Carrier H6E, EFI & Hydrone
- Location: Place the drone in an open area, away from any metal objects or large structures that could interfere with the compass readings.
- Environment: Ensure the calibration area is free from electromagnetic interference, which could affect the compass accuracy.
1. Compass Calibration:
Use Mission Planner's compass calibration tool:
Steps:
- Connect the drone to the GCS using telemetry or USB.
- Go to the Initial Setup tab in Mission Planner.
- Select Compass Calibration and follow the on-screen instructions.
- Rotate the drone in all directions as indicated (pitch, yaw, and roll).
- Save the calibration.
2. IMU Calibration:
Use Mission Planner's accelerometer calibration tool:
Steps:
- Place the drone on a flat, level surface.
- In Mission Planner, navigate to Initial Setup > Accelerometer Calibration.
- Follow the on-screen prompts to position the drone in specific orientations (e.g., level, on its side, nose up/down).
- Save the calibration.
Please always reference pre-flight & post-flight checklists for system critical calibrations:
Mission Preparation
- Mission Area Definition: Set takeoff and landing zones, configure waypoints, and verify terrain levels.
- Emergency Planning: Define emergency landing and rally points for power loss or failsafe scenarios.
- Weather and Airspace: Check for max wind speeds (>=25 MPH), review airspace, and apply for LAANC if required.
- Personnel: Station visual observers (VO) for visual line-of-sight (VLOS) and notify all personnel in the area.
- Coordination: Establish a Crew Resource Management (CRM) plan.
- Equipment Readiness: Verify all equipment is fully charged and prepare power/fuel reserves for lengthy missions.
- Final Step: Complete a Pre-Flight Checklist.
Arming and Takeoff
- Site Selection: Choose a flat area free of obstructions like tall grass or trees.
- Configuration: Verify "Loiter" flight mode before arming.
- Arming the Vehicle:
- C-GCS: Throttle down & Yaw Right.
- C-ATLAS: Left Stick Down & Right.
- HereLink: Left Stick Down & Right.
- Confirmation: Confirm "ARMED" status in the Heads-Up Display (HUD).
- Takeoff: Ease throttle up and monitor climb out.
Disarming and Landing
- Positioning: Center the vehicle over the landing area.
- Descent: Reduce throttle and descend slowly until touchdown.
- Disarming: Hold throttle down for 10 seconds until propellers stop; confirm "DISARMED" in the HUD.
Post-Flight Procedures
| Order | Procedure | Post-Flight Inspection |
|---|---|---|
| 1 | Cool down EFI generator in IDLE, then STOP (EFI only). | Check propellers for chipping/delamination; apply socks. |
| 2 | Power down IE Fuel Cell (Hydrone only). | Check boom arms for damage and locking functionality. |
| 3 | Power down peripherals (cameras/LiDAR). | Check motors for debris or grate damage. |
| 4 | Power down drone by unplugging batteries. | Inspect airframe integrity. |
| 5 | Power down Ground Control Station. | Fold landing gear and store in case (Electric only). |
| 6 | Store all components in respective cases. | Align vehicle in case per page 6 diagram. |
Starting and Stopping the Generator - EFI Only
After filling the fuel tank, covered on page 7, press and hold "IDLE" to prepare the generator for start.
Important: Batteries should have a combined voltage between 48V–49.5V before attempting to start the generator.
Starting
To start the generator, repeatedly pull the rope to turn the crankshaft. This may need to be done multiple times, in quick succession, before combustion initiates. Once the generator is idling, allow it to warm up to 60°C. After the generator has warmed up, press and hold "RUN", the generator throttle should now increase. Allow the generator to continue warming up and balance the voltage between the batteries and itself for approximately 60 seconds.
Stopping
To stop the generator, allow the generator to stay in "RUN" mode for approximately 60 seconds after a flight so that it may cool down. Once the cylinder head temperature sensor indicates a temperature of 110°C, press and hold "IDLE". The generator throttle should now decrease. Allow the generator to continue cooling down until it reaches a temperature of 90°C, then press and hold "STOP" to turn off the generator.
Starting and Stopping the Fuel Cell - Hydrone Only
After filling the hydrogen tank, covered on page 7, verify that the "RUN" SD card is inserted into the fuel cell.
Important: Batteries should have a combined voltage between 48V–49.5V before attempting to start the generator.
Starting
With batteries and the hydrogen regulator connected to the fuel cell, press and hold the "START" button (pill shaped) for approximately 3 seconds.
Stopping
Press and hold the "START" button (pill shaped) for approximately 3 seconds.
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