Naza for Multi-Rotor User Manual
Contents
1. AAE 41 eJ eio 42 2012 DJI Innovations All Rights Reserved 5 Matters That Need Attention For safety reasons please pay serious attention to all following items 2 10 11 12 13 For big aircraft that is larger than 650 or with heavy load WKM is recommended When aircraft is set up with all of the equipment that you are going to use please ensure the aircraft center of gravity is on the center Line of the frame this is for aircraft with its load is in the vertical direction of frames center When MC mounted try your best to mount the MC at the center of the frame and do not mount the MC upside down Make sure MC is parallel to the aircraft horizon so as to prevent the aircraft from drifting in horizontal direction Make sure the MC ESC ports is pointing to the aircraft nose direction otherwise serious damage will occur to your aircraft Disconnect ESCs and battery or remove all propellers during firmware upgrade configuration and system setup You have to reboot MC and redo the Tx calibration after you change anything on the RC system In the Tx Calibration of assistant software e Throttle Slide left is craft down slide right is craft up e Rudder Slide left is nose left slide right is nose right e Elevator Slide left is craft back slide right is craft front 8 Aileron Sl2. e000 GPS satellites 5 o ce GPS satellites 6 e GPS satellites gt 6 O OQ Attitude status NENNEN ammo Control Mode Manual No Atti e e When EEE appears please hover the aircraft until disappears so as to have better flight performance Blinking indications of Atti and GPS Atti are e Before motors start Single blink all sticks except throttle stick return to center Double blinks stick s except throttle stick not at center e After motors start and throttle stick is over 1096 within 3 seconds Single blink all sticks return to center Double blinks stick s not at center Blinking indications of IOC OO are e Before motors start blink sticks except throttle stick return to center blink stick s except throttle stick not at center e After motors start and throttle stick is over 10 within 3 seconds blink all sticks return to center blink stick s at center Compass Calibration Begin horizontal calibration Begin vertical calibration Calibration or others err 00000000000000000000000 Others Tx signal lost OOO0O00000000000000000000 Low voltage Other errors 00000000000000000000000 Connect to PC correctly System start and self check eooeeoeeoeeeo Do NOT move any command sticks during this procedure Please contact us if the last four green blinks are abn
3. 1 Make sure you can fly your multi rotor normally with a fully charged battery 2 Use a fully charged battery switch on the low voltage protections in assistant software and observe the current voltage Fill a reasonable warning voltage in the No Load of first protection We recommend to fill a voltage 1V lower than current voltage and higher than minimum battery voltage rating in Fill OV in Loss at the moment 3 Fly the multi rotor until the first level protection is triggered and the red light is flashing Now land your multi rotor ASAP 4 Connect the MC to PC open the assistant and acquire new current voltage The Loss Line loss voltage is the difference between the new current voltage and the first level No Load voltage you filled in Notices If the line loss voltage of a battery is over 0 3V per e g 3S battery over 0 9V it s because the internal resistance of battery is high or the battery is too old we suggest you to replace it e Generally the line loss voltages vary with different makes of batteries For the consideration of safety you d better acquire all the line loss voltages of all your battery you are using and fill the lowest one in the Loss box e When you change the payload or multi rotor you have to get new line loss voltages e The line loss voltage will be larger after many times of use you should get new ones after 30 times 2012 DJI Innovations All Rights Reserved 30 of charging e Make
4. Power off multi rotor first then switch off the transmitter after landing e Please do the fly test and gain tuning with Atti Mode in the open air without heavy winds e In Atti Mode after power on and before motors start if Q or LED double blinks without move any stick this indicates that you have moved any sticks during system start up and check You will have to reboot MC before you try to fly Test Fly Make sure your batteries are fully charged for your transmitter MC and all the devices on your multi rotor Check all connections and wirings and make sure they are in good condition Switch on the transmitter first then power on your multi rotor Flip the control mode switch on your transmitter and make sure it is working properly Check it with LED indicator to specify the current working mode for MC See Appendix for details about LED indicator Switch the system to Atti Mode Use any safe method to do the following test Apply the throttle to 2096 slowly and make sure all the motors are working properly and then try to push your sticks lightly in Roll Pitch and Yaw to feel if your multi rotor moves to the corresponding direction If not go back to Configuration Procedure and correct your settings Push the throttle stick slowly within 3 seconds after executing CSC until all the rotors are working and then take off your multi rotor gently 2012 DJI Innovations All Rights Reserved 34 Tips e After a succes
5. DJI Innovations All Rights Reserved 32 STEP3 Hold your aircraft vertically and rotate it its nose is downward around the vertical axis about 360 until the LED turns off meaning the calibration is finished cde c STEP4 The LED indicator will show whether the calibration was successful or not Ifthe calibration was successful calibration mode will exit automatically ifthe LED keeps flashing quickly Red the calibration has failed Switch the control mode switch one time to cancel the calibration and then re start from step 1 Tips If you keep having calibration failure it might suggest that there is very strong magnetic interference around the GPS amp Compass module please avoid flying in this area 2012 DJI Innovations All Rights Reserved 33 Fly test Before First Flight Notices e Make sure you have assembled your multi rotor correctly e Make sure you have done the configuration procedure correctly e Any of the following mistakes will leads to a dangerous accident double check all these items Rotation direction of motor is opposite Propeller installation mistake MC installation mistake Wrong connection between MC ESC In Atti Mode throttle stick center position is for 5 along the vertical direction You must keep the throttle position higher than 1096 from stopping the motors during the flight e Make sure you switch on the transmitter first then power on multi rotor
6. Rol iW 0 lo fo 3 Automatic Control Gain Gain Direction Pih eza 000 LR Roll qe 000 RE 4 Manual Control Speed Pitch EXP 0 STEP1 Gimbal Switch If you use gimbal please choose On here and select an Output Frequency BOHz 100Hz 200Hz 400Hz The chosen output frequency is recommended no more than the maximum servo supported frequency Notices If you open the gimbal control in assistant software during the configuration please note that there are outputs from F1 and F2 ports You should never connect these ports to ESCs which are wired with propellers and motors Tips NAZA supports servo center 1520us STEP2 Servo Travel Limit Range 1000 to 1000 MAX MIN are servo travel limits adjust them to avoid mechanical binding Place your multi rotor on level ground adjust Center value of Pitch and Roll direction to make the camera mounting frame to your desired angle to ground 2012 DJI Innovations All Rights Reserved 27 STEP3 Automatic Control Gain Range 0 to 100 Adjust the reaction angle of the automatic control The initial value of 100 is the maximum angle The larger the gain the bigger the reaction angle Click REV NORM and then you can reverse the feedback control directions STEP4 Manual Control Speed Range 0 to 100 You should assign one of the knobs on your transmitter to the X1 channel for controlling the Pitch direction angle of camera gimbal during flight first Then adjust
7. correctly 2 Choose the X1 or X2 channel in Remote Adjust for the gain you want to tune One channel to one gain 3 The range of remote tuning is from half the current value to twice the current value e Usually the Pitch Roll Attitude Pitch and Attitude Roll Gains of hexa rotor are high then quad rotor STEP2 Enhanced Failed Safe Methods Enhanced Fail safe method will be triggered when MC loses the control signal no matter what mode you fly This could be one of the following situations 1 Signal lost between transmitter and receiver e g multi rotor is out of the communication range or 2012 Innovations All Rights Reserved 21 transmitter is down and so 2 One or more connections of A E T R U channels between MC and receiver loses If this happens before take off motors will not work if you push the throttle stick if this happens during the flight LED yellow light will flash to warn in addition to the failed safe method Choose one method for your failed safe function Landing or Go Home and Landing Landing the aircraft will land after 6s hovering Go Home and Landing Before takeoff current position of multi rotor will be saved as home point by MC automatically when you push the throttle stick first time after 6 or more GPS satellites are found 9 blinks once or no blinking for 8 seconds Notices When switch to Manual Mode or Atti Mode MC will disengage enhanced failed safe mode you can re gain c
8. requirements in the 3 step are met flip the X2 channel switch to the Home Lock position to turn on home lock Tips 1 LED will blink between O O slowly to indicate the IOC mode only when MC is really to fly in course lock or home lock modes 2 We suggest that you should know clearly that by which lock method you are going to fly and the locked forward direction or home point before you switch on IOC mode during the flight 3 There is only one home point recorded at any time This point is the same one used by Go Home and Landing in the fail safe mode 4 When flying by home lock if GPS signal becomes weak MC will be in course lock in the current forward direction automatically 5 You d better stand near the home point to use home lick 6 You d better use 3 position switch for X2 channel and you d better use X2 channel switch to activate and deactivate the IOC during the flight Notices 1 Before you do the home lock flight you have to fly the multi rotor out of the 10m range around the home point you have to flip the X2 channel switch to Home Lock position to fly in home lock when all the requirements are met If you have already toggled the X2 channel switch to Home Lock position when the multi rotor is still in 10m range around home point and this is the first time you are going to fly in home lock during the current flight then if all the requirements are met MC will 2012 DJI Innovations All Rights Reserved 25
9. sure your ESCs protection voltage is lower than 3 1V 1S otherwise low voltage protection will not work Acquire the line loss voltage by the above method and then fill it in Loss Then fill a reasonable warning voltage in the No Load Notices When red LED starts to blink you should land ASAP STEP4 Second Level Protection 1 Fill the warning voltage and the line loss voltage in No Load and Loss by the method introduced in previous step 2 When the second level protection is triggered the LED warning will be on Meanwhile the center point of throttle stick will move up slowly to 9096 of endpoint you should land ASAP to prevent your multi rotor from crash or other harmful consequences 3 When the center point is at 9096 of endpoint multi rotor will still start to ascend slowly if you continue to pull the throttle stick back and the control of Pitch Roll and Yaw are the same as before Please land ASAP to prevent your multi rotor from crash or other harmful consequences 2012 DJI Innovations All Rights Reserved 31 Flight Digital Compass Calibration Without GPS please skip this step Why calibrate the compass Ferromagnetic substances placed on multi rotor or around its working environment will affect the reading of earth magnetic field for the digital compass It also reduces the accuracy of the multi rotor control or even reads an incorrect heading Calibration will eliminate such influences and ensure MC system perf
10. the U channel slide should move to Fail Safe and turn the corresponding area to blue Otherwise please reset the fail safe MC has built in auto level Fail Safe function That means when the communication between MC and transmitter is disconnected the outputs of all command sticks from MC will go to center point If your transmitter has only 4 channels then MC will work in Atti Mode by default without the Fail Safe function Tips Please refer to your RC manual for the details of fail safe setup With GPS it is Enhanced Fail Safe without GPS it is Auto Level Fail Safe and the aircraft will land Notices 1 Do NOT set the fail safe position of throttle under 1096 of endpoint 2 MC will not execute the 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 MC is already in Fail Safe mode 3 Check status bar at the bottom side of the software interface If the Fail Safe has been correctly set up the Control mode will change to Fail Safe 4 Check the LED indicator Read the appendix in this manual for details LED will give fast yellow 02012 Innovations All Rights Reserved 18 blinking if in fail safe mode 5 If your transmitter does not support Fail Safe the Fail Safe function will not work when the communication between MC and transmitter is disconnected 6 Do not use 4 channel Futaba tran
11. the reaction speed of pitch direction manual control the initial value 100 is the maximum speed Notices If parameter adjustment was enabled on channel X1 the gimbal manual control via channel X1 will still be on as well Do not use X1 to control gimbal pitch and remote adjust parameters at the same time Please reset the Basic Parameters in Autopilot section if there is flight jitter after gimbal is mounted 2012 DJI Innovations All Rights Reserved 28 6 Voltage Monitoring VOLTAGE MONITOR 1 Protection Switch ON OFF 2 Battery Current Voltage 80 OISCONNECTE D Battery type 25 LiPo v 3 First Level Protection Load Loss Loaded 000v amp ooov 0003 Safeguard LED Warning 4 Second Level Protection Load Loss Loaded 000v 0 007 0005 Safeguard Descending STEP1 Protection Switch In order to prevent your multi rotor from a crash or other harmful consequences caused by low battery voltage there are two levels of low voltage protection available to use You can choose to use or not to use them however we strongly recommend using the protections available Notices e Make sure the connection between VU and MC V SEN to X3 is correct otherwise the low voltage protection will not work properly e Both levels of protection have LED warning as default Both levels of protection will blink red continuously e Both level protections will only have the LED warning under Manual Mod
12. will stop automatically By using Intelligent mode to stop motors the motors will start or stop immediately when you execute CSC During normal flight conditions you only have pull throttle stick under 10 will not stop the motors in any control mode You have to execute CSC to re start motors if the motors stop during the flight Red light quick blinking indicates battery voltage is low please land ASAP Do NOT move any command sticks during system start and self check Please contact us if the last four green blinks are abnormal GPS Compass is sensitive to magnetic interference you should be as far away from any electronic devices as possible Do not fly in GPS Mode when the signal is not good red light blinks GPS module is optional Nonstandard If you are using the GPS module please read the Instructions about GPS matching in indicators users without the GPS module can skip contents about GPS If users set GPS Atti Mode in Control Mode Switch without connecting to GPS module the M C will switch GPS Atti Mode into Atti Mode automatically and LED indicator will Blink yellow If you are working in the Fail Safe Mode with GPS on the aircraft motors will auto Automatticly shut off when the craft has landed without GPS the aircraft will not auto shut off when landed The receiver should be installed under the bottom board of center frame and the head of antenna is downward without any obstacles this will help prevent any signal
13. 520us DO NOT use 700us travel midpoint ESC as it may lead aircraft to fly away or cause injury and damage After connect ESCs to motors calibrate all your ESCs one by one through the receiver directly before connect them to your MC Make sure program all of them into Governor off Break off and Normal Start up to get best experience Important the continuous A of the VU is 3A 5V and the maximum instant current is 7 5A If the VU cannot afford the working current for your servos please use an independent power supply otherwise it may cause the VU safeguard and lead to the main controller reboot MC Please use 3M gummed paper provided To mount MC and mount MC parallel to the aircraft horizon The output ports of MC the right side in figure should point to the front of multi rotor You d better put MC at the gravity center of multi rotor Please make sure all ports are accessible when installing the MC so as to facilitate wiring and software configuration In three pin ports pins near the nicks are signal pins After choosing a location to mount the MC it is recommended that you DO NOT mount the MC until wirings and software configurations are completed Assistant Software Software and Driver Installation STEP1 Please download assistant software and driver from our website Then decompress STEP2 Connect MC and PC via USB cable power on MC STEP3 If
14. ETY REASONS DO NOT use power battery during firmware upgrade 1 Make sure your computer is connected to the Internet before you connect the USB cable to the MC 2 Please close all the other applications during the firmware upgrade including anti virus software and firewall 3 Make sure the power supply is securely connected DO NOT un plug the power supply until firmware upgrade has finished 4 Connect MC to PC with micro USB cable DO NOT break connection until firmware upgrade is finished Run Software and wait for connection Select TOOL and select Firmware Upgrade 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 9 Wait until Assistant software reads finished 10 Click OK and cycle the power of the unit after at least 5 seconds Your unit is up to date now Notices e After firmware upgrade please re configure the MC by Using the Assistant software e If the network or server is busy please try again later with above procedures If firmware upgrade failed MC will enter waiting for firmware upgrade status automatically please try again following the above procedures Product Info amp Upgrade You can check the MC product version via ABOUT gt Info e Software Firmware Loader Hardware ID S N is a 32 digits authorization code f
15. LE Nea En IpER RE ono Ee e aaan 3 BIN THE BOX m 4 CONTENTS na 5 MATTERS THAT NEED ATTENTION N E 6 ASSEMBLY ge 8 ASSISTANT SOFT WARE a 9 SOFTWARE AND DRIVER INSTALLATION inue sed antis gota ebd sedebat as 9 9 FIRMWARE UPGRADE sud Sca 11 PRODUCT INFO amp UPGRADE x Se PEE VIE 11 CONFIGURATION meer 12 DE MOUNTING sirana ahaa aa HM 12 2 MOTOR MIXER cce 13 F PEMONT OR mu T 15 a a a a e a 20 F a E 27 O VOLTAGE IWIONITORIIN cc UR 29 FLIGHT eiin 32 DIGITAL COMPASS CALIBRATION a aa Ee uto n pP rd eae ya aO A deco possa Puteo equ Ui ep Patek 32 PLY TEST Q 34 FLY Eu cR 36 ewe H 37 IMU CALIBRATION Emm 37 NIUETISROTORS SUPPORTED ranor Due cha e aeo Sous ace ES 38 PORT caue REA 39 EIGHT DESCRIPTION et 40 RECOMMENDED SET TINGS
16. Naza for Multi Hotor User Manual V 2 5 2013 02 18 Revision www dji innovations com 2012 Innovations All Rights Reserved Warning amp Disclaimer Naza is an excellent autopilot system offering tremendous flight features for low altitude multi rotor working in restricted space compared to normal helicopter It is not a toy when installed in multi rotors of any size Please respect the AMA s National Model Aircraft Safety Code Despite our efforts in making the controller to operate in the safest manner when the main power battery is connected such as disabling MC signal to ESCs when USB is connected disabling throttle input and stick command when throttle stick is not at the lowest position we strongly recommend customers to remove all propellers use power supply from R C system or flight pack battery and keep children away during system calibration firmware upgrade and parameter setup DJI Innovations assumes no liability for damage s or injuries incurred directly or indirectly from the use of this product Please strictly follow these steps to mount and connect Naza on your multi rotor as well as to install the assistant software on your computer DJI and Naza 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 pa
17. bration Calibration START 4 Sticks Monitor T L gt 5 Control Mode Switch Notices cannot emphasize this Step enough Make sure you have removed all propellers before this step STEP1 Receiver Type Choose the type of your receiver If you use S Bus receiver please choose S Bus compatible option D Bus If PPM receiver is used please choose PPM Otherwise choose Tradition Notices Please reboot MC and redo the calibration after you change the setup of your transmitter or change your receiver itt C Tips eem tae If you use S Bus PPM receiver the communication of A E T R U X1 and 1 X2 channels are all through the D Bus PPM channel Right figure shows the connection of default transmitter channels and MC channels in S Bus PPM ul B amp B UJ e c com receiver Only first 8 channels of S Bus PPM receiver are used at the moment STEP2 Cut Off Type Please read the introductions of start and stop motor in this step first and then choose a cut off type 2012 DJI Innovations All Rights Reserved 15 Start Motor Pushing throttle stick before takeoff will not start the motors You have to execute any of following four Combination Stick Commands CSO to start the motors Stop Motor We provide two options to stop motors Immediately and Intelligent Immediately Mode If you select this mode in any control mode once motors start and throttle stick is over 10
18. can click and drag cursor J tothe corresponding level to change Motor Idle Speed The lower motor idle speed The higher motor idle speed Setting the Motor Idle Speed as LOW the motor idle speed will be at its lowest point Setting the Motor Idle Speed as HIGH the motors idle speed will be at its highest RECOMMEND is the advised level You can reset the Motor Idle Speed according to your personal preference Notices 2012 DJI Innovations All Rights Reserved 13 For users whose aircraft takes off at lowest throttles position please set the idle speed at low level e For common users please set Motor Idle Speed to RECOMMEND or above since setting idle speed too low may affect motor s spool up Tips e The output pulse width for every grade of Motor Idle Speed is as followed output pulse width 1144 us 1160 us 1176 us 1192 us 1208 us e There is relationship between the output pulse width and the max min pulse width when TX End Point is 10096 output pulse width max pulse min pulse x proportion min pulse e You can get the proportional values by computing according to the above formula for a special TX Use Futaba TX for example Notice that Futaba TX End Point is 100 proportion value 3 7 9 11 2012 DJI Innovations All Rights Reserved 14 3 Tx Monitor TX MONITOR 1 Receiver Type 2 Cut Off Type Tradition D Bus PPM IMM Intelligent 3 Command Sticks Cali
19. ce can be effected by mechanical performance and payloads Hovering Accuracy GPS Mode Max Yaw Angular Velocity Max Tilt Angle Max Ascent Descent Speed 2012 DJI Innovations All Rights Reserved e Vertical 0 8m Horizontal 2 5m 200 5 48 6m s 42
20. change into home lock automatically when multi rotor flies out the 10m range around home point When multi rotor is flying by home lock far away from you and the home point please do not toggle the X2 channel switch many times quickly so as to avoid the change of home point without you knowing it By using a 3 position switch if you want to record the forward direction or home point manually do not toggle the X2 channel switch between OFF and Home Lock position but only between OFF and Course Lock or Course Lock and Home Lock position And please record the forward direction and home point separately so as to make sure the recording is successful When you are flying in home lock mode if the multi rotor is back into the 10m range around home point or you switch into Atti Mode MC will fly in course lock by the current forward direction automatically But this forward direction is NOT the recorded forward direction If you to the course lock now the MC will fly in course lock still by the earlier recorded forward direction We suggest you to use Home Lock in a limited area which is 10m away from the home point Continuously spinning will cause a yaw error In this case you can stop or slow down the spinning so as to have better flight performance 2012 DJI Innovations All Rights Reserved 26 5 Gimbal GIMBAL 1 Gimbal Switch On OFF Output Frequency 50hz 2 Servo Travel Limit MAX Center MIN Pith z 0 9
21. ck Course Lock OFF to turn the corresponding area blue respectively Tips For 3 position switch Position 1 is OFF Position 2 is Course Lock Position 3 is Home Lock e For 2 position switch Position 1 is OFF Position 2 is Course Lock Or Position 1 is OFF Position 2 is Home Lock e If you use S Bus PPM receiver the default channel connection is shown in Tx Monitor Receiver Type section Then you only need to assign a 2 or 3 position switch of your transmitter to the e channel Notices Do NOT set a 2 position switch as Position 1 is Course Lock Position 2 is Home Lock Course Lock Usage During the same flight STEP1 Record STEP2 Open STEP3 Close STEP4 Re open Nose direction gt Forward direction STEP1 Record forward direction There are two ways Manually Automatically 2012 DJI Innovations All Rights Reserved 23 STEP2 Automatically MC will record the current nose direction as forward direction at 30 second after you power on the multi rotor And LED will blink quickly if recording is successful Manually You can slide X2 channel switch between OFF and Course Lock position quickly 3 to 5 times to record current nose direction as new forward direction at any time after you power on multi rotor 30 seconds And LED will blink quickly if recording is successful Open course lock After record the forward direction successfully if MC is in Atti or GPS Atti Mode then y
22. dification 8 READ read parameters from MC for current page 9 Graphic guidance 10 Text guidance 11 CONTROL MODE Control mode indication 12 Output On Indicate there are outputs to ESCs when communication is established between MC and assistant software via USB cable MC Output Off appears it indicates there are no outputs to motors then you can configure your multi rotor with assistant software more safely 13 Red light MCePC has been disconnected Green light MC PC has been connected Blue light MCePC is communicating 14 Here you can find all the configuration contents in Configuration chapter 15 Configuration step Notices e Please power the MC first then connect your MC to a internet enabled computer by the USB cable before you open the assistant software e You have to register at the first time you use the assistant software e It will auto detect the software version you have when you open the assistant software and prompt you to Check for Updates if your version is not the latest one e Do not disconnect MC and PC when you are using the assistant software Check for Updates Check out the latest versions of assistant software and firmware If it needs updating please follow the links displayed to find the download page 2012 DJI Innovations All Rights Reserved 10 Firmware Upgrade Please follow Word for Word in the procedure for firmware upgrade otherwise the autopilot might not work properly For SAF
23. e none in the automatic actions e Low voltage protections are NOT fun You should land your multi rotor ASAP in any level of protection to prevent your multi rotor from crash or other harmful consequences STEP2 Battery Apply battery power the MC and connect the MC with the PC current Calibration battery voltage will be displayed in this column If the battery voltage Current Voltage DISCONNECTED displayed here is different from the voltage you measure from a voltmeter you haveto calibrate it Click the Calibration box enter that voltage in the Cancel 2012 DJI Innovations All Rights Reserved 29 Calibration column of the dialogue box and then click Confirm Meanwhile you need you to choose the battery type you are using so that MC can provide the default warning voltages and ranges for you STEP3 First Level Protection No Load No Load Voltage Self defining warning voltage Needs your input Loss Line Loss Voltage The battery voltage drop during the flight Needs your input Loaded Loaded Voltage The real time battery voltage during the flight This is the actual warning voltage monitored by MC Doesn t need your input calculated by No Load and Loss Tips Voltages Magnitude Relation e No Load First level Second level e Loss First level Second level e Loaded Calculated First level gt Second level Method of Acquiring Line Loss Voltage
24. e gain Now it is a suitable Vertical gain Attitude gains determine the reaction speed of attitude from command stick the Larger the value the quicker the reaction Increase it for sharper and quicker leveling action after command stick released Unstable shaking flying and the control feeling will be stiffness and rigid if the value is too high and sluggish leveling action and slow braking if too small Notices e You must upgrade firmware first then click Default button in first setup parameter e The vertical gain will NOT affect the manual mode e The final flight performance is decided by the autopilot parameters and all parts of multi rotor includes mechanical structure motors ESCs propellers and battery If these parts are not compatible you cannot get good flight performance by adjusting the autopilot parameters Therefore if you have high requirement to flight performance you d better get a multi rotor with good integration test Tips e If you are new to multi rotor flying you can tune the basic parameters first as following 1 Increase the basic parameters 10 at a time so as to make your multi rotor hover or light oscillate after small angular command input 2 Decrease the basic parameters until your multi rotor can just hover then decrease 1096 more e Here you can make use of remote gain tuning channels to tune the gains during the flight 1 Followed the instructions in Assembly R C System section to connect and setup
25. et on the center plate of craft first then fix the GPS on the plate of the bracket by 3M glue provided The GPS is sensitive to vibration interference so position the bracket at least 10 cm from any rotor The DJI logo marked on the GPS should face the sky with the orientation arrow pointing directly forward The GPS Compass is packaged with a special indication line for mounting for the first time If you are uncertain whether materials near the GPS Compass module are magnetic or not you can use a compass or magnet to check it If you use your own mounting rod make sure it is NOT magnetic Reserved VU Do not mount it on any other electronic devices Make sure You can see the LED light during the flight If use with DJI multi rotor you can solder the VU power cable to power pads on frame bottom board Please refer to DJI multi rotor manual for details If use with 3 part multi rotor you can make a connecter by yourself to connect VU 5 5 and battery Sufficient air flow over the VU is highly recommended ESCs Motors e Motors and ESCs in DJI multi rotor kit are recommended Please make sure you are using the ESCs and motors recommended by the manufacturer of your multi rotor first NAZA output is 400Hz refresh frequency e Connect all ESCs to MC by the motor numbering method introduced in Multi Rotors Supported of Appendix e If you use 3 party ESCs please make sure the ESCs travel midpoint is at 1
26. he gains of the Pitch and Roll if you release the Pitch or Roll stick after giving a command the multi rotor should go back to a hovering state If the reaction of multi rotor in this procedure is too soft large delay please increase the basic gain slowly 10 15 each time after you release the stick until vibration begins Then decrease the gain a little until vibration just disappears Now the gain is perfect but the reaction of the attitude change is slow Follow the Procedure at the end of this section to tune the attitude gains The way of tuning the Yaw gain is the same as the way of adjusting the Tail Gyro If you want fast stick reaction speed increase the gain otherwise decrease the gain However the spin of multi rotor is produced by the counter torque force and the magnitude of which is limited Therefore large gain will not produce tail vibration like helicopter but severe reaction at the start or stop of motors which will affect the stabilization of the other directions 2012 DJI Innovations All Rights Reserved 20 You will use two methods to judge if the Vertical gain is good enough 1 The multi rotor can lock the altitude when the throttle stick is at center position 2 The change of altitude is small during the flight along a route You can increase the gain slowly 1096 each time until the vibration emerges along the vertical direction or the reaction of throttle stick is too sensitive then decrease 2095 of th
27. he right is craft will lift off the ground CLD you move the rudder stick to the Left the Slide will move to the left this is nose left When you move the rudder to the Right the slide move to the right this is nose right G you move the Elevator stick down the Slide will move to the left and the craft will move back Moving the Elevator Stick up the Slide will move to the right and the craft will move Foward away from you you move the Aileron stick to the left the Slide will move left and the craft will move to the left when you move the Aileron stick to the Right the slide will move to the right and the craft will move to the right 1 Set endpoints of all channels to default values 100 and set all trims and sub trims of sticks to 0 on your transmitter first Keep all curves settings as default since the end point of transmitter sticks will be recorded here 2 Click the START button and move all of the sticks throughout their VAS complete range several times 3 After you do this click the FINISH button when you have finished the E above procedures 4 If the slides are moving opposite from your stick movements direction click the reverse button REV NORM beside Notices 1 All slides should become when all the sticks are in the middle positions If slides cannot go back to center points become just click FINISH then slides will be at center automatically If still not please reboot MC and do not apply Tx c
28. ide left is craft left slide right is craft right When powering up the Craft Make sure you turn on the Transmitter switch first then Plug in the FC Battery power on multi rotor before takeoff After your Flying Session and you want to power down make sure you Remove Power to the multi rotor first and then switch off the transmitter Whether you are using gimbal control in assistant software or not there is always power output from F1 and F2 ports Do not connect these ports to any ESCs which are wired with propellers and motors Do NOT set the failed safe position of throttle under 10 of endpoint Throttle stick position should always be higher than 1096 from cut throttle during the flight The NAZA M has Low voltage protections If you are seeing a Red Flashing light you should land your multi rotor ASAP to prevent your multi rotor from crashing or other harmful consequences when using the Immediately mode to stop the motors this is in any control mode once the motors start and throttle stick is over 10 When the throttle stick lowered below 1096 the motors will stop immediately But if you push the throttle stick over 10 within 5 seconds after 2012 DJI Innovations All Rights Reserved 6 14 15 16 17 18 19 20 21 22 23 24 25 motors stop the Motors will re start Combination Stick Command CSC is not needed If you don t push throttle stick after motors start in three seconds motors
29. ites are found 9 blinks once or no blinking you can toggle the X2 channel switch between to a 3 position switch Course Lock and Home Lock or to a 2 position switch OFF and Home Lock position quickly 3 to 5 times to record the current position of the multi rotor as the new home point And LED will blink quickly if recording is successful Open home lock flip the X2 channel switch to the Home Lock position to fly in home lock 2012 DJI Innovations All Rights Reserved 24 when the following requirements are met a Home point is recorded successfully b 6 or more GPS satellites are found In GPS Atti Mode d Multi rotor is further than 10m away from the home point Now wherever the nose is pointing the real flight forward direction is the same as the direction from the home point to the multi rotor and LED will blink between yellow and green slowly to indicate the IOC mode of MC STEP3 Close home lock There are three ways a Flip the X2 channel switch to the OFF position to quit home lock Recommended way b Flip the U channel switch to Manual Mode position or turn off the transmitter The MC will be in course lock by the current forward direction automatically when multi rotor flies back into 10m range around home point or MC is in Atti Mode STEP4 Re open home lock you want to turn on home lock after you quit this function you should first flip the X2 channel switch to the OFF position When all 4
30. le limitation and vertical velocity locking NOT Recommend NO Depends on experience In The Box Main Controller MC x1 The Main Controller MC is the brain of the system it communicates with all ESCs and RC transmitter to carry out the autopilot functionality It has a built in Inertial Measurement Unit IMU consists of one 3 axis accelerometer one 3 axis gyroscope and a barometer for sensing the attitude and altitude Versatile Unit VU x1 Specially designed for Naza It solves the high power consumption o e LEC e E 25 65 problem of multi rotor system supply and monitor power for Naza and other electronic devices It also has an LED to indicate different operating states of Naza and a USB interface for configuring the Naza unit and firmware upgrade GPS amp Compass Module x1 The GPS Compass module is for sensing the position and direction GPS Bracket x1 Because the GPS amp Compass are sensitive to magnetic interference you should use this bracket to mount the GPS module USB Cable x1 This cable is used to configure MC and upgrade firmware 3 PIN Servo Cable x8 Cables used to connect the MC and the receiver 3M Gummed Paper x4 Used for fixing Naza components on multi rotor s frame 02012 DJI Innovations All Rights Reserved 4 Contents WARNING amp DISCLAIMER a E CER eS EGRE EROR US End E GP AR Ede REV 2 PRODUCT PROFI
31. loss during flight and the aircraft will be out of control since the Radio signal may be lost by the obstacle Make sure all connections are correct and attachment contacts are in good condition before flight Keep wireless video transmission equipment a distance away from the main controller 225cm to prevent the main controller from getting any interference from the Wireless Video Transmitter If you use a gimbal please make sure that the working current of the servos should not exceed the power supply capacity of the VU otherwise it may cause the VU safeguard and lead to the main controller reboot Refer to the Specification section in the Appendix to get more VU parameters 2012 Innovations All Rights Reserved 7 Assembly R C System on MC 2 3 position switch channel R C Receiver JR R C Receiver 2012 Innovations Rights These are example connections Please setup Aileron Elevator Throttle Rudder channels on your Tx first and choose one 2 positions switch channel 3 positions switch with GPS as control mode switch then connect your receiver to the right ports To Battery Aircraft Nose GPS COMPASS GPS Compass is sensitive to magnetic interference should be far away from any electronic devices You should use epoxy resin AB glue to assemble the GPS bracket first as the figure showed in previous page Mount the brack
32. motors will not stop immediately only when throttle stick is back under 10 the motors will stop In this case if you push the throttle stick over 1096 within 5 seconds after motors stop motors will re start CSC is not needed If you don t push throttle stick after motors start in three seconds motors will stop automatically Intelligent Mode By using this mode different control mode has different way of stopping motors In Manual Mode only executing CSC can stop motors In Atti Mode or GPS Atti Mode any one of following four cases will stop motors a You don t push throttle stick after motors start within three seconds b Executing CSC c Throttle stick under 10 and after landing for more than 3 seconds d If the angle of multi rotor is over 70 and throttle stick under 10 Tips Intelligent Mode e You have to execute CSC in order to re start the motors By pushing the throttle stick only will not re start the motors e In Atti GPS Atti Mode it has landing judgment which will stop motors e Start motors in Atti GPS Atti Mode you have to execute CSC and then push throttle stick over 1096 within 3 seconds otherwise motors will stop after 3 seconds e During normal flight only pulling the throttle stick under 10 will not stop motors in any control mode e For safety reasons when the slope angle of multi rotor is over 70 during the flight in Atti GPS Atti Mode may be caused by collision motor and ESC err
33. ommand during the reboot 2 CSC may not start motors If trims and sub trims of sticks are not 0 2012 DJI Innovations All Rights Reserved 17 STEP4 Sticks Monitor This step is optional X1 and X2 is for remote gain tuning X1 is also for gimbal pitch control Setup the channel on your RC correctly STEP5 Control Mode Switch Whether you are using a 2 or 3 position switch on your transmitter will determine which you will use as the control mode switch Plug in the right channel of receiver Gear Aux 1 or aux 2 to the U port of MC At each switch position use the end point for fine tuning on your transmitter Move the Switch to the corresponding Mode as indicated by the slider of channel U to GPS GPS Atti Mode A Atti Mode M Manual Mode to turn the corresponding area blue respectively as showed in the figure Tips e To move the slider is to adjust channel selected end points e For 3 position switch you should assign Position 1 to Manual Mode Position 2 to Atti Mode Position 3 to GPS Atti Mode or eg reverse the assignment for Position 1 and Position 3 e For 2 positions switch you can assign any two of these three control modes as you like If your transmitter supports Fail Safe follow the Fail Safe setting procedure of your R C TX Then move the slider to the range which makes Fail Safe Mode turn blue set Fail Safe output of receiver to input port U If you switch off your transmitter now
34. ontrol of multi rotor Tips The following schematic shown is introduction for Go Home and Landing If GPS satellite found gt 6 at the first you pull the throttle stick Q Signal lost then record Home Location Tx Stay hover Ready to M Go Home Hover 155 Signal lost 3s Then land Intelligent Orientation Control Forward Direction Multi rotor will fly along this direction when you push the elevator stick Usually the forward direction of a flying multi rotor is the same as the nose direction By using Intelligent Orientation Control IOC wherever the nose points the forward direction has nothing to do with nose direction e In course lock flying the forward direction is the same as a recorded nose direction See the following figures Mode 2 2012 DJI Innovations All Rights Reserved 22 ee Usually In course lock e In home lock flying the forward direction is the same as the direction from home point to multi rotor See the following figures Mode 2 yg 27 4 4 4 Sy Sy m e r home lock Usua y Home point Home point Before using this function you have to choose a 2 or 3 positions switch on your transmitter as IOC switch Then connect a wire to the correct channel of receiver to the X2 port of MC At each switch position use end point fine tuning on your transmitter move the slider of channel X2 to Home Lo
35. operating system tries to install driver automatically cancel it STEP4 Open folder DJI USB Driver follow the Driver Installation Manual strictly to finish installation GUI DEC ABOUT cpm ENGLISH TX MONITOR 1 Receiver Type 2 Cut Off Type Tradition D Bus Immediately Intelligent Left end of the slide should be the lowest position of throttle stick Please double check the moving direction of the throttle slide Choose the type of your receiver If you use S Bus receiver please choose 5 5 compatible option D Bus Otherwise choose Tradition 2 a 5 Control Mode Switch ECHEN MC Output On CONTROL MODE Unknown IKE GUI 12 11 10 1 TOOL Calibration For gyroscope calibration and acceleration checking Firmware upgrade Always check for any updates of your firmware from Website This will keep your autopilot system up to date Disable All Knob 2012 DJI Innovations All Rights Reserved 9 2 ABOUT Info Information regarding your product Error Code 3 AX Chinese interface 4 ENGLISH English language interface 5 EXPORT Export configure data 6 IMPORT Import version compatible configure data 7 WRITE This will write data of the current page to your MC The parameter or the title of which will turn red and bold when modified make sure you click the Write button or press Enter to update your system Optional parameters will be written to MC directly after mo
36. or even rollover 3 You must re configure if the ALL UP WEIGHT had been changed on your multi rotor 4 If GPS mounting locations are not accurate enough or the signs are wrong error on X Y Z axles will leads the oscillation of your multi rotor 5 sure to follow the diagram in our assistant software red is positive green is negative unit of measure is CM NOT INCH 2012 DJI Innovations All Rights Reserved 12 2 Motor Mixer Motor Mixer 1 Mixer Type Quad rotor Quad rotor X C Hewa rotor Hexa rotor V Hexa rotor IY Hewa rotor Y 2 Motor Idle Speed LOW HIGH Y STEP1 Mixer Type Set your transmitter into ACROBATIC mode Then select the right mixer type according to your multi rotor Tips We support six types of multi rotors Refer to Multi Hotors Supperted in Appendix Notices e Do NOT follow instruction from 3 party multi rotor manufacturer Make sure the rotation direction of each motor is the same as the way up figure shows If not switch any of two wire connetcions of the incorrect motor to change its rotation direction e Make sure the type of propeller matches the rotation direction of the motor STEP2 Motor idle Speed Motor Idle Speed is the lowest speed after motors start Setting the Motor Idle Speed will affect the motors lowest speed after the motors start There are five levels from LOW speed to HIGH speed and the default is RECOMMEND You
37. or or propeller broken down and throttle stick is under 1095 motors will stop automatically e You can stop motors by executing CSC in any control mode Notices e Any of these two cut off types will only work properly if Tx calibration is correct done e The motors will start or stop immediately when you execute CSC when Tx commands are valid under any of the control modes It has nothing to do with current throttle stick position Please DO NOT execute the CSC during flight unless safety is at stake 2012 DJI Innovations All Rights Reserved 16 If you choose the Immediately mode you should not throttle stick under 1096 during flight because that will stop the motors If you do it accidentally you should push the throttle stick over 10 within 5 seconds to re start the motors e If you choose the Intelligent mode and the throttle stick is under 10 this will trigger the landing Procedure in any control mode In this judgment pitch roll and yaw controls are denied except the throttle but multi rotor will still auto level e In any control mode DO NOT pull throttle stick under 1096 during normal flight without any reason e In failed safe CSC is denied by MC motors will hold their state STEP3 Command Sticks Calibration Slides Moving Definition CD you pull the throttle stick to low position the Slide will move to the left and the craft is down Moving the Throttle stick up the slide will move to t
38. or unit function activations We had already filled in the authorization code for your unit after manufacture In the Future you might be asked 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 If you filled in an invalid S N over 30 times your MC will be locked and you have to contact our customer support 2012 DJI Innovations All Rights Reserved 11 Configuration 1 Mounting MOUNTING Mounting Location Example M C GPS Green line for negative Red line for positive STEP1 Mounting Location Install all payloads that will be used during the flight including batteries camera mount and camera Balance the multi rotor as you would normally with the center of gravity C G directly on the center plate Fill in the distance between body center of GPS and the C G of multi rotor in X Y amp Z axles as showed in the figure Make sure the MC ESC ports is pointing to the aircraft nose direction otherwise serious damage will occur to your aircraft When MC mounted try your best to mount the MC at the center of the frame and do not mount the MC upside down Make sure MC is parallel to the aircraft horizon Notices l Users with GPS module please mount GPS location 2 Please follow the requirements to mount your Naza MC so as to prevent the aircraft from abnormal such as drifting in horizontal direction
39. ormal 2012 DJI Innovations All Rights Reserved 40 Recommended Settings Configuration Information Basic Gain Attitude Gain No Aircraft Motor ESC Propeller Battery Weight Pitch Rol Yaw Vertical Pitch Roll 1 F330 DJI 2212 DJI 18A DJI 8 Inch 35 2200 790g 140 140 100 110 140 140 2 F450 DJI 2212 DJI 30A DJI 8 Inch 35 2200 8909 150 150 100 105 150 150 3 F550 DJI 2212 DJI 30A DJI 8 Inch 4S 3300 1530 g 170 170 150 140 170 170 N 2012 DJI Innovations All Rights Reserved 41 Specifications General Built In Functions Peripheral Supported Multi rotor Supported ESC output Recommended Transmitter Assistant Software System Requirement Electrical amp Mechanical Working Voltage Range Power Consumption Operating Temperature Weight Dimensions Three Modes for Autopilot Enhanced Fail Safe Low Voltage Protection S Bus Receiver Support PPM Receiver Support 2 axle Gimbal Support e Quad rotor I4 X4 e Hexa rotor 6 X6 IY6 Y6 400Hz refresh frequency PCM or 2 4GHz with a minimum 4 channels Windows XP SP3 Windows 7 e 4 8V 5 5 VU Input 7 2V 26 0 V recommend 25 65 LiPo Output V SEN port red wire 3A 5V Output V SEN port red wire burst current 7 5A MAX 1 5W 0 3A 5V Normal 0 6W 0 12A 5V 10 C 50 C 14F 122F MC 25g GPS 21 3g VU 20g MC 45 5mm x 31 5mm x 18 5mm GPS amp Compass 46mm diameter x 9mm VU 32 2mm x 21 1mm x 7 7mm Flig ht Performan
40. orms well in a non ideal magnetic environment When to it The first time you install Naza on your multi rotor When the multi rotor mechanical setup has changed a Ifthe GPS Compass module is re positioned b If electronic devices are added removed re positioned Main Controller servos batteries etc c When the mechanical structure of the multi rotor is changed Ifthe flight direction appears to be shifting meaning the multi rotor doesn t fly straight The LED blinking often indicates abnormality blinking when the multi rotor spins It is normal for this to happen only occasionally What not to do e Don t calibrate your compass where there is strong magnetic interference such as magnetite car park and steel reinforcement under the ground e DO NOT carry ferromagnetic materials with you during calibration such as keys or cell phones You don t need to rotate your multi rotor on a precise horizontal or vertical surface but keep at least 45 difference between horizontal and vertical calibration The GPS will not work in the polar circle Calibration procedure STEP1 Quickly switch the control mode switch from Manual Mode to GPS ATTI Mode and back to Manual Mode for 6 to 10 times The LED indicator will turn to constantly yellow STEP2 Rotate your aircraft around the horizontal axis about 360 until the LED changes to constant green 9 and then go to the next step 2012
41. ou can slide X2 channel switch to Course Lock position to fly in course lock Now wherever the nose points the real flight forward direction is the same as the recorded forward direction and LED will blink O slowly to indicate the IOC mode STEP3 a b STEP4 Close course lock There are two ways Slide X2 channel switch to OFF position to quit course lock Recommended way Slide U channel switch to Manual Mode position or close transmitter Re open course lock If you want to re open course lock after you quit this function you should first slide X2 channel switch to OFF position and slide U channel switch to Atti or GPS Atti mode position then slide X2 channel switch to Course Lock position to re open course lock Home Lock Usage During the same flight STEP1 Record STEP2 Open STEP3 Close STEP4 Re open STEP1 so w e e e e Nose direction Forward direction eHome point Over 10m distance Record home point The home point mentioned here is the same home point of enhanced Fail Safe There are two ways to record them Manually and Automatically a STEP2 Automatically Before takeoff the current position of the multi rotor will be saved as home point by MC automatically when you push the throttle stick for the first time after 6 or more GPS satellites have been found 9 blinks once or no blinking for 8 seconds Manually When 6 or more GPS satell
42. rt of this product or manual shall be reproduced in any form without the prior written consent or authorization of DJI Innovations No patent liability is assumed with respect to the use of the product or information contained herein 2012 DJI Innovations All Rights Reserved 2 Product Profile Naza for multi motors is an autopilot system 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 Naza can be installed in a variety of models from quad rotor to hexa rotor Naza Control Modes GPS Atti Mode Atti Mode Rudder Angular Manual Mode Maximum rudder angular velocity is 200 5 Velocity Command Stick Multi attitude control Stick center position for 0 Meaning attitude its endpoint is 45 Command YES Linearity Lock position if GPS Stick Released Only attitude stabilizing signal is adequate Maintain the altitude best above 1 meter from Altitude Lock ground When GPS signal has been lost for Only performing attitude GPS Lost 10s system enters stabilizing without Atti Mode position lock automatically Attitude amp speed mixture control ensures Safety stability Enhanced Fail Safe Auto Level Fail Safe Applications Sports flying 2012 DJI Innovations All Rights Reserved Max angular velocity is 150 s No attitude ang
43. sful test fly the preparation before taking off can be simplified Put your multi rotor on the level ground turn on the transmitter first then power on multi rotor then you can take off in Atti Mode e If the aircraft drifts or spins in horizontal direction when hovering please use IMU Calibration in TOOL of assistant software to observe sensor output If there is bigger gyroscope bias do gyroscope calibration according to the MU Calibration in Appendix 2012 DJI Innovations All Rights Reserved 35 Fly with GPS Without GPS please skip this step Before Fly with GPS Notices e When system is powered on you must not move your multi rotor or sticks on transmitter until the system initialization is finished about 5 second e Make sure the GPS signal is good without red LED blinking Otherwise multi rotor will drift without stick commands e Please avoid using MC system in the following areas where will GPS signal is most likely blocked Urban area with crowded buildings Tunnels Under bridges Tips Should you find the multi rotor does not track straight in forward flight you might try re mounting GPS in an offsetting angle as showed in right figure O in the figure is the offsetting angle ual flight direction Act Objective flight direction GPS mounting direction di Ss a i d M 4 1 8 O on O V os Actual flight direction l o n
44. smitter with S Bus receiver otherwise MC will work in Fail Safe mode re If users set GPS Atti Mode in Control Mode Switch without connecting to GPS module the M C will switch GPS Atti Mode into Atti Mode automatically and LED indicator will Blink yellow that is if the 3 poisition switch is the same as 2 position switch 8 Once the MC goes into the Fail Safe Mode and you are using the GPS the aircraft will auto Stop the Motors when landed without GPS the aircraft the motors will not auto Stop when landed 2012 DJI Innovations All Rights Reserved 19 4 Autopilot AUTOPILOT 1 Basic Parameters Fitch Full Yaw Vertical Basic Gain NIA NIA NIA NIA Attitude Gain Remate Adjust 2 Enhanced Failed Safe Methods Landing Go Home and Landing C 3 Intelligent Orientation Control OFF STEP1 Basic Parameters Usually the default parameters are ready to go However different multi rotors have different gains because of different Motor KV ratings ESC and propeller sizes If the gain is set too High you will find the multi rotor will be oscillating in the corresponding direction About 5 10HZz If the Gain is too low the multi rotor will likely to be hard to control So you can still setup the basic Gain of Pitch Roll Yaw and Vertical manually according to your multi rotor to have a wonderful flying experience We suggest you to change 10 to 15 of the parameter at a time For t
45. u flight direction M P N 4 22 x N M 222 GP S Mounting direction 2012 DJI Innovations All Rights Reserved 36 Appendix IMU Calibration IMU Calibration Please keep the controller stationary Check IMU Status Calibration Gyroscopefdegree s Acceleration g veo zo status ready Calibration The IMU calibration is used if the aircraft is drifting or spinning in horizontal direction while hovering Better performance can be obtained by gyroscope calibration Check IMU status after the status changed to ready and take action according to corresponding tips 1 Please keep the main controller stationary during calibration and then connect to the assistant software Click the IMU calibration in TOOL to enter calibration page Click Check IMU Status after the status changed to ready The autopilot system check and give tip for you If IMU works abnormally please contact us or our agents if IMU calibration is necessary please click Calibration button else if IMU works normally calibration procedure may be skipped Notices e You don t need to put the aircraft on a completely horizontal surface but make sure to keep it stationary Tips e IMU works normally if the value of X Y and Z is between 1 5 1 5 e IMU works normally if the sum of the squares of X Y and Z is around 1 2012 DJI Innovations All Rights Reserved 37 Multi Rotors S
46. upported To coaxial propellers Blue propeller is at Red propeller is at Bottom Otherwise all propellers are at top M M M M M M3 M M3 Quad rotor Quad rotor X Hexa rotor Hexa rotor V Mi Hexa rotor IY Hexa rotor Y 2012 DJI Innovations All Rights Reserved 38 Port Description Main Controller For roll control left right For pitch control front back For throttle control For rudder control For Control Mode Switch For gimbal pitch control Or for gain tuning For D Bus S Bus compatible Or for gain tuning Or for IOC switch For voltage monitor Connect with VU V SEN port To 1 rotor To 2 rotor To 8 rotor To 4 rotor To 5 rotor 6 rotor To gimbal roll servo To gimbal pitch servo 55 LED port for LED wire connection from Versatile Unit GPS port for GPS module wire connection In three pin ports pins near the nicks are signal pins Versatile Unit V SEN V SEN port To MC X3 port for monitoring battery voltage and supplying power e Orange wire signal wire output 3 3V e Red wire power wire output 4A 5V LED LED wire to MC LED port lt yo Micro B USB port PC connection for configuration and firmware upgrades GPS amp Compass Connect to the EXP port 2012 DJI Innovations All Rights Reserved 39 Light Description Control Mode GPS Manual Atti GPS Atti IOC GPS satellites lt 5 e e
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