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WooKong M User Manual

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1. Crs xR is negative the sum of M2 M4 M6 output Cre Cre xR is positive then the clockwise torque force is smaller than counter clockwise torque force multi rotor nose left And the balance along all the other axes can be derived by substituting the yaw stick command into equations set 2 The movement about the pitch axis is produced by the differential output of M1 M2 and M4 M5 Since and M6 are on the pitch axis they do not contribute and torque You can just keep the rotation speed of M3 and M6 the same as hovering so and are 0 Increase output of M4 M5 and decrease output of M1 M2 multi rotor moves forward decrease output of M4 M5 and increase output of M1 M2 multi rotor moves backward We also want multi rotor to keep balance along all the other axes when apply the pitch stick 2012 DJI Innovations All Rights Reserved 47 command c Td qu e Fia PU X E 0 keep throttle direction balance T T X keep yaw direction balance 3 Cog 26 x Ex d C 264 x Ex 4 To keep roll direction balance Also proportion of coefficients of the motors at the same side of pitch axis should be equal to the proportion of force arms of those motors Ces 1 1 As we defined before Pull stick lt 0 multi rotor moves backward Push stuck gt 0 multi rotor moves forward we can choose
2. Customize Motor Mixer For a multi rotor the roll pitch yaw and vertical axes are contributed by the combination of rotors outputs This procedure is called Mix Control The proportion of rotors outputs is decided by the mechanical structure Customers can setup the motor output coefficients C in gt so as to realize the Mix Control Before customization you should following knowledge 1 Motor output x Stick position A or E or T or R Torque produced by motor Motor output x Force arm of motor L C x Stick position A or E or T or xL 2 The range of C is from 100 to 10096 Maximum C in the same column is 100 The bigger absolute value of C The great effect of stick position on motor output Stick position will not affect motor output when C is 0 which means the motor output is fixed 3 Each motor has four different output coefficients Cr Cy Cp E g represents coefficient of M2 in yaw control Crs represents coefficient of M5 in roll control 4 Motor output is relative to its rotation speed The bigger output the faster rotation speed Negative output does not represent counter rotation but slower rotation speed Motor is still spinning if its output is O 5 Throttle stick position T Pull stick lt 0 multi rotor moves down Push stuck gt 0 multi rotor moves up Rudder stick position R Stick left R lt 0 multi rotor nose left Stick right R20 multi rotor nose right
3. 44 misc T 44 DISTANCE NU gm C 44 APPEND A 45 CUSTOMIZE MOTOR MIKER opasne aa een concu diei 45 IWIGETIEROTORS SUPPORTED i I x E ee a eae 50 PORT DESCRIPTION 51 LE DiDESCRIPTION eT 52 RECOMMENDED SETTING 51 5 10 036 A 53 SPECICATION cep A 54 2012 Innovations All Rights Reserved 6 Important Information For safety reasons please pay serious attention to all following items 1 10 11 12 13 Please disconnect the ESCs from the power battery or remove all propellers during firmware upgrade configuration and system setup Pay attention to the IMU mounting direction Do not mount the IMU upside down You have to reboot the MC and redo the TX calibration after you change the RC system In the TX Calibration menu of assistant software e Throttle Screen slider left is craft down slider right is craft up e Rudder Screen slider left is nose left slider right is nose right Elevator Screen slider left is craft back slider right is craft front Aileron Screen slider left is craft left slider right is craft right GPS Compass is sensitive to magnetic interference it should be mounted far aw
4. Slider left is craft left slider right is craft right STEP1 Set endpoints of all channels to default values 10096 and set all trims and sub trims of sticks to 0 on your transmitter first Keep all curves settings as default since the end point of transmitter sticks will be recorded here STEP2 Click START button and move all of the sticks throughout e d les E STEP3 After that click FINISH button when you finished above procedures their complete range several times STEP4 If the moving direction of the slide is opposite to the S ides Moving Definition click the reverse button NORM at the right side of the screen Note 1 All sliders should become when all the Tx sticks are in the middle positions If the sliders cannot go back to center points become B just click FINISH then the sliders will be at center automatically If still not centered please reboot the MC and do not apply any Tx command during 02012 DJI Innovations All Rights Reserved 19 the reboot 2 CSC may not start motors If trims and sub trims of Tx sticks are not 0 STEP4 Sticks Monitor This step is optional X2 and X3 is for remote gain tuning X3 is also for gimbal pitch control Setup the channel on your RC correctly STEP5 Control Mode Switch Whichever 2 or 3 position switch on your transmitter you have selected to use as control mode switch connect the correct channel of the receiver to the U po
5. 2012 DJI Innovations All Rights Reserved 13 1 You must re measure and re configure if the ALL UP WEIGHT of the multi rotor has changed 2 measured locations are not accurate enough or the signs are wrong then the error on the X Y Z axis will lead to an oscillation of your multi rotor 3 Make sure you follow the diagram in our assistant software red is positive green is negative unit of measurement is CM NOT INCH i e centimeters 2012 DJI Innovations All Rights Reserved 14 2 Motor Mixer Motor Mixer 1 Mixer Type Quad rotor Quad rotor X Hexa rotor Hexa rotor V Hexa rotor IY Hexa rotor Y Qcto rotor X Octo rotor Octo rotor V customize Motor Throttle Yaw Pitch Roll cm 0 10 0 10 CA 0 0 96 0 0 CE 0 0 96 0 0 96 cm 0 0 96 o o ea 0 0 o 4 0 96 0 96 0 06 eID o0 o 096 110 CID 0 10 fo 10 2 Motor Idle Speed STEP1 Mixer Type Set your transmitter into mode Then select the right mixer type according to your multi rotor Tips e We support nine types of multi rotors Please refer to Multi Rotors Supported in Appendix e If you want to use a camera gimbal with an Octo rotor you have to use an S Bus S Bus2 or PPM receiver and then you can use port T and R for gimbal control Otherwise there will be no ports available on the MC for gimbal control Note e Do NOT follow
6. lt 0 multi rotor moves left Stick right gt 0 multi rotor moves right we can choose the following setup 2012 DJI Innovations All Rights Reserved 48 Motor Throttle Yaw Pitch am 100 100 100 96 am 100 100 100 100 100 0 100 100 100 c 100 100 100 10095 100 0 am 10 0 96 0 96 05 96 96 Ms M M M 5 Roll Axis SIXV Now if move the roll stick right the sum of M2 M4 output Caz 2C43 xA is positive the sum of M1 M5 M6 output Ca Cas 2 xA is negative then multi rotor moves right if move the roll stick left the sum of M2 M4 output Caz 2C43 xA is negative the sum of M1 M5 M6 output Cai Cas 2 xA is positive then multi rotor moves left And the balance along all the other axes can be derived by substituting the roll stick command into equations set 4 Summary 1 Once you choose to customize all coefficients are configurable However you only have to setup as many as you need Leave the rest 0 2 Make sure you are clear about the definition of the positive and negative Make sure you are also clear about the relationship between the output quantity and motor rotation speed 3 Usually the coefficients of throttle and yaw are 100 or 100 The rest of the coefficients should be
7. Elevator stick position E Pull stick lt 0 multi rotor moves backward Push stuck E gt 0 multi rotor moves forward Aileron stick position A Stick left A lt 0 multi rotor moves left Stick right gt 0 multi rotor moves right 6 Multi rotor should keep balance along all the other axes when moves along one axis e To keep throttle direction balance sum of all motors output should be 0 when apply rudder or pitch or roll stick command To keep yaw direction balance sum of counter clockwise motors output should be equal to sum of clockwise motors output when apply throttle or pitch or roll stick command To keep pitch direction balance total torques produced motors at each side of pitch axis should be the same when apply throttle or rudder or roll stick command e To keep roll direction balance total torques produced by motors at each side of roll axis 2012 DJI Innovations All Rights Reserved 45 should same when apply throttle or rudder or pitch stick command 7 To pitch or roll control proportion of coefficients of the motors at the same side of pitch or roll axis should be equal to the proportion of force arms of those motors Cm Cn Lm Ln Coefficient is 096 If the force arm of that motor is O Roll Axis M M1 Vv M3 M QS Yaw Axis a M 5 Now we take the Hexa rotor V as an illustration to introduce how to customize motor mixer Throttle Usually
8. STEP3 Switch off course lock Switch the X2 channel to position to quit course lock STEP4 Switch on course lock again When all requirements in step 2 are met Switch the X2 channel from to position Note Pay attention to the following statement which may also lead the MC to cancel the course lock e Switch U channel to Manual Mode position or switch off transmitter or fly in waypoint mode Home Lock Usage During the same flight STEP1 Record STEP2 ON STEP3 OFF STEP4 ON again e e e Nose direction Forward direction eHome point Over 10m distance STEP 1 Record home point The home point mentioned here is the same home point as the enhanced Fail Safe There are two ways to record this point Manually and Automatically The LED will blink quickly if recording is successful a Automatically Before takeoff the current position of the multi rotor will be saved as the home point by the MC automatically when you raise the throttle stick for the first time AND it has 6 or more GPS satellites acquired for more than 8 seconds 9 blinks once or no blinking gt 8secs b Manually When 6 or more GPS satellites are found 9 blinks once or no blinking you can 2012 DJI Innovations All Rights Reserved 28 switch the X2 channel between two positions quickly 3 to 5 times to record the current position of the multi rotor as the new home point 1 3 position switch Control 1 switch the X2 channe
9. and do not use power battery to motors during firmware upgrade 1 Make sure your computer is connected to the Internet 2 Please close all other applications during the firmware upgrade including anti virus software and firewall 3 Make sure the power supply is securely connected DO NOT un plug the power supply until firmware upgrade has finished 4 Connect MC to PC with the Micro USB cable DO NOT break the connection until firmware upgrade is finished Run Software and wait for connection Select TOOL gt Firmware Upgrade DJI server will check your current firmware version and get the latest firmware prepared for the unit o If there is a firmware version more up to date than your current version you will be able to click the button 9 Wait until Assistant software reads Finished 10 Click and power cycle the unit after at least 5 seconds Your unit is now up to date Note e After firmware upgrade please re configure WKM using Assistant software Default all values before re entering your settings If it is notified that the network or DJI server is busy please try again later with above procedures If firmware upgrade failed WKM will enter waiting for firmware upgrade status automatically please try again with the above procedures Product Info You can check the MC product version via gt This includes software version firmware version IMU version hardware ID and loader versio
10. For supplying power to WKM system e Output Max 2A 12 6V 02012 DJI Innovations All Rights Reserved 51 LED Description Flight States Manual Mode Atti Mode GPS Atti Mode IOC Tx Signal Lost GPS satellites lt 5 eeeo 00o GPS satellites lt 6 GPS satellites lt 7 Attitude amp GPS good O Attitude status fair Attitude status bad OGOGO oooe IMU data Lost eee eeoe Flashing indications of are Single flash the Tx sticks are at center position multi rotor hovering Double flash Tx stick s not at center position speed command is not zero e Fast flashing Recorded forward direction home point or POI is successful Compass Calibration Begin horizontal calibration C Begin vertical calibration QUEE Calibration finished J Calibration or others err 00000000000000000000000 Low Voltage Warning First level protection Second level protection 00000000000000000000000 Main Controller LED MC is functioning correctly Boot loader mode MC is waiting for firmware upgrade Firmware upgrade has finished is waiting for reboot 9990000000000 Error occurred during firmware upgrade MC reboot is required CE PMU LED PMU connection is correct Connectio
11. Position 1 if the initial switch position is at Position 1 Position 2 Position 1 if the initial switch position is at Position 2 e The home point of the ground station one key go home is the same as the point set by user in the ground station software e If the home point is not set by the ground station the home point of the ground station one key go home function is the point recorded by the MC e ifthe cannot be selected in the assistant software that may be due to the X3 channel been set for remote gain tuning you should change this if required e The multi rotor will climb at a speed of 1 5m s if needed during go home e The multi rotor will change its vertical speed during go home as shown below gt 100m height 50 100m 20 50m 10 20m lt 10m 4m s 3m s 2m s 1m s 0 3m s STEP4 Intelligent Orientation Control IOC Forward Direction The Multi rotor will fly along this direction when you push the elevator stick Usually the forward direction of a flying multi rotor is the same as the nose direction By using Intelligent Orientation Control IOC wherever the nose points the forward direction has nothing to do with the nose direction e In course lock flying the forward direction is the same as a recorded nose direction See the following figures TX Mode 2 2012 DJI Innovations All Rights Reserved 25 as Bel Usually In course lock In home lock flying the forward direction is the same as
12. automatically You can stop the motors by executing in any control mode 02012 DJI Innovations All Rights Reserved 18 Note 1 The two cut off types will only work correctly if the Tx calibration is correct 2 When Tx commands are valid under any control modes the motors will start or stop immediately when you execute csc It has nothing to do with the current throttle stick position Please DO NOT executes during flight without a good reason 3 If you choose mode you should not lower the throttle stick under 1096 during flight because this will stop the motors If you do it accidentally you should push the throttle stick above 1096 within 5 seconds to re start the motors 4 If you choose mode throttle stick below 10 will trigger landing judgment in any control mode In this judgment pitch roll and yaw controls are disabled except throttle but the multi rotor Will still auto level 5 In any control mode DO NOT lower the throttle stick below 1096 during normal flight without a good reason 6 In any auto action caused by fail safe or low voltage protection e g auto Go Home any commands applied to start or stop the motors are denied by the MC motors will auto control STEP3 Command Sticks Calibration On screen Slider Definition C Slider left is craft down slider right is craft up Slider left is nose left slider right is nose right Slider left is craft back slider right is craft front
13. decided by the proportion of force arms of the motors 4 The method introduced in this section is only suitable for central symmetry multi rotor 2012 DJI Innovations All Rights Reserved 49 Multi Rotors Supported For coaxial propellers propeller is at Red propeller is at Bottom Otherwise all propellers are at top Ms M Y6 2012 Dul Innovations All Rights Reserved 50 Port Description Main Controller For roll control left right For pitch control front back For throttle control Or to gimbal roll servo For rudder control Or to gimbal pitch servo For Control Mode Switch For voltage monitor Connect with PMU V SEN port For D Bus S Bus S Bus2 compatible Or for gain tuning Or for IOC switch For gimbal pitch control Or for gain tuning Or for switch go home 6 rotor 5 rotor 4 rotor 3 rotor 2 rotor 1 rotor To gimbal pitch servo Or to 8 rotor To gimbal roll servo Or to 7 rotor Micro B USB port PC connection for configuration and firmware upgrades CAN Bus port MC uses CAN Bus to power and communicate with other WKM modules In three pin ports pins near the nicks are signal pins Power Management Unit V SEN PW For monitoring battery voltage and supplying power to receiver and other electronic devices Connect with MC X1 port White wire signal wire output 3 3V e Red wire power wire output 3A 5V
14. e When you change the payload or multi rotor you have to obtain the new line loss voltage e The line loss voltage will be higher after many flights you should obtain a new value after charging 30 times B Make sure your ESCs protection voltage is lower than 3 1V 1S otherwise the WKM low voltage protection will not work Acquire the line loss voltage by the method above and enter the value Enter a reasonable warning voltage in the No Load Choose a safeguard method 1 LED warning This is the default safeguard when you switch on the low voltage protection 2 Go Home and Landing This safeguard will NOT be triggered if any of the following conditions are true a or Atti Mode b GPS signal is not good The distance between the Home Location and multi rotor is less than 25m and the altitude is lower than 20m relative to the Home Location Here the recorded Home Location is the same as the one used for Enhanced Fail safe Please refer to Enhanced Fail safe in Autopilot Note e There will be a 4 second LED warning before Go Home If you switch to or during Go Home you will regain the control LED warning will be still on please land ASAP If you switch back into the when you are in first level protection you will have 15s time to control your multi rotor you should land ASAP in this 15s to prevent your multi rotor from crashing or other harmful consequences After this time if the Go Home and landing requirements a
15. 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 2 When the multi rotor is flying in home lock at a distance away from you and the home point please do not switch the X2 channel many times quickly as this will change the recorded home point to the current location 3 Avoid using POI in areas where the GPS signal might be lost or the TX RX signal might be lost such as built up urban areas 4 By using a 3 position switch if you want to record a new home point and point of interest manually it is recommended to record them separately so as to make sure the recording is successful Please pay attention to the following contents for correct recording e Control 1 do NOT switch X2 channel between and position but only between and Course Lock or and position e Control 2 do NOT switch X2 channel between and position but only between and Course Lock or and POI position e Control 3 do NOT switch X2 channel between and position but only between and POI or and PO position 5 When you are flying in home lock if the multi rotor fly s within 10m range of the home point or you switch into Model the MC will automatically select course lock using the current not recorded forward flight direction automatically Thi
16. of the software interface Fail Safe Control mode will change to Fail Safe 1 Check the LED indicator Read the appendix in this manual for details LED will give blue blinking if in fail safe mode 02012 DJI Innovations All Rights Reserved 20 4 Autopilot AUTOPILOT 1 Basic Parameters Rall Yaw vertical oar we spa JN 28 we 3130 Les Atitude 120 9120 INF C Advance Parameters V Damping Disturbed Gain Fiteh amp Rall 100 100 0 100 Vertical 100 100 0 2 Enhanced Failed Safe Methods Hover Go H AltGo H C Go Home Switch Stmdby Start Ep C 3 Intelligent Orientation Control eum 87 1090 Course Lock Contral 1 STEP1 Basic Parameters Usually the default parameters are ready to go However different multi rotors have different gains because of different size ESC motor and propeller If the gain is too large you will find the multi rotor oscillating in the corresponding direction About 5 10Hz If too small the multi rotor maybe hard to control So you can setup the basic Gain of Pitch Roll Yaw and Vertical manually according to your multi rotor to have a pleasing flight experience We suggest you change the values by 10 to 15 at a time and test fly For the gains of Pitch and Roll if you release the Pitch or Roll stick after a command stick input the multi rotor will revert back to
17. the devices on your multi rotor STEP2 Check all connections and wiring and make sure they are in good condition and secure STEP3 Switch on the transmitter first then power on your multi rotor STEP4 Switch the control mode switch on your transmitter and make sure it is working properly Check using the LED indicator to specify the current working mode for the MC See Appendix for details about LED indicator STEP5 Switch the controller to Atti Mode Use any safe method to do the following test Increase the throttle to 2096 slowly within 3 seconds after executing and make sure all the motors are working and then try to move the transmitter sticks lightly in Roll Pitch and Yaw to feel if your multi rotor moves in the corresponding direction If not go back to the Configuration Procedure and correct your settings 02012 Innovations All Rights Reserved 41 STEP6 Tips After a successful test flight the preparation before taking off can be simplified Put your multi rotor on level ground turn on the transmitter first power on the multi rotor when the LED light starts to blink normally you can take off in Atti Mode 2012 DJI Innovations All Rights Reserved 42 Flying with GPS Note e When the system is powered on you must not move your multi rotor or sticks on the transmitter until the system initialization is finished about 5 second e Make sure the GPS signal is good without red blinking LED
18. the direction from home point to multi rotor See the following figures TX Mode 2 P In home lock KA Usually point Home point In POI POI Point Of Interest flying the roll channel controls the multi rotor circular flight speed around a fixed point the pitch channel is used for controlling the diameter around the fixed point the y v throttle is used to control the height around the fixed point See the following chart Tx Mode 2 e Semi diameter 4 9 4 7s Usual ly o Point of Interest Step1 Before using the IOC function you have to choose a 2 or 3 positions switch on your transmitter as the IOC switch which is also used for recording the multi rotor orientation home position or point of interest in corresponding modes Step2 Connect the correct channel of the receiver to the X2 port of the MC You can select Control 110 change the IOC control mode options Three IOC control options are available they are Control 1 and Control 3 and every option contains two IOC functions Control 1 Home Lock Course Lock Control 2 Course Lock Control 3 Home Lock PO Step3 Toggle the Tx switch and observe the slider position of channel X2 on the assistant software screen the corresponding area should turn blue Tips 1606863 GQOQ e For 3 position switch or exchange Position 1 and Position 3 02012 DJI Innovation
19. torque force When the hexa rotor is hovering all the rotors are spinning at the same angular velocity which means the clockwise torque force equals to counter clockwise torque force and this produces exactly 0 angular acceleration about yaw axis Therefore when the rotate speed of M1 M3 M5 is larger than M2 M4 M6 hexa rotor spins clockwise when the rotate speed of M1 M3 M5 is smaller than M2 M4 M6 hexa rotor spins counter clockwise We also want multi rotor to keep balance along all the other axes when apply the yaw stick command PGs t Ca T Ca eG x R 0 keep throttle direction balance Ca Co T G5 x R xX a keep pitch direction balance 2 26 x Rx d 26 x Rx 4 To keep roll direction balance As we defined before Stick left R lt 0 multi rotor nose left Stick right R gt 0 multi rotor nose right we can choose the following setup Motor Throttle 10096 100 96 100 96 100 96 100 96 100 96 96 96 Roll Axis M M M3 M SIXW M M5 AH Now if move the yaw stick right the sum of M1 M5 output Cn Crs xR is positive the sum of M2 M4 M6 output Cro Cre xR is negative then the clockwise torque force is larger than counter clockwise torque force multi rotor nose right if move the yaw stick left the sum of M1 M3 M5 output Cn
20. we want push the throttle stick to ascend the multi rotor pull the throttle stick to descend the multi rotor put the throttle stick at center point to hover the multi rotor We also want multi rotor to keep balance along all the other axes when apply the throttle stick command Cu F Ga F C xT To keep yaw direction balance T1 T3 T5 T2 T4 T6 T c F pitch direction balance 1 2 x Tx d 2 x T x 4 To keep roll direction balance As we defined before Pull stick lt 0 multi rotor moves down Push stuck T gt 0 multi rotor moves up we can choose the following setup Motor Roll Axis cn M M1 CH ca y cuo M3 ME Q8 c gt x aa CID M M5 CED Now if push the throttle stick the sum of all motors output Cro 4 Cts Cre xT is positive then multi rotor moves up pull the throttle stick the sum of all motors output Crs is negative then multi rotor moves down And the balance along all the other axes can be derived by substituting the throttle stick command into equations set 1 2012 DJI Innovations All Rights Reserved 46 Yaw The movement about yaw axis is produced by the counter torque force from the rotation of propeller In our example M1 M3 M5 produce clockwise torque force M2 M4 M6 produce counter clockwise
21. EP1 Receiver Type Choose the type of your receiver If you use an S Bus or S Bus2 receiver please choose S Bus S Bus2 compatible option D Bus If a PPM receiver is used please choose PPM Otherwise choose Note Please reboot the MC and redo the calibration after you change the setup of your transmitter or change your receiver Tips If you use S Bus S Bus2 PPM receiver the communication of A Transmitter MC T R U X2 and X3 channels are all through the D Bus PPM Sd UE E channel Right figure shows the connection of default transmitter 2 E j channels and MC channels in S Bus S Bus2 PPM receivers Only 5 the first 8 channels of S Bus S Bus2 PPM receivers are used 2 gt lt the moment Then the original T and R channels are for Gimbal 7 x3 servo control 2012 DJI Innovations All Rights Reserved 17 STEP2 Cut Type Please read the introductions of start and stop motor in this step first and then choose a cut off type 1 Start Motor When using WKM pushing the throttle stick before takeoff will not start the motors You have to execute any one of following four Combination Stick Commands to start the motors Stop Motor We provide two options to stop motors Immediately or ntelligent Mode By using this mode in any control mode once the motors start and the throttle stick is above 1096 the motors will stop immediately when the thrott
22. Otherwise the multi rotor will drift without stick commands e Please avoid using the MC system in the following areas where the GPS signal is most likely weak or totally obstructed Built up Urban area with many buildings X Tunnels X Under bridges Tips Should you find the multi rotor does not fly straight in forward flight you might need to re mount the GPS module in an offset angle as shown in the diagram below O in the diagram is the offset angle 55 flight direction Actua Objective flight direction GPS mounting direction 4 Yy p 99 Actual flight directidn NA ja flight direction X S Mounting direction 2012 DJI Innovations All Rights Reserved 43 Enhanced Features Attitude Control When One Motor Output Has Failed This feature is for Hexa rotor including Hexa rotor Hexa rotor V Hexa rotor IY and Hexa rotor Y The WKM can still control the attitude of the Hexa rotor for a safe landing when one motor output of the Hexa rotor has failed for example one motor is stopped or one propeller is broken etc The control mode of WKM should be in Atti Mode or GPS Atti Mode The aircraft will rotate due to an imbalance of torque however it can still be controlled by the TX Select Course lock or home lock mode for flying the aircraft into a safe area to land when the aircraft is far away or the attitude can t be recognized Even when the multi rotor is r
23. WooKong Multi Rotor User Manual V 3 6 2013 01 30 Revision chji www dji innovations com Warning amp Disclaimer WKM is an excellent autopilot system offering excellent flight features for low altitude multi rotor working in restricted space compared to a conventional RC helicopter It is not a toy when installed in multi rotors of any size Despite our efforts in making the operation of the controller as safe as possible when the main power battery is connected such as disabling MC signal to ESCs when USB is connected disabling throttle input and stick command when throttle stick is not at the lowest position on power up we strongly recommend users to remove all propellers use power supply from R C system or flight pack battery and keep children and animals away during firmware upgrade system calibration and parameter setup As DJI Innovations has no control over use setup final assembly modification including use of non specified parts i e motors ESCs propellers etc or misuse no liability shall be assumed nor accepted for any resulting damage or injury By the act of use setup or assembly the user accepts all resulting liability DJI Innovations accepts no liability for damage s or injuries incurred directly or indirectly from the use of this product Please read this manual carefully and strictly follow the steps to mount and connect the WooKong for Multi Rotor WKM system on your multi rotor as well as t
24. and the default is RECOMMEND You can click and drag the cursor J to the corresponding level to change Motor Idle Speed Lower motor idle speed Higher motor idle speed Set as LOW the motor idle speed will be lowest Set as HIGH the motor idle speed will be highest is the advised level You can reset the according to the real situation Note e For users whose aircraft takes off at a low throttle position please set the idle speed at a low level e For common users please set Motor Idle Speed to RECOMMEND or above since setting idle speed too low may affect the motor s spool up Tips 6 The output pulse width for every point of Motor Idle Speed is as follows output pulse width 1144 us 1160 us 1176 us 1192 us 1208 us e There is a relationship between the output pulse width and the max min pulse width when the TX End Point is 100 output pulse width lt max pulse min pulse x proportion min pulse e You can get the proportion value by calculating according to the above formula for a special TX Use Futaba TX for example Notice that Futaba TX End Point is 100 proportion value 3 7 9 11 2012 DJI Innovations All Rights Reserved 16 3 Tx Monitor TX MONITOR 1 Receiver Type 2 Cut Off Type O Tradition CO D Bus PPM IMM Intelligent Calibration 4 Sticks Monitor Made Switch Note Make sure you have removed all propellers before this step ST
25. annels 2S 6S LiPo Windows XP SP3 7 MAX 5W 0 9A 95V 0 7A 5 8V 0 5A 7 4V 0 4A 8V 5 C to 60 C lt 118g overall 51 2mm x 38 0mm x 15 3mm e IMU 41 4mm x 31 1mm x 27 8mm e GPS amp Compass 50mm diameter x 9mm e LED Indicator 25mm x 25mm x 7mm e PMU 39 5mmx27 5mmx9 7mm Flight Performance can be effected by mechanical performance and payloads Hovering Accuracy GPS Mode Maximum Wind Resistance Max Yaw Angular Velocity Max Tilt Angle Ascent Descent e Vertical 0 5m e Horizontal 2m lt 8m s 17 9mph 28 8km h 150deg s 357 6m s 54
26. ation e No Load First level gt Second level 055 First level Second level e Loaded Calculated First level gt Second level Method of Acquiring Line Loss Voltage 1 Make sure you can fly your multi rotor normally with a fully charged battery 2 Use a fully charged battery switch on the low voltage protections in assistant software and observe the current voltage Enter a reasonable warning voltage in the No Load of first protection We recommend to enter a voltage 1V lower than the current voltage and higher than the minimum battery voltage rating Enter OV for the Loss at the moment 3 Fly the multi rotor until the first level protection is triggered and the LED is flashing yellow Now land your multi rotor ASAP 4 Connect the MC to PC open the assistant software and read the current voltage The Loss Line loss voltage is the difference between the new current voltage and the first level No Load voltage you filled in 2012 DJI Innovations All Rights Reserved 36 Note e If the line loss voltage of a battery is over 0 3V per cell e g 3S battery over 0 9 it s because the internal resistance of the battery is high or the battery is old we suggest you replace it e Generally the line loss voltage of different batteries is different For the consideration of safety we recommend that you acquire all the line loss voltages of all the batteries you intend to use and enter the lowest value for the Loss
27. ations All Rights Reserved 40 Test Flying Before First Flight Note e Make sure you have assembled your multi rotor correctly e Make sure you have done the configuration procedure correctly e Any of the following may lead to a possible dangerous accident if incorrect double check all these items Rotation direction of all motors is correct Propellers are installed correctly and the correct motors IMU installation is correct All Connections are correct including between the and ESC e In and mode throttle stick center position is for Om s in the vertical direction If you lower the throttle stick to the bottom during the flight the multi rotor will descend If you lower the stick to the bottom on the ground it will stop the motors after 3 seconds However slow spinning motors will affect the flight performance we advise to keep the throttle stick position higher than 10 during the flight In Manual Mode it will stop the motors when the throttle stick is below 10 e Make sure you switch on the transmitter first then power on the multi rotor Power off the multi rotor first then switch off the transmitter after landing X Please carry out the test flights and gain adjustment with in an open area without a heavy wind Please read the first step of Autopilot in Configuration to learn how to adjust the gains Flying STEP1 Make sure your batteries are fully charged for your transmitter the MC and all
28. ay from any electronic devices and motors Make sure you switch on the transmitter first then power on the multi rotor Power off the multi rotor first then switch off the transmitter after landing Do not fly in GPS Mode when the signal is not good red light blinks If you enable the gimbal control in the assistant software during the configuration please note that there will be an output from the F1 and F2 ports With the gimbal enabled you must not connect these ports to ESCs which are connected to motors propellers Do NOT set the fail safe position of the throttle below 1096 Throttle stick position should always be higher than 1096 from cut throttle during the flight You must set up the Low voltage protection properly in the assistant software You should land your multi rotor ASAP after any indication of low voltage to prevent your multi rotor from crashing or other harmful consequences Using mode to stop motors To start the motors you execute 5 and push the throttle above 1096 within 3 seconds if the throttle is not above 1096 within 3 seconds then the motors will stop In any control mode once motors start and throttle stick is above 10 motors will stop immediately when throttle stick is lowered below 1096 again At this point if you raise the throttle stick above 10 within 5 seconds after motors stop motors will re start with no need for Combination Stick Command After 5 seconds you will need to execute Co
29. d in a variety of models from quad rotor to octo rotor WKM Control Modes GPS Atti Mode Atti Mode Manual Mode Maximum angular velocity is 150 s Command Multi attitude control Stick center position for No attitude angle limitation and Stick Meaning 0 angle stick endpoint is 35 angle vertical velocity locking Command YES Linearity Locks multi rotor Only attitude Stick Released position when GPS NOT Recommend stabilization signal is adequate Maintains the altitude best above 1 meter Altitude Lock NO from the ground When the GPS signal Only attitude is lost for more than stabilization GPS GPS Lost 10seconds the GPS not used position lock not system enters Atti used in this mode Mode automatically Mixture of Attitude amp speed control ensures Safety Depends on experience stability Enhanced fail safe Applications Sports flying Extreme flying 2012 Dul Innovations All Rights Reserved 3 In Box Main Controller MC x1 The Main Controller MC is the brain of the system it communicates with the IMU GPS Compass ESC s and RC transmitter to carry out autopilot functionality The Main Controller has a USB interface for configuration and firmware updates via a PC IMU x1 The Inertial Measurement Unit IMU consists of 3 axis accelerometer one 3 axis gyroscope and a barometer It is used for sensing the attitude GPS amp Compass x1 The GPS Compas
30. d the MC to cancel POI 1 Switch U channel to Manual or Atti Mode position or turn off transmitter or fly in waypoint mode 2 GPS status is bad with three blinking 3 Multi rotor flies back within 5m or further than 500m from the POI Tips 1 LED will blink slowly to indicate the IOC mode only when the MC is really flying in course lock or home lock or POI 2 We suggest that you should know clearly which flight lock method you are going to fly and make sure the locked forward direction home point or point of interest is recorded correctly before you switch on IOC mode during the flight 3 There is only one home point recorded at any time This point is the same one used by 2012 DJI Innovations All Rights Reserved 30 and Landing fail safe 4 In Control 1 when flying using home lock if the GPS signal becomes weak the MC will automatically switch to course lock using the current not recorded forward flight direction 5 It is recommended that the pilot should be near the home point to use home lock or near to the point of interest to use POI flight 6 It is recommended to use a 3 position switch for X2 channel Note 1 Before home lock flight you d better fly the multi rotor out of the 10m range around home point then slide X2 channel switch to position to fly in home lock when all the requirements are met If you have already slide X2 channel switch to position when the multi rotor is still
31. e pitch direction manual control the initial value 100 is full speed When is set as remote gain or for switch go home users can not adjust the gimbal pitch using the channel while WKM still provides enhanced stability for the gimbal the gimbal pitch and roll will return to the center position Note e If the X3 channel is used for controlling the Pitch of the gimbal then the X3 cannot be used for remote gain tuning or Go Home switch 2012 DJI Innovations All Rights Reserved 34 6 Voltage Monitor VOLTAGE MONITOR 1 Protection Switch C ON OFF 2 Battery Current Voltage 4 CONNECTED Calibration Battery type s LiPo id 3 First Level Protection Load Loss Loaded 0 00 V 0 00 V 0 00 V Safeguard C LED Warning amp Landing 4 Second Level Protection Load Loss Loaded 0 00 V 0 00 V 0 00 V Safeguard Descending STEP1 Protection Switch In order to prevent your multi rotor from crashing or other harmful consequences caused by low battery voltage we have designed two levels of low voltage protection You can choose to not to use them however we strongly recommend to enable the protection here Note e Make sure the two connections between the PMU and the MC PW to CAN interface V SEN to X1 are correct otherwise the low voltage protection will not work correctly e Both protections have LED warning as default First level will blin
32. e when fail safe starts lt reference altitude 20m then go home altitude reference altitude 20m Home Location Reference longitude latitude altitude Stay hover If GPS satellite found gt 6 and last 8s at the first time you pull the throttle Signal lost e Stick then record Home Location 1 Record Flight altitude when fail safe starts Ready to reference altitude 20m Go Home Hover 15s Then land Flight altitude when fail safe starts z reference altitude 20m 5 Aircraft Home Fail safe Enable Go Home Switch Go home e Altitude Go H Altitude Go home Flight altitude when fail safe starts gt reference altitude entered value then go home altitude flight altitude when fail safe starts Flight altitude when fail safe starts lt reference altitude entered value then go home altitude reference altitude entered value Entered value 20m 300m the default value is 20m and has an accuracy of 1m Home Location Reference longitude latitude altitude If GPS satellite found gt 6 and last 8s Stay hover at the first time you pull the throttle Stick then record Home Location 2 1 Flight altitude when COE RE gt reference altitude input value 2 1 Input value m Hover 15s Then land Ready to Go Home Flight altitude when fail safe starts Signal lost gt 3s lt reference altitude input va
33. ent value e Usually the Pitch Roll Attitude Pitch and Attitude Roll Gains of a hexa rotor are higher than a quad rotor e You will find example settings at the end of this manual 2012 Innovations Rights Reserved 22 STEP2 Advanced Parameters Usually you can ignore this section The default values are suitable for most conditions so we do NOT recommend you to change the parameters here For some special multi rotor experienced users can adjust the advanced parameters to have a better flight experience STEP3 Enhanced Fail Safe Methods Fail Safe methods include Hover Go home and Go home Choose one as your fail safe method which will be triggered when the MC loses the control signal in one of the following situations 1 Signal lost between transmitter and receiver e g multi rotor is out of the communication range or transmitter has failed etc 2 One or more connections of A E T R U channels between the MC and receiver is lost If this happens before take off the motors will not start if you raise the throttle stick If this happens during the flight the LED will flash blue to warn you in addition to the fail safe method If Hovering fail safe method is configured and U channel is disconnected multi rotor will auto land Also you can select the Go Home Switch item to start go home Go homel and Altitude Go home by using a TX switch during the flight when selected during fl
34. fter modification 6 READ Read parameters from MC for current page 7 Export configuration data 8 IMPORT Import version compatible configuration data 9 Graphical guidance 10 Text guidance 11 CONTROL Control mode indication 12 Output Indicates the outputs of the ESCs are enabled when communication is established between MC and assistant software via the USB cable appears it indicates no output to the motors and then you can safely configure your multi rotor with the assistant software 13 light WKMe PC has been disconnected Green light WKM e PC is connected Blue light WKMe PC communication 14 Configuration sub menus 15 Configuration step Note e Please power the MC first then connect your MC to a internet enabled computer by the USB cable before you open the assistant software You have to register at the first time you use the assistant software It will auto detect the software version when you open the assistant software and will give you a prompt message if your version is not the latest one e Do not disconnect MC and PC when you are importing or exporting data You can only import version compatible configuration data 2012 DJI Innovations All Rights Reserved 11 Firmware Upgrade Please strictly follow the operation procedure for firmware upgrade otherwise WKM might not work properly For safety reasons use the PMU to supply power for the main controller
35. hat you DO NOT mount the MC until all wirings and software configurations are completed ESC amp Motor Please make sure you are using the ESCs and motors recommended by the manufacturer of your multi rotor first We recommend you use motors and ESCs WKM output is 400Hz refresh frequency Connect all ESCs to MC by the motor numbering method introduced in Multi Rotors Supported of Appendix If you use 3rd party ESCs please make sure the ESCs travel midpoint is at 1520us DO NOT use 700us travel midpoint ESC as it may lead aircraft to fly away or cause injury and damage After connect ESCs calibrate ESCs one by one through the receiver directly before connect them to your MC Make sure program all of them into Governor off Break off and Normal Start up to get best experience If you use 3rd party ESCs please cut the red wire power wire of your ESCs as the power from V SEN on PMU is suitable to most of receivers and other electronic devices If you use extra BEC please use a servo cable without power wire to connect V SEN to X1 Not recommend 9 Assistant Software Software and Driver Installation STEP1 Please download assistant software and driver from our website If your operating system is 32bit download 32bit driver if your operating system is 64bit download 64bit driver Then decompress STEP2 Connect MC Main Controller and PC via USB cable power on MC STEP3 If operating system tries to install driver auto
36. he GPS bracket first as the figure showed in previous page Mount the bracket on the center plate of craft first then fix the GPS on the plate of the bracket by 3M glue provided The GPS is sensitive to vibration interference so position the bracket at least 10 cm from any rotor The logo marked on the GPS should face the sky with the orientation arrow pointing directly forward The GPS Compass is packaged with a special indication line for mounting for the first time If you are uncertain whether materials near the GPS Compass module are magnetic or not you can use a compass or magnet to check it If you use your own mounting rod make sure it is NOT magnetic R C Receiver JR R C Receiver Futaba Hitec Futaba S Bus S Bus2 S Bus S Bus2 R C Receiver PPM PPM m m m mmm m m PMU amp Battery There is no requirement for PMU mounting Use our PMU Connecter red line depicts in figure to connect battery PMU and ESCs For safety reason please disconnect ESCs and battery connecter during the firmware upgrade and configuration procedure You can choose 25 65 LiPo battery Sufficient air flow over the PMU is highly recommended LED Indicator Place the LED indicator at an appropriate location of craft body far away from the GPS Do not mount it on other electronic devices Make sure You can see the light during the flight You can connect LED to the CAN Bus port on GPS connection wi
37. ight the LED will flash purple instead of blue The Multi rotor position before takeoff including reference longitude reference latitude and reference altitude is saved as home point by the MC automatically when you raise the throttle stick for the first time AND it has 6 or more GPS satellites acquired for more than 8 seconds 9 blinks once or no blinking gt 8secs After taking off every time the aircraft recorded a home point successfully the LED will blink Cyan quickly for indicating THEREFORE use any form of Go home including fail safe return home you must make sure 6 or more GPS satellites are acquired for more than 8 seconds blinks once or no blinking gt 8secs before take off this will assure correct recording of the Home position Go Home Altitude Determined by the reference altitude and the Fail Safe method chosen That is the go home altitude may be different due to fail safe method chosen e Hover The aircraft will remain hovering when the fail safe starts Home Location Reference longitude latitude altitude If GPS satellite found 6 and last 8s Stay hover at the first time you pull the throttle Signal lost Stick then record Home Location 2 Flight Aircraft G Fail safe 02012 DJI Innovations All Rights Reserved 23 Go H Go home Flight altitude when fail safe starts gt reference altitude 20m then go home altitude flight altitude when fail safe starts Flight altitud
38. k yellow light continuously second level will blink red light 9 continuously e protections will only have LED warning under Manual Model NO AUTOMATIC functions 6 Low voltage conditions are NOT fun You should land your multi rotor ASAP on seeing any low voltage warning indication to prevent your multi rotor from crashing or other harmful consequences STEP2 Battery Power the MC using your normal flight battery and connect the MC with a PC the current battery voltage will be displayed in this column 2012 DJI Innovations All Rights Reserved 35 If the battery voltage displayed here is different from the voltage you measure using a voltmeter you have to calibrate Click the Calibration enter the voltage you have just measured in the Calibration column of the dialogue box and then click ok Meanwhile you need to select the battery type you are using so that the MC can provide default warning voltages and ranges of warning voltages for you STEP3 First Level Protection No Load No Load Voltage No load warning voltage You need to enter this value Line Loss Voltage The battery voltage drop during the flight You need to enter this value Loaded Loaded Voltage The real time battery voltage during the flight This is the actual warning voltage monitored by the MC Does not require your input calculated by No Load and Loss Tips Voltage Magnitude Rel
39. l between and position or and NOT Recommended Control 3 and Home Lock or and NOT Recommended 2 2 position switch switch the X2 channel between and position STEP 2 Switch on home lock Switch the X2 channel from to position when all the following requirements are met The LED will blink slowly to indicate the IOC mode 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 the home point STEP 3 Switch off home lock Switch the X2 channel to position to cancel home lock STEP1 Step 4 Switch on home lock again When all requirements in the second step are met switch X2 channel from to position to enter home lock mode again Note Pay attention to the following statement which may also lead the MC to cancel home lock e Switch U channel to Manual Mode or Atti Mode position or turn off transmitter or fly in waypoint mode e If you select Atti Mode during home lock flight then course lock is set using the current not recorded forward flight direction POI Point Of Interest Usage During the same flight STEP1 Record STEP2 ON STEP3 OFF STEP4 ON again Ed e Nose direction Forward direction Point of interest Semi diameter STEP1 Record point of interest a Manually When 6 or more GPS satellites are found 9 blinks once or no blinking you can switch the X2 channel between tw
40. le stick is back below 10 again In this case if you push the throttle stick above 1096 within 5 seconds after the motors stop then the motors will re start is not needed If you don t increase the throttle stick within 3 seconds of the motors starting then the motors will stop automatically Mode By using this mode different control modes have a different way of stopping the motors In Manual Mode only executing can stop the motors In or IGPS Atti Model any one of the following four cases will stop the motors a If you don t increase the throttle stick within 3 seconds of the motors starting b Executing Throttle stick under 1096 and after landing for 3 seconds The angle of the multi rotor is over 70 and throttle stick under 10 rteiligen Mode You have to execute to start the motors Only raising the throttle stick will not start the motors In Atti GPS Atti Model it has landing judgment which will stop the motors Start motors in Atti GPS Atti Model you have to execute and then push throttle stick over 1096 within 3 seconds otherwise motors will stop after 3 seconds During normal flight only lowering the throttle stick under 1096 will not stop the motors in any control mode For safety reasons when the slope angle of the multi rotor is over 70 during the flight in may be caused by collision crash motor and ESC error or propeller broken and throttle stick is under 1095 the motors will stop
41. lue 4 Ready to go home 5 Go home Aircraft eHome Fail safe Enable Go Home Switch gt home gt Input value Go Home Switch Before using this function you have to choose 2 position switch on your transmitter as the Go Home switch Then ed Cx 4 a Tx connect the correct channel of the receiver to the X3 port of the MC You should assign Position 1 to Start Position 2 to Standby or reverse the assignment for Position 1 and Position 2 Move the Tx switch of the channel X3 and check that the corresponding area and Standby turns blue on the assistant software screen If required adjust the Tx channel end points 2012 DJI Innovations All Rights Reserved 24 Note e Switching from to will enable go home during flight and you will no longer have flight control of the Multi rotor If the Multi rotor is already in a fail safe condition then the go home switch will not work e If you switch to or Atti Model and the multi rotor is not in a fail safe condition then the go home is cancelled and you regain control of the multi copter Once is re selected you can once again use go home function Tips e Use end point fine tuning on your transmitter to adjust the X3 channel to give the correct switch indication in the assistant software e The following example shows how to enable Go home by the Tx Switch Use position 1 to and Position 2 to for example Position 1 gt Position 2 gt
42. matically cancel it STEP4 folder DJI Wookong Multi Rotor Driver 6401 double click file and follow the steps to finish installation STEP5 Open the assistant software folder double click file and follow the steps to finish installation GUI graphical user interface ABOUT MOUNTING 1 IMU Orientation fe Forward C Backward C Left Right 2 Mounting Location Example Green ling for negative nem _ NS Red line for positive DO NOT MOUNT THE IMU UPSID DOWN CONTROL MODE Unkfown 2012 DJI Innovations All Rights Reserved 10 1 Flight Limits Set the height limit or distance limit if necessary please refer to the section of Flight Limits for details gt Firmware upgrade Update your firmware from DJI server keep your WKM system up to date gt Set remote gains in Autopilot menu to INH gt Check for Check for latest versions of assistant software and firmware If necessary you can follow the links displayed to find the download page 2 gt Info Information regarding your WKM gt Error code list 3 pe Chinese interface 4 IENGLISH English interface 5 WRITE 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 a
43. mbination Stick Command CSC to restart the motors Using Intelligent mode to stop the motors The motors will start or stop immediately when you execute Combination Stick Command CSC During normal flight lowering the throttle stick below 10 will not stop the motors in any control mode If you execute CSC during flight then 2012 DJI Innovations All Rights Reserved 7 14 15 16 17 the motors will stop you will have to execute CSC again to re start motors if they stop during the flight When you set Mixer Type from Octo rotor to Quad rotor Hexa rotor the gimbal setting will automatically switch to off for safety which may lead the gimbal to tilt to one side please turn to the Gimbal section for reconfiguration It is strongly recommended to install the receiver under the bottom board of the center frame with the antennas pointing downwards without any obstacle Control of the aircraft could be lost if the radio signal is lost due to an obstacle such as the base plate Make sure all connections are correct secure and in good condition before flight Keep wireless video transmission equipment a distance away from the main controller 225cm to prevent interference to the main controller 2012 DJI Innovations All Rights Reserved 8 Assembly GPS COMPASS GPS Compass is sensitive to magnetic interference should be far away from any electronic devices You should use epoxy resin AB glue to assemble t
44. n S N is a 32 digit authorization code for unit function activations We have already filled in the authorization code for your unit after manufacture You might be asked to fill in the new S N in the future if you brought new function upgrades Fill in the S N and then click button If you filled in an invalid S N over 30 times your MC will be locked and you have to contact our customer support 2012 DJI Innovations All Rights Reserved 12 Configuration 1 Mounting MOUNTING DEFAULT 1 IMU Orientation C Forward C Backward C Lett C Right 2 Mounting Location IMU oem om i GPS Y cm Example Green line for negative 7 l cm Red line for positive STEP1 IMU Orientation Select IMU mounting orientation Orientate the IMU such that the arrow marked on the printed surface of the IMU faces the sky and points directly forward backward left or right The sides of the IMU should be precisely parallel to the multi rotor body Note Do not mount the IMU upside down STEP2 Mounting Location Install all 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 the center of the IMU GPS case and the C G of the multi rotor in X Y amp Z axis as showed in the figure Notices Note
45. n between PMU and battery is wrong polarity error 2012 Dul Innovations All Rights Reserved 2 Recommended Setting No Aircraft F450 F550 S800 58008 215 amp Camera Motor DJI 2212 DJI 2212 DJI 4114 DJI 4114 Configuration Information ESC DJI 30A DJI 30A DJI 40A DJI 40A Propeller DJI 8 Inch DJI 8 Inch DJI 15 Inch Carbon DJI 15 Inch Carbon Battery 35 2200 45 3300 65 15000 65 10000 Weight 1070 g 1640 g 4770 g 6100 g Pitch 155 170 200 240 Basic Gain Roll Yaw 155 125 170 150 200 195 240 200 Vertical 150 140 175 200 Pitch 165 170 190 220 Attitude Gain Roll 165 170 190 220 53 Specifications General Built In Functions e Three Modes Autopilot e S Bus S Bus2 Receiver Supported e PPM Receiver Supported e Intelligent Orientation Control e 2 axle Gimbal Support e Multi Output Frequency Supported e Enhanced Fail Safe Low Voltage Protection Peripheral Supported Multi rotor Supported ESC output Recommended Transmitter Recommended Battery Assistant Software System Requirement Electrical amp Mechanical Power Consumption Operating Temperature Total Weight Dimensions e Quad rotor I4 X4 e Hexa rotor I6 X6 Y6 IY6 e Octo rotor X8 I8 V8 400Hz refresh frequency Only PCM or 2 4GHz with minimum 7 channels and fail safe function available on all ch
46. nes You don t need to rotate your multi rotor on a precise horizontal or vertical surface but keep at least 45 difference between horizontal and vertical calibration The MC cannot work in the polar circle Calibration procedure STEP1 Enter calibration mode quickly switch the control mode switch from Manual Mode to GPS Atti Mode for 6 to 10 times The LED indicator will turn on constantly blue STEP2 Calibration in horizontal rotate your multi rotor along the horizontal axis until the LED changes to constant green then go to the next step STEP3 Calibration in vertical while the LED is green hold your multi rotor vertically and rotate it along with its vertical axis keep rotating until the LED turns off meaning the calibration is finished 2012 DJI Innovations All Rights Reserved 39 4 After you finished the calibration The LED indicator will show whether the calibration was successful or not e lf the LED turns on white for seconds then the calibration was successful calibration mode will exit automatically e lf the LED quickly flashes red the calibration has failed Switch the control mode switch one time to cancel the current calibration and then re start from step 1 for re calibration Tips If you keep having calibration failure it might suggest that there is very strong magnetic interference around the GPS amp Compass module please avoid flying in this area 2012 DJI Innov
47. nter point of the throttle stick will move up slowly to 90 of endpoint Please land ASAP to prevent your multi rotor from crashing or other harmful consequences 2012 DJI Innovations All Rights Reserved 38 Flight Digital Compass Calibration Why calibrate the compass Ferromagnetic substances placed on the multi rotor or around its working environment will affect the reading of magnetic earth for the digital compass it also reduces the accuracy of the multi rotor control or even reads an incorrect heading Calibration will eliminate such influences and ensure the MC system performs well in a non ideal magnetic environment When to it The first time you install WKM on your multi rotor When the multi rotor mechanical setup is changed a Ifthe GPS Compass module is re positioned b If electronic devices are added removed re positioned Main Controller servos batteries etc c When the mechanical structure of the multi rotor is changed If the flight direction appears to be shifting meaning the multi rotor doesn t fly straight The LED indicator often indicates abnormality blinking when the multi rotor yaws It is normal for this to happen occasionally Note Don t calibrate your compass where there is strong magnetic interference such as magnetite car park and steel reinforcement under the ground DO NOT carry ferromagnetic materials with you during calibration such as keys or cell pho
48. o install the Assistant software on your computer Please observe all local laws and regulations of the country you are operating the equipment in For example AMA s Academy of Model Aeronautics National Model Aircraft Safety Code USA BMFA British Model Flying Association Model Aircraft Safety Code CAA Civil Aviation Authority Model Aircraft and UAV Codes of practice DMFV German Model Flying Association Model Aircraft Safety Code These are only a few examples please investigate the laws and regulations for your particular location Never fly over others or near crowds DJI and WooKong is registered trademark of DJI Innovations Names of product brand etc appearing in this manual are trademarks or registered trademarks of their respective owner companies This product and manual are copyrighted by Innovations with all rights reserved No part of this product or manual shall be reproduced in any form without the prior written consent or authorization of DJI Innovations No patent liability is assumed with respect to the use of the product or information contained herein 2012 Dul Innovations All Rights Reserved 2 WKM Profile DJI WooKong for multi motors WKM is an autopilot system designed for serious multi rotor enthusiasts providing excellent self leveling and position holding which completely takes the stress out of flying RC multi rotors for both professional and hobby applications can be installe
49. o positions quickly 3 to 5 times to record the current 02012 DJI Innovations All Rights Reserved 29 position of the multi rotor as the new point of interest The LED will blink quickly if recording is successful 1 3 position switch Control 2 switch the X2 channel between and position or between and position NOT Recommended Control 3 switch the X2 channel between and position 2 2 position switch switch the X2 channel between and position STEP2 Switch on POI Switch X2 channel from to position when all the following requirements are met After switching on POI the multi rotor will rotate slowly until the multi rotor nose points to the point of interest The LED will blink slowly to indicate the IOC mode a Point of interest is recorded successfully b 6 or more GPS satellites are found c in d Multi rotor is further than 5m and less than 500m away from the Point of Interest Once in POI mode you can use the left right roll control to control the speed of the circle around the POI you can use the pitch to control the diameter of the circle and the throttle to control the height while circling STEP3 Switch off POI Switch the X2 channel to position to cancel POI mode STEP4 Switch on POI again Switch the X2 channel from to position when all requirements in step 2 are met then the multi rotor will once again turn towards the POI Note e Pay attention to the following statement which may also lea
50. otating using Course lock or home lock mode will allow you to move the multi rotor in the corresponding Tx stick direction Flight Limits Setting Height Limit If height restriction is needed please turn to the Tool tab of the assistant software Click and write a value Range 20 300m to the box so that the aircraft flight height will not higher than the max height in any control mode Manual ATTI GPS ATTI Mode However the fail safe and the Ground Station operation are not restricted to this height limit If no height limit is needed please click OFF Distance Limit If distance restriction is needed please turn to the Tool tab of the assistant software Click and write a value Range 30 500m in the box so that the distance from the aircraft to the Home point will not be longer than the max radius you set The Distance Restriction function ONLY works in GPS ATTI Mode The aircraft may fly out of the restriction when emergency brake is carried out at the border the buffer zone is about 10m if it flies out of the restricted distance the Control Mode LED will blink Cyan However the fail safe and the Ground Station operation are not restricted to this distance limit If no distance limit is needed please click OFF However the fail safe and the Ground Station operation are not restricted to this distance limit If no distance limit is needed please click OFF 2012 DJI Innovations All Rights Reserved 44
51. ported frequency Note If you enable the gimbal control in the assistant software during the configuration please note that there will be an output from the F1 and F2 ports In this case you should not connect these ports to ESCs which are wired with propeller equipped motors Tips e If you want to use a gimbal with an Octo rotor you have to use an S Bus S Bus2 or PPM receiver then you can use port T and R for gimbal control Otherwise there will be no ports on the MC for gimbal control e WKM supports servo center of 1520us STEP2 Servo Travel Limit Range 1000 to 1000 are servo travel limits adjust them to avoid mechanical binding Place your multi rotor on level ground adjust value of and Roll direction to set the camera to your desired angle to ground Notices e If servo expansion is used which may enlarge the servo travel limit make sure to reset your servo travel limit 2012 DJI Innovations All Rights Reserved 33 STEP3 Automatic Control 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 NORM and then you can reverse the feedback control directions STEP4 Manual Control Speed Range 0 to 100 You should assign one of the knobs on your transmitter to the channel for controlling the Pitch direction angle of the camera gimbal during flight Then adjust the reaction speed of th
52. qm E 6 IMPORTANT INFORMATION oeste eee everest aveo tee 7 PISS EWIBLY et eio hi tiom din ft utin o tton tein tuin anion fade fena fedem enis 9 ASSISTANT SOFTWARE pea e yet o pet ene olo pet vestes te eese te eb ese eese tete valeas 10 SOFTWARE AND DRIVER INSTALLATION EO Yao 10 GUIL GRAPAICACUSER INTERFACE n 10 iN dE Terrible 12 PRODUCT INEO as dieci ch euros ae seta e aspe e No uic caen du cui 12 CONFIGURATION e S 13 1 ure Blu circ CR m 13 2 MOTOR MIXER o E 15 3 Ba usn TE 17 4 ERR D UT 21 5 irr 33 6 VOLTAGE MIONITOR dee Tc 35 Mic e 39 DIGITAL COMPASSC AIIBRATION erc 39 MEST cheer Tr mr 41 end Kel ES 43 ENHANCED FEAT URES a dada dva stato aae eas Pasa dure de pedis e Usus tasa debate DR Va du edet as a eae ERE 44 ATTITUDE CONTROL WHEN ONE MOTOR OUTPUT HAS FAILED 44 FLIGHT LIMITS SETTING iae ooa ooa ER TER REN ERE REN PER E ERN E ERN EON EN EE R EXER REX
53. re 2012 DJI Innovations All Rights Reserved IMU The IMU is best positioned near the multi rotor s center of gravity where vibration is relatively low Orient the IMU such that the arrow marked on the printed surface of the IMU faces the sky and points directly forward backward left or right The sides of the IMU should be precisely parallel to the multi rotor body Use double sided foam tape for secured installation Check the double faced adhesive tape regularly to ensure that the IMU is securely positioned DO NOT cover the ventilation holes keep them unobstructed The IMU module is NOT water proof or oil proof Do not mount the IMU upside down R C System These are example connections Please setup Aileron Elevator Throttle Rudder channels on your Tx first and choose one 2 or 3 positions switch channel as control mode switch then connect your receiver to the right ports on MC MULTI ROTOR TM and 2012 DJI INNOVATIONS Main Controller There is no orientation requirement for the Main Controller Choose a mounting location where as shorter ESC extension wires are needed as possible Please make sure all ports are accessible when installing MC so as to facilitate wiring and software configuration In three pin ports pins near the nicks are signal EE MAIN CONTROLLER ciji TM and 2012 DJI INNOVATIONS F2 m MULTI ROTOR After choosing a location to mount the MC it is recommended t
54. re satisfied the multi rotor will Go Home and Land automatically If you choose LED warning please land ASAP after you see the LED warning to prevent your multi rotor from crashing or other harmful consequences e Compare the Go Home and Landing of low voltage protection and the Go Home and Landing in Enhanced Failed safe the recording of the Home Location are the same the Go Home routes are the same the difference is that there is no hovering before landing in low voltage protection 02012 DJI Innovations All Rights Reserved 37 STEP4 Second Level Protection 1 Fill the warning voltage and line loss voltage in No Load and Loss using the method introduced in previous steps 2 When the second level protection is triggered the LED warning will be on Meanwhile the center point of the throttle stick will move up slowly to 90 of endpoint you should land ASAP to prevent your multi rotor from crashing or other harmful consequences 3 When the throttle center point is at 9096 of endpoint the multi rotor will still ascend slowly if you continue to raise 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 crashing or other harmful consequences Note If your multi rotor goes into the second level protection during Go Home in the first level protection it will land immediately If you switch into Manual or Atti Mode you will regain the control and the ce
55. rt of the MC At each switch position use end point fine tuning on your transmitter Move the Transmitter slider switch of the channel U to GPS Atti Mode A Atti Mode M Manual Mode and adjust the Tx end points and mid point to turn the corresponding area the assistant software blue shown at the bottom of the TX MONITOR screen Tips e To move the slider is to adjust end points of the channel selected E For 3 position switch you should assign Position 1 to Manual Model Position 2 to Model Position 3 to GPS Atti Model or reverse the assignment for Position 1 and Position 3 6 3 Position Switch 47 4 For 2 position switch you can assign any two of the three control modes as you like Important You must setup the fail safe of your Transmitter so during a fail safe situation the area which reads turns blue Once fail safe is setup if you switch off your transmitter the U channel slider should move to and turn the corresponding area to blue Otherwise please reset the fail safe Please refer to your RC manual for the details of fail safe setup Note 9 Do NOT set the fail safe position of the throttle below 1096 endpoint e MC will not execute the Fail Safe protection if you don t set it properly You can verify the Fail Safe settings by switching off your transmitter and then you can use the following methods to check whether the MC is in Fail Safe mode e Check the Assistant Software status bar at the bottom
56. s All Rights Reserved 26 Control 1 Position 1 is Position 2 is Course Lock Position 3 is Home Lock Control 2 Position 1 is OFF Position 2 is Course Lock Position 3 is Control 3 Position 1 is OFF Position 2 is PO Position 3 is Home Lock For 2 position switch Control 1 Position 1 is OFF Position 2 is Course Lock Or Position 1 is Position 2 is Home Lock Control 2 Position 1 is OFF Position 2 is Course Lock Or Position 1 is OFF Position 2 is Poll Control 3 Position 1 is OFF Position 2 is Poll Or Position 1 is OFF Position 2 is Home Lock The course home point and point of interest can be recorded manually by toggling the 3 position switch 3 to 5 times between two switch positions the recorded point is different for different switch combinations The following shows how the MC will record the different points Position 1 Position 2 Position 2 is recorded Position 2 Position 3 Position 3 is recorded Position 1 Position 3 Position 3 is recorded but Position 2 may also be recorded at the same time Danger may occur if users are not aware of the change so it is not recommended to record Position 3 by this way e If you use an S Bus S Bus2 PPM receiver the default channel connection is shown in the 7x Monitor Heceiver Type section Then you only need to assign a 2 or 3 position switch of your transmitter to channel 5 If the assistant soft
57. s forward flight direction is NOT the recorded forward direction However if you now select course lock the MC will now fly in course lock using the recorded not current forward flight direction 6 We suggest you use home lock in a limited area which is greater than 10m away from the home point and use in a limited area greater than 5m and less than 500m away from the Point of Interest 2012 DJI Innovations All Rights Reserved 31 If there is poor GPS quality during the flight then the M C may not give an accurate flight path for the radius around the point of interest Continuously spinning the multi rotor will accumulate yaw errors The LED will blink O to indicate huge cumulative yaw errors caused by spinning the craft continuously in IOC In this case you can stop or slow down the spinning and continue flying after the blinking has stopped so as to have better flight performance 2012 DJI Innovations All Rights Reserved 32 5 Gimbal GIMBAL 1 Gimbal Switch on OFF Output Frequency 2 Servo Travel Limit Center hill Pith eM 0 0 0 _ Rol eM 0 fo o 3 Automatic Control Gain Gain Direction Pith e 000 Roll qm 0 00 m 4 Manual Control Speed Pith EE 0 STEP1 Gimbal Switch If you use a gimbal please select here and select an 50 2 100 2 200 2 400 2 The chosen output frequency should not exceed the maximum servo sup
58. s module is for sensing the position and direction LED Indicator x1 NEN The LED indicates different states of system e Power Management Unit PMU x1 Specially designed for the WKM to convert the higher voltage of the power circuit to the lower voltage required for the receiver etc It contains two regulated power outputs for the entire WKM control system and receiver separately a battery voltage monitor and two CAN Bus interfaces GPS Bracket x1 Because the GPS amp Compass are sensitive to magnetic interference you should use this bracket to mount the GPS module PMU Connecter x1 For connections between battery ESCs and PMU USB Cable x1 This cable is used to configure the MC and to update the firmware 2012 DJI Innovations All Rights Reserved 4 3 PIN Servo Cable x10 Cables used to connect the Main Controller to the RC receiver Mounting Pads x4 For fixing WKM components on the multi rotor s frame Warranty Information Card x1 It lists the necessary steps for using the WKM system and related safety advice Please fill out the customer amp multi rotor information card and return to DJI Innovations to register your product warranty 2012 DJI Innovations All Rights Reserved 5 Index WARNING Sc DISCLAIMER orina ea pun vaa oak S vex SERA vas PERS Fa Faso dasa Fus a va Fui oen ERES ERIS VERS ERR 2 WKMIPROFEE 3 IN BOX RR NUN EUR RUN 4 INDEX
59. table Vertical gain Attitude gains determine the reaction speed of attitude from a Tx command stick input The bigger the value the quicker the reaction from the Tx command Also an increased value will also give a sharper and quicker leveling action after the command stick is released The control feeling will be stiff and rigid if the value is too high and sluggish leveling action and slow braking if too small Note You MUST click the Default button before configuring the gains for the first time and also after a firmware upgrade before re entering your settings e The vertical gain has no effect in manual mode Tips e If you are a new user to this system you can tune the basic parameters first as follows 1 Increase the basic parameters 1096 at a time so as to make your multi rotor hover or lightly oscillate after small angular command inputs 2 Decrease the basic parameters until your multi rotor can just hover without oscillation then decrease 10 more e If the basic parameters are far away from the required values the advanced parameters will not Work e You can use the remote gain tuning channels to tune the gains during the flight 1 Follow the instructions in Assembly R C System section to connect and setup correctly 2 Choose the X2 or X3 channels in Remote Adjust for the gain you want to tune One channel to one gain 3 The range of the remote tuning is from half of the current entered value to twice curr
60. the following setup Motor Throttle Yaw Roll Axis Mi 100 100 M 4 M1 aa 00 100 a 00 100 r E U 100 100 F eni M3 M x ca 100 100 6 gt am 10099 100 amp CD M M5 am 0 096 Now if push the pitch stick the sum of M1 M2 output Ce Cg xE is negative the sum of M4 M5 output Cea Ces xE is positive then multi rotor moves forward if pull the pitch stick the sum of M1 M2 output Cee xE is positive the sum of M4 M5 output Ces xE is negative then multi rotor moves backward And the balance along all the other axes can be derived by substituting the pitch stick command into equations set 3 The theory of movement about the roll axis is the same with pitch axis However there is no motor on the axis in this case no coefficient is 0 We also want multi rotor to keep balance along all the other axes when apply the roll stick command c Pub Fha ceu dub X 0 To keep throttle direction balance c P Cig F a ag T C X A To keep yaw direction balance 4 c x Tokeep pitch direction balance Also proportion of coefficients of the motors at the same side of roll axis should be equal to the proportion of force arms of those motors Cz Cg4 Cg Cg Cog 4 2d d 1 2 1 As we defined before Stick left
61. the hovering state If the reaction of the multi rotor in this procedure is too soft large delay please increase the basic gain slowly 1096 1596 each time until oscillation is noticed after you release the stick Then decrease the gain a little until the oscillation just disappears Now the gain is perfect If the Tx stick reaction of the attitude is slow you should follow the section a little down the page to tune the attitude gains The way of tuning the Yaw gain is the same as the way of adjusting the Tail Gyro of a helicopter If you want quicker stopping reaction speed increase the gain otherwise decrease the gain However the rotation speed of the multi rotor is produced by the counter torque reaction force and the magnitude of which is limited Therefore a large gain value will not produce tail oscillation like on a helicopter but severe reaction of the 2012 DJI Innovations All Rights Reserved 21 start stop of the motors which will affect the stabilization of other axis You can use two methods to judge if the Vertical gain is good enough 1 The multi rotor can lock the altitude when the throttle stick is at the center position 2 The change of altitude is small during the flight along a route You can increase the gain slowly 1096 each time until an oscillation in the vertical direction appears or the reaction of the throttle stick is too sensitive then decrease 20 of the gain Now you should have sui
62. the instructions from your multi rotor manufacturer Make sure the rotation direction of each motor is the same as the assistant software figure shows If the rotation is wrong switch any of two wire connections of the incorrect motor to change its rotation direction e Make sure the type of propeller matches the rotation direction of the motor When you set Mixer from to Hexa rotor the gimbal setting will automatically switch to for safety which may lead the gimbal to tilt to one side please turn to the section for reconfiguration Customize This section is reserved only for very special cases such as customized airframes in non conventional rotor arrangements In the event an airworthy multi rotor craft with such rotor arrangement will require customized settings to meet the WKM controller algorithm Please write to our support department or dealer together with photos of the multi rotor for assistance 02012 DJI Innovations All Rights Reserved 15 Tips e Please refer to Customize Motor Mixer section in Appendix for how to customize a central symmetry multi rotor e If you customize the motor mixer of a quad rotor or hexa rotor F1 and F2 ports can still be used for gimbal servo control 2 Motor Speed Motor Idle Speed is the lowest speed after motor start Set Motor Idle Speed will affect the motor lowest Speed after motor start There are five levels from speed to HIGH speed
63. ware does not give the correct response Use end point fine tuning on your transmitter to adjust the X2 channel to give the correct switch indication in the assistant software the corresponding area should turn blue NotE When a 2 position switch is used do NOT set a 2 position switch as Control 1 and at the same time Control 2 and at the same time Control 3 POI and at the same time Course Lock Usage During the same flight STEP1 Record STEP2 ON STEP3 OFF STEP4 ON again Nose direction gt Forward direction 2012 Innovations Rights Reserved 27 STEP1 Record forward direction There are two ways Manually and Automatically The LED will blink O quickly if recording is successful a Automatically The MC will record the current nose direction as forward direction 30 seconds after you power on the multi rotor PLEASE AWARE OF THE FORWARD DIRECTION WHEN YOU SWITCH ON THE MULTI ROTOR IF YOU USE COURSE LOCK b Manually You can switch the X2 channel between and position quickly 3 to 5 times to record the current nose direction as the new forward flight direction at any time after you power on the multi rotor for longer than 30 seconds STEP2 Switch on course lock Switch the X2 channel from to position when all the following requirements are met the LED will blink slowly to indicate the mode a The forward direction is recorded successfully b TheNCisin Ati or GPS Atti Mode

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