6 layers102 × 41.1 mm Flight Controller, the printed circuit board in 3D

Flight Controller

6-layer custom flight controller PCB, incorporating a battery management system (BMS), 6-axis IMU, dedicated BLDC/servo control/power lines, and camera lines. Uses the ESP32-WROOM-1 as the central microcontroller.

Open in PCBKit

Size: 102 × 41.1 mm
Copper layers: 6
Thickness: 1.56 mm
Parts: 139
Nets: 149
Pads: 611
Tracks, vias: 1,076, 531
Pours: 10
Routed: Yes
KiCad: KiCad 10.0 (file 20260206)
Created: 10 May 2026
Updated: 2 Aug 2026

Overview

Flight Controller is an open-source printed circuit board by C-yue28, from the C-yue28/Flight_Controller repository on GitHub. It is a 6-layer board of 102 × 41.1 mm with 139 parts on 149 nets, routed with 1,076 tracks and 531 vias.

It is built around the ESP32-S3-WROOM-1U-N4R8, BME280 and CH224K, with the TCA9534PW, TPS629203DRL and AMS1117-1.8 among its other parts. Its parts include 48 capacitors, 48 resistors, 11 ICs, 10 connectors and 7 diodes. It belongs with the robots and motor control and power boards and the ESP32 boards of this library.

Main components

README

README.md

Custom Flight Controller

What is it?

This is a custom flight controller with onboard LiPo charging capabilities and buck converters for 3V bus as well as support for 6 external motors (3 DC, 3 servo) and 7-pin breakout for external sensor array. USB-UART bus for uploading firmware via serial. Internal power paths for limited high-current motor handling; however most motor wiring will most likely have to be done externally due to PCB limitations.

Why did I make this?

Flight has always been something that has fascinated me and so far my only experience has been with assembling premade drone kits or glider kits. I want to be able to go out and fly something that I made essentially from scratch. I have this vision of myself standing on the roof, tossing the plane off, and watching it fly up into the sky, and then looking at the camera feed to see the world from up high.

Main components/features

ESP32-S3-WROOM-1U - Central processor
BMS management circuitry; computer is powered by 3S LiPo battery
IMU (6-axis; accelerometer/gyroscope)
Pressure sensor (for altitude)
OV5640 Camera (external)
Miscellaneous: external 2.4ghz antenna capability; dual USB-C for charging/data; external microSD support

Firmware brief description

- Modular handling of all sensors with interrupts configured to save battery power - Verbose error/initialization logging to detect I2C issues - Ability to log data to microSD card

Images

Schematic

PCB design

3D Model

External sources (for the LSM6DSOX firmware libraries)

Base LSM6DS Adafruit library

Dependencies of this library:

Adafruit_BusIO

Adafruit_Sensor

BOM

Item	Price	Distributor/Supplier
PCB	31.00	JLCPCB
Stencil	7.16	JLCPCB
Shipping	21.69	JLCPCB
Total	59.85

Designator	Footprint	Quantity	Value	URL	Cost	Notes
C1, C30, C4, C6	0603	4	1uF	https://www.lcsc.com/product-detail/C128624.html	1.3	I may already have these
C10, C11, C17, C18, C19, C21, C22, C23, C24, C25, C27, C28, C42	0603	13	10uF	https://www.lcsc.com/product-detail/C22367825.html	1.16	I may already have these
C13, C14	0603	2	47nF	https://www.lcsc.com/product-detail/C285123.html	0.61
C15, C48, C49	0603	3	4.7uF	https://www.lcsc.com/product-detail/C5252400.html?lcsc_vid=RQJZV1JUQQNbAwJTFFNXVgJREVQMAlMHRlVWAlBRFlMxVlNeRVFWVlBSTlFZVzsOAxUeFF5JWBYZEEoBGA4JCwFIFA4DSA%3D%3D	0.45	I may already have these
C16, C20, C31, C33, C34, C35, C36, C37, C43, C44, C45, C46, C5, C50, C51, C7, C8, C9	0603	18	0.1uF	https://www.lcsc.com/product-detail/C125205.html?lcsc_vid=RQJZV1JUQQNbAwJTFFNXVgJREVQMAlMHRlVWAlBRFlMxVlNeRVFWVlBSTlFZVzsOAxUeFF5JWBYZEEoBGA4JCwFIFA4DSA%3D%3D	0.81	I may already have these
C2	1206	1	4.7uF	https://www.lcsc.com/product-detail/C22399656.html	0.85
C26	0603	1	1nF	https://www.lcsc.com/product-detail/C44369.html	0.52
C3	0805	1	22uF	(included below)	n/a	I decided to just use a smaller footprint to save some money
C32, C41	0603	2	22uF	https://www.digikey.com/en/products/detail/samsung-electro-mechanics/CL10A226MP8NUNE/3886932	0.64
C38, C39	0603	2	4pF	https://www.lcsc.com/product-detail/C1668.html	0.42
C40	0603	1	10nF	https://www.lcsc.com/product-detail/C100042.html	0.61
D1, D2, D3	TVS_LESD5D5.0CT1G	3	LESD5D5.0CT1G	https://www.lcsc.com/product-detail/C5246195.html	0.36
D5	D_PowerDI-123	1	DFLS240L
D6, D7, D8	0402	3	LED	https://www.lcsc.com/product-detail/Light-Emitting-Diodes-LED_YONGYUTAI-YLED0402G_C20608784.html	0.76
J1, J4	HRO_TYPE-C-31-M-12	2	TYPE-C-31-M-12	https://www.lcsc.com/product-detail/USB-Type-C_Korean-Hroparts-Elec-TYPE-C-31-M-12_C165948.html	n/a
J10, J6	TestPoint_THTPad_4.0x4.0mm_Drill2.0mm	2	Conn_01x08	n/a
J11, J7	TestPoint_THTPad_4.0x4.0mm_Drill2.0mm	2	Conn_01x02	n/a
J2	JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical	1	Conn_01x04_Pin	https://www.lcsc.com/product-detail/C144395.html	0.58
J3	AMASS_XT60-M_1x02_P7.20mm_Vertical	1	Conn_01x02_Pin	https://www.lcsc.com/product-detail/C98733.html	0.4
J5	TestPoint_THTPad_2.0x2.0mm_Drill1.0mm	1	Conn_02x09_Top_Bottom	n/a
J8	microSD_HC_Molex_104031-0811	1	Micro_SD_Card	https://www.lcsc.com/product-detail/C585350.html	0.68
L1	0603	1	1uH	https://www.lcsc.com/product-detail/C5443610.html	0.42
L2	1008	1	2.2uH	https://www.digikey.com/en/products/detail/shenzhen-sunlord-electronics-co-ltd/SPH252012H2R2MT/14545122	0.33
L3	L_Abracon_ASPI-4030S	1	4.7uH	https://www.digikey.com/en/products/detail/abracon-llc/ASPI-4030S-4R7M-T/4215208	0.27
Q1, Q2, Q3, Q4, Q5	VSON-8_3.3x3.3mm_P0.65mm_NexFET	5	CSD17578Q3A	https://item.szlcsc.com/206987.html?alichlgref=https%3A%2F%2Fitem.szlcsc.com%2F206987.html	2.41
Q6, Q7	SOT-23	2	Q_NPN	https://www.lcsc.com/product-detail/C49581.html	0.79
R1, R2	0402	2	5.1k	https://www.digikey.com/en/products/detail/yageo/RC0402FR-075K1L/726624	0.2
R10, R30, R31	0402	3	100	https://www.digikey.com/en/products/detail/vishay-dale/RCA0402100RFKEDHP/6561236	0.3
R11	0402	1	5.24k	https://www.digikey.com/en/products/detail/bourns-inc/CR0402-FX-5231GLF/4698012	0.1
R12	0402	1	30.31k	https://www.digikey.com/en/products/detail/vishay-dale/RCS040230K1FKED/5867856	0.13
R15	0402	1	619k	https://www.digikey.com/en/products/detail/stackpole-electronics-inc/RMCF0402FT619K/1714833	0.1
R16, R17, R18, R23, R24, R26, R44, R46, R57	0402	9	1k	https://www.digikey.com/en/products/detail/vishay/MCS04020C1001FE000/462974	0.28	I may already have these
R19	0402	1	450k	https://www.digikey.com/en/products/detail/vishay-dale/CRCW0402453KFKED/1178309	0.1
R20, R22, R3, R42, R43, R49, R5, R50, R53, R58, R59, R9	0402	12	10k	https://www.digikey.com/en/products/detail/vishay-dale/RCA040210K0FKED/4946751	0.66	I may already have these
R21	0402	1	196k	https://www.digikey.com/en/products/detail/stackpole-electronics-inc/RMCF0402FT196K/1761755	0.1
R25	0402	1	4.5k	http://digikey.com/en/products/detail/vishay-dale/TNPW04024K53BEED/1606384	0.26
R27, R28	0402	2	1M	https://www.digikey.com/en/products/detail/yageo/RC0402FR-071ML/726515	0.2
R29	0402	1	10m	https://www.digikey.com/en/products/detail/thin-film-technology-corp/D1MPC0402RR010FF-T10/16735271	0.28
R33, R34, R35	0805	3	45	MBB02070C4539FRP00 (1W, 45.3 OHM): https://www.mouser.com/c/passive-components/resistors/?power%20rating=500%20mW%20%281%2F2%20W%29~~120%20W&resistance=45.3%20Ohms&instock=y&rp=passive-components%2Fresistors%7C~Power%20Rating	1.14
R38	0402	1	51k	https://www.digikey.com/en/products/detail/stackpole-electronics-inc/RMCF0402FT51K0/2417446	0.1
R39	0402	1	16.6k	https://www.digikey.com/en/products/detail/vishay-dale/CRCW040216K9FKEDC/7925759	0.1
R45	0402	1	510	https://www.digikey.com/en/products/detail/koa-speer-electronics-inc/RK73H1ETTP5100F/9844229	0.1
R52	0402	1	137k	https://www.digikey.com/en/products/detail/yageo/RC0402FR-07137KL/5280832	0.1
R54	0603	1	0	n/a
R55	0402	1	22.1k	https://www.digikey.com/en/products/detail/yageo/RT0402FRE0722K1L/1071878	0.1
R56	0402	1	47.5k	https://www.digikey.com/en/products/detail/yageo/RC0402FR-0747K5L/726617	0.1
R6	0402	1	10.5k	https://www.digikey.com/en/products/detail/yageo/RT0402FRE0710K5L/1071707	0.1
R7	0402	1	75k	https://www.digikey.com/en/products/detail/yageo/RT0402DRE0775KL/1071646	0.1
R8	0402	1	160k	https://www.digikey.com/en/products/detail/stackpole-electronics-inc/RMCF0402FT160K/1714462	0.1
TH1, TH2	0805	2	10k	https://www.digikey.com/en/products/detail/tdk/B57471V2103J062/3829885	0.62
TP1, TP2	TestPoint_THTPad_1.5x1.5mm_Drill0.7mm	2	TestPoint	n/a
U1	SOT-23-6	1	AP3211K	https://www.digikey.com/en/products/detail/diodes-incorporated/AP2112K-3-3TRG1/4470746	0.25	I may already have this
U10	SOT-583-8	1	TPS629203	https://www.digikey.com/en/products/detail/texas-instruments/TPS629203DRLR/16516661	1.08
U11	SOT-223-3_TabPin2	1	AMS1117-1.8	https://www.digikey.com/en/products/detail/evvo/AMS1117-1-8/24370064	0.3
U12	TSSOP-16-1EP_4.4x5mm_P0.65mm	1	TCA9534	https://www.digikey.com/en/products/detail/texas-instruments/TCA9534PWR/5004966	1.53
U2	XCVR_ESP32-S3-WROOM-1U-N4R8	1	ESP32-S3-WROOM-1U-N4R8	https://www.digikey.com/en/products/detail/espressif-systems/ESP32-S3-WROOM-1U-N16R8/16162641	6.76
U3	SSOP-10-1EP_3.9x4.9mm_P1mm_EP2.1x3.3mm	1	CH224K	https://www.lcsc.com/product-detail/C970725.html	0.62
U4	Texas_RQM0029A_VQFN-29_4x4mm_P0.4mm	1	BQ25798	https://www.digikey.com/en/products/detail/texas-instruments/BQ25798RQMR/15666783	5.2
U5	QFN-28-1EP_5x5mm_P0.5mm_EP3.35x3.35mm	1	CP2102N-Axx-xQFN28	https://www.digikey.com/en/products/detail/silicon-labs/CP2102N-A02-GQFN28/9863477	5.1
U6	PW24_TEX	1	BQ7791500PWR	https://www.digikey.com/en/products/detail/texas-instruments/BQ7791500PWR/9593372	2.05
U7	PQFN50P250X300X86-14N	1	LSM6DSOXTR	https://estore.st.com/en/lsm6dsotr-cpn.html	5.32	LSM6DSOTR
U9	Bosch_LGA-8_2.5x2.5mm_P0.65mm_ClockwisePinNumbering	1	BME280	https://www.digikey.com/en/products/detail/bosch-sensortec/BME280/6136306	4
Y1	XTAL_ABS06-107-32.768KHZ-T	1	ABS06-107-32.768KHZ-T	https://www.digikey.com/en/products/detail/abracon-llc/ABS06-107-32-768KHZ-T/4291565	0.83
					52.78

Parts

139

Qty	Value	Footprint	References
18	0.1uF	Capacitor_SMD:C_0603_1608Metric	C5, C7, C16, C20, C31, C33, C34, C35, C36, C37, C43, C44, C45, C46, C50, C51 +2
13	10uF	Capacitor_SMD:C_0603_1608Metric	C10, C11, C17, C18, C19, C21, C22, C23, C24, C25, C27, C28, C42
12	10k	Resistor_SMD:R_0402_1005Metric	R3, R5, R9, R20, R22, R42, R43, R49, R50, R53, R58, R59
9	1k	Resistor_SMD:R_0402_1005Metric	R16, R17, R18, R23, R24, R26, R44, R46, R57
5	CSD17578Q5A	Package_SON:VSON-8_3.3x3.3mm_P0.65mm_NexFET	Q1, Q2, Q3, Q4, Q5
4	1uF	Capacitor_SMD:C_0603_1608Metric	C1, C4, C6, C30
3	100	Resistor_SMD:R_0402_1005Metric	R10, R30, R31
3	4.7uF	Capacitor_SMD:C_0603_1608Metric	C15, C48, C49
3	45	Resistor_SMD:R_0805_2012Metric_Pad1.20x1.40mm_HandSolder	R33, R34, R35
3	LED	LED_SMD:LED_0402_1005Metric	D6, D7, D8
3	LESD5D5.0CT1G	ExternalFootprints:TVS_LESD5D5.0CT1G	D1, D2, D3
2	10k	Resistor_SMD:R_0805_2012Metric	TH1, TH2
2	1M	Resistor_SMD:R_0402_1005Metric	R27, R28
2	22uF	Capacitor_SMD:C_0603_1608Metric	C32, C41
2	47nF	Capacitor_SMD:C_0603_1608Metric	C13, C14
2	4pF	Capacitor_SMD:C_0603_1608Metric	C38, C39
2	5.1k	Resistor_SMD:R_0402_1005Metric	R1, R2
2	Conn_01x02	TestPoint:TestPoint_THTPad_4.0x4.0mm_Drill2.0mm	J7, J11
2	Conn_01x08	TestPoint:TestPoint_THTPad_4.0x4.0mm_Drill2.0mm	J6, J10
2	Q_NPN	Package_TO_SOT_SMD:SOT-23	Q6, Q7
2	TYPE-C-31-M-12	ExternalFootprints:HRO_TYPE-C-31-M-12	J1, J4
2	TestPoint	TestPoint:TestPoint_THTPad_1.5x1.5mm_Drill0.7mm	TP1, TP2
1	0	Resistor_SMD:R_0603_1608Metric	R54
1	10.5k	Resistor_SMD:R_0402_1005Metric	R6
1	10m	Resistor_SMD:R_0402_1005Metric	R29
1	10nF	Capacitor_SMD:C_0603_1608Metric	C40
1	137k	Resistor_SMD:R_0402_1005Metric	R52
1	16.6k	Resistor_SMD:R_0402_1005Metric	R39
1	160k	Resistor_SMD:R_0402_1005Metric	R8
1	196k	Resistor_SMD:R_0402_1005Metric	R21
1	1nF	Capacitor_SMD:C_0603_1608Metric	C26
1	1uH	Inductor_SMD:L_0603_1608Metric	L1
1	2.2uH	Inductor_SMD:L_1008_2520Metric	L2
1	22.1k	Resistor_SMD:R_0402_1005Metric	R55
1	22uF	Capacitor_SMD:C_0805_2012Metric	C3
1	30.31k	Resistor_SMD:R_0402_1005Metric	R12
1	4.5k	Resistor_SMD:R_0402_1005Metric	R25
1	4.7uF	Capacitor_SMD:C_1206_3216Metric	C2
1	4.7uH	Inductor_SMD:L_Abracon_ASPI-4030S	L3
1	450k	Resistor_SMD:R_0402_1005Metric	R19
1	47.5k	Resistor_SMD:R_0402_1005Metric	R56
1	5.24k	Resistor_SMD:R_0402_1005Metric	R11
1	510	Resistor_SMD:R_0402_1005Metric	R45
1	51k	Resistor_SMD:R_0402_1005Metric	R38
1	619k	Resistor_SMD:R_0402_1005Metric	R15
1	75k	Resistor_SMD:R_0402_1005Metric	R7
1	ABS06-107-32.768KHZ-T	ExternalFootprints:XTAL_ABS06-107-32.768KHZ-T	Y1
1	AMS1117-1.8	Package_TO_SOT_SMD:SOT-223-3_TabPin2	U11
1	AP3211K	Package_TO_SOT_SMD:SOT-23-6	U1
1	BME280	Package_LGA:Bosch_LGA-8_2.5x2.5mm_P0.65mm_ClockwisePinNumbering	U9
1	BQ25798	Package_DFN_QFN:Texas_RQM0029A_VQFN-29_4x4mm_P0.4mm	U4
1	BQ7791500PWR	ExternalFootprints:PW24_TEX	U6
1	CH224K	Package_SO:SSOP-10-1EP_3.9x4.9mm_P1mm_EP2.1x3.3mm	U3
1	CP2102N-Axx-xQFN28	Package_DFN_QFN:QFN-28-1EP_5x5mm_P0.5mm_EP3.35x3.35mm	U5
1	Conn_01x02_Pin	Connector_AMASS:AMASS_XT60-M_1x02_P7.20mm_Vertical	J3
1	Conn_01x04_Pin	Connector_JST:JST_XH_B4B-XH-A_1x04_P2.50mm_Vertical	J2
1	Conn_02x09_Top_Bottom	TestPoint:TestPoint_THTPad_2.0x2.0mm_Drill1.0mm	J5
1	DFLS240L	Diode_SMD:D_PowerDI-123	D5
1	ESP32-S3-WROOM-1U-N4R8	ExternalFootprints:XCVR_ESP32-S3-WROOM-1U-N4R8	U2
1	LSM6DSOXTR	ExternalFootprints:PQFN50P250X300X86-14N	U7
1	Micro_SD_Card	Connector_Card:microSD_HC_Molex_104031-0811	J8
1	TCA9534	Package_SO:TSSOP-16-1EP_4.4x5mm_P0.65mm	U12
1	TPS629203	Package_TO_SOT_SMD:SOT-583-8	U10

Questions

How big is the Flight Controller PCB?

It measures 102 × 41.1 mm and has 6 copper layers, 1.56 mm thick.

What parts does the Flight Controller use?

139 parts, built around the ESP32-S3-WROOM-1U-N4R8, BME280, CH224K and TCA9534PW. 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 Flight Controller KiCad files?

From the C-yue28/Flight_Controller repository on GitHub, at the commit this page was made from: the board is Flight_Controller_PCB/FlightController.kicad_pcb and its schematic Flight_Controller_PCB/FlightController.kicad_sch. PCBKit opens the board in the browser, with nothing to install.

Can I use the Flight Controller design in my own project?

Its repository states no licence, so its author keeps all rights: ask C-yue28 before reusing the design.

Category and platform

Robots and motor control Power ESP32

Project files

Show this board on your page

A live frame, for any web page

<iframe src="https://pcbkit.io/embed/boards/c-yue28-flight-controller" title="Flight Controller in PCBKit" width="100%" height="480" style="border:0;border-radius:12px" allow="fullscreen" loading="lazy"></iframe>

A picture

<img src="https://pcbkit.io/embed/boards/c-yue28-flight-controller.jpg" alt="Flight Controller" width="1200" height="900">

A picture that opens the board, for a README

[![Flight Controller](https://pcbkit.io/embed/boards/c-yue28-flight-controller.jpg?size=s)](https://pcbkit.io/boards/c-yue28-flight-controller)

Source

Repository: C-yue28/Flight_Controller
Board file: Flight_Controller_PCB/FlightController.kicad_pcb
Commit: 400f8f2
Licence: Not stated

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