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