Introduction
ESPlane2.0
Drones powered by ESP32&ESP-IDF&Crazyflie
Introduction
ESPlane2.0 is a open source drone solution based on espressif ESP32 Wi-Fi chip, which can be controlled through Wi-Fi network using mobile APP or gamepad. ESPlane2.0 supports multiple fly modes, stabilize
, height-hold
, position-hold
and more. ESPlane2.0 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-ESPlane2.0 Operater Guide
For developer: 01-ESPlane2.0 Developer Guide
Implemented features
Stabilize mode
Height-hold mode (through cfcilent)
position-hold mode (through cfcilent)
cfclient supported
ESPilot supported
Configuration
Sensor
Sensor | Interface | Comment |
MPU6050 | I2C0 | must |
VL53L1X | I2C0 | altitude hold |
| AUX_I2C | MPU6050 slave |
| 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 |
GPIO21 | I2C0 SDA | MPU6050 dedicated |
GPIO22 | I2C0 SCL | MPU6050 dedicated |
GPIO12 | MISO/SRV_1 | PMW3901 HSPI |
GPIO13 | MOSI | PMW3901 HSPI |
GPIO14 | SCLK/SRV_2 | PMW3901 HSPI |
GPIO15 | CS0* | PMW3901 HSPI |
GPIO16 | I2C1 SDA | VL53L1X |
GPIO17 | I2C1 SCL | VL53L1X |
GPIO19 | interrupt | MPU6050 interrupt |
GPIO27 | SRV_3 |
|
GPIO26 | SRV_4 |
|
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 |
Note: Please pay attention to the flash voltage switch when using GPIO12.
You can use espefuse.py
to fix the flash voltage to 3.3v
note * Only the first device attaching to the bus can use CS0 pin.
ESP-IDF version
ESPlane | CommitID | ESP-IDF | CommitID |
master | release/v3.3 update20200306 | 6f9a7264ce20c6132fbd8309112630d0eb490fe4 | |
release/v0.1 | release/v3.3 | 46b12a560a29fa6ade07800a4abe12a026183988 | |
release/v0.2 | release/v3.3 | 46b12a560a29fa6ade07800a4abe12a026183988 | |
dev_position_hold_oldversion | release/v3.3 | 46b12a560a29fa6ade07800a4abe12a026183988 |
THANKS
Thanks to the Bitcraze for the great Crazyflie project
Thanks to Espressif for the powerful ESP-IDF environment
Thanks to WhyEngineer for the useful ESP-DSP lib
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