SRP Lynx FarScight Caractéristiques techniques

AFM 4-2

Lynx

FarScight

Unmanned Aircraft System

Aircraft Flight Manual

www.SRP.aero

AFM 4-2

Record of Revisions

AFM 1-1 14 April 2013

AFM 1-2 27 July 2013

AFM 1-3 20 July 2014

AFM 1-4 1 September 2014

AFM 2-1 1 January 2015

AFM 2-2 28 February 2015

AFM 2-3 08 March 2015

AFM 2-4 21 April 2015

AFM 2-5 20 August 2015

AFM 2- 04 December 2015

AFM 2-7 1 December 2015

AFM 2-8 04 January 2015

AFM 2-9 30 April 201

AFM 3-1 12 August 201

AFM 4-1 1 June 2017

AFM 4-2 2 July 2017

AFM 4-2

Table of Contents

Section 1: General Information and System Description..............1

Lynx...................................................................................................................................................1

Airframe..........................................................................................................................................1

Flight Control Surfaces..................................................................................................................1

Propulsion System.........................................................................................................................2

Takeoff and Landing......................................................................................................................2

Avionics..........................................................................................................................................2

Payloads........................................................................................................................................2

Communications Equipment..........................................................................................................2

Swift GCS..........................................................................................................................................2

Information Displays......................................................................................................................3

GCS Units......................................................................................................................................3

Preflight..........................................................................................................................................4

Mission Planning............................................................................................................................4

Moving Base..................................................................................................................................4

Handheld Transmitter........................................................................................................................4

Flight Modes......................................................................................................................................5

Guided............................................................................................................................................5

Auto (Waypoint Navigation)...........................................................................................................5

Rally...............................................................................................................................................5

Cruise.............................................................................................................................................5

Manual...........................................................................................................................................

Changing Autopilot Modes.............................................................................................................

Safety Devices...................................................................................................................................

Throttle safety key..........................................................................................................................

Arming Checks...............................................................................................................................

Takeoff Button................................................................................................................................

Battery Monitor...............................................................................................................................7

Manual Control...............................................................................................................................7

Low Voltage Cutoff and Current Limiter.........................................................................................7

Flight Termination..........................................................................................................................7

Failsafes.............................................................................................................................................8

Rally Points....................................................................................................................................8

AFM 4-2

Battery Failsafe..............................................................................................................................8

GCS failsafe...................................................................................................................................8

RC Failsafe....................................................................................................................................8

Section 2: Performance and System Limitations.........................9

Prohibited Maneuvers:.....................................................................................................................10

Section 3: Getting Started......................................................11

Swift GCS........................................................................................................................................11

Install Swift GCS..............................................................................................................................11

Updating the Autopilot Firmware.....................................................................................................11

Section 4: Mission Planning....................................................13

Survey..............................................................................................................................................13

Altitude.........................................................................................................................................13

Heading........................................................................................................................................13

Overlap and Sidelap....................................................................................................................13

Lead In and Overshoot................................................................................................................14

Statistics.......................................................................................................................................14

Rally Points......................................................................................................................................14

Section : Deep-Stall Landing.................................................1

What is a Deep-Stall?......................................................................................................................15

Landing Options...............................................................................................................................1

Auto Deep-Stall............................................................................................................................1

Manual Deep-Stall.......................................................................................................................18

Deep-Stall Abort..............................................................................................................................18

Selecting a Landing Spot.................................................................................................................18

Auto Deep-Stall Checklist................................................................................................................19

Manual Deep-Stall Checklist............................................................................................................19

Deep-Stall Abort Checklist – Manual...............................................................................................20

Section 6: Post Flight.............................................................21

Powering Off Checklist....................................................................................................................21

Photo Tagging..................................................................................................................................21

Section 7: Emergency Procedures...........................................23

Low Flight Battery............................................................................................................................23

Handheld Transmitter Low Battery..................................................................................................23

AFM 4-2

Motor Failure Checklist....................................................................................................................23

Uncontrolled Flight Checklist...........................................................................................................24

GPS Failure Checklist......................................................................................................................24

GCS Crash Inflight...........................................................................................................................24

Section 8: Con*guration.........................................................2

Flight Modes....................................................................................................................................25

Failsafe............................................................................................................................................25

Moving Base....................................................................................................................................25

Section 9: Troubleshooting.....................................................26

Downloading Autopilot Logs............................................................................................................2

Swift GCS Logs................................................................................................................................2

Compass Calibration.......................................................................................................................2

Accelerometer Calibration...............................................................................................................2

Failing the ‘Deepstall - Test’ in Swift GCS.......................................................................................27

Exhausted Camera Battery Inflight..................................................................................................27

Telemetry Connection Problems.....................................................................................................27

Warnings..........................................................................................................................................28

Arming Errors...................................................................................................................................30

Section 10: Scheduled Maintenance........................................31

Servo Replacement.........................................................................................................................31

Section 11: Repair Instructions...............................................32

List of Common Replacement Hardware.........................................................................................32

Tools and Spare Parts Layout.........................................................................................................33

Replacing a Propeller......................................................................................................................34

Replacing a Broken Wing Bolt.........................................................................................................34

Replacing a Tail/Wing Clip...............................................................................................................35

Replacing the Motor.........................................................................................................................3

Replacing a Servo...........................................................................................................................38

Replacing a Skid Pad......................................................................................................................39

Repairing Wing Delamination..........................................................................................................40

Appendix I............................................................................42

ESC Beep Codes.............................................................................................................................42

Appendix II...........................................................................43

AFM 4-2

Battery Cell Discharge Curve..........................................................................................................43

Appendix III.........................................................................44

Autopilot Carrier Board LED Codes.................................................................................................44

Section 1: General Information and

System Descri tion

Lynx

Lynx is a hand-launched UAS designed for aerial surveying and mapping.

Airframe

Lynx weights 2 kg without battery or payload and has a 2.3 meter wingspan. The airframe consists

of five major parts:

Fuselage

Stabilator (movable tail)

Center Wing

Right Wing

Left Wing

The fuselage, wings, and stabilator are constructed of Kevlar over a foam core. Foam landing pads

are fitted beneath the fuselage to absorb energy for deep-stall landings. The main airframe

components are assembled without tools. Spare parts and sub-components can be replaced in the

field using basic tools, supplied in the aircraft’s tool kit.

Flight Control Surfaces

Lynx uses only two control surfaces: a rudder and stabilator. The rudder is a vertical control surface

used to roll and yaw the airframe left and right. The stabilator is used to pitch the airframe up and

AFM 4-2

down in order to climb or descend to a desired altitude. For the deep-stall landing, the stabilator will

deflect upward, beyond what is used for normal flight, to induce a deep-stall. Both control surfaces

are actuated by servo motors.

Pro ulsion System

The propulsion system consists of the flight battery, brushless motor, electronic speed controller

(ESC), and propeller assembly. The propeller folds back to prevent damage upon landing and is also

folded for transport. Lynx uses a high density, rechargeable 9Ah S lithium ion (Li-ion) battery. The

battery is paired as two 9Ah 3S packs to comply with airline and shipping regulations. Operating

voltage is 1 .2 to 25.2 volts.

Takeoff and Landing

Lynx uses a hand launch takeoff wherein the aircraft is physically thrown. Once thrown, the aircraft

climbs autonomously and proceeds to its first waypoint. The takeoff is activated by pressing the

takeoff button on the fuselage once the preflight is complete.

The landing is called a deep-stall and enables flights from confined areas. Specifically, a deep-stall

is a near-vertical descent caused by deflecting the stabilator upward while in flight to roughly 45

degrees. During the descent, throttle is reduced to zero and the tail remains defleted. Lynx is steered

during the descent by the autopilot or by the safety pilot if landing manually. Unlike a parachute, the

deep-stall can be aborted to resume flying as needed.

The wings and stabilator are designed to separate from the fuselage upon landing impact. This is

done to minimize damage by dissipating energy when landing on a hard surface. In extraordinary

landings, certain breakaway spare parts are designed to fail to prevent damage to airframe

components.

Avionics

Lynx uses the Pixhawk 2.1 autopilot running the ArduPilot flight stack. The autopilot contains the

following sensors:

3 Three-axis Inertial Measurement Units (IMU)

2 Barometers

L1/L2 PPK capable GNSS

Airspeed and magnatometer

Payloads

Lynx can carry a variety of swappable cameras. Cameras are triggered in flight by the autopilot while

flying a survey mission.

Communications Equi ment

Lynx utilizes two control frequencies. The safety pilot’s controls are transmitted with a handheld

transmitter on 2.4 GHz (RC Link). A two-way data radio on 915 MHz is used for communication

between the ground control station (GCS) and the aircraft.

Swift GCS

The ground control software used with Lynx is Swift GCS. Swift GCS is the operator’s interface to

the aircraft. Using the GCS, the operator configures the aircraft for flight, plans the mission,

uploads/downloads waypoints from the autopilot, and monitors aircraft status and position. Swift

AFM 4-2

GCS is designed to work with touch screen laptops and tablets for improved field use. Standout

features include a built-in preflight, point and click waypoint navigation, automatic survey grid

generation, built in geo-tagging, support for KML importing (Google Earth overlays), and terrain

visualization.

BETA DISCLAIMER: Swift GCS provides a greatly enhanced operational experience with Lynx when

compared to the other GCS options available, but it is still in beta testing. If you encounter crashes, bugs

or have a feature request please contact [email protected]

Information Dis lays

Swift GCS has five major displays in addition to the moving map: a Heads-Up Display (HUD), an

expandable messages panel, top status bar, bottom status bar, and wind indicator. The HUD

displays aircraft attitude information similar to manned aircraft. The messages panel display will

show both messages from the autopilot, such as a change in flight modes, and warnings. Active

warnings will be highlighted in red. If the warnings panel is collapsed when a new warning activates,

it will automatically open. The top status bar displays GPS, telemetry, flight battery, and camera

information. The bottom status bar displays the aircraft’s current location, distance to the next

waypoint, distance from home, and the distance between a user’s last two clicks.

GCS Units

Units of distances and altitudes displayed in Swift GCS are in meters unless otherwise noted as

kilometers. Velocities (airspeed, ground speed) are in meters per second (m/s).

AFM 4-2

Preflight

Swift GCS features a built-in checklist that guides the user through the preflight process. This is

done with a series of manual and automated checks. Each preflight step features an optional

expanded information section to help new users and display relevant information.

Mission Planning

A large portion of the preflight revolves around mission planning. This is done by creating waypoints

that the aircraft will fly to or actions to be performed. Waypoints are uploaded to the autopilot via the

telemetry radio and can also be uploaded while in flight if a mission needs to be adjusted.

Moving Base

Swift GCS is capable of reading the GPS position from a GPS equipped laptop or tablet and

displaying it on the map. This is referred to as moving base and can be quite useful for situational

awareness while in the field, especially if are moving around. If moving base is enabled, your

position will be indicated on the map with a pedestrian icon. The bottom status bar will now indicate

the distance the aircraft is from the base, rather than the distance from home.

Handheld Transmitter

The handheld transmitter is used to fly Lynx manually or in an autopilot assisted flight mode.

Additionally, it is used for the following: preflight checks, changing autopilot modes, initiating or

aborting a manual deep-stall landing, steering during a manual deep-stall landing, and stopwatch

timer.

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