Bramor User Manual

BRAMOR USER MANUAL
LA TES T MA N U A L C AN BE A CCES S ED FR OM T HE C 3 P S OFTWA R E
Ver. DN-07-0005-03
Ajdovscina, 12/10/2018
Copyright © C-Astral 2011-2018
This manual is deemed original only as it is in this version published by C-Astral d.o.o., Ajdovscina.
Should third-party translations to other languages contain any discrepancies and mistakes, C-Astral d.o.o.,
Ajdovscina cannot be held accountable for those mistakes.
USER MANUAL
CONTENTS
1 Overview of UAVs ................................................................................................................................ 6
1.1 Bramor ppX ..................................................................................................................................... 7
1.1.1 Sensors ppX ......................................................................................................................... 8
1.1.2 Ground Control Station SX-101 ........................................................................................ 12
1.1.3 Technical data ................................................................................................................... 17
1.1.4 Astraltrack Manual antenna ............................................................................................ 18
1.1.5 Transport package ............................................................................................................ 20
1.2 Bramor C4EYE .............................................................................................................................. 21
1.2.1 Sensors C4EYE .................................................................................................................. 21
1.2.2 Ground Control Station KJ-200 ........................................................................................ 22
1.2.3 Ground Control Station Radical 40X ................................................................................ 23
1.2.4 Technical data ................................................................................................................... 23
1.2.5 Transport package ............................................................................................................ 25
1.3 Options and Extras........................................................................................................................ 27
1.3.1 Base station Altus NR2 ..................................................................................................... 27
1.3.2 Emergency Beacon Locator ............................................................................................. 31
2 Operational limitations .................................................................................................................... 40
2.1 Weather limitations ...................................................................................................................... 41
2.1.1 Wind ................................................................................................................................... 42
2.1.2 Cloud coverage.................................................................................................................. 42
2.2 Flight duration .............................................................................................................................. 43
2.3 Take-off requirements ................................................................................................................. 43
2.4 Landing area requirements ......................................................................................................... 44
2.5 Center of gravity ........................................................................................................................... 45
3 C-Astral Pilot C³P software ............................................................................................................. 46
3.1 Main window.................................................................................................................................. 47
3.2 Start simple ................................................................................................................................... 48
3.3 Install C³P...................................................................................................................................... 59
3.4 Navigational Display ..................................................................................................................... 59
3.4.1 Home point ........................................................................................................................ 59
3.4.2 Rally point .......................................................................................................................... 61
3.4.3 Take Off point .................................................................................................................... 63
3.4.4 Land point .......................................................................................................................... 64
3.4.5 Waypoint ............................................................................................................................ 67
3.4.6 Target Point ....................................................................................................................... 70
3.4.7 Context menu .................................................................................................................... 70
3.4.8 Warnings............................................................................................................................ 71
3.5 Command buttons ........................................................................................................................ 72
3.5.1 Home mode ....................................................................................................................... 72
3.5.2 Take Off mode ................................................................................................................... 72
3.5.3 Navigation mode ............................................................................................................... 73
3.5.4 Rally mode ......................................................................................................................... 73
3.5.5 Land mode ......................................................................................................................... 73
3.5.6 Loiter mode ....................................................................................................................... 74
3.5.7 Manual mode ..................................................................................................................... 76
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3.5.8 Safe mode .......................................................................................................................... 77

3.6 Vital commands ............................................................................................................................ 78
3.6.1 Sensor init ......................................................................................................................... 78
3.6.2 Upload waypoints .............................................................................................................. 79
3.6.3 Parachute pop and reset .................................................................................................. 80
3.6.4 Altitude override................................................................................................................ 81
3.6.5 Speed override .................................................................................................................. 82
3.6.6 Download waypoints ......................................................................................................... 82
3.7 Mission planner ............................................................................................................................ 83
3.7.1 Offline use.......................................................................................................................... 88
3.7.2 Draw ................................................................................................................................... 88
3.7.3 Map................................................................................................................................... 100
3.7.4 Hide waypoints ................................................................................................................ 103
3.7.5 Clear all and Delete point ............................................................................................... 103
3.7.6 Undo and Redo ................................................................................................................ 104
3.8 Primary Display .......................................................................................................................... 105
3.9 Log panel ..................................................................................................................................... 106
3.10 Mission Data panel ..................................................................................................................... 109
3.10.1 Digital Elevation Model ................................................................................................... 111
3.11 Flight Data panel......................................................................................................................... 112
3.12 Flight Plan table.......................................................................................................................... 112
3.13 Flight summary ........................................................................................................................... 113
3.14 Configuration .............................................................................................................................. 114
3.14.1 UAV ................................................................................................................................... 115
3.14.2 GCS................................................................................................................................... 119
3.14.3 LOGS ................................................................................................................................ 119
3.14.4 Maps................................................................................................................................. 120
3.14.5 Folders ............................................................................................................................. 121
3.14.6 Units ................................................................................................................................. 121
3.14.7 Language ......................................................................................................................... 121
3.14.8 Settings ............................................................................................................................ 121
3.15 Camera settings.......................................................................................................................... 122
3.15.1 Manual/Auto switch ........................................................................................................ 122
3.15.2 Camera on/off ................................................................................................................. 122
3.15.3 Photos .............................................................................................................................. 123
3.16 Post processing .......................................................................................................................... 128
3.16.1 Post processing window ................................................................................................. 129
3.16.2 Post processing steps .................................................................................................... 130
3.16.3 Base station placed on unknown point .......................................................................... 131
3.16.4 EXIF and XMP data .......................................................................................................... 137
3.17 Video commands ......................................................................................................................... 137
3.17.2 Gimbal extend/stow ........................................................................................................ 139
3.17.3 Camera type .................................................................................................................... 139
3.17.4 Laser illuminator ............................................................................................................ 139
3.17.5 Convoy following mode ................................................................................................... 139
3.17.7 Pursue mode ................................................................................................................... 140
3.17.8 Tracking ........................................................................................................................... 140
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3.17.9 Image settings ................................................................................................................. 141

3.17.10 Zooming ........................................................................................................................... 142
3.17.11 Recording ........................................................................................................................ 142
3.17.12 Snapshots ........................................................................................................................ 142
3.17.13 Position lights.................................................................................................................. 142
3.17.14 Pilot view.......................................................................................................................... 143
3.18 Zoom in/out ................................................................................................................................. 143
3.19 Open and Save............................................................................................................................. 143
3.20 Map toggle ................................................................................................................................... 144
3.21 Preflight procedures .................................................................................................................. 145
3.22 About............................................................................................................................................ 145
4 UAV flight guide .............................................................................................................................. 146
4.1 How to use the checklist ............................................................................................................ 146
4.2 ppX checklist explanation .......................................................................................................... 147
4.2.1 Office Checklist ppX ........................................................................................................ 147
4.2.2 Pre-flight checklist ppx .................................................................................................. 148
4.2.3 In-flight Checklist ppX .................................................................................................... 153
4.2.4 Landing Checklist ppX .................................................................................................... 154
4.3 C4EYE checklist explanation ...................................................................................................... 154
4.3.1 Office Checklist C4EYE ................................................................................................... 155
4.3.2 Pre-flight checklist C4EYE ............................................................................................. 155
4.3.3 In-flight Checklist C4EYE ............................................................................................... 161
4.3.4 Landing Checklist C4EYE ............................................................................................... 162
4.4 Failsafes and emergency situations.......................................................................................... 163
5 Parachute ....................................................................................................................................... 165
5.1 Parachute components .............................................................................................................. 165
5.2 Parachute Untangling ................................................................................................................ 167
5.3 Parachute folding ....................................................................................................................... 168
5.4 Attaching parachute to UAV ....................................................................................................... 181
5.5 Parachute Storing ....................................................................................................................... 185
6 Catapult........................................................................................................................................... 186
6.1 Elastic Catapult CAT1 ................................................................................................................. 186
6.2 Catapult Safety ............................................................................................................................ 187
7 Charging the batteries ................................................................................................................... 189
7.1 Charging the computer or tablet ............................................................................................... 190
7.1.1 Panasonic CF-19 ............................................................................................................. 190
7.1.2 Getac F110 ....................................................................................................................... 191
7.2 Charging with Ultra Duo Plus .................................................................................................... 192
7.2.1 Charging the LiPo UAV battery with Ultra Duo Plus..................................................... 192
7.2.2 Charging the GCS SX101 NiMH battery pack with Ultra Duo Plus .............................. 198
7.2.3 Charging the Pneumatic Catapult PB battery with Ultra Duo Plus ............................. 205
7.2.4 Charging the astral track antenna NiMH battery pack with Ultra Duo Plus ............. 209
7.3 Charging with Makita Charger ................................................................................................... 214
7.3.1 Charging the Makita batteries ....................................................................................... 214
7.4 LiPo batteries storage and cycling with Ultra Duo Plus .......................................................... 217
7.4.1 Storing the LiPo battery pack with Ultra Duo Plus ....................................................... 218
7.4.2 Cycling the LiPo battery pack with Ultra Duo Plus ....................................................... 225
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8 Training agenda.............................................................................................................................. 232

8.1 ppX Training ................................................................................................................................ 232
9 Accident report protocol ................................................................................................................ 235
9.1 Accident report form .................................................................................................................. 235
10 Symbols and terminology .............................................................................................................. 236
11 Warranty ......................................................................................................................................... 239
12 About C-Astral ................................................................................................................................ 240
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1 OVERVIEW OF UAVS
The C-Astral UAV's are based on a blended wing body modular airframe, with the emphasis on the smallest
possible T/O weight, advanced aerodynamics, electric propulsion, endurance, ergonomic and user friendly
ground control station, durability and mobility. The airframe is manufactured with CAD/CAM technology from
advanced composite materials (Kevlar / Carbon / Honeycomb combination) that provides a high level of sur-
vivability. The airframe allows for multiple payload combinations and endurance/range options, including an
optional on-board video and data recorder.
The system can be safely operated by one operator/pilot in command, but a crew of two is desirable for situa-
tional awareness purposes and where regulations require so.
The sensor modularity is ensured by the modular construction of the airframe, which allows for multiple pay-
load combinations and endurance/range options, including an on-board video and data recorder (EO/IR gim-
bal, fixed orthophotography DSLR camera and a lower cost front/side looking EO or IR combination, advanced
environmental monitoring sensors).
The system consists of the air vehicle with the chosen sensor fuselage package, a foldable catapult and a GCS
unit.
The whole system fits into two rugged transportation cases or two backpacks with the ground control station
terminal embedded in an industry standard rugged enclosure and is flight ready in less than five minutes.
IMPORTANT: Overall knowledge of handling this system is acquired on the basis of this manual and by attend-
ing the C-Astral theoretical and field training. The minimum safety requirement for safe flight and use is
achieved only when the crew completes the basic training, training validation and has been issued a C-Astral’s
operators certificate.
Bramor ppX airframe.
Bramor C4Eye airframe.
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1.1 Bramor ppX

The BRAMOR ppX (GNSS PPK - Post Processing Kinematic) UAS is ideally suited for surveying and remote
sensing applications that need a fast high precision set of results, down to sub-centimeter GSD level also in
the absence of a grid of ground control points.
The system is comprised of an air and ground segment, consisting of a state of the art GNSS on board receiver
and ground base station, the BRAMOR ppX blended wing body modular airframe with a lot of sensor options,
a portable and ergonomic rugged ground control station and catapult launcher. The BRAMOR ppX UAS com-
bines high precision autonomous operations with data acquisition, turbulent air penetration and stability with
long endurance.
Technical data Specification

Wingspan 230 cm
Length 96 cm
Center module length 67 cm
Wing Area 67 dm2
Engine brushless
Onboard Power 2 x 4S LiPo 11 Ah
Empty Weight 1,5 kg
T/O Weight 4,2 kg
Maximum T/O Weight 4,9 kg
ppX airframe - Technical data.
Flight parameters Specification

Optimal Cruise Speed 16 m/s (58 km/h, 32 kts)
Maximum horizontal speed 22 m/s (79 km/h, 43 kts)
Stall speed 13 m/s (43 km/h, 23 kts)
Maximum rate of climb 5 m/s (960 fpm)
Endurance up to 180 minutes
Command & Control RF 868 MHz or 902-928 MHz
Command & Control range up to 30 km LOS
Take-Off Autonomous (Catapult Launch)
Navigation Autonomous (Waypoints)
Landing Autonomous (Parachute Landing)
Emergency failsafe User pre-programmed
ppX airframe - Flight parameters.
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1.1.1 Sensors_ppX
Bramor ppX can use different type of sensors for data acquisition. It can carry different types of EO cameras,
multispectral or hyperspectral cameras and even Gas analyzers.
1.1.1.1 24.3 MP RGB Sensor

The RGB APS-C 24.3 megapixel sensor enables precise visible light survey grade mapping, aero-photogram-
metry and dense point cloud data acquisition for digital terrain models, digital surface models, volume and
stockpile calculations. With 30 mm and optional 19 mm optics, sub-centimeter GSD acquisition is enabled.
Feature Value
Effective megapixels 24.3 Mp
On board storage SD card 32 GB+
Lens type 30 mm or 19 mm
Camera Size 120 mm x 67 mm x 45 mm
Sensor Format APS-C
Sensor size 23.50 mm x 15.60 mm
Pixel pitch 3.92 microns
ppX 24.3MP RGB Sensor
1.1.1.2 42 MP RGB Sensor

The full frame 42 megapixel sensor is an upgrade to default 24.3 Mp sensor. Better sensor allows precise
work in low light conditions. It comes with integrated 35 mm F2 lens.
Feature Value
Lens type 35 mm
Sensor Format Full frame
ppX 42.2MP RGB Sensor
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1.1.1.3 24.3 MP APS-C NDVI Sensor

The 24,3 CIR/NDVI sensor is suitable for data acquisition in the NIR spectra, which can be processed into NDVI
and eNDVI products. With the sub-centimeter GSD, single plant and micro-area focus is enabled, resulting in
decision making support for precision agriculture, forestry, plant deconvolution and similar.
o Sub centimeter GSD in the near infra-red and infra-red spectra
o Data acquisition for precise vegetation surveying, models and plant deconvolution
o Completely exchangeable with the RGB sensor
o Change detection on a sub cm GSD level
o Multiple NIR and IR band filters
Feature Value
Lens type 30 mm or 19 mm
Sensor Format APS-C
ppX 24.3MP NDVI Sensor
1.1.1.4 MS-SQ Multispectral Camera

EMS-SQ ultralight multispectral camera, self-calibrated using Sunshine sensor.
The compact MS-SQ sensor can be carried simultaneously with one of C-ASTRAL’s high resolution sensors
and features four narrowband filters optimized for analyzing crop health and a 16 MP RGB imager for easy
digital scouting. Its irradiance sensor and integrated GPS make it an accurate, compact and calibrated tool for
precision agriculture.
o 4 spectral bands, 10 bits Global shutter
o Self-calibrated using the Sunshine sensor
o Ground Sample Distance 12,4 cm Monoband, 2,7 cm RGB
o Capture Rate: 1 per second
o RGB Camera 16 MP Rolling shutter
o 64 GB Memory / IMU + Magnetometer + GPS
o Configuration over Wi-Fi
Feature Value
Effective megapixels 16 Mp RGB and 4x 1.2 Mp multispectral sensors
On board storage Built in 64 GB+
Sunshine Sensor Size 47 mm x 39.6 mm x 18.5 mm
Sensor Format 4608x3456 pixels RGB and 1280x960 pixels Single
bands
Bands Green (550 BP 40), Red (660 BP 40), Red Edge (735
BP 10), Near infrared (790 BP 40)
RGB Field of view HFOV: 63.9°, VFOV: 50.1°, DFOV: 73.5°
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Feature Value
Single Band Field of view HFOV : 61.9°, VFOV : 48.5°, DFOV : 73.7°
ppX MS- SQ Sensor
1.1.1.5 MS-RE Multispectral Sensor

Advanced, lightweight, provides accurate multi-band data for agricultural remote sensing applications.
The BRAMOR ppX mounted MS-RE sensor simultaneously captures five discrete spectral bands, enabling the
creation of tailored indices for high end vegetation mapping. Its irradiance sensor and integrated GPS make it
an accurate, compact and calibrated tool for precision agriculture.
o 5 spectral bands: Blue, green, red, red edge, near IR
o Calibrated for precise, repeatable measurements
o Ground Sample Distance: 8,0 cm per pixel at 120 m AGL
o Capture Rate: 1 per second
o Narrowband optical filters provide full imager resolution for each band
o 32 GB Memory: Single SD card stores all images with geotags
o Wi-Fi capable device web-based interface
Feature Value
Effective megapixels 5 x 1.2 Mp multispectral sensors
On board storage SD card 32 GB
Lens type 5.5 mm
Sensor Size 4.8 mm x 3.6 mm
Sensor Format 1280 x 960 pixels
Bands Blue (475 BP 20), Green (560 BP 20), Red (668 BP
10), Red Edge (717 BP 10), Near infrared (840 BP 40)
Field of view HFOV : 47.2°
ppX MS- RE Sensor
1.1.1.6 gAS Sensor - GasFinder

Advanced laser mass spectrometer for pipeline and environmental monitoring.
Methane detection down to 0.5 ppm, detection of +7cm pipeline subsidence, tunable laser for detection of other
greenhouse gases, such as C02.
The gAS sensor option on the ppX aircraft is a unique an extremely capable high resolution, excellent selec-
tivity long range methane leak detection system, based on a proven DFB tunable diode laser absorption spec-
troscopy system adapted to UAS use from larger manned platforms. Developed in collaboration with gas de-
tection industry leaders Boreal Laser and C-ASTRAL partners Ventus Geospatial, this system revolutionizes
pipeline, oil and gas well and other methane and noxious gases detection and compliance operations.
o Remote molecular level gas detection down to 0,05 ppm CH4
o Plume estimation and mapping
o 1 reading per second, default alarm 10ppm
o No consumables, minimum sensor maintenance
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Feature Value
Scan rate 3 readings/sample per second
Camera Size 165 mm x 120 mm x 80mm
Accuracy < 0.5 ppm (CH4)
Default Alarm 10 ppm
ppX gAS Sensor
1.1.1.7 gHY Hyperspectral sensor

This novel, innovative gHY sensor captures spectral information in VIS-VNIR spectral range with single expo-
sure and enables mosaicking with photogrammetric software. The sensor provides real response in each pixel
without interpolation. This high end sensor is, due to it’s spectral range, especially suitable for uses in agri-
culture, forestry and water research for unrivaled results and precision.
Feature Value
Focal length 9 mm
Sensor Format CMOS, 5,5 * 5,5 microns / pixel
Sensor Size 4.8 mm x 3.6 mm
Image resolution 1024 x 1024 pixels
Spectral ranges 500-900 nm, 400-700 nm, 450-800 nm, 550-950 nm
Spectral resolution: >10 nm, FWHM
Spectral step 1 nm
Dynamic range 12 bits
GSD at 100 m AGL 6.5 cm
Spectral bands ~ 380 max
Exposure time 0,06-3000 ms
Frame rate 30 frames/s
Field of view FOV: 37°
ppX gHY
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1.1.2 Ground Control Station SX-101

SX-101 GCS is a small portable GCS. GCS connects to either tablet PC or computer via Bluetooth. The GCS
comes factory preconfigured to connect to the tablet. If needed to reconnect to the tablet following instruc-
tions here.
GCS SX-101 - Details:1. OMNI Antenna, 2. Antenna connector, 3. Power ON/OFF

switch, 4. Charging\External port, 5. Voltage indicator
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1.1.2.1 Setting GCS SX 101

The SX 101 is connected to the tablet PC via Bluetooth (BT). Here are the instructions on how to connect one
to the other.
1. Turn on the GCS (Power ON/OFF switch).
2. Turn on the Tablet PC by pressing the green button.
Turn on the computer
3. Go to Settings/Devices/Bluetooth and other devices.
Manage Bluetooth devices on the computer
4. Make sure Bluetooth is enabled.
BT enabled
5. Select "Add Bluetooth or other device" button.
Add BT device
6. Select Bluetooth type.
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List BT devices
7. Select device named GCSxxxxxxxxx (the name is written under GCS on serial sticker).
Add GCS device
8. Enter pin 1032 and press Connect
Connect to the BT device
9. The message "Your device is ready to go!" should appear
BT device is connected
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10. In Settings/Devices/Bluetooth and other devices

click on "More Bluetooth options" and "Bluetooth
Setting" window should appear.
BT Settings
11. Select "COM Ports" tab.
COM ports in use
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12. Select "Incoming Port" for device named

GCSxxxxxxxxx (the name is written under GCS on
serial sticker) and delete this port. Confirm.
Delete Incoming COM port from the list
13. Open C³P

14. Go to Settings
15. In the UAV tab select the option "Autopilot" and in the drop down menu select the same port (example
COM3) as outgoing port for the GCS.
16. The connection between Tablet PC and GCS is now established. This setting will become default setting
once the C³P is closed.
17. To verify the connection the UAV has to be turned on as well.
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1.1.3 Technical data

Wingspan 230 cm
Length 96 cm
Wing Area 67 dm2
Engine brushless
Empty Weight 1,5 kg
T/O Weight 4,2 kg
Command & Control RF 868 MHz or 902-928 MHz
up to 8 km omni-directional antenna and up to 30
Command & Control range
km LOS with directional antenna
ppX airframe - Technical data.

Total flight distance up to 170 km
Area coverage up to 10 km2
Maximum operational wind speed (landing) 12 m/s
Typical flight altitude AGL 80 m – 300 m
ppX airframe - Flight parameters.
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1.1.4 Astraltrack Manual antenna
Manual Antenna - Details: 1. Antenna, 2. Tripod
Manual Antenna - Details: 3. GCS holder 4. Antenna connector
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1.1.5 Transport package
ppX airframe – Transportation box, fuselage compartment. ppX airframe - Transportation box, wings compartment.
Transportation Weight* [kg] External size L x W x H [cm]

ppX airframe transportation box 22 122 x 52 x 28
ppX airframe transport package - Specification. *
Weight depends on the optional enhancements and other additional equipment.
Catapult - Transportation box.

Catapult transportation box 26 122 x 52 x 28
Catapult transport package - Specification.
*Weight depends on the optional enhancements and other additional equipment.
Manual Antenna - Transportation box.

Manual antenna transportation box 18 87 x 37 x 43
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ppX airframe transport package - Specification. *Weight depends on the optional enhancements and other additional
equipment.
1.2 Bramor C4EYE

The field proven BRAMOR C4EYE UAS line is appropriate for operations where real-time or near real time
video observation and surveillance capability is of utmost importance. With an endurance of up to 3 hours, a
standard data and payload link of 40 km or the optional MANET digital communications capabilities.
The UAV can be launched in a couple of minutes and can transmit live real time video and UAV location. Dif-
ferent modes enable either autonomous or user assisted flying. Payload enables video transmission up to 30
km LOS.
1.2.1 Sensors_C4EYE
Bramor C4EYE can be equipped with either EYE-X or EYE- X HD 2.
1.2.1.1 EYE-X
EYE X gimbal is continuous 360 pan rotating gimbal.
Feature Value
Mount Belly mount
EO Resolution 640 x 480
Thermal Camera Resolution 640 x 480
Zoom Digital zoom on 10 MP EO imager (10x) and 5x digi-
tal zoom on Thermal imager
Laser Illuminator 100mW
Weight 210 g
EYE X Gimbal
1.2.1.2 EYE-X HD 2
EYE X HD gimbal is belly mounted gimbal capable of transmitting HD video.
Feature Value
Mount Nose mount
EO Resolution 1280 x 720
Thermal Camera Resolution 640 x 480
Zoom x20 + x2 digital, (total x40) continuous zoom
Laser Illuminator optional
Weight 180 g
EYE X Gimbal
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1.2.2 Ground Control Station KJ-200
GCS KJ-200 - Details: 1. Antenna connector, 2. OMNI antenna (Lollipop), 3. Power ON/OFF switch, 4. Makita batteries, 5.
Voltage indicator, 6. Laptop charging switch, 7. External 12 V DC connector, 8. 15 A Fuse, 9. Docking leaver, 10. Docking
lock, 11. Joystick, 12. Laptop, 13. Direction button, 14. VGA External. A - Pilot View, B - Loiter Now, C - Zoom in, D - Zoom
out, E - Camera Switch, F - Camera Control.
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1.2.3 Ground Control Station Radical 40X
Radical Antenna 40X - Details:1. Magnetometer, 2. GNSS Antenna, 3. Directional antenna, 4. Mounting screws, 5.
Tripod, 6. Power supply box, 7. Makita batteries, 8. Antenna cable, 9. Ethernet cable, 10. Laptop, 11. External power
To control the camera USB gamepad is used. Gamepad connects to the laptop or any other computer.
1.2.4 Technical data

Wingspan 230 cm
Length 96 cm
Wing Area 67 dm2
Engine brushless
Empty Weight 1,5 kg
T/O Weight 4,2 kg
C4EYE airframe - Technical data.
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Command & Control RF 868 MHz, 902-928 MHz or 1775-1815 MHz, 2200-
2250 MHz
Command & Control range up to 40 km LOS
C4EYE airframe - Flight parameters.
Sensor Specification
Sensor EYE-X sensor
Sensor type EO, Thermal IR, laser illuminator
Sensor resolution 10 Mp EO, 640 x 480 Thermal IR
Sensor zoom control TTL Level Input
Focusing auto focus
Stabilization Gyro stabilized, electronic
Pan 360 degree continuous rotation
Tilt -20 to 115 degrees
Dimensions diameter 85 mm
C4EYE airframe - EYE-X Sensor Gimbal.
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1.2.5 Transport package
C4EYE airframe - Transportation box, fuselage compartment. C4EYE airframe - Transportation box, wings compartment.

C4EYE airframe transportation box 26 122 x 52 x 28
C4EYE airframe transport package - Specification.
Catapult - Transportation box.

Catapult transportation box 26 122 x 52 x 28
Catapult transport package - Specification.
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Backpacks.

Backpacks 7.5 CAT 120 x 50 x 45
12.5 AIR 127 x 50 x 40
Backpacks - Specification.
Radical Antenna- Transportation box.

Radical antenna box 41 90 x 55 x 43
Radical antenna - Specification.
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1.3 Options and Extras

1.3.1 Base station Altus NR2
NOTE: This option is for Bramor ppX.
Base station Altus NR2/3 is default base station sold with Bramor ppX as optional upgrade of the system. It's
lightweight and portable, uses Li-ion batteries that could last up to 6 hours. User friendlies with advanced web
user interface allows it to be set up in minutes and ready for logging. The receiver could be used for multiple
purposes, but in Bramor ppX system is sole role is base station for rover on the UAV.
1.3.1.1 Switching WiFi on/off

The easiest way to configure the Altus NR2 is using the Web Interface over WiFi.
1. If the WiFi radio is already switched on, the WiFi LED will
be lit (green).
2. If the WiFi LED is not lit, press the Power Button twice
briefly. The WiFi LED will switch on, indicating it is now ac-
tive.
3. If the WiFi LED is orange, the receiver is configured as a
WiFi client and you will only be able to connect to the unit
using the USB cable.
WiFi On/Off
1.3.1.2 Connecting to the Web Interface

The Altus NR2 can be fully configured and monitored using the Web Interface. Any WiFi device that supports a
web browser can connect to the Altus NR2 via the Web Interface. The Altus NR2 identifies itself as a wireless
network or an access point by default. The procedure to connect to the Altus NR2 over WiFi is given in the
steps below.
1. Wait till Altus NR2 has fully booted after switching on (about 20 seconds).
2. Make sure that the front-panel WiFi LED is lit indicating WiFi is enabled.
3. On your device, find the wireless network named ‘Altus NR2-Serial Number where ‘Serial Number’ is the
7-digit serial number of the Altus NR2. No password is set by default.
4. Open a browser and type the IP 192.168.20.1 in the address bar. The browser will land on the ‘Overview’
page of the Web Interface.
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1.3.1.3 Setting the base station position

A rover receiver in RTK mode calculates a position relative to the Base station receiver. For this reason, it is
always recommended to use a properly surveyed position for the Base station receiver.
Set the Base station position as static
To work as a base station, the position of the Altus NR2 should be static. The ‘Satic’ position mode should be
selected in the ‘GNSS’ tab as shown in Figure below.
Base station position
1.3.1.4 Logging SBF and NMEA data

Data can be logged on the internal 8 GB disk of the Altus NR2 in either SBF (Septentrio
Binary Format) and/or NMEA messages (National Marine Electronics Association). Next section shows in
details how to download data logged on the receiver.
Basic logging configurations
Logging of SBF and/or NMEA data can be configured in the ‘NMEA/SBF Logging’ window as shown below. To
set up a logging session you should:
1. Select ‘on’, in the Enable Logging field
2. Select ‘SBF’ data format
3. Click the icon to start the logging configuration wizard. In the example shown below, the SBF blocks
necessary for Rinex generation have been selected for logging at 1 Hz.
4. In the ‘SBF Logging Parameters’ field, you can select the naming convention. The ‘IGS’ options name files
according to IGS convention but files can also be freely named using either the ‘FileName’ or ‘Incremen-
tal’ options
5. Click ‘Ok’ to apply the settings
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NMEA/SBF logging configuration
1.3.1.5 Downloading logged data from the receiver

The collected data can be stored on the internal disk. The data can be retrieved over WiFi using the Web In-
terface or over USB using the data cable.
Using the Web Interface
1. Click on the Logging tab
2. All the recorded files are shown in the File Explorer
3. Click the in the Download column to download the file to the browser’s download directory
4. Obsolete files can be deleted by clicking the next to the file
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Download logged data
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1.3.2 Emergency Beacon Locator

VHF tracker system is used to locate Bramor in case of remote landing. Battery inside VHF tracker lasts for
at least two days (low battery) up to five days (full battery). VHF tracker system consist of antenna and tracker.
Antenna is installed inside Bramor fuselage and should be turned on before every flight. Antenna tracker must
be configured before first use. For normal use Bramor does not need antenna tracker, but it can be used for
additional help to find UAV in field.
1.3.2.1 First Use

For switching “On”/”Off” the receiver, press power button for 3 seconds.
Opening the antenna transmitter
The antenna transmitter is opened by a magnet. Just bring the magnet close to antenna transmitter (power
symbol) and hold it for a few seconds. The lights should come on. If the lights located near the power sign are
blinking the antenna transmitter is on.
Store a transmitter in the receiver memory
1. Press OK to open menu and you will find the option “Transmitters”, confirm it by pressing the OK button,
and then confirm the option “add” by pressing the OK button again.
2. In the following screen you should introduce the transmitter frequency.
3. The receiver will show by default the first two digits of the frequency (43_._ _MHz). These two first digits
will remain the same.
4. Use the lateral keys to select the digits corresponding the full frequency which appears in the transmitter
(the frequency is written on the antenna transmitter). Confirm each digit by pressing the OK button (ex:
433.150 MHz).
5. Once the frequency has been introduced, confirm pressing OK and follow the steps as appear in the screen
to calibrate the transmitter (place the antenna on the transmitter).
6. When the calibration is finished, in the screen will appear “TRANSMITTER ADDED”, press OK button to
enter name (ex: BRAMOR).
7. Now you need to introduce the name assigned to the transmitter: Use the keys to browse through and
select every single letter on the screen, pressing OK to save.
If you need to help other users in their searches and the transmitter is not available for an automatic calibra-
tion, you must introduce manually the frequency.
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1.3.2.2 Installation of antenna transmitter

Antenna transmitter should be turned on before every flight and should be placed inside a transmitter hole
in fuselage cover. It’s fastened into place by an O-ring rubber or it can be placed with a help of a cable tie.
Installation of antenna transmitter- Parts.
1. First place antenna transmitter threw a hole in fuselage cover.
Installation of antenna transmitter-Place transmitter threw the hole.
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2. Then place O-rings onto antenna.
Installation of antenna transmitter- Place O-ring.
3. Place O-ring tightly near the hole, to hold antenna transmitter in place.
Installation of antenna transmitter- Tighten O-ring.

4. Also cable tie can be used.
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Installation of antenna transmitter- Cable tie.
5. Clip off the rest of cable tie.
Installation of antenna transmitter- Clip off rest of cable tie.
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1.3.2.3 Parts of the receiver and transmitter
Parts of the antenna and receiver
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Data readings
Operation details
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1.3.2.4 Searching with receiver

When the transmitter has been recorded in the receiver and calibrated, go to “search” screen (default
screen). On the bottom of the screen the name and frequency of the transmitter we are searching will ap-
pear. Please ensure it is effectively the transmitter you want to track.
Each signal pulse from the transmitter is received audibly through the loudspeaker and visually on the smit-
ter bar. At more gain more signal will be received. Therefore, begin at the maximum level to receive the first
signals from the transmitter.
When you approximate the target, the level of signal will increase. When the level increases, reduce the
value of the gain. The smitter should be always about half of the scale. Use the visual scale marks below the
screen as a guide. If the signal increases on getting closer to the transmitter, reduce the gain to return it to
half the smitter scale.
The numerical value will be displayed on the top of the screen (values between 0 to 99), it will be updated
when we change the gain and when the signal of the transmitter is received.
This system is very useful to compare the intensity of the signal coming from different directions.
Radio tracking
Radio tracking system allows the user to locate the target and to recover it even if the distance is upper few
tens of kilometers
The expansion of the radiation signal is generated along the antenna as shown in the picture below.
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For maximum signal reception the receiver should be oriented so that the antenna must be to that of the
transmitter. Once the frequency is tuned it is possible to begin radio-tracking.
Turn around 360º to find out which is the correct direction; you will notice a stronger signal level.
Please remember:
o The correct way to use the receiver is to place it horizon-
tally on the palm of the hand and hold it with the fingers.
o Don't touch the antenna when holding the unit.
o Make sure the correct antenna has been selected. You
would be using the internal antenna when the option corre-
sponds to the antenna fitted on the receiver. The external
antenna is an optional device that must be installed
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Increase the gain as much as possible and scan with the re-
ceiver held flat and turning 360º to receive the first signal
pulses.
If the signal level is the same in all the directions reduce the
gain to half the smitter bar. If necessary, readjust the gain
level and repeat the scan to verify that the correct direction is
being followed. And so on successively until finding the trans-
mitter.
o The transmitter antenna may be positioned vertically, hori-
zontally or inclined to the receiver antenna. This is why it is
important to move the receiver antenna in all directions:
horizontal, vertical and inclined.
o The R1+ must be behind the user’s body. (Otherwise, the
radio-tracking mode would not be able to distinguish be-
tween incoming signals from the front and the back.)
o The range of the receiver is much greater if you track from
hills or other elevated areas. Even something as simple as
lifting it above your head may be enough to add several kil-
ometers to its range.
1.3.2.5 Beacon Locator Maintenance

Antenna tracker system Calibration
Be aware that the transmitter frequency may suffer variations due to temperature and environmental
changes. Therefore we advise you to make a calibration after long time of no use or change of season (win-
ter/summer).
The function is activated by pressing the OK button and selecting TRANSMITTER menu. Then by selecting
added transmitter and pressing OK button a menu will open. Select CALIBRATION, press OK and follow the
instructions.
The calibration function tests automatically the system and precisely calibrates the unit by scanning a band-
width of 3 KHz, on both sides of the central frequency written on the transmitter being tuned, thus ensuring
good tuning even though transmitter has deviated by up to 3 KHz.
It is important during the execution of this function, to be at least 5 meters away from any source of radio
frequency (other transmitters, mobile telephones, electricity grids, cars, etc.) to prevent interference prob-
lems.
Even if we don´t have the transmitter we can do the adjustment from the searching screen. With the up and
down keys frequency could be increased/decreased digit by digit (100 Hz by 100 Hz) to the exact point of
maximum reception.
We advise you to make the “Test” outdoors with environmental conditions as similar as possible to the con-
ditions you find when you operate the device to avoid changes on the frequency.
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2 OPERATIONAL LIMITATIONS
Flight Operation Operational limits and ranges
Maximum flight altitude above mean sea level 4500 m MSL
Minimum flight altitude above ground 45 m AGL
Flight time (for ppX airframe) from dawn until dusk (i.e. 20 minutes before sunrise
at flight position and 20 minutes after sundown at
flight position)
Flight duration/autonomy up to 180 min in nominal conditions
Take-off space requirements 50 m x 100 m
Minimum suggested parachute landing surface re- 100 m x 100 m
quirements
General flight limitations.
Airspeed Label Speed limits

Stall Speed VST 13 m/s
Best Endurance Speed VBE 16 m/s
Design Cruise Speed VC 16 m/s
Maximum Parachute Deployment VPD 19 m/s
Speed
Speed limitation in the C³P soft- PROGRAMMED LIMIT 22 m/s
ware
Never Exceed Speed VNE 28 m/s
Airspeed limitations.
WARNING: On high altitude take-off positions (higher than 2500 m above mean sea level), on hot or humid
days, always take-off in the wind direction and check propeller size. For more details refer to the figure Density
altitude restrictions below.
WARNING: During the flight ensure LOS to the UAV to have good communication with the UAV. Flying without
communication is dangerous and can lead to destroyed UAV. Communication is needed to transfer the terrain
data and to activate the low altitude failsafe.
WARNING: Climbing to higher elevations must be done gradually. Climb in small steps (50m to 100m) to avoid
overheating the engine and damaging the propulsion system. Between the climbs rest for at least 30s time.
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Density altitude restrictions.
2.1 Weather limitations

IMPORTANT: It is strictly prohibited to fly into clouds, stormy or rainy weather. Flight into IMC conditions is
prohibited.
NOTE: Weather conditions monitoring should start two days before flight operations.
Weather conditions Limitations

Wind speed on ground Max. 8 m/s
Wind speed on flight altitude Max. 12 m/s
Minimum operating air temperature -10,0 °C
Minimum sensor temperature 0 °C
Maximum operating air temperature +45 °C
Humidity 5% - 95%
Visibility more than 1 km
Cloud Coverage Flight into clouds is prohibited (please read more
about cloud coverage in the section below)
Prohibited weather conditions Fog, Rain, Snow
Prohibited environmental conditions Mud, Water
Weather limitations.
IMPORTANT: Cloud coverage will create a diminished luminosity and earth radiance situation, so sensor
data could be affected. Flight into clouds is strictly prohibited. Clouds are dangerous and flying into them can
result in total system loss due to icing, extreme turbulence and signal attenuation.
IMPORTANT: UAV prior the flight must be set up in shade on a hot day. The UAV during the flight will cool
itself down to be able to fly in operational limitations.
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2.1.1 Wind
Wind strength is measured in-flight with IMU/GPS calculations and is visualized inside C³P control software
for flight purposes. However, the wind on the ground should be measured with anemometer before each flight
and should be less than 5 m/s for stable flight and stable video image.
NOTE: Wind is always stronger higher in the air because of the wind gradient. If speed on the ground is 3 m/s
you can assume 5 m/s at 100 m AGL.
Wind speed and flying height diagram.
2.1.2 Cloud coverage

Cloud coverage usually doesn’t influence flight by itself if not connected to wind strength or approaching
storms. If you observe an approaching weather system with storm conditions the weather situation could
change within minutes and safe flight conditions cannot be met anymore. It is of utmost importance to land
immediately if any potential signs of an approaching storm system are observed.
If it starts to rain during the flight you should immediately return to the home position and land as soon as
possible. Water intrusion in the pitot system is a potential hazard and sensor failure with loss of control can
occur.
There is also a possibility of GPS attenuation due to cloud coverage. If you can achieve at least 8 fixed satellites
during cloud conditions before takeoff, the conditions are, as GPS is concerned, deemed safe for takeoff.
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2.2 Flight duration

Flight endurance depends on the mission profile and maneuvers. Climbing and loitering requires more
power. Typical flight with a 300 m for ppX airframe and 200 m for C4EYE airframe climb after takeoff, 30%
time loiters and 70% level flight without extra climbing can last up to 180 minutes. Exposing batteries to very
low air temperatures can also significantly reduce flight time.
2.3 Take-off requirements

Bramor UAV takes off with the use of catapult. The catapult's main purpose is to accelerate the UAV to it's
cruise speed. After this the UAV is able to normally fly on its own.
When setting up the catapult ensure that catapult is leveled on the ground. If the angle of launching is incor-
rect the C³P software will inform the user of the wrong catapult angle. Correct angle ensures that the UAV
will have enough power launching the UAV to achieve the desired speed.
Ensure you are launching the UAV into the wind. Headwind helps the UAV to come up to speed faster and
prevents stalling at launch.
Follow the checklist and make sure that the catapult is armed in less than one minute prior to launch if us-
ing elastic catapult. Elastics slowly loose power and will not produce same force if left armed for prolonged
period of time. If the checklist is followed exactly weakened force will not be a problem.
Ensure that you are not launching the UAV into obstacles or towards higher elevation. Ensure safe launch for
all present personnel and safety for the UAV itself. This can be done by launching in open spaces with ap-
proximately 200 to 300 m in front of the catapult.
Catapult Takeoff
IMPORTANT: It is very important that the take-off is performed upwind and not downwind. Never take-off in
the direction of a road, house, trees or other obstacles. There should be enough open space to climb out to
safe altitude (point T). Always place T point at least 200 m away from the catapult upwind.
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2.4 Landing area requirements

Parachute landing is the normal landing procedure for the BRAMOR UAS. More landing space offers more
safety, however a 100 m x 100 m field should be considered the minimum space to perform a safe landing.
o Place Rally point in open area to allow the UAV safe descend.
o Make sure no obstacles are between Rally and Parachute Pop point.
o Place L point in clear area to allow the UAV safe landing.
IMPORTANT: L point is only approximate point calculated form the current wind speed and direction. The
actual landing may vary from the actual point.
Landing area
IMPORTANT: Parachute used in Bramor UAV has to be folded according to the instructions found here
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2.5 Center of gravity

IMPORTANT: Replacing or moving parts or any structural or weight modification on the Bramor airframe will
result in unstable flight. Always use the original C-astral LiPo battery. Battery pack should always be on des-
ignated position.
Ensure that the aircraft is properly balanced. An incorrect CG

will cause the aircraft to be unstable during flight and could
create hazardous conditions. The location is precisely meas-
ured and it is 26 cm from the point marked on the sketch be-
low. CG has stickers marking its position.
IMPORTANT: The CG should be checked every 10th flight or if

there is a harder landing which may influence weight distri-
bution and result in a change of CG.
Center of gravity is measured on the bottom of

the airframe.
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3 C-ASTRAL PILOT C³P SOFTWARE

Welcome to C-Astral Pilot C³P Help Space.
With C-Astral Pilot C³P software you can plan your UAV flight missions, control the flight and collect geospa-
tial data.
The best way to learn something is by actually doing it, so we suggest you to start learning through the sim-
ple mission planning guide in our Start simple chapter. You will create simple flight plan, simulate the flight
and perform the basic commands you must be familiar with in order to fly your UAV.
Software features
o Ergonomic touch screen GUI
o Seamless and fast mission planning
o In-flight systems monitoring
o Area, mission time, GSD and precision estimation
o Failsafes management
o System health monitoring
o Real-time camera feedback
o Critical flight control data is always present on screen
o Speech synthesis in the form of warnings and flight information
o Export of a flight plan in Google Earth and KML import
And many more functions.
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3.1 Main window
Program Main Window - Parts of the main window.
Autopilot commands
Command buttons
Vital commands
Plan your mission, draw a flight plan and adjust mission settings
Mission planner
Settings
Camera settings
Monitoring data and autopilot messages

Primary display
Log panel
Mission data panel
Flight data panel
Flight plan table
Zoom and save options
Map zoom in/out
Open/save
Toggle between two maps
Quick map toggle
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3.2 Start simple

Here we are, at the beginning of creating a simple flight plan that will help you become familiar with the C-
Astral Pilot C³P software.
In this tutorial we will work in simulation mode. We will choose the location and then create the flight plan.
After that we will simulate the flight.
1. Install C³P
Install C-Astral Pilot C³P software. In case of any problems please refer to Install section.
2. Run C³P
Now you should be able to see Jump To Location dialog (opens automatically at the start of the program). In
this dialog you will select the location of your flight plan.
For the purpose of this tutorial please select the default location (C-Astral) from the PREVIOUS list. C³P soft-
ware will zoom into the desired location.
NOTE: In case you are not connected to the Internet you should input Lat Long coordinates of the place
"45.902428, 13.877565".
Location where you are going to plan flight mission.
Simulation mode should be enabled by default.
NOTE: Please check speakers volume on your computer in order to hear audio messages.
Notice "Simulation enabled" notification on Log panel ( + audio).
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Log Panel - Notification.
3. Take-off and landing settings

Once you are positioned on the desired location you should see the four circle markers in the center of the
map. These points represent take-off and landing parameters for your UAV.
In Take-off mode UAV will fly from launching position to Take-off (T) point
where it will loiter (circle around) and wait for the next command.
In Land mode the UAV will fly to Rally (R) point, descend and then fly to Para-
chute (P) point where the parachute will be opened.
It will land in Land (L) point.
Home (H), Take-off (T), Rally

(R) and Land/Parachute (L/P).
Observe data on MISSION DATA PANEL. Observe Elevation field.
On the Mission data panel check that Elevation is available.

Digital elevation model is downloaded from C-Astral server and re-
quires Internet connection. Otherwise you will see "Elevation: ---"
which means that it was not possible to load elevation data for the
visible map portion.
WARNING: If Elevation is not available please refer to the chapter

Digital Elevation Model.
Mission parameters.
If Elevation is available altitude above ground level (AGL) and mean sea level (MSL) of Home, Take-off, Rally
and Parachute points are visible in Flight Plan table as shown on the picture below.
For the purpose of this tutorial please use the current settings for these positions.
Click on the FLIGHT PLAN TABLE button to open the Flight Plan table.
Open table
Right-click on the points on the map (waypoint) or left click on the table row opens waypoint settings dialog.
For the purpose of this tutorial please use the current settings for these positions.
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Flight Plan Table - List of waypoints with parameters.
4. Draw a flight plan

Press DRAW button. This will open draw menu where you can choose from different drawing options.
Select AREA PTS button that will allow you to add area you are going to fly.
Draw Menu - Area drawing mode is selected.
Left-click on the map to add area points.

Add 4 area points. In case you are not satisfied with the area
use Undo/Redo buttons or press "Clear all" button to delete all.
Notice that after the third point is added area is filled out with
the flight lines. Area is recalculated each time a new area point
is added to the map.
BLUE lines represent area lines.
ORANGE lines represent flight lines and define the path that
the UAV will follow while flying above the area.
ORANGE CIRCLE with a number inside represents a waypoint.
There is a waypoint on each end of a flight line and in our ex-
ample there are 8 waypoints altogether. The first and the last
one in the sequence are marked with orange circles.
Left-click/tap area line or area point to select it. Selected area
line or area point is highlighted. You can move it to some other
position. When an area line is selected and moved the flight
lines are recalculated.
Simple Flight Plan - Using area drawing mode.
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TIP: Flight lines are parallel to the selected area line. To change the orientation of flight lines just select an
area line (blue line) and slightly move it. The first waypoint is set near the side of the area which is closer to
the position where the area line was selected with the mouse pointer.
Select your mission (click on one of the area lines) and press MISSION SETTINGS but-
ton to inspect or change selected area mission settings.
Waypoints parameters (altitude, speed, etc) are configurable in Mission Settings dia-
log. Mission settings dialog for the selected area is shown in the picture below. For
Mission settings.
the purpose of this tutorial you can leave the predefined values.
NOTE: For C4Eye UAS Mission Settings dialog will differ from the one displayed in the picture below.
Mission settings dialog - ppX airframe.
Flight Plan table shows waypoint' altitude and speed parameters as well as coordinates and loiter radius if
exists. UAV is going to fly at the altitude of 200 m above ground level (AGL) with the air speed of 16 m/s. UAV
is flying in relative altitude mode which means that the height of the UAV is going to be adjusted for each
flight line in order to maintain the altitude of 200 m above ground level.
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Flight Plan Table - Showing new waypoints created by drawing of area.
5. Initialize sensors
Press SENSOR INIT button.
Before take-off you must initialize the sensors. This will calibrate the pitot
tube, static pressure, set Home position and check the system for poten-
tial faulty readings.
Sensor Init.
NOTE: The button is red and blinking warning you that you must calibrate the sensors. After calibration its
color will become gray.
Press OK button. Sensor Calibration dialog is opened. For now just leave the default value (15 °C) and select
OK.
Sensor Calibration - Select current temperature and calibrate UAV's sensors.
Notice "GNSS Home initialized" and "Pressure initialized" (+ audio) notifications on Log panel.
Log Panel - Notifications.
Notice "All sensors passed" notification on Log panel ( + audio).
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Log Panel - Notifications.
6. Upload waypoints
Press UPLOAD WAYPOINTS button.
Upload the flight plan to the UAV.
NOTE: The button is red and blinking warning you that the flight plan is dif-
ferent from the one on the UAV. After the upload its color will become
Upload to the autopilot.
gray.
Notice "Waypoints uploaded" notification on Log panel ( + audio).
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7. Take-off
Press TAKE OFF button.
After successful sensor initialization and upload of the flight plan you can take-off.
Take-off mode.
When TAKE OFF button is pressed first message Preparing

for Take Off is show. in real flight message ready for Take Off
will be shown and after this the operator could pull the cata-
pult release.
Information - Preparing for Take Off.
In take-off mode UAV will fly from launching position (in our
example Home (H) point) to Take-off (T) point where it will cir-
cle around it and wait for the next command.
Take-off Mode - UAV loiters around T point.
Observe data on PRIMARY DISPLAY. You can monitor your UAV current altitude above ground level (AGL), air
speed, UAV's climb rate, communication strength and GNSS signal strength, UAV's battery status, UAV's
throttle and wind information.
Primary Display - Monitoring primary flight data.
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Observe data on FLIGHT DATA PANEL.
Flight Data Panel (toggle panel) with additional information about the
current UAV position. Observe current UAV's ground speed, altitude
above launch position (HAL), altitude above ground level (AGL), mean
sea level altitude (MSL), desired altitude, time to target (destination
point), distance and time to Home point.
Desired altitude of the UAV in T point is T point MSL which is 220 m
in our example. UAV's target is Take-off point.
Monitoring flight data.
8. Navigate
Press NAVIGATE button.
In navigation mode the UAV flies towards the destination waypoint (in our example to-
wards the 1. waypoint of the area). Desired altitude of the UAV is changed to the MSL
altitude of the 1. waypoint (Flight Data Panel).
Navigation mode.
Take-off (T) point is not accessible anymore once the mode was changed from Take-off mode to some other
mode (like Navigation).
Currently active (destination) waypoint is highlighted with the
green square (see picture).
After reaching the 1. waypoint UAV continues to fly to each
consecutive waypoint (destination waypoint is always high-
lighted with the small green square).
After the last waypoint the UAV automatically returns to
Home position and remains there until you select the next
command.
IMPORTANT: It is important that you monitor Primary Display

data and Flight Data Panel during the flight and ensure
safety/situational awareness.
Navigation Mode - UAV flies towards the first

waypoint.
In the Flight Plan table destination/selected waypoint is highlighted with green color. In the picture below it
is visible that the UAV is flying towards the 1. waypoint. MSL of the destination waypoint (waypoint towards
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which the UAV is heading) is the desired altitude of the UAV, visible on the Flight Data panel under DESIRED
ALT field.
Click on the 1. waypoint row in the Flight Plan table opens the dialog with the waypoint properties as dis-
played below. During the flight it is possible to press FLY TO button to direct the UAV to the desired waypoint.
Waypoint dialog - Fly To command.
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9. Camera
If flying with the ppX UAS (default setting) camera will start triggering once the UAV has reached the 1. way-
point. Camera is triggering while UAV is flying over the area and is turned off when UAV is outside the area
(automatic camera mode). Camera settings are explained in Photos section.
NOTE: For C4Eye UAS Camera functions are not accessible. When C4Eye airframe is selected Video func-
tions will become visible.
Camera triggering is enabled by default for ppX UAS. It can be disabled by pressing
on the toggle button Camera On/Off. Camera triggering sound is enabled by default
and you will be able to hear camera triggering.
Camera On/Off
To show photos coverage press PHOTOS button, SHOW PHOTOS. To hide photo projection press SHOW PHO-
TOS again.
Photos menu during the flight - Show photos
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10. Land
Press LAND button.
You can either wait for UAV to return to Home point and then press land command or
you can press land during navigation mode.
Land mode.
In land mode the UAV flies to Rally (R) point, descends to pre-
set “brake” altitude and then flies to Parachute (P) point
where the parachute is opened. The UAV lands in Land (L)
point.
Land Mode - UAV flies from R point to P point and

lands in L point.
When flying from Rally to Land point notice "Final approach" notification on Log panel ( + audio).
When the parachute is deployed notice "Parachute deployed" notification on Log panel ( + audio).
After landing it is important to save the photo's log file (OPH log file). After log file is saved (please check
section Clear Log) it is safe to delete it from the UAV. Press PHOTOS button, CLEAR PHOTO.
Photos menu after landing - Clear Log
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3.3 Install C³P

System requirements
PC or Tablet running Windows OS from version 7 to version 10.
Always install all the latest Windows updates for your system before installing C-Astral Pilot C³P.
To view flight plans in 3D viewer install Google Earth or similar software that supports KML files. You can
download Google Earth from the official Google website.
Install and uninstall
To install C-Astral Pilot C³P start the installer and follow the instructions.
To uninstall open Windows Control Panel, find Programs and Features section. Select option "Uninstall a
program" and in the displayed list of programs select C-Astral Pilot C³P. Click Uninstall.
Automatic update
After the program is installed on your PC, it will be updated automatically. If a new version is available for
download you'll be notified when the program starts. If you decline upgrade then upgrade notifications will
be postponed for 1 week.
NOTE: Automatic update will not be performed in case of slow Internet connection. If this is the case, please
update it manually.
Manual update
Check for updates by opening Windows "Start" menu, go to "All Programs". In the list select "C-Astral"
folder and click "Check for C-Astral Pilot C³P updates" entry.
Having problems
If you are experiencing problems during the program install/uninstall please contact C-Astral support team.
3.4 Navigational Display

3.4.1 Home point
Home point is the position of the UAV in the moment when the GNSS lock is acquired. Home position is also
the position to which the UAV flies in case the Failsafes are triggered (Loss of Communication and Low Bat-
tery level Failsafes) and must be located in the place where you can easily retrieve the UAV.
Home position is locked during the pre-flight phase and cannot be moved to some other
location on the map. The UAV is launched from this position. After take-off Home point
can be moved.
Home
WARNING: Position of Home point can be changed during the flight. Consequently, the launch point and the
Home point will have different coordinates and mean sea level (MSL) altitudes. Height above launch (HAL)
value of the Home point will be no longer 0 m but some positive or negative value, depending whether the
point is moved to the higher or lower position relative to the launch point.
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USER MANUAL
Click on Home point and move it to the desired position or place

Home point through the context menu.
Home position is uploaded to the UAV autonomously each time
Home point is moved.
Home - Move the marker to change H

point position.
Select the circle around Home point and drag it to change its ra-
dius.
Once the communication between C³P and the UAV is established
the change of radius will trigger Upload Waypoints button to start
blinking. After Upload Waypoints button is pressed new loiter ra-
dius will be uploaded to the UAV.
IMPORTANT: Changing of Home loiter radius while in Home mode

has no effect on the current UAV flying path. You can update it
Home - Change loiter radius. while in Home mode but in order for change to take effect you
must switch to some other mode and go back to Home mode. This
is the limitation of the current autopilot.
Parameters
Home parameters are settings used by the autopilot in Home mode. These settings are uploaded with the
flight plan using Upload Waypoints button. Adjust the parameters as described in the above chapter Home
Position. Adjust display units in Settings, Units tab.
WARNING: Terrain elevation should be checked on a topographic map. In some cases DEM does not have
correct values or any values (when flying outside of the covered area) which can lead to an unsafe situation.
If this is the case you should adjust altitudes of waypoints in Mission Settings/Waypoints dialogs according to
the information from topographic map.
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USER MANUAL
3.4.2 Rally point

Rally point defines the position to which the UAV flies before it will start its final approach and land.
If Rally point altitude above ground level (AGL) becomes too low Ground proximity warn-
ing markers will appear around the point.
Rally point
WARNING: In Rally point UAV can descend to low altitudes. Rally should be selected with extreme caution.
Click on Rally point and move it to the desired position or place

Rally point through the context menu.
the change of Rally point position will trigger blinking of Upload
Waypoints button. After Upload Waypoints button is pressed new
Rally position will be uploaded to the UAV.
Rally Point - Move the marker to

change R point position.
Select the circle around Rally point and drag it to change its radius.
the change of radius will trigger blinking of Upload Waypoints but-
ton. After Upload Waypoints button is pressed new loiter radius
will be uploaded to the UAV.
Rally Point - change loiter radius.
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USER MANUAL
Parameters
Double-click on the rally point (or click the entry in the Flight Plan table) to open the settings dialog.
Rally parameters are settings used by the autopilot in rally mode. These settings are uploaded with the flight
plan using Upload Waypoints button. Adjust display units in Settings, Units tab.
Rally Dialog.
NOTE: The UAV will fly in the straight line from Rally (R) position to Parachute (P) position. Because of this
both points must be on the same MSL altitude. This is automatically adjusted when you are changing either
one of them.
Parameter Value
Altitude AGL Min: Conditioned with the requirement that Parachute point must be at
least 45 m above ground level (AGL).
Max: Conditioned with the requirement that Parachute point can be at
most 60 m above ground level (AGL).
Air speed Min: Value depends on the selected airframe.
Max: 22 m/s
Loiter radius Min: 100 m
Max: 200 m
Altitude MSL Mean sea level altitude of R point.
Parachute AGL Current altitude value of Parachute point (P).
Fly to Command UAV to set the autopilot in rally mode. Fly To command is auto-
Available during the flight. matically uploaded to UAV.
Rally parameters.
If Rally point altitude above ground level (AGL) becomes too low Ground proximity warning markers will ap-
pear around the point.
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USER MANUAL
3.4.3 Take Off point

Take-off position is the location to which the UAV flies after the launch.
Take-off point altitude is a value from a range between 100 m and 200 m above Home
(launch) mean sea level (MSL) altitude. This insures that the UAV will always take-off
upwards. If Take-off point altitude above ground level (AGL) becomes too low Ground
Take-off proximity warning markers will appear around the point.
Take-off point is removed from the map once the UAV changes flying mode from Take-
off mode to some other mode (Navigation mode, Home mode etc.).
Click on Take-off point and move it to the desired position or place

Take-off point through the context menu.
the change of Take-off point position will trigger Upload Waypoints
button to start blinking. After Upload Waypoints button is pressed
new Take-off position will be uploaded to the UAV.
Take-off - Move the marker to change

T point position.
Select the circle around Take-off point and drag it to change its ra-
dius.
the change of radius will trigger Upload Waypoints button to start
blinking. After Upload Waypoints button is pressed new loiter ra-
dius will be uploaded to the UAV.
Take-off - change loiter radius.
Notice red warning markers in case of take-off up the hill
WARNING: It is not advisable to take-off uphill. Warning red mark-

ers appear on the line between launch and Take-off point if terrain
is rising according to Digital Elevation model.
Red circles on the take-off trajectory

warn you about the uphill take-off.
Parameters
Double-click on the take-off point (or click the entry in the Flight Plan table) to open the settings dialog.
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USER MANUAL
Take-off parameters are settings used by the autopilot in Take-off mode. These settings are uploaded with the
flight plan using Upload Waypoints button. Adjust display units in Settings, Units tab.
Take-off Dialog.
NOTE: Take-off point dialog is not accessible after the take-off.
Parameter Value
Altitude AGL Min: Conditioned with the requirement that Take-off point must be at
least 100 m above Home point mean sea level (MSL).
Max: Conditioned with the requirement that Take-off point can be at the
most 200 m above Home point mean sea level (MSL).
Max: 22 m/s
Max: 200 m
Altitude MSL Mean sea level altitude of T point.
Take-off parameters.
If Take-off point altitude above ground level (AGL) becomes too low Ground proximity warning markers will
appear around the point
WARNING: Terrain elevation should be checked on a topographic map. In some cases, DEM does not have
3.4.4 Land point

Parachute point defines the position were UAV automatically deploys the parachute to land. Land point de-
fines the point were UAV lands on the ground.
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USER MANUAL
Purple marker shows the predicted UAV's landing (L) position according to current
wind speed and direction.
Predicted landing
pos.
Click on the Land point and move it to the desired position or place
Parachute and Land points through the context menu.
the change of Land/Parachute points position will trigger blinking
of Upload Waypoints button. After Upload Waypoints button is
pressed new Parachute position will be uploaded to the UAV.
Land Point - Move the marker to

change P/L points position.
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USER MANUAL
Parameters
SEE ALSO: Rally Parameters
Double-click on the land point (or click the entry in the Flight Plan table) to open the settings dialog.
Rally and Parachute parameters are settings used by the autopilot in land mode. These settings are up-
loaded with the flight plan using Upload Waypoints button. Adjust display units in Settings, Units tab.
Parachute dialog.
Parameter Value
Altitude AGL Min: 40 m
Max: 65 m
Max: 22 m/s
Max: 200 m
Altitude MSL Mean sea level altitude of P point.
Parachute AGL Current altitude value of Parachute point (P).
Fly to Command UAV to set the autopilot in land mode. Fly To command is auto-
Available during the flight. matically uploaded to UAV.
Land parameters.
The UAV will fly in the straight line from Rally (R) position to Parachute (P) position. Because of this both
points must be on the same MSL altitude. This is automatically adjusted when you are changing either one of
them. Selected value depends on the current wind conditions (if the wind is not strong you can pop up the
parachute on the higher altitude).
If Rally point altitude above ground level (AGL) becomes too low Ground proximity warning markers will ap-
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USER MANUAL
3.4.5 Waypoint
Waypoint is the position in physical space where UAV will change the direction, speed or altitude along the
desired path. For air navigation waypoint coordinates include longitude, latitude and altitude.
Flight plan is created by adding waypoints to the map. Draw section explains different
ways of adding waypoints.
Waypoint.
WARNING: If waypoint altitude above ground level (AGL) becomes too low Ground proximity warning mark-
ers will appear around the point.
NOTE: It is possible to upload up to 230 waypoints to the autopilot.
Flight line
Flight line specifies the trajectory followed by the UAV to reach
destination Waypoint from the preceding one.
Click on the Waypoint point and move it to the desired position.
Flight Line - UAV flies from the 1. Way-

point to the 2. Waypoint following the
flight line.
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USER MANUAL
Parameters
NOTE: Newly added waypoints use parameters set in Mission Settings dialog. Individual waypoints (WAY PTS
menu) can be also modified through the dialog shown in the picture below.
Double-click on the waypoint (or select a row in the Flight Plan table) to open the settings dialog.
Waypoint parameters are settings used by the autopilot in navigation mode. These settings are uploaded to
the autopilot using Upload Waypoints button. Adjust display units in Settings, Units tab.
Waypoint dialog.
Waypoint dialog.
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USER MANUAL
Parameter Value
Coordinates Enter coordinates of the waypoint (change position). Adjust coordinates
format in Settings dialog, Units tab.
Altitude AGL Min: Equals Minimum Height Above Ground setting.
Max: 3000 m setting.
Max: 22 m/s
Max: 3000 m
Loitering time Min: 00:00:00 h/m/s
Max: 03:00:00 h/m/s
NOTE: This funcion is for C4EYE only.
Loiter type Different shapes of loiter ( Circle, Racetrack and Fuigure8)
NOTE: This funcion is for C4EYE only.
Altitude MSL Mean Sea Level altitude value of a waypoint.

Fly to Sets current waypoint as UAV's desired target. Fly To command is auto-
Available during the flight matically uploaded to UAV.
Direct antenna to Directs antenna tracker towards selected waypoint coordinates.
Available with antenna tracker
connected NOTE: Used when UAV's control is taken over between multiple GCSs.
When UAV is approaching and the communication is not yet established
the button will be available. Once antenna tracker is oriented towards the
approaching UAV and the communication is established the button will be
hidden from the dialog.
Waypoint parameters.
If waypoint altitude above ground level (AGL) becomes too low Ground proximity warning markers will ap-
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USER MANUAL
3.4.6 Target Point

NOTE: This is C4EYE feature only.
Target point is the position shown on map where UAV is commanded to look at with gimbal. When pressed
Target Gimbal Here from Context menu, the UAV will turn the gimbal on the desired position.
Target Point can be either positioned on the map from context menu or by selecting Up-
date Target in Video window.
Target Point.
3.4.7 Context menu

Right click (press and hold) on the map to open the context menu.
Context Menu
Function Description
Place Home Position Home point on the map.
Place Take-off Position Position point on the map.
Place Rally and Land Position Rally and Parachute/Land points on the map.
Loiter here Position Loiter point on the map.
Target gimbal here Gimbal target will be highlighted in pursue mode and the UAV will loiter
around it.
Revert to uploaded Revert the flight plan to the state when it was last uploaded on the UAV.
Flight summary Open Flight summary dialog.
Context menu functions.
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USER MANUAL
3.4.8 Warnings
Different warnings may appear before take off, preventing the operator from launching the UAV. This warn-
ings are designed to prevent any different potentially hazardous situations.
Warning Window.
Warning message Description

INCORRECT SETTINGS DETECTED! Setup on your UAV is not correct. Please contact C-astral for further
PLEASE CONTACT C-ASTRAL SUP- support.
PORT.
FLIGHT PLAN NOT COMPATIBLE Created flight plan was made for different platform. Delete the flight
WITH SELECTED AIRFRAME TYPE. plan and make a new flight plan again.
TAKE OFF NOT POSSIBLE, UAV Can not send command to the UAV. UAV not connected. Can not pro-
NOT CONNECTED. ceed to next stage.
TAKE OFF NOT POSSIBLE, CHECK Sensor Init procedure must be made before take off.
SENSOR INIT.
TAKE OFF NOT POSSIBLE, UPLOAD Need to upload flight plan to the UAV.
WAYPOINTS FIRST.
TAKE OFF NOT POSSIBLE, RESET Parachute servo must be in reset position before take off.
THE PARACHUTE.
TAKE OFF NOT POSSIBLE, CHECK Before takeoff the fail safes must be non active. Check if fail safe status
FAILSAFE STATUS. was triggered.
PLEASE CHECK THE FLIGHT PLAN, Designed flight plan may have waypoints too close to the terrain.
SOME WAYPOINTS ARE UNDER Please recheck the flight plan and design a new one.
MINIMUM HEIGHT ABOVE
GROUND!
Elevation model may be incorrect or missing for this area. Flight plan
ELEVATION OFFSET TOO HIGH
designed on elevation model may be incorrect.
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USER MANUAL
3.5 Command buttons

3.5.1 Home mode
WARNING: If the current UAV's altitude is below the defined Minimum Go Home Altitude while flying towards
Home point, the UAV will climb to this altitude.
In Home mode the UAV immediately starts to fly to Home point (H) and loiters around
Home point with the current UAV's mean sea level (MSL) altitude and air-speed. The
UAV circles around H point with the default radius of 100 m.
Home mode.
3.5.2 Take Off mode

In take-off mode the UAV immediately starts to fly to Take-off point (T) and during the
flight adjusts its altitude to the defined take-off altitude and the defined take-off
speed.
The UAV loiters around T point with the default radius of 100 m. Take-off point is re-
Take-off mode
moved from the map once the UAV changes flying mode from Take-off mode to some
other mode (Navigation mode, Home mode etc.)
When TAKE OFF button is pressed first message Preparing

for Take Off is shown. Next message that appears is Ready for
Take Off. Only after message Ready for take off appears the
operator can proceed with releasing the catapult.
Information - Preparing for Take Off.
After message Ready for take off appears, then the UAV can
be safely launched.
Information - Ready for Take Off.
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USER MANUAL
WARNING: If ready for take off message does not appear, do not continue with launch. The confirmation
(UAV is ready and waiting for launch) was not received yet.
3.5.3 Navigation mode

WARNING: If the current UAV's altitude is below the defined Minimum Height Above Ground value, the fail-
safe is triggered and the UAV climbs to the defined safe altitude.
In navigation mode the UAV immediately starts to fly towards the location of the des-
tination waypoint. Destination waypoint is the current destination of the UAV and it is
highlighted with green square.
The UAV continues to fly to consecutive waypoints and always adjusts its altitude and
Navigate mode.
speed to suite the current destination waypoint settings. After the last waypoint the
UAV can return to Home position or start navigation again from the first waypoint. You
might need to override the UAV's speed and altitude to suite the current conditions.
3.5.4 Rally mode

WARNING: If the current UAV's altitude is below the defined Minimum Go Home Altitude while flying towards
Rally point, the UAV will climb to this altitude.
In rally mode the UAV immediately starts to fly to Rally point (R) and loiters around
Rally point with the current UAV's mean sea level (MSL) altitude and air-speed. The
UAV circles around R point with the default radius of 100 m.
Rally mode.
3.5.5 Land mode

WARNING: In Rally, before landing, UAV can descend to low altitudes. Rally should be selected with extreme
caution.
NOTE: Cancel landing ether by selecting home mode (most common), navigation mode or rally mode.
In land mode the UAV will first fly to Rally point (R) with the defined rally speed hold-
ing the last commanded altitude. The UAV then loiters around Rally point and de-
scends to the defined rally altitude - Break altitude (the altitude at which the UAV
flies towards P point and opens the parachute). Once it reaches Break altitude it will
Land mode.
fly towards P with the parachute point speed. In P point the parachute is automati-
cally deployed and the UAV lands in L point.
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USER MANUAL
NOTE: Altitude override is not allowed in land mode.
3.5.6 Loiter mode

Loiter mode is useful for users who want to stop the current mission and order the UAV to loiter (orbit)
around a certain spot.
Loiter mode can be used to maintain the UAV in same area for safety reasons. This
mode is available on the program's main window after take-off.
If Loiter point altitude above ground level (AGL) becomes too low Ground proximity
Loiter point. warning markers will appear around the point.
IMPORTANT: Loiter mode and all changes in loiter parameters are automatically uploaded to UAV and ap-
plied.
To place Loiter point press Loiter button (or place Loiter through
the context menu).
Click on Loiter point and move it to the desired position.
After Loiter position is changed the new value is automatically up-
loaded to UAV and applied.
Loiter Point - Move the marker to

change Loiter position.
Select the circle around Loiter point and drag it to change its ra-
dius.
After Loiter radius is changed a new value is automatically up-
loaded to UAV and applied.
Loiter Point - change loiter radius.
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USER MANUAL
Loiter mode
Always before selecting loiter mode make sure that you are in clear area.
WARNING: If the current UAV's altitude is below the defined Minimum Height Above Ground value, the UAV
would climb to this safe altitude.
In loiter mode the UAV immediately starts to fly to Loiter point and loiters around Loi-
ter point with the current UAV's mean sea level (MSL) altitude and air-speed. The UAV
circles around Loiter point with the default radius of 100 m. You might need to over-
ride the UAV's speed and altitude to suite the current conditions.
Loiter mode.
Parameters
Double-click on the loiter point to open the settings dialog.
Loiter parameters are settings used by the autopilot in loiter mode. These settings are automatically up-
loaded to the UAV.
Loiter dialog.
Parameter Value
Altitude AGL Min: Equals Minimum Height Above Ground setting.
Max: 3000 m
Max: 22 m/s
Max: 3000 m
Loitering time Min: 00:00:00 h/m/s
Max: 03:00:00 h/m/s
Altitude MSL Mean sea level altitude of Loiter point.
Loiter parameters.
If Loiter point above ground level (AGL) becomes too low Ground proximity warning markers will appear
around the point.
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USER MANUAL
3.5.7 Manual mode

Use MANUAL button to set autopilot in manual altitude mode either before or during the flight.
This mode is used before the flight to check the current control surface movement.
During the flight it is used to control the UAV manually (assisted flight with manual
steer function).
Manual mode.
Manual altitude mode

During the flight it is possible to select manual altitude mode.
In this mode a pilot sets the direction, altitude or speed of the UAV
ether by using buttons from the program main window or by using
provided gamepad controller.
The UAV holds commanded roll angle, cruise airspeed and alti-
tude. Roll keys are ←, →. Altitude keys are ↑, ↓. Cruise airspeed
keys are -, +. It is possible to set roll angle of up to 30 degrees
(positive and negative angles). Notice your current roll angle on the
virtual horizon of the program's main window. Speed maximum
value depends on the selected airframe (22 m/s).
Manual Altitude Mode command but-
tons.
Predicting line
In manual mode predicting line of UAV heading is shown.
Red line is showing the predicted path of the UAV.

If the operator zooms out also yellow line is shown.
Red line shows the predicted two minute flight path,
yellow line shows ten minutes predicted flightpath.
Predicting line.
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USER MANUAL
3.5.7.1 Motor test

MOTOR TEST button starts UAV motor for 5 seconds with low RPM's.
WARNING: Before performing motor test you must be acquainted with the correct
test procedure explained during the training with C-Astral's professionals. Always
follow the instructions stated in the provided Pre-Flight checklist of your purchased
Motor test
UAS.
Motor test is available only in Manual mode during the Pre-flight procedure.
3.5.8 Safe mode

Use SAFE button to set autopilot in safe mode. This mode is used when operating the
UAV during the pre-flight phase (UAV grounded) in order to prevent the motor/engine
from throttling up under any circumstances.
When the UAV is in safe mode you can handle it manually.
Safe mode.
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USER MANUAL
3.6 Vital commands

3.6.1 Sensor init
SENSOR INIT calibrates UAV's sensors.
IMPORTANT: Initialize sensors just before the take-off and before waypoints are uploaded. Check the pre-
flight procedure steps in Check List book.
Before take-off you must initialize the sensors. This will calibrate the pitot
tube, static pressure, set Home position and check the system for poten-
tial faulty readings.
Sensor Init.
WARNING: GNSS lock has to be acquired before this step. Ensure that the plane is still, leveled on the
ground and pitot cover is on during this phase.
Select the current air temperature on the Sensor Init dialog to start the calibration of the sensors.
Sensor Calibration - Select current temperature and calibrate UAV's sensors.
After OK button is pressed the following steps are performed in background:

o Static and Differential Pressure sensor (pitot tube) is calibrated.
o Launch altitude and position are set to the current airplane position.
o All sensors are checked.
IMPORTANT: After successful sensor initialization note the “Zero pressure” log panel message. It shows the
average air-speed measurements. This value should be close to 0. For example, if this value is 2m/s then the
UAV will fly 2m/s slower than it should which might cause it to stall. Usually the positive offset means that
entered temperature was too high and vice versa.
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USER MANUAL
Sensor failure
Sensor failure warning can appear on Log Panel if the plane is not leveled on the ground or was moved or
shaken during Sensor Init procedure.
Try to repeat the procedure and observe if messages appear again. If sensor failure message persists then it
is not safe to fly. Contact C-Astral support.
Elevation offset
During Sensor Init procedure DEM altitude of the UAV's launch point is compared with the altitude received
from GNSS signal. If DEM altitude of the launch point is different from the altitude acquired from GNSS sig-
nal the difference is used to adjust mean sea level (MSL) values of a flight plan. User is notified in case the
elevation offset was added to the elevation of a flight plan.
IMPORTANT: If the offset is larger than 20 m it is necessary to check whether the GNSS lock was weak (re-
peat Sensor Init procedure) or the offset is in accordance with the altitudes stated on the maps.
Elevation offset value is displayed on Log Panel.
3.6.2 Upload waypoints

UPLOAD WAYPOINTS uploads the flight plan to the autopilot.
NOTE: Upload Waypoints button will turn red and start blinking when the
flight plan is different from the one on the UAV. You have to upload the
changes to the UAV.
Upload waypoints.
The color of Upload Waypoints button is yellow until the upload completes and then returns to gray.
NOTE: Open the context menu to revert to uploaded flight plan.
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USER MANUAL
3.6.3 Parachute pop and reset

PARACHUTE POP opens UAV's parachute.
NOTE: Please refer to the provided Check List for the complete procedure
of parachute pre-flight check.
Parachute Pop - Opens UAV's

parachute.
Press CONFIRM button to deploy the parachute and notice the notification on the Log panel.
PARACHUTE RESET locks UAV's parachute.
IMPORTANT: You should lock UAV's parachute compartment after insert-

ing the parachute and during the pre-flight parachute check.
Parachute Reset - Used to lock

parachute compartment.
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USER MANUAL
3.6.4 Altitude override

WARNING: Use altitude override in small increments. Big climbs may lead to engine overheating and engine
failure.
ALTITUDE OVERRIDE overrides current UAV's altitude value.
Altitude override is available during the flight.
NOTE: Altitude override is not allowed in land mode. Altitude override mode will be
ignored if pressed during landing mode.
Altitude override
mode.
Override mode is automatically activated by opening of the Altitude Override dialog. On open, dialog displays
current UAV's AGL value. The UAV's desired altitude is left unchanged.
NOTE: Observe UAV current altitude and desired altitude on the Flight Data panel when applying override.
When "+" or "-" buttons are pressed current UAV's AGL value is incremented/decremented by 5 m. Depend-
ing on the current UAV's location the UAV's desired altitude will be adjusted to a new value. After adjusting
the altitude to a new desired altitude UAV maintains this altitude.
Desired altitude = Terrain elevation below the UAV at the moment of applying override + new AGL value
Altitude Override Dialog - Changes in altitude are instantly uploaded to the UAV.
Change altitude value

Changes in altitude are automatically uploaded to the UAV.
Press OK button to stay in override mode.
Press CANCEL button to exit override mode.
IMPORTANT: Altitude override is automatically exited when changing between autopi-

Altitude override
mode. lot flight modes.
Exit override mode

To exit override mode you should open Altitude Override dialog and select CANCEL button.
Cancel of altitude override during navigation mode adjusts the desired altitude to the destination waypoint
MSL altitude.
Bramor ppX UAS: Cancel of altitude override during home mode, rally mode, loiter mode or take-off mode
preserves the desired altitude that was set during override mode.
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USER MANUAL
Bramor C4EYE UAS: Cancel of altitude override during home mode, rally mode, loiter mode or take-off mode
adjusts the desired altitude to the desired altitude of the UAV at the moment of entering in one of these auto-
pilot modes.
3.6.5 Speed override

SPEED OVERRIDE overrides current UAV's speed value.
Speed override is available during the flight.
NOTE: Override mode is automatically activated the moment Speed Override dialog is
opened. On open, dialog displays current UAV's air speed value.
Speed override
mode.
Speed Override Dialog - Changes in speed are instantly uploaded to the UAV.
Change speed value

Changes in speed are automatically uploaded to the UAV.
Press OK button to stay in override mode.
Press CANCEL button to exit override mode.
IMPORTANT: Speed override remains active when changing between autopilot flight
Speed override
mode. modes.
Exit override mode

To exit override mode you should open Speed Override dialog and select CANCEL button.
If override was applied during navigation mode the UAV adjusts its flying parameters to the destination way-
point settings.
3.6.6 Download waypoints

NOTE: Only for Bramor C4EYE UAS.
DOWNLOAD WAYPOINTS downloads waypoints and the flight plan from the UAV.
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USER MANUAL
NOTE: Open the context menu to revert to uploaded flight plan.
Download way-
points.
3.7 Mission planner

MISSION SETTINGS button opens dialog where you define mission parameters.
NOTE: Settings options depends on the airframe selected in Settings, UAV tab.
Mission settings.
Change of waypoint parameters

Mission parameters are applied to newly added waypoints.
In order to update settings of the waypoints drawn on the map please use below described methods:
o Waypoints added with WAY PTS drawing mode can be updated through the respective waypoint dialog.
o Waypoints added with AREA PTS and STREET PTS drawing modes can be updated as group. You should
first select area/street area and then open Mission Settings dialog to change settings for the selected
area.
Parameters
Mission settings define behavior of UAV during the flight (like UAV speed and altitude) as well as photo-
graphs quality and camera triggering interval. When drawing a flight plan waypoint altitude and speed values
are calculated according to these settings.
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USER MANUAL
ppX UAS - Mission settings dialog.
C4Eye UAS - Mission settings dialog
WARNING: Terrain elevation should be checked on topographic maps. In some cases DEM does not have
Parameter Definition Value

Altitude UAV's altitude above ground level (AGL) Min: Equals Minimum Height Above
in each waypoint. Ground setting.
Max: 3000 m
Speed UAV's speed in each waypoint. Min: Value depends on the selected air-
frame.
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USER MANUAL

Max: 22 m/s
Overlap Photographs overlap percentage. Min: 0%
Max: 90%
NOTE: If overlap factor of selected area is
changed during the flight a new overlap
will be applied automatically.
ppX UAS: Select Show Photos and Check

Photos to visualize the photo coverage
during the flight.
Sidelap Photographs sidelap percentage. Min: 0%

Max: 90%
NOTE: Changing of sidelap factor of se-
lected area changes number of flight
lines. To apply the change upload of the
waypoints is needed.
ppX UAS: Select Show Photos and Check

Photos to visualize the photo coverage
during the flight.
GSD The quality of a digital image depends on GSD value range depends on selected
number of pixels used to create the im- camera and lens.
age. Flight altitude and GSD are exclusive
The Ground Sampling Distance (GSD) is choices. The higher the altitude of the
the distance between two consecutive flight, the bigger the GSD value.
pixel centers measured on the ground.
The bigger the value of the image GSD,
the lower the spatial resolution of the im-
age and the less visible details.
EXAMPLE: GSD of 5 cm means that one

pixel in the image represents linearly 5
cm on the ground (5*5 = 25 square centi-
meters).
Overshoot Overshoot factor is used to set the dis- Min: 100 m

tance of overshoot from the marked area Max: 1000 m
(outside of the blue area line).
Overshoot factor should provide the UAV
with enough time to turn around a way-
point and position above destination flight
line when entering area or street area.
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Overshoot example.
Camera (ppX UAS) Select the camera installed in your UAV.  R-Edge Multispectral (MS-RE sensor)
Just click on the displayed camera name  Thermal Capture Fusion (Thermal
under Selected Camera field to browse Camera)
through the possible options.  Rikola Hyperspectral (gHY Hyperspec-
tral sensor)
 Alpha 6000 +30mm (24.3MP RGB Sen-
sor and 24.3MP APS-C NDVI Sensor)
 Alpha 6000 +19mm (24.3MP RGB Sen-
sor and 24.3MP APS-C NDVI Sensor)
 QX1+30mm (20.1MP RGB Sensor)
 QX1+19mm (20.1MP RGB Sensor)
 Sequoia (MS-SQ sensor)
 Sequoia RGB (MS-SQ sensor)
Camera (C4Eye Select the camera installed in your UAV.  Eye-X EO (C4Eye UAS)
UAS) Just click on the displayed camera name  Eye-X IR (C4Eye UAS)
under Selected Camera field to browse
through the possible options.
Camera zoom Select camera zoom level. This will cal- Min: 1
(C4Eye UAS) culate the flight plan that will ensure Max: 3
video coverage of area with the selected
zoom level.
Altitude mode Waypoint altitude can be relative to the Relative or absolute.
ground or absolute to Home position.
Mission Settings parameters.
RELATIVE ALTITUDE MODE

Selecting this waypoint altitude type makes the altitude relative to the ground.
When calculating the altitude of each flight line in the grid, the higher Mean Sea Level (MSL) altitude of the
two waypoints is used. In this way we insure that the UAV flies in straight line above the terrain (beginning
and ending waypoints of a flight line will have the same MSL value), climbing/descending only when chang-
ing direction (turning).
This is important in order to have photographs with the constant resolution.
You can check your flight plan in 3D View (Google Earth) for the best understanding of relative altitude mode.
EXAMPLE: In Mission Settings dialog set AGL value to 200 m. Select relative altitude mode. This means that
the altitude of the position where the orange flight line intersects the blue area line will be 200 m above
ground level or more. Draw area points. Now check waypoints' AGL and MSL values in Flight plan table. No-
tice that the two consecutive waypoints always have the same MSL (MSL of the higher waypoint).
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USER MANUAL
ABSOLUTE ALTITUDE MODE

Absolute waypoint altitude type will make the altitude absolute with regards to Home Mean Sea Level (MSL)
altitude.
EXAMPLE: In Mission Settings dialog set AGL altitude to 200 m. Select absolute altitude mode. The UAV will
fly 200m above Home MSL altitude. If Home MSL is 100 m then the waypoints will have MSL altitude of 300 m
(check waypoints' values in Flight plan table).
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USER MANUAL
3.7.1 Offline use

In order to work in offline mode (no Internet connection) you must have maps and terrain elevation locally
saved.
Terrain elevation and maps are automatically downloaded when your computer is connected to the Internet.
Program will download all elevations and map tiles for the portion of the world currently visible in the C³P
main window and save them locally. By zooming out new elevations and map tiles are downloaded. Please be
aware that these operations can take some time. When elevation is available you will notice elevation infor-
mation on the Mission Data panel. Downloading of elevations will be disabled if zoom level is below 9.
NOTE: In case that you do not want to connect to the Internet please contact C-Astral support team to assist
you further. See also custom maps section.
Before going to actual location of the flight we advise you to zoom in/out around the desired location while
you have Internet connection. Do this for all types of the maps you are going to use. This will download the
needed portion of the map locally to your computer and you will be able to zoom in and out also when on-site
and (quite often) without Internet connection. You can also do this through the prefetch option in Settings di-
alog under Maps tab.
3.7.2 Draw
DRAW button opens menu with different flight plan drawing options.
Draw menu.
In this section we will explain how to plan (and draw) a flight route by adding waypoints to the map. Are you
familiar with the terms Waypoint, Flight plan and Flight line?
How to plan your flight

To create a flight plan add a number of waypoints to the map. You can add waypoints individually (WAY PTS)
or by marking the area of interest (AREA PTS or STREET PTS) to automatically calculate the route.
IMPORTANT: It is very important to be familiar with the terrain characteristics like terrain elevation, peaks,
vicinity of water or the height of the trees and buildings in the area.
TIP: When starting to draw a flight plan you can move Take-off, Rally and Land points to their default loca-
tions in the vicinity of Home point by pressing the Clear All button. Note that this will remove all waypoints
from the map.
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USER MANUAL
3.7.2.1 Way pts

Use WAY PTS mode to draw individual waypoints.
IMPORTANT: When the flight route is drawn with the individual waypoints the UAV fol-
lows the route repeatedly, returning to the first waypoint after the last visited way-
point. This is not the case for area or street area where the UAV flies to the Home po-
Draw waypoint
sition after the last visited waypoint of the mapped area.
Add a number of waypoints to the map. Click on the map to add the waypoints.
ORANGE lines represent flight lines and define the
path that the UAV will follow while flying from one
waypoint to the other.
ORANGE CIRCLE with a number inside represents
a waypoint. Each waypoint has a unique ID.
Individual waypoints added to the map.
Click on the waypoint to select it. Selected waypoint and flight line are highlighted.
You can add new waypoint between two selected
waypoints.
Click on a waypoint or a flight line and move it in
order to change its position on the map.
Add a new waypoint between two selected waypoints.
NOTE: When you have completed your route exit current drawing mode by deselecting it from Draw menu.
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USER MANUAL
Parameters
Waypoints parameters are configured through the Mission Settings dialog. These values are applied when
adding new waypoints to the map.
NOTE: Individual waypoint can be modified through the respective Waypoint dialog and not through the Mis-
sion Settings dialog.
Waypoints can be changed to Loiter, Racetrack (C4EYE) and Figure 8 in Waypoint dialog.
You can edit waypoint by right-clicking on waypoint
and adding radius. This will change waypoint to cir-
cle.
Waypoint changed to circle in Waypoint dialog.
You can edit waypoint by right-clicking on waypoint,

adding radius and changing the Loiter type to race-
track. This will change waypoint to racetrack.
Black square around selected waypoint allows the

user to change the direction and the size of the
shape.
NOTE: Racetrack feature is only for C4EYE.
Waypoint changed to racetrack in Waypoint dialog.
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USER MANUAL
You can edit waypoint by right-clicking on waypoint,

adding radius and changing the Loiter type to figure
8. This will change waypoint to Figure 8 shape.
Black square around selected waypoint allows the

user to change the direction and the size of the
shape.
NOTE: Racetrack feature is only for C4EYE.
Waypoint changed to racetrack in Waypoint dialog.
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USER MANUAL
3.7.2.2 Area pts

Use AREA PTS mode to draw area with automatically calculated waypoints. Area drawing mode is used in
mapping missions where the UAV should go back and forth over an area to collect geospatial data.
Draw area
Click on the map to add the area points.

path that the UAV will follow while flying above the
area. Grid of flight lines is recalculated each time
the new area point is added to the map (minimum
three points must be added).
a waypoint. There is a waypoint on each end of a
flight line. The first and the last one in the se-
quence are marked with orange circles.
Area points added to the map.
Click on the area point to select it.
Selected area point and the area line are high-

lighted.
Now you can add new area points between two ex-
isting area points.
Click on an area point or an area line and move it in
IMPORTANT: To change the orientation of area's

flight lines just select one area line (blue line) and
slightly move it. Flight lines will become parallel to
the selected area line. The first waypoint is set near
Add a new area point between two seleceted points. the position where you have selected the area line.
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USER MANUAL
Parameters
Waypoints parameters are configured through the Mission Settings dialog. These values are applied when
adding new waypoints to the map.
WARNING: In order to change the parameters of an area that is already added to the map you must first se-
lect the area line and then open Mission Settings dialog. Waypoints that are automatically calculated when
drawing area or street area cannot be modified individually but only as a group through Mission Settings dia-
log (you can open Waypoint dialog but you cannot change the values).
3.7.2.3 Street pts

Use STREET PTS mode to mark a corridor with automatically calculated waypoints. Enables setting area
points in a linear fashion e.g. roads, power lines, rivers, etc.
Draw corridor
Click on the map to add a street point.

path that the UAV will follow while flying above the
area. Grid of flight lines is recalculated each time
the new street point is added to the area (minimum
two street points must be added).
a waypoint. There is a waypoint on each end of a
flight line. The first and the last one in the se-
quence are marked with orange circles.
Street points added to the map.
Click on the street point to select it.
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USER MANUAL
Selected street point and street line are high-

lighted. Now you can add new area points between
two existing area points.
Click on a street point or a street line and move it in
IMPORTANT: When working with street area it is

not possible to change the orientation of the flight
lines once the area is drawn.
Add a new street point between two selected points.
Move contour lines of a street area to change the area width.
Number of flight lines depends on area of interest

around linear object.
NOTE: Distance (street width) dimensioning line is

displayed from mouse point perpendicular to street
area line.
Move blue contour line to change the number of flight lines.
Parameters
Waypoints' parameters are configured through the Mission Settings dialog.
WARNING: In order to change waypoints' parameters of an area that is already added to the map you must
first select the area line and then edit values in Mission Settings dialog.
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USER MANUAL
NOTE: Waypoints that are automatically calculated when drawing area or street area cannot be modified in-
dividually but only as a group through Mission Settings dialog (you can open each Waypoint dialog but you
cannot change the values).
3.7.2.4 Multiple areas and waypoints

In order to draw a number of areas on the map first exit the current drawing mode by deselecting it from
Draw menu. This will complete the area you were working on.
When Draw menu is empty select a drawing mode

and start drawing new area, street area or add indi-
vidual waypoints.
All areas and waypoints are automatically con-
nected with the flight lines to form the continuous
flight plan.
TIP: To add individual waypoints before area's 1.

waypoint select Take-off point and add waypoints
(select WAY PTS menu). To add individual waypoints
between two areas select the flight line that is con-
necting two areas.
Combining different drawing modes.
3.7.2.5 Inclusive fence pts

Use INCLUSIVE FENCE POINTS to create area where UAV is not permitted to exit.
Inclusive Fence
Points
Click on the map on the area where the UAV is not permitted to exit. Inner area is marked with green line
and outside area is marked with red line. The UAV will act with accordance with Failsafes when it enters this
area.
NOTE: Exit inclusive fence points mode by deselecting it from Draw menu.
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USER MANUAL
Select the desired area on the map.
Inclusive Fence Points Area
If only one point selected the area will

become a point with selected radius.
Point radius can be adjusted by selecting
the loiter and moving it on the map.
Inclusive Fence Points- Point
NOTE: Area or point can be cleared by pressing Clear Fence points.
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USER MANUAL
3.7.2.6 Exclusive fence pts

Use EXCLUSIVE FENCE POINTS to create area where UAV is not permitted to enter.
Exclusive Fence
Points
Click on the map on the area where the UAV is not permitted to enter. Inner area is marked with red line out-
side area is marked with green line. The UAV will act with accordance with Failsafes when it enters this area.
NOTE: Exit exclusive fence points mode by deselecting it from Draw menu.
Select the desired area on the map.
Exclusive Fence Points Area
If only one point selected the area will

become a point with selected radius.
Point radius can be adjusted by selecting
the loiter and moving it on the map.
Exclusive Fence Points Point
NOTE: Area or point can be cleared by pressing Clear Fence points.
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USER MANUAL
3.7.2.7 Measure
Use MEASURE to measure distance between two points on the map.
Measure distance
NOTE: Exit measuring mode by deselecting it from Draw menu.
Measure mode
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USER MANUAL
3.7.2.8 Ground proximity warning

Ground proximity warning markers appear around a waypoint or along a flight line when it's altitude above
ground level is too low and UAV would fly below the predefined minimum altitude. Minimum altitude above
ground that is still considered safe is defined in Settings dialog, Failsafes tab as Minimum Height Above
Ground value.
This is the example of ground proximity

warning markers that appear around a
waypoint. Waypoints' altitudes are very
low but above the Minimum HAG value.
Red circles around the third waypoint
mark the part of UAV trajectory where al-
titude above ground level (AGL) is below
Minimum Height Above Ground value
(default Minimum Height Above Ground
value is 40 m).
Ground proximity warning markers ap-
pear along the flight line as well.
Ground Proximity warning - UAV would fly under Min HAG in the vicinity of
the third waypoint.
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USER MANUAL
This is the example of ground proximity

warning markers that appear at the posi-
tion of a waypoint and around a waypoint.
Third waypoint has AGL value that is the
same as Minimum Height Above Ground
value (40 m). It is marked with red color
in the Flight Plan list as well.
Ground Proximity warning –

The third waypoint has AGL equal to the Minimum HAG value.
Area altitude is set to Minimum Height

Above Ground value. Waypoints that have
AGL at Min HAG value or below are
marked with red color. Ground proximity
warning markers in the example appear
also along the predicted trajectory that
UAV would follow if flying to Rally point
from the last waypoint.
Ground Proximity warning - UAV would fly under Min HAG when flying to
Rally.
3.7.3 Map
MAP button opens different map view options.
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USER MANUAL
Map menu.
3.7.3.1 Jump to location

JUMP TO LOCATION where you are going to create your flight plan.
You can enter the location either as latitude and longitude coordinate or in the form of
the postal address (in the same way you would search the Google maps).
Adjust coordinates format in Settings, Units tab.
Location dialog.
EXAMPLE: In the dialog enter either text "Lokavec, Ajdovscina" or Lat Long coordinates of the place
"45.902428, 13.877565".
Location where you are going to plan flight mission.
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USER MANUAL
3.7.3.2 Follow UAV

FOLLOW UAV mode keeps UAV position at the center of the map during the flight. The button is red when en-
abled.
TIP: If you cannot see your UAV symbol on the map during the simulation, you can lo-
cate it by pressing FOLLOW UAV button.
Follow UAV mode.
3.7.3.3 Follow GCS

FOLLOW GCS mode keeps Home position (GCS) at the center of the map during the flight.
This mode is useful if external GNSS (GPS) receiver is used on the GCS. In this mode
the UAV follows the moving Home point (moving Home point can be a car with an ex-
ternal GNSS receiver). The button is red when enabled.
Follow GCS mode.
3.7.3.4 Show trail

SHOW TRAIL shows UAV's trail on the map
The button is red when enabled.
IMPORTANT: On loss of communication you can enable "show trail" and you will see
path and last known location of UAV.
Show UAV's trail.
To view the telemetry after the flight you can load the KML file generated by C3P back
into C3P. this will display the complete trail of the flight.
3.7.3.5 Camera view

CAMERA VIEW shows UAV's camera FOV projected on the ground.
The button is red when enabled.
I
Show camera view.
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USER MANUAL
3.7.3.6 3D view
3D VIEW opens default 3D viewer on your computer to open your flight plan.
By default, Google Earth is installed on the tablet or the laptop which is the part of
purchased UAS.
Opens 3D Viewer.
3D View - Google Earth.
3.7.4 Hide waypoints

HIDE WAYPOINTS shows/hides waypoints and area points on the map.
When waypoints are hidden drawing modes are disabled but measure mode is availa-
ble and can be used.
Show/hide way-
points.
3.7.5 Clear all and Delete point

CLEAR ALL removes all way point from the map. Clear all button changes depending the content.
This will clear fence points.
Clear
fence points.
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USER MANUAL
This will clear area points.
Clear area
points.
This will clear street points.
Clear street
points.
IMPORTANT: Clear All button will place Take-off, Rally and Parachute/Land points to
Clear all
their default positions near Home point with point parameters set to defaults.
waypoints.
DELETE POINT removes selected point from the map.

This will delete selected way point/area/ street/ fence point.
Delete point.
3.7.6 Undo and Redo

Use UNDO/REDO to undo and redo drawing changes.
Undo and redo is supported for the following actions:
o Drawing using WAY PTS, AREA PTS or STREET PTS mode (zoom
Undo Redo
in/out and map position are undone as part of a drawing step)
o Editing of waypoint parameters through waypoint dialog
o Downloading flight plan from UAV
o Editing mission settings of a selected area
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USER MANUAL
3.8 Primary Display

Panel for monitoring primary flight parameters.
Primary display - Monitoring primary flight data.
NOTE: Colors.
Parameter Description
Battery UAV's battery level.
Comm The strength of the signal.
GNSS Number of satellites used for positioning.
Alt AGL/ Alt MSL Current UAV's Above Ground Level (AGL) altitude or UAV's Mean Sea
Level (MSL) altitude..
Air SPD Current UAV's air-speed.
Climb Vertical speed indicator.
Throttle Automatic throttle value in percentages.
Wind Current wind speed and wind direction.
Primary panel data.
Current wind speed and wind direction.
NOTE: In Simulation mode you can set wind speed and heading to simulate real flying conditions.
Press WIND button to open the wind simulation dialog.
Sets wind speed and heading during the flight simulation.
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USER MANUAL
3.9 Log panel

Panel with flight information, warnings and failsafe messages.
Log Panel - Warning messages and flight information.
Color Description
Gray o Normal state. UAV's active commands are displayed in this color.
o Low Level notification.
Green o Normal state. Shows that the communication with the autopilot has
completed successfully.
o Low Level notification.
Yellow o Warning level.
o Shows ongoing communication with the autopilot. The C³P is waiting for
a response.
o Medium Level notification.
Red o Shows currently active command/button. Specific color for PARACHUTE
BUTTON.
o High Level warning.
Red and blinking o Important level. Operator (your) action is required.
o The button needs to be pressed for the change to take effect.
o High Level warning.
Colors in notifications indicate the level of importance.
LOG MESSAGES:
Log messages appear in the log panel window. This are indicators to the operator.
Log message Description
ACCELEROMETER SENSOR Accelerometer reading incorrect values. The UAV may not be leveled dur-
FAILURE ing the Sensor Init phase.
ALL SENSORS PASSED All sensors were checked during Sensor Init phase and are reading cor-
rect values.
ALTITUDE MODE Altitude mode used.
ANTENNA TRACKER CON- Antenna tracker is connected to C3P.
NECTED
ANTENNA TRACKER INITIAL- Antenna tracker is in initializing phase of C3P.
IZING
ANTENNA TRACKER NOT Antenna tracker is not calibrated.
CALIBRATED
ANTENNA TRACKER NOT Antenna tracker not detected.
CONNECTED
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USER MANUAL

BAD OPH COMMUNICATION, Problem with communication to OPh board.
RETRY NUMBER
C³P STARTED C3P was turned on.
CLEARING PHOTO LOG Clearing photo log.
CLIMB FAULT - MOTOR UAV is not able to climb. Check motor may be overheating. Pleas follow
PROBLEM the climbing instructions.
CONVOY FOLLOW MODE C4EYE entering convoy following mode.
COULD NOT GET HOME ELE- Terrain probaby not downloaded check for elevation data.
VATION
CRITICAL BATTERY FAILSAFE Battery critically to low. Please quickly descend with UAV.
DOWNLOADING WAYPOINTS Downloading flight plan form UAV.
ELEVATION OFFSET Difference between model terrain and current UAV AMLS.
ENGINE KILLED Power to engine terminated.
EYE-X-HD CONNECTED Connected. to EYE X HD camera.
EYE-X-HD CONNECTING Connecting to EYE X HD camera.
EYE-X-HD NOT RESPONDING Can not connect to to EYE X HD camera.
FAILED TO OPEN Can not open this file.
FASTEST TRIGGER TIME Camera is taking pictures at fastest rate. You may not reach desired over-
LIMIT REACHED! lap.
FINAL APPROACH UAV flying to final approach.
FIRMWARE: Firmware version of UAV.
GEOFENCE VIOLATION Geofence parameter breached.
GIMBAL EXTENDED Gimbal extended
GIMBAL STOWED Gimbal stowed.
GNSS HOME INITIALIZED Home coordinates acquired.
GNSS HOME NOT INITIALIZED Home coordinates not acquired.
GNSS LOCKED UAV got GNSS lock.
GYRO SENSOR FAILURE Gyro sensor is reading incorrect values. The UAV may not be leveled dur-
ing the Sensor Init phase.
HOME MODE UAV flying home.
LAND MODE UAV is going into land procedure.
LOITER NOW MODE UAV entering loiter now mode.
LOITER UPDATED Loiter position has been updated.
LOSS OF COMMUNICATION Not getting communication with UAV.
LOSS OF COMMUNICATION Loss of communication failsafe was triggered on UAV.
FAILSAFE
LOSS OF CONTROL FAILSAFE Loss of control failsafe was triggered, deploying parachute.
LOSS OF GNSS FAILSAFE Loss of GNSS failsafe was triggered on UAV. Going into 20 degrees roll.
LOW BATTERY Battery on UAV is getting low.
LOW BATTERY FAILSAFE Low battery failsafe was triggered.
LOW GCS BATTERY Low GCS battery. Change battery immediately.
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USER MANUAL

MAGNETOMETER SENSOR Magnetometer reading incorrect values.
FAILURE
MANUAL MODE UAV entering manual mode.
MINIMUM HEIGHT ABOVE Minimum height above ground failsafe was triggered.
GROUND FAILSAFE
MISSING VIDEO SD CARD SD card not detected in the VPU.
NAVIGATION MODE UAV entering navigation mode.
NO GNSS LOCK UAV not getting GNSS signal.
NOT CONNECTED UAV not connected.
PARACHUTE DEPLOYED Parachute was deployed.
PHOTO LOG CLEARED Photo log was cleared.
PHOTO LOG IS NOT EMPTY. Photo log is currently not empty.
PRESSURE INITIALIZED Sensor Init completed, pressure was initialized.
PRESSURE NOT INITIALIZED Sensor Init not completed, pressure was not initialized.
PURSUE MODE UAV entering pursue mode.
RALLY MODE UAV entering rally mode.
RECORDING ERROR Error recording video.
RECORDING ERROR - Error recording video, no more space.
MEMORY FULL
RECORDING STARTED Recording started.
RECORDING STOPPED Recording stpped.
REMAINING COMPUTER BAT- Laptop/tablet has enough battery for specified time.
TERY
REMOTE CONNECTION AC- Remote connection successful.
CEPTED
REMOTE CONNECTION ER- Remote connection can not be established.
ROR
REMOTE CONNECTION RE- Remote connection rejected.
JECTED - NOT ALLOWED
REMOTE CONNECTION RE- Remote connection rejected password was incorrect.
JECTED - WRONG PASS-
WORD
SAFE MODE UAV in safe mode.
SIMULATION ENABLED. DO Simulator is currently connected to C3P. Connection to UAV is not estab-
NOT FLY! lished.
SPEED SENSOR FAILURE Pitot is reading incorrect values.
TAKE OFF MODE UAV is entering take off mode.
TEMPERATURE OUT OF AP temperature is out of range, AP needs to be either cooled down or
RANGE warmed up.
TEMPERATURE SENSOR Temperature sensor is not reading correct temperature values.
FAILURE
TERRAIN PROXIMITY UAV too low.
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USER MANUAL

TRYING TO GET HOME ELE- Checking elevation data for Home elevation.
VATION
UPLOADING WAYPOINTS Transferring flight plan from C3P to the UAV.
WARNING: LOW AIR SPEED Current airspeed is getting dangerously low. please use Airspeed override
to avoid stalling.
WARNING: LOW GROUND Current ground speed is low. The UAV is not achieving desired speed in
SPEED current direction.
WAYPOINT UPLOAD FAILED Could not transfer flight plan to the UAV.
WAYPOINTS DOWNLOAD Could not transfer flight plan from the UAV.
FAILED
WAYPOINTS DOWNLOADED Transferred flight plan from the UAV.
WAYPOINTS UPLOAD Flight plan on the UAV is different from the flight plan in C3P. Need to
NEEDED synchronize the flight plans.
WAYPOINTS UPLOADED Flight plan was transferred to the UAV.
WRONG SERVO VOLTAGE Reading incorrect servo voltage.
WRONG TAKE OFF ROLL, UAV not set correctly for take off mode. Check the catapult for correct an-
WRONG TAKE OFF PITCH gles.
ZERO PRESSURE: Mean value over time after Sensor Init. Value must not differ to much
form 0 m/s.
3.10 Mission Data panel

Mission data panel shows information about the planned mission
NOTE: To switch between different panels click on the panel.
Mission Data Panel –

Mission parameters.
Mission Data Description

Current pointer position Longitude and Latitude coordinates of the cursor position.
Elevation Elevation of the terrain at the current cursor position.
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USER MANUAL
Mission Data Description
WARNING: Terrain elevation should be checked on a topographic map. In

some cases DEM does not have correct values or any values (when flying
outside of the covered area) which can lead to an unsafe situation. If this
is the case you should adjust altitudes of waypoints in Mission Set-
tings/Waypoints dialogs according to the information from topographic
map.
During Sensor Init procedure elevation of the launch position is compared

to the elevation received from GNSS. The difference (offset) is used to cor-
rect mean sea level elevation of a flight plan.
Distance Approximate length of the flight.
Duration Approximate duration of the flight.
Area Area coverage (in Area or Street Area draw mode).
Photos Approximate number of photographs per flight.
Value is calculated based on settings in Mission Settings dialog.
FOV FOV V (m) – Camera’s Field of View in longitudinal direction relative to air-
plane.
FOV H (m) – Camera’s Field of View in lateral direction relative to airplane.
Resolution The quality of a digital image depends on number of pixels used to create
the image.
Photos dist Camera triggering distance.
NOTE: See Distance and Time Camera Triggering section for more details
about camera triggering modes.
Photos time Camera triggering time interval.

NOTE: See Distance and Time Camera Triggering section for more details
about camera triggering modes.
Mission Data parameters.
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USER MANUAL
3.10.1 Digital Elevation Model

Two options are currently available for elevation data.
When ASTER GDEM 2 (Global Digital Elevation Model Version 2) is selected for use its automatically down-
loaded from C-Astral servers for currently viewed location and saved locally on the computer hard drive. AS-
TER GDEM coverage spans from 83 degrees north latitude to 83 degrees south.
When SRTM GL 1 (Shuttle Radar Topography Mission Global 1) is selected for use its automatically down-
loaded from C-Astral servers for currently viewed location and saved locally on the computer hard drive.
SRTM GL1 coverage spans form 60 degrees north and 56 degrees south latitude. Voids have been filled with
ASTER GDEM 2.
Elevation is downloaded for the currently visible map portion.

Zoom out as well as moving of the map will trigger download of
new elevation tiles.
If download was successful you will see elevation data displayed
on the Mission Data panel. If download fails (no Internet connec-
tion, DEM does not exist for the desired location) Elevation field on
Mission Data panel will be empty showing Elevation: "---" and you
will see warnings about missing elevation data on Log panel.
Elevation not available
We strongly advice to check that elevation data is available on the computer you are going to fly with. Con-
nect to the Internet while in the office and zoom out the map enough to trigger downloading of all elevations
you might need. Downloading of elevations can take some time, which depends on the zoom level of the map.
Check that all elevations are available by moving the mouse over the map. Check waypoints' altitudes in the
Flight Plan table.
If you are not able to download elevations please contact the C-Astral support team.
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3.11 Flight Data panel

Flight data panel shows position, altitude and speed of the UAV during the flight.
NOTE: To switch between different panels click on the panel.
Flight Data Panel - Flying parameters.
Flight Data Description

UAV current position Latitude and longitude coordinates of the UAV during the flight.
Ground speed Current UAV's Ground speed.
Alt HAL Height Above Launch.
Current UAV's altitude relative to the launch position.
Alt AGL Current UAV's Altitude Above Ground value.
Alt MSL Current UAV's Mean Sea Level altitude value.
Desired ALT Desired UAV's mean sea level altitude value.
T to target Time to the next (destination) waypoint.
Destination waypoint is the waypoint highlighted with green square.
D to Home Distance to Home point and direction.
T to Home Time to Home point.
Time Current local time.
When the UAV is connected then the time is synchronized with the on
board GNSS.
GCS voltage GCS batteries status (available when connected to GCS KJ-200)
Flight Data parameters.
3.12 Flight Plan table

Once you know the terrain you are going to map and it's characteristics (for example you should be familiar
with the height of the surrounding hills, buildings, trees and the vicinity of the water as well) you can start to
plan your flight.
The flight plan is a sequence of flying stages (modes), such as take-off, navigate and land. Each stage has
the relevant parameters that define the behavior of the UAV, like the flying altitude, speed and the trajectory
it follows.
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NOTE: Learn about take-off mode in Home and Take-Off chapters. Learn about landing mode in Rally and
Parachute chapters. Learn about navigation mode in Draw chapter.
Click on the FLIGHT PLAN TABLE button to open the table with a list of waypoints.
When you are creating a flight plan you are positioning Home, Take-off, Rally,
Flight Plan Table Parachute/Land points and Waypoints on the map.
Parameters of these points (which are commands uploaded to the autopilot) are
displayed in the Flight Plan table.
o Destination and currently selected waypoint row is highlighted with green color.
o Waypoints with AGL values that are the same or lower than the Min HAG value are highlighted with red
color.
Column Description
Type Type of the point (autopilot command).
Position GPS Latitude and Longitude Coordinates of the point.
MSL Mean Sea Level altitude value of the point.
See relative/absolute altitude mode.
AGL Above Ground Level altitude of the point.
See relative/absolute altitude mode.
Speed Air-speed of the UAV.
Radius Loiter radius around the selected point.
Flight plan - list of waypoints.
NOTE: Click on the table row opens selected waypoint dialog. Parameters can be edited for the waypoints
that are drawn using WAY PTS menu.
3.13 Flight summary

Flight summary dialog is accessible through the context menu. Its values are updated during the flight and
preserved after the flight has completed.
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IMPORTANT: If connection is lost, flight summary will show the last known location of UAV. If C3P is re-
started, the previous data will be shown until UAV is connected.
Sets wind speed and heading during the flight simulation.
Parameter Value
Airborne time The time that the UAV was flying.
Photos taken Number of photos taken during the flight.
Only for ppX UAS
Distance traveled Distance represents the actual distance traveled from UAV's launching
position to the current point in time.
NOTE: Traveled distance will not be updated during the loss of communi-
cation and the restart of the program. Information about the traveled dis-
tance is lost during this period of time. Once the communication is estab-
lished the previous distance will be updated with the new available data
but it will not be accurate anymore.
Distance from home Distance and azimuth from Home towards the UAV.
Landing position Location of the UAV after landing displayed in Google Earth (values are
being updated during the flight).
Flight summary data
3.14 Configuration
Use Configuration button to adjust UAV's and program settings.
In the menu on top of the Configuration window C3P version is displayed.
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IMPORTANT: Changes in configuration are per-

manently saved and will be preserved after the
Configuration
restart of the program.
3.14.1 UAV
IMPORTANT: During UAV's control take over please follow the steps described under Trellisware UAV ID ta-
ble entry.
Setting Description
COLOR Select the display color of your UAV.
UAV ID Each UAV has an assigned identifier number. Radio communication will
be established only if this ID matches the actual UAV ID.
By default C³P inserts a default UAV agent of 1032.
When using the UAV equipped with Trellisware radio, instead of typing the
identifier number type in ID number found on the fuselage. For example:
UAV ID 28.19.
IMPORTANT: To take control over UAV please follow the steps below.
1. Turn off the GCS that is currently in control.

2. Turn on the second GCS and run the C³P.
3. Configure TrellisWare UAV ID and GCS ID.
4. Press OK and wait until communication with the UAV is established.
5. If available, Direct antenna tracker towards the approaching UAV if
communication is not established (open destination waypoint dialog
and press "DIRECT ANTENNA TO" button).
MODE Under mode select type of desired connection:
SIMULATION
Simulate autopilot functionality. UAV behavior during the flight will be
simulated by the software.
AUTOPILOT
Connects to the UAV's C-Astral Autopilot.
REMOTE
Functionality to connect to remote C3P.
AUTOPILOT PORT When autopilot is selected in MODE window additional options appear
here.
Select the proper GCS serial port, Bluetooth or IP port when connecting
with a device.
A list of the available serial ports will be displayed. This may vary depend-
ing on your computer configuration. For example, if using a fast serial
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Setting Description
port, the serial port may be listed as COM1. If using a serial port over
Bluetooth the two COM ports are listed e.g. COM6 and COM7, one as in-
coming and the other as outgoing port (use outgoing port).
If the serial port is available, the serial port will open automatically upon
selection from the drop-down list. If the serial port does not open, it is ei-
ther in use by another program or not functional.
AIRFRAME Select airframe you're going to fly. This will set the default flight parame-
ters (Mission settings) for the selected airframe.
VIDEO This button opens additional functionality of video input. More information
is found here.
UAV settings
3.14.1.1 Video
Setting Description
Payload Select integrated camera (EYE X or EYE-X-HD)
Camera Drop down menu contains the list of available video cameras.
By default for Trellisware equipped UAV, when UAV ID is typed in, the
source for the selected payload will be automatically obtained.
USB video sources or cameras integrated in the systems have various

names like "HP HD CAMERA". Here are some examples of video stream
sources that can be used for the camera field:
 rtsp://192.168.0.90:554/axis-media/media.amp (This is usually used for
C4EYE with analog video radio link)
 udp://@169.254.0.4:15004 (This is usually used for C4EYE with digital
video radio link)
 C:\video.avi (To display video from a file)
 NONE is selected if the system does not have a video option.
If manually option is selected then type in your camera address in the
camera field.
Channel selector Only for analog system.
Some analog systems have a possibility to select radio channel on which
video is received. If this option is enabled you have to select the IP:Port
combination for video channel selector and then select the radio fre-
quency on which the video is transmitted.
Enable C3P Video Overlay If this option is enabled then video data (camera position, target position,
camera heading) are displayed on the video window.
Enable C3P Video Overlay in If this option is enabled then video data (camera position, target position,
Recordings camera heading) are recorded on the video.
Enable Analog Video This option turns on or off the analog video transmitter on the airplane
(system specific).
Record video also on PC This option enables recording on PC (and not on SD camera)
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Setting Description
Autostart record on gimbal This enables automatic recording of video when gimbal is extended.
extended (Airborne)
Start or stop video stream on Start or stop video streaming when gimbal is extended or stowed (system
gimbal position specific).
Bit rate Set video bit rate of video stream (system specific).
Configure VPU
NOTE: If the communication quality is not good the VPU configure proce-
dure could fail - in that case repeat it.
This resets the setting for the gimbal.

Browse VPU This enables browsing videos on SD card mounted to the system.
Video settings.
3.14.1.2 Failsafes
IMPORTANT: Failsafes define the behavior of the UAV in unusual situations. Check Failsafes settings before
each flight.
Failsafe Description
Loss of communication This fail-safe is triggered in the event of loss of communication between
the ground station and the autopilot. The trigger criteria is defined as the
amount of time in seconds since the last valid packet was received from
the ground. When this failsafe is triggered the autopilot will attempt to fly
home and then orbit at the default loiter radius.
On loss of communication you can enable "show trail" and you will see
path and last location of UAV. Get the coordinates and the distance to the
UAV form Flight Summary window.
It is possible but not advisable to disable this failsafe.
NOTE: If the command "Fly Home" was triggered and the current altitude
is below defined Minimum Go Home Altitude, UAV would climb to the Min-
imum Go Home Altitude.
No GNNS lock If the GNSS signal is lost for more then 3 seconds then the "loss of GNSS"
failsafe will be triggered and UAV will start loitering at its current posi-
tion. If the signal is regained then UAV can continue with its mission oth-
erwise it will circle until the battery runs out and the parachute is de-
ployed.
It is not possible to change behavior of this failsafe. However if there still
communication to the UAV you can use manual mode to fly it and use par-
achute pop button to deploy the parachute.
IMPORTANT: With C4EYE airframe and video image it is possible to manu-
ally fly back to Home point.
Minimum height above COLLISION AVOIDANCE AND TERRAIN HEIGHT PROXIMITY
ground
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Failsafe Description
Define minimum above ground level altitude (AGL) according to digital el-
evation model at which it is still safe to fly in the area of a flight plan.
Define above ground level altitude to which UAV should climb to if flying
below minimum AGL altitude.
NOTE: Altitude Override mode with defined climb to altitude is automati-

cally enabled when this failsafe is triggered.
Low battery If battery voltage has reached the defined minimum the UAV would return
to Home point autonomously.
Low and critical battery levels depend of the selected airframe. When the
battery level is critically low the UAV is unable to keep its position and
loss of control failsafe is triggered.
Loss of control If UAV cannot maintain its position or altitude the parachute is deployed.
Trigger conditions are the following:
• Roll angle greater than 57.3◦
• Roll angle less than -57.3◦
• Pitch angle greater than 57.3◦
• Pitch angle less than -45.8◦
• Airspeed greater than 35 m/s
You can get the coordinates and the distance to the UAV form Flight Sum-
mary window.
You cannot change behavior of this failsafe.
Geo Fence If this failsafe is enabled on Breach the C3P will command the UAV to fly
home.
Minimum go home altitude Minimum Go Home altitude is the setting that defines the minimum alti-
tude with which the UAV can fly while on route to Home (and Rally) posi-
tion. If UAV is already above Minimum Go Home altitude it will stay on its
current MSL altitude while flying Home. Default value in program Settings
is set to 100 m.
Minimum Go Home altitude value entered in Settings, Failsafes dialog, re-
fers to the altitude above Home point. This value from Failsafes is added
to Home MSL altitude during Sensor Init procedure. Value is recalculated
if Home position is changed during the flight.
EXAMPLE: Min Go Home altitude is 100 m, Home point MSL is 100 m and
UAV is flying with MSL altitude that is 150 m. In Home or Rally mode UAV
would climb to desired MSL altitude that is sum of Min Go Home altitude
and Home point MSL altitude. In our example this is MSL altitude of 200
m.
IMPORTANT: Failsafe is not working if low battery failsafe is triggered.
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3.14.1.3 More
Under More settings there are additional options for selected UAV.
Setting Description
Sensor with external IMU Select this option if your UAV is equipped with external IMU board.
NOTE: This is PPX feature only.
More settings.
3.14.2 GCS
Setting Description
Trellisware GCS ID This feild is showed only if Trellisware ID is typed in UAV ID feild. The GCS
ID from the label found on the GCS. For example: GCS ID 6.184.
GCS GNSS (optional) If GNSS is part of the GCS system and you want to update home position
with your current position then enable it here. Select proper device serial
port or IP port.
Antenna tracker (optional) Antenna tracker is normally automatically detected. When the antenna
tracker is selected option to park antenna is shown near the window. Park
puts Antenna tracker in default position.
Trellisware GCS GPS If Trellisware is used in configuration an internal Trellisware GNSS can be
used as a home position of the GCS. Enable this if you want to update
home position with your current GCS position. Select proper device serial
port or IP port.
Allow remote viewing (beta Option to allow operations being viewed from another C3P.
version may contain bugs)
Allow remote payload control Option to allow payload control from remote point.
(beta version may contain
bugs)
3.14.3 LOGS
Setting Description
ID ID of UAV
NOTE: 65535 and 66567 are simulations.
Name Name of the selected UAV. User can define this field.
Time stamp Date and time of telemetry created.
Duration Duration of the flight
View KML Shows the KML of the flight
View CSV Shows the CSV of the flight.
Finalize Finalizes the flight. Finalization is automatically made after reboot of C3P.
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3.14.4 Maps
Setting Description
Map source Choose map displayed in the main window.
You can select desired map from the list of available map sources. Maps
are downloaded from the Internet and stored on the local disk for later
use.
You can create and use your own custom maps as a background of C³P.
C³P recognizes raster map tiles in TMS (Tile Map Service) format. To cre-
ate TMS maps from your georeferenced map images such as GeoTiffs we
suggest use of MapTiler or Global Mapper. TMS tiles have to be placed in
a new folder created in %APPDATA%\C-Astral\gmapcache\Custom\. The
name of the new folder will appear on top of the list of available maps in
C³P.
NOTE: OpenStreetMap will be used for the map areas that are not covered
by your custom map.
Courent zoom Current zoom level.

Prefetch up to zoom You can download a bigger part of the map up to specified zoom level for
later use. Change maximum zoom level and a button with "Fetch N tiles
for offline use" will appear. You can close Settings dialog and download
will continue in the background. Notice the notification on Log Panel
about map download status.
Queed tiles When you start fetching map tiles you can monitor the progress through
this field. The queue is showing the number of remaining tiles to be down-
loaded.
WARNING: It can take quite some time to download all maps. Some pro-
viders have limits on how many tiles can be downloaded in one day.
Fetch tiles for offline use Downloads the tiles for currently viewed area.
Elevation model Select default elevation model. Two options are available.
WARNING: Do not switch between models after planning the mission.
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3.14.5 Folders
Setting Description
Log folder Log folder contains telemetry data from each flight.
Photo log folder NOTE: Only for Bramor ppX UAS.
OPH (orthophoto board) logs are automatically saved to this folder.

OPH log file is saved to the Photo log folder either after the OPH events
are deleted with the Clear Photo log button or during the download of OPH
events to C³P due to the program restart during camera triggering.
Video Folder Recorded videos are saved to this folder.
Snapshot folder Video snapshots are saved to this folder.
3.14.6 Units
Configure display units for speed, distance, resolution, area, temperature and position.
Setting Description
Speed Select desired speed units (m/s, ft/s, km/h, mph, kn).
Distance Select desired distance units (meters of feet).
Resolution Select desired resolution units (cm/px or inch/px).
Area Select desired area units (meters2, hectares, kilometers2, yards2, acres,
miles2).
Temperature Select desired temperature units (Celsius or Fahrenheit)
Coordinates Select desired coordinate units (geodetic DD, geodetic DMS, geodetic
DDM, UTM, MGRS, SK- 42, EPSG)
NOTE: For any other units type desired EPSG code while connected to the
internet. The transformations used for this are not exact.
3.14.7 Language
Configure display language and speech voice used for audio messages. The list of voices depends on the
voices that are installed on operating system.
Setting Description
Language Supported languages
Voice Supported voices.
3.14.8 Settings
Setting Description
Enable shutter sound Play camera shutter sound every time a photo is taken.
Show motor test button Display motor test button in Manual mode.
Show trail for last (seconds) Defines the length of trail activated by show trail button.
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3.15 Camera settings

3.15.1 Manual/Auto switch
Use CAMERA SWITCH button to toggle between automatic and manual triggering modes.
Camera is automatically triggered only above the area of interest. The camera is not
active when the UAV is changing the flight direction and turning around the way-
points.
Automatic mode works when mapping Area or Street area. When flying above individ-
Automatic Trigger-
ing Enabled. ually added waypoints (part of the flight plan you create when in WAYPTS drawing
mode) you must use manual mode and trigger the camera manually.
IMPORTANT: If you want to stop camera triggering press Camera On/Off toggle button. The camera mode is
automatically changed to manual.
In manual mode camera is manually controlled with Camera On/Off toggle button.
IMPORTANT: If you expect that you will loose communication during the mission, for
example because of plane flying behind a hill, use manual camera switch and leave
Manual Triggering
Enabled Camera on during entire mission.
Distance and time camera triggering

While testing camera on ground, camera will automatically use time triggering. Time triggering means that
the time interval between two consecutive photos will be used as the triggering parameter.
During the flight over the area camera will use distance triggering. Distance triggering means that the dis-
tance between two consecutive photos will be used as the triggering parameter.
3.15.2 Camera on/off

Use CAMERA ON/OFF button to turn camera on or off.
Camera is turned on and the photographs are taken in specific time interval.
NOTE: Triggering time interval is related to selected Mission Settings parameters: al-
titude, overlap, sidelap and GSD. Number of photographs, distance and time between
Camera on.
two successive photographs and some other data is displayed on Mission Data panel.
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3.15.3 Photos
Use PHOTOS button to open Photos menu.
Photos Menu.
In this section we will explain how to operate with telemetry data associated with each photo taken by the
UAV. Orthophoto Board (OPH) on UAV takes care of camera triggering and logging of telemetry data for each
photo.
The number that appears on PHOTOS Menu shows the current number of the entries in OPH photo log. If
photos menu contains two numbers - for example "45 of 555" - then the photo log is being downloaded from
OPH board to C³P. Total number of photos is 555 and 45 of them have already been downloaded.
WARNING: It is recommended that the photo log is saved at the end of each session to C-Astral Photo Log
format. This format can be later loaded, post-processed and exported into any format of photogrammetry
software that is supported by C³P.
NOTE: Post processing is explained in the Post processing chapter.
3.15.3.1 Show photos

SHOW PHOTOS shows photos projection on the map.
Photos projection.
The estimated projection of each photo is shown on the map (please see figure below).
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Show photos - example.
3.15.3.2 Clear log

CLEAR LOG clears OPH log file.
WARNING: It is advised that this operation is performed after the photos are erased from the camera.
During the flight it is not expected to delete the log because this will cause the loss of
data needed for post processing. The log should be deleted after the photos are
downloaded from the UAV to the computer (once on the ground).
In case the user has forgotten to clear the photos before take-off the clearing can be
Clear OPH log.
done during the flight but strictly before starting the camera.
Confirm clearing of OPH photo log. During deletion the Photos button shows no data and other camera but-
tons are disabled (Camera On/Off and Manual/Auto Camera switch are non responsive). When the log is
empty number 0 is shown on the Photos button.
Confirm clearing of OPH photo log.
During the flight and camera triggering OPH log file is saved on UAV and also saved and constantly updated
as part of the C³P settings (which is visible on the Photos menu button). The file is also saved to the
PhotoLog folder either after the events are deleted with the Clear Photo log button or when the download of
the events is started due to the program restart during the flight/camera triggering.
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3.15.3.3 Check photos

CHECK PHOTOS opens dialog with photos data and activates photo coverage layer.
Opens dialog that contains detailed information about each photo. It is possible to se-
lect or deselect individual photos based on different parameters.
EXAMPLE: Exclude all photos that were taken at UAV roll bigger than 10 degrees.
Photo details.
Check Dataset
Parameter Definition
Overlap coloring Show photo coverage of the mission as color layer over the flight plan in
the program's main window. Overlap coloring layer is changed according
to the values entered under Overlap coloring section.
Processing selection Select criteria for including/excluding of specific photos from the pro-
cessing.
Select Include photos based on the selected criteria.
Unselect Exclude photos based on the selected criteria.
Select all Include all photos.
Unselect all Exclude all photos.
Elipsoid height Show either Orthometric height (EGM96) or Ellipsoidal height in altitude
window.
Check Dataset parameters.
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After selecting OK button the photo coverage layer on the map is activated. This can be used during the flight
to identify possible areas that were not captured on photographs. To deactivate this layer press "Check Pho-
tos" button again.
Example of photo coverage layer.
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3.16 Post processing

Use POST PROCESSING to adjust parameters and start processing of geospatial data.
IMPORTANT: Before starting post-processing exit the flight simulation mode. In Set-
tings dialog, UAV tab check Autopilot check-box (leave the drop-down menu empty)
and press OK to close the dialog.
Post Processing.
General
Bramor ppX systems use PPK (Post Processing Kinematic) method to achieve maximum photo position ac-
curacy.
The purpose of post-processing is to combine data from OPH board, RAW satellite data log from the UAV
(Rover Log) and Base Station Log or VRS (Virtual Reference Station) system.
OPH board log is obtained from the UAV during the flight. You have to save it to C-Astral Photo Log format
and load it into the processing machine.
Prerequisites
In order to perform post-processing Septentrio products must be installed on your computer:
o RX Tools
o Septentrio SDK
o Septentrio SDK license
You can download them from http://www.c-astral.com/downloads/.
Septentrio License Dongle is provided with the system and has to be inserted in the computer to run post-
processing. You can install SDK license on several computers, but you always have to insert the Dongle into
USB port of the computer that will run post-processing computation.
If the dongle is missing you will get a message that the dongle was not found and the processing will not be
performed.
Post processing
Rover log is found on the USB key that is inserted in the UAV during the flight. It is possible to attach USB key
also after the flight, power on the UAV and then wait few minutes until rover logs are transferred to the USB
key.
Base station log has to be downloaded from the base station. It can be in SBF (Septentrio Binary Format) or
RINEX format.
Photos have to be copied from the camera memory card to the local hard drive.
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3.16.1 Post processing window
Post Processing dialog.
Selected camera This shows which camera is selected for post processing. This field must
match the camera used in flight.
Rover log Locate the rover.sbf file by pressing three dots. Once the file is opened the
software will analyze the file and write the information regarding the file.
Information contains the number of pictures registered by the receiver
and the GNSS time from start until the end while the pictures were taken.
Base station sbf, Locate the Rinex of .sbf files from the base station, that overlap the time
Rinex files UAV was recording pictures. If the Rinex files are selected the C 3P will
convert them to.sbf format.
Set Fixed Point Pressing this opens the dialog where coordinates of base station must be
entered. The dialog accepts ellipsoidal coordinates.
Pictures Folder Location of the UAV after landing displayed in Google Earth (values are
being updated during the flight).
Options Different options for post processing.
 APPLY GEOID (EGM96). This will change heights from ellipsoid to or-
thometric heights on EGM96 geoid.
NOTE: Errors could occur if coordinate systems specified in Post pro-

cessing dialog differ form the ones used in post processing software.
Make sure they are both correctly specified when data processing.
 If you want to apply antenna offset between GNSS receiver and camera
use APPLY ANTENNA OFFSET. This will apply approximate offset, if
possible use this option in post processing software.
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 WRITE EXIF if you want to add additional information directly to pic-
tures. More information you can find here.
 HELIX ANTENNA if your UAV uses helical antenna.
Status bar Shows the progress of post processing. Write exif takes a long time to
complete.
Reset Clears all the information from previous processing.
Process Button appears when all available information is added and the precise
coordinates can be calculated
Flight summary data
3.16.2 Post processing steps

Post processing dialog steps
1. Load Rover log. After few moments the log is analyzed and information about the number of photos
(events), start time and duration is displayed. Start time and duration mean time of the first photo and
last photo taken can be directly used to obtain minimum VRS data from the provider.
2. Load base station log or multiple logs. You can choose SBF or Rinex files.
3. Set basestation ellipsoid coordinates.
4. Select extra processing optins.
If you want to apply geoid (EGM96) use APPLY GEOID (EGM96). This will change heights from ellip-
soid to orthometric heights.
NOTE: Errors could occur if coordinate systems specified in Post processing dialog differ form the ones used
in post processing software. Make sure they are both correctly specified when data processing.
If you want to apply antenna offset between GNSS receiver and camera use APPLY ANTENNA OFF-
SET. This will apply approximate offset, if possible use this option in post processing software.
Select WRITE EXIF if you want to add additional information directly to pictures. More information
you can find here.
Select HELIX ANTENNA if your UAV uses helical antenna.
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Geoid and Ellipsoid Height.
4. Choose folder where photos are saved (Pictures folder). This is mandatory if you want to WRITE EXIF.
IMPORTANT: Please be aware that using of non ASCII characters in the user name or name of the folders
used in post-processing might cause problems during post-processing.
IMPORTANT: Some cameras can place photos in different folders. C3P searches sub-folders and moves files
to the root folder. The original sub-folder name is added in front of the file name.
5. Click "Process" to start Post Processing Calculation and wait until it has completed. Then save processed
data as the C-Astral Photo Log and export it to desired format. You can check the predicted position er-
rors in the "Check Photos" table. For good quality of data-sets it should be below 1cm.
3.16.3 Base station placed on unknown point

If base station was placed on unknown point, then we must first calculate the position of that point. This can
be done by converting base station SBF file to Rinex file and submitting it to one of the online services. In this
document we will describe the procedure with AusPos online service.
Convert .SBF to Rinex file

1. In File Explorer choose base station SBF file, right click on it and choose Convert.
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Convert SBF file to Rinex file format.
2. In SBF converter choose Epoch interval 1s and convert to RINEX. Click „options“ for Rinex conversion.
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SBF Converter.
3. In Rinex options select GPS and GLONASS Navigation and click OK.
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RINEX Conversion Options.
4. The resulting G,N & O files will appear in the same folder.
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Rinex Files
5. Upload Observation file (O) to AusPos.

Set the Antenna height, Antenna Type and enter your email address.
AUSPOS online service.
6. Click submit and wait until you receive report to your email address. Report will contain the position of
your previously unknown point.
AUSPOS results.
7. In Post Processing dialog press button “Set Fixed Point” that allows to enter antenna height and fixed
point data.
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Post Processing
8. Then Copy/Paste the position from the AusPos report as a fixed point position. Coordinates can be speci-
fied in DMS format separated by space or DEC format.
Post Proc. - Fixed Point dialog.
9. Continue with post processing as described in Post Processing section.
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3.16.4 EXIF and XMP data

During Post Processing more information is added in EXIF and XMP data of the picture. To add additional
lens data select check box "Write EXIF". You can verify lens data with XMP viewer on this link.
Below is the list of C-Astral Pilot C³P XMP data that is added to the photos.
XMP data Description
C3P_Latitude Ellipsoid Coordinate latitude
C3P_Longitude Ellipsoid Coordinate longitude
C3P_Altitude Selected ellipsoid or orthometric height
C3P_AltitudeAGL Elevation above terrain
C3P_Yaw Yaw rotation
C3P_Pitch Pitch rotation
C3P_Roll Roll rotation
C3P_GPSXAccuracy Estimated error on X axis (longitude) in meters
C3P_GPSYAccuracy Estimated error on Y axis (latitude) in meters
C3P_GPSZAccuracy Estimated error on Z axis (elevation) in meters
C3P_GpsInsOffset_X Leaver offset between GNSS antenna and camera on X axis
C3P_GpsInsOffset_Y Leaver offset between GNSS antenna and camera on Y axis
C3P_GpsInsOffset_Z Leaver offset between GNSS antenna and camera on Z axis
C3P_AccuracyGpsInsOffset_X Accuracy of leaver offset on X axis
C3P_AccuracyGpsInsOffset_Y Accuracy of leaver offset on Y axis
C3P_AccuracyGpsInsOffset_Z Accuracy of leaver offset on Z axis
C3P_GpsInsOffset_Yaw Yaw rotation offset between camera and UAV
C3P_GpsInsOffset_Pitch Pitch rotation offset between camera and UAV
C3P_GpsInsOffset_Roll Roll rotation offset between camera and UAV
C3P_AccuracyGpsInsOffset_Yaw Accuracy of yaw rotation offset
C3P_AccuracyGpsInsOffset_Pitch Accuracy of pitch rotation offset
C3P_AccuracyGpsInsOffset_Roll Accuracy of roll rotation offset
C3P_PixelSize Pixel size of picture
C3P_FocalLength Used focal length
C-Astral Pilot C³P XMP data
3.17 Video commands

To open the interface for interacting with the video that is being captured on board the aircraft, please select
the button shown on the picture below (button in the lower, right angle of the program's main window).
NOTE: Video is enabled by default for C4Eye UAS with gimbal EYE-X sensor and controls. Specific ppX sys-
tems (special camera required) has video streaming option integrated with basic video commands (turn
video on/off, record and snapshot).
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Once the communication between the UAV and the C³P is established
and gimbal is extended you should be able to see a minimized video
image inside this button.
C³P video interface implements a number of commands for interact-
ing with the gimbal EYE-X sensor. Real-time video image from the
sensors is streamed to your GCS for video observation and surveil-
lance of the area of interest.
Display video and video options. The video can be enlarged over whole screen by mouse right-click or
pressing and holding on touchscreen. To exit the full screen view
right-click or press and holdon screen. You can exit this mode also
by pressing ESC key.
Video options.
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3.17.2 Gimbal extend/stow

Use GIMBAL toggle button to extend or stow EYE-X gimbal sensor.
Accurate geo-location of a target based on its location in a video

image is a key functionality provided by the EYE-X EO/IR/LI gimbal
sensor.
Gimbal sensor Gimbal sensor ex-

stowed. tended.
3.17.3 Camera type

Use CAM TYPE toggle button to select between the light sensor and LWIR sensor.
EO - Visible light sensor
IR - LWIR Uncooled microbolometer (thermal camera)
Sensor Sensor
3.17.4 Laser illuminator

Use LASER ILLUMINATOR (LI) toggle button to highlight ground targets with the built-in stabilized illumina-
tor.
Laser illuminator
off.
3.17.5 Convoy following mode

Use CONVOY FOLLOW mode with an external GCS positioned on the car in convoy you are driving in and fly
the UAV in the manner that would allow you to surveil the path a few hundred meters ahead of the convoy.
Convoy follow
mode.
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3.17.7 Pursue mode

PURSUE mode continually updates the loiter point around the target to allow the UAV to center its flight path
on the target of interest.
Be aware that if your vision based track drifts due to a bad feature contrast, the UAV
will start to fly off towards wherever your vision based track is currently actively
locked onto.
Target gimbal through the "Target gimbal here" function available from the context
Pursue mode.
menu.
3.17.8 Tracking
There are two types of trackers supported, vision trackers and scene lock trackers. The vision tracker is in-
dicated with a green reticle and the scene lock is indicated by a blue reticle.
Use VEHICLE TRACKING for visual tracking of an moving object. It is possible to track a human or a vehicle.
Selecting Vehicle mode changes the localization filter to expect a moving target al-
lowing it to update faster. It also no longer assumes the target velocity is zero and be-
gins to estimate target velocity. Vehicle Mode is meant for any target that is moving
including animals and vehicles.
Vision Tracking.
Use STATIONARY TRACKING for visual tracking of an stationary object.
Stationary mode works best for stationary object including buildings, intersections,
and stationary vehicles. It assumes a target velocity of zero.
Vision Tracking -
stationary.
Use SCENE LOCK for visual tracking of the whole visible scene.
Another mode is scene lock mode. To select this mode click inside video window. This
will activate blue target square that will track not only inside the square but through
the whole video window.
Scene lock tracker.
Tracking algorithm uses image inside tracker (target square).

You can adjust the size of the tracker by increasing or reducing the size of the reticle
to match the actual size of the observed object.
NOTE: Blue/green target square means tracking mode.

Tracker reticle.
Enables updating the target position based on the vision based track from video.
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Disabling this button means that the target location will be updated only by manually
clicking and dragging the target point on the map.
Enabling this button means that as long as there is a valid vision based track in the
video, the target point on the map will be updated by estimating the location of the
Update tracking
target. target from the known position and attitude of the UAV as well as the pose of the gim-
bal and position of the track in the video
Cancel track will terminate current tracking mode and it will no longer track selected target.
Cancel tracking.
3.17.9 Image settings

IMAGE SETTINGS opens dialog where you define image settings.
Adjust image settings of the selected camera.
Settings
Camera's image settings dialog.
Parameter Value
Brightness Min: 0%
Max: 100%
Contrast Min: 0%
Max: 100%
Sharpness Min: 0%
Max: 100%
Reset Default values
White hot White hot: lighter parts of image are hotter then darker parts.
(IR camera specific) Black hot: darker parts of image are hotter then lighter parts.
False colors (IR camera spe- False color image
cific)
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Image settings.
3.17.10 Zooming
When video is displayed use Zoom in and Zoom out buttons to zoom in and out of the video image.
3.17.11 Recording
Record enables video recording on board as well as of board. When this button is
pressed UAV will start to record on micro SD card inside VPU and also will record on
GCS. If SD card is not inserted in VPU it will only record on the GCS.
Recording.
3.17.12 Snapshots
Snapshot (10MP) stored on board.
Pressing snapshot button will activate a snapshot being taken on the VPU. It stores 10
MP photo on VPU and low resolution photos on computer. 10 MP photos are stored
only if microSD card is inserted in VPU.
Snapshot.
NOTE: Live snapshot gallery is accessible via MANET/MIMO radio.
3.17.13 Position lights

Use POSITION LIGHTS toggle button to turn on/off position lights on the aircraft.
Position lights.
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3.17.14 Pilot view

Use PILOT VIEW button to move gimbal camera to forward position to show the view that the pilot would
have.
Pilot view.
3.18 Zoom in/out

Use ZOOM button to zoom in and out of the map.
NOTE: Pinch your thumb and forefinger together or move them

apart to zoom in or out of a map.)
Zoom in Zoom out
3.19 Open and Save

Save
Saving a file on your local drive.
*.pfp (C³P Flight Plan) - Saves all waypoints including H/T/R/P/L points, areas/street areas
and mission settings.
Save
NOTE: C³P Configuration settings are not saved as part of the flight plan.
*.kml - Saves flight plan in KML format that can be viewed in Earth browser programs like
Google Earth.
*.csv (C-Astral Photo Log) - Official C³P Photo log format.
WARNING: Save photo log to C-Astral Photo Log format first and later export it to other formats.
Export to log formats of selected photogrammetry software.

o 3D Survey
o Agisoft Photoscan
o Pix4D
o Ensomosaic
o PIEneering
o Menci
o Orbit
o Correlator 3D
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NOTE: Some formats require link between log entry and the file. In that case additional dialog "Select Pic-
tures Folder" is opened where the photos from camera memory card can be found.
Open
Opening a file.
*.pfp (C³P flight plan) - Contains all waypoints including H/T/R/P/L points, areas/street ar-
eas and mission settings.
Open
NOTE: C³P Configuration settings are not saved as part of the flight plan.
*.kml or *.kmz - Contains areas or routes drawn in Google Earth or similar Earth browser
program. The imported area or route is automatically converted to C³P area or route.
Number of points is automatically reduced to simplify resulting flight plan.
*.csv (C-Astral Photo Log) - Photo log saved immediately after the flight mission and later
loaded again to perform post-processing or exporting to a different photo log format.
*.fpf (Virtual Cockpit flight plan) - Older versions of flight plans. Kept for backward com-
patibility.
3.20 Map toggle

Use MAP TOGGLE to switch between recently used two maps.
The list of map sources you can choose from is in the Settings dialog, Maps tab.
Toggle between maps.
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3.21 Preflight procedures

Establish communication with the UAV
In order to communicate with the autopilot the agent address entered under Settings, UAV tab, in the UAV ID
field must match the agent address stored in the autopilot memory.
Select the proper GCS serial port, Bluetooth or IP (TCP/UDP) port when connecting with a device.
Take-off point position into the wind

Adjust the position of Take-off point when you are able to define the actual wind direction and speed. Position
of Take-off point (direction of launch) must be into the wind.
Parachute/land points position into the wind
Position of Parachute point must be into the wind. After the parachute is deployed there would be a drift
from Parachute point to Land point depending on the wind.
Parachute altitude depends on the current wind conditions (if the wind is not strong you can pop up the para-
chute on the higher altitude).
Check topographic map

Elevation of the terrain should be checked on a topographic map. In some cases values from Digital Eleva-
tion Model (DEM) might be missing which can lead to an unsafe mission.
Sensor Init
UAV must be placed on horizontal surface (on ground) when calibrating sensors.
After the calibration check the air-speed shown on Log Panel.
The average air-speed is displayed and it should be less then 1m/s. If it is higher then this you should try
lowering the temperature.
IMPORTANT: It is better to have lower speed (even negative) then the speed above 1m/s after the calibration.
3.22 About
Product: C-Astral Pilot C³P
Version: 3.2.0.0
Website: www.c-astral.com
Contact e-mail: support@c-astral.com
Copyright © C-Astral 2011-2018
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4 UAV FLIGHT GUIDE

4.1 How to use the checklist
IMPORTANT: Always use the checklist for every flight. Checklist ensures that every procedure is made safely
and in correct order. If you need to stop the procedure, do not start from the last step but return back to the
start of the checklist.
Checklist has multiple chapters. Description of the chapters can be found below.
Office checklist
Here the operator can find checklist that will help him to prepare the system for the flight. Inside this check-
list are steps that operator has to do when he decides to prepare the system for flight. It contains the list of
equipment that need to be charged before the flight and the data that needs to be gathered to verify the
flight.
Packing checklist
This chapter contains the list of all the components of the system used for flight. Operator can verify that he
will bring all the equipment needed for flight to the field.
NOTE: Packing checklist for the specific UAS is provided in the printed document "UAS Checklist" included
with the purchased UAS package. For packing details refer to printed checklist.
Preflight checklist
Steps written in this chapter need to be followed exactly to ensure that the system is set up and used cor-
rectly.
In-flight checklist
In flight checklist describes the steps needed to be checked during the flight. However the use of UAV during
the flight may vary and also the steps due to that could change.
Landing checklist
During landing user must be careful and follow this list. The checklist describes the automatic landing pro-
cedure that would ensure correct landing of the UAV.
Post flight checklist
Steps written in this checklist are the steps to verify gathered data and state of the UAV.
Camera Operating modes/ Alpha 6000 Camera Setup
While using Bramor C4EYE different camera operating modes are possible. The camera can either record,
track or pursue the target. Even variations of different modes at the same time are possible. Operator can
get quick explanation of different mode applicable for different situation here.
Normal basic setup of the camera for sunny days is written in this chapter. The user can verify that the sys-
tem is set up correctly to get the best possible data out.
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Emergency situation checklist

In case of emergency or unwanted behavior user can check this checklist. Here are the instructions on what
to do or hoe to act in case of any unwanted behavior.
Airspeeds
The chapter contains information regarding different speeds (cruise, stall, never exceed speed).
Weather Limitations
Operator can verify that the weather limitations written in this chapter are met when flying and setting up the
system.
Density Altitude Restrictions

Diagram describing the air density limitations in regards with MSL altitude and temperature.
UAV ID card
Here the personal information regarding the system using this checklist are held.
Flight Logbook
The operator can fill in the information regarding the cumulative flight time and different missions in this
chapter.
Service Book
This chapter is intended for UAV manufacturer to be filled in when the system is shipped back to service.
4.2 ppX checklist explanation

IMPORTANT: This chapter includes the checklists that are used while preparing for the flight in your working
space. Below steps are used with the UAS that is equipped with the GCS SX 101. Different configurations of
the system are possible and checklists may differ due to this. Please follow the steps below in the order in
which they are listed.
4.2.1 Office Checklist ppX

1. UAV BATTERIES CHARGED
Please see charging instructions in the chapter: Charging the LiPo UAV battery.
2. TABLET BATTERIES CHARGED
Please see charging instructions in the chapter: Charging the computer.
3. GCS BATTERIES CHARGED
Please see charging instructions in the chapter: Charging the GCS SX101 NiMH battery pack.
4. PARACHUTES FOLDED
Please see folding instructions in the chapter: Parachute.
5. USB FORMATTED
5. MEMORY CARD FORMATTED
6. MISSION MADE AND SAVED

Please see mission planning instructions in the chapter: C³P software.
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7. WEATHER FORECAST CHECK

Check the weather forecast prior going in the field if the forecast is showing values in Weather limitations of
the UAV.
8. C³P ELEVATION AND NAVIGATION MAP PREFETCHED
Download map(s) for offline use. Please see details in the chapter: Maps.
4.2.2 Pre-flight checklist ppx

IMPORTANT: If aborting the launch procedure it is highly important to first set the UAS in the Safe Mode (C³P
Safe button pressed) then carefully remove the aircraft from the catapult and only after that slowly unwind
the winch. Do not launch the catapult. Releasing the catapult without the aircraft on the catapult can result
in damages of the system.
CATAPULT
1. CATAPULT UNFOLD
Take out catapult from the box and unfold it.
2. CATAPULT LEGS EXTEND
Extend both front legs.
3. SAFETY LOCKS SECURE
Secure safety locks on the catapult legs.
4. MIDDLE LOCK SECURE
Secure safety lock in the middle of the catapult
5. SAFETY PIN SECURE
Secure catapult trolley by putting the safety pin into place.
6. CATAPULT ON LEVEL GROUND CHECK
Check if catapult is assembled on the flat terrain.
7. WINCH ROPE EXTEND
Slowly unwind the pulley and extend the winch rope
IMPORTANT: Always when winding up or unwinding the rope off the winch put tension on the rope to avoid it
being caught in the gears.
8. WINCH ROPE STATE CHECK

Check winch rope for damages.
9. BREAKING ROPE STATE CHECK
Check breaking rope for damages.
10. RUBBER STATE CHECK
Check elastics for damages.
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11. RUBBER NOT ARMED CHECK

At this stage do not arm the catapult
12. WIND DIRECTION CHECK
Check orientation of the catapult. Catapult must be orientated into the wind.
AIRFRAME
13. AIRFRAME ON CATAPULT PLACE
Securely position the airframe on the catapult.
14. AIRFRAME AND WING CONNECTORS CHECK
Check the connectors on the airframe and on the wings before connecting them.
15. WING JOINERS IN THE WINGS PLACE
Put wing joiners into the wings.
16. AIRFRAME ANTENNA CONNECT
Securely connect the airframe antenna.
17. WINGS ON THE AIRFRAME CONNECT
Wings with wing joiners inside connect to the airframe.
18. WINGLETS ON THE WINGS CONNECT
Put winglets on the wings.
19. WING GAP TAPE SEAL
Use electrical tape to seal connections between wing, winglet and airframe.
20. PITOT TUBE CLEAN CHECK
Remove the silicon tubes and blow outside the pitot tube to check and remove obstructions.
21. PROPELLER CHECK
Make sure propeller is not damaged and check if it’s securely tightened.
22. SENSOR CABLE CONNECTED
Check the sensor cable and make sure camera is connected.
23. PARACHUTE HATCH REMOVE
Remove the parachute hatch from the UAV.
24. UAV BATTERY PLACE
Place batteries inside the fuselage at the end of the center of gravity line.
25. BATTERY ELASTIC SECURE
Make sure the battery holders are tightly in place and secure the batteries by putting the elastic around
them.
26. UAV BATTERY CONNECT
Connect the batteries to the Y connector and then connect the Y connector to the main power cable.
27. ESC SOUND PLAYED
After connection make sure the initialization sound is played.
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28. CAMERA SETTINGS CHECK

Put the hatch on the airframe and close the main compartment.
29. FORMATTED MEMORY CARD INSERTED
Make sure camera is in live view mode and has formatted memory card.
30. USB KEY SECURE
Make sure that USB key is inserted.
31. HATCH SECURE
GCS
32. COMBOX ANTENNA CONNECT
Connect the antenna to the GCS.
33. TABLET ON
Turn on the tablet PC.
34. GCS ON
Power on the GCS.
35. COMBOX BATTERY CHARGED
Power on the GCS.
36. TABLET BATTERY CHARGED
Check that laptop battery is charged.
37. TABLET SOUND ENABLED
Check that tablet sound is enabled.
38. BLUETOOTH PAIRED
Check that combox is paired with tablet PC.
39. C³P ON
Start C³P program.
40. MISSION OPEN/CREATE
Open or create a flight plan.
41. UAV BATTERY CHECK
Check UAV battery when connected to UAV.
42. COMMUNICATION CHECK
Check communication strength in COMM indicator.
43. SATELLITES MORE THAN 7
Check GNNS signal and number of locked satellites.
44. NAVIGATION MAP LOADED
After getting GNSS lock check if map is being loaded.
45. PARACHUTE POP
Press button PARACHUTE POP and confirm the selection to open parachute compartment.
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AIRFRAME
46. PARACHUTE INSTALL
Install the parachute into parachute compartment. See chapter Attaching parachute to UAV.
47. PARACHUTE HATCH (RESET IN C³P) RESET
Press button Reset Parachute in C³P to close the hatch. Be careful not to force the servo.
48. PARACHUTE SAFETY PIN REMOVE
When parachute is correctly installed remove the parachute safety pin.
49. AIRFRAME FROM CATAPULT REMOVE
Remove the airframe from the catapult for further tests.
50. MODE TO MANUAL SET
Press button MANUAL to switch to manual mode.
51. SERVO CHECK
Move the plane around to check the connection between the autopilot and the servos.
52. PROPELLER SAFETY CHECK
Open the propeller to ensure safe motor test and keep hands away.
53. MOTOR TEST (MOTOR TEST BUTTON IN C³P) CHECK
Press button motor test to test the motor on UAV.
54. MODE TO SAFE SET
Press button SAFE to switch back to safe mode.
55. LENS CLEAR CHECK
Check if camera lens is clean.
56. AIRFRAME LEVEL
Position the airframe on level/clean surface for further tests.
GCS
57. SENSOR INIT SET
Press button SENSOR INIT to initialize the sensors.
58. WAYPOINTS (SPEED &ALTITUDE) CHECK
In C³P check the flight plan table to verify the mission.
59. MISSION (T, R, P/L) SET
Set Take Off, Rally, Parachute Pop and Landing points according to the situation.
60. TAKEOFF POINT PARM CHECK
Check Take Off point parameters.
61. LANDING POINT PARM CHECK
Check Landing point parameters.
62. AUTO CAMERA SWITCH SELECT
Select camera triggering mode.
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63. PHOTO LOG CLEARED

Select camera triggering mode.
64. MISSION UPLOAD
Press button UPLOAD WAYPOINTS to upload the mission. Notice "Waypoints uploaded" notification on the
Log panel after the successful upload.
CATAPULT
65. TROLLEY LOCK
Check that trolley is safely locked on the catapult.
66. RUBBERS ON
Put elastics on the pulley at the front of the catapult.
67. CATAPULT SAFETY CHECK
Check the catapult ropes and locks for any safety issues.
68. CATAPULT (WIND) DIRECTION CHECK
GCS
69. FAILSAFES CHECK
Check that failsafe’s of the UAV are correctly setup.
70. SENSOR INIT SET
71. AIRSPEED (AROUND 0 m/s) CHECK
Verify that zero pressure is around zero. Otherwise see Sensor Init chapter for corrective actions.
72. PITOT COVER REMOVE
Remove the pitot cover after sensor initialization.
73. PITOT TEST CHECK
Press on the pitot tube to verify the connection between pitot tube and airspeed sensor on the autopilot.
CATAPULT
Check that catapult is orientated towards the wind.
75. CATAPULT (MAX 1 MINUTE) ARM
Wind up the winch to arm the catapult.

76. AIRFRAME ON CATAPULT SECURE
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77. PROPELLER ALIGN

Align the propeller so it will not hit the catapult at the take-off.
GSC
78. TAKEOFF MODE SET
Press the TAKE-OFF button.
79. UAV IN TAKE-OFF MODE CHECK
Verify that UAV is now in the Take-off mode. Button should have green color and elevens are ready for the
take-off.
CATAPULT
80. LEG ON PLATE PLACE
Securely position your leg on the plate at the back of the catapult.
81. SAFETY PIN REMOVE
Remove the safety pin from the catapult.
82. SAFETY– SITUATIONAL AWARENESS CHECK
Check area around the catapult for safety.
83. CATAPULT RELEASE PULL
Pull the catapult release.
4.2.3 In-flight Checklist ppX

GCS
1. T POINT ALTITUDE REACHED
Check area around T point for safety.
5. SATELLITES CHECK
6. NAV MODE SET
Go to navigation mode to start the mission.
7. CAMERA TRIGGERING CHECK
Check if camera is working and taking photos.
8. SITUATIONAL AWARENESS MAINTAIN
Be aware of your surroundings and indicators in C³P throughout the whole flight.
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9. MISSION FINISHED
Maintain the overview on the UAV unit the mission is finished.
9. HOME RETURN
After finishing the mission return home with UAV. Be careful of any obstacles in the way.
4.2.4 Landing Checklist ppX

GCS
Check the wind direction to properly set the landing
2. LANDING POINT (R,P, & L) SET
Place the landing point in open, safe area.
3. MISSION UPLOAD
Upload the mission to the UAV to transfer the landing parameters.
Check area around landing for safety.
5. LAND MODE SET
Go to land mode to bring the UAV in landing procedure.
UAV
6. UAV LANDED
Follow the UAV until touchdown.
7. UAV BATTERY DISCONNECT
Disconnect the battery form the UAV.
Remove the parachute hatch from the parachute.
9. PARACHUTE REMOVE
Remove the parachute from the UAV.
10. UAV RECOVER
Recover the UAV to safe area and store it safely into the UAV box.
4.3 C4EYE checklist explanation

IMPORTANT: This chapter includes the checklists that are used while preparing for the flight in your working
space. Below steps are used with the UAS that is equipped with the GCS KJ 200. Different configurations of
the system are possible and checklists may differ due to this. Please follow the steps below in the order in
which they are listed.
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4.3.1 Office Checklist C4EYE

1. UAV BATTERIES CHARGED
Please see charging instructions in the chapter: Charging the LiPo UAV battery.
2. LAPTOP BATTERIES CHARGED
Please see charging instructions in the chapter: Charging the computer.
3. MAKITA BATTERIES CHARGED
Please see charging instructions in the chapter: Charging with Makita charger.
4. PARACHUTES FOLDED
Please see folding instructions in the chapter: Parachute.
5. MICRO SD FORMATTED
6. MISSION MADE AND SAVED

Please see mission planning instructions in the chapter: C³P software.
7. WEATHER FORECAST CHECK
Check the weather forecast prior going in the field if the forecast is showing values in Weather limitations of
the UAV.
8. C³P ELEVATION AND NAVIGATION MAP PREFETCHED
Download map(s) for offline use. Please see details in the chapter: Maps.
4.3.2 Pre-flight checklist C4EYE

IMPORTANT: This chapter includes checklists that are used during the preparations for the flight and take-
off. Below steps are used with the UAS system that is equipped with the GCS KJ-200. Please follow the steps
below in the exact order in which they are listed.
IMPORTANT: If aborting the launch procedure it is highly important to first set the UAS in the Safe Mode (C³P
Safe button pressed) then carefully remove the aircraft from the catapult and only after that slowly unwind
the winch. Do not launch the catapult. Releasing the catapult without the aircraft on the catapult can result
in damages of the system.
CATAPULT
1. CATAPULT UNFOLD
2. CATAPULT LEGS EXTEND
Extend both front legs.
3. SAFETY LOCKS SECURE
Secure safety locks on the catapult legs.
4. MIDDLE LOCK SECURE
Secure safety lock in the middle of the catapult
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5. SAFETY PIN SECURE

Secure catapult trolley by putting the safety pin into place.
6. CATAPULT ON LEVEL GROUND CHECK
Check if catapult is assembled on the flat terrain.
7. WINCH ROPE EXTEND
Slowly unwind the pulley and extend the winch rope
8. WINCH ROPE STATE CHECK

Check winch rope for damages.
9. BREAKING ROPE STATE CHECK
Check breaking rope for damages.
10. RUBBER STATE CHECK
Check elastics for damages.
11. RUBBER NOT ARMED CHECK
At this stage do not arm the catapult
AIRFRAME
13. AIRFRAME ON CATAPULT PLACE
14. AIRFRAME AND WING CONNECTORS CHECK
Check the connectors on the airframe and on the wings before connecting them.
15. WING JOINERS IN THE WINGS PLACE
Put wing joiners into the wings.
16. AIRFRAME ANTENNA CONNECT
Securely connect the airframe antenna.
17. WINGS ON THE AIRFRAME CONNECT
Wings with wing joiners inside connect to the airframe.
18. WINGLETS ON THE WINGS CONNECT
Put winglets on the wings.
19. WING GAP TAPE SEAL
Use electrical tape to seal connections between wing, winglet and airframe.
20. PITOT TUBE CLEAN CHECK
Remove the silicon tubes and blow outside the pitot tube to check and remove obstructions.
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21. PROPELLER CHECK

Make sure propeller is not damaged and check if it’s securely tightened.
22. POSITION LIGHTS SWITCH SELECT
Select visible or infrared position lights.
24. UAV BATTERY PLACE
25. BATTERY ELASTIC SECURE
Make sure the battery holders are tightly in place and secure the batteries by putting the elastic around
them.
26. UAV BATTERY CONNECT
Connect the batteries to the Y connector and then connect the Y connector to the main power cable.
27. ESC SOUND PLAYED
After connection make sure the initialization sound is played.
28. MICRO SD CARD INSERTED
29. EYE X GIMBAL INITIALIZED
30. HATCH SECURE
GCS
31. ANTENNA (Lollipop or car roof antenna) CONNECT
Connect the antenna to the GCS KJ-200
32. MAKITA BATTERIES PLACE
Place fully charged batteries into battery compartment.
33. LAPTOP DOCKING SECURED
Verify that laptop is securely docked in place.
34. USB GNSS RECEIVER (optional) CONNECT
Optionally plug in USB GNSS receiver into computer.
35. MAIN POWER ON
Power on the GCS.
36. MAKITA BATTERIES CHARGED
Check that Makita batteries are fully charged.
37. LAPTOP ON
Power on the computer.
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38. LAPTOP BATTERY CHARGED

Check that computer is fully charged.
39. LAPTOP SOUND ENABLED
Check that laptop sound is enabled.
40. C³P ON
Start C³P program.
41. MISSION OPEN/CREATE
Open or create a flight plan.
44. SATELLITES MORE THAN 6
45. NAVIGATION MAP LOADED
After getting GNSS lock check if map is being loaded.
46. PARACHUTE POP
Press button PARACHUTE POP and confirm the selection to open parachute compartment.
AIRFRAME
47. PARACHUTE INSTALL
Install the parachute into parachute compartment. See chapter Attaching parachute to UAV.
48. PARACHUTE HATCH (RESET IN C³P) CLOSE
Press button Reset Parachute in C³P to close the hatch. Be careful not to force the servo.
49. PARACHUTE SAFETY PIN REMOVE
When parachute is correctly installed remove the parachute safety pin.
50. AIRFRAME FROM CATAPULT REMOVE
Remove the UAV from the catapult for further tests.
51. MODE TO MANUAL SET
Press button MANUAL to switch to manual mode.
50. SERVO CHECK
Move the plane around to check the connection between the autopilot and the servos.
53. PROPELLER SAFETY CHECK
Open the propeller to ensure safe motor test and keep hands away.
54. MOTOR TEST (MOTOR TEST BUTTON IN C³P) CHECK
Press button motor test to test the motor on UAV.
55. MODE TO SAFE SET
Press button SAFE to switch back to safe mode.
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56. AIRFRAME FOR CAMERA TEST SET

Position the plane so you can extend the gimbal.
GCS
57. CAMERA EXTEND
Press button GIMBAL STOWED to extend the camera
58. LENS CLEAN CHECK
Check if lenses on the camera are clean.
59. JOYSTICK CONTROL CHECK
Use the joystick to move around the camera and to check the controls.
60. EO AND IR CAMERA CHECK
Switch between EO and IR camera to check the functionality.
61. MICRO SD CARD DETECT
Check if micro SD card is detected.
62. CAMERA STOW
Press button GIMBAL EXTENDED to stow the camera.
63. POSITION LIGHTS CHECK
Press button POSITION LIGHTS to turn on the lights.
AIRFRAME
64. AIRFRAME LEVEL
Position airframe on level surface.
GCS
65. SENSOR INIT SET
66. WAYPOINTS (SPEED &ALTITUDE) CHECK
In C³P check the flight plan table to verify the mission.
67. MISSION (T, R, P/L) SET
Set Take Off, Rally, Parachute Pop and Landing points according to the situation.
68. TAKEOFF POINT PARM CHECK
Check Take Off point parameters.
69. LANDING POINT PARM CHECK
Check Landing point parameters.
70. MISSION UPLOAD
Press button UPLOAD WAYPOINTS to upload the mission. Notice "Waypoints uploaded" notification on the
Log panel after the successful upload.
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CATAPULT
71. TROLLEY LOCK
Check that trolley is safely locked on the catapult.
72. RUBBERS ON
Put elastics on the pulley at the front of the catapult.
73. CATAPULT SAFETY CHECK
Check the catapult ropes and locks for any safety issues.
GCS
75. FAILSAFES CHECK
Check that failsafe’s of the UAV are correctly setup.
76. SENSOR INIT SET
77. AIRSPEED (AROUND 0 m/s) CHECK
Verify that zero pressure is around zero. Otherwise see Sensor Init chapter for corrective actions.
78. PITOT COVER REMOVE
Remove the pitot cover after sensor initialization.
79. PITOT TEST DONE
Press on the pitot tube to verify the connection between pitot tube and airspeed sensor on the autopilot.
CATAPULT
Check that catapult is orientated towards the wind.
81. CATAPULT (MAX 1 MINUTE) ARM
Wind up the winch to arm the catapult.

82. AIRFRAME ON CATAPULT SECURE
83. PROPELLER ALIGN
Align the propeller so it will not hit the catapult at the take-off.
GSC
84. TAKE-OFF MODE PRESS
Press the TAKE-OFF button.
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85. UAV IN TAKE-OFF MODE CHECK

Verify that UAV is now in the Take-off mode. Button should have green color and elevens are ready for the
take-off.
CATAPULT
84. LEG ON PLATE PLACE
Securely position your leg on the plate at the back of the catapult.
83. SAFETY PIN REMOVE
Remove the safety pin from the catapult.
85. SAFETY – SITUATIONAL AWARENESS CHECK
Check area around the catapult for safety.
86. CATAPULT RELEASE PULL
Pull the catapult release.
4.3.3 In-flight Checklist C4EYE

GCS
1. T POINT ALTITUDE REACHED
Check area around the T point for safety.
5. SATELLITES CHECK
6. NAV MODE SET
Go to navigation mode to start the mission.
7. RECORDING ON
Record with camera when necessary.
8. SITUATIONAL AWARENESS MAINTAIN
Be aware of your surroundings and indicators in C³P throughout the whole flight.
9. MISSION FINISHED
Maintain the overview on the UAV unit the mission is finished.
9. HOME RETURN
After finishing the mission return home with UAV. Be careful of any obstacles in the way.
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4.3.4 Landing Checklist C4EYE

GCS
Check the wind direction to properly set the landing
2. LANDING POINT (R,P, & L) SET
Place the landing point in open, safe area.
3. MISSION UPLOAD
Upload the mission to the UAV to transfer the landing parameters.
Check area around landing for safety.
5. LAND MODE SET
Go to land mode to bring the UAV in landing procedure.
UAV
6. UAV LANDED
Follow the UAV until touchdown.
7. UAV BATTERY DISCONNECT
Disconnect the battery form the UAV.
Remove the parachute hatch from the parachute.
9. PARACHUTE REMOVE
Remove the parachute from the UAV.
10. UAV RECOVER
Recover the UAV to safe area and store it safely into the UAV box.
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4.4 Failsafes and emergency situations

NOTE: Please find more about configuring the Failsafes settings inside the chapter Failsafes.
Failsafes and emergency situ- Description

ations
Loss of communication In case of loss of radio link with GCS do the following:
1. Check the GCS battery.
2. Check the GCS antenna.
3. Check the COM cable.
4. Lift the GCS to higher position.
NOTE: Configure failsafe Loss of communication to define time period af-

ter which the UAV will start flying towards Home position.
Low UAV battery Failsafe trigger will automatically command the airplane to fly home. You
still have up to 10 minutes to land the plane. If battery is dropping too fast
pop the parachute above safe area.
1. Make sure that the UAV is flying home.
2. Prepare the landing procedure.
3. Upload the mission.
4. Press Land button.
NOTE: Configure failsafe Low battery to define time period after which the
UAV will start flying towards Home position.
Loss of GNSS In case of signal loss:

1. The UAV will start to loiter after the loss of GNSS is triggered.
2. Check what are the last known coordinates of the UAV (use Flight
summary dialog and Show Trail option).
3. Move to last known UAV location and spot the UAV.
4. Pop the parachute when the UAV is above safe area.
5. UAV will automatically deploy parachute if battery voltage becomes too
low.
NOTE: If you fly in poor GNSS signal area failsafe Loss of GNSS can occur.
Loss of control 1. Monitor the GCS and UAV until touchdown.

2. If communication is lost lift the GCS higher.
3. Use the last known UAV's coordinates to move closer to the UAV (use
Flight summary dialog and Show Trail option).
4. Once in the proximity of the UAV try to reestablish connection and get
accurate coordinates.
5. Safely retrieve the UAV.
NOTE: If UAV cannot maintain its position or altitude failsafe Loss of con-
trol will be triggered. In this case the parachute is deployed and aircraft
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Failsafes and emergency situ- Description

ations
may land far away from the desired position. It is important to write down
the last UAV GPS coordinates before beginning the recovery.
Low airspeed warning In case of Low airspeed warning do the following:

1. Check the wind speed on primary display.
2. Determine whether a gusty wind is affecting the flight.
3. Use the airspeed override accordingly.
Thermal weather If you fly in the vicinity of the strong thermals and the plane cannot main-
tain commanded altitude nor airspeed do the following:
1. Check the climb indicator on primary display.
2. Use airspeed override to increase the speed if needed.
3. Search for alternative place to descend/ascend.
4. At new site check the climb indicator.
Extreme weather / approach- During the mission weather changes and it can exceed UAV limitations.
ing storm 1. Fly away from the storm towards landing point.
2. Increase UAV airspeed if necessary.
3. Descend to safe altitude and prepare for landing.
4. Land with caution due to potential strong winds.
5. Recover and protect the UAV.
Other aircraft in the vicinity If during the mission other aircraft come in the vicinity of UAV act with ex-
treme caution.
1. Stay away from flight path of other aircrafts.
2. Use loiter mode and altitude override to move away.
3. In case of danger of collision pop the parachute.
Failsafes
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5 PARACHUTE
Bramor UAV uses parachute as a landing option. The parachute ensures the least amount of impact on the
UAV upon landing and serves as a fail-safe during the flight. The parachute mechanism must be checked be-
fore every flight and always after rebooting the UAV. The checklist for the UAV is designed in a way that al-
ways that user will check the mechanism and install the parachute before take off.
IMPORTANT: Always make sure to check the parachute system on UAV before the flight. If the UAV is re-
booted recheck the functionality of the system.
5.1 Parachute components

IMPORTANT: Always before usage check the parachute for any tears and damages. Parachute with damages
cannot be used to perform safe flight. Damaged parachute must be changed with a new parachute. Never
use the parachute that was not freshly folded before use. Parachutes that are left folded in storage could get
wet and sticky which would prevent the parachute form opening. Only C-Astral parachutes can be used for
safe operations. Before you start to fold the parachute check if the parachute is tangled in any way. Tangled
parachute could fail to open and will not perform as specified.
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Parachute - Details: 1. Deployment bag, 2. Deployment bag line, 3. Air vent, 4. Canopy, 5. Gore, 6.
Suspension lines, 7. Center line, 8. Break, 9. Break line, 10. Main parachute cord, 11. Attachment
loop, 12. Parachute folding tool, 13. Storage bag
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5.2 Parachute Untangling

IMPORTANT: Before you start to fold the parachute check if parachute is tangled in any way. Tangled para-
chute could fail to open and will not perform as specified.
Parachute Untangling: Steps from 1 to 3 from left to right
1. Check the top of the suspension lines, where suspension lines are connected with the main parachute
cord. Suspension lines must not cross each other. Separated lines are shown on the figure below. There
are 2 lines (brake line and center line) in the middle and 4 suspension lines on each side of the canopy.
2. Check the parachute brake for tangling. Parachute brake must move freely up and down. Obstructions or
tangling will delay the procedure of parachute opening.
3. Check the suspension lines for tangling near the canopy. The suspension lines must be parallel and with-
out any obstructions towards the canopy. This kind of tangling will not open the canopy at all and will re-
sult in failed deployment.
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5.3 Parachute folding

Proper parachute folding will ensure parachute opening when landing. It's important that the procedure de-
scribed below is followed carefully and followed step by step. Only this procedure is approved when folding
Bramor UAS parachutes.
NOTE: Please follow the steps below in the exact order in which they are listed.
IMPORTANT: Before folding the parachute please be sure it has been properly aired and untangled as de-
scribed in the above chapters Storing and airing the parachute and Untangling the parachute. Inspect the
parachute for possible damages before use.
1. Open up the parachute and evenly distribute the canopy.
Parachute folding - Evenly distribute the canopy.
2. Hold the parachute by the suspension lines and below the deployment bag.
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Parachute folding - Hold the parachute by the suspension lines
3. Put the parachute on the flat surface and extend the canopy. Place all the parachute gores on one side.
4. Tape the suspension lines near the bottom of the canopy. Tape the deployment bag line near the top of
the canopy.
5. Check for any interstitial gores. Open up the first gore on one side of the canopy and align the fold as
shown on the figure below. Repeat this step for all gores (there must be 8 gores altogether).
Parachute folding - Fold the gores on one side and tape the lines.
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6. Divide the gores by four on each side (see figure below).

7. Remove the tape from the top of the canopy.
8. Place a weight below the top of the canopy at 1/3 of the canopy length.
Parachute folding - Divide the gores by four on each side and add some weight
9. Pull the main parachute cord until all the suspension lines become tight.
Parachute folding - Suspension lines alignment, holding the strings.
10. Pull down the brake and separate the break line from the rest of the suspension lines.
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Parachute folding - Separate the break line.
11. Align folds at the top of the canopy. Open up the first gore on one side of the canopy and align the fold.
12. Repeat for all the gores on this side until all folds are aligned.
13. Put the gores back on the other side.
14. You should have nicely folded canopy on one side. Folds should have zigzag pattern seen from the top.
Deployment bag line should be placed in the middle (figure below).
Parachute folding - Gores alignment.
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15. Repeat the procedure from step 10 to step 14 also on the other side.
16. Start to fold the canopy parallel to the center of the canopy.
17. Make the first fold 5 cm from the center.
Parachute folding - Fold the canopy towards the opposite side
18. Make the second fold in the opposite direction of the first one. Make sure it is approximately 10 cm wide.
The width of the canopy must nicely fit the parachute deployment bag.
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Parachute folding - Fold the canopy forward and backward. Make sure the fold is approx. 10 cm
wide.
19. Repeat the folding in a zig-zag pattern until there is no more canopy on the folding side.
Parachute folding - Canopy folded in the zig-zag pattern.
20. Hold the top and the bottom of the half-folded canopy and rotate it on the other side. Be careful to take
hold of the canopy approx. 5 cm over the canopy center line.
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Parachute folding - Hold the canopy and turn it to another side.
21. Repeat the procedure from the step 16 to the step 19. Make the first fold on the back and maintain the
same width of approx. 10 cm.
Parachute folding - Fold the canopy, the other side.
22. Fold the canopy from the top to the bottom.
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Parachute folding - Fold the canopy to fit in the deployment bag.
23. The folds must be in a zigzag pattern and nicely fit in the deployment bag. The length of the fold should be
approx. 10 cm.
Parachute folding - Fold the canopy. The length of the fold approx. 10 cm.
24. Once the canopy is folded move the canopy into the deployment bag. Leave the suspension lines on the
top and the deployment bag line on the bottom.
25. Place the brake on the top of the canopy.
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Parachute folding - Place the canopy in the deployment bag.
26. Tighten the suspension lines. Pull all suspension lines in the direction from the main knot to deployment
bag to maintain their parallel orientation.
Parachute folding - Tighten the suspension lines.
27. The remaining string length should be placed in the deployment bag. Strings are visible from the bottom
side of the deployment bag.
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28. Fold the deployment bag sleeve with the elastic. Hold it in place. Thread the elastic string through the
hole on the opposite sleeve of the deployment bag. Thread it from underneath the sleeve.
Parachute folding - Fold the bag's sleeve with the elastic string.
29. Thread the elastic string through the hole on the lower sleeve, as shown on the figure below. Thread it
from underneath the sleeve. Hold the elastic string in place.
Parachute folding - Thread the elastic string.
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30. Thread the elastic string through the hole on the top part of the deployment bag, from underneath the
sleeve.
Parachute folding - Deployment bag closed and fixed with clamping tool.
31. Pull all the suspension lines through the elastic string like shown on the figure below. Make a small loop.
Approx. 0.5 cm of strings should be pulled through using the clamping tool.
IMPORTANT: Be careful not to twist the suspension lines while using clamping tool to make a loop.
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Parachute folding - Pull all the suspension lines through the elastic string.
32. Thread the suspension lines through the elastic holder at the bottom of the deployment bag, like shown
on the figure below.
IMPORTANT: Be careful not to twist the suspension lines while using clamping tool to make a loop.
33. Start to sew the suspension lines towards the top of deployment bag. Pull the lines evenly with the same
strength and make the loops.
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Parachute folding - Thread the suspension lines through the elastic holder.
34. Make sure there are no edges or knots inside the parachute elastic holder because this could stop the
parachute from opening.
35. Properly packed parachute must easily fit in the parachute compartment.
Parachute folding - Be sure the loops are without any crossings or knots.
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5.4 Attaching parachute to UAV

The procedure for parachute insertion is described below. This procedure must be followed correctly to en-
sure safe operation with UAV. Parachute is used as only safe landing option for UAV. To ensure reliable para-
chute opening and to prevent tangling procedure must be followed step by step.
IMPORTANT: Make sure the parachute is folded properly as described in the Parachute folding chapter.
1. Ensure parachute pin is inserted in the hole near the parachute hatch. This pin holds the parachute cata-
pult down and helps to ease the insertion of the parachute.
2. Put the main parachute cord through three parachute attachment cords attached to the fuselage.
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3. Put the parachute packet through the attachment loop.
4. Tighten the knot between the parachute attachment cord and the attachment loop. Then put parachute
cover string trough the attachment strap on the back of the parachute packet.
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5. Place the parachute cover trough the parachute cover string and tighten the knot.
6. Fit the parachute package into the fuselage parachute compartment. Parachute strings must be orien-
tated from parachute servo towards the back edge of the fuselage. Residual of the main parachute cord
and parachute attachment cords must be rolled up in a spiral and placed on the top of parachute packet.
Three parachute attachment cords must be exiting on the top right corner trough the slit. Parachute
cover string must exit at the bottom and must be placed on the top of the parachute packet.
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7. Place parachute cover in place. Reset the parachute servo in C3P and verify that servo is properly closed.
Servo must not be forced in position when closed.
8. Verify that parachute is safely in place and that servo is not under stress. To arm the parachute compart-
ment remove the parachute pin.
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5.5 Parachute Storing

The parachute canopy must be aired after flight and before folding. Canopy must not be moistened before it
is packed.
Hang the parachute by the main parachute cord and leave it out to dry. Parachute must be aired in a cool dry
room. Avoid direct sunlight on the parachutes, because UV light can cause damage and deterioration to the
parachute. Leave the parachute out for approx. 24 h before folding and repack the parachute just before use.
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6 CATAPULT
Bramor UAV takes off with a launcher. The launcher allows the UAV to be constantly deployed with same force
at the same launching angle. It removes any unwanted force or angle variations dependent on a user. The
system can use one of two types of launchers, either elastic catapult or pneumatic catapult. The core differ-
ence between this two is in designed way of use. The elastic catapult is lightweight an easy to transport and
pneumatic one is more suitable for low temperatures (-10 degrees Celsius).
6.1 Elastic Catapult CAT1
Elastic Catapult - Details: 1. Catapult legs, 2. Safety lock, 3. Catapult pulley, 4. Catapult rail, 5. U shackle, 6. Elastics, 7.
Winch rope, 8. Middle hinge, 9. Middle lock, 10. Rubber end sticker, 11. Breaking rope, 12. Catapult carbon seating, 13.
Trolley, 14. Trolley wheel, 15. Safety pin, 16. Catapult release, 17. Winch handle, 18. Leg plate, 19. Winch
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6.2 Catapult Safety

When using catapult safety guidelines should be followed at all times. C-Astral cannot be held responsible
for any damages occurred due to misuse or use of damaged catapult. Damages due to misuse or damaged
catapult could be severe to the UAV or the operator. To operate safely the catapult follow the instructions
below.
IMPORTANT: Do not leave the catapult fully armed for more than 40 seconds! Rubber bands lose power over
time and can cause take-off sequence to fail!
IMPORTANT: Before every flight, inspect the rubber bands, the breaking rope and the winch rope for any
kind of damage.
IMPORTANT: Do not step in front of the catapult when the catapult is armed.
IMPORTANT: Before launching catapult, always put your foot on the leg plate. This helps to stabilize catapult
and all the release power is translated to the initial speed of the UAV.
IMPORTANT: Do not release the catapult without UAV seated. The power when releasing empty catapult
could break the breaking rope and damage the catapult. To abort the launch first put the safety pin back in
the catapult, put the UAV to safe mode, remove the UAV and then slowly unwind the catapult.
IMPORTANT: Modified or repaired catapults without C-Astral permission are unsafe to use.
Check for catapult integrity

Before use check the catapult for any damages.
1. Check the catapult elastics for damages. If the elastic has a cut that is more than 1/3 of elastics thick-
ness then elastic must be changed. Check also end wire loops of the elastics for any damages.
2. Check winch rope for any damages. Winch rope may get damaged pulled into the winch, check that there
is no tears on the rope.
3. Check breaking rope for stretch or damages. Breaking rope must be changed every 25 cycles for safety.
4. Check trolley wheels how they fit on the rail. If they become loose and they could detach and the trolley
could derail from the catapult. This would cause damage to the catapult and the UAV,
5. Check the release mechanism for wear and tear and in case of damages replace the mechanism. Dam-
aged mechanism could prematurely release the catapult and damage the catapult.
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Handling with the catapult

When using the catapult is very important that the correct procedure is used. Use of safety goggles and
gloves is highly advised. Untrained personnel or observers must stay away from the catapult at all times.
First assemble catapult and verify all the safety locks are secured.
Catapult Safety: Warning label.
Catapult Safety: Danger label.
Elastics must be placed around the pulley one elastic each side at the time, not to put too much force on one
side. First place the inner bands followed by outer ones. Elastics must not cross each other.
IMPORTANT: When putting the elastics on the pulley keep your hands in front of the catapult and keep them
away from the rail.
Once the catapult has all the elastics on the pulley is considered armed and the personnel should stay away
from the front of the catapult. UAV must be placed on the catapult from the back.
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7 CHARGING THE BATTERIES

General warnings
IMPORTANT: Never leave the charger unsupervised when it is connected to its power supply. If any malfunc-
tion is observed immediately terminate the process and refer to the operations manual of the battery
charger.
IMPORTANT: Keep away the charging unit from dust, rain, heat, direct sunshine and vibration. Do not drop it.
IMPORTANT: The Ultra Duo Plus charger is designed to be powered by 12 V DC or 100V-220V AC. do not sup-
ply both input powers simultaneously. The circuitry can be damaged permanently.
IMPORTANT: Be sure to understand the usage information of the battery to be charged. If the program is set
up incorrectly the battery can be severely damaged or explode. Lithium batteries can cause fire or explosion.
For more information read the charger operating manual.
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7.1 Charging the computer or tablet

7.1.1 Panasonic CF-19
IMPORTANT: Computer must be charged with the provided charger. Do not use any other charger, because
use of incorrect charger could damage the computer.
Laptops CF-19 should be charged before every use. Laptop CF-19 came with the standard laptop charger.
Charging steps
1. CONNECT THE CHARGER
Connect the charger into power supply and connect the charger to the laptop.
Charging the laptop - Connecting into power supply.
2. CHARGING COMPLETED
When the charging light turns to green laptop is charged.
Charging the laptop - Charging light is green and laptop is

charged.
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7.1.2 Getac F110

IMPORTANT: Computer must be charged with the provided charger. Do not use any other charger, because
use of incorrect charger could damage the computer.
IMPORTANT: Charging will not start if the battery's temperature is outside the allowed range, which is be-
tween 0 °C (32 °F) and 50 °C (122 °F). Once the battery's temperature meets the requirements, charging au-
tomatically resumes.
IMPORTANT: During charging, do not disconnect the ac adapter before the battery has been fully charged;
otherwise you will get a prematurely charged battery.
Charging steps
1. CONNECT THE CHARGER
To charge the battery pack, connect the AC adapter to the Tablet PC and an electrical outlet. The Battery
Charge Indicator on the Tablet PC glows amber to indicate that charging is in progress. You are advised to
keep the Tablet PC power off while the battery is being charged.
Charging the tablet –

Connecting into power supply.
When the battery is fully charged, the Battery Charge Indicator glows green.
Charging the tablet - Charging light is green and the tablet is charged.
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7.2 Charging with Ultra Duo Plus

7.2.1 Charging the LiPo UAV battery with Ultra Duo Plus
Charging steps
1. POWER ON THE CHARGER
Power on the charger by power supply (100 V-220 V, 50/60 Hz).
Charging the LiPo UAV battery - Powering the charger.
The battery charger goes through the initialization procedure and then stops at the last used mode.
Charging the LiPo UAV battery - The charger is powered and shows the last used mode.
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2. CONNECT THE CHARGING CABLE TO THE CHARGING UNIT

To avoid short-circuits, always connect the charging cable to the charging unit first, only then to the battery
or a device containing battery.
Make sure that the cable (+) and (-) are correctly connected to the OUTPUT port on the front side of the
charger, otherwise the charging unit will display an error.
Charging the LiPo UAV battery - Charging cable.
Charging the LiPo UAV battery - Connecting the charging cable

to the OUTPUT port of the charging unit.
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3. CONNECT THE BALANCER PAD TO THE CHARGING UNIT

Connect the balancer pad named “JST XH 7S adapter” to the balancer port on the left side of the charger.
Charging the LiPo UAV battery - Balancer pad.
Charging the LiPo UAV battery - Connecting the balancer pad to the balancer port of the charger.
Charging the LiPo UAV battery - Connecting the balancer pad - detailed view.
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4. CONNECT THE BATTERY BALANCER CONNECTOR TO THE BALANCER PAD

Connect the battery balancer connector to the balancer's pad 4S port.
Charging the LiPo UAV battery - Connect the battery

balancer connector to the balancer's pad 4S port.
5. CONNECT THE BATTERY CABLE AND THE CHARGING CABLE

Connect the battery cable to the charging cable of the charger.
Charging the LiPo UAV battery - Connect battery cable to the charging cable.
Charging the LiPo UAV battery - Connect battery cable to the charging cable - detailed view.
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6. SELECT THE CHARGING SIDE

Press “OUTPUT SELECT” button to choose the charging side. Once the side is selected, red led will blink un-
derneath the port.
Charging the LiPo UAV battery - Press "OUTPUT SELECT"

button to select the charging side.
7. SELECT THE "MEMORY" MENU

Rotate the “Dial” button and choose the MEMORY menu (the last selected option from MEMORY menu is
shown in the brackets). To enter MEMORY menu press the “DIAL” button.
Charging the LiPo UAV battery - Select the MEMORY menu.
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8. SELECT THE "UAV BATT" OPTION

In the first row of the menu select the UAV BATT (either 01 or 02) by rotating the "Dial" button. Exit the
menu by pressing “Stop Esc” button.
Charging the LiPo UAV battery –

Select the UAV BATT option
9. SELECT THE "CHARGE" MENU

To charge the UAV Battery select the “CHARGE” menu and confirm by pressing the "DIAL" button.
Charging the LiPo UAV battery - Select Charge menu.
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10. START CHARGING THE BATTERY

In the "CHARGE START" menu under "PROCESS", select “CC/CV” to start charging the battery. After the
charging process has completed, the charger will stop charging the battery making a beep sound to notify
the user.
Charging the LiPo UAV battery - Select CC/CV option to start charging the batteries.
7.2.2 Charging the GCS SX101 NiMH battery pack with Ultra Duo
Plus
IMPORTANT: GCS uses the same port for external power and charging. External power DC port on the
ground control station is 12 V only. Use only car/external adapters that have 12 V output for external DC and
Ultra Duo plus port "OUTPUT 3" (12 V).
Charging steps
Charging the NiMH GCS battery - Powering the charger.
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Charging the NiMH GCS battery - The charger is powered and shows the last used mode.
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Charging the NiMH GCS battery - Charging cable.
Charging the NiMH GCS battery - Connecting the charging cable to

the OUTPUT port of the charging unit.
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3. CONNECT THE SX101 Micro GCS AND THE CHARGING CABLE

Connect the charging cable and the GCS.
Charging the NiMH GCS battery –

Connecting the charging cable and the GCS.
Charging the NiMH GCS battery - Connecting the charging ca-

ble and the GCS.
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derneath the port.

Press "OUTPUT SELECT" button to select the charging
side.

Charging the NiMH GCS battery - Select the MEMORY menu.
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6. SELECT THE "GCS BATT" OPTION

In the first row of the menu select the GCS BATT (either 03 or 04) by rotating the "DIAL" button. Exit the
menu by pressing “STOP ESC” button.

Select the GCS BATT option.

To charge the GCS Battery select the “CHARGE” menu and confirm by pressing the "DIAL" button.
Charging the NiMH GCS battery - Select CHARGE menu.
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In the "CHARGE START" menu under "PROCESS", select "NORMAL" to start charging the battery. After the
the user.
Charging the NiMH GCS battery - Select NORMAL option to

start charging the batteries.
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7.2.3 Charging the Pneumatic Catapult PB battery with Ultra Duo

Plus
Charging steps
Charging the Pneumatic Catapult PB battery –

Powering the charger.
Charging the Pneumatic Catapult PB battery - The charger is powered and shows the last used mode.

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Charging cable.
Charging the Pneumatic Catapult PB battery - Connecting the charging cable to the OUTPUT port of the charging unit.
3. CONNECT THE PNEUMATIC CATAPULT AND THE CHARGING CABLE

derneath the port.
Charging the Pneumatic Catapult PB battery - Press "OUTPUT SELECT" button to select the charging side.
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Select the MEMORY menu.
6. SELECT THE "CAT BATT" OPTION

In the first row of the menu select the CAT BATT (either 07 or 08) by rotating the "DIAL" button. Exit the
Charging the Pneumatic Catapult PB battery - Select the GCS BATT option.
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To charge the CAT2 Battery select the “CHARGE” menu and confirm by pressing the "DIAL" button.

Select CHARGE menu.

In the "CHARGE START" menu under "PROCESS", select "CC/CV" to start charging the battery. After the
the user.
Charging the Pneumatic Catapult PB battery - Select CC/CV option to start charging the batteries.
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USER MANUAL
7.2.4 Charging the astral track antenna NiMH battery pack with
Ultra Duo Plus
Charging steps
Charging track antenna NiMH battery –

Powering the charger.
Charging track antenna NiMH battery - The charger is powered and shows the last used mode.
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Charging track antenna NiMH battery - Charging cable.
Charging track antenna NiMH battery - Connecting the charging cable to the OUTPUT port of the charging unit.
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USER MANUAL
3. CONNECT THE ASTRAL TRACK ANTENNA AND THE CHARGING CABLE

Connect the charging cable and the track antenna.
Charging track antenna NiMH battery - Connect the charging cable and the antenna.
Charging track antenna NiMH battery - Connect the charging cable and the antenna.

derneath the port.
Charging track antenna NiMH battery - Press "OUTPUT SELECT" button to select the charging side.
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Charging track antenna NiMH battery - Select the MEMORY menu.
6. SELECT THE "ANT BATT" OPTION

In the first row of the menu select the ANT BATT (either 05 or 06) by rotating the "DIAL" button. Exit the
Charging track antenna NiMH battery - Select the ANT BATT option.
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To charge the GCS Battery select the “CHARGE” menu and confirm by pressing the "DIAL" button.
Charging track antenna NiMH battery - Select CHARGE menu.

In the "CHARGE START" menu under "PROCESS", select "NORMAL" to start charging the battery. After the
the user.
Charging track antenna NiMH battery - Select NORMAL option to start charging the batteries.
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7.3 Charging with Makita Charger

IMPORTANT: Makita battery charger works only on 110 V or on 220 V and not on both voltages. If operator
plans to use UAS on different voltage then he must change the charger according to the local voltage.
7.3.1 Charging the Makita batteries

Makita batteries are used for C-Astral Radical Antenna and GCS KJ 200 IP.
Charger is equipped with cooling fan for heated battery in order to enable the battery to prove its own perfor-
mance. Sound of cooling air comes out during cooling, which means no trouble on the charger. Yellow light
will flash for warning in one of two following cases, trouble on cooling fan or incomplete cool down of bat-
tery, such as, being clogged with dust.
IMPORTANT: Charging time varies by temperature (10 °C (50 °F) – 40 °C (104 °F)) that battery cartridge is
charged at and conditions of the battery cartridge, such as a battery cartridge which is new or has not been
used for a long period of time.
IMPORTANT: If the charging light flashes alternately in green and red color, charging is not possible. The
terminals on the charger or battery cartridge are clogged with dust or the battery cartridge is worn out or
damaged.
Charging steps
Plug the battery charger into the proper AC voltage source. Charging light will flash in green color repeat-
edly
Charging the Makita batteries - power on the charger.
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2. INSERT THE BATTERY CARTRIDGE INTO THE CHARGER

Insert the battery cartridge into the charger until it stops adjusting to the charger's guides. Terminal cover of
the charger can be opened by inserting and closed by pulling out the battery cartridge.
Charging the Makita batteries –

The battery cartridge.
Charging the Makita batteries - Insert the battery cartridge.
3. CHARGING THE BATTERIES

When the battery cartridge is inserted, the red charging light will light up and the charging will begin with a
brief melody sound.
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Charging the Makita batteries –

Red light signals that the batteries are being charged.
After the charging process has completed, the charging light turns green and a melody sound or a buzzer
sound (a long beep) notifies the user about the completion of the process.
After charging, remove the battery cartridge from the charger and unplug the charger.
Charging the Makita batteries - Green light signals that the batteries are fully charged.
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USER MANUAL
7.4 LiPo batteries storage and cycling with Ultra Duo Plus
A unique characteristic of LiPo batteries is their life span that is dependent upon aging from time of manu-
facture and not just on the number of charge/discharge cycles. An older battery will not perform as well as a
new one, due solely to its age. As LiPo batteries age, their internal resistance rises. This causes the voltage
to drop under load, reducing the maximum current that can be drawn. Additionally as LiPo battery ages, usa-
ble capacity is lost.
Reducing the storage temperature slows the chemical reaction of the aging/degrading process. Tempera-
tures around 0 °C (32 °F) to 5 °C (41 °F) are the best storage temperature.
IMPORTANT: When not using your LiPo battery pack (C –Astral UAV), store it at 3,8 V per cell. Make sure to
cycle your packs at least once per month since leaving them on the shelf for a prolonged period can cause
the packs to get severely out of balance, puff/swell or even go dead. Puffed and swelled batteries are unsafe
to use. That kind of battery should be replaced with new tested C –Astral UAV Battery.
Procedure Time
Charge 1 day before use
Store 1 day to 1 month
Cycle 1 per month
Table of LiPo usage procedures.
IMPORTANT: LiPo batteries should be kept in LiPo safe bags always when not used for flight. It’s preferable
to use LiPo safe bag also during charging, storing and cycling the batteries.
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USER MANUAL
7.4.1 Storing the LiPo battery pack with Ultra Duo Plus
IMPORTANT: While LiPO batteries are in storage they should be cycled once per month to prevent them form
swelling up and building up internal resistance.
Charging steps
Storing the LiPo UAV battery - Powering the charger.
Storing the LiPo UAV battery - The charger is powered and

shows the last used mode.
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USER MANUAL

Storing the LiPo UAV battery - Charging cable.
Storing the LiPo UAV battery - Connecting the charging cable

to the OUTPUT port of the charging unit.
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USER MANUAL

Storing the LiPo UAV battery - Balancer pad.
Storing the LiPo UAV battery - Connecting the balancer pad to the balancer port of the charger.
Storing the LiPo UAV battery - Connecting the balancer pad - detailed view.
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USER MANUAL

Storing the LiPo UAV battery - Connect the battery balancer

connector to the balancer's pad 4S port.

Storing the LiPo UAV battery - Connect battery cable to the charging cable.
Storing the LiPo UAV battery - Connect battery cable to the charging cable - detailed view.
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USER MANUAL

derneath the port.
Storing the LiPo UAV battery - Press "OUTPUT SELECT"

button to select the charging side.

Rotate the “DIAL” button and choose the MEMORY menu (the last selected option from MEMORY menu is
Storing the LiPo UAV battery - Select the MEMORY menu.

In the first row of the menu select the UAV BATT (either 01 or 02) by rotating the "DIAL" button. Exit the
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USER MANUAL
Storing the LiPo UAV battery –

Select the UAV BATT option.

To store the UAV Battery select the “CHARGE” menu and confirm by pressing the "DIAL" button.
Storing the LiPo UAV battery - Select CHARGE menu.
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USER MANUAL
10. START STORING THE BATTERY

In the "CHARGE START" menu under "PROCESS", select “STORE” to start storing the battery. After the stor-
ing process has completed, the charger will stop charging the battery making a beep sound to notify the
user.
Storing the LiPo UAV battery –

Select the STORE option.
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USER MANUAL
7.4.2 Cycling the LiPo battery pack with Ultra Duo Plus
IMPORTANT: Cycle stored batteries once per month and then put them back to storage to prevent them from
building internal resistance.
Charging steps
Cycling the LiPo UAV battery - Powering the charger.
Cycling the LiPo UAV battery - The charger is powered and

shows the last used mode.
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USER MANUAL

Cycling the LiPo UAV battery –

Charging cable.
Cycling the LiPo UAV battery - Connecting the charging cable to the OUTPUT port of the charging unit.
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USER MANUAL

Cycling the LiPo UAV battery - Balancer pad.
Cycling the LiPo UAV battery - Connecting the balancer pad

to the balancer port of the charger.
Cycling the LiPo UAV battery - Connecting the balancer pad -

detailed view.
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USER MANUAL

Cycling the LiPo UAV battery - Connect the battery balancer

connector to the balancer's pad 4S port.

Cycling the LiPo UAV battery - Connect battery cable to the charging cable.
Cycling the LiPo UAV battery - Connect battery cable to the charging cable - detailed view.
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USER MANUAL

derneath the port.

Press "OUTPUT SELECT" button to select the charging side.

Rotate the “DIAL” button and choose the MEMORY menu (the last selected option from MEMORY menu is
Cycling the LiPo UAV battery - Select the MEMORY menu.
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USER MANUAL

In the first row of the menu select the UAV BATT (either 01 or 02) by rotating the "DIAL" button. Exit the

Select the UAV BATT option.
9. SELECT THE "CYCLE" MENU

To cycle the UAV Battery select the “CYCLE” menu and confirm by pressing the "DIAL" button.
Cycling the LiPo UAV battery - Select CYCLE menu.
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USER MANUAL
10. START STORING THE BATTERY

In the "CYCLE START" menu under "CHARGE" select “CC/CV” and under "DISCHARGE" select "NORMAL" to
start cycling the battery. After the storing process has completed, the charger will stop charging the battery
making a beep sound to notify the user.
Cycling the LiPo UAV battery - Select options for CHARGE

and DISCHARGE to start cycling process.
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USER MANUAL
8 TRAINING AGENDA
8.1 ppX Training
NOTE: Training for BRAMOR (C4EYE) UAS is similar to this training. Some chapters would differ due to the
differences in purchased system components.
The schedule may change due to weather and other factors.

For training a suitable classroom equipped with PC’s and projector will be needed. The trainees should be
independent computer users.
Also a proper flight site for practical training will be needed. It’s important that trainees have enough large
area for their first flights to safely learn about the system. An open grass area of 300 x 300 m should be pro-
vided. All the necessary flight permits should also be provided for the practical part of training.
Day 1
OVERALL PRESENTATION
Aerodynamics - Explanation about aerodynamic shape, lift, stall speed
Take-off and landing - Explanation about direction, angle, wind
Flight Planning - Explanation about terrain, obstacles, limitations, best conditions for quality pictures
Navigation - Explanation about autopilot, waypoints, take-off points, landing points
Environment - Explanation about Bramor limitations
Failsafes - Explanation of failsafe scenarios
Checklist - Explanation about checklist and procedure.
Bramor UAS - Explanation about Bramor ppX, Elastic catapult, Ground Control Station
ASSEMBLING/DISASSEMBLING THE BRAMOR PPX WITH EXPLANATION OF ALL THE COMPONENTS

Wing and winglets assembly
Inserting the parachute into Bramor’s parachute compartment
Explanation about Bramor’s compartments
MISSION PLANNING IN C³P SOFTWARE

Program overview
Setting up the maps
Explanation about the program commands
Explanation about camera settings
Explanation about relative and absolute flying
Explanation about 3D view button
Mission planning (area mode, street draw mode, combining two missions)
Exporting .pfp file
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USER MANUAL
Day 2
COMMUNICATIONS, COMMAND, AND CONTROL C³P SOFTWARE TRAINING

Advanced mission planning in C³P
Procedural explanation of the program (in Simulation)
Multiple executions of the missions in C³P
SIMULATING A MISSION
We give the trainee a task to create specified mission. During this trainee is inspected if a correct mission is
planned. Trainee receives a different mission and according to a location they must use different parame-
ters. After planning the mission we simulate the fight in the C³P. Trainee must correctly fly the simulated
mission.
EMERGENCY PROCEDURES
During the simulation emergency procedures will be explained. The trainee will get the knowledge how to
react and safely maneuver with the UAV in the case of nominal operations as well as during exceptional
events.
MAINTENANCE
The trainee learns about the basic maintenance of the system including with charging and storing the batter-
ies.
FOLDING THE PARACHUTE

First we show and explain the proper procedure how to fold the parachute to prevent any tangling or tearing.
The procedure is slowly shown step by step that trainee may remember the procedure later. Then trainee
must fold the parachute on his own. He must successfully pack the parachute at least three times.
Day 3
We will quickly review the most important steps learned in first part of the training.
EQUIPMENT PREPARATION FOR FLIGHT

Trainee learns the proper procedure how to prepare for flight (software preparation, flight mission, maps...)
and how to check all the necessary equipment (batteries full, parachutes packed…).
CATAPULT TRAINING
Assembling/Disassembling the launch catapult with explanation of all components of the catapult.
FLIGHT
Complete flight preparation on field with take-off and landing. Trainee attends the flight in field. Next flights
prepares the plane on his own with the help of trainer. During the flight trainee also gets explanation of dif-
ferent modes in flight.
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Day 4
FLIGHT
Flight training with revision of certain phases. We encourage the trainee to become an independent user of
the ppX system. Trainee is expected to prepare the plane by itself and can have little to none assistance by
the trainer while controlling the UAV.
DATA PROCESSING
Trainee learn how to process and export gathered data during flight to different picture processing software.
Day 5
REVIEW OF THE TRAINING

All parts of the training are reviewed. The trainee knowledge gets assessed on all of the system components,
flight and ground procedures.
CERTIFICATE
After successful completion of the training trainee receives a certificate of successful completion of UAV
training.
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USER MANUAL
9 ACCIDENT REPORT PROTOCOL

Accident definition
An accident is occurrence associated with the operation of an aircraft in which a person is fatally or seriously
injured, the aircraft sustains damage or structural failure or the aircraft is missing or is completely inacces-
sible.
If there is no collateral damage, no injuries

Do not disturb crash site and take detailed photos.
Copy telemetry file from directory: C:\Users\{Computer_Name}\AppData\Roaming\C-Astral\log
Fill out Accident Report Form.
Send photos, telemetry file and accident report in digital form to C-Astral support team.
If there is collateral damage, no injuries

Notify emergency services if necessary (power lines, gas pipes, etc.)
Contact the owners of the hit object.
If there is collateral damage with possible injuries

Make a perimeter around the crash site.
Notify emergency services, if possible, help the injured within first aid limits and without risking your own
life.
Contact the owners of the hit object.
9.1 Accident report form

In case of accident you must fill out Accident Report Form and send the report to C-Astral support team.
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USER MANUAL
10 SYMBOLS AND TERMINOLOGY

Abbrev. Meaning Description
AGL Above Ground Level Height measured from ground level to
the airplane.
AIR SPD Air Speed Indicates the aircraft's speed relative to
the air mass.
BATT UAV's Battery Voltage Indicates UAV's battery level.
BREAK ALTITUDE Break Altitude Altitude at which the UAV flies from Land
point towards Parachute point and opens
the parachute.
CG Center of Gravity Point at which the airplane's mass is in
equilibrium.
COMM Communication Data link between ground station and the
airplane.
CRUISE SPD Cruise Speed Autopilot's configured cruise airspeed.
CYCLE Cycle in the warranty period Cycle is the take-off and landing of UAS.
DEM Digital Elevation Model Elevation data ASTER GDEM 2 (Global
Digital Elevation Model Version 2) is
downloaded from C-Astral server for
currently viewed location and saved lo-
cally on the computer hard drive.
EO Electro-Optic sensor Electro-Optic sensor installed on the
UAV.
EXIF Exchangeable Image File Format Exchangeable image file format is a
standard that specifies the formats for
images, sound, and ancillary tags used by
digital cameras (including smartphones),
scanners and other systems handling im-
age and sound files recorded by digital
cameras.
FLIR Forward Looking Infra-Red
FOV Camera's Field of View
GCS Ground Control Station
GDEM Global Digital Elevation Model
GMT Greenwich Mean Time
GNSS Global Navigation Satellite System Receivers, using the GPS, GLONASS, Gal-
ileo or Beidou system
GPS Global Positioning System Receivers, using the GPS
GROUND SPD Ground Speed Horizontal speed of an aircraft relative to
the ground
GSD Ground Sampling Distance
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USER MANUAL

HAL Height Above Launch Vertical distance from launch altitude to
the UAV.
IMC Instrument Meteorological Conditions
IMU Inertial Measurement Unit
IR Infra-Red sensor Infra-red sensor installed on the UAV.
ISR Intelligence Surveillance Reconnais-
sance
LI Laser Illuminator
LOS Line of Sight
MAN Manual Mode
MSL Mean Sea Level altitude Altitude read from the altimeter when
the altimeter’s barometric adjustment
has been set to the altimeter setting ob-
tained from ground meteorological
sources.
MTOW Maximum Take-Off Weight
NAV Navigation Mode
OPH Orthophoto Board
PID Proportional-Integral-Derivative Generic control loop feedback mecha-
nism (controller) widely used in indus-
trial control systems. A PID controller at-
tempts to correct the error between a
measured process variable and a desired
set point by calculating and then output-
ting a corrective action that can adjust
the process accordingly.
RF Radio Frequency
RPM Revolutions per Minute Engine rotational speed.
RX Receiver Digital device to receive different types of
signals like telemetry data or live video.
SPD Indicated Air Speed
STALL SPD Stall Speed Flight speed at which the aircraft stalls.
TX Transmit is digital device to transmit different
types of signals like telemetry data or
live video
UAS Unmanned Aircraft System
UAV Unmanned Aerial Vehicle
UTM Universal Transverse Mercator Coordinate system is a grid-based
method of specifying locations on the
surface of the Earth. It is used to identify
locations on the earth, but differs from
the traditional method of latitude and
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USER MANUAL

longitude in several respects. The UTM
system is not a single map projection.
The system instead employs a series of
sixty zones, each of which is based on a
specifically defined secant transverse
Mercator projection
VNE Never Exceed Speed Speed that must not be exceeded at any
time.
VPD Maximum Demonstrated Parachute De- Maximum speed at which safe deploy-
ployment Speed ment of para.chute has been demon-
strated.
VST Stall Speed Flight speed at which the aircraft stalls
Table - Symbols and Terminology.
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USER MANUAL
11 WARRANTY
Disclaimer
C-Astral d.o.o. reserves all rights related to this document and the information contained herein. Reproduc-
tion, use or disclosure to third parties without written permission from C-Astral d.o.o. is strictly prohibited.
C-Astral d.o.o. makes no warranties based on the accuracy or completeness of the contents of this document
and reserves the right to make changes to specifications and product descriptions at any time without notice.
By using C-Astral d.o.o. products you accept C-Astral’s warranty and liability terms.
All use of C-Astral d.o.o. products, including but not limited to the use conform to the applicable law of the
country in which the product is operated, is under your sole responsibility. Inform yourself before using the
product. Some countries may have laws that limit the use of unmanned aircraft to ‘line-of-sight’ operations
and/or prohibit the use of unmanned aircraft in specific areas or at all.
Product limited warranty

C-Astral d.o.o. warrants that the product will be free from defects in workmanship and materials for a period
of twelve (12) months from the date that the item was first purchased. During warranty period, should the
covered product, in C-Astral’s sole opinion, malfunction due to any defect in material and/or workmanship,
your sole remedy and C-Astral d.o.o.’s sole liability shall be, at C-Astral’s option, to either repair or replace
the malfunctioning product with a similar product at no charge or to reimburse the purchase payment, pro-
vided that the malfunctioning product is returned, with proof of purchase in the form of your original copy of
the sales receipt, within the applicable Warranty Period.
The warranty shall exclude defects due to normal wear and tear, including but not limited to deterioration of
the airframe after first flight, normal degradation, misuse, moisture or liquids, proximity or exposure to heat,
accidents, excessive strain, abuse, neglect, misapplication, repairs or modifications made by anyone other
than C-Astral d.o.o., damage due to manual operation, damage due to take-off or landing location with obsta-
cles, damage due to low altitude flight, damage due to loss of data radio connection, damage due to strong
wind, rain or humidity or other causes for which C-Astral d.o.o. is not answerable. Any claim related to in-
flight malfunction of the product will be considered by C-Astral d.o.o. only if accompanied with the related
flight log.
There are no express or implied warranties, representations or conditions other than those stated in this lim-
ited warranty. The remedy set forth herein shall be the sole, exclusive remedy with respect to the product.
Product liability
Under no circumstances will C-Astral d.o.o. be liable for any direct, indirect, special, incidental or consequen-
tial damages (even if C-Astral d.o.o. is notified of the possibility of such damages) including, but not limited to,
any damages caused by you or a third party while operating or using the product, any loss of revenue, loss of
profit, or loss of data whether based upon any alleged breach of warranty, representation or condition, con-
tract, or any other conduct including negligence (intentional or otherwise), giving rise to such claim.
Under no circumstances will C-Astral d.o.o. be liable for any direct, indirect, special, incidental or consequen-
tial damages (even if C-Astral d.o.o. is notified of the possibility of such damages) including, but not limited to,
any damages caused by failure of the autopilot, electronics or software. You shall not operate the product in
areas or under circumstances where a failure could cause damages and/or harm to objects and/or people.
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USER MANUAL
12 ABOUT C-ASTRAL
C-Astral is an aerospace company based in Ajdovščina, Slovenia, the “hub” of advanced aerospace develop-
ment and integration in this part of Central Europe. The company is a global market leader with established
reputation in the specialized, fixed wing small Unmanned Aircraft Systems (UAS) manufacturing and services
field, with a specific focus on high productivity, endurance, surveying and remote sensing.
C-Astral established a multidisciplinary software and hardware laboratory for aerodynamics and systems in-
tegration work and a prototyping CAD/CAM workshop facility for composite materials manufacturing and mod-
eling and the team has been pioneering UAS integrated solutions ahead of the market curve since 1999.
C-Astral’s customer base is diversified between the commercial UAS operators, larger institutional networks,
scientific users as well as government entities. Currently, C-Astral systems are flying with several sovereign
entities on force protection, border protection, fire control and surveillance operations on four continents and
more than hundred commercial and scientific operators globally.
C-Astral systems are now flying over all continents, including extreme environments such as high altitude
open-pit mines, deserts, mountains, Antarctica, over the Arctic and global agricultural lands.
www.c-astral.com
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BRAMOR USER MANUAL

LA TES T MA N U A L C AN BE A CCES S ED FR OM T HE C 3 P S OFTWA R E

Copyright © C-Astral 2011-2018

3.5.8 Safe mode .......................................................................................................................... 77

3.17.9 Image settings ................................................................................................................. 141

8 Training agenda.............................................................................................................................. 232

Bramor ppX airframe.

Bramor C4Eye airframe.

1.1 Bramor ppX

Technical data Specification

Flight parameters Specification

1.1.1.1 24.3 MP RGB Sensor

1.1.1.2 42 MP RGB Sensor

1.1.1.3 24.3 MP APS-C NDVI Sensor

1.1.1.4 MS-SQ Multispectral Camera

1.1.1.5 MS-RE Multispectral Sensor

1.1.1.6 gAS Sensor - GasFinder

1.1.1.7 gHY Hyperspectral sensor

1.1.2 Ground Control Station SX-101

GCS SX-101 - Details:1. OMNI Antenna, 2. Antenna connector, 3. Power ON/OFF

1.1.2.1 Setting GCS SX 101

Turn on the computer

3. Go to Settings/Devices/Bluetooth and other devices.

Manage Bluetooth devices on the computer

4. Make sure Bluetooth is enabled.

5. Select "Add Bluetooth or other device" button.

6. Select Bluetooth type.

Add GCS device

8. Enter pin 1032 and press Connect

Connect to the BT device

9. The message "Your device is ready to go!" should appear

10. In Settings/Devices/Bluetooth and other devices

11. Select "COM Ports" tab.

COM ports in use

12. Select "Incoming Port" for device named

Delete Incoming COM port from the list

13. Open C³P

1.1.3 Technical data

Flight parameters Specification

1.1.4 Astraltrack Manual antenna

Manual Antenna - Details: 1. Antenna, 2. Tripod

Manual Antenna - Details: 3. GCS holder 4. Antenna connector

1.1.5 Transport package

Transportation Weight* [kg] External size L x W x H [cm]

Catapult - Transportation box.

Transportation Weight* [kg] External size L x W x H [cm]

Manual Antenna - Transportation box.

Transportation Weight* [kg] External size L x W x H [cm]

1.2 Bramor C4EYE

1.2.2 Ground Control Station KJ-200

1.2.3 Ground Control Station Radical 40X

1.2.4 Technical data

Flight parameters Specification

1.2.5 Transport package

Transportation Weight* [kg] External size L x W x H [cm]

Catapult - Transportation box.

Transportation Weight* [kg] External size L x W x H [cm]

Transportation Weight* [kg] External size L x W x H [cm]

Radical Antenna- Transportation box.

Transportation Weight* [kg] External size L x W x H [cm]

1.3 Options and Extras

1.3.1.1 Switching WiFi on/off

1.3.1.2 Connecting to the Web Interface

1.3.1.3 Setting the base station position