DIY ESP32 based flight controller

djObsidian · May 25, 2023, 8:21am

So, i want to build my own flight controller based on ESP32 mcu.
I managed to build firmware following this page

ArduPilot/ardupilot/blob/master/libraries/AP_HAL_ESP32/README.md


# Ardupilot port to the esp32 series mcu


## Building instructions
0. Build currently tested on linux
1. Checkout this branch https://github.com/ardupilot/ardupilot/tree/master
2. Use this to install ardupilot requirements:
```
Tools/environment_install/install-prereqs-ubuntu.sh
```
or
```
Tools/environment_install/install-prereqs-arch.sh
```

3. install esp-idf python deps:

```
# from: https://docs.espressif.com/projects/esp-idf/en/latest/esp32/get-started/linux-setup.html

This file has been truncated. show original

The problem is that it states “Currently esp32 dev board with connected gy-91 10dof sensor board is supported.” I don’t have any gy-91 laying around and there’s some sort of shortage in my area, i can’t find any gy-91 or even solo mpu-9250 in local stores. So, i want to use different IMU, like mpu-6050 or LSM6DS3.
However, i can’t find any docs and examples on how to configure firmware to use other IMUs. Like, are they defined in boards/boardname.h ? Then where’s the list of supported IMUs and their definitions? And how do i configure board.h file properly?

dkemxr · May 26, 2023, 2:31am

Suggest you head over to the ESP32 Discord channel and join the very small crew interested in this.