3D R IRIS User manual

Operation Manual
Read before
flying!
IMPORTANT

Contents
01 Meet IRIS
03 Parts
04 Charger
06 Propellers
07 Learn to Fly
11 Safety
12 Altitude Hold Mode
13 First Flight
18 Stabilize Mode
18 Loiter Mode
19 Return-to-Launch Mode
19 Autonomous Mode and Missions
21 Specifications and Resources
22 Learn More and Support

01
Meet IRIS.
Thank you for purchasing IRIS.
IRIS is an autonomous quadcopter and personal aerial imaging
platform powered by open-source hardware, software, and
firmware. Please read this manual carefully before your first flight
and pay close attention to safety information.
Happy flying!
!Important note: When using a GoPro with IRIS, always
ensure that the WiFi on the GoPro is turned OFF.

02
Front
Rear
Antenna
LED
Battery
compartment
USB port
Front arms (blue)
Safety button
Rear arms (black)
IRIS does not include the GoPro frame shown in these images.

03
Parts
RC transmitter
Your direct link to IRIS
3DR Radio
With micro-USB and Android OTG
ground station adapters
Slide out the leg to remove it, and replace with the new
leg. Replace the set screw and fasten until it sits flush with
the surface. Do not tighten the screw beyond this point.
Use the small (1.5 mm) hex
key to remove the set screw
in the bottom of the leg.
Battery kit
Power pack, charger, and guard bag
Tool kit
Wrench and small, medium, and large hex keys
(1.5 mm, 2 mm, and 3 mm)
Red legs
For extra visibility (optional)

04
Charger
IRIS is powered by a rechargeable lithium polymer (LiPo) battery. Store
battery at half charge then charge fully before flying. Batteries must ship
at half charge, so please charge before your first flight. Each full battery
provides 10 to 13 minutes of flight time.
Connect charger to the
power adapter cable and
a wall outlet.
Connect the red cable to the
+ port and the black cable
to the - port.
Set the charger to
LiPo and 3A.
Connect the white
connector to the 3S port.
Join the two yellow
connectors together.
1
2
+
–
LiPo 3A
3S
3

05
Secure battery inside the guard bag
while charging. Charge until the status
indicator displays green.
Charging Complete
4
Protect battery from extreme heat, extreme cold, puncturing,
and flammable surfaces. Always transport, charge, and store
the battery in the guard bag.
Charge battery using a designated LiPo balance charger only.
Always monitor battery while charging.
Flying with a low battery is a safety risk and can render the battery
unusable. Always discontinue use when you receive a low battery
notification, and always fly with a fully charged battery.
Inspect battery for damage before takeo and after landing. If
you observe any swelling of the package or the battery ceases to
function, locate your local battery recycling center to dispose of
the battery. In the US and Canada, visit call2recycle.org to find a
location. Do not dispose of the battery in the trash.
!Battery Safety

06
IRIS uses two SF and two SFP propellers. To attach, find the rings shown
below inside the propeller package.
Add SFP propellers to the front-left and
back-right motors and SF propellers to the
front-right and back-left motors with the
writing on the propellers facing up.
SF
SF
SFP
SFP
Writing on propellers
faces up
Propellers
Use the wrench to remove the
nut and washer from the motor.
Place the washers over the propellers, and use the wrench to secure
the nuts tightly on top. Always ensure that the propellers are fastened
tightly to the motors before flying.
Select the ring with the smaller internal diameter
and insert it into the back of the propeller hub.
1
2
3

07
Control IRIS in flight using the transmitter’s
left and right sticks.
left stick right stick
Left Stick
Left Stick
Left Stick
Lower stick
to decrease
altitude.
Before takeoff, set
stick fully down.
To maintain altitude,
set stick to center
position.
Take off by raising stick
halfway to center.
To increase altitude, raise
stick slowly.
left stick
Left Stick
Left Stick
Left Stick
Move the left stick forward and backward to control altitude and acceleration.
Throttle
Learn to Fly
Land by setting stick
fully down once IRIS
is a few inches above
the ground.
Left Stick

08
Flight Tip
When adjusting orientation, move the left stick horizontally without changing its
vertical position.
Activate
Hold until propellers
start spinning.
Take-off + Lift
Raise just slightly
for take off
Hover + Land
Lower just slightly
to hover
Left Yaw
Left
Back
Forward
Right
Right Yaw
Deactivate
Hold until propellers
stop spinning
Activate
Hold until propellers
start spinning.
Take-off + Lift
Raise just slightly
for take off
Hover + Land
Lower just slightly
to hover
Left Yaw
Left
Back
Forward
Right
Right Yaw
Deactivate
Hold until propellers
stop spinning
Move stick to the
left to rotate
counterclockwise.
Move stick to
the right to
rotate clockwise.
left stick
Left Stick
Release stick to
stop rotating and
maintain current
orientation.
Move the left stick horizontally to rotate IRIS and change orientation.
For a slow rotation, move the stick slightly away from the center
in either direction. Moving the stick farther from the center creates
a faster rotation.
Yaw
Left Stick

09
Activate
Hold until propellers
start spinning.
Take-off + Lift
Raise just slightly
for take off
Hover + Land
Lower just slightly
to hover
Left Yaw
Left
Back
Forward
Right
Right Yaw
Deactivate
Hold until propellers
stop spinning
Activate
Hold until propellers
start spinning.
Take-off + Lift
Raise just slightly
for take off
Hover + Land
Lower just slightly
to hover
Left Yaw
Left
Back
Forward
Right
Right Yaw
Deactivate
Hold until propellers
stop spinning
Move stick
forward to fly
forward.
right stick
Move stick back
to fly backward.
The right stick allows you to control IRIS’ position in the air. Move the right
stick to tell IRIS to move in that direction: forward (toward the blue arms),
back (toward the black arms), left (toward the left arms), or right (towards
the right arms). How far you move the stick from the center before releasing
it tells IRIS how fast to move.
Pitch and Roll
Activate
Hold until propellers
start spinning.
Take-off + Lift
Raise just slightly
for take off
Hover + Land
Lower just slightly
to hover
Left Yaw
Left
Back
Forward
Right
Right Yaw
Deactivate
Hold until propellers
stop spinning
Activate
Hold until propellers
start spinning.
Take-off + Lift
Raise just slightly
for take off
Hover + Land
Lower just slightly
to hover
Left Yaw
Left
Back
Forward
Right
Right Yaw
Deactivate
Hold until propellers
stop spinning
Move stick left
to fly left.
Move stick right
to fly right.
Flight Tip
IRIS moves according to its orientation. The camera mount and blue arms face
forward, and the black arms and LED face backward. Before using the right stick,
use yaw to keep IRIS facing in outward orientation so that the black arms face
towards you and the blue arms face away from you.

10
left
Stabalize
Altitude Hold
Loiter
Full Autonomy
Return to Launch
left mode switch
up downcenter
Stabalize
Altitude Hold
Loiter
Full Autonomy
Return to Launch
Stabalize
Altitude Hold
Loiter
Full Autonomy
Return to Launch
right mode switch
Mode switches
up down
Stabalize
Altitude Hold
Loiter
Full Autonomy
Return to Launch
Stabalize
Altitude Hold
Loiter
Full Autonomy
Return to Launch
right
Use the two switches above the right stick to select a flight mode.
Set the right switch in the up position to select the group of modes
shown in white on the transmitter, or set the right switch in the down
position to select the group of modes shown in blue. After selecting
a group of modes using the right switch, set the left switch in the up,
center, or down position to select a mode. Both switches must be set to
the correct position to select a mode. In this manual, the position of the
left switch is specified first, followed by the position of the right switch.
For the example center/down, set the left switch to center and the right
switch to down.
Flight Modes

11
IRIS has powerful motors and high-speed propellers. Never place your hands
near propellers while IRIS is armed or the safety button displays solid red.
Always press the safety button until it displays blinking red before handling.
Always fly in an open area away from people and buildings; do not attempt to
fly indoors or in a confined space. Do not fly over people, near airports, or in any
situation that could pose a hazard to those around you. Always fly within your
line of sight and in compliance with local regulations. IRIS will not avoid
obstacles on its own. As the operator, it is your job to recognize and avoid
obstructions while flying. Always follow the preflight and postflight steps in the
order described in this manual, and remain attentive at all times while flying.
Environmental factors, such as wind and GPS irregularities, can cause instability
in flight. IRIS will attempt to compensate for these factors by automatically
landing if it detects an unsafe flying condition due to loss of RC signal, loss of
GPS signal, or low battery. To avoid potential hazards due to environmental
factors, identify the boundaries of your flying area before takeoff, and recover
IRIS manually by switching into stabilize mode if it moves outside your
designated flying area. If you observe any inconsistent behavior, land, and
consult the troubleshooting guide at 3drobotics.com/iris/info.
Always use an RC transmitter as a primary or backup control system when
flying. Ensure that the transmitter is turned on any time IRIS is powered.
If contact with the transmitter is lost during flight, IRIS will land and display
a blinking yellow light. If IRIS is more than 2 meters (6.5 feet) from the launch
point, it will return to launch (RTL) before landing. (See page 19 for more
information about RTL.)
Loss of RC signal
Autopilot-positioned flight modes (loiter, autonomous, and return to launch)
require an active GPS signal. If GPS signal is lost during flight, IRIS will land and
display a blinking blue and yellow light with a high-high-high-low tone. Always
choose an unobstructed flying area to improve signal strength.
Loss of GPS signal
When the battery reaches 25% of its remaining charge, IRIS will land and display
a blinking yellow light with a quick repeating tone. If IRIS reaches the low battery
limit during a mission, it will return to the launch point before landing.
Low battery
!Flight Safety

12
Once you feel comfortable flying in altitude hold, try out IRIS’ other flight
modes for GPS-positioned and autonomous flight.
Altitude Hold Mode (ALT)
Allow IRIS’ autopilot to help you fly by engaging altitude hold mode (ALT). This
autopilot-assisted flight mode maintains altitude automatically. Set the left
stick to center, and IRIS will hover at the current altitude. Adjust altitude and
orientation with the left stick, and navigate with the right stick.
To select altitude hold mode, set the left mode switch to center and
the right switch to down (center/down).
Altitude hold (ALT)
center/down »Autopilot-assisted altitude control
»Great for new fliers
Stabalize
Altitude Hold
Loiter
Full Autonomy
Return to Launch

13
First Flight
Select an open area for flying, away from people and buildings, and remember
to bring the Flight Checklist, wrench, and a fully charged battery. Determine the
boundaries of your flying area before takeoff, and select a level, unobstructed
space as a launch point. Follow these preflight and postflight steps in the order
shown here and on the Flight Checklist every time you fly.
1
L
Preflight
Check
IRIS.
Check that the IRIS and
transmitter antennas are
oriented vertically for
the strongest signal.
Check that the propellers
are tight. Use the wrench
to tighten if necessary.
Set the switches to select
a flight mode. For your first
flight, select altitude hold
mode (shown here).
Check that the left stick
on the transmitter is
set fully down.
Altitude hold
(ALT)
center/down
Stabalize
Altitude Hold
Loiter
Full Autonomy
Return to Launch

14
2Power on
transmitter.
If the left stick is not fully
down, the transmitter will
display an alert message.
3Connect battery.
Press the sides of the battery
compartment together and
rotate the door down.
Insert battery and attach the yellow
connectors. To close, squeeze the door,
and rotate up until it clicks into place,
ensuring that the battery cables do not
interfere with the LED cables.
Place IRIS at the launch point
with the black arms facing
towards you and the blue arms
facing away from you.
If you are using a ground station with IRIS, select Connect.
For Mission Planner or APM Planner, select COM or USB and
set the rate to 57600 before connecting. To learn about
using a ground station in flight, visit 3drobotics.com/iris/info.
!
Ensure the transmitter is
always turned on while IRIS
is powered. If communication
with the transmitter is lost,
IRIS will initiate an automatic
recovery landing.

15
Do not handle IRIS while the
safety button is solid red and
IRIS is live. Always press the
button until it displays blinking
red before approaching
propellers.
!
!
SCALE 1 : 2
Autopilot ready, GPS locked
Autopilot ready, no GPS
Initializing, please wait.
4Press safety
button.
SCALE 1 : 2
Press the safety button
until it is solid red.
IRIS is now live.
Stand back!
5Check LED.
Check the LED to view the status of IRIS. Wait
to proceed until you see the blinking blue light
indicating that you’re ready to fly. If you plan to
use loiter, RTL, or autonomous modes during your
flight, please wait to see the blinking green light
indicating that IRIS has acquired GPS lock.
Error, disconnect battery and restart
flight procedure. See the troubleshooting
guide at 3drobotics.com/iris/info.
6
To activate the motors,
hold the left stick down-right
until the motors spin.
Now you’re ready for takeoff!
L
Arm motors.
IRIS will spin its propellers at
a low speed when armed.
Ensure that the launch point
is clear of obstructions before
arming. Always disarm the
motors before approaching.
Inactive, safe to handle Active, deactivate before handling
!
RTL, loiter, and autonomous modes
require GPS lock before takeo. Do
not initiate these modes during flight
unless you observed a blinking green
light prior to takeo. IRIS may take
a few minutes to acquire GPS lock
depending on your flying location.

16
Flight
L
Left Stick
Take off by
raising the left
stick halfway to
center.
L
Left Stick
Gain altitude by
raising the left
stick.
R
L
Left Stick
RFly forward, backward, left, or right
by moving the right stick in the
direction you want to fly.
Left Stick
Release the right
stick to level IRIS.
R
Left Stick
Slowly lower
the left stick to
descend.
L
Left Stick
Hover by setting
the left stick to
center.
Rotate counter-
clockwise and
clockwise by
moving the left
stick left and right.
!
IRIS is a powerful and agile
flier. Move the sticks in small
increments until you feel
comfortable with how IRIS
responds in each flight mode.
L
Left Stick
Set the left stick fully
down to land once IRIS
is a few inches above
the ground.
!
L

17
Postflight
L
1Disarm
motors.
After landing, hold
the left stick down-
left until the motors
stop spinning.
2Press safety
button.
SCALE 1 : 2
Press the safety
button until it
displays blinking
red to make IRIS
safe to handle.
3Disconnect
battery. 4Power off
transmitter.
Your first flight is now complete!
Refer to the steps shown here and
on the Flight Checklist every time
you fly.
Tips for New Fliers: Practice these exercises to help you master flight controls.
Skill 1: Hover
Your first step is to maintain a consistent altitude while keeping IRIS oriented so the
black arms face towards you and the blue arms face away from you. Practice
taking off, rising to a comfortable hovering altitude, and keeping IRIS in place
without allowing for any changes in orientation or position. If IRIS drifts forward,
backward, left, or right, or rotates clockwise or counterclockwise, use the
corresponding stick controls to correct.
Skill 2: Box
When you feel comfortable with your ability to maintain a consistent hovering
altitude, try flying a box pattern. To practice this, take off, reach your hovering
altitude, then fly forward, right, backward, and left by making small adjustments
to the right stick. Make sure to fly the box in front of you and not around you.
Use the left stick to rotate IRIS so the black arms face towards you and blue arms
face away from you for the duration of the exercise.
Skill 3: Figure Eight
When you can confidently navigate a box while maintaining altitude and
orientation, try flying a figure-eight pattern. Once again, make sure to fly the figure
eight in front of you and not around you. Use the right stick to create a smooth
flight path while using the left stick to correct orientation and maintain altitude.

18
Stabilize Mode (STB)
Stabilize mode (STB) is IRIS’ most acrobatic flight setting. In stabilize, the
autopilot provides basic stabilization while allowing full manual control of both
sticks. In this mode, you’ll need to make continuous, small adjustments to the
left and right sticks to maintain a hovering altitude, navigate, and maintain
orientation without autopilot assistance.
Select stabilize mode by setting both switches up. The transmitter has an
additional setting (up-down) for stabilize mode to allow you to switch between
modes without triggering a mission or return-to-launch command.
Stabilize (STB)
up-up
up-down
»Manual flight
»Acrobatic flying
»Recovery
Stabalize
Altitude Hold
Loiter
Full Autonomy
Return to Launch
Flying confidently in stabilize mode is required for flying your first mission.
To practice, try the exercises on page 17.
Loiter (LTR)
center-up
GPS required before takeo
»Automatic positioning
»Easy flying
Loiter Mode (LTR)
Loiter mode (LTR) uses GPS positioning to hold IRIS’ current position and
altitude automatically. Just release the sticks and IRIS will hover in place. Use
the left stick to adjust altitude and orientation; use the right stick to navigate
and change IRIS’ position.
To select loiter mode, set the left switch to the center position and the right
switch to the up position (center-up).
Loiter mode requires GPS lock (flashing green LED) prior to takeoff.
Stabalize
Altitude Hold
Loiter
Full Autonomy
Return to Launch