Quantum Trinity F90+ User manual
1
Trinity F90+ user manual
TRINITY F90+
USER MANUAL
V2.3.0.49
FOR TRINITY F90+ LOCKED <60 MIN. AND TRINITY F90+ UNLOCKED 90+ MIN.
01 GENERAL INFORMATION 6
1.1 Abbreviations...................................................................................................8
02 SAFETY INSTRUCTIONS 10
2.1 operation....................................................................................................... 10
2.2 Battery safety................................................................................................. 10
2.2.1 Battery handling.................................................................................10
2.2.2 Battery charging ................................................................................11
2.2.3 Battery storage ...................................................................................11
2.2.4 Battery Warranty.................................................................................11
2.3 Disposal......................................................................................................... 12
03 TECHNICAL SPECIFICATIONS 14
3.1 Maximum flight altitude & wind tolerance................................................ 15
3.2 Maximum flight altitude & wind tolerance with lidar qube 240............. 16
04 PROCESS OVERVIEW 18
05 COMMUNICATION LINKS 22
06 BATTERY & RC TRANSMITTER 24
6.1 QS Battery charger....................................................................................... 24
6.1.1 Menu overview...................................................................................25
6.1.2 Error messages ..................................................................................27
6.2 Charging/ Discharging the battery pack................................................... 27
6.2.1 Connecting the charger to the battery............................................27
6.2.2 Charging process...............................................................................29
6.3 Battery storage ............................................................................................. 30
6.4 Battery use..................................................................................................... 30
6.5 Travel notice .................................................................................................. 31
6.6.1 Transmitter specications..................................................................31
6.6.4 RC transmitter settings ......................................................................31
6.6.5 RC transmitter display during the ight..........................................31
6.6.6 Charging the RC transmitter.............................................................31
6.6.7 RC transmitter rmware update.......................................................31
6.6.3 Binding the RC transmitter to the UAV............................................32
6.6.4 RC transmitter settings ......................................................................33
6.6.5 RC transmitter display during the ight..........................................34
6.6.6 Charging the RC transmitter.............................................................35
6.6.7 RC transmitter rmware update.......................................................35
6.7 Cooling Station............................................................................................. 35
07 QBASE – GROUND CONTROL STATION 38
7.1 Install/ Uninstall QBase................................................................................ 40
7.1.1 Install QBase.......................................................................................40
7.1.2 Uninstall QBase..................................................................................40
7.1.3 Drivers .................................................................................................41
7.2 User interface ............................................................................................... 42
7.2.1 Main menu .........................................................................................42
7.2.2 Header ................................................................................................47
7.2.3 Planning screen .................................................................................48
7.2.4 Monitoring screen .............................................................................53
7.3 Planning a photogrammetry or LIDAR mission ........................................ 54
7.4 After the flight............................................................................................... 67
7.4.1 Resume/Repeat .................................................................................67
7.4.2 Download the FlyLog and the LogFile from the Trinity F90+ ......68
7.4.3 Geotag (PPK) .....................................................................................70
7.5 Updates & Settings ...................................................................................... 80
7.5.1 DataLink settings ...............................................................................80
7.5.2 Updating QBase ................................................................................81
7.5.3 Updating the UAV .............................................................................81
7.5.4 Updating the Payload Management Board (PMB) ........................82
7.5.5 Updating the ESC .............................................................................83
08 FLIGHT SETUP – STEP BY STEP 86
8.1 Step 1 – Ensure that the weather conditions are suitable for ying 86
8.2 Step 2 – Ensure that the battery is sufciently charged ...................87
8.3 Step 3 – Power bank for iBase .............................................................87
8.4 Step 4 – Ensure that QBase and the UAV rmware are up to date 87
8.5 Step 5 – Set up QBase modem ...........................................................87
8.6 Step 6 – Set up ADS-B receiver ...........................................................88
8.7 Step 7 – Set up iBase ............................................................................88
8.8 Step 8 – Turn on the QS RC transmitter .............................................89
8.9 Step 9 – Check the UAV for damages ................................................89
8.10 Step 10 – Magnetometer calibration (if required) ..........................89
8.11 Step 11 – Assemble the UAV ............................................................90
8.12 Step 12 – Choose the take-off position ...........................................92
8.13 Step 13 – Place the UAV ....................................................................93
09 FLIGHT OPERATION 96
9.1 Flight Operation – Step by step.................................................................. 96
Step 1 – Flight setup ...................................................................................96
Step 2 – Check the connection between QBase and the UAV ..............96
Step 3 – Check the camera ........................................................................96
Step 4 – QBase nal check ........................................................................97
Step 5 – Upload the mission ......................................................................97
Step 6 – Preight check ..............................................................................97
Step 7 – Check the control surfaces .........................................................98
Step 8 – Arm ................................................................................................99
9.2 General flight operation ............................................................................ 100
9.2.1 Take-off & Transition ........................................................................101
9.2.2 Manual & automatic take-off abort scenarios...............................102
9.2.3 Manual & emergency & mission commands................................103
9.2.4 Automatic mission coming home..................................................104
9.2.5 Retransition & landing.....................................................................105
9.2.6 Hover commands.............................................................................106
10 AFTER THE FLIGHT 108
10.1 Disassemble the UAV ............................................................................. 108
10.2 Download the FlyLog ............................................................................. 109
10.3 Download and geotag the pictures ...................................................... 109
10.4 Post processing ....................................................................................... 110
11 PAYLOAD COMPARTMENT 112
11.1 Payload compartment attachment ........................................................ 112
11.2 Sony UMC-R10C camera ........................................................................ 113
11.2.1 Change the camera settings .......................................................113
11.2.2 Sony UMC-R10C standard settings ............................................114
11.2.3 Sony UMC-R10C troubleshooting ..............................................115
11.3 MicaSense RedEdge-M/MX/Altum camera ......................................... 117
11.3.1 Taking a calibration picture .........................................................117
11.3.2 Geotagging ...................................................................................119
11.3.3 Notes ..............................................................................................119
11.3.4 MicaSense RedEdge-M/MX/Altum camera updates ................119
11.3.5 MicaSense RedEdge-M/MX conguration .................................120
11.3.6 MicaSense RedEdge-M/MX/Altum Double conguration .......122
11.3.7 MicaSense RedEdge Altum conguration .................................126
11.4 Sony RX1R II camera ............................................................................... 128
11.4.1 RX1RII settings ...............................................................................128
11.4.2 Trigger speed ................................................................................131
11.4.3 Storage capacity ...........................................................................132
11.4.4 Deleting the pictures from the SD card .....................................132
11.5 TX-Thermal camera ................................................................................. 133
11.5.1 QBase setup...................................................................................133
11.5.2 Processing the data .......................................................................133
12 STORAGE 138
13 INSPECTION & REPAIRS 140
13.1 Repairing the airframe ............................................................................ 140
13.2 Calibrating the magnetometer .............................................................. 140
13.3 Calibrating the accelerometer ............................................................... 143
13.4 Exchange a degraded battery pack ...................................................... 145
13.5 Inspection schedule ................................................................................ 145
13.5.1 Battery voltage check ...................................................................145
13.5.2 Keep your UAV and the equipment clean .................................146
13.5.3 Check the UAV for damages .......................................................146
13.5.4 Check all connections ..................................................................146
13.5.5 Clean the Airspeed Sensor ..........................................................146
13.5.5 Check the tilt mechanism ............................................................147
13.5.6 Check the connections between the UAV, QBase & the RC ...147
13.5.7 QBase nal check .........................................................................148
13.5.8 Upload the mission .......................................................................148
13.5.9 Preight check ...............................................................................148
13.5.10 Check the control surfaces ........................................................149
13.5.11 Arm ...............................................................................................149
13.6 Clean the airspeed sensor ...................................................................... 150
14 TROUBLESHOOTING 152
14.1 LED status main body.............................................................................. 152
14.2 Additional LED status main body........................................................... 153
14.3 Connection between QBase and the UAV cannot be established ... 153
14.4 The control surface check is not successful ......................................... 153
14.5 The weather conditions change during the flight ............................... 154
14.6 After a crash of the UAV ......................................................................... 154
14.7 Important messages .............................................................................. 154
15 FLYING MULTIPLE UAV SIMULTANEOUSLY 162
16 iBASE FILE NAMES 164
5
General information
GENERAL INFORMATION
01
6Trinity F90+ user manual
Please read and follow these instructions carefully. All Quantum-Systems
products are made for professional use only.
With the purchase of a Quantum-Systems product you agree with the
terms and conditions. The applicable terms and conditions can be found at
www.quantum-systems.com. These terms and conditions include regulations
about liability and warranty.
Quantum-Systems GmbH reserves the right to make changes to specications
and product descriptions presented in this manual at any time without notice.
Applicable regulations
When using Quantum-Systems products always follow civil aviation
regulations. Regulations can vary depending on the country and the region
where the product is operated. Inform yourself about the applicable laws
before using a Quantum-Systems product.
“Beyond Visual Line of Sight” (BVLOS) operations might be prohibited
depending on the country or area. In some areas, the use of UAVs is
completely prohibited. Inform yourself about the privacy laws concerning
the use of Quantum-Systems products equipped with cameras. The use
of the products and the compliance of the regional laws is the user’s sole
responsibility.
01 GENERAL INFORMATION
Technical support
For technical support please contact your reseller.
C
Quantum-Systems GmbH declares that the products: UAV Battery pack, UAV
aircraft system, QS RC Transmitter, QS Battery Charger and QBase Modem
are in conformity with the CE regulations.
Address
Quantum-Systems GmbH
Dornierstrasse 11
82205 Gilching
Germany
www.quantum-systems.com
™ Trinity is a registered trademark of Quantum-Systems GmbH.
Copyright © 2021 Quantum-Systems GmbH. All rights reserved.
Version
TF90+_UM_211103_V2.3.0.49
7
Trinity F90+ user manual
The UAV is a UAV which combines hover capabilities with xed wing ight. To ensure
vertical take-off and landing (VTOL) the three motors are directed upwards, for cruise
ight the motors are tilted forward. The thrust for forward ight is generated by the
rear motor while the two front motors are turned off. Depending on the integrated
sensor the UAV is suitable for a vast range of applications. The body of the UAV is
made of Elapor® and molded around a rigid carbon ber structure.
General information
1
8Trinity F90+ user manual
1.1 ABBREVIATIONS
ACC Acceleration
ADS-B Automatic Dependent Surveillance–Broadcast
AGL Altitude Above Ground Level
ALT Altitude
ATO Altitude Above Take-Off
BID Battery Identication Info
BVLOS Beyond Visual Line Of Sight
ELV Elevation (Ground)
EVTOL Electric Vertical Take-Off and Landing
FLT Flight Time
GCS Ground Control Station
GPS Global Positioning System
GSD Ground sample distance
ID Identication
IMU Inertial Measurement Units
Incl Including
IR Infra-Red
JML JobMXL
KML
Keyhole Markup Language
LAT Latitude
LED Light-Emitting Diode
MAG Magnetometer
MF Manual Focus
MSL Altitude Above Mean Sea Level
QS Quantum-Systems
PPK Post Processing Kinematik
RC Remote Control
REEST Reestablishing
RTR Retransition Waypoint
STBY Standby
SRTM Shuttle Radar Topography Mission
UAV Unmanned Aerial Vehicle
UDP User Datagram Protocol
VTOL Vertical Take-Off and Landing
WGS World Geodetic System
02
9
SAFETY INSTRUCTIONS
Safety instructions
10 Trinity F90+ user manual
02 SAFETY INSTRUCTIONS
2.1 OPERATION
1. Always obey the manual when using the system.
2. It is the operator’s responsibility to follow the laws that regulate the use
of UAVs for the desired ying area. Flying out of pilot‘s sight might be
prohibited depending on the local laws, please inform yourself.
The distance between the pilot and the UAV should never exceed 2 km
(1.24 mi).
3. Always keep a safe distance to spinning rotors of at least 10 m (33 ft) to
avoid risk of injury and damage of property.
4. Always keep a safe distance between the UAV and humans at any time
to avoid any personal injury in the event of a crash.
5. In case of an emergency the pilot must be able to manually y the UAV
in assisted ight.
6. Do not y or take off close to objects generating magnetic/electroma-
gnetic elds (power lines, generators, antennas, transformers, etc.) as it
may cause malfunction of the GPS and/or the magnetic eld sensors.
7. Do not y or take off close to objects containing large amounts of metal
or carbon ber (parking decks, buildings of reinforced concrete, ships,
cars or other machines) as it may cause malfunction of the GPS and/or
the magnetic eld sensors.
8. Always ensure proper GPS coverage of the UAV. Do not y in narrow
canyons as it may cause malfunction of the GPS and/or the magnetic
eld sensors.
9. Make sure no large obstacles (buildings, trees, mountains, etc.) or
objects generating or blocking electro-magnetic radiation (antennas,
fences, power lines, etc.) are between the transmitter/GCS and the UAV
during the whole time of operation.
10. The Trinity must not be operated
• at temperatures below -12 °C (10.4 °F) and above 50 °C (122 °F).
• in rain or snowfall.
• at windspeeds above 9 m/s (17.5 kn) (See chapter 3.1.). Please note
that the wind speed on the ground is always less than the wind
speed at ight altitude.
11. Transportation of the system is only recommended in the original
Quantum-Systems transportation box.
12. The use of third party products, such as batteries, chargers, ground
modems, Payloads, RC transmitters and ground control stations, which
were not provided by Quantum-Systems, is prohibited. Any modicati-
on to the system is prohibited unless expressly authorized by Quantum-
Systems or an authorized reseller.
13. Due to the risk of an electric shock, do not open any Quantum-
Systems products. For repair and maintenance work always contact your
reseller (exceptions see chapter 13).
14. Each operator is responsible for ensuring the airworthiness of the UAV.
15. The UAV does not detect and avoid obstacles. Every operator is self
responsible to plan a ight path that is free of obstacles.
16. Do not y without a properly attached payload compartment.
2.2 BATTERY SAFETY
To avoid re, serious injury and property damage observe the following safety
guidelines when using, charging or storing the UAV battery pack. The UAV
battery pack is based on Murata / Sony Konion US18650VTC6 - 3120mAh,
3,6V - 3,7V.
2.2.1 Battery handling
1. Do not use any battery other than the original UAV battery pack by
Quantum-Systems.
2. Do not use or charge swollen, leaky, or damaged batteries. Do not use
a battery that was involved in a crash or any kind of heavy impact.
3. For ying the temperature of the battery must be at least 25 °C (77 °F).
11
Trinity F90+ user manual
For
outside temperature < 10 °C (<50 °F):
•
Heat up the battery to 25 °C (77 °F)
for at least 5 hours
For outside temperature < 0° (<32 °F):
•Heat up the battery to 25 °C (77 °F) for at least 5 hours
• The ight time will be reduced to max. 70 minutes.
4. Do not expose the battery pack to direct sunlight. Temperatures over
60 ℃ (140 ℉) may damage the battery pack.
5. To prevent malfunction of the battery, never y the UAV in strong elec-
trostatic or electromagnetic environments.
6. Do not drop the battery or expose it to water. Never open the battery
pack or manually short circuit the battery. Replace the battery pack if
exposed to water.
7. If your eyes or skin make contact with any battery liquid, immediately
wash the affected area with clean running water for at least 15 minutes.
See a doctor immediately.
8. Do not place the UAV battery pack in a microwave, dryer, oven or in a
pressurized container. Do not solder on or close to a
UAV battery pack. Do not place the battery pack near a cooking surface,
iron or radiator.
9. Do not drop the battery pack. Do not step on it.
10. Never open or modify the battery pack.
11. The battery life may be reduced if it is not used regularly.
12. The Battery will age over time. Therefore, the warranty of the
complete UAV system expires when batteries with more than 150 char-
ging cycles are used.
2.2.2 Battery charging
1.
To charge the battery follow the guideline as described in chapter 6.
2. Always use the Quantum-Systems battery charger to charge the battery
pack. Quantum-Systems is not responsible or liable for damages cau-
sed by charging the battery with a third party charger.
3. Always charge the battery pack indoors at room temperature to prevent
damage to the battery.
4. Do not charge the cells individually.
5. Never connect the battery pack to a wall socket or to the car charger
outlets directly.
6.
The battery must be charged under supervision. Never charge the
battery pack close to ammable materials or on ammable surfaces.
7. Disconnect the battery when it is fully charged.
8. Do not clean the charger with ammable liquids like denatured alcohol.
9. Never use a damaged charger.
2.2.3 Battery storage
1. Keep the battery out of reach for children and animals . Do not leave
the battery near heat sources such as furnaces or heaters.
2. Always store the battery at an ambient temperature of 25 °C (77 °F).
3. Always keep the battery dry. Do not expose the battery to water.
4. Never attempt to travel with or transport a damaged battery or a battery
with a power level higher than 30% or lower than 20 %.
5. For long-time storage (>1 week), it is recommended to charge/
discharge the battery pack to 75 % capacity.
6. Do not store the battery completely discharged.
7. Always remove the battery from the UAV when it is not in use.
8. Always apply the contacts protection cap if the battery pack is not in
use.
2.2.4 Battery Warranty
1. Batteries are not covered as part of the standard warranty as recharge-
able batteries are consumable components that become less effective
as they chemically age.
2. Batteries are active elements and their life depends on the right hand-
ling and storage.
2
Safety instructions
12 Trinity F90+ user manual
2.3 DISPOSAL
For the disposal of the UAV battery pack, follow the local regulations
for the recycling of Li-Ion batteries. Do not dispose the battery pack
with the normal trash. Make sure the battery is completely discharged
before the disposal.
Before disposal apply the protection caps to the contacts. Never put the bat-
tery pack into re due to the risk of an explosion. The battery can also be
sent back to an ofcial reseller or to Quantum-Systems. Dispose all Quan-
tum-Systems products according to the local regulations for the recycling of
electronic or electrical devices. The wings and the elevator of the UAV can be
disposed along with plastic waste.
13
TECHNICAL
SPECIFICATIONS
03
Technical specications
14 Trinity F90+ user manual
03 TECHNICAL SPECIFICATIONS
TECHNICAL DATA LOCKED <60 MINUTES UNLOCKED 90+ MINUTES11 Subject to export regu-
lation, may require export
permission.
2 Please be aware that the
ight time and max. wind
tolerance are reduced with
increasing ight altitude.
Depending on the weather
conditions; tested at 15° C
(59° F). For further details
read the user manual chapter
3.1.
3 Under optimal
conditions.
4 Please be aware that
the max. wind tolerance is
reduced with increasing ight
altitude.
5 Please follow the local
regulations for the maximum
allowed transmission power.
6 For outside temperature
< 10°(<50°F):
• Heat up the battery to 25°C
(77°F) for at least 5 hours
For outside temperature < 0°
(<32°F):
• Heat up the battery to 25°C
(77°F) for at least 5 hours
• The ight time will be redu-
ced to max. 70 minutes.
Max. Take-off Weight 5.0 kg (11.0lbs) 5.0 kg (11.0lbs)
Max. Flight Time <60min 90+ min1
Max. Range = Area 70 km = 500 ha 100 km = 700 ha
Maximum ight altitude (MSL) 4500 m (13123.4 ft)24500 m (13123.4 ft)2
Command and Control Range 5– 7.5 km3 (3.1 – 4.7 mi) 5– 7.5 km3 (3.1 – 4.7 mi)
Payload max. 700 g (1.54lbs) max. 700g (1.54 lbs)
Optimal Cruise Speed 17 m/s (33 kn) 17 m/s (33 kn)
Wind Tolerance (ground) up to 9 m/s (17.5 kn)4up to 9 m/s (17.5 kn)4
Wind Tolerance (cruise) 12 m/s (23.3 kn) 12 m/s (23.3 kn)
Battery Capacity 12Ah 12Ah
Battery Weight 1.5 kg (3.3 lbs) 1.5 kg (3.3 lbs)
RC transmitter frequency 2.4 GHz 2.4 GHz
Telemetry link (QBase Modem) frequency 2.4 GHz 2.4 GHz
Telemetry link (QBase Modem) power max. 100 mW5max. 100 mW5
Operating temperature range -12°C to 50 °C
(10.4°F to 122 °F)6
-12°C to 50 °C
(10.4°F to 122 °F)6
Wingspan 2.394 m (7.85 ft) 2.394 m (7.85 ft)
Transport Case Dimension 1002x 830 x 270 mm
(39.4x 32.7 x 10.6 inch)
1002x 830 x 270 mm
(39.4x 32.7 x 10.6 inch)
Transport Case Weight (3 batteries) 22.3 kg (49.1 lbs) 22.3 kg (49.1 lbs)
15
Trinity F90+ user manual
Technical specications
3
3.1 MAXIMUM FLIGHT ALTITUDE & WIND TOLERANCE
Be aware that the wind tolerance (ground) is by default set to max. 9 m/s.
There is no automatic adjustment for take-offs between 1500 m – 4000 m regarding the wind tolerance (ground) and
maximum ight time.
0 m
2 m
(6.6 ft)
0 m
0 m
1500 m
(4921.3 ft)
0 m
0 m
3000 m
(9842.5 ft)
0 m
4500 m
(14763.8 ft)
4000 m
(13123.4 ft)
4000m
Wind tolerance (ground)
max. 9 m/s (17.5 kn)
Wind tolerance (ground)
max. 7 m/s (13.6 kn)
Wind tolerance (ground)
max. 5 m/s (9.7 kn)
Take-off MSL Flight timeWind speed
* Check the actual windspeed
by using the anemometer at 2 m (6.6 ft) AGL
Maximum take-off and landing altitude (max. 4000 m / 13123.4 ft)
Maximum flight altitude (max. 4500 m / 14763.8 ft)
*
MODE SET
*
MODE SET
*
MODE SET
Max. flight time
90 minutes
Max. flight time
90 minutes
Max. transition
altitude 40 m
Max. transition
altitude 30 m
Max. transition
altitude 25 m
Max. flight time
75 minutes
16 Trinity F90+ user manual
3.2 MAXIMUM FLIGHT ALTITUDE & WIND TOLERANCE WITH LIDAR QUBE 240
Be aware that the wind tolerance (ground) is by default set to max. 6 m/s.
There is no automatic adjustment for take-offs between 1500 m – 3000 m regarding the wind tolerance (ground).
The maximum ight time is restricted to 60 minutes.
0 m
2 m
(6.6 ft)
0 m
0 m
1500 m
(4921.3 ft)
0 m
0 m
3000 m
(9842.5 ft)
0 m
3500 m
(11482.94 ft)
4000m
Wind tolerance (ground)
max. 6 m/s (11.7 kn)
Wind tolerance (ground)
max. 5 m/s (9.7 kn)
Take-off MSL Flight timeWind speed
* Check the actual windspeed
by using the anemometer at 2 m (6.6 ft) AGL
Maximum take-off and landing altitude (max. 3000 m / 9842.5 ft)
Maximum flight altitude (max. 3500 m / 11482.94 ft)
*
MODE SET
*
MODE SET
Max. flight time
60 minutes
Max. flight time
60 minutes
Max. transition
altitude 40 m
Max. transition
altitude 30 m
17
04
PROCESS OVERVIEW
Process overview
18 Trinity F90+ user manual
04 PROCESS OVERVIEW
Planning a mission
Flight operation
Charging your Trinity
battery pack &
transmitter
Flight setup
After the flight
Data Analysis
19
Trinity F90+ user manual
Planning a mission
Flight operation
Charging your Trinity
battery pack &
transmitter
Flight setup
After the flight
Data Analysis
Process overview
4
20 Trinity F90+ user manual
Other manuals for Trinity F90+
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