dji ZENMUSE L2 User manual

2023.10v1.0
User Manual

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ZENMUSE L2 User Manual
© 2023 DJI All Rights Reserved. 1
Using This Manual
Legends
Important Hints and Tips
Video Tutorials
Go to the address below or scan the QR code to watch the tutorial videos, which demonstrate
how to use the product safely.
https://enterprise.dji.com/zenmuse-l2/video
Warnings
1. This product is a precision instrument. DO NOT drop it and handle with care.
2. DO NOT expose the LiDAR to strong sources of energy such as a laser beam or any other
LiDAR in use. Otherwise, the LiDAR may be permanently damaged.
3. If highly accurate point cloud data is required, it is not recommended to use the L2 in low
visibility conditions such as foggy or rainy weather. Otherwise, the detection range may be
reduced leading to point cloud noise. Refer to the LiDAR Usage Scenario section for more
information.
4. DO NOT touch the optical window of the L2. Dust and stains on the optical window can
negatively affect the performance. Use compressed air or a wet lens cloth to clean the
optical window correctly. Refer to the Storage, Transportation, and Maintenance section for
more information on how to clean optical windows.
5. DO NOT touch the surface of the lens with your hand. Be careful to avoid scratching the
surface of the lens with sharp objects. Otherwise, the quality of images may be aected.
Clean the surface of the camera lens with a soft, dry, clean cloth. DO NOT use substances
containing alcohol, benzene, thinners, other ammable substances, or alkaline detergents
to clean or maintain the RGB Mapping Camera.
6. When not in use, store the product in the storage case and replace the desiccant packet as
necessary to prevent fogging of the lenses due to excessive ambient humidity. If the lenses
fog up, the water vapor will usually dissipate after powering on the device for a while. It is
recommended to store the product in an environment with a relative humidity of less than
40% and temperature range of 15° to 25° C (59° to 77° F).
7. DO NOT place the product under direct sunlight, in areas with poor ventilation, or near a
heat source such as a heater.
8. DO NOT repeatedly power the product on or off. After powering off, wait at least 30
seconds before powering back on. Otherwise, the product life will be aected.

ZENMUSE L2 User Manual
2 © 2023 DJI All Rights Reserved.
9. Under stable laboratory conditions, the product achieves an IP54 protection rating by
IEC 60529 standards. The protection rating is not permanent and may reduce over an
extended period.
10. Make sure there is no liquid on the surface or in the port of the gimbal.
11. Make sure the gimbal is securely installed on the aircraft and the microSD card slot cover is
properly closed.
12. Make sure the surface of the gimbal is dry before opening the microSD card slot cover.
13. DO NOT remove or insert the microSD card when taking a photo or recording a video.

© 2023 DJI All Rights Reserved. 3
Using This Manual 1
Legends 1
Video Tutorials 1
Warnings 1
Product Profile 5
Introduction 5
Overview 5
Installation 5
Remote Controller Controls 7
DJI Pilot 2 App 8
Basic Features 8
Point Cloud LiveView 10
Point Cloud Preview 11
Point Cloud Playback 11
Point Cloud Merging 12
Field Data Collection 14
Getting Started 14
Area Route 14
Recording Point Cloud Data 14
Terrain Follow 16
Waypoint Route 17
Set Waypoints 17
Live Mission Recording 18
Route Parameters 18
Manual Flight 20
Task Quality Report 20
Point Cloud Data File Description 22
PPK Data Acquisition 22
Office Data Processing 24
Downloading DJI Terra 24
Reconstruction Procedures 24
LiDAR Description 26
Non-repetitive Scanning Method 26
Contents

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Repetitive Scanning Method 26
Point Cloud Density 27
LiDAR Usage Scenario 28
Maintenance 29
Log Export 29
Firmware Update 29
Using DJI Pilot 2 29
Using microSD Card 29
Update Status Alarm 30
L2 Calibration 30
Re-calibrating the Internal and External Parameters 30
Restoring the Internal and External Parameters to Default Settings 31
Storage, Transportation, and Maintenance 31
Storage 31
Transportation 31
Maintenance 32
Specifications 33

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© 2023 DJI All Rights Reserved. 5
Product Prole
Introduction
The ZENMUSETM L2 integrates a LiDAR module, a high-accuracy IMU, and an RGB mapping
camera on a 3-axis stabilized gimbal, which can be used with specied compatible DJITM aircraft.
With Point Cloud LiveView, users can take a quick view of the 3D point cloud eect in the DJI
PILOTTM 2 app. When used with DJI TERRATM, the L2 oers a complete solution that generates
point cloud output and extracts ground points to generate DEM results, which efficiently
completes highly accurate reconstructed models of complex structures.
Overview
1. Gimbal Connector
2. Pan Motor
3. Roll Motor
4. Tilt Motor
5. microSD Card Slot
6. RGB Mapping Camera
7. LiDAR
Installation
The L2 can be mounted to MATRICETM 300 RTK (requires DJI RC Plus) or Matrice 350 RTK aircraft.
1. Remove the gimbal cap and lens cap.
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2. Press the button on the aircraft used for detaching the gimbal and camera. Rotate and
remove the gimbal cap on the aircraft.
3. Align the white dot on the gimbal with the red dot on the aircraft and insert the gimbal.
4. Rotate the gimbal lock to the locked position by aligning the red dots.
• To ensure the mapping accuracy, make sure the L2 is mounted on a single downward
gimbal connector with the cable connected to the right USB-C port (when facing the
aircraft).
• Make sure the gimbal connector on the aircraft is positioned correctly when mounting.
Otherwise, the L2 cannot be mounted.
• Only remove the L2 after powering o the aircraft.
• Remove the L2 by pressing the button on the aircraft to detach the gimbal and camera.
• Make sure the microSD card slot cover is rmly in place to prevent dust or moisture
entering during usage or transportation.
• To avoid burns, DO NOT touch the camera case and the optical window when powering
on.
• Detach the gimbal from the aircraft during transportation or storage. Otherwise, the
service life of the damper balls may be shortened or they may even be damaged.

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Remote Controller Controls
With the buttons on the DJI RC Plus remote controller, users can switch display modes between
point cloud and visible light live views, preview the point cloud eect, and control the gimbal
and camera.
1. L1/L2/L3/R1/R2/R3 Buttons
Go to Camera View in DJI Pilot 2 to view the
specic functions of these buttons. Refer to
the DJI Pilot 2 App section for details.
2. 5D Button
View and customize the 5D button functions
in DJI Pilot 2.
3. Customizable C1/C2/C3 Buttons
Customize the function of these buttons in
DJI Pilot 2.
4. Left Dial
Adjust the tilt of the gimbal.
5. Record Button
Press once to start or stop recording.
6. Focus/Shutter Button
Press the button halfway down for
autofocus and all the way down to take a
photo.
7. Right Dial
Adjust the pan of the gimbal.
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DJI Pilot 2 App
In the DJI Pilot 2 app, users can perform a ight task or use Manual mode to record point cloud
data. After the ight task, the user can preview the 3D models or even merge models collected
from multiple ight tasks.
Basic Features
In Camera View, the touch interface can display a live view and oers professional photography
congurations.
1. View Type
Displays the current camera type including the visible light view, the LiDAR view, and the
side-by-side view.
2. Camera Parameters
Displays the current camera parameters.
3. Auto Exposure Lock
Tap to lock the current exposure value.
4. Focus Mode
Tap to switch between MF (manual focus), AFC (continuous autofocus), and AFS (single
autofocus).
5. Storage Info
Displays the available storage capacity of the microSD card.
6. Exposure Settings
The L2 supports Auto, S, A, and M exposure modes. EV, AE lock, ISO, shutter, and other
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parameters can be congured accordingly in dierent exposure modes.
7. IMU Calibration Status
Tap Calibrate to perform an IMU calibration to calibrate the LiDAR’s inertial navigation
system and increase the accuracy of data reconstruction.
A calibration ight should be performed at both the start and end of a ight. Make sure
there are no obstacles within a 30m radius of the start and end points.
8. Camera Settings
Tap to enter the photo and video settings. The settings may vary according to different
recording modes.
• Dewarping is disabled by default. Users can tap > Dewarping in the camera
settings to enable this function to eliminate or reduce distortion and vignetting in
the visible light view.
9. Recording Mode (Shutter/Video Record/Point Cloud Record)
Tap to switch between photo, video, and point cloud recording modes.
10. Shooting Button (Shutter/Video Record/Point Cloud Record)
Tap to take photos or start and stop recording video or point cloud data.
11. Playback
Tap to enter the album to view and download photos and videos stored in the microSD
card. Select the point cloud data le to preview the 3D model. Refer to Point Cloud Playback
for details. Select multiple les to view the merging models. Refer to Point Cloud Merging
for details.
12. Press the R2 button on the remote controller to preview the current point cloud model
during eldwork. Refer to Point Cloud Preview for details.
13. Press the R3 button on the remote controller to switch to FPV camera view.
14. FPV Live View
Tap to display the FPV camera view on the screen. Users can maximize or minimize the
view.
15. Navigation Display
In Camera View, the horizontal speed, wind speed, gimbal pitch angle and pitch scale, and
the inclination of the gimbal relative to the ground are shown on the left of Navigation
Display. The right shows the altitude, relative altitude, vertical obstacle sensing information,
and vertical speed bar.
16. Map View
Tap to display the map view on the screen. Users can maximize or minimize the view.
17. Laser PinPoint
Press the L3 button on the remote controller to add a PinPoint in the center of the screen.
Tap to select a PinPoint on the map to view the distance between the subject and the
aircraft or the altitude, latitude, and longitude of the subject. The laser PinPoints can be
projected onto the live view.

ZENMUSE L2 User Manual
10 © 2023 DJI All Rights Reserved.
18. Press the L2 button on the remote controller to switch between the visible light view and
the LiDAR view.
19. Press the L1 button on the remote controller to switch to side-by-side display with visible
light and LiDAR live view.
20. Gimbal Mode
Displays the current gimbal status as follow mode. Tap to select an action such as gimbal
recenter, gimbal pan recenter, gimbal tilt down, or gimbal down, or switch to gimbal free
mode.
21. Laser Rangender (RNG)
The cross hair in the center of the live view will turn red, which means the laser rangender
is pointing at the subject and measuring the distance between the subject and the aircraft,
as well as the altitude, latitude, and longitude of the target.
22. Flight Route
Tap to enter the ight route library. Users can create and view all ight tasks and more.
Point Cloud LiveView
With Point Cloud LiveView, users can take a quick view of the real-time point cloud eect using
the LiDAR view or side-by-side view.
23. Coloring Coding
Tap to select a rendering mode including reectivity, height, distance, and RGB.
24. Pause Button
Tap to pause recording and tap again to resume.
25. Press the R1 button on the remote controller to switch the rendering mode.
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Point Cloud Preview
Press the R2 button on the remote controller during a ight task to preview the point cloud 3D
model recorded in real time.
26. Tap to view the point cloud model from above or in the direction of north, east, south, or
west.
27. Press the R2 button on the remote controller to exit the preview.
28. Displays the current orientation.
29. Press the L2 button on the remote controller to view the point cloud model beneath the
aircraft.
30. Press the L1 button on the remote controller, the model will recenter and zoom in or out to
display the whole model.
Point Cloud Playback
Tap to enter the album and download the point cloud data les to preview the 3D models
directly*, allowing users to check the quality on-site and improve work eciency.
* The model displayed in point cloud playback is generated using sparse point clouds.
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31. Screen Gestures
Displays the supported control gestures when entering the view for the rst time.
32. Point Cloud Merging
Press the L3 button on the remote controller to select multiple point cloud data les and
view the merging model.
Point Cloud Merging
The app supports the inspection of the results by alignment of multiple point cloud models
captured from dierent ight tasks and reviews the voids and gaps in the merging models.
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33. Press the L3 button on the remote controller to select more point cloud data les to merge.

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• Make sure the aircraft and the remote controller are connected when viewing the point
cloud models.
• The point cloud data file cannot be processed when it is less than 2 kB. It is
recommended to record point cloud data for longer than 2 minutes with IMU
Calibration enabled to ensure the data is eective.
• To clear the cache, enter the album to select and delete the downloaded les or tap
Data and Privacy on the home page and then tap DJI Pilot Cache Management to clear
all downloaded point cloud data les.

ZENMUSE L2 User Manual
14 © 2023 DJI All Rights Reserved.
Field Data Collection
In the DJI Pilot 2 app, users can perform a ight task (Area Route, Waypoint Route, and Linear
Route) or use Manual mode to record point cloud data. After each task, the app will generate a
task quality report to show the validity of the data.
• Make sure to remove the microSD card after at least 60 s of stopping the shuttering or
the point cloud recording. Otherwise, the accuracy may be reduced or the data le may
be damaged.
Getting Started
1. Make sure the L2 is correctly installed on the single downward gimbal connector of the
aircraft and that the aircraft and remote controller are linked after powering on.
2. Go to Camera View in DJI Pilot 2, select and then Precise Positioning Setting. Choose the
RTK service type, and then make sure that the status of RTK positioning and heading both
display FIX. Refer to PPK Data Acquisition to learn more about data processing if the network
or the remote controller video transmission signal is poor.
3. Adjust the camera parameters on the upper right corner of Camera View according to the
surroundings. Make sure the photo is well exposed. Tap to switch exposure modes. It is
recommended to set Auto mode for recording point cloud data.
Area Route
When using the area route, the aircraft can automatically complete the data collection of the
planned area along the s-shaped route according to the route parameters. Terrain follow ight
can be performed in the area route task.
Recording Point Cloud Data
Enter Camera View in DJI Pilot 2 and tap , select Create a Route, and then Area Route to create
a ight task.
1. Tap on the map view, and drag the boundary point to adjust the range of the mapping area.
Tap in the middle of the boundary point to add a point. Tap to delete the selected
boundary point, and click to delete all boundary points. Tap to conrm the mapping
area.

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L2
2. Choose the aircraft, and then select Zenmuse L2, LiDAR Mapping.
3. Click OK after completing the Payload Settings, then set the ight route parameters and
Advanced Settings.
4. Tap to save the task and tap to upload and execute the ight task.
5. After the ight task, users can preview the 3D models or even merging models collected
from multiple ight tasks.
6. Power o the aircraft after completing the task and remove the microSD card from the L2.
Insert the microSD card into a computer and check the point cloud data and other les in
the DCIM folder.
• Refer to Route Parameters for more information.
• For LiDAR Mapping, it is recommended to set the Side Overlap (LiDAR) to above 20%,
the Scanning Mode to Repetitive, the altitude to 150 m, the ight speed to 15 m/s, and
also to enable IMU Calibration.
• It is recommended to disable Dewarping and set Forward Overlap (Visible) and Side
Overlap (Visible) to default parameters in a Photogrammetry task.

ZENMUSE L2 User Manual
16 © 2023 DJI All Rights Reserved.
Terrain Follow
Set the altitude mode to AGL (altitude relative to ground) to enable the terrain follow function.
By importing the DSM le including the altitude information or downloading the DEM le from
internet, the app will generate a ight with altitude changes to ensure the relative height of the
aircraft and the ground below remains unchanged.
Preparing Files
The DSM les of the mapping area can be obtained using the following two methods:
1. Importing Local File
• Collect the 2D data of the mapping area and perform a 2D reconstruction using DJI Terra
by selecting Mapping Scenarios. A gsddsm.tif le will be generated and can be imported
to the microSD card of the remote controller.
• Download the terrain mapping data from a geobrowser.
2. Downloading from Internet
DSM les can be directly obtained by downloading the open source data of the ASTER GDEM
V3 geoid database.
• Make sure the DSM file is a geographic coordinate system file, not a projected
coordinate system file. Otherwise, the imported file may not be recognized. It is
recommended that the resolution of the imported file should be no more than 10
meters.
• Make sure that the mapping area is within the range of the DSM le.
• The open-source geoid database may have errors. DJI is not responsible for the
accuracy, authenticity, or validity of the data. Pay attention to the ight environment. Fly
with caution.
Importing Files
1. Set the altitude mode to AGL and tap Select DSM File. Tap and select Download from
Internet or Import Local File. Choose the file and tap Import, and wait for the file to be
imported.
2. The imported les will be displayed in the list.
Planning a Flight Task
1. Set the altitude mode to AGL and tap Reselect to select a le from the DSM le list.
2. Edit the parameters in Area Route. Set the terrain follow height and enable IMU Calibration.
3. Select to save the task and select to upload and execute the ight task.
4. Power o the aircraft after completing the task and remove the microSD card from the L2.
Insert the microSD card into a computer and check the point cloud data and other les in
the DCIM folder.

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Set Waypoints
Tap Create a Route, Waypoint, and then Set Waypoints.
Waypoint Mapping Oblique
Set Waypionts Live Mission
Recording
Waypoint Route
Waypoint Route can be planned in two ways: Set Waypoints or Live Mission Recording. Use
Set Waypoints to create a route by adding editable waypoints on the map. Use Live Mission
Recording to create a route by recording the waypoint location of the aircraft along the route.
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1. Enable or disable waypoint settings. Tap to add and edit waypoints on map when enabled.
2. Reverse Path: tap to swap the start and endpoint to reverse the ight path. S refers to the
start point.
3. Delete Selected Waypoints: tap to delete the selected waypoints.
4. Point of Interest (POI): tap to enable the POI function and a POI will be displayed on the map.
Drag to adjust its position. After a POI is added, the aircraft yaw can be set as facing the POI,
so that the aircraft nose points at the POI during the task. Tap this icon again to disable the
POI function.
5. Flight Route Information: displays the ight length, estimated ight time, waypoint quantity,
and photo quantity.
6. Parameters List: edit the route name, select the aircraft and payload, set the altitude mode
and payload settings.

ZENMUSE L2 User Manual
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7. Flight Route Settings: the settings are applied to the entire route, including safe takeoff
altitude, ascend to start point, aircraft speed, aircraft altitude, aircraft yaw, gimbal control,
waypoint type, completion action, and IMU Calibration.
8. Individual Waypoint Settings: select a waypoint and set its parameters. Tap < or > to switch
to the previous or next waypoint. The settings are applied to the selected waypoint, including
aircraft speed, aircraft altitude, aircraft yaw mode, waypoint type, aircraft rotation direction,
gimbal tilt mode, waypoint actions, longitude, and latitude.
9. Save: tap to save the ight route. Select to upload and execute the ight task.
Live Mission Recording
Enter Camera View and tap . Tap Create a Route > Waypoint, and then Live Mission Recording
to create a ight mission.
1. Control the gimbal to point at the subject. Press the C1 button on the remote controller to
add a waypoint. The number of waypoints will be added accordingly.
2. Tap to save and generate the ight route. Tap the ight route name at the top left to view
and edit the ight route settings. There have two editing modes: Set Waypoints or Edit In-
Flight.
Route Parameters
Specications Description
Return Mode Supports 5 returns: single return (strongest), dual return, triple return, quad
return, and penta return.
Sampling Rate Supports 240 kHz scanning frequency.
Scanning Mode Supports both repetitive scanning and non-repetitive scanning.
Repetitive scanning is suitable for topographic mapping, with higher
accuracy and even point cloud scans. Use non-repetitive scanning for
electricity and forestry data collection to generate more complete tree trunk
and electrical transmission tower models.
RGB Coloring When enabled, the user can color the point cloud using the photographs
captured by the RGB mapping camera (enabled by default). It is
recommended to disable the function during night operation.
The photographs can also be used for 2D and 3D reconstruction.
IMU Calibration It is recommended to enable IMU Calibration. The aircraft ies a Calibration
Flight at the start point, end point, and the yellow segments of a ight route.
Collection Type It is recommended to select Ortho Collection in LiDAR Mapping.
GSD GSD is the ground sampling distance of the orthophotos taken on the rst
route, i.e., the distance between two consecutive pixel centers measured
on the ground. The larger the GSD value, the lower the resolution of the
orthophotos.