# W ooKong Multi

- Rotor
User Manual

V 2. 7

www.dji

- innovations.com2 | 

# Warning & Disclaimer

WKM is an excellent autopilot system offering tremendous flight features for low altitude multi rotor working in
restricted space compared to no rmal 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 effort s in making the controller to operate in the safest manner when the main power battery is connected , such as: d isabling 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 and parameter setup. Dajiang Innovation Technology Co. Ltd. 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 WooKong for Multi Rotor ( WKM ) system on your multi rotor
, as well as to install the A ssistant software on your computer.3 | 

# WKM Profile

DJI WooKong for m ulti

- m otor s (WKM) is an autopilot system designed for serious multi

- rot or enthusiasts providing excellent self

- levelin g and position hold ing
, which completely takes the stress out of flying RC

multi

- rotor s for both professional and hobby applications. WKM can be installed in a variety of models from
quad

- rotor to octo

- rotor.



## WKM Control Modes

GPS Atti. Mode Atti. Mode Manual Mode

Command Stick Meaning Multi attitude control; Stick center position for 0 ̊ attitude, its endpoint is 35 ̊. Maximum angular velocity is 150 ° /s. No attitude angle limitation and vertical velocity loc king.

Command Linearity YES

Stick Released Lock rotor position

when GPS signal is
adequate. Only attitude stabilizing. NOT Recommend

Altitude Lock Maintain the altitude best above 1 meter from ground. NO

GPS Lost After 10s when GPS

signal lost, s ystem

enters Atti. Mode automatically. Only performing

attitude stabilizing without position

lock. ---

Safety Attitude & speed mixture control ensures stability; Enhanced fail

- safe Depends on experience.

Applications AP work Sports flying.

---4 | 

# In Box

Main Controller (MC) × 1
The Main Controller (MC) is the brain of the system, it communicates with the IMU, GPS/Compass
, ESC and RC transmitter to carry out autopilot functionality. The Main Controller provides USB interface to configure MC and update firmware from a PC

. 

## IMU × 1

The Inertial Measurement Un it (IMU) consists of one 3

- axis
accelerometer, one 3

- axis gyroscope and a bar ometer. It is for sensing

the attitude. 

## GPS & Compass × 1

The GPS/Compass module is for sensing the position and direction.



## LED Indicator × 1

The LED indicates different states of system.



## 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 r eceiver separately , a battery voltage monitor, and two

CAN

- Bus interfaces.



## GPS Bracket × 1
Because the GPS & Compass are sensitive to magnetic interference , you should use this bracket to mount

the GPS module. 

## P MU Connecter × 1
For connections among Battery, ESCs and PMU. 

## USB Cable × 1

This cable is used to co nfigure MC and update firmware

.5 | 

## 3

- PIN Servo Cable × 10

Cables used to connect the Main Controller to the RC receiver. 

## 3 M Gummed Paper × 4
For fixing WKM components on multi

- rotor ’ s frame

. 

## Warranty Information Card × 1

It recommend s the necessary conditions for using WKM system and related safety issues. P lease fill out

the customer & multi rotor information card and return to DJI to register your product warranty.6 | 

# Contents

WARNING & DISCLAIMER

................................ ................................ ................................ .......................... 2

WKM PROFILE

................................ ................................ ................................ ................................ ............ 3

IN BOX

................................ ................................ ................................ ................................ ........................ 4

CONTENTS

................................ ................................ ................................ ................................ ................. 6

MATTERS NEED ATTENTI ON

................................ ................................ ................................ ..................... 7

ASSEMBLY

................................ ................................ ................................ ................................ ................. 8

ASSISTANT SOFTWARE

................................ ................................ ................................ ............................ 9

S OFTWARE AND D RIVER I NSTALLATION

................................ ................................ ................................ .......... 9

GUI

................................ ................................ ................................ ................................ .......................... 9

F IRMWARE U PGRADE

................................ ................................ ................................ ................................ . 11

P RODUCT I NFO

................................ ................................ ................................ ................................ .......... 11

CONFIGURATION

................................ ................................ ................................ ................................ ...... 12

1. M OUNTING

................................ ................................ ................................ ................................ ....... 12

2. M OTOR M IXER

................................ ................................ ................................ ................................ . 14

3. T X M ONITOR

................................ ................................ ................................ ................................ .... 16

4. A UTOPILOT

................................ ................................ ................................ ................................ ...... 21

5. G IMBAL

................................ ................................ ................................ ................................ ........... 28

6. V OLTAGE M ONITOR

................................ ................................ ................................ .......................... 30

FLIGHT

................................ ................................ ................................ ................................ ....................... 34

D IGITAL C OMPASS C ALIBRATION

................................ ................................ ................................ ................. 34

T EST F LY

................................ ................................ ................................ ................................ ................. 36

F LY WITH GPS

................................ ................................ ................................ ................................ .......... 38

APPENDIX

................................ ................................ ................................ ................................ .................. 39

C USTOMIZE M OTOR M IXER

................................ ................................ ................................ ......................... 39

M ULTI

- R OTORS S UPPORTED

................................ ................................ ................................ ....................... 44

P ORT D ESCRIPTION

................................ ................................ ................................ ................................ ... 45

L IGHT D ESCRIPTION

................................ ................................ ................................ ................................ .. 46

S PECIFICATIONS

................................ ................................ ................................ ................................ ........ 477 | 

# Matters Need Attenti on

For safety reasons, please pay serious attention to all following items:

1 Please disconnect ESCs and P MU Connect er or remove all propellers during configuration and
system setup !

2 Do not mount the IMU upside

- down.

3 You have to reboot MC and redo the Tx cal ibration after you change RC system

. 4 In 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.

5 GPS/Compass is sensitive to magnetic interference, should be far away from any electronic

devices.

6 Make sure switch on the transmitter first, then power on multi

- rotor before takeoff! Power off

multi

- rotor first, then switch off the transmitter after landing!

7 Do not fly in GPS Mode when the signal is not good (red light blinks)!

8 If you open the gimbal control in assistant software during the configuration, please note that there is outp ut from F1 and F2 ports. Now you should not connect these ports to ESCs which is wired with propellers equipped motors.

9 Do NOT set the failed

- safe position of throttle under 10% of endpoint.

10 Throttle stick position should always be higher than 10% from cut

- throttle during the flight!

11 Low voltage protections are NOT fun! You should land your multi

- rotor ASAP in any level of protection to prevent your multi

- rotor from crash or other harmful consequences!

12 By using Immediately mode to stop motors , in any contro l mode, once motors start and throttle stick is over 10%, motors will stop immediately when throttle stick is back under 10% again

. In this case, if you push the throttle stick over 10% in 5 seconds after motors stop, motors will

re - start, C ombination S tic k C ommand ( CSC ) is no need. If you don’t push throttle stick after motors start in three seconds, motors will stop automatically.

13 By using Intelligent mode to stop motors , motors will start or stop immediately when you

execute CSC

. During normal flight, on ly pull throttle stick under 10% will not stop motors in any

control mode. You have to execute CSC to re - start motors if they stop during the flight.

14 W hen y ou set Mixer Type from Octo

- rotor to Quad

- rotor / Hexa rotor , the gimbal setting will automatically switch to off fo r safety , which may lead the gimbal to tilt to one side, please turn

to the G imbal sectio n f or reconfiguration

.8 | 

# Assembly9 | 

# Assistant Software

Software and Driver Installation

STEP1: Please downl oad assistant software and driver from our website. If your operating system is 32bit, download 32bit driver; if your operating system is 64bit, download 64bit driver. 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_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 Se tup.exe file and follow the steps to finish

installation.



# GUI10 | 1 TOOL

 Firmware upgrade : U pdate 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.

2 ABOUT

 Info : Information regarding your WKM

.  Error Code

3 中文 : Chinese interface.

4 ENGLISH : English interface.

5 W RITE : W rite 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. Option al parameters will be written to MC directly after modification.

6 READ : R ead parameters from MC for current page.

7 EXPORT : Export configuration data.

8 IMPORT : Import version compatible configuration data.

9 Graphic guidance

10 Text guidance

11 CONTROL MODE : Control m ode indication

. 12 MC Output On : Indicates there are outputs to ESCs; when communication is built up between MC and
assistant software via USB cable, MC Output Off appears, it indicates no output to motors, then you can configure your multi rotor with assista nt software more safely!

13 Red light: WKM  P C has been disconnected. Green light: WKM  PC has been connected.

Blue light: WKM  PC communication.

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 software version when you open the assist ant software and prompt message if your version is not the latest one

.
 Do not disconnect MC and PC when your are importing or exporting data. You can only import version compatible configuration data.11 | 

# Firmware Upgrade

Please strictly follow the operatio n procedure for fir mware upgrade, otherwise WKM might not work properly :
STEP1: Make sure your computer is connected to the Internet.

STEP2: Please close all the other applications during the firmware upgrade, including a nti

- virus

software and firewall.

STEP3: Make sure the po wer supply is securely connected. DO NOT un

- plug the power supply until firmware upgrade has finished.

STEP4: Connect MC to PC with M icro

- USB cable , DO NOT break connection until firmware upgrade

is finished.

STEP5: Run Software and wait for connection.

STEP6: Select TOOL  Firm ware Upgrade

. STEP7: DJI server will check your current firmware version, and get the latest fir mware prepared for

the unit

. STEP8: If there is a firmware version more up
- to

- date than your current version, you will be able to

click the U pgrade button.

STEP9: Wait until Assista nt software reads f inished.

STEP10: Click OK and power cycle the unit after at le ast 5 seconds.

Your unit is up
- to

- date now. 

## Notices:

 A fter firmware upgrade, please re

- configure WKM using Assistant software.



###  If it is notified that the network or DJI server is bus y, please try again later with above procedures.



###  If firm ware upgrade failed, WKM will enter waiting for firmware upgrade status automatically
, please try again with the above procedures.



# Product Info

Y ou can check the MC product version via ABOUT  Info

. This includes software version, firmware version,
IMU version, hardware ID and loader version. 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

. Y ou might be asking 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.12 | 

# Configurat ion

1. M ountin g

STEP1: IMU Orientation
Select IMU mounting orientation. Orient the IMU such that the arrow marked on the printed surface of the

IMU fac es the sky and point s directly forward, backward, left or right. The sides of the IMU should be precisely paral lel to the multi rotor body. 

## Notices :
Do not mount the IMU upside

- down.



## STEP2: 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 c enter of gravity (C.G.) directly on the center plate. Fill in the distance between body center of IMU/GPS and the C.G. of multi rotor in X, Y & Z axles as showed in the figure. 

## Notices :13 |

1 You must re

- configure if the ALL

- UP

- WEIGHT had been changed on your mu lti rotor,
2 I f mounting locations are not accurate enough or the sign s are wrong, error on X, Y
, Z axles will leads the oscillation of your multi rotor.

3 Make sure to follow the diagram in our assistant software: red is positive, green is negative; unit of measure is CM, NOT INCH.14 | 

# 2. Motor Mixer

STEP1: Mixer Type

S et your transmitt er in to ACROBATIC m ode

. Then select the right mixer type according to your multi

- rotor. 

## Tips:

 We support nine types of multi

- rotors. P lease r efer to “ Multi

- Rotors Supperted

” in “ Appendix

” :

 If you want to use gimbal with an Octo

- rotor, you have to use S

- Bus recei ver, then you can use port T and R for gimbal control. Otherwise, there will be no ports on MC for gimbal. 

## Notices :

 Do NOT fol low instruction from your multi

- rotor manufacturer! Make sure the rotation direction of

each m otor is the same as the way assista nt software 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 motor.

 W hen y ou set Mixer Type from Octo

- rotor to Quad

- rotor / Hexa rotor , the gimbal setting will automatically switch to off fo r safety , which may lead the gimbal to tilt to one side, please turn to the

G imbal sectio n f or reconfiguration

.

Customize : This segment is reserved only for very speci al 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.15 | 

## Tips:

 Please refer to “ Customize Motor Mixer ” section in “ Appendix ” for how to customize a central symmetry multi rotor.

 If you customize the motor mixer of a q uad

- rotor or hexa

- rotor, F 1 and F2 ports can still be used for gimbal servos control.



## STEP2: Motor Idle Speed

Motor Idle Speed is the lowest speed after motor start. Set Motor Idle Speed will affect motor lowest speed

after motor start. T here are five level s from LOW speed to HIGH speed , an d the default is RECOMMEND

.
Y ou can click and drag cursor to the corresponding level , to change Motor Idle Speed

.

LOW RECOMMEND HIGH

T he lower m otor i dle speed T he higher m otor i dle speed

Set Motor Idle Speed as LOW
, the motor i dle s peed will b e lowest

. Set Motor Idle Speed as HIGH
, the motor i dle s peed will be highest

. RECOMMEND is the advised level

. Y ou can reset the Motor Idle Speed according to the real situation

.



## Notices:

 For u ser whose aircraft takes off at lowest throttles position, plea se set the idle speed at a low level

.
 F or common users, please set Motor Idle Speed to RECOMMEND or above
, since setting idle speed too low may affect motor(s) s p ool 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

 Y ou can get the proportion value by computing according to the above formula for a special TX. U se
Futaba TX for example. Notice that Futaba TX End Point is 100%

. LOW RECOMMEND HIGH16 |

proportion value 3% 5 7% 9% 11% 

# 3. Tx Monitor

Notices : Make sure you hav e remove d all propellers before this step!



## STEP1: Receiver Type
Choose the type of your receiver. If you use S

- Bus receiver, please choose DJI ’ s S

- Bus compatible option:

D

- Bus . Otherwise choose T radition

. 

## No tices : 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 receiver, the communication of A, E, T, R, U, X 2 and X 3 channels are all through the D

- Bus channel. Right figur e shows the connection

of default transmitter channels and MC channels in S

- Bus 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.17 | 

## STEP2: Cut Off Type

Please read the in troductions of start and stop motor in this step first, and then choose a cut off type.

1 Start Motor : When using WKM, pushing throttle stick before takeoff will not start motors. You have to execute any one of following four C ombination S tick C ommand s ( CSC ) to start motors:

2 Stop M otor : We provide two options to stop motors: Immediately
, Intelligent

.
 Immediately Mode : By using this mode, in any co ntrol mode, once motors start and throttle stick is over 10%, motors will stop i mmediately when throttle stick is back under 10% again . In this case, if you push the throttle stick over 10% in 5 seconds after motors stop, motors

will re

- start, CSC is no ne ed. 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. or GPS Atti. Mode
, any one of following four cases will stop motors: a) You don ’ t push throttle stick after motors start in three seconds; b) Executing CSC ; c) Throttle stick under 10%, and after landing 3 seconds. d) The slope angle of multi

- rotor is over 7 0°, and throttle stick under 10%. 

## Tips ( Intelligent Mode ):

1 You have to execute CSC to start motors. Push throttle stick only will not start motors.

2 In Atti. / GPS Atti. Mode , it has landing judgment, which will stop motors.

3 Start motors in Atti. / GPS Atti

. Mode , you have to execute CSC and then push throttle stick over 10% in 3 seconds, otherwise motors will stop after 3 seconds.

4 During normal flight, only pull throttle stick under 10% will not stop motors in any control mode.

5 For safety reason, when the s lope 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.18 |

6 You can stop motors by executing CSC in any control mode. 

## Notices:

1. All these two cut off type s will work properly only if Tx calibration is correct.

2. When Tx commands are valid under any control modes , motors will start or stop immediately when
you execute CSC . It has nothing to do with c urrent throttle stick position. Please DO NOT executes

CSC during flight without any reason.
3. If you choose I mmediately m ode , you should not pull throttle stick under 10% during flight, because that will stop motors. If you do it accidentally, you should pu sh the throttle stick
over 10% in 5 seconds to re

- start motors.

4. If you choose I ntelligent m ode , throttle stick under 10% will trigger landing judgment in any control mode. In this judgment, pitch, roll and yaw controls are denied except throttle, but multi

- rotor will still

auto level.

5. In any control mode, DO NOT pull throttle stick under 10% during normal flight without any reason.

6. In any auto action caused by failed

- safe or low voltage protection ( e.g. auto Go Home ), any commands applied to start or stop mo tors are denied by MC, motors will hold state.



## STEP3: C ommand Sticks Calibration Slides Moving Definition :

: Slide left is craft down, slide right is craft up ;

: Slide left is nose left, slide right is nose right ;

: Slide left is craft back, slide right is craft front ;

: Slide left is craft left, slide right is craft right

. STEP1: Set endpoints of all channels to default values (100%) and set all trims a nd 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.

STEP2: Click START button , and move all of the sticks throughout their complete range several times.

STEP3: Afte r that, click FINISH button when you finished above procedures.

STEP4: If the moving direction of the slide is opposite to the Slides Moving Definition , 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,19 |

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!



## STEP4: Sticks Monitor
This step is optional. X 2 and X 3 is for remote gain tuning; X 3 is also for gimbal pitch control. Setup the channel on your RC correctly. 

## Notices:
Do not use X3 to control gimbal pitch and remote adjust parameter s at the same tiome

.



## STEP5: Control Mode Switch
Whichever 2 or 3 positions switch on your transmitter you have selected to use as control mode switch, wire the right channel of receiver to U port of MC. At each switch position, use end

- point fine tuning on yo ur
transmitter , m ove 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 of last page

. 

## Tips:

 T o move the slider is to adjust end

- points of the channel sele cted

.
 For 3

- position switch , you should assign :
P osition

- 1 to Manual M ode ; P osition

- 2 to Atti.

M ode ; P osition

- 3 to GPS Atti. M ode ; o r reverse the assignment for P osition

- 1 and P osition

- 3

.
 For 2

- position s switch , you can assign any two of these three contr ol modes as you like.

M ove the slider to the range which reads Fail

- Safe Mode to turn the area blue
, s et 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

Mode and turn the c orresponding area to blue. Otherwise please reset the fail

- safe. Please refer to your RC

manual for the details of fail

- safe setup. 

## Notices:

1. Do NOT set the fail

- safe position of throttle under 10% endpoint.

2. MC would not execute 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 s to check

whether MC is already in Fail

- Safe mode.

 Check the Assistant Software status bar at the bottom side of the s oftware

interface. Control mode will change to Fail

- Safe

.
 Check the LED indicator

. Read the a ppendix in this manual for details. LED will give blue blinking if in fail

- safe mode.20 |21 | 

# 4. Autopilot

STEP1: Basic Parameters
Usually, the default parameters are ready t o go. However, different multi rotors have different gains because
of different size, ESC, motor and propelle r. I f gain is too large, you will find the multi rotor oscillatin g in the corresponding direction (About 5~10Hz). If too small, the multi rotor wil l likely to be hard to control. S o you can still setup the basic Gain of Pitch, Roll, Yaw and Vertical manually according to your multi rotor to have a wonderful fly experience. We suggest you to change 10% to 15% of the parameter at a time.

To the gains of Pitch and Roll, if you release the Pitch or Roll stick after command stick , multi

- rotor should be back to 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 ti me) until vibration emerges after you release the stick. Then decrease the gain a little until vibration just disappears. Now the gain is perfect, but the reaction of the attitude change is slow. You can follow the way introduced 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 count er 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 of22 | the other directions.

You use two met hods to judge if the Vertical gain is good enough: 1) The multi

- rotor can lock the altitude when the throttle stick is at center position; 2 ) The change of altitude is small during the flight along a route. You can increase the gain slowly (10% each time) until the vibration emerges along the vertical direction or the reaction of throttle stick is too sensitive, then decrease 20% of the gain. Now it is a suitable Vertical gain.

A ttitude gains determine the reaction speed of attitude from command stick, the bigger the value the quicker

the reaction. I ncrease it for sharper and quicker leveling action after command stick released. The control feeling will be stiffness and rigid if the value is too high; and sluggish leveling action and slow braking if too

sma ll.



## Notices:

 You must click Default button in first setup parameter
, and subsequence firmware upgrade

.
 The vertical gain will NOT affect the manual mode. 

## Tips:

 If you are a fresh player, you can tune the basi c parameters first as following:

1 Increase the basic parameters 10% at a time so as to make your multi rotor hover or light

oscillate after small angular command input.

2 Decrease the basic parameters until your multi rotor can just hover, then decrease 10% more.

 If the basic parameters are far away fro m the proper value, the advanced parameters will not work.

 Here you can make use of remote gain

- tuning channels to tune the gains during the flight:

1 Followed the instructions in “ Assembly ” R/C System section to connect and setup correctly;

2 Choose the X 2 or X 3 channel in Remote Adjust for the gain you want to tune. One channel to one gain.

3 The range of remote tuning is from half current value to twice current value.

 Usually the Pitch, Roll, Attitude Pitch and Attitude Roll Gains of hex a
- rotor are high er than quad

- rotor

.



## STEP2: Advanced Parameters
Usually you can ignore this step . T he default values are suitable for most of the condition s, so we do NOT

recommend you to change the parameters here. To some special multi rotor, experienced user can adjust the

advanc ed parameters to have a better fly experience.23 | 

## STEP3: Enhanced Fail ed

- Safe Methods

Choose one metho d for your failed

- safe function, and the method will be triggered when MC loses the control signal. This could be one of the following situations: 1) Signal lost b etween transmitter and receiver, e.g. multi

- rotor is out of the communication range
, or
transmitter is down , and so on

. 2) One or more connections of A, E, T, R, U channels between MC and receiver loses

. If this happens

before take

- off, motors will not work i f you push the throttle stick; if this happens during the flight, LED blue light will flash to warn in addition to the failed

- safe method. If Hovering failed

- safe method is triggered and U channel is disconnected, multi

- rotor will auto land.

B efore takeof f, current position of multi

- rotor will be saved as home point by MC automatically when you push
the throttle stick first time after 6 or more GPS satellites are found ( blinks once or no blinking) 8 seconds.
When switch to Manua l Mode or Atti. Mode
, MC will disengage enhanced f ailed

- safe mode
, you can re
- gain

control of multi rotor

. 

## Tips:

T he following schematic shown is introduction for Go

- Home and Landing

.



## STEP4: Intelligent Orientation Control Forward Direction : Multi

- rotor wil l fly along this direction when you push the elevator stick.
Usually, the forward direction of a flying multi

- rotor is the same as the nose direction. By using Intelligent Orientation Control (IOC), wherever the nose points, the forward direction has nothi ng to do with nose

direction:

 In course lock flying, the forward direction is the same as a recorded nose direction . See the following figure s (Mode 2):24 |  In home lock flying, the forwar d direction is the same as the direction from home point to multi

- rotor

. See the following figures (Mode 2):

Before using this function, you have to choose a 2 or 3 positions switch on your transmitter as IOC switch

. T hen wire the right channel of receiver to X2 port of MC

. At each switch position, use end

- point fine tuning on

your transmitter , m ove the slider of channel X2 to Home Lock
, Course Lock
, OFF to turn the corresponding

area b lue respectively. 

## Tips:

 For 3

- position switch :
Position

- 1 is OFF ; Position

- 2 is Course Lock ; Position

- 3 is Home Lock

.
 For 2

- position switch :
Position

- 1 is OFF ; Position

- 2 is Course Lock

. Or Position

- 1 is OFF ; Position

- 2 is Home Lock

.
 If you use S

- Bus re ceiver, the default channel connection is shown in Tx Monitor

– Receiver Type section. Then you only need to assign a 2 or 3

- position switch of your transmitter to the 5 th channel. 

## Notices:

Do NOT set a 2

- position switch as: Position

- 1 is Course Lock ; Pos ition

- 2 is Home Lock

.



## Course Lock Usage:
During the same flight:

STEP 1 : Record STEP 2 : Open STEP 3 : Close STEP 4 : Re

- open

Nose direction; F orward direction

STEP1: Record forward direction: There are two ways: M anually; A utomatically: a) A utomatically : MC will record the current nose direction as forward direction at 30 th second25 | after you power on the multi

- rotor. A nd LED will blink quickly if recording is successful. b) M anually : You can slide X2 channel switch between OFF and Course Lock position quickly 3

to 5 times to record current nose direction as new forward direc tion at any time after you
power on multi

- rotor 30 seconds

. A nd LED will blink quickly if recording is successful.
STEP2: Open course lock : After record the forward direction successfully, if MC is in Atti. or GPS

Atti. mode, then you c an slide X2 channel switch to Course Lock position to fly in course lock

. Now

wherever the nose points, the real flight forward direction is the same as the recorded forward

direction, and LED will blink slowly to indicate the IO C mode.
STEP3: Close course lock : There are two ways: a) Slide X2 channel switch to OFF position to quit course lock ; ( R ecommend ed way ! ) b) Slide U channel switch to Manual Mode position, or close transmitter , or fly in waypoint mode.

STEP4: Re

- open course lock : If you want t o re
- open course lock after you quit this function, you
should first slide X2 channel switch to OFF position, and slide U channel switch to Atti. or GPS Atti. mode position, then slide X2 channel switch to Course Lock position to re

- open course lock

.



## Hom e Lock Usage:
During the same flight:

STEP 1 : Record STEP 2 : Open STEP 3 : Close STEP 4 : Re

- open

Nose direction; F orward direction ; Home point ; Over 10m distance

STEP1: Record home point: The home point mentioned here is the same home point of enhanced

Fail

- Safe. T here are two ways to re cord here: M anually; A utomatically: a) A utomatically: Before takeoff, current position of multi

- rotor will be saved as home point by

MC automatically when you push the throttle stick first time after 6 or more GPS satellites

have been found ( blinks once or no blinking) for 8 seconds

. b) M anually: When 6 or more GPS satellites are found ( blinks once or no blinking), you can slide X2 channel switch between (to a 3

- position switch) Course Lock and Home Lock or (to

a 2

- position switch) OFF and Home Lock position quickly 3 to 5 times to record current
position of multi

- rotor as new home point. A nd LED will blink quickly if recording is
successful.

STEP2: Open home lock: Slide X2 channel switch to Home Lock position to fly in home lock when all26 |

the following requirements are met: a) Home point is recorded successfully; b) 6 or more GPS satellites are found; c) In GPS Atti. Mode ; d) Multi

- rotor is further than 10m away from home point.

Now wherever the nose p oints, the real flight forward direction is the same as the direction from
home point to multi

- rotor, and LED will blink slowly to indicate the IOC mode of MC.
STEP3: Close home lock: There are three ways: a) Slide X2 channel switch to OFF position to quit home lock; (R ecommend ed way!) b) Slide U channel switch to Manual Mode position, or close transmitter , or fly in waypoint mode. c) MC will be in course lock by current forward direction automatically when multi

- rotor flies back

into 10m range a round home point, or MC is in Atti. Mode

. STEP4: Re

- open home lock: If you want to re

- open home lock after you quit this function, you should

first slide X2 channel switch to OFF position . When all 4 requirements in the 3 rd step are met, slide

X2 channel switch t o Home Lock position to re

- open home lock.



## Tips:

1 LED will blink slowly to indicate the IOC mode only when MC is really fly in course lock or home
lock.

2 We suggest that you should know clearly that, by which lock method you are going to fly, and the locked forward direction or home point, before you switch on IOC mode during the flight.

3 There is only one home point recorded at any time. This point is the same one used by Go

- Home
and Landing fail

- safe.

4 When flying by home lock, i f GPS signal becomes weak, MC will be in course lock by current forward direction automatically.

5 You ’ d better stand near the home point to use home lick.
6 You ’ d better use 3

- position switch for X2 channel, and y ou ’ d better use X2 channel switch to open
and close IOC during the flight. 

## Notices:

1 Before home lock flight, you ’ d better fly the multi

- rotor out of the 10m range around home point, then
slide X2 channel switch to Home Lock position to fly in home lock when all the requirements are met. If you have a lready slide X2 channel switch to Home Lock position when the multi

- rotor is still in 10m range around home point, and this is the first time you are going to fly in home lock during the current flight, then if all the requirements are met, MC will change into home lock automatically

when multi

- rotor flies out the 10m range around home point.27 |

2 When multi

- rotor is flying by home lock far away from you and home point, please do not slide X2 channel switch many times quickly so as to avoid the change of home po int without your attention.

3 By using a 3

- position switch, if you want to record forward direction or home point manually, do not
slide X2 channel switch between OFF and Home Lock position, but only between OFF and Course

Lock
, or Course Lock and Home Lock position. And p lease record the forward direction and home point separately so as to make sure the recording is successful.

4 When you are flying in home lock, if the multi

- rotor is back into the 10m range around home point , or you switch into 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 will fly in course lock still by the recorded forward direction.

5 We suggest you to us e home lock in a limited area which is 10m away from home point.

6 Continuously spinning will cumulate yaw error. LED will blink to indicate h uge cumulative yaw error caused by spinning nose continuously in IOC. In this case, you c an stop or slow down the
spinning, and continue flying after blinking is off so as to have better flight performance.28 | 

# 5. Gimbal

STEP1: Gimbal S witch
If you use gimbal, please choose On here. 

## Notices:
If you open the gimbal control i n assistant software during the configuration , please note that there is output from F1 and F2 ports. Now you should not connect these ports to ESCs which is wired with
propellers equipped motors. 

## Tips:
If you want to use gimbal with an Octo

- rotor, you ha ve to use S

- Bus receiver, then you can use port T and R for gimbal control. Otherwise, there will be no ports on MC for gimbal.



## STEP2: Servo Travel Limit

R ange:
- 1000 to+1000

. MAX / MIN are servo travel limits; adjust them to avoid mechanical binding; Place your multi rotor on level ground, adjust C enter value of P itch and R oll direction to make the c amera mounting frame to your desired angle

- to

- ground. 

## STEP3: Automatic C ontrol G ain29 | R ange: 0 to 100

. Adjust the reaction angle of automatic control. The initial value 100 is full angle . The bigger the gain
, the bigger the reaction angle. Click REV / NORM
, and th en you can reverse the feedback control directions.



## STEP4: Manual Control Speed

R ange: 0 to 100

. You should assign one of the knobs on your transmitter to X 3 channel for controlling the Pitch direction (angle) of camera gimbal during flight first

. Then a djust the reaction speed of pitch direction manual control; the initial value 100 is full speed. 

## Notices:
Do not use X3 to control gimbal pitch and remote adjust parameters at the same time.30 | 

# 6. Voltage Monitor

STEP1: Protection Switch

In order to prevent your mult i

- rotor from crash or other harmful consequences caused by low battery voltage, we have designed two levels low voltage protections. You can choose to not to use them, however we strongly recommend to open the protections here! 

## Notices:

 Make sure two conne ctions between PMU and MC (PW to CAN interface, V

- SEN to X1) are correct, otherwise the low voltage protection will not work properly.

 All two level protections have LED warning as default. First level will blink yellow light

c easelessly; second level will blink red light ceaselessly.

 All two level protections will only have LED warning under Manual Mode
, no any automatic actions.

 Low voltage protections are NOT fun! You should land your multi

- rotor ASAP in any level of protection to prevent your multi

- rotor from crash or other harmful consequences!



## STEP2: Battery
Power the MC by a battery and connect the MC with PC, current battery voltage will be displayed in this

column.31 | If the battery voltage displ ayed here is different from the voltage you measure from a voltmeter, you have to calibrate. C lick the Calibration
, fill the voltage you have just measured in the Calibration column of the dialogue box, and then click OK

.

Meanwhile we need you to choose t he battery type you are using, so that MC can provide default warning voltages and ranges of warning voltages for you.



## STEP3: First Level Protection

No Load (No Load Voltage): Self

- defining warning voltage . Needs your input.

Loss (Line Loss Voltage): The batte ry voltage drop during the flight . Needs your input.

Loaded (Loaded Voltage): The real

- time battery voltage during the flight. This is the actual warning voltage

monitored by MC. No needs your input, calculated by No Load and Loss. 

## Tip s: Voltages Magnitude Relation :

 No Load : First level > Second level.

 Loss : First level = Second level.

 Loaded : Calculated, First level > Second level.

Method of Acquiring Line Loss Voltage:

1 Make sure you can fly your multi

- rotor normally with a fully charged battery.

2 Use a fu lly charged battery, switch on the low voltage protections in assistant software, and observe the current voltage. Fill a reasonable warning voltage in the No Load of first protection (We

recommend to fill a voltage 1V lower than current voltage and higher than minimum battery voltage rating in). Fill 0V in Loss at the moment.

3 Fly the multi

- rotor until the first level protection is triggered , and the yellow light is flashing. Now land your multi

- rotor ASAP.

4 Connect the MC to PC, open the assistant and acqui re 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.32 | 

## Notices:

 If the line loss voltage of a battery is over 0.3V per cell (e.g. 3S battery over 0.9V), it ’ s because the internal resistance of battery is high or the battery is too old, we suggest you to replace it!



###  Generally the line loss voltage of different battery is different. For the consideration of safety, you ’ d better acquire all the line loss voltage s of all your battery you are using, and fill the lowest one in the

Loss.



###  When you change the payload or multi

- rotor, you have to get new line loss voltage.



###  The line loss voltage will be bigger after many times use, you should get new one after 30 times

ch arging

. 

###  Make sure your ESCs protection voltage is lower than 3.1V (1S), otherwise WKM low voltage protection will not work.

1 Acquire the line loss voltage by the method introduced before first, and fill it in Loss.

2 Fill a reasonable warning voltage in the No Load.

3 Choose a safeguard: 1 ) LED warning : It is the default safeguard when you switch on the low voltage protection ; 2 ) Go Home and Landing: This safeguard will NOT be triggered when any of the following

items is satisfied: a) Manual or Atti. Mode ; b) GPS sig nal is not good; c) The distance between Home Location and multi

- rotor is smaller than 25m, and the altitude is smaller than 20m relative to Home Location. Here the generation of Home Location is the same as the way used in Enhanced Failed

- safe. Please refer to Enhanced Failed

- safe in “ Autopilot ”

. 

## Notices:

 There will be a 4 seconds LED warning before Go Home.



###  If you switch to Manual or Atti. Mode during Go Home, you will regain the control. LED warning will be still on, please lan d ASAP.



###  If you switch back into the GPS Mode when you are in first level protection, you will have 15s time to control your multi

- rotor, you should land ASAP in this 15s to prevent your multi

- rotor from crash or other harmful consequences! After that if th e Go Home and landing requirements are satisfied,

multi

- rotor will Go Home and Landing automatically

. 

###  If you choose LED warning, please land ASAP after LED warning to prevent your multi

- rotor from crash or other harmful consequences!



###  Compare the Go Home an d Landing of low voltage protection and the Go Home and Landing in

Enhanced Failed

- safe, the generations of 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.33 | 

## STEP4: Second Level Protection

1 Fill the warning voltage and line loss voltage in No Load and Loss by the method introduced in previous
step.

2 When the second level protection is triggered , LED warning will be on. Meanwhile the center point of

throttle stick will move up slowly to 90% of endpoint, you should land ASAP to prevent your multi

- rotor from crash or other harmful consequences!

3 When the center point is at 90% of endpoint, multi

- rotor will still ascend slowly if you continue to pull the
throttle stick, and the control of Pitch
, Roll and Yaw are the same as before. Please land ASAP to
prevent your multi

- rotor from crash or other harmful consequences! 

## Notices:
If your multi

- rotor goes into the second level protection during Go Home in first level protection, it will land immediately . 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 conseque nces!34 | 

# Flight
Digital Compass Calibration
Why calibrate the compass?
Ferromagnetic substances placed on multi rotor or around its working environment will affect the reading of earth magnetic for digital compass, it also reduce s the accuracy of the mul ti rotor control , or even reads incorrect heading . Calibration will eliminate such influences, and ensur e MC system performs well in a

non
- ideal magnetic environment.



## W hen to do it ?

 Th e 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

. b) If electronic devices are added/removed/ re
- positioned (Main Controller, servos, batteries, etc). c) When the mechanical structure of the multi rotor is changed.



###  If the flight direction appears to be shift ing ( meaning the multi rotor doesn’t “fly straight”).



###  The LED indicator often indicates abnormality blinking when the multi rotor yaws. ( It is normal for this to happen only occasionally. )



## Notices:

 Don’t calibrate your compass where th ere is strong magnetic interference, such as magnetite, car park, and steel reinforcement under the ground.



###  DO NOT carry ferromagnetic material s with you during calibration, such as keys or cell phone s

. 

###  Y ou don’t need to rotat e your multi rotor on a precis e horizontal or vertical surface
, but keep at least

45° difference between horizontal and vertical calibration

. 

###  MC cannot work in the polar circle.



## Calibration procedure

STEP1: Enter calibration mode: quickly slide the control mode switch from Position

- 1 to Po sition

- 3 for

6 to 10 times, and LED indicator will be constantly on in blue;

STEP2: Calibration in horizontal: rotat e you multi rotor along with the horizontal surface until the green

light is on constantly, then go to the next step;

STEP3: Calibration in vertical: whil e green light is constantly on, hold your multi rotor vertically and35 |

rotat e it along with its vertical axis
, keep rotating until the green light is off
, meaning the

calibration is finished.

STEP4: After you finished the calibration, LED indicator will show whether the calibration was

successful or not:

 If white light turns on for 3 second s , calibration succeed s, calibration mode will auto exit ;

 If red light keeps blinking quickly
, the calibration has failed. Slide the control mode switch one

time to cancel current calibration, and then re
- start from step 1 for re

- calibration. 

## Tips:
If you keep having calibration failure
, it might suggest that there is very strong magnetic interference around the GPS & Compas s module, please avoid flying in this area.36 | 

# T est Fly

Before First Flight Notices:

 Make sure you have assembled your multi rotor correctly.

 Make sure you have done the configuration procedure correctly.

 Any of t he following mistakes will lead to dang er ou s accident , double check all these items:

 Rotation direction of motor is opposite ;

 Propeller installation mistake;

 IMU installation mistake;

 Wrong connection between MC and ESC;

 In Atti and GPS Atti mode, throttle stick center position is for 0m/s on the vertical direction. If you pull the stick to the bottom during the flight, multi

- rotor will descend; If you pull the stick to the bottom on the ground, it will cut motors in 3 seconds. However the slow spinning of motors will affect the flight performa nce, you’d better keep throttle stick position higher than 10% from cut

- throttle during the flight! In Manual Mode it will cut motors when pull throttle stick under 10%.

 Make sure switch on the transmitter first, then power on multi

- rotor! (Power off multi

- rotor first, then switch off the transmitter after landing!)

 Please does the test fly and gain tuning with Atti. Mode in the open air without heavy wind! Please read the first step of Autopilot in Configuration to learn how to tune gains.



## Fly

STEP1: Make sure your batteries are fully charged for your transmitter
, MC and all the devices on your
multi rotor;

STEP2: C heck all connection s and wiring s , and make sure they are in good condition;

STEP3: S witch on the transmitter first, then power on your multi

- rotor!

STEP4: Slide the cont rol mode switch on your transmitter
, and make sure it is working properly. Check it with LED indicator to specify the current working mode for MC . See Appendix for details about
LED indicator;

STEP5: Switch the system to Atti. Mode

. Use any safe method to do the following test: Apply the throttle to 20% slowly in 3 seconds after executing CSC and make sure all the motors are working,

and then try to push your sticks lightly in Roll, Pitch and Yaw to feel if your multi rotor moves to the corresponding direction. I f 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,37 |

and then t ake

- off your multi rotor gently

. 

## Tips:
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

.38 | 

# Fly with GPS

Before Fly with GPS Notices:

 When system is powered on, you must not move your multi rotor or sticks on transmitter until the
system initialization is finished (about 5 second)

.
 Make sure the GPS signal is good, without red LED blinking . Otherwise multi rotor will drift without

stick commands

.
 Please avoid using MC system in the following areas
, wh ere will GPS signal is most likely blocked :  Urban area with crowded buildings
 Tunnel s  Under bridge s 

## Tips:
Should you find the multi

- rotor does not track straight in forward flight, you migh t try re

- moun ting GPS in an offsetting angle as showed in right figure. Θ in the figure is the offsetting angle

.39 | 

# Appendix

Customize Motor Mixer

For a multi rotor, the roll, pitch, yaw and vertical axes are contributed by the combination of rotors ’ out puts. This procedure is called Mix Control. T he proportion of rotors ’ outputs is decided by the mechanical structure. Customers can setup the motor output coefficients C in Motor Mixer  Customize so as to realize the Mix

Control.



## Before customization, yo u should following knowledge:

1. Motor output = C × S tick position (A or E or T or R)

. Torque produced by motor = Motor output × Force arm of motor (L) = C × S tick position (A or E or T or R) × L

2. T he range of C is from

- 100% to 100%. Maximum C in the same co lumn is 100%. The bigger
absolute value of C
, The great effect of stick position on motor output. Stick position will not
affect motor output when C is 0, which means the motor output is fixed.

3. Each motor has four different output co efficients : C T , C Y , C P , C R . E.g. C Y2 represents coefficient of M2 in yaw co ntrol; C R5 represents coefficient of M5 in roll co ntrol

. 4. Motor output is relative to its rotation speed. The bigger output, the faster rotation speed. Negative
output does not represent counter rotation
, but slower rotation speed. Motor is still spinning if its output

is 0.

5. Throttle stick position (T) : Pull stick T<0, multi

- rotor moves down ; Push stuck T > 0 multi

- rotor moves up;
Rudder stick position (R) : Stick le ft R<0, multi

- rotor nose left ; Stick right R >0, multi

- rotor nose right;

Elevator stick position (E) : Pull stick E<0 multi

- rotor moves back ward; Push stuck E>0, multi

- rotor moves
forward ;
Aileron stick position (A) : Stick le ft A<0, multi

- rotor moves left ; Stick right A>0
, multi

- rotor moves right.
6. Mul ti

- rotor should keep balance along all the other axes when moves along one axis:

 To keep throttle direction balance , sum of all motors ’ output should be 0 when apply rudder or pitch or roll stick command;

 To keep yaw direction balance , sum of counter clock wise motor s’ output should be equal to sum of clockwise motors ’ output when apply throttle or pitch or roll stick command;

 To keep pitch direction balance
, total torques produced by motors at each side of pitch
axis should be the same when apply throttle o r rudder or roll stick command;

 To keep roll direction balance , total torques produced by motors at each side of roll axis40 |

should be the same when apply throttle or rudder or pitch stick command
。 7. To pitch or roll control, proportion of coefficients of the motors at the same side of pitch or roll axis
should be equal to the proportion of force arms of those motors: C m /C n = L m /L n ; Coefficient is 0 %
if the force arm of that motor is 0.

Now we take the He x a
- rotor V as an illustration to introduce how to customize motor mixer

.



## Throttle
Usually, we want push the throttle stick to ascend the multi

- rotor; pull the throttle stick to descend the

multi

- rotor ; put the throttle stick at center point to hover th e multi

- rotor

. We also want multi

- rotor to keep

balance along all the other axes when apply the throttle stick command: 

# { ( C T 1 + C T 3 + C T 5 

# ) × T = 

# ( C T 2 + C T 4 + C T 6 

# ) × T ( To keep yaw direction balance ) 

# ( C T 1 + C T 2 

# ) × T × a = 

# ( C T 4 + C T 5 

# ) × T × a ( To keep pitch direction balance ) 

# ( C T 2 + C T 4 + 2 C T 3 

# ) × T × d = 

# ( C T 1 + C T 5 + 2 C T 6 

# ) × T × d ( To keep roll direction balance ) 1

As we define d before: Pull stick T<0, multi

- rotor moves down ; Push stuck T>0 multi

- rotor moves up , we can choose the following setup:

Now if push the throttle stick, the sum of all motors output (C T1 + C T2 + C T3 + C T4 + C T5 +C T6 )×T is positive,

then multi

- rotor moves up ; p ull the throttle stick, the sum of all motors output (C T1 + C T2 + C T3 + C T4 + C T5 +C T6 )×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 1.41 | 

## Ya w The movement about yaw axis is produced by the counter torque force from the rotation of propeller. In our
example, M1 M3 M5 produce clockwise torque force; M 2 M4 M6 produce counter clockwise torque force.

When the hex a
- rotor is hovering, all the rotors are spinning at the same angular velocity, which means the clockwise torque force equals to counter clockwise torque force, and this produces exactly 0 angular acceleration about yaw axis. Therefore, when the rotate speed of M1 M3 M5 is larger than M2 M4 M6,

hex a
- rotor spins clockwise; when the rotate speed of M1 M3 M5 is smaller than M2 M4 M6, hex a
- rotor spins

counter clockwise. We also want multi

- rotor to keep balance along all the other axes when apply the yaw stick

command: 

# { ( C R 1 + C R 2 + C R 3 + C R 4 + C R 5 + C R 6 

# ) × R = 0 ( To keep throttle direction balance ) 

# ( C R 1 + C R 2 

# ) × R × a = 

# ( C R 4 + C R 5 

# ) × R × a ( To keep pitch direction balance ) 

# ( C R 2 + C R 4 + 2 C R 3 

# ) × R × d = 

# ( C R 1 + C R 5 + 2 C R 6 

# ) × R × d ( To k eep roll direction balance ) 2

As we defined before: Stick le ft R<0, multi

- rotor nose left ; Stick right R>0, multi

- rotor nose right , we can choose the following setup:

Now if move the yaw stick ri ght, the sum of M1, M3, M5 output (C R1 + C R3 + C R5 ) ×R is positive, the sum of M2,
M4, M6 output (C R 2 + C R 4 + C R 6 ) ×R is negative, then the clockwise torque force is larger than counter clockwise torque force, multi

- rotor nose right; if move the yaw stick left, the sum of M1, M3, M5 output (C R1 +
C R3 + C R5 ) ×R is negative
, the sum of M2, M4, M6 output (C R 2 + C R 4 + C R 6 ) ×R is positive, then the clockwise
torque force is smaller than counter clockwise torque force, multi

- rotor nose left. And the balance along all the other axes can be derived by substituting the yaw stick command into equations set 2.



## Pitch
The movement about the pitch axis is produced by the differential output of M1+M2 and M4+M5. Since M3 and M6 are on the pitch axis, they do not contribu te and torque. You can just keep the rotation speed of M3 and M6 the same as hovering, so C P 3 and C P 6 are 0. Increase output of M4, M5 and decrease output of M1,

M2 , multi

- rotor moves forward; decrease output of M4, M5 and increase output of M1, M2, multi

- rotor moves42 | backward

. We also want multi

- rotor to keep balance along all the other axes when apply the pitch stick

command: 

# { ( C E 1 + C E 2 + C E 3 + C E 4 + C E 5 + C E 6 

# ) × E = 0 ( To keep throttle direction balance ) 

# ( C E 1 + C E 3 + C E 5 

# ) × E = 

# ( C E 2 + C E 4 + C E 6 

# ) × E ( To keep yaw direction balance ) 

# ( C E 2 + C E 4 + 2 C E 3 

# ) × E × d = 

# ( C E 1 + C E 5 + 2 C E 6 

# ) × E × d ( To keep roll direction balance ) 3

Also proportion of coefficients of the motors at the same si de of pitch axis should be equal to the proportion of

force arms of those motors: C E 1 ∶ C E 2 = C

E 4 ∶ C E 5 = a : a = 1 : 1

. As we defined before: Pull stick E<0

multi

- rotor moves back ward; Push stuck E>0, multi

- rotor moves forward , we can choose t he following setup:

Now if push the pitch stick, the sum of M1, M2 output (C E1 + C E2 ) ×E is negative, the sum of M4, M5 output (C E 4 + C E 5 ) ×E is positive, then multi

- rotor moves forward; if pull th e pitch stick, the sum of M1, M2 output (C E1 + C E2 ) ×E is positive, the sum of M4, M5 output (C E 4 + C E 5 ) ×E is negative, then multi

- rotor moves backward.

And the balance along all the other axes can be derived by substituting the pitch stick command into

e quations set 3.



## Roll
The theory of movement about the roll axis is the same with pitch axis. However there is no motor on the axis
in this case, no coefficient is 0%. We also want multi

- rotor to keep balance along all the other axes when apply the roll stick command: 

# { ( C A 1 + C A 2 + C A 3 + C A 4 + C A 5 + C A 6 

# ) × A = 0 ( To keep throttle direction balance ) 

# ( C A 1 + C A 3 + C A 5 

# ) × A = 

# ( C A 2 + C A 4 + C A 6 

# ) × A ( To keep yaw direction balance ) 

# ( C A 1 + C A 2 

# ) × A × a = 

# ( C A 4 + C A 5 

# ) × A × a ( To keep pitch direction balance ) 4

Also proportion of coefficients of the motors at the same side of roll axis should be equal to the proportion of

force arms of those motors: C E 2 ∶ C E 3 ∶ C E 4 = C

E 1 ∶ C E 6 ∶ C E 5 = d : 2 d : d = 1 : 2 : 1

. As we defined before: Stick le ft
A<0, multi

- rotor moves left ; Stick right A>0 multi

- rotor moves right , we can choose the following setup:43 | Now if move the roll stick right, the sum of M 2, M3, M4 output (C A2 + C A4 + 2 C A3 ) ×A is positive, the sum of M1,
M5, M6 output (C A 1 + C A 5 + 2 C A 6 ) ×A is negative, then multi

- rotor moves right; if move the roll stick left, the sum of M2, M3, M4 output (C A2 + C A4 + 2 C A3 ) ×A is negative, the sum of M1, M5 , M6 output (C A 1 + C A 5 + 2 C A 6 )

×A is positive, then multi

- rotor moves left. And the balance along all the other axes can be derived by substituting the roll stick command into equations set 4.



## Summary

1. Once you choose to customize , all coefficients are c onfigurable . However, you only have to setup as many as you need. Leave the rest 0%

. 2. Make sure you are clear about the definition of the positive and negative . Make sure you are also clear about the relationship between the output quantity and motor rotati on speed.

3. Usually, the coefficients of throttle and yaw are 100% or

- 100%. The rest of the coefficients should be decided by the proportion of force arm s of the motor s

. 4. The method introduced in this section is only suitable for central symmetry multi rotor

.44 | 

# Multi

- Rotors Supported

To coaxial propellers: Blue propeller is at T op ; Red propeller is at B ottom

. Otherwise all propellers are at top.45 | 

# Port Description

Main Controller

For roll control ( lef t/right )
For pitch control ( front/back )

For throttle control Or to g imbal roll servo
For rudder control Or to g imbal pitch servo
For Con trol Mode Switch For voltage monitor (Connect with PMU V

- SEN port)

For D

- Bus (S

- Bus compatible) Or for gain tuning Or for IOC switch For gimbal pitch control Or for g ain tuning

To #6 rotor

To #5 rotor

To #4 rotor

To #3 rotor

To #2 rotor

To #1 rotor To g imbal pitch servo Or to #8 rotor To g imbal roll servo 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

V

- SEN For monitoring battery voltage and supplying power to receiver a nd other electronic

devices. (Connect with MC X1 port)

 White wire (signal wire) output: ± 3.3V

 Red wire (power wire) output: 3A@5V

PW For supplying power to WKM system.

 Output: Max 2A@12.6V46 | 

# Light Description
Flight Stat e s

Manual Mode Atti. Mode GPS Atti. Mode IOC Tx Signal Lost

GPS satellites < 5

GPS satellites < 6

GPS satellites < 7 Attitude & GPS good

Attitude status fair

Attitude status bad

IMU data Lost

 Sparking indications of
, , are: Single s park , all the sticks return to center, multi rotor hovering; Double spark , stick(s) not at center, speed command is not zero. )

 Fast blinking: Record forward direction or home point successfully. 

## Compass Calibration
Begin h oriz ontal calibration Begin vertical calibration

Calibration finished

Calibration or others error 

## Low Voltage Warning

First lever protectio n Second lever protection 

## MC LED

MC is functioning well.

B oot loader mode, MC is waiting for firmware upgrading. Firmware upgrading is finish. MC is waiting for reboot.

Error occurs during firmware upgrading, MC reboot is required. or 

## PMU LED

PMU connection is correct.

C on nection between PMU and battery is wrong (polarity error).47 | 

# Specifications

General

Built

- In Functions  Three Modes Autopilot

 Enhanced Fail Safe

 Low Voltage Protection  S

- Bus Receiver Support ed

 2

- axle G imbal Support

 Intellige nt Orientation Control 

## Peripheral
Supported Multi

- rotor  Quad

- rotor : +4 , X 4 ;

 Hex a
- rotor : +6
, X6 , Y 6
, Rev Y6 ;

 Octo

- rotor : X 8
, +8 , V 8

. Supported ESC output 400Hz refresh frequency

. Recommended Transmitter PCM or 2.4GHz with minimum 7 channels and

f ail ed

- safe function available on all channels

. Recommended Battery 2S ~ 6S LiPo Assistant Software System Requirement Windows XP SP3 / 7 

## Electrical & Mechanical
Power Consumption MAX 5W (0.9A@5V, 0.7A@5.8V, 0.5A@7.4V, 0.4A@8V) Operating Temp erature

- 5°C to +60°C Total Weight <= 118 g (overall)

Dimensions  M C : 5 1 .2 mm x 3 8.0 mm x 15 .3 mm

 IMU: 4 1.4 mm x 31 .1 mm x 2 7.8 mm

 GPS & Compass: 50mm (diameter) x 9mm

 LED Indicator: 25mm x 25mm x 7mm

 PMU: 39.5mm × 27.5mm × 9.7mm 

## Flight Performance (can be ef fect ed 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/s48 | 

## WooKong M

©2010

- 2011 Dajiang Innovation Technology Co. Ltd. All Rights Reserved. 6/F, HKUST SZ IER Building, No.9, Yuexing 1st Rd., South District, Hi

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DJI and WooKong is registered trademark of Dajiang Innovation Technology Co. Ltd. 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 Dajiang Innovation Technology Co. Ltd. wi th all rights reserved. No part of this product or manual shall be reproduced in any form without the prior written consent or authorization of Dajiang Innovation Technology Co. Ltd. No patent liability is assumed with respect to the use of the product or information contained herein.