Introduction

ESP-Drone

Drones powered by ESP32&ESP-IDF&Crazyflie

Introduction

Notice: This repository has been moved to espressif/esp-drone

ESP-Drone is an open source drone solution based on espressif ESP32-S2 / ESP32 Wi-Fi chip, which can be controlled through Wi-Fi network using mobile APP or gamepad. ESP-Drone supports multiple fly modes, stabilize, height-hold, position-hold and more. ESP-Drone solution has simple hardware structure,clear and extendible code architecture, can be used in STEAM education and other fields. The main code ported from Crazyflie open source project, using the GPL3.0 open source protocol.

For User: 01-ESP-Drone Operate Guide

For Developer: 01-ESP-Drone Develop Guide

Implemented Features

1. Stabilize mode
2. Height-hold mode (through cfcilent)
3. position-hold mode (through cfcilent)
4. cfclient supported
5. ESPilot supported

Configuration

Sensor

Sensor	Interface	Comment
MPU6050	I2C0	must
VL53L1X	I2C0	altitude hold
HMC5883L	AUX_I2C	MPU6050 slave
MS5611	AUX_I2C	MPU6050 slave
PMW3901	HSPI

LED

State	LED	Action
SENSORS READY	BLUE	SOLID
SYSTEM READY	BLUE	SOLID
UDP_RX	GREEN	BLINK

PIN

Pin	Function	Remarks
GPIO11	I2C0_SDA	MPU6050 dedicated
GPIO10	I2C0_SCL	MPU6050 dedicated
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

Deck Extend PIN

Left	IO	Function	Right	IO	Function
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

Camera

IO	Function	Others
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

Modify ESP-IDF component

Open the linker script template of ESP32(S2) ${IDF_PATH}/components/esp32/ld/esp32.project.ld.in or ${IDF_PATH}/components/esp32s2/ld/esp32s2.project.ld.in , add the following code to the end of .flash.rodata section.

   /* Parameters and log system datas */
    _param_start = .;
    KEEP(*(.param))
    KEEP(*(.param.*))
    _param_stop = .;
    . = ALIGN(4);
    _log_start = .;
    KEEP(*(.log))
    KEEP(*(.log.*))
    _log_stop = .;
    . = ALIGN(4);

The code above can place variables with '.param.* ' or '.log.* ' section attribute in a continuous storage area, to speed up the traversal of variables.

Third Party Copyrighted Code

Additional third party copyrighted code is included under the following licenses.

Component	License	Origin	commit id
core/crazyflie	GPL-3.0	Crazyflie	a2a26abd53a5f328374877bfbcb7b25ed38d8111
lib/dsp_lib		esp32-lin	6fa39f4cd5f7782b3a2a052767f0fb06be2378ff

THANKS

1. Thanks to the Bitcraze for the great Crazyflie project
2. Thanks to Espressif for the powerful ESP-IDF environment
3. Thanks to WhyEngineer for the useful ESP-DSP lib