Zenmuse Z15-GH4 (HD)

2015.4 

User Manual V1.4
2 ©2015 DJI. All Rights Reserved.

Warning & Disclaimer

Do not modify or adjust the Z15-GH4.

The Z15-GH4 gimbal has been calibrated specifically for the designated camera and lens before it leaves the 

factory. Please mount only the designated camera and lens to the Z15-GH4. No adjustments or modifications 

are needed. Do not add any other component/device (such as filters, lens hood, etc.) to the camera. Please 

use the original camera battery, otherwise performance may be hindered and internal malfunctions or 

damage may occur.

Only use the Z15-GH4 gimbal with Flight Control Systems developed by DJI (such as the A2 or WooKong-M, 

and please upgrade to the latest firmware) for the greatest stability and precision. Please download the 

corresponding Assistant software and upgrade your Flight Control System’s Main Controller firmware, 

otherwise the Z15-GH4 may not function properly. When the main battery power is connected, please be 

careful and operate the Flight Control System in the safest way possible. It is strongly recommended that you 

remove all propellers, use the R/C or flight pack battery power system, and keep children away during gimbal 

calibration and parameter setup. Carefully follow the appropriate steps to mount and connect the gimbal to 

your aircraft. Use this manual as well as the related Assistant software. Please respect the AMA’s National 

Model Aircraft Safety Code.

As DJI has no control over the use, setup, final assembly, modification (including use of non-specified 

DJI parts i.e. motors, ESCs, propellers, etc.) or misuse, no liability shall be assumed nor accepted for any 

resulting damage or injury. By the act of use, setup or assembly, the user accepts all resulting liability. DJI 

assumes no liability for damage(s) or injuries incurred directly or indirectly from the use of this product. 

DJI and Zenmuse are registered trademarks of DJI. Names of products, brands, etc., appearing in this 

manual are trademarks or registered trademarks of their respective owner companies. This product and 

manual are copyrighted by DJI with all rights reserved. No part of this product or manual shall be reproduced 

in any form without the prior written consent or authorization of DJI. 

Manual Tips

Legend

Important Tips

Designated Camera and Lens Type for the Z15-GH4 gimbal

Camera Type: Panasonic GH4/GH3

Lens Type: OLYMPUS M.ZUIKO DIGITAL ED 12mm f/2.0

If you are using the Panasonic GH3 camera, please use the included HDMI cable that is specifically 

designed for the GH3. Refer to Mounting a GH3 Camera onto the Z15-GH4 for details.

Firmware versions of supporting DJI Flight Control Systems

WooKong M: V5.26A2: V2.1 or above
©2015 DJI. All Rights Reserved. 3

Product Profile

The Z15-GH4 is a sophisticated gimbal specifically designed for aerial creativity. It has a built-in independent 

IMU module, special servo drive module, HDMI-HD/AV module, and more. The Z15-GH4 performs well in all 

modes, including Orientation-locked, Non orientation-locked, and FPV (Reset). 

Working Modes

Orientation-locked Non orientation-locked FPV (Reset)

Gimbal 

Direction Gimbal pans with aircraft nose. Gimbal pan and aircraft 

nose move separately.

Gimbal pan and 

aircraft nose are 

synchronized.

Gimbal and 

Aircraft Nose 

Relative Angle 

The gimbal direction maintains the 

same relative angle to the aircraft 

nose.

The relative angle 

between the gimbal 

direction and aircraft 

nose is controllable.

The relative angle 

between the gimbal 

direction and aircraft 

nose is 0°.

TX Control Controllable Controllable Uncontrollable

Attitude 

Stability* YES YES YES

Vibration 

Reduction YES YES YES

Stick 

Movement 

Definition

ROLL is locked level in stick 

commands from 0-2/3 and rotates 

in commands from 2/3-endpoint; 

PAN stick commands control the 

rotation angle and are limited to 

40。; TILT stick commands control 

the rotation velocity of the gimbal.

Stick commands for 

gimbal rotation velocity 

are relative to total stick 

movement. The stick’s 

center position velocity 

is 0°/s. Its endpoint is 

the maximum velocity.

——

Command 

Linearity YES YES ——

Note*: Attitude stability means that the gimbal’s ROLL/TILT will not follow the aircraft’s ROLL/PITCH 

movement.

Product Profile
4 ©2015 DJI. All Rights Reserved.

In the Box

Gimbal ×1

The Z15-GH4 gimbal includes built-in servo drive 

modules, an independent IMU module, a camera 

shutter control module and a HDMI-HD/AV module.

Gimbal Control Unit (GCU) × 1

Connect the GCU to your Flight Control System using 

the CAN-Bus. The GCU will control the gimbal’s pan, 

roll and tilt movements. 

GH4 GCU

ROLL

TILT

PAN

MODE

SHUT

AUX1

AUX2

AUX3

Lens Retaining Ring × 1

For mounting the camera lens.

Mounting Bracket × 4

For mounting the gimbal to the landing gear.

Mounting Board for Receiver × 1

For attaching the GCU and providing a convenient 

mount for the receiver or other devices.

Cable Clamp × 1

For cable management.

Camera Mount Screw × 1

A standard tripod mounting screw.

Lens Retaining Ring Screw × 1

For attaching the lens retaining ring to the gimbal.

In the Box
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Zenmuse Z15-GH4 (HD) User Manual

Screw Package × 1

For mounting the gimbal to your aircraft (M2.5*8 cap 

head screw).

10-Pin to 9-Pin Cable × 2

For connecting the GCU to the gimbal. 

7-Pin Cable × 1

For connecting the GCU to the Lightbridge air system.

8-Pin to 6-Pin Cable × 2

For connecting the GCU to the gimbal. 

Camera Shutter Control Cable × 1

For connecting the gimbal HDMI-HD/AV unit to the 

camera.

Servo Cable Package × 1

For connecting the GCU and the receiver.

AV Video Power Cable × 1

For connecting the GCU and the wireless video 

transmission module, and transmitting the AV signal.

iOSD Mark II Cable × 1

For connecting the GCU and the DJI iOSD Mark II.

Micro-USB Cable × 1

For adjusting parameters and upgrading firmware via 

a PC.

CAN-Bus Cable × 1

For the CAN-Bus Flight Control System. DJ

D

I

JI

HDMI Cable for GH3 Camera ×1

For connecting a GH3 camera to the gimbal.

Spare Package × 1

Vibration Absorbers, Spare Screws, and Mounting 

Bracket.

In the Box
6 ©2015 DJI. All Rights Reserved.

Contents

Warning & Disclaimer 2

Manual Tips 2

Legend 2

Product Profile 3

In the Box 4

Gimbal Description 7

Camera Setup 8

Mount 8

Mounting the Lens 8

Mounting the Camera 9

Mounting the Gimbal to the Landing Gear 9

Camera Wiring and Shutter Control 11

Camera Wiring 11

Shutter Control 11

Mounting a GH3 Camera onto the Z15-GH4 12

Video Signal Transmission 13

A. AV Wireless Video Transmission 13

B. DJI iOSD Mark II and AV Wireless Video Transmission 13

C. DJI Lightbridge Air System 14

GCU Wiring 15

GCU Wiring 15

GCU Ports 16

Working Mode/AUX2 Switch Setup 16

Working Mode Switch Settings 16

AUX2 Switch Settings 17

Auto-calibration Function 17

PC Assistant Tuning 18

Installation and Usage 18

Basic Setting 18

Upgrade 19

Info 19

Pre-Flight Check 20

Flight Test 21

Appendix 22

Attention 22

1-Pilot Solution 22

2-Pilot Solution 23

Port Descriptions 24

Gimbal LED Indicator 24

Troubleshooting 25

Specifications 26
©2015 DJI. All Rights Reserved. 7

Gimbal Description

To avoid motor damage, ensure there is nothing blocking the rotation of the servo drive modules.

Clear obstacles or immediately cut off the power if any blockage occurs.

The servo drive modules have two motor command input ports and one private encoder port.

The HDMI-HD/AV module converts HDMI to HD (or AV) using a cable connected to the camera HDMI 

port; it also transforms the TX signal into a shutter control signal by using a shutter control cable.

The camera shutter control cable is removable. Unplug it if this functionality is not needed.

Servo Drive

Module 1

Damping Unit

Tilt +50°/ -140° Arrow represents the lens direction

Receiver Mount Board

Servo Drive

Module 3

Lens Retaining Ring

Mount Hole

Camera Mount

Position

IMU Module

Camera LED

Indicator

HD/AV Switch

HDMI-HD/AV Module

9-Pin Port

To G9 port of GCU

Motor Input Port

To G6 port of GCU

Roll

40°

Servo Drive

Module 2

Camera Shutter 

Control Cable

Camera Mount 

Holes

Gimbal Description
8 ©2015 DJI. All Rights Reserved.

Camera Setup

Follow the steps below to configure your camera to work with the Z15-GH4. Please read the relevant section 

for your camera.

Panasonic GH4/GH3

Camera Setup / Mount

1. Set your camera Mode as Creative video ( ).

2. MF/AFC/AFS/AFF Select: Select AFC.

3. Select the Shutter-priority AE mode in the Menu and adjust the shutter speed to 200.

4. Please enable the AF when using the Auto Focus function.

The Creative Video and AFC settings are mandatory, while the other settings are recommended. 

Note that your output may contain undesired flashing images if the recommended settings are not 

followed.

Mount

Mounting the Lens

1. Mount the lens onto the camera as shown above.

Camera

Retaining Ring

Lens
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Zenmuse Z15-GH4 (HD) User Manual

Mounting the Camera

Mount

X

Y

Z

S800 EVO Landing Gear

Lens direction

Aircraft nose direction

2. Mount the camera onto gimbal as shown above.

3. Adjust the camera and tighten the top camera mounting screw. Then tighten the bottom camera mounting 

screw and the lens retaining ring screw.

Mounting the Gimbal to the Landing Gear

The following diagram shows the gimbal mounted on a DJI S800 EVO. 

Camera Mounting Screw 

Lens Retaining Ring Screw
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Zenmuse Z15-GH4 (HD) User Manual

The following the diagram shows the gimbal mounted on a DJI S1000. You may also mount the gimbal onto 

different landing gear by referring to this diagram.

X

Y

Z

4. Mount the gimbal onto the landing gear with the mounting brackets. Tighten the screws and use thread lock.

Ensure the lens is pointing in the same direction as the aircraft nose.

Ensure the top and bottom plates of the damping unit stay parallel when mounting. This prevents 

stretching and distortion.

Maintain good overall balance when mounting in order to ensure the center of gravity is balanced 

on each of the three axis lines.

The gimbal’s center of gravity has been set by the factory. The center of gravity directly determines 

the gimbal’s overall performance. Do not adjust the gimbal’s center of gravity yourself.

The gimbal is highly precise and depends on this precision for optimal performance. Do not remove 

any screws on the gimbal, as this may result in poor performance or damage to the gimbal.

Do not unplug any cables attached to the gimbal ports or change the mechanical structure.

Make sure the wiring is correct, otherwise the gimbal may behave abnormally.

S1000 Landing Gear

Lens direction

Aircraft nose direction
©2015 DJI. All Rights Reserved. 11

Camera Wiring and Shutter Control

Camera Wiring

Connect the camera correctly. The gimbal works with a HDMI-HD/AV module to convert the video signal and 

transform a TX signal into a shutter control signal. Ensure the camera is setup first, and then complete the 

following steps to connect the camera and the gimbal.

1. Connect the gimbal HDMI-HD/AV module to the camera HDMI port with a HDMI-HD/AV connection cable.

2. Connect the camera shutter control cable to the camera.

3. Toggle the HD/AV Switch to the AV position if using a normal wireless video TX module. Toggle the HD/AV 

Switch to the HD position if using a DJI HD wireless video TX module. (See Page 7 for the location of the 

HD/AV Switch)

When disconnecting the cable between the HDMI-HD/AV module and the camera, first dismount the 

camera, then unplug the HDMI-HD/AV interface.

Shutter Control

The Z15-GH4 gimbal can transform a TX command into a shutter control signal. Select a 2-position switch/

channel to use for remote shutter control.

First, make sure the shutter control cable is correctly connected.

Then, for whichever 2-position switch you select, connect the correct receiver channel to the SHUT port. 

Toggling the 2-position works as follows:

Position-1 Position-2: Start recording 

Position-2 Position-1: Stop recording

Position-1 Position-2: Resume recording

Set the camera to “Creative video” so the shutter can be used to record video. One toggle switch is 

used for starting and stopping recording.

If the shutter control does not work correctly, please check each step.

$BNFSB4IVUUFS

$POUSPM$BCMF

)%.*)%"7$BCMF

Camera Wiring and Shutter Control

2-Positon 

Switch

3-Positon 

Switch

3-Positon 

Switch
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Zenmuse Z15-GH4 (HD) User Manual

Mounting a GH3 Camera onto the Z15-GH4

Mount a GH3 camera onto Z15-GH4 gimbal with the included HDMI cable made specifically for a GH3 

camera. Follow the steps below to complete the mounting process: 

1. Loosen the screws on the HDMI cap.

Mounting a GH3 Camera onto the Z15-GH4

2. Unplug the GH4 HDMI cable from the board. Then plug the specified HDMI cable for a GH3 camera into 

the board. Be aware of the HDMI cable connection. Ensure that the connector is used as shown below:

3. Re-install the HDMI cap and tighten the screws to finish.

Screw

HDMI Cap

Board

HDMI cable for GH3

The following diagram shows how the shutter control works.

TX

2-Position Switch

TX Command TX Command TX Command

Wireless

RC Receiver

3-Pin Cable Internal Cable

HDMI-HD/AV 

Module

Gimbal 

Camera 

GCU

Shutter Button

2-Position 

Switch Channel SHUT

Camera Shutter Control Cable
©2015 DJI. All Rights Reserved. 13

Video Signal Transmission

AV Video Power Cable

Wireless Video Transmission Module

Air Unit

Connect to the power source according to the 

module’s voltage and current requirements.

ROLL

TILT

PAN

MODE

SHUT

AUX1

AUX2

AUX3

GCU

Wireless Video 

Transmission Module

Air Unit

Video Signal Port

 G7

ROLL

TILT

PAN

MODE

SHUT

AUX1

GCU

Yellow

Video Signal Port

 G7

Power

Video Signal

GH4-HD

GH4 -HD 14V

52V

14V

52V

AV Video Power Cable

Wireless Video Transmission Module

Air Unit

Connect to the power source according to the 

module’s voltage and current requirements.

AUX3

ROLL

TILT

PAN

MODE

SHUT

AUX1

AUX2

AUX3

GCU

Yellow

Video Signal Port G7

Power

Video Signal

GND

GH4 -HD 14V

52V

Video Signal Transmission

A wireless video transmission module is required for remote video.

A. AV Wireless Video Transmission

1. Solder the AV Video Signal and GND cables to the wireless video transmission module (Air Unit) as shown above.

2. Plug the AV video power cable into the GCU’s G7 port.

3. Toggle the HD/AV Switch to the AV position. (See Page 7 for the location of the HD/AV Switch)

4. Power on the gimbal. If the gimbal LED indicator blinks yellow, it is functioning normally. If the LED indicator 

shows a continuous, unblinking yellow light, the video signal is lost. Check the connections between the 

camera and the HDMI video input.

Complete the connection between the wireless video transmission module and the GCU before 

powering on the gimbal.

A standard AV video power cable is recommended.

Be sure to solder the AV video power cable to the wireless video transmission module correctly. As the 

cable carries power, ensure the cables are insulated or wrapped to prevent a short circuit.

Connect the wireless video transmission module to a power source, as the GCU cannot supply power. 

Make sure the power source provides a safe voltage for your own devices, according to the wireless 

video transmission module’s requirements.

B. DJI iOSD Mark II and AV Wireless Video Transmission

1. Connect the iOSD Mark II cable to the GCU’s G7 port.

2. Complete the other connections between the iOSD Mark II cable and the wireless video transmission 

module, according to their manuals.

3. Toggle HD/AV Switch to the AV position. (See Page 7 for the location of the HD/AV Switch)

4. Power on the gimbal. If the gimbal LED indicator blinks yellow, it is functioning normally. If the LED indicator 

shows a continuous, unblinking yellow light, the video signal is lost. Check the connections between the 

camera and the HDMI video input.
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Zenmuse Z15-GH4 (HD) User Manual

This example is based on a Z15-GH4 gimbal and the A2 flight control system.

1. Connect the Gimbal Port on the Lightbridge Air System to the G7 port on the Z15-GH4 GCU using the 

supplied HD video power cable (7-pin cable).

2. Connect the DBUS port on the Lightbridge Air System to the DBUS port (X2 port) on the A2 flight control 

system. Toggle the HD/AV switch to the HD position.

3. Refer to the Lightbridge and A2 flight control system manuals to complete the connection.

The HD video power cable is included with the Z15-GH4 gimbal. To transmit gimbal and aircraft 

signals, connect the RC receiver to the DJI Lightbridge ground system when connecting the GCU.

Always connect the wireless video transmission module to the GCU before powering on.

A standard HD video power cable (7-pin cable) is recommended.

Complete the other connections according to the Lightbridge user manual.

If the gimbal LED indicator blinks red continuously, please power cycle the gimbal. (Power it off, 

then power it back on)

If the video signal does not transmit, check each step.

Make sure to connect the wireless video transmission module and the iOSD Mark II cable to the GCU 

before powering on.

C. DJI Lightbridge Air System

Camera

HDMI

HDMI signal

HDMI-HD/AV cable

HD/AV signal

Monitor

Input

GH4 Gimbal

7-Pin Cable

Self-prepared by user

Wireless video 

transmission module

Air unit

Wireless signal

5.8G/2.4G/1.2G

Ground unit

Wireless video 

transmission module

10-Pin to 9-Pin Cable

HD/AV signal HD/AV signal

GCU

G9 G7

GCU

GH4
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GCU Wiring

GCU Wiring

The gimbal should be used with A2/WKM flight control system. The GCU wiring is based on WKM.

For WKM, connect to any spare CAN-Bus port of the flight control system via a CAN-Bus cable.

GCU Wiring

WKM

Please refer to your WKM User Manual for all connection and configuration details.

Gimbal Control Unit (GCU)

1. Make sure all ports are accessible when installing your MC so as to facilitate wiring and software configuration.

2. In 3-pin ports, the pins near the nicks are the signal pins.

3. Use the 6-pin cable for the G6 port, and the 10-pin to 9-pin cable for the G9 port. 

4. DO NOT cover the heat sinks, and keep them unobstructed at all times.

5. The IMU module is NOT waterproof or oil proof.

RC Receiver

1. The diagram on the previous page shows example connections. The aircraft signal will transmit through the DJI 

Lightbridge ground system. After connecting to the Lightbridge, it is not necessary to connect with the RC receiver.

2. Prepare 2 TXs, one for gimbal control, and the other for aircraft control. Refer to the 2-Pilots Solution for more detail.

3. If only one receiver is used for both aircraft and gimbal control, refer to the 1-Pilot Solution for more detail.

4. Setup the Aileron, Elevator, and Rudder channels on the gimbal control TX. The command stick will control 

gimbal rotation velocity. The center position is 0, and the end point is maximum velocity in both clockwise 

and counter clockwise directions. (The end point is 100%)

5. Choose one 3-position switch/channel to use as the Z15-GH4 Working Mode switch. (MODE)

6. Choose one 2-position switch/channel to use as the camera shutter control switch (SHUT), and another 

2-position switch to use as the camera lens orientation switch in Reset Mode (AUX2).

7. Please refer to the WKM User Manual for aircraft control settings. Connect the receiver to the GCU correctly.

When using with A2 latest firmware version 2.5, all of the gimbal channels can be setup through the A2 

receiver. Refer to A2 User Manual for details.

Turn to next page to obtain the 

correspondence between the GCU 

channels and S-Bus/PPM channels. 

Battery 

Connect the XT60 to the GIMBAL on center frame if S800 EVO used.

Attention that S800 EVO power supply voltage should be within the defined limits (6S), when 

using one battery for both S800 EVO and Gimbal power supply. 

Refer to S800 EVO User Manual for details.

ROLL

TILT

PAN

MODE

SHUT

AUX1

AUX2

AUX3

WKM

•

•

•

S-Bus

PPM

2-Position Switch 

2-Position Switch 

3-Position Switch 

2-Position Switch 

2-Position Switch 

2-Position Switch 

3-Position Switch 

2-Position Switch 

USB Port

PC connection for configuration and 

firmware upgrades with an USB cable.

Ensure the side with copper contacts is 

facing upward towards the heat sinks.

RC Receiver

(Aircraft control)

Battery

(4S~12S)

Wireless Video 

Transition Module

Air Unit

RC Receiver

(JR)

8 Channels

RC Receiver

(Futaba/Hitec)

8 Channels

S-BUS Receiver 

(Futaba)

PPM Receiver

OR

OR

OR

GH4 HD

G7

G9 G6
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Zenmuse Z15-GH4 (HD) User Manual

GCU Ports

The following table shows the connections between the GCU channels and the relevant TX channels. 

TX Channels GCU Channels Indications

JR Futaba/Hitec

AILE 1 ROLL For roll axis control (left/right). Velocity is zero if disconnected.

ELEV 2 TILT For tilt axis control. Velocity is zero if disconnected.

RUDD 4 PAN For pan axis control. Velocity is zero if disconnected.

AUX2 7 MODE For Working Mode switch.

2-position switch channel SHUT For camera shutter control (both taking photos and recording 

video are available). Off if disconnected.

2-position switch channel AUX1 Reserved channel.

2-position switch channel

Or Futaba S-Bus channel AUX2

When AUX2 is connected to a 2-position switch channel, it 

is used as a camera orientation (down or forward) switch 

in FPV Mode (Reset). The camera orientation is forward if 

disconnected.

Or if you are using a S-Bus receiver, connect the recever to the 

AUX2 port.

PPM channel AUX3 If you are using a PPM receiver, connect the receiver to the AUX3 port.

The following table shows the corresponding relationship between the GCU and the S-Bus/PPM channels.

S-Bus/PPM Channels GCU Channels S-Bus/PPM Channels GCU Channels

1 ROLL 5 SHUT

2 TILT 8 AUX1

4 PAN 9 AUX2

7 MODE 6 AUX3

Working Mode/AUX2 Switch Setup

Working Mode/AUX2 Switch Setup

Working Mode Switch Settings

Whichever 3-position switch you select to use as the Working Mode switch, wire the relevant channel from 

the receiver to the MODE port. At each switch position, use end-point fine tuning to set channel AUX2(JR) or 

7(Futaba/Hitec) for all three Working Modes:
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Zenmuse Z15-GH4 (HD) User Manual

Orientation-locked Back to center

FPV (Reset) MODE channel end-point 60%~90% 

Non orientation-locked MODE channel end-point 60%~90%

The gimbal will work in Orientation-locked mode if the MODE channel is disconnected.

FPV mode is the default startup mode when the MODE channel is connected.

The Working Mode from the previous power cycle will be retained if the cable between MODE and 

the RC receiver is disconnected during operation.

For a 3-position switch, you may assign:

2-Positon 

Switch

3-Positon 

Switch

3-Positon 

Switch

 

Position-1 to Non orientation-locked

Position-2 to FPV Mode (Reset)

Position-3 to Orientation-locked

Position-1 and Position-3 can be inversely assigned.

One 2-position switch can be assigned for any two of the working modes, if preferred.

AUX2 Switch Settings

The Z15-GH4 supports toggling the camera lens down or forward in FPV Mode (Reset). Please choose a 

2-position switch for this function and wire the relevant channel of the receiver to the AUX2 port. You may 

assign: Position-1 to DOWN; Position-2 to FORWARD; or reverse the assignment.

2-Positon 

Auto-calibration Function

Switch

3-Positon 

Switch

3-Positon 

Switch

This function will only work in FPV Mode (Reset).

When this function is active, if the Working Mode is ever changed to FPV Mode (Reset), the gimbal 

will force the camera lens to face forward or down, depending on current the location of the AUX2 

switch.

The camera orientation is forward if AUX2 is disconnected.

If AUX2 is connected to a Futaba S-Bus channel, it is then used as the input channel for S-Bus 

control.

Auto-calibration Function

The auto-calibration function is new to the Z15-GH4 (HD) gimbal. The function is designed to help reduce 

vibrations that may be caused by gimbal sensor drift. 

You can use the auto-calibration function when the following conditions are met:

1. The aircraft is on a flat, level surface.

2. The landing gear is parallel to the aircraft IMU.

3. The gimbal and aircraft initialization is complete and the gimbal is properly connected to the flight control 

system.
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Zenmuse Z15-GH4 (HD) User Manual

PC Assistant Tuning

PC Assistant Tuning

Installation and Usage

1. Ensure the most recent drivers are installed correctly. This should have been done before using the A2 or 

WooKong-M software.

2. Download the appropriate Assistant installer from DJI.com.

3. Double click the Assistant installer and follow the steps to finish the installation.

4. Run Assistant.

5. Upgrade the firmware or configure parameters using Assistant as needed.

The Assistant installer can be used on Windows XP, Win7, and Win8 (32 or 64 bit).

Basic Setting

You can set transmitter channels for roll, tilt and pan control, and also switch between working modes 

during flight. Move your cursor to each area or refer to this manual for more details.

To use the auto-calibration function:

1. Quickly flip the MODE channel switch up and down. After about three seconds, the gimbal will buzz twice 

and then begin auto-calibration. 

2. This process will take approximately 30 seconds. Do not touch the gimbal or the aircraft during this time. 

3. When the gimbal buzzes four times, auto-calibration is complete. You can resume normal operation of the 

gimbal after one minute.

During the auto-calibration process, ensure that the gimbal rotates freely, without obstruction or 

interference.
©2015 DJI. All Rights Reserved. 19

Zenmuse Z15-GH4 (HD) User Manual

PC Assistant Tuning

Upgrade

You can view the latest firmware version information on this page. Upgrade the firmware by following the 

steps below:

1. Connect the gimbal to your computer with a Micro-USB cable, and wait until the blue indicator LED in the 

Assistant software is blinking.

2. Click “Upgrade”.

3. Wait for the download to finish.

4. Click “Upgrade” again and then click “Confirm”.

5. Power cycle the gimbal (turn it off, then on again) after the upgrade is complete.

Ensure your computer is connected to the internet.

Close any antivirus programs and network firewalls during the upgrade.

Ensure the gimbal is powered on during the upgrade.

Do not disconnect the USB cable during the upgrade.

Info

You can check the Assistant version via Info.

S/N is a 32 digit authorization code for function activations. The authorization code for your unit is filled in at 

the time of manufacture. In the future, you may be asked to fill in a new S/N if you require function upgrades. 

Fill in the S/N and then click the Write button. If you fill in an invalid S/N more than 30 times, your gimbal will be 

locked and you will have to contact our customer support.
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Zenmuse Z15-GH4 (HD) User Manual

Pre-Flight Check

Ensure the gimbal is properly installed and attached to the landing gear, and that the camera is 

mounted correctly and securely.

Before powering on, spin the gimbal through its complete rotation by hand on each axis to ensure 

nothing is blocking its movement.

Ensure all cables are connected correctly, without any plugged in backwards or into the wrong ports.

Ensure the AV video power cable is properly soldered and shielded if an AV video transmission module 

is used.

Verify TX settings.

Ensure the camera shutter control cable is correctly mounted.

Ensure the camera menu options and settings are correct.

Verify a proper connection between the GCU and the RC receiver.

Verify a proper connection between the GCU and the flight control system.

Ensure the latest Flight Control System Main Controller firmware is installed.

Refer to the Gimbal LED Indicator section in the Appendix to understand the connection status 

between the camera and gimbal.

Refer to the Troubleshooting section in the Appendix if an abnormal situation occurs.

Pre-Flight Check
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Zenmuse Z15-GH4 (HD) User Manual

Flight Test

1. Ensure the batteries are fully charged for your TX, GCU, and all of the other devices on your aircraft.

2. Make sure all connections and wiring are in good condition.

3. Switch on the TX.

4. Adjust the camera to a level position on the roll axis of the gimbal.

5. Power on the gimbal and wait for the self initialization test to complete. The roll, pan and tilt axis will rotate 

quickly at the same time.

6. After self-initialization, the camera lens will point towards the aircraft’s nose and each axis of the gimbal 

should be in the position illustrated above.

7. The gimbal will then go into a second stage of initialization. At this time, each axis will rotate very slowly.

8. Once each axis stops moving, the gimbal is fully initialized and ready to use.

9. Toggle the assigned Working Modes switch on your TX and make sure it is working properly.

10. Switch the Working Modes to Non orientation-locked, FPV Mode (Reset), and Orientation-locked Mode 

respectively. Then push the controller sticks lightly in the Roll, Tilt and Pan directions to check that the 

gimbal moves in the corresponding directions. If not, see Working Mode/AUX2 Switch Setup to correct 

your settings.

Power off the camera during the initialization. 

If the gimbal does not match the diagram after initialization, please refer to the Troubleshooting

section in Appendix.

Pre-Flight Check
22 ©2015 DJI. All Rights Reserved.

Appendix

Attention

For safety reasons, please pay careful attention to all of the following items:

1. To avoid motor damage, ensure nothing blocks the servo drive module’s total range of movement.

2. Before powering on, spin the gimbal through its complete rotation by hand on each axis to ensure nothing 

is blocking the mechanical movement of the gimbal. 

3. Be sure to mount the side of servo drive module 1 with the ports facing towards the aircraft tail.

4. The gimbal’s center of gravity has been preset. The gimbal balance is directly related to its performance. 

Please do not adjust the gimbal’s center of gravity by yourself.

5. The gimbal is a sophisticated device. Do not remove any screws from the gimbal. Doing so may result in 

poor performance or even damage.

6. Do not unplug any cables attached to the gimbal ports or change the mechanical structure.

7. Make sure all wiring is correct, otherwise the gimbal may not operate correctly or efficiently.

8. Make sure to connect the wireless video transmission module to the GCU prior to powering on the system.

9. We recommend use of the included AV video power cable, if needed.

10. Be sure to solder the AV video power cable to the wireless video transmission module correctly. Ensure 

the cables are insulated and protected to prevent any type of short circuit.

11. Pay close attention to the voltage of S800 EVO/S1000 and be sure it is within the defined limits (6S) when 

using one battery for both the S800 EVO/S1000 and as a power supply for the gimbal.

12. Never touch the contact points of a power cable to the gimbal; this may lead to a short circuit of the 

gimbal, resulting in complete failure.

13. Before powering on, adjust the roll axis of the gimbal to be level.

1-Pilot Solution

14V

52V

Flight Controller(DJI WooKong-M)

GCU

ROLL

TILT

PAN

MODE

SHUT

AUX1

AUX2

AUX3

Gimbal Control Unit(GCU)

3-Position Switch 

3-Position Switch 

3-Position Switch 

3-Position Switch 

2-Position Switch 

2-Position Switch 

2-Position Switch 

3-Position Switch 

14 Channels Receiver(Futaba) 

Gimbal Control

Flight Control

Transmitter 

GH4-HD

Appendix
©2015 DJI. All Rights Reserved. 23

Zenmuse Z15-GH4 (HD) User Manual

1. Prepare one 14-channel TX/RC receiver for the aircraft and gimbal control. Above is an example of the 

wiring configuration.

2. Setup the Aileron, Elevator, Throttle, and Rudder channels on your TX for aircraft roll, elevator, throttle, and 

rudder control. Also, connect the TX’s AUX2 for aircraft control modes (Please refer to your Flight Control 

System’s user manual).

3. Choose three 3-position switches to use for the gimbal ROLL, TILT, and PAN rotation control. The center 

position of each switch is 0 velocity, and the end point positions are maximum velocity.

4. Choose one 3-position switch/channel as the gimbal’s Working Modes switch (MODE).

5. Choose one 2-position switch/channel as the camera shutter control switch (SHUT). 

6. Connect the receiver to the GCU and Flight Control System Main Controller correctly.

2-Pilot Solution

OR

OR

OR

S-Bus

PPM

GCU

ROLL

TILT

PAN

MODE

SHUT

AUX1

AUX2

AUX3

RC Receiver A

Gimbal Control Unit(GCU)

Transmitter A

Gimbal Control

Flight Controller 

RC Receiver B

RC Receiver

(JR)

8 Channels

RC Receiver

(JR)

8 Channels

S-Bus

Transmitter B

OR

OR

DJI WooKong-M Flight Controller 

RC Receiver

(Futaba/Hitec)

8 Channels

RC Receiver

(Futaba/Hitec)

8 Channels

S-BUS Receiver 

(Futaba)

S-BUS Receiver 

(Futaba)

PPM Receiver

2-Position Switch 

2-Position Switch 

3-Position Switch 

2-Position Switch 

2-Position Switch 

2-Position Switch 

3-Position Switch 

2-Position Switch 

GH4-HD 14V

52V

 Two transmitters and two receivers are required.

 Transmitter A and receiver A are used to control the gimbal.

 Transmitter B and receiver B are used to control the aircraft.

Make the connections as shown in the diagram below:

Appendix

Please refer to the GCU Wiring section for more details.
24 ©2015 DJI. All Rights Reserved.

Zenmuse Z15-GH4 (HD) User Manual

Port Descriptions 

GCU

ROLL For roll axis control 

TILT For tilt axis control 

PAN For pan axis control 

MODE For Working Mode switch

SHUT For camera shutter control

AUX1 Reserved channel

AUX2 For Gimbal Orientation (down or forward) switch in FPV Mode ; S-Bus Receiver

AUX3 PPM Receiver

G7 1. Connect to the wireless video transmission module, for transmitting AV or HD signals

2. Connect to DJI Lightbridge, for transmitting HD, gimbal and aircraft control signals

XT60 Connect to the battery (or to GIMBAL if DJI S800 EVO is used)

G6 Connect to Gimbal, for transmitting motor commands 

G9 Connect to Gimbal, for transmitting the video signal 

Micro-USB port: for PC connection (Assistant configuration and firmware upgrades)

CAN-Bus port: Use CAN-Bus to connect GCU to the flight control system

Gimbal

HDMI-HD/AV Port To Camera HDMI port

Motor Command Input Port To GCU G6

10-Pin to 9-Pin Cable Port To GCU G9

Gimbal LED Indicator

Description LED Indicator

HD mode, HDMI-HD/AV module transmits normally LED is blinking green.

HD mode, without camera HDMI video input Green LED is solid on.

HD mode, DJI Lightbridge App video source has been set 

to “HDMI/AV” Yellow LED is solid on.

AV mode, HDMI-HD/AV module transmits normally LED is blinking yellow.

AV mode, without camera HDMI video input Yellow LED is solid on.

HD video transmission module and gimbal is disconnected LED is blinking red.

Appendix
©2015 DJI. All Rights Reserved. 25

Zenmuse Z15-GH4 (HD) User Manual

Troubleshooting

NO. The Problem The Cause What to Do

1 The gimbal keeps drifting 

after initialization.

(1) The TX trims are too high.

(2) The GCU and Flight 

Control System have 

been disconnected.

(3) The gimbal direction is 

not pointing in the same 

direction as the aircraft’s 

nose.

(1) Adjust the TX trims.

(2) Connect the GCU and Flight 

Control System.

(3) Ensure the gimbal direction is 

pointing in the same direction 

as the aircraft’s nose.

2

The gimbal is in an 

incorrect position after 

initializing.

Abnormal calibration after 

manufacturing.

Please contact your local dealer 

or DJI customer service.

3

Cannot distinguish the 

gimbal’s direction when in 

use.

BVR (Beyond Visibility 

Range) flight.

Switch to FPV Mode first, then 

to another Working Mode as 

needed.

4 The gimbal LED is blinking 

red.

(1) There is a disconnected 

cable between the gimbal 

and camera. 

(2) The camera is off.

(3) Camera setup failure.

(1) Make sure all cables are 

securely connected.

(2) Power on the camera.

(3) Set the HDMI resolution to 

1080i.

5

The gimbal’s green or 

yellow LED is continuously 

on, but no video is 

displayed.

(1) The HDMI-HD/AV 

transmission module is 

disconnected from the 

camera.

(2) The camera is powered off.

(3) In HD mode, the DJI 

Lightbridge App video 

source has been set to 

“HDMI/AV”.

(1) Check HDMI-HD/AV 

transmission module 

connection.

(2) Power on the camera.

(3) Change the DJI Lightbridge 

App video source to "HD 

Gimbal".

Appendix
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Zenmuse Z15-GH4 (HD) User Manual

Specifications

General

Built-In Functions Three Working Modes 

Orientation-locked control 

Non orientation-locked control

FPV mode (Reset)

 Built-in independent IMU module 

DJI gimbal special servos drive module

 HDMI- HD/AV module

 Wireless video transmission 

supported

 Camera shutter control supported

 Wide range voltage input 

supported

 S-Bus/PPM Receiver supported

Peripheral

Supported Camera Panasonic GH4/GH3

Supported Lens OLYMPUS M.ZUIKO DIGITAL ED 12mm f2.0

GCU Input Power 4S~12S LiPo (Recommend 6S if with S800 EVO or S1000)

Control Requirement At least four spare receiver channels

Assistant Software System 

Requirements

Windows XP SP3; Windows 7; Windows 8 (32 or 64 bit)

Mechanical & Electrical Characteristics

Working Current Static current: 200mA (@25V)

 Dynamic current: 400mA (@25V)

 Locked-rotor current: 4A (@25V)

Operating Temperature -10°C ~ 50°C

Weight 1.26Kg

Dimensions 233mm x 210mm x 192mm

GCU Weight 63g

GCU Dimensions 64.2 mm × 34.1mm × 19.5mm

Working Performance

Load Weight (Reference Value) 690g(@Panasonic GH4 with OLYMPUS M.ZUIKO DIGITAL ED 12mm f2.0, 

Battery and SD Card)

Controlled Angle Accuracy ±0.01°

Maximum Controlled 

Rotation Speed*

Pan axis: ±130°/s

Tilt axis: ±130°/s

Roll axis: ±30°/s

Controlled Rotation Range Pan axis control: ±360° continuous rotation 

Tilt axis control: +50°/-140°

Roll axis control: ±40° 

Note*: Gimbal’s Maximum Controlled Rotation Speed corresponds to TX stick input pushed to 100% end-points.

Appendix

User manual is subject to change without prior notice.

http://www.dji.com/product/zenmuse-z15-gh4-hd/download

You may visit DJI offical website to obtain the latest version of user manual.

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