# Ian McDonnell 795 3rd St. Encinitas, CA 92024 (720) 381-7368 photo@ianmcdonnell.com

Dear Sir or Madam:

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

Pursuant to Section 333 of the FAA Modernization and Reform Act of 2012 (the Reform Act), and 14 C.F.R. Part 11, Ian McDonnell, a freelance photographer and videographer, hereby applies for an exemption from the Federal Aviation Regulations (FARs) listed below to allow operation of his small Unmanned Aircraft System (UAS) commercially in airspace regulated by the Federal Aviation Administration (FAA) so long as such operations are conducted with and under the conditions outlined herein or as may be established by the FAA as required by Section 333.

The requested exemption would permit Ian McDonnell to pursue his commercial interests in providing services to clients using a small advanced UAS in the following areas: Real Estate, Marketing, Special Events, and Stock Footage. Ian McDonnell states that all UAS flights will occur over private or controlled access property and will do so with the property owner's consent and knowledge and that only people who have consented or otherwise have agreed to be within the UAS’ radius during filming and photography applications.

Ian McDonnell has demonstrated the ability to safely and effectively fly the UAS DJI Flame Wheel F450 which will be used for all commercial and private purposes. Ian McDonnell complies with local ordinances and laws regarding the operation of UAS, and adheres to all weather and environmental restrictions or limitations in reference to the operations of UAS.

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

I, Ian McDonnell, am seeking the exemption because I am committed to complying with all of the rules, guidelines, limitations, and future legislation set forth by the FAA. I agree to operate the UAS in the manner that I have described, and for the purposes that I have described. Without the exemption request granted, I would be unable to safely and effectively run my business, and it is my intention to comply with the FAA and obtain an exemption of the following regulations.

# The following contains my list of regulations from which I am seeking exemption, and a complete list of responsibilities I assume as operator; it also contains information regarding the aircraft, public benefit and safety features, and similar petitions requests granted.

Regulations from which exemption is requested:

14 C.F.R. Part 21 14 C.F.R. 45.23(b) 14 C.F.R. 61.113(a) & (b) 14 C.F.R. 91.7(a) 14 C.F.R. 91.9(b) (2) 14 C.F.R. 91.109 14 C.F.R. 91.119 14 C.F.R. 91.121

14 C.F.R. 91.151(a) 14 C.F.R. 91.203(a) & (b) 14 C.F.R. 91.205(b) 14 C.F.R. 91.215 14 C.F.R. 91.401 - 91.417

I, THE OPERATOR, ASSUME THE FOLLOWING RESPONSIBILITIES

1. Operations authorized by this grant of exemption are limited to the DJI Flame Wheel F450 when weighing less than 55 pounds including payload. Proposed operations of any other aircraft will require a new petition or a petition to amend this exemption.

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

3. The UA may not be operated at a speed exceeding 87 knots (100 miles per hour). The exemption holder may use either groundspeed or calibrated airspeed to determine compliance with the 87 knot speed restriction. In no case will the UA be operated at airspeeds greater than the maximum UA operating airspeed recommended by the aircraft manufacturer.

4. The UA must be operated at an altitude of no more than 400 feet above ground level (AGL). Altitude must be reported in feet AGL.

5. The UA must be operated within visual line of sight (VLOS) of the PIC at all times. This requires the PIC to be able to use human vision unaided by any device other than corrective lenses, as specified on the PIC’s FAA-issued airman medical certificate or U.S. driver’s license.

# 6. All operations must utilize a visual observer (VO). The UA must be operated within the visual line of sight (VLOS) of the PIC and VO at all times. The VO may be used to satisfy the VLOS requirement as long as the PIC always maintains VLOS capability. The VO and PIC must be able to communicate verbally at all times; electronic messaging or texting is not permitted during flight operations. The PIC must be designated before the flight and cannot transfer his or her designation for the duration of the flight. The PIC must ensure that the VO can perform the duties required of the VO.

7. This exemption and all documents needed to operate the UAS and conduct its operations in accordance with the conditions and limitations stated in this grant of exemption, are hereinafter referred to as the operating documents. The operating documents must be accessible during UAS operations and made available to the Administrator upon request. If a discrepancy exists between the conditions and 4 limitations in this exemption and the procedures outlined in the operating documents, the conditions and limitations herein take precedence and must be followed. Otherwise, the operator must follow the procedures as outlined in its operating documents. The operator may update or revise its operating documents. It is the operator’s responsibility to track such revisions and present updated and revised documents to the Administrator or any law enforcement official upon request. The operator must also present updated and revised documents if it petitions for extension or amendment to this grant of exemption. If the operator determines that any update or revision would affect the basis upon which the FAA granted this exemption, then the operator must petition for an amendment to its grant of exemption. The FAA’s UAS Integration Office (AFS

− 80) may be contacted if questions arise regarding updates or revisions to the operating documents.

8. Any UAS that has undergone maintenance or alterations that affect the UAS operation or flight characteristics, e.g., replacement of a flight critical component, must undergo a functional test flight prior to conducting further operations under this exemption. Functional test flights may only be conducted by a PIC with a VO and must remain at least 500 feet from other people. The functional test flight must be conducted in such a manner so as to not pose an undue hazard to persons and property.

9. The operator is responsible for maintaining and inspecting the UAS to ensure that it is in a condition for safe operation.

10. Prior to each flight, the PIC must conduct a pre-flight inspection and determine the UAS is in a condition for safe flight. The pre-flight inspection must account for all potential discrepancies, e.g., inoperable components, items, or equipment. If the inspection reveals a condition that affects the safe operation of the UAS, the aircraft is prohibited from operating until the necessary maintenance has been performed and the UAS is found to be in a condition for safe flight.

# 11. The operator must follow the UAS manufacturer’s maintenance, overhaul, replacement, inspection, and life limit requirements for the aircraft and aircraft components.

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

13. Under this grant of exemption, a PIC must hold either an airline transport, commercial, private, recreational, or sport pilot certificate. The PIC must also hold a current FAA airman medical certificate or a valid U.S. driver’s license issued by a state, the District of Columbia, Puerto Rico, a territory, a possession, or the Federal government. The PIC must also meet the flight review requirements specified in 14 CFR § 61.56 in an aircraft in which the PIC is rated on his or her pilot certificate.

14. The operator may not permit any PIC to operate unless the PIC demonstrates the ability to safely operate the UAS in a manner consistent with how the UAS will be operated under this exemption, including evasive and emergency maneuvers and maintaining appropriate distances from persons, vessels, vehicles and structures. PIC qualification flight hours and currency must be logged in a manner consistent with 14 CFR § 61.51(b). Flights for the purposes of training the operator’s PICs and VOs (training, proficiency, and experience-building) and determining the PIC’s ability to safely operate the UAS in a manner consistent with how the UAS will be operated under this exemption are permitted under the terms of this exemption. However, training operations may only be conducted during dedicated training sessions. During training, proficiency, and experience-building flights, all persons not essential for flight operations are considered nonparticipants, and the PIC must operate the UA with appropriate distance from nonparticipants in accordance with 14 CFR § 91.119.

15. UAS operations may not be conducted during night, as defined in 14 CFR § 1.1. All operations must be conducted under visual meteorological conditions (VMC). Flights under special visual flight rules (SVFR) are not authorized.

16. The UA may not operate within 5 nautical miles of an airport reference point (ARP) as denoted in the current FAA Airport/Facility Directory (AFD) or for airports notdenoted with an ARP, the center of the airport symbol as denoted on the current FAApublished aeronautical chart, unless a letter of agreement with that airport’s management is obtained or otherwise permitted by a COA issued to the exemption holder. The letter of agreement with the airport management must be made available to the Administrator or any law enforcement official upon request.

17. The UA may not be operated less than 500 feet below or less than 2,000 feet horizontally from a cloud or when visibility is less than 3 statute miles from the PIC.©2012 DJI Innovation s . All Rights Reserved. 

# FlameWheel450 User Manual

V 2. 1
2013.0 3

. 13 Revision

www.dji

- innovations.com©2012 DJI Innovation s . All Rights Reserved. 

### 2 

# Disclaimer

Read this disclaimer carefully before using FlameWheel450. By using this product, you hereby agree to
this disclaimer and signify that you have read them fully. FlameWheel450 is an excellent multi

- rotor. With
a good autopilot, it will even offer tremendous flight features for low altitude flight working in restricted
space. Despite the controller of autopilot operate s in the safest manner when the main power battery is
connected, we strongly recommend customers to remove all propellers, use power supply fro m R/C
system or flight pack battery, and keep children away during system calibration and parameter setup.

Please respect the AMA ’ s National Model Aircraft Safety Code

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

DJI FLAME WHEEL is registered trademark of DJI Innovation s Names of product, brand, etc., appearing

in this manual are trademarks or registered t rademarks of their respective owner companies. This product

and manual are copyrighted by DJI Innovation s with all rights reserved. No part of this product or manual
shall be reproduced in any form without the prior written consent or authorization of DJI Innovation s . No
patent liability is assumed with respect to the use of the product or information contained herein.



# F450 Profile

FlameWheel450 (F450) is a multi

- rotor designed for all pilots for fun or AP . With DJI WKM or NAZA
autopilot system, it can achieve hovering, cruising, even rolling and other flight elements. It can be
applied for entertainment, aerial photography, FPV and other aero

- modeling activities.©2012 DJI Innovation s . All Rights Reserved. 

### 3 

# Contents

Disclaimer

................................ ................................ ................................ ....................... 2

F450 Profile

................................ ................................ ................................ .................... 2

Contents

................................ ................................ ................................ ......................... 3 Product Usage Cautio ns

................................ ................................ ................................ . 3

In Box

................................ ................................ ................................ ............................. 4

Tools Needed

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

................................ ................................ ................................ ..................... 5 Assembly

................................ ................................ ................................ ........................ 6

ESC Sound Introduction

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

................................ ................................ ................................ ................. 7



# Product Usage Cautions

When flying, the fast rotating propellers of FlameWheel450 will cause serious damage and injury. Therefore, please fly with a high safety consciousness.

1. Keep flying multi

- rotor away from objects, such as obstacles, human beings, high

- voltage

lines and so on.

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

3. Do not over load the multi

- rotor.

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

5. Make sure the rotation d irection of each propeller is correct

6. Check whether all parts of multi

- rotor are in good condition before flight. Do not fly with old
or broken parts.

7. Use DJI parts as much as possible.

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

service.©2012 DJI Innovation s . All Rights Reserved. 

### 4 

# In Box

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

Frame Arms 450FA C × 2 Frame Arms 450FAW × 2

10in Propeller Pairs 450P 10 × 2 8in Propeller Pairs 450P 08 × 2

Motors 450MOT × 4 ESC 450ESC × 4



# 15 A

OPTO 

# +

- U

V

W



## Screws 450

- M3 × 8 × 16 Screws 45 0

- M2.5 × 6 × 24

Magic Strap 45 0 MSX × 1, Battery Band 45 0 BBX × 1
Power Line Pair 4 50PLP × 1 , Small W rench 45 0 SW × 1©2012 DJI Innovation s . All Rights Reserved. 

### 5 

# Tools Needed

2.0mm Hex Wrench For frame and motors installation

. Screw Glue For fastening screws.
Nylon Cable Tie

For binding devices and wires. Scissors
Diagonal Cutting Pliers
Foam Double Sided Adhesive Tape For fixing receiver, controller and other modules.
Soldering

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

.



# ESC Wiring

E S C E S C

E S C E S C

T o B a t t e r y P o w e r P a d s



### Important

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

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

x Make sure the side of power pads is upward.

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

“ 

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

its rotation direction.©2012 DJI Innovation s . All Rights Reserved. 

### 6 

# Assembly

Top board S M2 5x6

crew 

## .

Bottom Board S M3x8

crew 

# 1 2

3

4

S t e p 1 I n s t a l l b o t t o m b o a r d S t e p 2 I n s t a l l a u t o p i l o t s y s t e m S t e p 3 I n s t a l l m o t o r s , E S C s S t e p 4 I n s t a l l t o p b o a r d S t e p 5 I n s t a l l p r o p e l l e r s

I n s t a l l s c r e w s b y a p p r o p r i a t e f o r c e t o p r e v e n t b r e a k i n g t h r e a d s

. U s e a d e q u a t e
s c r e w g l u e f o r i n s t a l l i n g s c r e w s

. P l e a s e w i r e n e a t l y

. M a k e s u r e w i r e s w i l l n o t b e c u t b y f r a m e b o a r d s a n d p r o p e l l e r s

. S m o o t h o u t t h e b o a r d s e d g e i f n e c e s s a r y

. P l e a s e i n s t a l l p r o p e l l e r s a f t e r a u t o p i l o t s y s t e m c o n f i g u r a t i o n p r o c e d u r e

. M a k e s u r e t h e r o t a t i o n d i r e c t i o n o f p r o p e l l e r s a r e t h e s a m e a s t h e f i g u r e s h o w s

. W h e n m o u n t i n g t h e p r o p e l l e r s , d o n o t u s e a n y t h r e a d l o c k e r , j u s t t i g h t e n t h e n u t s t o t h e e n d m a n u a l l y t h e n u s e t h e

w r e n c h t o t i g h t e n i t a b o u t 5 0 °

.
I n u p f i g u r e , a r m s 1 2 f r o n t o f c r a f t
, a r m s 3 4 a r e b a c k o f c r a f t

. Y o u ' d b e t t e r c h o o s e t h e s a m e c o l o r a r m s f o r t h e s a m e d i r e c t i o n

. S e e f r o m t o p , m o t o r s
o n a r m s 1 3 r o t a t e c o u n t e r - c l o c k w i s e , u s e p r o p e l l e r s 8 0 4 5 / 1 0 3 8 ; m o t o r s o n a r m s 2 4 r o t a t e c l o c k w i s e , u s e p r o p e l l e r s 8 0 4 5 R / 1 0 3 8 R

.©2012 DJI Innovation s . All Rights Reserved. 

### 7 

# ESC Sound Introduction

ESC State Sound
Ready ♪1234567

Throttle stick is not at bottom BBBBBB...
Input signal abnormal B

-------- B

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

--- BB

--- BB

--- BB... 

## Tips:

DJI ESCs are specially designed for multi

- rotors. When use with DJI autopilot systems, you do not

have to setup any parameters or calibrate travel range.



# Specifications

Frame

Diagonal Wheelbase 450 mm
Frame Weight 282 g
Takeoff Weight 8 00g ~ 1 6 00g 

## ESC

Current 15 A OPTO
Signal Frequency 30Hz ~ 450Hz
Battery 3S ~ 4 S LiPo


## Motor

Stator size 22 × 12mm

KV 920rpm/V
Propeller 10 × 3

. 8 in (@3S) ; 8 × 4.5in (@4S)

# 18. If the UAS loses communications or loses its GPS signal, the UA must return to a pre-determined location within the private or controlled-access property.

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

20. The PIC is prohibited from beginning a flight unless (considering wind and forecast weather conditions) there is enough available power for the UA to conduct the intended operation and to operate after that for at least five minutes or with the reserve power recommended by the manufacturer if greater.

21. Air Traffic Organization (ATO) Certificate of Waiver or Authorization (COA). All operations shall be conducted in accordance with an ATO-issued COA. The exemption holder may apply for a new or amended COA if it intends to conduct operations that cannot be conducted under the terms of the attached COA. 6

22. All aircraft operated in accordance with this exemption must be identified by serial number, registered in accordance with 14 CFR part 47, and have identification (N

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

23. Documents used by the operator to ensure the safe operation and flight of the UAS and any documents required under 14 CFR §§ 91.9 and 91.203 must be available to the PIC at the Ground Control Station of the UAS any time the aircraft is operating. These documents must be made available to the Administrator or any law enforcement official upon request.

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

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

26. All Flight operations must be conducted at least 500 feet from all nonparticipating persons, vessels, vehicles, and structures unless: a. Barriers or structures are present that sufficiently protect nonparticipating persons from the UA and/or debris in the event of an accident. The operator must ensure that nonparticipating persons remain under such protection. If a situation arises where nonparticipating persons leave such protection and are within 500 feet of the UA, flight operations must cease immediately in a manner ensuring the safety of nonparticipating persons; and b. The owner/controller of any vessels, vehicles or structures has granted permission for operating closer to those objects and the PIC has made a safety assessment of the risk of operating closer to those objects and determined that it does not present an undue hazard. The PIC, VO, operator trainees or essential persons are not considered nonparticipating persons under this exemption.

# 27. All operations shall be conducted over private or controlled-access property with permission from the property owner/controller or authorized representative. Permission from property owner/controller or authorized representative will be obtained for each flight to be conducted.

28. Any incident, accident, or flight operation that transgresses the lateral or vertical boundaries of the operational area as defined by the applicable COA must be reported to the FAA's UAS Integration Office (AFS

− 80) within 24 hours. Accidents must be reported to the National Transportation Safety Board (NTSB) per instructions contained on the NTSB Web site: www.ntsb.gov

.

SIMILAR EXEMPTIONS

They are similar in all/or many material respects to relief previously requested in Grant of Exemption Nos. 13844, 11062, 11109, 11112, and 11213

PUBLIC BENEFIT AND SAFETY

Unmanned Aircraft System sUAVs are often seen as superior to helicopters as an aerial video gathering platform due to the smaller devices cheaper equipment and personnel cost, reduced noise and as such, a much smaller environmental impact which promotes public safety.

Ian McDonnell is petitioning for an exemption to operate a DJI Flame Wheel F450 with a stabilized HD camera and GPS safety features which limit its ability to limit the height it flies above ground level (AGL), to limit the radius of the distance it flies from the operator and to exclude it from operations within designated Class B, C and D airspace including a no-fly zone feature.

The DJI Flame Wheel F450 will use a Naza-M V2 flight controller with has a failsafe function that is triggered in the event communication is lost between the UAS and the main controller transmitter. At that time, the UAS will return to its point of takeoff and land safety. If the connection is restored, the PIC can regain control of flight and land manually.

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

The petitioner will only operate its UAS in line-of-sight of a pilot and/or observer and will operate at sites that are `sufficient distance' from populated areas within the sterile area described in the FOPM. Such operations will ensure that the UAS will "not create a hazard to users of the national airspace system or the public."

# When flying the UAS within three (3) miles of an airport, airport operators will be notified and the operator will give the right-of-way to avoid flying in the proximity of full-scale aircraft. Maximum flight time for each operation will be 30 minutes.

Flights will be terminated when battery levels reach 25%, allowing sufficient reserve flight time to safely land the UAS.

The UAS will be programmed so it will not be operated at an altitude that exceeds 400 feet AGL, and not more than 200 feet above an elevated platform from which videography is planned.

Minimum crew for each operation shall consist of: UAS pilot, a visual UAS observer, and the camera operator.

The UAS PIC will be an FAA licensed airman holding a minimum of a Private Pilot certificate and a current FAA medical certificate.

The UAS operated by the petitioner weighs less than 25 pounds, including all payload (i.e. camera, lens, and stabilized gimbal).

The UAS will operate at speeds of no more than 50 knots, can hover, and can simultaneously move vertically and horizontally.

Given the small size of the UAS and the restricted sterile environment within which it will operate, Ian McDonnell’s operations adhere to the Reform Act's safety requirements.

Thank you for considering this exemption petition.

Sincerely,

Ian McDonnell© 201 5 DJI . All Rights Reserved. 

# N aza - M V2

Quick Start Guide V 1 .2 8

201 5 .0 6 .1 2 Revision

For Firmware Version V 4.0 4 or above

& Assistant Software 

### Version V2. 40 or above

Thank you for purchasing this DJI product. Please strictly follow thes e steps to mount and connect th is system on

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

Please regularly check the web page of corresponding product 

## * at our website 

## www.dji.com , which is

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

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

change without notice.



## * Important: Naza

- M, Naza

- M V2 and PHANTOM control system are different in hardware part s, but their
configurations and functions are the same when using the same Assistant Software and Firmware Version, so they

use the same Guide. Unless stated, the following instruction is basic on Naza

- M V2. If you use the Naza

- M, please

make sure to read the “ Instruction of V1 (also known as Naza

- M) ” section ; if you use the PHANTOM, download the

other corresponding manual s 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.© 201 5 DJI . All Rights Reserved. 

# Index

INDEX

................................ ................................ ................................ ................................ ................................ ............... 2

INSTRUCTION

................................ ................................ ................................ ................................ ................................ . 3

D ISCLAIMER 

### & W ARNING



### ................................ ................................ ................................ ................................ .................... 3
T RADEMARK



### ................................ ................................ ................................ ................................ ................................ ..... 4
C ERTIFICATIONS



### ................................ ................................ ................................ ................................ ................................ . 4
S YMBOL 

### I NSTRUCTION



### ................................ ................................ ................................ ................................ ......................... 4

ASSEMBLY & CONNECTIO N

................................ ................................ ................................ ................................ ........ 5

S TEP 

### 1 P ORT 

### D ESCRIPTION



### ................................ ................................ ................................ ................................ ................... 5
S TEP 

### 2 A SSEMBLY 

### & C ONNECTION



### ................................ ................................ ................................ ................................ ......... 6

ASSISTANT SOFTWARE I NSTALLATION AND CONF IGURATION

................................ ................................ ............ 7

S TEP 

### 1 S OFTWARE AND 

### D RIVER 

### I NSTALLATION



### ................................ ................................ ................................ .......................... 7
S TEP 

### 2 C ONFIGURATION BY 

### A SSISTANT ON A 

### PC

................................ ................................ ................................ ........................ 8

BASIC FLYING

................................ ................................ ................................ ................................ ............................... 10

C ONTROL 

### M ODE 

### K NOWLEDGE



### ................................ ................................ ................................ ................................ ............ 10
S TART 

### & S TOP 

### M OTOR 

### K NOWLEDGE



### ................................ ................................ ................................ ................................ .... 10
S TEP 

### 1 C OMPASS 

### C ALIBRATION



### ................................ ................................ ................................ ................................ ............ 12
S TEP 

### 2 A SSEMBLY 

### C HECKING 

### L IST



### ................................ ................................ ................................ ................................ ......... 13
S TEP 

### 3 B EFORE 

### F LIGHT



### ................................ ................................ ................................ ................................ ...................... 13
S TEP 

### 4 F LYING 

### T EST



### ................................ ................................ ................................ ................................ ........................... 14

ADVANCED FUN CTIONS

................................ ................................ ................................ ................................ ............ 16

A1 F AIL 

### S AFE



### ................................ ................................ ................................ ................................ ................................ ... 16
A2 L OW



### - V OLTAGE 

### A LERT



### ................................ ................................ ................................ ................................ ................... 17
A3 I NTELLIGENT 

### O RIENTATION 

### C ONTROL 

### (IOC) F LIGHT 

### ( WITH 

### GPS MODULE 

### )

................................ ................................ ............... 18
A4 R ECEIVER 

### A DVANCED 

### P ROTECTION 

### F UNCTION



### ................................ ................................ ................................ ................... 21
A5 F LIGHT 

### L IMITS



### ................................ ................................ ................................ ................................ ............................ 22

APPENDIX

................................ ................................ ................................ ................................ ................................ ..... 23

S PECIFICATIONS



### ................................ ................................ ................................ ................................ ............................... 23 MC/PMU F IRMWARE 

### U PGRADE



### ................................ ................................ ................................ ................................ ........ 24
LED D ESCRIPTION



### ................................ ................................ ................................ ................................ ............................ 25

INSTRUCTION OF V1 ( ALSO KNOWN AS NAZA

- M)

................................ ................................ ................................ .. 26

V1 A SSEMBLY AND 

### C O NNECTION



### ................................ ................................ ................................ ................................ ......... 26
V1 IS COMPATIBLE WITH T HE 

### PMU V2 (A CCESSORY OF 

### N AZA



### - M V2)

................................ ................................ ......................... 26
V1 P ORT 

### D ESCRIPTION



### ................................ ................................ ................................ ................................ ...................... 27
V1 S PECIFICATION



### ................................ ................................ ................................ ................................ ............................ 28

FAQ

................................ ................................ ................................ ................................ ................................ ................ 29

A BNORMAL 

### LED I NDICATION 

### L IST



### ................................ ................................ ................................ ................................ ........ 29
F IX THE 

### TBE (T OILET 

### B OWL 

### E FFECT 

### ) P ROBLEM



### ................................ ................................ ................................ ....................... 29
S HOULD YOU FIND THE M ULTI



### - ROTOR DOES NOT TRACK STRAIGHT IN FORWARD FLIGHT



### . ................................ ................................ ... 30
M OTORS 

### S TART FAILURE CAUSED BY 

### TX STICK 

### ( S 

### ) MID



### - POINT ERROR TOO BIG



### ................................ ................................ ................. 30
A TTITUDE 

### C ONTROLLABLE 

### W HEN 

### O NE 

### M OTOR 

### O UTPUT IS 

### F AILED



### ................................ ................................ .............................. 31
W HEN USED WITH OTHER 

### DJI PRODUCTS



### ................................ ................................ ................................ .............................. 31© 201 5 DJI . All Rights Reserved. 

### 5 | 

# Assembly & Connection

In the Box:

Main controller X1, PMU X1, GPS X1, GPS Bracket X1, LED X1, Servo Cable X 8

, Micro

- USB Cable X1, 3M A dhesive

T ape

. 

## Step1 Port Description

L E D : C o n n e c t t o L E D m o d u l e E X P : C o n n e c t t o P M U m o d u l e

M 1 : T o # 1 E S C ( * ) M 2 : T o # 2 E S C M 3 : T o # 3 E S C M 4 : T o # 4 E S C M 5 : T o # 5 E S C M 6 : T o # 6 E S C F 1 : T o g i m b a l r o l l s e r v o o r T o # 7 E S C F 2 : T o g i m b a l p i t c h s e r v o o r T o # 8 E S C N A Z A o u t p u t i s 4 0 0 H z r e f r e s h f r e q u e n c y A : F o r r o l l c o n t r o l ( l e f t / r i g h t ) E : F o r p i t c h c o n t r o l ( f r o n t / b a c k ) T : F o r t h r o t t l e c o n t r o l R : F o r r u d d e r c o n t r o l U : F o r C o n t r o l M o d e l S w i t c h X 1 : F o r g i m b a l p i t c h c o n t r o l / F o r g a i n t u n i n g X 2 : F o r D

- B u s ( S

- B u s / S

- B u s 2 c o m p a t i b l e ) / F o r g a i n t u n i n g / F o r I O C s w i t c h X 3 : F o r v o l t a g e m o n i t o r ( C o n n e c t t o P M U V

- S E N p o r t )

G P S : C o n n e c t t o G P S / C o m p a s s m o d u l e

E x t e n d e d C A N p o r t 2 S ~ 6 S : P o w e r e d b y 2 S ~ 6 S L i P o ( 7

. 4 V ~ 2 6

. 0 V )

E X P : C o n n e c t t o M a i n C o n t r o l l e r E X P p o r t

C o n n e c t t o M a i n C o n t r o l l e r L E D p o r t

M i c r o

- U S B : P C c o n n e c t i o n f o r p a r a m e t e r c o n f i g u r a t i o n
a n d f i r m w a r e u p g r a d e

C o n n e c t t o G P S p o r t o f P M U P o i n t i n g t o t h e a i r c r a f t n o s e d i r e c t i o n



### M a i n C o n t r o l l e r

M a i n C o n t r o l l e r P M U ( P o w e r M a n a g e m e n t U n i t )



### L E D

G P S / C o m p a s s P o i n t i n g t o t h e a i r c r a f t n o s e d i r e c t i o n

* E S C : E l e c t r o n i c S p e e d C o n t r o l l e r V

- S E N : C o n n e c t t o M a i n C o n t r o l l e r X 3 P o r t I m p o r t a n t : t h e c o n t i n u o u s o u t p u t o f t h e P M U i s 3 A @ 5 V

, a n d t h e m a x i m u m i n s t a n t c u r r e n t i s 7

. 5 A

. I f P M U c a n n o t a f f o r d t h e w o r k i n g c u r r e n t f o r y o u r s e r v o s , p l e a s e

u s e a n i n d e p e n d e n t p o w e r s u p p l y ; o t h e r w i s e , i t m a y c a u s e t h e P M U s a f e g u a r d a n d l e a d t o t h e m a i n c o n t r o l l e r r e b o o t

。© 201 5 DJI . All Rights Reserved. 

### 10 | 

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

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

and differences of the three control modes.

GPS ATTI. Mode
( With GPS Module ) ATTI. Mode Manual Mode

Rudder Angular Velocity Maximum rudder angular velocity is 150°/s

Command Linearity YES

Command Stick Meaning Multi attitude control; Stick cente r position for 0 ̊ attitude, its endpoint is 35 ̊. Max

- angular velocity is 150°/s.
No attitude angle limitation

and vertical velocity locking.

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

Stick Released Lock position if GPS signal
is adequate. Only attitude stabilizing. NOT Recommend

GPS Lost When GPS signal has been
lost for 3s, system enters ATTI. Mode automatically. Only performing attitude
stabilizing without

position lock. ---

Safety Attitude & speed mixture control ensures stability
Depends on experience. Enhanced Fail

- Safe(Position lock when hovering) Auto Level Fail

- Safe (Attitude stabilizing)
With GPS/Compass module and the failsafe requirements are satisfied, in each Control Mode (including GPS Mode, ATTI. Mode, Man ual Mode and IOC Mode), the aircraft will

enter the failsafe Mode.
Applications AP work Sports flying.

---



## Start & Stop Motor Knowledge

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

Advanced

- >Motor

- >Stop Type.
(2) Sto p 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 Comman ds (CSC) to start the motors:© 201 5 DJI . All Rights Reserved. 

### 11 | 2 Stop Motor : We provide two options to stop motors in the assistant software : Imm ediately and Intelligent.

(1) Immedia tely Mode: If you select this mode, in any control mode, once motors start and throttle stick is

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

stop. In this case, if you push the throttle stick over 1 0% within 5 seconds after motors stop, motors

will re

- start, CSC is not needed. If you don’t push throttle stick after motors start in three seconds,

motors will stop automatically.

(2) Intelligent Mode: By using this mode, different control mode has different way of stopping motors. In

Manual Mode, only executing CSC can stop motors. In A TTI. Mode or GPS ATTI . Mode, any one of

following four cases will stop motors:

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

b) Executing CSC;

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

d) If the angle of multi

- rotor is over 70°, and throttle stick under 10%.



## Notes of Intelligent Mode

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

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

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

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

(4) For safety reason, when the slope angle of multi

- rotor is over 70° during the flight in ATTI. /

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

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

## Notes of Intelligent Mode & Immediately Mode

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

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

in 5s to re

- start motors.

(2) DO NOT e xecute 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 T X calib ration is correct done.

(2) In failed

- safe, CSC is denied by the main controller, motors will hold their state.© 201 5 DJI . All Rights Reserved. 

### 12 | 

## Step 

# 1 Compass Calibration

Without GPS module, please skip this step. If you use w ith GPS module, follow step

- by

- step for calibration.

(1) DO NOT cali brate your compass where there is magnetic interference, such as magnetite, car
park, and steel reinforcement under the ground.
(2) DO NOT carry ferromagnetic materials with you during calibration, such as keys or cell phones.
(3) Compass module CANNOT work in the polar circle.

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



## Calibration Procedures

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

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

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

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

. 3. (Fig.1) Hold your Multi

- rotor horizontal and r otate it around t he gravitational force line (about 360 o 

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

4. (Fig.2) Hold your Multi

- rotor vertically and rotate it ( its nose is downward ) around the gravitational force

line (about 360 o 

### ) until the LED turn s off, meaning the calibration is finished

.

Fig.1 Fig.2

5. If the calibration was successful, calibration mode will exit automatically. If the LED keeps flashing quickl y
Red, the calibration has failed. Switch the control mode switch one time to cancel the calibration, and

then re

- start from step 2.

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

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

ATTI. Mode.

(2) You don’t need to rotate your multi

- rotor on a precise horizontal or vertical surface, but keep at

least 45° difference between horizontal and vertical calibration.

(3) If you keep having calibration failure, it might suggest that there is very strong magnetic
interference around the GPS /Compass module, please avoid flying in this area.

(4) When to do re

- calibration

a) The flight field is changed.
b) When the multi

- rotor mechanical setup has changed:

z If the GPS/Compass module is re

- positioned.

z If electronic devices are added/removed/ re

- positioned (Main Controller, servos,
batteries, etc.).

z When the mechanical structure of the multi

- rotor is changed.© 201 5 DJI . All Rights Reserved. 

### 13 | c) If th e flight direction appears to be shifting (meaning the multi

- rotor doesn’t “fly straight”).
d) The LED indicator often indicates abnormality blinking when the multi

- rotor spins. (It is normal for this to happen only occasionally)



## Step 

# 2

Assembly Checking Lis t Please check each item, to make sure for safety.

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

(1) Rotation direction of motor is opposite

(2) Infirm connection between the motor and the ESC

(3) Wrong or infirm i nstallation of Main controller

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

(5) Propeller installation mistak e
(6) M agnetiz ation of t he compass
Make sure the following items are correct.

(1) Make sure you have assembled your multi

- rotor correctl y.
(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.



## Step 

# 3 Before Flight
Carry out the following p rocedures (is based on Intelligent Mode of Motor Stop) to make sure all
configurations are correct. Refer to the Appendix

- >LED Description for more LED details.

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

- rotor!

2. Keep the aircraft stationa ry until the system start and self

- check has finished ( )

. After that, the LED may blink Yellow 4 times quickly ( )

. Start motor is disable during LED blink ing

Yellow 4 tim es quickly ( ) , as the system is warm ing up

.
3. After the 4 times Yellow LED disappear s, t oggle the control mode switch on your transmitter to make sure it

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

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

table for details about LED indicator;

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

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

LED indicator is available

.© 201 5 DJI . All Rights Reserved. 

### 14 | Control Mode LED I ndicator GPS Signal Status LED Indicator

Manual Mode: NO LED

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

GPS Mode : ( indicates that is stick(s) not at center ) Signal is best ( GPS satellites > 6 ) : NO LED

Signal is well ( GPS satellites = 6 ) : Signal is bad ( GPS satellites = 5 ) : Signal is worst ( GPS satellites< 5 ) :

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

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

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

, and the throttl e stick under the mid

point

. T hen check whether all propellers are rotating correctly.

6. Stop motors, power off the Multi

- rotor

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



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

aids troubleshooting.



## Step 

# 4 Flying Test

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

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

2. If in GPS ATTI. Mode, place the aircraft in an open space without buildings or trees. Take off the aircraft
after 6 or more GPS satellites are found (Red LED blinks once or no blinking). If in Manual Mode or ATTI.

Mode, you can skip this step.

3. Start

- up (1) S witch on the transmitter first, then power on multi

- rotor! Keep the aircraft stationary until the

system start and self

- check has finished.

(2) Please wait for the system to warm up gradually with the LED blinks Yellow 4 times quickl y
( ). You should not start the motors until the blinking disappears.

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

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

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

bottom within 3 sec and you will need to re

- start the motors.

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

and then take

- off your multi

- rotor gently, pay attention not to push the stick excessively.© 201 5 DJI . All Rights Reserved. 

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

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

at the desired height.



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

after landing.


## 5. Please always power off the Mu lti

- rotor first, and then switch off the transmitter after landing.



## FLYING NOTES(VERY IMPORTANT) !!!

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

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

- > IMU

calibration, carry out t he Advanced calibration.

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

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

stick over 10% in 5s to re

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

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

drift when hovering.

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

GPS.

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

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

(8) If the transmitter indic ates low

- battery alarm, please land ASAP. In this condition the transmitter

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

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

otherwise the home point recor ding may be not so precise.

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

keep the position of throttle stick higher than 10% from cut

- throttle during the flight! In any

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

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

(3) If Low

- Voltage Alarm is set, the aircraft will act according to the configuration of the Assistant

Software once Low

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

before.
(4) If Fail

- Safe function is set, the aircraft will act according to the configuration of the Assistant

Software once Fail

- Safe is triggered. Make sure you remember what you have set before.© 201 5 DJI . All Rights Reserved. 

### 16 | 

# Advanced Functions

A



# 1 FailSafe

An introduction of Go

- Home and Landing.



## 1 R e c o r d H o m e P o i n t

H o m e P o i n t


## 2 T x 

## 3 T x



## 5 T x S i g n a l l o s t

T x M u l t i

- r o t o r



## 4 T x S i g n a l l o s t > 3 s S t a y h o v e r

R e a d y t o G o - H o m e

C u r r e n t l o c a t i o n ≤ 2 0 m C u r r e n t l o c a t i o n > 2 0 m



## 6 G r o u n d

2 0 m A s c e n d f i r s t H o v e r 1 5 s , t h e n l a n d G o - H o m e G o - H o m e



### Home

- point: Before takeoff, current position of multi

- rotor will be saved as home

- point by MC automatically when

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

for 10 seconds.

(1) Please make sure to record the home

- point before takeoff, and clearly know where it is.

(2) During go

- home the nose direction of the aircraft is facing toward the home

- point, the aircraft is

flying directly from the current position to the home

- point.

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

T h e f l o w c h a r t o f f a i l s a f e a n d h o w t o r e g a i n c o n t r o l

( 2 ) T u r n o f f t h e T X ( w e a s s u m e y o u w a n t t o t r i g g e r f a i l s a f e ) ( 1 ) T h e a i r c r a f t f l i e s f a r a w a y , T X i s o n b u t t h e
s i g n a l i s w e a k

. A t t i t u d e M o d e : I n A t t i t u d e M o d e a s
s o o n a s y o u g e t s i g n a l y o u c a n
r e g a i n c o n t r o l

.

G P S M o d e : s w i t c h t h e T X m o d e
s w i t c h t o A T T I

, i f t h e r e c e i v e r i s
c o n n e c t e d

, t h e n y o u w i l l r e g a i n
c o n t r o l

. A t t i t u d e M o d e : ( 1 ) t h e a i r c r a f t w i l l l e v e l i t s a t t i t u d e i m m e d i a t e l y ( 2 ) 3 s e c o n d s l a t e r , f a i l s a f e i s t r i g g e r e d a n d

a i r c r a f t w i l l s t a r t t o g o h o m e

. ( 3 ) I f s i g n a l i s r e g a i n e d d u r i n g ( 1 ) o r ( 2 )

, i t w i l l r e s u m e n o r m a l f l i g h t i m m e d i a t e l y

.

G P S M o d e : ( 1 ) t h e a i r c r a f t w i l l s l o w d o w n a n d h o v e r

. ( 2 ) i f t h e s i g n a l i s r e s t o r e d w i t h i n 3 s e c o n d s ( T X a n d r e c e i v e r
c o n n e c t e d )

, t h e s y s t e m w i l l i m m e d i a t e l y r e t u r n t o n o r m a l

o p e r a t i o n ; d o e s n o t e n t e r f a i l s a f e

. ( 3 ) i f n o t r e c o n n e c t e d

w i t h i n 3 s e c , t h e s y s t e m w i l l e n t e r f a i l s a f e , t h e n e v e n i f t h e
s i g n a l i s r e s t o r e d

, t h e s y s t e m w i l l n o t e x i t f a i l s a f e

.

W e s t r o n g l y r e c o m m e n d y o u D O N O T t r y t h i s , b e c a u s e t h e r e a r e t h r e e t y p e s o f r i s k : ( 1 ) Y o u m u s t b e p r e t t y c l e a r w h e t h e r t h e H o m e

- p o i n t i s O K f o r l a n d i n g o r
n o t

. ( Y o u h a v e t o u n d e r s t a n d t h e d e f i n i t i o n o f H o m e

- p o i n t w e l l a n d t h e

w o r k i n g p r o c e s s o f f a i l s a f e ) ( 2 ) I f t h e r e a r e t a l l b u i l d i n g s a r o u n d

, t h e a i r c r a f t m a y b e o b s t r u c t e d o n t h e

w a y

. ( 3 ) W h e n G P S s i g n a l i s b a d o r G P S i s n o t w o r k i n g , f a i l s a f e w i l l n o t w o r k

. I n t h i s c a s e , t h e b e h a v i o r o f t h e a i r c r a f t i s t h e s a m e a s i n t h e a b o v e c o n d i t i o n

. I f y o u w a n t t h e a i r c r a f t t o R e t u r n H o m e , p l e a s e d o n o t t u r n t h e T X b a c k o n w i t h i n 3 s e c o n d s *

, o t h e r w i s e t h e a i r c r a f t

w i l l e x i t f a i l s a f e m o d e i m m e d i a t e l y

.

W h e n y o u t u r n o f f t h e T X

, u s e t h e f o l l o w i n g
m e t h o d t o r e g a i n c o n t r o l : ( 1 ) S w i t c h t h e T X s w i t c h t o G P S

. ( 2 ) a n d t h e n p u t t h r o t t l e t o t h e c e n t e r p o s i t i o n ( g r e a t e r t h a n 3 s e c a f t e r s w i t c h i n g o f f

, i m p o r t a n t )

, y o u c a n n o w t u r n t h e T X b a c k o n

. ( 3 ) t h e n y o u c a n s w i t c h t h e T X C o n t r o l m o d e
s w i t c h t o A T T I t o r e g a i n c o n t r o l

. I f y o u c h o o s e t o t u r n o f f t h e T X

, y o u m u s t b e p r e t t y s u r e t h a t y o u k n o w h o w t o r e g a i n c o n t r o l

. H e r e

w e o f f e r a m e t h o d

, p l e a s e r e a d

c a r e f u l l y

. T h i s s e c t i o n w i l l d e m o n s t r a t e t h e w o r k i n g l o g i c o f f a i l s a f e a n d h o w t o r e g a i n c o n t r o l

. T h e f o l l o w i n g d e s c r i p t i o n i s e f f e c t i v e o n l y w h e n : 1

. T h e a i r c r a f t i s i n f l i g h t

. 2

. T h e G P S w o r k s n o r m a l l y a n d s i g n a l i s g o o d ( ≥ 6 s a t e l l i t e , t h e L E D b l i n k s a s i n g l e
r e d l i g h t o r n o r e d l i g h t )

.

N o t e : i f y o u s t a r t t h e m o t o r s , b u t d o n o t p u s h t h e t h r o t t l e t o t a k e

- o f f t h e a i r c r a f t
, i n t h i s c a s e i t i s v e r y d a n g e r o u s t o t u r n
o f f t h e T X

, b e c a u s e t h e a i r c r a f t w i l l t a k e o f f a u t o m a t i c a l l y , s o d o n o t t r y t h i s

. T h e a i r c r a f t b e h a v i o r
a f t e r f a i l s a f e H o w t o r e g a i n c o n t r o l
P r e c a u t i o n s W h a t t r i g g e r e d f a i l s a f e

* I f s i g n a l l o s t f o r m o r e t h a n 3 s e c o n d s f a i l s a f e w i l l b e t r i g g e r e d

, i f s i g n a l r e g a i n e d w i t h i n 3 s e c o n d s i t w i l l e x i t f a i l s a f e i m m e d i a t e l y

.© 201 5 DJI . All Rights Reserved. 

### 17 | 

## A



# 2 Low

- Voltage Alert

In order to pre vent your multi

- rotor from a crash or other harmful consequences caused by low battery voltage,

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

we strongly recommend using the protections i f available! Low

- Voltage Alert is to indicate that the battery cannot

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

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

carry out the Current Voltage Calibration.

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

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

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

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

consequences!!!

(1) Configure the FailSafe function in the assistant software

- > “Advanced”

- > “F/S” and read the

instruction thoroughly and carefully.

(2) Configure the Low

- Voltage Alert function in the assistant software

- > “Advanced”

- > “V oltage”

and read the instruction thoroughly and carefully.© 201 5 DJI . All Rights Reserved. 

### 18 | 

## A



# 3 Intelligent Orientation Control (IOC) Flight (with GPS module)

Definition of Forward Direction:



### Multi

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

## Step 

# 1 Before You Start

Usually, the forward direction of a flying multi

- rotor is the same as the nose direction. By using IOC, wherever the

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

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

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

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

Normal flying Course Lock Flying

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

- rotor. All the

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

further than 10m away from the home point.

Normal flying Home Lock Flying 

## Step 

# 2 IOC Switch Setting

Before using the IOC function, you have to choose a 3

- position switch on your transmitter as the IOC switch, which

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

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

IOC Switch

IOC Function OFF Course Lock H ome 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.© 201 5 DJI . All Rights Reserved. 

### 19 | 

## Step 

# 3 Method of Forward Direction and Home Point Recording

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

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

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

Course Lock Home Lock

Automatically 30 seconds after you power on the
autopilot sys tem. Before takeoff, the current position of the aircraft
will be saved as home point when you start the

motors for the first time after 6 or more GPS

satellites have been found for 10 seconds.

Manually 30 seconds after you power on the
autopilot system. Toggle the IOC switch
from Off to Course Lock, and back to Off
quickly 3 to 5 times. After 6 or more GPS satellites have been found.

A nd the aircraft can be hovering. Toggle the IOC
switch from Course Lock to Home Lock, and back
to Course Lock quickly 3 t o 5 times.
DO NOT toggle the switch between Off to Home Lock, since it may change the recording of the

Forward Direction of Course Lock

. 

## Step 

# 4 IOC Flying Test

Then you can do Course Lock and Home Lock flying test

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

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

Lock modes.

During the same flight STEP1 : Record STEP2: ON STEP3: OFF STEP4: ON again

Course Lock

Switch Setting Record the

Forward

Direction Set Control Mode switch at
GPS or ATTI. position,
Toggle IOC switch from OFF
to Course Lock position Toggle IOC switch
to OFF position Toggle I OC switch

from OFF to Course
Lock position

Home Lock

Switch Setting Record the

Home Point Set Control Mode switch at
GPS position,
Toggle IOC switch from OFF
to Home Lock position Toggle IOC switch
to OFF position Toggle IOC switch

from OFF to Ho me

Lock position

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

Home point Aircraft ( th e arrow is pointing to the direction of the aircraft nose )© 201 5 DJI . All Rights Reserved. 

### 20 | IOC FLYING NOTES !!!

(1) When Multi

- rotor is flying by home lock far away from you and the home point, please DO NOT

toggle the IOC switch many times quickly so as to avoid the change of home point wi thout your

attention.

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

10m away from the home point.

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

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

(1) Blinking indications of IOC are:
a) Before motors start: blink, all sticks (except throttle stick) return to center; blink, stick(s) (except throttle stick) not at center.

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

to center; bli nk, 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 alrea dy toggled the IOC switch to Home Lock position when

the aircraft is still in 10m range around home point, and this is the first time you are going to fly

in home lock during the current flight, then if all the requirements are met, the main controller

wil l change into home lock automatically when Multi

- rotor flies out the 10m range around home

point.

(3) When flying in Home Lock mode, if any of the following situations happen, then the system will

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

Lock using the earlier forward direction.

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

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

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

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

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

flight.© 201 5 DJI . All Rights Reserved. 

### 21 | 

## A



# 4 Receiver Advanced Protection Function

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

Basic

- >R/C

- > Receiver Advanced Protection.

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

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

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

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

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

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

of four channels A/E/R/T still do not an y change s 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 autopil ot system thinks that the receiver is regained. I n ATTI.

Mode and Manual Mode, it will quit the FailSafe Mode automatically

. I n GPS Mode, please toggle the control mode

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

details.© 201 5 DJI . All Rights Reserved. 

### 22 | 

## A5 Flight Limits

T he flight limits function is default enabled in the NAZA

- M Flight control system, it ’ s aimed to restrict the flying

height and distance of the aircraft. T he Max Height restricts the vert ical distance between the aircraft and the

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

T he default Max Height is 2000m and Max Radius is 2000m

. U sers can write the values of the Max Height and Max

R adius in the Assistant software, t he range of the Max Height is 10m

- 100000m, the range of the Max Radius is the

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

(1) Heigh t Limit work s when the contr ol mode is GPS or ATTI. Mode

. Radius Limit work s when the

control mode is GPS and the s atellite 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 fl y
back within the entered range

. (4) The Failsafe and the Ground Station operations are not restricted to the Flight Limits.© 201 5 DJI . All Rights Reserved. 

### 23 | 

# Appendix
Specifications

General

Built

- In Functions (1) Three Modes of Autopilot

(2) Enhanced Fa il Safe

(3) Low Voltage Protection (4) S

- Bus / S

- Bus 2 Receiver Support

(5) PPM Receiver Support

(6) 2

- axle Gimbal Support 

## Peripheral

Supported Multi

- rotor z Quad

- rotor I4, X4;

z Hexa

- rotor I 6, X6, IY6, Y6.

z Octo

- rotor I 8

, V 8

, X 8

Supported ESC output 400Hz refres h frequency.

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

Assistant Software System Requirement Windows XP SP3; Windows 7; Windows 8 

## Electrical & Mechanical

Working Voltage Range z MC: 4.8V ~ 5.5 V

z PMU Input: 7. 4 V ~ 26.0 V (recomme nd 2S ~ 6S LiPo) Output( V

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

- SEN port red wire )burst current:7.5A Power Consumption z MAX: 1.5W(0.3A@5V)

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

Operating Temperature

- 10°C ~ 50°C (14F ~122F)

Weight z MC: 27g

z GPS/Compass: 27g

z PMU : 28g

z LED: 13g

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

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

z PMU : 39.5mm × 27.5mm × 10.0mm

z LED : 25mm × 25mm × 7.0mm 

## Flight Performance (can be effected by mechanical performance and payloads) Hovering Accuracy (GPS Mode) z Ve rtical: ± ± 0.8m

z Horizontal: ± ± 2.5m
Max Yaw Angular Velocity 200°/s

Max Tilt Angle 3 5°
Max Ascent / Descent Speed Ascent : 6m/s

, Descent : 4.5 m/s