Summary of Contents for SRP Lynx FarScight
- Page 1 AFM 4-2 Lynx FarScight Unmanned Aircraft System Aircraft Flight Manual www.SRP.aero...
- Page 2 AFM 4-2 Record of Revisions AFM 1-1 14 April 2013 AFM 1-2 27 July 2013 AFM 1-3 20 July 2014 AFM 1-4 16 September 2014 AFM 2-1 16 January 2015 AFM 2-2 28 February 2015 AFM 2-3 08 March 2015 AFM 2-4 21 April 2015 AFM 2-5...
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Page 3: Table Of Contents
AFM 4-2 Table of Contents Section 1: General Information and System Description....1 Lynx..............................1 Airframe............................1 Flight Control Surfaces........................1 Propulsion System.........................2 Takeoff and Landing........................2 Avionics............................2 Payloads............................2 Communications Equipment......................2 Swift GCS............................2 Information Displays........................3 GCS Units............................3 Preflight............................4 Mission Planning..........................4 Moving Base..........................4 Handheld Transmitter........................4 Flight Modes............................5 Guided............................5 Auto (Waypoint Navigation)......................5 Rally...............................5... - Page 4 AFM 4-2 Battery Failsafe..........................8 GCS failsafe...........................8 RC Failsafe............................8 Section 2: Performance and System Limitations......9 Prohibited Maneuvers:........................10 Section 3: Getting Started............11 Swift GCS............................11 Install Swift GCS..........................11 Updating the Autopilot Firmware.....................11 Section 4: Mission Planning............13 Survey..............................13 Altitude............................13 Heading............................13 Overlap and Sidelap........................13 Lead In and Overshoot........................14 Statistics............................14 Rally Points............................14 Section 5: Deep-Stall Landing..........15...
- Page 5 AFM 4-2 Motor Failure Checklist........................23 Uncontrolled Flight Checklist......................24 GPS Failure Checklist........................24 GCS Crash Inflight...........................24 Section 8: Configuration............25 Flight Modes............................25 Failsafe............................25 Moving Base............................25 Section 9: Troubleshooting.............26 Downloading Autopilot Logs......................26 Swift GCS Logs..........................26 Compass Calibration........................26 Accelerometer Calibration.......................26 Failing the ‘Deepstall - Test’ in Swift GCS..................27 Exhausted Camera Battery Inflight....................27 Telemetry Connection Problems.....................27 Warnings............................28...
- Page 6 AFM 4-2 Battery Cell Discharge Curve......................43 Appendix III.................44 Autopilot Carrier Board LED Codes....................44...
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Page 7: Section 1: General Information And System Description
Section 1: General Information and System Description Lynx Lynx is a hand-launched UAS designed for aerial surveying and mapping. Airframe Lynx weights 2 kg without battery or payload and has a 2.3 meter wingspan. The airframe consists of five major parts: Fuselage ... -
Page 8: Propulsion System
AFM 4-2 down in order to climb or descend to a desired altitude. For the deep-stall landing, the stabilator will deflect upward, beyond what is used for normal flight, to induce a deep-stall. Both control surfaces are actuated by servo motors. Propulsion System The propulsion system consists of the flight battery, brushless motor, electronic speed controller (ESC), and propeller assembly. -
Page 9: Information Displays
BETA DISCLAIMER: Swift GCS provides a greatly enhanced operational experience with Lynx when compared to the other GCS options available, but it is still in beta testing. If you encounter crashes, bugs or have a feature request please contact support@srp.aero Information Displays Swift GCS has five major displays in addition to the moving map: a Heads-Up Display (HUD), an expandable messages panel, top status bar, bottom status bar, and wind indicator. -
Page 10: Preflight
AFM 4-2 Preflight Swift GCS features a built-in checklist that guides the user through the preflight process. This is done with a series of manual and automated checks. Each preflight step features an optional expanded information section to help new users and display relevant information. Mission Planning A large portion of the preflight revolves around mission planning. -
Page 11: Flight Modes
AFM 4-2 Flight Modes Lynx can be controlled in two ways: manually or under autopilot control. The safety pilot determines who is in control with a mode switch on the handheld transmitter and can therefore override the autopilot in flight if desired. Manual control bypasses the autopilot and allows for full range of aircraft movement. -
Page 12: Manual
AFM 4-2 mode is a good alternative to manual control for novice safety pilots or those lacking RC airplane experience. Manual The manual flight mode provides the safety pilot with manual control of the aircraft. This bypasses all forms of autopilot stabilization, and cannot be interrupted by the GCS operator. In this mode the safety pilot is responsible for flying the aircraft like an RC airplane. -
Page 13: Battery Monitor
AFM 4-2 Manual control however allows the safety pilot to control the throttle. When the button is solid the autopilot is allowed to control the throttle. Regardless of the takeoff button state throttle will not be allowed if the throttle safety key is installed. Battery Monitor The battery monitor displays the flight battery voltage and reports it to the GCS allowing the operator to determine when to land. -
Page 14: Failsafes
AFM 4-2 Failsafes Rally Points There are several failsafe mechanisms present on Lynx that will automatically activate to return the aircraft to a specified location. All failsafes will change the flight mode to rally regardless of what the previous flight mode was. Once in rally mode the aircraft will proceed to the nearest rally point that is within 5km, or proceed to the home location. -
Page 15: Section 2: Performance And System Limitations
AFM 4-2 Section 2: Performance and System Limitations General Wingspan 2.3 m Propulsion Electric Empty Weight 2.0 kg Battery Weight 1.0 kg Max Payload 0.7 kg Maximum Gross Takeoff Weight 3.7 kg Center of Gravity Limits -6.0 to -9.5 cm (center wing leading edge datum) Performance Cruise Speed 16 m/s... -
Page 16: Prohibited Maneuvers
AFM 4-2 Prohibited Maneuvers: Launch or landing with any tailwind Flight into known icing conditions Flight into visible moisture Flight beyond safety pilot’s visual line-of-sight (LOS) Flight beyond telemetry link ... -
Page 17: Section 3: Getting Started
Due to the large number of changes that can happen with an autopilot firmware update, it is recommended to wait for a new release to be tested first by SRP. Any required changes in parameters will be noted with the parameter updates as well as any expected behavior changes. - Page 18 AFM 4-2 After the firmware has been uploaded, you will be prompted to automatically update parameters to the new values. This is recommend otherwise you will later note that the automated parameter check during the preflight is failing.
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Page 19: Section 4: Mission Planning
AFM 4-2 Section 4: Mission Planning Survey To create a mapping mission, a survey grid will need to be created in Swift GCS. Select the Survey button from the Mission tab to add one. You will be prompted to load a KML (or KMZ) file or to draw a new area by placing polygon points on the map. -
Page 20: Lead In And Overshoot
AFM 4-2 Lead In and Overshoot Lead in and overshoot are utilized to make sure that the aircraft is turning around outside the area of interest being mapped. The default values of 110 meters lead in and 150 meters overshoot are suitable for Lynx in most cases. -
Page 21: Section 5: Deep-Stall Landing
AFM 4-2 Section 5: Deep-Stall Landing What is a Deep-Stall? A deep-stall landing is a controlled, near vertical descent to the ground in which the wing is completely stalled and creates drag instead of lift. The angle at which the aircraft descends will vary based on the winds. -
Page 22: Landing Options
AFM 4-2 Landing Options A deep-stall can be performed automatically or manually. In an automated deep-stall, the operator chooses where the aircraft should land on the map in Swift GCS. In flight, the aircraft will fly the entire approach and landing using the aircraft's wind estimation to pick an optimal path. With a manual deep-stall, the safety pilot needs to determine the wind direction and then choose when and where to begin the landing. - Page 23 AFM 4-2...
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Page 24: Manual Deep-Stall
AFM 4-2 Manual Deep-Stall A manual deep-stall is when the safety pilot is in control and decides when and where the aircraft will deep-stall. An auto deep-stall will always pick the wind approach path, but manually the user must plan the path to be into the wind. -
Page 25: Auto Deep-Stall Checklist
AFM 4-2 Lynx is an extremely rugged aircraft designed to handle repeated deep-stall impacts. However, deep-stall landings will fatigue the airframe like any landing. The area selected for landing should seek to minimize risk to the airframe. Refer to the graphic below. -
Page 26: Deep-Stall Abort Checklist - Manual
AFM 4-2 Altitude - Greater than 30 meters AGL Heading - Into Wind Throttle - Idle (safety pilot) Reduce throttle to idle on the handheld transmitter. Note: Throttle is programmed to automatically turn off during deep-stall, however, it is prudent to also manually reduce the throttle as an additional safety precaution. Deep Stall - Engage (safety pilot) Heading Into Wind - Maintain (safety pilot) Ensure the aircraft’s heading remains into the wind by steering with the rudder. -
Page 27: Section 6: Post Flight
AFM 4-2 Section 6: Post Flight Powering Off Checklist Safety Key - Insert Aircraft - Disarm Takeoff Button – Press Press and hold until the light begins flashing. Battery - Disconnect Photo Tagging This photo tagging process is only applicable for non PPK system. For instructions on PPK tagging please consult the PPK Appendix. - Page 28 AFM 4-2 Next, insert the card into your GCS computer. Open Swift GCS. Select the Geo-Tag tab. Select the location of the autopilot log, the folder containing the photos from the flight, the synchronization photo, and where you would like the tags to be saved. Once all the required fields have been selected, select Tag photos to begin geo-referencing.
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Page 29: Section 7: Emergency Procedures
AFM 4-2 Section 7: Emergency Procedures The following section details the likely best course of action to take in the event of some emergencies. Not all emergencies can be planned for, and the situation will always dictate the best course of action. You, as the operator, must think quickly during an emergency to make the right decision(s). -
Page 30: Uncontrolled Flight Checklist
The operator, however, will have no situational awareness or ability to send the aircraft commands. For this reason, the GCS must be restarted and link must be regained. After the flight, please submit the GCS log report to support@srp.aero for diagnosing. -
Page 31: Section 8: Configuration
AFM 4-2 Section 8: Configuration There are several options on the aircraft and the GCS that can be configured by the operator. Flight Modes The operator may change the middle switch position on the RC transmitter to demand either RTL or cruise flight modes. -
Page 32: Section 9: Troubleshooting
If not you can try looking at the size and date created to determine which one you need. Copy the .bin file from the micro SD card and send to support@srp.aero. Do not forget to reinsert the micro SD card back into the autopilot. -
Page 33: Failing The 'Deepstall - Test' In Swift Gcs
AFM 4-2 Failing the ‘Deepstall - Test’ in Swift GCS If you fail the deep-stall test step during the preflight, you will need to power cycle the aircraft and redo the preflight. Exhausted Camera Battery Inflight While the flight battery can typically power the aircraft for three hours, the Sony camera is still dependent upon its own internal battery. -
Page 34: Warnings
AFM 4-2 Warnings The autopilot and GCS can generate a number of warnings that can occur in flight and on the ground. While some warnings are common during the preflight, never takeoff with any warning active. If a warning persists during the preflight, reboot the aircraft. If unable to resolve the warning please contact support. - Page 35 AFM 4-2 Warning Cause Solution Bad accelerometer Indicates that one or more of the accelerometers are Land immediately. health unhealthy. Indicates an unhealthy estimation of the system's Land immediately if this Bad attitude reference attitude. This is normal during the first part of the persists for more than 5 health preflight and should resolve before takeoff.
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Page 36: Arming Errors
AFM 4-2 Arming Errors A number of error messages can be generated while arming the aircraft. The most common ones, and the resolutions for them, are listed below. If an arming error occurs, and you are unable to resolve it, please contact support. Error Cause Solution... -
Page 37: Section 10: Scheduled Maintenance
30 hours of flight time. This is a preliminary hour interval until discrepancies between the servo manufacturer’s data sheet and claims can be resolved. Please contact support@srp.aero for more information regarding maintenance, to place an order for replacement servos, or help with the replacement process in general. -
Page 38: Section 11: Repair Instructions
Replacement of a skid pad Repairing wing delamination For any questions, concerns, or advice regarding repairs, please contact support@srp.aero. List of Common Replacement Hardware Item Hardware Specs Wing Bolt Nylon 1/4" -20 x 1/2” hex cap screw Motor Bulkhead Screw Nylon 6-32 x 3/8”... -
Page 39: Tools And Spare Parts Layout
AFM 4-2 Tools and Spare Parts Layout Item Description Flathead Screwdriver Miniature screwdriver Phillips Screwdriver Miniature screwdriver Crescent Wrench Adjustable wrench X-Acto Blade Precision knife with swappable blade Tail/Wing Clip Used to attach the stabilator and outboard wings Pitot Tube Clip Used to attach the pitot tube to the top of the rudder Stabilator Arm Connects to the elevator servo and actuates the stabilator... -
Page 40: Replacing A Propeller
AFM 4-2 Replacing a Propeller If the propeller is broken, cracked, or chipped, it must be replaced. If you are unsure of the condition of a propeller, perform a quick throttle check. A damaged propeller can cause harmful vibrations to the airframe and will make a buffeting sound during the full throttle check. -
Page 41: Replacing A Tail/Wing Clip
AFM 4-2 An X-Acto blade removes a broken wing bolt. If the bolt remains difficult to remove, drill a small hole into the center of the broken shaft and tap an X-Acto blade into the hole. The drilled hole will provide extra leverage for the blade. Left: Broken wing bolt removed. -
Page 42: Replacing The Motor
AFM 4-2 Left: A cracked tail clip with screw removed. Right: Two clips ready to be installed. A spare tail clip is installed with a Philips screwdriver. Replacing the Motor If the motor does not spin freely, has a bent shaft, or makes a loud whining noise, it must be replaced. - Page 43 AFM 4-2 Left: Looking into the battery bay. The ESC and motor connect with three wires. Right: Four counter-sunk screws fasten the motor to the bulkhead. Left: With the screws removed, the motor will slide out the front. Right: The bulkhead attaches to the motor mount with four nylon screws.
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Page 44: Replacing A Servo
Grasp the servo arm and slide the servo out from its tray. Pull the servo out until the connector becomes accessible Disconnect the bad servo and replace with a new one. Only use pre-calibrated servos from SRP. Off the shelf replacements will not have the appropriate connector, nor will they have the correct servo trim and travel required by the autopilot. -
Page 45: Replacing A Skid Pad
AFM 4-2 Replacing a Skid Pad Normal wear (cuts, abrasion, dents) of the skid pads can be patched with gaffer’s tape. If a skid pad has large pieces of foam missing, or is missing entirely, it is necessary to replace it. To replace a skid pad, first remove what remains of the old one. -
Page 46: Repairing Wing Delamination
AFM 4-2 Repairing Wing Delamination If the Kevlar skin on the wings or stabilator begins to lift or delaminate from the underlying foam, it should be repaired. Delamination typically occurs near a wing’s rib and at the corners of the trailing edge. - Page 47 AFM 4-2 The wing is taped and clamped until dry. Once dry, remove the tape and peel away or sand any remaining glue.
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Page 48: Esc Beep Codes
AFM 4-2 Appendix I ESC Beep Codes ESC beeps notify status and/or errors of the propulsion system. The ESC code table is reproduced from page two of the Castle Edge Manual (P/N: 095-0176-00 revised 03/2013). As of 2017, inserting the throttle safety key will cause to motor to emit a disarm tone. (*) Repents a short beep (–) represents a long beep Tone Meaning... - Page 49 AFM 4-2 Appendix II Battery Cell Discharge Curve...
- Page 50 AFM 4-2 Appendix III Autopilot Carrier Board LED Codes LED Color Status Blue Carrier board power is connected Orange GPS is tracking enough satellites for positioning...
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