©2013 DJI Innovations. All Rights Reserved. 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.
©2013 DJI Innovations. All Rights Reserved. 2
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
©2013 DJI Innovations. All Rights Reserved. 3
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
©2013 DJI Innovations. All Rights Reserved. 4
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.
©2013 DJI Innovations. All Rights Reserved. 5
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.
©2013 DJI Innovations. All Rights Reserved. 6 |
1.1.2 Hardware Connection Diagram
90
o
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.
©2013 DJI Innovations. All Rights Reserved 7 |
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
©2013 DJI Innovations. All Rights Reserved 8 |
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
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
©2013 DJI Innovations. All Rights Reserved 9 |
(2) IMU (Inertial Measurement Unit):
Built-in inertial sensors, for the measurement of aircraft attitude; built-in pressure sensor for the detection of
aircraft altitude. Should be connected to the 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.
©2013 DJI Innovations. All Rights Reserved 10 |
(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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