©2013 DJI Innovations. All Rights Reserved. 1

A2 Flight Control System

User Manual V 1.04

2013.09.10 Revision

For Firmware V1.00 & Assistant Software V1.00

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 DJI Innovations. All Rights Reserved. 2

Content 

INTRODUCTION .................................................................................................................................................................................... 3

PRODUCT INTRODUCTION................................................................................................................................................................................ 3

IN THE BOX.......................................................................................................................................................................................................... 3

EQUIPMENT PREPARED BY USERS................................................................................................................................................................... 3

SYSTEM INTRODUCTION....................................................................................................................................................................................4

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

1 ASSEMBLY AND CONFIGURATION ............................................................................................................................................. 5

1.1 HARDWARE INSTALLATION AND CONNECTION...................................................................................................................................... 5

1.1.1 Mixer Type Supported...................................................................................................................................................................... 5

1.1.2 Hardware Connection Diagram.................................................................................................................................................... 6

1.1.3 Important for Assembly and Connection.................................................................................................................................. 6

1.2 SOFTWARE INSTALLATION AND CONFIGURATION ...............................................................................................................................12

1.2.1 Install Driver and Assistant Software ........................................................................................................................................12

1.2.2 Configure using Assistant Software on a PC........................................................................................................................12

1.2.3 Configuration Checking................................................................................................................................................................13

1.3 COMPASS CALIBRATION............................................................................................................................................................................14

2 BASIC FLYING .................................................................................................................................................................................. 15

2.1 CONTROL MODE INSTRUCTION...............................................................................................................................................................15

2.2 FLYING ENVIRONMENT REQUIREMENTS.................................................................................................................................................16

2.3 CHECK LIST BEFORE FLYING ...................................................................................................................................................................16

2.4 POWER ON AND CHECK............................................................................................................................................................................17

2.5 START MOTORS METHODS ......................................................................................................................................................................17

2.6 BASIC FLYING TEST ...................................................................................................................................................................................18

3 PROTECTION FUNCTIONS SETTING ...................................................................................................................................... 20

3.1 FAILSAFE..................................................................................................................................................................................................... 20

3.2 LOW VOLTAGE PROTECTION..................................................................................................................................................................21

4 ADVANCED FUNCTIONS ............................................................................................................................................................ 22

4.1 IOC (INTELLIGENT ORIENTATION CONTROL) FUNCTION.................................................................................................................22

4.2 GIMBAL FUNCTION ...................................................................................................................................................................................25

4.3 GEAR FUNCTION .......................................................................................................................................................................................25

4.4 ATTITUDE CONTROL WHEN ONE MOTOR OUTPUT FAILS..............................................................................................................25

APPENDIX ............................................................................................................................................................................................. 26

LED INDICATOR DESCRIPTIONS ....................................................................................................................................................................26

SPECIFICATIONS ...............................................................................................................................................................................................27

FAQ ......................................................................................................................................................................................................... 28

USE WITH OTHER DJI PRODUCTS..................................................................................................................................................................28

CHANNEL MAPPING INSTRUCTIONS FOR PC ASSISTANT SOFTWARE ..................................................................................................29

Recommended Mapping for Futaba Transmitter (Mode 2) User.......................................................................................... 30

SETTINGS OF GAIN VALUES FOR YOUR REFERENCE................................................................................................................................. 30

DISCLAIMER ......................................................................................................................................................................................... 31

TRADEMARK ......................................................................................................................................................................................... 31
©2013 DJI Innovations. All Rights Reserved. 3

Introduction 

Product Introduction 

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

commercial and industrial AP applications. 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 setup provides 

a seamless transition for current Ace One, WKM AP professionals. The system has the following features:

(1) It is integrated with high-precision sensor components and a high-performance GPS Receiver.

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

(5) 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 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 DJI Innovations. All Rights Reserved. 4

System Introduction 

The A2 flight control system uses the Control Unit at its core, which is connected with the IMU, GPS-COMPASS 

PRO、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.

Do 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 DJI Innovations. All Rights Reserved. 5

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 DJI Innovations. All Rights Reserved. 6 | 

1.1.2 Hardware Connection Diagram 

90o

ESC

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 to CAN1; LED- BT-I to CAN2; PMU to CAN1 or CAN2.

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

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. It is very 

important for the first time usage, please read all text carefully.

(1) Controller Unit 

The Control 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 DJI Innovations. All Rights Reserved 7 | 

Port Description 

Connect to ESC

iOSD MARK II, Z15 from DJI

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

Reserved 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 DJI Innovations. All Rights Reserved 8 | 

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.

 

External Receivers 

If using an external Receiver, please follow the diagram for connection, set the Receiver referring to your 

Receiver manual, and select the correct type in assistant software->Basic->R/C-> Receiver Type.

Receiver Type S-BUS Receiver With D-BUS Adapter DSM2 Receiver PPM Receiver

Assistant Software Option D-BUS D-BUS DSM2 PPM

S-BUS Receiver

 

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.

DSM2 Satellite Receiver

 

PPM Receiver

 
©2013 DJI Innovations. All Rights Reserved 9 | 

(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 Control Unit, and be mounted according to the 

required location and orientation. The IMU has been calibrated before shipping, 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 or other DJI product.
©2013 DJI Innovations. All Rights Reserved 10 | 

(3) GPS-COMPASS PRO 

GPS-COMPASS PRO 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 on the plate of the bracket 

(using the 3M sticky pads provided).

Mount Requirements:

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

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.

 

 

 
©2013 DJI Innovations. All Rights Reserved 11 | 

(4) PMU (Power Management Unit) 

The PMU provides dual BEC’s:

(1) Connect the battery to the PMU module to supply power for the whole Flight Control System via the PW 

port (supply power not more than 2A). 

(2) Connect the PMU to the X1 port of Controller Unit for voltage monitoring, for flight safe guard during 

flying.

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: 

No need to mount in a particular orientation. But choose a ventilated place to mount the PMU for cooling.

(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) (Coming soon) 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 A2 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 position to make sure the LED is visible during flying. Antenna of Bluetooth should be unobscured.
©2013 DJI Innovations. All Rights Reserved 12 | 

1.2 Software Installation and Configuration 

Configure the A2 flight control system in the Assistant software please adheres to this section. Users are 

required to configure every item in “Basic” page when use the A2 flight control system for the first time. 

1.2.1 Install Driver and Assistant Software 

1. Download 2.Connect 3.Install Driver 4.Install Software

Download the driver

installer and assistant 

software installer

from DJI website.

Connect the 

LED-BT-I module and

PC via a Micro-USB

cable.

Run the driver 

installer and follow 

the prompts to finish 

installation.

Run the assistant 

software installer and 

follow the prompts to 

finish installation.

Assistant software supports only Windows operating systems (Win XP, Win7, Win8 (32 or 64 bit)).

1.2.2 Configure using Assistant Software on a PC 

The USB port can supply power during configuration, no additional battery is required. Note that the USB port can 

supply power not 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.

3 2 1 4

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 DJI Innovations. All Rights Reserved 13 | 

1.2.3 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 DJI Innovations. All Rights Reserved 14 | 

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 the 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) Manual*

GPS

Manual

GPS GPS->Manual->GPS once Start horizontal calibration Start vertical calibration Succeed Fail

GPS->Manual->GPS Flip 6~10 times Start cali

Re-calibrate *You can also use the ATTI 1 or ATTI 2 to replace the Manual during switch flipping. 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 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 DJI Innovations. All Rights Reserved 15 | 

2 Basic flying 

Read this section before basic flight testing.

2.1Control 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 3 Control Mode 2 Control Mode 1* 

GPS ATTI. 2 ATTI. 1 Manual 

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

When GPS signal has been 

lost for 3s, system enters 

ATTI. Mode automatically.

--- ---

IOC 

Supported 

CL/HL/POI CL None

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.

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 

*Default is Manual, users can set to ATTI.1 in Assistant software. The biggest difference between ATTI.1 and ATTI.2 

is that they are working differently in the protection situations.
©2013 DJI Innovations. All Rights Reserved 16 | 

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 mounting direction

(6) Transmitter channel mapping and sticks movement direction correct

(7) Compass calibration

(8) ESC connection

(9) IMU and GPS-COMPASS PRO 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 DJI Innovations. All Rights Reserved 17 | 

2.4 Power on and Check 

(1) Control mode LED indicator 

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

Control Mode LED indicator 

Control Mode 

Switch GPS ATTI 2 Manual

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 ATTI2 Mode.

(2) GPS signal LED indicator

GPS signal indication blinks after every Control mode indication. We suggest to fly when GPS satellites is 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/stop motors instead of just pushing the throttle stick.

CSC 1

 

CSC 2

 

CSC 3

 

CSC 4

 

Under the conditions stated below, the motors will stop in ATTI 1/ ATTI 2/GPS 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°。
©2013 DJI Innovations. All Rights Reserved 18 | 

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. 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: 

30secs 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 6 violet continually. Note: only when GPS signal is good (no Red

LED) LED indicator will blink 6 violet continually.

(6)

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 mode: the aircraft will be 

stabilized and locked in horizontal 

position.

(2) ATTI 1/ATTI 2 mode: the aircraft 

will be stabilized but unlocked in 

horizontal position.

Pitch

Stick
©2013 DJI Innovations. All Rights Reserved 19 | 

4.Hover 

In GPS 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.
©2013 DJI Innovations. All Rights Reserved 20 | 

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

30secs later after power on; 10secs later after ≥6( or no Red LED); 

Motors have been started; auto-record the position as home point at the first time 

the throttle stick is raised.

FailSafe

Flight control system can automatically control the aircraft after Transmitter signal is 

lost. It should be set in Assistant software->Advanced->F/S, while Hover, Go-Home or

Alt Go-Home is optional. Additionally, a Go-Home switch can be enabled.

One-Key 

Go Home

Go Home switch can be used to trigger a “go home” without FailSafe. If One-Key 

Go Home is enabled during flying, you no longer have control of the aircraft, the LED 

blinks in its Control Mode. If One-Key Go Home is disabled, you regain the control at 

once. If already in a Failsafe condition, then the switch will not work.

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 

enter Failsafe and go home by using the Go Home switch rather than turning off the Transmitter in 
©2013 DJI Innovations. All Rights Reserved 21 | 

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

GPS ATTI 2 ATTI 1 Manual 

Regain control

You have to toggle the control mode switch 

once to regain control if the signal recovers, y.

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 is in Control Mode 1 (Manual or ATTI 1)

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 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.

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 and other consequences.
©2013 DJI Innovations. All Rights Reserved 22 | 

4 Advanced Functions 

IOC and Gimbal functions of A2 and how to use A2 Assistant app via a mobile device.

4.1 IOC (Intelligent Orientation Control) function 

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 flying

Course Lock. Its forward direction is pointing to the nose direction when 

recording, which is fixed until you re-record it or exit from CL.

HL flying

Home Lock. Record a Home Point (HP), push Pitch stick to control the aircraft 

far from or near to the HP.

POI flying

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

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

 

Conditions of IOC function 

Flying IOC Setting Control Mode

GPS-COMPASS 

PRO Required

GPS Satellites Distance Limits

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

CL Enabled Not in Manual Compass None None 

HL Enabled GPS GPS ≥6

≥10m Aircraft HP

POI Enabled GPS GPS ≥6

5m~500m Aircraft POI 

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 

Forward direction, HP and POI recording.

Below are the three 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 POI

3 HL POI HL
©2013 DJI Innovations. All Rights Reserved 23 | 

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 condition are met. You can Manually re-record the forward 

direction, home point and POI during flying. Read the following table for the recording method details.

CL HL POI

Aims

Record a direction as Forward 

direction

Record a position as HP Record a position as POI

Conditions 30secs after power on

30secs after power on; 10secs 

later after ≥6;

Motors have been started.

30secs after power on;

10secs later after ≥6.

Automatically

Automatically record at 

30secs after power on

Automatically record at the first 

time you push the throttle stick

No Automatic record method

Manually

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

POI

2

3

A

HP

B

POI

C

HP

B

Forward

direction

Successful (20) (20) (20)

 

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

position 2.

(2) HP is used not only in IOC, but also in Failsafe and Low voltage for go home and landing. 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.

(3) Once the Home Point is recorded successfully, LED will blink (6) continually under the 

following conditions. All conditions must be true.

1. ≥7.

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

3. Current control mode is in GPS or ATTI 2.

 

Step 3 IOC flying test

Please study the following diagram then make a IOC flying test. IOC LED indicator blinks ( (2) means stick(s)

not at the midpoint)

HP POI Flying direction Forward direction Route Auxiliary line
©2013 DJI Innovations. All Rights Reserved 24 | 

Flying 

IOC

switch

Record 

Roll stick control of aircraft Pitch 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’s 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 

10m range.

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

enter into CL: the aircraft is within of 10m from HP; the control mode is changed to ATTI 1 or 

ATTI2; <6(LED (2)or (3)).
©2013 DJI Innovations. All Rights Reserved 25 | 

4.2 Gimbal function 

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

connects to F2, and configure in Advanced->Gimbal page in the Assistant software. Not any Receive channel 

is asked to be mapped for the F3 and F4 ports if gimbal function is enabled in Assistant Software.

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

Channel Mapping), the F3 and F2 will not give output signal from the corresponding Receiver channels.

F3

F2 Pitch Roll

4.3 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 

is above 5m during flight.

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

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).

4.4 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.
©2013 DJI Innovations. All Rights Reserved 26 | 

Appendix 

LED indicator descriptions 

Control mode GPS signal 

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

ATTI1: (1) (sticks not in mid-point (2)) Good ( = 6): (1)

ATTI2: (1) (sticks not in mid-point (2)) Bad ( = 5) : (2)

GPS: (1) (sticks not in mid-point (2)) Worst ( < 5): (3)

Flight Attitude

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

Attitude status bad, hover/sticks at mid recommended: (2) 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 (∝)

IOC Recording 

Record home-point successfully (20) 

Aircraft is in the 8m range of HP (6) 

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 (2) or (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.
©2013 DJI Innovations. All Rights Reserved 27 | 

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

 

 

 

 

 

(Coming soon) 

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 Series and DJI DESST Series

External Receiver Supported Futaba S-Bus, DSM2, PPM

Recommended Battery 2S ~ 6S LiPo

Assistant Software System Requirement Windows XP SP3 / 7 /8 (32 or 64 bit)

Other DJI Products Supported Z15, iOSD Mark II, D-BUS Adapter, S800 EVO, 2.4G Data Link

(Coming soon)

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: 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 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 DJI Innovations. All Rights Reserved 28 | 

FAQ 

Use with other DJI products 

The A2 can be used with other DJI products such as iOSD Mark II, Z15, S800 EVO and 2.4G Data Link (Coming 

soon) etc.

The following diagram is the connection for your reference.

90o 2S~6S Battery

2S~6S Battery ESC

Coming soon
©2013 DJI Innovations. All Rights Reserved 29 | 

Channel Mapping Instructions for PC Assistant Software 

Basic Channel Default Settings Usage Description

A Roll Control of Controller Unit using 

Channel 1 of Receiver

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

for A/E/T/R/U. Note: During calibrating, make sure 

to operate by strictly following the prompts; 

otherwise may lead to calibration failure.

During Assistant Software usage, please click the 

“Calibration” button, to calibrate the Transmitter 

sticks travel.

E Pitch Control of Controller Unit 

using Channel 2 of Receiver

T Throttle Control of Controller Unit 

using Channel 3 of Receiver

R Yaw Control of Controller Unit using 

Channel 4 of Receiver

U Control Mode Switch of Controller 

Unit using Channel 7 of Receiver

Others Default Settings Usage Description

K1~K6 Remote Gains Adjustment of 

Controller Unit, unmapped.

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

Receiver channel.

Pitch Gimbal Pitch Control of Controller 

Unit, unmapped.

Click “Unmapped” button, to map Pitch to Receiver 

channel. For gimbal servo control.

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 channel. If you enable the Gimbal function 

in Assistant Software, then the F3/F2 are used for 

gimbal control. Even D3/D2 are mapped to Receiver 

channels, the output signal from the corresponding 
©2013 DJI Innovations. All Rights Reserved 30 | 

channels will be ignored.

You can use F4 for switching the video channel of 

iOSD Mark II, then map D4 to a Receiver channel.

IOC IOC of Controller Unit, unmapped. Click “Unmapped” button, to map IOC to the

Receiver channel. It is recommended to use a 

3-position switch channel.

Go Home One-Key Go Home of 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 of Controller Unit, 

unmapped.

If you enable the Gear function in Assistant 

Software, then the F1 is used for S800 EVO landing 

gear control.

Recommended Mapping for Futaba Transmitter (Mode 2) User 

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

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 DJI Innovations. All Rights Reserved 31 | 

Disclaimer 

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. 

A2 flight controller is 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 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 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.