Tools, APP Software Used etc.

KiCad 8.0

Description

FPV Head Tracking System – Transmitter PCB

The Transmitter PCB is the sensing and data-sending side of the FPV head tracking system, designed to accurately capture head movement and wirelessly transmit it to the receiver with low latency and high reliability. This board focuses on clean sensor integration, stable RF performance, and consistent power delivery, which are critical for smooth and immersive FPV camera control.

At the core of the transmitter is an Arduino Pro Micro, responsible for reading motion data from the MPU6050 IMU. The MPU6050 provides real-time gyroscope and accelerometer data, allowing the system to track head orientation precisely. This data is processed on the microcontroller and converted into control information that represents pan and tilt movement.

For wireless communication, the transmitter uses an NRF24 RF module, chosen for its low latency and long-range capability. To support high-power NRF24 variants such as the E01-2G4M27D, the PCB includes a dedicated LM350-based voltage regulation stage. This ensures the RF module receives a stable supply voltage, which is essential for maintaining range, signal strength, and link stability during operation.

The PCB layout is optimized to keep sensor lines short and clean while separating RF and power sections to minimize noise. Proper decoupling and filtering are used throughout the design to ensure reliable sensor readings and uninterrupted data transmission. The result is a transmitter that remains stable even during rapid head movements.

This transmitter PCB is intended to be mounted on the head-tracking mechanism or headset. As the user moves their head, the MPU6050 detects orientation changes, the microcontroller processes the data, and the NRF24 module sends it instantly to the receiver, enabling real-time servo movement on the FPV model.

Overall, the TX PCB forms the intelligence and sensing backbone of the FPV head tracking system. Combined with the large or small receiver PCB, it delivers a responsive, long-range, and competition-ready solution for FPV pilots who want precise and immersive camera control.

Credit & Acknowledgement

Complete Design & Engineering Credit: RC Maker Lab (This project is shared for educational and community reference purposes)

Code

C/C++

// FPV HEAD TRACKING TRANSMITTER CODE  |  VERİCİ KODU
// BY KendinYap

#include <Wire.h>
#include "MPU6050_6Axis_MotionApps20.h"
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <Servo.h>

/* --- NRF24L01 Setup --- */
RF24 radio(8, 10);
const byte address[6] = "00001";

struct Data_Package {
  byte pitch;
  byte yaw;
  bool calibrationDone;
};
Data_Package data;

/* --- MPU6050 Setup --- */
MPU6050 mpu;
#define INTERRUPT_PIN 2
bool dmpReady = false;
uint8_t mpuIntStatus;
uint16_t packetSize;
uint8_t fifoBuffer[64];
Quaternion q;
VectorFloat gravity;
float ypr[3];
volatile bool mpuInterrupt = false;

/* --- Servo Setup --- */
Servo pitchServo;
Servo yawServo;
#define PITCH_SERVO_PIN 3
#define YAW_SERVO_PIN 4

void dmpDataReady() {
  mpuInterrupt = true;
}

void resetData() {
  data.pitch = 127;
  data.yaw = 127;
  data.calibrationDone = false;
}

void setup() {
  Serial.begin(115200);
  Wire.begin();
  Wire.setClock(400000);

  Serial.println(F("Initializing MPU6050..."));
  mpu.initialize();
  pinMode(INTERRUPT_PIN, INPUT);

  if (!mpu.testConnection()) {
    Serial.println(F("MPU6050 connection failed"));
    while (true);
  }

  Serial.println(F("MPU6050 connection successful"));
  uint8_t devStatus = mpu.dmpInitialize();

  if (devStatus == 0) {
    Serial.println(F("Calibrating MPU6050..."));
    mpu.CalibrateAccel(6);
    mpu.CalibrateGyro(6);
    mpu.setDMPEnabled(true);
    attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
    dmpReady = true;
    packetSize = mpu.dmpGetFIFOPacketSize();

    data.calibrationDone = true;
    for (int i = 0; i < 5; i++) {
      if (radio.write(&data, sizeof(Data_Package))) {
        Serial.println(F("Calibration done signal sent!"));
        break;
      }
      delay(200);
    }
    delay(1000);
    data.calibrationDone = false;

    pitchServo.attach(PITCH_SERVO_PIN);
    yawServo.attach(YAW_SERVO_PIN);
    pitchServo.write(90 + 60);
    delay(500);
    yawServo.write(90 + 60);
    delay(500);
    pitchServo.write(90);
    delay(500);
    yawServo.write(90);
  } else {
    Serial.print(F("DMP Initialization failed (code "));
    Serial.print(devStatus);
    Serial.println(F(")"));
  }

  radio.begin();
  radio.openWritingPipe(address);
  radio.setChannel(120);
  radio.setAutoAck(false);
  radio.setDataRate(RF24_250KBPS);
  radio.setPALevel(RF24_PA_MAX);
  radio.stopListening();
  resetData();
}

void loop() {
  if (!dmpReady) return;

  if (mpuInterrupt || mpu.getFIFOCount() >= packetSize) {
    mpuInterrupt = false;
    mpuIntStatus = mpu.getIntStatus();

    if ((mpuIntStatus & 0x10) || mpu.getFIFOCount() == 1024) {
      mpu.resetFIFO();
      Serial.println("FIFO overflow!");
      return;
    }

    if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) {
      mpu.dmpGetQuaternion(&q, fifoBuffer);
      mpu.dmpGetGravity(&gravity, &q);
      mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

      data.yaw = constrain(map(ypr[0] * 180 / M_PI, 90, -90, 0, 255), 0, 255);
      data.pitch = constrain(map(ypr[2] * 180 / M_PI, 90, -90, 0, 255), 0, 255);

      Serial.print("Yaw: ");
      Serial.print(data.yaw);
      Serial.print(" Pitch: ");
      Serial.println(data.pitch);

      for (int i = 0; i < 3; i++) {
        if (radio.write(&data, sizeof(Data_Package))) {
          Serial.println("Data sent successfully");
          break;
        }
        delay(100);
      }
    }
  }
}

Schematic and Layout

Schematics

FPV-Head-Teracking-Circuit-Transmitter-DIY-Circuit-1536x864 (1).jpg

Download Gerbers Download BOM(Bill of materials)

Jan 17,2026

43 views

FPV Head Tracking System – Transmitter PCB

Published: Jan 17,2026

Standard PCB

Download Gerber file 0

BOM(Bill of materials)

PCBWay Donate 10% cost To Author

Only PCB

PCB+Assembly

Add to cart

*PCBWay community is a sharing platform. We are not responsible for any design issues and parameter issues (board thickness, surface finish, etc.) you choose.

Copy this HTML into your page to embed a link to order this shared project

Copy