dji Naza User manual

©2012 DJI Innovations. All Rights Reserved.
Naza for Multi-Rotor
User Manual
V 2.7
2013.03.22 Revision
www.dji-innovations.com

©2012 DJI Innovations. All Rights Reserved. 2
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. Despite our efforts in making the controller to
operate in the safest manner when the main power battery is connected, such as: disabling MC signal to
ESCs when USB is connected; disabling throttle input and stick command when throttle stick is not at the
lowest position, we strongly recommend customers to remove all propellers, use power supply from R/C
system or flight pack battery, and keep children away during system calibration, firmware upgrade and
parameter setup. DJI Innovations assumes no liability for damage(s) or injuries incurred directly or indirectly
from the use of this product. Please strictly follow these steps to mount and connect Naza on your multi-rotor,
as well as to install the assistant software on your computer.
DJI and Naza 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.

©2012 DJI Innovations. All Rights Reserved. 3
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. Mode
Manual Mode
Rudder Angular
Velocity
Maximum rudder angular velocity is 200°/s
Command Stick
Meaning
Multi attitude control; Stick center position for 0˚
attitude, its endpoint is 45˚.
Max-angular velocity is 150°/s.
No attitude angle limitation and
vertical velocity locking.
Command
Linearity
YES
Stick Released
Lock position if GPS
signal is adequate.
Only attitude stabilizing.
NOT Recommend
Altitude Lock
Maintain the altitude best above 1 meter from
ground.
NO
GPS Lost
When GPS signal
has been lost for
10s, system enters
Atti. Mode
automatically.
Only performing attitude
stabilizing without
position lock.
---
Safety
Attitude & speed mixture control ensures
stability
Depends on experience.
Enhanced Fail-Safe
Auto Level Fail-Safe
Applications
AP work
Sports flying.
---

©2012 DJI Innovations. All Rights Reserved. 4
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. It solves the high power consumption
problem of multi-rotor system, supply and monitor power for Naza and
other electronic devices. It also has an LED to indicate different
operating states of Naza and a USB interface for configuring the Naza
unit and firmware upgrade.
Optional GPS & Compass Module ×1
The GPS/Compass module is for sensing the position and direction.
Optional GPS Bracket ×1
Because the GPS & Compass are sensitive to magnetic interference, you should use this bracket to mount
the GPS module.
USB Cable ×1
This cable is used to configure MC and upgrade firmware.
3-PIN Servo Cable ×8
Cables used to connect the MC and the receiver.
3M Gummed Paper ×4
Used for fixing Naza components on multi-rotor’s frame.

©2012 DJI Innovations. All Rights Reserved. 5
Contents
WARNING & DISCLAIMER ............................................................................................ 2
PRODUCT PROFILE ...................................................................................................... 3
IN THE BOX ................................................................................................................. 4
CONTENTS .................................................................................................................. 5
MATTERS THAT NEED ATTENTION ................................................................................ 6
ASSEMBLY ................................................................................................................... 8
ASSISTANT SOFTWARE................................................................................................. 9
SOFTWARE AND DRIVER INSTALLATION.......................................................................................9
GUI....................................................................................................................................9
FIRMWARE UPGRADE ...........................................................................................................11
PRODUCT INFO &UPGRADE ..................................................................................................11
CONFIGURATION ....................................................................................................... 12
1MOUNTING .....................................................................................................................12
2MOTOR MIXER ................................................................................................................13
3TX MONITOR ...................................................................................................................15
4AUTOPILOT ......................................................................................................................20
5GIMBAL ..........................................................................................................................27
6VOLTAGE MONITORING .....................................................................................................29
FLIGHT ...................................................................................................................... 32
DIGITAL COMPASS CALIBRATION ............................................................................................32
FLY TEST ............................................................................................................................34
FLY WITH GPS ....................................................................................................................36
APPENDIX ................................................................................................................. 37
FIX THE TBE (TOILET BOWL EFFECT)PROBLEM .........................................................................37
IMU CALIBRATION ..............................................................................................................38
MULTI-ROTORS SUPPORTED ..................................................................................................39
PORT DESCRIPTION..............................................................................................................40
LIGHT DESCRIPTION .............................................................................................................41
RECOMMENDED SETTINGS ....................................................................................................42
SPECIFICATIONS ..................................................................................................................43

©2012 DJI Innovations. All Rights Reserved. 6
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. When MC mounted, try your best to mount the MC at the center of the frame, and do not mount
the MC upside-down. Make sure MC is parallel to the aircraft horizon, so as to prevent the
aircraft from drifting in horizontal direction.
4. Make sure the MC ESC ports is pointing to the aircraft nose direction, otherwise serious
damage will occur to your aircraft.
5. Disconnect ESCs and battery or remove all propellers during firmware upgrade, configuration
and system setup!
6. You have to reboot MC and redo the Tx calibration after you change anything on the RC system.
7. In the Tx Calibration of assistant software:
Throttle: Slide left is craft down, slide right is craft up;
Rudder: Slide left is nose left, slide right is nose right;
Elevator: Slide left is craft back, slide right is craft front;
Aileron: Slide left is craft left, slide right is craft right.
8. When powering up the Craft, Make sure you turn on the Transmitter switch first, then Plug in the
FC Battery power on multi-rotor before takeoff! After your Flying Session and you want to
power down, make sure you Remove Power to the multi-rotor first, and then switch off the
transmitter!
9. Whether you are using gimbal control in assistant software or not, there is always power output
from F1 and F2 ports. Do not connect these ports to any ESCs which are wired with propellers
and motors.
10. Do NOT set the failed-safe position of throttle under 10% of endpoint.
11. Throttle stick position should always be higher than 10% from cut-throttle during the flight!
12. The NAZA-M has Low voltage protections! If you are seeing a Red Flashing light, you should
land your multi-rotor ASAP to prevent your multi-rotor from crashing or other harmful
consequences!
13. when using the (Immediately mode) to stop the motors, this is in any control mode, once the
motors start and throttle stick is over 10%, When the throttle stick lowered below 10% the
motors will stop immediately .But if you push the throttle stick over 10% within 5 seconds after

©2012 DJI Innovations. All Rights Reserved. 7
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. Red light quick blinking indicates battery voltage is low, please land ASAP.
16. Do NOT move any command sticks during system start and self-check! Please contact us if the
last four green blinks are abnormal.
17. GPS/Compass is sensitive to magnetic interference; you should be as far away from any
electronic devices as possible.
18. Do not fly in GPS Mode when the signal is not good (red light blinks)!
19. GPS module is optional (Nonstandard). If you are using the GPS module, please read the
Instructions about GPS matching in indicators; users without the GPS module can skip
contents about GPS.
20. 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. Mode automatically, and LED indicator will Blink yellow.
21. If you are working in the Fail-Safe Mode, with GPS on, the aircraft motors will auto Automatticly
shut off when the craft has landed; without GPS the aircraft will not auto shut off when landed.
22. The receiver should be installed under the bottom board of center frame, and the head of
antenna is downward without any obstacles, this will help prevent any signal loss during flight
and the aircraft will be out of control, since the Radio signal may be lost by the obstacle.
23. Make sure all connections are correct and attachment contacts are in good condition before
flight.
24. Keep wireless video transmission equipment a distance away from the main controller (>25cm),
to prevent the main controller from getting any interference from the Wireless Video
Transmitter.
25. If you use a gimbal, please make sure that the working current of the servos should not exceed
the power supply capacity of the VU; otherwise, it may cause the VU safeguard and lead to the
main controller reboot. Refer to the Specification section in the Appendix to get more VU
parameters.

©2012 DJI Innovations. All Rights Reserved. 8
Assembly
接电调
接云台
F1
F2
接电调
接云台
VU
· Do not mount it on any other electronic devices. Make sure You can
see the LED light during the flight.
· If use with DJI multi-rotor, you can solder the VU power cable to power
pads on frame bottom board. Please refer to DJI multi-rotor manual for
details.
· If use with 3rd part multi-rotor, you can make a connecter by yourself to
connect VU, ESCs and battery.
· Sufficient air flow over the VU is highly recommended.
MC
· Please use 3M gummed paper provided To mount MC, and mount MC parallel to
the aircraft horizon.
· The output ports of MC (the right side in figure) should point to the front of
multi-rotor. You’d better put MC at the gravity center of multi-rotor. Please
make sure all ports are accessible when installing the MC so as to facilitate
wiring and software configuration.
· In three-pin ports, pins near the nicks are signal pins.
· After choosing a location to mount the MC, it is recommended
that you DO NOT mount the MC until all wirings and software configurations
are completed.
GPS/COMPASS
· GPS/Compass is sensitive to magnetic interference, should be far away from any
electronic devices.
· You should use epoxy resin AB glue to assemble the GPS bracket first as the figure
showed in previous page.
· Mount the bracket on the center plate of craft first, then fix the GPS on the plate of the
bracket (by 3M glue provided). The GPS is sensitive to vibration interference, so
position the bracket at least 10 cm from any rotor.
· 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.
· 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. If you use your own mounting
rod, make sure it is NOT magnetic!
Aircraft Nose
R/C System
These are example connections.
Please setup Aileron, Elevator,
Throttle, Rudder channels on your Tx
first, and choose one 2 positions
switch/channel (3 positions switch with
GPS) as control mode switch, then
connect your receiver to the right ports
on MC.
R/C Receiver
(JR) RUDD
THRO
AILE
ELEV
R/C Receiver
(Futaba / Hitec)
1
2
3
4
Futaba S-Bus
S-Bus
2/3-position switch channel
Optional
ESC
M1-6
To Battery
ESCs, Motors
· Motors and ESCs in DJI multi-rotor kit are recommended.
· Please make sure you are using the ESCs and motors recommended
by the manufacturer of your multi rotor first. NAZA output is 400Hz
refresh frequency.
· Connect all ESCs to MC by the motor numbering method introduced in
Multi-Rotors Supported of Appendix.
· If you use 3rd party ESCs, please make sure the ESCs travel midpoint is
at 1520us. DO NOT use 700us travel midpoint ESC, as it may lead
aircraft to fly away or cause injury and damage. After connect ESCs to
motors, calibrate all your ESCs one by one through the receiver directly
before connect them to your MC, Make sure program all of them into
Governor off, Break off and Normal Start up to get best experience.
Roll
Pitch
2/3-position switch channel
Important: the continuous
output of the VU is 3A@5V, and
the maximum instant current is 7.5A. If
the V U cannot afford the working
current for your servos, please use an
independent power supply; otherwise,
it may cause the V U safeguard and
lead to the main controller reboot.

©2012 DJI Innovations. All Rights Reserved. 9
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 2 3 45 6 9
1011121413
7 8
15
1 TOOL
Calibration: For gyroscope calibration and acceleration checking.
Firmware upgrade: Always check for any updates of your firmware from Website, This will keep
your autopilot system up-to-date.
Disable All Knob

©2012 DJI Innovations. All Rights Reserved. 10
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. The parameter or the title of which will turn
red and bold when modified, make sure you click the Write button or press Enter to update your system.
Optional parameters will be written to MC directly after modification.
8 READ: read parameters from MC for current page.
9 Graphic guidance
10 Text guidance
11 CONTROL MODE: Control mode indication.
12 MC Output On Indicate there are outputs to ESCs; when communication is established between MC
and assistant software via USB cable, MC Output Off appears, it indicates there are no outputs to
motors, then you can configure your multi-rotor with assistant software more safely!
13 Red light: MCPC has been disconnected.
Green light: MCPC has been connected.
Blue light: MCPC is communicating.
14 Here you can find all the configuration contents in Configuration chapter
15 Configuration step.
Notices:
Please power the MC first, then connect your MC to a internet enabled computer by the USB cable
before you open the assistant software.
You have to register at the first time you use the assistant software.
It will auto detect the software version you have when you open the assistant software and prompt
you to Check for Updates if your version is not the latest one.
Do not disconnect MC and PC when you are using the assistant software..

©2012 DJI Innovations. All Rights Reserved. 11
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. DO NOT un-plug the power supply until
firmware upgrade has finished.
4. Connect MC to PC with micro-USB cable, DO NOT break connection until firmware upgrade is
finished.
5. Run Software and wait for connection.
6. Select TOOL and select Firmware Upgrade.
7. Server will check your current firmware version, and get the latest firmware prepared for the unit.
8. If there is a firmware version more up-to-date than your current version, you will be able to click the
Upgrade button.
9. Wait until Assistant software reads finished.
10. Click OK and cycle the power of the unit after at least 5 seconds.
Your unit is up-to-date now.
Notices:
After firmware upgrade, please re-configure the MC by Using the Assistant software.
If the network or server is busy, please try again later with above procedures.
If firmware upgrade failed, MC will enter waiting for firmware upgrade status automatically, please
try again following the above procedures.
Product Info & Upgrade
You can check the MC product version via ABOUT Info:
Software
Firmware
Loader
Hardware ID
S/N is a 32 digits authorization code for unit function activations. We had already filled in the authorization
code for your unit after manufacture. In the Future you might be asked to fill in the new S/N in the future if you
brought new function upgrades. Fill-in the S/N and then click Write button. If you filled in an invalid S/N over
30 times, your MC will be locked and you have to contact our customer support.

©2012 DJI Innovations. All Rights Reserved. 12
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.
Make sure the MC ESC ports is pointing to the aircraft nose direction, otherwise serious damage will occur to
your aircraft.
When MC mounted, try your best to mount the MC at the center of the frame, and do not mount the MC
upside-down. Make sure MC is parallel to the aircraft horizon.
Notices:
1Users with GPS module please mount GPS location.
2Please follow the requirements to mount your Naza MC, so as to prevent the aircraft from abnormal,
such as drifting in horizontal direction, or even rollover.
3You must re-configure if the ALL-UP-WEIGHT had been changed on your multi-rotor,
4If GPS mounting locations are not accurate enough or the signs are wrong, error on X, Y，Z axles will
leads the oscillation of your multi-rotor.
5Make sure to follow the diagram in our assistant software: red is positive, green is negative; unit of
measure is CM, NOT INCH.

©2012 DJI Innovations. All Rights Reserved. 13
2 Motor Mixer
STEP1: Mixer Type
Set your transmitter intoACROBATIC 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.
Make sure the type of propeller matches the rotation direction of the motor.
STEP2: Motor Idle Speed
Motor Idle Speed is the lowest speed after motors start. Setting the Motor Idle Speed will affect the motors
lowest speed after the motors start. There are five levels from LOW speed to HIGH speed, and the default is
RECOMMEND. You can click and drag cursor to the corresponding level, to change Motor Idle Speed.
LOW
RECOMMEND
HIGH
The lower motor idle speed
The higher motor idle speed
Setting the Motor Idle Speed as LOW, the motor idle speed will be at its lowest point.
Setting the Motor Idle Speed as HIGH, the motors idle speed will be at its highest.
RECOMMEND is the advised level.
You can reset the Motor Idle Speed according to your personal preference.
Notices:

©2012 DJI Innovations. All Rights Reserved. 14
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.
Tips:
The output pulse width for every grade of Motor Idle Speed is as followed
LOW
RECOMMEND
HIGH
output pulse width
1144 us
1160 us
1176 us
1192 us
1208 us
There is relationship between the output pulse width and the max/min pulse width when TX End
Point is 100%.
output pulse width＝(max pulse－min pulse) x proportion + min pulse
You can get the proportional values by computing according to the above formula for a special TX.
Use Futaba TX for example. Notice that Futaba TX End Point is 100%.
LOW
RECOMMEND
HIGH
proportion value
3%
5
7%
9%
11%

©2012 DJI Innovations. All Rights Reserved. 15
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.
Notices:
Please reboot MC and redo the calibration after you change the setup of your transmitter or change your
receiver!
Tips:
If you use S-Bus/PPM receiver, the communication of A, E, T, R, U, X1 and
X2 channels are all through the D-Bus/PPM channel. Right figure shows the
connection of default transmitter channels and MC channels in S-Bus/PPM
receiver (Only first 8 channels of S-Bus/PPM receiver are used at the
moment).
STEP2: Cut Off Type
Please read the introductions of start and stop motor in this step first, and then choose a cut off type.
Transmitter
Channels MC
Channels
1
2
3
4
5
6
7
A
E
T
R
U
X1
X2

©2012 DJI Innovations. All Rights Reserved. 16
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. In this case, if you push the throttle stick over 10% within 5 seconds after
motors stop, motors will re-start, CSC is not needed. If you don’t push throttle stick after motors
start in three seconds, motors will stop automatically.
Intelligent Mode: By using this mode, different control mode has different way of stopping motors.
In Manual Mode, only executing CSC can stop motors. In Atti Mode or GPS Atti. Mode, any one
of following four cases will stop motors:
a) You don’t push throttle stick after motors start within three seconds;
b) Executing CSC;
c) Throttle stick under 10%, and after landing for more than 3 seconds.
d) If the angle of multi-rotor is over 70°, and throttle stick under 10%.
Tips (Intelligent Mode):
You have to execute CSC in order to re-start the motors. By pushing the throttle stick only will not
re-start the motors.
In Atti. / GPS Atti. Mode, it has landing judgment, which will stop motors.
Start motors in Atti. / GPS Atti. Mode, you have to execute CSC and then push throttle stick over
10% within 3 seconds, otherwise motors will stop after 3 seconds.
During normal flight, only pulling the throttle stick under 10% will not stop motors in any control
mode.
For safety reasons, when the slope angle of multi-rotor is over 70°during the flight in Atti. / GPS Atti.
Mode (may be caused by collision, motor and ESC error or propeller broken down), and throttle stick
is under 10%, motors will stop automatically.
You can stop motors by executing CSC in any control mode.
Notices:
Any of these two cut off types will only work properly if Tx calibration is correct done.
The motors will start or stop immediately when you execute CSC when Tx commands are valid
under any of the control modes. It has nothing to do with current throttle stick position. Please DO
NOT execute the CSC during flight unless safety is at stake.

©2012 DJI Innovations. All Rights Reserved. 17
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.
In any control mode, DO NOT pull throttle stick under 10% during normal flight without any reason.
In failed-safe, CSC is denied by MC, motors will hold their state.
STEP3: Command Sticks Calibration
Slides Moving Definition：
T
:If you pull the throttle stick to low position, the Slide will move to the left and the craft is down,
Moving the Throttle stick up the slide will move to the right is craft will lift off the ground;
R
: If you move the rudder stick to the Left the Slide will move to the left, this is nose left, When you
move the rudder to the Right the slide move to the right, this is nose right;
E
: If you move the Elevator stick down the Slide will move to the left and the craft will move back,
Moving the Elevator Stick up the Slide will move to the right and the craft will move Foward (away from you);
A
: If you move the Aileron stick to the left the Slide will move left and the craft will move to the left,
when you move theAileron stick to the Right the slide will move to the right and the craft will move to the right.
1. Set endpoints of all channels to default values (100%) and set all trims and sub-trims of sticks to 0
on your transmitter first. Keep all curves’ settings as default since the end-point of transmitter sticks
will be recorded here.
2. Click the START button, and move all of the sticks throughout their
complete range several times.
3. After you do this, click the FINISH button when you have finished the
above procedures.
4. If the slides are moving opposite from your stick movements direction, click the reverse button
REV/NORM beside.
Notices:
1. All slides should become when all the sticks are in the middle positions. If slides cannot go back
to center points (become ), just click FINISH, then slides will be at center automatically. If still not,
please reboot MC, and do not apply Tx command during the reboot.
2. CSC may not start motors If trims and sub-trims of sticks are not 0!

©2012 DJI Innovations. All Rights Reserved. 18
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. At each
switch position, use the end-point for fine tuning on your transmitter, Move the Switch to the corresponding
Mode as indicated by the slider of channel U to GPS (GPS Atti Mode), A (Atti. Mode), M (Manual Mode) to
turn the corresponding area blue respectively as showed in the figure.
Tips:
To move the slider is to adjust channel－selected end-points.
For 3-position switch, you should assign: Position-1 to Manual
Mode; Position-2 to Atti. Mode; Position-3 to GPS Atti. Mode; or
reverse the assignment for Position-1 and Position-3.
For 2-positions switch, you can assign any two of these three control modes as you like.
If your transmitter supports Fail-Safe, follow the Fail-Safe setting procedure of your R/C TX. Then move the
slider to the range which makes Fail-Safe Mode turn blue, set Fail-Safe output of receiver to input port-U. If
you switch off your transmitter now, the U channel slide should move to Fail-Safe and turn the corresponding
area to blue. Otherwise please reset the fail-safe. MC has built-in auto level Fail-Safe function. That means
when the communication between MC and transmitter is disconnected, the outputs of all command sticks
from MC will go to center point. If your transmitter has only 4 channels, then MC will work in Atti. Mode by
default without the Fail-Safe function.
Tips:
Please refer to your RC manual for the details of fail-safe setup.
With GPS, it is Enhanced Fail-Safe; without GPS, it is Auto Level Fail-Safe, and the aircraft will land.
Notices:
1. Do NOT set the fail-safe position of throttle under 10% of endpoint.
2. MC will not execute the Fail-Safe protection if you don’t set it properly. You can verify the
Fail-Safe settings by shutting down your transmitter, and then you can use the following
method to check whether MC is already in Fail-Safe mode.
3. Check status bar at the bottom side of the software interface. If the Fail-Safe has been correctly
set-up the Control mode will change to Fail-Safe.
4. Check the LED indicator. Read the appendix in this manual for details. LED will give fast yellow
Tx
12
2 Position
Switch
Tx
1 2 3
3 Position
Switch

©2012 DJI Innovations. All Rights Reserved. 19
blinking if in fail-safe mode.
5. 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 GPSAtti. Mode in Control Mode Switch without connecting to GPS module, the M.C. will
switch GPS Atti. Mode into Atti. Mode automatically, and LED indicator will Blink yellow, that is if the
3-poisition switch is the same as 2-position switch.
8. Once the MC goes into the Fail-Safe Mode, and you are using the GPS, the aircraft will auto
Stop the Motors when landed; without GPS the aircraft the motors will not auto Stop when landed.

©2012 DJI Innovations. All Rights Reserved. 20
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. So you can still setup the basic Gain of Pitch, Roll, Yaw and Vertical manually
according to your multi-rotor to have a wonderful flying experience. We suggest you to change 10% to 15% of
the parameter at a time.
For the gains of the Pitch and Roll, if you release the Pitch or Roll stick after giving a command, the multi-rotor
should go back to a hovering state. If the reaction of multi-rotor in this procedure is too soft (large delay),
please increase the basic gain slowly (10%-15% each time) after you release the stick until vibration begins, .
Then decrease the gain a little until vibration just disappears. Now the gain is perfect, but the reaction of the
attitude change is slow. Follow the Procedure at the end of this section to tune the attitude gains.
The way of tuning the Yaw gain is the same as the way of adjusting the Tail Gyro. If you want fast stick
reaction speed, increase the gain, otherwise decrease the gain. However, the spin of multi-rotor is produced
by the counter torque force, and the magnitude of which is limited. Therefore, large gain will not produce tail
vibration like helicopter, but severe reaction at the start or stop of motors, which will affect the stabilization of
the other directions.