The DJI Wookong multi rotor M was put through a set of tests this afternoon, the first was normal flight, we then moved to position hold and changed the altitude, the DJI proved to be extremely stable in flight and held a very solid position in the sky, when the altitude change was done in GPS position hold it didn't drift, it maintained its position, the Return To Launch was the final test we did, it saw the copter back to home with only a few meters from where it took off! The DJI will rise to 20 meters if below 20 meters or stay at the same height if above for the RTL, when above the take off position it lowers to the ground and kills the engines!

This to date has to be the best multi rotor controller I have seen in action!! I know ACM will catch up soon :)






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Comment by Roberto Navoni on November 12, 2011 at 4:44pm

Hi Martint,

i think that this is a very good flight control unit. I found a interesting retro eng. analysis doing by timecop on rcgroups.

I found that they use 2 SAM3U micro the same used in Arduino Project. And good sensor the same used by Mikrkokopter , same gyro , same acc and same baro . So I think that Dev TEAM need to stop to play with low performance 8 bit micro and start to use better arm micro controller.

In my platform i start to try new flight algorithm that use better the power that have on arm micro controller i hope that in the next month we can have similar performances of DIJ



Comment by Martint on November 12, 2011 at 4:57pm

Hello Roberto,


I saw that today, was good to have a poke around inside without taking one apart! The RC Group post is here if anyone would like to have a look without going through the google search :)


I would love to see that Roberto, if you can get the DJI Wookong WKM performance :) Keep me posted!





Comment by I.S. on November 12, 2011 at 5:57pm

@Martint: nice test. can you give further info about the frame: motors, props, motor mounts, M2M distance, etc

How do you tune the PIDs?

It would be nice a face to face comparison with same set up but with APM!


Talking about the mushroom: is the mushroom-GPS just anecdotic or its high position can provide better GPS performance because avoiding multipath (or being paranoic)?

Comment by Gunter on November 12, 2011 at 6:07pm



Home made frame, designed and built by me. Torxpower motors from, 13x4" Xoar props (wood), custom made motor mounts, M2M distance is 920mm, bloody huge! 


The mushroom was merely showing our taking off point. The GPS has to be kept as far away from the other gubbins as possible, that way it works best!



Comment by Ellison Chan on November 12, 2011 at 6:14pm

What version of Arducopter are you using?

Comment by I.S. on November 12, 2011 at 6:42pm

@Martint: you mean "Torxpower 3536 Pro (Short Shaft) 700kv"?

are they running on 4S LiPo I suppose?


Anyone tested GPS performance placed on different points of the frame?


Comment by Martint on November 12, 2011 at 6:59pm

Hello Ellison,


This is not an "Arducopter" it is using the DJI Wookong WKM flight control system, the frame is a custom design, I'm in talks with the designer about bringing the frame to my store :)


@ I.S.


The copter is running on 4s Lipo(s) the frame was designed to be able to take two, today it only had one fitted.


I will leave Gunter to come back on the motors used, I'm not sure on the short shaft.


I would say re the GPS position, why break what is already fixed! It was great in the place it was today for flights, I would think you could move it around some as the GPS is sitting upon a "stick" so is held clear of the electronics and any noise from the ESC / Motors & cables.





3D Robotics
Comment by Chris Anderson on November 12, 2011 at 7:50pm

Wow. $1,430 just for the controller board. 

Comment by Ellison Chan on November 12, 2011 at 8:06pm

Chris, can we get whatever GPS code they're using into Arducopter?  I'd love to get rock solid position hold like that.

3D Robotics
Comment by Chris Anderson on November 12, 2011 at 8:22pm

Ellison: AruCopter 2.0.50 is already demonstrating <2m position hold, which is pretty good. We can refine a bit more, but at a certain point you're at the limits of GPS accuracy. We've enabled optical flow if you want even less motion. Given that ArduCopter's electronics cost 15% as much as this one, allows full mission planning and waypoints, scripting, full GCS etc, which this one doesn't, I think we're doing pretty well ;-)


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