HD540Pro 农业无人飞机

HD540 Agricultural UAV

使用说明书

Operation Manual

2023 年 1 月
January 2023
 目录

产品概述 Product Overview ....................................... 4

简 介 Brief Introduction .................................... 4
功能亮点 Function Highlights ................................ 4
飞行器部件名称 Name of Aircraft Component ................... 6
遥控器部件名称 Name of Remote Control part .................. 7
飞行器飞行前准备 Preparation of Aircraft before Flight ...... 8
遥控器准备 Remote Control Preparation ...................... 11
激活无人机 Activate Aircrafts .............................. 18
固件升级 Firmware update ................................... 18
飞行器 Aircraft ............................................... 19
安全停放步骤 Safe parking steps ............................ 19
开启与关闭 Startup and Shutdown ............................ 20
飞行模式 Flight Mode ....................................... 21
飞行器设置 Aircraft setup .................................. 22
飞行 Flight ................................................ 24
作业前校准 Calibration before operation .................... 27
规划地块 Plan Fields ....................................... 32
编辑地块 Edit Fields ....................................... 38
作业模式 Work Mode ......................................... 42
自动返航 Automatic Return .................................. 45
飞行器指示灯 Aircraft indicator ............................ 48
RTK 功能 RTK function ...................................... 51
雷达系统 Radar system ...................................... 52
设备智能检测 Device Intelligent Detection .................. 54
数据保护 data protection ................................... 55
遥控器 Remote Control .......................................... 56
遥控器概述 Overview of Remote Control ...................... 56
开启与关闭 Startup and Shutdown ............................ 57
充 电 Charging ............................................ 57
遥控器按键操作 Key Operation of Remote Control ............. 58
语言切换 Language switch ................................... 58
摇杆操控 Rocker calibration ................................ 59
摇杆校准 Set Rocker Mode ................................... 60
作业控制 Work control ...................................... 61
飞行模式切换 Flight Mode switch ........................... 62
一键返航按钮 One-click return Button ....................... 63
遥控器信号范围 Remote control signal range ................. 63
推送日志 Push log .......................................... 63
遥控器和飞行器对频 Frequency Matching of Remote Control .... 64
农业无人机 APP UAV APP ......................................... 65
 主界面 Main Screen ......................................... 66
连接网络 Connect to the network ............................ 67
用户信息 User info ........................................ 68
规划地块和地块管理 Planning Fields and Fields management ... 69
作业 Work .................................................. 71
播撒系统 Spreading System ...................................... 77
播撒器安装 Spreader Installation ........................... 77
播撒器使用 Spreader Use .................................... 78
飞行智能电池充电 Flight intelligent battery charging ........... 80
危险与危害一览表和应对措施 List of hazards and countermeasures . 81
故障处理说明 Troubleshooting instructions ...................... 82
规格参数 Specifications ........................................ 87
产品概述

Product Overview

简 介

Brief Introduction

HD540Pro 农业无人飞机拥有高达 40L 的喷洒药箱及 60L 的播撒箱，六轴稳定架

构，4 离心、2 离心喷头按需配置，让喷洒作业效率和效果得到全面提升。

全新升级硬件后的智能遥控器配备 5.5 英寸高亮显示屏，内置专业农业无人机

APP，简单易用、操作流畅、使用稳定。配合 RTK 高精度定位模块，可实现厘米
级作业规划。支持内置电池和外置电池供电，整体续航时间可达 7 小时，充分满
足长时间、高强度作业需求。

HD540 agricultural UAV is provided with a pesticide container of 40L and

a spreading container of 60L, a six-axis stable structure, and an
easy-to-use UAV remote control, which further improves the operation
efficiency and effect.

The brand-new intelligent remote control is equipped with a 5.5-inch

highlight display and built-in brand-new Huida UAV APP, which greatly
improves the operation smoothness and stability. The remote control
cooperates with RTK high-precision positioning module, which can realize
centimeter-level operation planning. It could be powered by internal
battery and external battery, and the overall duration of flight exceeds
7 hours, which fully meets the requirements of long-term and
high-intensity operation.

功能亮点

HD540Pro 农业无人飞机采用全新折叠框架式结构，可快速折叠，便于运输。机
载高精度 RTK 模块，可实现厘米级高精度定位航线飞行，同时支持双天线抗磁干
扰测向技术；前后标配 FPV 高清摄像头，同时监测前后视野环境，实时查看飞
行状况、保障飞行安全。
HD540Pro agricultural UAV should be a new folding truss structure, which
can be folded quickly and is convenient for transportation. The fuselage
has been pre-installed with airborne high-precision RTK module, which can
realize centimeter-level high-precision and accurate positioning and
support dual-antenna diamagnetic interference direction finding
technology; Front and rear FPV high-definition cameras could monitor the
front and rear visual field environment, check the flight status in real
time, and ensure flight safety.

领先的智能航线作业模式，可标定地块内各种障碍物，实现智能启航和全自主作
业；增加断药点预测功能的同时实现了药量电量最优匹配，使单位电量作业面积
更大、作业更加自动化、作业效率更高。
The intelligent flight route operation mode that leading the industry can
calibrate various obstacles inside and outside the plot to realize
intelligent flight and fully autonomous operation; It also realizes the
optimal matching of pesticide quantity and power while increasing the
accurate prediction function of pesticide interruption point, so that the
operation area of power per unit is larger, the operation is more automatic
and the operation efficiency is higher.

飞行器搭载 360 度旋转雷达、仿地雷达，同时具备自动避障及仿地飞行功能，可

识别作业过程中常见的固定和移动障碍物，让作业更安全。
The aircraft is equipped with 360 degree surround and ground-simulating
radar, and has the functions of obstacle avoidance and ground-simulating
flight. It can identify common fixed and moving obstacles in the operation
process, and cooperate with obstacle avoidance radar to achieve
ultra-high operation obstacle avoidance performance.

4 个或 2 个高转速大流量离心喷头，实测可达到最优 9 米的喷幅，雾滴大小可按
需调整，适用于大田和经济作物喷洒作业。
新一代拨盘式播撒器，每分钟可撒超 100KG 物料，优化后算法加持，亩用量精确
可控，让播撒质量更好。
Four or two high-speed and large-flow centrifugal sprinklers can reach
the optimal spraying range of 9 meters, and the size of fog droplets can
be adjusted as required, which is suitable for field and cash crop
spraying.

The new generation of dial-type spreader can spread more than 100KG of
materials per minute. After optimization, the algorithm is added, and the
amount per mu is accurate and controllable, so that the quality of sowing
is better.

HD540Pro 农业无人飞机防尘防水、防腐蚀，核心元件采用三层防护，整机防护
等级可达 IP65（参照国际电工委员会 IEC 60529 标准），机身可防泼溅。
The HD540Pro agricultural unmanned aerial vehicle is dust-proof,
water-proof and corrosion-proof. The core components adopt three-layer
protection. The protection grade of the whole machine can reach IP65
(refer to IEC 60529 standard). The fuselage can prevent splashing.

飞行器部件名称

Name of Aircraft Component

遥控器部件名称

Name of Remote Control part

1. Antenna 11. SMA

2. Emergency stop button 12. RTK Interface
3. Control stick 13. SIM1
4. ON/OFF button 14. SIM2
5. Return button 15. Micro USB
6. Flight mode button 16. Heat dissipation hole
7. Shift button 17. Handle
8. Horn sound outlet 18. Heat dissipation hole
9. Dotting switch 19. User-defined button
10. Touch display 20. Battery cover
飞行器飞行前准备

Preparation of Aircraft before Flight

请注意：机臂展开之前请务必将机臂卡扣松开并展开后再展开机臂。
Note: Be sure to loosen the arm buckle before unfolding the arm, and then
unfold the arm after unfolding.

对于 HD540Pro 无人机：展开机臂时，按照先 M2 和 M6 机臂，再 M3 和 M5 机

臂的顺序展开；机臂全部展开后，确保 6 个机臂卡扣都已经卡紧。
For HD540 UAV: The arms should be deployed in the order of M2 and M6 first,
then M3 and M5. After the arms are fully deployed, ensure that all six
arm buckles are clamped tightly.
卡扣结构图，卡扣扣紧机臂时，可以感觉到比较大的阻力，用力按下并锁紧卡扣
Buckle structure diagram, When the buckle fastens the arm, you can feel
a relatively large resistance, press and lock the buckle forcibly.

分别展开桨叶
Deploy the blades separately
将电池轻放入电池仓，听到电池卡紧声即可
Put the battery gently into the battery compartment, it is in place when
hearing a clamping sound.
请注意：电池插入电池仓时确保电池电源已经关闭
Note: Ensure that the battery power is turned off when the battery is
inserted into the battery compartment
遥控器准备

Remote Control Preparation

充 电
Charge
使用外置电池充电座和电源适配器为外置智能电池充电。使用 USB 充电器和
USB-C 线为遥控器内置电池充电。
External battery charging stand and power adapter are used to charge the
external smart battery. USB charger and USB-C cable are used to charge
the built-in battery of remote control.
请注意：首次使用时，务必将电池充满后再使用
Note: Be sure to fully charge the battery when it is used for the first
time.

安装外置电池
① 按下遥控器背面的电池仓盖打开按钮打开舱盖
② 将智能电池装入电池仓，并向上推到顶
③ 合上仓盖
① Press the battery compartment cover opening button on the back of the
remote control to open the compartment cover
② Install the smart battery into the battery compartment and push it up
to the top
③ Close the cover

安装 4G SIM 卡
Install 4G SIM Card
请注意按 SIM 卡安装方向，不要装反
Note: Follow the SIM card installation direction, do not install it
backwards
插入 SIM 卡等待 30 秒后查看 4G 卡检测状态，显示 SIM 卡插入，则表示安装正确，
随后再测试网络是否通畅。
Waiting for 30s after inserting the SIM card, check the detection status
of the 4G card, when it indicates the SIM has been inserted, it means that
the installation is correct, and then test whether the network is
unobstructed.
注意：如果您所在地区无法使用 4G 网络，请使用 HD201 小型基站作为 RTK 服务的网络信号
来源，或关闭飞行器 RTK 检测，使用卫星定位飞行。

Note: If 4G network is not available in the area where you are located,
you can use Huida small base station HD201 product as the network signal
source of RTK service, or turn off RTK detection of aircraft and use GPS
to locate the flight.

安装 RTK 高精度定位模块
Install RTK High-precision Positioning Module
若使用 RTK 规划的方式进行作业区域的规划，则需将 RTK 高精度定位模块插入
遥控器的 USB 接口
If RTK planning is used to plan the working area, the RTK high-precision
positioning module should be inserted into the USB interface of the remote
control

检查电量
Check the Power Level
返回农业无人机 APP 首页，可以看到内置电池剩余电量和外置电池剩余电量，请
务必确保遥控器电量充足再飞行
When returning to the homepage of Huida UAV APP, you can see the remaining
power of the built-in battery and the remaining power of the external
battery. Please ensure that the remote control is full of power before
the flight

调整天线角度
展开遥控器天线并调整天线位置，不同的天线位置接收到的信号强度不同。当天
线与遥控器背面呈 80°或 180°夹角，且天线平面正对飞行器时，可让遥控器
与飞行器的信号质量达到最佳状态。
Deploy the remote control antenna and adjust the antenna position.
Different antenna positions will receive different signal strengths. When
the antenna and the back of the remote control are at an included angle
of 80° or 180°, and the antenna plane is facing the aircraft, the signal
quality between the remote control and the aircraft could be in the best
state.
操控飞行器时，务必使飞行器处于最佳通信范围内。及时调整操控者与飞行器之
间的方位或距离，以确保飞行器总是位于最佳通信范围内。
When operating the aircraft, ensure that the aircraft is in the best
communication range. Adjust the azimuth or distance between the operator
and the aircraft in time to ensure that the aircraft is always in the best
communication range.

注意：

Attention:
请勿同时使用其他同频段的通信设备，以免对遥控器信号造成干扰。

Do not use other communication equipment in the same frequency band at

the same time, in order not to interfere with the remote control signal.

设置摇杆模式
Set Rocker Mode
在飞行前请务必检查摇杆模式，HD401 遥控器支持美国手、中国手、日本手三种
摇杆模式，请选择您最熟悉的摇杆模式操控无人机。
Please check the rocker mode before flying. It supports three rocker modes:
US operation mode, Chinese operation mode and Japanese operation mode.
Please choose the most familiar rocker mode to control the UAV.

Joystick Mode
遥控器设置
Remote control setting
摇杆模式
Rocker mode
美国手
US operation mode
飞行过程中设置对当前操控无影响，下次行时生效
During the flight, the setting does not effect the current control, and
it will take effect on the next flight
摇杆校准
Rocker calibration
校准
Calibration
遥控器和飞行器对频
Frequency check between remote control and aircraft
开始对频
Start frequency check
已对频飞行器列表
List of frequency-checked aircraft
语音播报
Voice broadcast
丢星、失联、低电量、超低空飞行、障碍物提示等会持续语音播报提醒，不会关
闭
Communication disconnection, loss of communication, low power, extreme
low-altitude flight and obstacle prompts will continue to broadcast voice
reminders, not be turned off

摇杆校准
Rocker calibration
遥控器出厂已做过校准，如果您在使用过程中发现摇杆杆量出现偏差，可以通过
校准摇杆来解决。
The original remote control has been calibrated from the factory. If you
find any deviation in the process of using the rocker to push joystick,
you can calibrate the rocker to solve the problem.
注意：摇杆校准时，请先确保无人机未接通电源。
Note: When calibrating the rocker, please ensure that the UAV is not
powered on.

农业无人机 APP 首页右侧进入设置界面，找到遥控器设置按钮，点击进入遥控器

设置界面
Enter the setting interface on the right side of the agricultural UAV APP
home page, find the remote control setting button, and click to enter the
remote control setting interface

点击“Joystick Calibration”进入摇杆校准界面，在下面点击“开始校准”
Click "Joystick Calibration" to enter the rocker calibration interface,
and click "Start Calibration" below
按界面上的提示分别操控左右摇杆打杆
Operate the left and right rocker strokes according to the prompts on the
interface
打杆填完方环形即可完成摇杆校准
The rocker calibration can be completed after the square ring is filled

遥控器校准
Remote control calibration
左摇杆
Left control stick
右摇杆
Right control stick
请分别控制左摇杆和右摇杆划一圈填满方环形
Please control the left rocker and the right rocker to draw a circle to
fill the square ring
开始校准
Start the calibration
激活无人机

Activate the Aircraft

注册无人机用户账号
Register an User Account of UAV
海外用户请登录无人机 PC 平台 http://drone.huidatech.com 注册账号，注册成
功后，该账号可以在无人机 PC 平台和遥控器内置农业无人机 APP 端同时使用。
Overseas users should log in to the PC platform via
http://drone.huidatech.cn to register UAV account. After the successful
registration, the account can also be used on the PC platform and the
remote control APP side.

激活
Activation
登录遥控器 APP 后，如果飞行器未激活，将自动弹框提醒用户激活，按提示点击
即可完成自动激活。
After logging in to the remote control APP, if the aircraft is not
activated, it will automatically pop up a box to remind the user to
activate, and click according to the prompt to complete the automatic
activation.
注意：激活时请检查登录到遥控器端的账号是否是您自己的账号，激活的账号即认为是机主
账号。

Note: When activating, please check whether the account logged in to the
remote control is your own account, and the activated account is
considered as the owner account.

固件升级

Firmware Upgrade

农业无人机 APP 支持对最新的遥控器固件、飞行器固件进行在线升级

UAV APP supports online upgrade of the latest remote control firmware and
aircraft firmware.
通农业无人机 APP 首页进入 Device Management 界面，有新固件时会提示可升级
的最新固件的版本号，点击版本号按操作即可完成升级。
Access the Device Management interface on the home page of the
agricultural UAV APP. When there is a new firmware, the version number
of the latest firmware that can be upgraded will be prompted. Click the
version number and press the operation to complete the upgrade.
注意：
1 升级固件需要从无人机后台下载最新固件，请保持网络畅通。
1 To upgrade firmware, you need to download the latest firmware from the
background of Huida UAV. Please keep the network unblocked.
2 升级遥控器固件时关闭飞行器电源开关，升级飞行器固件时请保持桨叶折叠。
2 Turn off the aircraft power when upgrading the remote control firmware,
and keep the blades folded when upgrading the aircraft firmware.

飞行器

Aircraft

安全停放步骤

Safe Parking Steps

无人机作业过程中有时会出现突发的特殊情况，这时就需要使用特殊的操作流
程，正确应对才能确保良好作业效果。
During the operation of UAV, sometimes there are sudden special situations,
so it is necessary to use special operation procedures, and correct
response can ensure better operation results.

1、一键返航
1. One-click return
 作业过程中如果出现 app 提示断开连接，近距离时可通过遥控器摇杆操作返
回，远距离时可按返航按键自动返回。
If App prompts disconnection during operation, it can be returned by
operating remote control rocker at close distance, and can be
automatically returned by pressing the return button at long distance.
2、RTK 检测
2. RTK detection
RTK 定位可实现更高精度的飞行定位，而高精度的 rtk 定位数据来自千寻网络。
若当地接收不到千寻数据时，可进入设置界面，关闭 rtk 检测，也可进行作业。
或选择使用 HD201 移动小基站提供 RTK 网络信号源服务
RTK positioning can achieve higher precision flight positioning, while
high precision RTK positioning data comes from Qianxun network. If you
cannot receive Qianxun data locally, enter the setting interface, turn
off RTK detection to carry out the operation
3、断点续航
3. Duration after disconnection
在使用返航、紧急迫降功能后，出现喷洒系统异常报错。此时航点系统会自动
暂停作业，记录断点，并保存在地块管理的进行中模块。在排除系统故障以后，
可在地块-进行中调用进行中的任务，调用以后可以直接执行未完成的航线作业。
断点续航功能可避免重喷漏喷，确保作业效果。
After using the functions of returning and emergency landing, the spraying
system is abnormal and error is reported. At this point, the waypoint
system will automatically suspend the operation, record the disconnection
point and save in the ongoing module of land parcel management. After
troubleshooting the system, the task in progress can be called in the
plot-in progress, and the unfinished route operation can be directly
executed after the call. The function of duration after disconnection can
avoid re-spraying and leakage, and ensure the operation effect.

开启与关闭

Startup and Shutdown

开启：短按 1 下+长按 3-5 秒可以打开飞行器电池电源，此时飞行器通电。

Startup: Press the button 1 shortly + press and hold it for 3-5s to turn
on the battery power of aircraft, and the aircraft is powered on at this
time.
关闭：飞行器电池电源打开的情况下，短按 1 下+长按 3-5 秒电池电源关闭，此
时飞行器断电。
Shutdown: When the battery power of the aircraft is turned on, Press the
button 1 shortly + press and hold it for 3-5s to turn off the battery power,
and then the aircraft is powered off.
飞行智能电池充电
Charging of Flight Smart Battery

请使用原厂提供的充电器为智能电池充电，首次使用请充满电后使用。
Please use the charger provided by Huida to charge the smart battery.
Please use it after being fully charged for the first time.
请注意：接美式插头快充，接国标插头市电充电，最大功率 8000W，请注意输入
功率，如果功率不足可能有用电安全风险，请注意充电安全。
Please note: connect to the American plug for quick charging, and connect
to the national standard plug for mains charging. The maximum power is
8000W. Please pay attention to the input power. If the power is
insufficient, there may be power safety risks. Please pay attention to
the charging safety.

飞行模式

Flight Mode

飞行器默认使用 P 模式进行飞行。若在 App 中允许开启姿态模式，则可通过遥

控器的飞行模式物理按键切换开关进行切换。
The aircraft flies in P mode by default. If the attitude mode is allowed
to be turned on in the App, it can be switched by the flight mode physical
key switch of the remote control.
P 模式（定位）：使用 RTK 高精度定位模块以实现飞行器精确悬停。GNSS 信号
良好时，利用 GNSS 可精准定位；开启 RTK 功能，且差分数据传输正常时，可
获得厘米级定位。当 GNSS 信号弱或指南针受干扰时，将被动进入姿态模式。
P mode (positioning): RTK high-precision positioning module is used to
realize accurate hovering of aircraft. When GNSS signal is better, GNSS
can be used for accurate positioning; When RTK function is turned on and
differential data transmission is normal, centimeter-level positioning
can be obtained. When the GNSS signal is weak or the compass is disturbed,
it will passively enter the attitude mode.
A 模式（姿态）：不使用 GNSS 模块进行定位，仅提供姿态增稳。姿态模式下飞
行器飞行速度与环境因素如风速等有关。
A mode (attitude): GNSS module is not used for positioning, only attitude
augmentation is provided. The flight speed of aircraft in attitude mode
is related to environmental factors such as wind speed.

姿态模式注意事项
Attitude Mode Considerations
姿态模式下，飞行器容易受外界干扰，从而在水平方向将会产生飘移。因此，该
模式下飞行器自身无法实现定点悬停，需要用户手动操控遥控器才能实现飞行器
悬停。此模式下飞行器的操控难度将大大增加，如需使用该模式，务必熟悉该模
式下飞行器的行为并且能够熟练操控飞行器，使用时切勿将飞行器飞出较远距
离，以免因为距离过远，丧失对于飞行器姿态的判断从而造成风险。同时应当尽
量避免在 GNSS 卫星信号差、有遮挡的环境（如高大建筑物附近）以及狭窄空间
飞行，以免被动进入姿态模式，导致飞行事故。
In attitude mode, the aircraft is easily disturbed by the outside world,
resulting in drift in the horizontal direction. Thus, in this mode, the
aircraft cannot achieve fixed-point hovering, and the user needs to
manually control the remote control to achieve aircraft hovering. In this
mode, the control difficulty of the aircraft will greatly increase. If
you need to use this mode, you must be familiar with the behavior of the
aircraft in this mode and be able to control the aircraft skillfully. When
using, do not fly the aircraft out of a long distance, in order to avoid
the risk caused by losing the judgment of the attitude of the aircraft
because the distance is too long. Flying in the environment with poor GNSS
satellite signal and obstructions (such as near tall buildings) and narrow
space should be avoided as far as possible, in order to avoid passively
entering attitude mode and causing flight accidents.

飞行器设置

Aircraft setup

飞行器设置里支持：启航/返航高度、启航/返航速度、药量喷完后悬停或返航（手
动和手动增强不支持）、飞行器失联后（悬停、返航、降落）、飞行器失联后继
续作业（仅支持全自主航线模式）、作业完成后（返航、悬停）、限制最高飞行
高度、限制最远飞行距离、前照明灯开关、后照明灯开关、底部照明灯开关、高
级设置（IMU 和指南针）、行距自动微调开关（仅在全自主航线时生效）
Support in aircraft setting: departure/return altitude, departure/return
speed, hover or return after spraying the dosage (manual and manual
enhancement are not supported), continue operation after aircraft loss
of contact (hover, return, landing), continue operation after aircraft
loss of contact (only support full autonomous route mode), after operation
completion (return, hover), limit maximum flight altitude, limit maximum
flight distance, front light switch, rear light switch Bottom light switch,
advanced setting (IMU and compass), automatic fine adjustment switch of
line spacing (only effective when fully autonomous route)
飞行

Flight

飞行环境
Flight Environment
1. 大风环境下请勿进行喷洒作业，5 级风及以上禁止飞行。
1. Do not spray in windy environment, and flight is not allowed when the
wind level is below grade 5.
2.恶劣天气下请勿飞行，如能见度低的大雾天气、大风天气（风速 8 米 / 秒及
以上）、雨雪等天气。
2. Do not fly in bad weather, such as foggy weather with low visibility,
windy weather (wind speed is 8m/s and above), rain and snow, etc.
3.选择开阔、周围无高大建筑物的场所作为飞行场地。高大建筑物会遮挡 GNSS
信号，可能会导致飞行器 RTK 定位失效，有较大的飞行安全风险。
3. Select an open place without tall buildings around as the flight site.
Tall buildings will block GNSS signals, which may lead to RTK positioning
failure of aircraft, and have great flight safety risks.
4. 始终在视距范围内飞行，且远离任何障碍物、人群、水面和动物等。
4.Always fly within sight range and stay away from any obstacles, people,
water surface and animals.
5. 作业区域及附近无高压线、通讯基站或发射塔等电磁干扰。
5. No electromagnetic interference such as high-voltage lines,
communication base stations or transmission towers in and around the
operation area.
6. 海拔 4 千米以上严禁飞行。
6. Do not fly above 4km above the sea level.
7. 飞行时确保 GNSS 信号良好，RTK 天线不受遮挡。
7. Ensure that GNSS signal is good and RTK antenna is not blocked during
flight.
8.请勿在室内操作无人机。
8. Do not operate the UAV indoors.

手动起飞
Manual takeoff
执行以下掰杆动作启动电机，然后向上推动油门杆起飞。
Execute one of the following joystick pushing actions to start the motor,
and then push the throttle lever up to take off.

Throttle lever
(Left rocker for US operation mode)
注意：解锁电机起飞只能在作业界面或飞行器规划地块界面才生效，其他界面打
杆均无法解锁电机
Note: unlocking the motor for takeoff can only take effect in the operation
interface or aircraft planning plot interface, and other interfaces
cannot unlock the motor

手动降落
Manual Landing
向下拉动油门杆，直至飞行器降落至地面。飞行器着地后，可以通过以下方式停
止电机：
Pull the throttle lever down until the aircraft lands on the ground. After
the aircraft landing, the motor can be stopped in the following two modes:
飞行器着地之后，将油门杆拉到最低的位置并保持，5 秒后电机停止，停止后松
开摇杆。
After the aircraft landing, pull the throttle lever to the lowest position
and hold 5s before the motor stops.

• 高速旋转的螺旋桨具有危险性，使用时应与飞行器保持安全距离并使飞行器远
离人群、动物或其他障碍物。
• The propeller rotating at high speed is dangerous, so you should keep
a safe distance from the aircraft and keep the aircraft away from people,
animals or other obstacles.
• 飞行器电机末停止前务必保持遥控器在手并确保飞行器完全在控制之中。
• Be sure to keep the remote control in hand before the aircraft motor
stops and ensure that the aircraft is completely under control.
• 在飞行过程中，切勿停止电机，否则飞行器将会坠毀。除非发生特殊情况（如
飞行器可能撞向人群），需要紧急停止电机以最大程度减少伤害。
• Do not stop the motor during flight, otherwise the aircraft will fall.
Unless there are special circumstances (such as the aircraft may crash
into people), it is necessary to stop the motor urgently to minimize the
injury.
• 降落后请先关闭飞行器，再关闭遥控器。
• After landing, please turn off the aircraft first, and then turn off
the remote control.

电子围栏
Electronic Fence
电子围栏默认打开，将限制无人机的飞行高度、飞行速度、飞行最远距离。
The electronic fence is turned on by default, which will limit the flying
height and maximum flying distance of UAV.
可以在农业无人机 APP 设置中对无人机飞行高度、飞行最远距离（以遥控器为圆
心）进行安全限制。
The flying height and the farthest flight distance (centered on the remote
control) of the UAV can be safely restricted in the APP setting of Huida
UAV.

禁飞区
No-fly Zone
根据国际民航组织和各国空管对空域管制的规定以及对无人机的管理规定，无人
机必须在规定的空域中飞行。出于飞行安全考虑，默认开启飞行限制功能，包括
禁飞区限制和电子围栏限制，以帮助用户更加安全合法地使用 HD540Pro。
According to the regulations of ICAO and air traffic control in various
countries on airspace control and the regulations on UAV management, UAV
must fly in the prescribed airspace. For flight safety reasons, the flight
restriction function is turned on by default, including no-fly zone
restriction and electronic fence restriction, to help users use HD540Pro
more safely and legally.
禁飞区有全局空管局的禁飞区和用户自定义的禁飞区，对无人机而言，禁飞区都
不允许飞入，在无定位的情况下，飞机飞入禁飞区后，在有定位的情况下会自动
降落，且降落后，在禁飞区内无法起飞。
No-fly zones include the no-fly zone of the Global Air Traffic Control
Bureau and the no-fly zone defined by users. For UAV, UAV should not fly
in the no-fly zones. In the absence of positioning, after the UAV flying
into the no-fly zone, the aircraft will automatically land with
positioning, and after landing, it cannot take off in the no-fly zone.

作业前校准

Calibration before operation

称重校准
Weighing calibration
称重校准前，建议清空药箱或播撒箱。
Before weighing and calibration, it is recommended to empty the Pesticide
box or seeding box.
称重校准按提示操作后，先抬起药箱或播撒箱，等提示放下后再放下即可。
After the weighing calibration is operated according to the prompt, first
lift the Pesticide box or seeding box, and then put it down after the prompt
is put down.
流量计校准
Flowmeter calibration
第一次使用无人机喷洒，请先校准流量计，以免造成因流量不准确导致的亩用
量不准确。
For the first time of using UAV for spraying, please calibrate the flow
meter first to avoid inaccurate amount per mu caused by inaccurate flow

如何校准：
How to calibrate:
先给药箱中加入 20L 以上清水，进入农业无人机 APP 首页，点击“开始作业”，
右侧设置下拉，选择喷洒设置，点击“流量计校准”，等待系统自己完成流量计
校准，如果失败，可以再次尝试。
First add more than 20L of clean water into the Pesticide box, enter the
home page of the agricultural UAV APP, click "Start Operation", the right
setting drop-down, select the spray setting, click "Flowmeter
Calibration", and wait for the system to complete the flow meter
calibration. If it fails, you can try again.

IMU 和指南针校准
IMU calibration and compass calibration
指南针校准非常重要，校准结果直接影响飞行安全性，未校准可能导致飞行器工
作异常。
Compass calibration is very important, and the calibration results
directly affect flight safety. Failure to calibrate compass may lead to
abnormal operation of aircraft.
请勿在有铁磁性物质的区域校准，如电线杆、带有钢筋的墙体等。
Do not calibrate in areas with ferromagnetic materials, such as telephone
poles and walls with steel bars.
校准时请勿随身携带铁磁物质，如钥匙、手机等。
Do not carry ferromagnetic materials with you during calibration, such
as keys and mobile phones.
如果校准后飞行器状态指示灯红灯闪烁，则表示校准失败，请重新校准指南针。
If the red light of aircraft status indicator flashes after calibration,
the calibration fails. Please re-calibrate the compass.
校准成功后放在地面上，出现指南针异常，很有可能是因为地下有金属物，请换
位置查看异常是否消除。
After successful calibration, put it on the ground, and the compass is
abnormal, which is probably due to metal objects underground. Please
change the position to check whether the anomaly is eliminated.

如何校准
How to calibrate
1. 进入农业无人机 APP 首页，点击“开始作业”，右侧设置下拉，选择“飞行
器设置”
1. Enter the home page of agricultural UAV APP, click "Start Operation",
and select "Aircraft Settings" from the setting drop-down on the right
2. 选择“Adcanced Settings” ，选择“IMU 及指南针校准”，点击“指南针
校准”，按界面上的提示，两个人抬着无人机按指定方向水平转圈，看到遥控器
提示校准成功即可放下无人机。
2. Select "Adjusted Settings", select "IMU and Compass Calibration",
click "Compass Calibration", and follow the prompts on the interface. Two
people lift the UAV and turn horizontally in the specified direction. When
the remote controller prompts that the calibration is successful, the UAV
can be put down.
3. 如果校准失败，按以上步骤重新尝试
注：校准指南针前请连接网络保持有定位信息，并请远离金属、信号发射塔、带
强电、带有磁性的物体，离地 1 米左右，水平旋转飞行器 3 圈或以上。
3. If the calibration fails, try again according to the above steps
Note: Before calibrating the compass, please connect to the network to
maintain the positioning information, and keep away from metal, signal
transmission tower, objects with strong electricity and magnetism, about
1 meter from the ground, and rotate the aircraft horizontally for 3 circles
or more.
点击“IMU 和指南针校准”
click”IMU and Compass Calibration”

按提示分别对 IMU 和指南针进行校准即可

Follow the prompts to calibrate the IMU and compass respectively
启动/停止电机
Start/stop the Motor
启动电机
Start motor
在无人机电池充足、和遥控器通信正常、飞行器 RTK 定位可用的情况下，在开始
作业界面，遥控器左右摇杆内八解锁即可解锁启动电机。
Under the condition that the UAV battery is full of power, the
communication with the remote control is normal, and the RTK positioning
of the aircraft is available, the starting motor can be unlocked by
unlocking the left and right rockers of the remote control in the start
operation interface.
电机起转后，请马上松开摇杆并尽快推杆起飞，若不起飞，请勿执行掰杆动作令
电机起转，否则飞行器可能失衡、产生漂移甚至自行起飞，从而造成人身伤害或
财产损失。
After the motor starts to rotate, please release the rocker immediately
and push joystick to take off as soon as possible. If not taking off, please
do not push joystick to make the motor start to rotate, otherwise the
aircraft may be out of balance, drift or even take off automatically,
resulting in personal injury or property loss.

停止电机
Stop the motor
飞行器着地之后，将油门杆拉到最低的位置并保持，5 秒后电机停止。
After the aircraft landing, pull the throttle lever to the lowest position
and hold 5s before the motor stops.
注：高速旋转的螺旋桨具有危险性，使用时应与飞行器保持安全距离并使飞行器
远离人群、动物或其他障碍物。
Note: The propeller rotating at high speed is dangerous, so you should
keep a safe distance from the aircraft and keep the aircraft away from
people, animals or other obstacles.
飞行器电机未停止前务必保持遥控器在手并确保飞行器完全在控制之中。
Be sure to keep the remote control in hand before the aircraft motor stops
and ensure that the aircraft is completely under control.
在飞行过程中，切勿停止电机，否则飞行器将会坠毁。除非发生特殊情况（如飞
行器可能撞向人群），需要紧急停止电机以最大程度减少伤害。
Do not stop the motor during flight, otherwise the aircraft will fall.
Unless there are special circumstances (such as the aircraft may crash
into people), it is necessary to stop the motor urgently to minimize the
injury.
降落后请先关闭飞行器，再关闭遥控器。
After landing, please turn off the aircraft first, and then turn off the
remote control.

基础飞行
Basic Flight
1.将无人机放置在作业地块显眼且能保障飞行安全的位置，机尾朝人
1. Place the UAV in a conspicuous position in the operation plot that can
ensure flight safety, and the tail faces people
2.作业箱中加入药液或播撒料后，盖紧盖子
2. After adding pesticide solution or spreading materials into the
operation container, cover it tightly
3.将无人机智能电池插入电池仓，打开电池电源开关
3. Insert the UAV smart battery into the battery compartment and turn on
the battery power switch
4.打开遥控器电源开关
4. Turn on the power switch of the remote control
5.确保飞行器与遥控器连接正常
5. Ensure that the aircraft is connected to the remote control properly
6.若使用 RTK 定位，确保 RTK 功能开关已打开，并正确选择 RTK 信号源（网
络 RTK 或 RTK 移动站）
6. If RTK positioning is used, ensure that the RTK function switch is
turned on and the RTK signal source (network RTK or RTK mobile station)
is selected correctly
7.进入农业无人机 App 作业界面—RTK，打开飞行器 RTK 定位功能
7. Enter the Agricultural UAV App operation interface -RTK, open the RTK
positioning function of the aircraft
8.等待搜星，确保 GNSS 信号良好且 RTK 定位状态正常，待 RTK 定位固定后，
内八掰杆动作，启动电机（如如果启动电机，APP 界面会有原因提示或告警，按
提示排查后再次重新尝试即可）。
8. Wait for searching the satellite to ensure that the GNSS signal is good
and the RTK positioning status is normal. After the RTK positioning is
fixed, perform the action of pushing joystick to start the motor (for
example, if the motor is started, there will be a reason prompt or alarm
in the APP interface, so try again after checking according to the prompt).
9.电机启动后，立即向上轻推油门杆，让飞行器平稳起飞。
9. After the motor is started, push the throttle lever upward immediately
to make the aircraft take off smoothly.
10.根据需要选择相应作业模式进行作业。
10. Select the corresponding operation mode according to the needs.
11.需要下降时，确保已退出作业，可以手动操控飞行器，缓慢下拉油门杆，使
飞行器缓慢下降于平整地面。
11. When requiring to descend, ensure that you have quit the operation.
You can manually control the aircraft and slowly pull down the throttle
lever to make the aircraft descend slowly on the flat ground.
12.落地后，将油门杆拉到最低的位置并保持 3 秒以上直至电机停止。
12. After landing, pull the throttle lever to the lowest position and hold
it for more than 3s until the motor stops.
13.确定电机停机后再关闭飞行器，然后再关闭遥控器。
13. Ensure that the motor stops before turning off the aircraft, and then
turn off the remote control.

注意：飞行过程中，若 App 文字或语音提示飞行器电池为低电量状态，此时应

尽快将飞行器飞至安全区域并降落，然后更换电池；若 App 提示飞行器电池为
严重低电量状态，飞行器将原地自动降落（此时通过摇杆无法操控飞行，所以请
随时关注电池剩余电量）
Note: During flight, if the App text or voice prompts the aircraft battery
to be in a low power state, at this point, the aircraft should fly to a
safe area and land as soon as possible, and then the battery should be
replaced; If the App prompts that the battery of the aircraft is in a state
of severe low power, the aircraft will automatically land in place (at
this point, the flight cannot be controlled through the rocker, so please
note the remaining battery power at any time)
规划地块

Plan Fields

农业无人机 APP 提供四种规划地块的方式：RTK 规划、飞行器规划、遥控器规划、

地图规划。
UAV APP provides four modes to plan plots: RTK planning, aircraft planning,
remote control planning and map planning.

RTK 规划
RTK Planning
RTK 规划使用安装至遥控器的 RTK 高精度定位模块进行测量。为了您的安全，
使用 RTK 规划时务必确保飞行器电源已关闭。
For RTK planning, the RTK high-precision positioning module installed in
remote control is used for the measurement. For your safety, please ensure
that the aircraft power is turned off when using RTK planning.
1. 确保 RTK 高精度定位模块已安装至遥控器
1. Ensure that the RTK high-precision positioning module is installed in
the remote control
2. 开启遥控器，从屏幕顶部向下滑动，确保“USB”开关处于打开状态
2. Turn on the remote control and slide down from the top of the screen
to ensure that the "USB" switch is ON
3. 进入 App 主界面，点击“规划地块”，选择“RTK 规划”
3. Enter the main interface of App, click "Planning Plot", and select "RTK
Planning"
4. 进入 > RTK 设置，选择 RTK 信号源（中国大陆外用户只支持 RTK 移动站作为
RTK 网络源），并完成相应设置。等待确保界面上方 RTK 定位状态栏为绿色，表
示已使用 RTK 定位
4. Enter > RTK settings, select RTK signal source (Users outside Chinese
Mainland only support RTK mobile stations as RTK network sources), and
complete the corresponding settings. Wait to ensure that the RTK
positioning status bar above the interface is green, indicating that RTK
positioning has been used
5. 手持遥控器沿区域边界行走，在地块拐点处点击“添加” 图标，默认添加的
是地块边界点，依次分别对所有地块拐点添加边界点完成地块边界测绘
5. Walk along the boundary of the area with the remote control held, click
the "Add" icon at the inflection point of the plot, and add the boundary
point of the plot by default, and add the boundary point to all the
inflection points of the plot in turn to complete the mapping of the plot
boundary
6. 添加障碍物点：对于非圆形障碍物，规划方式同规划地块。手持遥控器沿障
碍物边界行走，在障碍物拐点处选择规划点的类型为“障碍物点”，点击“添加”
图标完成障碍物点的添加，依次分别对所有障碍物拐点添加障碍物点完成障碍物
测绘。
6. Add obstacle points: For non-circular obstacles, the planning method
is the same as the planning plot. Walk along the boundary of obstacles
with the remote control held, select the type of planning point as
"obstacle point" at the inflection point of obstacles, click the "Add"
icon to complete the addition of obstacle points, and add obstacle points
to all obstacle inflection points in turn to complete obstacle mapping.
请注意：添加障碍物时，为了后续飞行安全，建议障碍物边界规划离障碍物保留
最少 3 米的距离，当然您也可以在规划完障碍物后，进入地块编辑统一调整。
Note: When adding obstacles, for the sake of subsequent flight safety,
it is recommended that the boundary planning of obstacles should keep at
least 3m away from obstacles. Surely, you can also enter the plot editing
and unified adjustment after planning obstacles.
7. 添加圆形障碍物：手持遥控器走到圆形障碍物旁边，选择规划点的类型为“圆
形障碍物”，然后单击圆形障碍物圆边上的点，可拖动调整圆形障碍物半径大小。
7. Add circular obstacles: Walk toward to the side of the circular obstacle
with holding the remote control, select the type of planning point as
"Circular Obstacle", and then click the point on the edge of the circle
of the circular obstacle to drag and adjust the radius of the circular
obstacle.
8. 智能航线规划：地块添加完成后，航线就会自动生成，障碍物添加完成后，
航线会根据障碍物自动调整最优航线.
8. Intelligent flight course planning: After the plot is added, the flight
course will be automatically generated, and after the obstacles are added,
the flight course will automatically adjust the optimal flight course
according to the obstacles.
9. 添加参照点：如需要，可以在规划的地块外添加 1 个或多个参照点，方便地
块调用时以飞机 RTK 定位为依据做航线纠偏。
9. Add reference points: If necessary, one or more reference points can
be added outside the planned plot, which is convenient for flight course
correction based on RTK positioning of aircraft when the plot is called.

遥控器规划
Remote Control Planning
用户需持遥控器沿农田或障碍物边沿行走进行测量。为了您的安全，使用遥控器
规划时务必确保飞行器电源已关闭。
The user need to walk along the edge of farmland or obstacles with remote
control held for measurement. For your safety, please ensure that the
aircraft power is turned off when using remote control planning.
1. 开启遥控器，进入 App 主界面，点击“规划地块”，选择“遥控器规划”
1. Power on the remote control, enter the main interface of App, click
"Planning Plot", and select "Remote Control Planning"
2. 确保定位精度在 2 米以内，其余操作步骤参考 RTK 规划（操作相同）
2. Ensure that the positioning accuracy is within 2m, and refer to RTK
planning for other operation steps (the same operation)
飞行器规划
Flight Planning
用户可操控飞行器至所需位置，然后通过遥控器或 App 按键添加航点，进行农
田边沿及障碍物的测量等。
The user could control the aircraft to the required position, and then
add waypoints through the remote control or App buttons to measure the
edges and obstacles of farmland.
开启遥控器进入 App 主界面，然后连接飞行器电源
Power on the remote control, enter the main interface of App, and then
connect the power of aircraft
点击“规划地块”，选择“飞行规划”
Click "Planning Plot", select "Flight Planning"
内八解锁无人机起飞到安全区域悬停
Unlock the UAV and it takes off to hover in a safe area
其余操作步骤与 RTK 规划类似，只需以操控飞行器替代持遥控器行走的步骤即
可
Other operation steps are similar to those of RTK planning, you only need
to control the aircraft instead of walking with the remote control
注：地块规划好之后，请先保存后再修改，保存后可以上传一个到云端备份，防
止修改错误后无法恢复。
Note: After the plot is planned, please save it before the modification.
After saving, you can upload a plot to the cloud for backup, in order to
prevent it from being unable to recover after error in modification.
地图规划
Map planning
可以从其他规划方式切换到地图规划，切到地图规划后，操控触摸屏移动位置图
标即可打点规划地块。
You can switch from other planning methods to map planning. After
switching to map planning, you can manipulate the touch screen to move
the location icon to plot the planned plot.
注意：地图规划建议卫星定位精度在 2 米范围内再规划，否则可能偏差过大造成航线偏出地块
Note: The map planning suggests that the satellite positioning accuracy be re-planned within 2
meters, otherwise the route may deviate from the plot due to excessive deviation

编辑地块

Edit Fields

编辑航线
Edit the Flight Course
调整内缩：默认调整的是统一内缩，最小 0，最大 6 米，默认 1.5 米，可单击选
中地块目标边线，然后编辑单边内缩值。
Adjust the indentation: The default adjustment is unified indentation,
with a minimum of 0m and a maximum of 6m, and 1.5m by default. You can
click the target sideline of the selected plot, and then edit the
unilateral indentation value.
作业行距：默认 7 米，最小 2，最大 11 米
Operation row spacing: 7m by default, 2m by minimum and 11m by maximum
障碍物边距：默 3 米，最小 1.8 米，最大 10 米
Obstacle margin: 3m by default, 1.8m by minimum and 10m by maximum
遇障碍物时：默认绕行，可选折返；这种是飞行航线遇到障碍物时的航线规划方
式，可按实际需要选择。
When encountering obstacles: bypass by default and turn back optionally;
this is the route planning method when the flight route encounters
obstacles, which can be selected according to actual needs.

航线方向调整
Adjustment of route direction
支持微调滑动调整方向，微调每点一次调整+1 度或-1 度。
Support adjusting the direction by fine-tuning sliding, when each point
is subject to fine-tuning, adjust +1° or -1°.

快速调整航线方向：双击目标地块边线，航线会和该边线平行。
Adjust the route direction quickly: Double-click the sideline of the
target plot, and the route will be parallel to the sideline.
航线反向：选中目标地块边线，点击“航线反向”可以设置起始点到边线的另外
一边（航线方向快速调整）。
Reverse route: Select the sideline of the target plot, and click "Reverse
route" to set the starting point to the other side of the sideline (quick
adjustment of route direction).
编辑航点
Edit Waypoint
移动边界点：拖动或通过按钮微调可以移动地块边界点的位置，移动边界点后，
航线会实时重新智能规划。
Move boundary point: Drag or move the position of the boundary point of
the plot by fine-tuning. After moving the boundary point, the route will
be intelligently planned again in real time.
删除边界点：删除不需要的边界点，删除后，航线立即重新智能规划。
Delete the boundary point: Delete unnecessary boundary points, the route
will be re-planned intelligently immediately.
增加边界点：添加边界点后，航线立即重新智能规划。
Add the boundary point: After adding the boundary point, the route will
be re-planned intelligently immediately.
编辑障碍物
Edit Obstacles
新增障碍物：同规划障碍物，请分别参考规划圆形障碍物和非圆形障碍物
Add obstacles: the same as planned obstacles, please refer to planned
circular obstacles and non-circular obstacles respectively
删除障碍物点：选中一个障碍物点，点“删除”即可删除该障碍物点
Delete the obstacle point: select an obstacle point and click Delete to
delete the obstacle point
删除圆形障碍物：单击选中圆形障碍物，点“删除”即可删除该圆形障碍物
Delete the circular obstacle: click to select a circular obstacle and
click "Delete" to delete the circular obstacle
移动障碍物点：单击选中一个障碍物点，拖动或通过按钮微调可以移动该障碍物
点到目标位置
Move the obstacle point: Click to select an obstacle point, drag or move
the obstacle point by fine-tuning to the target position
障碍物编辑后，航线会实时重新智能规划
After editing the obstacles, the route will be intelligently re-planned
in real time
添加参照点
Add a Reference Point
选择相对固定的有标志性的点作为参照点，后续航线纠偏会更方便准确
Select a relatively fixed symbolic point as the reference point, and the
subsequent route correction will be more convenient and accurate
删除参照点
Delete a Reference Point
单击参照点，点“删除”即可删除该参照点
Click a reference point, click "Delete" to delete the reference point
撤销操作
Undo Operation
对添加、删除、移动的操作需要撤回的，点“撤销”按钮完成撤销操作
If the operation of addition, deletion or movement needs to be revoked,
click the "Undo" button to complete the undo operation
航线分割
route Segmentation
航线分割可以将暂不需要作业的航线分割出去，保留需要作业的航线
route segmentation can separate the route that do not need operation
temporarily and keep the route that need operation
注：如分割操作失误，可以在保存地块对话框取消保存，重新分割
Note: In case of any error in segmentation operation, you can cancel Save
and segment again in the Save Plot dialog box

作业模式

Work Mode

HD540Pro 农业无人飞机具备航线作业模式、A-B 点作业模式、手动作业模式和

增强手动作业模式，可通过农业无人机 APP 进行切换。
HD540Pro agricultural UAV has route operation mode, A-B point operation
mode, manual operation mode and enhanced manual operation mode, which can
be switched through agricultural unmanned aerial vehicle APP
全自主作业模式
Fully autonomous work mode
用户通过 农业无人机 APP 的智能规划作业系统进行农田测量、障碍物测量、航
点设置后，App 将根据这些数据计算并生成最佳航线，实现作业的智能规划。
After the user conducts farmland survey, obstacle survey and waypoint
setting through the intelligent planning operation system of agricultural
UAV APP, the App will calculate and generate the best route based on these
data to realize the intelligent planning of operation.
规划完成后，调用作业，飞行器将进入全自主作业模式按照航线自动执行作业。
After the planning is completed, call the operation, and the aircraft will
enter the autonomous operation mode to automatically execute operations
according to the route.
HD540Pro 农业无人飞机具备智能启航、智能补给提醒、异常中断作业恢复功能，
并且可以使用雷达系统进行定高、避障。
The HD540Pro agricultural UAV has the functions of intelligent departure,
intelligent supply reminder, abnormal interruption operation recovery,
and can use the radar system for altitude determination and obstacle
avoidance.
用户可在 App 界面实时调节喷洒/播撒用量、飞行速度等，该模式非常适合规则
或不规则大地块作业。
Users can adjust the amount of spraying/seeding, flight speed, etc. in
real time on the App interface. This mode is very suitable for regular
or irregular large plot operation.

A-B 点作业模式
A-B point work mode
用户通过农业无人机 APP 的智能规划作业系统进行 A-B 点测绘，设置 A-B 点后，
分别调整 A、B 点方向和地块边线平行，然后设置航线数量，覆盖地块即可，App
将根据数据计算并生成最佳航线，实现作业的智能规划。规划完成后，开始作业，
飞行器将进入 A-B 点作业模式按照只能规划的航线自动执行作业。
Users can map A-B points through the intelligent planning operation system
of agricultural UAV APP. After setting A-B points, adjust the direction
of A and B points and the parallel of the plot boundary, and then set the
number of routes to cover the plot. The App will calculate and generate
the best route based on the data to realize the intelligent planning of
the operation. After the planning is completed, the aircraft will enter
the A-B point operation mode and automatically perform the operation
according to the only planned route.

HD540Pro 农业无人飞机具备智能启航、智能补给提醒、异常中断作业恢复功能，
并且可以使用雷达系统进行定高、避障及自动绕障。
The HD540Pro agricultural unmanned aircraft has the functions of
intelligent departure, intelligent supply reminder, abnormal
interruption operation recovery, and can use the radar system for altitude
determination, obstacle avoidance and automatic obstacle avoidance.

注：A-B 点地块内无法规划障碍物，对于地块内有障碍物的，建议使用全自主模式，先规划
地块再调用执行作业。
Note: It is impossible to plan obstacles in the plot at point A-B. If there are
obstacles in the plot, it is recommended to use the Fully autonomous work mode, plan
the plot first, and then call to execute the operation.

手动作业模式
Manual work mode
对于小地块或障碍物非常多地形过于复杂的地块，可以使用手动作业模式作业，
飞机飞行轨迹全部依靠人工在遥控器上打杆完成，且喷洒或播撒开关需要人工打
开，此时无人机不建议飞离视距范围外，否则可能会出现飞行安全风险。
For small plots or plots with many obstacles and complex terrain, the
manual operation mode can be used. The flight path of the aircraft is
completed by manually hitting the lever on the remote controller, and the
spraying or broadcasting switch needs to be manually turned on. At this
time, the UAV is not recommended to fly outside the range of sight distance,
otherwise flight safety risks may occur.

增强手动作业模式
Enhanced manual work mode
对于地块内无障碍物，且比较规则的中大地块，也可以使用增强手动作业模式作
业。将飞行器飞到目标预期航线，机头对准预期航线，设置好亩用量、飞行速度、
作业行距、相对作物高度后点“开始”，然后往前进方向打杆即可，到地头时，
按需要点“左横移”或“右横移”完成横移动作，然后往回打杆即可（注意：HD540Pro
如果使用四离心喷头时换行不掉头，此时无人机是机尾超前飞行），重复以上操
作，即可完成作业。
The enhanced manual operation mode can also be used for large and
medium-sized parcels that have no obstacles and are relatively regular.
Fly the aircraft to the expected route of the target, align the nose with
the expected route, set the amount of mu, flight speed, operation line
spacing, and relative crop height, and then click "Start", and then hit
the rod in the forward direction. When reaching the headland, click "Left
Transverse" or "Right Transverse" as required to complete the lateral
movement, Then hit the stick back (note: if the HD540Pro uses four
centrifugal nozzles and does not turn around, the UAV is flying ahead of
the tail at this time), and repeat the above operation to complete the
operation.

自动返航

Automatic Return

返航点：RTK 定位可用情况下，启航点或遥控器所在位置为默认返航点
Return point: When RTK positioning is available, the departure point or
remote control location is the default return point
返航：飞行器自动返回返航点的过程称为返航
Return: The process of an aircraft automatically returning to the return
point is called return

一键返航
One-click Return
智能返航可通过长按遥控器上的返航按键启动，其返航过程与失控返航一致，区
别在于用户可通过打杆控制飞行器高度躲避障碍物。智能返航过程中任意打杆可
以接收无人机控制权
Intelligent return can be started by pressing and holding the return
button on the remote control. Its return process is the same as that of
out-of-control return, but the difference is that the user can control
the height of the aircraft to avoid obstacles by pushing joystick. In the
process of intelligent return, you can receive the control right of UAV
by pushing joystick

无药返航
Return without Carrying Pesticides
HD540Pro 农业无人机支持设置无人机无药后动作，可选择悬停或返航，如果选
择返航，药量喷完后无人机会自动飞回返航点，在返航过程中任意打杆可以接收
无人机控制权
HD540Pro Agricultural UAV supports setting UAV action after not carrying
pesticides, and you can select hovering or returning. If you select return,
the UAV will automatically fly back to the return point after spraying
pesticides, and you can receive the control right of the UAV by pushing
joystick at will during the return process

低电量返航
Return with Low Power
HD540Pro 农业无人机支持设置无人机低电量后动作，可选择悬停或返航，如果
选择返航，药量喷完后无人机会自动飞回返航点，在返航过程中任意打杆可以接
收无人机控制权
HD540Pro Agricultural UAV supports setting the UAV to operate after low
power, and you can select hovering or returning. If you select return,
pesticides are completely sprayed, the UAV will automatically fly back
to the return point, and you can receive the control right of the UAV by
pushing joystick at will during the return process

失联返航
Return when Loss of Communication
HD540Pro 农业无人机支持无人机失联后动作，可选择悬停或返航，如果选择返
航，无人机检测到和遥控器失联超过 5 秒会自动飞回返航点，在返航过程中如果
重新连接，可以打杆接收无人机控制权
HD540Pro Agricultural UAV supports the action after the loss of
communication, and you can select hovering or returning. If you select
return, the UAV will automatically fly back to the return point when it
detects the loss of communication with the remote control for more than
5s. If the UAV can be reconnected during the return flight, you can receive
the control right of the UAV by pushing joystick during the return process
注：自动返航时应注意避让地块内或地块外的障碍物
Note: Pay attention to avoid obstacles inside or outside the plot when
returning automatically

选择返航点
Select the Return Point
用户可以在农业无人机 APP 选择启航点位置、遥控器位置作为无人机自动返航的
返航点
The user can select the departure point position in Agricultural UAV APP,
and the remote control position is used as the return point for the UAV
to automatically return
根据以下步骤更新返航点：
Update the return point according to the following steps:
1. 打开农业无人机 APP ，进入作业界面
1. Open Agricultural UAV APP, enter the operation interface

2. 点击设置 ，在返航位置中选择“ ”，飞行器当前坐标将被更新为返航点

2. Click Settings and select “ ” in the return location, the current

coordinates of the aircraft will be updated to the return point

3. 点击设置，在返航位置中选择“ ”，遥控器的当前坐标将被更新为返航
点

3. Click Settings and select “ ” in the return location, the current

coordinates of the remote control will be updated to the return point
4. 返航点设置成功后，飞行器状态指示灯将显示绿灯快闪
4. After the return point is set successfully, the aircraft status
indicator will display a flashing green light

自动返航距离
Automatic Return Distance
如果无人机距离遥控器距离在 10 米内，无人机不会触发自动返航功能
If the UAV is within 10m of the remote control, the UAV will not trigger
the automatic return function

自动返航条件
Automatic Return Condition
需要 RTK 定位可用情况下，RTK 定位不可用时自动返航不触发
If RTK positioning is available, automatic return will not be triggered
when RTK positioning is unavailable

返航避障
Return and Avoid Obstacles
当环境满足雷达模块工作条件时，飞行器可实现返航避障。若返航路径上距离飞
行器小于 20 米处存在障碍物，则飞行器将减速至悬停。随后，飞行器退出返航
过程，用户可手动操控飞行器
When the environment meets the operating conditions of radar module, the
aircraft can return to avoid obstacles. If there are obstacles less than
20m away from the aircraft on the return path, the aircraft will slow down
to hover. Subsequently, the aircraft exits the return process, and the
user can manually control the aircraft

低电量和超低电量保护

Low Power and Ultra-low Power Protection

HD540Pro 无人机具有低电量报警、严重低电量报警和低电压报警功能
HD540Pro UAV has the functions of low power alarm, severe low power alarm
and low voltage alarm
1. 若 App 出现低电量报警，应尽快将飞行器飞至安全区域并降落，然后更换电
池。若将到达低
1. If the App gives an alarm of low power, fly the aircraft to a safe area
and land it as soon as possible, and then replace the battery. If the
behavior after reaching the low power is set to return, the aircraft will
automatically return after the App gives a low power alarm;
电量后的行为设置为返航，则 App 出现低电量报警后飞行器将自动返航；若将
到达低电量后的行为设置为悬停，则 App 出现低电量报警后飞行器将悬停等待
用户操作
If the behavior after reaching low power is set as hovering, the aircraft
will hover and wait for the user to operate after the App gives a low power
alarm
注：低电量具体剩余电量百分比用户可以在农业无人机 APP 中设置，建议用户设
置相对保守一些，以保证飞行安全
Note: The specific remaining power percentage of low power can be set by
the user in Agricultural UAV APP. It is suggested that the user settings
should be relatively conservative to ensure flight safety

注：低电量具体剩余电量百分比用户可以在农业无人机 APP 中设置，建议用户设置相对

保守一些，以保证飞行安全
Note: The specific percentage of remaining power of low power can be set in the
agricultural UAV APP. It is recommended that users set it relatively conservatively
to ensure flight safety

2. 若 App 出现严重低电量报警或严重低电压报警（电池电压小于 60 V），此

时飞行器将原地自动降落，用户不可干预降落过程
2. If App gives an alarm of severe low power or severe low voltage (the
battery voltage is less than 60V), the aircraft will be automatically
landing in place, and the user cannot interfere with the landing process
注：严重低电量用户可以设置剩余电量百分比，建议用户设置相对保守一些，以
保证飞行安全。
Note: For severe low power, the user can set the remaining power percentage.
It is suggested that the user settings should be relatively conservative
to ensure flight safety.

飞行器指示灯

飞行器机臂 M1 至 M6 均配备有 LED 灯。机臂 M2、M6 的 LED 灯为机头指示灯，

在飞行过程中红灯常亮以指示飞行器机头方向。机臂 M3、M5 的 LED 灯为机尾
指示灯，在飞行过程中绿灯常亮以指示飞行器机尾方向。机臂 M1、M4 的 LED 灯
为飞行器状态指示灯，当飞行器未起飞时指示飞行器当前状态，具体描述见附录；
当飞行器在空中飞行时，指示灯熄灭
Aircraft arms M1 to M6 are equipped with LED lights. LED lights of arms
M2 and M6 are nose indicator lights, and red lights are always ON during
flight to indicate the nose direction of aircraft. LED lights of arms M3
and M5 are tail indicator lights, and the green light is always ON during
flight to indicate the tail direction of the aircraft. LED lights of arms
M1 and M4 are aircraft status indicators, which indicate the current
status of the aircraft when the aircraft does not take off. See the
appendix for specific description; when the aircraft is flying in the air,
the indicator light is OFF.

HD540Pro 灯语含义对照表
HD540 Lights Meaning Table
解锁成功，上锁成功 绿灯常亮 1 秒
Unlock successfully, The green light is always ON
lock successfully for 1s
解锁失败 红灯常亮
Unlock failed The red light is always ON
IMU 振动过大/数据异常
Excessive vibration of
黄灯快闪
IMU/Exception data
Yellow light flashes
IMU 未校准
航灯控制
灯语 IMU not calibrated
Flight
Light 遥控器信号丢失
lamp 黄灯慢闪
Meaning Loss of remote control
control Yellow light flashes slowly
signal
无 GNSS 红灯慢闪
No GNSS Red light flashes slowly
有 GNSS 绿灯慢闪
With GNSS Green light flashes slowly
启用 RTK 功能后，RTK 未定
黄绿交替闪烁
位
Yellow and green lights flash
RTK is not located after
alternately
RTK function is enabled
 罗盘数据异常，罗盘未校
准 红绿交替闪烁
Compass data is Red and green lights flash
abnormal, compass is not alternately
calibrated
IMU 水平校准中
黄灯常亮
IMU level is in
Yellow light is always ON
calibration
IMU 校准成功 绿灯常亮 1 秒
IMU is calibrated The green light is always ON
successfully for 1s
红灯常亮 1 秒
IMU 校准失败
The red light is always ON for
IMU calibration failed
1s
罗盘水平校准中
绿灯常亮
Compass level is in
Green light is always ON
calibration
罗盘垂直校准中
黄灯常亮
Vertical calibration of
Yellow light is always ON
compass
罗盘校准成功 绿灯常亮 1 秒
Successful calibration The green light is always ON
of compass for 1s
罗盘校准失败 红灯常亮 1 秒
Compass calibration The red light is always ON for
failed 1s
遥控器配对中
黄灯常亮
Remote control is being
Yellow light is always ON
paired
绿灯常亮 1 秒
配对成功
The green light is always ON
Successful pairing
for 1s
红灯常亮 1 秒
配对失败
The red light is always ON for
Pairing failed
1s
支持前灯、后灯、下灯的手动开
夜间飞行 照明系统控制（手动） 启与关闭
其他
Flight at Lighting system control Support manually turning
Others
night (manual) on/off the headlights, rear
lights and lower lights
RTK 功能

RTK Function

HD540Pro 无人机机载高精度 RTK 模块，与指南针模块相比，机载端的双天线测

向技术不仅精度更高，而且提供强大的抗电磁干扰能力，在高压线、金属建筑等
强磁干扰的环境下保障可靠的作业飞行。双天线测向在 GNSS 信号良好时将自动
启用。
Compared with the compass module, the airborne high-precision RTK module
of HD540Pro UAV not only has higher accuracy, but also provides strong
anti-electromagnetic interference capability, ensuring reliable
operation flight in the environment of high-voltage lines, metal
buildings and other strong magnetic interference. Dual antenna direction
finding will be automatically enabled when GNSS signal is good.

HD540Pro 可配合 HD201 移动 RTK 小基站提供 RTK 定位服务，具体使用方法如下。

HD540Pro can cooperate with HD201 mobile RTK small base station to provide
RTK location service. The specific use method is as follows.

启用 / 关闭 RTK 功能
Turn on/off RTK Function
每次使用 RTK 定位前，检查确保飞行器 RTK 定位功能已打开，并正确选择接收
RTK 信号方式（RTK 移动站），否则将无法使用 RTK 定位
Before using RTK positioning, check to ensure that the aircraft RTK
positioning function is turned on and select the correct way to receive
RTK signals (RTK mobile station or network RTK service), otherwise RTK
positioning will not be used
注意：飞行器使用 RTK，但 RTK 定位不可用时，无人机将无法起飞，此时关闭飞行器 RTK 检
测即可；在除中国大陆外地区和国家均无法提供网络 RTK 服务。
Note: The aircraft uses RTK, but when RTK positioning is unavailable, the
UAV will not be able to take off; The network RTK service cannot be provided
in other regions and countries except Chinese Mainland.
配合 HD201 移动站使用
Use in combination with Huida Tech HD201 Mobile Station
1. 参考相关设备的说明文档完成飞行器与基站的对频及基站的架设。
1. Complete the frequency matching between aircraft and base station and
the erection of base station with reference to the description documents
of relevant equipment.
2. 开启基站，等待搜星。App 作业界面上方的 RTK 状态图标显示为 表示飞行
器已获取并使用基站的 RTK 数据
2. Turn on the base station and wait for searching the satellite. The RTK
status icon at the top of the App job interface is displayed as indicating
that the aircraft has acquired and used the RTK data of the base station

雷达系统

Radar system

仿地雷达：仿地雷达开关，打开后飞行器可以按作物起伏高低自动调整相对高度
Ground radar: the ground radar switch is turned on, and the aircraft can
automatically adjust the relative height according to the height of crop
fluctuation

避障：前后左右 4 个方向的避障开关，打开后可以在设置的距离内探测到障碍物
并紧急刹车
Obstacle avoidance: the obstacle avoidance switch in four directions,
front, rear, left and right, can be opened to detect obstacles within the
set distance and emergency brake
雷达提示音：遇到障碍物、距离障碍物不同距离时，遥控器以不同声音提醒用户
Radar prompt sound: when encountering obstacles and different distances
from obstacles, the remote controller will remind users with different
sounds

雷达探测距离：雷达探测障碍物的距离，设置越大探测到障碍物越多，但误判率
也会更大
Radar detection distance: the distance of radar detection of obstacles.
The larger the setting, the more obstacles will be detected, but the error
rate will also be greater

雷达告警距离：飞行器前后左右遇到障碍物时在告警距离内显示距离障碍物距
离，并按距离显示不同颜色提醒用户
Radar warning distance: when the aircraft encounters obstacles in the
front, back, left and right sides, the distance from the obstacles will
be displayed within the warning distance, and different colors will be
displayed according to the distance to remind the user

淡隐延迟时间：雷达球在无障碍物超过设置时长后半透明显示，方便查看其他作
业作业信息
Fade delay time: the radar ball is displayed translucent after the
obstacle free time exceeds the set time, which is convenient for viewing
other operation information

雷达球显示尺寸：在 APP 端显示雷达球的尺寸，可选大、小

Radar ball display size: display the size of the radar ball at the APP
end, and select large and small

设备智能检测

Intelligent detection of equipment

无人机 APP 首页点击“Drone Connected”进入 Device Intelligent Detection

界面
Click on the homepage of UAV APP “Drone Connected”，Enter the Device
Intelligent Detection interface
在 Device Intelligent Detection 界面，可查看无人机核心设备的工作状态，
如有异常，可上传日志分析原因。
In the Device Intelligent Detection interface, you can view the working
status of the UAV core equipment. If there is any abnormality, you can
upload a log to analyze the reason.

数据保护和异常中断作业数据恢复

Data protection and abnormal interruption job data recovery

在全自主作业模式或 A-B 点作业模式下，用户可中途暂停作业，断开飞行器电

源进行更换电池或加药等操作。作业进度、历史记录的 A、B 点坐标以及作业恢
复功能记录的断点将被保存，用户重新连接飞行器电源后，可接当前作业任务断
点继续作业，如果作业过程中有人为操控飞机作业过程，完成后可选择返回点继
续作业。
In the fully autonomous operation mode or A-B point operation mode, the
user can suspend the operation halfway, disconnect the power supply of
the aircraft, and replace the battery or add pesticides. The operation
progress, the coordinates of points A and B in the history record and the
breakpoint of the operation recovery function record will be saved. After
the user reconnects the aircraft power supply, the user can continue the
operation at the breakpoint of the current operation task. If the aircraft
operation process is manually controlled during the operation process,
the user can select the return point to continue the operation after
completion.
在航线作业过程中，若遇到 App 崩溃、遥控器与飞行器断开连接等异常情况，则
飞控自动记录断点，在重新连接至飞行器后，App 将自动恢复断点信息。
In the course of route operation, if the App crashes, the remote controller
is disconnected from the aircraft and other abnormal conditions are
encountered, the flight control will automatically record the breakpoint.
After reconnecting to the aircraft, the App will automatically recover
the breakpoint information.

遥控器

Remote Controller

遥控器概述

Overview of Remote Control

HD540Pro 农业无人飞机标配的 HD401 遥控器是新一代无人机遥控器，该遥控器

采用先进的图传和数传通信技术，最大通讯距离 1.5 km；自带触摸显示屏，内
置 Android 系统，可运行农业无人机 APP 进行作业规划及实时查看飞行器状态；
支持通过蓝牙、USB 连接外部设备。
The standard remote control of HD540 Pro agricultural UAV is a new
generation of UAV remote control. The remote control adopts advanced image
transmission and data transmission communication technology in the
industry, and the maximum communication distance is 1.5km; With its own
touch display and built-in Android system, it can directly run Huida
Agricultural App for operation planning and view the aircraft status in
real time; supports to connect external devices through Bluetooth and USB.

开启与关闭

Startup and Shutdown

短按 1 下+长按 3-5 秒可以打开遥控器电源开关，此时遥控器开始开机，等待 30
秒，遥控器开机进入农业无人机 APP 首页
Press 1 shortly + hold 3-5s to turn on the power switch of the remote
control. At this point, the remote control starts power-on, wait for 30s,
and the remote control starts to enter the homepage of Huida UAV APP
遥控器开机状态下短按 1 下+长按 3-5 秒遥控器会弹框提示是需要关闭遥控器还
是重启遥控器，按需选择即可完成关机或重启操作
When the remote control is turned on, press 1 shortly + hold 3-5s. The
remote control will pop up a box to prompt whether the remote control needs
to be turned off or restarted. The shutdown or restart operation can be
completed by selecting as required

充 电

Charge

内置电池
Built-in Batteries
使用 USB 充电器和 USB-C 线为遥控器内置电池充电
USB charger and USB-C cable are used to charge the built-in battery of
remote control

外置电池
External Battery
使用外置电池充电座和电源适配器为外置智能电池充电
External battery charging stand and power adapter are used to charge the external
smart battery
注：首次使用遥控器时，请将电池电量充满
Note: When using the remote control for the first time, the battery should be fully
charged
 遥控器按键操作

Key Operation of Remote Control

遥控器物理按键分布图
Distribution Diagram of Physical Keys of Remote Control

LORA antenna Reserved

Video button Camera key

Image transmission antenna Rocker bar

RTK jack

Rope hanging hole

ON/OFF Trumpet
Rope hanging hole Flight mode

Emergency stop switch Shift

Return
Heat
dissipation
Water pump switch hole

5.5 inch screen Battery

compartment

Rope hanging hole

Silicone plug

TYPE-C, SIM card socket

Heat dissipation hole

语言切换

Language switching

HD401 遥控器内置的农业无人机 APP 支持多国语言，可以在 APP>>设置>>其他设

置中切换不同语言显示
The agricultural UAV APP built into the HD401 remote controller supports
multiple languages, and can switch the display of different languages in
APP>>Settings>>Other settings
摇杆操控

Rocker Control
摇杆操控需要先按自己的操控习惯设置好摇杆模式，不确定摇杆模式情况下，不
要随意解锁起飞以免造成飞行安全事故。
For rocker control, you need to set the rocker mode according to your own control
habits first. If you are uncertain about the rocker mode, don't unlock the take-off at
will

美国手摇杆操控图示
Rocker Control Diagram under US Operation Mode
日本手摇杆操控图示
Rocker Control Diagram under Japanese Operation Mode

摇杆校准

Rocker Calibration

HD540Pro 遥控器摇杆出厂已做了校准，但防止运输颠簸等造成摇杆杆量不准等
问题，首次解锁前需要先校准摇杆。日常使用中如果出现摇杆打杆出现不回中、
偏移量大等现象时也可以使用该功能校准遥控器摇杆。
The rocker of HD540Pro remote control has been calibrated from the factory, but it is
necessary to calibrate the rocker before unlocking for the first time to prevent the
problem of inaccurate rocker caused by transportation bumps. In daily use, this
function can also be used to calibrate the remote control rocker if the rocker not
returning to the neutral position while pushing joystick and the offset is large.
注：遥控器准备环节已做详细说明，此处不做赘述
Note: The preparation process of the remote control has been described
in detail, and will not be described here

作业控制

Operation Control

喷洒/播撒按键
Spray/spread button
手动/手动增强作业模式下，按下改键打开喷洒/播撒系统，再次按下关闭喷洒/
播撒系统
In manual/manual enhanced operation mode, press the change key to open the
spraying/spreading system, and press it again to close the spraying/spreading system
注：全自主和 A-B 点作业喷洒和播撒是自动控制开关的
Note: Full-autonomous and A-B point operation spraying and spreading are
automatically controlled and switched

亩用量设置
Setting of Mu
全自主作业和 A-B 点作业模式下，开始作业前，可以设置好作业参数（包括亩用
量），在作业过程中也可以随时调整作业参数（包括亩用量）
Under Full-autonomous operation and A-B point operation mode, operation
parameters (including mu) can be set before starting operation, and operation
parameters (including mu) can be adjusted at any time during operation

FPV/地图切换
FPV/Map Switching
在农业无人机 APP 作业界面，点击摄像头和地图切换虚拟按钮，切换摄像头画面
和地图显示的全屏显示
In Huida UAV APP operation interface, click the camera and map switch virtual
button to switch the full-screen display of the camera screen and map display

自定义按键
User-defined Button

自定义按键，支持自定义的功能有
User-defined button, the supported user-defined functions are including
默认值：未定义
Default: Undefined
边界点和障碍点切换：仅在地块规划时有效
Switching between boundary point and obstacle point: Only valid when planning
plots
添加边界点或障碍点：仅在地块规划时有效
Add boundary point or obstacle point: Only valid when planning plots
排空气：电机未解锁，飞机未起飞时有效
Exhaust air: the motor is not unlocked, and it is valid when the aircraft does not take
off
打开/关闭避障：关闭避障后给他弹框确认
Turn on/Turn off obstacle avoidance function: After turning off obstacle avoidance
function, a box is popped up to confirm
地图/FPV 切换：地图全屏显示和 FPV 前置摄像头全屏切换
Map/FPV switching: map full-screen display and FPV front camera full-screen
switching.
前/后摄像头切换：切换前后摄像头显示
Front/rear camera switching: Switch the display of front and rear camera
添加 A 点：仅在 A-B 点规划航线时生效
Add point A: It is only effective when planning route at points A-B
添加 B 点：仅在 A-B 店规划航线时生效
Add point B: It is only effective when planning route at points A-B
M+左横移：仅在 M+手动增强模式下生效
M + Left shift: It only works in M + Manual Enhancement Mode
M+有横移：仅在 M+手动增强模式下生效
M + Right shift: It only works in M + Manual Enhancement Mode
打开前照灯：打开飞机前照灯
Turn on the headlight: Turn on the headlight of the aircraft
打开后照灯：打开飞机后照灯
Turn on the rear light: Turn on the rear light of the aircraft
H1 按键
H1 Button
H2 按键
H2 Button

飞行模式切换

Flight Mode Switching button

飞行模式切换开关默认锁定于 P 模式，如需切换至 A 模式，进入 App 作业界
面，点击 > ，
The flight mode switch is locked in P mode by default. If you need to switch to A
mode, enter the App operation interface and click >,
在高级设置中打开“允许开启姿态模式”以解除锁定。
In Advanced Settings, turn on Allow to Turn on the Attitude Mode to unlock.
解除锁定后，再将飞行模式切换开关从 P 挡切到 A 挡以进入 A 模式飞行。若
当前飞行模式切换 开关处于 A 挡，则需要将开关先切到 P 挡再切回到 A 挡，
才可使用 A 模式。
After unlocking, switch the flight mode from P to A to enter A mode for flight. If the
current flight mode switch is in A, it is necessary to switch to P and then switch to A
before using A mode.
即使已经解除锁定，飞行器每次开机默认仍以 P 模式飞行，每次使用 A 模式之
前都需在开启飞行器和遥控器电源后将飞行模式切换开关如上所述切换一次
Even if it has been unlocked, the aircraft still flies in P mode by default every time it is
turned on. Before using A mode each time, the flight mode should be switched once
after the aircraft and remote control are powered on as described above

一键返航按钮

Smart One-click Return button

智能返航可通过长按遥控器上的返航按键启动，其返航过程与失控返航一致，区
别在于用户可通过打杆控制飞行器高度躲避障碍物。智能返航过程中任意打杆可
以接收无人机控制权。
Intelligent return can be started by pressing and holding the return button on the
remote control. Its return process is the same as that of out-of-control return, but
the difference is that the user can control the height of the aircraft to avoid obstacles
by pushing joystick. In the process of intelligent return, you can receive the control
right of UAV by pushing joystick.

遥控器信号范围

Range of Remote Control Signal

当天线与遥控器背面呈 80°或 180°夹角，且天线平面正对飞行器时，可让遥控

器与飞行器的 信号质量达到最佳状态。
When the antenna and the back of the remote control are at an included angle of 80°
or 180°, and the antenna plane is facing the aircraft, the signal quality between the
remote control and the aircraft could be in the best state.

推送日志

Push log

在您使用农业无人机遇到故障时，可推送故障期间的日志到厂家，以获取第一时
间的技术分析得到故障原因从而得以快速解决问题。
When you encounter a fault when using Agricultural UAV, you can push the
log during the fault to the manufacturer to obtain the first time technical
analysis to get the cause of the fault and quickly solve the problem

遥控器和飞行器对频

Frequency Matching of Remote Control

出厂时，遥控器与飞行器已完成对频，通电后即可使用。但如果更换遥控器，需
要重新对频才能使用。
When leaving the factory, frequency matching has been completed for the remote
control and the aircraft, and it can be used after being powered on. However, if the
remote control is replaced, it needs to be re-checked before it can be used.
1. 开启遥控器，运行农业无人机 App，然后打开飞行器电源。
1. Turn on the remote control, run Agricultural UAV APP, and then turn on the
aircraft power supply.
2. 点击“开始作业”进入作业界面，点击设置—进入遥控器设置界面，点击对频，
将打开的二维码对准飞机前置摄像头保持 30 秒，等听到滴滴提示声，查看对频
状态指示灯由红灯闪烁变成绿色后即表示对频成功。如果对频失败，则需重新进
入对频状态进行对频。
2. Click "Start Operation" to enter the operation interface, click Settings to enter the
remote control setting interface, click Frequency Matching, align the opened QR
code at the front camera of the aircraft for 30s, and wait for the drip prompt sound
to be heard, and check that the frequency matching status indicator light flashes
from red light to green, which means that the frequency matching is successful. If the
frequency matching fails, it is necessary to re-enter the frequency matching state for
frequency matching.
农业无人机 APP

Agricultural UAV APP

HD401 遥控器内置的农业无人机 App 专为无人机农业应用设计，界面清晰简洁，

用户随着文字和语音提示即可轻松上手操作。用户作业过程中可实时了解无人机
喷洒/播撒系统作业信息，并可以实时获取到连接到遥控器的所有设备的健康状
态，设备异常状态第一时间就可以告知用户；对地块、地块调用后进行中的任务
数据做实时保护，确保了用户数据不丢失；农业无人机 App 支持多语言版本。
Agricultural UAV APP is specially designed for UAV agricultural application, with clear
and concise interface, which can be easily operated by users with text and voice
prompts. During the operation, the user can know the operation information of the
UAV spraying/spreading system in real time, and can obtain the health status of all
the equipment connected to the remote control in real time, and the user can be
informed of the exception status of the equipment at the first time; Real-time
protection of the plot and the task data in progress after the plot is called to ensure
that the user data is not lost; Agricultural UAV APP supports multiple languages.
主界面

Main Screen

1.飞行器和遥控器连接状态
状态：飞行器已连接、飞行器未连接
注：飞行器未连接时，作业系统、飞行器设备管理、设置功能不可用
1.Connection status of aircraft and remote controller
Status: aircraft connected, aircraft not connected
Note: When the aircraft is not connected, the operation system,
aircraft equipment management and setting functions are not available
2.卫星连接状态和强度
状态：接入、未接入
2.Satellite connection status and strength
Status: connected, not connected
3.遥控器内置电池剩余电量
显示内置电池剩余电量，当外置电池接入后，显示内置电池正在充电的状态
3.The remaining power of the built-in battery of the remote control
Display the remaining power of the internal battery. When the external
battery is connected, display the status of the internal battery being
charged
4.SIM 卡连接状态和信号强度
4.SIM card connection status and signal strength
5.WIFI 连接状态和信号强度
5.WIFIconnection status and signal strength
6.设置
6.Setting
7.开始作业
7.Start
8.规划地块
8.Planning Fields
9.地块管理、账号管理、设备管理、安卓通用设置
9.Fields management, account management, equipment management, Android
general settings

连接网络

Connect to the network

在农业无人机 APP 首页点击“设置”进入安卓通用设置界面

Click "Settings" on the home page of agricultural UAV APP to enter the
Android general settings interface
在该页面点击“网络和互联网”进入连接 WALN 界面，此时如果 WLAN 开关是关闭
的，打开后等待数秒，系统自动搜索附近可连接 WIFI 网络
Click "Network and Internet" on this page to enter the connection WALN
interface. At this time, if the WLAN switch is turned off, wait a few
seconds after it is turned on, and the system will automatically search
the nearby WIFI network that can be connected

点击 WALN 项，进入可连接网络列表，找到目标 WIFI 网络

Click the WALN item to enter the list of connectable networks and find
the target WIFI network
点击待连接 WIFI，输入连接密码，即可完成网络连接设置
Click the WIFI to be connected and enter the connection password to
complete the network connection setting

用户信息

User Info

查看用户账号信息和用户作业记录、作业记录统计信息
View user account information, user job records and job record statistics
规划地块和地块管理

Planning Fields and Fields management

首页点击“规划地块”，进入规划地块方式选择界面，按需选择规划方式
Click "Planning Plot" on the home page to enter the planning plot method
selection interface, and select the planning method as required

规划地块页面
Planning Fields Homepage
1.显示当前地块规划方式。
下拉列表框可切换规划方式
1.Display the current plot planning method.
Drop-down list box to switch planning mode
2.规划的对象选择项，可选：边界点、障碍物点、圆形障碍物、参照点、临时禁
飞区
2.Options for planning objects: boundary points, obstacle points,
circular obstacles, reference points, temporary no-fly zones
3.添加点，添加后显示“完成”，即表示该地块或多边形障碍物的边界点规划完
成
3.Add a point. After adding, "Done" is displayed, which means that the
boundary point planning of the parcel or polygon obstacle is completed
4.保存当前规划的地块成为一个文件存储在遥控器
4.Save the currently planned plot as a file and store it on the remote
control
5.编辑已规划地块
5.Edit planned parcels
6.返回规划方式选择界面
6.Return to the planning method selection interface
7.当前规划地块的面积、当前规划障碍物面积（只显示地块内的障碍物面积）
7.The area of the currently planned plot and the area of the currently
planned obstacles (only the area of obstacles in the plot is displayed)

地块管理
Fields management
本地地块管理界面，支持地块调用、上传、从云端下载地块、编辑地块、查找地
块功能
The local parcel management interface supports parcel calling, uploading,
downloading parcels from the cloud, editing parcels, and finding parcels

云端地块管理界面，支持从云端下载地块、查找地块功能
The cloud parcel management interface supports the functions of
downloading and finding parcels from the cloud

作业

Work

选择作业模式
Select work mode
手动作业界面，也是默认的作业界面，该界面可切换其他作业模式，也可以调用
地块进入全自主作业模式
Manual work interface is also the default work interface. This interface
can switch other work modes, or call the plot to enter the fully autonomous
work mode

1.返回首页
1.Return to Homepage
返回农业无人机 APP 首页
Return to the homepage of Agricultural UAV APP

2.作业模式
2.显示当前的作业模式，默认手动、点击可切换到 A-B 点、全自主、手动增强作
业模式，注意全自主是通过调用地块切换
Display the current operation mode, manual by default, click to switch to point A-B,
full-autonomous, manually enhance the operation mode, note that full-autonomous
mode is switched through calling plot

3.当前作业模式（喷洒、播撒）
3.Current operation mode (spraying, seeding)

4.前后避障雷达状态
状态：开启、关闭、未连接、故障
4.Front and rear obstacle avoidance radar status
Status: ON, OFF, Not connected, Fault

5.RTK 定位状态
状态：单点、浮点、固定
注：在固定状态下飞行和作业会更安全
5.RTK positioning status
Status: Single point, floating point, fixed

6.千寻固定基站状态
状态：正常、通信异常、数据异常
6.Qianxun fixed base station status
Status: Normal, abnormal communication, abnormal data

7.遥控器和飞行器链路信号强度
正常、信号弱、失联
7.Signal strength of remote control and aircraft link
Normal, weak signal, loss of communication

8.飞行器电池剩余电量
实时获取飞行器电池剩余电量，分不同电量不同颜色显示，橙色表示电池剩余电
量低，需注意返航距离，红色表示剩余电量很低，需要及时返航
8.Remaining power of aircraft battery
Get the remaining power of aircraft battery in real time, and display it in different
colors. Orange indicates that the remaining power of the battery is low, so the return
distance should be noted. Red indicates that the remaining power is very low and
return is required in time

9.遥控器内外置电池电量
Internal and external battery power of remote control

10.SIM 卡状态和信号强度
10.SIM card status and signal strength
11.WIFI 连接状态和信号强度
11.WIFI connection status and signal strength

12.设置
12.Settings
点击进入，可设置飞行器、遥控器、喷洒系统、播撒系统、雷达、智能电池、
RTK 等参数
Click to enter, and you can set parameters such as aircraft, remote control, spraying
system, spreading system, radar, smart battery, RTK, etc.
飞行器设置：可设置启航速度、返航速度、启航高度、返航高度、药量喷完后的
动作（返航、悬停）、
Aircraft settings: Sailing speed, returning speed, sailing height, returning height,
actions after spraying (returning and hovering) can be set.
失联后动作（返航、悬停、降落）、失联后继续作业的开关、作业完成后动作（返
航、悬停）、返航位置选择（返航点、遥控器位置）、电子围栏功能：限高、限
远、限飞行速度、手动增强锁定航线（关闭后可以自由控制，请注意安全飞行）、
前照明灯开关、后照明灯开关
Action after loss of communication (return, hover, landing), switch to continue
operation after loss of communication, action after operation (return, hover), return
position selection (return point, remote control position), electronic fence function:
height limit, distance limit, flight speed limit, manual enhancement and locking route
(free control after turning off, please note the safe flight), front lighting switch and
rear lighting switch
高级设置：IMU 校准、指南针校准；允许开启姿态模式（默认关闭）；恢复飞行
器未完成作业记录（支持恢复因异常导致的未完成飞行任务）
Advanced settings: IMU calibration, compass calibration; Attitude mode is allowed to
be turned on (turned off by default); Recovery of aircraft unfinished operation
records (support for recovery of unfinished flight missions caused by anomalies)
遥控器设置：可设置摇杆模式（美国手、中国手、日本手）、校准摇杆、已配对
飞行器列表、语音播报开关（注：告警语音不支持关闭）、对频（飞机 FPV 摄像
头扫二维码对频）
Remote control settings: You can set rocker mode (US operation mode, Chinese
operation mode, Japanese operation mode), calibrate rocker, list of paired aircraft,
voice broadcast switch (note: closing of alarm voice is supported), and frequency
matching (FPV camera scans QR code for frequency matching)
雷达设置：可设置雷达定高开关、前后避障雷达开关、避障雷达提示音开关、雷
达前后探测距离开关
Radar setting: You can set radar height setting switch, front and rear obstacle
avoidance radar switch, obstacle avoidance radar prompt tone switch and radar front
and rear detection distance switch
雷达告警距离、紧急悬停距离、校准探测角度、障碍物距离数值显示、雷达球显
示尺寸
Radar warning distance, emergency hovering distance, calibration detection angle,
numerical display of obstacle distance, radar ball display size
喷洒设置：可设置喷洒系统开关、喷洒系统数据实时展示、水泵流量数据显示、
已喷药量显示、剩余药量显示、排出管道空气开关、剩余药量阈值设置、流量计
校准、随速喷洒模式开关
Spraying setting: You can set spraying system switch, real-time display of spraying
system data, display of pump flow data, display of sprayed dosage, display of
remaining dosage, discharge pipe air switch, remaining dosage threshold setting,
flowmeter calibration, spraying mode switch with speed
播撒设置：可设置播撒系统开关、显示当前药箱总重量、去皮校准、重量校准、
设置当前剩余料量、随速播撒模式开关、高级设置（当称重传感器异常时，输入
出厂 K 值做一次恢复初始设置）
Spreading settings: You can set the switch of the spreading system, display the
current total weight of the Pesticide box, peeling calibration, weight calibration, set
the current remaining material quantity, switch of the spreading mode with speed,
and advanced settings (when the load cell is abnormal, input the factory K value to
restore the initial setting once)
智能电池设置：可查看电池当前电压、电流、温度、损坏次数；可设置返航、悬
停电压阈值、降落电压阈值
Smart battery settings: You can view the current voltage, current, temperature and
damage times of the battery; set the voltage threshold of returning, hovering and
landing
RTK 设置：可设置飞行器内置 RTK 模块定位功能开关、RTK 信号源（网络 RTK、
RTK 移动站）、查看网络 RTK 状态、网络 RTK 服务权益到期时间、RTK 在线诊断
RTK setting: You can set the positioning function switch of the built-in RTK module of
the aircraft, RTK signal source (network RTK, RTK mobile station), check the network
RTK status, the expiration time of network RTK service rights and RTK online
diagnosis
作业设备类型设置：当播撒或喷洒设备故障时，可能识别会有问题，此时可人为
设置作业系统类型
Settings of operation equipment type: When the spreading or spraying equipment
fails, it may be recognized that there will be problems. At this point, the type of
operation system can be set manually

13.擦除未作业飞行轨迹、定位遥控器在地图上的位置、定位飞机在地图上的位
置
13.Clear the flight path, whether to display the route, display the current return
point/remote control position, aircraft position, and switch the display of satellite
map/ordinary map
擦除飞行轨迹：航线作业或 A-B 点作业时植保机在地块外飞行的轨迹，可以用擦
除功能擦掉，地块内的不可擦除
Clear the flight path: The flight path of plant protection UAV outside the plot during
route operation or A-B point operation can be cleared by clearing function, but the
flight path inside the plot cannot be cleared
是否显示航线：已规划地块是否显示飞行航线
Whether to display the route: whether the planned plot displays the flight route
显示当前返航点/遥控器位置：快速在地图上定位返航点/遥控器位置
Display the current return point/remote control position: locate the return
point/remote control position on the map quickly
飞机位置：快速在地图上找到飞机位置
Aircraft location: Search for the aircraft location on the map quickly
卫星地图/普通地图切换：按需在两种地图间切换显示
Satellite map/ordinary map switching: Switch between the two maps as needed

14.前后摄画面、地图切换
14.Image displayed by the front camera
可切换到全屏显示，此时地图位置和前置摄像头显示位置调换，再次点击则切换
回去
You can switch to display of full screen. At this point, the map position and the front
camera display position are changed. Click it again to switch back

15. 开始作业
15.Start work
进入手动作业首页，此时可以解锁起飞，请注意飞行安全
Start manual work, turn on spraying and record flight path, work parameters and
other information

16. 作业参数设置、调整
16.Display and adjustment of operation parameters
开始作业前可以调整好作业参数，并在作业过程中随时可暂停进行重新调整更
合适的作业参数
Display real-time operation parameters, in which click the horizontal line under the
altitude number to adjust the flight altitude

17. 调用地块
17.Call the plot
开始作业默认进入手动作业界面，调用地块后进入全自主作业界面，此时飞行
器可以按规划好的线路自动执行飞行任务
The manual operation interface is entered by default when starting the
operation, and the fully autonomous operation interface is entered after
calling the plot. At this time, the aircraft can automatically execute
the flight mission according to the planned route

18. 切换作业模式
18.Switch the work mode
开始作业默认进入手动作业界面，可以通过切换作业模式，切换到手动增强、
A-B 点作业模式
The manual work interface is entered by default when starting work. You
can switch to manual enhanced and A-B work mode by switching work mode
播撒系统

Spreading System

播撒器安装

Spreader Installation

请先拆除药箱、两根连接水管和连接线，然后按方向插入播撒箱，再接入播撒器
连接线，并在农业无人机 APP 中设置作业系统-从喷洒系统切换到播撒系统。
注意：更换播撒系统时，请先关闭飞行器电源开关。
Please first remove the Pesticide box, two connecting water pipes and connecting
lines, then insert the Spreader box in the direction, then connect the connection
line of the spreader, and set the operating system in the agricultural UAV APP -
switch from the spray system to the Spreading system.
Note: When replacing the Spreading system, please turn off the aircraft power switch
first.

连接图中所示的线束，连接好之后，先启动遥控器，再启动飞行器，检查作业系
统的作业类型的设置是否自动识别，如果识别不正确可以手动设置
Connect the harness shown in the figure. After connecting, start the remote control
first, and then start the aircraft. Check whether the setting of the operation type
of the operation system is automatically identified. If the identification is not
correct, you can set it manually

播撒器使用

Spreader Use

全新未使用的播撒系统或从未播撒过的物料，播撒该物料之前，为了播撒物料浏
览量准确，建议您在 APP 端创建播撒物料模板，对该物料进行流量校准，校准后
的播撒物料模板，后续播撒同类物料可以复用，可以节约作业时间。
For new and unused Spreading Systems or materials that have never been
broadcast, in order to broadcast the materials accurately, it is
recommended that you create a broadcast material template on the APP side
and calibrate the flow of the materials. The calibrated broadcast material
template can be reused for subsequent broadcast of similar materials,
which can save operation time.

如何校准播撒系统
How to calibrate the Spreading System

在“开始作业”首页，点右上侧设置进入播撒系统设置界面，可以分别做去皮校
准、重量校准；并可设置播撒箱剩余料量。
On the "Start Operation" homepage, click the setting on the upper right
side to enter the setting interface of the Spreading System. You can
perform peeling calibration and weight calibration respectively; The
remaining material quantity of the Spreader box can be set.
如何创建播撒物料模板
How to create a broadcast material template
播撒作业界面，在播撒物料模板后单击“+”创建新的播撒物料模板，模板创建
后，设置好播撒盘转速和仓口大小即可原地进行流量校准，流量校准成功后，以
后播撒同类物料，即可直接使用该模板。
In the seeding operation interface, click "+" to create a new seeding
material template after seeding the material template. After the template
is created, set the rotation speed of the seeding tray and the size of
the bin mouth to perform the flow calibration in place. After the flow
calibration is successful, the template can be used directly after seeding
similar materials.

注意：建议不同的播撒物料创建不同的播撒物料模板
Note: It is recommended to create different broadcast material templates
for different broadcast materials

飞行智能电池充电

Flight intelligent battery charging

HD540Pro 标配充电器支持 110V-220V 范围内电压充电，使用充电器细线最大支

持 2200W 输入功率，使用粗线最大支持 8000W 输入功率充电
HD540Pro standard charger supports voltage charging in the range of
110V-220V. The thin line of the charger can support up to 2200W input power,
and the thick line can support up to 8000W input power charging
注意：请先连接充电器后再连接电池充电，连接电池时，电池接口和充电线插口
对齐再插入充电，否则可能会损坏电池供电接口。
Note: Please connect the charger before charging the battery. When
connecting the battery, align the battery connector with the charging
cable connector and then plug in the battery, otherwise the battery power
interface may be damaged.

危险与危害一览表和应对措施

List of hazards and countermeasures

HD540Pro 农业无人飞机在使用过程中若不按照操作要求或盲目操作会存在危险
隐患，具体危险情况及应对措施如下：
If the HD540Pro agricultural unmanned aerial vehicle does not comply with
the operation requirements or operates blindly in the process of use,
there will be hidden dangers. The specific dangerous situations and
countermeasures are as follows:

序 危险产生部位
应对措施 备注
号 Dangerous
Countermeasures Remarks
S/N Place
螺旋桨转动时保持安全距离 （15 米以上)
螺旋桨
1 Keep a safe distance when the propeller rotates (over
Propeller
15m)
未安装螺旋电机转动时保持安全距离 (0.5 米以上)；
安装螺旋桨的电机转动时保持安全距离（15 米以上)
电机 Keep a safe distance (more than 0.5m) when the motor
2
Motors not installed with propeller rotates; Keep a safe
distance (more than 15m) when the motor installed
with propeller rotates
使用过的药箱有农药残留，不可用其盛装饮用水或
农药箱 内部的水不能用于梳洗
3 Pesticide The used pesticide container has pesticide residues, so
container it is not allowed to hold drinking water or the internal
water cannot be used for grooming.
农药使用要按照农药使用说明或植保部技师指导使
用
使用的农药
4 Pesticides should be used according to the instructions
Pesticide used
for pesticide use or the guidance of technicians in the
Plant Protection Department
电池必须严格按照使用规程进行操作！不能过充和
电池 过放
5
Battery The battery must be operated in strict accordance with
the regulations on use. Do not overcharge and
 overdischarge
充电器必须严格按照使用规程进行操作且使用过程
中远离易燃易爆物品，同时旁边须准备消防沙或灭
火器
充电器使用
6 The charger must be operated in strict accordance with
Use of charger
the regulations on use and kept away from
inflammable and explosive materials during use, fire
sands or fire extinguishers should be prepared beside
作业 飞行过程 禁止在闹市区飞行操作；田间作业时远离人群，保
中 持安全离（15 米以上）
7 During the Do not fly in downtown areas; Keep away from the
operation crowd and keep a safe distance (more than 15m) when
flight, working in the field
农药 喷洒作业 作业区域远离蜜蜂养殖区，根据当时气候愕况最少
中 保持 60 米以上距离
8 In pesticide The operation area is far away from the bee breeding
spraying area, and the distance is at least 60m according to the
operation, climate at that time

故障处理说明

Troubleshooting Instructions

模块 告警源 错误描述 错误解决方法

Module Alarm Source Error Description Error Resolution
1.按提示的电机序号定位堵转电机；
1. Position the locked-rotor motor according to the
电机堵转，请立即 prompted motor serial number;
停止飞行 2.请检查桨叶是否有缠绕，电机是否有异物卡住；
When the motor is 2. Please check whether the blades are wound and
locked, please stop whether the motor is stuck with foreign matter;
flying immediately 3.若仍存在该问题，请联系就近经销商
3. If this problem still exists, please contact the nearest
agent
动力电调 电机 1.按提示的电机序号定位过载电机；
Power Motors 1. Position the overloaded-rotor motor according to the
electronic prompted motor serial number;
speed 电机过载，请立即
2 请检查桨叶是否有缠绕、变形、破损，电机是
controller 停止飞行
否有异物卡住；
When the motor is
2. Please check whether the blades are wound,
overloaded, please
deformed and damaged and whether the motor is stuck
stop flying
with foreign matter;
immediately
3.若仍存在该问题，请联系就近经销商
3. If this problem still exists, please contact the nearest
agent
电调 电机存在超温风险 1.按提示的电机序号定位存在超温风险的电机；
ESC The motor is at risk 1. Locate the motor with over-temperature risk
模块 告警源 错误描述 错误解决方法
Module Alarm Source Error Description Error Resolution
of over-temperature according to the prompted motor serial number;
2 待飞机冷却后再进行飞行作业，请关注环境温
度是否过髙；
2. Please note whether the ambient temperature is too
high before flying after the aircraft cools down;
3.若仍存在该问题，请联系就近经销商
3. If this problem still exists, please contact the nearest
agent
1.按提示的电调序号定位电压过高的电调；
1. Locate the electronic speed control with high
voltage according to the prompted electronic speed
电调高电压异常 control serial number;
Abnormal high 2.请确认电池电压是否过高；
voltage of electronic 2. Please confirm whether the battery voltage is too
speed control high;
3.若仍存在该问题，请联系就近经销商
3. If this problem still exists, please contact the nearest
Huida agent
1.请重新插拔电池并确认电池接口无异物；
1. Please plug and unplug the battery again and ensure
that there is no foreign matter in the battery interface;
2.请更换电池测试确认是否电池损坏；
2. Please test to replace the battery to confirm whether
the battery is damaged;
电池与飞控通信异
3.请检查分电板的金手指是否有变形、污损；
常 3. Please check whether the gold finger of the
Abnormal distribution board is deformed or defaced;
communication 4.请在关机状态下检查分电板-分线模块-航电模
between battery and
flight control sytem 块之间的连接是否正常；
4. Please check whether the connection between the
distributor-distributor module-avionics module is
normal when the power is turned off;
5.若仍存在该问题，请联系就近经销商
5. If this problem still exists, please contact the nearest
电池 电池 agent
Battery Battery 1.请确认是否为官方电池；
1. Please confirm whether it is an official battery;
2.请检查分电板的金手指是否有变形、污损；
2. Please check whether the gold finger of the
distribution board is deformed or defaced;
3.请重新插拔电池并确认电池接口无异物；
电池认证失败
3. Please plug and unplug the battery again and ensure
Failure of battery
that there is no foreign matter in the battery interface;
certification
4.请更换电池测试确认是否电池损坏；
4. Please test to replace the battery to confirm whether
the battery is damaged;
5.若仍存在该问题，请联系就近经销商
5. If this problem still exists, please contact the nearest
agent
电池严重低电压
Severe low voltage
of battery
航电系统 导航系统异常 1.请重启飞行器；
IMU
Avionics （IMU）设备断开 1. Please restart the aircraft;
模块 告警源 错误描述 错误解决方法
Module Alarm Source Error Description Error Resolution
system Navigation system 2.请进行 IMU 校准；
anomaly (IMU), 2. Please calibrate IMU;
equipment is 3.若仍存在该问题，请联系就近代理商
disconnected 3. If this problem still exists, please contact the nearest
agent
1.请静置飞行器 10 秒，若仍存在该问题，请重启
飞行器；
1. Please let the aircraft stand for 10s. If the problem
still exists, please restart the aircraft;
2.请进行 IMU 校准；
2. Please calibrate IMU;
3.若仍存在该问题，请联系就近经销商
3. If this problem still exists, please contact the nearest
agent
1.指南针断开连接，请在关机状态下检查请确认
航电模块是否正确安装，再开启飞行器查看是否
存在异常；
指南针设备断开 1. The compass is disconnected, please check in the
指南针 shutdown state to confirm whether the avionics
Compass device
Compass module is installed correctly, and then turn on the
disconnected
aircraft to check if there is any abnormality;
2.若仍存在该问题，请联系就近经销商
2. If this problem still exists, please contact the nearest
agent
1.请确认环境无干扰并逬行指南针校准；
1. Please confirm that there is no interference in the
environment and calibrate the compass;
2.请在关机状态下检查请确认航电模块是否正确
指南针地面干扰 安装，再开启飞行器查看是否存在异常；
Compass ground 2. Please check in the shutdown state to confirm
interference whether the avionics module is installed correctly, and
then turn on the aircraft to check if there is any
abnormality;
3.若仍存在该问题，请联系就近经销商
3. If this problem still exists, please contact the nearest
RTK Huida agent
1.请断电 2 分钟后重启飞行器；
RTK 板卡断开连 1. Please restart the aircraft after 2min. of power
接 failure;
RTK board card is 2.若仍存在该问题，请联系就近经销商
disconnected 2. If this problem still exists, please contact the nearest
agent
RTK 双天线基线 1.请重启飞行器；
异常 1. Please restart the aircraft;
Exception of RTK 2.若仍存在该问题，请联系就近经销商
dual antenna 2. If this problem still exists, please contact the nearest
baseline agent
图传模块
图传信号丢失
Image
Image transmission
transmission
signal loss
module
遥控器 图传模块 遥控器天线端信噪 1.请在“HD”设置界面查看信号干扰情况，可在“遥
Remote Image 比过低 控器”设置修改“遥控器编号”来调整信道，再重新
controller transmission The signal-to-noise 对频；
模块 告警源 错误描述 错误解决方法
Module Alarm Source Error Description Error Resolution
module ratio of remote 1. Please check the signal interference in the "HD"
control antenna is setting interface, and modify the "remote control
too low number" in the "remote control" setting to adjust the
channel, and then re-check the frequency;
2.请确认周围环境是否有信号塔、WIFI 热点等干
扰源；
2. Please confirm whether there are interference
sources such as signal towers and WIFI hotspots in the
surrounding environment;
3 请确认遥控器和飞行器之间没有遮挡物；
3 Please ensure that there is no obstruction between the
remote control and the aircraft;
4.请检查遥控器天线连接是否正常；
4. Please check whether the antenna connection of the
remote control is normal;
5.若仍存在该问题，请联系就近经销商
5. If this problem still exists, please contact the nearest
agent
1.请在“HD”设置界面查看信道干扰情况，可在“遥
控器”设置修改“遥控器编号”来调整信道，再重新
对频；
1. Please check the signal channel interference in the
"HD" setting interface, and modify the "remote control
number" in the "remote control" setting to adjust the
channel, and then re-check the frequency;
2.请确认周围环境是否有信号塔、WIFI 热点等干
遥控器无法获取飞 扰源；
行器的信号 2. Please confirm whether there are interference
The remote control sources such as signal towers and WIFI hotspots in the
图传模块 cannot get the signal surrounding environment;
遥控器
Image of the aircraft 3.请确认遥控器和飞行器之间没有遮挡物；
Remote
transmission 3. Please ensure that there is no obstruction between
controller
module the remote control and the aircraft;
4.请检查 SDR 天线、遥控器天线连接是否正常；
4. Please check whether the connection of SDR
antenna and remote control antenna is normal;
5.若仍存在该问题，请联系就近经销商
5. If this problem still exists, please contact the nearest
agent
遥控器无法获取杆 1.请校准遥控器摇杆；
量信号 1. Please calibrate the remote control rocker;
The remote control 2.若仍存在该问题，请联系就近经销商
can't get the lever 2. If this problem still exists, please contact the nearest
quantity signal agent
1.水泵未连接，请重启飞行器；
1. Water pump is not connected, please restart the
aircraft;
水泵电调 2.请在关机情况下拧出水泵连接线，装在其他水
喷洒系统 水泵未连接
Electronic 泵上进行交叉测试，确认是否水泵损坏；
Spraying Water pump is not
speed control 2. Please screw out the connecting wire of the water
system connected
of water pump pump under the condition of shutdown and install it on
other water pumps for cross test to confirm whether
the water pump is damaged;
3.请检查水泵至分线摸块的连接线楚否有松、动、
模块 告警源 错误描述 错误解决方法
Module Alarm Source Error Description Error Resolution
破损；
3. Please check whether the connecting wire between
the water pump and the branching touch block is loose,
moving and damaged;
4.请在关机状态下认水泵-分线模块-喷洒模块连
接正常；
4. Please confirm that the connection of water
pump-branching module-spraying module is normal in
the shutdown state;
5.若仍存在该问题，请联系就近经销商
5. If this problem still exists, please contact the nearest
agent
1.水泵电调自检失败，请重启飞行器；
1. The self-test of water pump electronic speed control
failed, please restart the aircraft;
2.请在关机情况下拧出水泵连接线，装在其他水
泵上进行交叉测试，确认是否水泵损坏；
2. Please screw out the connecting wire of the water
pump under the condition of shutdown and install it on
other water pumps for cross test to confirm whether
the water pump is damaged;
水泵电调自检失败 3.请检查水泵与分线模块的连接线是否有松动、
Failure of self-test of
破损；
water pump
electronic speed 3. Please check whether the connecting wire between
control the water pump and the branch module is loose and
damaged;
4.清在关机状态下认水泵-分线模块-喷洒模块连
接正常；
4. Please confirm that the connection of water
pump-branching module-spraying module is normal in
the shutdown state;
5.若仍存在该问题，请联系就近经销商
5. If this problem still exists, please contact the nearest
agent
1.请确认环境温度和播撒机工作正常；
1. Please ensure that the ambient temperature and the
spreader work normally;
2.请重启飞行器；
控制板温度异常
播撒系统 2. Please restart the aircraft;
播撒机 Abnormal
Spreading 3.请断电 5 分祌后重启飞行器；
Spreader temperature of
system 3. Please restart the aircraft after 5min. of power
control panel
failure;
4.若仍存在该问题，请联系就近经销商
4. If this problem still exists, please contact the nearest
agent
1.请确认物料检测电机是否阻塞、卡顿、物料中
是否有异物；
物料检测电机电流 1. Please confirm whether the material detection motor
播撒系统 过高 is blocked and stuck, and whether there is any foreign
播撒机
Spreading The current of matter in the material;
Spreader
system material detection 2.请减小工作仓门开口大小、降低飞行速度；
motor is too high 2. Please reduce the opening size of the working cabin
door to reduce the flight speed;
3.请断电清理仓门后重启飞行器；
模块 告警源 错误描述 错误解决方法
Module Alarm Source Error Description Error Resolution
3. Please cut off the power and clean the warehouse
door before restarting the aircraft;
4.若仍存在该问题，请联系就近经销商
4. If this problem still exists, please contact the nearest
agent
1.请在关机状态下检查甩盘是否有阻塞、卡顿；
1. Please check whether there is blockage or jamming
of projecting disc in the shutdown state;
2.请在关机状态下确认物料中是否有异物；
甩盘电机无法启动
2. Please confirm whether there is any foreign matter
The projecting disc in the materials in the shutdown state;
motor cannot be
3.请重启飞行器；
started
3. Please restart the aircraft;
4.若仍存在该问题，请联系就近经销商
4. If this problem still exists, please contact the nearest
agent
1.请确认环境温度正常；
1. Please ensure that the ambient temperature is
normal;
2.请在关机状态下确认雷达-分线模块-航电模块
雷达电调温度过低
连接正常；
Temperature of radar
electronic speed 4. Please confirm that the connection of
control is too low radar-branching module-avionics module is normal in
the shutdown state;
3.若仍存在该问题，请联系就近经销商
3. If this problem still exists, please contact the nearest
雷达 雷达 agent
Radar Radar 1.请确认环境温度正常；
1. Please ensure that the ambient temperature is
normal;
2 请在关机状态下确认雷达-分线模块航电模块连
雷达电调温度过高
接正常；
Temperature of radar
electronic speed 2. Please confirm that the connection of
control is too high radar-branching module-avionics module is normal in
the shutdown state;
3.若仍存在该问题，请联系就近经销商
3. If this problem still exists, please contact the nearest
agent

规格参数

Specification Parameters

型号名称 HD540Pro 农业无人机

Model and Name HD540Pro Agricultural UAV
结构布局 六轴布局
Structural layout Six-axis layout
最大轴距 2100mm（六轴）
 Maximum wheelbase 2100mm (six axes)
长x宽x高
LxWxH
外形尺寸 2145mm×2045mm×865mm（机臂展开，桨叶折叠）
Overall dimensions 2145mm×2045mm×865mm (Arm unfolded, blades folded)
1138mm×682 mm×865mm（机臂折叠）
1138mm×682 mm×865mm (Arm folded)
药箱容量
40L
Pesticide container capacity
种箱容量
60L
Seed container capacity
药箱安装方式 插拔式
Container installation mode Plug-in
空机质量（含电池）
47.5KG
No-load mass (including battery)
动力电池
30000mAh
Power battery
电池重量
13.3KG
Battery weight
电池安装方式 快速插拔电池
Batter installation mode Quick plugging and unplugging battery
喷头类型 离心喷头
Type of spraying nozzle Centrifugal nozzle
整机额定工作压力
0.3-0.4Mpa
Rated operating pressure of machine
主旋翼个数
6
Number of main rotors
喷头数量
2/4
Number of spraying nozzle
液泵型式 隔膜泵
Type of liquid pump Diaphragm pump
液泵流量
13L/min
Flow of liquid pump
最优 10 米（作业高度 3.5 米±0.5 米 飞行速度 3m/s），
作业喷幅 最大 12 米
Operation spraying width Optimal 10m (operating height 3.5m±0.5m flight speed:
3m/s), maximum 12m
220V 单相输入：
220V Single-phase input:
充电器输出功率 8000W（发电机直连）
Output power of charger 8000W (Direct connection with generator)
2200W（市电直连）
2200W (Direct connection with mains)
电池充电时间 锂电池 20％-95％约 13min
Battery charging time Lithium battery 20%-95% about 13min
双输出通道
Dual output channel
发电机 1.交流输出 220V/8000W
Generator 1. AC output 220V/8000W
2.交流输出 220V/2200W
2. AC output 220V/2200W
油箱容积
38L
Oil tank capacity
参考油耗
500ml/kWh
Reference fuel consumption
 FPV 摄像头 前置、后置
FPV camera Front camera, rear camera
飞行参数
Flight parameters
RTK：水平±10cm，垂直±10cm
悬停精度 RTK: Horizontal ±10cm, vertical ±10cm
Hovering accuracy 雷达：±0.1m
Radar: ± 0.1m
喷洒满载悬停
7.5min
Spraying full-load hovering
播撒满载悬停
6.2min
Spreading full-load hovering
空载悬停时间
18min
No-load hovering time
仿地雷达测距精度
Ranging accuracy of ground simulating 0.1m
radar
定高范围
1-30m
Fixed height range
避障感知范围
1-30m
Obstacle avoidance perception range
避障雷达最大俯仰角
Maximum pitch angle of obstacle 15°
avoidance radar
电机额定功率 2000w*6 个
Motor rated power 2000w*6pcs
遥控信号距离 ≤1500 米
Remote control signal distance ≤1500m
飞行高度限制 ≤30 米
Flight height limit ≤30m
飞行速度限制 ≤10 米/秒
Flight speed limit ≤10m/s