©2013-2016 DJI. All Rights Reserved. 1

A2 Flight Control System

User Manual V1.24

January, 2016 Revision

Thank you for purchasing DJI products. Please strictly follow these steps to mount and connect this system on your 

aircraft, install the PC Assistant Software on your computer, as well as installing the DJI Assistant App on your 

mobile device.

Please regularly check the web page of corresponding products on our website www.dji.com, which is 

updated regularly. Product information, technical updates and manual corrections will be available on this website. 

Due to unforeseen changes or product upgrades, the information contained in this manual is subject to change 

without notice.

* This manual is for basic assembly and configuration; you can obtain more details and advanced instructions when 

using the Assistant Software. To assure you have the latest information, please visit our website and download the 

latest manual and current software version.

If you have any problems that you cannot solve during usage, please contact your authorized dealer.
©2013-2016 DJI. All Rights Reserved. 2

Content 

INTRODUCTION..............................................................................................................4

PRODUCT INTRODUCTION ...................................................................................................4

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

EQUIPMENT PREPARED BY USERS ..........................................................................................4

SYSTEM INTRODUCTION......................................................................................................5

SYMBOL INSTRUCTION........................................................................................................5

1 ASSEMBLY AND CONFIGURATION................................................................................6

1.1 HARDWARE INSTALLATION AND CONNECTION .....................................................................6

1.1.1 Mixer Type Supported .......................................................................................6

1.1.2 Hardware Connection Diagram.........................................................................7

1.1.3 Important for Assembly and Connection............................................................7

1.2 SOFTWARE INSTALLATION AND CONFIGURATION................................................................15

1.2.1 Installing Driver and Assistant Software ..........................................................15

1.2.2 Configure using Assistant Software on a PC.....................................................16

1.2.3 Configure the control mode switch ..................................................................17

1.2.4 Configuration Checking...................................................................................19

1.2.5 Tools...............................................................................................................20

1.3 COMPASS CALIBRATION...............................................................................................22

2 BASIC FLYING.............................................................................................................23

2.1 CONTROL MODE INSTRUCTION .....................................................................................23

2.2 FLYING ENVIRONMENT REQUIREMENTS...........................................................................25

2.3 CHECK LIST BEFORE FLYING ..........................................................................................25

2.4 POWER ON AND CHECK...............................................................................................26

2.5 START MOTORS METHODS ..........................................................................................26

2.6 BASIC FLYING TEST.....................................................................................................28

3 PROTECTION FUNCTIONS SETTING ............................................................................30

3.1 FAILSAFE .................................................................................................................30

3.2 LOW VOLTAGE PROTECTION .........................................................................................31

4 ADVANCED FEATURES................................................................................................33

4.1 IOC (INTELLIGENT ORIENTATION CONTROL) FUNCTION .......................................................33

4.1.1IOC..................................................................................................................33
©2013-2016 DJI. All Rights Reserved. 3

4.1.2 Cruise Control .................................................................................................37

4.2 SERVO GIMBAL FUNCTION ...........................................................................................39

4.3 FLIGHT LIMITS ..........................................................................................................39

4.3.1 Max Height, Radius Limits & Home Fence........................................................39

4.3.2 Flight Limits of Special Areas...........................................................................41

4.3.3 Conditions of Flight Limits...............................................................................43

4.4 PARACHUTE FUNCTION .........................................................................................44

4.5 GEAR FUNCTION .......................................................................................................44

4.6 ATTITUDE CONTROL WHEN ONE MOTOR OUTPUT FAILS .....................................................45

4.7 DJI ASSISTANT APP USAGE ..........................................................................................45

APPENDIX.....................................................................................................................48

LED INDICATOR DESCRIPTIONS ...........................................................................................48

SPECIFICATIONS ..............................................................................................................49

FAQ ..............................................................................................................................50

USE WITH OTHER DJI PRODUCTS .........................................................................................50

CHANNEL MAPPING INSTRUCTIONS FOR PC ASSISTANT SOFTWARE ..............................................55

RECOMMENDED MAPPING FOR FUTABA RC (MODE 2, A2 V2.4 OR BELOW).................................57

RECOMMENDED MAPPING FOR FUTABA RC (MODE 2, A2 V2.5 AND FUTABA BELOW V5.0) ............58

RECOMMENDED MAPPING FOR FUTABA RC (MODE 2, A2 V2.5 AND FUTABA V5.0) ......................58

RECOMMENDED MAPPING FOR DJI NDJ6 RC (A2 V2.5).........................................................59

SETTINGS OF GAIN VALUES FOR YOUR REFERENCE....................................................................59

THE TRANSMITTER SETUP OF FUTABA................................................................................60

GPS SNR FUNCTIONS DESCRIPTION....................................................................................60

A2 RECEIVER TYPE DESCRIPTION ........................................................................................62

DISCLAIMER .................................................................................................................63

TRADEMARK ................................................................................................................63
©2013-2016 DJI. All Rights Reserved. 4

Introduction 

Product Introduction 

The DJI A2 Multi-Rotor stabilization controller is a complete flight system for various multi-rotor platforms for 

commercial and industrial aerial photography. Based on the technology and design philosophy of DJI’s Ace 

series of high-performance controllers, the A2 offers you a brand new flight experience. Its flight mode provides 

a seamless transition for current Ace One, WKM AP professionals. A2 features includes:

(1) Integrated with high-precision sensor components and a high-performance GPS Receiver.

(2) Utilizes high quality components precisely calibrated with temperature compensation in all gyros and 

sensors, industry renowned flight algorithm in autopilot and UAV field.

(3) Designed with built-in vibration absorption, no extra mount frame or vibration absorption pad is required.

(4) Provide high precision control and high performance handling experience.

(5) Based on the DESST technology, it has a built-in 16-channel Receiver, and supports DSM2 satellite receiver.

(6) Optional DJI D-BUS Adapter can be used with a traditional Receiver.

In the Box 

Controller Unit

(Built-in Receiver DR16)

PMU(Power Management unit) IMU(Inertia Measurement Unit)

LED-BT-I GPS-COMPASS PRO PLUS Accessories

Micro-USB Cable (1)

Servo Cables (2)

GPS Bracket

Double side sticky pads.

Equipment Prepared by Users 

Aircraft (Take Quad-rotor for example: 

Red is nose, and Black is rear)

Transmitter 

(Take Mode2 for example)

Others

Battery

DJI D-BUS Adapter

Mobile Device
©2013-2016 DJI. All Rights Reserved. 5

System Introduction 

The A2 flight control system uses the Controller Unit at its core, which is connected with the IMU, 

GPS-COMPASS PRO PLUS、LED-BT-I、PMU and ESCs to complete the system. The system can achieve the 

height-lock and position-lock functions by using the IMU and the GPS, to control the aircraft.

Please carry out the following procedures to finish assembly, configuration and flight-testing.

 

Symbol Instruction 

General Symbol

Forbidden(Important) Cautions Tips Reference

GPS Satellite number Distance TX signal good TX signal lost

Roll to left Roll to right Pitch up Pitch down

LED Symbol 

 (N) N=1 N=2 N=3 N=4 N=6 N=20 N=∝

Meaning One Blink Two Blinks Three Blinks Four Blinks Six Blinks Twenty Blinks

Continuous

Blinks

e.g. (3) means three Red blinks.

(∝)LED blinks yellow and green alternatively.

 (N) N=∝

Meaning Continuous Solid on

e.g. (∝) means Continuous Blue Solid on.

Configure the system using A2 Assistant software.

Basic flying test FailSafe and Low-voltage settings Advanced functions: IOC, Gimbal, Gear

Mount the A2 flight control system on your aircraft finish connection.
©2013-2016 DJI. All Rights Reserved. 6

1 Assembly and Configuration 

For hardware installation, software configuration and compass calibration please adhere to the following 

sections.

1.1 Hardware Installation and Connection 

(1) Please adhere to “1.1.1 Mixer Type Supported” to choose a mixer type and assemble your aircraft.

(2) Please adhere to both “1.1.2 Hardware Connection Diagram” and “1.1.3 Important for Assembly and 

Connection” to install and connect all units on your aircraft.

1.1.1 Mixer Type Supported

Following Mixer Types are supported.

Quad-rotor X Hexa-rotor I

Hexa-rotor V Hexa-rotor Y

Quad-rotor I

Hexa-rotor IY

Octo-rotor X Octo-rotor I Octo-rotor V The direction of the arrow in diagram indicates the rotation direction of the motor/propeller.

For coaxial propellers: Blue propeller is at TOP; Red propeller is at Bottom. Otherwise all propellers 

are at top. 
©2013-2016 DJI. All Rights Reserved. 7

1.1.2 Hardware Connection Diagram

90o

ESC 1# ESC 2# ESC 3# ESC 4# ESC 5# ESC 6# ESC 7# ESC 8#

Important Make sure the cable connections are tight before every flight. Suitable amount of hot melt adhesive is recommended to use in the connections to the CAN1 and CAN2 ports.

Important CAN-Bus, it provides power supply and communication. A2 can automatically identify the device connected. CAN1 and CAN2 ports are working independent, device connected are non-interchangeable. E.g. IMU and GPS- COMPASS PRO PLUS to CAN1; LED-BT-I to CAN2; PMU to CAN1 or CAN2.

Supply power for all ports on 2S~6S both sides of controller unit. Battery

1.1.3 Important for Assembly and Connection

This section describes all device port functions, assembly requirements, connection requirements and tips 

during usage. Also the linking procedures between the built-in Receiver DR16 and your Transmitter. Please read 

all information below carefully, especially if you are a first time user.

(1) Controller Unit 

The Controller Unit is the core component of the A2 flight control system:

(1) M1~M8 are used to connect to the ESCs of the aircraft.

(2) The built-in Receiver DR16 is based on DJI DESST technology, which can be used with the Futaba FASST 

series and DJI DESST series Transmitter. 

(3) CAN1 and CAN2 ports are working independently and should connect to different modules.

(4) 4 independent and configurable outputs.

(5) It is compatible with the external Receiver, e.g. DSM2 satellite Receiver.

(6) Use the optional DJI DBUS Adapter to support the traditional receiver.
©2013-2016 DJI. All Rights Reserved. 8

Port Description 

Connect to ESC

iOSD MARK II, Z15 from DJI

IMU GPS-COMPASS PRO PLUS To PW port of PMU LED-BT-I 2.4G DATA LINK from DJI

To parachute To S-BUS Receiver BEC,Connect to X1 of PMU for voltage detection To DSM2 satellite Receiver Antenna

Link button of Built-in receiver Indicate the linking status DR16 and transmitter Multi-function PWM output channels, can directly give output signal from the Receiver if mapped to a Receiver channel*

*If the Gimbal function is enabled in Assistant Software, F2/F3 can only be used for gimbal Pitch/Roll control, which means F2/F3 cannot be mapped to any other Receiver channel. *If the Gear function is enabled in Assistant Software, F1 can only be used for gear switch control, which means F1 cannot be mapped to any other Receiver channel. 

Mounting Requirements: 

Install the Controller Unit in the proper position to make sure the ports are accessible. No specified direction is 

required.

Place the antennas in an open space under the aircraft, DO NOT block them. Position the heads of 

two antennas at a 90-degree angle. DO NOT bend or wind them.

Receiver System 

The A2 flight control system can use its own built-in Receiver, and also can support external receivers. Whatever 

type of Receiver is used, please make sure that the Receiver and Transmitter is linked correctly before use.

A. Built-in Receiver 

For enhancing the system integration and reliability, the A2 is integrated with a 2.4G receiver based on 

frequency hopping technology. The built-in Receiver can be used with the Transmitter of Futaba FASST series

or DJI DESST series after linking. For users, you are only asked to carry out the link procedures, no extra 

requirement for connection.

Please carry out the following procedures to finish the Link process, and the configuration in the A2 Assistant 

software->Basic ->R/C ->Receiver Type. Select the DR16 option.

During use, you may see the following LED indication, please do the operation according to the table below.

LED Description Operation 

(∝) Signal from Transmitter has been detected by the Receiver, but not matched. Link operation required

(∝)

No Transmitter signal is received, e.g. the flight control system is powered on 

but the Transmitter is powered off.

Switch on

(∝) The Receiver and Transmitter have been linked to each other successfully. Can work normally
©2013-2016 DJI. All Rights Reserved. 9

0.5m<Distance<1cm

1. Turn on the transmitter, it begins to send signals after 1.5secs. 3.Press the LINK button, hold for 2secs, wait until the LED blinks Red . 4.Release the LINK button, the LED turns Green on after successfully linking.

Link Procedures 2.Power on the flight control system, configure the Receiver type as DR16 in the Assistant software.

The DR16 Receiver is compatible with the Futaba transmitters which have optional FASS MODE MULT, 

MLT2 or 7CH. Users can find out more available Futaba transmitters and configuration requirements

refer to the FAQ->The Transmitter setup of FUTABA. 

 

B. DSM2 Satellite Receivers 

If using DSM2 satellite Receivers, please follow the diagram for connection, set the Receiver referring to your 

Receiver manual, and select the Receiver type as DSM2 in the Assistant software->Basic->R/C-> Receiver Type.

DSM2 satellite Receiver 1. Power on the flight control system, the Transmitter should be turned off. 3.Press and hold the LINK button on the controller unit the LED blinks red and the indicators on the Receivers blink too. Then release the LINK button the Receiver will be ready for linking. 4.Press and hold the linking button on the Transmitter then turn on the Transmitter to start linking, release the button after the Transmitter is displayed Linked or the indicators on the Receivers are solid on.

Linking procedures 2.Set the Receiver type as DSM2 in the Assistant software.

5.The LED on the controller unit will be solid green on after linking successfully.

DSM2 satellite Receiver

Notes for the DSM2 users:

 There is no need to enable the FailSafe function in the Transmitter. If the Receiver loses the signal

from the Transmitter, the controller unit will enter into FailSafe automatically, and the aircraft will 
©2013-2016 DJI. All Rights Reserved. 10

hover or Go-home as configure in the FailSafe in the Assistant software.

 When using the dual-mode Transmitter, please set the transmiting mode as DSM2 in SYSTEM SET

UP->FRAME RATE ->MODE, which should not be DSMX.

 Support DSM2 satellite Receivers used with all SPEKTRUM Transmitters, e.g. DX6I DX7S DX8 

DX18 etc., as well as JR Transmitters, e.g. DXS9II DXS11.

C. S-BUS Receivers 

If using S-BUS Receivers please follow the diagram for connection, set the Receiver referring to your Receiver 

manual, and select the Receiver type as D-BUS in the Assistant software->Basic->R/C-> Receiver Type.

S-BUS Receiver S.BUS

Notes for the S-BUS users:

 It is no need to enable the FailSafe function in the Transmitter. Once the Receiver loses the 

signals from the Transmitter, the controller unit will enter into FailSafe automatically, and the 

aircraft will hover or Go-home as configurations of the FailSafe in the Assistant software.

D. PPM Receivers 

If using PPM Receivers please follow the diagram for connection, set the Receiver referring to your Receiver 

manual, and select the Receiver type as PPM in the Assistant software->Basic->R/C-> Receiver Type.

PPM Receiver PPM

 

 
©2013-2016 DJI. All Rights Reserved. 11

E. Traditional Receivers 

If using Traditional Receivers, the DJI D-BUS Adapter is required. Please follow the diagram for connection, set 

the Receiver referring to your Receiver manual, and select the Receiver type as D-BUS in the Assistant 

software->Basic->R/C-> Receiver Type.

Traditional Receiver 8

7

6

5

4

3

2

1 Important · When you use a traditional receiver, DJI D-BUS ADAPTER is required. Put the switch to the “I” stop, and power on the system, the LED should be red on; otherwise, keep the switch at “I” stop and then power cycle the system. · At the “I”stop, the D-BUS ADAPTER is converting the PWM signal from traditional receiver to S-BUS signal. Notes for the traditional receiver users:

 When using the traditional receiver which doesn’t have endpoint adjustment operations to set 

FailSafe in the U channel, the Go-Home switch is recommended and users can use it to trigger

the FailSafe.

 Configure the FailSafe function of your transmitter and receiver according to its instructions, 

set the FailSafe position of the Go-Home switch in the position triggering the FailSafe function. 

If it is configured correctly as mentioned above, the FailSafe function will be activated 

automatically if the receiver loses the signal from the transmitter. 

 Users can get more information about the FailSafe function referring to 3.1 FailSafe in this 

manual and the help text in the Assistant software.
©2013-2016 DJI. All Rights Reserved. 12

(2) IMU (Inertial Measurement Unit): 

 

Built-in inertial sensors, for the measurement of aircraft attitude; built-in pressure sensor for the detection of 

aircraft altitude. Should be connected to the CAN1 port of the Controller Unit, and be mounted according to 

the required location and orientation. The IMU has been calibrated before delivery, it should be used under the 

specified temperature; otherwise the temperature may have an effect on the IMU performance.

Working environment temperature: -5

oC ~60oC Storage environment temperature:<60oC

Orientation Requirements: 

Please mount the IMU as one of the following options. Configure in the A2 Assistant software ->Basic ->Mount -> 

IMU, and select the matched option.

Pointing Forward Pointing Backward Pointing to Left Pointing to Right Location Requirements: 

 

Center of Gravity

 

Fix with double faced adhesive tape. (1) The top side should be facing up. DO NOT mount upside-down.

(2) DO NOT cover the ventilation holes, keep them unblocked and clean.

(3) Take heat preservation measures if working in cold weather.

(1) Mount the IMU at a low vibration position and the sides of the IMU should be precisely parallel 

to the aircraft body. Based on our experience, there is less vibration near the aircraft’s center 

of gravity.

(2) NOT water-proof or oil-proof.

(3) Check the double faced adhesive tape regularly to make sure that the IMU is fixed firmly.

There is a CAN-Bus connector, which can be used to connect to the GPS-COMPASS PRO PLUS or other DJI 

product.
©2013-2016 DJI. All Rights Reserved. 13

(3) GPS-COMPASS PRO PLUS 

GPS-COMPASS PRO PLUS module has a built-in GPS and compass. The compass is used for geomagnetic field

measurement. It should be mounted according to the required location and orientation. Compass calibration is 

required before use. DO NOT use and store the compass in the ferromagnetic material environment.

 

Mounting Procedure: 

a) Use the epoxy resin AB glue to assemble the GPS bracket first. The longest one is recommended.

b) Mount the bracket on the aircraft first, and then fix the GPS-COMPASS PRO PLUS on the plate of the 

bracket (using the 3M sticky pads provided).

Mounting Position:

The arrow is pointing to the nose direction.

Use the GPS bracket, and keep it away from other electronic equipment

Keep it parallel to the aircraft

P G S

S

MOC- P

PL SSA RP O U

Usage Requirements 

(1) The DJI logo should be facing the sky, with the orientation arrow pointing directly to the nose 

direction; otherwise it may lead to take off failure.

(2) Fly the aircraft in an open space without buildings or trees; otherwise it may have an effect on

the GPS.

(3) The compass is sensitive to magnetic interference, should be far away from electronic devices, 

otherwise it may lead to abnormal flying.

(4) Please always keep the compass module away from magnet fields. Otherwise it may damage 

the compass module and lead the aircraft to work abnormally or even be out of control.

(4) PMU (Power Management Unit) 

The PMU provides dual BECs (Battery Eliminator Circuit):

(1) PW port outputs power for the whole Flight Control System with current no more than 2A. 
©2013-2016 DJI. All Rights Reserved. 14

(2) PX port outputs power (3A@5V) and V-SEV signal using the low voltage protection function.

In addition, there are two CAN-Bus ports for LED-BT-I connection and other DJI products (e.g. DJI 2.4G Data 

Link).

Port Description 

To positive pole of power To negative pole of power CAN-Bus port Connect to CAN1 or CAN2 port of Controller Unit, CAN2 is recommended.

V-SEN, Output 0V ~ + 3.3V VCC, Output 3A@5V GND Input voltage range: 7.4V~26V

PX Port, connect to the X1 port of Controller Unit Working status indicator Green on is normally working

Mounting Requirements: 

Choose a ventilated place to mount the PMU for cooling, no mounting orientation requirement.

(5) LED-BT-I 

The LED-BT-I has integrated LED Indicator, Bluetooth and USB port:

(1) The LED is mainly for flight control system status indication during flying (e.g. Control Mode).

(2) Bluetooth is used for real-time communication with your mobile device (e.g. iPhone), to realize parameter 

configuration on a mobile device. For parameter configuration using a mobile device, it is required to 

install the DJI Assistant App on the mobile device. When you mount the LED-BT-I, please make sure the 

side with ANT LOGO is unsheltered after mounting.

(3) In addition, there is a Micro-USB port, make sure it is mounted for convenient connection.

Port Description: 

Micro-USB port:used to connect to the PC for Assistant software configuration and upgrade Bluetooth status indicator Abnormal Normal Communicating Indicator of autopilot system Antenna of Bluetooth Mounting Requirements: 

Mount in a good place to make sure the LED is visible during flying. Antenna of Bluetooth should be unobstructed.
©2013-2016 DJI. All Rights Reserved. 15

1.2 Software Installation and Configuration 

Please configure the A2 flight control system in the Assistant Software according to the following instructions. 

Users are required to configure every item within the “Basic” page when use the A2 flight control system for the 

first time. 

1.2.1 Installing Driver and Assistant Software

Installing and running on Windows 

1. Download driver installer and Assistant Software installer in EXE format from the download page of A2 

on the DJI website.

2. Connect the A2 flight control system to a PC via a Micro-USB cable. The Micro-USB port of the A2 flight 

control system is on the LED-BT-I module.

3. Run the driver installer and follow the prompts to finish installation.

4. Next, run the assistant software installer and follow the prompts to finish installation.

5. Double click the A2 icon on your Windows desktop to launch the software.

The installer in EXE format only supports Windows operating systems (Win XP, Win7, Win8 (32 or 64 bit)).

Installing and running on Mac OS X

1. Download the Assistant Software installer in DMG format from the download page of A2 on the DJI 

website.

2. Run the installer and follow the prompts to finish installation.

3. When launching for the first time if use Launchpad to run the A2 Assistant software, Launchpad will not 

allow access because the software has not been reviewed by Mac App Store. 

4. Locate the A2 icon in the Finder, press the Control key and then click the A2 icon (or right-click the A2 

icon using a mouse). Choose Open from the shortcut menu, click Open in the prompt dialog box and 

then the software will launch.

5. After the first successful launch, direct launching of the software can be achieved by double-clicking the 

A2 icon in the Finder or using Launchpad.
©2013-2016 DJI. All Rights Reserved. 16

Installer in DMG format supports only Mac OS X 10.9 or above.

Usage of A2 Assistant software on Mac OS X and Windows are exactly the same. The Assistant 

software pages appear in other places of this manual are on the Windows for example. 

1.2.2 Configure using Assistant Software on a PC

A2 flight control system can takes power via the USB port during configuration, no additional battery is required. 

Note that the USB port can supply power no more than 500mA, an additional battery is necessary if connection 

failure or intermittent working.

Run the assistant software, and follow the built-in guide to carry out the configuration. Note that you may be asked 

to register for first time use.

4 3 2 1

Setting Options

Built-in Guide

Menu

1. View 2. Restore &Upgrade 3.Set 4.Check

Click “Info” to view 

user information 

and software 

version etc.

Enter “Tools” to restore default 

settings. And check whether the 

firmware is the latest.

Enter “Basic” page. 

Set the Aircraft, 

Mounting, RC, Gain” 

in each tab.

Enter “View” 

page to check all 

basic settings.

 
©2013-2016 DJI. All Rights Reserved. 17

“RC 

STATUS”

description

Normal: the transmitter and receiver are linked and communicating well.

Disconnect: the A2 Flight Control System is powered on, but the transmitter is powered off.

RC-LOST: RC signal is lost (e.g. the transmitter is turned off after power on) or the receiver 

is sending F/S signals (e.g. the aircraft flies out of the range which transmitter is 

controllable).

 

The firmware version and the Assistant Software version should be matched when using the software 

to configure the A2 flight control system, otherwise the software will not work. It’s recommended to 

keep the firmware version and Assistant Software version up to date to avoid this issues.

1.2.3 Configure the control mode switch

Users should configure the control mode switch in the Assistant software in the following page. Only the control 

mode switch has been set correctly, the control mode displayed in the left bottom corner will be the same to the 

control mode pointed by the cursor on the channel U.

Configuration steps Exambles

Step 1.

Power on your Transmitter, map a 3-position 

switch on the transmitter to the U channel of 

Controller Unit as the control mode switch, of 

which two positions are default as Atti. Mode 

and GPS Atti. Mode and the third position is 

optional, users can set as Atti. Mode or 

Manual Mode. 
©2013-2016 DJI. All Rights Reserved. 18

Step 2.

Toggle the control mode switch to its three 

positions, accordingly the cursor will move to 

some control mode. 

 

Step 3.

Power off the Transmitter, the FailSafe will be 

enabled and the cursor will point to any area 

out of the control modes. 

Step 4.

If all steps above are realized, that indicates the 

control mode switch is set successfully.

Important 

In step 2, if the cursor doesn’t point to the correct control mode area (e.g. the following figures), that indicates 

abnormal control mode switch configuration. Users must re-configure the Endpoint and FailSafe functions in the 

Transmitter to make the cursor point to the right control mode and the according areas become blue.

 
©2013-2016 DJI. All Rights Reserved. 19

1.2.4 Configuration Checking

*Fig. above for reference only, please adhere to actual GUI.

Check List Description

1 Check the IMU orientation direction.

2 

Check the Mixer Type of aircraft.

Make sure the motors are rotating normally, and propeller installation is in correct direction.

3 The Receiver type is correct.

4、5 Check the basic and attitude gains. 

6

Move the sticks to test whether the cursors moves following the sticks. Toggle the “U” switch to 

test the control mode setting.

7~○11

Advanced configuration, users can configure it according to their requirements after reading the 

manual.

○12 Check the Channel Map between the Transmitter and A2 flight control system.

1 2

3

4

5

6

7

8

9

10

11

12
©2013-2016 DJI. All Rights Reserved. 20

1.2.5 Tools 

1 Config 

Export or import the tuning parameters and restore the default setting and reset the BTU module. 

2 Sensors 

Read gyroscope, acceleration and compass sensor value. 

3 IMU Calibration 

Calibrate IMU based on the gyroscope and acceleration sensor readings from Assistant. Calibrate is needed, when:

 Gyroscope Mod value exceeds 1.5. 

 Acceleration Mod value below 0.98 or exceeds 1.02. 

Steps to follow when calibrating IMU:

1. Go to IMU Calibration section after powering on A2, wait until A2 enters “Ready” status.

2. Click “Calibration”, take note of the following warning message:

 Place the IMU on a stationary and horizontal surface and ensure A2 logo faces upward.

3. Click “OK” to proceed.

1

2

3

4
©2013-2016 DJI. All Rights Reserved. 21

4 Device Information and Connection Status 

All devices that connected to the A2 flight controller are highlighted, however, disconnected devices appear grey. 

Single click a highlighted device to upgrade its firmware. You can also upgrade all firmware by clicking the 

“Upgrade All” button.
©2013-2016 DJI. All Rights Reserved. 22

1.3 Compass Calibration 

The Compass can assistant the GPS to position the aircraft, which is very important during flight. As we know, 

the compass is very sensitive to electromagnetic interference, which will cause abnormal compass data, and lead 

to poor flight performance or even flight failure. Compass Calibration MUST be done for first time use.

It is recommended to calibrate the compass outdoors after the Controller Unit finds 7 or more GPS satellites. 

Regular calibration enables the compass to keep optimal performance.

Calibration Cautions 

(1) DO NOT calibrate your compass where there is strong magnetic interference, such as magnetite, 

car park, and steel reinforcement under the ground.

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

(3) Compass Calibration is very important; otherwise the flight control system cannot work.

Calibration Procedures 

Choose an open space to carry out the following procedures.

Control Mode LED

Quickly flip the control mode switch 360o Rotate the aircraft horizontally 360o

Rotate the aircraft vertically (Nose downward) Position1* Position 3

Position1->3->1 once Start horizontal calibration Start vertical calibration Succeed Fail

Position1->3->1 Flip 6~10 times Start cali

Position1* Re-calibrate Position 3 Situations that require recalibration

Situations Descriptions 

Compass Data abnormal LED blinks yellow and green alternatively( (∝)).

Flying field altered Flying field has changed over a long distance.

Mechanical alteration

The mounting position of GPS-COMPASS PRO PLUS module changes.

Electronic units such as Controller Unit, CAN-HUB, battery etc. have been added, 

removed, remounted or other alterations. 

Mechanical structures of the aircraft has changed

Drifting during flying Evident drifts occurred in flight such as the aircraft doesn’t fly straight 

Attitude errors LED often blinks error indicator when the aircraft turns around. 
©2013-2016 DJI. All Rights Reserved. 23

2 Basic flying 

Read this section before basic flight testing.

2.1 Control Mode Instruction 

The aircraft performs differently when using different control modes. Please read the following table to know 

the different control modes, which may help you to achieve a more involved flight experience.

Control Mode GPS ATTI. Mode ATTI. Mode Manual Mode 

Command 

Linearity 

YES

Yaw 

Control the aircraft to rotate in clockwise and counter clockwise direction. Maximum rudder 

angular velocity 150°/s

Roll and Pitch 

Aircraft attitude control; Mid point of stick is for 0 ̊ attitude, 

and its endpoint is 35 ̊.

Max-angular velocity is 150°/s. 

No attitude angle limit.

Throttle

Aircraft height control. Maintain the altitude best above 1 

meter from ground when the throttle stick is in mid position.

No altitude locking when the 

throttle stick is in mid position.

All Sticks 

Released

Lock position if GPS signal is 

adequate.

Only attitude stabilizing.

No position locking.

Keep original attitude.

GPS Lost

Once GPS signal lost the flight 

control system will enter ATTI.

Mode automatically. Return to

GPS ATT1. Mode after GPS signal 

has recovered for 2 seconds.

--- ---

IOC Supported CL/HL/POI/BTM CL None

Assign a 3-position switch of the transmitter as the control mode switch. The position-1 is defaulted as “GPS 

ATTI. Mode” and the position-2 is “ATTI. Mode”. The position-3 can be set as “Manual Mode” or “ATTI. Mode” in 

A2 assistant software.

Control Mode 

Switch 

position-1 position-2 position-3 

Configurable 

Control Mode 

GPS ATTI. Mode ATTI. Mode * ATTI. Mode * Manual Mode 

FailSafe 

Protection 

The flight control system will enter FailSafe

Mode if the Transmitter signal is lost and no 

matter if Transmitter signal recovers or not, 

system will not exit FailSafe mode automatically.

The flight control system will enter 

FailSafe Mode if the Transmitter signal is 

lost and the system will exit FailSafe once 

the signal recovers.
©2013-2016 DJI. All Rights Reserved. 24

GPS Involved YES NO

Low-voltage 

Protection 

LED alert with Descending or Go Home & 

Landing precautions

Only LED alert

Environment 

recommended 

Open flying field; 

Good GPS signal

Narrow Space; 

GPS signal bad

Regain control in emergency 

The difference between ATTI. Mode of position-2 and ATTI. Mode of position-3 is that they are working differently 

in protection situations.
©2013-2016 DJI. All Rights Reserved. 25

2.2 Flying Environment Requirements 

(1) Before use of the product, please accept some flight training (Using a simulator to practice flying, 

getting instruction from a professional person, etc.).

(2) DO NOT fly in bad weather, such as rain or wind (more than moderate breeze) or fog.

(3) The flying field should be open without tall buildings or other obstacles; the buildings of steel 

structure will interfere with the compass.

(4) Keep the aircraft away from obstacles, crowds, power lines, trees, lakes and rivers etc.

(5) Try to avoid interference between the remote control Transmitter and other wireless equipment.

(No base station or cell tower around)

(6) The flight control system can’t work at the South Pole and the North Pole.

(7) All parts must be kept out of the reach of children to avoid CHOKE HAZARD; if a child 

accidentally swallows any part you should immediately seek medical assistance.

2.3 Check List before Flying 

Double check the following list, otherwise, if any one of the following items is wrong it may lead to flight accident.

(1) All parts are in good condition, no ageing or damaged components

(2) Motor rotating direction

(3) Propeller mounting direction

(4) Mixer Type set in assistant software

(5) IMU and GPS-COMPASS PRO PLUS mounting direction

(6) Transmitter channel mapping and sticks movement direction correct

(7) Compass calibration

(8) ESC connection

(9) IMU and GPS-COMPASS PRO PLUS firmly mounted

In addition, check the following items to make sure the system can work.

(1) The Transmitter battery is fully charged.

(2) The aircraft battery is fully charged.

(3) Do not over load the aircraft.
©2013-2016 DJI. All Rights Reserved. 26

2.4 Power on and Check 

(1) Control mode LED indicator 

Power on the Transmitter then the flight control system. Toggle the control mode switch to different positions. 

Control Mode LED indicator 

Control Mode 

Switch GPS ATTI. Mode ATTI. Mode Manual Mode

LED (Stick not in midpoint (2)) (Stick not in midpoint (2)) No LED indicator

Set

Put the Control Mode switch to GPS position for basic flying test.

Note: when the GPS signal LED indicator is bad or worst ( (2) or (3)) and lasts for more 

than 3secs, the flight control system will enter into ATTI. Mode.

(2) GPS signal LED indicator

GPS signal indication blinks after every Control mode indication. We suggest flying when GPS satellites are more 

than 5.

GPS signal LED indicator 

Worst ( < 5): (3) Bad ( = 5): (2) Well ( = 6): (1) Best ( > 6):No indicator

2.5 Start Motors Methods

CSC (Combination sticks commands) is used to start motors instead of just pushing the throttle stick. One of the 

following methods can be used to start/stop motors.

CSC 1

 

CSC 2

 

CSC 3

 

CSC 4

 

Under the conditions stated below, the motors will stop in ATTI. Mode/GPS ATTI. Mode:

(1) The throttle sticks is under 10% for more than 3secs after motors start.

(2) The throttle sticks is under 10% for more than 3secs after landing.

(3) The throttle sticks is under 10% for more than 3secs and the inclined angle of aircraft exceeds 

70°。

If motors fail to start, please refer to the following list for trouble shooting.

(1) The Controller Unit fails to obtain the firmware version of IMU and GPS, please check the 

connection or upgrade the IMU and GPS.
©2013-2016 DJI. All Rights Reserved. 27

(2) The firmware version of IMU and Controller Unit is mismatched; please upgrade the firmware of 

IMU or Controller Unit. 

(3) The firmware version of GPS and Controller Unit is mismatched; please upgrade the firmware of 

GPS or Controller Unit. 

(4) The transmitter calibration has exited abnormally, please recalibrate.

(5) The transmitter calibration results with big bias, please recalibrate.

(6) The transmitter calibration results with big mid point bias, please recalibrate.

(7) Incorrect channel mappings, please make sure the basic channels A/E/T/R/U are mapped 

correctly.

(8) Invalid SN or SN error; please contact your dealer or DJI custom service.

(9) The Controller Unit is locked, please unlock the Controller Unit and reconfigure all the parameters 

in the Assistant software.

(10) IMU disconnected, please check the connection. 

(11) Compass data abnormal, please eliminate magnetic interference and recalibrate the compass.

(12) When Flight limit function is enabled, if the aircraft fly out of the max-radius in ATTI. mode and the 

motors are stalling, the motors will fail to spool up in GPS ATTI. mode cause the Flight limit 

function works. 

(13) The attitude status is bad and the LED indicator blinks white, the motors will fail to spool up.

(14) The Transmitter disconnected, the motors will fail to spool up.

(15) The A2 flight control system is connecting and communicating with the Assistant software, the 

motors will fail to spool up.
©2013-2016 DJI. All Rights Reserved. 28

2.6 Basic Flying Test 

Carry out the following procedures to complete the basic flight test.

1. Wait the GPS signal to be well LED 

Place the aircraft away from you and others at least 3 meters and wait the ≥6

(about 30 seconds).

or no Red LED

2. Start motors and takeoff aircraft. LED 

Execute CSC to start motors; all sticks back to midpoint as soon as motors start, then push 

the throttle stick to take off the aircraft, meanwhile the home point is recorded. NOTE: 

36secs after power on; 10secs after ≥6; Motors have been started, auto-record the 

position as home point at the first time the throttle stick is raised

(∝)

After the home point is recorded successfully and the distance from aircraft is less than 8m, 

LED indicator will blink 5 violet continually. Note: only when GPS signal is good (no Red

LED) LED indicator will blink 5 violet continually.

(5)

3.Operate sticks to control the flying attitude of the aircraft during flight 

Transmitter (Mode2) Aircraft Operations 

Throttle

Stick

Push Throttle sticks to control the aircraft 

to elevate and descend. The aircraft can 

lock to an altitude when the throttle stick 

is at midpoint.

Yaw Stick Push the yaw stick to rotate the aircraft in 

clockwise or counter clockwise direction. 

Roll Stick

Push roll stick to control the aircraft left 

or right, pitch stick to control forward or 

backward.

When both roll and pitch sticks are at 

midpoint:

(1) GPS ATTI. Mode: the aircraft will 

be stabilized and locked in 

horizontal position.

(2) ATTI. Mode: the aircraft will be 

stabilized but unlocked in 

horizontal position.

Pitch

Stick
©2013-2016 DJI. All Rights Reserved. 29

4.Hover 

In GPS ATTI. Mode,the aircraft will hover when the throttle/yaw/roll/pitch sticks are all released at mid-point.

5.Landing 

Use the throttle stick to control the landing speed, try to land your aircraft gently to avoid shock or crash.

 

Please refer to the next section “Protection Functions Setting” to take precautions. 

(1) Low voltage alert: yellow quick flashes or red quick flashes.

(2) FailSafe: LED indicator blinks blue.

 

Moreover, you may come across the following abnormal situation, please carry out the operation below.

(3) Compass data is abnormal; the LED blinks yellow and green alternatively. Please re-calibrate the 

Compass.

(4) IMU data is abnormal, the LED blinks four green. Please contact your dealer.

 

PMU connection status detection:

(1) If detected before takeoff, the motors will not start and takeoff is inhibited. The LED module will 

continuously flash red four times. To resume normal flight, ensure that the PMU is connected 

correctly.

(2) If detected during flight, the LED module will continuously flash red four times, at which point you 

should land the aircraft and re-connect the PMU to resume the battery voltage readings and low 

voltage protection.
©2013-2016 DJI. All Rights Reserved. 30

3 Protection Functions Setting 

Set protection in the Assistant software ->Advanced page. FailSafe and Low voltage protections are required. 

3.1 FailSafe 

FailSafe works when the Transmitter (TX) signal is lost, the flight control system will automatically control the 

aircraft to reduce injuries or damage.

TX 

signal

Descriptions

Home 

Point 

(HP)

≥

6

Home point will be recorded:

- After 30 seconds of strong GPS signal

- 10 seconds later after green LEDs have stopped blinking, when throttle sticks are 

moved away from mid point.

FailSafe

Customize the failsafe to define what happens if remote control signal is lost. Choose 

from either auto hovering, RTH or "RTH at a preset altitude in the A2 Assistant"

One-Key 

Go Home

A switch can be set to trigger RTH without signal loss. If One-Key RTH is enabled 

during flight, aircraft control will cease and LED lights will indicate Control Mode. 

Release the RTH switch to regain control. If the Failsafe has been triggered the 

switch will not work.

With One-Key RTH in progress, aircraft orientation can be controlled while the 

aircraft returns.

FailSafe and Go Home procedures 

1 Record Home Point (HP) 2 Confirm Home Point 3 Transmitter Signal Lost

4 Signal Lost Lasts 3secs. 5Go Home(20m can be customized)

Height over HP<=20m Height over HP>20m 6 Landing after Hovering 15secs

20m Elevate to 20m

LED LED LED

LED LED LED

<8m ≥7

(∝) (6) (∝)

(∝) (∝) (∝) 

(1) The aircraft will not go home (only attitude stabilizing) in the condition that <6 or GPS is not 

working, even if Transmitter signal is lost or Go Home switch is triggered.

(2) It is recommended to set the Go Home switch in the Assistant software. Users are suggested to 

(5)
©2013-2016 DJI. All Rights Reserved. 31

enter FailSafe and go home by using the Go Home switch rather than turning off the Transmitter 

in emergency situations.

(3) Make sure there are no obstacles during aircraft go home and users are familiar with the methods

to regain control.

 

How to regain control in FailSafe

3-position 

Switch 

Position-1 Position-2 Position-3 

GPS ATTI. Mode ATTI. Mode ATTI. Mode Manual Mode

Regain control

You have to toggle the control mode switch 

once to regain control if the signal recovers.

Regain control as soon as signal recovers.

3.2 Low Voltage Protection 

Low voltage protection is used to alert low battery voltage during flight; in this case, users should promptly fly 

back the aircraft and land to avoid unexpected damages.

To use this function please set in Assistant software->Advanced->Voltage page to configure two voltage levels. 

Protections Option Selected Conditions LED Aircraft 

First level

LED ---- (∝) None 

GH & Landing

Make sure the home point is recorded and 

no obstacles in going home and landing path. 

(∝) Go-Home & Landing

Second 

level

LED ---- (∝) None 

Descending ---- (∝) Descending directly

 

Go-Home & Landing Usage Tips 

(1) The home point recorded is the same in both FailSafe and Low voltage protection. The aircraft will not go 

home in the following cases :

a) Control mode switch is at the position-3 (Manual Mode or ATTI. Mode)

b) GPS signal is bad ( <6)

c) The distance between aircraft and the home point is less than 25m, and the height over the Home 

point less than 20m.

Descending Usage Tips 

The aircraft will not hover when the throttle stick is at the mid point. Push the throttle stick to 90% of its 

endpoint, the aircraft 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.
©2013-2016 DJI. All Rights Reserved. 32

(1) Please pay attention to the LED alert of low voltage and make sure the power is enough for go 

home and landing. Insufficient power reserve will cause the aircraft to crash as well as other 

consequences.

(2) If the second level low voltage alert occurs in below procedures, the aircraft will descend 

automatically.

a) When the aircraft is in FailSafe and Go Home process。

b) When the aircraft is controlled by the Ground Station.
©2013-2016 DJI. All Rights Reserved. 33

4 Advanced Features 

The advanced features of A2 include IOC (intelligent orientation control), gimbal control, parachute activation 

and so on. It also enable users to tweak the A2 configuration via the A2 Assistant wirelessly through the 

Bluetooth connection. 

4.1 IOC (Intelligent Orientation Control) function 

4.1.1IOC

IOC Help users to set the Flying direction; Should be enabled in Assistant software.

Flying direction The flying direction of aircraft when pushing the Roll and Pitch sticks.

Forward direction The flying direction of aircraft when the pitch stick is pushed forward.

Normal flying 

IOC is disabled. Forward direction is pointing to the nose direction and changes 

along with the nose.

CL(course lock) 

mode

Its forward direction is pointing to the nose direction when recording, which is 

fixed until you re-record it or exit from CL.

HL (home lock) mode

Record a Home Point (HP), push Pitch stick to control the aircraft far from or 

near to the HP.

POI mode

Point of Interest. Record a point of interest (POI), the aircraft can circle around 

the POI, and the nose always points to the POI.

BTM (Banked Turn) 

mode 

In this mode, the roll and yaw sticks are combined to help you perform banked 

turns with only one hand.

 

Conditions of IOC function 

Flying 

IOC 

Setting

Control Mode

GPS-COMPASS 

PRO PLUS 

Required

GPS Satellites Distance Limits

Normal ---- ---- ---- Basic to control mode None 

CL Enabled Not Manual Mode Compass None None 

HL Enabled GPS ATTI. Mode GPS ≥6

≥10m Aircraft HP

POI Enabled GPS ATTI. Mode GPS ≥6

5m~500m Aircraft POI

BTM Enabled GPS ATTI. Mode GPS ≥6 None

 

Step 1 IOC switch setting 

Please enable the IOC function in Advanced->IOC page of Assistant software. Then choose a 3-positon switch on 

the Transmitter to set as IOC switch, which is used to select the different IOC modes and manually record the 
©2013-2016 DJI. All Rights Reserved. 34

Forward direction, HP and POI recording.

There are six types of IOC switch setting. Below are the three recommended options of IOC switch setting which 

may be configured in the Assistant software.

Switch positions A B C

1 OFF OFF OFF

2 CL CL CL

3 HL POI BTM

 

Step 2 Forward Direction, HP and POI Recording 

After you enable the IOC in assistant software, the flight control system will record the forward direction and home 

point automatically after power on, if the recording conditions are met. You can manually re-record the forward 

direction, home point and POI during flying. Note that no BTM recording is required. Read the following table for 

the recording method details.

CL HL POI

Recorded 

Orientation

Aircraft’s nose as forward 

direction

Home point

The position that the user 

wish to fly around.

Conditions 36 secs after power on

10secs later after ≥6;

Motors have been started.

10secs later after ≥6.

Automatically

Automatically record at 36

secs after power on

Automatically record at the first 

time you push the throttle stick

No Automatic record method

Manual 

According to any option of IOC switch setting, quickly toggle the switch between adjacent 

positions 3-5 times to record manually.

1

2

A

Forward

direction

C 2

3

A

HP

B

POI

C

None

B

Forward

direction

Forward

direction

Successful (20) (20) (20)

 

(1) DO NOT toggle the switch between the position 1 and 3 frequently, which may re-record the 

position 2.

(2) The new Home Point and Forward Direction can be set only after one has already been recorded 

automatically.

(3) HP is not only used in IOC, but also in FailSafe and Low voltage as go home and landing

destination. The flight control system will automatically record the HP even if IOC function is 

disabled in Assistant software but Forward direction and POI can be recorded only after IOC is 

enabled.
©2013-2016 DJI. All Rights Reserved. 35

(4) Once the Home Point is recorded successfully, LED will blink (5) continually under the 

following conditions. All conditions must be true.

1. >6.

2. Distance between aircraft and the recorded home point is less than 8m.

3. Current control mode is in GPS ATTI. Mode or ATTI. Mode of switch position-2.

 

Step 3 CL, HL and POI flying test

Please study the following diagram then make an IOC flying test. IOC LED indicator blinks ( (2) means not all 

stick(s) at the midpoint)

HP POI Flying direction Forward direction Route Auxiliary line

Flying 

IOC

switch

Record 

Pitch stick control of aircraft Roll stick control of aircraft

Normal OFF None

CL CL

HL HL

>10m

>10m

>

10m

>

10m

POI POI

5~500m

5~500m

5~500m

5~500m

DO NOT toggle the IOC switch frequently in HL flying to avoid re-recording the HP unwittingly.

IOC function is available only when all the required conditions are satisfied. If any condition is omitted

the flight control system will exit IOC. Please keep an eye on the LED to know the current control mode.

(1) It is recommended to start the HL flight when the aircraft is >10m away from the HP. If starting

the HL when the distance between aircraft and HP is less than 10m and it’s the first time you 

start HL after power on, then the flight control system will only enter HL after flying out of the 
©2013-2016 DJI. All Rights Reserved. 36

10m range. When in Home Lock mode, the aircraft cannot enter any area within a 10 meter radius 

of the Home Point.

(2) During HL flying if one of the following conditions occur, the flight control system will exit HL and 

enter into CL: the control mode is changed to ATTI. Mode; <6(LED (2) or (3)).

Step 4 Banked Turn mode flying test 

Banked Turn Mode is useful when you want to perform banked turns one handed. It allows you to pitch and roll to 

turn without using the yaw stick. 

Application examples:

1. Normal and FPV aerial photography in this mode is smooth and simple, giving a different visual feel to your 

work.

2. In this mode, the roll and yaw sticks are combined to help you perform banked turns with only one hand.

Setting steps (Mode 2):

1. To enable Banked Turn Mode, replace the POI gear of the IOC switch with Banked Turn gear. 

2. With Banked Turn Mode activated, you can circle the aircraft with just one stick. To do this, Mode 2 (throttle 

on the left stick) users should select the “Use Roll” option while Mode 1 (throttle on the right stick) users 

should select the “Use Yaw” option. 
©2013-2016 DJI. All Rights Reserved. 37

Using Banked Turn Mode (Mode 2):

1. Select “Use Roll” to disable the yaw stick or select “Use Yaw” to disable the roll stick.

2. Push pitch stick to move the aircraft forward or backward.

3. After that, Push roll stick left or right to perform banked turn as the following diagram shown. No yaw stick 

required. 

4. When the aircraft is hovering, yaw is controlled by the roll stick instead.

5. Rapidly pull the pitch stick to the mid-point to stop the aircraft.

Flying 

IOC

switch

Record 

Pitch stick Roll stick Pitch stick Roll stick Pitch stick Roll stick Pitch stick Roll stick 

 

 

 

 

 

 

 

 

BTM BTM None

(1) Banked Turn Mode works only with GPS-ATTI mode (GPS ≥6). The aircraft will stop and hover when 

less than 6 satellites are found. 

(2) Once the aircraft performs side slip, adjust the drift damping value. Note that too big value may lead 

to aircraft vibration.

4.1.2 Cruise Control 

Cruise Control allows you to lock the speed of the aircraft, freeing you to control the gimbal while maintaining 

flight. 

Application examples:

1. By maintaining steady flight, you can focus more on your shots and gimbal control, and your total flight time is 

increased by eliminating unnecessary speed changes.

2. Activate Cruise Control to lock your aircraft into its current horizontal speed when you release the control 

sticks.

Cruise Control only works when IOC has been enabled. Tick the Cruise Control box in the A2 Assistant to enable it. 
©2013-2016 DJI. All Rights Reserved. 38

Assign a 3-gear switch on the remote control for Cruise Control. Follow the steps below to use Cruise Control. 

Use the control sticks to accelerate the aircraft to your target speed then toggle the assigned Cruise Control switch 

to “Set” or “Continues”.

The action of three different gears of the cruise speed is defined as follow:

 Close 

Deactivate Cruise Control. 

 Set 

Move the switch to this position in flight to “Set” the cruising speed. The speed at the point that the switch is 

toggled will be maintained. If you use the control sticks to adjust aircraft speed, the aircraft will return to its 

original speed once the control sticks return to center.

 Continues 

In this position the aircraft will maintain its speed of flight however if you accelerate or slow down, it will 

continue flying at the new speed once the control sticks return to center.

(1) Cruise Control only works in GPS-ATTI mode (GPS > 6).

(2) The aircraft will exit Cruise Control mode and hover at its current altitude when less than 6 GPS 

satellites are detected, switches to ATTI. mode or enters auto go home mode. To enter“Set” and 

“Continue” modes, you must first go into “OFF” mode.

(3) Cruise Control is disabled during Banked Turn mode flying.

(4) Maximum speed is 15m/s under Cruise Control mode.
©2013-2016 DJI. All Rights Reserved. 39

4.2 Servo Gimbal function 

Connect the servos of your gimbal to the Controller Unit as the fig. below,roll servo connects to F3 port and 

pitch servo connects to F2, and configure in Advanced->Gimbal page in the Assistant software. No Receiver

channel is asked to be mapped for the F2 or F3 port if gimbal function is enabled in the Assistant Software.

Note: Even you map Receiver channels to F3 and F2 (Which are shown as D3 and D2 in the Assistant Software

-> Channel Mapping), the F3 and F2 will not give output signals from the mapped Receiver channels.

F3

F2 Pitch Roll

4.3 Flight Limits 

All unmanned aerial vehicle (UAV) operators should abide by all regulations from such organizations as the ICAO 

(International Civil Aviation Organization) and their own national airspace regulations. For safety reasons, the flight 

limits function is enabled by default to help users use this product safely and legally. The flight limits function 

includes height, distance limits and safety zone.

In Ready to Fly mode, height, distance limits and No Fly Zones work together to manage flight. In Ready to Fly 

(non-GPS) status, only height limits applies and flights cannot go higher than 120m.

Default parameters in Assistant Software are compliant within the definitions of class G ruled by ICAO. 

(Refer to Airspace Classification to get more details). As each country has its own rules, make sure to 

configure these parameters to comply with these rules before flying.

4.3.1 Max Height, Radius Limits & Home Fence

The Max Height & Radius restricts the flying height and distance. Configuration can be done in the A2 Assistant. 

Once complete, your aircraft will fly in a restricted cylinder.
©2013-2016 DJI. All Rights Reserved. 40

 

Max Height Max Radius

Home Point Height of aircraft when powered on

GPS ATTI mode 

 Limits Ground Station Tips 

Max Height Flight height must be under the set height. Warning: Height limit reached.

Max Radius Flight distance must be within the max radius. Warning: Distance limit reached. 

ATTI mode 

 Flight Limits Ground Station Tips 

Max Height Flight height restricted to 120m and under. Warning: Height limit reached.

Max Radius No limits 

(1) If you fly out of the limit, you can still control the aircraft, but cannot fly it further. 

(2) If the aircraft flies out of the max radius in ATTI mode, it will fly back within range automatically.

Home fence is a safety feature that prevents the aircraft from coming in too close to an operator. When enabled, 

the aircraft will not be able to enter a safe area defined by the user.

Application examples:

1. Supply safe guard for new users in case of damage from wrong operation.

2. Keep users safe when aircraft flies close in a high speed.

The safety radius can be set in the A2 Assistant as shown below:
©2013-2016 DJI. All Rights Reserved. 41

 

Assign a switch on the remote control to turn the home fence feature on and off. The safety radius range can 

be set between 12m and 100m.

(1) Home fence feature works only with GPS-ATTI mode. NO home fence limit for ATTI mode and 

navigation mode.

(2) Failsafe procedure overrides the home fencing feature. 

4.3.2 Flight Limits of Special Areas

Restricted areas include airports worldwide. All restricted areas are listed on the DJI official website at 

http://www.dji.com/fly-safe/category-mc. Restricted areas are divided into category A and category B. Category A 

areas cover major international airport such as LAX and Heathrow, while category B areas includes smaller airports.

Category A Safety Zone 

 The category A “safety zone” is comprised of a small “no-fly zone” and a range of “restricted-altitude zones”. 

Flight is prevented in the “no-fly zone” but can continue with height restrictions in the restricted-altitude zone.

 1.5 miles (2.4 km) around a designated safety zone is a no-fly zone, inside which takeoff is prevented. 

 1.5 miles (2.4 km) to 5 miles (8 km) around restricted areas are altitude restricted, with maximum altitude going 

from 35 feet (10.5 m) at 1.5 miles (2.4 km) to 400 feet (120 m) at 5 miles (8 km).

 A “warning zone” has been set around the safety zone. When you fly within 320 feet (100m) of the safety zone, a 

warning message will appear on the DJI Ground Station.
©2013-2016 DJI. All Rights Reserved. 42

 Category A 

Category B Safety Zone 

 Category B “safety zone” is comprised of a “no-fly zone” and a “warning zone”.

 0.6 miles (1 km) around the safety zone is a designated “no-fly zone”.

 A “warning zone” has been set around the safety zone. When you fly within 0.6 miles (1Km) of this zone, a warning 

will appear on the DJI Ground Station.

Category B

GPS ATTI mode 

Zone Restriction Rear LED Flight Indicator 

No-fly Zone

Motors will not start.

If the aircraft enters the restricted area in ATTI mode but 

GPS ATTI mode activates, the aircraft will automatically

descend to land then stop its motors after landing. 

Blink red quickly and continue 

for 3 seconds before normal 

blinks.
©2013-2016 DJI. All Rights Reserved. 43

Restricted-altitude 

flight zone

If the aircraft enters a restricted area in ATTI mode and 

GPS ATTI mode activates, it will descend to a safe altitude 

and hover 15 feet below the safe altitude.

Blink yellow quickly and 

continue for 3 seconds before 

Warning zone normal blinks.

 

No flight restriction applies, but there will be warning 

message.

Free zone

 

No restrictions. None. 

Semi-automatic descent: All stick commands are available except the throttle stick command during 

the descent and landing process. Motors will stop automatically after landing. Users must toggle the S1 

switch to regain control. This is the same as regaining control during Failsafe. Please refer to regain 

control during failsafe procedure. 

(1) When flying in the No-fly Zone, LED flight indicators will blink red quickly and continue for 3 

seconds, then switch to indicate current flying status and continue for 5 seconds at which point 

it will switch back to red blinking.

(2) When flying in the Restricted-altitude flight zone and Warning zone, LED flight indicators will 

blink yellow quickly and continue for 3 seconds, then switch to indicate current flying status and 

continue for 5 seconds at which point it will switch back to red blinking.

(3) For safety reasons, please do not fly close to airports, highways, railway stations, railway lines, 

city centers and other special areas. Try to ensure the aircraft is visible. 

4.3.3 Conditions of Flight Limits

In different working modes and flight modes, flight limits will differ according to number of GPS satellites found.

The following table demonstrates all the cases(√: available; ×:unavailable).

All flights are restricted by height, distance and special areas simultaneously. The Failsafe and Ground Station 

operations are not restricted to flight limits, but if Ground Station function is used, the flight will be restricted the 

special area limits built in to Ground Station. Refer to the Ground Station manual for details.

Control Mode number of GPS found Limits of Special Area Max Height Max Radius 

GPS 

≥6 √ √ √

<6 × √ ×

ATTI. ≥6 √ √ ×
©2013-2016 DJI. All Rights Reserved. 44

<6 × √ ×

Manual ≥6 × × ×

Flight Limits can be disabled in the Assistant as below.

Users cannot take off the aircraft in some Special Areas even the Flight Limits is disabled in the 

Assistant.

4.4 Parachute Function 

The A2 now supports the DJI Dropsafe parachute system which can be enabled in the A2 Assistant. The X3 and F4 

ports should be connected. There are two methods to deploy the parachute.

1. Motors will automatically stop and the parachute will deploy by using switch on the remote control. 

2. In the event of an emergency (aircraft descends faster than 10 m/s), motors will automatically stop and the 

parachute will deploy. 

(1) Parachute will deploy once the aircraft descends faster than 10 m/s in manual mode.

(2) Once parachute function enabled, motors will automatically stop and the parachute will deploy.

(3) Refer to DJI Dropsafe user manual for more details.

4.5 Gear function 

Once enable the Intelligent Gear function, the gear is default down on the ground or in case of emergency (e.g. 

motor failure tolerance, auto landing); you can control it to be up or down by a switch when the aircraft altitude 
©2013-2016 DJI. All Rights Reserved. 45

is above 5m during flight.

Please configure in the Advanced->Gear page in the Assistant software. Connect the landing gear of S800 EVO 

to the Controller Unit as fig. below.

 

(1) Make sure to enable and configure the Intelligent Gear function in the Assistant software first, 

and then connect the gear to the F1 port.

(2) The Gear channel is required to be mapped with a channel on Receiver if the Intelligent Gear 

function is enabled in Assistant Software, and the F1 port will give outputs for retracting control.

(3) Once you map the Gear channel, F1 port will give output signals from the controller for retract 

control. Otherwise, even the Intelligent Gear function is enabled; F1 will give output from D1 (it’s 

necessary to map the D1 channel with a channel on Receiver as your demands).

4.6 Attitude Control When One Motor Output Fails 

For Hexa-rotor, including Hexa-rotor I, Hexa-rotor V, Hexa-rotor IY and Hexa-rotor Y, the aircraft with A2 flight 

control system is attitude controllable when one motor output fails.

Select Course lock or home lock mode for flying the aircraft into a safe area to land when the aircraft is 

far away or the attitude can’t be recognized.

4.7 DJI Assistant App Usage 

There is a built-in Bluetooth in the A2 LED-BT-I module. With a DJI Assistant App installed on your mobile 

device, remote parameter configuration can be obtained via Bluetooth communication between the A2 Flight 

Control System and the mobile device.

Antenna of Bluetooth

Bluetooth status indicator Abnormal Normal Communicating
©2013-2016 DJI. All Rights Reserved. 46

Supported iOS devices 

iPhone 4s, iPhone 5, iPhone 5s, iPod Touch 5, iPad 3, iPad 4, iPad air, iPad mini,

iOS6.1 or above is required. Bluetooth version is required to be 4.0 or above.

 

Required versions of DJI Assistant App & Firmware 

Require DJI Assistant App version 1.1.14 or above and the firmware of A2 Controller Unit version 2.1 or above, as 

well as the firmware of LED-BT-I module version 2.0 or above.

 

Specifications 

Bluetooth version 4.0 Environment temperature -10°C~+50°C

Communication distance 50m Consumption 240mw(0.04A@6V)

 

DJI Assistant App Usage 

Step 1 Download and installation 

1. Search the DJI Assistant in App store on mobile device and install it.

 

Step 2 Connect the A2 Controller Unit and the DJI Assistant App 

1. Prepare an iOS device supported 4.0 Bluetooth, and then enable the Bluetooth function on the mobile 

device.

2. Power on the transmitter and the A2 Flight Control System, make sure the Bluetooth Status Indicator is 

solid Red .

3. Run the DJI Assistant App. You may be asked to register through internet when first login (the account of 

PC Assistant software is OK for login); follow the tips to set Main Controller name and password.

4. Observe the indicators on the left bottom of the software. ( connection indicator and 

communication indicator) On the DJI Assistant App, if the communication indicator is , please double 

check the connections and driver installation; otherwise if the indicator is blinking , go to next step.

5. Select the “Basic” option. Please follow step-by-step for your first-time-configuration. Basic configuration 

is necessary. Click the icon to get the configuration details.

6. You can click the “Advanced” option for more parameter settings. Advanced setting is optional. There are 

Motor, F/S, IOC, Gimbal, Voltage, Limits, Gear, etc.

7. Check all parameters in the View page.

8. Select “More” to obtain more details. Including: Restore MC default settings, Accounts, Main Controller 

List, Information, wiki, Rate DJI Assistant, FAQ, Feedback, About.

1. Make sure to upgrade the LED-BT-I module to the latest firmware via the PC Assistant software 

on a PC before you use the DJI Assistant App with the A2 Flight Control System.
©2013-2016 DJI. All Rights Reserved. 47

2. Every time you run the DJI Assistant App, the App will search the Controller Unit automatically.

3. The gain value displayed on Mobile Device and PC may be a little different, that is OK for use.

 

Step 3 Flying Test Procedures 

1. Get the aircraft ready, run the DJI Assistant and make sure it is connected with the main controller. (The 

indicators on the DJI Assistant are )

2. Start the motors.

3. The “View” page shows the relative parameters real-time when flying.

4. Go to the “Basic” and click into the “Gain” page to set the values of all gains real-time during flying.

5. Go to the “Basic” and click into the “Tool” page to view the values of IMU & Compass real-time during 

flying.

6. Finish the flying and land your aircraft.

Only the parameter referred above can be changed during flying. Others can be configured after 

landing.
©2013-2016 DJI. All Rights Reserved. 48

Appendix 

 

LED indicator descriptions 

Control mode GPS signal 

Manual Mode: No indicator Best ( > 6): No indicator

ATTI. Mode: (1) (sticks not in mid-point (2)) Good ( = 6): (1)

GPS ATTI. Mode: (1) (sticks not in mid-point (2)) Bad ( = 5) : (2)

Ground Station: (1) Worst ( < 5): (3)

Flight Attitude

Attitude good: No indicator Attitude status bad: (3)

IMU data lost, calibrate IMU needed: (4)

Compass calibration

Horizontal calibration (∝) Calibration Failed (∝)

Vertical calibration (∝) Abnormal Compass Data (∝)

Low voltage alert

First level alert (∝) Second level alert (∝)

FailSafe mode

 During the FailSafe (∝) Compass Abnormal after power on (∝)

Errors

System Error (4) Compass Abnormal after power on (∝)

IOC Recording 

Record home-point successfully * (20) 

Aircraft is in the 8m range of HP* (5) 

Record forward direction successfully (20)

Record a Point Of Interest successfully (20)

Bluetooth 

A2 Assistant is connected / disconnected to the flight control system (∝)

 

When the LED blinks (3), please hover or land the aircraft and wait for the white LED to go off.

When the LED blinks (3), it is not recommended to fly.

When the LED blinks (4), please contact your dealer.

*The LED works the same in both IOC and other status.
©2013-2016 DJI. All Rights Reserved. 49

Specifications 

General 

Built-In Functions  Built-in Receiver

 Multiple Control Modes

 2-axle Gimbal Supported

 Enhanced FailSafe

 Intelligent Orientation Control

 Dynamical Systems Protection

 PC & Bluetooth Ground Station

 External Receiver Supported

 9 Types of Supported Multi-rotor

 Other DJI Products Supported

 Low Voltage Protection

 4 Configurable Outputs

 Sound Alarm

 Configure Parameters Via Bluetooth

 

 

 

 

 

 

Peripheral 

Supported Multi-rotor  Quad-rotor: I4, X4

 Hexa-rotor: I6, V6, Y6, IY6

 Octo-rotor: X8, I8, V8

Supported ESC output 400Hz refresh frequency.

Supported Transmitter for Built-in Receiver Futaba FASST (MULT, MLT2, 7CH) Series and DJI DESST Series

External Receiver Supported Futaba S-Bus, DSM2, PPM

Recommended Battery 2S ~ 6S LiPo

Other DJI Products Supported Z15, iOSD Mark II, D-BUS Adapter, S1000,S900 EVO, 2.4G 

Data Link, H3-2D, H3-3D, DJI Dropsafe Parachute

Electrical & Mechanical 

Power Consumption MAX 5W (Typical Value: 0.3A@12.5V)

Operating Temperature -5°C to +60°C

Total Weight <= 224g (overall)

Dimensions  MC: 54mm x 39mm x 14.9mm

 IMU: 41.3mm x 30.5mm x 26.3mm

 GPS-COMPASS PRO PLUS: 62 mm (diameter) x 14.3 mm

 PMU: 39.5mm×27.6mm×9.8mm 

 LED-BTU-I:30mm x 30mm x 7.9mm

Flight Performance (can be effected by mechanical performance and payloads)

Hovering Accuracy (In GPS ATTI. Mode)  Vertical: ± 0.5m

 Horizontal: ± 1.5m

Maximum Wind Resistance <8m/s (17.9mph / 28.8km/h)

Max Yaw Angular Velocity 150deg/s

Max Tilt Angle 35°

Ascent / Descent 6m/s
©2013-2016 DJI. All Rights Reserved. 50

FAQ 

 

Use with other DJI products 

The A2 flight controller is compatible with DJI accessories such as the iOSD Mark II, Z15 gimbals, the 2.4G 

Datalink with iPad Ground Station, and so on. Connect the these devices to the proper CAN ports as listed 

below:

CAN1: iOSD Mark II, Z15 series gimbals.

CAN2: 2.4G Datalink (with iPad Ground Station), H3-2D, H3-3D gimbals.

Connect Z15 gimbals to CAN1 port if your A2 firmware version is 2.4 or below. Connect Z15 gimbals to CAN1 or 

CAN2 port if your A2 firmware version is 2.5. Use a CAN-Hub to acquire an extra CAN port when connecting 

multiple CAN devices.

2.4G Data Link and Z15 GCU connections diagram (CAN1 port)

90o

ESC 1# ESC 2# ESC 3# ESC 4# ESC 5# ESC 6# ESC 7# ESC 8#

2S~6S Battery

2S~6S Battery

 
©2013-2016 DJI. All Rights Reserved. 51

2.4G Data Link and Z15 GCU connections diagram (CAN2 port) 

90o

ESC 1# ESC 2# ESC 3# ESC 4# ESC 5# ESC 6# ESC 7# ESC 8#

2S~6S Battery

2S~6S Battery

 

 

 

Always update the A2 and Z15 gimbal firmware to the latest version.
©2013-2016 DJI. All Rights Reserved. 52

Where the Z15 gimbal is connected determines how it must be controlled. If connected to CAN1, two controllers 

and two receivers are required to control the aircraft and the gimbal separately. If connected to CAN2, a single 

remote controller with 14 channels can control both the aircraft and the gimbal, requiring only one receiver. 

(1) When using a remote controller alone, a Futaba T14SG remote controller is compatible. Note that 12 

channels can be configured for versions below 5.0, while 14 channels can be configured for version 5.0. With

a training cable, users can use two remote controllers for aircraft and gimbal control. Refer to the Futaba 

user manual for details.

(2) When using two DJI remote controllers and a single receiver, the remote controllers work as Master and 

Slave for aircraft and gimbal control. Only the DJI NDJ6 version 1.0.2.26 or above is compatible. Follow the 

steps below to set the two remote controllers as Master/Slave:

a) Link one remote controller to the flight control system, which will be the Master.

b) Plug one head of the trainer port cable into the other remote controller, which will be the Slave. 

c) Turn the gimbal control dial on the Master controller to the left and hold, then plug the other head of 

the trainer port cable into the Master controller.

d) The Master remote controller will emit a beeping sound if the connection is successful. Now you can 

release the dial. 

 

 

(1) The gimbal’s firmware should be updated as below:

a) H3-3D GCU V1.12 or above

b) Z15-5D GCU V2.4 or above, IMU V1.8 or above

c) Z15-5D II GCU V2.4 or above, IMU V1.8 or above

d) Z15-GH3 GCU V2.4 or above, IMU V1.8 or above

e) Z15-GH4 GCU V2.4 or above, IMU V1.8 or above
©2013-2016 DJI. All Rights Reserved. 53

f) Z15-BMPCC GCU V2.4 or above, IMU V1.12 or above

(2) Z15-5N, Z15-GH2, Z15-7N and Z15-5R do not support connection with CAN2 port.

The following H3-2D connection diagram is the connection for your reference.

90o

ESC 1# ESC 2# ESC 3# ESC 4# ESC 5# ESC 6# ESC 7# ESC 8#

2S~6S Battery

2S~6S Battery

 

 

(1) H3-2D users should upgrade the firmware to the latest version (GCU V1.6& IMU V1.6 or above).

(2) If the 2.4G Data Link and H3-2D are used at the same time, a CAN-HUB module is required.

With DJI GO app 

Improved compatibility with the DJI GO app (Lightbridge 2 required):

(1) OSD flight data in Camera View including the control mode, battery voltage and battery warnings.

(2) Dynamic Home Point feature.

(3) In-app enabling of the Home Lock and Course Lock features.

Procedures: 

(1) Ensure the IOC function in the PC Assistant software is disabled.

(2) Ensure the Lightbridge 2 system is properly connected. The remote controller’s flight mode switch has 

default settings of P-mode, A-mode and F-mode.
©2013-2016 DJI. All Rights Reserved. 54

(3) Launch the DJI GO app and enable the IOC function (no channel mapping required). Select Home Lock or 

Course Lock in the menu.

(4) Exit IOC via the DJI GO app.

Note: 

(1) The IOC function in the PC Assistant software must be disabled in order to use IOC via the DJI GO app.

(2) The aircraft will exit IOC in the following situations:

 The aircraft and the DJI GO app are disconnected more than five seconds. To resume IOC, reconnect 

the app.

 The remote controller’s flight mode switch is toggled to F-mode (set as Atti mode or manual mode in 

the PC Assistant software). To resume IOC, toggle the flight mode switch to P-mode or Atti mode -

Home Lock requires GPS (P-mode only).

 

Ensure to upgrade the Lightbridge 2 firmware to the latest version.

 
©2013-2016 DJI. All Rights Reserved. 55

Channel Mapping Instructions for PC Assistant Software 

Basic Channels Default Settings Usage Descriptions

A Roll Control of the Controller Unit, 

mapped to the Channel 1 of Receiver During Assistant Software usage, please click 

the “Calibration” button, to calibrate the 

Transmitter sticks travel. During calibrating, 

make sure to operate strictly following the 

prompts; otherwise may lead to calibration 

failure.

Click the “Map” button, then you can re-do 

mapping for A/E/T/R/U. 

E Pitch Control of the Controller Unit, 

mapped to the Channel2 of Receiver

T Throttle Control of the Controller Unit, 

mapped to the Channel3 of Receiver

R Yaw Control of the Controller Unit, 

mapped to the Channel4 of Receiver

U Control Mode Switch of the Controller 

Unit, mapped to the Channel7 of Receiver

Knob Channels Default Settings Usage Descriptions

K1~K6 Remote Gains Adjustment of the 

Controller Unit, unmapped.

Click “Unmapped” button to map K1~K6 to the 

channels of Receiver.

Direct Channels Default Settings Usage Descriptions

D1~D4 Direct Channels (The corresponding ports 

are F1~F4 on the Controller Unit) of 

Controller Unit, unmapped.

Click “Unmapped” button to map D1~D4 to 

the Receiver channels. If you enable the 

Gimbal functions in Assistant Software, then 

the F3/F2 are used for gimbal control; even

D3/D2 are mapped to channels of Receiver,

and the signals from the mapped Receiver 
©2013-2016 DJI. All Rights Reserved. 56

channels will be ignored.

You can use F4 for switching the video 

channel of iOSD Mark II, then map D4 to a 

Receiver channel.

Advanced 

Channels

Default Settings Usage Descriptions

IOC IOC function of the Controller Unit, 

unmapped.

Click “Unmapped” button to map IOC to a 

Receiver channel. It is recommended to use a 

3-position switch channel.

Go Home One-Key Go Home function of the 

Controller Unit, unmapped.

Click “Unmapped” button to map Go Home to 

the Receiver channel. It is recommended to 

use a 2-position switch channel.

Gear Intelligent Gear function of the Controller 

Unit, unmapped.

If you enable the Gear function in Assistant 

Software, then the F1 is used for the gear 

control of S800 EVO landing.

H-Fence(Home 

Fence)

Home Fence function unmapped Click “Unmapped” button to map Home 

Fence onto the Receiver channel. It is 

recommended to use a 2-position switch 

channel.

CC (Cruise 

Control)

Cruise Control function unmapped Click “Unmapped” button to map Cruise 

Control to the Receiver channel. It is 

recommended to use a 3-position switch 

channel.

S-Gimbal Ground station servo gimbal function 

unmapped

Click “Unmapped” button to map Ground 

station servo gimbal to the Receiver channel. 

It is recommended to use a 3-position switch 

channel.

Zenmuse 

Channels

Default Settings Usage Descriptions

ROLL ROLL channel unmapped Click “Unmapped” button to map ROLL to the 

Receiver channel. It is recommended to use a 

level switch channel.

TILT TILT channel unmapped Click “Unmapped” button to map TILT to the 

Receiver channel. It is recommended to use a 

level switch channel.
©2013-2016 DJI. All Rights Reserved. 57

PAN PAN channel unmapped Click “Unmapped” button to map PAN to the 

Receiver channel. It is recommended to use a 

level switch channel.

MODE MODE channel unmapped Click “Unmapped” button to map MODE to

the Receiver channel. It is recommended to 

use a 3-position switch channel.

SHUT SHUT channel unmapped Click “Unmapped” button to map SHUT to the 

Receiver channel. It is recommended to use a 

2-Position switch with spring back function.

AUX1 AUX1 channel unmapped Click “Unmapped” button to map AUX1 to the 

Receiver channel. It is recommended to use a 

3-position switch channel.

AUX2 AUX2 channel unmapped Click “Unmapped” button to map AUX2 to the 

Receiver channel. It is recommended to use a 

2-position switch channel.

AUX3 AUX3channel unmapped Click “Unmapped” button to map AUX3 to the 

Receiver channel. It is recommended to use a 

2-position switch channel.

Recommended Mapping for Futaba RC (Mode 2, A2 V2.4 or below) 

Controller Unit Channel Receiver Channel Recommended Transmitter Switch

A Channe 1 (AIL) Joystick J1

E Channe 2 (ELE) Joystick J2

T Channe 3 (THR) Joystick J3

R Channe 4 (RUD) Joystick J4

U Channe 7 (AUX5) 3-Position switch, e.g. SG

K1~K6 Channe 5 (GEAR) Knob switch, e.g. LD, RD

Pitch Channe 6 (Vpp)* Knob switch, e.g. LD, RD

D1/D3/D2 ---- ----

D4 Channe 9 (AUX1) 2-Position switch, e.g. SF 

IOC Channe 10 (AUX2) 3-Position switch, e.g. SG

Go Home Channe 11 (AUX3) 2-Position switch with spring back function, e.g. SH

Gear Channe 8 (AUX4) 2-Position switch, e.g. SF
©2013-2016 DJI. All Rights Reserved. 58

H3-2D Channe 12(AUX5)* Knob switch, e.g. LD、RD

H-Fence Channe 6 (Vpp)* 2-Position switch, e.g. SF

CC Channe 12(AUX5)* 3-Position switch, e.g. SB

*Note that these settings should be configured according to your requirements.

Recommended Mapping for Futaba RC (Mode 2, A2 V2.5 and Futaba below V5.0) 

Controller Unit Channel Receiver Channel Recommended Transmitter Switch

A Channe 1 (AIL) Joystick J1

E Channe 2 (ELE) Joystick J2

T Channe 3 (THR) Joystick J3

R Channe 4 (RUD) Joystick J4

U Channe 7 (AUX5) 3-Position switch, e.g. SG

IOC/CC Channe 8 (AUX4) 3-Position switch, e.g. SA

Gear Channe 9 (AUX6) 2-Position switch, e.g. SF

PAN Channe 5 (GEAR) Level switch, e.g. LS、RS

TILT Channe 6 (Vpp) Level switch, e.g. LS、RS

MODE Channe 10 (AUX1) 3-Position switch, e.g. SC

Photo Channe 11 (AUX2) 2-Position switch with spring back function, e.g. SH

Video Channe 12 (AUX3) 3-Position switch, e.g. SG

Note that these settings should be configured according to your requirements.

Recommended Mapping for Futaba RC (Mode 2, A2 V2.5 and Futaba V5.0) 

Controller Unit Channel Receiver Channel Recommended Transmitter Switch

A Channe 1 (AIL) Joystick J1

E Channe 2 (ELE) Joystick J2

T Channe 3 (THR) Joystick J3

R Channe 4 (RUD) Joystick J4

U Channe 7 (AUX5) 3-Position switch, e.g. SG

IOC Channe 8 (AUX4) 3-Position switch, e.g. SA

CC Channe 9 (AUX6) 2-Position switch, e.g. SF

Gear DG1 2-Position switch, e.g. SF

ROLL Channe 10 (AUX1) Knob switch, e.g. LD、RD

PAN Channe 5 (GEAR) Level switch, e.g. LS、RS

TILT Channe 6 (Vpp) Level switch, e.g. LS、RS
©2013-2016 DJI. All Rights Reserved. 59

MODE Channe 11 (AUX2) 3-Position switch, e.g. SC

Photo DG2 2-Position switch with spring back function, e.g. SH

Video Channe 12 (AUX3) 3-Position switch, e.g. SG

Note that these settings should be configured according to your requirements.

Recommended Mapping for DJI NDJ6 RC (A2 V2.5) 

Controller Unit Channel Receiver Channel Recommended Transmitter Switch

A A Master remote control J1

E E Master remote control J2

T T Master remote control J3

R R Master remote control J4

U U Master remote control S1

Gear X2 Master remote control S2

ROLL A Slave remote control J1

PAN E Slave remote control J2

TILT R Slave remote control J4

MODE U Slave remote control S1

Photo X1 Slave remote control LD

Video X2 Slave remote control S2

Note that these settings should be configured according to your requirements.

Follow the steps below to check if the channels are working properly:

1) Run the A2 Assistant and go to the Channel Mapping page.

2) Move the Master remote controller’s sticks and switches to ensure they are working properly on the 

Channel Mapping page.

Note: For the H3-3D gimbal, set a 2-position switch with spring back function for the TILT channel and a 2-position 

switch for the MODE channel.

Settings of gain values for Your Reference 

To set the value of basic gain and attitude gain you can refer to the following diagram. These values are only for 

reference and may vary in practice.

Aircraft 

Configuration Information Basic Attitude 

Motor ESC Propeller Battery Weight Pitch Roll Yaw Pitch Roll Vertical

F450 DJI-2212 DJI-30A DJI-8 Inch 3S-2200 890 g 150 150 135 150 150 140

F550 DJI-2212 DJI-30A DJI-8 Inch 4S-3300 1530 g 170 170 150 160 160 150

S800 EVO/Z15 DJI-4114 DJI-40A DJI-15Inch 6S-15000 7000g 140 140 130 140 140 130
©2013-2016 DJI. All Rights Reserved. 60

The Transmitter setup of FUTABA 

Please configure the Frequency item on your Transmitter adhere to the table below. (The names of FASST modes 

here are based to the Transmitter FUTABA T8FG, please ensure to select the most similar mode as the names 

differs for different Transmitters)

Transmitter type AREA FASST 

FUTABA 18MZ Default FASST-MULTI\FASST-7CH

FUTABA 14MZ with TM-14 Default MULT\7CH

FUTABA 14SG FRANCE\GENERAL FASST-MULTI\FASST-7CH

FUTABA 12Z 2.4G FASST with TM-14 Default MULT\7CH

FUTABA 12FG 2.4G FASST with TM-14 Default MULT\7CH

FUTABA 10CG or 10C with TM-10 Default 7CH

FUTABA 9C SUPER with TM-7 or TM-8 Default 7CH

FUTABA 8FG SUPER FRANCE\GENERAL MLT2\MULT\7CH

FUTABA 8FG FRANCE\GENERAL MULT/7CH

FUTABA 7C 2.4G Default Default

FUTABA 6EX FASST Default Default

GPS SNR Functions Description 

The DJI A2 Assistant (version 1.1.22) and iPad ground station (version 1.4.62) have recently added “SNR Health” and 

“SNR Fluctuation” index monitors for GPS signals. User can monitor GPS signal quality, ensuring they have strong 

and stable signals for better flight performance. By referring to these two values, user will be empowered to find 

the best locations for take off and flight, while also detecting areas that might interfere with GPS signals.

The SNR interface provides you with “SNR Health” and “SNR Fluctuation” index monitors whose values change 

according to aircraft maneuvers and environmental interference.

 The “SNR Health Index” shows the GPS signal strength captured by the GPS receiver. A larger number 

indicates a stronger GPS signal. We highly recommend pilots only take off when the SNR health value is 

greater than 36.

 The “SNR Fluctuation Index” shows the overall stability of the craft’s current GPS signal. A smaller number 

S1000/5D gimbal/

5D camera

DJI-4114 DJI-40A DJI-15Inch 6S-15000 9200g 120 120 120 170 170 120

S1000/5D gimbal/

5D camera

DJI-4114 DJI-40A DJI-15Inch 6S-15000 9300g 120 120 120 170 170 120
©2013-2016 DJI. All Rights Reserved. 61

means that the signals will fluctuate less and provide a more stable GPS signal overall.
©2013-2016 DJI. All Rights Reserved. 62

A2 Receiver Type Description 

For different types of receiver, displays on the A2 Assistant software will be different.

For PPM receivers with Failsafe, the display is as below:

For the other receivers, the display is as below:

For example, when used with DJI Lightbridge, you will see the second display after disconnecting the remote 

controller and Lightbridge. At this time, the A2 LED will blink blue and the aircraft will enter Failsafe.
©2013-2016 DJI. All Rights Reserved. 63

Disclaimer 

Please read this disclaimer carefully before using this product. By using this product, you hereby 

agree to this disclaimer and signify that you have read it fully. 

THIS PRODUCT IS NOT SUITABLE FOR PEOPLE UNDER THE AGE OF 18. 

A2 flight controller is designed for experience multi-rotor enthusiasts providing excellent self-leveling and altitude 

holding, which completely takes the stress out of flying RC multi-rotors for both professional and hobby applications. 

Despite the product having a built-in flight control system and our efforts in making the operation of the controller 

as safe as possible when the main power battery is connected, we strongly recommend users to remove all 

propellers when calibrating and setting parameters. Make sure all connections are good, and keep children and 

animals away during firmware upgrade, system calibration and parameter setup. DJI Innovations accepts no liability 

for damage(s) or injuries incurred directly or indirectly from the use of this product in the following conditions:

1. Damage(s) or injuries incurred when users are drunk, taking drugs, drug anesthesia, dizziness, fatigue, nausea 

and any other conditions no matter physically or mentally that could impair your ability.

2. Damage(s) or injuries caused by subjective intentional operations.

3. Any mental damage compensation caused by accident.

4. Failure to follow the guidance of the manual to assemble or operate.

5. Malfunctions caused by refit or replacement with non-DJI accessories and parts.

6. Damage(s) or injuries caused by using third party products or fake DJI products.

7. Damage(s) or injuries caused by mis-operation or subjective mis-judgment.

8. Damage(s) or injuries caused by mechanical failures due to erosion, aging.

9. Damage(s) or injuries caused by continued flying after low voltage protection alarm is triggered.

10. Damage(s) or injuries caused by knowingly flying the aircraft in abnormal condition (such as water, oil, soil, 

sand and other unknown material ingress into the aircraft or the assembly is not completed, the main 

components have obvious faults, obvious defect or missing accessories).

11. Damage(s) or injuries caused by flying in the following situations such as the aircraft in magnetic interference 

area, radio interference area, government regulated no-fly zones or the pilot is in backlight, blocked, fuzzy 

sight, and poor eyesight is not suitable for operating and other conditions not suitable for operating.

12. Damage(s) or injuries caused by using in bad weather, such as a rainy day or windy (more than moderate 

breeze), snow, hail, lightning, tornadoes, hurricanes etc.

13. Damage(s) or injuries caused when the aircraft is in the following situations: collision, fire, explosion, floods, 

tsunamis, subsidence, ice trapped, avalanche, debris flow, landslide, earthquake, etc.

14. Damage(s) or injuries caused by infringement such as any data, audio or video material recorded by the use of 

aircraft.

15. Damage(s) or injuries caused by the misuse of the battery, protection circuit, RC model and battery chargers.

16. Other losses that are not covered by the scope of DJI Innovations liability.

Trademark 

DJI and A2 are registered trademarks of DJI. 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 DJI with all rights reserved. No part of this product or manual shall be reproduced in any form without the prior 

written consent or authorization of DJI. No patent liability is assumed with respect to the use of the product or 

information contained herein.