1. Before introduce the hardware, it would be interesting to share one similar Design on Kickstarter.com.


Of course, this paper airplane has no wheels. But it is really fun. And it shows some similarity with my idea, one thrown and let it go. My design is a glider crawl on road and water, hopefully, it can fly in the end.

I have calculated that at least 0.5 meter wing span is needed for the glider to fly.

2. There have been many projects with Nucleo-L476 for its low power consumption and versatile function, and low cost.



STM32-L476 features in QFP64 package and Arduino Uno V3 connectivity and ST morpho extension pin headers for full access to all STM32 I/Os.

On-board ST-LINK/V2-1 debugger/programmer with SWD connector can make the development board one u-disk, programming with drag-and-copy, reduce the need for complex IDEs for some quick project deployment. The st-link can be used for other extension board like the st-SentorTile.

The development with ARM® mbed makes the coding even good for kids. But proper hardware driver is needed, since at the bottom level of mbed-os, it is still not fully open-sources.

Other component on the boards includes,

Three LEDs:USB communication (LD1), user LED (LD2), power LED (LD3)

Two push-buttons: USER and RESET

USB re-enumeration capability. Three different interfaces supported on USB:Virtual COM port, Mass storage, Debug port

3. X-NUCLEO-IDB04A1 shall be used in my design although it is not recommended in new design, I would change to new parts if it arrives.


The X-NUCLEO-IDB04A1 is a Bluetooth low energy evaluation board to allow expansion of the STM32 Nucleo boards It is compatible with the Arduino UNO R3 connector layout and is designed around BlueNRG a Bluetooth low energy low power network coprocessor compliant with BTLE 4.0 and the  BALF-NRG-01D3BALF-NRG-01D3 The X-NUCLEO-IDB04A1 interfaces with the STM32 MCU via SPI pin


Now bluetooth 4.0 is old protocol, since even bluetooth 5.0 is ready to move on. But it works fine for this design and I can use it as prototype design.