> 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/developer-guide.md).

# Developer Guide

- [01 ESPlane Developer Get Started](https://libooogo.gitbook.io/esplane/developer-guide/00esplane-kai-fa-zhi-yin.md)
- [02 Code Architecture And Startup Process](https://libooogo.gitbook.io/esplane/developer-guide/16esplane-2.0-dai-ma-jia-gou-yu-qi-dong-guo-cheng.md)
- [03 Sensor Angle Fusion](https://libooogo.gitbook.io/esplane/developer-guide/13esplane-2.0-chuan-gan-qi-jiao-du-rong-he.md)
- [04 Sensor Calibration](https://libooogo.gitbook.io/esplane/developer-guide/23-chuan-gan-qi-xiao-zhun-fang-an.md)
- [05 Control System](https://libooogo.gitbook.io/esplane/developer-guide/14esplane-2.0-kong-zhi-xi-tong.md)
- [06 Gyro and Accelerometer MPU6050 Driver](https://libooogo.gitbook.io/esplane/developer-guide/09esp32+-tuo-luo-yi-jia-su-du-ji-mpu6050-yi-zhi-yu-tiao-shi.md)
- [07 Laser Sensor Vl53l1x Driver](https://libooogo.gitbook.io/esplane/developer-guide/08esp32+-ji-guang-chuan-gan-qi-vl53l1x-yi-zhi-yu-tiao-shi-fu-yuan-ma.md)
- [08 Barometer MS5611 Driver](https://libooogo.gitbook.io/esplane/developer-guide/10esp32+-qi-ya-ji-ms5611-yi-zhi-yu-tiao-shi.md)
- [09 Magnetic Compass HMC5883l Driver](https://libooogo.gitbook.io/esplane/developer-guide/11esp32+-san-zhou-ci-luo-pan-hmc5883l-yi-zhi-yu-tiao-shi.md)
- [10 Brushed Motor Driver](https://libooogo.gitbook.io/esplane/developer-guide/12esp32+-kong-xin-bei-you-shua-dian-ji.md)
- [11 Optical Flow Sensor Pmw3901 Driver](https://libooogo.gitbook.io/esplane/developer-guide/13esp32+-guang-liu-chuan-gan-qi-pmw3901-yi-zhi-yu-tiao-shi.md)
- [12 Variable Unified Management](https://libooogo.gitbook.io/esplane/developer-guide/12esplane-2.0-crazyfile-bian-liang-guan-li-fang-an-yi-zhi.md)
- [13 Crtp Protocol Introduction](https://libooogo.gitbook.io/esplane/developer-guide/09esplane-2.0-crtp-xie-yi.md)
- [14 Crtp Protocol Library - Cflib](https://libooogo.gitbook.io/esplane/developer-guide/10esplane-2.0-cflib-ku-yi-zhi.md)
- [15 Compatible With ESPilot APP](https://libooogo.gitbook.io/esplane/developer-guide/17esplane-2.0-jian-rong-espilot-app.md)
- [16 Height-hold Mode Development](https://libooogo.gitbook.io/esplane/developer-guide/20-ding-gao-mo-shi-kai-fa.md): 基于vl53l1x激光传感器的定高模式
- [17 Positon-hold Mode Development](https://libooogo.gitbook.io/esplane/developer-guide/17-positon-hold-mode-development.md)


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