WooKong HELI User Manual V 1.8 www.dji-innovations.com ©2012 DJI Innovations. All Rights Reserved.
Disclaimer DJI Innovations assumes no liability for damage(s) or injured incurred directly or indirectly from the use of this product. DJI WooKong is 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.
DJI WKH Introduction WKH is the flight system designed for serious scale helicopter enthusiasts providing GPS for self-leveling, position hold, speed control and built-in tail gyro which completely takes the stress out of flying RC helicopters for both professional and hobby applications. WKH can be installed in a variety of models, from small electric helicopters to large gasoline and turbine helicopters. WKH Lite is the no GPS and LED version of WKH.
Package Contents Main Controller The Main Controller (MC) is the brain of the WKH. MC communicates with the IMU, GPS/Compass, engine governor, servos and RC transmitter to carry out autopilot ×1 functionality. USB interface is for WKH configure and firmware update from a PC.
Mounting and Connection A1 Before you Begin Fly the helicopter without WKH in open are or large field and make sure that the helicopter works properly without any autopilot assistance. To do so, you will need external tail gyro. This is a good time to isolate and resolve unwanted vibrations. IT IS IMPORTANT THAT YOU SHOULD NOT SKIP THIS STEP. A2 Mount the devices on your helicopter IMU Where? The IMU is best positioned near the helicopter’s center of gravity, where vibration is relatively low.
Main Controller Where? There is no orientation requirement for the Main Controller. Maintain at least a 20-centimeter-distance between the Main Controller and the engine or motor. Choose a mounting location where as shorter servo extension wires are needed as possible. This helps reduce the risks of electronic interference. Please also make sure the USB port is accessible when installing the Main Controller so as to facilitate software configuration.
A3 Connections GPS/COMPASS: Mount to the Tail boom, 20 cm from servos, 30 cm from motor, 10 cm from tail rotor. LED: The LED indicates different states of whole system. WKH Lite user should connect LED to CAN-Bus port on the MC directly. WKH Lite has no GPS/Compass Internal vibration isolation design, enable a more convenient IMU mounting. In-line CAN-Bus Port: This CAN-Bus port can be used for the LED module connection or for future hardware upgrades.
Receiver & Servos STEP1: Set the transmitter to single-servo CCPM (Futaba: H-1; JR/Spectrum: 1sNORM; Hitec: 1-Servo 90°). Connect the receiver to the Main Controller input servo ports.
A4 WKH Assistant Software Basic Operation Software and Driver Installation Please read Software & Driver Installation Guide, the micro-USB port is used for WKH configuration and update firmware. Introduction for Software GUI 1 2 4 5 6 3 7 8 II I 9 How to adjust parameters? 16 I II 10 Red and bold text indication if you changed anything; Write parameters to main controller. Except the direct edit items, they can be written to main controller directly.
Flight & Configuration Procedure Brief 1 For safety reasons, during configuration and system setup, please disconnect the power supply for Electric motor. 2 Please do the following configurations in Manual Mode of the autopilot system. Steps Description Page Please measure the center-of-gravity (C.G.
Configuration Procedure B1 GPS & IMU Mounting Lite WKH Lite customers can skip GPS mounting. STEP1: Select IMU Mounting orientation Assistant Software - MOUNTING page STEP1 STEP2 STEP2: Fill in the distance between IMU/GPS and the C.G. of helicopter in X, Y & Z axles, please measure the C.G. with following method: a) Adjust your helicopter, and make it balance on X and Y axle as shown below. Y Rotor Head X Balance on X Y b) The C.G. should be on the extended line of helicopter main shaft.
B2 Control Mode Switch Lite WKH Lite customers have no GPS Atti. Mode. 1 The transmitter you used must be Fail-Safe featured, which allows you to setup fixed outputs for all channels if the receiver loses signals, otherwise WKH will not enable the Fail-Safe. 2 Working mode for your transmitter should be HELICOPTER. 3 All the channels in your transmitter should be working independently: NO CCPM, NO channel MIX，NO EXP.
B3 Flybarless When system is powered on, you must not move your helicopter or sticks on transmitter until the system initialization is finished (about 5 second). Once you changed the Flybarless to “ON”, the AILE and ELEV swash mix ratios in swashplate settings will be disabled, while [Direction Reverse] button will always be available for AILE and ELEV. After you have set the Flybarless to “ON”, you have to adjust your swashplate parameters before setting your Flybarless control parameters.
B4 Swashplate You should finish the setup for your swashplate in Manual Mode. TX STEP1: In Assistant Software, page-SWASHPLATE: You have to set the transmitter to single servo swash STEP2 (Futaba:H-1;JR/Spektrum:1sNORM;Hitec: STEP3 1-Servo 90°), and WKH will do the CCPM instead. STEP2: Please make your selection according to your STEP4 swashplate type.IMPORTANT STEP3: The swashplate can be rotated in 360°, with 1°step increase or decrease. Not required in most conditions.
B6 Tail Gyro When system is powered on, you must not move your helicopter or sticks on transmitter until the system initialization is finished (about 5 second). STEP1: Please properly set your rudder servo type before you connect your tail-gyro servo to it, otherwise your servo Assistant Software, page-Tail Gyro: might be damaged due to incorrect servo type chosen.
B7 Engine Governor STEP1: Before using Governor Control mode, fine tune your Gas/Nitro engine to good condition. Otherwise the In Assistant Software, page-ENGINE: performance would be negatively impacted. STEP2 STEP2: Select the operation mode: Select [TX Control] for electric motor; For Gas/Nitro engine, select [TX Control] first, and finish next step: set throttle servo working range. Then select [Governor Control].
B8 R/C Transmitter Calibration TX In Assistant Software, page-TX MONITOR: Totally 4 TX channels are required to be calibrate: STEP1. Click [START] button, and move all of the sticks throughout their complete range several times. STEP2. Click [FINISH] button when you finished above procedures. 1 You have to finish the throttle and pitch curve setting before calibration, here the end-point of transmitter sticks will be record.
B9 Very important, check them carefully! System Check You have to run the system check using Assistant software–System Check for WKH system to work properly: Controller Output Check 1 Switch to Non-Manual mode first. 2 Click [START] button, WKH will drive the swashplate going up and down, representing collective movement during flight. 3 Click [NEXT] button, WKH will drive the swashplate going forward and back, representing elevator movement during flight.
B10 Autopilot Base Parameters In Assistant Software, page-Autopilot: Gain Range: Front/back & Left/Right 40%～400%; Vertical 50%~250% If too large, you will find the helicopter oscillating in the corresponding direction (About 5~10 times per seconds). If too small, the helicopter will likely to be hard to control. （Lite WKH Lite user can skip this section） In GPS Atti.
Flight C1 Digital Compass Calibration Lite WKH Lite customers can skip this step. Why calibrate the compass? Calibration procedure: Ferromagnetic substances placed on helicopter or around its working environment will affect the reading of earth magnetic for digital compass, it also reduces the accuracy of the helicopter control, or even reads incorrect heading. Calibration will eliminate such influences, and ensure WKH system performs well in a non-ideal magnetic environment.
C2 MANUAL MODE Test Flight 1 When the system is powered on, DO NOT moves your helicopter or sticks on transmitter until the system initialization is finished (about 5 seconds). 2 Don’t switch to Atti. Mode or GPS Atti. Mode during Manual Mode Test Flight. Go through this section first, and read about how to do Autopilot Test Flight on Page 23. 1 Fly the helicopter. Trim transmitter such that the helicopter hovers stably.
C3 Fail-Safe WKH can detect the fail safe output from your receiver, if you have pre-set fail safe output correctly. Once your helicopter lost signal from the transmitter, Fail-Safe function will control the helicopter automatically and save it in most of the conditions. 1 The Fail-Safe (Auto Hover or Level) will not be activated, until you’ve correctly Pre-set Transmitter Command Stick Center Position.
C4 Autopilot Test Fight WKH Test Flight (Lite WKH Lite user should skip this section to WKH Lite Test Flight section on next page) When system is powered on, you must not move your helicopter or sticks on transmitter until the system initialization is finished (about 5 second). Please read this section before you switched to Atti. Mode and GPS Atti.
When system is powered on, you must not move your helicopter or sticks on transmitter until the system initialization is finished (about 5 second). Please read this section before you switched to Atti. Mode 1 Put helicopter on the plane ground.
Maintains Firmware Upgrade Please strictly follow the operation procedure for firmware upgrade, otherwise WKH might not work properly: 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.
Appendix WKH LED Indicator Description Flight States Manual Mode Atti. Mode GPS Atti. Mode Tx Signal Lost GPS satellites found <5 GPS satellites found <6 GPS satellites found <7 Attitude & GPS good Attitude status fair Attitude status bad IMU lost, check IMU connection. <3.5V low voltage, replace battery! <4.
Product Specifications General Built-In Functions Autopilot Tail Gyro Engine Governor for gas power Flybarless Auto Hover or Level Fail Safe Semi Auto Takeoff & Landing Electric Internal combustion Normal Three Servo 120°/140°/90° Four Servo 90° Rudder channel: Analog 50Hz Rudder channel: Digital 333-560Hz (760us-1520us) Other channels: Follow on your receiver output Peripheral Supported Helicopter Types Supported Swashplate Types Supported Servo ou
