4 layers45 × 50 mm
4 layers66.4 × 66.4 mm
This repository contains the documentation, hardware designs, and source code for a Thrust Vector Control (TVC) drone. Built to demonstrate flight control capabilities in amateur rocketry, the vehicle dynamically vectors thrust to balance itself and maintain precise orientation set-points, mirroring actual rocket systems.
- Size
- 66.4 × 66.4 mm
- Copper layers
- 4
- Thickness
- 1.6 mm
- Parts
- 140
- Nets
- 101
- Pads
- 462
- Tracks, vias
- 1,350, 254
- Pours
- 19
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 7 Aug 2026
- Updated
- 31 Aug 2026
Overview
Rera is an open-source printed circuit board by fdiwth, from the fdiwth/tvc-drone repository on GitHub, published under the GPL-3.0 licence. It is a 4-layer board of 66.4 × 66.4 mm with 140 parts on 101 nets, routed with 1,350 tracks and 254 vias.
It is built around the BMM150, BMP388 and MP2393GTL-Z, with the W25Q128JVSIQ, TF-01A and AMS1117-3.3 among its other parts. Its parts include 55 capacitors, 39 resistors, 15 connectors, 10 ICs and 10 diodes. It belongs with the robots and motor control boards and the STM32 boards of this library.
Main components
12
BMM150
WLCSP-12(1.6x1.6)-40℃~+85℃ 1.62V~3.6V I2C、SPI ±1.3mT ±2.5mT WLCSP-12(1.6x1.6) 3D Magnetic Sensors ROHSBosch3D Magnetic Sensors
BMP388
LGA-10(2x2)-40℃~+85℃ 1.65V~3.6V 1pa/K 2uA 30Kpa~1.25bar 50pa 8pa I2C、SPI LGA-10(2x2) Pressure Sensors ROHSBosch SensortecPressure Sensors
MP2393GTL-Z
SOT-583-40℃~+125℃@(TJ) 1 200uA 3A 4.2V~24V 650kHz 800mV~13V Adjustable Buck Buck Built-in Yes SOT-583 DC-DC Converters ROHSMonolithic Power SystemsDC-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
TF-01A
SMD1.85mm Connector and Ejector MicroSD Card (TF Card) Push-Push With Locating Pins SMD SD Card / Memory Card Connector ROHSHRO ElectronicsSD Card / Memory Card Connector
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 InvenSenseAccelerometersTPS2121RUXR
VQFN-HR-12(2x2.5)-40℃~+125℃ 2.8V~22V 200uA 56mΩ VQFN-HR-12(2x2.5) ORing Controllers ROHSTexas InstrumentsBattery Management
USBLC6-2SC6
SOT-23-60.35pF、0.8pF 100nA 150W@8/20us 15V 2 5V 6A@8/20us 6V ESD SOT-23-6 ESD and Surge Protection (TVS/ESD) ROHSUMWESD And Surge Protection (TVS/ESD)
TPD1E05U06DPYR
X1SON-2(0.6x1)-40℃~+125℃ 0.42pF 1 10nA 14V 2.5A@8/20us 40W@8/20us 5.5V 8.5V ESD IEC 61000-4-2、IEC 61000-4-5、IEC 61000-4-4 Unidirectional X1SON-2(0.6x1) ESD and Surge Protection (TVS/ESD) ROHSTexas InstrumentsESD And Surge Protection (TVS/ESD)
1N4148WS
SOD-3231.25V@150mA 100V 150mA 1uA@75V 200mW 2A 4ns Independent SOD-323 Switching Diodes ROHSJiangsu Changjing Electronics Technology (CJ)Switching Diodes
ESDA7P60-1U1M
DFN1610-2ESD And Surge Protection (TVS/ESD)TECH PUBLIC
README
README.mdAbout
The TVC(Thrust Vector Control) drone project is a demonstration of the control capabilities that can be achieved in amateur rocketry. Similar to an actual rocket with a TVC system, the drone is capable of balancing and angling itself at desired a desired set-point by vectoring the thrust it produces appropriately. This repository contains the documentation of the project along with sources of both hardware and software that was developed in the duration of the project.
Navigating the Repository
The repository is mainly split into five sections:
- tvc-drone/apps
- tvc-drone/docs
- tvc-drone/gcs-firmware
- tvc-drone/drone-firmware
- tvc-drone/resources
The best way to navigate this repository if you are looking for an in depth guide is to follow along the documentation available in your language of choice below tvc-drone/docs. The documentation explains the design choices, and the links to appropriate sections of the repository.
If you are looking to look at a specific part of the sources, navigating to the appropriately named folders will help find the resources you need.
To get a short overview of the features used in the project, check out the overview section available at tvc-drone/docs/{language}.
Videos
Click on the images of videos to watch them. Watch video 5 or 6 if you want to see the result.
Disclaimer
This repository is merely a demonstration of what is achievable with a custom-built coaxial TVC drone stack, and is not a step-by-step guide on building one. Despite the project materials being open sourced, it is discouraged to use them directly in one's own project. However, anyone is welcome to use the documentations and source materials as a reference. But treat this as a reference point, not a direct dependency.
Contact
Anyone with any questions regarding this project are welcome to reach out through contact informations listed below.
instagram: fd.iwth email: fdiwth@gmail.com
Parts
140| Qty | Value | Footprint | References |
|---|---|---|---|
| 28 | 100n | Capacitor_SMD:C_0402_1005Metric | C2, C3, C4, C11, C14, C16, C21, C22, C28, C29, C31, C32, C35, C36, C37, C40 +12 |
| 9 | 10k | Resistor_SMD:R_0402_1005Metric | R2, R7, R12, R24, R27, R28, R30, R32, R33 |
| 7 | 47k | Resistor_SMD:R_0402_1005Metric | R1, R3, R4, R5, R6, R38, R39 |
| 7 | 5k1 | Resistor_SMD:R_0402_1005Metric | R10, R11, R19, R21, R22, R23, R25 |
| 6 | TPD1E05U06DPYR | TPD1E05U06DPYR:DIO_TPD1E05U06DPYR | D1, D2, D3, D4, D5, D6 |
| 5 | 10u | Capacitor_SMD:C_0805_2012Metric | C9, C33, C34, C38, C39 |
| 5 | 22 | Resistor_SMD:R_0603_1608Metric | R13, R34, R35, R36, R37 |
| 4 | 1u | Capacitor_SMD:C_0603_1608Metric | C10, C23, C54, C55 |
| 4 | 470u | Capacitor_SMD:C_Elec_6.3x7.7 | C18, C19, C25, C26 |
| 4 | MountingHole | MountingHole:MountingHole_3.2mm_M3 | H1, H2, H3, H4 |
| 3 | 22u | Capacitor_SMD:C_0805_2012Metric | C12, C27, C30 |
| 3 | 23k7 | Resistor_SMD:R_0402_1005Metric | R18, R20, R26 |
| 2 | 10u | Capacitor_Tantalum_SMD:CP_EIA-3216-18_Kemet-A | C13, C17 |
| 2 | 15p | Capacitor_SMD:C_0402_1005Metric | C45, C50 |
| 2 | 1k | Resistor_SMD:R_0402_1005Metric | R17, R29 |
| 2 | 4u7 | Capacitor_SMD:C_0603_1608Metric | C43, C44 |
| 2 | SW_SPST | Button_Switch_SMD:SW_SPST_TS-1088-xR020 | SW1, SW2 |
| 1 | 10n | Capacitor_SMD:C_0402_1005Metric | C1 |
| 1 | 10p | Capacitor_SMD:C_0402_1005Metric | C24 |
| 1 | 120R | Inductor_SMD:L_0603_1608Metric | FB1 |
| 1 | 15k | Resistor_SMD:R_0603_1608Metric | R14 |
| 1 | 1N4148WS | Diode_SMD:D_SOD-323 | D10 |
| 1 | 1n | Capacitor_SMD:C_0402_1005Metric | C15 |
| 1 | 25MHz | SMT_MOB4SI_YXC:SMT_MOB4SI_YXC | Y1 |
| 1 | 2m | Resistor_SMD:R_1206_3216Metric | R8 |
| 1 | 2u2 | Capacitor_SMD:C_0603_1608Metric | C7 |
| 1 | 40k2 | Resistor_SMD:R_0603_1608Metric | R16 |
| 1 | 470 | Resistor_SMD:R_0603_1608Metric | R31 |
| 1 | 4u9 | HSB-0650-4R9-M:HSB-0650-4R9-M | L1 |
| 1 | 6.8n | Capacitor_SMD:C_0603_1608Metric | C20 |
| 1 | 604k | Resistor_SMD:R_0402_1005Metric | R9 |
| 1 | 7k68 | Resistor_SMD:R_0603_1608Metric | R15 |
| 1 | AMS1117-3.3 | Package_TO_SOT_SMD:SOT-223-3_TabPin2 | U5 |
| 1 | BMM150 | Package_CSP:WLCSP-12_1.56x1.56mm_P0.4mm | U2 |
| 1 | BMP388 | QFN_BMP388_BOS:QFN_BMP388_BOS | U1 |
| 1 | Battery | TerminalBlock_Phoenix:TerminalBlock_Phoenix_MKDS-1,5-2-5.08_1x02_P5.08mm_Horizontal | J13 |
| 1 | Blue | LED_SMD:LED_0603_1608Metric | D9 |
| 1 | Conn_EXT1 | Connector_JST:JST_PH_B4B-PH-K_1x04_P2.00mm_Vertical | J7 |
| 1 | Conn_EXT2 | Connector_JST:JST_PH_B4B-PH-K_1x04_P2.00mm_Vertical | J11 |
| 1 | Conn_GPS | Connector_JST:JST_PH_B6B-PH-K_1x06_P2.00mm_Vertical | J10 |
| 1 | Conn_I2C | Connector_JST:JST_PH_B4B-PH-K_1x04_P2.00mm_Vertical | J8 |
| 1 | Conn_M1 | Connector_JST:JST_PH_B2B-PH-K_1x02_P2.00mm_Vertical | J14 |
| 1 | Conn_M2 | Connector_JST:JST_PH_B2B-PH-K_1x02_P2.00mm_Vertical | J15 |
| 1 | Conn_RF | Connector_JST:JST_PH_B6B-PH-K_1x06_P2.00mm_Vertical | J9 |
| 1 | Conn_SV1 | Connector_JST:JST_PH_B3B-PH-K_1x03_P2.00mm_Vertical | J5 |
| 1 | Conn_SV2 | Connector_JST:JST_PH_B3B-PH-K_1x03_P2.00mm_Vertical | J3 |
| 1 | Conn_SV3 | Connector_JST:JST_PH_B3B-PH-K_1x03_P2.00mm_Vertical | J6 |
| 1 | Conn_SV4 | Connector_JST:JST_PH_B3B-PH-K_1x03_P2.00mm_Vertical | J2 |
| 1 | Conn_SW | Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical | J12 |
| 1 | ESDA7P60-1U1M | ESDA7P60-1U1M:TVS_ESDA7P60-1U1M | D7 |
| 1 | ICM-42688-P | LGA14_2P5X3X0P91_TDK:LGA14_2P5X3X0P91_TDK | U3 |
| 1 | INA226 | Package_SO:VSSOP-10_3x3mm_P0.5mm | U6 |
| 1 | MLT-8540 | MLT-8540:MLT-8540 | LS1 |
| 1 | MP2393GTL-Z | MP2393:SOT583_MP2393 | U7 |
| 1 | Red | LED_SMD:LED_0603_1608Metric | D8 |
| 1 | SS8050 | Package_TO_SOT_SMD:SOT-23 | Q1 |
| 1 | STM32F722RETx | Package_QFP:LQFP-64_10x10mm_P0.5mm | U10 |
| 1 | TF-01A | TF-01A:TF-01A | J1 |
| 1 | TPS2121RUXR | RUX0012A:RUX0012A | U9 |
| 1 | USB4105-GF-A | Connector_USB:USB_C_Receptacle_GCT_USB4105-xx-A_16P_TopMnt_Horizontal | J4 |
| 1 | USBLC6-2SC6 | Package_TO_SOT_SMD:SOT-23-6 | U8 |
| 1 | W25Q128JVSIQ | W25Q128JVSIQ:SOIC127P790X216-8N | U4 |
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Questions
How big is the Rera PCB?
It measures 66.4 × 66.4 mm and has 4 copper layers, 1.6 mm thick.
What parts does the Rera use?
140 parts, built around the BMM150, BMP388, MP2393GTL-Z and W25Q128JVSIQ. 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 Rera KiCad files?
From the fdiwth/tvc-drone repository on GitHub, at the commit this page was made from: the board is resources/pcb/rera.kicad_pcb and its schematic resources/pcb/MCU.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Rera design in my own project?
Its repository publishes it under the GPL-3.0 licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).