A system configured to modify an environmental condition of a building includes a valve configured to regulate a flow of a fluid and an actuator. The actuator includes a motor and a drive coupling, the drive coupling driven by the motor and coupled to the valve for driving the valve between multiple positions. The system further includes a flow rate sensor configured to measure the flow rate of the fluid through the valve and a processing circuit coupled to the motor and the flow rate sensor. The processing circuit is configured to receive a flow rate setpoint and a flow rate measurement, determine an actuator position setpoint based on the flow rate setpoint and the flow rate measurement, and operate the motor to drive the drive coupling to the actuator position setpoint. The flow rate sensor and the processing circuit are located within a common integrated device chassis.