This project is a bench-tested thrust-vectoring rocket control system designed to explore mechanical gimbal design, embedded control, and power electronics integration. A 2-axis gimbal driven by high-torque servos redirects thrust from a brushless motor, controlled by an Arduino-based system with Bluetooth input.
This project was developed as a personal engineering project and is intended for ground testing only.
- Demonstration videos included showing live gimbal and thrust response
- 2-axis thrust-vectoring gimbal (yaw + pitch)
- Custom-designed PCB for control and power distribution
- Arduino Nano–based firmware
- Bluetooth control via HC-05 module
- Brushless motor + ESC thrust control
- 3D-printed structural components
- Modular design for future sensor-based stabilization (IMU)
- Custom Android control app (Kodular) with joystick, slider, and buttons
- 3S LiPo battery
- Buck converter stepping down to 5V for logic and servos
- ESC supplying power to the brushless motor
- Arduino Nano
- PWM control of servos and ESC
- Bluetooth serial input for joystick commands
- Android control app with joystick, throttle slider, and buttons
Project photos showing the gimbal assembly, internal electronics, and test setup
are available in the /images directory.
Demonstration and walkthrough videos are documented in the
/videos folder, including:
- Real-time gimbal and thrust control demonstration
- Integrated rocket system overview
- Detailed gimbal and electronics walkthrough
- Bench testing under load
A complete, subsystem-organized Bill of Materials is available here:
📄 hardware/bill_of_materials.md
The BOM focuses on system-critical components rather than manufacturing consumables.
A custom Android control app was developed using Kodular to support real-time manual control during bench testing. The app provides:
- A single joystick for yaw and pitch control
- A throttle slider for motor speed
- Buttons for connection and testing actions
Joystick X/Y values and throttle commands are transmitted over Bluetooth (HC-05) to the Arduino Nano, where firmware maps inputs to servo angles and ESC throttle via PWM.
Kodular was selected to enable rapid prototyping of the control interface while keeping control logic centralized in firmware.
Additional documentation:
📄 docs/kodular_app.md
/firmware– Arduino control firmware/hardware– PCB schematic, Gerbers, and wiring documentation/stl– 3D-printable mechanical components/images– Project and test photos/videos– Linked demonstration and walkthrough videos/docs– Supporting documentation
No free-flight testing was performed. Always remove propellers during software
setup and follow proper LiPo battery safety procedures.
- IMU-based stabilization (MPU-6050)
- Control loop refinement
- Improved power filtering and PCB revision
Matthew Cuebas
Electrical Engineering – University of Texas at San Antonio