ESP-Drone latest Get Started Set up Development Environment Development Guide Hardware Reference Drivers Flight Control System Communications Third-Party Codes Acknowledgement ESP-Drone » ESP-Drone Edit on GitHub ESP-Drone [中文] ESP-Drone is an open source drone solution based on Espressif ESP32/ESP32-S2/ESP32-S3 Wi-Fi chip, which can be controlled over a Wi-Fi network using a mobile APP or gamepad. ESP-Drone supports multiple flight modes, including Stabilize mode, Height-hold mode, and Position-hold mode. With simple hardware, clear and extensible code architecture, ESP-Drone can be used in STEAM education and other fields. The main code is ported from Crazyflie open source project with GPL3.0 protocol. This document describes the development guide for ESP-Drone project. ESP-Drone Support Policy From December 2022, we will offer limited support on this project, but Pull Request is still welcomed! Supported versions and chips ESP-Drone Dependent ESP-IDF Target Support State master release/v4.4 , release/v5.0 ESP32-S2 / ESP32-S3 Limited Support Get Started Get Started Develop Guide H/W Reference Next © Copyright 2018 - 2024, Espressif Systems (Shanghai) PTE LTD. Revision 4a56e1c3. Built with Sphinx using a theme provided by Read the Docs. ESP-Drone latest Get Started Set up Development Environment Development Guide Hardware Reference Drivers Flight Control System Communications Third-Party Codes Acknowledgement ESP-Drone » Third-Party Codes Edit on GitHub Third-Party Codes [中文] The third-party codes adopted in ESP-Drone project and the licenses are as follows: Components Licenses Source Codes Commit ID core/crazyflie GPL-3.0 Crazyflie tag_2021_01 b448553 lib/dsp_lib esp32-lin 6fa39f4cd5f7782b3a2a052767f0fb06be2378ff Acknowledgement Thanks Bitcraze for providing the amazing drone codes: Crazyflie Thanks Espressif for providing ESP32 and ESP-IDF Thanks WhyEngineer for providing DSP lib esp-dsp。 Previous © Copyright 2018 - 2024, Espressif Systems (Shanghai) PTE LTD. Revision 4a56e1c3. Built with Sphinx using a theme provided by Read the Docs. ESP-Drone latest Get Started Set up Development Environment Development Guide Hardware Reference Supported Hardware Supported Hardware List Configure Target Hardware ESP32-S2-Drone V1.2 Basic Component Basic Component List Main Controller Sensor LEDs Buttons Definition of Main Board IO Camera Interface Extension Components Definition of Extension Board IO ESPlane-V2-S2 ESPlane-FC-V1 Basic Component Basic Component List Sensor LEDs Definition of Main Board IO Components of Extension Board ESPlane + PMW3901 Pins Allocation Drivers Flight Control System Communications Third-Party Codes Acknowledgement ESP-Drone » Develop Guide » Hardware Reference Edit on GitHub Hardware Reference [中文] Supported Hardware Supported Hardware List Development Board Main Components Notes ESP32-S2-Drone V1.2 ESP32-S2-WROVER + MPU6050 All in one ESPlane-V2-S2 ESP32-S2-WROVER + MPU6050 Four feet should be installed ESPlane-FC-V1 ESP32-WROOM-32D + MPU6050 A drone frame should be installed Configure Target Hardware Code in esp_drone repository supports a wide variety of hardware, which can be changed through menuconfig. By default, when set set-target as esp32s2, target hardware will be changed to ESP32_S2_Drone_V1_2 automatically. By default, when set set-target as esp32, target hardware will be changed to ESPlane_FC_V1 automatically. Notes ESPlane-FC-V1 is an old version hardware. To use ESP-Drone new version code on ESPlane-FC-V1, please connect GPIO14 of ESP32-WROOM-32D to INT pin of MPU6050 by a jumper. To avoid flash voltage switching triggered by IO12 when ESPlane-FC-V1 is powered on, please fix the flash voltage to 3.3 V by running espefuse.py script espefuse.py --port /dev/ttyUSB0 set_flash_voltage 3.3V note * Only the first device attaching to the bus can use CS0 pin. ESP32-S2-Drone V1.2 ESP32-S2-Drone V1.2 Overview Main Board Schematic：SCH_Mainboard_ESP32_S2_Drone_V1_2 Main Board PCB：PCB_Mainboard_ESP32_S2_Drone_V1_2 Basic Component Basic Component List Component List for ESP32-S2-Drone V1.2 Basic Component List Number Notes Main board 1 ESP32-S2-WROVER + MPU6050 716 motor 4 Optional: 720 motor 716 motor rubber ring 4 46mm propeller A 2 Optional: 55mm propeller 46mm propeller B 2 300mAh 1s LiPo battery 1 Optional: 350mAh 1s LiPo battery charging panel 1 8-pin 25 mm male pins 2 Note Set motor type as brushed 720 motor through menuconfig->ESPDrone Config->motors config if you use 720 motor. Main Controller Chip Module Notes ESP32-S2 ESP32-S2-WROVER 4 MB flash, 2 MB PSRAM in module Sensor Sensor Interface Notes MPU6050 I2C0 Main board Sensor LEDs Status LED Action POWER_ON WHITE Fully lit SENSORS CALIBRATION BLUE Blinking slowly SYSTEM READY BLUE Blinking UDP_RX GREEN Blinking LOW_POWER RED Fully lit Buttons Buttons IO Function SW1 GPIO1 Boot, Normal SW2 EN Reset Definition of Main Board IO Pins Function Notes GPIO11 I2C0_SDA Only for MPU6050 GPIO10 I2C0_SCL Only for MPU6050 GPIO37 SPI_MISO MISO GPIO35 SPI_MOSI MOSI GPIO36 SPI_CLK SCLK GPIO34 SPI_CS0 CS0* GPIO40 I2C1_SDA VL53L1X GPIO41 I2C1_SCL VL53L1X GPIO12 interrupt MPU6050 interrupt GPIO39 BUZ_1 BUZZ+ GPIO38 BUZ_2 BUZZ- GPIO8 LED_RED LED_1 GPIO9 LED_GREEN LED_2 GPIO7 LED_BLUE LED_3 GPIO5 MOT_1 GPIO6 MOT_2 GPIO3 MOT_3 GPIO4 MOT_4 GPIO2 ADC_7_BAT VBAT/2 GPIO1 EXT_IO1 Camera Interface Pins Function GPIO13 CAM_VSYNC GPIO14 CAM_HREF GPIO15 CAM_Y9 GPIO16 CAM_XCLK GPIO17 CAM_Y8 GPIO18 CAM_RESET GPIO19 CAM_Y7 GPIO20 CAM_PCLK GPIO21 CAM_Y6 GPIO33 CAM_Y2 GPIO45 CAM_Y4 GPIO46 CAM_Y3 Extension Components Extension Board Main Sensor Function Interfaces Mount Location Position-hold module PMW3901 + VL53L1X Indoor position-hold flight SPI + I2C Mount at bottom, facing to the ground. Pressure module MS5611 pressure module Height-hold flight I2C or MPU6050 slave Mount at the top or at the bottom Compass module HMC5883 compass Advanced flight mode, such as head-free mode I2C or MPU6050 slave Mount at the top or at the bottom Definition of Extension Board IO Left Pins IO Right pins IO SPI_CS0 GPIO34 VDD_33 IO SPI_MOSI GPIO35 I2C0_SDA GPIO11 SPI_CLK GPIO36 I2C0_SCL GPIO10 SPI_MISO GPIO37 GND GND AUX_SCL I2C1_SDA GPIO40 AUX_SDA I2C1_SCL GPIO41 BUZ_2 GPIO38 EXT_IO1 GPIO1 BUZ_1 GPIO39 ESPlane-V2-S2 ESPlane-V2-S2 Overview Main Board Schematic：SCH_ESPlane_V2_S2 Main Board PCB：PCB_ESPlane_V2_S2 ESPlane-FC-V1 esplane_fc_v1 Main Board Schematic：Schematic_ESPlane_FC_V1 Main Board PCB：PCB_ESPlane_FC_V1 Basic Component Basic Component List Basic Component List Number Notes Main board 1 ESP32-WROOM-32D + MPU6050 Drone frame 1 46 mm propeller A 2 46 mm propeller B 2 300 mAh 1s LiPo battery 1 1s LiPo battery charging panel 1 Sensor Sensor Interface Notes MPU6050 I2C0 Must LEDs #define LINK_LED LED_BLUE //#define CHG_LED LED_RED #define LOWBAT_LED LED_RED //#define LINK_DOWN_LED LED_BLUE #define SYS_LED LED_GREEN #define ERR_LED1 LED_RED #define ERR_LED2 LED_RED Status LED Action SENSORS READY BLUE Fully lit SYSTEM READY BLUE Fully lit UDP_RX GREEN Blinking Definition of Main Board IO Pins Function Notes GPIO21 SDA I2C0 data GPIO22 SCL I2C0 clock GPIO14 SRV_2 MPU6050 interrupt GPIO16 RX2 GPIO17 TX2 GPIO27 SRV_3 BUZZ+ GPIO26 SRV_4 BUZZ- GPIO23 LED_RED LED_1 GPIO5 LED_GREEN LED_2 GPIO18 LED_BLUE LED_3 GPIO4 MOT_1 GPIO33 MOT_2 GPIO32 MOT_3 GPIO25 MOT_4 TXD0 RXD0 GPIO35 ADC_7_BAT VBAT/2 Components of Extension Board ESPlane + PMW3901 Pins Allocation Pins Function Notes GPIO21 SDA I2C0 data GPIO22 SCL I2C0 clock GPIO12 MISO/SRV_1 HSPI GPIO13 MOSI HSPI GPIO14 SCLK/SRV_2 HSPI GPIO15 CS0* HSPI GPIO16 RX2 GPIO17 TX2 GPIO19 interrupt MPU6050 interrupt GPIO27 SRV_3 BUZZ+ GPIO26 SRV_4 BUZZ- GPIO23 LED_RED LED_1 GPIO5 LED_GREEN LED_2 GPIO18 LED_BLUE LED_3 GPIO4 MOT_1 GPIO33 MOT_2 GPIO32 MOT_3 GPIO25 MOT_4 TXD0 RXD0 GPIO35 ADC_7_BAT VBAT/2 Previous Next © Copyright 2018 - 2024, Espressif Systems (Shanghai) PTE LTD. Revision 4a56e1c3. Built with Sphinx using a theme provided by Read the Docs. ESP-Drone latest Get Started ESP-Drone Overview Main Features Main Components ESP-IDF Overview Crazyflie Overview Preparations Assemble Hardware Download and Install ESP-Drone APP Install cfclient ESP-Drone APP Guide Establish Wi-Fi connection Customize settings Flight Control PC cfclient Guide Flight Settings Basic Flight Control Advanced Flight Control Configure Input Device Flight Data Tune Online Parameters Monitor Flight Data Propeller Direction Preflight Check Set up Development Environment Development Guide Hardware Reference Drivers Flight Control System Communications Third-Party Codes Acknowledgement ESP-Drone » Get Started Edit on GitHub Get Started [中文] ESP-Drone Overview ESP-Drone is an ESP32/ESP32-S2/ESP32-S3 based flying development board provided by Espressif. ESP-Drone is equipped with Wi-Fi key features, which allows this drone to be connected to and controlled by an APP or a gamepad over a Wi-Fi network. This drone comes with simple-structured hardware, clear codes, and supports functional extension. Therefore, ESP-Drone can be used in STEAM education. Part of the codes is from Crazyflie open source project under GPL3.0 license. ESP-Drone Main Features ESP-Drone has the following features: Stabilize mode: keep the drone stable to achieve smooth flight. Height-hold mode: control thrust output to keep the drone flying at a fixed height. Position-hold mode: keep the drone flying at a fixed position. PC debugging: use cfclient for static/dynamic debugging. Controlled by APP: easily controlled over Wi-Fi by your mobile APP. Controlled by gamepad: easily controlled via the gamepad by cfclient. Main Components ESP-Drone 2.0 consists of a main board and several extension boards: Main board: integrates an ESP32-S2 module, necessary sensors for basic flight, and provides hardware extension interfaces. Extension boards: integrate extension sensors via hardware extension interfaces of the main board, to implement advanced flight. No. Modul