Naza for Multi-Rotor User Manual V 2.7 2013.03.22 Revision www.dji-innovations.com ©2012 DJI Innovations. All Rights Reserved.
Warning & Disclaimer Naza is an excellent autopilot system offering tremendous flight features for low altitude multi-rotor working in restricted space compared to normal helicopter. It is not a toy when installed in multi-rotors of any size. Please respect the AMA’s National Model Aircraft Safety Code.
Product Profile Naza for multi-motors is an autopilot system designed for serious 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. Naza can be installed in a variety of models from quad-rotor to hexa-rotor. No GPS Atti. Mode without GPS module Naza Control Modes GPS Atti. Mode Atti.
In The Box Main Controller (MC) ×1 The Main Controller (MC) is the brain of the system, it communicates with all ESCs and RC transmitter to carry out the autopilot functionality. It has a built-in Inertial Measurement Unit (IMU) consists of one 3-axis accelerometer, one 3-axis gyroscope and a barometer for sensing the attitude and altitude. Versatile Unit (VU) ×1 Specially designed for Naza.
Contents WARNING & DISCLAIMER ............................................................................................ 2 PRODUCT PROFILE ...................................................................................................... 3 IN THE BOX ................................................................................................................. 4 CONTENTS ..................................................................................................................
Matters That Need Attention For safety reasons, please pay serious attention to all following items: 1. For big aircraft that is larger than 650 or with heavy load, WKM is recommended. 2. When aircraft is set-up with all of the equipment that you are going to use, please ensure the aircraft center of gravity is on the center Line of the frame, this is for aircraft with its load is in the vertical direction of frames center. 3.
motors stop, the Motors will re-start; Combination Stick Command (CSC) is not needed. If you don’t push throttle stick after motors start in three seconds, motors will stop automatically. 14. By using Intelligent mode to stop motors, the motors will start or stop immediately when you execute CSC. During normal flight conditions, you only have pull throttle stick under 10% will not stop the motors in any control mode. You have to execute CSC to re-start motors if the motors stop during the flight. 15.
Assembly VU R/C System · These are example connections. Please setup Aileron, Elevator, Throttle, Rudder channels on your Tx f i r s t , a n d c h o o s e o n e 2 positions switch/channel (3 positions switch with GPS) as control mode switch, then connect your receiver to the right ports on MC.
Assistant Software Software and Driver Installation STEP1: Please download assistant software and driver from our website. Then decompress. STEP2: Connect MC and PC via USB cable, power on MC. STEP3: If operating system tries to install driver automatically, cancel it. STEP4: Open folder DJI_USB_Driver, follow the Driver Installation Manual strictly to finish installation. GUI 1 5 13 1 2 6 3 7 4 14 15 9 8 12 11 10 TOOL Calibration: For gyroscope calibration and acceleration checking.
Check for Updates: Check out the latest versions of assistant software and firmware. If it needs updating, please follow the links displayed to find the download page. 2 ABOUT Info: Information regarding your product. Error Code 3 中文: Chinese interface. 4 ENGLISH: English language interface. 5 EXPORT: Export configure data. 6 IMPORT: Import version compatible configure data. 7 WRITE: This will write data of the current page to your MC.
Firmware Upgrade Please follow Word for Word in the procedure for firmware upgrade; otherwise the autopilot might not work properly. For SAFETY REASONS, DO NOT use power battery during firmware upgrade. 1. Make sure your computer is connected to the Internet before you connect the USB cable to the MC. 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.
Configuration 1 Mounting Without GPS, please skip this step STEP1: Mounting Location Install all payloads that will be used during the flight, including batteries, camera mount and camera. Balance the multi-rotor as you would normally, with the center of gravity (C.G.) directly on the center plate. Fill in the distance between body center of GPS and the C.G. of multi-rotor in X, Y & Z axles as showed in the figure.
2 Motor Mixer STEP1: Mixer Type Set your transmitter into ACROBATIC mode. Then select the right mixer type according to your multi-rotor. Tips: We support six types of multi-rotors. Refer to Multi-Rotors Supperted in Appendix: Notices: Do NOT follow instruction from 3rd party multi-rotor manufacturer! Make sure the rotation direction of each motor is the same as the way up figure shows. If not, switch any of two wire connetcions of the incorrect motor to change its rotation direction.
For users whose aircraft takes off at lowest throttles position, please set the idle speed at a low level. For common users, please set Motor Idle Speed to RECOMMEND or above, since setting idle speed too low may affect motor(s) spool up.
3 Tx Monitor Notices: I cannot emphasize this Step enough,Make sure you have removed all propellers before this step! STEP1: Receiver Type Choose the type of your receiver. If you use S-Bus receiver, please choose S-Bus compatible option: D-Bus. If PPM receiver is used, please choose PPM. Otherwise choose Tradition.
1 Start Motor: Pushing throttle stick before takeoff will not start the motors. You have to execute any one of following four Combination Stick Commands (CSC) to start the motors: 2 Stop Motor: We provide two options to stop motors: Immediately and Intelligent. Immediately Mode: If you select this mode, in any control mode, once motors start and throttle stick is over 10%, motors will not stop immediately only when throttle stick is back under 10% the motors will stop.
If you choose the Immediately mode, you should not pull throttle stick under 10% during flight, because that will stop the motors. If you do it accidentally, you should push the throttle stick over 10% within 5 seconds to re-start the motors. If you choose the Intelligent mode, and the throttle stick is under 10%, this will trigger the landing Procedure, in any control mode. In this judgment, pitch, roll and yaw controls are denied except the throttle, but multi-rotor will still auto level.
STEP4: Sticks Monitor This step is optional. X1 and X2 is for remote gain tuning; X1 is also for gimbal pitch control. Setup the channel on your RC correctly. STEP5: Control Mode Switch Whether you are using a 2 or 3 position switch on your transmitter will determine which you will use as the control mode switch, Plug in the right channel of receiver (Gear, Aux 1 or aux 2) to the U port of MC.
blinking 5. if in fail-safe mode. If your transmitter does not support Fail-Safe, the Fail-Safe function will not work when the communication between MC and transmitter is disconnected. 6. Do not use 4-channel Futaba transmitter with S-Bus receiver, otherwise MC will work in Fail-Safe mode. 7. If users set GPS Atti. Mode in Control Mode Switch without connecting to GPS module, the M.C. will switch GPS Atti. Mode into Atti.
4 Autopilot STEP1: Basic Parameters Usually, the default parameters are ready to go. However, different multi-rotors have different gains because of different Motor KV ratings, ESC and propeller sizes. If the gain is set too High, you will find the multi-rotor will be oscillating in the corresponding direction (About 5~10Hz). If the Gain is too low, the multi-rotor will likely to be hard to control.
You will use two methods to judge if the Vertical gain is good enough: 1) The multi-rotor can lock the altitude when the throttle stick is at center position; 2) The change of altitude is small during the flight along a route. You can increase the gain slowly (10% each time) until the vibration emerges along the vertical direction or the reaction of throttle stick is too sensitive, then decrease 20% of the gain. Now it is a suitable Vertical gain.
transmitter is down, and so on. 2) One or more connections of A, E, T, R, U channels between MC and receiver loses. If this happens before take-off, motors will not work if you push the throttle stick; if this happens during the flight, LED yellow light will flash to warn in addition to the failed-safe method. Choose one method for your failed-safe function, Landing: or Go Home and Landing. Landing: the aircraft will land after 6s hovering.
In course lock Usually In home lock flying, the forward direction is the same as the direction from home point to multi-rotor. See the following figures (Mode 2): Usually In home lock Home point Home point Before using this function, you have to choose a 2 or 3 positions switch on your transmitter as IOC switch. Then connect a wire to the correct channel of receiver to the X2 port of MC.
a) Automatically: MC will record the current nose direction as forward direction at 30th second after you power on the multi-rotor. And LED will blink b) quickly if recording is successful. Manually: You can slide X2 channel switch between OFF and Course Lock position quickly 3 to 5 times to record current nose direction as new forward direction at any time after you power on multi-rotor 30 seconds. And LED will blink STEP2: quickly if recording is successful.
when all the following requirements are met: a) Home point is recorded successfully; b) 6 or more GPS satellites are found; c) In GPS Atti. Mode; d) Multi-rotor is further than 10m away from the home point. Now wherever the nose is pointing, the real flight forward direction is the same as the direction from the home point to the multi-rotor, and LED will blink between yellow and green slowly to indicate the IOC mode of MC.
change into home lock automatically when multi-rotor flies out the 10m range around home point. 2 When multi-rotor is flying by home lock, far away from you and the home point, please do not toggle the X2 channel switch many times quickly so as to avoid the change of home point without you knowing it.
5 Gimbal STEP1: Gimbal Switch If you use gimbal, please choose On here, and select an Output Frequency (50Hz/100Hz/200Hz/400Hz). The chosen output frequency is recommended no more than the maximum servo supported frequency. Notices: If you open the gimbal control in assistant software during the configuration, please note that there are outputs from F1 and F2 ports. You should never connect these ports to ESCs which are wired with propellers and motors. Tips: NAZA supports servo center 1520us.
STEP3: Automatic Control Gain Range: 0 to 100 Adjust the reaction angle of the automatic control. The initial value of 100 is the maximum angle. The larger the gain, the bigger the reaction angle. Click REV/NORM, and then you can reverse the feedback control directions. STEP4: Manual Control Speed Range: 0 to 100 You should assign one of the knobs on your transmitter to the X1 channel for controlling the Pitch direction (angle) of camera gimbal during flight first.
6 Voltage Monitoring STEP1: Protection Switch In order to prevent your multi-rotor from a crash or other harmful consequences caused by low battery voltage, there are two levels of low voltage protection available to use. You can choose to use or not to use them, however we strongly recommend using the protections available! Notices: Make sure the connection between VU and MC (V-SEN to X3) is correct; otherwise the low voltage protection will not work properly.
Calibration column of the dialogue box, and then click Confirm. Meanwhile you need you to choose the battery type you are using, so that MC can provide the default warning voltages and ranges for you. STEP3: First Level Protection No Load (No Load Voltage): Self-defining warning voltage. Needs your input. Loss (Line Loss Voltage): The battery voltage drop during the flight. Needs your input. Loaded (Loaded Voltage): The real-time battery voltage during the flight.
of charging. Make sure your ESCs protection voltage is lower than 3.1V (1S), otherwise low voltage protection will not work. Acquire the line loss voltage by the above method, and then fill it in Loss. Then fill a reasonable warning voltage in the No Load. Notices: When red LED starts to blink, you should land ASAP! STEP4: Second Level Protection 1 Fill the warning voltage and the line loss voltage in No Load and Loss by the method introduced in previous step.
Flight Digital Compass Calibration Without GPS, please skip this step Why calibrate the compass? Ferromagnetic substances placed on multi-rotor or around its working environment will affect the reading of earth magnetic field for the digital compass. It also reduces the accuracy of the multi-rotor control, or even reads an incorrect heading. Calibration will eliminate such influences, and ensure MC system performs well in a non-ideal magnetic environment.
STEP3: Hold your aircraft vertically and rotate it (its nose is downward) around the vertical axis (about 360o) until the LED turns off, meaning the calibration is finished. STEP4: The LED indicator will show whether the calibration was successful or not. If the calibration was successful, calibration mode will exit automatically. If the LED keeps flashing quickly Red, the calibration has failed. Switch the control mode switch one time to cancel the calibration, and then re-start from step 1.
Fly test Before First Flight Notices: Make sure you have assembled your multi-rotor correctly. Make sure you have done the configuration procedure correctly. Any of the following mistakes will leads to a dangerous accident, double check all these items: Rotation direction of motor is opposite Propeller installation mistake MC installation mistake Wrong connection between MC and ESC In Atti Mode, throttle stick center position is for 0m/s along the vertical direction.
Tips: After a successful test fly, the preparation before taking off can be simplified: Put your multi-rotor on the level ground, turn on the transmitter first, then power on multi-rotor, then you can take off in Atti. Mode. If the aircraft drifts or spins in horizontal direction when hovering, please use IMU Calibration in TOOL of assistant software to observe sensor output. If there is bigger gyroscope bias, do gyroscope calibration according to the IMU Calibration in Appendix.
Fly with GPS Without GPS, please skip this step Before Fly with GPS Notices: When system is powered on, you must not move your multi-rotor or sticks on transmitter until the system initialization is finished (about 5 second). Make sure the GPS signal is good, without red LED blinking. Otherwise multi-rotor will drift without stick commands.
Appendix Fix the TBE (Toilet Bowl Effect) Problem When flying in GPS ATTI. Mode and the compass calibration has been done correctly, should you find the aircraft rotating (Toilet bowl effect), or drifting when hovering. Please check the GPS module mounting orientation and then re-do the compass calibration. Carry out the following procedure to re-mount the GPS module.
IMU Calibration The IMU calibration is used if the aircraft is drifting or spinning in horizontal direction while hovering. Better performance can be obtained by gyroscope calibration. Check IMU status after the status changed to ready, and take action according to corresponding tips. 1. Please keep the main controller stationary during calibration, and then connect to the assistant software. 2. Click the IMU calibration in TOOL to enter calibration page. 3.
Multi-Rotors Supported To coaxial propellers: Blue propeller is at Top; Red propeller is at Bottom. Otherwise all propellers are at top. M1 M2 M2 M1 M3 M4 M4 M3 M1 M2 M2 M1 M6 M3 M1 M6 M5 M3 M4 M4 M5 Hexa-rotor I M1,4 M2,5 Quad-rotor X Quad-rotor I Hexa-rotor V M2,5 M3,6 M3,6 Hexa-rotor IY ©2012 DJI Innovations. All Rights Reserved.
Port Description Main Controller A For roll control (left/right) E For pitch control (front/back) T For throttle control R For rudder control U For Control Mode Switch X1 For gimbal pitch control Or for gain tuning X2 For D-Bus (S-Bus compatible) Or for gain tuning X3 For voltage monitor (Connect with VU V-SEN port) M1 To #1 rotor M2 To #2 rotor M3 To #3 rotor M4 To #4 rotor M5 To #5 rotor M6 To #6 rotor F1 To gimbal roll servo F2 To gimbal pitch servo LED EXP.
Light Description Control Mode (GPS) Manual Atti. GPS Atti. IOC GPS satellites < 5 GPS satellites = 5 GPS satellites = 6 GPS satellites >6 No Attitude status bad Control Mode Manual No Atti. When appears, please hover the aircraft until disappears, so as to have better flight performance. Blinking indications of Atti. and GPS Atti. are: Before motors start: Single blink, all sticks (except throttle stick) return to center; Double blinks, stick(s) (except throttle stick) not at center.
Recommended Settings Configuration Information No. Basic Gain Attitude Gain Aircraft Motor ESC Propeller Battery Weight Pitch Roll Yaw Vertical Pitch Roll 1 F330 DJI-2212 DJI-18A DJI-8 Inch 3S-2200 790 g 140 140 100 110 140 140 2 F450 DJI-2212 DJI-30A DJI-8 Inch 3S-2200 890 g 150 150 100 105 150 150 3 F550 DJI-2212 DJI-30A DJI-8 Inch 4S-3300 1530 g 170 170 150 140 170 170 ©2012 DJI Innovations. All Rights Reserved.
Specifications General Built-In Functions Three Modes for Autopilot Enhanced Fail Safe Low Voltage Protection S-Bus Receiver Support PPM Receiver Support 2-axle Gimbal Support Quad-rotor I4, X4; Hexa-rotor I 6, X6, IY6, Y6. Peripheral Supported Multi-rotor Supported ESC output 400Hz refresh frequency. Recommended Transmitter PCM or 2.4GHz with a minimum 4 channels.
