NAZA-M LITE User Manual V 2.00 2014.04.21 Revision For Firmware Version V1.00 & Assistant Software Version V1.00 Thank you for purchasing this DJI product. Please strictly follow these steps to mount and connect this system on your aircraft, as well as to install the Assistant Software on your computer. Please regularly check the NAZA-M LITE web page at our website www.dji.com for latest information. Product information, technical updates and manual corrections will be available on this web page.
Warning & Disclaimer NAZA-M LITE is an excellent autopilot system offering tremendous flight features for low altitude multi-rotor working in restricted space compared to normal helicopter. It is not a toy when installed in multi-rotors of any size. Please respect the AMA’s National Model Aircraft Safety Code.
Product Profile NAZA-M LITE for multi-motors 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. NAZA-M LITE can be installed in a variety of models from quad-rotor to hexa-rotor. No GPS Atti. Mode without GPS module NAZA-M LITE Control Modes GPS Atti. Mode Rudder Angular Atti.
In The Box Main Controller (MC) ×1 The Main Controller (MC) is the brain of the system, it communicates with all ESCs and RC transmitter to carry out the autopilot functionality. It has a builtin Inertial Measurement Unit (IMU) consists of one 3-axis accelerometer, one 3-axis gyroscope and a barometer for sensing the attitude and altitude. Versatile Unit (VU) ×1 Specially designed for NAZA-M LITE.
Contents WARNING & DISCLAIMER ...........................................................................................................................2 PRODUCT PROFILE .....................................................................................................................................3 IN THE BOX..................................................................................................................................................4 CONTENTS .......................................
Matters That Need Attention 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 aircraft is set-up with all of the equipment that you are going to use, please ensure the aircraft center of gravity is on the center Line of the frame, this is for aircraft with its load is in the vertical direction of frames center. 3.
14. By using Intelligent mode to stop motors, the motors will start or stop immediately when you execute CSC. During normal flight conditions, you only have pull throttle stick under 10% will not stop the motors in any control mode. You have to execute CSC to re-start motors if the motors stop during the flight. 15. Red light quick blinking indicates battery voltage is low, please land ASAP. 16.
Assembly VU R/C System · These are example connections. Please setup Aileron, Elevator, Throttle, Rudder channels on your TX first, and choose o n e 2 positions switch/channel ( 3 positions switch with GPS) as control mode switch, then connect your receiver to the right ports on MC.
Assistant Software Software and Driver Installation Installing and running on Windows 1. Please download the driver and the Assistant installation software in EXE format from www.dji.com. 2. Switch on the transmitter and then power on your autopilot system. 3. Connect your autopilot system and PC via a Micro-USB cable. 4. Open the driver installation software and follow the instructions to complete installation. 5.
Installer in DMG format supports only Mac OS X 10.6 or above. The NAZA-M LITE Assistant on Mac OS X and Windows are exactly the same. The Assistant Software pages appear in other places of this manual are screenshots of the Windows version for example. ©2014 DJI. All Rights Reserved.
GUI View 1 Basic Settings: Aircraft, RC, Mounting, Gain and Channel Monitor. Advanced Settings: Motor, F/S, IOC, Gimbal and Voltage. 2 Basic: Set the Aircraft, RC, Mounting, Gain and Channel Monitor. 3 Advanced: Set the Motor, F/S, IOC, Gimbal and Voltage. 4 Tools: IMU calibration. 5 Upgrade: Upgrade your modules firmware. 6 Info: Check the user information. 7 English: Select the language.
Firmware Upgrade Please follow Word for Word in the procedure for firmware upgrade; otherwise the autopilot 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 before you connect the USB cable to the MC. 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.
Configuration Basic 1 Aircraft In the diagrams of each Mixer Type, the marks M1~M6 correspond to the output ports (M1~M6) on the Main Controller (MC). The direction of the arrow indicates the rotation direction of the motor. Make sure the rotation direction of each motor is the same as the diagram shows. If not, swap over any of two wire connections of the incorrect motor to change its rotation direction. Make sure the type of propeller matches the rotation direction of the motor.
2 Mounting Install all payloads that will be used during the flight, including batteries, camera mount and camera. Balance the multirotor as you would normally, with the center of gravity (C.G.) directly on the center plate. Fill in the distance between body center of GPS and the C.G. of multi-rotor in X, Y & Z axles as showed in the figure. Make sure the MC ESC ports is pointing to the aircraft nose direction, otherwise serious damage will occur to your aircraft.
3 RC STEP1: Receive Type Choose the type of receiver connection that you have installed. Connect your receiver to the main controller in accordance with the connection diagram.
the Elevator Stick up the Slide will move to the right and the craft will move Foward (away from you); A : If you move the Aileron stick to the left the Slide will move left and the craft will move to the left, when you move the Aileron stick to the Right the slide will move to the right and the craft will move to the right. 1. Set endpoints of all channels to default values (100%) and set all trims and sub-trims of sticks to 0 on your transmitter first.
Tips: To move the slider is to adjust channel－selected end-points. For 3-position switch, you should assign: Position-1 to Manual Mode; 3 Position Switch 1 2 3 Tx 2 Position Switch Position-2 to Atti. Mode; Position-3 to GPS Atti. Mode; or reverse 1 2 Tx the assignment for Position-1 and Position-3. For 2-positions switch, you can assign any two of these three control modes as you like. If your transmitter supports Fail-Safe, follow the Fail-Safe setting procedure of your R/C TX.
4 Gain Usually, the default parameters are ready to go. However, different multi-rotors have different gains because of different Motor KV ratings, ESC and propeller sizes. If the gain is set too high, you will find the multi-rotor will be oscillating in the corresponding direction (About 5~10Hz). If the Gain is too low, the multi-rotor will likely to be hard to control.
You will use two methods to judge if the Vertical gain is good enough: 1) The multi-rotor can lock the altitude when the throttle stick is at center position; 2) The change of altitude is small during the flight along a route. You can increase the gain slowly (10% each time) until the vibration emerges along the vertical direction or the reaction of throttle stick is too sensitive, then decrease 20% of the gain. Now it is a suitable Vertical gain.
Advanced 1 Motor STEP1:Motor Idle Speed Motor Idle Speed is the lowest speed after motors start. Setting the Motor Idle Speed will affect the motors lowest speed after the motors start. There are five levels from LOW speed to HIGH speed, and the default is RECOMMEND. You can click and drag cursor LOW to the corresponding level, to change Motor Idle Speed.
Notices: For users whose aircraft takes off at lowest throttles position, please set the idle speed at a low level. For common users, please set Motor Idle Speed to RECOMMEND or above, since setting idle speed too low may affect motor(s) spool up.
d) If the angle of multi-rotor is over 70°, and throttle stick under 10%. Tips (Intelligent Mode): You have to execute CSC in order to re-start the motors. By pushing the throttle stick only will not restart the motors. 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% within 3 seconds, otherwise motors will stop after 3 seconds.
2 F/S Enhanced Fail-safe method will be triggered when MC loses the control signal, no matter what mode you fly. This could be one of the following situations: 1) Signal lost between transmitter and receiver, e.g. multi-rotor is out of the communication range, or transmitter is down, and so on. 2) One or more connections of A, E, T, R, U channels between MC and receiver loses.
Tips: The following schematic shown is introduction for Go-Home and Landing. Home Location If GPS satellite found >= 6 , at the first you pull the throttle stick, then record Home Location Ground Multi rotor 1 Stay hover Signal lost Tx Tx 2 3 Current location higher than 20m Ready to Go-Home Go back first 20m Signal lost > 3s Tx 4 ©2014 DJI. All Rights Reserved. Hover 15s , Then land.
3 IOC Forward Direction: Multi-rotor will fly along this direction when you push the elevator stick. Usually, the forward direction of a flying multi-rotor is the same as the nose direction. By using Intelligent Orientation Control (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.
Usually In home lock Home point Home point Before using this function, you have to choose a 2 or 3 positions switch on your transmitter as IOC switch. Then connect a wire to the correct channel of receiver to the X2 port of MC. At each switch position, use end-point fine tuning on your transmitter, move the slider of channel X2 to Home Lock, Course Lock, OFF to turn the corresponding area blue respectively.
STEP2: Open course lock: After record the forward direction successfully, if MC is in Atti. or GPS Atti. Mode, then you can slide X2 channel switch to Course Lock position to fly in course lock. Now wherever the nose points, the real flight forward direction is the same as the recorded forward direction, and LED will blink STEP3: slowly to indicate the IOC mode.
Now wherever the nose is pointing, the real flight forward direction is the same as the direction from the home point to the multi-rotor, and LED will blink between yellow and green slowly to indicate the IOC mode of MC. STEP3: Close home lock: There are three ways: a) Flip the X2 channel switch to the OFF position to quit home lock; (Recommended way!) b) Flip the U channel switch to Manual Mode position, or turn off the transmitter.
Lock, or Course Lock and Home Lock position. And please record the forward direction and home point separately so as to make sure the recording is successful. 4 We suggest you to use Home Lock in a limited area which is 10m away from the home point. 5 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.
4 Gimbal STEP1: Gimbal Switch If you use gimbal, please choose On here, and select an Output Frequency (50Hz/100Hz/200Hz/400Hz). The chosen output frequency is recommended no more than the maximum servo supported frequency. Notices: If you open the gimbal control in assistant software during the configuration, please note that there are outputs from F1 and F2 ports. You should never connect these ports to ESCs which are wired with propellers and motors. Tips: NAZA-M LITE supports servo center 1520us.
STEP3: Automatic Control Gain Range: 0 to 100 Adjust the reaction angle of the automatic control. The initial value of 100 is the maximum angle. The larger the gain, the bigger the reaction angle. Click REV/NORM, and then you can reverse the feedback control directions. STEP4: Manual Control Speed Range: 0 to 100 You should assign one of the knobs on your transmitter to the X1 channel for controlling the Pitch direction (angle) of camera gimbal during flight first.
5 Voltage STEP1: Protection Switch In order to prevent your multi-rotor from a crash or other harmful consequences caused by low battery voltage, there are two levels of low voltage protection available to use. You can choose to use or not to use them, however we strongly recommend using the protections available! Notices: Make sure the connection between VU and MC (V-SEN to X3) is correct; otherwise the low voltage protection will not work properly.
If the battery voltage displayed here is different from the voltage you measure from a voltmeter, you have to calibrate it. Click the Calibration box, enter that voltage in the Calibration column of the dialogue box, and then click Confirm. Meanwhile you need you to choose the battery type you are using, so that MC can provide the default warning voltages and ranges for you. STEP3: First Level Protection No Load (No Load Voltage): Self-defining warning voltage. Needs your input.
charging. Make sure your ESCs protection voltage is lower than 3.1V (1S), otherwise low voltage protection will not work. Acquire the line loss voltage by the above method, and then fill it in Loss. Then fill a reasonable warning voltage in the No Load. Notices: When red LED starts to blink, you should land ASAP! STEP4: Second Level Protection 1 Fill the warning voltage and the line loss voltage in No Load and Loss by the method introduced in previous step.
Flight Digital Compass Calibration Without GPS, please skip this step Why calibrate the compass? Ferromagnetic substances placed on multi-rotor or around its working environment will affect the reading of earth magnetic field for the digital compass. It also reduces the accuracy of the multi-rotor control, or even reads an incorrect heading. Calibration will eliminate such influences, and ensure MC system performs well in a non-ideal magnetic environment.
Hold your aircraft vertically and rotate it (its nose is downward) around the vertical axis (about 360 o) STEP3: until the LED turns off, meaning the calibration is finished. STEP4: 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.
Fly test Before First Flight Notices: Make sure you have assembled your multi-rotor correctly. Make sure you have done the configuration procedure correctly. 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 MC installation mistake Wrong connection between MC and ESC In Atti Mode, throttle stick center position is for 0m/s along the vertical direction.
After a successful test fly, the preparation before taking off can be simplified: Put your multi-rotor on the level ground, turn on the transmitter first, then power on multi-rotor, then you can take off in Atti. Mode. If the aircraft drifts or spins in horizontal direction when hovering, please use IMU Calibration in TOOL of assistant software to observe sensor output. If there is bigger gyroscope bias, do gyroscope calibration according to the IMU Calibration in Appendix. ©2014 DJI.
Fly with GPS Without GPS, please skip this step Before Fly with GPS Notices: 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, without red LED blinking. Otherwise multi-rotor will drift without stick commands.
Appendix Fix the TBE (Toilet Bowl Effect) Problem When flying in GPS ATTI. Mode and the compass calibration has been done correctly, should you find the aircraft rotating (Toilet bowl effect), or drifting when hovering. Please check the GPS module mounting orientation and then re-do the compass calibration. Carry out the following procedure to re-mount the GPS module.
IMU Calibration The IMU calibration is used if the aircraft is drifting or spinning in horizontal direction while hovering. Better performance can be obtained by gyroscope calibration. Check IMU status after the status changed to ready, and take action according to corresponding tips. 1. Please keep the main controller stationary during calibration, and then connect to the assistant software. 2. Click the IMU calibration in Tools to enter calibration page. 3.
Port Description 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 LE
Light Description Control Mode (GPS) Manual Atti. GPS Atti. IOC GPS satellites < 5 GPS satellites = 5 GPS satellites = 6 GPS satellites >6 No Attitude status bad Control Mode Manual No Atti. When appears, please hover the aircraft until disappears, so as to have better flight performance. Blinking indications of Atti. and GPS Atti. are: Before motors start: Single blink, all sticks (except throttle stick) return to center; Double blinks, stick(s) (except throttle stick) not at center.
Recommended Settings Configuration Information No. Basic Gain Attitude Gain Aircraft Motor ESC Propeller Battery Weight Pitch Roll Yaw Vertical Pitch Roll 1 F330 DJI-2212 DJI-18A DJI-8 Inch 3S-2200 790 g 140 140 100 110 140 140 2 F450 DJI-2212 DJI-30A DJI-8 Inch 3S-2200 890 g 150 150 100 105 150 150 3 F550 DJI-2212 DJI-30A DJI-8 Inch 4S-3300 1530 g 170 170 150 140 170 170 ©2013 DJI Innovations. All Rights Reserved.
Specifications General Built-In Functions Three Modes for 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, V6, IY6, Y6. Peripheral Supported Multi-rotor Supported ESC output 400Hz refresh frequency. Recommended Transmitter PCM or 2.4GHz with a minimum 4 channels.
