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Anyleaf Mercury-H7 Flight Controller
General Description
The Mercury-H7 is a flight controller (FC) designed for small, manually-controlled quadcopters and
fixed-wing aircraft. It can be mounted into frames that include 30.5×30.5mm square mounting
patterns that fit M3 (3mm diameter) screws respectively. It includes a STMH743 microcontroller,
and is compatible with ArduPilot, Betaflight, Px4, and iNav.
Mercury is designed to be connected to motors via a DSHOT-capable Electronic Speed Controller
(ESC), and a digital video transmitter (eg DJI, HDZero, Walksnail etc). It can also be connected to
an external Global Navigation Satellite System (GNSS) such as GPS, a magnetometer, and other
sensors. The FC provides JST SH and GH connectors for this purpose. Additionally, there are
labeled solder pads on the bottom of the flight controller than may be used in lieu of these
connectors. Sections below provide details on connecting to these systems.
Mercury is DroneCAN capable, and plug and play with DroneCAN systems; it includes an onboard
tranceiver capable for CAN-FD frames at up to 5Mbps.
Mercury is designed to be used with digital video systems only: It provides no analog on-screen-
display functionality.
Mercury includes a full ExpressLRS (ELRS) control receiver radio, with a dedicated microcontroller
that runs official ELRS firmware. This can be used for control data only, telemetry only, or control
data and telemetry combined.
Important: Do not use Mercury with a battery voltage higher than 26V. This means, no
more than a 6S (3.7v LiPo) battery. In order to be used with DJI or HDZero Vtx systems, use no
smaller than a 3S battery. This means the battery cell count must be between 3S and 6S.
Specifications
Dimensions: 37.5×37.5×8 (height) mm
•
Weight: 8 grams
•
Mounting holes: M3 (3mm diameter). 30.5mm × 30.5mm, square pattern
•
Power: 6V– 26V (2-6S LiPo. Digital Vtxes require 7V, so use a 3-6S LiPo)
•
MCU: STM32H743. 170Mhz Cortex-M7, 2Mbyte internal flash, 768kb SRAM
•
Inertial Measurement Unit (IMU): TDK ICM-42688p, with dedicated crystal
•
Barometer (pressure altimeter): Infineon DPS-310
•
Page 1 / 10
February 2024
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Summary of Contents for AnyLeaf Mercury-H7
- Page 1 February 2024 General Description The Mercury-H7 is a flight controller (FC) designed for small, manually-controlled quadcopters and fixed-wing aircraft. It can be mounted into frames that include 30.5×30.5mm square mounting patterns that fit M3 (3mm diameter) screws respectively. It includes a STMH743 microcontroller, and is compatible with ArduPilot, Betaflight, Px4, and iNav.
- Page 2 Storage: 64Mbit “black box” flash: W25Q64 • Power and flashing: USB-C (DFU), and SWD • ESC pin header: JST SH, 1mm pitch, 8 pins (Betaflight layout) • Ditital Vtx / cam pin header: JST SH, 1mm pitch, 6 pins, (DJI layout) •...
- Page 3 - Motors 1-4. This is used to send motor power commands via DSHOT from the FC to the ESC, and for the ESC to send RPM measurements to the FC. - ESC telemetry. This provides data from the ESC to the flight controller over a UART channel. It is connected to the UART3 Rx line on Mercury.
- Page 4 Mercury is compatible with ELRS transmitters using no external hardware. If you wish to use an external radio receiver, connect the receiver to Mercury using a groundwire soldered to a ground pad, a power wire connected to a power +5V pad, and a UART Tx/Rx pair. (Only Rx is required for normal operation).
- Page 5 If you wish to use the onboard radio for both control data and telemetry, you must use the (In beta) ELRS MavLink functionality. To do so, configure Ardupilot as follows: SERIAL5_PROTOCOL 2 # Mavlink SERIAL5_BAUD 460 SERIAL5_OPTIONS 0 # Remove ELRS 420k baud RSSI_TYPE 5 # Mavlink In the GCS, set baud to 460kpbs.
- Page 6 By default, the receiver is set up in manual bind mode. After power is applied, the status LED will blink orange, indicating it is ready to bind. To bind from this mode, activate the Bind feature using your transmitter’s ELRS LUA script. For automatic binding, set up a binding phrase shared by the transmitter and receiver.
- Page 7 - Connect the FC to a PC that has the Betaflight Configurator installed. - Using the tab at the top, select Flash firmware. - Select AnyLeaf Mercury H7 flight controller from the list. - At the bottom of the screen, select Load online.
- Page 8 An example Betaflight OSD config with DJI Vista or Air Unit is shown below. This is an example of useful information to display given its limited set of OSD features. If using DJI O3 or HDZero, you may have be able to select more options. (Many options you select will simply fail to show on the goggles when using Vista or Air Unit).
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Page 9: Can Support
CAN support This flight controller supports DroneCAN peripherals, with up to 5Mbps connections. Note that Betaflight and iNav do not support CAN; ArduPilot and PX4 do. It includes a 120Ω resistor bridging the CAN high and low lines. It uses a standard DroneCAN 4-pin JST-GH port. Common CAN peripherals included integrated GPS + magnetometers, motors, servos, and sensors. - Page 10 Note that there are no exposed SPI pads; both SPI lines are used by FC peripherals (IMU and flash storage). Support If you have any questions, or support requests, contact us by email: anyleaf@anyleaf.org. © 2024 AnyLeaf LLC Page 10 / 10...
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