Multirotor G4 User manual

www.service-drone.com
MULTIROTOR G4 Surveying-Robot
Operations Manual for unmanned aerial vehicle

3©2015 service-drone.de GmbH
service-drone.de GmbH
BERLIN
Waldenserstraße 2-4 | 10551 Berlin, Germany | Phone: [phone] | Fax: [phone]
[email protected] | www.service-drone.com
HAMBURG
Bäckerstraße 6 | 21244 Buchholz i.d.N, Germany
Phone: [phone] | Fax: [phone]
www.service-drone.com
Preface
Congratulations to this very flexible UAV with numerous possibilities.
You have bought a high-tech-product “Made in Germany”, that will
bring you lots of pleasure and professional work results for a long time.
Please study this manual attentive and learn all the features before use.
We wish you lots of success!
Your team from MULTIROTOR
Preface

4 5©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
Contents Contents
Contents
1 System features ...................................................................................................................................6
2 General view........................................................................................................................................7
3 UAV ......................................................................................................................................................8
3.1 Orientaon..................................................................................................................................8
3.2 Propellers....................................................................................................................................8
3.3 Power supply (LiPo baery pack)..............................................................................................10
3.4 Dome ........................................................................................................................................11
3.5 Circuit points.............................................................................................................................11
3.5.1 Servo connectors..............................................................................................................11
3.6 Remote control receiver with antenna .....................................................................................12
3.7 Video transmier with antenna .............................................................................................12
3.8 Flight recorder ..........................................................................................................................13
3.9 Akussche Signale.....................................................................................................................14
4 Base Staon.......................................................................................................................................15
4.1 Manual operaon .....................................................................................................................15
4.1.1 Main funcons .................................................................................................................16
4.1.2 Camera features...............................................................................................................17
4.1.3 Addional funcons .........................................................................................................17
4.1.4 Flying funcons (ight modes).........................................................................................17
4.1.5 Other ying funcons.......................................................................................................20
4.1.6 Mul-menu ......................................................................................................................22
4.1.6.1 Telemetry data page 1 .............................................................................................22
4.1.6.2 Telemetry data page 2 .............................................................................................23
4.1.6.3 Telemetry data page 3 .............................................................................................23
4.1.6.4 Telemetry data page 4 .............................................................................................23
4.1.6.5 Extended menu .......................................................................................................24
4.2 Charging device.........................................................................................................................27
4.3 Announcement .........................................................................................................................28
5 Video receiver ...................................................................................................................................29
6 Emergency funcons.........................................................................................................................30
6.1 RC-loss (Remote control loses contact) ....................................................................................30
6.1.1 RC-loss in manual ight mode with GPS recepon .........................................................30
6.1.2 RC-loss in manual ight mode without GPS recepon.....................................................30
6.1.3 RC-loss in GPS ight mode ...............................................................................................30
6.1.4 RC-loss in WP ight mode ................................................................................................30
6.2 Baery low Voltage...................................................................................................................30
7 Camera gimbal...................................................................................................................................31
8 Daily handling....................................................................................................................................31
8.1 Charging (overview) .................................................................................................................31
8.2 Pung the UAV into service .....................................................................................................32
8.3 Pung the UAV out of service..................................................................................................33
8.4 Transportaon ..........................................................................................................................33
9 Genral notes ...................................................................................................................................... 33
10 Flight me........................................................................................................................................33
11 Safe use of LiPo baeries.................................................................................................................34
11.1 Safety ......................................................................................................................................34
11.1.1 First aid measures ..........................................................................................................35
11.1.2 Fire and explosion hazards.............................................................................................35
11.1.3 Hazardous decomposion products...............................................................................35
11.1.4 Accidental release measures..........................................................................................35
11.1.5 Handling .........................................................................................................................36
11.1.6 Storage ...........................................................................................................................36
11.1.7 Notes..............................................................................................................................36
11.2 Charging..................................................................................................................................36
12 Tutorials ........................................................................................................................................... 41
12.1 Posion Hold, iegen im GPS-Modus .....................................................................................41
12.2 Start, hover and land manual .................................................................................................42
12.3 Auto start assistant .................................................................................................................43
12.4 Auto landing assistant.............................................................................................................43
12.4.1 Auto landing...................................................................................................................43
12.4.2 Coming Home.................................................................................................................44
12.4.3 Easy Move ......................................................................................................................45
12.4.4 POI-Mode.......................................................................................................................47
12.4.5 Flying without compass .................................................................................................47
12.4.6 Flying without height control ........................................................................................48
12.4.7 Calibrang the compass.................................................................................................48
12.4.7.1 Tesng the calibraon of the compass..................................................................48
12.4.7.2 Calibrang the compass ........................................................................................49
Index of gures
Figure 1: General view of the components............................................................................................7
Figure 2: Counter-clockwise rotang propellers ....................................................................................8
Figure 3: Assembly of propeller .............................................................................................................9
Figure 4: Servo connectors...................................................................................................................11
Figure 5: RC-Antennen .........................................................................................................................12
Figure 6: Video transmier..................................................................................................................12
Figure 7: Flugdatenschreiber/SD-Karte................................................................................................13
Figure 8: Pilot remote control DC16.....................................................................................................15
Figure 9: Pilot remote control DS14.....................................................................................................16
Figure 10: Flight mode switches...........................................................................................................18
Figure 11: Monitor and video receiver front view and back view........................................................29
Figure 13: NEVER connect only the power adapter cable to the baery! ..........................................37
Figure 12: Charger components...........................................................................................................37
Figure 14: Power cable adapter ...........................................................................................................38
Figure 15: Balancer cable adapter .......................................................................................................38
Figure 17: Charger switch posions for ight baery..........................................................................39
Figure 16: LiPo baery connecon ......................................................................................................39
Figure 18: AC power cable ...................................................................................................................40

6 7©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
System features
General view
The MULTIROTOR UAV is a radio controlled, electric powered aeronaucal vehicle capable of vercal
starts and landings. Thanks to the latest electronic sensors and GPS-receiver it is self-stabilising in
every direcon. Thus the MULTIROTOR UAV is able it to y to pre-set waypoints by itself and also
hold its posion under windy condions.
The Copter has the ability to transport and posion dierent payloads. Therefor it is for example pos-
sible to realise stunning video recordings and pictures from completely new angles. The high-perfor-
mance control unit in the copter provides an unprecedented accuracy. The Copter can be controlled
by a modern radio control unit or an Apple iPad. To assist with repeated air acvity the copter is able
to learn waypoints and y them semiautomacally.
In the maximum stage of extension, complex missions can be planned on the computer which then
will be performed automacally by the copter. With this feature, huge areas can be surveyed for
example in order to create three-dimensional maps with extreme precision.
Oponal the copter and the transport load can be controlled independently from two dierent con-
trol units. The pilot can concentrate on ying while the cameraman takes care of the ideal camera
view and provides the best pictures.
Even though the system is very complex we made sure to keep the handling as simple as possible.
In the following we want to explain the system with all its features.
The following image shows the components that will be explained in detail in this manual:
UAV (unmanned aerial vehicle)
Base staon (radio control for pilot with video receiver)
Gimbal and camera (mounted below UAV)
Video receiver (Full-Business-Upgrade)
Baeries
1 System features 2 General view
Figure 1: General view of the components
Alternave and addional components in the Full-Business-Upgrade

8 9©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
UAV UAV
3.1 Orientation
The copter is build symmetrically. The front is between the two extension arms with orange
brackets.
3.2 Propellers
There are two dierent rotaon direcons for the propellers: counter-clockwise and clockwise.
3 UAV
Make sure to install the clockwise rotang propellers on the clockwise rotang motors and the coun-
ter-clockwise rotang propellers on the counter-clockwise rotang motors. Make sure to match the
colored markings on the propellers with the colors on the threads of the motors to avoid mistakes.
Figure 2: Counter-clockwise rotang propellers
Figure 3: Assembly of propeller
The propellers are very light, but also frail in case of false handling. Avoid contact to other objects
during transportaon and ight.
 – Only if all six propellers are mounted correctly the copter can y! If one or
more propellers mounted on a motor with another rotaon direcon, then the copter
cannot be controlled by the pilot, ips upside down and will be damaged!
 – Risk of injury if control of the copter will be lost! Never y with a damaged
propeller. Always replace it with a new one before the next ight.
 – The propellers have to be properly balanced at all me to avoid vibraons.
They can cause blurred and out of focus pictures and have a bad inuence on the ight
characteriscs (in the worst case they can cause loss of control). Addionally the copter,
its frame and the motors can be damaged. Pay aenon to vibraons and if needed,
clean the propellers.

10 11©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
UAV UAV
3.3 Power supply (LiPo battery pack)
The Lithium Polymer baery is characterized by its low weight, high capacity
and high power output. The copter is operated by two high-power baeries
connected in parallel. To get the best performance and lifeme, the two
baeries should always be used together. The pair of baeries is only as
good as the bad baery. The baeries are xed with the hook-and-loop tape
to the copter and are then connected with the yellow plug.
The correct handling of the baeries is essenal to delay the inevitable
aging of the baery cells. With me and use the voltage level of the cell
is reduced and the inner resistance is increased: The baeries deliver less
of current. In order to delay the aging process the LiPo baeries should be
used regularly, approx. 1x per month.


The voltage in the individual cells should always be between 3.2 V and 4.2 V. Excess or low
voltage causes damages beyond repair.
Charge the LiPos shortly before use (max. 1 - 2 days before).
Do not recharge LiPos if they are sll full.
Do not y with a used baery, always recharge used baeries beforehand.
Avoid transport or storage below 10 degrees Celsius (50 degrees Fahrenheit) (during ight the
baery stays in temperature due to the current ow).

Store the LiPos with a rest capacity of 20 - 30 % (if the baeries are full and you don’t need to
use them for an unknown count of days, it is beer to discharge them to the storage capacity
level).
Store the LiPos at about 15 – 20 degrees Celsius (59 – 68 degrees Fahrenheit).

Supervise the charging and discharging at any me (misuse or malfuncon of the charger and
connectors can cause re).
Charge always with connected balancer cable.
Use only faultless charging cables.
In low outdoor temperature (< 10 degrees Celsius, < 50 degrees Fahrenheit) the baery capacity
reduces itself down to about 50 %.

Never short-circuit a LiPo baery.
Do not discharge below 3.2 V per cell.
Do not recharge directly aer use. Let them cool down rst.
Make sure that the charging device is well venlated.
In case of a re do not exnct with water, use sand.
Do not use deformed or damaged baeries.
3.4 Dome
The dome protects the electronic components from humidity, dirt and contact (though it doesn‘t
make the electronics completely rainproof). Always unplug the baery before removing the dome.
You have to remove the dome to:
update the rmware.
plug in the cables of the servos.
reach the micro SDcard in the ight recorder.
Disassembly: Rotate the cap counter-clockwise and li it up.
3.5 Circuit points
The Copter has numerous connector pins:
6×3-pin connector for up to 4 servo motors and one camera trigger
Socket for video access
Socket for rmware update
3.5.1 Servo connectors
The connectors for the camera mount servos (if the mount has servos and not brushless motors)
are located under the dome. The links are consecuvely numbered from le to right as displayed:
1. Roll compensaon
2. Pitch compensaon
3. Trigger for camera
4. without funcon
5. without funcon
6. without funcon
Figure 4: Servo connectors
 – Disconnect the power supply before connecting or detaching the servo
cables. Otherwise the electronic could be damaged!

12 13©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
UAV UAV
 – Pay attention to never bend the antennas. They should be aligned in a
straight line and in a 90° angle to each other. Otherwise the range of the remote
control is not as expected.
3.6 Remote control receiver with antenna
The remote control receiver works in a range of 2.4 GHz via a dipole-antenna to keep interference
as low as possible. The yellow antennas are secured by a exible hose.
3.8 Flight recorder
On the ight-control-panel under the dome there is a slot for a micro SD card. The ight recorder
uses the micro SD card to memorise all system and sensor data during the ight. If you should have
problems with the UAV you can import the ight data on the SD-card on your computer, save them
and send them to the manufacturer for analysis. Special soware is necessary to read out the micro
SD card. It is provided by the manufacturer. To get to the board you have to remove the dome. Press
onto the card to release it.
3.7 Video transmitter with antenna
(Full-Business-Upgrade)
Der Videosender arbeitet im 5,8 GHz Bereich. Die Antenne kann ausgerichtet werden. Probieren Sie
aus, in welcher Stellung Sie opmalen Empfang haben. Das hängt von den Umgebungsbedingungen
und der verwendeten Kamera (Schwort „Abschaung“) ab.
 – Avoid obstacles or barriers between the copter and the video receiver. They
can evoke image interference.
Figure 5: RC-Antennen
Figure 6: Video transmier
 – The data format is only readable with special soware. Never process any
acvity (e.g. copy data, format etc.). The required material will be destroyed and is not
usable for the UAV anymore.
The copter can only be started with plugged micro SD card. If you lost or destroyed your
card contact the manufacturer to get a new one.
If you have problems it is best to contact the manufacturer rst.
 – 

Figure 7: Flugdatenschreiber/SD-Karte

14 15©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
UAV
Base Station
3.9 Akustische Signale
Am Rahmen des Fluggerätes ist ein Signalgeber befesgt, der Zustände signalisiert. Außerdem
werden nach dem Einschalten alle Motoren kurz angesprochen. Dabei summt jeder Motor kurz auf.

Legend: _ means a short beep, __ means a long beep
_ _ __ _ _ everything OK
_ _______ Warning: SD-card or GPS not connected
_ _ _ _ _ _ _ _ _ _ etc. Warning: can’t receive remote control signal
_ __ _ _ _ _ Copter doesn’t stand straight
_ __ __ _ _ _ Malfuncon: Motor switch is acvated without minimum
throle or Coming Home is sll acve
_ __ __ _ _ _ Copter is disabled: register with the manufacturer *1

_ _ _ _ _ _ _ _ _ _ _ _ etc. Alarm: Baery voltage too low
In addion there are more signals that indicate malfuncon. Contact the manufacturer if you hear
unusual signals. As a precauon in this case do not perform any ights furthermore.
*1 If the copter is not registered, it is possible to perform 10 demonstraon ights. Aer that the
copter is disabled. To unlock the copter contact the manufacturer.
4 Base Station
The base staon is the main control for the pilot. It consist a remote control and a monitor with video
receiver. The pilot operates the copter with the remote control (RC). It is linked to the copter with a 2.4 GHz
radio contact. It receives and shows the telemetry data of the copter (downlink). The remote control ana-
lyses the received telemetry data and sends acouscal messages to the pilot about the state of the copter
components (e.g. baery and GPS state, ight mode, etc.).
In addion it can send data and orders (e.g. geographical coordinates and waypoints) to the copter (uplink).
The copter can be ordered with two kind of remote control: Je DC16 (comes with Full-Business-Upgrade)
or Je DS14.
On the monitor the pilot can see the live view of the transported camera. The monitor (with the video
receiver) has an own power supply (LiPo baery).
4.1 Manual operation

 – If there is an acousc signal for low baery voltage during the ight, you cannot
start the motors again aer landing unl you have disconnected the baery.
Figure 8: Pilot remote control DC16
Throle +
Yaw - Yaw +
Throle -
Forward
Le Right
Backward
Basic funcons
Camera funcons
Cam Nick
Camera control Menu buons 1-5
Volume
Voice
Menu switch
Zoom
TriggerCam modus
2nd Funcon
2nd funcon
Cam roll
Menu funcons
Addional funcons
Flight funcons
2nd funcon
Cam pitch
RC-Power
Motors
Easy Move
-
Go Ahead
Autostart
-
Autolanding
GPS Coming Home
GPS Posion Hold
Manual flight
Mag control
Height control
Manual control
Pilotensender DC16

16 17©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
Base Station Base Station
 – Some GPS-funcons refer to the “starng point”. This means the point where the
copter can primarily idenfy its GPS-posion, aer aaching the baeries (also known as the
First-x-posion). Generally that is the actual start posion.
If you start the copter and take o before he has me to dene its posion, it will assign a
posion in ight. This will then be the “starng posion”.
 – There are dierent GPS-funcons available for your copter, which can be
bought and acvated.
This means, that if applicable not all described funcons can be used with your copter.
Look in your contract of purchase, to know which GPS-funcons you have bought. The
manufacturer will inform you about the current available funcons packet.
4.1.1 Main functions
 
Press the power buon and conrm it with “Yes” on the menu bar.
 
Pull the throle sck completely back and push the motor switch to the top.
Aenon: This is a safety-lock-switch: pull the switch up to move.

Pull the throle sck completely back and push the motor switch down.
Aenon: This is a safety-lock-switch: pull the switch up to move.

(le sck)


The Copter keeps the ying height autonomously, if the throle sck is in
the middle posion. When the throle sck is pushed forward the copter
raises, when it is pulled to the back the copter descends.

You have to control the height by yourself (for advanced pilots only).

(le sck)

 copter rotates le
 copter rotates right

(right sck)
Move copter to the le

(right sck)
Move copter to the right

(right sck)
Move copter forward

(right sck)
Move copter backward
4.1.2 Camera features
 
(Full-Business-Upgrade)
 
Pull the sck and keep hold. Now move the other scks:
Camera mount rolls
Camera mount pitches
 
Pull the switch to take a photo or start/stop the video.
 
(Full-Business-Upgrade)
Change the zoom of the lens
 
If you have several different camera integrations, this switch is used for
starting/stopping the second or third camera.
 
If you are using a separate cameraman remote control, you can select if
the pilot (switch up) or the cameraman (switch down) has control of the
camera features.
4.1.3 Additional functions
 Reads out the telemetry data shown on the display
 For changing the volume of the voice output
4.1.4 Flying functions (ight modes)
The copter comes with dierent ying funcons. It is possible to y it completely manual or fully au-
tomac. We will now introduce the dierent possibilies. Some funcons will be explained in detail
in the chapter “Tutorials”.
Basic funcons
Camera funcons
Autostart
Autolanding
Menu buons 1-5 Volume
Trigger
2nd funcon
Menu funcons
Addional funcons
Flight funcons
RC-Power
Motors
GPS-ComHome
GPS-PosHold
Manual flight
2nd funcon
Cam roll
2nd funcon
Cam pitch
Throle +
Yaw - Yaw +
Throle -
Forward
Le Right
Backward
Menu switch
Easy Move
Go Ahead
Figure 9: Pilot remote control DS14
Pilotensender DS14

18 19©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
Base Station Base Station
The supporng automac ight funcons can be acvated in mulple levels with the switch 
and 
A higher level needs the acvaon of the levels below (e.g. GPS only works if the compass works, the
compass only works if the altude control works, etc.).
(Full-Business-Upgrade)

(Full-Business-
Upgrade)

In this mode the dynamic ight characteriscs of the copter can be fully
demonstrated. The altude and direcon are kept automacally.
 Push the switch  (switch )
 In this mode all GPS-funcons are deacvated. This mode is
idencal to the mode “Mag control”.
 If a problem should occur during the ight, like e.g. a propeller is
damaged, it is possible that the copter can‘t hold its GPS-Posion anymo-
re. Then it is useful to deacvate the GPS-funcons and acvate the mode
“Manual ight”. Then the copter can be landed controlled by the pilot.
 This ight mode
“Manual ight” is only suitable for  In windy situaons
the copter will be pushed away, if the pilot doesn’t navigate against it!
 
In this mode the movement of the copter is controlled by GPS. The speed
is limited. Acceleraon and deceleraon are carried out damped. If hover-
ing in one posion, it will be held automac. In ight the ight direcon is
maintained. The copter compensates wind automacly.
 Put the switch  (switch 
)
 The copter maintains the position and direction even in
windy situaons.

 The copter switches o the GPS-funcons automacally, if the
satellite receiving power drops below 6 satellites or the posion accuracy
rises above 8 m. In this case the pilot has to resume the manual steering.
Possible causes: satellite problems, atmospheric disturbance, signal inu-
ence by other radio sources, etc.
 
This mode is useful in case of loss of orientation by the pilot or if the
mission is completed and the copter should come back to the starting
posion to land.
 Push the switch  (switch )
 The copter ies back to the starng posion.
 This funcon can be cancelled by slightly moving either the
le or the right sck. The copter changes into the “Posion-Hold” mode.
 In ight mode “Coming
Home” the copter always takes the shortest and direct way back to its
starting point. The pilot has to make sure it flies in an altitude with no
barriers.
Figure 10: Flight mode switches

Coming Home
(Highest
automac level)
Mag control
Posion Hold Height control
Manual Flight Manual control
(Lowest
automac level)
The following lisng starts with the lowest automac level. The switch  is only available on
the DC16 (Full-Business-Upgrade).

(Full-Business-
Upgrade)

In this mode all the dynamic ight characteriscs of the copter can be fully
demonstrated. The control is very dicult.
 Pull the switch  (switch )
 All ight stabilizing funcons are deacvated. The pilot has
to steer height, posion and direcon completely manual.
 This ight mode
“Manual control” is only suitable for model  Otherwise you
lose rapidly the control of the copter and the copter will crash! Persons
and objects around will be damaged!

(Full-Business-
Upgrade)

In this mode the dynamic ight characteriscs of the copter can be fully
demonstrated. The altude is kept automacally. The control is medium
dicult.
 Put the switch  (switch )
 The pilot has to steer the posion and the direcon. The al-
tude is kept automacally, when the le sck is posioned in the middle.
 This ight mode
“Height control” is only suitable for  In windy situaons
the copter will be pushed away and will be rotated, if the pilot doesn’t
navigate against it!

(Full-Business-
Upgrade)

In this mode the dynamic ight characteriscs of the copter can be fully demons-
trated. The altude and direcon are kept automacally.
 Push the switch  (switch )
 The copter keeps the direcon and height automacally. The
pilot has to steer the posion manual.
  This ight mode
“Mag control” is only suitable for  In windy situaons the
copter will be pushed away, if the pilot doesn’t navigate against it!

20 21©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
Base Station Base Station
 – There are dierent GPS-funcons available for your copter, which can be bought
and acvated.
This means, that if applicable, not all described funcons can be used with your copter.
Look in your contract of purchase, to know which GPS-funcons you have bought. The
manufacturer will inform you about the current available funcons packet. You can
look up the released funcons for your copter under the menu point “Features”, see
Table 1: Extended menu.
 
Funcon to facilitate the start
 The copter is standing on the ground and the motors are
running in idle.
 Push the switch  and pull the switch

 The copter starts and rises up to approx. 2 m.
 
Funcon to facilitate the landing
 The copter is ying
 Pull the switch s
 The copter lands automacally, the motor speed shuts down.
 Push the throle sck into minimum immediately aer landing.
Under certain circumstances the motor speed can be increased again aer
2 sec for safety reason!
 Once the copter touches ground, it shouldn’t be doing any sideway
movements otherwise he can overturn. To eliminate this use the GPS-posi-
on-hold mode or keep the copter in posion manually. If the copter is sll over
10 m high it will descend faster, below 10 m the descending rate slows down.
  Flight mode „Auto landing”: On hilly ground
the chosen landing place can be 10 m higher than the starng posion.
It is possible that the copter descends too fast and touches ground with
too much speed, which can cause damage. In this case it is beer to land
manually.
 This funcon can be cancelled by slightly moving the le
sck.
This is an assist funcon, nal control is always up to the pilot.
 During autolanding do not pull the throle sck downwards
as this would deacvate autolanding as well as reduce throle. This could
result in the copter falling down.
 
This funcon is a fast help in case the pilot doesn’t remember or can’t see
in which direcon the copter is aligned. It turns the copter once-only so
that he has the starng point behind him. This means that the right-sck-
steering conforms to the resulng movement of the copter.
 The copter is ying and a minimum of 20 m away of the
starng point.
 Pull the switch 
 The copter turns in ight on the spot so that the starng
point is behind him.
 
This funcon helps the pilot to manoeuvre the copter more easily. To keep
the steering more intuively, the alignment of the copter is not considered
anymore during conversion of the steering commands. This means that
the copter always ies in the direcon in which the right sck is shied
regardless of where the copter is located. The imaginary line between the
starng point and the copter equals the sck axis (forward – backward) of
the right sck.
 The copter is ying and a minimum of 20 m away of the
starng point.
 Push the switch 
 From the view of the pilot the copter
always moves analog to the movement of the right sck regardless in
which posion the copter is directed.
 Right sck to the front: the copter always ies straight away
from the starng point.
 Right sck to the back: the copter always ies straight towards
the starng point.
 Right stick to the right: the copter flies spirally around the
starting point.
Inside the 20 m radius the copter behaves
slightly dierent to avoid the problems of the GPS inaccuracy. The direcng of
the copter stays the same as it was on the point of acvaon.
 The funcon is acvated inside the 20 m radius, while the
copter is directed to the NW (45°). Right sck pushed forward: the copter
ies towards the NW. Aer passing the 20 m radius it carries on ying in
this direcon, because it behaves like it is described in example 1.
 The funcon is acvated inside the 20 m radius, while the copter is
directed to the NW (45°). Right sck pulled backward: the copter ies towards
the SE (225°/-135°). Aer passing the 20 m radius it changes direcon and ies
backwards towards the starng point like it is described in example 2.
 The funcon is acvated inside the 20 m radius, while the
copter is directed to the NW (45°). Right sck to the right: the copter ies
towards the SW (135°). Aer passing the 20 m radius it changes direcon
and ies spirally around the starng point like it is described in example 3.

When the copter is ying into the 20 m radius, the current orientaon is
xed set. That has the posive result that the copter doesn’t change direc-
on while entering (if the right sck is held connuously).

When the copter is ying out of the 20 m radius, the front is at the end of an
imaginary line from the starng point to the copter. If applicable the copter will
change direcon.
You will nd an exercise in the tutorial in this document.
4.1.5 Other ying functions
There are further flight functions that you can apply in different situation that help you master
your tasks.

22 23©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
Base Station Base Station
4.1.6 Multi-menu
The mul menu shows the current telemetry data of the copter. In the  it also enab-
les you to send instrucons to the copter and make adjustments to it.
The telemetry data are shown on the rst three pages, which you can page through with the menu
buons 2 and 3. On page 4 you can reach the  via the Jebox. This oers you the
following possibilies:
Acvate extended funcons
Set the parameters
Calibrang the sensors
Checking the problem report
Indicate the general copter parameter
To operate the mul-menu you need the following buons:
 



Aenon: The changeover only works on page 4.
4.1.6.1 Telemetry data page 1
 Voltage value of the copter
baeries
If the voltage drops below
14.0 V you will hear a warning
in frequent intervals:
„Warning: Low baery“
 Spent baery capacity of the
copter baeries
 Alignment of the copter:
0 = N,
90 = O,
180 = S,
-90 = W
 Height related to the starng
point
 Horizontal distance
 Flight me since motor start
<hh:mm:ss>
4.1.6.2 Telemetry data page 2
 Geographical latude of the
current GPS-posion
 Geographical longitude of the
current GPS-posion
 Number of the current receiving
satellites (the more satellites,
the beer the accuracy of the
posion)
 Quality of the specified
position:
0D - no satellites,
1D - up to 4 satellites,
3D - 5 or more satellites



 Accuracy of posion (the
lower it is, the more accurate
are the GPS funcons)
 Accuracy of speed (the lower
it is, the more accurate are the
GPS funcons)
4.1.6.3 Telemetry data page 3
 Current ying speed
 Power consumption of the
copter
 Surrounding temperature in the
copter
4.1.6.4 Telemetry data page 4
On page 4 you have access to the integrated
“Jebox”.
With this you can modify the parameters of the
Jeti-receiver (radio receiver). The operation is
described in the manual of the Je remote control.
Normally there is no need to change these
parameters.
In the Jebox you will nd the 
of the copter. In the following chapter is described
how to open this menu.

24 25©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
Base Station Base Station
4.1.6.5 Extended menu
Follow these steps to select the extended menu:
Go to the telemetry data page 4
Press the buon 
(ESC-buon) to reach the „Jebox”(this is
indicated by the dierent funcons of the
menu buons).
Turn to the page  with the menu buon 2.
When you press menu buon 3 now, you will
reach the extended menu (see next page).



Battery low
0
ErrorsDrone
Infos Functions Settings Calibration
POI-Coordinates POI-Mode Select config Magnetic decl.
GPS Speed Man GPS Speed Auto Altitude Limit
Gyro offset Acc offset Compass
Mx
(Letzte Fehler-
Meldung)
Radio control
0
Speed Manual
<< 300 cm/s >>
Speed Auto
<< 300 cm/s >>
Altitude Limit
<< 100 m >>
activate POI?
vYes ^No
activate POI?
vYes ^No
Set new page
<< 1 >>
Set declination
<< 3 >>
Set position
as POI
edit height
<< 0m >>
Gyro offset (RPY)
<Wert-X>, <Wert-Y>, <Wert-Z>
Acc offset (XYZ)
<Wert-X>, <Wert-Y>, <Wert-Z>
Rotate around
the Roll-Axis
Scale (XYZ)
<Wert-X>, <Wert-Y>, <Wert-Z>
Offset (XYZ)
<Wert-X>, <Wert-Y>, <Wert-Z>
Again around
the Roll-Axis
Calibrating Gyro offset Calibrating Acc offset Rotate around
the Pitch-Axis
I2C0
0
GPS time out
0
Magnetometer
0
ADC
0
Main overrun
0
SPI1 overrun
0
Spurious ISR
0
Stack overflow
0
Config page
0
Model number
0
Serial number
0
Motor position
0
Features
0
GPS Rx version
0
Flight counter
0
Flight time
0
Software MCU1
0
Software MCU2
0
Menu MULTIROTOR

26 27©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
Base Station Base Station


  
  Here you can dene the GPS-coordi-
nates and the height above starng
point for a POI (Point of interest).
The copter will aim for it aer the
acvaon of the POI funcon.
In the chapter “Tutorials” in this manual, it
is described in detail how to use this func-
on correctly.
 Here you can acvate and deac-
vate the POI funcon.
  It is possible to appoint up to 4 va-
rious conguraons, to select die-
rent ight performances. At present
only conguraon 1 is dened.



The actual value for the magnec
declinaon (the correcon value
for the up-to-date interpretaon
of the magnec eld). Visit the
website to calculate the value for
your scheduled locaon:
www.ngdc.noaa.gov/geomag-web/
#declinaon
Inquire about the correct declinaon value
of your locaon and enter it here.
“”





  Calibraon of the gyro compass
sensors
 For this procedure the cop-
ter has to stand absolutely sll.
The copter is calibrated on delivery. Do not
change any sengs without consulng the
manufacturer.
“”



 Calibraon of the acceleraon
sensors
For this procedure the
copter has to stand absolutely
straight.
The copter is calibrated on delivery. Do not
change any sengs without consulng the
manufacturer.
“”



 Calibraon of the compass
This procedure is explained in the
chapter “Tutorials”.
The copter is calibrated on delivery. Do not
change any sengs without consulng the
manufacturer.
“”




(Numbers of
incidents)
 The baery voltage dropped below
13.9 V during the last ight.
The baery was own to long or strained
too much. If this error occurs too oen, you
should land earlier or consider a new baery.
 The radio contact was temporarily
lost during the last ight.
This can happen somemes if the copter is
being shadowed by e.g. an obstacle.
I2C0 Internal error This error is not allowed to occur. *1
 The GPS receiver delivers no data. This error is not allowed to occur. *1


  

(Numbers of
incidents)
 The magnetometer sends incorrect
data.
This error is not allowed to occur. *1
 The analog-digital-converter sends
incorrect data.
This error is not allowed to occur. *1
 Internal error This error is not allowed to occur. *1
 Internal error This error is not allowed to occur. *1
 Internal error This error is not allowed to occur. *1
 Internal error This error is not allowed to occur. *1
  Current conguraon set. Can be dened under the menu-point
“Sengs – Select Cong”
 Model number of the copter Stac
 Serial number of the copter Stac
 Set opon of the possible motor
conguraon.
Stac
 Released funconalies For the copter there are dierent GPS-fun-
cons available, which can be bought in va-
rious funcon packages. The manufacturer
will inform you about the current available
packages.
 Soware-version of the GPS
receiver
 Number of ights of this copter
 Overall ight me of this copter
 Soware-version of the processor
“MCU1”
You can update the soware of your copter
via the website of the manufacturer.
 Soware-version of the processor
“MCU2”
You can update the soware of your copter
via the website of the manufacturer.
*1 If this error occurs please contact a MULTIROTOR service staon.
 Erweitertes Menü
4.2 Charging device
In the top right corner of the display you can see the charge state of the radio control. The capacity is sucient for many
hours. When the charge state gets to low you can recharge it with the provided charging device. Please see the manual of
the radio control for detailed instrucons.
*1 If this error occurs please contact a MULTIROTOR service staon.

28 29©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
Base Station
Video receiver
4.3 Announcement
Some condions and events are announced via voice output. If there is a lot of noise around you, you can
use earphones to understand beer. The radio control provides for this a 3.5 mm connecon bush.
Aer connecng the copter baeries, all motor control units give an acousc signal (peep), followed
by the announcement of the current ight mode. During the following ight status further announ-
cements are made according to the events:
 
 The GPS satellite recepon is very sucient. At least 5 satellites were
recognized. The GPS funcons can be used.
 The flight mode “Position-Hold” is set. The copter keeps its position
automatically.
 The ight mode “Height Control”, which holds the height of the copter
automacally, is set.
 The ight mode “Mag Control”, which holds the alignment of the copter,
is set.
 The “Coming-Home” funcon is acvated. The copter ies back to the
starng point.
 The “Easy Move Mode” is acvated.
 The “Go-Ahead” funcon is acvated. The copter aligns itself.
 The “POI” mode is acvated.
 The “Waypoint” mode is acvated.
 The copter starts automacally.
 The copter lands automacally.


The copter conducts an emergency landing. The pilot can sll readjust the
posion and the height.
 For security the soware of the copter is set to give a rst noce aer 250
ights (or aer 20 ight hours) that soon an inspecon or maintenance is
due.


Aer 300 ights (or aer 25 ight hours) there will be a warning that an
insoecon or maintenance is due.


There is no SD-card in the ight recorder.
 The recepon of the GPS-satellites is very bad. The GPS funcons are
deacvated.




The baery voltage is reaching minimum level. Pay aenon to the voltage
and make sure to land the copter before it reaches a voltage of 3,5V per cell
(that equals 14.0 V for a 4S baery).
5 Video receiver
(Full-Business-Upgrade)
The video receiver works self-sucient. It has a separate electric power supply and receives the
video signal direct from the copter. It reproduces the picture on the monitor. The complete package
(receiver, monitor, baery) can be either xed to the remote control or onto a tripod. To display the
picture you have to aach the baery and switch on the monitor.
If the baery capacity gets too low a red LED will illuminate. This is located on the boom le corner
of the monitor front side.
Figure 11: Monitor and video receiver front view and back view
 – The baery type is LiPo baery. Make sure not to discharge the baery below
3.2 V per cell (equals 9.6 V for the 3S baery). Please consider the general advice for all
LiPos as described in chapter 4.3 of this manual, to ensure a long life expectancy.
 – Please disconnect the monitor baery aer every ight to prevent deep
discharging in case you forget to switch o the monitor.

30 31©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
Emergency functions
Camera gimbal
6 Emergency functions
The equipment possesses various emergency funcons.
6.1 RC-loss (Remote control loses contact)
6.1.1 RC-loss in manual ight mode with GPS reception
The copter goes automacally into „GPS posion hold”, waits 20 seconds and then conducts an
emergency landing. When it touches ground you have to switch o the motors manually.
6.1.2 RC-loss in manual flight mode without GPS reception
The copter automacally conducts an emergency landing. When it touches ground you have to
switch o the motors manually.
6.1.3 RC-loss in GPS ight mode
The copter waits 20 seconds and then conducts an emergency landing. When it touches ground you
have to switch o the motors manually.
6.1.4 RC-loss in WP ight mode
The copter waits 20 seconds and then ies directly to the starng point (coming home). Then it lands
automacally. When it touches ground you have to switch o the motors manually.


6.2 Battery low Voltage
If the baery voltage drops to „very low” the copter automacally acvates the „posion-hold”
mode and then conducts an emergency landing. The copter is sll controllable. When it touches
ground you have to switch o the motors manually.
The very low voltage limit is 3.3 V per cell. That equals 13.2 V for a 4S baery
7 Camera gimbal
The camera mount is adequate to transport the cameras. It provides a straight and stable picture
even if the copter ies askew to move or has to go against the wind. The roll and yaw axis are con-
trolled by brushless motors and an own stabilising unit. The camera can be adjusted manually to
dene the needed pitch to focus the desired object.
The gimbal has to be powered with an own power switch. It is located at the side of the gimbal. Be-
side the power switch there is a small push buon for calibraon. See maintenance manual to learn
the funconality of the buon.
8 Daily handling
8.1 Charging (overview)
Charge all your baeries before use (LiPo, remote control, camera, video receiver). Please read the
safety notes in chapter 11 and the instrucons in chapter 11.2 rst before charging your baeries!


  
   
 
  




 – In case of the remote control losing conact to the copter you cannot shu o
the motors via remote control. Do  to pull the baery plug while the motors are
sll running. There is danger of injury!
Wait for the motors to drain the baeries unl they shut o.

32 33©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
Daily handling
Genral notes
8.2 Putting the UAV into service 8.3 Putting the UAV out of service
Land the copter.
Switch o the motors.
Switch o the camera.
Unplug the ight baeries.
Switch o the remote control
Switch o the gimbal
Check the copter for damages.
8.4 Transportation
Secure the equipment well in the vehicle. Watch out especially for the propellers. They shouldn’t
have any contact with other objects. Check the equipment again aer transport.
Grab the UAV at a boom right next to the dome. This way you will have full control with one hand
without danger of overstraining a boom.
9 Genral notes
Do not y near or over people.
Always y in sight with the copter.
Avoid ying over trac on the ground.
Always be prepared to make an emergency landing, without endangering others or damaging
their properes.
Do not y near high tension lines, electrical substaons, high structures or communicaon
facilies.
Never y this aircra where damage to property or injury to persons may result if loss of cont-
rol occurs.
We recommend a fully comprehensive insurance for the UAV and the payload. A crash caused
by the pilot or technical deciency can never be ruled out a 100%.
If you don’t have any experience with model helicopters or model mul-copters, pracce with
a ight simulator on the computer. There are free ight simulators (for example “FMS” for
Windows). If you mastered the simulaon ight (including nose hover) you will very likely have
control over the real copter also in dicult situaons.
Never y without an industrial insurance and a special aviaon liability insurance!
 – Do always examine the copter closely aer a hard landing or a crash. A croo-
ked arm or motor, for example, can cause bad ight characteriscs. If you are unsure
contact a MULTIROTOR service staon!
10 Flight time
The ight me depends on the used baery capacity, the weight of the baery, the weight of the
load and the outside temperature. It can vary between some minutes up to an hour.
You can ascertain the ight me for your copter with camera by e.g. leng it hover on the spot
in 5 m altude unl the baery voltage drops to 14.0V. That is your maximum ight me which is
reduced depending on the ight dynamic and the age of the baery.


  
1Lock arms in place, make sure the screw connecons are ght
2Install propeller, ensure ght t
3Install camera mount, insert SD card
4Check all plug connecons, that they are rmly secured
5Test ight baery, it must hold at least 95%
6Check the switches, switch on remote control Wait of responds of copter
“GPS ok”
7
1. Connect baeries;
2. switch on gimbal (don´t move it, wait for beeping of);
3. camera on
Wait of responds of copter
“GPS ok”
8Transmit mission Watch groundcontrol
9Switch posions: middle, middle, middle, up
10 Start motor: gas minimum, motor switch up
(min 6 satellites)
11 Take a picture on the ground Watch monitor or listen to
camera
12 Start mission, simultaneously 2. level and GPS on CH
  

Not enough satellites (minimum 6 when PH)
Wait or change
posion if
appropriate
GPS switch on CH Switch on PH
Baery error, Baery low warning; no further
start possible Change baery
Gas sck not in minimum posion
Hold gas sck in min
posion, see
number 10 on the
checklist

No mission loaded, has to be transmied again
aer changing the baeries. Transmit mission
Switch posion, see number 12 on the checklist

34 35©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
LiPo batteries LiPo batteries
11 Safe use of LiPo batteries
11.1 Safety
Lithium-Polymer baeries are a revoluon in baery technology. Lithium baeries require special
consideraon and handling techniques due to their extremely high capacity.
If your MULTIROTOR G4 Surveying-Robot base staon announce the message “Warning: Low
baery” during ight, end use, let baery cool, and re-charge.
Draining the baery past this point will drascally reduce its lifespan, and fully discharging the
baery will cause permanent damage.
Use only the approved charger supplied by MULTIROTOR to charge the G4 Surveying-Robot
Lithium-Polymer baery.
Never allow the baery to short circuit.
Do not leave Lithium-Polymer baeries charging unaended.
Use cauon to prevent puncturing or rupture of the cells.
Do not charge batteries near flammable materials such as carpet, furniture, drapes, oils,
gasoline etc.
If the Lithium-Polymer baery is damaged in a crash or appears to swell, disconnue use immedia-
tely. Even if there are no signs of damage, visually monitor the baery on a non-ammable surface
to ensure it has not sustained any internal damage.
Charge your baery on a safe surface, away from any ammable materials.
If the baery balloons or expands, it can not be used again, and it must be disposed of according to
your locaon‘s safe baery disposal procedures. If the charger refuses to charge the baery it may
be because a cell is damaged. Contact a MULTIROTOR service staon to determine the cause.
As soon as a drop in power is noced, end use immediately and wait unl baery cools (30 - 45
minutes) before charging again. Lithium-Polymer baeries have no memory eect, and fully dischar-
ging them will only shorten their life.
If the maximum ight me of the baery pack is less than 50 % than the rst me when the baery
pack was new, the baery is at the end of its life cycle. Do not connue to use, and ensure the bat-
tery is disposed of properly.
If your MULTIROTOR base staon announce the message “Low baery” within the rst minutes of a
ight the baery is not charged correctly or it is at the end of its life cycle. If it was charged correctly
do not connue to use, and ensure the baery is disposed of properly.
Do not store the Lithium-Polymer baery inside a vehicle. Temperatures inside a parked vehicle can
rapidly exceed the recommended maximum of 60 degrees Celsius (140 degrees Fahrenheit).
If at any me you witness the baery swelling or ballooning while charging remove from charger
 and observe the baery carefully in an area safe from res.
If the baery leaks, a chemical reacon may occur resulng in a re.
Lithium-Polymer batteries have unparalleled energy density, and, if used improperly, may cause
a fire.
 – READ AND UNDERSTAND THESE SAFETY INSTRUCTIONS AND WARNINGS
BEFORE USING OR CHARGING YOUR LITHIUM-POLYMER BATTERIES

11.1.1 First aid measures
 Burning and disassembly baeries may emit acrid smoke, irritang
fumes, and toxic fumes of hazardous oxides of carbons, hydrouoric acid and other toxic
by-products.
  Rinse thoroughly with plenty of water for at least 15 minutes. If symptoms persist, call a
physician.
  Remove contaminated clothing and thoroughly wash with soap and plenty of water. If
irritaon persists, consult a physician.
  Swallowing a baery can be harmful. Contents of an open baery can cause serious
chemical burns of the mouth, esophagus, and gastrointesnal tract. If open baery is ingested,
do not induce voming or give food or drink. Seek medical aenon immediately.
  Remove to fresh air. If breathing diculty or discomfort occurs and persists, see
a medical doctor. If breathing stopped, give arcial respiraon and see a medical doctor
immediately.
11.1.2 Fire and explosion hazards
Cells or baeries may ame or leak potenally hazardous organic vapours if exposed to excessive
heat or re. Damaged or opened cells or baeries can result in rapid heang and the release of
ammable vapors. Vapors may be heavier than air and may travel along the ground or be moved by
venlaon to an ignion source and ash back. Possible formaon of hydrogen uoride (HF) and
phosphorous oxides during re.
During water applicaon, cauon is advised as burning pieces of ammable parcles may be ejected
from the re.
11.1.3 Hazardous decomposition products
When burned, hazardous products of combuson including fumes of carbon monoxide, carbon
dioxide, and uorine can occur.
11.1.4 Accidental release measures
  Evacuate personnel to safe areas, ventilate the area, and refer to
protective measure.
  Sweep up and place in a suitable container, dispose of waste accor-
dingly to local, state and federal laws and regulaons.

36 37©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
LiPo batteries LiPo batteries
11.1.5 Handling
  Charge according to manufacturer’s specicaons.
  The baeries should never be disassembled, or mechanically abused.
Should a baery unintenonally open, thus releasing its content, rubber gloves should be used
to handle baery components. The inhalaon of any vapor that may be emied should be
avoided.
  As with any baery, short circuit causes heang. In addion,
short circuit reduces the life of the baery and can lead to ignion of surrounding materials.
Physical contact with short-circuited baery can cause skin burns.
 Avoid revering the baery polarity within a baery pack. This can cause the
baery to be damaged or ame.
11.1.6 Storage
Bewahren Sie die Akkus in einem kühlen, trockenen und gut gelüeten Bereich auf. Platzieren Sie
die Akkus nicht in der Nähe einer Heizung oder setzen sie für einem längerem Zeitraum direktem
Sonnenlicht aus.
11.1.7 Notes
Elevated temperatures can result in shortened battery life and degraded performance.
11.2 Charging
This chapter describes in detail the steps to charge the LiPo baery pack. The charging of the LiPo
baeries has to be done carefully. Please respect the hazard warnings.
 – Fire hazard!
 Never connect the baery power adapter cable
to the LiPo baery while the adapter cable is not connected to the charger! Otherwise
there is a risk of a short circuit!
Here you can see all components of the charging unit:
Figure 12: Charger components










Figure 13: NEVER connect only the power adapter cable to the baery!


38 39©2015 service-drone.de GmbHV2.0.3 – 2015-09-15-Surveying-Robot-G4-Manual.pdf
LiPo batteries LiPo batteries
First connect the baery power adapter cable (plus and minus) with the charger: Put the
red connector into the red socket and the black connector into the black socket.
Figure 14: Power cable adapter
Figure 15: Balancer cable adapter
1
The second step is to connect the balancer cable adapter with the charger:
2

 

Figure 16: LiPo baery connecon
Figure 17: Charger switch posions for ight baery
The next step is to connect the LiPo baery:
3
Set the correct switch posions:
4




 – Fire hazard!
 Always connect the balancer cable during baery
charging! Otherwise the cells can be overloaded. This will damage the baery! First read
the document ”MULTIROTOR Lithium Polymer Baeries Precauons”
5A

