Some todo for me:

<green> means inserting an image

<orange> means a link to an external documentation page

<blue> means a link to something on this page

<purple> means a reference to another page within the AOM

Overview

Quick Reference Guide

ICARUS class aircraft are designed as VTOL-only fixed-wing aircraft, capable of carrying a payload of around 1-3kg.

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Command & Control is given by 915MHz RFD900x modules that transmit and receive telemetry and control link signals. Telemetry is provided by a groundstation computer, but is not necessary for flight. Control link is provided w/a PPM receiver, typically a 2.4ghz receiver paired with a low transmit power module on the radio controller. See Command & Control Center Setup & Configuration for more information on the controller and command station.

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The aircraft offers multiple autonomous flight modes, but the typically used flight modes are QLoiter and FBWA. These are described in depth on the ardupilot docs, and also in the Flight Modes subpage. In short, ICARUS class aircraft are often flown in software controlled modes, with the joysticks in mode 2. The 6 “Flight Mode” switches at the top of the TX16 are configured as follows:

In addition to the 6 typical flight modes, the following lists the 8 total PPM channels that are sent to airside:

Electrical Information can be found on the <Electrical Information> page, while Mechanical Information can be found on the <Mechanical Information> page. Software regarding pilot operation can be found in <Flight Modes>, while the internsa of the software can be found in the 2023 system architecture doc (this is an internal document). The 2023 System Architecture doc is also a good reference if you wish to understand the design considerations made regarding these standards.

Emergency Procedures:

• Imminent Emergency: 911

• Privacy offence: Local police

• Fly away or loss of control - Local Aviation Authority (Refer to CFS)

  • This applies to both vertical and horizontal fly aways

In the event of a control station failure, the following steps should be taken:

• Attempt to restart the transmitter

• Use spare transmitter to communicate to drone

• If unable to establish communication with the drone, follow lost link procedures

• Battery

  • Do not fly if the battery appears dead or a problem is suspected. Puffy batteries should be ignored

• Transmitter should be verified before flight

• Props

  • Ensure in flight worthy condition (ex: no dings, etc)

• Control Surfaces

  • Smooth, verify servo control, pushrod integrity

In the event of an RPA failure, the drone should be disarmed - this will stop all motors. The following steps should be followed:

• Secure the area where the RPA will land

  • Do NOT fly the drone over an area where the RPA can unexpectedly land for this reason. Thus, flying over people is NOT permitted in this drone

• Secure the drone and disconnect the battery

• Do NOT fly the drone until inspected

In the event of loss of transmitter link, the pixhawk will activate return to home mode. If the RTH mode does not engage, initiate fly away procedures

In the event a fly-away occurs (both vertical and horizontal), the following procedures should be taken:

• Attempt to regain communication by following lost link procedures

• If unsuccessful, record last heading, speed, and altitude

  • Additionally, know the last battery level to estimate flight time

• Alert local aviation authorities about new flight path and potential conflicts

The flight may be terminated by disarming the drone - this will stop all motors. This should be used with caution as the aircraft will be rendered inoperable and unable to glide under control.