U.S. Department of Transportation 

Docket Management System 

1200 New Jersey Avenue SE 

Washington, DC 20590 

Re: Exemption Request Section 333 of the FAA Reform Act & Part 11 of the Federal Aviation 

Regulations from 14 C.F.R.45.23(b); 14 CFR Part 21 ; 14 CFR 61 .113(a) & (b); 91.7 (a); 91.9 

(b); 91.103(b); 91.109; 91 .119; 91.121 ; 91 .151(a); 91.203(a) & (b); 91.405(a); 91.407(a) (1); 

91.409; 91.417 (a) & (b) 

To Whom It May Concern: 

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

and 14 C.F.R Part 11 , Lewis Realty Associates, Inc, a real estate sales and vacation rental 

company and operator of a small 'hexacopter" (UAS) equipped for photos and videos of 

properties and the Topsail Island, NC area, hereby applies for an exemption from the listed 

Federal Aviation Regulations ("FARs") to allow commercial operation of its UASs, so long as 

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

established by the FAA as required by Section 333. 

Purpose of proposed flights will be to provide photos and videos of real estate listings offered for 

rental and sale, photos and videos used to promote tourism in the area resulting in potential tax 

receipts for Local, State and US Government. 

The name and address of the applicant is: 

Lewis Realty Associates, Inc. 

Attn: Chris Rackley 

PH: 910.328.5211 ext 801 

Email: chris@topsailarea.com 

Address: 320 N New River Drive Surf City NC 28445 

320 N. New River Drive Surf City, North Carolina 28445 

(910) 328-5211, local (BOO) 233-5211, toll-free (910) 328-5277, fax 

809 Roland Avenue Surf City, North Carolina 28445 

(910) 328-2468, local (800) 326-2468, toll-free (910) 328-5111, fax 

www.topsailarea.com 
The UAS is a 3 lb 3 oz battery powered hexacopter (six motors, six blades), a handheld FrSky 

Taranis transmitter for control, associated control receivers on aircraft, 3 axis camera gimbal 

with GoPro 3+ camera and video transmitter to a small 11 inch screen for camera shot 

placement only (UAS is controlled ONLY by line of sight). The aircraft is equipped with one of 

two flight controllers (onboard UAS). Both Flight Controllers Offer: 

1. GPS Assisted Flight - Allows Hexacopter to hover when no commands are being sent -

This is a nice feature in case the PIC needs to "regroup" during a flight. 

2. Non-GPS Modes - If GPS signals are lost, aircraft goes into a mode that monitors 

altitude and provide control assistance to help keep air craft stable and under total 

control of PIC. 

3. Return to Home - Allows Hexacopter to return to home and land when battery power is 

low or a "failsafe" switch is flipped on transmitter. This is beneficial if pilot becomes 

disoriented or there are battery issues. 

4. Both Flight Controllers Have "Geo-Fence" Capibilities. le. Not able to arm within 5 miles 

of an airport or a user inputed "geo-fence" for a "no-fly zone" outside the "geo-fence". 

5. LED Status Lights on Aircraft - Gives User The Status of the aircraft through different 

sequences of blinking lights and/or alarms. 

(both flight controller manuals are included for review in this packet) 

The UAS also has two bright led modules on the front of the aircraft (white in color) and 2 on the 

rear of the aircraft (red in color). These LEOs are used for orientation and location of craft from 

line of site. 

The transmitter is a Fr Sky Taranis X9D that offers full telemetry showing altitude (with pre set 

voice alarms of altitude and warning buzzers when approaching 400' AGL), 2 level battery 

voltage announcements/warnings, RSSI (signal) strength voice announcements, emergency 

return to home programmed failsafe & emergency return to home manual switch. 

320 N. New River Drive Surf City, North Carolina 28445 

(910) 328-5211, local (800) 233-5211, toll-free (910) 328-5277, fax 

809 Roland Avenue Surf City, North Carolina 28445 

(910) 328-2468, local (800) 326-2468, toll-free (910) 328-5111, fax 

www.topsailarea.com 
all necessary licenses or change to a different frequency. 

(Photos are included as Exhibit A) 

The UAS will be flown with a Pilot in Command (PIC) and a ground based Visual Observer (VO) 

in accordance with FAA Policy N 8900.227 Section 14 "Operational Requirements for UAS" with 

the following additional restrictions: 

• All operations will occur in Class G airspace at no more than 400' AGL. The vast 

majority of flights will be well below this limit at an average of 150' to 200' AGL to 

accomplish the best photographs and videos. 

• Any required permits will be obtained from local and state governments before flights. 

• The aircraft will not operate directly above human beings at any time or within 150 feet of 

human beings. 

• Maximum Flight Time will be 12 minutes. Battery allows 18 minutes plus of flight time. 

Batteries are inspected and always fully charged before use. 

• The aircraft will not operate within 5 miles of an airport/heliport without prior approval 

from said airport/heliport. 

• All operations will be during the daytime and in ideal weather conditions of less than 15 

mph winds and clear skies. 

• Aircraft will remain in visual line of site at all times not to exceed "X mile from PIC. 

• Visual Observer will serve as additional eyes on the aircraft and be within voice reach to 

communicate with the PIC. 

• Aircraft will not fly in the area of any full scale aircraft and if a full scale aircraft comes 

into airspace during the aircraft's flight, it will be landed immediately to allow right of way 

to full scale aircraft. 

• At any time aircraft is being flown, signs will be posted in at least three (3) locations, 

warning of UAS operations are being conducted and to stay at least 200' away at all 

times of landing and takeoff area. (marked with a large orange cone). 

• The PIC (Chris Rackley) has flown different remote aircraft for over 10 years. The last 

three years has been exclusively multi-rotor types such has OJI Phantom (quadcopter), 

DJI F550 (hexacopter) and Custom 650 (hexacopter). There have been no incidents of 

injury or property damage. 

320 N. New River Drive Surf City, North Carolina 2B445 

(910) 32B-5211, local (BOO) 233-5211, toll-free (910) 328-5277, fax 

B09 Roland Avenue Surf City, North Carolina 2B445 

(910) 32B-246B, local (BOO) 326-2468, toll-free (910) 32B-5111, fax 

www.topsailarea.com 
reasons (flight controls are different than a traditional aircraft and PIC holds a Unite

States Passport, holds a North Carolina Concealed Weapon Permit and is a native born 

American which should satisfy any suspicions of being linked to Terrorism). Although 

the PIC will obtain a private pilot's license with in 120 days of exemption being granted if 

the FAA deems it is indeed required. If the FAA rules that private pilot's license is not 

needed after granting the exemption and PIC has not obtained a pilot's license at that 

time then PIC would request permission to not obtain a private pilot's license. 

• UAS will never be used as an invasion of privacy and only be used for the purposes 

listed above. 

• Liability insurance will be maintained at all times. 

• Our equipment is not inexpensive and we take public and property safety seriously. We 

have developed pre-flight plans, flight plans, emergency procedures, and maintenance 

procedures. 

Exemptions 

Exemption Request Section 333 of the FAA Reform Act & Part 11 of the Federal Aviation 

Regulations from 14 C.F.R.45.23(b); 14 CFR Part 21; 14 CFR 61 .11 3(a) & (b); 91 .7 (a); 91 .9 

(b); 91 .103(b); 91 .109; 91.119; 91 .121 ; 91.151(a); 91 .203(a) & (b); 91.405(a); 91.407(a) (1); 

91.409; 91.417 (a) & (b) 

14 C.F.R Part 21, 45.29, 45.23: 

The aircraft has no area to display numbers or letters that are at least 2" in size. To our 

knowledge there is no Registration System for UAS. We will place in the largest letters possible 

"Lewis Realty Experimental" on at least two "arms" of the craft. 

14 C.F.R. 91.7: 

To our knowledge there is no aircraft airworthiness certificates for UAS. 

We will before each flight run through the enclosed pre-flight checklist to ensure airworthiness. 

320 N. New River Drive Surf City, North Carolina 2B445 

(910) 32B-5211, local (BOO) 233-5211, toll-free (910) 32B-5277, fax 

B09 Roland Avenue Surf City, North Carolina 28445 

(910) 328-246B, local (BOO) 326-246B, toll-free (910) 328-5111, fax 

www.topsailarea.com 
There is no cockpit to include said manual. Operating manual will be kept with PIC. 

14 CFR 91 .103: 

Since there wi ll not be a FAA approved hexacopter manual to be provided we will need to be 

exempt. We will again follow our enclosed pre-flight checklist to ensure safety and 

airworthiness. 

14 CFR 91.109: 

UAS are controlled by a transmitter and do not have the capability for dual controls. It is our 

understanding there have been other aircraft approved without dual controls. 

14 CFR 91.119: 

Since flights will never be above 400' AGL and usually 150' to 200' AGL, we requested an 

exemption as the altitudes cited in 14 CFR 91.119 would cause us to exceed said 400' AGL. 

14 CFR 91.121 : 

UAS does not have a traditional altimeter. It does however have a barometric type which 

displays the altitude on the transmitter of which is monitored at all times to prevent exceeding 

400' AGL. The transmitter has voice announcements of altitude a certain heights. There is also 

an alarm on the transmitter when reaching within 50' of 400' AGL. 

14 CFR 91.151: 

The UAS does not use traditional fuel but rather battery power. The battery provides for up to 18 

minutes plus of flight time with a 20% reserve of battery power. If this level is reached the UAS 

returns to home and lands. However, no flights wi ll last longer than 13 minutes as an extra 

safety net. 

All batteries are only used if freshly charged. All batteries are visually inspected and volt tested 

before each flight. 

320 N. New River Drive Surf City, North Carolina 28445 

(910) 328-5211, local (BOO) 233-5211, toll-free (910) 328-5277, fax 

809 Roland Avenue Surf City, North Carolina 28445 

(910) 328-2468, local (BOO) 326-2468, toll-free (910) 328-5111, fax 

www.topsallarea.com 
exemptions or registration documents will be with the PIC on the ground level. 

14 CFR 91.405, 91 .407, 91 .409, 91 .417: 

As there is no airworthiness inspections available therefore we request an exemption. 

Again we will perform pre-flight checklists to ensure safety. 

If our pre-flight checklist does not pass, we will abort flight. 

Any items of concern will promptly be repaired using similar components and records will be 

kept through maintenance record. 

We are prepared to modify or amend any part of this petition for exemption to meet or exceed 

concerns of safety. We do look forward to working with the FAA to provide a great service to our 

community and profession in a safe manner. 

Since(ely, 

( l9_C 

'-.-/ Chns Rackley 

President 

Lewis Realty Associates, Inc. 

320 N. New River Drive Surf City, North Carolina 28445 

(910) 328-5211, local (BOO) 233-5211, toll-free (910) 328-5277, fax 

809 Roland Avenue Surf City, North Carolina 28445 

(910) 328-2468, local (BOO) 326-2468, toll-free (910) 328-5111, fax 

www.topsailarea.com 
Enclosures: 

Exhibit A - Photos 

DJI Naza M Flight Controller Quick Start 

Pixhawk Quick Start 

Pre-Flight/Flight Plan Checklist 

Maintenance Record 

EXHIBIT A- Photos 

320 N. New River Drive Surf City, North Carolina 2B445 

(910) 32B-5211, local (BOO) 233-5211, toll-free (910) 328-5277, fax 

B09 Roland Avenue Surf City, North Carolina 28445 

(910) 328-246B, local (BOO) 326-246B, toll-free (910) 32B-5111, fax 

www.topsailarea.com 
320 N. New River Drive Surf City, North Carolina 28445 

(910) 328-5211, local (BOO) 233-5211, toll-free (910) 328-5277, fax 

809 Roland Avenue Surf City, North Carolina 28445 

(910) 328-2468, local (800) 326-2468, toll-free (910) 328-5111, fax 

www.topsailarea.com 
.. 

320 N. New River Drive Surf City, North Carolina 28445 

(910) 328-5211, local (BOO) 233-5211, toll-free (910) 328-5277, fax 

809 Roland Avenue Surf City, Norlh Carolina 28445 

(910) 328-2468, local (BOO) 326-2468, toll-free (910) 328-5111, fax 

www.topsailarea.com 
Flight Location:-----------------------

Weather ConditionNisibility/Wind Speed: 

BEFORE LOCATION 

u Ensure Flight Location is Not Within 5 Miles of Airport/Heliport. If so, call 

airport/heliport for proper authority before flying. Record Contact Name, Phone 

& Airport if approval is received at bottom. 

D Review Current Weather Conditions/Forecast As Reported By The NWS. 

u Check All Battery Voltages/Condition -(If Not Charged, Must Charge Before 

Going to Location) 

D Inspect all wires, plugs and solder connections. 

AT LOCATION 

o Check Battery Voltage and Visual Inspection of Battery 

!J Inspect Props on UAS For Cracks, Loose Securing Screws/Bolts, Proper 

Rotation. 

o Visually Re-Check Current Weather Conditions 

D Site Survey -Identify Any Possible Hazards Such As Telephone Poles, Flag 

Poles, Utility Wires, Flocks of Birds, Traffic, Large Groups of People. 

!J Identify Takeoff and Landing Location (Same Location) 

U Identify Vantage Points for PIC and Observer. 

D Place Orange Cone At Takeoff/Landing Location and Warning Notice Signs of 

Flight 

o Ensure before motors are armed, no one is in a hazard area. 
Landing 

• Ensure Landing Area is Clear from Hazards or Bystanders. 

• View Wind Direction and Compensate Flight If Needed. 

• Land Aircraft -Motors Are Shut Off Immediately After Landing. 

• Until PIC or Observer Has Disconnected the Battery On The Aircraft All 

Bystanders Are Not Allowed To Approach the Aircraft. 

Emergency Landing 

• Land immediately at a safe and close location when: 

o other aircraft are spotted or heard (including other UAS) 

o bystanders have gathered or a bystander has enter the proximity 

o changes in weather or wind 

o birds entering area 

o anything happens to distract pilot 

o if PIC feels uncomfortable for any reason 

Flight was performed to all flight plans and protocols contained herein. 

Sign: _________________ (PIC) 

Sign: ___________________ (Observer) 
Da

__ _ 

Person Performing Maintenance: _____________ _ 

Reason for Maintenance or Repair: 

Parts or Part Being Replaced/Repair (with any manufactoring information): 

After Maintenance/Repair: 

Test Flight To Be Performed In Ultra Safe Zone: 

location: ____________ Date:_/_! __ 

Tests to be Performed: 

low Hover, low Flight Control Test (do this in all flight modes) 

If Passed -2nd Test Flight Will Be Of Nature of a Normal Flight Plan. 

(failure in either test flight will result in grounding the aircraft until proper repair can be 

completed). 

Sign: _________________ (PIC) 

Sign: __________________ (Observer) 
2014.05.12 Revision 

For Firmware Version V4.02 o r above 

& Assistant Software Ver sion V2.20 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, technica l 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 PHA NTOM control system are different in hardware parts, but their 

configurations and functions are the same when using t he 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. 

©2013 DJI Innovations. All Rights Reserved. 
ASSEMBLY & CONNECTION ...................................................

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

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

ASSISTANT SOFTWARE INSTALLATION AND CONFIGURATION ....................................................................................... ? 

STEP1 SOFTWARE AND DRIVER INSTALLATION ON A PC. .......................................................................................................................... 7 

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

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

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

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

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

STEP2 ASSEMBLY CHECKING LISL .............................................................................................................................................................. 13 

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

STEP4 FLYING TESL ........................................................................................................................................................................................ 14 

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

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

A2 Low-VoLTAGE ALERT .............................................................................................................................................................................. 17 

A31NTELLIGENT ORIENTATION CONTROL (IOC) FLIGHT (WITH GPS MODULE) ............................................................................... 18 

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

AS FLIGHT LIMITS ............................................................................................................................................................................................. 22 

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

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

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

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

INSTRUCTION OF Vl (ALSO KNOWN AS NAZA-t-1) ............................................................................................................... 26 

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

V11S 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 ................................................................................................................................................... 32 

~>2013 OJ I Innovations. All Rights Rese1·ved. 
altitude holding, which completely takes the stress out of f lying RC multi-rotors for both professional and hobby 

applications. Despite the system having a built-in autopilot system and our efforts in making the operation of the 

controller as safe as possible when the ma in power battery is connected, we strong ly recommend users to remove 

all propellers when ca librating and setting parameters. Make sure all connections are good, and keep children and 

animals away d uring firmware upgrad e, system ca lib ration and parameter setup. DJI Innovations accepts no liability 

for damage(s) or injuries incurred directly or indirectly from the use o f this product in the following conditions: 

1. Damage(s) or injuries incurred when users are drunk, taking d rugs, drug anesthesia, dizziness, fatigue, nausea 

and any other conditions no matter physically or mentally that could impair your ability. 

2. Damage(s) or inj uries caused by subjective intentional operations. Any mental damage compensation caused 

by accident. 

3. Failure to follow the guidance of the manual to assemble or operate. 

4 . Malfunctions caused by refit or replacement with non-DJI accessories and parts. 

5. Damage(s) o r injuries caused by using third pa rty products or fake DJI products. 

6. Damage(s) or injuries caused by mis-operation or subjective mis-judgment. 

7. Damage(s) or injuries caused by mechanical failures d ue to erosion, aging. 

8. Damage(s) or injuries caused by continued flying after low voltage protection alarm is triggered. 

9. Damage(s) or injuries caused by knowingly flying the aircraft in abnormal condition (such as water, oi l, soil, 

sand and other unknown material ingress into the aircraft or the assembly is not completed. the main 

components have obvious faults, obvious defect or missing accessories). 

10 . Damage(s) or injuries caused by flying in the following situations such as the aircraft in magnetic interference 

area, radio interference area, government regulated no-f ly zones or t he pilot is in backlight, blocked, fuzzy 

sight, and poor eyesight is not suitable for operating and ot her conditions not suitable for operating. 

11. Damage(s) or injuries caused by using in bad weather, such as a rainy day or windy (more than moderate 

breeze), snow, hail, lightning, tornadoes, hurricanes etc. 

12. Damage(s) or injuries caused w hen the aircraft is in the following situations: collision, fire, explosion, f loods, 

tsunamis, subsidence, ice trapped, avalanche, debris flow, landslide, earthquake, etc. 

13. Damage(s) or inj uries caused by infringement such as any data, audio or video material recorded by the use of 

aircraft. 

14. Damage(s) or injuries caused by the misuse of the battery, protection circuit, RC model and battery chargers. 

15. Other losses that are not covered by the scope of DJIInnovations liability. 

©2013 DJIInnovations. All Rights Reserved. 3 I 
Certifications 

This product is approved with quality standards such as CE, FCC and RoHS. 

Symbol Instruction 

. 0 Forbidden(lmportant) Cautions ' Tip Reference 

e2013 DJI Innovations. All Rights Reserved. 4 I 
A: For roll control (lefVrighl) 

E: For pitch control (fronVback) 

T: For throttle control 

R: For rudder control 

U: For Control Model Switch 

X 1: For gimbal pitch control / For gain luning 

X2: For D-Bus(S-Bus/S-Bus2 compatible) I For gain luning I For IOC 

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

Main Controller 

LED 

*ESC: Electronic Speed Controller 

F1: To gimbal roll servo or To #7 ESC 

F2: To gimbal pitch servo or To #8 ESC 

NAZA output is 400Hz refresh frequency 

V-SEN: Connect to Main Controller X3Port 

I:\ Important: the continuous output of the 

PMU is 3A@5V, and lhe 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, 

Micro-USB: PC connection 

for parameter configuration 

and firmware upgrade 

Pointing to the aircraft nose direction 

Connect to GPS port of PMU 

©2013 OJ I Innovations. All Rights Reserved. 5 I 

Main Controller 

PMU 

(Power Management Unit) 

GPS/Compass 
~ M2 ll.:} () , ) MO 

I """\M1 

-\.:_) 

- M2 MJO M4 ~ <::} • M5 

MS 

Octo-rotor I 

Octo-rotor V 

M1-M1 

M2-M2 

M3-M3 

M4-M4 

M5-M5 

M6-M6 

M7- F1 

MB-F2 

Note: The NAZA-M V2 flight control system doesn't support Gimbal function when used on the Octo-rotor aircraft. 

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

Main Controller(MC) ESCs & Motors 

Mount: (1 )The DJIIogo should face the sky, DO 

NOT mount the MC upside-down. (2)The MC sides 

should be parallel to the aircraft body. (3)The arrow 

should point to the nose direction of aircraft. (4)he 

MC Is best positioned near the aircraft's center of 

gravity. Make sure all ports are accessible. 

Please use the ESCs and motors recommended by the manufacturer 

of your aircraft. We recommend you use DJI motors and ESCs (Refer 

to its manual for details). Connect all ESCs to MC by the motor 

numbering method introduced in mixed types Supported . 

Important : If you use 3rd party ESCs, make sure the ESCs travel 

midpoint is at 1520us. DO NOT use 700us travel midpoint ESC, as it 

may lead aircraft to fly away or cause injury and damage. After ESCs 

connection , calibrate ESCs one by one through the receiver directly 

before connect them to your MC, Make sure program all of them into 

Governor off, Break off and Normal Start up to get best experience. 

Ti p : It is recommended to fix the MC until all 

wirings and configurations are completed, using 3M 

gummed paper provided to fix the MC. 

S·Bus/S·Bus2/PPM Receiver 

Power Supply 

Transmitter(TX) & Receiver(RX) 

( 1 )Refer to you TX Manual, setup the 

Ai leron, Elevator, Throttle , Rudder 

channels on your TX first, and choose a 3-

position switch as control mode switch. 

(2)Attach the matched RX to aircraft, then 

connect your RX to the right ports on MC. 

The following diagram shows the 

connection example for traditional RX. 

AILE A 

ELEV E 

(JR) THRO T MC 

RUOD R 

3-posltion Switch t_u _ _ ~ (Futaba 

/Hitec) 

3-posltion Switch 

Step3 Double Check 

PMU Module 

Mount : DO NOT attach the PMU on 

other device. Sufficient air flow over 

the PMU is highly recommended. 

Tip : If use with DJI multi-rotor, you 

can solder the power cable to power 

pads on frame bottom board. Please 

refer to DJI multi-rotor manual for 

details. If use with 3rd part aircraft, 

you can make a connecter by 

yourself to connect PMU and battery. 

LED Module 

Mount : Make sure You can see the 

light during the flight. Leave the USB 

interface to be accessible. Use the 

3M gummed paper provided to fix. 

Gimbal 

Connect the gimbal servos to 

the ports of F 1 and F2 if a 

gimbal is used, and use the 

software for configurations. 

Pitch 

(Optionai)GPS/Compass 

Mount: GPS/Compass is sensitive to 

magnetic interference, should be far 

away from any electronic devices. If 

you use your own mounting rod, 

make sure it is NOT magnetic! 

Procedures : 

(1 )You should use epoxy resin AB 

glue to assemble the GPS bracket 

first. Mount the bracket on the center 

plate of craft. Position the bracket at 

least 1 0 em from any propeller. 

(2)The DJI logo marked on the GPS 

should face the sky, with the 

orientation arrow pointing directly 

forward. then fix the GPS on the plate 

of the bracket (by 3M glue provided). 

Tip : The GPS/Compass is packaged 

with a special indication line for 

mountin for the first time. 

In this step, turn on the transmitter, connect the battery to the PMU, and then watch the LED, if you can see the LED blinks ( 0 0 0 0 0 00000 ), the system is working. 

©2013 OJ I Innovations. All Rights Reserved. 6 I 
4. Open the driver installation software and follow the instructions to 

p

5. Run the Assistant installation software and follow the instructions to complete installation. 

The installer in EXE format is supported on W in XP, Win?, Win8 (32 or 64 bit). 

Installing and running on Mac OS X 

l. Download the Assistant installer in DMG format from the download page of NAZA-M V2 on the DJI 

website. 

2. Run the installation software and follow the prompts to finish installation. 

NAZAM· V2 

3. When launching for the first time if use Launchpad to run the NAZA-M V2 Assistant Software, Launchpad 

won't allow access because the software has not been reviewed by Mac App Store. 

? 

©2013 OJ! Innovations. All Rights Reserved. 7 I 

"NAZAM" can't be opened because it is 

from an unidentified developer. 

Your security preferences allow Installation of only 

apps from the Mac App Store and identlfled 

developers. 

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Flo sl Level Protection 

Second Level Protecuon 

Installer in DMG format is supported on Mac OS X 10.6 or above. 

NON[ 

NONE 

NONE 

NONL 

NONE 

NONE 

··.!.· 

The NAZA-M V2 Assistant on Mac OS X and Windows are exactly the same. The Assistant appear in 

other p laces of this manual is based o n Windows version. 

Step2 Configuration by Assistant on a PC 

l. Power on the PC. M ake sure your computer is connected to t he Internet for t he first time you use. 

2. Switch on the transmitter first, and then power on the autopilot system. Connect the autopilot system to 

the PC with a Micro-USB cable. DO NOT break the connection until setup is finished. 

3. Run the Assist ant Software. 

4. O bserve the indicators o n the left bottom o f t he software. ( • • They are the connection indicator and 

communication indicator in order.) If the communication indicator is b linking, that the software is ready, 

please go to next step. 

5. Select the "Info" option. Check the software firmware version. If the upgrade is available, you may update 

the assistant software. 

©2013 DJI Innovations. All Rights Reserved. 8 I 
9 . Select the "Viewer" option to check all parameters. 

10. Then break the Micro-USB cable, power off the aircraft. Finished. 

(1) You may be required to fill register information for your first-time-usage. 

(2) If the communication indicator is b lue on, please double check the connections. 

I (3) • Basic configuration is necessary before you go to the "Basic Flying Test" . 

(4) Users are required to install a Windows system, since the software can only run on Windows 

system. 

(1) 

~ 

If the firmware upgrade is available, please upgrade it by referring to the Firmware Upgrade 

in t he Appendix. 

(2) This step is required to use together with the assistant software to obtain more details. 

Recommended Parameters 

Recommended Setti ngs for using F330/F450/F550 

Configuration Information Basic Gain Attitude Gain 

Motor ESC Propeller Battery Weight Pitch Roll Yaw Vertical Pitch Roll 

F330 DJI-2212 DJI-18A DJI-8 Inch 35-2200 790g 140 140 100 110 140 140 

F450 DJI-2212 DJI-30A DJI-8 Inch 35-2200 890g 150 150 100 105 150 150 

F550 DJI-2212 DJI-30A DJI-8 1nch 45-3300 1530g 170 170 150 140 170 170 

©2013 DJIInnovations. All Rights Reserved. 9 I 
i ( With GPS Module ) I 

- ·--- -----.. ---~----~ ... 

- ·------ ,.. ______ ,.! ________________ ,.. __ ,.. _______ : -----------------·----

1 Rudder Angular 1 

j Maximum rudder angular velocity is 150 ' /s 

Velocit y , 

- ----------------··t---------------------- ------- --------------- --------------------------------------

Command , 

' YES 

Linearity : 

-----··· ·-----·---r ··-----------------------------------------·----- --------r·--- ----------------- ! j Max-angular velocity is 150' /s. 

Command Stick I Multi attitude control; Stick center position for o · ' ! I No attitude angle limitation 

Meaning l attitude, its endpoint is 35 •. I ! i and vertical velocity locking. 

--------------·t··------------------------------------------------------r-------------------------------

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

---------------r---------------------.,-------------------------------+--------- -------

Stick Released 1 j Only attitude stabilizing. NOT Recommend , Lock position if GPS signal j l 

I is adequate. 

- ·------------... -----+-------------------------------------1---------------------- _____________ .,.,.. ______________ _ I When GPS signal has been 1 Only performing attitude 

GPS Lost I I ! lost for 3s, system enters 1 stabilizing without j 

I o 

' I I i A TTl. Mode automatically. i position lock. , 

-------

----

l·----

~~t

t~d~

sp:~~

mi;;:-~

::

tr~::~

:;~ta ility 

··r-----------------

. ,, ~~~~~:~ ~~; ~: fe(~os

t~~~

~---:-u~:~ev~~~~~;:---, o I i lock when hovering) i (Attitude stabilizing) l Depends on experience. 

Safety r---------- ---------------------------------------------------------------- 1 l 

I 

I 

i 

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

Mode (including GPS M ode, A Til. Mode, Manual Mode and IOC Mode), the aircraft will 

i enter t he failsafe Mode. 

------------r------------------- -------r-------------

Applications 1 AP work ! Sports flying. I 

Start & Stop Motor Knowledge 

(l) 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: 

©2013 OJI Innovations. All Rights Reserved. 1 0 I 
Manual Mode, only executing CSC can stop motor s. In A TTl. Mode or GPS A TTL M ode, any o ne of 

following four cases will stop motors: 

a) You don 't push t hrottle 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 o f multi-rotor is over 70·, and throttle stick under 10%. 

Notes of lntellig_ent Mode 

' 

(1) 

(2) 

In A TTl. I GPS ATTL Mode, it has landing judgment, which w ill stop motors. 

Start motors in ATTL I GPS ATTL 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 st ick under 10% will not stop motors in any control mode. 

(4) Fo r safety reason, w hen the slope angle of multi-rotor is over 70 • during the flight in A TTl. I 

GPS A TTl. Mode (may be caused by collision, motor and ESC error or propeller broken down), 

and throttle stick is under 10%, motors will stop automatically. 

N o t es o f I ne t II' 1gen tM 0 d e &I mme d' 1a t e1y I M 0 d e 

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

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

Ss 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. 

®2013 OJ I Innovations. All Rights Reserved. 11 I 
Calibration Procedures 

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

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

from GPS Mode to A TTl 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 t he calibration. 

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

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

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

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

Fig.1 Fig.2 

5. If the calibration was successful, ca libration 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. 

2. 

3. 

4. 

(1) 

(2) 

a) 

b) 

c) 

(3) 

(4) 

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

alternately (I!S::.O 

A TTl. Mode. 

i), disable the GPS Module, and automatically enter the aircraft into the 

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

lea st 45 • difference between horizo ntal and vertica l calibration. 

If you keep having calib ration failure, it might suggest that there is very strong magnetic 

interference around the GPS /Compass module, p lease avoid flying in this area. 

When to do re-calibration 

The flight field is changed. 

When the multi-rotor mechanical setup has changed: 

If the GPS/Compass module is re-positioned. 

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

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

If the flight direction appears to be shifting (meaning the multi-rotor doesn ' t "fly straight"). 

The LED indicator o ften indicates abnormality blinking when the multi-rotor spins. (It is normal 

for t his to happen only occasionally) ------~------------------------------------------~ e2013 DJI Innovations. All Rights Reserved. 12 I 
(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. 

l. 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 (OOOOOOC OOOOOO ). 

After that, the LED may blink Yellow 4 times quickly (0000 ). Start motor is disable during LED blinking 

Yellow 4 times quickly ( 0000 ), 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 (0 000 ), which means the system is in A TTl. 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 A Til. Mode without a GPS/Compass module, no GPS signal status LED 

indicator. 

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

LED indicator is available. 

Contro l Mode LED Indicator 

Manual Mode: NO LED 

A TTl. Mode: 0 ( 00 indicates that is stick(s) not at center) 

GPS Mode: 0 ( 00 indicates that is stick(s) not at center) 

©2013 DJI Innovations. All Rights Reserved. 13 I 

GPS Signal Status LED Indicator 

Signal is best (GPS satellites > 6): NO LED Signal is well (GPS satellites= 6): C Signal is bad(GPS satellites = 5) : CO Signal is worst (GPS satellites< 5): ooe 
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 wit hout 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 A TTl. 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 A TTl. 

Mode, you can skip this step. 

3. Start-up 

(1) Switch on the transmitter first, t hen 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 

(0000). You should not start the motors unti l 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 t he mid point, at the same time raise t he 

throttle stick from the bottom. The motor s 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. 

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

aircraft's position. Keep the yaw, roll, pitch and throttle st icks at the mid point to hover the aircra ft 

at the desired height. 

4. Lower the aircraft slowly. Pull the t hrottle 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. 

@:>2 013 DJIInnovations. All Rights Reserved. 14 I 
0 

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

(3) 

(4) 

(5) 

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

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

drift w hen hovering. 

DO NOT fly near to ferromagnetic substances, to avoid strong magnetic interference with t he 

GPS. 

(6) Please avoid using GPS A TTl. 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, la nd ASAP. (8) If the transmitter indicates low-battery alarm, please land ASAP. In this condition the transmitter 

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

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

otherwise the home point recording may be not so precise. 

(l) In A TTl Mode, throttle stick center position is for Om/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 aircra ft 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 w ill act according to the configuration of the Assistant 

Software once Fail-Safe is triggered. Make sure you remember what you have set before. 

©2013 DJI Innovations. All Rights Reserved. 15 I 
H

o

me-point: Before takeoff, current position of multi-rotor wi ll be saved as home-point b y MC automaticall y when 

you start the motors for t he first time after 6 or more 

GPS satellites are found (red light blinks once or no b linking) 

for 10 seconds. 

1. Please make sure to record the home-point before takeoff, and clearly know 

where it is. 

Note 2. During go-home the nose direction of the airc raft is facing toward the home-point, the aircraft is 

flying dir ectly from the current position to t he home-point. 

3. You can regain t he control during t he aircraft is hovering 15 seconds. 

The flowchart of failsafe and how to regain contr

ol 

This section w ill de

m onstrate the working logic of failsafe and how to regain cont rol. t- What triggered failsafe 

The following description is effective only 

w hen: L j ~ 1. The aircraft is in flight. 

2. 

The GPS 

works normally and sig nal is g ood (;,: 6 satellite, the LED blinks a single t- How to regain control 

red light o r no red light). 1- Precautions 

(1) The aircraft 

flies far away, 

TX is on but the 

signal is weak. 

(2)Turn off the 

TX (

we assume 

you want to 

trigger failsafe) 

1 ttitud~ Mode: (1) the aircraft 

will _level i_ts a~ de 

Attitude Mode: In Attitude Mode as 

~ 

t~me

dtat y (2) 3 seconds later, atl afe ts. tnggered and . - soon as you get signal you can 

atrcraft wtll start to go home. (3) If stgnal ts regatned dunng reg ·nco trol j(1) or (2), it will resume normal flight immediately. .___a' __ n__ . _______ ___. 

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. 

GPS 

Mode: switch the TX 

mode 

~ switch to A Til, if the receiver is 

connected, then you will regain 

control. 

- - - --- - - ------------------------------- In this case, the behavior of the aircraft is the same as in If you choose to turn off the 

TX, 

the above condition. you must be pretty sure that you 

If you 

want the aircraft to Return Home, please do not turn .__. know how to regain control. Here 

the TX back on 

within 3 seconds*, otherwise the aircraft we offer a method, please read 

will exit failsafe mode immediately. carefully. -

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

When you turn off the TX, use " the following 

types of risk: method to regain control: 

(1) You 

must be pretty clear 

whether the Home-point is OK for landing or (1) Switch the TX switch to GPS. not. (You have to understand the definition of Home-point 

well and the (2) and then put throttle to the center 

working process of failsafe) position(greater than 3sec after switching off, 

(2) If there are tall buildings around, the aircraft 

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

way. (3) then you can switch the TX Control mode 

(3) 

When GPS signal is bad or GPS is not working, failsafe will not work. switch to A Til to regain control. 

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. 

• If signal lost for more than 3 seconds failsafe will be triggered, if signal regained within 3 seconds it will exit failsafe immediately. 

o 20l3 OJ I Innovations. All 

Rights Reserved. 16 I 
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 w ith LED warning. Meanwhile the center point o f 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!!! 

(l) Configure the FailSafe function in the assistant software -> uAdvanced" -> "F/ S" and read t he 

instruction thoroughly and carefully. 

(2) Configure the Low-Voltage A lert function in the assistant software-> "Advanced"-> "Voltage" 

and read the instruction thoroughly and carefully. 

©2013 OJ I Innovations. All Rights Reserved. 17 I 
are corresponding to pitch and roll operations in the fol lowing diagram. 

• 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 A TTl. Mode or GPS A TTl. Mode. 

Normal flying Course Lock Flying 

e 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 A TTl. Mode, and the aircraft is 

further than 10m away from the home point. 

'1 ~~ 

• Home 

Normal flying Home Lock Flying 

Step2IOC Switch Setting 

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

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. 

©2013 DJI Innovations. All Rights Reserved. 18 I 
Automatically 

j autopilot system. ! motors for the first time after 6 or more GPS 

i i satellites have been found for 10 seconds. 

---------------------------t---------------------------------------------------------------------r--------------·----------------------------------------------------------------------

! 30 seconds after you power on the j After 6 or more GPS satellites have been found. ' I ! ! ! autopilot system. Toggle the IOC switch ! And the aircraft can be hovering. Toggle the IOC Manually ! j : from O ff to Course Lock, and back to Off 1 switch from Course Lock to Home Lock, and back l ! 

___________________________ _L _________________ 'l~ i_:: Y..~ __ _?._ ~!~.:-~: _____ __________ __L ______________ S:?.~::: .. ~.<?.:: ~ . ::~!Y..~ ~-<: .. ? ..~!~::: ............ .. 

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

Forward Direction of Course Lock. 

Step4IOC 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 (0 0) to indicate the IOC mode only when the main controller is really to fly in Course Lock, Home 

Lock modes. 

During the 

sa me flight 

STEPl: Record 

! 

I 

Course Lock I 

STEP2:0N STEP3:0FF 

0 I I 

STEP4: ON again --------------------·-···-- ---- -- ----- ------ ----r·------------------------- --------------~ -- -----------~--- ·-· -·--;------------------·---------------- i i Set Control Mode switch at i ! Record the i j Toggle IOC switch 

· · G PS or A TTl. position, Toggle IOC switch · Switch Setting i Forward i i from OFF to Course 

j j Toggle IOC switch from OFF to OFF position ! i Direction i ! Lock positio n 

1 • to Course Lock position i 

! 

i Home Lock j 

! 

! 

I • • --- ------------

------------r-- ------ ---------- -----r ----------------- --- ---- --- ------------ ----- r-- ------- ------······-~----~~-~ -~--- -··-·-- ---------------------- i i Set Control Mode switch at i i I Record the GPS position, l Toggle IOC switch i Toggle IOC switch 

Switch Setting ! ! ! i from OFF to Home j Home Point ! Toggle IOC switch from OFF i to OFF position ! : ! 1 i 

j l to Home Lock position i i 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 ) 

©2013 DJI Innovations. All Rights Reserved. 19 I 
., 

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

(l) 

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

Blinking indications of IOC 0 0 are: 

a) Before motors start: 0 0 blink, all sticks (except throttle stick) return to center; 

0 0 0 blink, stick(s) (except throttle stick) not at center. 

b) After motors start and throttle stick is over 10% in 3 seconds: 0 0 blink, all sticks 

return to center; 0 0 0 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 contro ller 

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

point. 

(l) 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 

w ill 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 A TTl. Mode. 

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

times). 

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

and you know the locked forward direction o r home point, before you switch on IOC 

mode during the flight. 

o2013 OJI Innovations. All Rights Reserved. 20 I 
In the GPS Node or A TTl. Node, 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 ATTL 

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

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

details. 

©2013 DJIInnovations. All Rights Reserved. 21 I 
same. So that the aircraft will fly in the ente

e

g

, 

Max 

Height 

-- - ---

(1) Height limit works w hen the control mode is GPS or A TTl. 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. 

©2013 OJ I Innovations. All Rights Reserved. 22 I 
p

Supported Multi-rotor 

Supported ESC output 

Recommended Transmitter 

Assistant Software System Requirement 

Electrical & Mechanical 

Working Voltage Range 

Power Consumption 

Operating Temperature 

Weight 

Dimensions 

• Quad-rotor 14, X4; 

• Hexa-rotor I 6, X6, IY6, Y6. 

• Octo- rotor 18, V8, X8 

400Hz refresh frequency. 

PCN or 2.4GHz with a minimum 4 channels. 

Windows XP SP3; Windows 7; Windows 8 

• NC 4.8V- 5.5 V 

• PNU 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 

MAX, 1.5W(0.3A@5V) 

e Normal, 0.6W(O.l2A@5V) 

-lO"C- 50"C (l4F -122F) 

• NC27g 

• GPS/Compass. 27g 

• PNU, 28g 

• LED, 13g 

• NC 45.5mm ' 32.5mm ' l8.5mm 

• GPS/Compass; 46mm (diameter) x lOmm 

• PNU : 39.5mm ' 27.5mm ' lO.Omm 

• LED : 25mm '25mm '7.0mm 

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

Hovering Accuracy (GPS Mode) • Vertical; ± 0.8m 

Max Yaw Angular Velocity 

Max Tilt Angle 

Max Ascent/ Descent Speed 

©2013 OJ I Innovations. All Rights Reserved. 23 I 

e Horizontal: ±2.5m 

200" /s 

35" 

Ascent , 6m/ s, Descent; 4.5 m/ s 
3. Make sure t

e p

pp

y 

upgrade has finished. 

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

finished. 

5. Run Software and wait for connection. 

6. Select lUpgradel option~ Check the MC and PMU Firmware Version. 

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

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

update them. 

9. Wait until Assistant software shows "finished". 

10. Click IQE] and power cycle the unit after at least 5 seconds. 

11. Your unit is now up-to-date. 

(1) After firmware upgrade, please re-configure the system using Assistant software. 

(2) If firmware upgrade failed, the system w ill enter waiting for firmware upgrade status 

automatically, please try again with the above procedures. 

(3) Select lUpgrad~ option~Check the GPS Firmware Version, online upgrade is disable. 

©2013 OJ I Innovations. All Rights Reserved. 24 I 
Compass error too big, need recalibration. 

Transmitter (TX) signal lost, enter t he FailSafe. 

TX stick(s) mid point error too big 

Low voltage alert or other abnormal alert• 

(e.g. Configuration error, TX data error, Enable 

low voltage protection wit hout PMU, SN error 

or Compass abnormal work.) 

Record forward direction or home point 

Control Mode Indictor 

GPS Signal State Indicator 

( GPS/Compass Module is necessa ry ) 

00000000000000000000 

• ••• 

• ••• • ••• • •• 

00000000000000000000 

Manual Mode: None 

A TTl. Mode: 0 ( stick(s) not at center 00 ) 

GPS Mode: 0 ( stick(s) not at center 00 ) 

IOC Mode: 0 0 ( stick(s) not at center 0 00 ) 

GPS Signal is Best(GPS Satellite number > 6): 

GPS Signal is Weii(GPS Satellite number= 6): 

GPS Signal is Bad (GPS Satellite number= 5): 

None 

• •• 

GPS Signa l is Worst (GPS Satellite number < 5): ••• 

Compass Calibration LED Flashing 

Begin horizontal calibration 

Begin vertical calibration 

Calibration or others error ••••• 0.. . . . .• •..• . 

*You can figure out the error by connecting the autopilot system to the assistant software. 

@2013 DJI Innovations. All Rights Reserved. 25 I 
RIC System 

These are example connections. 

Please setup Ail eron, Elevator, 

Throttle, Rudder channels on 

T X first. and choose 

positions switch/channel 

mode switch, then 

receiver to the right 

---

(Optional) GPS/COMPASS 

• GPSCompass is senSIINe to m~utcic lnlefference, shoutd be far ;rWWJ lrom any e6edronic dewJes 

You should use epoxy resin AS g\le to assembfe the GPS bracket first n the figure shOW'ed in 

previous page. 

• Mount the bfaclo:.et on 'lie center plato of crall rnt. then fiA the GPS on the p1ate of the bracket (by 

3M glue ptO\ridedl. The GPS Is sensllivelo ~bfalion lnlerlerence. so position !he bracl<el al lea•IIO 

em from any rotor 

• The DJIIogo ma~k.ed on the GPS should face the sky, with the orientation arrow pointing directly 

forw<IJd. The GPSICompass is packaged with a special ntftea~on line 101' mounting lor lhe first Ume 

If you are uncertain whether maletlals near lhe GPSICompass module are magnetic 01 not, you can 

use a compass Of ma~llo check ll If you use your own mounting rod, mah sure II is NOT m~etic vu Do not mount it on any other electronic devices. Make sure You can see the LED light during the night. II use with DJI mulll-rotor, you can solder the VU power cable to power pads on frame bollom board Please refer to DJI manual for details. If use with 3'' part multi-rotor, you can make a connecter by yourself to connect VU, ESCs and battery. Suffoclenl air now over the VU is highly recommended ESCs, Motors • Motors and ESCs in DJI multi-rotor kit are recommended. • Please make sure you are using the ESCs and motors recommended by the manuraclurer or your multi rotor first. NAZA output is 400Hz refresh frequency, • II you use 3'' party ESCs please make sure the ESCs traYel midpornt is at 1520Us DO NOT use 700ustravel mldpornl ESC, as 11 may lead aircraft to fly away or cause inJury and damage After connect ESCs 10 motors calibrate all your ESCs one by one through the recerver drreclly before connect them 10 your MC, Make sure program all of lhem Into Governor off, Break off and Normal Start up 10 gel best expenence Important: the continuous ! output of the VU is 3A@5V, and I e maximum instant current is 7.5A. If the V U cannot afford the working current for your servos, please use an independen t power supply; otherwise, it may cause the V U safeguard and lead Ia the main controller reboot. MC Please use 3M gummed paper provided To mount MC, and MC parallel to the aWetaft horizon. The oulpul ports of MC (the right side in figure) should point the front of mulll-rolor. You' d beller put MC althe center of multi-rotor. Please make sure all ports are acc:es!libl<•l when installing lhe MC so as to facilitate wiring and configuration. ~ In three-pin ports, pins near the nicks are signal pins. - Aller choosing a location to mount the MC, it is -->-....- • recommended thai you DO NOT mount the MC • until all wirings and software configurations are completed. 

Vl is compatible with the PMU V2 (Accessory of Naza-M V2) 

Vl system is compatible with the PMU V2 of V2 system; please carry out the following connection. The other 

modules connection is the same as before. 

Important: You are asked to upgrade your Firmware version of Vl MC to V3.10 or above, as the PUM V2 can only 

work with the MC of version 3.10 or above. 

Take negative 

power supply 

©2013 OJ I Innovations. All Rights Reserved. 26 I 
....., For rudder control 

--- For Control Mode Switch 

For gimbal pitch control Or for gain tuning 

For D-B us (S-Bus/ S-Bus2 compatible) Or for gain tuning I Or for IOC switch 

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

To#lrotor 

---- To #2 rotor 

To#3rotor To#4rotor 

To#5rotor To#6rotor 

To gimbal roll servo Or to #7 rotor (Upgrade the MC Firmware to V3.10 or above) 

4ID-- To gimbal pitch servo Or to #8 rotor (Upgrade the MC Firmware to V3.10 or above) 

LED port, for LED wire connection from Versatile Unit 

GPS port, for GPS module wire connection. 

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

Versatile Unit 

V-SEN V -SEN port: To the X3 port of the main controller, for monitoring battery voltage and supplying 

power 

8 Orange wire (signal wire) output: ±3.3V 8 Red wire (power wire) output: 3A@5V 

LED LED wire, to LED port of the main controller. 

USB port: PC connection for configuration and firmware upgrades. 

GPS & Compass 

Connect to the EXP. port. 

©2013 OJ I Innovations. All Rights Reserved. 27 I 
Peripheral 

Supported Multi-rotor 

Supported ESC output 

Recommended Transmitter 

Assistant Software System Requirement 

Electrical & Mechanical 

Working Voltage Range 

Power Consumption 

Operating Temperature 

Weight 

Dimensions 

• 2-axle Gimbal Support 

• Quad-rotor 14, X4; 

• Hexa-rotor I 6, X6, IY6, Y6. 

• Octo-rotor !8, VB, X8 (Upgrade the MC Firmware to 

V3.10 or above) 

400Hz refresh frequency. 

PCM or 2.4GHz with a minimum 4 channels, 

Windows XP SP3; Windows 7 

e MC 4.8V - 5.5 V 

• 

• 

VU Input, 7.2V- 26.0 V (recommend 25 - 65 LiPo) 

Output(V-5EN port red wire), 3A@5V 

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

MAX, l.5W(0.3A@5V) 

e Normal, 0.6W(O.l2A@5V) 

-lO"C- 50"C(l4F -l22F) 

e MC 25g 

• GP5, 21.3g 

• vu, 20g 

• MC, 45.5mm x 31.5mm x l8.5mm 

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

• VU, 32.2mm x 2l.lmm x 7.7mm 

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

Hovering Accuracy (GPS Mode) 

Max Yaw Angular Velocity 

Max Tilt Angle 

Max Ascent / Descent Speed 

©2013 DJJ Innovations. All Rights Reserved. 28 I 

• Vertical: ± O.Bm 

8 Horizontal: ± 2.5m 

200" /s 

45" 

6m/s 
(2) LED blinks Yellow 4 times quickly (0000 ). The system is warming up. You cannot start the motors until 

the 4 rapid yellow flashes disappear. If the warm up waiting is longer than 2 minutes, please power off for 

5 minutes, cold sta rt, and then connect the assistant software, enter the "Tools" - > IMU calibration, carry 

out the Advanced calibration. 

(3) After the system start and self·checking has finished, if the LED blinks Red, G reen and Yellow (0 0 0 ) 

continually. Sensor error is too big. Please connect the assistant software, enter the "Tools" - • IMU 

calibration, carry out calibration. 

(4) At the first motors start, the system will check the sensors Bias and you are asked to keep the aircraft 

stationary (no need of horizontal level). If you cannot start the motors and the LED blinks Green 6 times 

quickly (000000 ), it means that the sensor error is too big. Please connect the assistant software, 

enter the "Tools"- • IMU calibration, carry out basic calibration. 

Note: after the first successful motors start, this checking will be disabled and it is no need any more to 

keep the aircraft stationary during starting motors. 

(5) The system blinks Red LED quickly during flying. Low-voltage protection is triggered. Please land t he 

aircraft ASAP. 

(6) The system blinks Yellow LED quickly during flying. FailSafe Mode is triggered. Pay attention that there is 

no tall buildings and trees to block your aircraft during go-home. 

(7) The LED blinks Red and Yellow alternately(- ). Compass error is too big. 

a) There may be a ferromagnetic substance close to the Phantom. Lift the air craft up about lm from 

the ground, if there is no Red and Yellow flashing, then it will not affect the flight. 

b) Otherwise, re-calibrate the compass. 

c) If re-calibration does not work, please connect to the Assistant Software, select the "Tools" and 

follow the tips to carry out the required operation. 

Fix the TBE (Toilet Bowl Effect) Problem 

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

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

e2013 DJIInnovations. All Rights Reserved. 29 I 
~ \ A 

/' 

A JL 

/ 

' 

Should you find the multi-rotor does not track straight in forward flight. 

Please carry out several more courses, the system will fix it automatically. 

Motors Start failure caused by TX stick(s) mid point error too big 

If the TX stick(s) mid point error is too big, Motors Start will fail when you execute the Combination Stick 

Commands (CSC) and lead to the aircraft will not takeoff.. And the LED w ill blink Red four t imes per second 

continually to warn you. 

TX stick(s) mid point error too big can be caused by the following reasons: 

(l) There is TX stick (except the throttle stick) not at center when power on the autopilot system. 

(2) The TX sticks has been trimmed, which leads to the large deviation of mid point. For example, the 

SUB-TRIM has been adjusted for Futaba transmitter. 

(3) The TX stick(s) travel has larger asymmetry. 

For the reason (1), please put all TX sticks at the mid point, and then power cycle the autopilot system to 

re-record the mid point. If the problem continues, that can be caused by the reason (2) or reason (3), yo 

u need to adjust the output range of your TX, and then use the Assistant Software to redo the TX cali 

bration. Please carry out the following procedures. 

(1) Connect to the Assistant software, click Basic-> R/C-> Command Sticks Calibration, and push all TX 

sticks throughout their complete travel range to see if any stick cannot reach its largest position. 

(2) Adjust the largest travel of TX stick until the cursor on the Assistant software can reach both end 

positions, according to your TX manual. 

(3) Power cycle the autopilot system, note that power cycle is required. 

(4) Redo the TX calibration according to the Assistant software. 

©2013 DJI Innovations. All Rights Reserved. 30 I 
Select Course lock or home lock mode for flying the aircraft into a safe area to land when the aircraft is far away or 

the attitude can't be recognized. Even when the multi rotor is rotating, using Course lock or home lock mode will 

allow you to move the multi rotor in the corresponding Transmitter stick direction. 

©2013 OJ I Innovations. All Rights Reserved. 31 j 
recommended. The following diagram is for your connection reference. 

ZENMUSE H3-2D 

~ 

MARK II 

% II!JI=====:;rll 

BTU 

I GO'O 

I YIOCO.OUT 

I Gtm 

I V1)CO.III 

iOSDmini 

0,., SCREEH DISPLAY 

4· 

••• 

iO .. 

Fig.l Used with iOSD Mark II 

ZENMUSE H3-2D 

C!S!1'D 

CAN HUB 

c!J• 

TM ' "d () 2012 DJI 

Fig.2 Used with CAN HUB 

©2013 DJI Innovations. All Rights Reserved. 32 I 

BTU 

• l. l.tf00fH4Qtllt 

dp 
I C.tlO 

I VIOt O..OUT 

...... 

l vt0t0.tt4 

iOSDmini lliJ 

dp dp 

0,.. SCREEN DISPLAY ~ {i- CAN HUB C/JI 

(l) 

TNo~nd C) 20120JI. l ··r 

Fig.3 Use a CAN HUB to connect the 2.4G Bluetooth Datalink 

2.4G DATA LINK 

[: K1A BT 

Users can use the NM Assistant on the mobile device when a BTU module is connecting with the 

Ground end of the2.4G Bluetooth Datalink (No need to connect another BTU module to t he 

Flight control system). 

e 2013 DJI Innovations. All Rights Reserved. 33 I 
QU ICK START GU IDE 

obotics 
e.s 111!1 

.. • 

- N~ • -., _, 

1 Pixhawk 

2 Buzzer 

3 Safety switch 

l!!l 

4 Micro-SO card and adapter 

5 Micro-USB cable 

6 Six-wire cable x2 

GETTING STARTED 

With the help of APM firmware, Pixhawk turns any 

RC plane, copter, or rover into a full-featured personal 

drone. Once you have a fully-assembled frame, follow 

this guide to install Pixhawk. 

(!) MOUNT 

7 Power module 

8 12( splitter module 

9 Four-position 12( splitter cable 

10 Three-wire servo cable 

11 Mounting foam 

1 Mount 

2 Connect 

3 Load firmware 

4 Calibrate 

Use the provided foam to mount Pix hawk as close as possible to your vehicle's center of gravity. 

Make sure to orient the board with the arrow pointing forward. 

Attach the foam squares to the 

corners of the board. Vehicle front • 
(Optional) Connect a 3DR 

Radio to Pixhawk's Telem 

port using the 6-wire cable 

provided with your 3DR Radio 

Kit to receive data and 

communicate with 

the autopilot in fl ight. 

(Required) Connect the 3DR 

Power Module to the Power port 

using the 6-wire cable to direct 

power from your lithium polymer 

(LiPo) battery to the autopilot. 

(GPS or GPS+Compass required) 

Connect a 3DR GPS+Compass to 

provide the autopilot with positioning 

data during fligh t. This kit includes a 

6-wire cable to connect the GPS ports. 

Connect the MAG to the 12C port using 

the 4-wire cable provided with the 3DR 

GPS+Compass. 

(Optional) The 12C splitter expands the 12C port to allow up 

to four additional peripherals to connect to Pixhawk. Use the 

4-wire cable to connect the 12C splitter and add a compass 

module, external LED, digital airspeed sensor, or other 

peripherals to your vehicle. 
CONNECT RADIO CONTROL 

FOR PPM RC RECEIVERS AN D FUTABA S.BUS RECEIVERS 

~~87654321mDDDD0 

0 ............. .. 

-

I 

. . . . . . . . . . . . . . . • 

• • • • • • • • . . . . . • • s 

-

Connect the ground (-),power(+), and signal (S) wires to the RC 

pins using the provided 3-wire servo cable. 

FOR SPEKTRUM SATELLITE RECEIVERS 

For a Spektrum DSM, DSM2, or DSM-X Satellite RC receiver, connect to 

the SPKT/DSM port. 

For a complete list of RC systems compatible with Pixhawk, visit the APM wik1 oage here. 

FOR PWM RECEIVERS 

Purchase a PPM Encoder module to connect a PWM 

RC receiver to Pixhawk at store.3drcom. 
® LOAD FIRMWARE 

Pin 4 = Motor 4 

FOR PLANES 

Pin 8 = Motor 8 

For planes, connect the control channel 

wires to the main output signal pins. 

Pin 1 = Aileron 

Pin 2 = Elevator 

Pin 3 = Throttle 

Pin 4 = Rudder 

FOR ROVERS 

For rovers, connect the throttle and steering 

wires to the main output signal pins. 

Pin 3 = Throttle 

Pin 4 = Steering 

APM firmware is the brains of your autopilot operation and must be installed before using Pixhawk. 

To load firmware onto Pixhawk, install a mission planner application on your ground station computer. Choose 

either Mission Planner (Windows) or APM Planner for (Windows, OS X, and Linux). 

Both applications are available for free download from ardupilot.com 

Mission planner 
• MissionPianner - Installer • ..................................... ~ Select the installer 

Download APM Planner (Windows, OS X, and Linux) 

Ardupilot.com ~Downloads ~ APM Planner 2.0 

APM Planner 2.0 «Downloads 

Sort by: Title I Hits I •. · 

package to download. 

• APM Planner 2.0 Mac 

• APM Planner 2.0 Windows 

. ........................................ ~ Select your platform to 

download . 

• APM Planner 2.0 Linux 

INSTALL PLANNER 

After selecting the correct file, read the safety information and select Download. 

Open the fi le to run the set up wizard. Proceed through any security warnings, and install all 

suggested drivers. When the installation is complete, open the application, and connect Pix hawk to your 

computer using the micro-USB cable. 

Your computer will automatically install the correct drivers. Do not select Connect at this time; Pixhawk can only 

load firmware while unconnected to Mavlink. 
When prompted, follow the directions to load the firmware. Once the status bar shows that the download is 

complete, power cycle the board by disconnecting and reconnecting the USB. 

If you hear a musical tone, your firmware installation is complete. If you hear a series of tones followed by three 

beeps, disconnect the USB and reconnect while holding down the safety button. Upon restart, listen for a series 

of tones followed by two beeps indicating that your firmware has loaded successfully. 

Everything is OK: / 

music al tone V 

Pixhawk needs your attention: 

beep BEEP beep.. . BEEP BEEP BEEP 

@ CALIBRATE 

beep BEEP beep ... / 

BEEP BEEP v 

With Pixhawk connected to your computer, select the communication option from the drop-down menu for 

PX4 FMU, set the rate to 115200, and select the Connect icon. Select lnitral Setup and Mandatory Hardware to 

access t he calibration wizards. 

INITIAL SETUP 

Remove propellers before performing ca libration. 
For copter, select your frame orientation. 

CALIBRATE COMPASS 

Select the options to enable the compass; to allow automatic declination 

calculation; and to specify Pixhawk. Select Live Calibration to launch the wizard, 

and follow the prompts. 

Show Me 

videos demonstrating live calibration techniques at 3dr.com/ learn. 
Select Accel Calibration, check the box for AC 3.0+, select Calibrate, and 

follow the prompts to calibrate Pixhawk's accelerometer. Make sure to wait a 

couple of seconds before and after changing the positions of the vehicle. 

RC CALIBRATION 

Select Rad1o Calibration to teach Pixhawk to work with your RC 

transmitter. Turn on your transmitter, select C1l1brate Radio. and move 

all sticks and switches to their extreme positions. Select Click when Done 

once the red bars are set for all available channels. 

SELECT FLI GHT MODES 

-+ 

Move each switch on your transmitter to its available positions. The mission 

planner wil l indicate the currently selected position with green highlighting. Select 

a mode for each switch position, and select Save Modes to assign. 

left stick 

right stick 
oeoe 

oeoe 

•••• 

o eoe 

oe<..) 

••• 

Flashing blue: disarmed, searching for GPS. Autonomous, loiter, and return

to

launch 

modes require GPS lock. 

Flashing green: disarmed, GPS lock acquired. Ready to arm. Quick double tone when 

disarming from the armed state . 

Solid green plus single long tone: armed and ready to fly! 

Flashing yellow: RC failsafe activated. 

Flashing yellow plus quick repeating tone: battery failsafe activated . 

Flashing yellow and blue plus high-high-high-low tone: GPS glitch or GPS fai lsafe 

activated. 

SAFETY SWITCH MEANINGS 

••o• Quick, constant blinking: performing system check. Please wait. 

oeoe Intermittent blinking: system ready. Press the safety button to activate . 

•••• Solid: ready to arm. Proceed to the arming procedure. 

Learn more 

about LED meanings and buzzer tones at 3dr com/learn, 
2 

3 

4 

5 

6 

1 Input/output reset button 

2 SD card 

3 Flight management reset button 

4 Micro-USB port 

ground ...,_........:; 

powe, 4--.....!l 

s1gnal ..., _ ____: 

1 Radio control receiver input 

2 S.Bus output 

3 Main outputs 

4 Auxiliary outputs 

9 

10 

11 

12 

13 

14 

15 

2 3 

7 Safety switch button 

8 Buzzer 

9 Serial 

10 GPS module 

11 CAN (controller area network) bus 

12 I2C splitter or compass module 

13 Analog to digital converter 6.6 V 

14 Analog to digital converter 3.3 V 

15 LED indicator 

4 
SPEC IFICATI ONS 

Processor 

32-bit ARM Cortex M4 core with FPU 

168 Mhz/256 KB RAM/2 MB Flash 

32-bit failsafe co-processor 

)E'11SOrs 

ST Micro 16-bit gyroscope 

ST Micro 14-bit accelerometer/magnetometer 

MEAS barometer 

MPU6000 accelerometer/magnetometer 

PowE'r 

Ideal diode controller with automatic failover 

Servo rail high-power (7 V) and high-current ready 

All peripheral outputs over-current protected, all 

inputs ESC protected 

lnrerfares 

5x UART serial ports, 1 high-power capable, 2x with 

HW flow control 

Spektrum DSM/DSM2/DSM-X Satellite input 

Futaba S.BUS input and output 

PPM sum signal 

RSSI (PWM or voltage) input 

12C, SPI, 2x CAN, USB 

3.3 and 6.6 ADC inputs 

SUPPORT 

Dimensions 

Weight 38 g (1.3 oz) 

Width 50 mm (2.0") 

Height 15.5 mm (.6") 

Length 81.5 mm (3.2") 

For more information about Pixhawk and other documentation, visit 

3dr com/learn For more instruction on using APM firmware and 

planner software, visit arduoilot.com 

For customer support, contact us at l ,elp·a 3dr c) 11 or call our 

support line at 1 (858) 725 1414 Monday through Friday, 8 am to 5 pm, PST. 
 Always keep propeller arcs free of objects and body parts whi le the vehicle is live, 

• Keep in mind that software and hardware failures happen. Although we design our products to minimize 

such issues, you should always operate with the understanding that a fai lure could occur at any time and 

without warning. Accordingly, you should take the appropriate precautions to minimize danger in case of 

product failure. 

• Never use the software or hardware for manned vehicles. 

Always operate within local laws and regulations. 

Do not operate the aircraft if you are under the age of 18. 

Additional safety information: 

• Be sure to maintain safe distances between people and your aircraft. 

• Never operate your aircraft if your ability to do so with the utmost attention to safety is impaired in any 

way. Do not operate your aircraft while tired, under the influence of drugs or alcohol, or otherwise unable to 

operate it with the highest attention to safety. 

• Environment conditions can change rapidly and can make operation difficult. If this occurs, land your aircraft 

and discontinue use immediately. Do not operate your aircraft if operating conditions are not ideal. This 

includes, but is not limited to, rain, snow or excessive wind. 

• Always ensure the battery cable is disconnected from the aircraft until you are ready to fly, and ensure that 

your batteries are fully charged prior to use. 

• Always turn on the transmitter and ensure the throttle stick is all the way down before connecting the 

battery. 

After landing, disarm your vehicle immediately and disconnect the battery cable. 

• Do not turn off the transmitter until after you have disconnected the battery. 

Always remove the propellers while testing the motors. 

When the battery is connected, always assume the vehicle is live and the motors are armed . 

• Do not attempt to fly longer than the battery's safe capacity. 

• Do not operate the vehicle with excess weight attached. 

• Ensure that all vehicle components are well maintained before each flight. Ensure that components are 

firmly attached and operating properly. 

Replace any worn or damaged components before each flight. Never operate with any damaged or worn 

components. 

• SAFETY IS THE FIRST PRIORITY. Take all precautions necessary to ensure your own safety as well as the 

safety of other people and property. 
IS PROVIDED BY 3D ROBOTICS 

AS IS

 AND ANY THIRD-PARTY WARRANTIES, PRODUCTS, SOFTWARE, 

SERVICES, MAINTENANCE OR SUPPORT ARE PROVIDED BY THE ORIGINAL MANUFACTURER OR 

SUPPLIER, NOT BY 3D ROBOTICS. 3D ROBOTICS MAKES NO EXPRESS WARRANTIES EXCEPT THOSE STATED 

IN 3D ROBOTICS' APPLICABLE WARRANTY IN EFFECT ON THE DATE OF THE INVOICE, PACKING SLIP OR 

ACKNOWLEDGEMENT. 

3D ROBOTICS OFFERS THE HARDWARE AS-IS AND MAKES NO REPRESENTATIONS OR WARRANTIES OF 

ANY KIND CONCERNING THE HARDWARE, EXPRESS, IMPLIED, STATUTORY OR OTHERWISE, 

INCLUDING, WITHOUT LIMITATION, WARRANTIES OF TITLE. MERCHANTABILITY, FITNESS FOR A 

PARTICULAR PURPOSE, NON-INFRINGEMENT, OR THE ABSENCE OF LATENT OR OTHER DEFECTS, 

ACCURACY, OR THE PRESENCE OF ABSENCE OF ERRORS, WHETHER OR NOT DISCOVERABLE. SOME 

JURISDICTIONS DO NOT ALLOW THE EXCLUSION OF IMPLIED WARRANTIES, SO SUCH EXCLUSION MAY 

NOT APPLY TO YOU. 

EXCEPT TO THE EXTENT REQUIRED BY APPLICABLE LAW, IN NO EVENT WILL 3D ROBOTICS BE LIABLE TO 

YOU ON ANY LEGAL THEORY FOR ANY SPECIAL. INCIDENTAL, CONSEQUENTIAL, PUNITIVE OR 

EXEMPLARY DAMAGES ARISING OUT OF THE USE OF THE HARDWARE. 

3D ROBOTICS ACCEPTS NO LIABILITY FOR DAMAGE(S) OR INJURIES INCURRED DIRECTLY OR INDIRECTLY 

FROM THE USE OF THIS PRODUCT. 

SOFTWARE IS SUBJECT TO THE SEPARATE SOFTWARE LICENSE AGREEMENT ACCOMPANYING OR MADE 

AVAILABLE TO YOU IN CONNECTION WITH THE SOFTWARE. A PORTION OF THE SOFTWARE MAY 

CONTAIN OR CONSIST OF OPEN-SOURCE SOFTWARE, WHICH YOU MAY USE UNDER THE TERMS AND 

CONDITIONS OF THE SPECIFIC LICENSE UNDER WHICH THE OPEN-SOURCE SOFTWARE IS DISTRIBUTED. 

YOU AGREE THAT YOU WILL BE BOUND BY ANY AND ALL SUCH LICENSE AGREEMENTS, AND THAT YOUR 

USAGE OF THIS PRODUCT INDICATES YOUR ACCEPTANCE OF THOSE AGREEMENTS. TITLE TO SOFTWARE 

REMAINS WITH THE APPLICABLE LICENSOR($). IN NO EVENT WILL 3D ROBOTICS BE LIABLE TO YOU FOR 

DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING 

OUT OF THE USE OR INABILITY TO USE THE SOFTWARE. 

Plxhawl< l<it User Guide V8 ©3D Robotics, Inc. 20 March 2014 
F~KY '' ~'NWirSh ·!:.r.:orn 

FrSky 2.4GHz ACCST Taranis X90 Manual 

Introduction 

Thank you for purchasing the FrSky 2.4GHz ACCST TARANIS X9D digitallelemelry radio system. In order for 

you to make the best use of your system and to fly safely, please read this manual carefully. If you have any 

difficulties while using your system,please consult the manual , your hobby dealer, or FrSky technical support. 

Due to unforeseen changes in production procedures, the information contained In this manual is subject to 

change without notice. 

Meanings of Special Markings 

Pay special attention to safety where indicated by the following marks: 

L!l. DANGER· Procedures which may lead to dangerous conditions and cause deatn/serious jury~ not carried out 

properly. 

& WARNING· Procedures which may lead to a dangerous condition or cause death or serious injury to the user if 

not carried out properly or procedures where the probability of superfidal injury or physical damage is high. 

& CAUTION· Procedures where the possibility of serious injury to the user is small, bul there is a danger of injury, 

or physical damage, if not carried out property. 

(j) = Mandatory ($) = Prohibited 

& Warning: Nways keep electrical components away from small children, 

~Antenna 

~----52 

~--- SC 

~~~~E===-=SH: SG II. so 

)/L~="='~"'-'1\---SIIder 

Slide DlgKal Trim 

_JJ11r.;;;;d~1~~~r~~~tl~t+-::: Stick 

(Jlli} 

¢SlJ4) 

e 

e 

ENT 

Carrying Bar 

TralnerPon 1- lie oil -, Earphone Pon 

Po~~~:~:~;!c~ ; li]J 

Battery Cover 

Overview 

(Switch Default Settings) 

SA: 3 positions, Alternate; 

Short Lever 

SB: 3 positions, Alternate; 

Long Lever 

SC: 3 positions, Nternate; 

Long Lever 

SD: 3 positions, Nternate; 

Short Lever 

SE: 3 positions, Alternate; 

Short Lever 

SF: 2 positions, Alternate; 

Long Lever 

SG: 3 positions; 

Nternate; Short lever 

SH: 2 positions, Momentary; 

Long Lever 

You can choose the Switch and the 

ON/OFF position in the menu of 

Mixer. 

use earphones with volume control 

when applied. 

Webslte:.www.frskv-rc.com 

FrSky Electronic Co., Ltd 

ll:.frslc\tAilir.skV..(c. com Technical Support: sill~s4tu:ht6)" AII.com 

F~KY ,w•w.rrs~~n: c~rr. 

& Cautions on handling antenna 

($) Do not touch the antenna dwing operalion.There is the danger of erroneous operation causing a crash. 

($) Do not cany the transmitter by the antenna.There is the danger that the antenna wire will break and 

operation will become impossible. 

($) Do not pull the antenna forcefully.There is the danger that the antenna wire will break and operation will 

become impossible. 

/\., 

[_r wuk signal 

Strong Signal Strong Signal 

+- • 

Specifications 

Model Name: Taranis X9D 

Number of Channels: Up to 16 channels 

Rotating Antenna 

The antenna can be rotated 180 degrees and angled 90 

degrees. Forcing the antenna further than this can cause 

damage to the antenna. The antenna is not removable. 

Angle adjustment of the antenna 

The antenna rotation and angle can be adjusted. The 

antenna features week radio signal in the forward 

direction and strong radio signal directions. Adjust the 

antenna angle to match your flying style. 

Operating Voltage Range:6-15V (2S, 3S Upos are acceptable) 

Operating Current: 260mA maximum (both RF module and backlit are on) 

Operating Temperature: -10-60'C 

Backlight LCD Screen: 212•64, monochrome 

Model Memories: 60 (extendible by SO card) 

Compatibility: FrSky X series, D series and VB-II series receivers 

Features 

o Quad Ball Bearing Gimbals 

o Receiver Match 

o Audio Speech Outputs (values, alarms, seHings, etc.) 

o Antenna Status Detection and Alters 

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FrSkv Electronic Co., Ltd 

E-mail: frskv@frskv·rc com 

o Real-time Flight Data Logging 

o Reception Signal Strength Nerts 

o Super Low Latency 

o Smart Port Supported 

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Battery Connector Polarity 

I I' 9 " I . 

Co~:::;;, t;r r »RO.,Nod 

Pay attention to the battery connector polarity when 

connecting other batteries than the provided 6cell 

NiMH battery into the battery compartment, otherwise 

the Taranis X9D could not be powered on. 

TF card slot 

.&. Notes and Warnings for Battery & Charger 

~ Please connect the provided battery 'in the battery compartment before use. 

~ The· NiMH battery is foryourTARANISX9D use only. 

~ Be sure. to use the provided battery chargerto charge the battery. 

!Sl Be careful not to drop the battery. 

!SI Dont pull the battery wirings;wtte·n it short..cfrcuits,·there·may be danger of explosion ignih'on. 

&. Never take out the battery from the TARANIS X9D transmitter while the vdtage waming is blinking .Internal 

settings and memories can be destroyed. 

IS! Do not use the transmitter if a ~Backup Error" Warning Occurs. 

IS! Be sure to- tum Off the Taranis X9D before power charging, 

IS! The Power Indicator LED will be on during charging, and be off after the charging is-finished. 

Model Setup forTaranis X9D Internal RF Module 

The internal RF module of FrSI<y Taranis X90 is newly developed by FrSKy under the name ofXJT. 

Enter the MODEL SETUP menu (refer to the guide from the SO card for details, or download it from FrSKy 

website). 

Step 1: Set the Mode forTaranis X90 Internal RF 

Refer to the table below and set the Taranis X90 to corresponding mode (DB, 016 or LR12 mode) for your 

receiver. 

Mode ofTaranis X9D Compatible Receivers Number of Output Channels 

DB VB"ll series in D mode (V8FR"ll, 8 channels 

VBR7-ti,VBR4-II,VD5M,etc.) 

D series (DBR"II plus, DBR"XP, 

D6FR,D4R"II,etc.) 

016 X series (XBR, etc.) Up to 16 channels 

LR12 L series (L9R, etc.) 12 channels L____ ------- ---- ... -- ~-

If you want to make full use of old VB receivers, just plug DJT or VBJT to the external module slot. 

Step 2: Set the Channel Range 

The internal RF module ofTaranis X9D supports up to 16 channels. The channel range is configurable, and 

needs double check before use. 

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FrS~ Electronic Co .. Ltd 

E-maTI:.fukv@.!r.s_~ Technical Support: sales4tgch@gmail.rom 

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Step 3: Setlhe Receiver No. 

When you create a new model, the system will assign you a receiver No. automatically. The range of the 

receiver No. is 00-63. 01 is the default receiver No. and 00 is not recommended here. Once the receiver is set 

to your required receiver number and finishes the binding procedure with Taranis X90, the binding procedure 

Will not need to be repeated next time, unless the receiver number is changed to another different number. In 

this case, you need to either set the receiver number to the previous one, or do the binding procedure again. 

Step 4: Bind 

Bind refers to Taranis X9D binding mode. Move the cursor to "Bind", press ENTER button, the cursor will flash 

and lhe speaker will beep to remind you that lhe RF module has entered the bind mode. Then put your receiver 

into binding mode and finish the bind procedure(refer to the receiver's manual for details).Press Enter or EXIT 

to exit. 

Step 5: Set Failsafe mode 

There are 3 fallsafe modes: No Pulse, Hold, Custom. 

• No Pulse: no pulses output on lost signal, just choose, wait 9 seconds before the fallsafe takes effect, and 

you are done. 

• Hold: hold the last positions before signal is lost, just choose, wait 9 seconds before the failsafe takes effect, 

and you are done. 

• Custom: pre-set to required positions on lost signal. Move the cursor to "Set" and press ENTER, you wi11 

see FAILSAFE SETTING screen below. Move lhe cursor to the channel you want to set failsafe on, and press 

ENTER .When moving the corresponding sticks or switches, you will see the channel bar moVIng. Move lhe 

channel barto the place you want for failsafe and long press ENTER to finish the setting. wait 9 seconds 

before the failsafe takes effect. 

Step 6: Range 

port always outputs, No Pulse could not 

property on it. Set "Holdn or"Customn for 

port. 

When the internal RF module of Taranis X90 

is in DB mode, failsafe could only be set on the 

Range refers to Taranis X9D range check mode. A pre-flight range check should be done before each flying 

session. Move the cursor to "Range" and press ENTER.In range check mode, lhe effective distance will be 

decreased to 1130. Press Enter or EXIT to exit. 

Model Setup forTaranis X9D External RF Module 

The external RF module could be powered on or off by software. The setup is the same as that for the internal 

RF. If you use other brand RF module than FrSKy, please choose PPM mode. 

Web<ile:~fr<kv-rc.<;om 

Fr:SI<y Electronic Co., Ltd 

E-mail:_ fr<kv@fr.;:kll:rc.com Technical Support: sa\e}~kch@~maito;,Qm 
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FCC Statement 

Changes or modifications not expressly approved by the party responsible for compliance could void the 

user's authority to operate the equipment. 

NOTE: This equipment has been tested and found to comply with the limits for a Class 8 digital 

device, purouant to Part 15 of the FCC Rules. These limits are designed to provide 

reasonable protection against harmful interference in a residential installation. 

This equipment generates uses and can radiate radio frequency energy and, if not installed and used in 

accordance with the instructions, may cause harmful interference to radio communications. 

Make sure you set the country code to your corresponding country to match the regulations. 

However, there is no guarantee that interference will not occur in a particular installation. If this equipment 

does cause hannful interference to radio or television reception, which can be detennined by turning the 

equipment off and on, the user is encouraged to try to correct the interference by one or more of the 

following measures: 

-Reorient or relocate the receiving antenna. 

-Increase the separation between the equipment and receiver. 

-Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. 

-Consult the dealer or an experienced radioJlV technician for help. 

RF warning statement: 

The device has been evaluated to meet general RF exposure requirement. The device can be used in 

portable exposure condition without restriction. 

CE 

The product may be used freely in these countries:Gennany, UK, Italy, Spain, France, Belgium, 

Nether1ands, Portugal, Greece, Ireland, Denmar1<, Luxembourg, Austria, Finland, Sweden, Norway and 

Iceland. 

FLYING SAFETY 

Lh. Warning: 

To ensure the safety of yourself and othe~,-please observe the following precautions: 

CD Have regular maintenance performe~~ Although your TARANIS X9D protects the model memories with 

non-volatile EEPROM memory (which does not require periodic replacement) and not a battery, it still should 

have regular check-ups for wear and tear. we recommend sending your system to the FrSky Service 

annually during your non-flying..season fora complete check-up ahd serVice. 

Battery 

CD Charge the batteries! Always recharge th'e transmitter and recefver batteries for at least 8 hours before 

each flying session:A low battery wiU sbon die, causing toss of control and a crash, \Nhen you begin your 

flying session, reset your transmitter's buliHn timer; and during the sessiOn pay attention to the duration of 

usage. 

CD Stop flying long before your b~tteries become low on charge._ Do nofi-ely on younadio's low 

battery warning systems, intended only~ as a- precaution'; to tell you when to recharge. Always check 

your transmitter and receiver batteries prior-to-' each flight 

Website:ww_w.frs~v-rc.com 

FrSI:y Electronic Co., Ltd 

E-mail: frslrv(iilfrsltv-r~ com Technical Support: sales4tech@IW'lait~om 

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Website:www.frslrv-rc.com 

Fr'Sky Electronic Co., Ltd 

E-mail:_ frskv@frs_~_..,,rc.com 

'>!";--'-

Technical Support: ~cho!il~mail.com 
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Nickel-metal hydride Battery Safety and Handling instructions 

IMPORTANT! The Nickel-metal hydride battery (NiMH) batteries included in the TARANIS X9D transmitter 

are not to be confused with Lithium-Polymer (UPo) batteries, or any other type of rechargeable battery 

(including NiCd's and LiFe's). NiMH batteries require special charging criteria different than other 

rechargeable batteries. Use only the FrSky transmitter charger included with this set for, or other chargers 

approved by FrSky to charge the NiMH batteries in the TARANIS X90 transmitter. 

Jfs important to understand the operating characteristics of Nickel-metal hydride battery (NiMH). Read the 

specifications printed on the label of your NiMH battery and charger prior to use. Failure to follow the 

proceeding precautions can quickly result in severe, permanent damage to the battery and its surroundings 

and possibly result in a FIRE! 

IMPORT ANT PRECAUTIONS 

Sl Do not attempt to disassemble NiMH packs or cells, 

Sl Do not allow NiMH cells to come in contact with moisture or water at any time, 

(D AlWays provide adequ~:~te ventilation around NiMH batteries during charge, disdlarge, while in use, and 

during storage. 

$ Do not leave a NiMH battery unattended at any time whi!e_being cllarged or discharged. 

6) Do not attempt to charge NiMH batteries with a charger that is NOT designed for NiMH batteries, as 

permanent damage to the battery and charger could result. 

Sl Always charge NiMH battelies in-a fireproof locatfon. Do not charge or discharge NiMH batteries on 

carpet, a cluttered workbench, near paper, Plastic, Vinyl, leather or wood, or inside an RIC model or full-sized 

automObile! Monitor the charge area with a smoke or fire alarm. 

l$l D¢ not charge-NiMH batteries at currents greater than the "1C" rating of the batte!y ("C" equals the rated 

capacity of the battery). 

l$l Do not allow NiMH cells to overheat at any time! Cells which reach greater than 140 degrees 

Fahrenheit(eo~c) should be placed in a fii'eprooflocation. 

<D NiMH cells wm not charge tully when too cold or shOw full charge. 

<D It is normal for the batteries to become warm during charging, butJf the chatget or battery becomes 

excessively hot disconnect the- battery fr'Om the charger immediately!! Always inspect a battery which has 

previously overheated for potential damage, and do not _re-use If you suspect it has been damaged in 

anyway. 

& Do not use a NiMH battery if _you suspect physical damage has o_ccurred to the pack. Carefully inspect 

the battery for even the smalrest of dentS, cracks, splits, punctures_ordamage to the Wiring and connectors. 

DO NOT allow the batte_ty's internal electrolyte to get into eyes or on skio--v.rash affected areas immediately 

if they come in contact with the electrolyte. lf in doubt, place the battery in a lire-proof location for at least 30 

minutes. 

MicroSD Card 

The MicroSD card (TF Card) can store various files, such as model data, music, sound files and pictures. 

The card is locked when it is pushed in all the way in. To remove the card, push in on lhe card again, it will 

pop up allowing you to remove lt. 

.&. Warning 

Cil se sure to_ tum 'Off the power to the :transmitter before inserting or removing the SD card. 

l$l AS the-SD card is a precision device, do_ not use excessive force when inserting. 

6) If model data generated by a new Sciftwate version transmitter Js copied to an old softWare version 

transmitter, the transmitter-may_ o'perate erroneously; Copy the model data after updating the copy 

destin3tion transmitter to the new softWare version. 

<D Do not expose the SO card to dirt, moiSture,water orfluidS-ofany kind. 

& Never remove_ the SD card or tum ()ff power while entering data. 

Sl Never store the SD card where if ooy be subject to strong static eleCtricity or magiletlc fields. 

5i Do not expose the-SO card to direct sunlight, excessive humidity or corrosiVe environments. 

(SI Be certain to insert the SO card in the correct direction. 

Web~ite·www fr<ky.rc.com 

FrSky Electronk Co., Ltd E-mail:fr~kv@b:~ Technical Suppon:: sales4tgrh@gmall.com 

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Read data from a PC 

Saving music and image files edited by a PC into the MicroSD card, you can use those files on yourTARANIS 

X9D transmllter. Equipment for reading and writing MicroSD cards are available at most electronics stores. 

Stored data 

The Hfe of the MicroSD card is limited due to the use of Flash memory. If you have a problem saving or reading data 

such as picture data after a long period of use you may need to purchase a new MicroSD card. 

• We are not responsible for, and cannot compensate for any failure to the data stored in the memory card 

for any reason.Be sure to keep a backup of your models and data in your MicroSD card. 

• No necessity for backup; TARANIS X9D transmitters and MicroSD cards are using non- volatile memory 

devices so that the data stored in those will not be destroyed even Without a backup battery. The clock for the 

transmitter depends on the Lithium battery. 

SO Card References 

You could find videos, artworks for icons, voice files, detailed user guide, etc. from the pre-installed SO card in 

Taranis battery compartment. 

Updates 

FrSky is continuously adding features and improvements to our radio systems. The update (via mini-USB port 

on the back ofTaranis X9D) is easy and free. To get the most from your new transmitter, please pay attention 

to FrSky website VNJW frskV-rc com , download section for the latest update firrmvare and how-to guide. 

FrSky Taranis X9D radio system has open source firmware, and abides by GPL license. The source code for 

Taranis cen be found on FrSky website wyvw.frsky-rc.com, download section, source code. 

All FrSky radio systems will have open source firmware. Do not hesitate to contact FrSky if you have any ideas 

and suggestions for the current and future radio systems, or you are willing to join FrSky developing union to 

be part of the projects. 

'"The currently pre-installed firmware of FrSky Taranis X9D is derived from openTX firmware, modllied, 

improved and well tested by FrSky and the developing union. 

.. More information about openTX can be found on: http:tooenrdorums rom. 

Website:;>Jww frsky-rc com 

FrSicy Electronic Co., Ltd E-mail: fr<l<v@frsky-rq:om Technical Suppon:: sgl¢<4terh®omail com