From bf474e64f00d56105a17135b29fd0f73597586f4 Mon Sep 17 00:00:00 2001 From: davidbalan05 Date: Tue, 28 Apr 2026 13:19:00 +0300 Subject: [PATCH 1/7] documentatie --- .../project/2026/david.balan/architecture.svg | 210 ++++++++++++++++++ .../project/2026/david.balan/index.md | 99 +++++++++ 2 files changed, 309 insertions(+) create mode 100644 website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg create mode 100644 website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md diff --git a/website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg b/website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg new file mode 100644 index 00000000000..c5b1be99144 --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg @@ -0,0 +1,210 @@ + + Altitude-Hold Drone — Complete Architecture + Architecture diagram showing all hardware components (Pico 2W, MPU-6050, HC-SR04P, ESCs, motors, battery, frame) and the data flow between them through Kalman filter and PID controllers + + + + + + + + + + + + + REMOTE CONTROL + + + + + Android phone + Rust app — UDP control + + + WiFi UDP — throttle, pitch, roll, yaw + + + SENSORS & INPUT + + + + MPU-6050 (GY-521) + 3-axis gyroscope + 3-axis accelerometer + I2C @ 200 Hz + + + HC-SR04P + Ultrasonic distance + 3.3V (Pico-safe) + GPIO @ 50 Hz + + + WiFi (CYW43439) + Built into Pico 2W + UDP socket + 2.4 GHz access point + + + + + FLIGHT CONTROLLER (Raspberry Pi Pico 2W) + + + + Pico 2W — Rust firmware (embassy-rp) + + + Kalman Filter + accel + gyro → stable θ (pitch), φ (roll) + Predict → Update → State estimate + + + Setpoint Manager + Target: throttle, pitch, roll, yaw, altitude + Lock altitude when throttle released + + + PID — Pitch + In: θ vs θ_target + Out: pitch_cmd + Kp, Ki, Kd + + + PID — Roll + In: φ vs φ_target + Out: roll_cmd + Kp, Ki, Kd + + + PID — Yaw + In: ωz vs ωz_target + Out: yaw_cmd + Kp, Ki, Kd + + + PID — Altitude + In: h vs h_target + Out: throttle_cmd + Kp, Ki, Kd + + + accel + gyro + + + altitude h + + + setpoints + + + + + + + + + + MOTOR MIXING & DRIVERS + + + + Motor Mixer + 4 PID outputs → 4 motor speeds (M1..M4) + + + + + + + + ESC 1 — 30A BLHeli + PWM in → 3-phase out + + + ESC 2 — 30A BLHeli + PWM in → 3-phase out + + + ESC 3 — 30A BLHeli + PWM in → 3-phase out + + + ESC 4 — 30A BLHeli + PWM in → 3-phase out + + + + + + + + PROPULSION + + + + M1 — A2212 1000KV + CW — Front-left + Prop 1045 (10×4.5") + + + M2 — A2212 1000KV + CCW — Front-right + Prop 1045 (10×4.5") + + + M3 — A2212 1000KV + CW — Rear-right + Prop 1045 (10×4.5") + + + M4 — A2212 1000KV + CCW — Rear-left + Prop 1045 (10×4.5") + + + + + + + + POWER (F450 frame with integrated PDB) + + + + 3S LiPo battery + 11.1V, 2200mAh, 30C + XT60 connector + + + PDB (in F450 frame) + Distributes 11.1V to 4 ESCs + Up to 100A capacity + + + BEC (in ESC 1) + 5V / 2A regulator + Powers Pico + sensors + + + 11.1V + + + + + + + + 5V to Pico + diff --git a/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md b/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md new file mode 100644 index 00000000000..2371c46b575 --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md @@ -0,0 +1,99 @@ +# Altitude-Hold Drone + +A WiFi-controlled quadrotor drone that autonomously maintains altitude when no operator input is received. + +:::info + +**Author**: David-Cristian Balan +**GitHub Project Link**: [https://github.com/davidbalan05/website](https://github.com/davidbalan05/website) + +::: + +## Description + +The project is a quadrotor drone designed for indoor flight, controlled from an Android phone over WiFi. It reads orientation data from an IMU and altitude data from an ultrasonic sensor, fuses the IMU readings through a Kalman filter, and uses PID controllers to stabilize attitude and hold altitude. When the operator releases the throttle, the drone locks the last commanded altitude and stays in place. The flight controller firmware and the Android control app are written in Rust. + +## Motivation + +I chose this project because it combines real-time embedded control, sensor fusion, and wireless communication into one system where every component matters. Most flight controllers are written in C/C++ — building one in Rust pushes me to understand every layer of a real cyber-physical system rather than treating any of them as a black box. + +## Architecture + +The system is organized into six layers, with data flowing top-down from the user's command to the spinning motors and power flowing bottom-up from the battery to every component: + +* **Remote control** — an Android phone runs a Rust UDP client that sends target setpoints (throttle, pitch, roll, yaw) over WiFi. +* **Sensors and input** — MPU-6050 reads gyroscope and accelerometer data over I2C at 200 Hz, HC-SR04P reads altitude over GPIO at 50 Hz, and the CYW43439 WiFi chip on the Pico 2W receives setpoints over a UDP socket. +* **Flight controller** (running on the Pico 2W in Rust) — a Kalman filter fuses the IMU readings into stable pitch and roll estimates, a setpoint manager holds the current targets (and locks altitude when the throttle is released), and four independent PID controllers (pitch, roll, yaw, altitude) compute the corrections needed to drive the filtered state toward the setpoints. +* **Motor mixing and drivers** — the motor mixer combines the four PID outputs into individual speed commands for each of the four motors; each command is then sent as a PWM signal to a 30A BLHeli ESC, which converts it into a 3-phase drive signal. +* **Propulsion** — four A2212 1000KV brushless motors with 1045 propellers, arranged on the F450 frame in an X configuration with alternating CW and CCW rotation directions to cancel out the torque around the vertical axis. +* **Power** — a 3S LiPo battery (11.1V, 2200mAh, 30C) connects through an XT60 plug to the PDB integrated in the F450 frame, which distributes 11.1V to the four ESCs. One of the ESC's BEC outputs supplies regulated 5V back to the Pico 2W and the sensors. + +![Architecture Diagram](architecture.svg) + +## Log + +### Week 20 - 26 April + +Defined the project scope and architecture, researched existing Pi Pico-based drone projects for reference, and ordered all the hardware components. + +### Week 27 April - 3 May + +### Week 4 - 10 May + +### Week 11 - 17 May + +### Week 18 - 24 May + +## Hardware + +The drone is built from the following components: + +* **Raspberry Pi Pico 2W** — the flight controller; runs the Rust firmware (Kalman filter, four PID loops, motor mixer) and hosts the WiFi access point that receives commands from the phone. +* **MPU-6050 (GY-521)** — 6-axis IMU containing a 3-axis gyroscope and a 3-axis accelerometer; provides raw orientation data over I2C at 200 Hz, used by the Kalman filter to estimate pitch and roll. +* **HC-SR04P** — ultrasonic distance sensor (3.3V variant, safe for the Pico's GPIO); measures the distance to the ground at 50 Hz, used as input for the altitude PID. +* **F450 frame with integrated PDB and landing gear** — the airframe that holds everything together; the integrated power distribution board distributes 11.1V from the battery to all four ESCs (rated up to 100A), and the landing gear protects the electronics during landings. +* **4× A2212 1000KV brushless motors** — provide the lift; rated for 2-3S LiPo and up to 12A each, paired with 1045 propellers for stable hover on a 3S battery. +* **4× 1045 propellers (2 CW + 2 CCW)** — convert motor rotation into thrust; the alternating rotation directions cancel out torque around the vertical axis so the drone doesn't spin uncontrollably. +* **4× 30A BLHeli ESCs (with 5V/2A BEC)** — convert the PWM signal from the Pico into the 3-phase drive signal for the brushless motors; one of the four BEC outputs is used to supply regulated 5V to the Pico and the sensors, the other three are disconnected to avoid backfeeding between regulators. +* **3S LiPo battery (11.1V, 2200mAh, 30C, XT60 connector)** — the main power source; the 30C rating provides up to 66A continuous current, well above the 4 × 12A peak draw of the motors. +* **SkyRC iMAX B6AC V2 charger** — used off-board to balance-charge the LiPo battery between flights; supports 1-6S LiPo at up to 6A. + +### Schematics + +Place KiCAD schematics here. + +### Bill of Materials + +| Device | Usage | Price | +| --- | --- | --- | +| [Raspberry Pi Pico 2W](https://www.raspberrypi.com/products/raspberry-pi-pico-2/) | Flight controller with WiFi | 40 RON | +| [F450 Frame Kit + Landing Gear](https://www.aliexpress.com/) | Quadrotor airframe with integrated PDB | 127 RON | +| [A2212 1000KV Motor + 30A ESC + 1045 Propeller Set (×4)](https://www.aliexpress.com/) | Propulsion system | 250 RON | +| [3S 2200mAh 30C LiPo Battery (XT60)](https://www.emag.ro/) | Main power source | 120 RON | +| [SkyRC iMAX B6AC V2 Charger](https://www.skyrc.com/) | LiPo balance charger | 213 RON | +| [MPU-6050 (GY-521)](https://www.optimusdigital.ro/) | Gyroscope + accelerometer (I2C) | 32 RON | +| [HC-SR04P](https://www.optimusdigital.ro/) | Ultrasonic distance sensor (3.3V) | 32 RON | + +## Software + +| Library | Description | Usage | +| --- | --- | --- | +| [embassy-rp](https://github.com/embassy-rs/embassy) | HAL for RP2040/RP2350 | Abstracts Pico 2W peripherals (PWM, I2C, GPIO) | +| [embassy-net](https://github.com/embassy-rs/embassy) | TCP/UDP network stack | Receives control packets from the Android app | +| [cyw43](https://github.com/embassy-rs/embassy) | Driver for the CYW43439 WiFi chip | Enables WiFi access point and UDP socket | +| [mpu6050](https://crates.io/crates/mpu6050) | MPU-6050 driver | Reads raw accelerometer and gyroscope data | +| [kalman-filter](https://crates.io/crates/kalman_filter) | Kalman filter implementation | Fuses IMU readings into stable pitch/roll estimates | +| [pid](https://crates.io/crates/pid) | Generic PID controller | Implements the four control loops | + +## Links + +1. [Woobu Autonomous Drone (ellenrapps)](https://github.com/ellenrapps/Woobu-Autonomous-Drone) +2. [Scout Flight Controller (Tim Hanewich)](https://timhanewich.medium.com/taking-flight-with-the-raspberry-pi-pico-micropython-diy-quadcopter-drone-61ed4f7ee746) +3. [Building a Raspberry Pi Pico 2 drone from scratch (Raspberry Pi blog)](https://www.raspberrypi.com/news/building-a-raspberry-pi-pico-2-powered-drone-from-scratch/) +4. [PiWings — Pico flight controller controlled from a phone](https://www.hackster.io/news/ravi-butani-shows-off-piwings-a-custom-raspberry-pi-pico-flight-controller-for-educational-drones-cba8420e0189) +5. [Pico Drone — can we build a drone using a Raspberry Pi Pico?](https://www.youtube.com/watch?v=Us0bSUX9UkQ) +6. [Building a Quadcopter — Parts (pythonprogramming.net)](https://www.youtube.com/watch?v=aZltBzPUPKI) +7. [Autonomous drone with payload release (uC9hVyqGvDE)](https://www.youtube.com/watch?v=uC9hVyqGvDE) +8. [Raspberry Pi PICO Drone — Hardware (Robu.in)](https://www.youtube.com/watch?v=bYRzRxEIJiU) +9. [How a Kalman filter works, in pictures (Bzarg)](https://www.bzarg.com/p/how-a-kalman-filter-works-in-pictures/) +10. [Embassy framework documentation](https://embassy.dev/) \ No newline at end of file From a689aea2f4016d400d6e107a50f3ac4966b9e696 Mon Sep 17 00:00:00 2001 From: davidbalan05 Date: Tue, 28 Apr 2026 22:39:47 +0300 Subject: [PATCH 2/7] actualizare rezolutie svg --- .../version-acs_cc/project/2026/david.balan/architecture.svg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg b/website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg index c5b1be99144..9829badbc47 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg +++ b/website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg @@ -1,4 +1,4 @@ - + Altitude-Hold Drone — Complete Architecture Architecture diagram showing all hardware components (Pico 2W, MPU-6050, HC-SR04P, ESCs, motors, battery, frame) and the data flow between them through Kalman filter and PID controllers From e2e7421ed25a2f7ed86c4115c2b671e73ea79bb7 Mon Sep 17 00:00:00 2001 From: davidbalan05 Date: Mon, 11 May 2026 11:31:53 +0300 Subject: [PATCH 3/7] Add KiCAD schematic to project documentation --- .../2026/david.balan/altitude_hold_drone.svg | 52193 ++++++++++++++++ .../project/2026/david.balan/index.md | 2 +- 2 files changed, 52194 insertions(+), 1 deletion(-) create mode 100644 website/versioned_docs/version-acs_cc/project/2026/david.balan/altitude_hold_drone.svg diff --git a/website/versioned_docs/version-acs_cc/project/2026/david.balan/altitude_hold_drone.svg b/website/versioned_docs/version-acs_cc/project/2026/david.balan/altitude_hold_drone.svg new file mode 100644 index 00000000000..7c8fd5e6b7d --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/david.balan/altitude_hold_drone.svg @@ -0,0 +1,52193 @@ + + + +SVG Image created as altitude_hold_drone.svg date 2026-05-11T11:18:25 + Image generated by Eeschema-SVG + + + + + + + + + + + +1 +1 + + + + + +2 +2 + + + + + + + + + + +3 +3 + + + + + + + + + + + + + +4 +4 + + + +5 +5 + + + + + + + + + + + + + + + +6 +6 + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + +2 +2 + + + + + + + + + + +3 +3 + + + + + + + + + + + + + +4 +4 + + + +5 +5 + + + + + + + + + + + + + + + +6 +6 + + + + + + + + + + + + + + + + + + + + + + + + +A +A + + + +B +B + + + + + + + + + + + + + + + + + + +C +C + + + + + + + + + + + + + + + +D +D + + + + + + + + + + + + + + + +A +A + + + +B +B + + + + + + + + + + + + + + + + + + +C +C + + + + + + + + + + + + + + + +D +D + + + + + + + + + + + + +Date: +Date: + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +KiCad E.D.A. 10.0.1 +KiCad E.D.A. 10.0.1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +Rev: +Rev: + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +Size: A4 +Size: A4 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +Id: 1/1 +Id: 1/1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +Title: +Title: + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +File: altitude_hold_drone.kicad_sch +File: altitude_hold_drone.kicad_sch + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +Sheet: / +Sheet: / + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +CLKIN +CLKIN + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + + + + + + +AUX_DA +AUX_DA + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +6 +6 + + + + + + + + + + + + + + + + + + + + + + + + + + + +AUX_CL +AUX_CL + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +7 +7 + + + + + + + + +VLOGIC + +VLOGIC + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +8 + +8 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +AD0 +AD0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +9 +9 + + + + + + + + + + + + + + + + + + + + + + + + + + +REGOUT +REGOUT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +10 +10 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +FSYNC +FSYNC + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +11 +11 + + + + + + + + + + + + + + + +INT +INT + + + + + + + + +12 +12 + + + + + + + + + + + + + + + + + + + + + +VDD + +VDD + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +13 + +13 + + + + + + + + + + + + + + + + + + + + + + + + +GND + +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +18 + +18 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +CPOUT +CPOUT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +20 +20 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +SCL +SCL + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +23 +23 + + + + + + + + + + + + + + + + + + + + + + + + + + + + +SDA +SDA + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +24 +24 + + + + + + + + + + + + + + + +U1 +U1 + + + + + + + + + + + + + + +MPU-6050 +MPU-6050 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++3V3 ++3V3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++5V ++5V + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++BATT ++BATT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +PWR_FLAG +PWR_FLAG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO0 +GPIO0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + + + + + + +GPIO1 +GPIO1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + + +GND + +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3 + +3 + + + + + + + + + + + + + + + + + + +GPIO2 +GPIO2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +4 +4 + + + + + + + + +GPIO3 +GPIO3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +5 +5 + + + + + + + + + + + + + + + + + + + + +GPIO4 +GPIO4 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +6 +6 + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO5 +GPIO5 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +7 +7 + + + + + + + +GPIO6 +GPIO6 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +9 +9 + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO7 +GPIO7 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +10 +10 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO8 +GPIO8 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +11 +11 + + + + + + + + + + + + + + + +GPIO9 +GPIO9 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +12 +12 + + + + + + + + + + + + + + + + + + + + +GPIO10 +GPIO10 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +14 +14 + + + + + + + + + + + + + +GPIO11 +GPIO11 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +15 +15 + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO12 +GPIO12 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +16 +16 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO13 +GPIO13 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +17 +17 + + + + + + + + + + + + +GPIO14 +GPIO14 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +19 +19 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO15 +GPIO15 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +20 +20 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO16 +GPIO16 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +21 +21 + + + + + + + + + + + + + + + + + + + + +GPIO17 +GPIO17 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +22 +22 + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO18 +GPIO18 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +24 +24 + + + + + + + + + + + + + + + + + + +GPIO19 +GPIO19 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +25 +25 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO20 +GPIO20 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +26 +26 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO21 +GPIO21 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +27 +27 + + + + + + + + + + + + + + + + + +GPIO22 +GPIO22 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +29 +29 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +RUN +RUN + + + + + + + + + + + + + + + + + + + + + + + + + +30 +30 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO26_ADC0 +GPIO26_ADC0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +31 +31 + + + + + + + + + + + + + + + + + + + + + + + +GPIO27_ADC1 +GPIO27_ADC1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +32 +32 + + + + + + + + + + + + + + + + + + + + + + + + + + + + +AGND +AGND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +33 +33 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO28_ADC2 +GPIO28_ADC2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +34 +34 + + + + + + + + + + + + + + + + + + + + + +ADC_VREF +ADC_VREF + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +35 +35 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3V3 + +3V3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +36 + +36 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3V3_EN +3V3_EN + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +37 +37 + + + + + + + + + + + + + + + + + + + + + +VSYS + +VSYS + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +39 + +39 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VBUS + +VBUS + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +40 + +40 + + + + + + + + + + + + + + + + + + + + + + + + + +A1 +A1 + + + + + + + + +RaspberryPi_Pico_W +RaspberryPi_Pico_W + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++BATT ++BATT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++3V3 ++3V3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +ESC_30A +ESC_30A + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +BAT+ +BAT+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + + + + + + +BAT- +BAT- + + + + + + + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + +SIG +SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3 +3 + + + + + + + + + + + + + + + + + + +BEC_5V +BEC_5V + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +4 +4 + + + + + + + + +GND_SIG +GND_SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +5 +5 + + + + + + + + + + + + + + + + + + + + +A +A + + + + + +6 +6 + + + + + + + + + + + + + + + + + + + + + + + + + + +B +B + + + + + + + + + + + + + + + + + + + + +7 +7 + + + + + + + +C +C + + + + + + + + + + + + + + + + + +8 +8 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +J3 +J3 + + + + + + + + + + + + + + + + + + + + + + + + + + ++3V3 ++3V3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +HC-SR04P +HC-SR04P + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VCC +VCC + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + + + + + + +TRIG +TRIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + +ECHO +ECHO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3 +3 + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +4 +4 + + + + + +U2 +U2 + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++3V3 ++3V3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++5V ++5V + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +BT1 +BT1 + + + + + + + + + + + + + + + + + + + + + + + + + +Battery_Cell +Battery_Cell + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++BATT ++BATT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +ESC_30A +ESC_30A + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +BAT+ +BAT+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + + + + + + +BAT- +BAT- + + + + + + + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + +SIG +SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3 +3 + + + + + + + + + + + + + + + + + + +BEC_5V +BEC_5V + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +4 +4 + + + + + + + + +GND_SIG +GND_SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +5 +5 + + + + + + + + + + + + + + + + + + + + +A +A + + + + + +6 +6 + + + + + + + + + + + + + + + + + + + + + + + + + + +B +B + + + + + + + + + + + + + + + + + + + + +7 +7 + + + + + + + +C +C + + + + + + + + + + + + + + + + + +8 +8 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +J1 +J1 + + + + + + + + + + + + + +Motor +Motor + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +A +A + + + + + +1 +1 + + + + + + + + + + +B +B + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + +C +C + + + + + + + + + + + + + + + + + +3 +3 + + + + + + + + + + + + + + + +M4 +M4 + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +Motor +Motor + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +A +A + + + + + +1 +1 + + + + + + + + + + +B +B + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + +C +C + + + + + + + + + + + + + + + + + +3 +3 + + + + + + + + + + + + + + + +M3 +M3 + + + + + + + + + + + + + + + + + + + + + + + + + ++BATT ++BATT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +Motor +Motor + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +A +A + + + + + +1 +1 + + + + + + + + + + +B +B + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + +C +C + + + + + + + + + + + + + + + + + +3 +3 + + + + + + + + + + + + + + + +M1 +M1 + + + + + + + + + + + + +Motor +Motor + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +A +A + + + + + +1 +1 + + + + + + + + + + +B +B + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + +C +C + + + + + + + + + + + + + + + + + +3 +3 + + + + + + + + + + + + + + + +M2 +M2 + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +ESC_30A +ESC_30A + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +BAT+ +BAT+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + + + + + + +BAT- +BAT- + + + + + + + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + +SIG +SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3 +3 + + + + + + + + + + + + + + + + + + +BEC_5V +BEC_5V + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +4 +4 + + + + + + + + +GND_SIG +GND_SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +5 +5 + + + + + + + + + + + + + + + + + + + + +A +A + + + + + +6 +6 + + + + + + + + + + + + + + + + + + + + + + + + + + +B +B + + + + + + + + + + + + + + + + + + + + +7 +7 + + + + + + + +C +C + + + + + + + + + + + + + + + + + +8 +8 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +J2 +J2 + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++BATT ++BATT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +ESC_30A +ESC_30A + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +BAT+ +BAT+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + + + + + + +BAT- +BAT- + + + + + + + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + +SIG +SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3 +3 + + + + + + + + + + + + + + + + + + +BEC_5V +BEC_5V + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +4 +4 + + + + + + + + +GND_SIG +GND_SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +5 +5 + + + + + + + + + + + + + + + + + + + + +A +A + + + + + +6 +6 + + + + + + + + + + + + + + + + + + + + + + + + + + +B +B + + + + + + + + + + + + + + + + + + + + +7 +7 + + + + + + + +C +C + + + + + + + + + + + + + + + + + +8 +8 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +J4 +J4 + + + + + + + + + + +PWM_M2 +PWM_M2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +M2_B +M2_B + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +M2_A +M2_A + + + + + + + + + + + + + + + + + + + + +M2_C +M2_C + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +PWM_M1 +PWM_M1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +SCL +SCL + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +M3_C +M3_C + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +M3_A +M3_A + + + + + + + + + + + + + + + + + + + + + + + +SDA +SDA + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +PWM_M3 +PWM_M3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +M1_C +M1_C + + + + + + + + + + + + + + + + + + + + + + + + + + + +M1_B +M1_B + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +PWM_M1 +PWM_M1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +M1_A +M1_A + + + + + + + + + + + + + + + +M2_A +M2_A + + + + + + + + + + + + + + + + + + + + +M1_A +M1_A + + + + + + + + + + + + + + + +M1_B +M1_B + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +M1_C +M1_C + + + + + + + + + + + + + + + + + + + + + + + + + + + +TRIG +TRIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +SCL +SCL + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +ECHO +ECHO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +TRIG +TRIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +ECHO +ECHO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +M3_B +M3_B + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +PWM_M4 +PWM_M4 + + + + + + + + + + + + + + + + + + + + + + + + + + + + +M4_A +M4_A + + + + + + + + + + + + + +M4_B +M4_B + + + + + + + + + + + + + + + + + + + + + + + + + + + + +M4_C +M4_C + + + + + + + + + + + + + + + + + + + + + + + + + +M2_C +M2_C + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +M2_B +M2_B + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +M3_B +M3_B + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +M3_A +M3_A + + + + + + + + + + + + + + + + + + + + + + + +M3_C +M3_C + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +M4_A +M4_A + + + + + + + + + + + + + +M4_C +M4_C + + + + + + + + + + + + + + + + + + + + + + + + + +M4_B +M4_B + + + + + + + + + + + + + + + + + + + + + + + + + + + + +SDA +SDA + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +PWM_M2 +PWM_M2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +PWM_M3 +PWM_M3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +PWM_M4 +PWM_M4 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +Balan David-Cristian +Balan David-Cristian + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++BATT ++BATT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++BATT ++BATT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++5V ++5V + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +J1 +J1 + + + + + + + + + + + + + + + +BAT+ +BAT+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + + + + + + +BAT- +BAT- + + + + + + + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + +SIG +SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3 +3 + + + + + + + + + + + + + + + + + + +BEC_5V +BEC_5V + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +4 +4 + + + + + + + + +GND_SIG +GND_SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +5 +5 + + + + + + + + + + + + + + + + + + + + +A +A + + + + + +6 +6 + + + + + + + + + + + + + + + + + + + + + + + + + + +B +B + + + + + + + + + + + + + + + + + + + + +7 +7 + + + + + + + +C +C + + + + + + + + + + + + + + + + + +8 +8 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +J2 +J2 + + + + + + + + + + + + + + + + + + + + +BAT+ +BAT+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + + + + + + +BAT- +BAT- + + + + + + + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + +SIG +SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3 +3 + + + + + + + + + + + + + + + + + + +BEC_5V +BEC_5V + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +4 +4 + + + + + + + + +GND_SIG +GND_SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +5 +5 + + + + + + + + + + + + + + + + + + + + +A +A + + + + + +6 +6 + + + + + + + + + + + + + + + + + + + + + + + + + + +B +B + + + + + + + + + + + + + + + + + + + + +7 +7 + + + + + + + +C +C + + + + + + + + + + + + + + + + + +8 +8 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++BATT ++BATT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++3V3 ++3V3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +U2 +U2 + + + + + + + + + + + + + + + + + + + + + + + + +VCC +VCC + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + + + + + + +TRIG +TRIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + +ECHO +ECHO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3 +3 + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +4 +4 + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +A1 +A1 + + + + + + + + +RaspberryPi_Pico_W +RaspberryPi_Pico_W + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO0 +GPIO0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + + + + + + +GPIO1 +GPIO1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + + +GND + +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3 + +3 + + + + + + + + + + + + + + + + + + +GPIO2 +GPIO2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +4 +4 + + + + + + + + +GPIO3 +GPIO3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +5 +5 + + + + + + + + + + + + + + + + + + + + +GPIO4 +GPIO4 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +6 +6 + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO5 +GPIO5 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +7 +7 + + + + + + + +GPIO6 +GPIO6 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +9 +9 + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO7 +GPIO7 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +10 +10 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO8 +GPIO8 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +11 +11 + + + + + + + + + + + + + + + +GPIO9 +GPIO9 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +12 +12 + + + + + + + + + + + + + + + + + + + + +GPIO10 +GPIO10 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +14 +14 + + + + + + + + + + + + + +GPIO11 +GPIO11 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +15 +15 + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO12 +GPIO12 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +16 +16 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO13 +GPIO13 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +17 +17 + + + + + + + + + + + + +GPIO14 +GPIO14 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +19 +19 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO15 +GPIO15 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +20 +20 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO16 +GPIO16 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +21 +21 + + + + + + + + + + + + + + + + + + + + +GPIO17 +GPIO17 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +22 +22 + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO18 +GPIO18 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +24 +24 + + + + + + + + + + + + + + + + + + +GPIO19 +GPIO19 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +25 +25 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO20 +GPIO20 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +26 +26 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO21 +GPIO21 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +27 +27 + + + + + + + + + + + + + + + + + +GPIO22 +GPIO22 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +29 +29 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +RUN +RUN + + + + + + + + + + + + + + + + + + + + + + + + + +30 +30 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO26_ADC0 +GPIO26_ADC0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +31 +31 + + + + + + + + + + + + + + + + + + + + + + + +GPIO27_ADC1 +GPIO27_ADC1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +32 +32 + + + + + + + + + + + + + + + + + + + + + + + + + + + + +AGND +AGND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +33 +33 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GPIO28_ADC2 +GPIO28_ADC2 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +34 +34 + + + + + + + + + + + + + + + + + + + + + +ADC_VREF +ADC_VREF + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +35 +35 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3V3 + +3V3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +36 + +36 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3V3_EN +3V3_EN + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +37 +37 + + + + + + + + + + + + + + + + + + + + + +VSYS + +VSYS + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +39 + +39 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VBUS + +VBUS + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +40 + +40 + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +J3 +J3 + + + + + + + + + + + + + + + + + + + + + + + +BAT+ +BAT+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + + + + + + +BAT- +BAT- + + + + + + + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + +SIG +SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3 +3 + + + + + + + + + + + + + + + + + + +BEC_5V +BEC_5V + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +4 +4 + + + + + + + + +GND_SIG +GND_SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +5 +5 + + + + + + + + + + + + + + + + + + + + +A +A + + + + + +6 +6 + + + + + + + + + + + + + + + + + + + + + + + + + + +B +B + + + + + + + + + + + + + + + + + + + + +7 +7 + + + + + + + +C +C + + + + + + + + + + + + + + + + + +8 +8 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +J4 +J4 + + + + + + + + + + + + + +BAT+ +BAT+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + + + + + + +BAT- +BAT- + + + + + + + + + + + + + + + + + + + + + + + + + + +2 +2 + + + + + + + + + + + + + + + +SIG +SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +3 +3 + + + + + + + + + + + + + + + + + + +BEC_5V +BEC_5V + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +4 +4 + + + + + + + + +GND_SIG +GND_SIG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +5 +5 + + + + + + + + + + + + + + + + + + + + +A +A + + + + + +6 +6 + + + + + + + + + + + + + + + + + + + + + + + + + + +B +B + + + + + + + + + + + + + + + + + + + + +7 +7 + + + + + + + +C +C + + + + + + + + + + + + + + + + + +8 +8 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++BATT ++BATT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++BATT ++BATT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +BT1 +BT1 + + + + + + + + + + + + + + + + + + + + + + + + + +Battery_Cell +Battery_Cell + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +PWR_FLAG +PWR_FLAG + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++5V ++5V + + + + + + + + + + + + + + + + + + + + + + + + ++3V3 ++3V3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +U1 +U1 + + + + + + + + + + + + + + +MPU-6050 +MPU-6050 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +CLKIN +CLKIN + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + + + + + + +AUX_DA +AUX_DA + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +6 +6 + + + + + + + + + + + + + + + + + + + + + + + + + + + +AUX_CL +AUX_CL + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +7 +7 + + + + + + + + +VLOGIC + +VLOGIC + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +8 + +8 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +AD0 +AD0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +9 +9 + + + + + + + + + + + + + + + + + + + + + + + + + + +REGOUT +REGOUT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +10 +10 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +FSYNC +FSYNC + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +11 +11 + + + + + + + + + + + + + + + +INT +INT + + + + + + + + +12 +12 + + + + + + + + + + + + + + + + + + + + + +VDD + +VDD + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +13 + +13 + + + + + + + + + + + + + + + + + + + + + + + + +GND + +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +18 + +18 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +CPOUT +CPOUT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +20 +20 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +SCL +SCL + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +23 +23 + + + + + + + + + + + + + + + + + + + + + + + + + + + + +SDA +SDA + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +24 +24 + + + + + + + + + + + + + + + +GND +GND + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++3V3 ++3V3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ++3V3 ++3V3 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md b/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md index 2371c46b575..d2a552fa6fd 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md @@ -60,7 +60,7 @@ The drone is built from the following components: ### Schematics -Place KiCAD schematics here. +![Kicad Schematic](altitude_hold_drone.svg) ### Bill of Materials From bfbba570874cfc706f5a52179e093a80a44ee7c8 Mon Sep 17 00:00:00 2001 From: davidbalan05 Date: Thu, 14 May 2026 17:13:31 +0300 Subject: [PATCH 4/7] Add project documentation and KiCAD schematic --- .../project/2026/david.balan/architecture.svg | 214 +----------------- 1 file changed, 4 insertions(+), 210 deletions(-) diff --git a/website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg b/website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg index 9829badbc47..7a30402c265 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg +++ b/website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg @@ -1,210 +1,4 @@ - - Altitude-Hold Drone — Complete Architecture - Architecture diagram showing all hardware components (Pico 2W, MPU-6050, HC-SR04P, ESCs, motors, battery, frame) and the data flow between them through Kalman filter and PID controllers - - - - - - - - - - - - - REMOTE CONTROL - - - - - Android phone - Rust app — UDP control - - - WiFi UDP — throttle, pitch, roll, yaw - - - SENSORS & INPUT - - - - MPU-6050 (GY-521) - 3-axis gyroscope - 3-axis accelerometer - I2C @ 200 Hz - - - HC-SR04P - Ultrasonic distance - 3.3V (Pico-safe) - GPIO @ 50 Hz - - - WiFi (CYW43439) - Built into Pico 2W - UDP socket - 2.4 GHz access point - - - - - FLIGHT CONTROLLER (Raspberry Pi Pico 2W) - - - - Pico 2W — Rust firmware (embassy-rp) - - - Kalman Filter - accel + gyro → stable θ (pitch), φ (roll) - Predict → Update → State estimate - - - Setpoint Manager - Target: throttle, pitch, roll, yaw, altitude - Lock altitude when throttle released - - - PID — Pitch - In: θ vs θ_target - Out: pitch_cmd - Kp, Ki, Kd - - - PID — Roll - In: φ vs φ_target - Out: roll_cmd - Kp, Ki, Kd - - - PID — Yaw - In: ωz vs ωz_target - Out: yaw_cmd - Kp, Ki, Kd - - - PID — Altitude - In: h vs h_target - Out: throttle_cmd - Kp, Ki, Kd - - - accel + gyro - - - altitude h - - - setpoints - - - - - - - - - - MOTOR MIXING & DRIVERS - - - - Motor Mixer - 4 PID outputs → 4 motor speeds (M1..M4) - - - - - - - - ESC 1 — 30A BLHeli - PWM in → 3-phase out - - - ESC 2 — 30A BLHeli - PWM in → 3-phase out - - - ESC 3 — 30A BLHeli - PWM in → 3-phase out - - - ESC 4 — 30A BLHeli - PWM in → 3-phase out - - - - - - - - PROPULSION - - - - M1 — A2212 1000KV - CW — Front-left - Prop 1045 (10×4.5") - - - M2 — A2212 1000KV - CCW — Front-right - Prop 1045 (10×4.5") - - - M3 — A2212 1000KV - CW — Rear-right - Prop 1045 (10×4.5") - - - M4 — A2212 1000KV - CCW — Rear-left - Prop 1045 (10×4.5") - - - - - - - - POWER (F450 frame with integrated PDB) - - - - 3S LiPo battery - 11.1V, 2200mAh, 30C - XT60 connector - - - PDB (in F450 frame) - Distributes 11.1V to 4 ESCs - Up to 100A capacity - - - BEC (in ESC 1) - 5V / 2A regulator - Powers Pico + sensors - - - 11.1V - - - - - - - - 5V to Pico - + + + +
Andorid phone
Rust app - UDP control
MPU-6050 (GY-521)
3-axis gyroscope
3-axis accelerometer
I2C 0x68 @ 200 Hz
BMP280
Barometric pressure
Absolute altitude
I2C 0x76 @ 50 Hz
VL53L1X
Laser ToF distance
Range up to 4m
I2C 0x29 @ 50 Hz
WiFi (CYW43439)
Built into Pico 2W
UDP socket
2.4 GHz access point
PID - Altitude
PID - Yaw
PID - Roll
PID - Pitch
Setpoint Manager
Target: throttle, pitch, roll, yaw, altitude
Lock altitude when throttle released
Kalman Filter
accel + gyro + baro + ToF
Predict -> Update -> State estimate
Motor Mixer
4 PID outputs -> 4 motor speeds
ESC 1 - 30A BLHeli
M1 - CW
Front-left
ESC 4 - 30A BLHeli
5V to Pico
ESC 3 - 30A BLHeli
ESC 2 - 30A BLHeli
BEC (in ESC 4)
5V / 2A regulator
Powers Pico + sensors
PDB
Distributes 11.1V to 4 ESCs
3S LiPo battery
11.1V, 2200mAh
M2 - CCW
Front-right
M3 - CW
Rear-right
M1 - CCW
Rear-left
 \ No newline at end of file From f0c9a0ad0e6d74f7045805fb69d0ba0ce12719e5 Mon Sep 17 00:00:00 2001 From: davidbalan05 Date: Thu, 14 May 2026 18:30:43 +0300 Subject: [PATCH 5/7] Add project documentation and KiCAD schematic --- .../2026/david.balan/altitude_hold_drone.svg | 52193 ---------------- .../project/2026/david.balan/architecture.svg | 2 +- .../project/2026/david.balan/index.md | 2 - 3 files changed, 1 insertion(+), 52196 deletions(-) delete mode 100644 website/versioned_docs/version-acs_cc/project/2026/david.balan/altitude_hold_drone.svg diff --git a/website/versioned_docs/version-acs_cc/project/2026/david.balan/altitude_hold_drone.svg b/website/versioned_docs/version-acs_cc/project/2026/david.balan/altitude_hold_drone.svg deleted file mode 100644 index 7c8fd5e6b7d..00000000000 --- a/website/versioned_docs/version-acs_cc/project/2026/david.balan/altitude_hold_drone.svg +++ /dev/null @@ -1,52193 +0,0 @@ - - - -SVG Image created as altitude_hold_drone.svg date 2026-05-11T11:18:25 - Image generated by Eeschema-SVG - - - - - - - - - - - -1 -1 - - - - - -2 -2 - - - - - - - - - - -3 -3 - - - - - - - - - - - - - -4 -4 - - - -5 -5 - - - - - - - - - - - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - -2 -2 - - - - - - - - - - -3 -3 - - - - - - - - - - - - - -4 -4 - - - -5 -5 - - - - - - - - - - - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - -A -A - - - -B -B - - - - - - - - - - - - - - - - - - -C -C - - - - - - - - - - - - - - - -D -D - - - - - - - - - - - - - - - -A -A - - - -B -B - - - - - - - - - - - - - - - - - - -C -C - - - - - - - - - - - - - - - -D -D - - - - - - - - - - - - -Date: -Date: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -KiCad E.D.A. 10.0.1 -KiCad E.D.A. 10.0.1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Rev: -Rev: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Size: A4 -Size: A4 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Id: 1/1 -Id: 1/1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Title: -Title: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -File: altitude_hold_drone.kicad_sch -File: altitude_hold_drone.kicad_sch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Sheet: / -Sheet: / - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -CLKIN -CLKIN - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - - - - - - -AUX_DA -AUX_DA - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - - - - -AUX_CL -AUX_CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7 -7 - - - - - - - - -VLOGIC - -VLOGIC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8 - -8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -AD0 -AD0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9 -9 - - - - - - - - - - - - - - - - - - - - - - - - - - -REGOUT -REGOUT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10 -10 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -FSYNC -FSYNC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11 -11 - - - - - - - - - - - - - - - -INT -INT - - - - - - - - -12 -12 - - - - - - - - - - - - - - - - - - - - - -VDD - -VDD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -13 - -13 - - - - - - - - - - - - - - - - - - - - - - - - -GND - -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -18 - -18 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -CPOUT -CPOUT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -20 -20 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -SCL -SCL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -23 -23 - - - - - - - - - - - - - - - - - - - - - - - - - - - - -SDA -SDA - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -24 -24 - - - - - - - - - - - - - - - -U1 -U1 - - - - - - - - - - - - - - -MPU-6050 -MPU-6050 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+3V3 -+3V3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+5V -+5V - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+BATT -+BATT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -PWR_FLAG -PWR_FLAG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO0 -GPIO0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - - - - - - -GPIO1 -GPIO1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - - -GND - -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3 - -3 - - - - - - - - - - - - - - - - - - -GPIO2 -GPIO2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4 -4 - - - - - - - - -GPIO3 -GPIO3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5 -5 - - - - - - - - - - - - - - - - - - - - -GPIO4 -GPIO4 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO5 -GPIO5 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7 -7 - - - - - - - -GPIO6 -GPIO6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9 -9 - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO7 -GPIO7 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10 -10 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO8 -GPIO8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11 -11 - - - - - - - - - - - - - - - -GPIO9 -GPIO9 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -12 -12 - - - - - - - - - - - - - - - - - - - - -GPIO10 -GPIO10 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -14 -14 - - - - - - - - - - - - - -GPIO11 -GPIO11 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -15 -15 - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO12 -GPIO12 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -16 -16 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO13 -GPIO13 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -17 -17 - - - - - - - - - - - - -GPIO14 -GPIO14 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -19 -19 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO15 -GPIO15 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -20 -20 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO16 -GPIO16 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -21 -21 - - - - - - - - - - - - - - - - - - - - -GPIO17 -GPIO17 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -22 -22 - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO18 -GPIO18 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -24 -24 - - - - - - - - - - - - - - - - - - -GPIO19 -GPIO19 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -25 -25 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO20 -GPIO20 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -26 -26 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO21 -GPIO21 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -27 -27 - - - - - - - - - - - - - - - - - -GPIO22 -GPIO22 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -29 -29 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -RUN -RUN - - - - - - - - - - - - - - - - - - - - - - - - - -30 -30 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO26_ADC0 -GPIO26_ADC0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -31 -31 - - - - - - - - - - - - - - - - - - - - - - - -GPIO27_ADC1 -GPIO27_ADC1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -32 -32 - - - - - - - - - - - - - - - - - - - - - - - - - - - - -AGND -AGND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -33 -33 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO28_ADC2 -GPIO28_ADC2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -34 -34 - - - - - - - - - - - - - - - - - - - - - -ADC_VREF -ADC_VREF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -35 -35 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3V3 - -3V3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -36 - -36 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3V3_EN -3V3_EN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -37 -37 - - - - - - - - - - - - - - - - - - - - - -VSYS - -VSYS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -39 - -39 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -VBUS - -VBUS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -40 - -40 - - - - - - - - - - - - - - - - - - - - - - - - - -A1 -A1 - - - - - - - - -RaspberryPi_Pico_W -RaspberryPi_Pico_W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+BATT -+BATT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+3V3 -+3V3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -ESC_30A -ESC_30A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -BAT+ -BAT+ - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - - - - - - -BAT- -BAT- - - - - - - - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - -SIG -SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3 -3 - - - - - - - - - - - - - - - - - - -BEC_5V -BEC_5V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4 -4 - - - - - - - - -GND_SIG -GND_SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5 -5 - - - - - - - - - - - - - - - - - - - - -A -A - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - - - -B -B - - - - - - - - - - - - - - - - - - - - -7 -7 - - - - - - - -C -C - - - - - - - - - - - - - - - - - -8 -8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -J3 -J3 - - - - - - - - - - - - - - - - - - - - - - - - - - -+3V3 -+3V3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -HC-SR04P -HC-SR04P - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -VCC -VCC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - - - - - - -TRIG -TRIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - -ECHO -ECHO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3 -3 - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4 -4 - - - - - -U2 -U2 - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+3V3 -+3V3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+5V -+5V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -BT1 -BT1 - - - - - - - - - - - - - - - - - - - - - - - - - -Battery_Cell -Battery_Cell - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+BATT -+BATT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -ESC_30A -ESC_30A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -BAT+ -BAT+ - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - - - - - - -BAT- -BAT- - - - - - - - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - -SIG -SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3 -3 - - - - - - - - - - - - - - - - - - -BEC_5V -BEC_5V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4 -4 - - - - - - - - -GND_SIG -GND_SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5 -5 - - - - - - - - - - - - - - - - - - - - -A -A - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - - - -B -B - - - - - - - - - - - - - - - - - - - - -7 -7 - - - - - - - -C -C - - - - - - - - - - - - - - - - - -8 -8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -J1 -J1 - - - - - - - - - - - - - -Motor -Motor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A -A - - - - - -1 -1 - - - - - - - - - - -B -B - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - -C -C - - - - - - - - - - - - - - - - - -3 -3 - - - - - - - - - - - - - - - -M4 -M4 - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Motor -Motor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A -A - - - - - -1 -1 - - - - - - - - - - -B -B - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - -C -C - - - - - - - - - - - - - - - - - -3 -3 - - - - - - - - - - - - - - - -M3 -M3 - - - - - - - - - - - - - - - - - - - - - - - - - -+BATT -+BATT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Motor -Motor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A -A - - - - - -1 -1 - - - - - - - - - - -B -B - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - -C -C - - - - - - - - - - - - - - - - - -3 -3 - - - - - - - - - - - - - - - -M1 -M1 - - - - - - - - - - - - -Motor -Motor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A -A - - - - - -1 -1 - - - - - - - - - - -B -B - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - -C -C - - - - - - - - - - - - - - - - - -3 -3 - - - - - - - - - - - - - - - -M2 -M2 - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -ESC_30A -ESC_30A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -BAT+ -BAT+ - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - - - - - - -BAT- -BAT- - - - - - - - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - -SIG -SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3 -3 - - - - - - - - - - - - - - - - - - -BEC_5V -BEC_5V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4 -4 - - - - - - - - -GND_SIG -GND_SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5 -5 - - - - - - - - - - - - - - - - - - - - -A -A - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - - - -B -B - - - - - - - - - - - - - - - - - - - - -7 -7 - - - - - - - -C -C - - - - - - - - - - - - - - - - - -8 -8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -J2 -J2 - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+BATT -+BATT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -ESC_30A -ESC_30A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -BAT+ -BAT+ - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - - - - - - -BAT- -BAT- - - - - - - - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - -SIG -SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3 -3 - - - - - - - - - - - - - - - - - - -BEC_5V -BEC_5V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4 -4 - - - - - - - - -GND_SIG -GND_SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5 -5 - - - - - - - - - - - - - - - - - - - - -A -A - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - - - -B -B - - - - - - - - - - - - - - - - - - - - -7 -7 - - - - - - - -C -C - - - - - - - - - - - - - - - - - -8 -8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -J4 -J4 - - - - - - - - - - -PWM_M2 -PWM_M2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -M2_B -M2_B - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -M2_A -M2_A - - - - - - - - - - - - - - - - - - - - -M2_C -M2_C - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -PWM_M1 -PWM_M1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -SCL -SCL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -M3_C -M3_C - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -M3_A -M3_A - - - - - - - - - - - - - - - - - - - - - - - -SDA -SDA - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -PWM_M3 -PWM_M3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -M1_C -M1_C - - - - - - - - - - - - - - - - - - - - - - - - - - - -M1_B -M1_B - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -PWM_M1 -PWM_M1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -M1_A -M1_A - - - - - - - - - - - - - - - -M2_A -M2_A - - - - - - - - - - - - - - - - - - - - -M1_A -M1_A - - - - - - - - - - - - - - - -M1_B -M1_B - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -M1_C -M1_C - - - - - - - - - - - - - - - - - - - - - - - - - - - -TRIG -TRIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -SCL -SCL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -ECHO -ECHO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -TRIG -TRIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -ECHO -ECHO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -M3_B -M3_B - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -PWM_M4 -PWM_M4 - - - - - - - - - - - - - - - - - - - - - - - - - - - - -M4_A -M4_A - - - - - - - - - - - - - -M4_B -M4_B - - - - - - - - - - - - - - - - - - - - - - - - - - - - -M4_C -M4_C - - - - - - - - - - - - - - - - - - - - - - - - - -M2_C -M2_C - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -M2_B -M2_B - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -M3_B -M3_B - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -M3_A -M3_A - - - - - - - - - - - - - - - - - - - - - - - -M3_C -M3_C - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -M4_A -M4_A - - - - - - - - - - - - - -M4_C -M4_C - - - - - - - - - - - - - - - - - - - - - - - - - -M4_B -M4_B - - - - - - - - - - - - - - - - - - - - - - - - - - - - -SDA -SDA - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -PWM_M2 -PWM_M2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -PWM_M3 -PWM_M3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -PWM_M4 -PWM_M4 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Balan David-Cristian -Balan David-Cristian - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+BATT -+BATT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+BATT -+BATT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+5V -+5V - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -J1 -J1 - - - - - - - - - - - - - - - -BAT+ -BAT+ - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - - - - - - -BAT- -BAT- - - - - - - - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - -SIG -SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3 -3 - - - - - - - - - - - - - - - - - - -BEC_5V -BEC_5V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4 -4 - - - - - - - - -GND_SIG -GND_SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5 -5 - - - - - - - - - - - - - - - - - - - - -A -A - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - - - -B -B - - - - - - - - - - - - - - - - - - - - -7 -7 - - - - - - - -C -C - - - - - - - - - - - - - - - - - -8 -8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -J2 -J2 - - - - - - - - - - - - - - - - - - - - -BAT+ -BAT+ - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - - - - - - -BAT- -BAT- - - - - - - - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - -SIG -SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3 -3 - - - - - - - - - - - - - - - - - - -BEC_5V -BEC_5V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4 -4 - - - - - - - - -GND_SIG -GND_SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5 -5 - - - - - - - - - - - - - - - - - - - - -A -A - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - - - -B -B - - - - - - - - - - - - - - - - - - - - -7 -7 - - - - - - - -C -C - - - - - - - - - - - - - - - - - -8 -8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+BATT -+BATT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+3V3 -+3V3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -U2 -U2 - - - - - - - - - - - - - - - - - - - - - - - - -VCC -VCC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - - - - - - -TRIG -TRIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - -ECHO -ECHO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3 -3 - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4 -4 - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A1 -A1 - - - - - - - - -RaspberryPi_Pico_W -RaspberryPi_Pico_W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO0 -GPIO0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - - - - - - -GPIO1 -GPIO1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - - -GND - -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3 - -3 - - - - - - - - - - - - - - - - - - -GPIO2 -GPIO2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4 -4 - - - - - - - - -GPIO3 -GPIO3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5 -5 - - - - - - - - - - - - - - - - - - - - -GPIO4 -GPIO4 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO5 -GPIO5 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7 -7 - - - - - - - -GPIO6 -GPIO6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9 -9 - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO7 -GPIO7 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10 -10 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO8 -GPIO8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11 -11 - - - - - - - - - - - - - - - -GPIO9 -GPIO9 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -12 -12 - - - - - - - - - - - - - - - - - - - - -GPIO10 -GPIO10 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -14 -14 - - - - - - - - - - - - - -GPIO11 -GPIO11 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -15 -15 - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO12 -GPIO12 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -16 -16 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO13 -GPIO13 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -17 -17 - - - - - - - - - - - - -GPIO14 -GPIO14 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -19 -19 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO15 -GPIO15 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -20 -20 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO16 -GPIO16 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -21 -21 - - - - - - - - - - - - - - - - - - - - -GPIO17 -GPIO17 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -22 -22 - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO18 -GPIO18 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -24 -24 - - - - - - - - - - - - - - - - - - -GPIO19 -GPIO19 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -25 -25 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO20 -GPIO20 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -26 -26 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO21 -GPIO21 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -27 -27 - - - - - - - - - - - - - - - - - -GPIO22 -GPIO22 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -29 -29 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -RUN -RUN - - - - - - - - - - - - - - - - - - - - - - - - - -30 -30 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO26_ADC0 -GPIO26_ADC0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -31 -31 - - - - - - - - - - - - - - - - - - - - - - - -GPIO27_ADC1 -GPIO27_ADC1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -32 -32 - - - - - - - - - - - - - - - - - - - - - - - - - - - - -AGND -AGND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -33 -33 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GPIO28_ADC2 -GPIO28_ADC2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -34 -34 - - - - - - - - - - - - - - - - - - - - - -ADC_VREF -ADC_VREF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -35 -35 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3V3 - -3V3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -36 - -36 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3V3_EN -3V3_EN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -37 -37 - - - - - - - - - - - - - - - - - - - - - -VSYS - -VSYS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -39 - -39 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -VBUS - -VBUS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -40 - -40 - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -J3 -J3 - - - - - - - - - - - - - - - - - - - - - - - -BAT+ -BAT+ - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - - - - - - -BAT- -BAT- - - - - - - - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - -SIG -SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3 -3 - - - - - - - - - - - - - - - - - - -BEC_5V -BEC_5V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4 -4 - - - - - - - - -GND_SIG -GND_SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5 -5 - - - - - - - - - - - - - - - - - - - - -A -A - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - - - -B -B - - - - - - - - - - - - - - - - - - - - -7 -7 - - - - - - - -C -C - - - - - - - - - - - - - - - - - -8 -8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -J4 -J4 - - - - - - - - - - - - - -BAT+ -BAT+ - - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - - - - - - -BAT- -BAT- - - - - - - - - - - - - - - - - - - - - - - - - - - -2 -2 - - - - - - - - - - - - - - - -SIG -SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3 -3 - - - - - - - - - - - - - - - - - - -BEC_5V -BEC_5V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4 -4 - - - - - - - - -GND_SIG -GND_SIG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5 -5 - - - - - - - - - - - - - - - - - - - - -A -A - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - - - -B -B - - - - - - - - - - - - - - - - - - - - -7 -7 - - - - - - - -C -C - - - - - - - - - - - - - - - - - -8 -8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+BATT -+BATT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+BATT -+BATT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -BT1 -BT1 - - - - - - - - - - - - - - - - - - - - - - - - - -Battery_Cell -Battery_Cell - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -PWR_FLAG -PWR_FLAG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+5V -+5V - - - - - - - - - - - - - - - - - - - - - - - - -+3V3 -+3V3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -U1 -U1 - - - - - - - - - - - - - - -MPU-6050 -MPU-6050 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -CLKIN -CLKIN - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - - - - - - -AUX_DA -AUX_DA - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - - - - -AUX_CL -AUX_CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7 -7 - - - - - - - - -VLOGIC - -VLOGIC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8 - -8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -AD0 -AD0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9 -9 - - - - - - - - - - - - - - - - - - - - - - - - - - -REGOUT -REGOUT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10 -10 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -FSYNC -FSYNC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11 -11 - - - - - - - - - - - - - - - -INT -INT - - - - - - - - -12 -12 - - - - - - - - - - - - - - - - - - - - - -VDD - -VDD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -13 - -13 - - - - - - - - - - - - - - - - - - - - - - - - -GND - -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -18 - -18 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -CPOUT -CPOUT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -20 -20 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -SCL -SCL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -23 -23 - - - - - - - - - - - - - - - - - - - - - - - - - - - - -SDA -SDA - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -24 -24 - - - - - - - - - - - - - - - -GND -GND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+3V3 -+3V3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -+3V3 -+3V3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg b/website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg index 7a30402c265..3a7a2aec339 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg +++ b/website/versioned_docs/version-acs_cc/project/2026/david.balan/architecture.svg @@ -1,4 +1,4 @@ -
Andorid phone
Rust app - UDP control
MPU-6050 (GY-521)
3-axis gyroscope
3-axis accelerometer
I2C 0x68 @ 200 Hz
BMP280
Barometric pressure
Absolute altitude
I2C 0x76 @ 50 Hz
VL53L1X
Laser ToF distance
Range up to 4m
I2C 0x29 @ 50 Hz
WiFi (CYW43439)
Built into Pico 2W
UDP socket
2.4 GHz access point
PID - Altitude
PID - Yaw
PID - Roll
PID - Pitch
Setpoint Manager
Target: throttle, pitch, roll, yaw, altitude
Lock altitude when throttle released
Kalman Filter
accel + gyro + baro + ToF
Predict -> Update -> State estimate
Motor Mixer
4 PID outputs -> 4 motor speeds
ESC 1 - 30A BLHeli
M1 - CW
Front-left
ESC 4 - 30A BLHeli
5V to Pico
ESC 3 - 30A BLHeli
ESC 2 - 30A BLHeli
BEC (in ESC 4)
5V / 2A regulator
Powers Pico + sensors
PDB
Distributes 11.1V to 4 ESCs
3S LiPo battery
11.1V, 2200mAh
M2 - CCW
Front-right
M3 - CW
Rear-right
M1 - CCW
Rear-left
 \ No newline at end of file +
Android phone
Rust app - UDP control
Android phone...
MPU-6050 (GY-521)
3-axis gyroscope
3-axis accelerometer
MPU-6050 (GY-5...
BMP280
Barometric pressure
Absolute altitude
BMP280...
VL53L1X
Laser ToF distance
Range up to 4m
VL53L1X...
WiFi (CYW43439)
Built into Pico 2W
UDP socket
2.4 GHz access point
WiFi (CYW43439...
PID - Altitude
PID - Altit...
PID - Yaw
PID - Yaw
PID - Roll
PID - Roll
PID - Pitch
PID - Pitch
Setpoint Manager
Target: throttle, pitch, roll, yaw, altitude
Lock altitude when throttle released
Setpoint Manager...
Kalman Filter
accel + gyro + baro + ToF
Predict -> Update -> State estimate
Kalman Filter...
Motor Mixer
4 PID outputs -> 4 motor speeds
Motor Mixer...
ESC 1 - 30A BLHeli
ESC 1 - 30A BL...
M1 - CW
Front-left
M1 - CW...
ESC 4 - 30A BLHeli
5V to Pico
ESC 4 - 30A BL...
ESC 3 - 30A BLHeli
ESC 3 - 30A BL...
ESC 2 - 30A BLHeli
ESC 2 - 30A BL...
BEC (in ESC 4)
5V / 2A regulator
Powers Pico + sensors
BEC (in ESC 4)...
PDB
Distributes 11.1V to 4 ESCs
PDB...
3S LiPo battery
11.1V, 2200mAh
3S LiPo battery...
M2 - CCW
Front-right
M2 - CCW...
M3 - CW
Rear-right
M3 - CW...
M1 - CCW
Rear-left
M1 - CCW...Text is not SVG - cannot display \ No newline at end of file diff --git a/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md b/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md index d2a552fa6fd..35c2b2e4463 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md @@ -60,8 +60,6 @@ The drone is built from the following components: ### Schematics -![Kicad Schematic](altitude_hold_drone.svg) - ### Bill of Materials | Device | Usage | Price | From 375a1db3fae4fd2628eb3865b90c70d81eb60e7b Mon Sep 17 00:00:00 2001 From: davidbalan05 Date: Fri, 22 May 2026 23:10:17 +0300 Subject: [PATCH 6/7] New schematic --- .../project/2026/david.balan/altitude_hold_drone.svg | 1 + .../version-acs_cc/project/2026/david.balan/index.md | 9 ++++++--- 2 files changed, 7 insertions(+), 3 deletions(-) create mode 100644 website/versioned_docs/version-acs_cc/project/2026/david.balan/altitude_hold_drone.svg diff --git a/website/versioned_docs/version-acs_cc/project/2026/david.balan/altitude_hold_drone.svg b/website/versioned_docs/version-acs_cc/project/2026/david.balan/altitude_hold_drone.svg new file mode 100644 index 00000000000..689da89c800 --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/david.balan/altitude_hold_drone.svg @@ -0,0 +1 @@ +Image generated by Eeschema-SVGMotorA1B2C3M1GNDCLKIN1AUX_DA6AUX_CL7VLOGIC8AD09REGOUT10FSYNC11INT12VDD13GND18CPOUT20SCL23SDA24U1MPU-6050+BATTBT1Battery_CellGNDGPIO01GPIO12GND3GPIO24GPIO35GPIO46GPIO57GPIO69GPIO710GPIO811GPIO912GPIO1014GPIO1115GPIO1216GPIO1317GPIO1419GPIO1520GPIO1621GPIO1722GPIO1824GPIO1925GPIO2026GPIO2127GPIO2229RUN30GPIO26_ADC031GPIO27_ADC132AGND33GPIO28_ADC234ADC_VREF353V3363V3_EN37VSYS39VBUS40A1RaspberryPi_Pico_WGND+5V+3V3GNDGNDESC_30ABAT+1BAT-2SIG3BEC_5V4GND_SIG5A6B7C8J3GND+3V3GND+3V3+BATTGNDGND+BATT+BATT+BATTPWR_FLAG+5VGND1CSB2SDI3SCK4SDO5VDDIO6GND7VDD8U3BMP280AVDDVCSEL1AVSSVCSEL2GND3XSHUT5GPIO17SDA9SCL10AVDD11U2VL53L1CXV0FY1+3V3ESC_30ABAT+1BAT-2SIG3BEC_5V4GND_SIG5A6B7C8J4MotorA1B2C3M4ESC_30ABAT+1BAT-2SIG3BEC_5V4GND_SIG5A6B7C8J1+3V3GNDGNDMotorA1B2C3M3MotorA1B2C3M2GNDESC_30ABAT+1BAT-2SIG3BEC_5V4GND_SIG5A6B7C8J2GNDM1_BM4_CM4_BM4_AM1_CM1_AM1_BM2_CM3_AM2_BM3_BM2_AM1_CM2_AM4_AM4_BM4_CPWM_M4PWM_M2SDAPWM_M3PWM_M4SCLSCLSDAPWM_M1SDASCLSDASCLM3_AM2_BM2_CPWM_M2M3_BM3_CM3_CPWM_M3M1_APWM_M1Balan David-CristianBT1Battery_CellGNDGND+BATT+BATTPWR_FLAGJ4BAT+1BAT-2SIG3BEC_5V4GND_SIG5A6B7C8GNDGNDU1MPU-6050CLKIN1AUX_DA6AUX_CL7VLOGIC8AD09REGOUT10FSYNC11INT12VDD13GND18CPOUT20SCL23SDA24A1RaspberryPi_Pico_WGPIO01GPIO12GND3GPIO24GPIO35GPIO46GPIO57GPIO69GPIO710GPIO811GPIO912GPIO1014GPIO1115GPIO1216GPIO1317GPIO1419GPIO1520GPIO1621GPIO1722GPIO1824GPIO1925GPIO2026GPIO2127GPIO2229RUN30GPIO26_ADC031GPIO27_ADC132AGND33GPIO28_ADC234ADC_VREF353V3363V3_EN37VSYS39VBUS40GND+3V3+3V3+5V+3V3+3V3U2VL53L1CXV0FY1AVDDVCSEL1AVSSVCSEL2GND3XSHUT5GPIO17SDA9SCL10AVDD11GNDU3BMP280GND1CSB2SDI3SCK4SDO5VDDIO6GND7VDD8+3V3GNDJ3BAT+1BAT-2SIG3BEC_5V4GND_SIG5A6B7C8GND+BATTGNDJ2BAT+1BAT-2SIG3BEC_5V4GND_SIG5A6B7C8GNDJ1BAT+1BAT-2SIG3BEC_5V4GND_SIG5A6B7C8+5V+BATTGND+BATTGND \ No newline at end of file diff --git a/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md b/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md index 35c2b2e4463..a61bd3faf40 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md @@ -22,7 +22,7 @@ I chose this project because it combines real-time embedded control, sensor fusi The system is organized into six layers, with data flowing top-down from the user's command to the spinning motors and power flowing bottom-up from the battery to every component: * **Remote control** — an Android phone runs a Rust UDP client that sends target setpoints (throttle, pitch, roll, yaw) over WiFi. -* **Sensors and input** — MPU-6050 reads gyroscope and accelerometer data over I2C at 200 Hz, HC-SR04P reads altitude over GPIO at 50 Hz, and the CYW43439 WiFi chip on the Pico 2W receives setpoints over a UDP socket. +* **Sensors and input** — MPU-6050 reads gyroscope and accelerometer data over I2C at 200 Hz, a BMP280 barometer and a VL53L1X laser time-of-flight sensor both read altitude data over I2C at 50 Hz, and the CYW43439 WiFi chip on the Pico 2W receives setpoints over a UDP socket. * **Flight controller** (running on the Pico 2W in Rust) — a Kalman filter fuses the IMU readings into stable pitch and roll estimates, a setpoint manager holds the current targets (and locks altitude when the throttle is released), and four independent PID controllers (pitch, roll, yaw, altitude) compute the corrections needed to drive the filtered state toward the setpoints. * **Motor mixing and drivers** — the motor mixer combines the four PID outputs into individual speed commands for each of the four motors; each command is then sent as a PWM signal to a 30A BLHeli ESC, which converts it into a 3-phase drive signal. * **Propulsion** — four A2212 1000KV brushless motors with 1045 propellers, arranged on the F450 frame in an X configuration with alternating CW and CCW rotation directions to cancel out the torque around the vertical axis. @@ -50,7 +50,8 @@ The drone is built from the following components: * **Raspberry Pi Pico 2W** — the flight controller; runs the Rust firmware (Kalman filter, four PID loops, motor mixer) and hosts the WiFi access point that receives commands from the phone. * **MPU-6050 (GY-521)** — 6-axis IMU containing a 3-axis gyroscope and a 3-axis accelerometer; provides raw orientation data over I2C at 200 Hz, used by the Kalman filter to estimate pitch and roll. -* **HC-SR04P** — ultrasonic distance sensor (3.3V variant, safe for the Pico's GPIO); measures the distance to the ground at 50 Hz, used as input for the altitude PID. +* **BMP280** — barometric pressure sensor; measures atmospheric pressure over I2C at 50 Hz to estimate absolute altitude, providing long-term-stable altitude data for the altitude PID and covering ranges beyond the laser sensor's reach. +* **VL53L1X** — laser time-of-flight distance sensor; measures the distance to the ground over I2C at 50 Hz with a narrow beam (immune to propeller downwash and acoustic noise), providing precise short-range altitude data for the altitude PID, especially during liftoff and landing. * **F450 frame with integrated PDB and landing gear** — the airframe that holds everything together; the integrated power distribution board distributes 11.1V from the battery to all four ESCs (rated up to 100A), and the landing gear protects the electronics during landings. * **4× A2212 1000KV brushless motors** — provide the lift; rated for 2-3S LiPo and up to 12A each, paired with 1045 propellers for stable hover on a 3S battery. * **4× 1045 propellers (2 CW + 2 CCW)** — convert motor rotation into thrust; the alternating rotation directions cancel out torque around the vertical axis so the drone doesn't spin uncontrollably. @@ -59,6 +60,7 @@ The drone is built from the following components: * **SkyRC iMAX B6AC V2 charger** — used off-board to balance-charge the LiPo battery between flights; supports 1-6S LiPo at up to 6A. ### Schematics +![Schematic](altitude_hold_drone.svg) ### Bill of Materials @@ -70,7 +72,8 @@ The drone is built from the following components: | [3S 2200mAh 30C LiPo Battery (XT60)](https://www.emag.ro/) | Main power source | 120 RON | | [SkyRC iMAX B6AC V2 Charger](https://www.skyrc.com/) | LiPo balance charger | 213 RON | | [MPU-6050 (GY-521)](https://www.optimusdigital.ro/) | Gyroscope + accelerometer (I2C) | 32 RON | -| [HC-SR04P](https://www.optimusdigital.ro/) | Ultrasonic distance sensor (3.3V) | 32 RON | +| [BMP280] | Barometric pressure / altitude sensor (I2C) | 15 RON | +| [BMP280] | Laser time-of-flight distance sensor (I2C) | 40 RON | ## Software From a7c9c0b2706c29108a44605535fc997735341ba1 Mon Sep 17 00:00:00 2001 From: davidbalan05 Date: Fri, 22 May 2026 23:49:15 +0300 Subject: [PATCH 7/7] New schematic --- .../version-acs_cc/project/2026/david.balan/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md b/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md index f5e5db48869..3d57279b204 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/david.balan/index.md @@ -5,7 +5,7 @@ A WiFi-controlled quadrotor drone that autonomously maintains altitude when no o :::info **Author**: David-Cristian Balan -**GitHub Project Link**: [https://github.com/davidbalan05/website](https://github.com/davidbalan05/website) +**GitHub Project Link**: [https://github.com/UPB-PMRust-Students/acs-project-2026-davidbalan05](https://github.com/UPB-PMRust-Students/acs-project-2026-davidbalan05) :::