2 layers45 × 23 mm
Tiny
pengshulin/mcush
MCUSH application platform (personal toolkit: firmware platform, debugger, hardware, test and application framework)
53 parts103
4 layers38.5 × 37 mm
Quadcopter
BenGrumm/STM-Quadcopter3A simple quadcopter built on the STM32F411CEU6 (black pill board) with 4 motors, a PPM receiver, ADC checking battery level and I2C communication with MPU6050 imu.
- Size
- 38.5 × 37 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 49
- Nets
- 71
- Pads
- 219
- Tracks, vias
- 375, 28
- Pours
- 3
- Routed
- Yes
- KiCad
- KiCad 8.0 (file 20240108)
- Created
- 29 Sep 2022
- Updated
- 21 Dec 2025
Overview
Quadcopter is an open-source printed circuit board by BenGrumm, from the BenGrumm/STM-Quadcopter repository on GitHub. It is a 4-layer board of 38.5 × 37 mm with 49 parts on 71 nets, routed with 375 tracks and 28 vias.
It is built around the STM32F411CEU6, AMS1117-3.3 and MPU-6050, with the C13 among its other parts. Its parts include 18 capacitors, 10 resistors, 9 connectors, 3 ICs and 2 diodes. It belongs with the robots and motor control boards and the STM32 boards of this library.
Main components
4
STM32F411CEU6
UFQFPN-48(7x7)-40℃~+85℃ 1.7V~3.6V 100MHz 128KB 12bit 32 Bit 36 512KB ARM Cortex-M4 Built-in FLASH UFQFPN-48(7x7) Microcontrollers (MCU/MPU/SOC) ROHSSTMicroelectronicsMicrocontrollers (MCU/MPU/SOC)
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
MPU-6050
QFN-24-EP(4x4)-40℃~+85℃ 16bit 1KB 2.375V~3.46V 5uA Accelerometer Gyroscope I2C X,Y,Z X,Y,Z ±16g ±2000dps QFN-24-EP(4x4) Accelerometers ROHSTDK InvenSenseAccelerometers
C13
插件,D3.3xL11.5mmThermal Fuses (TCO)SETsafe | SETfuse
README
README.mdSTM-Quadcopter
A simple quadcopter built on the STM32F411CEU6 (black pill board) with 4 motors, a PPM receiver, ADC checking battery level and I2C communication with MPU6050 imu.
Initial control
The video below shows the initial flights with a proportional and integral control loop the Pitch and Roll axis but not on Yaw.
Hardware
Below is the schematic, high level routing and manufactured PCB created after prototyping the functionality.
Below are images of the prototype perfboard wired up with the I2C (SDA=Yellow, SCL=White), PWM motor outputs (Green), PPM RC receiver input (Blue) and the battery ADC voltage divider across the resistors.
Final drone hardware with battery installed.
Created mount for MPU to reduce vibration impacting position accuracy.
Parts
49| Qty | Value | Footprint | References |
|---|---|---|---|
| 6 | 100n | Capacitor_SMD:C_0402_1005Metric | C1, C2, C3, C4, C9, C17 |
| 4 | MountingHole_Pad | MountingHole:MountingHole_3.2mm_M3_DIN965_Pad | H1, H2, H3, H4 |
| 2 | 10 | Resistor_SMD:R_0402_1005Metric | R3, R4 |
| 2 | 10n | Capacitor_SMD:C_0402_1005Metric | C6, C16 |
| 2 | 10u | Capacitor_SMD:C_0402_1005Metric | C5, C20 |
| 2 | 12p | Capacitor_SMD:C_0402_1005Metric | C10, C11 |
| 2 | 1k | Resistor_SMD:R_0402_1005Metric | R5, R6 |
| 2 | 1u | Capacitor_SMD:C_0402_1005Metric | C7, C8 |
| 2 | 22u | Capacitor_SMD:C_0805_2012Metric | C14, C15 |
| 2 | 2k2 | Resistor_SMD:R_0402_1005Metric | R7, R8 |
| 1 | 100k | Resistor_SMD:R_0402_1005Metric | R9 |
| 1 | 10k | Resistor_SMD:R_0402_1005Metric | R1 |
| 1 | 120R | Inductor_SMD:L_0603_1608Metric | FB1 |
| 1 | 2.2u | Capacitor_SMD:C_0402_1005Metric | C19 |
| 1 | 22k | Resistor_SMD:R_0402_1005Metric | R10 |
| 1 | 25MHz | Crystal:Crystal_SMD_3225-4Pin_3.2x2.5mm | Y1 |
| 1 | 2n2 | Capacitor_SMD:C_0603_1608Metric | C18 |
| 1 | 5.1k | Resistor_SMD:R_0402_1005Metric | R2 |
| 1 | AMS1117-3.3 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U2 |
| 1 | C13 | LED_SMD:LED_0603_1608Metric | D1 |
| 1 | CONTROLLER | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J8 |
| 1 | FL_ESC | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J3 |
| 1 | FR_ESC | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J4 |
| 1 | MPU-6050 | Sensor_Motion:InvenSense_QFN-24_4x4mm_P0.5mm | U3 |
| 1 | NRF24L01_Connector | Connector_PinSocket_2.54mm:PinSocket_2x04_P2.54mm_Vertical | J9 |
| 1 | PWR_INPUTS | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J7 |
| 1 | Programming | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | J2 |
| 1 | RED | LED_SMD:LED_0603_1608Metric | D2 |
| 1 | RL_ESC | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J5 |
| 1 | RR_ESC | Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical | J6 |
| 1 | STM32F411CEU6 | Package_DFN_QFN:QFN-48-1EP_7x7mm_P0.5mm_EP5.6x5.6mm | U1 |
| 1 | SW_Push | Button_Switch_SMD:SW_SPST_PTS810 | SW1 |
| 1 | USB_C_Receptacle_USB2.0_16P | Connector_USB:USB_C_Receptacle_G-Switch_GT-USB-7010ASV | J1 |
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Questions
How big is the Quadcopter PCB?
It measures 38.5 × 37 mm and has 4 copper layers, 1.6 mm thick.
What parts does the Quadcopter use?
49 parts, built around the STM32F411CEU6, AMS1117-3.3, MPU-6050 and C13. 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 Quadcopter KiCad files?
From the BenGrumm/STM-Quadcopter repository on GitHub, at the commit this page was made from: the board is PCB/Quadcopter/Quadcopter.kicad_pcb and its schematic PCB/Quadcopter/Quadcopter.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Quadcopter design in my own project?
Its repository states no licence, so its author keeps all rights: ask BenGrumm before reusing the design.