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! 🚁