Circuit

Figure 1 Ornithopter circuit.

The circuit is quite crowded (Figure 1). To make wiring easier, I designed and ordered two-layer PCBs (Figure 2).

Figure 2. My designed PCB. 5$ for 10 pieces. Incredibly affordable.

The final wiring is a little bit untidy but is still acceptable (Figure 3).

Figure 3. Circuit on the fuselage. Fabricated in May. Photoed on July 13 2021.

This is the first time I do electronics, and it literally took me 3 weeks to do and redo all those wirings, study protocols, and do the coding.

Appendix: List of Components

Microcontroller

9DoF IMU with Fusion

Hall Latch

Data Recorder

Buzzer

Arm Servo

Tail Servo

BLDC

ESC with BEC

Arduino Nano V3.0

Adafruit BNO055

US1881EUA

HiLetgo SD Card Module

No Name (from Amazon)

TGY-EX5252MG

TGY-D56LV

Cobra C-2204/58

TAROT TL300G1