A2 Flight Control System
Contents
1. I 32 BIR D E E aa ENE RN RR UR ONS TRE MD IS AE EEEE OT EI ETT 33 TRADEMARK AAAA 33 2013 DJI Innovations All Rights Reserved 2 Introduction Product Introduction The DJI A2 Multi Rotor stabilization controller is a complete flight system for various multi rotor platforms for commercial and industrial AP applications Based on the technology and design philosophy of DJI s Ace series of high performance controllers the A2 offers you a brand new flight experience Its flight mode setup provides a seamless transition for current Ace One WKM AP professionals The system has the following features 1 Itis integrated with high precision sensor components and a high performance GPS Receiver 2 It utilizes high quality components precisely calibrated with temperature compensation in all gyros and sensors industry renowned flight algorithm in autopilot and UAV field 3 Designed with built in vibration absorption no extra mount frame or vibration absorption pad is required 4 Based on the DESST technology it has a built in 16 channel Receiver and supports DSM2 satellite receiver 5 Optional DJI D BUS Adapter can be used with a traditional Receiver In the Box Controller Unit PMU Power Management unit IMU Inertia Measurement Unit Built in Receiver DR16 777 rryTy f S2FEFEE d a on wero Micro USB Cable 1 Servo Cables 2 GPS Bracket Double side sticky pads oared by Users Aircraft Take Qua2. The built in Receiver DRI is based on DJI DESST technology which can be used with the Futaba FASST series and DJI DESST series Transmitter 3 CANI and CAN2 ports are working independently and should connect to different modules A 4 independent and configurable outputs 5 Itis compatible with the external Receiver e g DSM2 satellite Receiver 6 Use the optional DJI DBUS Adapter to support the traditional receiver 2013 DJI Innovations All Rights Reserved 6 Port Description Link button of Built in receiver ae the linking status DRI16 and transmitter D N Mi i l ed gt of Fa Multi function PWM output channels can directly give G i ES output signal from the Receiver if mapped to a 2 F2 N Connect to ESC M4 Fi Receiver channel Bo x3 Reserved iy x2 i To S BUS Receiver Ma gp sted alors mI BEC Connect to XI of PMU for voltage detection IMU GPS COMPASS PRO 4 iOSD MARK II Z15 from DJI B ZNVD INYO wlS i To DSM2 satellite Receiver ch s To PW port of PMU LED BT I 2 4G DATA LINK from DJI Antenna If the Gimbal function is enabled in Assistant Software F2 F3 can only be used for gimbal Pitch Roll control which means F2 F3 cannot be mapped to any other Receiver channel If the Gear function is enabled in Assistant Software F1 can only be used for gear switch control which means F1 cannot be mapped to any other Receiver channel Mounting Requirements Install th
3. l I l L I I l l l I l l l l l The flight control system will enter FailSafe The flight control system will enter Mode if the Transmitter signal is lost and no FailSafe Mode if the Transmitter signal is Protection matter if Transmitter signal recovers or not lost and the system will exit Failsafe once the signal recovers NO Low voltage LED alert with Descending or Go Home amp Only LED alert ee e e e a e fe m m m e m m m me m m me me me me e e m m m m m m m m Protection Landing precautions e E A A ieeleiaaiaiaaiiiiaaaiiiaaaaaiiiameaniamamaniiamaasemamaans Environment Open flying field Narrow Space Regain control in emergency Good GPS signal recommended GPS signal bad Default is Manual users can set to ATTI 1 in Assistant software The biggest difference between ATTI 1 and ATTI 2 is that they are working differently in the protection situations 2013 DJI Innovations All Rights Reserved 16 2 2 Flying Environment Requirements Before use of the product please accept some flight training Using a simulator to practice flying getting instruction from a professional person etc DO NOT fly in bad weather such as rain or wind more than moderate breeze or fog The flying field should be open without tall buildings or other obstacles the buildings of steel structure will interfere with the compass Keep the aircraft away from obstacles crowds power lines trees lakes and river
4. Advanced gt F S while Hover Go Home or 6 Alt Go Home is optional Additionally a Go Home switch can be enabled Go Home switch can be used to trigger a go home without FailSafe If One Key One Key Go Home is enabled during flying you no longer have control of the aircraft the LED Com Go Home l blinks in its Control Mode If One Key Go Home is disabled you regain the control at once If already in a Failsafe condition then the switch will not work Failsafe and Go Home procedures Record Home Point HP 2 Confirm Home Point 3 Transmitter Signal Lost uty tops 27 a NN A LED 6 LED A Signal Lost Lasts 3secs Bco Home 20m can be customized 6 Landing after Hovering l5secs ee ee Saep 7 aoe con Height over HP gt 20m i a Elevate to 20m ate Height over HP lt 20m LED xt The aircraft will not go home only attitude stabilizing in the condition that eps lt 6 or GPS is not working even if Transmitter signal is lost or Go Home switch is triggered It is recommended to set the Go Home switch in the Assistant software Users are suggested to enter Failsafe and go home by using the Go Home switch rather than turning off the Transmitter in 2013 DJI Innovations All Rights Reserved 21 emergency situations 3 Make sure there are no obstacles during aircraft go home and users are familiar with the methods to regain control How to regain control in FailSafe You
5. lt lt IOC Recording Record home point successfully Aircraft is in the 8m range of HP Record forward direction successfully Record a Point Of Interest successfully Bluetooth GPS signal Best 6ps gt 6 No indicator xt Good ers 6 1 x Ty Bad eps 5 2 Worst 6ps lt 5 3 Attitude status bad 3 IMU data lost calibrate IMU needed 4 Calibration Failed lt Abnormal Compass Data lt lt Second level alert lt A2 Assistant is connected disconnected to the flight control system O lt When the LED blinks 2 or 3 please hover or land the aircraft and wait for the white LED to go off When the LED blinks 3 it is not recommended to fly When the LED blinks 4 please contact your dealer 2013 DJI Innovations All Rights Reserved 27 pecifications General Built In Functions Multiple Control Modes 2 axle Gimbal Supported Enhanced FailSafe Intelligent Orientation Control Dynamical Systems Protection Coming soon Peripheral Supported Multi rotor Supported ESC output Supported Transmitter for Built in Receiver External Receiver Supported Recommended Battery Assistant Software System Requirement Other DJI Products Supported Electrical amp Mechanical Power Consumption Operating Temperature Total Weight Dimensions Built in Receiver PC amp Bluetooth Ground Station External Receiver Supported
6. reserve will cause the aircraft to crash and other consequences 2013 DJI Innovations All Rights Reserved 22 4 Advanced Functions IOC and Gimbal functions of A2 and how to use A2 Assistant app via a mobile device 4 1 IOC Intelligent Orientation Control function IOC Help users to set the Flying direction Should be enabled in Assistant software Flying direction The flying direction of aircraft when pushing the Roll and Pitch sticks Forward direction The flying direction of aircraft when the pitch stick is pushed forward IOC is disabled Forward direction is pointing to the nose direction and changes Normal flying along with the nose Course Lock Its forward direction is pointing to the nose direction when CL flying recording which is fixed until you re record it or exit from CL Home Lock Record a Home Point HP push Pitch stick to control the aircraft HL flying far from or near to the HP Point of Interest Record a point of interest POI the aircraft can circle around POI flying the POI and the nose always points to the POI Conditions of IOC function GPS COMPASS Flying IOC Setting Control Mode GPS Satellites Distance Limits PRO Required Normal cous Basic to control mode None CL Enabled Not in Manual None None xt HL Enabled GPS ops gt 6 Arran sue xt Enabled ae Sopss26 neen i POI Step 1 IOC switch setting Please enable the IOC function in Advanced gt IOC page of Assista
7. 9 Types of Supported Multi rotor Other DJI Products Supported Low Voltage Protection 4 Configurable Outputs Sound Alarm Configure Parameters Via Bluetooth Quad rotor 14 X4 Hexa rotor l6 V6 Y6 IY6 Octo rotor X8 18 V8 AOOHz refresh frequency Futaba FASST MULT MLT2 7CH Series and DJI DESST Series Futaba S Bus DSM2 PPM 2S 6S LiPo Windows XP SP3 7 8 32 or 64 bit Z15 iOSD Mark Il D BUS Adapter S800 EVO 2 4G Data Link Coming soon MAX 5W Typical Value O 3A I12 5V 5 C to 60 C lt 224g overall MC 54mm x 39mm x 14 9mm S IMU 41 5mm x 30 5mm x 26 5mm E GPS COMPASS PRO 62 mm diameter x 14 3 mm PMU 39 5mmx 27 6mm x 9 8mm e LED BTU I 30mm x 30mm x 7 9mm Flight Performance can be effected by mechanical performance and payloads 0 5m Hovering Accuracy In GPS Mode Maximum Wind Resistance Max Yaw Angular Velocity Max Tilt Angle Ascent Descent 2013 DJI Innovations All Rights Reserved o Vertical Horizontal 1 5m lt 8m s 17 9mph 28 8km h 150deg s 55 6m s 28 FAQ Use with other DJI products The A2 can be used with other DJI products such as iOSD Mark II Z15 S800 EVO and 2 4G Data Link Coming soon etc The following diagram is the connection for your reference ZEMUSE FLIGHT CONTROLLER Xi f CONMOUL UNT j ciji A2 zm FUGHT CONTROLLER imu 2 4G DATA LINK KDaBT Coming soon 2013 D
8. A2 Flight Control System User Manual v 1 06 2013 09 17 Revision For Firmware V1 00 amp Assistant Software V1 00 Thank you for purchasing DJI products Please strictly follow these steps to mount and connect this system on your aircraft install the PC Assistant Software on your computer as well as installing the DJI Assistant App on your mobile device Please regularly check the web page of corresponding products on our website www dji com which is updated regularly Product information technical updates and manual corrections will be available on this website Due to unforeseen changes or product upgrades the information contained in this manual is subject to change without notice This manual is for basic assembly and configuration you can obtain more details and advanced instructions when using the Assistant Software To assure you have the latest information please visit our website and download the latest manual and current software version If you have any problems that you cannot solve during usage please contact your authorized dealer 2013 DJI Innovations All Rights Reserved 1 I EEEE estore ssc abacus aha case E E T a east ans Laven Usa en ea 5 I re 5 Ce A ee A 1 ASSEMBLY AND CONEIGURA TION niu cccccscsccsssscsssscsssscsssscsssscssssssesesssscscssecesssscssscenes 5 rr 5 Hl Mixer Type SUD OOPS nnen A A sravatansbaned sal eneouaravees 5 HZ Aardware Connection Diag amienssisa na A 6 1 1 3 Important f
9. JI Innovations All Rights Reserved 29 Channel Mapping Instructions for PC Assistant Software Basic Channels ERR CHAT Pat hy STDC at te ey ere ON A a O REV CH 1 K5 ES a wen ex Wet Oe a et Det fet ae R E 0 Y REV CH 2 K6 ER O S RA e T k 0 VIREV CH3 Pitch D1 a F D2 D3 D4 E AA AA AO K1 f 0 si CRETAE EEA K2 0 GO Home ESE ee ee K3 Gear a JAA A A LA TE A K4 Roll Control of the Controller Unit mapped to the Channel of Receiver Pitch Control of the Controller Unit mapped to the Channel2 of Receiver Throttle Control of the Controller Unit mapped to the Channel3 of Receiver Yaw Control of the Controller Unit mapped to the Channel4 of Receiver Control Mode Switch of the Controller Unit mapped to the Channel7 of Receiver S REV w A EA 2 W REV Pata tale 0 Z REV Se Paves eset he ROG eM ia pr Pay Or V REV S ped Al Geol Dred at A a So ty V REV Z REV PED Vtatale ells tala tee 7 REV PO ea eee vee Z REV 4 REV 0 7 REV Basic Channel Default Settings Usage Descriptions During Assistant Software usage please click the Calibration button to calibrate the Transmitter sticks travel During calibrating make sure to operate strictly following the prompts otherwise may lead to calibration failure Click the Map button then you can re do mapping for A E T R U Default Settings
10. JI Innovations liability DJI and A2 are registered trademarks of DJI Innovations Names of product brand etc appearing in this manual are trademarks or registered trademarks of their respective owner companies This product and manual are copyrighted by DJI Innovations with all rights reserved No part of this product or manual shall be reproduced in any form without the prior written consent or authorization of DJI Innovations No patent liability is assumed with respect to the use of the product or information contained herein 2013 DJI Innovations All Rights Reserved 33
11. LE FOR PEOPLE UNDER THE AGE OF 18 A2 flight controller is designed for serious multi rotor enthusiasts providing excellent self leveling and altitude holding which completely takes the stress out of flying RC multi rotors for both professional and hobby applications Despite the product having a built in flight control system and our efforts in making the operation of the controller as safe as possible when the main power battery is connected we strongly recommend users to remove all propellers when calibrating and setting parameters Make sure all connections are good and keep children and animals away during firmware upgrade system calibration and parameter setup DJI Innovations accepts no liability for damage s or injuries incurred directly or indirectly from the use of this product in the following conditions 1 Damage s or injuries incurred when users are drunk taking drugs drug anesthesia dizziness fatigue nausea and any other conditions no matter physically or mentally that could impair your ability 2 Damage s or injuries caused by subjective intentional operations 5 Any mental damage compensation caused by accident 4 Failure to follow the guidance of the manual to assemble or operate 5 Malfunctions caused by refit or replacement with non DJI accessories and parts 6 Damage s or injuries caused by using third party products or fake DJI products 7 Damage s or injuries caused by mis operation or subjective mis j
12. LED blinks yellow and green alternatively Flying field altered Flying field has changed over a long distance The mounting position of GPS COMPASS PRO module changes Electronic units such as Controller Unit CAN HUB battery etc have been added Mechanical alteration removed remounted or other alterations Mechanical structures of the aircraft has changed Drifting during flying Evident drifts occurred in flight such as the aircraft doesn t fly straight Attitude errors LED often blinks error indicator when the aircraft turns around 2013 DJI Innovations All Rights Reserved 15 Read this section before basic flight testing 2 1 Control Mode Instruction The aircraft performs differently when using different control modes Please read the following table to know the different control modes which may help you to achieve a more involved flight experience Control Mode 1 m Control the aircraft to rotate in clockwise and counter clockwise direction Maximum rudder angular velocity 150 s Aircraft attitude control Mid point of stick is for O Max angular velocity is 150 s attitude and its endpoint is 35 No attitude angle limit EEES No altitude locking when the throttle stick is in mid position All Sticks Only attitude stabilizing No Released position locking l l l l l l I l l l l I r I I I l l I I I I I I L l l l l l l l I l I I l I l
13. Usage Descriptions Remote Gains Adjustment of the Controller Unit unmapped KI K6 D1 D4 2015 DJI Innovations All Rights Reserved Gimbal Pitch Control of the Controller Unit unmapped Direct Channels The corresponding ports are FI F4 on the Controller Unit of Controller Unit unmapped 30 Click Unmapped button to map K1 K6 to the channels of Receiver Click Unmapped button to map Pitch to a Receiver channel for the gimbal servo control Click Unmapped button to map DI D4 to the Receiver channels If you enable the Gimbal functions in Assistant Software then the F3 F2 are used for gimbal control even D3 D2 are mapped to channels of Receiver and the signals from the mapped Receiver channels will be ignored You can use FA for switching the video channel of iOSD Mark Il then map D4 to a Receiver channel IOC function of the Controller Unit Click Unmapped button to map IOC to a unmapped Receiver channel It is recommended to use a 5 position switch channel One Key Go Home function of the Click Unmapped button to map Go Home to Controller Unit unmapped the Receiver channel It is recommended to use a 2 position switch channel Intelligent Gear function of the Controller If you enable the Gear function in Assistant Unit unmapped Software then the Fl is used for the gear control of S800 EVO landing Recommended Mapping for Futaba Transmitter Mode 2
14. User 2013 DJI Innovations All Rights Reserved 31 Settings of gain values for Your Reference To set the value of basic gain and attitude gain you can refer to the following diagram These values are only for reference and may vary in practice Aircraft Motor FA50 DJ 2212 F550 DJ 2212 S800 EVO Z 15 DJI 4114 Configuration Information Basic Attitude ESC Propeller Battery Weight Pitch Roll Roll Vertical DJI 3OA DJI 8 Inch 35 2200 890g 150 150 150 140 DJI 50A DJI 8 Inch 45 3500 1530g 170 170 160 150 DJI 40A DJl I5lnch 6S I5000 7000g 140 140 140 150 The Transmitter setup of FUTABA Please configure the Frequency item on your Transmitter adhere to the table below FUTABA 18MZ FUTABA 14MZ with TM 14 FUTABA 14SG FUTABA 12Z 2 4G FASST with TM 14 FUTABA 12FG 2 4G FASST with TM 14 FUTABA 10CG or 10C with TM 10 FUTABA 9C SUPER with TM 7 or TM 8 FUTABA 8FG SUPER FUTABA 8FG FUTABA 7C 2 4G FUTABA 6EX FASST 2015 DJI Innovations All Rights Reserved Default Default FRANCE GENERAL Default Default Default Default FRANCE GENERAL FRANCE GENERAL Default Default FASST MULTI FASST 7CH MULT 7CH FASST MULTI FASST 7CH MULT 7CH MULT 7CH 7ZCH 7CH MLT2 MULT 7CH MULT 7CH Default Default DXA ETa Please read this disclaimer carefully before using the product By using this product you hereby agree to this disclaimer and signify that you have read them fully THIS PRODUCT IS NOT SUITAB
15. d rotor for example Transmitter Red is nose and Black is rear Take Mode2 for example Battery DJI D BUS Adapter Mobile Device 2013 DJI Innovations All Rights Reserved 3 System Introduction The A2 flight control system uses the Control Unit at its core which is connected with the IMU GPS COMPASS PRO LED BT l PMU and ESCs to complete the system The system can achieve the height lock and position lock functions by using the IMU and the GPS to control the aircraft Please carry out the following procedures to finish assembly configuration and flight testing Mount the A2 flight control system on your aircraft finish connection a Configure the system using A2 Assistant software C Do basic flying test FailSafe and Low voltage settings C Advanced functions IOC Gimbal Gear Symbol Instruction General Symbol eee A om onea F aran on Continuous Blinks e g 3 means three Red blinks LED blinks yellow and green alternatively Continuous Solid on e g E means Continuous Blue Solid on 2013 DJI Innovations All Rights Reserved 4 1 Assembly and Configuration For hardware installation software configuration and compass calibration please adhere to the following sections 1 1 Hardware Installation and Connection 1 Please adhere to 1 1 1 Mixer Type Supported to choose a mixer type and assemble your aircraft 2 Please adhere to both 1 1 2 Hardware Connect
16. e Controller Unit in the proper position to make sure the ports are accessible No specified direction is required Place the antennas in an open space under the aircraft DO NOT block them Position the heads of two antennas at a 90 degree angle DO NOT bend or wind them Receiver System The A2 flight control system can use its own built in Receiver and also can support external receivers Whatever type of Receiver is used please make sure that the Receiver and Transmitter is linked correctly before use A Built in Receiver For enhancing the system integration and reliability the A2 is integrated with a 2 4G receiver based on frequency hopping technology The built in Receiver can be used with the Transmitter of Futaba FASST series or DJI DESST series after linking For users you are only asked to carry out the link procedures no extra requirement for connection Please carry out the following procedures to finish the Link process and the configuration in the A2 Assistant software gt Basic gt R C gt Receiver Type Select the DRI6 option During use you may see the following LED indication please do the operation according to the table below Signal from Transmitter has been detected by the Receiver but not matched Link operation required No Transmitter signal is received e g the flight control system is powered on Switch on but the Transmitter is powered off LOI The Receiver and Transmitter have been link
17. ed to each other successfully Can work normally 2013 DJI Innovations All Rights Reserved 7 Mi e Gi Fes Link Procedures M2 l LINK LED Fs 4 ae z Turn on the transmitter it begins to send signals after 1 5secs MS5 M A2 me 2 Power on the flight control system M7 FLIGHT CONTROLLER Xi rap Red STROLLER UAT 3 Press the LINK button hold for 2secs wait until the LED blinks Red B 5 52 i z 4 Release the LINK button the LED turns Green on after successfully linking Ro ciji Si l lt 0 5m lt Distance lt Icm The DRI6 Receiver is compatible with the Futaba transmitters which have optional FASST MODE MUL T MLT2 or 7CH Users can find out the available Futaba transimitters and configuration requirments a dhere to the FAQ gt The Transmitter setup of FUTABA External Receivers If using an external Receiver please follow the diagram for connection set the Receiver referring to your Receiver manual and select the correct type in assistant software gt Basic gt R C gt Receiver Type Receiver Type Supported S BUS Receiver With D BUS Adapter DSM2 Receiver PPM Receiver Assistant Software Option D BUS D BUS DSM2 PPM i Notes for the DSM2 users o It is no need to enable the Failsafe function in the Transmitter Once the Receiver loses the signals from the Transmitter the controller unit will enter into Failsafe automatically and the aircraft will hover or G
18. have to toggle the control mode switch Regain control Regain control as soon as signal recovers once to regain control if the signal recovers y 5 2 Low Voltage Protection Low voltage protection is used to alert low battery voltage during flight in this case users should promptly fly back the aircraft and land to avoid unexpected damages To use this function please set in Assistant software gt Advanced gt Voltage page to configure two voltage levels Co First level Make sure the home point is recorded and GH amp Landing D x Go Home amp Landing no obstacles in going home and landing path level Descending directly Go Home amp Landing Usage Tips Second 1 The home point recorded is the same in both Failsafe and Low voltage protection The aircraft will not go home in the following cases a Control mode is in Control Mode 1 Manual or ATTI 1 b GPS signal is bad Sepst lt 6 c The distance between aircraft and the home point is less than 25m and the height over the Home point less than 20m Descending Usage Tips The aircraft will not hover when the throttle stick is at the mid point Push the throttle stick to 90 of endpoint the aircraft will still ascend slowly if you continue to pull the throttle stick and the control of Pitch Roll and Yaw are the same as before Please pay attention to the LED alert of low voltage and make sure the power is enough for go home and landing Insufficient power
19. ill hover when the throttle yaw roll pitch sticks are all released at mid point 5 Landing Use the throttle stick to control the landing speed try to land your aircraft gently to avoid shock or crash Please refer to the next section Protection Functions Setting to take precautions Low voltage alert yellow quick flashes or red quick flashes FailSafe LED indicator blinks blue Moreover you may come across the following abnormal situation please carry out the operation below 3 Compass data is abnormal the LED blinks yellow and green alternatively Please re calibrate the Compass 4 IMU data is abnormal the LED blinks four green Please contact your dealer 2013 DJI Innovations All Rights Reserved 20 3 Protection Functions Setting Set protection in the Assistant software gt Advanced page FailSafe and Low voltage protections are required 3 1 FailSafe FailSafe works when the Transmitter TX signal is lost the flight control system will automatically control the aircraft to reduce injuries or damage TX n pA Descriptions signal Home 5Osecs later after power on lOsecs later after Gps gt 6 or no Red LED Point Motors have been started auto record the position as home point at the first time HP the throttle stick is raised Flight control system can automatically control the aircraft after Transmitter signal is x FailSafe ceps gt lost It should be set in Assistant software gt
20. ion Diagram and 1 1 3 Important for Assembly and Connection to install and connect all units on your aircraft 1 1 1 Mixer Type Supported Following Mixer Types are supported M2 M3 M5 M4 Hexa rotor Quad rotor Hexa rotor IY Octo rotor X Octo rotor Octo rotor V A The direction of the arrow in diagram indicates the rotation direction of the motor propeller For coaxial propellers Blue propeller is at TOP Red propeller is at Bottom Otherwise all propellers are at top 2013 DJI Innovations All Rights Reserved 5 1 1 2 Hardware Connection Diagram Important cfs CAN Bus it provides power supply and communication A2 can automatically identify the device connected CAN1 and CAN2 ports are working independent device connected are non interchangeable E g IMU and GPS COMPASS PRO to CAN1 LED BT I to CAN2 PMU to CAN1 or CAN2 FLIGHT CONTROLLER Xi ciji 90 2S 6S Battery 1 1 3 Important for Assembly and Connection This section describes all device port functions assembly requirements connection requirements and tips during usage Also the linking procedures between the built in Receiver DRI6 and your Transmitter It is very important for the first time usage please read all text carefully 1 Controller Unit The Control Unit is the core component of the A2 flight control system 1 M1 M8 are used to connect to the ESCs of the aircraft 2
21. ion in the Assistant software first and then connect the gear to the FI port The Gear channel is required to be mapped with a channel on Receiver if the Intelligent Gear function is enabled in Assistant Software and the F port will give outputs for retracting control Once you map the Gear channel Fl port will give output signals from the controller for retract control Otherwise even the Intelligent Gear function is enabled F1 will give output from DI it s necessary to map the DI channel with a channel on Receiver as your demands Ma4 M5 M6 FLIGHT CONTROLLER ciji 4 4 Attitude Control When One Motor Output Fails For Hexa rotor including Hexa rotor Hexa rotor V Hexa rotor Y and Hexa rotor Y the aircraft with A2 flight control system is attitude controllable when one motor output fails Select Course lock or home lock mode for flying the aircraft into a safe area to land when the aircraft is far away or the attitude can t be recognized 2013 DJI Innovations All Rights Reserved 26 LED indicator descriptions Control mode Manual No indicator ATTI 1 sticks not in mid point 2 ATTI2 1 sticks not in mid point 2 GPS 1 sticks not in mid point 2 Flight Attitude Attitude good No indicator Attitude status bad hover sticks at mid recommended Compass calibration Horizontal calibration Vertical calibration Low voltage alert First level alert
22. module has a built in GPS and compass The compass is used for geomagnetic field measurement It should be mounted according to the required location and orientation Compass calibration is required before use DO NOT use and store the compass in the ferromagnetic material environment Mounting Procedure a Use the epoxy resin AB glue to assemble the GPS bracket first The longest one is recommended IOO D G b Mount the bracket on the aircraft first and then fix the GPS COMPASS PRO on the plate of the bracket using the 3M sticky pads provided Mount Requirements cs es aa a care arrowis N p 3 Keep it parallel OS aC pointing to the SS to the aircraft Ha nose direction rae S B a A S j Na N Pa Z wA Er Te F Use the GPS bracket and keep it away from other gt electronic equipment x aa a a Usage Requirements 1 The DJI logo should be facing the sky with the orientation arrow pointing directly to the nose direction otherwise it may lead to take off failure Fly the aircraft in an open space without buildings or trees otherwise it may have an effect on the GPS The compass is sensitive to magnetic interference should be far away from electronic devices otherwise it may lead to abnormal flying Please always keep the compass module away from magnet fields Otherwise it may damage the compass module and lead the aircraft
23. nit and be mounted according to the required location and orientation The IMU has been calibrated before shipping it should be used under the specified temperature otherwise the temperature may have an effect on the IMU performance Working environment temperature 5 C 60 C Storage environment temperature lt 60 C Orientation Requirements Please mount the IMU as one of the following options Configure in the A2 Assistant software gt Basic gt Mount gt IMU and select the matched option Pointing Forward Pointing Backward Pointing to Left Pointing to Right Location Requirements Fix with double faced adhesive tape Center of Gravity FE O a The top side should be facing up DO NOT mount upside down DO NOT cover the ventilation holes keep them unblocked and clean Take heat preservation measures if working in cold weather Mount the IMU at a low vibration position and the sides of the IMU should be precisely parallel to the aircraft body Based on our experience there is less vibration near the aircraft s center of gravity NOT water proof or oil proof Check the double faced adhesive tape regularly to make sure that the IMU is fixed firmly There is a CAN Bus connector which can be used to connect to the GPS COMPASS PRO or other DJI product E D 2013 DJI Innovations All Rights Reserved 10 3 GPS COMPASS PRO GPS COMPASS PRO
24. nt software Then choose a 3 positon switch on the Transmitter to set as IOC switch which is used to select the different IOC modes and manually record the Forward direction HP and POI recording Below are the three options of IOC switch setting which may be configured in the Assistant software Switch pee 2013 DJI Innovations All Rights Reserved 23 Tafa fm Oom ee Step 2 Forward Direction HP and POI Recording After you enable the IOC in assistant software the flight control system will record the forward direction and home point automatically after power on if the recording conditions are met You can Manually re record the forward direction home point and POI during flying Read the following table for the recording method details Record a direction as Forward Record a position as HP Record a position as POI direction 5Osecs after power on lOsecs 5Osecs after power on ee x T 4 Conditions 5Osecs after power on later after eps gt x t lOsecs later after eps 2 gt 6 Motors have been started Automatically record at Automatically record at the first Automatically No Automatic record method 5Osecs after power on time you push the throttle stick According to any option of IOC switch setting quickly toggle the switch between adjacent positions 3 5 times to record manually ECA ee ee 2 o Manually Forward Forward 2 G direction direction TOS DO NOT toggle the switch between the and 3
25. o home as configurations of the Failsafe in the Assistant software When using the dual mode Transmitter please set the transmiting mode as DSM2 in SYSTEM SET UP gt FRAME RATE gt MODE which should not be DSMX The following diagrams are the connections for your reference 2013 DJI Innovations All Rights Reserved 8 e Sf Fa LINK LED U fs f a e s fa Ri LINK LED i n Fi l F2 i X3 S BUS Fi f X2 B S X3 S FLIGHT CONTROLLER Xi Receiver X2 Traditional CONTROLLER UNIT FLIGHT CONTROLLER Xi z CA Receiver Important When you use a traditional receiver DJI D BUS ADAPTER is required Put the switch to the I stop and power on the system the LED should be red on otherwise keep the switch at I stop and then power cycle the system Atthe I stop the D BUS ADAPTER is converting the PWM signal from traditional receiver to S BUS signal Sf e G Fa qe e S Fa f LINK LED 1 ps LINK LED IU es F2 f F2 Fi Aimi A2 A2 Eo X2 f X2 FLIGHT CONTROLLER Xi FLIGHT CONTROLLER Xi i Receiver i et DSM2 Satellite y CONTROLLER GAIT chji Receiver ciji 2013 DJI Innovations All Rights Reserved 9 2 IMU Inertial Measurement Unit Built in inertial sensors for the measurement of aircraft attitude built in pressure sensor for the detection of aircraft altitude Should be connected to the CANI port of the Control U
26. ol Mode switch to GPS position for basic flying test Note when the GPS signal LED indicator is bad or worst 2 or 3 and lasts for more than 3secs the flight control system will enter into ATTI2 Mode 2 GPS signal LED indicator GPS signal indication blinks after every Control mode indication We suggest to fly when GPS satellites are more than 5 GPS signal LED indicator x x xt ytz x x Worst 6ps lt 5 3 Bad feps 5 2 Well Seps 6 1 Best eps gt 6 No indicator 2 5 Start Motors Methods CSC Combination sticks commands is used to start stop motors instead of just pushing the throttle stick sct De Under the conditions stated below the motors will stop in ATTI 1 ATTI 2 GPS mode 1 The throttle sticks is under 10 for more than 3secs after motors start A 2 The throttle sticks is under 10 for more than 3secs after landing 3 The throttle sticks is under 10 for more than 3secs and the inclined angle of aircraft exceeds 70 2013 DJI Innovations All Rights Reserved 18 2 6 Basic Flying Test Carry out the following procedures to complete the basic flight test 1 Wait the GPS signal to be well LED tk Place the aircraft away from you and others at least 3 meters and wait the Gps 26 or no Red LED 2 Start motors and takeoff aircraft Execute CSC to start motors all sticks back to midpoint as soon as mot
27. onfigure using Assistant Software on a PC The USB port can supply power during configuration no additional battery is required Note that the USB port can supply power not more than 500mA an additional battery is necessary if connection failure or intermittent working Run the assistant software and follow the built in guide to carry out the configuration Note that you may be asked to register for first time use A2 English w x P g e i Tools Info Menu ircraft Mounting RC Gain Mixer Type Setting Options m A J me maf V Hexa rotor V 1 Motor Test aims to make sure the motors perform regularly and rotate in Built in right directions and the ESCs are 0 gsnnected to the A Controller Guide Unit Click Motor Test to start test Make sure the type of propeller matches the rotation direction of the motor M MODE MC OUTPUT 2 Restore amp Upgrade Click Info to view Enter Tools to restore default Enter Basic page Enter View user information settings And check whether the Set the Aircraft page to check all and software firmware is the latest Mounting RC Gain basic settings version etc in each tab 2013 DJI Innovations All Rights Reserved 13 1 2 3 Configuration Checking A2 English w o e amp wT 7 Basic Advanced Tools Info Mounting Aircraft Motor IMU Ortantation jakia Mixer Type 2 one Motor Idle Speed Q IMU Loca
28. or Assembly and Connection r cccccsssssssesesssessssssssssssssesescsescscsesesesessseeecaesesesees 6 I eoeoeeeesoseesesoeesosresesseseses 13 2a lAstall DRivercand Assistant SO ROWAN a a Aade 13 1 2 2 Configure using Assistant Software on a PC sssssssssssccectsccssctsssssctesssscssscescneseeees 13 12 5 C OMMGURALIOI CMe CI IA i eara Cana RE RENTEN 14 ee 15 Pa 25 GER oo Nims G E R od eer tes RT CET See RRC ER AR aeRO on Rare era A 16 re 16 I 17 I 17 re 18 C 18 L 19 3 PROTECTION FUNCTIONS SETTING seeseesseesseeseeesseesoeesoessoesseessessoessoeesoessoeesoessoessoessesseeese 21 E oo e a iucck deena tat adadoan ts teal 21 C 22 A ADVANCED FUING TONS A NA 23 4 1 IOC INTELLIGENT ORIENTATION CONTROL FUNCTION Q ceccccecccssccsseccesecsecesseccsceeseceeseceeces 23 re 26 ee 26 4 4 ATTITUDE CONTROL WHEN ONE MOTOR OUTPUT FAILS cccccccscssscsscsccecceccesssscsccceeceees 26 APPEND esscase ce scscs ceccissss esos tn cerccscsesa a a es eles Rede esas daa des 27 I ee 2 TERRIER ER ieee er SP Rr re ea re ee rere ree ee 28 Fe een TNE REE OEE ol ORES A Ae UT OI ENC ET RSS IERE EEA PECE E E OPO PA ETA 29 re 29 CHANNEL MAPPING INSTRUCTIONS FOR PC ASSISTANT SOFTWARE cecccscceccescceccsscessceseeees 50 RECOMMENDED MAPPING FOR FUTABA TRANSMITTER MODE 2 USER e eececesescesecseceseceeeeeees 51 SETTINGS OF GAIN VALUES FOR YOUR REFERENCE ssessssesesessosesossesresossesresosresresosseseesossessesresess 52
29. ors start then push the throttle stick to take off the aircraft meanwhile the home point is recorded NOTE 5Osecs after power on lOsecs after Soest 26 Motors have been started auto record the position as home point at the first time the throttle stick is raised After the home point is recorded successfully and the distance from aircraft is less than 8m LED indicator will blink 6 violet continually Note only when GPS signal is good no Red LED LED indicator will blink 6 violet continually 5 Operate sticks to control the flying attitude of the aircraft during flight Transmitter Mode2 Aircraft Operations Push Throttle sticks to control the aircraft Throttle g n T to elevate and descend The aircraft can 11 S M Ji A l Stick UF o NS U lock to an altitude when the throttle stick is at midpoint Push the yaw stick to rotate the aircraft in Yaw Stick clockwise or counter clockwise direction Push roll stick to control the aircraft left or right pitch stick to control forward or Roll Stick ee SVN 7 7 backward When both roll and pitch sticks are at midpoint 1 GPS mode the aircraft will be stabilized and locked in horizontal position ATTI 1 ATTI 2 mode the aircraft will be stabilized but unlocked in horizontal position 2013 DJI Innovations All Rights Reserved 19 In GPS mode the aircraft w
30. positions frequently which may re record the position 2 HP is used not only in IOC but also in Failsafe and Low voltage for go home and landing The flight control system will automatically record the HP even if IOC function is disabled in Assistant software but Forward direction and POI can be recorded only after IOC is enabled Once the Home Point is recorded successfully LED will blink 6 continually under the following conditions All conditions must be true 6ps 2 gt 2 Distance between aircraft and the recorded home point is less than 8m 3 Current control mode is in GPS or ATT 2 Step 3 IOC flying test Please study the following diagram then make an IOC flying test IOC LED indicator blinks 2 means stick s not at the midpoint up Opol Flying direction gt Forward direction Route Auxiliary line 2013 DJI Innovations All Rights Reserved 24 Roll stick control of aircraft Pitch stick control of aircraft IOC Flying Record switch F CL IOC function is available only when all the required conditions are satisfied If any condition is omitted the flight control system will exit IOC Please keep an eye on the LED to know the current control mode It s recommended to start the HL flight when the aircraft is gt Om away from the HP If starting the HL when the distance between aircraft and HP is less than 10m and it s the first time you start HL after power on then the flight con
31. s etc Try to avoid interference between the remote control Transmitter and other wireless equipment No base station or cell tower around The flight control system can t work at the South Pole and the North Pole All parts must be kept out of the reach of children to avoid CHOKE HAZARD if a child accidentally swallows any part you should immediately seek medical assistance 2 5 Check List before Flying Double check the following list otherwise if any one of the following items is wrong it may lead to flight accident All parts are in good condition no ageing or damaged components Motor rotating direction Propeller mounting direction Mixer Type set in assistant software IMU and GPS COMPASS PRO mounting direction Transmitter channel mapping and sticks movement direction correct Compass calibration ESC connection IMU and GPS COMPASS PRO firmly mounted In addition check the following items to make sure the system can work 1 The Transmitter battery is fully charged A 2 The aircraft battery is fully charged 3 Do not over load the aircraft 2013 DJI Innovations All Rights Reserved 17 2 4 Power on and Check 1 Control mode LED indicator Power on the Transmitter and flight control system Toggle the control mode switch to different positions Control Mode LED indicator Control Mode Switch Manual ep o Stick not in midpoint 2 Stick not in midpoint 2 No LED indicator Put the Contr
32. the mobile device When you mount the LED BT I please make sure the side with ANT LOGO is unsheltered after mounting In addition there is a Micro USB port make sure it is mounted for convenient connection Port Description Bluetooth status indicator E Abnormal C Normal Communicating Micro USB port used to connect to the PC for Assistant software configuration and upgrade Indicator of autopilot system Antenna of Bluetooth Mounting Requirements Mount in a good position to make sure the LED is visible during flying Antenna of Bluetooth should be unobscured 2013 DJI Innovations All Rights Reserved 12 1 2 Software Installation and Configuration Configure the A2 flight control system in the Assistant software please adheres to this section Users are required to configure every item in Basic page when use the A2 flight control system for the first time 1 2 1 Install Driver and Assistant Software 1 Download 2 Connect 3 Install Driver 4 Install Software Download the driver Connect the Run the driver Run the assistant installer and assistant LED BT I module and installer and follow software installer and software installer PC via a Micro USB the prompts to finish follow the prompts to from DJI website cable installation finish installation A Assistant software supports only Windows operating systems Win XP Win7 Win8 32 or 64 bit 1 2 2 C
33. tion GPS Location x 0 cm X 0cm RC F S N Oci Y Oci i n n Receiver Type NONE Failsafe Methods Z 0cm Z 0cm Go Home Switch Basic Attitude zoz IOC Pith 100 4 X 100 Pitch 100 E x 100 Intelligent Orientation Contn Roll 100 0 x 100 Roll 100 0 x 100 v Gimbal Yaw 100 o x 100 Vertical 100 l0o x 100 Gimbal Switch Voltage p R Channel Monitor EE SRS SRT 2a ere See er Bere eras ear ET ESL Protection Switch NONE lt t aD te ESS PRTC Current voltage NE SE E EE 0 First Level Protection NE ME AGEME EEE A EE EEO i channel eh Second Level Protection NONE D A OnLine Help MODE MC OUTPUT Fig above for reference only please adhere to actual GUI Check the IMU orientation direction Check the Mixer Type of aircraft Make sure the motors are rotating normally and propeller installation is in correct direction The Receiver type is correct Check the basic and attitude gains Move the sticks to test whether the cursors moves following the sticks Toggle the U switch to test the control mode setting Advanced configuration users can configure it according to their requirements after reading the manual Check the Channel Map between the Transmitter and A2 flight control system 2013 DJI Innovations All Rights Reserved 14 1 5 Compass Calibration The Compass can assistant the GPS to position the aircraft which is
34. to work abnormally or even be out of control 2013 DJI Innovations All Rights Reserved T 4 PMU Power Management Unit The PMU provides dual BEC s 1 Connect the battery to the PMU module to supply power for the whole Flight Control System via the PW port supply power not more than 2A 2 Connect the PMU to the XI port of Controller Unit for voltage monitoring for flight safe guard during flying In addition there are two CAN Bus ports for LED BT I connection and other DJI products e g DJI 2 4G Data Link Port Description Working status indicator PX Port connect to the X1 port of Green on is normally working Controller Unit To negative pole of power 25 V SEN SEM Output ON 25a To positive pole of power s 4 SA 5V je VCC Output 3A 5V AQ a Pw CAN Bus port EB PMU Y EHU Connect to CANI or CAN2 port of Controller Unit CAN2 is recommended Mounting Requirements No need to mount in a particular orientation But choose a ventilated place to mount the PMU for cooling 5 LED BT I The LED BT I has integrated LED Indicator Bluetooth and USB port The LED is mainly for flight control system status indication during flying e g Control Mode Coming soon Bluetooth is used for real time communication with your mobile device e g iPhone to realize parameter configuration on a mobile device For parameter configuration using a mobile device it is required to install the DJI A2 Assistant App on
35. trol system will only enter HL after flying out of the 10m range During HL flying if one of the following conditions occur the flight control system will exit HL and enter into CL the aircraft is within of 1Om from HP the control mode is changed to ATTI 1 or x tx ATTI2 eps lt 6 LED 2 or 3 2013 DJI Innovations All Rights Reserved 25 4 2 Gimbal function Connect the servos of your gimbal to the Controller Unit as the fig below roll servo connects to F3 port and pitch servo connects to F2 and configure in Advanced gt Gimbal page in the Assistant software No Receiver channel is asked to be mapped for the F2 or F3 port if gimbal function is enabled in the Assistant Software Note Even you map Receiver channels to F3 and F2 Which are shown as D3 and D2 in the Assistant Software gt Channel Mapping the F3 and F2 will not give output signals from the mapped Receiver channels M4 Ms M FLIGHT CONTROLLER Ma ONT Rt R UNIT 4 5 Gear function Once enable the Intelligent Gear function the gear is default down on the ground or in case of emergency e g motor failure tolerance auto landing you can control it to be up or down by a switch when the aircraft altitude is above 5m during flight Please configure in the Advanced gt Gear page in the Assistant software Connect the landing gear of S800 EVO to the Controller Unit as fig below Make sure to enable and configure the Intelligent Gear funct
36. udgment 8 Damage s or injuries caused by mechanical failures due to erosion aging 9 Damage s or injuries caused by continued flying after low voltage protection alarm is triggered 10 Damage s or injuries caused by knowingly flying the aircraft in abnormal condition such as water oil soil sand and other unknown material ingress into the aircraft or the assembly is not completed the main components have obvious faults obvious defect or missing accessories ll Damage s or injuries caused by flying in the following situations such as the aircraft in magnetic interference area radio interference area government regulated no fly zones or the pilot is in backlight blocked fuzzy sight and poor eyesight is not suitable for operating and other conditions not suitable for operating 12 Damage s or injuries caused by using in bad weather such as a rainy day or windy more than moderate breeze snow hail lightning tornadoes hurricanes etc 13 Damage s or injuries caused when the aircraft is in the following situations collision fire explosion floods tsunamis subsidence ice trapped avalanche debris flow landslide earthquake etc 14 Damage s or injuries caused by infringement such as any data audio or video material recorded by the use of aircraft 15 Damage s or injuries caused by the misuse of the battery protection circuit RC model and battery chargers 16 Other losses that are not covered by the scope of D
37. very important during flight As we know the compass Is very sensitive to electromagnetic interference which will cause abnormal compass data and lead to poor flight performance or even flight failure Compass Calibration MUST be done for the first time use It is recommended to calibrate the compass outdoors after the Controller Unit finds 7 or more GPS satellites Regular calibration enables the compass to keep optimal performance Calibration Cautions 1 DO NOT calibrate your compass where there is 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 Compass Calibration is very important otherwise the flight control system cannot work Calibration Procedures Choose an open space to carry out the following procedures Quickly flip the control 360 Rotate the aircraft 360 Rotate the aircraft mode switch horizontally vertically Nose downward Manual FG Cr Zir ZZ es oe 4 et A Qo Start GPs A gt ale G 3 iS cali 7 GPS gt Manual gt GPS bie Flip 6 10 times i Control Mode LED Start horizontal calibration Start vertical calibration Succeed Fail Manual EF Re calibrate You can also use the ATTI 1 or ATTI 2 to GPS Q replace the Manual during switch flipping GPS Manual SGPS once Situations that require recalibration Compass Data abnormal
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