©2013 DJI Innovations. All Rights Reserved. 1

A2 Flight Control System

User Manual V 1.12

2013.12.24 Revision

For Firmware V2.1 & Assistant Software V1.2 & DJI Assistant App V1.1.14

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

aircraft, install the PC Assistant Software on your computer, as well as installing the DJI Assistant App on your 

mobile device.

Please regularly check the web page of corresponding products on our website www.dji.com, which is 

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

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

without notice.

* This manual is 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 problems that you cannot solve during usage, please contact your authorized dealer.
©2013 DJI Innovations. All Rights Reserved. 2

Content 

INTRODUCTION .................................................................................................................................................................................... 3

PRODUCT INTRODUCTION................................................................................................................................................................................ 3

IN THE BOX.......................................................................................................................................................................................................... 3

EQUIPMENT PREPARED BY USERS................................................................................................................................................................... 3

SYSTEM INTRODUCTION....................................................................................................................................................................................4

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

1 ASSEMBLY AND CONFIGURATION ............................................................................................................................................. 5

1.1 HARDWARE INSTALLATION AND CONNECTION...................................................................................................................................... 5

1.1.1 Mixer Type Supported...................................................................................................................................................................... 5

1.1.2 Hardware Connection Diagram.................................................................................................................................................... 6

1.1.3 Important for Assembly and Connection.................................................................................................................................. 6

1.2 SOFTWARE INSTALLATION AND CONFIGURATION ...............................................................................................................................14

1.2.1 Installing Driver and Assistant Software ..................................................................................................................................14

1.2.2 Configure using Assistant Software on a PC........................................................................................................................15

1.2.3 Configure the control mode switch..........................................................................................................................................16

1.2.4 Configuration Checking ...............................................................................................................................................................18

1.3 COMPASS CALIBRATION............................................................................................................................................................................19

2 BASIC FLYING ................................................................................................................................................................................. 20

2.1CONTROL MODE INSTRUCTION.............................................................................................................................................................. 20

2.2 FLYING ENVIRONMENT REQUIREMENTS...............................................................................................................................................22

2.3 CHECK LIST BEFORE FLYING ..................................................................................................................................................................22

2.4 POWER ON AND CHECK..........................................................................................................................................................................23

2.5 START MOTORS METHODS .....................................................................................................................................................................23

2.6 BASIC FLYING TEST ..................................................................................................................................................................................25

3 PROTECTION FUNCTIONS SETTING ...................................................................................................................................... 27

3.1 FAILSAFE......................................................................................................................................................................................................27

3.2 LOW VOLTAGE PROTECTION.................................................................................................................................................................28

4 ADVANCED FUNCTIONS ............................................................................................................................................................ 30

4.1 IOC (INTELLIGENT ORIENTATION CONTROL) FUNCTION................................................................................................................ 30

4.2 SERVO GIMBAL FUNCTION......................................................................................................................................................................33

4.3 GEAR FUNCTION .......................................................................................................................................................................................33

4.4 ATTITUDE CONTROL WHEN ONE MOTOR OUTPUT FAILS..............................................................................................................33

4.5 DJI ASSISTANT APP USAGE....................................................................................................................................................................34

APPENDIX ............................................................................................................................................................................................. 36

LED INDICATOR DESCRIPTIONS ....................................................................................................................................................................36

SPECIFICATIONS ...............................................................................................................................................................................................37

FAQ ......................................................................................................................................................................................................... 38

USE WITH OTHER DJI PRODUCTS..................................................................................................................................................................38

CHANNEL MAPPING INSTRUCTIONS FOR PC ASSISTANT SOFTWARE .................................................................................................40

RECOMMENDED MAPPING FOR FUTABA TRANSMITTER (MODE 2) USER..............................................................................................41

SETTINGS OF GAIN VALUES FOR YOUR REFERENCE..................................................................................................................................42

THE TRANSMITTER SETUP OF FUTABA......................................................................................................................................................42

DISCLAIMER ........................................................................................................................................................................................ 43

TRADEMARK ........................................................................................................................................................................................ 43
©2013 DJI Innovations. All Rights Reserved. 3

Introduction 

Product Introduction 

The DJI A2 Multi-Rotor stabilization controller is a complete flight system for various multi-rotor platforms for 

commercial and industrial AP applications. Based on the technology and design philosophy of DJI’s Ace series 

of high-performance controllers, the A2 offers you a brand new flight experience. Its flight mode setup provides 

a seamless transition for current Ace One, WKM AP professionals. The system has the following features:

(1) Integrated with high-precision sensor components and a high-performance GPS Receiver.

(2) Utilizes high quality components precisely calibrated with temperature compensation in all gyros and 

sensors, industry renowned flight algorithm in autopilot and UAV field.

(3) Designed with built-in vibration absorption, no extra mount frame or vibration absorption pad is required.

(4) Provide high precision control and high performance handling experience.

(5) Based on the DESST technology, it has a built-in 16-channel Receiver, and supports DSM2 satellite receiver.

(6) Optional DJI D-BUS Adapter can be used with a traditional Receiver.

In the Box 

Controller Unit

(Built-in Receiver DR16)

PMU(Power Management unit) IMU(Inertia Measurement Unit)

LED-BT-I GPS-COMPASS PRO Accessories

Micro-USB Cable (1)

Servo Cables (2)

GPS Bracket

Double side sticky pads.

Equipment Prepared by Users 

Aircraft (Take Quad-rotor for example: 

Red is nose, and Black is rear)

Transmitter 

(Take Mode2 for example)

Others

Battery

DJI D-BUS Adapter

Mobile Device
©2013 DJI Innovations. All Rights Reserved. 4

System Introduction 

The A2 flight control system uses the Controller Unit at its core, which is connected with the IMU, 

GPS-COMPASS PRO、LED-BT-I、PMU and ESCs to complete the system. The system can achieve the 

height-lock and position-lock functions by using the IMU and the GPS, to control the aircraft.

Please carry out the following procedures to finish assembly, configuration and flight-testing.

 

Symbol Instruction 

General Symbol

Forbidden(Important) Cautions Tips Reference

GPS Satellite number Distance TX signal good TX signal lost

Roll to left Roll to right Pitch up Pitch down

LED Symbol 

 (N) N=1 N=2 N=3 N=4 N=6 N=20 N=∝

Meaning One Blink Two Blinks Three Blinks Four Blinks Six Blinks Twenty Blinks

Continuous

Blinks

e.g. (3) means three Red blinks.

(∝)LED blinks yellow and green alternatively.

 (N) N=∝

Meaning Continuous Solid on

e.g. (∝) means Continuous Blue Solid on.

Configure the system using A2 Assistant software.

Do basic flying test FailSafe and Low-voltage settings Advanced functions: IOC, Gimbal, Gear

Mount the A2 flight control system on your aircraft finish connection.
©2013 DJI Innovations. All Rights Reserved. 5

1 Assembly and Configuration 

For hardware installation, software configuration and compass calibration please adhere to the following 

sections.

1.1 Hardware Installation and Connection 

(1) Please adhere to “1.1.1 Mixer Type Supported” to choose a mixer type and assemble your aircraft.

(2) Please adhere to both “1.1.2 Hardware Connection Diagram” and “1.1.3 Important for Assembly and 

Connection” to install and connect all units on your aircraft.

1.1.1 Mixer Type Supported 

Following Mixer Types are supported.

Quad-rotor X Hexa-rotor I

Hexa-rotor V Hexa-rotor Y

Quad-rotor I

Hexa-rotor IY

Octo-rotor X Octo-rotor I Octo-rotor V The direction of the arrow in diagram indicates the rotation direction of the motor/propeller.

For coaxial propellers: Blue propeller is at TOP; Red propeller is at Bottom. Otherwise all propellers 

are at top. 
©2013 DJI Innovations. All Rights Reserved 6 | 

1.1.2 Hardware Connection Diagram 

90o

ESC 1# ESC 2# ESC 3# ESC 4# ESC 5# ESC 6# ESC 7# ESC 8#

Important Make sure the cable connections are tight before every flight. Suitable amount of hot melt adhesive is recommended to use in the connections to the CAN1 and CAN2 ports.

Important CAN-Bus, it provides power supply and communication. A2 can automatically identify the device connected. CAN1 and CAN2 ports are working independent, device connected are non-interchangeable. E.g. IMU and GPS-COMPASS PRO to CAN1; LED- BT-I to CAN2; PMU to CAN1 or CAN2.

Supply power for all ports on 2S~6S both sides of controller unit. Battery

1.1.3 Important for Assembly and Connection 

This section describes all device port functions, assembly requirements, connection requirements and tips 

during usage. Also the linking procedures between the built-in Receiver DR16 and your Transmitter. Please read 

all information below carefully, especially if you are a first time user.

(1) Controller Unit 

The Controller Unit is the core component of the A2 flight control system:

(1) M1~M8 are used to connect to the ESCs of the aircraft.

(2) The built-in Receiver DR16 is based on DJI DESST technology, which can be used with the Futaba FASST 

series and DJI DESST series Transmitter. 

(3) CAN1 and CAN2 ports are working independently and should connect to different modules.

(4) 4 independent and configurable outputs.

(5) It is compatible with the external Receiver, e.g. DSM2 satellite Receiver.

(6) Use the optional DJI DBUS Adapter to support the traditional receiver.
©2013 DJI Innovations. All Rights Reserved 7 | 

Port Description 

Connect to ESC

iOSD MARK II, Z15 from DJI

IMU GPS-COMPASS PRO To PW port of PMU LED-BT-I 2.4G DATA LINK from DJI

Reserved To S-BUS Receiver BEC,Connect to X1 of PMU for voltage detection To DSM2 satellite Receiver Antenna

Link button of Built-in receiver Indicate the linking status DR16 and transmitter Multi-function PWM output channels, can directly give output signal from the Receiver if mapped to a Receiver channel*

*If the Gimbal function is enabled in Assistant Software, F2/F3 can only be used for gimbal Pitch/Roll control, which means F2/F3 cannot be mapped to any other Receiver channel. *If the Gear function is enabled in Assistant Software, F1 can only be used for gear switch control, which means F1 cannot be mapped to any other Receiver channel. 

Mounting Requirements: 

Install the Controller Unit in the proper position to make sure the ports are accessible. No specified direction is 

required.

Place the antennas in an open space under the aircraft, DO NOT block them. Position the heads of 

two antennas at a 90-degree angle. DO NOT bend or wind them.

Receiver System 

The A2 flight control system can use its own built-in Receiver, and also can support external receivers. Whatever 

type of Receiver is used, please make sure that the Receiver and Transmitter is linked correctly before use.

A. Built-in Receiver 

For enhancing the system integration and reliability, the A2 is integrated with a 2.4G receiver based on 

frequency hopping technology. The built-in Receiver can be used with the Transmitter of Futaba FASST series

or DJI DESST series after linking. For users, you are only asked to carry out the link procedures, no extra 

requirement for connection.

Please carry out the following procedures to finish the Link process, and the configuration in the A2 Assistant 

software->Basic ->R/C ->Receiver Type. Select the DR16 option.

During use, you may see the following LED indication, please do the operation according to the table below.

LED Description Operation 

(∝) Signal from Transmitter has been detected by the Receiver, but not matched. Link operation required

(∝)

No Transmitter signal is received, e.g. the flight control system is powered on 

but the Transmitter is powered off.

Switch on

(∝) The Receiver and Transmitter have been linked to each other successfully. Can work normally
©2013 DJI Innovations. All Rights Reserved 8 | 

0.5m<Distance<1cm

1. Turn on the transmitter, it begins to send signals after 1.5secs. 3.Press the LINK button, hold for 2secs, wait until the LED blinks Red . 4.Release the LINK button, the LED turns Green on after successfully linking.

Link Procedures 2.Power on the flight control system, configure the Receiver type as DR16 in the Assistant software.

The DR16 Receiver is compatible with the Futaba transmitters which have optional FASS MODE MULT, 

MLT2 or 7CH. Users can find out more available Futaba transmitters and configuration requirements

refer to the FAQ->The Transmitter setup of FUTABA.

 

B. DSM2 Satellite Receivers 

If using DSM2 satellite Receivers, please follow the diagram for connection, set the Receiver referring to your 

Receiver manual, and select the Receiver type as DSM2 in the Assistant software->Basic->R/C-> Receiver Type.

DSM2 satellite Receiver 1. Power on the flight control system, the Transmitter should be turned off. 3.Press and hold the LINK button on the controller unit the LED blinks red and the indicators on the Receivers blink too. Then release the LINK button the Receiver will be ready for linking. 4.Press and hold the linking button on the Transmitter then turn on the Transmitter to start linking, release the button after the Transmitter is displayed Linked or the indicators on the Receivers are solid on.

Linking procedures 2.Set the Receiver type as DSM2 in the Assistant software.

5.The LED on the controller unit will be solid green on after linking successfully.

DSM2 satellite Receiver

Notes for the DSM2 users:

 There is no need to enable the FailSafe function in the Transmitter. If the Receiver loses the signal

from the Transmitter, the controller unit will enter into FailSafe automatically, and the aircraft will 
©2013 DJI Innovations. All Rights Reserved 9 | 

hover or Go-home as configure in the FailSafe in the Assistant software.

 When using the dual-mode Transmitter, please set the transmiting mode as DSM2 in SYSTEM SET

UP->FRAME RATE ->MODE, which should not be DSMX.

 Support DSM2 satellite Receivers used with all SPEKTRUM Transmitters, e.g. DX6I DX7S DX8 

DX18 etc., as well as JR Transmitters, e.g. DXS9II DXS11.

C. S-BUS Receivers 

If using S-BUS Receivers please follow the diagram for connection, set the Receiver referring to your Receiver 

manual, and select the Receiver type as D-BUS in the Assistant software->Basic->R/C-> Receiver Type.

S-BUS Receiver S.BUS

Notes for the S-BUS users:

 It is no need to enable the FailSafe function in the Transmitter. Once the Receiver loses the 

signals from the Transmitter, the controller unit will enter into FailSafe automatically, and the 

aircraft will hover or Go-home as configurations of the FailSafe in the Assistant software.

D. PPM Receivers 

If using PPM Receivers please follow the diagram for connection, set the Receiver referring to your Receiver 

manual, and select the Receiver type as PPM in the Assistant software->Basic->R/C-> Receiver Type.

PPM Receiver PPM

 

E. Traditional Receivers 
©2013 DJI Innovations. All Rights Reserved 10 | 

If using Traditional Receivers, the DJI D-BUS Adapter is required. Please follow the diagram for connection, set 

the Receiver referring to your Receiver manual, and select the Receiver type as D-BUS in the Assistant 

software->Basic->R/C-> Receiver Type.

Traditional Receiver 8

7

6

5

4

3

2

1 Important · When you use a traditional receiver, DJI D-BUS ADAPTER is required. Put the switch to the “I” stop, and power on the system, the LED should be red on; otherwise, keep the switch at “I” stop and then power cycle the system. · At the “I”stop, the D-BUS ADAPTER is converting the PWM signal from traditional receiver to S-BUS signal. Notes for the traditional receiver users:

 When using the traditional receiver which doesn’t have endpoint adjustment operations to set 

FailSafe in the U channel, the Go-Home switch is recommended and users can use it to trigger

the FailSafe.

 Configure the FailSafe function of your transmitter and receiver according to its instructions, 

set the FailSafe position of the Go-Home switch in the position triggering the FailSafe function. 

If it is configured correctly as mentioned above, the FailSafe function will be activated 

automatically if the receiver loses the signal from the transmitter. 

 Users can get more information about the FailSafe function referring to 3.1 FailSafe in this 

manual and the help text in the Assistant software.
©2013 DJI Innovations. All Rights Reserved 11 | 

(2) IMU (Inertial Measurement Unit): 

 

Built-in inertial sensors, for the measurement of aircraft attitude; built-in pressure sensor for the detection of 

aircraft altitude. Should be connected to the CAN1 port of the Controller Unit, and be mounted according to 

the required location and orientation. The IMU has been calibrated before delivery, it should be used under the 

specified temperature; otherwise the temperature may have an effect on the IMU performance.

Working environment temperature: -5

oC ~60oC Storage environment temperature:<60oC

Orientation Requirements: 

Please mount the IMU as one of the following options. Configure in the A2 Assistant software ->Basic ->Mount -> 

IMU, and select the matched option.

Pointing Forward Pointing Backward Pointing to Left Pointing to Right Location Requirements: 

 

Center of Gravity

 

Fix with double faced adhesive tape. (1) The top side should be facing up. DO NOT mount upside-down.

(2) DO NOT cover the ventilation holes, keep them unblocked and clean.

(3) Take heat preservation measures if working in cold weather.

(1) Mount the IMU at a low vibration position and the sides of the IMU should be precisely parallel 

to the aircraft body. Based on our experience, there is less vibration near the aircraft’s center 

of gravity.

(2) NOT water-proof or oil-proof.

(3) Check the double faced adhesive tape regularly to make sure that the IMU is fixed firmly.

There is a CAN-Bus connector, which can be used to connect to the GPS-COMPASS PRO or other DJI product.
©2013 DJI Innovations. All Rights Reserved 12 | 

(3) GPS-COMPASS PRO 

GPS-COMPASS PRO module has a built-in GPS and compass. The compass is used for geomagnetic field

measurement. It should be mounted according to the required location and orientation. Compass calibration is 

required before use. DO NOT use and store the compass in the ferromagnetic material environment.

 

Mounting Procedure: 

a) Use the epoxy resin AB glue to assemble the GPS bracket first. The longest one is recommended.

b) Mount the bracket on the aircraft first, and then fix the GPS-COMPASS PRO on the plate of the bracket 

(using the 3M sticky pads provided).

Mount Requirements:

The arrow is pointing to the nose direction.

Use the GPS bracket, and keep it away from other electronic equipment

Keep it parallel to the aircraft

Usage Requirements 

(1) The DJI logo should be facing the sky, with the orientation arrow pointing directly to the nose 

direction; otherwise it may lead to take off failure.

(2) Fly the aircraft in an open space without buildings or trees; otherwise it may have an effect on

the GPS.

(3) The compass is sensitive to magnetic interference, should be far away from electronic devices, 

otherwise it may lead to abnormal flying.

(4) Please always keep the compass module away from magnet fields. Otherwise it may damage 

the compass module and lead the aircraft to work abnormally or even be out of control.

 

 

 
©2013 DJI Innovations. All Rights Reserved 13 | 

(4) PMU (Power Management Unit) 

The PMU provides dual BECs (Battery Eliminator Circuit):

(1) PW port outputs power for the whole Flight Control System with current no more than 2A. 

(2) PX port outputs power (3A@5V) and V-SEV signal using the low voltage protection function.

In addition, there are two CAN-Bus ports for LED-BT-I connection and other DJI products (e.g. DJI 2.4G Data 

Link).

Port Description 

To positive pole of power To negative pole of power CAN-Bus port Connect to CAN1 or CAN2 port of Controller Unit, CAN2 is recommended.

V-SEN, Output 0V ~ + 3.3V VCC, Output 3A@5V GND Input voltage range: 7.4V~26V

PX Port, connect to the X1 port of Controller Unit Working status indicator Green on is normally working

Mounting Requirements: 

Choose a ventilated place to mount the PMU for cooling, no mounting orientation requirement.

(5) LED-BT-I 

The LED-BT-I has integrated LED Indicator, Bluetooth and USB port:

(1) The LED is mainly for flight control system status indication during flying (e.g. Control Mode).

(2) Bluetooth is used for real-time communication with your mobile device (e.g. iPhone), to realize parameter 

configuration on a mobile device. For parameter configuration using a mobile device, it is required to 

install the DJI Assistant App on the mobile device. When you mount the LED-BT-I, please make sure the

side with ANT LOGO is unsheltered after mounting.

(3) In addition, there is a Micro-USB port, make sure it is mounted for convenient connection.

Port Description: 

Micro-USB port:used to connect to the PC for Assistant software configuration and upgrade Bluetooth status indicator Abnormal Normal Communicating Indicator of autopilot system Antenna of Bluetooth Mounting Requirements: 

Mount in a good place to make sure the LED is visible during flying. Antenna of Bluetooth should be unobstructed.
©2013 DJI Innovations. All Rights Reserved 14 | 

1.2 Software Installation and Configuration 

Please configure the A2 flight control system in the Assistant Software according to the following instructions. 

Users are required to configure every item within the “Basic” page when use the A2 flight control system for the 

first time. 

1.2.1 Installing Driver and Assistant Software

Installing and running on Windows 

1. Download driver installer and Assistant Software installer in EXE format from the download page of A2 

on the DJI website.

2. Connect the A2 flight control system to a PC via a Micro-USB cable. The Micro-USB port of the A2 flight 

control system is on the LED-BT-I module.

3. Run the driver installer and follow the prompts to finish installation.

4. Next, run the assistant software installer and follow the prompts to finish installation.

5. Double click the A2 icon on your Windows desktop to launch the software.

The installer in EXE format only supports Windows operating systems (Win XP, Win7, Win8 (32 or 64 bit)).

Installing and running on Mac OS X

1. Download the Assistant Software installer in DMG format from the download page of A2 on the DJI 

website.

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

3. When launching for the first time if use Launchpad to run the A2 Assistant software, Launchpad won’t 

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

4. Locate the A2 icon in the Finder, press the Control key and then click the A2 icon (or right-click the A2 

icon using a mouse). Choose Open from the shortcut menu, click Open in the prompt dialog box and 

then the software will launch.

5. After the first successful launch, direct launching of the software can be achieved by double-clicking the 

A2 icon in the Finder or using Launchpad.
©2013 DJI Innovations. All Rights Reserved 15 | 

Installer in DMG format supports only Mac OS X 10.6(Lion) or above.

Usage of A2 Assistant software on Mac OS X and Windows are exactly the same. The Assistant 

software pages appear in other places of this manual are on the Windows for example. 

1.2.2 Configure using Assistant Software on a PC 

A2 flight control system can takes power via the USB port during configuration, no additional battery is required. 

Note that the USB port can supply power no more than 500mA, an additional battery is necessary if connection 

failure or intermittent working.

Run the assistant software, and follow the built-in guide to carry out the configuration. Note that you may be asked 

to register for first time use.

4 3 2 1

Setting Options

Built-in Guide

Menu

1. View 2. Restore &Upgrade 3.Set 4.Check

Click “Info” to view 

user information 

and software 

version etc.

Enter “Tools” to restore default 

settings. And check whether the 

firmware is the latest.

Enter “Basic” page. 

Set the Aircraft, 

Mounting, RC, Gain” 

in each tab.

Enter “View” 

page to check all 

basic settings.

 
©2013 DJI Innovations. All Rights Reserved 16 | 

“RC 

STATUS”

description

Normal: the transmitter and receiver are linked and communicating well.

Disconnect: the A2 Flight Control System is powered on, but the transmitter is powered off.

RC-LOST: RC signal is lost (e.g. the transmitter is turned off after power on) or the receiver 

is sending F/S signals (e.g. the aircraft flies out of the range which transmitter is 

controllable).

 

The firmware version and the Assistant Software version should be matched when using the software 

to configure the A2 flight control system, otherwise the software will not work. It’s recommended to 

keep the firmware version and Assistant Software version up to date to avoid this issues.

1.2.3 Configure the control mode switch 

Users should configure the control mode switch in the Assistant software in the following page. Only the control 

mode switch has been set correctly, the control mode displayed in the left bottom corner will be the same to the 

control mode pointed by the cursor on the channel U.

Configuration steps Exambles

Step 1.

Power on your Transmitter, map a 3-position 

switch on the transmitter to the U channel of 

Controller Unit as the control mode switch, of 

which two positions are default as Atti. Mode 

and GPS Atti. Mode and the third position is 

optional, users can set as Atti. Mode or 

Manual Mode.
©2013 DJI Innovations. All Rights Reserved 17 | 

Step 2.

Toggle the control mode switch to its three 

positions, accordingly the cursor will move to 

some control mode. 

 

Step 3.

Power off the Transmitter, the FailSafe will be 

enabled and the cursor will point to any area 

out of the control modes. 

Step 4.

If all steps above are realized, that indicates the 

control mode switch is set successfully.

Important 

In step 2, if the cursor doesn’t point to the correct control mode area (e.g. the following figures), that indicates 

abnormal control mode switch configuration. Users must re-configure the Endpoint and FailSafe functions in the 

Transmitter to make the cursor point to the right control mode and the according areas become blue.

 

 

 

 

 
©2013 DJI Innovations. All Rights Reserved 18 | 

1.2.4 Configuration Checking 

*Fig. above for reference only, please adhere to actual GUI.

Check List Description

1 Check the IMU orientation direction.

2 

Check the Mixer Type of aircraft.

Make sure the motors are rotating normally, and propeller installation is in correct direction.

3 The Receiver type is correct.

4、5 Check the basic and attitude gains. 

6

Move the sticks to test whether the cursors moves following the sticks. Toggle the “U” switch to 

test the control mode setting.

7~○11

Advanced configuration, users can configure it according to their requirements after reading the 

manual.

○12 Check the Channel Map between the Transmitter and A2 flight control system.

1

2

3

4 5

6

7

8

9

10

11

12
©2013 DJI Innovations. All Rights Reserved 19 | 

1.3 Compass Calibration 

The Compass can assistant the GPS to position the aircraft, which is very important during flight. As we know, 

the compass is very sensitive to electromagnetic interference, which will cause abnormal compass data, and lead 

to poor flight performance or even flight failure. Compass Calibration MUST be done for first time use.

It is recommended to calibrate the compass outdoors after the Controller Unit finds 7 or more GPS satellites. 

Regular calibration enables the compass to keep optimal performance.

Calibration Cautions 

(1) DO NOT calibrate your compass where there is strong 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 Calibration is very important; otherwise the flight control system cannot work.

Calibration Procedures 

Choose an open space to carry out the following procedures.

Control Mode LED

Quickly flip the control mode switch 360o Rotate the aircraft horizontally 360o

Rotate the aircraft vertically (Nose downward) Position1* Position 3

Position1->3->1 once Start horizontal calibration Start vertical calibration Succeed Fail

Position1->3->1 Flip 6~10 times Start cali

Position1* Re-calibrate Position 3 Situations that require recalibration

Situations Descriptions 

Compass Data abnormal LED blinks yellow and green alternatively( (∝)).

Flying field altered Flying field has changed over a long distance.

Mechanical alteration

The mounting position of GPS-COMPASS PRO module changes.

Electronic units such as Controller Unit, CAN-HUB, battery etc. have been added, 

removed, remounted or other alterations. 

Mechanical structures of the aircraft has changed

Drifting during flying Evident drifts occurred in flight such as the aircraft doesn’t fly straight 

Attitude errors LED often blinks error indicator when the aircraft turns around. 
©2013 DJI Innovations. All Rights Reserved 20 | 

2 Basic flying 

Read this section before basic flight testing.

2.1Control Mode Instruction 

The aircraft performs differently when using different control modes. Please read the following table to know 

the different control modes, which may help you to achieve a more involved flight experience.

Control Mode GPS ATTI. Mode ATTI. Mode Manual Mode 

Command 

Linearity 

YES

Yaw 

Control the aircraft to rotate in clockwise and counter clockwise direction. Maximum rudder 

angular velocity 150°/s

Roll and Pitch 

Aircraft attitude control; Mid point of stick is for 0 ̊ attitude, 

and its endpoint is 35 ̊.

Max-angular velocity is 150°/s. 

No attitude angle limit.

Throttle

Aircraft height control. Maintain the altitude best above 1 

meter from ground when the throttle stick is in mid position.

No altitude locking when the 

throttle stick is in mid position.

All Sticks 

Released

Lock position if GPS signal is 

adequate.

Only attitude stabilizing.

No position locking.

Keep original attitude.

GPS Lost

Once GPS signal lost the flight 

control system will enter ATTI.

Mode automatically. Return to

GPS ATT1. Mode after GPS signal 

has recovered for 2 seconds.

--- ---

IOC Supported CL/HL/POI CL None

Assign a 3-position switch of the transmitter as the control mode switch. The position-1 is defaulted as “GPS 

ATTI. Mode” and the position-2 is “ATTI. Mode”. The position-3 can be set as “Manual Mode” or “ATTI. Mode” in 

A2 assistant software.

Control Mode 

Switch 

position-1 position-2 position-3 

Configurable 

Control Mode 

GPS ATTI. Mode ATTI. Mode * ATTI. Mode * Manual Mode 

FailSafe 

Protection 

The flight control system will enter FailSafe

Mode if the Transmitter signal is lost and no 

matter if Transmitter signal recovers or not, 

system will not exit FailSafe mode automatically.

The flight control system will enter 

FailSafe Mode if the Transmitter signal is 

lost and the system will exit FailSafe once 

the signal recovers.
©2013 DJI Innovations. All Rights Reserved 21 | 

GPS Involved YES NO

Low-voltage 

Protection 

LED alert with Descending or Go Home & 

Landing precautions

Only LED alert

Environment 

recommended 

Open flying field; 

Good GPS signal

Narrow Space; 

GPS signal bad

Regain control in emergency 

The difference between ATTI. Mode of position-2 and ATTI. Mode of position-3 is that they are working differently 

in protection situations.
©2013 DJI Innovations. All Rights Reserved 22 | 

2.2 Flying Environment Requirements 

(1) Before use of the product, please accept some flight training (Using a simulator to practice flying, 

getting instruction from a professional person, etc.).

(2) DO NOT fly in bad weather, such as rain or wind (more than moderate breeze) or fog.

(3) The flying field should be open without tall buildings or other obstacles; the buildings of steel 

structure will interfere with the compass.

(4) Keep the aircraft away from obstacles, crowds, power lines, trees, lakes and rivers etc.

(5) Try to avoid interference between the remote control Transmitter and other wireless equipment.

(No base station or cell tower around)

(6) The flight control system can’t work at the South Pole and the North Pole.

(7) All parts must be kept out of the reach of children to avoid CHOKE HAZARD; if a child 

accidentally swallows any part you should immediately seek medical assistance.

2.3 Check List before Flying 

Double check the following list, otherwise, if any one of the following items is wrong it may lead to flight accident.

(1) All parts are in good condition, no ageing or damaged components

(2) Motor rotating direction

(3) Propeller mounting direction

(4) Mixer Type set in assistant software

(5) IMU and GPS-COMPASS PRO mounting direction

(6) Transmitter channel mapping and sticks movement direction correct

(7) Compass calibration

(8) ESC connection

(9) IMU and GPS-COMPASS PRO firmly mounted

In addition, check the following items to make sure the system can work.

(1) The Transmitter battery is fully charged.

(2) The aircraft battery is fully charged.

(3) Do not over load the aircraft.
©2013 DJI Innovations. All Rights Reserved 23 | 

2.4 Power on and Check 

(1) Control mode LED indicator 

Power on the Transmitter then the flight control system. Toggle the control mode switch to different positions. 

Control Mode LED indicator 

Control Mode 

Switch GPS ATTI. Mode ATTI. Mode Manual Mode

LED (Stick not in midpoint (2)) (Stick not in midpoint (2)) No LED indicator

Set

Put the Control Mode switch to GPS position for basic flying test.

Note: when the GPS signal LED indicator is bad or worst ( (2) or (3)) and lasts for more 

than 3secs, the flight control system will enter into ATTI. Mode.

(2) GPS signal LED indicator

GPS signal indication blinks after every Control mode indication. We suggest flying when GPS satellites are more 

than 5.

GPS signal LED indicator 

Worst ( < 5): (3) Bad ( = 5): (2) Well ( = 6): (1) Best ( > 6):No indicator

2.5 Start Motors Methods

CSC (Combination sticks commands) is used to start motors instead of just pushing the throttle stick. One of the 

following methods can be used to start/stop motors.

CSC 1

 

CSC 2

 

CSC 3

 

CSC 4

 

Under the conditions stated below, the motors will stop in ATTI. Mode/GPS ATTI. Mode:

(1) The throttle sticks is under 10% for more than 3secs after motors start.

(2) The throttle sticks is under 10% for more than 3secs after landing.

(3) The throttle sticks is under 10% for more than 3secs and the inclined angle of aircraft exceeds 

70°。

If motors fail to start, please refer to the following list for trouble shooting.

(1) The Controller Unit fails to obtain the firmware version of IMU and GPS, please check the 

connection or upgrade the IMU and GPS.
©2013 DJI Innovations. All Rights Reserved 24 | 

(2) The firmware version of IMU and Controller Unit is mismatched; please upgrade the firmware of 

IMU or Controller Unit.

(3) The firmware version of GPS and Controller Unit is mismatched; please upgrade the firmware of 

GPS or Controller Unit.

(4) The transmitter calibration has exited abnormally, please recalibrate.

(5) The transmitter calibration results with big bias, please recalibrate.

(6) The transmitter calibration results with big mid point bias, please recalibrate.

(7) Incorrect channel mappings, please make sure the basic channels A/E/T/R/U are mapped 

correctly.

(8) Invalid SN or SN error; please contact your dealer or DJI custom service.

(9) The Controller Unit is locked, please unlock the Controller Unit and reconfigure all the parameters 

in the Assistant software.

(10) IMU disconnected, please check the connection.

(11) Compass data abnormal, please eliminate magnetic interference and recalibrate the compass.

(12) When Flight limit function is enabled, if the aircraft fly out of the max-radius in ATTI. mode and the 

motors are stalling, the motors will fail to spool up in GPS ATTI. mode cause the Flight limit 

function works.

(13) The attitude status is bad and the LED indicator blinks white, the motors will fail to spool up.

(14) The Transmitter disconnected, the motors will fail to spool up.

(15) The A2 flight control system is connecting and communicating with the Assistant software, the 

motors will fail to spool up.
©2013 DJI Innovations. All Rights Reserved 25 | 

2.6 Basic Flying Test 

Carry out the following procedures to complete the basic flight test.

1. Wait the GPS signal to be well LED 

Place the aircraft away from you and others at least 3 meters and wait the ≥6

(about 30 seconds).

or no Red LED

2. Start motors and takeoff aircraft. LED 

Execute CSC to start motors; all sticks back to midpoint as soon as motors start, then push 

the throttle stick to take off the aircraft, meanwhile the home point is recorded. NOTE: 

36secs after power on; 10secs after ≥6; Motors have been started, auto-record the 

position as home point at the first time the throttle stick is raised

(∝)

After the home point is recorded successfully and the distance from aircraft is less than 8m, 

LED indicator will blink 6 violet continually. Note: only when GPS signal is good (no Red

LED) LED indicator will blink 6 violet continually.

(6)

3.Operate sticks to control the flying attitude of the aircraft during flight 

Transmitter (Mode2) Aircraft Operations 

Throttle

Stick

Push Throttle sticks to control the aircraft 

to elevate and descend. The aircraft can 

lock to an altitude when the throttle stick 

is at midpoint.

Yaw Stick Push the yaw stick to rotate the aircraft in 

clockwise or counter clockwise direction. 

Roll Stick

Push roll stick to control the aircraft left 

or right, pitch stick to control forward or 

backward.

When both roll and pitch sticks are at 

midpoint:

(1) GPS ATTI. Mode: the aircraft will 

be stabilized and locked in 

horizontal position.

(2) ATTI. Mode: the aircraft will be 

stabilized but unlocked in 

horizontal position.

Pitch

Stick
©2013 DJI Innovations. All Rights Reserved 26 | 

4.Hover 

In GPS ATTI. Mode,the aircraft will hover when the throttle/yaw/roll/pitch sticks are all released at mid-point.

5.Landing 

Use the throttle stick to control the landing speed, try to land your aircraft gently to avoid shock or crash.

 

Please refer to the next section “Protection Functions Setting” to take precautions. 

(1) Low voltage alert: yellow quick flashes or red quick flashes.

(2) FailSafe: LED indicator blinks blue.

 

Moreover, you may come across the following abnormal situation, please carry out the operation below.

(3) Compass data is abnormal; the LED blinks yellow and green alternatively. Please re-calibrate the 

Compass.

(4) IMU data is abnormal, the LED blinks four green. Please contact your dealer.
©2013 DJI Innovations. All Rights Reserved 27 | 

3 Protection Functions Setting 

Set protection in the Assistant software ->Advanced page. FailSafe and Low voltage protections are required. 

3.1 FailSafe 

FailSafe works when the Transmitter (TX) signal is lost, the flight control system will automatically control the 

aircraft to reduce injuries or damage.

TX 

signal

Descriptions

Home 

Point 

(HP)

≥

6

30secs later after power on; 10secs later after ≥6( or no Red LED); 

Motors have been started; auto-record the position as home point at the first time 

the throttle stick is raised.

FailSafe

Flight control system can automatically control the aircraft after Transmitter signal is 

lost. It should be set in Assistant software->Advanced->F/S, while Hover, Go-Home or

Alt Go-Home is optional. Additionally, a Go-Home switch can be enabled.

One-Key 

Go Home

Go Home switch can be used to trigger a “go home” without FailSafe. If One-Key 

Go Home is enabled during flying, you no longer have control of the aircraft, the LED 

blinks in its Control Mode. If One-Key Go Home is disabled, you regain the control at 

once. If already in a FailSafe condition, then the switch will not work.

FailSafe and Go Home procedures 

1 Record Home Point (HP) 2 Confirm Home Point 3 Transmitter Signal Lost

4 Signal Lost Lasts 3secs. 5Go Home(20m can be customized)

Height over HP<=20m Height over HP>20m 6 Landing after Hovering 15secs

20m Elevate to 20m

LED LED LED

LED LED LED

<8m ≥7

(∝) (6) (∝)

(∝) (∝) (∝) 

(1) The aircraft will not go home (only attitude stabilizing) in the condition that <6 or GPS is not 

working, even if Transmitter signal is lost or Go Home switch is triggered.

(2) It is recommended to set the Go Home switch in the Assistant software. Users are suggested to 

enter FailSafe and go home by using the Go Home switch rather than turning off the Transmitter 

in emergency situations.
©2013 DJI Innovations. All Rights Reserved 28 | 

(3) Make sure there are no obstacles during aircraft go home and users are familiar with the methods

to regain control.

 

How to regain control in FailSafe

3-position 

Switch 

Position-1 Position-2 Position-3 

GPS ATTI. Mode ATTI. Mode ATTI. Mode Manual Mode

Regain control

You have to toggle the control mode switch 

once to regain control if the signal recovers.

Regain control as soon as signal recovers.

3.2 Low Voltage Protection 

Low voltage protection is used to alert low battery voltage during flight; in this case, users should promptly fly 

back the aircraft and land to avoid unexpected damages.

To use this function please set in Assistant software->Advanced->Voltage page to configure two voltage levels. 

Protections Option Selected Conditions LED Aircraft 

First level

LED ---- (∝) None 

GH & Landing

Make sure the home point is recorded and 

no obstacles in going home and landing path. 

(∝) Go-Home & Landing

Second 

level

LED ---- (∝) None 

Descending ---- (∝) Descending directly

 

Go-Home & Landing Usage Tips 

(1) The home point recorded is the same in both FailSafe and Low voltage protection. The aircraft will not go 

home in the following cases :

a) Control mode switch is at the position-3 (Manual Mode or ATTI. Mode)

b) GPS signal is bad ( <6)

c) The distance between aircraft and the home point is less than 25m, and the height over the Home 

point less than 20m.

 

Descending Usage Tips 

The aircraft will not hover when the throttle stick is at the mid point. Push the throttle stick to 90% of its 

endpoint, the aircraft will still ascend slowly if you continue to pull the throttle stick, and the control of Pitch, 

Roll and Yaw are the same as before.
©2013 DJI Innovations. All Rights Reserved 29 | 

(1) Please pay attention to the LED alert of low voltage and make sure the power is enough for go 

home and landing. Insufficient power reserve will cause the aircraft to crash as well as other 

consequences.

(2) If the second level low voltage alert occurs in below procedures, the aircraft will descend 

automatically.

a) When the aircraft is in FailSafe and Go Home process。

b) When the aircraft is controlled by the Ground Station.
©2013 DJI Innovations. All Rights Reserved 30 | 

4 Advanced Functions 

IOC and Gimbal functions of A2 and how to use A2 Assistant app via a mobile device.

4.1 IOC (Intelligent Orientation Control) function 

IOC Help users to set the Flying direction; Should be enabled in Assistant software.

Flying direction The flying direction of aircraft when pushing the Roll and Pitch sticks.

Forward direction The flying direction of aircraft when the pitch stick is pushed forward.

Normal flying 

IOC is disabled. Forward direction is pointing to the nose direction and changes 

along with the nose.

CL flying

Course Lock. Its forward direction is pointing to the nose direction when 

recording, which is fixed until you re-record it or exit from CL.

HL flying

Home Lock. Record a Home Point (HP), push Pitch stick to control the aircraft 

far from or near to the HP.

POI flying

Point of Interest. Record a point of interest (POI), the aircraft can circle around 

the POI, and the nose always points to the POI.

 

Conditions of IOC function 

Flying 

IOC 

Setting

Control Mode

GPS-COMPASS 

PRO Required

GPS Satellites Distance Limits

Normal ---- ---- ---- Basic to control mode None 

CL Enabled Not Manual Mode Compass None None 

HL Enabled GPS ATTI. Mode GPS ≥6

≥10m Aircraft HP

POI Enabled GPS ATTI. Mode GPS ≥6

5m~500m Aircraft POI 

Step 1 IOC switch setting 

Please enable the IOC function in Advanced->IOC page of Assistant software. Then choose a 3-positon switch on 

the Transmitter to set as IOC switch, which is used to select the different IOC modes and manually record the 

Forward direction, HP and POI recording.

Below are the three options of IOC switch setting which may be configured in the Assistant software.

Switch positions A B C

1 OFF OFF OFF

2 CL CL POI

3 HL POI HL
©2013 DJI Innovations. All Rights Reserved 31 | 

Step 2 Forward Direction, HP and POI Recording 

After you enable the IOC in assistant software, the flight control system will record the forward direction and home 

point automatically after power on, if the recording conditions are met. You can Manually re-record the forward 

direction, home point and POI during flying. Read the following table for the recording method details.

CL HL POI

Aims

Record a direction as Forward 

direction

Record a position as HP Record a position as POI

Conditions 36secs after power on

10secs later after ≥6;

Motors have been started.

10secs later after ≥6.

Automatically

Automatically record at 

36secs after power on

Automatically record at the first 

time you push the throttle stick

No Automatic record method

Manually

According to any option of IOC switch setting, quickly toggle the switch between adjacent 

positions 3-5 times to record manually.

1

2

A

Forward

direction

C

POI

2

3

A

HP

B

POI

C

HP

B

Forward

direction

Successful (20) (20) (20)

 

(1) DO NOT toggle the switch between the position 1 and 3 frequently, which may re-record the 

position 2.

(2) The new Home Point and Forward Direction can be set only after one has already been recorded 

automatically.

(3) HP is not only used in IOC, but also in FailSafe and Low voltage as go home and landing

destination. The flight control system will automatically record the HP even if IOC function is 

disabled in Assistant software but Forward direction and POI can be recorded only after IOC is 

enabled.

(4) Once the Home Point is recorded successfully, LED will blink (6) continually under the 

following conditions. All conditions must be true.

1. ≥7.

2. Distance between aircraft and the recorded home point is less than 8m.

3. Current control mode is in GPS ATTI. Mode or ATTI. Mode of switch position-2.

 

Step 3 IOC flying test

Please study the following diagram then make an IOC flying test. IOC LED indicator blinks ( (2) means not all 

stick(s) at the midpoint)
©2013 DJI Innovations. All Rights Reserved 32 | 

HP POI Flying direction Forward direction Route Auxiliary line

Flying 

IOC

switch

Record 

Pitch stick control of aircraft Roll stick control of aircraft

Normal OFF None

CL CL

HL HL

>10m

>10m

>

10m

>

10m

POI POI

5~500m

5~500m

5~500m

5~500m

DO NOT toggle the IOC switch frequently in HL flying to avoid re-recording the HP unwittingly.

IOC function is available only when all the required conditions are satisfied. If any condition is omitted

the flight control system will exit IOC. Please keep an eye on the LED to know the current control mode.

(1) It’s recommended to start the HL flight when the aircraft is >10m away from the HP. If starting

the HL when the distance between aircraft and HP is less than 10m and it’s the first time you 

start HL after power on, then the flight control system will only enter HL after flying out of the 

10m range.

(2) During HL flying if one of the following conditions occur, the flight control system will exit HL and 

enter into CL: the aircraft is within of 10m from HP; the control mode is changed to ATTI. Mode; 

<6(LED (2) or (3)).
©2013 DJI Innovations. All Rights Reserved 33 | 

4.2 Servo Gimbal function 

Connect the servos of your gimbal to the Controller Unit as the fig. below,roll servo connects to F3 port and 

pitch servo connects to F2, and configure in Advanced->Gimbal page in the Assistant software. No Receiver

channel is asked to be mapped for the F2 or F3 port if gimbal function is enabled in the Assistant Software.

Note: Even you map Receiver channels to F3 and F2 (Which are shown as D3 and D2 in the Assistant Software

-> Channel Mapping), the F3 and F2 will not give output signals from the mapped Receiver channels.

F3

F2 Pitch Roll

4.3 Gear function 

Once enable the Intelligent Gear function, the gear is default down on the ground or in case of emergency (e.g. 

motor failure tolerance, auto landing); you can control it to be up or down by a switch when the aircraft altitude 

is above 5m during flight.

Please configure in the Advanced->Gear page in the Assistant software. Connect the landing gear of S800 EVO 

to the Controller Unit as fig. below.

 

(1) Make sure to enable and configure the Intelligent Gear function in the Assistant software first, 

and then connect the gear to the F1 port.

(2) The Gear channel is required to be mapped with a channel on Receiver if the Intelligent Gear 

function is enabled in Assistant Software, and the F1 port will give outputs for retracting control.

(3) Once you map the Gear channel, F1 port will give output signals from the controller for retract 

control. Otherwise, even the Intelligent Gear function is enabled; F1 will give output from D1 (it’s 

necessary to map the D1 channel with a channel on Receiver as your demands).

4.4 Attitude Control When One Motor Output Fails 

For Hexa-rotor, including Hexa-rotor I, Hexa-rotor V, Hexa-rotor IY and Hexa-rotor Y, the aircraft with A2 flight 

control system is attitude controllable when one motor output fails.

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.
©2013 DJI Innovations. All Rights Reserved 34 | 

4.5 DJI Assistant App Usage 

There is a built-in Bluetooth in the A2 LED-BT-I module. With a DJI Assistant App installed on your mobile 

device, remote parameter configuration can be obtained via Bluetooth communication between the A2 Flight 

Control System and the mobile device.

Bluetooth status indicator Abnormal Normal Communicating Antenna of Bluetooth Supported iOS devices 

iPhone 4s, iPhone 5, iPhone 5s, iPod Touch 5, iPad 3, iPad 4, iPad air, iPad mini,

iOS6.1 or above is required. Bluetooth version is required to be 4.0 or above.

 

Required versions of DJI Assistant App & Firmware 

Require DJI Assistant App version 1.1.14 or above and the firmware of A2 Controller Unit version 2.1 or above, as 

well as the firmware of LED-BT-I module version 2.0 or above.

 

Specifications 

Bluetooth version 4.0 Environment temperature -10°C~+50°C

Communication distance 50m Consumption 240mw(0.04A@6V)

 

DJI Assistant App Usage 

Step 1 Download and installation 

1. Search the DJI Assistant in App store on mobile device and install it.

 

Step 2 Connect the A2 Controller Unit and the DJI Assistant App 

1. Prepare an iOS device supported 4.0 Bluetooth, and then enable the Bluetooth function on the mobile 

device.

2. Power on the transmitter and the A2 Flight Control System, make sure the Bluetooth Status Indicator is 

solid Green .

3. Run the DJI Assistant App. You may be asked to register through internet when first login (the account of 

PC Assistant software is OK for login); follow the tips to set Main Controller name and password.

4. Observe the indicators on the left bottom of the software. ( connection indicator and 

communication indicator) On the DJI Assistant App, if the communication indicator is , please double 

check the connections and driver installation; otherwise if the indicator is blinking , go to next step.
©2013 DJI Innovations. All Rights Reserved 35 | 

5. Select the “Basic” option. Please follow step-by-step for your first-time-configuration. Basic configuration 

is necessary. Click the icon to get the configuration details.

6. You can click the “Advanced” option for more parameter settings. Advanced setting is optional. There are 

Motor, F/S, IOC, Gimbal, Voltage, Limits, Gear, etc.

7. Check all parameters in the View page.

8. Select “More” to obtain more details. Including: Restore MC default settings, Accounts, Main Controller 

List, Information, wiki, Rate DJI Assistant, FAQ, Feedback, About.

1. Make sure to upgrade the LED-BT-I module to the latest firmware via the PC Assistant software 

on a PC before you use the DJI Assistant App with the A2 Flight Control System.

2. Every time you run the DJI Assistant App, the App will search the Controller Unit automatically.

3. The gain value displayed on Mobile Device and PC may be a little different, that is OK for use.

 

Step 3 Flying Test Procedures 

1. Get the aircraft ready, run the DJI Assistant and make sure it is connected with the main controller. (The 

indicators on the DJI Assistant are )

2. Start the motors.

3. The “View” page shows the relative parameters real-time when flying.

4. Go to the “Basic” and click into the “Gain” page to set the values of all gains real-time during flying.

5. Go to the “Basic” and click into the “Tool” page to view the values of IMU & Compass real-time during 

flying.

6. Finish the flying and land your aircraft.

Only the parameter referred above can be changed during flying. Others can be configured after 

landing.

 
©2013 DJI Innovations. All Rights Reserved 36 | 

Appendix 

 

LED indicator descriptions 

Control mode GPS signal 

Manual Mode: No indicator Best ( > 6): No indicator

ATTI. Mode: (1) (sticks not in mid-point (2)) Good ( = 6): (1)

GPS ATTI. Mode: (1) (sticks not in mid-point (2)) Bad ( = 5) : (2)

Ground Station: (1) Worst ( < 5): (3)

Flight Attitude

Attitude good: No indicator Attitude status bad: (3)

IMU data lost, calibrate IMU needed: (4)

Compass calibration

Horizontal calibration (∝) Calibration Failed (∝)

Vertical calibration (∝) Abnormal Compass Data (∝)

Low voltage alert

First level alert (∝) Second level alert (∝)

FailSafe mode

During the FailSafe (∝)

Errors

System Error (4) Compass Abnormal after power on (∝)

IOC Recording 

Record home-point successfully (20) 

Aircraft is in the 8m range of HP (6) 

Record forward direction successfully (20)

Record a Point Of Interest successfully (20)

Bluetooth 

A2 Assistant is connected / disconnected to the flight control system (∝)

 

When the LED blinks (3), please hover or land the aircraft and wait for the white LED to go off.

When the LED blinks (3), it is not recommended to fly.

When the LED blinks (4), please contact your dealer.
©2013 DJI Innovations. All Rights Reserved 37 | 

Specifications 

General 

Built-In Functions  Built-in Receiver

 Multiple Control Modes

 2-axle Gimbal Supported

 Enhanced FailSafe

 Intelligent Orientation Control

 Dynamical Systems Protection

 PC & Bluetooth Ground Station

 External Receiver Supported

 9 Types of Supported Multi-rotor

 Other DJI Products Supported

 Low Voltage Protection

 4 Configurable Outputs

 Sound Alarm

 Configure Parameters Via Bluetooth

 

 

 

 

 

 

Peripheral 

Supported Multi-rotor  Quad-rotor: I4, X4

 Hexa-rotor: I6, V6, Y6, IY6

 Octo-rotor: X8, I8, V8

Supported ESC output 400Hz refresh frequency.

Supported Transmitter for Built-in Receiver Futaba FASST (MULT, MLT2, 7CH) Series and DJI DESST Series

External Receiver Supported Futaba S-Bus, DSM2, PPM

Recommended Battery 2S ~ 6S LiPo

Other DJI Products Supported Z15, iOSD Mark II, D-BUS Adapter, S800 EVO, 2.4G Data Link, 

H3-2D

Electrical & Mechanical 

Power Consumption MAX 5W (Typical Value: 0.3A@12.5V)

Operating Temperature -5°C to +60°C

Total Weight <= 224g (overall)

Dimensions  MC: 54mm x 39mm x 14.9mm

 IMU: 41.3mm x 30.5mm x 26.3mm

 GPS-COMPASS PRO: 62 mm (diameter) x 14.3 mm

 PMU: 39.5mm×27.6mm×9.8mm 

 LED-BTU-I:30mm x 30mm x 7.9mm

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

Hovering Accuracy (In GPS ATTI. Mode)  Vertical: ± 0.5m

 Horizontal: ± 1.5m

Maximum Wind Resistance <8m/s (17.9mph / 28.8km/h)

Max Yaw Angular Velocity 150deg/s

Max Tilt Angle 35°

Ascent / Descent 6m/s
©2013 DJI Innovations. All Rights Reserved 38 | 

FAQ 

 

Use with other DJI products 

The A2 can be used with other DJI products such as iOSD Mark II, Z15 series gimbals, S800 EVO and 2.4G 

Data Link(iPAD Ground Station function), H3-2D, etc. Users should connect them to the correct CAN-Bus port.

CAN1: iOSD Mark II, Z15 series.

CAN2: 2.4G Data Link (iPAD Ground Station function), H3-2D.

The following 2.4G Data Link connection diagram is the connection for your reference.

90o

ESC 1# ESC 2# ESC 3# ESC 4# ESC 5# ESC 6# ESC 7# ESC 8#

2S~6S Battery

2S~6S Battery
©2013 DJI Innovations. All Rights Reserved 39 | 

The following H3-2D connection diagram is the connection for your reference.

90o

ESC 1# ESC 2# ESC 3# ESC 4# ESC 5# ESC 6# ESC 7# ESC 8#

2S~6S Battery

2S~6S Battery

 

 

(1) H3-2D users should upgrade the firmware to the latest version (GCU V1.6& IMU V1.6 or above).

(2) If the 2.4G Data Link and H3-2D are used at the same time, a CAN-HUB module is required.

When using the A2 flight control system firmware version V2.1, the firmware of other DJI products used in 

conjunction must be matched with the requirements in the table below. 

Other DJI Products Firmware/Software Version (or above) Assistant Software( use to upgrade) 

iOSD Mark II V3.0 iOSD V4.0 & OSD Viewer V4.0

iOSD mini V1.04 iOSD V4.0

Zenmuse H3-2D GCU V1.6 & IMU V1.6 & CMU1.0 H3-2D V1.02

Z15-GH3 GCU V0.12 & IMU V1.4 Z15-GH3 V1.00

Z15-5D GCU V0.12 & IMU V1.4 Z15-5D V1.00

Z15-5N/7N/GH2/5R GCU V0.0.12 & IMU V1.0.18_beta Z15 V1.4

2.4G Bluetooth 

Datalink

The Ground end V1.0.1.5 & The Air End 

V1.0.1.1 & BTU V1.0.1.2

2.4G Bluetooth Datalink V1.0.0.6

iPAD Ground Station V1.3.56
©2013 DJI Innovations. All Rights Reserved 40 | 

Channel Mapping Instructions for PC Assistant Software 

Basic Channel Default Settings Usage Descriptions

A Roll Control of the Controller Unit, mapped 

to the Channel 1 of Receiver During Assistant Software usage, please click 

the “Calibration” button, to calibrate the 

Transmitter sticks travel. During calibrating, 

make sure to operate strictly following the 

prompts; otherwise may lead to calibration 

failure.

Click the “Map” button, then you can re-do 

mapping for A/E/T/R/U. 

E Pitch Control of the Controller Unit,

mapped to the Channel2 of Receiver

T Throttle Control of the Controller Unit,

mapped to the Channel3 of Receiver

R Yaw Control of the Controller Unit, mapped 

to the Channel4 of Receiver

U Control Mode Switch of the Controller Unit, 

mapped to the Channel7 of Receiver

Others Default Settings Usage Descriptions

K1~K6 Remote Gains Adjustment of the Controller 

Unit, unmapped.

Click “Unmapped” button to map K1~K6 to the 

channels of Receiver.

Pitch Gimbal Pitch Control of the Controller Unit, 

unmapped.

Click “Unmapped” button to map Pitch to a 

Receiver channel for the gimbal servo control.

D1~D4 Direct Channels (The corresponding ports 

are F1~F4 on the Controller Unit) of 

Controller Unit, unmapped.

Click “Unmapped” button to map D1~D4 to 

the Receiver channels. If you enable the

Gimbal functions in Assistant Software, then 

the F3/F2 are used for gimbal control; even

D3/D2 are mapped to channels of Receiver,
©2013 DJI Innovations. All Rights Reserved 41 | 

and the signals from the mapped Receiver 

channels will be ignored.

You can use F4 for switching the video 

channel of iOSD Mark II, then map D4 to a 

Receiver channel.

IOC IOC function of the Controller Unit, 

unmapped.

Click “Unmapped” button to map IOC to a 

Receiver channel. It is recommended to use a 

3-position switch channel.

Go Home One-Key Go Home function of the 

Controller Unit, unmapped.

Click “Unmapped” button to map Go Home to 

the Receiver channel. It is recommended to 

use a 2-position switch channel.

Gear Intelligent Gear function of the Controller 

Unit, unmapped.

If you enable the Gear function in Assistant 

Software, then the F1 is used for the gear 

control of S800 EVO landing.

H3-2D H3-2D function of the Controller Unit, 

unmapped.

Click “Unmapped” button to map H3-2D to a 

Receiver channel. It is recommended to use a 

Knob switch channel, which is only used for 

H3-2D pitch control.

The Pitch and the H3-2D channels can be used at the same time. The Pitch is for the pitch control 

of servo gimbal, and the H3-2D is for the pitch control of H3-2D gimbal

Recommended Mapping for Futaba Transmitter (Mode 2) User 

Controller Unit Channel Receiver Channel Recommended Transmitter Switch

A Channe 1 (AIL) Joystick J1

E Channe 2 (ELE) Joystick J2

T Channe 3 (THR) Joystick J3

R Channe 4 (RUD) Joystick J4

U Channe 7 (AUX5) 3-Position switch, e.g. SG

K1~K6 Channe 5 (GEAR) Knob switch, e.g. LD, RD

Pitch Channe 6 (Vpp) Knob switch, e.g. LD, RD

D1/D3/D2 ---- ----

D4 Channe 9 (AUX1) 2-Position switch, e.g. SF

IOC Channe 10 (AUX2) 3-Position switch, e.g. SG

Go Home Channe 11 (AUX3) 2-Position switch with spring back function, e.g. SH
©2013 DJI Innovations. All Rights Reserved 42 | 

Gear Channe 8 (AUX4) 2-Position switch, e.g. SF

H3-2D Channe 12(AUX5) Knob switch, e.g. LD、RD

Settings of gain values for Your Reference 

To set the value of basic gain and attitude gain you can refer to the following diagram. These values are only for 

reference and may vary in practice.

The Transmitter setup of FUTABA 

Please configure the Frequency item on your Transmitter adhere to the table below. (The names of FASST modes 

here are based to the Transmitter FUTABA T8FG, please ensure to select the most similar mode as the names 

differs for different Transmitters)

Transmitter type AREA FASST 

FUTABA 18MZ Default FASST-MULTI\FASST-7CH

FUTABA 14MZ with TM-14 Default MULT\7CH

FUTABA 14SG FRANCE\GENERAL FASST-MULTI\FASST-7CH

FUTABA 12Z 2.4G FASST with TM-14 Default MULT\7CH

FUTABA 12FG 2.4G FASST with TM-14 Default MULT\7CH

FUTABA 10CG or 10C with TM-10 Default 7CH

FUTABA 9C SUPER with TM-7 or TM-8 Default 7CH

FUTABA 8FG SUPER FRANCE\GENERAL MLT2\MULT\7CH

FUTABA 8FG FRANCE\GENERAL MULT/7CH

FUTABA 7C 2.4G Default Default

FUTABA 6EX FASST Default Default

Aircraft 

Configuration Information Basic Attitude 

Motor ESC Propeller Battery Weight Pitch Roll Yaw Pitch Roll Vertical

F450 DJI-2212 DJI-30A DJI-8 Inch 3S-2200 890 g 150 150 135 150 150 140

F550 DJI-2212 DJI-30A DJI-8 Inch 4S-3300 1530 g 170 170 150 160 160 150

S800 EVO+Z15 DJI-4114 DJI-40A DJI-15Inch 6S-15000 7000g 140 140 130 140 140 130
©2013 DJI Innovations. All Rights Reserved 43 | 

Disclaimer 

Please read this disclaimer carefully before using this product. By using this product, you hereby 

agree to this disclaimer and signify that you have read it fully. 

THIS PRODUCT IS NOT SUITABLE FOR PEOPLE UNDER THE AGE OF 18. 

A2 flight controller is designed for serious multi-rotor enthusiasts providing excellent self-leveling and altitude 

holding, which completely takes the stress out of flying RC multi-rotors for both professional and hobby applications. 

Despite the product having a built-in flight control system and our efforts in making the operation of the controller 

as safe as possible when the main power battery is connected, we strongly recommend users to remove all 

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

animals away during firmware upgrade, system calibration and parameter setup. DJI Innovations accepts no liability 

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

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

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

2. Damage(s) or injuries caused by subjective intentional operations.

3. Any mental damage compensation caused by accident.

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

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

6. Damage(s) or injuries caused by using third party products or fake DJI products.

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

8. Damage(s) or injuries caused by mechanical failures due to erosion, aging.

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

10. Damage(s) or injuries caused by knowingly flying the aircraft in abnormal condition (such as water, oil, 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).

11. 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-fly zones or the pilot is in backlight, blocked, fuzzy 

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

12. 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.

13. Damage(s) or injuries caused when the aircraft is in the following situations: collision, fire, explosion, floods, 

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

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

aircraft.

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

16. Other losses that are not covered by the scope of DJI Innovations liability.

Trademark 

DJI and A2 are registered trademarks of DJI Innovations. Names of product, brand, etc., appearing in this manual 

are trademarks or registered trademarks of their respective owner companies. This product and manual are 

copyrighted by DJI Innovations with all rights reserved. No part of this product or manual shall be reproduced in 

any form without the prior written consent or authorization of DJI Innovations. No patent liability is assumed with 

respect to the use of the product or information contained herein.