rcuit 50 Gliding number 51 Air pressure during landing 51 Landing above the launching elevation 52 Landing below the launching elevation 53 Ground effect 54 7 Camera 55 7 1 Camera parts 55 7 2 Camera specifications 56 7 3 Assemble the camera 57 7 4 Set up the camera 57 Set key addressing off 57 Set up auto power off 57 8 eBox 59 8 1 eBox parts 59 8 2 Mount an eBox in the X100 60 8 3 Remove an eBox...

Page 6: ...ox 68 9 3 Screw the data link antenna on the eBox 68 10 Motor 71 10 1 Motor parts 71 Motor details 72 Propeller details 72 10 2 To check the propeller 72 10 3 To replace the propeller blades 73 10 4 Check the position of the propeller blades 74 11 Launcher 75 11 1 X100 launcher 75 Launch slide parts 76 X100 launcher bag 77 11 2 Assemble the launcher 77 11 3 Disassemble the launcher 82 11 4 Mount t...

Page 7: ... 9 Mount a charged battery in the X100 97 12 10 Remove a battery from the X100 98 13 Ground control station 99 13 1 Ground control station GCS 99 13 2 Modem 100 Modem details 101 13 3 Prepare the GCS for flight 101 14 Tracker 103 14 1 Tinyloc tracking system parts 103 14 2 F22 transmitter specifications 104 14 3 R1 receiver specifications 105 14 4 R1 receiver screen components 106 14 5 Power on of...

Page 8: ...field 113 16 1 What 113 16 2 Custom map 113 What 113 When 113 Format 113 zip file 114 jpg or png file 114 16 3 Project area 114 16 4 Scan area 114 16 5 Flight plan 115 What 115 Parameters 115 16 6 Flight and scan lines 115 Flight line 115 Scan line 115 16 7 Create a project 116 16 8 Create a flight plan 117 Scan area properties 119 17 Horizon 121 17 1 What 121 17 2 User interface 121 17 3 Simulate...

Page 9: ...S field 128 READY field 128 17 9 Monitor the battery voltage of the X100 129 MPBat field 129 17 10 Arm the GCS 129 17 11 Monitor the flight 130 17 12 Monitor the landing 131 17 13 End a flight 131 18 Datalog Viewer 133 18 1 What 133 18 2 Download the log files 133 18 3 Collect and save the log files 134 19 Prepare for flight 137 19 1 Operational planning 137 Check your flight permission 137 Check ...

Page 10: ...the X100 157 Upload the flight plan to the X100 158 19 5 Preparation of the X100 for launch 159 Establish a wireless link between the GCS and the X100 159 Screw the GPS antenna on the eBox 160 Prepare the camera settings for flight 161 Mount the camera in the aircraft 163 Put an F22 transmitter in the X100 163 Seal the payload bay with the top cover 165 19 6 Launch 165 Assemble the launcher 165 Mo...

Page 11: ...2 Pictures 185 Remove the camera from the aircraft 185 Check the pictures on the camera 186 21 3 Clearing the site 186 Remove a battery from the X100 186 Remove an eBox from the X100 186 Disassemble the launcher 187 22 Safety 191 22 1 Definitions 191 Above ground level 191 HALP 191 Zone of operation 191 A crash 191 22 2 Obstacle clearances 192 Definition 192 Obstacles 192 Obstacle clearances for t...

Page 12: ...ht 200 Handle undershoot in the final leg of the landing 200 Handle overshoot in the final leg of the landing 200 23 2 Emergencies 201 Emergency scenarios 201 FTS command 201 HOLD command 201 HOME command 202 LAND command 202 GS_UP S command 203 Obstacles during takeoff 203 Aircraft in ZoO not intending to cross the scan area 203 Aircraft in ZoO converging to the X100 203 Aircraft in ZoO diverging...

Page 13: ...2 0 13 12 October 2012 24 Maintenance 209 24 1 Update the Autopilot settings file 209 ...

Page 14: ...2 0 14 12 October 2012 ...

Page 15: ...reproduced stored in a retrieval system or transmitted in any form or by any means whether electronic mechanical or otherwise without the prior written permission of Gatewing Gatewing NV Ottergemsesteenweg 439 11 B9000 Gent Belgium TEL 3293350515 FAX 32 9 335 88 03 www gatewing com mail documentation gatewing com 1 2 Notation of numbers Numbers are expressed in Arabic numbers Decimals are expresse...

Page 16: ...ion SI unit Alternative unit Gatewing Pressure hectopascal hPa inHg hPa Weight kilogram kg pound lbs kg Moment force Newton meter Nm Nm Temperature Kelvin K degree Celsius C degree Fahrenheit F C Distance meter m feet ft m Dimension ICAO Alternative Gatewing Wind speed knot kt km h km h Wind direction 360 degree 400 degree 360 Horizontal visibility meter m Statute Mile SM m Horizontal distance Nau...

Page 17: ... table 1 4 Conversion table You can use the following conversion table 1 kg 2 2 lb 1 lb 0 45 kg x K x 273 15 C x C x 273 15 K 1 NM 1 852 km 1 km 0 54 NM 1 SM 1 609 km 1 km 0 6215 SM 1 ft 0 3 m 1 m 3 28 ft 1 kt 1 852 km h 1 km h 0 54 kt 1 atmosphere 1013 hPa ...

Page 18: ...2 0 18 12 October 2012 Terms and conventions Conversion table ...

Page 19: ... typical RPAS consists of the following elements Remotely Piloted Aircraft RPA Ground Control System GCS The remote pilot Other related support equipment e g launcher 2 1 2 Autonomous trajectory control What The aircraft follows a preprogrammed path where take off flight and landing require minimal human intervention High level commands human activated or automatically activated in case of failure...

Page 20: ... creation Digital Elevation Model DEM or Digital Surface Model DSM Photogrammetry 2 1 4 GCS What A Ground Control Station GCS is a land or sea based control center that provides the facil ities for human control of remotely piloted aircrafts in the air or in space X100 You can control the X100 with the Trimble tablet PC GCS Although the X100 is automatic you need the GCS to manage the aircraft bef...

Page 21: ...2 0 21 12 October 2012 3 X100 PARTS 3 1 X100 The X100 case contains the following items Entry Part A X100 body B Download cable C Spare parts D Modem and antenna ...

Page 22: ...12 X100 parts X100 body zones 3 2 X100 body zones The body of the X100 consists of the following zones E Ground control station F Checklist G Batteries H Battery charger Entry Part Entry Zone A Tail B Wing C Wingtip D Nose ...

Page 23: ...many other parts are molded or printed plastics 3 3 2 Load capability The wing has been designed to withstand a 15 g launch acceleration experimentally tested wing handling forces and landing impacts both from experience learned during hundreds of flights that are a multiple of inflight flight loads This is achieved by having an EPP structure with an internal carbon frame and rigid carbon elevonds...

Page 24: ...2 0 24 12 October 2012 X100 parts X100 body parts 3 4 X100 body parts The X100 body consists of the following parts Entry Part A Elevons B eBox bay ...

Page 25: ...2 0 25 12 October 2012 X100 parts X100 body parts C Payload bay D Motor E Pitot bay F Camera hole G Launcher slat H Elevon servo bay Entry Part ...

Page 26: ...26 12 October 2012 X100 parts X100 body parts 3 4 1 eBox bay parts The eBox bay on the X100 body consists of the following parts Entry Part A Motor cables power and control B Pressure tube C eBox connector ...

Page 27: ...2 0 27 12 October 2012 X100 parts X100 body parts 3 4 2 Elevon servo bay parts The elevon servo bay on the X100 body consists of the following parts D Front eBox screw E Rear eBox screw Entry Part ...

Page 28: ...parts Servo details 3 4 3 Payload bay The payload bay on the X100 body consists of the following parts Entry Part A Elevon servo fix with two screws B Servo rod C Servo bay top cover servo connector inside Specification Value manufacturer HF type ...

Page 29: ...r The payload bay is sealed with a top cover that can be secured with a plastic screw A Entry Part A USB camera wire with USB camera connector B Download connector C Battery connector D Registration plate E Payload bay screw F Camera compartment G Camera hole ...

Page 30: ...p cover with plastic screw Flat bladed screwdriver 1 Make sure no connectors or cables are hanging over the edge of the payload bay 2 Place the top cover on the payload bay of the X100 body 3 Using the flat bladed screwdriver secure the top cover with the plastic screw CAUTION Tighten it hand tight do not overstrain ...

Page 31: ...bay of the X100 body consists of the following parts Cover the pitot tube PREREQUISITES X100 body Pitot cover The pitot tube needs to be covered when The X100 is in its case The X100 is on the dock before the airspeed is being reset Entry Part A Pitot clamp B Pitot tube C Pitot cover ...

Page 32: ...h the pitot cover Remove the pitot cover PREREQUISITES X100 body The pitot cover needs to be removed from the pitot tube before flight DANGER Not removing the pitot cover will result in a crash when launching the X100 1 Remove the pitot cover from the pitot tube RESULT The pitot tube is clear an can be used to measure the airspeed ...

Page 33: ...2 0 33 12 October 2012 X100 parts X100 body parts 3 4 5 Launcher slat parts The launcher slat on the X100 body consists of the following parts Entry Part A Slat B Wing lock ...

Page 34: ...ble The download cable is used to download the log files from the X100 to the GCS It consists of the following parts 3 6 Check the X100 body PREREQUISITES Soft brush and water Repairing materials prescribed by Gatewing Entry Part A Serial connector B X100 connector ...

Page 35: ... 2 Check the body for cracks and repair them as prescribed by Gatewing When in doubt contact Gatewing or your local dealer CAUTION Make sure the surface of the body is smooth after repairing the crack Changing the shape of the body changes the aerodynamics of the aircraft 3 7 Check the pitot tube The pitot tube must be in perfect condition as it is used during flight by the X100 to measure the tot...

Page 36: ...g is blocking it 3 8 Check the wingtips PREREQUISITES Screwdriver torx T10 The wingtips must be firmly attached to the X100 body to prevent roll stability problems wingtip vortices 1 Make sure the wingtips are intact 2 Make sure each wingtip is firmly attached with two screws to the X100 body ...

Page 37: ... checking for any irregularities like glitches or cracks 3 Check if the elevon rods are still well connected to the elevon servo and elevon servo fix 4 Check if the servo nuts are still tightened 3 10 Check the elevon response PREREQUISITES GCS with Gatewing Horizon artificial horizon indicator Wireless link between GCS and X100 LINK field green If the elevons are not responding correctly the X100...

Page 38: ...2 0 38 12 October 2012 X100 parts Check the elevon response Position Figure Position elevons Level Both elevons are level Pitch up Both elevons will go down Pitch down Both elevons will go up ...

Page 39: ... response 2 Check if the elevons are moving up and down regarding the roll position Roll left The left elevon will go up the right elevon will go down Roll right The left elevon will go down the right elevon will go up Position Figure Position elevons ...

Page 40: ...2 0 40 12 October 2012 X100 parts Check the elevon response ...

Page 41: ...ndard Atmo sphere ISA conditions Established in 1976 the International Standard Atmosphere ISA is a mathematical descrip tion of a theoretical column of air See ISA conditions for more information 4 1 2 X100 conditions The ISA conditions used to determine the X100 specifications are Specification Value Humidity 0 Air pressure 1013 25 hPa 760 mm Hg Temperature 15 C 59 F Air density 1 225 kg m ...

Page 42: ...ification Value Battery type Lithium polymer 11 1 V 8000 mAh Optimal battery usage time 40 minutes ISA Specification Value Launch angle 24 Minimum take off angle 8 Angle of attack 6 Gliding angle 7 125 Gliding number 1 8 Specification Value according ISA Minimum flight height 100 m AGL 328 ft AGL Maximum flight height 750 m AGL 2460 ft AGL Cruise height 150 m AGL 492 ft AGL Maximum operational cei...

Page 43: ... not change during flight CAUTION Any deviation leading to a different MTOW must be approved by Gatewing Specification Value Launcher speed VR 60 km h 32 4 kt or 37 3 SM h at 16 Nm launcher force Cruise speed 80 km h 43 2 kt or 49 8 SM h Maximum speed VMO 110 km h 60 kt or 68 3 SM h Landing speed 60 km h 32 4 kt or 37 3 SM h Stall speed 45 km h 24 3 kt or 28 SM h Specification Value Maximum Take O...

Page 44: ... October 2012 Operating specifications Gatewing modem specifications 4 3 Gatewing modem specifications The Gatewing modem has the following specifications Specification Value Maximum range 5 km 2 7 NM or 3 1 SM ...

Page 45: ...rt the mission 5 1 2 Overview Gatewing determined the following conditions as maximal flight conditions Condition Maxima Time Between sunrise and sunset Distance from clouds Clear of clouds and in sight of the surface Flight visibility 5000 m 3 1 SM Operator UAS visibility Visual Line of Sight VLOS Precipitation avoid hail snow and heavy showers Maximal Head wind 65 km h 40mph Maximal Cross wind 6...

Page 46: ...ft itself can cope with heavy weather conditions the main issue besides safety is the quality of the pictures 5 2 2 Overview Gatewing determined the following weather maxima to ensure a good picture quality during acquisition CAUTION Gatewing can not guarantee a good picture quality when flying in conditions beyond those described above Maximal altitude 2500m AMSL Maximum Endurance ISA conditions ...

Page 47: ...ircraft detects the accelera tion and starts its engine generating thrust 6 2 2 Take off The aircraft must gain maximum airspeed during take off to acquire maximum lift 6 2 3 Air pressure at launch When resetting the airspeed before launching the aircraft the current static air pressure is used as reference to calculate the heights and airspeeds during flight This means that this reference is 0 m ...

Page 48: ...he route and the wind direction crab angle This way the X100 will Fly a stable course along the flight path Be well positioned to take pictures Use less battery energy to make turns When flying with crosswinds above 50 km h 6 bft the aircraft has a crab angle above 30 which will result in an unstable flight This has the following consequences for the image acqui sition Reduced picture quality Over...

Page 49: ...rue height the actual height of the aircraft will be lower but this will not be shown on the altimeter No new results are put in CAUTION Mind the 25 m vertical separation when there is a high risk of air pressure drops Pressure rise If the air pressure suddenly rises during cruise flight the X100 will climb in height Sudden air pressure drops The air pressure can drop suddenly When there are big d...

Page 50: ...g down to 75 m AGL with a 150 m radius From this moment on the procedure for landing is initiated 6 6 Landing 6 6 1 Landing circuit Once the landing is initiated the aircraft follows either a left hand circuit or a right hand circuit Left hand circuit The aircraft turns to base with a final turn to the left Right hand circuit The aircraft turns to base with a final turn to the right ...

Page 51: ... will always aim for the landing point Once the aircraft passed the point or the level under or overshoot it will continue in glide phase 6 6 3 Air pressure during landing Pressure drop If the air pressure drops during the whole flight the pictures will have a different size offset The altimeter is set by a given reference and follows that reference If the reference line has changed compared to it...

Page 52: ...er than the launching elevation the X100 assumes its landing point located on the zero elevation as seen from the initialization point airspeed reset while the defined point is on an elevation of x m above the zero elevation There will be an undershoot landing Elevation difference between launch and landing location Consequences 10 m above the launching point The X100 will have flared already Land...

Page 53: ...ng point located lower than the launching elevation the X100 assumes its landing point is located on the zero elevation while the desired landing point is located x m below the zero elevation There will be overshoot and because the aircraft starts to flare at 10 m above the launching point it will stall and crash NOTE We assume equal pressure during the flight Example of landing point located belo...

Page 54: ... its wingspan there is often a noticeable ground effect This is caused primarily by the ground interrupting the wingtip vortices behind the wing With the wings close to the ground wingtip vortices are unable to form effectively due to the obstruction of the ground This results in lower induced drag which increases the speed and lift of the aircraft ...

Page 55: ...2 0 55 12 October 2012 7 CAMERA 7 1 Camera parts The Ricoh camera consists of the following parts A D E B F G I H C H ...

Page 56: ...al B Up down dial C Ring cap D GH 2 adaptor for general purposes E UV filter 43 mm diameter F MENU OK button G ADJ lever H DISP button Specification Value Effective pixels 10 million Image sensor 1 1 7 Focal length 6 0 mm F aperture 1 9 9 Shutter speed 1 2000 max ISO sensitivity 80 3200 Display 3 0 LCD Dimensions 108 6 x 59 8 x 32 5 mm Weight 190 g ...

Page 57: ...he SD card slot of the Ricoh camera 6 Insert the charged battery in the battery compartment of the Ricoh camera 7 4 Set up the camera When you receive the Ricoh camera it is already set up by Gatewing If you have reset the camera please set the following parameters Set key addressing off Set up auto power off 7 4 1 Set key addressing off 1 Press the MENU OK button to enter the menu 2 Select Key Cu...

Page 58: ...2 0 58 12 October 2012 Camera Set up the camera 4 Press right once to see the possible values 5 Select 1 minute 6 Press the MENU OK button to confirm ...

Page 59: ...2 0 59 12 October 2012 8 EBOX 8 1 eBox parts The eBox consists of the following parts A B C E D ...

Page 60: ...onnector in the eBox bay 3 Using the screwdriver secure the eBox with the two screws 8 3 Remove an eBox from the X100 PREREQUISITES X100 with mounted eBox Ratcheting screwdriver The eBox must be removed correctly from the X100 1 Remove the two screws securing the eBox in the eBox bay 2 Unplug the eBox from the eBox connector 3 Disconnect the pressure connector from the pressure tube Entry Part A R...

Page 61: ...2 0 61 12 October 2012 eBox eBox modes 8 4 eBox modes The X100 eBox can be in one of the following modes ...

Page 62: ... the battery to the X100 RESULT The X100 is in STANDBY mode On the eBox the READY LED is blinking 8 6 Put the X100 in ON mode PREREQUISITES X100 prepared for flight with eBox in STANDBY mode Fixed GPS position Radio link between GCS and X100 Mode Description OFF The battery is not connected STANDBY The battery is connected ON The sensors and general settings are initialized ARMED The aircraft is r...

Page 63: ...re the X100 does not move during initialization RESULT The X100 is in ON mode On the eBox the READY LED is lit and the ON LED is blinking 8 7 Put the X100 in ARMED mode PREREQUISITES X100 prepared for flight with eBox in ON mode To prepare the X100 for launch it must be put in ARMED mode You can only go to ARMED mode once per powered cycle 1 Hold down the CONTROL button until the ON LED has flashe...

Page 64: ... GCS and X100 Sometimes it is necessary to reinitialize the X100 e g when the airspeed sensor has been reset During a POWER CYCLE the X100 performs the following actions Acquire a new GPS lock Check the elevons and put them in zero position Initialize the internal sensors airspeed sensor accelerometers altitude pressure sensor gyros of the eBox Download the flight plan to your GCS Horizon 1 Hold d...

Page 65: ...to put the aircraft in OFF mode Doing this starting from the ON or ARMED mode will result in an error when re initial izing the X100 1 Disconnect the eBox from the battery RESULT The X100 is in OFF mode On the eBox no LEDs are lit 8 12 Make the X100 exit ERROR mode PREREQUISITES X100 with eBox in ERROR mode When the X100 is in ERROR mode this is indicated by one of the following ON and READY LED b...

Page 66: ...2 0 66 12 October 2012 eBox Make the X100 exit ERROR mode ...

Page 67: ...2 0 67 12 October 2012 9 ANTENNAS 9 1 Antenna types The following antennas are screwed on the eBox Entry Type A Data link antenna B GPS antenna ...

Page 68: ... clockwise onto the GPS antenna connector of the eBox NOTE Tighten it hand tight do not overstrain NOTE To remove the GPS antenna from the eBox unscrew it counterclockwise 9 3 Screw the data link antenna on the eBox PREREQUISITES Data link antenna eBox The data link antenna must be screwed onto the eBox to ensure a wireless RF link between the GCS and the X100 1 Click and screw the data link anten...

Page 69: ...2 0 69 12 October 2012 Antennas Screw the data link antenna on the eBox NOTE Tighten it hand tight do not overstrain NOTE To remove the data link antenna from the eBox unscrew it counterclockwise ...

Page 70: ...2 0 70 12 October 2012 Antennas Screw the data link antenna on the eBox ...

Page 71: ... 12 October 2012 10 MOTOR 10 1 Motor parts The motor of the X100 consists of the following parts Entry Part A Drive unit with electric engine and engine speed controller B Engine speed controller ESC C Screw ...

Page 72: ...amage 2 Check if the propeller nose is still firmly attached D Propeller blade E Propeller nose Entry Part Specification Value Motor Electric brushless 250 W pusher propeller Motor type MegaPlus AC 16 25 4 Electronic Speed Controller ESC ICE50 Castle Creations Battery type Lithium polymer 11 1 V 8000 mAh Optimal battery usage time 45 minutes Specification Value Manufacturer Aero naut propeller typ...

Page 73: ...t still be able to move 10 3 To replace the propeller blades PREREQUISITES Screwdriver New set of propeller blades The propeller blades need to be replaced when One of the blades is broken The edges of the blades are damaged 1 Using the screwdriver remove the old propeller blades 2 Mount the new propeller blades The propeller blades must be facing backwards The screws on the tips of the propeller ...

Page 74: ...heck the position of the propeller blades PREREQUISITES Armed launcher It is important that the propeller blades are positioned correctly to prevent damage during launch 1 Make sure the propeller blades are facing backwards This way they will not hit the launch dock during launch ...

Page 75: ...2 0 75 12 October 2012 11 LAUNCHER 11 1 X100 launcher The launcher for the X100 consists of the following parts Entry Part A Launch dock with lock pin B Crank C Safety pin D Launch handle ...

Page 76: ...de parts The launch slide for the X100 consists of the following parts E Launch slide F V support with lock pin G Support fix with two support fix pins Entry Part Entry Part A Release handles B Crank connector C Launch hook D Handles E Launch cable F Launch handle ...

Page 77: ... launcher bag consists of the following parts 11 2 Assemble the launcher PREREQUISITES Launcher bag Launch area Entry What Where A Launch dock Separate compartment B Launch slide Main compartment C Crank Side compartment D V support Side compartment E Safety pin Separate compartment ...

Page 78: ...ou have determined the launch location you can assemble the launcher 1 Take the launch slide out of the launcher bag 2 Unfold and secure the launch slide with the handles NOTE If a handle is too easy to close tighten the nut in the handle to increase the tension ...

Page 79: ... the V support with the lock pin 4 Attach the V support to the launch slide by inserting the support fix pins in the preserved holes situated at approximately 2 3 of the length of the launch slide and tightening the support fix 5 Pull the launch cable out of the launch slide ...

Page 80: ...ot tightened push the release handles upwards to unblock them Never do this when the elastics are tightened you will damage the elastics 6 Put the launch dock on the end of the launch slide and slide it over the launch hook at the beginning of the launch slide CAUTION Make sure the launch dock clicks into position ...

Page 81: ...ctober 2012 Launcher Assemble the launcher 7 Attach the launch cable to the launch dock with the lock pin CAUTION Make sure the launch cable is not tightened or twisted 8 Insert the safety pin into the launch dock ...

Page 82: ...nk Once the flight is done you can disassemble the launcher 1 Fix the crank between your ties 2 Release the force with the crank very gently while pulling the release handles upwards Make sure you counteract the force on the elastics It might be possible that you have to tighten the elastics a little bit so that you are able to pull the release handles upwards ...

Page 83: ... recommended that a second person connects the crank to the tightening system so the forces can be released gently 3 Remove the cables from the lock pin on the launch dock 4 Tighten the launcher so that the launch cable is back in the launch slide but the end remains out ...

Page 84: ...r Disassemble the launcher 5 Remove the launch dock from the launch slide 6 Detach the V support by turning the support upwards 7 Open the fixes on the launch slide 8 Fold the launch slide and put everything back in the launcher bag ...

Page 85: ...able It is important to mount the launcher in a correct way to ensure a proper launch and take off WARNING Never perform a launch when the launcher is armed without the X100 1 Make sure the safety pin is properly inserted in the launch dock and launch slide 2 Connect the crank to the tightening system NOTE The crank must be connected to the head of the screw and not to the bolt or nut ...

Page 86: ...n the outer end of the cable where it is attached to the yellow cord is situated between the seventh and the second to third hole from the top in the launch slide NOTE When using a torque wrench tighten the launcher up to 16 Nm WARNING The launch cable stretches out with every launch When you can easily reach the last hole when tightening the cable Gatewing recommends to replace the launch cable t...

Page 87: ...on the launch dock The lips of the launch dock must be inside the launcher slats WARNING Make sure both launcher slats rest completely on the launch dock and there are no obstructions between the X100 and the launch dock A bad placement of the X100 can result in an unsuccessful launch 6 Remove the crank from the launch slide ...

Page 88: ...tch and roll position to perform a successful launch 1 Make sure the X100 has a pitch angle between 20 and 30 on the artificial horizon indica tor NOTE If the pitch angle is not between 20 and 30 the X100 is not positioned correctly or there is an sensor malfunction 2 Make sure the horizon is positioned parallel to the X100 on the artificial horizon indicator NOTE If the horizon is not positioned ...

Page 89: ... is to remove the safety pin 1 Remove the safety pin from the launcher dock while standing behind the launcher away from the propeller of the X100 11 7 Launch the X100 PREREQUISITES Armed GCS X100 in ARMED mode on launcher with safety pin removed Once you are ready for departure and everything is clear in front above and behind you can launch the X100 1 Pull the launch handle while standing behind...

Page 90: ...2 0 90 12 October 2012 Launcher Launch the X100 ...

Page 91: ...2 0 91 12 October 2012 12 BATTERY 12 1 Battery parts The battery used in the X100 consists of the following parts Entry Part A Main power connector B Balancer connector C Battery ...

Page 92: ...g and keeps your battery in optimal condition 12 3 2 Operating manual Please read the Graupner Ultramat 14 plus charger Operating Manual carefully before using the charger for the first time You can find this manual on www graupner de Specification Value Type Lithium polymer Manufacturer KOKAM Nominal energy capacity 8000 mAh Nominal voltage 11 1 V Charge condition Maximum current 8 A Voltage 12 6...

Page 93: ...ltramat 14 plus charger consists of the following parts 12 5 Power on the battery charger PREREQUISITES Battery charger 12 V car battery or a 100 240 VAC power supply Entry Part A Display B Charger cable for X100 C Balancer connector D Enter Start button E Car battery cable F Power supply cable ...

Page 94: ...is complete or when an error occurred 4 The programmed settings for charging the battery of the X100 12 6 Battery charging parameters 12 6 1 Default parameters By default the display of the Graupner Ultramat 14 plus charger shows the following parame ters for the X100 battery LiPo manual C 5 0A 8000mAh DANGER The maximum charging current is limited to 5 A This value must be lower than the maximum ...

Page 95: ...he Graupner Ultramat 14 plus charger DANGER Wrong battery charging parameters can destroy your battery and cause it to catch fire or explode 2 Connect the charger cable to the Graupner Ultramat 14 plus charger WARNING Mind the polarity 3 Connect the balancer connector of the X100 battery to the Graupner Ultramat 14 plus charger WARNING Mind the polarity ...

Page 96: ...s automatically 12 8 Disconnect a charged battery PREREQUISITES Graupner Ultramat 14 plus charger with charged X100 battery When a battery is fully charged the Graupner Ultramat 14 plus charger produces an audible signal and stops charging automatically You can leave the battery connected to the battery charger for as long as you want to It will not discharge If you want to stop the charging proce...

Page 97: ...r Ultramat 14 plus charger from the X100 battery 3 Disconnect the balancer connector of the X100 battery from the Graupner Ultramat 14 plus charger 12 9 Mount a charged battery in the X100 PREREQUISITES X100 body with mounted eBox Fully charged battery 1 Remove the top cover from the payload bay of the X100 body ...

Page 98: ...STEP RESULT The eBox will generate a confirmation tone to indicate the battery is connected RESULT The X100 is in STANDBY mode 12 10 Remove a battery from the X100 PREREQUISITES X100 body with mounted battery 1 Remove the top cover from the payload bay of the X100 body 2 Disconnect the main power connector of the battery from the X100 3 Remove the battery from the battery compartment in the payloa...

Page 99: ...12 October 2012 13 GROUND CONTROL STATION 13 1 Ground control station GCS The Trimble tablet PC ground control station consists of the following parts Entry Part A Cursor B Enter button C Touchscreen D Stylus ...

Page 100: ... control station Modem 13 2 Modem The Gatewing modem 2 4 GHz consists of the following parts E USB port F Serial port G On Off button H Keyboard lock I Camera activation Entry Part Entry Part A Modem B USB connector C Modem antenna ...

Page 101: ... for flight PREREQUISITES Trimble tablet PC GCS Gatewing modem 1 Screw the modem antenna onto the modem Specification Value band 2 4 GHz Manufacturer RFM Type DNT2400 FCC ID HSW DNT2400 Maximum output power 100 mW Maximum range 5 km 2 7 NM or 3 1 SM Latency 0 5 seconds Data rate 19 2kbps Telemetry download speed 2Hz ...

Page 102: ...trol station Prepare the GCS for flight 2 Strap the modem on the backside of the GCS 3 Connect the USB connector of the modem to the GCS 4 Press the On Off button to switch on the GCS NOTE Switch on the GCS outside to ensure a GPS lock ...

Page 103: ...2 0 103 12 October 2012 14 TRACKER 14 1 Tinyloc tracking system parts The Tinyloc tracking system consists of the following parts A F E B H G I C D ...

Page 104: ...n D Scan button E Increase decrease gain buttons F Four folding antennas G Screen H MENU OK and Navigation buttons I Earphone connector Specification Value Range Ground 15 28 km 3 4 m AGL 28 50 km Mountain tops 50 80 km Power 1 3N battery with a 7 day life NOTE Low battery is indicated with two beeps every three seconds Replace the batteries to ensure maximum transmitting power Weight 8 1 g Freque...

Page 105: ...Value Height x width x depth 245 x 66 5 x 40 mm Receiver sensitivity 146 dBm Power 6 V four LR6AA batteries NOTE Do not use rechargeable batteries Weight 0 520 kg including batteries Frequency range UE AUS NZ 433 050 434 750 MHz Operating temperature 15 C to 50 C Storage temperature 20 C to 70 C Index of protection IP20 Number of transmitters to save 100 ...

Page 106: ...ver screen components 14 4 R1 receiver screen components The screen of the R1 receiver displays the following Entry Component A Battery indicator B Received signal strength C Transmitter bar D Current gain level E Transmitter name F Frequency ...

Page 107: ...nd at all 14 6 Put an F22 transmitter in the X100 PREREQUISITES F22 transmitter which is stored in memory of the R1 receiver X100 Sometimes it is necessary to track down the X100 To make the X100 traceable an F22 trans mitter must be inserted 1 Power on the F22 transmitter 2 Place the F22 transmitter in the payload bay of the X100 14 6 1 Tracking system What A tracking system generally consists of...

Page 108: ...sing the Navigation buttons Confirm each digit with the MENU OK button 6 Follow the steps on the screen of the R1 receiver to calibrate the transmitter 7 Once the calibration is done the message transmitter added press OK to enter name appears on the screen Enter the name you want to assign to this transmitter using the Navigation buttons Confirm each letter with the MENU OK button 14 7 Track down...

Page 109: ...strength are shown on the transmitter bar received signal strength and indicated with an audible signal 6 Scan the area to determine the direction with the highest signal strength If the signal strength is the same in all directions reduce the gain with the Increase decrease gain but tons until the received signal strength is half the transmitter bar and repeat the scan 7 Follow the determined dir...

Page 110: ...2 0 110 12 October 2012 Tracker Track down an X100 ...

Page 111: ...om where the X100 approaches its landing location during the final leg of the landing circuit Ideally this direction is Against the wind Free from any obstacles 15 3 Define a landing heading first method PREREQUISITES GCS with Virtual GPS software installed GPS position When it is difficult to determine the landing heading in a new Quickfield project due to many obstacles you can use the Virtual G...

Page 112: ... Virtual GPS software installed GPS position When it is difficult to determine the landing heading in a new Quickfield project due to many obstacles you can use the Virtual GPS software to define a accurate landing heading value 1 Open Virtual GPS 2 Position yourself at the landing location and wait until Virtual GPS has found your GPS location The value of Fix Mode will change from No Fix to FIX ...

Page 113: ...a custom map are GIS software packages Other software that can georeference image files NOTE A custom map has a fixed zoom level Once the map is loaded in Quickfield you can not zoom in or out 16 2 2 When Custom maps are used in the following cases There is no internet connection available The online map source is outdated The resolution of the online map is not sufficient 16 2 3 Format A custom m...

Page 114: ...orld file jgw or pgw located in the same directory and with the same file name as the image file This world file must be based on the WGS 84 standard longitude and latitude in degrees Example of jpg and jgw file image file falknermap jpg 800 x 600 pixels world file falknermap jgw 32 0 0 0 0 0 32 0 691200 0 4576000 0 16 3 Project area The entire area you want to map The project area can be small en...

Page 115: ...nd direction 16 6 Flight and scan lines 16 6 1 Flight line A flight line is a line the X100 follows between two waypoints during its flight Flight lines are created in Quickfield when defining the scan area The number of flight lines depends on the following settings Flight height Altitude A higher altitude results in less lines Picture forward and sideways overlap A higher overlap results in more...

Page 116: ... maps Offline Custom map Click Import map select the custom map you want to load and click Open The Project map displays the customized map NOTE Be aware that the zoom level is fixed using this option 3 Create a project background map Move and scale the Project map to ensure the optimal display of the project area The project area should be centered in the Project map The project area should cover...

Page 117: ...ck Load to use it NOTE After you created and saved a project you can immediately create a flight plan using this project by clicking Next 3 Define the scan area The default scan area is shown on the Flight map as a yellow rect angle The North is situated at the top of the Flight map Indicate the prevailing wind direction with the yellow arrow pointing to the scan area When you move the arrow the s...

Page 118: ...s 6 Set the landing location and direction Go to the location where you want the X100 to land and click Fix in the Fix Landing Location area NOTE When no GPS lock can be acquired a dialog informs you about this STEP RESULT A pink cross appears on the Flight map indicating the landing location Specify the landing direction final leg with the arrow Always set the landing direction into the prevailin...

Page 119: ... to process higher accuracy longer processing time of the pictures longer flight duration Choose the overlap for your flight plan based on the flight duration number of images and desired accuracy Flight duration The maximum flight duration is 45 minutes in standard ISA conditions and is limited by the battery capacity This value turns red when exceeded and a warning message is displayed when goin...

Page 120: ...2 0 120 12 October 2012 Quickfield Create a flight plan ...

Page 121: ...ckground map view waypoints flight lines take off and landing location Flight instruments Action buttons Telemetry indicators 17 3 Simulate a flight PREREQUISITES GCS with flight plan and associated background map exported from Quickfield to Horizon After exporting a flight plan from Quickfield to Horizon it is important to simulate the flight and check the following items Fully loaded background ...

Page 122: ...nate to end the simulation RESULT When the project area is displayed correctly and the simulation of the flight was according to your expectations you can use the flight plan and upload it to the X100 If not make the necessary changes in Quickfield and create a new flight plan Possible reasons to make changes are The X100 flies in prohibited areas during take off turns landing The landing heading ...

Page 123: ...you can interact with the X100 using the GCS 17 4 1 Wireless RF link between GCS and X100 What You can program monitor and control the X100 with the GCS The GCS and X100 autopilot use a wireless RF link 2 4 GHz ISM band to communicate with each other Hardware This wireless link can only be established when the following hardware is present GCS with modem connected eBox with built in modem Power se...

Page 124: ...When establishing a wireless link it is important that the modem is connected to the GCS before a charged battery is mounted in the X100 NOTE The initialization of the X100 takes about 25 seconds In its final steps the aircraft will move its elevons up and down once The flight plan needs to be uploaded to the X100 There it is used by the X100 autopilot to control the aircraft during flight 1 Selec...

Page 125: ...to the X100 Wireless link between GCS and X100 LINK field green X100 with pitot tube covered by pitot cover Due to various factors transportation temperature change set up of the X100 the airspeed sensor may produce results with an offset error Therefore a reset of this sensor is mandatory before each flight 1 Open Horizon 2 Select AutoPilot Reset Airspeed Sensor in the menu bar STEP RESULT A dial...

Page 126: ...m the pitot tube 2 Open Horizon 3 Press and hold your finger on the pitot tube for a few seconds while verifying if the Hori zon airspeed indicator shows a swift increase in airspeed WARNING Do not hold your finger on the pitot tube for more than five seconds otherwise the X100 will assume it is flying and will try to start the motor RESULT Swift increase If the Horizon airspeed indicator shows a ...

Page 127: ...tialization 1 Monitor the status of the GPS field and check for any error messages in the warning mes sage field 2 Once the X100 has acquired a GPS lock GPS field green you can monitor the status of the READY field NOTE The initialization of the X100 takes about 25 seconds In its final steps the aircraft will move its elevons up and down once 3 Once the sensors are initialized READY field green th...

Page 128: ...meters altitude pressure sensor gyros are fully initialized or not This field can have the following values NOTE The initialization of the X100 takes about 25 seconds In its final steps the aircraft will move its elevons up and down once Message Color Description 0SAT red No satellite signal is received The time to acquire a GPS lock can range between 3 and 30 minutes depending on Time since last ...

Page 129: ...d The MPBat field in Horizon indicates the Main Power Battery voltage of the X100 In case of low battery a notification is shown in the warning message field 17 10 Arm the GCS PREREQUISITES GCS with flight plan exported to Horizon and uploaded to the X100 Wireless link between GCS and X100 LINK field green X100 fully initialized Time Battery voltage must be above If not When establishing a wireles...

Page 130: ...t to monitor the X100 during the entire flight in Horizon 1 Monitor the following items in Horizon during the entire flight The trajectory of the X100 on the map must be close to the programmed flight path Compare the flight height on the Horizon altimeter with the desired flight height shown above the altimeter These values are also shown next to the X100 icon moving on the map Compare the airspe...

Page 131: ...he X100 is landing according to the defined landing circuit 2 Monitor the landing of the X100 in Horizon 3 Keep visual contact with the X100 during the entire landing 4 Check the obstacle clearances during the final leg of the landing and press the GS_UP button if necessary to avoid collisions 17 13 End a flight PREREQUISITES landed X100 after a flight Wireless link between GCS and X100 LINK field...

Page 132: ...2 0 132 12 October 2012 Horizon End a flight ...

Page 133: ...Download the log files PREREQUISITES X100 after flight with battery connected STANDBY and GPS antenna removed GCS with Flight ended in Horizon Datalog Viewer installed Download cable After a flight the log files of the flight are still located in the memory of theX100 You need to download them to your GCS for image processing and flight analysis 1 Connect the download cable to the serial port on t...

Page 134: ...f the GCS Once the download is finished this is indicated in the dialog with the word FINISHED 7 Close the dialog 8 Disconnect the download cable from the GCS and the X100 RESULT The log files are present in the logs folder on the desktop of the GCS 18 3 Collect and save the log files PREREQUISITES GCS with log files located in the logs folder on the desktop Always collect and save the following l...

Page 135: ...After each flight a new set of log files must be downloaded By saving them in a custom folder you can organize your sets of log files for image processing and you prevent them from being overwritten 1 Create a custom folder 2 Click on the logs shortcut on the desktop of your GCS 3 Look for the four specified files and copy them to the custom folder RESULT The log files are saved in the custom fold...

Page 136: ...2 0 136 12 October 2012 Datalog Viewer Collect and save the log files ...

Page 137: ...ys before the flight This gives you a good general idea of the weather for the next three to four days 2 Consult and interpret aviation weather data through various weather websites for more accurate weather forecasts You can also contact the national meteorological office or a local meteorology office at an airport nearby 3 Consult the TAF and METAR reports on the day of the flight These are mete...

Page 138: ...sted areas Forbidden airspace such as Danger D Prohibited P and Restricted areas R in AIP or NOTAM 5 Visit the flight area in the days before the flight to Define a good launching and landing location Check for obstacles in the flight area power lines bridges trees Check if a Visual Line of Sight VLOS operation is possible Obstacle clearances Definition Obstacle clearance in a zone requires that n...

Page 139: ...of 500 m from the take off location and below the safety angle over a distance of 100 m this is typically called the Ground Safety Zone GSZ This zone extends over an area between the launch direction and an offset of 45º to the right and 45º to the left According to aviation regulation it is mandatory to have an area with a radius of 30 m centered on the take off location clear of any obstacles th...

Page 140: ...equires that no obstacles appear in a zone between the flight height and 50 m below it This zone extends over an area that covers all flight lines that is the scan area plus 400 m extra at each end of the scan lines Obstacle clearances for descent The obstacle clearance for descent requires that no obstacles appear in a zone above 25 m HALP ...

Page 141: ...landing For the downwind and base leg obstacle clearance requires that no obstacles appear in a zone above 25 m HALP For the final leg obstacle clearance requires that no obstacles appear in a zone defined as follows From point to point Distance Minimum obstacle altitude in meter AGL A to B 650 m to 75 m 60 x distance 75 575 or everything below a safety angle of 6 measured from point B B to C 75 m...

Page 142: ...odem 3 Be aware that the pilot is legally responsible for the operation of the aircraft 4 Check if the pilot is in good condition both physical and mental 5 Keep log files of the pilot hours and used equipment for each flight 6 Check if all equipment is in good condition and well prepared 19 1 5 Know your safe operating envelope 1 Make sure you know all aspects of safe operation within the limits ...

Page 143: ...ndicator Wireless link between GCS and X100 LINK field green If the elevons are not responding correctly the X100 will not be able to steer correctly which will result in a crash 1 Hold the X100 in the following positions and check these positions on the artificial horizon indicator in Horizon Position Figure Position elevons Level Both elevons are level Pitch up Both elevons will go down ...

Page 144: ...eck if the elevons are moving up and down regarding the roll position Pitch down Both elevons will go up Roll left The left elevon will go up the right elevon will go down Roll right The left elevon will go down the right elevon will go up Position Figure Position elevons ...

Page 145: ...the body with water and a soft brush CAUTION Do not use high water pressure or a steel brush to clean the body 2 Check the body for cracks and repair them as prescribed by Gatewing When in doubt contact Gatewing or your local dealer CAUTION Make sure the surface of the body is smooth after repairing the crack Changing the shape of the body changes the aerodynamics of the aircraft 19 2 3 Check the ...

Page 146: ... the X100 body 3 Make sure the tube is not bent or broken 4 Blow into the tube to check if nothing is blocking it 19 2 4 Check the wingtips PREREQUISITES Screwdriver torx T10 The wingtips must be firmly attached to the X100 body to prevent roll stability problems wingtip vortices 1 Make sure the wingtips are intact ...

Page 147: ...elevons are not damaged or bent 2 Check the elevon servo s by carefully moving the elevons from a upward position to a downward position checking for any irregularities like glitches or cracks 3 Check if the elevon rods are still well connected to the elevon servo and elevon servo fix 4 Check if the servo nuts are still tightened 19 2 6 To check the propeller PREREQUISITES Screwdriver The propelle...

Page 148: ...e blades must still be able to move 19 2 7 Mount an eBox in the X100 PREREQUISITES X100 body eBox Ratcheting screwdriver 2 nylon screws The eBox must be mounted correctly in the body of the X100 1 Connect the pressure connector of the eBox to the pressure tube 2 Plug the eBox onto the eBox connector in the eBox bay 3 Using the screwdriver secure the eBox with the two screws 19 2 8 Prepare the GCS ...

Page 149: ...nd preparations 1 Screw the modem antenna onto the modem 2 Strap the modem on the backside of the GCS 3 Connect the USB connector of the modem to the GCS 4 Press the On Off button to switch on the GCS NOTE Switch on the GCS outside to ensure a GPS lock ...

Page 150: ... the X100 has acquired a GPS lock GPS field green you can monitor the status of the READY field NOTE The initialization of the X100 takes about 25 seconds In its final steps the aircraft will move its elevons up and down once 3 Once the sensors are initialized READY field green the flight plan in Horizon is replaced by a new one which is downloaded from the X100 autopilot Make sure this is the cor...

Page 151: ...ection when defining project location online GPS position Creating a project is typically done in the office 1 Open Quickfield and click New Project on the opening screen Time Battery voltage must be above If not When establishing a wireless connection 12 0 V Replace the battery with a fully charged one When arming the X100 12 0 V Handle a low battery warning before launch During flight 10 2 V Han...

Page 152: ...isplay of the project area The project area should be centered in the Project map The project area should cover 25 to 50 of the Project map In no case should the project area lay outside the Project map The launching and landing location should both lay within the Project map NOTE Keep in mind that scan areas might need to be rotated depending on the wind direction 4 Indicate the project area opti...

Page 153: ...ing flight Resize and reposition the scan area by repositioning the boundary points The long edge of the scan area should be perpendicular to the wind direction Selected surface shows the current size of the scan area The size of the scan area influences the flight duration NOTE Be aware that the X100 will fly outside the scan area to make its turns 300 m 4 Define the scan area properties Flight h...

Page 154: ...o the previous window the scan area is reset to the default scan area 8 Export the flight plan to Horizon If all flight settings are correct click Next to export the flight plan to Horizon RESULT The flight plan is exported to Horizon together with the associated project background map Horizon is opened Quickfield is quit Define a landing heading first method PREREQUISITES GCS with Virtual GPS sof...

Page 155: ...our GPS location The value of Fix Mode will change from No Fix to FIX 3D when Virtual GPS has a locked GPS location 15 Walk 10 m in the opposite direction of the desired landing direction clear from all obsta cles The parameter Cur Course shows the value of the heading of your walking direc tion NOTE You have to average out of the different values of the parameter Cur Course RESULT The value of th...

Page 156: ... according to the defined landing circuit 7 Once the X100 has landed click Terminate to end the simulation RESULT When the project area is displayed correctly and the simulation of the flight was according to your expectations you can use the flight plan and upload it to the X100 If not make the necessary changes in Quickfield and create a new flight plan Possible reasons to make changes are The X...

Page 157: ...ve the data link antenna from the eBox unscrew it counterclockwise 19 4 5 Mount a charged battery in the X100 PREREQUISITES X100 body with mounted eBox Fully charged battery 1 Remove the top cover from the payload bay of the X100 body 2 Place the fully charged battery in the battery compartment of the payload bay ...

Page 158: ...l any established links X100 With data link antenna mounted With GPS antenna not mounted In ON mode NOTE When establishing a wireless link it is important that the modem is connected to the GCS before a charged battery is mounted in the X100 NOTE The initialization of the X100 takes about 25 seconds In its final steps the aircraft will move its elevons up and down once The flight plan needs to be ...

Page 159: ...1 Establish a wireless link between the GCS and the X100 PREREQUISITES GCS with prepared for flight with Flight plan exported to Horizon Modem connected X100 With data link antenna mounted In ON mode NOTE When establishing a wireless link it is important that the modem is connected to the GCS before a charged battery is mounted in the X100 NOTE The initialization of the X100 takes about 25 seconds...

Page 160: ...the GCS Wireless RF link between GCS and X100 What You can program monitor and control the X100 with the GCS The GCS and X100 autopilot use a wireless RF link 2 4 GHz ISM band to communicate with each other Hardware This wireless link can only be established when the following hardware is present GCS with modem connected eBox with built in modem Power sequence When establishing a wireless link it ...

Page 161: ... flight you have to check if the camera settings suffice for the current project or need to be changed Take pictures with different settings and compare them with each other You should strive for the best settings for the current situation weather conditions time of day and location Change picture quality size 1 Press the MENU OK button to enter the menu 2 Picture Quality Size is selected Press ri...

Page 162: ...ty of the camera sensor A low ISO number results in images with little visual noise but requires more light 15 Press the MENU OK button to enter the menu 16 Press up one time to select ISO Setting 17 Press right once to see the possible values 18 Select the appropriate ISO setting 19 Press the MENU OK button to confirm Set the shutter speed The shutter speed is the actual time the camera shutter i...

Page 163: ...artment of the payload bay NOTE Make sure the lens and UV filter are clean 4 Place the foam block around the Ricoh camera to secure its position RESULT The camera is mounted in the X100 NOTE Make sure the USB camera connector is still connected after placing it in the X100 body 19 5 5 Put an F22 transmitter in the X100 PREREQUISITES F22 transmitter which is stored in memory of the R1 receiver X100...

Page 164: ...this manual on www tinyloc com Store an F22 transmitter in the memory of the R1 receiver PREREQUISITES R1 receiver Powered F22 transmitter To track down an F22 transmitter with the R1 receiver the transmitter must first be stored in the memory of the receiver 3 Hold down the On off button for three seconds to switch on the R1 receiver 4 Press the MENU OK button to enter the menu 5 Select TRANSMITT...

Page 165: ...ed screwdriver 1 Make sure no connectors or cables are hanging over the edge of the payload bay 2 Place the top cover on the payload bay of the X100 body 3 Using the flat bladed screwdriver secure the top cover with the plastic screw CAUTION Tighten it hand tight do not overstrain 19 6 Launch 19 6 1 Assemble the launcher PREREQUISITES Launcher bag Launch area ...

Page 166: ... have determined the launch location you can assemble the launcher 1 Take the launch slide out of the launcher bag 2 Unfold and secure the launch slide with the handles NOTE If a handle is too easy to close tighten the nut in the handle to increase the tension ...

Page 167: ...he V support with the lock pin 4 Attach the V support to the launch slide by inserting the support fix pins in the preserved holes situated at approximately 2 3 of the length of the launch slide and tightening the support fix 5 Pull the launch cable out of the launch slide ...

Page 168: ... tightened push the release handles upwards to unblock them Never do this when the elastics are tightened you will damage the elastics 6 Put the launch dock on the end of the launch slide and slide it over the launch hook at the beginning of the launch slide CAUTION Make sure the launch dock clicks into position ...

Page 169: ...2 October 2012 Prepare for flight Launch 7 Attach the launch cable to the launch dock with the lock pin CAUTION Make sure the launch cable is not tightened or twisted 8 Insert the safety pin into the launch dock ...

Page 170: ... PREREQUISITES Assembled launcher X100 ready for flight Crank or torque wrench if available It is important to mount the launcher in a correct way to ensure a proper launch and take off WARNING Never perform a launch when the launcher is armed without the X100 1 Make sure the safety pin is properly inserted in the launch dock and launch slide ...

Page 171: ...onnect the crank to the tightening system NOTE The crank must be connected to the head of the screw and not to the bolt or nut 3 Tighten the launch cable by turning the crank gently clockwise NOTE Make sure the launch cable is not twisted when tightening ...

Page 172: ...ch cable stretches out with every launch When you can easily reach the last hole when tightening the cable Gatewing recommends to replace the launch cable to prevent unsuccessful launches 5 Take the X100 by its launcher slats and place it correctly on the launch dock The lips of the launch dock must be inside the launcher slats WARNING Make sure both launcher slats rest completely on the launch do...

Page 173: ...ed on GCS with Gatewing Horizon artificial horizon indicator X100 connected to GCS The X100 must have a correct pitch and roll position to perform a successful launch 1 Make sure the X100 has a pitch angle between 20 and 30 on the artificial horizon indica tor NOTE If the pitch angle is not between 20 and 30 the X100 is not positioned correctly or there is an sensor malfunction ...

Page 174: ... positioned correctly or there is an sensor malfunction 19 6 4 Check the position of the propeller blades PREREQUISITES Armed launcher It is important that the propeller blades are positioned correctly to prevent damage during launch 1 Make sure the propeller blades are facing backwards This way they will not hit the launch dock during launch 19 6 5 Cover the pitot tube PREREQUISITES X100 body Pit...

Page 175: ...n exported to Horizon and uploaded to the X100 Wireless link between GCS and X100 LINK field green X100 with pitot tube covered by pitot cover Due to various factors transportation temperature change set up of the X100 the airspeed sensor may produce results with an offset error Therefore a reset of this sensor is mandatory before each flight 1 Open Horizon 2 Select AutoPilot Reset Airspeed Sensor...

Page 176: ...ield green X100 fully initialized After a reset of the airspeed sensor it is important to check if this sensor is working correctly This must be done before each flight 1 Remove the pitot cover from the pitot tube 2 Open Horizon 3 Press and hold your finger on the pitot tube for a few seconds while verifying if the Hori zon airspeed indicator shows a swift increase in airspeed WARNING Do not hold ...

Page 177: ... 2 Click Arm to indicate a pending launch RESULT The Horizon software is informed about a pending launch 19 6 10 Remove the safety pin from the launcher PREREQUISITES Armed GCS X100 in ARMED mode on launcher The final step before launching the X100 is to remove the safety pin 1 Remove the safety pin from the launcher dock while standing behind the launcher away from the propeller of the X100 19 6 ...

Page 178: ...aunch the X100 PREREQUISITES Armed GCS X100 in ARMED mode on launcher with safety pin removed Once you are ready for departure and everything is clear in front above and behind you can launch the X100 1 Pull the launch handle while standing behind the launcher ...

Page 179: ...100 on the GCS Observe the ZoO for aerial objects Ensure obstacle clearance Safety pin 20 1 2 Safety measures for cruise flight Have visual contact with the X100 at all times Locate the X100 on the GCS Monitor telemetry air speed altitude on the GCS Observe the ZoO for the X100 and other aerial objects Ensure obstacle clearance Keep an eye on changing weather conditions 20 1 3 Safety measures for ...

Page 180: ...ompare the airspeed on the Horizon airspeed indicator with the desired airspeed shown above the indicator These values are also shown next to the X100 icon moving on the map Monitor the warning message field for in flight warnings and errors e g loss of GPS lock loss of communication link low battery monitor the following parameters on the sensor tab GPS number of satellites used for fix GPS Horiz...

Page 181: ... During flight Monitor the landing 3 Keep visual contact with the X100 during the entire landing 4 Check the obstacle clearances during the final leg of the landing and press the GS_UP button if necessary to avoid collisions ...

Page 182: ...2 0 182 12 October 2012 During flight Monitor the landing ...

Page 183: ... green Once the X100 has performed the flight project and landed you have to end the flight in Horizon 1 Click Terminate to end the flight RESULT The flight is ended in Horizon 21 1 2 Download the log files PREREQUISITES X100 after flight with battery connected STANDBY and GPS antenna removed GCS with Flight ended in Horizon Datalog Viewer installed Download cable ...

Page 184: ... Log File from Autopilot File from the menu bar STEP RESULT A dialog appears to select the UAV 5 Put the X100 in DOWNLOAD mode 6 Select UAV2 via COM1 19200 baud in the dialog and click Select to confirm The log files are downloaded to the logs folder on the desktop of the GCS STEP RESULT The log files are downloaded to the logs folder on the desktop of the GCS Once the download is finished this is...

Page 185: ...bleshooting The time stamp indicates the start time of the flight After each flight a new set of log files must be downloaded By saving them in a custom folder you can organize your sets of log files for image processing and you prevent them from being overwritten 1 Create a custom folder 2 Click on the logs shortcut on the desktop of your GCS 3 Look for the four specified files and copy them to t...

Page 186: ...era settings and repeat the flight AFTER COMPLETING THIS TASK You can copy the pictures from the SD card to your GCS or local PC 21 3 Clearing the site 21 3 1 Remove a battery from the X100 PREREQUISITES X100 body with mounted battery 1 Remove the top cover from the payload bay of the X100 body 2 Disconnect the main power connector of the battery from the X100 3 Remove the battery from the battery...

Page 187: ...ies 2 Release the force with the crank very gently while pulling the release handles upwards Make sure you counteract the force on the elastics It might be possible that you have to tighten the elastics a little bit so that you are able to pull the release handles upwards CAUTION It is recommended that a second person connects the crank to the tightening system so the forces can be released gently...

Page 188: ... 12 October 2012 After the flight Clearing the site 3 Remove the cables from the lock pin on the launch dock 4 Tighten the launcher so that the launch cable is back in the launch slide but the end remains out ...

Page 189: ...he flight Clearing the site 5 Remove the launch dock from the launch slide 6 Detach the V support by turning the support upwards 7 Open the fixes on the launch slide 8 Fold the launch slide and put everything back in the launcher bag ...

Page 190: ...2 0 190 12 October 2012 After the flight Clearing the site ...

Page 191: ...ult the offset value is 0 22 1 3 Zone of operation The zone of operation ZoO is the combination of the following zones The flight zone of the X100 This consists of the programmed flight path from launch until landing A vertical safety zone of 60 m A horizontal safety zone of 1 km at each side of the flying zone 22 1 4 A crash Definition A crash is an accident An accident is an occurrence associate...

Page 192: ...stacles Obstacles are trees buildings hills antennas power and telephone lines water people 22 2 3 Obstacle clearances for take off Obstacle clearance for take off requires that no obstacles appear in a zone between a safety angle of 8º and the launch angle over a distance of 500 m from the take off location and below the safety angle over a distance of 100 m this is typically called the Ground Sa...

Page 193: ...ion clear of any obstacles that are not under the control of the pilot 22 2 4 Obstacle clearances for cruise flight Obstacle clearance for cruise flight requires that no obstacles appear in a zone between the flight height and 50 m below it This zone extends over an area that covers all flight lines that is the scan area plus 400 m extra at each end of the scan lines ...

Page 194: ...25 m HALP This zone extends over an area centered on the circuit entry point beginning of the downwind leg with a radius of 150 m 22 2 6 Obstacle clearances for landing For the downwind and base leg obstacle clearance requires that no obstacles appear in a zone above 25 m HALP For the final leg obstacle clearance requires that no obstacles appear in a zone defined as follows ...

Page 195: ...e of the final leg extends over an area of 150 m to the right and to the left at the beginning of the final leg and narrows down to an area of 15 m to the right and to the left at the landing location From point to point Distance Minimum obstacle altitude in meter AGL A to B 650 m to 75 m 60 x distance 75 575 or everything below a safety angle of 6 measured from point B B to C 75 m to 75 m 0 ...

Page 196: ...ce For operations in French airspace according S2 Gatewing recommends a protection zone additional to the operation zone within any radius with a maximum of 1000m from the pilot Regardless of the wind direction and wind speed the protection zone is 250m at a height of 150m AGL For 100m AGL 200m ...

Page 197: ...GCS describing the issue 23 1 2 Handle a low battery warning before launch Scenario The battery voltage is below 12 0 V You cannot arm the X100 this is an automatic fail safe mechanism to avoid launching with a low battery level 1 Abort the launch procedure and put the X100 in STANDBY mode 2 Replace the battery with a full charged one 3 Restart the X100 ON mode 4 Check the MPBat indicator in the f...

Page 198: ...ommunication link 1 Abort the launch procedure and put the X100 in STANDBY mode 2 Re connect the battery 3 Initiate the communication link 4 If the communication link is established LINK status bar field in Horizon is green con tinue with the launch procedure If the communication link is still failing contact your local dealer 23 1 5 Handle a fatal error before launch Scenario There is a hardware ...

Page 199: ...ar field in Horizon turns red NOTE The downtime counter always takes in account the total communication downtime during the flight It also takes in account the uptime during the flight 1 An automatic fail safe mechanism is triggered when the communication time out has expired Advanced Setting in Quickfield The X100 autopilot will self issue the HOME command 2 If the communication between the X100 ...

Page 200: ... of the following Issue the Land command when the flight behavior of the X100 is not impacted Issue the FTS command when the flight behavior of the X100 is impacted 23 1 11 Handle a motor failure during flight Scenario There is a motor or Electronic Speed Control ESC failure The throttle will go to 100 and the X100 will lose height 1 An automatic fail safe mechanism is triggered The X100 will glid...

Page 201: ...t and landing The FTS command can also override the HOLD HOME LEFT RIGHT and GO HERE pattern When The FTS command should be used when the X100 needs to be removed from the air as quickly as possible 23 2 3 HOLD command The HOLD command puts the X100 in an orbit pattern radius 150 m at its current location and at The cruise flight altitude in case the X100 was taking off Its cruise flight altitude ...

Page 202: ...used when the X100 needs to be removed from the general area of mapping and you want to have it within close sight 23 2 5 LAND command The LAND command causes the X100 to immediately terminate its flight plan and initiate a normal landing sequence This sequence involves flying to its landing location and continuing to a point near the begin ning of the downwind leg the circuit entry point then orb...

Page 203: ...he ZoO but has no intention to cross the flight path of the X100 1 Assess the situation Take into account the takeoff location and the location course and speed of the X100 and the intruding aircraft 2 Depending on the situation and its change issue the HOLD HOME GO HERE RIGHT or LEFT command to move the X100 to a safe position 3 Release the command when the aircraft has left the ZoO The X100 will...

Page 204: ...on 3 Release the command when the aircraft has left the ZoO The X100 will resume its map ping process 4 If the situation is too critical e g fast moving aircraft issue the FTS command to immedi ately abort the flight and put the X100 in an orbit towards the terrain 23 2 12 Aircraft in ZoO approaching the X100 head on Scenario An aircraft enters the ZoO at approximately the same height as the X100 ...

Page 205: ...mmediately power down the motor and return to the terrain Remember that you need to confirm the FTS command The X100 will not land on the intended landing location In the final leg you can issue the GS_UP S command to move the X100 s aiming point 25 m forward You can use this command multiple times The X100 will not land on the intended landing location 23 3 A crash 23 3 1 Definition A crash is an...

Page 206: ...he palm of your hand without touching the antennas 5 Increase the gain as much as possible and scan with the R1 receiver held flat and turning 360 to pick up the first signal pulses Make sure the internal antenna is selected The range of the R1 receiver is wider if you track from an elevation Always hold the R1 receiver in front of you so that the receiver can distinguish incoming signals from the...

Page 207: ...weather change do one of the following The wind direction changes during the checklist but before the launch Reposition the launcher if necessary The wind speed increases before or during flight and exceeds 2 bft Abort the flight One of the following weather phenomena occurs before or during flight Strong wind Rain hail Hurricane tornado or any kind of whirl Thunder and lightning Snow Abort the fl...

Page 208: ...2 0 208 12 October 2012 In case of Sudden weather changes ...

Page 209: ...d the X100_vx_x exe file to the desktop of the GCS 2 Mount the eBox in the X100 3 Connect the GCS and the X100 with the download cable 4 Connect the battery with the X100 5 Put the X100 in DOWNLOAD mode NOTE Wait 20 seconds for initialization 6 Double click X100_vx_x exe 7 Wait until the message Please power cycle your autopilot now appears and then per form a POWER CYCLE on the X100 NOTE Wait 20 ...

Page 210: ...like to save the result to autopilot flash appears and then click Yes 9 Wait until the message VRS fields were successfully saved to autopilot flash appears and then click OK RESULT The Autopilot settings file is now successfully updated AFTER COMPLETING THIS TASK When finished disconnect the battery from the X100 and remove the download cable ...

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