Bill of Materials
Five phases · Required items only: $2279 · All-in with optionals + 15% shipping: $3238
View live BOM in Google Sheets ↗Phase 1 — Voice Pipeline + Cameras
$351 hardware spend| Item | Qty | Unit | Total | Required | Vendor |
|---|---|---|---|---|---|
| Raspberry Pi 5 (8GB) | 1 | $175 | $175 | ✅ | Buy ↗ |
| Pi 5 Active Cooler (official) | 1 | $11 | $11 | ✅ | Buy ↗ |
| 5A Polyfuse + GPIO 5V Rail Wiring (replaces PD trigger — non-functional with bare UBEC) | 1 | $2 | $2 | ✅ | Buy ↗ |
| Samsung Pro Endurance 128GB SD | 1 | $25 | $25 | ✅ | Buy ↗ |
| OV9281 Global Shutter Camera (×2) — stereo pair + SLAM camera | 2 | $15 | $30 | ✅ | Buy ↗ |
| IMX219 Color Camera (Arducam B07YHK63DS, USB Auto Focus) | 1 | $25 | $25 | ✅ | Buy ↗ |
| ReSpeaker XVF3800 4-Mic Array (I2S mode required) | 1 | $50 | $50 | ✅ | Buy ↗ |
| 3W 4Ω Speaker + MAX98357A I2S Amp | 1 | $13 | $13 | ✅ | Buy ↗ |
| 8" Snap-on TPU Prop Guards (self-print on Prusa MK3S — install Phase 3) | 4 | $0 | $0 | ✅ | — |
Phase 2 — UWB Positioning
$630 hardware spendPhase 3 — First Flight + Perches
$615 hardware spend| Item | Qty | Unit | Total | Required | Vendor |
|---|---|---|---|---|---|
| iFlight XL8 V5 Frame (310mm diagonal) | 1 | $50 | $50 | ✅ | Buy ↗ |
| T-Motor MN2213 950KV Motors | 4 | $22 | $88 | ✅ | Buy ↗ |
| T-Motor F45A BLHeli32 4-in-1 ESC | 1 | $50 | $50 | ✅ | Buy ↗ |
| Holybro Pixhawk 6C Mini | 1 | $150 | $150 | ✅ | Buy ↗ |
| BetaFPV ELRS Nano RC Receiver (hardware failsafe) | 1 | $15 | $15 | ✅ | Buy ↗ |
| Matek UBEC-12A (5V/5A dedicated Pi 5 rail) | 1 | $10 | $10 | ✅ | Buy ↗ |
| FC Vibration Damping (foam + nylon standoffs) | 1 | $4 | $4 | ✅ | Buy ↗ |
| Gens Ace 3600mAh 4S 60C XT60 (primary battery) | 1 | $60 | $60 | ✅ | Buy ↗ |
| HQProp 8×3 Low-Pitch Cinematic Props (×2 pairs) | 2 | $6 | $12 | ✅ | Buy ↗ |
| Rubber M3 Anti-Vibration Motor Standoffs (×4) | 4 | $2 | $8 | ✅ | Buy ↗ |
| Privacy Kill Switch (SPDT + MOSFET — source now, install Phase 5) | 1 | $3 | $3 | ✅ | Buy ↗ |
| Mill-Max 0906 Pogo Pins (×9 per perch — 4 main + 5 balance) | 18 | $2 | $36 | ✅ | Buy ↗ |
| XL4016E1 3A CC/CV Charge Circuit (×2) | 2 | $12 | $24 | ✅ | Buy ↗ |
| Active 4S Cell Balancer Board (×2) | 2 | $8 | $16 | ✅ | Buy ↗ |
| NTC Thermistor 10kΩ (battery temp monitoring, ×2 perches) | 2 | $4 | $8 | ✅ | Buy ↗ |
| MCP3008 SPI 8-Ch ADC (Pi 5 has no analog pins — needed for NTC) | 1 | $5 | $5 | ✅ | Buy ↗ |
| 5V Relay Module — Normally-Open (NO) type (×2 perches) | 2 | $6 | $12 | ✅ | Buy ↗ |
| 5A Blade Fuse + Holder (×2) | 2 | $4 | $8 | ✅ | Buy ↗ |
| 24V 3A Wall Adapter (×2 perches) | 2 | $12 | $24 | ✅ | Buy ↗ |
| N52 Neodymium 40mm Alignment Ring (×2) | 2 | $6 | $12 | ✅ | Buy ↗ |
| Metal/ABS Project Box Perch Housing (×2, fire-resistant) | 2 | $12 | $24 | ✅ | Buy ↗ |
| Tattu R-Line 2200mAh 4S LiPo (spare battery) | 1 | $42 | $42 | ⬜ optional | Buy ↗ |
| PMS5003 Particulate Sensor — perch-mounted (×2) | 2 | $15 | $30 | ⬜ optional | Buy ↗ |
Phase 4 — Autonomous Navigation + Sensors
$626 hardware spend| Item | Qty | Unit | Total | Required | Vendor |
|---|---|---|---|---|---|
| Raspberry Pi AI HAT+ 2 (Hailo-10H, 40 TOPS) | 1 | $132 | $132 | ✅ | Buy ↗ |
| VL53L4CX ToF Sensor — 4 cardinal + 1 upward (ceiling fan detection) | 5 | $15 | $75 | ✅ | Buy ↗ |
| MicoAir MTF-01 (optical flow + downward ToF) | 1 | $28 | $28 | ✅ | Buy ↗ |
| Deterrent Spotlight (2× Cree XP-G3 3W + MOSFET) | 1 | $8 | $8 | ✅ | Buy ↗ |
| IR-LOCK Sensor — DIY path (Pixy2 + filter kit) | 1 | $100 | $100 | ✅ | Buy ↗ |
| IR-LOCK Sensor — pre-built upgrade (optional) | 1 | $349 | $349 | ⬜ optional | Buy ↗ |
| IR Precision Landing Beacon (×2 perches, DIY 850nm) | 2 | $15 | $30 | ✅ | Buy ↗ |
| Eye Controller — ESP32-C3 Mini | 1 | $8 | $8 | ✅ | Buy ↗ |
| WS2812B LED Ring 16-pixel — main eye state indicator | 1 | $6 | $6 | ✅ | Buy ↗ |
| MAX7219 8×8 Eye Matrices + Amber Bezels (×2) — flanking expression displays | 2 | $8 | $16 | ✅ | Buy ↗ |
| InfiRay P2 Pro Thermal Camera — primary (gated on I2S) | 1 | $225 | $225 | ✅ | Buy ↗ |
| MLX90640 Thermal — order ONLY if I2S gate fails (replaces InfiRay) | 1 | $65 | $65 | ⬜ optional | Buy ↗ |
| USB-C → USB-A Adapter (for InfiRay) | 1 | $3 | $3 | ✅ | Buy ↗ |
| BME688 Air Quality + Gas Sensor (I2C) | 1 | $20 | $20 | ✅ | Buy ↗ |
Phase 5 — Shell + Full Integration
$48 hardware spendCost Summary
Required items only$2279
All items (inc. optionals)$2816
+15% shipping / contingency$422
All-in estimate$3238