So I finished the schematic.

I have implemented:

• Raspberry Pi Zero
• Analog audio out
• Teensy LC
• Capacitive touch interface
• WS2812 wakeup light
• ESP12-E for internet
• USB Hub (mainly backup)
• MPU9150 9 DOF IMU

I removed the audio amplifier. There are a lot of cheap/good alternatives available.

I added the MPU9150 9 DOF IMU. On the current board there is a simple accelerometer, with the gyroscopes on the MPU9150 I hope to get a better attitude estimate. (Also in the future I hope to run everything on the teensy)