NAZA-M Quick Start Guide V 1.0

NAZA-M Quick Start Guide V 1.0
NAZA-M Quick Start Guide
V 1.0
Thank you for purchasing this DJI product. Please regularly visit the NAZA-M web page at
www.dji-innovations.com. This page is updated regularly. Any 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.
Please strictly follow these steps to mount and connect the NAZA-M system on your multi-rotor, as well as to
install the Assistant Software on your computer.
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.
Index
INDEX ............................................................................................................................................................1
DISCLAIMER & WARNING ..............................................................................................................................2
CAUTIONS .....................................................................................................................................................3
TRADEMARK .................................................................................................................................................4
ASSEMBLY &CONFIGURATION ........................................................................................................................5
STEP1 ASSEMBLY ................................................................................................................................................... 5
STEP2 SOFTWARE AND DRIVER INSTALLATION .............................................................................................................. 6
STEP3 ASSISTANT SOFTWARE USAGE ......................................................................................................................... 6
STEP4 COMPASS CALIBRATION.................................................................................................................................. 7
FLYING TEST ...................................................................................................................................................8
STEP1 CONTROL MODE KNOWLEDGE ........................................................................................................................ 8
STEP2 START & STOP MOTOR KNOWLEDGE ................................................................................................................ 9
SETP3 FLYING TEST............................................................................................................................................... 10
STEP4 INTELLIGENT ORIENTATION CONTROL (IOC) FLIGHT (WITH GPS MODULE) ............................................................. 12
APPENDIX.................................................................................................................................................... 14
FIRMWARE & ASSISTANT SOFTWARE UPGRADE.......................................................................................................... 14
REINSTALL THE GPS IN AN OFFSETTING ANGLE .......................................................................................................... 14
PORT DESCRIPTION .............................................................................................................................................. 15
LED DESCRIPTION ................................................................................................................................................ 16
SPECIFICATIONS ................................................................................................................................................... 17
www.dji-innovations.com
©2013 DJI Innovations. All Rights Reserved.
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.
NAZA-M 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 NAZA-M 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 alarm is triggered.
10.
Damage(s) or injuries caused by knowingly flying the aircraft in abnormal condition (such as water, oil,
soil, sand and other unknown material ingress into the aircraft or the assembly is not completed, the
main components have obvious faults, obvious defect or missing accessories).
11.
Damage(s) or injuries caused by flying in the following situations such as the aircraft in magnetic
interference area, radio interference area, government regulated no-fly zones or the pilot is in backlight,
blocked, fuzzy sight, and poor eyesight is not suitable for operating and other conditions not suitable for
operating.
12.
Damage(s) or injuries caused by using in bad weather, such as a rainy day or windy (more than
moderate breeze), snow, hail, lightning, tornadoes, hurricanes etc.
13.
Damage(s) or injuries caused when the aircraft is in the following situations: collision, fire, explosion,
floods, tsunamis, subsidence, ice trapped, avalanche, debris flow, landslide, earthquake, etc.
14.
Damage(s) or injuries caused by infringement such as any data, audio or video material recorded by the
use of aircraft.
15.
Damage(s) or injuries caused by the misuse of the battery, protection circuit, RC model and battery
chargers.
16.
Other losses that are not covered by the scope of DJI Innovations liability.
©2013 DJI Innovations. All Rights Reserved.2 |
Cautions
For safety reasons, please pay serious attention to all following items:
1.
For big aircraft that is larger than 650 or with heavy load, WKM is recommended.
2.
When the aircraft is set up with all of the equipment that you are going to use, please ensure the
aircraft center of gravity is lie on the center line of the frame. So that the aircraft can bear its
load in the vertical direction of frame center.
3.
When the main controller mounted, try your best to mount the main controller at the center of
the frame, and do not mount the main controller upside-down. Make sure main controller is
parallel to the aircraft horizon, so as to prevent the aircraft from drifting in horizontal direction.
4.
Make sure the ESC ports of the main controller is pointing to the aircraft nose direction,
otherwise serious damage will occur to your aircraft.
5.
Disconnect ESCs and battery or remove all propellers during firmware upgrade, configuration
and system setup!
6.
You have to reboot the main controller and redo the Tx calibration after you make any changes
to the RC system.
7.
Please always 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.
Whether you are using the gimbal control in assistant software or not, there is always power
output from F1 and F2 ports during the configuration. So never connect these ports to any ESC
which is wired with propellers and motors.
9.
Do NOT set the failed-safe position of throttle under 10% of endpoint.
10.
Throttle stick position should always be higher than 10% from cut-throttle during the flight!
11.
The NAZA-M has Low voltage protections If you are seeing a Red Flashing light, You should
land your multi-rotor ASAP to prevent your multi-rotor from crashing or other harmful
consequences!
12.
It suits for any control mode to stop motors using the Immediately mode, once motors start and
throttle stick is over 10%. Motors will stop immediately when throttle stick is back under 10%
again. In this case, if you push the throttle stick over 10% in 5 seconds after motors stop,
motors will re-start; Combination Stick Command (CSC) doesn’t need. However, if you don’t
push throttle stick in three seconds after motors start, motors will stop automatically.
13.
By, motors will start or stop immediately when you execute CSC using Intelligent mode to stop
motors. During the normal flight, only pulling the throttle stick under 10% will not stop motors
in any control mode. You have to execute CSC to re-start motors if they stop during the flight.
14.
Red light quick blinking indicates battery voltage is low, please land ASAP.
©2013 DJI Innovations. All Rights Reserved.3 |
15.
Do NOT move any command sticks during system start and self-check! Please contact us if the
last four green blinks are abnormal.
16.
GPS/Compass is sensitive to magnetic interference. YOU should be as far away from any
electronic devices as possible.
17.
Do not fly in GPS Mode when the signal is not good (red light blinks)!
18.
GPS module is optional (Nonstandard). If you are using the GPS module, users should read
contents about GPS matching in indicators; users without GPS module can skip contents about
GPS.
19.
If users set GPS ATTI. Mode in Control Mode Switch without connecting to GPS module, the
M.C. will switch GPS ATTI. Mode into ATTI. Mode automatically, and LED indicator will blink
yellow blinks.
20.
Once entering Fail-Safe Mode, the aircraft with GPS will automatically shut off when landed; the
aircraft without GPS will not automatically shut off when landed.
21.
Make sure all connections are correct and attachment contacts are in good condition before
flight.
22.
Keep wireless video transmission equipment a distance away from the main controller (>25cm),
to prevent any interference from the wireless video transmitter.
Trademark
DJI and NAZA-M are registered trademark 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.
©2013 DJI Innovations. All Rights Reserved.4 |
Assembly &Configuration
1 Assembly
Step
Install the main controller, VU module and receiver to the aircraft, and connect according to the following diagram. Refer to the Port Description for more details.
R/C System
VU
·
These are example connections.
Please setup Aileron, Elevator,
Throttle, Rudder channels on your
TX first, and choose one 3positions switch/channel as control
mode switch, then connect your
receiver to the right ports on MC.
·
·
TO Battery
·
3-position switch channel
·
·
RUDD
ELEV
AILE
THRO
R/C Receiver
(JR)
R/C Receiver
(Futaba / Hitec)
·
1
2
3
4
M1
M2
ESC
M3接电调
M4
M5
M6
3-position switch channel
Futaba S-Bus
接云台
S-Bus
PPM
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 3 rd 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 3 rd 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.
Quad-rotor I
Hexa-rotor I
F2
PPM
Multi-rotor Supported
Quad-rotor X
Hexa-rotor X
Roll
Pitch
Aircraft Nose
F1
(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!
©2013 DJI Innovations. All Rights Reserved.5 |
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.
Hexa-rotor IY
Hexa-rotor Y
Note:
To coaxial propellers: Blue propeller is at Top; Red
propeller is at Bottom. Otherwise all propellers are at
top.
Please choose the Mixer type in the assistant
software according to your aircraft.
2 Software and Driver Installation
Step
1.
Please download driver DJI Driver Installer.exe and NAZA-M assistant software from DJI website.
2.
Connect the NAZA-M and the PC via USB cable, power on the NAZA-M system.
3.
Run DJI Driver Installer.exe, and follow the instructions strictly to finish installation.
4.
Run the assistant software installer, and follow the instructions strictly to finish installation.
3 Assistant Software Usage
Step
1.
Make sure your computer is connected to the Internet for the first time you use.
2.
Switch on the transmitter first, then power on multi-rotor. Connect the NAZA-M to the PC with a USB
cable. DO NOT break the connection until setup is finished.
3.
Run the NAZA-M Assistant Software。
4.
If the communication indicator is on, please double check the connections and driver installation;
otherwise if the indicator is blinking, go to next step.
5.
Select InfoSoftware and Firmware. Check whether the assistant software and the firmware
upgrade are available. If available, please upgrade the assistant software and the firmware by
referring to the appendix. Otherwise, go to next step.
6.
Select Basic. Please follow step-by-step for your first-time-configuration.(Basic configuration is
necessary)
7.
You can click the Advanced option for more parameter settings.(Advanced function is optional.
There are IMU Calibration、Low-voltage Alarm、Enhanced Fail-Safe, etc. Read the instruction in the
assistant software to obtain more details.)
8.
Select Viewer and check all parameters.
Note:

You may be required to fill register information for your first-time-usage.

It will auto detect the software version when you open the assistant software and prompt the
Check for Updates window if your version is not the latest one.

Do not disconnect the main controller and the PC when you are using the assistant software.
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.6 |
4 Compass Calibration
Step
Without GPS, please skip this step
Note:

Don’t calibrate your compass where there is strong magnetic interference, such as magnetite, car
park, and steel reinforcement under the ground.

DO NOT carry ferromagnetic materials with you during calibration, such as keys or cell phones.

Compass module cannot work in the polar circle.
Calibration Procedures
1.
Quickly switch the control mode switch from Manual Mode to GPS ATTI.
Manual Mode for 6 to 10 times (or from ATTI. Mode to GPS ATTI.
Mode and back to
Mode and back to ATTI.
Mode), The LED indicator will turn on constantly yellow.
2.
Rotate your Multi-rotor around the horizontal axis (about 360o) until the LED changes to constant
green, and then go to the next step.
3.
Hold your Multi-rotor 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.
The LED indicator will show whether the calibration was successful or not.

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 1.
Tips:
1.
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.
2.
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.
3.
When to do re-calibration
 The flight field is changed.
 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.
 If the flight direction appears to be shifting (meaning the multi-rotor doesn’t “fly straight”).
 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.7 |
Flying Test
1 Control Mode Knowledge
Step
Please read the Control Mode Knowledge clearly before usage, to know how to control the aircraft.
When you use the NAZA-M system, there are three control modes for selection. NAZA-M can work in Manual
Mode and ATTI. Mode without a GPS module. After connection to the GPS module, GPS ATTI. Mode is
available. Please pay attention because the GPS ATTI. Mode is dependent on the number of GPS satellites
acquired by the main controller.
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
ATTI. Mode
(With GPS Module)
Manual Mode
Rudder Angular
Maximum rudder angular velocity is 200°/s
Velocity
Command
YES
Linearity
Command Stick
Multi attitude control; Stick center position for 0˚
Meaning
attitude, its endpoint is 45˚.
Max-angular velocity is 150°/s.
No attitude angle limitation and
vertical velocity locking.
Maintain the altitude best above 1 meter from
Altitude Lock
NO
ground.
Lock position if GPS
Stick Released
Only attitude stabilizing.
NOT Recommend
signal is adequate.
When GPS signal has
Only performing attitude
been lost for 3s,
GPS Lost
stabilizing without
---
system enters ATTI.
position lock.
Mode automatically.
Attitude & speed mixture control ensures stability
Safety
Applications
Depends on experience.
Enhanced Fail-Safe
Auto Level Fail-Safe
AP work
Sports flying.
---
How to enter the different control mode?
1.
Use a 3-position switch on the TX as mode control switch.
2.
Make sure to take off the aircraft in ATTI. Mode in every flight.
3.
Hover the Aircraft. Release all joysticks and then flip the control mode switch to the GPS ATTI. Mode or
Manual Mode (NOT RECOMMENDED).
©2013 DJI Innovations. All Rights Reserved.8 |
2 Start & Stop Motor Knowledge
Step
Please read this section carefully before flying. Select the motor Stop Type in the Assistant Software:
Advanced->Motor->Stop Type. The default setting is Immediately.
1 Star Motor:Pushing throttle stick before takeoff will not start motors. You have to execute any one of
following four Combination Stick Commands (CSC) to start motors
2 Stop Motor:We provide two options to stop motors: Immediately, Intelligent.

Immediately Mode: By using this mode, in any control mode, once motors start and throttle stick is over
10%, motors will stop immediately when throttle stick is back under 10% again. 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.

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 3 seconds.
d)
The slope angle of multi-rotor is over 70°, and throttle stick under 10%.
Notes(for Intelligent Mode):
 In ATTI. / GPS ATTI. Mode, it has landing judgment, which will stop motors.
 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.
 During normal flight, only pull throttle stick under 10% will not stop motors in any control mode.
 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(for Intelligent Mode & Immediately Mode):
 If you choose the Immediately, 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.
 If you choose Intelligent, throttle stick under 10% will trigger landing judgment in any control mode. In
this judgment, pitch, roll and yaw controls are denied except throttle, but multi-rotor will still auto level.
 In any control mode, DO NOT pull throttle stick under 10% during normal flight without any reason.
 In failed-safe, CSC is denied by the main controller, motors will hold their state.
©2013 DJI Innovations. All Rights Reserved.9 |
3 Flying Test
Setp
Checking List before Flying
For the ATTI. Mode & GPS ATTI. Mode
 Make sure you have assembled your multi-rotor correctly.
 Make sure you have done the configuration procedure correctly.
 Make sure all connections are in good condition.
 Make sure batteries are fully charged for your transmitter, NAZA-M and other devices on your multi-rotor
 Any of the following mistakes will leads to a dangerous accident, double check all these items:
Rotation direction of motor is opposite / Propeller installation mistake / Main controller installation
mistake / Wrong connection between the main controller and ESC
 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!
 Always switch on the transmitter first, then power on multi-rotor! (Power off multi-rotor first, then switch
off the transmitter after landing!)
 Please do the fly test and gain tuning with ATTI. Mode in the open air without heavy wind! (Refer to the
indication in the software: Basic->Gain.
 In ATTI Mode, after power on and before motors start, if Yellow or Green LED double blinks without
move any stick, this means you have moved any stick during system start up and check. You should
reboot the main controller before you try to fly.
 Please wait for the NAZA-M to warm up gradually (with the LED blinks Yellow 6 times quickly after the
Control mode LED blinks). Make sure not to fly the aircraft until the yellow blinking disappears.
 After power on and before the motors start-up, when the aircraft is stationary, if the LED blinks Green 6
times quickly after the Control mode LED blinks, please connect to the Assistant Software to do IMU
basic calibration. When the aircraft is moved, it is normal.
 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 NAZA-M system will not work, please connect to
the Assistant Software and follow the tips to do operation.
More for the GPS ATTI. Mode
 When system is powered on, you must not move your multi-rotor or sticks on transmitter until the
system initialization is finished (about 5 second).
 Make sure the GPS signal is good, only one red LED blinking or without red LED blinking. Otherwise
multi-rotor will drift without stick commands.
 Please avoid using the NAZA-M system in areas of Urban area with crowded buildings, Tunnels and
Under bridges, where will GPS signal is most likely blocked.
 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:
 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.
 The compass module had been put near a magnet. Sensor magnetization will lead to some abnormal
action even out of control.
 The compass is not properly calibrated; in this situation please calibrate the compass correctly again,
please see the section of Compass Calibration for details.
©2013 DJI Innovations. All Rights Reserved.10 |
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 Manual Mode or
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

Always switch on the transmitter first, then power on multi-rotor! Keep the aircraft and the sticks of
the TX stationary until the system start and self-check has finished
(
).

Push both sticks to the left bottom or right bottom (shown as the following chart), to start the motors.

Release the yaw, roll and pitch sticks and keep them at the neutral position avoiding the aircraft to tilt
to one side. At the same time raise the throttle stick from the bottom quickly. The motors will stop if
you do not push the throttle stick from the bottom within 3 sec and you will need to execute the
start-up procedure again. When the aircraft is on the point of leaving the ground, continue to push
the throttle stick upwards to rapidly take off from the ground, pay attention not to push the stick
excessively.
 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 neutral position to hover the
aircraft at the desired height.
4. Lower the aircraft slowly. Pull the throttle stick to the bottom and then push the sticks to the left bottom
or right bottom to stop the motors after landing. (Also, with throttle stick under 10%, and after landing
3sec the motors will stop automatically)
5. Please always power off the Multi-rotor first, and then switch off the transmitter after landing.
FLYING NOTES!!!

If in GPS ATTI. Mode, keep the aircraft flying in the open space without obstruction. Pay attention to
the GPS satellite status indicator LED. If the GPS signal is bad (red LED blink twice or three times),
switch to ATTI. Mode. You may use the GPS ATTI. Mode again after the GPS signal is back to normal

If the Multi-rotor LED flashes quickly Red then this indicates battery voltage is low, please land ASAP.

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.

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.

We recommend that you take off the aircraft in ATTI. Mode.

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 TX indicates low-battery alarm, please land ASAP. In this condition the TX may cause the aircraft
to go out of control or even crash.

If the LED lights Red, please hover the aircraft until it turns off, so as to have better flight performance.
©2013 DJI Innovations. All Rights Reserved.11 |
4 Intelligent Orientation Control (IOC) Flight (with GPS module)
Step
Definition of Forward Direction: Multi -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 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:

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 TX is corresponding to pitch and roll operations):
Usually

In course lock
In home lock flying, the forward direction is the same as the direction from home point to multi-rotor.
See the following figures (The red and blue arrows on the TX is corresponding to pitch and roll
operations):
Usually
In home lock
Home point
Home point
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
Before takeoff, the current position of the
Automatically
30 seconds after you power on the
Multi-rotor will be saved as home point when you
NAZA-M.
push the throttle stick for the first time after 6 or
more GPS satellites have been found.
Switch the IOC switch between
OFF and Course Lock quickly 3 to
5 times to record current nose
Manually
direction as new forward direction
after you power on the Multi-rotor
30s. (OFF ->Course Lock -> OFF is
one time.)
©2013 DJI Innovations. All Rights Reserved.12 |
When 6 or more GPS satellites are found, you can
toggle the IOC switch between Course Lock and
Home Lock quickly 3 to 5 times to record the
current position of the Multi-rotor as the new home
point. (Course Lock -> Home Lock -> Course Lock
is one time.)
IOC Flying Test
Realize an IOC flight by the following procedure.
During the
STEP1:
same flight
Record
STEP2: ON
STEP3: OFF
STEP4: ON again
Set IOC switch at
Toggle IOC switch from
OFF position
OFF to Course Lock
Set IOC switch at
Toggle IOC switch from
OFF position
OFF to Home Lock
Course
Lock
Switch
Record forward
Setting
direction
Set Control Mode switch at GPS
or ATTI. position, IOC switch at
Course Lock position
Home Lock
Switch
Record
Setting
home point
Set Control Mode switch at GPS
position and IOC switch at
Home Lock position
IOC FLYING NOTES!!!
 LED will blink
quickly if recording is successful. LED will blink between
and
slowly to indicate the
IOC mode only when the main controller is really to fly in course lock or home lock modes.
 Home lock flying requires that 6 or more GPS satellites are found and the aircraft is further than 10m
away from the home point.
 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.
 When you are flying in home lock mode, if the aircraft is back into the 10m range around home point, or
you switch into ATTI. Mode, or the GPS signal becomes weak, the NAZA-M will fly in course lock by the
current forward direction automatically. But this forward direction is NOT the recorded forward direction.
If you open the course lock now, it will fly in course lock still by the earlier recorded forward direction.
 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.
 We suggest that you should know clearly that, by which lock method you are going to fly, and the locked
forward direction or home point, before you switch on IOC mode during the flight.
 Continuously spinning will cause a yaw error. In this case, you can stop or slow down the spinning, so
as to have better flight performance.
©2013 DJI Innovations. All Rights Reserved.13 |
Appendix
Firmware & Assistant Software Upgrade
Please follow the procedure for software and firmware upgrade; otherwise the NAZA-M 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 NAZA-M to PC with USB cable, DO NOT break connection until firmware upgrade is
finished.
5.
Run Software and wait for connection.
6.
Select InfoSoftware and Firmware.
7.
DJI server will check your current software and firmware version, and get the latest software and
firmware prepared for the unit.
8.
If there is a software version more up-to-date than your current version, you will be able to click to
download the new version. Please re-install the assistant software follow the prompts
9.
If there is a firmware version more up-to-date than your current version, you will be able to click to
update them. Wait until Assistant software shows “finished”. Click OK and power cycle the unit after
at least 5 seconds.
10.
Your unit is now up-to-date.
Note:


After firmware upgrade, please re-configure the NAZA-M using Assistant software.
If firmware upgrade failed, NAZA-M will enter waiting for firmware upgrade status automatically,
please try again with the above procedures.
Reinstall the GPS in an Offsetting Angle
Should
you
multi-rotor
find
does
the
Actual flig
not
you
might
Objective flight direction
GPS mounting direction
try
re-mounting GPS in an
offsetting
angle
as
n
θ
track straight in forward
flight,
ht directio
1
Without GPS offset angle
With GPS offset angle
2
3
showed in right figure. Θ
in
the
figure
is
the
offsetting angle.
θ
Actual flight direction
Objective flight direction
GPS mo
©2013 DJI Innovations. All Rights Reserved.14 |
unting dir
ection
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 compatible)
Or for gain tuning
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
F2
To gimbal pitch servo
LED
LED port, for LED wire connection from Versatile Unit
EXP.
GPS port, for GPS module wire connection.
Or for IOC switch
(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
LED

Orange wire (signal wire) output: ±3.3V

Red wire (power wire) output: [email protected]
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.15 |
LED Description
Control Mode (with GPS module)
Manual
ATTI.
GPS ATTI.
IOC
GPS Satellite number < 5
GPS Satellite number = 5
GPS Satellite number = 6
GPS Satellite number > 6
None
Flight Attitude is bad
Control Mode (without GPS module)
Manual
None
ATTI.
Tips:
When
appears, please hover the aircraft until it disappears, so as to have better flight
Flashing indications of ATTI. Mode

and GPS ATTI. Mode
are:
Before motors start: Single blink, all sticks (except throttle stick) at center; Double blinks, stick(s)
(except throttle stick) not at center.

After motors start and throttle stick is over 10% within 3 seconds: Single blink, all sticks at center;
Double blinks, stick(s) not at center.
Blinking indications of IOC
are:

blink, all sticks (except throttle stick) return to center;
Before motors start:
blink,
stick(s) (except throttle stick) not at center.

After motors start and throttle stick is over 10% in 3 seconds:
center;
blink, all sticks return to
blink, stick(s) not at center.
Compass Calibration
Begin horizontal calibration
Begin vertical calibration
Calibration or others error
Compass Error too Big
Others
Record forward direction or home point
Tx signal lost
Low voltage / Other errors
System start and self-check
IMU abnormal data
NAZA-M warm up after power on
Control Mode + GPS Satellite Number +
IMU Basic Calibration is needed/
Multi-rotor is moved after power on and
before the motors start-up
©2013 DJI Innovations. All Rights Reserved.16 |
Control Mode + GPS Satellite Number +
Specifications
General
Built-In Functions

Three Modes of Autopilot

Enhanced Fail Safe

Low Voltage Protection

S-Bus Receiver Support

PPM Receiver Support

2-axle Gimbal Support

Quad-rotor I4, X4;

Hexa-rotor I 6, X6, IY6, Y6.
Peripheral
Supported Multi-rotor
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
Power Consumption
Operating Temperature
Weight
Dimensions

MC: 4.8V ~ 5.5 V

VU: 7.2V ~ 26.0 V (recommend 2S ~ 6S LiPo)

MAX: 1.5W([email protected])

Normal: 0.6W([email protected])
-10°C ~ 50°C(14F ~122F)

MC: 25g

GPS:21.3g

VU: 20g

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.17 |
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