JLCPCB is a company that constructs PCBs and prints 3D mechanical designs, they give us great offers with cheap prices for high quality precision PCBs. I would like to thank JLCPCB for their sponsorship and for supporting me in creating and innovating schematics, and improving my PCBs designs.

It consists of 2 cores to create a RTOS, the first core is used for communication and PID regulation of the sensors, and the second core is used for controlling motors and their synchronization.
ESP32 has MCPWM (motor control pulse width modulation),this functionality helps to control the synchronization of the motors because it uses a timer for each motor.

This PCB contains a mpu6050 and magnetometer to control stability of the Drone.

We also use a motor driver that uses a mosfet transistor to control the motors speed. As well as an opto-coupler which works as a bridge between the ESP32 and the mosfet to eliminate any reverse current.

link of jlcpcb: https://jlcpcb.com/HAR