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+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
+
+    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).
+
+Hardware Requirements
+
+    ESP32-S3 Super Mini
+
+    MPU6050 IMU
+
+    4x ESCs and motors
+
+    3.7V LiPo battery (2S-4S)
+
+    Optional: WiFi/BLE module for wireless control
+
+Wiring Guide
+
+    MPU6050:
+
+        SCL → GPIO39
+
+        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!
+PID tuning and calibration are essential for stable flight.
+Contributing
+
+Pull requests and feedback are welcome! Please open an issue or submit a PR for any improvements or bug fixes.
+License
+
+MIT License
+
+Happy flying! 🚁
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