A2 Flight Control System User Manual V 1.04
Contents
1. Throttle 5 gt O T to elevate and descend The aircraft can ES CD 6 A A E Stick GQ o U i lock to an altitude when the throttle stick S SS is at midpoint Push the yaw stick to rotate the aircraft in Yaw Stick clockwise or counter clockwise direction Push roll stick to control the aircraft left or right pitch stick to control forward or Roll Stick VER a qe backward When both roll and pitch sticks are at midpoint 1 GPS mode the aircraft will be stabilized and locked in horizontal position ATTI 1 ATTI 2 mode the aircraft will be stabilized but unlocked in horizontal position 2015 DJI Innovations All Rights Reserved 18 In GPS mode the aircraft will hover when the throttle yaw roll pitch sticks are all released at mid point 5 Landing Use the throttle stick to control the landing speed try to land your aircraft gently to avoid shock or crash Please refer to the next section Protection Functions Setting to take precautions Low voltage alert yellow quick flashes or red quick flashes FailSafe LED indicator blinks blue Moreover you may come across the following abnormal situation please carry out the operation below 3 Compass data is abnormal the LED blinks yellow and green alternatively Please re calibrate the Compass 4 IMU data is abnormal the LED blink2. Mixer Type Setting Options M m NA JS M6 maf V Hexa rotor V 1 Motor Test aims to make sure the motors perform regularly and rotate in Built in right directions and the ESCs are 0 gsnnected to the 42 Controller Guide Unit Click Motor Test to start test Make sure the type of propeller matches the rotation direction of the motor M MODE MC OUTPUT 2 Restore amp Upgrade Click Info to view Enter Tools to restore default Enter Basic page Enter View user information settings And check whether the and software firmware is the latest version etc 2013 DJI Innovations All Rights Reserved 12 Set the Aircraft page to check all Mounting RC Gain basic settings in each tab 1 2 3 Configuration Checking A2 English w o e B f g e i Basic Advanced Tools Info Mounting O Aircraft Motor IM nigra ONE Mixer Type 2 one Motor Idle Speed Te IMU Location GPS Location x 0 cm X 0cm RC FIS N Oci Y Oci n n Receiver Type NONE Failsafe Methods Z 0cm Z 0cm Go Home Switch Basic Attitude ds IOC Pith 100 4 X 100 Pitch 100 a x 100 Intelligent Orientation Contn Roll 100 0 x 100 Roll 100 0 x 100 Gimbal Yaw 100 0 x 100 vertical 100 0 x 100 Gimbal Switch Voltage YE Channel Monitor EE EOS SRT Ro A AAA MN ear ELE Protection Switch NONE MD t 0 MU tt UEFA PRTC Curr
3. and select the matched option Pointing Forward Pointing Backward Pointing to Left Pointing to Right Location Requirements fe ae Fix with double faced adhesive tape A a Center of E Gravity FE The top side should be facing up DO NOT mount upside down DO NOT cover the ventilation holes keep them unblocked and clean Take heat preservation measures if working in cold weather Mount the IMU at a low vibration position and the sides of the IMU should be precisely parallel to the aircraft body Based on our experience there is less vibration near the aircraft s center of gravity NOT water proof or oil proof Check the double faced adhesive tape regularly to make sure that the IMU is fixed firmly There is a CAN Bus connector which can be used to connect to the GPS COMPASS PRO or other DJI product E D 2013 DJI Innovations All Rights Reserved 9 3 GPS COMPASS PRO GPS COMPASS PRO module has a built in GPS and compass The compass is used for geomagnetic field measurement It should be mounted according to the required location and orientation Compass calibration is required before use DO NOT use and store the compass in the ferromagnetic material environment Mounting Procedure a Use the epoxy resin AB glue to assemble the GPS bracket first The longest one is recommended IOO SS Y b Mount the bracket on the aircraft firs
4. no ageing or damaged components Motor rotating direction Propeller mounting direction Mixer Type set in assistant software IMU and GPS COMPASS PRO mounting direction Transmitter channel mapping and sticks movement direction correct Compass calibration ESC connection IMU and GPS COMPASS PRO firmly mounted In addition check the following items to make sure the system can work 1 The Transmitter battery is fully charged A 2 The aircraft battery is fully charged 3 Do not over load the aircraft 2013 DJI Innovations All Rights Reserved 16 2 4 Power on and Check 1 Control mode LED indicator Power on the Transmitter and flight control system Toggle the control mode switch to different positions Control Mode LED indicator Control Mode Switch Manual ep o Stick not in midpoint 2 Stick not in midpoint 2 No LED indicator Put the Control Mode switch to GPS position for basic flying test Note when the GPS signal LED indicator is bad or worst 2 or 3 and lasts for more than 3secs the flight control system will enter into ATTI2 Mode 2 GPS signal LED indicator GPS signal indication blinks after every Control mode indication We suggest to fly when GPS satellites is more than 5 GPS signal LED indicator x tx x x x x x x Worst 6ps lt 5 3 Bad feps 5 Q 2 Well Seps 6 1 Best eps gt 6 No indicator 2 5 Start Motors Methods CSC Combination s
5. ANT TNV NVI ciji 4 4 Attitude Control When One Motor Output Fails For Hexa rotor including Hexa rotor Hexa rotor V Hexa rotor Y and Hexa rotor Y the aircraft with A2 flight control system is attitude controllable when one motor output fails Select Course lock or home lock mode for flying the aircraft into a safe area to land when the aircraft is far away or the attitude can t be recognized 2013 DJI Innovations All Rights Reserved 25 LED indicator descriptions Control mode GPS signal oe tte Manual No indicator Best 6ps gt 6 No indicator xt ATTI 1 sticks not in mid point 2 Good eps 6 1 ATTI2 1 sticks not in mid point 2 Bad Taps 5 2 GPS 1 sticks not in mid point 2 Worst Soper 5 3 Flight Attitude Attitude good No indicator Attitude status bad 3 Attitude status bad hover sticks at mid recommended IMU data lost calibrate IMU needed 4 Compass calibration Horizontal calibration Calibration Failed lt Vertical calibration Abnormal Compass Data D Low voltage alert First level alert Second level alert O IOC Recording Record home point successfully Aircraft is in the 8m range of HP Record forward direction successfully Record a Point Of Interest successfully Bluetooth A2 Assistant is connected disconnected to the flight control system O lt When the LED blinks 2 or 3 please hover o
6. Landing Usage Tips Second 1 The home point recorded is the same in both Failsafe and Low voltage protection The aircraft will not go home in the following cases a Control mode is in Control Mode 1 Manual or ATTI 1 x tx b GPS signal is bad ps lt 6 c The distance between aircraft and the home point is less than 25m and the height over the Home point less than 20m Descending Usage Tips The aircraft will not hover when the throttle stick is at the mid point Push the throttle stick to 90 of endpoint the aircraft 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 pay attention to the LED alert of low voltage and make sure the power is enough for go home and landing Insufficient power reserve will cause the aircraft to crash and other consequences 2013 DJI Innovations All Rights Reserved 21 4 Advanced Functions IOC and Gimbal functions of A2 and how to use A2 Assistant app via a mobile device 4 1 IOC Intelligent Orientation Control function IOC Help users to set the Flying direction Should be enabled in Assistant software Flying direction The flying direction of aircraft when pushing the Roll and Pitch sticks Forward direction The flying direction of aircraft when the pitch stick is pushed forward IOC is disabled Forward direction is pointing to the nose direction and changes Normal flying along with the no
7. products e g DJI 2 4G Data Link Port Description Working status indicator PX Port connect to the X1 port of CAN Bus port Green on is normally working Controller Unit To negative pole of power 25 V SEN SEM Output ON 330 To positive pole of power s SA 5V je VCC Output 3A 5V AQ a Pw Connect to CANI or CAN2 port of Controller Unit CAN2 is recommended Mounting Requirements No need to mount in a particular orientation But choose a ventilated place to mount the PMU for cooling 5 LED BT I The LED BT I has integrated LED Indicator Bluetooth and USB port The LED is mainly for flight control system status indication during flying e g Control Mode Coming soon Bluetooth is used for real time communication with your mobile device e g iPhone to realize parameter configuration on a mobile device For parameter configuration using a mobile device it is required to install the DJI A2 Assistant App on the mobile device When you mount the LED BT I please make sure the side with ANT LOGO is unsheltered after mounting In addition there is a Micro USB port make sure it is mounted for convenient connection Port Description Bluetooth status indicator EA Abnormal Normal 0000 Communicating Micro USB port used to connect to the PC for Assistant software configuration and upgrade Indicator of autopilot system Antenna of Bluetooth Mounting Requirem
8. use F4 for switching the video channel of OSD Mark II then map D4 to a Receiver channel IOC of Controller Unit unmapped Click Unmapped button to map IOC to the Receiver channel It is recommended to use a 5 position switch channel One Key Go Home of Controller Click Unmapped button to map Go Home to the Unit unmapped Receiver channel It is recommended to use a 2 position switch channel Intelligent Gear of Controller Unit If you enable the Gear function in Assistant unmapped Software then the Fl is used for S800 EVO landing gear control Recommended Mapping for Futaba Transmitter Mode 2 User Settings of gain values for Your Reference To set the value of basic gain and attitude gain you can refer to the following diagram These values are only for reference and may vary in practice Configuration Information Basic Attitude Aircraft Motor ESC Propeller Battery Weight Pitch Roll Yaw Pitch Roll Vertical FA50 DJI 2212 DJI 30A DJI 8 Inch 35 2200 890g 150 150 155 150 150 140 F550 DJI 2212 DJI 50A DJI 8 Inch 458 3300 1530g 1 0 170 150 160 160 150 S800 EVO Z15 DJI 4114 DJI 40A DJI l5lnch 6 sS 15000 7000g 140 140 130 140 140 150 2015 DJI Innovations All Rights Reserved 30 Disclaime Please read this disclaimer carefully before using the product By using this product you hereby agree to this disclaimer and signify that you have read them fully THIS PRODUCT IS NOT SUITABLE FO
9. A2 Flight Control System User Manual v 1 04 2013 09 10 Revision For Firmware V1 00 amp Assistant Software V1 00 Thank you for purchasing DJI products Please strictly follow these steps to mount and connect this system on your aircraft install the PC Assistant Software on your computer as well as installing the DJI Assistant App on your mobile device Please regularly check the web page of corresponding products on our website www dji com which is updated regularly Product information technical updates and manual corrections will be available on this website Due to unforeseen changes or product upgrades the information contained in this manual is subject to change without notice This manual is for basic assembly and configuration you can obtain more details and advanced instructions when using the Assistant Software To assure you have the latest information please visit our website and download the latest manual and current software version If you have any problems that you cannot solve during usage please contact your authorized dealer 2013 DJI Innovations All Rights Reserved Content INTRODUC HON ans 3 PRODUCT INTRODUCTION e a a AE E a E E N O E S 5 INE E E oO D AETA TAE EA o AEA ETTE ETE O ETE 5 EQUIPMENT PREPARED BY USERS aaa an rer ety nr et e A Geter ent A oa 5 SYSTEM INTRODUCTION o aaa EENS 4 SYMBOL INSTRUCTION T e E pet O a A E E E AE ONS 4 LASSEMBLY AND CONFIGURATION ia a 5 1 1 HARDWARE INSTALLATI
10. NS ai 26 SPECIFICATIONS n Fera n E een N E N pang E ee ee ao a E E E EE 27 A A E E R AEE E ETEA ET PE EE E E E AE A try earn 28 USE WITH OTHER DJI PRODUCTS nrima i ana a a E R E a E E O 28 CHANNEL MAPPING INSTRUCTIONS FOR PC ASSISTANT SOFTWARE sino 29 Recommended Mapping for Futaba Transmitter Mode 2 User ececsesssssssssesesesscsssssssssssssssssessseseeasesesseeseesesseeseseaseeseens 50 SETTINGS OF GAIN VALUES FOR Y OUR REFERENCE Sta 30 DISCLAIMER Mee EA tear ieatee aces ciara ache teens 31 TRADEMARK o in ads dal eE O 31 2013 DJI Innovations All Rights Reserved 2 Introduction Product Introduction The DJI A2 Multi Rotor stabilization controller is a complete flight system for various multi rotor platforms for commercial and industrial AP applications Based on the technology and design philosophy of DJI s Ace series of high performance controllers the A2 offers you a brand new flight experience lts flight mode setup provides a seamless transition for current Ace One WKM AP professionals The system has the following features 1 Itis integrated with high precision sensor components and a high performance GPS Receiver 2 It utilizes high quality components precisely calibrated with temperature compensation in all gyros and sensors industry renowned flight algorithm in autopilot and UAV field 3 Designed with built in vibration absorption no extra mount frame or vibration absorption pad is required 4 Based on the DESST t
11. ON AND CONE ON aida 5 Is a Supported at chase testy sss ac O O ee cata dn greater deltas 5 1 1 2 Hardware Connection DIF RA dE A dais 6 1 1 5 Important for Assembly and GOMMeClOn saiyecsus tac cehesto paces ducaws eogei secon eed nua veeoain araatina acetates aaa naaneeone 6 1 2 SOFTWARE INSTALLATION AND CONEIGURA TON Aid 12 1 2 1 Install Driver and Assistant II Sat dae 12 122 Contigure using Assistant Software on a ado aa 12 123 On tguration CHeekinG dan 15 LOCOMPASS CALIBRATION A AA A EA OA 14 A eset can eae a eave N ela a net ae ei ade ne nas aiete hace a 15 Z WCONTROUMODE INSTRUCTIONS de E oia 15 2 2 FLYING ENVIRONMENTREQUIREMENTS A Aia 16 2 5 CHECK EIST BEFORE VAN Ga culravcaicast tas wack wee suse tras eierens cava eed KOE OESE eap e eaS neal beaches vases a E EEN auras neva er rot oE Eeee 16 DNV ER ONIN CHECK ccc ec testi alec Sette ait cent vast lave ees asta vee bala lia becado nds 17 DD START MOTORS METHODS ran eneee eee eea ee eene iea ent ore lc heat ice pee erten eiei arae nas ene Ee 17 A A II O E ne A e er ae 18 SPROTECTION FUNCTIONS SETTING concicurnan tada 20 IA AE AE AR A o II II A EO 20 5 2 EOW VOLTAGE PROTECTION ai 21 A ADVANCED FUNC HONS sussariiaraan oa 22 4 1 IOC INTELLIGENT ORIENTATION CONTROL FUNCTION asas in 22 AZ GIMBAL FUNCTION dia 25 A GEAR FUNCTION asta orador tica 25 AA ATTITUDE CONTROL WHEN ONE MOTOR OUTPUT FAILS sala 25 APPEND D Antero eet rae a OE eer re er erer ener eer nenret 26 LED INDICATOR DESCRIPTIO
12. R PEOPLE UNDER THE AGE OF 18 A2 flight controller is designed for serious multi rotor enthusiasts providing excellent self leveling and altitude holding which completely takes the stress out of flying RC multi rotors for both professional and hobby applications Despite the product having a built in flight control system and our efforts in making the operation of the controller as safe as possible when the main power battery is connected we strongly recommend users to remove all propellers when calibrating and setting parameters Make sure all connections are good and keep children and animals away during firmware upgrade system calibration and parameter setup DJI Innovations accepts no liability for damage s or injuries incurred directly or indirectly from the use of this product in the following conditions 1 Damage s or injuries incurred when users are drunk taking drugs drug anesthesia dizziness fatigue nausea and any other conditions no matter physically or mentally that could impair your ability 2 Damage s or injuries caused by subjective intentional operations 5 Any mental damage compensation caused by accident 4 Failure to follow the guidance of the manual to assemble or operate 5 Malfunctions caused by refit or replacement with non DJI accessories and parts 6 Damage s or injuries caused by using third party products or fake DJI products 7 Damage s or injuries caused by mis operation or subjective mis judgme
13. U is LED BT I 2 4G DATA LINK from DJI If the Gimbal function is enabled in Assistant Software F2 F3 can only be used for gimbal Pitch Roll control which means F2 F3 cannot be mapped to any other Receiver channel If the Gear function is enabled in Assistant Software F1 can only be used for gear switch control which means F1 cannot be mapped to any other Receiver channel Mounting Requirements Install the Controller Unit in the proper position to make sure the ports are accessible No specified direction is required Place the antennas in an open space under the aircraft DO NOT block them Position the heads of two antennas at a 90 degree angle DO NOT bend or wind them Receiver System The A2 flight control system can use its own built in Receiver and also can support external receivers Whatever type of Receiver is used please make sure that the Receiver and Transmitter is linked correctly before use A Built in Receiver For enhancing the system integration and reliability the A2 is integrated with a 2 4G receiver based on frequency hopping technology The built in Receiver can be used with the Transmitter of Futaba FASST series or DJI DESST series after linking For users you are only asked to carry out the link procedures no extra requirement for connection Please carry out the following procedures to finish the Link process and the configuration in the A2 Assistant software gt Basic gt R C gt Receive
14. direction home point and POI during flying Read the following table for the recording method details Record a direction as Forward Record a position as HP Record a position as POI direction 5Osecs after power on lOsecs 5Osecs after power on sis x x Conditions 5Osecs after power on Enero WA xt x lOsecs later after eps 2 gt 6 Motors have been started Automatically record at Automatically record at the first Automatically No Automatic record method 5Osecs after power on time you push the throttle stick According to any option of IOC switch setting quickly toggle the switch between adjacent positions 3 5 times to record manually Manually Forward Forward direction direction 5 4 I K ee IEC IC gt CENERE Q HP POI HP DO NOT toggle the switch between the and 3 positions frequently which may re record the position 2 HP is used not only in IOC but also in Failsafe and Low voltage for go home and landing The flight control system will automatically record the HP even if IOC function is disabled in Assistant software but Forward direction and POI can be recorded only after IOC is enabled Once the Home Point is recorded successfully LED will blink O 6 continually under the following conditions All conditions must be true Gps gt 7 2 Distance between aircraft and the recorded home point is less than 8m 3 Current control mode is in GPS or ATT 2 Step 3 IOC flying test Please study the foll
15. echnology it has a built in 16 channel Receiver and supports DSM2 satellite receiver 5 Optional DJI D BUS Adapter can be used with a traditional Receiver In the Box Controller Unit PMU Power Management unit IMU Inertia Measurement Unit Built in Receiver DR16 nr ttrt EZ EFEEEF ua rs i 5 Micro USB Cable 1 Servo Cables 2 GPS Bracket Double side sticky pads Equipment Prepared by Users Aircraft Take Quad rotor for example Transmitter Red is nose and Black is rear Take Mode2 for example Battery DJI D BUS Adapter Mobile Device 2015 DJI Innovations All Rights Reserved 5 System Introduction The A2 flight control system uses the Control Unit at its core which is connected with the IMU GPS COMPASS PRO LED BT l PMU and ESCs to complete the system The system can achieve the height lock and position lock functions by using the IMU and the GPS to control the aircraft Please carry out the following procedures to finish assembly configuration and flight testing Mount the A2 flight control system on your aircraft finish connection a Configure the system using A2 Assistant software C Do basic flying test FailSafe and Low voltage settings C Advanced functions IOC Gimbal Gear Symbol Instruction General Symbol eee DES a gt e a Continuous Blinks e g 0 3 means three Red blinks LED blinks yellow and green alternatively Co
16. ent Voltage NE SE E EE 0 First Level Protection NE A AMS APA A AE o i channel eh Second Level Protection NONE lt a t e OnLine Help MODE MC OUTPUT Fig above for reference only please adhere to actual GUI O Check the IMU orientation direction Check the Mixer Type of aircraft e Make sure the motors are rotating normally and propeller installation is in correct direction O The Receiver type is correct O Check the basic and attitude gains Move the sticks to test whether the cursors moves following the sticks Toggle the U switch to test the control mode setting Advanced configuration users can configure it according to their requirements after reading the manual Check the Channel Map between the Transmitter and A2 flight control system 2013 DJI Innovations All Rights Reserved 13 1 3 Compass Calibration The Compass can assistant the GPS to position the aircraft which is very important during flight As we know the compass Is very sensitive to electromagnetic interference which will cause abnormal compass data and lead to poor flight performance or even flight failure Compass Calibration MUST be done for the first time use It is recommended to calibrate the compass outdoors after the Controller Unit finds 7 or more GPS satellites Regular calibration enables the compass to keep optimal performance Calibration Cautions 1 DO NOT calibrate your compass where there is stron
17. ents Mount in a good position to make sure the LED is visible during flying Antenna of Bluetooth should be unobscured 2013 DJI Innovations All Rights Reserved 11 1 2 Software Installation and Configuration Configure the A2 flight control system in the Assistant software please adheres to this section Users are required to configure every item in Basic page when use the A2 flight control system for the first time 1 2 1 Install Driver and Assistant Software 3 Install Driver A Install Software 2 Connect 1 Download Connect the Run the driver Run the assistant LED BT module and PC via a Micro USB Download the driver installer and follow software installer and the prompts to finish installation A Assistant software supports only Windows operating systems Win XP Win7 Win8 32 or 64 bit installer and assistant software installer follow the prompts to from DJI website cable finish installation 1 2 2 Configure using Assistant Software on a PC The USB port can supply power during configuration no additional battery is required Note that the USB port can supply power not more than 500mA an additional battery is necessary if connection failure or intermittent working Run the assistant software and follow the built in guide to carry out the configuration Note that you may be asked to register for first time use A2 English w x POE e i Tools Info Menu ircraft Mounting RC Gain
18. g magnetic interference such as magnetite car park and steel reinforcement under the ground DO NOT carry ferromagnetic materials with you during calibration such as keys or cell phones Compass Calibration is very important otherwise the flight control system cannot work Calibration Procedures Choose an open space to carry out the following procedures Quickly flip the control 360 Rotate the aircraft 360 Rotate the aircraft mode switch horizontally vertically Nose downward Manual FF 2 gt Co 2 es oot olai A Q E Start GPS ey yale S 7 cali 7 GPS gt Manual gt GPS le Flip 6 10 times i Control Mode LED Start horizontal calibration Start vertical calibration Succeed Fail Manual EF Re calibrate You can also use the ATTI 1 or ATTI 2 to GPS Uy replace the Manual during switch flipping GPS Manual SGPS ance Situations that require recalibration Compass Data abnormal LED blinks yellow and green alternatively lt Flying field altered Flying field has changed over a long distance The mounting position of GPS COMPASS PRO module changes Electronic units such as Controller Unit CAN HUB battery etc have been added Mechanical alteration removed remounted or other alterations Mechanical structures of the aircraft has changed Drifting during flying Evident drifts occurred in flight such as the aircraft doesn t fly straight Attitude errors LED often blinks err
19. l FLIGHT CONTROLLER Xi ecelver FLIGHT CONTROLLER Xi i CT A Receiver 5 S2 5 S2 dy Es ciji Is Le Important e When you use a traditional receiver DJI D BUS ADAPTER is required Put the switch to the I stop and power on the system the LED should be red on otherwise keep the switch T at I stop and then power cycle the system e Atthe I stop the D BUS ADAPTER is converting the PWM signal from traditional receiver to S BUS signal Sf Fa Us Fa Fi AQ Ele X2 4 P FLIGHT CONTROLLER Xi Receiver y DSM2 Satellite k S ciji z Receiver ciji al 7 2015 DJI Innovations All Rights Reserved 8 LINK LED X3 X2 FLIGHT CONTROLLER CONTRORLER T UNK LED ANT a J x A i EES A O 2 IMU Inertial Measurement Unit Built in inertial sensors for the measurement of aircraft attitude built in pressure sensor for the detection of aircraft altitude Should be connected to the CANI port of the Control Unit and be mounted according to the required location and orientation The IMU has been calibrated before shipping it should be used under the specified temperature otherwise the temperature may have an effect on the IMU performance Working environment temperature 5 C 60 C Storage environment temperature lt 60 C Orientation Requirements Please mount the IMU as one of the following options Configure in the A2 Assistant software gt Basic Mount gt IMU
20. ls to F3 and F2 Which is shown as D3 and D2 in the Assistant Software gt Channel Mapping the F3 and F2 will not give output signal from the corresponding Receiver channels M f gt 3 e M3 M4 Ms M M7 FLIGHT CONTROLLER Ma TSE aa ade O ZNVD INY9 ciji 4 5 Gear function Once enable the Intelligent Gear function the gear is default down on the ground or in case of emergency e g motor failure tolerance auto landing you can control it to be up or down by a switch when the aircraft altitude is above 5m during flight Please configure in Advanced gt Gear page in the Assistant software Connect the landing gear of S800 EVO to Controller Unit as fig below Make sure to enable and configure the Intelligent Gear function in the Assistant software first and then connect the gear to the Fl port The Gear channel is required to be mapped with a channel on Receiver if the Intelligent Gear function is enabled in Assistant Software and the Fl port will give outputs for retracting control Once you map the Gear channel Fl port will give output signals from the controller for retract control Otherwise even the Intelligent Gear function is enabled Fl will give output from DI it s necessary to map the Dl channel with a channel on Receiver as your demands Mi ah o Gf Fa mz LINK LED i Fs M3 F2 Ma4 Fi AZ z M X2 M7 FLIGHT CONTROLLER Xi Ma onto lt
21. m diameter x 14 3 mm Oo PMU 39 5mmx27 6mmx9 8mm O LED BTU 30mm x 30mm x 7 9mm Flight Performance can be effected by mechanical performance and payloads Hovering Accuracy In GPS Mode Maximum Wind Resistance Max Yaw Angular Velocity Max Tilt Angle Ascent Descent 2013 DJI Innovations All Rights Reserved 27 Oo Vertical 0 5m Oo Horizontal 1 5m lt 8m s 17 9mph 28 8km h 150deg s 55 6m s FAQ Use with other DJI products The A2 can be used with other DJI products such as iOSD Mark II Z15 S800 EVO and 2 4G Data Link Coming soon etc The following diagram is the connection for your reference ZEMUSE 25 65 Battery T FLIGHT CONTROLLER Xx f CONTROLLER UNIT i ciji A2 zm FUGHT CONTROLLER imu V SEN 3AO5V foo 2 4G DATA LINK CENA Coming soon 2015 DJI Innovations All Rights Reserved 28 Channel Mapping Instructions for PC Assistant Software Basic Channels ERR CHAT Pat hy STDC at te ey ere N A a O REV CH 1 Error a et Det fet ae R A O V REV CH2 ETR O E 8 bot F AX 0 W REV CH3 K1 0 CRETAE EEA K2 0 ESE ee ee K3 RCP Matai eel K4 Roll Control of Controller Unit using Channel 1 of Receiver Pitch Control of Controller Unit using Channel 2 of Receiver Throttle Control of Controller Unit using Channel 3 of Receiver Yaw Control of Controller Unit using Channel 4 of Receiver Control Mode Switch of Contr
22. novations liability DJI and A2 are registered trademarks 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 DJI Innovations with all rights 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 2015 DJI Innovations All Rights Reserved 51
23. nt 8 Damage s or injuries caused by mechanical failures due to erosion aging 9 Damage s or injuries caused by continued flying after low voltage protection alarm is triggered 10 Damage s or injuries caused by knowingly flying the aircraft in abnormal condition such as water oil soil sand and other unknown material ingress into the aircraft or the assembly is not completed the main components have obvious faults obvious defect or missing accessories ll Damage s or injuries caused by flying in the following situations such as the aircraft in magnetic interference area radio interference area government regulated no fly zones or the pilot is in backlight blocked fuzzy sight and poor eyesight is not suitable for operating and other conditions not suitable for operating 12 Damage s or injuries caused by using in bad weather such as a rainy day or windy more than moderate breeze snow hail lightning tornadoes hurricanes etc 13 Damage s or injuries caused when the aircraft is in the following situations collision fire explosion floods tsunamis subsidence ice trapped avalanche debris flow landslide earthquake etc 14 Damage s or injuries caused by infringement such as any data audio or video material recorded by the use of aircraft 15 Damage s or injuries caused by the misuse of the battery protection circuit RC model and battery chargers 16 Other losses that are not covered by the scope of DJI In
24. ntinuous Solid on e g Mx means Continuous Blue Solid on 2013 DJI Innovations All Rights Reserved 4 1 Assembly and Configuration For hardware installation software configuration and compass calibration please adhere to the following sections 1 1 Hardware Installation and Connection 1 Please adhere to 1 1 1 Mixer Type Supported to choose a mixer type and assemble your aircraft 2 Please adhere to both 1 1 2 Hardware Connection Diagram and 1 1 3 Important for Assembly and Connection to install and connect all units on your aircraft 1 1 1 Mixer Type Supported Following Mixer Types are supported Quad rotor Hexa rotor Hexa rotor IY Octo rotor X Octo rotor Octo rotor V A The direction of the arrow in diagram indicates the rotation direction of the motor propeller For coaxial propellers Blue propeller is at TOP Red propeller is at Bottom Otherwise all propellers are at top 2015 DJI Innovations All Rights Reserved 5 1 1 2 Hardware Connection Diagram Important cfs CAN Bus it provides power supply and communication A2 can automatically identify the device connected CAN1 and CAN2 ports are working independent device connected are non interchangeable E g IMU and GPS COMPASS PRO to CAN1 LED BT I to CAN2 PMU to CAN1 or CAN2 FLIGHT CONTROLLER Xi i i E e ciji 90 2S 6S Battery 1 1 5 Important for Assembly and C
25. oller Unit using Channel 7 of Receiver lLibirrstiaraada 1 A A AS tale See Pas Ghee be Rr Ge pe a Vt Het bo ped Al Geol Dred de it So sty EG Sree ke AUS MON TRE PED US DUA AA A E D4 7 REV _Unmapped PO A A MA O EErEE CLES tie a EA A GO Home Y REV Unmapped EA A Sree hs O Basic Channel Default Settings Usage Description Click the Map button then you can re do mapping for A E T R U Note During calibrating make sure to operate by strictly following the prompts otherwise may lead to calibration failure During Assistant Software usage please click the Calibration button to calibrate the Transmitter sticks travel Default Settings Usage Description Remote Gains Adjustment of Controller Unit unmapped KI K DI D4 2013 DJI Innovations All Rights Reserved Gimbal Pitch Control of Controller Unit unmapped Direct Channels The corresponding ports are Fl F4 on the Controller Unit of Controller Unit unmapped 29 Click Unmapped button to map Kl K to the Receiver channel Click Unmapped button to map Pitch to Receiver channel For gimbal servo control Click Unmapped button to map DI D4 to the Receiver channel If you enable the Gimbal function in Assistant Software then the F3 F2 are used for gimbal control Even D3 D2 are mapped to Receiver channels the output signal from the corresponding channels will be ignored You can
26. ome 20m can be customized 6 Landing after Hovering l5secs ee ee 7 aoe Y con Height over HP gt 20m i ds 1d Elevate to 20m ate Height over HP lt 20m LED xx The aircraft will not go home only attitude stabilizing in the condition that eps lt 6 or GPS is not working even if Transmitter signal is lost or Go Home switch is triggered It is recommended to set the Go Home switch in the Assistant software Users are suggested to enter Failsafe and go home by using the Go Home switch rather than turning off the Transmitter in 2015 DJI Innovations All Rights Reserved 20 emergency situations 3 Make sure there are no obstacles during aircraft go home and users are familiar with the methods to regain control How to regain control in FailSafe You have to toggle the control mode switch Regain control Regain control as soon as signal recovers once to regain control if the signal recovers y 5 2 Low Voltage Protection Low voltage protection is used to alert low battery voltage during flight in this case users should promptly fly back the aircraft and land to avoid unexpected damages To use this function please set in Assistant software gt Advanced gt Voltage page to configure two voltage levels First level Make sure the home point is recorded and GH amp Landing D x Go Home amp Landing no obstacles in going home and landing path level Descending directly Go Home amp
27. onnection This section describes all device port functions assembly requirements connection requirements and tips during usage Also the linking procedures between the built in Receiver DRI6 and your Transmitter lt is very important for the first time usage please read all text carefully 1 Controller Unit The Control Unit is the core component of the A2 flight control system 1 M1 M8 are used to connect to the ESCs of the aircraft 2 The built in Receiver DRI is based on DJI DESST technology which can be used with the Futaba FASST series and DJI DESST series Transmitter 3 CANI and CAN2 ports are working independently and should connect to different modules 4 A independent and configurable outputs 5 Itis compatible with the external Receiver e g DSM2 satellite Receiver 6 Use the optional DJI DBUS Adapter to support the traditional receiver 2013 DJI Innovations All Rights Reserved 6 Port Description Link button of Built in receiver ae the linking status DRI16 and transmitter D Mi l e s Fa Multi function PWM output channels can directly give M2 LINK LED Ul Fs output signal from the Receiver if mapped to a M3 Prag i A Connect to ESC M4 Fi Receiver channe Bi A A3 Reserved iy xi To S BUS Receiver Ma Sarli A BEC Connect to X1 of PMU for voltage detection IMU CONTROLLER UNIT Le 1152 ae aoin Us z To DSM2 satellite Receiver iOSD MARK II Z15 from DJI B E ciji S To PW port of PM
28. or indicator when the aircraft turns around 2013 DJI Innovations All Rights Reserved 14 Read this section before basic flight testing 2 1Control Mode Instruction The aircraft performs differently when using different control modes Please read the following table to know the different control modes which may help you to achieve a more involved flight experience Control Mode 1 a m Control the aircraft to rotate in clockwise and counter clockwise direction Maximum rudder angular velocity 150 s Aircraft attitude control Mid point of stick is for O Max angular velocity is 150 s attitude and its endpoint is 35 No attitude angle limit AAA No altitude locking when the throttle stick is in mid position All Sticks Only attitude stabilizing No Released position locking l l l l l l I l l l l I r I I I l l I 1 I 1 I I L l l l l l l l I l I I l I l l I l L I I l l l 1 l l l l l The flight control system will enter FailSafe The flight control system will enter Mode if the Transmitter signal is lost and no FailSafe Mode if the Transmitter signal is Protection matter if Transmitter signal recovers or not lost and the system will exit Failsafe once the signal recovers NO Low voltage LED alert with Descending or Go Home amp Only LED alert a e e e f e e e e a e fe m m m m m m m me m m ae e me ae e e m m m m m m m m Protection Landing
29. owing diagram then make a IOC flying test IOC LED indicator blinks 2 means stick s not at the midpoint O Opol Flying direction gt Forward direction Route Auxiliary line 2015 DJI Innovations All Rights Reserved 23 IOC Flying switch F CL IOC function is available only when all the required conditions are satisfied If any condition is omitted the flight control system will exit IOC Please keep an eye on the LED to know the current control mode It s recommended to start the HL flight when the aircraft is gt Om away from the HP If starting the HL when the distance between aircraft and HP is less than 10m and it s the first time you start HL after power on then the flight control system will only enter HL after flying out of the 10m range During HL flying if one of the following conditions occur the flight control system will exit HL and enter into CL the aircraft is within of 1Om from HP the control mode is changed to ATTI 1 or x x ATTI2 eps lt 6 LED 2 or 3 2013 DJI Innovations All Rights Reserved 24 4 2 Gimbal function Connect servos of gimbal to Controller Unit as fig below roll servo connects to F3 port and pitch servo connects to F2 and configure in Advanced gt Gimbal page in the Assistant software Not any Receive channel is asked to be mapped for the F3 and F4 ports if gimbal function is enabled in Assistant Software Note Even you map Receiver channe
30. precautions O E A O A Environment Open flying field Narrow Space Regain control in emergency Good GPS signal recommended GPS signal bad Default is Manual users can set to ATTI in Assistant software The biggest difference between ATTI and ATTI 2 is that they are working differently in the protection situations 2013 DJI Innovations All Rights Reserved 15 2 2 Flying Environment Requirements Before use of the product please accept some flight training Using a simulator to practice flying getting instruction from a professional person etc DO NOT fly in bad weather such as rain or wind more than moderate breeze or fog The flying field should be open without tall buildings or other obstacles the buildings of steel structure will interfere with the compass Keep the aircraft away from obstacles crowds power lines trees lakes and rivers etc Try to avoid interference between the remote control Transmitter and other wireless equipment No base station or cell tower around The flight control system can t work at the South Pole and the North Pole All parts must be kept out of the reach of children to avoid CHOKE HAZARD if a child accidentally swallows any part you should immediately seek medical assistance 2 5 Check List before Flying Double check the following list otherwise if any one of the following items is wrong it may lead to flight accident All parts are in good condition
31. r Type Select the DRI6 option During use you may see the following LED indication please do the operation according to the table below Signal from Transmitter has been detected by the Receiver but not matched Link operation required No Transmitter signal is received e g the flight control system is powered on Switch on but the Transmitter is powered off The Receiver and Transmitter have been linked to each other successfully Can work normally 2013 DJI Innovations All Rights Reserved 7 p a e s Er Link Procedures M2 p LINK LED F3 MBs ae 1 Turn on the transmitter it begins to send signals after l 5secs M5 M A2 a 2 Power on the flight control system M7 FLIGHT CONTROLLER Xi me CONTROLE 3 Press the LINK button hold for 2secs wait until the LED blinks Red ho sa A 5 ee ee cin Zl 4 Release the LINK button the LED turns Green on after successfully linking q O 5m lt Distance lt lcm External Receivers If using an external Receiver please follow the diagram for connection set the Receiver referring to your Receiver manual and select the correct type in assistant software gt Basic gt R C gt Receiver Type Receiver Type S BUS Receiver With D BUS Adapter DSM2 Receiver PPM Receiver Assistant Software Option D BUS D BUS DSM2 a o Fa j o Fa f LINK LED t Fs LINK LED Ml Pros Fa Fa AQ x S BUS A2 he Xo ane x Traditiona
32. r land the aircraft and wait for the white LED to go off When the LED blinks 3 it is not recommended to fly When the LED blinks 4 please contact your dealer 2013 DJI Innovations All Rights Reserved 26 pecifications General Built In Functions Multiple Control Modes 2 axle Gimbal Supported Enhanced FailSafe Intelligent Orientation Control Dynamical Systems Protection Coming soon Peripheral Supported Multi rotor Supported ESC output Supported Transmitter for Built in Receiver External Receiver Supported Recommended Battery Assistant Software System Requirement Other DJI Products Supported Electrical amp Mechanical Power Consumption Operating Temperature Total Weight Dimensions Built in Receiver PC amp Bluetooth Ground Station External Receiver Supported 9 Types of Supported Multi rotor Other DJI Products Supported Low Voltage Protection 4 Configurable Outputs Sound Alarm Configure Parameters Via Bluetooth o Quad rotor 14 X4 o Hexa rotor l6 V6 Y6 IY6 Oo Octo rotor X8 18 V8 AOOHz refresh frequency Futaba FASST Series and DJI DESST Series Futaba S Bus DSM2 PPM 2S 6S LiPo Windows XP SP3 7 8 32 or 64 bit Z15 OSD Mark II D BUS Adapter S800 EVO 2 4G Data Link Coming soon MAX 5W Typical Value O 3A I12 5V 5 C to 60 C lt 224g overall 6 MC 54mm x 39mm x 14 9mm o IMU 41 5mm x 30 5mm x 26 3mm O GPS COMPASS PRO 62 m
33. s four green Please contact your dealer 2013 DJI Innovations All Rights Reserved 19 3 Protection Functions Setting Set protection in the Assistant software gt Advanced page FailSafe and Low voltage protections are required 3 1 FailSafe FailSafe works when the Transmitter TX signal is lost the flight control system will automatically control the aircraft to reduce injuries or damage TX n pd Descriptions signal Home 3Osecs later after power on lOsecs later after Gps gt 6 0 or no Red LED Point Motors have been started auto record the position as home point at the first time HP the throttle stick is raised Flight control system can automatically control the aircraft after Transmitter signal is x A FailSafe 6pPs gt lost lt should be set in Assistant software gt Advanced gt F S while Hover Go Home or 6 Alt Go Home is optional Additionally a Go Home switch can be enabled Go Home switch can be used to trigger a go home without FailSafe If One Key One Key __ Go Home is enabled during flying you no longer have control of the aircraft the LED ST Go Home l blinks in its Control Mode If One Key Go Home is disabled you regain the control at once If already in a Failsafe condition then the switch will not work Failsafe and Go Home procedures 1 Record Home Point HP 2 Confirm Home Point 3 Transmitter Signal Lost uty tops 27 a NN A LED 6 LED 0 x A Signal Lost Lasts 3secs es H
34. se Course Lock Its forward direction is pointing to the nose direction when CL flying recording which is fixed until you re record it or exit from CL Home Lock Record a Home Point HP push Pitch stick to control the aircraft HL flying far from or near to the HP Point of Interest Record a point of interest POI the aircraft can circle around POI flying the POI and the nose always points to the POI Conditions of IOC function GPS COMPASS Flying IOC Setting Control Mode GPS Satellites Distance Limits PRO Required Normal mo cui Basic to control mode None CL Enabled Not in Manual None None xt HL Enabled GPS GPS gt 6 Aris xt Enabled ae Fors 26 Aircran pol Step 1 IOC switch setting Please enable the IOC function in Advanced gt IOC page of Assistant software Then choose a 3 positon switch on the Transmitter to set as IOC switch which is used to select the different IOC modes and manually record the Forward direction HP and POI recording Below are the three options of IOC switch setting which may be configured in the Assistant software Switch pee 2013 DJI Innovations All Rights Reserved 22 aa oa om ra M Step 2 Forward Direction HP and POI Recording After you enable the IOC in assistant software the flight control system will record the forward direction and home point automatically after power on if the recording condition are met You can Manually re record the forward
35. t and then fix the GPS COMPASS PRO on the plate of the bracket using the 3M sticky pads provided Mount Requirements S So DS jee LS N lt The arrow is Keep it parallel bla Ce pointing to 7 5 to the aircraft x nose direction ow BS p 3 qe Use the GPS bracket and keep it away from other gt electronic equipment x a a Usage Requirements 1 The DJI logo should be facing the sky with the orientation arrow pointing directly to the nose direction otherwise it may lead to take off failure Fly the aircraft in an open space without buildings or trees otherwise it may have an effect on the GPS The compass is sensitive to magnetic interference should be far away from electronic devices otherwise it may lead to abnormal flying Please always keep the compass module away from magnet fields Otherwise it may damage the compass module and lead the aircraft to work abnormally or even be out of control 2015 DJI Innovations All Rights Reserved 10 4 PMU Power Management Unit The PMU provides dual BEC s 1 Connect the battery to the PMU module to supply power for the whole Flight Control System via the PW port supply power not more than 2A 2 Connect the PMU to the XI port of Controller Unit for voltage monitoring for flight safe guard during flying In addition there are two CAN Bus ports for LED BT connection and other DJI
36. ticks commands is used to start stop motors instead of just pushing the throttle stick 51 The throttle sticks is under 10 for more than 4Ssecs after motors start The throttle sticks is under 10 for more than 3secs after landing The throttle sticks is under 10 for more than 3secs and the inclined angle of aircraft exceeds 70 2013 DJI Innovations All Rights Reserved 17 2 6 Basic Flying Test Carry out the following procedures to complete the basic flight test 1 Wait the GPS signal to be well LED unt Ke e Place the aircraft away from you and others at least 3 meters and wait the Gps 26 or no Red LED 2 Start motors and takeoff aircraft Execute CSC to start motors all sticks back to midpoint as soon as motors start then push the throttle stick to take off the aircraft meanwhile the home point is recorded NOTE 5Osecs after power on lOsecs after Soest 26 Motors have been started auto record the position as home point at the first time the throttle stick is raised After the home point is recorded successfully and the distance from aircraft is less than 8m LED indicator will blink 6 violet continually Note only when GPS signal is good no Red LED LED indicator will blink 6 violet continually 3 Operate sticks to control the flying attitude of the aircraft during flight Transmitter Mode2 Aircraft Operations Push Throttle sticks to control the aircraft
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