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ESP-FLY

An open-source ESP-FLY drone with CAD models, Crazyflie-based flight firmware, a PyQt6 PC debugging tool and an Android control app.

  • Drone
  • No license: all rights reserved by the creator
  • Work in progress
  • 3D printable

Suggested by Robotheca, created by @mixiaojiediy (opens in a new tab), from github.com/mixiaojiediy/ESP-FLY (opens in a new tab). Pinned to commit 568b1b2 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
No license
Software license
No license
Commercial use
Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

Some folders have their own license: 3.Firmware/ESP-FLY-MCU/ (GPL-3.0-only).

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (2 scripts, 2 programs or installers)

Photo

This repository has no photo of the robot yet.

Commercial use is not confirmed for this robot, so no preview is stored. View the STEP files on GitHub (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Flight control of an ESP-FLY quadcopter drone via attitude angles (roll, pitch, yaw) and throttle, sent at 50Hz over UDP.
  • Real-time 3D attitude display, 19-channel waveform plots, and terminal monitoring in the PC debugging software.
  • Independent motor throttle/PWM testing for each of four motors (propellers must be removed first).
  • Online inner and outer loop PID tuning for roll, pitch and yaw, with parameters saved to file or sent to the flight controller.
  • Emergency stop of all motors from the PC software and the Android app.
  • Battery voltage and charge, communication, and WiFi signal strength monitoring.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's guide is written in Chinese. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guideAsk the creator on GitHub (opens in a new tab)

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • ESP32-based flight controller board (firmware based on the Crazyflie framework).
  • Four brushless motors with propellers driven by the flight controller.
  • Inertial sensors providing gyroscope and accelerometer data.
  • Battery providing voltage and charge readings.
  • WiFi radio on the ESP32 acting as a hotspot for the PC or Android app.
  • 3D model files (.f3z) for the drone airframe; hardware schematics hosted separately on the Oshwhub platform.

Connections

  • The drone creates a WiFi hotspot (SSID ESP-DRONE_XXXXXX, default password 12345678) that the PC connects to.
  • Data packets use a packet ID, length, payload and checksum format.
  • Hardware connection details are in the separate hardware design repository, which the documents do not describe here.