NM with GPS - Multirotorsystems
Contents
1. as 4 CONTENTS 5 MATTERS NEED ATTENTION E 6 ge 8 ASSISTANT SOFTWARE Uo 9 SOFTWARE AND DRIVER INSTALLATION ss 3 tao bibo bike a tese 9 ci 9 FIRMWARE UPGRADE s disini S peser dos 11 PRODUCT INEO amp UPGRADE iro iau te era eai um oet oma e PERI 11 CONFIGURATION er 12 MA 12 2 MOTOR MIXER cce 13 F PEMONT OR mu TT 15 oa a aa e a a a 19 5 a E M 26 oer edere cc E 28 FLIGHT eins owas 31 DIGITAL COMPASS CALIBRATION Ee A voco 31 PLY TEST 33 FLY WITH GPS 35 36 BEGIN apo ER 36 NIUETISROTORS SUPPORTED ed beu e dades teo cha aeo Saxo acean tt 37 eiM caue 38 EIGHT DESCRI2. or not you can use a compass or magnet to check it If you use your own mounting that you DO NOT mount the MC until all wirings and software configurations Optional prt Y Aircraft Nose rod make sure it is NOT magnetic are completed 2012 DJI Innovations All Rights Reserved Assistant Software Software and Driver Installation STEP1 Please download assistant software and driver from our website Then decompress STEP2 Connect MC and PC via USB cable power on MC STEP3 If operating system tries to install driver automatically cancel it STEP4 Open folder DJI USB Driver follow the Driver Installation Manual strictly to finish installation GUI DEC ABOUT cpm ENGLISH TX MONITOR 1 Receiver Type 2 Cut Off Type Tradition D Bus Immediately Intelligent Left end of the slide should be the lowest position of throttle stick Please double check the moving direction of the throttle slide Choose the type of your receiver Ifyou use S Bus receiver please choose S s compatible option D Bus Otherwise choose Tradition 2 a MC Output On CONTROL MODE UnKnown UI 12 11 10 1 gt Firmware upgrade update your firmware from server keep your autopilot system up to date Disable All Knob Check for Updates Check out the latest versions of assistant software and firmware If necessary 02012 DJI Innovations All Rights Reserved 9 Oo A
3. 21 22 23 24 control mode You have to execute to re start motors if they stop during the flight Red light quick blinking indicates battery voltage is low please land ASAP Do NOT move any command sticks during system start and self check Please contact us if the last four green blinks are abnormal GPS Compass is sensitive to magnetic interference should be far away from any electronic devices Do not fly in GPS Mode when the signal is not good red light blinks GPS module is optional Nonstandard Users use GPS module should read contents about GPS matching in indicators users without GPS module can skip contents about GPS If users set in Control Mode Switch without connecting to GPS module the M C will switch GPS into automatically and LED indicator is yellow blinks Once work in Fail Safe Mode with GPS the aircraft will auto flameout when landed without GPS the aircraft will not auto flameout when landed The receiver is recommended strongly to be installed under the bottom board of center frame and the head of antenna is downward without any obstacle The aircraft will be out of control since the wireless signal may be lost by the obstacle Make sure all connections are correct and attachment contacts are in good condition before flight Keep wireless video transmission equipment a distance away from the main controller gt 25cm to prevent the main controller from antenna interference 2012
4. CQ 10 11 12 13 14 15 you can follow the links displayed to find the download page gt linfo Information regarding your product gt Chinese interface ENGLISH English interface IEXPORT Export configure data IMPORT Import vertion compatible configure data WHITE 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 Graphic guidance Text guidance CONTROL Control mode indication Indicates there are outputs to ESCs when communication is built up between MC and assistant software via USB cable appears it indicates no output to motors then you can configure your multi rotor with assistant software more safely Red light MCe PC has been disconnected Green light MCe PC has been connected Blue light MC e PC communication Here you can find all the configuration contents in Configuration chapter Configuration step Notices 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 software version when you open the assistant software and prompt window if your version is not
5. If too small the multi rotor will likely to be hard to control So you can still setup the basic Gain of Pitch Roll Yaw and Vertical manually according to your multi rotor to have a wonderful fly experience We suggest you to change 10 to 1596 of the parameter at a time To the gains of Pitch and Roll if you release the Pitch or Roll stick after command stick multi rotor should be back to hovering state If the reaction of multi rotor in this procedure is too soft large delay please increase the basic gain slowly 1096 1596 each time until vibration emerges after you release the stick Then decrease the gain a little until vibration just disappears Now the gain is perfect but the reaction of the attitude change is slow You can follow the way introduced at the end of this section to tune the attitude gains The way of tuning the Yaw gain is the same as the way of adjusting the Tail Gyro If you want fast stick reaction speed increase the gain otherwise decrease the gain However the spin of multi rotor is produced by the counter torque force and the magnitude of which is limited Therefore large gain will not produce tail vibration like helicopter but severe reaction at the start or stop of motors which will affect the stabilization of the other directions You use two methods to judge if the Vertical gain is good enough 1 The multi rotor can lock the altitude 2012 DJI Innovations All Rights Reserved 19 when the thrott
6. N 2012 DJI Innovations All Rights Reserved 40 Specifications General Built In Functions Peripheral Supported Multi rotor Supported ESC output Recommended Transmitter Assistant Software System Requirement Electrical amp Mechanical Working Voltage Range Power Consumption Operating Temperature Weight Dimensions Three Modes Autopilot Enhanced Fail Safe e Low Voltage Protection e S Bus Receiver Support e PPM Receiver Support e 2 axle Gimbal Support e Quad rotor I4 X4 e Hexa rotor 6 X6 IY6 Y6 400Hz refresh frequency PCM or 2 4GHz with minimum 4 channels Windows XP SP3 Windows 7 e MC 4 8V 5 5 V e VU 7 2V 26 0 V recommend 2S 6S LiPo MAX 1 5W 0 3A 5V Normal 0 6W 0 12A 5V 10 C 50 C e MC 25g e GPS 21 3g e VU 20g e MC 45 5mm x 31 5mm x 18 5mm e GPS amp Compass 46mm diameter x 9mm e VU 32 2mm x 21 1mm x 7 7mm Flight Performance can be effected by mechanical performance and payloads Hovering Accuracy GPS Mode Max Yaw Angular Velocity Max Tilt Angle Max Ascent Descent Speed 2012 DJI Innovations All Rights Reserved Vertical 0 8m Horizontal 2 5m 200 s 45 6m s 41
7. Notices l Users with GPS module please mount GPS location 2 Please follow the requirements to mount your Naza MC so as to prevent the aircraft from abnormal such as drifting in horizontal direction or even rollover You must re configure if the ALL UP WEIGHT had been changed on your multi rotor 4 If GPS mounting locations are not accurate enough or the signs are wrong error on X Y Z axles will leads the oscillation of your multi rotor 5 sure to follow the diagram in our assistant software red is positive green is negative unit of measure is CM NOT INCH 2012 DJI Innovations All Rights Reserved 12 2 Motor Mixer Motor Mixer 1 Mixer Type Quad rotor Quad rotor X C Hewa rotor Hexa rotor V Hexa rotor IY Hewa rotor Y 2 Motor Idle Speed Y STEP1 Mixer Type Set your transmitter into mode Then select the right mixer type according to your multi rotor Tips We support six types of multi rotors Refer to Multi Rotors Supperted in Appendix Notices Do NOT follow instruction from 3 party multi rotor manufacturer Make sure the rotation direction of each motor is the same as the way up figure shows If not switch any of two wire connetcions of the incorrect motor to change its rotation direction e Make sure the type of propeller matches the rotation direction of the motor STEP2 Motor idle Speed Motor Idle Speedi is the lowest
8. Fill the warning voltage and line loss voltage in and by the method introduced in previous step 2 When the second level protection is triggered LED warning will be on Meanwhile the center point of throttle stick will move up slowly to 90 of endpoint you should land ASAP to prevent your multi rotor from crash or other harmful consequences 3 When the center point is at 90 of endpoint multi rotor 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 land ASAP to prevent your multi rotor from crash or other harmful consequences 2012 DJI Innovations All Rights Reserved 30 Flight Digital Compass Calibration Why calibrate the compass Ferromagnetic substances placed on multi rotor or around its working environment will affect the reading of earth magnetic for digital compass it also reduces the accuracy of the multi rotor control or even reads incorrect heading Calibration will eliminate such influences and ensure MC system performs well in a non ideal magnetic environment When to do it The first time you install Naza 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 b
9. drifting or spinning in horizontal direction while hovering Better performance can be obtained by gyroscope calibration Check IMU status after the status changed to ready and take action according to corresponding tips STEP1 Please keep the main controller stationary during calibration and then connect to the assistant software STEP2 Click the in TOOL to enter calibration page STEP3 Click after the changed to ready STEP4 The autopilot system check and give tip for you STEPS It MU works abnormally please contact us ar our agents i please click Calibration button else if IMU works normally calibration procedure may be skipped Notices You don t need to put the aircraft a precise horizontal surface but make sure to keep it stationary Tips IMU works normally if the value of X Y Z is between 1 5 1 5 e IMU works normally if the sum of the squares of X Y and Z is around 1 2012 DJI Innovations All Rights Reserved 36 Multi Rotors Supported To coaxial propellers Blue propeller is at Red propeller is at Bottom Otherwise all propellers are at top 1 M M M M M3 M M3 Quad rotor Quad rotor X Hexa rotor Hexa rotor V Ms Mi Hexa rotor IY Hexa rotor Y 2012 DJI Innovations All Rights Reserved 37 Port Description Main Controller For roll control left right For pitch control front back For throttle control For rudder control
10. higher than minimum battery voltage rating in Fill OV in Loss at the moment 3 Fly the multi rotor until the first level protection is triggered and the red light is flashing Now land your multi rotor ASAP 4 Connect the MC to PC open the assistant and acquire new current voltage The Loss Line loss voltage is the difference between the new current voltage and the first level No Load voltage you filled in Notices If the line loss voltage of a battery is over 0 3V per cell e g 3S battery over 0 9V it s because the internal resistance of battery is high or the battery is too old we suggest you to replace it Generally the line loss voltage of different battery is different For the consideration of safety you d better acquire all the line loss voltages of all your battery you are using and fill the lowest one in the Loss When you change the payload or multi rotor you have to get new line loss voltage The line loss voltage will be bigger after many times use you should get new one after 30 times charging 2012 DJI Innovations All Rights Reserved 29 Make sure your ESCs protection voltage is lower than 3 1V 1S otherwise low voltage protection will not work Acquire the line loss voltage by the method introduced before first and fill it in Loss Then fill a reasonable warning voltage in the Load Notices When red light starts to blink you should land ASAP STEP4 Second Level Protection 1
11. recording is successful STEP2 Open course lock After record the forward direction successfully if MC is in or Mode then you can slide X2 channel switch to position to fly in course lock Now wherever the nose points the real flight forward direction is the same as the recorded forward direction and LED will blink slowly to indicate the OC mode STEPS Close course lock There are two ways a Slide X2 channel switch to position to quit course lock Recommended way b Slide U channel switch to position or close transmitter STEP4 Re open course lock If you want to re open course lock after you quit this function you should first slide X2 channel switch to position and slide U channel switch to or GPS Atti mode position then slide X2 channel switch to position to re open course lock Home Lock Usage During the same flight STEP1 Record STEP2 Open STEP3 Close STEP4 Re open z Nose direction Forward direction eHome point Over 10m distance STEP1 Record home point The home point mentioned here is the same home point of enhanced Fail Safe There are two ways to record here Manually Automatically a Automatically Before takeoff current position of multi rotor will be saved as home point by MC automatically when you push the throttle stick first time after 6 or more GPS satellites have been found 9 blinks once or no blinking for 8 seconds b Manually When 6 or more GPS
12. speed after motor start Set Motor Idle Speedi will affect 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 cursor J tothe corresponding level to change Motor Idle Speed The lower motor idle speed The higher motor idle speed Set as LOW the motor idle speed will be lowest Set as HIGH the motor idle speed will be highest is the advised level You can reset the according to the real situation Notices 2012 DJI Innovations All Rights Reserved 13 e For user whose aircraft takes off at lowest throttles position please set the idle speed at a low level X For common users please set to or above since setting idle speed too low may affect motor s spool up Tips The output pulse width for every grade of is as followed output pulse width 1144 us 1160 us 1176 us 1192 us 1208 us e There is relationship between the output pulse width and the max min pulse width when TX End Point is 10096 output pulse width max pulse min pulse x proportion min pulse e You can get the proportion value by computing according to the above formula for a special TX Use Futaba TX for example Notice that Futaba TX End Point is 100 proportion value 3 7 9 11 2012 DJI Innovations All Rights Reserved 14 3 Tx Monitor TX MONITOR 1 Receiver Type 2 Cut Off Type Tradition D Bus PPM IMM Intel
13. the throttle stick first time after 6 or more GPS satellites are found 9 blinks once or no blinking 8 seconds Notices When switch to Manual or Atti Mode MC will disengage enhanced failed safe mode you can re gain control of multi rotor Tips The following schematic shown is introduction for Go Home and Landing Stay hover If GPS satellite found gt 6 eo at the first you pull the throttle stick lt Signal lost then record Home Location Ready to od Go Home Hover 15s Signal lost 3s Then land Forward Direction Multi rotor will fly along this direction when you push the elevator stick Usually the forward direction of a flying multi rotor is the same as the nose direction By using Intelligent Orientation Control IOC wherever the nose points the forward direction has nothing to do with nose direction e in flying the forward direction is the same as a recorded nose direction See the following figures Mode 2 2012 DJI Innovations All Rights Reserved 21 mA Usually In course lock e in flying the forward direction is the same as the direction from home point to multi rotor See the following figures Mode 2 wy 2 4 4 4 J m e r home lock Usua y Home point Home point Before using this function you have to choose a 2 or 3 positions switch on your transmitter as IOC switch Then wire the right ch
14. Autopilot section if there is flight jitter after gimbal mounted 2012 DJI Innovations All Rights Reserved 27 6 Voltage Monitoring VOLTAGE MONITOR 1 Protection Switch ON OFF 2 Battery Current Voltage 80 OISCONNECTE D Battery type 25 LiPo v 3 First Level Protection Load Loss Loaded 000v amp ooov 0005 Safeguard LED Warning 4 Second Level Protection Load Loss Loaded 000v 0 007 0005 Safeguard Descending STEP1 Protection Switch In order to prevent your multi rotor from crash or other harmful consequences caused by low battery voltage two levels of low voltage protection had been designed You can choose to or not to use them however we strongly recommend opening the protections here Notices e Make sure the connection between VU and MC V SEN to X3 is correct otherwise the low voltage protection will not work properly e All two levels of protection have LED warning as default All two levels of protection will blink red light 9 ceaselessly All two level protections will only have LED warning under Manual Model no any automatic actions e Low voltage protections are NOT fun You should land your multi rotor ASAP in any level of protection to prevent your multi rotor from crash or other harmful consequences STEP2 Battery Power the MC by a battery and connect the MC with PC current battery voltage will be displayed in this column If the battery volta
15. DJI Innovations All Rights Reserved 7 Assembly VU Do not mount it on any other electronic devices Make sure You can see the LED light during the flight If use with DJI multi rotor you can solder the VU power cable to power R C System These are example connections Please setup Aileron Elevator Throttle Rudder channels on your Tx first and choose one 2 positions switch channel 3 positions switch with GPS as control mode switch then connect your receiver to the right ports on MC pads on frame bottom board Please refer to DJI multi rotor manual for details If use with 3 part multi rotor you can make a connecter by yourself to connect VU ESCs and battery Sufficient air flow over the VU is highly recommended To Battery ESCs Motors e Motors and ESCs in DJI multi rotor kit are recommended 2 3 position switch channel e Please make sure you are using the ESCs and motors recommended R C Receiver by the manufacturer of your multi rotor first NAZA output is 400Hz JR refresh frequency e Connect all ESCs to MC by the motor numbering method introduced in Multi Rotors Supported of Appendix e If you use 3 party ESCs please make sure the ESCs travel midpoint is at 1520us DO NOT use 700us travel midpoint ESC as it may lead aircraft to fly away or cause injury and damage After connect ESCs to motors calibrate all your ESCs one by one through the receiver directly before connect the
16. For Control Mode Switch For gimbal pitch control Or for gain tuning For D Bus S Bus compatible Or for gain tuning Or for IOC switch For voltage monitor Connect with VU V SEN port To 1 rotor To 2 rotor To 8 rotor To 4 rotor To 5 rotor To 6 rotor To gimbal roll servo gimbal pitch servo LED port for LED wire connection from Versatile Unit TESS GPS port for GPS module wire connection In three pin ports pins near the nicks are signal pins Versatile Unit V SEN V SEN port To MC X3 port for monitoring battery voltage and supplying power Orange wire signal wire output 3 3V Red wire power wire output 4A 5V LED LED wire to MC LED port ye Micro B USB port PC connection for configuration and firmware upgrades GPS amp Compass Connect to the EXP port 2012 DJI Innovations All Rights Reserved 38 Light Description Control Mode GPS Manual Atti GPS Atti IOC GPS satellites lt 5 e e e000 GPS satellites 5 o oe GPS satellites 6 O e GPS satellites gt 6 No Attitude status o Control Mode Manual No Atti When EEE appears please hover the aircraft until disappears so as to have better flight performance Sparking indications of Atti and GPS Atti are e Before motors start Single blink all stic
17. Naza for Multi Rotor User Manual V 2 4 2012 09 24 Revision www dji innovations com 2012 Innovations All Rights Reserved Warning amp Disclaimer Naza is an excellent autopilot system offering tremendous flight features for low altitude multi rotor working in restricted space compared to normal helicopter It is not a toy when installed in multi rotors of any size Please respect the AMA s National Model Aircraft Safety Code Despite our efforts in making the controller to operate in the safest manner when the main power battery is connected such as disabling MC signal to ESCs when USB is connected disabling throttle input and stick command when throttle stick is not at the lowest position we strongly recommend customers to remove all propellers use power supply from R C system or flight pack battery and keep children away during system calibration firmware upgrade and parameter setup DJI Innovations assumes no liability for damage s or injuries incurred directly or indirectly from the use of this product Please strictly follow these steps to mount and connect Naza on your multi rotor as well as to install the assistant software on your computer DJI and Naza is registered trademark of DJI Innovations Names of product brand etc appearing in this manual are trademarks or registered trademarks of their respective owner companies This product and manual are copyrighted by DJI Innovations with all rights reserved No pa
18. PTION etm 39 RECOMMENDED SET TINGS icr catadensvabouaudeatsdeacunsslevenniadeerssiaasn 40 SPECIFICATIONS 41 2012 DJI Innovations All Rights Reserved 5 Matters Need Attention For safety reasons please pay serious attention to all following items 2 10 11 12 13 14 For big aircraft that is larger than 650 or with heavy load WKM is recommended When aircraft mounted please ensure the aircraft center of gravity is lie on the center of the frame for aircraft with load in the vertical direction of frame center When MC mounted try your best to mount the MC at the center of the frame and do not mount the MC upside down Make sure MC is parallel to the aircraft horizon so as to prevent the aircraft from drifting in horizontal direction Make sure the MC ESC ports is pointing to the aircraft nose direction otherwise serious damage will occur to your aircraft Disconnect ESCs and battery or remove all propellers during firmware upgrade configuration and system setup You have to reboot MC and redo the Tx calibration after you change the RC system In Tx Calibration of assistant software Throttle Slide left is craft down slide right is craft up e Rudder Slide left is nose left slide right is nose right e Elevator Slide left is craft back slide right is craft fr
19. and check Now you should reboot MC Test Fly STEP1 Make sure your batteries are fully charged for your transmitter MC and all the devices on your multi rotor STEP2 Check all connections and wirings and make sure they are in good condition STEP3 Switch on the transmitter first then power on your multi rotor STEP4 Slide the control mode switch on your transmitter and make sure it is working properly Check it with LED indicator to specify the current working mode for MC See Appendix for details about LED indicator STEP5 Switch the system to Atti Mode Use any safe method to do the following test Apply the throttle to 20 slowly and make sure all the motors are working and then try to push your sticks lightly in Roll Pitch and Yaw to feel if your multi rotor moves to the corresponding direction If not go back to Configuration Procedure correct your settings STEP6 Push the throttle stick slowly in 3 seconds after executing until all the rotors are working and then take off your multi rotor gently 2012 DJI Innovations All Rights Reserved 33 Tips e After a successful test fly the preparation before taking off can be simplified Put your multi rotor on the plane ground turn on the transmitter first power on multi rotor then you can take off in If the aircraft drifts or spins in horizontal direction when hovering please use in of assistant software to observe sensor output If there is bigger g
20. annel of receiver to X2 port of MC At each switch position use end point fine tuning on your transmitter move the slider of channel X2 to Home Lock Course Lock to turn the corresponding area blue respectively Tips e For 3 position switch Position 1 is Position 2 is Course Lock Position 3 is Home Lock e For 2 position switch Position 1 is Position 2 is Course Lock Or Position 1 is Position 2 is Home Lock e If you use S Bus PPM receiver the default channel connection is shown in Tx Monitor Receiver Type section Then you only need to assign a 2 or 3 position switch of your transmitter to the e channel Notices Do NOT set a 2 position switch as Position 1 is Course Lock Position 2 is Lock Course Lock Usage During the same flight STEP1 Record STEP2 Open STEP3 Close STEP4 Re open Nose direction Forward direction STEP1 Record forward direction There are two ways Manually Automatically 2012 DJI Innovations All Rights Reserved 22 Automatically MC will record the current nose direction as forward direction at 30 second after you power on the multi rotor And LED will blinkO quickly if recording is successful b Manually You can slide X2 channel switch between and position quickly 3 to 5 times to record current nose direction as new forward direction at any time after you power on multi rotor 30 seconds And LED will blink quickly if
21. ations Sports flying 2012 DJI Innovations All Rights Reserved 3 Main Controller MC 1 The Main Controller MC is the brain of the system it communicates with ESC and RC transmitter to carry out autopilot functionality It has a built in Inertial Measurement Unit IMU consists of 3 axis accelerometer one 3 axis gyroscope and a barometer for sensing the attitude and altitude Versatile Unit VU x1 o Specially designed for Naza It solves the high power consumption e LEC e E 25 65 problem of multi rotor system supply and monitor power for and other electronic devices It also has a LED to indicate different states of Naza and USB interface for configuration and firmware upgrade GPS amp Compass Module x1 The GPS Compass module is for sensing the position and direction GPS Bracket x1 Because the GPS amp Compass are sensitive to magnetic interference you should use this bracket to mount the GPS module USB Cable x1 This cable is used to configure MC and upgrade firmware 3 PIN Servo Cable x8 Cables used to connect the MC and the receiver 3M Gummed Paper x4 For fixing Naza components on multi rotor s frame 02012 DJI Innovations All Rights Reserved 4 Contents WARNING amp DISCLAIMER a US End REV 2 PRODUCT elitm 3 IN
22. crease the basic parameters until your multi rotor can just hover then decrease 10 more e Here you can make use of remote gain tuning channels to tune the gains during the flight 1 Followed the instructions in Assembly R C System section to connect and setup correctly 2 Choose the X1 or X2 channel in Remote Adjust for the gain you want to tune One channel to one gain 3 The range of remote tuning is from half current value to twice current value e Usually the Pitch Roll Attitude Pitch and Attitude Roll Gains of hexa rotor are high then quad rotor STEP2 Enhanced Failed Safe Methods Enhanced Fail safe method will be triggered when MC loses the control signal This could be one of the following situations 1 Signal lost between transmitter and receiver e g multi rotor is out of the communication range or transmitter is down and so on 2012 DJI Innovations All Rights Reserved 20 2 One or more connections of A U channels between MC and receiver loses If this happens before take off motors will not work if you push the throttle stick if this happens during the flight LED yellow light will flash to warn in addition to the failed safe method Choose one method for your failed safe function Landing or Go Home and Landing Landing the aircraft will land after 6s hovering Go Home and Landing Before takeoff current position of multi rotor will be saved as home point by MC automatically when you push
23. cted end points Model Position 2 to Model Position 3 to GPS Atti Model or reverse the assignment for Position 1 and Position 3 For 2 positions switch you can assign any two of these three control modes as you like If your transmitter supports Fail Safe then move the slider to the range which reads Fail Safe Mode to turn the area blue set Fail Safe output of receiver to input port U If you switch off your transmitter now the U channel slide should move to and turn the corresponding area to blue Otherwise please reset the fail safe MC has built in auto level Fail Safe function That means when the communication between MC and transmitter is disconnected the outputs of all command sticks from MC will go to center point If your transmitter has only 4 channels then MC will work in by default without Fail Safe function Tips Please refer to your RC manual for the details of fail safe setup With GPS it is Enhanced Fail Safe without GPS it is Auto Level Fail Safe and the aircraft will land Notices 1 2 Do NOT set the fail safe position of throttle under 10 of endpoint MC would not execute Fail Safe protection if you don t set it properly You can verify the Fail Safe settings by shutting down your transmitter and then you can use the following E method to check whether MC is already in Fail Safe mode Check status bar at the bottom side of the software interfac
24. e Control mode will change to Fail Safel Check the LED indicator Read the appendix in this manual for details LED will give fast yellow blinking if in fail safe mode If your transmitter does not support Fail Safe the Fail Safe function will not work when the communication between MC and transmitter is disconnected Do not use 4 channel Futaba transmitter with S Bus receiver otherwise MC will work in Fail Safe mode If users set GPS Atti Mode in Control Mode Switch without connecting to GPS module the will switch GPS Atti into automatically and LED indicator is yellow blinks that is 3 poisitions switch is the same as 2 positions switch Once work in Fail Safe Mode with GPS the aircraft will auto flameout when landed without GPS the aircraft will not auto flameout when landed 2012 DJI Innovations All Rights Reserved 18 4 Autopilot AUTOPILOT 1 Basic Parameters Pitch Full Yaw Vertical Basic Gain NIA NIA NIA NIA Attitude Gain Remate Adjust 2 Enhanced Failed Safe Methods Landing Go Home and Landing C 3 Intelligent Orientation Control erm OFF 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 gain is too large you will find the multi rotor oscillating in the corresponding direction About 5 10 2
25. e shifting meaning the multi rotor doesn t fly straight The LED indicator often indicates abnormality blinking when the multi rotor yaws It is normal for this to happen only occasionally Notices e Don t calibrate your compass where there is strong magnetic interference such as magnetite car park and steel reinforcement under the ground NOT carry ferromagnetic materials with you during calibration such as keys phones You don t need to rotate your multi rotor a precise horizontal or vertical surface but keep at least 45 difference between horizontal and vertical calibration e MC cannot work in the polar circle Calibration procedure STEP1 Enter calibration mode quickly slide the control mode switch from Position 1 to Position 3 for 6 to 10 times and LED indicator will be constantly on in yellow STEP2 Calibration in horizontal rotate multi rotor along with the horizontal surface until the green light i 9 on constantly then go to the next step 2012 DJI Innovations All Rights Reserved 31 STEP3 Calibration in vertical while green light is constantly on hold your multi rotor vertically rotate it along with its vertical axis keep rotating until the green light is off meaning the calibration is finished lt gt STEP4 After you finished the calibration LED indicator will show whether the calibration was successful or not lf calibrati
26. ed no more than the maximum servo supported frequency Notices If you open the gimbal control in assistant software during the configuration please note that there are outputs from F1 and F2 ports Now you should not connect these ports to ESCs which is wired with propellers and motors Tips NAZA supports servo center 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 make the camera mounting frame to your desired angle to ground 2012 DJI Innovations All Rights Reserved 26 STEP3 Automatic Control Gain Range 0 to 100 Adjust the reaction angle of automatic control The initial value 100 is full angle The bigger the gain the bigger the reaction angle Click NORMI and then you can reverse the feedback control directions STEP4 Manual Control Speed Range 0 to 100 You should assign one of the knobs on your transmitter to X1 channel for controlling the Pitch direction angle of camera gimbal during flight first Then adjust the reaction speed of pitch direction manual control the initial value 100 is full speed Notices If parameter adjustment was enabled on channel X1 the gimbal manual control via channel X1 will still be on as well Do not use X1 to control gimbal pitch and remote adjust parameters at the same time Please reset the Basic Parameters in
27. ely when throttle stick is back under 10 again In this case if you push the throttle stick over 1096 in 5 seconds after motors stop motors will re start CSC is no need If you don t push throttle stick after motors start in three seconds motors will stop automatically Mode By using this mode different control mode has different way of stopping motors In Manual Model only executing can stop motors In or GPS Atti Mode any one of following four cases will stop motors a You don t push throttle stick after motors start in three seconds b Executing CSC Throttle stick under 10 and after landing 3 seconds The slope angle of multi rotor is over 70 and throttle stick under 10 e Mode You have to execute csc to start motors Push throttle stick only will not start motors e In Atti GPS Atti it has landing judgment which will stop motors Start motors in Atti GPS Atti Model you have to execute CSC and then push throttle stick over 10 in 3 seconds otherwise motors will stop after 3 seconds e During normal flight only pull throttle stick under 10 will not stop motors in any control mode X For safety reason when the slope angle of multi rotor is over 70 during the flight in may be caused by collision motor and ESC error or propeller broken down and throttle stick is under 1096 motors will stop automatically e You can stop motors by executing in any control mode Not
28. ge displayed here is Calibration different from the voltage you measure from a voltmeter you have to calibrate Click the Calibration fill the voltage you have just measured in the Calibration column of the dialogue box and then click Confirm Current Voltage DISCONNECTED Calibration h5 83 V Cancel 2012 DJI Innovations All Rights Reserved 28 Meanwhile we need you to choose the battery type you are using so that can provide default warning voltages and ranges of warning voltages for you STEP3 First Level Protection No Load No Load Voltage Self defining warning voltage Needs your input Line Loss Voltage The battery voltage drop during the flight Needs your input Loaded Loaded Voltage The real time battery voltage during the flight This is the actual warning voltage monitored by MC No needs your input calculated by No Load and Loss Tips Voltages Magnitude Relation e No Load First level gt Second level e Loss First level Second level 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 Fill a reasonable warning voltage in the No Load of first protection We recommend to fill a voltage 1V lower than current voltage and
29. ices 1 All these two cut off types will work properly only if Tx calibration is correct 2 When Tx commands are valid under any control modes motors will start or stop immediately when you execute sa It has nothing to do with current throttle stick position Please DO NOT executes during flight without any reason 3 If you choose mode you should not pull throttle stick under 1096 during flight because that will stop motors If you do it accidentally you should push the throttle stick over 1096 in 5 seconds to re start motors 2012 DJI Innovations All Rights Reserved 16 4 If you choose mode throttle stick under 10 will trigger landing judgment in any control mode In this judgment pitch roll and yaw controls are denied except throttle but multi rotor will still auto level 5 In any control mode DO NOT pull throttle stick under 10 during normal flight without any reason 6 In failed safe is denied by MC motors will hold state STEP3 Command Sticks Calibration Slides Moving Definition Slide left is craft down slide right is craft up 48009 slide left is nose left slide right is nose right Slide left is craft back slide right is craft front Slide left is craft left slide right is craft right STEP1 Set endpoints of all channels to default values 100 and set all trims and sub trims of sticks to on your transmitter first Keep all curves settings as default since
30. k Tips 1 LED will blink O O slowly to indicate the IOC mode only when MC is really fly in course lock or home lock 2 We suggest that you should know clearly that by which lock method you are going to fly and the locked forward direction or home point before you switch on IOC mode during the flight 3 There is only one home point recorded at any time This point is the same one used by fail safe 4 When flying by home lock if GPS signal becomes weak MC will be in course lock by current forward direction automatically 5 You d better stand near the home point to use home lick 6 You d better use 3 position switch for X2 channel and you d better use X2 channel switch to open and close IOC during the flight Notices 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 home lock automatically when multi rotor flies out the 10m range around home point 2012 DJI Innovations All Rights Reserved 24 2 When multi rotor is flying by home lock far away from you and home point please do not slide 2 channel switch many time
31. ks except throttle stick return to center Double blinks stick s except throttle stick not at center e After motors start and throttle stick is over 1096 in 3 seconds Single blink all sticks return to center Double blinks stick s not at center Sparking indications of IOC OO are Before motors start blink all sticks except throttle stick return to center blink stick s except throttle stick not at center After motors start and throttle stick is over 10 in 3 seconds blink all sticks return to center blink stick s not at center Compass Calibration Begin horizontal calibration Begin vertical calibration Calibration or others error 00000000000000000000000 Others Tx signal lost Low voltage Other errors 00000000000000000000000 Connect to PC correctly System start and self check eooeeoeeoeeeo Do NOT move any command sticks during this procedure Please contact us if the last four green blinks are abnormal 2012 DJI Innovations All Rights Reserved 39 Recommended Settings Configuration Information Basic Gain Attitude Gain No Aircraft Motor ESC Propeller Battery Weight Pitch Roll Yaw Vertical Pitch Roll 1 F330 DJI 2212 DJI 18A DJI 8 Inch 35 2200 790 g 140 140 100 110 140 140 2 F450 DJI 2212 DJI 30A DJI 8 Inch 35 2200 8909 150 150 100 105 150 150 3 F550 DJI 2212 DJI 30A DJI 8 Inch 45 3300 1530 g 170 170 150 140 170 170
32. le stick is at 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 the vibration emerges along the vertical direction or the reaction of throttle stick is too sensitive then decrease 20 of the gain Now it is a suitable Vertical gain Attitude gains determine the reaction speed of attitude from command stick the bigger the value the quicker the reaction Increase it for sharper and quicker leveling action after command stick released Unstable shaking flying and the control feeling will be stiffness and rigid if the value is too high and sluggish leveling action and slow braking if too small Notices You must upgrade firmware first then click button in first setup parameter e The vertical gain will NOT affect the manual mode e The final flight performance is decided by the autopilot parameters and all parts of multi rotor includes mechanical structure motors ESCs propellers and battery If these parts are not compatible you cannot get good flight performance by adjusting the autopilot parameters Therefore if you have high requirement to flight performance you d better get a multi rotor with good integration test Tips e If you are a fresh player you can tune the basic parameters first as following 1 Increase the basic parameters 10 at a time so as to make your multi rotor hover or light oscillate after small angular command input 2 De
33. ligent 3 Command Sticks Calibration Calibration START 4 Sticks Monitor T L gt 5 Control Mode Switch Notices Make sure you have removed all propellers before this step STEP1 Receiver Type Choose the type of your receiver If you use S Bus receiver please choose S Bus compatible option D Bus If PPM receiver is used please choose PPM Otherwise choose Tradition Notices Please reboot MC and redo the calibration after you change the setup of your transmitter or change your receiver Tips Gate mu If you use S Bus PPM receiver the communication of A E T R U X1 and 1 X2 channels are all through the D Bus PPM channel Right figure shows the connection of default transmitter channels and MC channels in S Bus PPM NOUR 2 receiver Only first 8 channels of S Bus PPM receiver are used at the moment STEP2 Cut Off Type Please read the introductions of start and stop motor in this step first and then choose a cut off type 1 Start Motor Pushing throttle stick before takeoff will not start motors You have to execute any one of 2012 DJI Innovations All Rights Reserved 15 2 following four Combination Stick Commands to start motors S top Motor We provide two options to stop motors Immediately Intelligent Immediately By using this mode in any control mode once motors start and throttle stick is over 1096 motors will stop immediat
34. m to your MC Make sure program all of them into Governor off Break off and Normal Start up to get best experience R C Receiver Futaba Hitec 2 3 position switch channel Futaba S Bus GPS COMPASS GPS Compass is sensitive to magnetic interference should be far away from any electronic devices Please use 3M gummed paper provided To mount MC and mount MC parallel to You should use epoxy resin AB glue to assemble the GPS bracket first as the figure the aircraft horizon Papius dep acd The output ports of MC the right side in figure should point to the front of Mount the bracket on the center plate of craft first then fix the GPS on the plate of the f bracket by 3M glue provided The GPS is sensitive to vibration interference so multi rotor You d better put MC at the gravity center of multi rotor Please position the bracket at least 10 cm from any rotor make sure all ports are accessible when installing the MC so as to facilitate The logo marked on the GPS should face the sky with the orientation arrow wiring and software configuration pointing directly forward The GPS Compass is packaged with a special indication line In three pin ports pins near the nicks are signal pins for mounting for the first time SE i After choosing a location to mount the MC it is recommended If you are uncertain whether materials near the GPS Compass module are magnetic y S
35. on succeeds calibration mode will auto exit If red light keeps blinking quickly the calibration has failed Slide the control mode switch one time to cancel 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 DJI Innovations All Rights Reserved 32 Fly test Before First Flight Notices 8 Make sure you have assembled your multi rotor correctly 8 Make sure you have done the configuration procedure correctly e Any of the following mistakes will leads to dangerous accident double check all these items Rotation direction of motor is opposite Propeller installation mistake MC installation mistake Wrong connection between MC ESC In Atti Model throttle stick center position is for Om s along the vertical direction You d better keep throttle stick position higher than 10 from cut throttle during the flight e Make sure switch on the transmitter first then power on multi rotor Power off multi rotor first then switch off the transmitter after landing Please do the test fly and gain tuning with in the open air without heavy wind e In Atti Model after power on and before motors start if double blinks without move any stick that means you have moved any stick during system start up
36. ont Aileron Slide left is craft left slide right is craft right Make sure switch on the transmitter first then power on multi rotor before takeoff Power off multi rotor first then switch off the transmitter after landing No matter the gimbal control in assistant software is on or off during the configuration please note that there is output from F1 and F2 ports Now you should not connect these ports to ESCs which is wired with propellers and motors Do NOT set the failed safe position of throttle under 10 of endpoint Throttle stick position should always be higher than 10 from cut throttle during the flight Low voltage protections are NOT fun You should land your multi rotor ASAP in any protection level to prevent your multi rotor from crash or other harmful consequences By using mode to stop motors in any control mode once motors start and throttle stick is over 10 motors will stop immediately when throttle stick is back under 10 again In this case if you push the throttle stick over 10 in 5 seconds after motors stop motors will re start is no need If you don t push throttle stick after motors start in three seconds motors will stop automatically By using mode to stop motors motors will start or stop immediately when you execute During normal flight only pull throttle stick under 10 will not stop motors any 2012 DJI Innovations All Rights Reserved 6 15 16 17 18 19 20
37. pgrade status automatically please try again with the above procedures Product Info amp Upgrade You can check the MC product version via ABOUT gt Info Software Firmware Loader Hardware ID S N is a 32 digits authorization code for unit function activations We had already filled in the authorization code for your unit after manufacture You might be asking to fill in the new in the future if you brought new function upgrades Fill in the and then click button If you filled in an invalid over 30 times your MC will be locked and you have to contact our customer support 2012 DJI Innovations All Rights Reserved 11 Configuration 1 Mounting MOUNTING Mounting Location Example M C GPS Green line for negative Red line for positive STEP1 Mounting Location Install all payloads that will be used during the flight including batteries camera mount and camera Balance the multi rotor as you would normally with the center of gravity C G directly on the center plate Fill in the distance between body center of GPS and the C G of multi rotor in X Y amp Z axles as showed in the figure Make sure the MC ESC ports is pointing to the aircraft nose direction otherwise serious damage will occur to your aircraft When MC mounted try your best to mount the MC at the center of the frame and do not mount the MC upside down Make sure MC is parallel to the aircraft horizon
38. rt of this product or manual shall be reproduced in any form without the prior written consent or authorization of DJI Innovations No patent liability is assumed with respect to the use of the product or information contained herein 2012 DJI Innovations All Rights Reserved 2 Product Profile Naza for multi motors is an autopilot system designed for serious multi rotor enthusiasts providing excellent self leveling and altitude holding which completely takes the stress out of flying RC multi rotors for both professional and hobby applications can be installed in a variety of models from quad rotor to hexa rotor Naza Control Modes GPS Atti Mode Atti Mode Manual Mode Rudder Angular Maximum rudder angular velocity is 200 5 Velocity Max angular velocity is 150 s Command Stick Multi attitude control Stick center position for 0 No attitude angle limitation and Meaning attitude its endpoint is 45 vertical velocity locking Command YES Linearity Lock position if GPS Stick Released Only attitude stabilizing NOT Recommend signal is adequate Maintain the altitude best above 1 meter from Altitude Lock NO ground After 10s when Only performing attitude GPS signal lost GPS Lost stabilizing without system enters Atti position lock Mode automatically Attitude amp speed mixture control ensures Safety stability Depends on experience Enhanced Fail Safe Auto Level Fail Safe Applic
39. s quickly so as to avoid the change of home point without your attention 3 By using a 3 position switch if you want to record forward direction or home point manually do not slide X2 channel switch between and position but only between and Lock or and position And please record the forward direction and home point separately so as to make sure the recording is successful 4 When you are flying in home lock if the multi rotor is back into the 10m range around home point or you switch into Atti Model MC will fly in course lock by current forward direction automatically But this forward direction is NOT the recorded forward direction If you open the course lock now MC will fly in course lock still by the recorded forward direction 5 We suggest you to use in a limited area which is 10m away from home point 6 Continuously spinning will cumulate yaw error In this case you can stop or slow down the spinning so as to have better flight performance 2012 DJI Innovations All Rights Reserved 25 5 Gimbal GIMBAL 1 Gimbal Switch On OFF Output Frequency 50hz 2 Servo Travel Limit Center MIN Pith z 0 9 Rol iW 0 lo fo 3 Automatic Control Gain Gain Direction Pih eza 000 LR Roll qe 000 RE 4 Manual Control Speed Pitch EXP 0 STEP1 Gimbal Switch If you use gimbal please choose here and select an 50Hz 100Hz 200Hz 400H2 The chosen output frequency is recommend
40. satellites are found 9 blinks once or no blinking you can slide X2 channel switch between to a 3 position switch and or to 2 position switch and position quickly 3 to 5 times to record current position of multi rotor as new home point And LED will blink quickly if recording is successful STEP2 Open home lock Slide X2 channel switch to position to fly in home lock when all 2012 DJI Innovations All Rights Reserved 23 the following requirements are met a Home point is recorded successfully b 6 or more GPS satellites are found c In GPS Atti Mode d Multi rotor is further than 10m away from home point Now wherever the nose points the real flight forward direction is the same as the direction from home point to multi rotor and LED will blink O slowly to indicate the IOC mode of STEPS Close home lock There are three ways a Slide X2 channel switch to position to quit home lock Recommended way b Slide U channel switch to Manual position or close transmitter will be in course lock by current forward direction automatically when multi rotor flies back into 10m range around home point or MC is in Atti Model STEP4 Re open home lock If you want to re open home lock after you quit this function you should first slide X2 channel switch to position When all 4 requirements in the 3 step are met slide X2 channel switch to position to re open home loc
41. the end point of transmitter Fa sticks will be recorded here STEP2 Click START button and move all of the sticks throughout t ur T i oe their complete range several times Y STEP3 After that click FINISH button when you finished above procedures STEP4 If the moving direction of the slide is opposite to the S ides Moving Definition click the reverse button beside Notices 1 All slides should become when all the sticks are in the middle positions If slides cannot go back to center points become just click FINISH then slides will be at center automatically If still not please reboot MC and do not apply Tx command during the reboot 2 CSC may not start motors If trims and sub trims of sticks are not O STEP4 Sticks Monitor This step is optional X1 and X2 is for remote gain tuning X1 is also for gimbal pitch control Setup the channel on your RC correctly STEP5 Control Mode Switch Whichever 2 or 3 positions switch on your transmitter you have selected to use as control mode switch wire the right channel of receiver to U port of MC At each switch position use end point fine tuning on your 2012 DJI Innovations All Rights Reserved 17 transmitter move the slider of channel U to GPS Atti Mode A Atti Mode IM Manual Mode to turn the corresponding area blue respectively as showed in the figure Tips To move the slider is to adjust channel sele
42. the latest one Do not disconnect MC and PC when you are using the assistant software 2012 DJI Innovations All Rights Reserved 10 Firmware Upgrade Please strictly follow the procedure for firmware upgrade otherwise autopilot might not work properly For safety reason do not use power battery during firmware upgrade STEP1 Make sure your computer is connected to the Internet STEP2 Please close all the other applications during the firmware upgrade including anti virus software and firewall STEPS Make sure the power supply is securely connected DO NOT un plug the power supply until firmware upgrade has finished STEP4 Connect MC to PC with micro USB cable DO NOT break connection until firmware upgrade is finished STEP5 Run Software and wait for connection STEP6 Select TOOL Firmware Upgrade STEP7 Server will check your current firmware version and get the latest firmware prepared for the unit STEPS If there is a firmware version more up to date than your current version you will be able to click the button STEP9 Wait until Assistant software reads finished STEP10 Click and power cycle the unit after at least 5 seconds Your unit is up to date now Notices After firmware upgrade please re configure by Assistant software If it is notified that the network or server is busy please try again later with above procedures If firmware upgrade failed MC will enter waiting for firmware u
43. yroscope bias do gyroscope calibration according to the MU Calibration in Appendix 2012 DJI Innovations All Rights Reserved 34 Fly with GPS Before Fly with GPS Notices e When system is powered on you must not move your multi rotor or sticks on transmitter until the system initialization is finished about 5 second e Make sure the GPS signal is good without red LED blinking Otherwise multi rotor will drift without stick commands e Please avoid using MC system in the following areas where will GPS signal is most likely blocked Urban area with crowded buildings Tunnels Under bridges Tips Should you find the multi rotor does not track straight in forward flight you might try re mounting GPS in an offsetting angle as showed in right figure O in the figure is the offsetting angle ual flight direction Act Objective flight direction GPS mounting direction NE j 3 96 r VJ os Actual flight direction flight direction M P 7 7 N P GP S Mounting direction 2012 DJI Innovations All Rights Reserved 35 Appendix IMU Calibration IMU Calibration Please keep the controller stationary Check IMU Status Calibration Gyroscopefdegree s Acceleration g xpo0 veo zo status ready Calibration The IMU calibration is aiming at the aircraft
Download Pdf Manuals
Related Search