System Operations ManualAMELIA Team

Table of Contents

Assembly of Payload. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Page XConnect to Camera & Start Streaming Video. . . . . . . . . . . . . . . . . . . . . . . . . . . Page CPowering on the Drone. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Page DTakeoff and Flight Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Page ELanding Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Page FSaving Video. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Page G

Flying the Drone and Streaming Video1. Unfold the drone’s motor arms. For each arm, fold up the arm while taking care that

none of the wires get caught in the hinge. While holding up the arm, screw both the red thumbscrews (INSERT SIZE HERE) fully in to each side of the hinge. Tighten each thumbscrew using an allen key.

2. Mount the propellers on the motors. For each motor, screw two (INSERT SIZE HERE) screws through the propeller and into the motor head. Ensure that each CW propeller is attached to a CW motor, and each CCW propeller is attached to a CCW motor. See the diagram in Figure 1.

3. Prepare the payload. See Payload Harness Assembly Instructions to assemble and mount the payload on the drone.

4. Calibrate the gimbal. (IDK ASK BRYAN)5. Position the drone. Place the drone in an empty space free of obstacles or people. 6. Power on the base station and login. Power on the base station laptop and login. The

password is “amelia_p19123”. 7. Configure the VR headset. (IDK ASK JOHN)8. Power on the ground station antenna. Connect the PoE adapter’s power cable to the

OmniCharge’s AC outlet. Power on the OmniCharge, and press the AC button to enable AC power output. At this point the PoE adapter’s light should be illuminated. Connect the PoE adapter’s PoE port to the PoE port on the NanoBeam 5AC. At this point the (POWER) light on the NanoBeam 5AC should be illuminated. Aim the NanoBeam 5AC towards the drone, and wait until the “signal strength” lights illuminate, indicating the NanoBeam 5AC has paired with the Rocket Lite 5AC.

9. Connect the ground station antenna to the base station. Connect the LAN port on the PoE adapter to the ethernet port on the base station.

10. Use the DHCP server to give the camera an IP address. Launch TFTPD and go to the DHCP page and select the “RealTek Ethernet Adapter”. Wait for the Ricoh Theta V’s MAC address to appear in the list, taking note of its IP address.

11. Launch the viewer application. Launch the AmeliaViewer by double-clicking the desktop icon. Then launch FireFox by double-clicking the desktop icon and type “127.0.0.1:8181” in to the address bar and press enter. You should be greeted by the application’s UI. If the Oculus was setup properly, then the main screen will be split vertically down the middle.

12. Begin streaming the video from the camera. Be sure to enter the IP address noted from TFTPD in to the “IP Address” field. Select “Record Video” to enable video saving when the stream is over. Set other settings as appropriate. Then press “Apply” to save the settings, and then “Connect” to connect to the drone and begin streaming video from the camera. By pressing the goggles button in the lower right hand corner, the video will become full screen for a better VR experience.

13. Power on the drone. Go to the drone, and connect the red and black bullet connectors, providing power to the Pixhawk4, ESCs, and RC receiver. The ESCs should beep once per second for roughly 3 seconds until the ESCs emit a “happy melody”. This indicates that the ESCs and Pixhawk4 are ready. Watch the GPS module and wait to see the GPS LED illuminate blue.

14. Power on the RC transmitter. Take a distance of approximately 5 m from the drone. Power on the RC transmitter by holding the power button. Make sure that the arming switch is down, the throttle is at 0%, and the flight mode switch is all the way up in “Position” mode.

15. Launch the drone. Arm the drone and guarantee all the props are spinning in the proper direction. Move the “Flight Mode” switch to the center position (“Takeoff”). While the drone is ascending, push the throttle to 50%. When the drone reaches 10 meters off the ground, move the “Flight Mode” switch back to the top (“Position” mode).

16. Fly the drone and aim the ground station antenna. Fly the drone around, while aiming the ground station antenna at the drone.

17. Land the drone. Return the drone to the landing zone, and move the throttle to 0%. When the drone lands, disarm the drone. The propellers should stop spinning. If they do not, either use the kill switch, or change the flight mode to “Manual” and then attempt to disarm.

18. Power off the drone. Go to the drone and unplug the bullet connectors.19. Disconnect from the stream in the viewer application and save the video. Press the

“Disconnect” button in viewer application. The camera should emit a beep, indicating that streaming has stopped. A pop-up should appear prompting the user to save the video. Click “Save” and save the video to a local destination.

Amelia Drone Group Date Written: 4/9/2019P19123 Revision 1: 4/16/2019

Payload Harness Assembly Instructions

Equipment needed for Assembly

● Drone payload harness main body (D03)

● Harness top cover (D09)

● Harness back cover (D04)

● Gimbal Adapter (HW07)

● DJI Osmo Mobile 2 Gimbal (HW10)

● Ricoh Theta V camera (HW01)

● Ubiquiti Rocket 5AC transmitter (HW02)

● USB to Ethernet Converter (HW03)

● Omni Charge battery pack (HW05)

● Power Over Ethernet (POE) Adapter (HW06)

● Ubiquiti Antenna (HW09)

● Transmitter Mount (HW11)

● Ethernet cable (2x)

● Ethernet to USB cable

● Power cable

Tools and Hardware needed for Assembly

● Bolts, Nuts, Washers

o 8-32 (6x)o 4-40 (4x)o ¼-20 (2x)

● Self-taping plastic antenna screws

● Phillips head screw driver

● Crescent wrench

● Allen Keys

o 2mmo 3/32o 9/64o 3/16

Assembly Steps

1. Place the transmitter mount on top of the harness top cover, aligning the bolt pattern and attach using 4-40 bolts.

2. Place the top cover onto the harness, with the cutout facing the back of the harness, and attach the 8-32 bolts on the four corners.

3. Slide the Omni Charge battery pack into the harness with the screen facing out the back, and check to ensure battery has full charge.

4. Attach the 1 ft. Ethernet cable to the POE adapter in the port labeled POE, and the 2 ft. Ethernet cable to the port labeled LAN.

5. Run both Ethernet cables from inside to outside of the harness through the cutouts in the front corners of the harness with the POE adapter placed in the harness.

6. Pull up on the latch and slide the back cover off of the transmitter, and attach the Ethernet cable wired to the POE side of the adapter to the transmitter, and slide transmitter onto the mount that is attached to the top cover.

7. Attach the other Ethernet cable wired to the LAN side of the adapter to the USB to Ethernet adapter.

8. Run the power cable from the POE adapter out the back of the harness to the 120 volt socket in the side of the battery pack.

9. Take the harness back cover and the Ubiquiti antenna, and insert the antenna into the back cover, using the self-taping plastic screws to secure the antenna to the cover.

10. Place the back cover against the harness, routing the power cable through the cutout on the top cover, and secure using 8-32 bolts.

11. Attach the coax cable cables from the transmitter to the antenna.

At this point, you can turn the transmitter on and test the connectivity to the base station.

12. Slide the Ricoh Theta V cameral into the gimbal adapter, with the micro USB port exposed by the cutout in the adapter, and secure using ¼-20 bolt.

13. Once the gimbal is calibrated, slide the camera and adapter into the gimbal, and plug in the micro USB cable and Velcro to the gimbal. Ensure the gimbal is charged.

14. Insert the gimbal into the front gimbal mount of the harness, and secure with ¼-20 bolt.

15. Loosen screws that hold the rails on the drone using the 2mm Allen wrench, and slide them out of one slot so that they can be inserted into the harness connection.

16. Insert the harness onto the rails with the gimbal side facing the front of the drone, and insert rails through spacers in front of the harness, so that the harness sits as far towards the back of the drone on the rails as possible.

17. Slide the rails back through the other slot so that they protrude an even amount on each side, and tighten the screws to secure the rails in place.

18. Inspect assembly for any lose connections, and secure any loose cables.

19. Calibrate gimbal

Powering On the Drone1. Power on the controller by holding the power button in the center until you hear the

phrase “Welcome to Open TX”

2. If the screen displays “Switch Warning” then push all the yellow circle switches to the top position and the red arrow switches to the bottom

3. If the controller says SD Card Warning, press the right grey circular button.

4. Secure the battery down to the drone platform via the velcro strips. Press down to ensure solid connectivity.

5. Connect the black battery cable to the matching black cable head on the power wire.

6. While holding the plastic plug heads quickly attach the red cables together.a. There may be a spark and a pop noise from within the plastic covering. This is

normal and is greatly reduced with increased speed of connection.7. After a few seconds, the drone’s flight controller (Pixhawk 4) and electronic speed

controllers (ESCs) will make warmup noises.a. If the ESCs on top of the drone make beeping noises continually at 1 second or

0.5 second intervals, see the troubleshooting section, Part 1.8. The controller will say “Telemetry Connected.” If it does not, check the receiver LED and

proceed to the troubleshooting section, part 3.

9. When ready to fly, press and hold the “SWITCH” button on the GPS module until it makes a noise. The drone is now able to be armed.

10. Wait for the “GPS-RTK” LED on the GPS module to illuminate blue, indicating a GPS fix has been established. This can take up to a minute. If a GPS lock is not found, semi-autonomous flight modes such “Position” and “Takeoff” will not work.

11. The controller is configured as shown in the image below.a. Arming and Disarming the drone allows the propellers to begin their rotationb. The flight mode switch has three configurations:

i. Position mode allows the drone to maintain altitude and stabilize itself. Highly recommended for flying

ii. Takeoff mode allows the drone to automatically lift itself upiii. Manual mode means all adjustments must be done by the user. Not

recommended for flyingc. The kill switch immediately cuts off all power to the rotors when pulled to the

lowest position. Only use in dire circumstance if the drone is in flight

12. Flip the arm switch and the propellers will begin to spin.Takeoff and Flight Instructions

1. a

Playing Back a Recorded Video1. Power on the base station and login. Power on the base station laptop and then login

with the password “amelia_p19123”.2. Locate an equirectangular video. Locate the equirectangular video (either “.webm” or

“.mp4” format) you wish to use. This can be a stream recorded using the AmeliaViewer, or another 360 degree video. The AmeliaViewer only works with equirectangular videos. Equirectangular images and videos are used to save and share 360 degree content. An example image from an equirectangular video is shown below.

3. Launch the viewer software. Double click the AmeliaViewer shortcut on the desktop of the base station. Then launch FireFox by double clicking the shortcut on the desktop,

and enter “127.0.0.1:8181” in the navigation bar and press enter. The UI shown below should be displayed in the browser window.

4. Select the video for playback. Click the hamburger menu in the upper left hand corner and then click the “File” icon under “Local Video Playback”. In the window that appears, navigate to and select the equirectangular video to play. If the video selection was successful, the image being displayed will change to the first frame of the selected video.

5. Begin video playback. Press the green “Play” button under “Local Video Playback” to begin playing the video. The video can be paused or stopped using the “Pause” and “Stop” buttons respectively. While playing a local video, it is not possible to interface with the Ricoh Theta V.

Troubleshooting

1: Electronic Speed Controllers are Beeping1. If any electronic speed controller makes a beep every 1 second, the ESC is not

receiving data from the receiver and flight controller. Check the connections of the black and white signal wires.

2. If any electronic speed controller is beeping rapidly, the ESC is unable to start the motor. Ensure all connections.

2: Unable to connect to Ricoh Theta V1. Guarantee that the Ricoh Theta V is powered on. When it is on, there will be a

blue light on the front, and the power button on the side will be illuminated.2. Guarantee that the NanoBeam 5AC is powered on. The power LED should be

illuminated.3. Guarantee that the Rocket 5AC Lite is powered on. The power LED should be

illuminated.4. Guarantee that the NanoBeam 5AC is paired with the Rocket 5AC Lite. When

paired, the “signal” indicator on the rim of the NanoBeam 5AC will illuminate. If it is not paired, then make sure you are pointing the NanoBeam 5AC at the Rocket 5AC Lite, and give the system some time to establish a connection. This can take up to a minute or more.

5. Check the data connection from the NanoBeam 5AC to the ground station. A CAT6 cable should connect the NanoBeam 5AC to the PoE adapter’s “POE” port. Another CAT6 cable should connect the PoE adapter’s “LAN” port to the ethernet port on the base station laptop. If properly connected, when the user clicks the “Network / WiFi” icon in the taskbar, the network status should read “Unidentified Network”.

6. Ensure the base station’s WiFi is turned off.7. Ensure the base station has a static IP assigned to it.8. Ensure that TFTPD is properly configured and using the correct network adapter.

Also ensure that you have selected the “DHCP” tab. An example configuration is shown below.

9. Attempt power-cycling the camera while TFTPD is running. Be sure to give the system time (up to a few minutes) to assign an IP address to the camera.

3: RC Controller does not connect to the Receiver1. Check the LEDs on the X8R receiver and decode its meaning by the operations

sheet linked below. 2. It may be necessary to re-bind the controller to the receiver as shown in this

video: https://www.youtube.com/watch?v=yF8jrkYJ7nA

FAQ

Individual Components Operations Sheet

Electronic Speed Controllers:https://cdn.shopify.com/s/files/1/0109/9702/files/User_s_Manual_Xrotor-en.pdf?7945784144032874852

Pixhawk 4:http://docs.px4.io/en/assembly/quick_start_pixhawk4.html

X8R Reciever:https://www.frsky-rc.com/wp-content/uploads/2017/07/Manual/X8R.pdf