Description of the RPAS
DATE: dd.mm.yy
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INDEX
1.
SCOPE OF THE DOCUMENT ____________________________________________________ 3
2.
DESCRIPTION OF THE RPAS ___________________________________________________ 3
3.
2.1
Technical Data ____________________________________________________________ 3
2.2
Plans and pictures. _________________________________________________________ 4
2.3
Propulsion system. _________________________________________________________ 4
2.4
Electrical plant _____________________________________________________________ 4
2.5
Autopilot. _________________________________________________________________ 4
2.6
RC radio and data links. _____________________________________________________ 6
2.7
Payload elements.__________________________________________________________ 6
2.8
Monitoring information. ______________________________________________________ 6
2.9
Flight termination system. ____________________________________________________ 6
AIRCRAFT OPERATIONAL LIMITS _______________________________________________ 6
3.1
Distance range and autonomy. ________________________________________________ 6
3.2
Take-off and landing. _______________________________________________________ 7
3.3
Speed limitations. __________________________________________________________ 7
3.4
Aircraft operational conditions. ________________________________________________ 7
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1. SCOPE OF THE DOCUMENT
This document contains the description of the RPAS system to be used by ENTITY NAME in the
euRathlon 2015 competition that is being held in Piombino (Italy).
2. DESCRIPTION OF THE RPAS
2.1
Technical Data
Manufacturer
Own manufacture
Aircraft Model
Own manufacture
Serial Number
-
Airframe
8 arms made in carbon fiber and stainless steel
Landing Gear
Two retractable legs with skis
MTOW
8000 g
Payload capacity
3000 g
Batteries
2 LiPo 6S 22,2 V 7000 mAh
Motor
8 electric brushless motors AXi 2820/18 555 W
and 25 A
ESC
Hicopter 30A from Jeti Models
Propellers
Diameter: 14 inches. Pitch: 5 inches. Made in
carbon fiber.
RC Radio
Futaba T14SG 14 channels FASST 2.4 GHz
ezUHF 433 MHz module connected to trainer
port
Autopilot
Pixhawk
Control modes: Position and attitude, only
attitude, manual
Ground Control Devices
RC radio
Ground Control Station software running in
tablet/PC…
Ground Monitoring Devices
Ground Control Station software running in
tablet/PC…
Video and telemetry shown in screen
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OSD MarkII from DJI for telemetry
Command and Control Data Link1
Digital 2.4 GHz Bluetooth data link
Telemetry Data Link
Payload elements2
Visual-range camera
IR camera
On-board PC for data processing
3-axis gimbal made of carbon fiber
Additional batteries for powering payload
elements: 1 LiPo 3S 2200 mAh.
Payload Datalink
Digital 2.4 GHz data link Lightbridge from DJI.
Table 1. Technical Data.
2.2
Plans and pictures.
Here you should include plans and or pictures showing front, lateral and top views of the aircraft.
2.3
Propulsion system.
Describe in detail the elements of the propulsion system (including propellers, motors and ESC) as
listed in Table 1.
2.4
Electrical plant
Describe in detail all the batteries that are used onboard the aircraft and what are they used for.
2.5
Autopilot.
The RPAS uses a DJI A2 autopilot that uses data from the following navigation sensors:

IMU (Intertial Measurement Unit).

Barometric sensor.

GPS receiver.

Magnetometers or magnetic compass.
The autopilot can operate in different control modes:
1
2
Data Link used for sending commands from the Ground Control Station.
Payload elements to be used during euRathlon 2015 competition.
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
Manual mode. In this mode the pilot uses the RC radio for commanding angular rates and
thrust. The autopilot uses the angular rates commanded by the pilot as references for rates
control. The autopilot also set limitations in the angular rates and attitude angles. This mode is
normally used just for acrobatic flights.

Attitude mode. In this mode the pilot uses the RC radio for commanding attitude changes and
thrust. The autopilot uses the attitude changes commanded by the pilot as references for
attitude control. The autopilot stabilizes the attitude of the aircraft continuously. No GPS signal
is needed.

Position and attitude mode. In this mode the pilot uses the RC radio for commanding position
displacements. The autopilot use the position displacements commanded by the pilot as
references for position control. The autopilot stabilizes the attitude of the aircraft continuously.
Position references can also be commanded from the Ground Control Station from a flight
plan. GPS signal is needed to operate in this mode.
Figure 1. Replace the figure with a scheme of your system.
The autopilot also provides the following functionalities:

Course Lock. The autopilot maintains the aircraft pointing at a given direction.
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
Point of Interest. The aircraft flights in circles around a fixed Point of Interest. This functionality
can only be used when GPS signal is available.

Return to Home. When activated, the aircraft flights back to the home point at a constant
altitude and stay hovering on top of it. This functionality can only be used when GPS signal is
available.
2.6
RC radio and data links.
Describe in detail the RC radio elements and the data links used in the RPAS for command and
control, telemetry and payload data management (sending commands to the payload elements and
sending payload data to the ground).
2.7
Payload elements.
Describe in detail the elements of the payload listed in Table 1.
2.8
Monitoring information.
Describe in detail the information that is available to the RPAS operator on the ground (e.g. aircraft
position, velocity and attitude, battery levels…) and how this information is displayed (e.g. Ground
Control Station software, screen with video and OSD information, etc. Screenshots shall be included
in this section.
2.9
Flight termination system.
Describe what does the RPAS when the crash button is pushed. This could be just switching off all the
motors, or could include additional devices such as parachutes.
3. AIRCRAFT OPERATIONAL LIMITS
3.1
Distance range and autonomy.
The aircraft can fly for 10 minutes with the nominal payload elements described in Table 1. The
autopilot can be configured to restrict the distance between the aircraft and the home point and set a
limit for the maximum altitude above the ground level. The maximum distance between the aircraft and
the home point will be about 200 meters and the maximum altitude above ground level will be
restricted to 50 meters.
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3.2
Take-off and landing.
The RPAS is VTOL so take-off and landing operations are performed vertically from and to any flat
surface. Therefore, a runway is not needed for taking-off and landing.
3.3
Speed limitations.

Maximum climb rate and descent speed: 6 m/s.

Maximum speed: 15 m/s.

Maximum roll/pitch angle: 35º.

Maximum angular speed: 150º/s.
3.4
Aircraft operational conditions.

Maximum wind speed: 8 m/s.

Temperature operational range: -5º C to +60º C.

The RPAS cannot operate in rain/snow conditions.

The RPAS cannot operate when the meteorological conditions can cause the formation of ice.

The RPAS cannot operate in low-visibility conditions (e.g. foggy days).