©2012 DJI Innovations. All Rights Reserved. - 1 -

Ground Station

Wireless Data-link

User Manual

V 2.8

2013.03.07 Revision

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

Disclaimer

Thank you for purchasing product(s) in DJI Innovations. Please strictly follow these steps to install all the

software and hardware products, and make sure 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. DJI Innovations

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

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

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

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

Innovations assumes no liability for damage(s) or injured incurred directly or indirectly from the use of this 

product.

Google logo is a registered trademark of Google Inc. DJI is a registered trademark of DJI Innovations. Names 

of products, brands, etc., appearing in this manual are trademarks or registered trademarks of their respective 

owner companies. This product and manual are copyrighted by DJI 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.

Profile

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 Map Way Points Editing, Flight Path Planning, 

Real-time Flight State Feedback and Auto Takeoff and Landing. This product is specially designed for the 

purpose of aircraft operation, BVR (Beyond Visual Range) flying in applications such as surveillance, aerial 

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 during 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.
©2012 DJI Innovations. All Rights Reserved. - 3 -

Production ACE WKM

Product packages

View

Mode

Joystick 

/Keyboard Mode

Single Waypoint Ground Station Single Waypoint 5 Waypoints 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 Waypoints



50 Waypoints

Automatic Takeoff & Landing   

F Channel Controller   

General Purpose Servo Action   

Six Route Templates 



No photogrammetry 

Tool



Photogrammetry Tool  
©2012 DJI Innovations. All Rights Reserved. - 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 computer 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 data-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 Innovations to register your product warranty.
©2012 DJI Innovations. All Rights Reserved. - 5 -

Contents

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 Autopilot 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................................................................................................................................................ - 40 -

List of Ground Station Shortcut Keys ................................................................................................. - 40 -

Troubleshooting ................................................................................................................................ - 41 -

Data-link LED Introduction................................................................................................................. - 44 -

Wireless Data-link Specification......................................................................................................... - 45 -
©2012 DJI Innovations. All Rights Reserved. - 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 always 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 is 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. Please 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 and 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 Atti. 

Mode in WKM.

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

customer service.
©2012 DJI Innovations. All Rights Reserved. - 7 -

Connection

Antenna Head

Ground End · You should have a DJI Ground Station installed laptop. · Use the USB Cable supplied by us to connect the wireless data- link ground end to you laptop. One end of the USB cable has two heads, make sure the communication interface is plugged into your laptop. If the power supply is insufficient using one USB port, then plug the power interface Into the laptop also.

Air End · 900MHz wireless data-link air end has two CAN ports. When you use it with ACE autopilot system and low voltage servo, you should connect one CAN port to sparE CAN port on autopilot system, and connect another one to a battery whose output voltage is in the range of wireless data-link air end working voltage. · 2.4GHz wireless data-link air end has only one CAN port. · Usually connecting one CAN port on air end to any spare CAN port on DJI autopilot system is enough. · WKM user should use it with PMU. · High voltage servos & FBL systems can drain the flight battery fast. Please make sure your flight pack is sufficient for the flight time intended. · Make sure the antenna head of Wireless data-link air end is erect down, then you can have the largest range.

Any spare CAN port on DJI autopilot system Battery

ACE autopilot, low voltage servo and 900M data-link connection Normal connection with ACE, WKM autopilot system

Any spare CAN port on DJI autopilot system Any spare CAN port on DJI autopilot system Communication Interface

Power Interface

Ground Station
©2012 DJI Innovations. All Rights Reserved. - 8 -

Ground Station Software

Install Software

 Operating system requirement: Windows XP(Needs to install sp2 patch), Vista, Windows 7,Windows 8

(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.

1. 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.

2. Check if Internet Explorer 8 has been installed. If not, click Install Internet Explorer 8 to install. If yes, 

go to step 3.

3. Click Install Google Earth Plugin For DJI to install Google Earth.

4. Click Install GS Radio USB Driver to install driver.

5. Click Install DJI Ground Station to install GS.

6. Click Exit to finish installation.

Step 6

Step 1

Step 2

Step3

Step 4

Step 5
©2012 DJI Innovations. All Rights Reserved. - 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 Controller

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

 If errors are showed, it means there may be some problem on connection, please check.
©2012 DJI Innovations. All Rights Reserved. - 10 -

Application

Control Mode Switch

HOVERING MODE AUTOMATIC GO HOME Tx Signal Lost time > 10s

Tx Switch Tx Switch

Tx Switch

Mission Send & Executed

1stLine Protection

With Joystick active of use Keyboard control R/C MAN If Tx Signal Resume

Joystick signal Lost Joystick signal Resume Tx Signal Lost Tx Signal Resume

Tx Signal Lost Tx Signal Resume

Tx Signal Lost Tx Signal Resume

2rd Line Protection

Atti. Mode

Tx Switch Tx Switch Tx Switch Tx Switch

Manual Mode

Waypoint Mode

Resume the mission Pause the mission Joystick Mode

GPS Cruise Mode

Keyboard Mode

Click Go Mode

Choose Click Go Mode

Click “GO”
©2012 DJI Innovations. All Rights Reserved. - 11 -

GUI

1 2 3 4 5

6 7 8 9 10 11 12 13 14 15 1617 19 18 20212223 10 24 25 26 27 28 29 30

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 waypoint 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: Choose different style of the Instrument Board.

 Action Setting: Action number display interval.

 Pause Mode Control Interval: Frequency of data packages sent to MC.
©2012 DJI Innovations. All Rights Reserved. - 12 -

 Target Line: Line between aircraft and current target.

 Data Link Setting:

 The waypoint number of one package.

 Upload one package.

 Retry one package timeout.

 NetWork Setting:

 GS VPN: VPN switch.

ON: If ON is selected, the VPN auto connnect when you launch the GS.

OFF: If OFF is selected, the VPN not auto connect when you launch the GS.

Sys_setAltitude offset: Set up the altitude 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. Language(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 trace 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: If 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.
©2012 DJI Innovations. All Rights Reserved. - 13 -

21. Set Home Point: Change your home point.

22. Go Home: Click to go home.

23. To show Real mode or Simulation mode.

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

25. GPS: Real-time GPS signal quality.

26. ATTI: Real-time attitude quality.

27. MODE: Real-time control mode.

28. Other state parameters: The autopilot system decides.

 WKM: 

 MotorVoltage: Battery voltage.

 ACE: 

 ServoVoltage: Servo output voltage.

 Pitch%: Real-time pitch percentage.

 Throttle%: Real-time throttle percentage.

29. Download and upload progress bar.

30. Cancel: Cancel button.
©2012 DJI Innovations. All Rights Reserved. - 14 -

Fig1A ACE

1 View Mode

1.1 View Mode Procedures

1. Check Signal Strength: shows no communication between GS and MC, please check 

Troubleshooting in Appendix. is constructed, can go to next step.

2. Aircraft: When GPS 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.

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

OK. Read the paragraph below to get more details.

4. 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 Fig2

5. 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. 

6. View Fly Trace, Instrument Board and State Information: For displaying flight track and aircraft state. 

Contents are decided by autopilot system. Fig1A will be displayed if you are using ACE; Fig1B will be 

displayed if WKM. Instrument Board is showed in Fig3.

1.2 System Setting

System Setting includes Options Setting, Altitude Offset Setting and Data Record Folder.

(1)Options

Fig3

Compass

Real-time Vertical speed

Real-time Altitude Real-time Ground speed

Real-time Attitude

Fig1B WKM

Fig2
©2012 DJI Innovations. All Rights Reserved. - 15 -

Tips:

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 

keyboard in pause mode, the smaller interval, the more fine control.

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

 UI Float Tips Show: If selected, the corresponding item(s) will real-time display in the main form.

Voltage of ACE is Servo Voltage while WKM is Motor Voltage.

Data Link Setting

Setting parameters for the communication between MC and GS. Usually just keep DEFAULT parameters.

 The waypoint number of one package

 Upload one package retry times

 Retry one package timeout

UI Float Tips with WKM

UI Float Tips with ACE
©2012 DJI Innovations. All Rights Reserved. - 16 -

(2)Altitude Offset Setting

 GIS database (Google EarthTM) is not precise, while Flight Path Mountain and other obstacle/building 

collision checking feature 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.

 Pressure 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 above problems, the following method for relative flight height calculation would be most reliable.

1) Record the aircraft altitude before take-off, as LGound

2) Way point altitude = Relative Flight Height + LGound

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 fig.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.

Latitude Altitude Longitude

Latitude Altitude Longitude

IN REAL WORLD IN 3D-MAP

Latitude Altitude Longitude

Latitude Altitude Longitude

Latitude Altitude Longitude

Latitude Altitude Longitude

Before set-offset After set-offset Case 1 Heli stay on the ground

Case 2 Heli stay on the roof of building
©2012 DJI Innovations. All Rights Reserved. - 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 the 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.
©2012 DJI Innovations. All Rights Reserved. - 18 -

2 Joystick/Keyboard Mode

Joystick/Keyboard mode is the 2nd 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 aircraft 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 aircraft. 

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.

Please follow the steps strictly for Simulation Mode use:

1. Connect the whole main control system completely, including IMU、GPS, etc.

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

position.

3. Click simulate, you will see a “Warning” window.

4. Click Yes to turn on Simulate Mode. Now GS is in Simulate Mode!!!

Notices:

 We HIGHLY RECOMMEND Simulation Mode for practicing purpose for flight mission edit, try to get 

familiar with all the operations of your Ground Station 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. 
©2012 DJI Innovations. All Rights Reserved. - 19 -

2.2 One Key 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!"

"Auto Takeoff failure, the aircraft is already flying!"

"Auto Takeoff failure, please switch to auto mode!"
©2012 DJI Innovations. All Rights Reserved. - 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 

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

you can use keyboard control the aircraft, and drag the cursor to change roll, pitch and rudder control value, 

the higher the cursor, the bigger the control value.

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 device based on 

the two types of joystick indicated below (Fig3).

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.

Fig2

Fig3

Roll Elevator Yaw Collective Pitch

→

→

→

→

W S

D A

Type 1 Type 2

Real Flight® InterLinkTM Plus Controller Logitech® ExtremeTM 3D Pro Joystick

Fig1
©2012 DJI Innovations. All Rights Reserved. - 21 -

 Technology Requirements

 At least 4 linear control channels are necessary; otherwise the joystick function will not work 

properly.

 Use USB connection.

 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 the 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 completely

several times, including pitch. 

When completed, click Finish.
©2012 DJI Innovations. All Rights Reserved. - 22 -

 Channel Mapping

JoystickChannel Mapping

 Each control channel can be reversed, and mapped to one of the control functions listed in 

corresponding drop down boxes.(Fig1)

 These control function are ‘Roll’, ‘Elevator’, ‘Yaw ’&‘Collective Pitch’, they represent the cyclic and 

rudder control of your aircraft. use helicopter for example, shown in the figures below(Fig2). 

Where the ‘+’ represents positive channel value, ‘-’ represents negative channel 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.

Fig1

Fig2
©2012 DJI Innovations. All Rights Reserved. - 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.

1. Please ensure GPS signal is good enough, the aircraft is already flying in air, and the control mode 

is Autopilot Mode (ACE is GPS Atti. or GPS Cruise Mode, WKM is GPS Atti. Mode).

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

3. Click Enter Click Go Mode. Now the aircraft will go into hovering station.

4. Input the waypoint Altitude and aircraft Speed.

5. 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.

6. Click Exit Click Go Mode, the aircraft will hover again.

7. Click CONTINUE button to continue the previous flight.

Notices:

 The aircraft will go into hovering station 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 MC 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).
©2012 DJI Innovations. All Rights Reserved. - 24 -

4 Waypoint(Single Waypoint User Skip This)

Waypoint package includes Waypoint Mode, Auto Takeoffing/Landing, F Channel Controller, General Purpose 

Servo Action, 6 Pre-Programmed Route Templates and Photogrammetry Tool.

4.1 Waypoint Mode

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

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ooaaddFFlliigghhttMMiissssiioonn 33TTaakkeeooffffAAii

rrccrraafftt 44SSwwii

ttcchhttooAAuuttooppiilloottMMooddee 55GGoo!!!! Mission Editor

13

12

8

5

4

3

2

1

6 9 7 10 11

14

15 16
©2012 DJI Innovations. All Rights Reserved. - 25 -

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 waypoints 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 mission execution mode selection: includes both modes of Start_to_End and 

Continuous.

 StartWayPoint: Define the first way point that the aircraft goes to after clicking GO. Select the 

proper way point index number listed.

 VerticalSpeedLimit: Vertical speed for up or down direction, unit is m/s.

 Set Mission properties

 SetAllWPsAlt: Set altitude 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. Clickto delete the selected points.

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

8) Save and Open the mission.

9) Cancel all edited waypoints.

10) Upload the mission to Main Controller.

11) Click Go to execute assigned mission, including Auto Take off as assigned.

12) Show Waypoint properties. Any 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_Flight_Speed: Velocity from previous point to current point is limited to <= 25 m/s.
©2012 DJI Innovations. All Rights Reserved. - 26 -

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

 HoldTime: The time to stay at this waypoint, unit in second.

13) Waypoint Action properties

 Period: (Unit: 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.
©2012 DJI Innovations. All Rights Reserved. - 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 waypoints.

 Add waypoints

There are two ways on adding waypoints. A maximum of 200 waypoints can 

be added in the ACE waypoint mode, and a maximum of 50 waypoints can 

be added in the WKM waypoint mode. If selected, the waypoint will change 

to be green, see fig.2.

(1)Add Point by Point

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 waypoints. The 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 first waypoint, you can use Toolbox ->Relative Coordinates Editor to add new points.

1. Select one waypoint, then press Shift+P you will see the input window shown as fig.3.

2. Use Tab to switch between these two input frames.

3. Input the relative coordinates: Angle is the relative angle to the 

north of current waypoint; Distance is the relative distance to the 

current waypoint.

4. Press Enter, then you will see a new waypoint after the current waypoint.

 Delete Way Points

1. Select waypoint either in map or in Editing Mission Menu, and the selected waypoint is in green;

2. Click - or press delete to delete all the waypoints added.

Tips:

Repeat above procedure to delete more. Click CANCLE to delete all the way points added.

Fig1

Fig3

Fig2
©2012 DJI Innovations. All Rights Reserved. - 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 press Enter 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 altitude in the box.

(2)TurnMode

There are three different turn modes for the aircraft 

at each waypoint: StopAndTurn, Bank_Turn and 

Adaptive_Bank_Turn. The default turn mode in the 

system is StopAndTurn. Change it according to the 

following steps.

The Hold Time in waypoint 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).

 Type in the time to stay in a waypoint 

after the TimeHold in the box.

(1)

(2)

(3)

(4)

(5)
©2012 DJI Innovations. All Rights Reserved. - 29 -

 Mission Properties Editing

Click Editing Mission and the Mission 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 go 

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. 

(Default 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 waypoint 

indexes. (Default start waypoint 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 properties 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.

 Examples for Way Point turning mode: Shown as figure A1/A2 as following.

(1)

(2)

(3)

(4)

(5)
©2012 DJI Innovations. All Rights Reserved. - 30 -

 Examples for Mission/Way Point properties setting: B1/B2 Selection for the state of Route, and 

StartWayPoint.

0 1

2

Initial Position

3

0 1

2

Mission properties: Route : Continuous StartWayPoint : 1 Stop here, and stay hovering

3

Way point 1: Stop and Turn 0 1

2

0 1

2

Way point 1: Bank_Turn Adaptive_Bank_Turn Bank_Turn: The aircraft will keep the speed when turning, so it will deviate from its route. Adaptive_Bank_Turn: The aircraft will slow down so as to follow the route. B1 B2 A1 A2

Mission properties: Route : Start_to_End StartWayPoint : 0

Initial Position

 Examples for path of way point:

Point-to-Point distance between two way points

Way point altitude Index number of way point Under editing Not selected

Projection line of way point, not to scale

Way point Path Color Before Mission Execute After mission checked. If collision happens between way point path and mountain, these path will be shown as red; Path Color During Mission Execution All the paths including way point index will be shown as dark red during mission execution.

If path distance longer than 10 km, it will be shown as yellow. Blue one is normal.

 Mission Save & Load

Mission Save

1. Click SAVE to save mission edited.

2. Choose a name with extension ‘.awm’. For Example: DJI_Mission_20100101.awm.

3. Mission Load

4. Click OPEN to load mission saved; choose mission file with extension ‘.awm’.

Notices:

The Altitude offset value will not be saved in mission file. Please set it every time!!!
©2012 DJI Innovations. All Rights Reserved. - 31 -

(II) Upload Flight Mission

Final Check & Mission Transmitting: Click UPLOAD on the upper bottom of the mission Editor to send flight 

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

mission final check. Press OK. The mission is ready to be executed after synchronized successfully.

Example of “Mission Review” table under 3 waypoints mission

Waypoint Latitude Longtitude Altitude Speed Turn 

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

Ground

1 2

0 -10m 20m Take-Off Point 25m Number [Altidiff] is the current relative height from waypoint(s) to aircraft. Number [Take Off Point] is the relative height from waypoint(s) to take-off location. Example shows a possible error at waypoint 0 altidiff -10 m in RED. Because the waypoint is 10 meters below ground.

Tips:

After synchronization, if mission is re-edited, you should re-do the synchronization.

(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 

autopilot mode!

Notices:

Making sure sufficient GPS 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).
©2012 DJI Innovations. All Rights Reserved. - 32 -

(V) GO!!

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

mission.

Tips:

 Using EDIT to re-edit the mission, while 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

 Using PAUSE to pause the mission, while a mission is in process. Please click PAUSE, and the 

aircraft will slow down and stay hovering. Click CONTINUE and the aircraft will resume the 

un-finished mission.

Mountain Mountain 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 avoid collision caused by aircraft air speed.

Latitude

Altitud

e

Longitude

Please note that when you set a waypoint 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.
©2012 DJI Innovations. All Rights Reserved. - 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 users need to obtain Semi Auto Takeoff and Landing permission. WKM has this function built-in.

Auto Takeoff

Only after assigning or editing all waypoints, the mission is ready to take off.

1. 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.

2. Flip the flight mode switch to either GPS-Cruise or GPS-Atti mode.

3. Press Go command on the Editor, the aircraft main rotor will 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 Manual mode or GPS Atti mode.

Auto Landing

After mission completing or the aircraft returning home, and the aircraft 

hovers within visual contact. Use Ground Station keyboard for auto 

landing (Press pause button then select keyboard control). Auto Landing button 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) Click 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) Use ↓ to land the aircraft. After landing, keep holding ↓ until engine stops. 

Notices:

Please press pause button and select keyboard mode, before auto landing operation.
©2012 DJI Innovations. All Rights Reserved. - 34 -

4.3 F Channel Controller

Use Ground Station to customize the MC’s F channel control, so that you can control the external payloads 

such as camera and gimbal.

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

2. Click the small box beside channel name to choose the channels will be used.

3. Click the button with letter, then press key shown and you need to choose a new control key 

on the keyboard.

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

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

Reverse box to reverse the measuring range.

6. Click Exit and Holding to exit and keep the range value; Click Exit without Holding to exit and 

forget the range value.

Tips:

ACE supports F1, F2, F3 and F4;

WKM supports F1 and F2 only。
©2012 DJI Innovations. All Rights Reserved. - 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 autopilot system and external devices. This feature allows DJI autopilot to operate your 

external devices automatically during basic aircraft waypoint mission.

GP-Servo Action Setting

1. Click ToolBoxGP Servo Action Config to open the General Purpose Servo Action Config

windows;

2. Click the box Action Mode OnOff to enable the GP-Servo Action function;

3. 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; the Stay Time is in second.

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

 Initial servo position and 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 natural 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.

Initial Position

STEP1 Position STEP2 Position STEP3 Position

GP-Servo Action Begin GP-Servo ActionDone

HOLD ON 1s HOLD ON 1s HOLD ON 1s

One GP-Servo Action Cycle

GP-Servo Action during flight mission

1

2

3

05:50 06:05

06:10

06:15

06:20

06:25

06:40

5s 40m

Way point 1 GP-Servo Period : 5s Repeat Time : 5 Start Delay : 5s Repeat Distance : 0Way point 2 GP-Servo Period : 0 Repeat Time : 0 Start Delay : 0 Repeat Distance : 40

Way point GP-Servo Action Cycle Done

DELAY 5s

40m

40m
©2012 DJI Innovations. All Rights Reserved. - 36 -

Way point Action Editing

Find and set the waypoint action properties according to the following procedures:

1. Click , the Mission Status will show Editing Mission label upon the Mission Editor.

2. Edit flight mission.

3. Select the waypoint either in 3D-Map or in the EditingMission menu, and get Waypoint action,

shown as Fig..

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

RepeatDistance. Set RepeatTime and RepeatDistance zero to disable the GP-Servo Action.

 

Tips:

Use 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 every 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
©2012 DJI Innovations. All Rights Reserved. - 37 -

4.5 Six Pre-Programmed Route Templates

Use one of the six Route templates to generate points automatically.

1. Open the Template Form ToolboxRoute Template, shown as Fig.1.

2. Click Add Area button to add an area, shown as Fig.2. 

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

4. Left click mouse to rotate the area, rotation 30 o per click; click / to adjust the area rotation 

angle and rotation 0.1o per click, as Fig. 3 shown.

5. Click one Template to generate waypoint(s), for example, choose Scan, as Fig. 4 shown.

6. 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.

 More than one area can be added; operation will effect on every chosen area, if more than one area 

is chosen.

 Left 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 route waypoints will be assigned vertically or horizontally

 Mouse on Param shows parameter 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 waypoints after clicking Import to Edit List button

 5 Waypoints station will not enable Scan mode.

Fig.1 Fig.4 Fig.5

Fig.2 Fig.3
©2012 DJI Innovations. All Rights Reserved. - 38 -

4.6 Photogrammetry Tool

Photogrammetry tool is for creating 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 actually a functions combination. It simplifies the parameters setup procedure for the aerial 

photography. 

Fig.1

Fig.2

Fig.3

1. Click ToolBoxPhotogrammetry Tool to open the setting window, shown as Fig.1.

2. Click Config the shooting action to setup the servo action for the camera shooting action, reference 

to section 4.4.

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

4. Fill in the right Focal Length, Sensor Height, and Sensor Width according to the camera.

5. 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.

6. Fill in the flight horizontal and vertical speed in H Speed and V Speed separately.

7. Choose turn mode between Adaptive_Bank_Turn and Stop and Turn.

8. Click Click to draw a region which you want to scan to choose an area, reference to section 4.5 to 

change the area.

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

10. If everything is OK, click Generate to generate all waypoints. Now you will have a flight mission 

generated automatically in the Editor, shown as Fig. 3.

11. Use the GPSExplorer to export the attitude data when the aircraft take a photograph. Please 

download this tool from our CD, or from

http://download.dji-innovations.com/downloads/groundstation/GPSExporter.zip
©2012 DJI Innovations. All Rights Reserved. - 39 -

Tips:

You can edit any waypoint in the Editor after generate all waypoints.
©2012 DJI Innovations. All Rights Reserved. - 40 -

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

Joystick/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 Setting

Left click waypoint then then Shift+P Open the Relative Coordinates Editor
©2012 DJI Innovations. All Rights Reserved. - 41 -

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: 

Since some areas set restriction to network access, the GS cannot access to the Google sever, which 

leads to the failure in opening the map. Please use the VPN mode to launch the GS, by clicking the “VPN 

Mode” button signed by the red line.

 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.
©2012 DJI Innovations. All Rights Reserved. - 42 -

 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. 

 Close 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.

Ground Station Software Crash

 Ground Station Software Crash will not affect the aircraft under mission execution. The aircraft 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 Autopilot Mode, and there is no need to set center 

Fig1 Fig2
©2012 DJI Innovations. All Rights Reserved. - 43 -

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 aircraft 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 Action Setting window 

after connect to main controller.

Solution:

 Please ensure the receiver has been connected.

 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 second.

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 cannot 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 should be longer than 5 meters.
©2012 DJI Innovations. All Rights Reserved. - 44 -

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.
©2012 DJI Innovations. All Rights Reserved. - 45 -

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: 78x47.8x17mm

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