Customization

Overview

In this project, you will learn how to modify the drone’s code, including takeoff sound effects, motor speed, and LED lighting effects, to deeply understand the drone’s code structure.

What You’ll Learn

• C language arrays and macros
• ESP-IDF project structure
• Code compilation and flashing process
• Buzzer, LED, and motor control

Materials Needed

Step 1: Open the Project

1. Extract starter_code.zip
2. Open the folder with VS Code

Step 2: Explore Code Structure

Understand the project’s file organization:

Step 3: Modify Takeoff Sound

Open buzzer.c and find the tone array:

// Original code: takeoff sound
uint16_t tone[] = {440, 880, 440, 0}; // A4, A5, A4, silence

Change it to the first two lines of “Ode to Joy”:

uint16_t tone[] = {330, 330, 392, 392, 440, 440, 392, 0}; // E4, E4, G4, G4, A4, A4, G4, silence

Step 4: Modify Motor Speed

Open motors.c and find the MOTORS_TEST_RATIO macro:

#define MOTORS_TEST_RATIO (uint16_t)(0.2*(1<<16)) // 20% speed

Change it to 30% speed:

#define MOTORS_TEST_RATIO (uint16_t)(0.3*(1<<16)) // 30% speed

Step 5: Compile and Flash

1. Press F1, type ESP-IDF: Build to compile the project
2. Press F1, type ESP-IDF: Flash to flash to the drone

Step 6: Test the Effects

1. Power on and listen if the takeoff sound has changed
2. Press the test button to see if the motor speed is faster

Troubleshooting

Compilation Failed

• Check if ESP-IDF environment is properly installed
• Ensure there are no syntax errors in the code

Flashing Failed

• Check USB connection
• Confirm drivers are installed

Achievement

Congratulations! You have successfully modified the drone’s code and understood the basic code structure. This is the first step to becoming a flight engineer!

Next Steps

In the next project, you will learn how to adjust PID parameters to make the drone fly more stably.

Continue to Project 03: Path Planning →