> For the complete documentation index, see [llms.txt](https://libooogo.gitbook.io/esplane/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://libooogo.gitbook.io/esplane/undefined.md).

# 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](/esplane/operater-guide/00esplane-shang-wei-ji-an-zhuang-zhi-yin.md)

**For developer**: [01-ESPlane2.0 Developer Guide](/esplane/developer-guide/00esplane-kai-fa-zhi-yin.md)

![ESPlane](https://img-blog.csdnimg.cn/20191030202043361.jpg?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzIwNTE1NDYx,size_16,color_FFFFFF,t_70)

![A swarm of drones exploring the environment, avoiding obstacles and each other. (Guus Schoonewille, TU Delft)](https://img-blog.csdnimg.cn/20191030202634944.jpg?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3FxXzIwNTE1NDYx,size_16,color_FFFFFF,t_70)

### 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](<https://www.bitcraze.io/ >)
2. Thanks to Espressif for the powerful [ESP-IDF environment](https://docs.espressif.com/projects/esp-idf/en/latest/index.html)
3. Thanks to WhyEngineer for the useful [ESP-DSP lib](https://github.com/whyengineer/esp32-lin/tree/master/components/dsp_lib)


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