dji A2 Flight Control System User Manual

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Page 1

A2 Flight Control System

User Manual V 1.00

2013.09.04 Revision

For Firmware V1.00 & Assistant Software V1.00

Thank you for purchasing DJI products. Please strictly follow these steps to mount and connect this system on your

aircraft, install the PC Assistant Software on your computer, as well as installing the DJI Assistant App on your

mobile device.

Please regularly check the web page of corresponding products on our website www.dji.com, which is

updated regularly. Product information, technical updates and manual corrections will be available on this website.

Due to unforeseen changes or product upgrades, the information contained in this manual is subject to change

without notice.

* This manual is for basic assembly and configuration; you can obtain more details and advanced instructions when

using the Assistant Software. To assure you have the latest information, please visit our website and download the

latest manual and current software version.

If you have any problems that you cannot solve during usage, please contact your authorized dealer.

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Content

INTRODUCTION .................................................................................................................................................................................... 3

PRODUCT INTRODUCTION ................................................................................................................................................................................ 3

IN THE BOX .......................................................................................................................................................................................................... 3

EQUIPMENT PREPARED BY USERS ................................................................................................................................................................... 3

SYSTEM INTRODUCTION.................................................................................................................................................................................... 4

SYMBOL INSTRUCTION ...................................................................................................................................................................................... 4

1 ASSEMBLY AND CONFIGURATION ............................................................................................................................................. 5

1.1 HARDWARE INSTALLATION AND CONNECTION ...................................................................................................................................... 5

1.1.1 Mixer Type Supported ...................................................................................................................................................................... 5

1.1.2 Hardware Connection Diagram .................................................................................................................................................... 6

1.1.3 Important for Assembly and Connection.................................................................................................................................. 6

1.2 SOFTWARE INSTALLATION AND CONFIGURATION ............................................................................................................................... 12

1.2.1 Install Driver and Assistant Software ........................................................................................................................................ 12

1.2.2 Configure using Assistant Software on a PC ........................................................................................................................ 12

1.2.3 Configuration Checking ................................................................................................................................................................ 13

1.3 COMPASS CALIBRATION ............................................................................................................................................................................ 14

2 BASIC FLYING .................................................................................................................................................................................. 15

2.1 CONTROL MODE INSTRUCTION ............................................................................................................................................................... 15

2.2 FLYING ENVIRONMENT REQUIREMENTS ................................................................................................................................................. 16

2.3 CHECK LIST BEFORE FLYING ................................................................................................................................................................... 16

2.4 POWER ON AND CHECK ............................................................................................................................................................................ 17

2.5 START MOTORS METHODS ...................................................................................................................................................................... 17

2.6 BASIC FLYING TEST ................................................................................................................................................................................... 18

3 PROTECTION FUNCTIONS SETTING ...................................................................................................................................... 20

3.1 FAILSAFE ..................................................................................................................................................................................................... 20

3.2 LOW VOLTAGE PROTECTION .................................................................................................................................................................. 21

4 ADVANCED FUNCTIONS ............................................................................................................................................................ 22

4.1 IOC (INTELLIGENT ORIENTATION CONTROL) FUNCTION ................................................................................................................. 22

4.2 GIMBAL FUNCTION ................................................................................................................................................................................... 25

4.3 GEAR FUNCTION ....................................................................................................................................................................................... 25

4.4 ATTITUDE CONTROL WHEN ONE MOTOR OUTPUT FAILS .............................................................................................................. 25

APPENDIX ............................................................................................................................................................................................. 26

LED INDICATOR DESCRIPTIONS .................................................................................................................................................................... 26

SPECIFICATIONS ............................................................................................................................................................................................... 27

FAQ ......................................................................................................................................................................................................... 28

USE WITH OTHER DJI PRODUCTS .................................................................................................................................................................. 28

CHANNEL MAPPING INSTRUCTIONS FOR PC ASSISTANT SOFTWARE .................................................................................................. 29

Recommended Mapping for Futaba Transmitter (Mode 2) User .......................................................................................... 30

SETTINGS OF GAIN VALUES FOR YOUR REFERENCE................................................................................................................................. 30

DISCLAIMER ......................................................................................................................................................................................... 31

TRADEMARK ......................................................................................................................................................................................... 31

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Introduction

Product Introduction

The DJI A2 Multi-Rotor stabilization controller is a complete flight system for various multi-rotor platforms for

commercial and industrial AP applications. Based on the technology and design philosophy of DJI’s Ace series

of high-performance controllers, the A2 offers you a brand new flight experience. Its flight mode setup provides

a seamless transition for current Ace One, WKM AP professionals. The system has the following features:

(1) It is integrated with high-precision sensor components and a high-performance GPS Receiver. (2) It utilizes high quality components precisely calibrated with temperature compensation in all gyros and

sensors, industry renowned flight algorithm in autopilot and UAV field.

(3) Designed with built-in vibration absorption, no extra mount frame or vibration absorption pad is required. (4) Based on the DESST technology, it has a built-in 16-channel Receiver, and supports DSM2 satellite receiver. (5) Optional DJI D-BUS Adapter can be used with a traditional Receiver.

In the Box

Controller Unit

(Built-in Receiver DR16)

PMU(Power Management unit)

IMU(Inertia Measurement Unit)

LED-BT-I

GPS-COMPASS PRO

Accessories

Micro-USB Cable (1)

Servo Cables (2)

GPS Bracket

Double side sticky pads.

Equipment Prepared by Users

Aircraft (Take Quad-rotor for example:

Red is nose, and Black is rear)

Transmitter

(Take Mode2 for example)

Others

Battery

DJI D-BUS Adapter

Mobile Device

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System Introduction

The A2 flight control system uses the Control Unit at its core, which is connected with the IMU, GPS-COMPASS

PRO、LED-BT-I、PMU and ESCs to complete the system. The system can achieve the height-lock and

position-lock functions by using the IMU and the GPS, to control the aircraft.

Please carry out the following procedures to finish assembly, configuration and flight-testing.

Symbol Instruction General Symbol

Forbidden(Important)

Cautions

Tips

Reference

GPS Satellite number

Distance

TX signal good

TX signal lost

Roll to left

Roll to right

Pitch up

Pitch down

LED Symbol

(N)

N=1

N=2

N=3

N=4

N=6

N=20

N=∝

Meaning

One Blink

Two Blinks

Three Blinks

Four Blinks

Six Blinks

Twenty Blinks

Continuous

Blinks

e.g. (3) means three Red blinks.

(N)

N=∝

Meaning

Continuous Solid on

e.g. (∝) means Continuous Blue Solid on.

Configure the system using A2 Assistant software.

Do basic flying test

FailSafe and Low-voltage settings

Advanced functions: IOC, Gimbal, Gear

Mount the A2 flight control system on your aircraft finish connection.

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1 Assembly and Configuration

For hardware installation, software configuration and compass calibration please adhere to the following

sections.

1.1 Hardware Installation and Connection

(1) Please adhere to “1.1.1 Mixer Type Supported” to choose a mixer type and assemble your aircraft. (2) Please adhere to both “1.1.2 Hardware Connection Diagram” and “1.1.3 Important for Assembly and

Connection” to install and connect all units on your aircraft.

1.1.1 Mixer Type Supported

Following Mixer Types are supported.

Quad-rotor X Hexa-rotor I

Hexa-rotor V Hexa-rotor Y

Quad-rotor I

Hexa-rotor IY

Octo-rotor IOcto-rotor X Octo-rotor V

The direction of the arrow in diagram indicates the rotation direction of the motor/propeller.

For coaxial propellers: Blue propeller is at TOP; Red propeller is at Bottom. Otherwise all propellers

are at top.

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1.1.2 Hardware Connection Diagram

ESC

Important

CAN-Bus, it provides power supply and communication. A2 can automatically identify the device connected.

CAN1 and CAN2 ports are working

independent, device connected are non-interchangeable. E.g. IMU and

GPS-COMPASS PRO to CAN1; LED- BT-I to CAN2; PMU to CAN1 or CAN2.

2S~6S

Battery

Supply power for all ports on

both sides of controller unit.

1.1.3 Important for Assembly and Connection

This section describes all device port functions, assembly requirements, connection requirements and tips

during usage. Also the linking procedures between the built-in Receiver DR16 and your Transmitter. It is very

important for the first time usage, please read all text carefully.

(1) Controller Unit

The Control Unit is the core component of the A2 flight control system:

(1) M1~M8 are used to connect to the ESCs of the aircraft. (2) The built-in Receiver DR16 is based on DJI DESST technology, which can be used with the Futaba FASST

series and DJI DESST series Transmitter.

(3) CAN1 and CAN2 ports are working independently and should connect to different modules. (4) 4 independent and configurable outputs. (5) It is compatible with the external Receiver, e.g. DSM2 satellite Receiver. (6) Use the optional DJI DBUS Adapter to support the traditional receiver.

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Port Description

Connect to ESC

iOSD MARK II, Z15 from DJI

IMU

GPS-COMPASS PRO

To PW port of PMU

LED-BT-I

2.4G DATA LINK from DJI

Reserved

To S-BUS Receiver

BEC，Connect to X1 of PMU for voltage detection

To DSM2 satellite Receiver

Antenna

Indicate the linking status

Link button of Built-in receiver DR16 and transmitter

Multi-function PWM output channels, can directly give output signal from the Receiver if mapped to a Receiver channel*

*If the Gimbal function is enabled in Assistant Software, F2/F3 can only be used for gimbal Pitch/Roll control, which means F2/F3 cannot be mapped to any other Receiver channel. *If the Gear function is enabled in Assistant Software, F1 can only be used for gear switch control, which means F1 cannot be mapped to any other Receiver channel.

Mounting Requirements:

Install the Controller Unit in the proper position to make sure the ports are accessible. No specified direction is

required.

Place the antennas in an open space under the aircraft, DO NOT block them. Position the heads of

two antennas at a 90-degree angle. DO NOT bend or wind them.

Receiver System

The A2 flight control system can use its own built-in Receiver, and also can support external receivers. Whatever

type of Receiver is used, please make sure that the Receiver and Transmitter is linked correctly before use.

A. Built-in Receiver

For enhancing the system integration and reliability, the A2 is integrated with a 2.4G receiver based on

frequency hopping technology. The built-in Receiver can be used with the Transmitter of Futaba FASST series

or DJI DESST series after linking. For users, you are only asked to carry out the link procedures, no extra

requirement for connection.

Please carry out the following procedures to finish the Link process, and the configuration in the A2 Assistant

software->Basic ->R/C ->Receiver Type. Select the DR16 option.

During use, you may see the following LED indication, please do the operation according to the table below.

LED

Description

Operation

(∝)

Signal from Transmitter has been detected by the Receiver, but not matched.

Link operation required

(∝)

No Transmitter signal is received, e.g. the flight control system is powered on

but the Transmitter is powered off.

Switch on

(∝)

The Receiver and Transmitter have been linked to each other successfully.

Can work normally

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0.5m<Distance<1cm

1. Turn on the transmitter, it begins to send signals after 1.5secs.

3.Press the LINK button, hold for 2secs, wait until the LED blinks Red .

4.Release the LINK button, the LED turns Green on after successfully linking.

Link Procedures

2.Power on the flight control system.

External Receivers

If using an external Receiver, please follow the diagram for connection, set the Receiver referring to your

Receiver manual, and select the correct type in assistant software->Basic->R/C-> Receiver Type.

Receiver Type

S-BUS Receiver

With D-BUS Adapter

DSM2 Receiver

PPM Receiver

Assistant Software Option

D-BUS

DSM2

PPM

S-BUS

Receiver

Traditional

Receiver

8 7 6 5 4 3 2 1

Important

· When you use a traditional receiver, DJI D-BUS ADAPTER is required. Put the switch to the “i” stop, and power on the system, the LED should be red on; otherwise, keep the switch at “i” stop and then power cycle the system.

· At the “i”stop, the D-BUS ADAPTER is converting the PWM signal from traditional receiver to S-BUS signal.

DSM2 Satellite

Receiver

PPM

Receiver

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(2) IMU (Inertial Measurement Unit):

Built-in inertial sensors, for the measurement of aircraft attitude; built-in pressure sensor for the detection of

aircraft altitude. Should be connected to the CAN1 port of the Control Unit, and be mounted according to the

required location and orientation. The IMU has been calibrated before shipping, it should be used under the

specified temperature; otherwise the temperature may have an effect on the IMU performance.

Working environment temperature: -5oC ~60oC

Storage environment temperature:<60oC

Orientation Requirements:

Please mount the IMU as one of the following options. Configure in the A2 Assistant software ->Basic ->Mount ->

IMU, and select the matched option.

Pointing Forward Pointing Backward Pointing to Left Pointing to Right

Location Requirements:

Center of

Gravity

Fix with double faced adhesive tape.

(1) The top side should be facing up. DO NOT mount upside-down. (2) DO NOT cover the ventilation holes, keep them unblocked and clean. (3) Take heat preservation measures if working in cold weather.

(1) Mount the IMU at a low vibration position and the sides of the IMU should be precisely parallel

to the aircraft body. Based on our experience, there is less vibration near the aircraft’s center

of gravity.

(2) NOT water-proof or oil-proof. (3) Check the double faced adhesive tape regularly to make sure that the IMU is fixed firmly.

There is a CAN-Bus connector, which can be used to connect to the GPS-COMPASS PRO or other DJI product.

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(3) GPS-COMPASS PRO

GPS-COMPASS PRO module has a built-in GPS and compass. The compass is used for geomagnetic field

measurement. It should be mounted according to the required location and orientation. Compass calibration is

required before use. DO NOT use and store the compass in the ferromagnetic material environment.

Mounting Procedure:

a) Use the epoxy resin AB glue to assemble the GPS bracket first. The longest one is recommended.

b) Mount the bracket on the aircraft first, and then fix the GPS-COMPASS PRO on the plate of the bracket

(using the 3M sticky pads provided).

Mount Requirements:

The arrow is pointing to the nose direction.

Use the GPS bracket, and keep it awa y fr om other electronic equipment

Ke e p it parallel to the aircraft

Usage Requirements

(1) The DJI logo should be facing the sky, with the orientation arrow pointing directly to the nose

direction; otherwise it may lead to take off failure.

(2) Fly the aircraft in an open space without buildings or trees; otherwise it may have an effect on

the GPS.

(3) The compass is sensitive to magnetic interference, should be far away from electronic devices,

otherwise it may lead to abnormal flying.

(4) Please always keep the compass module away from magnet fields. Otherwise it may damage

the compass module and lead the aircraft to work abnormally or even be out of control.

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(4) PMU (Power Management Unit)

The PMU provides dual BEC’s:

(1) Connect the battery to the PMU module to supply power for the whole Flight Control System via the PW

port (supply power not more than 2A).

(2) Connect the PMU to the X1 port of Controller Unit for voltage monitoring, for flight safe guard during

flying.

In addition, there are two CAN-Bus ports for LED-BT-I connection and other DJI products (e.g. DJI 2.4G Data

Link).

Port Description

To positive pole of power

To negative pole of power

CAN-Bus port

Connect to CAN1 or CAN2 port of Controller Unit, CAN2 is recommended.

V-SEN, Output 0V ~ + 3.3V

VCC, Output 3A@5V

GND

Input voltage range: 7.4V~26V

PX Port, connect to the X1 port of Controller Unit

Working status indicator

Green on is normally working

Mounting Requirements:

No need to mount in a particular orientation. But choose a ventilated place to mount the PMU for cooling.

(5) LED-BT-I

The LED-BT-I has integrated LED Indicator, Bluetooth and USB port:

(1) The LED is mainly for flight control system status indication during flying (e.g. Control Mode). (2) (Coming soon) Bluetooth is used for real-time communication with your mobile device (e.g. iPhone), to

realize parameter configuration on a mobile device. For parameter configuration using a mobile device, it

is required to install the DJI A2 Assistant App on the mobile device. When you mount the LED-BT-I,

please make sure the side with ANT LOGO is unsheltered after mounting.

(3) In addition, there is a Micro-USB port, make sure it is mounted for convenient connection.

Port Description:

Micro-USB port：used to connect to the PC for Assistant software configuration and upgrade

Bluetooth status indicator

Abnormal Normal

Communicating

Indicator of autopilot system

Antenna of Bluetooth

Mounting Requirements:

Mount in a good position to make sure the LED is visible during flying. Antenna of Bluetooth should be unobscured.

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1.2 Software Installation and Configuration

Configure the A2 flight control system in the Assistant software please adheres to this section. Users are

required to configure every item in “Basic” page when use the A2 flight control system for the first time.

1.2.1 Install Driver and Assistant Software

1. Download

2.Connect

3.Install Driver

4.Install Software

Download the driver

installer and assistant

software installer

from DJI website.

Connect the

LED-BT-I module and

PC via a Micro-USB cable.

Run the driver

installer and follow

the prompts to finish

installation.

Run the assistant

software installer and

follow the prompts to

finish installation.

Assistant software supports only Windows operating systems (Win XP, Win7, Win8 (32 or 64 bit)).

1.2.2 Configure using Assistant Software on a PC

The USB port can supply power during configuration, no additional battery is required. Note that the USB port can

supply power not more than 500mA, an additional battery is necessary if connection failure or intermittent working.

Run the assistant software, and follow the built-in guide to carry out the configuration. Note that you may be asked

to register for first time use.

Setting

Options

Built-in

Guide

1. View

2. Restore &Upgrade

3.Set

4.Check

Click “Info” to view

user information

and software

version etc.

Enter “Tools” to restore default

settings. And check whether the

firmware is the latest.

Enter “Basic” page.

Set the Aircraft,

Mounting, RC, Gain”

in each tab.

Enter “View”

page to check all

basic settings.

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1.2.3 Configuration Checking

*Fig. above for reference only, please adhere to actual GUI.

Check List

Description

①

Check the IMU orientation direction.

②

Check the Mixer Type of aircraft.

Make sure the motors are rotating normally, and propeller installation is in correct direction.

③

The Receiver type is correct.

④、⑤

Check the basic and attitude gains.

⑥

Move the sticks to test whether the cursors moves following the sticks. Toggle the “U” switch to

test the control mode setting.

⑦~

○

Advanced configuration, users can configure it according to their requirements after reading the manual.

○

Check the Channel Map between the Transmitter and A2 flight control system.

1 2 3

5 6 7

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1.3 Compass Calibration

The Compass can assistant the GPS to position the aircraft, which is very important during flight. As we know,

the compass is very sensitive to electromagnetic interference, which will cause abnormal compass data, and lead

to poor flight performance or even flight failure. Compass Calibration MUST be done for the first time use.

It is recommended to calibrate the compass outdoors after the Controller Unit finds 7 or more GPS satellites.

Regular calibration enables the compass to keep optimal performance.

Calibration Cautions

(1) DO NOT calibrate your compass where there is strong magnetic interference, such as magnetite,

car park, and steel reinforcement under the ground.

(2) DO NOT carry ferromagnetic materials with you during calibration, such as keys or cell phones. (3) Compass Calibration is very important; otherwise the flight control system cannot work.

Calibration Procedures

Choose an open space to carry out the following procedures.

Control

Mode LED

Quickly flip the control

mode switch

360o Rotate the aircraft

horizontally

360oRotate the aircraft

vertically (Nose downward)

Manual*

GPS

Manual

GPS

GPS->Manual->GPS once

Start horizontal calibration

Start vertical calibration

Succeed

Fail

GPS->Manual->GPS

Flip 6~10 times

Start

cali

Re-calibrate

*You can also use the ATTI 1 or ATTI 2 to

replace the Manual during switch flipping.

Situations that require recalibration

Situations

Descriptions

Compass Data abnormal

LED blinks yellow and green alternatively( (∝)).

Flying field altered

Flying field has changed over a long distance.

Mechanical alteration

The mounting position of GPS-COMPASS PRO module changes.

Electronic units such as Controller Unit, CAN-HUB, battery etc. have been added,

removed, remounted or other alterations.

Mechanical structures of the aircraft has changed

Drifting during flying

Evident drifts occurred in flight such as the aircraft doesn’t fly straight

Attitude errors

LED often blinks error indicator when the aircraft turns around.

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2 Basic flying

Read this section before basic flight testing.

2.1Control Mode Instruction

The aircraft performs differently when using different control modes. Please read the following table to know

the different control modes, which may help you to achieve a more involved flight experience.

Control Mode 3

Control Mode 2

Control Mode 1*

GPS

ATTI. 2

ATTI. 1

Manual

Command

Linearity

YES

Yaw

Control the aircraft to rotate in clockwise and counter clockwise direction. Maximum rudder

angular velocity 150°/s

Roll and Pitch

Aircraft attitude control; Mid point of stick is for 0˚

attitude, and its endpoint is 35˚.

Max-angular velocity is 150°/s.

No attitude angle limit.

Throttle

Aircraft height control. Maintain the altitude best above 1

meter from ground when the throttle stick is in mid position.

No altitude locking when the

throttle stick is in mid position.

All Sticks

Released

Lock position if GPS signal

is adequate.

Only attitude stabilizing. No

position locking.

Keep original attitude.

GPS Lost

When GPS signal has been

lost for 3s, system enters

ATTI. Mode automatically.

---

IOC

Supported

CL/HL/POI

None

FailSafe

Protection

The flight control system will enter FailSafe

Mode if the Transmitter signal is lost and no

matter if Transmitter signal recovers or not,

system will not exit failsafe mode automatically.

The flight control system will enter

FailSafe Mode if the Transmitter signal is

lost and the system will exit Failsafe once

the signal recovers.

GPS Involved

YES

Low-voltage

Protection

LED alert with Descending or Go Home &

Landing precautions

Only LED alert

Environment

recommended

Open flying field;

Good GPS signal

Narrow Space;

GPS signal bad

Regain control in emergency

*Default is Manual, users can set to ATTI.1 in Assistant software. The biggest difference between ATTI.1 and ATTI.2

is that they are working differently in the protection situations.

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2.2 Flying Environment Requirements

(1) Before use of the product, please accept some flight training (Using a simulator to practice flying,

getting instruction from a professional person, etc.).

(2) DO NOT fly in bad weather, such as rain or wind (more than moderate breeze) or fog. (3) The flying field should be open without tall buildings or other obstacles; the buildings of steel

structure will interfere with the compass.

(4) Keep the aircraft away from obstacles, crowds, power lines, trees, lakes and rivers etc. (5) Try to avoid interference between the remote control Transmitter and other wireless equipment.

(No base station or cell tower around)

(6) The flight control system can’t work at the South Pole and the North Pole. (7) All parts must be kept out of the reach of children to avoid CHOKE HAZARD; if a child

accidentally swallows any part you should immediately seek medical assistance.

2.3 Check List before Flying

Double check the following list, otherwise, if any one of the following items is wrong it may lead to flight accident.

(1) All parts are in good condition, no ageing or damaged components (2) Motor rotating direction (3) Propeller mounting direction (4) Mixer Type set in assistant software (5) IMU and GPS-COMPASS PRO mounting direction (6) Transmitter channel mapping and sticks movement direction correct (7) Compass calibration (8) ESC connection

(9) IMU and GPS-COMPASS PRO firmly mounted

In addition, check the following items to make sure the system can work.

(1) The Transmitter battery is fully charged. (2) The aircraft battery is fully charged. (3) Do not over load the aircraft.

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2.4 Power on and Check

(1) Control mode LED indicator

Power on the Transmitter and flight control system. Toggle the control mode switch to different positions.

Control Mode LED indicator

Control Mode

Switch

GPS

ATTI 2

Manual

LED

(Stick not in midpoint (2))

No LED indicator

Set

Put the Control Mode switch to GPS position for basic flying test.

Note: when the GPS signal LED indicator is bad or worst ( (2) or (3)) and lasts for more

than 3secs, the flight control system will enter into ATTI2 Mode.

(2) GPS signal LED indicator

GPS signal indication blinks after every Control mode indication. We suggest to fly when GPS satellites is more than

GPS signal LED indicator

Worst ( < 5)： (3)

Bad ( = 5)： (2)

Well ( = 6)： (1)

Best ( > 6)：No indicator

2.5 Start Motors Methods

CSC (Combination sticks commands) is used to start/stop motors instead of just pushing the throttle stick.

CSC 1

CSC 2

CSC 3

CSC 4

Under the conditions stated below, the motors will stop in ATTI 1/ ATTI 2/GPS mode:

(1) The throttle sticks is under 10% for more than 3secs after motors start. (2) The throttle sticks is under 10% for more than 3secs after landing. (3) The throttle sticks is under 10% for more than 3secs and the inclined angle of aircraft exceeds

70°。

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2.6 Basic Flying Test

Carry out the following procedures to complete the basic flight test.

1. Wait the GPS signal to be well

LED

Place the aircraft away from you and others at least 3 meters and wait the ≥6.

or no Red LED

2. Start motors and takeoff aircraft.

LED

Execute CSC to start motors; all sticks back to midpoint as soon as motors start, then push

the throttle stick to take off the aircraft, meanwhile the home point is recorded. NOTE:

30secs after power on; 10secs after ≥6; Motors have been started, auto-record the

position as home point at the first time the throttle stick is raised

(∝)

After the home point is recorded successfully and the distance from aircraft is less than 8m,

LED indicator will blink 6 violet continually. Note: only when GPS signal is good (no Red

LED) LED indicator will blink 6 violet continually.

(6)

3.Operate sticks to control the flying attitude of the aircraft during flight

Transmitter (Mode2)

Aircraft

Operations

Throttle

Stick

Push Throttle sticks to control the aircraft

to elevate and descend. The aircraft can

lock to an altitude when the throttle stick

is at midpoint.

Yaw Stick

Push the yaw stick to rotate the aircraft in

clockwise or counter clockwise direction.

Roll Stick

Push roll stick to control the aircraft left

or right, pitch stick to control forward or

backward.

When both roll and pitch sticks are at midpoint：

(1) GPS mode: the aircraft will be

stabilized and locked in horizontal

position.

(2) ATTI 1/ATTI 2 mode: the aircraft

will be stabilized but unlocked in

horizontal position.

Pitch

Stick

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4.Hover

In GPS mode，the aircraft will hover when the throttle/yaw/roll/pitch sticks are all released at mid-point.

5.Landing

Use the throttle stick to control the landing speed, try to land your aircraft gently to avoid shock or crash.

Please refer to the next section “Protection Functions Setting” to take precautions.

(1) Low voltage alert: yellow quick flashes or red quick flashes. (2) FailSafe: LED indicator blinks blue.

Moreover, you may come across the following abnormal situation, please carry out the operation below.

(3) Compass data is abnormal; the LED blinks yellow and green alternatively. Please re-calibrate the

Compass.

(4) IMU data is abnormal, the LED blinks four green. Please contact your dealer.

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3 Protection Functions Setting

Set protection in the Assistant software ->Advanced page. FailSafe and Low voltage protections are required.

3.1 FailSafe

FailSafe works when the Transmitter (TX) signal is lost, the flight control system will automatically control the

aircraft to reduce injuries or damage.

signal

Descriptions

Home

Point

(HP)

≥

30secs later after power on; 10secs later after ≥6( or no Red LED);

Motors have been started; auto-record the position as home point at the first time

the throttle stick is raised.

FailSafe

Flight control system can automatically control the aircraft after Transmitter signal is

lost. It should be set in Assistant software->Advanced->F/S, while Hover, Go-Home or

Alt Go-Home is optional. Additionally, a Go-Home switch can be enabled.

One-Key

Go Home

Go Home switch can be used to trigger a “go home” without FailSafe. If One-Key

Go Home is enabled during flying, you no longer have control of the aircraft, the LED

blinks in its Control Mode. If One-Key Go Home is disabled, you regain the control at

once. If already in a Failsafe condition, then the switch will not work.

Failsafe and Go Home procedures

1 Record Home Point (HP)

2 Confirm Home Point

3 Transmitter Signal Lost

5Go Home(20m can be customized)4 Signal Lost Lasts 3secs.

Height over HP<=20m

Height over HP>20m

6 Landing after Hovering 15secs

20m

Elevate to 20m

LED LED LED

<8m

≥7

(∝)

(6)

(∝)

(∝) (∝)

(∝)

(1) The aircraft will not go home (only attitude stabilizing) in the condition that <6 or GPS is not

working, even if Transmitter signal is lost or Go Home switch is triggered.

(2) It is recommended to set the Go Home switch in the Assistant software. Users are suggested to

enter Failsafe and go home by using the Go Home switch rather than turning off the Transmitter in

Page 21

emergency situations.

(3) Make sure there are no obstacles during aircraft go home and users are familiar with the methods

to regain control.

How to regain control in FailSafe

GPS

ATTI 2

ATTI 1

Manual

Regain control

You have to toggle the control mode switch

once to regain control if the signal recovers, y.

Regain control as soon as signal recovers.

3.2 Low Voltage Protection

Low voltage protection is used to alert low battery voltage during flight; in this case, users should promptly fly

back the aircraft and land to avoid unexpected damages.

To use this function please set in Assistant software->Advanced->Voltage page to configure two voltage levels.

Protections

Option Selected

Conditions

LED

Aircraft

First level

LED

----

(∝)

None

GH & Landing

Make sure the home point is recorded and

no obstacles in going home and landing path.

(∝)

Go-Home & Landing

Second

level

LED

----

(∝)

None

Descending

----

(∝)

Descending directly

Go-Home & Landing Usage Tips

(1) The home point recorded is the same in both Failsafe and Low voltage protection. The aircraft will not go

home in the following cases :

a) Control mode is in Control Mode 1 (Manual or ATTI 1) b) GPS signal is bad ( <6)

c) The distance between aircraft and the home point is less than 25m, and the height over the Home

point less than 20m.

Descending Usage Tips

The aircraft will not hover when the throttle stick is at the mid point. Push the throttle stick to 90% of endpoint,

the aircraft will still ascend slowly if you continue to pull the throttle stick, and the control of Pitch, Roll and Yaw

are the same as before.

Please pay attention to the LED alert of low voltage and make sure the power is enough for go home

and landing. Insufficient power reserve will cause the aircraft to crash and other consequences.

Page 22

4 Advanced Functions

IOC and Gimbal functions of A2 and how to use A2 Assistant app via a mobile device.

4.1 IOC (Intelligent Orientation Control) function

IOC

Help users to set the Flying direction; Should be enabled in Assistant software.

Flying direction

The flying direction of aircraft when pushing the Roll and Pitch sticks.

Forward direction

The flying direction of aircraft when the pitch stick is pushed forward.

Normal flying

IOC is disabled. Forward direction is pointing to the nose direction and changes

along with the nose.

CL flying

Course Lock. Its forward direction is pointing to the nose direction when

recording, which is fixed until you re-record it or exit from CL.

HL flying

Home Lock. Record a Home Point (HP), push Pitch stick to control the aircraft

far from or near to the HP.

POI flying

Point of Interest. Record a point of interest (POI), the aircraft can circle around

the POI, and the nose always points to the POI.

Conditions of IOC function

Flying

IOC Setting

Control Mode

GPS-COMPASS

PRO Required

GPS Satellites

Distance Limits

Normal

----

Basic to control mode

None

Enabled

Not in Manual

Compass

None

Enabled

GPS

≥6

≥10m

Aircraft

POI

Enabled

GPS

≥6

5m~500m

POI

Aircraft

Step 1 IOC switch setting

Please enable the IOC function in Advanced->IOC page of Assistant software. Then choose a 3-positon switch on

the Transmitter to set as IOC switch, which is used to select the different IOC modes and manually record the

Forward direction, HP and POI recording.

Below are the three options of IOC switch setting which may be configured in the Assistant software.

Switch positions

A B C

1 OFF

OFF

2 CL

POI

3 HL

POI

Page 23

Step 2 Forward Direction, HP and POI Recording

After you enable the IOC in assistant software, the flight control system will record the forward direction and home

point automatically after power on, if the recording condition are met. You can Manually re-record the forward

direction, home point and POI during flying. Read the following table for the recording method details.

POI

Aims

Record a direction as Forward

direction

Record a position as HP

Record a position as POI

Conditions

30secs after power on

30secs after power on; 10secs

later after ≥6;

Motors have been started.

30secs after power on;

10secs later after ≥6.

Automatically

Automatically record at

30secs after power on

Automatically record at the first

time you push the throttle stick

No Automatic record method

Manually

According to any option of IOC switch setting, quickly toggle the switch between adjacent

positions 3-5 times to record manually.

Forward

direction

POI

Forward

direction

Successful

(20)

(1) DO NOT toggle the switch between the 1 and 3 positions frequently, which may re-record the

position 2.

(2) HP is used not only in IOC, but also in Failsafe and Low voltage for go home and landing. The

flight control system will automatically record the HP even if IOC function is disabled in Assistant

software but Forward direction and POI can be recorded only after IOC is enabled.

(3) Once the Home Point is recorded successfully, LED will blink (6) continually under the

following conditions. All conditions must be true.

1. ≥7.

2. Distance between aircraft and the recorded home point is less than 8m.

3. Current control mode is in GPS or ATTI 2.

Step 3 IOC flying test

Please study the following diagram then make a IOC flying test. IOC LED indicator blinks ( (2) means stick(s)

not at the midpoint)

HP POI Flying direction Forward direction Route Auxiliary line

Page 24

Flying

IOC

switch

Record

Roll stick control of aircraft

Pitch stick control of aircraft

Normal

OFF

None

10m

POI

500

DO NOT toggle the IOC switch frequently in HL flying to avoid re-recording the HP unwittingly.

IOC function is available only when all the required conditions are satisfied. If any condition is omitted

the flight control system will exit IOC. Please keep an eye on the LED to know the current control mode.

(1) It’s recommended to start the HL flight when the aircraft is >10m away from the HP. If starting

the HL when the distance between aircraft and HP is less than 10m and it’s the first time you

start HL after power on, then the flight control system will only enter HL after flying out of the

10m range.

(2) During HL flying if one of the following conditions occur, the flight control system will exit HL and

enter into CL: the aircraft is within of 10m from HP; the control mode is changed to ATTI 1 or

ATTI2; <6(LED (2)or (3)).

Page 25

4.2 Gimbal function

Connect servos of gimbal to Controller Unit as fig. below，roll servo connects to F3 port and pitch servo

connects to F2, and configure in Advanced->Gimbal page in the Assistant software. Not any Receive channel

is asked to be mapped for the F3 and F4 ports if gimbal function is enabled in Assistant Software.

Note: Even you map Receiver channels to F3 and F2 (Which is shown as D3 and D2 in Assistant

Software->Channel Mapping), the F3 and F2 will not give output signal from the corresponding Receiver

channels.

Pitch

Roll

4.3 Gear function

Connect the landing gear of S800 EVO to Controller Unit as fig. below，retract control servo connects to F1,

and configure in Advanced->Gear page in the Assistant software. Gear is required to be mapped for the F1

port if Gear function is enabled in Assistant Software.

Note: Once you map the Gear channel, F1 port will give output signal from the controller for retract control.

Otherwise, even you have enabled the Gear function; F1 will give output from D1.

4.4 Attitude Control When One Motor Output Fails

For Hexa-rotor, including Hexa-rotor I, Hexa-rotor V, Hexa-rotor IY and Hexa-rotor Y, the aircraft with A2 flight

control system is attitude controllable when one motor output fails.

Select Course lock or home lock mode for flying the aircraft into a safe area to land when the aircraft is

far away or the attitude can’t be recognized.

Page 26

Appendix

LED indicator descriptions

Control mode

GPS signal

Manual：No indicator

Best ( > 6): No indicator

ATTI1: (1) (sticks not in mid-point (2))

Good ( = 6): (1)

ATTI2: (1) (sticks not in mid-point (2))

Bad ( = 5) : (2)

GPS: (1) (sticks not in mid-point (2))

Worst ( < 5): (3)

Flight Attitude

Attitude good: No indicator

Attitude status bad: (3)

Attitude status bad, hover/sticks at mid recommended: (2)

IMU data lost, calibrate IMU needed： (4)

Compass calibration

Horizontal calibration

(∝)

Calibration Failed

(∝)

Vertical calibration

(∝)

Abnormal Compass Data

(∝)

Low voltage alert

First level alert (∝)

Second level alert (∝)

IOC Recording

Record home-point successfully

(20)

Aircraft is in the 8m range of HP

(6)

Record forward direction successfully

(20)

Record a Point Of Interest successfully

(20)

Bluetooth

A2 Assistant is connected / disconnected to the flight control system (∝)

When the LED blinks (2) or (3), please hover or land the aircraft and wait for the white LED to

go off.

When the LED blinks (3), it is not recommended to fly.

When the LED blinks (4), please contact your dealer.

Page 27

Specifications

General

Built-In Functions

 Built-in Receiver  Multiple Control Modes  2-axle Gimbal Supported  Enhanced FailSafe  Intelligent Orientation Control  Dynamical Systems Protection  PC & Bluetooth Ground Station

 External Receiver Supported  9 Types of Supported Multi-rotor  Other DJI Products Supported  Low Voltage Protection  4 Configurable Outputs  Sound Alarm  Configure Parameters Via Bluetooth

(Coming soon)

Peripheral

Supported Multi-rotor

 Quad-rotor: I4, X4

 Hexa-rotor: I6, V6, Y6, IY6

 Octo-rotor: X8, I8, V8

Supported ESC output

400Hz refresh frequency.

Supported Transmitter for Built-in Receiver

Futaba FASST Series and DJI DESST Series

External Receiver Supported

Futaba S-Bus, DSM2, PPM

Recommended Battery

2S ~ 6S LiPo

Assistant Software System Requirement

Windows XP SP3 / 7 /8 (32 or 64 bit)

Other DJI Products Supported

Z15, iOSD Mark II, D-BUS Adapter, S800 EVO, 2.4G Data Link

(Coming soon)

Electrical & Mechanical

Power Consumption

MAX 5W (Typical Value: 0.3A@12.5V）

Operating Temperature

-5°C to +60°C

Total Weight

<= 224g (overall)

Dimensions

 MC: 54mm x 39mm x 14.9mm

 IMU: 41.3mm x 30.5mm x 26.3mm

 GPS-COMPASS PRO: 62 mm (diameter) x 14.3 mm

 PMU: 39.5mm×27.6mm×9.8mm  LED-BTU-I：30mm x 30mm x 7.9mm

Flight Performance (can be effected by mechanical performance and payloads)

Hovering Accuracy (In GPS Mode)

 Vertical: ± 0.5m

 Horizontal: ± 1.5m

Maximum Wind Resistance

<8m/s (17.9mph / 28.8km/h)

Max Yaw Angular Velocity

150deg/s

Max Tilt Angle

35°

Ascent / Descent

6m/s

Page 28

FAQ

Use with other DJI products

The A2 can be used with other DJI products such as iOSD Mark II, Z15, S800 EVO and 2.4G Data Link (Coming

soon) etc.

The following diagram is the connection for your reference.

2S~6S

Battery

2S~6S

Battery

ESC

Coming soon

Page 29

Channel Mapping Instructions for PC Assistant Software

Basic Channel

Default Settings

Usage Description

Roll Control of Controller Unit using

Channel 1 of Receiver

Click the “Map” button, then you can re-do mapping

for A/E/T/R/U. Note: During calibrating, make sure

to operate by strictly following the prompts;

otherwise may lead to calibration failure.

During Assistant Software usage, please click the

“Calibration” button, to calibrate the Transmitter

sticks travel.

Pitch Control of Controller Unit

using Channel 2 of Receiver

Throttle Control of Controller Unit

using Channel 3 of Receiver

Yaw Control of Controller Unit using

Channel 4 of Receiver

Control Mode Switch of Controller

Unit using Channel 7 of Receiver

Others

Default Settings

Usage Description

K1~K6

Remote Gains Adjustment of

Controller Unit, unmapped.

Click “Unmapped” button, to map K1~K6 to the

Receiver channel.

Pitch

Gimbal Pitch Control of Controller

Unit, unmapped.

Click “Unmapped” button, to map Pitch to Receiver

channel. For gimbal servo control.

D1~D4

Direct Channels (The corresponding

ports are F1~F4 on the Controller

Unit) of Controller Unit, unmapped.

Click “Unmapped” button, to map D1~D4 to the

Receiver channel. If you enable the Gimbal function

in Assistant Software, then the F3/F2 are used for

gimbal control. Even D3/D2 are mapped to Receiver

channels, the output signal from the corresponding

Page 30

channels will be ignored.

You can use F4 for switching the video channel of

iOSD Mark II, then map D4 to a Receiver channel.

IOC

IOC of Controller Unit, unmapped.

Click “Unmapped” button, to map IOC to the

Receiver channel. It is recommended to use a

3-position switch channel.

Go Home

One-Key Go Home of Controller

Unit, unmapped.

Click “Unmapped” button, to map Go Home to the

Receiver channel. It is recommended to use a

2-position switch channel.

Gear

Intelligent Gear of Controller Unit,

unmapped.

If you enable the Gear function in Assistant

Software, then the F1 is used for S800 EVO landing

gear control.

Recommended Mapping for Futaba Transmitter (Mode 2) User

Controller Unit Channel

Receiver Channel

Recommended Transmitter Switch

Channe 1 (AIL)

Joystick J1

Channe 2 (ELE)

Joystick J2

Channe 3 (THR)

Joystick J3

Channe 4 (RUD)

Joystick J4

Channe 7 (AUX5)

3-Position switch, e.g. SG

K1~K6

Channe 5 (GEAR)

Knob switch, e.g. LD, RD

Pitch

Channe 6 (Vpp)

Knob switch, e.g. LD, RD

D1/D3/D2

----

Channe 9 (AUX1)

2-Position switch, e.g. SF

IOC

Channe 10 (AUX2)

3-Position switch, e.g. SG

Go Home

Channe 11 (AUX3)

2-Position switch with spring back function, e.g. SH

Gear

Channe 8 (AUX4)

2-Position switch, e.g. SF

Settings of gain values for Your Reference

To set the value of basic gain and attitude gain you can refer to the following diagram. These values are only for

reference and may vary in practice.

Aircraft

Configuration Information

Basic

Attitude

Motor

ESC

Propeller

Battery

Weight

Pitch

Roll

Yaw

Pitch

Roll

Vertical

F450

DJI-2212

DJI-30A

DJI-8 Inch

3S-2200

890 g

150

135

150

140

F550

DJI-2212

DJI-30A

DJI-8 Inch

4S-3300

1530 g

170

150

160

150

S800 EVO+Z15

DJI-4114

DJI-40A

DJI-15Inch

6S-15000

7000g

140

130

140

130

Page 31

Disclaimer

Please read this disclaimer carefully before using the product. By using this product, you hereby agree to this disclaimer and signify that you have read them fully.

THIS PRODUCT IS NOT SUITABLE FOR PEOPLE UNDER THE AGE OF 18.

A2 flight controller is designed for serious multi-rotor enthusiasts providing excellent self-leveling and altitude

holding, which completely takes the stress out of flying RC multi-rotors for both professional and hobby applications.

Despite the product having a built-in flight control system and our efforts in making the operation of the controller

as safe as possible when the main power battery is connected, we strongly recommend users to remove all

propellers when calibrating and setting parameters. Make sure all connections are good, and keep children and

animals away during firmware upgrade, system calibration and parameter setup. DJI Innovations accepts no liability

for damage(s) or injuries incurred directly or indirectly from the use of this product in the following conditions:

1. Damage(s) or injuries incurred when users are drunk, taking drugs, drug anesthesia, dizziness, fatigue, nausea

and any other conditions no matter physically or mentally that could impair your ability.

2. Damage(s) or injuries caused by subjective intentional operations.

3. Any mental damage compensation caused by accident.

4. Failure to follow the guidance of the manual to assemble or operate.

5. Malfunctions caused by refit or replacement with non-DJI accessories and parts.

6. Damage(s) or injuries caused by using third party products or fake DJI products.

7. Damage(s) or injuries caused by mis-operation or subjective mis-judgment.

8. Damage(s) or injuries caused by mechanical failures due to erosion, aging.

9. Damage(s) or injuries caused by continued flying after low voltage protection alarm is triggered.

10. Damage(s) or injuries caused by knowingly flying the aircraft in abnormal condition (such as water, oil, soil,

sand and other unknown material ingress into the aircraft or the assembly is not completed, the main

components have obvious faults, obvious defect or missing accessories).

11. Damage(s) or injuries caused by flying in the following situations such as the aircraft in magnetic interference

area, radio interference area, government regulated no-fly zones or the pilot is in backlight, blocked, fuzzy

sight, and poor eyesight is not suitable for operating and other conditions not suitable for operating.

12. Damage(s) or injuries caused by using in bad weather, such as a rainy day or windy (more than moderate

breeze), snow, hail, lightning, tornadoes, hurricanes etc.

13. Damage(s) or injuries caused when the aircraft is in the following situations: collision, fire, explosion, floods,

tsunamis, subsidence, ice trapped, avalanche, debris flow, landslide, earthquake, etc.

14. Damage(s) or injuries caused by infringement such as any data, audio or video material recorded by the use of

aircraft.

15. Damage(s) or injuries caused by the misuse of the battery, protection circuit, RC model and battery chargers.

16. Other losses that are not covered by the scope of DJI Innovations liability.

Trademark

DJI and A2 are registered trademarks of DJI Innovations. Names of product, brand, etc., appearing in this manual

are trademarks or registered trademarks of their respective owner companies. This product and manual are

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.

dji A2 Flight Control System User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual