DJI CP.WK.000027 User manual

A2 Flight Control System

User Manual V1.18

June 24th, 2014 Revision

For Firmware 2.2 & Assistant Software V1.3 & DJI Assistant App V1.1.14

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.

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 ............................................................................................................................... 14

1.2.1 Installing Driver and Assistant Software .................................................................................................................................. 14

1.2.2 Configure using Assistant Software on a PC ........................................................................................................................ 15

1.2.3 Configure the control mode switch .......................................................................................................................................... 16

1.2.4 Configuration Checking ............................................................................................................................................................... 18

1.3 COMPASS CALIBRATION ............................................................................................................................................................................ 21

2 BASIC FLYING ................................................................................................................................................................................. 22

2.1CONTROL MODE INSTRUCTION ............................................................................................................................................................... 22

2.2 FLYING ENVIRONMENT REQUIREMENTS............................................................................................................................................... 24

2.3 CHECK LIST BEFORE FLYING .................................................................................................................................................................. 24

2.4 POWER ON AND CHECK .......................................................................................................................................................................... 25

2.5 START MOTORS METHODS ..................................................................................................................................................................... 25

2.6 BASIC FLYING TEST .................................................................................................................................................................................. 27

3 PROTECTION FUNCTIONS SETTING ...................................................................................................................................... 29

3.1 FAILSAFE ...................................................................................................................................................................................................... 29

3.2 LOW VOLTAGE PROTECTION ................................................................................................................................................................ 30

4 ADVANCED FUNCTIONS ............................................................................................................................................................ 32

4.1 IOC (INTELLIGENT ORIENTATION CONTROL) FUNCTION ................................................................................................................. 32

4.2 SERVO GIMBAL FUNCTION ...................................................................................................................................................................... 35

4.3 GEAR FUNCTION ....................................................................................................................................................................................... 35

4.4 ATTITUDE CONTROL WHEN ONE MOTOR OUTPUT FAILS .............................................................................................................. 35

4.5 DJI ASSISTANT APP USAGE .................................................................................................................................................................... 36

APPENDIX ............................................................................................................................................................................................. 38

LED INDICATOR DESCRIPTIONS .................................................................................................................................................................... 38

SPECIFICATIONS ............................................................................................................................................................................................... 39

FAQ ......................................................................................................................................................................................................... 40

USE WITH OTHER DJI PRODUCTS ................................................................................................................................................................. 40

CHANNEL MAPPING INSTRUCTIONS FOR PC ASSISTANT SOFTWARE .................................................................................................. 42

RECOMMENDED MAPPING FOR FUTABA TRANSMITTER (MODE 2) USER .............................................................................................43

SETTINGS OF GAIN VALUES FOR YOUR REFERENCE................................................................................................................................. 44

THE TRANSMITTER SETUP OF FUTABA ..................................................................................................................................................... 44

DISCLAIMER ........................................................................................................................................................................................ 45

TRADEMARK ........................................................................................................................................................................................ 45

Introduction

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

commercial and industrial aerial photography. 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 provides

a seamless transition for current Ace One, WKM AP professionals. A2 features includes: (1) Integrated with high-precision sensor components and a high-performance GPS Receiver. (2) 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) Provide high precision control and high performance handling experience. (5) Based on the DESST technology, it has a built-in 16-channel Receiver, and supports DSM2 satellite receiver. (6) Optional DJI D-BUS Adapter can be used with a traditional Receiver.

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.

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

Product Introduction

In the Box

Equipment Prepared by Users

System Introduction

The A2 flight control system uses the Controller 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.

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

(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

(N)

N=∝

Meaning

Continuous Solid on

Configure the system using A2 Assistant software.

Basic flying test

FailSafe and Low-voltage settings

Advanced functions: IOC, Gimbal, Gear

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

Symbol Instruction General Symbol

LED Symbol

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

(∝)LED blinks yellow and green alternatively.

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

1 Assembly and Configuration

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

sections.

(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.

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.

1.1 Hardware Installation and Connection

1.1.1 Mixer Type Supported

Following Mixer Types are supported.

1.1.2 Hardware Connection Diagram

ESC 1#

ESC 2#

ESC 3#

ESC 4#

ESC 5#

ESC 6#

ESC 7#

ESC 8#

Important

Make sure the cable connections are tight before every flight. Suitable amount of hot melt adhesive is recommended to use in the connections to the CAN1 and CAN2 ports.

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; LEDBT-I to CAN2; PMU to CAN1 or CAN2.

Supply power for all ports on

both sides of controller unit.

2S~6S

Battery

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. Please read

all information below carefully, especially if you are a first time user.

The Controller 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.

1.1.3 Important for Assembly and Connection

(1) Controller Unit

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.

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.

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.

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

Mounting Requirements:

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

required.

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

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

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, configure the Receiver type as DR16 in the Assistant software.

The DR16 Receiver is compatible with the Futaba transmitters which have optional FASS MODE MULT,

MLT2 or 7CH. Users can find out more available Futaba transmitters and configuration requirements

refer to the FAQ->The Transmitter setup of FUTABA.

If using DSM2 satellite Receivers, please follow the diagram for connection, set the Receiver referring to your

Receiver manual, and select the Receiver type as DSM2 in the Assistant software->Basic->R/C-> Receiver Type.

DSM2

satellite

Receiver

1. Power on the flight control system, the Transmitter should be turned off.

3.Press and hold the LINK button on the controller unit the LED blinks red and the indicators on the Receivers blink too. Then release the LINK button the Receiver will be ready for linking.

4.Press and hold the linking button on the Transmitter then turn on the Transmitter to start linking, release the button after the Transmitter is displayed Linked or the indicators on the Receivers are solid on.

Linking procedures

2.Set the Receiver type as DSM2 in the Assistant software.

5.The LED on the controller unit will be solid green on after linking successfully.

DSM2

satellite

Receiver

Notes for the DSM2 users:

 There is no need to enable the FailSafe function in the Transmitter. If the Receiver loses the signal

from the Transmitter, the controller unit will enter into FailSafe automatically, and the aircraft will

B. DSM2 Satellite Receivers

hover or Go-home as configure in the FailSafe in the Assistant software.

 When using the dual-mode Transmitter, please set the transmiting mode as DSM2 in SYSTEM SET

UP->FRAME RATE ->MODE, which should not be DSMX.

 Support DSM2 satellite Receivers used with all SPEKTRUM Transmitters, e.g. DX6I DX7S DX8

DX18 etc., as well as JR Transmitters, e.g. DXS9II DXS11.

C. S-BUS Receivers

If using S-BUS Receivers please follow the diagram for connection, set the Receiver referring to your Receiver

manual, and select the Receiver type as D-BUS in the Assistant software->Basic->R/C-> Receiver Type.

S-BUS

Receiver

S.BUS

Notes for the S-BUS users:

 It is no need to enable the FailSafe function in the Transmitter. Once the Receiver loses the

signals from the Transmitter, the controller unit will enter into FailSafe automatically, and the

aircraft will hover or Go-home as configurations of the FailSafe in the Assistant software.

If using PPM Receivers please follow the diagram for connection, set the Receiver referring to your Receiver

manual, and select the Receiver type as PPM in the Assistant software->Basic->R/C-> Receiver Type.

PPM

Receiver

PPM

D. PPM Receivers

E. Traditional Receivers

If using Traditional Receivers, the DJI D-BUS Adapter is required. Please follow the diagram for connection, set

the Receiver referring to your Receiver manual, and select the Receiver type as D-BUS in the Assistant

software->Basic->R/C-> Receiver Type.

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.

Notes for the traditional receiver users:

 When using the traditional receiver which doesn’t have endpoint adjustment operations to set

FailSafe in the U channel, the Go-Home switch is recommended and users can use it to trigger

the FailSafe.

 Configure the FailSafe function of your transmitter and receiver according to its instructions,

set the FailSafe position of the Go-Home switch in the position triggering the FailSafe function.

If it is configured correctly as mentioned above, the FailSafe function will be activated

automatically if the receiver loses the signal from the transmitter.

 Users can get more information about the FailSafe function referring to 3.1 FailSafe in this

manual and the help text in the Assistant software.

(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 Controller Unit, and be mounted according to

the required location and orientation. The IMU has been calibrated before delivery, 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

Pointing Forward Pointing Backward Pointing to Left Pointing to Right

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.

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.

Location Requirements:

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

(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.

The arrow is pointing to the nose direction.

Use the GPS bracket, and kee p i t awa y f rom o the r electronic equipment

Ke ep 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.

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:

(4) PMU (Power Management Unit)

The PMU provides dual BECs (Battery Eliminator Circuit): (1) PW port outputs power for the whole Flight Control System with current no more than 2A. (2) PX port outputs power (3A@5V) and V-SEV signal using the low voltage protection function.

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

Link).

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

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) 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 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.

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

Port Description

Mounting Requirements:

Choose a ventilated place to mount the PMU for cooling, no mounting orientation requirement.

(5) LED-BT-I

Port Description:

Mounting Requirements:

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

1.2 Software Installation and Configuration

Please configure the A2 flight control system in the Assistant Software according to the following instructions.

Users are required to configure every item within the “Basic” page when use the A2 flight control system for the

first time.

Installing and running on Windows

1. Download driver installer and Assistant Software installer in EXE format from the download page of A2

on the DJI website.

2. Connect the A2 flight control system to a PC via a Micro-USB cable. The Micro-USB port of the A2 flight

control system is on the LED-BT-I module.

3. Run the driver installer and follow the prompts to finish installation.

4. Next, run the assistant software installer and follow the prompts to finish installation.

5. Double click the A2 icon on your Windows desktop to launch the software.

The installer in EXE format only supports Windows operating systems (Win XP, Win7, Win8 (32 or 64 bit)).

Installing and running on Mac OS X

1. Download the Assistant Software installer in DMG format from the download page of A2 on the DJI

website.

2. Run the installer and follow the prompts to finish installation.

3. When launching for the first time if use Launchpad to run the A2 Assistant software, Launchpad won’t

allow access because the software has not been reviewed by Mac App Store.

4. Locate the A2 icon in the Finder, press the Control key and then click the A2 icon (or right-click the A2

icon using a mouse). Choose Open from the shortcut menu, click Open in the prompt dialog box and

then the software will launch.

5. After the first successful launch, direct launching of the software can be achieved by double-clicking the

A2 icon in the Finder or using Launchpad.

1.2.1 Installing Driver and Assistant Software

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