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Vertical Technologies DeltaQuad V1 Manual

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Introduction
Introduction
This document describes how to setup, operate and maintain your DeltaQuad series VTOL UAV.
Safety & Legal notice
The vehicle must be operated in accordance with local laws and regulations.
The vehicle may not be operated or flown near or over people, roads, vehicles, buildings or anything
that could result in damage or danger to people or property.
All missions must be validated and pass the
Radio or video transmitters might require special licensing and/or permits.
Vertical Technologies or its affiliates can not be held responsible for vehicles that have not been
operated or maintained in accordance with the guidelines set forth in this manual, or for behavior
resulting from changes made to the vehicle.
This operations manual is provided "As-Is". No rights can be obtained from the contents of this manual.
Software used in conjunction with the vehicle is provided under their respective license and warranty.
The vehicle is provided in accordance with the Vertical Technologies
Technologies
Terms & Conditions
Vehicle specifications
Dimensions:
Wingspan
DeltaQuad V1
DeltaQuad Mission Validator
Warranty
235 cm
and under the Vertical

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Summary of Contents for Vertical Technologies DeltaQuad V1

  • Page 1 Radio or video transmitters might require special licensing and/or permits. Vertical Technologies or its affiliates can not be held responsible for vehicles that have not been operated or maintained in accordance with the guidelines set forth in this manual, or for behavior resulting from changes made to the vehicle.
  • Page 2 Length 90 cm Height 17 cm Wing area 90 sq. dm. Payload bay 20 x 12 x 9 cm Flightcase dimensions 114 x 48 x 44 cm Flightcase weight ~ 25 Kg including vehicle Weight and Payload: Empty weight 3.3 Kg Empty weight including battery 5 Kg Maximum takeoff weight...
  • Page 3 All flight characteristics are based on optimized settings at sea level * These values assume 90% battery usage, low wind conditions and include a low altitude vertical takeoff and landing at sea level. EU Export versions are locked to 59 minutes flight time. ** These values are based on measurements at flight altitude Video instructions For your convenience the following video tutorials have been created.
  • Page 4 Setting up a Sony RX1R camera for mapping Setting up a Sony A7R camera for mapping Installing a mapping camera DeltaQuad Simulator The DeltaQuad Simulator is intended to provide users of the DeltaQuad with a means of familiarizing themselves with the Ground Control Software and various flight modes offered by the system. The simulator has been configured to mimic the behavior of the DeltaQuad in actual flight conditions.
  • Page 5 This chapter covers the hardware assembly, software setup and configuration. Chapter index Assembly Battery Telemetry & Ground Control DSPS Key parameters Safety features Integrating payloads Assembly In this section we cover the steps for unpacking and assembling the DeltaQuad. Package contents 1 x Main fuselage 2 x Wing 2 x Carbon spar (1150mm and 850mm)
  • Page 6 If there is damage to your vehicle please document and report this damage to Vertical Technologies. After unpacking and setting up your vehicle for the first time you might need to perform a...
  • Page 7 Slide the modules onto the carbon spars and push them firmly against the fuselage. Lock the modules by pushing down the lock pins. Confirm each module is securely fastened.
  • Page 8 Mounting the Wings After attaching the modules, make sure the lock pins on the wing side are in the open (up) position as shown on the image above. Slide the wings over the carbon spars and press them firmly against the VTOL module. If you feel any resistance it is possible that the carbon spars are not properly centered.
  • Page 9 Attaching the propellers The DeltaQuad comes with 5 propellers, 1 composite "pusher" propeller, and 4 carbon fiber VTOL propellers. The propellers should already be attached when you receive the vehicle. When replacing the propellers please follow these guidelines. The VTOL propellers consist of 2 Clock Wise (CW) propellers and 2 Counter Clock Wise (CCW). The motors are numbered 1 through 4.
  • Page 10 the shaft. Mount the propellers in the following positions noting the direction of the propeller as indicated below: The propellers are attached by removing the motor nut and washer, sliding the propeller on the shaft, sliding the washer on top of the propeller and fastening the nut. Pusher propeller assembly The DeltaQuad pusher propeller is an APC 13x10EP propeller that contains a modified ring to mount properly on the DeltaQuad pusher motor.
  • Page 11 Note: When replacing propellers for the VTOL modules no lock bond is required as these are self- tightening. When replacing the pusher motor propeller lock bond is required on the propeller adapter nut as this motor can spin in both directions. Disassembly and storage To disassemble the DeltaQuad open the lock pins for the wings and remove the wings.
  • Page 12 Safety notice 1. Use specific Lithium Polymer charger only. Do not use a NiCd or NiMh charger - Failure to do so may cause a fire, which may result in personal injury and property damage. 2. Never charge batteries unattended unless you charge inside a LiPo Safe. When charging Li-Po batteries you should always remain in constant observation to monitor the charging process and react to potential problems that may occur.
  • Page 13 Placing the LiPo Place the LiPo inside the fuselage with the Velcro strips pointing down. Make sure to position the LiPo as far forward as possible. Note: Only place a LiPo before the flight, and remove the LiPo directly after the flight. Always transport the LiPo in a safe transportation unit such as a fireproof bag or storage container.
  • Page 14 Note: When verifying the Center of Gravity make sure all components that are used in flight are inserted and attached. Charging the LiPo If you have ordered the DeltaQuad with a LiPo battery it will come with a plug & play charger. This charger can charge an empty LiPo battery in approximately 6 hours.
  • Page 15 The LiPo should be stored in a safe and dark location between 5 and 25 degrees Celsius. If the battery has been fully discharged, it is recommended to put at least some charge (+- 50%) before long term storage. Telemetry & Ground Control In this section we cover the setup of your Ground Control Station, Video and Telemetry links.
  • Page 16 Activating Radio Telemetry If your vehicle is equipped with radio telemetry, no setup is required on the vehicle side. To activate radio telemetry on the ground control station simply attach the receiving unit of the radio telemetry system to the ground control station.
  • Page 17 From here you can alter the video settings, DSPS settings and view your vehicles location from the Live view screen. Modifying DSPS settings without 4G connectivity If your vehicle is not equipped with 4G telemetry the settings for DSPS can only be modified by attaching an HDMI monitor and keyboard to the DSPS board computer.
  • Page 18 Key parameters The following parameters are considered safe to modify within the bounds described. To find a specific parameter the search function can be used. BAT_CAPACITY Min: 10000 Max: 33000 Default: 23000 This defines the total capacity in mAh of the battery when fully charged. The default value is set to 23000 (23 Amp/Hour).
  • Page 19 quadcopter mode. This functionality is required to ensure safe flight. Disabling this functionality will void your warranty and introduce a serious safety hazard MPC_LAND_SPEED Min: 0.6 Max: 1.2 Default: 1.2 This parameter controls the descent speed during landing. The vehicle will use this value as maximum speed.
  • Page 20 Safety features Low Battery Failsafe Trigger Default: Land Default warn level: 15% Default failsafe level: 7% This parameter defines what the vehicle does when reaching low battery levels. Warn level: the percentage where the vehicle will give a visible and audible warning to the Ground Control Station Failure level: The level at which the vehicle initiates the battery failsafe action.
  • Page 21 Fixed Wing mode when the event is triggered it will return home in fixed wing mode and land in quadcopter mode. When the vehicle is in quadcopter mode when the event triggers it will return home and land in quadcopter mode. These settings define how the vehicle behaves when it engages the Return to Launch / Return Home function.
  • Page 22 CPU, this could result in loss of Telemetry and/or DSPS functionality. Expanding the connectors A Connector Expansion Set is available from the Vertical Technologies store. This set will enable you to expand a connector with 3 additional signal wires in wings that do not contain radio or video transmitters.
  • Page 23 The connector housings can be unscrewed from the wing joiners for ease of access. Note: Vertical Technologies can not be held responsible for any damage or failure resulting from improper use of the connector system.
  • Page 24 The main menu bar The main menu bar is located in the top of the GCS screen and consists of the following buttons: Settings: Configure the QGroundControl application. Please refer to the QGC settings manual Setup: Configure the DeltaQuad's parameters safety features and perform sensor calibration Plan: Plan, verify and upload a...
  • Page 25 Mission Position (only when joysticks activated) Hold Return Other flight modes are not supported and should not be activated. Planning a mission The DeltaQuad has been designed to fly autonomously, this is achieved by planning and executing missions. Missions are set through the Ground Control Station. They can be created and sent to the vehicle directly, loaded from an existing mission plan, or saved to a mission plan.
  • Page 26 Video instruction For a video instruction on planning a mission please visit https://youtu.be/fgGukJIx8NQ DeltaQuad Mission Validator After planning your mission you can validate it using the DeltaQuad Mission Validator The Validator will check your mission for feasibility, sanity and safety. It will also check weather conditions, terrain altitudes and no-fly zones.
  • Page 27 The Plan View is used to plan autonomous missions for your vehicle. Once the mission is planned and sent to the vehicle, switch to the Fly View to perform pre-flight checks and fly the mission. The image above shows a simple mission that starts with a takeoff, flies through two waypoints and then lands at the indicated location.
  • Page 28 DeltaQuad flies to after it has ascended vertically to the altitude defined in this first waypoint. i.e. if the first waypoint is set at 60 meters altitude and 300m north of the current position, the DeltaQuad will ascend to 60 meters, transition to forward flight and proceed 300m north. Select the "add waypoint"...
  • Page 29 Could not load image Set landing waypoint Click on the map to select the desired position. Change the mission item to a VTOL LAND command. Select the drop-down menu icon on the last mission item (waypoint). Choose category VTOL Select VTOL transition and land Set altitude.
  • Page 30 The Sync Tool allows you to move missions back and forth to your Vehicle or a file. Before you fly a mission you must be sure to upload your mission to your vehicle. The tool will change to have an "!" within it to indicate that you have changes to your mission which you have not sent to your vehicle.
  • Page 31 Mission Height Display At the bottom of the map you will see a representation of the height differences between your mission commands. The white bars below the mission items indicate the relative height above ground level. The ground level is an estimation based on satellite surveys, these do not account for structures like buildings, power lines or trees.
  • Page 32 The airframe conforms with all local rules and regulations and is permitted to fly the intended mission. The propellers are mounted in the correct position, orientation and direction as specified in the Assembly section Visual inspection for damage, dirt, correctly mounted and securely fastened: Propellers Motors Wings...
  • Page 33 The vehicle is pointing into the wind. No warnings on GCS. DeltaQuad Safety & Performance System identifies as online in the messages list. The wing servos are powered (try to move the elevons and feel resistance from the servo). The vehicles current physical orientation matches the heading observed on GCS. Battery capacity is sufficient for vehicle and ground equipment.
  • Page 34 From the Fly screen, ensure all key telemetry data has been activated. The key telemetry data can be configured with settings button "A". The following telemetry data is recommended: Altitude-rel: The relative altitude of the vehicle compared to its home position. Ground speed: The ground speed in meters per second.
  • Page 35 Monitoring the mission Throughout the mission, both the telemetry data and the vehicle should be monitored. This task can be performed by a single operator, but it is recommended to perform this task with one operator and an observer. The observer should continue to watch the vehicle and its surroundings and alert the operator of any problems or nearby traffic.
  • Page 36 The recommended method of returning the vehicle in fixed-wing mode is described in the section PAUSE (C): The vehicle will hold its current position. In Fixed Wing mode it will circle the current position with a radius of 100 meters. While in pause mode, when there are no open dialogs, tapping anywhere on the map will give you the ability to select "Goto location".
  • Page 37 In the case of a malfunction inspect the vehicle for visible damage to the propellers or a higher resistance in any of the motors. If there was no evident damage then contact Vertical Technologies support for analysis.
  • Page 38 The reason this can occur could be related to weight, balance or a problem with the servos or pusher drive. A thorough inspection of the vehicle is required. If the problem can not be found and resolved you should contact Vertical Technologies support. Failure to track mission path...
  • Page 39 CURRENT and CONSUMED values will also help determine this. The DeltaQuad should draw between 9 and 15 Amperes of current on average during cruise flight. This value increases; The vehicle is flying significantly above sea level If the vehicle is flying with maximum payload. As the battery percentage drops.
  • Page 40 indicate the sensors need calibration Post flight When the DeltaQuad has completed operations it should be switched off, inspected, dismantled and stored. Flight logs should be retrieved and registered. Switching off the vehicle Before approaching the vehicle to switch it off note the following; The vehicle should never be approached when the motors are spinning.
  • Page 41 Note: Never remove the carbon spars with the VTOL modules still attached. This can damage the wing joiner and void your warranty. Transporting and storing the vehicle The DeltaQuad should be transported and stored inside the DeltaQuad Flightcase. Retrieving the on-board logs and registering the flight After every session of flights the on-board logs should be retrieved from the SD-Card and the flight should be registered in the flight log.
  • Page 42 Flight logs Preventive maintenance Scheduled maintenance Sensor calibration The DeltaQuad requires sensor calibration in the following conditions: When first received. When transported over 300km from its previously calibrated location. When indicated by events described in this manual. When the telemetry readings are inconsistent with reality. Accessing the calibration screen Sensor calibration is performed in QGroundControl.
  • Page 43 Compass calibration A compass calibration is best performed outside, away from metallic objects, electrical or magnetic interference. To start the compass calibration, click the compass button and follow the instructions on the screen. The calibration process starts when clicking OK. The autopilot orientation parameter in the GCS should remain unchanged.
  • Page 44 Level horizon Before levelling the horizon all other calibrations, except compass calibration, must have been completed. The Level Horizon calibration is best performed indoors. It requires the vehicle to sit level based on the VTOL arms. To level the vehicle based on the VTOL arms it is recommended to find a level surface (a table) and place 4 objects of equal height, such as soda cans or soup tins, under the quadcopter motors.
  • Page 45 2. If needed you can remove the tape that holds the voltage sensor cable as shown in image 1. 3. Insert the micro-usb cable in the port, do not attach the usb cable to your computer yet 4. After the upgrade process, remove the usb cable and place the controller back on the velcro. The controller should sit completely at the bottom.
  • Page 46 Performing the upgrade To perform a firmware upgrade please follow the steps below; 1. Download and install QGroundControl on your computer. 2. Download the firmware binary and the parameter file to your computer. These files will be available on the link sent to you via email. 3.
  • Page 47 9. Proceed to remove the usb cable and place the flight controller back in its required position as described above. Post-upgrade steps The email instructions for your firmware upgrade will include a method of validating the upgrade. Please make sure you validate the upgrade before flight. Sometimes it will be required to perform a new sensor calibration after upgrading.
  • Page 48 If you have ordered the DeltaQuad with a LiPo battery it will come with a plug & play charger. This charger can charge an empty DeltaQuad main flight battery in approximately 6 hours. To charge the battery insert both the power and balance plugs in the charger, it will commence charging automatically. When the LED light on the charger turns green the LiPo will have been charged.
  • Page 49 SD-Card in your flight kit. Always use industrial temperature rated sd-cards Maintaining a log book For professional use and fleet management Vertical Technologies recommends the use of AlarisPro . The DeltaQuad is a known vehicle in this system and all components and maintenance schedules are pre- configured.
  • Page 50 The recommended service cycle for the DeltaQuad UAV is 200 flights or 12 months, which ever comes first. Beyond this point the vehicle can fly less efficient and there could be a potential risk of failure. Using the Vertical Technologies Extended Maintenance Service you can extend the lifetime of your vehicle and maintain your warranty.
  • Page 51 Self Service Maintenance packages are available on request. Performing Self Service Maintenance does not extend your warranty. A high technical level is required to perform scheduled maintenance. If you would like to acquire a maintenance package please contact Vertical Technologies Support...
  • Page 52 DeltaQuad Pro #VIEW DeltaQuad Pro #VIEW Connecting to your UAV Introduction Your DeltaQuad Pro #VIEW is equipped with a Nighthawk2 camera system combined with a board computer that controls the camera. The radio system on your vehicle is based on the Microhard Digital Data Link.
  • Page 53 Using the Automatic Antenna Tracker (AAT) The Automatic Antenna Tracker (AAT) is designed to wirelessly connect to your ground equipment. To connect to your ground equipment: 1. Install the AAT on the tripod 2. Install the supplied AAT batteries in the AAT 3.
  • Page 54 on many factors such as weather, mountains, interference, and other radio emitting devices near-by. Tuning Tuning the video quality To tune the video quality you can connect to your UAV with the VCS. On the VCS open the Chrome browser and navigate to http://192.168.0.201.
  • Page 55 Example of medium settings Operating your camera Introduction The camera payload is operated from the Video Control Station (VCS). The VCS is a touch-screen laptop that is running the CCA2 application to connect to the camera system. The VCS laptop is equipped with a joystick to control the camera.
  • Page 56 Switch between RGB (regular) and IR (night visio video Change the IR video between Black for hot or White for hot Never press the deploy camera button while the UAV is on the ground. This may damage your camera. The VCS The VCS is a touch-screen laptop.
  • Page 57 Ground resolution - Selecting this value allows you to specify the ground resolution you want for each image. The altitude required to achieve this resolution is calculated and shown. Custom Camera The custom camera option is similar to the known camera option. The difference is that you must specify the details for the camera specifications yourself.
  • Page 58 Camera settings The following guidelines should be followed: Set focus to Automatic Continuous (AF-C) Set AF on Shutter to OFF Set camera to single shooting mode Set Auto Review to OFF Set mode dial to manual (M) Set aperture to f4.0 Set shutter time to Low light: 1/2000 Daylight: 1/3200...
  • Page 59 There are multiple options for a survey grid. You can select the main option from the dropdown at the top of the editor. Manual Grid The Manual Grid option allows you to specify all the values for generating the grid pattern over the polygon by hand.
  • Page 60 When using the Emlid Reach system To post process your images using an Emlid Reach PPK/RTK system, we recommend using RedToolBox You also need the Emlid ReachView app on your tablet or mobile phone. Before you can use your Emlid Reach system you will need to perform the initial setup procedure as described here: https://docs.emlid.com/reach/common/quickstart/first-setup/ After completing a survey mission flight please complete the following steps:...
  • Page 61 You can verify the geotagging using an online service like Pic2Map Pix4D can be used for 3D reconstruction. DeltaQuad Pro #CARGO Payload Drop Mechanism If your DeltaQuad is equipped with a Payload Drop Mechanism (PDM) you may use the following instructions to operate the PDM.
  • Page 62 Testing the payload doors WARNING: never trigger the payload doors when the vehicle is sitting on the gound with the payload doors obstructed. This may damage your PDM. To test the payload doors position the vehicle such that the doors can open unobstructed, you could place the vehicle between 2 tables for example.
  • Page 63 Place a waypoint on the target drop zone 3. Change the "Hold" value of the waypoint to 4 seconds, indicated below (1) 1. If the payload is dropped too late use a lower value 2. If the payload is dropped too soon use a higher value 4.
  • Page 64 2. Place a waypoint 2 meters before the target drop zone 3. Place an extra waypoint near the drop zone, as indicated below (1) 1. Change the category to VTOL 2. Select VTOL Transition 3. Select the mode "Hover mode" 4.
  • Page 65 Sample missions The following sample mission shows how to plan a standard "Fixed wing" drop. You can import this mission in the Ground Control Station as an example on how to plan a fixed wing payload drop. PDM.plan The following sample mission shows how to plan a precision "Multi rotor" drop. You can import this mission in the Ground Control Station as an example on how to plan a fixed wing payload drop.
  • Page 66 Number Type Function UP: Position flight mode CENTER: neutral - no function 3 position switch DOWN: Mission flight mode UP: Return flight mode CENTER: neutral - no function 3 position switch DOWN: neutral - no function Dial Not assigned Dial Gimbal zoom 3 position switch Not assigned...
  • Page 67 Not active (light off): retract camera gimbal Push button active (light on): deploy camera gimbal A: GRR (hold coordinate on ground) B: OBS (keep camera position) C: STOW (lock in forward view Gimbal mode selector D: not assigned E: not assigned F: not assigned Press and hold: power on/off Power button...