Both work. Extra characters
The range of an ESP32 WiFi setup with the DevModules printed antenna is not optimal and not compareable to real telemetry radio modules. For the normal MAVlink datastream is the high bandwidth of a standard WiFi link not necessary.
I am just working a little to implement the ESPNOW functionality with low bandwith and long range mode directly to the ESP32 ardupilot firmware. So the on board Wifi is used on the Drone and a second ESP32 work as a modem on the GCS side.
the file hwdef you sent to me as esp32s3test am uncomment lines for mpu can by this esp32s3test calibration and see if will work or not
am use it but it move in pitch ,roll direction good only yaw wrong am change in param (AHRS_ORIENTATION) to yaw 270 but after change pitch be wrong
this is imu funcation am use
#-----INS/IMU-----
#define HAL_INS_DEFAULT HAL_INS_NONE
define HAL_INS_MPU6500_NAME “mpu6500”
define HAL_INS_DEFAULT HAL_INS_MPU6500_I2C
define HAL_INS_MPU6500_I2C_BUS 0
define HAL_INS_MPU6500_I2C_ADDR (0x68)
IMU Invensense I2C:0:0x68 ROTATION_NONE
define INS_MAX_INSTANCES 3 # only here for binary identicality
the problem is me have miss understand about roll and yaw 
am determine the mpu work good
my miss understand come from when roll to right am see horizon in fligh data move to left like this
am determine this is right and work good
The AHRS_ORIENTATION is the right parameter to adapt your MPU6500 torientation to the frame axises of your drone.
As the ESP32S3 module has no fixed connection to the MPU and I don’t know how you want to mount all the modules I selected always as default ROTATION NONE. But this value will be over written bei the AHRS_ORIENTATION.
So you have to select the correct combination out of all possibilities.
If you roll your drone to the right the horizon goes left down, that is correct.
If you pitch your drone up the horizon goes down (more blue less green)
If you yaw your drone right the dirction numbers in topline goes to left.
On your MPU Board must be two small arrows showing X and Y axis of the Chip. How they are aligned to your bodyframe?
If he has that board with a baro built in, the side faces forward. Basically it is 90 degree rotated. Headers on left
am set right and all move good
i want to use bulitin rgb in my esp32s3 is connect to pin 48 am follow this docs( NeoPixel — Copter documentation )
am define pin gpio 48 in rcout in hwdef to can use with servo function it define in hwdef to be as servo 7 am use as that servo 7 function and set to 120 neopixel and do restart after that rgb not work and am not get any massage in massage tab i think it can must add a function handle neopixel but i dont know it you have any suggestion and am try to search inside source code but didnt get and good result
(ardupilot/libraries/AP_Notify/NeoPixel.cpp at master · ArduPilot/ardupilot · GitHub ,
ardupilot/libraries/AP_HAL_ESP32/RCOutput.cpp at master · ArduPilot/ardupilot · GitHub ,
the above photo am upload it when am move mpu to right
Is neopixel supported in esp32 (check readme in ap_hal_esp32)?
I think you need to define more and not every gpio can be used as output because of timers and other issues.
If by default pin 48 is not used for anything, you could short it with another pin that works and use the led. Another approach could be to cut the trace from esp to led and externally wire it to another gpio
am check in readme and find (ws2812b ws2815 led strip )is in future development
Yeah so it won’t work as of now. If you need led function then you could try to write the thing for led in hal files but too complex.
i get some thing wierd happen when use connect to fc by tcp or udp if am connect to it and leave mission connect without touch mean see in up icon of disconnect if am leave without touch it after 10 minute or more is like freeze mean mpu if move not see change of horizon and if disconnect and try connect again not connect must do power cycle to work is this normal ??
am succese define mpu , gps , presure , still compass not yet connect
but with this thing happen up am define only mpu
this thing happen after test move motor (brusched with relay) with ln298N am get after move motor about 1 ,2 minute it disconnect from mission and from wifi this happen because interfernce from motor do bad effect to wifi
after this happen am try to disconnect motor to see it shut wifi again or not after disconnect it not discoonect wifi again but am get this thing wierd in up i want to know is this normal in up happen like am said??
to imagine with me am connect to fc and go to any place about 10 minute or more is normal when come back see it freeze if this happen when is away from me is very wierd thing
test do try minmize all telemetry rate to 5 but still do same
update 1 : am do some test my setup is fc put on breadboard after some search am determine the problem come from breadboard when ap work some times not work good (mean am connect but it like happen in above disconnect after 10minute )
or some times not see ap without am hold my finger in metal part in module esp32
the problem is breadboard absorb the signal from esp thats translate to me as ap not see in wifi list or see and connect but slow or like happen above
i will do some test am tell what happen next 
update 2: am do tests by udp by connect to ap(ardupilot123) and if am do disconnect and reconnect in about times 10 to 20 minutes it work and connect with no problem
but if am connect and leave it without touch about 30 minute to 1 hour is do disconnect or still connect but is freeze to solve this must do disconnect from mission and disconnect ap and reconnect ap again and reconnect mission again it work without need to do power cycle
and to solve problem some lag in ap because breadboard absorb signal am try to put wire in metal part in module and it work
i hope when put fc in pcb by solder pin header and put fc on it solve problem of absorb signal 
Your text is not easy to unserstand for me. Please use not so long sentences without fullstops.
What I understand:
You use ESP32 FC with the ESP32 Wifi enabled.
You use the ESP32 as an AP.
You connect your PC Misson Planner via TCP or UDP as a client to the ESP32 AP.
After a while commuication stops.
So shows at that time still connected?
Is the AP still seen for example by another device like a mobile.
Is it possible to lock on this other device to the ESP32 AP?
What happens if you disconnect the PC from the AP. Connect to some other AP and than reconnect to ESP32 AP.
Does this freezing always happen after relative same timeperiod?
sorry for any understand
Q1:You use ESP32 FC with the ESP32 Wifi enabled.
yes
Q2:You use the ESP32 as an AP
yes connect to ap create by name ardupilot123
Q3:You connect your PC Misson Planner via TCP or UDP as a client to the ESP32 AP.
After a while commuication stops.
yes and am determine the reason
Q4:So shows at that time still connected?
yes ,if am do disconnect and reconnect in about times 10 to 20 minutes it work and connect with no problem , but if am connect and leave it without touch about 30 minute to 1 hour is do disconnect or still connect but is freeze to solve this must do disconnect from mission and disconnect ap and reconnect ap again and reconnect mission again it work without need to do power cycle
Q5:Is the AP still seen for example by another device like a mobile.
yes
Q6:Is it possible to lock on this other device to the ESP32 AP?
yes
Q7:What happens if you disconnect the PC from the AP. Connect to some other AP and than reconnect to ESP32 AP.
connect without no problem and if mission freeze with icon disconnect or reconnect the solve is do disconnect from mission and disconnect ap and reconnect ap again and reconnect mission again it work , without need to connect to other ap and go again to ardupilot123 only disconnect and reconnect
Q8:Does this freezing always happen after relative same timeperiod
yes in timeperiod between 30 minute to 1hour but if under this timeperiod mean from 10 minute to 20 all thing good
So it looks more to a problem with the PC than with the ESP32.
I also made a test like you over more than 2 houres with no problem.
So if it freeze shows Mission planner still connected?
Did you checked if the PC is still connected to the ESP32 Ardupilot123 net.
I have noticed on my test that the pc always tries a net with internet support but the esp32 net don’t have this.
Q1:So if it freeze shows Mission planner still connected?
yes
Q2 Did you checked if the PC is still connected to the ESP32 Ardupilot123 net.
yes is still connected
am determine problem
first am set devboard on breadboard when am supply am not see network ardupilot because signal absorb by sheet aluminum in breadboard to solve am put wire on rf shield in module am see network and connect 
update thing not said
in above reply to you am said it work but not work good this haapen because am not put wire in rf shield , in first test before put wire some time ap see and some time hide because problem of absorb signal
Hi to all!!
i have problem with my radio Flysky I6.
I use receiver Flysky Ia6B with Sbus protocol.
In the firmware hwdef.dat i have set this:
#-----RCIN-----
define HAL_ESP32_RMT_RX_PIN_NUMBER GPIO_NUM_14
define HAL_ESP32_RCIN GPIO_NUM_14
define AP_RCPROTOCOL_ENABLED 0
but the receiver is not recognized and i cannot to do calibration of radio.
I have also changed the parameter in Mission Planner in this way:
but not work. I cannot calibrate the radio.
How i can solve ? thanks much
not sure but shouldn’t AP_RCPROTOCOL_ENABLED be 1 because 0 disables it (I am not sure and might be wrong).
alternatively can you try ibus and ppm if any of them works? sbus has hardware inversion and that can also be issue. also for sbus, you need to enable in radio menu, on stock firmware, it doesnt work on i6, only i6x, and then connect to the top row of pins labelled servo.
Did you checked if your receiver’s output is true SBUS as ESP32 firmware is only looking for this true SBUS Format
Also please use new thread in case as this is another problem as in this never ending thread
Do you edited your post. On your original post a saw a link to a .txt file showing some status messages of the FC. How you catch these messages and was it during your WiFi-test?
My quick setup looks nearly like yours, but i don’t have any problem with RF absorbtion by the breadboard. Inhouse range over 2 floors and walls about 15m.
The metallcase is a shielding connected with ground and not to the RF. Maybe you can place your module a little up to the first row.
hi @Ishitbh . thanks much for answer.
I have always used Flysky I6 radio with SBUS also for normal ESP32 (not S3…using typical GPIO 4 pin) and worked fine. SBUS also fine Inav.
I try Ibus or ppm if work…thanks