# Raspberry Pi Drone Controller ## Description Raspberry Pi-based drone control PCB focused on mission endurance for an assumed 10 km travel mission. Camera-specific circuitry and storage subsystems are removed. The Raspberry Pi remains the central processing unit and interfaces to power management, RF telemetry/control, GNSS, IMU, ESC/PWM outputs, battery monitoring, and debug interfaces. Assumption: the 10 km requirement is treated as mission travel/range rather than 10 km altitude, subject to later airframe and regulatory review. ## Project Details - **Owner:** artcushtimier - **Created:** 4/5/2026 - **Last Updated:** 4/6/2026 - **Visibility:** Public - **Implementation Details:** Autonomous redesign from camera subsystem to compact 4S drone flight controller. Assumptions locked for completion: 4S LiPo input, FC plus light PDB/signal breakout, 30.5x30.5 mm mounting, CRSF receiver input, UART telemetry radio, GNSS connector with PPS, SPI IMU, high-altitude-capable barometer, onboard magnetometer, INA226 battery monitor, blackbox logging support, filtered 5V and 3.3V rails. - **Allow Substitutes:** No - **Power Requirements:** 4S LiPo input, regulated 5V high-current rail for Raspberry Pi, regulated 3.3V rail for sensors and interfaces - **System Architecture:** ```mermaid flowchart TD BAT[4S LiPo Battery] --> PWR[5V and 3.3V Power] USB[USB-C Service Power] --> PWR PWR --> PI[Raspberry Pi] PWR --> FC[Sensor and IO Domain] FC --> IMU[IMU] FC --> GPS[GNSS UART] FC --> RC[RC Receiver UART] FC --> TEL[Telemetry Radio UART] PI --> FC PI --> SD[Logging Storage] FC --> PWM[ESC Outputs] FC --> ADC[Battery Monitor] ``` - **Connectivity:** USB-C service, UART RC receiver, UART telemetry radio, UART GNSS, I2C IMU, PWM ESC outputs - **Mission Assumptions:** Assume 10 km refers to travel/range endurance, not 10 km altitude. Power system targets a 4S LiPo drone architecture with Raspberry Pi as mission computer and standard flight-control interfaces for RC link, telemetry, GNSS, IMU, ESC outputs, and battery monitoring. ## Key Components ### CN1 — [532610471](https://www.flux.ai/lcsc/532610471~lll3.md) - Role Details: 4-pin receiver header carrying GND, 5V, CRSF RX, and CRSF TX / aux serial. - Datasheet URL: https://storage.googleapis.com/graviton-electric-symbols/document_assets/lcsc/2406281007_MOLEX-532610471_C240847.pdf - Package or Case Code: CONN-SMD_4P-P1.25_53261-0471 - Manufacturer Name: MOLEX - Package: 1.25mm 4-pin SMT - Manufacturer Part Number: 532610471 - Part Type: Wire To Board / Wire To Wire Connector - LCSC Part Number: C240847 - Role: RC Receiver Connector - JLCPCB Part Class: Extended Part - Product Info Url: https://lcsc.com/product-detail/Wire-To-Board-Wire-To-Wire-Connector_MOLEX_53261-0471_MOLEX-53261-0471_C240847.html **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] - 6 [pin 6] ### D1 — [SML-LX0603GW-TR](https://www.flux.ai/adrian95/sml-lx0603gw-tr~uqi.md) - Manufacturer Name: Lumex Opto/Components Inc. - Role Details: Green status indicator for power or arming state. - Part Type: LED - Datasheet URL: https://www.lumex.com/spec/SML-LX0603GW-TR.pdf - Package: 0603 - License: https://creativecommons.org/licenses/by/4.0/ - Role: Status LED - Manufacturer Part Number: SML-LX0603GW-TR **Pins:** - A [pin 2] - K [pin 1] ### J1 — [XT30PW-F20.G.Y](https://www.flux.ai/adrian95/xt30pw-f20pgpy~0sb.md) - Datasheet URL: https://www.lcsc.com/datasheet/C2913282.pdf - Manufacturer Part Number: XT30PW-F20.G.Y - License: https://creativecommons.org/licenses/by/4.0/ - Part Type: Connector - Role: Battery Input - Manufacturer Name: Changzhou Amass Elec - Package: XT30 THT - LCSC Part Number: C2913282 - Role Details: Primary 4S VBAT input connector for the flight controller. **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] ### J2 — [BM06B-GHS-TBT(LF)(SN)](https://www.flux.ai/lcsc/bm06b-ghs-tbtlfsn~a4mr.md) - Role Details: 6-pin GNSS header carrying GND, 5V, 3.3V optional reference, UART TX/RX, and PPS. - LCSC Part Number: C189892 - Manufacturer Name: JST - Part Type: Wire To Board / Wire To Wire Connector - Product Info Url: https://lcsc.com/product-detail/Connectors_JST-Sales-America_BM06B-GHS-TBT-LF-SN-N_JST-Sales-America-BM06B-GHS-TBT-LF-SN-N_C189892.html - Role: GNSS Connector - Package: 1.25mm 6-pin SMT - Manufacturer Part Number: BM06B-GHS-TBT(LF)(SN) - Datasheet URL: https://lcsc.com/product-detail/Connectors_JST-Sales-America_BM06B-GHS-TBT-LF-SN-N_JST-Sales-America-BM06B-GHS-TBT-LF-SN-N_C189892.html - JLCPCB Part Class: Extended Part - Package or Case Code: CONN-SMD_6P-P1.25_BM06B-GHS-TBT-LF-SN-N **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] - 6 [pin 6] - 7 [pin 7] - 8 [pin 8] ### J3 — [BM06B-GHS-TBT(LF)(SN)](https://www.flux.ai/lcsc/bm06b-ghs-tbtlfsn~a4mr.md) - Package or Case Code: CONN-SMD_6P-P1.25_BM06B-GHS-TBT-LF-SN-N - Package: 1.25mm 6-pin SMT - JLCPCB Part Class: Extended Part - Role Details: 6-pin telemetry/radio header carrying GND, 5V, 3.3V optional reference, UART TX/RX, and one spare GPIO or CTS. - Datasheet URL: https://lcsc.com/product-detail/Connectors_JST-Sales-America_BM06B-GHS-TBT-LF-SN-N_JST-Sales-America-BM06B-GHS-TBT-LF-SN-N_C189892.html - Manufacturer Part Number: BM06B-GHS-TBT(LF)(SN) - Product Info Url: https://lcsc.com/product-detail/Connectors_JST-Sales-America_BM06B-GHS-TBT-LF-SN-N_JST-Sales-America-BM06B-GHS-TBT-LF-SN-N_C189892.html - Part Type: Wire To Board / Wire To Wire Connector - Role: Telemetry Connector - LCSC Part Number: C189892 - Manufacturer Name: JST **Pins:** - 1 [pin 1] - 2 [pin 2] - 3 [pin 3] - 4 [pin 4] - 5 [pin 5] - 6 [pin 6] - 7 [pin 7] - 8 [pin 8] ### J4 — [AVR-PDI-6](https://www.flux.ai/vasy_skral/avr-pdi-6~4n7.md) - Exclude from BOM: false - Datasheet URL: https://www.we-online.com/catalog/datasheet/61200621621.pdf - Part Type: Connector - Role Details: STM32 SWD debug/programming connector carrying 3.3V, SWDIO, SWCLK, SWO optional, GND, and NRST. - Package: 2x3 2.54mm THT - Manufacturer Part Number: 61200621621 - Role: SWD Header - Manufacturer Name: Würth Elektronik **Pins:** - Pin_1 [pin 1] - Pin_2 [pin 2] - Pin_3 [pin 3] - Pin_4 [pin 4] - Pin_5 [pin 5] - Pin_6 [pin 6] ### LS1 — [CPT-1625-80-SMT-TR](https://www.flux.ai/adrian95/cpt-1625-80-smt-tr~sgo.md) - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Name: Same Sky (Formerly CUI Devices) - Datasheet URL: https://www.cuidevices.com/product/resource/cpt-1625-80-smt-tr.pdf - Part Type: Buzzer - Role: Buzzer - Role Details: 5V piezo buzzer for status, low-voltage, and lost-model alarm. - Package or Case Code: XDCR_CPT-1625-80-SMT-TR - Manufacturer Part Number: CPT-1625-80-SMT-TR - Package: SMT Piezo **Pins:** - ~ [pin N] - ~ [pin P] ### Q1 — [2N7002K](https://www.flux.ai/jecstronic/2n7002k~8y.md) - Role Details: Logic-level NMOS used to switch the piezo buzzer from an STM32 GPIO. - Manufacturer Name: MDD - Part Type: Transistor - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Part Number: 2N7002K - Role: Buzzer Driver - Package: SOT-23 - Datasheet URL: https://www.infineon.com/dgdl/Infineon-2N7002-DS-v02_04-en.pdf **Pins:** - D [pin 3] - G [pin 1] - S [pin 2] ### S1 — [PTS810SJK250SMTRLFS](https://www.flux.ai/jharwinbarrozo/pts810sjk250smtrlfs~6tl.md) - Role: BOOT0 Button - Role Details: Momentary switch to pull BOOT0 high during firmware recovery. - Manufacturer Name: C&K - Part Type: Switch - Datasheet URL: https://datasheet.lcsc.com/lcsc/1810121650_C-K-PTS810SJK250SMTRLFS_C221896.pdf - Manufacturer Part Number: PTS810SJK250SMTRLFS - Package: SMD Tactile **Pins:** - P1 [pin 1] - P3 [pin 3] ### U1 — [STM32F405RGT6](https://www.flux.ai/jharwinbarrozo/stm32f405rgt6~ssm.md) - Role Details: STM32F405RGT6 selected as the main FC MCU for 4S drone design with SPI IMU, I2C sensors, CRSF, telemetry, GNSS, ESC outputs, and SWD debug. - Manufacturer Name: STMicroelectronics - Manufacturer Part Number: STM32F405RGT6 - Datasheet URL: http://www.st.com/content/ccc/resource/technical/document/datasheet/ef/92/76/6d/bb/c2/4f/f7/DM00037051.pdf/files/DM00037051.pdf/jcr:content/translations/en.DM00037051.pdf - Role: Flight Controller MCU - Package: LQFP-64 - Part Type: Integrated Circuit **Pins:** - BOOT0 [pin 60] - NRST [pin 7] - PA0_WKUP [pin 14] - PA1 [pin 15] - PA10 [pin 43] - PA11 [pin 44] - PA12 [pin 45] - PA13 [pin 46] - PA14 [pin 49] - PA15 [pin 50] - PA2 [pin 16] - PA3 [pin 17] - PA4 [pin 20] - PA5 [pin 21] - PA6 [pin 22] - PA7 [pin 23] - PA8 [pin 41] - PA9 [pin 42] - PB0 [pin 26] - PB1 [pin 27] - PB10 [pin 29] - PB11 [pin 30] - PB12 [pin 33] - PB13 [pin 34] - PB14 [pin 35] - PB15 [pin 36] - PB2 [pin 28] - PB3 [pin 55] - PB4 [pin 56] - PB5 [pin 57] - PB6 [pin 58] - PB7 [pin 59] - PB8 [pin 61] - PB9 [pin 62] - PC0 [pin 8] - PC1 [pin 9] - PC10 [pin 51] - PC11 [pin 52] - PC12 [pin 53] - PC13 [pin 2] - PC14 [pin 3] - PC15 [pin 4] - PC2 [pin 10] - PC3 [pin 11] - PC4 [pin 24] - PC5 [pin 25] - PC6 [pin 37] - PC7 [pin 38] - PC8 [pin 39] - PC9 [pin 40] - PD2 [pin 54] - PH0 [pin 5] - PH1 [pin 6] - VBAT [pin 1] - VCAP_1 [pin 31] - VCAP_2 [pin 47] - VDD1 [pin 19] - VDD2 [pin 32] - VDD3 [pin 48] - VDD4 [pin 64] - VDDA [pin 13] - VSS1 [pin 18] - VSS2 [pin 63] - VSSA [pin 12] ### U2 — [IIM-42652](https://www.flux.ai/kicad-part-library/iim-42652~vnl.md) - Role Details: SPI-connected gyro and accelerometer for flight stabilization, placed near board center and isolated from power switching noise. - Package or Case Code: Bosch_LGA-14_3x2.5mm_P0.5mm - Package: LGA-14 - Role: Primary IMU - Datasheet URL: https://invensense.tdk.com/wp-content/uploads/2021/01/ds-000440_iim-42652-datasheet.pdf - Manufacturer Part Number: IIM-42652 **Pins:** - AP_CS [pin 12] - AP_SCL/AP_SCLK [pin 13] - AP_SDA/AP_SDIO/AP_SDI [pin 14] - AP_SDO/AP_AD0 [pin 1] - GND [pin 7] - GND [pin 6] - INT1/INT [pin 4] - INT2/FSYNC/CLKIN [pin 9] - RESV [pin 3] - RESV [pin 2] - RESV [pin 10] - RESV [pin 11] - VDD [pin 8] - VDDIO [pin 5] ### U3 — [MS561101BA03-50](https://www.flux.ai/adrian95/ms561101ba03-50~g4e.md) - Role Details: High-resolution barometric sensor with pressure range suitable for altitude estimation up to and beyond 5 km. - Datasheet URL: https://www.te.com/usa-en/product-MS561101BA03-50.datasheet.pdf - Manufacturer Part Number: MS561101BA03-50 - Part Type: Sensor - Package: LGA-8 - Role: Barometer - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Name: TE Connectivity Measurement Specialties **Pins:** - CSB_1 [pin 4] - CSB_2 [pin 5] - GND [pin 3] - PS [pin 2] - SCLK [pin 8] - SDI/SDA [pin 7] - SDO [pin 6] - VDD [pin 1] ### U4 — [IST8310](https://www.flux.ai/kicad-part-library/ist8310~73.md) - Role: Magnetometer - Datasheet URL: http://www.isentek.com/en/dlf.php?file=../ISENTEK/(201703-09)IST8310%20Datasheet%20v1.2_brief-105.09.20.pdf - Role Details: Onboard compass connected over I2C for heading reference and optional external-mag compatibility. - Package or Case Code: LGA-16_3x3mm_P0.5mm - Manufacturer Part Number: IST8310 - Package: LGA-16 **Pins:** - ~{RST} [pin 14] - AVDD [pin 2] - C1 [pin 10] - CAD0 [pin 5] - CAD1 [pin 6] - DRDY [pin 15] - DVDD [pin 13] - NC [pin 12] - NC [pin 8] - NC [pin 3] - NC [pin 4] - SCL [pin 1] - SDA [pin 16] - VPP [pin 7] - VSS [pin 9] - VSS [pin 11] ### U5 — [INA226](https://www.flux.ai/kicad-part-library/ina226~6yg.md) - Role Details: High-side current and bus-voltage monitor for 4S LiPo battery telemetry and power logging. - Package: VSSOP-10 - Manufacturer Name: Texas Instruments Inc. - Manufacturer Part Number: INA226 - Package or Case Code: VSSOP-10_3x3mm_P0.5mm - Datasheet URL: http://www.ti.com/lit/ds/symlink/ina226.pdf - Role: Battery Telemetry **Pins:** - ~{Alert} [pin 3] - A0 [pin 2] - A1 [pin 1] - GND [pin 7] - SCL [pin 5] - SDA [pin 4] - Vbus [pin 8] - Vin- [pin 9] - Vin+ [pin 10] - VS [pin 6] ### U6 — [TPS56339DDC](https://www.flux.ai/kicad-part-library/tps56339ddc~yca.md) - Manufacturer Part Number: TPS56339DDC - Package: SOT-23-6 - Role Details: Main step-down regulator from 4S LiPo to 5V for receiver, GNSS, telemetry, buzzer, ESC logic rails, and 3.3V LDO source. - Manufacturer Name: Texas Instruments Inc. - Datasheet URL: https://www.ti.com/lit/ds/symlink/tps56339.pdf - Role: 5V Buck Regulator - Package or Case Code: SOT-23-6 **Pins:** - BOOT [pin 6] - EN [pin 5] - FB [pin 4] - GND [pin 1] - SW [pin 2] - VIN [pin 3] ### U7 — [MIC5219-3.3YM5-TR](https://www.flux.ai/adrian95/mic5219-33ym5-tr~imj.md) - Role: 3.3V LDO - Datasheet URL: https://ww1.microchip.com/downloads/en/DeviceDoc/MIC5219-500mA-Peak-Output-LDO-Regulator-DS20006021A.pdf - License: https://creativecommons.org/licenses/by/4.0/ - Manufacturer Name: Microchip - Package: SOT-23-5 - Manufacturer Part Number: MIC5219-3.3YM5-TR - Role Details: Low-noise 3.3V regulator for MCU and sensors derived from the 5V buck rail. - Part Type: Integrated Circuit **Pins:** - BP [pin 4] - EN [pin 3] - GND [pin 2] - IN [pin 1] - OUT [pin 5] ### Y1 — [LFXTAL059540](https://www.flux.ai/adrian95/lfxtal059540~owr.md) - Package: 4-SMD - Role Details: 8MHz crystal for STM32F405 main PLL clock source. - Part Type: Oscillator - Manufacturer Name: IQD Frequency Products - Datasheet URL: https://portal.iqdfrequencyproducts.com/products/pn/LFXTAL059540.pdf - Role: HSE Crystal - Manufacturer Part Number: LFXTAL059540 - License: https://creativecommons.org/licenses/by/4.0/ **Pins:** - GND_1 [pin 2] - GND_2 [pin 4] - IN/OUT [pin 1] - OUT/IN [pin 3] *The full schematic, PCB layout, bill of materials, and interactive design are available at [https://www.flux.ai/artcushtimier/raspberry-pi-drone-controller~k1](https://www.flux.ai/artcushtimier/raspberry-pi-drone-controller~k1).* --- *Generated from [https://www.flux.ai/artcushtimier/raspberry-pi-drone-controller~k1](https://www.flux.ai/artcushtimier/raspberry-pi-drone-controller~k1)*