Prokura innovations Gauthali User manual

GAUTHALI

USER MANUAL v1.0

2020.9

Using this manual

Legend

To make: Warning, important, hints and tips, reference signs

Read before the first Flight

1. User Manual

2. Quick start guide

3. Disclaimer and safety guidelines

Videos

https://www.youtube.com/watch?v=5lbfTUy_7UA&t=121s

Downloading the app

The app is made available at purchase / only downloadable by the user with the account in the

website/ freely available in the prokura website

 
Contents 
 
Using this manual 2 
Legend 2 
Read before the first Flight 2 
Videos 2 
Downloading the app 2 
Product Profile 5 
Introduction 5 
Feature Highlights 5 
Preparing the Aircraft 5 
Aircraft Diagram 6 
Aircraft 8 
Aircraft Status Indicator 8 
Return to Launch 9 
Propellers 9 
Battery Management System (BMS) 10 
Flight 12 
Flight Environment Requirements 12 
Flight Limit and Geo Zones 12 
Pre-Flight Checklist 12 
Auto Takeoff/landing 13 
Flight Modes 13 
DroneFly App 16 
Mobile App 16 
Web App 20 
Appendix 24 
Specifications 24 
Calibrating the Compass 26 
 
 
   
                 © 2020 Prokura Innovations. All Rights Reserved. 
 

Product Profile

This section introduces Gauthali and lists the

components of the aircraft and remote

controller.

Product Profile

Introduction

Gauthali is a hybrid VTOL drone made in Nepal. It can Hover and Fly and Return to

Launch automatically. Gauthali has a maximum flight speed of 30m/s and a maximum flight time

of 45 minutes. With a payload-carrying capacity of 1.2 kg and a payload volume of 4050 cm3, it

can transport most of the emergency medical supplies.

Feature Highlights

Gauthali boasts a simple convertible design and has a lightweight of 11 kilograms,

making it easy to transport. Using an advanced flight controller, Gauthali is able to provide a

safe and reliable flight experience. The aircraft is able to automatically return to its Home Point

when the communication signal is lost or the battery is low, as well as being able to land on the

current position in such scenarios.

Our redundant communication technology is built-in into Gauthali and supports both 2.4

GHz and 900Mhz frequencies and a transmission range of 1 km on 2.4Ghz frequency and

anywhere in 900Mhz frequency as long as the area supports 3G/4G mobile communication.

Preparing the Aircraft

Follow the steps below to assemble Gauthali.

Step 1: Join the two wings to the wing in the fuselage

Step 2: Put the Quadcopter Propellers

Step 3: Put the Pusher motor propeller

Step 4: Join the tail

Step 5: Connect the power and signal wires

Step 6: Connect the batteries

Aircraft Diagram

Preparing the Remote Controller

1. Disclaimer: The drone is intended for fully automatic operation in the preplanned

waypoint based missions. Any manual use via remote is not recommended. Any faults

and risks associated to manual flying are liabilities of the user themselves

2. Switch on the remote

3. Check for the stable green light for the indication of the connection to the drone (the

drone must be powered on before the remote)

4. Then, you are ready for RC flight of the drone.

Remote controller diagram

Further information on the remote packaged with this drone can be found at

https://www.rc.futaba.co.jp/english/dl_manual/4ywd_e.pdf.

Aircraft

Gauthali contains a Flight controller,

Payload Compartment,

Remote Control system, and Dual

Flight Battery System.

Aircraft

The overall aircraft of Gauthali consists of a flight controller, smart communication

system, propulsion system and a battery management system.

Aircraft Status Indicator

The aircraft status indicator is an rgb led accompanied with the flight controller. It relays

the status of the flight controller system. The different status as indicated by the pattern of led

are:

LED Pattern

Description

Flashing red and blue

Initializing gyroscopes. Hold the vehicle still

and level while it initializes the sensors.

Flashing blue:

Disarmed, no GPS lock found. Autopilot,

loiter and return-to-launch modes require

GPS lock.

Solid blue:

Armed with no GPS lock

Flashing green

Disarmed (ready to arm), GPS lock acquired.

Quick double tone when disarming from the

armed state.

Fast Flashing green

Same as above but GPS is using SBAS (so

should have better position estimate).

Solid green - with single long tone at time of

arming:

Armed, GPS lock acquired. Ready to fly!

Double flashing yellow:Single Flashing yellow

Failing pre-arm checks (system refuses to

arm).

Single Flashing yellow

Radio failsafe activated

Flashing yellow - with quick beeping tone

Battery failsafe activated

Flashing yellow and blue - with

high-high-high-low tone sequence:

GPS glitch or GPS failsafe activated

Flashing red and yellow - with rising tone:

EKF or Inertial Nav failure

Flashing purple and yellow

Barometer glitch

Solid Red

Error

Solid Red with SOS tone sequence:

SD Card missing (or other SD error like bad

format etc.)

Flashing Red, Blue and Green:

Copter ESC Calibration mode entered.

Return to Launch

The Return to Launch (RTL) feature makes it possible for the vehicle to return to its

preset home location without automatically based on GPS data. The vehicle can be switched to

RTL mode by either switching the mode stick on the RC or tapping the RTL button in the

mobile/web app.

Procedure

1. The GPS coordinates of home is recorded during initialization of the vehicle after startup

2. RTL is triggered

3. The aircraft continues in the fixed wing mode until it is close to the return point at which

time it switches to a VTOL RTL. Using the fixed wing RTL the vehicle arrives at a

reasonable altitude, about 15 meters at which point it switches to VTOL mode and

descends to the ground.

4. After reaching the Home location, the vehicle lands and the motors stop.

Propellers

There are two types of propellers, one for the multicopter system and other for the push

motor for fixed wing systems. Considering multicopter propellers they are fuRTLer of two types

for rotation in different directions. While it is easy to detach the propellers some considerations

must be taken into account while mounting them.

Attaching the Propeller

Attach the propellers to the motors with similar markings. Markings are differentiated

based on their direction and copter type, and can be found on the sides of the motors and below

the propeller. Propellers spinning in the same direction are interchangeable for multicopters.

Make sure the pusher propeller and multicopter propellers are correctly attached.

Detaching the Propeller

Remove the propellers with care as the blades are sharp and might cause injury. Just

rotate the propellers to detach them and do not use screw drivers to unmount them as the

screws are there to hold the mount and not the propeller. Make sure the vehicle is in off state or

in no position to fly. If a propeller is broken, replace it with the same model or if not possible

might need to change the entire propellers. Make sure all propellers are in good condition and

screwed properly before each flightMaintain distance from the propellers before flight or when

the propellers are spinning.

Battery Management System (BMS)

We have a highly intelligent dual battery power system - a Li-ion based primary source

and Li-po based secondary source. The charging and discharging of the battery source is

designated by the BMS. If one of the power systems fails the system is not completely

dysfunctional but will enter into the failsafe mode and land in the nearest safe location avoiding

imminent crash scenario. The BMS is a robust system that has several protection facility:

1. Overcharge protection

2. Over Discharge protection

3. Parallel cell balancing

The battery charge state can be viewed on the battery unit itself as well as the data is also

displayed in the DMS app.

Flight

This section describes flight modes, safe flight

practices and flight restrictions.

Flight

Flight Environment Requirements

1. Do not use the aircraft in severe weather conditions including wind speeds exceeding 8

m/s, snow, rain, and fog.

2. Fly in open areas. Tall structures and large metal structures may affect the accuracy of

the onboard compass and GPS system.

3. Avoid obstacles, crowds, high voltage power lines, trees, and bodies of water.

4. Minimize interference by avoiding areas with high levels of electromagnetism such as

locations near power lines, base stations, electrical substations, and broadcasting

towers.

5. Aircraft and battery performance are subject to environmental factors such as air density

and temperature. Be careful when flying 9842 ft (3000 m) or more above sea level, since

battery and aircraft performance may be reduced.

Flight Limit and Geo Zones

Unmanned aerial vehicle (UAV) operators should abide by the regulations from

self-regulatory organizations such as the International Civil Aviation Organization, the Federal

Aviation Administration, and local aviation authorities. For safety reasons, flight limits are

enabled by default to help users operate this aircraft safely and legally. Users can set flight

limits on height and distance. Altitude limits, distance limits, and GEO zones function

concurrently to manage flight safety when GPS is available. Only altitude can be limited when

GPS is unavailable.

Pre-Flight Checklist

1. Make sure the remote controller, mobile device, and Flight Battery are fully charged.

2. Make sure the Flight Battery and the propellers are mounted securely.

3. Make sure the aircraft wings are properly mounted.

4. Make sure the GPS and compass are functioning normally.

5. Make sure nothing is obstructing the motors and that they are functioning normally.

6. Make sure the ground control software is successfully connected to the aircraft.

Auto Takeoff/landing

Auto Takeoff

1. Open the Ground control software

2. Complete all the steps in the Pre Flight Checklist

3. Upload the desired mission

4. Click Start

Auto Landing

1. If the conditions are safe to land, click the Land button

2. The motors stop after landing.

Flight Modes

Modes

1. Quad mode

In this mode the drone behaves as a typical quadcopter, where it uses its X-config

motors. This mode is typically used in landing and takeoff modes but may also be

enabled as an assistance mode when the drone is incapable of maintaining its cruise

speed (due to wind or gust). The mode is also enabled in failsafe situations when a

failure of operation occurs in the plane mode.

2. Plane mode

In this mode the drone operates like a typical plane and is propelled by the pusher motor

at the backside of the drone. During this mode the drone uses the servos and control

surfaces on the wing and the tail parts to control its motion. This mode is highly energy

efficient and is used in most of the mission parts.

Stabilize (QLoiter) Mode

This is the only manual mode in the aircraft, where the aircraft uses gps information and

sensor optimization for assisted flying. The drone automatically maintains the current location,

heading and altitude. The pilot may fly the drone in stabilized mode with the control sticks but

when the sticks are released, the vehicle will slow to a stop and hold position.

Mission Mode

In this mode, the drone will follow a mission (a set of GPS waypoints and other

commands) that are preloaded via the DMS app. When in mission mode, the pilot is not allowed

to control the plane via the remote controller but can send flight commands via the app. This

mode is complex, constituting several sets of actions: takeoff, transition from quad to plane

mode, waypoint to waypoint navigation and hover, transition back to quad mode and land mode.

Return To Launch (RTL) Mode

RTL mode (QuadPlane Return To Launch mode) navigates the drone in fixed wing mode

from its current position to hover in quad mode above the home position and then lands.

Land Mode

The drone lands in the quad mode in the location provided. The drone descends at the

rate of 0.5m/s. The drone must be in hover or loiter mode before you can enable this mode. For

all else, it is suggested to use RTL mode.

DroneFly App

This section introduces the main

functions of the DroneFly app.

DroneFly App

There are two portions of the DroneFly App. An android based mobile app which comes

with the drone and a web app (dms.prokurainnovations.com)

Mobile App

Login Screen

Login using the provided credentials (username, password) and for the provided drone.

Home Screen

Status Panel

The status Panel shows the status of the drone. The “show” and “hide” button from the

commands button panel can be used to view or hide the drone status accordingly. The data

displayed are:

Param

Description

Lat

Latitude corresponding to the current position of drone

Long

Longitude corresponding to the current position of drone

AltR

Attitude of drone relative to the home altitude

Alt

Absolute altitude of drone

Sat

Number of satellites connected for GPS

HDOP

Horizontal dilution of Precision

Fix

The type of GPS fix, 3D, 2D

Head

The heading/compass reading

GS

Ground Speed

AS

Air Speed

Mode

The current mode of Drone, Auto, Land, RTL

Arm

Arm condition of dron, True/False

Lat

Latitude corresponding to the current position of drone

Commands Button Panel

It consists of a series of buttons to interact either with the drone or app.

Button

Description

SHOW/HIDE

Shows or Hides the Status Panel

DOWNLOAD

Downloads current drone mission and displays it on the

screen

CLEAR1:

Clears the current mission from the screen

DROPDOWN (Locations)

List of available missions for drone

SEND

Send the mission with the corresponding drop down

value to be uploaded to drone

NUMBER INPUT

Radius to display a grid of circles for distance

approximation

CLEAR

Clears the grid of circles from the screen

SERVO

Toggles servo position of drone

SIMULATE

Performs simulation of recent drone flight

RESET

Resets logs

Prearm CheckList

The pre arm check list presents a list of checks necessary to be performed by the user

before each flight. It is mandatory to attain each criteria before any flight. It Lists:

Check

Description

GPS Lock

A proper GPS lock for Auto flights

Battery

Proper Battery Condition with sufficient charge

Mag

The compass is behaving well

Flight Plan

Ensure a valid flight plant is uploaded to the drone

Horizon

Ensure the drone is flat on the ground

Fly Button

The fly button is used to initiate the flight. Initially it is colored in red and the flight cannot

be initiated. Once all the pre arm conditions are satisfied, it turns green and flight operation is

permitted.

On Pressing the fly button three sub buttons pop out: TAKEOFF, LAND and RTL

Button

Description

TAKEOFF

Initiates the mission

LAND

Lands at current drone position

RTL

Returns to Home Position

Web App

Login Page

Login to the web app with valid credentials

Prokura Innovations Gauthali User manual

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