ESP32 Drone by CodeMatrix is a compact, WiFi-controlled drone based on the ESP32-S3 microcontroller. Designed for hobbyists, makers, and engineers, ESP32 Drone by CodeMatrix offers a simple yet powerful platform for drone experimentation and development. It is an open-hardware project, making it easy to modify and expand.
Panel is an open-source printed circuit board by RamRamAndroid, from the RamRamAndroid/ESP32Drone-CodeMatrix repository on GitHub. It is a 2-layer board of 131 × 100 mm with 182 parts on 129 nets, routed with 2,006 tracks and 429 vias.
It is built around the ESP32-S3-WROOM-1-N8, CH340K and HMC5883L-TR, with the MS5611-01BA03, PMW3901MB-TXQT and AO3401A among its other parts. Its parts include 39 capacitors, 38 resistors, 16 connectors, 15 diodes and 12 ICs. It belongs with the radio and wireless and robots and motor control boards and the ESP32 boards of this library.
CodeMatrix ESP32 Drone is a compact, WiFi-controlled drone based on the ESP32-S3 microcontroller. Designed for hobbyists, makers, and engineers, CodeMatrix ESP32 Drone offers a simple yet powerful platform for drone experimentation and development. It is an open-hardware project, making it easy to modify and expand.
Whether you’re new to drones or an experienced developer looking to create custom flight applications, CodeMatrix ESP32 Drone provides an accessible and affordable way to explore drone technology. Unlike traditional drones that require proprietary controllers, CodeMatrix ESP32 Drone connects to your smartphone, allowing for an intuitive flying experience without additional hardware.
The firmware on CodeMatrix ESP32 Drone supports Crazyflie cfclient and cflib, meaning you can program and control your drone using Python and add more features like height hold, position hold, gesture control, and more.
The latest version includes more GPIO pins, sensor mounts, LED indicators to make it easier to tinker with and program. The PCB frame design keeps it lightweight while reducing costs, making it one of the most affordable DIY drones available.
The ESP32 Drone Positioning Module is a plug-and-play optical flow and ToF-based stabilization add-on designed for indoor and GPS-denied flight. Featuring the PMW3901 optical flow sensor for precise X/Y position tracking and the VL53L1X Time-of-Flight sensor for accurate height measurement, this module enables stable height hold and position hold performance. Ideal for DIY drones, autonomous flight experiments, and educational robotics projects.
This module transforms your CodeMatrix ESP32 Drone into a fully-equipped autonomous flight platform by adding critical sensor capabilities: precision ToF height measurement, optical motion tracking, and visual status feedback. All connected through a 24-pin connector, eliminating complex wiring while maintaining robust electrical connections suitable for flight operations.
This add-on module is completely compatible with the CodeMatrix ESP32 Drone and consists of the VL53L1x ToF sensor and PMW3901MB optical flow sensor for height hold and position hold, respectively. Apart from this, the module also has 4 Neopixel LEDs that can be programmed to indicate flight status or for visual appeal.
Important: By default, only the ToF sensor, Optical Flow sensor, and Neopixel LEDs will be soldered on the module. The brometric sensor and magnetometer footprint is added only for users who wish to build more using the same board. By default these two sensors will not be populated. The colour of the PCB might also be in black or green color depending on the time of purchase, but features and working will reamin the same.
The ESP32 Drone Bluetooth Speaker Module is a plug-and-play lightweight Bluetooth speaker system to extend the drone's capabilities beyond flight. By adding a simple Bluetooth audio setup, the drone can now deliver real-time announcements, voice messages, or music directly from the air without requiring any additional coding. The entire system works through a standard Bluetooth connection, making it easy to set up, practical for demonstrations, events, and experimental applications while also being fun.
This PCB Has Both The Drone And Module Combined Into One PCB For Easier Manufacturing And Assembly And This Method Is Faster Than Getting Them Both Seperatly
I Have Made A Template Of The Positioning Module For You To Customize, It Is In The Module Folder
| Qty | Value | Footprint | References |
|---|---|---|---|
| 11 | 10k | Library:R_0603_1608Metric | R14, R16, R17, R18, R19, R20, R21, R22, R23, R24, R25 |
| 9 | 0.1uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C4, C6, C8, C10, C11, C12, C13, C14, C15 |
| 8 | Conn_01x06 | Library:PinHeader_1x06_P2.54mm_Vertical | J3, J3, J4, J4, J5, J5, J6, J6 |
| 7 | 1K | Library:R_0603_1608Metric | R6, R7, R9, R10, R11, R12, R13 |
| 6 | 100nF | Library:C_0603_1608Metric | C6, C7, C8, C10, C13, C14 |
| 6 | 10K | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R2, R3, R4, R5, R6, R7 |
| 4 | 100K | Library:R_0603_1608Metric | R3, R8, R26, R27 |
| 4 | 10uF | Library:C_0603_1608Metric | C1, C4, C5, C12 |
| 4 | 10uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C1, C2, C3, C5 |
| 4 | 1N4148W | Library:D_SOD-123F | D2, D3, D4, D5 |
| 4 | 1uF | Library:C_0603_1608Metric | C15, C16, C17, C18 |
| 4 | 1uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C18, C19, C20, C21 |
| 4 | Conn_01x02_Female | Library:LiteWingMotor2 | J7, J8, J9, J10 |
| 4 | IRLML6344TRPBF | Library:SOT95P237X112-3N | T1, T2, T3, T4 |
| 4 | LOGO | Library:LOGO | G***, G***, G***, G*** |
| 4 | WS2812B-2020 | LED_SMD:LED_WS2812B-2020_PLCC4_2.0x2.0mm | D1, D2, D3, D4 |
| 3 | 0R | Library:R_0603_1608Metric | R28, R29, R30 |
| 3 | 4.7uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C7, C9, C16 |
| 3 | LED_Red | Library:LED_0603_1608Metric | LED1, LED2, LED5 |
| 2 | 4.7K | Resistor_SMD:R_0603_1608Metric_Pad0.98x0.95mm_HandSolder | R1, R8 |
| 2 | 5.1K | Library:R_0603_1608Metric | R1, R2 |
| 2 | LED_Blue | Library:LED_0603_1608Metric | LED3, LED6 |
| 2 | SolderJumper_2_Open | Jumper:SolderJumper-2_P1.3mm_Open_TrianglePad1.0x1.5mm | JP1, JP2 |
| 2 | Tactile Switch 3x4x2 | Library:Tactile 3x4x2mm TS-A010 | SW2, SW3 |
| 1 | 0.22uF | Capacitor_SMD:C_0603_1608Metric_Pad1.08x0.95mm_HandSolder | C17 |
| 1 | 1.2K | Library:R_0603_1608Metric | R5 |
| 1 | 10nf | Library:C_0603_1608Metric | C11 |
| 1 | 2.2nf | Library:C_0603_1608Metric | C9 |
| 1 | 2.2uF | Library:C_0805_2012Metric | C3 |
| 1 | 2N27002DW | Library:SOT-363_SC-70-6 | U6 |
| 1 | 4.7k | Library:R_0603_1608Metric | R15 |
| 1 | 470R | Library:R_0603_1608Metric | R4 |
| 1 | 470pF | Library:C_0603_1608Metric | C2 |
| 1 | AO3401A | Library:SOT-23 | U1 |
| 1 | CH340K | Library:ESSOP-10_3.9x4.9mm_P1.00mm | U5 |
| 1 | Conn_01x06 | Library:VL53L1X_BREAKOUT | J12 |
| 1 | Conn_01x09 | Library:PMW3901 | J11 |
| 1 | ESP32-S3-WROOM-1 | Library:ESP32-S3-WROOM-1 | U8 |
| 1 | HMC5883L-TR | Benim:XDCR_HMC5883L-TR | U5 |
| 1 | JST XH 2P 2.50mm SMD Hoz | Library:CONN-TH_2P-P2.50_XH-2AW | J2 |
| 1 | LED_Green | Library:LED_0603_1608Metric | LED4 |
| 1 | LOGO | Benim:okişaretiküçük | G*** |
| 1 | MPU-6050 | Library:MPU6050 | U7 |
| 1 | MS5611-01BA | Package_LGA:LGA-8_3x5mm_P1.25mm | U4 |
| 1 | MST22D18G2_125 | Library:SW-SMD_MST22D18G2 | SW1 |
| 1 | PMW3901MB-TXQT | Benim:QFN_01MB-TXQT_PIX | U2 |
| 1 | SPX3819M5-L-1-8 | Package_TO_SOT_SMD:SOT-23-5 | U1 |
| 1 | SPX3819M5-L-3-3/TR | Library:SOT-23-5 | U2 |
| 1 | SS34 | Library:D_SMA | D1 |
| 1 | TP4056 | Library:SOIC127P600X175-9N | IC1 |
| 1 | USB_C_Receptacle_USB2.0 | Library:USB_C_Receptacle_HRO_TYPE-C-31-M-12 | J1 |
| 1 | VL53L1CXV0FY1 | Sensor_Distance:ST_VL53L1x | U3 |
The 134 most common of 182 parts.
It measures 131 × 100 mm and has 2 copper layers, 1.6 mm thick.
182 parts, built around the ESP32-S3-WROOM-1-N8, CH340K, HMC5883L-TR and MS5611-01BA03. 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.
From the RamRamAndroid/ESP32Drone-CodeMatrix repository on GitHub, at the commit this page was made from: the board is Drone + Module/KiCad Files/panel.kicad_pcb and its schematic Drone + Module/KiCad Files/panel.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Its repository states no licence, so its author keeps all rights: ask RamRamAndroid before reusing the design.
RamRamAndroid/ESP32Drone-CodeMatrix
ESP32 Drone by CodeMatrix is a compact, WiFi-controlled drone based on the ESP32-S3 microcontroller. Designed for hobbyists, makers, and engineers, ESP32 Drone by CodeMatrix offers a simple yet powerful platform for…
RamRamAndroid/ESP32Drone-CodeMatrix
ESP32 Drone by CodeMatrix is a compact, WiFi-controlled drone based on the ESP32-S3 microcontroller. Designed for hobbyists, makers, and engineers, ESP32 Drone by CodeMatrix offers a simple yet powerful platform for…
WOAH-KAMRAN/litewing-uart
litewing with support for uart based optical flow
VISHNUPRIYANR1812/PCB-Projects
Collection of my custom PCB designs, including schematics, Gerber files, and project details.
calebmarting/os2026-badge
Schematics and firmware for the Open Sauce 2026 Badge and SAOs
bsidesorlando/2026-badge
The electronic badge for BSides Orlando 2026, themed around retro-futurism: a 1960s World's Fair vision of tomorrow, with Lil Chompy the alligator at the wheel of a flying car.
anticitizn/p4eregrine
All-in-one ESP32 P4-based drone ESC, flight controller, and video processor
