DJI Wookong-H User Manual

WooKong HELI User Manual

V 1.8

www.dji-innovations.com

Disclaimer

FORBIDDEN

Please refer to the page(s) mentioned

TX

R/C Transmitter configuration required

WKH Assistant configuration required

CAUTION

Assembly& Mounting Tips

General Tips

Correct/ Wrong

DJI Innovations assumes no liability for damage(s) or injured incurred directly or indirectly from the use of this product.

DJI WooKong is registered trademark of DJI Innovations. Names of product, brand, etc., appearing in this manual are trademarks or registered trademarks of their respective owner companies. This product and manual are copyrighted by 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.

Reader’s Guide for This Manual

Please strictly follow these steps to mount and connect WooKong for Heli (WKH) system on your helicopter, as well as to install the WKH Assistant Software on your computer. Please pay attention at Lite for the difference between WKH and WKH Lite.

Icons seen in this document:

DJI WKH Introduction

GPS Atti. Mode

Atti. Mode

Manual Mode

Command Stick Meaning

Helicopter attitude control; Stick center position for 0˚ attitude, its endpoint for 45˚which is a fixed limit.

Mechanical driving

directly

Command Linearity

YES

NO

Stick Released

Lock helicopter position when GPS

signal is adequate

Only altitude stabilizing

Recommend for experience pilot

Altitude lock

Best maintain altitude above 3 meters

NO

Flight Altitude

No limit, but will switch into Atti. Mode

automatically over 50m.

No limit

Stabilization

Flybarless stabilizing on ELEV and AILE direction is available for all control mode

GPS Lost

After 10s when GPS signal lost, system enters

Atti. Mode

. Automatically.

Only performing attitude stabilizing without position lock.

---

Safety

Attitude & speed mixture control ensures stability.

Depends on experience

Fail-safe featured, auto hover or level if transmitter signal lost

Appropriate Applications

High agility for all flying

---

The flying direction (YAW) of helicopter will be effected by cross wind. WKH can detect the drifting angle & Speed, and control the rudder servo to eliminate such influences. In the case of flying forward in cross-wind, Tail Gyro can work on two different modes as the example shown.

Heading

Head-locking Mode

Rate Mode

Cross-Wind

1 2 3

WKH is the flight system designed for serious scale helicopter enthusiasts providing GPS for self-leveling, position hold, speed control and built-in tail gyro which completely takes the stress out of flying RC helicopters for both professional and hobby applications. WKH can be installed in a variety of models, from small electric helicopters to large gasoline and turbine helicopters. WKH Lite is the no GPS and LED version of WKH.

Multiple control mode based on autopilot system:

Lite There is no GPS Atti. Mode in WKH Lite.

Built-in functions include:

 Integrated tail gyro

 Flybarless rotor head support  Integrated engine governor for internal combustion engines  Build-in semi auto take off & landing

Package Contents

Main Controller

The Main Controller (MC) is the brain of the WKH. MC communicates with the IMU, GPS/Compass, engine governor, servos and RC transmitter to carry out autopilot functionality. USB interface is for WKH configure and firmware update from a PC. (System requirement: Windows XP SP3 or Windows 7)

GPS & Compass module

Lite Not in WKH Lite

The GPS/Compass module should be installed on the tail boom, where there is a clear view of the sky.

×1

IMU

The Inertial Measurement Unit (IMU) consists of one 3-axis accelerometer, one 3-axis gyroscope and a barometer.

×1

GPS Tail Boom Mount

Lite Not in WKH Lite

The GPS Tail Boom Mount and double-sided foam tape enable secured installation for the GPS/Compass module on almost any helicopters.

3-PIN Servo Cable

Cables used to connect the Main Controller to the RC receiver.

×10

LED Indicator

The LED indicates the different system states.

Micro USB Cable

This cable is used to configure WKH, update firmware.

×1

3M 5925 Double Sided Tape

Lite Not in WKH Lite

Only for GPS & Compass module

×4

Warranty Information Card

WKH comes with a two-year warranty, as described on this card. Please keep this for your personal records.

×1

Mounting and Connection

IMU

 Where? The IMU is best positioned near the helicopter’s center of gravity, where

vibration is relatively low.

 What orientation? Orient the IMU such that the arrow marked on the above

surface of the IMU faces the sky and points directly forward, backward, left or right. The sides of the IMU should be precisely parallel to the helicopter body.

DO NOT MOUNT THE IMU UPSIDE-DOWN.

 How? Use double-sided foam tape for secured installation.

1

Check the double-sided foam tape or Velcro regularly to ensure that the

IMU is securely positioned.

2

DO NOT cover the ventilation holes, keep them unobstructed.

3

The IMU module is NOT water-proof or oil-proof.

GPS & Compass Module

Lite WKH Lite customers can skip this step.

 Where? Mount it on the tail boom, between the

rotor-head 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 or gasoline (petrol) engines. The GPS is sensitive to vibration interference, so position the module at least 10 cm from the tail rotor. 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. For scale helicopters we find either behind or in front of main shaft GPS positions can be applied. It can also be installed inside the fuselage where the fiber glass shell is relatively thin.

 What Orientation? The DJI logo marked on the

GPS should face the sky, with the orientation arrow pointing directly forward. The GPS/Compass is packaged with a special indication line for mounting for the first time.

1

If you are uncertain whether materials near the GPS/Compass module are magnetic or not, you can use a compass or

magnet to check it.

2

GPS/Compass mounting-support hardware is included in the package. If however you prefer to use your own

GPS/Compass mount, please make sure that the mount material is NOT magnetic.

1 2

3 4

A1 Before you Begin

Fly the helicopter without WKH in open are or large field and make sure that the helicopter works properly without any autopilot assistance. To do so, you will need external tail gyro. This is a good time to isolate and resolve unwanted vibrations. IT IS IMPORTANT THAT YOU SHOULD NOT SKIP THIS STEP.

A2 Mount the devices on your helicopter

Main Controller

 Where? There is no orientation requirement for the Main Controller. Maintain at least a 20-centimeter-distance between the

Main Controller and the engine or motor. Choose a mounting location where as shorter servo extension wires are needed as possible. This helps reduce the risks of electronic interference. Please also make sure the USB port is accessible when installing the Main Controller so as to facilitate software configuration.

After choosing a location to mount the Main Controller, it is recommended that you DO NOT mount the Main Controller until all wirings and software configurations are completed.

LED Indicator

 Where? Place the LED indicator at appropriate location of helicopter body.

Make sure the LED indicator face down, and you can see the light.

A3 Connections

Rudder Servo

DO NOT connect the rudder servo until the servo type has been selected in Wookong Assistant.

Brushless Motor Controller (ESC)

Electric

Motor

Gas/Nitro

Engine

Throttle Servo

Swashplate Servo

3 or 4

Battery

MUST supply 4.8 - 8.4 volts.

Could be connect to any of the spare I/O port.

Micro-USB: PC connection for configuration and firmware upgrades.

GPS/COMPASS: Mount to the Tail boom, 20 cm from servos, 30 cm from motor, 10 cm from tail rotor.

Internal vibration isolation design, enable a more convenient

IMU mounting.

Main Controller

Engine Speed Sensor

R/C Receiver

LED: The LED indicates different states of whole system.

In-line CAN-Bus Port:

This CAN-Bus port can be used

for the LED module connection or for future hardware upgrades.

WKH Lite has no GPS/Compass

WKH Lite user should connect LED to CAN-Bus port on the MC directly.

CAN Bus–Interface for WKH Module

WKH Main Controller uses CAN-Bus to power and communicate with other WKH modules. Three connection ports are provided: two on the Main Controller and one in-line connection on the GPS/Compass wire. WKH identifies the connected devices automatically without configuration.

 GPS/Compass module can be connected to either port of Main Controller.  IMU can be connected to the Main Controller.

Receiver & Servos

STEP1: Set the transmitter to single-servo CCPM (Futaba: H-1; JR/Spectrum: 1sNORM; Hitec: 1-Servo 90°).

Connect the receiver to the Main Controller input servo ports.

R/C Receiver (Futaba / Hitec)

1

2

3

4

5

6

7

R/C Receiver (JR)

AUX2

AUX1

GEAR

RUDD

ELEV

RUDD

THRO

AILE

ELEV

GEAR

AUX1

AUX2

U

For Control Mode Switch

P

For collective pitch or up/down

G

For gyro sense adjusting

R

For rudder control

T

For throttle control

E

For cyclic pitch or front/back

A

For cyclic roll or left/right

STEP2: Connect the cyclic servos and throttle servo or ESC (NOT the rudder servo) to the

WKH output servo ports using the diagram corresponding to the swash type of your helicopter.

S1S1S3

S4

For swashplate servos

THR

For throttle servo or ESC

RUD

For rudder servo

F1

F2

Reserved for further usage.

S2

S1

90

o

S3

S4

S2

S1 S3

90

o

S2

S1

S3

140

o

S2

S1 S3

90

o

S2

S1

S3

120

o

S2

S1

S3

120

o

HR3

H3H140

H4

HE3

H1

*S3: Collective Pitch

Battery or BEC

WKH uses the same power source as the servos and receiver; power to all electronics connected to the Main Controller can be supplied by either servo input or output ports on the Main Controller. WKH operates with a power source between 4.8to 8.4 volts DC. When choosing a power source, bear in mind that all servos and WKH will use that same power source, thus please make sure the power source you use will also satisfy the servo requirements. A high capacity battery of 2000mAh or above is strongly advised, especially for large scale electric powered helicopter. Depending on servo types, digital servos will require 10A BEC for multi-bladed applications.

The power consumption of WKH is 5W maximum (testing condition:0.9A@5V).For some small scale helicopters, the BEC provided may not be able to supply enough overall power consumption, please use high performance BEC.

A4 WKH Assistant Software Basic Operation

Software and Driver Installation

Please read Software & Driver Installation Guide, the micro-USB port is used for WKH configuration and update firmware.

Introduction for Software GUI

1 234

16

15 14 13 12 11

10

6 75 8

9

I

II

How to adjust parameters?

I

Red and bold text indication if you changed anything;

II

Write parameters to main controller.

Except the direct edit items, they can be written to main controller directly.

1

TOOL

 Firmware upgrade: update your firmware from DJI

server, keep your WKH system up-to-date.

 Sign In: In order to provide better service to you,

please register for firmware update, software and manual download. If you have registered, please sign in here.

2

ABOUT

 Information regarding your WKH

3

Export: export/save WKH configurations in files.

4

Import: load previously saved configurations.

5

Wizard: step-by-step, for your first-time-configuration.

6

Write: write data of latest settings of the current page to

your WKH main controller. The parameter value or the title of which will appear as red and bold in font when modifications have been made, make sure you click the

“Write” button to update your system.

7

Read: read parameters from main controller.

8

Write all: write latest settings and changes of all files to

your main controller.

9

Graphic guidance

10

Text guidance

11

Flybarless function ON/OFF indication

12

Engine governor working mode indication

13

Tail gyro working mode & gyro sense indication

14

Autopilot working mode indication

15

Red light: WKH PC has been disconnected.

Green light: WKH PC has been connected. Blue light: WKH PC communication.

16

Here you can find all the configuration pages the same as

in the “Wizard”.

1 For safety reasons, during configuration and system setup, please disconnect the power supply for Electric motor. 2 Please do the following configurations in Manual Mode of the autopilot system.

Steps

Description

Page

B1 GPS&IMU Mounting

Please measure the center-of-gravity (C.G.) of your helicopter, and fill in the distance between IMU/GPS and C.G. of helicopter in X, Y & Z axles;

11

B2 Control Mode Switch

Adjust your transmitter for channel

U

, and then you can switch the

autopilot working mode between Manual / GPS Atti. / Atti.;

12

B3 Flybarless

Please select flybarless ON/OFF. You might need to adjust parameters during test flight;

13

B4 Swashplate

Setup you swash plates according to your helicopter specification;

13

B5 Pitch & Throttle Curve Setup

Set pitch & throttle curve on your transmitter according to our suggestion;

14

B6 Tail Gyro

Make rudder correctly responding to your transmitter commands (rotating C.W. or rotating C.C.W.);

15

B7 Engine Governor

Both electric motor and gasoline engine require setting;

16

B8 R/C Transmitter Calibration

R,P,A&E

are required to do;

17

B9 SYSTEM CHECK

Check controller output, IMU mounting and battery performance;

18

C1 Digital Compass Calibration

Slide the control mode switch on transmitter 10 times, and WKH will enter the compass calibration mode;

20

C2 Manual Mode Test Flight

Please strictly follow the procedure during flight test, you may need to adjust the following parameters to achieve the best flight performance:

21

B3 Flybarless control parameters if you’ve enabled Flybarless;

13

B6 Tail Gyro sense;

15

B7 Engine speed and Gov Gain for Gasoline / Nitro engine.

16

C3 Fail-Safe

Please strictly follow the failed-safe setting procedure; otherwise this function might not be working correctly.

22

C4 Autopilot Test Fight

Please strictly follow the procedure during flight test, you may need to adjust the following parameters to achieve the best flight performance:

23

B10 Autopilot control parameters;

19

B3 Flybarless control parameters if you’ve enabled Flybarless;

13

Flight & Configuration Procedure Brief

Lite Assistant software of WKH and WKH Lite are different. However WKH Lite assistant software will become WKH assistant

software automatically with a GPS module plugged into MC when you open the assistant software.

Configuration Procedure

Assistant Software - MOUNTING page

STEP1: Select IMU Mounting orientation

STEP2: Fill in the distance between IMU/GPS and the C.G. of

helicopter in X, Y & Z axles, please measure the C.G. with following method:

a) Adjust your helicopter, and make it balance on X

and Y axle as shown below.

X

Y

Rotor Head

Balance on X Y

b) The C.G. should be on the extended line of

helicopter main shaft.

Main Shaft

Z

c) Hang the helicopter by the tail

and use a plum line to find C.G. on Z axle. You can use your own methods to estimate the C.G. of your helicopter.

*Step c) is not required to pod/boom, and scale helicopter. Simply enter value zero will be sufficient.

GPS normally mounted on tail boom, thus X and Z could be zero, distance between GPS to main shaft is X.

C.G.

Ground

Note: measurement in CM

1

You must re-configure if the ALL-UP-WEIGHT had been changed on your helicopter,

2

If mounting locations are not accurate enough or the sign were wrong, error on Y，Z axle will leads helicopter vibrating,

error on X axle will leads drifting during spinning.

STEP1

STEP2

Not showed in WKH Lite

B1 GPS & IMU Mounting

Lite WKH Lite customers can skip GPS mounting.

B2 Control Mode Switch

1

The transmitter you used must be Fail-Safe featured, which allows you to setup fixed outputs for all channels if the

receiver loses signals, otherwise WKH will not enable the Fail-Safe.

2

Working mode for your transmitter should be HELICOPTER.

3

All the channels in your transmitter should be working independently: NO CCPM, NO channel MIX，NO EXP.

4

You need at least one 2 or 3-position switch on your transmitter to be set as the control mode switch.

In Assistant Software, page TX-MONITOR:

1

2

3

Once the switch position has been matched to specific control mode, you will see the high-light as shown following.

TX

Whichever 2 or 3 positions switch/channel user has

selected or decided to use in the transmitter (for control mode switching), in this case channel U marking on main controller. Use sub-trim or end-point (+/-) fine tuning on your transmitter, move the slider of channel U to the specific range until Assistant Software indicates that it is in Manual, GPS Atti., Atti.

and Failed-Safe mode. Notice: To move the slider is to adjust sub-trim or end-points of the channel selected.

Tx

1 2 3

3 Position

Switch

For 3-positions switch, you should assign:

Position-2to Atti. Mode; Position-1toManual Mode; Position-3to GPS Atti. Mode; Or reverse the assignment for Position-1 and Position-3.

For 2-positions switch, you should assign:

Position-1toManual Mode; Position-3to GPS Atti. Mode; Or reverse the assignment for Position-1 and Position-3.

Notice: Please see page 3 for introduction of autopilot control modes.

Set Fail-Safe output of receiver to input port-U, move the slider to the range which reads Fail-Safe MODE.

IMPORTANT: WKH would not execute Fail-Safe protection if you don’t set it properly. You can verify the Fail-Safe settings by shutting down your transmitter, and then you can use the following method to check whether WKH was already in Fail-Safe mode.

You can check the current control mode of WKH using either of the following methods:

 Check the Assistant status bar at the bottom side of the

software interface.

 Check the LED indicators status on GPS/Compass module,

see Appendix in this manual for details.

It will turn into Atti. in WKH Lite.

Lite WKH Lite customers have no GPS Atti. Mode.

B3 Flybarless

When system is powered on, you must not move your helicopter or sticks on transmitter until the system initialization is finished (about 5 second).

Once you changed the Flybarless to “ON”, the AILE and ELEV swash mix ratios in swashplate settings will be disabled, while [Direction Reverse] button will always be available for AILE and ELEV. After you have set the Flybarless to “ON”, you have to adjust your swashplate parameters before setting your Flybarless control parameters.

1

You have to adjust flybarless function and test it in Manual Mode first.

2

Don’t try to use Atti. Mode and GPS Atti. Mode until you can fly flybarless without any problems.

3

You might need to reduce the control gain of flybarless if you cannot make the helicopter stably hover or fly under Atti.

Mode, and GPS Atti. Mode.

Assistant Software, page-FLYBARLESS:

STEP1: Choose flybarless ON/OFF, you MUST NOT enable

flybarless function for helicopter with flybar, otherwise the helicopter will be out of control.

When Flybarless is turned on, elevator & aileron will have stabilization in manual mode.

STEP2: During test flight procedure, please perform the

following configuration procedure.

Gain Parameter range: 20% to 500% If the helicopter is sluggish, increase it; if the helicopter oscillate back after brake, decrease it. Adjust this parameter 10% increment time until your control feeling is sharp and the helicopter would not bounce after braking. Note: this parameter will only affect the stability but not control feeling.

Direct Input Parameter range: 30% to 300% This is the direct connect ratio for command stick effect, the rolling speed might not be uniform if it is too high, and also will lead to quick or sudden change in cyclic response.

Cyclic Rate Parameter range: 20 deg/s to 450deg/s This is the helicopter body rolling speed ratio, which determines the maximum rolling speed corresponding to command stick end point. The helicopter would response very quickly if it is too high, for example high rate in 3D.

Flybar Weight Parameter range: 20% to 300% The higher the value, the better the static stability of the helicopter. But, it will increases the sluggish on your control feeling, such as bank turn, and braking is also not sharp enough, like an large inertia helicopter. Similar to adding weight to blade tip.

ALIGN-600 Nitro (Default)

ALIGN-600Electric

LOGO 700

Maxi Joker 3DD

AILE

ELEV

AILE

ELEV

AILE

ELEV

AILE

ELEV

Gain

100

70

90

150

160

200

250

Direct Input

100

120

160

180

240

280

Cyclic Rate

180

150

130

Flybar Weight

100

80

130

150

STEP1

STEP2

Suggested Parameters

B4 Swashplate

You should finish the setup for your swashplate in Manual Mode.

In Assistant Software, page-SWASHPLATE:

STEP1:

TX

You have to set the transmitter to

single servo swash

(Futaba:H-1;JR/Spektrum:1sNORM;Hitec: 1-Servo 90°), and WKH will do the CCPM instead.

STEP2: Please make your selection according to your

swashplate type.IMPORTANT

STEP3: The swashplate can be rotated in 360°, with

1°step increase or decrease. Not required in most conditions.

STEP4: Click / button, you can reverse the

working Direction of swashplate servos. Servo Trim is in range -100 to +100, with default value at

0. The swashplate must be level. The Current Output will indicate whether your swashplate servos are on their center position or not.

If you have enabled Flybarless function, then Swash Mix ratio settings for AILE (Cyclic Roll) and ELEV (Cyclic Pitch) will not be available, please read Flybarless setting for detail.

Please read your helicopter’s manual, and make sure the swashplate servo linkage and all the mechanical parts were correctly adjusted before you use the above function for swashplate level adjusting.

Swash Mix is identical to Tx CCPM mixing, this function is no longer avaliable on Tx after set to single servo (on Tx).

STEP5: Click / button, you can reverse the

moving direction for PITCH (Collective Pitch), AILE (Cyclic Roll) and ELEV (Cyclic Pitch). The Swash Mix ratio is 0~100%, which defines the maximum working range for PITCH (Collective Pitch), AILE (Cyclic Roll) and ELEV (Cyclic Pitch), similar to Tx setting. Suggestion: 35~45%, it can give you soft flying movement, and easy to configure for the following parameters.

We suggest you to use the following pitch curve for better lifting power and safety descending speed.

Stick

Pos.

-100% 0% +100%

+10˚

-4˚

+5.5˚

0˚

Throttle curve for electric power, this is the example for JIVE ESC:

-100% 0% +100%

50

0

80

100

Stick

Pos.

Throttle curve for integrated engine (with governor function):

50

0

100

-100% 0% +100%

Stick

Pos.

STEP2

STEP3

STEP4

STEP5

B5 Pitch and Throttle Curve Setup

B6 Tail Gyro

When system is powered on, you must not move your helicopter or sticks on transmitter until the system initialization is finished (about 5 second).

Assistant Software, page-Tail Gyro:

STEP1: Please properly set your rudder servo type before you

connect your tail-gyro servo to it, otherwise your servo might be damaged due to incorrect servo type chosen.

Analog Servo(1520us @ Receiver Speed) Digital Servo(1520us165, 270, 333Hz),

Suggested servo type: JRDS8925HV；Futaba S9254 Digital Servo(Digital-760us333,560Hz), Suggested servo type: Futaba BLS251 / BLS351.

STEP2: We have [Limit A] and [Limit B](Range:-140 to +140),

which represent end-points of the tail rotor pitch. The initial value for both is 50. Adjust these two limit value, make sure your rudder servo can work the full range for your tail rotor pitch, without any mechanical binding. Otherwise, the performance of the tail-gyro will be affected. You can identify which side of the tail rotor pitch is represented by Limit A / Limit B like this:

1. Set one of them to 0, another to 50.

2. Move your rudder stick on your transmitter.

3. One side of the tail rotor pitch will not move.

4. This side should be related to the Limit A / Limit B whichever you are giving value 0 to.

STEP3: Move your rudder stick, and check whether the tail rotor

pitch is working to your expected direction. If not, please change to proper direction.

TX

Transmitter related channels

Input

Operation

Description

R

Stick

Rudder command

G

Switch

1. Gyro working mode selection:

Rate Mode/Head-Locking Mode

2. Gyro sensitivity setting

3. Quickly slide it from rate mode to

head-locking mode for 3 times, the command stick center position would be reset.

You must also finish the SYSTEM CHECK procedure in later steps, before you fly your helicopter. You might find the Controller Output Check for tail rudder result in opposite rudder moving directions, click [Reverse] button to make corrections. Please see Page

错误!未

定义书签。

.

Rate Mode Head-locking Mode

G Channel Value

Gyro Sensitivity & Working Mode

0% 50% 100%

0% 50% 100%50%100%

50%100%

STEP4: Switch your Tail-Gyro working mode to [Rate Mode], take-off your helicopter and hover. If your helicopter drifts on YAW

direction obviously, then adjust your tail servo linkage until the helicopter stops drifting. Or you can use trim to fine-tune the rudder servo.

If you used trim during the Tail-Gyro working in Rate Mode, please power off the WKH and re-start it before you wish to use Head-Locking Mode.

STEP5: Gyro Sense setting: Set your gyro sense via transmitter, with the channel which you plug into input port-G on WKH main

controller. We suggest you start from 45% in [Head-locking mode], take off the helicopter, reduce the Gyro sense if tail got vibrating; if the tail response too slow and drift then increase it. Land you helicopter and switch to [Rate mode], then take off the helicopter again, fine-tune the rudder servo to make the tail stop drifting and land again. Switch the tail gyro between [rate mode] and [Head-locking Mode] by 3 times, then center position of Tx will be recorded, now you finished the gyro sense setting. You can identify the Tail-Gyro working mode on the status bar of Assistant Software, but that gyro sense percentage may not be the same as your Tx reading due to different Tx manufacture.

STEP3

STEP1

STEP2

B7 Engine Governor

In Assistant Software, page-ENGINE:

STEP1: Before using Governor Control mode, fine tune your

Gas/Nitro engine to good condition. Otherwise the performance would be negatively impacted.

STEP2: Select the operation mode:

 Select [TX Control] for electric motor;  For Gas/Nitro engine, select [TX Control] first, and finish

next step: set throttle servo working range. Then select

[Governor Control].

STEP3: SET throttle servo travel range, move the throttle stick to

For Electric

For Gas/Nitro

Click to set

Maximum open position

[SET-MAX]

lowest stick throttle

Engine idling position

[SET-IDLE]

Throttle hold

Cut position

[SET-STOP]

Notice: you must not turn on the throttle-cut.

STEP4: After three of the throttle positions being set, click

[TEST] button above to review your throttle working

range settings. Throttle servo will be forced to stay on each respective position for about 2 seconds. Repeat the [SET] procedure if it is not set incorrectly.

If a mistake is made, e.g, STOP position being set between MAX and IDEL, you will be notified by (Wrong), and Engine governor will be forced to work in [Tx Control] mode automatically.

STEP5: A third party engine speed sensor is required for the engine speed governor to function. We suggest using Futaba magnetic

engine speed sensor. You have to adjust the sensor/magnet mounting, and leave a proper space between the sensor head and magnet. You can check this with the percentage bar at page “ENGINE”, over 60% means the magnet is directly facing the sensor, and less than 2% means that the sensor is far from directly pointing at the magnet.

Notice: Only ONE magnet can be mounted on cooling fans of the engine.

STEP6: Please refer to user manual of your helicopter and engine, find the following parameters:

 Main rotor speed, in range: 800 to 2500 RPM;  main gear ratio, in range: 1.0 to 20.0;  Engine RPM, in range: 6000 to 25000 RPM. (Will be calculated automatically )

STEP7: Gov Gain setting, range: 50% to 300%;

Suggestion:50% for Nitro engine; 150% for gasoline engine;

Governor STARTS to work in all of the following conditions:

 throttle stick position is higher than 20% from cut-throttle;  When engine speed has been raised above 70% of set RPM;  When engine speed sensor works correctly.

Governor STOPS working in either one of the following conditions:

 Throttle stick position lower than 10% from cut-throttle;  Engine speed < 3000 RPM or sensor not working.

Time

Throttle Servo Position

Governor Start

Enter GPS Atti. or Atti. Mode

Enter Manual Mode

Governor Stop

Index

WKH THR out Tx Throttle

Governor Input

GPS Atti. and Atti. Modes takeover the throttle, pitch & cyclic positions at the point of switching from Manual mode. It is essentially how WKH knows to maintain throttle relative to rotor RPM, hence throttle hold or throttle cut switch will not cut the engine or motor. Unless, it is switched back to Manual Mode.

STEP2

STEP7

STEP6

STEP3

STEP4

STEP5

B8 R/C Transmitter Calibration

In Assistant Software, page-TX MONITOR:

TX

Totally 4 TX channels are required to be calibrate:

STEP1. Click [START] button, and move all of the sticks

throughout their complete range several times.

STEP2. Click [FINISH] button when you finished above

procedures.

1 You have to finish the throttle and pitch curve setting

before calibration, here the end-point of transmitter sticks will be record.

2 If the throttle or pitch end-point of transmitter had

been changed, please calibrate it again.

STEP1

B9 System Check

 Controller Output Check

1

Switch to Non-Manual mode first.

2

Click [START] button, WKH will drive the swashplate going up and down, representing collective movement during flight.

3

Click [NEXT] button, WKH will drive the swashplate going forward and back, representing elevator movement during flight.

4

Click [NEXT] button, WKH will drive the swashplate going left and right, representing aileron movement during flight.

Up

1

Down

2

Up

3

Front

1

Back

2

Front

3

Right

Left

1

2

Left

3

5

Click [NEXT] button, WKH will drive the rudder, representing rotating C.C.W. and then C.W.

1

C.C.W.

1

C.C.W.

31

C.W.

32

6

Click [END] button or switch to Manual mode, Controller Output Check will be finished.

 IMU Feedback Check

1

Switch to Atti. or GPS Atti.Mode first.

2

Click [CHECK] button.

3

Tilt the tail boom of the helicopter, the swashplate should respond to the opposite direction.

4

Tilt the helicopter body on its roll direction, the swashplate should also respond to the opposite direction.

5

Switch to Manual mode and finish the IMU Feedback Check.

1

If your helicopter was not responding as described above, you may be placing your IMU in a wrong orientation, or

you’ve select a wrong orientation for your IMU in Assistant Software. Please check sensor mounting again.

2

If the swash is not level (This is not critical), this can because by:

 IMU is not level to AIR frame;  AIR frame and landing skids are not level to ground.

Battery Performance Test

1

Switch to Non-Manual mode first.

2

Make sure that your battery has at least 80% capacity left from being fully charged.

If the swashplate or rudder moves in opposite sequence, you should click reverse button / for correction. If the swashplate or rudder still doesn’t moves as your expected, it may cause by wrong connection between WKH main

controller and R/C Receiver, please also check the swashplate setting and Tail-Gyro setting.

You have to run the system check using Assistant software–System Check for WKH system to work properly:

Very important, check them carefully!

1

Click [START] button, WKH will force all the servos you connected and LEDs working at maximum payload, which will behave as

shaking swashplate and rudder. This will continue for 20 seconds and then stop automatically, you can force it stop by clicking [STOP] button, or switch to Manual mode.

2

Assistant Software will inform you the test result (LED will also blinking in yellow if you have it and failed condition was matched):

Failed, it means voltage drop below 3.5v, the battery or BEC were not be able to provide necessary power, please change it.

Test passed.

B10 Autopilot

In Assistant Software, page-Autopilot:

Base Parameters

 Gain

Range: Front/back & Left/Right 40%～400%; Vertical 50%~250%

If too large, you will find the helicopter oscillating in the corresponding direction (About 5~10 times per seconds). If too small, the helicopter will likely to be hard to control.

（Lite WKH Lite user can skip this section） In GPS Atti. Mode, if helicopter drifting on front/back or left/right direction for

2~5 meters, then increase 10% on the corresponding direction it drifts to until the helicopter getting oscillation. If helicopter vibrate on its vertical direction, then reduce vertical parameter by 10% until it get stable. If altitude drop and drift happens during sharp braking, then increase I.D.R-Vertical in advance parameters.

 Agility Range: 50%～200% It determines the start-up speed from command stick, the bigger the value the faster the reaction. Increase it for sharper and quicker leveling action after command stick released. The control feeling will be stiffness and rigid if the value is too high; and sluggish leveling action and slow braking if too small.

 Stick Delay Range: 50%～200% It determines the overall stick reaction speed, for example: You push your roll stick to the maximum position your helicopter will tilt from leveling to 45 degrees, the smaller the number the quicker the transition.

Advance Parameters

The default values are suitable for most of the condition. DJI specialized guidance is needed if change is necessary.

 Velocity Tracking: Range: Vertical 20.0%～150.0%  I: Range: Front/Back & Left/Right & Vertical 0%～500%

Lite WKH Lite does not have I of Front/Back & Left/Right.

TX

Transmitter related channels

Input

Operation

Description

U

Switch

Control Mode Switch

G

Switch

Quickly slide it from rate mode to head-locking mode for 3 times, all the command sticks center position would be reset, see page 15 for tail gyro working mode setting.

P

Stick

Up/Down command from Tx

E

Stick

Front/Back command from Tx

A

Stick

Left/Right command from Tx

R

Stick

Rudder command from Tx

ALIGN600 Nitro

ALIGN 600Elec.

LOGO 700

Maxi Joker 3DD

JR GSR260

F/B

L/R

V

F/B

L/R V F/B

L/R V Gain

100

130

110

80

150

151

100

160

110

155

165

130

Agility

100

150

130

100

175

Stick Delay

100

110

135

185

166

Velocity Tracking

100

113

100

100 I 100

100

114

115

116

100

No these two items in WKH Lite

Suggested Parameters

Flight

Why calibrate the compass?

Ferromagnetic substances placed on helicopter or around its working environment will affect the reading of earth magnetic for digital compass, it also reduces the accuracy of the helicopter control, or even reads incorrect heading. Calibration will eliminate such influences, and ensure WKH system performs well in a non-ideal magnetic environment.

When to do it?

1

The first time you install WKH on your helicopter.

2

When the helicopter mechanical setup is changed:

a) If the GPS/Compass module is re-positioned. b) If electronic devices are added/removed/

re-positioned (Main Controller, servos, batteries, etc).

c) When the mechanical structure of the helicopter is

changed.

3

If the flight direction appears to be shifting (meaning the

helicopter doesn’t “fly straight”).

4

The LED indicator often indicates abnormality blinking

when the helicopter yaws. (It is normal for this to happen only occasionally.)

Where to do it?

Do the calibration in an open area, away from parked cars, metal railings, and any metal around. Sometimes a bunch of keys in your pocket might affect calibration.

Calibration procedure:

Tx

1 2 3

3 Position

Switch

STEP1: Enter calibration mode: quickly slide the control mode

switch from Position-1to Position-3 for 10 times, and LED indicator will be constantly on in blue;

STEP2: Calibration in horizontal: rotate you helicopter along with

the horizontal surface until the green light is on constantly, then go to the next step;

STEP3: Calibration in vertical: while green light is constantly on,

hold your helicopter vertically and rotate it along with its vertical axis, keep rotating until the green light is off, meaning the calibration is finished.

STEP4: After you finished the calibration, LED indicator will show

whether the calibration was successful or not:

 If white light turns on for 3 seconds, calibration succeeds,

calibration mode will auto exit;

 If red light keeps blinking quickly, the calibration has failed.

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

1

Don’t 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

You don’t need to rotate your helicopter on a

precise horizontal or vertical surface, but keep at least 45° difference between horizontal and vertical calibration.

4

WKH cannot be work in the polar circle.

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.

C1 Digital Compass Calibration

Lite WKH Lite customers can skip this step.

C2 MANUAL MODE Test Flight

1

When the system is powered on, DO NOT moves your helicopter or sticks on transmitter until the system initialization is

finished (about 5 seconds).

2

Don’t switch to Atti. Mode or GPS Atti. Mode during Manual Mode Test Flight. Go through this section first, and read

about how to do Autopilot Test Flight on Page 23.

1

Fly the helicopter. Trim transmitter such that the

helicopter hovers stably.

2

You have to adjust the following parameters to

achieve the best performance of your helicopter.

 Flybarless parameters, if you’ve enabled

Flybarless, see Page 13 for details.

 Tail Gyro sense, see Page 15 for details.  Engine speed, if you are using Gasoline /

Nitro engine, see Page 16for details.

3

Adjust Pitch curve on transmitter, so that the

helicopter hovers at about mid-stick.

4

Set correct fail safe output on all channels of

your R/C Transmitter/Receiver.

5

Verify Fail safe output of your transmitter on

status bar in Assistant Software. IMPORTANT!

STEP1: Check all the connection and wiring connected firmly, and

make sure they are in good condition;

STEP2: Make sure your batteries are fully charged for your

transmitter, WKH and all the devices on your helicopter;

STEP3: Turn on the transmitter first;

STEP4: Power on WKH and all the rest of electric devices on

helicopter, except brushless motor controller;

STEP5: Check the LED indicator, if red LED blinks quickly &

continually, then system start-up has failed; you have to place you helicopter horizontally and power on again. See Appendix for details about LED indicator;

STEP6: Slide the control mode switch on your transmitter to make

sure it is working properly. Check LED indicator to specify the current working mode. See Appendix for details about LED indicator;

STEP7: Others system failure and error will also be displayed by

LED indicator, See Appendix for details;

STEP8: If everything checked, and without any problems, switch

the system to Manual Mode, move all the sticks on your transmitter to check whether the helicopter is correctly responding to your commands;

STEP9: Start the engine or power on the brushless motor controller;

STEP10: Take-off and fly your helicopter in Manual Mode, before

switching to other modes.

The Fail-Safe (Auto Hovering or Level) has not been activated yet, goes through this section first and read about how to activate it on Page 22.

C3 Fail-Safe

1

The Fail-Safe (Auto Hover or Level) will not be activated, until you’ve correctly Pre-set Transmitter Command Stick

Center Position.

2

The Fail-Safe functions will not be working correctly if you have not finished the Auto Mode Test Flight. Please see

Autopilot Test Flight on Page 23 for details.

3

You must perform the following setting under Manual Mode.

4

If GPS signal reception is bad or you are using WKH Lite, auto level function will be triggered, but no position holding.

5

If you have already setup Fail-Safe successfully, then main rotor will start if you switch off Tx when your helicopter is

powered on.

In Assistant Software, page–Failed-Safe:

STEP1: Please configure your autopilot to the best condition,

make sure the helicopter can flight well under GPS Atti. Mode;

STEP2: Switch you WKH into Manual Mode;

STEP3: Please record your command stick positions which are

the same as the moment you switched from Manual Mode (if you changed throttle curve before switching,

use that curve for this setting). You will be asked to configure your transmitter, and let your helicopter able to hover with transmitter command stick roughly (Not to be exact) on their center position. You can read the [current stick position] which shown as number -1000

to +1000 in real time, click button, save them into [Confirmed]group as Tx center position.

You will be noticed by symbol instead of button, which means your throttle working range has not

been correctly set or your throttle position is holding on throttle-cut (STOP) position. Please check your throttle-cut switch and throttle working range setting in Assistant Software page–Engine. See page16 for details.

STEP4: Must check the confirm box that the Tx center position is correct, otherwise failed-safe will be disabled.

Fail-Safe functions are designed for GPS Atti. Mode and Atti. Mode. Once the helicopter is in the available transmitter signal range, switch to Manual Mode then you can re-gain the control right for WKH system. Lite WKH Lite user should mind that, once the helicopter is in the available transmitter signal range, you re-gain the control right for WKH Lite system whichever control mode you are in!

STEP3

STEP4

WKH can detect the fail safe output from your receiver, if you have pre-set fail safe output correctly. Once your helicopter lost signal from the transmitter, Fail-Safe function will control the helicopter automatically and save it in most of the conditions.

C4 Autopilot Test Fight

When system is powered on, you must not move your helicopter or sticks on transmitter until the system initialization is finished (about 5 second).

Please read this section before you switched to

Atti. Mode and GPS Atti. Mode

1 Make sure the GPS signal is good, without red LED

blinking.

2 Please avoid using WKH system in the following areas,

where will GPS signal is most likely blocked:

 Urban area with crowded buildings  Tunnels  Under bridges

3 Make sure the attitude of helicopter is in good condition,

without white LED blinking.

4 Other system failures and errors will also be displayed

by LED indicator (see Appendix for details) or in assistant software.

5 If WKH has already acquired the GPS signal, you

cannot unplug GPS module directly without reboot and fly in GPS Atti Mode.

STEP1: Check all connections and wirings, and make sure they are

in good condition;

STEP2: Make sure your batteries are fully charged for your

transmitter, WKH and all the devices on your helicopter;

STEP3: Turn on the transmitter first;

STEP4: Power on WKH and all the rest of electric device on

helicopter, except brushless motor controller;

STEP5: Check the LED indicator. If red LED sparks quickly, the

system start-up has failed. You will need to place your helicopter horizontally and power on again. See Appendix for details about LED indicator;

STEP6: You may find red LED blinking, indicating that WKH is

getting GPS satellite signal, please wait until red LED is off, meaning WKH have found more than 7 GPS satellites, and that it can work in its best condition. See Appendix for details about LED indicator;

STEP7: Slide the control mode switch on your transmitter to make

sure it is working properly. Check it with LED indicator to specify the current working mode for WKH. See Appendix for details about LED indicator;

STEP8: Switch the system to GPS ATTi. Mode, if the swashplate is

not horizontal, please go back to 3rd step, and power cycle the system;

STEP9: Switch the system to Manual Mode, move all the sticks on

your transmitter to check whether the helicopter is correctly responding to your commands;

STEP10: Start the engine or power on the brushless motor controller;

STEP11: Take-off and fly your helicopter in Manual Mode;

STEP12: Hover your helicopter, and switch to GPS ATTi. Mode.

 Semi-Auto take-off

Please setup B7 Engine Governor and all center positions correctly before you use this function. On STEP11, the system can perform Semi-Auto take-off feature rather than manual take-off. Please follow the operation procedures strictly:

1 Put the throttle stick on the lowest position; 2 Switch to GPS Atti. or Atti. Mode and wait until the

speed of main rotor is stable ;

3 Requiring only pushing the throttle (collective pitch) stick

gently to take-off the helicopter, autopilot system will be in charge of the cyclic pitch/roll stabilization.

 Semi-Auto Landing

In GPS Atti. or Atti. Mode, with throttle (collective pitch) stick operation only, descend the helicopter and hold throttle stick on lowest position until the engine or electric motor is cutoff automatically. This throttle idle or shut-down in Auto mode when collective is lowest stick position only applies having this option.

1 With this option, MC will perform in GPS Atti. Or Atti. Mode for both takeoff and landing.

2 Make sure use this function only when the GPS signal is

sufficient and at open area!

3 When you are using semi auto take off, switch into

autopilot modes and move throttle stick, main rotor will start!

Do NOT move any stick when switching!

 WKH Test Flight (Lite WKH Lite user should skip this section to WKH Lite Test Flight section on next page)

 WKH Lite Test Flight

When system is powered on, you must not move your helicopter or sticks on transmitter until the system initialization is finished (about 5 second).

Please read this section before you switched to

Atti. Mode

1

Put helicopter on the plane ground.

2

System failures and errors will also be displayed by LED

indicator (see Appendix for details) or in assistant software.

STEP1: Check all connections and wirings, and make sure they

are in good condition;

STEP2: Make sure your batteries are fully charged for your

transmitter, WKH and all the devices on your helicopter;

STEP3: Turn on the transmitter first;

STEP4: Power on WKH and all the rest of electric device on

helicopter, except brushless motor controller;

STEP5: Check the LED indicator. If red LED sparks quickly, the

system start-up has failed. You will need to place your helicopter horizontally and power on again. See Appendix for details about LED indicator;

STEP6: Slide the control mode switch on your transmitter to make

sure it is working properly. Check it with LED indicator to specify the current working mode for WKH. See Appendix for details about LED indicator;

STEP7: Switch the system to ATTi. Mode, if the swashplate is not

horizontal, please go back to 3rd step, and power cycle the system;

STEP8: Switch the system to Manual Mode, move all the sticks on

your transmitter to check whether the helicopter is correctly responding to your commands;

STEP9: Start the engine or power on the brushless motor controller;

STEP10: Take-off and fly your helicopter in Manual Mode;

STEP11: Hover your helicopter, and switch to ATTi. Mode.

 Semi-Auto take-off

Please setup B7 Engine Governor and all center positions correctly before you use this function. On STEP10, the system can perform Semi-Auto take-off feature rather than manual take-off. Please follow the operation procedures strictly:

1 Put the throttle stick on the lowest position; 2 Switch to Atti. Mode and wait until the speed of main

rotor is stable ;

3 Requiring only pushing the throttle (collective pitch) stick

gently to take-off the helicopter, autopilot system will be in charge of the cyclic pitch/roll stabilization.

 Semi-Auto Landing

In Atti. Mode, with throttle (collective pitch) stick operation only, descend the helicopter and hold throttle stick on lowest position until the engine or electric motor is cutoff automatically. This throttle idle or shut-down in Auto mode when collective is lowest stick position only applies having this option.

1 With this option, MC will perform in Atti. Mode for both

takeoff and landing.

2 When you are using semi auto take off, switch into

autopilot modes and move throttle stick, main rotor will start!

Do NOT move any stick when switching!

Maintains

 After firmware upgrade, please re-configure WKH using Assistant software.  If it is notified that the network or DJI server is busy, please try again later with above procedures.  If firmware upgrade failed, WKH will enter <waiting for firmware upgrade status> automatically,

please try again with the above procedures. Note: You will be asked to fill out contact information/register as user prior to any upgrades

 Software version

 Firmware version

 IMU version

 Hardware ID

If you filled in the invalid S/N over 30 times, your WKH will be locked and you have to contact our customer support.

Firmware Upgrade

Please strictly follow the operation procedure for firmware upgrade, otherwise WKH might not work properly:

1.

Make sure your computer is connected to the Internet.

2.

Please close all the other applications during the firmware upgrade, including Anti-virus software and firewall.

3.

Make sure the power supply is securely connected. DO NOT un-plug the power supply until firmware upgrade has finished.

4.

Connect main controller to PC with micro-USB cable, DO NOT break connection until firmware upgrade is finished.

5.

Run Software and wait for connection.

6.

Select [TOOL][Firmware Upgrade].

7.

DJI server will check your current firmware version, and get the latest firmware prepared for the unit.

8.

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

9.

Wait until Assistant software reads “Finished”.

10.

Please power cycle the unit after at least 5 seconds.

11.

Your unit is up-to-date now.

Product Info

You can check the WKH product version via [ABOUT][Info].

[S/N] is a 32 digits authorization code for unit function activations. We had already filled in the authorization code for your unit after

manufacture. You might be asking to fill in the new [S/N] in the future if you brought new function upgrades.

Fill-in the [S/N] and then click [Write] button.

Appendix

Flight States

Manual Mode

Atti. Mode

GPS Atti. Mode

Tx Signal Lost

GPS satellites found <5

GPS satellites found <6

GPS satellites found <7

Attitude & GPS good

Attitude status fair

Attitude status bad

IMU lost, check IMU connection.

<3.5V low voltage, replace battery!

<4.4V low voltage, replace battery!

Notices: Here the sparking indication of & could be: Single spark, all the sticks return to center, helicopter hovering; Double spark, stick(s) not at center, speed command is not zero.

Compass Calibration Status

Begin horizontal calibration

Begin vertical calibration

Calibration finished

Calibration or others error

Flight States

Manual Mode

Atti. Mode

Tx Signal Lost

Normal state

IMU lost, check IMU connection.

<3.5V low voltage, replace battery!

<4.4V low voltage, replace battery!

Notices: Here the sparking indication of could be: Single spark, all the sticks return to center, helicopter hovering; Double spark, stick(s) not at center, speed command is not zero.

WKH LED Indicator Description

WKH Lite LED Indicator Description

Product Specifications

General

Built-In Functions

 Autopilot

 Tail Gyro

 Engine Governor for gas power

 Flybarless

 Auto Hover or Level Fail Safe  Semi Auto Takeoff & Landing

Peripheral

Supported Helicopter Types

 Electric  Internal combustion

Supported Swashplate Types

 Normal  Three Servo 120°/140°/90°  Four Servo 90°

Supported Servo output

 Rudder channel: Analog 50Hz  Rudder channel: Digital 333-560Hz (760us-1520us)  Other channels: Follow on your receiver output

Recommended Transmitter

PCM or 2.4GHz with minimum 7 channels and failed-safe function available on all channels.

Recommended Power Supply

DC 4.8～8.4V (Not to exceed MAX operating voltage of servo motor); >1500 mAh capacity, Discharge current more than 5C;

7.5A to 15A external BEC, servos dependent

Assistant Software System Requirement

Windows XP SP3 / 7

Electrical & Mechanical

Power Consumption

MAX 5W (0.9A@5V, 0.7A@5.8V, 0.5A@7.4V, 0.4A@8V)

Operating Temperature

-5°C to +60°C

Total Weight

<= 150g (overall)

Dimensions

 MC: 51.2mm x 38.0mm x 15.3mm

Lite GPS/Compass is NOT in WKH Lite

 IMU: 41.4mm x 31.1mm x 27.8mm

 GPS & Compass: 50mm (diameter) x 9mm

 LED Indicator: 25mm x 25mm x 7mm

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

Hovering Accuracy (GPS Mode)

 Vertical: ± 0.5m

Lite NOT with WKH Lite

 Horizontal: ± 1m

Maximum Wind Resistance

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

Forward / Backward Speed

±72km/h (44.74mph)

Left / Right Speed

±56.7km/h (35.77mph)

DJI Wookong-H User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Reader’s Guide for This Manual

Contents

DJI WKH Introduction

Package Contents

Mounting and Connection

A1 Before you Begin

A2 Mount the devices on your helicopter

A3 Connections

A4 WKH Assistant Software Basic Operation

Flight & Configuration Procedure Brief

Configuration Procedure

B1 GPS & IMU Mounting

B2 Control Mode Switch

B3 Flybarless

B4 Swashplate

B5 Pitch and Throttle Curve Setup

B6 Tail Gyro

B7 Engine Governor

B8 R/C Transmitter Calibration

B9 System Check

B10 Autopilot

Flight

C1 Digital Compass Calibration

C2 MANUAL MODE Test Flight

C3 Fail-Safe

C4 Autopilot Test Fight

Maintains

Firmware Upgrade

Product Info

Appendix

WKH LED Indicator Description

WKH Lite LED Indicator Description

Product Specifications