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3D Robotics IRIS, Руководство по эксплуатации

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16

Flying Manually

Stabilize (STB) is Iris’ manual flight mode. Fly using the four controls: 
throttle, yaw, pitch, and roll.

Throttle 

Left stick 

Sends power to the motors creating lift. Controls speed and altitude.

Yaw 

Left stick 

Swivels Iris left and right. Changes the direction Iris is facing and a 
mounted camera is pointing.

Pitch 

Right stick 

Controls the forward and back angle of Iris. Pitching forward tilts the front 
arms down and moves Iris forward; pitching back lowers the back arms 
and moves Iris back.

Roll 

Right stick 

Moves Iris horizontally through the air. Rolling left banks Iris left by raising 
the right arms; rolling right banks right by raising the left arms.

Stabilize is the recommended mode for takeoff and landing.

Switch positions

Stabilize

  forward  /  forward

Stabilize

  forward  /  back

Содержание IRIS

Страница 1: ...Operation Manual Developer Edition ...

Страница 2: ...2 Using a Tablet 13 Takeoff Landing 16 Flying Manually 17 Assisted Flight 19 Full Autonomy 22 Low Battery 23 Opening the Shell 24 Install Software 25 Connecting an RC Receiver 26 RC Calibration 28 Updating the Firmware 30 Replacing the Legs 31 Support 31 Troubleshooting 32 Parts 33 Specs Contents ...

Страница 3: ...d by open source UAV hardware software and firmware Iris has powerful motors and high speed propellers Safety warnings like this one provide important information about best operating practices 1 Front arms blue 2 Rear arms black 3 Propellers 1 2 3 1 Safety button 2 Battery compartment 1 2 ...

Страница 4: ...02 1 Camera mount 2 LED indicator 1 2 1 Telemetry antenna 2 USB port 3 Propeller nuts 4 Legs 1 2 3 4 ...

Страница 5: ...uller propellers spin counterclockwise on the front right and back left motors For counterclockwise rotation use puller propellers For clockwise rotation use pusher propellers C C W C W CCW CW C C W C W CW To tighten or remove the propellers rotate the propeller nut using the provided wrench Always attach propellers with writing facing up and the washer between the propeller and the nut CW CCW CW ...

Страница 6: ...Charger connector JST XH 2 Iris connector XT60 Connecting the battery to Iris 1 Press the sides together and rotate the door down 2 Insert battery into compartment and connect the yellow XT60 connectors To close squeeze the door and rotate up until it clicks into place 1 2 1 2 ...

Страница 7: ... until the three LED indicators appear green cell 1 cell 2 cell 3 Charging cell 1 cell 2 cell 3 Complete 1 2 3 4 Store your battery at half charge then charge completely the day before flying Batteries also ship at half charge so please charge the battery completely before your first flight Each full battery provides between 10 and 13 minutes of flight time ...

Страница 8: ...e your battery in a safety bag Protect battery from extreme heat extreme cold puncturing and flammable surfaces Charge battery using a designated LiPo balance charger only Always monitor battery while charging Flying with a low battery is a safety risk and can render the battery unusable Always discontinue use upon receiving a low battery notification and always fly with a fully charged battery In...

Страница 9: ...ng RC calibration 1 2 3 4 5 Left stick Yaw Throttle Right stick Roll Pitch 1 Left stick throttle yaw 2 Right stick pitch roll 3 Power switch 4 Group switch forward A modes back B modes The stick configuration shown above is known as mode 2 These instructions will continue for this mode so if you plan to use mode 1 on your transmitter throttle on the right stick please adjust accordingly 5 Mode swi...

Страница 10: ...r Stabilize forward forward Loiter center forward Full autonomy back forward Stabilize forward back Altitude hold center back Return to launch back back STB LTR AUTO STB ALT RTL STB LTR AUTO STB ALT RTL STB LTR AUTO STB LTR AUTO STB ALT RTL STB LTR AUTO STB ALT RTL STB LTR AUTO STB LTR AUTO STB ALT RTL STB LTR AUTO STB ALT RTL STB LTR AUTO ...

Страница 11: ...n Planner for Windows or APM Planner for Mac and Linux APM Planner is a developing version of Mission Planner for all three platforms instructions for Mission Planner can also be used for APM Planner Connect to Mission Planner 1 Connect the telemetry radio to your laptop s USB port 2 Connect battery to Iris 3 After drivers automatically install select the available COM port set the baud rate to 57...

Страница 12: ...lanner Flight Data Attitude 1 Heading direction 2 Bank angle 3 Altitude black and rate of climb blue bar 4 Ground speed Actions 1 Change waypoints or restart a mission 2 Change modes 3 Change altitude 1 2 3 4 1 2 3 ...

Страница 13: ...nt waypoint 3 GPS reported direction of travel 4 Distance to current waypoint current waypoint number 5 GPS status 6 Battery status 4 Actual flight path 5 Latitude longitude 6 Altitude 1 Telemetry signal 2 GPS time 3 Currently enabled mode 1 2 3 4 5 6 1 2 3 4 5 6 ...

Страница 14: ...r DroidPlanner and access many of the same features found in Mission Planner as well as some features unique to tablets Visit the Google Play store to download the apps and view a list of compatible devices Tablet ground station apps are under development for supplemental flight control The primary control method for Iris is an RC transmitter Andropilot DroidPlanner Connecting to a tablet 1 Connec...

Страница 15: ... a clear landing path Do not use your staging area as the home position Control Turn on your RC transmitter with the throttle stick set down For manual takeoff set the transmitter to stabilize mode both switches forward For assisted takeoff set the transmitter to loiter mode switch center group switch forward or altitude hold mode switch center group switch back Turn on your ground control applica...

Страница 16: ... to arm If error persists see troubleshooting for more instructions Flashing blue disarmed searching for GPS Full autonomy loiter and return to launch modes require GPS lock To arm Iris hold the transmitter s left stick throttle down and yaw right bottom right corner for 2 seconds Solid green single long tone armed with GPS lock Ready to fly Flashing green quick double tone disarmed GPS lock acqui...

Страница 17: ...s sensitive to control inputs so use small stick movements when flying Landing After landing set throttle down and disarm Iris by holding the left stick to throttle down and yaw left bottom left corner for 2 seconds To disarm Left stick After disarming disconnect the battery then turn off the RC transmitter Press the safety button for one second or until it flashes indicating successful disarming ...

Страница 18: ...unted camera is pointing Pitch Right stick Controls the forward and back angle of Iris Pitching forward tilts the front arms down and moves Iris forward pitching back lowers the back arms and moves Iris back Roll Right stick Moves Iris horizontally through the air Rolling left banks Iris left by raising the right arms rolling right banks right by raising the left arms Stabilize is the recommended ...

Страница 19: ... Iris at a consistent altitude while allowing manual control of yaw pitch and roll Use throttle to adjust the altitude while flying in ALT To switch to altitude hold from stabilize mode 1 Hover Iris in STB with throttle at mid stick 2 Switch into ALT 3 Control yaw roll and pitch normally 4 Use the throttle stick to make adjustments to the altitude 5 Bring throttle to mid stick before switching out...

Страница 20: ...just altitude and use yaw to aim a mounted camera LTR is the easiest way to fly Loiter mode is supported for takeoff and landing To switch into loiter from stabilize mode 1 Hover Iris in STB with throttle at mid stick 2 Switch into LTR 3 Use controls to make small adjustments to Iris position 4 Bring throttle to mid stick before switching out of LTR Switch position Loiter center forward ...

Страница 21: ... a simple navigation command go here or it can include a command to takeoff land loiter for a designated time period number of turns or indefinitely or execute an RTL Plan save and write waypoints by connecting Iris to Mission Planner using the telemetry radio Auto mode can be engaged for takeoff and landing if takeoff and land waypoints have been scripted into the mission For more information on ...

Страница 22: ... a new altitude for your guided waypoint Fly to Here creates a waypoint at the current altitude and immediately sends Iris there If you select Fly to Here Alt Mission Planner will prompt you for an altitude in meters before sending Iris to that point 1 2 3 1 Click to select your waypoints on the map and drag to arrange Or right click draw a shape of polygon points and select an Auto WP option to g...

Страница 23: ...r to recall Iris on demand When commanded to RTL Iris will 1 Achieve minimum altitude of 15 meters 50 feet or maintain current altitude if above 15 m 2 Move to the home position Loiter for 5 seconds 3 Land at the home position RTL mode is not approved for takeoff Switch position Return to launch back back Home launch point 15 m 1 2 3 5 s ...

Страница 24: ...announcement when the battery reaches the low voltage limit of 10 5 volts When you receive the low battery warning safety land Iris or execute an RTL command Do not continue to fly after receiving the low battery warning it could cause inconsistent flight reactions and damage the battery ...

Страница 25: ...ey 2 Remove the two deep set screws on either side of camera mount 3 Holding the body together flip Iris over and open top shell 1 2 3 ADC 6 6V ADC 3 3V USB CAN GPS TELEM 1 TELEM 2 SWITCH SERIAL 4 5 BUZZER SPKT DS M SPI I2C POWER PWR B E PWR B E ACT RC IN SBUS MAIN OUT AUX OUT IO FMU 4 Opening the Shell ...

Страница 26: ...the safety information on the following page and select Download Download APM Planner Mac Linux APM Planner 2 0 Downloads Sort by Title Hits Date APMPlanner RPM Latest APMPlanner DMG Latest Select DMG for Mac and RPM for Linux Ardupilot com Downloads APM Planner 2 0 Download Open the file to run the setup wizard Proceed through any security warnings and install all suggested drivers Please always ...

Страница 27: ...Iris 1 Open the top shell Instructions on page 23 2 Connect the PPM encoder to Pixhawk s RC pins using the red black and white three wire cable 3 Connect your receiver s channel pins to the PPM encoder 2 3 Roll Pitch Yaw Throttle Mode switch 1 Mode switch 2 ground black wire power red wire signal s white wire ...

Страница 28: ...Iris this process has already been done for you 1 Connect the battery to Iris and connect Iris USB port to your ground station computer Turn on your RC transmitter 2 Open Mission Planner or APM Planner Select the communication port that displays PX4 set the Baud rate to 115200 select ArduCopter if offered and select Connect 3 Select Initial Setup Mandatory Hardware Radio Calibration 2 1 Select Cal...

Страница 29: ... the limits for roll pitch throttle yaw and any mode switches select Click when Done Correct calibration values are between 800 1200 for the low limits and 1800 2200 for the high limits Left stick Right stick 4 Select Config Tuning Flight Modes The currently selected position will display in the list with green highlighting Set the flight modes as shown below Select Save Modes to apply 1 STB 2 ALT...

Страница 30: ...mance Update Iris firmware using Mission Planner or APM Planner on your ground station computer 1 Connect Iris to your ground station computer using the micro USB cable 2 Select Initial Setup Install Firmware Beta Firmware Mission Planner must show that Iris is disconnected to load firmware 1 2 Disconnected Connected x ...

Страница 31: ...one only the update is complete If you hear a tone sequence followed by three beeps perform step 5 to complete the firmware update 5 Optional Disconnect the USB Press and hold the safety button while reconnecting the USB You will hear several tone sequences followed by two beeps This indicates your firmware has updated successfully 3 beep BEEP beep BEEP BEEP BEEP 4 beep BEEP beep BEEP BEEP 5 music...

Страница 32: ...remove the set screw in the bottom of the leg 2 Slide out the leg to remove it and replace with the new leg 3 Replace set screw until it secures the leg but not so that it is screwed completely into the arm where it could interfere with the motor 1 3 2 ...

Страница 33: ...nd APM Planner ground station applications visit planner ardupilot com Troubleshooting I am receiving a persistent error indication when arming See Mission Planner for the specific error in the pre arm safety check and visit copter ardupilot com wiki prearm_safety_check for instructions I am having trouble taking off or hovering or my transmitter s throttle stick isn t functioning properly Perform...

Страница 34: ...itude LTR GPS Hold AUTO Fly mission RTL Return to launch 3 3 3 3 3 3 3 Wait for solid blue LED indicating GPS lock Arm with throttle down yaw right for 2 seconds Propellers spin when armed Takeoff Disarm with throttle down yaw left for 2 seconds Disconnect battery Turn off transmitter STB LTR AUTO STB ALT RTL STB LTR AUTO STB ALT RTL STB LTR AUTO STB ALT RTL STB LTR AUTO STB ALT RTL STB LTR AUTO S...

Страница 35: ...lithium polymer Low battery warning voltage 10 5 V Minimum voltage 9 9 V 3 cell 13 2 V 4 cell Maximum voltage 12 6 V 3 cell 16 8 V 4 cell Recommended voltage 12 6 V 3 cell Payload capacity 400 g 8 lbs Telemetry range 1 km 6 miles Flight time 10 13 minutes Online resources Hardware documentation 3drobotics com iris Firmware documentation ardupilot com Software documentation planner ardupilot com 3D...

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