### - 1

- 

# Ground Station Wireless Data

- link User Manual

V 2. 5

www.dji

- innovations.com

### - 2

- 

# Disclaimer

Thank you for purchasing product(s) in DJI. Please strictly follow these steps to install all the software and
hardware products, and make sur e your Ground Station and Wireless Data

- link work perfectly. Please use the

wireless data

- link in accordance with the provisions of the local radio control. Dajiang Innovation Technology
Co. Ltd. assumes no liability for damage(s) or injured incurred direc tly or indirectly from the use of this product.



# Profile

Thank you for purchasing DJI product. Please read this instruction thoroughly for proper operation of your new

DJI Ground Station and Wireless Data

- link. Full featured DJI Ground Station enables 3

- D M ap W ay P oints

E diting, F light P ath P lanning, R eal

- time F light S tate F eedback and A uto T akeoff and L anding. This product is
specially designed for the purpose of aircraft operation, BVR (Beyond Visual Range) flying in applications
such as surveillance, ae rial photography, etc. Working with DJI autopilot system, DJI Ground Station not only
ensures stable performance and safety of the aircraft, easy operation for the pilot, but also allows the aircraft
to fly along the flight path set before or modified duri ng the flight mission in the Ground Station software
autonomously. This manual covers both Single Waypoint and Ground Station products. Read this manual
according to your product package. E.g., if you have WKM Single Waypoint, then you do not need to read

section 4.4. Please refer to DJI autopilot manual for semi

- auto takeoff and landing.

### - 3

- Production ACE WKM

Product packages View

Mode Joystick

/Keyboard Mode Single Waypoint Ground Station Single Waypoint 5 Waypoint s Ground Station

3D MapDisplay       

Real

- time Flight Monitoring       
Flight Simulation      
One Key Takeoff (WKM)   
Joystick / Keyboard Mode      
One Key Go Home     

Click Go Mode     
Waypoints Editing 
200 Waypoints 

5 Wayp oints 

50 Waypoints

Automatic Takeoff & Landing   

F Channel Controller   
General Purpose Servo Action   

Six Route Templates  
No p hotogrammetry

Tool 

Photogrammetry Tool  

### - 4

- 

# In Box

Wireless Data

- link Ground End ×1
It connects to your computer. Computer sends commands and
receives flight data through it.



## Wireless Data

- link Air End 900MHz ×1 or 2.4GHz ×1
It connects to DJI autopilot system. Autopilot system sends flight
data and receives commands from compu ter by it.



## Ground Station Install CD×1
It contains Ground Station and all required software installation

files.



## USB Cable ×1

For connection between wireless data

- link ground end and computer. 

## 4

- Pin Cable ×1

For connection between wireless da ta

- link air end and autopilot system. 

## Warranty Card ×1
It recommends the necessary conditions for using this system and related safety issues. Please fill out the
customer & information card and return to DJI to register your product warranty.

### - 5

- 

# Conten ts

Disclaimer

................................ ................................ ................................ ................................ ................ - 2

- Profile

................................ ................................ ................................ ................................ ....................... - 2

- In Box

................................ ................................ ................................ ................................ ....................... - 4

- Contents

................................ ................................ ................................ ................................ ................... - 5

- Matters Need Attention

................................ ................................ ................................ ............................. - 6

- Connection

................................ ................................ ................................ ................................ ............... - 7

- Ground Station Software

................................ ................................ ................................ .......................... - 8

- Install Software

................................ ................................ ................................ ................................ .... - 8

- Start Software

................................ ................................ ................................ ................................ .......... - 9

- Application

................................ ................................ ................................ ................................ ............... - 9

- Control Mode Switch

................................ ................................ ................................ ......................... - 10

- GUI

................................ ................................ ................................ ................................ ........................ - 11

- 1 View Mode

................................ ................................ ................................ ................................ .......... - 14

- 1.1 View Mode Procedures

................................ ................................ ................................ ........... - 14

- 1.2 System Setting

................................ ................................ ................................ ....................... - 14

- 2 Joystick/Keyboard Mode

................................ ................................ ................................ ................. - 18

- 2.1 Simulator

................................ ................................ ................................ ................................ - 18

- 2.2 One Key Takeoff

................................ ................................ ................................ .................... - 19

- 2.3 Joystick and Keyboard Mode

................................ ................................ ................................ .. - 20

- 3 Click Go Mode

................................ ................................ ................................ ................................ - 22

- 4 Waypoint(Single Waypoint User Skip This)

................................ ................................ ..................... - 24

- 4.1 Waypoint Mode

................................ ................................ ................................ ...................... - 24

- (I) Flight Mission Setting

................................ ................................ ................................ ............... - 27

- (II) Upload Flight Mission

................................ ................................ ................................ .............. - 31

- (III) Take off Aircraft

................................ ................................ ................................ ...................... - 31

- (IV) Switch to A utopilot Mode

................................ ................................ ................................ ....... - 31

- (V) GO!!

................................ ................................ ................................ ................................ ....... - 32

- 4.2 Auto Takeoff and Landing

................................ ................................ ................................ ....... - 33

- 4.3 F Channel Controller

................................ ................................ ................................ .............. - 34

- 4.4 General Purpose Servo Action (GP

- Servo Action)

................................ ................................ .. - 35

- 4.5 Six Pre

- Programmed Route Templates

................................ ................................ ................... - 37

- 4.6 Photogrammetry Tool

................................ ................................ ................................ ............. - 38

- Appendix

................................ ................................ ................................ ................................ ................ - 39

- List of Ground Station Shortcut Keys

................................ ................................ ................................ . - 39

- Troubleshooting

................................ ................................ ................................ ................................ - 40

- Data

- link LED Introduction

................................ ................................ ................................ ................. - 43

- Wireless Data

- link Specification

................................ ................................ ................................ ......... - 44

-

### - 6

- 

# Matters Need Attention

1. 

### The ability of penetrating of radio signal from 2.4GHz wireless data

- link is weak; please make sure the antenna of it is al ways visible to the ground end during the flight. Human body, trees, buildings or hills will stop the communication between air end and ground end.

2. 

### You‟d better put the ground end at high place. This can guarantee a good communication range.

3. 

### Make sure the antenna head of air end is erect down, and the antenna head of ground end is erect up. Make sure there is no obstacle between antennas; otherwise the communication range will be reduced.

4. 

### Ground end Link

- Alarm red light on is distance alarm, red light off i s safe. When it is on, you‟d better return your aircraft.

5. 

### When ground end Link

- Alarm green light is off, this indicates the communication between ground end and air end is off, whatever the state of red light.

6. 

### Make sure the driver is installed correctly.

7. 

### P lease choose the right com port.

8. 

### Check out the power supply of wireless data

- links before use.

9. 

### Please close the DJI assistant software before open the ground station. Otherwise there will be port conflict.

10. 

### Make sure the distance between 2.4GHz ground end a nd air end is over 1.5m; the distance between 900MHz ground end and air end is over 5m.

11. 

### Use the right cable for connection.

12. 

### High voltage servos & FBL systems can drain the flight battery fast. Please make sure your flight pack is sufficient for the flight time intended.

13. 

### About control modes ( Manual
, Atti.
, GPS Atti.
, GPS Cruise ) , please refer to ACE
Control Modes in ACE Waypoint User Manual and WKM Control Modes in WKM User
Manual

. 14. 

### Autopilot Mode (auto mode) means: GPS Atti. or GPS Cruise Mode in ACE; GPS At ti.
Mode in WKM.

If you have any problem you cannot solve during installation and usage, please contact our
customer service.

### - 7

- 

# Connection

### - 8

- 

# Ground Station Software

Install Software

 Operating system requirement: Win dows XP(Needs to install sp2 patch), Vista, 7 (32

- bits, 64

- bits, basic
version needs to install sp3 patch);

 Adobe® Reader® is required for user manual reading;

 Please follow the following install procedure strictly to install all required software.

Insert the CD to CD

- ROM, auto

- run window will appear.

STEP1: Check if .Net Framework 3.5 has been installed. If not, click Install .Net Framework 3.5 to install. If yes, go to step 2.

STEP2: Check if Internet Explorer 8has been installed. If not, click Instal l Internet Explorer 8 to install. If
yes, go to step 3.

STEP3: Click Install Google Earth Plugin For DJI to install Google Earth.

STEP4: Click Install GS Radio USB Driver to install driver.

STEP5: Click Install DJI Ground Station to install GS.

STEP6: Click Exit to finish installatio n. Step 6 Step 1

Step 2

Step3

Step 4

Step 5

### - 9

- 

# Start Software

Start Window (1)Start the Application of GS

 Network Detection, if the Network connection fails, it will go offline mode automatically.

 You also can go into offline mode by clicking the OFFLINE MODE button. 

## (2)Connect to Main Control ler

 Click Connect button on the upper right corner to connect to DJI a utopilot main controller.

 If errors are showed, it means there may be some problem on connection, please check.

### - 10

- 

# Application

Control Mode Switch

### - 11

- 

# GUI

GUI Instruction

1. Joystick :

 Stick : Choose your input equipment.

 Choose Calibration : Joystick calibration.

 Channel Mapping : Joystick channel mapping.

2. ToolBox :

 Click Go Mode : A real

- time single waypoi nt function.

 F_ChannelController : Customize F channels function of Main Controller.

 Relative Coordinates Editor : Add a new waypoint relative to current waypoint.

 Route Template : Route library.

 Action Config : General purpose servo action configuration.

 Photogrammetry Tool : Photogrammetry toolbox.

3. Sys_set  Options :
 Basic Setting :

 Sound: Turn on or off the sound.

 Instrument Board Style: C hoose different style of the Instrument Board.

 Action Setting: Action number display interval.

### - 12

-  Pause Mode Control Interval: Frequency of data packages sent to MC.

 Target Line: Line between aircraft and current target.

 Data Link Setting :

 The waypoint number of one package.

 Upload one package.

 Retry one package timeout. Sys_set  Altitude offset : Set up the altit ude offset.

 Height: Height mode.

 Elevation: Elevation mode.
Sys_set  Data Record Folder : Include both Log and Mission Folders, for saving log files and flight

route files.

4. Lang uage( 语言 ) : Click to change language, English or Chinese.
 中文

.  English

. 5. Help :  Check for Update : Update software here.
 About : Check your DJI Ground Station version here.

6. Enter location : Go to the location of your input

. 7. Fly Trace : Click to show the trac e of aircraft.

8. PathExtrude : Click if you want to see flight Path Extrude during mission editing.

9. Map Details : Click to see map details

. 10. Instrument Board : Click if you want to display instrument board.

11. Editor : Click if you want to display mission editor

. 12. Continue : I f you switch into autopilot mode from waypoint mode, click Pause then click Continue
, the aircraft will continue the remaining ( Unfinished) mission.

13. Pause : Mission pause.

14. Serial port selection.

15. Connect : Click to connect to main controller

. 16. Aircraft : Click to find aircraft location.

17. Real

- time coordinates of aircraft, you can copy the data.

18. One Key Takeoff : Click to take off the aircraft.

19. Home Point : Find your home location

. 20. Real

- time coordinates of home location , you can copy the data.

21. Set Home Point : Change your home point

. 22. Go Home : Click to go home.

23. To show Real mode or Simulation mode

.

### - 13

-

24. Signal strength : Shows the connection state between controller and ground station.

25. GPS : Real

- time GPS signal quality.

26. ATTI : Real

- time attitude qu ality.

27. MODE : Real

- time control mode.

28. Other state parameters : T he autopilot system d ecide s

.  WKM :

 MotorVoltage : Battery voltage.
 ACE :

 ServoVoltage : Servo output voltage.

 Pitch% : Real

- time pitch percentage.

 Throttle% : Real

- time throttle percentage.
29. Down load and upload progress bar.

30. Cancel : Cancel button.

### - 14

- Fig 1 A WKM 

# 1 View Mode

1.1 View Mode Procedures

STEP1: Check Signal Strength: shows no communication between GS and MC, please check
Troubleshooting in Appendix

. is constructed, can go to next step.
STEP2: Aircraft : When G PS signal is good enough, click Aircraft will show LATI
, LONGI and ALTI of
aircraft, then the aircraft logo will be showed on the map; if the aircraft logo can‟t be found, please

double click Aircraft

. STEP3: AltitudeOffSet : Click AltitudeOffSet from Sys_set , you can just use the value recommended, and

click OK . Read the paragraph below to get more details.

STEP4: Switch Height or Elevation Mode: Height mode shows relative height, and the 0 meter is the
aircraft height when you choose Height mode, above 0 is positive and below 0 is negative. Elevation
mode shows height above sea level, figure is showed in Fig 2

STEP5: Home Point : Home point can be found only when GPS signal is good enough. If WKM, Home
Point is 20 meters above the aircraft position where user pushes the throttle stick first time; while ACE is

30 meters.

STEP6: View Fly Trace
, Instrument Board and State Information: For displaying flight track and aircraft
state. Contents are decided by autopilot system. Fig 1 A will be displayed if you are usin g WKM; Fig 1 B
will be displayed if you are using ACE. Instrument Board is showed in Fig 3

.



### 1.2 System Setting
System Setting includes Options Setting
, Altitude Offset Setting and Data Record Folder

. 

### (1) Options Fig 3 Fig 1 B ACE

Fig 2

### - 15

- 

## Ti ps:

Click DEFAULT to retrieve default parameters.

The Options setting includes both Basic Setting and Data Link Setting

. 

### Basic Setting

 Sound : If switch on , there will be alarm sound when the radio signal is bad.

 Instrument Board Style : Choose different instrument board style.

 Action Setting : Set action number display mode. For example, 3 means that a mark will be
displayed every three action intervals.

 Pause Mode Control Interval : Time interval of sending commands to the MC when use joystick or
keyboa rd in pause mode , t he smaller interval, the more fine control

.

 Target Line : Display a line between aircraft and current target when switch on

. 

### Data Link Setting
Setting parameters for the communication between MC and GS. Usually just keep DEFAULT param eters.

 The waypoint number of one package

 Upload one package retry times

 Retry one package timeout

### - 16

- (2)Altitude Offset Setting

 GIS database (Google EarthTM) is not precise, while Flight Path Mountain and other obstacle/building
collision checking fe ature performed based on this database, which is not real

- time or up

- to

- date.
Google EarthTM plug

- in is only for the purpose as a general landscape browser, for quick way points
positioning without much safety guarantee.

 P ressure sensor is used for altitude sensing, leading the result varies according to weather. Therefore,
you might have different altitude values on the same location at different times. However, its relative
height may be far from precise than absolute altitude information in GIS.



###  Due to ab ove problems, the following method for relative flight height calculation would be most reliable. 

### 1) Record the aircraft altitude before take

- off, as L Gound 

### 2) Way point altitude = Relative F light H eight + L Gound Please keep in mind that this method is the most reliable way for flight path collision precaution.



###  The Altitude Offset value given is only for the purpose to avoid visual confusion, such as Case 1 in fi g. 1
shown below. The aircraft represented by the red point was located on the ground in real world but
floating in the sky within 3D

- Map. You have to give a negative offset value to reduce the aircraft altitude
for visual effect only. The calculate altitude offset function will give you a suggestion for offset setting but
not guaranteed to be correct. Because if the aircraft is landed on the roof of the building as in Case 2 in
figure shown below, and the building information will not appear in GIS database, which means you

cannot use the same method as in Case 1. You should calculate this offset value with a known or
estimated building height. 

## Tips:
We highly RECOMMEND you to consider the relative flight height discussed during flight mission editing.

### - 17

- (3) Data Record Folder

 Log Folder: Ground Station data recording function which is for recording all data transmitted and
received by radio module. You can open the log files in this folder by notepad. You can send th e log files
to DJI customer service for analysis if you have any usage problems.



###  Mission Folder: Auto saves each flight route. You can open these files by Editor

.

### - 18

- 

# 2 Joystick/Keyboard Mode

Joystick/Keyboard mode is the 2 nd permission for users, and Fly Simulation, One Key Takeoff and Joystick/
Keyboard functions can be operated.



### 2.1 Simulator

Pre

- Flight Simulation aims to help you getting familiar with the Ground Station software. A successful flight
under simulation mode does not guarantee your aircraf t to work successfully in real world, since it is only a
virtual environment based on the assumption that your aircraft is working under perfect condition with infinity
power supply, favorable weather, and also that the GIS & GPS are providing 100% correct and precise
information. The aircraft physical model in simulator might not perform the same flight characteristic as your

real aircraft. 

## Notices:

ENSURE the following requirements whenever during/before Simulation Mode:
1) You MUST NOT take off your aircra ft.
2) You MUST NOT turn on your aircraft engine/motor.
3) You CAN disconnect the power supply for electric motor, or disconnect the throttle control servo
motor for fuel engine. Otherwise, incorrect operation could result in serious personal injuries.

Pleas e follow the steps strictly for Simulation Mode use:
STEP1 Connect the whole main control system completely, including IMU 、 GPS, etc.

STEP2 Hold Ctrl then Right click , you will see simulate , and the aircraft logo will be at the current
mouse position.

STEP3 Click simulate
, y ou will see a “Warning” window.

STEP4 Click Yes to turn on Simulate Mode

. Now GS is in Simulate Mode !!!



## Notices:

 W e HIGHLY RECOMMEND Simulation Mode fo r practicing purpose for flight mission edit, try to get
familiar with all the operations of your Ground Stat ion as much as you can.

 The simulation model requires a complete main control system connection , and you can reference

to Assembly in DJI autopilot system user manual

.

### - 19

- 2.2 One K ey Takeoff



## Notices:

One key takeoff is a function especially for WKM, that can be used only in autopilot mode and when GPS
signal is good.

Messages may be showed as follows: 

### Successful takeoff message

"The aircraft is auto Takeoff!" 

### Error messages
"Auto Takeoff failure, GPS is not ready!"
“The aircraft is Takeoffing!"

"Au to Takeoff failure, the aircraft is already flying!"
"Auto Takeoff failure, please switch to auto mode!"

### - 20

- 2.3 Joystick and Keyboard Mode
Please ensure GPS signal is good enough, the aircraft is already flying in air, and the control mode is autopilot

m ode; then click Pause , choose joystick or keyboard mode, Fig. 1 shows that keyboard is chosen, and then

you can use keyboard control the aircraft.



### Keyboard Mode

Use keys W
, S
, A
, D
, ↑
, ↓ and ← , → to control the aircraft. A
, D for Roll, W

、 S for Pitch
, ← , → for Rudder

and ↑
, ↓ for Throttle . For example, use helicopter to be aircraft model, shown as Fig. 2

.



### Joystick Mode
 Requirement
Joystick control based on a third party hardware controller, you can choose your preferred devi ce based on
the two types of joystick indicated below (Fig 3 ).
Type 1: Traditional R/C style flight simulation controller; or your R/C Tx with a third party simulator link

. Type 2: Linear single stick 3D controller

.



###  Technology Requirements

 A t least 4 linear control channels are necessary; otherwise the joystick function will not work
properly.

 Use USB connection. Fig 2 图 1

Fig 3 Fig 1

F ig. 2

### - 21

-  Connection
Joystick  Choose Joystick
Refer to the user manual of the specific controller / Joystick you choose, and ensure the USB cable is properly

connected. 

## Notices:

Please 

## ENSURE t he Joystick is properly connected physically, do not disconnect the joystick connection when Joystick Mode is activated.



###  Calibration
Joystick  Calibration

Steps Joystick (Type1) Type1 Type2

Step 1 Place all trim levers (for
physical fine turning) in their
neutral, or centered position.

Click Next

. For Type 2 controller, might
not have these physical fine
turning levers. Click Next

.

Step 2 Center all the sticks. Click

Next to continue. Center all stick including

throttle stick . Click Next to

continue.

Step 3 Move all sticks through their

motion range completely

several times. When
completed, click Finish

. Move the sticks through their

3D motion range complete ly
several times, including pitc h.
When completed, click Finish

. Fig

. 3

### - 22

-  Channel Mapping
Joystick  Channel Mapping

 Each control channel can be reversed, and mapped to one of the control function s listed in
corresponding drop down boxes.(Fig 1 )

 These control function are „Rol l‟, „Elevator‟, „Yaw‟&„Collective Pitch‟, they represent the cyclic and
rudder control of your aircraft

. use helicopter f or example , shown in the figures below (Fig 2 )

. Where the „+‟ represents positive channel value, „

- ‟ represents negative cha nnel value.

 Push your joystick, and the channel value feedback will tell whether it matches with suggested
joystick control direction or your own settings, and then make your adjustments. For Type 1
controller, please refer to the controller‟s manual.

Fig 1 Fig 1

Fig 2

### - 23

- 

# 3 Click Go Mode

Click Go Mode is a real

- time single waypoint flight mode. Under this mode, you can send a waypoint to your
aircraft immediately.

STEP1: Please ensure GPS signal is good enough, the aircraft is already flying in air, and the control

mode is Aut opilot Mode (ACE is GPS Atti. or GPS Cruise Mode , WKM is GPS Atti. Mode )

.
STEP2: Click ToolBox  Click Go Mode to open the window as the figure shows.

STEP3: Click Enter Click Go Mode

. Now the aircraft will go into hovering stat ion

.
STEP4: Input the waypoint Altitude and aircraf t Speed

.
STEP5: Hold the Space key on the keyboard, move the mouse in the 3D map, left click to set the
waypoint. Then the aircraft will fly toward this waypoint immediately. You can also set a new
waypoint during the flight

.

STEP6: Click Exit Click Go Mode
, the aircraf t will hover again

.

STEP7: Click CONTINUE button to continue the previous flight.



## Notices:

 The aircraft will go into hovering stat ion while the MC isn‟t receive a heartbeat package from the GS
in 5 seconds;



##  The aircraft will go into auto go home while the M C isn‟t receive a heartbeat package from the GS in

a minute. 

## Tips:

When in the Click Go Mode , all Tx control sticks are disabled. To regain control using the Tx, flip the mode

switch to Manual mode , and then to other control modes (ACE: Atti
, GPS Atti , or GPS Cruise mode ;

WKM: Atti
, GPS Atti ).

### - 24

- 

# 4 Waypoint(Single Waypoint User Skip This)

Waypoint package includes Waypoint Mode, Auto Takeoffing/Landing, F Channel Controller, General Purpose
Servo Action, 6 P re
- P rogrammed R oute T emplates and Photogrammetry Tool.



### 4.1 Waypoint Mode
See the flow chart to get the information about Waypoint mode operation.



## Mission Editor

### - 2 5

- 

## Instructions
1) LOG to print info. Such as: upload success, upload failed...
2) Waypoint list : You can click icon + before Editing Mission to show all waypoint s in the table.
3) You will see Mission properties if 14) selected.

 Mission properties

 MissionTimeLmt : If the flight

- time exceeds the value (>=60sec), it will go home automatically

.

 Route : The missi on execution mode selection : includes both modes of Start_to_End and

Continuous

.

 StartWayPoint : Define the first way point that the aircraft goes to after click ing GO . Select the
proper way point index number listed.

 VerticalSpeedLimit : Vertical speed fo r up or down direction, u nit is m/s

.
 Set Mission properties



###  SetAllWPsAlt : Set a ltitude of all waypoints.



###  SetAllWPsSpeed : Set speed of all waypoints.



###  SetAllWPsTurnMode : Set turn mode of all waypoints: StopAndTurn
, Bank_turn
, Adaptive_Bank_Turn and None
。


###  SetAllAction : Setup the parameters of a set of repeat actions.
4) Description of selected item.
5) Altitude change 10m or 1m per click

. 6) Add new way point by click + , and then left click on the map. Or left click on the map with Ctrl

. C lick

to delete the sele cted point s

. 7) Clear : C lick the Clear button to delete running mission or editing mission on the map

. 8) Save and Open the mission.
9) Cancel all edited way points.
10) Upload the mission to Main Controller.
11) Click Go to execute assigned mission, including Auto Tak e off as assigned.
12) Show Waypoint properties

. A ny item in Editing Mission selected is writeable; Assigned Mission is
read only.

 Latitude & Longitude : Units are in degree.

 Altitude : Unit is in meters.

 TurnMode : Set the turn mode individually.

 Forward_Fl ight_Speed : Velocity from previous point to current point is limited to <= 25 m/s.

### - 26

-

 HeadingDegree : Heading degree facing this way point, unit in degree.

 HoldTime : The time to stay at this way point, unit in second.
13) Waypoint Action properties

 Period : (Uni t: second) Setting the time period of the action.

 RepeatTime : Setting the repeat time of the action assigned.

 StartDelay : (Unit: second) Setting when to activate assigned servo actions if the flight arrives
this way point.

 RepeatDistance : (Unit: meter.) Setting the repeat action in distance.
15) Set the editor box transparent.
16) Set the editor box size.

### - 27

- ( 

## I ) Flight Mission Setting

STEP1: 

### Click to open the mission editor, see fig. 1

. STEP2: 

### Click New to edit a new mission.

STEP3: 

### Add way points.



##  Add way points
There are two way s on adding way points

. A maximum of 200 way points can

be added in the ACE waypoint mode, and a maximum of 5 0 way points can

be added in the WKM waypoint mode. I f selecte d
, t he waypoint will change
to be green, see fig. 2

. 

### (1)Add P oint by P oint

STEP1: Click + , or press Ctrl
。 STEP2: Left click on the 3D

- Map where the locations you want to add a way point. 

## Tips:
Repeat above procedure if you wish to add more new way points. T he initial waypoint index will be 0,
incremented by 1 each new way point is added. If you want to insert a point before another point, you can
move the mouse over the point then press Ctrl with Left click

. 

### (2)Using Relative Coordinates Editor

After the fi rst waypoint, you can use Toolbox

- > Relative Coordinates Editor to add new points.

STEP1: Select one waypoint, then press Shift + P you will see the input window shown as f ig. 3

. STEP2: Use Tab to switch between these two input frames.

STEP3: I nput the relative coordinates: Angle is the relative angle to the north of current waypoint;

Distance is the relative distance to the current waypoint.

STEP4: Press Enter
, then you will see a new waypoint a fter the
current waypoint.



##  Delete Way Points

STEP1: Select way point either in m ap or in Editing Mission Menu , and t he selected waypoint is in green ;
STEP2: Click

- or press delete to delete all the way points added.



## Tips:
Repeat above procedure to delete more. Click C ANCLE to delete all the way points added. Fig 1

图 2

图 3

Fig 3 Fig 2

### - 28

- 

##  Waypoint Properties Editing
Select the way point in 3D

- Map or in the Editing Mission Menu . See figure as following, Altitude
, TurnMode
, Forward Flight Speed
, HeadDegree and HoldTime can be set, then p ress Ent er to confirm.



### ( 1 ) Altitude

The altitude (unit m), if pointed to height mode, means relative height; otherwise altitude mode means the waypoint altitude.  Edit the altitude of each waypoint by clicking

the

.  Type in the precise a ltitude in the box.



### ( 2 ) Tur nMode
There are three different turn mod es for the aircraft at each way point: StopAndTurn
, Bank_Turn and Adaptive_Bank_Turn . The default turn mode in the system is StopAndTurn

. C hange it according to the following steps.
The Hold Time in way point property is deactivated if
Bank_Turn or Adaptive_Bank_Turn is chosen.  Make a selection from the drop down box
after TurnMode for mission execution
mode.



### ( 3 ) Forward Flight Speed This Speed is the air speed of aircraft flying to specific way point editing. (Unit in m/s). In Waypoint Mode, the default speed is 4m/s, and the maximum speed allowed is 25m/s.  Type in the precise Forward Flight Speed in the box.



### ( 4 ) HeadDegree

When the aircraft arrives at a given point where to head towards a certain direction, you can use this value. (Unit in degree).  Input the degree value in the item.

 Right click waypoint and hold on
, then move wheel or press ↑
, ↓ to change head degree.


### ( 5 ) HoldTime
Sets the time to stay in a particular waypoint, not

for Bank_turn , only for StopAndTurn (In second).  Ty pe in the time to stay in a way point

after the TimeHold in the box. (1)

(2)

(3)

(4)

(5)

### - 29

- 

##  Mission Properties Editing

Click Editing Mission and the M ission properties figure shown as following . Please set MissionTimeLmt
, Route selection
, StartWayPoint
, erticalSpeedLimit and Set Mission properties , and press Enter to confirm

.



### ( 1 ) MissionTimeLmt
If the aircraft‟s flying time exceeds the value, it will g o

home automatically. (Default value is 65535sec. Min
value is 60sec, Max value is 65535sec.)  Type in precise time in the box after

MissionTimeLmt

.



### ( 2 ) Route

Selection route modes: Start_to_End or Continuous

. Start_to_End : execute once from start point to end
point; Continuous : repeat from start point to end point.
( D efault setting is Start_to_End .)  Make a selection from the drop down box

after Route for mission execution mode.



### ( 3 ) StartWayPoint

Setting for start waypoint from the existing way point

indexe s. ( D efault start way point is 0.)  Make a selection from the drop down box

after StartWayPoint from the existing way
point indexes. 

### ( 4 ) VerticalSpeedLimitSetting
This Speed limit is the absolute velocity of aircraft in
vertical direction, up or down (Unit in m/s)

. The default
vertical speed limit is 1.5m/s and the maximum speed

allowed is 5.0m/s.  Type in the precise speed in the box after
VerticalSpeedLimit

.



### ( 5 ) Set Mission properties

 SetAllWPsAlt

 SetAllWPsSpeed

 SetAllWPsTurnMode

 SetAllAction The propertie s setting above, once set, then all
the destinations will change and be the same; if
a single waypoint‟s properties are set
individually, then the corresponding waypoint
properties will change. (1)

(2)

(3)

(4)

(5)

### - 30

-  Examples for Way Point turning mode: Shown as figure A1/A2 as following.
 Examples for Mission/Way Point properties setting : B1/B2 Selection for the state of Route , and
StartWayPoint

.

 Examples for path of way point:



###  Mission Save & Load

Mission Save

STEP1: Click SAVE to save mission edited.

STEP2: Choose a name with extension „.awm‟. For Example: DJI_Mission_20100101.awm.

Mission Load

STEP1: Click OPEN to load mission saved; choose mission file with extension „.awm‟.


### Notices:

The Altitude offset valu e will not be saved in mission file. Please set it every time!!!

### - 31

- 

## (II ) Upload Flight Mission
Final Check & Mission Transmitting: Click UPLOAD on the upper bottom of the m ission Editor to send flight

mission to DJI a utopilot main controller. Here a mission review table as following example will appear for

mission final check. Press OK

. T he mission is ready to be executed after synchronized successfully

.

Example of “Mission Review” table under 3 waypoints mission

Waypoint Latitude Longtitude Altitude Speed T urn Mode Altidiff Action Module
0 xxxxx xxxxx xxxxx 4 StopAndTurn

- 10 NULL

1 xxxxx xxxxx xxxxx 6 StopAndTurn 20 In meter

2 xxxxx xxxxx xxxxx 15 StopAndTurn 25 In second



## Tips:

After synchroniz ation, if missio n is re

- edited, you should re

- do the synchroniz ation.



## (III) Take off Aircraft
After finishing all the above steps, take off the aircraft in one of three takeoff modes. If you want to use Auto
Takeoff and Landing function, please skip the step III and go to Step IV directly. You can take off your aircraft in

Manual Mode , please hover it at a suitable height.



## (IV) Switch to Autopilot Mode
Switch to any autopilot mode on your TX. Ground station is able to control the aircraft only after switching to
autop ilot mode !



## Notices:
Making sure sufficient GSP satellite signal is acquired. 

## Tips:

Refer to DJI Autopilot System User Manual for Manual
, Atti.
, GPS Atti.
, GPS Cruise switching of your
autopilot system, and also the Manual of your R/C Transmitter (Tx).

### - 32

- 

## ( V ) GO !!

Click Go in the m ission Editor , and the aircraft will fly automatically according to the path set in the flight

mission. 

## Tips:

 U sing EDIT to re
- edit the mission , w hile a mission is in process . Please click EDIT in mission Editor

to do so. Then the mission editor will return to the state explained in previous section Flight Mission
Setting

 U sing PAUSE to pause the mission
, w hile a mission is in process. Please click PAUSE , and the
aircraft will slow down and stay hovering. C lick CONTINUE and the ai rcraft will resume the

un
- finished mission.

When you set the waypoints for the aircraft to climb a mountain, please make sure that you leave enough

distance between the aircraft and the mountain , in order to avoi d collision caused by aircraft air speed.

Plea se note that when you set a way point above water such as lake/sea/river, the default altitude the map

shows will be at the bottom of the water body. Please be careful in setting altitude over water.

### - 33

- 4.2 Auto Takeoff and Landing
Please read this carefully in order to work properly. It is imperative that you understand the procedures
outlined before executing auto takeoff and landing functions.



## Tips :
ACE u sers need to obtain Semi Auto Takeoff and Landing permission. WKM has this function built

- in.



## Auto Takeoff
Only after assign ing or edit ing all waypoints, the mission is ready to tak e off

. STEP1: Place transmitter throttle stick to the lowest position. Otherwise, a tip The aircraft is on the
ground, but the throttle is not in the lowest position, please do not switch to manual mode! will be

shown.

STEP2: Flip the flight mode switch to either GPS

- Cruise or GPS

- Atti mode.

STEP3: Press Go command on the Editor , the aircraft main rotor wi ll begin to spool up. 

## Notices:

Aircraft is ascending to waypoint altitude, please place throttle to mid

- stick ! This warning will go away
after you place the throttle stick at mid

- point, a safety feature in case you accidently bump the mode switch

to Manua l mode or GPS Atti mode

.



## Auto Landing

After mission completing or the aircraft return ing home, and the aircraft

h over s within visual contact. Use G round S tation keyboard for auto
landing (Press pause button then select keyboard control). Auto Landing b utton will be available. Use W / S
(Pitch), A / D (Roll), ↑ / ↓ (Throttle) and ← / → (Rudder) to navigate to decent landing zone, or allowing Ground
Station automatically provided a landing zone is clear of any obstacles , in order to decent the aircraft

. Use one of the methods bellow to land the aircraft.
(1) C lick Auto landing , aircraft will auto land then stop engine by itself. In the latter situation, to terminate auto
landing, please press ↑ or ↓ , or deselect the keyboard control button 

. (2) U se ↓ to land the aircraft. After landing, keep holding ↓ until engine stop s

.



## Notices:
Please p ress pause button and select keyboard mode, before auto landing operation.

### - 34

- 4.3 F Channel Controller

U se G round S tation to customize the MC‟s F channel control, so that you can control the external p ayloads
such as camera and gimbal.

STEP1: 

### Click ToolBox  F_ChannelControl , he setup window shows as the follow figure.

STEP2: 

### Click the small box beside channel name to choose the channels will be use d

. STEP3: 

### Click the button with letter, then press key shown and you need to c hoose a new control key on the keyboard.

STEP4: 

### Setup the channel measuring range in the number boxes.

STEP5: 

### Usually, the slide left endpoint represents the minimum value. However you can tick the

Reverse box to reverse the measuring range.

STEP6: 

### Click Exit and Holding to ex it and keep the range value; Click Exit without Holding to exit and forget the range value.



## Tips :
ACE support s F1, F2, F3 and F4;

WKM support s F1 and F2 only
。

### - 35

- 4.4 General Purpose Servo Action (GP

- Servo Action)

GP

- Servo Action is supported by one of the servo output channels in the transmitter, which will work as an

interface between DJI a utopilot system and external devices. This feature allows DJI autopilot to operate your
external devices automatically during basic aircraft waypoint mission.



## GP

- S ervo Action Setting

STEP1: Click ToolBox  GP Servo Action Config to open the General Purpose Servo Action Config
windows;

STEP2: Click the box Action Mode OnOff to enable the GP

- Servo Action function;

STEP3: For ACE, the GP

- Servo uses the output channel F4 in the MC; for WKM, the GP

- Servo uses the output channel F1 in the MC.



## Notices:
The servo position value is from

- 1000 to 1000; t he Stay Time is in second.

The software aims to let you program four different servo positions, use servo for example.

 Initial servo position a nd three specific servo working positions.

 Timing of each servo transition in one GP

- Servo Action cycle.

 The repeat time of a GP

- Servo Action assignment on a particular assigned way point.

 Time gap between each GP

- Servo Action assignments.
Please assign a default position for servo in n atural status, and others 3 positions as well as the time to stay in

such positions for servo to work as assigned. After all settings (click Set to save the settings), then click
Trigger you review the GP

- Servo Action, as we explained in One GP

- Servo Action Cycle

.

### - 36

- 

## Way point Action Editing

F ind and set the w ay point action properties according to the following procedures:

STEP1: Click , the Mission Status will show Editing Mission label upon the Mission Editor

. STEP2: Edit flight mission.

STEP3: Select the way point either in 3D

- Map or in the EditingMission m enu , and get Waypoint

action

, shown as Fig.

. STEP4: Give the proper parameters explained in Editor : Period
, RepeatTime
, StartDelay , and

RepeatDistance . Se t RepeatTime and RepeatDistance zero to disable the GP

- Servo Action.



## Tips:

U se SetAllActioninMission properties to setup the sequence interval. For example: 0 means action
property is applied to no waypoint; 1 means action property is applied to ever y waypoint; 2 means action
property is applied to every two waypoints; 3 means action property is applied to every three waypoints,

etc.

Fig. 1 Fig. 2

### - 37

- 4.5 Six P re - P rogrammed R oute T em plates
Use one of the six Route templates to generate points automatically.
STEP1: Open the Template Form Toolbox  Route Template
, shown as F ig

. 1

.

STEP2: Click Add Area button to add an area, shown as F ig

. 2

. STEP3: Choose the waypoint icon of the chosen area, and drag it to change the area size.

STEP4: Left click mouse to rotate the area, rotation 30 o per click; click / to adjust the area rotation angle and rotation 0.1 o per click
, as Fig. 3 shown.
STEP5: Click one Template to ge nerate waypoint(s), for example , choose Scan
, as Fig. 4 shown.

STEP6: Click Import to Edit List to do template edit, for example , choose Scan
, as Fig. 4 shown. 

## Tips:

 You can exchange and redo STEP3 and STEP4, until get an area needed.

 Dragging the waypoint icon also can move the area, and the chosen icon shows green.

 M ore than one area can be add ed ; operation will effect on every chosen area
, if more than one area
is chosen

.  L eft click mouse to choose or not choose an area, green area is chosen, and red is not.

 You need to choose the area if you want to delete it by click Delete Area

.
 Click Scan button once or twice, the r oute waypoints will be assigned vertically or horizontally

 Mouse on Param show s para meter meaning , row numbers for Scan and points for others.

 You can set sea level at Alti , and ensure that the altitude is higher than the aircraft altitude.

 Edit waypo ints after clicking Import to Edit List button

 5 Waypoints station will not enable Scan m ode.

F ig. 4 F ig. 5 F ig. 1 F ig. 2 F ig. 3

### - 38

- 4.6 Photogrammetry Tool
Photogrammetry tool is for creat ing the professional maps by aerial photography easily. In order to do that,
you need to setup the servo action and mission path correctly as follows. 

### Tips:

This tool is actua lly a functions combination. It simplifies the parameters setup procedure for the aerial
photography.

Fig. 1 Fig. 2

Fig. 3

STEP1: Click ToolBox  Photogrammetry Tool t o open the set ting window , s how n as Fig. 1

. STEP2: Click Config the shooting action to setup the servo action for the camera shooting action
, reference to section 4.4

. STEP3: Click Reference Photo to see if the camera is working as you want

. STEP4: Fill in the right Focal Length
, Sensor Hei ght , and Sensor Width according to the camera

. STEP5: Fill in the Fly Height
, H Overlap and W Overlap as you like

. H Overlap and W Overlap
represent the overlap percentage across the sensor height and width

. STEP6: Fill in the flight horizontal and vertical speed in H S peed and V Speed separately

. STEP7: Choose turn mode between Adaptive_Bank_Turn and Stop and Turn

. STEP8: Click Click to draw a region which you want to scan to choose an area , reference to section
4.5 to change the area

. STEP9: Click Preview to preview the mission plan
, shown as Fig. 2

. STEP10: If everything is OK, click Generate to generate all waypo ints. Now you will have a flight
mission generated automatically in the Editor
, shown as Fig. 3

. 

### Tips: You can edit any waypoint in the Editor after generate all waypoints

.

### - 39

- 

# Appendix
List of Ground Station Shortcut Keys

Operation Function
View Mode

Left Key + Up/Down/Left/Right to move the map

↑
, ↓
, ← , → Up/Down/Left/Right to move the map

Left Key + Up/Down/Left/Right to rotate the map

Ctrl + Mouse Roll Up
, Ctrl + Mouse Roll Down Left/Right to rotate the map

Shift + Mouse Roll Up
, Shift + Mouse Roll Down Up/Down to rotate the map

Double click Left Key or Mouse Roll Up Zoon In the Map

Double click Right Key or Mouse Roll Down Zoon Out the Map


### Joy stick/Keyboard Mode

Ctrl + Right Key Start Simulator 

### Keyboard Mode

D
, A Roll

W
, S Pitch
↑
, ↓ Throttle

← , → Rudder


### Keyboard Mode

Blank + Left Key Set the Target Waypoint


### Waypoint

Ctrl + Left Key Add New Waypoint
Left click waypoint

then Mouse Roll Up or Mouse Roll Down Head Degree Setting

Left click waypoint then ↑ or ↓ Head Degree Sett ing
Left click waypoint then then Shift + P Open the Relative Coordinates Editor

### - 40

- 

# Troubleshooting

Ground Station Launching Failure



Solution : Choose “run as administrator” when you right click the Ground Station icon in Windows 7.

 In English version Windows XP, if customer cannot open the program and the following error is
reported: system

. Format exception

. Solution :
Start  Control Panel  Date, Time, Language and Regional Settings  Regional and Language
Options  Regional Options (change to English), senior (change non

- Unicode program language into
English).



Solution : Try again or use Offline Mode

.  Connect button is gray and can‟t be clicked after launch the Ground Station.

Solution:
Please take the following steps to uninstall the Google Earth plugin, Start  All Program  Google

Earth  Uninstall Google Earth Plug

- in , and then use the installation CD to re

- install the Google Earth
plugin for DJI.

 Connect button.

Solution :

 Please choose the right COM port, and make sure that the driver is installed correctly.

 Make sure the transmitter and the receiver of the station are powered on.

 Make sure the transmitter and the receiver are matched; do not change the setup of switches on the

radio station.

 Clo se the Assistant Software to avoid the port confliction.



### Instrument Board Failure

 The Ground Station launching failure when you click to open the instrument board; the reason is that
your computer can‟t support the OpenGL.

Solution : You may choose the Style2 (shown in Fig. 1

, 2 ) in System Setting  Options before you open the

instrument board.

### - 41

- Ground Station Software Crash
 Ground Station Software Crash will not affect the aircraft under mission execution. The aircra ft will keep going on the flight mission edited even the Ground Station Software crash. The Ground Station
Software can be launched again, but loss of the following information will happen: Altitude Offset
value, Aircraft tracks and Way points

. Solution :
Click on the DOWNLOAD button, to retrieve the previously set way points from the DJI Autopilot main

controller.



### Launch Flight Failure

 Aircraft doesn‟t execute mission after click on GO

. Solution:

 If aircraft is in the air, please ensure it is in Au topilot Mode, and there is no need to set center
position.

 If aircraft is on the ground and does not takeoff, please use Assistant Software to setup the center
position and the throttle servo working range.

 If Auto Takeoff fails, you may take off the aircr aft and then land manually in autopilot mode, then
wait until throttle cut off automatically; or reboot the autopilot system to initialize the controller.



### Action Usage Faults

 If there is no output change on F4 channel when click on the Trigger in the Ac tion Setting window

after connect to main controller.

Solution:

 Please ensure the receiver has been connected. Fig 2

Fig 1

### - 42

-

 Please ensure it is under the Autopilot Mode or Waypoint Mode.

 The action will not be valid unless the value of hold time is more than one secon d.



### When Wireless Data

- Link Doesn’t Work
 If your Ground Station cannot be connected with the main controller, please check the following

issues.

Solution :

 Make sure radio driver have been installed.

 If the Antenna is broken, the communication distance c annot be guaranteed.

 Two Wireless Data

- Link Terminals had been placed too close. The valid communication distance

between 2.4GHz wireless data

- links should be longer than 1.5 meters; the valid communication

distance between 900MHz wireless data

- links shoul d be longer than 5 meters.

### - 43

- 

# Data

- link LED Introduction

Function Introduction
Ground End

LINK

- ALARM Distance Alarm Light on indicates distance warning.

LINK

- ALARM Network Light Light on indicates communication is on with air end.

DATA

- POWER Power Light Light on indicates working well.

DATA

- POWER Data Light Light flash indicates data transmit and receive.


### Air End

Link Data Light Light on indicates communication is on.

Power Power Light Light on indicates working well.

TX Transmit Light Light on indicates data transmit.

RX Receive Light Light on indicates data receive.

### - 44

- 

# Wireless Data

- link Specification

2.4GHz 900MHz
Performance

RF Data Rate 700kbps 100kbps
Indoor/Urban Range ≤500m ≤1Km

Outdoor/RF Line

- of

- Sight Range ≤3km ≤10Km

Transmit Power 130mW 1000mW
Receiver Sensitivity (1%PER)

- 95dBm

- 110dBm

Power Consumption Ground end: 460mW

Air end: 460mW Ground end: 1600mW

Air end: 1500mW


### Features
Frequency Band 2.4GHz(2400MHz ~2483MHz) 900MHz(902MHz ~928MHz)

Serial Data Rate 115200 bps 115200 bps
Antenna Options SMA SMA
Operating Temperature

- 40°C ~+85°C

- 40°C ~+85°C
Operating Humidity 0~95% 0~95%

Size (No Antenna) Ground end: 70x48x17mm

Air end: 51x37x10mm Ground end: 78 x47.8x17mm

Air end: 73x42x10mm

Weight (Has Antenna) Ground end: 55g

Air end: 20g Ground end: 100g

Air end: 60g 

### Power Requirement
Supply Voltage 4.5V~12V 4.5V~12V

Transmit Current 220mA 1300mA

Receive Current 62mA 100mA 

### Regulatory Approvals
FCC (USA ) Yes Yes
IC (Canada) Yes Yes

### - 45

- 

## Ground Station / Wireless Data

- link

©2010

- 2011 Dajiang Innovation Technology Co. Ltd. All Rights Reserved. 6/F, HKUST SZ IER Building, No.9, Yuexing 1st Rd., South District, Hi

- Tech Park, Shenzhen, 518057, Guangdong, China
Tel: 0086

- 755

- 2665

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Fax: +86

- 755

- 8306

- 7370 Service hotline: +86

- 755

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- 3777 Sales: sales@dji

- innovations.com Technical support: support@dji

- innovations. com Others: info@dji

- innovations.com

Google logo is a registered trademark of Google Inc.DJI is a registered trademark of Dajiang Innovation Technology Co. Ltd. Names of products, brands, etc., appearing in this manual are trademarks or registered tradema rks of their respective owner companies. This product and manual are copyrighted by Dajiang Innovation Technology Co. Ltd. with all rights reserved. No part of this product or manual shall be reproduced in any form without the prior written consent or auth orization of Dajiang Innovation Technology Co. Ltd. No patent liability is assumed with respect to the use of the product or information contained
herein.