As our product line expands, it can get confusing trying to keep track of all the different Raspberry Pi boards out there. Here is a high-level breakdown of Raspberry Pi models, including our flagship series, Zero series, Compute Module series, and Pico microcontrollers.

Raspberry Pi makes computers in several different series:

• The flagship series, often referred to by the shorthand ‘Raspberry Pi’, offers high-performance hardware, a full Linux operating system, and a variety of common ports in a form factor roughly the size of a credit card.

• The Zero series offers a full Linux operating system and essential ports at an affordable price point in a minimal form factor with low power consumption.

• The Compute Module series, often referred to by the shorthand ‘CM’, offers high-performance hardware and a full Linux operating system in a minimal form factor suitable for industrial and embedded applications. Compute Module models feature hardware equivalent to the corresponding flagship models but with fewer ports and no on-board GPIO pins. Instead, users should connect Compute Modules to a separate baseboard that provides the ports and pins required for a given application.

Additionally, Raspberry Pi makes the Pico series of tiny, versatile microcontroller boards. Pico models do not run Linux or allow for removable storage, but instead allow programming by flashing a binary onto on-board flash storage.

Flagship series

Model B indicates the presence of an Ethernet port. Model A indicates a lower-cost model in a smaller form factor with no Ethernet port, reduced RAM, and fewer USB ports to limit board height.

Model	SoC	Memory	GPIO	Connectivity
Raspberry Pi Model B	BCM2835	256MB, 512MB	26-pin GPIO header	HDMI, 2 × USB 2.0, CSI camera port, DSI display port, 3.5mm audio jack, RCA composite video, Ethernet (100Mb/s), SD card slot, micro USB power
Raspberry Pi Model A	BCM2835	256MB	26-pin GPIO header	HDMI, USB 2.0, CSI camera port, DSI display port, 3.5mm audio jack, RCA composite video, SD card slot, micro USB power
Raspberry Pi Model B+	BCM2835	512MB	40-pin GPIO header	HDMI, 4 × USB 2.0, CSI camera port, DSI display port, 3.5mm AV jack, Ethernet (100Mb/s), microSD card slot, micro USB power
Raspberry Pi Model A+	BCM2835	256MB, 512MB	40-pin GPIO header	HDMI, USB 2.0, CSI camera port, DSI display port, 3.5mm AV jack, microSD card slot, micro USB power
Raspberry Pi 2 Model B	BCM2836 (in version 1.2, switched to BCM2837)	1 GB	40-pin GPIO header	HDMI, 4 × USB 2.0, CSI camera port, DSI display port, 3.5mm AV jack, Ethernet (100Mb/s), microSD card slot, micro USB power
Raspberry Pi 3 Model B	BCM2837	1 GB	40-pin GPIO header	HDMI, 4 × USB 2.0, CSI camera port, DSI display port, 3.5mm AV jack, Ethernet (100Mb/s), 2.4GHz single-band 802.11n Wi-Fi (35Mb/s), Bluetooth 4.1, Bluetooth Low Energy (BLE), microSD card slot, micro USB power
Raspberry Pi 3 Model B+	BCM2837b0	1GB	40-pin GPIO header	HDMI, 4 × USB 2.0, CSI camera port, DSI display port, 3.5mm AV jack, PoE-capable Ethernet (300Mb/s), 2.4/5GHz dual-band 802.11ac Wi-Fi (100Mb/s), Bluetooth 4.2, Bluetooth Low Energy (BLE), microSD card slot, micro USB power
Raspberry Pi 3 Model A+	BCM2837b0	512 MB	40-pin GPIO header	HDMI, USB 2.0, CSI camera port, DSI display port, 3.5mm AV jack, 2.4/5GHz dual-band 802.11ac Wi-Fi (100Mb/s), Bluetooth 4.2, Bluetooth Low Energy (BLE), microSD card slot, micro USB power
Raspberry Pi 4 Model B	BCM2711	1GB, 2GB, 4GB, 8GB	40-pin GPIO header	2 × micro HDMI, 2 × USB 2.0, 2 × USB 3.0, CSI camera port, DSI display port, 3.5 mm AV jack, PoE-capable Gigabit Ethernet (1Gb/s), 2.4/5GHz dual-band 802.11ac Wi-Fi (120Mb/s), Bluetooth 5, Bluetooth Low Energy (BLE), microSD card slot, USB-C power (5V, 3A (15W))
Raspberry Pi 400	BCM2711	4GB	40-pin GPIO header	2 × micro HDMI, 2 × USB 2.0, 2 × USB 3.0, Gigabit Ethernet (1Gb/s), 2.4/5GHz dual-band 802.11ac Wi-Fi (120Mb/s), Bluetooth 5, Bluetooth Low Energy (BLE), microSD card slot, USB-C power (5V, 3A (15W))
Raspberry Pi 5	BCM2712 (2GB version uses BCM2712D0)	2GB, 4GB, 8GB	40-pin GPIO header	2 × micro HDMI, 2 × USB 2.0, 2 × USB 3.0, 2 ×  CSI camera/DSI display ports, single-lane PCIe FFC connector, UART connector, RTC battery connector, four-pin JST-SH PWM fan connector, PoE+-capable Gigabit Ethernet (1Gb/s), 2.4/5GHz dual-band 802.11ac Wi-Fi 5 (300Mb/s), Bluetooth 5, Bluetooth Low Energy (BLE), microSD card slot, USB-C power (5V, 5A (25W) or 5V, 3A (15W) with a 600mA peripheral limit)

For more information about the ports on the Raspberry Pi flagship series, see the Schematics and mechanical drawings.

Zero series

Models with the H suffix have header pins pre-soldered to the GPIO header. Models that lack the H suffix do not come with header pins attached to the GPIO header; the user must solder pins manually or attach a third-party pin kit.

All Zero models have the following connectivity:

• a microSD card slot
• a CSI camera port (version 1.3 of the original Zero introduced this port)
• a mini HDMI port
• 2 × micro USB ports (one for input power, one for external devices)

Model	SoC	Memory	GPIO	Wireless Connectivity
Raspberry Pi Zero	BCM2835	512MB	40-pin GPIO header (unpopulated)	none
Raspberry Pi Zero W	BCM2835	512MB	40-pin GPIO header (unpopulated)	2.4GHz single-band 802.11n Wi-Fi (35Mb/s), Bluetooth 4.0, Bluetooth Low Energy (BLE)
Raspberry Pi Zero WH	BCM2835	512MB	40-pin GPIO header	2.4GHz single-band 802.11n Wi-Fi (35Mb/s), Bluetooth 4.0, Bluetooth Low Energy (BLE)
Raspberry Pi Zero 2 W	RP3A0	512MB	40-pin GPIO header (unpopulated)	2.4GHz single-band 802.11n Wi-Fi (35Mb/s), Bluetooth 4.2, Bluetooth Low Energy (BLE)

Compute Module series

Model	SoC	Memory	Storage	Form factor	Wireless Connectivity
Raspberry Pi Compute Module 1	BCM2835	512MB	4GB	DDR2 SO-DIMM	none
Raspberry Pi Compute Module 3	BCM2837	1GB	0GB (Lite), 4GB	DDR2 SO-DIMM	none
Raspberry Pi Compute Module 3+	BCM2837b0	1GB	0GB (Lite), 8GB, 16GB, 32GB	DDR2 SO-DIMM	none
Raspberry Pi Compute Module 4S	BCM2711	1GB, 2GB, 4GB, 8GB	0GB (Lite), 8GB, 16GB, 32GB	DDR2 SO-DIMM	none
Raspberry Pi Compute Module 4	BCM2711	1GB, 2GB, 4GB, 8GB	0GB (Lite), 8GB, 16GB, 32GB	dual 100-pin high density connectors	optional: 2.4/5GHz dual-band 802.11ac Wi-Fi 5 (300Mb/s), Bluetooth 5, Bluetooth Low Energy (BLE)

For more information about Raspberry Pi Compute Modules, see the Compute Module documentation.

Pico microcontrollers

Models with the H suffix have header pins pre-soldered to the GPIO header. Models that lack the H suffix do not come with header pins attached to the GPIO header; the user must solder pins manually or attach a third-party pin kit.

Model	SoC	Memory	Storage	GPIO	Wireless Connectivity
Raspberry Pi Pico	RP2040	264KB	2MB	two 20-pin GPIO headers (unpopulated)	none
Raspberry Pi Pico H	RP2040	264KB	2MB	two 20-pin GPIO headers	none
Raspberry Pi Pico W	RP2040	264KB	2MB	two 20-pin GPIO headers (unpopulated)	2.4GHz single-band 802.11n Wi-Fi (10Mb/s), Bluetooth 5.2, Bluetooth Low Energy (BLE)
Raspberry Pi Pico WH	RP2040	264KB	2MB	two 20-pin GPIO headers	2.4GHz single-band 802.11n Wi-Fi (10Mb/s), Bluetooth 5.2, Bluetooth Low Energy (BLE)
Raspberry Pi Pico 2	RP2350	520KB	4MB	two 20-pin GPIO headers (unpopulated)	none

For more information about Raspberry Pi Pico models, see the Pico documentation.

If you’re interested in schematics, mechanical drawings, and information on thermal control, visit our documentation page.

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The summer, and Louis Wood’s internship with our Maker in Residence, was creeping to a close without his final build making it off the ground. But as if by magic, on his very last day, Louis got his handmade drone flying.

3D-printed CAD design

The journey of building a custom drone began with designing in CAD software. My initial design was fully 3D-printed with an enclosed structure and cantilevered arms to support point forces. The honeycomb lid provided cooling, and the enclosure allowed for embedded XT-60 and MR-30 connections, creating a clean and integrated look. Inside, I ensured all electrical components were rigidly mounted to avoid unwanted movement that could destabilise the flight.

Testing quickly revealed that 3D-printed frames were brittle, often breaking during crashes. Moreover, the limitations of my printer’s build area meant that motor placement was cramped. To overcome these issues, I CNC-routed a new frame from 4 mm carbon fibre, increasing the wheelbase for better stability. Using Carveco software, I generated toolpaths and cut the frame on a WorkBee CNC in our Maker Lab. After two hours, I had a sturdy, assembled frame ready for electronics.

Not one, not two, but three Raspberry Pis

For the drone’s brain, I used a Raspberry Pi Pico 2 connected to an MPU6050 gyroscope for real-time orientation data and an IBUS protocol receiver for streamlined control inputs. Initially, I faced issues with signal processing due to the delay of handling five separate PWM signals. Switching to IBUS sped up the loop frequency by tenfold, which greatly improved flight response. The Pico handled PID (Proportional-Integral-Derivative) calculations for stability, and a 4-in-1 ESC managed the motor signals. The drone also carries a Raspberry Pi Zero with a Camera Module 2 and an analogue VTX for real-time FPV (first-person view) flying.

Programming was based on Tim Hanewich’s Scout flight controller code, implementing a ‘rate’ mode controller that uses PID values to maintain desired angular velocities. Fine-tuning the PID gains was essential; improper settings could lead to instability and dangerous oscillations. I followed a careful tuning process, starting with low values for each parameter and slowly increasing them.

To make the process safer, I constructed a testing rig to isolate each axis and simulate flight conditions. This allowed me to achieve a rough tune before moving on to actual flight tests, ultimately ensuring the drone’s safe and stable performance.

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