MiniDroneFlightcontroller

ESP32-Drone

Project Images

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Software

The code is structurd in modules:

main

• Init: SBUS, IMU, PWM, LED, Battery
• Safety: Failsafe, Low-voltage, Arming
• Motor mix: Inputs + PID corrections
  SbusReceiver
• Reads SBUS signal
• Maps + filters channels
• Deadband, scaling, failsafe check

MPU6050

• Reads gyro + accel
• Complementary filter for roll/pitch
• Provides orientation data

PidController

• Generic PID loop
• Used for roll and pitch stabilization (no yaw!)

FlightController

• Reads roll/pitch targets from SBUS and actual values from IMU
• Runs PID controllers for roll and pitch
• Outputs correction values (but the Donelogic is used in main yet.)

config.h

• Pin definitions
• PID parameters
• PWM setup
• Battery thresholds

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Hardware

Hardware:

• ESP32-C3
• MPU6050 // MPU6500
• SBUS Receiver (serial data from RadioLink remote controller)
• 4 × Brushed DC Motors (3.7 V)
• Custom Motor Drivers (MOSFET + gate resistor + pull-down + Schottky diode)
• 1S LiPo Battery
• Resistor Divider (for battery voltage measurement)
• LED Indicator (low-voltage warning)
• Capacitors for voltage spikes

The system is based on an ESP32-C3 Super Mini microcontroller combined with an MPU6500 IMU for orientation sensing.
Remote control signals are received by a serial SBUS input.
Four DC brushed motors are controlled by custom motor drivers. Each is build with a Mosfet, pulldown resisitor and a shottky diode.