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HERKULES III - proFly aerial solutions

1. eeeseesesse 38 Figure 23 Mapping Table Octocopter Coaxial X with DJI Wookong ooccococcccocnccccnconcnconcncnononnnoss 39 Figure 24 Mixer Table Coaxial X8 with DJI Wookong ccooocccoccccocccoccnccncncnoconnnnonnnnnnnnnconnnnnnnonnnnnononos 39 Figure 25 Mapping Table Hexacopter Flat DJI Wookong Variant 1 40 Figure 26 Mapping Table Hexacopter Flat DJI Wookong Variant 2 esses 40 Figure 27 Mapping Table Hexacopter Flat X DJI Wookong Variant 1 oooccccccnconcnccncccocnnnnnnss 41 Figure 28 Mapping Table Hexacopter Flat X DJI Wookong Variant 2 usse 41 Figure 29 Mikrokopter with Molex connector occcoccccccnccccnccccncoccncncnnoncnonncncnnnnnnnnonnnnnnnnnconnnonaninnnnnnnnns 42 Figure 30 Typical Setup with Mikrokopter Flight Control ooccococncoccncoccncccnccocnconcnconnnnnanonnnnnnnnnos 42 Figure 31 Example Connection Scheme HERKULES lll with Mikrokopter FC2 1 ME 43 Figure 32 Mapping Table Quadcopter with Mikrokopter ooccooccccccncoccncoccncoccccncncnncncnncnnnnnononnnnnonos 44 Figure 33 Mapping Table Octocopter Flat Mikrokopter Variant 1 ses ennnnnenennnnzenzznni 45 Figure 34 Mapping Table Octocopter Flat Mikrokopter Variant 2 c oooccccocnccccnccncnconnnnnonnnnnnos 45 Figur
2. Herkules Quad ESC TOP Herkules Quad ESC BOT flipped B BLDCHK B Let Mo D BLDCHK D Rigt mos www andreasbaier de Page 38 of 88 08 06 2014 HERKULES III Application Examples Version 0 30 6 1 7 Octocopter Coaxial X with DJI Wookong This Coaxial Octo setup is a customized version using the custom mixer table The benefit of this configuration is that 2 separate quadcopters are working in 2 separate levels In case one complete Herkules Ill Quad ESC would fail the copter would still be controllable as long as the total power is sufficient to lift the complete vehicle at least a controllable descent should be possible Additionally the Coaxial Octo setup flies with improved stability and the yaw behavior accurate Figure 23 Mapping Table Octocopter Coaxial X with DJI Wookong D BLDCHK D FrotR MO h Figure 24 Mixer Table Coaxial X8 with DJI Wookong Motor Throttle Yaw Pitch Roll 100 100 100 fios 100 00 100 100 hoos 100 4005 100 100 100 100 0s 100 100 100 fios Customize AMI Note In order to improve efficiency of the Coaxial Setup it is possible to reduce the motor setpoint values of the TOP motors by 5 10 This increases the overall efficiency and improves flight time The exact value depends on the used motors propellers and averag
3. Co CamegeRetun O 6 lineFeed o O N NINININININ O1 amp Oo NM 0 There are lots of shortcuts and useful features for analyzing your data Here are the most important ones e Zooming IN click and hold left mouse key and draw a window from top left to bot right across your ZOOM area e Zooming OUT click and hold left mouse key and draw a window from bot right to top left and zoom back to 100 e Zooming only the X Axes Click and hold CTRL key while pressing the left mouse key and zoom in from left to right and zoom out from right to left e Zooming only the Y Axes Click SHIF T kev while pressing the left mouse key and zoom in from left to right and zoom out from right to left e Panning along the X Axes While in Zoom Mode click CTRL KEY and press middle mouse key or mouse wheel to Pan left and Right along the X Axes without scaling the Y Axes e Set the scale of single ESC y axes manually like motor currents to the same value to be able to compare the values exactly Exporting to Excel All measured date could be exported e g to Excel or any other CSV formats Click on File gt Export and select the file you want and which format you want to export to www andreasbaier de Page 81 of 88 08 06 2014 HERKULES III Control Protocol and Communication Interface Version 0 30 9 Control Protocol and Communication Interface 9 1 Overview HERKULES lll can be contr
4. Graupner Text Mode Single Cell of BAT1 and BAT2 in one Screen voltage 08 06 2014 Page 58 of 88 www andreasbaler de HERKULES III Telemetrv Feedback Data Version 0 30 Accessing the Text Mode Displav Due to the cumbersome HoTT Software implementation accessing of the Text Displav is a bit tricky Ep E BE Lem in Step 1 From the main menu press for at least 3 seconds the ESC key Step 2 Select your target sensors Since the implementation of AUTOSCAN this feature is not usable any more And escape with ESC this menu again Step 3 Then move back to DATAVIEW menu Step 4 Press on the Left Cursor the UP KEY and select GENERAL Step 5 Press the Left Cursor a few times to reach RIGHT KEY until you see the HERKULES Ill Textmode Display www andreasbaier de Page 59 of 88 08 06 2014 HERKULES III Telemetry Feedback Data Version 0 30 7 2 JETI Duplex Telemetry The HERKULES III Telemetry Interface supports the old Jeti Text mode and the Jeti Binary Mode Most of the telemetry information is available in both modes Please refer to the JETI user manual on setup the sensors in your system The general setup and software update procedure is described in Chapter 5 7 Update Procedure TELEMETRY Interface on page 32 The available Data is described below 7 2 1 Setup Sequence In order to install the target Telemetry System on the Datalogger the correct files have t
5. 355 means 3 55V gt 345 means 3 45V Byte 3 335 not relevant for Futaba Telemetry Byte 4 418 7 not relevant for Futaba Telemetry Byte 5 not relevant for Futaba Telemetry Byte 6 12 Offset correction value of total current This value is added to the total battery current and can be used to estimate the not measured loads like LEDs Flight Control Gimbal in case of supplied via main battery gt 12 means 1 2A Byte 7 0 Gain correction value of total current Total battery current is multiplied by this value Ibat 1 Gain x Ibat power and can be used to estimate the not measured loads like LEDs Flight Control Gimbal in case of supplied via main battery gt 4 means 4 Byte 8 31 not relevant for Futaba Telemetry Byte 9 1 not relevant for Futaba Telemetry www andreasbaier de Page 71 of 88 08 06 2014 HERKULES III Telemetry Feedback Data Version 0 30 7 3 6 Infos on Futaba Telemetry Alarms Lowest Cell Voltage LCV LCV alarm can be generated either by HERKULES III Telemetry or Futaba Transmitter a Alarm by HERKULES III Telemetry Set the LCV Alarm value in the file hticonf txt on the Micro SD Card to an alarm value e g 355 will send LCV alarm when the lowest cell voltage falls below 3 55V In case of cell under voltage HERKULES III Telemetry adds 10 0V to the displayed voltage In this case please set the alarm in the transmitter gt 5 0V b Alarm by Futaba Transmitter If you want t
6. ao w amp ao WR ao wa ao mo Fe weis salrel s se we w ssjre uo wx nel we 33 81 82 83 lalala lalala lalala lalala alalal al One frame should contain all setpoints for the motors M1 16 but only one read parameter for one motor the diagnosis The address of the read parameter is increased after each communication frame and lowers therefore the update rate of the I C communication interface www andreasbaier de Page 83 of 88 08 06 2014 HERKULES III Control Protocol and Communication Interface Version 0 30 9 4 I2C Mode Setpoint Write and Data Read via 12C The motor setpoints and the read back data is transferred via I2C BUS The protocol is compatible with the standard Mikrokopter Flight Control protocol For more details please see www mikrokopter de Main Features of the I2C protocol e setpoint write resolution 8 bit up to 12 bit reserved but not implemented yet e telemetry read of motor current motor status ESC temperature and battery voltage 9 4 1 Setpoint Write via I2C in I2C Mode In order to write the motor setpoint to the ESCs the following sequence has to be sent Figure 49 I2C Send Sequence BYTE 0 Address 7 6 5 4 3 2 1 0 AGJAS A4 A3 A2 A1 AO 0 EAEXESESEISEA3ERRI Base RBB PCAdd Jw I2C Address M1 16 M1 0x52 read M16 0x70 read gt Specification Limits of 12C Protocoll WRITE all parameters are valid for 25 C ambient tempe
7. M08 D h BLDCHK H Right 6 1 4 Octocopter Flat with DJI Wookong Variant 2 Figure 20 Mapping Table Octocopter Flat DJI Wookong Variant 2 X Si e os Le RIGHT BACK Herkules Quad ESC TOP Herkules Quad ESC BOT flipped BLDCHK _A BLDCHK E Back Right MOS BLDCHK B Back Left BLDCHK F u BLDCHK G Front Left 21 07 B D BLDCHK D Front Right M08 BLDCHK _ www andreasbaier de Page 37 of 88 08 06 2014 HERKULES III Application Examples Version 0 30 6 1 5 Octocopter Flat X with DJI Wookong Variant 1 This example shows the address assignment for a Flat X Octocopter configuration with DJI Wookong The motors are distributed in such a way that if in case of a complete failure quad ESC top or bot the multicopter is still controllable and can land in a controlled way It is important that always two left turning and two right turning motors are linked to one HERKULES III quad ESC Figure 21 Mapping Table Octocopter Flat X DJI Wookong Variant 1 Herkules Quad ESC TOP Herkules Quad ESC BOT flipped B BLDCHK B Bak M0 C BLDCHK C Bak M0 D BLDCHK D Front Mol 6 1 6 Octocopter Flat X with DJI Wookong Variant 2 Figure 22 Mapping Table Octocopter Flat X DJI Wookong Variant 2 FRONT FRONT Ky f e O A JA o M Herkules RIGHT LEFT RIGHT e e BACK BACK
8. 29 GPS VARIO EAM ESC GPS VARIO EAM and ESC enabled 30 GPS VARIO EAM GAM GPS VARIO EAM and GAM enabled 0 1 2 3 5 6 7 8 9 e CA GAM GAM NEN pal GAM GAM Lx MUN GAM GAM ESC VARIO GAMandESCenabled uM MEE d GAM GAM P T EA GAM GAM A ka GAM Byte 9 1 not relevant for Graupner Telemetry 4 Put the SD card back into the HERKULES lll Datalogger Power on the HERKULES III and the firmware upgrade starts automatically During the update process the RED LED on the Datalogger blinks for about 15sec In case the already installed firmware is the same on the SD Card no update is done and the Datalogger starts working immediately www andreasbaier de Page 54 of 88 08 06 2014 HERKULES III Telemetry Feedback Data Version 0 30 7 1 2 Graupner HoTT Binary Displays Figure 43 Electrical Air Module EAM Main Menu GAM Battery Voltage V Runtime m sec Capacity mAh Altitude m Current A Battery Voltage V Current A Capacity mAh Battery Voltage V Highest Temperature C www andreasbaier de Page 55 of 88 08 06 2014 HERKULES III Telemetrv Feedback Data Version 0 30 Figure 44 General Air Module GAM Main Menu GAM Battery Voltage V Current A Capacity mAh Highest Temperatur C Battery Voltage V Current A Highest Temperature C Altitude m Steigrate m sec www
9. Dateiname BLDCHK2v2 120 AFWO DEG24 MOT acy Dateityp Encrypted Programming File acy Abbrechen Iw Schreibgesch tzt ffnen i www andreasbaier de Page 29 of 88 Browse to the subfolders and find the intended acy file with the whished setting The file ending with 01 to 16 are the dedicated I2C addresses which have to be arranged to each ESC 08 06 2014 HERKULES I Software Update and Programming Step 6 and 7 Programming inl x AVRootlvader working Programming F atocol Device Information J Content SRAM Content DVR to 7 Communication Paramete Port COM4 Working wl Baudrate 115200 sl Sign BLDCHK24EM01 r Programmingfiles FLASH D ATemp llerkules v2 Herkules Il ProgTool vlyacyy2C APWO DEG24BLDCHK2v2 120 AFYT v El El EEPROM mi El Options v Erasfidevice during programming v Open protocolwindow after processing Ver device after programming M Solare versioning y ran 2 2 mE 0 Verifymask on updates METT Amare EI make Password Compile Step 8 Check the programming AVRootlesder Program vice Information EEPROM Content SRAM Content 2 gt Connecting on port COM4 908 gt Device connected 308 gt Program 3098 gt execute compiled data 908 gt 2 2 2 0 308 gt selected options in compiled file 2318 gt programming FLASH 3 gt FLASH dat
10. HERKULES Ill User Manual Version 0 30 08 06 2014 HERKULES Ill Introduction Version 0 30 www andreasbaier de Page 2 of 88 08 06 2014 HERKULES III Introduction Version 0 30 1 Introduction Thank you for purchasing the HERKULES III Multicopter ESC HERKULES lll is the result of many years of development and continuous optimization for professional users who cannot compromise performance safety or reliability HERKULES lll is a 3 phase high performance controller for Sensorless Brushless DC Motors The Controller integrates up to four identical high performance Electronic Speed controllers ESCs on one PCB module The modules can be stacked and mounted together in different variants This documentation describes the functions of the HERKULES III ESC and the and interfaces between the HERKULES III ESC and flight control units It also defines operation of the an optional telemetry interface capabilites The latest version of Software and Documentation can be downloaded at www andreasbaier de Please check here for latest updates and Illimprovements Note For easier navigation in this document you can use the Table of Contents feature of your Adobe Acrobat Reader Click on the sign as shown in the right picture and navigate with the TOC to the chapters you are interested in LP 1 Introduction LP 2 Connectors and Pinouts www andreasbaier de Page 3 of 88 08 06 2014 HERKULES III Introduction Version 0
11. Table 11 12C WRITE Address Range Table 12 I2C READ Address Range Addr Addr Address Range hex incl hex incl ESC hex A6 A5 A4 A3 A2 A1 AO R RW BIT AR RW BIT Mi 41 029 0 1 0 1 0 0 1 mon go DD E EN o MN A o o Lo EEEN o EN EN Lo w Lo EN NN EN a 0 amp e 5 o x ololo XIX IXIL NS ININIR O wW gt 0 ENENEN 0 h Olm NS OJA RIO N WIWIN IN SJOJTIJM 4 o KR FOR ERROR o oo ojo A Po o A o NN EN 8 E M16 lt lt lt lt Xi a RKJo N olololo X X X X w w OEN oo JE EN o EN NENNEN o EN o oo al al alalalalalal slale salale aja a oljblojkolsjoj oja Ninja RISIN 6 0x38 9 3 12C Communication Sequence and Timing Each I2C Communication causes a certain interrupt latency in the motor controllers And excessively high communication rate could disturb the motor commutation calculation and therefore the communication time should be limited a reasonable update rate Be aware that an excessively high I2C communication rate could influence the motor timing and commutation stability The telemetry readout frequency should be set to a maximum of 10Hz in order to minimize the influence of communication load on the processor A good practice is to split the communication into frames like this Figure 48 12C communication Frame wea mm ms I m Tao wa ao we
12. e I2C Inter Integrated Circuit or IIC Bus This is a standard in consumer electronics originally invented by PHILIPS Benefit is the less wiring effort and the control of up to 128 Devices on one single bus Serial Control of all ESCs via two common BUS wires SDA Data and SCL Clock and also the transmission of Telemetry data from the ESCs is possible Two variants of this protocols can be found in the programming files a I2C setpoint control without Telemetry feedback b I2CT setpoint control with Telemetry feedback via I2C bus Specification details on I2C Mode see in chapter I2C Mode Setpoint Write and Data Read via I2C on page 84 5 3 2 Active Freewheeling AFW This is a method to dramatically reduce the power loss of the power MOSFETs Another positive is that the ESC can decelerate the motor actively by directing current back to the battery regenerative braking With AFW ON the motor reaction time to setpoint changes is reduced and the multicopter flight control loop gets faster and more stable By default AFW is enabled AFW1 The user can disable AFW by using the AFWO files but this is NOT recommended The ESCs will run hotter and the risk that the ESCs will switch off due to over temperature increases 5 3 3 PWM switching frequency kHz The average current in the motor phases is set by switching the voltage at the motor phases on and off with a certain ratio ON to OFF The higher the ON Time and the lower the OFF
13. 8 RUN Motor is running STP Motor stopped OC Motor stopped due to overcurrent OT Motor stopped due to overtemp Screen 5 8 Single ESC Values Displays the single ESC values like ESC current and temperature www andreasbaier de Page 64 of 88 08 06 2014 HERKULES III Telemetry Feedback Data Version 0 30 7 2 3 JETI Binary Mode JETI EX The HERKULES III Telemetry System emulates different JETI EX sensors which can be arranged by the user individually in the JETI RC Transmitter or the JETI Box Profi Available Telemetry Values e Battery Voltage VBAT in V e Total Battery Current IBAT in A e Hottest Temperature in C e Hottest ESC No e Used Charge in mAh e Altitude in meter e Motor Status Run Stop Fail TO OC OT www andreasbaier de Page 65 of 88 08 06 2014 HERKULES III Telemetry Feedback Data Version 0 30 7 3 Futaba S BUS The HERKULES III Telemetry System emulates different Futaba Robbe SBUS sensors HERKULES III telemetry emulates 8 Futaba Sensors 2x F1678 5x F1713 1x F1712 and re uses 13 of 31 time slots 7 3 1 Emulated Futaba Sensors Table 7 The following Futaba sensors are emulated by HERKULES III Emulated Futaba Sensor Nie FE ER Current Sensor 2 EOS V ctual battery Voltage Capacity Capacity mAh Actual Battery Capacity F1678 Robbe LCV 1 8 Current Sensor Actual Motor Runtime Capacity MotorTime min sec g 1 643mAh 16min 43sec Lowest Lipo Cell Volt
14. E Voriage Al E y Runtime nMotors MotPresentMask MotFailureMask Y v BAT Line color Axis scaling Axis position left right and many more SEE EEE 5555565858 For detailed explanation please refer to the manual and help files of LogView Kurve Aktiv Kurvenfarbe Auto Bereichswahl Achse Offset Pixel Auto Maximum I Bai Achse Werteformat Auto Minimum F Bal F Ste O Ste Achse Invertiert Minimum auf O Achsposition rechts Maximum auf 0 Lor Achse Logarithmisch Lo Endwerte Assistent 1 www andreasbaier de Page 78 of 88 08 06 2014 HERKULES III Analvzing Telemetrv Data with Logview Version 0 30 8 4 Available Channels Currently there are 6 Channels with different data sets available e Channel 1 Summary Data Most important measurements in one overview e Channel 2 Motor Status e Channel 3 Single Motor Currents e Channel 4 Single ESC Temperatures e Channel 5 Single Cell Voltages of Battery 1 and 2 not implemented yet e Channel 6 Single Cell Voltages of Battery 3 and 4 not implemented yet Z LogView V2 7 5 5 LogView V2 7 5 LogView V3 7 5 LogView V2 7 5 LogView V2 7 5 Datei Bearbeiten Ger t Datei Bearbeiten Gerat C Bearbeiten Geri Date Bearbeiten Ger t TITE pene osume poppe nanna re un Kanaa v
15. Herkules Telemetry Status LED orange Datalogger Status LEDs PPM Connector not used Lm INS SI Signal JA SS VAUX 8V Micro SD 5V not used IN Ne Card AM IN NNN Ground Reader PPM Vi Input 1 8 fa T FIF Spektrum if Interface Telemetry ae gt a Connector Ext ur fs OS Sensors arr ni uveren B Signal Telemetry X Y OW J N SSN p TI E 5V not used RC Receiver Ground Graupner JETI Micromatch to Herkules Telemetry BOT Herkules Optional Signal Status LED green PPM5 8 Outputs The Firmware update procedure and setup is described in chapter Update Procedure DATALOGGER on page 33 The details of the telemetry protocols is described in chapter Telemetry Feedback Data on page 50 www andreasbaier de Page 19 of 88 08 06 2014 HERKULES Ill Software Update and Programming Version 0 30 5 Software Update and Programming This chapter describes the programming and firmware update of the HERKULES III ESC power boards and HERKULES III Telemetry Interface The latest firmware can be downloaded at www andreasbaier de If you are asked please register click on the confirmation link you received by email and login with your account You will find the latest Firmware and User Manual in the download section 5 1 Programmable Features e Firmware update of HERKULES III Powerboard and Telemetry Interface e Setpoint Control Mode PPM e g DJI WKM or I2C e g Mikrokopte
16. Mikrokopter Variant 2 Cf el a RIGHT LEFT RIGHT W a 9 Herkules Quad ESC TOP Herkules Quad ESC BOT flipped B BLDCHK B Let Mor D BLDCHK D Right MO www andreasbaier de Page 46 of 88 08 06 2014 HERKULES I Application Examples Version 0 30 6 2 7 Octocopter Coaxial X with Mikrokopter Figure 37 Mapping Table Octocopter Coaxial 8 Mikrokopter Customized FRONT TOP LEFT RIGHT BACK BACK Herkules Quad ESC TOP Herkules Quad ESC BOT flipped BLDCHK A l Front Left BLDCHK E Back Right B BLDCHK B Back Left BLDCHK F Back Left BLDCHK C Back Right C g BLDCHK G Front Left 07 D BLDCHK D Front Right MO3 D h BLDCHK H Front Right MO7 Figure 38 Mixer Table Coaxial X8 with Mikrokopter E Setting successi si Channels Configuration Stick Looping Atitude Camera New Cut Navi Cti2 Output Misc Gyro User Coupling MixerSETUP Motor mixer GLOBAL for all settings 100 64 Name OctoX XL Gas Nick Poll faw GB Lond Motor 1 mad ME _ Save Motor 3 ET i Orientation has to be setin each Motor 4 setting Motor 5 Motor b Motor 7 Motor 8 Motor 9 Motor 10 Motor 11 Motor 12 AA AA lt Erga Erea Bes Br 9 127 BPs 9 127 Mrs 10 127 BP p11 127 Mes 2 127 Porameterser Ey PA Note In order to improve efficiency
17. V BAT Battery Voltage BAT Battery Current sum of all Motors BAT PEAK Peak Battery Current 12 BAT AVG Average Battery Current CAPA RUNTIME Capacity Maximum ESC temperature ESC No with max temperature Battery Power Energy Temperature of the pressure Sensor Baro Altitude Altitude over ground zero at power on Air Pressure Climbrate per 1sec Climbrate per 3sec Climbrate per 10sec Baro Altitude Max Altitude over ground zero at power on no checksum sent 30 flineFeed 7 pag 729 NINININININININININ a a a x OJ JM NSJGJO RAJOIN 9JO JO MISS I O TOT RIO CHANNEL 3 Motor Currents Mem 1 Symbian Desemptiom gt State Output 0 Binary 1 ASCII 6 9 IMOT MAX Maximum single Motor Current Carriege Return o meres www andreasbaler de Analyzing Telemetry Data with LogView Page 80 of 88 Version 0 30 CHANNEL 2 Motor Status ET 1 4 Symbol Description Start Start Sign Channel State Timestamp Runtime 6 7 9 Status Mot 01 JO Motor is not Used not detected 10 Status Mot 02 1 STOP 11 Status Mot 03 2 RUN 12 Status Mot 04 3 STALL 13 Status Mot 05 4 TIMEOUT 14 Status Mot 06 J5 OVERTEMP 15 Status Mot 07 6 OVERCURRENT 7 frei a Une Reed Feed EN B a id SA SSD CS oue CHANNEL 4 ESC Temperatures Item ooo 4 Symbol Description State Output O Binary 1 ASCII
18. 4 Timestamp Timestamp Systemtime 7 UN 9 Temp max Maximum ESCtemperatue 27 Checksum no checksum sent m meres 08 06 2014 HERKULES III CHANNEL 5 Single Cell Voltages AAA t EG 6 KM 9 tart Sign annel tate Output O Binary 1 ASCII 4 eene neon Systemtime Description AKKUO1 VCELLO1 ingle Cell Voltage Battery 01 AKKUO1 VCELLO2 ingle Cell Voltage Battery 01 AKKUO1 VCELLO3 Single Cell Voltage Battery 01 AKKUO1 VCELLOA Single Cell Voltage Battery 01 N 0O ingle Cell Voltage Battery 01 ingle Cell Voltage Battery 01 ingle Cell Voltage Battery 01 9 ingle Cell Voltage Battery 02 ingle Cell Voltage Battery 02 ingle Cell Voltage Battery 02 ingle Cell Voltage Battery 02 25 Cari geRetum In m CL 26 dineFet gt 7 gp git deg zx O A e NO 8 5 Zooming Tips and Tricks Analyzing Telemetry Data with LogView Version 0 30 CHANNEL 6 Single Cell Voltages Symbol Start Channel State Description tart Sign hannel tate Output 0 Binary 1 ASCII Timestamp Timestamp Systemtime ngle Cell Voltage Battery 03 ngle Cell Voltage Battery 03 ngle Cell Voltage Battery 03 ngle Cell Voltage Battery 03 ngle Cell Voltage Battery 03 AKKU03_VCELLO6 ngle Cell Voltage Battery 03 4 AKKUO3 VCELLO7 Single Cell Voltage Battery 03 9 AKKUO3 VCELLO1 AKKUO3 VCELLO2 AKKUO3 VCELLO3 AKKUO3 VCELLO4 AKKU03_VCELLO5 o
19. A static over current event will usually cause a stall blocking of the motor and this is detected by the stall detection see below www andreasbaier de Page 16 of 88 08 06 2014 HERKULES III Connectors Functions and Features Version 0 30 4 3 4 Motor Stall detection The motor control algorithm monitors the commutation times of each motor phase and in case of a detected abnormality a STALL event is detected This event is reported also to the Telemetry Interface The ESC goes to lock mode and is only re activated when the motor setpoint goes below the Motor OFF detection threshold VAL OFF I2C see Table 13 on page 84 or the Motor OFF detection time T_HI_OFF_PPM see Table 14 on page 86 A Motor stall event could occur e g when a motor is blocked or propeller is mechanically locked or the bearings of the motor are defect 4 3 5 Control Signal Timeout The Motor control signal is monitored and in case of there is no control signal any more for a timeout of more than T TO PPM see Table 14 on page 86 or T TO I2C see Table 13 on page 84 the motor is stopped This is mainly a safety feature in case of a broken PPM or I2C control wire This ensures that the motor stops safely after this timeout 4 3 6 Control Setpoint monitoring at first power on At first power on the motor control setpoint is monitored and in case it is higher than the Motor START detection threshold VAL START 12C see Table 13 on page 84 or VAL START PPM see Table 14 o
20. ES LEFT D E KG OM 6 NM e BACK Herkules Quad ESC TOP Herkules Quad ESC BOT flipped B BLDCHK B BackRig _ M04 C BEBEHK OI MAR ze BLDEHK 6 gt D BLDCHK D Front Right Mo2 6 2 11Hexacopter Flat X with Mikrokopter Variant 2 Figure 42 Mapping Table Hexacopter Flat X Mikrokopter Variant 2 Herkules Quad ESC TOP Herkules Quad ESC BOT flipped BLDCHK A Front Left BLDCHK E Back Right X M04 B BLDCHK B Backleft M05 c Block c C BlockK 6 D BLDCHK D Rigt MO www andreasbaier de Page 49 of 88 08 06 2014 HERKULES III Telemetry Feedback Data Version 0 30 7 Telemetrv Feedback Data The Herkules III Telemetry Interface Board reads the diagnosis data of all connected Herkules III ESCs calculates metric values and generates a specific Telemetry Protocol The Telemetry Interface works as a stand alone telemetry sensor which can transmit independently of the flight control all relevant telemetry data to the ground station This enables telemetry from copters controlled by all PPM Flight Controls like DJI Wookong Multi Wii or Ardupilot assuming there is a radio downlink connected to the Herkules Telemetry Interface Board To bring out the telemetry data from the HERKULES III ESCs a special firmware the PPMT or I2CT variant has to be flashed to the controllers Additionallv either the sma
21. I2C Read l nnnnnnnn nanna nenne nenne nnenne nennen 82 Figure 48 I2C communication Frame cccccccceeccseeeceneecuceceeccueeceuceceueecueesueeseusessueesesesseesaueessueess 83 Figure 49 I2ZC Send SEQUENCE vs en a alba 84 Figara 2C Read oe qUe 2 Tt 85 FIgure 3 15 PPM Control SN di ee ae ee a 86 Figure 52 Data Read in PPM Control Mode via I2C ccooocccocccccccccccnccccnconcnnnnncnnononncnconnnnnnnonononononos 87 www andreasbaier de Page 6 of 88 08 06 2014 HERKULES Ill Introduction Version 0 30 1 1 Key Features e 3 phase Sensorless brushless DC motor controller e Control Mode based on block commutation e Supply Voltage 9 26V 3 6S Lipo e 30A continuous 60A peak motor current e High efficiency low resistance powerstage total path resistance lt 3mOhm e Active freewheeling enabling active braking using energy recuperation e Setpoint command by I2C and PPM e Setpoint update rate up to 450Hz e PWM switching frequency 8kHz 16kHz e Programmable commutation timing 24 18 12 e Ultrafast setpoint reaction time e Up to 200 000 field turns per minute e Stable and wide band firmware e Overload protection overcurrent overtemp stall e Telemetry capable e g Graupner HoTT Jeti Duplex Futaba S BUS standard serial and others e Ready to fly fully assembled e Compact and light weight 8 fold ESC 100x100mm at lt 250g e 100 designed and made in Germany 1 2 HERKULES Ill Variants The HERKU
22. III Power boards and the Telemetry Interface The boot loaders are responding to the programming tool only in a time frame of 100msec after power on reset This requires a power cycle off to on at each programming sequence Programming Steps 1 Disconnect any Flight Control from the Herkules Connect 2 Connect Programming Interface to Herkules III Programmer y 3 Start Programming Tool Select Comport 4 Select Comport and Baud rate ane ek 5 Select Bootloader ID of target ESC Select Bootloader ID 6 Select Software update files y t 5 S t Fi 7 Press Program ies S 8 Do Power cycle switch On and Off REPEAT 9 Repeat Step 1 to 6 for each ESC FEE For Y All ESC Power cycle Switch off to on Repeat for all ESCs Firmware Folder Structure Download and unzip the file and you will find the following structure Table 5 Content of the Firmware Update Folder l Update files for the ESCs The firmware files for selecting AFW kHz li woes ADV and I2C Addresses are arranged in subfolders 02 Telemetry Interface Update files for the Telemetry Interface Board I 4 03 Data Logger Update files for the Datalogger Interface Board L l T LogView Setting Files with OpenFormat definition to display 04 Logvi k id HERKULES III Telemetry Data AVRootloader dev Bootloader Device File Don t change or delete this file Typ DEV Datei Altnatinader exe HERKULES Il Pr
23. Micromatch I2C SCL I2C SDA I2C VAUX PPM1 PPM2 PPM3 PPM4 GND Motor D Battery Figure 2 HERKULES III Overview Voltage Regulator LEDs Motor Status LEDs VAUX 8 VDD5 RUN amp OVERCURRENT Motor Status LEDs RUN OVERCURRENT MOLEX CONNECTOR BATTERY wire Connection PADS MOTOR wire Connection PADS MICROMATCH Connector Motor Status LEDs RUN OVERCURRENT Motor Status LEDs RUN OVERCURRENT www andreasbaier de Page 12 of 88 08 06 2014 HERKULES III Connectors Functions and Features Version 0 30 Battery Connector Use the 4 pre soldered battery wires to connect two 2 identical and equally charged LiPo battery packs in parallel max 6s LiPo each So both red are connected together on the PCB and both blue wires are connected together on the PCB Never try to re solder the battery wires from the PCB or solder any other wires on the PCB Micromatch Connector The red 8 pin connector on the HERKULES lll ESC contains the serial I2C Bus signals I2C SCL I2C SDA the parallel PPM control signals PPM1 4 and HERKULES III internal breakout voltage VAUX The pins are connected to e PIN 1 and 2 The I2C Bus is for communication and telemetry readout e PIN 3 The Internal VAUX is used as supply voltage for the Telemetry interface board e PIN 4 to 7 The PPM1 4 Control signals are assigned to each ESC A B C D of the HERKULES III quad board and e PIN 8 Ground Figure 3 HERKULES III Mi
24. Time the higher the power in the motor The frequency of this ON and OFF sequence can be changed with the value KHz The higher the frequency the smoother the motor runs in low load condition The default value is 16kHz and should only be changed if the user knows exactly what he is doing 5 3 4 Commutation Phase Advance ADV This value defines the angle of the motor timing Standard is ADV18 and should fit to most of the motors It s a good compromise between commutation stability and efficiency Some high pole motors e g gt 22 poles might require a higher value like ADV24 In case of commutation problems at high RPMs use this value Low pole Motors e g lt 14poles might have a slightly higher efficiency with ADV12 But the risk of commutation errors increases with this value Change the timing only when you are sure what you do www andreasbaier de Page 23 of 88 08 06 2014 HERKULES Ill Software Update and Programming Version 0 30 5 3 5 I2C Address The I2C Addresses are especially relevant in Mikrokopter application Each ESC has to have its unique address so that the flight control can write the set points and read the telemetry data from the ESCs In case of using PPM flight controls like DJI WKM HERKULES III uses a mixed mode of controlling the ESCs via parallel PPM signals and reading the telemetry data from the ESCs via the serial I2C bus Each ESC has to have its individual I2C address only in case of using Mikroko
25. V BAT 1 26 V K 6 cell Lipo Version Idle Current with stopped IDLE aii Motors 5 Impedance of Supply R BAT a Higher impedance may cause voltage overshoot on Battery at motor deccelleration gt RISK of l DAMAGE C BAT Lower Discharge Ratge mav cause voltage overshoot on Battery at motor decelleration gt RISK of DAMAGE Em pump ene Current 150mm Cooling plate 8 Peak Motor Current MOT PEAK XL OA Duration less than 20sec Continous Average Motor MOT AVGL 20 A L Version only Current 100mm Cooling plate Peak Motor Current MOT PEAK L 40 JA Duration less than 20sec 11 VAUX Voltage V AUX 8 2 V Valid for V BAT 9V Supply for Telemetry Interface 12 VAUX Current AUX 1 5 JA Valid for V BAT 9V Warning Overload could lead to switch off of all Motors Table 2 Range of Functionality www andreasbaier de Page 10 of 88 08 06 2014 HERKULES III Electrical Characteristics Version 0 30 3 2 Power Stage Electrical Specification all parameters are valid for 25 C ambient ES fr otherwise noted No Description Symbol typ max Unit Comment EU Lo A Pepe Resistance 2 Motor Setpoint Duty Cycle PWM AFW If PPM Control Signal gt with Active Freewheeling T HI 100 then PWM AFW 100 3 Motor Current Duty Cycle PWM noAFW 15 If PPM Control Signal gt without Active T HI 100 Freewheeling then PWM AFW 100 4 Motor Current Frequency F PWM 8 16 kHz PW
26. for standard PPM signals for easy connection to the flight control signals via standard Servo patch cables Figure 47 Control Mode B PPM Control and I2C Read Telemetry Interface Setpoint Write HERKULES ESCs RC Receiver Flight Control WKM Serial Output Serial Input Setpoint Write Setpoint Write PPM1 PPM1 PPM1 ESCs PPM2 PPM2 PPM2 PPM8 PPM8 PPM8 Serial Input Serial Output Data Read Data Read Telemetry Telemetry I2C Bus Telemetry Telemetry Data ESC Telemetry Raw Data Read HoTT Duplex Serial Translation Interface via I2C Bus ESC Telemetry Translation Interface Dependent on Control mode the Translation to a specific Telemetry Protocoll HoTT Duplex Serial is done either by the Flight Control Mikrokopter or the HERKULES III Telemetry Interface Board For details see the protocol description www andreasbaier de Page 82 of 88 08 06 2014 HERKULES III Control Protocol and Communication Interface Version 0 30 9 2 12C Address Range Each ESC on the HERKULES III board is individual and stands alone So each ESC has to be addressed separately and the diagnosis information is also separately available for each ESC Each ESC has to be programmed with a unique address There are maximum of 16 motors addressable The 8 bit address byte is built of a 7 bit I2C address and one read write RW bit Write addresses start at 0x52 RW Bit 0 and the read addresses start at 0x53 RW Bit 1
27. see Table 3 on page 11 the ESC goes to a power limitation mode The Motors are still running but the output power of the ESCs is only 50 of the actual requested power by the setpoint When the ESC temp falls again below the T OT LMT minus a hysteresis threshold the ESC output power limitation is switched off In case the temperature rises further after V OT LMT has been activated the individual ESC is switched off completely and is locked until the motor setpoint goes below the Motor OFF detection threshold VAL OFF 12C see Table 13 on page 84 or the Motor OFF detection Time T HI OFF PPM see Table 14 on page 86 During over temperature switch off the affected motor plays an over temperature sound 4 3 3 Overcurrent Protection The current in each motor phase is monitored not the Battery current and in case this current goes above the OC LM threshold see Table 3 on page 11 the ESC reduces the output power until the current goes below this threshold The ESC does NOT switch off completely and keeps on working as long as the electronics can control the motor commutation correctly Overcurrent events might occur a Dynamically e g during acceleration of heavy load motors with big propellers or b Staticallv e g by a short circuit in the motor windings or motor wires A dynamic over current event leads only to a slower acceleration of the motor The influence to the overall flight behavior will not be noticeable
28. this case connect the programmer directly to the HERKULES III boards again and redo the programming www andreasbaier de Page 32 of 88 08 06 2014 HERKULES Ill Software Update and Programming Version 0 30 5 8 Update Procedure DATALOGGER The Datalogger is able to emulate lots of different RC Telemetry Systems 5 8 1 Supported Vendors e Standard Serial Protocol for data live view with data logging software UNILOG e GRAUPNER HoTT released e JETI DUPLEX EX released e FUTABA S BUS released e MULTIPLEX M LINK released e SPEKTRUM released e JR released e HITEC released e FRYSKY released The Micro SD card in the Datalogger must contain special files to enable a certain Telemetry System Table 6 Content of the Datalogger MicroSD Card Datalogging Folder All generated logfiles from the data b aa logger will be stored in this folder 4 Firmwares Firmware updates for different Telemetry Systems are stored A here Copv the content of the subfolder to the Root folder setup hti System internal file Don t delete or change this file l r Typ HTI Datei HII25 HOTT 192 123 textafterCH4 bin Firmware File which should be programmed to the Telemetry ih Typ VLC media file bin Dataloger hticonf txt User Configuration File Edit this file to setup Alarms and Displayed values see below Readme txt The setup sequence of the HERKULES III Datalogger is different for each teleme
29. 2 PPM3 PPM4 VBAT VBAT VBAT Page 43 of 88 08 06 2014 HERKULES III Application Examples Version 0 30 6 2 2 Quadcopter and X with Mikrokopter Figure 32 Mapping Table Quadcopter with Mikrokopter RIGHT B BLDCHK B Let Mo B BLDCHK B Back Left Mo D BLDCHK D Right MO3 D BLDCHK D Front Right M03 www andreasbaier de Page 44 of 88 08 06 2014 HERKULES III Application Examples Version 0 30 6 2 3 Octocopter Flat with Mikrokopter Variant 1 Figure 33 Mapping Table Octocopter Flat Mikrokopter Variant 1 BACK Herkules Quad ESC TOP Herkules Quad ESC BOT flipped B BLDCHK B Backleft M06 C g D BLDCHK D Front Right MO2 D h 6 2 4 Octocopter Flat with Mikrokopter Variant 2 Figure 34 Mapping Table Octocopter Flat Mikrokopter Variant 2 e e way eee ve www andreasbaier de Page 45 of 88 08 06 2014 HERKULES III Application Examples Version 0 30 6 2 5 Octocopter Flat X with Mikrokopter Variant 1 Figure 35 Mapping Table Octocopter Flat X Mikrokopter Variant 1 Herkules Quad ESC TOP M01 mM E B BLDCHK B BLDCHK F BLDCHK C C g BLDCHK G Left D BLDCHK D h BLDCHK H Right M03 6 2 6 Octocopter Flat X with Mikrokopter Variant 2 Figure 36 Mapping Table Octocopter Flat X
30. 30 Register Example for Futaba T14SG 1 Double click on LNK button on cursor panel 2 Scroll down to SENSOR and scroll down to the lowest sensor 31 3 Select RELOAD NEULADEN to clear all sensors 4 Select REGISTER ANMELDEN to start Register process 8 times to register all sensors until the message COMMUNICATION ERROR appears Restart Transmitter and Receiver and Connect the Telemetry Interface to the Receiver e Arrange your 4 most interesting telemetry data on the Telemetry front page of the transmitter Now Set your most interesting values in the main telemetry display according your user manual 8 www andreasbaier de Page 69 of 88 08 06 2014 HERKULES III Telemetry Feedback Data Version 0 30 7 3 5 Setup of Alarms Futaba telemetry alarms are set in the transmitter Please refer to the Futaba user manual on how to set these alarm thresholds HERKULES III Telemetry allows the user to set alarms in the File hticonf txt on the Micro SD Card of the HERKULES III Telemetry In this case the Transmitter alarms have to be set to special values Table 9 Futaba Possible Alarms set by Herkules III Telemetry in the file hticonf txt Byte Value example unit Deseription System mAh Capacity mAh Alarm Limit x0mAh am 2 ass v ev single Cell Voltage Alarm Limita 30mY lA 3 sas v cvo 0 Single Cell Voltage Limit x10mv Hott Text L4 ag Lv cv 100 100 Sing
31. 30 Table of Contents 1 INELO GIG OMe ac e NE 3 12T C FORS m 7 122 HERKULES VITIO EIS 2 7 113 Important SAN NOCO eT 8 DIMENSION and Mechanic do 9 2 1 Cooling Plate AL 15050MM ane a 9 2 2 COON Plate WOOK 00m i i a 9 Electrical Characters aida ido 10 RTP NNN 10 3 2 Power Stage Electrical Specification rrrnnrnnnnnnnnnnnnnrrnanrrnnnnnnnnnnnnrrnanrnnanrnnnnnnnnnnnanrnnnnennnnnnnne 11 3 3 I O Interface Signals Specification r rarrrnnnrrnnnrrnnnrnanrrnanrnnnnnnnnnnvnnrnnanrnnanrnnnnnnnnnnnanennanennnsennneen 11 Connectors Functions and FeaturesS arrarnnnaunaunannnnnunnunnnnunnunnunnnnunnunnunnnnunnunnnnunnunnunnnnnnnunnunnnnunnuen 12 4 1 The HERKULES I POWER i ee 12 4 2 Operation Modes and LED TUNCHOMS u 15 4 3 Protection and Diagnosis Modes rrrarrrnanrrnanennnnennnnnvnnrnnanennnnennnnnnnnrnnansnnnnennnnnnnnsnnnnennanennnnennn 16 4 4 The PPM I2C Breakout Board rnnrrnnnrnnnnrrnnnvrnnnnnnnnnnnnrnnanrnnnnrnnnnnnnnrnnnnrnnanrnnnnennnsnnnnrnnanennnnennn 18 4 5 The HERKULES III Telemetry Interface OptiONal ooocccconcncccccnccncnncnncnnonncnnnnncnonnncnonnnos 19 Software Update and Programming rnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnennnnnnnnnnnnnennnnennnnnnnnnnnnnennnnennnueenn 20 DL Programmable Features ae Ne 20 5 2 Hardware Versions and Revisions rrranrnnnnrnnnnnnnnnnnnnrnnannnnnnnnnnnnnnnrnn
32. 5 Location of Status LEDs Motor Status LEDs BLUE amp RED Motor Status LEDs BLUE amp RED Hui L SEE PGS 23 LE WA wi B YY YP ta Voltage Regulator LEDs MIO EE A GREEN amp ORANGE HII n sith Mur f Cua nm eme 4 l i faz rg J A JH OLY 7 OL e MELS ramez ranez nn E AET BLUE amp RED i ET LP F 4708 Motor Status LEDs BLUE amp RED La 3 The Internal Voltage Regulator LEDs GREEN and ORANGE e he GREEN LED indicates a correct working internal 5V Voltage and e The RED LED indicates a correct working internal 8V Voltage If both LEDs are continuously on the internal Power supply is working correctly The ESC Motor Status LEDs BLUE The blue LED is ON in case of e The Motor is running correctly or e The Motor controller receives valid motor setpoints The brightness of the LEDs varies with the Motor Setpoint value The higher the setpoint the higher the brightness of this LED The Overcurrent Protection LED RED A flashing RED LED indicates an overcurrent event on the Motor output which could be caused by e Afastaccelerating motor The LED is on as soon the Motor speed increases and the ESC limits the power to avoid an overstressing of the Power MOSFETs e A failure at the motor occurs e g shorted motor wires or shorted windings in the motor itself A shortly flashing LED during acceleration is usually normal only in case the LEDs is continuousl
33. 5 ida E p F Temp Motor 09 Y Akku02_VCell04 otor g ODEM status Mot ii A er Ne Temp Motor 10 WM Akku02_vcellos status Mot 12 Ls 7 Temp Motor 11 MM Akku02_vCellos o Temp mE 1 2 VCell IZ Baro Alt M status Mot is Hom Temp Moto 12 JIM Akkut2 VCello7 o Altitude Fic stade ds si poet Temp Motor 13 WM Akku02_vcellos Baro Pressure status Mot 15 I Motor 12 F Temp Motor 14 Steigrate 1sec O status Mot 16 M I Motor 13 I Temp Motor 15 F Steigrate 3sec dg I Motor 14 F Temp Motor 16 Lowest Battery I I Motor 15 Lowest Cell Nu I I Motor 16 7 Lowest Cell Vol Steigrate 10sec www andreasbaier de Page 79 of 88 08 06 2014 HERKULES III CHANNEL 1 Summary Data ean Symbol Descripton 1 Stat JjStatSip Channel State Timestamp Runtime tate Output 0 Binary 1 ASCII Timestamp Systemtime Runtime Motor Runtime Channel State JS Timestamp Runtime State Output O Binary 1 ASCI Timestamp Systemtime Runtime Motor Runtime EX 7 EON Battery Voltage Battery Current sum of all Motors Peak Battery Curent Average Battery Current CAPA RUNTIME City Maximum ESC temperature IESC No with max temperature 2 Battery Power Energy S Temperature ofthe pressure Sensor
34. 83 9 3 I2C Communication Sequence and TiMiNQ occcoccncoccncccnncncnnoncncnnnnnnnnnnnnnnnnnnonnrnnnnnnnnnnnnnanennnns 83 www andreasbaier de Page 4 of 88 08 06 2014 HERKULES III Introduction Version 0 30 9 4 2C Mode Setpoint Write and Data Read via I2C esee 84 9 5 PPM Mode Setpoint Write via PPM and Data Read via I2C coocccocncccnconnconncccniconinaninnnos 86 List of Tables able MERKULES I VES une Te ee T Table 2 Range of Functionality ocooocccocccocccocncocncocncocnconnoncnnnononononononononononononononanonannnanonanonaninass 10 Table 3 Power Stage Electrical Specificati0N coooccconncconnoconncconncnonoconnnnanoonancnnannnnnnonnnnonaninnons 11 Table 4 l O Interface Signals Specification ooccoconcoconccocnoconnoconnoconccnonccnnnonannonannonannnnnnnnnnnonannnnons 11 Table 5 Content of the Firmware Update Folder ooccccocnocccnccccnoconocncnncncnonacnonononnnnonononannnnnns 25 Table 6 Content of the Datalogger MicroSD Card rrrarannnnennnnennnnrnnnennnnennnnennnnnnnnnnnanennnnennnnennssnnnnennnne 33 Table 7 The following Futaba sensors are emulated by HERKULES lll 66 Table S Emulatea Futaba SENSO Sai ds MOL TUN 66 Table 9 Futaba Possible Alarms set by Herkules III Telemetry in the file hticonf txt 70 able 19 FUlaba MtUcO gr ec 70 Table 1T 126 WRIT
35. E Address Range zn sonen ie ee a intu ad 83 Table 12126 READ Address Rai ee 83 Table 13 12C Control Interface SpecificatiON coooccoconccocncconnoconnoconconanccnnnocanonnannonannnnnnnnnnnonaninnons 84 Table 14 PPM Control Interface Specification oocccocccconncconnocncnconnnnonnnnnnnnonnnonncnnnnnnnnnnnonononnnnnnnos 86 List of Figures Figure 1 HERKULES III Block Schematic Connectors and functional blocks on one quad board 12 Figure 2 HERKULES lll OverviewW oooccococcoccncooccconcnoconnccannononcnnnnonnnonnnonnnnonnnnnnnnonannnnannnnnnnnnnnenanens 12 Figure 3 HERKULES III Micromatch Connector ccooccccocccccnncccnconcnccncnonannononnnnnnonnnnonannnnannonancnnnnnnanoss 13 Figure 4 HERKULES III Molex Connector occooccccoccccccnoccncononccncnonncnononnonannonnncnnnnonannnnannnnnnnnnnnenaness 14 Figure 5 gt LOCATION of Status LENS ad 15 Figure 6 PPM BEAKO BOA TN HAN 18 Figure 7 PPM I2C Breakout Board ready assembled oocccocnccoccccocnoconnoconcononononnnnannonannonancnnnnonanoss 18 Figure 8 Telemetry Interface Board TOp View ocococcccccncoccncccnncccnccncnonncncnncnnnnnnonnnnnnnncnnnnnnnnnnnnnnnnnnos 19 Figure 9 Bootloader Signs in different Mounting Options oocccoccccccnccccnconcnnnnnnnncncnncnconnononnnnnnnnnnnnos 22 Figure 10 HERKULES III Programming Adapter ooocccocnccccnccccncoccccncnconcncnnnnnnnnnnnnnnnnnncnnnonnnnnnnnnnononos 26 F
36. EA is the battery voltage measured at the ESC HERKULES III measures internally from OV to 55V but due to Mikrokopter protocol limitation the read back value is limited to 25 5V BYTE 5 and 6 is the Motor Commutation Time The Motors field rotation frequency can be calculated by FIELD FREQ RPM 10 000 000 COMTIME us The Motor Shaft Frequency can be calculated by MOTOR RPM 1 min FIELD FREQ MOTOR_POLES Byte 7 and 8 are the software Version Number Highbyte and Lowbyte Byte 9 is the Herkules Hardware ID www andreasbaier de Page 85 of 88 08 06 2014 HERKULES III Control Protocol and Communication Interface Version 0 30 9 5 PPM Mode Setpoint Write via PPM and Data Read via I2C In PPM Mode the setpoint is written to each ESC with a separate PWM wire and the data information is read via I2C bus The benefit of this mode is the control wire redundancy and independency from each other If one controller fails or pulls the I2C bus low or high only the read back communication is disturbed but the setpoint controlling is working in parallel for each controller 9 5 1 Setpoint Write via PPM Signal The PPM signal is a widely used RC standard The motor setpoint is proportional to the high time of the PPM control signal The repetition rate of the signal can be up to 400Hz This enables a very fast setpoint update rate and supports the flight control for very accurate and stable attitude regulation Write e Setpoint Write with st
37. ECP Druckeranschluss EJ gt Lokale Benutzer und Grup Poo dem Ri Leistung M AR E Bi x Audio Video und ze 9 2 Bildverarbeitungsger te J Bluetooth Funkger t jM Computer H a ControlVault Device ES Eingabeger te Human Interface Devices fie Grafikkarte E cg IDE ATA ATAPI Controller El Tr a IMI in A A LI a Ey Ger te Manager es Datenspeicher ES Datentr gerverwaltung Es Dienste und Anwendungen Note this number and use it when you are asked in the HERKULES ProgTool www andreasbaier de Page 27 of 88 08 06 2014 HERKULES III Software Update and Programming Version 0 30 5 6 Update Procedure HERKULES lil Powerboards From the HERKULES III ProgTool Folder start the application AVRootloader exe Step 1 Selecting the Comport lt gt AVRootloader B xi First select the correct Comport Programming Protocol Device Information EEPROM Content SRAM Content of the USB to HERKULES III ProgTool The Port must not be set to AUTO You have to set there the real Comport which is used by the ProgTool Programmingfiles FLASH y es iz EEPROM Ed E Options IV Erase device during programming Open protocolwindow after processing 7 Verify device after programming Software versioning Version 2 p map s Verfumask on updates WW TT ALY Info Program Verify make Password Compile Step 2 Se
38. LES III Power ESCs are available in different variants Number of Motors Ordering Number HELETSOUADS I of HKIII HEXA L 4 6s 6s 6s HKIII HEXA XL HKIII OKTO XL 6sS Table 1 HERKULES III Variants www andreasbaier de Page 7 of 88 08 06 2014 HERKULES III Introduction Version 0 30 1 3 Important Safety Notice To avoid unexpected motor starts please read the operating instructions very carefully Improper wiring of the motor battery or control wires or set point or command line failures may result in unexpected startup or runaway conditions The user must always assume that such startups can happen and the user must ensure that his system is safe in all conditions Please do all wiring and configuration work very carefully Follow all safety procedures in the manual and work exactly as described Never program or run tests with a flight battery connected Use a current limited power supply to check the basic system behavior The Herkules Ill Powerboard is delivered pre mounted and pre soldered with battery power wires Never try to de solder the power wires from the PCBs The high thermal conductance of the power board makes special soldering equipment necessary Standard soldering equipment will likely destroy the electronics Soldering is only allowed on the motor connection pads and the battery end of the flight pack power wires Please consider also to the absolute max ratings described in the Electrical Characteri
39. M frequency programmable i Motor Commutation Timing wo pw pep bm Phase advance programmable Field Commutation F COM 200 000 rpm To get Motor RPM the Frequency commutation frequency has to be divided by number of motor pole pairs mete JJ JET r threshold voltage MEA eim E E kl threshold the OC event is present Ped e A 7 O RA threshold voltage is higher than this threshold power to 50 of setpoint MEA TOTO TE O off threshold the OT event is present Table 3 Power Stage Electrical Specification 3 3 I O Interface Signals Specification all parameters are valid for 25 C ambient temperature otherwise noted INo Description Symbol PPM1 8 I2C SCL I2C SDA RxD xD Unit Comment a vo V 5V Interface min typ max EE I E 3 35 91 2 min Hl Level of Input V HI IN V 5V Interface eae e ee 3 max LO Level of Input V_LO_IN V 5V TIL Signals Table 4 l O Interface Signals Specification www andreasbaier de Page 11 of 88 08 06 2014 HERKULES III Connectors Functions and Features Version 0 30 4 Connectors Functions and Features 4 1 The HERKULES III Powerboard Powerboard Block Overview A Herkules Ill Hexa or Octo Configuration consists of 2 power boards mounted top and bottom on one cooling plate Figure 1 HERKULES III Block Schematic Connectors and functional blocks on one quad board H3 Powerboard TOP Molex Motor A VBAT I2C SCL I2C SDA n u GND Motor B
40. PresentMask 44 40 an F MotFailureMask 42 38 40 75 M v BAT 38 36 Y I BAT el 3 I I BAT PEAK 34 32 ii I I BAT_AVG 32 30 60 E 30 o v CAPACITY 22317 28 E 5 x v TEMP MAX 26 E 26 E 5 l F nESC TEMP MAX x 24 m 24 5i a 7 P BAT g2 22 st 20 F E BAT Bn E xd 18 O Baro_Temp 16 35 IM Baro Altitude 14 ER 30 F Baro Pressure E j 25 O Steigrate 1sec 3 10 20 Steigrate 3sec 5 3 15 Lowest Battery Numt 4 5 2 10 F Lowest Cell Number 4 Lowest Cell Voltage 3 2 5 F Steigrate 10sec D T i T T D D om 20s 16m 405 25m 00s 33m 205 41m 405 50m Os 58m 205 i IIIIITVPeOOC AGE Grafik Tabelle Big Letter Analoganzeige je Kurvenvergleich www andreasbaier de Page 77 of 88 08 06 2014 HERKULES III Analvzing Telemetrv Data with Logview Version 0 30 8 3 Analvzing Data LogView V2 7 5 Click the small blue arrow on the channel selection bar to switch between one of the six Herkules III BEHHAHrE FE f Kanal 10 4 amp 19 DataLogaing Kurveneinstellungen gt gl vorlage El WE 5 Data Set Selection A LogView V2 7 5 Click with the right mouse key on a measurement value and change Datei Bearbeiten Ger t Grafik Analysen Tools Ansicht Hilfe settings as you wish MENA Bl en SHEER al You can change e g Kanai v 4 1 Datalogging Line weight Kurveneinstellungen ux
41. Quad ESC TOP Herkules Quad ESC BOT flipped BLDCHK A Front Left BLDCHK E Back Right M05 B BLDCHK B Backleft MO c Bock c C BlocHK 6 D BLDCHK D Right MO www andreasbaier de Page 41 of 88 08 06 2014 HERKULES III Application Examples Version 0 30 6 2 Setup with Mikrokopter FlightControl ME2 1 I2C Control 6 2 1 Pictures Figure 29 Mikrokopter with Molex connector ff gi 4 pr f HERKULES III v3 AG g Som Figure 30 Typical Setup with Mikrokopter Flight Control www andreasbaier de Page 42 of 88 08 06 2014 HERKULES lll Application Examples Version 0 30 Figure 31 Example Connection Scheme HERKULES lll with Mikrokopter FC2 1 ME HERKULES lll with Mikrokopter FC2 1 ME Molex Connection Cable u Last update 26 November 2013 RC Receiver SPPM Serial Output SPPM1 8 Serial Input Telemetry www andreasbaler de SPPM1 8 VBAT I2C_SCL ii T Motor Arranging H3 Powerboard TOP see AppNote Molex Motor A VBAT PHASE A I2C SCL PHASE B I2C SDA PHASE C n u Micromatch Mikrokopter FC 2 1 ME I2C SCL Molex I2C SDA I2C VAUX Serial Input S S Serial Output Telemetry 20 DD BUZZER VBATpad GND Not VBAT used VBAT PHASE A I2C SCL PHASE B I2C SDA PHASE C GND connection not needed when TOP and BOT connected bv VBAT I2C SCL I2C SDA I2C VAUX PPM1 PPM
42. Telemetrie Then click Schlie en Typ Quadcopter www logview info www andreasbaier de Automatisch Aufzeichnung starten Automatisch Toolbox ffnen Anschlussport R5232 Senell v Linux kompatibel USB FID Schlie en Now the basic setup of the OpenFormat is told to LogView and you can start importing your logged measurement files from the MicroSD Card www andreasbaier de Page 76 of 88 08 06 2014 HERKULES lll Analyzing Telemetry Data with LogView Version 0 30 8 2 Importing Files To view the HERKULES III Datalogging files the files have to be imported NOTE Don t mix this with open The files must be Imported Datei Bearbeiten Ger t Grafik Anal Click on File Import n CJCJ 11 Datenlogger 106 Click on Datei Ger ted Importieren gt ffnen TA And select from vour SD Card subfolder the Logfile e g al Name El Speichern unter log00033 txt l g00015 txt Historie L log00021 txt Lj leg00022 txt Tabelle Exportieren log0003 The Importing starts and the data is displayed LogView V2 7 5 Datei Bearbeiten Ger t Grafik Ansicht Hilfe SARA Phe Se E AAA FL Silswok gt ml Messkurve Kanal 1 AE NL 11 DataLogging FE JE m i Port w hlen ES Ger te Toolbox gt Au ai 50 100 E vorlage a jtm 52 48 95 F Ku Ps an on 1 de nMotors 46 85 42 Mot
43. a TENELLA ms AA 14 04 v 4 gt AERIAL SOLUTIONS 2000000000000000000 4 www andreasbaier de Globe Flight GmbH Borsigstrasse 9 93092 Barbing Germany web www globe flight de Kopterworx Aerial Solutions Earthline Matjaz Kranjcevic s p Grajska pot 14a 8373 Leskovec pri Krskem Slovenia web www kopterworx com Page 88 of 88 08 06 2014
44. a Version 0 30 7 4 UNILOG Serial Protocol In case the user wants to use a separate Telemetrv Interface e g a wireless transceiver like WI 232 an Open Format Protocol can be accessed on the Telemetry Interface Please write a support request email when you are interested in the protocol description www andreasbaier de Page 73 of 88 08 06 2014 HERKULES lll Analyzing Telemetry Data with LogView Version 0 30 8 Analyzing Telemetry Data with LogView When using the HERKULES III Telemetry Interface the internal Datalogger collects lots of data which can be analyzed with the powerful Tool LogView Note This is only valid for PPM Controls and NOT for Mikrokopter Flight Controls Mikrokopter uses its own Datalogging features in conjuction with the Navigation board 8 1 Installation and Setup LogView is a very powerful and flexible software for visualizing data You can download the software for free but the program is Donation Ware and its developers would be grateful if you donate payment for their efforts This documentation describes only the basic steps to import Herkules lll Datalogging files but the software has much more functionality Please refer to the very detailed documentation and help files of LogView Download and Installation First go to www logview info and download the Tool Logview v 2 x The software is available in different language files and please donate to the developers as described above Afte
45. a are encrypted 218 gt during programming programming EEPHU 3198 gt EEPROM data are encryp Z gt executed in 2 24 sec 2 gt Device disconnected Pp pp pp Pp HEEL L H H Ft Save to file www andreasbaier de Page 30 of 88 Version 0 30 Connect now the USB to Herkules Programming Cable with the HERKULES lll and do the following steps 1 Switch OFF the power supply 2 Click button Program The ProgTool is now waiting for a power on reset for 100msec after power on 3 Switch ON the power supply and the programming starts If the programming was successful you can see in the Protocol window It should look like this 08 06 2014 HERKULES I Software Update and Programming Version 0 30 Step 9 and 10 Checking of device information AVRootloader lE xI Click on Device Information Programming Protoc PROM Content SRAM Content and ch eck the Bootloader Software Version AVRootloader 6 0 Connection Wire nfo rm ation Device name ATmegaS ATmegasA Device signature 189307 SRAM size 1024 Byte EEPROM size l 512 Byte FLASH size 8192 Byte FLASH size for application 7168 Byte FLASH pagesize 64 Byte Bootloader size 1024 Byte Buffersize for data 984 Byte SRAM start address 96 Bootloader version 6 Use bootsection x Yes Versioning supported Yes Cryptography supported 3 Yes FLASH data must be encrypted EEPROM data mus
46. ace Version 0 30 9 4 2 Diagnosis Read via 12C in I2C Mode To Read Telemetry Data from the ESCs the following sequence has to be sent Figure 50 I2C Read Sequence MOM HMR MBM ROBAN AG A5 A4 A3 A2 A1 AO 1 gt gt gt I2GAddr RI El I2C Addr UNN Bytes 7 9 only after Reset before any Control Command was received I2C Address M1 16 M1 0x53 read M16 0x71 read gt Izjejsjajsizitjol j lsisialsizitjoj Izjejsiajsiziijoi 7 6 5 4 3 2 1 0 7 6 5 4 3 2 110 KA IE IE gt gt 1 Read BYTEO is the read address with RW Bit 1 It s the same 7 bit address as in write mode but with RW bit set different BYTE1 reads the actual average current from the addressed ESC HERKULES lll measures internally the current with a resolution of 10bit but due to the Mikrokopter protocol limitation the read back range is limited to 25 5A BYTE2 reads the MAX PWM value from the ESC In Idle Stop mode the Value is 250d OxFE and signals the new I2C Protocoll for BL2 0 with full telemetry read back During starting of the motor the byte changes to 40d 0x28 and signals a running starting sequence After starting when the motor is running the value is 255d BYTE3 reads the ESC temperature value HERKULES III measures internally the temperature between 40 and 150 C but due to the Mikrokopter protocol limitation the read back range is limited to positive values between 0 C and 255 C BYT
47. age e 3 B IbatAvg A Average Battery Current F1713 Robbe a LBN 1 4 Lowest Battery No Temperature B F1712 Robbe m s Ascend Descend rate in m s F1713 Robbe A Maximum Temperaturonall Temperature TempMax C Temperature Herkules ESCs 1 2 F1713 Robbe LCN 1 8 Lowest Lipo Cell No Temperature 5 Vario Sensor Altitude Altitude m Actual height above Ground in m F1713 Robbe 7 Temperature nTempMax 1 16 Number of Hottest ESC Temperature F1713 Robbe Number of ESC with any failure Temperature nMotFail 1 16 Temperature OT OC STALL etc Table 8 Emulated Futaba Sensors 7 3 2 Software Preparation All Futaba transmitters must have the latest firmware The T14SG must have version 3 0 or higher Please refer to the user manual of your transmitter on how to update to the latest firmware 7 3 3 Hardware Preparation As Futaba uses an inverted polarity of data signals and a non standard connector setup the telemetry cable of the HERKULES has to be resoldered Figure 45 on page 67 shows the modified Telemetry Cable of the HERKULES II Datalogger for Futaba sensors www andreasbaier de Page 66 of 88 08 06 2014 HERKULES lll Telemetry Feedback Data Version 0 30 Figure 45 Modification of PPM Cable with Futaba Isolate or cut this wire end a Remove the red cable from the middle solder pad and cut the end or isolate the open end with a small shrink tube b Remove the yellow wire c
48. andard PPM Signal RC standard with 8 bit resolution e Fast update rate of up to 400 Hz Figure 51 PPM Control Signal V MAX all parameters are valid for 25 C ambient TR otherwise mm No Description a Symp MMEM e f max funit Comment y PPM Control Mode 2 Setpoint Update Period T PER PPM 25 200 Imse 3 Setpoint update frequency F PERPPM 2 1 450 Hz PAR AMEN al roin the motor stops Usi Mcd Ze Eos mail mem oo ree mo PT ime o o o Threshold Starts eem mee emm qo Tn o PT ogee oo o oo Dutycyle 10096 Table 14 PPM Control Interface Specification www andreasbaier de Page 86 of 88 08 06 2014 HERKULES III Control Protocol and Communication Interface Version 0 30 9 5 2 Telemetry Read via I2C in PPM Mode The readback format from each ESC is similar to the one above Figure 52 Data Read in PPM Control Mode via I2C Alsa 3 2 1 0 ilelsizisi itioji Zee mper 6 A5 A4 A3 A2 A1 A0 1 gt R I2C Addr I2C Address M1 16 M1 0x53 read M16 0x71 read Read 1 7 6 5 4 3 2 1 0 716jsi415121170 716 5 41312 1 0 a7 de do 44 43 42 DUMMY Dummy Value Dummy Value FIX 0x00 gt FIX 0x06 gt Aia ato esq mo Kieli BYTEO is the read address with RW Bit 1 It s the same 7 bit address as in write mode but with RW bit set different BYTE1 contains the Motor Status flags the two MSBs of the motor current The available motor flags are e R Run set
49. andreasbaier de Page 56 of 88 08 06 2014 HERKULES Ill Telemetry Feedback Data Version 0 30 7 1 3 Graupner HoTT Text Mode Display Even though the Text Mode Display is quite tricky to access the detailed information which can be displayed is very useful Graupner Text Mode Overview Parameters Pb NO Q 4 nnupn 5 OACAFON wo 3 1 7 4 3 4 U U R y zs Line 1 VBAT Power Line 2 Current Peak Current Line 3 mAh Average Current mAh Runtime Line 4 Hottest Temp Hottest ESC Line 5 Runtime Altitude Line 6 Motor Status 1 4 Line 7 Motor Status 5 8 Line 8 Motor Status 9 12 only if Motors 9 12 are connected Graupner Tex t Mode Single ESC Value Line 1 8 Average ESC Current ESC Temperature ESC Status a a a a a a a a lt lt lt lt lt LL 1 2 3 A 5 6 7 8 www andreasbaier de Page 57 of 88 08 06 2014 Telemetry Feedback Data Version 0 30 HERKULES III Graupner Text Mode Single Cell Voltages Battery 1 4 7 8 X 00 N qm 5 V 0 65V 123mR 99 0 0 5V 178mR 99 5V A A 99 178mR oV 178mR 99 0 4 178 amp mR 99 5V 5V 5 V 0 0 0 4 4 4 9 9 178mR 9 9 178mR 5V 178mR 78 0 4 123mR 99 65V 0 0 0 0 178mR 99 5V 5V 5V 5 V 4 4 4 4 99 178mR 99 178mR 9 9 178mR 05V 178mR 7 8 A oV 178mR 99 0 4
50. anrrnnnennnnnnnnnnnanennnnennnnennnsnn 21 5 3 Selecting the Firmware and Control Modes ooccooccccccncoccnccccncncncnncnconcnnnnnonnnnonncnnnnnnonannnnnnnnnons 22 5 4 General Firmware Update Procedure cooccccoccccoccoccnnoconccncnccncnocannonannonanonnnnonannnnannonannnnnnnnanos 25 2 9 tne Programming AG ALOE ua i i n 26 5 6 Update Procedure HERKULES III PowerboardS ccooccccoccocccnoconccncnccocnonannonannonanonnanonanoss 28 5 7 Update Procedure TELEMETRY Interface near nenne nenne nnnn anne nnnnenenne 32 9 8 Update Procedure DATALOGGE B LAN 33 Application Example Siurana 34 6 1 Setup with DJI Wookong PPM Control ocococccnccncoccncccnccccnconcnonocononcnonononnnncnnnnonnrnnnannnnnnnonons 34 6 2 Setup with Mikrokopter FlightControl ME2 1 I2C Control oocccoccccocnccccnccccncnncncnonononnnnnonos 42 Telemetry Feedback Data usa 50 TA GAUPNE HoT F feeneEN ass 51 1 2 JET DUDIEX Lelemeif vas 60 1 3 TULA ASS rs 66 7 4 JUNIEOQG Senat PrOVOGO in E E EIL 73 Analyzing Telemetry Data with LogView oooccocccocccocccococococonaconaronarenaronaronanenarenanrnanrnanrnanrnnnrnnanos 74 8 1 ipstallallonteana SEP vea Ak 74 ou O A e ert tout 17 83 ANCIANO gt gt a i a PP s 78 04 Avallabie Channel uc i Geo 79 0 0 ZOOMING MPSS AA ETIOKS 4 81 Control Protocol and Communication Interface anrrnnnnnnnnnnnnnnnnnannnnennnnnnnnnnnnnnnnnnennnnennnnnnnnnnnnnun 82 MA ro a a 82 9 25 I GE Aqadress Range Aven
51. ast value 132 to 148 or copy the file setup hti from the subfolder register in the downloaded software across the file setup hti on the SD card if asked overwrite it Content of setup hti default 20400 4004 L0 70 12 0217 4 a amp E 2 ww Lerdo 15 4 32 10 Content of setup hti Register Mode Active 9O0400 0405 10704 12 0254 Jy 2 4 5 X amp amp ue gcboprsplo 165 01858 1972 Step 2 Plug the Micro SD card into the HERKULES III Telemetry Interface The HERKULES III Telemetry Interface now reads the file setup hti on next start and clears the register flag 148 back to 132 Step 3 Connect the HERKULES III Telemetry Interface to the HERKULES powerboard via the red Micromatch cable and power on the system on a current limited power supply Wait about 20sec until the firmware is updated After a successful update a new file version txt is created on the SD card This file contains the version name the firmware Step 4 Connect the Telemetry Interface Cable of the Datalogger to the I F connector on the back of your transmitter and start the registration process of sensors according the description in the user manual of your transmitter Step 5 Connect the Telemetry Interface Cable of the Datalogger to the Receivers S BUS input and restart transmitter receiver and HERKULES III Telemetry Interface www andreasbaier de Page 68 of 88 08 06 2014 HERKULES III Telemetry Feedback Data Version 0
52. be connected directly on the HERKULES III Powerboard or on any of the Telemetry Interface Micromatch connectors Both Connectors on the Telemetry Interface are equally usable for programming the whole system Remember The supply of the Telemetry Interface boards is done from the HERKULES III Powerboard therefore must be always one connection via flat ribbon cable to any of the HERKULES III Powerboard connected www andreasbaier de Page 26 of 88 08 06 2014 HERKULES I Software Update and Programming Version 0 30 Driver installation for the Programming Adapter Follow the download link on the website at www andreasbaier de and load the latest driver for the FTDI programming tool from www ftdichip com Download to Virtual Comport Driver VCP and install the driver Then connect the programming adapter to your PC The device should be detected by your System Now find out the Virtual Comport Number of your programming adapter Open the Device Manager Windows XP 7 go to Device Manager Gerate Manager and check the Number behind the USB Serial Port COMxx Figure 13 Finding out the ComPort of Programming Adapter y Computerverwaltung 2 UR it Akkus de Computerverwaltung Lokal E fi System Anschl sse COM amp LPT EA O Aufgabenplanung JEF Dell Wireless 5540 HSPA Mini Card Device Management COME i BH Dell Wireless 5540 HSPA Mini Card GPS Port COM5 El f Freigegebene Ordner EZ T
53. bles Please check the polarity of the cables Black GND is close to the PCB printed circuit board Please check the polarity of this cable according the picture above to ensure a correct wiring www andreasbaier de Page 18 of 88 08 06 2014 HERKULES III Connectors Functions and Features Version 0 30 4 5 The HERKULES Ill Telemetry Interface optional The Telemetry Interface allows the connection of PPM Flight Controls with HERKULES III and a direct connection to telemetry RC Receivers lt can be used as an alternative to the PPM breakout board with additional features Functions of the Telemetry Interface e LEDs signaling the status of 2 HERKULES III ESCs and Datalogger e PPM Signals 1 8 Servocable connector to FlightControls like DJI WKM For connection to Flight Control please refer to the application section e Micromatch Connectors to 2 HERKULES III ESCs e Telemetry Interface to HERKULES III with Datalogger e 8V 2A breakout of the HERKULES III internal Aux Voltage e Barometric pressure Sensor for altitude measurement e And some other features more The Interface consists of 2 PCBs which are mounted together a The HERKULES lll Telemetry Interface Controller with PPM and Micromatch Connectors b The HERKULES Ill Datalogger Interface Controller with Micro SD card slot and interface connectors to different telemetrv svstems Figure 8 Telemetry Interface Board Top View Micromatch to TOP Herkules PPM1 4
54. con RC Input AILERON PPM Output Micromatch 1 PPM4 GND 1 ELEVATOR 2 2 I2C SDA 3 3 pin 3 F PPM4 THROTTLE l Servo Patch VAUX GND RUDDER PPM1 gt Wiring according 9 PPM2 6_ Type of Multi 6 PPM3 7 Rotor 7 8 8 FA Not X Ext Sens 1 Ext Sens 2 Micromatch 2 20 ser l l H3 Powerboard BOT Serial Output I2C SDA Molex Motor A Telemetry I2C VAUX VBAT PHASE A LY WKM PSU PPM1 I2C SCL PHASE B PPM2 I2C SDA PHASE C PPM3 bod PPMA GND GND Micromatch I2C SCL I2C SDA I2C VAUX PPM1 PPM2 PPM3 PPM4 GND Page 35 of 88 08 06 2014 Version 0 30 HERKULES Ill Application Examples 6 1 2 Quadcopter and X with DJI Wookong Figure 18 Mapping Table Quadcopter with DJI Wookong RIGHT BACK Herkules Quad ESC TOP Herkules Quad ESC TOP X B BLDCHK B Let M0 B BLDCHK B Backlet M03 D BLDCHK D Roh mos D BLDCHK D FrontRight MO www andreasbaier de Page 36 of 88 08 06 2014 Version 0 30 HERKULES III Application Examples 6 1 3 Octocopter Flat with DJI Wookong Variant 1 Figure 19 Mapping Table Octocopter Flat DJI Wookong Variant 1 FRONT I He B ro NS f qe BACK Herkules Quad ESC BOT flipped Herkules Quad ESC TOP BLDCHK A BLDCHK E BackRigh MOG B BLDCHK B Backlet M04 D BLDCHK D j FronRigh
55. cromatch Connector m 12C SCL m I2C SDA m VAUX I2C SDA a PPM m PPM2 a m PPM3 PPM4 GND On Pin VAUX the HERKULES III Internal 8V 1 5A Supply Voltage is available This can be used e g for the HERKULES III Telemetry Interface Board or supplying an External Flight Control www andreasbaier de Page 13 of 88 08 06 2014 HERKULES III Connectors Functions and Features Version 0 30 Molex Connector The grey 5 pin Connector contains the serial I2C Bus signals IZC SCL IZC SDA the Buzzer not used and the breakout Battery Voltage The connector is compatible with Mikrokopter Flight Control 2 1 ME The pins are connected to e PIN1 Ground e PIN2 Buzzer Output from Flight Control PIEZO e PIN3 and 4 The I2C Bus is for communication and telemetry readout e PIN5 The Internal VBAT or VAUX Voltage Figure 4 HERKULES III Molex Connector lm 0 GND 1 GND PIEZO ju BUZZER 3 I2C SDA E I2C SDA NE m I2C SCL 5 VBAT iR m VBAT ES By default the HERKULES III Powerboard is jumpered to supply PIN5 directly with the battery voltage In case of using Mikrokopter this connection is the only needed interface to flight control There are no other Wirings necessary For details please see the Chapter Setup with Mikrokopter FlightControl ME2 1 12C Control on page 42 Remember that the Mikrokopter Flight Control do
56. d gt a Kanal mes Tm 77 gt tlf EE JE gen kurveneinstellungen d pee Kurveneinstellungen m gt mi el ES E Vorlage E B bi voriage fel Pe Runtim ne Kurveneinstellungen gt l vorlage el gt mS H Runtime aa i ii mil r Runtime 1 mide F a loci ie Mela MotPr tMask Lowest Call C nMotors MotPresentMask side i MotPresentMask m motrailureMask Akku01_VCell01 MotPresentMasl MotFailur iin MotFailureMask JIM Temp Max f Akku i VCell 2 MotFailureMask m I MOT MAX n ESC Temp Max f Akku i VCello3 V v BAT y Status Mot 02 MT n 1 MOT MAX IV Temp Motor 01 Akkuo1_vcelios g I BAT v I Motor 01 v Temp Motor 02 Akkuo1 vcellos m v Status Mot O DEZ 1 motor 02 M Temp Motor 03 Akkuol vcello I BAT PEAK status Mot 05 A IM Temp Motor 04 M Akku i VCello7 M I BAT AVG OIN ANS AT U v Status Mot 06 motor 04 7 Temp Motor o5 HM Akkudi_vCellos V CAPACITY JM status Mot 07 N HE IF Temp Motor 06 Akkuo2 vCello1 v TEMP MAX Ir Status_Mot_08 EN f Temp Motor 07 f Akku02 VCello2 IM nESC TEMP MAL m Status_Mot_09 Jz A liv Temp Motor 08 Y Akku02 VCello3 Ir P BAT Status Mot_10
57. e 35 Mapping Table Octocopter Flat X Mikrokopter Variant 1 oooccccocnccccnccncnconnncncnnnnnnos 46 Figure 36 Mapping Table Octocopter Flat X Mikrokopter Variant 2 ccoooccccocnccccncoccnccnnonononononos 46 Figure 37 Mapping Table Octocopter Coaxial 8 Mikrokopter Customized 47 Figure 38 Mixer Table Coaxial X8 with Mikrokopter ccooccccoccocccnccccnconcnonocononnnnnnnnnncncnnnononnonnnnononos 47 Figure 39 Mapping Table Hexacopter Flat Mikrokopter Variant 1 rrrnnnnnnnnnnnnnnnanennnnennnnnnnnnnn 48 Figure 40 Mapping Table Hexacopter Flat Mikrokopter Variant 2 ocococcccccnconcnccnnccncnnnnnnos 48 Figure 41 Mapping Table Hexacopter Flat X Mikrokopter Variant 1 oocccocnccccnccccncccnncocnnnnonos 49 Figure 42 Mapping Table Hexacopter Flat X Mikrokopter Variant 2 ocoooccccccnccncccccncconnnononos 49 Figure 43 Electrical Air Module EAM occococccccnccccncoccnococnononnononoonnnconnnonannonnnnnnnnnnnnnnnnnnonannonannnnnnnnanos 55 Figure 44 General Air Module GAM sssssssssssssssesseee nennen nnne nnne nnns nnns annee nnn 56 Figure 45 Modification of PPM Cable with Futaba coooccccccnccccccoccccccncnncncnncononnnonnnnonononnnnnnanonnnnnononos 67 Figure 46 Control Mode A I2C Control and Read nara nnn nanna nn nn ann nennen 82 Figure 47 Control Mode B PPM Control and
58. e threshold 3 35V 0 Single Cell Voltage threshold 3 55V Single Cell Alaram threshold 8000mAh Capacity Alarm threshold Byte Value example Unt Deseription system 1 800 mAh Capacity mAh Alarm Limit x10mah M 2 ass v ev single Cell Voltage Alarm Limit 20m lal 3 sas v cvo 0 Single Cell Voltage Limit x10mv HoT Text 4 as 216 IBAT constant offset valuefor not measured load OFFSET IBAT correction value in Fe Values possible SENSOR gA Timeout Config 0 O three Binary Messages default 15S tive gt no E d JETI EX onl default ensors active gt no Expander only 1 2 Binary Messages 12 Sensors aktive gt with Expander E eie Graupner Hott Displays Description Byte 1 800 Capacity Alarm threshold x 10 in mAh If capacity is exceeded alarm is send from Telemetry System to Ground Station 1000 means 10 000mAh 220 means 2 200mAh 500 means 5 000mAh Byte 2 355 Lipo lowest cell voltage alarm threshold 100 in V If lowest cell voltage is lower than this alarm is send from Telemetry System to GND 355 means 3 55V gt 345 means 3 45V Byte 3 335 Lipo 0 Value for Text display fuel gauge Value is only relevant for single cell sensor in Graupner Text Mode www andreasbaier de Page 52 of 88 08 06 2014 HERKULES III Telemetry Feedback Data Version 0 30 gt 335 means 3 35V Byte 4 418 Lipo 100 Value for Text display fuel gauge Value is only rele
59. e thrust of each motor So the user must find the optimum value for each system separately www andreasbaier de Page 39 of 88 08 06 2014 HERKULES III Application Examples Version 0 30 6 1 8 Hexacopter Flat with DJI Wookong Variant 1 Figure 25 Mapping Table Hexacopter Flat DJI Wookong Variant 1 FRONT Herkules Quad ESC TOP Herkules Quad ESC BOT flipped B BLDCHK B Backteft MOS c Block c l log BDCHK G D BLDCHK D Back Right _ M03 6 1 9 Hexacopter Flat with DJI Wookong Variant 2 Figure 26 Mapping Table Hexacopter Flat DIl Wookong Variant 2 Herkules Quad ESC TOP A BLDCHK A l Front Left BLDCHK E Back Right M03 SA B BLDCHK B Back Left c BLDCHK C Co BLDCHE G D BLDCHK D Front Right www andreasbaier de Page 40 of 88 08 06 2014 HERKULES III Application Examples Version 0 30 6 1 10Hexacopter Flat X with DJI Wookong Variant 1 Figure 27 Mapping Table Hexacopter Flat X DJI Wookong Variant 1 O OYO ap og e BACK Herkules Quad ESC TOP Herkules Quad ESC BOT flipped B BLDCHK B BackRig MOS C BHDGHKU OI sn BLDEHK 6 gt D BLDCHK D Front Right MO 6 1 11Hexacopter Flat X with DJI Wookong Variant 2 Figure 28 Mapping Table Hexacopter Flat X DJI Wookong Variant 2 Herkules
60. ere Organisieren ud ffnen Freigeben f r Neuer Ordner al Mame Herkules_JLog_Tester_w1 ini Lj Herkules LogView v4 ini Herkules Logview v8 ini Lj Herkules LogView v14 ini Lj Herkules LogView v19 ini Herkules LogView v20 ini E Herkules Logview v22 ini www andreasbaier de Page 75 of 88 08 06 2014 HERKULES III Analyzing Telemetrv Data with LogView Version 0 30 Datei Bearbeiten Ger t Gral ETA Now click on the Template Bar on Load Template and copy from the EE LE S e OD v AppData Roaming LogView HERKULES Setup folder the file Kanal 1 ve m Prag en eu en de OpenFormat Herkules Ill Telemetry v1 bvt Click on Device gt Select Port Click on Ger t gt Ger t und Port Datei Bearbeiten Ger t Grafik Analysen Tools Ansicht Hilfe w hlen kanal 4 vorheriges Ger t n chstes Ger t Sar oTa 1 n Port schliessen keine Aufzeichnung Port ffnen keine Aufzeichnung MotPresen EJ Port ffnen Aufzeichnung up MotFailuref man i I Select the OpenFormat Device Einstellungen Ger teauswahl einschr nken HERKUL ES LogView vxx Gerat OpenFormat Herkules LoaView v22 Andreas Baier The comport must be set to a valid value and Bitte wahlen Sie das Gerat aus welches an Ihren Rechner angeschlossen ist then click Close Hersteller Andreas Baier Name Herkules IIl
61. es not accept voltages higher thant 5S 18V In case you want to drive a Mikrokopter System with more than 5S please refer to the separate description available on the internet Batterv Power Wires The Battery wires are already soldered by factory to the HERKULES III PCBs The users can trim the length and solder a Battery connector on the end of these wires It is not allowed to de solder the wires from the PCBs because due to the high thermal impedance the electronic components might be destroyed Motor connection Wires The 3 phase Motor connection wires are located at the outside of the PCBs The user has to solder carefully the motor wires or Motor connectors e g gold contact female connectors Important Note After soldering on the PCB check the board very carefully for solder bubbles or short circuits between electronic pins Do the first supply tests only on a current limited power supply and REMOVE the Propellers from the motors In case of unintended runaway of the motors there is a big risk of hazardous injury due to rotating systems www andreasbaier de Page 14 of 88 08 06 2014 Motor Status LEDs HERKULES III Connectors Functions and Features Version 0 30 4 2 Operation Modes and LED functions On the HERKULES III Powerboards are various LEDs indicating the status each ESC a The Internal Voltage Regulator LEDs GREEN and ORANGE b The ESC Motor Status LEDs BLUE c The Overcurrent Protection LEDs RED Figure
62. igure 11 HERKULES III Programming Tool with FTDI USB to TTL Adapter 26 Figure 12 HERKULES III Programming Tool with MK USB Adapter occcoccccoccccccnccccnconcnccncononnnnnonos 26 Figure 13 Finding out the ComPort of Programming Adapter ocooocccccnncoccncccnccnoncnncnconnncnnnonnnnnnnonos 27 Figure 14 Programming via Telemetry Interface cooocccoccccccnncccnccncnconnnonnnnnnnnonnnnnonnncnnnnnnnnnnnnnnnnnnss 32 Figure 15 Wiring of Bot Powerboard with flat ribbon cable oocccoccccoccccccnccncnococnconcnnnnnnnnnnnnnonos 34 Figure 16 Wiring of Top Powerboard with Telemetry Interface and Receiver 34 Figure 17 Example Connection Scheme HERKULES III with DJI Wookong M 35 Figure 18 Mapping Table Quadcopter with DJI Wookong ccooccccocncoccncoccncccnonncnconcnonaconnanonnnnnnnonos 36 Figure 19 Mapping Table Octocopter Flat DJI Wookong Variant 1 rrrnnnnnnnnnnnnnnnanennnnennnnnnnnnnn 37 Figure 20 Mapping Table Octocopter Flat DJI Wookong Variant 2 ooccccccncoccnconcncncnnnnonos 37 Figure 21 Mapping Table Octocopter Flat X DJI Wookong Variant 1 rrrnrennnnnnnnrnnnnrnnnnevnnnennnnnn 38 www andreasbaier de Page 5 of 88 08 06 2014 HERKULES III Introduction Version 0 30 Figure 22 Mapping Table Octocopter Flat X DJI Wookong Variant 2
63. ik Tabelle E Big Letter EJ Analoganzeige Kurvenvergleich Datensatz Kommentar 1 Menu Bar Top Left for setup load and save 2 Channel Selection You can choose here 1 of 6 channels delivered by the HERKULES Telemetry 3 Template Bar Load and save templates view types scaling of axes and personal adaptations www andreasbaier de Page 74 of 88 08 06 2014 HERKULES III Analyzing Telemetry Data with LogView Version 0 30 4 Measurement Value selection Select the displayed measurement values Install the HERKULES Template Files Now install the HERKULES Template Files into the OpenFormat folder of LogView LogView V2Z 7 5 E m Click on Tools open Devices Lats Bearbeiten Sser t Scabk Analyse Jools Ss re Click on Tools gt ffne Ger te b ime KT o AAA e e sane Kanal 1 de ib Edit Ger te Ini 7 nMotors FM MotPresentMask MotFailureMask M v BAT ffne Templates Desktop ffne Templates Grafik ffne Log Verzeichnis gn fa u d Fe d K 3 n Double Click and open the Folder OpenFormat AppData 7 Roaming 7 LogView Geraete Organisieren ffnen In Bibliothek aufnehmen Freigeber al Mame i CSV Import B e XeinGeraet jpg H AccuPower AP6OS ini AccuPower AP605 jpg and Copy the fil HERKULES LogView vxx ini from the GJ Jy 7 Roaming LogView Geraete OpenFormat HERKULES Setup Folder into h
64. le Cell Voltage Limit x10mv HoT Text s 216 v wear _ VBAT Alarm uimit 10v Tec only MES IBAT constant offset value B for not measured loads 10A 7 IBAT correction value in Values possible Enable Graupner Hott Displays Table 10 Futaba hticonf txt OFFSET Jeti Timeout Config 0 three Binary Messages default 15 Sensors active gt no Expander JETI EX only 1 2 Binary Messages 12 Sensors aktive gt with Expander default Content of hticonf txt 800 355 335 418 216 12 0 0 JETI Duplex Mode Selection of HoTT Sensors 03 IBAT correction factor 1 2A IBAT constant offset value 21 6V Battery Alarm threshold 4 18V 100 Single Cell Voltage threshold 3 35V 0 Single Cell Voltage threshold 3 55V Single Cell Alaram threshold 8000mAh Capacity Alarm threshold www andreasbaier de Page 70 of 88 08 06 2014 HERKULES III Telemetry Feedback Data Version 0 30 Edit User Configuration File hticonf txt Open the hticonf txt on the SD card and change the alarm values and correction factors as described below Description Byte 1 800 Capacity Alarm threshold x 10 in mAh If capacity is exceeded alarm is send from Telemetry System to Ground Station gt 1000 means 10 000mAh 220 means 2 200mAh 500 means 5 000mAh Byte 2 355 Lipo lowest cell voltage alarm threshold 100 in V If lowest cell voltage is lower than this alarm is send from Telemetry System to GND
65. le Cell Voltage Limit x10mv HoT Text 4 as 216 IBAT constant offset valuefor not measured load OFFSET IBAT correction value in Fe Values possible SENSOR gA Timeout Config 0 O three Binary Messages default 15S tive gt no E d JETI EX onl default ensors active gt no Expander only 1 2 Binary Messages 12 Sensors aktive gt with Expander E eie Graupner Hott Displays Description Byte 1 800 Capacity Alarm threshold x 10 in mAh If capacity is exceeded alarm is send from Telemetry System to Ground Station 1000 means 10 000mAh 220 means 2 200mAh gt 500 means 5 000mAh Byte 2 355 Lipo lowest cell voltage alarm threshold 100 in V If lowest cell voltage is lower than this alarm is send from Telemetry System to GND 355 means 3 55V gt 345 means 3 45V Byte 3 335 not relevant for JETI Telemetry Byte 4 418 not relevant for JETI Telemetry www andreasbaier de Page 61 of 88 08 06 2014 HERKULES III Telemetry Feedback Data Version 0 30 Byte 5 not relevant for JETI Telemetry Byte 6 12 Offset correction value of total current This value is added to the total battery current and can be used to estimate the not measured loads like LEDs Flight Control Gimbal in case of supplied via main battery gt 12 means 1 2A Byte 7 0 Gain correction value of total current Total battery current is multiplied by this value Ibat 1 Gain x Ibat power and can be used to esti
66. lect the bootsign of the target ESC AVRootloader B xi Select the one of the target Programming Protocol Device Information EEPROM Content SRAM Content ESC bootloaders in Sign which are ending with M01 to AVRootlo de MO4 or A to F Communication Parameter Baudrate 115200 Connect to device 01 q BLDCHK2v2M02 BLDCHK2v2M03 BLDCHK2v2M04 Options w Erase device during programming Open protocolwindow after processing Verify device after programming Software versioning Version 2 aj m fo m Verifymask on updates VW WITT ACY Info Program make Password Compile www andreasbaier de Page 28 of 88 08 06 2014 HERKULES III Step 3 and 4 Selecting the right file type ax Suchen in Go acy de t m FE h 2C AFWO DEG24 2C AFW1 DEG24 PPM Dateiname Abbrechen Zi Li ateitup software Update and Programming Version 0 30 Now click on the 3 dots button on the right and chose in the popping up file selection winde the file type to Encrypted Programming File acy Step 5 Selecting the desired files and the desired I2C Address x uten eS D eR E T ili HE ee zi AL APV O DEG 4 Nr at Il AL VE 4 BLDCHE2v2 I2C APFWD _DEG24 1409 acy Ej BLDCHK2v2 122 AFMDO DEG24 MIID acy feel BLDCHK2v2 122 AFMDO DEG24 MIl acy 4 BLOCHE242 IPC AFWWO DEG24 M12 acy
67. ll telemetry interface PCB or the HERKULES III Top cover plate is needed These contain a small microcontroller This controller reads data out periodically from the HERKULES III powerboards evaluates the data and translates this to a telemetry protocol The telemetry interface can be directly connected to a telemetry capable receiver and emulates a 35 party sensor When using using Mikrokopter as the flight control no additional hardware is necessary The telemetry data is directly read by the flight control an evaluated The transmission to the ground station can be done as usual with a connected receiver at the flight control HERKULES lil measures the following telemetry data e ESC single temperature The temperature of each single ESC max 16 e ESC single current The average current of each single ESC e Total Current summed up current of all ESCs battery current e Peak Current Highest battery current during flight e Peak Temperature Highest temperature on all HERKULES III ESCs e ESC with highest Temp Number of single ESC with highest Temp e Average Current Total battery average current e Cumulated Charge Battery consumption in mAh e Battery Voltage Total battery voltage e Motor Runtime Total runtime since motor start e Altitude Actual height above starting point www andreasbaier de Page 50 of 88 08 06 2014 HERKULES III Telemetry Feedback Data Version 0 30 7 1 Graupner HoTT Telemetry If activated in the trans
68. lose to the white connector from the solder pad COM c Now solder the open wire cable to the central solder pad called SB II d The finished installation should look like shown in picture above 7 3 4 Register Process of HERKULES lll Sensors Futaba Sensors have to be registered once on a telemetry capable transmitter e g Futaba T14SG or Futaba Telemetry Box After registering the alarm thresholds have to be set either in the transmitter or telemetry box or on hticonf txt on the HERKULES III Datalogger SD Card Note This registration process has to be repeated completely if the register process has failed or the sensors have been deleted a Copy all telemetry files to the SD Card b Activate the register flag in the file setup hti on the Micro SD card c put the Micro SD card to the Datalogger and power on d Register 8 sensors in Transmitter Step 1 Delete from the root directory of your MicroSD Card the files all as follows FileName Description o setup hti Dont change or delete this file except described HTI25 FUTABA xxx bin jNew Firmware File to be updated MELON bs User Configuration File See description below with the attached USB Card reader or SD Adapter for the Micro SD card www andreasbaier de Page 67 of 88 08 06 2014 HERKULES III Telemetry Feedback Data Version 0 30 Open the file setup hti with a text editor and activate the Register Flag in the setup hti Change the next to l
69. mate the not measured loads like LEDs Flight Control Gimbal in case of supplied via main battery gt 4 means 4 Byte 8 31 not relevant for JETI Telemetry Byte 9 1 No of send parameter in Jeti Duplex only relevant for Jeti Duplex 1 12 parameters active default 0 15 parameters active may cause timeout with expander Select 0 only when using NO JETI Expander Otherwise the number of values would cause timeouts in Data transmission 4 Put the SD card back to the HERKULES Ill Datalogger Power on the HERKULES III and the firmware upgrade starts automatically During update process the RED LED on the Datalogger blinks for about 15sec In case the already installed firmware is the same on the SD Card no update is done and the Datalogger starts working immediately www andreasbaier de Page 62 of 88 08 06 2014 HERKULES lll Telemetry Feedback Data 7 2 2 JETI Text Mode JETI Box Welcome Screen 0 Overview Screen 1 Line 1 Volt Current Watt Line 2 mAh Temp Hottest ESC Overview Screen 2 Line 1 Volt Current Watt Line mAh Motor Runtime Overview Screen 3 Line 1 Volt Current Altitude Line 2 mAh Temp Hottest ESC Overview Screen 4 Line 1 Volt Current Altitude Line 2 mAh Runtime www andreasbaier de Page 63 of 88 Version 0 30 08 06 2014 HERKULES III Telemetrv Feedback Data Version 0 30 Screen 5 Motor Status Line 1 Status Motor 1 4 Line 2 Status Motor 5
70. mitter menu HERKULES III sends the display for EAM Electrical Air Module The general setup and software update procedure is described in Chapter 5 7 Update Procedure TELEMETRY Interface on page 32 7 1 1 Setup Sequence In order to install the target Telemetry System on the Datalogger the correct files have to be copied from the Firmwares folder to the root folder of the MicroSD Card 1 Delete from the root direction of your MicroSD Card the files setup hti ATDZ gt xxx DL RELCOAE EXT 2 Copy from the subfolder Firmwares from any of the target Telemetry Systems subfolders e g HOTT vxx the 3 files to the Root folder the Micro SD card NOTE copy the Files from the folder only NOT the Folder itself The root must contain then 3 files File Name Description setup hti Dont change or delete this filel HTI25 JETI xxx bin New Firmware File to be updated eige Geer GE User Configuration File See description below www andreasbaier de Page 51 of 88 08 06 2014 HERKULES III Telemetry Feedback Data Version 0 30 4 Edit User Configuration File hticonf txt Open the hticonf txt on the SD card and change the alarm values and correction factors as described below Content of hticonf txt 800 355 335 418 216 12 0 0 IJETI Duplex Mode Selection of HoTT Sensors US IBAT Correction factor 1 2A IBAT constant offset value 21 6V Battery Alarm threshold 4 18V 100 Single Cell Voltag
71. n page 86 the motor refuses to start Only when the setpoint value comes back below the Motor Off Detection Time the ESC is initialized and enables a motor start when it is required by the motor setpoint This feature avoids a motor runaway after power on in case of the motor setpoint is unintentional high e g by open wires or the flight control is not working correctly www andreasbaier de Page 17 of 88 08 06 2014 HERKULES III Connectors Functions and Features Version 0 30 4 4 The PPM I2C Breakout Board The PPM breakout board is a small interface which simplifies the connection of servo patch cables to the flat ribbon cable Note This interface is only necessary in case of using PPM controls like DJI Wookong lt is NOT needed in case of using Mikrokopter Flight Control Figure 6 PPM Breakout Board Micromatch to TOP Herkules PPM1 4 PPM D da Signal PPM A 5V not used u Ground PPM Input 1 8 PPM_D PPM_C PPM_B PPM_A Micromatch to BOT Herkules PPM5 8 The connection between PPM breakout board and HERKULES III ESCs is done with a flat ribbon cable with pressed red Micromatch connectors lf the red connector does not fit correctly on the breakout board cut the small Nose from the connector The length of the flat ribbon cables should as short as possible to reduce in coupling of magnetic distortions to the control signals The connection to the Flight Control should be done with short servo patch ca
72. nuously being improved each hardware revision works only with its dedicated firmware By using coded boot signs it is only possible to program the matching firmware to the hardware Available Hardware Revisions HERKULES III v2 BLDCHK3v2_A H HERKULES III v3 BLDCHK3v3_A H Same Bootloader for v3 and v4 HERKULES III v4 HERKULES III v5 BLDCHK3v5a A H HERKULES III 12S Variant www andreasbaier de Page 21 of 88 08 06 2014 HERKULES Ill Software Update and Programming Version 0 30 5 3 Selecting the Firmware and Control Modes Depending on the use case and type of flight control the user has to choose from the attached programming files the correct one with the best fitting features for his system setup Depending on motor battery voltage propeller and type of flight control the Herkules lll must be programmed with the right files Bootloader Mapping Each ESC on the HERKULES III powerboard has its unique Bootloader Address Bootsign The motor channels are numbered with A B C D on each quad PCB If the 2 PCBs are mounted on a single cooling plate TOP and BOT like shown in the picture below even the TOP and BOT PCBs have different Bootsigns 7 S NT b lt As the bottom HERKULES lll is mounted flipped across the B D axis A C exchanged the motor addresses have to be set accordingly The top board has the bootsigns written in superscript A B C D and the bottom board has the bootsigns written in s
73. o be copied from the Firmwares folder to the root folder of the MicroSD Card 1 Delete from the root directory of your MicroSD Card these files Setup hti Hobo z x ben hint 2 Copy these 3 files from the subfolder Firmwares from any of the target system s subfolders e g JETI vxx the 3 files to the Root folder of the Micro SD card NOTE copy the Files from the folder only NOT the Folder itself The root must contain these 3 files FileName Descripti n_ oo setup hti Dont change or delete this filel HIS JETI sos bin New Firmware File to be updated hticonfetxt User Configuration File See description below www andreasbaier de Page 60 of 88 08 06 2014 HERKULES III Telemetry Feedback Data Version 0 30 4 Edit User Configuration File hticonf txt Open the hticonf txt on the SD card and change the alarm values and correction factors as described below Content of hticonf txt 800 355 335 418 216 12 0 0 IJETI Duplex Mode Selection of HoTT Sensors US IBAT Correction factor 1 2A IBAT constant offset value 21 6V Battery Alarm threshold 4 18V 100 Single Cell Voltage threshold 3 35V 0 Single Cell Voltage threshold 3 55V Single Cell Alaram threshold 8000mAh Capacity Alarm threshold Byte Value example Unt Deseription system 1 800 mAh Capacity mAh Alarm Limit x10mah M 2 ass v ev single Cell Voltage Alarm Limit 20m lal 3 sas v cvo 0 Sing
74. o make the alarm from the transmitter only disable the LCV alarm value by writing a value e g 100 1 00V to the hticonf txt This will disable the alarms by HERKULES III Enable the LCV alarm in the transmitter e g lt 3 6V Now set in the transmitter a capacity threshold e g lt 3 55V Capacity mAh A capacity alarm can be generated either by HERKULES III Telemetry or the Futaba Transmitter a Alarm by HERKULES III Telemetry Set the mAh Alarm value in the file hticonf txt on the Micro SD Card to an alarm value e g 800 will send mAh alarm when capacity exceeds 8000mAh In case of alarm HERKULES III Telemetry negates the capacity value e g to 8000mAh and sends an alarm for 6 seconds The alarm is repeated every 20sec until motors are stopped b Alarm by Futaba Transmitter If you want to make the alarm threshold from the transmitter only disable mAh alarm value in by writing a value e g 10000 100000mAh to the hticonfig txt which will never be reached This will disable the alarms by HERKULES Ill Now enable the mAh alarm in the transmitter by writing e g gt 8000mAh threshold 7 3 7 Summary We have to apologize for this uncomfortable way to register Futaba sensors But this is related to the very strange telemetry concept of Futaba and it is beyond our control Other systems are more straight forward and are more user friendly www andreasbaier de Page 72 of 88 08 06 2014 HERKULES III Telemetry Feedback Dat
75. of the Coaxial Setup it is possible to reduce the motor setpoint values ofthe TOP Motors by 5 10 This increases the overall efficiency and improves flight time The exact value depends on the used motors propellers and average thrust of each motor So the user must find the optimum value for each system separately Please refer to the Flight Control Manual for more information according mixer table setup www andreasbaier de Page 47 of 88 08 06 2014 HERKULES III Application Examples Version 0 30 6 2 8 Hexacopter Flat with Mikrokopter Variant 1 Figure 39 Mapping Table Hexacopter Flat Mikrokopter Variant 1 FRONT Herkules Quad ESC TOP Herkules Quad ESC BOT flipped B BLDCHK B Backteft MOS c Block c Be Block D BLDCHK D Back Right M03 6 2 9 Hexacopter Flat with Mikrokopter Variant 2 Figure 40 Mapping Table Hexacopter Flat Mikrokopter Variant 2 Herkules Quad ESC TOP Herkules Quad ESC BOT flipped BLDCHK A Front Left BLDCHK E Back Right M03 B BLDCHK B Backleft M05 c Block c cg Boc e D BLDCHK D Front Right Mo2 www andreasbaier de Page 48 of 88 08 06 2014 HERKULES III Application Examples Version 0 30 6 2 10Hexacopter Flat X with Mikrokopter Variant 1 Figure 41 Mapping Table Hexacopter Flat X Mikrokopter Variant 1 ee
76. ogramming Tool AVRootloader exe Use this A application to update the firmware AVRootloader ini Bootloader INI File Don t change or delete this file Typ INI Datei Versioninfo txt Version and change information of the current firmware www andreasbaier de Page 25 of 88 08 06 2014 HERKULES I Software Update and Programming Version 0 30 5 5 The Programming Adapter To program the HERKULES Ill ESCs a simple USB to Serial converter is needed which delivers the signals RxD TxD and GND The fastest and easiest way is to use the original HERKULES III USB to HERKULES III ProgTool This converter has a fitting Micromatch connector for the HERKULES III Boards and it can be used directly to program and update the firmware or all components Figure 10 HERKULES III Programming Adapter Self made programming tool As the programming interface is a standard serial any self made programming tool could be used For this the I2C pins have to be mapped to RxD and TxD e Connect PIN I2C SCL to USB RxD e Connect Pin IZC SDA to USB TxD e Connect GND to the serial interface Figure 11 HERKULES III Programming Tool with FTDI USB to TTL Adapter FTDI USB to TTL Adapter Herkules Powerboard or Telmetry Interface www andreasbaier de Figure 12 HERKULES III Programming Tool with MK USB Adapter Herkules Powerboard or Telemetry Interface MK USB to TTL Adapter www andreasbaier de The programming adapter can
77. olled via standard PPM signal or via serial communication An I2C Bus enables the user to read out a lot of telemetry data from the ESCs In general there are two different control modes possible with the HERKULES ESCs A 12C Control Mode Setpoint write via 12C Mikrokopter Standard This mode does all communication setpoint write and data read via I2C bus The Flight Control takes care of timing the write and read commands interprets the raw data from the HERKULES III ESCs and generates together with its own data a serial telemetry protocol which can be fed into a telemetry capable RC receiver Figure 46 Control Mode A I2C Control and Read L Herkules ESCs RC Receiver Flight Control MK Serial Output Serial Input SPPM1 8 Serial Input Telemetry Raw Data Read via IZC Bus Telemetry Data ESC Telemetry HoTT Duplex Serial Translation Interface B PPM Control Mode Setpoint write via PPM RC Standard This mode controls the Setpoint of each ESC with a dedicated PPM signal and reads the Data via 12C Bus An additional interface controller the HERKULES lll Telemetry Interface reads the data from each ESC via 12C Bus and translates it to a serial telemetry protocol which can be fed into to a telemetry capable RC receiver This mode bypasses the flight control and has the benefit of independence and flexibility The Telemetrv Interface Board provides additional interface connectors
78. pter or the external HERKULES lll Telemetry Interface For simple PPM control mode only ESCs don t need an I2C Address and can have the same PPM firmware on all ESCs The user can select any of 16 I2C addresses The detailed explanation of the available address range is described in Chapter I2C Address Range on page 83 5 3 6 Unused ESCs In case not all ESCs shall be used on the HERKULES III Powerboards e g using an Octo Board driving only six 6 motors for a Hexacopter then two ESCs are unused To avoid interaction of these unused channels with the used ones especially when using I2C control and telemetry feedback you have to program the unused channels with a dummy firmware Please program the unused channels with the firmware settings PPM AFW1 kHz16 ADV18 Please note to use the PPM no Telemetry and NOT the PPMT with Telemetry firmware Otherwise the unused channels will influence the I2C communication in I C mode and Telemetry mode 5 3 7 Changing Motor Rotational Direction To change the spin direction of a motor simply swap any two of the three motor wires It does not matter which ones you select but exchange only two HERKULES III does not support changing motor rotational direction by software www andreasbaier de Page 24 of 88 08 06 2014 HERKULES Ill Software Update and Programming Version 0 30 5 4 General Firmware Update Procedure The general software update process is the same for the HERKULES
79. r e Telemetry ON PPMT I2CT or OFF PPM I2C e Programming of IZC Addresses M01 M16 to each individual HERKULES ESC e Active Freewheeling ON AFW1 or OFF AFWO e PWM switching frequency FREQ 16kHz or 8kHz e Commutation Phase Advance ADV 12 18 or 24 Factory Settings at delivery The HERKULES III ESCs are delivered with a default configuration which is a good compromise for most of the currently available brushless motors for multicopters There should be little reason to modify these settings Modify the settings only if you know exactly that your motor performs better or you have troubles with commutation stability The effects of the different control modes are described in chapter Selecting the Firmware and Control Modes on page 22 Most of the common multicopter motors should run well with this setting e PPM PPM control mode active no Telemetry e AFW1 Active Freewheeling switched ON e kHz16 PWM switching frequency 16kHz e ADV18 Phase advance Timing 18 degrees e 2C ADDRESS no I2C address programmed because Telemetry is OFF If the user wants to change any of these parameters the appropriate firmware files have to be flashed into each microcontroller of the powerboard and the optional Telemetry Interface www andreasbaier de Page 20 of 88 08 06 2014 HERKULES III Software Update and Programming Version 0 30 5 2 Hardware Versions and Revisions As HERKULES III hardware and software is conti
80. r Installation you get the main window as described below LogView V2 7 5 Datei Bearbeiten Ger t Grafik Analysen Tools Ansicht Hilfe U l en el essen a Mel 3 255 emm Ej cm El Rl ERA A AAA Rr et p lt ork gt a gli Messkurve l e M e lia p Tir a Ger t und Port w hlen 5 Ger t Tg 0 000 100 o TIM IE er Pr U 9 500 95 f 5 Data Set Selection son 90 motas MM PMN 31 Ww i5ithannel posees 6 500 85 Hofreszn kek U GP 0 Se PORRA RR ES RE ES O MetralueMak af AO NL ovt vv ccc UD NNI UI IS IESUS IUIUS SENE 8 000 80 gg FE o pa xd Mu E x I doncc QUUM UC E 7 500 75 lar 7 000 70 AAA PR AMD E AAA AAA ARA AA 6 500 65 EE NE ai RN M 5 ODD 8n E 1 1 14 Measurement CLIE 5 E 1 5500 Eis E 5 gt zi 0 5 000 50 1 m a Sv aD cR Du QD QE A ME GEN E IN CDI i u a z 21 IM 4500 4 L45 5 i Di E O Bo a 40 RER ir Sin ei a 3 500 35 MT Baro Pressure 21 169 L 3 000 30 NTT Steigrate 1sec 144 04 UE OL A HC Steigrate 3sec 12 A AA AE See u Er 2 500 25 MI Lowest Battery Nu 10 A A 2 000 20 1 Lowest Cell Number 1 Mr owest Cell 1 8 1 500 15 O Lowest_Cell_Voltageg 6 EURE AN ane A ena A A A A II Nil Steigrate 10sec 4 NOM U 8 8 8 8 8 CD CD CD 8 amp i 2 EEE EO RE Ag 500 5 0 0 0 0 FER SE Pr Graf
81. rature otherwise noted No Description Symbol min typ max JUnit Comment DD 1 2Cbusspeed SPEEDRC 1 10 kHz s 4 2 Setpoint Resolution RES SP 2C 235 digit jdependingonF PWM 9 Setpoint update refe Want PER AREY san g abajo 200 msec 4 Setpoint timeout detection T TO I2C msec EP TO I2C has elapsed the threshold motor A 5 5 Setpoint update frequency F PER RC 2 450 Hz AE PE AO NO Mo stops Mia MU SEE lt gt aid Threshold starts kal Motor 1009 Threshold SD 288 Hn If setpoint gt VAL HI 100 Motor Dutvcvle 100 Table 13 12C Control Interface Specification The 1st byte BYTEO is the address byte with the R W BIT set to zero write The 2nd byte BYTE1 is the motor setpoint high byte It can have any value between 0 and 255d The 3rd byte BYTE2 is the motor setpoint low byte This byte is reserved for future usage Currently this byte has no function due to setpoint resolution is max 8 bit There is no need to send the Byte2 Communication behavior e The Setpoint is calculated by Setpoint Byte1 x 256 Byte2 e The Motor stops at a setpoint below VAL OFF 12C e The Motor starts running at value higher than VAL START 12C e he Max setpoint is VAL_100_12C If a value higher than this is sent the ESC goes from PWM mode to full power without current modulation www andreasbaier de Page 84 of 88 08 06 2014 HERKULES III Control Protocol and Communication Interf
82. stics on page 10 1 DO NOT CONNECT BATTERIES to THE BOARDs before having checked them for correct operation on a current limited power supply Never connect a battery without being sure that the installation has no short circuit Always test the electronics for the first time or after any programming or setup changes on a current limited power supply Vmax 24V Imax 3A 2 NEVER perform the first tests WITH PROPELLERS INSTALLED ON THE MOTORS REMOVE the propellers for safety 3 NEVER REMOVE ALL SCREWS at the SAME TIME III If you want to replace them remove carefully ONE of the screws and immediately replace it with the new one gt There is a precision fit cooling interface plate between the PCB and cooling plate and if it is not arranged perfectly you may create a short circuit in the electronics 4 Don t use metal screws to mount the HERKULES III Cooling plate on your frame If using the holes on the cooling plate use plastic screws case of hard landing or crash the frame is not damaging the HERKULES III ESC because the screws are breaking first Only in case of mounting the inner screws Mikrokopter dimensions use metal screws but be very careful not to misalign the boards 5 NEVER Try to re solder or remove the thick battery cables from the middle of the PCBs You will not manage it because the thermal impedance of the total system is very high and you need special equipment to be able to heat up the boards without destro
83. t be encrypt l Tes Herkules II v2 AR OxOO1BFC Bootloader information Application software versi Application version address Step 11 Repeat this for all Controllers www andreasbaier de Page 31 of 88 08 06 2014 HERKULES III Software Update and Programming Version 0 30 5 7 Update Procedure TELEMETRY Interface From the HERKULES III ProgTool Folder start the application AVRootloader exe The programming sequence for the Telemetry Interface is similar to the Powerboard s The only difference is the boot sign which has to be selected in the programming tool Figure 14 Programming via Telemetry Interface Tis M I iH When the USB to HERKULES lll ProgTool is connected to the Telemetry Interface both HERKULES III Powerboard s can be accessed and programmed without direct connection of the programmer to the HERKULES Boards The programming adapter can be connected directly on the HERKULES III powerboard or on any of the telemetry interface micromatch connectors Both Connectors on the Telemetry Interface are equally usable for programming the whole system Remember The supply of the Telemetry Interface boards is done from the HERKULES III powerboards therefore must be always one connection via flat ribbon cable to any of the HERKULES III powerboards connected In case of programming the HERKULES lll Boards via the Telemetry Interface it might be that the Bootloaders do not respond In
84. to high if motor is starting set to low if motor has stopped e F General Failure set to high if any failure is present e TO Timeout set to high if no setpoint update is detected and timeout period has elapsed e OT Over Temperature set to high if ESC threshold is higher than T OT LIMIT e OC Over Current set to high if Motor current is higher than OC DIS BYTE2 reads the actual average current from the addressed ESC HERKULES III measures internally the current with a resolution of 10bit BYTE3 reads the ESC temperature value HERKULES measures internally the temperature between 40 and 215 C BYTE4 and 5 is the battery voltage measured at the ESC HERKULES III measures internally from OV to 55V Byte 7 and 8 are the software Version Number Highbyte and Lowbyte Byte 9 is the Herkules Hardware ID www andreasbaier de Page 87 of 88 08 06 2014 HERKULES Ill Control Protocol and Communication Interface Version 0 30 Contact Information HERKULES III is developed manufactured and distributed by the following partners Manufacturing and Development Development Partners HerSi Electronic Development GmbH amp Co KG Roentgenstr 1 93055 Regensburg Germany web www hersi de DeltaBytes Elektronik Andreas Baier Himmelreich 12 96361 Stenbach am Wald Germany web www andreasbaier de Distributors and Technical Support ea GLose FLIGHT VUVAVA NAAA AR T 4454544344 44 E Or Tem so k
85. try system Please refer on chapter Telemetry Feedback Data on page 50 for detailed information www andreasbaier de Page 33 of 88 08 06 2014 HERKULES III Application Examples Version 0 30 6 Application Examples 6 1 Setup with DJI Wookong PPM Control 6 1 1 Pictures Figure 15 Wiring of Bot Powerboard with flat ribbon cable Remember to put the Telemetry Interface into the attached shrink tube to protect it from short circuits and to secure fix the Molex connectors to the board The next pictures show the overview of wiring all parts together Figure 16 Wiring of Top Powerboard with Telemetry Interface and Receiver www andreasbaier de Page 34 of 88 08 06 2014 HERKULES lll Application Examples Version 0 30 Figure 17 Example Connection Scheme HERKULES III with DJI Wookong M HERKULES III with DJI Wookong M Last update 26 August 2013 3 pin RC Receiver Servo Patch PPM Output see AppNote AILERON ELEVATOR THROTTLE RUDDER CH5 RC Receiver SPPM Serial Output SPPM1 8 LS Serial Input COMPASS VBAT VBAT VBAT VBAT www andreasbaler de Motor Arranging H3 Powerboard TOP see AppNote Motor A VBAT PHASE A I2C SCL PHASE B I2C SDA PHASE C n u GND Molex SIDNJO R 01 Micromatch I2C SCL I2C SDA I2C VAUX PPM1 PPM2 I2C SCL PPM3 Flat Ribbon Cable WKM Main Controller H3 Telemetry Interface 3row Pin
86. ubscript e f g h which are linked on the physical A B C D ESCs on the bottom board Figure 9 Bootloader Signs in different Mounting Options Quadro Hexa Okto lt single gt lt Top Bot gt lt Top Bot gt EDIDI og wa PIT Herkules Herkules Herkules Herkules SIDE SEJT lt TOP gt lt BOT gt QUADRO HEXA OCTO B BLDCHK B B BLDCH B B BLDCHK B D BLDCHK D D BLDCHK D D BLDCHE D Note If you can t connect the BOT Board with E F G H then use A B C D also on the BOT The first delivered HERKULES Octo Versions had the same Bootsigns for TOP and BOT www andreasbaier de Page 22 of 88 08 06 2014 HERKULES III Software Update and Programming Version 0 30 5 3 1 Control Mode PPM or 12C Depending on the needs of the used Flight Control the right control protocol must be selected e PPM Pulse Pause or Pulse Position Modulation Is a standard RC control protocol for Servo interfaces Most common standard in RC systems Parallel Control of each ESC individually via a separate Control line or Servo connector The Motor Setpoint is modulated with the pulse width of the control signals Two variants of this protocols can be found in the programming files a PPM standard protocol without Telemetry feedback b PPMT PPM protocol with Telemetry feedback via I2C Bus Specification details on PPM Mode see in chapter PPM Mode Setpoint Write via PPM and Data Read via I2C on page 86
87. vant for single cell sensor in Graupner Text Mode gt 418 means 4 18V Byte 5 not relevant for Graupner Telemetry Byte 6 12 Offset correction value of total current This value is added to the total battery current and can be used to estimate the not measured loads like LEDs Flight Control Gimbal in case of supplied via main battery gt 12 means 1 2A Byte 7 0 Gain correction value of total current Total battery current is multiplied by this value Ibat 1 Gain x Ibat power and can be used to estimate the not measured loads like LEDs Flight Control Gimbal in case of supplied via main battery gt 4 means 4 www andreasbaier de Page 53 of 88 08 06 2014 HERKULES Ill Telemetry Feedback Data Version 0 30 Byte 8 31 Selection of Graupner HoTT Binary Display data only relevant for Graupner HoTTI Select with this number how many Graupner Sensors you want to display Note Default Value is 31 so all sensors will be send 7 4 e VARIO V ARIO VARIO px Le Le Lx NEN ES C c c C GPS FAMandGAMenabled 23 GPS EAM GAM ESC GPS EAM GAM and ESC enabled 24 GPS VARO GPSandVARlOenabled 235 GPS varo ESC GPS VARIOandESCenabled 26 GPS varo GAM GPS VARIOandGAMenabled 27 GPS VARIO GAM ESC GPS VARIO GAMand ESC enabled 28 GPS VARIO EAM GPS VARIOandEAMenabled
88. y on and the motor has startup and running problems the system wiring and components should be checked carefully www andreasbaier de Page 15 of 88 08 06 2014 HERKULES III Connectors Functions and Features Version 0 30 4 3 Protection and Diagnosis Modes Each Individual ESC is protected against various failures Each protection event is detected stored and transmitted to the telemetry interface or saved on the MicroSD card of the Telemetry interface The following protection mechanisms are implemented e Overvoltage Protection e Overtemperature Protection e Overcurrent Protection e Control Signal Timeout e Motor Stall Detection e Setpoint Monitoring The reaction of each ESC in case of detected Failure mode is described below 4 3 1 Overvoltage Protection The battery voltage is monitored and reported in the telemetry feedback data In case it is higher than the V OV LMT see Table 3 on page 11 the ESC refuses to start This value is only checked after first power on and only in case the ESCs had not been started If a voltage increase higher than V OV LMT happens during runtime the ESCs are NOT switched off 4 3 2 Overtemperature Protection The temperature of each individual ESC is monitored and reported in the telemetry feedback data The over temperature protection has two detection thresholds a V OT LMT Power limitation to 50 b V_OT_OFF Complete ESC switch off In case the temperature is higher than the T OT LMT
89. ying the electronics 6 Only solder on the END of the wires NEVER solder on the PCBs directly The only permitted exception are the MOTOR wires If they are not soldered by the factory you can solder them but be very careful and check with magnifying glasses to make sure there are no a solder balls or wire fragments on the PCB after soldering 7 Don t use any protective paint or lacquer for protecting the electronics The electronics may be destroyed by these materials The warranty shall be voided by the use of such coatings Please be aware that you are operating a 250A power system which demands complete respect and care during handling setup and operation www andreasbaier de Page 8 of 88 08 06 2014 HERKULES III Dimension and Mechanics Version 0 30 2 Dimension and Mechanics 2 1 Cooling Plate XL 150x150mm DIMENSIONS IN MM 2 2 Cooling Plate L 100x100m LIEGI A y 1 DIMENSIONS IN MM www andreasbaier de Page 9 of 88 08 06 2014 HERKULES III Electrical Characteristics Version 0 30 3 Electrical Characteristics 3 1 Range of Functionality The following parameters must not exceeded all parameters are valid for 25 C ambient See SE CE otherwise noted No Description Symbol typ max JUnit Comment gt tens um fee Temperature eee Lom rai eee E Battery Supply Voltage

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