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Gatewing X100UAS System Manual

X100 system series
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X100 S
M
YSTEM
ANUAL
X100 UAS

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Summary of Contents for Gatewing X100UAS

  • Page 1 X100 S YSTEM ANUAL X100 UAS...

  • Page 3: Table Of Contents

    ONTENTS Terms and conventions..................15 Copyright......................15 Notation of numbers..................15 Units........................16 • General......................16 • Aviation......................16 Conversion table ....................17 X100......................... 19 General ......................19 • UAS ......................19 • Autonomous trajectory control..............19 • Image acquisition ..................20 •...
  • Page 4 • Angles ......................42 • Altitudes......................42 • Speeds ......................43 • Dimensions....................43 Gatewing modem specifications ............... 44 Operating limitations ..................45 Operating Limitations ..................45 • What ......................45 • Overview ...................... 45 Image acquisition limitations ................46 •...
  • Page 5 Flight behavior ....................47 Phases of a flight ....................47 Launch and take-off ..................47 • Launch......................47 • Take-off ......................47 • Air pressure at launch .................. 47 Climb......................... 48 Cruise flight ....................... 48 • Crab angle....................48 • Air pressure during cruise flight..............
  • Page 6 Put the X100 in ON mode ................. 62 Put the X100 in ARMED mode ................. 63 Make the X100 return to STANDBY mode ............64 Perform a POWER CYCLE on the X100 ............64 8.10 Put the X100 in DOWNLOAD mode ..............65 8.11 Put the X100 in OFF mode ................
  • Page 7 Battery......................91 12.1 Battery parts...................... 91 12.2 Battery specifications ..................92 12.3 Battery charger ....................92 • What ......................92 • Operating manual..................92 12.4 Battery charger parts ..................93 12.5 Power on the battery charger................93 12.6 Battery charging parameters................94 •...
  • Page 8 14.7 Track down an X100 ..................108 Virtual-GPS ....................111 15.1 What........................ 111 15.2 Landing heading ..................... 111 15.3 Define a landing heading: first method ............111 15.4 Define a landing heading: second method............112 Quickfield ....................... 113 16.1 What........................ 113 16.2 Custom map....................
  • Page 9 17.4 Establish a wireless link between the GCS and the X100 ......122 • Wireless (RF) link between GCS and X100 ..........123 17.5 Upload the flight plan to the X100..............124 17.6 Reset the airspeed sensor ................125 17.7 Check the airspeed sensor response .............
  • Page 10 19.2 Checks and preparations ................143 • Check the elevon response................ 143 • Check the X100 body ................. 145 • Check the pitot tube ................... 145 • Check the wingtips ..................146 • Check the elevons and elevon servos............147 •...
  • Page 11 During flight....................179 20.1 Safety measures ..................... 179 • Safety measures for take-off ..............179 • Safety measures for cruise flight ..............179 • Safety measures for descent and landing ..........179 20.2 Monitor the flight ..................... 180 20.3 Monitor the landing ..................180 After the flight....................
  • Page 12 In case of ....................... 197 23.1 Failsafes......................197 • Fail-safe mechanisms ................197 • Handle a low battery warning before launch ..........197 • Handle loss of GPS lock before launch............198 • Handle a communication link failure before launch ........198 •...
  • Page 13 Maintenance ....................209 24.1 Update the Autopilot settings file ..............209 — 13 — 12 October 2012...
  • Page 14 — 14 — 12 October 2012...

  • Page 15: Terms And Conventions

    The material contained in this document is confidential and intended for use only by parties authorised by Gatewing. All Rights Reserved. No part of this document may be photocopied, 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.

  • Page 16: Units

    Terms and conventions Units Units 1.3.1 General The following general units are used by Gatewing according to SI: Dimension SI unit Alternative unit Gatewing Pressure hectopascal inHg (hPa) Weight kilogram (kg) pound (lbs) Moment (force) Newton meter (Nm) Temperature Kelvin (K) degree Celsius °C...

  • Page 17: Conversion Table

    Terms and conventions Conversion table Conversion table You can use the following conversion table: 1 kg 2.2 lb 1 lb 0.45 kg (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...
  • Page 18 Terms and conventions Conversion table — 18 — 12 October 2012...

  • Page 19: X100

    X100 General 2.1.1 What Unmanned Aircraft System (UAS) is a generic term. It describes an aircraft and its associated elements which are operated with no pilot on board: ● Remotely-piloted Aircraft (RPA) ● Remotely-piloted Aircraft System (RPAS) ● Drones Elements as referred to by ICAO A typical RPAS consists of the following elements: ●...

  • Page 20: Image Acquisition

    X100 General 2.1.3 Image acquisition What All pictures are acquired at a specified height, along parallel lines with specified overlap between the image exposures. At the same time, position information of the pictures is recorded for further processing. Applications Image acquisition can be used for: ●...

  • Page 21: X100 Parts

    X100 PARTS X100 The X100 case contains the following items: Entry Part X100 body Download cable Spare parts Modem and antenna — 21 — 12 October 2012...

  • Page 22: X100 Body Zones

    X100 parts X100 body zones Entry Part Ground control station Checklist Batteries Battery charger X100 body zones The body of the X100 consists of the following zones: Entry Zone Tail Wing Wingtip Nose — 22 — 12 October 2012...

  • Page 23: X100Construction

    X100 parts X100construction Entry Zone Leading edge of the wing Trailing edge of the wing X100construction X100 materials 3.3.1 Composition The main wing material is EPP foam that is supported with a carbon-frame structure that is placed inside the mold during production of the foam wing. It is a mono-wing. The part is produced by a supplier specialized in making EPP foam parts.

  • Page 24: X100 Body Parts

    X100 parts X100 body parts X100 body parts The X100 body consists of the following parts: Entry Part Elevons eBox bay — 24 — 12 October 2012...
  • Page 25 X100 parts X100 body parts Entry Part Payload bay Motor Pitot bay Camera hole Launcher slat Elevon servo bay — 25 — 12 October 2012...

  • Page 26: Ebox Bay Parts

    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 Motor cables (power and control) Pressure tube eBox connector — 26 — 12 October 2012...

  • Page 27: Elevon Servo Bay Parts

    X100 parts X100 body parts Entry Part Front eBox screw Rear eBox screw 3.4.2 Elevon servo bay parts The elevon servo bay on the X100 body consists of the following parts: — 27 — 12 October 2012...

  • Page 28: Payload Bay

    X100 parts X100 body parts Entry Part Elevon servo fix with two screws Servo rod Servo bay top cover (servo connector inside) Servo details Specification Value manufacturer type 3.4.3 Payload bay The payload bay on the X100 body consists of the following parts: —...
  • Page 29 X100 parts X100 body parts Entry Part USB camera wire with USB camera connector Download connector Battery connector Registration plate Payload bay screw Camera compartment Camera hole Top cover The payload bay is sealed with a top cover that can be secured with a plastic screw (A). —...
  • Page 30 X100 parts X100 body parts Seal the payload bay with the top cover REREQUISITES ● X100 body ● Top cover with plastic screw ● Flat-bladed screwdriver Make sure no connectors or cables are hanging over the edge of the payload bay. Place the top cover on the payload bay of the X100 body.

  • Page 31: Pitot Bay Parts

    X100 parts X100 body parts 3.4.4 Pitot bay parts The pitot bay of the X100 body consists of the following parts: Entry Part Pitot clamp Pitot tube Pitot cover Cover the pitot tube REREQUISITES ● X100 body ● Pitot cover The pitot tube needs to be covered when: ●...
  • Page 32 X100 parts X100 body parts ● The airspeed is being reset in preparation of a flight Cover the pitot tube with the pitot cover. Remove the pitot cover REREQUISITES ● X100 body The pitot cover needs to be removed from the pitot tube before flight. : Not removing the pitot cover will result in a crash when launching the X100.

  • Page 33: Launcher Slat Parts

    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 Slat Wing lock — 33 — 12 October 2012...

  • Page 34: Download Cable

    The download cable is used to download the log files from the X100 to the GCS. It consists of the following parts: Entry Part Serial connector X100 connector Check the X100 body REREQUISITES ● Soft brush and water ● Repairing materials prescribed by Gatewing — 34 — 12 October 2012...

  • Page 35: Check The Pitot Tube

    : Do not use high water pressure or a steel brush to clean the body. AUTION Check the body for cracks and repair them as prescribed by Gatewing. When in doubt, contact Gatewing or your local dealer. : Make sure the surface of the body is smooth after repairing the crack.

  • Page 36: Check The Wingtips

    X100 parts Check the wingtips Blow into the tube to check if nothing is blocking it. Check the wingtips REREQUISITES ● Screwdriver torx T10 The wingtips must be firmly attached to the X100 body to prevent roll stability problems (wingtip vortices).

  • Page 37: Check The Elevons And Elevon Servos

    3.10 Check the elevon response REREQUISITES ● 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 will not be able to steer correctly, which will result in a crash.
  • Page 38 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 — 38 — 12 October 2012...
  • Page 39 X100 parts Check the elevon response Position Figure Position elevons 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. Check if the elevons are moving up and down regarding the roll position —...
  • Page 40 X100 parts Check the elevon response — 40 — 12 October 2012...

  • Page 41: Operating Specifications

    PERATING SPECIFICATIONS ISA conditions 4.1.1 International Standard Atmosphere All operating specifications of the X100 are determined using the International Standard Atmo- sphere (ISA) conditions. Established in 1976, the International Standard Atmosphere (ISA) is a mathematical descrip- tion of a theoretical column of air. ISA conditions for more information.

  • Page 42: X100 Specifications

    Operating specifications X100 specifications X100 specifications 4.2.1 Power The X100 has the following power specifications: Specification Value Battery type Lithium-polymer 11.1 V 8000 mAh Optimal battery usage time 40 minutes (ISA) 4.2.2 Angles The X100 has the following angle specifications: Specification Value Launch angle...

  • Page 43: Speeds

    : MTOW is equal to Max Ramp Weight (MRW) and Maximum Landing Mass (MLM) as the payload and fuel do not change during flight. : Any deviation leading to a different MTOW must be approved by Gatewing. AUTION — 43 —...

  • Page 44: Gatewing Modem Specifications

    Operating specifications Gatewing modem specifications Gatewing modem specifications The Gatewing modem has the following specifications: Specification Value Maximum range 5 km (2.7 NM or 3.1 SM) — 44 — 12 October 2012...

  • Page 45: Operating Limitations

    The X100 is limited by the forces of nature. Regardless of the picture quality, the X100 has an operational envelope for which no flight may be undertaken or continued. The remote pilot should abort the mission. 5.1.2 Overview Gatewing determined the following conditions as maximal flight conditions: Condition Maxima Time Between sunrise and sunset...

  • Page 46: Image Acquisition Limitations

    Gatewing determined the following weather maxima to ensure a good picture quality during acquisition: Condition Maxima Cloud ceiling 3000ft AGL Precipitation None Wind 50 km/h : Gatewing can not guarantee a good picture quality when flying in conditions beyond AUTION those described above. — 46 — 12 October 2012...

  • Page 47: Flight Behavior

    LIGHT BEHAVIOR Phases of a flight A typical flight consists of the following phases: ● Launch and take-off ● Climb ● Cruise flight ● Descent ● Landing Launch and take-off 6.2.1 Launch An aircraft is always launched into the wind or into the opposite direction of the wind to ensure maximum airspeed during take-off.

  • Page 48: Climb

    Flight behavior Climb Climb The X100 first flies horizontally. In the next phase, it climbs up. : Make sure that: AUTION ● There are no obstacles on the path of the aircraft ● There is enough horizontal and vertical space available for the turn from 75m AGL to the preferred height Cruise flight Once the aircraft passed its first waypoint, the second waypoint is initiated.

  • Page 49: Air Pressure During Cruise Flight

    Flight behavior Cruise flight 6.4.2 Air pressure during cruise flight Pressure drop If the air pressure drops during cruise 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 its true height, the actual height of the aircraft will be lower but this will not be shown on the altimeter.

  • Page 50: Descent

    Flight behavior Descent Descent Once passed the last waypoint, the aircraft will fly to its landing zone. Once above this zone, the aircraft will start spiraling down to 75 m AGL with a 150 m radius. From this moment on the procedure for landing is initiated.

  • Page 51: Gliding Number

    Flight behavior Landing 6.6.2 Gliding number The X100 has a gliding number of 1/8. This means that, from an altitude of 100 m, the aircraft will fly a distance of 800 m holding an angle of 7.125 ° before touching ground. The gliding number is defined in ideal conditions (ISA, no wind).

  • Page 52: Landing Above The Launching Elevation

    Flight behavior Landing Pressure rise If the air pressure suddenly increases during the flight, the X100 will assume its landing point is located x m above the defined landing point. There will be an overshoot landing. 6.6.4 Landing above the launching elevation If you define a landing point located higher 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.

  • Page 53: Landing Below The Launching Elevation

    Flight behavior Landing : We assume equal pressure during the flight. Example of landing point located above the launching elevation If the landing point is located 10 m above the launching elevation, the X100 will have an under- shoot of approximately 80 m during landing. 6.6.5 Landing below the launching elevation If you define a landing point located lower than the launching elevation, the X100 assumes its...

  • Page 54: Ground Effect

    Flight behavior Landing 6.6.6 Ground effect When an aircraft is flying at a height that is approximately the same distance as 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.

  • Page 55: Camera

    AMERA Camera parts The Ricoh camera consists of the following parts: — 55 — 12 October 2012...

  • Page 56: Camera Specifications

    Camera Camera specifications Entry Part Mode dial Up-down dial Ring cap GH-2 adaptor for general purposes UV filter (43 mm diameter) MENU/OK button ADJ. lever DISP. button Camera specifications The Ricoh camera has the following specifications: Specification Value Effective pixels 10 million Image sensor 1/1.7"...

  • Page 57: Assemble The Camera

    Insert the charged battery in the battery compartment of the Ricoh camera. 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: ●...
  • Page 58 Camera Set up the camera Press right once to see the possible values. Select 1 minute. Press the MENU/OK button to confirm. — 58 — 12 October 2012...

  • Page 59: Ebox

    eBox parts The eBox consists of the following parts: — 59 — 12 October 2012...

  • Page 60: Mount An Ebox In The X100

    eBox Mount an eBox in the X100 Entry Part RF connector • Green ON LED • CONTROL button • Red READY LED GPS connector Pressure connector eBox connector Mount an eBox in the X100 REREQUISITES ● X100 body ● eBox ●...

  • Page 61: Ebox Modes

    eBox eBox modes eBox modes The X100 (eBox) can be in one of the following modes: — 61 — 12 October 2012...

  • Page 62: Put The X100 In Standby Mode

    eBox Put the X100 in STANDBY mode Mode Description The battery is not connected. STANDBY The battery is connected. The sensors and general settings are initialized. ARMED The aircraft is ready for launch. DOWNLOAD The data from the camera in the aircraft can be downloaded. ERROR An error occurred.

  • Page 63: Put The X100 In Armed Mode

    eBox Put the X100 in ARMED mode The X100 fully initializes when put in ON mode. During a full initialization the X100 performs the following actions: ● Acquire a new GPS lock. ● Check the elevons and put them in zero position. ●...

  • Page 64: Make The X100 Return To Standby Mode

    Make the X100 return to STANDBY mode REREQUISITES ● X100 prepared for flight with eBox in ON, ARMED or DOWNLOAD mode Gatewing advises to make the X100 return to STANDBY mode when: ● The flight is interrupted ● The flight is delayed ●...

  • Page 65: Put The X100 In Download Mode

    eBox Put the X100 in DOWNLOAD mode 8.10 Put the X100 in DOWNLOAD mode REREQUISITES ● X100 with eBox in STANDBY mode and GPS antenna removed To download the data from the camera, the X100 must be put in DOWNLOAD mode. Hold down the CONTROL button until the ON LED has flashed three times.
  • Page 66 eBox Make the X100 exit ERROR mode — 66 — 12 October 2012...

  • Page 67: Antennas

    NTENNAS Antenna types The following antennas are screwed on the eBox: Entry Type Data link antenna GPS antenna — 67 — 12 October 2012...

  • Page 68: Screw The Gps Antenna On The Ebox

    Antennas Screw the GPS antenna on the eBox Screw the GPS antenna on the eBox REREQUISITES ● GPS antenna ● eBox The GPS antenna needs to be screwed onto the eBox to ensure a locked GPS signal of the X100. Screw the GPS antenna clockwise onto the GPS antenna connector of the eBox.
  • Page 69 Antennas Screw the data link antenna on the eBox : Tighten it hand-tight, do not overstrain. : To remove the data link antenna from the eBox, unscrew it counterclockwise. — 69 — 12 October 2012...
  • Page 70 Antennas Screw the data link antenna on the eBox — 70 — 12 October 2012...

  • Page 71: Motor

    OTOR 10.1 Motor parts The motor of the X100 consists of the following parts: Entry Part Drive unit with electric engine and engine speed controller Engine speed controller (ESC) Screw — 71 — 12 October 2012...

  • Page 72: Motor Details

    Motor To check the propeller Entry Part Propeller blade Propeller nose 10.1.1 Motor details 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 10.1.2...

  • Page 73: To Replace The Propeller Blades

    Motor To replace the propeller blades Check if the propeller blades are still firmly attached to the propeller. ● The propeller blades must be facing backwards. ● The screws on the tips of the propeller blades must be tightened but the blades must still be able to move.

  • Page 74: Check The Position Of The Propeller Blades

    Motor Check the position of the propeller blades 10.4 Check the position of the propeller blades REREQUISITES ● Armed launcher It is important that the propeller blades are positioned correctly to prevent damage during launch. Make sure the propeller blades are facing backwards. This way they will not hit the launch dock during launch.

  • Page 75: Launcher

    AUNCHER 11.1 X100 launcher The launcher for the X100 consists of the following parts: Entry Part Launch dock with lock pin Crank Safety pin Launch handle — 75 — 12 October 2012...

  • Page 76: Launch Slide Parts

    Launcher X100 launcher Entry Part Launch slide V-support with lock pin Support fix with two support fix pins 11.1.1 Launch slide parts The launch slide for the X100 consists of the following parts: Entry Part Release handles Crank connector Launch hook Handles Launch cable Launch handle...

  • Page 77: X100 Launcher Bag

    Launcher Assemble the launcher 11.1.2 X100 launcher bag The launcher bag consists of the following parts: Entry What Where Launch dock Separate compartment Launch slide Main compartment Crank Side compartment V-support Side compartment Safety pin Separate compartment 11.2 Assemble the launcher REREQUISITES ●...
  • Page 78 Launcher Assemble the launcher Once you have determined the launch location, you can assemble the launcher. Take the launch slide out of the launcher bag. Unfold and secure the launch slide with the handles. : If a handle is too easy to close, tighten the nut in the handle to increase the tension.
  • Page 79 Launcher Assemble the launcher Unfold and secure the V-support with the lock pin. 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.
  • Page 80 Launcher Assemble the launcher : If the launch cable is blocked while the elastics are not tightened, push the release handles upwards to unblock them. Never do this when the elastics are tightened, you will damage the elastics. 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.
  • Page 81 Launcher Assemble the launcher Attach the launch cable to the launch dock with the lock pin. : Make sure the launch cable is not tightened or twisted. AUTION Insert the safety pin into the launch dock. — 81 — 12 October 2012...

  • Page 82: Disassemble The Launcher

    Launcher Disassemble the launcher Place the launcher into the prevailing wind direction. 11.3 Disassemble the launcher REREQUISITES ● Crank Once the flight is done, you can disassemble the launcher. Fix the crank between your ties. Release the force with the crank very gently while pulling the release handles upwards. Make sure you counteract the force on the elastics.
  • Page 83 Launcher Disassemble the launcher : It is recommended that a second person connects the crank to the tightening AUTION system so the forces can be released gently. Remove the cables from the lock pin on the launch dock. Tighten the launcher so that the launch cable is back in the launch slide but the end remains out.
  • Page 84 Launcher Disassemble the launcher Remove the launch dock from the launch slide. Detach the V-support by turning the support upwards. Open the fixes on the launch slide. Fold the launch slide and put everything back in the launcher bag. — 84 — 12 October 2012...

  • Page 85: Mount The X100 On The Launcher

    Launcher Mount the X100 on the launcher 11.4 Mount the X100 on the launcher REREQUISITES ● 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. : Never perform a launch when the launcher is armed without the X100.
  • Page 86 : When using a torque wrench, tighten the launcher up to 16 Nm. : The launch cable stretches out with every launch. When you can easily reach ARNING the last hole when tightening the cable, Gatewing recommends to replace the launch cable to prevent unsuccessful launches. — 86 —...
  • Page 87 Launcher Mount the X100 on the launcher 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. : Make sure both launcher slats rest completely on the launch dock and there ARNING are no obstructions between the X100 and the launch dock.

  • Page 88: Check The Pitch And Roll Position Of The X100

    REREQUISITES ● Armed launcher ● Powered 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. Make sure the X100 has a pitch angle between 20 and 30° on the artificial horizon indica- tor.

  • Page 89: Remove The Safety Pin From The Launcher

    Launcher Remove the safety pin from the launcher 11.6 Remove the safety pin from the launcher REREQUISITES ● Armed GCS ● X100 in ARMED mode on launcher The final step before launching the X100, is to remove the safety pin. Remove the safety pin from the launcher dock while standing behind the launcher away from the propeller of the X100.
  • Page 90 Launcher Launch the X100 — 90 — 12 October 2012...

  • Page 91: Battery

    ATTERY 12.1 Battery parts The battery used in the X100 consists of the following parts: Entry Part Main power connector Balancer connector Battery — 91 — 12 October 2012...

  • Page 92: Battery Specifications

    Battery Battery specifications 12.2 Battery specifications The battery used in the X100 has the following specifications: Specification Value Type Lithium polymer Manufacturer KOKAM Nominal energy capacity 8000 mAh Nominal voltage 11.1 V Charge condition Maximum current Voltage 12.6 V ± 0.03 V Discharge condition Maximum current 40 A...

  • Page 93: Battery Charger Parts

    Battery Battery charger parts 12.4 Battery charger parts The Graupner Ultramat 14 plus charger consists of the following parts: Entry Part Display Charger cable for X100 Balancer connector Enter/Start button Car battery cable Power supply cable 12.5 Power on the battery charger REREQUISITES ●...

  • Page 94: Battery Charging Parameters

    Battery Battery charging parameters To charge a battery, the Graupner Ultramat 14 plus charger must be powered on first. Connect the Graupner Ultramat 14 plus charger to a: ● 12 V car battery ● 100-240 VAC power supply ESULT Once powered on, the Graupner Ultramat 14 plus charger displays the following messages: A welcome message.
  • Page 95 Battery Charge a battery Always use a fully charged X100 battery for a flight. Check the default battery charging parameters of the Graupner Ultramat 14 plus charger. : Wrong battery charging parameters can destroy your battery and cause it to ANGER catch fire or explode.

  • Page 96: Disconnect A Charged Battery

    Battery Disconnect a charged battery Connect the charger cable of the Graupner Ultramat 14 plus charger to the main power connector of the X100 battery. : Mind the polarity. ARNING Hold down the Enter/Start button for two seconds. The charging process starts automatically. ESULT 12.8 Disconnect a charged battery REREQUISITES...

  • Page 97: Mount A Charged Battery In The X100

    Battery Mount a charged battery in the X100 Disconnect the charger cable of the Graupner Ultramat 14 plus charger from the X100 battery. Disconnect the balancer connector of the X100 battery from the Graupner Ultramat 14 plus charger. 12.9 Mount a charged battery in the X100 REREQUISITES ●...

  • Page 98: Remove A Battery From The X100

    Battery Remove a battery from the X100 Place the fully charged battery in the battery compartment of the payload bay. Connect the main power connector of the battery to the X100. The eBox will generate a confirmation tone to indicate the battery is ESULT connected.

  • Page 99: Ground Control Station

    ROUND CONTROL STATION 13.1 Ground control station (GCS) The Trimble tablet PC ground control station consists of the following parts: Entry Part Cursor Enter button Touchscreen Stylus — 99 — 12 October 2012...

  • Page 100: Modem

    Ground control station Modem Entry Part USB port Serial port On/Off button Keyboard lock Camera activation 13.2 Modem The Gatewing modem (2.4 GHz) consists of the following parts: Entry Part Modem USB connector Modem antenna — 100 — 12 October 2012...

  • Page 101: Modem Details

    5 km (2.7 NM or 3.1 SM) Latency < 0.5 seconds Data rate 19.2kbps Telemetry download speed 13.3 Prepare the GCS for flight REREQUISITES ● Trimble tablet PC GCS ● Gatewing modem Screw the modem antenna onto the modem. — 101 — 12 October 2012...
  • Page 102 Ground control station Prepare the GCS for flight Strap the modem on the backside of the GCS. Connect the USB connector of the modem to the GCS. Press the On/Off button to switch on the GCS. : Switch on the GCS outside to ensure a GPS lock. —...

  • Page 103: Tracker

    RACKER 14.1 Tinyloc tracking system parts The Tinyloc tracking system consists of the following parts: — 103 — 12 October 2012...

  • Page 104: F22 Transmitter Specifications

    Tracker F22 transmitter specifications Entry Part F22 transmitter R1 receiver On/off button Scan button Increase/decrease gain buttons Four folding antennas Screen MENU/OK and Navigation buttons Earphone connector 14.2 F22 transmitter specifications The F22 transmitter has the following specifications: Specification Value Range Ground 15-28 km...

  • Page 105: R1 Receiver Specifications

    Tracker R1 receiver specifications 14.3 R1 receiver specifications The R1 receiver has the following specifications: Specification Value Height x width x depth 245 x 66.5 x 40 mm Receiver sensitivity -146 dBm Power 6 V (four LR6AA batteries) : Do not use rechargeable batteries. Weight 0.520 kg (including batteries) Frequency range...

  • Page 106: R1 Receiver Screen Components

    Tracker R1 receiver screen components 14.4 R1 receiver screen components The screen of the R1 receiver displays the following: Entry Component Battery indicator Received signal strength Transmitter bar Current gain level Transmitter name Frequency — 106 — 12 October 2012...

  • Page 107: Power On/Off The F22 Transmitter

    Once the receiver has picked up this signal, you can determine your course based on the direction and intensity of the received signal. Tinyloc tracking system Gatewing uses the Tinyloc tracking system, which consists of the F22 transmitter and the R1 receiver. — 107 —...

  • Page 108: Store An F22 Transmitter In The Memory Of The R1 Receiver

    Tracker Track down an X100 Operating manual Read the Tinyloc tracking system Operating Manual carefully before using the tracking system for the first time. You can find this manual on www.tinyloc.com. 14.6.2 Store an F22 transmitter in the memory of the R1 receiver REREQUISITES ●...
  • Page 109 Tracker Track down an X100 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. ●...
  • Page 110 Tracker Track down an X100 — 110 — 12 October 2012...

  • Page 111: Virtual-Gps

    -GPS IRTUAL 15.1 What The X100 has a GPS on-board, which is being used for: ● executing the flight path. ● shooting images. ● giving a first estimate of the image positions. 15.2 Landing heading When creating a flight plan, you need to define a landing heading. This is the direction from where the X100 approaches its landing location during the final leg of the landing circuit.

  • Page 112: Define A Landing Heading: Second Method

    Virtual-GPS Define a landing heading: second method Position yourself on the final leg 10 m before the landing location while making sure the final leg is clear from all obstacles. Wait until Virtual-GPS has found your GPS location. The value of Fix Mode will change from No Fix to FIX, 3D when Virtual-GPS has a locked GPS location.

  • Page 113: Quickfield

    UICKFIELD 16.1 What Quickfield is flight simulation software. This software is used to create and edit a flight plan. 16.2 Custom map 16.2.1 What A custom map is a georeferenced image file. Typical sources for a custom map are: ● GIS software packages ●...

  • Page 114: Zip File

    Quickfield Project area 16.2.4 zip file The zip file contains the following files: ● A *.jpg or *.png image file representing the map (maximum size: 4000 x 4000 pixels) ● A *.info file containing the following information of the map: ○...

  • Page 115: Flight Plan

    Quickfield Flight plan 16.5 Flight plan 16.5.1 What A flight plan consists of the following information: ● Flight lines ● Waypoints ● Launching location ● Landing location The X100 uses the flight plan as guideline for the flight. 16.5.2 Parameters The following parameters are translated into a flight plan: ●...

  • Page 116: Create A Project

    Quickfield Create a project 16.7 Create a project REREQUISITES ● GCS with Quickfield software installed ● Internet connection when defining project location online ● GPS position Creating a project is typically done in the office. Open Quickfield and click New Project on the opening screen. Define the project location: ●...

  • Page 117: Create A Flight Plan

    Quickfield Create a flight plan Save the project. Enter the Project name and click Save. : When using Google maps ™ , the Project map is saved together with the eight surrounding map tiles at the same zoom level. ESULT You have created a project.
  • Page 118 It is however important to match these two directions to ensure an accurate simulation in Horizon. A blue Gatewing logo appears on the Flight map indicating the take-off ESULT location. Specify the take-off direction with the arrow. Always set the take-off direction into the prevailing wind direction and clear from obstacles.

  • Page 119: Scan Area Properties

    Quickfield Create a flight plan 16.8.1 Scan area properties Flight height (Altitude) versus Ground Sample Distance (GSD) These two settings are linked to each other. The higher the X100 flies, the larger the GSD of the pictures will be. Flight height (Altitude) 100 m (minimum) 3.3 cm 750 m (maximum)
  • Page 120 Quickfield Create a flight plan — 120 — 12 October 2012...

  • Page 121: Horizon

    ORIZON 17.1 What Horizon is the interface with the X100 autopilot. This software is used for: ● Uploading new flight plans ● Monitoring and interacting with the X100 during flight ● Simulating flights 17.2 User interface The user interface consists of: ●...

  • Page 122: Establish A Wireless Link Between The Gcs And The X100

    Horizon Establish a wireless link between the GCS and the X100 : Always check a flight plan with a simulation before using it for a flight. AUTION Select UAV-01 from the Autopilot Control list. Click Simulate. The flight plan appears over the background map. ESULT Click Arm to indicate a pending launch.

  • Page 123: Wireless (Rf) Link Between Gcs And X100

    GCS and eBox. Upon specific request, Gatewing can provide uniquely paired modem/eBox combinations. — 123 — 12 October 2012...

  • Page 124: Upload The Flight Plan To The X100

    Horizon Upload the flight plan to the X100 LINK field The LINK field in Horizon indicates the link status between the GCS and X100. This field can have the following values: Message Color Description LINK There is no wireless (RF) link between the GCS and the X100.

  • Page 125: Reset The Airspeed Sensor

    Horizon Reset the airspeed sensor Click Transmit to start the upload. The flight plan is now uploaded, verified and saved in the non-volatile ESULT memory of the X100 autopilot. When the upload is finished, the two bottom bars in the dialog are green and the message Transmission complete is shown in the lower bottom bar.

  • Page 126: Check The Airspeed Sensor Response

    Horizon Check the airspeed sensor response Click OK to confirm. Perform a POWER CYCLE on the X100. The airspeed sensor has been reset. ESULT Check the airspeed sensor response. FTER OMPLETING 17.7 Check the airspeed sensor response REREQUISITES ● GCS with flight plan exported to Horizon and uploaded to the X100 ●...

  • Page 127: Monitor The X100 Autopilot Initialization

    Horizon Monitor the X100 autopilot initialization 17.8 Monitor the X100 autopilot initialization REREQUISITES ● GCS with flight plan exported to Horizon and uploaded to the X100 ● Wireless link between GCS and X100 (LINK field green) During initialization, the X100 autopilot performs the following actions: ●...

  • Page 128: Gps Field

    Horizon Monitor the X100 autopilot initialization 17.8.1 GPS field The GPS field in Horizon indicates if the X100 has acquired a locked GPS location by 4 satel- lites. Three satellites are needed to provide the position on the three axes (X, Y and Z) and one satellite to provide timing corrections.

  • Page 129: Monitor The Battery Voltage Of The X100

    Horizon Monitor the battery voltage of the X100 17.9 Monitor the battery voltage of the X100 REREQUISITES ● GCS with flight plan exported to Horizon and uploaded to the X100 ● Wireless link between GCS and X100 (LINK field green) Monitor the battery voltage level of the X100 in Horizon: ●...

  • Page 130: Monitor The Flight

    Horizon Monitor the flight You need to inform Horizon aware of a pending launch. If you do not do this, a warning message is shown in the in the warning message field indicating that the X100 was launched unintentionally. Select UAV-01 from the Autopilot Control list. Click Arm to indicate a pending launch.

  • Page 131: Monitor The Landing

    Horizon Monitor the landing 17.12 Monitor the landing REREQUISITES ● X100 in the air, ready for landing ● Wireless link between GCS and X100 (LINK field green) Once the X100 starts landing, a dialog appears in Horizon, showing the landing circuit that will be followed.
  • Page 132 Horizon End a flight — 132 — 12 October 2012...

  • Page 133: Datalog Viewer

    ATALOG IEWER 18.1 What Datalog Viewer is software installed on the GCS. Datalog Viewer is used to download the data from the X100 for image processing and flight analysis. 18.2 Download the log files REREQUISITES ● X100 after flight with battery connected (STANDBY) and GPS antenna removed ●...

  • Page 134: Collect And Save The Log Files

    Datalog Viewer Collect and save the log files Connect the download cable to the download connector in the payload bay of the X100. Open Datalog Viewer. Choose File > Read Log File from Autopilot File from the menu bar. A dialog appears to select the UAV. ESULT Put the X100 in DOWNLOAD mode.
  • Page 135 Datalog Viewer Collect and save the log files ● UAV-1-stdtlmyyyymmdd_hhmmss.txt Used for flight analysis and troubleshooting. 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.
  • Page 136 Datalog Viewer Collect and save the log files — 136 — 12 October 2012...

  • Page 137: Prepare For Flight

    REPARE FOR FLIGHT 19.1 Operational planning 19.1.1 Check your flight permission Check if you need a permit to operate the X100 in the airspace above the site. Make sure you understand the legal context for safe operation of the X100. Check for existing rules/standards with your local Civil Aviation Authorities (CAA).
  • Page 138 Prepare for flight Operational planning Check if the flight area is not near/in: ● Airports, airfields (you need a specific permission to fly here) ● Parachute and parasailing jumping areas ● Winch areas ● Power plants ● High-pressure gas releasing units (in AIP or NOTAM) ●...
  • Page 139 Prepare for flight Operational planning 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 Safety Zone (GSZ)).
  • Page 140 Prepare for flight Operational planning 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 141 Prepare for flight Operational planning This zone extends over an area centered on the circuit entry point (beginning of the downwind leg) with a radius of 150 m. Obstacle clearances for landing For the downwind and base leg, obstacle clearance requires that no obstacles appear in a zone above 25 m HALP.

  • Page 142: Check The Pilot And Equipment

    Prepare for flight Operational planning The obstacle clearance zone of the downwind and base leg extends over an area of 150 m to the right and to the left. The obstacle clearance zone 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.

  • Page 143: Checks And Preparations

    Check the elevon response REREQUISITES ● 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 will not be able to steer correctly, which will result in a crash.
  • Page 144 Prepare for flight Checks and preparations Position Figure Position elevons 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.

  • Page 145: Check The X100 Body

    : Do not use high water pressure or a steel brush to clean the body. AUTION Check the body for cracks and repair them as prescribed by Gatewing. When in doubt, contact Gatewing or your local dealer. : Make sure the surface of the body is smooth after repairing the crack.

  • Page 146: Check The Wingtips

    Prepare for flight Checks and preparations Remove the pitot tube from the silicon tube in the X100 body. Make sure the tube is not bent or broken. Blow into the tube to check if nothing is blocking it. 19.2.4 Check the wingtips REREQUISITES ●...

  • Page 147: Check The Elevons And Elevon Servos

    Prepare for flight Checks and preparations Make sure each wingtip is firmly attached with two screws to the X100 body. 19.2.5 Check the elevons and elevon servos If the elevon servos do not work correctly, the X100 will not be able to steer correctly, which will result in a crash.

  • Page 148: Mount An Ebox In The X100

    Plug the eBox onto the eBox connector in the eBox bay. Using the screwdriver, secure the eBox with the two screws. 19.2.8 Prepare the GCS for flight REREQUISITES ● Trimble tablet PC GCS ● Gatewing modem — 148 — 12 October 2012...
  • Page 149 Prepare for flight Checks and preparations Screw the modem antenna onto the modem. Strap the modem on the backside of the GCS. Connect the USB connector of the modem to the GCS. Press the On/Off button to switch on the GCS. : Switch on the GCS outside to ensure a GPS lock.

  • Page 150: Monitoring

    Prepare for flight Monitoring 19.3 Monitoring 19.3.1 Monitor the X100 autopilot initialization REREQUISITES ● GCS with flight plan exported to Horizon and uploaded to the X100 ● Wireless link between GCS and X100 (LINK field green) During initialization, the X100 autopilot performs the following actions: ●...

  • Page 151: Flight Plan

    Prepare for flight Flight plan ● When establishing a wireless link between the GCS and the X100 ● When arming the X100 ● Continuously during flight Monitor the MPBat field: Battery voltage Time must be above If not When establishing a wireless 12.0 V Replace the battery with a fully connection...
  • Page 152 Prepare for flight Flight plan Define the project location: ● Online ● Google maps ™ functionality: Fill in your location of interest and click Search. The Project map shows the area around this location using Google maps ™ . ● KMZ or KML file: Click Open KMZ/L, select the KMZ or KML file you want to load and click Open.

  • Page 153: Create A Flight Plan

    It is however important to match these two directions to ensure an accurate simulation in Horizon. A blue Gatewing logo appears on the Flight map indicating the take-off ESULT location. Specify the take-off direction with the arrow. Always set the take-off direction into the prevailing wind direction and clear from obstacles.
  • Page 154 Prepare for flight Flight plan 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. : When no GPS lock can be acquired, a dialog informs you about this. A pink cross appears on the Flight map indicating the landing location.

  • Page 155: Simulate A Flight

    Prepare for flight Flight plan Walk towards the marked landing location. The parameter Cur. Course shows the value of the desired landing heading. : You have to average out the different values of the parameter Cur. Course. The value of the parameter Cur. Course is the desired landing heading. ESULT Use the value of the parameter Cur.

  • Page 156: Screw The Data Link Antenna On The Ebox

    Prepare for flight Flight plan : Always check a flight plan with a simulation before using it for a flight. AUTION Select UAV-01 from the Autopilot Control list. Click Simulate. The flight plan appears over the background map. ESULT Click Arm to indicate a pending launch. Click Catapult to simulate a launch of the X100.

  • Page 157: Mount A Charged Battery In The X100

    Prepare for flight Flight plan : Tighten it hand-tight, do not overstrain. : To remove the data link antenna from the eBox, unscrew it counterclockwise. 19.4.5 Mount a charged battery in the X100 REREQUISITES ● X100 body with mounted eBox ●...

  • Page 158: Upload The Flight Plan To The X100

    Prepare for flight Flight plan Connect the main power connector of the battery to the X100. The eBox will generate a confirmation tone to indicate the battery is ESULT connected. The X100 is in STANDBY mode. ESULT 19.4.6 Upload the flight plan to the X100 REREQUISITES ●...

  • Page 159: Preparation Of The X100 For Launch

    Prepare for flight Preparation of the X100 for launch Click Transmit to start the upload. The flight plan is now uploaded, verified and saved in the non-volatile ESULT memory of the X100 autopilot. When the upload is finished, the two bottom bars in the dialog are green and the message Transmission complete is shown in the lower bottom bar.

  • Page 160: Screw The Gps Antenna On The Ebox

    GCS and eBox. Upon specific request, Gatewing can provide uniquely paired modem/eBox combinations. 19.5.2 Screw the GPS antenna on the eBox REREQUISITES ●...

  • Page 161: Prepare The Camera Settings For Flight

    Prepare for flight Preparation of the X100 for launch The GPS antenna needs to be screwed onto the eBox to ensure a locked GPS signal of the X100. Screw the GPS antenna clockwise onto the GPS antenna connector of the eBox. : Tighten it hand-tight, do not overstrain.
  • Page 162 Prepare for flight Preparation of the X100 for launch Set the focus Press the MENU/OK button to enter the menu. Press down one time to select Focus. Press right once to see the possible values. Select ∞ (infinity). Press the MENU/OK button to confirm. Set the snap focus distance Press the MENU/OK button to enter the menu.

  • Page 163: Mount The Camera In The Aircraft

    Prepare for flight Preparation of the X100 for launch 19.5.4 Mount the camera in the aircraft REREQUISITES ● X100 body ● Assembled Ricoh camera The camera must be mounted correctly to ensure correct balance of the X100. Remove the top cover from the payload bay of the X100 body. Connect the USB camera connector to the Ricoh camera.
  • Page 164 Once the receiver has picked up this signal, you can determine your course based on the direction and intensity of the received signal. Tinyloc tracking system Gatewing uses the Tinyloc tracking system, which consists of the F22 transmitter and the R1 receiver. Operating manual Read the Tinyloc tracking system Operating Manual carefully before using the tracking system for the first time.

  • Page 165: Seal The Payload Bay With The Top Cover

    Prepare for flight Launch 19.5.6 Seal the payload bay with the top cover REREQUISITES ● X100 body ● Top cover with plastic screw ● Flat-bladed screwdriver Make sure no connectors or cables are hanging over the edge of the payload bay. Place the top cover on the payload bay of the X100 body.
  • Page 166 Prepare for flight Launch Once you have determined the launch location, you can assemble the launcher. Take the launch slide out of the launcher bag. Unfold and secure the launch slide with the handles. : If a handle is too easy to close, tighten the nut in the handle to increase the tension.
  • Page 167 Prepare for flight Launch Unfold and secure the V-support with the lock pin. 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.
  • Page 168 Prepare for flight Launch : If the launch cable is blocked while the elastics are not tightened, push the release handles upwards to unblock them. Never do this when the elastics are tightened, you will damage the elastics. 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.
  • Page 169 Prepare for flight Launch Attach the launch cable to the launch dock with the lock pin. : Make sure the launch cable is not tightened or twisted. AUTION Insert the safety pin into the launch dock. — 169 — 12 October 2012...

  • Page 170: Mount The X100 On The Launcher

    Prepare for flight Launch Place the launcher into the prevailing wind direction. 19.6.2 Mount the X100 on the launcher REREQUISITES ● 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. : Never perform a launch when the launcher is armed without the X100.
  • Page 171 Prepare for flight Launch Connect the crank to the tightening system. : The crank must be connected to the head of the screw and not to the bolt or nut. Tighten the launch cable by turning the crank gently clockwise. : Make sure the launch cable is not twisted when tightening.
  • Page 172 : The launch cable stretches out with every launch. When you can easily reach ARNING the last hole when tightening the cable, Gatewing recommends to replace the launch cable to prevent unsuccessful launches. 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.

  • Page 173: Check The Pitch And Roll Position Of The X100

    REREQUISITES ● Armed launcher ● Powered 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. Make sure the X100 has a pitch angle between 20 and 30° on the artificial horizon indica- tor.

  • Page 174: Check The Position Of The Propeller Blades

    Prepare for flight Launch Make sure the horizon is positioned parallel to the X100 on the artificial horizon indicator. : If the horizon is not positioned parallel, the X100 is not positioned correctly or there is an sensor malfunction. 19.6.4 Check the position of the propeller blades REREQUISITES ●...

  • Page 175: Reset The Airspeed Sensor

    Prepare for flight Launch 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 ● The airspeed is being reset in preparation of a flight Cover the pitot tube with the pitot cover.

  • Page 176: Remove The Pitot Cover

    Prepare for flight Launch Click OK to confirm. Perform a POWER CYCLE on the X100. The airspeed sensor has been reset. ESULT Check the airspeed sensor response. FTER OMPLETING 19.6.7 Remove the pitot cover REREQUISITES ● X100 body The pitot cover needs to be removed from the pitot tube before flight. : Not removing the pitot cover will result in a crash when launching the X100.

  • Page 177: Arm The Gcs

    Prepare for flight Launch ○ The pitot tube must be clear of dirt. ○ If the problem remains, contact your local dealer. 19.6.9 Arm the GCS REREQUISITES ● GCS with flight plan exported to Horizon and uploaded to the X100 ●...

  • Page 178: Launch The X100

    Prepare for flight Launch 19.6.12 Launch the X100 REREQUISITES ● 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.

  • Page 179: During Flight

    URING FLIGHT 20.1 Safety measures During the entire flight, a number of safety measures should be taken to ensure safe operation at all times. If a safe operation is compromised, it is possible to interact with the X100 autopilot to avoid any incidents. 20.1.1 Safety measures for take-off ●...

  • Page 180: Monitor The Flight

    During flight Monitor the flight 20.2 Monitor the flight REREQUISITES ● GCS with flight plan exported to Horizon and uploaded to the X100 ● Wireless link between GCS and X100 (LINK field green) ● X100 fully initialized It is your responsibility to take action during flight when the safety of the X100 or its surround- ings is compromised (e.g.
  • Page 181 During flight Monitor the landing Keep visual contact with the X100 during the entire landing. Check the obstacle clearances during the final leg of the landing and press the GS_UP button if necessary to avoid collisions. — 181 — 12 October 2012...
  • Page 182 During flight Monitor the landing — 182 — 12 October 2012...

  • Page 183: After The Flight

    FTER THE FLIGHT 21.1 Log files 21.1.1 End a flight REREQUISITES ● landed X100 after a flight ● Wireless link between GCS and X100 (LINK field green) Once the X100 has performed the flight project and landed, you have to end the flight in Horizon.
  • Page 184 After the flight Log files 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. Connect the download cable to the serial port on the GCS. Connect the download cable to the download connector in the payload bay of the X100.

  • Page 185: Collect And Save The Log Files

    After the flight Pictures 21.1.3 Collect and save the log files REREQUISITES ● GCS with log files located in the logs folder on the desktop Always collect and save the following log files to a custom folder after each flight: ●...

  • Page 186: Check The Pictures On The Camera

    After the flight Clearing the site 21.2.2 Check the pictures on the camera REREQUISITES ● X100 after flight ● Camera removed from the aircraft It is important to check the quality of your pictures after a flight. If necessary, you have to repeat the flight.

  • Page 187: Disassemble The Launcher

    After the flight Clearing the site 21.3.3 Disassemble the launcher REREQUISITES ● Crank Once the flight is done, you can disassemble the launcher. Fix the crank between your ties. Release the force with the crank very gently while pulling the release handles upwards. Make sure you counteract the force on the elastics.
  • Page 188 After the flight Clearing the site Remove the cables from the lock pin on the launch dock. Tighten the launcher so that the launch cable is back in the launch slide but the end remains out. — 188 — 12 October 2012...
  • Page 189 After the flight Clearing the site Remove the launch dock from the launch slide. Detach the V-support by turning the support upwards. Open the fixes on the launch slide. Fold the launch slide and put everything back in the launcher bag. —...
  • Page 190 After the flight Clearing the site — 190 — 12 October 2012...

  • Page 191: Safety

    AFETY 22.1 Definitions 22.1.1 Above ground level AGL is the height Above Ground Level, where the level of the take-off location is considered as the ground level. 22.1.2 HALP HALP is the Height Above Landing Point. HALP is defined in Quickfield as the AGL height + an offset value ( Advanced Settings tab).

  • Page 192: Obstacle Clearances

    Safety Obstacle clearances Exceptions A landing on the intended landing site resulting in a damaged aircraft can not be seen as a crash, except if there is collateral damage. 22.2 Obstacle clearances 22.2.1 Definition Obstacle clearance in a zone requires that no obstacles penetrate that zone. 22.2.2 Obstacles Obstacles are:...

  • Page 193: Obstacle Clearances For Cruise Flight

    Safety Obstacle clearances 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 that are not under the control of the pilot. ± ± ˚...

  • Page 194: Obstacle Clearances For Descent

    Safety Obstacle clearances 22.2.5 Obstacle clearances for descent The obstacle clearance for descent requires that no obstacles appear in a zone above 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.
  • Page 195 Safety Obstacle clearances 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 The obstacle clearance zone of the downwind and base leg extends over an area of 150 m to...

  • Page 196: Obstacle Clearances In French Airspace

    22.2.7 Obstacle clearances in French airspace 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.

  • Page 197: In Case Of

    N CASE OF What to do in case of: ● a technical issue. ● emergency. ● crash. ● sudden weather changes. 23.1 Failsafes 23.1.1 Fail-safe mechanisms Fail-safe mechanisms activate whenever a technical issue occurs that reduces the safe behavior of the X100. Most of these mechanisms also trigger a notification on your GCS, describing the issue.

  • Page 198: Handle Loss Of Gps Lock Before Launch

    In case of Failsafes 23.1.3 Handle loss of GPS lock before launch Scenario: The X100 has lost its GPS lock. The GPS status bar field in Horizon turns red. : Be careful: There is no automatic fail-safe mechanism that prevents you from ARNING arming and launching the X100.

  • Page 199: Handle A Low Battery Warning During Flight (9.6 V)

    In case of Failsafes : The red error message does not disappear, even when the battery voltage is 10.2 V or higher again. In case of the yellow warning message, issue the LAND command. Note: The yellow warning can also appear during turns but as long as the voltage recovers to 10.2 V or higher, there is no need to issue the LAND command.

  • Page 200: Handle Loss Of Gps Lock During Flight

    In case of Failsafes 23.1.9 Handle loss of GPS lock during flight Scenario: The X100 has lost its GPS lock. The GPS status bar field in Horizon turns red. An automatic fail-safe mechanism is triggered. The X100 will orbit at its location and alti- tude for 20 s.

  • Page 201: Emergencies

    In case of Emergencies 23.2 Emergencies 23.2.1 Emergency scenarios This chapter covers a number of emergency scenarios and recommended actions to ensure safe operation of the X100 and its environment. 23.2.2 FTS command The FTS command requires the X100 to abort the flight immediately. ●...

  • Page 202: Home Command

    In case of Emergencies When? The HOLD command can be used when another aircraft in the vicinity is observed. 23.2.4 HOME command The Home command causes the X100 to immediately return to its takeoff location and orbit there (radius ~150 m) at: ●...

  • Page 203: Gs_Up(S) Command

    In case of Emergencies 23.2.6 GS_UP(S) command The GS_UP(S) command only has an effect during the final leg of the landing circuit. It causes the X100 to momentarily increase the throttle and the glide slope to gently rise (a few meters).

  • Page 204: Aircraft In Zoo Diverging From The X100

    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.

  • Page 205: Other Objects During Flight

    In case of A crash 23.2.14 Other objects during flight Other objects are: birds, moving crane, … First of all, try to avoid collisions using the commands described before. If a collision did occur, issue the FTS command to immediately power down the motor and abort the flight.

  • Page 206: Track Down An X100

    Contact the owners of the object that is hit. ● Warn you civil aviation authority. Take pictures of the crash site. Download the data files from the X100. Send all data and pictures to Gatewing Customer Services. 23.3.4 Track down an X100 REREQUISITES ●...

  • Page 207: Sudden Weather Changes

    In case of Sudden weather changes 23.4 Sudden weather changes In case of sudden wind speed/direction changes or other weather phenomena, you have to act quickly. Depending on the weather change, do one of the following: The wind direction changes during the Reposition the launcher if necessary.
  • Page 208 In case of Sudden weather changes — 208 — 12 October 2012...
  • Page 209 AINTENANCE 24.1 Update the Autopilot settings file REREQUISITES ● X100 body ● eBox ● Battery ● Download cable ● X100_vx_x.exe file ● The Autopilot settings file can be updated by executing the X100_vx_x.exe file. Download the X100_vx_x.exe file to the desktop of the GCS. Mount the eBox in the X100.
  • Page 210 Maintenance Update the Autopilot settings file VRS fields were successfully updated. Would you like to Wait until the message save the result to autopilot flash? appears and then click Yes. VRS fields were successfully saved to autopilot flash Wait until the message appears and then click OK.

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