Freefly ALTA User Manual
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Freefly ALTA User Manual

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USER MANUAL
R E V I S I O N A | 0 7.2 4.201 5

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  • Page 1 USER MANUAL R E V I S I O N A | 0 7.2 4.201 5...

  • Page 2: Revision History

    REVISION HISTORY REVISION DATE DESCRIPTION July 2015 Initial Release A LTA U S E R M A N U A L PA R T N U M B E R : 77 0- 000 42...

  • Page 3: Table Of Contents

    LIMITATION OF LIABILITY Introduction Symbols, Abbreviations and Terminology Dimensions Included Items Specifications Limitations System Diagrams ALTA Mobile App Additional Required Components (not included) SETTING UP ALTA Unfolding ALTA Radio Installation Radio Mapping Configuring Top or Bottom Mount Isolator Cartridges Battery Installation...
  • Page 4 Arm Enable Switch Status Light Orientation Lights ALTA App Monitor NORMAL PROCEDURES Unpacking and Setup Before Starting Before Takeoff After Every Flight After Last Flight EMERGENCY PROCEDURES Emergency Guidance Pilot Disorientation Unexpected Flight Controller Behavior Battery Exhaustion Status Light Warning Indicator Illuminates...

  • Page 5: Alta Overview

    ALTA OVERVIEW | U SE R MANUAL...

  • Page 6: Disclaimer And Warning

    You agree that you are solely responsible for your conduct while using the ALTA, and for any direct or indirect consequences that may result from its use. You agree to only use the ALTA for proper purposes that are in accordance with local and airspace rules and regulations.

  • Page 7: Limitation Of Liability

    » Use of the ALTA in a physically or mentally impaired capacity. » Use of the ALTA without sufficient training. » Use of the ALTA in unsafe conditions, including but not limited to, bad or severe weather, such as rain, wind, snow, lightning, dust storms, etc., or in areas of magnetic or radio interference, such as power stations, broadcast- ing and cell phone towers, government prohibited airspace, etc.

  • Page 8: Introduction

    ALTA is a professional multi-rotor aircraft designed for demanding cinematic, television, and photographic applications. Within five minutes, ALTA can unfold from its carrying case to flying some of the most capable cinema cameras on either the top or bottom of the aircraft.

  • Page 9: Symbols, Abbreviations And Terminology

    SYMBOLS, ABBREVIATIONS AND TERMINOLOGY WARNINGS, CAUTIONS AND NOTES Throughout the manual, warnings, cautions and notes are used to highlight various important procedures. These are defined as follows: WARNING CAUTION NOTE Warnings are used to highlight proce- Cautions are used to highlight proce- Notes are used to highlight specific dures which, if not strictly observed, dures which, if not strictly observed,...
  • Page 10 Mean Sea Level is the average height above the surface of the sea for all stages of tide Above Ground Level is the height of the aircraft above the ground Outside Air Temperature is the free air static temperature surrounding the aircraft Pressure Altitude Altitude measured from standard sea level pressure (29.92 in.
  • Page 11 WEIGHT AND BALANCE Maximum Takeoff Maximum allowable weight at liftoff Weight (MTOW) Standard Empty Weight Weight of a standard aircraft Basic Empty Weight Standard empty weight plus optional equipment Useful Load Difference between take off weight and basic empty weight Payload Useful load less battery weight GENERAL TERMINOLOGY...

  • Page 12: Dimensions

    DIMENSIONS 1533 (60.4) 1064 (41.9) (18.0) 1533 (60.4) 1064 (7.0) (41.9) (8.7) 1126 (18.0) (44.3) U N FO L D E D P L A N V I E W W I T H B O O M N U M B E R I N G S C H E M E M M ( I N C H ) (7.0) (8.7)
  • Page 13 (8.7) FO L D E D S I D E V I E W M M ( I N C H ) (21.7) (21.7) (20.3) (20.3) FO L D E D P L A N V I E W M M ( I N C H ) (20.3) (20.3) (7.1)

  • Page 14: Included Items

    INCLUDED ITEMS 1. Case 10. Fasteners 2. ALTA a. (4) M3 × 8 Socket Head for Toad In The Hole Male Adapter 3. Case Lid Foam b. (2) M3 × 8 Flat Head for Accessory 4. Isolator Cartridges Mount a. (6) Teal (Installed) 11.

  • Page 15: Specifications

    950 W Peak Power Output Maximum RPM (flat rated) 6300 RPM Equivalent Kv Electronic Speed Controller Freefly Silent-Drive Sine Wave ESC PROPELLERS Material Carbon fiber with balsa core Propeller Orientation (3) CW and (3) CCW Props 18 × 6 Folding...
  • Page 16 WEIGHTS Maximum Gross for Takeoff 13.6 kg (30.0 lbs) Maximum Useful Load 9.1 kg (20.0 lbs) Maximum Payload 6.8 kg (15.0 lbs) Typical Standard Empty Weight: 4.5 kg (10.0 lbs) SPECIFIC LOADINGS Typical Specific Power 145 W/kg Thrust Ratio at MTOW 1.85 : 1 At sea level, ISA.
  • Page 17 FLIGHT CONTROLLER Model Name Freefly SYNAPSE flight controller Flight Modes Manual, Height Mode, Position Mode, Return-To-Home, Autoland Supported Inputs: DSMX, DSM2, S.Bus, S.Bus2, PPM, FPV SD Supported Radios Futaba S.Bus & S.Bus2, DSMX, DSM2 (Spektrum/JR), PPM, PPM Invert, PPM Graupner...
  • Page 18 PAYLOAD MOUNTING Mounting Locations Bottom and Top Mount Mounting System Freefly Toad In The Hole (TITH) Quick Release FPV Camera Mount Forward, underneath chassis FPV Transmitter Mount Boom #5 | U SE R MANUAL...

  • Page 19: Limitations

    Maximum Battery Voltage 25.2 Volts Minimum Average Battery Voltage 19.2 Volts ENVIRONMENTAL LIMITATIONS Do not fly ALTA in temperatures exceeding 45ºC (113ºF) or below -20ºC(-4ºF). WEIGHT LIMITS Maximum Takeoff Weight 13.6 kg (30.0 lbs) Maximum Useful Load 6.8 kg (15.0 lbs)

  • Page 20: System Diagrams

    SYSTEM DIAGRAMS sUAS HIGH LEVEL GPS Satellite HD Video Link, ALTA App Preview Monitor FPV Rx, Preview Monitor Radio Controller 2.4GHz MōVI Controller | U SE R MANUAL...
  • Page 21 FLIGHT CONTROL A. Spektrum Receiver DSMX, DSM 2 B. Futaba Receiver or Generic Receiver S.BUS, S.BUS 2 or PPM P W M SYNAPSE Flight Controller C A N Status Light 6 Position Lights | U SE R MANUAL...
  • Page 22 POWER SYSTEM Motor Motor Lights* Lights* SYNAPSE Flight Controller ‡ F U S E Motor Motor Lights* Lights* F U S E ‡ R E G U L A T O R S EC5 Connector Motor Motor Lights* Lights* * for orientation ‡...
  • Page 23 FPV EQUIPMENT FP V Camera (not included) FPV Camera Cable FPV Tx (not included) FPV Camera Lead Pre-installed SYNAPSE Flight Controller FPV Tx Lead Pre-installed FPV Tx Cable Boscam/Skyzone or Fat Shark/ImmersionRC | U SE R MANUAL...

  • Page 24: Alta Mobile App

    ALTA MOBILE APP The ALTA App is used to configure ALTA parameters and to monitor ALTA’s status during flight. To download the ALTA App, search for “Freefly ALTA” in the App Store or on Google Play™. Parameters may only be adjusted while ALTA is on the ground and disarmed. In addition, radio mapping parameters can only be adjusted when the Configuration Jumper is removed.

  • Page 25: Setting Up Alta

    SETTING UP ALTA | U SE R MANUAL...

  • Page 26: Unfolding Alta

    UNFOLDING ALTA ALTA features swan-neck booms that fold into a compact size for travel. They are secured in an open position for flight using over- center latches. TO UNFOLD ALTA Remove ALTA from case Fold down all six boom retention clips...
  • Page 27 Snap shut all six boom latches until they “click” Visually confirm all latches are seated properly Remove prop protectors | U SE R MANUAL...
  • Page 28 TO FOLD ALTA Secure props with prop protectors Unlatch all six booms Close ALTA booms | U SE R MANUAL...
  • Page 29 Fold up all six boom retention clips to secure booms | U SE R MANUAL...

  • Page 30: Radio Installation

    RADIO INSTALLATION RADIO CONTROLLER RECEIVER ALTA requires the installation of a radio control system. S.Bus, S.Bus2, DSM2, DSMX, and PPM (including inverted PPM and Graupner) receiver types are supported. Additionally, ALTA supports radio receiver diversity using S.Bus, S.Bus2, DSM2 and DSMX receivers.
  • Page 31 Identify required wire S.BUS/S.BUS2 DSM2/DSMX Feed wire through grommet Replace side closeout panel Plug in receiver/satellite to wire per the radio manufacturer’s installation instructions | U SE R MANUAL...
  • Page 32 Attach receiver/satellite to exterior using the provided double sided tape Futaba & PPM Spektrum/JR For Futaba receivers, feed antenna wires into antenna tubes and zip tie to noted mounting location Repeat 1-7 on opposite side for dual receivers (only applies to Futaba and Spektrum/JR) | U SE R MANUAL...
  • Page 33 VOLTAGE TELEMETRY ALTA supports battery voltage telemetry on Futaba radios using a receiver that supports an external voltage sensor, such as the R7008SB. To set up ALTA with voltage telemetry for Futaba radios: Locate the radio receiver wire bundle behind the closeout panel between booms 1 and 2.
  • Page 34 Feed the voltage sense wires through the grommet on the closeout panel. Connect the white connector to the external voltage sense port on the Futaba receiver. | U SE R MANUAL...

  • Page 35: Radio Mapping

    RADIO MAPPING ALTA can be used with a variety of radio controllers. Different radio controllers can map functions to different channels, so properly mapping controller channels to ALTA functions is an important step before flying. Radio mapping is performed using the ALTA App.
  • Page 36 Reattach the closeout panel MAPPING RADIO CHANNELS USING ALTA APP Channel mapping is accomplished with the ALTA App. Prior to mapping channels, ensure your radio controller and receivers are properly installed. Refer to the Radio Installation section of this manual and your Radio Controller’s documentation.
  • Page 37 The following functions can be mapped to radio controller channels. These are found in the Radio section of the Configurations menu in the ALTA App. Each function is also represented by a chart that responds to control input allowing for quick verification of mapping settings.
  • Page 38 When not mapped, ALTA may be armed or disarmed at any time following normal arming and disarming procedures. See the Arm Enable Switch section of this manual under Operating ALTA for more information on switch behavior.
  • Page 39 The following are channel mapping configurations as set in the ALTA App. These are recommendations only. Depending on exact radio models, these may help as an initial configuration. However, it is up to the pilot setting up ALTA for flight to determine if these settings are appropriate.

  • Page 40: Configuring Top Or Bottom Mount

    CONFIGURING TOP OR BOTTOM MOUNT A MōVI can be attached to either the top or bottom of ALTA via the Freefly Toad In The Hole (TITH) quick release. ALTA comes pre-configured for bottom mounting a MōVI. BOTTOM MOUNT Prepare your MōVI for bottom-mount flight (see MōVI manual) Attach landing gear Install TITH receiver on MōVI...
  • Page 41 Connect and secure the supplied inverted landing gear to the bottom Toad Remove the four flat-head M3×6 bolts that secure the top handle Attach the supplied Toad to the top plate using the four M3×8 bolts provided Connect MōVI to the top Toad | U SE R MANUAL...

  • Page 42: Isolator Cartridges

    Different Isolator Cartridges can be used to fine tune vibration damping performance for different payload weights. Three isolation cartridge styles are provided with ALTA with the red for light payloads, teal for medium payloads, and black for heavy payloads. Flight testing may be required to determine the optimal isolator for a given setup.

  • Page 43: Battery Installation

    BATTERY INSTALLATION Batteries may be installed on either the top or bottom of an ALTA and are always mounted opposite of the payload location. In both locations, battery pack(s) are secured with silicone straps tensioned across the pack(s). The straps are secured using studs located on either side of the pack(s).
  • Page 44 BOTTOM MOUNT Place battery retention strap studs at the appropriate height for battery pack(s) Adjust battery stops to fit battery pack(s) Attach the single-hole end of the battery retention straps to the studs | U SE R MANUAL...
  • Page 45 Place battery pack(s) on battery tray below handle Tension and secure battery retention straps | U SE R MANUAL...
  • Page 46 TOP MOUNT CAUTION Always completely secure the inverted landing gear by closing the TITH quick release lever. Inverted landing gear that are not completely attached can rotate and unplug battery leads. Adjust battery stops to fit battery pack(s) Attach the single-hole end of the battery retention strap to a stud on the landing gear Place battery packs(s) in landing gear Tension and secure battery retention straps...

  • Page 47: Compass Calibration

    WARNI N G Verify ALTA is disarmed prior to performing a compass calibration. To ensure ALTA does not arm, set the Arm Enable Switch (if available) to disable, and remove the Configuration Jumper. N OTE...
  • Page 48 Manual calibration is recommended for more immediate results thus enabling better closed loop, GPS assisted flying. In the ALTA App, select Configurations > More > Compass. Change the Auto Calibration setting to On. | U SE R MANUAL...

  • Page 49: Propellers

    The propellers installed on booms 1, 3 and 5 spin clockwise when viewed from above ALTA, and the propellers installed on booms 2, 4 and 6 spin counterclockwise when viewed from above.
  • Page 50 CHECKING PROP BOLT TIGHTNESS Over time, the bolts that hold the propeller blades to the prop hub can loosen due to vibration. To check prop bolt tightness, twist the prop about its length. If there is free play, the prop bolt is too loose. Use the provided 2.5mm hex driver and wrench to tighten the bolt and nut that secure the prop blade just enough to remove the play.

  • Page 51: First Person View (Fpv)

    FIRST PERSON VIEW (FPV) ALTA and SYNAPSE can power a variety of first person view (FPV) cameras and transmitters, as well as add informational on-screen display (OSD) elements to aid in FPV flying. Two FPV transmitter cables are included. The cable with two connectors on one of the ends will run ImmersionRC and Fat Shark systems, and the cable with a single connector on the end will run Boscam and SkyZone systems.
  • Page 52 Remove the front closeout panel with a 1.5 mm hex driver. Pass the FPV cable through the grommet, and connect to the mating FPV camera lead inside ALTA. Connect the other end directly to the camera. Replace front closeout panel.
  • Page 53 TRANSMITTER Mount FPV transmitter on the provided carbon fiber accessory mount plate. Attach Accessory Mount to boom 5 with M3×8 flathead bolts. Locate the appropriate FPV transmitter cable. The following cables are included: ImmersionRC/Fat Shark (cable with two connectors) Boscam/SkyZone (cable with one connector) Remove the side closeout panel with the FPV transmitter lead using the 1.5mm hex driver.

  • Page 54: Fpv On Screen Display Setup

    Zip tie the FPV transmitter lead to the boom cable bundle for strain relief. FPV ON SCREEN DISPLAY SETUP A number of properties and components can be adjusted or added to the FPV On Screen Display (OSD) using the ALTA App. PROPERTIES NAME...
  • Page 55 DE SCRI PT I O N Turns off all artificial horizon components Adds a horizon line that moves up and down Artificial Basic as ALTA changes pitch, and rolls as ALTA rolls Horizon Adds pitch marks at intervals defined Ladder by the Pitch Interval setting...
  • Page 56 Adds marks to include a full horizon line Adds small marks on either side Ladder of the artificial horizon ladder that roll with ALTA roll movements Allows for scaling of the artificial Pitch and 10, 20, 30, 40 horizon markings to compensate for...

  • Page 57: Tuning Alta

    TUNING ALTA | U SE R MANUAL...
  • Page 58 When tuning attitude, the primary parameter to change is Stiffness followed by Strength. STIFFNESS Stiffness is adjusted for pitch and roll simultaneously, and yaw independently. It changes how stable ALTA is in these axes and is the primary variable to adjust when | U SE R MANUAL...
  • Page 59 Similar to attitude tuning, stiffness is the primary tuning parameter. If switching to Height Mode causes ALTA to fly in an unstable manner, switch back to Manual Mode, land and try reducing the values of height tuning gains if they are very high, or increasing them if they are very low.
  • Page 60 Decrease this value if ALTA experiences vertical oscillation or vibration. Increase this value if ALTA is sluggish while accelerating to a desired climb or descent rate in Height mode. HOLD STRENGTH Hold Strength Gain tunes how much ALTA will attempt to stay on a desired altitude in Height Hold mode only.

  • Page 61: Alta Flight Parameters

    MAXIMUM PITCH/ROLL ANGLE This sets the maximum angle the ALTA will be allowed to fly in all modes and in all flight conditions. MAXIMUM YAW RATE This is the maximum rate the ALTA will yaw (pan) when at full stick deflection.
  • Page 62 ALTA is flying. MAXIMUM CEILING This adjusts the highest altitude the ALTA is allowed to climb from its starting point while in Height or Position modes. If the maximum ceiling is exceeded in Manual mode, the Status Light will illuminate white.
  • Page 63 MAXIMUM GPS SPEED Max GPS Speed sets the maximum speed ALTA will fly across the ground at full stick deflection in Position Mode. If Velocity Clamp is mapped to an RC transmitter channel, the parameter will adjust the fastest ground speed available to the Velocity Clamp feature.

  • Page 64: Operating Alta

    OPERATING ALTA | U SE R MANUAL...

  • Page 65: Flight Controller Modes

    Controlling altitude in Position Mode is the same as in Height Mode. With pitch and roll controls centered, ALTA will enter Position Hold. In Position Hold, ALTA will maintain its position over a given point on the ground and correct for disturbances.
  • Page 66 During an LOS event, ALTA will first check its current altitude against Safe Height. If it is lower, it will climb to Safe Height, and if ALTA is above Safe Height, it will remain at its current altitude. Next, ALTA will fly back to the home position at the RTH Speed set in the ALTA App.

  • Page 67: Home Switch

    This only occurs if Autoland is selected as the Loss of Signal (LOS) event in the ALTA App, or at the end of an LOS Return-to-Home (RTH) event. If ALTA is above the app-configurable Safe Height setting, ALTA will first descend to the Safe Height at the Maximum Descent Rate.

  • Page 68: Status Light

    STATUS LIGHT The rear-facing Status Light shows the status of ALTA as it boots, arms and flies. The following table shows the different meanings of the light in the various flight phases. FLI GHT P HA SE LI GHT CO LO R...
  • Page 69 Nominal flight status No errors Flight - Manual Mode Outside user-defined range, Solid White height or speed limits Nominal flight status Height hold inactive Flight - Height Slow Flashing Height hold active Hold White Battery cell voltage below Flashing Red user-defined levels Nominal flight status Height hold inactive...

  • Page 70: Orientation Lights

    ORIENTATION LIGHTS BOTTOM VIEW The boom-end mounted Orientation Lights indicate both the orientation of ALTA in flight and the status of the individual motor Electronic Speed Controllers (ESCs) during other flight phases. The following table shows the different meanings of the light colors in the various flight phases.

  • Page 71: Alta App Monitor

    If Bad, the compass may require recalibration (see the Compass Calibration section in this manual). Station displays if ALTA is currently over its commanded position over the ground, or if it attempting to fly to it.

  • Page 72: Normal Procedures

    NORMAL PROCEDURES | U SE R MANUAL...

  • Page 73: Unpacking And Setup

    CONFIGURE as necessary AMPLIFICATION To set up ALTA for flight, remove it from the case and remove the prop protectors. Stow the six boom retention clips by folding them down. The clips only fold in one direction and are spring-loaded to stay in open and closed detented positions.

  • Page 74: Before Starting

    VERIFY SLOW FLASHING WHITE Orientation Lights VERIFY FLASHING GREEN Receivers VERIFY BOUND ALTA App CONNECT ALTA App Monitor VERIFY NO WARNINGS Compass Calibration AS REQUIRED Radio Control Range Check AS REQUIRED AMPLIFICATION Check that the payload is secure by checking that the Toad In The Hole quick release lever is pushed in, and that the payload does not slip.
  • Page 75 Verify that all six motors are flashing green, indicating all ESCs initialized successfully. Verify that there are no flight warnings by connecting to ALTA via the ALTA app and checking on its status from the App. For more information, see the ALTA App section of this manual.

  • Page 76: Before Takeoff

    ALTA’s motors. ALTA can only be armed for flight when it is in the Manual Mode, and the Home Switch is in the middle position. If an Arm Enable Switch is configured, it must be placed in an ENABLE ARM position.
  • Page 77 Keep the throttle in the lowest position and move the pitch, roll and yaw controls slightly. ALTA should pitch, roll and yaw slightly due to isolator cartridge flex. Ensure that the ALTA behaves as expected. If it does not, shutdown ALTA and ensure the props are installed in the correct orientation.

  • Page 78: After Every Flight

    ALTA. WARNI N G Only approach ALTA after confirming that it is disarmed by verifying the Status Light and Orientation Light colors. The downwash from the props can disturb debris. This debris can be ingested by the props or motors and cause damage.

  • Page 79: After Last Flight

    Packing ALTA is similar to the unpacking process. Keeping ALTA on the payload or landing gear facilitates the process as ALTA may be turned on the Toad In The Hole adapter while folding the props and booms. Make sure that the handle is aligned front-to-back when putting ALTA in the included case, and that the battery leads are facing to the right.

  • Page 80: Emergency Procedures

    EMERGENCY PROCEDURES | U SE R MANUAL...

  • Page 81: Emergency Guidance

    EMERGENCY GUIDANCE The emergency procedures listed in this section are the recommended practices for handling the aircraft in the event of an aircraft emergency. This guidance should be considered and applied as necessary. The risk of an emergency occurring can be reduced substantially through proper aircraft maintenance, by performing thorough inspections before and after all flights, and with careful pre-flight planning.

  • Page 82: Pilot Disorientation

    If a good GPS signal is available, enable Position Mode so ALTA will stay in a one place. Use yaw only to reorient ALTA so the nose is pointed away, then use the roll control to verify the orientation of ALTA.

  • Page 83: Unexpected Flight Controller Behavior

    LAND as soon as possible AMPLIFICATION If the ALTA behaves unexpectedly, neutralize control inputs and observe ALTA. If it is still flying in an uncommanded manner, switch to Manual mode if it is in Height or Position modes. In most cases, unexpected behavior is due to erroneous sensor readings, or degraded GPS signal reception.

  • Page 84: Battery Exhaustion

    Manual Mode, or turn blinking red if holding position or altitude. Terminate the flight and land as soon as possible. In the event the cell voltage drops below the Land Voltage, ALTA will begin to auto land. However, pitch and roll commands are still active. During the time ALTA is descending, use pitch and roll to avoid people or objects during the descent and landing.

  • Page 85: Status Light Warning Indicator Illuminates

    The Status Light can turn red, indicating a warning, for a number of different reasons. It is always recommended to land as soon as possible and investigate the problem while ALTA is on the ground. | U SE R MANUAL...

  • Page 86: Loss Of Radio Control Signal

    Loss of Signal (LOS) can occur if the radio controller stops transmitting a signal, or if ALTA is too far away to receive it. In the event ALTA detects a LOS, it will automatically execute a Return-to-Home or Autoland as configured in the App.

  • Page 87: Loss Of Fpv Signal

    WARNI N G It is the responsibility of the pilot to see and avoid other aircraft, people or obstacles. Always maintain direct line of sight with ALTA during flight, use visual observers as operations require, and follow local regulations regarding see-and-avoid requirements.

  • Page 88: Data Logging

    DATA LOGGING & PERFORMANCE | U SE R MANUAL...

  • Page 89: Weight / Endurance Performance Data

    DATA LOGGING ALTA automatically logs flight and control data when ALTA is armed for flight. Data is recorded as a .csv file at a rate of 25 Hz on a microSD card installed on the top of the GPS/Compass module. A table of recorded data is included in Appendix B.

  • Page 90: Maintaining Alta

    MAINTAINING ALTA | U SE R MANUAL...

  • Page 91: General Information And Techniques

    BOLT INSTALLATION The Freefly hex drivers included with ALTA are designed to help limit the torque that can be applied to each bolt. Thread all fasteners into their respective holes until “snug”. This is when the...

  • Page 92: Maintenance Items

    Propeller blades should be removed when making a change to the configuration of the ALTA to prevent propeller strikes in the event of unintentional motor starts. Propeller blades should be replaced on an as needed basis if they become damaged.
  • Page 93 REPLACING PROPELLER BUMPERS Under normal use, propeller bumpers may split and fall out of the folding propeller assembly. Six spare bumpers are provided with the ALTA. To replace the bumper, disassembly of the folding propeller is required. Start by removing the M3 x 19 bolt and nylon nut. Pull off the upper prop adapter.

  • Page 94: Replacement Of Parts

    ALTA is designed to be as maintenance-free as is possible. It is recommended to check ALTA’s fasteners regularly. This check should occur roughly after every 15 flights, dependent upon the level of vibration ALTA experiences in flight or during handling. To check ALTA’s fasteners, apply a tightening torque to each fastener on the chassis using the supplied hex drivers.

  • Page 95: Firmware Update Process

    Incorrect radio mapping can lead to loss of control. SYNAPSE firmware is updated using the ALTA App. New app updates may include new firmware installations. To update firmware: Provide power to ALTA...

  • Page 96: Troubleshooting

    TROUBLESHOOTING | U SE R MANUAL...
  • Page 97 Adjust mapping as necessary Power cycle ALTA. Ensure it does not move during boot SYNAPSE boot If ALTA must move during boot not successful (such as on a moving platform), use Motion Booting ALTA Mode Switch Move Mode Switch to manual...
  • Page 98 P OTE NT I AL CAU SE P OT E NT I A L SO LU TI O N ALTA does not Pitch or Roll Trim Use the ALTA app to set the maintain level position not set appropriate pitch and roll trim...

  • Page 99: Appendix

    APPENDIX | U SE R MANUAL...

  • Page 100: Appendix A. Default Tuning Values

    APPENDIX A. DEFAULT TUNING VALUES PA RA MET ER PARAM ET E R DE FA ULT VA LU E GROUP Pitch/Roll Stiffness Pitch/Roll Hold Strength Yaw Stiffness Yaw Hold Strength Attitude Roll Trim Pitch Trim Maximum Pitch/Roll Angle 40° Maximum Yaw Rate 100°/sec Vertical Stiffness Hold Strength...

  • Page 101: Appendix B. Data Logging Fields

    GPS Latitude Degrees * 10^7 multiplied by 10^7 Height above the WGS84 GPS Height meters reference ellipsoid The ground track of ALTA in GPS Course degrees degrees from true north. The distance ALTA traveled north GPS Position meters from the starting point. A negative North number indicates southward travel.
  • Page 102 IMU Position The IMU derived dead-reckoned meters North distance ALTA has traveled northward The IMU derived dead-reckoned IMU Position East meters distance ALTA has traveled eastward The IMU derived dead-reckoned IMU Position Up meters distance ALTA has traveled upward The IMU derived northward IMU Velocity North meters / second velocity component of ALTA.
  • Page 103 The IMU derived body acceleration IMU Acceleration where positive values are in an upwards direction and excludes gravity A component of a unit magnetic vector Compass X Unitless with positive values directed to the front when front is pointing Northward A component of a unit magnetic vector Compass Y Unitless...
  • Page 104 The roll rate control loop set Roll Rate deg/s point where positive values Command are for rolling rightwards The pitch rate control loop set Pitch Rate deg/s point where positive values Command are for pitching upwards The yaw rate control loop setpoint Yaw Rate deg/s where positive values are rotating...
  • Page 105 Integrated ESC power consumption Motor Energy 1-6 Watt-hours - can be used to compare motor efficiencies or thrust skew High pass filtered RMS vibration level Motor Accel 1-6 a.u. measured at ESC - can be used to compare motor / propeller imbalance ESC temperature measured Motor Temp 1-6 °C...
  • Page 106 Status indicating angle or Attitude Mode register rate control mode Position Lock 2 register Status indicating position control mode Height Lock register Status indicating height control mode CRC Failures number Internal communication errors | U SE R MANUAL...

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