Compact STM32H7 Drone Controller PCB Layout

I have finished the high-level electrical design for a custom flight-controller dedicated to drone control and now need a seasoned PCB specialist to turn it into a production-ready board. The core is an STM32H743VIT6 and the layout must follow the MicoAir743v2 reference as closely as practical so that mounting holes, connector orientation, and general part zones remain familiar to technicians already using that platform. What is already defined • Complete schematic with dual ICM-20948 IMUs, dual MS5611 barometers, FDCAN1 & FDCAN2, SDMMC1 microSD logging, GH-series connectors, and a documented 6 S power tree feeding 5 V, 3 .3 V and 1 .8 V rails plus dual BEC outputs. • Pin-level handover brief covering UARTs, PWM/motor outputs, SWD, sensor busses and reserved test pads. • Mechanical constraint: compact footprint—the closer to the original reference outline, the better. What I need from you 1. Clean, DRC-passing PCB layout in Altium, KiCad or another mainstream tool we agree on. 2. Gerbers, drill files, pick-and-place, and annotated BOM ready for fabrication and assembly. 3. 3D step model so I can check stack-ups in the airframe CAD. 4. Short design note highlighting any deviations you had to make from my reference placement and why. Key considerations • Keep high-current 6 S traces short and wide; respect creepage/clearance for up to 30 V. • Maintain matched-length lines for SDMMC and IMU SPI connections. • Preserve the original thermal strategy—MCU, IMUs and regulators sit where the reference puts them, unless a clear thermal or routing win dictates otherwise. • EMI discipline around the twin CAN transceivers is essential. If you have shipped compact, high-speed STM32H7 boards before—especially for multirotors—let’s talk. I can provide reference source files as soon as we start.