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”.

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