8 layers34 × 34 mm
FMUv3-revG imported
yagamy4680/drone-study
AUAV-OpenSource/FMUv4-PixRacer is the open hardware design of PixHawk FMUv4. It uses STM32F427 and MPU6000. (github)
169 parts
6 layers70 × 40.5 mm
FMUv246-imported
yagamy4680/drone-studyAUAV-OpenSource/FMUv4-PixRacer is the open hardware design of PixHawk FMUv4. It uses STM32F427 and MPU6000. (github)
- Size
- 70 × 40.5 mm
- Copper layers
- 6
- Thickness
- 1.6 mm
- Parts
- 290
- Nets
- 260
- Pads
- 1,159
- Tracks, vias
- 2,905, 472
- Pours
- 48
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 1 Oct 2026
- Updated
- 1 Oct 2026
Overview
FMUv246-imported is an open-source printed circuit board by yagamy4680, from the yagamy4680/drone-study repository on GitHub. It is a 6-layer board of 70 × 40.5 mm with 290 parts on 260 nets, routed with 2,905 tracks and 472 vias.
It is built around the 74LVC2G240DP, 2908-05WB-MG and FM25V01-G, with the MS5611-01BA03, BQ24315DSG and BQ24313DSG among its other parts. Its parts include 101 resistors, 69 capacitors, 25 ICs, 19 diodes and 16 connectors.
Main components
12
74LVC2G240DP
TSSOP-8-40℃~+125℃ 1 1.65V~5.5V 2 2ns@4.5V,50pF 32mA 32mA 4uA 74LVC Power-off isolation、Output enable、Level shifting Schmitt trigger Tri-State Unidirectional TSSOP-8 Buffers, Drivers, Receivers, Transceivers ROHSNexperiaBuffers, Drivers, Receivers, Transceivers
2908-05WB-MG
SMD-25℃~+85℃ 1.85mm Connector and Ejector MicroSD Card (TF Card) Push-Pull SMD SD Card / Memory Card Connector ROHS3MSD Card / Memory Card Connector
FM25V01-G
SOIC8128Kb Serial 3V F-RAM MemoryInfineon TechnologiesUncategorised
MS5611-01BA03
QFN-8(3x5)QFN-8(3x5) Pressure Sensors ROHSMEASPressure Sensors
BQ24315DSG
WSON-8-EP(2x2)Built-in LDO regulator、Overcurrent Protection、Operation status indication、Adjustable current limiting、Protection latch-off WSON-8-EP(2x2) Power Management - Specialized ROHSTexas InstrumentsBattery ManagementBQ24313DSG
WSON-8-EP(2x2)-40℃~+125℃ 1.5A 3.3V~30V 95uA Lithium Battery Not supported Not supported Protection IC 软启动、欠压锁定、Overcurrent Protection、反向电流阻断、过压保护 WSON-8-EP(2x2) Battery Management ROHSTexas InstrumentsBattery Management
L3GD20
LGA-16(4x4)-40℃~+85℃ 16bit 2.4V~3.6V 5uA Gyroscope SPI、I2C X,Y,Z ±2000dps LGA-16(4x4) Accelerometers ROHSSTMicroelectronicsAccelerometersL3GD20H
LGA-16-40℃~+85℃ 16bit 1uA 2.2V~3.6V Gyroscope SPI、I2C X,Y,Z ±2000dps LGA-16 Accelerometers ROHSSTMicroelectronicsAccelerometers
LSM303D
LGA-16_3x3mmLGA-16_3x3mm SMT ROHSSTMicroelectronicsUncategorised
LTC4417HGN
-2.5V~36V Active High High Side Switch - ORing Controllers ROHSAnalog DevicesPower Distribution Switches
MAX3051EKA
UncategorisedMaxim Integrated Products
MPU-6000
QFN-24-EP(4x4)-40℃~+85℃ 16bit 1KB 2.375V~3.46V 5uA IMU (accelerometer + gyroscope) SPI、I2C X,Y,Z X,Y,Z ±16g ±2000dps 运动事件检测、同步与时间戳、过量程保护功能 QFN-24-EP(4x4) Accelerometers ROHSTDK InvenSenseAccelerometers
README
README.mddrone-study
Notes
- IO MCU
- RTOS
- FMUv1, done.
- FMUv2, ongoing...
- FMUv3, ongoing...
- FMUv4, ongoing...
- FMUv5, not started yet.
- FMUv6, not started yet.
Random Notes
AUAV-OpenSource/FMUv4-PixRacer is the open hardware design of PixHawk FMUv4. It uses STM32F427 and MPU6000. (github)
MRazgunas/pixhawk2.1 is the open hardware design of PixHawk FMUv2.1. It uses STM32F427 and MPU6000. (github)
Firmament (FMT) is an advanced autopilot system which is designed with Model-based design (MBD). It can be used to quickly and easily build the control system for autonomous vehicle, such as uav, car, ship, robot, etc. Current supported hardware:
Questions
- Q1. Why does FMUv3 use 8 layers of PCB instead of 6 layers as FMUv2? (they are almost identical in functionality)
- [v] Q2. Where is the firmware of the failsafe MCU (STM32F100) stored? And how to build it?
- Q3. What is the communication protocol between the main MCU (STM32F405/F427/H437/H753) and the failsafe MCU (STM32F100)? If the bearer is USART, what is the baudrate? If the bearer is I2C, what is the address of the failsafe MCU?
- Q4. In FMUv2 design, those 4 sensors (IMU1/2, Gyro, Baro) are all connected to SPI1 of the main MCU (STM32F427). How does the main MCU read data from these sensors in very high speed? Does it use DMA? How does selection pin work with DMA?
- Q5. Understand the mechanism of mixing: Mixing and Actuators
TODO
- 1. Draw architecture diagram (in mermaid) for FMUv2
Parts
290| Qty | Value | Footprint | References |
|---|---|---|---|
| 31 | 0u1 | 0402-CAP | C101, C201, C202, C401, C402, C502, C503, C507, C508, C514, C606, C607, C1005, C1105, C1106, C1107 +15 |
| 26 | PAD.04 | PAD.04X.04 | !VBUS_VALID0, !VDD_BRICK_VALID0, !VDD_SERVO_VALID0, ADC_PR0, CAN_H0, CAN_L0, FMU-BOOT1101, GND.0, GND0, IO-BOOT1101, S1RX0, S1TX0, S2RX0, S2TX0, S3RX0, S3TX0 +10 |
| 25 | 220R | 0402-RES | R707, R708, R709, R711, R712, R735, R736, R803, R804, R902, R903, R904, R905, R906, R907, R908 +9 |
| 19 | 120R | 0402-RES | R201, R202, R203, R204, R205, R206, R207, R208, R209, R210, R211, R212, R213, R214, R215, R216 +3 |
| 12 | PESD0402-140 | 0402-TVS | D201, D202, D203, D401, D402, D403, D404, D701, D801, D901, D902, D903 |
| 11 | 10K | 0402-RES | R102, R603, R611, R615, R635, R702, R704, R801, R802, R901, R1002 |
| 11 | 10K/0.1% | 0402-RES | R403, R406, R407, R408, R609, R610, R918, R919, R922, R1101, R1102 |
| 11 | KNH16C104DA5TS | KYOCERA-KNH16-DA | L201, L202, L203, L401, L402, L403, L404, L603, L901, L1101, L1102 |
| 7 | 100K | 0402-RES | R301, R302, R303, R304, R305, R703, R1001 |
| 5 | 1K5 | 0402-RES | R306, R307, R401, R402, R713 |
| 5 | 22u/25V | 0805-CAP | C604, C605, C1101, C1102, C1103 |
| 5 | DF13C-6P-1.25V | DF13C-6P-1.25V | J201, J202, J203, J204, J601 |
| 4 | 10n | 0402-CAP | C504, C505, C602, C1002 |
| 4 | 10u/10V | 0805-CAP | C501, C506, C509, C511 |
| 4 | 1M | 0402-RES | R602, R604, R1103, R1104 |
| 4 | 2u2 | 0603-CAP | C512, C513, C611, C613 |
| 4 | 453K | 0402-RES | R705, R1105, R1109, R1112 |
| 4 | 8p | 0402-CAP | C102, C103, C805, C806 |
| 4 | MOUNT-HOLE3.1MM | MOUNT-HOLE3.1 | M3_MOUNT1101, M3_MOUNT1102, M3_MOUNT1103, M3_MOUNT1104 |
| 4 | TXS0108QFN20 | QFN20-RGY | U201, U202, U901, U902 |
| 3 | 100u | 1206-CAP | C614, C618, C1104 |
| 3 | 105K | 0402-RES | R1107, R1111, R1114 |
| 3 | 10p/25V | 0402-CAP | C1108, C1109, C1110 |
| 3 | 1u | 0603-CAP | C603, C702, C1003 |
| 3 | 56K | 0402-RES | R1106, R1110, R1113 |
| 3 | DF13C-4P-1.25V | DF13C-4P-1.25V | J302, J401, J405 |
| 3 | NTHD4102PT1G | 1206-8 | U1102, U1103, U1104 |
| 2 | 0u47 | 0402-CAP | C510, C704 |
| 2 | 10u/25V | 0805-CAP | C601, C1001 |
| 2 | 16K5 | 0402-RES | R617, R706 |
| 2 | 3.2x2.5 mm / 24 MHz / 15 ppm | OSCILLATOR-3.2X2.5 | X101, X801 |
| 2 | AMBER | 0603-LED | LED701, LED703 |
| 2 | ARM_MINI_JTAG-SMT | FTSH-105-01-XXX-DV-K | JX301, JX802 |
| 2 | BQ24315 | QFN8-DSG | U601, U602 |
| 2 | DF13C-3P-1.25V | DF13C-3P-1.25V | J402, J702 |
| 2 | FIDUCIAL1.5X3 | FIDUCIAL-1.5X3 | JP1, JP2 |
| 2 | GREEN | 0603-LED | LED702, LED704 |
| 2 | MIC5332 | MLF-8-EPAD | U603, U1002 |
| 2 | RESET | EVQP7J01K | S601, S801 |
| 1 | 3X16RA | J901 | |
| 1 | 0512811094 | 51281-1094 | X503 |
| 1 | 0R | 0402-RES | R1115 |
| 1 | 0ZCA0035FF2G | PTC-1206 | F1001 |
| 1 | 0u01 | 0603-CAP | C515 |
| 1 | 10u | 0603-CAP | C1004 |
| 1 | 1K | 0402-RES | R608 |
| 1 | 1M | EXB28V | RN1101 |
| 1 | 220R | 0603-RES | R621 |
| 1 | 25K5 | 0402-RES | R616 |
| 1 | 2908-05WB-MG | MICROSD | U301 |
| 1 | 2u2 | 0402-CAP | C1008 |
| 1 | 470R | 0402-RES | R101 |
| 1 | 47346-0001 | MOLEX-47346-0001 | J301 |
| 1 | 47uH | 0805-IND | L701 |
| 1 | 5n6 | 0402-CAP | C703 |
| 1 | 68R | 0402-RES | R710 |
| 1 | 74LVC2G240 | TSSOP8_SOT505-2 | U903 |
| 1 | 9K09 | 0402-RES | R701 |
| 1 | BLUE | 0603-LED | LED705 |
| 1 | BQ24313 | QFN8-DSG | U1001 |
| 1 | DF13C-2P-1.25V | DF13C-2P-1.25V | J701 |
| 1 | DF13C-5P-1.25V | DF13C-5P-1.25V | J404 |
| 1 | DF13C-7P-1.25V | DF13C-7P-1.25V | J403 |
| 1 | FM25V01 | SO08 | U102 |
| 1 | HEADER-3X1BOARDEDGE-SHORT | HEADER_3X01_SMD_H_BOARD_EDGE_SHORT | JX801 |
| 1 | JST-ZH-3 | JST-ZH-SMT-VERTICAL | J801 |
| 1 | L3GD20 | L3G4200DH-MAN | U501 |
| 1 | L3GD20H | LGA-16L | U502 |
| 1 | LRTB GFTG-T7AW-1+V7A7-29+R5T9-49-L | 6-PLCC | U703 |
| 1 | LSM303D | LGA-16L | U504 |
| 1 | LT3469 | SOT23-8 | U702 |
| 1 | LTC4417 | MO-220 | U1101 |
| 1 | MAX3051 | SOT23-8 | U401 |
| 1 | MPU-6000 | QFN-24 | U505 |
| 1 | MS5611-01BA | MS5611-01BA | U506 |
| 1 | MS621FE | MS621FE | B601 |
| 1 | MSS1P4-M3 | MICROSMP | D904 |
| 1 | NUF2042XV6 | SOT563-6 | U302 |
| 1 | OSHW-LOGOS | OSHW-LOGO-S | OSHW_LOGO0 |
| 1 | PMEG2005CT | SOT23-3 | D1001 |
The 286 most common of 290 parts.
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Questions
How big is the FMUv246-imported PCB?
It measures 70 × 40.5 mm and has 6 copper layers, 1.6 mm thick.
What parts does the FMUv246-imported use?
290 parts, built around the 74LVC2G240DP, 2908-05WB-MG, FM25V01-G 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.
Where can I download the FMUv246-imported KiCad files?
From the yagamy4680/drone-study repository on GitHub, at the commit this page was made from: the board is kicad/FMUv246-imported/FMUv246-imported.kicad_pcb and its schematic kicad/FLOWv1/FLOWv1.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the FMUv246-imported design in my own project?
Its repository states no licence, so its author keeps all rights: ask yagamy4680 before reusing the design.