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Table of Contents
Summary of Contents for Nascent Technology XS
- Page 1 Revision XS Autonomous Miniature Helicopter Operator’s Manual Last Updated – 11/30/2006 NASCENT TECHNOLOGY CORPORATION 37 Liberty Avenue, Lexington, MA 02420 Phone: (617) 968-4552 Fax: (864) 752-4498 www-nascent-tech.com Copyright NTC 2006...
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Page 2: Table Of Contents
HECKLIST ..............25 ELICOPTER ETUP HECKLIST ................26 LIGHT HECKLIST APPENDIX B – TRAINING THE RC PILOT TO FLY THE XS ... 27 APPENDIX C – TRAINING THE GROUND STATION (GS) OPERATOR ....................28 INDEX ......................29 Copyright NTC 2006... -
Page 3: System Overview
System Overview The XS Autonomous Miniature Helicopter is a versatile unmanned aerial vehicle that allows users to: • Perform autonomous missions with predefined waypoints. Waypoints can be either easily chosen from integrated MapPoint application or hand entered through the Ground Station;... - Page 4 Usage Warnings The XS-series autonomous helicopter flies itself, but it does not maintain itself. It will operate safely and efficiently if properly maintained and operated, if all instructions in this manual are carefully followed, and if GSA warnings and indicators are carefully monitored.
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Page 5: Major Components
Miniature Helicopter Avionics Box The drawing below provides a schematic of the XS-series components. Helicopter – Nascent recommends the X-Cell gasser or Spectra-G miniature helicopter from Miniature Aircraft. It comes with a 5 foot diameter rotor and uses a 2-stroke gasoline engine for best results. - Page 6 GPS, IMU, barometric altimeter, RC receiver (for backup manual flight), servo board, power management including Li-Ion battery and UPS, a small gimbaled camera to capture in-flight footage, 60W DC electric power generator, on-board computer running the Flight Manager software, and wireless transceiver for communication with the Ground Station Communication Transceiver Ground Station Application...
- Page 7 Joystick Controller RC Transmitter Helicopter Joystick Controller – Standard USB game pad incorporating two (2) paddles and several buttons used in controlling the helicopter. The operator sends joystick commands to the helicopter through the GSA and in turn through the transceiver station. RC Transmitter –...
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Page 8: References
Definitions AGL Altitude – height ‘above ground level’. The helicopter keeps track of altitude relative to the take-off point. For some functions, the helicopter uses AGL altitude, while others use Geodetic altitude (see definition below). Flight Manager – the software on-board the helicopter’s flight computer that controls the helicopter. -
Page 9: System Setup
System Setup This section walks you through the essential steps to get the XS helicopter ready for flight. The Ground Station Setup section discusses setting up the laptop, transceiver and joystick controller, while the Helicopter Setup discusses helicopter preparation. At this time we recommend both a Pilot and a Ground Station operator. -
Page 10: Helicopter Setup
Tell the pilot that you are ‘Ready for Pullstart’ After pilot has started the helicopter and stepped away from the helicopter, click ‘take-off’ (either using a mouse, or the joystick button). See further instructions for ground station operation in the next section. Helicopter Setup In the interest of time, some of the helicopter setup can proceed at the same time as GS setup until the point of transferring control from the RC transmitter... - Page 11 At the end of the flight (engine off)GSA operator should disconnect and close the ground station. Restart the entire procedure (both GSA operator and pilot) to fly autonomously. To fly the helicopter automously: due south Place helicopter in a cleared area facing as measured by a magnetic compass.
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Page 12: System Operation
This section covers all the steps and options available in actually ‘flying’ the XS helicopter in its different modes. It assumes the GS and helicopter have been setup and the pilot has had a chance to fly the helicopter manually to ensure trim and flight characteristics are good. - Page 13 Besides the two joysticks on the Joystick Controller, there are 5 buttons that can be used to command helicopter autonomous modes: Take-Off, Fly Waypoints, Manual Flight, Return-Land, and Emergency Land. The buttons are on the front side of the joystick controller. (See Figure 3.) The position of the buttons is shown on the bottom of the GSA panel as if the operator could see through the joystick controller to the front panel.
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Page 14: Take-Off
Note that as buttons on the panel become available, they become active (unshaded). Any panel button that is shaded has no effect on the helicopter. Take-Off In all types of flight (whether waypoint-controlled or robotically-assisted), the first step is to command the helicopter to start flying by clicking the “Take-Off”... -
Page 15: Manual Flight
Note that velocity is set by default to 5 m/s by the Flight Manager. This number can be set to an upper limit of 10 m/s. Numbers entered above the upper limit result in a command of 10 m/s. Obviously, care is needed in entering waypoints since the helicopter will attempt to fly a straight path from current position to the next waypoint. - Page 16 pick a comfortable velocity setting with the stick and then release it slowly to stop forward motion. Figure 6 Manual Flight Command Box - Left Command When the right stick is pushed left or right, it causes the helicopter to turn left or right.
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Page 17: Return-Land
Pushing the left stick left/right, causes the helicopter to side-slip left or right. In other words, it stays pointed forward while moving sideways. Return-Land The Return-Land button causes the helicopter to return to its initial take-off position by simply climbing to 100 m altitude AGL, navigating to an internal waypoint 100m above the takeoff spot and then descending. -
Page 18: Emergency Land
Emergency Land or Return-Land. Emergency Pilot Takeover With the XS helicopter avionics, the pilot takes over from the GS operator by switching the appropriate switch (upper left switch) on the RC transmitter. At this point, the pilot is flying the helicopter via Remote Control. -
Page 19: Loss Of Imu Or Barometric Altimeter
If this happens, the Flight Manager will wait 6 seconds for the connection to be re-established. At this point the helicopter will start listening for a new connection request from the GS. After an additional 30 seconds, the helicopter automatically switches into “Return-Land” mode and will return to the take off location. -
Page 20: Communication Between Pilot And Gs Operator
The XS Autonomous Highly Maneuverable Miniature Helicopter is a complex flight vehicle. We recommend that you maintain a Flight Log whenever you fly the XS as this will help with maintenance and remind you of post-flight items that need to be addressed. -
Page 21: Post Flight
Post Flight Once the helicopter has landed and the mission is complete, there are a few things that still need to be done. Click “Disconnect” on the GSA control panel. Remove gas from engine and carburetor. This is good for the engine and for the vehicle used to transport it, if any. -
Page 22: Maintenance
Maintenance Maintenance Schedule Description Time Maintenance Servo 50 hrs Replace Disassemble inspect gears Tail rotor 25 hrs repack Check for wear, replace if Crown gears 150 hrs needed Front transmission bearings and shaft 75 hrs Replace Alignment between engine gear and main gear (no slop) flight Inspect... -
Page 23: Appendix A - Checklists
Appendix A – Checklists Copyright NTC 2006... -
Page 24: Ground Station Setup Checklist
Ground Station Setup Checklist Place transceiver patch antennas up, above local obstacles and point toward the general flying area. Hookup laptop to transceiver with cross-over type computer (CAT-5) network cable. Power up the Ground Station (GS) Start the Ground Station Application (GSA) called “HeliControl” Note the time and any new configuration items in Flight Logbook. -
Page 25: Helicopter Setup Checklist
Helicopter Setup Checklist Place helicopter in a cleared, safe area. Face helicopter due south. (Optional) Place helicopter on landing pad (plywood, hard rug) In a crowded situation, place small safety cones around helicopter operation area. Fill helicopter fuel tank with 87 octane regular gas mixed with oil at a ratio of 4oz per gallon (32:1) oil-to-gas ratio. -
Page 26: Post-Flight Checklist
Post-Flight Checklist Remove gas from engine and carburetor. GS operator clicks “Disconnect” on the GSA control panel. Download information from helicopter. Turn off helicopter electrical power. Do check of all mechanical linkage, control surfaces, hardware, connectors, etc. Note any needed repairs/adjustments in Flight Logbook. Place “SQUAWK”... -
Page 27: Appendix B - Training The Rc Pilot To Fly The Xs
Appendix B – Training the RC Pilot to Fly the XS Flying a UAV such as the XS Autonomous Miniature Helicopter is a new experience for any RC pilot for two reasons – it weighs more than the usual RC helicopter, and it is much more expensive and thus more pressure to perform. -
Page 28: Appendix C - Training The Ground Station (Gs) Operator
Appendix C – Training the Ground Station (GS) Operator Flying a helicopter through a Ground Station is a new experience for most people. We recommend that part of the first mission of a GS operator include ‘stick time’ for the GS operator to get a feel for how to ‘fly’ the helicopter in the robotically-assisted ‘Manual’... -
Page 29: Index
D E S I G N C U S T O M I Z A T I O N Index Altitude Definition, 8 Definition, 8 Left Stick, 16 Avionics Overview, 7 Battery, 10 Picture, 14 Description, 5 Return-Land, 17 Switch, 25 RIGHT STICK, 15 Checklists Logbook...
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