dji WKM User Manual
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dji WKM User Manual

dji WKM User Manual

Multi-rotor
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WooKong
Multi-Rotor
User Manual
V 3.4
2012.09.24 Revision
www.dji-innovations.com
©2012 DJI Innovations. All Rights Reserved.

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Summary of Contents for dji WKM

  • Page 1 WooKong Multi-Rotor User Manual V 3.4 2012.09.24 Revision www.dji-innovations.com ©2012 DJI Innovations. All Rights Reserved.

  • Page 2: Warning & Disclaimer

    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.

  • Page 3: Wkm Profile

    DJI WooKong for multi-motors (WKM) is an autopilot system designed for serious multi-rotor enthusiasts providing excellent self-leveling and position holding, which completely takes the stress out of flying RC multi-rotors for both professional and hobby applications. WKM can be installed in a variety of models from quad-rotor to octo-rotor.

  • Page 4: In Box

    Power Management Unit (PMU) ×1 Specially designed for WKM to solve the high power consumption problem of power support system. It contains two power outputs for entire WKM system and receiver separately, a battery voltage monitor, and two CAN-Bus interfaces. GPS Bracket ×1 Because the GPS &...
  • Page 5 For fixing WKM components on multi-rotor’s frame. Warranty Information Card ×1 It recommends the necessary conditions for using WKM system and related safety issues. Please fill out the customer & multi rotor information card and return to DJI Innovations to register your product warranty.

  • Page 6: Table Of Contents

    ............ 43 TTITUDE ONTROLLABLE OWER UTPUT AILED APPENDIX ........................44 ....................44 USTOMIZE OTOR IXER ....................49 ULTI OTORS UPPORTED ......................50 ESCRIPTION ......................51 IGHT ESCRIPTION ...................... 52 ECOMMENDED ETTING ........................53 PECIFICATIONS ©2012 DJI Innovations. All Rights Reserved.

  • Page 7: Matters Need Attention

    When you set Mixer Type from Octo-rotor to Quad-rotor / Hexa rotor, the gimbal setting will automatically switch to off for safety, which may lead the gimbal to tilt to one side, please turn to the Gimbal section for reconfiguration. ©2012 DJI Innovations. All Rights Reserved.
  • Page 8 Make sure all connections are correct and attachment contacts are in good condition before flight. Keep wireless video transmission equipment a distance away from the main controller (>25cm), to prevent the main controller from antenna interference. ©2012 DJI Innovations. All Rights Reserved.

  • Page 9: Assembly

    · control mode switch, then connect your The DJI logo marked on the GPS should face the sky, with the orientation arrow pointing directly forward. The Use double-sided foam tape for secured installation. receiver to the right ports on MC.

  • Page 10: Assistant Software

    Open folder DJI_Wookong_M_Driver_32bit or DJI_Wookong_Multi_Rotor_Driver_64bit, double click Driver Setup.bat file and follow the steps to finish installation. STEP5: Open the assistant software folder, double click Setup.exe file and follow the steps to finish installation. 10 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 11 TOOL  Firmware upgrade: Update your firmware from DJI server, keep your WKM system up-to-date.  Disable All Knob  Check for Updates: Check out the latest versions of assistant software and firmware. If necessary, you can follow the links displayed to find the download page.

  • Page 12: Firmware Upgrade

    After firmware upgrade, please re-configure WKM using Assistant software.  If it is notified that the network or DJI server is busy, please try again later with above procedures.  If firmware upgrade failed, WKM will enter waiting for firmware upgrade status automatically, please try again with the above procedures.

  • Page 13: Configuration

    IMU/GPS and the C.G. of multi rotor in X, Y & Z axles as showed in the figure. Notices You must re-configure if the ALL-UP-WEIGHT had been changed on your multi rotor, 13 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 14 If 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. Make sure to follow the diagram in our assistant software: red is positive, green is negative; unit of measure is CM, NOT INCH. 14 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 15: Motor Mixer

    Customize: This segment is reserved only for very special case, such as customized airframe in non-conventional rotor arrangement. In the event, an airworthy multi-rotor craft with such rotor arrangement will require customized setting to meet WKM controller algorithm. Please write to our support department or dealer together with photos of the multi-rotor for assistance.
  • Page 16 You can get the proportion value by computing according to the above formula for a special TX. Use Futaba TX for example. Notice that Futaba TX End Point is 100%. RECOMMEND HIGH proportion value 16 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 17: Tx Monitor

    S-Bus/ PPM receiver (Only first 8 channels of S-Bus receiver are used at the moment). Then the original T and R channels are for Gimbal servo control.  WKM supports two types of S-Bus receiver; they are R6203SB and R6208SB. 17 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 18 Please read the introductions of start and stop motor in this step first, and then choose a cut off type. Start Motor: When using WKM, pushing throttle stick before takeoff will not start motors. You have to execute any one of following four Combination Stick Commands (CSC) to start motors: Stop Motor: We provide two options to stop motors: Immediately, Intelligent.
  • Page 19 (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. CSC may not start motors If trims and sub-trims of sticks are not 0! STEP4: Sticks Monitor 19 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 20 Check the Assistant Software status bar at the bottom side of the software interface. Control mode will change to Fail-Safe.  Check the LED indicator. Read the appendix in this manual for details. LED will give blue blinking if in fail-safe mode. 20 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 21: Autopilot

    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. 21 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 22 Usually you can ignore this step. The default values are suitable for most of the conditions, so we do NOT recommend you to change the parameters here. To some special multi rotor, experienced user can adjust the advanced parameters to have a better fly experience. 22 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 23 Hover 15s , Then land. Signal lost > 3s Flight altitude when fail-safe starts <=(reference altitude+20m) 6 Land 4 Ready to go home 5 Go home Aircraft Home Fail-safe/Enable Go-Home Switch Go home 23 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 24 Position -2 Position -1, if the initial switch position is at Standby (Position -2).  The home point of the ground station one key go-home is the same as the point set by user in the ground station software. 24 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 25 In POI (POI, Point Of Interest) flying, roll channel controls the aircraft cycled flight in a fixed semi-diameter, and pitch channel is for semi-diameter value adjust. See the following chart (Mode 2): Semi-diameter Usually Point of Interest 25 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 26 Type section. Then you only need to assign a 2 or 3-position switch of your transmitter to the 5 channel.  If the assistant software does not give correct response, please use end-point fine tuning on your 26 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 27 Pay attention to the following statement, which may also lead the MC to quit course lock:  Slide U channel switch to Manual Mode position, or close transmitter, or fly in waypoint mode. 27 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 28 Slide U channel switch to Manual Mode position, or close transmitter, or fly in waypoint mode.  MC will be in course lock by current forward direction automatically when multi-rotor flies back into 10m range around home point, or MC is in Atti. Mode. 28 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 29 (1)Slide U channel switch to Manual Mode or Atti. Mode position, or turn off transmitter, or fly in waypoint mode. (2)GPS status is bad, with three blinking. (3)Multi-rotor flies back into 5m range around home point or out of 500m. 29 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 30 Atti. Mode, MC will fly in course lock by current forward direction automatically. But this forward direction is NOT the recorded forward direction. If you open the course lock now, MC 30 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 31 IOC. In this case, you can stop or slow down the spinning, and continue flying after blinking is off so as to have better flight performance. 31 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 32: Gimbal

    If you want to use gimbal with an Octo-rotor, you have to use S-Bus or PPM receiver, then you can use port T and R for gimbal control. Otherwise, there will be no ports on MC for gimbal.  WKM supports servo center 1520us. STEP2: Servo Travel Limit Range: -1000 to+1000.
  • Page 33 When X3 is set as stick monitor or for switch go-home, users can not adjust the gimbal pitch by X3 channel, while WKM still provides enhanced stability for gimbal, and the gimbal pitch and roll will return to center. Notices: ...

  • Page 34: Voltage Monitor

    STEP2: Battery Power the MC by a battery and connect the MC with PC, current battery voltage will be displayed in this column. 34 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 35 Connect the MC to PC, open the assistant and acquire now current voltage. The Loss (Line loss voltage) is the difference between the new current voltage and the first level No Load voltage you filled in. 35 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 36 The line loss voltage will be bigger after many times use, you should get new one after 30 times charging.  Make sure your ESCs protection voltage is lower than 3.1V (1S), otherwise WKM low voltage protection will not work. Acquire the line loss voltage by the method introduced before first, and fill it in Loss.
  • Page 37 If you switch into Manual or Atti. Mode, you will regain the control, and the center point of throttle stick will move up slowly to 90% of endpoint. Please land ASAP to prevent your multi-rotor from crash or other harmful consequences! 37 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 38: Flight

    Calibration will eliminate such influences, and ensure MC system performs well in a non-ideal magnetic environment. When to do it?  The first time you install WKM on your multi rotor.  When the multi rotor mechanical setup is changed: a) If the GPS/Compass module is re-positioned.
  • Page 39 1 for re-calibration. Tips: If you keep having calibration failure, it might suggest that there is very strong magnetic interference around the GPS & Compass module, please avoid flying in this area. 39 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 40: Test Fly

    If not, go back to Configuration Procedure correct your settings. STEP6: Push the throttle stick slowly in 3 seconds after executing CSC until all the rotors are working, and then take-off your multi rotor gently. 40 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 41 After a successful test fly, the preparation before taking off can be simplified: Put your multi rotor on the plane ground, turn on the transmitter first, power on multi rotor, when the red light starts to blink normally, you can take off in Atti. Mode. 41 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 42: Fly With Gps

    Θ in the figure is the offsetting angle. θ Objective flight direction GPS mounting direction Without GPS offset angle With GPS offset angle Actual flight direction Objective flight direction θ 42 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 43: Enhanced Features

    The WKM can still control the attitude of X6 multi-rotor for save protection, when one output of the X6 multi-rotor is failed, for example, one motor is stalled or one propeller broken, etc. The control mode of WKM should be in Atti. Mode or GPS Atti. Mode; the aircraft will spin itself and can be controlled by TX.

  • Page 44: Appendix

     axis should be the same when apply throttle or rudder or roll stick command; To keep roll direction balance, total torques produced by motors at each side of roll axis  44 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 45 (C )×T is negative, then multi-rotor moves down. And the balance along all the other axes can be derived by substituting the throttle stick command into equations set 1. 45 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 46 M2, multi-rotor moves forward; decrease output of M4, M5 and increase output of M1, M2, multi-rotor moves backward. We also want multi-rotor to keep balance along all the other axes when apply the pitch stick 46 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 47 = ��: 2��: �� = 1: 2: 1. As we defined before: Stick left ��2 ��3 ��4 ��1 ��6 ��5 A<0, multi-rotor moves left; Stick right A>0 multi-rotor moves right, we can choose the following setup: 47 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 48 Usually, the coefficients of throttle and yaw are 100% or -100%. The rest of the coefficients should be decided by the proportion of force arms of the motors. The method introduced in this section is only suitable for central symmetry multi rotor. 48 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 49: Multi-Rotors Supported

    Multi-Rotors Supported To coaxial propellers: Blue propeller is at Top; propeller is at Bottom. Otherwise all propellers are at top. M1,4 M2,5 M3,6 M2,5 M3,6 M1,4 M1,5 M2,6 M3,7 M4,8 49 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 50: Port Description

    Or to #7 rotor Micro-B USB port: PC connection for configuration and firmware upgrades. CAN-Bus port: MC uses CAN-Bus to power and communicate with other WKM modules. (In three-pin ports, pins near the nicks are signal pins.) Power Management Unit...

  • Page 51: Light Description

    Firmware upgrading is finish. MC is waiting for reboot. Error occurs during firmware upgrading, MC reboot is required. PMU LED PMU connection is correct. Connection between PMU and battery is wrong (polarity error). 51 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 52: Recommended Setting

    DJI-30A DJI-8 Inch 3S-2200 1070 g F450 DJI-2212 DJI-30A DJI-8 Inch 4S-3300 1640 g F550 DJI-15 Inch DJI-4114 DJI-40A 6S-15000 4770 g S800 Carbon DJI-15 Inch S800&Z15 DJI-4114 DJI-40A 6S-10000 6100 g Carbon &Camera ©2012 DJI Innovations. All Rights Reserved.

  • Page 53: Specifications

    (can be effected by mechanical performance and payloads)  Hovering Accuracy (GPS Mode) Vertical: ± 0.5m  Horizontal: ± 2m Maximum Wind Resistance <8m/s (17.9mph / 28.8km/h) Max Yaw Angular Velocity 150deg/s Max Tilt Angle 35° Ascent / Descent ±6m/s ©2012 DJI Innovations. All Rights Reserved.

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