Loading...
WooKong HELI
User Manual
V 1.8
©2012 DJI Innovations. All Rights Reserved.
www.dji-innovations.com
1
Disclaimer
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:
|
Please refer to the |
|
R/C Transmitter |
WKH Assistant |
FORBIDDEN |
page(s) |
|
configuration |
|
|
configuration required |
|||
|
mentioned |
TX |
required |
|
|
|
|
||
|
Assembly& |
|
|
|
CAUTION |
Mounting Tips |
|
General Tips |
Correct/ Wrong |
|
|
|
|
Contents |
|
|
DJI WKH Introduction ........................................ |
3 |
|
Package Contents .............................................. |
4 |
|
Mounting and Connection ................................. |
5 |
|
A1 |
Before you Begin ........................................... |
5 |
A2 Mount the devices on your helicopter ............ |
5 |
|
A3 |
Connections................................................... |
7 |
A4 WKH Assistant Software Basic Operation ..... |
9 |
|
Flight & Configuration Procedure Brief ......... |
10 |
|
Configuration Procedure ................................. |
11 |
|
B1 |
GPS & IMU Mounting .................................. |
11 |
B2 |
Control Mode Switch ................................... |
12 |
B3 |
Flybarless .................................................... |
13 |
B4 |
Swashplate .................................................. |
14 |
B5 |
Pitch and Throttle Curve Setup.................... |
14 |
B6 |
Tail Gyro ...................................................... |
15 |
B7 |
Engine Governor ......................................... |
16 |
B8 |
R/C Transmitter Calibration ......................... |
17 |
B9 |
System Check ............................................. |
18 |
B10 |
Autopilot ...................................................... |
19 |
Flight |
................................................................. |
20 |
C1 |
Digital Compass Calibration ........................ |
20 |
C2 ........................ |
MANUAL MODE Test Flight |
21 |
C3 ...................................................... |
Fail - Safe |
22 |
C4 ...................................... |
Autopilot Test Fight |
23 |
Maintains .......................................................... |
23 |
|
Firmware ................................................Upgrade |
25 |
|
Product ...........................................................Info |
25 |
|
Appendix........................................................... |
26 |
|
WKH ............................LED Indicator Description |
26 |
|
WKH .....................Lite LED Indicator Description |
26 |
|
Product ...........................................Specifications |
27 |
|
©2012 DJI Innovations. All Rights Reserved. |
2 | |
DJI WKH Introduction
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. |
|
|
|
|
|
|
|
|
GPS Atti. Mode |
Atti. Mode |
|
Manual Mode |
|
Command Stick Meaning |
Helicopter attitude control; Stick center position for 0˚ attitude, its endpoint |
|
Mechanical driving |
||||
|
|||||||
for 45˚which is a fixed limit. |
|
|
directly |
||||
|
|
|
|
|
|||
|
|
|
|
|
|
|
|
|
|
|
|
YES |
|
|
NO |
|
Command Linearity |
|
|
|
|||
|
|
|
|
|
|
|
|
|
|
Stick Released |
Lock helicopter position when GPS |
Only altitude stabilizing |
|
Recommend for |
|
|
|
signal is adequate |
|
experience pilot |
|||
|
|
|
|
|
|||
|
|
|
|
|
|
|
|
|
|
|
|
Best maintain altitude above 3 meters |
|
NO |
|
|
|
Altitude lock |
|
|
|||
|
|
|
|
|
|
|
|
|
|
Flight Altitude |
No limit, but will switch into Atti. Mode |
No limit |
|
No limit |
|
|
|
automatically over 50m. |
|
||||
|
|
|
|
|
|
||
|
|
|
|
|
|
|
|
|
|
|
Flybarless stabilizing on ELEV and AILE direction is available for all control mode |
||||
|
|
Stabilization |
|||||
|
|
|
|
|
|
|
|
|
|
GPS Lost |
After 10s when GPS signal lost, system |
Only performing attitude |
|
--- |
|
|
|
enters Atti. Mode. Automatically. |
stabilizing without position lock. |
|
|||
|
|
|
|
|
|||
|
|
|
|
|
|
|
|
|
|
|
Attitude & speed mixture control ensures stability. |
|
|
||
|
|
Safety |
|
|
|
|
Depends on experience |
|
|
Fail-safe featured, auto hover or level if transmitter signal lost |
|
||||
|
|
|
|
|
|||
|
|
|
|
|
|||
|
|
|
|
High agility for all flying |
|
--- |
|
Appropriate Applications |
|
|
|||||
|
|
|
|
|
|
|
|
Built-in functions include:
Integrated tail gyro
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
1 |
Rate Mode |
3 |
2 |
Head-locking Mode
Heading
Cross-Wind
Flybarless rotor head support
Integrated engine governor for internal combustion engines
Build-in semi auto take off & landing
©2012 DJI Innovations. All Rights Reserved. |
3 | |
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. |
×1 |
||||
|
|
|||||
|
(System requirement: Windows XP SP3 or Windows 7) |
|
|
|||
|
|
|
|
|||
|
GPS & Compass module |
IMU |
|
|||
|
|
|
|
|
|
|
|
Lite |
|
Not in WKH Lite |
|
|
|
|
|
|
|
|
The Inertial Measurement Unit (IMU) consists of one 3-axis |
|
|
The GPS/Compass module should be installed on the tail |
accelerometer, one 3-axis gyroscope and a barometer. |
||||
|
boom, where there is a clear view of the sky. |
|
|
|||
|
|
|
|
|
×1 |
|
×1 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
3-PIN Servo Cable |
|
GPS Tail Boom Mount |
|
|
||||
|
|
|
|
|
|
|
Cables used to connect the Main Controller to the RC receiver. |
|
Lite |
|
Not in WKH Lite |
|
|
|
|
|
The GPS Tail Boom Mount and double-sided foam tape enable |
×10 |
|||||
|
secured installation for |
the |
|
||||
|
GPS/Compass module |
on |
×1 |
|
|||
|
almost any helicopters. |
|
|
||||
|
|
|
|
|
|||
|
LED Indicator |
|
|
Micro USB Cable |
|||
|
The LED indicates the |
|
|
This cable is used to configure WKH, update firmware. |
|||
|
different system states. |
|
×1 |
×1 |
|||
|
|
|
|
|
|
||
|
|
|
|
||||
|
3M 5925 Double Sided Tape |
|
Warranty Information Card |
||||
|
|
|
|
|
|
|
WKH comes with a two-year warranty, as described on this card. |
|
Lite |
|
Not in WKH Lite |
|
|
|
|
|
|
|
|
|
Please keep this for your personal records. |
||
|
Only for GPS & Compass module |
|
|||||
|
|
|
|||||
|
|
|
|
|
×4 |
|
|
©2012 DJI Innovations. All Rights Reserved. |
4 | |
Mounting and Connection
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
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.
1Check 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.
1 |
2 |
3 |
4 |
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.
1If 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.
©2012 DJI Innovations. All Rights Reserved. |
5 | |
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.
|
|
|
|
|
|
©2012 DJI Innovations. All Rights Reserved. |
6 | |
|
A3 Connections
GPS/COMPASS: Mount to the Tail boom, 20 cm from servos, 
30 cm from motor, 10 cm from tail rotor.
WKH Lite has no GPS/Compass
In-line CAN-Bus Port:
This CAN-Bus port can be used for the LED module connection or for future hardware upgrades.
Micro-USB: PC connection for configuration and firmware upgrades.
R/C Receiver
|
|
|
Main Controller |
|
Engine Speed Sensor |
||||
|
||||
LED: The LED indicates different states of whole system.
WKH Lite user should connect LED to
CAN-Bus port on the MC directly.
Internal vibration isolation design,
enable a more convenient IMU mounting.
Battery
MUST supply 4.8 - 8.4 volts.
Could be connect to any of the spare I/O port.
3 or 4
Swashplate Servo
Electric Brushless
Motor Motor
Controller (ESC)
Gas/Nitro
Engine
Throttle Servo
Rudder Servo
DO NOT connect the rudder
servo until the servo type has
been selected in Wookong
Assistant.
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.
©2012 DJI Innovations. All Rights Reserved. |
7 | |
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.
|
7 |
R/C Receiver |
6 |
5 |
|
(Futaba / Hitec) |
34 |
|
2 |
|
1 |
|
AUX2 |
R/C Receiver |
GEARELEVAUX1 |
(JR) |
RUDD |
GEARELEV |
|
|
AUX1ILE |
|
THROAUX2 |
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. |
|
|
|
|
|
|||
S1 |
|
|
S1 |
|
S3 |
|
S4 |
|
For swashplate servos |
|
|
|
|
||||||
THR |
|
|
|
|
|
|
|
|
For throttle servo or ESC |
|
|
|
|
|
|
|
|
||
RUD |
|
|
|
|
|
|
|
|
For rudder servo |
|
|
|
|
|
|
|
|
||
F1 |
F2 |
|
|
|
|
|
|
S2 |
|
|
|
o |
|
|
|
|
0 |
|
|
|
S1 |
9 |
S3 |
|
|
|
|
||
|
*S3: Collective Pitch |
H1 |
||
|
S2 |
|
1 |
|
40 |
|
o |
S1 |
S3 |
|
H140 |
Reserved for further usage.
|
S2 |
|
S1 |
90o |
S3 |
|
||
|
S4 |
H4 |
|
|
|
S2 |
S1 |
90o |
S3 |
|
|
HE3 |
S3 |
S1 |
|
120o |
|
S2 |
|
HR3 |
|
S2 |
|
1 |
|
20o |
S1 |
S3 |
|
H3 |
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.
©2012 DJI Innovations. All Rights Reserved. |
8 | |
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 |
2 |
4 |
5 |
6 |
7 |
8 |
3
II
I
16
9
How to adjust parameters?
I
Red and bold text indication if you changed anything;
II |
Write parameters to main |
|
controller. |
||
|
10Except the direct edit items, they can be written to main controller directly.
15 |
14 |
13 |
12 |
11 |
1TOOL
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.
2ABOUT
Information regarding your WKH
3Export: export/save WKH configurations in files.
4Import: load previously saved configurations.
5Wizard: step-by-step, for your first-time-configuration.
6Write: 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.
7Read: read parameters from main controller.
8Write all: write latest settings and changes of all files to your main controller.
9Graphic guidance
10Text guidance
11Flybarless function ON/OFF indication
12Engine governor working mode indication
13Tail gyro working mode & gyro sense indication
14Autopilot working mode indication
15Red light: WKH PC has been disconnected. Green light: WKH PC has been connected. Blue light: WKH PC communication.
16Here you can find all the configuration pages the same as in the “Wizard”.
©2012 DJI Innovations. All Rights Reserved. |
9 | |
Loading...