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
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL
STB
LTR
AUTO
STB
ALT
RTL

09
Mission Planner is an open-source ground station for the APM autopilot
platform. Connect Iris to a laptop using Mission Planner and the telemetry
radio ground module to view data and execute commands in flight.
See the install software section (page 24) to download Mission Planner
for Windows or APM Planner for Mac and Linux. APM Planner is a
developing version of Mission Planner for all three platforms; instructions
for Mission Planner can also be used for APM Planner.
Connect to Mission Planner
1Connect the telemetry radio to your laptop’s USB port.
2Connect battery to Iris.
3 After drivers automatically install, select the available COM port, set the
baud rate to 57600, select ArduCopter (if offered), and select Connect.
Mission Planner
1 2
3

10
Mission Planner Flight Data: Attitude
1 Heading direction
2 Bank angle
3Altitude (black) and rate of climb (blue bar)
4 Ground speed
Actions
1 Change waypoints or restart a mission
2 Change modes
3 Change altitude
1
2
3
4
1
2
3

11
Status
Flight Map
1 Current heading
2 Direct path to current waypoint
3 GPS-reported direction of travel
4Distance to current waypoint > current
waypoint number
5GPS status
6Battery status
4 Actual flight path
5 Latitude & longitude
6 Altitude
1 Telemetry signal
2GPS time
3 Currently enabled mode
1
2
3
4
5
6
1
2
3
4
5
6

12
Using a Tablet
View in-flight data from your Android tablet! This exciting functionality is
available using the Andropilot and DroidPlanner apps, developed by the
open-source community for the APM autopilot platform. The provided
Android tablet adapter cable and telemetry radio ground module allow
you to connect Iris to Andropilot or DroidPlanner and access many of the
same features found in Mission Planner as well as some features unique
to tablets. Visit the Google Play store to download the apps and view a
list of compatible devices.
Tablet ground station apps are under development for
supplemental flight control. The primary control method
for Iris is an RC transmitter.
!
Andropilot DroidPlanner
Connecting to a tablet
1Connect the colored end of the Android adapter to your tablet.
2 Connect the black end of the adapter to the telemetry radio ground
module.
1 2

13
3Takeoff & Landing
When selecting a flying location, choose an area away from buildings and
spectators where Iris does not pose a risk to bystanders and will not be
flying over people. Remember to bring a fully charged battery, a wrench
for tightening propellers, and the flight checklist.
Preflight Preparation
Ensure the propellers are tight and your camera is secured to the mount.
Place Iris in a designated launching location before takeoff with the blue
front arms facing away from you. This is known as the home position and
will be stored by the autopilot as the location Iris will return to when
executing a return-to-launch command, so ensure that the home position
is free of obstructions and can provide a clear landing path. Do not use
your staging area as the home position.
Control
Turn on your RC transmitter with the throttle stick set down. For manual
takeoff, set the transmitter to stabilize mode (both switches forward). For
assisted takeoff, set the transmitter to loiter (mode switch center, group
switch forward) or altitude hold (mode switch center, group switch back).
Turn on your ground control application, and connect the telemetry radio
to your laptop or tablet.
System Start
Connect the battery to Iris, and close the battery door. Check the status
of the safety button to receive system permission to arm. When the button
blinks slowly, press it for one second or until it goes solid. Select connect
on your ground station laptop or tablet.
Safety Button Meanings
Fast blinking: performing system check. Please wait.
Solid: ready to arm. Proceed to the arming procedure.
Slow blinking: system ready. Press the safety button.

14
Arming
The LED on the bottom side of the battery compartment indicates the
status of Iris when powered.
To arm
Left stick
Flashing red and blue: initializing. Please wait.
Double flashing yellow: error. System refuses to arm. If
error persists, see troubleshooting for more instructions.
Flashing blue: disarmed, searching for GPS. Full autonomy,
loiter, and return-to-launch modes require GPS lock.
To arm Iris, hold the transmitter’s left stick throttle down and yaw right
(bottom-right corner) for 2 seconds.
Solid green + single long tone: armed with GPS lock.
Ready to fly!
Flashing green + quick double tone: disarmed, GPS lock
acquired. Ready to arm.

15
Iris will spin its propellers at a low speed when armed!
Ensure Iris is properly situated at its launch point and
clear of obstructions before arming.
!
Apply a small throttle input to takeoff. Iris is sensitive to control inputs, so
use small stick movements when flying.
Landing
After landing, set throttle down and disarm Iris by holding the left stick to
throttle down and yaw left (bottom-left corner) for 2 seconds.
To disarm
Left stick
After disarming, disconnect the battery then turn off the RC transmitter.
Press the safety button for one second or until it flashes, indicating
successful disarming.

16
Flying Manually
Stabilize (STB) is Iris’ manual flight mode. Fly using the four controls:
throttle, yaw, pitch, and roll.
Throttle Left stick
Sends power to the motors creating lift. Controls speed and altitude.
Yaw Left stick
Swivels Iris left and right. Changes the direction Iris is facing and a
mounted camera is pointing.
Pitch Right stick
Controls the forward and back angle of Iris. Pitching forward tilts the front
arms down and moves Iris forward; pitching back lowers the back arms
and moves Iris back.
Roll Right stick
Moves Iris horizontally through the air. Rolling left banks Iris left by raising
the right arms; rolling right banks right by raising the left arms.
Stabilize is the recommended mode for takeoff and landing.
Switch positions
Stabilize
forward / forward
Stabilize
forward / back

17
Assisted Flight
Altitude hold and loiter modes allow the autopilot to regulate Iris’ flight
behavior, providing cruise-control flying. Assisted flight makes it easy
to capture aerial video sequences with simplified control and automatic
positioning.
Altitude holding
Altitude hold mode (ALT) maintains Iris at a consistent altitude while
allowing manual control of yaw, pitch, and roll. Use throttle to adjust the
altitude while flying in ALT.
To switch to altitude hold from stabilize mode
1Hover Iris in STB with throttle at mid-stick.
2 Switch into ALT.
3Control yaw, roll, and pitch normally.
4 Use the throttle stick to make adjustments to the altitude.
5Bring throttle to mid-stick before switching out of ALT.
Altitude hold is supported for takeoff and landing.
Switch position
Altitude hold
center / back

18
Loitering
Loiter mode (LTR) commands Iris to hold its current longitude, latitude,
and altitude using GPS positioning. Use roll and pitch to make changes
to Iris’ position, use throttle to adjust altitude, and use yaw to aim a
mounted camera. LTR is the easiest way to fly.
Loiter mode is supported for takeoff and landing.
To switch into loiter from stabilize mode
1 Hover Iris in STB with throttle at mid-stick.
2 Switch into LTR.
3 Use controls to make small adjustments to Iris’ position.
4 Bring throttle to mid-stick before switching out of LTR.
Switch position
Loiter
center / forward