Sensor calibration

The DeltaQuad requires a compass calibration in the following conditions:

• When indicated by events described in this manual.

• When the telemetry readings are inconsistent with reality.

The DeltaQuad requires a gyro calibration in the following conditions:

• When indicated by the UAV

The DeltaQuad requires an accelerometer calibration in the following conditions:

• When indicated by the UAV

The DeltaQuad requires a level horizon in the following conditions:

• When indicated pitch or roll does not match reality

• When indicated by the supplier

Accessing the calibration screen

Sensor calibration is performed in QGroundControl. To access the sensor calibration, you will need to switch the vehicle on and establish a connection between the Ground Control Station and the vehicle. Navigate to the settings view and select the Sensors tab.

QGroundControl will issue a warning about sensor calibration over a WiFi connection. This can safely be ignored by clicking OK.

The following sensor calibrations should be performed:

• Compass

• Gyroscope

• Accelerometer

• Level Horizon

All calibrations should be performed with the VTOL modules attached, and any additional payload installed and powered on.

After every calibration step, the autopilot must reboot. The autopilot can be rebooted quickly from the parameters tab under the tools button.

Compass calibration

A compass calibration is best performed outside, away from metallic objects, and electrical or magnetic interference. To start the compass calibration, click the compass button and follow the instructions on the screen. The calibration process starts when clicking OK. The autopilot orientation parameter in the GCS should remain unchanged. A compass calibration involves rotating the vehicle 3 times over all axes. This calibration step can be performed by hand. The canopy should be closed and the LiPo battery and any additional payload should be inserted and securely fastened.

Perform the calibration as indicated by the images on the ground station. When all axes are finished (images turn green) click OK, leaving the external magnetometer orientation unchanged. Then reboot the vehicle.

After the compass calibration ALWAYS verify the compass is reading correctly by pointing the vehicle north, east, south, and west, and at every turn verify that the vehicle icon on the ground station is pointing in the correct direction, and remains pointed in that direction for at least 30 seconds. if the compass is not reading correctly by more than 8 degrees, please retry the calibration. If the problem persists please contact Vertical Technologies.

Gyroscope calibration

The gyroscope calibration is best performed indoors. It requires the vehicle to sit level based on the VTOL arms. To level the vehicle based on the VTOL arms it is recommended to find a level surface (a table) and place 4 objects of equal height under the quadcopter motors. For example soda cans. The foam underside of the vehicle should be free from the table and the carbon VTOL arms should sit level horizontally.

When the vehicle is sitting level, press OK to start the calibration. This will be completed in about 20 seconds. The vehicle should not be touched or moved during the calibration process. Then reboot the vehicle. If, for any reason, the vehicle is moved during the calibration process then repeat the process from the beginning.

Accelerometer calibration

To start the accelerometer calibration, click the accelerometer button and follow the instructions on the screen. The calibration process starts when clicking OK. The autopilot orientation parameter in the GCS should remain unchanged. An accelerometer calibration involves positioning the vehicle on all axes. This calibration step can be performed by hand. The canopy should be closed and the LiPo battery should be inserted and securely fastened.

Perform the calibration as indicated by the images on the Ground Control Station, ensuring the vehicle is motionless at each point in the calibration process. Then reboot the vehicle.

Level horizon

Before leveling the horizon all other calibrations, except compass calibration, must have been completed.

The Level Horizon calibration is best performed indoors. It requires the vehicle to sit level based on the VTOL arms. To level the vehicle based on the VTOL arms it is recommended to find a level surface (a table) and place 4 objects of equal height, such as soda cans or soup tins, under the quadcopter motors. The foam underside of the vehicle should be free from the table and the carbon VTOL arms should sit level horizontally.

When the vehicle is sitting level, press OK to start the calibration. This will be completed in about 20 seconds. The vehicle should not be touched or moved during the calibration process. Then reboot the vehicle. If, for any reason, the vehicle is moved during this calibration process then repeat the process from the beginning.

The DeltaQuad records on-board logs that contain vast amounts of information regarding the flights. These onboard logs are stored on the SD Card and should be retrieved and processed after one or more flights.

Every DeltaQuad should have a well-maintained logbook that keeps a record of every flight. In most cases when having your vehicle certified this is a requirement.

Processing the on-board flight logs

On-board flight logs can be retrieved from the SD Card in the flight controller. Remove the SD Card and download the log files from the Log folder on the card. The logs will be stored in a subfolder that is named by the date of the flights. Logs can be uploaded to DeltaQuad Flight Review for an easy overview. Logs should also be stored locally as the DeltaQuad Flight Review server does not store logs indefinitely.

Logs can also be reviewed using the Flightplot application. This does require in-depth knowledge of the log format.

After retrieving the on-board flight logs remember to re-insert the SD Card in the flight controller. As this can be easily overlooked it is recommended to store a spare SD Card in your flight kit. Always use industrial temperature-rated rated sd-cards.

Maintaining a logbook

For professional use and fleet management, Vertical Technologies recommends the use of AlarisPro. The DeltaQuad is a known vehicle in this system and all components and maintenance schedules are pre-configured.

For other, or self-designed log books the following information should at least be present;

Per vehicle

• Serial number

• Total flight hours

• Last maintenance cycle

• Replaced components including the replacement date

Per flight

• Vehicle serial number

• Date and time

• Flight time

• Link to the on-board log and/or flight review

• Operator

• Weather conditions/wind speed

• Flight notes, failures, damage, and field replacements

This chapter covers the maintenance of your vehicle and logging of your flights.

Chapter index

• Sensor calibration

• Battery charging and storage

• Flight logs

• Preventive maintenance

• Scheduled maintenance

When purchasing a DeltaQuad you will be notified of relevant firmware upgrades for your vehicle via email. The email will contain a link to the relevant firmware upgrade page and can contain specific instructions. You should only perform firmware upgrades when instructed to do so by your supplier. Under no circumstances should you reset your parameters to default.

If you are in need of assistance to perform the upgrade please contact [email protected]

Preparing an upgrade

A firmware upgrade can only be performed using QGroundControl from a Windows or MacOS computer and requires a standard micro-USB cable. It can not be performed from an Android or IOS device.

A firmware upgrade generally consists of one binary file and one parameter file. The binary file has a .px4 extension and the parameter file has a .params extension. You should download both files to your computer.

Make sure you can safely position your vehicle close to your computer and do not attach the flight battery.

Performing the upgrade

To perform a firmware upgrade please follow the steps below;

1. Download and install QGroundControl on your computer.

2. Download the firmware binary and the parameter file to your computer. These files will be available on the link sent to you via email.

3. Insert a USB type C cable in the flight controller's USB port which is located near the serial number sticker in your UAV (do not attach it to your computer yet)

4. Start QgroundControl

5. Click on the settings button (cogwheel icon on top)

6. Click on 'Firmware'

7. Attach the USB cable to your computer, when properly connected this will be indicated on QGroundControl.

8. Make sure the PX4 firmware option is selected, check 'Advanced' and choose 'Custom' from the drop-down list, then click OK.

9. A file select dialog should appear, select the correct .px4 file. The upgrade process should now start and will inform you when it has finished. If the upgrade fails you can try again or use a different (thicker) USB cable.

10. Proceed to load the new parameter file as described below

Loading the new parameters

Most firmware upgrades come with a parameter file. It is important to install the new parameters as they can contain crucial settings for the new firmware.

To load the parameters please use the following steps;

1. While the USB cable is connected, start QgroundControl and wait for the vehicle to connect

2. Click on the settings button (cogwheel icon on top)

3. Click on 'Parameters'

4. Click on the 'Tools' drop-down on the right side of the screen

5. Select 'Load from file'

6. Select the correct parameter file from your computer and click "open"

7. Leave the USB cable connected for at least 10 seconds after selecting the parameter file.

8. Perform any additional tasks as described in

9. Remove the USB cable.

Post-upgrade steps

The email instructions for your firmware upgrade will include a method of validating the upgrade. Please make sure you validate the upgrade before flight.

Sometimes it will be required to perform a new sensor calibration after upgrading. This will be indicated with the firmware upgrade. When indicated, please follow the steps on the sensor calibration page. Do not calibrate the sensors with the USB cable attached. Use your standard ground control station and telemetry unit for this.

The recommended service cycle for the DeltaQuad UAV is 12 months. Beyond this point, the vehicle can fly less efficiently and there could be a potential risk of failure. Using the Vertical Technologies you can extend the lifetime of your vehicle and maintain a warranty on the serviced components.

Vehicles flown beyond the recommended maintenance cycles void their warranty.

Extended Maintenance Service

With the Extended Maintenance Service, you can send back your vehicle and we will completely refurbish it. It will be returned as good as new. If the vehicle was damaged beyond repair it can be completely replaced. We offer this service free of any obligation and for a fixed fee. All replaced components are provided with a new warranty.

There are 3 types of extended maintenance requests:

Please contact us to schedule your maintenance cycle.

Self Service

Maintenance packages are available on request. Performing Self Service Maintenance does not extend your warranty. A high technical level is required to perform scheduled maintenance.

If you would like to acquire a maintenance package please contact .

To keep your DeltaQuad in proper condition the following steps should be taken:

After every flight

• Clean the propellers of any dirt and inspect for damage.

• Clean the fuselage and wings, this will improve performance.

• Inspect the avionics, and make sure all components are still securely attached in their proper place and all connectors are securely fastened.

• Inspect motor and servo linkage screws. Should they have come undone, lock bond must be used on all screws when re-attaching.

After 200 flights or 12 months

To keep your vehicle in the best condition and safe to operate beyond this point scheduled maintenance should be performed. This entails the preventive replacement of many components and a thorough inspection and test flight.

Replacing components

The DeltaQuad has been designed to allow easy replacement of components. Every component on the DeltaQuad is available as a replacement part. If you require replacement parts please contact Vertical Technologies.

When replacing motors or elevon linkages, lock bond must be used on all screws and nuts. When replacing propellers for the VTOL modules no lock bond is required as these are self-tightening. When replacing the pusher motor propeller lock bond is required on the propeller adapter nut as this motor can spin in both directions.

The following schematic shows the correct wiring for the DeltaQuad Pro flight controller. Depending on the model and options, not all connections will be in use. Making changes to the configuration of your vehicle may impact your warranty. Before making any modifications always contact your DeltaQuad representative.

Flight controller pinout

*Optional components

Safety notice

1. Use a specific Lithium Polymer battery charger only. Do not use a NiCd or NiMH charger - Failure to do so may cause a fire, which may result in personal injury and property damage.

2. Never charge batteries unattended unless you charge inside a LiPo Safe. When charging Li-Po batteries you should always remain in constant observation to monitor the charging process and react to potential problems that may occur.

3. If at any time you witness a battery starting to balloon or swell up, discontinue the charging process immediately. Disconnect the battery and dispose of it safely. Continuing to charge a battery that has begun to swell will result in fire. Likewise, never use a battery if you find it swollen or ballooned.

4. Since delayed chemical reactions can occur, it is best to observe the battery as a safety precaution. Battery observation should occur in a safe area outside of any building or vehicle and away from any combustible material.

5. Wire lead shorts can cause a fire! If you accidentally short the wires, the battery must be placed in a safe area for observation for at least 1 hour. Additionally, if a short occurs and contact is made with metal (such as rings on your hand), severe injuries may occur due to the conductibility of electric current in such objects.

6. A battery can still ignite even after 1 hour.

7. A battery that makes a hissing sound is almost certain to ignite. Consider your own safety and that of your environment before attempting any action

8. In the event of a crash, you must remove the battery and dispose of it safely.

Charging the LiPo

If you have ordered the DeltaQuad with a LiPo battery it will come with a plug-and-play charger. This charger can charge an empty DeltaQuad main flight battery in approximately 6 hours. To charge the battery insert both the power and balance plugs in the charger, it will commence charging automatically. When the LED light on the charger turns green the LiPo will have been charged.

The DeltaQuad LiPo can also be charged using a third-party charging solution and is capable of charging in approximately 1 hour if your charger is capable of providing 20 Amperes. Charging at this rate can be convenient but may limit the durability of the LiPo, it is recommended to charge the LiPo at no more than 5 Amperes for a maximum lifetime.

1. Remove the battery from the vehicle. The battery should never be charged inside the vehicle.

2. Never charge batteries unattended unless you can charge them inside a LiPo safe.

3. Charge in an isolated area, away from other flammable materials.

4. Let the battery cool down to ambient temperature before charging.

5. Never charge the battery at more than 23 Amperes, as this will reduce the number of charge cycles and efficiency of the battery.

Operating the LiPo with your vehicle

The DeltaQuad can measure Voltage and Current from the main battery. To estimate the total amount of energy available in a battery it will use both of these metrics. The Voltage can give some indication of the state of charge but this is not always accurate. New batteries maintain a high voltage even when their capacity is low. The vehicle will also measure the amount of current that has been drawn from a battery and know the total capacity of the DeltaQuad LiPo. If the battery is fully charged it can use this accurate method of estimating the state of charge.

To prevent any situation where the vehicle may incorrectly estimate the state of charge of the battery, it is required to start every flight with a fully charged battery.

Storing the LiPo

When storing a LiPo for a period longer than 1 week make sure to store it at approximately 50% charge. This will increase the lifetime of your battery. The LiPo should be stored in a safe and dark location between 5 and 25 degrees Celsius and never left exposed to direct sunlight for a prolonged period of time.