Hello Am upload ardupilot to my esp (I know is still in experimental) by Ubuntu and when try to connect to mission planner is failed am provied to you 2 file one for all steps am get from intialze enviroment to upload ardu to esp and other file to error am get when connect and am try change speed but failed if any one have suggestion to solve
Terminal log.txt (137.1 KB)
am try and still failed / i have question if am not connect any peripheral like (GPs, Mpu,etc) and only upload firmware to esp32 and try connect to mission planner only connect can this happen to failed to connect to mission planner??
I think the primary debug UART causes problems so are you using the secondary UART?
Check first with a simple terminal programm if the ESP is comming up and starts sending MAVLINK messages on the USB port. You cannot read the MAVLINK messages directly but you can see if lots messages running.
I (20403) wifi:Init management short buffer num: 32
I (20408) wifi:Init dynamic tx buffer num: 32
I (20412) wifi:Init static tx FG buffer num: 2
I (20416) wifi:Init static rx buffer size: 1600
I (20420) wifi:Init static rx buffer num: 10
I (20424) wifi:Init dynamic rx buffer num: 32
e[0;32mI (20429) wifi_init: rx ba win: 6e[0m
e[0;32mI (20432) wifi_init: accept mbox: 6e[0m
e[0;32mI (20437) wifi_init: tcpip mbox: 32e[0m
e[0;32mI (20441) wifi_init: udp mbox: 6e[0m
e[0;32mI (20445) wifi_init: tcp mbox: 6e[0m
e[0;32mI (20449) wifi_init: tcp tx win: 5744e[0m
e[0;32mI (20453) wifi_init: tcp rx win: 5744e[0m
e[0;32mI (20457) wifi_init: tcp mss: 1440e[0m
e[0;32mI (20461) wifi_init: WiFi IRAM OP enablede[0m
e[0;32mI (20466) wifi_init: WiFi RX IRAM OP enablede[0m
e[0;32mI (20473) phy_init: phy_version 680,a6008b2,Jun 4 2024,16:41:10e[0m
e[0;33mW (20513) phy_init: saving new calibration data because of checksum failure, mode(0)e[0m
I (20528) wifi:mode : softAP (32:ed:a0:a8:b6:44)
I (20530) wifi:Total power save buffer number: 16
I (20530) wifi:Init max length of beacon: 752/752
I (20531) wifi:Init max length of beacon: 752/752
WiFi softAP init finished. SSID: ardupilot123 password: ardupilot123 channel: 1
OK created task _wifi_thread for TCP with PORT 5760 on SLOWCPU
e[0;32mI (20550) esp_netif_lwip: DHCP server started on interface WIFI_AP_DEF with IP: 192.168.4.1e[0m
AP_Logger_File: buffer size=16384
spi device constructed SPI:mpu9250:0:0
No Compass backends available
indexing: 14/58
Ln 1, Col 1
ESP32S3 Dev Module
on COM4
(this is am see in arduino serial )
am sent the in up the data and info am got in serial
if am not connect any peripheral like (GPs, Mpu,etc) can this happen to not connect to mission planner
Is “No Compass backends available” the last message comming from your ESP32?
Nothing more?
If so, than MAVLINK is not running.
Are you also able to run a terminal programm like “TerraTerm”, not the arduino ide terminal?
i dont know it but a search and am find it , if you have solution or steps can determine the problem am listen to it
I tried now to simulate your case with my ESP32 test board but in all cases mission planner connects successfull with the board. I tried also with just only the ESP32 Devboard with no connection to any sensor, GPS and SD card. Attached you will find my complete start sequence monitored by TerraTerm:
teraterm4.log (12.0 KB)
This test was only the pure ESP32 without any peripherals.
As you can see from “No Compass backends available” to “Init Gyro” it takes 7 seconds. After that time the binary (Mavlink) messages also start.
First is to check if this is coming up on your setup.
If you don’t want to use TerraTerm you also can get the full startup with the arduino terminal if you initiate a reset of the ESP32 while connected to the PC and terminal running
okay i will try but i have some question to you
your os is win11
you edit any thing in file dwdef.dat of your board you choose
what exact name you choose of your board ?? , in my situation am choose (esp32s3devkit)
am attach photo of my board your board shape like this ??
how to capture the data in tera tern in same time when try to connect to mission planner am try but get accses denied because in same time com port use by tera term
update 2:
am try 2 name of board (esp32s3empty) ,(esp32s3devkit) the log of empty is get i think mavlink data but when try to connect to mission still failed 
, devkit is still hold to no compass dont get after it any data and not connect to mission same
teraterm (esp32s3empty).log (9.0 KB)
teraterm(esp32s3devkit).log (7.4 KB)
I am still using win10 but I don’t think that this is a problem.
Also I am using the ESP32 WROOM DEV module not the ESP32 S3 but also I don’t think it is a problem.
Do you have a SD card or want to use it?
Your log named esp32s3empty.log seems to be ok.
Your log named esp32s3devkit.log seems to be not ok if it is hanging at the end.
The PC com port can always onl be used by either a terminal progrmm like TerraTerm OR Mission Planner. Not both at same time.
Which HW peripherals you want to use in your project. It is possible to adapt the HWDEF to your requirements.
When you try to connect your esp32s3empty version mission planner what shows mission planner in the popup during it tries to connect?
i dont have sd card module but i have tft screen has it i dont no can use without screen or not
when am try to connect with esp32s3empty it try to connect and take 30sec and in end failed and this happen in same with esp32s3devkit firmware
i am get idea to try to test with win10 and see it work or not
i am try alot of solution and all in end failed to connect
and i think can reason when developer do ardupilot to work with esp32s3 it do to work with this the original one from esperisef not clone one i have
your esp wroom is like this , if yes you use which name of board when configure firmware
in end thanks for try to help and if you have other suggestion am happy to know it 
Which error messages you get?
Just either this
or this
followed by
In the first case your mission planner is on a wrong port.
But I assume you get second case as you said it takes 30 sec.
Did you verified the baudrate? It must be 115200.
Again I don’t think that it has something to do with original or clone modules. Mine is like the second version shown by you but not as shown on the picture with CP210x USB chip but with CH340 USB chip.
Do you have also a esp32 WROOM available?
I am using a own modified hwdef.dat to match my HW peripherals.
The ESP32 ardupilot firmware don’t support TFT-displays directly connected to the ESP.
Also I noticed that in the esp32s3empty_hwdef.dat GPIO_NUM_14 is used twice for RC INPUT and I2C CLOCK. This might be a problem.
I think on esp32s3devkit_hwdef.dat the most problem is the enabled SD card
second photo followed by third photo
am verified baudrate to 115200
i dont have esp32 wroom and i will buy it and test
if i want buy esp32 wroom must have specific type of uart chip or any type mean CP210X , CH340?
if enabled sd card problem you know any docs or page tell the edits avaible to do in dwdef.dat i mean for example SD ENABLED must be 1 as enable or 0 as disable
if esp32s3empty has confilct how to solve it and other thing when am connect esp32s3empty to teraterm when start print mavlink data it do sound of windows background
update 1:
am find this link of dwdef docs HWDEF Readme.md Guide — Dev documentation i will try to see on it to fix
update 2:
am try to edit (HAL_ESP32_RCIN) to assign to pin gpio 4 because am see rmt is related to i2c am not edit to i2c pin to gpio 14 and pin to rmt gpio 14 and this am get after test new word in terminal after init gyro (rmt(legacy): RMT RX BUFFER FULL) when this massage appera sound of windows background happen
teraterm (esp32 s3 empty after edit).log (84.8 KB)
update 3:
am edit pin (HAL_ESP32_RMT_RX_PIN_NUMBER) to gpio 5 and still do same thing and not connect
What kind of peripherals you want to use? Maybe I can prepare a customized hwdef.dat version for you. But first let us solve your actual problem. I don’t know exactly from my own expierience that teh ESP32 S3 will work but I am relative sure that it will.
Can you send again the exact version of your ESP32S3 Devkit. Normally all information is shown on the shielding of the ESP32 module. I have seen some discrepancies of available GPIOs.
But for a first step we can try to start just with only the ESP32S3devkit without any peripheral.
Hc12 module 433mhz , MPU GY-6500
My board: (ESP32-S3-N16R8) Esp32s3devkit c (clone version ) my search am find the pin mapping is same like original one
and the board work i mean do mavlink data is (esp32s3empty) but i have question this mavlink is still print without stop or stop only when connect to mission or print some of them and stop ?
am try to use mission planner as zip , msi
am try to do allow in firewall
and still all failed
if need other info tell
update 1:
this is avaible option for board check it if any thing can do problem i have
I prepared a reduced hwdef.dat for you. It is called “esp32s3test”. You have to create a new folder in your ardupilot work directory “./libraries/AP_HAL_32/hwdef/esp32s3test” and unzip and copy the file to that new folder.
hwdef.zip (958 Bytes)
am try and failed to connect to mission planner
teraterm.log (7.6 KB)
But the log you send now is not based on the hwdef I send just before.
