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GND
VIN 7805
VOUT
C3 100uF
100uH
C4 100uF
VIN
GND
2 1
J1
2 1
VCC_12V Pwr In J2
VCC_12V 1
U1
VCC_5V 3
L1
BLDC PWR1 J3 2 1
U2 TLV1117
BLDC PWR2 J5 2 1 Four screw terminals to distribute power to BLDC ESC's. VCC_5V C11 VCC_5V BLDC PWR4 R4 10K D1 DIODE J7 GND CTS VCC TXD RXD RTS 1 2 3 4 5 6 GND 1 C14 100nF RESET# 4 SW1 C13 18pF Y1 20MHz C15 18pF RXD0 TXD0 2 5 3 TCK TMS TDO TDI RESET# DIO0 DIO1 DIO2 DIO3 RTS DIO5 NC ON CTS DIO4 20 19 18 17 16 15 14 13 12 11 C16 100nF MOSI MISO SCK 9 10 21 22 23 24 4 1 2 3 19 20 R10 R11 3.3K 3.3K 11 12 PD0/(RXD0) PD1/(TXD0) PC2/(TCK) PC3/(TMS) PC4/(TDO) PC5/(TDI) RESET PB5/(MOSI) PB6(MISO) PB7/(SCK) PC0/(SCL) PC1/(SDA) PD2/(RXD1/INT0) PD3/(TXD1/INT1) ATMega644P U3 PB3/(OC0A/AIN1) PB4/(OC0B/SS) PD7/(OC2A) PD6/(OC2B/ICP) PB2/(INT2/AIN0) PB0/(XCK0/T0) PD5/(OC1A) PC7/(TOSC2) PD4/(XCK1/OC1B) PC6/(TOSC1) PB1/(CLK0/T1) 43 44 16 15 42 40 14 26 13 25 41 RX1 RX2 RX3 RX4 7 8 XTAL2 XTAL1 4.7uF 4.7uF 4.7uF 5 17 38 27 29 C8 4.7uF C9 4.7uF C10 4.7uF C12 C33 VCCA_5V VCC_5V VCC_3.3 BLDC PWR3 J6 2 1 C7 4.7uF R27 3.3K VCC_12V R2 2 pole RC filter, to filter out noise of motors from affecting sensor signals. 1 2 Sonar 3
10K R3
37 36 35 34 33 32 31 30
AVCC
AREF
10K
R25 3.3K
VCC_5V VCC_5V 1 3 5 J9 2 4 6
FTDI Cable VCC_3.3 R7 R8 10K 10K 1 2 3 4 5 6 7 8 9 10 J10 VCC Dout Din DIO8 RESET RSSI DIO11 NC DTR GND
ESC1&2
Auto-Zero 2 4 6 J12 1 3 5
B
Xbee module
B
6 18 28 39
1 2 3 4 5 6 7 8
D3 LED
1 3 5 7 9
J19 JTAG
2 4 6 8 10
VCC_5V
A
2 4 6
J20
1 3 5
2 4 6
J21
1 3 5
RX1 Title Quadrotor Board : Processor Sheet Size Date: Document Number Monday, June 01, 2009
2
RX Ch 1&2
RX Ch 3&4
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VCC_3.3 1 GND 2 3 4 5 6 7 8
J23 J22 VCC GND Xaxis Yaxis Zaxis GS1 GS2 SLEEP MMA7260Q-brk VCCA_5V C18 4.7uF U5 7 Jumper-3p IN 8 2 1 C21 TLC04 1uF R16 33.8K Jumper-3p J25
VCC_3.3 1 2 3 4 5 6 7 8 9
J24 VCC Xout X4.5out Yout Y4.5out Vref Ptats AZ GND IDG500-brk
VCC+
5 6 C20 4.7uF
VCC+
IN
5 6 C19 4.7uF
CLKR CLKIN
3 4
VCC_3.3 1uF
VCC+
VCC+
IN
U7
U6
IN
8
C
2 1 C27 1uF
R20 33.8K
3 4
3 4
1uF
VCC_3.3 J26 U9 IN 8 2 1 R23 33.8K C31 TLC04 1uF 5 6 C30 4.7uF OUT AGND LS Vcc5 4 3 2 1 R24 33.8K C32 TLC04 1uF VCC33 GND Out PD ST LISY300AL-brk 1 7
VCC+
VCC+
IN
8 2
5 6 C29 4.7uF
CLKR CLKIN
CLKR CLKIN
3 4
Current measurement is optional. The way it is routed on the board, it need not be populated for normal operation of the board. To use current measurement feature, cut open the trace between pins 2 and 3. U10
A
Butterworth 4 pole filter. Cutoff frequency is currently set to 50Hz. Change R24, C39 to change cut off frequency. VCC_5V C35 4.7uF 1 HEADER 1 C34 CAP NP J28 Title Quadrotor Board : Sensor Sheet Size Date: Document Number <Doc> Sunday, May 31, 2009
2
Mount the break out boards flat and touching the PCB boards. This will reduce any mechanical vibration and provide cleaner signals.
A
1 2 3 4
8 7 6 5
ACS713
3 4
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