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! 🚁