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WKM V3.0

1. S Mounting direction 2012 Innovations All Rights Reserved 41 Appendix Customize Motor Mixer For a multi rotor the roll pitch yaw and vertical axes are contributed by the combination of rotors outputs This procedure is called Mix Control The proportion of rotors outputs is decided by the mechanical structure Customers can setup the motor output coefficients C in gt so as to realize the Mix Control Before customization should following knowledge 1 Motor output x Stick position A or E or T or R Torque produced by motor Motor output x Force arm of motor L C x Stick position A or E or T or xL 2 The range of C is from 100 to 10096 Maximum C in the same column is 100 The bigger absolute value of C The great effect of stick position on motor output Stick position will not affect motor output when C is 0 which means the motor output is fixed 3 Each motor has four different output coefficients Cr Cy Cp Cr E g represents coefficient of M2 in yaw control Crs represents coefficient of M5 in roll control 4 Motor output is relative to its rotation speed The bigger output the faster rotation speed Negative output does not represent counter rotation but slower rotation speed Motor is still spinning if its output is 0 5 Throttle stick position T Pull stick T lt 0 multi rotor moves down Push stuck T gt 0 multi rotor moves up Rudder stick position
2. Cg d 2d d 1 2 1 As we defined before Stick left lt 0 multi rotor moves left Stick right A20 multi rotor moves right we can choose the following setup 02012 DJI Innovations All Rights Reserved 45 Motor Throttle Yaw Pitch 100 96 100 96 100 96 ap Roll Axis aa 100 f 100 100 M M1 xp 00 100 0 am 10099 100 100 i y m r i ad gt 5 100 100 100 M3 M 6 gt M 100 100 96 0 96 0 0 0 cm 0 0 0 Now if move the roll stick right the sum of M2 M3 M4 output Caz 2 xA is positive the sum of M1 M5 M6 output Ca Cas 2 xA is negative then multi rotor moves right if move the roll stick left the sum of M2 M4 output Caz 2C43 xA is negative the sum of M1 M5 M6 output Cai Cas 2 xA is positive then multi rotor moves left And the balance along all the other axes can be derived by substituting the roll stick command into equations set 4 Summary 1 Once you choose to customize all coefficients are configurable However you only have to setup as many as you need Leave the rest 0 2 Make sure you are clear about the definition of the positive and negative Make sure you are also clear about the relationship between the output quantity and motor rotation speed 3 Usually the coefficients of throttle and yaw are 100 or 100
3. try again with the above procedures Product Info You can check the MC product version via gt This includes software version firmware version IMU version hardware ID and loader version S N is a 32 digits authorization code for unit function activations We had already filled in the authorization code for your unit after manufacture You might be asking to fill in the new S N in the future if you brought new function upgrades Fill in the S N and then click button If you filled in an invalid S N over 30 times your MC will be locked and you have to contact our customer support 2012 DJI Innovations Rights Reserved 11 Configuration 1 Mounting MOUNTING DEFAULT 1 IMU Orientation C Forward C Backward C Lett C Right 2 Mounting Location IMU oem om i GPS Y 0 Example Green line for negative 7 l cm Red line for positive STEP1 IMU Orientation Select IMU mounting orientation Orient the IMU such that the arrow marked on the printed surface of the IMU faces the sky and points directly forward backward left or right The sides of the IMU should be precisely parallel to the multi rotor body Notices Do not mount the IMU upside down STEP2 Mounting Location Install all payloads that will be used during the flight including batteries camera mount and camera Balance the multi rotor as you would normally with the center of
4. Do not mount the IMU upside down MULTI ROTOR TM and 2012 DJI INNOVATIONS Main Controller There is no orientation requirement for the Main Controller Choose a mounting location where as shorter ESC extension wires are needed as possible Please make sure all ports are accessible when installing the MC so as to facilitate wiring and software configuration In three pin ports pins near the nicks are signal ee ESC pins 1 M 1 8 After choosing a location to mount the MC it is recommended that you DO NOT mount the MC until all wirings and software configurations are completed ESC amp Motor Please make sure you are using the ESCs and motors recommended by the manufacturer of your multi rotor first We recommend you use motors and ESCs WKM output is 400Hz refresh frequency Connect all ESCs to MC by the motor numbering method introduced in our Assistant software If you use 3rd party ESCs please make sure the ESCs travel midpoint is at 1520us DO NOT use 700us travel midpoint ESC as it may lead aircraft to fly away or cause injury and damage After connect ESCs calibrate ESCs one by one through the receiver directly before connect them to your MC Make sure program all of them into Governor off Break off and Normal Start up to get best experience If you use 3rd party ESCs please cut the red wire power wire of your ESCs as the power from V SEN on PMU is suitable to most of rece
5. FLIGHT erin 37 DIGITAL COMPASS CALIBRATION Ee Moon pP a RAEN Pater pom 37 TESTE PEY p 39 LV WT GPS m n I 41 APPENDIX ew 42 CUSTOMIZEJNVIOTOR IVIIXER hadas kot a bom ud 42 NIUETISROTORS SUPPORTED ed rae ue bove ovest enge Due ha aeo NE 47 PORT DESCRIP HON m Mr 48 HOAT DES CRIP TION M 49 SPECIFICATIONS 50 2012 Innovations All Rights Reserved 6 Matters Need Attention For safety reasons please pay serious attention to all following items 1 10 11 12 13 14 Please disconnect ESCs and battery connector or remove all propellers during firmware upgrade configuration and system setup Do not mount the IMU upside down You have to reboot MC and redo the Tx calibration after you change RC system In Tx Calibration of assistant software e Throttle Slide left is craft down slide right is craft up e Rudder Slide left is nose left slide right is nose right e Elevator Slide left is craft back slide right is craft front e Aileron Slide left is craft left slide right is
6. R Stick left R lt 0 multi rotor nose left Stick right R gt 0 multi rotor nose right Elevator stick position E Pull stick E lt 0 multi rotor moves backward Push stuck E gt 0 multi rotor moves forward Aileron stick position A Stick left A lt 0 multi rotor moves left Stick right gt 0 multi rotor moves right 6 Multi rotor should keep balance along all the other axes when moves along one axis e To keep throttle direction balance sum of all motors output should be 0 when apply rudder or pitch or roll stick command To keep yaw direction balance sum of counter clockwise motors output should be equal to sum of clockwise motors output when apply throttle or pitch or roll stick command e To keep pitch direction balance total torques produced by motors at each side of pitch axis should be the same when apply throttle or rudder or roll stick command e To keep roll direction balance total torques produced by motors at each side of roll axis 2012 DJI Innovations All Rights Reserved 42 should be the same when apply throttle or rudder or pitch stick command 7 To pitch or roll control proportion of coefficients of the motors at the same side of pitch or roll axis should be equal to the proportion of force arms of those motors Cm Cn Lm Ln Coefficient is 096 if the force arm of that motor is O Roll Axis SIXY U2ild Now we take the Hexa rotor V as an illustration to introduce how to customi
7. corresponding direction If not go back to Configuration Procedure correct your settings STEP6 Push the throttle stick slowly in 3 seconds after executing until all the rotors are working and then take off your multi rotor gently 2012 DJI Innovations All Rights Reserved 39 Tips After a successful test fly the preparation before taking off can be simplified Put your multi rotor on the plane ground turn on the transmitter first power on multi rotor when the red light starts to blink normally you can take off in Atti Model 2012 DJI Innovations All Rights Reserved 40 Fly with GPS Notices e When system is powered on you must not move your multi rotor or sticks on transmitter until the system initialization is finished about 5 second e Make sure the GPS signal is good without red LED blinking Otherwise multi rotor will drift without stick commands e Please avoid using MC system in the following areas where will GPS signal is most likely blocked Urban area with crowded buildings Tunnels Under bridges Tips Should you find the multi rotor does not track straight in forward flight you might try re mounting GPS in an offsetting angle as showed in right figure in the figure is the offsetting angle s Objective flight direction GPS mounting direction 7 22 72 x INI i N RIS QUE Actual flight direction SS 0 flight direction M 7
8. recommend to fill a voltage 1V lower than current voltage and higher than minimum battery voltage rating in Fill OV in Loss at the moment 3 Fly the multi rotor until the first level protection is triggered and the yellow light is flashing Now land your multi rotor ASAP 4 Connect the MC to PC open the assistant and acquire now current voltage The Loss Line loss voltage is the difference between the new current voltage and the first level No Load voltage you filled in 2012 DJI Innovations All Rights Reserved 34 Notices e If the line loss voltage of a battery is over 0 3V per cell e g 3S battery over 0 9V it s because the internal resistance of battery is high or the battery is too old we suggest you to replace it e Generally the line loss voltage of different battery is different For the consideration of safety you d better acquire all the line loss voltages of all your battery you are using and fill the lowest one in the Loss When you change the payload or multi rotor you have to get new line loss voltage The line loss voltage will be bigger after many times use you should get new one after 30 times charging e Make sure your ESCs protection voltage is lower than 3 1V 1S otherwise WKM low voltage protection will not work Acquire the line loss voltage by the method introduced before first and fill it in Loss Fill a reasonable warning voltage in the No Load Choose a safeguard 1 LED warning It is the d
9. All Rights Reserved 35 STEP4 Second Level Protection Fill the warning voltage and line loss voltage in No Load and Loss by the method introduced in previous step When the second level protection is triggered LED warning will be on Meanwhile the center point of throttle stick will move up slowly to 90 of endpoint you should land ASAP to prevent your multi rotor from crash or other harmful consequences When the center point is at 90 of endpoint multi rotor will still ascend slowly if you continue to pull the throttle stick and the control of Pitch Roll and Yaw are the same as before Please land ASAP to prevent your multi rotor from crash or other harmful consequences Notices If your multi rotor goes into the second level protection during Go Home in first level protection it will land immediately If you switch into Manual or Atti Mode you will regain the control and the center point of throttle stick will move up slowly to 9096 of endpoint Please land ASAP to prevent your multi rotor from crash or other harmful consequences 2012 DJI Innovations All Rights Reserved 36 Flight Digital Compass Calibration Why calibrate the compass Ferromagnetic substances placed on multi rotor or around its working environment will affect the reading of earth magnetic for digital compass it also reduces the accuracy of the multi rotor control or even reads incorrect heading Calibration will eliminate such influences a
10. ES E e Nose direction Forward direction e Point of interest 7 77777 Semi diameter STEP1 Record point of interest a Manually When 6 or more GPS satellites are found 9 blinks once or no blinking you can slide X2 channel switch between two positions quickly 3 to 5 times to record current position of multi rotor as new point of interest And LED will blink quickly if recording is successful 1 3 position switch Control 2 slide X2 channel switch between and POI position or between and POI position NOT Recommended Control 3 slide X2 channel switch between and PO position 2 2 position switch slide X2 channel switch between and position STEP2 Open POI Slide X2 channel switch from to position when all the following requirements are met After opening POI the aircraft will rotate slowly until the aircraft nose points to the point of interest and LED will blink slowly to indicate the IOC mode of MC a Point of interest is recorded successfully b 6 or more GPS satellites are found 02012 DJI Innovations All Rights Reserved 28 In GPS Atti d Multi rotor is further than 5m away from home point and within 500m STEP3 Close POI Slide X2 channel switch to position to quit home lock STEP4 Re open POI Slide X2 channel switch from to position when all requirements in step2 are met Notices e Pay attention to the following statement which may also lead the MC to qui
11. NO Depends on experience 3 In Box Main Controller MC x1 The Main Controller MC is the brain of the system it communicates with the IMU GPS Compass ESC and RC transmitter to carry out autopilot functionality The Main Controller provides USB interface to configure MC and update firmware from a PC IMU 1 The Inertial Measurement Unit IMU consists of one 3 axis accelerometer one 3 axis gyroscope and a barometer It is for sensing the attitude GPS amp Compass 1 The GPS Compass module is for sensing the position and direction LED Indicator x1 The LED indicates different states of system Power Management Unit PMU x1 Specially designed for WKM to solve the high power consumption problem of power support system It contains two power outputs for entire WKM system and receiver separately a battery voltage monitor and two CAN Bus interfaces GPS Bracket x1 Because the GPS amp Compass are sensitive to magnetic interference you should use this bracket to mount the GPS module PMU Connecter x1 For connections among Battery ESCs and PMU USB Cable x1 This cable is used to configure MC and update firmware 3 PIN Servo Cable x10 2012 DJI Innovations All Rights Reserved 4 Cables used to connect the Main Controller to the RC receiver 3M Gummed Paper 4 For fixing WKM components on multi rotor s frame Warranty Information Card x1 It recommends the n
12. Power the MC by a battery and connect the MC with PC current battery voltage will be displayed in this column 2012 DJI Innovations All Rights Reserved 33 If the battery voltage displayed here is different from the voltage you measure from voltmeter you have to calibrate Click the Calibration fill the voltage you have just cw measured in the Calibration column of the dialogue box and then click ok Meanwhile we need you to choose the battery type you are using so that MC can provide default warning voltages and ranges of warning voltages for you STEP3 First Level Protection No Load No Load Voltage Self defining warning voltage Needs your input Line Loss Voltage The battery voltage drop during the flight Needs your input Loaded Loaded Voltage The real time battery voltage during the flight This is the actual warning voltage monitored by MC No needs your input calculated by No Load and Loss Tips Voltages Magnitude Relation e No Load First level gt Second level e 055 First level Second level Loaded Calculated First level gt Second level Method of Acquiring Line Loss Voltage 1 Make sure you can fly your multi rotor normally with a fully charged battery 2 Use a fully charged battery switch on the low voltage protections in assistant software and observe the current voltage Fill a reasonable warning voltage in the No Load of first protection We
13. after motor start There are five levels from speed to HIGH speed and the default is RECOMMEND You can click and drag cursor J to the corresponding level to change Motor Idle Speed The lower motor idle speed The higher motor idle speed Set as LOW the motor idle speed will be lowest Set as HIGH the motor idle speed will be highest is the advised level You can reset the according to the real situation Notices e For user whose aircraft takes off at lowest throttles position please set the idle speed at a low level common users please set to or above since setting idle speed too low may affect motor s spool up Tips The output pulse width for every grade of is as followed output pulse width 1144 us 1160 us 1176 us 1192 us 1208 us e There is relationship between the output pulse width and the max min pulse width when TX End Point is 10096 output pulse width max pulse min pulse x proportion pulse e You can get the proportion value by computing according to the above formula for a special TX Use Futaba TX for example Notice that Futaba TX End Point is 100 proportion value 3 7 9 11 2012 DJI Innovations All Rights Reserved 15 3 Tx Monitor TX MONITOR 1 Receiver Type 2 Cut Off Type O Tradition CO D Bus PPM IMM Intelligent Calibration 4 Sticks Monitor 5 Made Switch Notices Make sure you have removed all propellers b
14. and Altitude Go homel Choose one as your failed safe method which will be triggered when MC loses the control signal in one of the following situations 1 Signal lost between transmitter and receiver e g multi rotor is out of the communication range or transmitter is down and so on 2 One or more connections of A E T R channels between MC and receiver loses If this happens before take off motors will not work if you push the throttle stick if this happens during the flight LED blue light will flash to warn in addition to the failed safe method If Hovering failed safe method is triggered and U channel is disconnected multi rotor will auto land Moreover you may check the item to start go home Intelligent Altitude Go home by TX switch during flight with LED purple light flashing instead of blue light flashing Multi rotor position before takeoff including reference longitude reference latitude and reference altitude is saved as home point by MC automatically when you push the throttle stick first time after 6 or more GPS satellites are found 9 blinks once or no blinking and last 8 seconds at least Go Home Altitude Determined by the reference altitude and the Fail Safe method chosen That is the go home altitude may be different due to fail safe method chosen e Hover The aircraft will be hovering when the fail safe starts Home Location Reference longitude la
15. for controlling the Pitch direction while X3 is not for remote gain tuning or Go Home switch 2012 DJI Innovations All Rights Reserved 32 6 Voltage Monitor VOLTAGE MONITOR 1 Pratection Switch C ON OFF 2 Battery Current Voltage 4 CONNECTED Calibration Battery type s LiPo id 3 First Level Protection Load Loss Loaded 0 00 V 0 00 V 0 00 V Safeguard C LED Warning amp Landing 4 Second Level Protection Load Loss Loaded 0 00 V 0 00 V 0 00 V Safeguard Descending STEP1 Protection Switch In order to prevent your multi rotor from crash or other harmful consequences caused by low battery voltage we have designed two levels low voltage protections You can choose to not to use them however we strongly recommend to open the protections here Notices e Make sure two connections between PMU and MC PW to CAN interface V SEN to X1 are correct otherwise the low voltage protection will not work properly e All two level protections have LED warning as default First level will blink yellow light O ceaselessly second level will blink red light 9 ceaselessly level protections will only have LED warning under Manual Model no any automatic actions e Low voltage protections are NOT fun You should land your multi rotor ASAP in any level of protection to prevent your multi rotor from crash or other harmful consequences STEP2 Battery
16. setup parameter and subsequence firmware upgrade e The vertical gain will NOT affect the manual mode Tips e If you are a fresh player you can tune the basic parameters first as following 1 Increase the basic parameters 1096 at a time so as to make your multi rotor hover or light oscillate after small angular command input 2 Decrease the basic parameters until your multi rotor can just hover then decrease 1096 more e If the basic parameters are far away from the proper value the advanced parameters will not work e Here you can make use of remote gain tuning channels to tune the gains during the flight 1 Followed the instructions in Assembly R C System section to connect and setup correctly 2 Choose the X2 or X3 channel in Remote Adjust for the gain you want to tune One channel to one gain 3 The range of remote tuning is from half current value to twice current value e Usually the Pitch Roll Attitude Pitch and Attitude Roll Gains of hexa rotor are higher than quad rotor STEP2 Advanced Parameters Usually you can ignore this step The default values are suitable for most of the conditions so we do NOT recommend you to change the parameters here To some special multi rotor experienced user can adjust the advanced parameters to have a better fly experience 2012 Innovations Rights Reserved 21 STEP3 Enhanced Failed Safe Methods Failed Safe methods include Go home Intelligent
17. PC when your are importing or exporting data You can only import version compatible configuration data 02012 DJI Innovations All Rights Reserved 10 Firmware Upgrade Please strictly follow the operation procedure for firmware upgrade otherwise WKM might not work properly STEP1 Make sure your computer is connected to the Internet STEP2 Please close all the other applications during the firmware upgrade including anti virus software and firewall STEP3 Make sure the power supply is securely connected DO NOT un plug the power supply until firmware upgrade has finished STEP4 Connect MC to PC with Micro USB cable DO NOT break connection until firmware upgrade is finished STEP5 Run Software and wait for connection STEP6 Select gt Firmware Upgrade STEP7 DJI server will check your current firmware version and get the latest firmware prepared for the unit STEPS If there is a firmware version more up to date than your current version you will be able to click the button STEP9 Wait until Assistant software reads finished STEP10 Click OK and power cycle the unit after at least 5 seconds Your unit is up to date now Notices o After firmware upgrade please re configure WKM using Assistant software e If it is notified that the network or DJI server is busy please try again later with above procedures e If firmware upgrade failed WKM will enter waiting for firmware upgrade status automatically please
18. TEP3 Calibration in vertical while green light is constantly on hold your multi rotor vertically and rotate it along with its vertical axis keep rotating until the green light is off meaning the 2012 DJI Innovations All Rights Reserved 37 calibration is finished c STEP4 After you finished the calibration LED indicator will show whether the calibration was successful or not f white light turns on for 3 seconds calibration succeeds calibration mode will auto exit lf red light keeps blinking quickly the calibration has failed Slide the control mode switch one time to cancel current calibration and then re start from step 1 for re calibration Tips If you keep having calibration failure it might suggest that there is very strong magnetic interference around the GPS amp Compass module please avoid flying in this area 2012 DJI Innovations All Rights Reserved 38 Test Fly Before First Flight Notices Make sure you have assembled your multi rotor correctly e Make sure you have done the configuration procedure correctly e Any of the following mistakes will lead to dangerous accident double check all these items Rotation direction of motor is opposite Propeller installation mistake IMU installation mistake Wrong connection between MC and ESC e In and mode throttle stick center position is for Om s on the vertical direction If you pull the stick to the bottom duri
19. The rest of the coefficients should be decided by the proportion of force arms of the motors 4 The method introduced in this section is only suitable for central symmetry multi rotor 2012 DJI Innovations All Rights Reserved 46 Multi Rotors Supported To coaxial propellers Blue propeller is at Red propeller is at Bottom Otherwise all propellers are at top Ms M Y6 2012 DJI Innovations All Rights Reserved 47 Port Description Main Controller For roll control left right For pitch control front back For throttle control Or to gimbal roll servo For rudder control Or to gimbal pitch servo For Control Mode Switch For voltage monitor Connect with PMU V SEN port For D Bus S Bus compatible Or for gain tuning Or for IOC switch For gimbal pitch control Or for gain tuning Or for switch go home To 6 rotor To 5 rotor To 4 rotor To 3 rotor To 2 rotor To 1 rotor To gimbal pitch servo Or to 8 rotor To gimbal roll servo Or to 7 rotor Micro B USB port PC connection for configuration and firmware upgrades CAN Bus port MC uses CAN Bus to power and communicate with other WKM modules In three pin ports pins near the nicks are signal pins Power Management Unit V SEN PW For monitoring battery voltage and supplying power to receiver and other electronic devices Connect with MC X1 port White wire signal wire output 3 3V e Red wire power wire outpu
20. WooKong Multi Rotor User Manual V 3 1 www dji innovations com 2012 DJI Innovations All Rights Reserved Warning amp Disclaimer WKM is an excellent autopilot system offering tremendous flight features for low altitude multi rotor working in restricted space compared to normal helicopter It is not a toy when installed in multi rotors of any size Please respect the AMA s National Model Aircraft Safety Code Despite our efforts in making the controller to operate in the safest manner when the main power battery is connected such as disabling MC signal to ESCs when USB is connected disabling throttle input and stick command when throttle stick is not at the lowest position we strongly recommend customers to remove all propellers use power supply from R C system or flight pack battery and keep children away during firmware upgrade system calibration and parameter setup DJI Innovations assumes no liability for damage s or injuries incurred directly or indirectly from the use of this product Please strictly follow these steps to mount and connect WooKong for Multi Rotor WKM system on your multi rotor as well as to install the Assistant software on your computer DJI WooKong is registered trademark of DJI Innovations Names of product brand etc appearing in this manual are trademarks or registered trademarks of their respective owner companies This product and manual are copyrighted by Innovations with all rights
21. ce M2 M4 M6 produce counter clockwise torque force When the hexa rotor is hovering all the rotors are spinning at the same angular velocity which means the clockwise torque force equals to counter clockwise torque force and this produces exactly 0 angular acceleration about yaw axis Therefore when the rotate speed of M1 M3 M5 is larger than M2 M4 M6 hexa rotor spins clockwise when the rotate speed of M1 M3 M5 is smaller than M2 M4 M6 hexa rotor spins counter clockwise We also want multi rotor to keep balance along all the other axes when apply the yaw stick command c Fea Uu a x 0 keep throttle direction balance c F fom Coc x R Xa keep pitch direction balance 2 2 x Rx d C 2 x Rx d To keep roll direction balance As we defined before Stick left R O multi rotor nose left Stick right R20 multi rotor nose right we can choose the following setup Motor Throttle 100 100 96 100 96 100 96 100 100 96 96 96 Roll Axis M M M3 M SIXW yid M M5 AH Now if move the yaw stick right the sum of M1 M5 output Cr Crs xR is positive the sum of M2 M4 M6 output Cro Cre xR is negative then the clockwise torque force is larger than counter clockwise torque force multi rotor nose right if move the yaw stick le
22. craft right GPS Compass is sensitive to magnetic interference should be far away from any electronic devices Make sure switch on the transmitter first then power on multi rotor before takeoff Power off multi rotor first then switch off the transmitter after landing Do not fly in GPS Mode when the signal is not good red light blinks If you open the gimbal control in assistant software during the configuration please note that there is output from F1 and F2 ports Now you should not connect these ports to ESCs which is wired with propellers equipped motors Do NOT set the failed safe position of throttle under 10 of endpoint Throttle stick position should always be higher than 1096 from cut throttle during the flight Low voltage protections are NOT fun You should land your multi rotor ASAP in any level of protection to prevent your multi rotor from crash or other harmful consequences By using mode to stop motors in any control mode once motors start and throttle stick is over 1096 motors will stop immediately when throttle stick is back under 1096 again In this case if you push the throttle stick over 1096 in 5 seconds after motors stop motors will re start CSC is no need If you don t push throttle stick after motors start in three seconds motors will stop automatically By using mode to stop motors motors will start or stop immediately when you execute During normal flight only pull throttle stick under 1096 will
23. e 2 position switch on your transmitter as Go Home switch Then connect ea Cx 4 a Tx the right channel of receiver to X3 port of MC You should assign Position 1 to Start Position 2 to Standby or reverse the assignment for Position 1 and Position 2 Move the slider of channel X3 to and Standby to turn the corresponding area blue respectively 2012 DJI Innovations All Rights Reserved 23 Notices e Switching from to will enable one aircraft go home during flight But if the aircraft has been already in fail safe mode it will not repeat starting on go home X When switch to or Atti Model MC will disengage enhanced failed safe mode including two trigger methods both MC loses the control signal and start Go Home switch you can re gain control of multi rotor Tips Use end point fine tuning on your transmitter to set X3 channel to 30 100 if assistant does give correct response to the 2 position switch e The following example shows how to enable one Go home by Tx Switch Use osition 1 to and Position 2 to for example Position 1 Position 2 Position 1 if the initial switch position is at Position 1 Position 2 gt Position 1 if the initial switch position is at Position 2 e The home point of the ground station one key go home is the same as the point set by user in the ground station software e If home point is not set by the ground station the home point of ground station one key
24. e altitude 20 Home Location Reference longitude latitude altitude Stay hover If GPS satellite found gt 6 and last 8s y at the first time you pull the throttle e z d Stick then record Home Location SZ 1 Recore PICS 1 Current altitude Max flight altitud Ready to 2 Current altitude lt Max flight Hover 15s ee d Then land Signal lost 3s Q 20m 2 ax flight altitude lt reference altitude 20m 4 Ready to home 5 Go home Aircraft eHome QFail safe Enable Go Home Switch Go home flight altitude e Altitude Go H Altitude Go home Flight altitude when fail safe starts reference altitude input value go home altitude flight altitude when fail safe starts Else if lt reference altitude input value go home altitude reference altitude value Input value 10m 100m the default value is 20m and has an accuracy of 1m Home Location Reference longitude latitude altitude If GPS satellite found gt 6 and last 8s Stay hover at the first time you pull the throttle Stick then record Home Location 2 1 Record Hover 15s Flight altitude when fail safe starts Then land lt reference altitude input value Aircraft Fail safe Enable Go Home Switch gt home gt Input value Go Home Switch Before using this function you have to choos
25. e stick is back under 1096 again In this case if you push the throttle stick over 1096 in 5 seconds after motors stop motors will re start is no need If you don t push throttle stick after motors start in three seconds motors will stop automatically e Mode By using this mode different control mode has different way of stopping motors In Manual Mode only executing can stop motors In or GPS Atti Model any one of following four cases will stop motors a You don t push throttle stick after motors start in three seconds b Executing CSC Throttle stick under 10 and after landing 3 seconds The slope angle of multi rotor is over 70 and throttle stick under 1090 n rteiligen Mode You have to execute to start motors Push throttle stick only will not start motors 2 In Ati GPS Atti Model it has landing judgment which will stop motors 3 Start motors in GPS Atti Model you have to execute and then push throttle stick over 1096 in 3 seconds otherwise motors will stop after 3 seconds 4 During normal flight only pull throttle stick under 10 will not stop motors in any control mode 5 For safety reason when the slope angle of multi rotor is over 70 during the flight in may be caused by collision motor and ESC error or propeller broken down and throttle stick is under 10 motors will stop automatically 6 You can stop motors by executing any control mode Notices 1 All these two cut
26. ecessary conditions for using WKM system and related safety issues Please fill out the customer amp multi rotor information card and return to DJI Innovations to register your product warranty 2012 DJI Innovations All Rights Reserved 5 Contents WARNING amp DISCLAIMER o o ODE E CER OP ARE DERE Va 2 WKM PROFILE 3 IN BOX M 4 CONTENTS A 6 MATTERS NEED ATTENTION N NS 7 ASSEMBLY e 8 ASSISTANT SOFTWARE bas dod eaa roi e eaa Lou eoo Led ees Uaec EO 9 SOFTWARE AND DRIVER INSTALLATION ss 3 tao bibo bike a tese 9 9 FIRMWARE UPGRADE snl eio edet oat 11 PRODUCTINFO pM E 11 mendi 12 1 MOUNTING M 12 2 MOTOR MIXER met a 14 E ee ee 16 4 AUTOPILOT tc 20 5 GIMBAL C J Mn 31 6 VOLTAGE MONITOR Ves 33
27. efault safeguard when you switch on the low voltage protection 2 Go Home and Landing This safeguard will NOT be triggered when any of the following items is satisfied a or Atti Mode b GPS signal is not good C The distance between Home Location and multi rotor is smaller than 25m and the altitude is smaller than 20m relative to Home Location Here the generation of Home Location is the same as the way used in Enhanced Failed safe Please refer to Enhanced Failed safe in Autopilot Notices There will be 4 seconds LED warning before Go Home switch to or during Go Home you will regain the control LED warning will be still on please land ASAP switch back into the when you are in first level protection you will have 15s time to control your multi rotor you should land ASAP in this 15s to prevent your multi rotor from crash or other harmful consequences After that if the Go Home and landing requirements are satisfied multi rotor will Go Home and Landing automatically If you choose LED warning please land ASAP after LED warning to prevent your multi rotor from crash or other harmful consequences e Compare the Go Home and Landing of low voltage protection and the Go Home and Landing in Enhanced Failed safe the generations of Home Location are the same the Go Home routes are the same the difference is that there is no hovering before landing in low voltage protection 02012 DJI Innovations
28. efore this step STEP1 Receiver Type Choose the type of your receiver If you use S Bus receiver please choose S Bus compatible option D Bus If PPM receiver is used please choose Otherwise choose Tradition Notices Please reboot MC and redo the calibration after you change the setup of your transmitter or change your receiver Tips If you use S Bus PPM receiver the communication of A E T U X2 Transmitter MC Channels Channels and channels are all through the D Bus PPM channel Right figure shows the connection of default transmitter channels and MC channels in S Bus PPM receiver Only first 8 channels of S Bus receiver are NOU 06 6 used at the moment Then the original and R channels for Gimbal servo control e WKM supports two types of S Bus receiver they are R6203SB and R6208SB 02012 DJI Innovations All Rights Reserved 16 STEP2 Cut Off Type Please read the introductions of start and stop motor in this step first and then choose a cut off type 1 Start Motor When using WKM pushing throttle stick before takeoff will not start motors You have to execute any one of following four Combination Stick Commands CSC to start motors 2 Stop Motor We provide two options to stop motors Immediately Intelligent e Mode By using this mode in any control mode once motors start and throttle stick is over 1096 motors will stop immediately when throttl
29. es the sky and points directly forward backward left or right The sides of the IMU should be precisely parallel to the multi rotor body Use double sided foam tape for secured installation If you are uncertain whether materials near the GPS Compass module are magnetic or not you can use a compass or magnet to check it If you use your own mounting rod make sure it is NOT magnetic R C Receiver JR R C Receiver Futaba Hitec Futaba S Bus PMU amp Battery There is no requirement for PMU mounting Use our PMU Connecter red line depicts in figure to connect battery PMU and ESCs For safety reason please disconnect ESCs and battery connecter during the firmware upgrade and configuration procedure You can choose 25 65 LiPo battery R C Receiver PPM PPM LED Indicator Place the LED indicator at an appropriate location of craft body far away from the GPS Do not mount it on other electronic devices Make sure You can see the light during the flight You can connect LED to the CAN Bus port on GPS connection wire 02012 DJI Innovations All Rights Reserved MAIN CONTROLLER MULTI ROTOR and 2012 DJI INNOVATIONS Check the double faced adhesive tape regularly to ensure that the IMU is securely positioned DO NOT cover the ventilation holes keep them unobstructed The IMU module is NOT water proof or oil proof
30. ft the sum of M1 M3 M5 output Cn Crs xR is negative the sum of M2 M4 M6 output Cre Cre xR is positive then the clockwise torque force is smaller than counter clockwise torque force multi rotor nose left And the balance along all the other axes can be derived by substituting the yaw stick command into equations set 2 The movement about the pitch axis is produced by the differential output of M1 M2 and M4 M5 Since and M6 are on the pitch axis they do not contribute and torque You can just keep the rotation speed of M3 and M6 the same as hovering so and are 0 Increase output of M4 M5 and decrease output of M1 M2 multi rotor moves forward decrease output of M4 M5 and increase output of M1 M2 multi rotor moves 2012 DJI Innovations All Rights Reserved 44 backward We also want multi rotor to keep balance along all the other axes when apply the pitch stick command c ToC oC T Ga Ti Tt X E 0 keep throttle direction balance c Ges TO T X E To keep yaw direction balance 3 2 x Ex d 2 x E x d To keep roll direction balance Also proportion of coefficients of the motors at the same side of pitch axis should be equal to the proportion of force arms of those motors Ces 1 1 As we defined before Pull stick lt 0 multi rotor moves backward Push stuck gt 0 mu
31. go home function is the point recorded by MC e if cannot be chosen in the assistant software that may be X3 channel has been set for remote gain tuning please cancel it STEPA Intelligent Orientation Control Forward Direction Multi rotor will fly along this direction when you push the elevator stick Usually the forward direction of a flying multi rotor is the same as the nose direction By using Intelligent Orientation Control IOC wherever nose points the forward direction has nothing to do with nose direction In course lock flying the forward direction is the same as a recorded nose direction See the following figures Mode 2 Usually In course lock In home lock flying the forward direction is the same as the direction from home point to multi rotor See the following figures Mode 2 2012 Innovations Rights Reserved 24 e s ey ENS 9 In home lock Usually 9 point ome point In POI POI Point Of Interest flying roll channel controls the aircraft cycled flight in a fixed semi diameter and pitch channel is for semi diameter value adjust See the following chart Mode 2 9 4 ps Usually 6 Point of Interest Step1 Before using this function you have to choose a 2 or 3 positions switch on your transmitter as IOC switch which is also for recording flight orientation home position or point of interest in corresponding modes Step2 Connect the right cha
32. gravity C G directly on the center plate Fill in the distance between body center of IMU GPS and the C G of multi rotor in X Y amp Z axles as showed in the figure Notices 1 Youmustre configure if the ALL UP WEIGHT had been changed on your multi rotor 2012 DJI Innovations All Rights Reserved 12 If mounting locations are not accurate enough or the signs are wrong error on X Y Z axles will leads the oscillation of your multi rotor Make sure to follow the diagram in our assistant software red is positive green is negative unit of measure is CM NOT INCH 2012 DJI Innovations All Rights Reserved 13 2 Motor Mixer Motor Mixer 1 Mixer Type Quad rotor Hexa rotor V Qcto rotor X customize Quad rotor X Hexa rotor IY Octo rotor Hexa rotor Hexa rotor Y Octo rotor V Motor Throttle Yaw Pitch am 0 10 0 10 cam 0 10 0 10 ca 0 10 10 10 cm 0 10 0 10 cp 0 10 0 10 xu 0 0 10 10 eID 0 09 o 0 CID 0 10 0 10 2 Motor Idle Speed STEP1 Mixer Type Set your transmitter into ACROBATIC mode Then select the right mixer type according to your multi rotor Tips e We support nine types of multi rotors Please refer to Multi Rotors Supperted in Appendix e If you want to use gimbal with an Octo rotor you have to use S Bus or PPM receiver then you can use port T and R for gimba
33. ights Reserved 19 4 Autopilot AUTOPILOT 1 Basic Parameters Gain Pitch Roll Yaw Vertical Basic 98 INF S99 INF 5 100 INF s400 INF s Attitude 100 INF 100 INF s C Advance Parameters Damping Disturbed Gain Pitch amp Roll 100 100 096 100 fertical 100 100 096 2 Enhanced Failed Safe Methods 9 Hover Go H Intelligent Go H Alt 22m Go Home Switch 3 Intelligent Orientation Control STEP1 Basic Parameters Usually the default parameters are ready to go However different multi rotors have different gains because of different size ESC motor and propeller If gain is too large you will find the multi rotor oscillating in the corresponding direction About 5 10 2 If too small the multi rotor will likely to be hard to control So you can still setup the basic Gain of Pitch Roll Yaw and Vertical manually according to your multi rotor to have a wonderful fly experience We suggest you to change 10 to 1596 of the parameter at a time To the gains of Pitch and Roll if you release the Pitch or Roll stick after command stick multi rotor should be back to hovering state If the reaction of multi rotor in this procedure is too soft large delay please increase the basic gain slowly 1096 1596 each time until vibration emerges after you release the stick Then decrease the gain a little until vibration just disappears Now the gain is perfect but the reaction of the at
34. ims of sticks to 0 on your transmitter first Keep all curves settings as default since the end point of transmitter sticks will be recorded here STEP2 Click START button and move all of the sticks throughout 4 T i D os their complete range several times STEP3 After that click FINISH button when you finished above procedures STEP4 If the moving direction of the slide is opposite to the S ides Moving Definition click the reverse button beside Notices 1 All slides should become when all the sticks are in the middle positions If slides cannot go back to center points just click FINISH then slides will be at center automatically If still not please reboot MC and do not apply Tx command during the reboot 2 CSC may not start motors If trims and sub trims of sticks are not 0 STEP4 Sticks Monitor 2012 DJI Innovations All Rights Reserved 18 This step is optional X2 X3 is for remote gain tuning is also for gimbal pitch control Setup the channel on your RC correctly STEP5 Control Mode Switch Whichever 2 or 3 positions switch on your transmitter you have selected to use as control mode switch wire the right channel of receiver to U port of MC At each switch position use end point fine tuning on your transmitter move the slider of channel U to GPS Atti Mode A Atti Mode M Manual Mode to turn the corresponding area b
35. ivers and other electronic devices If you use extra BEC please use a servo cable without power wire to connect V SEN to X1 Not recommend 8 Assistant Software Software and Driver Installation STEP1 Please download assistant software and driver from our website If your operating system is 32bit download 32bit driver if your operating system is 64bit download 64bit driver Then decompress STEP2 Connect MC and PC via USB cable power on MC STEP3 If operating system tries to install driver automatically cancel it STEP4 Open folder or Wookong Multi Rotor Driver 6451 double click file and follow the steps to finish installation STEP5 Open the assistant software folder double click file and follow the steps to finish installation GUI MOUNTING 1 IMU Orientation fe Forward C Backward C Left Right Mounting Location IMU Example Motor Mier IMU shor multi rotor body Green ling for negative _ 2 Red line for positive DO NOT MOUNT THE IMU UPSID DOWN EONTROL MODE 2012 Dul Innovations All Rights Reserved 9 a A O 10 12 13 14 15 Firmware upgrade Update your firmware from DJI server keep your WKM system up to date Check for Updates Check out the latest versions of assistant software and firmware If necessary you can follow the links displayed to find the do
36. l control Otherwise there will be no ports on MC for gimbal Notices e Do NOT follow instruction from your multi rotor manufacturer Make sure the rotation direction of each motor is the same as the way assistant software figure shows If not switch any of two wire connetcions of the incorrect motor to change its rotation direction e Make sure the type of propeller matches the rotation direction of motor When you set Mixer from to Hexa rotor the gimbal setting will automatically switch to for safety which may lead the gimbal to tilt to one side please turn to the section for reconfiguration Customize This segment is reserved only for very special case such as customized airframe in non conventional rotor arrangement In the event an airworthy multi rotor craft with such rotor arrangement will require customized setting to meet WKM controller algorithm Please write to our support department or dealer together with photos of the multi rotor for assistance 2012 DJI Innovations All Rights Reserved 14 Tips e Please refer to Customize Motor Mixer section in Appendix for how to customize a central symmetry multi rotor e If you customize the motor mixer of a quad rotor or hexa rotor F1 and F2 ports can still be used for gimbal servos control STEP2 Motor Idle Speed Motor Idle Speed is the lowest speed after motor start Set Motor Idle Speed will affect motor lowest speed
37. l the requirements are met MC will change into home lock automatically when multi rotor flies out the 10m range around home point 2 When multi rotor is flying by home lock far away from you and home point please do not slide X2 channel switch many times quickly so as to avoid the change of home point without your attention 3 If POI is used in urban area with crowded buildings which may lead to lost signal between 2012 DJI Innovations All Rights Reserved 29 transmitter and receiver and then failed safe method will be triggered 4 By using a 3 position switch if you want to record any two of forward direction home point and point of interest manually it is recommended to record them separately so as to make sure the record is successful Please pay attention to following contents for correct record e Control 1 Not slide X2 channel switch between and position but only between and Course Lock or and position e Control 2 Not slide X2 channel switch between and position but only between and Course Lock or and position e Control 3 Not slide X2 channel switch between and position but only between and or and PO position 5 When you are flying in home lock if the multi rotor is back into the 10m range around home point or you switch into Atti Mode MC will fly in course lock by current forward direction automatically But this forward direction is NOT the recorded forward direction If you open the course l
38. larity error 2012 DJI Innovations All Rights Reserved PMU connection is correct 9 Specifications General Built In Functions Three Modes Autopilot e S Bus Receiver Supported e PPM Receiver Supported e Intelligent Orientation Control e 2 axle Gimbal Support e Multi Output Frequency Supported e Enhanced Fail Safe Low Voltage Protection Peripheral Supported Multi rotor Supported ESC output Recommended Transmitter Recommended Battery Assistant Software System Requirement Electrical amp Mechanical Power Consumption Operating Temperature Total Weight Dimensions e Quad rotor I4 X4 e Hexa rotor I6 X6 Y6 IY6 e Octo rotor X8 I8 V8 400Hz refresh frequency PCM or 2 4GHz with minimum 7 channels and failed safe function available on all channels 28 6S LiPo Windows XP SP3 7 MAX 5W 0 9A 5V 0 7A 5 8V 0 5A 7 4V 0 4A 8V 5 C to 60 C lt 118g overall MC 51 2 x 38 0mm x 15 3mm e IMU 41 4mm x 31 1mm x 27 8mm e GPS amp Compass 50mm diameter x 9mm e LED Indicator 25mm x 25mm x 7mm e PMU 39 5mmx27 5mmx9 7mm Flight Performance can be effected by mechanical performance and payloads Hovering Accuracy GPS Mode Maximum Wind Resistance Max Yaw Angular Velocity Max Tilt Angle Ascent Descent 2012 DJI Innovations All Rights Reserved e Vertical 0 5m e Horizontal 2m 8m s 17 9mph 28 8km h 150deg s 6m s 50
39. lti rotor moves forward we can choose the following setup Motor Throttle Yaw r r XIS i Mi a 100 96 100 96 M M 1 100 100 100 100 a Fr 100 100 M M x 8 cB 100 100 6 gt 100 100 P CD 5 m 5 cm 0 0 Now if push the pitch stick the sum of M1 M2 output Ce Cg xE is negative the sum of M4 M5 output Ces xE is positive then multi rotor moves forward if pull the pitch stick the sum of M1 M2 output Cee xE is positive the sum of M4 M5 output Ces xE is negative then multi rotor moves backward And the balance along all the other axes can be derived by substituting the pitch stick command into equations set 3 The theory of movement about the roll axis is the same with pitch axis However there is no motor on the axis in this case no coefficient is 0 We also want multi rotor to keep balance along all the other axes when apply the roll stick command c ys T Ca cuu 0 X A 0 keep throttle direction balance c T G T c Fea T m X A To keep yaw direction balance 4 c T direction balance Also proportion of coefficients of the motors at the same side of roll axis should be equal to the proportion of force arms of those motors Cz Cg4 Cg Cg
40. lue respectively as showed in the figure of last page Tips e To move the slider is to adjust end points of the channel selected e For 3 position switch you should assign Position 1 to Manual Model Position 2 to Model Position 3 to GPS Atti Model or reverse the assignment for Position 1 and Position 3 ES N 1 Ri 3 Position Switch 47 n IE 2s 2 SA e For 2 positions switch you can assign any two of these three control modes as you like Move the slider to the range which reads Fail Safe to turn the area blue set Fail Safe output of receiver to input port U If you switch off your transmitter now the U channel slide should move to and turn the corresponding area to blue Otherwise please reset the fail safe Please refer to your RC manual for the details of fail safe setup Notices 1 Do NOT set the fail safe position of throttle under 1096 endpoint 2 MC would not execute Fail Safe protection if you don t set it properly You can verify the Fail Safe settings by shutting down your transmitter and then you can use the following methods to check whether MC is already in Fail Safe mode Check the Assistant Software status bar at the bottom side of the software Fail Safe interface Control mode will change to Fail Safel 1 e Check the LED indicator Read the appendix in this manual for details LED will give blue blinking if in fail safe mode 2012 DJI Innovations All R
41. nd ensure MC system performs well in a non ideal magnetic environment When to it The first time you install WKM on your multi rotor When the multi rotor mechanical setup is changed a Ifthe GPS Compass module is re positioned b If electronic devices are added removed re positioned Main Controller servos batteries etc c When the mechanical structure of the multi rotor is changed flight direction appears to be shifting meaning the multi rotor doesn t fly straight The LED indicator often indicates abnormality blinking when the multi rotor yaws It is normal for this to happen only occasionally Notices e Don t calibrate your compass where there is strong magnetic interference such as magnetite car park and steel reinforcement under the ground e DO NOT carry ferromagnetic materials with you during calibration such as keys or cell phones You don t need to rotate your multi rotor on a precise horizontal or vertical surface but keep at least 45 difference between horizontal and vertical calibration e MC cannot work in the polar circle Calibration procedure STEP1 Enter calibration mode quickly slide the control mode switch from Manual Mode to GPS Atti Mode for 6 to 10 times and LED indicator will be constantly on in blue STEP2 Calibration in horizontal rotate you multi rotor along with the horizontal surface until the green light is on constantly then go to the next step S
42. ng the flight multi rotor will descend If you pull the stick to the bottom on the ground it will cut motors in 3 seconds However the slow spinning of motors will affect the flight performance you d better keep throttle stick position higher than 1096 from cut throttle during the flight In Manual Mode it will cut motors when pull throttle stick under 10 e Make sure switch on the transmitter first then power on multi rotor Power off multi rotor first then switch off the transmitter after landing Please does the test fly and gain tuning with in the open air without heavy wind Please read the first step of Autopilot in Configuration to learn how to tune gains Fly STEP1 Make sure your batteries are fully charged for your transmitter MC and all the devices on your multi rotor STEP2 Check all connections and wirings and make sure they are in good condition STEP3 Switch on the transmitter first then power on your multi rotor STEP4 Slide the control mode switch on your transmitter and make sure it is working properly Check it with LED indicator to specify the current working mode for MC See Appendix for details about LED indicator STEP5 Switch the system to Atti Mode Use any safe method to do the following test Apply the throttle to 2096 slowly in 3 seconds after executing and make sure all the motors are working and then try to push your sticks lightly in Roll Pitch and Yaw to feel if your multi rotor moves to the
43. nnel of receiver to X2 port of MC You may hit to change IOC control mode options Three IOC control options are available they are Control 1 and Control 3 and every option contains two IOC functions Control 1 Home Lock Course Lock Control 2 PO Course Lock Control Home Lock PO Step3 Toggle the switch and move the slider of channel X2 to turn the corresponding area blue respectively Tips 1606863 GIDA For 3 position switch or exchange Position 1 and Position 3 Control 1 Position 1 is OFF Position 2 is Course Lock Position 3 is Home Lock Control 2 Position 1 is Position 2 is Course Lock Position 3 is POI Control 3 Position 1 is OFF Position 2 is PO Position 3 is Home Lock e For 2 position switch Control 1 Position 1 is OFF Position 2 is Course Lock Or Position 1 is OFF Position 2 is Home Lock Control 2 Position 1 is OFF Position 2 is Course Lock Or Position 1 is OFF Position 2 is Poll 2012 DJI Innovations All Rights Reserved 25 Control 3 Position 1 is OFF Position 2 is Or Position 1 is Position 2 is Home Lock e The course home point and point of interest can be recorded manually by toggling the 3 position switch and the record content is different when switching occurs in different positions The following content shows how the MC will record Position 1 Position 2 Position 2 is recorded Positi
44. not stop motors in control mode You have to execute to re start motors if they stop during the flight When you set Mixer Typel from to Hexa the gimbal setting will automatically switch to for safety which may lead the gimbal to tilt to one side please turn to the section for reconfiguration 2012 DJI Innovations All Rights Reserved 7 Assembly GPS COMPASS GPS Compass is sensitive to magnetic interference should be far away from any electronic devices You should use epoxy resin AB glue to assemble the GPS bracket first as the figure showed in previous page Mount the bracket on the center plate of craft first then fix the GPS on the plate of the bracket by 3M glue provided The GPS is sensitive to vibration interference so position the bracket at least 10 cm from any rotor The DJI logo marked on the GPS should face the sky with the orientation arrow pointing directly forward The GPS Compass is packaged with a special indication line for mounting for the first time R C System These are example connections Please setup Aileron Elevator Throttle Rudder channels on your Tx first and choose one 2 or 3 positions switch channel as control mode switch then connect your receiver to the right ports on MC IMU The IMU is best positioned near the multi rotor s center of gravity where vibration is relatively low Orient the IMU such that the arrow marked on the printed surface of the IMU fac
45. ock now MC Will still fly in course lock by the recorded forward direction 6 We suggest you to use home lock in a limited area which is 10m away from home point use in a limited area which is 10m away and 500m within from point of interest 7 If bad GPS quality during flight the M C may not give accurate judgment on radius point of interest 8 Continuously spinning will cumulate yaw error LED will blink to indicate huge cumulative yaw error caused by spinning nose continuously in IOC In this case you can stop or slow down the spinning and continue flying after O blinking is off so as to have better flight performance 2012 DJI Innovations All Rights Reserved 30 5 Gimbal GIMBAL 1 Gimbal Switch on OFF Output Frequency 2 Servo Travel Limit Center hill Pitth lt a 0 0 mu wigc o a e 3 Automatic Control Gain Gain Direction Pih 00 REV Fol eam 4 Manual Control Speed Pith EE 0 STEP1 Gimbal Switch If you use gimbal please choose here and select an 50Hz 100Hz 200Hz 400H2 The chosen output frequency is recommended no more than the maximum servo supported frequency Notices If you open the gimbal control in assistant software during the configuration please note that there is output from F1 and F2 ports Now you should not connect these ports to ESCs which is wired with propellers equipped motors Tips e If you want to use gimbal wi
46. off types will work properly only if Tx calibration is correct 2012 DJI Innovations All Rights Reserved 17 21 When Tx commands are valid under any control modes motors will start or stop immediately when you execute It has nothing to do with current throttle stick position Please DO NOT executes during flight without any reason 3 Ifyou choose mode you should not pull throttle stick under 1096 during flight because that will stop motors If you do it accidentally you should push the throttle stick over 10 in 5 seconds to re start motors 4 If you choose mode throttle stick under 1096 will trigger landing judgment in any control mode In this judgment pitch roll and yaw controls are denied except throttle but multi rotor will still auto level 5 In any control mode DO NOT pull throttle stick under 1096 during normal flight without any reason 6 In any auto action caused by failed safe or low voltage protection e g auto Go Home any commands applied to start or stop motors are denied by MC motors will hold state Command Sticks Calibration Slides Moving Definition Slide left is craft down slide right is craft up Slide left is nose left slide right is nose right Slide left is craft back slide right is craft front Slide left is craft left slide right is craft right STEP1 Set endpoints of all channels to default values 10096 and set all trims and sub tr
47. on 2 Position 3 Position 3 is recorded Position 1 Position 3 Position 3 is recorded but Position 2 may also be recorded at the same time Danger may occur if users are not aware of the change so it is not recommended to record Position 3 by this way f you use an S Bus PPM receiver default channel connection is shown in Tx Monitor Receiver Type section Then you only need to assign a 2 or 3 position switch of your transmitter to the 5 channel e f the assistant software does not give correct response please use end point fine tuning on your transmitter move the slider of channel X2 to turn the corresponding area blue respectively Notices When a 2 position switch is used do NOT set a 2 position switch as Control 1 and at the same time Control 2 and POI at the same time Control 3 and at the same time Course Lock Usage During the same flight STEP1 Record STEP2 Open STEP3 Close 4 Re open Nose direction gt Forward direction STEP1 Record forward direction There are two ways Manually Automatically And LED will blink quickly if recording is successful a Automatically MC will record the current nose direction as forward direction at 30 second after you power on the multi rotor b Manually You can slide X2 channel switch between and position quickly 3 to 5 times to record current nose direction as new forward direction at any time after you power
48. on multi rotor 30 seconds 2012 DJI Innovations All Rights Reserved 26 STEP2 Open course lock Slide X2 channel switch from to position when all the following requirements are met and LED will blink O slowly to indicate the mode a After record the forward direction successfully b MC is in Atti or GPS Atti Mode STEP3 Close course lock Slide X2 channel switch to position to quit course lock STEP4 Re open course lock When all 4 requirements in step2 are met slide X2 channel switch from to position Notices Pay attention to the following statement which may also lead the MC to quit course lock e Slide U channel switch to Manual position or close transmitter or fly in waypoint mode Home Lock Usage During the same flight STEP1 Record STEP2 Open STEP3 Close STEP4 Re open E E Nose direction gt Forward direction eHome point Over 10m distance STEP1 Record home point The home point mentioned here is the same home point of enhanced Fail Safe There are two ways to record here Manually Automatically And LED will blink O quickly if recording is successful a Automatically Before takeoff current position of multi rotor will be saved as home point by MC automatically when you push the throttle stick first time after 6 or more GPS satellites have been found 9 blinks once or no blinking for 8 seconds b Manually When 6 or more GPS satellites are found 9 blink
49. reserved No part of this product or manual shall be reproduced in any form without the prior written consent or authorization of DJI Innovations No patent liability is assumed with respect to the use of the product or information contained herein 2012 Dul Innovations All Rights Reserved 2 WKM Profile DJI WooKong for multi motors WKM is an autopilot system designed for serious multi rotor enthusiasts providing excellent self leveling and position holding which completely takes the stress out of flying RC multi rotors for both professional and hobby applications can be installed in a variety of models from quad rotor to octo rotor WKM Control Modes GPS Atti Mode Atti Mode Command Multi attitude control Stick center position for Stick Meaning O attitude its endpoint is 35 Command YES Linearity Lock rotor position Only attitude Stick Released when GPS signal is stabilizing adequate Maintain the altitude best above 1 meter from Altitude Lock ground After 10s when GPS Only performing signal lost system attitude stabilizing GPS Lost enters Atti Mode without position automatically lock Attitude amp speed mixture control ensures Safety stability Enhanced fail safe Applications Sports flying 2012 DJI Innovations All Rights Reserved Manual Mode Maximum angular velocity is 150 s No attitude angle limitation and vertical velocity locking NOT Recommend
50. s once or no blinking you can slide X2 channel switch between two positions quickly 3 to 5 times to record current position of multi rotor as new home point 1 3 position switch Control 1 slide X2 channel switch between and position or and NOT Recommended Control 3 POI and Home Lock or and NOT Recommended 2 2 position switch slide X2 channel switch between and position STEP2 Open home lock Slide X2 channel switch from to position when all the following requirements are met LED will blink slowly to indicate the IOC mode 2012 DJI Innovations All Rights Reserved 27 Home point is recorded successfully b 6 or more GPS satellites are found c In GPS Atti Mode d Multi rotor is further than 10m away from home point STEP3 Close home lock Slide X2 channel switch to position to quit home lock STEP4 Re open home lock When all 4 requirements in the second step are met slide X2 channel switch from to position to re open home lock Notices Pay attention to the following statement which may also lead the MC to quit home lock Slide U channel switch to Manual Mode position or close transmitter or fly in waypoint mode e MC will be in course lock by current forward direction automatically when multi rotor flies back into 10m range around home point or MC is Mode POI Point Of Interest Usage During the same flight STEP1 Record STEP2 Open STEP3 Close STEP4 Re open
51. t 3A 5V For supplying power to WKM system e Output Max 2A 12 6V 02012 DJI Innovations All Rights Reserved 48 Light Description Flight States GPS satellites 5 GPS satellites 6 ee GPS satellites 7 Attitude amp GPS good Attitude status fair O O Attitude status bad Manual Mode Atti Mode GPS Atti Mode IOC Tx Signal Lost eeeo EEE e e e e e IMU data Lost Sparking indications of9 O are Single spark all the sticks return to center multi rotor hovering Double spark stick s not at center speed command is not zero e Fast blinking Record forward direction or home point successfully Compass Calibration Begin horizontal calibration Begin vertical calibration Calibration finished Calibration or others error Low Voltage Warning First lever protection Second lever protection MC LED Boot loader mode MC is waiting for firmware upgrading c s __ CRL MC is functioning well Firmware upgrading is finish MC is waiting for reboot O90 00000000000 Error occurs during firmware upgrading MC reboot is required 000000 PMU LED Connection between PMU and battery is wrong po
52. t POI 1 Slide U channel switch to Manual Mode or Mode position or turn off transmitter or fly in waypoint mode 2 GPS status is bad with three O blinking 3 Multi rotor flies back into 5m range around home point or out of 500m Tips 1 LED will blink slowly to indicate the IOC mode only when MC is really fly in course lock or home lock 2 We suggest that you should know clearly that by which lock method you are going to fly and the locked forward direction home point or point of interest before you switch on IOC mode during the flight 3 There is only one home point recorded at any time This point is the same one used by fail safe 4 In Control 1 when flying by home lock if GPS signal becomes weak MC will be in course lock by current forward direction automatically 5 You d better be near the home point to use home lock or the point of interest to use POI flight 6 You d better use 3 position switch for X2 channel and you d better use X2 channel switch to open and close IOC during the flight Notices 1 Before home lock flight you d better fly the multi rotor out of the 10m range around home point then slide X2 channel switch to position to fly in home lock when all the requirements are met If you have already slide X2 channel switch to position when the multi rotor is still in 10m range around home point and this is the first time you are going to fly in home lock during the current flight then if al
53. th an Octo rotor you have to use S Bus or PPM receiver then you can use port T and R for gimbal control Otherwise there will be no ports on MC for gimbal e WKM supports servo center 1520us STEP2 Servo Travel Limit Range 1000 to 1000 are servo travel limits adjust them to avoid mechanical binding Place your multi rotor on level ground adjust value of and direction to make the camera mounting frame to your desired angle to ground 02012 DJI Innovations All Rights Reserved 31 Notices e If servo expansion is used which may enlarge the servo travel limit make sure to reset your servo travel limit STEP3 Automatic Control Gain Range 0 to 100 Adjust the reaction angle of automatic control The initial value 100 is full angle The bigger the gain the bigger the reaction angle Click NORM and then you can reverse the feedback control directions STEP4 Manual Control Speed Range 0 to 100 You should assign one of the knobs on your transmitter to X3 channel for controlling the Pitch direction angle of camera gimbal during flight first Then adjust the reaction speed of pitch direction manual control the initial value 100 is full speed When X3 is set as stick monitor or for switch go home users can not adjust the gimbal pitch by X3 channel while WKM still provides enhanced stability for gimbal and the gimbal pitch and roll will return to center Notices e channel can be used
54. titude altitude If GPS satellite found 6 and last 8s Stay hover at the first time you pull the throttle e Signal lost stick then record Home Location 1 Record 2 Flight 3 Aircraft Fail safe e Go H Go home Flight altitude when fail safe starts gt reference altitude 20m go home altitude flight altitude when fail safe starts Else if lt reference altitude 20m go home altitude reference altitude 20m Home Location Reference longitude latitude altitude If GPS satellite found gt 6 and last 8s Stay hover at the first time you pull the throttle Signal lost Stick then record Home Location 4 1 Record Flight altitude when fail safe starts Ready to reference altitude 20m Go Home Hover 15s Then land Flight altitude when fail safe starts z reference altitude 20m 5 Aircraft Home Fail safe Enable Go Home Switch Go home 2012 Innovations Rights Reserved 22 e Intelligent Go H Intelligent go home Max flight altitude during flight gt reference altitude 20m there are two situations 1 Current altitude Max flight altitude aircraft will go home directly go home altitude max flight altitude 2 Current altitude Max flight altitude aircraft will increase altitude and then go home go home altitude max flight altitude Else if reference altitude 20m go home altitude referenc
55. titude change is slow You can follow the way introduced at the end of this section to tune the attitude gains The way of tuning the Yaw gain is the same as the way of adjusting the Tail Gyro If you want fast stick reaction speed increase the gain otherwise decrease the gain However the spin of multi rotor is produced by the counter torque force and the magnitude of which is limited Therefore large gain will not produce tail vibration like helicopter but severe reaction at the start or stop of motors which will affect the stabilization of the other directions 02012 DJI Innovations All Rights Reserved 20 You use two methods to judge if the Vertical gain is good enough 1 The multi rotor can lock the altitude when the throttle stick is at center position 2 The change of altitude is small during the flight along a route You can increase the gain slowly 1096 each time until the vibration emerges along the vertical direction or the reaction of throttle stick is too sensitive then decrease 2096 of the gain Now it is a suitable Vertical gain Attitude gains determine the reaction speed of attitude from command stick the bigger the value the quicker the reaction Increase it for sharper and quicker leveling action after command stick released The control feeling will be stiffness and rigid if the value is too high and sluggish leveling action and slow braking if too small Notices e You must click Default button in first
56. wnload page gt linfo Information regarding your WKM gt Chinese interface ENGLISH English interface WRITE Write data of the current page to your MC The parameter or the title of which will turn red and bold when modified make sure you click the button or press to update your system o Optional parameters will be written to MC directly after modification HEAD Read parameters from MC for current page Export configuration data IMPORT Import version compatible configuration data Graphic guidance Text guidance CONTROL Control mode indication Output Indicates there are outputs to ESCs when communication is built up between MC and assistant software via USB cable appears it indicates no output to motors then you can configure your multi rotor with assistant software more safely Red light WKM e PC has been disconnected Green light WKM e PC has been connected Blue light WKMe PC communication Here you can find all the configuration contents in Configuration chapter Configuration step Notices Please power the MC first then connect your MC to a internet enabled computer by the USB cable before you open the assistant software You have to register at the first time you use the assistant software It will auto detect software version when you open the assistant software and prompt message if your version is not the latest one Do not disconnect MC and
57. ze motor mixer Throttle Usually we want push the throttle stick to ascend the multi rotor pull the throttle stick to descend the multi rotor put the throttle stick at center point to hover the multi rotor We also want multi rotor to keep balance along all the other axes when apply the throttle stick command Gay F Geax P C xT To keep yaw direction balance T1 T3 T5 T2 T4 T6 F c Cre x pitch direction balance 1 2C x Tx d 2 x T x d To keep roll direction balance As we defined before Pull stick lt 0 multi rotor moves down Push stuck T gt 0 multi rotor moves up we can choose the following setup Motor Roll Axis cn M Mi CH CEH Y cuo M3 M Q8 c gt x CBD CUD M M5 CID Now if push the throttle stick the sum of all motors output Cro Cts Cre xT is positive then multi rotor moves up pull the throttle stick the sum of all motors output Crs T is negative then multi rotor moves down And the balance along all the other axes can be derived by substituting the throttle stick command into equations set 1 02012 DJI Innovations All Rights Reserved 43 Yaw The movement about yaw axis is produced by the counter torque force from the rotation of propeller In our example M1 M3 M5 produce clockwise torque for

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