# 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.

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## 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).

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## 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

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## Wiring Guide

- **MPU6050:**  
  - SCL → `GPIO39`
  - SDA → `GPIO40`
- **ESCs:**  
  - ESC1 → `GPIO4`
  - ESC2 → `GPIO5`
  - ESC3 → `GPIO6`
  - ESC4 → `GPIO7`

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## Software Requirements

- **Arduino IDE** (with ESP32 board support)
- **Libraries:**  
  - `Adafruit_MPU6050`
  - `ESP32Servo`
  - `Wire`

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## Getting Started

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.**

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## 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.

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## Safety Warning

**Always test with props removed and use a safety switch!**  
PID tuning and calibration are essential for stable flight.

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## Contributing

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

MIT License

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Happy flying! 🚁