DJI Naza-H User Manual

Page 1

NAZA HELI

Quick Start Guide

V1.06

2013.03.01 Revision

Please strictly follow these steps to mount and connect the NAZA-H system on your helicopter, as well as to install the Assistant Software on your computer.

The NAZA-H is very sensitive to vibrations and excessive vibration may impact the normal operation of the system. If you experience excessive vibration on your helicopter, please adjust the rpm of the main rotor to reduce the vibration or find other causes for the vibration, and then you can continue to fly.

As DJI Innovations has no control over use, setup, final assembly, modification or misuse, no liability shall be assumed nor accepted for any resulting damage or injury. By the act of use, setup or assembly, the user accepts all resulting liability. DJI Innovations accepts no liability for damage(s) or injuries incurred directly or indirectly from the use of this product.

DJI and NAZA-H is registered trademark of DJI Innovations. Names of product, brand, etc., appearing in this manual are trademarks or registered trademarks of their respective owner companies. This product and manual are copyrighted by DJI Innovations with all rights reserved. No part of this product or manual shall be reproduced in any form without the prior written consent or authorization of DJI Innovations. No patent liability is assumed with respect to the use of the product or information contained herein.

NAZA-H has achieved CE, FCC and RoHS certification.

*This manual is only 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.

www.dji-innovations.com

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Index

INDEX ..................................................................................................................... 2

NAZA-H INTRODUCTION ...................................................................................... 3

PROCEDURE STEPS ............................................................................................ 3

STEP1 ASSEMBLY ................................................................................................ 4

STEP2 SOFTWARE AND DRIVER INSTALLATION ............................................. 5

STEP3 ASSISTANT SOFTWARE USAGE ............................................................ 5

STEP4 DIGITAL COMPASS CALIBRATION ......................................................... 6

STEP5 AUTO TRIM FLIGHT KNOWLEDGE (ONLY FOR FLYBARLESS) .......... 7

STEP6 CONTROL MODE KNOWLEDGE ............................................................. 8

STEP7 TEST FLIGHT ............................................................................................ 9

APPENDIX ............................................................................................................ 10

FIRMWARE & ASSISTANT SOFTWARE UPGRADE ..................................................... 10

PORTS DESCRIPTION ........................................................................................... 11

LED INDICATOR DESCRIPTION .............................................................................. 12

SPECIFICATIONS .................................................................................................. 13

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NAZA-H Introduction

NO.

Steps

Description

Page

Step1

Assemble

Assemble NAZA-H components and receiver to the

helicopter, and connect the receiver, main controller, LED Indicator. GPS & Compass module, BEC module (optional).

Assembly

----4

Step2

Install Software

and Driver

Please download the DJI Driver Installer and the NAZA-H assistant software from the DJI website and then install them to your PC.

Software and

Driver Installation

----5

Step3

Use Assistant

Software

Configure the helicopter according to the setup wizard, including the following procedures: choose receiver type, set control mode switch, calibration of the remote control, choose the rotor and the swashplate type, etc. Configure the common parameters, such as autopilot parameter, alarm voltage, etc.

Assistant

Software Usage

----5

Step4

Calibrate Digital

Compass

If the GPS module is used, toggle the control mode switch from Manual Mode to GPS ATTI. Mode to enter the calibration mode and finish calibration.

Digital Compass

Calibration ----6

Step5

Know the Auto

Trim Flight

Please complete the auto trim flight in calm air weather, after first assembly and after mechanical adjustment.

Auto Trim Flight Knowledge----7

Step6

Know the control

mode

Make sure you have a good understanding about the working features of the three control modes.

Control Mode

Knowledge----8

Step7

Test Flight

Please strictly follow the procedures during the flight test for all the flight modes.

Test Flight

----9

The NAZA-H includes Manual Mode, ATTI. Mode and GPS ATTI. Mode (optional). It is a flight control system designed for all helicopter enthusiasts with the functions of self-leveling, built-in tail gyro and position holding in the GPS mode, which completely takes the stress out of flying R/C helicopters for both professional and hobby applications. Standard NAZA-H includes the main controller and LED indicator with optional GPS module and BEC module. It can be installed in a variety of models, from small to large electric helicopters, including 450，500，600 and 700 Electric Helicopter.

Procedure Steps

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Rudder

Servo

Swashplate

Servo

×3 or 4

ESC

Main Controller(MC)

· Position: the MC is best positioned near the helicopter’s center of gravity, and make sure all ports are accessible when installing the MC so as to facilitate wiring.

· Orientation: orient the MC such that the arrow marked on the above, surface of the MC faces the sky and points directly forward, backward, left or right. The sides of the MC should be precisely parallel to the helicopter body. DO NOT MOUNT THE MC UPSIDE-DOWN.

· Mo un t: u se double-sided foam tape for secured installation. Check the double-sided foam tape or Velcro regularly to ensure that the MC is securely positioned.

· Note: In three-pin ports, pins near the nicks are signal pins.

MC is NOT water-proof or oil-proof.

LED Indicator

· Mo u nt : moun t the LED module t o the helicopter, and make sure that you can

see LED indicator during flight.

· Connect: a USB interface Is for configuration and firmware upgrade by connecting to PC.

Front of MC

Battey

(Optional)GPS& Compass Module

· Position: mount it on the tail boom, between the head-rotor and the tail-rotor. The compass is sensitive to magnetic interference, so position the module at least 20 cm from servos and 30 cm from electric motors. The GPS should not be close to the main rotor head because rotor blades can interfere with GPS satellite signal, the farther from the center of the rotor disk, the better.

· Orientation: the NAZA logo marked on the GPS should face the sky, with the orientation arrow pointing to the helicopter nose direction.

· Mount: use double-sided foam tape for secured installation.

(Optional)BEC

· Conne ct: connect the BEC to the right ports on MC supplying power for NAZA-H and other electronic devices.

· Toggle switch: slide the switch to 7.4V if high-voltage servo is used, else to 5.8V if low-voltage servo is used.

R/C System

· Mount: mount the receiver to the helicopter.

· Connect: connect the receiver to the right ports on MC.

R/C Receiver (JR)

R/C Receiver (Futaba / Hitec)

Futaba S-Bus

S-Bus

1 2 3 4 5 6 7

RUDD

THRO

AILE

ELEV

GEAR AUX1 AUX2

Optional

Rudder Servo

· Do not connect the rudder servo until the servo type has been selected in assistant software.

Swash plate Servo

NAZA-H can support the following Sw ash plate types

Please choose the Swash plate type in the as si stant s oftwa re acc or ding to your helicopter.

120

HR3

140

H140

HE3

Step1 Assembly

Install the main controller, LED module and receiver to the helicopter, and connect according to the following diagram. GPS &Compass(optional), BEC module (optional).

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STEP1 Please download driver DJI Driver Installer.exe and assistant software from DJI website. STEP2 Connect the NAZA-H and the PC via USB cable, power on the NAZA-H system. STEP3 Run DJI Driver Installer.exe, and follow the instructions strictly to finish installation. STEP4 Run assistant software installer, and follow the instructions strictly to finish installation.

STEP1 Connect the NAZA-H to the PC with a Micro-USB cable. DO NOT break the connection until

setup is finished.

STEP2 Run the NAZA-H Assistant Software。 STEP3 If the communication indicator is on, please double check the connections and driver installation;

otherwise if the indicator is blinking, go to next step.

STEP4 Select InfoSoftware and Firmware. Check whether the assistant software and the firmware

upgrade are available. If available, please upgrade the assistant software and the firmware by referring to the appendix. Otherwise, go to next step.

STEP5 Select Setup. Please follow step-by-step for your first-time-configuration. STEP6 Select Common and fill in the required values. You can click the Advanced option for more

parameter settings.

STEP7 Check your R/C transmitter channels through the channel monitor. Monitor the servo battery and

main battery voltages. Choose and set the warning voltage for servo battery and main battery. Make sure the helicopter parameters set by the setup wizard are correct. Observe the tail gyro gain settings indicated in the status bar at the bottom of the software window.

Tips:

Please make sure to set the tail gyro gain using the R/C transmitter, using the G channel of NAZA-H main controller.

Step2 Software and Driver Installation

Step3 Assistant Software Usage

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Step4 Digital Compass Calibration

STEP1 Quickly switch the control mode switch from Manual Mode to GPS ATTI. Mode for 6 to 10 times

(Manual Mode -> GPS ATTI. Mode -> Manual Mode is one time) and the LED indicator will be constantly on in yellow .

STEP2 Rotate you helicopter around its horizontal axis until the LED lights green constantly. STEP3 While the green LED is constantly on, hold your helicopter vertically and rotate it around its

vertical axis, keep rotating until the green LED is off, meaning the calibration is finished.

STEP4 After you finished the calibration, the LED indicator will show whether the calibration is successful

or not:

 If calibration was successful, calibration mode will exit automatically.  If the LED keeps blinking red quickly, the calibration has failed. Switch the control mode switch

one time to cancel the current calibration, and then re-start from the step 1 for re-calibration.

Important:

 Please complete the calibration in an open area.  If you keep having calibration failure, it might suggest that there is very strong magnetic interference

around the GPS & Compass module, please avoid flying in this area.

Please calibrate the compass using the following steps, if the GPS module is used, else skip.

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Step5 Auto Trim Flight Knowledge (Only for Flybarless)

Tips:

 Auto Trim flight is only for flybarless types of helicopter.  You may not need to do auto trim flight if the mechanical neutral position is precise enough or only

for normal flight (non 3D).

STEP1 Make sure all connections are correct and connected firmly, and all batteries are fully charged

and then turn on the R/C system.

STEP2 Quickly switch the G channel switch from Tail Locked to Non Tail Locked for 3 to 5 times. STEP3 The red LED is on and the tail starts the initialization movement, DO NOT moves the helicopter or

the TX sticks during this time.

STEP4 Take-off and hover your helicopter in Manual Mode, using as little R/C transmitter stick movement

as possible during this hover flight.

STEP5 Hover the helicopter for about 1~2 minutes until the red LED turns off, and the system will exit

from the auto trim flight mode.

STEP6 You may now fly your helicopter without power cycling.

Auto Trim flight is to eliminate any bias of the mechanical neutral position, in order to achieve better 3D flight performance, especially rotation flight performance. Please complete the auto trim flight in calm air weather, after the first successful test / trim flight and after mechanical adjustment.

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Step6 Control Mode Knowledge

When you use the NAZA-H system, there are three control modes for selection. NAZA-H can work in Manual Mode and ATTI. Mode without a GPS module. After connection to the GPS module, GPS ATTI. Mode is available. Please pay attention because the GPS ATTI. Mode is dependent on the number of GPS satellites acquired by the main controller. Different control modes will give you different flight performances. Please make sure you understand the features and differences of the three control modes.

Manual Mode

 In Manual Mode, all the operation is the same as normal helicopter, depending on experience.  It is appropriate for 3D flight. Select Manual Mode for Auto Rotation flight.

ATTI. Mode /GPS ATTI. Mode

 The Roll and Pitch stick command form the R/C TX corresponds to the Roll and Pitch angle of the

helicopter.

 The Yaw stick command form the R/C TX corresponds to the rotation velocity of the helicopter and the

rotation velocity is slower than in Manual Mode.

 When you switch to ATTI. Mode or GPS ATTI. Mode, the NAZA will record the hover pitch stick position.

The command of this stick now corresponds to the vertical velocity of the helicopter.

 In GPS ATTI. Mode, keep the Tx sticks at the center position, the helicopter will hold position in the

horizontal direction.

 When you switch to ATTI. Mode or GPS ATTI. Mode, the NAZA will record the throttle position. The

throttle will hold this position while in ATTI. Mode or GPS ATTI. Mode, so the motor rotation speed cannot be changed. The motor will not stop even if the throttle stick is at the bottom position. Please switch to the Manual Mode if you need to change the motor rotate speed or even stop the motor.

 Has the function of auto level fail safe and low-voltage alarm.

How to enter the different control mode?

STEP1 Use a 3-position switch on the TX as mode control switch. STEP2 Make sure to take off the helicopter in Manual Mode in every flight. STEP3 Hover the helicopter if the Manual Mode flight is normal. Release all joysticks and then flip the

control mode switch to the ATTI. Mode or GPS ATTI. Mode, the Tx stick neutral positions are recorded automatically.

Note: Do not move any Tx joystick when switching the mode switch, and do not switch the mode switch while the helicopter is flying inverted.

* This is the standard way to enter the ATTI. Mode and the GPS ATTI. Mode, please refer to the assistant software for more details.

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Step7 Test Flight

Note：

 When the system is powered on, DO NOT move your helicopter or sticks on the R/C transmitter until

the system initialization has finished (about 5 seconds).

 Do NOT move any command sticks during the system start and self-check procedure! Please contact

us if the last four green blinks are abnormal.

 After power on, if the LED blinks Red, Yellow and Green continually, that means the IMU initialization

and self-checking is abnormal. The NAZA-H will not work, please connect to the Assistant Software for checking.

 You may need to adjust the gain of the tail gyro using the R/C transmitter.  For the first flight of a flybarless helicopter, please finish the Auto Trim flight after you have completed

a successful test / trim flight.

 Do not enter ATTI. Mode /GPS ATTI. Mode flight immediately after violent 3Dflight.  Make sure the compass has been calibrated before GPS ATTI. Mode flight.  Read the LED description in the appendix get more accurate understanding of the controller.

Tips：

Please avoid using the system in urban area with many high buildings, tunnels or under bridges, where the GPS signal is most likely to be lost.

First, carry out Manual Mode Test Flight (Adjust the tail gyro gain in Manual Mode if required.)

STEP1 Make sure all connections are correct and firm, and all batteries are fully charged and then turn on

the R/C transmitter.

STEP2 Place your helicopter on a horizontal surface and power on the NAZA-H and electric devices on the

helicopter, except the brushless motor controller.

STEP3 Check the LED indicator, if red LED blinks quickly & continually, connect to the PC for checking. STEP4 Slide the control mode switch on your R/C transmitter to make sure it is working properly, refer to the

LED indicator for the MODE selection.

STEP5 If everything is checked without any problems, switch to Manual Mode, move all the sticks on your

R/C transmitter to check that the helicopter is responding correctly to your commands.

STEP6 Take-off and fly your helicopter in Manual Mode.

Select ATTI. Mode Test Flight if Manual Mode Test Flight is successful

STEP7 Hover your helicopter, and switch to ATTI. Mode. STEP8 Finish and land the helicopter in Manual Mode.

Select GPS ATTI. Mode Test Flight if GPS module is used (Make sure that all the autopilot

parameters have been configured in the Common page of the Assistant Software.)

STEP9 Switch to GPS ATTI. Mode, make sure the green LED is blinking. STEP10 Red LED maybe blink, which indicates that the NAZA-H is still acquiring GPS satellite signals, wait

STEP11 Switch the system to Manual Mode and take-off and fly your helicopter in Manual Mode. STEP12 Hover your helicopter, and switch to GPS ATTI. Mode. STEP13 Finish and land the helicopter in Manual Mode.

until the red LED is off, meaning the NAZA-H have found more than 7 GPS satellites.

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Appendix

STEP1 Make sure your computer is connected to the Internet. STEP2 Please close all the other applications during the firmware upgrade, including anti-virus software

and firewall.

STEP3 Make sure the power supply is securely connected. DO NOT un-plug the power supply until

firmware upgrade has finished.

STEP4 Connect NAZA-H to PC with Micro-USB cable, DO NOT break connection until firmware upgrade

is finished.

STEP5 Run Software and wait for connection. STEP6 Select InfoSoftware and Firmware. STEP7 DJI server will check your current software and firmware version, and get the latest software and

firmware prepared for the unit.

STEP8 If there is a software version more up-to-date than your current version, you will be able to click to

download the new version. Please re-install the assistant software follow the prompts

STEP9 If there is a firmware version more up-to-date than your current version, you will be able to click to

update them. Wait until Assistant software shows “finished”. Click OK and power cycle the unit after at least 5 seconds.

STEP10 Your unit is now up-to-date.

Note:

 After firmware upgrade, please re-configure the NAZA-H using Assistant software.  If the network or DJI server is busy, try again later with above procedures.

 If firmware upgrade failed, NAZA-H will enter waiting for firmware upgrade status automatically,

please try again with the above procedures.

 You may be asked to register by filling in the contact information before upgrade.

Firmware & Assistant Software Upgrade

Please follow the procedure for software and firmware upgrade; otherwise the NAZA-H might not work properly.

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Ports Description

Stick operation, for cyclic roll or left/right

Stick operation, for cyclic pitch or front/back

Stick operation, for throttle control

Stick operation, for rudder control

Switch operation, for gyro sense adjusting

Stick operation, for collective pitch or up/down

Switch operation, for Control Mode Switch

For Voltage Monitor (Connect to BEC module)

To #1 swashplate servo

To #2 swashplate servo

To #3 swashplate servo

To #4 swashplate servo

THR

To ESC

RUD

To rudder servo

Reserved

LED

LED port, for LED wire connection of LED Module

EXP.

GPS port, for GPS module wire connection

LED Module

LED Cable

LED cable, to MC’s LED port

Micro-B USB port: PC connection for configuration and firmware upgrades

BEC Module (Optional)

Switch

A 2-position switch which is selection for high-voltage or low-voltage servos, and provides voltage detection function at the same time.

 7.4V: high-voltage servo  5.8V: low-voltage servo

BEC Cable

To MC X1 port.

Power Supply Cable

For battery connection

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LED Indicator Description

Control Mode (with GPS module)

Manual Mode

ATTI. Mode

GPS ATTI. Mode

GPS satellites < 5

GPS satellites = 5

GPS satellites = 6

GPS satellites > 6

None

Control Mode(without GPS module)

Manual Mode

None

ATTI. Mode.

Flashing indications of ATTI. Mode. and GPS ATTI. Mode are:

 Single blink, all sticks are at the center position.  Double blinks, any stick is not at the center position.

Compass Calibration

Begin horizontal calibration

Begin vertical calibration

Calibration / Other error

Auto Trim Flight

Enter Auto Trim Flight

Others

Tx signal lost

Low voltage / Other errors

Connected to PC correctly

System start-up and self-check

DO NOT move any command sticks during the start-up procedure! Please contact us if the last four green blinks are abnormal.

IMU initialization and

self-checking is abnormal

The NAZA-H will not work, please connect to the Assistant Software for checking.

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Specifications

Mechanical & Electrical Parameters

Part

Size(mm)

Weight

(g)

Operating

temperature

Input

Voltage(V)

Consumption(W)

Specified

Output(W)

45.5×31.5×18.5

-10°C ~ 50°C

4.8~8.4

1.5 (300mA@5V)

----

BEC

39x 27.5x12.7

11 ~52

7.4V: 0.25(10mA@25V)

5.8V: 0.375 (15mA@25V)

37(5A@7.4V)

29 (5A@5.8V)

LED

25 x 25x7

13.4

4.8~8.4

0.3(60mA@5V)

----

GPS

46 (diameter) x9

21.3

4.8~8.4

0.3(60mA@5V)

----

Hardware Functions Supported

Supported Helicopter Types

450，500，600，700 Electric Helicopter

Supported Swashplate Types

H1，120°，140°，Four Servo 90°

Supported Servo Output

Analog 50Hz(1520us center point) Digital 145Hz (1520us center point)

Tail Servo Output

Analog 50Hz(1520us center point) Digital 333Hz/560Hz(760us center point) Digital 125Hz/165Hz/270Hz/333Hz(1520us center point)

Recommended Power Supply

LiPo Battery

Input Channel

Output Channel

Assistant Software System Requirement

XP 32,64; Win7 32,64; Win8 32,64

Software Functions Supported

Autopilot System

Manual Mode / ATTI. Mode / GPS ATTI. Mode (with GPS module)

Built-In Functions

 Tail Gyro  Flybarless supported

 Auto Hover or Level Fail Safe  S-Bus Receiver Supported

 Low-voltage Alarm (RX voltage and Motor voltage if using the DJI BEC)

Performance Parameters

Performance

Manual Mode

ATTI. Mode

GPS ATTI. Mode

Wind Resistance

----

<4 level (By the heli)

Hovering accuracy

----

Vertical: ± 0.8m, horizontal:± 2.5m

Flight height limit

R/C range

Max Yaw Angular Velocity

450 deg/s

130 deg/s

Max Tilt Angle

None

45 deg

<45 deg(By flight velocity)

Max Ascent / Descent

None (By the heli)

6m/s(By the heli)