©2012 DJI Innovations. All Rights Reserved.

Naza for Multi-Rotor

User Manual

V 2.7

2013.03.22 Revision

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

Warning & Disclaimer

Naza is an excellent autopilot system offering tremendous flight features for low altitude multi-rotor working in 

restricted space compared to normal helicopter. It is not a toy when installed in multi-rotors of any size. 

Please respect the AMA’s National Model Aircraft Safety Code. Despite our efforts in making the controller to 

operate in the safest manner when the main power battery is connected, such as: disabling MC signal to 

ESCs when USB is connected; disabling throttle input and stick command when throttle stick is not at the 

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

system or flight pack battery, and keep children away during system calibration, firmware upgrade and 

parameter setup. DJI Innovations assumes no liability for damage(s) or injuries incurred directly or indirectly 

from the use of this product. Please strictly follow these steps to mount and connect Naza on your multi-rotor, 

as well as to install the assistant software on your computer.

DJI and Naza is registered trademark of DJI Innovations. Names of product, brand, etc., appearing in this 

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

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

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

is assumed with respect to the use of the product or information contained herein.
©2012 DJI Innovations. All Rights Reserved. 3

Product Profile

Naza for multi-motors is an autopilot system designed for serious multi-rotor enthusiasts providing excellent 

self-leveling and altitude holding, which completely takes the stress out of flying RC multi-rotors for both 

professional and hobby applications. Naza can be installed in a variety of models from quad-rotor to 

hexa-rotor.

No GPS Atti. Mode without GPS module

Naza Control Modes

GPS Atti. Mode Atti. Mode Manual Mode

Rudder Angular 

Velocity

Maximum rudder angular velocity is 200°/s

Command Stick 

Meaning

Multi attitude control; Stick center position for 0 ̊ 

attitude, its endpoint is 45 ̊.

Max-angular velocity is 150°/s. 

No attitude angle limitation and 

vertical velocity locking.

Command 

Linearity

YES

Stick Released

Lock position if GPS 

signal is adequate.

Only attitude stabilizing. NOT Recommend

Altitude Lock

Maintain the altitude best above 1 meter from 

ground.

NO

GPS Lost

When GPS signal 

has been lost for 

10s, system enters 

Atti. Mode

automatically.

Only performing attitude 

stabilizing without 

position lock.

---

Safety

Attitude & speed mixture control ensures 

stability Depends on experience.

Enhanced Fail-Safe Auto Level Fail-Safe

Applications AP work Sports flying. ---
©2012 DJI Innovations. All Rights Reserved. 4

In The Box

Main Controller (MC) ×1

The Main Controller (MC) is the brain of the system, it communicates 

with all ESCs and RC transmitter to carry out the autopilot functionality. 

It has a built-in Inertial Measurement Unit (IMU) consists of one 3-axis 

accelerometer, one 3-axis gyroscope and a barometer for sensing the 

attitude and altitude.

Versatile Unit (VU) ×1

Specially designed for Naza. It solves the high power consumption 

problem of multi-rotor system, supply and monitor power for Naza and 

other electronic devices. It also has an LED to indicate different 

operating states of Naza and a USB interface for configuring the Naza

unit and firmware upgrade.

Optional GPS & Compass Module ×1

The GPS/Compass module is for sensing the position and direction.

Optional GPS Bracket ×1

Because the GPS & Compass are sensitive to magnetic interference, you should use this bracket to mount 

the GPS module.

USB Cable ×1

This cable is used to configure MC and upgrade firmware.

3-PIN Servo Cable ×8

Cables used to connect the MC and the receiver.

3M Gummed Paper ×4

Used for fixing Naza components on multi-rotor’s frame.
©2012 DJI Innovations. All Rights Reserved. 5

Contents

WARNING & DISCLAIMER............................................................................................ 2

PRODUCT PROFILE ...................................................................................................... 3

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

CONTENTS .................................................................................................................. 5

MATTERS THAT NEED ATTENTION................................................................................ 6

ASSEMBLY................................................................................................................... 8

ASSISTANT SOFTWARE................................................................................................. 9

SOFTWARE AND DRIVER INSTALLATION.......................................................................................9

GUI....................................................................................................................................9

FIRMWARE UPGRADE...........................................................................................................11

PRODUCT INFO & UPGRADE ..................................................................................................11

CONFIGURATION....................................................................................................... 12

1 MOUNTING.....................................................................................................................12

2 MOTOR MIXER ................................................................................................................13

3 TX MONITOR ...................................................................................................................15

4 AUTOPILOT......................................................................................................................20

5 GIMBAL ..........................................................................................................................27

6 VOLTAGE MONITORING .....................................................................................................29

FLIGHT ...................................................................................................................... 32

DIGITAL COMPASS CALIBRATION ............................................................................................32

FLY TEST ............................................................................................................................34

FLY WITH GPS ....................................................................................................................36

APPENDIX ................................................................................................................. 37

FIX THE TBE (TOILET BOWL EFFECT) PROBLEM .........................................................................37

IMU CALIBRATION ..............................................................................................................38

MULTI-ROTORS SUPPORTED ..................................................................................................39

PORT DESCRIPTION..............................................................................................................40

LIGHT DESCRIPTION .............................................................................................................41

RECOMMENDED SETTINGS ....................................................................................................42

SPECIFICATIONS ..................................................................................................................43
©2012 DJI Innovations. All Rights Reserved. 6

Matters That Need Attention

For safety reasons, please pay serious attention to all following items:

1. For big aircraft that is larger than 650 or with heavy load, WKM is recommended.

2. When aircraft is set-up with all of the equipment that you are going to use, please ensure the 

aircraft center of gravity is on the center Line of the frame, this is for aircraft with its load is in 

the vertical direction of frames center.

3. When MC mounted, try your best to mount the MC at the center of the frame, and do not mount 

the MC upside-down. Make sure MC is parallel to the aircraft horizon, so as to prevent the 

aircraft from drifting in horizontal direction.

4. Make sure the MC ESC ports is pointing to the aircraft nose direction, otherwise serious 

damage will occur to your aircraft.

5. Disconnect ESCs and battery or remove all propellers during firmware upgrade, configuration 

and system setup!

6. You have to reboot MC and redo the Tx calibration after you change anything on the RC system.

7. In the Tx Calibration of assistant software:

 Throttle: Slide left is craft down, slide right is craft up;

 Rudder: Slide left is nose left, slide right is nose right; 

 Elevator: Slide left is craft back, slide right is craft front; 

 Aileron: Slide left is craft left, slide right is craft right.

8. When powering up the Craft, Make sure you turn on the Transmitter switch first, then Plug in the 

FC Battery power on multi-rotor before takeoff! After your Flying Session and you want to 

power down, make sure you Remove Power to the multi-rotor first, and then switch off the 

transmitter!

9. Whether you are using gimbal control in assistant software or not, there is always power output 

from F1 and F2 ports. Do not connect these ports to any ESCs which are wired with propellers 

and motors.

10. Do NOT set the failed-safe position of throttle under 10% of endpoint.

11. Throttle stick position should always be higher than 10% from cut-throttle during the flight!

12. The NAZA-M has Low voltage protections! If you are seeing a Red Flashing light, you should 

land your multi-rotor ASAP to prevent your multi-rotor from crashing or other harmful 

consequences!

13. when using the (Immediately mode) to stop the motors, this is in any control mode, once the 

motors start and throttle stick is over 10%, When the throttle stick lowered below 10% the 

motors will stop immediately .But if you push the throttle stick over 10% within 5 seconds after 
©2012 DJI Innovations. All Rights Reserved. 7

motors stop, the Motors will re-start; Combination Stick Command (CSC) is not needed. If you 

don’t push throttle stick after motors start in three seconds, motors will stop automatically. 

14. By using Intelligent mode to stop motors, the motors will start or stop immediately when you 

execute CSC. During normal flight conditions, you only have pull throttle stick under 10% will 

not stop the motors in any control mode. You have to execute CSC to re-start motors if the 

motors stop during the flight.

15. Red light quick blinking indicates battery voltage is low, please land ASAP.

16. Do NOT move any command sticks during system start and self-check! Please contact us if the 

last four green blinks are abnormal.

17. GPS/Compass is sensitive to magnetic interference; you should be as far away from any 

electronic devices as possible.

18. Do not fly in GPS Mode when the signal is not good (red light blinks)!

19. GPS module is optional (Nonstandard). If you are using the GPS module, please read the 

Instructions about GPS matching in indicators; users without the GPS module can skip 

contents about GPS.

20. If users set GPS Atti. Mode in Control Mode Switch without connecting to GPS module, the M.C. 

will switch GPS Atti. Mode into Atti. Mode automatically, and LED indicator will Blink yellow.

21. If you are working in the Fail-Safe Mode, with GPS on, the aircraft motors will auto Automatticly 

shut off when the craft has landed; without GPS the aircraft will not auto shut off when landed.

22. The receiver should be installed under the bottom board of center frame, and the head of 

antenna is downward without any obstacles, this will help prevent any signal loss during flight 

and the aircraft will be out of control, since the Radio signal may be lost by the obstacle.

23. Make sure all connections are correct and attachment contacts are in good condition before 

flight.

24. Keep wireless video transmission equipment a distance away from the main controller (>25cm), 

to prevent the main controller from getting any interference from the Wireless Video 

Transmitter.

25. If you use a gimbal, please make sure that the working current of the servos should not exceed 

the power supply capacity of the VU; otherwise, it may cause the VU safeguard and lead to the 

main controller reboot. Refer to the Specification section in the Appendix to get more VU 

parameters.
©2012 DJI Innovations. All Rights Reserved. 8 

Assembly

接电调

接云台

F1

F2

接电调

接云台

VU · Do not mount it on any other electronic devices. Make sure You can see the LED light during the flight. · If use with DJI multi-rotor, you can solder the VU power cable to power pads on frame bottom board. Please refer to DJI multi-rotor manual for details. · If use with 3rd part multi-rotor, you can make a connecter by yourself to connect VU, ESCs and battery. · Sufficient air flow over the VU is highly recommended.

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

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

Aircraft Nose

R/C System These are example connections. Please setup Ai leron, Elevator, Throttle, Rudder channels on your Tx first, and choose one 2 positions switch/channel (3 positions switch with GPS) as control mode switch, then connect your receiver to the right ports on MC.

R/C Receiver (JR) RUDD

THRO AILE ELEV

R/C Receiver (Futaba / Hitec)

1

2

3

4 Futaba S-Bus S-Bus 2/3-position switch channel

Optional

ESC M1-6

To Battery ESCs, Motors · Motors and ESCs in DJI multi-rotor kit are recommended. · Please make sure you are using the ESCs and motors recommended by the manufacturer of your multi rotor first. NAZA output is 400Hz refresh frequency. · Connect all ESCs to MC by the motor numbering method introduced in Multi-Rotors Supported of Appendix. · If you use 3rd party ESCs, please make sure the ESCs travel midpoint is at 1520us. DO NOT use 700us travel midpoint ESC, as it may lead aircraft to fly away or cause injury and damage. After connect ESCs to motors, calibrate all your ESCs one by one through the receiver directly before connect them to your MC, Make sure program all of them into Governor off, Break off and Normal Start up to get best experience.

Roll Pitch

2/3-position switch channel

Important: the continuous output of the VU is 3A@5V, and the maximum instant current is 7.5A. If the V U cannot afford the working current for your servos, please use an independent power supply; otherwise, it may cause the V U safeguard and lead to the main controller reboot.
©2012 DJI Innovations. All Rights Reserved. 9

Assistant Software

Software and Driver Installation

STEP1: Please download assistant software and driver from our website. Then decompress.

STEP2: Connect MC and PC via USB cable, power on MC.

STEP3: If operating system tries to install driver automatically, cancel it.

STEP4: Open folder DJI_USB_Driver, follow the Driver Installation Manual strictly to finish installation.

GUI

1 5 2 6 3 4 9

13 14 12 11 10

7 8

15 1 TOOL

 Calibration: For gyroscope calibration and acceleration checking.

 Firmware upgrade: Always check for any updates of your firmware from Website, This will keep 

your autopilot system up-to-date.

 Disable All Knob
©2012 DJI Innovations. All Rights Reserved. 10

 Check for Updates: Check out the latest versions of assistant software and firmware. If it needs 

updating, please follow the links displayed to find the download page.

2 ABOUT

 Info: Information regarding your product.

 Error Code

3 中文: Chinese interface.

4 ENGLISH: English language interface.

5 EXPORT: Export configure data.

6 IMPORT: Import version compatible configure data.

7 WRITE: This will write data of the current page to your MC. The parameter or the title of which will turn 

red and bold when modified, make sure you click the Write button or press Enter to update your system. 

Optional parameters will be written to MC directly after modification.

8 READ: read parameters from MC for current page.

9 Graphic guidance

10 Text guidance

11 CONTROL MODE: Control mode indication.

12 MC Output On Indicate there are outputs to ESCs; when communication is established between MC 

and assistant software via USB cable, MC Output Off appears, it indicates there are no outputs to 

motors, then you can configure your multi-rotor with assistant software more safely!

13 Red light: MCPC has been disconnected.

Green light: MCPC has been connected.

Blue light: MCPC is communicating.

14 Here you can find all the configuration contents in Configuration chapter

15 Configuration step.

Notices:

 Please power the MC first, then connect your MC to a internet enabled computer by the USB cable 

before you open the assistant software. 

 You have to register at the first time you use the assistant software.

 It will auto detect the software version you have when you open the assistant software and prompt 

you to Check for Updates if your version is not the latest one.

 Do not disconnect MC and PC when you are using the assistant software..
©2012 DJI Innovations. All Rights Reserved. 11

Firmware Upgrade

Please follow Word for Word in the procedure for firmware upgrade; otherwise the autopilot might not work 

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

1. Make sure your computer is connected to the Internet before you connect the USB cable to the MC.

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

and firewall.

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

firmware upgrade has finished.

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

finished.

5. Run Software and wait for connection.

6. Select TOOL and select Firmware Upgrade.

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

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

Upgrade button.

9. Wait until Assistant software reads finished.

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

Your unit is up-to-date now.

Notices:

 After firmware upgrade, please re-configure the MC by Using the Assistant software.

 If the network or server is busy, please try again later with above procedures.

 If firmware upgrade failed, MC will enter waiting for firmware upgrade status automatically, please 

try again following the above procedures.

Product Info & Upgrade

You can check the MC product version via ABOUT  Info:

Software Firmware Loader Hardware ID

S/N is a 32 digits authorization code for unit function activations. We had already filled in the authorization 

code for your unit after manufacture. In the Future you might be asked to fill in the new S/N in the future if you 

brought new function upgrades. Fill-in the S/N and then click Write button. If you filled in an invalid S/N over 

30 times, your MC will be locked and you have to contact our customer support.
©2012 DJI Innovations. All Rights Reserved. 12

Configuration

1 Mounting

Without GPS, please skip this step

STEP1: Mounting Location

Install all payloads that will be used during the flight, including batteries, camera mount and camera. Balance 

the multi-rotor as you would normally, with the center of gravity (C.G.) directly on the center plate. Fill in the 

distance between body center of GPS and the C.G. of multi-rotor in X, Y & Z axles as showed in the figure.

Make sure the MC ESC ports is pointing to the aircraft nose direction, otherwise serious damage will occur to 

your aircraft.

When MC mounted, try your best to mount the MC at the center of the frame, and do not mount the MC 

upside-down. Make sure MC is parallel to the aircraft horizon.

Notices:

1 Users with GPS module please mount GPS location.

2 Please follow the requirements to mount your Naza MC, so as to prevent the aircraft from abnormal, 

such as drifting in horizontal direction, or even rollover.

3 You must re-configure if the ALL-UP-WEIGHT had been changed on your multi-rotor, 

4 If GPS mounting locations are not accurate enough or the signs are wrong, error on X, Y,Z axles will 

leads the oscillation of your multi-rotor.

5 Make sure to follow the diagram in our assistant software: red is positive, green is negative; unit of 

measure is CM, NOT INCH.
©2012 DJI Innovations. All Rights Reserved. 13

2 Motor Mixer

STEP1: Mixer Type 

Set your transmitter into ACROBATIC mode. Then select the right mixer type according to your multi-rotor.

Tips:

 We support six types of multi-rotors. Refer to Multi-Rotors Supperted in Appendix:

Notices:

 Do NOT follow instruction from 3

rd party multi-rotor manufacturer! Make sure the rotation direction of 

each motor is the same as the way up figure shows. If not, switch any of two wire connetcions of the 

incorrect motor to change its rotation direction.

 Make sure the type of propeller matches the rotation direction of the motor.

STEP2: Motor Idle Speed

Motor Idle Speed is the lowest speed after motors start. Setting the Motor Idle Speed will affect the motors 

lowest speed after the motors start. There are five levels from LOW speed to HIGH speed, and the default is 

RECOMMEND. You can click and drag cursor to the corresponding level, to change Motor Idle Speed.

LOW RECOMMEND HIGH

The lower motor idle speed The higher motor idle speed 

Setting the Motor Idle Speed as LOW, the motor idle speed will be at its lowest point.

Setting the Motor Idle Speed as HIGH, the motors idle speed will be at its highest.

RECOMMEND is the advised level.

You can reset the Motor Idle Speed according to your personal preference.

Notices:
©2012 DJI Innovations. All Rights Reserved. 14

 For users whose aircraft takes off at lowest throttles position, please set the idle speed at a low 

level.

 For common users, please set Motor Idle Speed to RECOMMEND or above, since setting idle 

speed too low may affect motor(s) spool up.

Tips:

 The output pulse width for every grade of Motor Idle Speed is as followed

LOW RECOMMEND HIGH

output pulse width 1144 us 1160 us 1176 us 1192 us 1208 us

 There is relationship between the output pulse width and the max/min pulse width when TX End 

Point is 100%.

output pulse width=(max pulse-min pulse) x proportion + min pulse

 You can get the proportional values by computing according to the above formula for a special TX. 

Use Futaba TX for example. Notice that Futaba TX End Point is 100%.

LOW RECOMMEND HIGH

proportion value 3% 5 7% 9% 11%
©2012 DJI Innovations. All Rights Reserved. 15

3 Tx Monitor

Notices: I cannot emphasize this Step enough,Make sure you have removed all 

propellers before this step!

STEP1: Receiver Type

Choose the type of your receiver. If you use S-Bus receiver, please choose S-Bus compatible option: D-Bus. 

If PPM receiver is used, please choose PPM. Otherwise choose Tradition. 

Notices:

Please reboot MC and redo the calibration after you change the setup of your transmitter or change your 

receiver!

Tips:

If you use S-Bus/PPM receiver, the communication of A, E, T, R, U, X1 and 

X2 channels are all through the D-Bus/PPM channel. Right figure shows the 

connection of default transmitter channels and MC channels in S-Bus/PPM

receiver (Only first 8 channels of S-Bus/PPM receiver are used at the 

moment). 

STEP2: Cut Off Type

Please read the introductions of start and stop motor in this step first, and then choose a cut off type.

Transmitter Channels MC Channels 1

2

3

4

5

6

7

A

E

T

R

U

X1

X2
©2012 DJI Innovations. All Rights Reserved. 16

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

of following four Combination Stick Commands (CSC) to start the motors:

2 Stop Motor: We provide two options to stop motors: Immediately and Intelligent.

 Immediately Mode: If you select this mode, in any control mode, once motors start and throttle 

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

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

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

start in three seconds, motors will stop automatically.

 Intelligent Mode: By using this mode, different control mode has different way of stopping motors. 

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

of following four cases will stop motors:

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

b) Executing CSC;

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

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

Tips (Intelligent Mode):

 You have to execute CSC in order to re-start the motors. By pushing the throttle stick only will not 

re-start the motors.

 In Atti. / GPS Atti. Mode, it has landing judgment, which will stop motors.

 Start motors in Atti. / GPS Atti. Mode, you have to execute CSC and then push throttle stick over 

10% within 3 seconds, otherwise motors will stop after 3 seconds.

 During normal flight, only pulling the throttle stick under 10% will not stop motors in any control 

mode.

 For safety reasons, when the slope angle of multi-rotor is over 70° during the flight in Atti. / GPS Atti. 

Mode (may be caused by collision, motor and ESC error or propeller broken down), and throttle stick 

is under 10%, motors will stop automatically.

 You can stop motors by executing CSC in any control mode.

Notices:

 Any of these two cut off types will only work properly if Tx calibration is correct done.

 The motors will start or stop immediately when you execute CSC when Tx commands are valid 

under any of the control modes. It has nothing to do with current throttle stick position. Please DO 

NOT execute the CSC during flight unless safety is at stake.
©2012 DJI Innovations. All Rights Reserved. 17

 If you choose the Immediately mode, you should not pull throttle stick under 10% during flight, 

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

10% within 5 seconds to re-start the motors.

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

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

throttle, but multi-rotor will still auto level.

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

 In failed-safe, CSC is denied by MC, motors will hold their state.

STEP3: Command Sticks Calibration

Slides Moving Definition:

T : If you pull the throttle stick to low position, the Slide will move to the left and the craft is down, 

Moving the Throttle stick up the slide will move to the right is craft will lift off the ground;

R : If you move the rudder stick to the Left the Slide will move to the left, this is nose left, When you 

move the rudder to the Right the slide move to the right, this is nose right; 

E : If you move the Elevator stick down the Slide will move to the left and the craft will move back, 

Moving the Elevator Stick up the Slide will move to the right and the craft will move Foward (away from you); 

A : If you move the Aileron stick to the left the Slide will move left and the craft will move to the left, 

when you move the Aileron stick to the Right the slide will move to the right and the craft will move to the right.

1. Set endpoints of all channels to default values (100%) and set all trims and sub-trims of sticks to 0 

on your transmitter first. Keep all curves’ settings as default since the end-point of transmitter sticks 

will be recorded here.

2. Click the START button, and move all of the sticks throughout their 

complete range several times.

3. After you do this, click the FINISH button when you have finished the 

above procedures.

4. If the slides are moving opposite from your stick movements direction, click the reverse button 

REV/NORM beside.

Notices:

1. All slides should become when all the sticks are in the middle positions. If slides cannot go back 

to center points (become ), just click FINISH, then slides will be at center automatically. If still not, 

please reboot MC, and do not apply Tx command during the reboot.

2. CSC may not start motors If trims and sub-trims of sticks are not 0!
©2012 DJI Innovations. All Rights Reserved. 18

STEP4: Sticks Monitor

This step is optional. X1 and X2 is for remote gain tuning; X1 is also for gimbal pitch control. Setup the 

channel on your RC correctly.

STEP5: Control Mode Switch

Whether you are using a 2 or 3 position switch on your transmitter will determine which you will use as the 

control mode switch, Plug in the right channel of receiver (Gear, Aux 1 or aux 2) to the U port of MC. At each 

switch position, use the end-point for fine tuning on your transmitter, Move the Switch to the corresponding 

Mode as indicated by the slider of channel U to GPS (GPS Atti Mode), A (Atti. Mode), M (Manual Mode) to 

turn the corresponding area blue respectively as showed in the figure.

Tips:

 To move the slider is to adjust channel-selected end-points.

 For 3-position switch, you should assign: Position-1 to Manual 

Mode; Position-2 to Atti. Mode; Position-3 to GPS Atti. Mode; or 

reverse the assignment for Position-1 and Position-3.

 For 2-positions switch, you can assign any two of these three control modes as you like.

If your transmitter supports Fail-Safe, follow the Fail-Safe setting procedure of your R/C TX. Then move the 

slider to the range which makes Fail-Safe Mode turn blue, set Fail-Safe output of receiver to input port-U. If 

you switch off your transmitter now, the U channel slide should move to Fail-Safe and turn the corresponding 

area to blue. Otherwise please reset the fail-safe. MC has built-in auto level Fail-Safe function. That means 

when the communication between MC and transmitter is disconnected, the outputs of all command sticks 

from MC will go to center point. If your transmitter has only 4 channels, then MC will work in Atti. Mode by 

default without the Fail-Safe function.

Tips:

Please refer to your RC manual for the details of fail-safe setup.

With GPS, it is Enhanced Fail-Safe; without GPS, it is Auto Level Fail-Safe, and the aircraft will land.

Notices:

1. Do NOT set the fail-safe position of throttle under 10% of endpoint.

2. MC will not execute the Fail-Safe protection if you don’t set it properly. You can verify the 

Fail-Safe settings by shutting down your transmitter, and then you can use the following 

method to check whether MC is already in Fail-Safe mode.

3. Check status bar at the bottom side of the software interface. If the Fail-Safe has been correctly 

set-up the Control mode will change to Fail-Safe.

4. Check the LED indicator. Read the appendix in this manual for details. LED will give fast yellow

Tx

1 2 2 Position Switch

Tx

1 2 3 3 Position Switch
©2012 DJI Innovations. All Rights Reserved. 19

blinking if in fail-safe mode.

5. If your transmitter does not support Fail-Safe, the Fail-Safe function will not work when the 

communication between MC and transmitter is disconnected.

6. Do not use 4-channel Futaba transmitter with S-Bus receiver, otherwise MC will work in Fail-Safe 

mode.

7. If users set GPS Atti. Mode in Control Mode Switch without connecting to GPS module, the M.C. will 

switch GPS Atti. Mode into Atti. Mode automatically, and LED indicator will Blink yellow, that is if the 

3-poisition switch is the same as 2-position switch.

8. Once the MC goes into the Fail-Safe Mode, and you are using the GPS, the aircraft will auto 

Stop the Motors when landed; without GPS the aircraft the motors will not auto Stop when landed.
©2012 DJI Innovations. All Rights Reserved. 20

4 Autopilot

STEP1: Basic Parameters

Usually, the default parameters are ready to go. However, different multi-rotors have different gains because 

of different Motor KV ratings, ESC and propeller sizes. If the gain is set too High, you will find the multi-rotor 

will be oscillating in the corresponding direction (About 5~10Hz). If the Gain is too low, the multi-rotor will 

likely to be hard to control. So you can still setup the basic Gain of Pitch, Roll, Yaw and Vertical manually 

according to your multi-rotor to have a wonderful flying experience. We suggest you to change 10% to 15% of 

the parameter at a time. 

For the gains of the Pitch and Roll, if you release the Pitch or Roll stick after giving a command, the multi-rotor 

should go back to a hovering state. If the reaction of multi-rotor in this procedure is too soft (large delay), 

please increase the basic gain slowly (10%-15% each time) after you release the stick until vibration begins, . 

Then decrease the gain a little until vibration just disappears. Now the gain is perfect, but the reaction of the 

attitude change is slow. Follow the Procedure at the end of this section to tune the attitude gains.

The way of tuning the Yaw gain is the same as the way of adjusting the Tail Gyro. If you want fast stick 

reaction speed, increase the gain, otherwise decrease the gain. However, the spin of multi-rotor is produced 

by the counter torque force, and the magnitude of which is limited. Therefore, large gain will not produce tail 

vibration like helicopter, but severe reaction at the start or stop of motors, which will affect the stabilization of 

the other directions.
©2012 DJI Innovations. All Rights Reserved. 21

You will use two methods to judge if the Vertical gain is good enough: 1) The multi-rotor can lock the altitude 

when the throttle stick is at center position; 2) The change of altitude is small during the flight along a route. 

You can increase the gain slowly (10% each time) until the vibration emerges along the vertical direction or 

the reaction of throttle stick is too sensitive, then decrease 20% of the gain. Now it is a suitable Vertical gain.

Attitude gains determine the reaction speed of attitude from command stick, the Larger the value the quicker 

the reaction. Increase it for sharper and quicker leveling action after command stick released. Unstable 

shaking flying and the control feeling will be stiffness and rigid if the value is too high; and sluggish leveling 

action and slow braking if too small.

Notices:

 You must upgrade firmware first, then click Default button in first setup parameter.

 The vertical gain will NOT affect the manual mode.

 The final flight performance is decided by the autopilot parameters and all parts of multi-rotor 

(includes mechanical structure, motors, ESCs, propellers and battery). If these parts are not 

compatible, you cannot get good flight performance by adjusting the autopilot parameters. 

Therefore, if you have high requirement to flight performance, you’d better get a multi-rotor with 

good integration test.

Tips:

 If you are new to multi-rotor flying, you can tune the basic parameters first as following: 

1 Increase the basic parameters 10% at a time so as to make your multi-rotor hover or light 

oscillate after small angular command input.

2 Decrease the basic parameters until your multi-rotor can just hover, then decrease 10% more.

 Here you can make use of remote gain-tuning channels to tune the gains during the flight:

1 Followed the instructions in Assembly R/C System section to connect and setup correctly;

2 Choose the X1 or X2 channel in Remote Adjust for the gain you want to tune. One channel to 

one gain.

3 The range of remote tuning is from half the current value to twice the current value.

 Usually the Pitch, Roll, Attitude Pitch and Attitude Roll Gains of hexa-rotor are high then quad-rotor.

STEP2: Enhanced Failed-Safe Methods

Without GPS, please skip this step

Enhanced Fail-safe method will be triggered when MC loses the control signal, no matter what mode you fly. 

This could be one of the following situations:

1) Signal lost between transmitter and receiver, e.g. multi-rotor is out of the communication range, or 
©2012 DJI Innovations. All Rights Reserved. 22

transmitter is down, and so on.

2) One or more connections of A, E, T, R, U channels between MC and receiver loses. If this happens 

before take-off, motors will not work if you push the throttle stick; if this happens during the flight, LED 

yellow light will flash to warn in addition to the failed-safe method. 

Choose one method for your failed-safe function, Landing: or Go Home and Landing.

Landing: the aircraft will land after 6s hovering.

Go Home and Landing: Before takeoff, current position of multi-rotor will be saved as home point by MC 

automatically when you push the throttle stick first time after 6 or more GPS satellites are found ( blinks 

once or no blinking) for 8 seconds. 

Notices:

When switch to Manual Mode or Atti. Mode, MC will disengage enhanced failed-safe mode, you can re-gain 

control of multi-rotor.

Tips:

The following schematic shown is introduction for Go-Home and Landing.

STEP3: Intelligent Orientation Control

Without GPS, please skip this step

Forward Direction: Multi-rotor will fly along this direction when you push

the elevator stick.

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

Orientation Control (IOC), wherever the nose points, the forward direction has nothing to do with nose 

direction:

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

figures (Mode 2):

1

If GPS satellite found >= 6 , at the first you pull the throttle stick, then record Home Location Home Location

2

Tx 3Tx

5

Tx

Signal lost

Tx

Multi rotor

4

Tx Signal lost > 3s

Stay hover

Ready to Go-Home 6 Current location lower than 20m Current location higher than 20m 20m

Ground Go back first Hover 15s , Then land.
©2012 DJI Innovations. All Rights Reserved. 23

Usually 

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

See the following figures (Mode 2):

U Home point sually 

Home point In home lock

Before using this function, you have to choose a 2 or 3 positions switch on your transmitter as IOC switch. 

Then connect a wire to the correct channel of receiver to the X2 port of MC. At each switch position, use 

end-point fine tuning on your transmitter, move the slider of channel X2 to Home Lock, Course Lock, OFF to 

turn the corresponding area blue respectively.

Tips:

 For 3-position switch:

Position-1 is OFF; Position-2 is Course Lock; Position-3 is Home Lock.

 For 2-position switch:

Position -1 is OFF; Position-2 is Course Lock. Or Position -1 is OFF; Position-2 is Home Lock.

 If you use S-Bus/PPM receiver, the default channel connection is shown in Tx Monitor –

Receiver Type section. Then you only need to assign a 2 or 3-position switch of your 

transmitter to the 6

th channel.

Notices:

Do NOT set a 2-position switch as: Position-1 is Course Lock; Position-2 is Home Lock.

Course Lock Usage:

During the same flight:

STEP1: Record STEP2: Open STEP3: Close STEP4: Re-open

Nose direction; Forward direction

STEP1: Record forward direction: There are two ways: Manually; Automatically:

Tx

1 2 3 3 Position Switch
©2012 DJI Innovations. All Rights Reserved. 24

a) Automatically: MC will record the current nose direction as forward direction at 30th second 

after you power on the multi-rotor. And LED will blink quickly if recording is successful.

b) Manually: You can slide X2 channel switch between OFF and Course Lock position quickly 3 

to 5 times to record current nose direction as new forward direction at any time after you 

power on multi-rotor 30 seconds. And LED will blink quickly if recording is successful.

STEP2: Open course lock: After record the forward direction successfully, if MC is in Atti. or GPS Atti. 

Mode, then you can slide X2 channel switch to Course Lock position to fly in course lock. Now 

wherever the nose points, the real flight forward direction is the same as the recorded forward 

direction, and LED will blink slowly to indicate the IOC mode.

STEP3: Close course lock: There are two ways:

a) Slide X2 channel switch to OFF position to quit course lock; (Recommended way!)

b) Slide U channel switch to Manual Mode position, or close transmitter.

STEP4: Re-open course lock: If you want to re-open course lock after you quit this function, you 

should first slide X2 channel switch to OFF position, and slide U channel switch to Atti. or GPS Atti. 

mode position, then slide X2 channel switch to Course Lock position to re-open course lock.

Home Lock Usage:

During the same flight:

STEP1: Record STEP2: Open STEP3: Close STEP4: Re-open

Nose direction; Forward direction; Home point; Over 10m distance

STEP1: Record home point: The home point mentioned here is the same home point of enhanced 

Fail-Safe. There are two ways to record them: Manually and Automatically:

a) Automatically: Before takeoff, the current position of the multi-rotor will be saved as home 

point by MC automatically when you push the throttle stick for the first time after 6 or more 

GPS satellites have been found ( blinks once or no blinking) for 8 seconds.

b) Manually: When 6 or more GPS satellites are found ( blinks once or no blinking), you can 

toggle the X2 channel switch between (to a 3-position switch) Course Lock and Home Lock or 

(to a 2-position switch) OFF and Home Lock position quickly 3 to 5 times to record the current 

position of the multi-rotor as the new home point. And LED will blink quickly if recording is 

successful.

STEP2: Open home lock: flip the X2 channel switch to the Home Lock position to fly in home lock 
©2012 DJI Innovations. All Rights Reserved. 25

when all the following requirements are met:

a) Home point is recorded successfully;

b) 6 or more GPS satellites are found;

c) In GPS Atti. Mode;

d) Multi-rotor is further than 10m away from the home point.

Now wherever the nose is pointing, the real flight forward direction is the same as the direction from 

the home point to the multi-rotor, and LED will blink between yellow and green slowly to 

indicate the IOC mode of MC.

STEP3: Close home lock: There are three ways:

a) Flip the X2 channel switch to the OFF position to quit home lock; (Recommended way!)

b) Flip the U channel switch to Manual Mode position, or turn off the transmitter.

c) The MC will be in course lock by the current forward direction automatically when multi-rotor 

flies back into 10m range around home point, or MC is in Atti. Mode.

STEP4: Re-open home lock: If you want to turn on home lock after you quit this function, you should 

first flip the X2 channel switch to the OFF position. When all 4 requirements in the 3rd step are met, 

flip the X2 channel switch to the Home Lock position to turn on home lock.

Tips:

1 LED will blink between and slowly to indicate the IOC mode only when MC is really to fly in 

course lock or home lock modes.

2 We suggest that you should know clearly that, by which lock method you are going to fly, and the 

locked forward direction or home point, before you switch on IOC mode during the flight. 

3 There is only one home point recorded at any time. This point is the same one used by Go-Home 

and Landing in the fail-safe mode.

4 When flying by home lock, if GPS signal becomes weak, MC will be in course lock in the current 

forward direction automatically.

5 You’d better stand near the home point to use home lick.

6 You’d better use 3-position switch for X2 channel, and you’d better use X2 channel switch to activate 

and deactivate the IOC during the flight.

Notices:

1 Before you do the home lock flight, you have to fly the multi-rotor out of the 10m range around the 

home point; you have to flip the X2 channel switch to Home Lock position to fly in home lock when 

all the requirements are met. If you have already toggled the X2 channel switch to Home Lock 

position when the multi-rotor is still in 10m range around home point, and this is the first time you are 

going to fly in home lock during the current flight, then if all the requirements are met, MC will 
©2012 DJI Innovations. All Rights Reserved. 26

change into home lock automatically when multi-rotor flies out the 10m range around home point.

2 When multi-rotor is flying by home lock, far away from you and the home point, please do not toggle 

the X2 channel switch many times quickly so as to avoid the change of home point without you 

knowing it.

3 By using a 3-position switch, if you want to record the forward direction or home point manually, do 

not toggle the X2 channel switch between OFF and Home Lock position, but only between OFF and 

Course Lock, or Course Lock and Home Lock position. And please record the forward direction and 

home point separately so as to make sure the recording is successful.

4 We suggest you to use Home Lock in a limited area which is 10m away from the home point.

5 Continuously spinning will cause a yaw error. In this case, you can stop or slow down the spinning, 

so as to have better flight performance.

6 When flying in Home Lock mode, if any of the following situations happen, then the system will quit 

Home Lock flying and automatically enter Course Lock flying. The aircraft will fly in Course Lock 

using the earlier forward direction

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

 You toggle the control mode switch to the ATTI. Mode.

 The GPS signal becomes bad (The GPS signal LED is blinking Red twice or three times).
©2012 DJI Innovations. All Rights Reserved. 27

5 Gimbal

STEP1: Gimbal Switch

If you use gimbal, please choose On here, and select an Output Frequency (50Hz/100Hz/200Hz/400Hz).

The chosen output frequency is recommended no more than the maximum servo supported frequency.

Notices:

If you open the gimbal control in assistant software during the configuration, please note that there are

outputs from F1 and F2 ports. You should never connect these ports to ESCs which are wired with 

propellers and motors.

Tips:

NAZA supports servo center 1520us.

STEP2: Servo Travel Limit

Range: -1000 to+1000

MAX/MIN are servo travel limits; adjust them to avoid mechanical binding; Place your multi-rotor on level 

ground, adjust Center value of Pitch and Roll direction to make the camera mounting frame to your desired 

angle-to-ground.
©2012 DJI Innovations. All Rights Reserved. 28

STEP3: Automatic Control Gain 

Range: 0 to 100

Adjust the reaction angle of the automatic control. The initial value of 100 is the maximum angle. The larger 

the gain, the bigger the reaction angle. Click REV/NORM, and then you can reverse the feedback control 

directions.

STEP4: Manual Control Speed 

Range: 0 to 100

You should assign one of the knobs on your transmitter to the X1 channel for controlling the Pitch direction 

(angle) of camera gimbal during flight first. Then adjust the reaction speed of pitch direction manual control;

the initial value 100 is the maximum speed.

Notices:

If parameter adjustment was enabled on channel X1, the gimbal manual control via channel X1 will still be 

on as well.

Do not use X1 to control gimbal pitch and remote adjust parameters at the same time.

Please reset the Basic Parameters in Autopilot section if there is flight jitter after gimbal is mounted.
©2012 DJI Innovations. All Rights Reserved. 29

6 Voltage Monitoring

STEP1: Protection Switch

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

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

them, however we strongly recommend using the protections available!

Notices:

 Make sure the connection between VU and MC (V-SEN to X3) is correct; otherwise the low voltage 

protection will not work properly.

 Both levels of protection have LED warning as default. Both levels of protection will blink red 

continuously.

 Both level protections will only have the LED warning under Manual Mode, none in the automatic 

actions.

 Low voltage protections are NOT fun! You should land your multi-rotor ASAP in any level of 

protection to prevent your multi-rotor from crash or other harmful consequences!

STEP2: Battery

Apply battery power the MC and connect the MC with the PC, current 

battery voltage will be displayed in this column. If the battery voltage 

displayed here is different from the voltage you measure from a voltmeter, 

you have to calibrate it. Click the Calibration box, enter that voltage in the 
©2012 DJI Innovations. All Rights Reserved. 30

Calibration column of the dialogue box, and then click Confirm.

Meanwhile you need you to choose the battery type you are using, so that MC can provide the default 

warning voltages and ranges for you.

STEP3: First Level Protection

 No Load (No Load Voltage): Self-defining warning voltage. Needs your input.

 Loss (Line Loss Voltage): The battery voltage drop during the flight. Needs your input.

 Loaded (Loaded Voltage): The real-time battery voltage during the flight. This is the actual warning 

voltage monitored by MC. Doesn’t need your input, calculated by No Load and Loss.

Tips:

Voltages Magnitude Relation:

 No Load: First level > Second level.

 Loss: First level = Second level.

 Loaded: Calculated, First level > Second level.

Method of Acquiring Line Loss Voltage:

1 Make sure you can fly your multi-rotor normally with a fully charged battery.

2 Use a fully charged battery, switch on the low voltage protections in assistant software, and observe 

the current voltage. Fill a reasonable warning voltage in the No Load of first protection (We 

recommend to fill a voltage 1V lower than current voltage and higher than minimum battery voltage 

rating in). Fill 0V in Loss at the moment.

3 Fly the multi-rotor until the first level protection is triggered, and the red light is flashing. Now land 

your multi-rotor ASAP.

4 Connect the MC to PC, open the assistant and acquire new current voltage. The Loss (Line loss 

voltage) is the difference between the new current voltage and the first level No Load voltage you 

filled in.

Notices:

 If the line loss voltage of a battery is over 0.3V per cell (e.g. 3S battery over 0.9V), it’s because the 

internal resistance of battery is high or the battery is too old, we suggest you to replace it!

 Generally the line loss voltages vary with different makes of batteries. For the consideration of 

safety, you’d better acquire all the line loss voltages of all your battery you are using, and fill the 

lowest one in the Loss box.

 When you change the payload or multi-rotor, you have to get new line loss voltages.

 The line loss voltage will be larger after many times of use, you should get new ones after 30 times 
©2012 DJI Innovations. All Rights Reserved. 31

of charging.

 Make sure your ESCs protection voltage is lower than 3.1V (1S), otherwise low voltage protection 

will not work.

Acquire the line loss voltage by the above method, and then fill it in Loss. Then fill a reasonable warning 

voltage in the No Load.

Notices:

When red LED starts to blink, you should land ASAP!

STEP4: Second Level Protection

1 Fill the warning voltage and the line loss voltage in No Load and Loss by the method introduced in 

previous step.

2 When the second level protection is triggered, the LED warning will be on. Meanwhile the center point 

of throttle stick will move up slowly to 90% of endpoint, you should land ASAP to prevent your 

multi-rotor from crash or other harmful consequences!

3 When the center point is at 90% of endpoint, multi-rotor will still start to ascend slowly if you continue to 

pull the throttle stick back, and the control of Pitch, Roll and Yaw are the same as before. Please land 

ASAP to prevent your multi-rotor from crash or other harmful consequences!
©2012 DJI Innovations. All Rights Reserved. 32

Flight

Digital Compass Calibration

Without GPS, please skip this step

Why calibrate the compass?

Ferromagnetic substances placed on multi-rotor or around its working environment will affect the reading of 

earth magnetic field for the digital compass. It also reduces the accuracy of the multi-rotor control, or even 

reads an incorrect heading. Calibration will eliminate such influences, and ensure MC system performs well in 

a non-ideal magnetic environment.

When to do it?

 The first time you install Naza on your multi-rotor.

 When the multi-rotor mechanical setup has changed:

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

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

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

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

 The LED blinking, often indicates abnormality blinking when the multi-rotor spins (It is normal for this to 

happen only occasionally)

What not to do:

 Don’t calibrate your compass where there is strong magnetic interference, such as magnetite, car 

park, and steel reinforcement under the ground.

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

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

45° difference between horizontal and vertical calibration.

 The GPS will not work in the polar circle.

Calibration procedure

STEP1: Quickly switch the control mode switch from Manual. Mode to GPS ATTI. Mode and back to 

Manual. Mode for 6 to 10 times, The LED indicator will turn to constantly yellow .

STEP2: Rotate your aircraft around the horizontal axis (about 360o) until the LED changes to constant 

green , and then go to the next step.
©2012 DJI Innovations. All Rights Reserved. 33

STEP3: Hold your aircraft vertically and rotate it (its nose is downward) around the vertical axis (about 

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

STEP4: The LED indicator will show whether the calibration was successful or not.

 If the calibration was successful, calibration mode will exit automatically.

 If the LED keeps flashing quickly Red, the calibration has failed. Switch the control mode switch 

one time to cancel the calibration, and then re-start from step 1.

Tips:

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

around the GPS & Compass module, please avoid flying in this area.
©2012 DJI Innovations. All Rights Reserved. 34

Fly test

Before First Flight

Notices:

 Make sure you have assembled your multi-rotor correctly.

 Make sure you have done the configuration procedure correctly.

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

 Rotation direction of motor is opposite

 Propeller installation mistake

 MC installation mistake

 Wrong connection between MC and ESC

 In Atti Mode, throttle stick center position is for 0m/s along the vertical direction. You must keep the 

throttle position higher than 10% from stopping the motors during the flight! 

 Make sure you switch on the transmitter first, then power on multi-rotor! (Power off multi-rotor first, 

then switch off the transmitter after landing!)

 Please do the fly test and gain tuning with Atti. Mode in the open air without heavy winds!

 In Atti Mode, after power on and before motors start, if or LED double blinks without move 

any stick, this indicates that you have moved any sticks during system start up and check. You will 

have to reboot MC before you try to fly.

Test Fly

1. Make sure your batteries are fully charged for your transmitter, MC and all the devices on your 

multi-rotor;

2. Check all connections and wirings, and make sure they are in good condition;

3. Switch on the transmitter first, then power on your multi-rotor!

4. Flip the control mode switch on your transmitter, and make sure it is working properly. Check it with 

LED indicator to specify the current working mode for MC. See Appendix for details about LED 

indicator;

5. Switch the system to Atti. Mode. Use any safe method to do the following test: Apply the throttle 

to 20% slowly and make sure all the motors are working properly, and then try to push your sticks 

lightly in Roll, Pitch and Yaw to feel if your multi-rotor moves to the corresponding direction. If not, go 

back to Configuration Procedure and correct your settings.

6. Push the throttle stick slowly within 3 seconds after executing CSC until all the rotors are working, 

and then take-off your multi-rotor gently
©2012 DJI Innovations. All Rights Reserved. 35

Tips:

 After a successful test fly, the preparation before taking off can be simplified: Put your multi-rotor on 

the level ground, turn on the transmitter first, then power on multi-rotor, then you can take off in Atti. 

Mode.

 If the aircraft drifts or spins in horizontal direction when hovering, please use IMU Calibration in 

TOOL of assistant software to observe sensor output. If there is bigger gyroscope bias, do

gyroscope calibration according to the IMU Calibration in Appendix.
©2012 DJI Innovations. All Rights Reserved. 36

Fly with GPS

Without GPS, please skip this step

Before Fly with GPS

Notices:

 When system is powered on, you must not move your multi-rotor or sticks on transmitter until the 

system initialization is finished (about 5 second).

 Make sure the GPS signal is good, without red LED blinking. Otherwise multi-rotor will drift without 

stick commands.

 Please avoid using MC system in the following areas, where will GPS signal is most likely blocked:

 Urban area with crowded buildings

 Tunnels

 Under bridges

Tips:

Should you find the multi-rotor does not track straight in forward flight, you might try re-mounting GPS in an 

offsetting angle as showed in right figure. Θ in the figure is the offsetting angle.

Objective flight direction GPS mounting direction

GPS mounting direction Actual flight direction Objective flight direction

Actual flight direction

1 2 3

θ

θ

Without GPS offset angle With GPS offset angle
©2012 DJI Innovations. All Rights Reserved. 37

Appendix

Fix the TBE (Toilet Bowl Effect) Problem

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

aircraft rotating (Toilet bowl effect), or drifting when hovering. Please check the GPS module mounting 

orientation and then re-do the compass calibration. Carry out the following procedure to re-mount the GPS 

module.

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

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

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

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

Clockwise rotating GPS re-mounting

θ

Counter Clockwise rotating GPS re-mounting

θ
©2012 DJI Innovations. All Rights Reserved. 38

IMU Calibration

The IMU calibration is used if the aircraft is drifting or spinning in horizontal direction while hovering. Better 

performance can be obtained by gyroscope calibration. Check IMU status after the status changed to ready, 

and take action according to corresponding tips.

1. Please keep the main controller stationary during calibration, and then connect to the assistant 

software.

2. Click the IMU calibration in TOOL to enter calibration page.

3. Click Check IMU Status after the status changed to ready.

4. The autopilot system check and give tip for you.

5. If IMU works abnormally, please contact us or our agents; if IMU calibration is necessary, please 

click Calibration button; else if IMU works normally, calibration procedure may be skipped.

Notices:

 You don’t need to put the aircraft on a completely horizontal surface, but make sure to keep it 

stationary.

Tips:

 IMU works normally if the value of X, Y and Z is between [-1.5,1.5].

 IMU works normally if the sum of the squares of X, Y and Z is around 1.
©2012 DJI Innovations. All Rights Reserved. 39

Multi-Rotors Supported

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

M1

M2 M4

M3

M1

M3 M4 M5

M6 M2 M1

M1

M4 M5

M3 M6

M1,4

M2,5 M3,6

M2

M2,5

M1,4

M3,6

Quad-rotor I

M2 M1

M3 M4 Quad-rotor X

Hexa-rotor I Hexa-rotor V

Hexa-rotor IY Hexa-rotor Y
©2012 DJI Innovations. All Rights Reserved. 40

Port Description

Main Controller

A

For roll control (left/right)

E

For pitch control (front/back)

T

For throttle control

R

For rudder control

U

For Control Mode Switch

X1

For gimbal pitch control Or for gain tuning

X2

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

X3

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

M1

To #1 rotor

M2

To #2 rotor

M3

To #3 rotor

M4

To #4 rotor

M5

To #5 rotor

M6

To #6 rotor

F1

To gimbal roll servo 

F2

To gimbal pitch servo

LED

LED port, for LED wire connection from Versatile Unit

EXP. GPS port, for GPS module wire connection.

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

Versatile Unit

V-SEN V-SEN port: To MC X3 port, for monitoring battery voltage and supplying power

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

 Red wire (power wire) output: 4A@5V

LED LED wire, to MC LED port.

Micro-B USB port: PC connection for configuration and firmware upgrades.

Optional GPS & Compass

Connect to the EXP. port.
©2012 DJI Innovations. All Rights Reserved. 41

Light Description

Control Mode (GPS)

Manual Atti. GPS Atti. IOC

GPS satellites < 5

GPS satellites = 5

GPS satellites = 6

GPS satellites >6 No

Attitude status bad

Control Mode

Manual No

Atti.

When appears, please hover the aircraft until disappears, so as to have better flight performance.

Blinking indications of Atti. and GPS Atti. are: 

 Before motors start: Single blink, all sticks (except throttle stick) return to center; Double blinks, 

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

 After motors start and throttle stick is over 10% within 3 seconds: Single blink, all sticks return to 

center; Double blinks, stick(s) not at center.

Blinking indications of IOC are: 

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

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

 After motors start and throttle stick is over 10% within 3 seconds: blink, all sticks return to 

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

Compass Calibration

Begin horizontal calibration

Begin vertical calibration

Calibration or others error

Others

Tx signal lost

Low voltage / Other errors

Connect to PC correctly

System start and self-check

Do NOT move any command sticks during this procedure! Please contact us if the last four green blinks 

are abnormal.
©2012 DJI Innovations. All Rights Reserved. 42

Recommended Settings

No. Aircraft

Configuration Information Basic Gain Attitude Gain

Motor ESC Propeller Battery Weight Pitch Roll Yaw Vertical Pitch Roll

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

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

3 F550 DJI-2212 DJI-30A DJI-8 Inch 4S-3300 1530 g 170 170 150 140 170 170
©2012 DJI Innovations. All Rights Reserved. 43

Specifications

General

Built-In Functions  Three Modes for Autopilot

 Enhanced Fail Safe

 Low Voltage Protection

 S-Bus Receiver Support

 PPM Receiver Support

 2-axle Gimbal Support

Peripheral

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

 Hexa-rotor I 6, X6, IY6, Y6.

Supported ESC output 400Hz refresh frequency.

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

Assistant Software System Requirement Windows XP SP3; Windows 7

Electrical & Mechanical

Working Voltage Range  MC: 4.8V ~ 5.5 V

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

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

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

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

 Normal: 0.6W(0.12A@5V)

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

Weight  MC: 25g

 GPS:21.3g

 VU: 20g

Dimensions  MC: 45.5mm ×31.5mm ×18.5mm

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

 VU: 32.2mm × 21.1mm × 7.7mm

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

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

 Horizontal: ± 2.5m

Max Yaw Angular Velocity 200°/s

Max Tilt Angle 45°

Max Ascent / Descent Speed ±6m/s