P4eregrine

An all-in-one drone ESC, flight controller and video processor, powered by an ESP32 P4 in a 40x40 mm footprint.

Specifications

• 2S-3S (7-13 V) battery input
• 40x40 mm board size, 30.5x30.5 mm mounting holes
• ESP32 P4 flight computer and video processor
• ESP32 C5 for 2.4 GHz and 5 GHz Wi-Fi connectivity
• Raspberry Pi camera-compatible connector (MIPI-CSI)
• LSM6DSR IMU
• LIS2MDL magnetometer
• LPS22HB barometer
• VL53L1X time of flight sensor
• PMW3901MB optical flow sensor
• STM32G071GBU6 + DRV8328 for each ESC running AM32, hopefully capable of handling 15 A current per motor
• JMSL0302AU MOSFETs (the cheapest semi-reputable 3x3 package I could find with a lower than 3 mOhm RDS(on) when hot)
• TPS62933 buck converter for 3.3V power, capable of continuously supplying ~2.3 A
• Single high-side current measurement shunt for the entire board

Stackup

6 layers, 1oz outer copper, 0.5 oz inner copper, 1.2 mm thick (JLC06121H-3313)

• L1: Mixed
• L2: GND
• L3: 3V3 plane + some signals
• L4: BAT plane + some signals
• L5: GND
• L6: Mixed

Filled and capped vias are a must, as the board makes extensive use of via-in-pad. All vias are 0.45/0.25 mm or bigger to avoid incurring extra fees from JLCPCB.

Schematics, layer images and BOM are available in docs/, Gerber files in export/.

Software?

AM32 for the ESCs, custom firmware for the rest. I have most parts working on the previous prototype (ESP32 S3 with 8520 brushed motors)