Foxtech THEA-130 User manual

User Manual
V1.0
THEA-130 / 160
Sprayer Drone
2019.04

THEA-130 / 160 Sprayer Drone User Manual
©2019 FOXTECH All Rights Reserved 1
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Contents
Disclaimer
Flight Operation
Environmental Requirements
Pre-ight Check
Compass Clibration
Work in Manual Stabilization Mode
Work in Manual Plus (AB point) Mode
Repair and Maintenance
Replace the Propeller
Replace the Motor
Replace the ESC
Replace Nozzles
Replace the Pump
Cleaning After Use
System Introduction
System Characteristic
Introduction to Flight Mode
Installation and Connection
System Supporting List
Flight Controller System Connection Diagram
Interface Denition
Status Indicator Description
Remote Control Equipment
Receiver
Remote Control Conguration
Unlocking and Locking for Flight Control
ESC Calibration (Electronic Speed Controller)

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Remote Control Protection
Protect Content
Return Logic
Remote Control Security
Data Link Loss of Control
Voltage Detection and Protection
Area Limited Protection
Ground Station Setting
Equipment Connection
Function Introduction
Route Planning
Ready to Take Off
RTK Use Instructions
Concise Operation Process
Precautions
Failure Analysis
After-sales Service
Installation of Ground Station and Drivers
Installation
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THEA-130 / 160 Sprayer Drone User Manual
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Disclaimer
1. To protect the legitimate rights and interests of users, please read the instructions, disclaimers and safety
instructions provided with this product before using this product. Know your legal rights, responsibilities,
and safety instructions; otherwise you may incur property damage, safety incidents, and personal safety
hazards. The company reserves the right to update the above documents. Please be sure to operate this
product in accordance with the instructions and safety instructions.
2. The company will not be responsible for any violation of the law that occurs directly or indirectly by the
user.
3. This product is not suitable for people under the age of 18 and other people who do not have full civil
capacity. Please avoid the above-mentioned people from contacting this product. In the case where the
above-mentioned persons appear, please pay special attention to the operation.
4. Once you start using this product, you are deemed to have read, understood, approved and accepted all
terms and conditions of the product's instructions, disclaimers and safety instructions. The user is committed
to being responsible for his or her actions and all consequences arising by this. The User undertakes to use
the Product solely for legitimate purposes and agrees to these Terms and any relevant policies or guidelines
that may be established by the Company.
5. In the process of using this product, please strictly observe and implement the requirements including but
not limited to the instructions and safety instructions. All personal injury, accident, property damage, legal
disputes, and other adverse events that cause conflicts of interest caused by breach of safety instructions
or force majeure factors shall be borne by the user and the company shall not bear any responsibility.
6. We do not provide any technical support and security commitments in the following situations:
1) Units or individuals who obtain this product through informal agents or irregular channels;
2) Products that are not authorized to be modified, commissioned or replaced;
3) Warranty card, serial number or flight data are lost;
4) Personal injury and property damage due to personal operation errors.

THEA-130 / 160 Sprayer Drone User Manual
©2019 FOXTECH All Rights Reserved 4
1. To protect the legitimate rights and interests of users, please read the instructions, disclaimers and safety
instructions provided with this product before using this product. Know your legal rights, responsibilities,
and safety instructions; otherwise you may incur property damage, safety incidents, and personal safety
hazards. The company reserves the right to update the above documents. Please be sure to operate this
product in accordance with the instructions and safety instructions.
2. The company will not be responsible for any violation of the law that occurs directly or indirectly by the
user.
3. This product is not suitable for people under the age of 18 and other people who do not have full civil
capacity. Please avoid the above-mentioned people from contacting this product. In the case where the
above-mentioned persons appear, please pay special attention to the operation.
4. Once you start using this product, you are deemed to have read, understood, approved and accepted all
terms and conditions of the product's instructions, disclaimers and safety instructions. The user is committed
to being responsible for his or her actions and all consequences arising by this. The User undertakes to use
the Product solely for legitimate purposes and agrees to these Terms and any relevant policies or guidelines
that may be established by the Company.
5. In the process of using this product, please strictly observe and implement the requirements including but
not limited to the instructions and safety instructions. All personal injury, accident, property damage, legal
disputes, and other adverse events that cause conflicts of interest caused by breach of safety instructions
or force majeure factors shall be borne by the user and the company shall not bear any responsibility.
6. We do not provide any technical support and security commitments in the following situations:
1) Units or individuals who obtain this product through informal agents or irregular channels;
2) Products that are not authorized to be modified, commissioned or replaced;
3) Warranty card, serial number or flight data are lost;
4) Personal injury and property damage due to personal operation errors.

THEA-130 / 160 Sprayer Drone User Manual
©2019 FOXTECH All Rights Reserved 5
-In an open environment, there is no occlusion, so as not to affect the search for satellite signals.
-The wind is less than 5 (≤8m/s).
-There is no strong magnetic field around, such as high-voltage lines, magnetite, etc., so as not to affect the
normal operation of the magnetic compass.
Do not calibrate in areas with strong magnetic or large blocks of metal, such as high voltage lines,
magnetic mines, parking lots, and buildings near steels.
Do not carry magnetic substances with your body during calibration, such as mobile phones
If the compass is calibrated indoors, remember to recalibrate when using it outdoors to prevent the
magnetic field difference between the two areas and cause abnormal flight data.
The position of the Earth's magnetic field is different. Please recalibrate the compass when replacing
a remote area.
Flight Operation
Environmental Requirements
Pre-ight Check
Compass Clibration
-Make sure that the drone battery, remote control battery, and ground station (Android phone) are fully
charged.
-Make sure the drone battery is fixed.
-Ensure that the components are tightly fastened and that all screws are not loose.
-Make sure all connections are correct.
-Make sure that the propellers are not damaged, securely mounted, in the right direction, and that it works
correctly. All arms and propellers are fully deployed and the arm sleeve is locked.
-Make sure the spray system is free of impurities and can work properly.
Compass calibration must be performed before first use, otherwise the system may not work properly, which
may affect flight safety.
Calibration Steps:
The remote control E switch continuously dials 7-8 times or clicks the magnetic calibration command in
the ground station software. The LED indicator turns green and enters the horizontal calibration phase, as
shown below:

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Rotate the drone horizontally until the LED turns blue and enter the vertical calibration phase, as shown
below:
Then the drone head vertically upwards and rotates. When the LED indicator turns off, then it flashes,
and the calibration is successful. When the LED indicator turns red, the calibration fails and needs to be
recalibrated.
After the calibration is completed, you need to unplug the power to restart the aircraft.
Recalibration is required in the following case:
- The compass data is abnormal: the LED status indicator of the drone indicates that the yellow-green light
flashes alternately.
- The flight field is far from the site where the last calibration of compass was made.
- The mechanical mechanism or the body circuit of the drone has changed.
- Drifting during flight is more serious, or can not fly in a straight line
Work in Manual Stabilization Mode
Unlock, Start the Motor
Before performing the unlocking operation, keep away from the
drone to avoid danger and injury. The motor can be started by
performing the following operations on the remote control.
After unlocking, push the throttle stick above the middle position
and the drone can take off.
Unlock
Push the throttle slowly.

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If the throttle is not pushed to more than 10% after unlocking, the motor will automatically stop and lock after
3 seconds.
Immediately after the motor starts, release the rocker and take off as soon as possible.
If does not calibrate the range the remote control, the motor cannot be started by performing an unlock
operation.
If the fine adjustment of the joystick is not 0, the motor may not start when the unlocking operation is
performed!
Lock, Stop the Motor
The locking operation must be performed after the drone has landed. The motor can be stopped by
performing the following operations on the remote control.
Work in Manual Plus (AB point) Mode
When working in Manual mode and Manual Plus mode, you can use the ground station to view the track
and enter the viewing page of the ground station software.
Mode introduction
Manual Plus mode, also known as AB mode. After the user defines points A and B, the AB route is
automatically copied for flight. In the AB mode, it supports Terrain Following flight (with radar), supports
the adjustment of the length of the AB route during flight, and supports manual adjustment of altitude (the
middle position of the throttle defaults to a fixed altitude flight) and the direction of the nose.
Records AB Process in AB Mode
Takes off in the manual stabilization mode,if you do not want to use the AB point information of the previous
trip, you can continuously dial the G dial 7-8 times to clear the AB record to ensure that there is no AB point
inside the drone.
Operate the drone to the first starting point. In the manual stabilization mode, the G dial switch is switched
from standby to point A. At this point, the coordinates of point A are recorded. After the recording of point A
is successful, the LED light will flash with a purple light.
Manually open the water pump and control the drone to fly to the B point. In the manual stabilization mode,
the G dial switch switches from point A to point B and records the coordinates of point B. After the point B is
successfully recorded, there will be 2 purple lights flashing.
After the AB point recording is completed, the E dial switch is set to the AB mode, and then the roll channel
is switched to the far left or far right. At this time, the AB point mode starts to be executed, The aircraft will
continue to fly to the left/right ridge (the G dial switch is at position B, it is recommended to return to the
standby position).
Exit AB mode: E dial switches to manual stabilization mode/attitude mode to exit AB mode (the SB dial
switch is at position B, it is recommended to return to the standby position).
After exiting the AB mode, if you want to clear the AB point record, you need to continuously dial the G dial 7-8
times or more. At this time, the 2 flashing purple lights of the AB point will be extinguished, indicating that the
clearing is successful.
Lock

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Real-time Adjustment in AB Flight Mode
At present, the function correction is made for the extension or shortening of the route in the AB mode. The
flight control firmware is 180915 and above, and the extension and shortening of the route in AB point mode
realized by the following method ,please pay attention.
Regulated ridge length
Extension of AB point: When the plane flies to the edge, push the pitch switch (push or pull, to the far end is
push, to the near end is pull), the drone will slowly advance at 2m/s, When reaching the extended position,
the pitch switch is back to center, the drone stops, and then the corresponding route is copied, and the AB
point is extended.
Route Node
Route Spacing
Flying Direction
Left Right

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Shorten the route of the AB point: When the drone flies to a position close to the shortened position, push
the pitch switch (push or pull, to the far end is pull, to the near end is push), and the drone will slowly
advance at 2m/s. When the shortened position is reached, the pitching switch is back to center and the
drone stops, and then the corresponding route is copied, and the AB point route is shortened.
- Adjust the altitude
During the flight, when the throttle stick is in the middle position, it will fly in a fixed-height status(with a
radar,can realize terrain following flight), when the throttle is pushed up, the height rises and the throttle is
pulled down, the height drops.
- Adjust the direction of the nose
During the flight, when the yaw joystick is in the middle position, the nose is locked, the yaw joystick is
pushed to the left, the drone turns to left, when the yaw joystick is pushed to right, the drone turns to right.
Continue to fly at breakpoints in AB Point Mode
When exiting from AB point mode, the drone saves the current spray breakpoint, AB point definition, and
task direction. If you want to use the original AB point record and continue to perform the AB point mode,
you can follow the following steps:
- In the manual stabilization mode, the remote controller E dial switch is set to the AB mode, and the drone
is hovering at a certain position.
- The pitch channel is fully pushed forward, and the drone enters the breakpoint-flying mode, flying to the
place where the drone exited the AB mode last time. Then continue to perform in AB point mode.

THEA-130 / 160 Sprayer Drone User Manual
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Avoids obstacles and continue to fly in AB Mode.
At present, the manual intervention for obstacle avoidance is added for AB mode. The flight control firmware
is 180915 and above. Please pay attention:
Manual intervention for obstacle avoidance at AB point mode： When the drone is performing AB point
task, after encountering obstacles in front, first dail the roll joystick, the drone will stop, then will move to
the direction to which the roll joystick is dial, then could start operating the pitch joystick after moving to an
secure position, then all the joysticks are back to center, the drone will automatically turn to AB point mode,
then perform the subsequent task.
Route node：：：：
Route spacing
Flying direction
Route breakpoint
Complete Route
Not executed route

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Repair and Maintenance
Replace the Propeller
Replace the Motor
Replace the ESC
Replace Nozzles
Replace the Pump
- Insert the propeller into the motor column (note the direction of the propeller).
- Turn the propeller, align the mounting holes, and tighten the four M3x6 screws.
- Place the motor on the lower cover of the motor base and align it with the mounting hole (note the direction
of the motor)
- Secure the motor and motor base lower cover with four M4X16 screws.
- Pass the motor wire through the hole in the lower cover of the motor base and connect it to the ESC.
Secure the motor cover and lower cover with four M3X10 screws.
- After the wire and signal wire at one end of the ESC pass through the arm, the wire is connected to
the distribution board, the signal line is connected to the flight controller, and the wire at the other end is
connected to the motor.
- In the motor check setting, check if the motor is turning correctly and the speed is the same as other
motors.
- The ESC is placed in the motor base, and the motor upper cover and lower cover are fixed with four
M3X10 screws.
- Insert the nozzle into the nozzle fixed rod (Note: the connection part of nozzle and hose need to be
inserted into the fixing rod gap)
- Place the nozzle clamp into the nozzle and fix it with the M3 locknut and M3X14 screw.
- Prepare auxiliary tools such as pliers and pipe clamps, connect the hose from the pump to the nozzle.
：* Pass the hose through the pipe clamp and then onto the nozzle joint.
：* Use an auxiliary tool such as pliers to clamp the upper part of the pipe clamp to open it, move it to the
connection part of hose and joint, and then loosen it to clamp the connection part between the hose and
the joint.
-：Place the pump on the pump mounting plate (note: the arrow on the pump is facing up), align the
mounting holes, and secure with four M4X6 screws and four 4-flat washers.
-：Prepare auxiliary tools and pipe clamps such as pliers, and connect the nozzle and the hose exported
from the flowmeter to the water pump.
*：Pass the hose through the pipe clamp and connect it to the pump coupling.
： * Use an auxiliary tool such as pliers to clamp the upper part of the pipe clamp to open it, move it to the
connection part of hose and joint, and then loosen it to clamp the connection part between the hose and
the joint.
- Align the projections on the pump wire with the grooves on the pump connection and insert the pump
motor.

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Cleaning After Use
The spray system needs to be cleaned after each use:
：Step1: Remove the filter from the nozzle and wash off the attachment.
：Step2: Wash the aircraft pesticide tank with soapy water.
：Step3: Clean the aircraft pesticide tank with clean water.
：Step4: Install the filter in the nozzle and then clean with water, and the degree of atomization of the nozzle
is used to judge whether it is cleaned.

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System Introduction
System Characteristic
Main features:
· With the comprehensive flight status monitoring alarm function (including the state of power supply voltage,
state of inertial navigation, GPS, link-state, etc.) and perfect emergency protection mechanisms (including
return, hover, autonomous landing, etc.), and Paladin system can realize the control law of restructuring in
some failure cases of sensors or attitude algorithm, thus the maximum guarantee the safe operation of the
user's system;
· Provide highly integrated ground station software BY- GCS, which has the functions of flight data
monitoring, dashboard status display, abnormal status alarm, flying remote control, electronic map, route
planning, etc;
· The attitude algorithm of Paladin system adopts KALMAN filtering technology, which has high
measurement accuracy, and reduces the probability of attitude divergence, thus ensuring the reliability and
safety of the system work;
· Combined with the remote control device, the Paladin system can be controlled by the remote control
mode to control the operation, thus ensuring that multi-rotor UAV can step in and ensure flight safety during
take-off and landing.
· It provides a strong route planning capability and flexible task control function, and users can use ground
station software to make a variety of flight tasks conveniently service;
· The Paladin system integrates high precision inertial and satellite navigation sensors, and the sensor data
is covered by the pretreatment and the whole temperature range compensation and data fusion can obtain
flight attitude, position coordinate and working status in real time, and complete the high-precision attitude
and route control of the multi-rotor UAV platform;
· The Paladin system integrates dual degree CPU and sensor, which can automatically detect and switch
independently to ensure flight safety.
Navigation task:
· Offer up to 170 user routes, or 340 navigable points.
· Automatically generate return routes Protection configuration:
· Low voltage protection of battery;
· Exceed the maximum flying range protection (isolation regional security protection);
· Remote control protection;
· Radio interrupt protection;
· GPS fault protection;
Protection measures to switch to high maintenance mode;
· Flight overrun protection: when the aircraft pitch and roll attitude angle more than 60 °, the plane
automatically lock blade.
Remote control equipment:
· Compatible the commonly used remote control;
· Manually mode or autonomous control mode can be switched through the remote controller;
· Failsafe (protection when it’s out of control) status of the remote control can be monitored;
Airborne data record:
· Flight data is stored on dedicated storage devices for flight control;

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Ground station software： ：
· Strong ability of route planning;
· A powerful digital map;
· A clear, intuitive flight instrument;
· Convenient operation and anti-error operation of key instructions;
· Integrated sensor calibration, protection configuration and other functions;
· The display, alarm and recording of telemetry data;
Communication interface： ：
· Physical interface: USB, digital radio;
Introduction to Flight Mode
Flight Control Mode
High maintenance mode.
Position maintenance mode.
Return mode .
Fully autonomous flight mode
(point mode formula).
AB point mode.
The Control Mode
Remote control.
Remote control.
Remote control.
Fully autonomous
can be divided
into 5 kinds of
flight modes:
1.autonomous takeoff
2.autonomous landing
3.waypoint flight
4. return
5. hover
Semi-autonomous
flight
Features
In the return of the remote rod, the
aircraft will maintain its own posture,
the position of the throttle can be
fixed, but the precise fixed point
suspension cannot be realized, and
manual correction is required.
When the satellite signal is good:
Hovering can be done with high
precision and the limit can be
achieved speed, but the RC remote
control aircraft still control, speed
can pass over ground station
settings.
Depends on the satellite, flew home
from the current point and hovered
over.
According to the ground station set
a good mission route, autonomous
flight, due to independent mode the
type depends on the satellite, so the
satellite should be located before
unlocking and taking off.
According to the set point A,
B, to achieve semi-autonomous
flight, this mode depends on the
satellite, so before the unlock and
take off the satellite to locate.
Remark
1. The route up to 170 article, that
way to do more 340.
2. The throttle can still control
height, throttle setting middle
will maintain the current height.
1. By the roll channel to provide
wrap instructions
2. By the pitch channel to provide
fine-tuning instructions.
3. The throttle can still control the
height and when it is set middle, it
will maintain the current height.

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Installation and Connection
System Supporting List
Master control
High-precision and high-sensitivity GPS with positioning and orientation module using
external compass
Power conversion and monitoring module, allowing 6S~12S
Flight indicator
Data transmission radio on 2.4Ghz loaded on aerial vehicle, which is applicable for
ground station users
Data transmission radio on 2.4Ghz on the ground, which is applicable for ground station
users
Ultrasonic sensor, which is used for imitate-terrain flight and fixing height at low attitude
Data transmission checkpoint based on Bluetooth, which is applicable for ground station
on mobile phone users
Water pump governor, which is suitable for agriculture and plant protection unmanned
aerial vehicle users
Level sensor, which is suitable for agriculture and plant protection unmanned aerial
vehicle users
Flight Controller System Connection Diagram
This is the schematic of flight controller and peripheral equipment during installation：you must pay attention
to the direction of interface and install the interface firmly to avoid virtual connection. Diagram 2.2 is the
schematic.

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Power System Description
Power supply range of Version 2 flight controller power module: DC 24V(6S)~50V(12S);
Power supply range of RTK base station: DC 24V (6S)~50V(12S)
Power supply range of RTK board: DC 12V (3S)~50V(12S)
Power supply range of water pump module: Input DC 24V (6S), Output DC 12V
Interface Denition
The panel layout of Paladin interface is as the picture shows.

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Interface definition picture on the front panel
Chart 2.1 interface board description
Name
BY-RTK
LEVEL1
LEVEL2
RADAR
RADIO
LED
POWER
Use Instructions
Difference airborne terminal.
Contactless level gauge.
Reserved
Radar
Data transmission radio
External indicator.
Power interface.
Remarks
It should be pasted at the bottom of
medicine box with free nail glue.
There should be nothing blocked in the
range of 15 below the radar, and it needs
to be far away from the satellite navigation
module.
It needs to be far away from the satellite
navigation module.
If the external indicator is accessed,
indicators on motherboard of the flight
controller won’t work.
Input: 6S~12S, Output: DC 5V

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Interface definition picture on the back panel.
Interface name
S.BUS
CH1~CH8
PUMP/NOZ
BUP-POW
Use instructions
Receiver interface.
Output Port of motor signal.
Pump/Centrifugal nozzle
signal port.
Backup power
Remarks
CH1~CH8 correspond to NO.1~8 motor. The signal
line splits into two, the shorter part links motors with
odd numbers and the longer part links motors with
even numbers.
The longer wire links the pump and the shorter links
the centrifugal nozzle.
Status Indicator Description
Here is Paladin’s status indicator,

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Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Status of RGB
Light is not on.
Lights of all colors are always on, and
it cannot connect with the ground
station.
The red light and the white light flash
alternately.
The red light, the yellow light, the
blue light and the green light flash
alternately. (in low brightness)
The red light, the blue light and the
green light flash alternately.
Only the yellow light flashes once.
Only the yellow light flashes twice.
Only the fuchsia light flashes once.
Only the fuchsia light flashes twice.
The fuchsia light flashes quickly.
The red light is always on.
The red light and the yellow light flash
alternately.
Only the blue light flashes once.
The blue light is always on.
Only the green light flashes once.
The green light is always on.
The green light flashes quickly.
Malfunction status
It’s crashed.
The flight controller
is initializing.
The equipment is
not calibrated.
The equipment is being
calibrated or tested.
Remote control failure.
Low power.
Magnetic compass failure.
Accelerometer failure.
Other failure before unlocking.
The log storage evice failure.
GPS failure.
Cannot find GPS and
being locked.
Cannot find GPS and
being unlocked.
Can find GPS and
being locked.
Can find GPS, and
being unlocked.
GPS is working with
high precision.
Instructions
Line fault or light fault
Remote control, compass and
accelerometer.
Motor test or ESC test
The gyro is not working properly.
If the blue light is on, it means
that there is no problem with the
equipment.
If the green light is on, it means
that there is no problem with the
equipment.
Paladin has three kinds of working status: one is the normal status, one is the calibration status and
the other is the protect status. Among them, the calibration status and the protect status mean that
the equipment is not working properly, you must pay attention to it!