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XP3.1
User Manual
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dji XP3.1 User Manual

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DJI XP3.1 Standard Manual
V 1.01
2
Contents
PREFACE ........................................................................................................................................4
1 INTRODUCTION...........................................................................................................................4
1.1 FUNCTION INTRODUCTION ......................................................................................................4
1.1.1System Features.....................................................................................................4
1.1.2 Hardware System .................................................................................................5
1.1.3 Control Mode........................................................................................................5
1.2 SYSTEM REQUIREMENT............................................................................................................7
2. SYSTEM........................................................................................................................................9
2.1 SYSTEM FRAMEWORK .............................................................................................................9
2.2MODULE INTRODUCTION ......................................................................................................10
2.2.1Main Controller ....................................................................................................10
2.2.2 Adapter ...............................................................................................................10
2.2.3 GPS & Compass..................................................................................................11
2.2.4 LED Status Indicator............................................................................................11
2.2.5 Software ..............................................................................................................11
3 SYSTEM INSTALLATION AND ADJUSTMENT...........................................................................12
3.1 HARDWARE INSTALLATION ....................................................................................................12
3.1.1 Main Controller Installation................................................................................12
3.1.2 Adapter installation............................................................................................15
3.2 SYSTEM PARAMETERS TUNING AND SETTING ............................................................................21
3.2.1 Tuning Preparation .............................................................................................21
3.2.2 The Primary Setting of Remote Control ............................................................21
3.2.3 Completion of the First Test Flight Adjustment by Software Wizard ..............22
4 OUTDOORS FLYING ADJUSTMENT...........................................................................................33
4.1 HELICOPTER FLYING ADJUSTMENT AND TEST UNDER MANUAL MODE..........................................33
4.2 FAIL SAFE SETTING ...............................................................................................................34
4.3 COMPASS CALIBRATION ......................................................................................................34
4.4 FLIGHT TEST UNDER AUTOPILOT MODE....................................................................................35
4.4.1 Setting Meanings and Related Regulation Methods of Parameters............36
4.4.2 Flying Test.............................................................................................................38
4.4.3 Flight Success: .....................................................................................................39
4.5 POINTS FOR ATTENTION IN FLYING..........................................................................................39
4.5.1 Preflight Examination Process ...........................................................................39
4.5.2 Flying Attention Points........................................................................................40
4.5.3 Landing Explanation ..........................................................................................42
3 APPENDIX..................................................................................................................................43
APPENDIX A: LED STATUS INDICATOR ..........................................................................................43
APPENDIX B: ELECTRICAL CHARACTERISTICS ................................................................................44
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APPENDIX C: MECHANICAL PROPERTIES......................................................................................44
APPENDIX D: MECHANICAL DRAWING .......................................................................................45
APPENDIX E: PACKAGING LIST....................................................................................................48
APPENDIX F: SAFETY CHECK LIST .................................................................................................48
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Preface
Please read this brochure carefully before using DJI XP 3.1. If you have any questions, please contact with us. We will give you satisfying answers as quickly as possible. Our company will not supply service to the product from improper channel or with unclear functions.
Our company reserves the right to revise any part of this brochure without informing users beforehand.
1 Introduction
1.1 Function Introduction
DJI XP3.1 is a controlling system for unmanned system, integrated with GPS, 6-DOF inertial measuring unit, Magnetic-field meter and barometer. The system could control the helicopter precisely and reliably at any flight altitude, in most weather conditions, and even under the short-interruption of GPS signal situation.
1.1.1System Features
Helicopter, a non-stable platform itself, needs continuous observation and controlling to keep steady flight. DJI XP3.1 provides excellent auto stable hovering and flight performance by adopting GPS/INS inertial navigation technology, which is widely used on cruise missile, and advanced controlling algorithms.
Main Characteristics of DJI XP3.1
1. Autonomously hovering with high precision.
2. When autonomously hovering, the helicopter altitude and position can be
locked. Flight velocity in one direction corresponds a given RC stick volume, so users can control a fool-style flight( can only control one channel at one time)
3. Under the locked altitude, with the help of XP 3.1, operators can easily
control the helicopter to do the turn-coordination.
4. Amend errors raised between hovering and flying automatically.
5. The main differences between DJI XP3.1 and the stability augmentations
stem based on CCD sensor: DJI XP3.1 can to any altitude within the remote
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control smoothly, without the height and surface texture restraints. No frequent switching between various modes, the speed can be accreted to
0.1m/s or less.
6. Automatically turn into hovering state when receiver signal is lost (enter the
Fail Safe mode).
1.1.2 Hardware System
1. Improve the accuracy and real-time performance of the controller by using
2 separate DSPs (digital signal processor) to calculate altitude and control algorithm.
2. Provide superior position accuracy by using a high performance 16-channel
GPS receiver.
3. Enclose high-reliability tri-axial gyroscopes and accelerometers of MEMS.
4. Building algorithm can facilitate users to do the hard and soft iron magnetic
field compensation for eliminate the magnetic interference.
5. The system dedicates CPLD to decode and encode servo signal for higher
reliability and compatibility for most RC receivers.
【The Basic Performance Parameters】
Hover positioning accuracy
○
1
Maximum wind
resistance
Vertical ±1m
Horizontal ±2m
5.5~7.9m/s
Note:
○1 ： These parameters are measured in the condition of breeze (wind speed less than 3.3m/s). If in heavier
wind, the accuracy will be little lower.
1.1.3 Control Mode
【Autopilot Mode】：
In this mode, the altitude can be locked; the nose direction and the helicopter’s velocity command, back and forth, left and right, up and down, can be issued by RC separately and get accurate feedback control through on-board automatic control algorithm. Even people, who are flying the RC helicopter for their first time, can learn to control the helicopter in few minutes.
There is a hovering zone
○1
in the middle of the RC stick. When the RC stick goes
back to the middle and enters the hovering zone, the system will make the
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helicopter enter auto-hovering in a short time.
After entering autopilot mode, the flight speed is in proportion to the volume of RC stick
○2
.
When the RC stick is pushed to the limit, the corresponding maximum flight speeds are as followings:
Forward-Backward Left-Right Up-Down
±30km/h ○3 ±14.4km/h ±7.2km/h
Note:
○1 ：The small section of the hovering zone on the RC is determined by the system controller.
○2 ：The ROTOR EPM is locked by GV1 or ESC.
○3 ：In order to keep helicopter in safe range, system velocity is intentionally limited within 30m/h.
【Pure Manual Mode】：
The system remains the traditional manual mode. Under this mode, operator can control the helicopter as ordinary RC helicopter.
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1.2 System Requirement
Helicopter Types
Applicable to electrical and gas/fuel powered
helicopters
Ordinary mode
CCPM
1_Servo_Norm
Swash Types
CCPM mode
1. 3_Servo_120°
2. 3_Servo_140°
3. 3_Servo_90°
4. 4_Servo_90°
Remote Controller
1. 7 channels or more
2. All channels have the Fail Safe function
○1
System Operating
Temperature
-10 ~ +70℃
System Operating
Voltage
7.4~12V(DC)
Recommended
System Power
Supply
The specifications of lithium battery as followings：
○2
Voltage: 7.4V ○3 Battery capacity: More than 2000mAH Discharging current: Larger than 5C
Recommended
Accessories
1. Gyroscope：GY401
○4
2. Speed controller: ESC (electromotion), GV1
(kerosene-powered) practicably locking the revolving speed）
○5
3. Receiver(PCM)
○6
or 2.4G
Note：
○1 : Some of the RCs (like some kinds of Spektrum RC), only the throttle (the first channel) has the function of
Fail Safe, none of the other channels have Fail Safe function. Under such situation, it cannot guarantee
that the helicopter can enter the auto-hovering state when the RC is in the out of range.
○2 ：For the lithium battery of these specifications, the voltage can reach more than 8V when it is at full
power state (there are two 3.7V batteries connected in series inside. If there are three 3.7v batteries
connected in series, it may exceed the system operating voltage, so it is not recommended). If the
measured voltage is 7.4v, the battery is at the edge of being empty. As a result of adopting powerful
DSP+ARM to process efficient attitude control algorithms, the system working current may approach
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more than 1A. By using the lithium battery with capacity is over 2000mAH, the system can work for
around 2hours
○3 : System alarming voltage is 7.4v (under this condition the red LED status indicator will always on)
○4 : The gyroscopes will induce this change (and confirm it is not artificial operation), and emend this impact.
After testing, the compatibility between GY401 and XP3.1 is higher than that between GY601 and
XP3.1, so GY 401 is recommended.
○5 ：Engine governor such as GV-1 or RPM lock-able motor drivers are required to maintain a constant rotor
RPM and XP3.1 will leave the Thro channel in the original position in the autonomous mode.
○6 ：PCM or 2.4 G receivers has Fail Safe function, but PPM Do not.
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2 System
2.1 System Framework
Note：
■Black: Normal configured mode
■Blue: Optimal configured mode
■Brown: User-configured mode
Receiver
RC
Servo
Ext. ports
LED
GV1/ESC.
Power
Gyroscope
Compass
&GPS
Adapter
Gyro Stable P&T
SD Card
Wireless
Main Controller
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2.2Module Introduction
2.2.1Main Controller
Main Controller, which calculates the flight attitude and control the helicopter’s flight by sending orders to Adapter under autopilot mode, is the heart of the control system.
Figure 2. 1 Main Controller
2.2.2 Adapter
Adapter acknowledges signals from RC receiver, process controlling signal and control the servo operation with cooperation of Main Controller.
Figure 2. 2 Adapter
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2.2.3 GPS & Compass
External GPS and compass are integrated in one box. Both of them must be placed far away from interference. It is used to receive GPS signals and direction signals, and send them to Main Controller.
Figure 2. 3 GPS&Compass Figure 2. 4 LED Status Indicator
2.2.4 LED Status Indicator
LED with red, white and green ones will have constantly on, sparkling, flashing and constantly off states. They represent different control status respectively (Refer Appendix A for details).
2.2.5 Software
A PC software named XP configure is for the system adjustment. Users need to set different parameters for different helicopter to make sure the system operate normally.
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3 System Installation and Adjustment
Users should dedicate special circumspection and patience to the
installation, adjusting, flying and maintenance of the system. Any improper operation may lead losses of helicopter, life or property. Please pay special attention to the following steps and introductions of installation and adjustment. Do
not try to skip any step.
This sign stands for “Fatal Danger”. Users should pay special attention to it
and handle with care.
3.1 Hardware Installation
Before you install XP 3.1, please make sure the mechanical structure of the helicopter has been adjusted completely
○1
and the helicopter can process normal
manual flight in the absence of this system.
Note：
○1 ：Try to eliminate all kinds of vibrations by adjusting mechanical structure and motor system, since the
oversize vibration will influence the normal operation seriously.
3.1.1 Main Controller Installation
1. Please assemble the anti-vibration frame of the main box first. The Main
Controller can be fixed on the anti-vibration frame of main box by 4 neoprene isolators, as shown in Figure 3.1.
Figure 3. 1
2. Main Controller installation can follow the following two ways, with reference
of the coordinate frames of Main Controller (Figure 3. 2) and helicopter(Figure
3. 3). Inversion or installation in other angles is not allowed.
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Figure 3. 2
Figure 3. 3
a) (Figure 3.4) Make Main Controller box frame the same direction as the
helicopter frame, which means the side with two DB ports faces the head of the heli, corresponding to the “Forward” set by the [Install Parameters] in XP configure(adjust software).
b) (Figure 3.5Figure3. 4 Figure3. )Make Axis X of
Main Controller the same as axis Y of helicopter, which means the side with two DB ports faces the right direction of the heli, corresponding to the “Right” set by the [Install Param] in XP configure. Make Axis X of Main Controller the same as axis Y of helicopter, which means the side with two DB ports faces the right direction of the heli, corresponding to the “Right” set by the [Install Param] in XP configure.
Figure3. 4 Figure3. 5
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Attention：
1) For the helicopter with gasoline engine and electric motor, the
minimum distance between the Main Controller and the engine/motor is 10cm; but for the heli with methanol machine, one does not need to consider the distance between them.
2) The distance between the Main Controller and the center of gravity
should be close enough, the shorter the better. Also to avoid being blown by the airflow caused by the rotation of the main rotor.
3) The installation direction should as straight as possible, or it will decrease
the control accuracy.
4) The Main Controller should be far away from heat sources,
electromagnetic interference and servo.
5) 在 Users should reserve enough space for the insertion of connecting
wires to Adapter or to the computer in front side of the Main Controller (the side with two DB ports).
3. Users can find a suitable position
○
1
for the Main Controller according to the above requests and helicopter’s structure. Followings are two installation examples (Figure3. 6 and Figure 3. 7).
Figure3. 6
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Pay attention to
protect DB15 cable and
avoid long-time friction,
which may leads
short-circuit or open-
circuit!
Figure 3. 7
Note：
○1 ： Drill proper holes on anti-vibration frame and helicopter. Then fix the anti-vibration frame to
the helicopter.
Attention：
Check the bearing capacity of neoprene isolator regularly to see if it has the
tendencies of weakness or aging, in order to replace it in time.
3.1.2 Adapter installation
1. 【Position Choice of Adapter】：
1) The minimum distance between the Adapter and the engine (gasoline
engine or electric motor) must be 10cm at least, or normal work will be disturbed.
2) Arrange a proper position for Adapter installation to reduce the using of the
extension wire because there are many links between Adapter and RC receiver, servo respectively.
3) Do not fix the Adapter to the helicopter after choosing a proper position. Fix it
after all the adjustment.
2. 【 Connection between Main Controller and
Adapter】：Connect them by DB 15 cable (Figure
3. 8), which matches DJI XP3.1. The clasp of DB 15 cable must be locked (Figure3. 9 DB15 open status) (Figure3. 10 DB15 closed status). The looseness of DB15’s clasp must be avoided.
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