1.) The connectors on the top side:
The simplest way to keep the overview is to place the electronic board as shown in the picture in front of you. The small arrow "top right" should point into flight direction. If the board is placed as shown, the ESCs are enumerated counter clock wise with "1 to 4".
a) The motor connection solder pads
A "standard quadrocopter" is assigned as follows:
ESC1 = FRONT = I2C-Address: 1
ESC2 = LEFT = I2C-Address: 4
ESC3 = BACK = I2C-Address: 2
ESC4 = RIGHT = I2C-Address: 3
The I2C adresses can be selected with a programming adapter easily. At "Firmware and Programming" you can find a detailed description.
b) The red micromatch connector
By thi 8-pin connector all signals for power supplay and communication can be accessed easily.
- PIN1: I2C_SCL
- PIN2: I2C_SDA
- PIN3: 7V5 / (8V0 new) or VBAT
- PIN4: PPM ESC CH1
- PIN5: PPM ESC CH2
- PIN6: PPM ESC CH3
- PIN7: PPM ESC CH4
- PIN8: GND
The Herkules ESC generates by a switched power supply a loss-free regulated pre-regulated voltage ov 8.0V. This can by used to supply the flight control or other stuff. If used, all signals are available in the 8-pin ribbon cable. Only PIN1, PIN2, PIN3 and PIN8 have to be connected to the flight control. The advantage of this i that the FlightControl gets full 6S (26V) support from the Herkules which takes care about the power supply. So all switching regulators on the flight Control are obsolete!
c) The white Molex Connector (only Herkules II v3)
This connector is compatible to the Molex connector on the Mikrokopter FlightControl ME 2.1. With this the FlightControl can be supplied either by VBAT+ odr by +8V0.
The benefit on the +8V0 is that the FlightControl gets without any modification the 6S LiPo (26V) capability of the Herkules II. The soldering of the jumpers for this is described below.
- PIN1: GND
- PIN2: not used (Piepser)
- PIN3: I2C_SDA
- PIN4: I2C_SCL
- PIN5: 7V5/8V0 new or VBAT
=> Link to Mikrokopter FlightControl ME 2.1
2.) The connection to the FlightControl
The FlightControl can be connected in different ways.
Variante A) FlightControl directly at battery, I2C by ribbon cable
The flight Control is connected directly to VBAT+ and VBAT-. The battery is connected to the Herkules VBAT+ and VBAT- and connected to the FlightControl + and -.
Additionally, only I2C_SCL and I2C_SDA from the ribbon cable is needed to connect to the FlightControl.
Important Note! : The GND from the ribbon cable must NOT be connected to the FlightControl because then the FlightControl is supplied by a GND loop!
Benefit:
- Current consumption not limited by ribbon cable cross-section!
- FlightControl can directly do voltage measurement and has not to read the battery voltage from the Herkules II controllersen
Drawback:
- Two additional cables have to be connected between Herkules II and FlightControl
- FlightControl has to have full 6S (26V) support if 6S have to be driven!
Variante B) Switching regulator supplies FlightControl
The benefit of this variant is that no additional cables (VBAT+ and VBAT-) have to be connected to the FlightControl. The FlightControl gets already an regulated loss-free pre-voltage of 8V0 generated by a switchin regulator on the Herkules II. This eliminates the need of any switching regulators on the FlightControl. As Herkules II supports full 6S (26V) the complete Systeme gets also 6S capability. The battery voltage measurement has to be done by the Herkules and be read out by the FlightControl.
Important Note! : The GND from the ribbon cable between the two Herkules must NOT be connected because of the the high motor currents would drive throught the ribbon cable!
Benefit:
- no additional wireing between Herkules II and FlighControl beside of 8-pin ribbon cable
- no soldering mandatory. All connections by connectors.
- full power supply range cabability of 26V (6S) for the overall system due to switched power supply on Herkules II. (FlightControl gets max. 7V5!)
- low powerloss by generation of 8V0 pre-regulator on Herkules II therefore no switched voltage regulators on FlightControl necessary
Drawback:
- Battery voltage measurement has to be done by Herkules II and FlighControl reads voltage by I2C
Variante C) VBAT and GND by 8-pin ribbon cable.
This Variant supplies the FlightControl with battery voltage directly by the 8-pin ribbon cable. The advantage of this is that no additional wires between Herkules and FlightControl have to be soldered. Disadvantage is that the FlightControl has to have the full sustain voltage and might dissipate higher power loss. Therefore a separate switched regulator for the FlightControl is neccessary.
Benefit:
- no additional cables between Herkules II and FlightControl. Only 8-pin ribbon cable neccessary
- no soldering at all on the Herkules II board needed
- battery voltage measurement can be done by FlightControl
Drawback:
- FlightControl has to have full voltage sustainability in case of 6S (26V)
Variante D) All Signals and Supply via MOLEX cable.
This Variant connectes the Battery Voltage or the 8V0 and the I2C signals via the black MOLEX Connection Cable to the FlightControl. This has the benefit that no additional wires are needed between Herkules and FlightControl.
Via a 0Ohm Resistor jumper on the Herkules you can chose between 8V0 and VBAT+ on PIN5 of the MOLEX connector.
Benefit:
- no additional Cable between Herkules II and FlightControl beside of the MOLEX cable
- No Soldering at Herkules needet.
- Voltage Measurement by FlightControl possible if VBAT+ connected on MOLEX.
Drawback:
- FlightControl has to have full 6S (26V) support if 6S have to be driven if BAT+ auf MOLEX!
3.) Replace Jumper on PCB:
a) The RED Micromatch connector
To bring VBAT+ to PIN4 (X1-4) of the Micrmatch-Connector instead of PPM1 the resistor R17 (100 Ohm) has to be removed and resistor R15 (0 Ohm) has to be assembled.
The PCB (Herkules II v2)
The Schematic
b) The white Molex Connector (Herkules II v3 only)
To bring on PIN5 (X2-5) of the Molex connector the regulated +8V0 instead of the +VBAT, The Resistor R23 (0Ohm) has to be removed and Resistor R24 (0Ohm) has to be assembled.
The PCB
The Schematic
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