Drone control hardware

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Schematic

Version 1.0 schematic, sensor board is not shown (mounted on top of Teensy).

Version 1.2 schematic (red PCB)

PCB-layout (version 1.2).

PCB

Prop Shield

From: https://www.pjrc.com/store/prop_shield.html

Signal	  Pin #	Used By:	Description
SDA	  18	sensors	I2C Data for motion sensors
SCL	  19	sensors	I2C Clock for motion sensors
IRQ	  2	sensors	Interrupt from motion sensors
MOSI	  11	memory,led	SPI Data
MISO	  12	memory	SPI Data
SCK	  13	memory,led	SPI Clock
MEM_CS	  6	memory	Low to access memory
LED_EN	  7	led	High to send LED data
LED_DAT  -	led	5v buffered LED Data output
LED_CLK  -	led	5v buffered LED Clock output
AMP_EN	  5	amp	High to enable amplifier
AudioIN  DAC	amp	Audio signal
AudioGND AGND	amp	Audio ground
Speaker+ -	amp	Connect a 4Ω or 8Ω speaker
                       Twisted pair wire is recommended
Speaker  -	-	amp
5Vpower  VIN	amp,led	
3Vpower  3.3V	sensors,memory	
GND	  GND	(all)

Schematic