DJI Manual

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DJI XP3.1 Standard Manual

V 1.10

DJI Innovation TechnologyAddress: Room 1205, Business ParkShenzhen University-town, Lishan Rd,

Nanshan District, Shenzhen, Guangdong,

P.R.ChinaP.C:518000Tel: 0755-83067827Fax: 0755-83067370URL: http://www.dji-innovations.com/Email:[email protected]

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ContentsACKNOWLEDGEMENT .................................................................................................................. 4PREFACE ........................................................................................................................................ 51 INTRODUCTION ........................................................................................................................... 5

1.1FUNCTION INTRODUCTION ...................................................................................................... 51.1.1System Features ..................................................................................................... 51.1.2 Hardware System ................................................................................................. 61.1.3 Control Mode ........................................................................................................ 6

1.2SYSTEM REQUIREMENT ............................................................................................................ 82 SYSTEM ....................................................................................................................................... 10

2.1SYSTEM FRAMEWORK ........................................................................................................... 102.2MODULE INTRODUCTION ...................................................................................................... 11

2.2.1Main Controller .................................................................................................... 112.2.2 Adapter ............................................................................................................... 112.2.3 GPS & Compass .................................................................................................. 122.2.4 LED Status Indicator ............................................................................................ 122.2.5 Software .............................................................................................................. 12

3 SYSTEM INSTALLATION AND ADJUSTMENT ........................................................................... 133.1HARDWARE INSTALLATION .................................................................................................... 13

3.1.1 Main Controller Installation ................................................................................ 133.1.2 Adapter Installation ............................................................................................ 16

3.2SYSTEM PARAMETERS TUNING AND SETTING ............................................................................. 223.2.1 Tuning Preparation ............................................................................................. 223.2.2 The Primary Setting of Remote Control ............................................................ 233.2.3 Completion of the First Test Flight Adjustment by Software Wizard .............. 23

4 OUTDOORS FLYING ADJUSTMENT ........................................................................................... 354.1HELICOPTER FLYING ADJUSTMENT AND TEST UNDER MANUAL MODE .......................................... 354.2CENTER SETTING .................................................................................................................. 364.3COMPASS CALIBRATION ...................................................................................................... 384.4FLIGHT TEST UNDER AUTOPILOT MODE .................................................................................... 39

4.4.1 Setting Meanings and Related Regulation Methods of Parameters ............ 404.4.2 Flying Test ............................................................................................................. 434.4.3 Flight Success: ..................................................................................................... 43

4.5POINTS FOR ATTENTION IN FLYING .......................................................................................... 434.5.1Preflight Examination Process ........................................................................... 434.5.2 Flying Attention Points ........................................................................................ 454.5.3Landing Explanation .......................................................................................... 46

3 APPENDIX .................................................................................................................................. 48APPENDIX A:LED STATUS INDICATOR .......................................................................................... 48APPENDIX B:ELECTRICAL CHARACTERISTICS ................................................................................ 49

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APPENDIX C:MECHANICAL PROPERTIES ...................................................................................... 49APPENDIX D:MECHANICAL DRAWING ........................................................................................ 50APPENDIX E:PACKAGING LIST .................................................................................................... 53APPENDIX F:SAFETY CHECK LIST ................................................................................................. 53APPENDIX G:FREQUENTLY ASKED QUESTIONS .............................................................................. 54

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AcknowledgementI hereby would like to acknowledge the support, hard working and

modification of our manual. My sincere gratefulness goes to our distributor,

Mr Kimberly Attwell

, whose guidanceexpertise and effort provide an

important support throughout the work of our manual.

DJI Innovation Technology

Note:Authorized area: New Zealand & Australia

: Here is some general information about Mr Kimberly Attwell:Company: PHOTE HIGHER

Phone Number: 006449735744

http://www.photohigher.co.nz
http://www.photohigher.co.nz/http://www.photohigher.co.nz/

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PrefacePlease read this manual carefully before using DJI XP 3.1. If you have any

questions, please contact us. We will give you satisfying answers as quickly as

possible. Our company undertakes no risk and obligation for the product's flight tests

and utilization of our end-users, such as aircraft crashing, direct and indirect loss of

the third-party caused by aircraft crashing.

Our company reserves the right to revise any part of this manual without

informing users beforehand.

1 Introduction1.1 Function Introduction

DJI XP3.1 is a controlling system for unmanned system, integrated with GPS,

6-DOF inertial measuring unit, Magnetic-field meter and barometer. The system can

control the helicopter precisely and reliably at any flight altitude, in most weatherconditions, and even under the short-interruption of GPS signal.

1.1.1System Features

Helicopter, a non-stable platform itself, needs continuous observation and

controlling to maintain a steady flight. DJI XP3.1 provides excellent auto hovering

and flight performance by using GPS/INS inertial navigation technology, which is

widely used on cruise missile, and advanced controlling algorithms.

Main Characteristics of DJI XP3.11. Autonomously hovering with high precision.2. When autonomously hovering, the helicopter altitude and position can be

locked. Flight velocity in one direction corresponds a given RC stick volume,

so users can control a fool-style flight( can only control one channel at one

time)

3. Under the locked altitude, with the help of XP 3.1, operators can easilycontrol the helicopter to do the turn-coordination.

4. Amend errors raised between hovering and flying automatically.5. The main differences between DJI XP3.1 and the stability augmentations

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based on CCD sensor: DJI XP3.1 can fly at any altitude within the remote

control smoothly, without height and surface texture restraints. No frequent

switching between various modes, the speed can be accreted to 0.1m/s orless.

6. Automatically turn into hovering state when receiver signal is lost (enter theFail Safe mode).

1.1.2 Hardware System

1. Improve the accuracy and real-time performance of the controller by using2 separate DSPs (digital signal processor) to calculate altitude and control

algorithm.2. Provide superior position accuracy by using a high performance 16-channelGPS receiver.

3. Enclose high-reliability tri-axial gyroscopes and accelerometers of MEMS.4. Building algorithm can facilitate users to do the hard and soft iron magnetic

field compensation for eliminate the magnetic interference.

5. The system dedicates CPLD to decode and encode servo signal for higherreliability and compatibility for most RC receivers.

The Basic Performance ParametersHover positioning accuracy Maximum wind

resistance

Vertical 1m5.5~7.9m/s

Horizontal 2m

Note:

1.1.3 Control Mode

These parameters are measured in the condition of breeze (wind speed less than 3.3m/s). If in heavier

wind, the accuracy will be little lower.

Autopilot ModeIn this mode, the altitude can be locked; the nose direction and the

helicopters velocity command, back and forth, left and right, up and down, can

be issued by RC transmitter (Tx) separately and accurate feedback control through

on-board automatic control algorithm. Even people, who are flying the RC

helicopter for their first time, can learn to control the helicopter in few minutes.

There is a hovering zone

when Tx sticks are centered. When the sticks go back

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to the middle (centre position) and enter the hovering zone, the system will enter

auto-hovering in a short time.

After entering autopilot mode, flight speed is in proportion to the volume of Txstick

When the Tx stick is pushed to the limit, the corresponding maximum flight

speeds are as followings:

.

Forward-Backward Left-Right Up-Down

56km/h 54km/h 7.2km/hNote:The small section of the hovering zone on the Tx is determined by the controller system.The ROTOR EPM is locked by GV1 or ESC.

Attitude Control Mode:In order to keep helicopter in safe range, system velocity is intentionally limited within 15m/s.

System also has the attitude stable mode. It can work even without GPS signal in

this mode. When user switches into this mode, helicopter will hold stable attitude and

altitude but without position and velocity locking. The helicopter can be easily

controlled in a no GPS condition.Pure Manual Mode

The system remains in traditional manual mode. Under this mode, operator can

control the helicopter as an ordinary RC helicopter.

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1.2System RequirementHelicopter Types Applicable to electrical and gas/fuel powered

helicopters

Swash Types

Ordinary modeCCPM 1_Servo_Norm

CCPM mode1. 3_Servo_120

2. 3_Servo_140

3. 3_Servo_90

4. 4_Servo_90

Remote Controller 1. 7 channels or more2. All channels have the Fail Safe function

System OperatingTemperature -10 ~ +70

System OperatingVoltage 7.4~12V(DC)

RecommendedSystem Power

Supply

The specifications of lithium battery as followings

Voltage: 7.4V Battery capacity: More than 2000mAH

Discharging current: Larger than 5C

RecommendedAccessories

1. GyroscopeGY401

2. Speed controller: ESC (electromotion), GV1

(kerosene-powered) practicably locking the

revolving speed

3. Receiver(PCM)

or 2.4GNote: Some of the RC systems (like some kinds of Spektrum RC), only the throttle (the first channel) has the

function of Fail Safe, none of the other channels have Fail Safe function. As a result, it is not

guaranteed that the helicopter can enter the auto-hovering state when the RC is in out of range.

For the lithium battery of these specifications, the voltage can reach more than 8V when it is at full power state (there are two 3.7V batteries connected in series inside. If there are three 3.7v batteries

connected in series, it may exceed the system operating voltage, so it is not recommended). If the

measured voltage is 7.4v, the battery is at the edge of being empty. As a result of using powerful

DSP+ARM to process efficient attitude control algorithms, the system working current may approach

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more than 1A. By using the lithium battery with capacity is over 2000mAH, the system can work for

around 2hours

: System alarming voltage is 7.4v (under this condition the red LED status indicator will always on): The gyroscopes will induce this change (and confirm it is not artificial operation), and emend this impact.

After testing, the compatibility between GY401 and XP3.1 is higher than that between GY601 and

XP3.1, so GY 401 is recommended.

Engine governor such as GV-1 or RPM lock-able motor drivers are required to maintain a constant rotorRPM and XP3.1 will leave the Thro channel in the original position in the autonomous mode.

PCM or 2.4 G receivers have Fail Safe function, but PPM do not.

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2 System2.1System Framework

NoteBlack: Normal configured mode

Blue: Optimal configured mode

Brown: User-configured mode

Receiver

Tx

Servo

Ext. portsED

GV1/ESC.Power

Gyroscope

Compass&GPS

Adapter

Gyro Stable P&T

SD CardWireless

Main Controller

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2.2Module Introduction2.2.1Main Controller

The Main Controller, which calculates the flight attitude and controls of the

helicopters flight by sending orders to Adapter under autopilot mode, is the heart

of the control system.

Figure 2. 1 Main Controller

2.2.2 Adapter

The Adapter acknowledges signals from RC receiver (Rx), as well as processing

controlling signal and controls the servo operation with cooperation of Main

Controller.

Figure 2. 2 Adapter

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2.2.3 GPS & Compass

External GPS and compass are integrated in one unit. Both of them must be

placed far away from interference. It is used to receive GPS signals and direction

signals, and send them to the Main Controller.

Figure 2. 3 GPS&Compass Figure 2. 4 LED Status Indicator

2.2.4 LED Status Indicator

The LED status indicator has three LEDs which are red, white and green. They

have a number of different states constantly on, sparkling, flashing and constantly

off. Each state represents different control status respectively(Refer Appendix A for

details).

2.2.5 Software

PC software called XP configure is used to program and make system

adjustments. Users need to set different parameters for each helicopter to make sure

the system operate normally.

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3 System Installation and Adjustment Users should dedicate special circumspection and patience to the

installation, adjusting, flying and maintenance of the system. Any improperoperation may lead losses of helicopter, property and even life. Please pay specialattention to the following steps and introductions of installation and adjustment. Donot try to skip any step.

This sign stands for Fatal Danger.Users should pay special attention to itand handle with care.

3.1 Hardware InstallationBefore you install XP 3.1, please make sure the mechanical structure of the

helicopter has been adjusted correctly

Note

and the helicopter can process normal

manual flight in the absence of this system.

3.1.1 Main Controller Installation

Try to eliminate all kinds of vibrations by adjusting mechanical structure and motor system, since the

oversize vibration will influence the normal operation seriously.

1. Please assemble the anti-vibration frame of the main box first. The MainController is fixed to the anti-vibration frame of main box by 4 neoprene

isolators, as shown in Figure 3.1.

Figure 3. 1

2. Main Controller installation can be installed in two ways, with reference of thecoordinates of Main Controller (Figure 3. 2) and helicopter (Figure 3. 3). NoOther Installation Is Allowed.

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Figure 3. 2

Figure 3. 3

a) (Figure 3.4)Make Main Controller box frame the same direction as thehelicopter frame, which means the side with two DB ports faces the

head of the helicopter, This corresponds to the Forward set in the

[Install Parameters] in XP configure(programming software).

b) (Figure 3.5) Make X Axis of Main Controller in the line of Y axis ofhelicopter, which means the side with two DB ports faces the right hand

of the helicopter, corresponding to the Right set by the [Install

Param] in XP configure.

Figure3. 4 Figure3. 5

Forward Position Right Position

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Attention1) For the helicopter with gasoline engine and electric motor, the

minimum distance between the Main Controller and the engine/motoris 10cm. For the helicopter with methanol machine, one does not needto consider the distance between them.

2) The distance between the Main Controller and the center of gravityshould be as close as possible, the shorter the better. Its also to keepthe main controller out of direct contact with the airflow from the mainrotors.

3) The installation direction should as straight as possible, or it will decreasethe control accuracy.

4) The Main Controller must not be too close to any heat sources orelectromagnetic interference or servos.

5) Users should reserve enough space for the connecting cable betweenMain Controller and Adapter as well as computer in front side of theMain Controller (the side with two DB ports).

3. Users can find a suitable position

for the Main Controller according to the

above requests and helicopters structure. Followings are two installation

examples (Figure3. 6 and Figure 3. 7).

Figure3. 6

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Pay attention toprotect DB15 cable andavoid long-time friction,

which may leadsshort-circuit or open-

circuit!

Figure 3. 7

Note

Attention

Drill the correct size holes in the anti-vibration frame and helicopter to fix the Main Controller

to the helicopter. You may need to customize your own brackets depending where you can fit

the anti-vibration frame. It is important that the Main Controller is well supported and fixed

rigidly to the frame of the helicopter.

Check the bearing capacity of neoprene isolator on a regularly basis, andcheck that there are no signs of weakness or aging. If any of the isolators are wornor cracked you need to replace them straight away!

3.1.2 Adapter Installation

1. Position Choice of Adapter1) The minimum distance between the Adapter and the engine (gasoline

engine or electric motor) must be 10cm at least, or interference can affect

the operation of the system.

2) There are many links between Adapter and RC receiver and servos

respectively. Arrange a proper position for

Adapter installation to reduce the use of the

extension cables.

3) Do not fix the Adapter to the helicopter after

choosing a proper position. Fix it after all the

adjustment has been made.

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2. Connection between Main Controller and AdapterConnect them with DB 15cable (Figure 3. 8), which matches DJI XP3.1. The clasp of DB 15 cable must be

locked (Figure3. 9 DB15 open status) (Figure3. 10 DB15 closed status). Thelooseness of DB15s clasp must be avoided. The routing should not be pulled

to tightly (Figure 3. 11). A longer cable can be supplied if required. Do not

constrain the DB15, which links to the port of the Main Controller. Keep it

flexible to avoid affecting the attitude of the Main Controller and/or reducing

the efficiency of isolators. The recommended way is shown in Figure 3. 12

Figure 3. 8DB15 Cable Figure3. 9 Unlock Status Figure3. 10 Locked Status

Figure 3. 11 Figure 3. 12

3. Connection between RC Receiver and AdapterFix the Rx first. And thenconnect Adapters input wires to the Rx according to the label on them

(Figure 3. 13) and check the power polarity when plugging them in. No

external power supply is needed for Rx, because its power is supplied directly

from the Adapter (Figure 3. 14).


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No other linksexcept input wires of

Adapter are allowed toconnect to the RCreceiver, for example:Any servo or electronic

shutters.

Definitions of the Rx input wires are shown as follow:Label T A E R U P G X

Definition THRO AILE ELEV RUDD AUTO PITCH GYRO AUX

Note:: Autopilot/ manual channel: Gyro sensitivity channel

Connection: For 4-servo swash

schematic diagrams

Figure 3. 15

Figure 3. 16

AttentionJR and Futaba RC receivers are promoted,

because in this manual we set them asexamples. By using them users can makeconnection according to the above two charts.Please check if the channel definition of the Rxcorresponds to that of the above charts. If not,just make sure that the match up.If other Rxsare used, users should connect them as per thedefinitions of wires.

4. Connection between Servo and AdapterAs in Figure 3.17, the 8 marked portsare output channels to the Servos (Figure 3.17). Servo power supply (4.8v-6v) is

connected to the BATT channel of Adapter. The connections are the same as
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that of connecting between Rx and Servos. The followings diagrams show the

schematic of swash plates of various configurations with three servos

(including normal mode, 90CCPM120CCPM140CCPM and fourservos (90CCPM). Please follow the following connection shown in Figure3.

18 and Figure 3. 19.

Figure 3. 17

Figure3. 18 3-servo Swash

Figure 3. 19 4-servo Swash

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AttentionPower supply for the Servos and the control system are two mutually

independent and different supplies. The Servos are supplied with power source of4.8v-6v battery and must be plugged into the BATT port on Adapter. Please install aswitch between the servos battery and the port. The controller system ispowered directly with a 7.4v battery. The switch on Adapter is the power switch ofcontrol system. Be sure two batteries ground links are not connected together.

5. Connection between LED Status Indicator and AdapterT the LED statusindicator (Figure 3.20) is connected or plugged into the corresponding port

labeled LED on the Adapter shown in Figure 3. 21. Please install the indicator

in the place where can be seen easily from different directions when

helicopter is flying. Users can refer to the following example (Figure 3. 22).

Figure3.20


6. Connection between the External GPS & Compass and AdapterThere arefour external ports on the Adapter to connect various relevant airborne

modules such as the external GPS &Compass, wireless video transmission

(matching), ground station radio (professional edition) and so on. No. 1 port isthe input port for GPS & Compass signal (Figure 3. 24). The upper surface (DJI

OutputChannelsforServos7

.4-12vBattery

20

00mAhplus

Batt. Port In

6-4.8v Battery

2000 mAh lus

H

eavyDutySwitch

Input Cables from Receiver

Servos Plug In

To GPS

DB15 Cable

Adapter

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GPS & Compasscannot work correctly if

it is connected to theother port.

trademark surface) of GPS & Compass should

be facing upward. It should be laid flat and the

coordinates must be coincident with thecoordinates of the helicopter (output wire

points to the head of the helicopter). No magnetic objects are allowed close

to the GPS. It should be installed approximately half way along the tail boom,

and be far away from any servos.(Figure 3.25)


Recommended Installation:

Figure 3. 25

Attention1) The GPS reception will be affected if GPS is too close to the main rotor

or Servo; the accuracy of the GPS data may decrease when it is tooclose to the tail rotor

2) Distance between the external compass and servo should be morethan 20cm, and between compass and the engine should more than30cm.3) The tail boom must be carbon fiber or nonmagnetic material (thematerial must not be attracted to magnify fields). The screws near thecompass must be replaced with stainless steel. If you are not sure if thematerial near the compass is magnetic, you can use the magnet or theordinary compass to check.

4) If there are some ferromagnetic materials which have the maximumdimension x near the compass, the minimal distance betweenferromagnetic materials and the compass should be 2x
http://showjdsw%28%27jd_t%27%2C%27j_%27%29/http://showjdsw%28%27jd_t%27%2C%27j_%27%29/http://showjdsw%28%27jd_t%27%2C%27j_%27%29/http://showjdsw%28%27jd_t%27%2C%27j_%27%29/

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3.2 System Parameters Tuning and SettingIf users have followed the above installment introduction, then you should have

finished the connection of the hardware. Now we will start the parameter tuning

and the setting by software.

3.2.1 Tuning Preparation

1. Software InstallationPlease install the USB to Serial Port Cable driver. exe ofthe ancillary CD and XP Configure (system parameters tuning software) which

can be found on the CD supplied.2. Power and ConnectionConnect the Adapter to the 7.4v power. Connect theDB9 port on the Main Controllers front panel (Figure 3. 27) and the USB

connection of the computer with USB to Serial Port Cable (Figure 3. 26). Do not

turn on the power to the servo at this step.


3. System BootingTurn on the system power switch and pay attention to the LEDStatus Indicator. Refer to appendix A1 [normal booting mode] to see ifbooting is normal. If not, please refer to appendix A4 [error status], check if theinstallation is correct and reboot it. Refer to appendix A2 [normal operatingmode] to check the twinkle of the indicator after normal booting. If users aresetting up indoors, the red LED indicator will flash indicating no GPS signal

this is normal.

Attention:Every time when booting the system, please keep the helicopter flat, or thesystem will start failure.4. Software Connecting Open XP configure software, and then it will

automatically search for available COM port. If there are no problems, it will

connect to the Main Controller automatically. It shows the system has been

connected normally and smoothly when the connection indicator of the

software turns to green.

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3.2.2 The Primary Setting of Remote Control

All the settings made through Tx by users have been reserved. Initially two

changes are required, first the swash plate type setting and autopilot switch setting.

1. Swash Type Setting

Note

Regardless of the brands of the remote controller, please

alter the swash type in remote controller to helicopter-Normal one. That

means each servo link to the swash plate independently.

2. Autopilot Switch SettingUsers need to set aFor JR RC Choose NORM in SWASH TYPE and for Futaba RC Choose HELICOPTER, H-1 in Swash

Plate.

three-position switch

Attention

on the Tx as

the autopilot switch this will enable you to switch among manual, attitude and

autopilot modes.

If users make connections according to the above explanation correctly, thechannel 5 of JR RC is the autopilot setting channel, while the channel 7of FUTABARC, but this will depend on the brand and type of receiver being used.

3.2.3 Completion of the First Test Flight Adjustment by Software Wizard

Once the above two changes have been made to the Tx users can now turn on

the control system (Adaptor) power (Dont turn on the servos power). Enter the

software after the normal starting of the system. When the indicator on the left of the

window turns to green from red, the software begins to work. And then, users can

enter adjusting wizard interface (Figure 3. 29) by clicking Wizard button n the top

left corner of the screen (Figure 3. 28).


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Figure 3. 31

Users can measure the offset values according to the position of the Main

Controller and the helicopters c. g, and fill them in the proper position

on the programming software as shown.

Figure 3. 32

3 If GPS antenna is laid at Point B, then Bs coordinate value is the offset ofGPS to the helicopters C of G (Figure 3. 32).

As for the same reason, users can measure the GPS offset from the

position of GPS installation to the C of G of the helicopter. If users install it

at the point of 1/2 length of the tail pipe approximately, the offset values

of y and z are usually 0 (zero). You only need to find out the distance

between GPS and the c.g. of helicopter in x direction. Pay attention to

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the positive and negative values of GPSs offset in the x direction, it

should be always negative.

Attention1. By default, users do not need to change the offset value of the GPS in y

and z directions in the software and can be left at 0. But if you do notinstall GPS at the recommended position, you can enter the values of yand z by clicking Advanced.

2. To set the expected parameters into the Main Controller to finish setting,do click write after filling the parameters in

3. Meter is the unit of all the offset parametersNote:

: One way to determine the c of g. of helicopter is to take down the main rotor, tie a long line with plumb to the tail pipe, raise the helicopters tail, and let the helicopter and the ling hang down

naturally this will give you the X coordinate. To find the Y coordinate you can find the balance

point of the helicopter when it is sitting on its skids. One way is to balance the helicopter on a

round bar. The intersection point of the plumb line and the horizontal balance point is the C of G of

the helicopter.

STEP2.Autopilot/Manual Mode Setting1 Click next button after finishing the operations above to enter

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autopilot/attitude/manual mode setting. After turning on the Tx, users are

able to shift autopilot/attitude/manual switch. Then you will notice the

slide also shifts between the top side and bottom side, which means theautopilot/attitude/manual switch has been linked correctly. Users should

set the switch normal and reverse according to the slide direction

(upward position, slide is on upward side, and vice verse)

Please notice that after our updates, there are three modes possible.

Users should choose a 3-position switch as mentioned in 3.2.2.

2 Users must program every position of the 3-position switch by Tx in order toenter the corresponding mode. User could notice the slider moving when

programming very position of the switch. When slider reaches the orange,

green or blue area and there is a little trimming slider appearing on the

left, that means the adjustment in this mode is finished, as shown in Figure

3.34. Then shift the switch to the next position, program this position the

same way as above. So is the third position. After the setting

accomplished, you can shift the switch to make sure every position of the

switch corresponds the correct slider position.

3 Then you must set a fail safe position of this channel. Fail safe position ofthis channel can be set at any position except the set three modes

positions above, as shown in Figure 3.33. You may have to repeat the

settings for three positions after fail safe position settled.

Figure 3. 33

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Figure 3. 34

4 When the switch is upside, the slide leveling with the orange line, the

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green LED should vanish constantly, this is the manual mode. When switch

is centered, the slide leveling with the blue line, the green LED indicator

will start to sparkle, which means it enters attitude control mode. Whenswitch is downside, the slide leveling with the green line, the green LED

indicator will also sparkle, which means it enters auto mode. When turn off

the Tx the slider will be at the fail safe position you set. If you finished all

steps correctly, you have finished the adjustment. Please click next to

continue to the next step.

STEP3.Swash Type SettingUnder the manual mode, users can adjust the helicopter according to

the requirements for ordinary remote-controller helicopter.

1) Before this step, set the swash type as NORMAL mode in Tx first2) If your helicopter is NONE CCPM, set the Swash types as NORMAL in the

software (Figure 3. 35). click write and then next to enter the

interface of Feedback & Servo Calibration

Swash Type:Swash Type CCPM Parameter

Normal Type Normal CCPM Type

1. 3_Servo_120

2. 3_Servo_140

3. 3_Servo_904. 4_Servo_90

Swash Mix

NORM REVServo Rotation Direction

Figure 3. 35

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Figure 3. 36

3) If CCPM mode is used (Figure 3. 36), parameters of swash mix and Servodirection should be set correctly.

a) First turn the TRAV ADJ (End Point) of every channel of control stickwhich controls PITCH, AILE, RUDD, ELEV to the Maximum.

b) Check that the swash type has been set to NORM mode in Tx.c) The moving direction of swash plate is decided by the rotation direction

of Servos and the sign (positive or negative) of swash mix, while its

motion amplitudetravelis decided by the values of corresponding

swash mix.

Push PITCH stick up and down and notice if all the Servos lead theswash plate moving horizontally, that means every servo lets the

swash plate up or down evenly. If not, click NORMREV

buttons to adjust the direction of Servo.

Push PITCH stick, the forward and backward movements shouldcorrespond to the changing of collective pitch of main rotor. If the

direction is opposite, change the sign of PITCH in swash mix. Push ELEV stick forward and backward should correspond to theforward and backward rotation of swash plate. The adjusting

methods are the same as above.

Push AIL stick right and left should correspond the right and leftrotation of swash plate. The adjusting methods are the same as

above.

4) It the swash slants slightly, users can correct this in the Tx by trim tuning. If theinclination is too big, please adjust the mechanical linkages of the swash

plate. Users can refer to the installation manual of the helicopter for details.

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Figure 3. 37

5) Pay special attention to CCPM 4_Servo_90 Swash type (Figure 3. 37) First connect the pull rods of three servos only, for example, the left,

front and right Servos.

In the software interface of swash setup, configure the Swashtypes and the directions of the three Servos.

Connect the pull rod of the fourth Servo after complete adjustmentof the three servos. Adjust the direction of the fourth, to make sure

no locking braking

Note

between Servos and the correct motion of

swash plate.

6) Adjust the minimal collective pitch to -5 ,maximal one to 10-11

(guarantee the corresponding climbing speed more than 3m/s) and

median one 5 by the software and PITCH curve in Tx.

: No Kaka sound from Servo.

7) Click next after finishing the settings, to enter the interface ofFeedback & Servo Calibration.

STEP4. Feedback & Servo CalibrationThis step can allow the software to calibrate of stick volume and feedback

control. The main purpose is to get positive and negative directions and the

maximum minimum values of all channels.

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Figure 3. 38

a) Enter the interface of [Feedback & Servo Calibration] (Figure 3. 38), andclick the Cal buttons of AILEELEVRUDDPITCH orderly.

AttentionThe Throttle and Pitch channels are mixed, so you will be adjusting

the throttle channel when you calibrate the pitch channel. If it is anelectronic helicopter, users need to set the last point of the throttle curveto the maximum when processing the calibration of the PITCH channel.Once you have calibrated the Pitch channel return the throttle end pointto its correct setting.

b) After entering calibration interface, push the stick to the center first;then click Ok (Figure 3. 39) and push stick according to the arrow

pointing direction shown from software (Figure 3. 40); Return the stick to

the center finally. Software will exit the calibration interface

automatically after the calibration of the corresponding channels.

Figure 3. 39

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Figure 3. 40

AttentionMake sure to hold the stick at the endpoint for more than 2

seconds.c) Now check if the directions of stick travel are the same as shown in

software.(stick to left or upward corresponds to the slide shown in

software moving upward stick to right or downward corresponds to the

slide shown in the software moving downward). If calibrated correctly,

the top or the left end of the stick should correspond to the top position

of the slide. Meanwhile, the bottom or the right end of the stick should

correspond to the bottom of the slide. If the slide reaches the top or

bottom too early, or it cannot reach the top, re-calibration is needed.

d) Feedback Test. Switch the remote controller to Auto Mode or the prompt box will

appear (Figure 3.41).

Click Feedback Test button. Now, users need to check the swash plate. The swash plate will

move automatically. The directions as followings: collective pitch:updown; swash plate tilting: front- back-left-right; Rudder:left-right; throttle: updown. If the directions are inconsistent, usersneed to re-calibration corresponding channels. Switch back to the manual mode and withdraw the test.

Figure 3.41

e) Switch the remote controller to auto mode(or the prompt box as above

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The correctness ofFeedback testandController Orientation

Testwill affect thenormal operation of the

Main Controller.

will appear)

f) After clicking Controller Orientation Testbutton When helicopter inclines left, the

swash will tilt to the right.

When helicopter inclines right, theswash will tilt to the left.

When helicopter inclines front, theswash will tilt back.

When helicopter inclines back, the swash will tilt front Switch back to the manual mode and withdraw the test

Note: The Main Controller will keep swash plate as horizontal as possible. Tilting horizontal angel 10of helicopter will lead biggest moving amplitude of swash.

g) If the directions are not as the above, users should recheck theinstallation of the main box. Then re-click Feedback Test to check if

everything works normally. Or re-calibration the feedback direction.

Refer to [Swash setup] [Main Controller Installation] [Install Parameter].STEP5. Center Setting

This step is for user to set the way of center position recording in auto

mode. In the first flight which must be in manual mode, this will take no effect. So

please let it be the default setting which the Center record mode is chosen

on Tradition. You can finish this setting after successfully manual flight and

we will talk this later, in 4.2 Center Setting

Figure 3.42

STEP6. After the above tests complete, fix the Adapter on the helicopter toprepare for the outdoors flying test.

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The main purpose isto get the optimumperformance undermanual mode in this

adjustment. Pleas Nevertry to shift to auto mode

when flying.

4 Outdoors Flying AdjustmentPlease read through this chapter before flying outdoors. Read 4.5 Points for

Attention in Flying before any flight. Please operate carefully to avoid anyaccident

4.1 Helicopter Flying Adjustment and Test under Manual Mode1) Test the RC antennas radio distance: take

down the main blades and turn on the

engine for the first test; then shorten the

antenna, do the test about 20m away from

the helicopter under manual mode. If the

green LED enters the auto mode, which will

start flashing, it indicates that RC is out of

range. Now, the user need to check if the

installation positions of Adapter and RC receiver are far away from

interference sources as engine, especially the gasoline engine.

2) After completing the installation and adjustment as an ordinaryremote-control helicopter, users can process the complete flying

adjustment under the manual mode and reach the stable flight

performance

3) Keep the helicopter stable temporarily even if the helicopter is not in controlling for seconds by tuning the trimming of RC. Now, users need to remember

the general position of PITCH stick

.

Note

Balance the main rotor to avoid twin screw phenomenon. Users need to adjust thehelicopter to a condition which it is almost impossible to notice the vibration by naked eyes.

: With the inertial measurement system (IMU) in the Main Controller, excessive vibration of thehelicopter will cause the Main Controller to be in an unstable state. So, to ensure the best performanceof the whole system, users need to minimize any vibrations as best as possible.

Adjust the pitch of the tail rotor so that in normal mode (not Heading Hold) there is noobvious rotation when hands off stick.

Push the rudder stick to the left/right endpoint and ensure the rotation speed of tail at 1circle per 2 seconds in left/right direction. After the adjustment, users can switch it to the

locking head mode

The reason for making the PITCH stick in the center when helicopter is hovering by adjusting

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PITCH curve is to set them as the corresponding fail safe positions in the next step [Center Setting].

4.2 Center SettingClick the Center Position tab in the configuration software, there are

two ways to record the center position in auto mode.

1) Traditional ModeIn this mode, the auto hovering center would be the position of your stick

just when you switch into the auto mode, which will be different every time since

a user might have trimmed the helicopter during manual mode. The traditional

mode is often used during system configuration and adjustment.

If the fail-safe is set correctly under Auto/Attitude/Manual channel in your Tx,

the flying status of the helicopter in fail-safe would depend on whether the

fail-safe of other channels are properly set. If they are, helicopter would hover

stably in fail-safe state.

You will not be able to activate Go Home action in traditional mode.

2) Pre-set ModeIn this mode, the hovering center is pre-configured into the controller.

This mode is highly recommended when the helicopter is correctly

configured and adjusted, since it will provide a more stable performance and

safer flying. You only need to set fail-safe correctly in Auto/Attitude/Manual

channel in the Tx, without paying attention to the fail safe settings in other

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channels, and you can choose Hovering or Go Home when the RC

signal is lost.

Choose Hovering:Follow the steps below to pre-set into Hovering option, and the

helicopter will hover when RC signal is lost.

Click Pre-set; Put all sticks at the hover position you recorded when flying under

manual mode (You will need to fly in manual mode first, and

remember the hover position of the sticks).

Click Read under the Center position from stick box, andthe software will read and show the exact values of the sticks

positions.

Choose Hovering in the Fail-safe action box, and click theWrite button under the Center position from stick box. Only

values from Aile, Elev, Rudd and Pitc channels are

useful, you will not need to pay attention to values of other

channels.

If you want to read and modify the settings in the Main Controller,click Read under the Edit center position box, and change

the values if needed. The Write button is for updating the value

settings and actions of the Hovering or Go Home from the

software to the Main Controller.

Choose Go Home:If Go Home option is chosen, helicopter will go back to the home

point

When the helicopter starts Go Home action, you cannot control it inauto mode even when signal is retrieved. To get back control of the helicopter,

you must switch to manual mode first, and then switch back to auto mode, and

the helicopter will be flying under the usual auto-mode.

automatically when RC signal is lost for more than10 seconds, and during

these 10 seconds the helicopter will be hovering.

The center setting would be the same for Go Home as above, except

that the user will need to choose Go Home instead of Hovering in the

Fail-safe action box.

3) Check Your SettingsTurn off your Tx, if the setting of fail-safe in Auto/Attitude/Manual channel is

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correct, the Green LED installed on the helicopter will flash rapidly. Assuming

that you have chosen the Go Home option, the XP configure software will

print Tx signal lost..., and will print Start to go home!after 10 seconds.

AttentionEvery time users change the trim values, curves and end points of any of thefour channels mentioned above, recalibration and center positionre-adjustment will be needed for the particular modified channel(s).

DO NOT try Go Home function in a real flight, unless the helicopter canfly stably under auto mode.Note

4.3 Compass Calibration

: Home point is the place you first find GPS signal (Red LED status changes from Flashing toSaprkling), with a height of 30 meters above.

1) Entering into the Compass Calibration ModeUnder the manual mode, shiftthe autopilot/manual switch to and fro ten times quickly (back and forth =

one time).then the system will enter the compass calibration state and the

green LED will be constantly on.

2) Horizontal Axis CalibrationWhen the red LED is off, keep the helicopterhorizon (the white LED will be constantly on) and rotate the helicopter 3-4

circles slowly in horizon any direction is OK. When rotating, make the

white LED constantly on as possible as you can. (Refer the video for

compass calibration details). When the calibration of the horizontal axis is

complete, continue on to the vertical axis calibration.

AttentionIf the white LED is off, it means the helicopter deviate from the horizontal

angle too much. Then, users should adjust the position of helicopter, and keepit at the horizontal position and do rotation again. You dont need to re-enterthe calibration mode. Just go on rotating will be OK.

3) Vertical Axis CalibrationWhen erect the helicopter (head down), the redLED will constantly. Then keep the white LED constantly on and rotate the

helicopter 3-4 circles slowly around the longitudinal axis (refer the video of

compass calibration for details).

4) Whether to Save the Calibration Datea) Saving Calibration DataShift the autopilot/manual switch ten times

quickly, then all three LED will flash for 5 seconds, which means the data

has been successfully saved and that you have exited from the

compass calibration mode(the green LED will be off). Please restart the

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system after the calibration.

b) Quit without SavingIf users dont want to save the new data, shift theautopilot/manual switch once. Then it will abandon the calibration dataand quit from the compass calibration mode (the green LED will be off).

5) Reboot the system6) Inspection after the calibrationIn normal work mode, rotate the helicopter

ten times clockwise, 90for each time, and notice if the white LED is ON or

OFF. Stay 5 seconds between two operations at least

a) Calibration SucceedAfter the all rotations, the white LED must not flashmore than twice(2) out of the 10 rotations;

b) Calibration FailureIf you find that after all rotations, the LED indicatorhas flashed more than 2 out of 10. Then users need to carry out

Compass Calibration once again.

Attention1) Pay attention that there should not be any magnetic or iron materials near

by, such as magnet, vehicles, steel bar under ground etc.2) Ensure that the helicopter is rotated slowly during the calibration, and that

you keep the white LED constantly ON as possible as you can.3) Maintaining the helicopter horizon and rotating it 3-4 circles is that to

guarantee the system can get data for any angle in 360.4) Recalibrationif the following situations occur

a) Any modification of the helicopter, such as the installation of newelectronic equipment, replacement of gyro, the change of MainController installation position, changes of other mechanical structureand the change of battery installation position.

b) In flight, if the helicopter deviates from its flying positions is excessive.c) c) The helicopter frequently turns backward and the White LED

indicator starts to glitter (The White LED can also glitter under normalconditions).

5) DJI-XP3.1 is not suitable to work in Antarctic Circle or Arctic Circle, becausethe magnetic heading system will be invalidation or too close.

4.4 Flight Test under Autopilot ModeThe helicopter can fly normally after all adjustment under manual mode. The

following steps will help users make parameter tuning in autopilot mode to complete

helicopters autopilot flight.

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4.4.1 Setting Meanings and Related Regulation Methods of Parameters

1. The parameters of autopilot are on the first page of XP configure software

control gain, as shown in Figure 4. 1. At present, 4 parameters on software

layout are opened for fine tuning. Roll_Gain is the parameter for adjusting theroll direction (right-left) movement of helicopter, as shown in Figure 4. 2;

Pitch_Gain is the parameter for adjusting the pitching direction(forward-backward) movement of helicopter, as shown in Figure 4. 3;

Yaw_Gain is the parameter for adjusting the tail rotation direction movementof helicopter, as shown in Figure 4. 4; Vertical_Gain is the parameter foradjusting the vertical direction movement of helicopter, as shown in Figure 4.

5.

Figure 4. 1

Figure 4. 2 Figure 4. 3 Figure 4. 4 Figure 4. 5

Roll Pitch Yaw Vertical

If you want to change the max speed and the acceleration of the system, please

click Advanced, then you can change the value of the max speed and

acceleration in pitch and roll direction (forward and back, left and right). Please

make sure the value is suitable for flying.

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Before taking off,please read 4.5 Pointsfor attention in flying.Taking off is forbidden

under any unusualcondition

Figure 4. 6Special Tips

The adjustment of the four gain values is similar to the sensitivity adjustmentfor a helicopters tail gyro. If the value is too big, high frequency shaking inaccording direction will occur. If the value is too small, it cannot lock the positionin this direction and drifts side to side slowly.

2. Click Default to restore the default values,and then click write. After writing of default

values, users can attempt their first autopilot

flight with these parameters

3. Users should read through this section beforecarrying out section 4.4.2 flight test! Pleasemake sure the helicopter has a stable hover in

manual mode before switching to the auto mode. Please pay attention to the

helicopter status after entering autopilot. Roll_GainIf there is high frequency shaking in the roll direction (refer to video), it

means Roll_Gain value is too big. Please switch to manual mode in time, land

the helicopter and reduce the according parameter. A coarse tuning can be

about 20 each time.

If left-right cyclic drifting appears (refer to the video), it means the

Roll_Gain is too small. Please switch to manual mode, land the helicopter and

increase this parameter. Regulation methods are the same as above.

Pitch_Gain:Normally, there should be no high frequency shaking in this direction, so

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users can set a relatively higher value in this direction. Generally speaking, the

value of Pitch_Gain is 1.5 times of Roll-Gain.

Yaw_GainWith the existence of the heading hold gyro and the proper adjustment

of its sensitivity, normally no high frequency shaking or low frequency drifting

will appear in this direction. This value can be understood as Rudder speed,

the higher the faster. But please pay attention, under the auto mode, the tail

speed is relatively slow. So please do not compare it with that under manual

mode. If the value is too big, high frequency shaking of tail will occur.

Vertical_GainIf high frequency shaking happens in the vertical direction (refer to the

video), it means the value of Vertical_Gain is too big. Please switch to manual

mode in time, land the helicopter and reduce the value. The coarse

adjustment can be 3-5each time.

If vertical up-down cyclic drifting appears (refer to the video), it means

the Vertical_Gain is too small. Please switch to manual mode, land the

helicopter and increase this parameter. Regulation methods are the same as

above.

Normal statusWhen parameter tuning is proper in all directions, the helicopter will

maintain a stable hover (refers to the video). Users can try to pull the sticks in

any direction under supervision (one scale is suggested) and watch that the

auto pilot maintains a stable hover and reacts in a short time (hovering to

moving and moving to hovering). If it reacts too slow to start or stop in some

direction when flying, please increase the value in this direction.

Tips: If you find the helicopter loses altitude and descent a little afterbraking, please increase the vertical I on the advanced interface.

Attention1) Two or more phenomenon listed above may appear during adjusting,but please adjust one parameter at one time. After the unusual

phenomenon disappears, adjust the parameter in another direction.2) Normally the gain should be approximately 15% smaller than the critical

value (the value that can just lead the helicopter to the high frequencyshaking). This will ensure that there are no high frequency oscillationsunder various flight statuses (similar to gyro sensitivity tuning).

3) During the adjusting process, please switch to manual mode as soon asany unstable phenomenon occurs.

4) Users can resume the default parameter in control gain at any timethrough software.

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When first enteringthe autopilot hoveringmode, please preparefor switching to manual

mode momentarily

Please land thehelicopter under

manual mode in everytest flight.

4.4.2 Flying Test

Before flying test, please read 4.5 Points for attention in flying andAppendix F Special Security Checking and then carry on the followingoperations.1. Flying TestUsers must to control helicopter

hovering stable in manual mode before the first

autopilot hovering. And then switch to auto

mode with the autopilot/manual switch of

remote controller, to keep it hovering.

a) Please switch to manual mode at once ifyou notice any unstable phenomenon. After the helicopter enters a

stable hover, you can enter auto mode again.

b) If the helicopter continues to be unstablemore than once when the helicopter

enters auto mode:

Users need to land the helicopterunder manual mode and readjust

relative parameters. Refer to relative tips of adjusting flight

parameters in 4.4.1 Setting Meanings and Related RegulationMethods of Parameters(relative video). Please make sure if the helicopter is adjusted as an ordinaryRC-helicopter. This time, users need to carry out the operations from

the step of 4.1 Helicopter Flying Adjustment and Test underManual Mode.

4.4.3 Flight Success:

Congratulations! If you reach this step successfully, it means your helicopter

can operate normally in Auto pilot mode. For on going maintenance andchecks, you need to read and carry out, 4.5 points for attention in flying in flightand[Appendix F special security checks]and carry out regular check.

4.5Points for Attention in Flying4.5.1Preflight Examination Process

1. Check all connections and electric wires make sure there are no loose joints or

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Never try to switchto autopilot mode when

the red LED is flashing.

the wires and that they are not wearing against any sharp edges etc.

2. Check that the RC receiver operates normally. Carry out rang checks with theantenna down out to at least 10-20m away from the helicopter and check thatthe servo operate normally.

3. Wait for 3 minutes after power on and examine the starting status of the threeLEDs:

1) There are two situations when system starts successfully:a) With SD CardLEDs will go out orderly. Red White - Greenb) Without SD CardAfter the first LED (red) goes off. The second one

(white) will go off after the first one (red) flashes 5 times continuously. The

green indicator will go off last.

Attention: SD card is suggested because it can be used as a black box2) Starting failure and its solutions:

a) Check all connections first, and turn on the power again.b) If the LEDs do not go off for more than 2 minutes, rebootc) Three LEDs flash simultaneouslyIt means the attitude of controller

starts unsuccessfully. Please lay the helicopter horizontally and power on

again.

d) Three LEDs flash in streamlineIt means reading failure from E2

4. Wait until GPS receives good signals, examine the condition of the red LED:PROM

data. Please reset parameters such as swash type by PC software.

1) Constantly offPerfect signals. Good situation for flying.2) Sparkling Strong signals. Taking off is

allowed, but the safety coefficient decreases,

so users should avoid flying as possible as you

can.

3) FlashingWeak signals. Switching into automode is not allowed. Please recheck the connection of GPS antenna or

adjust at spacious places, so the GPS has clear view of the sky.

Note: when there is no GPS, it is normal phenomenon for swash tilting slowly when the system enters into theauto mode.5. Turn on the remote controller. Then shift the autopilot/manual switch andexamine the condition of the green LED

1) SparklingAutopilot mode2) Flashing 3 times in a groupThere are inputs from Tx in the auto mode,

which means the helicopter receive the velocity command.

3) Constantly offManual mode4) FlashingTx signal lost, and in Fail Safe mode.

6. Switch into the autopilot mode and check if the swash tilts. If it does, rebootsystem.

Note: If the swash moves up and down when entering the auto mode, because the atmospheric pressure is

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unstable on the ground. It is normal.

7. Manual test: check if the swash plate movement is correct.Note: In auto pilot mode it is normal for the swash plate to have a small operating range, when moving theTx sticks.

8. Rotate the helicopter repeatedly for several times, 90 for each time. Andcheck the condition of the white LED.

9. After no abnormities appear during inspection, start the engine, and examine ifthe LED status indicator has any abnormity (refer to appendix A for details)

10. If no abnormal status appears, users can take off the helicopter manually (redLED must not be flashing).

4.5.2 Flying Attention Points1. These points needing attention before entering auto mode

1) Guarantee the attitude is good (white LED does not lighting).2) When in auto mode, make sure GPS signal is good (red LED does not flash).

Users should avoid flying the helicopter at places with shutters, such as

tunnels, among tall buildings. These shutters will affect the reception of the

GPS signals. It is suitable to fly at spacious places, such as squares.

AttentionEven when the red LED is under the condition of sparkling in flying,users can also switch to auto mode, but the safety coefficient could reduce.So users should avoid flying in such situations. There not effect of the GPSsignal in attitude mode.

3) After hovering by in manual mode, switch to the auto mode. Followings aresome possible problems and solutions

a) Sticks offset from center is not largeIts influence to the system issmall. The system can revise by itself.

b) stick has a large offset from center and the helicopter has tendency todriftShift the manual/autopilot switch to manual mode to make thehelicopter hover stable, and then enter auto mode again.

2. After hovering in manual mode, switch to autopilot mode. Once in auto mode,users can control the helicopter in the directions of up and down, back and

forth, left and right by stick. Shift the autopilot/manual switch at any time will

return the system to manual mode.

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AttentionPlease do not bump any of the Tx sticks when shifting to autopilot. Or, the

helicopter may not hover, but drift slowly in some direction. And the green LED willflash 3 times in one group. In this situation, users do not need to worry. Please switchto manual mode and then back to auto mode with motionless.

Note:

3. During the auto flight, pay attention to the state of the white LED: Main controller can set the servo value, the time user shift into auto mode, as the feedback center

point.

1) Constantly offGood attitude status.2) SparklingIt means there is a slight error about the attitude computation.

At this time, dont make violent movements with the helicopter. Especially

do not keep the helicopter rotating or accelerating continuously. Or it will

cause the disorder of the attitude computation. So, please keep hovering till

the white LED turns off.

3) Flashinga) If there is no poor sign of loss of control, it does not matter if it flashes

temporarily.

b) If the helicopter shows signs of loss of control, it means the attitudecomputation is unusual. Then users should switch to manual mode and

land the helicopter as soon as possible. Flying after rebooting the

system.

Attention:1) The probability for the white LED to sparkle or flash is small during the

flight. It may happen only when it is bumped or rotates with a highspeed (4 seconds or less per circle) for a long time.

2) Avoid rotation continuously for a long time, for instance: it rotates formore than 3 circles continuously and the speed surpasses 4 seconds percircle.

3) The angular speed should not surpass 3000

4. Exit From Auto ModeGuarantee remote controller can communicatenormally, and users can switch to manual mode and fly normally.

per second in every flightdirection, or problems may occur. In such situation, the system canmake the flight attitude recover automatically, but there may be someerrors during the recovery procedure.

4.5.3Landing Explanation

The helicopter can land under both auto mode and manual mode.

1) Landing Under the Auto Modea) Choose the proper landing position.

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b) Ensure the helicopter has a stable hover.c) Reduce the collective pitch slowly.d) At the moment of landing, pull the throttle to the lowest point and

switch to the manual mode immediately.

Attention:When close to the ground the helicopter will experience Ground Effect at

approximately 1.5 times the rotor radius and the helicopter will not be stable. It willdrift even under the auto mode. So please do not stay within the Ground Effect fora long time.

2) Landing Under the Manual ModeLanding is the same as an ordinaryremote-control helicopter.

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3 AppendixAppendix A: LED status indicator

1Normal starting status:1) With SD card: All three LEDs are on, and then go off in the order of red,

white and green.

2) Without SD card: All three LEDs are on. After the red LED goes off. Thewhite one will turn off after the red one flashes 5 times continuously. Thegreen one will turn off at last.

2.Normal status:

Note:1) SparklingOne time per second

2) FlashingFive times per second

3.compass calibration mode:After completeness of the compass calibrationand all three LED flash for five seconds, please restart the system.

Color Red White GreenConstantly

OffVertical axis

Calibration 3

-

ConstantlyOn

Longitudinal

axis

Calibration

Not in proper angle

range

Compass

Calibration

Note:

More than 7 satellites

56 satellite

Less than 5 satellites

3During compass calibration, helicopter tilts from horizon within 3

Color Red White GreenConstantly Off GPS Strong Attitude Good Manual

Sparkling GPS Medium Attitude Medium Autopilot/AttitudeFlashing GPS Weak Attitude Disorder Signal Lost

Flashing 3times per

group

With Velocity

Command in

Constantly On Power Alarm Compass Calibration
http://dict.cnki.net/dict_result.aspx?searchword=%e7%ba%b5%e8%bd%b4&tjType=sentence&style=&t=longitudinal+axishttp://dict.cnki.net/dict_result.aspx?searchword=%e7%ba%b5%e8%bd%b4&tjType=sentence&style=&t=longitudinal+axishttp://dict.cnki.net/dict_result.aspx?searchword=%e7%ba%b5%e8%bd%b4&tjType=sentence&style=&t=longitudinal+axishttp://dict.cnki.net/dict_result.aspx?searchword=%e7%ba%b5%e8%bd%b4&tjType=sentence&style=&t=longitudinal+axis

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Appendix D: Mechanical DrawingThe following units are in millimeters

1. Structure of Main Controller box

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2. Structure of Adapter box

3. Structure of Anti-vibration Frame

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Front view of Main Controller in frame

Right view of Main Controller in frame4. Structure of the GPS/Compass unit

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Appendix E: Packaging ListXP3.1 Standard:1)

2)Main Controller 1piece

3)Adapter 1piece

4)Compass&GPS module 1piece

5)Anti-Vibration Frame 1piece

6)LED Status Indicator 1piece

7)Neoprene Isolators 8pieces

8)DB15 Connection Cable 1piece

9)USB to Serial Cable 1piece

10) SD Card 1piece

Appendix F: Safety Check ListProduct CD 1piece

User should pay special attention to the points listed below, otherwise will leadto Fatal danger!

1. Is adapter installed more than 10cm away from Gas engine, the more thebetter.

2. Is the Fail safe function on the RC transmitter correctly seta) Auto Pilot switch at 0%;

b) Elevator Aileron mid stick;

c) Throttle and pitch mid stick (hover point);

d) Rudder heading hold position.

3. Make sure the Feed back Test and the Controller Orientation Testpassed correctly

4. Have you done the compass calibration, and checked the result thewhite LED should not flash more than twice!

5. Carry out an RC transmitter Range test up to 20m6. Check all DB15 cables are locked in place;7. Ensure that the DB15 cable is not restraining the Neoprene isolators of the

Main Controller;

8. Check all power supplies are secure and plugged in securely;9. Check all servo are plugged in correctly;10. Check blade tracking;11. Ensure there is no excessive vibrations on the helicopter;12. Test flight in manual mode; the helicopter should be able to operate as a

normal helicopter and hover in a stable position.

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Appendix G: Frequently Asked QuestionsPlease be careful when carrying out any of the below questions, DJI does not acceptliability for and damage or accident caused as a result of following this advice.Please refer to the website for more FAQ informationo FAQ -Loss of TX signal Answer -If the failsafe is set correctly the heli will hover as usual and theGreen LED will flash for indicating signal lost. We have tried TURN OFF the TX when

flying.o FAQ - Loss of GPS signal

Answer -When flying, loss of GPS signal is a little dangerous andmovement will not occur. The helicopter will be still stable for several seconds

and then start to drift away. There is a new program for loss of GPS signal which

will allow the helicopter to fly stable for up to 30 seconds. The helicopter will be

able to fly under a bridge up to 30m width.o FAQ Warranty Answer -XP 3.1 has a 6 month warrantee and will cover all repairs to maincontroller and Adaptor. This warranty does not cover physical damage due to a

crash or miss handling;

o FAQ - Weight of system Answer - The complete weight of the system is 455 grams (1 pound) thisincludes GPS module, Adaptor and Main Controller;

FAQ Manual override procedures in the event of Motor, ESC or GPSFailure Answer - You should switch to Manual mode as soon as possible and youshould be able to handle these situations in manual control i.e. you may need to

carry out Autorotation recovery procedures.o FAQ Can you take off and land in Auto mode Answer Yes you can but you have to switch to Auto mode at the pointthe helicopter is just about to take off. You will need to be very careful andobserve the behavior. When landing in Auto mode as soon as the helicopter

touches down you need to switch back to manual made ASAP or the engine

may over rev.o FAQ If the system enters fail safe can you set the pitch so that thehelicopter will slowly descend Answer Yes you can set the pitch fail safe position just a little lower thanthe hover point the helicopter will slowly descend hopefully land or at least

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