3D Robotics IRIS User manual

Operation Manual
Developer Edition

01 Meet Iris
03 Propellers
04 Battery
05 Charger
06 Safety
07 Radio Control
09 Mission Planner
12 Using a Tablet
13 Takeoff & Landing
16 Flying Manually
17 Assisted Flight
19 Full Autonomy
22 Low Battery
23 Opening the Shell
24 Install Software
25 Connecting an RC Receiver
26 RC Calibration
28 Updating the Firmware
30 Replacing the Legs
31 Support
31 Troubleshooting
32 Parts
33 Specs
Contents

01
1Meet Iris
Iris is an autonomous quadcopter and personal aerial video platform
powered by open-source UAV hardware, software, and firmware.
Iris has powerful motors and high-speed propellers.
Safety warnings like this one provide important
information about best operating practices.
!
1Front arms (blue)
2 Rear arms (black)
3Propellers
1
2
3
1 Safety button
2 Battery compartment
1
2

02
1Camera mount
2LED indicator
1
2
1 Telemetry antenna
2 USB port
3 Propeller nuts
4Legs
1
2
3
4

03
Propellers
Iris creates lift using two 10x4.7 pusher propellers (marked SFP or
P) and two 10x4.7 puller propellers (marked SF or unmarked). Pusher
propellers spin clockwise on the front-left and back-right motors; puller
propellers spin counterclockwise on the front-right and back-left motors.
For counterclockwise rotation, use puller propellers.
For clockwise rotation, use pusher propellers.
CCW
!!
CW
CCW
!!
CW
CCW
!!
CW
CCW
!!
CW
To tighten or remove the propellers, rotate the propeller nut using the
provided wrench. Always attach propellers with writing facing up and the
washer between the propeller and the nut.
CCW
!!
CW
CCW
!!
CW
CCW
!!
CW
CCW
!!
CW

04
Battery
Iris is powered by a rechargeable lithium polymer (LiPo) battery.
1 Charger connector (JST-XH)
2Iris connector (XT60)
Connecting the battery to Iris
1Press the sides together, and rotate the door down.
2 Insert battery into compartment, and connect the yellow XT60
connectors. To close, squeeze the door, and rotate up until it clicks
into place.
1
2
1
2

05
Charger
1 Connect charger to power adapter and wall outlet.
2 Connect battery to the three-pin charger connector.
3 Secure battery inside safety bag.
4Charge until the three LED indicators appear green.
cell 1 cell 2 cell 3
Charging
cell 1 cell 2 cell 3
Complete
1
2
3
4
Store your battery at half charge then charge completely the day before
flying. Batteries also ship at half charge, so please charge the battery
completely before your first flight. Each full battery provides between
10 and 13 minutes of flight time.

06
Safety
Flying
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 your local regulations.
Always follow the correct takeoff and landing procedures as described by
this manual and the flight checklist.
Always use an RC transmitter as a primary or backup control system when
flying Iris.
Battery
The primary potential hazard for a LiPo is combustion. The safety bag will
contain a lithium fire if it occurs, so always transport, charge, and store
your battery in a safety bag.
Protect battery from extreme heat, extreme cold, puncturing, and
flammable surfaces.
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 upon receiving a low battery notification,
and always fly with a fully charged battery.
Inspect battery for damage before takeoff and after landing. If you observe
any swelling of the package, dispose of the battery.
Battery Disposal
If you observe any swelling or the battery ceases to function, please locate
your local battery recycling center to dispose of the battery. In the US and
Canada, visit call2recycle.org to find a location near you.
!

07
2Radio Control
Iris can be controlled using only an RC transmitter or through a
combination of RC and a laptop or tablet ground station.
To connect your own RC equipment to Iris, please follow the instructions
for opening the shell, installing Mission Planner, connecting an RC
receiver, and performing RC calibration.
1
2
3
45
Left stick
Yaw
Throttle
Right stick
Roll
Pitch
1Left stick throttle & yaw
2Right stick pitch & roll
3Power switch
4Group switch
forward A modes
back B modes
The stick configuration shown above is known as mode 2. These
instructions will continue for this mode, so if you plan to use mode 1
on your transmitter (throttle on the right stick), please adjust accordingly.
5Mode switch
forward stabilize (A and B)
center loiter (A)
altitude hold (B)
back full autonomy (A)
return-to-launch (B)

08
The combination of the group and mode switches creates six available
mode positions. Cut out the mode sticker to attach to your transmitter.
Stabilize
forward / forward
Loiter
center / forward
Full autonomy
back / forward
Stabilize
forward / back
Altitude hold
center / back
Return to launch
back / back
STB
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