HardLabs

Emb drone flight stack

CGainsWorks·emb-drone-flight-stack·hardware/flight-controller/kicad/FCSTMV1.05.kicad_pcb

Emb drone flight stack PCB layout, top view — open source ESP32 board by CGainsWorks

About the Emb drone flight stack PCB

Emb drone flight stack is an open source ESP32 PCB design by CGainsWorks, published on GitHub. It is a 6-layer board measuring 497.4 × 154.7 mm, with 1182 components from 197 distinct parts.

Its main chip is the ESP32-WROOM-32E-H4, from the ESP32 family. Other key parts include the TPD4EUSB30DQAR, SX1280IMLTRT, LT8612IUDE#PBF, STM32G431KBU6 and QPA9501TR13. By type, the board carries 409 connectors, 329 capacitors, 299 resistors, 35 transistors, 33 ICs and 22 diodes.

It belongs with the robotics & motion, sensors and rf & radio designs in this gallery.

From the project

Open-source quadrotor flight stack: custom KiCad flight-controller and power distribution boards plus C++ firmware with a PID attitude loop, written from scratch.

Design files imported from OpenSourceDrone, which remains the original working repository.

A complete quadrotor built from nothing: a custom flight-controller PCB integrating the power stage with an STM32, a separate multi-layer power distribution board, and C++ firmware written from scratch with a PID attitude loop, IMU drivers, PWM and DShot ESC output and UART telemetry. This is the monorepo covering all three drone hardware and firmware entries on the CV.

Main components on the Emb drone flight stack

TPD4EUSB30DQARSX1280IMLTRTLT8612IUDE#PBFSTM32G431KBU6QPA9501TR13TXS0104EPWRTPS7A2033PDBVRBMP390MMC5983MAESP32-WROOM-32E-H4ATMEGA4809-AFADPL40502AUJZ-1.2-R7SKY65404-31STM32F051C8TxESP32-C3-MINI-1-H4XFW520WFMT1RTC6705STM32F405ZGTxW25Q128JVSIQICM-42688-PAT7456ENINA-B416-01BRTC6715

Emb drone flight stack bill of materials (BOM)

1182 components, 197 distinct parts.

QtyPartRefs
1
TPD4EUSB30DQAR
IC1
2
SX1280IMLTRT
IC2, IC13
2
LT8612IUDE#PBF
IC3, IC4
1
STM32G431KBU6
IC5
1
QPA9501TR13
IC6
1
TXS0104EPWR
IC7
1
TPS7A2033PDBVR
IC8
1
BMP390
IC9
1
MMC5983MA
IC10
1
ESP32-WROOM-32E-H4
IC11
2
ATMEGA4809-AF
IC12, IC15
1
ADPL40502AUJZ-1.2-R7
IC14
1
SKY65404-31
IC16
4
STM32F051C8Tx
U1, U10, U11, U12
1
ESP32-C3-MINI-1-H4X
U2
2
FW520WFMT1
DIODES(美台)
U3, U13
1
RTC6705
null
U4
1
STM32F405ZGTx
U5
2
W25Q128JVSIQ
U6, U15
1
ICM-42688-P
U7
Show 177 more
QtyPartRefs
1
AT7456E
杭州中科微
U8
1
NINA-B416-01B
U-BLOX
U9
1
~
U14
1
RTC6715
null
U16
1
~
U17
4
INA240A1D
M1, M2, M3, M4
24
PSMN1R4-40YLDX
Q1, Q2, Q3, Q4, Q5, Q6, Q10, Q11 +16
3
IRLML0030TRPBF
Q7, Q28, Q29
2
bc817w
Q8, Q9
5
BFP520H6327XTSA1
Q30, Q31, Q32, Q34, Q35
1
MMBTH81
Q33
3
FY0800027
Y1, Y2, Y5
2
ABM8-27.000MHZ-B2-T
Y3, Y4
171
Conn_01x01_Pin
J1, J3, J4, J7, J8, J9, J10, J11 +163
47
Conn_01x01_Pin
J2, J5, J6, J13, J29, J34, J38, J60 +39
16
Conn_01x02_Pin
J16, J17, J23, J42, J189, J190, J196, J208 +8
44
Conn_01x03_Pin
J18, J19, J39, J47, J48, J52, J58, J74 +36
16
Conn_01x05_Pin
J22, J40, J116, J195, J206, J238, J249, J281 +8
15
Conn_01x04_Pin
J24, J102, J127, J129, J136, J137, J145, J197 +7
42
Conn_01x02_Pin
J30, J31, J35, J36, J55, J56, J59, J78 +34
10
Conn_01x06_Pin
J33, J41, J126, J202, J207, J250, J293, J315 +2
12
Conn_01x01_Pin
J37, J43, J92, J167, J168, J169, J170, J171 +4
2
USB4730-GF-A-KIT
J44, J138
1
XT60-M
J71
11
Conn_01x07_Pin
J82, J84, J113, J114, J117, J122, J125, J321 +3
5
Conn_01x01_Pin
J93, J98, J99, J108, J148
4
LED
J94, J308, J327, J376
2
U.FL-R-SMT-1(10)
U.FL-R-SMT-1_10_
J109, J406
1
Conn_01x11_Pin
J115
2
Conn_01x09_Pin
J118, J363
3
Conn_01x08_Pin
J121, J132, J133
2
Conn_01x12_Pin
J288, J370
1
Conn_01x30_Pin
J373
1
54132-4062
J380
1
XT30PW-M
J408
2
47948-0001
ANT1, ANT3
1
SAM-M10Q-00B
ANT2
1
Haptics
BZ1
1
0805USBN-121MRC
0805USBN-271MRC
FL1
2
2450FM07D0034001T
FL2, FL3
1
BFCN-5750+
FL4
4
DRV8300DRGER
null
INLA1, INLA2, INLA3, INLA4
2
CMT-8504-100-SMT-TR
LS1, LS2
4
LMR33630ADDA
PS1, PS2, PS3, PS4
1
TPS61169DCKR
PS5
5
PTS647SK70SMTR2N LFS
PTS647SK70SMTR2N_LFS
S1, S2, S3, S4, S5
2
RKJXK1210002
ALPSALPINE(阿尔卑斯阿尔派)
SW1, SW2
1
SMF5V0A-E3-08
D1
12
PMEG4010CEJ,115
D2, D3, D4, D9, D10, D11, D12, D13 +4
2
SMCJ33A
D5, D21
2
APT1608QBC/G
D6, D18
2
APT1608ZGC
D7, D19
2
APT1608SECK
D8, D20
1
SS16-E3/61T
SS16-E3_61T
D22
3
XAL7030-682MEC
L1, L9, L11
2
BLM31SN500SH1L
L2, L5
4
XAL7070-472MEC
L3, L4, L6, L7
1
XAL7030-822MEC
L8
1
mpz1608s601ata00
L10
1
LSEUC2520KKT4R7M
L12
1
33nH, 0603
L13
1
SRN2010BTA-180M
L14
1
10nH, 0603
L15
1
22nH, 0603
L16
1
27nH, 0603
L17
1
SRN5040TA-R60MP
L18
2
12nH, 0603
L19, L20
28
CAA572X7R1H476M670LJ
47uF, 50V, 2420
C1, C2, C3, C4, C5, C6, C7, C159 +20
4
2200 pF, 1206
C8, C166, C187, C208
32
100nF, 1206
C9, C10, C13, C14, C16, C19, C22, C25 +24
12
100pF, 1206
C11, C101, C111, C169, C190, C211, C285, C286 +4
18
10uF, 1206
C12, C15, C21, C86, C104, C107, C157, C170 +10
9
10nF, 1206
C17, C29, C31, C174, C195, C216, C232, C233 +1
4
10uF, 50V, 1206
C18, C48, C62, C240
4
220nF, 50V, 1206
C20, C49, C63, C241
12
1uF, 50V, 1206
C23, C26, C28, C177, C178, C179, C198, C199 +4
15
1uF, 1206
C24, C40, C51, C52, C65, C76, C87, C88 +7
16
22uF, 1206
C27, C30, C32, C34, C57, C58, C59, C61 +8
2
KAF31ER71H474KU
C33, C234
7
4.7uF, 50V, 1206
C36, C37, C38, C45, C46, C47, C255
7
10pF, 1206
C41, C54, C100, C109, C311, C316, C328
4
47uF, 1206
C42, C43, C55, C56
2
EEU-FR1E821
25V, 820uF, Low ESR, Through Hole
C44, C60
2
0.01uF, Min. 50V, 1206
C64, C242
2
35V, 1000uF, Low ESR, Through Hole
C68, C247
61
0.1uF, 1206
C72, C73, C75, C102, C103, C112, C113, C114 +53
1
560pF, 1206
C74
10
KAF31BR71H104KT
C77, C78, C137, C139, C140, C143, C145, C146 +2
3
CL31Y475KCK6NWE
C79, C94, C98
2
33pF, 1206
C80, C312
11
4.7uF, 1206
C81, C106, C223, C229, C263, C272, C276, C279 +3
1
6.2pF, 1206
C82
1
330pF, 1206
C83
3
20pF, 1206
C84, C260, C264
4
2.2uF, 1206
C85, C118, C121, C147
4
KGM31HR71E105KU
C90, C91, C97, C99
1
KAF31ER71H474KL
C92
2
15pF, 1206
C93, C96
1
KGF31AR73A103KU
C95
3
220pF, 1206
C105, C108, C110
2
0.01uF, 1206
C142, C291
2
CAA572X7R1H476M670LJ
C148, C150
2
22nF, 1206
C250, C258
1
X uF, 1206
C251
1
4.7 uF, 1206
C252
11
1 uF, 1206
C257, C268, C270, C284, C293, C295, C296, C297 +3
1
22pF, 1206
C269
2
33 pF, 1206
C282, C283
2
6.8pF, 1206
C289, C290
5
6pF, 1206
C292, C294, C300, C304, C310
2
470pF, 1206
C301, C309
1
47pF, 1206
C314
2
X F, 1206
C315, C323
1
12pF, 1206
C318
1
39pF, 1206
C320
1
18125C484KAT2A
C324
2
1nF, 1206
C325, C329
1
1n F, 1206
C326
1
4.7pF, 1206
C327
24
20 Ohm, 50V, 1206
R1, R2, R3, R5, R6, R7, R134, R135 +16
4
0.005Ohms, 2512, 5W, Current Sense
R4, R137, R163, R189
30
10k Ohm, 1206
R8, R10, R15, R27, R58, R61, R94, R96 +22
21
100 ohm, 1206
R9, R11, R52, R60, R81, R87, R88, R89 +13
23
1k ohm, 1206
R12, R145, R171, R197, R216, R217, R218, R219 +15
25
10k Ohm, 50V, 1206
R13, R16, R21, R23, R24, R26, R54, R146 +17
12
1k Ohm, 50V, 1206
R14, R22, R25, R147, R155, R158, R173, R181 +4
19
100k ohm, 1206
R17, R29, R35, R48, R50, R55, R56, R82 +11
46
0 ohm, 1206
R18, R20, R31, R32, R33, R34, R37, R38 +38
4
0 Ohm, 12060 Ohm, 1206
R19, R152, R178, R204
5
5.1k Ohm, 1206
R28, R30, R74, R109, R113
3
43.2k Ohm, 1206
R36, R57, R233
8
22 ohm, 1206
R41, R42, R65, R66, R67, R117, R118, R284
2
52.3k Ohm, 1206
R43, R46
2
243k Ohm, 1206
R44, R47
3
1M ohm, 1206
R45, R49, R246
1
24.9k Ohm, 1206
R51
1
100k Ohm, 50V, 1206
R53
1
MCA1206MZ0000ZP500
R59
4
75 ohm, 1206
R64, R68, R75, R278
3
1.2k ohm, 1206
R69, R71, R285
1
270 ohm, 1206
R70
1
510k ohm, 1206
R72
1
560k ohm, 1206
R73
1
15k Ohm, 1206
R76
1
20k ohm, 1206
R77
2
470 ohm, 1206
R78, R286
1
51k ohm, 1206
R79
1
750 ohm, 1206
R80
1
3.3k Ohm, 1206
R83
1
RT1206BRB07100KL
R84
1
ERA-8AEB510V
R85
1
CRT1206-FX-4702ELF
R86
6
4.7k ohm, 1206
R91, R92, R108, R110, R124, R129
1
27 ohm, 1206
R98
1
27.4k ohm, 1206
R100
2
2 ohm, 1206
R101, R102
4
2.7k Ohms, 1206
R103, R104, R132, R133
2
RNCE1206BTE10K0
R107, R114
3
RNCE1206BTE1K00
R111, R120, R122
1
R
R115
2
TNPW120675R0BEEA
R123, R125
1
10k Ohms, 1206
R130
4
2.7k ohm, 1206
R214, R215, R252, R253
1
27k Ohm, 25V, 1206
R229
1
10k Ohm, 25V, 1206
R230
1
18 ohm, 1206
R234
1
56 ohm, 1206
R235
1
10.2 ohm, 1206
R241
1
12k ohm, 1206
R258
1
390k ohm, 1206
R268
1
2.2k ohm, 1206
R269
2
200 ohm, 1206
R271, R277
1
430k ohm, 1206
R275
4
X ohm, 1206
R281, R282, R287, R291
1
10 ohm, 1206
R292
1
200k ohm, 1206
R296
1
33k ohm, 1206
R297

Emb drone flight stack design files

The KiCad project lives in the CGainsWorks/emb-drone-flight-stack repository on GitHub; these links point at the commit this page was built from.

Emb drone flight stack: common questions

What microcontroller does the Emb drone flight stack use?

The Emb drone flight stack is built around the ESP32-WROOM-32E-H4, from the ESP32 family.

How big is the Emb drone flight stack PCB?

The Emb drone flight stack measures 497.4 × 154.7 mm, has 6 copper layers and is 1.653 mm thick.

How many components are on the Emb drone flight stack?

1182 components, from 197 distinct parts. The full bill of materials is listed on this page.

Where can I download the Emb drone flight stack design files?

From the CGainsWorks/emb-drone-flight-stack repository on GitHub, which has the KiCad layout and the schematic; the links under Design files point to each one.

Can I use the Emb drone flight stack design in my own project?

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

Can I test firmware for the Emb drone flight stack without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug ESP32 firmware against it before you order a PCB.

Similar boards