Dedicated pins for barometers (for altitude hold) and optical flow/proximity sensors (for indoor positioning).

This design allows students to compare different methods of attitude estimation, such as using pre-calculated data from the BNO080 versus implementing custom sensor fusion (Kalman filters, Madgwick algorithms, or complementary filters) using raw data from the ICM-20602. Hardware Architecture & Connectivity

Often paired with a dedicated BEC (Battery Eliminator Circuit) to regulate voltage from LiPo batteries for the electronics. Educational Significance

STM32 series (typically F4-based) capable of high-speed loop times.

A high-performance 6-axis sensor used to measure rotational rates (angular velocity) for stabilization.

Requires an ST-Link V2 programmer for flashing custom firmware directly to the MCU.

Multiple UARTs for connecting radio receivers (e.g., FlySky), GPS modules, and telemetry systems.