Teensy 4.1 - Based Flight-Controller for dRehmFlight

This project is a hardware controller board designed specifically for use with the dRehmFlight open-source flight controller firmware. It is based on the Teensy 4.1 microcontroller and provides all the essential interfaces and components needed for a compact, capable flight control unit.

Features

Core Components

• Teensy 4.1 (MIMXRT1062DVJ6B – Arm Cortex-M7 @ 600 MHz)
• MKL02Z32VFG4 bootloader MCU (required for Teensy compatibility)
• W25Q64JVXGIM 8 Mb SPI Flash memory

Sensors

• GY-91 (MPU9250 + BMP280) IMU module connected via SPI for reduced latency.

  • Replaces the GY-521 module (MPU6050) commonly used in the default dRehmFlight configuration
  • Integrated magnetometer (AK8963) provides full 9‑DOF capability
  • Integrated BMP280 barometric sensor for altitude estimation

Storage

• microSD card slot for onboard data logging

Power and Connectivity

• XT30 power connector for powering both the autopilot and connected servos
• PWM outputs using standard RC servo connectors for direct model integration
• Multiple high-current GPIO outputs with transistor drivers for triggering pyrotechnic or other one-shot actuators
• USB‑C connector for power and debug interface (compatible with PJRC Teensy bootloader)

Expansion and Debugging

• 2.54 mm pin headers for access to all I/O pins (except D41)
• JTAG pins broken out (not yet tested)

Acknowledgements

This updated board builds upon the original Teensy 4.1 KiCad example design, transforming it into a purpose-built flight controller platform optimized for dRehmFlight. It adds robust sensing, storage, power distribution, and actuator control features for experimental UAV and aerospace applications.