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

ESPlane

A swarm of drones exploring the environment, avoiding obstacles and each other. (Guus Schoonewille, TU Delft)

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

#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

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	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

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

espefuse.py --port /dev/ttyUSB0 set_flash_voltage 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

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