HardLabs

PID Board

AaronDoubert·quadcopter-pid-boards·PID_Board/PID_Board.kicad_pcb

PID Board layout, top view — open source AVR/Arduino board by AaronDoubert

About the PID Board

PID Board is an open source AVR/Arduino PCB design by AaronDoubert, published on GitHub. It is a 2-layer board measuring 250 × 100 mm, with 218 components from 65 distinct parts.

Its main chip is the ATtiny1614-SS, from the AVR/Arduino family. Other key parts include the 74HC138, MCP4822, CD4066BE, Pololu D24V5F5 and MCP6004. By type, the board carries 83 resistors, 45 capacitors, 32 test points, 18 ICs, 13 diodes and 6 connectors.

It belongs with the robotics & motion designs in this gallery.

From the project

Analog PID controller boards (roll / pitch / yaw + reference) for a quadcopter, designed in KiCad 10.

Analog PID controller boards (roll / pitch / yaw + reference) for a quadcopter, designed in KiCad 10.

Each board folder contains the KiCad project, Gerbers (fab/), and renders. PIDBoardSMT/ also has the schematic PDF, notes, and build scripts. sim/ holds the MATLAB roll-axis model and sweeps.

PID Board, from the project README
From the project README

Main components on the PID Board

ATtiny1614-SS74HC138MCP4822CD4066BEPololu D24V5F5MCP6004TL431ACLPG

PID Board bill of materials (BOM)

218 components, 65 distinct parts — part numbers from the project's BOM.

QtyPartRefs
2
ATtiny1614-SS
U1, U3
1
74HC138
U2
5
MCP4822
U4, U5, U6, U7, U8
1
CD4066BE
U9
1
Pololu D24V5F5
U10
7
MCP6004
U101, U201, U202, U301, U302, U401, U402
1
TL431ACLPG
U102
3
2N7000
Q1, Q2, Q3
1
Axis_Mon
J1
1
IMU_GY521
J2
1
UPDI
J4
1
ESC_4in1
J5
1
ELRS_RX
J6
1
UPDI2
J7
3
LOOP_SP: 1-2 closed, 2-3 bench
JP201, JP301, JP401
3
LOOP_FB: 1-2 gyro, 2-3 bench
JP202, JP302, JP402
1
10k (wiper-GND 8.1k)
RV101
3
100k, set 50k (Kp 1.16)
RV201, RV301, RV401
2
100k, set 67k (Ki 10/s)
RV202, RV302
3
100k, set 50k (Kd 9.7 ms)
RV203, RV303, RV403
Show 45 more
QtyPartRefs
2
50k, set 25k (Go 1.75)
RV204, RV304
1
100k, set mid
RV402
1
VREF_BUF
TP101
1
VSET
TP102
1
VGND_A
TP103
1
VGND_B
TP104
1
VGND_C
TP105
1
E_RR
TP201
3
P_OUT
TP202, TP302, TP402
3
I_OUT
TP203, TP303, TP403
3
D_OUT
TP204, TP304, TP404
1
U_ROLL
TP205
2
E_A
TP206, TP306
1
ROLL_RATE_SP
TP207
2
PLANT_OUT
TP208, TP308
3
EXT_SP
TP209, TP309, TP406
3
EXT_FB
TP210, TP310, TP407
1
E_PR
TP301
1
U_PITCH
TP305
1
PITCH_RATE_SP
TP307
1
E_YR
TP401
1
U_YAW
TP405
1
1N5817
D1
12
1N4148
D201, D202, D203, D204, D301, D302, D303, D304 +4
4
10uF
C3, C26, C105, C106
16
100nF X7R
C4, C5, C6, C7, C8, C9, C10, C27 +8
10
1uF
C15, C16, C17, C18, C19, C20, C21, C22 +2
1
47uF 25V
C25
3
470nF film
C101, C102, C103
5
1uF film
C201, C204, C301, C304, C401
3
100nF film
C202, C302, C402
3
10nF C0G
C203, C303, C403
5
4.7k
R1, R3, R206, R306, R406
34
10k
R2, R201, R202, R203, R204, R211, R212, R213 +26
3
22k
R4, R221, R321
15
1k
R5, R6, R7, R8, R9, R10, R11, R12 +7
5
2.2k
R16, R18, R20, R22, R23
3
100
R102, R103, R104
6
47k
R205, R210, R305, R310, R405, R410
2
33k
R207, R307
3
1M
R208, R308, R408
3
27k
R209, R309, R409
2
20k
R219, R319
1
15k
R407
1
10k DNP
R413

PID Board design files

The KiCad project lives in the AaronDoubert/quadcopter-pid-boards repository on GitHub; these links point at the commit this page was built from.

PID Board: common questions

What microcontroller does the PID Board use?

The PID Board is built around the ATtiny1614-SS, from the AVR/Arduino family.

How big is the PID Board?

The PID Board measures 250 × 100 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the PID Board?

218 components, from 65 distinct parts, with part numbers taken from the project's own BOM. The full bill of materials is listed on this page.

Where can I download the PID Board design files?

From the AaronDoubert/quadcopter-pid-boards repository on GitHub, which has the KiCad layout, the schematic and the BOM; the links under Design files point to each one.

Can I use the PID Board design in my own project?

The repository has no license, so all rights stay with AaronDoubert. Use it as a reference, and ask the author before reusing the design.

Can I test firmware for the PID Board without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug AVR/Arduino firmware against it before you order a PCB.

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