Ian McDonnell

795 3rd St. 

Encinitas, CA 92024 

(720) 381-7368 

photo@ianmcdonnell.com 

Dear Sir or Madam: 

This petition is being submitted on my behalf without legal counsel or consulting 

services. 

Pursuant to Section 333 of the FAA Modernization and Reform Act of 2012 (the Reform 

Act), and 14 C.F.R. Part 11, Ian McDonnell, a freelance photographer and videographer, 

hereby applies for an exemption from the Federal Aviation Regulations (FARs) listed 

below to allow operation of his small Unmanned Aircraft System (UAS) commercially in 

airspace regulated by the Federal Aviation Administration (FAA) so long as such 

operations are conducted with and under the conditions outlined herein or as may be 

established by the FAA as required by Section 333. 

The requested exemption would permit Ian McDonnell to pursue his commercial interests 

in providing services to clients using a small advanced UAS in the following areas: Real 

Estate, Marketing, Special Events, and Stock Footage. Ian McDonnell states that all UAS 

flights will occur over private or controlled access property and will do so with the 

property owner's consent and knowledge and that only people who have consented or 

otherwise have agreed to be within the UAS’ radius during filming and photography 

applications. 

Ian McDonnell has demonstrated the ability to safely and effectively fly the UAS DJI 

Flame Wheel F450 which will be used for all commercial and private purposes. Ian 

McDonnell complies with local ordinances and laws regarding the operation of UAS, and 

adheres to all weather and environmental restrictions or limitations in reference to the 

operations of UAS. 

All flights will occur in ordinance with any state or local laws regarding privacy. 

I, Ian McDonnell, am seeking the exemption because I am committed to complying with 

all of the rules, guidelines, limitations, and future legislation set forth by the FAA. I agree 

to operate the UAS in the manner that I have described, and for the purposes that I have 

described. Without the exemption request granted, I would be unable to safely and 

effectively run my business, and it is my intention to comply with the FAA and obtain an 

exemption of the following regulations. 
The following contains my list of regulations from which I am seeking exemption, and a 

complete list of responsibilities I assume as operator; it also contains information 

regarding the aircraft, public benefit and safety features, and similar petitions requests 

granted. 

Regulations from which exemption is requested: 

14 C.F.R. Part 21

14 C.F.R. 45.23(b)

14 C.F.R. 61.113(a) & (b) 14 C.F.R. 91.7(a)

14 C.F.R. 91.9(b) (2)

14 C.F.R. 91.109

14 C.F.R. 91.119

14 C.F.R. 91.121 

14 C.F.R. 91.151(a)

14 C.F.R. 91.203(a) & (b) 14 C.F.R. 91.205(b)

14 C.F.R. 91.215

14 C.F.R. 91.401 - 91.417 

I, THE OPERATOR, ASSUME THE FOLLOWING RESPONSIBILITIES 

1. Operations authorized by this grant of exemption are limited to the DJI Flame Wheel 

F450 when weighing less than 55 pounds including payload. Proposed operations of any 

other aircraft will require a new petition or a petition to amend this exemption.

2. Operations for the purpose of closed-set motion picture and television filming are not 

permitted. 

3. The UA may not be operated at a speed exceeding 87 knots (100 miles per hour). The 

exemption holder may use either groundspeed or calibrated airspeed to determine 

compliance with the 87 knot speed restriction. In no case will the UA be operated at 

airspeeds greater than the maximum UA operating airspeed recommended by the aircraft 

manufacturer. 

4. The UA must be operated at an altitude of no more than 400 feet above ground level 

(AGL). Altitude must be reported in feet AGL.

5. The UA must be operated within visual line of sight (VLOS) of the PIC at all times. 

This requires the PIC to be able to use human vision unaided by any device other than 

corrective lenses, as specified on the PIC’s FAA-issued airman medical certificate or U.S. 

driver’s license. 
6. All operations must utilize a visual observer (VO). The UA must be operated within 

the visual line of sight (VLOS) of the PIC and VO at all times. The VO may be used to 

satisfy the VLOS requirement as long as the PIC always maintains VLOS capability. The 

VO and PIC must be able to communicate verbally at all times; electronic messaging or 

texting is not permitted during flight operations. The PIC must be designated before the 

flight and cannot transfer his or her designation for the duration of the flight. The PIC 

must ensure that the VO can perform the duties required of the VO.

7. This exemption and all documents needed to operate the UAS and conduct its 

operations in accordance with the conditions and limitations stated in this grant of 

exemption, are hereinafter referred to as the operating documents. The operating 

documents must be accessible during UAS operations and made available to the 

Administrator upon request. If a discrepancy exists between the conditions and 4 

limitations in this exemption and the procedures outlined in the operating documents, the 

conditions and limitations herein take precedence and must be followed. Otherwise, the 

operator must follow the procedures as outlined in its operating documents. The operator 

may update or revise its operating documents. It is the operator’s responsibility to track 

such revisions and present updated and revised documents to the Administrator or any 

law enforcement official upon request. The operator must also present updated and 

revised documents if it petitions for extension or amendment to this grant of exemption. 

If the operator determines that any update or revision would affect the basis upon which 

the FAA granted this exemption, then the operator must petition for an amendment to its 

grant of exemption. The FAA’s UAS Integration Office (AFS−80) may be contacted if 

questions arise regarding updates or revisions to the operating documents.

8. Any UAS that has undergone maintenance or alterations that affect the UAS operation 

or flight characteristics, e.g., replacement of a flight critical component, must undergo a 

functional test flight prior to conducting further operations under this exemption. 

Functional test flights may only be conducted by a PIC with a VO and must remain at 

least 500 feet from other people. The functional test flight must be conducted in such a 

manner so as to not pose an undue hazard to persons and property.

9. The operator is responsible for maintaining and inspecting the UAS to ensure that it is 

in a condition for safe operation.

10. Prior to each flight, the PIC must conduct a pre-flight inspection and determine the 

UAS is in a condition for safe flight. The pre-flight inspection must account for all 

potential discrepancies, e.g., inoperable components, items, or equipment. If the 

inspection reveals a condition that affects the safe operation of the UAS, the aircraft is 

prohibited from operating until the necessary maintenance has been performed and the 

UAS is found to be in a condition for safe flight.
11. The operator must follow the UAS manufacturer’s maintenance, overhaul, 

replacement, inspection, and life limit requirements for the aircraft and aircraft 

components. 

12. Each UAS operated under this exemption must comply with all manufacturer safety 

bulletins.

13. Under this grant of exemption, a PIC must hold either an airline transport, 

commercial, private, recreational, or sport pilot certificate. The PIC must also hold a 

current FAA airman medical certificate or a valid U.S. driver’s license issued by a state, 

the District of Columbia, Puerto Rico, a territory, a possession, or the Federal 

government. The PIC must also meet the flight review requirements specified in 14 CFR 

§ 61.56 in an aircraft in which the PIC is rated on his or her pilot certificate.

14. The operator may not permit any PIC to operate unless the PIC demonstrates the 

ability to safely operate the UAS in a manner consistent with how the UAS will be 

operated under this exemption, including evasive and emergency maneuvers and 

maintaining appropriate distances from persons, vessels, vehicles and structures. PIC 

qualification flight hours and currency must be logged in a manner consistent with 14 

CFR § 61.51(b). Flights for the purposes of training the operator’s PICs and VOs 

(training, proficiency, and experience-building) and determining the PIC’s ability to 

safely operate the UAS in a manner consistent with how the UAS will be operated under 

this exemption are permitted under the terms of this exemption. However, training 

operations may only be conducted during dedicated training sessions. During training, 

proficiency, and experience-building flights, all persons not essential for flight operations 

are considered nonparticipants, and the PIC must operate the UA with appropriate 

distance from nonparticipants in accordance with 14 CFR § 91.119.

15. UAS operations may not be conducted during night, as defined in 14 CFR § 1.1. All 

operations must be conducted under visual meteorological conditions (VMC). Flights 

under special visual flight rules (SVFR) are not authorized.

16. The UA may not operate within 5 nautical miles of an airport reference point (ARP) 

as denoted in the current FAA Airport/Facility Directory (AFD) or for airports not 

denoted with an ARP, the center of the airport symbol as denoted on the current FAApublished aeronautical chart, unless a letter of agreement with that airport’s management 

is obtained or otherwise permitted by a COA issued to the exemption holder. The letter of 

agreement with the airport management must be made available to the Administrator or 

any law enforcement official upon request.

17. The UA may not be operated less than 500 feet below or less than 2,000 feet 

horizontally from a cloud or when visibility is less than 3 statute miles from the PIC.
18. If the UAS loses communications or loses its GPS signal, the UA must return to a 

pre-determined location within the private or controlled-access property.

19. The PIC must abort the flight in the event of unpredicted obstacles or emergencies.

20. The PIC is prohibited from beginning a flight unless (considering wind and forecast 

weather conditions) there is enough available power for the UA to conduct the intended 

operation and to operate after that for at least five minutes or with the reserve power 

recommended by the manufacturer if greater.

21. Air Traffic Organization (ATO) Certificate of Waiver or Authorization (COA). All 

operations shall be conducted in accordance with an ATO-issued COA. The exemption 

holder may apply for a new or amended COA if it intends to conduct operations that 

cannot be conducted under the terms of the attached COA. 6

22. All aircraft operated in accordance with this exemption must be identified by serial 

number, registered in accordance with 14 CFR part 47, and have identification (N

−Number) markings in accordance with 14 CFR part 45, Subpart C. Markings must be as 

large as practicable.

23. Documents used by the operator to ensure the safe operation and flight of the UAS 

and any documents required under 14 CFR §§ 91.9 and 91.203 must be available to the 

PIC at the Ground Control Station of the UAS any time the aircraft is operating. These 

documents must be made available to the Administrator or any law enforcement official 

upon request.

24. The UA must remain clear and give way to all manned aviation operations and 

activities at all times. 

25. The UAS may not be operated by the PIC from any moving device or vehicle.

26. All Flight operations must be conducted at least 500 feet from all nonparticipating 

persons, vessels, vehicles, and structures unless: a. Barriers or structures are present that 

sufficiently protect nonparticipating persons from the UA and/or debris in the event of an 

accident. The operator must ensure that nonparticipating persons remain under such 

protection. If a situation arises where nonparticipating persons leave such protection and 

are within 500 feet of the UA, flight operations must cease immediately in a manner 

ensuring the safety of nonparticipating persons; and b. The owner/controller of any 

vessels, vehicles or structures has granted permission for operating closer to those objects 

and the PIC has made a safety assessment of the risk of operating closer to those objects 

and determined that it does not present an undue hazard. The PIC, VO, operator trainees 

or essential persons are not considered nonparticipating persons under this exemption.
27. All operations shall be conducted over private or controlled-access property with 

permission from the property owner/controller or authorized representative. Permission 

from property owner/controller or authorized representative will be obtained for each 

flight to be conducted.

28. Any incident, accident, or flight operation that transgresses the lateral or vertical 

boundaries of the operational area as defined by the applicable COA must be reported to 

the FAA's UAS Integration Office (AFS−80) within 24 hours. Accidents must be reported 

to the National Transportation Safety Board (NTSB) per instructions contained on the 

NTSB Web site: www.ntsb.gov. 

SIMILAR EXEMPTIONS 

They are similar in all/or many material respects to relief previously requested in Grant of 

Exemption Nos. 13844, 11062, 11109, 11112, and 11213 

PUBLIC BENEFIT AND SAFETY 

Unmanned Aircraft System sUAVs are often seen as superior to helicopters as an aerial 

video gathering platform due to the smaller devices cheaper equipment and personnel 

cost, reduced noise and as such, a much smaller environmental impact which promotes 

public safety.

Ian McDonnell is petitioning for an exemption to operate a DJI Flame Wheel F450 with a 

stabilized HD camera and GPS safety features which limit its ability to limit the height it 

flies above ground level (AGL), to limit the radius of the distance it flies from the 

operator and to exclude it from operations within designated Class B, C and D airspace 

including a no-fly zone feature. 

The DJI Flame Wheel F450 will use a Naza-M V2 flight controller with has a failsafe 

function that is triggered in the event communication is lost between the UAS and the 

main controller transmitter. At that time, the UAS will return to its point of takeoff and 

land safety. If the connection is restored, the PIC can regain control of flight and land 

manually. 

These specifications meet with the Model Aircraft Operating Standards as set below: 

The petitioner will only operate its UAS in line-of-sight of a pilot and/or observer and 

will operate at sites that are `sufficient distance' from populated areas within the sterile 

area described in the FOPM. Such operations will ensure that the UAS will "not create a 

hazard to users of the national airspace system or the public." 
When flying the UAS within three (3) miles of an airport, airport operators will be 

notified and the operator will give the right-of-way to avoid flying in the proximity of 

full-scale aircraft. Maximum flight time for each operation will be 30 minutes. 

Flights will be terminated when battery levels reach 25%, allowing sufficient reserve 

flight time to safely land the UAS. 

The UAS will be programmed so it will not be operated at an altitude that exceeds 400 

feet AGL, and not more than 200 feet above an elevated platform from which 

videography is planned. 

Minimum crew for each operation shall consist of: UAS pilot, a visual UAS observer, 

and the camera operator. 

The UAS PIC will be an FAA licensed airman holding a minimum of a Private Pilot 

certificate and a current FAA medical certificate. 

The UAS operated by the petitioner weighs less than 25 pounds, including all payload 

(i.e. camera, lens, and stabilized gimbal). 

The UAS will operate at speeds of no more than 50 knots, can hover, and can 

simultaneously move vertically and horizontally. 

Given the small size of the UAS and the restricted sterile environment within which it 

will operate, Ian McDonnell’s operations adhere to the Reform Act's safety requirements. 

Thank you for considering this exemption petition.

Sincerely,

Ian McDonnell
©2012 DJI Innovations. All Rights Reserved.

FlameWheel450

User Manual

V 2.1

2013.03.13 Revision

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

Disclaimer

Read this disclaimer carefully before using FlameWheel450. By using this product, you hereby agree to 

this disclaimer and signify that you have read them fully. FlameWheel450 is an excellent multi-rotor. With 

a good autopilot, it will even offer tremendous flight features for low altitude flight working in restricted 

space. Despite the controller of autopilot operates in the safest manner when the main power battery is 

connected, 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 and parameter setup. 

Please respect the AMA’s National Model Aircraft Safety Code. DJI Innovations assumes no liability for 

damage(s) or injuries incurred directly or indirectly from the use of this product.

DJI FLAME WHEEL 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.

F450 Profile

FlameWheel450 (F450) is a multi-rotor designed for all pilots for fun or AP. With DJI WKM or NAZA 

autopilot system, it can achieve hovering, cruising, even rolling and other flight elements. It can be 

applied for entertainment, aerial photography, FPV and other aero-modeling activities.
©2012 DJI Innovations. All Rights Reserved. 3

Contents

Disclaimer.......................................................................................................................2

F450 Profile....................................................................................................................2

Contents.........................................................................................................................3

Product Usage Cautions.................................................................................................3

In Box .............................................................................................................................4

Tools Needed .................................................................................................................5

ESC Wiring.....................................................................................................................5

Assembly........................................................................................................................6

ESC Sound Introduction.................................................................................................7

Specifications .................................................................................................................7

Product Usage Cautions

When flying, the fast rotating propellers of FlameWheel450 will cause serious damage and injury. 

Therefore, please fly with a high safety consciousness. 

1. Keep flying multi-rotor away from objects, such as obstacles, human beings, high-voltage 

lines and so on.

2. Do not get close to or even touch the working motors and propellers, which will cause 

serious injury.

3. Do not over load the multi-rotor.

4. Check that the propellers and the motors are installed correctly and firmly before flight.

5. Make sure the rotation direction of each propeller is correct

6. Check whether all parts of multi-rotor are in good condition before flight. Do not fly with old 

or broken parts.

7. Use DJI parts as much as possible.

If you have any problem you cannot solve during installation, please contact our customer 

service.
©2012 DJI Innovations. All Rights Reserved. 4

In Box

Top Board 450FBT ×1 Bottom Board 450FBB ×1

Frame Arms 450FAC ×2 Frame Arms 450FAW ×2

10in Propeller Pairs

450P10×2 8in Propeller Pairs 450P08×2

Motors 450MOT ×4 ESC 450ESC ×4

15A

OPTO

+

-

U

V

W

Screws 450-M3×8 ×16 Screws 450-M2.5×6 ×24

Magic Strap 450MSX ×1, Battery Band 450BBX ×1

Power Line Pair 450PLP ×1, Small Wrench 450SW ×1
©2012 DJI Innovations. All Rights Reserved. 5

Tools Needed

2.0mm Hex Wrench For frame and motors installation.

Screw Glue For fastening screws.

Nylon Cable Tie

Scissors For binding devices and wires.

Diagonal Cutting Pliers

Foam Double Sided Adhesive Tape For fixing receiver, controller and other modules.

Soldering-iron & wires For connecting ESCs’ power cables to bottom board.

ESC Wiring

ESC ESC

ESC ESC

To Battery

Power Pads

Important

x Please solder ESCs to power pads on bottom board as the figure shows. 

x Use any insulating method at all soldering spots. Make sure there is no short or open circuit. 

x Make sure the side of power pads is upward.

x Make sure the rotation direction of each motor is the same as the way in the figure of 

“Assembly” shows. If not, switch any of two wire connections of the incorrect motor to change 

its rotation direction.
©2012 DJI Innovations. All Rights Reserved. 6

Assembly

Top board

S M2 5x6 crew .

Bottom Board

S M3x8 crew 

1 2

3

4

Step 1

Install bottom board

Step 2

Install autopilot system

Step 3

Install motors, ESCs

Step 4

Install top board

Step 5

Install propellers

Install screws by appropriate force to

prevent breaking threads. Use adequate

screw glue for installing screws.

Please wire neatly. Make sure wires will not

be cut by frame boards and propellers.

Smooth out the boards edge if necessary.

Please install propellers after autopilot system configuration

procedure. Make sure the rotation direction of propellers are

the same as the figure shows.

When mounting the propellers, do not use any thread locker,

just tighten the nuts to the end manually then use the

wrench to tighten it about 50°.

In up figure, arms 12 front of craft, arms 34 are back of craft. You'd better choose the same color arms for the same direction. See from top, motors

on arms 13 rotate counter-clock wise, use propellers 8045/1038; motors on arms 24 rotate clock wise, use propellers 8045R/1038R.
©2012 DJI Innovations. All Rights Reserved. 7

ESC Sound Introduction

ESC State Sound

Ready ♪1234567

Throttle stick is not at bottom BBBBBB...

Input signal abnormal B--------B--------B...

Input voltage abnormal BB---BB---BB---BB...

Tips:

DJI ESCs are specially designed for multi-rotors. When use with DJI autopilot systems, you do not 

have to setup any parameters or calibrate travel range.

Specifications

Frame

Diagonal Wheelbase 450mm

Frame Weight 282g

Takeoff Weight 800g ~ 1600g

ESC

Current 15A OPTO

Signal Frequency 30Hz ~ 450Hz

Battery 3S ~ 4S LiPo

Motor

Stator size 22×12mm

KV 920rpm/V

Propeller 10 × 3.8in (@3S); 8 × 4.5in (@4S)
©2015 DJI. All Rights Reserved.

Naza-M V2 

Quick Start Guide V 1.28 

2015.06.12 Revision

For Firmware Version V4.04 or above

& Assistant Software Version V2.40 or above

Thank you for purchasing this DJI product. Please strictly follow these steps to mount and connect this system on 

your aircraft, as well as to install the Assistant Software on your computer.

Please regularly check the web page of corresponding product* at our website www.dji.com, which is 

updated regularly. Product information, technical updates and manual corrections will be available on this web 

page. Due to unforeseen changes or product upgrades, the information contained in this manual is subject to 

change without notice.

* Important: Naza-M, Naza-M V2 and PHANTOM control system are different in hardware parts, but their 

configurations and functions are the same when using the same Assistant Software and Firmware Version, so they 

use the same Guide. Unless stated, the following instruction is basic on Naza-M V2. If you use the Naza-M, please 

make sure to read the “Instruction of V1 (also known as Naza-M)” section; if you use the PHANTOM, download the 

other corresponding manuals on the PHANTOM web page.

This manual is only for basic assembly and configuration; you can obtain more details and advanced instructions

when using the assistant software. To assure you have the latest information, please visit our website and download 

the latest manual and current software version.

If you have any problem that you cannot solve during usage, please contact your authorized dealer. 
©2015 DJI. All Rights Reserved.

Index 

INDEX...............................................................................................................................................................................2

INSTRUCTION.................................................................................................................................................................3

DISCLAIMER & WARNING .................................................................................................................................................... 3

TRADEMARK ..................................................................................................................................................................... 4

CERTIFICATIONS ................................................................................................................................................................. 4

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

ASSEMBLY & CONNECTION ........................................................................................................................................5

STEP1 PORT DESCRIPTION ................................................................................................................................................... 5

STEP2 ASSEMBLY & CONNECTION ......................................................................................................................................... 6

ASSISTANT SOFTWARE INSTALLATION AND CONFIGURATION............................................................................7

STEP1 SOFTWARE AND DRIVER INSTALLATION .......................................................................................................................... 7

STEP2 CONFIGURATION BY ASSISTANT ON A PC ........................................................................................................................ 8

BASIC FLYING...............................................................................................................................................................10

CONTROL MODE KNOWLEDGE............................................................................................................................................ 10

START & STOP MOTOR KNOWLEDGE.................................................................................................................................... 10

STEP1 COMPASS CALIBRATION............................................................................................................................................ 12

STEP2 ASSEMBLY CHECKING LIST......................................................................................................................................... 13

STEP3 BEFORE FLIGHT ...................................................................................................................................................... 13

STEP4 FLYING TEST........................................................................................................................................................... 14

ADVANCED FUNCTIONS ............................................................................................................................................16

A1 FAILSAFE ................................................................................................................................................................... 16

A2 LOW-VOLTAGE ALERT................................................................................................................................................... 17

A3 INTELLIGENT ORIENTATION CONTROL (IOC) FLIGHT (WITH GPS MODULE)............................................................................... 18

A4 RECEIVER ADVANCED PROTECTION FUNCTION................................................................................................................... 21

A5 FLIGHT LIMITS ............................................................................................................................................................ 22

APPENDIX .....................................................................................................................................................................23

SPECIFICATIONS ............................................................................................................................................................... 23

MC/PMU FIRMWARE UPGRADE ........................................................................................................................................ 24

LED DESCRIPTION............................................................................................................................................................ 25

INSTRUCTION OF V1 (ALSO KNOWN AS NAZA-M).................................................................................................. 26

V1 ASSEMBLY AND CONNECTION......................................................................................................................................... 26

V1 IS COMPATIBLE WITH THE PMU V2 (ACCESSORY OF NAZA-M V2)......................................................................................... 26

V1 PORT DESCRIPTION...................................................................................................................................................... 27

V1 SPECIFICATION............................................................................................................................................................ 28

FAQ................................................................................................................................................................................29

ABNORMAL LED INDICATION LIST........................................................................................................................................ 29

FIX THE TBE (TOILET BOWL EFFECT) PROBLEM....................................................................................................................... 29

SHOULD YOU FIND THE MULTI-ROTOR DOES NOT TRACK STRAIGHT IN FORWARD FLIGHT. ................................................................... 30

MOTORS START FAILURE CAUSED BY TX STICK(S) MID-POINT ERROR TOO BIG ................................................................................. 30

ATTITUDE CONTROLLABLE WHEN ONE MOTOR OUTPUT IS FAILED.............................................................................................. 31

WHEN USED WITH OTHER DJI PRODUCTS .............................................................................................................................. 31
©2015 DJI. All Rights Reserved. 5 | 

Assembly & Connection In the Box:

Main controller X1, PMU X1, GPS X1, GPS Bracket X1, LED X1, Servo Cable X8, Micro-USB Cable X1, 3M Adhesive 

Tape.

Step1 Port Description 

LED:Connect to LED module

EXP:Connect to PMU module

M1: To #1 ESC(*)

M2: To #2 ESC

M3: To #3 ESC

M4: To #4 ESC

M5: To #5 ESC

M6: To #6 ESC

F1: To gimbal roll servo or To #7 ESC

F2: To gimbal pitch servo or To #8 ESC

NAZA output is 400Hz refresh frequency

A: For roll control (left/right)

E: For pitch control (front/back)

T: For throttle control

R: For rudder control

U: For Control Model Switch

X1: For gimbal pitch control / For gain tuning

X2: For D-Bus(S-Bus/S-Bus2 compatible) / For gain tuning / For IOC switch

X3: For voltage monitor(Connect to PMU V-SEN port)

GPS: Connect to GPS/Compass module

Extended CAN port

2S~6S: Powered by 2S~6S LiPo(7.4V~26.0V)

EXP: Connect to Main

Controller EXP port

Connect to Main Controller LED port

Micro-USB: PC connection

for parameter configuration

and firmware upgrade

Connect to GPS port of PMU

Pointing to the aircraft nose direction

Main Controller

Main Controller

PMU

(Power Management Unit)

LED

GPS/Compass

Pointing to the aircraft nose direction

*ESC: Electronic Speed Controller

V-SEN: Connect to Main Controller X3Port

Important: the continuous output of the

PMU is 3A@5V, and the maximum

instant current is 7.5A. If PMU cannot afford

the working current for your servos, please

use an independent power supply; otherwise,

it may cause the PMU safeguard and lead to

the main controller reboot。
©2015 DJI. All Rights Reserved. 10 | 

 Basic Flying 

Control Mode Knowledge 

Please read the Control Mode Knowledge clearly before usage, to know how to control the aircraft.

Different control modes will give you different flight performances. Please make sure you understand the features 

and differences of the three control modes.

 

GPS ATTI. Mode 

(With GPS Module) 

ATTI. Mode Manual Mode 

Rudder Angular 

Velocity Maximum rudder angular velocity is 150°/s

Command 

Linearity YES

Command Stick 

Meaning 

Multi attitude control; Stick center position for 0 ̊ 

attitude, its endpoint is 35 ̊.

Max-angular velocity is 150°/s. 

No attitude angle limitation 

and vertical velocity locking.

Altitude Lock Maintain the altitude best above 1 meter from ground. NO

Stick Released Lock position if GPS signal

is adequate.

Only attitude stabilizing. NOT Recommend

GPS Lost

When GPS signal has been 

lost for 3s, system enters 

ATTI. Mode automatically.

Only performing attitude 

stabilizing without 

position lock.

---

Safety

Attitude & speed mixture control ensures stability

Enhanced Fail-Safe(Position Depends on experience.

lock when hovering)

Auto Level Fail-Safe 

(Attitude stabilizing)

With GPS/Compass module and the failsafe requirements are satisfied, in each Control 

Mode (including GPS Mode, ATTI. Mode, Manual Mode and IOC Mode), the aircraft will 

enter the failsafe Mode.

Applications AP work Sports flying. ---

Start & Stop Motor Knowledge 

(1) Both Immediately Mode and Intelligent Mode are available in the Assistant Software: 

Advanced->Motor->Stop Type.

(2) Stop Motor method is defaulted to Immediately Mode.

Please get to know well about this section before flying.

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:
©2015 DJI. All Rights Reserved. 11 | 

2 Stop Motor: We provide two options to stop motors in the assistant software: Immediately and Intelligent.

(1) 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.

(2) 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%.

Notes of Intelligent Mode 

(1) In ATTI. / GPS ATTI. Mode, it has landing judgment, which will stop motors.

(2) Start motors in ATTI. / GPS ATTI. Mode, you have to execute CSC and then push throttle stick 

over 10% in 3 seconds, otherwise motors will stop after 3 seconds.

(3) During normal flight, only pull throttle stick under 10% will not stop motors in any control mode.

(4) For safety reason, 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.

Notes of Intelligent Mode & Immediately Mode 

(1) If you choose the Immediately Mode, you should not pull throttle stick under 10% during flight, 

because it will stop motors. If you do it accidentally, you should push the throttle stick over 10% 

in 5s to re-start motors.

(2) DO NOT execute the CSC during normal flight without any reason, or it will stop motors at 

once.

(1) 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.

(2) In any control mode, DO NOT pull throttle stick under 10% during normal flight without any 

reason.

(1) Any of these two cut off types will only work properly if TX calibration is correct done.

(2) In failed-safe, CSC is denied by the main controller, motors will hold their state.
©2015 DJI. All Rights Reserved. 12 | 

Step1 Compass Calibration 

Without GPS module, please skip this step. If you use with GPS module, follow step-by-step for calibration.

 

(1) DO NOT calibrate your compass where there is magnetic interference, such as magnetite, car 

park, and steel reinforcement under the ground.

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

(3) Compass module CANNOT work in the polar circle.

(4) Compass Calibration is very important, otherwise the system will work abnormal.

Calibration Procedures 

1. Switch on the transmitter, and then power on autopilot system! 

2. Quickly switch the control mode switch from GPS Mode to Manual Mode and back to GPS Mode (or 

from GPS Mode to ATTI. Mode and back to GPS Mode) for more than 5 times, The LED indicator will 

turn on constantly yellow so that the aircraft is ready for the calibration.

3. (Fig.1) Hold your Multi-rotor horizontal and rotate it around the gravitational force line (about 360o) until 

the LED changes to constant green, and then go to the next step.

4. (Fig.2)Hold your Multi-rotor vertically and rotate it (its nose is downward) around the gravitational force 

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

 

Fig.1 Fig.2

5. 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 2.

(1) When the GPS is abnormal, the Main controller will tell you by the LED blinking Red and Yellow 

alternately ( ), disable the GPS Module, and automatically enter the aircraft into the 

ATTI. Mode.

(2) 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.

(3) 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.

(4) When to do re-calibration

a) The flight field is changed.

b) When the multi-rotor mechanical setup has changed:

z If the GPS/Compass module is re-positioned.

z If electronic devices are added/removed/ re-positioned (Main Controller, servos, 

batteries, etc.).

z When the mechanical structure of the multi-rotor is changed.
©2015 DJI. All Rights Reserved. 13 | 

c) If the flight direction appears to be shifting (meaning the multi-rotor doesn’t “fly 

straight”).

d) The LED indicator often indicates abnormality blinking when the multi-rotor spins. (It is 

normal for this to happen only occasionally)

 

Step2 Assembly Checking List 

Please check each item, to make sure for safety. 

 

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

(1) Rotation direction of motor is opposite

(2) Infirm connection between the motor and the ESC 

(3) Wrong or infirm installation of Main controller 

(4) Wrong or infirm connection between the main controller and ESC.

(5) Propeller installation mistake

(6) Magnetization of the compass

 

Make sure the following items are correct. 

(1) Make sure you have assembled your multi-rotor correctly.

(2) Make sure you have done the configuration procedure correctly.

(3) Make sure all connections are in good condition.

(4) Make sure batteries are fully charged for your transmitter, autopilot system and all devices.

Step3 Before Flight 

Carry out the following procedures (is based on Intelligent Mode of Motor Stop) to make sure all 

configurations are correct. Refer to the Appendix->LED Description for more LED details. 

1. Always switch on the transmitter first, then power on multi-rotor! 

2. Keep the aircraft stationary until the system start and self-check has finished ( ).

After that, the LED may blink Yellow 4 times quickly ( ). Start motor is disable during LED blinking

Yellow 4 times quickly ( ), as the system is warming up.

3. After the 4 times Yellow LED disappears, toggle the control mode switch on your transmitter to make sure it 

is working properly. For example, LED blinks ( ), which means the system is in ATTI. Mode and the 

GPS signal is worst Check it with LED indicator to specify the current working mode for MC. See following 

table for details about LED indicator;

(1) There are Manual Mode and ATTI. Mode without a GPS/Compass module, no GPS signal status LED 

indicator. 

(2) After connecting to the GPS/Compass module, GPS ATTI. Mode is available, and GPS signal status 

LED indicator is available.
©2015 DJI. All Rights Reserved. 14 | 

Control Mode LED Indicator GPS Signal Status LED Indicator

Manual Mode: NO LED

ATTI. Mode: ( indicates that is stick(s) not at center)

GPS Mode: ( indicates that is stick(s) not at center)

Signal is best (GPS satellites > 6) : NO LED

Signal is well (GPS satellites = 6) :

Signal is bad(GPS satellites = 5) : 

Signal is worst (GPS satellites< 5) :

4. Keep the aircraft stationary, and then push both sticks to the left bottom or right bottom (shown as the 

following chart, defined as Combination Stick Commands (CSC)), to start the motors.

 

5. Release the yaw, roll and pitch sticks and keep them at the mid point, and the throttle stick under the mid 

point. Then check whether all propellers are rotating correctly.

6. Stop motors, power off the Multi-rotor.

7. Make sure all settings and configurations are correct and then you can take off you aircraft. 

 

After power on, if abnormal LED Indicator occurs, please refer to the Abnormal LED instruction in the FAQ and 

aids troubleshooting. 

 

Step4 Flying Test 

1. Choose an open space without obstruction, tall buildings and crowds as flying filed. Place the aircraft 3 

meters away from you and others, to avoid accidental injury.

2. If in GPS ATTI. Mode, place the aircraft in an open space without buildings or trees. Take off the aircraft 

after 6 or more GPS satellites are found (Red LED blinks once or no blinking). If in Manual Mode or ATTI. 

Mode, you can skip this step.

3. Start-up

(1) Switch on the transmitter first, then power on multi-rotor! Keep the aircraft stationary until the 

system start and self-check has finished.

(2) Please wait for the system to warm up gradually with the LED blinks Yellow 4 times quickly 

( ). You should not start the motors until the blinking disappears.

(3) Keep the aircraft stationary, and execute the CSC to start the motors.

(4) Release the yaw, roll and pitch sticks and keep them at the mid point, at the same time raise the 

throttle stick from the bottom. The motors will stop if you do not push the throttle stick from the 

bottom within 3 sec and you will need to re-start the motors.

(5) Keep raising the throttle stick until all the rotors are working, push the throttle stick to the mid point

and then take-off your multi-rotor gently, pay attention not to push the stick excessively.
©2015 DJI. All Rights Reserved. 15 | 

(6) Pay attention to the aircraft movement at any time when flying, and use the sticks to adjust the 

aircraft’s position. Keep the yaw, roll, pitch and throttle sticks at the mid point to hover the aircraft 

at the desired height.

4. Lower the aircraft slowly. Pull the throttle stick to the bottom and then execute the CSC to stop the motors 

after landing. 

5. Please always power off the Multi-rotor first, and then switch off the transmitter after landing.

 

FLYING NOTES(VERY IMPORTANT)!!!

(1) If the warm up waiting is longer than 2 minutes (the 4 times Yellow blink continues), please power 

off for 10 minutes, cold start, and then connect the assistant software, enter the "Tools" - > IMU 

calibration, carry out the Advanced calibration.

(2) If you enable the Immediately Mode of Motor Stop; you should not pull throttle stick under 10% 

during flight, because it will stop motors. If you do it accidentally, you should push the throttle 

stick over 10% in 5s to re-start motors.

(3) DO NOT execute the CSC during normal flight without any reason, or it will stop motors at once.

(4) Pay attention to the GPS satellite status LED indicator. Bad GPS signal may lead the aircraft to 

drift when hovering. 

(5) DO NOT fly near to ferromagnetic substances, to avoid strong magnetic interference with the 

GPS.

(6) Please avoid using GPS ATTI. Mode in the areas, where GPS signal is most likely bad.

(7) If the LED flashes quickly Red then this indicates battery voltage is low, land ASAP.

(8) If the transmitter indicates low-battery alarm, please land ASAP. In this condition the transmitter 

may cause the aircraft to go out of control or even crash.

(9) In GPS ATTI. Mode, make sure that the home point is recorded when the GPS signal is well; 

otherwise the home point recording may be not so precise.

 

(1) In ATTI Mode, throttle stick center position is for 0m/s along the vertical direction. You should 

keep the position of throttle stick higher than 10% from cut-throttle during the flight! In any 

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

(2) It is recommended to land the aircraft slowly, to prevent the aircraft from damage when landing.

(3) If Low-Voltage Alarm is set, the aircraft will act according to the configuration of the Assistant

Software once Low-Voltage Alarm is triggered. Make sure you remember what you have set 

before.

(4) If Fail-Safe function is set, the aircraft will act according to the configuration of the Assistant 

Software once Fail-Safe is triggered. Make sure you remember what you have set before.
©2015 DJI. All Rights Reserved. 16 | 

Advanced Functions 

A1 FailSafe 

An introduction of Go-Home and Landing. 

1

Record Home Point

Home Point

2

Tx

3

Tx

5

Tx

Signal lost

Tx

Multi-rotor

4

Tx

Signal lost >3s

Stay hover

Ready to Go-Home

Current location ≤ 20m

Current location > 20m

6

Ground

20m

Ascend

first Go-Home Hover 15s, then land

Go-Home

 

Home-point: Before takeoff, current position of multi-rotor will be saved as home-point by MC automatically when 

you start the motors for the first time after 6 or more GPS satellites are found (red light blinks once or no blinking) 

for 10 seconds. 

 

 

(1) Please make sure to record the home-point before takeoff, and clearly know where it is.

(2) During go-home the nose direction of the aircraft is facing toward the home-point, the aircraft is 

flying directly from the current position to the home-point.

(3) You can regain the control during the aircraft is hovering 15 seconds.

The flowchart of failsafe and how to regain control

(2)Turn off the

TX (we assume

you want to

trigger failsafe)

(1) The aircraft

flies far away,

TX is on but the

signal is weak.

Attitude Mode: In Attitude Mode as

soon as you get signal you can

regain control.

GPS Mode: switch the TX mode

switch to ATTI, if the receiver is

connected, then you will regain

control.

Attitude Mode: (1) the aircraft will level its attitude

immediately (2) 3 seconds later, failsafe is triggered and

aircraft will start to go home. (3) If signal is regained during

(1) or (2), it will resume normal flight immediately.

GPS Mode: (1) the aircraft will slow down and hover. (2) if

the signal is restored within 3 seconds (TX and receiver

connected), the system will immediately return to normal

operation; does not enter failsafe. (3) if not reconnected

within 3sec, the system will enter failsafe, then even if the

signal is restored, the system will not exit failsafe.

We strongly recommend you DO NOT try this, because there are three

types of risk:

(1) You must be pretty clear whether the Home-point is OK for landing or

not. (You have to understand the definition of Home-point well and the

working process of failsafe)

(2) If there are tall buildings around, the aircraft may be obstructed on the

way.

(3) When GPS signal is bad or GPS is not working, failsafe will not work.

In this case, the behavior of the aircraft is the same as in

the above condition.

If you want the aircraft to Return Home, please do not turn

the TX back on within 3 seconds*, otherwise the aircraft

will exit failsafe mode immediately.

When you turn off the TX, use the following

method to regain control:

(1) Switch the TX switch to GPS.

(2) and then put throttle to the center

position(greater than 3sec after switching off,

important), you can now turn the TX back on.

(3) then you can switch the TX Control mode

switch to ATTI to regain control.

If you choose to turn off the TX,

you must be pretty sure that you

know how to regain control. Here

we offer a method, please read

carefully.

This section will demonstrate the working logic of failsafe and how to regain control.

The following description is effective only when:

1. The aircraft is in flight.

2. The GPS works normally and signal is good (≥6 satellite, the LED blinks a single

red light or no red light).

Note: if you start the motors, but do not push the throttle to take-off the aircraft, in this case it is very dangerous to turn

off the TX, because the aircraft will take off automatically, so do not try this.

The aircraft behavior

after failsafe

How to regain control

Precautions

What triggered failsafe

* If signal lost for more than 3 seconds failsafe will be triggered, if signal regained within 3 seconds it will exit failsafe immediately.
©2015 DJI. All Rights Reserved. 17 | 

A2 Low-Voltage Alert 

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 if available! Low-Voltage Alert is to indicate that the battery cannot 

provide enough power for the aircraft, in order to warn you to land the aircraft ASAP. You can configure this 

function in the assistant software, and please read the text in the software carefully before your flight. Make sure to 

carry out the Current Voltage Calibration.

There are both first level and second level protections. The first level protection has LED warning. During second 

level protection the aircraft will land automatically with LED warning. Meanwhile the center point of throttle stick 

will move up slowly to 90% of endpoint, you should land ASAP to prevent your aircraft from crashing!

It is not for fun, you should land your aircraft ASAP to prevent your aircraft from crashing or other harmful 

consequences!!!

(1) Configure the FailSafe function in the assistant software -> “Advanced” -> “F/S” and read the 

instruction thoroughly and carefully.

(2) Configure the Low-Voltage Alert function in the assistant software -> “Advanced” -> “Voltage”

and read the instruction thoroughly and carefully.
©2015 DJI. All Rights Reserved. 18 | 

A3 Intelligent Orientation Control (IOC) Flight (with GPS module) 

Definition of Forward Direction: 

Multi -rotor will fly along this direction when you push the elevator stick ( ). 

Step1 Before You Start 

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

nose points, the forward direction has nothing to do with nose direction. The red and blue arrows on the transmitter

are corresponding to pitch and roll operations in the following diagram.

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

requirements are met: the autopilot system is in ATTI. Mode or GPS ATTI. Mode.

 

 Normal flying Course Lock Flying

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

following requirements are met: 6 or more GPS satellites are found, in GPS ATTI. Mode, and the aircraft is 

further than 10m away from the home point.

 

 Normal flying Home Lock Flying

Step2 IOC Switch Setting 

Before using the IOC function, you have to choose a 3-position switch on your transmitter as the IOC switch, which 

is also used for recording the orientation, home position in corresponding modes. Refer to the assistant software; 

click the “Advanced” to find the “IOC”. 

IOC Switch

IOC Function OFF Course Lock Home Lock

 

The above table is for example. The function of the switch position may be reversed since the 

normal/reversed setting of the switch channel. Toggle the switch and observe the slider position of 

channel X2 on the assistant software screen, the corresponding area should turn blue.
©2015 DJI. All Rights Reserved. 19 | 

Step3 Method of Forward Direction and Home Point Recording 

If you use the IOC function, please be aware of the Forward Direction of Course Lock Flying, and the home point of 

Home Lock Flying. There are two ways to record the forward direction and the home point: Manually and 

Automatically. You may choose any one record method. The LED will blink Green quickly if successfully recorded.

Course Lock Home Lock

Automatically

30 seconds after you power on the 

autopilot system.

Before takeoff, the current position of the aircraft 

will be saved as home point when you start the 

motors for the first time after 6 or more GPS 

satellites have been found for 10 seconds.

Manually

30 seconds after you power on the 

autopilot system. Toggle the IOC switch 

from Off to Course Lock, and back to Off 

quickly 3 to 5 times. 

After 6 or more GPS satellites have been found. 

And the aircraft can be hovering. Toggle the IOC 

switch from Course Lock to Home Lock, and back 

to Course Lock quickly 3 to 5 times.

DO NOT toggle the switch between Off to Home Lock, since it may change the recording of the 

Forward Direction of Course Lock.

Step4 IOC Flying Test 

Then you can do Course Lock and Home Lock flying test.

Carry out an IOC flight by the following procedure. The Control Mode LED will blink Yellow and Green 

alternatively ( ) to indicate the IOC mode only when the main controller is really to fly in Course Lock, Home 

Lock modes.

During the 

same flight

STEP1: Record STEP2: ON STEP3: OFF STEP4: ON again 

Course Lock

Switch Setting

Record the 

Forward 

Direction

Set Control Mode switch at 

GPS or ATTI. position, 

Toggle IOC switch from OFF 

to Course Lock position

Toggle IOC switch 

to OFF position

Toggle IOC switch 

from OFF to Course 

Lock position

Home Lock

Switch Setting

Record the

Home Point

Set Control Mode switch at 

GPS position,

Toggle IOC switch from OFF 

to Home Lock position

Toggle IOC switch 

to OFF position

Toggle IOC switch 

from OFF to Home 

Lock position

Aircraft moving direction when pull pitch stick Aircraft moving direction when pull roll stick

Home point Aircraft(the arrow is pointing to the direction of the aircraft nose)
©2015 DJI. All Rights Reserved. 20 | 

IOC FLYING NOTES!!! 

(1) When Multi-rotor is flying by home lock far away from you and the home point, please DO NOT 

toggle the IOC switch many times quickly so as to avoid the change of home point without your 

attention.

(1) Home lock flying requires that 6 or more GPS satellites are found and the aircraft is further than 

10m away from the home point.

(2) If the IOC flying requirement is not satisfied, the autopilot system will quit IOC control mode. 

Please be aware of the LED indicator, to know the current control mode of the autopilot system.

(1) Blinking indications of IOC are: 

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

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

b) After motors start and throttle stick is over 10% in 3 seconds: blink, all sticks return 

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

(2) Before you do the home lock flight, you have to fly the aircraft out of the 10m range around 

home point, and then flip the IOC switch to Home Lock position to fly in home lock when all the 

requirements are met. If you have already toggled the IOC switch to Home Lock position when 

the aircraft 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, the main controller 

will change into home lock automatically when Multi-rotor flies out the 10m range around home 

point.

(3) 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.

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

b) You toggle the control mode switch to the ATTI. Mode.

c) The GPS signal becomes bad (The GPS signal LED is blinking Red twice or three times).

(4) We suggest that you should know clearly which flight lock method you are going to fly, and you 

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

flight.
©2015 DJI. All Rights Reserved. 21 | 

A4 Receiver Advanced Protection Function 

You are asked to enable this function by connecting to the Assistant Software, please set it at the section of 

Basic->R/C-> Receiver Advanced Protection.

If you choose enable it, the FailSafe will be triggered if the following situations occur during flight.

According to the difference of the aircraft height, there are two situations.

1. Lower than 100m, the A/E/R channel is not at the mid point.

2. Higher than 100m, the A/E/R channel is not at the mid point or the throttle stick is above the mid point.

In the GPS Mode or ATTI. Mode, if the requirement a) or b) is satisfied, and the output data of four channels 

A/E/R/T have not changed for 20 seconds, then the aircraft will hover automatically. After that, if the output data 

of four channels A/E/R/T still do not any changes and last for 10 seconds, the autopilot system will think that the 

data from receiver is abnormal, and then enter the FailSafe Mode. 

Brief introduction of how to quit the FailSafe Mode 

If there is any command change from the receiver, the autopilot system thinks that the receiver is regained. In ATTI. 

Mode and Manual Mode, it will quit the FailSafe Mode automatically. In GPS Mode, please toggle the control mode 

switch to the ATTI. Mode and Manual Mode position to regain the control. Refer to the FailSafe section for more 

details.
©2015 DJI. All Rights Reserved. 22 | 

A5 Flight Limits 

The flight limits function is default enabled in the NAZA-M Flight control system, it’s aimed to restrict the flying 

height and distance of the aircraft. The Max Height restricts the vertical distance between the aircraft and the 

Home point, the Max Radius restricts the horizontal distance between the aircraft and the Home point.

The default Max Height is 2000m and Max Radius is 2000m. Users can write the values of the Max Height and Max 

Radius in the Assistant software, the range of the Max Height is 10m-100000m, the range of the Max Radius is the 

same. So that the aircraft will fly in the entered range, which is a cylinder space above the Home point.

(1) Height Limit works when the control mode is GPS or ATTI. Mode. Radius Limit works when the 

control mode is GPS and the satellite number ≥6.

(2) If the aircraft flies out of the limits, it's still controllable except flying further away.

(3) If the control mode is changed to GPS when the aircraft is out of Max Radius, the aircraft will fly 

back within the entered range.

(4) The Failsafe and the Ground Station operations are not restricted to the Flight Limits.
©2015 DJI. All Rights Reserved. 23 | 

Appendix 

Specifications 

General 

Built-In Functions 

(1) Three Modes of Autopilot

(2)Enhanced Fail Safe

(3)Low Voltage Protection

(4)S-Bus/S-Bus2 Receiver Support

(5)PPM Receiver Support

(6)2-axle Gimbal Support

Peripheral 

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

z Hexa-rotor I 6, X6, IY6, Y6.

z Octo- rotor I8, V8, X8

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; Windows 8

Electrical & Mechanical 

Working Voltage Range z MC: 4.8V ~ 5.5 V

 z PMU Input: 7.4V ~ 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 z MAX: 1.5W(0.3A@5V)

z Normal: 0.6W(0.12A@5V)

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

Weight

z MC: 27g

z GPS/Compass: 27g

z PMU: 28g

z LED: 13g

Dimensions z MC: 45.5mm × 32.5mm × 18.5mm

z GPS/Compass: 46mm (diameter) x 10mm

 z PMU:39.5mm × 27.5mm × 10.0mm

z LED:25mm × 25mm × 7.0mm

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

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

z Horizontal: ±±2.5m

Max Yaw Angular Velocity 200°/s

Max Tilt Angle 35°

Max Ascent / Descent Speed Ascent : 6m/s, Descent: 4.5 m/s