©2012 DJI Innovations. All Rights Reserved.

FlameWheel450

User Manual

V 2.1

2013.03.13 Revision

www.dji-innovations.com
©2012 DJI Innovations. All Rights Reserved. 2

Disclaimer

Read this disclaimer carefully before using FlameWheel450. By using this product, you hereby agree to 

this disclaimer and signify that you have read them fully. FlameWheel450 is an excellent multi-rotor. With 

a good autopilot, it will even offer tremendous flight features for low altitude flight working in restricted 

space. Despite the controller of autopilot operates in the safest manner when the main power battery is 

connected, we strongly recommend customers to remove all propellers, use power supply from R/C 

system or flight pack battery, and keep children away during system calibration and parameter setup. 

Please respect the AMA’s National Model Aircraft Safety Code. DJI Innovations assumes no liability for 

damage(s) or injuries incurred directly or indirectly from the use of this product.

DJI FLAME WHEEL is registered trademark of DJI Innovations 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 Innovations with all rights reserved. No part of this product or manual 

shall be reproduced in any form without the prior written consent or authorization of DJI Innovations. No 

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

F450 Profile

FlameWheel450 (F450) is a multi-rotor designed for all pilots for fun or AP. With DJI WKM or NAZA 

autopilot system, it can achieve hovering, cruising, even rolling and other flight elements. It can be 

applied for entertainment, aerial photography, FPV and other aero-modeling activities.
©2012 DJI Innovations. All Rights Reserved. 3

Contents

Disclaimer.......................................................................................................................2

F450 Profile....................................................................................................................2

Contents.........................................................................................................................3

Product Usage Cautions.................................................................................................3

In Box .............................................................................................................................4

Tools Needed .................................................................................................................5

ESC Wiring.....................................................................................................................5

Assembly........................................................................................................................6

ESC Sound Introduction.................................................................................................7

Specifications .................................................................................................................7

Product Usage Cautions

When flying, the fast rotating propellers of FlameWheel450 will cause serious damage and injury. 

Therefore, please fly with a high safety consciousness. 

1. Keep flying multi-rotor away from objects, such as obstacles, human beings, high-voltage 

lines and so on.

2. Do not get close to or even touch the working motors and propellers, which will cause 

serious injury.

3. Do not over load the multi-rotor.

4. Check that the propellers and the motors are installed correctly and firmly before flight.

5. Make sure the rotation direction of each propeller is correct

6. Check whether all parts of multi-rotor are in good condition before flight. Do not fly with old 

or broken parts.

7. Use DJI parts as much as possible.

If you have any problem you cannot solve during installation, please contact our customer 

service.
©2012 DJI Innovations. All Rights Reserved. 4

In Box

Top Board 450FBT ×1 Bottom Board 450FBB ×1

Frame Arms 450FAC ×2 Frame Arms 450FAW ×2

10in Propeller Pairs

450P10×2

8in Propeller Pairs 450P08×2

Motors 450MOT ×4 ESC 450ESC ×4

15A

OPTO

+

-

U

V

W

Screws 450-M3×8 ×16 Screws 450-M2.5×6 ×24

Magic Strap 450MSX ×1, Battery Band 450BBX ×1

Power Line Pair 450PLP ×1, Small Wrench 450SW ×1
©2012 DJI Innovations. All Rights Reserved. 5

Tools Needed

2.0mm Hex Wrench For frame and motors installation.

Screw Glue For fastening screws.

Nylon Cable Tie

Scissors For binding devices and wires.

Diagonal Cutting Pliers

Foam Double Sided Adhesive Tape For fixing receiver, controller and other modules.

Soldering-iron & wires For connecting ESCs’ power cables to bottom board.

ESC Wiring

ESC ESC

ESC ESC

To Battery

Power Pads

Important

 Please solder ESCs to power pads on bottom board as the figure shows. 

 Use any insulating method at all soldering spots. Make sure there is no short or open circuit. 

 Make sure the side of power pads is upward.

 Make sure the rotation direction of each motor is the same as the way in the figure of 

“Assembly” shows. If not, switch any of two wire connections of the incorrect motor to change 

its rotation direction.
©2012 DJI Innovations. All Rights Reserved. 6

Assembly

Top board

S M2 5x6 crew .

Bottom Board

S M3x8 crew 

1

2

3

4

Step 1 Install bottom board Step 2 Install autopilot system Step 3 Install motors, ESCs Step 4 Install top board Step 5 Install propellers Install screws by appropriate force to prevent breaking threads. Use adequate screw glue for installing screws. Please wire neatly. Make sure wires will not be cut by frame boards and propellers. Smooth out the boards edge if necessary. Please install propellers after autopilot system configuration procedure. Make sure the rotation direction of propellers are the same as the figure shows. When mounting the propellers, do not use any thread locker, just tighten the nuts to the end manually then use the wrench to tighten it about 50°. In up figure, arms 12 front of craft, arms 34 are back of craft. You'd better choose the same color arms for the same direction. See from top, motors on arms 13 rotate counter-clock wise, use propellers 8045/1038; motors on arms 24 rotate clock wise, use propellers 8045R/1038R.
©2013 DJI Innovations. All Rights Reserved.

Naza-M V2 

Quick Start Guide V 1.26 

2014.05.12 Revision

For Firmware Version V4.02 or above

& Assistant Software Version V2.20 or above

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

your aircraft, as well as to install the Assistant Software on your computer.

Please regularly check the web page of corresponding product* at our website www.dji.com, which is 

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

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

change without notice.

* Important: Naza-M, Naza-M V2 and PHANTOM control system are different in hardware parts, but their 

configurations and functions are the same when using the same Assistant Software and Firmware Version, so they 

use the same Guide. Unless stated, the following instruction is basic on Naza-M V2. If you use the Naza-M, please 

make sure to read the “Instruction of V1 (also known as Naza-M)” section; if you use the PHANTOM, download the 

other corresponding manuals on the PHANTOM web page.

This manual is only 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 problem that you cannot solve during usage, please contact your authorized dealer. 
©2013 DJI Innovations. All Rights Reserved.

Index 

INDEX ........................................................................................................................................................................................................ 2

INSTRUCTION ........................................................................................................................................................................................ 3

DISCLAIMER & WARNING ................................................................................................................................................................................. 3

TRADEMARK.........................................................................................................................................................................................................4

CERTIFICATIONS.................................................................................................................................................................................................4

SYMBOL INSTRUCTION ......................................................................................................................................................................................4

ASSEMBLY & CONNECTION ............................................................................................................................................................ 5

STEP1 PORT DESCRIPTION................................................................................................................................................................................ 5

STEP2 ASSEMBLY & CONNECTION ................................................................................................................................................................ 6

ASSISTANT SOFTWARE INSTALLATION AND CONFIGURATION ....................................................................................... 7

STEP1 SOFTWARE AND DRIVER INSTALLATION ON A PC........................................................................................................................... 7

STEP2 CONFIGURATION BY ASSISTANT SOFTWARE ON A PC.................................................................................................................. 8

BASIC FLYING ...................................................................................................................................................................................... 10

CONTROL MODE KNOWLEDGE .................................................................................................................................................................... 10

START & STOP MOTOR KNOWLEDGE.......................................................................................................................................................... 10

STEP1 COMPASS CALIBRATION ......................................................................................................................................................................12

STEP2 ASSEMBLY CHECKING LIST.................................................................................................................................................................13

STEP3 BEFORE FLIGHT.....................................................................................................................................................................................13

STEP4 FLYING TEST..........................................................................................................................................................................................14

ADVANCED FUNCTIONS ................................................................................................................................................................. 16

A1 FAILSAFE .......................................................................................................................................................................................................16

A2 LOW-VOLTAGE ALERT ..............................................................................................................................................................................17

A3 INTELLIGENT ORIENTATION CONTROL (IOC) FLIGHT (WITH GPS MODULE)...............................................................................18

A4 RECEIVER ADVANCED PROTECTION FUNCTION .................................................................................................................................21

A5 FLIGHT LIMITS.............................................................................................................................................................................................22

APPENDIX ............................................................................................................................................................................................. 23

SPECIFICATIONS ...............................................................................................................................................................................................23

MC/PMU FIRMWARE UPGRADE ..................................................................................................................................................................24

LED DESCRIPTION ...........................................................................................................................................................................................25

INSTRUCTION OF V1 (ALSO KNOWN AS NAZA-M) ............................................................................................................... 26

V1 ASSEMBLY AND CONNECTION.................................................................................................................................................................26

V1 IS COMPATIBLE WITH THE PMU V2 (ACCESSORY OF NAZA-M V2)................................................................................................26

V1 PORT DESCRIPTION....................................................................................................................................................................................27

V1 SPECIFICATION............................................................................................................................................................................................28

FAQ ......................................................................................................................................................................................................... 29

ABNORMAL LED INDICATION LIST...............................................................................................................................................................29

FIX THE TBE (TOILET BOWL EFFECT) PROBLEM ......................................................................................................................................29

SHOULD YOU FIND THE MULTI-ROTOR DOES NOT TRACK STRAIGHT IN FORWARD FLIGHT............................................................... 30

MOTORS START FAILURE CAUSED BY TX STICK(S) MID POINT ERROR TOO BIG.................................................................................. 30

ATTITUDE CONTROLLABLE WHEN ONE MOTOR OUTPUT IS FAILED ....................................................................................................31

WHEN USED WITH OTHER DJI PRODUCTS...................................................................................................................................................32
©2013 DJI Innovations. All Rights Reserved. 3 | 

Instruction 

Disclaimer & Warning 

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

agree to this disclaimer and signify that you have read them fully. THIS PRODUCT IS NOT 

SUITABLE FOR PEOPLE UNDER THE AGE OF 18. 

 

This product is an autopilot system designed for serious 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 system having a built-in autopilot 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. Any mental damage compensation caused 

by accident.

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

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

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

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

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

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

9. 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).

10. 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.

11. 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.

12. 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.

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

aircraft.

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

15. Other losses that are not covered by the scope of DJI Innovations liability.
©2013 DJI Innovations. All Rights Reserved. 4 | 

Trademark 

DJI and Naza-M are registered trademarks of DJI Innovations. 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 Innovations with all rights reserved. No part of this product or manual shall be reproduced in 

any form without the prior written consent or authorization of DJI Innovations. No patent liability is assumed with 

respect to the use of the product or information contained herein.

Certifications 

This product is approved with quality standards such as CE, FCC and RoHS.

Symbol Instruction 

Forbidden(Important) Cautions Tip Reference
©2013 DJI Innovations. All Rights Reserved. 5 | 

Assembly & Connection 

In the Box:

Main controller X1, PMU X1, GPS X1, GPS Bracket X1, LED X1, Servo Cable X8, Micro-USB Cable X1, 3M Adhesive 

Tape.

Step1 Port Description 

LED:Connect to LED module EXP:Connect to PMU module

M1: To #1 ESC(*) M2: To #2 ESC M3: To #3 ESC M4: To #4 ESC M5: To #5 ESC M6: To #6 ESC F1: To gimbal roll servo or To #7 ESC F2: To gimbal pitch servo or To #8 ESC NAZA output is 400Hz refresh frequency

A: For roll control (left/right) E: For pitch control (front/back) T: For throttle control R: For rudder control U: For Control Model Switch X1: For gimbal pitch control / For gain tuning X2: For D-Bus(S-Bus/S-Bus2 compatible) / For gain tuning / For IOC switch X3: For voltage monitor(Connect to PMU V-SEN port)

GPS: Connect to GPS/Compass module Extended CAN port

2S~6S: Powered by 2S~6S LiPo(7.4V~26.0V)

EXP: Connect to Main Controller EXP port Connect to Main Controller LED port Micro-USB: PC connection for parameter configuration and firmware upgrade Connect to GPS port of PMU

Pointing to the aircraft nose direction Main Controller

Main Controller PMU (Power Management Unit)

LED GPS/Compass Pointing to the aircraft nose direction *ESC: Electronic Speed Controller

V-SEN: Connect to Main Controller X3Port Important: the continuous output of the PMU is 3A@5V, and the maximum instant current is 7.5A. If PMU cannot afford the working current for your servos, please use an independent power supply; otherwise, it may cause the PMU safeguard and lead to the main controller reboot。
©2013 DJI Innovations. All Rights Reserved. 6 | 

Step2 Assembly & Connection 

Transmitter(TX) & Receiver(RX) (1)Refer to you TX Manual, setup the Aileron, Elevator, Throttle, Rudder channels on your TX first, and choose a 3- position switch as control mode switch. (2)Attach the matched RX to aircraft, then connect your RX to the right ports on MC. The following diagram shows the connection example for traditional RX.

ESCs

ESCs & Motors Please use the ESCs and motors recommended by the manufacturer of your aircraft. We recommend you use DJI motors and ESCs (Refer to its manual for details). Connect all ESCs to MC by the motor numbering method introduced in mixed types Supported . Important:If you use 3rd party ESCs, make sure the ESCs travel midpoint is at 1520us. DO NOT use 700us travel midpoint ESC, as it may lead aircraft to fly away or cause injury and damage. After ESCs connection , calibrate ESCs one by one through the receiver directly before connect them to your MC, Make sure program all of them into Governor off, Break off and Normal Start up to get best experience.

Quad-rotor X Hexa-rotor I Hexa-rotor V

Hexa-rotor Y

Important:To coaxial propellers: Blue propeller is at TOP; Red propeller is at Bottom. Otherwise all propellers are at top.

Quad-rotor I Hexa-rotor IY

F1

F2 Roll Pitch

Main Controller(MC) Mount:(1)The DJI logo should face the sky, DO NOT mount the MC upside-down. (2)The MC sides should be parallel to the aircraft body. (3)The arrow should point to the nose direction of aircraft. (4)he MC is best positioned near the aircraft’s center of gravity. Make sure all ports are accessible. T i p : It is recommended to f i x the MC until all wirings and configurations are completed, using 3M gummed paper provided to fix the MC.

(Optional)GPS/Compass Mount:GPS/Compass is sensitive to magnetic interference, should be far away from any electronic devices. If you use your own mounting rod, make sure it is NOT magnetic! Procedures: (1)You should use epoxy resin AB glue to assemble the GPS bracket first. Mount the bracket on the center plate of craft. Position the bracket at least 10 cm from any propeller. (2)The DJI logo marked on the GPS s h o u l d f a c e t h e s k y , w i t h t h e orientation arrow pointing directly forward. then fix the GPS on the plate of the bracket (by 3M glue provided). Tip:The GPS/Compass is packaged with a special indication line for mounting for the first time.

Gimbal Connect the gimbal servos to the ports of F1 and F2 if a gimbal is used, and use the software for configurations.

PMU Module Mount:DO NOT attach the PMU on other device. Sufficient air flow over the PMU is highly recommended. Tip:If use with DJI multi-rotor, you can solder the power cable to power pads on frame bottom board. Please refer to DJI multi-rotor manual for details. If use with 3rd part aircraft, y o u c a n m a k e a c o n n e c t e r b y yourself to connect PMU and battery. LED Module Mount:Make sure You can see the light during the flight. Leave the USB interface to be accessible. Use the 3M gummed paper provided to fix.

ESC & MC Connection

(JR) RUDD THRO

AILE ELEV 3-position Switch (Futaba /Hitec) 4

3

1

2

Step1 Prepare an aircraft, supported the following Mixed Types.

Aircraft M1

M2

M3

M4

M5

M6

M7

M8

Main Controller M1

M2

M3

M4

M5

M6

F1

F2

The direction of the arrow in diagram indicates the rotation direction of the motor/propeller.

Octo-rotor I Octo-rotor V Octo-rotor X

3-position Switch

Step2 Assembly and Connection

Step3 Double Check In this step, turn on the transmitter, connect the battery to the PMU, and then watch the LED, if you can see the LED blinks ( ), the system is working.

A

E

T

R

U

MC

A

E

T

R

U

MC

Traditional Receiver

Power Supply S-Bus/S-Bus2/PPM Receiver

Note: The NAZA-M V2 flight control system doesn't support Gimbal function when used on the Octo-rotor aircraft. For big aircraft that is larger than 650 or with heavy load, WKM is recommended.

 
©2013 DJI Innovations. All Rights Reserved. 7 | 

Assistant Software Installation and Configuration 

Step1 Software and Driver Installation 

Installing and running on Windows 

1. Please download the driver and the Assistant installation software in EXE format from www.dji.com.

2. Switch on the transmitter and then power on your autopilot system.

3. Connect your autopilot system and PC via a Micro-USB cable.

4. Open the driver installation software and follow the instructions to complete installation.

5. Run the Assistant installation software and follow the instructions to complete installation.

The installer in EXE format is supported on Win XP, Win7, Win8 (32 or 64 bit).

Installing and running on Mac OS X 

1. Download the Assistant installer in DMG format from the download page of NAZA-M V2 on the DJI 

website.

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

3. When launching for the first time if use Launchpad to run the NAZA-M V2 Assistant Software, Launchpad 

won’t allow access because the software has not been reviewed by Mac App Store. 
©2013 DJI Innovations. All Rights Reserved. 8 | 

4. Locate the NAZA-M V2 icon in the Finder and open the file by Control or right clicking the icon and 

selecting “Open” from the menu.

5. After the first successful launch, double-clicking the NAZA-M V2 icon in the Finder or using Launchpad 

will open the application.

Installer in DMG format is supported on Mac OS X 10.6 or above.

The NAZA-M V2 Assistant on Mac OS X and Windows are exactly the same. The Assistant appear in 

other places of this manual is based on Windows version. 

Step2 Configuration by Assistant on a PC 

1. Power on the PC. Make sure your computer is connected to the Internet for the first time you use.

2. Switch on the transmitter first, and then power on the autopilot system. Connect the autopilot system to 

the PC with a Micro-USB cable. DO NOT break the connection until setup is finished.

3. Run the Assistant Software.

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

communication indicator in order.) If the communication indicator is blinking, that the software is ready, 

please go to next step.

5. Select the “Info” option. Check the software firmware version. If the upgrade is available, you may update 

the assistant software.
©2013 DJI Innovations. All Rights Reserved. 9 | 

6. Select the “Upgrade” option. Check the Main Controller, GPS and IMU firmware version.

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

is necessary, including Mixer Type, Mounting, RC, and Gain settings.

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

settings of Motor, FailSafe, Intelligent Orientation Control (IOC), Gimbal, Low-Voltage Alert, and Flight 

Limits. Read the instruction in the assistant software to obtain more details.

9. Select the “Viewer” option to check all parameters.

10. Then break the Micro-USB cable, power off the aircraft. Finished.

 

(1) You may be required to fill register information for your first-time-usage. 

(2) If the communication indicator is blue on, please double check the connections.

(3) Basic configuration is necessary before you go to the “Basic Flying Test”.

(4) Users are required to install a Windows system, since the software can only run on Windows 

system .

 

(1) If the firmware upgrade is available, please upgrade it by referring to the Firmware Upgrade 

in the Appendix.

(2) This step is required to use together with the assistant software to obtain more details.

Recommended Parameters

Recommended Settings for using F330/F450/F550

 

Configuration Information Basic Gain Attitude Gain 

Motor ESC Propeller Battery Weight Pitch Roll Yaw Vertical Pitch Roll 

F330 DJI-2212 DJI-18A DJI-8 Inch 3S-2200 790 g 140 140 100 110 140 140

F450 DJI-2212 DJI-30A DJI-8 Inch 3S-2200 890 g 150 150 100 105 150 150

F550 DJI-2212 DJI-30A DJI-8 Inch 4S-3300 1530 g 170 170 150 140 170 170
©2013 DJI Innovations. All Rights Reserved. 10 | 

 Basic Flying 

Control Mode Knowledge 

Please read the Control Mode Knowledge clearly before usage, to know how to control the aircraft.

Different control modes will give you different flight performances. Please make sure you understand the features 

and differences of the three control modes.

 

GPS ATTI. Mode 

(With GPS Module) 

ATTI. Mode Manual Mode 

Rudder Angular 

Velocity 

Maximum rudder angular velocity is 150°/s

Command 

Linearity 

YES

Command Stick 

Meaning 

Multi attitude control; Stick center position for 0 ̊ 

attitude, its endpoint is 35 ̊.

Max-angular velocity is 150°/s. 

No attitude angle limitation 

and vertical velocity locking.

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

Stick Released

Lock position if GPS signal 

is adequate.

Only attitude stabilizing. NOT Recommend

GPS Lost

When GPS signal has been 

lost for 3s, system enters 

ATTI. Mode automatically.

Only performing attitude 

stabilizing without 

position lock.

---

Safety

Attitude & speed mixture control ensures stability

Enhanced Fail-Safe(Position Depends on experience.

lock when hovering)

Auto Level Fail-Safe 

(Attitude stabilizing)

With GPS/Compass module and the failsafe requirements are satisfied, in each Control 

Mode (including GPS Mode, ATTI. Mode, Manual Mode and IOC Mode), the aircraft will 

enter the failsafe Mode.

Applications AP work Sports flying. ---

Start & Stop Motor Knowledge 

(1) Both Immediately Mode and Intelligent Mode are available in the Assistant Software: 

Advanced->Motor->Stop Type.

(2) Stop Motor method is defaulted to Immediately Mode.

Please get to know well about this section before flying.

1 Start Motor: Pushing throttle stick before takeoff will not start the motors. You have to execute any one of 

following four Combination Stick Commands (CSC) to start the motors:
©2013 DJI Innovations. All Rights Reserved. 11 | 

2 Stop Motor: We provide two options to stop motors in the assistant software: Immediately and Intelligent.

(1) Immediately Mode: If you select this mode, in any control mode, once motors start and throttle stick is 

over 10%, motors will not stop immediately only when throttle stick is back under 10% the motors will 

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

will re-start, CSC is not needed. If you don’t push throttle stick after motors start in three seconds, 

motors will stop automatically.

(2) Intelligent Mode: By using this mode, different control mode has different way of stopping motors. In 

Manual Mode, only executing CSC can stop motors. In ATTI. Mode or GPS ATTI. Mode, any one of 

following four cases will stop motors:

a) You don’t push throttle stick after motors start within three seconds;

b) Executing CSC;

c) Throttle stick under 10%, and after landing for more than 3 seconds.

d) If the angle of multi-rotor is over 70°, and throttle stick under 10%.

Notes of Intelligent Mode 

(1) In ATTI. / GPS ATTI. Mode, it has landing judgment, which will stop motors.

(2) Start motors in ATTI. / GPS ATTI. Mode, you have to execute CSC and then push throttle stick 

over 10% in 3 seconds, otherwise motors will stop after 3 seconds.

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

(4) For safety reason, when the slope angle of multi-rotor is over 70° during the flight in ATTI. / 

GPS ATTI. Mode (may be caused by collision, motor and ESC error or propeller broken down), 

and throttle stick is under 10%, motors will stop automatically.

Notes of Intelligent Mode & Immediately Mode 

(1) If you choose the Immediately Mode, you should not pull throttle stick under 10% during flight, 

because it will stop motors. If you do it accidentally, you should push the throttle stick over 10% in 

5s to re-start motors.

(2) DO NOT execute the CSC during normal flight without any reason, or it will stop motors at once.

(1) If you choose the Intelligent mode, and the throttle stick is under 10%, this will trigger the landing 

Procedure, in any control mode. In this judgment, pitch, roll and yaw controls are denied except 

the throttle, but multi-rotor will still auto level.

(2) In any control mode, DO NOT pull throttle stick under 10% during normal flight without any 

reason.

(1) Any of these two cut off types will only work properly if TX calibration is correct done.

(2) In failed-safe, CSC is denied by the main controller, motors will hold their state.
©2013 DJI Innovations. All Rights Reserved. 12 | 

Step1 Compass Calibration 

Without GPS module, please skip this step. If you use with GPS module, follow step-by-step for calibration.

 

(1) DO NOT calibrate your compass where there is 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 module CANNOT work in the polar circle.

(4) Compass Calibration is very important, otherwise the system will work abnormal.

Calibration Procedures 

1. Switch on the transmitter, and then power on autopilot system! 

2. Quickly switch the control mode switch from GPS Mode to Manual Mode and back to GPS Mode (or 

from GPS Mode to ATTI. Mode and back to GPS Mode) for more than 5 times, The LED indicator will 

turn on constantly yellow so that the aircraft is ready for the calibration.

3. (Fig.1) Hold your Multi-rotor horizontal and rotate it around the gravitational force line (about 360o) until 

the LED changes to constant green, and then go to the next step.

4. (Fig.2)Hold your Multi-rotor vertically and rotate it (its nose is downward) around the gravitational force 

line (about 360o) until the LED turns off, meaning the calibration is finished.

 

Fig.1 Fig.2

5. If the calibration was successful, calibration mode will exit automatically. If the LED keeps flashing quickly 

Red, the calibration has failed. Switch the control mode switch one time to cancel the calibration, and 

then re-start from step 2.

1. When the GPS is abnormal, the Main controller will tell you by the LED blinking Red and Yellow 

alternately ( ), disable the GPS Module, and automatically enter the aircraft into the 

ATTI. Mode.

2. You don’t need to rotate your multi-rotor on a precise horizontal or vertical surface, but keep at 

least 45° difference between horizontal and vertical calibration.

3. If you keep having calibration failure, it might suggest that there is very strong magnetic 

interference around the GPS /Compass module, please avoid flying in this area.

4. When to do re-calibration

(1) The flight field is changed.

(2) When the multi-rotor mechanical setup has changed:

a) If the GPS/Compass module is re-positioned.

b) If electronic devices are added/removed/ re-positioned (Main Controller, servos, batteries, etc.).

c) When the mechanical structure of the multi-rotor is changed.

(3) If the flight direction appears to be shifting (meaning the multi-rotor doesn’t “fly straight”).

(4) The LED indicator often indicates abnormality blinking when the multi-rotor spins. (It is normal 

for this to happen only occasionally)
©2013 DJI Innovations. All Rights Reserved. 13 | 

Step2 Assembly Checking List 

Please check each item, to make sure for safety. 

 

Any of the following mistakes will lead to a dangerous accident, double check all these items: 

(1) Rotation direction of motor is opposite

(2) Infirm connection between the motor and the ESC 

(3) Wrong or infirm installation of Main controller 

(4) Wrong or infirm connection between the main controller and ESC.

(5) Propeller installation mistake

(6) Magnetization of the compass

 

Make sure the following items are correct. 

(1) Make sure you have assembled your multi-rotor correctly.

(2) Make sure you have done the configuration procedure correctly.

(3) Make sure all connections are in good condition.

(4) Make sure batteries are fully charged for your transmitter, autopilot system and all devices.

Step3 Before Flight 

Carry out the following procedures (is based on Intelligent Mode of Motor Stop) to make sure all 

configurations are correct. Refer to the Appendix->LED Description for more LED details. 

1. Always switch on the transmitter first, then power on multi-rotor! 

2. Keep the aircraft stationary until the system start and self-check has finished ( ).

After that, the LED may blink Yellow 4 times quickly ( ). Start motor is disable during LED blinking

Yellow 4 times quickly ( ), as the system is warming up.

3. After the 4 times Yellow LED disappears, toggle the control mode switch on your transmitter to make sure it 

is working properly. For example, LED blinks ( ), which means the system is in ATTI. Mode and the 

GPS signal is worst Check it with LED indicator to specify the current working mode for MC. See following 

table for details about LED indicator;

(1) There are Manual Mode and ATTI. Mode without a GPS/Compass module, no GPS signal status LED 

indicator. 

(2) After connecting to the GPS/Compass module, GPS ATTI. Mode is available, and GPS signal status 

LED indicator is available.

Control Mode LED Indicator GPS Signal Status LED Indicator

Manual Mode: NO LED

ATTI. Mode: ( indicates that is stick(s) not at center)

GPS Mode: ( indicates that is stick(s) not at center)

Signal is best (GPS satellites > 6) : NO LED

Signal is well (GPS satellites = 6) :

Signal is bad(GPS satellites = 5) : 

Signal is worst (GPS satellites< 5) :
©2013 DJI Innovations. All Rights Reserved. 14 | 

4. Keep the aircraft stationary, and then push both sticks to the left bottom or right bottom (shown as the 

following chart, defined as Combination Stick Commands (CSC)), to start the motors.

 

5. Release the yaw, roll and pitch sticks and keep them at the mid point, and the throttle stick under the mid 

point. Then check whether all propellers are rotating correctly.

6. Stop motors, power off the Multi-rotor.

7. Make sure all settings and configurations are correct and then you can take off you aircraft. 

 

After power on, if abnormal LED Indicator occurs, please refer to the Abnormal LED instruction in the FAQ and 

aids troubleshooting. 

 

Step4 Flying Test 

1. Choose an open space without obstruction, tall buildings and crowds as flying filed. Place the aircraft 3 

meters away from you and others, to avoid accidental injury.

2. If in GPS ATTI. Mode, place the aircraft in an open space without buildings or trees. Take off the aircraft 

after 6 or more GPS satellites are found (Red LED blinks once or no blinking). If in Manual Mode or ATTI. 

Mode, you can skip this step.

3. Start-up

(1) Switch on the transmitter first, then power on multi-rotor! Keep the aircraft stationary until the 

system start and self-check has finished.

(2) Please wait for the system to warm up gradually with the LED blinks Yellow 4 times quickly 

( ). You should not start the motors until the blinking disappears.

(3) Keep the aircraft stationary, and execute the CSC to start the motors.

(4) Release the yaw, roll and pitch sticks and keep them at the mid point, at the same time raise the 

throttle stick from the bottom. The motors will stop if you do not push the throttle stick from the 

bottom within 3 sec and you will need to re-start the motors.

(5) Keep raising the throttle stick until all the rotors are working, push the throttle stick to the mid point

and then take-off your multi-rotor gently, pay attention not to push the stick excessively.

(6) Pay attention to the aircraft movement at any time when flying, and use the sticks to adjust the 

aircraft’s position. Keep the yaw, roll, pitch and throttle sticks at the mid point to hover the aircraft 

at the desired height.

4. Lower the aircraft slowly. Pull the throttle stick to the bottom and then execute the CSC to stop the motors 

after landing. 

5. Please always power off the Multi-rotor first, and then switch off the transmitter after landing.
©2013 DJI Innovations. All Rights Reserved. 15 | 

 

FLYING NOTES(VERY IMPORTANT)!!!

(1) If the warm up waiting is longer than 2 minutes (the 4 times Yellow blink continues), please power 

off for 10 minutes, cold start, and then connect the assistant software, enter the "Tools" - > IMU 

calibration, carry out the Advanced calibration.

(2) If you enable the Immediately Mode of Motor Stop; you should not pull throttle stick under 10% 

during flight, because it will stop motors. If you do it accidentally, you should push the throttle 

stick over 10% in 5s to re-start motors.

(3) DO NOT execute the CSC during normal flight without any reason, or it will stop motors at once.

(4) Pay attention to the GPS satellite status LED indicator. Bad GPS signal may lead the aircraft to 

drift when hovering. 

(5) DO NOT fly near to ferromagnetic substances, to avoid strong magnetic interference with the 

GPS.

(6) Please avoid using GPS ATTI. Mode in the areas, where GPS signal is most likely bad.

(7) If the LED flashes quickly Red then this indicates battery voltage is low, land ASAP.

(8) If the transmitter indicates low-battery alarm, please land ASAP. In this condition the transmitter 

may cause the aircraft to go out of control or even crash.

(9) In GPS ATTI. Mode, make sure that the home point is recorded when the GPS signal is well; 

otherwise the home point recording may be not so precise.

 

(1) In ATTI Mode, throttle stick center position is for 0m/s along the vertical direction. You should 

keep the position of throttle stick higher than 10% from cut-throttle during the flight! In any 

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

(2) It is recommended to land the aircraft slowly, to prevent the aircraft from damage when landing.

(3) If Low-Voltage Alarm is set, the aircraft will act according to the configuration of the Assistant 

Software once Low-Voltage Alarm is triggered. Make sure you remember what you have set 

before.

(4) If Fail-Safe function is set, the aircraft will act according to the configuration of the Assistant 

Software once Fail-Safe is triggered. Make sure you remember what you have set before.
©2013 DJI Innovations. All Rights Reserved. 16 | 

Advanced Functions 

A1 FailSafe 

An introduction of Go-Home and Landing. 

1

Record Home Point Home Point 2

Tx 3Tx

5

Tx

Signal lost

Tx

Multi-rotor

4

Tx Signal lost >3s

Stay hover

Ready to Go-Home Current location ≤ 20m Current location > 20m

6

Ground

20m Ascend first Go-Home Hover 15s, then land Go-Home

 

Home-point: Before takeoff, current position of multi-rotor will be saved as home-point by MC automatically when 

you start the motors for the first time after 6 or more GPS satellites are found (red light blinks once or no blinking) 

for 10 seconds. 

 

Note

1. Please make sure to record the home-point before takeoff, and clearly know where it is.

2. During go-home the nose direction of the aircraft is facing toward the home-point, the aircraft is 

flying directly from the current position to the home-point.

3. You can regain the control during the aircraft is hovering 15 seconds.

The flowchart of failsafe and how to regain control

(2)Turn off the TX (we assume you want to trigger failsafe)

(1) The aircraft flies far away, TX is on but the signal is weak. Attitude Mode: In Attitude Mode as soon as you get signal you can regain control. GPS Mode: switch the TX mode switch to ATTI, if the receiver is connected, then you will regain control.

Attitude Mode: (1) the aircraft will level its attitude immediately (2) 3 seconds later, failsafe is triggered and aircraft will start to go home. (3) If signal is regained during (1) or (2), it will resume normal flight immediately. GPS Mode: (1) the aircraft will slow down and hover. (2) if the signal is restored within 3 seconds (TX and receiver connected), the system will immediately return to normal operation; does not enter failsafe. (3) if not reconnected within 3sec, the system will enter failsafe, then even if the signal is restored, the system will not exit failsafe. We strongly recommend you DO NOT try this, because there are three types of risk: (1) You must be pretty clear whether the Home-point is OK for landing or not. (You have to understand the definition of Home-point well and the working process of failsafe) (2) If there are tall buildings around, the aircraft may be obstructed on the way. (3) When GPS signal is bad or GPS is not working, failsafe will not work.

In this case, the behavior of the aircraft is the same as in the above condition. If you want the aircraft to Return Home, please do not turn the TX back on within 3 seconds*, otherwise the aircraft will exit failsafe mode immediately. When you turn off the TX, use the following method to regain control: (1) Switch the TX switch to GPS. (2) and then put throttle to the center position(greater than 3sec after switching off, important), you can now turn the TX back on. (3) then you can switch the TX Control mode switch to ATTI to regain control.

If you choose to turn off the TX, you must be pretty sure that you know how to regain control. Here we offer a method, please read carefully.

This section will demonstrate the working logic of failsafe and how to regain control. The following description is effective only when: 1. The aircraft is in flight. 2. The GPS works normally and signal is good (≥6 satellite, the LED blinks a single red light or no red light).

Note: if you start the motors, but do not push the throttle to take-off the aircraft, in this case it is very dangerous to turn off the TX, because the aircraft will take off automatically, so do not try this.

The aircraft behavior after failsafe How to regain control Precautions

What triggered failsafe

* If signal lost for more than 3 seconds failsafe will be triggered, if signal regained within 3 seconds it will exit failsafe immediately.
©2013 DJI Innovations. All Rights Reserved. 17 | 

A2 Low-Voltage Alert 

In order to prevent your multi-rotor from a crash or other harmful consequences caused by low battery voltage, 

there are two levels of low voltage protection available to use. You can choose to use or not to use them; however 

we strongly recommend using the protections if available! Low-Voltage Alert is to indicate that the battery cannot 

provide enough power for the aircraft, in order to warn you to land the aircraft ASAP. You can configure this 

function in the assistant software, and please read the text in the software carefully before your flight. Make sure to 

carry out the Current Voltage Calibration.

There are both first level and second level protections. The first level protection has LED warning. During second 

level protection the aircraft will land automatically with LED warning. Meanwhile the center point of throttle stick 

will move up slowly to 90% of endpoint, you should land ASAP to prevent your aircraft from crashing!

It is not for fun, you should land your aircraft ASAP to prevent your aircraft from crashing or other harmful 

consequences!!!

(1) Configure the FailSafe function in the assistant software -> “Advanced” -> “F/S” and read the 

instruction thoroughly and carefully.

(2) Configure the Low-Voltage Alert function in the assistant software -> “Advanced” -> “Voltage”

and read the instruction thoroughly and carefully.
©2013 DJI Innovations. All Rights Reserved. 18 | 

A3 Intelligent Orientation Control (IOC) Flight (with GPS module) 

Definition of Forward Direction: 

Multi -rotor will fly along this direction when you push the elevator stick ( ). 

Step1 Before You Start 

Usually, the forward direction of a flying multi-rotor is the same as the nose direction. By using IOC, wherever the 

nose points, the forward direction has nothing to do with nose direction. The red and blue arrows on the transmitter

are corresponding to pitch and roll operations in the following diagram.

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

requirements are met: the autopilot system is in ATTI. Mode or GPS ATTI. Mode.

 

 Normal flying Course Lock Flying

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

following requirements are met: 6 or more GPS satellites are found, in GPS ATTI. Mode, and the aircraft is 

further than 10m away from the home point.

 

 Normal flying Home Lock Flying

Step2 IOC Switch Setting 

Before using the IOC function, you have to choose a 3-position switch on your transmitter as the IOC switch, which 

is also used for recording the orientation, home position in corresponding modes. Refer to the assistant software; 

click the “Advanced” to find the “IOC”. 

IOC Switch

IOC Function OFF Course Lock Home Lock

 

The above table is for example. The function of the switch position may be reversed since the 

normal/reversed setting of the switch channel. Toggle the switch and observe the slider position of 

channel X2 on the assistant software screen, the corresponding area should turn blue.
©2013 DJI Innovations. All Rights Reserved. 19 | 

Step3 Method of Forward Direction and Home Point Recording 

If you use the IOC function, please be aware of the Forward Direction of Course Lock Flying, and the home point of 

Home Lock Flying. There are two ways to record the forward direction and the home point: Manually and 

Automatically. You may choose any one record method. The LED will blink Green quickly if successfully recorded.

Course Lock Home Lock

Automatically

30 seconds after you power on the 

autopilot system.

Before takeoff, the current position of the aircraft 

will be saved as home point when you start the 

motors for the first time after 6 or more GPS 

satellites have been found for 10 seconds.

Manually

30 seconds after you power on the 

autopilot system. Toggle the IOC switch 

from Off to Course Lock, and back to Off 

quickly 3 to 5 times. 

After 6 or more GPS satellites have been found. 

And the aircraft can be hovering. Toggle the IOC 

switch from Course Lock to Home Lock, and back 

to Course Lock quickly 3 to 5 times.

DO NOT toggle the switch between Off to Home Lock, since it may change the recording of the 

Forward Direction of Course Lock.

Step4 IOC Flying Test 

Then you can do Course Lock and Home Lock flying test.

Carry out an IOC flight by the following procedure. The Control Mode LED will blink Yellow and Green 

alternatively ( ) to indicate the IOC mode only when the main controller is really to fly in Course Lock, Home 

Lock modes.

During the 

same flight

STEP1: Record STEP2: ON STEP3: OFF STEP4: ON again 

Course Lock

Switch Setting

Record the 

Forward 

Direction

Set Control Mode switch at 

GPS or ATTI. position, 

Toggle IOC switch from OFF 

to Course Lock position

Toggle IOC switch 

to OFF position

Toggle IOC switch 

from OFF to Course 

Lock position

Home Lock

Switch Setting

Record the

Home Point

Set Control Mode switch at 

GPS position,

Toggle IOC switch from OFF 

to Home Lock position

Toggle IOC switch 

to OFF position

Toggle IOC switch 

from OFF to Home 

Lock position

Aircraft moving direction when pull pitch stick Aircraft moving direction when pull roll stick

Home point Aircraft(the arrow is pointing to the direction of the aircraft nose)
©2013 DJI Innovations. All Rights Reserved. 20 | 

IOC FLYING NOTES!!! 

(1) When Multi-rotor is flying by home lock far away from you and the home point, please DO NOT 

toggle the IOC switch many times quickly so as to avoid the change of home point without your 

attention.

(1) Home lock flying requires that 6 or more GPS satellites are found and the aircraft is further than 

10m away from the home point.

(2) If the IOC flying requirement is not satisfied, the autopilot system will quit IOC control mode. 

Please be aware of the LED indicator, to know the current control mode of the autopilot system.

(1) Blinking indications of IOC are: 

a) Before motors start: blink, all sticks (except throttle stick) return to center; 

 blink, stick(s) (except throttle stick) not at center.

b) After motors start and throttle stick is over 10% in 3 seconds: blink, all sticks 

return to center; blink, stick(s) not at center.

(2) Before you do the home lock flight, you have to fly the aircraft out of the 10m range around 

home point, and then flip the IOC switch to Home Lock position to fly in home lock when all the 

requirements are met. If you have already toggled the IOC switch to Home Lock position when 

the aircraft is still in 10m range around home point, and this is the first time you are going to fly 

in home lock during the current flight, then if all the requirements are met, the main controller 

will change into home lock automatically when Multi-rotor flies out the 10m range around home 

point.

(1) When flying in Home Lock mode, if any of the following situations happen, then the 

system will quit Home Lock flying and automatically enter Course Lock flying. The aircraft 

will fly in Course Lock using the earlier forward direction.

a) The aircraft fly’s within 10m range of the home point.

b) You toggle the control mode switch to the ATTI. Mode.

c) The GPS signal becomes bad (The GPS signal LED is blinking Red twice or three 

times).

(2) We suggest that you should know clearly which flight lock method you are going to fly, 

and you know the locked forward direction or home point, before you switch on IOC 

mode during the flight.
©2013 DJI Innovations. All Rights Reserved. 21 | 

A4 Receiver Advanced Protection Function 

You are asked to enable this function by connecting to the Assistant Software, please set it at the section of 

Basic->R/C-> Receiver Advanced Protection.

If you choose enable it, the FailSafe will be triggered if the following situations occur during flight.

According to the difference of the aircraft height, there are two situations.

a) Lower than 100m, the A/E/R channel is not at the mid point.

b) Higher than 100m, the A/E/R channel is not at the mid point or the throttle stick is above the mid point.

In the GPS Mode or ATTI. Mode, if the requirement a) or b) is satisfied, and the output data of four channels 

A/E/R/T have not changed for 20 seconds, then the aircraft will hover automatically. After that, if the output data 

of four channels A/E/R/T still do not any changes and last for 10 seconds, the autopilot system will think that the 

data from receiver is abnormal, and then enter the FailSafe Mode. 

Brief introduction of how to quit the FailSafe Mode 

If there is any command change from the receiver, the autopilot system thinks that the receiver is regained. In ATTI. 

Mode and Manual Mode, it will quit the FailSafe Mode automatically. In GPS Mode, please toggle the control mode 

switch to the ATTI. Mode and Manual Mode position to regain the control. Refer to the FailSafe section for more 

details.
©2013 DJI Innovations. All Rights Reserved. 22 | 

A5 Flight Limits 

The flight limits function is default enabled in the NAZA-M Flight control system, it’s aimed to restrict the flying 

height and distance of the aircraft. The Max Height restricts the vertical distance between the aircraft and the 

Home point, the Max Radius restricts the horizontal distance between the aircraft and the Home point.

The default Max Height is 2000m and Max Radius is 2000m. Users can write the values of the Max Height and Max 

Radius in the Assistant software, the range of the Max Height is 10m-100000m, the range of the Max Radius is the 

same. So that the aircraft will fly in the entered range, which is a cylinder space above the Home point.

(1) Height Limit works when the control mode is GPS or ATTI. Mode. Radius Limit works when the 

control mode is GPS and the satellite number ≥6.

(2) If the aircraft flies out of the limits, it's still controllable except flying further away.

(3) If the control mode is changed to GPS when the aircraft is out of Max Radius, the aircraft will fly 

back within the entered range.

(4) The Failsafe and the Ground Station operations are not restricted to the Flight Limits.
©2013 DJI Innovations. All Rights Reserved. 23 | 

Appendix 

Specifications 

General 

Built-In Functions 

(1) Three Modes of Autopilot

(2)Enhanced Fail Safe

(3)Low Voltage Protection

(4)S-Bus/S-Bus2 Receiver Support

(5)PPM Receiver Support

(6)2-axle Gimbal Support

Peripheral 

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

 Hexa-rotor I 6, X6, IY6, Y6.

 Octo- rotor I8, V8, X8

Supported ESC output 400Hz refresh frequency.

Recommended Transmitter PCM or 2.4GHz with a minimum 4 channels.

Assistant Software System Requirement Windows XP SP3; Windows 7; Windows 8

Electrical & Mechanical 

Working Voltage Range  MC: 4.8V ~ 5.5 V

  PMU Input: 7.4V ~ 26.0 V (recommend 2S ~ 6S LiPo)

 Output(V-SEN port red wire): 3A@5V 

Output(V-SEN port red wire)burst current:7.5A

Power Consumption  MAX: 1.5W(0.3A@5V)

 Normal: 0.6W(0.12A@5V)

Operating Temperature -10°C ~ 50°C (14F ~122F)

Weight

 MC: 27g

 GPS/Compass: 27g

 PMU: 28g

 LED: 13g

Dimensions

 MC: 45.5mm × 32.5mm × 18.5mm

 GPS/Compass: 46mm (diameter) x 10mm

  PMU:39.5mm × 27.5mm × 10.0mm

 LED:25mm × 25mm × 7.0mm

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

Hovering Accuracy (GPS Mode)  Vertical: ±± 0.8m

 Horizontal: ±±2.5m

Max Yaw Angular Velocity 200°/s

Max Tilt Angle 35°

Max Ascent / Descent Speed Ascent : 6m/s, Descent: 4.5 m/s
©2013 DJI Innovations. All Rights Reserved. 24 | 

MC/PMU Firmware Upgrade 

Please follow the procedure for software and firmware upgrade; otherwise the system might not work properly. For 

SAFETY REASONS, DO NOT use power battery during firmware upgrade.

1. Make sure your computer is connected to the Internet.

2. Please close all the other applications during the firmware upgrade, including anti-virus software and 

firewall.

3. Make sure the power supply is securely connected. DO NOT un-plug the power supply until firmware 

upgrade has finished.

4. Connect system to PC with Micro-USB cable, DO NOT break connection until firmware upgrade is 

finished.

5. Run Software and wait for connection.

6. Select Upgrade optionCheck the MC and PMU Firmware Version.

7. DJI server will check your current firmware version, and get the latest firmware prepared for the unit.

8. If there is a firmware version more up-to-date than your current version, you will be able to click to 

update them. 

9. Wait until Assistant software shows “finished”. 

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

11. Your unit is now up-to-date.

 

 

(1) After firmware upgrade, please re-configure the system using Assistant software.

(2) If firmware upgrade failed, the system will enter waiting for firmware upgrade status 

automatically, please try again with the above procedures.

(3) Select Upgrade optionCheck the GPS Firmware Version, online upgrade is disable.
©2013 DJI Innovations. All Rights Reserved. 25 | 

LED Description 

System Status LED Flashing

System start and self-check

IMU abnormal data or need advanced 

calibration*

Warm up after power on

The aircraft is moved or bias of sensors too big

Compass error too big, need recalibration.

Transmitter (TX) signal lost, enter the FailSafe.

TX stick(s) mid point error too big

Low voltage alert or other abnormal alert* 

(e.g. Configuration error, TX data error, Enable

low voltage protection without PMU, SN error

or Compass abnormal work.)

Record forward direction or home point

Control Mode Indictor

Manual Mode: None

ATTI. Mode: ( stick(s) not at center )

GPS Mode: ( stick(s) not at center )

IOC Mode: ( stick(s) not at center )

GPS Signal State Indicator

(GPS/Compass Module is necessary)

GPS Signal is Best(GPS Satellite number > 6): None

GPS Signal is Well(GPS Satellite number = 6): 

GPS Signal is Bad (GPS Satellite number = 5) : 

GPS Signal is Worst (GPS Satellite number < 5): 

Compass Calibration LED Flashing 

Begin horizontal calibration

Begin vertical calibration

Calibration or others error

*You can figure out the error by connecting the autopilot system to the assistant software.
©2013 DJI Innovations. All Rights Reserved. 26 | 

Instruction of V1 (also known as NAZA-M) 

V1 (also known as NAZA-M) system is different from V2 system, if you are V1 system user, please read the following 

text carefully, and refer to the other text in this Guide for usage details (including Assistant Software Configuration, 

Basic flying, Advanced Function Appendix and FAQ, etc.) .

V1 Assembly and Connection 

Connect the V1 system according to the following chart.

接电调

接云台

R/C Receiver (JR) RUDD

THRO AILE ELEV 3-position switch channel

R/C Receiver (Futaba / Hitec)

1

2

3

4 Futaba S-Bus /S-Bus2 S-Bus

F1

F2 Aircraft Nose PPM PPM

ESC M1

M2

M3

M4

M5

M6

R/C System These are example connections. Please setup Aileron, Elevator, Throttle, Rudder channels on your TX f ir s t , a n d c h o o s e o n e 3 - positions switch/channel as control mode switch, then connect your receiver to the right ports on MC.

VU · Do not mount it on any other electronic devices. Make sure You can see the LED light during the flight. · If use with DJI multi-rotor, you can solder the VU power cable to power pads on frame bottom board. Please refer to DJI multi-rotor manual for details. · If use with 3rd part multi-rotor, you can make a connecter by yourself to connect VU, ESCs and battery. · Sufficient air flow over the VU is highly recommended. ESCs, Motors · Motors and ESCs in DJI multi-rotor kit are recommended. · Please make sure you are using the ESCs and motors recommended by the manufacturer of your multi rotor first. NAZA output is 400Hz refresh frequency. · If you use 3rd party ESCs, please make sure the ESCs travel midpoint is at 1520us. DO NOT use 700us travel midpoint ESC, as it may lead aircraft to fly away or cause injury and damage. After connect ESCs to motors, calibrate all your ESCs one by one through the receiver directly before connect them to your MC, Make sure program all of them into Governor off, Break off and Normal Start up to get best experience.

Pitch Roll

MC · Please use 3M gummed paper provided To mount MC, and mount MC parallel to the aircraft horizon. · The output ports of MC (the right side in figure) should point to the front of multi-rotor. You’d better put MC at the gravity center of multi-rotor. Please make sure all ports are accessible when installing the MC so as to facilitate wiring and software configuration. · In three-pin ports, pins near the nicks are signal pins. · After choosing a location to mount the MC, it is · recommended that you DO NOT mount the MC · until all wirings and software configurations are completed.

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

3-position switch channel

TO Battery

Important: the continuous output of the VU is 3A@5V, and the maximum instant current is 7.5A. If the V U cannot afford the working current for your servos, please use an independent power supply; otherwise, it may cause the V U safeguard and lead to the main controller reboot.

V1 is compatible with the PMU V2 (Accessory of Naza-M V2) 

V1 system is compatible with the PMU V2 of V2 system; please carry out the following connection. The other 

modules connection is the same as before.

Important: You are asked to upgrade your Firmware version of V1 MC to V3.10 or above, as the PUM V2 can only 

work with the MC of version 3.10 or above.

take positive power supply Disconnection Take negative power supply
©2013 DJI Innovations. All Rights Reserved. 27 | 

V1 Port Description 

Please remember the function of each port, which may help you to use the Naza-M efficiently.

Main Controller 

A

For roll control (left/right)

E

For pitch control (front/back)

T

For throttle control

R

For rudder control

U

For Control Mode Switch

X1

For gimbal pitch control Or for gain tuning

X2

For D-Bus (S-Bus/ S-Bus2 compatible) Or for gain tuning Or for IOC switch

X3

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

M1

To #1 rotor

M2

To #2 rotor

M3

To #3 rotor

M4

To #4 rotor

M5

To #5 rotor

M6

To #6 rotor

F1

To gimbal roll servo Or to #7 rotor (Upgrade the MC Firmware to V3.10 or above)

F2

To gimbal pitch servo Or to #8 rotor (Upgrade the MC Firmware to V3.10 or above)

LED

LED port, for LED wire connection from Versatile Unit

EXP. GPS port, for GPS module wire connection.

(In three-pin ports, pins near the nicks are signal pins.)

Versatile Unit 

V-SEN V-SEN port: To the X3 port of the main controller, for monitoring battery voltage and supplying 

power

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

 Red wire (power wire) output: 3A@5V

LED LED wire, to LED port of the main controller.

USB port: PC connection for configuration and firmware upgrades.

Optional GPS & Compass

Connect to the EXP. port.
©2013 DJI Innovations. All Rights Reserved. 28 | 

V1 Specification 

General 

Built-In Functions 

 Three Modes of Autopilot

 Enhanced Fail Safe

  Low Voltage Protection

 

 S-Bus/ S-Bus2 Receiver Support

 PPM Receiver Support

 2-axle Gimbal Support

Peripheral 

Supported Multi-rotor 

 Quad-rotor I4, X4;

 Hexa-rotor I 6, X6, IY6, Y6.

 Octo-rotor I8, V8, X8 (Upgrade the MC Firmware to 

V3.10 or above)

Supported ESC output 400Hz refresh frequency.

Recommended Transmitter PCM or 2.4GHz with a minimum 4 channels.

Assistant Software System Requirement Windows XP SP3; Windows 7

Electrical & Mechanical 

Working Voltage Range 

 MC: 4.8V ~ 5.5 V

 VU Input: 7.2V ~ 26.0 V (recommend 2S ~ 6S LiPo)

 Output(V-SEN port red wire): 3A@5V 

Output(V-SEN port red wire)burst current:7.5A

Power Consumption  MAX: 1.5W(0.3A@5V) 

 Normal: 0.6W(0.12A@5V)

Operating Temperature -10°C ~ 50°C(14F ~122F)

Weight

 MC: 25g

 GPS: 21.3g

 VU: 20g

Dimensions

 MC: 45.5mm × 31.5mm × 18.5mm

 GPS & Compass: 46mm (diameter) x 9mm

 VU: 32.2mm × 21.1mm × 7.7mm

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

Hovering Accuracy (GPS Mode)  Vertical: ±± 0.8m

 Horizontal: ±± 2.5m

Max Yaw Angular Velocity 200°/s

Max Tilt Angle 45°

Max Ascent / Descent Speed ±6m/s
©2013 DJI Innovations. All Rights Reserved. 29 | 

FAQ 

Abnormal LED Indication List 

During the Checking Procedure, if abnormal LED Indicator occurs or even the system cannot work normally, please 

refer to the following list and aids troubleshooting.

(1) “System initializing and self-checking LED flashes” are not correct ( Red LED 

appears in the last four green flashes). The autopilot system works abnormally. Please contact your 

dealer.

(2) LED blinks Yellow 4 times quickly ( ). The system is warming up. You cannot start the motors until 

the 4 rapid yellow flashes disappear. If the warm up waiting is longer than 2 minutes, please power off for 

5 minutes, cold start, and then connect the assistant software, enter the "Tools" - > IMU calibration, carry 

out the Advanced calibration.

(3) After the system start and self-checking has finished, if the LED blinks Red, Green and Yellow ( ) 

continually. Sensor error is too big. Please connect the assistant software, enter the "Tools" - > IMU 

calibration, carry out calibration.

(4) At the first motors start, the system will check the sensors Bias and you are asked to keep the aircraft 

stationary (no need of horizontal level). If you cannot start the motors and the LED blinks Green 6 times 

quickly ( ), it means that the sensor error is too big. Please connect the assistant software, 

enter the "Tools" - > IMU calibration, carry out basic calibration.

Note: after the first successful motors start, this checking will be disabled and it is no need any more to 

keep the aircraft stationary during starting motors.

(5) The system blinks Red LED quickly during flying. Low-voltage protection is triggered. Please land the 

aircraft ASAP.

(6) The system blinks Yellow LED quickly during flying. FailSafe Mode is triggered. Pay attention that there is 

no tall buildings and trees to block your aircraft during go-home.

(7) The LED blinks Red and Yellow alternately ( ). Compass error is too big.

a) There may be a ferromagnetic substance close to the Phantom. Lift the aircraft up about 1m from 

the ground, if there is no Red and Yellow flashing, then it will not affect the flight.

b) Otherwise, re-calibrate the compass.

c) If re-calibration does not work, please connect to the Assistant Software, select the “Tools” and 

follow the tips to carry out the required operation.

Fix the TBE (Toilet Bowl Effect) Problem 

When flying in GPS ATTI. Mode and the compass calibration has been done correctly, should you find the aircraft 

rotating (Toilet bowl effect), or drifting when hovering. Please check the GPS module mounting orientation and then 
©2013 DJI Innovations. All Rights Reserved. 30 | 

re-do the compass calibration. Carry out the following procedure to re-mount the GPS module.

In the following diagram (view from the top), the aircraft can appear to be rotating in both clockwise and 

counter-clockwise direction, please re-mount the GPS module correspondingly.

is the rotating direction of aircraft, is the nose direction of aircraft, 

is the arrow direction on the GPS module, θ is the offset angle for GPS re-mounting(about 10~30o)

Clockwise rotating GPS re-mounting Counter Clockwise rotating GPS re-mounting

θ θ

Should you find the multi-rotor does not track straight in forward flight. 

Please carry out several more courses, the system will fix it automatically.

Motors Start failure caused by TX stick(s) mid point error too big 

If the TX stick(s) mid point error is too big, Motors Start will fail when you execute the Combination Stick 

Commands (CSC) and lead to the aircraft will not takeoff.. And the LED will blink Red four times per second 

continually to warn you.

TX stick(s) mid point error too big can be caused by the following reasons:

(1) There is TX stick (except the throttle stick) not at center when power on the autopilot system.

(2) The TX sticks has been trimmed, which leads to the large deviation of mid point. For example, the 

SUB-TRIM has been adjusted for Futaba transmitter.

(3) The TX stick(s) travel has larger asymmetry.

For the reason (1), please put all TX sticks at the mid point, and then power cycle the autopilot system to

re-record the mid point. If the problem continues, that can be caused by the reason (2) or reason (3), yo

u need to adjust the output range of your TX, and then use the Assistant Software to redo the TX cali

bration. Please carry out the following procedures.

(1) Connect to the Assistant software, click Basic-> R/C-> Command Sticks Calibration, and push all TX 

sticks throughout their complete travel range to see if any stick cannot reach its largest position.

(2) Adjust the largest travel of TX stick until the cursor on the Assistant software can reach both end 

positions, according to your TX manual.

(3) Power cycle the autopilot system, note that power cycle is required.

(4) Redo the TX calibration according to the Assistant software.
©2013 DJI Innovations. All Rights Reserved. 31 | 

Attitude Controllable When One Motor Output is Failed 

For Hexa-rotor, including Hexa-rotor I, Hexa-rotor V, Hexa-rotor IY and Hexa-rotor Y, aircraft is attitude controllable 

when one motor output is failed.

The NAZA-M can still control the attitude of the Hexa-rotor for a safe landing when one motor output of the 

Hexa-rotor has failed, for example, one motor is stopped or one propeller is broken, etc.

The control mode of NAZA-M should be in Atti. Mode or GPS Atti. Mode. The aircraft will rotate, due to an 

imbalance of torque; however, it can still be controlled by the Transmitter.

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. Even when the multi rotor is rotating, using Course lock or home lock mode will 

allow you to move the multi rotor in the corresponding Transmitter stick direction.
©2013 DJI Innovations. All Rights Reserved. 32 | 

When used with other DJI products 

The NAZA-M system communicates with other DJI products (e.g. H3-2D gimbal, BTU module, iOSD mini and iOSD 

Mark II) via the CAN-Bus port ( ) of the NAZA PMU V2. You can plug new DJI products into any spare CAN-Bus 

port, since CAN-Bus ports on NAZA-M, CAN HUB, GCU, iOSD mini, iOSD Mark II and 2.4G Bluetooth Datalink are 

the same for the communications.

When there are not enough CAN-Bus ports for additional DJI products, then a DJI CAN HUB module is 

recommended. The following diagram is for your connection reference.

Fig.1 Used with iOSD Mark II

Fig.2 Used with CAN HUB
©2013 DJI Innovations. All Rights Reserved. 33 | 

Fig.3 Use a CAN HUB to connect the 2.4G Bluetooth Datalink

(1) Users can use the NM Assistant on the mobile device when a BTU module is connecting with the 

Ground end of the2.4G Bluetooth Datalink (No need to connect another BTU module to the 

Flight control system).
©2012 DJI Innovations. All Rights Reserved. 7

ESC Sound Introduction

ESC State Sound

Ready ♪1234567

Throttle stick is not at bottom BBBBBB...

Input signal abnormal B--------B--------B...

Input voltage abnormal BB---BB---BB---BB...

Tips:

DJI ESCs are specially designed for multi-rotors. When use with DJI autopilot systems, you do not 

have to setup any parameters or calibrate travel range.

Specifications

Frame

Diagonal Wheelbase 450mm

Frame Weight 282g

Takeoff Weight 800g ~ 1600g

ESC

Current 15A OPTO

Signal Frequency 30Hz ~ 450Hz

Battery 3S ~ 4S LiPo

Motor

Stator size 22×12mm

KV 920rpm/V

Propeller 10 × 3.8in (@3S); 8 × 4.5in (@4S)