Xylem YSI rQPOD User manual

USER MANUAL
XA00170
MODULAR REMOTE SURVEY BOAT
modular remote survey boat

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The information contained in this manual is subject to change without notice.
Effort has been made to make the information in this manual complete, accurate, and current.
The manufacturer shall not be held responsible for errors or omissions in this manual.
Consult YSI.com for the most up-to-date version of this manual.
Thank you for purchasing a YSI rQPOD Surface Vehicle. This manual covers operation and
functionality of the rQPOD.
rQPOD features include:
• Lightweight design for single-person transport in a convenient backpack
• Easy on-site setup that’s ready to run in 15 minutes or less
• Marine-grade components for operation in tough environments
• Ultimate flexibility in sensor payload
Safety Information
Please read this entire manual before unpacking, setting up or operating this equipment. Pay
attention to all precautionary statements. Failure to do so could result in serious injury to the
operator or damage to the equipment. Do not use or install this equipment in any manner other
than that specified in this manual.
The manufacturer is not responsible for any damages due to misapplication or misuse of this
product including, without limitation, direct, incidental and consequential damages, and disclaims
such damages to the full extent permitted under applicable law. The user is solely responsible to
identify critical application risks and install appropriate mechanisms to protect processes during a
possible equipment malfunction.
Product Components
Carefully unpack the instrument and accessories and inspect for damage. If any parts or materials
are damaged, contact YSI at 937-767-7241 or any authorized YSI distributor.
When viewing this document as an Adobe® PDF hovering
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icon. Clicking elements of the Table of Contents, website URLs,
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those locations.
THIS IS AN
INTERACTIVE DOCUMENT
modular remote survey boat

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Contents
1. rQPOD Packages ..................... 5
2. Components ......................... 6
3. Setup ............................... 6
3.1 — First Time Setup ....................6
3.2 — General Assembly ..................7
4. Transmitter Alarms & Tips .............. 12
4.1 — Steering and Turning................12
4.2 — Fast and Slow Speed Settings ........12
4.3 — Signal Strength.....................12
4.4 — Telemetry and Servo Information .....13
5. Propeller Servicing.................... 14
6. Troubleshooting ...................... 14
7. Spare Parts and Accessories ............ 15
8. Autonomous Vehicle Services .......... 16
9. DJI Phantom 3 Battery Information ...... 18
10. Warranty Statement.................. 22

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rQPOD in Action

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1. rQPOD Packages
TBX
Length 0.86 m (2.82 ft)
Width 0.54 m (1.77 ft)
Weight 4.54 kg (10 lb)
The RiverSurveyor RS5
• TBX Board
• SonTek RS5
• No GNSS GPS (Discharge only)
TB
Length 1.14 m (3.74 ft)
Width 0.72 m (2.36 ft)
Weight 5.90 kg (13 lb)
The RiverSurveyor M9
• Standard TB Board
• SonTek M9
• GNSS GPS
The EXO
• Standard TB Board
• EXO Whale Mount
• YSI EXO Sonde
• On-board PC with radio link
• GNSS GPS
DUO
Length 1.39 m (4.56 ft)
Width 0.78 m (2.56 ft)
Weight 6.80 kg (15 lb)
The RiverScanner
• Duo Board
• SonTek M9
• On-board PC
• High Resolution Side Scan Sonar
• GNSS GPS
The EXO Surveyor
• Duo Board
• Sontek M9
• EXO Whale Mount
• YSI EXO Sonde
• On-board PC with radio link
• GNSS GPS
The Torrent Boards below have been optimized for the rQPOD module and Xylem’s industry-leading sensors from YSI
and SonTek. Choose the larger DUO to get multiple sensors, the standard TB to use one sensor, or the specialized TBX
to carry the world’s smallest ADCP, SonTek’s RS5.

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2. Components
3. Setup
3.1 — First Time Setup
Torrent Board Preparation
1. Stick Prop Guard warning safety labels on the board. 2. Insert 6 TORX self-tapping screws into holes
supplied in the miscellaneous box.
• Skid Guard Vertical Port (red)/ Starboard (green)
• Skid Guard Horizontal Port (red)/ Starboard (green)
• Main Pod Body
• RADIOMASTER TX16S transmitter
• Spare props – 2 counterclockwise
• Mk 2 Thrusters assembly with FCS mounts
• TORX driver and screws
• FCS key
• Magnetic Pen
• 2 Batteries – Phantom LIPO 3
• Charger
• Transmitter cover
• LiPo safe charging bag
• Spare 20 A fuses
• O-ring grease
• rQPOD mounting plate
• 2 x 18650 batteries

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3.2 — General Assembly
1. Remove plugs from torrent board V7 on top and bottom of the board using a coin or similar size object.
3. Fix 2 TORX M9 bolts into the top side of the board.
2. Insert thruster assembly into FCS fin slots as shown below. The thrusters are interchangeable and work on either
side of the board.
TOP BOTTOM
NOTE: Only use the FCS key to secure the thruster assembly to the board and do not overtighten.
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3. Fit the skid guards making sure they are paired, matching the color of the skid guard to the color of the dot
on the board as each side is slightly different. Use the TORX driver to tighten the top bolt but be careful not to
overtighten. Next place the skid guard on the correct side of the board matching the color of the skid guard to the
colored dot on the underside of the board. Slide the mounts over the TORX screws in the bottom of the board.
Tighten the TORX screws approximately ½ turn to secure. Once complete, turn the board over.
NOTE: If the TORX screws are not fitted then they will need to be fitted first.
NOTE: When viewed in the normal operating position when the unit is floating on the water the red skid
guard should be on the left (PORT) and the green skid guard should be on the right (STARBOARD) side of
the board when viewed from behind. Pass the cables through the holes of the board and ensure the coned
plugs fit firmly, this stops air from being sucked down through the board.
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4. Connect the cables from the thrusters to the rQPOD. Do not overtighten the locking sleeves. Periodically grease
the connectors with the supplied grease in the accessories case, especially if plugs are hard to insert.

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5. Place the rQPOD on the board using the mounting plate, it should slide in from one side then rotate down.
Tighten the TORX screws to hold in place but do not overtighten.
6. Turn the remote control transmitter and make sure that switch F is in the lower position and the throttle stick is
in the center neutral position.
NOTE: Make sure switch F is in the lower position for low speed otherwise a warning will be displayed.
CAUTION: If it is raining or damp use the provided transmitter glove – the transmitter is not waterproof
and may fail if it gets wet.
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7. In a dry environment, undo the black handles and remove the clear battery cover. This has been designed to be
a tight fit to stop water ingress. Insert the two batteries and push home, they click in place. Turn the batteries on –
one short press to check the battery level and then a long press to activate them. Check the clear battery cover for
dirt and clean if necessary and re-grease. Replace the battery cover making sure the arrow on the cover is pointing
towards the sky, it is keyed and can only go on one way. Lock the handles in place and visually check all seals
through the clear battery cover. Clean if necessary.
NOTE: Only use batteries that have similar charge levels.
NOTE: Both batteries need to be installed.
NOTE: Check the O-Ring seals and re-grease if necessary.
NOTE: When activated, battery will chime and LED lights will turn green.
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8. Using the pen magnet swipe over the ARM logo on the rQPOD. The navigation lights will come on and the
thrusters will make a sound. Quickly check that the thrusters are working using the transmitter. Disarm the
rQPOD using the magnet.
NOTE: Do not operate the thrusters in the air for longer than 10 seconds as they are water lubricated.
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9. Place the board in the water carefully and keep hold of it. Use the magnet and swipe over the ARM position,
the navigation lights on the side of the rQPOD should illuminate and the thrusters should make a sound.
Whilst holding on to the side of the Torrent board do a quick check of the thrusters using the transmitter
before deploying.
Navigation light
NOTE: The batteries for the rQPOD have a power-save mode to prevent them from discharging when not
in use. If the thrusters are not turning for 15 minutes, the batteries will enter a power-saving mode and shut
down. They will manually need to be turned back on.
NOTE: The batteries will need to be charged on a regular basis each month, even if they are not being used.
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4. Transmitter Alarms & Tips
4.1 — Steering and Turning
Use the left joystick to navigate the vehicle forward and backward. Use the right joystick to rotate the vehicle left
and right.
4.2 — Fast and Slow Speed Settings
Use the lower left-hand switch to control vehicle speed. Push it forward to go faster and pull it back to go slower.
A warning will come up on the screen if the transmitter is turned on and Switch F is in the high rate position.
4.3 — Signal Strength
The range of the transmitter will vary according to the line of sight and how elevated the user is in relation to the
rQPOD. If both are approximately 1 m (3.28 ft) above ground level the range is approximately 304.8 m (1000 ft)
but this can be increased if the user is elevated. A signal strength indicator is shown below. An audible warning
will be given when the connection is getting weak.
NOTE: If the rQPOD goes out of range it will not stop, but carry on going depending on the last
command received.
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SPEEDSTEERING & TURNING

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4.4 — Telemetry and Servo Information
The telemetry information from the rQPOD is shown the the Radiomaster TX16s display as described below.
VFAS – This is the voltage from the rQPOD batteries and will vary depending on the amount of throttle that is being
applied. A voltage at 17.4 V indicates fully charged batteries and 14.4 V indicates it to be nearly empty when no throttle
is applied. When the propellers are turning, especially at a high speed, there will be a drop in the voltage. An audible
“Battery Critical” alarm will go off if the voltage drops below 14.7 V and the current is less than 2 A.
Tmp1 – This is the internal temperature of the rQPOD housing. Audible alarms are set to go off at temperatures below
5°C (41°F) and above 40°C (104°F). If the temperature alarms are activated, do not continue the operation. Limits are
set based on the warnings for the Lipo batteries.
Batt – This shows the voltage of the handheld transmitter. The battery icon shows trasmitter battery capacity and will
give an audible and visual warning when it is getting low.

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5. Propeller Servicing
Tools Needed:
• 2 mm Allen key
• Small Phillips or Cross head screwdriver
1. Disconnect thruster from the rQPOD to ensure no power is being supplied. Remove the 3 screws that hold the
main body of the thruster to the Kurt nozzle cowling. Gently pull the assembly apart.
2. Remove the 2 Allen screws using a 2 mm hex driver and remove the impeller. Ensure that there is no debris in the
back part of the assembly and also under the stator. Replace the impeller with a new one if needed, ensuring that
the new one has the same rotation. Replace all screws. Do not overtighten.

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6. Troubleshooting
This section provides an approach to establishing the cause of common malfunctions. If the problem cannot be
resolved, please contact YSI Technical Support.
The rQPOD isn’t turning on.
Solution: Check batteries, magnetic arm switch, and fuses. Fuses are located inside the battery chamber and can
be removed using a long screwdriver. Replace with 20 A fuse if the fuse is blown. If it blows again, contact YSI. Fuse
locations are indicated in orange on the diagram below.
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NOTE: A copy of the Transmitter manual is included within the shipment.
NOTE: It is best to adjust the sub trim out of the water just after it has been submerged to ensure the
bearings are lubricated. Do not run the thrusters excessively in the air.
The rQPOD does not steer straight.
Solution: First check that there is no debris in thrusters, especially in the rear cone of the thruster. This will require the
removal of the assembly. If that is all clear, check that the trim switches are all set to zero on the transmitter. If it still
doesn’t steer straight and no wind or currents are affecting the Torrent board, then the sub trim can be adjusted on the
transmitter.

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910214 – MK 2 Complete Thruster
Assembly
911232 – MK 2 Prop 911231 – Skid Guard
911219 – Batteries 911228 – Battery Charger 911226 – Battery Cover
910208 – Transmitter 911230 – Waterproof Glove 910233 – Side Scan Sonar
911204 – Water Quality Mount for
EXO2 and EXO3
SonTek & YSI Instrumentation, HYPACK Software
7. Spare Parts and Accessories

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8. Autonomous Vehicle Services
Your Vehicle to Better Data!
A Vehicle Platform with all of its sensors is a big commitment, and we want to ensure that you get
all the benefits that this great technology has to offer. Please contact YSI if any of the following
services need to be booked with your order.
YSI.com/ServicesYSI.com/Let-YSI-Drive
Factory training when you purchase
a vehicle.
937-767-7241
Refresher training or training for
new users.
[email protected]
Maintenance contracts for all of
your sensors.
Full service packages where our experts
run the technology for you—without
a purchase!
Contact YSI’s Integrated
Systems & Services Team

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9. DJI Phantom 3 Battery Information
APPENDIX 1
Glossary
The following terms are used throughout the product literature to indicate various levels of potential harm when
operating this product.
NOTICE: Procedures, which if not properly followed, create a possibility of physical property damage AND a little or no
possibility of injury.
CAUTION: Procedures, which if not properly followed, create the possibility of physical property damage AND a
possibility of serious injury.
WARNING: Procedures, which if not properly followed, create the probability of property damage, collateral
damage, and serious injury OR create a high probability of superficial injury.
WARNING: Read the entire Phantom 3 user manual to become familiar with the features of this product before
operating. Failure to operate the product correctly can result in damage to the product or personal property and
cause serious injury.
This is a sophisticated product. It must be operated with caution and common sense and requires some basic
mechanic ability. Failure to operate this product in a safe and responsible manner could result in injury or damage
to the product or other property. This product is not intended for use by children without direct adult supervision.
Do not use with incompatible components or alter this product in any way outside of the documents provided by SZ
DJI TECHNOLOGY CO. LTD. These safety guidelines contain instructions for safety, operation and maintenance. It is
essential to read and follow all of the instructions and warnings in the Phantom 3 user manual, prior to assembly, setup
or use, in order to operate the product correctly and avoid damage or serious injury.
NOTE: The precautions and battery information below have been taken from the DJI Phantom 3 Intelligent Battery
Safety Instructions version 1.0.2015.8
All instructions and other collateral documents are subject to change at the sole discretion of SZ DJI TECHNOLOGY
CO. LTD. For up-to-date product information, visit https://www.dji.com/ and click on the product page.
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Intelligent Battery Safety Guidelines
WARNING: To avoid fire, serious injury and property damage, observe the following safety guidelines when
using, charging or storing your batteries.
Battery Use
1. Do NOT allow the batteries to come into contact with any kind of liquid. Do NOT leave batteries out in the rain or
near a source of moisture. Do NOT drop the battery into water. If the inside of the battery comes into contact with
water, chemical decomposition may occur, potentially resulting in the battery catching on fire, and may even lead
to an explosion.
2. Never use non–DJI batteries.
3. Never use or charge swollen, leaky, or damaged batteries. If your batteries are abnormal, contact DJI or a DJI
authorized dealer for further assistance.
4. Never install or remove the battery from the rQPOD when it is turned on. Do NOT insert or remove batteries if the
plastic cover has been torn or compromised in any way.
5. The battery should be used in temperatures from -10°C to 40°C. Use of the battery in environments above 50°C
can lead to a fire or explosion. Use of battery below -10°C can lead to permanent damage.
6. Do NOT use the battery in strong electrostatic or electromagnetic environments. Otherwise, the battery control
board may malfunction and cause a serious accident during flight.
7. Never disassemble or pierce the battery in any way or the battery may leak, catch fire, or explode.
8. Electrolytes in the battery are highly corrosive. If any electrolytes make contact with your skin or eyes, immediately
wash the affected area with fresh running water for at least 15 minutes, and then see a doctor immediately
9. Do NOT use the battery if it was involved in a crash or heavy impact.
10. If the battery falls into water with the rQPOD during a mission, take it out immediately and put it in a safe and open
area. Maintain a safe distance from the battery until it is completely dry. Never use the battery again, and dispose of
the battery properly as described in the Battery Disposal section below. Do NOT heat batteries. Put out any battery
fire using sand or a dry powder fire extinguisher.
11. Do NOT put batteries in a microwave oven or in a pressurized container.
12. Do NOT place loose battery cells on any conductive surface, such as a metal table.
13. Do NOT put the loose cells in a pocket, bag or drawer where they may short-circuit against other items or where
the battery terminals could be pressed against each other.
14. Do NOT drop or strike batteries. Do NOT place heavy objects on the batteries or charger. Avoid dropping batteries
15. Clean battery terminals with a clean, dry cloth.
16. Make sure the batteries are fully charged before each mission.
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