Petition for Exemption-Kuehn Submitted September 15 2015

Page 1 of 5

Petition for Exemption

Owner and Sole PIC: Jonathan A. Kuehn

H13222 Hill Road

Wausau, WI 54403

ph 715.203.1127

jonkuehnonline@gmail.com

UAS: Phantom P330 (aka Phantom 1)

FAA Registration # N581ZX (Appendix G)

UAS Specifications – See Appendix A, see Appendix C p7 for illustration

UAS Safety Features 

GPS Linking

During the pre-flight warm-up, the UAS establishes GPS links. In GPS mode, the PIC can release 

both flight control sticks and rely on the aircraft to hover in place, maintaining a level attitude 

and its position. This drastically simplifies the flight control and allows the PIC to virtually 

“pause” a flight operation if needed. The UAS can also be flown safely and reliably without GPS 

assistance. 

GeoFencing

The UAS control software allows the operator to set limits for altitude and distance from 

controller. These parameters can be set to make it impossible for the PIC to cause the aircraft 

to be flown at restricted altitudes or so far from the controller that the aircraft can no longer be 

directly observed. Current maximum altitude is 200 ft (61 meters). Current maximum distance 

from controller is 900 meters. If the aircraft reaches a geofence limit, it remains operational and 

under PIC control, with the exception of breaching the geofence. (Appendix E p22)

Low Power Precautions

The aircraft uses one 11.1V 3S lithium-polymer battery and has several layers of protection 

against power failure.

 Firstly, the PIC uses a flight timer and begins preparing for landing when the timer 

reaches 10 minutes. This is well within the published and tested limits (12-13 minutes) 

of the battery.

 The PIC uses an aftermarket voltmeter that monitors each of the three battery cells. If 

any cell falls below 3.50V, a piercing audible alarm sounds.

 The UAS has a programmable low battery alert that causes the onboard LED to flash red

when the battery is at 10.40V, alerting the PIC that it is time to land. (Appendix E p17)

 The UAS has a second programmable low battery threshold (10.30V) that automatically 

triggers the Fly-Home function (Appendix E p16). This causes the aircraft to ascend to a 

pre-programmed altitude, fly at altitude to the home-point (established by GPS prior to 

take-off), and descend vertically to land. 
Petition for Exemption-Kuehn Submitted September 15 2015

Page 2 of 5

Loading and Cargo

The aircraft does not carry any cargo or passengers. Prior to each flight, a fully-charged battery 

is installed into the center cavity of the aircraft per manufacturer instructions. A camera and 

gimbal may be mounted to the underside of the aircraft per the manufacturer’s instructions

(Appendix F (A6)). All loading and attachment of aftermarket equipment: 

 is performed per manufacturer instructions

 does not result in a total take-off weight above manufacturer specifications

 results in a weight-balanced aircraft

 is flight tested for stability and flight time (battery duration) at low altitudes ( <3 meters)

UAS Marking

The UAS is marked with its registration number and country of operation. The markings are 

black-on-white 1” lettering with one set on the fuselage (visible from above) and a second set on 

the landing struts (visible from the sides and from below). The size and position of the lettering 

is likely the most visible configuration possible, considering the craft’s size and available surface 

area (see Appendix C p7 for illustration).

Inspection

The Pre-flight inspection procedure follows all manufacturer instructions (Appendix E p13 

“Before Flight,” Appendix C p4, and Appendix D). This includes but is not limited to:

 Inspection of the fuselage

 Inspection of the propellers

 Inspection of the landing gear

 Inspecting the battery and connections

 Security of the battery door

 Security of all loads and attached equipment

 Addressing any alarms

Post-Flight inspection includes all of the above and guides any non-routine maintenance or 

repairs.

Maintenance

Routine maintenance is performed according to the manufacturer’s directions. This includes but 

is not limited to:

 Completely recharging each battery after use

 Inspecting all parts, especially propellers, landing gear, and battery door, and repairing 

or replacing as needed

 Reviewing the software parameters and updating the onboard controller monthly and 

as needed (Appendix E p24)

 Recalibrating the compass monthly and as needed (Appendix E p12)

 Recalibrating the radio transmitter monthly and as needed (Appendix F (A5))
Petition for Exemption-Kuehn Submitted September 15 2015

Page 3 of 5

Repair

The Phantom 1 has a basic design that allows the owner to perform repairs. As a hobbyist, the 

owner has demonstrated skill in:

 Installing propellers, landing, gear, and antennae as part of initial set-up

 Upgrading landing gear and reinstalling antennae

 Opening the fuselage for inspection and then reassembling (Appendix F (A8)

 Installing optional propeller guards

Any repairs that cannot be performed by the owner will be made by the manufacturer or other 

qualified person. After any repair, the owner will test-fly the aircraft at low altitude (<3 meters) 

to ensure stability, safety, and overall proper function.

Controller Frequencies, FCC Compliance, and Precautions

The radio transmitter uses 2.4GHz ISM and is FCC compliant per the manufacturer (Appendix C 

p17). No aftermarket modifications have been made to the OEM radio equipment.

The radio has an onboard low-battery alert to cue the operator to replace the radio batteries 

before flight (Appendix C p16). In case of loss of contact with the radio, the UAS uses the FlyHome function described under the Low Power Precautions section of this document, as well as 

Appendix E p16. 

Aircraft PIC 

There are no available formal certifications for quadcopter pilots. Over the past three years, the 

PIC has an estimated 100 hours of recreational flight experience with the Phantom 1. The PIC 

has never had any collisions or caused any injury or upset to observers or non-participants. 

There are no formal medical standards for quadcopter pilots. The PIC does not have any 

medical conditions or disability that would impair his ability to operate the aircraft safely. The 

PIC does not have any documented visual impairments.

Per the AMA National Model Aircraft Safety Code A-2(h), the PIC will “not operate the aircraft 

while under the influence of alcohol or while using any drug that could adversely affect the 

pilot’s ability to safely control the model [aircraft]”. (Appendix B)
Petition for Exemption-Kuehn Submitted September 15 2015

Page 4 of 5

Aircraft Operation

Safety for Persons and Property on the Ground

The PIC will follow all applicable AMA National Model Aircraft Safety Code (Appendix B) and FAA 

regulations. Where these overlap, the PIC will follow the more restrictive regulation. The 

following are additions to or emphases of these bodies’ guidelines and regulations.

Site Selection and Planning

The PIC will ensure the site is not affected by any FAA Temporary Flight Restrictions.

If there is an airport within 5 miles of the site, the PIC will contact the governing control tower 

to describe the proposed flight path and proceed at the sole discretion of the governing control 

tower. In the unlikely event that more than one airport is within 5 miles of the site, the PIC will 

obtain consent from all governing control towers before operating the UAS.

On-site, the PIC will assess the weather conditions for flying. The UAS will not be operated if 

there is current or impending 1) precipitation of any kind, 2) fog that would prevent reliable 

direct observation by the PIC throughout the operation, 3) air temperature outside of the 

manufacturer’s recommended range (~14°F – 122°F), or 4) excessive wind. Wind conditions will 

be evaluated prior to take-off and at planned altitudes during the vertical take-off. 

The PIC will survey the ground site over which the UAS will be operated noting structures, trees 

and other natural obstacles, utility lines, etc. The pilot will assess the useable airspace for 

suitability and identify safe corridors when planning a flight path. The path will:

 Include a vertical column at least 10 meters in diameter that extends above the tree line 

and above any other obstructions, for take-off and landing

 Primarily exist above the tree line and above any other obstacles

 Allow for safe distance form all obstacles and people

 Allow for visual line-of site (VLOS), unaided observation by the PIC throughout the flight

 Be free of clouds, fog, smoke, etc.

 Accommodate the UAS Fly-Home procedure

 Follow the manufacturer’s guidelines for avoiding magnetic interference

Minimizing Risk to Observers and Property

The typical flight mission is the photography or videography of rural, woodland, or otherwise 

minimally-populated land at the request of the owner or custodian of the land (the Flight 

Sponsor). The typical flight path will be contained in the airspace above the Flight Sponsor’s 

property. The PIC will collaborate with the Flight Sponsor to define the flight plan. Nonparticipating persons, including the Flight Sponsor, will be encouraged to take shelter in a 

building, vehicle, or other structure for the duration of the flight. 

Any non-participating person who declines to take cover will be made aware of the risks s/he is

assuming. The PIC will encourage the non-participating person to maintain direct visual line of 

sight (VLOS) with the aircraft for the duration of the flight. If the non-participating person

declines, the PIC will suggest again that if the person does not intend to observe via VLOS, s/he 

should reconsider taking shelter. As the owner or the custodian of the property, the Flight 

Sponsor may use whatever legal rights s/he has to dismiss any person who declines to take 
Petition for Exemption-Kuehn Submitted September 15 2015

Page 5 of 5

reasonable precautions. Ultimately, the PIC and Flight Sponsor will collaborate to come to 

consensus on the final determination of whether to continue with the UAS operation.

The PIC will follow the Academy of Model Aeronautics (AMA) National Model Aircraft Safety 

Code (Appendix B) at all times as applicable.

Pre-Flight Procedures

(Appendix E p13 “Before Flight,” Appendix C p4, and Appendix D)

1. Verify radio Control Mode Switch (S1) is set to “GPS”

2. Verify radio IOC Switch (S2) is set to “Off”

3. Power-on radio 

4. Power-on aircraft

5. Attach aftermarket voltmeter and verify battery charge >/= 12.4V

6. Verify system-check complete (per Appendix C p11)

7. Verify >6 GPS satellite connections (per Appendix C p15 “LED Description”)

8. Verify GPS Control Mode (per Appendix C p15 “LED Description”)

9. Verify camera Wi-Fi is off

In-Flight Procedures and Precautions

The PIC will maintain VLOS at all times. Loss of VLOS will be prevented using various methods 

described elsewhere in this document, including:

 wind & weather monitoring

 flight path planning

 control tests at altitudes <3 meters before further ascent

If at any time the PIC loses VLOS, he will:

 release both control sticks, causing the aircraft to hover in place

 reposition himself to re-establish VLOS

 continue the operation, adjusting the flight path or landing as needed

The PIC will respond to aircraft behavior and any LED or audible alerts per manufacturer’s 

instructions. See Appendix D et al.

Electronic Signature

By submitting this document electronically, the Owner and PIC, Jonathan A. Kuehn certifies that 

the information in this petition is accurate and complete.

END OF DOCUMENT
Appendix A ‐ Aircraft Specifications

Full Legal Name of UA Manufacturer: DJI Innovations Corporation

Model Designation: P330 (aka Phantom 1)

Serial Number: PH635815696

Class: Rotorcraft (quad‐copter)

Number of Engines: 4

Engine Type: Electric

Diagonal Distance (Motor Center To Motor Center): 350mm

Operating Temperature: ‐10°C ~ 50°C (~14°F – 122°F)

Power Consumption: 3.12W

Maximum Take‐Off Weight: 1200g

Hovering Accuracy (GPS Mode)

Vertical: 0.8m

Horizontal: 2.5m

Max Yaw Angular Velocity: 200°/s

Max Tilt Angle: 45°

Max Ascent / Descent Speed: 6m/s

Max Flight Velocity: 10m/s

Radio Transmitter Parameters

Working Frequency: 2.4GHz ISM

Control Channels: 7 Channels

Communication Distance: 1000m

Receiver Sensitivity (1%PER) >‐100dBm

Power Consumption: <20dBm

Working Current /Voltage: 52 mA@6V

Batteries: AA x 4
Academy of Model Aeronautics National Model Aircraft Safety Code

Effective January 1, 2014 

A. GENERAL: A model aircraft is a non-human-carrying aircraft capable of sustained flight in the atmosphere. It may not exceed limitations of this code and is 

intended exclusively for sport, recreation, education and/or competition. All model flights must be conducted in accordance with this safety code and any 

additional rules specific to the flying site. 

1. Model aircraft will not be flown: 

(a) In a careless or reckless manner. 

(b) At a location where model aircraft activities are prohibited. 

2. Model aircraft pilots will: 

(a) Yield the right of way to all human-carrying aircraft. 

(b) See and avoid all aircraft and a spotter must be used when appropriate. (AMA Document #540-D.) 

(c) Not fly higher than approximately 400 feet above ground level within three (3) miles of an airport without notifying the airport operator. 

(d) Not interfere with operations and traffic patterns at any airport, heliport or seaplane base except where there is a mixed use agreement. 

(e) Not exceed a takeoff weight, including fuel, of 55 pounds unless in compliance with the AMA Large Model Airplane program. (AMA Document 520-A.) 

(f) Ensure the aircraft is identified with the name and address or AMA number of the owner on the inside or affixed to the outside of the model aircraft. (This 

does not apply to model aircraft flown indoors.) 

(g) Not operate aircraft with metal-blade propellers or with gaseous boosts except for helicopters operated under the provisions of AMA Document #555. 

(h) Not operate model aircraft while under the influence of alcohol or while using any drug that could adversely affect the pilot’s ability to safely control the 

model. 

(i) Not operate model aircraft carrying pyrotechnic devices that explode or burn, or any device which propels a projectile or drops any object that creates a 

hazard to persons or property. 

Exceptions: 

 Free Flight fuses or devices that burn producing smoke and are securely attached to the model aircraft during flight. 

 Rocket motors (using solid propellant) up to a G-series size may be used provided they remain attached to the model during flight. Model rockets may 

be flown in accordance with the National Model Rocketry Safety Code but may not be launched from model aircraft. 

 Officially designated AMA Air Show Teams (AST) are authorized to use devices and practices as defined within the Team AMA Program Document. 

(AMA Document #718.) 

(j) Not operate a turbine-powered aircraft, unless in compliance with the AMA turbine regulations. (AMA Document #510-A.) 

3. Model aircraft will not be flown in AMA sanctioned events, air shows or model demonstrations unless: 

(a) The aircraft, control system and pilot skills have successfully demonstrated all maneuvers intended or anticipated prior to the specific event. 

(b) An inexperienced pilot is assisted by an experienced pilot. 

4. When and where required by rule, helmets must be properly worn and fastened. They must be OSHA, DOT, ANSI, SNELL or NOCSAE approved or comply 

with comparable standards. 

B. RADIO CONTROL (RC)

1. All pilots shall avoid flying directly over unprotected people, vessels, vehicles or structures and shall avoid endangerment of life and property of others. 

2. A successful radio equipment ground-range check in accordance with manufacturer’s recommendations will be completed before the first flight of a new or 

repaired model aircraft. 

3. At all flying sites a safety line(s) must be established in front of which all flying takes place. (AMA Document #706.) 

(a) Only personnel associated with flying the model aircraft are allowed at or in front of the safety line. 

(b) At air shows or demonstrations, a straight safety line must be established. 

(c) An area away from the safety line must be maintained for spectators. 

(d) Intentional flying behind the safety line is prohibited. 

4. RC model aircraft must use the radio-control frequencies currently allowed by the Federal Communications Commission (FCC). Only individuals properly 

licensed by the FCC are authorized to operate equipment on Amateur Band frequencies. 

5. RC model aircraft will not knowingly operate within three (3) miles of any pre-existing flying site without a frequency-management agreement. (AMA 

Documents #922 and #923.) 

6. With the exception of events flown under official AMA Competition Regulations, excluding takeoff and landing, no powered model may be flown outdoors 

closer than 25 feet to any individual, except for the pilot and the pilot's helper(s) located at the flightline. 

7. Under no circumstances may a pilot or other person touch an outdoor model aircraft in flight while it is still under power, except to divert it from striking an 

individual. 

8. RC night flying requires a lighting system providing the pilot with a clear view of the model’s attitude and orientation at all times. Hand-held illumination 

systems are inadequate for night flying operations. 

9. The pilot of an RC model aircraft shall: 

(a) Maintain control during the entire flight, maintaining visual contact without enhancement other than by corrective lenses prescribed for the pilot. 

(b) Fly using the assistance of a camera or First-Person View (FPV) only in accordance with the procedures outlined in AMA Document #550. 

(c) Fly using the assistance of autopilot or stabilization system only in accordance with the procedures outlined in AMA Document #560. 

C. FREE FLIGHT 

1. Must be at least 100 feet downwind of spectators and automobile parking when the model aircraft is launched. 

2. Launch area must be clear of all individuals except mechanics, officials, and other fliers. 

3. An effective device will be used to extinguish any fuse on the model aircraft after the fuse has completed its function. 

D. CONTROL LINE 

1. The complete control system (including the safety thong where applicable) must have an inspection and pull test prior to flying. 

2. The pull test will be in accordance with the current Competition Regulations for the applicable model aircraft category. 

3. Model aircraft not fitting a specific category shall use those pull-test requirements as indicated for Control Line Precision Aerobatics. 

4. The flying area must be clear of all utility wires or poles and a model aircraft will not be flown closer than 50 feet to any above-ground electric utility lines. 

5. The flying area must be clear of all nonessential participants and spectators before the engine is started.
©2012-2013 DJI Innovations. All Rights Reserved. 1 | 

 

PHANTOM Quick Start Manual V1.7 

2013.09.25 Revision

For NAZA-M Firmware V3.12 

& Assistant Software V2.12

Thank you for purchasing our product. Please visit the DJI website, PHANTOM section to confirm if the printed manual 

is the latest one according to the manual version. If not, please download and refer to the latest manual. 

Please read the entire manual strictly and follow these steps to use you product. The manual will get you ready to fly by 

doing simple operations. You can get an advanced manual from DJI website to learn more about PHANTOM, for 

example, configuring parameters by connecting to assistant software, changing the transmitter to Mode1, matching 

frequency between the transmitter and the receiver, etc.

Make sure to use the NAZA-M assistant software of 2.0 version (or above 2.0) to carry out firmware upgrade and 

parameter configuration. DO NOT use the NAZA-M assistant software bellow 2.0 version.

Note: The built-in autopilot system is NAZA-M; you can obtain the current NAZA-M Firmware Version according to the 

Assistant Software. If you ever upgrade your NAZA-M Firmware, please carefully read the corresponding NAZA-M 

release note and NAZA-M quick start guide.

 

www.dji.com 
©2012-2013 DJI Innovations. All Rights Reserved. 2 | 

Content 

CONTENT .................................................................................................................................................. 2

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

CAUTIONS FOR PRODUCT USE.....................................................................................................4

TRADEMARKS ..........................................................................................................................................4

BATTERY USAGE & CHARGING CAUTIONS ............................................................................ 5

IN THE BOX............................................................................................................................................... 6

REQUIRED ITEMS................................................................................................................................... 6

INTRODUCTION ..................................................................................................................................... 7

AIRCRAFT & TRANSMITTER BASIC OPERATION................................................................... 8

BEFORE FLYING..................................................................................................................................... 9

FLIGHT TEST............................................................................................................................................13

THE FLOWCHART OF FAILSAFE AND HOW TO REGAIN CONTROL .......................14

LOW-VOLTAGE ALERT......................................................................................................................15

LED DESCRIPTION ...............................................................................................................................15

SPECIFICATIONS OF THE AIRCRAFT.........................................................................................16
©2012-2013 DJI Innovations. All Rights Reserved. 3 | 

Disclaimer & Warning 

Please read this disclaimer carefully before using the PHANTOM. By using this product, you hereby agree to this 

disclaimer and signify that you have read them fully. THIS PRODUCT IS NOT SUITABLE FOR PEOPLE UNDER THE 

AGE OF 18. 

PHANTOM is an excellent flight platform offering an excellent flight experience, only if it is powered normally and in a 

good working condition. Despite the PHANTOM having a built-in autopilot 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 alert 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.
©2012-2013 DJI Innovations. All Rights Reserved. 4 | 

Cautions for Product Use 

Please check the following steps carefully every time before flight. 

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. Check that all parts of the multi-rotor are in good condition before flight. Do not fly with aging or broken parts.

3. Check that the propellers and the motors are installed correctly and firmly before flight. Make sure the rotation 

direction of each propeller is correct. Do not get close to or even touch the working motors and propellers to 

avoid serious injury.

4. Do not over load the multi-rotor (should be less than 1200g).

5. Make sure that the transmitter battery and flight battery are fully charged.

6. Try to avoid interference between the remote control transmitter and other wireless equipment.

7. Make sure to switch on the transmitter first, then power on the multi-rotor before takeoff! Power off the 

multi-rotor first, then switch off the transmitter after landing!

8. The fast rotating propellers of PHANTOM will cause serious damage and injury. Always fly the multi-rotor 3m or 

above away from you and unsafe conditions, such as obstacles, crowds, high-voltage lines, etc. FLY 

RESPONSIBLY.

9. 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.

10. Please always keep the compass module away from the magnet. Otherwise it may damage the compass module 

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

11. DO NOT use the PHANTOM transmitter (receiver) with the other third party remote control equipment.

12. Make sure to use the NAZA-M assistant software of 2.0 version (or above 2.0) to carry out firmware upgrade 

and parameter configuration. DO NOT use the NAZA-M assistant software bellow 2.0 version.

13. The built-in ESCs of PHANTOM ONLY support 3S (11.1V) power supply.

14. ONLY use the DJI original motor and 8-inch propeller.

15. If you want to put the PHANTOM in a car, please keep it away from the speaker, since the compass module may 

be magnetized.

16. DO NOT use the magnetic screwdriver. Otherwise, keep the screwdriver at least 10cm away from the compass 

module, to avoid magnetic interference.

17. If you use your own equipment(for example: GoPro3), please make sure the WiFi function is disabled, to avoid 

the interference on the transmitter, which may cause the PHANTOM to FailSafe, crack and or even to fly away.

18. For Mac user, please install Windows Parallel to run assistant software.

If you have any problem you cannot solve during installation, please contact a DJI Authorized Dealer. 

Trademarks 

DJI and PHANTOM 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.
©2012-2013 DJI Innovations. All Rights Reserved. 5 | 

Battery Usage & Charging Cautions 

1. Do not put the battery into water; store the battery in a cool and dry environment.

2. Only use the correctly specified batteries

3. Batteries must be kept out of the reach of children; if a child accidentally swallows the battery you should 

immediately seek medical assistance.

4. Do not use or store the battery near fire.

5. Battery should be charged with proper standard charger.

6. Do not connect the battery reversed in positive and negative terminals in the charger or equipment.

7. Do not connect the battery directly to the wall plugs or vehicle-mounted socket.

8. Do not put the battery into a fire or heat the battery.

9. Do not let the battery terminals (+and-) touch together to cause short-circuit.

10. Do not transport or store the battery together with metal objects.

11. Do not hit or throw the battery.

12. Do not weld the battery terminals together.

13. Do not drive a nail in, hit with a hammer, or stomp on the battery.

14. Do not disassemble or alter the battery.

15. Do not use or store the battery in extreme heat environments, such as direct sunlight or in the car in hot weather. 

Otherwise, the battery will overheat, may cause fire (or self-ignite), this will affect the performance of the battery, 

shorten the service life of the battery.

16. Do not use the battery in strong electrostatic areas, otherwise the electronic protection may be damaged which 

may cause a hazard.

17. If you get the battery electrolyte leakage into your eyes, don't rub, first wash your eyes with clean water then seek 

medical assistance immediately. If not handled in a timely manner, eyes could be damaged.

18. Do not use the battery when it emits an odour, high temperature, deformation, change in colour or other 

abnormal phenomena; if the battery is in use or charging, you should stop charging or using immediately.

19. If the battery terminal gets dirty, please clean it with a dry cloth before using. Otherwise it will cause a poor 

contact, thus causing energy loss or inability to charge.

20. Discarded battery could lead to a fire; you should completely discharge the battery and wrap the output terminal 

with insulating tape before discarding.

21. DO NOT drain the battery of phantom or leave the battery plugged into the PHANTOM when unused. When 

there is low voltage alert please landing timely to avoid damages to the battery or others.

 
©2012-2013 DJI Innovations. All Rights Reserved. 6 | 

In the Box 

Aircraft Transmitter

Landing Gear 

(with Compass Module)

Frame for Camera Propellers Assistant Wrench

USB Cable Screw Package (M3x6) Accessory

Required Items 

Phillips Screwdriver 5# AA Batteries
©2012-2013 DJI Innovations. All Rights Reserved. 7 | 

Introduction 

The PHANTOM is an all-in-one small Quad Copter designed for multi-rotor enthusiasts. Before shipping from the 

factory, it has been configured and fully tested, which means you have no configuration to do.

 Built-in

 NAZA-M Autopilot System

(Refer to NAZA-M manual for details)

 GPS & Compass Module

 R/C Receiver

 Power System for Flight

 LED Indicator

 USB Interface 

(in the Battery Compartment)

 Function

 ATTI./GPS ATTI. Mode

 Intelligent Orientation Control

 Enhanced Fail-Safe

 Low-Voltage Alert

 Camera Frame (For GoPro)

 Takeoff Weight:<1200g

OFF C LH L

GPS ATTI ATTI

 Working Frequency: 2.4GHz ISM

 Control Channel Numbers of Transmitter: 7

 Communication Distance: 1000m

 Receiver Sensitivity(1%PER): >-100dBm

 Power Consumption of Transmitter:<20dBm

 Working Current/Voltage: 52 mA@6V

 AA Battery (5#): 4 Required
©2012-2013 DJI Innovations. All Rights Reserved. 8 | 

Aircraft & Transmitter Basic Operation 

Definitions 

 Stick neutral position and stick released means the stick of Transmitter is pushed to the central position. 

 Command Stick means the stick of Transmitter is pushed away from the central position.

Transmitter 

Aircraft 

( is the nose direction)

GPS ATTI. Mode/ATTI. Mode 

Throttle stick is for aircraft up& down control. The aircraft will hold 

the height automatically if the stick is centered. You should Push 

the throttle stick to the neutral position to take-off the multi-rotor.

Note that the stick returns to the central position when released 

for the transmitter V3.5. For the version below 3.5, the stick 

cannot hold the central position when released. 

Yaw stick is for aircraft rudder control.

Command stick controls the angular velocity of the aircraft, with 

the maximum rudder angular velocity of 200°/s. Left stick 

command gives counter clock-wise rotation of the aircraft, & vice 

versa. 

Roll stick is for aircraft left/right control and Pitch stick is for 

front/back control. Command stick controls the angle of the 

aircraft. Stick neutral position is for 0 ̊, its endpoint is 35 ̊. The roll 

and pitch sticks return to the central position when released.

 In GPS Mode, the aircraft will hover (hold horizontal position) 

when sticks released.

 In ATTI. Mode, the aircraft will keep attitude stabilizing without 

horizontal position (different from hover in GPS Mode).

 

GPS ATTI. ATTI. ATTI.

 (Manual or

 Failsafe is 

 selectable

in software.)

3-position switch (S1) on the Transmitter for mode control. Only 

after Compass Module connection and Compass calibration, GPS 

ATTI. Mode is available. Otherwise, all switch positions are for 

ATTI. Mode. Pay attention because the GPS ATTI. Mode is 

dependent on the number of GPS satellites acquired by the main 

controller. Refer to the LED Indicator. When GPS signal has been 

lost for 3s, system enters ATTI. Mode automatically. You can 

enable the Manual Mode or FailSafe (also known as One-key 

Go-home) in the assistant software->Basic->R/C->Control Mode.

 

OFF Course Lock Home Lock

3-position switch (S2) on the Transmitter for Intelligent 

Orientation Control (IOC). Set the switch to OFF in basic flight.

This function is defaulted to off. If you want to use this function 

refer to the advanced manual, and enable it in the assistant 

software. Use IOC when you are familiar with basic flight.

 

You can change the operation mode of the Transmitter according to the advanced manual if necessary.
©2012-2013 DJI Innovations. All Rights Reserved. 9 | 

Before Flying 

1. Installing the Transmitter Batteries 

1. Open the battery compartment cover of the Transmitter.

2. Install 4x AA battery (5#) in accordance with the + /- pole.

3. Close the battery compartment cover of the Transmitter.

 

 DO NOT use the PHANTOM transmitter (receiver) with the other third party remote control equipment. 

 Risk of explosion if replaced by an incorrect type.

 Dispose of used batteries according to the instructions.

 Remove the batteries after use.

 When the voltage is lower than 4V, the transmitter will alarm with sound of “BB............”, please change the 

batteries.

 

2. Battery Charging – LiPo Battery 

Please use the full charged battery of 3S LiPo. 

(Recommended parameters: 733496 - 2200MAH-20C-11.1V.) 

The built-in ESCs of PHANTOM ONLY support 3S (11.1V) power supply. DO NOT use the battery of higher voltage. 

 

3. Fitting the Propeller 

1. First prepare the aircraft and the propellers (original 8-inch). 

2. Assemble the propellers (the side with rotary mark facing up) to the aircraft. Make sure the rotary mark on the 

propeller is the same as the mark on the frame arm. The arrow’s direction stands for the rotating direction of the 

motors. 

3. Finally fit the propeller nuts.

 

DO NOT use thread locker when mounting the propellers, just tighten the screws is enough.

 

 
©2012-2013 DJI Innovations. All Rights Reserved. 10 | 

4. Mount the Landing Gear with the Compass Module if Required 

If the GPS ATTI. Mode is desired, you must first mount the landing gear which contains the Compass Module.

1. Prepare the aircraft and the landing gear.

2. Mount the landing gear with the Compass Module to the right part (shown as the following chart); make sure the 

5-pin cable is through the hole of the landing gear. Fix the landing gear with screws (M3x6), and then connect the 

5-pin cable to the Compass Module.

3. Mount the other landing gear to the left part.

4. Fix the antenna and the 5-pin cable on both landing gear by using the white adhesive tape.

Landing Gear Mounting Compass Module Connecting

 

 When flying, please make sure the compass module is stationary and firm.

 If the Landing Gear with the compass module mount on has been deformed, please replace it with a new one and 

mount it as the procedures above.

 The compass module is not waterproof, and not anti-oil.

 DO NOT use the magnetic screwdriver. Otherwise, keep the screwdriver at least 10cm away from the compass 

module, to avoid magnetic interference.

 

 

5. Turn on the Transmitter 

1. Set the IOC and Control Mode switch to the top position.

2. Turn on the power switch of the Transmitter
©2012-2013 DJI Innovations. All Rights Reserved. 11 | 

6. Power on the Aircraft 

1. Place the aircraft on the ground

2. Open the battery compartment cover of the aircraft.

3. Put the battery into the compartment with the power cord facing outward.

4. Connect the battery and aircraft by the power lead and make sure the ESC’s work properly. (Correct sound)

5. Keep the sticks of the Transmitter and the Aircraft stationary until the system start and self-check has finished 

( ).

6. Put the power cable into the battery compartment.

7. Close the battery compartment cover.

8. The LED may blink Yellow 4 times quickly ( ). Start motor is disable during LED blinking Yellow 4 times 

quickly ( ), as the system is warming up.

 

 

Notes 

 Please contact your dealer if the “System start and self-check LED flashes” are not correct (Red LED appears in 

the last four green flashes) in the Step5.

 After the system start and self-checking has finished, if the LED blinks Red, Yellow and Green continually, that 

means the IMU data is abnormal. The PHANTOM will not work, please connect to the Assistant Software and 

follow the tips to do operation. If it blinks red and yellow lights alternately ( ), that means the 

compass error is too big, it can be caused by the following three cases. Please connect to the Assistant Software, 

select the “tools” tab and follow the tips of the “IMU Calibration” to do operation.

1. There are ferromagnetic substance around; first make sure that the compass has been calibrated correctly, you 

can lift the aircraft up (about 1m from the ground), and stay away from the surrounding possible ferromagnetic 

material object, if there is no red and yellow flashing after lifting it up about 1m from the ground, then it will not 

affect the flight.

2. The compass module had been put near a magnet; in this situation please timely replace the compass for a new 

one, otherwise it will lead to some abnormal action, or even loss of control.

3. The compass is not properly calibrated; in this situation please calibrate the compass correctly again, please see 

the GPS compass calibration for details.
©2012-2013 DJI Innovations. All Rights Reserved. 12 | 

7. GPS & Compass Calibration 

If the Compass Module is not used, you can skip this step.

The GPS module has a built-in magnetic field sensor for measuring the geomagnetic field, which is not the same in 

different areas. The GPS module will not work unless the Compass Module has been connected. Make sure the 

Compass Module connections are correct.

Please always keep the compass module away from the magnet. If this situation occurs please change the compass 

module before flying. Otherwise it may damage the compass module and lead the aircraft to work abnormally or even 

be out of control.

Calibrate the compass before the first flight or when flying in a different area. Make sure to keep away from 

ferromagnetic substance and other electronic equipment when calibrating or flying. If you keep having calibration 

failure, it might suggest that there is magnetic interference or other ferromagnetic substance, please avoid flying in this 

area.

If you have calibration failure or the LED blinks red and yellow lights alternately ( ), please connect to 

the Assistant Software, select the “Tools” tab and follow the tips of the “IMU Calibration” to do operation.

1. Quickly switch the control mode switch from ATTI. Mode to GPS ATTI. 

Mode and back to ATTI. Mode for 6 to 10 times, The LED indicator will turn 

to constantly yellow.

2. Rotate your aircraft around the horizontal axis (about 360o) until the LED 

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

3. Hold your aircraft vertically and rotate it (its nose is downward) around the 

vertical axis (about 360o) until the LED turns off, meaning the calibration is 

finished.

4. If the calibration was successful, calibration mode will exit automatically. If the 

calibration has failed, the LED keeps flashing quickly Red. Switch the control 

mode switch one time to cancel the calibration, and then re-start from step 1.

GPS ATTI. Mode

ATTI. Mode

 

ATTI. Mode->GPS ATTI. Mode -> 

ATTI. Mode is one time,quickly 

switch 6 to 10 times

Horizontal Rotation Vertical Rotation
©2012-2013 DJI Innovations. All Rights Reserved. 13 | 

Flight Test

1. 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 ATTI. Mode, you can skip 

this step.

2. Place the aircraft 3 meters away from you and others, to avoid accidental injury.

3. Start-up

 Switch on the transmitter first, then power on multi-rotor! Keep the aircraft stationary until the system 

start and self-check has finished.

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

should not start the motors until the blinking disappears.

 Keep the aircraft stationary, and execute the CSC to start the motors.

 

 Release the yaw, roll and pitch sticks and keep them at the neutral position, 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.

 Keep raising the throttle stick until all the rotors are working, push the throttle stick to the mid position 

and then take-off your multi-rotor gently, pay attention not to push the stick excessively.

 Pay attention to the aircraft movement at any time, and use the sticks to adjust the aircraft's position.

Keep the yaw, roll, pitch and throttle sticks at the mid position to hover the aircraft at desired height.

4. Lower the aircraft slowly until touch down is achieved. The motors will stop automatically after 3 seconds, or 

you can repeat the start-up stick command to stop the motors sooner.

5. Please always power off the aircraft first, and then switch off the transmitter after landing.

FLYING NOTES!!! 

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

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

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

the "Tools" - > IMU calibration, carry out basic calibration.

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

keep the aircraft stationary during starting motors.

 If in GPS ATTI. Mode, keep the aircraft flying in the open space without obstruction. Pay attention to the 

GPS satellite status indicator LED. When GPS signal has been lost for 3s (red LED blink twice or three 

times), system enters ATTI. Mode automatically.

 If the battery voltage is too low for flying, the aircraft enters the first level protection with LED flashing

quickly Red, please land ASAP. Once the aircraft enters the second level protection, the aircraft will drop 

height automatically.

 If you want to put the PHANTOM in a car, please keep it away from the speaker, since the compass module 

may be magnetized.

 DO NOT fly near to ferromagnetic substances, to avoid strong magnetic interference with the GPS.

 It is recommended to land the aircraft slowly, to prevent the aircraft from damage when landing.

 If the Transmitter indicates low-battery alert, please land ASAP. In this condition the Transmitter may cause 

the aircraft to go out of control or even crash.
©2012-2013 DJI Innovations. All Rights Reserved. 14 | 

The flowchart of failsafe and how to regain control 

An introduction of Go-Home and Landing. 

1

Record Home Point Home Point 2

Tx 3Tx

5

Tx

Signal lost

Tx

Multi-rotor

4

Tx Signal lost >3s

Stay hover

Ready to Go-Home Current location ≤ 20m Current location > 20m

6

Ground

20m Ascend first Go-Home Hover 15s, then land Go-Home

Home-point: Every time you power on, after first motors start, and if 6 or more GPS satellites are found (Red light blinks 

once or no blinking) for 10 seconds, the current position of multi-rotor will be saved as home-point by MC automatically. 

 

Note

1. Please make sure to record the home-point during flight, and clearly know where it is.

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

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

The flowchart of failsafe and how to regain control(the following content is for the firmware v3.12)

(3)Turn off the transmitter (we assume you want to trigger failsafe)

(1) The aircraft flies far away, transmitter is on but the signal is weak. Attitude Mode: In Attitude Mode as soon as you get signal you can regain control. GPS Mode: switch the transmitter mode switch S1 to the middle position (ATTI. Mode), if the receiver is connected, then you will regain control. Attitude Mode: (1) the aircraft will level its attitude immediately (2) 3 secs later, failsafe is triggered and aircraft will start to go home. (3) If signal is regained during (1) or (2), it will resume normal flight immediately. GPS Mode: (1) the aircraft will slow down and hover. (2) if the signal is restored within 3 seconds (transmitter and receiver connected), the system will immediately return to normal operation; does not enter failsafe. (3) if not reconnected within 3sec, the system will enter failsafe, then even if the signal is restored, the system will not exit failsafe.

We strongly recommend you DO NOT try “Turn off the transmitter”, because there are three types of risk: (1) You must be pretty clear whether the Home-point is OK for landing or not. (You have to understand the definition of Home-point well and the working process of failsafe) (2) If there are tall buildings around, the aircraft may be obstructed on the way. (3) When GPS signal is bad or GPS is not working, failsafe will not work.

In this case, the behavior of the aircraft is the same as in the above condition. If you want the aircraft to Return Home, please do not turn the transmitter back on within 3 seconds*, otherwise the aircraft will exit failsafe mode immediately. When you turn off the transmitter, use the following method to regain control: (1) Switch the transmitter S1 switch to GPS. position. (2) and then put the throttle stick to lowest position, you can now turn the transmitter back on (greater than 5secs after switching off, important), then put throttle stick to the center position immediately. If you hear the transmitter alarm, make sure the throttle stick is at the bottom position before moving to the center position. (3) then you can switch the transmitter S1 switch to the middle position (ATTI. Mode) to regain control.

If you choose to turn off the transmitter, you must be pretty sure that you know how to regain control. Here we offer a method, please read carefully.

This section will demonstrate the working logic of failsafe and how to regain control. The following description is effective only when: 1. The aircraft is in flight. 2. The GPS works normally and signal is GOOD (≥6 satellite, the LED blinks a single red light or no red light).

Note: if you start the motors, but do not push the throttle to take-off the aircraft, in this case it is very dangerous to turn off the transmitter, because the aircraft will take off automatically, so do not try this.

The aircraft behavior after failsafe How to regain control Precautions

What triggered failsafe

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

(2) One position of switch S1 is set as “Failsafe” in the Assistant software, and you toggle the S1 to “Failsafe” position during flight. The aircraft will slow down and hover. Then the system will enter failsafe mode after 3 seconds. Switch the transmitter mode switch S1 to the middle position (ATTI. Mode), then you will regain control.
©2012-2013 DJI Innovations. All Rights Reserved. 15 | 

Low-Voltage Alert 

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. There are both first level and second level protections. It is not for fun, you should 

land your aircraft ASAP to prevent your aircraft from crashing or other harmful consequences!!!

In ATTI. Mode & GPS ATTI. Mode.

 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! When the center point is at 90% of endpoint, 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.

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

instruction thoroughly and carefully.

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

read the instruction thoroughly and carefully.

LED Description 

System Status LED Flashing

System start and self-check

IMU abnormal data

Warm up after power on

Bias of Sensors too Big

Compass Error too Big

Tx signal lost

Low Voltage Alert

Record forward direction or home point

Control Mode Indictor

Manual Mode: None

ATTI. Mode: ( stick(s) not at center )

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

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

GPS Signal State Indicator

(GPS/Compass Module is necessary)

GPS Signal is Best(GPS Satellite number > 6): None

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

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

GPS Signal is Worst (GPS Satellite number < 5): 
©2012-2013 DJI Innovations. All Rights Reserved. 16 | 

Compass Calibration LED Flashing 

Begin horizontal calibration

Begin vertical calibration

Calibration or others error

 

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...

 

Transmitter State Introduction 

Transmitter State Introduction 

The throttle stick isn’t at the lowest position after turning on may alarm. B--------BB 

Linking between the Transmitter and the Receiver 

Normal Operation 

Low-battery Alert (Need to change the battery) BB............ 

 

Specifications of the Aircraft 

Parameters Range 

Operating Temperature -10°C ~ 50°C

Power Consumption 3.12W

Supported Battery ONLY 3S LiPo

Take-off Weight <1200g

Hovering Accuracy (GPS Mode) Vertical: ± 0.8m. Horizontal: ± 2.5m

Max Yaw Angular Velocity 200°/s

Max Tilt Angle 35°

Max Ascent / Descent Speed 6m/s

Max Flight Velocity 10m/s

Diagonal distance (motor center to motor center) 350mm

Weight

Weight(with Battery)

670g

800g

 
©2012-2013 DJI Innovations. All Rights Reserved. 17 | 

CE Statement 

Due to the used enclosure material, the device shall only be connected to a USB Interface of version 2.0 or higher. The 

connection to so called power USB is prohibited.

CAUTION RISK OF EXPLOSION IF BATTERY IS REPLACED BY AN INCORRECT TYPE. DISPOSE OF USED 

BATTERIES ACCORDING TO THE INSTRUCTIONS.

Hereby, DJI Innovations Corporation declares that this device is in compliance with the essential requirements and 

other relevant provisions of Directive 1999/5/EC.

FCC Statement 

This equipment complies with FCC RF radiation exposure limits set forth for an uncontrolled environment. 

This device complies with part 15 of the FCC rules. Operation is subject to the following two conditions: (1) this device 

may not cause harmful interference, and (2) this device must accept any interference received, including interference 

that may cause undesired operation.

NOTE: The manufacturer is not responsible for any radio or TV interference caused by unauthorized modifications or 

changes to this equipment. Such modifications or changes could void the user’s authority to operate the equipment.

NOTE: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 

15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a 

residential installation. This equipment generates uses and can radiate radio frequency energy and, if not installed and 

used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no 

guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference 

to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged 

to try to correct the interference by one or more of the following measures:

- Reorient or relocate the receiving antenna.

- Increase the separation between the equipment and receiver.

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

-Consult the dealer or an experienced radio/TV technician for help.

 
PHANTOM Flying Flowchart V1.0 (Simplified Version)

This flowchart is aiming at help you to get familiar with the flying procedures of PHANTOM, please read the

Manual carefully to get the operation details. Its corresponding Firmware Version is V3.0.

Switch on the transmitter, and

then power on the PHANTOM.

System Start 

& Self-check

LED:Mode +GPS Satellite 

Number+6Yellow

6Yellow means warming up 

LED:Mode +

GPS Satellite Number

IOC On &

30s after power on

IOC Off &

Warming up is ok.

ATTI. Mode GPS ATTI. Mode

Important: At any moment after power 

on, if the GPS Satellite number is less 

than 6 and last for at least 10s; even

though you select the GPS ATTI. Mode

and LED blinks in the GPS ATTI. Mode,

the PHANTOM will work in ATTI. Mode.

Any GPS Satellite Number

Start Motors

LED:Blink Green Quickly

Record the Home Point

Flying

Home Point 

Recording is ok

Landed

Power off the PHANTOM, and

then switch off the transmitter

LED: Blink Yellow 

Quickly

FailSafe

LED:Red+

Green+Yellow

Senser Error Too Big

Compass Error Too Big

LED:Red+Yellow

LED:Mode +GPS Satellite 

Number+6Green

6Green means motion detection.

Important: If PHANTOM is 

moved after power on and 

before the motors start-up,

that is normal.

If it is stationary on the 

ground, please try the IMU 

Basic Calibration.

Keep Leveling 

&Landing

Return to the 

Home Point

GPS Satellite 

Number<6

IOC Starting 

Course Lock

First Level 

Protection Alert

Second Level 

Protection Alert

&Height Descent

If Red LED appears in the last four 

green flashes, the autopilot system 

cannot work.

Recording

is ok.

GPS Satellite Number≥6

GPS Satellite Number≥6

&IOC On 

FailSafe

GPS Satellite 

Number≥6

Home Lock

GPS Satellite Number≥6, in GPS ATTI. Mode,

Distance between the Home Point and 

PHANTOM>10m.

IOC Ending 

LED:Blink

Green Quickly

Record the 

forward

direction.

Important: When you switch to ATTI. Mode, the 

main controller will disengage enhanced FailSafe 

mode, you can re-gain control of aircraft.

Method of Start Motor

Green Part means normal procedures:

means regular situation.

means selectable or possible situation.

Pink Text tells the details.

Red Part means possible abnormal situation.

Yellow Part is possible in normal or abnormal situation,

require you to confirm by the Text for details.

Blue Part is the condition of the normal situation.

Purple Part is the condition of the abnormal situation.
©2013 DJI Innovations. All Rights Reserved.

Naza-M V2 

Quick Start Guide V 1.26 

2014.05.12 Revision

For Firmware Version V4.02 or above

& Assistant Software Version V2.20 or above

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

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

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

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

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

change without notice.

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

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

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

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

other corresponding manuals on the PHANTOM web page.

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

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

the latest manual and current software version.

If you have any problem that you cannot solve during usage, please contact your authorized dealer. 
©2013 DJI Innovations. All Rights Reserved.

Index 

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

WHEN USED WITH OTHER DJI PRODUCTS...................................................................................................................................................32
©2013 DJI Innovations. All Rights Reserved. 3 | 

Instruction 

Disclaimer & Warning 

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

agree to this disclaimer and signify that you have read them fully. THIS PRODUCT IS NOT 

SUITABLE FOR PEOPLE UNDER THE AGE OF 18. 

 

This product is an autopilot system 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 system having a built-in autopilot 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. Any mental damage compensation caused 

by accident.

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

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

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

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

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

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

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

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

area, radio interference area, government regulated no-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.

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

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

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

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

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

aircraft.

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

15. Other losses that are not covered by the scope of DJI Innovations liability.
©2013 DJI Innovations. All Rights Reserved. 4 | 

Trademark 

DJI and Naza-M 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.

Certifications 

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

Symbol Instruction 

Forbidden(Important) Cautions Tip Reference
©2013 DJI Innovations. All Rights Reserved. 5 | 

Assembly & Connection 

In the Box:

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

Tape.

Step1 Port Description 

LED:Connect to LED module EXP:Connect to PMU module

M1: To #1 ESC(*) M2: To #2 ESC M3: To #3 ESC M4: To #4 ESC M5: To #5 ESC M6: To #6 ESC F1: To gimbal roll servo or To #7 ESC F2: To gimbal pitch servo or To #8 ESC NAZA output is 400Hz refresh frequency

A: For roll control (left/right) E: For pitch control (front/back) T: For throttle control R: For rudder control U: For Control Model Switch X1: For gimbal pitch control / For gain tuning X2: For D-Bus(S-Bus/S-Bus2 compatible) / For gain tuning / For IOC switch X3: For voltage monitor(Connect to PMU V-SEN port)

GPS: Connect to GPS/Compass module Extended CAN port

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

EXP: Connect to Main Controller EXP port Connect to Main Controller LED port Micro-USB: PC connection for parameter configuration and firmware upgrade Connect to GPS port of PMU

Pointing to the aircraft nose direction Main Controller

Main Controller PMU (Power Management Unit)

LED GPS/Compass Pointing to the aircraft nose direction *ESC: Electronic Speed Controller

V-SEN: Connect to Main Controller X3Port Important: the continuous output of the PMU is 3A@5V, and the maximum instant current is 7.5A. If PMU cannot afford the working current for your servos, please use an independent power supply; otherwise, it may cause the PMU safeguard and lead to the main controller reboot。
©2013 DJI Innovations. All Rights Reserved. 6 | 

Step2 Assembly & Connection 

Transmitter(TX) & Receiver(RX) (1)Refer to you TX Manual, setup the Aileron, Elevator, Throttle, Rudder channels on your TX first, and choose a 3- position switch as control mode switch. (2)Attach the matched RX to aircraft, then connect your RX to the right ports on MC. The following diagram shows the connection example for traditional RX.

ESCs

ESCs & Motors Please use the ESCs and motors recommended by the manufacturer of your aircraft. We recommend you use DJI motors and ESCs (Refer to its manual for details). Connect all ESCs to MC by the motor numbering method introduced in mixed types Supported . Important:If you use 3rd party ESCs, make sure the ESCs travel midpoint is at 1520us. DO NOT use 700us travel midpoint ESC, as it may lead aircraft to fly away or cause injury and damage. After ESCs connection , calibrate ESCs one by one through the receiver directly before connect them to your MC, Make sure program all of them into Governor off, Break off and Normal Start up to get best experience.

Quad-rotor X Hexa-rotor I Hexa-rotor V

Hexa-rotor Y

Important:To coaxial propellers: Blue propeller is at TOP; Red propeller is at Bottom. Otherwise all propellers are at top.

Quad-rotor I Hexa-rotor IY

F1

F2 Roll Pitch

Main Controller(MC) Mount:(1)The DJI logo should face the sky, DO NOT mount the MC upside-down. (2)The MC sides should be parallel to the aircraft body. (3)The arrow should point to the nose direction of aircraft. (4)he MC is best positioned near the aircraft’s center of gravity. Make sure all ports are accessible. T i p : It is recommended to f i x the MC until all wirings and configurations are completed, using 3M gummed paper provided to fix the MC.

(Optional)GPS/Compass Mount:GPS/Compass is sensitive to magnetic interference, should be far away from any electronic devices. If you use your own mounting rod, make sure it is NOT magnetic! Procedures: (1)You should use epoxy resin AB glue to assemble the GPS bracket first. Mount the bracket on the center plate of craft. Position the bracket at least 10 cm from any propeller. (2)The DJI logo marked on the GPS s h o u l d f a c e t h e s k y , w i t h t h e orientation arrow pointing directly forward. then fix the GPS on the plate of the bracket (by 3M glue provided). Tip:The GPS/Compass is packaged with a special indication line for mounting for the first time.

Gimbal Connect the gimbal servos to the ports of F1 and F2 if a gimbal is used, and use the software for configurations.

PMU Module Mount:DO NOT attach the PMU on other device. Sufficient air flow over the PMU is highly recommended. Tip:If use with DJI multi-rotor, you can solder the power cable to power pads on frame bottom board. Please refer to DJI multi-rotor manual for details. If use with 3rd part aircraft, y o u c a n m a k e a c o n n e c t e r b y yourself to connect PMU and battery. LED Module Mount:Make sure You can see the light during the flight. Leave the USB interface to be accessible. Use the 3M gummed paper provided to fix.

ESC & MC Connection

(JR) RUDD THRO

AILE ELEV 3-position Switch (Futaba /Hitec) 4

3

1

2

Step1 Prepare an aircraft, supported the following Mixed Types.

Aircraft M1

M2

M3

M4

M5

M6

M7

M8

Main Controller M1

M2

M3

M4

M5

M6

F1

F2

The direction of the arrow in diagram indicates the rotation direction of the motor/propeller.

Octo-rotor I Octo-rotor V Octo-rotor X

3-position Switch

Step2 Assembly and Connection

Step3 Double Check In this step, turn on the transmitter, connect the battery to the PMU, and then watch the LED, if you can see the LED blinks ( ), the system is working.

A

E

T

R

U

MC

A

E

T

R

U

MC

Traditional Receiver

Power Supply S-Bus/S-Bus2/PPM Receiver

Note: The NAZA-M V2 flight control system doesn't support Gimbal function when used on the Octo-rotor aircraft. For big aircraft that is larger than 650 or with heavy load, WKM is recommended.

 
©2013 DJI Innovations. All Rights Reserved. 7 | 

Assistant Software Installation and Configuration 

Step1 Software and Driver Installation 

Installing and running on Windows 

1. Please download the driver and the Assistant installation software in EXE format from www.dji.com.

2. Switch on the transmitter and then power on your autopilot system.

3. Connect your autopilot system and PC via a Micro-USB cable.

4. Open the driver installation software and follow the instructions to complete installation.

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

The installer in EXE format is supported on Win XP, Win7, Win8 (32 or 64 bit).

Installing and running on Mac OS X 

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

website.

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

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

won’t allow access because the software has not been reviewed by Mac App Store. 
©2013 DJI Innovations. All Rights Reserved. 8 | 

4. Locate the NAZA-M V2 icon in the Finder and open the file by Control or right clicking the icon and 

selecting “Open” from the menu.

5. After the first successful launch, double-clicking the NAZA-M V2 icon in the Finder or using Launchpad 

will open the application.

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

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

other places of this manual is based on Windows version. 

Step2 Configuration by Assistant on a PC 

1. Power on the PC. Make sure your computer is connected to the Internet for the first time you use.

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

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

3. Run the Assistant Software.

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

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

please go to next step.

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

the assistant software.
©2013 DJI Innovations. All Rights Reserved. 9 | 

6. Select the “Upgrade” option. Check the Main Controller, GPS and IMU firmware version.

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

is necessary, including Mixer Type, Mounting, RC, and Gain settings.

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

settings of Motor, FailSafe, Intelligent Orientation Control (IOC), Gimbal, Low-Voltage Alert, and Flight 

Limits. Read the instruction in the assistant software to obtain more details.

9. Select the “Viewer” option to check all parameters.

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

 

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

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

(3) Basic configuration is necessary before you go to the “Basic Flying Test”.

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

system .

 

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

in the Appendix.

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

Recommended Parameters

Recommended Settings for using F330/F450/F550

 

Configuration Information Basic Gain Attitude Gain 

Motor ESC Propeller Battery Weight Pitch Roll Yaw Vertical Pitch Roll 

F330 DJI-2212 DJI-18A DJI-8 Inch 3S-2200 790 g 140 140 100 110 140 140

F450 DJI-2212 DJI-30A DJI-8 Inch 3S-2200 890 g 150 150 100 105 150 150

F550 DJI-2212 DJI-30A DJI-8 Inch 4S-3300 1530 g 170 170 150 140 170 170
©2013 DJI Innovations. All Rights Reserved. 10 | 

 Basic Flying 

Control Mode Knowledge 

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

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

and differences of the three control modes.

 

GPS ATTI. Mode 

(With GPS Module) 

ATTI. Mode Manual Mode 

Rudder Angular 

Velocity 

Maximum rudder angular velocity is 150°/s

Command 

Linearity 

YES

Command Stick 

Meaning 

Multi attitude control; Stick center position for 0 ̊ 

attitude, its endpoint is 35 ̊.

Max-angular velocity is 150°/s. 

No attitude angle limitation 

and vertical velocity locking.

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

Stick Released

Lock position if GPS signal 

is adequate.

Only attitude stabilizing. NOT Recommend

GPS Lost

When GPS signal has been 

lost for 3s, system enters 

ATTI. Mode automatically.

Only performing attitude 

stabilizing without 

position lock.

---

Safety

Attitude & speed mixture control ensures stability

Enhanced Fail-Safe(Position Depends on experience.

lock when hovering)

Auto Level Fail-Safe 

(Attitude stabilizing)

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

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

enter the failsafe Mode.

Applications AP work Sports flying. ---

Start & Stop Motor Knowledge 

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

Advanced->Motor->Stop Type.

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

Please get to know well about this section before flying.

1 Start Motor: Pushing throttle stick before takeoff will not start the motors. You have to execute any one of 

following four Combination Stick Commands (CSC) to start the motors:
©2013 DJI Innovations. All Rights Reserved. 11 | 

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

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

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

stop. In this case, if you push the throttle stick over 10% within 5 seconds after motors stop, motors 

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

motors will stop automatically.

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

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

following four cases will stop motors:

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

b) Executing CSC;

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

d) If the angle of multi-rotor is over 70°, and throttle stick under 10%.

Notes of Intelligent Mode 

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

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

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

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

(4) For safety reason, when the slope angle of multi-rotor is over 70° during the flight in ATTI. / 

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

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

Notes of Intelligent Mode & Immediately Mode 

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

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

5s to re-start motors.

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

(1) If you choose the Intelligent mode, and the throttle stick is under 10%, this will trigger the landing 

Procedure, in any control mode. In this judgment, pitch, roll and yaw controls are denied except 

the throttle, but multi-rotor will still auto level.

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

reason.

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

(2) In failed-safe, CSC is denied by the main controller, motors will hold their state.
©2013 DJI Innovations. All Rights Reserved. 12 | 

Step1 Compass Calibration 

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

 

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

park, and steel reinforcement under the ground.

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

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

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

Calibration Procedures 

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

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

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

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

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

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

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

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

 

Fig.1 Fig.2

5. If the calibration was successful, calibration mode will exit automatically. If the LED keeps flashing quickly 

Red, the calibration has failed. Switch the control mode switch one time to cancel the calibration, and 

then re-start from step 2.

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

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

ATTI. Mode.

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

least 45° difference between horizontal and vertical calibration.

3. If you keep having calibration failure, it might suggest that there is very strong magnetic 

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

4. When to do re-calibration

(1) The flight field is changed.

(2) When the multi-rotor mechanical setup has changed:

a) If the GPS/Compass module is re-positioned.

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

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

(3) If the flight direction appears to be shifting (meaning the multi-rotor doesn’t “fly straight”).

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

for this to happen only occasionally)
©2013 DJI Innovations. All Rights Reserved. 13 | 

Step2 Assembly Checking List 

Please check each item, to make sure for safety. 

 

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

(1) Rotation direction of motor is opposite

(2) Infirm connection between the motor and the ESC 

(3) Wrong or infirm installation of Main controller 

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

(5) Propeller installation mistake

(6) Magnetization of the compass

 

Make sure the following items are correct. 

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

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

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

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

Step3 Before Flight 

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

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

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

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

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

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

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

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

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

table for details about LED indicator;

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

indicator. 

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

LED indicator is available.

Control Mode LED Indicator GPS Signal Status LED Indicator

Manual Mode: NO LED

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

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

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

Signal is well (GPS satellites = 6) :

Signal is bad(GPS satellites = 5) : 

Signal is worst (GPS satellites< 5) :
©2013 DJI Innovations. All Rights Reserved. 14 | 

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

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

 

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

point. Then check whether all propellers are rotating correctly.

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

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

 

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

aids troubleshooting. 

 

Step4 Flying Test 

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

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

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

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

Mode, you can skip this step.

3. Start-up

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

system start and self-check has finished.

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

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

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

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

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

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

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

and then take-off your multi-rotor gently, pay attention not to push the stick excessively.

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

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

at the desired height.

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

after landing. 

5. Please always power off the Multi-rotor first, and then switch off the transmitter after landing.
©2013 DJI Innovations. All Rights Reserved. 15 | 

 

FLYING NOTES(VERY IMPORTANT)!!!

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

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

calibration, carry out the Advanced calibration.

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

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

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

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

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

drift when hovering. 

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

GPS.

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

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

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

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

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

otherwise the home point recording may be not so precise.

 

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

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

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

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

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

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

before.

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

Software once Fail-Safe is triggered. Make sure you remember what you have set before.
©2013 DJI Innovations. All Rights Reserved. 16 | 

Advanced Functions 

A1 FailSafe 

An introduction of Go-Home and Landing. 

1

Record Home Point Home Point 2

Tx 3Tx

5

Tx

Signal lost

Tx

Multi-rotor

4

Tx Signal lost >3s

Stay hover

Ready to Go-Home Current location ≤ 20m Current location > 20m

6

Ground

20m Ascend first Go-Home Hover 15s, then land Go-Home

 

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

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

for 10 seconds. 

 

Note

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

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

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

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

The flowchart of failsafe and how to regain control

(2)Turn off the TX (we assume you want to trigger failsafe)

(1) The aircraft flies far away, TX is on but the signal is weak. Attitude Mode: In Attitude Mode as soon as you get signal you can regain control. GPS Mode: switch the TX mode switch to ATTI, if the receiver is connected, then you will regain control.

Attitude Mode: (1) the aircraft will level its attitude immediately (2) 3 seconds later, failsafe is triggered and aircraft will start to go home. (3) If signal is regained during (1) or (2), it will resume normal flight immediately. GPS Mode: (1) the aircraft will slow down and hover. (2) if the signal is restored within 3 seconds (TX and receiver connected), the system will immediately return to normal operation; does not enter failsafe. (3) if not reconnected within 3sec, the system will enter failsafe, then even if the signal is restored, the system will not exit failsafe. We strongly recommend you DO NOT try this, because there are three types of risk: (1) You must be pretty clear whether the Home-point is OK for landing or not. (You have to understand the definition of Home-point well and the working process of failsafe) (2) If there are tall buildings around, the aircraft may be obstructed on the way. (3) When GPS signal is bad or GPS is not working, failsafe will not work.

In this case, the behavior of the aircraft is the same as in the above condition. If you want the aircraft to Return Home, please do not turn the TX back on within 3 seconds*, otherwise the aircraft will exit failsafe mode immediately. When you turn off the TX, use the following method to regain control: (1) Switch the TX switch to GPS. (2) and then put throttle to the center position(greater than 3sec after switching off, important), you can now turn the TX back on. (3) then you can switch the TX Control mode switch to ATTI to regain control.

If you choose to turn off the TX, you must be pretty sure that you know how to regain control. Here we offer a method, please read carefully.

This section will demonstrate the working logic of failsafe and how to regain control. The following description is effective only when: 1. The aircraft is in flight. 2. The GPS works normally and signal is good (≥6 satellite, the LED blinks a single red light or no red light).

Note: if you start the motors, but do not push the throttle to take-off the aircraft, in this case it is very dangerous to turn off the TX, because the aircraft will take off automatically, so do not try this.

The aircraft behavior after failsafe How to regain control Precautions

What triggered failsafe

* If signal lost for more than 3 seconds failsafe will be triggered, if signal regained within 3 seconds it will exit failsafe immediately.
©2013 DJI Innovations. All Rights Reserved. 17 | 

A2 Low-Voltage Alert 

In order to prevent your multi-rotor from a crash or other harmful consequences caused by low battery voltage, 

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

we strongly recommend using the protections if available! Low-Voltage Alert is to indicate that the battery cannot 

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

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

carry out the Current Voltage Calibration.

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

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

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

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

consequences!!!

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

instruction thoroughly and carefully.

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

and read the instruction thoroughly and carefully.
©2013 DJI Innovations. All Rights Reserved. 18 | 

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

Definition of Forward Direction: 

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

Step1 Before You Start 

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

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

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

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

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

 

 Normal flying Course Lock Flying

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

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

further than 10m away from the home point.

 

 Normal flying Home Lock Flying

Step2 IOC Switch Setting 

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

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

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

IOC Switch

IOC Function OFF Course Lock Home Lock

 

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

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

channel X2 on the assistant software screen, the corresponding area should turn blue.
©2013 DJI Innovations. All Rights Reserved. 19 | 

Step3 Method of Forward Direction and Home Point Recording 

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

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

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

Course Lock Home Lock

Automatically

30 seconds after you power on the 

autopilot system.

Before takeoff, the current position of the aircraft 

will be saved as home point when you start the 

motors for the first time after 6 or more GPS 

satellites have been found for 10 seconds.

Manually

30 seconds after you power on the 

autopilot system. Toggle the IOC switch 

from Off to Course Lock, and back to Off 

quickly 3 to 5 times. 

After 6 or more GPS satellites have been found. 

And the aircraft can be hovering. Toggle the IOC 

switch from Course Lock to Home Lock, and back 

to Course Lock quickly 3 to 5 times.

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

Forward Direction of Course Lock.

Step4 IOC Flying Test 

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

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

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

Lock modes.

During the 

same flight

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

Course Lock

Switch Setting

Record the 

Forward 

Direction

Set Control Mode switch at 

GPS or ATTI. position, 

Toggle IOC switch from OFF 

to Course Lock position

Toggle IOC switch 

to OFF position

Toggle IOC switch 

from OFF to Course 

Lock position

Home Lock

Switch Setting

Record the

Home Point

Set Control Mode switch at 

GPS position,

Toggle IOC switch from OFF 

to Home Lock position

Toggle IOC switch 

to OFF position

Toggle IOC switch 

from OFF to Home 

Lock position

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

Home point Aircraft(the arrow is pointing to the direction of the aircraft nose)
©2013 DJI Innovations. All Rights Reserved. 20 | 

IOC FLYING NOTES!!! 

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

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

attention.

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

10m away from the home point.

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

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

(1) Blinking indications of IOC are: 

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

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

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

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

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

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

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

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

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

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

point.

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

system will quit Home Lock flying and automatically enter Course Lock flying. The aircraft 

will fly in Course Lock using the earlier forward direction.

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

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

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

times).

(2) 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.
©2013 DJI Innovations. All Rights Reserved. 21 | 

A4 Receiver Advanced Protection Function 

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

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

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

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

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

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

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

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

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

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

Brief introduction of how to quit the FailSafe Mode 

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

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

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

details.
©2013 DJI Innovations. All Rights Reserved. 22 | 

A5 Flight Limits 

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

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

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

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

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

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

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

control mode is GPS and the satellite number ≥6.

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

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

back within the entered range.

(4) The Failsafe and the Ground Station operations are not restricted to the Flight Limits.
©2013 DJI Innovations. All Rights Reserved. 23 | 

Appendix 

Specifications 

General 

Built-In Functions 

(1) Three Modes of Autopilot

(2)Enhanced Fail Safe

(3)Low Voltage Protection

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

(5)PPM Receiver Support

(6)2-axle Gimbal Support

Peripheral 

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

 Hexa-rotor I 6, X6, IY6, Y6.

 Octo- rotor I8, V8, X8

Supported ESC output 400Hz refresh frequency.

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

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

Electrical & Mechanical 

Working Voltage Range  MC: 4.8V ~ 5.5 V

  PMU Input: 7.4V ~ 26.0 V (recommend 2S ~ 6S LiPo)

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

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

Power Consumption  MAX: 1.5W(0.3A@5V)

 Normal: 0.6W(0.12A@5V)

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

Weight

 MC: 27g

 GPS/Compass: 27g

 PMU: 28g

 LED: 13g

Dimensions

 MC: 45.5mm × 32.5mm × 18.5mm

 GPS/Compass: 46mm (diameter) x 10mm

  PMU:39.5mm × 27.5mm × 10.0mm

 LED:25mm × 25mm × 7.0mm

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

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

 Horizontal: ±±2.5m

Max Yaw Angular Velocity 200°/s

Max Tilt Angle 35°

Max Ascent / Descent Speed Ascent : 6m/s, Descent: 4.5 m/s
©2013 DJI Innovations. All Rights Reserved. 24 | 

MC/PMU Firmware Upgrade 

Please follow the procedure for software and firmware upgrade; otherwise the system might not work properly. For 

SAFETY REASONS, DO NOT use power battery during firmware upgrade.

1. Make sure your computer is connected to the Internet.

2. Please close all the other applications during the firmware upgrade, including anti-virus software and 

firewall.

3. Make sure the power supply is securely connected. DO NOT un-plug the power supply until firmware 

upgrade has finished.

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

finished.

5. Run Software and wait for connection.

6. Select Upgrade optionCheck the MC and PMU Firmware Version.

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

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

update them. 

9. Wait until Assistant software shows “finished”. 

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

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

 

 

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

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

automatically, please try again with the above procedures.

(3) Select Upgrade optionCheck the GPS Firmware Version, online upgrade is disable.
©2013 DJI Innovations. All Rights Reserved. 25 | 

LED Description 

System Status LED Flashing

System start and self-check

IMU abnormal data or need advanced 

calibration*

Warm up after power on

The aircraft is moved or bias of sensors too big

Compass error too big, need recalibration.

Transmitter (TX) signal lost, enter the FailSafe.

TX stick(s) mid point error too big

Low voltage alert or other abnormal alert* 

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

low voltage protection without PMU, SN error

or Compass abnormal work.)

Record forward direction or home point

Control Mode Indictor

Manual Mode: None

ATTI. Mode: ( stick(s) not at center )

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

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

GPS Signal State Indicator

(GPS/Compass Module is necessary)

GPS Signal is Best(GPS Satellite number > 6): None

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

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

GPS Signal is Worst (GPS Satellite number < 5): 

Compass Calibration LED Flashing 

Begin horizontal calibration

Begin vertical calibration

Calibration or others error

*You can figure out the error by connecting the autopilot system to the assistant software.
©2013 DJI Innovations. All Rights Reserved. 26 | 

Instruction of V1 (also known as NAZA-M) 

V1 (also known as NAZA-M) system is different from V2 system, if you are V1 system user, please read the following 

text carefully, and refer to the other text in this Guide for usage details (including Assistant Software Configuration, 

Basic flying, Advanced Function Appendix and FAQ, etc.) .

V1 Assembly and Connection 

Connect the V1 system according to the following chart.

接电调

接云台

R/C Receiver (JR) RUDD

THRO AILE ELEV 3-position switch channel

R/C Receiver (Futaba / Hitec)

1

2

3

4 Futaba S-Bus /S-Bus2 S-Bus

F1

F2 Aircraft Nose PPM PPM

ESC M1

M2

M3

M4

M5

M6

R/C System These are example connections. Please setup Aileron, Elevator, Throttle, Rudder channels on your TX f ir s t , a n d c h o o s e o n e 3 - positions switch/channel as control mode switch, then connect your receiver to the right ports on MC.

VU · Do not mount it on any other electronic devices. Make sure You can see the LED light during the flight. · If use with DJI multi-rotor, you can solder the VU power cable to power pads on frame bottom board. Please refer to DJI multi-rotor manual for details. · If use with 3rd part multi-rotor, you can make a connecter by yourself to connect VU, ESCs and battery. · Sufficient air flow over the VU is highly recommended. ESCs, Motors · Motors and ESCs in DJI multi-rotor kit are recommended. · Please make sure you are using the ESCs and motors recommended by the manufacturer of your multi rotor first. NAZA output is 400Hz refresh frequency. · If you use 3rd party ESCs, please make sure the ESCs travel midpoint is at 1520us. DO NOT use 700us travel midpoint ESC, as it may lead aircraft to fly away or cause injury and damage. After connect ESCs to motors, calibrate all your ESCs one by one through the receiver directly before connect them to your MC, Make sure program all of them into Governor off, Break off and Normal Start up to get best experience.

Pitch Roll

MC · Please use 3M gummed paper provided To mount MC, and mount MC parallel to the aircraft horizon. · The output ports of MC (the right side in figure) should point to the front of multi-rotor. You’d better put MC at the gravity center of multi-rotor. Please make sure all ports are accessible when installing the MC so as to facilitate wiring and software configuration. · In three-pin ports, pins near the nicks are signal pins. · After choosing a location to mount the MC, it is · recommended that you DO NOT mount the MC · until all wirings and software configurations are completed.

(Optional) GPS/COMPASS · GPS/Compass is sensitive to magnetic interference, should be far away from any electronic devices. · You should use epoxy resin AB glue to assemble the GPS bracket first as the figure showed in previous page. · Mount the bracket on the center plate of craft first, then fix the GPS on the plate of the bracket (by 3M glue provided). The GPS is sensitive to vibration interference, so position the bracket at least 10 cm from any rotor. · The DJI logo marked on the GPS should face the sky, with the orientation arrow pointing directly forward. The GPS/Compass is packaged with a special indication line for mounting for the first time. · If you are uncertain whether materials near the GPS/Compass module are magnetic or not, you can use a compass or magnet to check it. If you use your own mounting rod, make sure it is NOT magnetic!

3-position switch channel

TO Battery

Important: the continuous output of the VU is 3A@5V, and the maximum instant current is 7.5A. If the V U cannot afford the working current for your servos, please use an independent power supply; otherwise, it may cause the V U safeguard and lead to the main controller reboot.

V1 is compatible with the PMU V2 (Accessory of Naza-M V2) 

V1 system is compatible with the PMU V2 of V2 system; please carry out the following connection. The other 

modules connection is the same as before.

Important: You are asked to upgrade your Firmware version of V1 MC to V3.10 or above, as the PUM V2 can only 

work with the MC of version 3.10 or above.

take positive power supply Disconnection Take negative power supply
©2013 DJI Innovations. All Rights Reserved. 27 | 

V1 Port Description 

Please remember the function of each port, which may help you to use the Naza-M efficiently.

Main Controller 

A

For roll control (left/right)

E

For pitch control (front/back)

T

For throttle control

R

For rudder control

U

For Control Mode Switch

X1

For gimbal pitch control Or for gain tuning

X2

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

X3

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

M1

To #1 rotor

M2

To #2 rotor

M3

To #3 rotor

M4

To #4 rotor

M5

To #5 rotor

M6

To #6 rotor

F1

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

F2

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

LED

LED port, for LED wire connection from Versatile Unit

EXP. GPS port, for GPS module wire connection.

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

Versatile Unit 

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

power

 Orange wire (signal wire) output: ±3.3V

 Red wire (power wire) output: 3A@5V

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

USB port: PC connection for configuration and firmware upgrades.

Optional GPS & Compass

Connect to the EXP. port.
©2013 DJI Innovations. All Rights Reserved. 28 | 

V1 Specification 

General 

Built-In Functions 

 Three Modes of Autopilot

 Enhanced Fail Safe

  Low Voltage Protection

 

 S-Bus/ S-Bus2 Receiver Support

 PPM Receiver Support

 2-axle Gimbal Support

Peripheral 

Supported Multi-rotor 

 Quad-rotor I4, X4;

 Hexa-rotor I 6, X6, IY6, Y6.

 Octo-rotor I8, V8, X8 (Upgrade the MC Firmware to 

V3.10 or above)

Supported ESC output 400Hz refresh frequency.

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

Assistant Software System Requirement Windows XP SP3; Windows 7

Electrical & Mechanical 

Working Voltage Range 

 MC: 4.8V ~ 5.5 V

 VU Input: 7.2V ~ 26.0 V (recommend 2S ~ 6S LiPo)

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

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

Power Consumption  MAX: 1.5W(0.3A@5V) 

 Normal: 0.6W(0.12A@5V)

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

Weight

 MC: 25g

 GPS: 21.3g

 VU: 20g

Dimensions

 MC: 45.5mm × 31.5mm × 18.5mm

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

 VU: 32.2mm × 21.1mm × 7.7mm

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

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

 Horizontal: ±± 2.5m

Max Yaw Angular Velocity 200°/s

Max Tilt Angle 45°

Max Ascent / Descent Speed ±6m/s
©2013 DJI Innovations. All Rights Reserved. 29 | 

FAQ 

Abnormal LED Indication List 

During the Checking Procedure, if abnormal LED Indicator occurs or even the system cannot work normally, please 

refer to the following list and aids troubleshooting.

(1) “System initializing and self-checking LED flashes” are not correct ( Red LED 

appears in the last four green flashes). The autopilot system works abnormally. Please contact your 

dealer.

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

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

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

out the Advanced calibration.

(3) After the system start and self-checking has finished, if the LED blinks Red, Green and Yellow ( ) 

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

calibration, carry out calibration.

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

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

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

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

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

keep the aircraft stationary during starting motors.

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

aircraft ASAP.

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

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

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

a) There may be a ferromagnetic substance close to the Phantom. Lift the aircraft up about 1m from 

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

b) Otherwise, re-calibrate the compass.

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

follow the tips to carry out the required operation.

Fix the TBE (Toilet Bowl Effect) Problem 

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

rotating (Toilet bowl effect), or drifting when hovering. Please check the GPS module mounting orientation and then 
©2013 DJI Innovations. All Rights Reserved. 30 | 

re-do the compass calibration. Carry out the following procedure to re-mount the GPS module.

In the following diagram (view from the top), the aircraft can appear to be rotating in both clockwise and 

counter-clockwise direction, please re-mount the GPS module correspondingly.

is the rotating direction of aircraft, is the nose direction of aircraft, 

is the arrow direction on the GPS module, θ is the offset angle for GPS re-mounting(about 10~30o)

Clockwise rotating GPS re-mounting Counter Clockwise rotating GPS re-mounting

θ θ

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

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

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

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

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

continually to warn you.

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

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

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

SUB-TRIM has been adjusted for Futaba transmitter.

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

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

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

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

bration. Please carry out the following procedures.

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

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

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

positions, according to your TX manual.

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

(4) Redo the TX calibration according to the Assistant software.
©2013 DJI Innovations. All Rights Reserved. 31 | 

Attitude Controllable When One Motor Output is Failed 

For Hexa-rotor, including Hexa-rotor I, Hexa-rotor V, Hexa-rotor IY and Hexa-rotor Y, aircraft is attitude controllable 

when one motor output is failed.

The NAZA-M can still control the attitude of the Hexa-rotor for a safe landing when one motor output of the 

Hexa-rotor has failed, for example, one motor is stopped or one propeller is broken, etc.

The control mode of NAZA-M should be in Atti. Mode or GPS Atti. Mode. The aircraft will rotate, due to an 

imbalance of torque; however, it can still be controlled by the Transmitter.

Select Course lock or home lock mode for flying the aircraft into a safe area to land when the aircraft is far away or 

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

allow you to move the multi rotor in the corresponding Transmitter stick direction.
©2013 DJI Innovations. All Rights Reserved. 32 | 

When used with other DJI products 

The NAZA-M system communicates with other DJI products (e.g. H3-2D gimbal, BTU module, iOSD mini and iOSD 

Mark II) via the CAN-Bus port ( ) of the NAZA PMU V2. You can plug new DJI products into any spare CAN-Bus 

port, since CAN-Bus ports on NAZA-M, CAN HUB, GCU, iOSD mini, iOSD Mark II and 2.4G Bluetooth Datalink are 

the same for the communications.

When there are not enough CAN-Bus ports for additional DJI products, then a DJI CAN HUB module is 

recommended. The following diagram is for your connection reference.

Fig.1 Used with iOSD Mark II

Fig.2 Used with CAN HUB
©2013 DJI Innovations. All Rights Reserved. 33 | 

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

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

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

Flight control system).
©2013 DJI Innovations. All Rights Reserved. 1 | 

PHANTOMAdvanced Manual   V 1.4 2013.03.22 Revision 

©2013 DJI Innovations. All Rights Reserved. 

Index INDEX ............................................A1 SOFTWARE AND DRIVER INSTALLA2 CONFIGURATION AND FIRMWARA3 LINKING THE TRANSMITTER AND A4 CHANGING THE CONTROL MODE A5 TRANSMITTER CALIBRATION .....A6 MOUNT CAMERA AND CAMERA A7 INTELLIGENT ORIENTATION CON

......................................................

A8 MAINTENANCE..........................
©2013 DJI Innovations. All Rights Reserved. 3 | 

A1 Software and Driver Installation Make sure to use the NAZA-M assistant software of 2.0 version (or above 2.0) to carry out firmware upgrade and parameter configuration. DO NOT use the NAZA-M assistant software bellow 2.0 version.

1. Please download the driver DJI Driver Installer and NAZA-M assistant software from the PHANTOM 

page of DJI website (http://www.dji-innovations.com/products/phantom/downloads/). 

2. Connect the PHANTOM and the PC via the USB cable, power on the PHANTOM system. 3. Run the DJI Driver Installer, and follow the instructions strictly to finish installation. 4. Run the assistant software installer, and follow the instructions strictly to finish installation. 

A2 Configuration and Firmware& Software Upgrade 

1. Power on your computer. Make sure the computer is connected to the Internet for the first time you 

use. 

2. Switch on the transmitter first, then power on the aircraft. Connect the aircraft to the PC with the 

USB cable. DO NOT break the connection until configuration or upgrade is finished. 

3. Please refer to the “Assembly &Configuration->Step3” section of NAZA-M Quick Start Guide to 

get the detail of assistant software usage. 

4. Refer to the “Appendix-> Firmware & Assistant Software Upgrade” section of NAZA-M Quick Start 

Guide to get the detail of assistant software usage.

5. If Manual Mode is required, please select “Manual” from the drop down list of Basic->RC->Control 

Mode Switch in the assistant software. Refer to the “Flying Test-> Step 1 Control Mode Knowledge” 

section of NAZA-M Quick Start Guide to get the detail about the Manual Mode. 

©2013 DJI Innovations. All Rights Reserved. 

A3 Linking the TransmiThe linking of the transmitter to the receiver necessary you can link the transmitter to the default receiver type is PPM. DO NOT use the PHANTOM transmitter (rec

1. Please remove the housing by re

Housing. 

2. Locate the receiver module accordin3. After powering on the aircraft and th

board is lit solid red, this means the 

4. Press down the link button for more t

button. 

5. Push the throttle stick to the lowest p

the receiver turns off, the link betwoperation can be done only when the 

Note:  If the transmitter can’t enter the link

position.

 You can use your R/C system norma

Receiver Module

Link Button

Indicator LED
©2013 DJI Innovations. All Rights Reserved. 5 | 

A4 Changing the Control Mode of the Transmitter You can change the operation mode of the transmitter according to the following procedures if necessary.(The operation mode of Mode1 and Mode2 are shown as below.)Make sure to carry out the A5 Transmitter Calibration, if the Control Mode of the Transmitter is changed. 

1. Remove the right Throttle Ratchet plate and the Ratchet Nut. Assemble the Ratchet Nut to the Nut Hole 

Location,and fix the Throttle Ratchet onto the Ratchet Nut and the Screw Hole Location. Adjust the screw height of the Throttle Support to change the tension, so as to give you the required operating feel.

2. Remove the left Centering Unit and the Centering Spring. Assemble them to the corresponding position 

of the Right part (Close to the middle location of the transmitter). Then adjust the height of the Adjusting 

Screw, so as to give you the required operating feel. (Note: Be careful not to excessively tension the spring when moving and fixing, to avoid damage.) 

3. Exchange the connectors of Channel 2(AIN2)and Channel 3 (AIN3). (Note: Take care about the 

connector direction.)

Mode2 

1 2 3 4

5

6

9 8

NO. Name 

1 Screw Hole Location2 Centering Unit 3 Adjusting Screw 4 Ratchet Nut 5 Throttle Ratchet 6 3rd Channel 7 2nd Channel 8 Centering Spring 9 Nut Hole Loc tion 

Mode1: Throttle, it cannot hold the central position when released.  Roll, it can return to the central position when released.  Pitch, it can return to the central position when released.  Yaw, it can return to the central position when released. Model2: Throttle, it cannot hold the central position when released.  Roll, it can return to the central position when released.  Pitch, it can return to the central position when released.  Yaw, it can return to the central position when released. 

©2013 DJI Innovations. All Rights Reserved. 

The following figure shows the successful ch
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A5 Transmitter Calibration If the control mode of the transmitter is changed or calibration has not been carried out for a long time, transmitter calibration is necessary. 

S2 OFF S1

CL

HL

GPS

ATTI

ATTI

IOC Switch Control Mode Switch

Joystick Joystick

Yaw

Pitch Mode1 ( )

/T Mode2 hrottle( )

Roll

T

Pitch

hrottle( ) Mode1

/ ( ) Mode2

Power Switch

CL:Course Lock HL:Home Lock 

1. Set the switch S2 at the OFF position, and the switch S1 at the GPS position

2. Push the Throttle stick to the top position, and push the Pitch stick to the top position. Keep the Pitch 

stick at the top position manually since it can return to the central position when released.

3. Turn on the Power Switch of the transmitter, you should hear the indicator sound of “Di—Di Di” from 

the transmitter repeatedly. Toggle the switch S2 to the CL position, you should hear an indicator sound of “Di” from the transmitter, in this case, the transmitter has entered the calibration mode. (During this period, the Throttle stick and the Pitch stick must be kept at the top position all the time.)

4. Release the Pitch stick and pull the Throttle stick to the central position. Toggle the switch S1 to the 

ATTI position; you should hear an indicator sound of “Di” from the transmitter. Then move all of the sticks throughout their complete range several times. After this, put the Throttle stick to the bottom position, and toggle the switch S2 to the HL position, you should hear an indicator sound of “Di” from the transmitter, in this case, the transmitter has been calibrated successfully.

©2013 DJI Innovations. All Rights Reserved. 

A6 Mount Camera and CPlease mount the Camera and Camera Fram(1)Mount the Camera to the Camera Fram

(2)Mount the Camera and Camera Frame Make sure to use the dedicated cross screwbattery by passing through the battery comp
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A7 Intelligent Orientation Control (IOC) Flight (with GPS & Compass module)Make sure to open the IOC function in the NAZA-M assistant software before using. Definition of Forward Direction: Quad -rotor will fly along this direction when you push the elevator stick.Graphic Description

Nose direction Forward direction Home point Over 10m from Home point 

Before You Start Usually, the forward direction of a flying aircraft is the same as the nose direction. By using IOC, wherever the nose points, the forward direction has nothing to do with nose direction:  In course lock flying, the forward direction is the same as a recorded nose direction. See the following 

figures (The red and blue arrows on the transmitter is corresponding to pitch and roll operations): 

 In home lock flying, the forward direction is the same as the direction from home point to aircraft. See the 

following figures (The red and blue arrows on the transmitter is corresponding to pitch and roll operations): 

Method of Forward Direction & Home Point Recording If you use the IOC function, please keep the Forward Direction of Course Lock Flying and the home point of Home Lock Flying in mind at any time. There are two ways to record the forward direction and the home point: Manually and Automatically. You may choose any one record method. 

Course Lock Flight Home Lock Flight 

Automatically 

30 seconds after you power on the 

quad-rotor. 

Before takeoff, the current position of the quad-rotor will be saved as home point when you push the throttle stick for the first time after 6 or more GPS satellites have been found. 

Manually 

Switch the S2 between OFF and CL position quickly 3 to 5 times to record current nose direction as new forward direction after you power on the quad-rotor for 30s. (OFF ->CL-> OFF is one time.) 

When 6 or more GPS satellites are found, you can toggle the S2 switch between CL and HL position quickly 3 to 5 times to record the current position of the quad-rotor as the new home point. (CL -> HL -> CL is one time.) 

©2013 DJI Innovations. All Rights Reserved. 

IOC Flying Test Realize an IOC flight by the following proced

During the 

same flight

STEP1: 

Record 

S

Course 

Lock 

Switch 

Setting 

Record forward 

direction 

Set swi

ATTI p

Home Lock

Switch 

Setting 

Record 

home point 

Set sw

positio

IOC FLYING NOTES!!!

 LED will blink quickly if recording i

the IOC mode only when MC is read

 Home lock flying requires that 6 or m

away from the home point. 

 Before you do the home lock flight, y

point, and then flip the switch S2 to Hmet. If you have already toggled the around home point, and this is the fiflight, then if all the requirements are aircraft flies out of the 10m range aro

 When flying in Home Lock mode, if a

Home Lock flying and automatically using the earlier forward direction. 

1. The aircraft fly’s within 10m ran2. You toggle the control mode sw3. The GPS signal becomes bad 

 When the aircraft is flying in home lo

toggle the IOC switch many times quintentionally knowing. 

 We suggest that you should know cle

the locked forward direction or home 

 Continuously spinning the aircraft in 

down the spinning, so as to have be
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A8 Maintenance 1. Remove the Housing1. Remove all the nuts and propellers by using the assistant wrench. 2. Remove the screws marked in the figure below using a Phillips Screwdriver and a Hexagon 

Screwdriver, and then remove the housing. 

Note:  Please take good care of the removed parts, for example, screws. Make sure to keep them safe and 

away from children. 

 DO NOT use any thread locker, since the thread locker may corrode the shell of Phantom, may cause 

fractures. 

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2. Extension Power There is an extension power cable in the Phathe same voltage as the power battery. The sure to keep the red cable and the grey cabl

ExtensionPowerCable