F4 flight control-adapted to DOBBY four-axis brushless frame

Project background:
    Have you ever bought DOBBY’s four-axis brushless frame from Lihua or Lao Wang’s? The pocket drone stand
    frame includes 4 1104 4300KV brushless motors produced by Yinyan, foldable arms, with propellers, and costs less than 30 oceans.
You can buy an upper cover and a backup propeller separately, making it a must-have four-axis product for your home.
 
    After getting this rack, I found that it was difficult to fix the F4 flight controller on the rack. If I made an adapter plate to increase the height, the upper cover could not be installed.
I had no choice but to draw a flight controller to fit the holes in the rack for fun.
 
Description of the schematic diagram:
    1. The schematic diagram is based on the OmnibusF4V3-Pro flight controller, and the corresponding betaflight/PX4/INAV and other firmware can be directly flashed;
     
     2. The DCDC and LDO chip models have been modified;
     3. There is a WS2812B indicator light on the board;
     4. Lead out the SPI receiver pin, and you can use the SPI receiver directly, but you need to modify the firmware;
     5. The default on-board buzzer, or an external buzzer;
     6. Use 0603 package resistor to avoid welding cremation field.
 
Flight control specifications:
Processor
STM32F405 

Sensor
MPU6000 IMU
BMP280 Barometer
voltage and current sensor

interface
UARTS
6 PWM output
RC input PWM/PPM
I2C port
USB interface
built-in OSD

 
Instructions for use:
      1. Short-circuit BOOT0 (P11) and then use the serial port P6 ( or SWD P4) and flash the attached BOOTLOADER program;
       2. Power on again and connect betaflight to flash the OmnibusF4SD firmware to use;
                    3. The attachment contains the schematic/Gerber file/BOM/BOOTLOADER boot program.
 
 
Flight demonstration video:
https://www.bilibili.com/video/BV1U3411W7CT?share_source=copy_web