A2 Flight Control System User Manual V1.18 June 24th, 2014 Revision For Firmware 2.2 & Assistant Software V1.3 & DJI Assistant App V1.1.14 Thank you for purchasing DJI products. Please strictly follow these steps to mount and connect this system on your aircraft, install the PC Assistant Software on your computer, as well as installing the DJI Assistant App on your mobile device. Please regularly check the web page of corresponding products on our website www.dji.com, which is updated regularly.
Content INTRODUCTION .................................................................................................................................................................................... 3 PRODUCT INTRODUCTION ................................................................................................................................................................................ 3 IN THE BOX .................................................................................................
Introduction Product Introduction The DJI A2 Multi-Rotor stabilization controller is a complete flight system for various multi-rotor platforms for commercial and industrial aerial photography. Based on the technology and design philosophy of DJI’s Ace series of high-performance controllers, the A2 offers you a brand new flight experience. Its flight mode provides a seamless transition for current Ace One, WKM AP professionals.
System Introduction The A2 flight control system uses the Controller Unit at its core, which is connected with the IMU, GPS-COMPASS PRO、LED-BT-I、PMU and ESCs to complete the system. The system can achieve the height-lock and position-lock functions by using the IMU and the GPS, to control the aircraft. Please carry out the following procedures to finish assembly, configuration and flight-testing. Mount the A2 flight control system on your aircraft finish connection.
1 Assembly and Configuration For hardware installation, software configuration and compass calibration please adhere to the following sections. 1.1 Hardware Installation and Connection (1) Please adhere to “1.1.1 Mixer Type Supported” to choose a mixer type and assemble your aircraft. (2) Please adhere to both “1.1.2 Hardware Connection Diagram” and “1.1.3 Important for Assembly and Connection” to install and connect all units on your aircraft. 1.1.
1.1.2 Hardware Connection Diagram Important CAN-Bus, it provides power supply and communication. A2 can automatically identify the device connected. ESC 1# ESC 2# CAN1 and CAN2 ports are working independent, device connected are non-interchangeable. E.g. IMU and GPS-COMPASS PRO to CAN1; LEDBT-I to CAN2; PMU to CAN1 or CAN2. ESC 3# ESC 4# ESC 5# ESC 6# ESC 7# ESC 8# 90o Supply power for all ports on both sides of controller unit.
Port Description Indicate the linking status Link button of Built-in receiver DR16 and transmitter Multi-function PWM output channels, can directly give output signal from the Receiver if mapped to a Receiver channel* Connect to ESC Reserved To S-BUS Receiver BEC,Connect to X1 of PMU for voltage detection IMU GPS-COMPASS PRO iOSD MARK II, Z15 from DJI To DSM2 satellite Receiver To PW port of PMU LED-BT-I 2.
Link Procedures 1. Turn on the transmitter, it begins to send signals after 1.5secs. 2.Power on the flight control system, configure the Receiver type as DR16 in the Assistant software. 3.Press the LINK button, hold for 2secs, wait until the LED blinks Red . 4.Release the LINK button, the LED turns Green on after successfully linking. 0.5m
hover or Go-home as configure in the FailSafe in the Assistant software. When using the dual-mode Transmitter, please set the transmiting mode as DSM2 in SYSTEM SET UP->FRAME RATE ->MODE, which should not be DSMX. Support DSM2 satellite Receivers used with all SPEKTRUM Transmitters, e.g. DX6I DX7S DX8 DX18 etc., as well as JR Transmitters, e.g. DXS9II DXS11. C.
If using Traditional Receivers, the DJI D-BUS Adapter is required. Please follow the diagram for connection, set the Receiver referring to your Receiver manual, and select the Receiver type as D-BUS in the Assistant software->Basic->R/C-> Receiver Type. 8 7 6 5 4 3 2 1 Traditional Receiver Important · When you use a traditional receiver, DJI D-BUS ADAPTER is required.
(2) IMU (Inertial Measurement Unit): Built-in inertial sensors, for the measurement of aircraft attitude; built-in pressure sensor for the detection of aircraft altitude. Should be connected to the CAN1 port of the Controller Unit, and be mounted according to the required location and orientation. The IMU has been calibrated before delivery, it should be used under the specified temperature; otherwise the temperature may have an effect on the IMU performance.
(3) GPS-COMPASS PRO GPS-COMPASS PRO module has a built-in GPS and compass. The compass is used for geomagnetic field measurement. It should be mounted according to the required location and orientation. Compass calibration is required before use. DO NOT use and store the compass in the ferromagnetic material environment. Mounting Procedure: a) Use the epoxy resin AB glue to assemble the GPS bracket first. The longest one is recommended.
(4) PMU (Power Management Unit) The PMU provides dual BECs (Battery Eliminator Circuit): (1) PW port outputs power for the whole Flight Control System with current no more than 2A. (2) PX port outputs power (3A@5V) and V-SEV signal using the low voltage protection function. In addition, there are two CAN-Bus ports for LED-BT-I connection and other DJI products (e.g. DJI 2.4G Data Link). Port Description PX Port, connect to the X1 port of Controller Unit V-SEN, Output 0V ~ + 3.
1.2 Software Installation and Configuration Please configure the A2 flight control system in the Assistant Software according to the following instructions. Users are required to configure every item within the “Basic” page when use the A2 flight control system for the first time. 1.2.1 Installing Driver and Assistant Software Installing and running on Windows 1. Download driver installer and Assistant Software installer in EXE format from the download page of A2 on the DJI website. 2.
Installer in DMG format supports only Mac OS X 10.6 or above. Usage of A2 Assistant software on Mac OS X and Windows are exactly the same. The Assistant software pages appear in other places of this manual are on the Windows for example. 1.2.2 Configure using Assistant Software on a PC A2 flight control system can takes power via the USB port during configuration, no additional battery is required.
Normal: the transmitter and receiver are linked and communicating well. “RC Disconnect: the A2 Flight Control System is powered on, but the transmitter is powered off. STATUS” RC-LOST: RC signal is lost (e.g. the transmitter is turned off after power on) or the receiver description is sending F/S signals (e.g. the aircraft flies out of the range which transmitter is controllable).
Step 2. Toggle the control mode switch to its three positions, accordingly the cursor will move to some control mode. Step 3. Power off the Transmitter, the FailSafe will be enabled and the cursor will point to any area out of the control modes. Step 4. If all steps above are realized, that indicates the control mode switch is set successfully. Important In step 2, if the cursor doesn’t point to the correct control mode area (e.g.
1.2.4 Configuration Checking 1 2 7 3 8 9 5 4 10 11 6 12 *Fig. above for reference only, please adhere to actual GUI. Check List ① ② ③ ④、⑤ ⑥ ○ ⑦~ 11 ○ 12 Description Check the IMU orientation direction. Check the Mixer Type of aircraft. Make sure the motors are rotating normally, and propeller installation is in correct direction. The Receiver type is correct. Check the basic and attitude gains. Move the sticks to test whether the cursors moves following the sticks.
1.2.5 Tools ① Config Export or import the tuning parameters and restore the default setting and reset the BTU module. ② Sensors Read gyroscope, acceleration and compass sensor value. ③ IMU Calibration Calibrate IMU based on the gyroscope and acceleration sensor readings from Assistant. Calibrate is needed, when: Gyroscope Mod value exceeds 1.5. Acceleration Mod value below 0.98 or exceeds 1.02. Steps to follow when calibrating IMU: 1.
④ Device Information and Connection Status All devices that connected to the A2 flight controller are highlighted, however, disconnected devices appear grey. Single click a highlighted device to upgrade its firmware. You can also upgrade all firmware by clicking the “Upgrade All” button. © 2013-2014 DJI Innovations.
1.3 Compass Calibration The Compass can assistant the GPS to position the aircraft, which is very important during flight. As we know, the compass is very sensitive to electromagnetic interference, which will cause abnormal compass data, and lead to poor flight performance or even flight failure. Compass Calibration MUST be done for first time use. It is recommended to calibrate the compass outdoors after the Controller Unit finds 7 or more GPS satellites.
2 Basic flying Read this section before basic flight testing. 2.1Control Mode Instruction The aircraft performs differently when using different control modes. Please read the following table to know the different control modes, which may help you to achieve a more involved flight experience. Control Mode GPS ATTI. Mode ATTI. Mode Command YES Linearity Yaw Roll and Pitch Throttle Manual Mode Control the aircraft to rotate in clockwise and counter clockwise direction.
GPS Involved YES NO Low-voltage LED alert with Descending or Go Home & Protection Landing precautions Environment Open flying field; Narrow Space; recommended Good GPS signal GPS signal bad Only LED alert Regain control in emergency The difference between ATTI. Mode of position-2 and ATTI. Mode of position-3 is that they are working differently in protection situations. © 2013-2014 DJI Innovations.
2.2 Flying Environment Requirements (1) Before use of the product, please accept some flight training (Using a simulator to practice flying, getting instruction from a professional person, etc.). (2) DO NOT fly in bad weather, such as rain or wind (more than moderate breeze) or fog. (3) The flying field should be open without tall buildings or other obstacles; the buildings of steel structure will interfere with the compass.
2.4 Power on and Check (1) Control mode LED indicator Power on the Transmitter then the flight control system. Toggle the control mode switch to different positions. Control Mode LED indicator Control Mode GPS ATTI. Mode Switch LED (Stick not in midpoint Manual Mode ATTI. Mode (2)) (Stick not in midpoint (2)) No LED indicator Put the Control Mode switch to GPS position for basic flying test.
(2) The firmware version of IMU and Controller Unit is mismatched; please upgrade the firmware of IMU or Controller Unit. (3) The firmware version of GPS and Controller Unit is mismatched; please upgrade the firmware of GPS or Controller Unit. (4) The transmitter calibration has exited abnormally, please recalibrate. (5) The transmitter calibration results with big bias, please recalibrate. (6) The transmitter calibration results with big mid point bias, please recalibrate.
2.6 Basic Flying Test Carry out the following procedures to complete the basic flight test. 1. Wait the GPS signal to be well LED Place the aircraft away from you and others at least 3 meters and wait the ≥6 (about 30 seconds). or no Red LED 2. Start motors and takeoff aircraft. LED Execute CSC to start motors; all sticks back to midpoint as soon as motors start, then push the throttle stick to take off the aircraft, meanwhile the home point is recorded.
4.Hover In GPS ATTI. Mode,the aircraft will hover when the throttle/yaw/roll/pitch sticks are all released at mid-point. 5.Landing Use the throttle stick to control the landing speed, try to land your aircraft gently to avoid shock or crash. Please refer to the next section “Protection Functions Setting” to take precautions. (1) Low voltage alert: yellow quick flashes or red quick flashes. (2) FailSafe: LED indicator blinks blue.
3 Protection Functions Setting Set protection in the Assistant software ->Advanced page. FailSafe and Low voltage protections are required. 3.1 FailSafe FailSafe works when the Transmitter (TX) signal is lost, the flight control system will automatically control the aircraft to reduce injuries or damage.
(3) Make sure there are no obstacles during aircraft go home and users are familiar with the methods to regain control. How to regain control in FailSafe 3-position GPS ATTI. Mode Regain control Position-3 Position-2 Position-1 Switch ATTI. Mode You have to toggle the control mode switch once to regain control if the signal recovers. ATTI. Mode Manual Mode Regain control as soon as signal recovers. 3.
(1) Please pay attention to the LED alert of low voltage and make sure the power is enough for go home and landing. Insufficient power reserve will cause the aircraft to crash as well as other consequences. (2) If the second level low voltage alert occurs in below procedures, the aircraft will descend automatically. a) When the aircraft is in FailSafe and Go Home process。 b) When the aircraft is controlled by the Ground Station. © 2013-2014 DJI Innovations.
4 Advanced Functions IOC and Gimbal functions of A2 and how to use A2 Assistant app via a mobile device. 4.1 IOC (Intelligent Orientation Control) function IOC Help users to set the Flying direction; Should be enabled in Assistant software. Flying direction The flying direction of aircraft when pushing the Roll and Pitch sticks. Forward direction The flying direction of aircraft when the pitch stick is pushed forward. IOC is disabled.
Step 2 Forward Direction, HP and POI Recording After you enable the IOC in assistant software, the flight control system will record the forward direction and home point automatically after power on, if the recording conditions are met. You can Manually re-record the forward direction, home point and POI during flying. Read the following table for the recording method details.
POI Flying direction HL POI POI 50 5~ > 10 0m 50 5~ 0m >10m HL >10m CL m CL Roll stick control of aircraft None > 10 OFF Auxiliary line Record switch Normal Route Pitch stick control of aircraft IOC Flying Forward direction m HP 50 5~ 0m 50 5~ 0m DO NOT toggle the IOC switch frequently in HL flying to avoid re-recording the HP unwittingly. IOC function is available only when all the required conditions are satisfied.
4.2 Servo Gimbal function Connect the servos of your gimbal to the Controller Unit as the fig. below,roll servo connects to F3 port and pitch servo connects to F2, and configure in Advanced->Gimbal page in the Assistant software. No Receiver channel is asked to be mapped for the F2 or F3 port if gimbal function is enabled in the Assistant Software.
4.5 DJI Assistant App Usage There is a built-in Bluetooth in the A2 LED-BT-I module. With a DJI Assistant App installed on your mobile device, remote parameter configuration can be obtained via Bluetooth communication between the A2 Flight Control System and the mobile device. Bluetooth status indicator Normal Communicating Abnormal Antenna of Bluetooth Supported iOS devices iPhone 4s, iPhone 5, iPhone 5s, iPod Touch 5, iPad 3, iPad 4, iPad air, iPad mini, iOS6.1 or above is required.
5. Select the “Basic” option. Please follow step-by-step for your first-time-configuration. Basic configuration is necessary. Click the icon 6. to get the configuration details. You can click the “Advanced” option for more parameter settings. Advanced setting is optional. There are Motor, F/S, IOC, Gimbal, Voltage, Limits, Gear, etc. 7. Check all parameters in the View page. 8. Select “More” to obtain more details.
Appendix LED indicator descriptions Control mode GPS signal Manual Mode: No indicator Best ( ATTI. Mode: (1) (sticks not in mid-point (2)) GPS ATTI.
Specifications General Built-In Functions Built-in Receiver External Receiver Supported Multiple Control Modes 9 Types of Supported Multi-rotor 2-axle Gimbal Supported Other DJI Products Supported Enhanced FailSafe Low Voltage Protection Intelligent Orientation Control 4 Configurable Outputs Dynamical Systems Protection Sound Alarm PC & Bluetooth Ground Station Configure Parameters Via Bluetooth Peripheral Supported Multi-rotor Quad-rotor: I4, X4
FAQ Use with other DJI products The A2 can be used with other DJI products such as iOSD Mark II, Z15 series gimbals, S800 EVO and 2.4G Data Link(iPAD Ground Station function), H3-2D, etc. Users should connect them to the correct CAN-Bus port. CAN1: iOSD Mark II, Z15 series. CAN2: 2.4G Data Link (iPAD Ground Station function), H3-2D. The following 2.4G Data Link connection diagram is the connection for your reference.
The following H3-2D connection diagram is the connection for your reference. 2S~6S Battery ESC 1# ESC 2# ESC 3# ESC 4# ESC 5# ESC 6# ESC 7# ESC 8# 90o 2S~6S Battery (1) H3-2D users should upgrade the firmware to the latest version (GCU V1.6& IMU V1.6 or above). (2) If the 2.4G Data Link and H3-2D are used at the same time, a CAN-HUB module is required. When using the A2 flight control system firmware version V2.
Channel Mapping Instructions for PC Assistant Software Basic Channel Default Settings A Roll Control of the Controller Unit, mapped E T R U Usage Descriptions to the Channel 1 of Receiver During Assistant Software usage, please click Pitch Control of the Controller Unit, the “Calibration” button, to calibrate the mapped to the Channel2 of Receiver Transmitter sticks travel.
and the signals from the mapped Receiver channels will be ignored. You can use F4 for switching the video channel of iOSD Mark II, then map D4 to a Receiver channel. IOC IOC function of the Controller Unit, Click “Unmapped” button to map IOC to a unmapped. Receiver channel. It is recommended to use a 3-position switch channel. Go Home One-Key Go Home function of the Click “Unmapped” button to map Go Home to Controller Unit, unmapped. the Receiver channel.
Gear Channe 8 (AUX4) 2-Position switch, e.g. SF H3-2D Channe 12(AUX5) Knob switch, e.g. LD、RD Settings of gain values for Your Reference To set the value of basic gain and attitude gain you can refer to the following diagram. These values are only for reference and may vary in practice.
Disclaimer Please read this disclaimer carefully before using this product. By using this product, you hereby agree to this disclaimer and signify that you have read it fully. THIS PRODUCT IS NOT SUITABLE FOR PEOPLE UNDER THE AGE OF 18. A2 flight controller is designed for experience multi-rotor enthusiasts providing excellent self-leveling and altitude holding, which completely takes the stress out of flying RC multi-rotors for both professional and hobby applications.