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WooKong Multi-Rotor User Manual

1. 6 IMPORTANT INFORMATION ekwi vx COM QURE ede 7 PSSEIVIBEY n Ra a 9 ASSISTANT SOFTWARE gia cross dus E Ve V RE OS ERR A A SERE EIE E ETE 10 SOFTWARE AND DRIVER INSTALEATION e t sen tts ub vias cones ea bp RE 10 GUIAGRAPHICALAUSER INTERFACE ded sicat detis Ue UE oret wie ve dedic eges 10 FIRMWARE UPGRADE e m 12 PRODUCT INFO sate TM 12 CONFIGURATION m 13 1 AUSSI dui cC ETE 13 2 IWIOTORIVIIKER dL M 15 3 JP aee mer 17 4 AUTOPILOT xa i ini I A 21 5 GINA BALL da Sat Mb DU at 33 6 VOLTAGE MONITOR aruia suadeo ede ital E ied us 35 dicia eee rc x 39 DIGITAL COMPASS CALIBRATION 4 is ibo dac dineb du vede 39 TEST cocoate coro etta te a 41 FING WIEG P 43 ENHANCED FEATURES i UE DRE Van 44 ATTITUDE CONTROL WHEN ONE MOTOR OUTPUT HAS FAILED 44 FLIGHT LIMITS SETTING i A RS SEE SR RoRE vn Chao 44 HEIGHT EINMIT RET n PET 44 DISTANCE LINA DC 44 FIX THE TBE TOILET BOWL EFFECT PROBLEM eee e e eee nennen nnn nennen nne 45 APPENDIX m 46 CUSTOMIZE IVIOTOR IMIIMER
2. Pitch a l 10 10 Roll Wi 0 0 J 3 Automatic Control Gain Gain Direction Pith e 000 Roll i 4 Manual Control Speed STEP1 Gimbal Switch If you use a gimbal please select On here and select an 50Hz 100Hz 200Hz 400Hz The chosen output frequencv should not exceed the maximum servo supported frequencv Note If vou enable the gimbal control in the assistant software during the configuration please note that there will be an output from the F1 and F2 ports In this case vou should not connect these ports to ESCs which are wired with propeller equipped motors Tips e If you want to use a gimbal with an Octo rotor you have to use an S Bus S Bus2 or PPM receiver then you can use port T and R for gimbal control Otherwise there will be no ports on the MC for gimbal control e WKM supports servo center of 1520us STEP2 Servo Travel Limit Range 1000 to 1000 are servo travel limits adjust them to avoid mechanical binding Place your multi rotor on level ground adjust value of and Roll direction to set the camera to your desired angle to ground Notices e If servo expansion is used which may enlarge the servo travel limit make sure to reset your servo travel limit 2012 Dul Innovations All Rights Reserved 33 STEP3 Automatic Control Gain Range 0 to 100 Adjust the reaction angle of automatic control The initial value 100 is ful
3. DJI 2212 DJI 2212 DJI 4114 DJI 4114 Configuration Information ESC DJI 30A DJI 30A DJI 40A DJI 40A Propeller DJI 8 Inch DJI 8 Inch DJI 15 Inch Carbon DJI 15 Inch Carbon Battery 3S 2200 4S 3300 6S 15000 6S 10000 Weight 1070 g 1640 g 4770 g 6100 g Pitch 155 170 200 240 Basic Gain Roll Yaw 155 125 170 150 200 195 240 200 Vertical 150 140 175 200 Attitude Gain Pitch Roll 165 165 170 170 190 190 220 220 54 Specifications General Built In Functions e Three Modes Autopilot e S Bus S Bus2 Receiver Supported e PPM Receiver Supported e Intelligent Orientation Control e 2 axle Gimbal Support e Multi Output Frequency Supported e Enhanced Fail Safe e Low Voltage Protection Peripheral Supported Multi rotor Supported ESC output Recommended Transmitter Recommended Battery Assistant Software System Requirement Electrical amp Mechanical Power Consumption Operating Temperature Total Weight Dimensions e Quad rotor I4 X4 e Hexa rotor I6 X6 Y6 IY6 e Octo rotor X8 I8 V8 400Hz refresh frequency Only PCM or 2 4GHz with minimum 7 channels and FailSafe function available on all channels 28 6S LiPo Windows XP SP3 7 MAX 5W 0O 9A 5V 0 7A 5 8V 0 5A 7 4V 0 4A 8V 5 C to 60 C lt 118g overall e MC 51 2mm x 38 0mm x 15 3mm e IMU 41 4mm x 31 1mm x 27 8mm e GPS amp Compass 50mm
4. ee GPS satellites lt 7 Attitude amp GPS good o o o Attitude status fair ee Oo e Oo e Oo e e Attitude status bad IMU data Lost eeewe Flashing indications of 0 0 0 are Single flash all the Tx sticks are at center position multi rotor hovering Double flash Tx stick s not at center position speed command is not zero Compass Calibration Begin horizontal calibration c Begin vertical calibration 7 t eo 399 Calibration finished RA Calibration or others err 00000000000000000000000 Low Voltage Warning First level protection OO OO0000000000000000000 Second level protection 00000000000000000000000 Successful Recording Every time the aircraft records a home point successfully QQQQQQQQQOOOO Manually or Automatically Recording is successful OOOOOOOOOOOOO in Couse Lock and POI flying Main Controller LED MC is functioning correctly Boot loader mode MC is waiting for firmware upgrade Firmware upgrade has finished MC is waiting for reboot BO 00000000000 Error occurred during firmware upgrade MC reboot is required D 000000 PMU LED PMU connection is correct Connection between PMU and battery is wrong polarity error 2012 DJI Innovations All Rights Reserved 3 Recommended Setting No Aircraft F450 F550 S800 58008215 amp Camera Motor
5. STEP 2 Switch on home lock Switch the X2 channel from to position when all the following requirements are met The LED will blink O slowly to indicate the IOC mode a Home point is recorded successfully b 6 or more GPS satellites are found c In GPS Atti d Multi rotor is further than 10m away from the home point STEP 3 Switch off home lock Switch the X2 channel to position to cancel home lock Step 4 Switch on home lock again When all requirements in the second step are met switch X2 channel from to position to enter home lock mode again Note Pay attention to the following statement which may also lead the MC to cancel home lock e Switch U channel to Manual Mode or JAtti Mode position or turn off transmitter or fly in waypoint mode e If vou select JAtti Modej during home lock flight then course lock is set using the current not recorded forward flight direction POI Point Of Interest Usage During the same flight STEP1 Record STEP2 ON STEP3 OFF STEP4 ON again 2 D Nose direction Forward direction e Point of interest Semi diameter STEP1 Record point of interest a Manually When 6 or more GPS satellites are found 9 blinks once or no blinking you can switch the X2 channel between two positions quickly 3 to 5 times to record the current 2012 Dul Innovations All Rights Reserved 29 position of the multi rotor as the new point of interest The LED will
6. Stay hover If GPS satellite found gt 6 and last 8s at the first time you pull the throttle Stick then record Home Location Signal lost e 1 Record Flight altitude when fail safe starts Ready to Go Home Signal lost gt 3s gt reference altitude 20m B Hover 155 Then land Flight altitude when fail safe starts z reference altitude 20m 5 Go home Fail safe Enable Go Home Switch gt Go home 4 Ready to go home Aircraft e Home e Altitude Go H Altitude Go home Flight altitude when FailSafe starts gt reference altitude entered value then go home altitude flight altitude when FailSafe starts Flight altitude when FailSafe starts lt reference altitude entered value then go home altitude reference altitude entered value Entered value 20m 300m the default value is 20m and has an accuracy of 1m Home Location Reference longitude latitude altitude If GPS satellite found gt 6 and last 8s at the first time you pull the throttle stick then record Home Location 7 1 Ready to Go Home Signal lost 3s 4 Ready to go home Aircraft e Home Flight altitude when fail safe starts e reference altitude input value Input value Flight altitude when fail safe starts lt reference altitude input value Stay hover gt Hover 15s Then land Go Home Switch Before using this function
7. blink quickly if recording is successful 1 3 position switch Control 2 switch the X2 channel between and POI position or between and POI position NOT Recommended Control 3 switch the X2 channel between and PO position 2 2 position switch switch the X2 channel between and position STEP2 Switch on POI Switch X2 channel from to position when all the following requirements are met After switching on POI the multi rotor will rotate slowly until the multi rotor nose points to the point of interest The LED will blink O slowly to indicate the IOC mode a Point of interest is recorded successfully b 6 or more GPS satellites are found c In d Multi rotor is further than 5m and less than 500m away from the Point of Interest Once in POI mode you can use the left right roll control to control the speed of the circle around the POI you can use the pitch to control the diameter of the circle and the throttle to control the height while circling STEP3 Switch off POI Switch the X2 channel to position to cancel POI mode STEP4 Switch on POI again Switch the X2 channel from to position when all requirements in step 2 are met then the multi rotor will once again turn towards the POI Note e Pay attention to the following statement which may also lead the MC to cancel POI 1 Switch U channel to Manual Mode or Atti Mode position or turn off transmitter or fly in waypoint mode 2 GPS status is bad wit
8. for example one motor is stopped or one propeller is broken etc The control mode of WKM should be in Atti Mode or GPS Atti Mode The aircraft will rotate due to an imbalance of torque however it can still be controlled by the TX Select Course lock or home lock mode for flying the aircraft into a safe area to land when the aircraft is far away or the attitude can t be recognized Even when the multi rotor is rotating using Course lock or home lock mode will allow you to move the multi rotor in the corresponding Tx stick direction Flight Limits Setting Height Limit If height restriction is needed please turn to the Tool tab of the assistant software Click and write a value Range 20 300m to the box so that the aircraft flight height will not higher than the max height in any control mode Manual ATTI GPS ATTI Mode However the FailSafe and the Ground Station operation are not restricted to this height limit If no height limit is needed please click OFF Distance Limit If distance restriction is needed please turn to the Tool tab of the assistant software Click JONI and write a value Range 30 500m in the box so that the distance from the aircraft to the Home point will not be longer than the max radius you set The Distance Restriction function ONLY works in GPS ATTI Mode The aircraft may fly out of the restriction when emergency brake is carried out at the border the buffer zone is about 10m if it flies o
9. is saved as home point by the MC automatically when you raise the throttle stick for the first time AND it has 6 or more GPS satellites acquired for more than 8 seconds 9 blinks once or no blinking gt 8secs After taking off every time the aircraft recorded a home point successfully the LED will blink Cyan quickly for indicating THEREFORE to use any form of Go home including FailSafe return home you must make sure 6 or more GPS satellites are acquired for more than 8 seconds blinks once or no blinking gt 8secs before take off this will assure correct recording of the Home position Go Home Altitude Determined by the reference altitude and the FailSafe method chosen That is the go home altitude may be different due to FailSafe method chosen e Hover The aircraft will remain hovering when the FailSafe starts Home Location Reference longitude latitude altitude If GPS satellite found gt 6 and last 8s Stay hover at the first time you pull the throttle Signal lost stick then record Home Location 2 Flight Aircraft Q Fail safe 2012 Dul Innovations All Rights Reserved 23 Go H Go home Flight altitude when FailSafe starts gt reference altitude 20m then go home altitude flight altitude when FailSafe starts Flight altitude when FailSafe starts lt reference altitude 20m then go home altitude reference altitude 420m Home Location Reference longitude latitude altitude
10. levels of low voltage protection You can choose to not to use them however we strongly recommend to enable the protection here Note e Make sure the two connections between the PMU and the MC PW to CAN interface V SEN to X1 are correct otherwise the low voltage protection will not work correctly e Both protections have LED warning as default First level will blink yellow light continuously second level will blink red light 9 continuously Both protections will only have LED warning under Manual Model NO AUTOMATIC functions e Low voltage conditions are NOT fun You should land your multi rotor ASAP on seeing any low voltage warning indication to prevent your multi rotor from crashing or other harmful consequences STEP2 Battery Power the MC using your normal flight battery and connect the MC with a PC the current battery voltage will be displayed in this column 2012 Dul Innovations All Rights Reserved 35 If the battery voltage displayed here is different from the voltage you measure using a voltmeter you have to calibrate Click the Calibration enter the voltage you have ee just measured in the Calibration column of the dialogue box and then click ok Meanwhile you need to select the battery type you are using so that the MC can provide default warning voltages and ranges of warning voltages for you STEP3 First Level Protection No Loadi No Load Voltage No load warning vo
11. off the multi rotor first then switch off the transmitter after landing carry out the test flights and gain adjustment with in an open area without a heavy wind Please read the first step of Autopilot in Configuration to learn how to adjust the gains Flying STEP1 Make sure your batteries are fully charged for your transmitter the MC and all the devices on your multi rotor STEP2 Check all connections and wiring and make sure they are in good condition and secure STEP3 Switch on the transmitter first then power on your multi rotor STEP4 Switch the control mode switch on your transmitter and make sure it is working properly Check using the LED indicator to specify the current working mode for the MC See Appendix for details about LED indicator STEP5 Switch the controller to Atti Mode Use any safe method to do the following test Increase the throttle to 20 slowly within 3 seconds after executing and make sure all the motors are working and then try to move the transmitter sticks lightly in Roll Pitch and Yaw to feel if your multi rotor moves in the corresponding direction If not go back to the Configuration Procedure and correct your settings 2012 DJI Innovations All Rights Reserved 41 Tips After a successful test flight the preparation before taking off can be simplified Put your multi rotor on level ground turn on the transmitter first power on the multi rotor when the LED light st
12. propeller is at Top Red propeller is at Bottom Otherwise all propellers are at top Ms M Y6 2012 DJI Innovations All Rights Reserved 51 Port Description Main Controller For roll control left right For pitch control front back For throttle control Or to gimbal roll servo For rudder control Or to gimbal pitch servo For Control Mode Switch For voltage monitor Connect with PMU V SEN port For D Bus S Bus S Bus2 compatible Or for gain tuning Or for IOC switch For gimbal pitch control Or for gain tuning Or for switch go home To 6 rotor To 5 rotor To 4 rotor To 8 rotor To 2 rotor To 1 rotor To gimbal pitch servo Or to 8 rotor To gimbal roll servo Or to 7 rotor Micro B USB port PC connection for configuration and firmware upgrades CAN Bus port MC uses CAN Bus to power and communicate with other WKM modules In three pin ports pins near the nicks are signal pins Power Management Unit V SEN PW For monitoring battery voltage and supplying power to receiver and other electronic devices Connect with MC X1 port White wire signal wire output 3 3V e Red wire power wire output 3A 5V For supplving power to WKM svstem e Output Max 2A 12 6V 2012 Dul Innovations All Rights Reserved 52 LED Description Flight States Manual Mode Atti Mode GPS Atti Mode Tx Signal Lost GPS satelltess eeo eeo GPS satellites lt 6
13. variety of models from quad rotor to octo rotor WKM Control Modes GPS Atti Mode Manual Mode Maximum angular velocity is 150 s Command Multi attitude control Stick center position for No attitude angle limitation and Stick Meaning 0 angle stick endpoint is 35 angle vertical velocity locking Command YES Linearity Locks multi rotor Only attitude Stick Released position when GPS NOT Recommend stabilization signal is adequate Maintains the altitude best above 1 meter Altitude Lock NO from the ground When the GPS signal Only attitude is lost for more than stabilization GPS GPS Lost 10seconds the GPS not used position lock not system enters Atti used in this mode Mode automatically Mixture of Attitude amp speed control ensures Safety Depends on experience stability Enhanced FailSafe Applications Sports flying Extreme flying 2012 Dul Innovations All Rights Reserved 3 In Box Main Controller MC x1 The Main Controller MC is the brain of the system it communicates with the IMU GPS Compass ESC s and RC transmitter to carry out autopilot functionality The Main Controller has a USB interface for configuration and firmware updates via a PC IMU x1 The Inertial Measurement Unit IMU consists of one 3 axis accelerometer one 3 axis gyroscope and a barometer It is used for sensing the attitude GPS amp Compass xi The GPS Compass module is for sensi
14. will blink C to indicate huge cumulative yaw errors caused by spinning the craft continuously in IOC In this case you can stop or slow down the spinning and continue flying after the O blinking has stopped so as to have 2012 Dul Innovations All Rights Reserved 31 better flight performance 8 When flying in Home Lock mode if any of the following situations happen then the system will quit Home Lock flying and automatically enter Course Lock flying e The aircraft fly s within 10m range of the home point You toggle the control mode switch to the ATTI Mode e The GPS signal becomes bad The GPS signal LED is blinking Red twice or three times Important in the Course Lock flying we mentioned above if the IOC switch is still at the HL position the system will use a new forward direction Example Fig1 recorded at the moment which is pointing from the home point to the aircraft when changing from Home Lock to Course Lock flying However if you toggle the IOC switch to the Course Lock the aircraft will fly in Course Lock using a different forward direction which was recorded previously Example Fig2 new forward direction previous forward direction related with the home point nothing with the home point N N Home Point Fig 1 Fig 2 2012 DJI Innovations All Rights Reserved 32 5 Gimbal GIMBAL 1 Gimbal Switch On OFF Output Frequency 2 Servo Travel Limit Center
15. 09 aw 100 100 100 100 100 0 am 100 100 100 100 100 100 cg 100 100 0 em 0 96 96 am 0 96 0 96 M3 M2 M Mi M5 Roll Axis UPd Now if move the roll stick right the sum of M2 M4 output Caz Cag 2C43 xA is positive the sum of M1 M5 M6 output Ca Cas 2 xA is negative then multi rotor moves right if move the roll stick left the sum of M2 M4 output Cas C44 2043 xA is negative the sum of M1 M5 M6 output Ca Cas 2C4e xA is positive then multi rotor moves left And the balance along all the other axes can be derived by substituting the roll stick command into equations set 4 Summary 1 you choose to customize all coefficients are configurable However you only have to setup as many as you need Leave the rest 0 2 Make sure you are clear about the definition of the positive and negative Make sure you are also clear about the relationship between the output quantity and motor rotation speed 3 Usually the coefficients of throttle and yaw are 100 or 100 The rest of the coefficients should be decided by the proportion of force arms of the motors 4 The method introduced in this section is only suitable for central symmetry multi rotor 2012 DJI Innovations All Rights Reserved 50 Multi Rotors Supported For coaxial propellers Blue
16. 12 DJI Innovations All Rights Reserved 22 STEP2 Advanced Parameters Usually you can ignore this section The default values are suitable for most conditions so we do NOT recommend you to change the parameters here For some special multi rotor experienced users can adjust the advanced parameters to have a better flight experience STEP3 Enhanced FailSafe Methods FailSafe methods include Hover Go homel and Altitude Go homel Choose one as your FailSafe method which will be triggered when the MC loses the control signal no matter what mode you flying one of the following situations 1 Signal lost between transmitter and receiver e g multi rotor is out of the communication range or transmitter has failed etc 2 One or more connections of A E T R U channels between the MC and receiver is lost If this happens before take off the motors will not start if you raise the throttle stick If this happens during the flight the LED will flash blue to warn you in addition to the FailSafe method If Hovering FailSafe method is configured and U channel is disconnected multi rotor will auto land Also you can select the Go Home Switch item to start go home Go homel and Altitude Go homel by using a TX switch during the flight when selected during flight the LED will flash purple instead of blue The Multi rotor position before takeoff including reference longitude reference latitude and reference altitude
17. CD bk ps M M5 em 0 0 Now if push the pitch stick the sum of M1 M2 output Ce Cg xE is negative the sum of M4 M5 output Ces xE is positive then multi rotor moves forward if pull the pitch stick the sum of M1 M2 output Ce xE is positive the sum of M4 5 output Ces xE is negative then multi rotor moves backward And the balance along all the other axes can be derived by substituting the pitch stick command into equations set 3 The theory of movement about the roll axis is the same with pitch axis However there is no motor on the axis in this case no coefficient is 0 We also want multi rotor to keep balance along all the other axes when apply the roll stick command a T5 Tla t x 0 keep throttle direction balance c a ila Ge du uc X A To keep yaw direction balance 4 c T Co XAXa c d x Xa To keep pitch direction balance Also proportion of coefficients of the motors at the same side of roll axis should be equal to the proportion of force arms of those motors Cz Ces Cg Cg Cee Cg 4 24 4 1 2 1 As we defined before Stick left A 0 multi rotor moves left Stick right A20 multi rotor moves right we can choose the following setup 2012 Dul Innovations All Rights Reserved 49 Motor Throttle Yaw Pitch am 100 100 10
18. EE 46 IIDETISROTORS SUPPORT ED sevi 51 PORT DESCRIP HON Mert 52 WED DESCRIPTION tel data 53 RECOMMENDED SETTING 54 SPECIFICATIONS zfin ane a E 55 2012 Innovations All Rights Reserved 6 Important Information For safety reasons please pay serious attention to all following items 1 10 11 12 13 Please disconnect the ESCs from the power battery or remove all propellers during firmware upgrade configuration and system setup Pay attention to the IMU mounting direction Do not mount the IMU upside down You have to reboot the MC and redo the TX calibration after you change the RC system In the TX Calibration menu of assistant software amp Throttle Screen slider left is craft down slider right is craft up e Rudder Screen slider left is nose left slider right is nose right e Elevator Screen slider left is craft back slider right is craft front e Aileron Screen slider left is craft left slider right is craft right GPS Compass is sensitive to magnetic interference it should be mounted far awav from anv electronic devices and motors Make sure vou switch on the transmitter first then power on the multi rotor Power off the multi rotor first then switch off the transmitter after landing Do not fly in GPS Mode when the signal is not good red ligh
19. Manual Mode and adjust the Tx end points and mid point to turn the corresponding area on the assistant software blue shown at the bottom of the TX MONITOR screen Tips e To move the slider is to adjust end points of the channel selected e For 3 position switch vou should assign Position 1 to Manual Model Position 2 to Model Position 3 to GPS Atti Model or reverse the assignment for Position 1 and Position 3 La 3 Position Switch i 2 bog m e For 2 position switch you can assign any two of the three control modes as you like Important You must setup the FailSafe of your Transmitter so during a FailSafe situation the area which reads turns blue Once FailSafe is setup if you switch off your transmitter the U channel slider should move to and turn the corresponding area to blue Otherwise please reset the FailSafe Please refer to your RC manual for the details of FailSafe setup Note e Do NOT set the FailSafe position of the throttle below 10 endpoint e MG will not execute the FailSafe protection if vou don t set it properlv Vou can verifv the FailSafe settings bv switching off vour transmitter and then vou can use the following methods to check whether the MC is in FailSafe mode e Check the Assistant Software status bar at the bottom of the software interface Fail Safel Control mode will change to JFailSafel i e Check the LED indicator Read the appendix in this manual for de
20. WooKong Multi Rotor User Manual V 3 9 2013 03 22 Revision chji www dji innovations com Warning amp Disclaimer WKM is an excellent autopilot system offering excellent flight features for low altitude multi rotor working in restricted space compared to a conventional RC helicopter It is not a toy when installed in multi rotors of any size Despite our efforts in making the operation of the controller as safe as possible 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 on power up we strongly recommend users to remove all propellers use power supply from R C system or flight pack battery and keep children and animals away during firmware upgrade system calibration and parameter setup As DJI Innovations has no control over use setup final assembly modification including use of non specified DJI parts i e motors ESCs propellers etc or misuse no liability shall be assumed nor accepted for any resulting damage or injury By the act of use setup or assembly the user accepts all resulting liability DJI Innovations accepts no liability for damage s or injuries incurred directly or indirectly from the use of this product Please read this manual carefully and strictly follow the steps to mount and connect the WooKong for Multi Rotor WKM system on your multi rotor as well as to
21. Z axis will lead to an oscillation of your multi rotor 3 Make sure you follow the diagram in our assistant software red is positive green is negative unit of measurement is CM NOT INCH i e centimeters 2012 DJI Innovations All Rights Reserved 14 2 Motor Mixer Motor Mixer 1 Mixer Type Quad rotor Quad rotor X Hexa rotor Hexa rotor V Hexa rotor IY Hexa rotor Y Qcto rotor X Octo rotor Octo rotor V customize Motor Throttle Yaw Pitch Roll cm 0 10 0 10 CA 0 0 96 0 0 CE 0 0 0 96 0 cm 0 10 o o B 09 05 o 0 CB 1 0 0 96 0 96 am 0 os os 0 EIID 0 10 fo 10 2 Motor Idle Speed STEP1 Mixer Type Set your transmitter into mode Then select the right mixer type according to your multi rotor Tips e We support nine types of multi rotors Please refer to Multi Rotors Supported in Appendix e If you want to use a camera gimbal with an Octo rotor you have to use an S Bus S Bus2 or PPM receiver and then vou can use port T and R for gimbal control Otherwise there will be no ports available on the MC for gimbal control Note e Do NOT follow the instructions from vour multi rotor manufacturerl Make sure the rotation direction of each motor is the same as the assistant software figure shows If the rotation is wrong switch any of two wire connections of the incorrect motor to change its rotation direct
22. a 2 position switch is used do NOT set a 2 position switch as Control 1 and at the same time Control 2 and at the same time Control 3 and at the same time Course Lock Usage During the same flight STEP1 Record STEP2 ON STEP3 OFF STEP4 ON again Nose direction 777 Forward direction 02012 DJI Innovations All Rights Reserved 27 STEP1 Record forward direction There are two ways Manually and Automatically The LED will blink quickly if recording is successful a STEP2 Automatically The MC will record the current nose direction as forward direction 30 seconds after you power on the multi rotor PLEASE BE AWARE OF THE FORWARD DIRECTION WHEN YOU SWITCH ON THE MULTI ROTOR IF YOU USE COURSE LOCK Manually You can switch the X2 channel between and position quickly 3 to 5 times to record the current nose direction as the new forward flight direction at any time after you power on the multi rotor for longer than 30 seconds Switch on course lock Switch the X2 channel from to position when all the following requirements are met the LED will blink slowly to indicate the mode a b STEP3 STEP4 The forward direction is recorded successfully The MC is in Atti or GPS Atti Mode Switch off course lock Switch the X2 channel to position to quit course lock Switch on course lock again When all requirements in step 2 are met Switch the X2 channel from to position No
23. after you change the setup of your transmitter or change your receiver Tips e If you use S Bus S Bus2 PPM receiver the communication of A E T R U X2 and X3 channels are all through the D Bus PPM channel Right figure shows the connection of default transmitter channels and MC channels in S Bus S Bus2 PPM receivers Only the first 8 channels of S Bus S Bus2 PPM receivers are used at the moment Then the original T and R channels are for Gimbal servo control 2012 DJI Innovations All Rights Reserved Transmitter MC Channels Channels 2 E 3 R 5 U 6 x2 y X3 17 STEP2 Cut Off Type Please read the introductions of start and stop motor in this step first and then choose a cut off type 1 Start Motor When using WKM pushing the throttle stick before takeoff will not start the motors You have to execute any one of following four Combination Stick Commands to start the motors Stop Motor We provide two options to stop motors Immediately or Intelligent Mode By using this mode in any control mode once the motors start and the throttle stick is above 10 the motors will stop immediately when the throttle stick is back below 10 again In this case if you push the throttle stick above 10 within 5 seconds after the motors stop then the motors will re start is not needed If you don t increase the throttle stick within 3 seconds of the motors st
24. and Yaw are the same as before Please land ASAP to prevent your multi rotor from crashing or other harmful consequences Note If your multi rotor goes into the second level protection during Go Home in the first level protection it will land immediately If you switch into Manual or Atti Mode you will regain the control and the center point of the throttle stick will move up slowly to 90 of endpoint Please land ASAP to prevent your multi rotor from crashing or other harmful consequences 2012 Dul Innovations All Rights Reserved 38 Flight Digital Compass Calibration Why calibrate the compass Ferromagnetic substances placed on the multi rotor or around its working environment will affect the reading of magnetic earth 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 the MC system performs well in a non ideal magnetic environment When to do it The first time you install WKM on your multi rotor When the multi rotor mechanical setup is changed a Ifthe GPS Compass module is re positioned b If electronic devices are added removed re positioned Main Controller servos batteries etc c When the mechanical structure of the multi rotor is changed If the flight direction appears to be shifting meaning the multi rotor doesn t fly straight The LED indicator often indicates abnormali
25. arting then the motors will stop automatically Mode By using this mode different control modes have a different way of stopping the motors In Manual Model only executing can stop the motors In Atti or IGPS Atti Model any one of the following four cases will stop the motors a If you don t increase the throttle stick within 3 seconds of the motors starting b Executing c Throttle stick under 10 and after landing for 3 seconds The angle of the multi rotor is over 70 and throttle stick under 10 has Mode You have to execute SC to start the motors Only raising the throttle stick will not start the motors In Atti GPS Atti Model it has landing judgment which will stop the motors Start motors in Atti GPS Atti Model you have to execute CSC and then push throttle stick over 1096 within 3 seconds otherwise motors will stop after 3 seconds During normal flight only lowering the throttle stick under 1096 will not stop the motors in any control mode For safety reasons when the slope angle of the multi rotor is over 70 during the flight in may be caused by collision crash motor and ESC error or propeller broken and throttle stick is under 1095 the motors will stop automatically You can stop the motors by executing in any control mode 2012 Dul Innovations All Rights Reserved 18 Note T The two cut off types will only work correctly if the Tx calibration is correct 2 When Tx comman
26. arts to blink normally you can take off in JAtti Mode 2012 DJI Innovations All Rights Reserved 42 Flying with GPS Note e When the svstem is powered on vou must not move vour multi rotor or sticks on the transmitter until the svstem initialization is finished about 5 second e Make sure the GPS signal is good without red blinking LED Otherwise the multi rotor will drift without stick commands e Please avoid using the MC system in the following areas where the GPS signal is most likely weak or totally obstructed Built up Urban area with many buildings e Tunnels Under bridges Tips Should you find the multi rotor does not fly straight in forward flight you might need to re mount the GPS module in an offset angle as shown in the diagram below O in the diagram is the offset angle e em Actual flight direction Objective flight direction GPS mounting direction oe OA Em uc O O OF aj og Actual flight direction i VA KURA 9 I Tib objective flight direction ux l hi j G PS Mounting direction 2012 Dul Innovations All Rights Reserved 43 Enhanced Features Attitude Control When One Motor Output Has Failed This feature is for Hexa rotor including Hexa rotor Hexa rotor V Hexa rotor IY and Hexa rotor Y The WKM can still control the attitude of the Hexa rotor for a safe landing when one motor output of the Hexa rotor has failed
27. 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 R C Receiver JR R C Receiver Futaba Hitec F PMU amp Battery S Bus S Bus2 S Bus S Bus2 R C Receiver PPM PPM m mmm m There is no requirement for PMU mounting Use our PMU Connecter red line depicts in figure to connect battery PMU and ESCs For safety reason please disconnect ESCs and battery connecter during the firmware upgrade and configuration procedure You can choose 25 65 LiPo battery Sufficient air flow over the PMU is highly recommended LED Indicator Place the LED indicator at an appropriate location of craft body far away from the GPS Do not mount it on other electronic devices Make sure You can see the light during the flight You can connect LED to the CAN Bus port on GPS connection wire 2012 DJI Innovations All Rights Reserved R C System These are example connections Please setup Aileron Elevator Throttle Rudder channels on your Tx first and choose one 2 or 3 positions switch channel as control mode switch then connect
28. ck left A lt 0 multi rotor moves left Stick right A20 multi rotor moves right 6 Multi rotor should keep balance along all the other axes when moves along one axis e To keep throttle direction balance sum of all motors output should be 0 when apply rudder or pitch or roll stick command e To keep yaw direction balance sum of counter clockwise motors output should be equal to sum of clockwise motors output when apply throttle or pitch or roll stick command e To keep pitch direction balance total torques produced by motors at each side of pitch axis should be the same when apply throttle or rudder or roll stick command e To keep roll direction balance total torques produced by motors at each side of roll axis 2012 Dul Innovations All Rights Reserved 46 should be the same when apply throttle or rudder or pitch stick command 7 To pitch or roll control proportion of coefficients of the motors at the same side of pitch or roll axis should be equal to the proportion of force arms of those motors Cm Cn Lm Ln Coefficient is 0 if the force arm of that motor is 0 Roll Axis M M1 v M3 M 4 p Vaw Axis M M5 Now we take the Hexa rotor V as an illustration to introduce how to customize motor mixer Throttle Usually we want push the throttle stick to ascend the multi rotor pull the throttle stick to descend the multi rotor put the throttle stick at center point to hover th
29. diameter x 9mm e LED Indicator 25mm x 25mm x 7mm e PMU 39 5mmx27 5mmx9 7mm Flight Performance can be effected by mechanical performance and payloads Hovering Accuracy GPS Mode Maximum Wind Resistance Max Yaw Angular Velocity Max Tilt Angle Ascent Descent e Vertical 0 5m e Horizontal 2m lt 8m s 17 9mph 28 8km h 150deg s 357 6m s 55
30. dication 12 Output Onl Indicates the outputs of the ESCs are enabled when communication is established between MC and assistant software via the USB cable appears it indicates no output to the motors and then you can safely configure your multi rotor with the assistant software 13 Redlight WKMePC has been disconnected Green light PC is connected Blue light WKM e PC communication 14 Configuration sub menus 15 Configuration step Note 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 You have to register at the first time you use the assistant software It will auto detect the software version when you open the assistant software and will give you a prompt message if your version is not the latest one e Do not disconnect MC and PC when you are importing or exporting data You can only import version compatible configuration data 2012 DJI Innovations All Rights Reserved 11 Firmware Upgrade Please strictly follow the operation procedure for firmware upgrade otherwise WKM might not work properly For safety reasons use the PMU to supply power for the main controller and do not use power battery to motors during firmware upgrade 1 Make sure your computer is connected to the Internet 2 Please close all other applications during the firmware upgrade including anti virus software and firewall 3 Make sure t
31. ds are valid under any control modes the motors will start or stop immediately when you execute esc It has nothing to do with the current throttle stick position Please DO NOT executes during flight without a good reason 3 If you choose lmmediately mode you should not lower the throttle stick under 10 during flight because this will stop the motors If you do it accidentally you should push the throttle stick above 10 within 5 seconds to re start the motors 4 f you choose mode throttle stick below 10 will trigger landing judgment in any control mode In this judgment pitch roll and yaw controls are disabled except throttle but the multi rotor will still auto level 5 In any control mode DO NOT lower the throttle stick below 10 during normal flight without a good reason 6 In any auto action caused by FailSafe or low voltage protection e g auto Go Home any commands applied to start or stop the motors are denied by the MC motors will auto control STEP3 Command Sticks Calibration On screen Slider Definition Slider left is craft down slider right is craft up Slider left is nose left slider right is nose right Slider left is craft back slider right is craft front Slider left is craft left slider right is craft right STEP1 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 sett
32. e lock automatically when multi rotor flies out the 10m range around home point 2 When the multi rotor is flying in home lock at a distance away from you and the home point please do not switch the X2 channel many times quickly as this will change the recorded home point to the current location 3 Avoid using POI in areas where the GPS signal might be lost or the TX RX signal might be lost such as built up urban areas 4 By using a 3 position switch if you want to record a new home point and point of interest manually it is recommended to record them separately so as to make sure the recording is successful Please pay attention to the following contents for correct recording e Control 1 DO NOT switch X2 channel between and position but only between and Course Lock or and position e Control 2 DO NOT switch X2 channel between and position but only between OFF and Course Lock or and position e Control 3 DO NOT switch X2 channel between and position but only between and POI or and position 5 We suggest you use home lock in a limited area which is greater than 10m away from the home point and use in a limited area greater than 5m and less than 500m away from the Point of Interest 6 If there is poor GPS quality during the flight then the M C may not give an accurate flight path for the radius around the point of interest 7 Continuously spinning the multi rotor will accumulate yaw errors The LED
33. e multi rotor We also want multi rotor to keep balance along all the other axes when apply the throttle stick command wu F C xT C FO keep yaw direction balance 1 T3 T5 T2 TA T6 c c T Tokeep pitch direction balance 1 20 c Toc 2C XT xd To keep roll direction balance As we defined before Pull stick T lt 0 multi rotor moves down Push stuck T gt 0 multi rotor moves up we can choose the following setup Motor Roll Axis ci M Mi M2 C v cuo M3 M 5 c gt x co CD M M5 CID Now if push the throttle stick the sum of all motors output Cri Cro Cra Crs is positive then multi rotor moves up pull the throttle stick the sum of all motors output T is negative then multi rotor moves down And the balance along all the other axes can be derived by substituting the throttle stick command into equations set 1 2012 DJI Innovations All Rights Reserved 47 Yaw The movement about yaw axis is produced by the counter torque force from the rotation of propeller In our example M1 M3 M5 produce clockwise torque force M2 M4 M6 produce counter clockwise torque force When the hexa rotor is hovering all the rotors are spinning at the same angular velocity which means the clockwise torque force equals to counter clockwise t
34. es red the calibration has failed Switch the control mode switch one time to cancel the current calibration and then re start from step 1 for re calibration Tips If you keep having calibration failure it might suggest that there is very strong magnetic interference around the GPS amp Compass module please avoid flying in this area 2012 Dul Innovations All Rights Reserved 40 Test Flying Before First Flight Note e Make sure vou have assembled vour multi rotor correctiv e Make sure vou have done the configuration procedure correctiv e Anv of the following mav lead to a possible dangerous accident if incorrect double check all these items Rotation direction of all motors is correct Propellers are installed correctly and on the correct motors B IMU installation is correct lm All Connections are correct including between the MC and ESC Atti and mode throttle stick center position is for 5 in the vertical direction If you lower the throttle stick to the bottom during the flight the multi rotor will descend If you lower the stick to the bottom on the ground it will stop the motors after 3 seconds However slow spinning motors will affect the flight performance we advise to keep the throttle stick position higher than 10 during the flight In Manual Mode it will stop the motors when the throttle stick is below 10 e Make sure vou switch on the transmitter first then power on the multi rotorl Power
35. est flving the roll channel controls the multi rotor circular flight speed around a fixed point the pitch channel is used for controlling the diameter around the fixed point the throttle is used to control the height around the fixed point See the following chart Tx Mode 2 o i l Q e e Semi diameter e POI Pd Usual ly e Point of Interest Step1 Before using the IOC function you have to choose a 2 or 3 positions switch on your transmitter as the IOC switch which is also used for recording the multi rotor orientation home position or point of interest in corresponding modes Step2 Connect the correct channel of the receiver to the X2 port of the MC You can select to change the IOC control mode options Three IOC control options are available they are Control 1 and Control 3 and every option contains two IOC functions Control 1 Home Lock Course Lock Control 2 PPOI Course Lock Control 3 Home Lock Step3 Toggle the Tx switch and observe the slider position of channel X2 on the assistant software screen the corresponding area should turn blue WH SQW e For 3 position switch or exchange Position 1 and Position 3 2012 DJI Innovations All Rights Reserved 26 Control 1 Position 1 is OFF Position 2 is Course Lock Position 3 is Home Lock Control 2 Position 1 is OFF Position 2 is Course Lock Position 3 is Control 3 Position 1 is OFF Posit
36. h three O blinking 3 Multi rotor flies back within 5m or further than 500m from the POI Tips 1 LED will blink slowly to indicate the IOC mode only when the MC is really flying in course lock or home lock or POI 2 We suggest that you should know clearly which flight lock method you are going to fly and make sure the locked forward direction home point or point of interest is recorded correctly 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 2012 Dul Innovations All Rights Reserved 30 FailSafe 4 In Control 1 when flying using home lock if the GPS signal becomes weak the MC will automatically switch to course lock using the current not recorded forward flight direction 5 It is recommended that the pilot should be near the home point to use home lock or near to the point of interest to use POI flight 6 It is recommended to use a 3 position switch for X2 channel Note 1 Before home lock flight you d better fly the multi rotor out of the 10m range around home point then slide X2 channel switch to position to fly in home lock when all the requirements are met If you have already slide X2 channel switch to position when the multi rotor is still in 10m range around home point and this is the first time you are going to fly in home lock during the current flight then if all the requirements are met MC will change into hom
37. he S N and then click button If you filled in an invalid S N over 30 times your MC will be locked and you have to contact our customer support 02012 DJI Innovations All Rights Reserved 12 Configuration 1 Mounting MOUNTING DEFAULT 1 IMU Orientation C Forward C Backward C Left C Right 2 Mounting Location IMU oem om i cm GPS oem Y cm Example Green line far negative 7 l cm Red line for positive STEP1 IMU Orientation Select IMU mounting orientation Orientate the IMU such that the arrow marked on the printed surface of the IMU faces the sky and points directly forward backward left or right The sides of the IMU should be precisely parallel to the multi rotor body Note Do not mount the IMU upside down STEP2 Mounting Location Install all pavloads that will be used during the flight including batteries camera mount and camera Balance the multi rotor as vou would normallv with the center of gravitv C G directiv on the center plate Fill in the distance between the center of the IMU GPS case and the C G of the multi rotor in X V amp Z axis as showed in the figure Notices Note 2012 DJI Innovations All Rights Reserved 13 1 You must re measure and re configure if the ALL UP WEIGHT of the multi rotor has changed 2 f measured locations are not accurate enough or the signs are wrong then the error on the X Y
38. he power supply is securely connected DO NOT un plug the power supply until firmware upgrade has finished 4 Connect MC to PC with the Micro USB cable DO NOT break the 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 eo eel mec GL If there is a firmware version more up to date than your current version you will be able to click the button 9 Wait until Assistant software reads Finished 10 Click and power cycle the unit after at least 5 seconds Your unit is now up to date Note e After firmware upgrade please re configure WKM using Assistant software Default all values before re entering your settings If it is notified that the network or DJI server is busy please try again later with above procedures If firmware upgrade failed WKM will enter waiting for firmware upgrade status automatically please try again with the above procedures Product Info You can check the MC product version via gt Info This includes software version firmware version IMU version hardware ID and loader version S N is a 32 digit authorization code for unit function activations We have already filled in the authorization code for your unit after manufacture You might be asked to fill in the new S N in the future if you brought new function upgrades Fill in t
39. hest is the advised level You can reset the according to the real situation Note e For users whose aircraft takes off at a low throttle position please set the idle speed at a low level e For common users please set Motor Idle Speed to RECOMMEND or above since setting idle speed too low may affect the motor s spool up Tips e The output pulse width for every point of Motor Idle Speed is as follows output pulse width 1144 us 1160 us 1176 us 1192 us 1208 us e There is a relationship between the output pulse width and the max min pulse width when the TX End Point is 100 output pulse width max pulse min pulse x proportion min pulse e Vou can get the proportion value bv calculating 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 Dul Innovations All Rights Reserved 16 3 Tx Monitor TA MONITOR Receiver Type 2 Cut Off Type Tradition CO D Bus PPM IMM Intelligent Calibration 4 Sticks Monitor alcortrol Made Switch Note Make sure you have removed all propellers before this step STEP1 Receiver Type Choose the type of your receiver If you use an S Bus or S Bus2 receiver please choose S Bus S Bus2 compatible option D Bus If a PPM receiver is used please choose PPM Otherwise choose Tradition Note Please reboot the MC and redo the calibration
40. illation is noticed after you release the stick Then decrease the gain a little until the oscillation just disappears Now the gain is perfect If the Tx stick reaction of the attitude is slow you should follow the section a little down the page to tune the attitude gains The way of tuning the Yaw gain is the same as the way of adjusting the Tail Gyro of a helicopter If you want quicker stopping reaction speed increase the gain otherwise decrease the gain However the rotation speed of the multi rotor is produced by the counter torque reaction force and the magnitude of which is limited Therefore a large gain value will not produce tail oscillation like on a helicopter but severe reaction of the 2012 DJI Innovations All Rights Reserved 21 start or stop of the motors which will affect the stabilization of other axis You can 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 the center position 2 The change of altitude is small during the flight along a route You can increase the gain slowly 10 each time until an oscillation in the vertical direction appears or the reaction of the throttle stick is too sensitive then decrease 20 of the gain Now you should have a suitable Vertical gain Attitude gains determine the reaction speed of attitude from a Tx command stick input The bigger the value the quicker the reaction from the Tx command A
41. ings as default since the end point of transmitter ra k sticks will be recorded here STEP2 Click START button and move all of the sticks throughout 4 ET gt E T i E e their complete range several times STEP3 After that click FINISH button when you finished above procedures STEP4 If the moving direction of the slide is opposite to the Slides Moving Definition click the reverse button NORM at the right side of the screen Note 1 All sliders should become when all the Tx sticks are in the middle positions If the sliders cannot go back to center points become B just click FINISH then the sliders will be at center automatically If still not centered please reboot the MC and do not apply any Tx command during 2012 Dul Innovations All Rights Reserved 19 the reboot 2 CSC may not start motors If trims and sub trims of Tx sticks are not 0 STEP4 Sticks Monitor This step is optional X2 and X3 is for remote gain tuning X3 is also for gimbal pitch control Setup the channel on your RC correctly STEP5 Control Mode Switch Whichever 2 or 3 position switch on your transmitter you have selected to use as control mode switch connect the correct channel of the receiver to the U port of the MC At each switch position use end point fine tuning on your transmitter Move the Transmitter slider switch of the channel U to GPS GPS Atti Mode Atti Mode IM
42. install the Assistant software on your computer Please observe all local laws and regulations of the country you are operating the equipment in For example AMA s Academy of Model Aeronautics National Model Aircraft Safety Code USA BMFA British Model Flying Association Model Aircraft Safety Code CAA Civil Aviation Authority Model Aircraft and UAV Codes of practice DMFV German Model Flying Association Model Aircraft Safety Code These are only a few examples please investigate the laws and regulations for your particular location Never fly over others or near crowds DJI and 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 DJI Innovations No patent liability is assumed with respect to the use of the product or information contained herein 2012 Dul Innovations All Rights Reserved 2 WKM Profile DJI WooKong for multi motors WKM is an autopilot system designed for serious multi rotor enthusiasts providing excellent self leveling and position holding which completely takes the stress out of flying RC multi rotors for both professional and hobby applications WKM can be installed in a
43. ion e Make sure the tvpe of propeller matches the rotation direction of the motor e When you set from to rotor the gimbal setting will automatically switch to loffi for safety which may lead the gimbal to tilt to one side please turn to the section for reconfiguration Customize This section is reserved only for very special cases such as customized airframes in non conventional rotor arrangements In the event an airworthy multi rotor craft with such rotor arrangement will require customized settings to meet the WKM controller algorithm Please write to our support department or dealer together with photos of the multi rotor for assistance 2012 Dul Innovations All Rights Reserved 15 Tips e Please refer to Customize Motor Mixer section in Appendix for how to customize a central symmetry multi rotor e If vou customize the motor mixer of a quad rotor or hexa rotor F1 and F2 ports can still be used for gimbal servo control STEP2 Motor Idle Speed Motor Idle Speedi is the lowest speed after motor start Set Motor Idle Speed will affect the motor lowest speed after motor start There are five levels from speed to HIGH speed and the default is RECOMMEND You can click and drag the cursor J to the corresponding level to change Motor Idle Speed Lower motor idle speed Higher motor idle speed Set as LOW the motor idle speed will be lowest Set as HIGH the motor idle speed will be hig
44. ion 2 is PO Position 3 is Home Lock For 2 position switch Control 1 Position 1 is Position 2 is Course Lock Or Position 1 is OFF Position 2 is Home Lock Control 2 Position 1 is Position 2 is Course Lock Or Position 1 is OFF Position 2 is Control 3 Position 1 is OFF Position 2 is Or Position 1 is OFF Position 2 is Home Lock The course home point and point of interest can be recorded manually by toggling the 3 position switch 3 to 5 times between two switch positions the recorded point is different for different switch combinations The following shows how the MC will record the different points Position 1 Position 2 Position 2 is recorded Position 2 Position 3 Position 3 is recorded Position 1 Position 3 Position 3 is recorded but Position 2 may also be recorded at the same time Danger may occur if users are not aware of the change so it is not recommended to record Position 3 by this way e If you use an S Bus S Bus2 PPM receiver the default channel connection is shown in the Tx Monitor Heceiver Type section Then you only need to assign a 2 or 3 position switch of your transmitter to channel 5 e If the assistant software does not give the correct response Use end point fine tuning on your transmitter to adjust the X2 channel to give the correct switch indication in the assistant software the corresponding area should turn blue NotE When
45. is procedure is called Mix Control The proportion of rotors outputs is decided by the mechanical structure Customers can setup the motor output coefficients C in gt so as to realize the Mix Control Before customization you should following knowledge 1 Motor output C x Stick position A or E or T or R Torque produced by motor Motor output x Force arm of motor L C x Stick position A or E or T or R xL 2 The range of C is from 100 to 100 Maximum C in the same column is 100 The bigger absolute value of C The great effect of stick position on motor output Stick position will not affect motor output when C is 0 which means the motor output is fixed 3 Each motor has four different output coefficients Cy Cp E g represents coefficient of M2 in yaw control Crs represents coefficient of M5 in roll control 4 Motor output is relative to its rotation speed The bigger output the faster rotation speed Negative output does not represent counter rotation but slower rotation speed Motor is still spinning if its output is O 5 Throttle stick position T Pull stick T lt 0 multi rotor moves down Push stuck T gt 0 multi rotor moves up Rudder stick position Stick left R O multi rotor nose left Stick right R20 multi rotor nose right Elevator stick position E Pull stick E lt 0 multi rotor moves backward Push stuck E gt 0 multi rotor moves forward Aileron stick position A Sti
46. it s because the internal resistance of the batterv is high or the batterv is old we suggest vou replace itl e Generallv the line loss voltage of different batteries is different For the consideration of safetv we recommend that vou acquire all the line loss voltages of all the batteries vou intend to use and enter the lowest value for the Loss e When vou change the pavload or multi rotor vou have to obtain the new line loss voltage e The line loss voltage will be higher after manv flights vou should obtain a new value after charging 30 times e Make sure your ESCs protection voltage is lower than 3 1V 1S otherwise the WKM low voltage protection will not work Acquire the line loss voltage bv the method above and enter the value Enter a reasonable warning voltage in the No Load Choose a safeguard method 1 LED warning This is the default safeguard when you switch on the low voltage protection 2 Go Home and Landing This safeguard will NOT be triggered if anv of the following conditions are true a or Atti Mode b GPS signal is not good c The distance between the Home Location and multi rotor is less than 25m and the altitude is lower than 20m relative to the Home Location Here the recorded Home Location is the same as the one used for Enhanced FailSafe Please refer to Enhanced FailSafe in Autopilot Note e There will be a 4 second LED warning before Go Home e switch to or during Go Home you will regain the contr
47. l angle The bigger the gain the bigger the reaction angle Click NORM and then vou can reverse the feedback control directions STEP4 Manual Control Speed Range 0 to 100 Vou should assign one of the knobs on vour transmitter to the X3 channel for controlling the Pitch direction angle of the camera gimbal during flight Then adjust the reaction speed of the pitch direction manual control the initial value 100 is full speed When X3 is set as remote gain or for switch go home users can not adjust the gimbal pitch using the X3 channel while WKM still provides enhanced stabilitv for the gimbal the gimbal pitch and roll will return to the center position Note e If the X3 channel is used for controlling the Pitch of the gimbal then the X3 cannot be used for remote gain tuning or Go Home switch 2012 DJI Innovations All Rights Reserved 34 6 Voltage Monitor VOLTAGE MONITOR 1 Protection Switch C ON C OFF 2 Battery Current Voltage CONNECTED Calibration Battery type s LiPo 3 First Level Protection Load Loss Loaded 0 00 V 0 00 V 0 00 V Safeguard c LED Warning C amp Landing 4 Second Level Protection No Load Loss Loaded zm 0 001 Safeguard Descending STEP1 Protection Switch In order to prevent your multi rotor from crashing or other harmful consequences caused by low battery voltage we have designed two
48. llation GUI graphical user interface ABOUT PE MOUNTING 1 IMU Orientation fe Forward C Backward f Left Right 2 Mounting Location Example Green line for negative gt Red line for positive i DO NOT MOUNT THE IMU UFSID D oO Wi CONTROL MODE Unkhown 2012 Dul Innovations All Rights Reserved 10 1 TOOL Flight Limits Set the height limit or distance limit if necessary please refer to the section of Flight Limits for details Firmware upgradel Update your firmware from DJI server keep your WKM system up to date gt Set remote gains in Autopilot menu to INH for Updates Check for latest versions of assistant software and firmware If necessary you can follow the links displayed to find the download page 2 ABOUT gt Info Information regarding your WKM gt Error code list 3 Er Chinese interface 4 ENGLISH English interface 5 Write data of the current page to your MC The parameter or the title of which will turn red and bold when modified make sure you click the button or press to update your system Optional parameters will be written to MC directly after modification READ Read parameters from MC for current page EXPORT Export configuration data IMPORT Import version compatible configuration data Coco N OO Graphical guidance 10 Text guidance 11 CONTROL Control mode in
49. lso an increased value will also give a sharper and quicker leveling action after the command stick is released The control feeling will be stiff and rigid if the value is too high and sluggish leveling action and slow braking if too small Note You MUST click the button before configuring the gains for the first time and also after a firmware upgrade before re entering your settings e The vertical gain has no effect in manual mode Tips e If you are a new user to this system you can tune the basic parameters first as follows 1 Increase the basic parameters 10 at a time so as to make your multi rotor hover or lightly oscillate after small angular command inputs 2 Decrease the basic parameters until your multi rotor can just hover without oscillation then decrease 10 more e If the basic parameters are far away from the required values the advanced parameters will not work e Vou can use the remote gain tuning channels to tune the gains during the flight 1 Follow the instructions in Assembly R C System section to connect and setup correctly 2 Choose the X2 or X3 channels in Remote Adjust for the gain you want to tune One channel to one gain 3 The range of the remote tuning is from half of the current entered value to twice current value Usually the Pitch Roll Attitude Pitch and Attitude Roll Gains of a hexa rotor are higher than a quad rotor e Vou will find example settings at the end of this manual 20
50. ltage Vou need to enter this value Line Loss Voltage The battery voltage drop during the flight You need to enter this value Loaded Loaded Voltage The real time battery voltage during the flight This is the actual warning voltage monitored bv the MG Does not require vour input calculated bv No Load and Loss Tips Voltage Magnitude Relation e No Load First level gt Second level 055 First level Second level e Loaded Calculated First level gt Second level Method of Acquiring Line Loss Voltage 1 Make sure you can fly your multi rotor normally with a fully charged battery 2 Use a fully charged battery switch on the low voltage protections in assistant software and observe the current voltage Enter a reasonable warning voltage in the No Load of first protection We recommend to enter a voltage 1V lower than the current voltage and higher than the minimum battery voltage rating Enter OV for the Loss at the moment 3 Fly the multi rotor until the first level protection is triggered and the LED is flashing yellow Now land your multi rotor ASAP 4 Connect the MC to PC open the assistant software and read the current voltage The Loss Line loss voltage is the difference between the new current voltage and the first level No Load voltage you filled in 2012 Dul Innovations All Rights Reserved 36 Note e If the line loss voltage of a battery is over 0 3V per cell e g 3S battery over 0 9V
51. nd ESCs WKM output is 400Hz refresh frequency Connect all ESCs to MC by the motor numbering method introduced in Multi Rotors Supported of Appendix If you use 3rd party ESCs please make sure the ESCs travel midpoint is at 1520us DO NOT use 700us travel midpoint ESC as it may lead aircraft to fly away or cause injury and damage After connect ESCs calibrate ESCs one by one through the receiver directly before connect them to your MC Make sure program all of them into Governor off Break off and Normal Start up to get best experience If you use 3rd party ESCs please cut the red wire power wire of your ESCs as the power from V SEN on PMU is suitable to most of receivers and other electronic devices If you use extra BEC please use a servo cable without power wire to connect V SEN to X1 Not recommend 9 Assistant Software Software and Driver Installation STEP1 Please download assistant software and driver from our website If your operating system is 32bit download 32bit driver if your operating system is 64bit download 64bit driver Then decompress STEP2 Connect MC Main Controller and PC via USB cable power on MC STEP3 If operating system tries to install driver automatically cancel it STEP4 Open folder or Wookong Multi Rotor Driver 6401 double click file and follow the steps to finish installation STEP5 X Open the assistant software folder double click file and follow the steps to finish insta
52. ng the position and direction LED Indicator x1 NEN The LED indicates different states of system e Power Management Unit PMU x1 Specially designed for the WKM to convert the higher voltage of the power circuit to the lower voltage required for the receiver etc It contains two regulated power outputs for the entire WKM control system and receiver separately a battery voltage monitor and two CAN Bus interfaces GPS Bracket x1 Because the GPS amp Compass are sensitive to magnetic interference you should use this bracket to mount the GPS module PMU Connecter x1 For connections between battery ESCs and PMU USB Cable x1 This cable is used to configure the MC and to update the firmware 2012 Dul Innovations All Rights Reserved 4 3 PIN Servo Cable x10 Cables used to connect the Main Controller to the RC receiver Mounting Pads x4 For fixing WKM components on the multi rotor s frame Warranty Information Card xi It lists the necessary steps for using the WKM system and related safety advice Please fill out the customer amp multi rotor information card and return to DJI Innovations to register your product warranty 2012 Dul Innovations All Rights Reserved 5 Index WARNING amp DISCLAIMER a iti A S e ES EAR ka 2 M M 3 IN BOX qe a a N OAE a at 4 INDEX qc
53. ol LED warning will be still on please land ASAP e Ifyou switch back into the when you are in first level protection you will have 15s time to control your multi rotor you should land ASAP in this 15s to prevent your multi rotor from crashing or other harmful consequences After this time if the Go Home and landing requirements are satisfied the multi rotor will Go Home and Land automatically e If you choose LED warning please land ASAP after you see the LED warning to prevent your multi rotor from crashing or other harmful consequences e Compare the Go Home and Landing of low voltage protection and the Go Home and Landing in Enhanced Failed safe the recording of the Home Location are the same the Go Home routes are the same the difference is that there is no hovering before landing in low voltage protection 2012 DJI Innovations All Rights Reserved 37 STEP4 Second Level Protection 1 Fill the warning voltage and line loss voltage in No Load and Loss using the method introduced in previous steps 2 When the second level protection is triggered the LED warning will be on Meanwhile the center point of the throttle stick will move up slowly to 90 of endpoint you should land ASAP to prevent your multi rotor from crashing or other harmful consequences 3 When the throttle center point is at 90 of endpoint the multi rotor will still ascend slowly if you continue to raise the throttle stick and the control of Pitch Roll
54. orque force and this produces exactly 0 angular acceleration about yaw axis Therefore when the rotate speed of M1 M3 MB is larger than M2 M4 M6 hexa rotor spins clockwise when the rotate speed of M1 M3 M5 is smaller than M2 M4 M6 hexa rotor spins counter clockwise We also want multi rotor to keep balance along all the other axes when apply the yaw stick command c dus dedos Fy deu C x R 0 keep throttle direction balance c F xRxa c F R keep pitch direction balance 2 c VE 2 xRxd c Tc 2 x R keep roll direction balance As we defined before Stick left R lt 0 multi rotor nose left Stick right R20 multi rotor nose right we can choose the following setup Motor Throttle 100 100 96 100 100 100 100 96 Roll Axis SIXW AH Now if move the yaw stick right the sum of M1 M5 output Cn Crs xR is positive the sum of M2 M4 M6 output Cro Cre xR is negative then the clockwise torque force is larger than counter clockwise torque force multi rotor nose right if move the yaw stick left the sum of M1 M5 output Cg Cr3 Crs xR is negative the sum of M2 M4 M6 output Cro Cry xR is positive then the clockwise torque force is smaller than counter clockwise torque force multi rotor nose left And the balance along all
55. t blinks If you enable the gimbal control in the assistant software during the configuration please note that there will be an output from the F1 and F2 ports With the gimbal enabled you must not connect these ports to ESCs which are connected to motors propellers Do NOT set the FailSafe position of the throttle below 109 Throttle stick position should always be higher than 1096 from cut throttle during the flight You must set up the Low voltage protection properly in the assistant software You should land your multi rotor ASAP after any indication of low voltage to prevent your multi rotor from crashing or other harmful consequences Using mode to stop motors To start the motors you execute Command and push the throttle above 10 within 3 seconds if the throttle is not above 10 within 3 seconds then the motors will stop In any control mode once motors start and throttle stick is above 10 motors will stop immediately when throttle stick is lowered below 10 again At this point if you raise the throttle stick above 10 within 5 seconds after motors stop motors will re start with no need for Combination Stick Command After 5 seconds you will need to execute Combination Stick to restart the motors Using Intelligent mode to stop the motors The motors will start or stop immediately when you execute Combination Stick Command CSC During normal flight lowering the throttle stick belo
56. tails LED will give blue blinking ifin FailSafe mode 2012 DJI Innovations All Rights Reserved 20 4 Autopilot AUTOPILOT 1 Basic Parameters Gaint Pitch Rall Yaw Vertical MIA NIA NIA Paste oz in spa JN 28 we 120 Les Atitude 120 9120 INF Advance Parameters V Damping Disturbed Gain Fiteh amp Rall 100 100 0 100 Vertical 100 100 0 i Enhanced Failed Safe Methods G Hover Go H AltGo H L l Go Home Switch Stmdby Start Ep C 3 Intelligent Orientation Control eu 878 1090 Course Lock OFF Contral 1 STEP1 Basic Parameters Usually the default parameters are ready to go However different multi rotors have different gains because of different size ESC motor and propeller If the gain is too large you will find the multi rotor oscillating in the corresponding direction About 5 10 2 If too small the multi rotor maybe hard to control So you can setup the basic Gain of Pitch Roll Yaw and Vertical manually according to your multi rotor to have a pleasing flight experience We suggest you change the values by 10 to 15 at a time and test fly For the gains of Pitch and Roll if you release the Pitch or Roll stick after a command stick input the multi rotor will revert back to the hovering state If the reaction of the multi rotor in this procedure is too soft large delay please increase the basic gain slowly 10 15 each time until osc
57. te Pay attention to the following statement which may also lead the MC to cancel the course lock e Switch U channel to Manual Mode position or switch off transmitter or fly in waypoint mode Home Lock Usage During the same flight STEP1 Record STEP2 ON STEP3 OFF STEP4 ON again STEP 1 e Nose direction Forward direction eHome point Over 10m distance Record home point The home point mentioned here is the same home point as the enhanced FailSafe There are two ways to record this point Manually and Automatically The LED will blink O quickly if recording is successful a b 2012 DJI Innovations All Rights Reserved Automatically Before takeoff the current position of the multi rotor will be saved as the home point by the MC automatically when you raise the throttle stick for the first time AND it has 6 or more GPS satellites acquired for more than 8 seconds 9 blinks once or no blinking gt 8secs Manually When 6 or more GPS satellites are found 9 blinks once or no blinking you can 28 switch the X2 channel between two positions quickly 3 to 5 times to record the current position of the multi rotor as the new home point 1 3 position switch Control 1 switch the X2 channel between and position or and NOT Recommended Control 3 and Home Lock and NOT Recommended 2 2 position switch switch the X2 channel between and position
58. the other axes can be derived by substituting the yaw stick command into equations set 2 The movement about the pitch axis is produced by the differential output of M1 M2 and M4 4M5 Since and M6 are on the pitch axis they do not contribute and torque You can just keep the rotation speed of M3 and M6 the same as hovering so and are 0 Increase output of M4 M5 and decrease output of M1 M2 multi rotor moves forward decrease output of M4 M5 and increase output of M1 M2 multi rotor moves backward We also want multi rotor to keep balance along all the other axes when apply the pitch stick 2012 Dul Innovations All Rights Reserved 48 command c Gay T deg dq ew x E 0 keep throttle direction balance c FCs T c TuS T x To keep yaw direction balance 3 ToC 2C xExdz c Ie x Ex d keep roll direction balance Also proportion of coefficients of the motors at the same side of pitch axis should be equal to the proportion of force arms of those motors Ces 1 1 As we defined before Pull stick lt 0 multi rotor moves backward Push stuck E gt 0 multi rotor moves forward we can choose the following setup Motor Throttle Yaw am 100 100 iP r M M CH 100 100 a 100 100 r TU Mi 100 100 6 F M3 M S es 100 100 gt 19 100 10026
59. ty blinking when the multi rotor yaws It is normal for this to happen occasionally Note Don t 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 multi rotor on a precise horizontal or vertical surface but keep at least 45 difference between horizontal and vertical calibration The MC cannot work in the polar circle Calibration procedure STEP1 Enter calibration mode 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 on constantly blue STEP2 Calibration in horizontal rotate your multi rotor along the horizontal axis until the LED changes to constant green then go to the next step STEP3 Calibration in vertical while the LED is green hold your multi rotor vertically and rotate it along 2012 Dul Innovations All Rights Reserved 39 with its vertical axis keep rotating until the LED turns off meaning the calibration is finished cd di STEP4 After you finished the calibration The LED indicator will show whether the calibration was successful or not lf the LED turns on white for seconds then the calibration was successful calibration mode will exit automatically lf the LED quickly flash
60. ut of the restricted distance the Control Mode LED will blink Cyan However the FailSafe and the Ground Station operation are not restricted to this distance limit If no distance limit is needed please click OFF However the FailSafe and the Ground Station operation are not restricted to this distance limit If no distance limit is needed please click OFF 2012 DJI Innovations All Rights Reserved 44 Fix the TBE Toilet Bowl Effect Problem When flying in GPS ATTI Mode and the compass calibration has been done correctly should you find the aircraft rotating Toilet bowl effect or drifting when hovering Please check the GPS module mounting orientation and then re do the compass calibration Carry out the following procedure to re mount the GPS module In the following diagram view from the top the aircraft can appear to be rotating in both clockwise and counter clockwise direction please re mount the GPS module correspondingly 7 is the rotating direction of aircraft gt is the nose direction of aircraft is the arrow direction on the GPS module is the offset angle for GPS re mounting about 10 30 Clockwise rotating GPS re mounting Counter Clockwise rotating GPS re mounting 2012 Dul Innovations All Rights Reserved 45 Appendix Customize Motor Mixer For a multi rotor the roll pitch yaw and vertical axes are contributed by the combination of rotors outputs Th
61. v go home is the same as the point set bv user in the ground station software e If the home point is not set bv the ground station the home point of the ground station one kev go home function is the point recorded bv the MC e if the cannot be selected in the assistant software that may be due to the X3 channel been set for remote gain tuning you should change this if required e The multi rotor will climb at a speed of 1 5m s if needed during go home e The multi rotor will change its vertical speed during go home as shown below gt 100m height 50 100m 20 50m 10 20m lt 10m 4m s 3m s 2m s 1m s 0 3m s STEP4 Intelligent Orientation Control IOC Forward Direction The 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 wherever the nose points the forward direction has nothing to do with the nose direction e In course lock flving the forward direction is the same as a recorded nose direction See the following figures TX Mode 2 2012 DJI Innovations All Rights Reserved 25 as Bap 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 TX Mode 2 a oS In home lock Ka Usua V pri point Home point e In POI POI Point Of Inter
62. w 10 will not stop the motors in any control mode If you execute CSC during flight then 2012 Dul Innovations All Rights Reserved 7 14 15 16 17 the motors will stop you will have to execute CSC again to re start the motors if they stop during the flight When you set Mixer Type from Octo rotor to Quad rotor Hexa rotor the gimbal setting will automatically switch to off for safety which may lead the gimbal to tilt to one side please turn to the Gimbal section for reconfiguration It is strongly recommended to install the receiver under the bottom board of the center frame with the antennas pointing downwards without any obstacle Control of the aircraft could be lost if the radio signal is lost due to an obstacle such as the base plate Make sure all connections are correct secure and in good condition before flight Keep wireless video transmission equipment a distance away from the main controller gt 25cm to prevent interference to the main controller 2012 Dul Innovations All Rights Reserved 8 Assembly GPS COMPASS GPS Compass is sensitive to magnetic interference should be far away from any electronic devices You should use epoxy resin AB glue to assemble the GPS bracket first as the figure showed in previous page Mount the bracket on the center plate of craft first then fix the GPS on the plate of the bracket by 3M glue provided The GPS is sensitive to vibration interference so position the
63. you have to choose a 4 2 position switch on your transmitter as the Go Home switch Then ed Cx 29 Tx connect the correct channel of the receiver to the X3 port of the MC You should assign Position 1 to Start Position 2 to Standby or reverse the assignment for Position 1 and Position 2 Move the Tx switch of the channel X3 and check that the corresponding area and Standby turns blue on the assistant software screen If required adjust the Tx channel end points 2012 DJI Innovations All Rights Reserved 24 Note e Switching from to will enable go home during flight and vou will no longer have flight control of the Multi rotor If the Multi rotor is already in a FailSafe condition then the go home switch will not work e If you switch to or Atti Model and the multi rotor is not in a FailSafe condition then the go home is cancelled and you regain control of the multi copter Once is re selected you can once again use the go home function Tips e Use end point fine tuning on vour transmitter to adjust the X3 channel to give the correct switch indication in the assistant software e The following example shows how to enable Go home by the Tx Switch Use position 1 to and Position 2 to for example Position 1 Position 2 gt Position 1 if the initial switch position is at Position 1 Position 2 gt Position 1 if the initial switch position is at Position 2 e The home point of the ground station one ke
64. your receiver to the right ports on MC MULTI ROTOR TM and 2012 DJI INNOVATIONS PAT e MAIN CONTROLLER ciji TM and 2012 DJI INNOVATIONS F2 m MULTI ROTOR IMU The IMU is best positioned near the multi rotor s center of gravity where vibration is relatively low Orient the IMU such that the arrow marked on the printed surface of the IMU faces the sky and points directly forward backward left or right The sides of the IMU should be precisely parallel to the multi rotor body Use double sided foam tape for secured installation Check the double faced adhesive tape regularly to ensure that the IMU is securely positioned DO NOT cover the ventilation holes keep them unobstructed The IMU module is NOT water proof or oil proof Do not mount the IMU upside down Main Controller There is no orientation requirement for the Main Controller Choose a mounting location where as shorter ESC extension wires are needed as possible Please make sure all ports are accessible when installing the MC so as to facilitate wiring and software configuration In three pin ports pins near the nicks are signal After choosing a location to mount the MC it is recommended that you DO NOT mount the MC until all wirings and software configurations are completed ESC amp Motor Please make sure you are using the ESCs and motors recommended by the manufacturer of your multi rotor first We recommend you use DJI motors a

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