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esp32s3_drone/readme.md
Ghassan Yusuf 464aff8bdc Update readme.md
2025-06-08 15:05:59 +03:00

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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

  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.

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! 🚁