Advertisement
Quick Links
Anyleaf Mercury-G4 Flight Controller
General Description
The Mercury-G4 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 or 20×20mm
square mounting patterns that fit M3 (3mm diameter) or (M2 (2mm diameter) screws
respectively. It includes a STM32G473 microcontroller preinstalled with Betaflight firmware. iNav
support is coming soon. To work with fixed-wing aircraft (or any use with servos), Mercury G4
requires an external 5V voltage regulator (aka BEC).
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 top of the flight controller than may be used in lieu of these
connectors. Sections below provide details on connecting to these systems.
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.
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: 34×34×6 (height) mm
•
Weight: 14 grams
•
Mounting holes: M3 (3mm diameter). 30.5mm × 30.5mm, and 20mm × 20mm square
•
patterns
Power: 6V– 26V (2-6S LiPo. Digital Vtxes require 7V, so use a 3-6S LiPo)
•
MCU: STM32G473. 170Mhz Cortex-M4, 512Kbyte internal flash, 128kb SRAM
•
Inertial Measurement Unit (IMU): TDK ICM-42688p
•
Barometer (pressure altimeter): Infineon DPS-310
•
Storage: 16Mbit "black box" flash: W25Q16
•
Page 1 / 10
February 2024
Advertisement
Related Manuals for AnyLeaf Mercury-G4
Summary of Contents for AnyLeaf Mercury-G4
- Page 1 February 2024 General Description The Mercury-G4 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 or 20×20mm square mounting patterns that fit M3 (3mm diameter) or (M2 (2mm diameter) screws respectively.
- Page 2 Power and flashing: USB-C (DFU), and SWD • ESC pin header: JST GH, 1.25mm pitch, 8 pins (Diatone layout) • Ditital Vtx / cam pin header: JST SH, 1mm pitch, 6 pins, (DJI layout) • Free UART connections: 3. (UART2 and UART4 are dedicated to ELRS Rx and digital OSD •...
- Page 3 - Motors 1-4. (white) 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. (blue) This provides data from the ESC to the flight controller over a UART channel.
- Page 4 Mercury comes with 2 Btx connection wire assemblies: One for use with DJI digital (eg DJI O3), and one that has bare wires, for soldering to pads. Connecting to an external radio receiver 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.
- Page 5 LED Indication Status on/off Double blink then pause Binding mode enabled Connected to transmitter but mismatched model- Triple blink then pause match configuration Connected to a transmitter, or bootloader mode Solid on enabled These rates and protocols are selected on the transmitter, in its ELRS settings. (Eg SYS button, Tools tab, ExpressLRS LUA, on Radiomaster controllers.) Note that FLRC provides lower latency, while LoRa provides longer range.
- Page 6 - Connect the FC to a PC that has the Betaflight Configurator installed. - Using the tab at the top, select Flash firmware. - Select AnyLeaf Mercury G4 flight controller from the list. - At the bottom of the screen, select Load online.
- Page 7 Note that this configuration automatically configures the ELRS radio, and the digital display OSD on UART2. To connect to an external radio receiver, configure manually using the Ports and Radio tabs. The default Betaflight config configures Mercury G4 to use a 4kHz PID loop, and DSHOT 600 (600kHz).
- 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).
-
Page 9: Power Delivery
Power delivery Mercury G4 has 5V and 3.3V power lines exposed. The 5V line supports 1.2A of current. The 5V and 3.3V lines may be used with external hardware, like GPS and time-of-flight sensors. Note that the current capacity on the 5v line isn’t high enough for most servos; if you wish to use this FC with more than one servo (eg fixed-wing aircraft), an external regulator (BEC) is required. - 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...
Need help?
Do you have a question about the Mercury-G4 and is the answer not in the manual?
Questions and answers