MLB Bat Version 3 User manual

MLB
Bat Version 3
User Manual
WARRANTY
The MLB Company guarantees this uncrewed aerial vehicle (UAV) to be free from defects in both material
and workmanship at the date of purchase. The warranty does not cover any component parts damaged by use
or modification. In no case shall MLB’s liability exceed the purchase cost of this system. Further, MLB
reserves the right to change or modify this warranty without notice.
In that MLB has no control over the final assembly or material used for final assembly, no liability shall be
assumed or accepted for any damage resulting from the use by the user of the final user-assembled product. By
the act of operating the user-assembled product, the user accepts all resulting liability.
If the buyer is not prepared to accept the liability associated with the use of this product, the buyer is advised
to return this system immediately in new and unused condition to MLB.

TABLE OF CONTENTS
INTRODUCTION......................................................................................................................1
SYSTEM COMPONENTS.........................................................................................................2
SYSTEM OVERVIEW...............................................................................................................3
HARDWARE IN-DEPTH PROCEDURES ................................................................................4
Fuselage..................................................................................................................................4
1) Nose Assembly............................................................................................................4
2) Airspeed Probe............................................................................................................5
3) Power Switch ..............................................................................................................6
4) Serial Port ...................................................................................................................6
5) Access Hatch...............................................................................................................6
Tail Section.............................................................................................................................7
1) Tail Surfaces Removal & Attachment..........................................................................7
2) Tail Boom Removal & Attachment..............................................................................8
3) Tail Inspection.............................................................................................................9
Wings .....................................................................................................................................9
1) To Attach Wings .........................................................................................................9
2) To Detach Wings.......................................................................................................10
3) Wing inspection.........................................................................................................10
Propulsion.............................................................................................................................11
1) Propeller....................................................................................................................11
2) Fuel System...............................................................................................................11
3) Engine.......................................................................................................................12
Tuning......................................................................................................................................13
Flight Computer....................................................................................................................13
1) Aircraft Control.........................................................................................................14
2) Data Link ..................................................................................................................14
3) R/C Receiver.............................................................................................................14
4) GPS...........................................................................................................................14
Video System........................................................................................................................15
1) Video Cameras & Transmitter...................................................................................15
2) Tracking Antenna......................................................................................................15
3) Video Receiver..........................................................................................................17
4) Video Deck ...............................................................................................................18
5) USB Video Adapter...................................................................................................18
Data Modem .........................................................................................................................19
Radio Control Transmitter.....................................................................................................19
Payload.................................................................................................................................20
Batteries & Power Regulator.................................................................................................22
1) Aircraft......................................................................................................................22
2) Ground Station ..........................................................................................................23
Declination Corrections.........................................................................................................24
SOFTWARE IN-DEPTH PROCEDURES................................................................................25
Overview ..............................................................................................................................25
1) Description of aircraft state information.....................................................................26
2) Description of map display........................................................................................27

Getting Started......................................................................................................................27
Adding & Calibrating Maps..................................................................................................27
1) To Add and Calibrate a Map......................................................................................28
2) To Recalibrate a Map ................................................................................................28
3) To Remove A Map From the Database......................................................................29
4) To Display a Different Map.......................................................................................29
Creating a Flight Plan............................................................................................................29
1) Map...........................................................................................................................30
2) Adding Waypoints.....................................................................................................30
3) Return To Home Mode..............................................................................................31
Editing Waypoints ................................................................................................................32
1) Waypoint Action .......................................................................................................32
2) Camera Action...........................................................................................................33
3) Altitude .....................................................................................................................34
4) Airspeed....................................................................................................................34
5) Waypoint Location....................................................................................................34
Using and Editing Existing Flight Plans................................................................................35
Image Mosaic Flight Plan......................................................................................................36
Initializing the Aircraft..........................................................................................................37
Re-tasking Aircraft................................................................................................................40
Reviewing the Aircraft’s Course ...........................................................................................41
Shut down Aircraft................................................................................................................41
Saving and Loading Flight Data............................................................................................42
Flight data format..................................................................................................................42
Flight Plan Format ................................................................................................................43
Configuration file format.......................................................................................................44
Autonomous takeoff procedures............................................................................................45
Autonomous landing procedures...........................................................................................45
Voice Error Messages ...........................................................................................................46
Tutorial 1 (Creating a flight plan)..........................................................................................46
1) Getting started...........................................................................................................46
2) Add a Map.................................................................................................................46
3) Create a Flight Plan ...................................................................................................46
OPERATING INSTRUCTIONS...............................................................................................49
Advanced Preparation...........................................................................................................49
Flight Operations ..................................................................................................................49
1) Airplane Setup...........................................................................................................50
2) Ground Station ..........................................................................................................50
3) Takeoff......................................................................................................................51
4) Landing.....................................................................................................................53
5) Post-flight Operations................................................................................................53
SPECIFICATIONS...................................................................................................................54
CHECK LISTS.........................................................................................................................55
Advanced Preparation...........................................................................................................55
Flight Operations ..................................................................................................................56
FLIGHT TRAINING................................................................................................................58

Ground Station Operator.......................................................................................................59
Aircraft & R/C Operator .......................................................................................................60
Catapult Operator..................................................................................................................62

INTRODUCTION
The MLB Bat UAV is a low cost aerial sensor platform that is convenient to deploy and operate.
It can be launched by hand or with a catapult, and the groundstation provides an intuitive
interface for defining a flight plan or airborne re-tasking with a series of waypoints. In flight, the
aircraft transmits telemetry and video to the ground station allowing a single operator to monitor
the flight and identify points of interest. A stabilized, 3-axis, geo-referenced camera provides
real time video surveillance, which is also recorded on the ground station for post-flight analysis.
While the aircraft is capable of fully autonomous launch and recovery, a competent radio control
pilot is essential for safe operations.
While every effort has been made to ensure safe and reliable operation, there are potential
dangers associated with operating the Bat UAV. On the ground, the propeller and catapult can
cause injury to operators, and loss of control while flying can lead to injury and damage to
persons and property. Bystanders should be kept well clear of the airplane while it is running.
Use the system with due care!
A statistical survey of current UAV operations has shown that they have a significantly greater
chance of crashing than manned aircraft. MLB has attempted to make the Bat as reliable and
easy to operate as possible, but it is the operator’s responsibility to operate the system properly.
Exercising caution, using sound judgment, and adhering to the procedures outlined in this
manual will give the best chance of extending the life of the Bat.

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SYSTEM COMPONENTS
Bat Version 3 aircraft
The groundstation components are stowed in the black Pelican case, and consist of the following
items: Laptop computer
Video deck (Digital 8 format)
Video receiver
Video to USB device with cabling
Video Antenna
Tracking antenna system with tripod
Modem
Radio control transmitter
Power cables for video receiver and modem
Serial cable for modem
Data/Power cable for tracking antenna with serial/USB adapter
Coaxial video cable
12V Battery
A field box contains components to assist with fueling the aircraft and starting the engine. Items
include:
Electric starter
Fuel pump
Fuel container

3
SYSTEM OVERVIEW
The drawing in Figure 1gives a basic overview of the system’s communication structure.
1) The Bat UAV, with a self-contained flight
computer capable of flying aircraft with only
a GPS signal
2) 72 MHz R/C transmitter used for manual
modes only; can be disabled with 900 MHz
data system
3) 900 MHz 2-way modem for flight data
and in-flight re-tasking; 10 km range with
omnidirectional antenna
4) PC laptop computer with flight data,
moving map display of UAV, and graphic
user interface for mission planning and
updating
5) 2.4 GHz real-time video downlink; 10 km
range with 12 dBi directional antenna
Figure 1. System diagram
R/C PCM
8-Channel Uplink
72 MHZ
Video
Receiver
Real-time
Video
MLB
Ground
Station
Wireless
Modem
900 MHz
Flight
Planning
Real-time Data
GPS
5)
3)
1)
2)
4)

4
HARDWARE IN-DEPTH PROCEDURES
This section provides detailed information on how to perform specific tasks related to the Bat
UAV hardware. Detailed procedures for using the MLB Groundstation software are provided in
the next section. These sections are not a set of operating instructions. A specific set of
sequential procedures for operating the Bat is provided in the OPERATING INSTRUCTIONS
section.
Fuselage
This subsection contains information on the nose assembly, airspeed probe, flight computer,
power switch, serial port, and access hatch. The lightweight airframe is rigid and very durable
due to its fiberglass, carbon fiber, and Kevlar composite construction. Fuselage repairs or
modifications should be done by MLB.
1) Nose Assembly
The nose assembly is a removable pod that can be changed to meet a variety of payload needs.
Figure 2shows the nose with a gimbaled, 3-axis turret that contains wide and narrow angle color
video cameras. An infrared camera can also be included with the video cameras. Alternatively,
the nose assembly can carry a fixed video camera and a special agricultural imaging system.
Along with the cameras, the video transmitter and its antenna are part of the nose assembly.
Other custom payloads can be integrated into the nose.
To inspect the turret for proper operation, apply a gentle torque by hand to slowly rotate the
turret ball. Check freedom and range of motion about all axes. There should be small, even
resistance from the servos, but no binding or blockage. If movement is restricted, do not attempt
to force it; rather, find the cause of the problem before proceeding. As with any servo-actuated
surface, care must be taken when moving. Moving a servo by hand is OK if done slowly and the
servo does not bind, but rapid movement of the servo’s output shaft or use of excessive force can
damage the internal gears. Inspection of the turret for proper operation must be conducted prior
to turning on the aircraft. Once the system has been turned on and initialized, the servos cannot
be moved.
Prior to each flight:
•Check that the nose assembly is securely
mounted to the fuselage.
•Check the turret for proper function.
oA visual inspection and movement
over a small range of motion should
suffice in most cases.
oA full check of the turret’s range of
motion only needs to be conducted if
there is a possibility it was damaged
on a prior flight or in transport.
•Check that all camera lenses are clean.
Figure 2. Nose assembly and airspeed probe

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2) Airspeed Probe
The airspeed probe is mounted just aft of the nose cone on the left side of the fuselage and
extends forward to the front of the nose. To obtain proper airspeed readings the probe needs to
be clear of obstruction and properly fitted to the mount, as depicted in Figure 2. Any blockage in
the probe can have serious consequences for autonomous flight.
Blockage can cause an erroneous measurement of the airspeed. In almost all cases, the airspeed
will read much lower than the true airspeed and the aircraft will dive into the ground trying to
increase the airspeed reading. In normal autonomous flight, the flight computer will compensate
for a low airspeed by pitching the nose down and then increasing the throttle to compensate for
the loss of altitude. If corrective action is not taken immediately, the aircraft will quickly enter a
full-power dive, with disastrous consequences
In an autonomous launch, this would occur a couple seconds after launch. In a manual launch,
the aircraft would begin to dive when the R/C transmitter is set to autonomous mode. To avoid
crashing in either case, revert to manual mode immediately and land the plane.
•Mount the airspeed probe by sliding it into its mounting bracket.
oThe shorter portion of the airspeed probe slides into the mounting bracket.
oEnsure that about half of the small rubber tubing slides over the larger tube of the
mounting bracket.
ALWAYS check that the airspeed probe is clear before flying.
•Inspection with probe mounted on aircraft
oLook into the probe and check that the rubber tubing at the back of the probe is visible.
•Inspection with probe removed from aircraft
oRemove the probe by pulling it forward while holding the mounting bracket. The front
portion of the tube will slide out where it is attached with the small piece of rubber
tubing.
oLook through the probe to ensure it is clear.
If blockage is evident:
•Remove the probe from its mount, clear any debris, and remount the probe.
•Check that the airspeed system is working properly.
oTurn on the aircraft and execute the start-up procedure.
oWhen the aircraft is ready for launch, gently blow into the airspeed probe and check that
the airspeed increases on the groundstation display.
Tip: On the ground station, select “Airspeed” on the plot display drop-down box. A
history of the airspeed will then be displayed, so the changes over time can be seen.
oIf the test does not show an increased airspeed on the ground station, there may be
additional blockage, or the airspeed sensor may have been damaged at the time the probe
was plugged.

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A more comprehensive ground test of the airspeed measuring system is also feasible:
•Turn on the flight computer, load a flight plan, select manual launch and complete the
Prepare for Launch sequence (up to but not including engine start).
•Turn on the R/C transmitter, switch to autonomous mode, and gently blow into the airspeed
probe.
•If everything is working properly, the elevators should deflect upward and a moderate
airspeed should be displayed on the ground station.
•Immediately switch back to manual mode. If continuing with the launch sequence, be sure
that the transmitter is set back to manual mode.
3) Power Switch
The power switch, shown in Figure 3, is
located behind the nose assembly on the left
side of the fuselage. It activates the flight
computer, video system, data modem, and
ignition system.
•For Power On, the switch is toward the
back of the plane (direction of the launch
g forces and airstream).
•For Power Off, the switch is forward.
•The locking safety latch is rotated into
position to ensure the power switch
cannot be accidentally turned on.
Figure 3.Power switch and serial port
4) Serial Port
The serial port, located on the left side of the fuselage next to the power switch, can be used for
two-way communication between the aircraft and the ground station without the 900 MHz RF
modems.
•When the serial cable is connected to the aircraft, the other end should be connected directly
to the groundstation laptop computer’s serial port.
•The groundstation-aircraft data link will function exactly as it does with the wireless modems
when using a serial cable connection.
5) Access Hatch
The access hatch is located on the top of the fuselage. The hatch provides access to the battery
lead for recharging and a view of the fuel tank to inspect its level. This is also how the flight
computer and associated electronics are accessed. However, except for battery charging and fuel
level inspection, this area should only be accessed by MLB
To Open Hatch:
•Remove screw at rear of hatch (shown in Figure 4).
•Raise the back of the hatch while sliding it back until tab at front end is free (Figure 5).
To Close Hatch:
•Hold back end of hatch slightly elevated and slide tab under opening at front of hatch.
•Lower back end of hatch so that the screw hole aligns with the fixed nut.
•Insert screw snugly, but do not over tighten and strip screw.