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:
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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