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WooKong HELI User Manual

1. lt lt ska C C R C Receiver Di R C Receiver C Futaba Hitec JR _ 4 e e E EID aip Fo Control Mode Switch EE ro rudder control lt For collective pitch or up down ro throttle control gt AD gyro sense adjusting F cyclic pitch or front back AE G cyclic roll or left right STEP2 Connect the cyclic servos and throttle servo or ESC NOT the rudder servo to the WKH output servo ports using the diagram corresponding to the swash type of your helicopter D 4G D EFD GED For swashplate servos qnl gt For throttle servo or ESC GUD For rudder servo dab G7TD Reserved for further usage S3 Collective Pitch H1 H140 HE3 H3 Battery or BEC WKH uses the same power source as the servos and receiver power to all electronics connected to the Main Controller can be supplied by either servo input or output ports on the Main Controller WKH operates with a power source between 4 8to 8 4 volts DC When choosing a power source bear in mind that all servos and WKH will use that same power source thus please make sure the power source you use will also satisfy the servo requirements A high capacity battery of 2000mAh or above is strongly advised especially for large scale electric powered helicopter Depending on servo types digital servos will require 10A BEC for multi bladed applications VAN The power consumption of WKH is 5W maximum testing condition 0 9A
2. f Pos Pos 100 0 100 Pos 100 0 100 100 0 100 2012 DJI Innovations All Rights Reserved 14 B 6 Tail Gyro When system is powered on you must not move your helicopter or sticks on transmitter until the system initialization is finished about 5 second STEP1 Please properly set your rudder servo type before you connect your tail gyro servo to it otherwise your servo Assistant Software page Tail Gyro might be damaged due to incorrect servo type chosen TAIL GYRO Rudden RUD Servo Output Direction Analog Servo 1520us Receiver Speed Digital Servo 1520us165 270 333Hz Reverse f Normal Suggested servo type JRDS8925HV Futaba S9254 Servo Type STEP1 Travel Limit Digital Servo Digital 760us333 560HZz f Analog 50Hz Limita 90 Suggested servo type Futaba BLS251 BLS351 hi ee S ae Ss i STEP2 We have Limit A and Limit B Range 140 to 140 le ria taal which represent end points of the tail rotor pitch The 7 initial value for both is 50 Adjust these two limit value he a sees make sure your rudder servo can work the full range for Digital 1520us 270Hz your tail rotor pitch without any mechanical binding Digital 1520us 333Hz Otherwise the performance of the tail gyro will be NA as affected You can identify which side of the tail rotor gt ANG TAA E channels pitch is represented by Limit A Limit B like this Input Operation Description 1 Se
3. O O O 6 O Attitude amp GPS good O O O Attitude status fair O O O O O O O O O O O Attitude statusbad O O O O O O 0 O O 06 O O O IMU lost check IMU connection O GO GD C0 CO 66 60 68 68 66 60 GB 00 60 G amp D lt 3 5V low voltage replace battery 080 66 68 69 CO 66 66 60 CO 66 60 66 4G 60 lt 4 4V low voltage replace battery CO CO CO CD CO CO CO 60 CO CO C 60 40 60 60 60 Notices Here the sparking indication of 3 O could be Single spark all the sticks return to center helicopter hovering Double spark stick s not at center soeed command is not zero Compass Calibration Status Begin horizontal calibration GG SSD Begin vertical calibration COE Calibration finished CD Calibration or others error 096666666666666666666666 WKH Hj 43 LED Indicator Description Flight States Manual Mode Atti Mode TK Signal Lost Normal state O IMU lost check IMU connection 68 68 68 6D 68 6 60 60 609 lt 3 5V low voltage replace battery CO 00 60 68 66 68 09 GD 66 66 60 lt 4 4V low voltage replace battery CD CO O CD CD CD 60 09 CD CO CO CO Notices Here the sparking indication of could be Single spark all the sticks return to center helicopter hovering Double spark stick s not at center speed command is not zero 2012 Dul Innovations All Rights Reserved 26 Product Specifications General Built In Functions Semi Auto Takeoff amp Landing Peripheral Supported Helicopter Types
4. Select TX Control for electric motor C Tx Control C Govenor control For Gas Nitro engine select TX Control first and finish For Electric Motor For GasiMitra Engine Throttle Servo Working Range Governor Control fest ese ese WH srers SETMAX SETIDEL SET STOF 6 Magnetic Speed Sens Sse Gov Gain STEP7 For Electric For Gas Nitro Click to set Maximum open position SET MAX lowest stick throttle Engine idling position SET IDLE Throttle hold Cut position SET STOP Ih SU Notice you must not turn on the throttle cut Rotovengine speed Seo STEP4 After three of the throttle positions being set click Rotor RPM Gear Ratio Engine RPM TEST button above to review your throttle working feno x lt 10 0 Annn range settings Throttle servo will be forced to stay on each respective position for about 2 seconds Repeat the SET procedure if it is not set incorrectly If a mistake is made e g STOP position being set between MAX and IDEL you will be notified by ox Wrong and Engine governor will be forced to work in Tx Control mode automatically STEP5 A third party engine speed sensor is required for the engine speed governor to function We suggest using Futaba magnetic engine speed sensor You have to adjust the sensor magnet mounting and leave a proper space between the sensor head and magnet You can check this with the percentage bar at page ENGINE over 60 means the magnet
5. The swashplate must be level The Current ALE fed 1 ELEV ed 1 PITCH ed 1 Output will indicate whether your swashplate servos are on their center position or not If you have enabled Flybarless function then Swash Please read your helicopter s manual and make Mix ratio settings for AILE Cyclic Roll and ELEV sure the swashplate servo linkage and all the Cyclic Pitch will not be available please read mechanical parts were correctly adjusted before Flybarless setting for detail you use the above function for swashplate level adjusting STEP5 Click B GBG button you can reverse the swash Mix ANEKA ELEVA PITCHER i moving direction for PITCH Collective Pitch AILE Cyclic Roll and ELEV Cyclic Pitch The Swash Mix ratio is 0 100 which defines Swash Mix is identical to Tx CCPM mixing this function is no longer the maximum working range for PITCH Collective avaliable on Tx after set to single servo on Tx Pitch AILE Cyclic Roll and ELEV Cyclic Pitch similar to Tx setting Suggestion 35 45 it can give you soft flying movement and easy to configure for the following parameters B5 Pitch and Throttle Curve Setup We suggest you to use the following pitch curve for Throttle curve for electric power Throttle curve for integrated engine with better lifting power and safety descending speed this is the example for JIVE ESC governor function 10 100 100 5 5 80 0 50 50 4
6. speed mixture control ensures stability Safety Depends on experience Fail safe featured auto hover or level if transmitter signal lost Appropriate Applications High agility for all flying Built in functions include Integrated tail gyro The flying direction YAW of helicopter will be effected by cross wind WKH can detect the drifting angle amp Speed and 7 FA Heading Pa control the rudder servo to eliminate such influences In the case of flying forward in cross wind Tail Gyro can work Rate Mode Head locking Mode on two different modes as the example shown a A ACN N 7 a Jeane n 4 rar Cross Wind A A Flybarless rotor head support Integrated engine governor for internal combustion engines Build in semi auto take off amp landing 2012 Dul Innovations All Rights Reserved 3 Package Contents Main Controller The Main Controller MC is the brain of the WKH MC communicates with the IMU GPS Compass engine governor servos and RC transmitter to carry out autopilot functionality USB interface is for WKH configure and firmware update from a PC System requirement Windows XP SP3 or Windows 7 GPS amp Compass module IMU Not in WKH Lite The GPS Compass module should be installed on the tail accelerometer one 3 axis gyroscope and a barometer The Inertial Measurement Unit IMU consists of one 3 axis boom where there is a clear view of the sky 3 PIN S
7. 5V For some small scale helicopters the BEC provided may not be able to supply enough overall power consumption please use high performance BEC 2012 DJI Innovations All Rights Reserved 8 A4 wn Assistant Software Basic Operation Software and Driver Installation Please read Software amp Driver Installation Guide the micro USB port is used for WKH configuration and update firmware Introduction for Software GUI 0006 O O 6 TOOL ABOUT pty English E exrort Bj weort wizard 4 were a II MOUNTING WIZARD STEP 1 8 IMU Orientation C Backward C Left C Right Q oO 6 i a if How to adjust parameters Flybarless Forward T T i SwashPlate Orient the IMU such thatthe arrow Red and bold text indication marked on the above surface ofthe IMU faces the sky and points directly if you changed anything forward backward left or right The Tail Gyro sides of the IMU should be precisely oy parallel to the helicopter body DO NO i j Fj egen pamer sapa seca sty oO Write parameters to main N controller Green line for negative Red line for positive D 10 Except the direct edit items they can be written to main controller E 4 oO Pp a X directly Oo 1 TOOL Write button to update your system gt Firmware upgrade update your firmware from DJI 7 Read read parameters from main controller ser
8. Main Shaft Z c Hang the helicopter by the tail A and use a plum line to find C G on Z axle You can use your own methods to estimate the C G of Note measurement in CM your helicopter Step c is not required to pod boom and scale helicopter Simply enter value zero will be sufficient GPS normally mounted on tail boom thus X and Z could be zero distance between GPS to main shaft is X Ground 1 You must re configure if the ALL UP WEIGHT had been changed on your helicopter VAN 2 f mounting locations are not accurate enough or the sign were wrong error on Y Z axle will leads helicopter vibrating error on X axle will leads drifting during spinning 2012 DJI Innovations All Rights Reserved 11 B2 Control Mode Switch WKH Lite customers have no GPS Atti Mode The transmitter you used must be Fail Safe featured which allows you to setup fixed outputs for all channels if the receiver loses signals otherwise WKH will not enable the Fail Safe Working mode for your transmitter should be HELICOPTER All the channels in your transmitter should be working independently NO CCPM NO channel MIX NO EXP You need at least one 2 or 3 position switch on your transmitter to be set as the control mode switch e3 In Assistant Software page TX MONITOR TX MONITOR WIZARD STEP 2 7 8 Control Mode Switch Sticks Monitor Command Sticks Calibration BRRRE RRR PERRRHRPRHRERP PRED It will turn into
9. Mounting and Connection ccsscseeceeeeeseeeeees 5 BIO AUOPIOT sasasasen ananing aga aana a eaaa kake 19 Al Before you Begin sisiis vicsisrsviacnincouvaroinsdiaanennacens 5 POU E E A A Ng NANG 20 A2 Mount the devices on your helicopter 5 C1 Digital Compass Calibration 20 A3 Gonnectiongs aee ee eaaa eaaa eaaa anae ene eee 7 C2 MANUAL MODE Test Flight 0 21 A4 WKH Assistant Software Basic Operation 9 CNS AG aeng an anga an akan sn R 22 Flight amp Configuration Procedure Brief 10 C4 Autopilot Test Fight ccccesseeeeeeseees 23 Configuration Procedure ccccsessseeeeeeeeeseees 11 Maintains aoc cteieatteesedeesemeecevupndendacsaveeneeesntseeessces 23 B1 GPS amp IMU Mounting ee ecceeeeeeeeees 11 Firmware Upgrade ccccccccccssseceeeceseeeeeeaeseees 25 B2 Control Mode Switch cccccceeeeseeeeeeeeees 12 Product JAGO aksara eaaa aaa ek aaa ENE AK AE an aa NRAKA 25 B3 TFlyDafesS sauh re Daka ee ree 13 AppendikK sasuwansa anaa an aaa saa doangane aa daana dan gabu an 26 B4 Swashplate ese enee ee ane anna nana en een 14 WKH LED Indicator Description cccceeeee 26 B5 Pitch and Throttle Curve Setup 14 WKH Bite LED Indicator Description 26 BO Tal GYO sandea aaa kadak ak aan dan paraga aaa akena 15 Product Specifications ccccccceeececceeesesseseee
10. WIZARD STEP 2 7 8 Control Mode Switch Sticks Monitor STEP1 Click START button and move all of the sticks asec Aah throughout their complete range several times ap 5 aD MANUAL Fail Safe Command Sticks Calibration KNA A A NE Tiai STEP2 Click FINISH button when you finished above EEEEEEEGE PEER REREREE procedures 1 You have to finish the throttle and pitch curve setting before calibration here the end point of transmitter Fail Safe sticks will be record 2 f the throttle or pitch end point of transmitter had been changed please calibrate it again Calibration START 2012 DJI Innovations All Rights Reserved 17 B 9 System Check Very important check them carefully 2 lt You have to run the system check using Assistant sofiware System Check for WKH system to work properly Controller Output Check I Switch to Non Manual mode first 2 Click START button WKH will drive the swashplate going up and down representing collective movement during flight 3 Click NEXT button WKH will drive the swashplate going forward and back representing elevator movement during flight 4 Click NEXT button WKH will drive the swashplate going left and right representing aileron movement during flight en lt gt Front J con amp oo cme Lett G 5 Click NEXT button WKH will drive the rudder representing rotating C C W and then C W 6 Click END button or swi
11. to activate it on Page 22 2012 DJI Innovations All Rights Reserved STEP1 STEP2 STEP3 STEP4 STEPS STEP6 STEP7 STEP8 STEP9 Check all the connection and wiring connected firmly and make sure they are in good condition Make sure your batteries are fully charged for your transmitter WKH and all the devices on your helicopter Turn on the transmitter first Power on WKH and all the rest of electric devices on helicopter except brushless motor controller Check the LED indicator if red LED blinks quickly amp continually then system start up has failed you have to place you helicopter horizontally and power on again See Appendix for details about LED indicator Slide the control mode switch on your transmitter to make Sure it is working properly Check LED indicator to specify the current working mode See Appendix for details about LED indicator Others system failure and error will also be displayed by LED indicator See Appendix for details If everything checked and without any problems switch the system to Manual Mode move all the sticks on your transmitter to check whether the helicopter is correctly responding to your commands Start the engine or power on the brushless motor controller STEP10 Take off and fly your helicopter in Manual Mode before switching to other modes 21 C3 Fail Safe WKH can detect the fail safe output from your receiver if
12. transmitter with the channel which you plug into input port G on WKH main controller We suggest you start from 45 in Head locking mode take off the helicopter reduce the Gyro sense if tail got vibrating if the tail response too slow and drift then increase it Land you helicopter and switch to Rate mode then take off the helicopter again fine tune the rudder servo to make the tail stop drifting and land again Switch the tail gyro between rate mode and Head locking Mode by 3 times then center position of Tx will be recorded now you finished the gyro sense setting You can identify the Tail Gyro working mode on the status bar of Assistant Software but that gyro sense percentage may not be the same as your Tx reading due to different Tx manufacture 2012 Dul Innovations All Rights Reserved 15 B7 Engine Governor a a a a a Ne a a a aa STEP6 Please refer to user manual of your helicopter and engine find the following parameters m e Main rotor speed in range 800 to 2500 RPM e main gear ratio in range 1 0 to 20 0 Engine RPM in range 6000 to 25000 RPM Will be calculated automatically STEP7 Gov Gain setting range 50 to 300 STEP1 Before using Governor Control mode fine tune your f In Assistant Software page ENGINE Gas Nitro engine to good condition Otherwise the ENGINE WIZARD STEP 6a performance would be negatively impacted Working Mode STEP2 STEP2 Seleci the operation mode
13. 026 The higher the value the better the static stability of the helicopter But it will increases the sluggish on your control feeling such as bank turn and braking is also not sharp enough like an large inertia helicopter Similar to adding weight to blade tip Suggested Parameters ALIGN 600 Nitro Default ALIGN 600Electric LOGO 700 Maxi Joker 3DD AILE ELEV AILE ELEV AILE ELEV AILE ELEV Gain 100 100 70 90 150 160 200 250 Direct Input 100 100 120 120 160 180 240 280 180 180 150 150 150 150 130 130 100 100 80 80 130 130 150 150 2012 Dul Innovations All Rights Reserved 13 B4 Swashplate A You should finish the setup for your swashplate in Manual Mode You have to set the transmitter to STEP VVIZARD STEP 3 8 single servo swash Mation STEP3 Futaba H 1 JR Spektrum 1sNORM Hitec In Assistant Software page SWASHPLATE STEP1 SWASHPLATE Swash Type Om OH O HR3 a 1 Servo 90 and WKH will do the CCPM instead H140 HE3 H4 J STEP2 Please make your selection according to your Swashplate Servos STEP4 swashplate type IMPORTANT Direction Trim Current Output GD N D STEP3 The swashplate can be rotated in 360 with 1 step increase or decrease Not required in most gt J 0 0 conditions 534 2 0 STEP4 Click B GB button you can reverse the gt y 0 0 working Direction of swashplate servos Servo Trim is in range 100 to 100 with default value at Swash Mix STEPS 0
14. NH BD Wait until Assistant software reads Finished 70 Please power cycle the unit after at least 5 seconds 77 Your unit is up to date now After firmware upgrade please re configure WKH using Assistant software If it is notified that the network or DJI server is busy please try again later with above procedures If firmware upgrade failed WKH will enter lt waiting for firmware upgrade status gt automatically please try again with the above procedures Note You will be asked to fill out contact information register as user prior to any upgrades Product Info You can check the WKH product version via ABOUT Info Software version 6 Firmware version e IMU version 2 Hardware ID 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 Write button VAN If you filled in the invalid S N over 30 times your WKH will be locked and you have to contact our customer support 2012 DJI Innovations All Rights Reserved 25 Appendix WKH LED Indicator Description Flight States Manual Mode Atti Mode GPS Atti Mode Tx Signal Lost GPS satellites found lt 5 6 6 Oo GPS satellites found lt 6 O e e O GPS satellites found lt 7
15. S COMPAS LED The LED indicates different states of whole system WKH Lite user should connect LED to CAN Bus port on the MC directly Internal vibration A isolation design enable a more convenient IMU mounting AQQOH If 0 LLOZ pue WL Py Tuas LU LA AN Battery MUST supply 4 8 8 4 volis Could be connect to any of the spare I O port C o amp B MAIN CONTROLLER MB TMand 2011DJIHobby a gt Swashplate Servo ED GD Electric Brushless Motor e Motor Controller ESC s Main Controller BAN Gas Nitro Engine Throttle Servo Rudder Servo DO NOT connect the rudder servo until the servo type has KA been selected in Wookong Assistant CAN Bus Interface for WKH Module WKH Main Controller uses CAN Bus to power and communicate with other WKH modules Three connection ports are provided two on the Main Controller and one in line connection on the GPS Compass wire WKH identifies the connected devices automatically without configuration GPS Compass module can be connected to either port of Main Controller 6 IMU can be connected to the Main Controller 2012 DJI Innovations All Rights Reserved 7 Receiver amp Servos STEP1 Set the transmitter to single servo CCPM Futaba H 1 JR Spectrum 1SNORM Hitec 1 Servo 90 Connect the receiver to the Main Controller input servo ports
16. Supported Swashplate Types Supported Servo output Rudderchannel Analog50H2 Supported Servo output Recommended Transmitter Autopilot Tail Gyro Engine Governor for gas power Flybarless Auto Hover or Level Fail Safe e Electric e Internal combustion Normal Three Servo 120 140790 Four Servo 90 e Rudder channel Digital 333 560Hz 760us 1520us Other channels Follow on your receiver output PCM or 2 4GHz with minimum 7 channels and _failed safe Recommended Power Supply function available on all channels DC 4 8 8 4V Not to exceed MAX operating voltage of servo motor gt 1500 mAh capacity Discharge current more than 5C 7 5A to 15A external BEC servos dependent Windows XP SP3 7 Assistant Software System Requirement Electrical amp Mechanical MAX 5W 0 9A SV 0 7A 5 8V 0 5A 7 4V 0 4A 8V Power Consumption 5 C to 60 C Operating Temperature Total Weight Dimensions lt 150g overall GPS Compass is NOT in WKH Lite e IMU 41 4mm x 31 1mm x 27 8mm GPS amp Compass 50mm diameter x 9mm LED Indicator 25mm x 25mm x 7mm Flight Performance can be effected by mechanical performance and payloads Hovering Accuracy GPS Mode NOT with WKH Lite Vertical 0 5m e Horizontal 1m Maximum Wind Resistance lt 8m s 17 9mph 28 8km h Forward Backward Speed Left Right Speed 2012 DJI Innovations All Rig
17. TEP1 Flybarless STEP1 Choose flybarless ON OFF you MUST NOT enable C ON OFF flybarless function for helicopter with flybar otherwise ee the helicopter will be out of control Parameter AILE ELEV When Flybarless is turned on elevator amp aileron will Gain os os have stabilization in manual mode Direct Input 0 0 STEP2 During test flight procedure please perform the following configuration procedure Cyclic Rate Flybar Weight 0 0 eee eee eee eee eee eae ee eee eae eee eee ee eae eee aa eee ees eee eee eae eee eee ese Gain Parameter range 20 to 500 If the helicopter is sluggish increase it if the helicopter oscillate back after brake decrease it Adjust this parameter 10 increment 0 deg s time until your control feeling is sharp and the helicopter would not bounce after braking Note this parameter will only affect the stability but not control feeling Direct Input Parameter range 30 to 300 This is the direct connect ratio for command stick effect the rolling speed might not be uniform if it is too high and also will lead to f quick or sudden change in cyclic response a Cyclic Rate Parameter range 20 deg s to 450deg s This is the helicopter body rolling speed ratio which determines the maximum rolling speed corresponding to command stick end a point The helicopter would response very quickly if it is too high for example high rate in 3D Flybar Weight Parameter range 20 to 30
18. Wookong HEL User Manual V 1 8 www dji innovations com Disclaimer DJI Innovations assumes no liability for damage s or injured incurred directly or indirectly from the use of this product 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 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 Dul Innovations No patent liability is assumed with respect to the use of the product or information contained herein Reader s Guide for This Manual Please strictly follow these steps to mount and connect Wookong for Heli WKH system on your helicopter as well as to install the WKH Assistant Software on your computer Please pay attention at for the difference between WKH and WKH Lite Icons seen in this document FORBIDDEN eee tial gt gt aana KA aii PARA mentioned gt required 7 configuration required LAN Assembly amp oa e A CAUTION Mounting Tips General Tips Correct Wrong Contents DJI WKH Introduction cccsccceseeeeeeeeneeeeeeeees 3 B8 R C Transmitter Calibration 17 Package Contents ccsssseecessseeseesseeseeenees 4 B9 System Check o ceeeeececeeeesseeeeeessseeeeeeeeees 18
19. alibration has failed Slide the control mode switch one time to cancel current calibration and then re start from step 1 for re calibration OL 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 20 C2 MANUAL MODE Test Flight 5 When the system is powered on DO NOT moves your helicopter or sticks on transmitter until the system initialization is finished about 5 seconds Don t switch to Atti Mode or GPS Atti Mode during Manual Mode Test Flight Go through this section first and read about how to do Autopilot Test Flight on Page 23 Fly the helicopter Trim transmitter such that the helicopter hovers stably You have to adjust the following parameters to achieve the best performance of your helicopter Flybarless parameters if you ve enabled Flybarless see Page 13 for details e Tail Gyro sense see Page 15 for details Engine speed if you are using Gasoline Nitro engine see Page 16for details Adjust Pitch curve on transmitter so that the helicopter hovers at about mid stick Set correct fail safe output on all channels of your R C Transmitter Receiver Verify Fail safe output of your transmitter on status bar in Assistant Software IMPORTANT The Fail Safe Auto Hovering or Level has not been activated yet goes through this section first and read about how
20. ameters e Gain Range Front back amp Left Right 40 400 Vertical 50 250 If too large you will find the helicopter oscillating in the corresponding direction About 5 10 times per seconds If too small the helicopter will likely to be hard to control ir Vid Gun ICSU RUE SREE In GPS Atti Mode if helicopter drifting on front back or left right direction for 2 5 meters then increase 10 on the corresponding direction it drifts to until the helicopter getting oscillation If helicopter vibrate on its vertical direction then reduce vertical parameter by 10 until it get stable If altitude drop and drift happens during sharp braking then increase I D R Vertical in advance parameters 6 Agility Range 50 200 It determines the start up speed from command stick the bigger the value the faster 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 e Stick Delay Range 50 200 It determines the overall stick reaction speed for example You push your roll stick to the maximum position your helicopter will tilt from leveling to 45 degrees the smaller the number the quicker the transition Advance Parameters The default values are suitable for most of the condition DJI specialized guidance is needed if change is necessary Velocit
21. e collective pitch stick gently to take off the helicopter autopilot system will be in charge of the cyclic pitch roll stabilization gt Semi Auto Landing In Atti Mode with throttle collective pitch stick operation only descend the helicopter and hold throttle stick on lowest position until the engine or electric motor is cutoff automatically This throttle idle or shut down in Auto mode when collective is lowest stick position only applies having this option JAN With this option MC will perform in Atti Mode for both takeoff and landing When you are using semi auto take off switch into autopilot modes and move throttle stick main rotor will start 2012 DJI Innovations All Rights Reserved STEP1 Check all connections and wirings and make sure they are in good condition STEP2 STEP3 STEP4 STEP5 STEP6 STEP7 STEP8 STEP9 Make sure your batteries are fully charged for your transmitter WKH and all the devices on your helicopter Turn on the transmitter first Power on WKH and all the rest of electric device on helicopter except brushless motor controller Check the LED indicator If red LED sparks quickly the system start up has failed You will need to place your helicopter horizontally and power on again See Appendix for details about LED indicator Slide the control mode switch on your transmitter to make Sure it is working properly Check it with LED
22. e for 20 seconds and then stop automatically you can force it stop by clicking STOP button or switch to Manual mode 2 Assistant Software will inform you the test result LED will also blinking in yellow if you have it and failed condition was matched MK Failed it means voltage drop below 3 5v the battery or BEC were not be able to provide necessary power please change 0 Test passed 2012 Dul Innovations All Rights Reserved 18 Bl 0 Autopilot AUTOPILOT Basic Parameters Front Back Gain Agility Stick Delay 0 Advance Parameters FrontBack Left Right Velocity Tracking G3 Assistant Software page Autopilot Left Right Vertical 0 0 0 0 Vertical 0 No two these items in WKH Lite 4 Fol Transmitter related Input Operation mm U 4 Switch MD Switch MB Stick g Stick a A 3 Stick mm gt Stick DEFAULT channels Description Control Mode Switch Quickly slide it from rate mode to head locking mode for 3 times all the command sticks center position would be reset see page 15 for tail gyro working mode setting Up Down command from Tx Front Back command from Tx Left Right command from Tx Rudder command from Tx Suggested Parameters ALIGN600 Nitro F B Gain 100 ALIGN 600Elec L R V F B L R V 100 100 130 110 80 100 150 100 110 100 113 100 100 114 115 116 2012 DJI Innovations All Rights Reserved Base Par
23. e the center of gravity C G of your helicopter and fill in the distance between IMU GPS and C G of helicopter in X Y amp Z axles Bl GPS amp IMU Mounting Adjust your transmitter for channe MB and then you can switch the f 12 B2 Control Mode Switch autopilot working mode between Manual GPS Atti Atti Please select flybarless ON OFF You might need to adjust parameters 13 B3 Flybarless during test flight B4 Swashplate Setup you swash plates according to your helicopter specification 13 B5 Pitch amp Throttle Curve Setup Set pitch amp throttle curve on your transmitter according to our suggestion 14 Make rudder correctly responding to your transmitter commands rotating 15 B6 Tail Gyro C W or rotating C C W B7 Engine Governor Both electric motor and gasoline engine require setting 16 B8 RIC Transmitter Calibration GD C C E are required to do 17 VAN Check controller output IMU mounting and battery performance 18 B9 SYSTEM CHECK Slide the control mode switch on transmitter 10 times and WKH will enter the C1 Digital Compass Calibration og 20 compass calibration mode T Please strictly follow the procedure during flight test you may need to adjust 34 the following parameters to achieve the best flight performance C2 Manual Mode Test Flight B3 Flybarless contro parameters if you ve enabled Flybarless 13 B B6 Tail Gyro sense 15 B7 Engine speed and Gov Gain for Gasoline Nit
24. eeeees 27 B7 Engine GOVefMOr aaa eaaa eaaa eaaa eea 16 2012 DJI Innovations All Rights Reserved 2 DJI WKH Introduction WKH is the flight system designed for serious scale helicopter enthusiasts providing GPS for self leveling position hold speed control and built in tail gyro which completely takes the stress out of flying RC helicopters for both professional and hobby applications WKH can be installed in a variety of models from small electric helicopters to large gasoline and turbine helicopters WKH Lite is the no GPS and LED version of WKH Multiple control mode based on autopilot system There is no GPS Atti Mode in WKH Lite GPS Atti Mode Atti Mode Manual Mode Helicopter attitude control Stick center position for 0 attitude its endpoint Mechanical driving for 45 which is a fixed limit directly Command Linearity YES NO Lock helicopter position when GPS a Recommend for Stick Released Only altitude stabilizing signal is adeguate experience pilot Altitude lock Best maintain altitude above 3 meters NO No limit but will switch into Atti Mode TT E Flight Altitude No limit No limit automatically over 50m Stabilization Flybarless stabilizing on ELEV and AILE direction is available for all control mode Command Stick Meaning After 10s when GPS signal lost system Only performing attitude GPS Lost enters Atti Mode Automatically stabilizing without position lock Attitude amp
25. em initialization is finished about 5 second Please read this section before you switched to Atti Mode and GPS Atti Mode Make sure the GPS signal is good without red LED blinking Please avoid using WKH system in the following areas where will GPS signal is most likely blocked Urban area with crowded buildings Tunnels 6 Under bridges Make sure the attitude of helicopter is in good condition without white LED blinking Other system failures and errors will also be displayed by LED indicator see Appendix for details or in assistant software If WKH has already acquired the GPS signal you cannot unplug GPS module directly without reboot and fly in GPS Atti Mode gt Semi Auto take off Please setup B7 Engine Governor and all center positions correctly before you use this function On STEP11 the system can perform Semi Auto take off feature rather than manual take off Please follow the operation procedures strictly 1 Put the throttle stick on the lowest position 2 Switch to GPS Atti or Atti Mode and wait 3 Requiring only pushing the throttle collective pitch stick gently to take off the helicopter autopilot system will be in charge of the cyclic pitch roll stabilization gt Semi Auto Landing In GPS Atti or Atti Mode with throttle collective pitch stick operation only descend the helicopter and hold throttle stick on lowest position until the engine or electric motor is cutoff automatica
26. ervo Cable GPS Tail Boom Mount Not in WKH Lite The GPS Tail Boom Mount and double sided foam tape enable Bee FF x 1 0 Cables used to connect the Main Controller to the RC receiver secured installation for the GPS Compass module on lt 2 almost any helicopters LED Indicator Micro USB Cable The LED indicates the ee Kn This cable is used to configure WKH update firmware CSS different system states bA 3M 5925 Double Sided Tape Warranty Information Card Not in WKH Lite WKH comes with a two year warranty as described on this card Please keep this for your personal records Only for GPS amp Compass module Ux 2012 DJI Innovations All Rights Reserved 4 Mounting and Connection Al Before you Begin Fly the helicopter without WKH in open are or large field and make sure that the helicopter works properly without any autopilot assistance To do so you will need external tail gyro This is a good time to isolate and resolve unwanted vibrations IT IS IMPORTANT THAT YOU SHOULD NOT SKIP THIS STEP A2 Mount the devices on your helicopter IMU oe Where The IMU is best positioned near the helicopter s center of gravity where lt E vibration is relatively low 6 What orientation Orient the IMU such that the arrow marked on the above A surface of the IMU faces the sky and points directly forward backward left or Sa E 1 right The sides of the IMU should be precisely parallel to the helicopter bod
27. hts Reserved 72km h 44 74mph 56 7km h 35 77mph 27
28. ii Calibration START Atti in WKH Lite Once the switch position has been matched to specific control mode you will see the high light as shown following TX MONITOR WIZARD STEP 2 7 8 Control Mode Switch Sticks Monitor PEGER ETRE REET EEE DEGREE EEE PERE EEE MANUAI LESTE ti J i Command Sticks Calibration PEG aaag BEER EE PEPPER bia baal Calibration START 2012 DJI Innovations All Rights Reserved Whichever 2 or 3 positions switch channel user has selected or decided to use in the transmitter for control mode switching in this case channel U marking on main controller Use sub trim or end point fine tuning on your transmitter move the slider of channel U to the specific range until Assistant Software indicates that it is in Manual GPS Atti Atti and Failed Safe mode Notice To move the slider is to adjust sub trim or end points of ae DE SL x For 3 positions switch you should assign Position 2to Atti Mode Position 1to Manual Mode Position 3to GPS Atti Mode Or reverse the assignment for Position 1 and Position 3 the channel selected For 2 positions switch you should assign Position 1to Manual Mode Position 3to GPS Atti Mode Or reverse the assignment for Position 1 and Position 3 Notice Please see page 3 for introduction of autopilot control modes Set Fail Safe output of receiver to input port U move VAN the slider to the range which
29. indicator to specify the current working mode for WKH See Appendix for details about LED indicator Switch the system to ATTi Mode if the swashplate is not horizontal please go back to 3 step and power cycle the system Switch the system to Manual Mode move all the sticks on your transmitter to check whether the helicopter is correctly responding to your commands Start the engine or power on the brushless motor controller STEP10 Take off and fly your helicopter in Manual Mode STEP11 Hover your helicopter and switch to ATTi Mode A Do NOT move any stick when switching 24 Maintains Firmware Upgrade Please strictly follow the operation procedure for firmware upgrade otherwise WKH might not work properly Make sure your computer is connected to the Internet Please close all the other applications during the firmware upgrade including Anti virus software and firewall Make sure the power supply is securely connected DO NOT un plug the power supply until firmware upgrade has finished Connect main controller to PC with micro USB cable DO NOT break connection until firmware upgrade is finished Run Software and wait for connection Select TOOL gt Firmware Upgrade DJI server will check your current firmware version and get the latest firmware prepared for the unit If there is a firmware version more up to date than your current version you will be able to click the upgrade button ON A AW
30. is directly facing the sensor and less than 2 means that the sensor is far from directly pointing at the magnet Notice Only ONE magnet can be mounted on cooling fans of the engine Suggestion 50 for Nitro engine 150 for gasoline engine Index Governor Input m WKH THR out Tx Throttle Governor STARTS to work in all of the following conditions throttle stick position is higher than 20 from cut throttle When engine speed has been raised above 70 of set RPM When engine speed sensor works correctly Throttle Servo Position Governor STOPS working in either one of the following conditions Throttle stick position lower than 10 from cut throttle Governor Start Enter GPS Atti Enter Manual Governor Stop Engine speed lt 3000 RPM or sensor not working or Atti Mode Mode GPS Atti and Atti Modes takeover the throttle pitch amp cyclic positions at the point of switching from Manual mode It is essentially how WKH knows to maintain throttle relative to rotor RPM hence throttle hold or throttle cut switch will not cut the engine or motor Unless it is switched back to Manual Mode STEP3 SET throttle servo travel range move the throttle stick to next step set throttle servo working range Then select 2012 Dul Innovations All Rights Reserved 16 B8 R C Transmitter Calibration hs In Assistant Software page TX MONITOR o Totally 4 TX channels are required to be calibrate TX MONITOR
31. king properly Check it with LED indicator to specify the current working mode for WKH See Appendix for details about LED indicator Switch the system to GPS ATTi Mode if the swashplate is not horizontal please go back to 3 step and power cycle the system Switch the system to Manual Mode move all the sticks on your transmitter to check whether the helicopter is correctly responding to your commands STEP10 Start the engine or power on the brushless motor controller STEP11 Take off and fly your helicopter in Manual Mode STEP12 Hover your helicopter and switch to GPS ATTi Mode A Do NOT move any stick when switching 23 When system is powered on you must not move your helicopter or sticks on transmitter until the system initialization is finished about 5 second Please read this section before you switched to Atti Mode Put helicopter on the plane ground System failures and errors will also be displayed by LED indicator see Appendix for details or in assistant software gt Semi Auto take off Please setup B7 Engine Governor and all center positions correctly before you use this function On STEP10 the system can perform Semi Auto take off feature rather than manual take off Please follow the operation procedures Strictly 1 Put the throttle stick on the lowest position 2 Switch to Atti Mode and wait until the speed of main rotor is stable 3 Requiring only pushing the throttl
32. lly This throttle idle or shut down in Auto mode when collective is lowest stick position only applies having this option Make sure use this function only when the GPS signal is sufficient and at open areal When you are using semi auto take off switch into autopilot modes and move throttle stick main rotor will start WKH Test Flight 2012 DJI Innovations All Rights Reserved A 1 With this option MC will perform in GPS Atti Or Atti Mode for both takeoff and landing STEP1 STEP2 STEP3 STEP4 STEP5 STEP6 STEP7 STEP8 STEP9 Check all connections and wirings and make sure they are in good condition Make sure your batteries are fully charged for your transmitter WKH and all the devices on your helicopter Turn on the transmitter first Power on WKH and all the rest of electric device on helicopter except brushless motor controller Check the LED indicator If red LED sparks quickly the system start up has failed You will need to place your helicopter horizontally and power on again See Appendix for details about LED indicator You may find red LED blinking indicating that WKH is getting GPS satellite signal please wait until red LED is off meaning WKH have found more than 7 GPS satellites and that it can work in its best condition See Appendix for details about LED indicator Slide the control mode switch on your transmitter to make Sure it is wor
33. nd any metal around Sometimes a bunch of keys in your pocket might affect calibration I Dont calibrate your compass where there is strong 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 You don t need to rotate your helicopter on a oe precise horizontal or vertical surface but keep at least 45 difference between horizontal and vertical calibration 4 WKH cannot be work in the polar circle 2012 DJI Innovations All Rights Reserved Calibration procedure 3 Position 2 STEP1 Enter calibration mode quickly slide the control mode switch from Position 1to Position 3 for 10 times and LED indicator will be constantly on in blue STEP2 Calibration in horizontal rotate you helicopter along with the horizontal surface until the green light is on constanily then go to the next step STEP3 Calibration in vertical while green light is constantly on hold your helicopter vertically and rotate it along with its vertical axis keep rotating until the green light is off meaning the calibration is finished p gt CFS STEP4 After you finished the calibration LED indicator will show whether the calibration was successful or not e f white light turns on for 3 seconds calibration succeeds calibration mode will auto exit If red light keeps blinking quickly the c
34. r center position You can read the TTT current stick position which shown as number 1000 to 1000 in real time click 2 E save them into hani set this carefully otherwise failed safe aag ald not work as we designed Confirmed group as Tx center position fave confirmed the TX center position B Ss You will be noticed by 2K symbol instead of button which means your throttle working range has not been correctly set or your throttle position is holding on throttle cut STOP position Please check your throttle cut switch and throttle working range setting in Assistant Software page Engine See page16 for details STEP4 Must check the confirm box that the Tx center position is correct otherwise failed safe will be disabled Fail Safe functions are designed for GPS Atti Mode and Atti Mode Once the helicopter is in the available transmitter signal range switch to Manual Mode then you can re gain the control right for WKH system Lite WKH Lite user should mind that once the helicopter is in the available transmitter signal range you re gain the control right for WKH Lite system whichever control mode you are in 2012 DJI Innovations All Rights Reserved 22 C4 autopilot Test Fight WKH Test Flight 42 WKH Lite user should skip this section to WKH Lite Test Flight section on next page When system is powered on you must not move your helicopter or sticks on transmitter until the syst
35. reads Fail Safe MODE IMPORTANT WKH 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 method to check whether WKH was already in Fail Safe mode You can check the current control mode of WKH using either of the following methods Check the Assistant status bar at the bottom side of the software interface Check the LED indicators status on GPS Compass module see Appendix in this manual for details 12 B3 Flybarless When system is powered on you must not move your helicopter or sticks on transmitter until the system initialization is finished about 5 second Once you changed the Flybarless to ON the AILE and ELEV swash mix ratios in swashplate settings will be disabled while Direction Reverse button will always be available for AILE and ELEV After you have set the Flybarless to ON you have to adjust your swashplate parameters before setting your Flybarless control parameters You have to adjust flybarless function and test it in Manual Mode first Don t try to use Atti Mode and GPS Aiti Mode until you can fly flyoarless without any problems You might need to reduce the control gain of flybarless if you cannot make the helicopter stably hover or fly under Atti Mode and GPS Atti Mode 4 Assistant Software page FLYBARLESS FLYBARLESS WIZARD STEP 4 8 se NA S
36. ro engine 16 A VAN Please strictly follow the failed safe setting procedure otherwise this function 55 Fail Safe might not be working correctly Q Please strictly follow the procedure during flight test you may need to adjust 55 the following parameters to achieve the best flight performance wm C4 Autopilot Test Fight B10 Autopilot control parameters 19 Es B3 Flybarless control parameters if you ve enabled Flybarless 13 LitemmAssistant software of WKH and WKH Lite are different However WKH Lite assistant software will become WKH assistant software automatically with a GPS module plugged into MC when you open the assistant software 2012 DJI Innovations All Rights Reserved 10 Configuration Procedure B1 aps amp IMU Mounting WKH Lite customers can skip GPS mounting Assistant Software MOUNTING page STEP1 Select IMU Mounting orientation MOUNTING WIZARD STEP 1 8 IMU Orientation 4 Forward Backward C Left C Right Mounting Location STEP2 Example aii STEP2 Fill in the distance between IMU GPS and the C G of x fo cm helicopter in X Y amp Z axles please measure the C G y om with following method Fa Dem a Adjust your helicopter and make it balance on K and Y axle as shown below Rotor Head Balance on X Y Green line for negative Red line for positive l b The C G should be on the extended line of Not showed helicopter main shaft in WKH Lite
37. t one of them to 0 another to 50 MD Stick pakanana Move your rudder stick on your transmitter MAD Switch 1 Gyro working mode selection Rate Mode Head Locking Mode 2 Gyro sensitivity setting 2 3 One side of the tail rotor pitch will not move 4 This side should be related to the Limit A Limit B whichever you are giving value 0 to Quickly slide it f Sey cron OM Tae MOCO SER Move your rudder stick and check whether the tail rotor head locki f daka KL er a tines pitch is working to your expected direction If not please the command stick center position ehangete proper direction You must also finish the SYSTEM CHECK procedure G Channel Value in later steps before you fly your helicopter You might SDN m0 i oe find the Controller Output Check for tail rudder result in opposite rudder moving directions click Reverse would be reset 100 50 0 50 100 button to make corrections Please see Page IE Gyro Sensitivity amp Working Mode STEP4 Switch your Tail Gyro working mode to Rate Mode take off your helicopter and hover If your helicopter drifts on YAW direction obviously then adjust your tail servo linkage until the helicopter stops drifting Or you can use trim to fine tune the rudder servo If you used trim during the Tail Gyro working in Rate Mode please power off the WKH and re start it before you wish to use Head Locking Mode STEP5 Gyro Sense setting Set your gyro sense via
38. tch to Manual mode Controller Output Check will be finished If the swashplate or rudder moves in opposite sequence you should click reverse button 2 gt for correction If the swashplate or rudder still doesn t moves as your expected it may cause by wrong connection between WKH main controller and R C Receiver please also check the swashplate setting and Tail Gyro setting IMU Feedback Check I Switch to Atti or GPS Atti Mode first 2 Click CHECK button 3 Tilt the tail boom of the helicopter the swashplate should respond to the opposite direction 4 Tilt the helicopter body on its roll direction the swashplate should also respond to the opposite direction 5 Switch to Manual mode and finish the IMU Feedback Check If your helicopter was not responding as described above you may be placing your IMU in a wrong orientation or you ve select a wrong orientation for your IMU in Assistant Software Please check sensor mounting again If the swash is not level This is not critical this can because by Hm IMU is not level to AIR frame m AIR frame and landing skids are not level to ground Battery Performance Test 7 Switch to Non Manual mode first 2 Make sure that your battery has at least 80 capacity left from being fully charged I Click START button WKH will force all the servos you connected and LEDs working at maximum payload which will behave as shaking swashplate and rudder This will continu
39. unting support hardware is included in the package If however you prefer to use your own GPS Compass mount please make sure that the mount material is NOT magnetic 2012 Dul Innovations All Rights Reserved 5 Main Controller Where There is no orientation requirement for the Main Controller Maintain at least a 20 centimeter distance between the Main Controller and the engine or motor Choose a mounting location where as shorter servo extension wires are needed as possible This helps reduce the risks of electronic interference Please also make sure the USB port is accessible when installing the Main Controller so as to facilitate software configuration A After choosing a location to mount the Main Controller it is recommended that you DO NOT mount the Main Controller until all wirings and software configurations are completed LED Indicator Where Place the LED indicator at appropriate location of helicopter body C 4 A Make sure the LED indicator face down and you can see the light 2012 DJI Innovations All Rights Reserved 6 A3 Connections GPS COMPASS Mount to the Tail boom 20 cm from servos 30 cm from motor 10 cm from tail rotor WKH Lite has no GPS Compass In line CAN Bus Port This CAN Bus port can be used for the LED module connection or for future hardware upgrades Micro USB PC connection for configuration and firmware upgrades R C Receiver Engine Speed Sensor GP
40. ver keep your WKH system up to date 8 Write all write latest settings and changes of all files to gt Sign In In order to provide better service to you your main controller please register for firmware update software and 9 Graphic guidance manual download If you have registered please sign 10 Text guidance in here 11 Flybarless function ON OFF indication 2 ABOUT 12 Engine governor working mode indication gt Information regarding your WKH 13 Tail gyro working mode amp gyro sense indication 3 Export export save WKH configurations in files 14 Autopilot working mode indication 4 Import load previously saved configurations 15 Red light WKH lt PC has been disconnected 5 Wizard step by step for your first time configuration Green light WKH PC has been connected 6 Write write data of latest settings of the current page to Blue light WKH lt PC communication your WKH main controller The parameter value or the title 16 Here you can find all the configuration pages the same as of which will appear as red and bold in font when in the Wizard modifications have been made make sure you click the 2012 Dul Innovations All Rights Reserved 9 Flight amp Configuration Procedure Brief 1 For safety reasons during configuration and system setup please disconnect the power supply for Electric motor 2 Please do the following configurations in Manual Mode of the autopilot system Steps Description Please measur
41. y lt INA ANG DO NOT MOUNT THE IMU UPSIDE DOWN How Use double sided foam tape for secured installation I Check the double sided foam tape or Velcro regularly to ensure that the IMU is securely positioned 2 DONOT cover the ventilation holes keep them unobstructed 3 The IMU module is NOT water proof or oil proof GPS amp Compass Module i oe Where Mount it on the tail boom between the NN rotor head and the tail rotor The compass is sensitive to magnetic interference so position the module at least 20 cm from servos and 30 cm from electric motors or gasoline petrol engines The GPS is sensitive to vibration interference so position the module at least 10 cm from the tail rotor The GPS should not be close to the main rotor head because rotor blades can interfere with GPS satellite signal the farther from the center of the rotor disk the better For scale helicopters we find either behind or in front of main shaft GPS positions can be applied It can also be installed inside the fuselage where the fiber glass shell is relatively thin 6 What Orientation 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 I lf you are uncertain whether materials near the GPS Compass module are magnetic or not you can use a compass or N magnet to check it 2 GPS Compass mo
42. y Tracking Range Vertical 20 0 150 0 Range Front Back amp Left Right amp Vertical 0 500 WKH Lite does not have of Front Back amp Left Right LOGO 700 Maxi Joker 3DD JR GSR260 F B L R V F B L R V F B L R V 150 151 100 160 160 110 155 165 130 130 100 175 135 185 166 100 100 100 100 100 100 100 100 100 100 100 100 19 Flight Ci Digital Compass Calibration Why calibrate the compass Ferromagnetic substances placed on helicopter or around its working environment will affect the reading of earth magnetic for digital compass it also reduces the accuracy of the helicopter control or even reads incorrect heading Calibration will eliminate such influences and ensure WKH system performs well in a non ideal magnetic environment When to do it 1 The first time you install WKH on your helicopter 2 When the helicopter mechanical setup is changed a If the GPS Compass module is re positioned b If re positioned Main Controller servos batteries etc electronic devices are added removed c When the mechanical structure of the helicopter is changed 3 lf the flight direction appears to be shifting meaning the helicopter doesn t fly straight 4 The LED indicator often indicates abnormality blinking when the helicopter yaws It is normal for this to happen only occasionally Where to do it Do the calibration in an open area away from parked cars metal railings a
43. you have pre set fail safe output correctly Once your helicopter lost signal from the transmitter Fail Safe function will control the helicopter automatically and save it in most of the conditions The Fail Safe Auto Hover or Level will not be activated until you ve correctly Pre set Transmitter Command Stick Center Position The Fail Safe functions will not be working correctly if you have not finished the Auto Mode Test Flight Please see Autopilot Test Flight on Page 23 for details You must perform the following setting under Manual Mode If GPS signal reception is bad or you are using WKH Lite auto level function will be triggered but no position holding If you have already setup Fail Safe successfully then main rotor will start if you switch off Tx when your helicopter is powered on STEP1 Please configure your autopilot to the best condition A make sure the helicopter can flight well under GPS Atti In Assistant Software page Failed Safe Mode FAILED SAFE Switch you WKH into Manual Mode TX Center Position Please record your command stick positions which are current position Confirmed the same as the moment you switched from Manual Mode if you changed throttle curve before switching use that curve for this setting You will be asked to 0 0 0 configure your transmitter and let your helicopter able 0 0 to hover with transmitter command stick roughly Not to be exact on thei

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