Teensy Flight Controller v3 is a versatile, stackable flight control board designed to operate either as an auxiliary expansion or co-processor for the Teensy 4.1, or as a fully independent flight controller for UAV, robotics, and experimental control systems.
The board shares the same mechanical dimensions as the Teensy 4.1 and can be mounted on either the top or bottom of the Teensy, enabling compact and modular system architectures.
Built around a high-performance STM32H735RGV6, the board integrates multiple industrial-grade IMUs, precision pressure sensors, dedicated power regulation, and high-speed communication interfaces. This allows it to function as a standalone flight controller or as a sensor and control co-processor in a larger system.
Project status: ongoing development
The design will be updated periodically, and hardware fabrication and validation will be carried out in a later phase.
This project is intended for learning and portfolio building and reflects real-world modular flight controller and embedded systems hardware design practices.
This project is designed to explore:
- Standalone and co-processor flight controller architectures
- Stackable and modular hardware design
- Redundant industrial-grade IMU integration
- SPI- and UART-based inter-processor communication
- Power integrity and noise isolation for mixed-signal systems
- USB-C based configuration, flashing, and debugging
- STM32H735RGV6 high-performance microcontroller
- Operates as a standalone flight controller or Teensy 4.1 expansion board
- Communication with Teensy via SPI or dual UART
- Multiple industrial-grade IMUs for redundancy and evaluation
- Precision pressure and barometric sensors
- USB Type-C interface
- 4 PWM outputs
- SWD debug interface
- Reverse polarity protection
- Dedicated low-noise power supplies for sensors
- SPI expansion interface for external magnetometer
- IIM-42653
- IIM-42652
- ICM-45686
- BMI088
This multi-IMU configuration enables:
- Redundant inertial sensing
- Cross-sensor performance comparison
- Fault detection and isolation experiments
- ICP20100
High-resolution pressure sensor - BMP581
Precision barometric altitude sensor
- SPI interface for external RM3100 magnetometer
- Dedicated routing for low-noise SPI communication
- STM32H735RGV6
- ARM Cortex-M7 core
- High-speed DMA and peripheral support
- Suitable for real-time control and sensor fusion workloads
| Interface | Details |
|---|---|
| SPI | Inter-board or external peripheral communication |
| UART ×2 | Telemetry, GPS, or inter-processor communication |
| USB-C | Firmware flashing and configuration |
| PWM ×4 | Motor, servo, or trigger outputs |
| SWD | Debug and programming interface |
| SPI Expansion | External RM3100 magnetometer |
| Rail | Component | Description |
|---|---|---|
| 3.3 V LDO ×2 | LP5912-3.3DRVR | Low-noise supply for IMUs and sensors |
| Auxiliary 3.3 V LDO | TLV76733DRVT | Additional regulated rail |
| Reverse polarity protection | DMG2305UX-7 | Input protection MOSFET |
The power system is designed to ensure clean and stable power delivery to sensitive inertial and pressure sensors while isolating digital noise.
- NX2016SA-48M-EXS00A-CS05517
48 MHz external crystal oscillator for precise system timing
| Parameter | Value |
|---|---|
| Form factor | Teensy 4.1 compatible |
| Stackable | Top or bottom mounting |
| Dimensions | Same as Teensy 4.1 |
| USB | USB Type-C |
| Debug | SWD pads |
- Altium Designer – Schematic capture and PCB layout
- STM32CubeIDE – Embedded firmware development
- STM32CubeMX – Peripheral and clock configuration
Hitesh Bhoyar
Embedded Systems | UAV Electronics | Modular Flight Controller Design
GitHub: https://github.com/hiteshbhoyar03
For educational use. Feel free to fork, reuse, or reach out if you are exploring modular or standalone flight controller hardware.
Licensed under the MIT License