Drone control hardware
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Flight controller
Version 1.2 schematic and PCB-layout. Sonar height is connected to RX4 same pin as A12 (marked as A12 on board) and 5V. Angle IMU for motor angles are GY91 boards connected to I2C-2, using pin 3 (SCL) and 4 (SDA) marked on board as ESC 1 (SCL) and ESC2 (SDA), both on 3.3V from pins marked A13 and 3.3V. Current measurements are not used (one is shorted). ESC 1 and 2 are moved to ESC 7 and 8.
Prop Shield
From: https://www.pjrc.com/store/prop_shield.html
Signal Pin # Used By: Description
SDA 18 sensors I2C Data for motion sensors
SCL 19 sensors I2C Clock for motion sensors
IRQ 2 sensors Interrupt from motion sensors
MOSI 11 memory,led SPI Data
MISO 12 memory SPI Data
SCK 13 memory,led SPI Clock
MEM_CS 6 memory Low to access memory
LED_EN 7 led High to send LED data
LED_DAT - led 5v buffered LED Data output
LED_CLK - led 5v buffered LED Clock output
AMP_EN 5 amp High to enable amplifier
AudioIN DAC amp Audio signal
AudioGND AGND amp Audio ground
Speaker+ - amp Connect a 4Ω or 8Ω speaker
Twisted pair wire is recommended
Speaker - - amp
5Vpower VIN amp,led
3Vpower 3.3V sensors,memory
GND GND (all)
Schematic
Sensor board
Servo power board
Interface and power board for servos. PWM comes from pins marked PWM from the Teensy, corresponding servo gets power and PWM from pins marked Servo. PWM 1..4 are powered by one 6V buck converter (PWM1 is used for the right servo). The other 6V buck converter is available on the 2x3 pins bottom right on PCM figure marked 5V1 and 5V2 (used for right servo). The patch is needed to supply power to the servo (one for each of the four PWM sets. PWM pin is to the right on the PCB figures.
Power distribute
Power distribution from 2 batteries in parallel using XT60, all output sockets are XT30. Both current-sense PCBs are not used, one is broken and is just shorted.
