Hardware Specifications

Complete hardware parameters based on Espressif ESP-Drone open-source solution

Main Specifications

Main Controller

ESP32-S2 / ESP32-S3
Xtensa 32-bit LX7 dual-core, 240MHz, 320KB SRAM (S2) / 512KB SRAM (S3)

Wireless

Wi-Fi 802.11 b/g/n
2.4GHz, AP/STA modes. ESP32-S3 also supports Bluetooth 5.0 (LE)

IMU Sensor

MPU6050
6-axis IMU (3-axis accelerometer + 3-axis gyroscope), I2C interface

Motors

715 Brushed x4
7mm x 15mm coreless brushed motors, ESP32 PWM direct drive

Power

3.7V 1S LiPo
Single-cell LiPo battery with charging management circuit

Flight Controller

Crazyflie-based
Based on Bitcraze Crazyflie open-source firmware (GPL 3.0)

Framework

ESP-IDF v5.0
Espressif official SDK with FreeRTOS real-time OS

Frame

Acrylic / 3D Printed
~65mm wheelbase micro quadcopter, open-source STL files available

Flight Modes

Mode Description Required Sensors
Stabilized Basic flight with auto-leveling MPU6050 (built-in)
Altitude Hold Maintains set altitude automatically BMP280 barometer required
Position Hold Maintains horizontal position and altitude Flow sensor + barometer required
Note: Altitude Hold and Position Hold require external expansion boards (Flow Deck).

Pin Assignment

ESP32-S2 Pin Assignment (Drone V1.2 Board):
════════════════════════════════════════
Motor Control:
  GPIO 4  →  Motor 1 (PWM)
  GPIO 5  →  Motor 2 (PWM)
  GPIO 6  →  Motor 3 (PWM)
  GPIO 7  →  Motor 4 (PWM)

I2C Sensors:
  GPIO 8  →  SDA
  GPIO 9  →  SCL

Power Management:
  GPIO 10 →  Battery voltage monitoring

Status LED:
  GPIO 11 →  WS2812B RGB LED

Expansion Interfaces

The drone supports various expansion boards via the I2C interface:

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