4 layers69.9 × 75.7 mm
Power board
ErdemA33/stm32f405-flight-controller
Open-source ArduPilot-compatible flight controller for fixed-wing UAVs. STM32F405, 4-layer KiCad design, built in 5 modular stages.
56 parts3
4 layers102.8 × 67 mm
Entegre fc
ErdemA33/stm32f405-flight-controller3Open-source ArduPilot-compatible flight controller for fixed-wing UAVs. STM32F405, 4-layer KiCad design, built in 5 modular stages.
- Size
- 102.8 × 67 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 129
- Nets
- 103
- Pads
- 463
- Tracks, vias
- 933, 204
- Pours
- 7
- Routed
- Yes
- KiCad
- KiCad 10.0 (file 20260206)
- Created
- 2 Aug 2026
- Updated
- 2 Aug 2026
Overview
Entegre fc is an open-source printed circuit board by ErdemA33, from the ErdemA33/stm32f405-flight-controller repository on GitHub. It is a 4-layer board of 102.8 × 67 mm with 129 parts on 103 nets, routed with 933 tracks and 204 vias.
It is built around the DPS310XTSA1, INA286AID and LM61460AANRJRR, with the LMR33630ADDA, W25Q128JVSIQ and AMS1117-3.3 among its other parts. Its parts include 52 capacitors, 33 resistors, 23 connectors, 8 ICs and 6 diodes. It belongs with the robots and motor control boards and the STM32 boards of this library.
Main components
12
DPS310XTSA1
VLGA-8-40℃~+85℃ 0.5pa/K 1.7V~3.6V 100pa 27.6ms 30Kpa~1.2bar 500nA 6pa I2C、SPI Integrated ADC and digital interface、On-chip calibration and non-volatile storage、Standby mode VLGA-8 Pressure Sensors ROHSInfineon TechnologiesPressure Sensors
INA286AID
SOIC-8-14V~80V -40℃~+125℃ 0.3uV/℃ 1 100V/V 110nV/√Hz@1kHz 140dB 2.7V~18V 20uV 25uA 2kHz 600uA High-side detection、Low-side detection、Bidirectional detection、Zero drift / auto-zero、Programmable output reference level ±5V SOIC-8 Current Sense Amplifiers ROHSTexas InstrumentsCurrent Sense Amplifiers
LM61460AANRJRR
VQFN-14-HR(3.5x4)-40℃~+150℃@(TJ) 1 200kHz~2.2MHz 3V~36V 6A 7uA Adjustable Buck Buck Built-in Yes VQFN-14-HR(3.5x4) DC-DC Converters ROHSTexas InstrumentsDC-DC Converters
LMR33630ADDA
ESOP-8-40℃~+125℃@(TJ) 1 1V~24V 24uA 3.8V~36V 3A 400kHz Adjustable Buck Buck Built-in Yes ESOP-8 DC-DC Converters ROHSTexas InstrumentsDC-DC Converters
W25Q128JVSIQ
SOIC-8-208mil-40℃~+85℃ 100,000 cycles 120ms@(32KB) 128Mbit 133MHz 1uA 2.7V~3.6V 20 Years 3ms Power-on reset、Hardware write protection、Software write protection、Write enable latch、Absolute write protection SPI SOIC-8-208mil NOR FLASH ROHSWinbondNOR FLASH
AMS1117-3.3
SOT-223-40℃~+125℃ 0.003%Vout 1 1.1V@(800mA) 15V 1A 3.3V 5mA 72dB@(120Hz) Fixed Over Current Protection、Short Circuit Protection、Thermal shutdown Positive SOT-223 Voltage Regulators - Linear, Low Drop Out (LDO) Regulators ROHSAdvanced Monolithic SystemsVoltage Regulators - Linear, Low Drop Out (LDO) Regulators
ICM-42688-P
LGA-14(2.5x3)-40℃~+85℃ 1.71V~3.6V 16bit 2KB 7.5uA IMU (accelerometer + gyroscope) SPI、I2C X,Y,Z X,Y,Z ±16g ±2000dps Motion Event Detection, Synchronization, Timestamp Support LGA-14(2.5x3) Accelerometers ROHSTDK InvenSenseAccelerometers
SS14
SMA(DO-214AC)-55℃~+150℃ 1A 25A 300uA@40V 40V 550mV@1A Independent SMA(DO-214AC) Schottky Diodes ROHSMDDSchottky Diodes
1N4148W
SOD-123150mA 1A 1V@50mA 1uA@75V 400mW 4ns 75V Independent SOD-123 Switching Diodes ROHSSTMicroelectronicsSwitching Diodes
SMBJ5.0A
DO-214AA(SMB)-65℃~+150℃ 5V 600W@10/1000us 65.3A@10/1000us 7V 800uA 9.2V TVS Unidirectional DO-214AA(SMB) ESD and Surge Protection (TVS/ESD) ROHSMDDESD And Surge Protection (TVS/ESD)
XT60PW-F
-Horizontal plug Yellow - Power connector / plug connectorChangzhou Amass ElecPlug
XT60PW-M
-Horizontal plug Yellow - Power connector / plug connector ROHSChangzhou Amass ElecPlug
README
README.mdArduPilot Fixed-Wing Flight Controller
An open-source, ArduPilot-compatible flight controller for fixed-wing UAVs. STM32F405-based, 4-layer, designed in KiCad.
Status: Design complete. The board has not been manufactured or tested yet. Verify independently before use.
Specifications
| MCU | STM32F405RGT6, LQFP-64, 168 MHz |
| IMU | ICM-42688-P (SPI1) |
| Barometer | DPS310 (SPI1) |
| Flash | W25Q128JV, 16 MB for logging (SPI1) |
| Input | 3S–6S LiPo (9–25.2 V), XT60PW |
| Logic rail | 5 V / 2 A — LMR33630 |
| Servo rail | 5 V / 6 A — LM61460 |
| 3.3 V | LDO with diode-OR (USB or battery) |
| Current sensing | INA286, dual parallel 0.5 mΩ shunts, 80 A |
| Voltage sensing | 91k/10k divider with RC filter |
| Servo outputs | 8 channels |
| UART | 4× JST-GH 6-pin |
| I2C | 2× JST-GH 4-pin |
| Other | USB-C, SWD, buzzer, WS2812 LED, safety switch |
| PCB | 4 layers, 2 oz outer copper |
Modular design approach
Rather than jumping straight to the integrated board, the design was built in five stages. Each stage was laid out and verified as a separate PCB, which kept errors isolated to small boards.
| Directory | Stage | Contents |
|---|---|---|
MCU/ | 1 | STM32F405 breakout — MCU, crystal, USB, SWD |
sensor_board/ | 2 | IMU, barometer, flash — SPI bus verification |
power_board/ | 3 | Power input, protection, dual buck, current/voltage sensing |
Input_Output/ | 4 | Servo outputs, UART/I2C connectors, buzzer, LED |
entegre_fc/ | 5 | Everything combined on a single PCB |
external_components/ | — | Third-party symbol and footprint libraries |
Pin map
Pins were grouped by package edge to simplify PCB routing.
Servo outputs
| Channel | Pin | Timer | Default function |
|---|---|---|---|
| 1 | PB14 | TIM12_CH1 | Flaperon left |
| 2 | PB15 | TIM12_CH2 | Flaperon right |
| 3 | PC6 | TIM8_CH1 | Elevator |
| 4 | PC7 | TIM8_CH2 | Rudder |
| 5 | PC8 | TIM8_CH3 | Payload servo 1 |
| 6 | PC9 | TIM8_CH4 | Payload servo 2 |
| 7 | PA8 | TIM1_CH1 | Throttle (ESC) |
| 8 | PA15 | TIM2_CH1 | Spare |
Flaperons share a timer group so both surfaces are driven at the same PWM rate. The ESC channel sits on its own timer so DShot can be enabled later without affecting the servo outputs.
Sensors (SPI1)
| Function | Pin |
|---|---|
| SCK / MISO / MOSI | PA5 / PA6 / PA7 |
| CS_IMU | PA4 |
| CS_BARO | PC4 |
| CS_FLASH | PC5 |
| IMU_INT | PB2 |
Communication
| Interface | Pins |
|---|---|
| UART1 | PC10 / PC11 |
| UART2 | PC12 / PD2 |
| UART3 | PB6 / PB7 |
| UART4 | PA0 / PA1 |
| I2C1 | PB8 / PB9 |
| I2C2 | PB10 / PB11 |
Miscellaneous
| Function | Pin |
|---|---|
| V_SENSE | PC0 |
| I_SENSE | PC1 |
| USB VBUS detect | PC2 |
| USB DM / DP | PA11 / PA12 |
| SWDIO / SWCLK | PA13 / PA14 |
| Buzzer | PC13 |
| Safety switch | PC14 |
| Safety LED | PC15 |
| WS2812 LED | PB4 |
Unused pins: PA2, PA3, PA9, PA10, PB0, PB1, PB3, PB5, PB12, PB13, PC3
Layer stackup
| Layer | Contents |
|---|---|
| L1 (F.Cu) | Components, high-current polygons, short signals |
| L2 (In1) | Uninterrupted ground plane |
| L3 (In2) | Power regions: VIN, +5V_LOGIC, +5V_SERVO, +3V3 |
| L4 (B.Cu) | Long signal runs, ground pour |
The sensor block sits diagonally opposite the switching regulators. Sensitive analog traces (V_SENSE, I_SENSE) are routed on the opposite side of the ground plane from the switching nodes.
ArduPilot parameters
| Parameter | Value | Notes |
|---|---|---|
BATT_VOLT_MULT | 10.1 | 91kΩ/10kΩ divider |
BATT_AMP_PERVLT | 40 | INA286 at 100 V/V, dual 0.5 mΩ shunts |
BATT_AMP_OFFSET | 0 |
Calibrate against a multimeter after assembly.
Design notes
The ESC header's power pin is intentionally left floating. This prevents the ESC's internal BEC from fighting the on-board servo rail. Cube Orange uses the same approach.
No RTC crystal. ArduPilot gets time from GPS, so the 32.768 kHz oscillator was omitted, freeing two GPIO pins.
SWD is preserved. PA13/PA14 could have been repurposed under pin pressure, but keeping debug access on a first-revision board was judged more valuable.
Kelvin connections for current sensing. Sense traces tap the inner edges of the shunt pads symmetrically, so copper resistance doesn't corrupt the measurement.
Requirements
- KiCad 8 or newer
- Libraries in
external_components/must be added to the project
Manufacturing
Targeted at JLCPCB. 4 layers, 2 oz outer copper.
Before exporting Gerbers, inspect the inner layers visually — particularly the L3 power regions. DRC does not always catch inner-layer zone geometry issues.
License
CERN-OHL-S v2
Roadmap
- Fabricate the board
- Verify power rails
- Flash bootloader and ArduPilot
- Verify sensor readings
- Calibrate current and voltage sensing
- Write
hwdef.dat - HIL and flight testing
Parts
129| Qty | Value | Footprint | References |
|---|---|---|---|
| 14 | 100nF | Capacitor_SMD:C_0603_1608Metric | C4, C5, C6, C7, C8, C10, C15, C25, C29, C30, C38, C40, C52, C53 |
| 10 | Conn_01x03_Pin | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J12, J13, J14, J15, J16, J17, J18, J19, J29, J30 |
| 7 | 22µF | Capacitor_SMD:C_1210_3225Metric | C12, C14, C28, C33, C35, C37, C39 |
| 6 | 100k | Resistor_SMD:R_0603_1608Metric | R8, R9, R11, R20, R22, R29 |
| 6 | 100nF | Capacitor_SMD:C_0402_1005Metric | C26, C27, C45, C48, C49, C50 |
| 5 | 10µF | Capacitor_SMD:C_1210_3225Metric | C11, C13, C34, C36, C42 |
| 4 | 1µF | Capacitor_SMD:C_0603_1608Metric | C9, C17, C32, C43 |
| 4 | 4.7k | Resistor_SMD:R_0603_1608Metric | R26, R27, R36, R37 |
| 4 | Conn_01x06_Pin | Connector_JST:JST_GH_SM06B-GHS-TB_1x06-1MP_P1.25mm_Horizontal | J22, J23, J24, J25 |
| 3 | 10k | Resistor_SMD:R_0402_1005Metric | R23, R24, R25 |
| 2 | 0.0005 | Resistor_SMD:R_2512_6332Metric | R14, R15 |
| 2 | 10 | Resistor_SMD:R_0402_1005Metric | R12, R13 |
| 2 | 100nF | Capacitor_SMD:C_0805_2012Metric | C55, C57 |
| 2 | 10k | Resistor_SMD:R_0603_1608Metric | R2, R19 |
| 2 | 10µF | Capacitor_SMD:C_0805_2012Metric | C47, C54 |
| 2 | 2.2µF | Capacitor_SMD:C_0805_2012Metric | C19, C20 |
| 2 | 20pF | Capacitor_SMD:C_0603_1608Metric | C21, C22 |
| 2 | 22Ω | Resistor_SMD:R_0603_1608Metric | R3, R4 |
| 2 | 24.9k | Resistor_SMD:R_0603_1608Metric | R10, R21 |
| 2 | 330Ω | Resistor_SMD:R_0603_1608Metric | R30, R31 |
| 2 | 5.1k | Resistor_SMD:R_0805_2012Metric | R33, R34 |
| 2 | Conn_01x02_Pin | Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical | J21, J26 |
| 2 | Conn_01x04_Pin | Connector_JST:JST_GH_SM04B-GHS-TB_1x04-1MP_P1.25mm_Horizontal | J27, J28 |
| 2 | SS14 | Diode_SMD:D_SMA | D6, D8 |
| 1 | 0 | Resistor_SMD:R_0603_1608Metric | R16 |
| 1 | 100Ω | Resistor_SMD:R_0603_1608Metric | R28 |
| 1 | 10K | Resistor_SMD:R_0603_1608Metric | R32 |
| 1 | 10nF | Capacitor_SMD:C_0402_1005Metric | C44 |
| 1 | 10nF | Capacitor_SMD:C_0603_1608Metric | C18 |
| 1 | 10µH | Inductor_SMD:L_Bourns_SRP7028A_7.3x6.6mm | L1 |
| 1 | 1N4148W | Diode_SMD:D_SOD-123 | D5 |
| 1 | 1k | Resistor_SMD:R_0805_2012Metric | R35 |
| 1 | 2.2µF | Capacitor_SMD:C_0603_1608Metric | C46 |
| 1 | 22µF | Capacitor_SMD:C_0805_2012Metric | C56 |
| 1 | 2N7002 | Package_TO_SOT_SMD:SOT-23 | Q2 |
| 1 | 33.2k | Resistor_SMD:R_0603_1608Metric | R17 |
| 1 | 4.7µF | Capacitor_SMD:C_0805_2012Metric | C16 |
| 1 | 470µF | Capacitor_SMD:CP_Elec_8x10.5 | C41 |
| 1 | 470µF/10V | Capacitor_SMD:CP_Elec_8x10 | C51 |
| 1 | 6.8µH | Inductor_SMD:L_TDK_SLF12575 | L2 |
| 1 | 8MHz | Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm | Y1 |
| 1 | 91k | Resistor_SMD:R_0603_1608Metric | R18 |
| 1 | AMS1117-3.3 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U9 |
| 1 | BOOT0 jumper | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J2 |
| 1 | C_Polarized | Capacitor_SMD:CP_Elec_8x10.5 | C31 |
| 1 | DPS310XTSA1 | Snapeda:XDCR_DPS310XTSA1 | U7 |
| 1 | D_Zener | Diode_SMD:D_SOD-123 | D3 |
| 1 | Ferrite | Inductor_SMD:L_0805_2012Metric | FB1 |
| 1 | ICM-42688-P | Snapeda:PQFN50P300X250X97-14N | U6 |
| 1 | INA286 | Package_SO:SOIC-8_3.9x4.9mm_P1.27mm | U4 |
| 1 | LED | LED_SMD:LED_0805_2012Metric | D7 |
| 1 | LM61460AANRJRR | Snapeda:IC_LM61460AANRJRR | U5 |
| 1 | LMR33630ADDA | Package_SO:Texas_HSOP-8-1EP_3.9x4.9mm_P1.27mm_ThermalVias | U3 |
| 1 | Q_PMOS_GDS | Package_TO_SOT_SMD:TO-252-3_TabPin4 | Q1 |
| 1 | Reset | Button_Switch_SMD:SW_SPST_TL3342 | SW1 |
| 1 | SMBJ5.0A | Diode_SMD:D_SMB | D4 |
| 1 | STM32F405RGTx | Package_QFP:LQFP-64_10x10mm_P0.5mm | U1 |
| 1 | SWD | Connector_PinHeader_2.54mm:PinHeader_1x05_P2.54mm_Vertical | J4 |
| 1 | USB_C_Receptacle_USB2.0_16P | Connector_USB:USB_C_Receptacle_XKB_U262-16XN-4BVC11 | J31 |
| 1 | W25Q128JVS | Package_SO:SOIC-8_5.3x5.3mm_P1.27mm | U8 |
| 1 | XT60PW-F | Snapeda:AMASS_XT60PW-F | J7 |
| 1 | XT60PW-M | Snapeda:AMASS_XT60PW-M | J8 |
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Questions
How big is the Entegre fc PCB?
It measures 102.8 × 67 mm and has 4 copper layers, 1.6 mm thick.
What parts does the Entegre fc use?
129 parts, built around the DPS310XTSA1, INA286AID, LM61460AANRJRR and LMR33630ADDA. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the Entegre fc KiCad files?
From the ErdemA33/stm32f405-flight-controller repository on GitHub, at the commit this page was made from: the board is entegre_fc/entegre_fc.kicad_pcb and its schematic Input_Output/Input_Output.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Entegre fc design in my own project?
Its repository states no licence, so its author keeps all rights: ask ErdemA33 before reusing the design.