dji A2 Flight Control System User manual

©2013 DJI Innovations. All Rights Reserved. 1
A2 Flight Control System
User Manual V 1.12
2013.12.24 Revision
For Firmware V2.1 & Assistant Software V1.2 & 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. Product information, technical updates and manual corrections will be available on this website.
Due to unforeseen changes or product upgrades, the information contained in this manual is subject to change
without notice.
*This manual is for basic assembly and configuration; you can obtain more details and advanced instructions when
using the Assistant Software. To assure you have the latest information, please visit our website and download the
latest manual and current software version.
If you have any problems that you cannot solve during usage, please contact your authorized dealer.

©2013 DJI Innovations. All Rights Reserved. 2
Content
INTRODUCTION....................................................................................................................................................................................3
PRODUCT INTRODUCTION................................................................................................................................................................................ 3
IN THE BOX .......................................................................................................................................................................................................... 3
EQUIPMENT PREPARED BY USERS................................................................................................................................................................... 3
SYSTEM INTRODUCTION.................................................................................................................................................................................... 4
SYMBOL INSTRUCTION ...................................................................................................................................................................................... 4
1 ASSEMBLY AND CONFIGURATION.............................................................................................................................................5
1.1 HARDWARE INSTALLATION AND CONNECTION...................................................................................................................................... 5
1.1.1 Mixer Type Supported...................................................................................................................................................................... 5
1.1.2 Hardware Connection Diagram.................................................................................................................................................... 6
1.1.3 Important for Assembly and Connection.................................................................................................................................. 6
1.2 SOFTWARE INSTALLATION AND CONFIGURATION ...............................................................................................................................14
1.2.1 Installing Driver and Assistant Software ..................................................................................................................................14
1.2.2 Configure using Assistant Software on a PC........................................................................................................................15
1.2.3 Configure the control mode switch..........................................................................................................................................16
1.2.4 Configuration Checking ...............................................................................................................................................................18
1.3 COMPASS CALIBRATION............................................................................................................................................................................19
2 BASIC FLYING .................................................................................................................................................................................20
2.1CONTROL MODE INSTRUCTION.............................................................................................................................................................. 20
2.2 FLYING ENVIRONMENT REQUIREMENTS...............................................................................................................................................22
2.3 CHECK LIST BEFORE FLYING ..................................................................................................................................................................22
2.4 POWER ON AND CHECK ..........................................................................................................................................................................23
2.5 START MOTORS METHODS .....................................................................................................................................................................23
2.6 BASIC FLYING TEST ..................................................................................................................................................................................25
3 PROTECTION FUNCTIONS SETTING...................................................................................................................................... 27
3.1 FAILSAFE......................................................................................................................................................................................................27
3.2 LOW VOLTAGE PROTECTION.................................................................................................................................................................28
4 ADVANCED FUNCTIONS ............................................................................................................................................................30
4.1 IOC (INTELLIGENT ORIENTATION CONTROL)FUNCTION................................................................................................................ 30
4.2 SERVO GIMBAL FUNCTION......................................................................................................................................................................33
4.3 GEAR FUNCTION .......................................................................................................................................................................................33
4.4 ATTITUDE CONTROL WHEN ONE MOTOR OUTPUT FAILS..............................................................................................................33
4.5 DJI ASSISTANT APP USAGE ....................................................................................................................................................................34
APPENDIX............................................................................................................................................................................................. 36
LED INDICATOR DESCRIPTIONS ....................................................................................................................................................................36
SPECIFICATIONS ...............................................................................................................................................................................................37
FAQ......................................................................................................................................................................................................... 38
USE WITH OTHER DJI PRODUCTS..................................................................................................................................................................38
CHANNEL MAPPING INSTRUCTIONS FOR PC ASSISTANT SOFTWARE ................................................................................................. 40
RECOMMENDED MAPPING FOR FUTABA TRANSMITTER (MODE 2) USER..............................................................................................41
SETTINGS OF GAIN VALUES FOR YOUR REFERENCE..................................................................................................................................42
THE TRANSMITTER SETUP OF FUTABA......................................................................................................................................................42
DISCLAIMER ........................................................................................................................................................................................ 43
TRADEMARK........................................................................................................................................................................................43

©2013 DJI Innovations. All Rights Reserved. 3
Introduction
Product Introduction
The DJI A2 Multi-Rotor stabilization controller is a complete flight system for various multi-rotor platforms for
commercial and industrial AP applications. 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 setup provides
a seamless transition for current Ace One, WKM AP professionals. The system has the following features:
(1) Integrated with high-precision sensor components and a high-performance GPS Receiver.
(2) Utilizes high quality components precisely calibrated with temperature compensation in all gyros and
sensors, industry renowned flight algorithm in autopilot and UAV field.
(3) Designed with built-in vibration absorption, no extra mount frame or vibration absorption pad is required.
(4) Provide high precision control and high performance handling experience.
(5) Based on the DESST technology, it has a built-in 16-channel Receiver, and supports DSM2 satellite receiver.
(6) Optional DJI D-BUS Adapter can be used with a traditional Receiver.
In the Box
Controller Unit
(Built-in Receiver DR16)
PMU(Power Management unit)
IMU(Inertia Measurement Unit)
LED-BT-I
GPS-COMPASS PRO
Accessories
Micro-USB Cable (1)
Servo Cables (2)
GPS Bracket
Double side sticky pads.
Equipment Prepared by Users
Aircraft (Take Quad-rotor for example:
Red is nose, and Black is rear)
Transmitter
(Take Mode2 for example)
Others
Battery
DJI D-BUS Adapter
Mobile Device

©2013 DJI Innovations. All Rights Reserved. 4
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.
Symbol Instruction
General Symbol
Forbidden(Important)
Cautions
Tips
Reference
GPS Satellite number
Distance
TX signal good
TX signal lost
Roll to left
Roll to right
Pitch up
Pitch down
LED Symbol
(N)
N=1
N=2
N=3
N=4
N=6
N=20
N=∝
Meaning
One Blink
Two Blinks
Three Blinks
Four Blinks
Six Blinks
Twenty Blinks
Continuous
Blinks
e.g. (3) means three Red blinks.
(∝)LED blinks yellow and green alternatively.
(N)
N=∝
Meaning
Continuous Solid on
e.g. (∝)means Continuous Blue Solid on.
Configure the system using A2 Assistant software.
Do basic flying test
FailSafe and Low-voltage settings
Advanced functions: IOC, Gimbal, Gear
Mount the A2 flight control system on your aircraft finish connection.

©2013 DJI Innovations. All Rights Reserved. 5
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 Mixer Type Supported
Following Mixer Types are supported.
Quad-rotor X Hexa-rotor I
Hexa-rotor V Hexa-rotor Y
Quad-rotor I
Hexa-rotor IY
Octo-rotor IOcto-rotor X Octo-rotor V
The direction of the arrow in diagram indicates the rotation direction of the motor/propeller.
For coaxial propellers: Blue propeller is at TOP; Red propeller is at Bottom. Otherwise all propellers
are at top.

©2013 DJI Innovations. All Rights Reserved 6 |
1.1.2 Hardware Connection Diagram
90o
ESC 1#
ESC 2#
ESC 3#
ESC 4#
ESC 5#
ESC 6#
ESC 7#
ESC 8#
Important
Make sure the cable connections
are tight before every flight.
Suitable amount of hot melt
adhesive is recommended to use in
the connections to the CAN1 and
CAN2 ports.
Important
CAN-Bus, it provides power
supply and communication. A2 can
automatically identify the device
connected.
CAN1 and CAN2 ports are working
independent, device connected are
non-interchangeable. E.g. IMU and
GPS-COMPASS PRO to CAN1; LED-
BT-I to CAN2; PMU to CAN1 or CAN2.
Supply power for all ports on
both sides of controller unit.
2S~6S
Battery
1.1.3 Important for Assembly and Connection
This section describes all device port functions, assembly requirements, connection requirements and tips
during usage. Also the linking procedures between the built-in Receiver DR16 and your Transmitter. Please read
all information below carefully, especially if you are a first time user.
(1) Controller Unit
The Controller Unit is the core component of the A2 flight control system:
(1) M1~M8 are used to connect to the ESCs of the aircraft.
(2) The built-in Receiver DR16 is based on DJI DESST technology, which can be used with the Futaba FASST
series and DJI DESST series Transmitter.
(3) CAN1 and CAN2 ports are working independently and should connect to different modules.
(4) 4 independent and configurable outputs.
(5) It is compatible with the external Receiver, e.g. DSM2 satellite Receiver.
(6) Use the optional DJI DBUS Adapter to support the traditional receiver.

©2013 DJI Innovations. All Rights Reserved 7 |
Port Description
Connect to ESC
iOSD MARK II, Z15 from DJI
IMU
GPS-COMPASS PRO
To PW port of PMU
LED-BT-I
2.4G DATA LINK from DJI
Reserved
To S-BUS Receiver
BEC，Connect to X1 of PMU for voltage detection
To DSM2 satellite Receiver
Antenna
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*
*If the Gimbal function is enabled in Assistant Software,
F2/F3 can only be used for gimbal Pitch/Roll control,
which means F2/F3 cannot be mapped to any other
Receiver channel.
*If the Gear function is enabled in Assistant Software,
F1 can only be used for gear switch control, which
means F1 cannot be mapped to any other Receiver
channel.
Mounting Requirements:
Install the Controller Unit in the proper position to make sure the ports are accessible. No specified direction is
required.
Place the antennas in an open space under the aircraft, DO NOT block them. Position the heads of
two antennas at a 90-degree angle. DO NOT bend or wind them.
Receiver System
The A2 flight control system can use its own built-in Receiver, and also can support external receivers. Whatever
type of Receiver is used, please make sure that the Receiver and Transmitter is linked correctly before use.
A. Built-in Receiver
For enhancing the system integration and reliability, the A2 is integrated with a 2.4G receiver based on
frequency hopping technology. The built-in Receiver can be used with the Transmitter of Futaba FASST series
or DJI DESST series after linking. For users, you are only asked to carry out the link procedures, no extra
requirement for connection.
Please carry out the following procedures to finish the Link process, and the configuration in the A2 Assistant
software->Basic ->R/C ->Receiver Type. Select the DR16 option.
During use, you may see the following LED indication, please do the operation according to the table below.
LED
Description
Operation
(∝)
Signal from Transmitter has been detected by the Receiver, but not matched.
Link operation required
(∝)
No Transmitter signal is received, e.g. the flight control system is powered on
but the Transmitter is powered off.
Switch on
(∝)
The Receiver and Transmitter have been linked to each other successfully.
Can work normally

©2013 DJI Innovations. All Rights Reserved 8 |
0.5m<Distance<1cm
1. Turn on the transmitter, it begins to send signals after 1.5secs.
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.
Link Procedures
2.Power on the flight control system, configure the Receiver type as DR16 in
the Assistant software.
The DR16 Receiver is compatible with the Futaba transmitters which have optional FASS MODE MULT,
MLT2 or 7CH. Users can find out more available Futaba transmitters and configuration requirements
refer to the FAQ->The Transmitter setup of FUTABA.
B. DSM2 Satellite Receivers
If using DSM2 satellite Receivers, please follow the diagram for connection, set the Receiver referring to your
Receiver manual, and select the Receiver type as DSM2 in the Assistant software->Basic->R/C-> Receiver Type.
DSM2
satellite
Receiver
1. Power on the flight control system, the Transmitter should be turned off.
3.Press and hold the LINK button on the controller unit the LED blinks red and the
indicators on the Receivers blink too. Then release the LINK button the Receiver will
be ready for linking.
4.Press and hold the linking button on the Transmitter then turn on the Transmitter to
start linking, release the button after the Transmitter is displayed Linked or the
indicators on the Receivers are solid on.
Linking procedures
2.Set the Receiver type as DSM2 in the Assistant software.
5.The LED on the controller unit will be solid green on after linking successfully.
DSM2
satellite
Receiver
Notes for the DSM2 users:
There is no need to enable the FailSafe function in the Transmitter. If the Receiver loses the signal
from the Transmitter, the controller unit will enter into FailSafe automatically, and the aircraft will

©2013 DJI Innovations. All Rights Reserved 9 |
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. S-BUS Receivers
If using S-BUS Receivers 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.
S-BUS
Receiver
S.BUS
Notes for the S-BUS users:
It is no need to enable the FailSafe function in the Transmitter. Once the Receiver loses the
signals from the Transmitter, the controller unit will enter into FailSafe automatically, and the
aircraft will hover or Go-home as configurations of the FailSafe in the Assistant software.
D. PPM Receivers
If using PPM Receivers please follow the diagram for connection, set the Receiver referring to your Receiver
manual, and select the Receiver type as PPM in the Assistant software->Basic->R/C-> Receiver Type.
PPM
Receiver
PPM
E. Traditional Receivers

©2013 DJI Innovations. All Rights Reserved 10 |
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.
Traditional
Receiver
8
7
6
5
4
3
2
1
Important
· When you use a traditional receiver,
DJI D-BUS ADAPTER is required. Put
the switch to the “I”stop, and
power on the system, the LED should
be red on; otherwise, keep the switch
at “I”stop and then power cycle the
system.
· At the “I”stop, the D-BUS ADAPTER
is converting the PWM signal from
traditional receiver to S-BUS signal.
Notes for the traditional receiver users:
When using the traditional receiver which doesn’t have endpoint adjustment operations to set
FailSafe in the U channel, the Go-Home switch is recommended and users can use it to trigger
the FailSafe.
Configure the FailSafe function of your transmitter and receiver according to its instructions,
set the FailSafe position of the Go-Home switch in the position triggering the FailSafe function.
If it is configured correctly as mentioned above, the FailSafe function will be activated
automatically if the receiver loses the signal from the transmitter.
Users can get more information about the FailSafe function referring to 3.1 FailSafe in this
manual and the help text in the Assistant software.