©201 3 DJI Innovations. All Rights Reserved. 1 

# A2 Flight Control System User Manual V 1.0 4

2013. 0 9. 10 Revision For Firmware V 1.00 & Assistant Software V 1 .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 install ing the DJI Assistant App on your

mobile device

.

Please regularly check the web page of corresponding product s on our website 

## www.dji.com , which is updated regularly. Product information, technica l 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 A ssistant S oftware. 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 s that you cannot sol ve during usage, please contact your authorized dealer.©201 3 DJI Innovations. All Rights Reserved. 2 

## Content
INTRODUCTION

................................ ................................ ................................ ................................ ................................ .................... 3 P RODUCT I NTRODUCTION

................................ ................................ ................................ ................................ ................................ ................ 3 I N THE B OX

................................ ................................ ................................ ................................ ................................ ................................ .......... 3 E QUIPMENT P REPARED BY U SERS

................................ ................................ ................................ ................................ ................................ ... 3 S YSTEM I NTRODUCTION

................................ ................................ ................................ ................................ ................................ .................... 4 S YMBOL I NSTRUCTION

................................ ................................ ................................ ................................ ................................ ...................... 4 1 ASSEMBLY AND CONFI GURATION

................................ ................................ ................................ ................................ ............. 5 1.1 H ARDWARE I NSTALLATION AND C ONNECTION

................................ ................................ ................................ ................................ ...... 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 S OFTWARE I NSTALLATION AND C ONFIGURATION

................................ ................................ ................................ ............................... 12 1.2.1 Install Driver and Assista nt Software

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

................................ ................................ ................................ ........................ 12 1.2.3 Configuration Checking

................................ ................................ ................................ ................................ ................................ 13 1.3 C OMPASS C ALIBRATION

................................ ................................ ................................ ................................ ................................ ............ 14 2 BASIC FLYING

................................ ................................ ................................ ................................ ................................ .................. 15 2.1 C ONTROL M ODE I NSTRUCTION

................................ ................................ ................................ ................................ ............................... 15 2.2 F LYING ENVIRONMENT RE QUIREMENTS

................................ ................................ ................................ ................................ ................. 16 2.3 C HECK L IST BEFORE F LYING

................................ ................................ ................................ ................................ ................................ ... 16 2.4 P OWER ON AND CHECK

................................ ................................ ................................ ................................ ................................ ............ 17 2.5 S TART M OTORS M ETHODS

................................ ................................ ................................ ................................ ................................ ...... 17 2.6 B ASIC F LYING T EST

................................ ................................ ................................ ................................ ................................ ................... 18 3 PROTECTION FUNCTIO NS SETTING

................................ ................................ ................................ ................................ ...... 20 3.1 F AIL S AFE

................................ ................................ ................................ ................................ ................................ ................................ ..... 20 3.2 L OW V OLTAGE P ROTECTION

................................ ................................ ................................ ................................ ................................ .. 21 4 ADVANCED FUNCTIONS

................................ ................................ ................................ ................................ ............................ 22 4.1 IOC (I NTELLIGENT O RIENTATION C ONTROL ) FUNCTION

................................ ................................ ................................ ................. 22 4.2 G IMBAL FUNCTION

................................ ................................ ................................ ................................ ................................ ................... 25 4.3 G EAR FUNCTION

................................ ................................ ................................ ................................ ................................ ....................... 25 4.4 A TTITUDE C ONTROL W HEN O NE M OTOR O UTPUT F AILS

................................ ................................ ................................ .............. 25 APPENDIX

................................ ................................ ................................ ................................ ................................ ............................. 26 LED INDICATOR DESCRIPTIO NS

................................ ................................ ................................ ................................ ................................ .... 26 S PECIFICATIONS

................................ ................................ ................................ ................................ ................................ ............................... 27 FAQ

................................ ................................ ................................ ................................ ................................ ................................ ......... 28 U SE WITH OTHER DJI PRODUCTS

................................ ................................ ................................ ................................ ................................ .. 28 C HANNEL M APPING I NSTRUCTIONS FOR PC A SSISTANT S OFTWARE

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

................................ ................................ .......................... 30 S ETTINGS OF GAIN VALU ES FOR Y OUR R EFERENCE

................................ ................................ ................................ ................................ . 30 DISCLAIMER

................................ ................................ ................................ ................................ ................................ ......................... 31 TRADEMARK

................................ ................................ ................................ ................................ ................................ ......................... 31©201 3 DJI Innovations. All Rights Reserved. 3 

# Introduction Product Introduction
The DJI A2 Multi

- Rotor stabilization controller is a complete flight system f or 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 provid es a seamless transition for current Ace One, WKM AP professionals. The system has the following features : (1) I t is i ntegrated with high

- precision sensor components and a high

- performance GPS R eceiver

. (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 b uilt

- 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

C ontroller Unit (Built

- in Receiver DR16) PMU(Power M anage ment unit) IMU(Inertia M easurement U nit)

LED

- BT

- I GPS

- COMPASS PRO A ccessories
M icro

- USB Cable (1)
S ervo Cables (2)
GPS Bracket
D ouble side s t icky pads

.


## Equipment Prepared by User s 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©201 3 DJI Innovations. All Rights Reserved. 4 

## System Introduction
The A2 flight control system use s the Control Unit at its core, which is connected with t he IMU, GPS

- COMPASS
PRO 、 LED

- BT

- I 、 PMU and ESCs to complete the system. T he 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, co nfiguration and flight

- testing

.



## Symbol Instruction General Symbol

Forbidden(Important) Cautions Tip s Reference

GPS Satellite number D istance T X s ignal good T X signal lost

Roll to left Roll to right P itch up P itch 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 Blu e Solid on. Configure the system us in g A2 Assistant software

.

Do basic flying test FailSafe and Low

- voltage settings A dvanced functions: IOC, Gimbal, Gear M ount the A2 flight control system on your aircraft finish connection.©201 3 DJI Innovations. All Rights Reserved. 5 

# 1 Assembly and C onfiguration

F or hardware installation, software configuration and compass calibration please adhere to the following
sections.



## 1.1 Hardware Installation and Connection

(1) P lease adhere to “ 1.1.1 Mixe r Type Supported ” t o choose a mixer type and assemble your aircraft. (2) P lease 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 Mix er Type Supported
F ollowing Mixe r Ty pes are supported.

The direction of the arrow in diagram indicates the rotation di rection of the motor/propeller.
For coaxial propellers: Blue propeller is at TOP ; Red propeller is at Bottom . Otherwise all propellers

are at top.©201 3 DJI Innov ations. All Rights Reserved. 6 | 

### 1.1.2 Hardware Connection Diagram

1.1.3 Important for Assembly and Connection This section describes all device port function s , assembly requirement s , connection requirements and tips during usage. Also the linking pr ocedures between the built

- in Receiver DR16 and your Transmitter. I t 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 conn ect 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 independent ly and should connect to different mo dules. (4) 4 independent and c onfigurable outputs. (5) I t is compatible with the external Receiver, e.g. DSM2 satellite Receiver. (6) Use the optional DJI DBUS Adapter to support the traditional receiver.© 201 3 DJI Innovations. All Rights Reserved 

### 7 | Port Description

Mount ing Requir ement s : Install the C ontroller U nit 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

- d egree 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 receiver s . Whatever
type of Receiver is used, please make sure that the Receiver and Transmitter is linke d correctly before use. 

### A. B uilt

- in Receiver

For e nhanc ing 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. F or 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 T ransmitter has been detected by the R eceiver, but not matched. Link operation required

( ∝ ) No T ransmitter signal is received, e.g. the flight control system is power ed on but the Transmitter is power ed off. Switch on

( ∝ ) The R eceiver an d T ransmitter have been link ed to each other successfully

. C an work normally© 201 3 DJI Innovations. All Rights Reserved 

### 8 | E xternal R eceivers
If us ing a n external R eceiver, please follow the diagram for connection, set the R eceiver referring to your
R eceiver manual, and select the correct type in assistant software

- >Basic

- >R/C

- > Receiver Type

. 

### Receiver Type S

- B US Receiver With D

- BUS Adapter DSM2 Receiver PPM Receiver
Assista n t Software Option D

- BUS D

- BUS DSM 2 PPM© 201 3 DJI Innovations. All Rights Reserved 

### 9 | (2) IMU ( Inertial Measurement Unit ) :

Built

- in inertial sensor s , for the measurement of aircraft attitude ; built

- in p ressure sensor for the detection of
aircraft alt itude. Should be connected to the CAN1 port of the Control Unit, and be mount ed according to the required location and orientation

. The IMU has been calibrated before shipp ing , it should be used under the specified temperature ; otherwise the temperature ma y have an effect on the IMU performance. Working environment temperature : - 5 o C ~60 o C Storage environment temperature : <60 o C
O rientatio n Requirement s : P lease mount the IMU as one of the following options. C onfigure in the A2 Assistant software

- >Basic

- >Mo unt
- > IMU
, and select the matched option.

Loc atio n Requirement s :

(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 vibrat ion position and the sides of the IMU should be precisely parallel

to the aircraft body. B ased on our experience , there is les s vibrat ion 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

.© 201 3 DJI Innovations. All Rights Reserved 

### 10 | (3) GPS

- COMPASS PRO
GPS

- COMPASS PRO module has a b uilt

- in GPS and compass. The compass is used for geomagnetic field

measurement . It should be mount ed according to the required location and orientation

. Compas s calibration is required before use

. DO NOT use and store the compass i n the ferromagnetic material environment

.



### Mount ing Procedure : a) Use the epoxy resin AB glue to assemble the GPS bracket first. The longest one is recommended.

b) Mount the bracket on th e aircraft first, and then fix the GPS

- COMPASS PRO o n the plate of the bracket ( using the 3M sticky pads provided ). 

### Mount Requirement s:

Usage Requirements (1) The DJI logo should be fac ing the sky, with the orientation arrow poi nting 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 c ompass is sensitive to magnetic interference, should be f ar 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.© 201 3 DJI Innovations. All Rights Reserved 

### 11 | (4) PMU ( Power Management Unit)

T he 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 monitor ing, for flight safe guard during flying.
I n addition , there are two CAN

- Bus port s for LED

- BT

- I con nection and other DJI product s (e.g. DJI 2.4G Data Link). 

### Port Description

Mount ing Requirements: No need to mount in a parti cular orientation. But choose a ventil ated place to mount the PMU for cooling.



### (5) LED

- BT

- I

T he LED

- BT

- I has integrate d LED Indicator, Bluetooth and USB port: (1) The LED is mainly for f light control system status indicat ion during flying (e.g. Control Mode). (2) (Co ming soon) Bluetooth is used for real

- time communication with your mobile device (e.g. iPhone), to realize parameter configuration on a mobile device. F or parameter configuration using a mobile device, it
is requir ed 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 mount ing. (3) In addition, there is a Micro

- USB port, make sure it is mounted for convenient connection. 

### Port Description :

Mount ing Requirement s: Mount in a good position to make sure the LED is visible during flying. Antenna of Bluetooth s hould be unobscured

.© 201 3 DJI Innovations. All Rights Reserved 

### 12 | 

## 1.2 Software Installation and Configuration
Configure the A2 flight control system in the Assistant software pleas e adheres to this section. U sers 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 S oftware

D ownload the drive r 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 support s only Windows operating system s ( Win XP, Win7, Win8 (32 or 64 bit) ).



### 1.2.2 Configur e using Assistant Software on a PC The USB port can supply power during c o nfiguration, no add itional battery is required. N ote that the USB port can supply power not more than 500mA, an additional battery is necessary if connection failure or intermittent working

. R un the assistant software, and follow the buil t

- in guide to carry out the configura tion. Note that you may be asked to register for first time use.



### 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 c heck 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.© 201 3 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 p ropeller 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. T oggle the “ U ” switch to

test the control mode setting.

7 ~ 

# ○ 11 A dvanced configuration, users can configure it according to their requirements after reading the
manual.



# ○ 12 Check the Channel Map between the T ransmitter and A2 flight control system

.

1 2

3

4 5

6 7

8

9

10

11

1 2© 201 3 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 don e for the first time use. It is recommended to calibrate the compass outdoor s after the C ontroller U nit finds 7 or more GPS satellites

. Regular calibration enables the compass to keep optimal performance

. 

### Calibration Caution s (1) DO NOT calibrate your compa ss 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; oth erwise the flight control system cannot work. 

## Calibration Procedures Choose an open space to carry out the following procedures.



### S ituations that require recalibration S ituations Descriptions Compass D ata abnormal LED blink s yellow and green alternatively ( ( ∝ ) )

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

.

M echanical alteration T he mount ing position of GPS

- COMPASS PRO module changes.
E lectronic units such as C ontroller U nit , CAN

- HUB, battery etc. h ave been added,

removed , remounted or other alterations.
Mechanical structures of the aircraft has changed
D rifting during fly ing E vident drifts occurred in flight such as the aircraft doesn ’ t fly straight
A ttitude errors LED often blinks error indic ator when the aircraft turns around.© 201 3 DJI Innovations. All Rights Reserved 

### 15 | 

# 2 Basic flying

Read this section before basic flight testing

.



## 2.1 Control Mode Instruction
The aircraft performs differently wh en using different control modes. Please read the following table to know

the differe nt 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 d irection. Maximum rudder angular velocity 150°/s

Roll and Pitch Aircraft attitude control; Mid point of s tick 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 l ock ing. Keep original attitude

.

GPS Lost Wh en GPS signal has been

lost for 3 s, syst em enters
ATTI

. Mode automatic ally. --- ---

IOC Supported CL/HL/POI CL None

FailSafe
Protection The flight control system will enter F ail S afe

Mode if the T ransmitter signal is lost and no

matter if T ransmitter signal recovers or not, system will not exit failsafe mode automatically

. The flight control system will enter
F ail S afe Mode if the T ransmitter signal is lost and the system will exit Failsafe once

the signal recovers.
GPS I nvolved YES NO
Low

- voltage
Protection LED alert with D e s cending or Go Home & Landing precautions Only LE D alert

E nvironment
recommended Open flying field;

Good GPS signal Narrow Space; GPS signal bad R egain 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 th ey are working differently in the p rotection situations.© 201 3 DJI Innovations. All Rights Reserved 

### 16 | 

## 2. 2 Flying E nvironment R equiremen t s
(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) D O N OT 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 obstacl es, crowds, power lines, trees, lakes and rivers etc. (5) Try to avoid interference between the remote control T ransmitter 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 item s is wrong it may lead to flight accident

.

(1) A ll 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 mounti ng direction (6) T ransmitter channel mapping and sticks move ment 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.© 201 3 DJI Innovations. All Rights Reserved 

### 17 | 

## 2. 4 Power on and C heck
(1) Control mode LED indicator
Power on the Transmitter and flight control system

. Toggle the control mode switch to different positions.
Con trol M ode 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 in dicator is bad or worst ( (2) or (3) ) and last s for more than 3secs, the flight control system will enter into ATTI 2 Mode.

(2) GPS signal LED indicator GPS signal indicat ion blinks after every Control mode indicat ion

. We s uggest to fly when GPS satellites i s more than
5. GPS signal LED indicator
Worst ( < 5 ) : (3) Bad ( = 5 ) : (2) Well ( = 6 ) : (1) Best ( > 6 ) : No indicator



## 2. 5 Start M o tors Metho d s CSC (Combination sticks commands) is used to start/stop motors instead of just pushing the throttle stick.

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 landin g. (3) The throttle sticks is under 10% for more than 3secs and the inclined angle of aircraft exceeds
70° 。© 201 3 DJI Innovations. All Rights Reserved 

### 18 | 

## 2. 6 Basic Flying T est Carry out the following procedures to complete the basic flight test. 

### 1. Wait the GPS signal to be well LED

Pl ace the aircraft away from you and others at least 3 met ers 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 record ed

. 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 conti nually. 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 fl ight
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 air craft will be stabilized but unlocked in horizontal position. Pitch
Stick© 201 3 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 land ing speed, try to land your aircraft gently to avoid shock or crash.

Please refer to the next section “ P rotection F unctions S etting” 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. P lease re

- calibrate the Compass. (4) IMU data is abnormal, the LED blinks four g reen. P lease contact your dealer.© 201 3 DJI Innovations. All Rights Reserved 

### 20 | 

# 3 Protection Functions Setting

Set protect ion 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 auto matically control the
aircraft to reduce injuries or damage

.

TX signal D escriptions

Home
Point (HP)

≥

6 30secs later after power on; 10secs later after ≥ 6 ( or no Red LED ) ; Motors have been started; auto

- rec ord the po sition as home point at the first time
the throttle stick is raised

.

FailSafe Flight control system can auto matically control the aircraft after T ransmitter signal is
lost. I t s hould be set in Assistant software

- > Advanced

- > F/ S , while Hover, Go

- Home or Alt Go

- Home is option al

. Additionally , a Go

- Home switch can be enable d

.

One

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

- Key
Go Home is enabled during flyin g, 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 H ome procedures

(1) The aircraft will not go home (only attitude stabilizing) i n the condition that <6 o r GPS is not working , even if Transmitter signal is lost or Go Home switch is triggered. (2) It is reco mmended to set the Go Home switch in the Assistant software. U sers are suggested to enter Failsafe and go home by using the Go Home switch rather than turning off the Transmitter in© 201 3 DJI Innovations. All Rights Reserved 

### 21 | emergency situations. (3) M ake sure there are no obstacles during aircraft go home and users are familiar with the methods to regain control.



### H ow to regain control in FailSafe
GPS ATTI 2 ATTI 1 Manual

R egain control You have to t oggle the control mode switch

once to regain control if the signal recovers, y

. R egain control as soon as signal recovers

.



## 3.2 Low V oltage P rotection
Low voltage protection is used to alert low battery voltage during flight; in this case, users sho uld promptly fly back the aircraft and land to avoid unexpected damages.
T o use this function please set in Assistant software

- > Advanced

- > Voltage page to configure two voltage level s
.

P rotection s O ption Selected C onditions LED A ircraft

F irst leve l LED

---- ( ∝ ) N one

GH & Landing Make sure the home point is recorded and

no obstacles in going home and landing path

. ( ∝ ) Go

- Home & Landing

S econd

level LED

---- ( ∝ ) N one

D escending

---- ( ∝ ) D escending directly


### Go

- Home & Landing Usage T ips (1) The h ome point recorded is the same in both Failsafe and Low voltage protection. The aircraft will not go
home in the follow ing cases : a) Control mode is in Control Mode 1 (M anual 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.


### D escending Usage Tips
T he 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 bef ore.

Please pay atten tion to the LED alert of low voltage and make sure the power is enough for go home

and landing. I nsufficient power reserve will cause the aircraft to crash and other consequences.© 201 3 DJI Innovations. All Rights Reserved 

### 22 | 

# 4 Advanced F unctions

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.
F lying direction T he flying direction of aircraft when push ing the Roll and Pitch sticks.
F orward direction T he flying direction of aircraft when the p itch stick is push ed forward.

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

along with the nose.

CL flyi ng Course Lock

. Its forward direction is pointing to the nose direction when

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

HL flying Home Lock . R ecord a Home Point (HP), push Pitch stick to control the aircraft

far from or near to the HP.

POI flying Point of Interest . R ecord a p oint of i nterest ( POI ) , the aircraft can circle around

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



### Conditions of IOC function

F lying IOC Setting C ontrol M ode GPS

- C OMPASS
PRO R equired GPS Satellites D is tance L imits

Normal

---- ---- ---- B asic to control mode N one CL Enabled N ot in Manual Compass N one N one
HL Enabled GPS GPS ≥ 6
POI Enabled GPS GPS ≥ 6



### Step 1 IOC swi tch set ting
P lease enable the IOC function in Advanced

- > IOC page of Assistant software. T hen 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 an d POI recording

. B elow 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© 201 3 DJI Innovations. All Rights Reserved 

### 23 | Step 

## 2 Forward D irection , HP and POI R ecording 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 record ing condition are met

. Y ou can Manually re - record the forward direction, home point and POI during flying. Rea d the following table for the record ing method details.
CL HL POI

A ims R ecord a direction as Forward

direction R ecord a position as HP R ecord a position as POI

C onditions 30 secs after power on 30 secs after power on ; 1 0 secs

later after ≥ 6 ; M otors have been started

. 30 secs after power on ;

1 0 secs later after ≥ 6

.

Auto matically A uto matically record at

30 secs after power on A utomatically record at the first
time you push the throttle stick N o A utomatic rec ord method

Manually A ccording to any option of IOC switch setting, quickly toggle the switch between adjacent

positions 3

- 5 times to record manually

.

Successful (20) ( 20 ) ( 20 )

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

p osit i on 2. (2) HP is used not only in IOC, but also in Failsafe and Low voltage for go home and landing. T he flight control system will automatically record the HP even if IOC function is dis abled in Assistant software but Forward direction and POI can be recorded only after IOC is enabled. (3) O nce the Home Point is recorded successfully, LED will blink (6) continually under the following co nditions. All conditions must be true.

1. ≥7

. 2. Distance bet ween aircraft and the recorded home point is less than 8m.
3. Current control mode is in GPS or ATTI 2

.



### S tep 

## 3 IOC flying test
P lease study the following diagram then make a IOC flying test. IOC LED indicator b links ( (2) means stic k ( s )

not at the midpoint )

HP POI F lying direction F orward direction R out e Auxili ary line© 201 3 DJI Innovations. All Rights Reserved 

### 24 |

F lying IOC

switch R ecord R oll stick control of aircraft Pitch stick control of aircraft

N ormal OFF None

CL CL

HL HL

POI POI

DO NOT toggle the IOC switch frequently in HL flying to avo id re

- recording the HP unwittingly.

IOC function is available only when all the required conditions are satisfied. I f any condition is omitted
the flight control system will exit IOC. P lease keep an eye on the LED to know the current control mode

.

(1) I t ’ s recommended to start the HL flight when the aircraft is > 10m away from the HP. If start ing
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) D uring HL flying if one of the following condition s 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 

### ) )

.© 201 3 DJI Innovations. All Rights Reserved 

### 25 | 

## 4.2 Gimbal function

C onnect servos of gimbal to Controller Unit as fig. below , roll servo connect s to F3 port and pitch servo

connect s to F 2 , 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 F 2 (Which is shown as D3 and D 2 in the Assistant Software

- > Channel Mapping), the F3 and F 2 will not give output signal from the corresponding Receiver channels.



## 4. 3 Gear fu nction

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.
P lease configure in Advanced

- > Gear page in the Assistant software. C onnect 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 A ssistant software first, and then connect the gear to the F1 port. (2) T he 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 output s for r etract ing control. (3) O nce you map the Gear channel, F1 port will give output signal s 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 Fail s

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.© 201 3 DJI Innovations. All Rights Reserved 

### 26 | 

# Appendix LED indicator descriptions
Control mode GPS signal
Manual : No indicator Best ( > 6 ) : No indicator
ATTI 1 : ( 1 ) ( sticks not in mid

- point (2) ) Good ( = 6 ) : (1)
ATTI 2 : (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 H orizontal calibration ( ∝ ) Calibration Failed ( ∝ )
Vertical calibration ( ∝ ) Abnormal Compass Data ( ∝ )


## Low voltage alert
First level alert ( ∝ ) Second level alert ( ∝ )


## IOC Recording

Record home

- point s uccessfully (20) Aircraft is in the 8m range of HP (6)
Record forward direction successfully ( 20)
Record a Point Of Interest success fully ( 20)



## Bluetooth

A2 Assistant is connected / dis connected 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 c ontact your dealer.© 201 3 DJI Innovations. All Rights Reserved 

### 27 | 

## Specifications General
Built

- In Functions 

###  Built

- in Receiver



###  Multiple C ontrol Modes


###  2

- axle Gimbal Support ed


###  Enhanced Fail Safe


###  Intelligent Orientation Control


###  D ynamical S ystems Protection


###  PC & Bluetooth Ground Station 

###  E xternal Receive r Supported


###  9 Types of Supported Multi

- rotor 

###  Other DJI Products Support ed


###  Low Voltage Protection


###  4 C onfigurable Outputs


###  Sound Alarm


###  Configure Parameters Via Bluetooth (Coming soon) 

## Peripheral Supported Multi

- rotor  Quad

- rotor: I4, X4

 Hexa

- ro tor: I6, V6, Y6, I Y6

 Octo

- rotor: X8, I8, V8 Supported ESC output 400Hz refresh frequency. Supported Transmitter for Built

- in Receiver Futaba FASST Series and DJI DESST Series
E xternal 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 Support ed Z15
, iOSD Mark II
, D

- BUS Adapter , S800 EVO , 2.4G Data Link (Coming soon) 

## Electrical & Mechanical Power Consumption MAX 5 W ( Typical Value: 0.3A@12.5 V ) Operating Temperature

- 5°C to +60°C Total Weight <= 224 g (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 Per formance (can be effected by mechanical performance and payloads) Hovering Accuracy ( In GPS Mode)  Vertical: ± 0.5m

 Horizontal: ± 1.5 m Maximum Wind Resistance <8m/s (17.9mph / 28.8km/h) Max Yaw Angular Velocity 150deg/s Max Tilt Angle 35° Ascent / De scent 6m/s© 201 3 DJI Innovations. All Rights Reserved 

### 28 | 

# FAQ
U se with other DJI products

The A2 can be used with other DJI products such as iOSD Mark II
, Z15
, S800 EVO and 2.4G D ata L ink (Coming soon) etc. The following diagram is the connection for your reference

.© 201 3 DJI Innovations. All Rights Reserved 

### 29 | 

## Channel Mapping Instruction s for PC Assistant Software

Basic Channel Default Setting s 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 cal ibration failure. During Assistant Software usage, please click the

“ Calibration ” button, to calibrate the T ransmitter
sticks travel. E Pitch Control of Controller Unit

using Channel 2 of Receiver
T Throttle Control of Controller Unit

using Channel 3 o f 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 G imbal function in Assistant Software, then the F3/F 2 are used for gimbal contro l. Even D3/D 2 are mapped to Receiver

c hannels, the output signal from the corresponding© 201 3 DJI Innovations. All Rights Reserved 

### 30 | channel s will be ignored

. You can use F 4 for switch ing the video channel of
iOSD Mark II , then map D 4 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 Int elligent Gear of Controller Unit
,

unmapped. If you enable the Gear function in Assistant Software, then the F1 is used for S800 EVO landing

gear contro l. 

### Recommended Mapping for Futaba Transmitter (Mode 2) User

Controller Unit Channel Receiver Channel Rec ommended 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 (AUX 5 ) 3

- Position switch
, e.g. SG
K1~K6 Channe 5 ( GEAR ) Knob switch
, e.g. LD
, RD
Pitch Chann e 6 ( Vpp ) Knob switch
, e.g. LD
, RD
D1 / D 3/ D2

---- ---- D4 Channe 9 (AUX1) 2

- Position switch
, e.g. SF
IOC Channe 10 (AUX 2 ) 3

- Position switch
, e.g. SG
Go Home Channe 11 (AUX 3 ) 2

- Position switch with spring back function, e.g. SH
Gear Channe 8 (AUX4) 2

- P osition 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 . T hese values are only for reference and may vary in practice.

A ircraft 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

- 15 Inch 6S

- 15000 7000g 140 140 130 140 140 130© 201 3 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 wh en 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 impa ir 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 int erference 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, suc h 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, a valanche, 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 mod el and battery chargers. 16. Other losses that are not covered by the scope of DJI Innovations liability.


# T rademark
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.