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@@ -1,112 +1,97 @@
-ESP32-S3 Drone Stabilization Project
+# ESP32-S3 Drone Stabilization Project
 
-This project implements a robust flight stabilization system for a quadcopter drone using the ESP32-S3 Super Mini microcontroller and an MPU6050 IMU. The firmware leverages the dual-core architecture of the ESP32-S3 to separate real-time stabilization from command processing, ensuring smooth and responsive flight control.
-Features
+This project implements a robust flight stabilization system for a quadcopter drone using the **ESP32-S3 Super Mini** microcontroller and an **MPU6050 IMU**. The firmware leverages the dual-core architecture of the ESP32-S3 to separate real-time stabilization from command processing, ensuring smooth and responsive flight control.
 
-    Dual-Core Architecture:
+---
 
-        Core 0: Dedicated to high-priority, real-time sensor reading and PID-based stabilization.
+## Features
 
-        Core 1: Handles lower-priority tasks such as receiving and processing flight commands.
+- **Dual-Core Architecture:**  
+  - **Core 0:** Dedicated to high-priority, real-time sensor reading and PID-based stabilization.
+  - **Core 1:** Handles lower-priority tasks such as receiving and processing flight commands.
+- **Autonomous Hover:**  
+  - Maintains stable hover when no control commands are received.
+- **IMU Integration:**  
+  - Uses the MPU6050 for accurate attitude estimation and stabilization.
+- **Motor Mixing:**  
+  - Dynamically adjusts motor outputs for balanced flight.
+- **Command Input:**  
+  - Supports input via serial, WiFi, or Bluetooth (customizable).
 
-    Autonomous Hover:
+---
 
-        Maintains stable hover when no control commands are received.
+## Hardware Requirements
 
-    IMU Integration:
+- **ESP32-S3 Super Mini**
+- **MPU6050 IMU**
+- **4x ESCs and motors**
+- **3.7V LiPo battery (2S-4S)**
+- **Optional:** WiFi/BLE module for wireless control
 
-        Uses the MPU6050 for accurate attitude estimation and stabilization.
+---
 
-    Motor Mixing:
+## Wiring Guide
 
-        Dynamically adjusts motor outputs for balanced flight.
+- **MPU6050:**  
+  - SCL → `GPIO39`
+  - SDA → `GPIO40`
+- **ESCs:**  
+  - ESC1 → `GPIO4`
+  - ESC2 → `GPIO5`
+  - ESC3 → `GPIO6`
+  - ESC4 → `GPIO7`
 
-    Command Input:
+---
 
-        Supports input via serial, WiFi, or Bluetooth (customizable).
+## Software Requirements
 
-Hardware Requirements
+- **Arduino IDE** (with ESP32 board support)
+- **Libraries:**  
+  - `Adafruit_MPU6050`
+  - `ESP32Servo`
+  - `Wire`
 
-    ESP32-S3 Super Mini
+---
 
-    MPU6050 IMU
+## Getting Started
 
-    4x ESCs and motors
+1. **Clone the Repository:**
+2. **Open the project in Arduino IDE.**
+3. **Install the required libraries.**
+4. **Connect your hardware as described above.**
+5. **Upload the firmware to your ESP32-S3.**
+6. **Calibrate the IMU and test with props removed for safety.**
 
-    3.7V LiPo battery (2S-4S)
+---
 
-    Optional: WiFi/BLE module for wireless control
+## Usage
 
-Wiring Guide
+- **Serial Commands:**  
+- Send flight commands via the serial monitor.
+- No commands = autonomous hover.
+- **Customization:**  
+- Adjust PID constants in the code for optimal flight performance.
+- Integrate WiFi or Bluetooth for wireless control.
 
-    MPU6050:
+---
 
-        SCL → GPIO39
+## Safety Warning
 
-        SDA → GPIO40
-
-    ESCs:
-
-        ESC1 → GPIO4
-
-        ESC2 → GPIO5
-
-        ESC3 → GPIO6
-
-        ESC4 → GPIO7
-
-Software Requirements
-
-    Arduino IDE (with ESP32 board support)
-
-    Libraries:
-
-        Adafruit_MPU6050
-
-        ESP32Servo
-
-        Wire
-
-Getting Started
-
-    Clone the Repository:
-
-    bash
-    git clone https://github.com/yourusername/esp32s3-drone-stabilization.git
-
-    Open the project in Arduino IDE.
-
-    Install the required libraries.
-
-    Connect your hardware as described above.
-
-    Upload the firmware to your ESP32-S3.
-
-    Calibrate the IMU and test with props removed for safety.
-
-Usage
-
-    Serial Commands:
-
-        Send flight commands via the serial monitor.
-
-        No commands = autonomous hover.
-
-    Customization:
-
-        Adjust PID constants in the code for optimal flight performance.
-
-        Integrate WiFi or Bluetooth for wireless control.
-
-Safety Warning
-
-Always test with props removed and use a safety switch!
+**Always test with props removed and use a safety switch!**  
 PID tuning and calibration are essential for stable flight.
-Contributing
+
+---
+
+## Contributing
 
 Pull requests and feedback are welcome! Please open an issue or submit a PR for any improvements or bug fixes.
-License
+
+---
+
+## License
 
 MIT License
 
-Happy flying! 🚁
\ No newline at end of file
+---
+
+Happy flying! 🚁