dji WooKong M User Manual
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dji WooKong M User Manual

dji WooKong M User Manual

Multi-rotor
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WooKong
Multi-Rotor
User Manual
V 3.7
2013.03.15 Revision
www.dji-innovations.com
1

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Summary of Contents for dji WooKong M

  • Page 1 WooKong Multi-Rotor User Manual V 3.7 2013.03.15 Revision www.dji-innovations.com...

  • 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

    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 Because the GPS & Compass are sensitive to magnetic interference, you should use this bracket to mount the GPS module. PMU Connecter ×1 For connections between battery, ESCs and PMU. USB Cable ×1 This cable is used to configure the MC and to update the firmware. ©2012 DJI Innovations. All Rights Reserved.
  • Page 5 It lists the necessary steps for using the WKM system and related safety advice. Please fill out the customer & multi rotor information card and return to DJI Innovations to register your product warranty. ©2012 DJI Innovations. All Rights Reserved.
  • Page 6 ............................ 44 EIGHT IMIT ..........................44 ISTANCE IMIT APPENDIX ...........................45 ........................45 USTOMIZE OTOR IXER ........................50 ULTI OTORS UPPORTED ..........................51 ESCRIPTION LED D ..........................52 ESCRIPTION ........................53 ECOMMENDED ETTING ..........................54 PECIFICATIONS ©2012 DJI Innovations. All Rights Reserved.
  • Page 7 Using Intelligent mode to stop the motors: The motors will start or stop immediately when you execute Combination Stick Command (CSC). During normal flight, lowering the throttle stick below 10% will not stop the motors in any control mode. If you execute CSC during flight then ©2012 DJI Innovations. All Rights Reserved.
  • Page 8 (such as the base plate). Make sure all connections are correct, secure and in good condition before flight. Keep wireless video transmission equipment a distance away from the main controller (>25cm), to prevent interference to the main controller. ©2012 DJI Innovations. All Rights Reserved.
  • Page 9 The sides of the IMU should be precisely parallel to the multi rotor body. · The DJI logo marked on the GPS should face the sky, with the orientation arrow pointing directly forward. The channel as control mode switch, then connect your Use double-sided foam tape for secured installation.

  • Page 10: Assistant Software

    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. (graphical user interface) 10 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 11 Flight Limits: Set the height limit or distance limit if necessary, please refer to the section of “Flight  Limits” for details.  Firmware upgrade: Update your firmware from DJI server, keep your WKM system up-to-date.  Disable All Knob: Set remote gains in “Autopilot” menu to INH ...

  • Page 12: Firmware Upgrade

    After firmware upgrade, please re-configure WKM using Assistant software. Default all values before re-entering your settings.  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: Step2: Mounting Location

    (C.G.) directly on the center plate. Fill in the distance between the center of the IMU / GPS case and the C.G. of the multi rotor in X, Y & Z axis as showed in the figure. Notices Note 13 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 14 Y，Z axis will lead to an oscillation of your multi rotor. Make sure you follow the diagram in our assistant software: red is positive, green is negative; unit of measurement is CM, NOT INCH…i.e. centimeters. 14 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 15: Motor Mixer

    In the event, an airworthy multi-rotor craft with such rotor arrangement will require customized settings to meet the WKM controller algorithm. Please write to our support department or dealer together with photos of the multi-rotor for assistance. 15 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 16 You can get the proportion value by calculating 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: Step1: Receiver Type

    MC channels in S-Bus/ S-Bus2/ PPM receivers (Only the first 8 channels of S-Bus/S-Bus2/ PPM receivers are used at the moment). Then the original T and R channels are for Gimbal servo control. 17 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 18 Atti. Mode (may be caused by collision/crash, motor and ESC error or propeller broken), and throttle stick is under 10%, the motors will stop automatically. You can stop the motors by executing CSC in any control mode. 18 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 19 (become ), just click FINISH, then the sliders will be at center automatically. If still not centered, please reboot the MC, and do not apply any Tx command during 19 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 20: Step5: Control Mode Switch

    Check the Assistant Software status bar at the bottom of the software interface. Control mode will change to FailSafe.  Check the LED indicator. Read the appendix in this manual for details. LED will give blue blinking if in FailSafe mode. 20 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 21: Step1: Basic Parameters

    Therefore, a large gain value will not produce tail oscillation like on a helicopter, but severe reaction of the 21 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 22 The range of the remote tuning is from half of the current entered value to twice current value.  Usually the Pitch, Roll, Attitude Pitch and Attitude Roll Gains of a hexa-rotor are higher than a quad-rotor.  You will find example settings at the end of this manual 22 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 23: Step2: Advanced Parameters

    If GPS satellite found >= 6 and last 8s, at the first time you pull the throttle Signal lost stick, then record Home Location 1 Record 2 Flight 3 Hover Aircraft Fail-safe 23 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 24 Position-2. Move the Tx switch of the channel X3 and check that the corresponding area Start and Standby turns blue on the assistant software screen. If required adjust the Tx channel end points. 24 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 25: Step4: Intelligent Orientation Control (Ioc)

    Orientation Control (IOC), wherever the nose points, the forward direction has nothing to do with the nose direction:  In course lock flying, the forward direction is the same as a recorded nose direction. See the following figures (TX Mode 2): 25 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 26 Step3: Toggle the Tx switch and observe the slider position of channel X2 on the assistant software screen, the corresponding area should turn blue. Tips: 3 Position 2-Position Switch  For 3-position switch (or exchange Position-1 and Position-3): 26 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 27 Course Lock and POI at the same time. Control 3 POI and Home Lock at the same time. Course Lock Usage: During the same flight: STEP1: Record STEP2: ON STEP3: OFF STEP4: ON again Nose direction; Forward direction 27 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 28 GPS satellites acquired for more than 8 seconds ( blinks once or no blinking >8secs) Manually: When 6 or more GPS satellites are found ( blinks once or no blinking), you can 28 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 29 Manually: When 6 or more GPS satellites are found ( blinks once or no blinking), you can switch the X2 channel between two positions quickly 3 to 5 times to record the current 29 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 30 IOC mode during the flight. There is only one home point recorded at any time. This point is the same one used by Go-Home 30 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 31 We suggest you use home lock in a limited area which is greater than 10m away from the home point; and use POI in a limited area greater than 5m (and less than 500m) away from the Point of Interest 31 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 32 IOC. In this case, you can stop or slow down the spinning, and continue flying after the blinking has stopped, so as to have better flight performance. 32 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 33 Center value of Pitch and Roll direction to set the camera to your desired angle-to-ground. Notices:  If servo expansion is used, which may enlarge the servo travel limit, make sure to reset your servo travel limit. 33 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 34 WKM still provides enhanced stability for the gimbal; the gimbal pitch and roll will return to the center position. Note:  If the X3 channel is used for controlling the Pitch of the gimbal, then the X3 cannot be used for remote gain tuning or Go-Home switch. 34 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 35: Voltage Monitor

    STEP2: Battery Power the MC using your normal flight battery and connect the MC with a PC, the current battery voltage will be displayed in this column. 35 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 36 Connect the MC to PC, open the assistant software and read the 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. 36 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 37 Enhanced Failed-safe, the recording of the Home Location are the same; the Go Home routes are the same; the difference is that there is no hovering before landing in low voltage protection. 37 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 38 If you switch into Manual or Atti. Mode, you will regain the control, and the center point of the throttle stick will move up slowly to 90% of endpoint. Please land ASAP to prevent your multi-rotor from crashing or other harmful consequences! 38 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 39: Digital Compass Calibration

    Calibration in vertical: while the LED is green, hold your multi rotor vertically and rotate it along with its vertical axis, keep rotating until the LED turns off, meaning the calibration is finished. 39 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 40 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. 40 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 41: Before First Flight

    Roll, Pitch and Yaw to feel if your multi rotor moves in the corresponding direction. If not, go back to the Configuration Procedure and correct your settings. 41 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 42 After a successful test flight, the preparation before taking off can be simplified: Put your multi rotor on level ground, turn on the transmitter first, power on the multi rotor, when the LED light starts to blink normally, you can take off in Atti. Mode. 42 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 43 Θ in the diagram is the offset angle. θ Objective flight direction GPS mounting direction Without GPS offset angle With GPS offset angle Actual flight direction Objective flight direction θ 43 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 44: Enhanced Features

    FailSafe and the Ground Station operation are not restricted to this distance limit. If no distance limit is needed, please click OFF. However, the FailSafe and the Ground Station operation are not restricted to this distance limit. If no distance limit is needed, please click OFF. 44 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 45: Customize Motor Mixer

     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  45 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 46 (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. 46 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 47 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 47 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 48 = ��: 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: 48 | ©2012 DJI Innovations. All Rights Reserved.
  • Page 49 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. 49 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 50: Multi-Rotors Supported

    Multi-Rotors Supported For 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 50 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 51: Port Description

    For monitoring battery voltage and supplying power to receiver and other electronic devices. (Connect with MC X1 port)  White wire (signal wire) output: ±3.3V  Red wire (power wire) output: 3A@5V For supplying power to WKM system.  Output: Max 2A@12.6V 51 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 52: Led Description

    Firmware upgrade has finished. MC is waiting for reboot. Error occurred during firmware upgrade, MC reboot is required. PMU LED PMU connection is correct. Connection between PMU and battery is wrong (polarity error). 52 | ©2012 DJI Innovations. All Rights Reserved.

  • Page 53: Recommended Setting

    Configuration Information Basic Gain Attitude Gain Aircraft Motor Propeller Battery Weight Pitch Roll Vertical Pitch Roll DJI-2212 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...

  • Page 54: Specifications

    Specifications General   Built-In Functions Three Modes Autopilot S-Bus/S-Bus2 Receiver Supported   PPM Receiver Supported Intelligent Orientation Control   2-axle Gimbal Support Multi Output Frequency Supported   Enhanced Fail Safe Low Voltage Protection Peripheral  Supported Multi-rotor Quad-rotor: I4, X4;...

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