WooKong Multi-Rotor

User Manual

V 2.7

www.dji-innovations.com
2 | 

Warning & Disclaimer

WKM is an excellent autopilot system offering tremendous flight features for low altitude multi rotor working in 

restricted space compared to normal 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 efforts in making the controller to 

operate in the safest manner when the main power battery is connected, such as: disabling 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 Assistant software on your computer.
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.

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 locking.

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, system 

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 Unit (IMU) consists of one 3-axis

accelerometer, one 3-axis gyroscope and a barometer. 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 receiver 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.

PMU Connecter ×1

For connections among Battery, ESCs and PMU.

USB Cable ×1

This cable is used to configure MC and update firmware.
5 | 

3-PIN Servo Cable ×10

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

3M Gummed Paper ×4

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 to register your product warranty.
6 | 

Contents

WARNING & DISCLAIMER.......................................................................................................................... 2

WKM PROFILE............................................................................................................................................ 3

IN BOX ........................................................................................................................................................ 4

CONTENTS ................................................................................................................................................. 6

MATTERS NEED ATTENTION..................................................................................................................... 7

ASSEMBLY ................................................................................................................................................. 8

ASSISTANT SOFTWARE ............................................................................................................................ 9

SOFTWARE AND DRIVER INSTALLATION.......................................................................................................... 9

GUI .......................................................................................................................................................... 9

FIRMWARE UPGRADE.................................................................................................................................11

PRODUCT INFO..........................................................................................................................................11

CONFIGURATION ......................................................................................................................................12

1. MOUNTING.......................................................................................................................................12

2. MOTOR MIXER .................................................................................................................................14

3. TX MONITOR....................................................................................................................................16

4. AUTOPILOT ......................................................................................................................................21

5. GIMBAL ...........................................................................................................................................28

6. VOLTAGE MONITOR ..........................................................................................................................30

FLIGHT.......................................................................................................................................................34

DIGITAL COMPASS CALIBRATION .................................................................................................................34

TEST FLY .................................................................................................................................................36

FLY WITH GPS..........................................................................................................................................38

APPENDIX..................................................................................................................................................39

CUSTOMIZE MOTOR MIXER.........................................................................................................................39

MULTI-ROTORS SUPPORTED.......................................................................................................................44

PORT DESCRIPTION...................................................................................................................................45

LIGHT DESCRIPTION ..................................................................................................................................46

SPECIFICATIONS........................................................................................................................................47
7 | 

Matters Need Attention

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

1 Please disconnect ESCs and PMU Connecter 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 calibration 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 output 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 control 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, Combination Stick Command (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, only 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 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.
8 | 

Assembly

R/C System These are example connections. Please setup Aileron, Elevator, Throttle, Rudder channels on your Tx first, and choose one 2 or 3 positions switch/channel as control mode switch, then connect your receiver to the right ports on MC.

R/C Receiver (JR) AUX2 AUX1 GEAR RUDD

THRO AILE ELEV

AUX2

R/C Receiver (Futaba / Hitec)

1

2

3

4

7 Futaba S-Bus

S-Bus Battery

IMU · The IMU is best positioned near the multi rotor’s center of gravity, where vibration is relatively low. · Orient the IMU such that the arrow marked on the printed surface of the IMU faces the sky and points directly forward, backward, left or right. · The sides of the IMU should be precisely parallel to the multi rotor body. Use double-sided foam tape for secured installation. · Check the double faced adhesive tape regularly to ensure that the IMU is securely positioned. · DO NOT cover the ventilation holes, keep them unobstructed. · The IMU module is NOT water-proof or oil-proof. · Do not mount the IMU upside-down.

Main Controller · There is no orientation requirement for the Main Controller. Choose a mounting location where as shorter ESC extension wires are needed as possible. Please make sure all ports are accessible when installing the MC so as to facilitate wiring and software configuration. · In three-pin ports, pins near the nicks are signal pins. · After choosing a location to mount the MC, it is recommended that you DO NOT mount the MC until all wirings and software configurations are completed.

ESC & Motor · Please make sure you are using the ESCs and motors recommended by the manufacturer of your multi rotor first. We recommend you use DJI motors and ESCs. WKM output is 400Hz refresh frequency. · Connect all ESCs to MC by the motor numbering method introduced in our Assistant software. · If you use 3rd party ESCs, please make sure the ESCs travel midpoint is at 1520us. DO NOT use 700us travel midpoint ESC, as it may lead aircraft to fly away or cause injury and damage. After connect ESCs, calibrate ESCs one by one through the receiver directly before connect them to your MC, Make sure program all of them into Governor off, Break off and Normal Start up to get best experience. · If you use 3rd party ESCs, please cut the red wire (power wire) of your ESCs , as the power from V-SEN on PMU is suitable to most of receivers and other electronic devices. · If you use extra BEC, please use a servo cable without power wire to connect V-SEN to X1. (Not recommend)

LED Indicator · Place the LED indicator a t a n appropriate location of craft body far away from the GPS. Do not mount it on other electronic devices. · Make sure You can see the light during the flight. · You can connect LED to the CAN-Bus port on GPS connection wire.

PMU & Battery · There is no requirement for PMU mounting. · Use our PMU Connecter (red line depicts in figure) to connect battery, PMU and ESCs. · For safety reason, please disconnect ESCs and PMU C o n n e c t e r d u ri n g t h e configuration procedure. · You can choose 2S-6S LiPo battery.

GPS/COMPASS · GPS/Compass is sensitive to magnetic interference, should be far away from any electronic devices. · You should use epoxy resin AB glue to assemble the GPS bracket first as the figure showed in previous page. · Mount the bracket on the center plate of craft first, then fix the GPS on the plate of the bracket (by 3M glue provided). The GPS is sensitive to vibration interference, so position the bracket at least 10 cm from any rotor. · The DJI logo marked on the GPS should face the sky, with the orientation arrow pointing directly forward. The GPS/Compass is packaged with a special indication line for mounting for the first time. · If you are uncertain whether materials near the GPS/Compass module are magnetic or not, you can use a compass or magnet to check it. If you use your own mounting rod, make sure it is NOT magnetic!

Pitch F1

F2 Roll

ESC M1-8
9 | 

Assistant Software

Software and Driver Installation

STEP1: Please download 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 Setup.exe file and follow the steps to finish 

installation.

GUI

1 5 2 6 3 4 9

13 14 12 11 10

7 8

15
10 | 

1 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.

2 ABOUT

 Info: Information regarding your WKM.

 Error Code

3 中文: Chinese interface.

4 ENGLISH: English interface.

5 WRITE: Write 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. 

Optional parameters will be written to MC directly after modification.

6 READ: Read 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 mode 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 assistant software more safely!

13 Red light: WKMPC 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 assistant 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 operation procedure for firmware 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 anti-virus 

software and firewall.

STEP3: Make sure the power supply is securely connected. DO NOT un-plug the power supply until 

firmware upgrade has finished.

STEP4: Connect MC to PC with Micro-USB cable, DO NOT break connection until firmware upgrade

is finished.

STEP5: Run Software and wait for connection.

STEP6: Select TOOLFirmware Upgrade.

STEP7: DJI server will check your current firmware version, and get the latest firmware 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 Upgrade button.

STEP9: Wait until Assistant software reads finished.

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

Your unit is up-to-date now.

Notices:

 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.

Product Info

You 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. You 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 | 

Configuration

1. Mounting

STEP1: IMU Orientation

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

IMU faces the sky and points directly forward, backward, left or right. The sides of the IMU should be 

precisely parallel 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 center 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 multi rotor, 

2 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.

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 

Set your transmitter into ACROBATIC mode. Then select the right mixer type according to your multi-rotor. 

Tips:

 We support nine types of multi-rotors. Please refer to “Multi-Rotors Supperted” in “Appendix”:

 If you want to use gimbal with an Octo-rotor, you have 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.

Notices:

 Do NOT follow instruction from your multi-rotor manufacturer! Make sure the rotation direction of 

each motor is the same as the way assistant 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.

 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.

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.
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 quad-rotor or hexa-rotor, F1 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. There are five levels from LOW speed to HIGH speed, and the default is RECOMMEND. 

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

LOW RECOMMEND HIGH

The lower motor idle speed The higher motor idle speed 

Set Motor Idle Speed as LOW, the motor idle speed will be lowest.

Set Motor Idle Speed as HIGH, the motor idle speed will be highest.

RECOMMEND is the advised level.

You can reset the Motor Idle Speed according to the real situation.

Notices:

 For user whose aircraft takes off at lowest throttles position, please set the idle speed at a low level.

 For common users, please set Motor Idle Speed to RECOMMEND or above, since setting idle 

speed too low may affect motor(s) spool 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

 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%.

LOW RECOMMEND HIGH
16 | 

proportion value 3% 5 7% 9% 11%

3. Tx Monitor

Notices:

Make sure you have removed 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 Tradition.

Notices:

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, X2 and X3

channels are all through the D-Bus channel. Right figure 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.

Transmitter Channels MC Channels 1

2

3

4

5

6

7

A

E

T

R

U

X2

X3
17 | 

STEP2: Cut Off Type

Please read the introductions 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 Combination Stick Commands (CSC) to start motors:

2 Stop Motor: We provide two options to stop motors: Immediately, Intelligent.

 Immediately Mode: By using this mode, in any control 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, CSC is no need. 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 70°, 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 slope 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 types 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 current throttle stick position. Please DO NOT executes 

CSC during flight without any reason.

3. If you choose Immediately mode, you should not pull throttle stick under 10% during flight, 

because that will stop motors. If you do it accidentally, you should push the throttle stick 

over 10% in 5 seconds to re-start motors.

4. If you choose Intelligent mode, 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 motors are denied by MC, motors will hold state.

STEP3: Command Sticks Calibration

Slides Moving Definition:

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

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

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

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

STEP1: Set endpoints of all channels to default values (100%) and set all trims and 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: After 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. X2 and X3 is for remote gain tuning; X3 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 parameters 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 your 

transmitter, move 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:

 To move the slider is to adjust end-points of the channel selected.

 For 3-position switch, you should assign:

Position-1 to Manual Mode; Position-2 to Atti.

Mode; Position-3 to GPS Atti. Mode; or reverse 

the assignment for Position-1 and Position-3.

 For 2-positions switch, you can assign any two of these three control modes as you like.

Move the slider to the range which reads Fail-Safe Mode to turn the area blue, set 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 corresponding 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 methods to check 

whether MC is already in Fail-Safe mode.

 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.

Tx

1 2 3 3 Position Switch
20 | 
21 | 

4. Autopilot

STEP1: Basic Parameters

Usually, the default parameters are ready to go. However, different multi rotors have different gains because 

of different size, ESC, motor and propeller. If gain is too large, you will find the multi rotor oscillating in the 

corresponding direction (About 5~10Hz). If too small, the multi rotor will likely to be hard to control. So 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 time) 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 counter 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 of 
22 | 

the other directions.

You use two methods 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.

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

the reaction. Increase 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 

small.

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 basic 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 from 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 X2 or X3 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 hexa-rotor are higher than

quad-rotor.

STEP2: Advanced Parameters

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. 
23 | 

STEP3: Enhanced Failed-Safe Methods

Choose one method 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 between 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 if 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.

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 are found ( blinks once or no blinking) 8 seconds.

When switch to Manual Mode or Atti. Mode, MC will disengage enhanced failed-safe mode, you can re-gain 

control of multi rotor.

Tips:

The following schematic shown is introduction for Go-Home and Landing.

STEP4: Intelligent Orientation Control

Forward Direction: Multi-rotor will 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 nothing to do with nose 

direction:

 In course lock flying, the forward direction is the same as a recorded nose direction. See the following 

figures (Mode 2): 1

If GPS satellite found >= 6 , at the first you pull the throttle stick, then record Home Location Home Location

2

Tx 3Tx

5

Tx

Signal lost

Tx

Multi rotor

4

Tx Signal lost > 3s

Stay hover

Ready to Go-Home 6 Current location lower than 20m Current location higher than 20m 20m

Ground Go back first Hover 15s , Then land.
24 | 

Usually 

In course lock  In home lock flying, the forward direction is the same as the direction from home point to multi-rotor.

See the following figures (Mode 2):

U Home point sually 

Home point In home lock

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

Then wire the right channel of receiver to X2 port of MC. At each switch position, use end-point fine tuning on 

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

area blue 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 receiver, 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 5th channel.

Notices:

Do NOT set a 2-position switch as: Position-1 is Course Lock; Position-2 is Home Lock.

Course Lock Usage:

During the same flight:

STEP1: Record STEP2: Open STEP3: Close STEP4: Re-open

Nose direction; Forward direction

STEP1: Record forward direction: There are two ways: Manually; Automatically:

a) Automatically: MC will record the current nose direction as forward direction at 30th second 

Tx

1 2 3 3 Position Switch
25 | 

after you power on the multi-rotor. And LED will blink quickly if recording is successful.

b) Manually: 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 direction at any time after you 

power on multi-rotor 30 seconds. And 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 can 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 IOC mode.

STEP3: Close course lock: There are two ways:

a) Slide X2 channel switch to OFF position to quit course lock; (Recommended 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 to 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.

Home Lock Usage:

During the same flight:

STEP1: Record STEP2: Open STEP3: Close STEP4: Re-open

Nose direction; Forward direction; Home point; Over 10m distance

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

Fail-Safe. There are two ways to record here: Manually; Automatically:

a) Automatically: 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) Manually: 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. And 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 all 
26 | 

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 points, 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; (Recommended 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 around 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 3rd step are met, slide 

X2 channel switch to 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, if 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 you’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 already 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 point 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 please 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 use 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 huge cumulative yaw 

error caused by spinning nose continuously in 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.
28 | 

5. Gimbal

STEP1: Gimbal Switch

If you use gimbal, please choose On here.

Notices:

If you open the gimbal control in 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 have 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

Range: -1000 to+1000.

MAX/MIN are servo travel limits; adjust them to avoid mechanical binding; Place your multi rotor on level 

ground, adjust Center value of Pitch and Roll direction to make the camera mounting frame to your desired

angle-to-ground.

STEP3: Automatic Control Gain 
29 | 

Range: 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 then you can reverse the feedback control directions.

STEP4: Manual Control Speed 

Range: 0 to 100.

You should assign one of the knobs on your transmitter to X3 channel for controlling the Pitch direction (angle) 

of camera gimbal during flight first. Then adjust 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 multi-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 connections 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 

ceaselessly; 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 displayed here is different from the voltage you measure from a 

voltmeter, you have to calibrate. Click 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 the 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 battery 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.

Tips:

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 fully 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 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.
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 voltages 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 

charging.

 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 signal 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 land 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 the 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 and 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 consequences!
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 reduces the accuracy of the multi rotor control, or even reads 

incorrect heading. 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.

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 shifting (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 there is strong magnetic interference, such as magnetite, car 

park, and steel reinforcement under the ground.

 DO NOT carry ferromagnetic materials with you during calibration, such as keys or cell phones.

 You don’t need to rotate your multi rotor on a precise 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 Position-3 for 

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

STEP2: Calibration in horizontal: rotate 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: while green light is constantly on, hold your multi rotor vertically and 
35 | 

rotate 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 seconds, calibration succeeds, 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 & Compass module, please avoid flying in this area.
36 | 

Test 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 the following mistakes will lead to dangerous 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 performance, 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: Check all connections and wirings, and make sure they are in good condition;

STEP3: Switch on the transmitter first, then power on your multi-rotor!

STEP4: Slide the control 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. 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, 
37 | 

and then take-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, where will GPS signal is most likely blocked:

 Urban area with crowded buildings

 Tunnels

 Under bridges

Tips:

Should you find the multi-rotor does not track straight in forward flight, you might try re-mounting GPS in an 

offsetting angle as showed in right figure. Θ in the figure is the offsetting angle.

Objective flight direction GPS mounting direction

GPS mounting direction Actual flight direction Objective flight direction

Actual flight direction

1 2 3

θ

θ

Without GPS offset angle With GPS offset angle
39 | 

Appendix

Customize Motor Mixer

For a multi rotor, the roll, pitch, yaw and vertical axes are contributed by the combination of rotors’ outputs. 

This procedure is called Mix Control. The 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, you should following knowledge:

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

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

R) ×L

2. The range of C is from -100% to 100%. Maximum C in the same column 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 coefficients: CT, CY, CP, CR. E.g. CY2 represents coefficient of M2 

in yaw control; CR5 represents coefficient of M5 in roll control.

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 left 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 backward; Push stuck E>0, multi-rotor moves 

forward;

Aileron stick position (A): Stick left A<0, multi-rotor moves left; Stick right A>0, multi-rotor moves right.

6. Multi-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 clockwise motors’ 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 or rudder or roll stick command;

 To keep roll direction balance, total torques produced by motors at each side of roll axis
40 | 

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: Cm/Cn = Lm/Ln; Coefficient is 0% 

if the force arm of that motor is 0.

M2 M1

M1

M4 M5

M3 M6

M2 M1

M3

M4 M5

M6

Roll Axis

Pitch Axis

Yaw Axis

d

2d a a

Now we take the Hexa-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 the multi-rotor. We also want multi-rotor to keep 

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

{

(CT1 + CT3 + CT5) × T = (CT2 + CT4 + CT6) × T (To keep yaw direction balance)

(CT1 + CT2) × T × a = (CT4 + CT5) × T × a (To keep pitch direction balance)

(CT2 + CT4 + 2CT3) × T × d = (CT1 + CT5 + 2CT6) × T × d (To keep roll direction balance)

1

As we defined before: Pull stick T<0, multi-rotor moves down; Push stuck T>0 multi-rotor moves up, we can 

choose the following setup:

M2 M1

M1

M4 M5

M3 M6

M2 M1

M3

M4 M5

M6

Roll Axis

Pitch Axis

Yaw Axis

d

2d a a

Now if push the throttle stick, the sum of all motors output (CT1 + CT2 + CT3 + CT4 + CT5 +CT6)×T is positive, 

then multi-rotor moves up; pull the throttle stick, the sum of all motors output (CT1 + CT2 + CT3 + CT4 + CT5

+CT6)×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 | 

Yaw

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; M2 M4 M6 produce counter clockwise torque force. 

When the hexa-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, 

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

counter clockwise. We also want multi-rotor to keep balance along all the other axes when apply the yaw stick 

command:

{

(CR1 + CR2 + CR3 + CR4 + CR5 + CR6) × R = 0 (To keep throttle direction balance)

(CR1 + CR2) × R × a = (CR4 + CR5) × R × a (To keep pitch direction balance)

(CR2 + CR4 + 2CR3) × R × d = (CR1 + CR5 + 2CR6) × R × d (To keep roll direction balance)

2

As we defined before: Stick left R<0, multi-rotor nose left; Stick right R>0, multi-rotor nose right, we can 

choose the following setup:

M2 M1

M1

M4 M5

M3 M6

M2 M1

M3

M4 M5

M6

Roll Axis

Pitch Axis

Yaw Axis

d

2d a a

Now if move the yaw stick right, the sum of M1, M3, M5 output (CR1 + CR3 + CR5) ×R is positive, the sum of M2, 

M4, M6 output (CR2 + CR4 + CR6) ×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 (CR1 + 

CR3 + CR5) ×R is negative, the sum of M2, M4, M6 output (CR2 + CR4 + CR6) ×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 contribute and torque. You can just keep the rotation speed of M3 

and M6 the same as hovering, so CP3 and CP6 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 moves 
42 | 

backward. We also want multi-rotor to keep balance along all the other axes when apply the pitch stick 

command:

{

(CE1 + CE2 + CE3 + CE4 + CE5 + CE6) × E = 0 (To keep throttle direction balance)

(CE1 + CE3 + CE5) × E = (CE2 + CE4 + CE6) × E (To keep yaw direction balance)

(CE2 + CE4 + 2CE3) × E × d = (CE1 + CE5 + 2CE6) × E × d (To keep roll direction balance)

3

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

force arms of those motors: CE1∶ CE2 = CE4∶ CE5 = a: a = 1: 1. As we defined before: Pull stick E<0

multi-rotor moves backward; Push stuck E>0, multi-rotor moves forward, we can choose the following setup:

M2 M1

M1

M4 M5

M3 M6

M2 M1

M3

M4 M5

M6

Roll Axis

Pitch Axis

Yaw Axis

d

2d a a

Now if push the pitch stick, the sum of M1, M2 output (CE1 + CE2) ×E is negative, the sum of M4, M5 output 

(CE4 + CE5) ×E is positive, then multi-rotor moves forward; if pull the pitch stick, the sum of M1, M2 output (CE1

+ CE2) ×E is positive, the sum of M4, M5 output (CE4 + CE5) ×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 

equations 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:

{

(CA1 + CA2 + CA3 + CA4 + CA5 + CA6) × A = 0 (To keep throttle direction balance)

(CA1 + CA3 + CA5) × A = (CA2 + CA4 + CA6) × A (To keep yaw direction balance)

(CA1 + CA2) × A × a = (CA4 + CA5) × 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: CE2∶ CE3∶ CE4 = CE1∶ CE6∶ CE5 = d: 2d: d = 1: 2: 1. As we defined before: Stick left 

A<0, multi-rotor moves left; Stick right A>0 multi-rotor moves right, we can choose the following setup:
43 | 

M2 M1

M1

M4 M5

M3 M6

M2 M1

M3

M4 M5

M6

Roll Axis

Pitch Axis

Yaw Axis

d

2d a a

Now if move the roll stick right, the sum of M2, M3, M4 output (CA2 + CA4 + 2CA3) ×A is positive, the sum of M1, 

M5, M6 output (CA1 + CA5 + 2CA6) ×A is negative, then multi-rotor moves right; if move the roll stick left, the 

sum of M2, M3, M4 output (CA2 + CA4 + 2CA3) ×A is negative, the sum of M1, M5, M6 output (CA1 + CA5 + 2CA6)

×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 configurable. 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 rotation 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 arms of the motors.

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 Top; Red propeller is at Bottom. Otherwise all propellers are at top.

M1

M2 M4

M3

M1

M3 M4 M5

M6 M2 M1

M1

M4 M5

M3 M6

M1,4

M2,5 M3,6

M2

M2 M1

M3

M4 M5 M6

M8

M7

M2 M1 M3

M4

M5 M6

M7

M8

M2,5

M1,4

M3,6

M2,6 M1,5

M3,7 M4,8

+6

X4

X6

Rev

Y6 Y6

+8 X8

+4

V8

M2 M1

M3 M4
45 | 

Port Description

Main Controller

A

For roll control (left/right)

E

For pitch control (front/back)

T

For throttle control Or to gimbal roll servo

R

For rudder control Or to gimbal pitch servo

U

For Control Mode Switch

X1

For voltage monitor (Connect with PMU V-SEN port)

X2

For D-Bus (S-Bus compatible) Or for gain tuning Or for IOC switch

X3

For gimbal pitch control Or for gain tuning

M6

To #6 rotor

M5

To #5 rotor

M4

To #4 rotor

M3

To #3 rotor

M2

To #2 rotor

M1

To #1 rotor

F2

To gimbal pitch servo Or to #8 rotor

F1

To gimbal 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 and 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@12.6V 
46 | 

Light Description

Flight States

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 spark, 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 horizontal calibration

Begin vertical calibration

Calibration finished

Calibration or others error

Low Voltage Warning

First lever protection

Second lever protection

MC LED

MC is functioning well.

Boot 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.

Connection 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 Supported

 2-axle Gimbal Support

 Intelligent Orientation Control

Peripheral

Supported Multi-rotor  Quad-rotor: +4, X4;

 Hexa-rotor: +6, X6, Y6, Rev Y6;

 Octo-rotor: X8, +8, V8.

Supported ESC output 400Hz refresh frequency.

Recommended Transmitter PCM or 2.4GHz with minimum 7 channels and

failed-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 Temperature -5°C to +60°C

Total Weight <= 118g (overall)

Dimensions  MC: 51.2mm x 38.0mm x 15.3mm

 IMU: 41.4mm x 31.1mm x 27.8mm

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

 LED Indicator: 25mm x 25mm x 7mm

 PMU: 39.5mm×27.5mm×9.7mm

Flight Performance (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
48 | 

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-Tech Park, Shenzhen, 518057, Guangdong, China 

Tel: +86-755-2665-6677 Sales ext: 201, 202, 203 

Fax: +86-755-8306-7370 Service hotline: +86-755-2267-3777

Sales: sales@dji-innovations.com Technical support: support@dji-innovations.com

Others: info@dji-innovations.com

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. 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 Dajiang Innovation Technology Co. Ltd. No patent

liability is assumed with respect to the use of the product or information contained herein.